pax_global_header00006660000000000000000000000064127777723610014535gustar00rootroot0000000000000052 comment=3af0ecbf83a2688ef04583c32bbbf7fe8166eb72 opensurgsim-0.7.0/000077500000000000000000000000001277777236100141145ustar00rootroot00000000000000opensurgsim-0.7.0/.gitattributes000066400000000000000000000065761277777236100170250ustar00rootroot00000000000000##### Global default ##### ## Any file not listed below will not have EOL characters normalized. ## (Diffing and merging will depend on whether Git thinks the file is really ## text or binary.) * -text ## Alternatively, we could let Git auto-detect text files and normalize EOL, ## by setting: ## * text=auto ##### Source code ##### ## C++ and C source files *.h text diff=cpp *.cc text diff=cpp *.c text diff=cpp ## (Discouraged C++ extensions) *.cpp text diff=cpp *.cxx text diff=cpp *.hh text diff=cpp ## Python scripts *.py text eol=lf diff=python ## Perl scripts/libraries/modules *.perl text eol=lf diff=perl *.pl text eol=lf diff=perl *.pm text eol=lf diff=perl ## Shell scripts *.sh text eol=lf *.bash text eol=lf ## Windows batch scripts *.bat text eol=crlf ## Shader program source *.frag text diff=cpp *.vert text diff=cpp ##### Other file types ##### ## Text files and documentation *.txt text README* text INSTALL* text LICENSE* text NOTICE* text ## Non-text documentation *.html text diff=html *.pdf binary *.rtf binary ## Doxygen documentation configuration files Doxyfile text Doxyfile.in text *.dox text ## Image files *.png binary *.PNG binary *.jpg binary *.JPG binary *.gif binary *.GIF binary *.bmp binary *.BMP binary *.ico binary *.ICO binary *.ppm binary *.pgm binary *.pbm binary *.xpm -text diff -merge ## Vector graphics *.svg -text diff -merge ## Model files *.obj text diff -merge *.mtl text diff -merge *.osg text diff -merge *.osgt text diff -merge *.ply text diff -merge *.stl text diff -merge *.osgb binary *.oct binary *.phi binary *.rgd binary *.tet binary *.tri binary ## CMake files CMakeLists.txt text *.cmake text ## Makefiles Makefile text makefile text GNUmakefile text *.mk text ## Various IDE project files, etc *.sln -text diff merge *.vcxproj -text diff -merge *.vcxproj.filters -text diff -merge *.props -text diff -merge *.pbxproj -text diff -merge ## Resource files and UI design descriptions *.qrc text *.ui text *.rc text ## Diff/patch files *.diff text diff -merge *.patch text diff -merge ## XML and configuration *.xml text *.cfg text ## Self-reference =) .gitignore text .gitattributes text opensurgsim-0.7.0/.gitignore000066400000000000000000000027771277777236100161210ustar00rootroot00000000000000# This file specifies intentionally untracked files that git should ignore. # For details, see documentation, e.g. by running "git help ignore". # # To list the files in your tree that are being ignored (i.e. files which # are not already under version control and match an ignore pattern), run # git ls-files --others -i ##### generic file types ##### ## object files and other build output *.o *.pdb *.so *.a *.dll *.lib *.exe *.pyc ## editor etc. back-up files *~ .*~ *.bak .#* ## archive file formats *.tar *.gz *.bz2 *.zip *.7z ## CMake build directories CMakeFiles ## files left by CMake CMakeCache.txt Makefile cmake_install.cmake ## Visual Studio build directories Debug Release ReleaseUnoptimized Debug-vs20[01][0-9] Release-vs20[01][0-9] ReleaseUnoptimized-vs20[01][0-9] ## files left by Visual Studio *.sdf *.opensdf *.suo *.ncb *.bsc *.pch *.ilk *.idb *.exp *.vcproj.*.user *.vcxproj.user ## Visual Studio solution and project files # (Currently always generated from CMake, so we just ignore them all. # If that changes in the future, this will have to change as well.) *.sln *.vcxproj *.vcxproj.filters ## files left by other development tools ipch VTune My Amplifier XE Results* *.ampl.cfg ## files left around after manually running 'patch' *.rej *.orig ## other files we don't generally care about *.log ##### specific files/paths to ignore ##### ## build directories build/ build-*/ build_*/ ## binaries # (only if building directly inside the tree) /tests/unit_tests /tests/unit_tests.exe *.smproj opensurgsim-0.7.0/CMake/000077500000000000000000000000001277777236100150745ustar00rootroot00000000000000opensurgsim-0.7.0/CMake/DashboardTemplate.cmake000066400000000000000000000110471277777236100214640ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); 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opensurgsim-0.7.0/Examples/000077500000000000000000000000001277777236100156725ustar00rootroot00000000000000opensurgsim-0.7.0/Examples/AddSphereFromInput/000077500000000000000000000000001277777236100213755ustar00rootroot00000000000000opensurgsim-0.7.0/Examples/AddSphereFromInput/AddSphereBehavior.cpp000066400000000000000000000044751277777236100254320ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "Examples/AddSphereFromInput/AddSphereBehavior.h" #include "SurgSim/Blocks/SphereElement.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Framework/Scene.h" #include using SurgSim::Math::RigidTransform3d; AddSphereFromInputBehavior::AddSphereFromInputBehavior( const std::string& name): SurgSim::Framework::Behavior(name), m_numElements(0), m_buttonPreviouslyPressed(false) { } void AddSphereFromInputBehavior::setInputComponent(std::shared_ptr sender) { m_from = sender; } void AddSphereFromInputBehavior::update(double dt) { // Get the pose information from input device // Then use the pose as the location to add sphere SurgSim::DataStructures::DataGroup dataGroup; m_from->getData(&dataGroup); RigidTransform3d pose; dataGroup.poses().get(SurgSim::DataStructures::Names::POSE, &pose); // Add sphere to the scene from input bool button1 = false; dataGroup.booleans().get(SurgSim::DataStructures::Names::BUTTON_1, &button1); if (button1 && ! m_buttonPreviouslyPressed) { std::stringstream elementCount; elementCount << ++ m_numElements; std::string name = "sphereId_" + elementCount.str(); std::shared_ptr element = std::make_shared(name); element->setPose(pose); getScene()->addSceneElement(element); } m_buttonPreviouslyPressed = button1; } int AddSphereFromInputBehavior::getTargetManagerType() const { return SurgSim::Framework::MANAGER_TYPE_INPUT; } bool AddSphereFromInputBehavior::doInitialize() { return true; } bool AddSphereFromInputBehavior::doWakeUp() { return true; } opensurgsim-0.7.0/Examples/AddSphereFromInput/AddSphereBehavior.h000066400000000000000000000035741277777236100250760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 EXAMPLES_ADDSPHEREFROMINPUT_ADDSPHEREBEHAVIOR_H #define EXAMPLES_ADDSPHEREFROMINPUT_ADDSPHEREBEHAVIOR_H #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Input/InputComponent.h" class AddSphereFromInputBehavior: public SurgSim::Framework::Behavior { public: /// Constructor /// \param name Name of the behavior explicit AddSphereFromInputBehavior(const std::string& name); /// Set input component to get the pose /// \param sender Input component to get the pose void setInputComponent(std::shared_ptr sender); /// Update the behavior /// \param dt The length of time (seconds) between update calls. void update(double dt) override; /// Return the type of manager that should be responsible for this behavior int getTargetManagerType() const override; protected: /// Initialize the behavior bool doInitialize() override; /// Wakeup the behavior bool doWakeUp() override; private: /// Input component to get the pose std::shared_ptr m_from; /// Used to record the number of spheres added int m_numElements; /// Used to record if button was previously pressed bool m_buttonPreviouslyPressed; }; #endif // EXAMPLES_ADDSPHEREFROMINPUT_ADDSPHEREBEHAVIOR_H opensurgsim-0.7.0/Examples/AddSphereFromInput/AddSphereFromInput.cpp000066400000000000000000000145041277777236100256100ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "Examples/AddSphereFromInput/AddSphereBehavior.h" #include "SurgSim/Blocks/DriveElementFromInputBehavior.h" #include "SurgSim/Devices/MultiAxis/MultiAxisDevice.h" #include "SurgSim/Framework/Framework.h" #include "SurgSim/Graphics/Graphics.h" #include "SurgSim/Input/InputManager.h" #include "SurgSim/Math/Math.h" #include "SurgSim/Physics/Physics.h" using SurgSim::Blocks::DriveElementFromInputBehavior; using SurgSim::Framework::BasicSceneElement; using SurgSim::Framework::Logger; using SurgSim::Framework::SceneElement; using SurgSim::Graphics::OsgBoxRepresentation; using SurgSim::Graphics::OsgCamera; using SurgSim::Graphics::OsgMaterial; using SurgSim::Graphics::OsgPlaneRepresentation; using SurgSim::Graphics::OsgProgram; using SurgSim::Graphics::OsgUniform; using SurgSim::Graphics::OsgViewElement; using SurgSim::Graphics::ViewElement; using SurgSim::Math::BoxShape; using SurgSim::Math::DoubleSidedPlaneShape; using SurgSim::Math::Quaterniond; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4f; using SurgSim::Math::makeRigidTransform; using SurgSim::Physics::FixedRepresentation; using SurgSim::Physics::PhysicsManager; using SurgSim::Physics::Representation; std::shared_ptr createPlane(const std::string& name) { std::shared_ptr planeShape = std::make_shared(); std::shared_ptr physicsRepresentation = std::make_shared(name + " Physics"); physicsRepresentation->setShape(planeShape); std::shared_ptr graphicsRepresentation = std::make_shared(name + " Graphics"); std::shared_ptr material = std::make_shared("material"); std::shared_ptr program = std::make_shared(); std::shared_ptr> uniform = std::make_shared>("color"); uniform->set(Vector4f(0.0f, 0.6f, 1.0f, 0.0f)); material->addUniform(uniform); program->setFragmentShaderSource( "uniform vec4 color;\n" "void main(void)\n" "{\n" " gl_FragColor = color;\n" "}"); material->setProgram(program); graphicsRepresentation->setMaterial(material); std::shared_ptr planeElement = std::make_shared(name); planeElement->addComponent(physicsRepresentation); planeElement->addComponent(graphicsRepresentation); planeElement->addComponent(material); auto rigidCollision = std::make_shared("Plane Collision"); physicsRepresentation->setCollisionRepresentation(rigidCollision); planeElement->addComponent(rigidCollision); return planeElement; } std::shared_ptr createBox(const std::string& name) { std::shared_ptr box = std::make_shared(0.2, 0.2, 0.2); // in m std::shared_ptr graphicsRepresentation = std::make_shared(name + "-Graphics"); graphicsRepresentation->setSizeXYZ(box->getSizeX(), box->getSizeY(), box->getSizeZ()); std::shared_ptr inputComponent = std::make_shared("input"); inputComponent->setDeviceName("MultiAxisDevice"); std::shared_ptr boxElement = std::make_shared(name); boxElement->addComponent(graphicsRepresentation); boxElement->addComponent(inputComponent); std::shared_ptr driver; driver = std::make_shared("Driver"); driver->setSource(inputComponent); boxElement->addComponent(driver); auto addSphere = std::make_shared("SphereAdder"); addSphere->setInputComponent(inputComponent); boxElement->addComponent(addSphere); return boxElement; } int main(int argc, char* argv[]) { std::shared_ptr graphicsManager = std::make_shared(); std::shared_ptr physicsManager = std::make_shared(); std::shared_ptr behaviorManager = std::make_shared(); std::shared_ptr inputManager = std::make_shared(); //////////////////////////////////////////////////////////////////////////////////////////////////////////////// std::shared_ptr toolDevice = std::make_shared("MultiAxisDevice"); toolDevice->setPositionScale(toolDevice->getPositionScale() * 10.0); toolDevice->setOrientationScale(toolDevice->getOrientationScale() * 3.0); SURGSIM_ASSERT(toolDevice->initialize() == true) << "Could not initialize device '" << toolDevice->getName() << "' for the tool."; inputManager->addDevice(toolDevice); //////////////////////////////////////////////////////////////////////////////////////////////////////////////// std::shared_ptr runtime(new SurgSim::Framework::Runtime()); runtime->addManager(physicsManager); runtime->addManager(graphicsManager); runtime->addManager(behaviorManager); runtime->addManager(inputManager); std::shared_ptr scene = runtime->getScene(); scene->addSceneElement(createBox("box")); std::shared_ptr plane = createPlane("plane"); plane->setPose(makeRigidTransform(Quaterniond::Identity(), Vector3d(0.0, -1.0, 0.0))); scene->addSceneElement(plane); std::shared_ptr viewElement = std::make_shared("view"); viewElement->setPose(makeRigidTransform(Quaterniond::Identity(), Vector3d(0.0, 0.5, 5.0))); scene->addSceneElement(viewElement); runtime->execute(); return 0; } opensurgsim-0.7.0/Examples/AddSphereFromInput/CMakeLists.txt000066400000000000000000000024641277777236100241430ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. find_package(OpenSceneGraph COMPONENTS osg osgViewer osgText osgUtil osgDB osgGA osgAnimation REQUIRED) find_package(OpenThreads) link_directories( ${Boost_LIBRARY_DIRS} ) include_directories( ${CMAKE_CURRENT_SOURCE_DIR} ${OPENTHREADS_INCLUDE_DIR} ) set(SOURCES AddSphereBehavior.cpp AddSphereFromInput.cpp ) set(HEADERS AddSphereBehavior.h ) surgsim_add_executable(AddSphereFromInput "${SOURCES}" "${HEADERS}") set(LIBS MultiAxisDevice SurgSimBlocks SurgSimGraphics SurgSimMath ${YAML_CPP_LIBRARIES} ) target_link_libraries(AddSphereFromInput ${LIBS}) # Put AddSphereFromInput into folder "Examples" set_target_properties(AddSphereFromInput PROPERTIES FOLDER "Examples") opensurgsim-0.7.0/Examples/CMakeLists.txt000066400000000000000000000021101277777236100204240ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. if(BUILD_DEVICE_MULTIAXIS) add_subdirectory(AddSphereFromInput) add_subdirectory(Stapling) endif(BUILD_DEVICE_MULTIAXIS) add_subdirectory(InputVtc) add_subdirectory(DroppingBalls) # Not Required components find_package(Boost 1.54 COMPONENTS program_options) if(Boost_PROGRAM_OPTIONS_FOUND) add_subdirectory(ShowScenery) add_subdirectory(GraphicsScene) else() message("Can't build example ShowScenery, missing library boost_program_options.") endif() opensurgsim-0.7.0/Examples/DroppingBalls/000077500000000000000000000000001277777236100204325ustar00rootroot00000000000000opensurgsim-0.7.0/Examples/DroppingBalls/AddRandomSphereBehavior.cpp000066400000000000000000000050711277777236100256210ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "Examples/DroppingBalls/AddRandomSphereBehavior.h" #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Blocks/SphereElement.h" #include "SurgSim/Math/Vector.h" using SurgSim::Blocks::SphereElement; using SurgSim::Framework::Behavior; using SurgSim::Framework::SceneElement; using SurgSim::Math::Vector3d; /// \file /// A Behavior that creates randomly positioned SphereElements at a fixed rate. /// \sa SurgSim::Blocks::SphereElement namespace SurgSim { namespace Blocks { AddRandomSphereBehavior::AddRandomSphereBehavior(const std::string& name): Behavior(name), m_totalTime(0.0), m_numElements(0), m_distribution_xz(0.0, 1.0), m_distribution_y(1.0, 2.0) { } AddRandomSphereBehavior::~AddRandomSphereBehavior() { } bool AddRandomSphereBehavior::doInitialize() { return true; } bool AddRandomSphereBehavior::doWakeUp() { return true; } void AddRandomSphereBehavior::update(double dt) { // Accumulate the time steps since the previous sphere was created. m_totalTime += dt; if (m_totalTime > 3.0) { m_totalTime = 0.0; std::stringstream ss; ss << ++ m_numElements; // Generate a random position. double m_x = m_distribution_xz(m_generator); double m_y = m_distribution_y(m_generator); double m_z = m_distribution_xz(m_generator); std::string name = "sphereId_" + ss.str(); // Create the pose, with no rotation and the previously determined position. SurgSim::Math::RigidTransform3d pose = SurgSim::Math::makeRigidTransform (SurgSim::Math::Quaterniond::Identity(), Vector3d(m_x, m_y, m_z)); // Create the SphereElement. std::shared_ptr element = std::make_shared(name); element->setPose(pose); // Add the SphereElement to the Scene. getScene()->addSceneElement(element); } } }; // namespace Blocks }; // namespace SurgSim opensurgsim-0.7.0/Examples/DroppingBalls/AddRandomSphereBehavior.h000066400000000000000000000041241277777236100252640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 EXAMPLES_DROPPINGBALLS_ADDRANDOMSPHEREBEHAVIOR_H #define EXAMPLES_DROPPINGBALLS_ADDRANDOMSPHEREBEHAVIOR_H #include #include "SurgSim/Framework/Behavior.h" namespace SurgSim { namespace Blocks { /// A behavior to add sphere elements into scene dynamically. /// AddSphereBehavior will be processed by BehaviorManager in its update() call. class AddRandomSphereBehavior: public SurgSim::Framework::Behavior { public: /// Constructor /// \param name The name of add random sphere behavior. explicit AddRandomSphereBehavior(const std::string& name = "AddRandomSphereBehavior"); /// Destructor ~AddRandomSphereBehavior(); /// Update the behavior /// \param dt The length of time (seconds) between update calls. void update(double dt) override; protected: /// Initialize the behavior bool doInitialize() override; /// Wakeup the behavior bool doWakeUp() override; private: /// Control how often a sphere is added double m_totalTime; /// Record how many sphere have been added int m_numElements; /// Random number generator for randomized positions. std::default_random_engine m_generator; /// Distribution of random numbers for the x and z coordinates. std::uniform_real_distribution m_distribution_xz; /// Distribution of random numbers for the y coordinate. std::uniform_real_distribution m_distribution_y; }; }; // namespace Blocks }; // namespace SurgSim #endif //EXAMPLES_DROPPINGBALLS_ADDRANDOMSPHEREBEHAVIOR_H opensurgsim-0.7.0/Examples/DroppingBalls/CMakeLists.txt000066400000000000000000000026111277777236100231720ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. link_directories( ${Boost_LIBRARY_DIRS} ) include_directories( ${CMAKE_CURRENT_SOURCE_DIR} ${OPENTHREADS_INCLUDE_DIR} ) set(SOURCES AddRandomSphereBehavior.cpp DroppingBalls.cpp ) set(HEADERS AddRandomSphereBehavior.h ) file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/Data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) surgsim_add_executable(DroppingBalls "${SOURCES}" "${HEADERS}") SET(LIBS SurgSimBlocks SurgSimPhysics SurgSimGraphics SurgSimMath ${YAML_CPP_LIBRARIES} ) target_link_libraries(DroppingBalls ${LIBS}) # Put DroppingBalls into folder "Examples" set_target_properties(DroppingBalls PROPERTIES FOLDER "Examples") opensurgsim-0.7.0/Examples/DroppingBalls/Data/000077500000000000000000000000001277777236100213035ustar00rootroot00000000000000opensurgsim-0.7.0/Examples/DroppingBalls/Data/Earth.png000066400000000000000000027341231277777236100230700ustar00rootroot00000000000000‰PNG  IHDR“¯‰îsRGB®Îé pHYs™Ê™Ê㑤"tIMEÝ/öϺè IDATxÚt½[¶$IŽ$&5ª!gÿ‡á'—Å™®pS? 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çå‚©‡¦ž1 N³)Õ³—~sêýÔåz¯2l4n@“sÑßâ™ÞÅ9{ž=QÆÇ°‚ø×#-¿Nb±9ƒ KÛ·…žÙ€ÂÄFÖU¾‘èÏ?™¯ùºì?óEvü“¿{m%ôÏÎÒu€êeÌäŒíÖ³¥Ÿeú¦CÓïýBç'‰ãþð[ûñf¯åØDú_N{ܹڰ!#nLZ^¸˜¯µú=;Ëj^ý¼ŽgQÛ™8§—Q.ÆOžÑO]·eóßcáK9Ó°úwˆð$Åüg6í<Ú?±/]F ïÿìÐB§©­­.È!ßÏÏï°"Ó.ƒ †µ1ìQå/ÞìçÛ³Ù=ýÿŠå– $xIEND®B`‚opensurgsim-0.7.0/Examples/DroppingBalls/DroppingBalls.cpp000066400000000000000000000311171277777236100237010ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/Framework.h" #include "SurgSim/Graphics/Graphics.h" #include "SurgSim/Math/Math.h" #include "SurgSim/Physics/Physics.h" #include "Examples/DroppingBalls/AddRandomSphereBehavior.h" using SurgSim::Blocks::AddRandomSphereBehavior; using SurgSim::Framework::BasicSceneElement; using SurgSim::Framework::Logger; using SurgSim::Framework::SceneElement; using SurgSim::Graphics::OsgMaterial; using SurgSim::Graphics::OsgPlaneRepresentation; using SurgSim::Graphics::OsgProgram; using SurgSim::Graphics::OsgSphereRepresentation; using SurgSim::Graphics::OsgTexture2d; using SurgSim::Graphics::OsgUniform; using SurgSim::Graphics::OsgViewElement; using SurgSim::Graphics::ViewElement; using SurgSim::Math::DoubleSidedPlaneShape; using SurgSim::Math::Quaterniond; using SurgSim::Math::SphereShape; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4f; using SurgSim::Math::makeRigidTransform; using SurgSim::Physics::FixedRepresentation; using SurgSim::Physics::PhysicsManager; using SurgSim::Physics::Representation; using SurgSim::Physics::RigidRepresentation; /// \file /// Example of how to put together a very simple demo of balls colliding with each other. /// Discrete Collision Detection (dcd) is used to detect collisions between spheres. /// Simple behavior to show that the spheres are moving while we don't have graphics. /// \note A Behavior is a type of Component that causes changes or actions. class PrintoutBehavior : public SurgSim::Framework::Behavior { public: /// Constructor /// \param name The printout behavior name explicit PrintoutBehavior(const std::string& name = "PrintOutBehavior") : Behavior(name) {} ~PrintoutBehavior() {} /// Set representation for printout behavior /// \param representation The representation information void setRepresentation(std::shared_ptr representation) { m_representation = representation; } /// Perform per-period actions, i.e., what to do each "frame". /// \note Behavior::update() is called by ComponentManager::processBehaviors(), which is called by /// BehaviorManager::doUpdate() or Graphics::Manager::doUpdate() or PhysicsManager::doUpdate() depending on the /// output of Behavior::getTargetManagerType(). Those manager's \c doUpdate() functions are called by /// BasicThread() inside a \c while(running) loop. /// Managers (e.g., ComponentManager) are threads and run their own update loops. virtual void update(double dt) { // SURGSIM_LOG_DEBUG is a macro to ensure only messages of a certain threshold are output. SURGSIM_LOG_DEBUG(m_logger) << m_representation->getName() << ": " << m_representation->getPose().translation().transpose(); } protected: /// Allocate the internal structures. /// \return Success? /// \note Initialization is a two-step process. First the ComponentManager calls initialize() on each Component, /// which calls doInitialize() to setup the internal structures. virtual bool doInitialize() { // If the named logger does not exist, the LoggerManager creates a new logger that uses the default output m_logger = Logger::getLogger("printout"); // Set the threshold for display of messages. m_logger->setThreshold(SurgSim::Framework::LOG_LEVEL_DEBUG); return true; } /// Setup foreign references. After this the Component is ready to update(). /// \return Success? /// \note The second step of initialization. This function acquires any foreign references, all of which were /// allocated by the respective foreign objects' doInitialize(). virtual bool doWakeUp() { return true; } private: // A Representation is a type of Component that stores information. // A RigidRepresentation stores 6 degree-of-freedom (DOF) pose, force, torque, inertia, and compliance. std::shared_ptr m_representation; // A Logger can output to file or stream. std::shared_ptr m_logger; }; /// Creates a planar SceneElement with graphics, physics, and collision. std::shared_ptr createPlane(const std::string& name) { std::shared_ptr shape = std::make_shared(); // A FixedRepresentation has no motion or compliance. It does not change. std::shared_ptr physics = std::make_shared("Physics"); physics->setShape(shape); // An OsgPlaneRepresentation is a Component containing the OSG-specific graphics information to display a plane. std::shared_ptr graphics; graphics = std::make_shared("Graphics"); // A OsgMaterial is an OSG implementation of a Material. Materials define visual appearance and contain Uniforms // and a Shader. Uniforms represent values that are relatively constant, e.g., textures or position of a light. std::shared_ptr material = std::make_shared("material"); // An OsgShader is an OSG implementation of a Shader. Shaders are programs that determine how to render a geometry. std::shared_ptr program = std::make_shared(); // Create a Uniform for the RGBA color of the plane. std::shared_ptr> uniform = std::make_shared>("color"); uniform->set(Vector4f(0.0f, 0.6f, 1.0f, 0.0f)); material->addUniform(uniform); // This Shader sets the fragment's color to the value of the "color" uniform. program->setFragmentShaderSource( "uniform vec4 color;\n" "void main(void)\n" "{\n" " gl_FragColor = color;\n" "}"); material->setProgram(program); graphics->setMaterial(material); // RigidCollisionRepresentation will use provided physics representation to do collisions. Collision detection // occurs in SurgSim::Physics::DcdCollision::doUpdate(), which uses the Shape. Then the physics representations // (of the colliding pair) are used to generate constraints that the solver uses to calculate forces that will // un-collide the pair. The entire process of collision detection, constraint generation, and solving is handled in // SurgSim::PhysicsManager::doUpdate(). std::shared_ptr collision; collision = std::make_shared("Collision"); physics->setCollisionRepresentation(collision); // Here the SceneElement for the plane is created, to which the various Components that collectively define the // plane are added. std::shared_ptr element = std::make_shared(name); element->addComponent(physics); element->addComponent(collision); element->addComponent(graphics); element->addComponent(material); // This Behavior will add balls to the Scene at random locations every few seconds. element->addComponent(std::make_shared()); return element; } /// Creates a SceneElement of a rigid sphere with a graphic texture loaded from an image file. std::shared_ptr createEarth(const SurgSim::Framework::ApplicationData& data, const std::string& name) { // A RigidRepresentation is for a non-deformable 6 degree-of-freedom (DOF) object with compliance and inertia. std::shared_ptr physics = std::make_shared("Physics"); // Density determines inertia and compliance, which are used in the collision response. physics->setDensity(5513.0); // Damping generates a force that opposes the velocity. physics->setLinearDamping(0.1); // A SphereShape is a Shape for a sphere. It has functions to find shape properties such as the mass center, // volume, and inertia. The constructor's argument is the radius in meters. std::shared_ptr shape = std::make_shared(0.5); physics->setShape(shape); std::shared_ptr graphics = std::make_shared("Graphics"); graphics->setRadius(shape->getRadius()); std::shared_ptr material = std::make_shared("material"); std::shared_ptr texture = std::make_shared(); // findFile() will look in the folders specified by the ApplicationData. std::string image = data.findFile("Earth.png"); SURGSIM_ASSERT(image != "") << "Could not find image file for sphere texture: " << image; SURGSIM_ASSERT(texture->loadImage(image)) << "Could not load image file for sphere texture: " << image; std::shared_ptr>> uniform = std::make_shared>>("diffuseMap"); uniform->set(texture); material->addUniform(uniform); graphics->setMaterial(material); // By adding the PrintoutBehavior, the BehaviorManager will output this SceneElement's position each update. std::shared_ptr printoutBehavior = std::make_shared(); printoutBehavior->setRepresentation(physics); // Now create the SceneElement based on the physics and graphics. Note there is no collision Component. std::shared_ptr element = std::make_shared(name); element->addComponent(physics); element->addComponent(graphics); element->addComponent(material); element->addComponent(printoutBehavior); return element; } int main(int argc, char* argv[]) { // The config file contains a list of folder locations which will be used to find resources, such as images, shader // code, physics descriptions, etc. const SurgSim::Framework::ApplicationData data("config.txt"); // Here the various Managers are created. Managers contain and update their type of Components. A Manager is a // sub-class of BasicThread, so each Manager runs in its own thread and can have its own target update rate. // The three types of Managers are: // a) Graphics::Manager to display the graphic scene from graphics representations (using graphics-shapes, // materials, shaders, etc.), // b) PhysicsManager to update the physics simulation based on physics representations (using physics-shapes, // fixed/rigid/FEM models, compliance, inertia, collision type, etc.), and // c) BehaviorManager for any actions not handled in the graphics or physics threads. std::shared_ptr graphicsManager = std::make_shared(); std::shared_ptr physicsManager = std::make_shared(); std::shared_ptr behaviorManager = std::make_shared(); // A Runtime is the top-level container for all of the Managers and a single Scene. std::shared_ptr runtime(new SurgSim::Framework::Runtime()); runtime->addManager(physicsManager); runtime->addManager(graphicsManager); runtime->addManager(behaviorManager); // A Scene is a container for all of the SceneElements, which in turn contain their Components. // Since the Scene contains all of the Elements, a Runtime therefore has access to all of the Components. std::shared_ptr scene = runtime->getScene(); std::shared_ptr earth = createEarth(data, "earth"); earth->setPose(makeRigidTransform(Quaterniond::Identity(), Vector3d(0.0, 3.0, 0.0))); scene->addSceneElement(earth); std::shared_ptr plane = createPlane("plane"); plane->setPose(makeRigidTransform(Quaterniond::Identity(), Vector3d(0.0, 0.0, 0.0))); scene->addSceneElement(plane); std::shared_ptr view = std::make_shared("view"); view->setPose(makeRigidTransform(Quaterniond::Identity(), Vector3d(0.0, 0.5, 5.0))); scene->addSceneElement(view); // Run the simulation, starting with initialize/startup of Managers and Components. For each Component of each // Element (Runtime::preprocessSceneElements) the Runtime tries to give access to the Component to each of the // Managers (Runtime::addComponents). The Managers only accept the types of Components that they manage. Once the // Managers are running, the Runtime can be used to stop/step the Managers. // Runtime::execute() will block until one of the Managers quits. runtime->execute(); return 0; } opensurgsim-0.7.0/Examples/DroppingBalls/config.txt.in000066400000000000000000000000421277777236100230410ustar00rootroot00000000000000${CMAKE_CURRENT_BINARY_DIR}/Data/ opensurgsim-0.7.0/Examples/GraphicsScene/000077500000000000000000000000001277777236100204105ustar00rootroot00000000000000opensurgsim-0.7.0/Examples/GraphicsScene/CMakeLists.txt000066400000000000000000000027371277777236100231610ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. find_package(OpenSceneGraph COMPONENTS osg osgViewer osgText osgUtil osgDB osgGA osgAnimation REQUIRED) find_package(OpenThreads) link_directories( ${Boost_LIBRARY_DIRS} ) include_directories( "${CMAKE_CURRENT_SOURCE_DIR}" "${OPENTHREADS_INCLUDE_DIR}" ) set(SOURCES GraphicsScene.cpp ) set(HEADERS ) file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/Data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) surgsim_add_executable(GraphicsScene "${SOURCES}" "${HEADERS}") SET(LIBS SurgSimBlocks SurgSimGraphics SurgSimDevices ${Boost_LIBRARIES} ${YAML_CPP_LIBRARIES} ) target_link_libraries(GraphicsScene ${LIBS}) # Put GraphicsScene into folder "Examples" set_target_properties(GraphicsScene PROPERTIES FOLDER "Examples") opensurgsim-0.7.0/Examples/GraphicsScene/Data/000077500000000000000000000000001277777236100212615ustar00rootroot00000000000000opensurgsim-0.7.0/Examples/GraphicsScene/Data/StereoView.yaml000066400000000000000000000023521277777236100242430ustar00rootroot00000000000000- SurgSim::Framework::BasicSceneElement: Name: View Components: - SurgSim::Blocks::DriveElementFromInputBehavior: Name: ViewElementDriver Source: SurgSim::Input::InputComponent: Name: Oculus Id: 9b77c4e2-e9ea-484f-bfca-72121189dcb6 - SurgSim::Input::InputComponent: Name: Oculus Id: 9b77c4e2-e9ea-484f-bfca-72121189dcb6 DeviceName: Oculus LocalPose: Quaternion: [0, 1, 0, 0] Translation: [2.0, 1.0, 2.0] - SurgSim::Device::OculusView: InputComponent: SurgSim::Input::InputComponent: Id: 9b77c4e2-e9ea-484f-bfca-72121189dcb6 Name: Oculus Camera: SurgSim::Graphics::OsgCamera: Id: 9018dd38-c1ae-4e80-a27a-dc24e4b75d35 Name: Camera TargetScreen: 2 FullScreen: true EyeSeparation: 0.06 Name: View - SurgSim::Graphics::OsgCamera: Id: 9018dd38-c1ae-4e80-a27a-dc24e4b75d35 Name: Camera MainCamera: true PerspectiveProjection: [120, 0.88, 0.1, 10.0] RenderGroupReference: __OssDefault__opensurgsim-0.7.0/Examples/GraphicsScene/Data/Textures/000077500000000000000000000000001277777236100231045ustar00rootroot00000000000000opensurgsim-0.7.0/Examples/GraphicsScene/Data/Textures/CheckerBoard.png000066400000000000000000000076511277777236100261370ustar00rootroot00000000000000‰PNG  IHDRôxÔúsRGB®ÎébKGDÿÿÿ ½§“ pHYs  ÒÝ~ütIMEÝ ²jÒ)IDATxÚíÝ1ªI…Ѫ¡=´-Dë×B´&«¡=A1覾¾¾¾¾~]ß3€0À€ñï¸Ç©¯¯¯¯¯ß×·€Í€™‰zÏY_____¿¯o‹Ýçœ79è=g}}}}}ý¾¾ ,à=g}}}}}ý¾¾ lÞ¤ÝÃÔ×××××ïëÛÀb0ÀÐ"¾D觾¾¾¾¾~_ß6ožç‰zÏY_____¿¯o‹Ý3ó&½ç¬¯¯¯¯¯ß×·€Åâo¼ç¬¯¯¯¯¯ß×·€Í€ø {˜úúúúúúu}XÌÀ`ZĿ৾¾¾¾¾~_ß6of&:è=g}}}}}ý¾¾ ,vŸsÞä ÷œõõõõõõûú6°Xü €÷œõõõõõõûú6°ytS_____¿¯o‹À` @‹ø¡{œúúúúúú}}ؼxž':è=g}}}}}ý¾¾ ,vÏÌ›ôž³¾¾¾¾¾~_ß‹¿ðž³¾¾¾¾¾~_ß6oâƒîaêëëëëë×õm`1` €hÿ€{œúúúúúú}}ؼ˜™è ÷œõõõõõõûú6°Ø}Îy“ƒÞsÖ×××××ïëÛÀbñ7ÞsÖ×××××ïëÛÀæ @zÐ=L}}}}}ý¾¾ ,f` €0-âK„îqêëëëëë÷õm`óàyžè ÷œõõõõõõûú6°Ø=3orÐ{Îúúúúúú}}X,þÀ{Îúúúúúú}}ؼˆº‡©¯¯¯¯¯_×·€Å ` €0 Eü;îqêëëëëë÷õm`ó`f¢ƒÞsÖ×××××ïëÛÀb÷9çMzÏY_____¿¯o‹ÅßxÏY_____¿¯o›7éA÷0õõõõõõûú6°˜ €0À´ˆ/ºÇ©¯¯¯¯¯ß×·€Í€çy¢ƒÞsÖ×××××ïëÛÀb÷̼ÉAï9ëëëëëë÷õm`±øï9ëëëëëë÷õm`ó >覾¾¾¾¾~]ß3€0À€ñï¸Ç©¯¯¯¯¯ß×·€Í€™‰zÏY_____¿¯o‹Ýçœ79è=g}}}}}ý¾¾ ,à=g}}}}}ý¾¾ lÞ¤ÝÃÔ×××××ïëÛÀb0ÀÐ"¾D觾¾¾¾¾~_ß6ožç‰zÏY_____¿¯o‹Ý3ó&½ç¬¯¯¯¯¯ß×·€Åâo¼ç¬¯¯¯¯¯ß×·€Í€ø {˜úúúúúúu}XÌÀ`ZĿ৾¾¾¾¾~_ß6of&:è=g}}}}}ý¾¾ ,vŸsÞä ÷œõõõõõõûú6°Xü €÷œõõõõõõûú6°ytS_____¿¯o‹À` @‹ø¡{œúúúúúú}}ؼxž':è=g}}}}}ý¾¾ ,vÏÌ›ôž³¾¾¾¾¾~_ß‹¿ðž³¾¾¾¾¾~_ß6oâƒîaêëëëëë×õm`1` €hÿ€{œúúúúúú}}ؼ˜™è ÷œõõõõõõûú6°Ø}Îy“ƒÞsÖ×××××ïëÛÀbñ7ÞsÖ×××××ïëÛÀæ @zÐ=L}}}}}ý¾¾ ,f` €0-âK„îqêëëëëë÷õm`óàyžè ÷œõõõõõõûú6°Ø=3orÐ{Îúúúúúú}}X,þÀ{Îúúúúúú}}ؼˆº‡©¯¯¯¯¯_×·€Å ` €0 Eü;îqêëëëëë÷õm`ó`f¢ƒÞsÖ×××××ïëÛÀb÷9çMzÏY_____¿¯o‹ÅßxÏY_____¿¯o›7éA÷0õõõõõõûú6°˜ €0À´ˆ/ºÇ©¯¯¯¯¯ß×·€Í€çy¢ƒÞsÖ×××××ïëÛÀb÷̼ÉAï9ëëëëëë÷õm`±øï9ëëëëëë÷õm`ó >覾¾¾¾¾~]ß3€0À€ñï¸Ç©¯¯¯¯¯ß×·€Í€™‰zÏY_____¿¯o‹Ýçœ79è=g}}}}}ý¾¾ ,à=g}}}}}ý¾¾ 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of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include #include #include #include "SurgSim/Blocks/DriveElementFromInputBehavior.h" #include "SurgSim/Blocks/GraphicsUtilities.h" #include "SurgSim/Blocks/PoseInterpolator.h" #include "SurgSim/Blocks/ShadowMapping.h" #include "SurgSim/Devices/Devices.h" #include "SurgSim/Framework/Framework.h" #include "SurgSim/Graphics/Graphics.h" #include "SurgSim/Input/Input.h" #include "SurgSim/Math/Math.h" using SurgSim::Framework::Logger; using SurgSim::Graphics::OsgTextureUniform; using SurgSim::Graphics::OsgTexture2d; using SurgSim::Graphics::OsgUniform; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::Matrix44f; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; /// \file /// This example creates a simple graphics scene and use the RenderPass object to show /// a simple shadowing algorithm. For the algorithm see http://en.wikipedia.org/wiki/Shadow_mapping /// There are two preprocessing passes that use specific program, plus a main pass that renders the /// objects using a program that can process the output from the preprocessing steps. /// Each program output becomes the input for the next shader, some parameters from other scene elements /// is passed into the program as uniforms. /// All of the information is kept up to date using a \sa TransferPropertiesBehavior /// Both the light and the main camera are being moved through a \sa PoseInterpolator to demonstrate /// dynamic changes and how to handle them in the rendering pipeline namespace { std::unordered_map> materials; std::shared_ptr createMonoView( const std::string& name, int x, int y, int width, int height) { using SurgSim::Graphics::OsgViewElement; std::shared_ptr viewElement = std::make_shared(name); std::array position = {x, y}; std::array dimensions = {width, height}; viewElement->getView()->setPosition(position); viewElement->getView()->setDimensions(dimensions); double aspectRatio = static_cast(width) / static_cast(height); viewElement->getCamera()->setPerspectiveProjection(60.0, aspectRatio, 0.01, 10.0); std::dynamic_pointer_cast(viewElement->getCamera())->setMainCamera(true); /// It's an OsgViewElement, we have an OsgView, turn on mapping of uniform and attribute values std::dynamic_pointer_cast(viewElement->getView())->setOsgMapsUniforms(true); // Move the camera from left to right over along the scene auto interpolator = std::make_shared("Interpolator"); RigidTransform3d from = makeRigidTransform( Vector3d(-4.0, 1.0, -3.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0)); RigidTransform3d to = makeRigidTransform( Vector3d(4.0, 1.0, -3.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0)); interpolator->setTarget(viewElement); interpolator->setStartingPose(from); interpolator->setDuration(10.0); interpolator->setEndingPose(to); interpolator->setPingPong(true); viewElement->setPose(from); viewElement->enableManipulator(true); // viewElement->addComponent(interpolator); return viewElement; } std::shared_ptr createMaterialWithShaders( const SurgSim::Framework::ApplicationData& data, const std::string& name) { auto program = SurgSim::Graphics::loadProgram(data, name); std::shared_ptr material; if (program != nullptr) { material = std::make_shared(name); material->setProgram(program); } return material; } std::shared_ptr createLight() { auto result = std::make_shared("Light"); auto light = std::make_shared("Light"); light->setDiffuseColor(Vector4d(1.0, 1.0, 1.0, 1.0)); light->setSpecularColor(Vector4d(0.8, 0.8, 0.8, 1.0)); light->setLightGroupReference(SurgSim::Graphics::Representation::DefaultGroupName); result->addComponent(light); // Move the light from left to right over along the scene auto interpolator = std::make_shared("Interpolator"); RigidTransform3d from = makeRigidTransform(Vector3d(5.0, 3.0, -5.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0)); RigidTransform3d to = makeRigidTransform(Vector3d(-5.0, 3.0, -5.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0)); interpolator->setTarget(result); interpolator->setStartingPose(from); interpolator->setDuration(10.0); interpolator->setEndingPose(to); interpolator->setPingPong(true); result->setPose(from); // result->addComponent(interpolator); return result; } void configureShinyMaterial() { // This will change the shared material auto material = materials["shiny"]; material->addUniform("vec4", "diffuseColor"); material->setValue("diffuseColor", SurgSim::Math::Vector4f(0.8, 0.8, 0.1, 1.0)); material->addUniform("vec4", "specularColor"); material->setValue("specularColor", SurgSim::Math::Vector4f(0.9, 0.9, 0.1, 1.0)); material->addUniform("float", "shininess"); material->setValue("shininess", 32.0f); } void configureTexturedMaterial(const std::string& filename) { auto material = materials["texturedShadowed"]; material->addUniform("vec4", "diffuseColor"); material->setValue("diffuseColor", SurgSim::Math::Vector4f(1.0, 1.0, 1.0, 1.0)); material->addUniform("vec4", "specularColor"); material->setValue("specularColor", SurgSim::Math::Vector4f(1.0, 1.0, 1.0, 1.0)); material->addUniform("float", "shininess"); material->setValue("shininess", 32.0f); auto texture = std::make_shared(); texture->loadImage(filename); material->addUniform("sampler2D", "diffuseMap"); material->setValue("diffuseMap", texture); } /// A simple box as a scenelement class SimpleBox : public SurgSim::Framework::BasicSceneElement { public: explicit SimpleBox(const std::string& name) : BasicSceneElement(name) { m_box = std::make_shared(getName() + " Graphics"); // The material that this object uses m_box->setMaterial(materials["basicShadowed"]); // Assign this to the pass for shadowing objects m_box->addGroupReference(SurgSim::Blocks::GROUP_SHADOW_CASTER); // Assign this to the pass for shadowed objects m_box->addGroupReference(SurgSim::Blocks::GROUP_SHADOW_RECEIVER); } bool doInitialize() override { addComponent(m_box); return true; } void setSize(double width, double height, double length) { m_box->setSizeXYZ(width, height, length); } void setMaterial(const std::shared_ptr material) { m_box->setMaterial(material); } private: std::shared_ptr m_box; }; class SimpleSphere : public SurgSim::Framework::BasicSceneElement { public: explicit SimpleSphere(const std::string& name) : BasicSceneElement(name) { m_sphere = std::make_shared(getName() + " Graphics"); m_sphere->setMaterial(materials["basicShadowed"]); m_sphere->addGroupReference(SurgSim::Blocks::GROUP_SHADOW_CASTER); m_sphere->addGroupReference(SurgSim::Blocks::GROUP_SHADOW_RECEIVER); } bool doInitialize() override { addComponent(m_sphere); return true; } void setRadius(double radius) { m_sphere->setRadius(radius); } void setMaterial(const std::shared_ptr material) { m_sphere->setMaterial(material); } private: std::shared_ptr m_sphere; }; } // Create an array of spheres void addSpheres(std::shared_ptr scene) { double radius = 0.05; Vector3d origin(-1.0, 0.0, -1.0); Vector3d spacing(0.5, 0.5, 0.5); for (int i = 0; i < 3; ++i) { for (int j = 0; j < 3; ++j) { auto sphere = std::make_shared("Sphere_" + std::to_string(static_cast(i * 3 + j))); sphere->setRadius(radius); Vector3d position = origin + Vector3d(spacing.array() * Vector3d(static_cast(i), 1.0, static_cast(j)).array()); sphere->setPose(makeRigidTransform(Quaterniond::Identity(), position)); scene->addSceneElement(sphere); } } } void createScene(std::shared_ptr runtime, bool useStereo = false) { auto scene = runtime->getScene(); auto box = std::make_shared("Plane"); box->setSize(3.0, 0.01, 3.0); box->setPose(RigidTransform3d::Identity()); box->setMaterial(materials["texturedShadowed"]); scene->addSceneElement(box); box = std::make_shared("Box 1"); box->setSize(0.25, 1.0, 0.25); box->setPose(makeRigidTransform(Quaterniond::Identity(), Vector3d(1.0, 0.5, -1.0))); scene->addSceneElement(box); addSpheres(scene); auto sphere = std::make_shared("Shiny Sphere"); sphere->setRadius(0.25); sphere->setMaterial(materials["basicShadowed"]); scene->addSceneElement(sphere); if (useStereo == true) { // This will most like have to be edited to conform with the screen configuration // TargetScreen, or Dimensions and Location are candidates for being incorrect depending // on the system runtime->addSceneElements("StereoView.yaml"); } else { scene->addSceneElement(createMonoView("View", 40, 40, 1024, 768)); } auto element = std::make_shared("Materials"); element->addComponent(materials["shiny"]); element->addComponent(materials["texturedShadowed"]); element->addComponent(materials["basicShadowed"]); scene->addSceneElement(element); scene->addSceneElement(createLight()); std::array lightProjection = { -2.6, 2.6, -2.6, 2.6, 4, 10}; auto elements = SurgSim::Blocks::createShadowMapping( scene->getComponent("View", "Camera"), scene->getComponent("Light", "Light"), 4096, 1024, lightProjection, 0.0005, 0.8, true, 8.0, false); scene->addSceneElements(elements); } int main(int argc, char* argv[]) { using boost::program_options::value; bool useStereo = false; boost::program_options::options_description visible("Allowed options"); visible.add_options()("help", "produce help message") ("useStereo", value(&useStereo)->default_value(false), "Show scene via stereo"); boost::program_options::variables_map variables; boost::program_options::store(boost::program_options::command_line_parser(argc, argv).options(visible).run(), variables); boost::program_options::notify(variables); if (variables.count("help")) { std::cout << visible << "\n"; return 1; } auto runtime(std::make_shared("config.txt")); auto data = runtime->getApplicationData(); materials["basicLit"] = createMaterialWithShaders(*data, "Shaders/basic_lit"); materials["basicUnlit"] = createMaterialWithShaders(*data, "Shaders/basic_unlit"); materials["basicShadowed"] = createMaterialWithShaders(*data, "Shaders/s_mapping"); materials["texturedUnlit"] = createMaterialWithShaders(*data, "Shaders/unlit_texture"); materials["texturedShadowed"] = createMaterialWithShaders(*data, "Shaders/ds_mapping_material"); materials["shiny"] = createMaterialWithShaders(*data, "Shaders/material"); materials["default"] = materials["basic_lit"]; auto graphics = std::make_shared(); graphics->setMultiThreading(true); auto input = std::make_shared(); if (useStereo) { // Only interested in the oculus auto device = SurgSim::Devices::createDevice("SurgSim::Devices::OculusDevice", "Oculus"); if (device != nullptr) { input->addDevice(device); } else { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << "Could not initialize Oculus Device, falling back to mono display."; useStereo = false; } } auto behaviors = std::make_shared(); runtime->addManager(graphics); runtime->addManager(behaviors); runtime->addManager(input); configureShinyMaterial(); configureTexturedMaterial(runtime->getApplicationData()->findFile("Textures/CheckerBoard.png")); createScene(runtime, useStereo); runtime->execute(); return 0; } opensurgsim-0.7.0/Examples/GraphicsScene/config.txt.in000066400000000000000000000001001277777236100230120ustar00rootroot00000000000000${PROJECT_BINARY_DIR}/Data/ ${CMAKE_CURRENT_BINARY_DIR}/Data/ opensurgsim-0.7.0/Examples/InputVtc/000077500000000000000000000000001277777236100174465ustar00rootroot00000000000000opensurgsim-0.7.0/Examples/InputVtc/CMakeLists.txt000066400000000000000000000024721277777236100222130ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. link_directories( ${Boost_LIBRARY_DIRS} ) include_directories( ${CMAKE_CURRENT_SOURCE_DIR} ${OPENTHREADS_INCLUDE_DIR} ) set(SOURCES InputVtc.cpp ) set(HEADERS ) surgsim_add_executable(InputVtc "${SOURCES}" "${HEADERS}") set(LIBS SurgSimBlocks SurgSimDevices SurgSimGraphics SurgSimMath ${YAML_CPP_LIBRARIES} ) target_link_libraries(InputVtc ${LIBS}) file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/Data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) # Put InputVtc into folder "Examples" set_target_properties(InputVtc PROPERTIES FOLDER "Examples") opensurgsim-0.7.0/Examples/InputVtc/Data/000077500000000000000000000000001277777236100203175ustar00rootroot00000000000000opensurgsim-0.7.0/Examples/InputVtc/Data/Device.yaml000066400000000000000000000005751277777236100224110ustar00rootroot00000000000000- SurgSim::Devices::NovintDevice: Name: Tool_Device InitializationName: 7DofFalcon 7DofDevice: true - SurgSim::Devices::PhantomDevice: Name: Tool_Device - SurgSim::Devices::NovintDevice: Name: Tool_Device 7DofDevice: false - SurgSim::Devices::MultiAxisDevice: Name: Tool_Device - SurgSim::Devices::IdentityPoseDevice: Name: Tool_Device opensurgsim-0.7.0/Examples/InputVtc/InputVtc.cpp000066400000000000000000000216671277777236100217420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Blocks/DriveElementFromInputBehavior.h" #include "SurgSim/Devices/Devices.h" #include "SurgSim/Framework/Framework.h" #include "SurgSim/Graphics/Graphics.h" #include "SurgSim/Input/Input.h" #include "SurgSim/Math/Math.h" #include "SurgSim/Physics/Physics.h" using SurgSim::Blocks::DriveElementFromInputBehavior; using SurgSim::Framework::BasicSceneElement; using SurgSim::Framework::SceneElement; using SurgSim::Graphics::OsgBoxRepresentation; using SurgSim::Graphics::OsgMaterial; using SurgSim::Graphics::OsgPlaneRepresentation; using SurgSim::Graphics::OsgProgram; using SurgSim::Graphics::OsgUniform; using SurgSim::Graphics::OsgViewElement; using SurgSim::Graphics::ViewElement; using SurgSim::Math::BoxShape; using SurgSim::Math::DoubleSidedPlaneShape; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::Vector4f; using SurgSim::Math::Vector3d; using SurgSim::Physics::FixedRepresentation; using SurgSim::Physics::Representation; using SurgSim::Physics::RigidRepresentation; using SurgSim::Physics::PhysicsManager; using SurgSim::Physics::VirtualToolCoupler; std::shared_ptr createPlane(const std::string& name) { std::shared_ptr planeShape = std::make_shared(); std::shared_ptr physicsRepresentation = std::make_shared(name + " Physics"); physicsRepresentation->setShape(planeShape); std::shared_ptr graphicsRepresentation = std::make_shared(name + " Graphics"); std::shared_ptr material = std::make_shared("material"); std::shared_ptr program = std::make_shared(); std::shared_ptr> uniform = std::make_shared>("color"); uniform->set(Vector4f(0.0f, 0.6f, 1.0f, 0.0f)); material->addUniform(uniform); program->setFragmentShaderSource( "uniform vec4 color;\n" "void main(void)\n" "{\n" " gl_FragColor = color;\n" "}"); material->setProgram(program); graphicsRepresentation->setMaterial(material); std::shared_ptr planeElement = std::make_shared(name); planeElement->addComponent(physicsRepresentation); planeElement->addComponent(graphicsRepresentation); planeElement->addComponent(material); std::shared_ptr collisionRepresentation; collisionRepresentation = std::make_shared(name + " Collision"); physicsRepresentation->setCollisionRepresentation(collisionRepresentation); planeElement->addComponent(collisionRepresentation); return planeElement; } std::shared_ptr createBox(const std::string& name, const std::string& deviceName) { std::shared_ptr box = std::make_shared(0.8, 2.0, 0.2); // in meter // Physics Components std::shared_ptr physicsRepresentation = std::make_shared(name + " Physics"); physicsRepresentation->setIsGravityEnabled(false); physicsRepresentation->setDensity(0.1); physicsRepresentation->setShape(box); // Collision Components auto collisionRepresentation = std::make_shared("Box Collision Representation"); physicsRepresentation->setCollisionRepresentation(collisionRepresentation); // Graphics Components std::shared_ptr graphicsRepresentation = std::make_shared(name + " Graphics"); graphicsRepresentation->setSizeXYZ(box->getSizeX(), box->getSizeY(), box->getSizeZ()); // Input Components std::shared_ptr inputComponent = std::make_shared(name + " Input"); inputComponent->setDeviceName(deviceName); // Output Components std::shared_ptr outputComponent = nullptr; outputComponent = std::make_shared(name + " Output"); outputComponent->setDeviceName(deviceName); // A virtual tool coupler can be used to connect an input/output device with the physics thread. // The physics representation follows the pose provided by the device, and the representation's collisions // generate forces and torques on the device. std::shared_ptr inputCoupler = std::make_shared(name + " Input Coupler"); inputCoupler->setInput(inputComponent); inputCoupler->setOutput(outputComponent); inputCoupler->setRepresentation(physicsRepresentation); inputCoupler->setHapticOutputOnlyWhenColliding(true); // The SceneElement std::shared_ptr boxElement = std::make_shared(name); boxElement->addComponent(physicsRepresentation); boxElement->addComponent(collisionRepresentation); boxElement->addComponent(graphicsRepresentation); boxElement->addComponent(inputComponent); boxElement->addComponent(outputComponent); boxElement->addComponent(inputCoupler); return boxElement; } std::shared_ptr createBoxForRawInput(const std::string& name, const std::string& deviceName) { std::shared_ptr graphicsRepresentation; graphicsRepresentation = std::make_shared(name + " Graphics"); graphicsRepresentation->setSizeXYZ(0.8, 2.0, 0.2); std::shared_ptr material = std::make_shared("material"); std::shared_ptr program = std::make_shared(); program->setVertexShaderSource( "void main(void)\n" "{\n" " gl_Position = ftransform();\n" "}"); program->setFragmentShaderSource( "void main(void)\n" "{\n" " gl_FragColor = vec4(0.2, 0.2, 0.2, 1.0);\n" "}"); material->setProgram(program); graphicsRepresentation->setMaterial(material); std::shared_ptr inputComponent; inputComponent = std::make_shared(name + " Input"); inputComponent->setDeviceName(deviceName); std::shared_ptr driver; driver = std::make_shared(name + " Driver"); driver->setSource(inputComponent); std::shared_ptr element = std::make_shared(name); element->addComponent(graphicsRepresentation); element->addComponent(inputComponent); element->addComponent(driver); element->addComponent(material); return element; } int main(int argc, char* argv[]) { std::shared_ptr graphicsManager = std::make_shared(); std::shared_ptr physicsManager = std::make_shared(); std::shared_ptr behaviorManager = std::make_shared(); std::shared_ptr inputManager = std::make_shared(); std::shared_ptr runtime = std::make_shared("config.txt"); runtime->addManager(physicsManager); runtime->addManager(graphicsManager); runtime->addManager(behaviorManager); runtime->addManager(inputManager); const std::string deviceName = "Tool_Device"; std::shared_ptr device = SurgSim::Devices::loadDevice("Device.yaml"); SURGSIM_ASSERT(device != nullptr) << "Failed to initialize any device."; SURGSIM_LOG_IF(std::dynamic_pointer_cast(device) != nullptr, SurgSim::Framework::Logger::getDefaultLogger(), WARNING) << "The InputVtc example was unable to initialize " << "an input device that provides poses, so it will use a constant pose."; inputManager->addDevice(device); std::shared_ptr scene = runtime->getScene(); scene->addSceneElement(createBox("VTC Box", deviceName)); scene->addSceneElement(createBoxForRawInput("Raw Input", deviceName)); std::shared_ptr plane = createPlane("Plane"); plane->setPose(makeRigidTransform(SurgSim::Math::Quaterniond::Identity(), Vector3d(0.0, -1.0, 0.0))); scene->addSceneElement(plane); std::shared_ptr viewElement = std::make_shared("view"); viewElement->setPose(makeRigidTransform(SurgSim::Math::Quaterniond::Identity(), Vector3d(0.0, 0.5, 5.0))); scene->addSceneElement(viewElement); runtime->execute(); return 0; } opensurgsim-0.7.0/Examples/InputVtc/config.txt.in000066400000000000000000000000761277777236100220640ustar00rootroot00000000000000${CMAKE_CURRENT_BINARY_DIR}/Data/ ${SURGSIM_SOURCE_DIR}/Data/opensurgsim-0.7.0/Examples/ShowScenery/000077500000000000000000000000001277777236100201435ustar00rootroot00000000000000opensurgsim-0.7.0/Examples/ShowScenery/CMakeLists.txt000066400000000000000000000023551277777236100227100ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. link_directories( ${Boost_LIBRARY_DIRS} ) include_directories( "${CMAKE_CURRENT_SOURCE_DIR}" "${OPENTHREADS_INCLUDE_DIR}" ) set(SOURCES ShowScenery.cpp ) set(HEADERS ) # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) surgsim_add_executable(ShowScenery "${SOURCES}" "${HEADERS}") SET(LIBS SurgSimBlocks SurgSimGraphics ${Boost_LIBRARIES} ${YAML_CPP_LIBRARIES} ) target_link_libraries(ShowScenery ${LIBS}) # Put ShowScenery into folder "Examples" set_target_properties(ShowScenery PROPERTIES FOLDER "Examples") opensurgsim-0.7.0/Examples/ShowScenery/ShowScenery.cpp000066400000000000000000000101151277777236100231160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/Framework.h" #include "SurgSim/Graphics/Graphics.h" #include "SurgSim/Math/Math.h" using SurgSim::Framework::BasicSceneElement; using SurgSim::Framework::Logger; using SurgSim::Framework::Runtime; using SurgSim::Graphics::OsgAxesRepresentation; using SurgSim::Graphics::OsgSceneryRepresentation; using SurgSim::Graphics::OsgViewElement; using SurgSim::Math::Vector3d; namespace po = boost::program_options; namespace { std::shared_ptr createView(const std::string& name, int x, int y, int width, int height) { std::shared_ptr viewElement = std::make_shared(name); std::array position = {x, y}; std::array dimensions = {width, height}; viewElement->getView()->setPosition(position); viewElement->getView()->setDimensions(dimensions); return viewElement; } } int main(int argc, char* argv[]) { // Parse commandline parameters po::options_description visible("Allowed options"); visible.add_options()("help", "produce help message") ("config-file", po::value(), "The config file to use"); po::options_description hidden("Hidden options"); hidden.add_options()("input-file", po::value>(), "input file"); po::options_description all("All options"); all.add(visible).add(hidden); po::positional_options_description positional; positional.add("input-file", -1); po::variables_map variables; po::store(po::command_line_parser(argc, argv).options(all).positional(positional).run(), variables); if (variables.count("help")) { std::cout << visible << "\n"; return 1; } if (variables.count("input-file") == 0) { std::cout << "You need to supply one or more input files.\n"; return 1; } std::shared_ptr runtime; if (variables.count("config-file") == 1) { runtime = std::make_shared(variables["config-file"].as()); } else { runtime = std::make_shared(); } auto data = runtime->getApplicationData(); runtime->addManager(std::make_shared()); runtime->addManager(std::make_shared()); auto scene = runtime->getScene(); auto viewElement = createView("View", 40, 40, 1024, 768); scene->addSceneElement(viewElement); viewElement->enableManipulator(true); viewElement->setManipulatorParameters(Vector3d(0, 0, 2), Vector3d(0, 0, 0)); auto element = std::make_shared("Graphics"); auto axes = std::make_shared("axes"); element->addComponent(axes); auto files = variables["input-file"].as>(); for (auto file : files) { auto appData = runtime->getApplicationData(); std::string path; #ifdef WIN32 // Fix windows backslashes coming in from the command-line, these may be absolute paths std::replace_if(file.begin(), file.end(), [](const char& c) { return c == '\\'; }, '/'); #endif // In this case we circumvent the assertion that will stop execution if the file can't be found and // try to show as many scenery objects as possible if (appData->tryFindFile(file, &path)) { auto graphics = std::make_shared(file); graphics->loadModel(file); element->addComponent(graphics); } else { SURGSIM_LOG_WARNING(Logger::getDefaultLogger()) << "Can't find " << file; } } scene->addSceneElement(element); runtime->execute(); return 0; } opensurgsim-0.7.0/Examples/ShowScenery/config.txt.in000066400000000000000000000000351277777236100225540ustar00rootroot00000000000000${PROJECT_BINARY_DIR}/Data/ opensurgsim-0.7.0/Examples/Stapling/000077500000000000000000000000001277777236100174535ustar00rootroot00000000000000opensurgsim-0.7.0/Examples/Stapling/CMakeLists.txt000066400000000000000000000033361277777236100222200ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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_directories( ${CMAKE_CURRENT_SOURCE_DIR} ) set(STAPLING_SOURCES StapleElement.cpp StaplerBehavior.cpp Stapling.cpp ) set(STAPLING_HEADERS StapleElement.h StaplerBehavior.h ) surgsim_add_executable(Stapling "${STAPLING_SOURCES}" "${STAPLING_HEADERS}") set(SERIALIZEDSTAPLING_SOURCES SerializedStapling.cpp StapleElement.cpp StaplerBehavior.cpp ) set(SERIALIZEDSTAPLING_HEADERS StapleElement.h StaplerBehavior.h ) surgsim_add_executable(SerializedStapling "${SERIALIZEDSTAPLING_SOURCES}" "${SERIALIZEDSTAPLING_HEADERS}") set(LIBS IdentityPoseDevice MultiAxisDevice SurgSimBlocks SurgSimFramework SurgSimGraphics ${YAML_CPP_LIBRARIES} ) target_link_libraries(Stapling ${LIBS}) target_link_libraries(SerializedStapling ${LIBS}) file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/Data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) set_target_properties(Stapling PROPERTIES FOLDER "Examples") set_target_properties(SerializedStapling PROPERTIES FOLDER "Examples") opensurgsim-0.7.0/Examples/Stapling/Data/000077500000000000000000000000001277777236100203245ustar00rootroot00000000000000opensurgsim-0.7.0/Examples/Stapling/Data/Geometry/000077500000000000000000000000001277777236100221175ustar00rootroot00000000000000opensurgsim-0.7.0/Examples/Stapling/Data/Geometry/arm_collision.ply000066400000000000000000003661021277777236100255070ustar00rootroot00000000000000ply format ascii 1.0 comment Created by Blender 2.69 (sub 0) - www.blender.org, source file: '' element vertex 1582 property float x property float y property float z property float nx property float ny property float nz property float s property float t element face 528 property list uchar uint vertex_indices end_header -0.034406 -0.085027 -0.138728 0.463145 -0.829541 -0.312024 0.135340 0.509730 -0.095526 -0.117518 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f 69/62 70/63 68/61 67/60 f 71/64 72/65 70/63 69/62 f 73/66 74/67 72/65 71/64 f 75/68 76/69 74/67 73/66 f 77/70 78/71 76/69 75/68 f 79/72 80/73 78/71 77/70 f 81/74 82/75 80/73 79/72 f 83/76 84/77 82/75 81/74 f 85/78 86/79 84/77 83/76 f 87/80 88/81 86/79 85/78 f 89/82 90/83 88/81 87/80 f 91/84 92/85 90/83 89/82 f 93/86 94/87 92/85 91/84 f 95/88 96/89 94/87 93/86 f 97/90 98/91 96/89 95/88 f 99/92 100/93 98/91 97/90 f 101/94 102/95 100/93 99/92 f 103/96 104/97 102/95 101/94 f 105/98 106/99 104/97 103/96 f 107/100 108/101 106/99 105/98 f 109/102 110/103 108/101 107/100 f 111/104 112/105 110/103 109/102 f 113/106 114/107 112/105 111/104 f 115/108 116/109 114/107 113/106 f 117/110 118/111 116/109 115/108 f 119/112 120/113 118/111 117/110 f 121/114 122/115 120/113 119/112 f 123/116 124/117 122/115 121/114 f 125/118 126/119 124/117 123/116 f 127/120 128/121 126/119 125/118 f 129/122 130/123 128/121 127/120 f 131/124 132/125 130/123 129/122 f 133/126 134/127 132/125 131/124 f 135/128 136/129 134/127 133/126 f 137/130 138/131 136/129 135/128 f 139/132 140/133 138/131 137/130 f 141/134 142/135 140/133 139/132 f 143/136 144/137 142/135 141/134 f 145/138 146/139 144/137 143/136 f 147/140 148/141 146/139 145/138 f 149/142 150/143 148/141 147/140 f 151/144 152/145 150/143 149/142 f 153/146 154/147 152/145 151/144 f 155/148 156/149 154/147 153/146 f 157/150 158/151 156/149 155/148 f 159/152 160/153 158/151 157/150 f 161/154 162/155 160/153 159/152 f 163/156 164/157 162/155 161/154 f 165/158 166/159 164/157 163/156 f 167/160 168/161 166/159 165/158 f 169/162 170/163 168/161 167/160 f 171/164 172/165 170/163 169/162 f 173/166 174/167 172/165 171/164 f 175/168 176/169 174/167 173/166 f 177/170 178/171 176/169 175/168 f 179/172 180/173 178/171 177/170 f 181/174 182/175 180/173 179/172 f 183/176 184/177 182/175 181/174 f 185/178 186/179 184/177 183/176 f 187/180 188/181 186/179 185/178 f 189/182 190/183 188/181 187/180 f 191/184 192/185 190/183 189/182 f 193/186 194/187 192/185 191/184 f 195/188 196/189 194/187 193/186 f 197/190 198/191 196/189 195/188 f 199/192 200/193 198/191 197/190 f 201/194 202/195 200/193 199/192 f 203/196 204/197 202/195 201/194 f 205/198 206/199 204/197 203/196 f 207/200 208/201 206/199 205/198 f 209/202 210/203 208/201 207/200 f 211/204 212/205 210/203 209/202 f 213/206 214/207 212/205 211/204 f 215/208 216/209 214/207 213/206 f 217/210 218/211 216/209 215/208 f 219/212 220/213 218/211 217/210 f 221/214 222/215 220/213 219/212 f 223/216 224/217 222/215 221/214 f 225/218 226/219 224/217 223/216 f 227/220 228/221 226/219 225/218 f 229/222 230/223 228/221 227/220 f 231/224 232/225 230/223 229/222 f 233/226 234/227 232/225 231/224 f 235/228 236/229 234/227 233/226 f 237/230 238/231 236/229 235/228 f 239/232 240/233 238/231 237/230 f 241/234 242/235 240/233 239/232 f 243/236 244/237 242/235 241/234 f 245/238 246/239 244/237 243/236 f 247/240 248/241 246/239 245/238 f 249/242 250/243 248/241 247/240 f 251/244 252/245 250/243 249/242 f 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"License"); comment you may not use this file except in compliance with the License. comment You may obtain a copy of the License at comment comment http://www.apache.org/licenses/LICENSE-2.0 comment comment Unless required by applicable law or agreed to in writing, software comment distributed under the License is distributed on an "AS IS" BASIS, comment WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. comment See the License for the specific language governing permissions and comment limitations under the License. comment comment This file provides the geometry which describes a tetrahedral volume comment mesh and triangular surface mesh of an arm wound. comment element vertex 391 property double x property double y property double z property double s property double t element face 407 property list uint uint vertex_indices element 3d_element 1476 property list uint uint vertex_indices element boundary_condition 79 property uint vertex_index element material 1 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131 306 4 24 27 26 315 4 209 176 363 315 4 27 315 210 146 4 276 275 41 123 4 266 116 20 117 4 248 316 95 146 4 340 199 93 82 4 25 349 26 62 4 96 74 105 98 4 190 88 304 92 4 58 18 16 320 4 316 96 95 146 4 159 43 45 46 4 336 263 339 10 4 217 172 303 302 4 240 345 353 278 4 213 212 95 28 4 309 16 314 320 4 84 167 23 115 4 335 207 206 10 4 159 45 158 46 4 20 21 142 117 4 314 94 51 81 4 196 197 50 102 4 285 366 284 352 4 343 228 13 86 4 34 263 205 186 4 96 64 97 98 4 260 21 22 117 4 258 6 220 221 4 333 342 219 343 4 114 117 116 102 4 180 131 182 133 4 305 88 341 78 4 56 4 109 118 4 107 23 20 116 4 247 237 184 227 4 370 58 319 311 4 147 149 327 80 4 362 210 363 146 4 260 287 141 115 4 303 44 328 210 4 335 212 154 249 4 81 80 314 17 4 39 271 179 178 4 191 124 189 192 4 209 362 363 384 4 19 287 86 167 4 91 221 88 78 4 347 93 348 199 4 205 263 262 186 4 316 363 234 315 4 237 306 182 229 4 342 127 286 343 4 317 132 47 227 4 193 379 377 159 4 221 228 258 86 4 167 115 12 19 4 140 139 162 123 4 344 50 196 197 4 242 256 240 278 4 25 273 349 62 4 341 57 358 78 4 205 76 34 92 4 216 113 217 172 4 95 28 212 9 4 189 140 211 124 4 264 236 235 18 4 183 178 231 29 4 175 379 72 111 4 132 131 130 227 4 302 171 166 38 4 317 184 301 227 4 111 5 223 46 4 333 334 219 342 4 195 136 196 197 4 109 299 110 118 4 157 215 39 42 4 130 247 47 227 4 201 223 224 53 4 244 105 138 324 4 299 118 218 119 4 224 53 223 112 4 163 162 161 144 4 287 129 282 19 4 87 343 351 228 4 124 140 211 192 4 51 94 16 19 4 324 293 329 243 4 314 81 267 80 4 95 74 28 9 4 223 46 5 172 4 291 238 352 181 4 37 299 218 119 389 323 388 386 380 368 364 359 274 366 283 241 239 367 349 318 369 99 200 344 374 381 319 264 59 361 305 375 204 321 126 275 203 322 267 246 309 289 288 354 376 314 370 294 279 121 353 240 254 273 25 224 50 135 311 58 60 304 191 124 290 134 292 360 120 345 255 387 226 201 52 310 14 15 190 189 202 122 356 1000.0 0.45 7.5e4 opensurgsim-0.7.0/Examples/Stapling/Data/StaplingDemo.yaml000066400000000000000000000465351277777236100236130ustar00rootroot00000000000000SurgSim::Framework::Scene: SceneElements: - SurgSim::Framework::BasicSceneElement: Name: StaplingDemoView IsActive: true Components: - SurgSim::Graphics::OsgCamera: IsLocalActive: true RenderGroupReference: __OssDefault__ LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] GroupReferences: [] Id: 9ac2cca4-b2df-4ccb-bd6a-d09eed0b1f71 DrawAsWireFrame: false ProjectionMatrix: [[2.414213562373095, 0, 0, 0], [0, 2.414213562373095, 0, 0], [0, 0, -1.002002002002002, -0.02002002002002002], [0, 0, -1, 0]] Name: StaplingDemoView Camera AmbientColor: [0.2, 0.2, 0.2, 1] - SurgSim::Framework::PoseComponent: Id: 61e00b41-e0bf-4048-9cc9-69d828da8845 Name: Pose IsLocalActive: true Pose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] - SurgSim::Graphics::OsgView: IsLocalActive: true FullScreen: false Position: - 0 - 0 Dimensions: - 1024 - 768 Camera: SurgSim::Graphics::OsgCamera: Id: 9ac2cca4-b2df-4ccb-bd6a-d09eed0b1f71 Name: StaplingDemoView Camera DisplayType: 0 StereoMode: -1 WindowBorder: true TargetScreen: 0 EyeSeparation: 0.06 ScreenHeight: 0 ScreenDistance: 1 ScreenWidth: 0 CameraManipulatorEnabled: true CameraPosition: [0, 0.5, 0.5] CameraLookAt: [0, 0, 0] OsgMapUniforms: false KeyboardDeviceEnabled: true Id: 4740c5c9-a638-4eec-b9ad-b6117733ec7a MouseDeviceEnabled: false Name: StaplingDemoView View - SurgSim::Framework::BasicSceneElement: Name: arm IsActive: true Components: - SurgSim::Framework::PoseComponent: Pose: Quaternion: [0, 0, 0, 1] Translation: [0, -0.2, 0] IsLocalActive: true Id: 194f4f32-bfc6-4b22-bc42-b80ee0414edd Name: Pose - SurgSim::Graphics::OsgMeshRepresentation: DrawAsWireFrame: true Name: Collision Mesh Id: 5cd67775-3f9c-40c1-b4ae-4d516272fb9c MeshFileName: Geometry/arm_collision.ply UpdateOptions: 1 GroupReferences: - __OssDefault__ LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] IsLocalActive: false - SurgSim::Graphics::OsgSceneryRepresentation: Id: 201e6e8d-59f9-409c-8688-64192aedad4a DrawAsWireFrame: false Name: Forearm ModelFileName: Geometry/forearm.osgb IsLocalActive: true GroupReferences: - __OssDefault__ LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] - SurgSim::Physics::RigidCollisionRepresentation: IsLocalActive: true Id: 485750a6-32c7-4487-a362-050fee89f45d Name: Collision Ignore: [wound/Collision] LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] Shape: SurgSim::Math::MeshShape: FileName: Geometry/arm_collision.ply - SurgSim::Graphics::OsgSceneryRepresentation: IsLocalActive: true ModelFileName: Geometry/upperarm.osgb GroupReferences: - __OssDefault__ LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] Id: 2a8aba74-66af-4c41-879f-38c54bdc931f DrawAsWireFrame: false Name: Upperarm - SurgSim::Physics::FixedRepresentation: IsGravityEnabled: true CollisionRepresentation: SurgSim::Physics::RigidCollisionRepresentation: Id: 485750a6-32c7-4487-a362-050fee89f45d Name: Collision IsDrivingSceneElementPose: true LinearDamping: 0 AngularDamping: 0 Shape: SurgSim::Math::MeshShape: FileName: Geometry/arm_collision.ply Id: 007741f4-d2d7-4f4f-9d2c-505539aa00bf Name: Physics IsLocalActive: true NumDof: 0 Density: 0 RigidState: SurgSim::Physics::RigidState: Pose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] LinearVelocity: [0, 0, 0] AngularVelocity: [0, 0, 0] LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] - SurgSim::Framework::BasicSceneElement: Name: stapler IsActive: true Components: - SurgSim::Blocks::VisualizeContactsBehavior: VectorFieldScale: 200 Id: f7cde302-5c80-4f2b-a80b-a74f55bf15be Name: Contacts Source: SurgSim::Physics::RigidCollisionRepresentation: Name: Collision Id: ec7ac2e2-93b5-46e6-9fda-55b125555092 IsLocalActive: false - SurgSim::Physics::VirtualToolCoupler: AttachmentPoint: Value: [0, 0, 0] HasValue: true IsLocalActive: true Input: SurgSim::Input::InputComponent: Id: 94c01580-98ac-49b1-b8c7-626ace6dbbfd Name: InputComponent LinearStiffness: HasValue: false Value: Not set LinearDamping: HasValue: false Value: Not set AngularStiffness: HasValue: false Value: Not set Representation: SurgSim::Physics::RigidRepresentation: Id: 87eefb88-55d8-48c7-81c9-f8cb24aa65fd Name: Physics AngularDamping: HasValue: false Value: Not set CalculateInertialTorques: false Id: dd56fed8-aa69-4d77-99ce-60364d8cb122 Name: VTC - SurgSim::Framework::PoseComponent: IsLocalActive: true Id: f0f6bb9c-7676-450d-9cb6-e97b0fe1b56d Name: Pose Pose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] - SurgSim::Physics::RigidRepresentation: NumDof: 6 Density: 8050 IsLocalActive: true LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] IsGravityEnabled: false RigidState: SurgSim::Physics::RigidState: LinearVelocity: [0, 0, 0] AngularVelocity: [0, 0, 0] Pose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] CollisionRepresentation: SurgSim::Physics::RigidCollisionRepresentation: Id: ec7ac2e2-93b5-46e6-9fda-55b125555092 Name: Collision IsDrivingSceneElementPose: true LinearDamping: 0 AngularDamping: 0 Shape: SurgSim::Math::MeshShape: FileName: Geometry/stapler_collision.ply Id: 87eefb88-55d8-48c7-81c9-f8cb24aa65fd Name: Physics - SurgSim::Input::InputComponent: DeviceName: MultiAxisDevice Id: 94c01580-98ac-49b1-b8c7-626ace6dbbfd IsLocalActive: true Name: InputComponent - SurgSim::Physics::RigidCollisionRepresentation: IsLocalActive: true Shape: SurgSim::Math::MeshShape: FileName: Geometry/stapler_collision.ply Id: ec7ac2e2-93b5-46e6-9fda-55b125555092 Name: Collision LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] - SurgSim::Graphics::OsgMeshRepresentation: Name: Collision Mesh DrawAsWireFrame: true Id: e1d65704-5035-4db0-91b7-a722b28f6b27 UpdateOptions: 1 IsLocalActive: false MeshFileName: Geometry/stapler_collision.ply GroupReferences: - __OssDefault__ LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] - StaplerBehavior: StapleEnabledSceneElements: - wound InputComponent: SurgSim::Input::InputComponent: Id: 94c01580-98ac-49b1-b8c7-626ace6dbbfd Name: InputComponent IsLocalActive: true Representation: SurgSim::Physics::RigidRepresentation: Id: 87eefb88-55d8-48c7-81c9-f8cb24aa65fd Name: Physics Id: 34e5245b-9b67-4370-86d8-eddd92d7fde3 VirtualTeeth: - SurgSim::Collision::ShapeCollisionRepresentation: Id: b7f70a7d-a6ab-4719-8fcd-698912de1aa6 Name: VirtualToothCollision0 - SurgSim::Collision::ShapeCollisionRepresentation: Id: c5fae459-35d8-4ded-b478-d04ed66e8694 Name: VirtualToothCollision1 Name: Behavior - SurgSim::Graphics::OsgSceneryRepresentation: ModelFileName: Geometry/stapler_indicator.obj IsLocalActive: true GroupReferences: - __OssDefault__ LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] Id: 11a4f850-b8e3-43c6-a9d8-6d76bcd24998 DrawAsWireFrame: false Name: Indicator - SurgSim::Graphics::OsgSceneryRepresentation: Name: Handle DrawAsWireFrame: false IsLocalActive: true ModelFileName: Geometry/stapler_handle.obj GroupReferences: - __OssDefault__ LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] Id: 5709c8b8-b12b-42fa-9bd8-37e5fd55773e - SurgSim::Graphics::OsgSceneryRepresentation: IsLocalActive: true ModelFileName: Geometry/stapler_markings.obj GroupReferences: - __OssDefault__ LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] Id: 787b6765-694b-4682-a252-7bfbc8d0e40f DrawAsWireFrame: false Name: Markings - SurgSim::Collision::ShapeCollisionRepresentation: IsLocalActive: true Shape: SurgSim::Math::MeshShape: FileName: Geometry/virtual_staple_1.ply Id: b7f70a7d-a6ab-4719-8fcd-698912de1aa6 Name: VirtualToothCollision0 Ignore: [stapler/Collision] LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] - SurgSim::Graphics::OsgSceneryRepresentation: ModelFileName: Geometry/stapler_trigger.obj IsLocalActive: true GroupReferences: - __OssDefault__ LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] Id: b2aa7537-2c8c-460f-8ec9-3e9f71cc7b5f DrawAsWireFrame: false Name: Trigger - SurgSim::Collision::ShapeCollisionRepresentation: IsLocalActive: true Shape: SurgSim::Math::MeshShape: FileName: Geometry/virtual_staple_2.ply Id: c5fae459-35d8-4ded-b478-d04ed66e8694 Name: VirtualToothCollision1 Ignore: [stapler/Collision] LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] - SurgSim::Framework::BasicSceneElement: Name: wound IsActive: true Components: - SurgSim::Framework::PoseComponent: IsLocalActive: true Id: e14c0e56-22c1-42af-8fb8-1f5caf32903e Name: Pose Pose: Quaternion: [0, 0, 0, 1] Translation: [0, -0.2, 0] - SurgSim::Graphics::OsgMeshRepresentation: IsLocalActive: false MeshFileName: Geometry/wound_deformable.ply GroupReferences: - __OssDefault__ LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] DrawAsWireFrame: true Id: 68c8db9d-4b71-4b94-b878-aa7bb594cc10 UpdateOptions: 1 Name: Wire Frame - SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior: Target: SurgSim::Graphics::OsgMeshRepresentation: Id: 21058a78-ddc4-421f-b44f-f35fc918a7da Name: Graphics Id: fd091469-54b7-4dd3-a395-ebd43daa1ad7 Name: PhysicsToGraphicalFem Source: SurgSim::Physics::Fem3DRepresentation: Id: 7d447c80-d8c0-4213-a46f-164a800f6d1c Name: Physics IsLocalActive: true - SurgSim::Physics::Fem3DRepresentation: IsLocalActive: true NumDof: 1173 IsGravityEnabled: true LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] IsDrivingSceneElementPose: true CollisionRepresentation: SurgSim::Physics::DeformableCollisionRepresentation: Id: 2cb010a8-8ac3-4735-9551-1a1c17388e27 Name: Collision FemFileName: Geometry/wound_deformable.ply Id: 7d447c80-d8c0-4213-a46f-164a800f6d1c Name: Physics IntegrationScheme: SurgSim::Math::IntegrationScheme: INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT - SurgSim::Graphics::OsgMeshRepresentation: IsLocalActive: true MeshFileName: Geometry/wound_deformable.ply GroupReferences: - __OssDefault__ DrawAsWireFrame: false Id: 21058a78-ddc4-421f-b44f-f35fc918a7da UpdateOptions: 1 Name: Graphics LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] - SurgSim::Physics::DeformableCollisionRepresentation: LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] IsLocalActive: true Shape: SurgSim::Math::MeshShape: FileName: Geometry/wound_deformable.ply Id: 2cb010a8-8ac3-4735-9551-1a1c17388e27 Name: Collision - SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior: Source: SurgSim::Physics::Fem3DRepresentation: Id: 7d447c80-d8c0-4213-a46f-164a800f6d1c Name: Physics IsLocalActive: true Target: SurgSim::Graphics::OsgMeshRepresentation: Id: 68c8db9d-4b71-4b94-b878-aa7bb594cc10 Name: Wire Frame Id: 4acc648a-e162-4b90-9072-8ccd4b96ce09 Name: PhysicsToWireFrameFem - SurgSim::Framework::BasicSceneElement: Name: SceneElement IsActive: true Components: - SurgSim::Blocks::KeyboardTogglesComponentBehavior: IsLocalActive: true InputComponent: SurgSim::Input::InputComponent: Id: 5a9f89eb-868b-4842-bb97-590497b7a3dd Name: KeyboardInputComponent Id: 485bffe9-36e8-42b3-96fe-ab95069cd3cc Name: KeyboardBehavior KeyboardRegistry: 98: - SurgSim::Blocks::VisualizeContactsBehavior: Id: f7cde302-5c80-4f2b-a80b-a74f55bf15be Name: Contacts 99: - SurgSim::Graphics::OsgMeshRepresentation: Id: e1d65704-5035-4db0-91b7-a722b28f6b27 Name: Collision Mesh 97: - SurgSim::Graphics::OsgSceneryRepresentation: Name: Handle Id: 5709c8b8-b12b-42fa-9bd8-37e5fd55773e - SurgSim::Graphics::OsgSceneryRepresentation: Id: 11a4f850-b8e3-43c6-a9d8-6d76bcd24998 Name: Indicator - SurgSim::Graphics::OsgSceneryRepresentation: Id: b2aa7537-2c8c-460f-8ec9-3e9f71cc7b5f Name: Trigger - SurgSim::Graphics::OsgSceneryRepresentation: Id: 787b6765-694b-4682-a252-7bfbc8d0e40f Name: Markings 101: - SurgSim::Graphics::OsgMeshRepresentation: Id: 5cd67775-3f9c-40c1-b4ae-4d516272fb9c Name: Collision Mesh 100: - SurgSim::Graphics::OsgSceneryRepresentation: Id: 201e6e8d-59f9-409c-8688-64192aedad4a Name: Forearm - SurgSim::Graphics::OsgSceneryRepresentation: Id: 2a8aba74-66af-4c41-879f-38c54bdc931f Name: Upperarm 102: - SurgSim::Graphics::OsgMeshRepresentation: Id: 21058a78-ddc4-421f-b44f-f35fc918a7da Name: Graphics 103: - SurgSim::Graphics::OsgMeshRepresentation: Id: 68c8db9d-4b71-4b94-b878-aa7bb594cc10 Name: Wire Frame - SurgSim::Framework::PoseComponent: IsLocalActive: true Id: f26ccf32-aeb8-4790-a612-01a2865bfef9 Name: Pose Pose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] - SurgSim::Input::InputComponent: DeviceName: Keyboard Id: 5a9f89eb-868b-4842-bb97-590497b7a3dd IsLocalActive: true Name: KeyboardInputComponent opensurgsim-0.7.0/Examples/Stapling/SerializedStapling.cpp000066400000000000000000000066651277777236100237710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include "Examples/Stapling/StaplerBehavior.h" #include "SurgSim/Blocks/Blocks.h" #include "SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.h" #include "SurgSim/Devices/MultiAxis/MultiAxisDevice.h" #include "SurgSim/Framework/Framework.h" #include "SurgSim/Graphics/Graphics.h" #include "SurgSim/Input/Input.h" #include "SurgSim/Math/Math.h" #include "SurgSim/Physics/Physics.h" using SurgSim::Devices::IdentityPoseDevice; using SurgSim::Devices::MultiAxisDevice; using SurgSim::Framework::BehaviorManager; using SurgSim::Framework::Runtime; using SurgSim::Framework::SceneElement; using SurgSim::Graphics::OsgManager; using SurgSim::Graphics::OsgView; using SurgSim::Graphics::OsgViewElement; using SurgSim::Input::InputManager; using SurgSim::Math::Vector3d; using SurgSim::Input::DeviceInterface; using SurgSim::Physics::PhysicsManager; template std::shared_ptr getComponentChecked(std::shared_ptr sceneElement, const std::string& name) { std::shared_ptr component = sceneElement->getComponent(name); SURGSIM_ASSERT(component != nullptr) << "Failed to get Component named '" << name << "'."; std::shared_ptr result = std::dynamic_pointer_cast(component); SURGSIM_ASSERT(result != nullptr) << "Failed to convert Component to requested type."; return result; } int main(int argc, char* argv[]) { const std::string deviceName = "MultiAxisDevice"; std::shared_ptr behaviorManager = std::make_shared(); std::shared_ptr graphicsManager = std::make_shared(); std::shared_ptr inputManager = std::make_shared(); std::shared_ptr physicsManager = std::make_shared(); std::shared_ptr runtime = std::make_shared("config.txt"); runtime->addManager(behaviorManager); runtime->addManager(graphicsManager); runtime->addManager(inputManager); runtime->addManager(physicsManager); std::shared_ptr device; device = std::make_shared(deviceName); if (!device->initialize()) { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << "Could not initialize device " << device->getName() << " for the tool."; device = std::make_shared(deviceName); } inputManager->addDevice(device); runtime->loadScene("StaplingDemo.yaml"); std::shared_ptr view = runtime->getScene()->getSceneElement("StaplingDemoView"); auto osgView = std::dynamic_pointer_cast(view->getComponent("StaplingDemoView View")); SURGSIM_ASSERT(nullptr != osgView) << "No OsgView held by SceneElement StaplingDemoView."; inputManager->addDevice(osgView->getKeyboardDevice()); runtime->execute(); return 0; } opensurgsim-0.7.0/Examples/Stapling/StapleElement.cpp000066400000000000000000000047021277777236100227240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "Examples/Stapling/StapleElement.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Graphics/Model.h" #include "SurgSim/Graphics/OsgSceneryRepresentation.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" #include "SurgSim/Physics/RigidRepresentation.h" using SurgSim::Graphics::SceneryRepresentation; using SurgSim::Graphics::OsgSceneryRepresentation; using SurgSim::Math::MeshShape; using SurgSim::Physics::RigidCollisionRepresentation; using SurgSim::Physics::RigidRepresentation; StapleElement::StapleElement(const std::string& name) : SurgSim::Framework::BasicSceneElement(name), m_hasCollisionRepresentation(true) { } void StapleElement::setHasCollisionRepresentation(bool flag) { m_hasCollisionRepresentation = flag; } bool StapleElement::doInitialize() { auto meshShape = std::make_shared(); const std::string file = "/Geometry/staple_collision.ply"; meshShape->load(file); auto physicsRepresentation = std::make_shared("Physics"); physicsRepresentation->setDensity(8050); // Stainless steel (in Kg.m-3) physicsRepresentation->setShape(meshShape); physicsRepresentation->setLinearDamping(1e-2); physicsRepresentation->setAngularDamping(1e-4); std::shared_ptr graphicsRepresentation = std::make_shared("Graphics"); graphicsRepresentation->loadModel("Geometry/staple.obj"); addComponent(physicsRepresentation); addComponent(graphicsRepresentation); if (m_hasCollisionRepresentation) { auto collisionRepresentation = std::make_shared("Collision"); physicsRepresentation->setCollisionRepresentation(collisionRepresentation); addComponent(collisionRepresentation); } return true; } opensurgsim-0.7.0/Examples/Stapling/StapleElement.h000066400000000000000000000027641277777236100223770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 EXAMPLES_STAPLING_STAPLEELEMENT_H #define EXAMPLES_STAPLING_STAPLEELEMENT_H #include #include "SurgSim/Framework/BasicSceneElement.h" class StapleElement : public SurgSim::Framework::BasicSceneElement { public: /// Constructor /// \param name Name of the staple element. explicit StapleElement(const std::string& name); /// Specify whether the staple was created with a collision representation. /// \param flag Flag to specify whether the staple was created with a collision representation. void setHasCollisionRepresentation(bool flag); protected: /// Initialize this scene element /// \return True on success, otherwise false. bool doInitialize() override; private: /// Flag to specify if the stapleElement was created with a collision representation. bool m_hasCollisionRepresentation; }; #endif //EXAMPLES_STAPLING_STAPLEELEMENT_H opensurgsim-0.7.0/Examples/Stapling/StaplerBehavior.cpp000066400000000000000000000300701277777236100232510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "Examples/Stapling/StaplerBehavior.h" #include #include "Examples/Stapling/StapleElement.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/DataStructures/DataStructuresConvert.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Graphics/SceneryRepresentation.h" #include "SurgSim/Graphics/Model.h" #include "SurgSim/Math/MlcpConstraintType.h" #include "SurgSim/Input/InputComponent.h" #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ConstraintComponent.h" #include "SurgSim/Physics/ConstraintImplementation.h" #include "SurgSim/Physics/DeformableCollisionRepresentation.h" #include "SurgSim/Physics/DeformableRepresentation.h" #include "SurgSim/Physics/Localization.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" #include "SurgSim/Physics/RigidConstraintFixedPoint.h" #include "SurgSim/Physics/RigidRepresentation.h" using SurgSim::Collision::ContactMapType; using SurgSim::Physics::ConstraintImplementation; using SurgSim::Physics::Localization; using SurgSim::Physics::RigidConstraintFixedPoint; using SurgSim::Framework::checkAndConvert; SURGSIM_REGISTER(SurgSim::Framework::Component, StaplerBehavior, StaplerBehavior); StaplerBehavior::StaplerBehavior(const std::string& name): SurgSim::Framework::Behavior(name), m_numElements(0), m_button1Index(-1), m_button1IndexCached(false), m_buttonPreviouslyPressed(false) { typedef std::array, 2> VirtualTeethArray; SURGSIM_ADD_SERIALIZABLE_PROPERTY(StaplerBehavior, std::shared_ptr, InputComponent, getInputComponent, setInputComponent); SURGSIM_ADD_SERIALIZABLE_PROPERTY(StaplerBehavior, std::shared_ptr, Representation, getRepresentation, setRepresentation); SURGSIM_ADD_SERIALIZABLE_PROPERTY(StaplerBehavior, VirtualTeethArray, VirtualTeeth, getVirtualTeeth, setVirtualTeeth); SURGSIM_ADD_SERIALIZABLE_PROPERTY(StaplerBehavior, std::list, StapleEnabledSceneElements, getStapleEnabledSceneElements, setStapleEnabledSceneElements); } void StaplerBehavior::setInputComponent(std::shared_ptr inputComponent) { SURGSIM_ASSERT(nullptr != inputComponent) << "'inputComponent' cannot be set to 'nullptr'"; m_from = checkAndConvert(inputComponent, "SurgSim::Input::InputComponent"); } std::shared_ptr StaplerBehavior::getInputComponent() { return m_from; } void StaplerBehavior::setRepresentation(std::shared_ptr staplerRepresentation) { SURGSIM_ASSERT(nullptr != staplerRepresentation) << "'staplerRepresentation' cannot be set to 'nullptr'"; m_representation = checkAndConvert( staplerRepresentation, "SurgSim::Framework::Representation"); } std::shared_ptr StaplerBehavior::getRepresentation() { return m_representation; } void StaplerBehavior::setVirtualTeeth( const std::array, 2>& virtualTeeth) { m_virtualTeeth = virtualTeeth; } const std::array, 2>& StaplerBehavior::getVirtualTeeth() { return m_virtualTeeth; } void StaplerBehavior::enableStaplingForSceneElement(const std::string& sceneElementName) { m_stapleEnabledSceneElements.push_back(sceneElementName); } void StaplerBehavior::setStapleEnabledSceneElements(const std::list& stapleEnabledSceneElements) { m_stapleEnabledSceneElements = stapleEnabledSceneElements; } const std::list& StaplerBehavior::getStapleEnabledSceneElements() { return m_stapleEnabledSceneElements; } void StaplerBehavior::filterCollisionMapForStapleEnabledRepresentations(ContactMapType* collisionsMap) { for (auto it = collisionsMap->begin(); it != collisionsMap->end();) { if (std::find(m_stapleEnabledSceneElements.begin(), m_stapleEnabledSceneElements.end(), (*it).first->getSceneElement()->getName()) == m_stapleEnabledSceneElements.end()) { // Representation's scene element is not in the m_stapleEnabledSceneElements. it = collisionsMap->erase(it); } else { ++it; } } } std::shared_ptr StaplerBehavior::findCorrespondingPhysicsRepresentation( std::shared_ptr collisionRepresentation) { std::shared_ptr physicsRepresentation = nullptr; // Check if the collisionRepresenation is for a Rigid body. std::shared_ptr rigidCollisionRepresentation = std::dynamic_pointer_cast(collisionRepresentation); if (rigidCollisionRepresentation != nullptr) { physicsRepresentation = rigidCollisionRepresentation->getRigidRepresentation(); } else { // Check if the collisionRepresenation is for a deformable body. std::shared_ptr deformableCollisionRepresentation = std::dynamic_pointer_cast(collisionRepresentation); if (deformableCollisionRepresentation != nullptr) { physicsRepresentation = deformableCollisionRepresentation->getDeformableRepresentation(); } } return physicsRepresentation; } void StaplerBehavior::filterCollisionMapForSupportedRepresentationTypes(ContactMapType* collisionsMap) { for (auto it = collisionsMap->begin(); it != collisionsMap->end();) { if (findCorrespondingPhysicsRepresentation((*it).first) == nullptr) { // Representation type is not supported to be stapled. it = collisionsMap->erase(it); } else { ++it; } } } void StaplerBehavior::createStaple() { // Create the staple (not added to the scene right now). auto staple = std::make_shared("staple_" + boost::to_string(m_numElements++)); staple->setPose(m_representation->getPose()); int toothId = 0; bool stapleAdded = false; for (auto virtualTooth = m_virtualTeeth.cbegin(); virtualTooth != m_virtualTeeth.cend(); ++virtualTooth) { // The virtual tooth could be in contact with any number of objects in the scene. // Get its collisionMap. ContactMapType collisionsMap = *((*virtualTooth)->getCollisions().safeGet()); // If the virtualTooth has no collision, continue to next loop iteration. if (collisionsMap.empty()) { continue; } // Remove representations from the collision map that are not enabled to be stapled. filterCollisionMapForStapleEnabledRepresentations(&collisionsMap); // If the collision map is emptied after filtering, continue to next loop iteration. if (collisionsMap.empty()) { continue; } // Filter the map based on supported Physics::Represention types. filterCollisionMapForSupportedRepresentationTypes(&collisionsMap); // If the collision map is emptied after filtering, continue to next loop iteration. if (collisionsMap.empty()) { continue; } // Find the row (representation, list of contacts) in the map that the virtualTooth has most // collision pairs with. ContactMapType::value_type targetRepresentationContacts = *std::max_element(collisionsMap.begin(), collisionsMap.end(), [](const ContactMapType::value_type & lhs, const ContactMapType::value_type & rhs) { return lhs.second.size() < rhs.second.size(); }); // Iterate through the list of collision pairs to find a contact with the deepest penetration. std::shared_ptr targetContact = *std::max_element(targetRepresentationContacts.second.begin(), targetRepresentationContacts.second.end(), [](const std::shared_ptr& lhs, const std::shared_ptr& rhs) { return lhs->depth < rhs->depth; }); // Create the staple, before creating the constraint with the staple. // The staple is created with no collision representation, because it is going to be constrained. if (!stapleAdded) { staple->setHasCollisionRepresentation(false); getScene()->addSceneElement(staple); // The gravity of the staple is disabled to prevent it from rotating about the line // connecting the two points of constraints on the staple. staple->getComponents()[0]->setIsGravityEnabled(false); stapleAdded = true; } // Find the corresponding Phsyics::Representation for the target Collision::Representation. // Note that the targetPhysicsRepresentation will NOT be a nullptr, because the // collisionsMap was filtered earlier to remove Representations that returned nullptr // when the function findCorrespondingPhysicsRepresentation was called. // (see filterCollisionMapForStapleEnabledRepresentations above). std::shared_ptr targetPhysicsRepresentation = findCorrespondingPhysicsRepresentation(targetRepresentationContacts.first); // The constraint is created at the contact point in targetContact->penetrationPoints.second. // Convert this location to stapleRepresentation. auto stapleRepresentation = staple->getComponents()[0]; SurgSim::DataStructures::Location stapleConstraintLocation(SurgSim::Math::Vector3d( stapleRepresentation->getPose().inverse() * targetPhysicsRepresentation->getPose() * targetContact->penetrationPoints.second.rigidLocalPosition.getValue())); // Create a bilateral constraint between the targetPhysicsRepresentation and the staple. auto constraint = std::make_shared(SurgSim::Physics::FIXED_3DPOINT, std::make_shared(), stapleRepresentation, stapleConstraintLocation, targetPhysicsRepresentation, targetContact->penetrationPoints.second); // Create a component to store this constraint. std::shared_ptr constraintComponent = std::make_shared( "FixedPointConstraint" + boost::to_string(toothId++)); constraintComponent->setConstraint(constraint); staple->addComponent(constraintComponent); } if (!stapleAdded) { // Create the staple element. staple->setHasCollisionRepresentation(true); getScene()->addSceneElement(staple); } } void StaplerBehavior::update(double dt) { SurgSim::DataStructures::DataGroup dataGroup; m_from->getData(&dataGroup); // Get the button1 index. if (!m_button1IndexCached) { m_button1Index = dataGroup.booleans().getIndex("button1"); m_button1IndexCached = true; } // Check if the stapler is being pressed. bool button1 = false; dataGroup.booleans().get(m_button1Index, &button1); if (button1 && !m_buttonPreviouslyPressed) { createStaple(); } m_buttonPreviouslyPressed = button1; } int StaplerBehavior::getTargetManagerType() const { return SurgSim::Framework::MANAGER_TYPE_PHYSICS; } bool StaplerBehavior::doInitialize() { SURGSIM_ASSERT(m_from) << "StaplerBehavior: no InputComponent held."; SURGSIM_ASSERT((m_virtualTeeth[0] != nullptr) && (m_virtualTeeth[1] != nullptr)) << "StaplerBehavior: setVirtualStaple was not called, " << "or it was passed nullptr for a Collision Representation."; return true; } bool StaplerBehavior::doWakeUp() { return true; } opensurgsim-0.7.0/Examples/Stapling/StaplerBehavior.h000066400000000000000000000140271277777236100227220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 EXAMPLES_STAPLING_STAPLERBEHAVIOR_H #define EXAMPLES_STAPLING_STAPLERBEHAVIOR_H #include #include #include #include #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Collision/Representation.h" namespace SurgSim { namespace DataStructures { struct Location; } namespace Framework { class Representation; } namespace Graphics { class SceneryRepresentation; } namespace Input { class InputComponent; } namespace Physics { class Constraint; } } SURGSIM_STATIC_REGISTRATION(StaplerBehavior); /// This behavior is used to add staples. /// The stapler is controlled by an input device and when /// the user pushes a button on the device, a stapler will be deployed from the stapler. class StaplerBehavior: public SurgSim::Framework::Behavior { public: /// Constructor /// \param name Name of the behavior explicit StaplerBehavior(const std::string& name); SURGSIM_CLASSNAME(StaplerBehavior); /// Set the input component from which to get the pose /// \param inputComponent The input component which sends the pose. void setInputComponent(std::shared_ptr inputComponent); /// \return The input component which sends the pose. std::shared_ptr getInputComponent(); /// Set the representation of the stapler /// \param staplerRepresentation The representation of a stapler void setRepresentation(std::shared_ptr staplerRepresentation); /// \return The representation of a stapler std::shared_ptr getRepresentation(); /// Update the behavior /// \param dt The length of time (seconds) between update calls. void update(double dt) override; /// Return the type of manager that should be responsible for this behavior /// \return An integer indicating which manger should be responsible for this behavior. int getTargetManagerType() const override; /// Sets the virtual teeth for the virtual staple /// \param virtualTeeth Array of collision representations for the virtual stapler teeth. void setVirtualTeeth(const std::array, 2>& virtualTeeth); /// \return Array of collision representations for the virtual stapler teeth. const std::array, 2>& getVirtualTeeth(); /// Add a scene element (name) for which stapling is enabled within this behaviour. /// \param sceneElementName The name of the scene element that this behaviour can staple. void enableStaplingForSceneElement(const std::string& sceneElementName); /// Sets the list of scene element names that this behaviour can staple /// \param stapleEnabledSceneElements List of scene element names that this behaviour can staple. void setStapleEnabledSceneElements(const std::list& stapleEnabledSceneElements); /// \return List of scene element names that this behaviour can staple. const std::list& getStapleEnabledSceneElements(); protected: /// Initialize this behavior /// \return True on success, otherwise false. /// \note: In current implementation, this method always returns "true". bool doInitialize() override; /// Wakeup this behavior /// \return True on success, otherwise false. /// \note: In current implementation, this method always returns "true". bool doWakeUp() override; private: /// Given a collision map, remove entries whose representations are not part of /// enabled scene element lists. /// \param [in,out] collisionsMap The collision map to be filtered. void filterCollisionMapForStapleEnabledRepresentations(SurgSim::Collision::ContactMapType *collisionsMap); /// Given a Collision::Representation, get the corresponding Physics::Representation. /// \param collisionRepresentation shared_ptr to the collision representation. /// \return The shared_ptr of the Physics::Representation. Can be nullptr. std::shared_ptr findCorrespondingPhysicsRepresentation( std::shared_ptr collisionRepresentation); /// Given a collision map, remove entries whose representations are not supported to be stapled to. /// \param [in,out] collisionsMap The collision map to be filtered. void filterCollisionMapForSupportedRepresentationTypes(SurgSim::Collision::ContactMapType* collisionsMap); /// Function to create the staple element. /// \note This function also checks for collision with stapling enabled objects in the scene to create /// bilateral constraint between the staple element and the object. void createStaple(); /// Input component from which to get the pose. std::shared_ptr m_from; /// The representation of the stapler. std::shared_ptr m_representation; /// The number of staples added int m_numElements; /// The NamedData index for the button1. int m_button1Index; /// Flag for caching the the NamedData button1Index. bool m_button1IndexCached; /// Used to record if a button was previously pressed bool m_buttonPreviouslyPressed; /// Contains the teeth for detecting collisions std::array, 2> m_virtualTeeth; /// The list of scene element names that this behavior can staple. std::list m_stapleEnabledSceneElements; }; #endif // EXAMPLES_STAPLING_STAPLERBEHAVIOR_H opensurgsim-0.7.0/Examples/Stapling/Stapling.cpp000066400000000000000000000457621277777236100217560ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include #include "Examples/Stapling/StaplerBehavior.h" #include "SurgSim/Blocks/Blocks.h" #include "SurgSim/Collision/Collision.h" #include "SurgSim/DataStructures/DataStructures.h" #include "SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.h" #include "SurgSim/Devices/Keyboard/KeyCode.h" #include "SurgSim/Devices/MultiAxis/MultiAxisDevice.h" #include "SurgSim/Framework/Framework.h" #include "SurgSim/Graphics/Graphics.h" #include "SurgSim/Input/Input.h" #include "SurgSim/Math/Math.h" #include "SurgSim/Physics/Physics.h" using SurgSim::Blocks::KeyboardTogglesComponentBehavior; using SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior; using SurgSim::Blocks::VisualizeContactsBehavior; using SurgSim::Collision::ShapeCollisionRepresentation; using SurgSim::Devices::IdentityPoseDevice; using SurgSim::Devices::MultiAxisDevice; using SurgSim::Framework::BasicSceneElement; using SurgSim::Framework::BehaviorManager; using SurgSim::Framework::Runtime; using SurgSim::Framework::Scene; using SurgSim::Framework::SceneElement; using SurgSim::Graphics::MeshRepresentation; using SurgSim::Graphics::SceneryRepresentation; using SurgSim::Graphics::OsgManager; using SurgSim::Graphics::OsgMeshRepresentation; using SurgSim::Graphics::OsgViewElement; using SurgSim::Graphics::OsgSceneryRepresentation; using SurgSim::Math::MeshShape; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationMatrix; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; using SurgSim::Math::Vector4f; using SurgSim::Input::DeviceInterface; using SurgSim::Input::InputComponent; using SurgSim::Input::InputManager; using SurgSim::Physics::DeformableCollisionRepresentation; using SurgSim::Physics::Fem3DRepresentation; using SurgSim::Physics::FixedRepresentation; using SurgSim::Physics::PhysicsManager; using SurgSim::Physics::RigidCollisionRepresentation; using SurgSim::Physics::RigidRepresentation; using SurgSim::Physics::VirtualToolCoupler; static std::shared_ptr createFemSceneElement( const std::string& name, const std::string& filename, SurgSim::Math::IntegrationScheme integrationScheme, SurgSim::Math::LinearSolver linearSolver, std::shared_ptr material) { // Create a SceneElement that bundles the pieces associated with the finite element model std::shared_ptr sceneElement = std::make_shared(name); // Load the tetrahedral mesh. std::shared_ptr physicsRepresentation = std::make_shared("Physics"); physicsRepresentation->loadFem(filename); physicsRepresentation->setIntegrationScheme(integrationScheme); physicsRepresentation->setLinearSolver(linearSolver); sceneElement->addComponent(physicsRepresentation); // Load the surface triangle mesh of the finite element model auto meshShape = std::make_shared(); meshShape->load(filename); // Create a triangle mesh for visualizing the surface of the finite element model auto graphicalFem = std::make_shared("Graphics"); graphicalFem->loadMesh(filename); sceneElement->addComponent(graphicalFem); // Create material to transport the Textures graphicalFem->setMaterial(material); sceneElement->addComponent(material); // Create the collision mesh for the surface of the finite element model auto collisionRepresentation = std::make_shared("Collision"); collisionRepresentation->setShape(meshShape); physicsRepresentation->setCollisionRepresentation(collisionRepresentation); sceneElement->addComponent(collisionRepresentation); // Create a behavior which transfers the position of the vertices in the FEM to locations in the triangle mesh auto physicsToGraphicalFem = std::make_shared("PhysicsToGraphicalFem"); physicsToGraphicalFem->setSource(physicsRepresentation); physicsToGraphicalFem->setTarget(graphicalFem); sceneElement->addComponent(physicsToGraphicalFem); // WireFrame of the finite element model std::shared_ptr wireFrameFem = std::make_shared("Wire Frame"); wireFrameFem->setShape(meshShape); wireFrameFem->setDrawAsWireFrame(true); wireFrameFem->setLocalActive(false); sceneElement->addComponent(wireFrameFem); // Behavior transfers the position of the physics representation to wire frame representation of the fem. auto physicsToWireFrameFem = std::make_shared("PhysicsToWireFrameFem"); physicsToWireFrameFem->setSource(physicsRepresentation); physicsToWireFrameFem->setTarget(wireFrameFem); sceneElement->addComponent(physicsToWireFrameFem); return sceneElement; } /// Load scenery object from file /// \param name Name of this scenery representation. /// \param fileName Name of the file from which the scenery representation will be loaded. /// \return A scenery representation. std::shared_ptr createSceneryObject(const std::string& name, const std::string& fileName) { std::shared_ptr sceneryRepresentation = std::make_shared(name); sceneryRepresentation->loadModel(fileName); return sceneryRepresentation; } std::shared_ptr createStaplerSceneElement(const std::string& staplerName, const std::string& deviceName) { const std::string filename = std::string("Geometry/stapler_collision.ply"); // Stapler collision mesh auto meshShapeForCollision = std::make_shared(); meshShapeForCollision->load(filename); std::shared_ptr meshShapeVisualization = std::make_shared("Collision Mesh"); meshShapeVisualization->setShape(meshShapeForCollision); meshShapeVisualization->setDrawAsWireFrame(true); meshShapeVisualization->setLocalActive(false); std::shared_ptr physicsRepresentation = std::make_shared("Physics"); physicsRepresentation->setIsGravityEnabled(false); physicsRepresentation->setDensity(8050); // Stainless steel (in Kg.m-3) physicsRepresentation->setShape(meshShapeForCollision); std::shared_ptr collisionRepresentation = std::make_shared("Collision"); physicsRepresentation->setCollisionRepresentation(collisionRepresentation); std::shared_ptr inputComponent = std::make_shared("InputComponent"); inputComponent->setDeviceName(deviceName); std::shared_ptr inputVTC = std::make_shared("VTC"); inputVTC->setInput(inputComponent); inputVTC->setRepresentation(physicsRepresentation); inputVTC->overrideAttachmentPoint(Vector3d::Zero()); inputVTC->setCalculateInertialTorques(false); // A stapler behavior controls the release of stale when a button is pushed on the device. // Also, it is aware of collisions of the stapler. std::shared_ptr staplerBehavior = std::make_shared("Behavior"); staplerBehavior->setInputComponent(inputComponent); staplerBehavior->setRepresentation(physicsRepresentation); staplerBehavior->enableStaplingForSceneElement("wound"); std::shared_ptr visualizeContactsBehavior = std::make_shared("Contacts"); visualizeContactsBehavior->setSource(collisionRepresentation); // Note: Since usually the penetration depth of a collision is so small (at the magnitude of mm), // if we use the depth as the length of vector, the vector field will be too small to be seen on the screen. // Thus, we enlarge the vector field by 200 times. visualizeContactsBehavior->setVectorFieldScale(200); visualizeContactsBehavior->setLocalActive(false); std::shared_ptr sceneElement = std::make_shared(staplerName); sceneElement->addComponent(physicsRepresentation); sceneElement->addComponent(collisionRepresentation); sceneElement->addComponent(meshShapeVisualization); sceneElement->addComponent(inputComponent); sceneElement->addComponent(inputVTC); sceneElement->addComponent(staplerBehavior); sceneElement->addComponent(visualizeContactsBehavior); // Load the graphical parts of a stapler. sceneElement->addComponent(createSceneryObject("Handle", "Geometry/stapler_handle.obj")); sceneElement->addComponent(createSceneryObject("Indicator", "Geometry/stapler_indicator.obj")); sceneElement->addComponent(createSceneryObject("Markings", "Geometry/stapler_markings.obj")); sceneElement->addComponent(createSceneryObject("Trigger", "Geometry/stapler_trigger.obj")); auto meshShapeForVirtualStaple1 = std::make_shared(); auto meshShapeForVirtualStaple2 = std::make_shared(); meshShapeForVirtualStaple1->load("Geometry/virtual_staple_1.ply"); meshShapeForVirtualStaple2->load("Geometry/virtual_staple_2.ply"); std::vector> virtualTeethShapes; virtualTeethShapes.push_back(meshShapeForVirtualStaple1); virtualTeethShapes.push_back(meshShapeForVirtualStaple2); int i = 0; std::array, 2> virtualTeeth; for (auto it = std::begin(virtualTeethShapes); it != std::end(virtualTeethShapes); ++it, ++i) { std::shared_ptr virtualToothCollision = std::make_shared("VirtualToothCollision" + std::to_string(i)); virtualToothCollision->setShape(*it); virtualToothCollision->setLocalPose(RigidTransform3d::Identity()); virtualToothCollision->ignore(collisionRepresentation); virtualTeeth[i] = virtualToothCollision; sceneElement->addComponent(virtualToothCollision); } staplerBehavior->setVirtualTeeth(virtualTeeth); return sceneElement; } std::shared_ptr createArmSceneElement( const std::string& armName, std::shared_ptr material) { const std::string filename = std::string("Geometry/arm_collision.ply"); // Graphic representation for arm std::shared_ptr forearmSceneryRepresentation = createSceneryObject("Forearm", "Geometry/forearm.osgb"); forearmSceneryRepresentation->setMaterial(material); std::shared_ptr upperarmSceneryRepresentation = createSceneryObject("Upperarm", "Geometry/upperarm.osgb"); upperarmSceneryRepresentation->setMaterial(material); // Arm collision mesh std::shared_ptr meshShape = std::make_shared(); meshShape->load(filename); // Visualization of arm collision mesh std::shared_ptr meshShapeVisualization = std::make_shared("Collision Mesh"); meshShapeVisualization->setShape(meshShape); meshShapeVisualization->setDrawAsWireFrame(true); meshShapeVisualization->setLocalActive(false); std::shared_ptr physicsRepresentation = std::make_shared("Physics"); physicsRepresentation->setShape(meshShape); std::shared_ptr collisionRepresentation = std::make_shared("Collision"); collisionRepresentation->ignore("wound/Collision"); physicsRepresentation->setCollisionRepresentation(collisionRepresentation); std::shared_ptr armSceneElement = std::make_shared(armName); armSceneElement->addComponent(forearmSceneryRepresentation); armSceneElement->addComponent(meshShapeVisualization); armSceneElement->addComponent(upperarmSceneryRepresentation); armSceneElement->addComponent(collisionRepresentation); armSceneElement->addComponent(physicsRepresentation); armSceneElement->addComponent(material); return armSceneElement; } std::shared_ptr createViewElement() { auto result = std::make_shared("StaplingDemoView"); result->enableManipulator(true); result->setManipulatorParameters(Vector3d(0.0, 0.5, 0.5), Vector3d::Zero()); result->enableKeyboardDevice(true); auto light = std::make_shared("Light"); light->setDiffuseColor(Vector4d(1.0, 1.0, 1.0, 1.0)); light->setSpecularColor(Vector4d(1.0, 1.0, 1.0, 1.0)); result->addComponent(light); result->getCamera()->setAmbientColor(Vector4d(0.2, 0.2, 0.2, 1.0)); return result; } std::shared_ptr createShinyMaterial( const SurgSim::Framework::ApplicationData& data, std::shared_ptr program, std::string defaultTextureName = "Textures/checkered.png") { // Default Material with shader // using scopes to keep from having to introduce new variables with different types auto material = std::make_shared("shiny"); material->setProgram(program); { auto uniform = std::make_shared>("diffuseColor"); material->addUniform(uniform); material->setValue("diffuseColor", SurgSim::Math::Vector4f(1.0, 1.0, 1.0, 1.0)); } { auto uniform = std::make_shared>("specularColor"); material->addUniform(uniform); material->setValue("specularColor", SurgSim::Math::Vector4f(0.01, 0.01, 0.01, 1.0)); } { auto uniform = std::make_shared>("shininess"); material->addUniform(uniform); material->setValue("shininess", 32.0f); } std::string blackTexture; SURGSIM_ASSERT(data.tryFindFile("Textures/black.png", &blackTexture)); std::string defaultTexture; SURGSIM_ASSERT(data.tryFindFile(defaultTextureName, &defaultTexture)); { // As a default color for the texture map use white auto texture = std::make_shared(); texture->loadImage(defaultTexture); auto uniform = std::make_shared>("diffuseMap"); uniform->set(texture); material->addUniform(uniform); } { // The neutral color for the shadow map is black auto texture = std::make_shared(); texture->loadImage(blackTexture); auto uniform = std::make_shared>("shadowMap"); uniform->set(texture); uniform->setMinimumTextureUnit(8); material->addUniform(uniform); } return material; } int main(int argc, char* argv[]) { const std::string deviceName = "MultiAxisDevice"; std::shared_ptr behaviorManager = std::make_shared(); std::shared_ptr graphicsManager = std::make_shared(); std::shared_ptr inputManager = std::make_shared(); std::shared_ptr physicsManager = std::make_shared(); physicsManager->setRate(100.0); std::shared_ptr runtime = std::make_shared("config.txt"); runtime->addManager(behaviorManager); runtime->addManager(graphicsManager); runtime->addManager(inputManager); runtime->addManager(physicsManager); std::shared_ptr device; device = std::make_shared(deviceName); if (!device->initialize()) { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << "Could not initialize device " << device->getName() << " for the tool."; device = std::make_shared(deviceName); } inputManager->addDevice(device); std::shared_ptr view = createViewElement(); inputManager->addDevice(view->getKeyboardDevice()); // Shader should be shared between all materials using the same shader auto shader = SurgSim::Graphics::loadProgram(*runtime->getApplicationData(), "Shaders/ds_mapping_material"); SURGSIM_ASSERT(shader != nullptr) << "Shader could not be loaded."; RigidTransform3d armPose = makeRigidTransform(Quaterniond::Identity(), Vector3d(0.0, -0.2, 0.0)); auto material = createShinyMaterial(*runtime->getApplicationData(), shader); std::shared_ptr arm = createArmSceneElement("arm", material); arm->setPose(armPose); std::shared_ptr stapler = createStaplerSceneElement("stapler", deviceName); stapler->setPose(RigidTransform3d::Identity()); std::string woundFilename = std::string("Geometry/wound_deformable.ply"); // Mechanical properties are based on Liang and Boppart, "Biomechanical Properties of In Vivo Human Skin From // Dynamic Optical Coherence Elastography", IEEE Transactions on Biomedical Engineering, Vol 57, No 4. // Material for the wound material = createShinyMaterial(*runtime->getApplicationData(), shader, "Geometry/wound.png"); std::shared_ptr wound = createFemSceneElement("wound", woundFilename, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT, SurgSim::Math::LINEARSOLVER_LU, material); wound->setPose(armPose); std::shared_ptr keyboardComponent = std::make_shared("KeyboardInputComponent"); keyboardComponent->setDeviceName("Keyboard"); // Name of device is case sensitive. std::shared_ptr keyboardBehavior = std::make_shared("KeyboardBehavior"); keyboardBehavior->setInputComponent(keyboardComponent); using SurgSim::Devices::KeyCode; keyboardBehavior->registerKey(KeyCode::KEY_A, stapler->getComponent("Handle")); keyboardBehavior->registerKey(KeyCode::KEY_A, stapler->getComponent("Indicator")); keyboardBehavior->registerKey(KeyCode::KEY_A, stapler->getComponent("Markings")); keyboardBehavior->registerKey(KeyCode::KEY_A, stapler->getComponent("Trigger")); keyboardBehavior->registerKey(KeyCode::KEY_B, stapler->getComponent("Contacts")); keyboardBehavior->registerKey(KeyCode::KEY_C, stapler->getComponent("Collision Mesh")); keyboardBehavior->registerKey(KeyCode::KEY_D, arm->getComponent("Forearm")); keyboardBehavior->registerKey(KeyCode::KEY_D, arm->getComponent("Upperarm")); keyboardBehavior->registerKey(KeyCode::KEY_E, arm->getComponent("Collision Mesh")); keyboardBehavior->registerKey(KeyCode::KEY_F, wound->getComponent("Graphics")); keyboardBehavior->registerKey(KeyCode::KEY_G, wound->getComponent("Wire Frame")); std::shared_ptr keyboard = std::make_shared("SceneElement"); keyboard->addComponent(keyboardComponent); keyboard->addComponent(keyboardBehavior); std::shared_ptr scene = runtime->getScene(); scene->addSceneElement(view); scene->addSceneElement(arm); scene->addSceneElement(stapler); scene->addSceneElement(wound); scene->addSceneElement(keyboard); runtime->execute(); return 0; } opensurgsim-0.7.0/Examples/Stapling/config.txt.in000066400000000000000000000000761277777236100220710ustar00rootroot00000000000000${CMAKE_CURRENT_BINARY_DIR}/Data/ ${SURGSIM_SOURCE_DIR}/Data/opensurgsim-0.7.0/LICENSE000066400000000000000000000261361277777236100151310ustar00rootroot00000000000000 Apache License Version 2.0, January 2004 http://www.apache.org/licenses/ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 1. 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We also recommend that a file or class name and description of purpose be included on the same "printed page" as the copyright notice for easier identification within third-party archives. Copyright [yyyy] [name of copyright owner] Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. opensurgsim-0.7.0/Modules/000077500000000000000000000000001277777236100155245ustar00rootroot00000000000000opensurgsim-0.7.0/Modules/CMakeLists.txt000066400000000000000000000021531277777236100202650ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. include_directories(${CMAKE_CURRENT_SOURCE_DIR}) file(GLOB MODULES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/*) foreach(MODULE ${MODULES}) if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/${MODULE}/CMakeLists.txt) string(TOUPPER ${MODULE} MODULE_UPPER_CASE) option(BUILD_MODULE_${MODULE_UPPER_CASE} "Build ${MODULE} module." OFF) if(BUILD_MODULE_${MODULE_UPPER_CASE}) add_subdirectory(${MODULE}) endif(BUILD_MODULE_${MODULE_UPPER_CASE}) endif() endforeach() opensurgsim-0.7.0/Modules/README000066400000000000000000000004231277777236100164030ustar00rootroot00000000000000Modules Directory The Modules directory is a place to put extensions to OpenSurgSim. For all subdirectories that contain a CMakeLists.txt file, a BUILD_MODULE_ cmake option will be added. If this option is turned on, the module will be added to OpenSurgSim. opensurgsim-0.7.0/NOTICE000066400000000000000000000111431277777236100150200ustar00rootroot00000000000000OpenSurgSim simulation framework Copyright 2012-2016, SimQuest Solutions Inc. This product includes software developed by SimQuest Solutions Inc. (http://www.simquest.com/). The calculations of various physical properties from an arbitrary surface mesh, implemented in the MeshShape class, are based on research and a public-domain implementation by Brian Mirtich. (http://www.cs.berkeley.edu/~jfc/mirtich/massProps.html) This product uses software developed by The MathJax Consortium and licensed under the Apache License, Version 2.0. The OpenSurgSim documentation displays equations using MathJax (http://www.mathjax.org/), which is an open-source JavaScript display engine for LaTeX, MathML, and AsciiMath notation. ------------------------------------------------------------ Contains code based on Boost Threads Copyright (C) 2002-2003 David Moore, William E. 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Permission is hereby granted, free of charge, to any person obtaining a copy of the fonts accompanying this license (“Fontsâ€) and associated documentation files (the “Font Softwareâ€), to reproduce and distribute the Font Software, including without limitation the rights to use, copy, merge, publish, distribute, and/or sell copies of the Font Software, and to permit persons to whom the Font Software is furnished to do so, subject to the following conditions: The above copyright and trademark notices and this permission notice shall be included in all copies of one or more of the Font Software typefaces. The Font Software may be modified, altered, or added to, and in particular the designs of glyphs or characters in the Fonts may be modified and additional glyphs or characters may be added to the Fonts, only if the fonts are renamed to names not containing either the words “Bitstream†or the word “Veraâ€. 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Except as contained in this notice, the names of Gnome, the Gnome Foundation, and Bitstream Inc., shall not be used in advertising or otherwise to promote the sale, use or other dealings in this Font Software without prior written authorization from the Gnome Foundation or Bitstream Inc., respectively. For further information, contact: fonts at gnome dot org. opensurgsim-0.7.0/README.md000066400000000000000000000121211277777236100153700ustar00rootroot00000000000000Welcome to the OpenSurgSim Project OpenSurgSim is an open-source project dedicated to real-time surgical simulation. It offers an open framework that includes the necessary building blocks for surgical simulations, such as native device support, haptic feedback, graphics, discrete collision detection and physics simulation. OpenSurgSim is flexible. Developers can refactor the physics engine, swap models, ODE solvers, or linear system solvers. For current information and documentation about the project, please visit our website: http://www.opensurgsim.org/ Support can also be found on our public mailing list at opensurgsim@simquest.com. An archive of the mailing list is at: http://groups.google.com/a/simquest.com/group/opensurgsim/ To help get started using OpenSurgSim, use the following quick start guide: 1. Getting OpenSurgSim 2. Compiling on GNU/Linux 3. Compiling on Microsoft Windows Appendix: Dependencies 1. Getting OpenSurgSim ====================== OpenSurgSim uses Git for source control, and this is the easiest way to obtain the most up to date version. Resources for installing and using Git can be found on Git's website (See Appendix). To obtain OpenSurgSim, run the following command: git clone git://git.assembla.com/OpenSurgSim.git This will download the source code for OpenSurgSim and place it in the OpenSurgSim directory. 2. Compiling on GNU/Linux ========================= OpenSurgSim has been tested extensively on Debian Unstable (Sid). If you are using another GNU/Linux distribution, please check your package management system for the dependencies (see Appendix). For Debian/Ubuntu based systems, the dependencies are easily installed through apt-get: sudo apt-get install libboost-all-dev cmake doxygen libeigen3-dev sudo apt-get install google-mock libjs-mathjax libopenscenegraph-dev sudo apt-get install libyaml-cpp-dev To build OpenSurgSim, issue the following commands from the same directory used to obtain OpenSurgSim (see Section 1) mkdir OpenSurgSim/Build cd OpenSurgSim/Build cmake ../ make That's it! 3. Compiling on Microsoft Windows ================================= OpenSurgSim has been developed and tested on Microsoft Windows 7, however, other versions of Windows are likely to work. At least Microsoft Visual Studio 2012 is required to build OpenSurgSim. First obtain the source code (Section 1), and install the required dependencies (Appendix). In addition, the following environment variables will help CMake automatically find the dependencies, especially if they are not installed to the default locations. BOOST_ROOT EIGEN_DIR OSG_ROOT Also, add %OSG_ROOT%/bin to your PATH environment variable. Generating the Visual Studio solution file is done with the CMake graphical user interface. Open CMake, and enter the OpenSurgSim folder (from Section 1) into the "Where is the source code" field. Then enter a new directory into the "Where to build the binaries" field. This folder is referred to as BUILD folder for the purpose of the following steps. Next, click on the 'Configure' button. This will allow you to select the compiler (Visual Studio 11 for Visual Studio 2012). If CMake reports “library not foundâ€, it is likely that your system variables BOOST_ROOT, EIGEN_DIR or OSG_ROOT are incorrect. Once the configuration is complete without error, click on the 'Generate' button. Finally, go to the BUILD folder, open the OpenSurgSim solution file, and build the ALL_BUILD project. Appendix: Dependencies ====================== To compile OpenSurgSim, you will need the following dependencies. Many GNU/Linux distributions already provide this software in their software repositories. If not, or using Microsoft Windows, please refer to the installation instructions found on each dependency's homepage. When we know of reliable pre-built Windows packages we will refer to them. Required Dependencies --------------------- **Boost**
Homepage: http://www.boost.org/
Modules: chrono, date_time, filesystem, program_options, system, thread
Minimum Version: 1.54
Windows Binaries: http://sourceforge.net/projects/boost/files/boost-binaries/ **CMake**
Homepage: http://www.cmake.org/
Minimum Version: 2.8 **Eigen**
Homepage: http://eigen.tuxfamily.org/
Minimum Version: 3.2.1 (GNU/Linux)
Minimum Version: 3.2.3 (Windows) **Git**
Homepage: http://www.git-scm.com/
Minimum Version: 1.7.9 **OpenSceneGraph**
Homepage: http://www.openscenegraph.org/
Modules: osg, osgViewer, osgText, osgUtil, osgDB, osgGA, osgAnimation
Minimum Version: 3.2.0 **yaml-cpp**
Homepage: https://github.com/jbeder/yaml-cpp
Minimum Version: 0.5.2 Optional Dependencies --------------------- **Doxygen**
Homepage: http://doxygen.org/
Minimum Version: 1.8 **FreeGlut**
Homepage: http://freeglut.sourceforge.net/
Minimum Version: 2.6.0 **Google Mock**
Homepage: https://code.google.com/p/googlemock/
Minimum Version: 1.7.0 **MathJax**
Homepage: http://www.mathjax.org/
Minimum Version: 2.4 opensurgsim-0.7.0/SurgSim/000077500000000000000000000000001277777236100155055ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Blocks/000077500000000000000000000000001277777236100167225ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Blocks/CMakeLists.txt000066400000000000000000000047311277777236100214670ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2016, SimQuest Solutions 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 # # 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_directories( ${OPENTHREADS_INCLUDE_DIR} ) set(SURGSIM_BLOCKS_SOURCES CompoundShapeToGraphics.cpp DebugDumpBehavior.cpp DriveElementFromInputBehavior.cpp FunctionBehavior.cpp GraphicsUtilities.cpp ImplicitSurface.cpp KeyBehavior.cpp KeyboardCallbackBehavior.cpp KeyboardTogglesComponentBehavior.cpp MassSpring1DRepresentation.cpp MassSpring2DRepresentation.cpp MassSpring3DRepresentation.cpp MassSpringNDRepresentationUtils.cpp PoseInterpolator.cpp ShadowMapping.cpp SingleKeyBehavior.cpp SphereElement.cpp TransferParticlesToPointCloudBehavior.cpp TransferPhysicsToGraphicsMeshBehavior.cpp TransferPhysicsToPointCloudBehavior.cpp TransferPhysicsToVerticesBehavior.cpp VisualizeConstraints.cpp VisualizeContactsBehavior.cpp ) set(SURGSIM_BLOCKS_HEADERS CompoundShapeToGraphics.h DebugDumpBehavior.h DriveElementFromInputBehavior.h FunctionBehavior.h GraphicsUtilities.h ImplicitSurface.h KeyBehavior.h KeyboardCallbackBehavior.h KeyboardTogglesComponentBehavior.h MassSpring1DRepresentation.h MassSpring2DRepresentation.h MassSpring3DRepresentation.h MassSpringNDRepresentationUtils.h PoseInterpolator.h ShadowMapping.h SingleKeyBehavior.h SphereElement.h TransferParticlesToPointCloudBehavior.h TransferPhysicsToGraphicsMeshBehavior.h TransferPhysicsToPointCloudBehavior.h TransferPhysicsToVerticesBehavior.h VisualizeConstraints.h VisualizeContactsBehavior.h ) surgsim_create_library_header(Blocks.h "${SURGSIM_BLOCKS_HEADERS}") surgsim_add_library( SurgSimBlocks "${SURGSIM_BLOCKS_SOURCES}" "${SURGSIM_BLOCKS_HEADERS}" ) SET(LIBS SurgSimFramework SurgSimParticles SurgSimPhysics ${Boost_LIBRARIES} ) target_link_libraries(SurgSimBlocks ${LIBS} ) if(BUILD_TESTING) add_subdirectory(UnitTests) endif() # Put SurgSimBlocks into folder "Blocks" set_target_properties(SurgSimBlocks PROPERTIES FOLDER "Blocks") opensurgsim-0.7.0/SurgSim/Blocks/CompoundShapeToGraphics.cpp000066400000000000000000000113631277777236100241630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015dd, SimQuest Solutions 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 // // 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 #include "SurgSim/Blocks/CompoundShapeToGraphics.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Graphics/Representation.h" #include "SurgSim/Math/CompoundShape.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Physics/Representation.h" namespace SurgSim { namespace Blocks { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Blocks::CompoundShapeToGraphics, CompoundShapeToGraphics); CompoundShapeToGraphics::CompoundShapeToGraphics(const std::string& name) : Framework::Behavior(name) { { typedef std::vector> ParamType; SURGSIM_ADD_SERIALIZABLE_PROPERTY(CompoundShapeToGraphics, ParamType, Targets, getTargets, setTargets); } SURGSIM_ADD_SERIALIZABLE_PROPERTY(CompoundShapeToGraphics, std::shared_ptr, Source, getSource, setSource); SURGSIM_ADD_SERIALIZABLE_PROPERTY(CompoundShapeToGraphics, std::shared_ptr, Shape, getShape, setShape); } CompoundShapeToGraphics::~CompoundShapeToGraphics() { } void CompoundShapeToGraphics::update(double dt) { size_t i = 0; SURGSIM_ASSERT(m_shape->getNumShapes() >= m_representations.size()) << "Not enough shapes for the representations."; for (const auto& representation : m_representations) { representation->setLocalPose(m_shape->getPose(i++)); } } int CompoundShapeToGraphics::getTargetManagerType() const { return Framework::MANAGER_TYPE_GRAPHICS; } bool CompoundShapeToGraphics::doInitialize() { return true; } bool CompoundShapeToGraphics::doWakeUp() { if (m_source != nullptr) { std::shared_ptr shape; m_source->getValue>("Shape", &shape); SURGSIM_ASSERT(shape != nullptr) << "Source " << m_source->getFullName() << " does not contain a shape."; SURGSIM_ASSERT(shape->getType() == Math::SHAPE_TYPE_COMPOUNDSHAPE) << "Source : " << m_source->getFullName() << "Does not contain a compound shape."; m_shape = std::dynamic_pointer_cast(shape); } return true; } void CompoundShapeToGraphics::setShape(const std::shared_ptr& shape) { SURGSIM_ASSERT(m_source == nullptr) << "Can't assign the shape and the source at the same time."; SURGSIM_ASSERT(shape != nullptr) << "Shape should not be nullptr."; auto compoundShape = std::dynamic_pointer_cast(shape); SURGSIM_ASSERT(compoundShape != nullptr) << "'shape' is not a SurgSim::Math::CompoundShape."; m_shape = compoundShape; m_source = nullptr; } void CompoundShapeToGraphics::setSource(const std::shared_ptr& component) { SURGSIM_ASSERT(m_shape == nullptr) << "Can't assign the shape and the source at the same time."; SURGSIM_ASSERT(component != nullptr) << "Source should not be nullptr."; SURGSIM_ASSERT(component->isReadable("Shape")) << "Source: " << component->getFullName() << "Does not contain a shape."; m_source = component; } void CompoundShapeToGraphics::setTargets(const std::vector> components) { m_representations.clear(); for (const auto& c : components) { addTarget(c); } } void CompoundShapeToGraphics::addTarget(const std::shared_ptr& component) { auto graphics = Framework::checkAndConvert(component, "SurgSim::Graphics::Representation"); SURGSIM_ASSERT(graphics != nullptr) << "Component " << component->getFullName() << " not a graphics representation, could not add."; m_representations.push_back(std::move(graphics)); } std::vector> CompoundShapeToGraphics::getTargets() const { std::vector> result; std::copy(m_representations.cbegin(), m_representations.cend(), std::back_inserter(result)); return result; } std::shared_ptr CompoundShapeToGraphics::getShape() const { return m_shape; } std::shared_ptr CompoundShapeToGraphics::getSource() const { return m_source; } } }opensurgsim-0.7.0/SurgSim/Blocks/CompoundShapeToGraphics.h000066400000000000000000000072721277777236100236340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_COMPOUNDSHAPETOGRAPHICS_H #define SURGSIM_BLOCKS_COMPOUNDSHAPETOGRAPHICS_H #include #include #include #include "SurgSim/Framework/Behavior.h" namespace SurgSim { namespace Graphics { class Representation; } namespace Framework { class Component; class Representation; } namespace Math { class CompoundShape; class Shape; } namespace Blocks { SURGSIM_STATIC_REGISTRATION(CompoundShapeToGraphics); /// Keep a set of Graphics representations in sync with a CompoundShape, the shape can either be set directly or /// pulled from a Physics or Collision Representation. The graphics pieces will be set to coincide with the appropriate /// pieces of the compound shape in order. class CompoundShapeToGraphics : public Framework::Behavior { public: /// Constructor explicit CompoundShapeToGraphics(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Blocks::CompoundShapeToGraphics); /// Destructor ~CompoundShapeToGraphics(); void update(double dt) override; int getTargetManagerType() const override; bool doInitialize() override; bool doWakeUp() override; /// Sets the shape to be used for synchronization /// \param shape The shape to be used void setShape(const std::shared_ptr& shape); /// Sets the source component, the components needs to provide a shape and that shape needs to be a compound shape /// \param component The component to be used as a shape source /// \throws SurgSim::AssertionFailure if the component does not meet the requirements void setSource(const std::shared_ptr& component); /// Sets the graphics targets to be used, each target will be update with the pose of the corresponding sub shape /// in the compound shape. The components need to be graphics representations /// \param components The list of graphics representations to be used as targets /// \throws SurgSim::AssertionFailure if one of the components is not a graphics representation void setTargets(const std::vector> components); /// Adds a single target to the list of targets, the target needs to be a graphics representation /// \param component Graphics Representation to be added at the end of the list /// \throws SurgSim::AssertionFailure if the component is not a graphics representation void addTarget(const std::shared_ptr& component); /// \return the registered graphics targets std::vector> getTargets() const; /// \return the shape that is being used, if set, nullptr otherwise std::shared_ptr getShape() const; /// \return the component that is the source, if set, nullptr otherwise std::shared_ptr getSource() const; private: /// Source shape used for updating std::shared_ptr m_shape; /// Source representation if known std::shared_ptr m_source; /// List of graphics targets for updating std::vector> m_representations; }; } } #endif opensurgsim-0.7.0/SurgSim/Blocks/DebugDumpBehavior.cpp000066400000000000000000000104701277777236100227640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/DebugDumpBehavior.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Devices/Keyboard/KeyCode.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/Representation.h" #include "SurgSim/Input/InputComponent.h" namespace SurgSim { namespace Blocks { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Blocks::DebugDumpBehavior, DebugDumpBehavior); DebugDumpBehavior::DebugDumpBehavior(const std::string& name) : Framework::Behavior(name), m_keyPressedLastUpdate(false) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(DebugDumpBehavior, std::shared_ptr, InputComponent, getInputComponent, setInputComponent); } DebugDumpBehavior::~DebugDumpBehavior() { } void DebugDumpBehavior::setInputComponent(std::shared_ptr inputComponent) { SURGSIM_ASSERT(nullptr != inputComponent) << "'inputComponent' cannot be 'nullptr'"; m_inputComponent = SurgSim::Framework::checkAndConvert( inputComponent, "SurgSim::Input::InputComponent"); } std::shared_ptr DebugDumpBehavior::getInputComponent() const { return m_inputComponent; } void DebugDumpBehavior::update(double dt) { SurgSim::DataStructures::DataGroup dataGroup; if (m_inputComponent == nullptr) { return; } m_inputComponent->getData(&dataGroup); using SurgSim::Devices::KeyCode; int key = KeyCode::NONE; if (dataGroup.integers().get("key", &key)) { if (!m_keyPressedLastUpdate) { switch (key) { case KeyCode::KEY_F1: { auto manager = m_manager.lock(); if (manager != nullptr) { manager->dumpDebugInfo(); } } break; case KeyCode::KEY_F2: { auto scene = getScene(); for (const auto& element : scene->getSceneElements()) { std::cout << element->getName() << ": " << (element->isActive() ? "active" : "inactive") << std::endl; for (const auto& component : element->getComponents()) { std::cout << " " << component->getName() << ": " << (component->isLocalActive() ? "active" : "inactive") << std::endl; } } } break; case KeyCode::KEY_F3: { auto scene = getScene(); for (const auto& element : scene->getSceneElements()) { std::cout << element->getName() << std::endl; for (const auto& component : element->getComponents()) { std::cout << " " << component->getName() << ": " << (component->isGeneratingTangents() ? "Tangents" : "NoTangents") << std::endl; } } } break; default: break; } } m_keyPressedLastUpdate = (KeyCode::NONE != key); } } bool DebugDumpBehavior::doInitialize() { auto managers = getRuntime()->getManagers(); for (const auto& manager : managers) { auto shared = manager.lock(); auto graphics = std::dynamic_pointer_cast(shared); if (graphics != nullptr) { m_manager = graphics; break; } } SURGSIM_LOG_IF(m_manager.expired(), Framework::Logger::getDefaultLogger(), WARNING); return true; } bool DebugDumpBehavior::doWakeUp() { bool result = true; if (nullptr == m_inputComponent) { SURGSIM_ASSERT(m_inputComponent != nullptr) << __FUNCTION__ << getFullName() << " does not have an Input Component."; result = false; } return result; } } }opensurgsim-0.7.0/SurgSim/Blocks/DebugDumpBehavior.h000066400000000000000000000043271277777236100224350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_DEBUGDUMPBEHAVIOR_H #define SURGSIM_BLOCKS_DEBUGDUMPBEHAVIOR_H #include #include "SurgSim/Framework/Behavior.h" namespace SurgSim { namespace Input { class InputComponent; } namespace Graphics { class OsgManager; } namespace Blocks { SURGSIM_STATIC_REGISTRATION(DebugDumpBehavior) /// Provides keyboard access to debugging functionality /// F1 - call the graphics manager dumpDebugInfo, this will write the current scenegraph to a file in the working /// directory. /// F2 - Display the whole scene and activity status for sceneelements and components /// F3 - Display tangent generation status for graphics objects class DebugDumpBehavior : public Framework::Behavior { public: /// Constructor /// \param name explicit DebugDumpBehavior(const std::string& name); virtual ~DebugDumpBehavior(); SURGSIM_CLASSNAME(SurgSim::Blocks::DebugDumpBehavior); /// Sets the InputComponent, needs to provide keystrokes /// \param inputComponent the input component void setInputComponent(std::shared_ptr inputComponent); /// \return the input component that is being used std::shared_ptr getInputComponent() const; private: void update(double dt) override; bool doInitialize() override; bool doWakeUp() override; std::weak_ptr m_manager; ///< Reference to the graphics manager std::shared_ptr m_inputComponent; ///< The input component for reading bool m_keyPressedLastUpdate; ///< prevent a repeated keystroke }; } } #endif opensurgsim-0.7.0/SurgSim/Blocks/DriveElementFromInputBehavior.cpp000066400000000000000000000060201277777236100253330ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/DriveElementFromInputBehavior.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Input/InputComponent.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/PoseComponent.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::Math::RigidTransform3d; using SurgSim::Framework::checkAndConvert; namespace SurgSim { namespace Blocks { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Blocks::DriveElementFromInputBehavior, DriveElementFromInputBehavior); DriveElementFromInputBehavior::DriveElementFromInputBehavior(const std::string& name) : SurgSim::Framework::Behavior(name), m_poseName("pose") { SURGSIM_ADD_SERIALIZABLE_PROPERTY(DriveElementFromInputBehavior, std::shared_ptr, Source, getSource, setSource); SURGSIM_ADD_SERIALIZABLE_PROPERTY(DriveElementFromInputBehavior, std::string, PoseName, getPoseName, setPoseName); } void DriveElementFromInputBehavior::setSource(std::shared_ptr source) { m_source = checkAndConvert(source, "SurgSim::Input::InputComponent"); } std::shared_ptr DriveElementFromInputBehavior::getSource() { return m_source; } void DriveElementFromInputBehavior::setPoseName(const std::string& poseName) { m_poseName = poseName; } std::string DriveElementFromInputBehavior::getPoseName() { return m_poseName; } void DriveElementFromInputBehavior::update(double dt) { SurgSim::DataStructures::DataGroup dataGroup; m_source->getData(&dataGroup); RigidTransform3d pose; if (dataGroup.poses().get(m_poseName, &pose)) { getPoseComponent()->setPose(m_source->getLocalPose() * pose); } } bool DriveElementFromInputBehavior::doInitialize() { return true; } bool DriveElementFromInputBehavior::doWakeUp() { bool result = true; if (m_source == nullptr) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << getClassName() << " named '" + getName() + "' must have a source to do anything."; result = false; } if (getPoseComponent() == nullptr) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << getClassName() << " named '" + getName() + "' must belong to a SceneElement with a PoseComponent."; result = false; } return result; } }; //namespace Blocks }; //namespace SurgSim opensurgsim-0.7.0/SurgSim/Blocks/DriveElementFromInputBehavior.h000066400000000000000000000047551277777236100250150ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_DRIVEELEMENTFROMINPUTBEHAVIOR_H #define SURGSIM_BLOCKS_DRIVEELEMENTFROMINPUTBEHAVIOR_H #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Framework/ObjectFactory.h" namespace SurgSim { namespace Input { class InputComponent; } namespace Blocks { SURGSIM_STATIC_REGISTRATION(DriveElementFromInputBehavior); /// Behavior to copy a pose from an input component to a SceneElement /// By adding this behavior to a SceneElement, that SceneElement will be moved /// in correspondance to the input. class DriveElementFromInputBehavior : public SurgSim::Framework::Behavior { public: /// Constructor /// \param name Name of the behavior explicit DriveElementFromInputBehavior(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Blocks::DriveElementFromInputBehavior); /// Set the InputComponent that provides the pose /// \param source A SurgSim::Input::InputComponent void setSource(std::shared_ptr source); /// Get the InputComponent which is being used by this behavior /// \return A SurgSim::Component::InputComponent std::shared_ptr getSource(); /// Set name of the pose. /// \param poseName The name of the pose. void setPoseName(const std::string& poseName); /// Get name of the pose. /// \return The name of the pose. std::string getPoseName(); /// Update the behavior /// \param dt The length of time (seconds) between update calls. virtual void update(double dt); protected: /// Initialize the behavior virtual bool doInitialize(); /// Wakeup the behavior, which copies the initial pose virtual bool doWakeUp(); private: /// InputComponent to get the pose std::shared_ptr m_source; std::string m_poseName; }; }; // namespace Blocks }; // namespace SurgSim #endif // SURGSIM_BLOCKS_DRIVEELEMENTFROMINPUTBEHAVIOR_H opensurgsim-0.7.0/SurgSim/Blocks/FunctionBehavior.cpp000066400000000000000000000036541277777236100227030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/FunctionBehavior.h" #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace Blocks { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Blocks::FunctionBehavior, FunctionBehavior); FunctionBehavior::FunctionBehavior(const std::string& name) : Framework::Behavior(name), m_targetManager(Framework::MANAGER_TYPE_BEHAVIOR), m_function(nullptr) { } void FunctionBehavior::update(double dt) { m_function(dt); } void FunctionBehavior::setTargetManagerType(int type) { SURGSIM_ASSERT(type >= 0 && type < Framework::MANAGER_TYPE_COUNT) << "Invalid manager type."; SURGSIM_ASSERT(!isInitialized()) << "Cannot change the manager type after initialization."; m_targetManager = type; } int FunctionBehavior::getTargetManagerType() const { return m_targetManager; } void FunctionBehavior::setFunction(std::function function) { SURGSIM_ASSERT(!isInitialized()) << "Cannot change the function after initialization."; m_function = function; } bool FunctionBehavior::doInitialize() { if (m_function == nullptr) { SURGSIM_LOG_SEVERE(Framework::Logger::getDefaultLogger()) << "FunctionBehavior named " << getFullName() << " missing behavior function."; return false; } return true; } bool FunctionBehavior::doWakeUp() { return true; } }; }; opensurgsim-0.7.0/SurgSim/Blocks/FunctionBehavior.h000066400000000000000000000064671277777236100223550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_FUNCTIONBEHAVIOR_H #define SURGSIM_BLOCKS_FUNCTIONBEHAVIOR_H #include #include #include "SurgSim/Framework/Behavior.h" namespace SurgSim { namespace Blocks { SURGSIM_STATIC_REGISTRATION(FunctionBehavior); /// A Behavior that can run any callable target in its update function /// /// This behavior has a customizable update function, that can run any callable /// target, ie functions, lambda expressions, bind expressions, as well as /// pointers to member functions. /// /// Example Usage: /// \code{.cpp} /// /// void f1(double dt) { std::cout << dt; } /// /// void f2(double dt, double a) { std::cout << dt + a; } /// /// int main() /// { /// // A FunctionBehavior that runs a function /// auto behavior1 = std::make_shared("Behavior 1"); /// behavior1->setTargetManagerType(SurgSim::Framework::MANAGER_TYPE_BEHAVIOR); /// behavior1->setFunction(f1); /// /// // A FunctionBehavior that runs a std::bind function /// auto behavior2 = std::make_shared("Behavior 2"); /// behavior2->setTargetManagerType(SurgSim::Framework::MANAGER_TYPE_GRAPHICS); /// behavior2->setFunction(std::bind(f2, std::placeholders::_1, 2.0)); /// /// // A FunctionBehavior that runs a lambda function /// auto behavior3 = std::make_shared("Behavior 3"); /// behavior3->setTargetManagerType(SurgSim::Framework::MANAGER_TYPE_PHYSICS); /// behavior3->setFunction([](double dt) { std::cout << dt; }); /// /// auto element = std::make_shared("Element"); /// element->addComponent(behavior1); /// element->addComponent(behavior2); /// element->addComponent(behavior3); /// /// return 0; /// } /// \endcode /// \note The FunctionBehavior is incompatible with serialization class FunctionBehavior : public SurgSim::Framework::Behavior { public: /// Constructor /// \param name Name of the behavior explicit FunctionBehavior(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Blocks::FunctionBehavior); /// Set the function to run in this behavior's update /// \param function The function void setFunction(std::function function); /// Set which manager will handle this behavior /// \param type Type of manager for this behavior void setTargetManagerType(int type); int getTargetManagerType() const override; void update(double dt) override; private: bool doInitialize() override; bool doWakeUp() override; /// The manager type that will handle this behavior int m_targetManager; /// The function to run in update std::function m_function; }; }; }; #endif // SURGSIM_BLOCKS_FUNCTIONBEHAVIOR_H opensurgsim-0.7.0/SurgSim/Blocks/GraphicsUtilities.cpp000066400000000000000000000210151277777236100230610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/GraphicsUtilities.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/PoseComponent.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Framework/TransferPropertiesBehavior.h" #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgRenderTarget.h" #include "SurgSim/Graphics/OsgScreenSpaceQuadRepresentation.h" #include "SurgSim/Graphics/OsgTexture2d.h" #include "SurgSim/Graphics/OsgUniform.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgTextureUniform.h" #include "SurgSim/Graphics/OsgProgram.h" #include "SurgSim/Graphics/OsgUniformFactory.h" #include "SurgSim/Graphics/RenderPass.h" #include "osg/PolygonMode" namespace SurgSim { namespace Blocks { void enable2DTexture( std::shared_ptr material, const std::string& uniform, int unit, const std::string& filename, bool repeat) { if (!filename.empty()) { std::string path; SURGSIM_ASSERT(Framework::Runtime::getApplicationData()->tryFindFile(filename, &path)) << "Could not find texture file " << filename; auto texture = std::make_shared(); texture->loadImage(path); auto textureUniform = std::make_shared>(uniform); if (repeat) { auto osgTexture = texture->getOsgTexture(); osgTexture->setWrap(osg::Texture::WRAP_R, osg::Texture::REPEAT); osgTexture->setWrap(osg::Texture::WRAP_S, osg::Texture::REPEAT); osgTexture->setWrap(osg::Texture::WRAP_T, osg::Texture::REPEAT); } textureUniform->set(texture); textureUniform->setMinimumTextureUnit(unit); material->addUniform(textureUniform); } else { // If there is no texture provided, just set the texture unit on the material material->addUniform("int", uniform); material->setValue(uniform, unit); } } std::shared_ptr createPlainMaterial( const std::string& name, SurgSim::Math::Vector4f diffuseColor, SurgSim::Math::Vector4f specularColor, float shininess) { auto material = std::make_shared(name); auto program = Graphics::loadProgram(*Framework::Runtime::getApplicationData(), "Shaders/s_mapping_material"); SURGSIM_ASSERT(program != nullptr) << "Could not load program" << "Shaders/s_mapping_material"; material->setProgram(program); material->addUniform("vec4", "specularColor"); material->setValue("specularColor", specularColor); material->addUniform("vec4", "diffuseColor"); material->setValue("diffuseColor", diffuseColor); material->addUniform("float", "shininess"); material->setValue("shininess", shininess); return material; } std::shared_ptr createTexturedMaterial( const std::string& name, SurgSim::Math::Vector4f diffuseColor, SurgSim::Math::Vector4f specularColor, float shininess, const std::string& diffuseMap) { auto material = std::make_shared(name); auto program = Graphics::loadProgram(*Framework::Runtime::getApplicationData(), "Shaders/ds_mapping_material"); SURGSIM_ASSERT(program != nullptr) << "Could not load program" << "Shaders/ds_mapping_material"; material->setProgram(program); material->addUniform("vec4", "specularColor"); material->setValue("specularColor", specularColor); material->addUniform("vec4", "diffuseColor"); material->setValue("diffuseColor", diffuseColor); material->addUniform("float", "shininess"); material->setValue("shininess", shininess); enable2DTexture(material, "diffuseMap", Graphics::DIFFUSE_TEXTURE_UNIT, diffuseMap, false); return material; } std::shared_ptr createNormalMappedMaterial( const std::string& name, SurgSim::Math::Vector4f diffuseColor, SurgSim::Math::Vector4f specularColor, float shininess, const std::string& diffuseMap, const std::string& normalMap) { auto material = std::make_shared(name); auto program = Graphics::loadProgram(*Framework::Runtime::getApplicationData(), "Shaders/dns_mapping_material"); SURGSIM_ASSERT(program != nullptr) << "Could not load program" << "Shaders/dns_mapping_material"; // Prepare vertex attributes auto osgProgram = program->getOsgProgram(); osgProgram->addBindAttribLocation("tangent", Graphics::TANGENT_VERTEX_ATTRIBUTE_ID); osgProgram->addBindAttribLocation("bitangent", Graphics::BITANGENT_VERTEX_ATTRIBUTE_ID); material->setProgram(program); material->addUniform("vec4", "specularColor"); material->setValue("specularColor", specularColor); material->addUniform("vec4", "diffuseColor"); material->setValue("diffuseColor", diffuseColor); material->addUniform("float", "shininess"); material->setValue("shininess", shininess); enable2DTexture(material, "diffuseMap", Graphics::DIFFUSE_TEXTURE_UNIT, diffuseMap, false); enable2DTexture(material, "normalMap", Graphics::NORMAL_TEXTURE_UNIT, normalMap, false); return material; } void applyMaterials(std::shared_ptr scene, std::string materialFilename, const Materials& materials) { static SurgSim::Graphics::OsgUniformFactory uniformFactory; YAML::Node nodes; if (Framework::tryLoadNode(materialFilename, &nodes)) { for (auto node = nodes.begin(); node != nodes.end(); ++node) { auto name = node->begin()->first.as(); auto materialName = node->begin()->second["Material"].as(); auto found = name.find("/"); auto elementName = name.substr(0, found); auto componentName = name.substr(found + 1); auto component = std::dynamic_pointer_cast (scene->getComponent(elementName, componentName)); if (component != nullptr) { auto materialIt = materials.find(materialName); SURGSIM_ASSERT(materialIt != materials.end()) << "Could not find material " << materialName << " in the prebuilt materials."; auto material = materialIt->second; component->setMaterial(material); auto propertyNodes = node->begin()->second["Properties"]; for (auto nodeIt = propertyNodes.begin(); nodeIt != propertyNodes.end(); ++nodeIt) { auto rawUniform = uniformFactory.create( (*nodeIt)[0].as(), (*nodeIt)[1].as() ); SURGSIM_ASSERT(rawUniform != nullptr) << "Could not create uniform " << (*nodeIt)[1].as() << " of type " << (*nodeIt)[0].as() << "."; auto uniform = std::dynamic_pointer_cast(rawUniform); uniform->set((*nodeIt)[2]); component->addUniform(uniform); } } } } else { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getLogger("GraphicsUtilities")) << "Could not find material definitions, visuals are going to be compromised."; } } std::shared_ptr makeDebugQuad( const std::string& name, std::shared_ptr texture, double x, double y, double width, double height) { auto result = std::make_shared(name); result->setTexture(texture); result->setSize(width, height); result->setLocation(x, y); return result; } std::shared_ptr createPass( std::unordered_map> materials, const std::string& passName, const std::string& materialName) { auto pass = std::make_shared(passName); auto renderTarget = std::make_shared(1024, 1024, 1.0, 1, false); pass->setRenderTarget(renderTarget); pass->setRenderOrder(SurgSim::Graphics::Camera::RENDER_ORDER_PRE_RENDER, 0); SURGSIM_ASSERT(materials[materialName] != nullptr); materials[materialName]->getProgram()->setGlobalScope(true); pass->setMaterial(materials[materialName]); return pass; } } } opensurgsim-0.7.0/SurgSim/Blocks/GraphicsUtilities.h000066400000000000000000000125541277777236100225360ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_GRAPHICSUTILITIES_H #define SURGSIM_BLOCKS_GRAPHICSUTILITIES_H #include #include #include #include "SurgSim/Math/Vector.h" /// \file GraphicsUtilities.h /// The code in here is supposed to help create materials correctly, a lot of it is boilerplate that is repeated over /// for each material. It will have to be changed if the shaders being used change. namespace SurgSim { namespace Graphics { class OsgMaterial; } namespace Framework { class Scene; } namespace Blocks { typedef std::unordered_map> Materials; /// Provide a consistent interface to add texture uniforms on materials, adds the actual texture with a given minimum /// unit, or provides a placeholder uniform for the unit /// \param material The material for adding the texture /// \param uniform The name of the uniform to use /// \param unit The texture unit to use /// \param filename The file to use for the texture, /// \param repeat whether to create the texture as repeating /// \note if the texture filename is empty a placeholder uniform will be created using the unit as a value /// this for using objects with textures built in without having to assign the texture to the material on creation void enable2DTexture(std::shared_ptr material, const std::string& uniform, int unit, const std::string& filename = "", bool repeat = false); /// Create a basic material /// \param name name of the material /// \param diffuseColor Base diffuse color to use /// \param specularColor Base specular color to use /// \param shininess Phong shininess exponent std::shared_ptr createPlainMaterial( const std::string& name, SurgSim::Math::Vector4f diffuseColor, SurgSim::Math::Vector4f specularColor, float shininess); /// Create a basic textured material /// \param name name of the material /// \param diffuseColor Base diffuse color to use /// \param specularColor Base specular color to use /// \param shininess Phong shininess exponent /// \param diffuseMap Diffuse texture map name to use, if the texture is embedded in the object /// pass an empty string here, it has to occupy the correct texture unit though. std::shared_ptr createTexturedMaterial( const std::string& name, SurgSim::Math::Vector4f diffuseColor, SurgSim::Math::Vector4f specularColor, float shininess, const std::string& diffuseMap = ""); /// Create a basic textured material /// \param name name of the material /// \param diffuseColor Base diffuse color to use /// \param specularColor Base specular color to use /// \param shininess Phong shininess exponent /// \param diffuseMap Diffuse texture map name to use, if the texture is embedded in the object /// pass an empty string here, it has to occupy the correct texture unit as defined by \sa DIFFUSE_TEXTURE_UNIT. /// \param normalMap Normal texture map to use, if the texture is embedded in the object pass an empty string here, /// it has to occupy the correct texture unit as defined by \sa NORMAL_TEXTURE_UNIT. std::shared_ptr createNormalMappedMaterial( const std::string& name, SurgSim::Math::Vector4f diffuseColor, SurgSim::Math::Vector4f specularColor, float shininess, const std::string& diffuseMap = "", const std::string& normalMap = ""); /// Reads a material file, iterates over the components listed up in the material file and applies the materials and /// the appropriate material properties (if present) to the component, if the component is not found it will be ignored /// The material file is a yaml file with the following format /// /// - SceneElementName/ComponentName> /// Material: MaterialName /// Properties: /// - [GLSLUniformType, UniformName, YamlEncodedValue] /// - [GLSLUniformType, UniformName, YamlEncodedValue] /// - SceneElementName/ComponentName /// Material: ... /// /// The name of the SceneElement and the Component addressed need to be be separated by a '/' character. /// For each of the properties a uniform is created with the given GLSL type, name, and the YAML node will be passed /// to the uniform setter for conversion. If the type does not match what the appropriate GLSL type is, there will /// be an error. /// GLSLUniformType is e.g. vec3, vec4, float, mat4 ... /// \param scene The scene to traverse for component lookup /// \param materialFilename the YAML file that contains the descriptions /// \param materials lookup table for all the materials that are available void applyMaterials(std::shared_ptr scene, std::string materialFilename, const Materials& materials); } } #endif opensurgsim-0.7.0/SurgSim/Blocks/ImplicitSurface.cpp000066400000000000000000000330141277777236100225120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 "ImplicitSurface.h" #include "SurgSim/Blocks/GraphicsUtilities.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/TransferPropertiesBehavior.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgLight.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgProgram.h" #include "SurgSim/Graphics/OsgRenderTarget.h" #include "SurgSim/Graphics/OsgScreenSpaceQuadRepresentation.h" #include "SurgSim/Graphics/OsgTexture2d.h" #include "SurgSim/Graphics/OsgTextureUniform.h" #include "SurgSim/Graphics/RenderPass.h" #include "SurgSim/Graphics/View.h" namespace SurgSim { namespace Blocks { std::shared_ptr createBlurPass( std::shared_ptr depthPass, int textureWidth, int textureHeight, double blurRadius, std::vector>* elements, bool debug) { float floatRadius = static_cast(blurRadius); std::shared_ptr previousCamera = depthPass->getCamera(); // Horizontal Pass { auto renderPass = std::make_shared("ImplicitSurfaceHorizontalBlurPass"); renderPass->getCamera()->setOrthogonalProjection(0, textureWidth, 0, textureHeight, -1.0, 1.0); auto renderTarget = std::make_shared(textureWidth, textureHeight, 1.0, 0, true); renderPass->setRenderTarget(renderTarget); renderPass->getCamera()->setRenderOrder(Graphics::Camera::RENDER_ORDER_PRE_RENDER, 1); auto material = Graphics::buildMaterial("Shaders/gauss_blur_horizontal.vert", "Shaders/bilateral_blur.frag"); material->addUniform("sampler2D", "texture"); material->setValue("texture", previousCamera->getRenderTarget()->getDepthTarget()); material->addUniform("float", "width"); material->setValue("width", static_cast(textureWidth)); material->addUniform("float", "blurRadius"); material->setValue("blurRadius", floatRadius); renderPass->setMaterial(material); // Quad auto graphics = std::make_shared("Quad"); graphics->setSize(textureWidth, textureHeight); graphics->setLocation(0, 0); graphics->setGroupReference("ImplicitSurfaceHorizontalBlurPass"); renderPass->addComponent(graphics); if (debug) { renderPass->showDepthTarget(0, 256, 256, 256); } previousCamera = renderPass->getCamera(); elements->push_back(renderPass); } // Vertical Pass { auto renderPass = std::make_shared("ImplicitSurfaceVerticalBlurPass"); renderPass->getCamera()->setOrthogonalProjection(0, textureWidth, 0, textureHeight, -1.0, 1.0); auto renderTarget = std::make_shared(textureWidth, textureHeight, 1.0, 0, true); renderPass->setRenderTarget(renderTarget); renderPass->getCamera()->setRenderOrder(Graphics::Camera::RENDER_ORDER_PRE_RENDER, 2); auto material = Graphics::buildMaterial("Shaders/gauss_blur_vertical.vert", "Shaders/bilateral_blur.frag"); material->addUniform("sampler2D", "texture"); material->setValue("texture", previousCamera->getRenderTarget()->getDepthTarget()); material->addUniform("float", "height"); material->setValue("height", static_cast(textureWidth)); material->addUniform("float", "blurRadius"); material->setValue("blurRadius", floatRadius); renderPass->setMaterial(material); // Quad auto graphics = std::make_shared("Quad"); graphics->setSize(textureWidth, textureHeight); graphics->setLocation(0, 0); graphics->setGroupReference("ImplicitSurfaceVerticalBlurPass"); renderPass->addComponent(graphics); if (debug) { renderPass->showDepthTarget(256, 256, 256, 256); } previousCamera = renderPass->getCamera(); elements->push_back(renderPass); } return previousCamera; } std::shared_ptr createDepthPass( float sphereRadius, float sphereScale, int textureWidth, int textureHeight, bool debug) { auto renderPass = std::make_shared("ImplicitSurfaceDepthPass"); renderPass->getCamera()->setRenderGroupReference(GROUP_IMPLICIT_SURFACE); auto renderTarget = std::make_shared(textureWidth, textureHeight, 1.0, 0, true); renderPass->setRenderTarget(renderTarget); renderPass->getCamera()->setRenderOrder(Graphics::Camera::RENDER_ORDER_PRE_RENDER, 0); auto material = Graphics::buildMaterial("Shaders/implicit_surface/depth.vert", "Shaders/implicit_surface/depth.frag"); auto texture = std::make_shared(); texture->setIsPointSprite(true); auto pointSpriteUniform = std::make_shared>("PointSpriteDepth"); pointSpriteUniform->set(texture); material->addUniform(pointSpriteUniform); material->addUniform("float", "sphereRadius"); material->setValue("sphereRadius", sphereRadius); material->addUniform("float", "sphereScale"); material->setValue("sphereScale", sphereScale); renderPass->setMaterial(material); if (debug) { renderPass->showDepthTarget(0, 0, 256, 256); } return renderPass; } std::shared_ptr createNormalPass( std::shared_ptr camera, std::shared_ptr depthMap, int textureWidth, int textureHeight, bool debug) { auto renderPass = std::make_shared("ImplicitSurfaceNormalPass"); renderPass->getCamera()->setOrthogonalProjection(0, textureWidth, 0, textureHeight, -1.0, 1.0); auto renderTarget = std::make_shared(textureWidth, textureHeight, 1.0, 1, false); renderPass->setRenderTarget(renderTarget); renderPass->getCamera()->setRenderOrder(Graphics::Camera::RENDER_ORDER_PRE_RENDER, 3); auto material = Graphics::buildMaterial("Shaders/implicit_surface/normal.vert", "Shaders/implicit_surface/normal.frag"); material->addUniform("sampler2D", "depthMap"); material->setValue("depthMap", depthMap); material->getUniform("depthMap")->setValue("MinimumTextureUnit", static_cast(8)); material->addUniform("float", "texelSize"); material->setValue("texelSize", static_cast(1.0 / textureWidth)); renderPass->setMaterial(material); // Quad auto graphics = std::make_shared("Quad"); graphics->setSize(textureWidth, textureHeight); graphics->setLocation(0, 0); graphics->setGroupReference("ImplicitSurfaceNormalPass"); renderPass->addComponent(graphics); if (debug) { renderPass->showColorTarget(256, 0, 256, 256); } return renderPass; } std::shared_ptr createShadingPass( std::shared_ptr view, std::shared_ptr camera, std::shared_ptr light, std::shared_ptr lightMapPass, std::shared_ptr depthMap, std::shared_ptr normalMap, const Math::Vector4f& diffuseColor, const Math::Vector4f& specularColor, const std::string diffuseEnvMap, float diffusePct, const std::string specularEnvMap, float specularPct, float shininess, float shadowBias, float shadowIntensity) { std::array dimensions = view->getDimensions(); auto copier = std::make_shared("Copier"); copier->setTargetManagerType(SurgSim::Framework::MANAGER_TYPE_GRAPHICS); auto renderPass = std::make_shared("ImplicitSurfaceShadingPass"); renderPass->addComponent(copier); auto renderCamera = std::dynamic_pointer_cast(renderPass->getCamera()); renderCamera->setAmbientColor(camera->getAmbientColor()); renderCamera->getOsgCamera()->setProjectionMatrixAsOrtho2D(0, dimensions[0], 0, dimensions[1]); renderCamera->getOsgCamera()->setReferenceFrame(osg::Transform::ABSOLUTE_RF); renderCamera->getOsgCamera()->setClearMask(GL_NONE); renderCamera->setRenderOrder(Graphics::Camera::RENDER_ORDER_POST_RENDER, 0); auto material = Graphics::buildMaterial("Shaders/implicit_surface/shading.vert", "Shaders/implicit_surface/shading.frag"); if (lightMapPass != nullptr) { material->addUniform("sampler2D", "lightMap"); material->setValue("lightMap", lightMapPass->getRenderTarget()->getDepthTarget()); material->addUniform("mat4", "lightViewMatrix"); copier->connect(lightMapPass->getCamera(), "FloatViewMatrix", material, "lightViewMatrix"); material->addUniform("mat4", "lightProjectionMatrix"); copier->connect(lightMapPass->getCamera(), "FloatProjectionMatrix", material, "lightProjectionMatrix"); } material->addUniform("sampler2D", "depthMap"); material->setValue("depthMap", depthMap); material->addUniform("sampler2D", "normalMap"); material->setValue("normalMap", normalMap); material->addUniform("vec3", "light"); material->setValue("light", light->getPose().translation().cast().eval()); material->addUniform("vec4", "diffuseColor"); material->setValue("diffuseColor", diffuseColor); material->addUniform("vec4", "specularColor"); material->setValue("specularColor", specularColor); material->addUniform("float", "shininess"); material->setValue("shininess", shininess); material->addUniform("float", "bias"); material->setValue("bias", shadowBias); material->addUniform("float", "intensity"); material->setValue("intensity", shadowIntensity); std::string filename; { // The Diffuse environment map SURGSIM_ASSERT(Framework::Runtime::getApplicationData()->tryFindFile(diffuseEnvMap, &filename)) << "Could not load diffuse environment map " << diffuseEnvMap; auto texture = std::make_shared(); texture->loadImage(filename); material->addUniform("samplerCube", "diffuseEnvMap"); material->setValue("diffuseEnvMap", texture); material->addUniform("float", "diffusePercent"); material->setValue("diffusePercent", diffusePct); } { // The Specular environment map SURGSIM_ASSERT(Framework::Runtime::getApplicationData()->tryFindFile(specularEnvMap, &filename)) << "Could not load specular environment map " << specularEnvMap; auto texture = std::make_shared(); texture->loadImage(filename); material->addUniform("samplerCube", "specularEnvMap"); material->setValue("specularEnvMap", texture); material->addUniform("float", "specularPercent"); material->setValue("specularPercent", specularPct); } renderPass->setMaterial(material); auto graphics = std::make_shared("Graphics"); graphics->setSize(dimensions[0], dimensions[1]); graphics->setLocation(0, 0); graphics->setGroupReference("ImplicitSurfaceShadingPass"); renderPass->addComponent(graphics); return renderPass; } std::vector> createImplicitSurfaceEffect( std::shared_ptr view, std::shared_ptr light, std::shared_ptr lightMapPass, float sphereRadius, float sphereScale, float blurRadius, const Math::Vector4f& diffuseColor, const Math::Vector4f& specularColor, const std::string diffuseEnvMap, float diffusePct, const std::string specularEnvMap, float specularPct, float shininess, float shadowBias, float shadowIntensity, bool showDebug) { SURGSIM_ASSERT(view != nullptr) << "View can't be nullptr."; SURGSIM_ASSERT(light != nullptr) << "Light can't be nullptr."; auto graphicsView = Framework::checkAndConvert(view, "SurgSim::Graphics::View"); auto osgCamera = Framework::checkAndConvert(graphicsView->getCamera(), "SurgSim::Graphics::OsgCamera"); auto osgLight = Framework::checkAndConvert(light, "SurgSim::Graphics::OsgLight"); auto lightPass = std::dynamic_pointer_cast(lightMapPass); std::vector> result; auto dimensions = graphicsView->getDimensions(); switch (graphicsView->getStereoMode()) { case Graphics::View::STEREO_MODE_VERTICAL_SPLIT: dimensions[0] /= 2; break; case Graphics::View::STEREO_MODE_HORIZONTAL_SPLIT: dimensions[1] /= 2; break; default: break; } auto depthPass = createDepthPass(sphereRadius, sphereScale, dimensions[0], dimensions[1], showDebug); auto blurPass = createBlurPass(depthPass, dimensions[0], dimensions[1], blurRadius, &result, showDebug); auto normalPass = createNormalPass(osgCamera, blurPass->getRenderTarget()->getDepthTarget(), dimensions[0], dimensions[1], showDebug); auto shadingPass = createShadingPass(graphicsView, osgCamera, osgLight, lightPass, blurPass->getRenderTarget()->getDepthTarget(), normalPass->getRenderTarget()->getColorTarget(0), diffuseColor, specularColor, diffuseEnvMap, diffusePct, specularEnvMap, specularPct, shininess, shadowBias, shadowIntensity); result.push_back(depthPass); result.push_back(normalPass); result.push_back(shadingPass); return result; } } // Blocks } // SurgSim opensurgsim-0.7.0/SurgSim/Blocks/ImplicitSurface.h000066400000000000000000000064501277777236100221630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_IMPLICITSURFACE_H #define SURGSIM_BLOCKS_IMPLICITSURFACE_H #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Graphics/Uniform.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Blocks { static const std::string GROUP_IMPLICIT_SURFACE = "ImplicitSurface"; /// Builds a series of SceneElements enabling the rendering of a screen-space surface, all graphics objects that /// should be rendered as a surface need to be in the render group GROUP_IMPLICIT_SURFACE. /// The rest is done by the graphics system. /// All of the elements added are \sa RenderPass elements /// \param view the view to pull screen space dimensions from /// \param light the scene light to be used to shade the surface /// \param lightMapPass scene element containing the render pass for shadow casters /// \param sphereRadius the radius in meters that each point sprite sphere should have /// \param sphereScale the scaling factor for the point sprite sphere based on distance from the camera /// \param blurRadius sampling radius for the blur pass /// \param diffuseColor the color to use for the final surface shading /// \param specularColor the color to use for the specular highlight on the surface /// \param diffuseEnvMap the cube map to use for the diffuse environmental mapping /// \param diffusePct the amount to blend the environment map with the rest of diffuse lighting /// \param specularEnvMap the cube map to use for the specular environmental mapping /// \param specularPct the amount to blend the environment map with the rest of specular lighting /// \param shininess the shininess factor for the specular highlight /// \param shadowBias the bias to be used when determining something is in shadow or not, increasing this can help /// remove sharp edges at glancing angles /// \param shadowIntensity the general intensity of the shadow, 1 means everything in shadow will be black, 0 means /// there won't be any shadows at all /// \param showDebug whether to show debug information std::vector> createImplicitSurfaceEffect( std::shared_ptr view, std::shared_ptr light, std::shared_ptr lightMapPass, float sphereRadius, float sphereScale, float blurRadius, const Math::Vector4f& diffuseColor, const Math::Vector4f& specularColor, const std::string diffuseEnvMap, float diffusePct, const std::string specularEnvMap, float specularPct, float shininess, float shadowBias, float shadowIntensity, bool showDebug); } // Blocks } // SurgSim #endif // SURGSIM_BLOCKS_IMPLICITSURFACE_H opensurgsim-0.7.0/SurgSim/Blocks/KeyBehavior.cpp000066400000000000000000000070751277777236100216470ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/KeyBehavior.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Devices/Keyboard/KeyCode.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Input/InputComponent.h" namespace SurgSim { namespace Blocks { KeyBehavior::KeyBehavior(const std::string& name) : Framework::Behavior(name), m_lastKey(SurgSim::Devices::KeyCode::NONE) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(KeyBehavior, std::shared_ptr, InputComponent, getInputComponent, setInputComponent); } KeyBehavior::~KeyBehavior() { } void KeyBehavior::setInputComponent(std::shared_ptr inputComponent) { m_inputComponent = SurgSim::Framework::checkAndConvert(inputComponent, "SurgSim::Input::InputComponent"); } std::shared_ptr KeyBehavior::getInputComponent() const { return m_inputComponent; } bool KeyBehavior::doInitialize() { return true; } bool KeyBehavior::doWakeUp() { SURGSIM_LOG_IF(m_inputComponent == nullptr, SurgSim::Framework::Logger::getDefaultLogger(), WARNING) << "Input component not present in " << getFullName(); return m_inputComponent != nullptr; } void KeyBehavior::update(double dt) { DataStructures::DataGroup dataGroup; m_inputComponent->getData(&dataGroup); int key; if (dataGroup.integers().get("key", &key)) { if (key != m_lastKey) { if (m_lastKey != Devices::KeyCode::NONE) { onKeyUp(m_lastKey); } if (key != Devices::KeyCode::NONE) { onKeyDown(key); } } m_lastKey = key; } } std::unordered_map KeyBehavior::m_keyMap; boost::mutex KeyBehavior::m_keyMapMutex; bool KeyBehavior::registerKey(int keycode, const std::string& description) { if (keycode == Devices::KeyCode::NONE) { return false; } bool result = false; boost::unique_lock lock(m_keyMapMutex); if (m_keyMap.find(keycode) == m_keyMap.end()) { m_keyMap[keycode] = description; result = true; } else { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getLogger("Blocks/KeyBehavior")) << "Key '" << static_cast(keycode) << "' [" << description << "] already registered for function " << m_keyMap[keycode]; } return result; } bool KeyBehavior::unregisterKey(int keycode) { bool result = false; boost::unique_lock lock(m_keyMapMutex); if (m_keyMap.find(keycode) != m_keyMap.end()) { m_keyMap.erase(keycode); result = true; } return result; } void KeyBehavior::logMap() { std::string message; auto logger = SurgSim::Framework::Logger::getLogger("Blocks/KeyBehavior"); boost::unique_lock lock(m_keyMapMutex); for (const auto& item : m_keyMap) { SURGSIM_LOG_INFO(logger) << "'" << static_cast(item.first) << "' : " << item.second; } } }; // namespace Blocks }; // namespace SurgSimopensurgsim-0.7.0/SurgSim/Blocks/KeyBehavior.h000066400000000000000000000056221277777236100213100ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_KEYBEHAVIOR_H #define SURGSIM_BLOCKS_KEYBEHAVIOR_H #include #include #include "SurgSim/Framework/Behavior.h" namespace SurgSim { namespace Input { class InputComponent; } namespace Blocks { /// Behavior to abstract the functionality of keyboard driven behaviors, can be programmed to react to a /// single keystroke class KeyBehavior : public Framework::Behavior { public: /// Constructor explicit KeyBehavior(const std::string& name); /// Destructor ~KeyBehavior(); void update(double dt) override; bool doInitialize() override; bool doWakeUp() override; /// Set the input component from which pressed key comes. /// \param inputComponent The input component which contains the pressed key(s). void setInputComponent(std::shared_ptr inputComponent); /// Get the input component of this behavior, from which the pressed key comes. /// \return The input component which sends key press to this behavior. std::shared_ptr getInputComponent() const; /// Register the key, this let's the system keep track of keys used in the application /// \param keycode the key that is being used /// \param description description of functionality that the key triggers /// \return true if the key is available, false if another key has already been register static bool registerKey(int keycode, const std::string& description); /// Remove a key from the registry /// \param keycode the key to be removed /// \return true if the key was actually removed static bool unregisterKey(int keycode); /// Write the keymap out to the logger static void logMap(); protected: /// Implement to execute functionality on key press /// \param key the value of the key hit virtual void onKeyDown(int key) = 0; /// Implement to execute functionality on key release /// \param key the value of the key hit virtual void onKeyUp(int key) = 0; /// Input component needs to provide key std::shared_ptr m_inputComponent; /// Keep track if the key was pressed the last time around int m_lastKey; ///@{ /// Handle the key map static boost::mutex m_keyMapMutex; static std::unordered_map m_keyMap; ///@} }; }; // namespace Blocks }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Blocks/KeyboardCallbackBehavior.cpp000066400000000000000000000055021277777236100242650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/KeyboardCallbackBehavior.h" #include "SurgSim/DataStructures/DataStructuresConvert.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Input/InputComponent.h" namespace SurgSim { namespace Blocks { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Blocks::KeyboardCallbackBehavior, KeyboardCallbackBehavior); KeyboardCallbackBehavior::KeyboardCallbackBehavior(const std::string& name) : Framework::Behavior(name), m_keyPressedLastUpdate(false), m_actionKey(Devices::NONE) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(KeyboardCallbackBehavior, std::shared_ptr, InputComponent, getInputComponent, setInputComponent); SURGSIM_ADD_SERIALIZABLE_PROPERTY(KeyboardCallbackBehavior, int, ActionKey, getKey, registerKey); } void KeyboardCallbackBehavior::setInputComponent(std::shared_ptr inputComponent) { m_inputComponent = Framework::checkAndConvert(inputComponent, "SurgSim::Input::InputComponent"); } std::shared_ptr KeyboardCallbackBehavior::getInputComponent() const { return m_inputComponent; } void KeyboardCallbackBehavior::registerKey(int key) { m_actionKey = key; } void KeyboardCallbackBehavior::update(double dt) { DataStructures::DataGroup dataGroup; m_inputComponent->getData(&dataGroup); int key; if (dataGroup.integers().get("key", &key)) { if (m_actionKey == key && !m_keyPressedLastUpdate) { m_callback(); } m_keyPressedLastUpdate = (Devices::KeyCode::NONE != key); } } bool KeyboardCallbackBehavior::doInitialize() { return true; } bool KeyboardCallbackBehavior::doWakeUp() { bool result = true; if (nullptr == m_inputComponent) { SURGSIM_LOG_SEVERE(Framework::Logger::getDefaultLogger()) << "KeyboardCallbackBehavior '" << getFullName() << "' does not have an Input Component."; result = false; } return result; } int KeyboardCallbackBehavior::getKey() const { return m_actionKey; } void KeyboardCallbackBehavior::registerCallback(CallbackType func) { m_callback = func; } }; // namespace Blocks }; // namespace SurgSimopensurgsim-0.7.0/SurgSim/Blocks/KeyboardCallbackBehavior.h000066400000000000000000000055161277777236100237370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_KEYBOARDCALLBACKBEHAVIOR_H #define SURGSIM_BLOCKS_KEYBOARDCALLBACKBEHAVIOR_H #include #include "SurgSim/Devices/Keyboard/KeyCode.h" #include "SurgSim/Framework/Behavior.h" namespace SurgSim { namespace Input { class InputComponent; } namespace Blocks { SURGSIM_STATIC_REGISTRATION(KeyboardCallbackBehavior); /// This behavior will call the registered callback function when the registered key is pressed. class KeyboardCallbackBehavior : public Framework::Behavior { public: typedef std::function CallbackType; /// Constructor /// \param name Name of the behavior explicit KeyboardCallbackBehavior(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Blocks::KeyboardCallbackBehavior); /// Set the input component from which pressed key comes. /// \param inputComponent The input component which contains the pressed key(s). void setInputComponent(std::shared_ptr inputComponent); /// Get the input component of this behavior, from which the pressed key comes. /// \return The input component which sends key press to this behavior. std::shared_ptr getInputComponent() const; /// Register a key, so that when such key is pressed, this behavior will call the callback. /// \param key The controlling key. void registerKey(int key); /// Register a callback function. /// This function will be called when the registered key is pressed. /// \param func The callback function. void registerCallback(CallbackType func); void update(double dt) override; protected: /// \return The key which will make this behavior to call the callback. /// \note This is used for serialization only. int getKey() const; bool doInitialize() override; bool doWakeUp() override; private: /// Record if any key is pressed in last update() call. bool m_keyPressedLastUpdate; /// The registered key, when pressed, the registered callback will be called. int m_actionKey; /// Callback function. CallbackType m_callback; /// Input component from which pressed key comes. std::shared_ptr m_inputComponent; }; }; // namespace Blocks }; // namespace SurgSim #endif //SURGSIM_BLOCKS_KEYBOARDCALLBACKBEHAVIOR_H opensurgsim-0.7.0/SurgSim/Blocks/KeyboardTogglesComponentBehavior.cpp000066400000000000000000000070211277777236100260560ustar00rootroot00000000000000// Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/KeyboardTogglesComponentBehavior.h" #include "SurgSim/DataStructures/DataStructuresConvert.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Input/InputComponent.h" using SurgSim::Framework::checkAndConvert; namespace SurgSim { namespace Blocks { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Blocks::KeyboardTogglesComponentBehavior, KeyboardTogglesComponentBehavior); KeyboardTogglesComponentBehavior::KeyboardTogglesComponentBehavior(const std::string& name) : SurgSim::Framework::Behavior(name), m_keyPressedLastUpdate(false) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(KeyboardTogglesComponentBehavior, std::shared_ptr, InputComponent, getInputComponent, setInputComponent); SURGSIM_ADD_SERIALIZABLE_PROPERTY(KeyboardTogglesComponentBehavior, KeyboardRegistryType, KeyboardRegistry, getKeyboardRegistry, setKeyboardRegistry); } void KeyboardTogglesComponentBehavior::setInputComponent(std::shared_ptr inputComponent) { SURGSIM_ASSERT(nullptr != inputComponent) << "'inputComponent' cannot be 'nullptr'"; m_inputComponent = checkAndConvert( inputComponent, "SurgSim::Input::InputComponent"); } std::shared_ptr KeyboardTogglesComponentBehavior::getInputComponent() const { return m_inputComponent; } void KeyboardTogglesComponentBehavior::registerKey(SurgSim::Devices::KeyCode key, std::shared_ptr component) { m_registry[static_cast(key)].insert(component); } void KeyboardTogglesComponentBehavior::update(double dt) { SurgSim::DataStructures::DataGroup dataGroup; m_inputComponent->getData(&dataGroup); int key; if (dataGroup.integers().get("key", &key)) { auto match = m_registry.find(key); if (match != m_registry.end() && !m_keyPressedLastUpdate) { for (auto it = std::begin(match->second); it != std::end(match->second); ++it) { (*it)->setLocalActive(!(*it)->isLocalActive()); }; } m_keyPressedLastUpdate = (SurgSim::Devices::KeyCode::NONE != key); } } bool KeyboardTogglesComponentBehavior::doInitialize() { return true; } bool KeyboardTogglesComponentBehavior::doWakeUp() { bool result = true; if (nullptr == m_inputComponent) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << __FUNCTION__ << "KeyboardTogglesComponentBehavior " << getName() << " does not have an Input Component."; result = false; } return result; } void KeyboardTogglesComponentBehavior::setKeyboardRegistry(const KeyboardRegistryType& map) { m_registry = map; } const KeyboardTogglesComponentBehavior::KeyboardRegistryType& KeyboardTogglesComponentBehavior::getKeyboardRegistry() const { return m_registry; } }; // namespace Blocks }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Blocks/KeyboardTogglesComponentBehavior.h000066400000000000000000000070371277777236100255320ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_KEYBOARDTOGGLESCOMPONENTBEHAVIOR_H #define SURGSIM_BLOCKS_KEYBOARDTOGGLESCOMPONENTBEHAVIOR_H #include #include #include "SurgSim/Devices/Keyboard/KeyCode.h" #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Framework/Macros.h" namespace SurgSim { namespace Framework { class Component; } namespace Input { class InputComponent; } namespace Blocks { SURGSIM_STATIC_REGISTRATION(KeyboardTogglesComponentBehavior); /// This behavior is used to control the activity of registered components. class KeyboardTogglesComponentBehavior : public SurgSim::Framework::Behavior { public: typedef std::unordered_map>> KeyboardRegistryType; /// Constructor /// \param name Name of the behavior explicit KeyboardTogglesComponentBehavior(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Blocks::KeyboardTogglesComponentBehavior); /// Set the input component from which pressed keys come. /// \param inputComponent The input component which contains the pressed key(s). void setInputComponent(std::shared_ptr inputComponent); /// Get the input component of this behavior /// \return The input component which sends signals to this behavior. std::shared_ptr getInputComponent() const; /// Register a key with a component in this behavior. /// \param key A key used to control the component. /// \param component The component being controlled by the key. /// \note A key can be registered several times, so can a component. void registerKey(SurgSim::Devices::KeyCode key, std::shared_ptr component); /// Set the register map of this behavior /// \param map The register map. void setKeyboardRegistry(const KeyboardRegistryType& map); /// Get the register map of this behavior /// \return The register map of this behavior const KeyboardRegistryType& getKeyboardRegistry() const; /// Update the behavior /// \param dt The length of time (seconds) between update calls. void update(double dt) override; protected: /// Initialize this behavior /// \return True on success, otherwise false. /// \note In current implementation, this method always returns "true". bool doInitialize() override; /// Wakeup this behavior /// \return True on success, otherwise false. /// \note In current implementation, this method always returns "true". bool doWakeUp() override; private: /// Record if any key is pressed in last update() call. bool m_keyPressedLastUpdate; /// Input component from which pressed keys come. std::shared_ptr m_inputComponent; /// A mapping between key and the graphical representation(s) it controls. KeyboardRegistryType m_registry; }; }; // namespace Blocks }; // namespace SurgSim #endif //SURGSIM_BLOCKS_KEYBOARDTOGGLESCOMPONENTBEHAVIOR_H opensurgsim-0.7.0/SurgSim/Blocks/MassSpring1DRepresentation.cpp000066400000000000000000000053021277777236100246240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/MassSpring1DRepresentation.h" #include "SurgSim/Blocks/MassSpringNDRepresentationUtils.h" #include "SurgSim/Math/LinearSolveAndInverse.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Physics/LinearSpring.h" using SurgSim::Math::Vector3d; using SurgSim::Physics::Mass; namespace SurgSim { namespace Blocks { void MassSpring1DRepresentation::init1D( const std::vector nodes, std::vector nodeBoundaryConditions, double totalMass, double stiffnessStretching, double dampingStretching, double stiffnessBending, double dampingBending) { std::shared_ptr state; state = std::make_shared(); state->setNumDof(getNumDofPerNode(), nodes.size()); SURGSIM_ASSERT(nodes.size() > 0) << "Number of nodes incorrect: " << nodes.size(); // Initialize the nodes position, velocity and mass // Note: no need to apply the initialPose here, initialize will take care of it ! for (size_t massId = 0; massId < nodes.size(); massId++) { addMass(std::make_shared(totalMass / static_cast(nodes.size()))); SurgSim::Math::setSubVector(nodes[massId], massId, 3, &state->getPositions()); } // Initialize the stretching springs if (stiffnessStretching || dampingStretching) { for (size_t massId = 0; massId < nodes.size() - 1; massId++) { addSpring(createLinearSpring(state, massId, massId + 1, stiffnessStretching, dampingStretching)); } } // Initialize the bending springs if (stiffnessBending || dampingBending) { for (size_t massId = 0; massId < nodes.size() - 2; massId++) { addSpring(createLinearSpring(state, massId, massId + 2, stiffnessBending, dampingBending)); } } // Sets the boundary conditions for (auto boundaryCondition = std::begin(nodeBoundaryConditions); boundaryCondition != std::end(nodeBoundaryConditions); boundaryCondition++) { state->addBoundaryCondition(*boundaryCondition); } // setInitialState: Initialize all the states + apply initialPose if any setInitialState(state); } }; // namespace Blocks }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Blocks/MassSpring1DRepresentation.h000066400000000000000000000043021277777236100242700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_MASSSPRING1DREPRESENTATION_H #define SURGSIM_BLOCKS_MASSSPRING1DREPRESENTATION_H #include #include #include "SurgSim/Physics/MassSpringRepresentation.h" namespace SurgSim { namespace Blocks { // This class defines a simple MassSpring 1D structures class MassSpring1DRepresentation : public SurgSim::Physics::MassSpringRepresentation { public: /// Constructor /// \param name The model name explicit MassSpring1DRepresentation(const std::string& name) : SurgSim::Physics::MassSpringRepresentation(name) { } /// Initializes a 1D model from a given list of nodes /// \param nodes List of nodes to define the 1D model with /// \param nodeBoundaryConditions The list of all nodeId being boundary conditions (fixed node) /// \param totalMass The total mass of the mass spring (evenly spread out on the masses) /// \param stiffnessStretching, dampingStretching The spring param for all stretching springs (edges) /// \param stiffnessBending, dampingBending The spring param for all bending springs (edges) /// \note Stretching springs are connecting neighbors, bending springs are connecting 1 node /// \note to its 2nd degree neighbors, creating a bending force around the middle node. void init1D(const std::vector nodes, std::vector nodeBoundaryConditions, double totalMass, double stiffnessStretching, double dampingStretching, double stiffnessBending, double dampingBending); }; }; // namespace Blocks }; // namespace SurgSim #endif // SURGSIM_BLOCKS_MASSSPRING1DREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Blocks/MassSpring2DRepresentation.cpp000066400000000000000000000140221277777236100246240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/MassSpring2DRepresentation.h" #include "SurgSim/Blocks/MassSpringNDRepresentationUtils.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Physics/LinearSpring.h" using SurgSim::Math::Vector3d; using SurgSim::Physics::Mass; namespace SurgSim { namespace Blocks { void MassSpring2DRepresentation::init2DStretchingSprings(const std::shared_ptr state, size_t numNodesPerDim[2], double stiffness, double damping) { const size_t rowOffset = numNodesPerDim[0]; const size_t colOffset = 1; // Initialize the stretching springs if (stiffness || damping) { // ...along X for (size_t row = 0; row < numNodesPerDim[1]; row++) { for (size_t col = 0; col < numNodesPerDim[0] - 1; col++) { size_t nodeId = row * rowOffset + col * colOffset; addSpring(createLinearSpring(state, nodeId, nodeId + colOffset, stiffness, damping)); } } // ...along Y for (size_t col = 0; col < numNodesPerDim[0]; col++) { for (size_t row = 0; row < numNodesPerDim[1] - 1; row++) { size_t nodeId = row * rowOffset + col * colOffset; addSpring(createLinearSpring(state, nodeId, nodeId + rowOffset, stiffness, damping)); } } } } void MassSpring2DRepresentation::init2DBendingSprings(const std::shared_ptr state, size_t numNodesPerDim[2], double stiffness, double damping) { const size_t rowOffset = numNodesPerDim[0]; const size_t colOffset = 1; // Initialize the bending springs if (stiffness || damping) { // ... along X for (size_t row = 0; row < numNodesPerDim[1]; row++) { for (size_t col = 0; col < numNodesPerDim[0] - 2; col++) { size_t nodeId = row * rowOffset + col * colOffset; addSpring(createLinearSpring(state, nodeId, nodeId + 2 * colOffset, stiffness, damping)); } } // ... along Y for (size_t col = 0; col < numNodesPerDim[0]; col++) { for (size_t row = 0; row < numNodesPerDim[1] - 2; row++) { size_t nodeId = row * rowOffset + col * colOffset; addSpring(createLinearSpring(state, nodeId, nodeId + 2 * rowOffset, stiffness, damping)); } } } } void MassSpring2DRepresentation::init2DFaceDiagonalSprings(const std::shared_ptr state, size_t numNodesPerDim[2], double stiffness, double damping) { const size_t rowOffset = numNodesPerDim[0]; const size_t colOffset = 1; // Initialize the face diagonal springs if (stiffness || damping) { for (size_t row = 0; row < numNodesPerDim[1] - 1; row++) { for (size_t col = 0; col < numNodesPerDim[0] - 1; col++) { size_t nodeId = row * rowOffset + col * colOffset; addSpring(createLinearSpring(state, nodeId, nodeId + rowOffset + colOffset, stiffness, damping)); addSpring(createLinearSpring(state, nodeId + colOffset, nodeId + rowOffset, stiffness, damping)); } } } } void MassSpring2DRepresentation::init2D( const std::array, 2> extremities, size_t numNodesPerDim[2], std::vector nodeBoundaryConditions, double totalMass, double stiffnessStretching, double dampingStretching, double stiffnessBending, double dampingBending, double stiffnessFaceDiagonal, double dampingFaceDiagonal) { std::shared_ptr state; state = std::make_shared(); state->setNumDof(getNumDofPerNode(), numNodesPerDim[0] * numNodesPerDim[1]); SURGSIM_ASSERT(numNodesPerDim[0] > 0) << "Number of nodes for dimension 1 is incorrect: " << numNodesPerDim[0]; SURGSIM_ASSERT(numNodesPerDim[1] > 0) << "Number of nodes for dimension 2 is incorrect: " << numNodesPerDim[1]; // Initialize the nodes position, velocity and mass // Note: no need to apply the initialPose here, initialize will take care of it ! Vector3d rowExtremititiesDelta[2] = { (extremities[0][1] - extremities[0][0]) / static_cast(numNodesPerDim[1] - 1) , (extremities[1][1] - extremities[1][0]) / static_cast(numNodesPerDim[1] - 1) }; size_t nodeId = 0; for (size_t row = 0; row < numNodesPerDim[1]; row++) { Vector3d rowExtremities[2]; rowExtremities[0] = extremities[0][0] + rowExtremititiesDelta[0] * static_cast(row); rowExtremities[1] = extremities[1][0] + rowExtremititiesDelta[1] * static_cast(row); Vector3d delta = (rowExtremities[1] - rowExtremities[0]) / static_cast(numNodesPerDim[0] - 1); for (size_t col = 0; col < numNodesPerDim[0]; col++) { addMass(std::make_shared(totalMass / static_cast(numNodesPerDim[0] * numNodesPerDim[1]))); SurgSim::Math::Vector3d position(rowExtremities[0] + static_cast(col) * delta); SurgSim::Math::setSubVector(position, nodeId, 3, &state->getPositions()); nodeId++; } } // Initialize all the stretching springs init2DStretchingSprings(state, numNodesPerDim, stiffnessStretching, dampingStretching); // Initialize all the bending springs init2DBendingSprings(state, numNodesPerDim, stiffnessBending, dampingBending); // Initialize all the face diagonal springs init2DFaceDiagonalSprings(state, numNodesPerDim, stiffnessFaceDiagonal, dampingFaceDiagonal); // Sets the boundary conditions for (auto boundaryCondition = std::begin(nodeBoundaryConditions); boundaryCondition != std::end(nodeBoundaryConditions); boundaryCondition++) { state->addBoundaryCondition(*boundaryCondition); } // setInitialState: Initialize all the states + apply initialPose if any setInitialState(state); } }; // namespace Blocks }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Blocks/MassSpring2DRepresentation.h000066400000000000000000000100001277777236100242610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_MASSSPRING2DREPRESENTATION_H #define SURGSIM_BLOCKS_MASSSPRING2DREPRESENTATION_H #include #include #include "SurgSim/Physics/MassSpringRepresentation.h" namespace SurgSim { namespace Blocks { // This class defines a simple MassSpring 2D structures class MassSpring2DRepresentation : public SurgSim::Physics::MassSpringRepresentation { public: /// Constructor /// \param name The name to assign to the model explicit MassSpring2DRepresentation(const std::string& name) : SurgSim::Physics::MassSpringRepresentation(name) { } /// Initializes a 2D MassSpring /// \param extremities 4 positions forming the extremities of the 2D regular model (4 corners) /// \param numNodesPerDim The number of nodes to be created for each dimension (here 2) /// \param nodeBoundaryConditions The list of all nodeId being boundary conditions (fixed node) /// \param totalMass The total mass of the mass spring (evenly spread out on the masses) /// \param stiffnessStretching, dampingStretching The spring param for all stretching springs (edges) /// \param stiffnessBending, dampingBending The spring param for all bending springs (edges) /// \param stiffnessFaceDiagonal, dampingFaceDiagonal The spring param for all face diagonal springs (faces) /// \note Stretching springs are connecting neighbors, bending springs are connecting 1 node /// \note to its 2nd degree neighbors, creating a bending force around the middle node. /// \note Face diagonal springs aim at maintaining the area of a square /// \note extremities are organized as follow: /// \note [0][1] *---* [1][1] /// \note | | /// \note [0][0] *---* [1][0] void init2D(const std::array, 2> extremities, size_t numNodesPerDim[2], std::vector nodeBoundaryConditions, double totalMass, double stiffnessStretching, double dampingStretching, double stiffnessBending, double dampingBending, double stiffnessFaceDiagonal, double dampingFaceDiagonal); private: /// Helper method to initialize/add all stretching springs on a 2D structure /// \param state The state to initialize the springs with (rest lengths calculation) /// \param numNodesPerDim The number of nodes on the 2 dimensions /// \param stiffness, damping The spring parameters void init2DStretchingSprings(const std::shared_ptr state, size_t numNodesPerDim[2], double stiffness, double damping); /// Helper method to initialize/add all bending springs on a 2D structure /// \param state The state to initialize the springs with (rest lengths calculation) /// \param numNodesPerDim The number of nodes on the 2 dimensions /// \param stiffness, damping The spring parameters void init2DBendingSprings(const std::shared_ptr state, size_t numNodesPerDim[2], double stiffness, double damping); /// Helper method to initialize/add all face diagonal springs on a 2D structure /// \param state The state to initialize the springs with (rest lengths calculation) /// \param numNodesPerDim The number of nodes on the 2 dimensions /// \param stiffness, damping The spring parameters void init2DFaceDiagonalSprings(const std::shared_ptr state, size_t numNodesPerDim[2], double stiffness, double damping); }; }; // namespace Blocks }; // namespace SurgSim #endif // SURGSIM_BLOCKS_MASSSPRING2DREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Blocks/MassSpring3DRepresentation.cpp000066400000000000000000000266301277777236100246350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/MassSpring3DRepresentation.h" #include "SurgSim/Blocks/MassSpringNDRepresentationUtils.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Physics/LinearSpring.h" using SurgSim::Physics::Mass; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Blocks { void MassSpring3DRepresentation::init3DStretchingSprings(const std::shared_ptr state, size_t numNodesPerDim[3], double stiffness, double damping) { const size_t depthOffset = numNodesPerDim[0] * numNodesPerDim[1]; const size_t rowOffset = numNodesPerDim[0]; const size_t colOffset = 1; // Initialize the stretching springs if (stiffness|| damping) { // ... along X for (size_t depth = 0; depth < numNodesPerDim[2]; depth++) { for (size_t row = 0; row < numNodesPerDim[1]; row++) { for (size_t col = 0; col < numNodesPerDim[0] - 1; col++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; addSpring(createLinearSpring(state, nodeId, nodeId + colOffset, stiffness, damping)); } } } // ... along Y for (size_t depth = 0; depth < numNodesPerDim[2]; depth++) { for (size_t col = 0; col < numNodesPerDim[0]; col++) { for (size_t row = 0; row < numNodesPerDim[1] - 1; row++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; addSpring(createLinearSpring(state, nodeId, nodeId + rowOffset, stiffness, damping)); } } } // ... along Z for (size_t row = 0; row < numNodesPerDim[1]; row++) { for (size_t col = 0; col < numNodesPerDim[0]; col++) { for (size_t depth = 0; depth < numNodesPerDim[2] - 1; depth++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; addSpring(createLinearSpring(state, nodeId, nodeId + depthOffset, stiffness, damping)); } } } } } void MassSpring3DRepresentation::init3DBendingSprings(const std::shared_ptr state, size_t numNodesPerDim[3], double stiffness, double damping) { const size_t depthOffset = numNodesPerDim[0] * numNodesPerDim[1]; const size_t rowOffset = numNodesPerDim[0]; const size_t colOffset = 1; // Initialize the bending springs if (stiffness || damping) { // ... along X for (size_t depth = 0; depth < numNodesPerDim[2]; depth++) { for (size_t row = 0; row < numNodesPerDim[1]; row++) { for (size_t col = 0; col < numNodesPerDim[0] - 2; col++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; addSpring(createLinearSpring(state, nodeId, nodeId + 2 * colOffset, stiffness, damping)); } } } // ... along Y for (size_t depth = 0; depth < numNodesPerDim[2]; depth++) { for (size_t col = 0; col < numNodesPerDim[0]; col++) { for (size_t row = 0; row < numNodesPerDim[1] - 2; row++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; addSpring(createLinearSpring(state, nodeId, nodeId + 2 * rowOffset, stiffness, damping)); } } } // ... along Z for (size_t row = 0; row < numNodesPerDim[1]; row++) { for (size_t col = 0; col < numNodesPerDim[0]; col++) { for (size_t depth = 0; depth < numNodesPerDim[2] - 2; depth++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; addSpring(createLinearSpring(state, nodeId, nodeId + 2 * depthOffset, stiffness, damping)); } } } } } void MassSpring3DRepresentation::init3DFaceDiagonalSprings(const std::shared_ptr state, size_t numNodesPerDim[3], double stiffness, double damping) { const size_t depthOffset = numNodesPerDim[0] * numNodesPerDim[1]; const size_t rowOffset = numNodesPerDim[0]; const size_t colOffset = 1; // Initialize the face diagonal springs if (stiffness || damping) { // ... faces orthogonal to Z for (size_t depth = 0; depth < numNodesPerDim[2]; depth++) { for (size_t row = 0; row < numNodesPerDim[1] - 1; row++) { for (size_t col = 0; col < numNodesPerDim[0] - 1; col++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; addSpring(createLinearSpring(state, nodeId, nodeId + rowOffset + colOffset, stiffness, damping)); addSpring(createLinearSpring(state, nodeId + colOffset, nodeId + rowOffset, stiffness, damping)); } } } // ... faces orthogonal to Y for (size_t row = 0; row < numNodesPerDim[1]; row++) { for (size_t depth = 0; depth < numNodesPerDim[2] - 1; depth++) { for (size_t col = 0; col < numNodesPerDim[0] - 1; col++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; addSpring(createLinearSpring(state, nodeId, nodeId + depthOffset + colOffset, stiffness, damping)); addSpring(createLinearSpring(state, nodeId + colOffset, nodeId + depthOffset, stiffness, damping)); } } } // ... faces orthogonal to X for (size_t col = 0; col < numNodesPerDim[0]; col++) { for (size_t row = 0; row < numNodesPerDim[1] - 1; row++) { for (size_t depth = 0; depth < numNodesPerDim[2] - 1; depth++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; addSpring(createLinearSpring(state, nodeId, nodeId + depthOffset + rowOffset, stiffness, damping)); addSpring(createLinearSpring(state, nodeId + rowOffset, nodeId + depthOffset, stiffness, damping)); } } } } } void MassSpring3DRepresentation::init3DVolumeDiagonalSprings(const std::shared_ptr state, size_t numNodesPerDim[3], double stiffness, double damping) { const size_t depthOffset = numNodesPerDim[0] * numNodesPerDim[1]; const size_t rowOffset = numNodesPerDim[0]; const size_t colOffset = 1; // For convenience double &s = stiffness; double &d = damping; // Initialize the volume diagonal springs if (stiffness || damping) { for (size_t col = 0; col < numNodesPerDim[0] - 1; col++) { for (size_t row = 0; row < numNodesPerDim[1] - 1; row++) { for (size_t depth = 0; depth < numNodesPerDim[2] - 1; depth++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; addSpring(createLinearSpring(state, nodeId, nodeId + depthOffset + rowOffset + colOffset, s, d)); addSpring(createLinearSpring(state, nodeId + colOffset, nodeId + depthOffset + rowOffset, s, d)); addSpring(createLinearSpring(state, nodeId + rowOffset, nodeId + depthOffset + colOffset, s, d)); addSpring(createLinearSpring(state, nodeId + rowOffset + colOffset, nodeId + depthOffset, s, d)); } } } } } void MassSpring3DRepresentation::init3D( const std::array, 2>, 2> extremities, size_t numNodesPerDim[3], std::vector nodeBoundaryConditions, double totalMass, double stiffnessStretching, double dampingStretching, double stiffnessBending, double dampingBending, double stiffnessFaceDiagonal, double dampingFaceDiagonal, double stiffnessVolumeDiagonal, double dampingVolumeDiagonal) { std::shared_ptr state; state = std::make_shared(); state->setNumDof(getNumDofPerNode(), numNodesPerDim[0] * numNodesPerDim[1] * numNodesPerDim[2]); // Nodes distribution is done by column 1st, row 2nd, depth 3rd // Example: given a nodeId // Its neighbor on the next column (colOffset) is nodeId + 1 // Its neighbor on the next row (rowOffset) is nodeId + numNodesPerDim[0] // Its neighbor on the next depth (depthOffset) is nodeId + numNodesPerDim[0] * numNodesPerDim[1] SURGSIM_ASSERT(numNodesPerDim[0] > 0) << "Number of nodes for dimension 1 is incorrect: " << numNodesPerDim[0]; SURGSIM_ASSERT(numNodesPerDim[1] > 0) << "Number of nodes for dimension 2 is incorrect: " << numNodesPerDim[1]; SURGSIM_ASSERT(numNodesPerDim[2] > 0) << "Number of nodes for dimension 3 is incorrect: " << numNodesPerDim[2]; const size_t numNodes = numNodesPerDim[0] * numNodesPerDim[1] * numNodesPerDim[2]; // Initialize the nodes position, velocity and mass // Note: no need to apply the initialPose here, initialize will take care of it ! Vector3d depthExtremitiesDelta[2][2] = {{(extremities[0][0][1] - extremities[0][0][0]) / static_cast(numNodesPerDim[2] - 1) , (extremities[1][0][1] - extremities[1][0][0]) / static_cast(numNodesPerDim[2] - 1)} , {(extremities[0][1][1] - extremities[0][1][0]) / static_cast(numNodesPerDim[2] - 1) , (extremities[1][1][1] - extremities[1][1][0]) / static_cast(numNodesPerDim[2] - 1)}}; size_t nodeId = 0; for (size_t depth = 0; depth < numNodesPerDim[2]; depth++) { Vector3d depthExtremities[2][2]; depthExtremities[0][0] = extremities[0][0][0] + depthExtremitiesDelta[0][0] * static_cast(depth); depthExtremities[1][0] = extremities[1][0][0] + depthExtremitiesDelta[0][1] * static_cast(depth); depthExtremities[0][1] = extremities[0][1][0] + depthExtremitiesDelta[1][0] * static_cast(depth); depthExtremities[1][1] = extremities[1][1][0] + depthExtremitiesDelta[1][1] * static_cast(depth); Vector3d rowExtremitiesDelta[2] = {(depthExtremities[0][1] - depthExtremities[0][0]) / static_cast(numNodesPerDim[1] - 1) , (depthExtremities[1][1] - depthExtremities[1][0]) / static_cast(numNodesPerDim[1] - 1)}; for (size_t row = 0; row < numNodesPerDim[1]; row++) { Vector3d rowExtremities[2]; rowExtremities[0] = depthExtremities[0][0] + rowExtremitiesDelta[0] * static_cast(row); rowExtremities[1] = depthExtremities[1][0] + rowExtremitiesDelta[1] * static_cast(row); Vector3d delta = (rowExtremities[1] - rowExtremities[0]) / static_cast(numNodesPerDim[0] - 1); for (size_t col = 0; col < numNodesPerDim[0]; col++) { addMass(std::make_shared(totalMass / static_cast(numNodes))); Vector3d position(rowExtremities[0] + static_cast(col) * delta); SurgSim::Math::setSubVector(position, nodeId, 3, &state->getPositions()); nodeId++; } } } // Initialize all the stretching springs init3DStretchingSprings(state, numNodesPerDim, stiffnessStretching, dampingStretching); // Initialize all the bending springs init3DBendingSprings(state, numNodesPerDim, stiffnessBending, dampingBending); // Initialize all the face diagonal springs init3DFaceDiagonalSprings(state, numNodesPerDim, stiffnessFaceDiagonal, dampingFaceDiagonal); // Initialize all the volume diagonal springs init3DVolumeDiagonalSprings(state, numNodesPerDim, stiffnessVolumeDiagonal, dampingVolumeDiagonal); // Sets the boundary conditions for (auto boundaryCondition = std::begin(nodeBoundaryConditions); boundaryCondition != std::end(nodeBoundaryConditions); boundaryCondition++) { state->addBoundaryCondition(*boundaryCondition); } // setInitialState: Initialize all the states + apply initialPose if any setInitialState(state); } }; // namespace Blocks }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Blocks/MassSpring3DRepresentation.h000066400000000000000000000114271277777236100243000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_MASSSPRING3DREPRESENTATION_H #define SURGSIM_BLOCKS_MASSSPRING3DREPRESENTATION_H #include #include #include "SurgSim/Physics/MassSpringRepresentation.h" namespace SurgSim { namespace Blocks { // This class defines a simple MassSpring 3D structures class MassSpring3DRepresentation : public SurgSim::Physics::MassSpringRepresentation { public: /// Constructor /// \param name The model name explicit MassSpring3DRepresentation(const std::string& name) : SurgSim::Physics::MassSpringRepresentation(name) { } /// Initializes a 3D model /// \param extremities 8 positions forming the extremities of the 3D regular model (8 corners) /// \param numNodesPerDim The number of nodes to be created for each dimension (here 3) /// \param nodeBoundaryConditions The list of all nodeId being boundary conditions (fixed node) /// \param totalMass The total mass of the mass spring (evenly spread out on the masses) /// \param stiffnessStretching, dampingStretching The spring param for all stretching springs (edges) /// \param stiffnessBending, dampingBending The spring param for all bending springs (edges) /// \param stiffnessFaceDiagonal, dampingFaceDiagonal The spring param for all face diagonal springs (faces) /// \param stiffnessVolumeDiagonal, dampingVolumeDiagonal The spring param for all volume diagonal springs (volume) /// \note Stretching springs are connecting neighbors, bending springs are connecting 1 node /// \note to its 2nd degree neighbors, creating a bending force around the middle node. /// \note Face diagonal springs aim at maintaining the area of a square /// \note Volume diagonal springs aim at maintaining the volume of a cube /// \note extremities are organized as follow: /// \note [0][1][0] *---* [1][1][0] /// \note [0][1][1] *---* [1][1][1] /// \note [0][0][0] <- | | * -> [1][0][0] /// \note [0][0][1] *---* [1][0][1] void init3D( const std::array, 2>, 2> extremities, size_t numNodesPerDim[3], std::vector nodeBoundaryConditions, double totalMass, double stiffnessStretching, double dampingStretching, double stiffnessBending, double dampingBending, double stiffnessFaceDiagonal, double dampingFaceDiagonal, double stiffnessVolumeDiagonal, double dampingVolumeDiagonal); private: /// Helper method to initialize/add all stretching springs on a 3D structure /// \param state The state to initialize the springs with (rest lengths calculation) /// \param numNodesPerDim The number of nodes on the 3 dimensions /// \param stiffness, damping The spring parameters void init3DStretchingSprings(const std::shared_ptr state, size_t numNodesPerDim[3], double stiffness, double damping); /// Helper method to initialize/add all bending springs on a 3D structure /// \param state The state to initialize the springs with (rest lengths calculation) /// \param numNodesPerDim The number of nodes on the 3 dimensions /// \param stiffness, damping The spring parameters void init3DBendingSprings(const std::shared_ptr state, size_t numNodesPerDim[3], double stiffness, double damping); /// Helper method to initialize/add all face diagonal springs on a 3D structure /// \param state The state to initialize the springs with (rest lengths calculation) /// \param numNodesPerDim The number of nodes on the 3 dimensions /// \param stiffness, damping The spring parameters void init3DFaceDiagonalSprings(const std::shared_ptr state, size_t numNodesPerDim[3], double stiffness, double damping); /// Helper method to initialize/add all volume diagonal springs on a 3D structure /// \param state The state to initialize the springs with (rest lengths calculation) /// \param numNodesPerDim The number of nodes on the 3 dimensions /// \param stiffness, damping The spring parameters void init3DVolumeDiagonalSprings(const std::shared_ptr state, size_t numNodesPerDim[3], double stiffness, double damping); }; }; // namespace Blocks }; // namespace SurgSim #endif // SURGSIM_BLOCKS_MASSSPRING3DREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Blocks/MassSpringNDRepresentationUtils.cpp000066400000000000000000000027761277777236100257160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/MassSpringNDRepresentationUtils.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Physics/LinearSpring.h" namespace SurgSim { namespace Blocks { std::shared_ptr createLinearSpring( const std::shared_ptr state, size_t nodeId0, size_t nodeId1, double stiffness, double damping) { using SurgSim::Math::Vector3d; std::shared_ptr spring; spring = std::make_shared(nodeId0, nodeId1); const Vector3d& A = SurgSim::Math::getSubVector(state->getPositions(), nodeId0, 3); const Vector3d& B = SurgSim::Math::getSubVector(state->getPositions(), nodeId1, 3); spring->setStiffness(stiffness); spring->setDamping(damping); spring->setRestLength((B-A).norm()); return spring; } }; // namespace Blocks }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Blocks/MassSpringNDRepresentationUtils.h000066400000000000000000000027201277777236100253500ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_MASSSPRINGNDREPRESENTATIONUTILS_H #define SURGSIM_BLOCKS_MASSSPRINGNDREPRESENTATIONUTILS_H #include namespace SurgSim { namespace Math { class OdeState; } namespace Physics { class LinearSpring; } namespace Blocks { /// Helper method to create a LinearSpring /// \param state The state to initialize the spring with (rest length calculation) /// \param nodeId0, nodeId1 Node ids of the 2 connected masses /// \param stiffness, damping The spring parameters /// \return The newly create spring std::shared_ptr createLinearSpring( const std::shared_ptr state, size_t nodeId0, size_t nodeId1, double stiffness, double damping); }; // namespace Blocks }; // namespace SurgSim #endif // SURGSIM_BLOCKS_MASSSPRINGNDREPRESENTATIONUTILS_H opensurgsim-0.7.0/SurgSim/Blocks/PoseInterpolator.cpp000066400000000000000000000057311277777236100227450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/PoseInterpolator.h" #include "SurgSim/Framework/SceneElement.h" #include using SurgSim::Math::RigidTransform3d; namespace SurgSim { namespace Blocks { PoseInterpolator::PoseInterpolator(const std::string& name) : Behavior(name), m_startingPose(RigidTransform3d::Identity()), m_endingPose(RigidTransform3d::Identity()), m_duration(1.0), m_currentTime(0.0) { } void PoseInterpolator::setStartingPose(const SurgSim::Math::RigidTransform3d& transform) { if (!isInitialized()) { m_optionalStartPose.setValue(transform); } } void PoseInterpolator::setEndingPose(const SurgSim::Math::RigidTransform3d& transform) { if (!isInitialized()) { m_endingPose = transform; } } void PoseInterpolator::setTarget(std::shared_ptr target) { if (!isInitialized()) { m_target = target; } } void PoseInterpolator::setDuration(double t) { if (!isInitialized()) { m_duration = t; } } double PoseInterpolator::getDuration() const { return m_duration; } bool PoseInterpolator::doInitialize() { return true; } void PoseInterpolator::doRetire() { m_target = nullptr; } bool PoseInterpolator::doWakeUp() { bool result = false; if (m_target == nullptr) { m_target = getSceneElement(); } if (m_target != nullptr) { m_startingPose = (m_optionalStartPose.hasValue()) ? m_optionalStartPose.getValue() : m_target->getPose(); result = true; } return result; } void PoseInterpolator::update(double dt) { m_currentTime += dt; if (m_currentTime >= m_duration) { if (isLoop()) { m_currentTime = m_currentTime - m_duration; } else if (isPingPong()) { m_currentTime = m_currentTime - m_duration; std::swap(m_endingPose, m_startingPose); } else { m_currentTime = m_duration; auto element = getSceneElement(); if (element != nullptr) { element->removeComponent(getName()); } } } m_target->setPose(Math::interpolate(m_startingPose, m_endingPose, m_currentTime / m_duration)); } void PoseInterpolator::setLoop(bool val) { m_loop = val; if (m_loop) { m_pingpong = false; } } bool PoseInterpolator::isLoop() const { return m_loop; } void PoseInterpolator::setPingPong(bool val) { m_pingpong = val; if (m_pingpong) { m_loop = false; } } bool PoseInterpolator::isPingPong() const { return m_pingpong; } }; // Blocks }; // Surgsim opensurgsim-0.7.0/SurgSim/Blocks/PoseInterpolator.h000066400000000000000000000067661277777236100224230ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_POSEINTERPOLATOR_H #define SURGSIM_BLOCKS_POSEINTERPOLATOR_H #include #include #include "SurgSim/DataStructures/OptionalValue.h" #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Math/RigidTransform.h" namespace SurgSim { namespace Framework { class SceneElement; } } namespace SurgSim { namespace Blocks { /// Perform linear interpolation on two poses class PoseInterpolator : public SurgSim::Framework::Behavior { public: /// Constructor explicit PoseInterpolator(const std::string& name); /// Set the starting pose. This is optional, if not set the target's pose /// will be used as the starting pose. /// \param transform The starting pose. void setStartingPose(const SurgSim::Math::RigidTransform3d& transform); /// Set the end pose. /// \param transform The end pose. void setEndingPose(const SurgSim::Math::RigidTransform3d& transform); /// Set the target of the interpolation, this is where the interpolated transform /// will be applied to. If this value is not set, the Scene Element that contains /// this PoseInterpolator will be used. If no starting pose is set, the pose of /// this scene element will be used as the starting pose /// \param target The target that will use the interpolated pose. void setTarget(std::shared_ptr target); /// Set the duration of the interpolation. /// \param t The duration in seconds. void setDuration(double t); /// Get the duration. /// \return The duration in seconds. double getDuration() const; /// Sets the interpolation to looping, pingpong and loop cannot be used together. /// \param val If true the interpolation will loop. void setLoop(bool val); /// \return true If the interpolation is looping. bool isLoop() const; /// Sets the interpolation to ping pong back and forth between the starting and ending poses. /// pingpong and loop cannot be used together. /// \param val If true the interpolation will ping pong. void setPingPong(bool val); /// \return true If the interpolation is doing ping pong. bool isPingPong() const; void update(double dt) override; private: /// Optional value to take the from rigid transform SurgSim::DataStructures::OptionalValue m_optionalStartPose; /// Target of the interpolation SurgSim::Math::RigidTransform3d m_startingPose; /// Start of the interpolation SurgSim::Math::RigidTransform3d m_endingPose; /// Target for the interpolated RigidTransform std::shared_ptr m_target; /// Duration of the interpolation double m_duration; /// How far through the interpolation we are double m_currentTime; /// Whether to pingpong bool m_pingpong; /// Whether to loop bool m_loop; bool doWakeUp() override; bool doInitialize() override; void doRetire() override; }; }; // Blocks }; // Surgsim #endif opensurgsim-0.7.0/SurgSim/Blocks/ShadowMapping.cpp000066400000000000000000000245241277777236100221760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/ShadowMapping.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgScreenSpaceQuadRepresentation.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgRenderTarget.h" #include "SurgSim/Graphics/Program.h" #include "SurgSim/Graphics/RenderPass.h" #include "SurgSim/Graphics/OsgScreenSpacePass.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/TransferPropertiesBehavior.h" #include "SurgSim/Framework/PoseComponent.h" #include "SurgSim/Blocks/GraphicsUtilities.h" #include "SurgSim/Graphics/OsgLight.h" #include namespace SurgSim { namespace Blocks { std::shared_ptr setupBlurPasses( std::shared_ptr shadowMapPass, int textureSize, double blurRadius, bool debug, std::vector>* elements) { std::vector> result; float shadowMapSize = static_cast(textureSize); float floatRadius = static_cast(blurRadius); std::shared_ptr perviousCamera = shadowMapPass->getCamera(); // Horizontal Pass { auto pass = std::make_shared("HorizontalBlurPass"); pass->getCamera()->setOrthogonalProjection(0, textureSize, 0, textureSize, -1.0, 1.0); auto renderTarget = std::make_shared(textureSize, textureSize, 1.0, 1, false); pass->setRenderTarget(renderTarget); pass->setRenderOrder(Graphics::Camera::RENDER_ORDER_PRE_RENDER, 2); // Material auto material = Graphics::buildMaterial("Shaders/gauss_blur_horizontal.vert", "Shaders/gauss_blur.frag"); material->getProgram()->setGlobalScope(true); material->addUniform("float", "width"); material->setValue("width", shadowMapSize); material->addUniform("float", "blurRadius"); material->setValue("blurRadius", floatRadius); pass->setMaterial(material); // Quad auto graphics = std::make_shared("Quad"); graphics->setSize(textureSize, textureSize); graphics->setLocation(0, 0); graphics->setTexture(perviousCamera->getRenderTarget()->getColorTarget(0)); graphics->setGroupReference("HorizontalBlurPass"); pass->addComponent(graphics); if (debug) { pass->showColorTarget(512, 0, 256, 256); } perviousCamera = pass->getCamera(); elements->push_back(pass); } // Vertical Pass { auto pass = std::make_shared("VerticalBlurPass"); pass->getCamera()->setOrthogonalProjection(0, textureSize, 0, textureSize, -1.0, 1.0); auto renderTarget = std::make_shared(textureSize, textureSize, 1.0, 1, false); pass->setRenderTarget(renderTarget); pass->setRenderOrder(Graphics::Camera::RENDER_ORDER_PRE_RENDER, 3); // Material auto material = Graphics::buildMaterial("Shaders/gauss_blur_vertical.vert", "Shaders/gauss_blur.frag"); material->getProgram()->setGlobalScope(true); material->addUniform("float", "height"); material->setValue("height", shadowMapSize); material->addUniform("float", "blurRadius"); material->setValue("blurRadius", floatRadius); pass->setMaterial(material); // Quad auto graphics = std::make_shared("Quad"); graphics->setSize(textureSize, textureSize); graphics->setLocation(0, 0); graphics->setTexture(perviousCamera->getRenderTarget()->getColorTarget(0)); graphics->setGroupReference("VerticalBlurPass"); pass->addComponent(graphics); if (debug) { pass->showColorTarget(756, 0, 256, 256); } perviousCamera = pass->getCamera(); elements->push_back(pass); } return perviousCamera; } /// Create the pass that renders the scene from the view of the light source /// the identifier GROUP_SHADOW_CASTER is used in all graphic objects to mark them as used /// in this pass std::shared_ptr createLightMapPass(int textureSize, bool debug) { auto pass = std::make_shared(GROUP_SHADOW_CASTER); auto renderTarget = std::make_shared(textureSize, textureSize, 1.0, 0, true); pass->setRenderTarget(renderTarget); pass->setRenderOrder(Graphics::Camera::RENDER_ORDER_PRE_RENDER, 0); std::dynamic_pointer_cast(pass->getCamera())->getOsgCamera()->setReferenceFrame( osg::Transform::ABSOLUTE_RF); auto material = Graphics::buildMaterial("Shaders/depth_map.vert", "Shaders/depth_map.frag"); material->getProgram()->setGlobalScope(true); pass->setMaterial(material); if (debug) { pass->showDepthTarget(0, 0, 256, 256); } return pass; } /// Create the pass that renders shadowed pixels into the scene, /// the identifier GROUPD_SHADOW_RECEIVER is used in all graphics objects to mark them /// as used in this pass std::shared_ptr createShadowMapPass(int textureSize, double bias, double intensity, bool debug) { auto pass = std::make_shared(GROUP_SHADOW_RECEIVER); auto renderTarget = std::make_shared(textureSize, textureSize, 1.0, 1, false); pass->setRenderTarget(renderTarget); pass->setRenderOrder(Graphics::Camera::RENDER_ORDER_PRE_RENDER, 1); std::dynamic_pointer_cast(pass->getCamera())->getOsgCamera()->setReferenceFrame( osg::Transform::ABSOLUTE_RF); auto material = Graphics::buildMaterial("Shaders/shadow_map.vert", "Shaders/shadow_map.frag"); material->getProgram()->setGlobalScope(true); pass->setMaterial(material); material->addUniform("float", "bias"); material->setValue("bias", static_cast(bias)); material->addUniform("float", "intensity"); material->setValue("intensity", static_cast(intensity)); if (debug) { pass->showColorTarget(256, 0, 256, 256); } return pass; } std::vector> createShadowMapping( std::shared_ptr camera, std::shared_ptr light, int depthTextureSize, int shadowTextureSize, std::array lightCameraProjection, double bias, double intensity, bool useBlur, double blurRadius, bool showDebug) { SURGSIM_ASSERT(camera != nullptr) << "Camera can't be nullptr."; SURGSIM_ASSERT(light != nullptr) << "Light can't be nullptr."; std::vector> result; auto osgCamera = Framework::checkAndConvert(camera, "SurgSim::Graphics::OsgCamera"); auto osgLight = Framework::checkAndConvert(light, "SurgSim::Graphics::OsgLight"); auto lightMapPass = createLightMapPass(depthTextureSize, showDebug); result.push_back(lightMapPass); lightMapPass->getCamera()->setValue("OrthogonalProjection", lightCameraProjection); auto cameraNode = std::dynamic_pointer_cast(lightMapPass->getCamera())->getOsgCamera(); cameraNode->getOrCreateStateSet()->setAttributeAndModes( new osg::PolygonMode(osg::PolygonMode::BACK, osg::PolygonMode::FILL), osg::StateAttribute::ON); auto copier = std::make_shared("Copier"); copier->setTargetManagerType(Framework::MANAGER_TYPE_GRAPHICS); // connect the light pose and the light map camera pose, so when the light moves, // this camera will move as well // Stapling has the light and the camera on the same element, the view, take the view element and connect the pose // to the light map pass copier->connect(osgLight, "Pose", lightMapPass->getPoseComponent(), "Pose"); auto shadowMapPass = createShadowMapPass(shadowTextureSize, bias, intensity, showDebug); result.push_back(shadowMapPass); shadowMapPass->getMaterial()->addUniform("mat4", "lightViewMatrix"); copier->connect(lightMapPass->getCamera(), "FloatViewMatrix", shadowMapPass->getMaterial(), "lightViewMatrix"); auto shadowMaterial = shadowMapPass->getMaterial(); // The projection matrix of the camera used to render the light map shadowMaterial->addUniform("mat4", "lightProjectionMatrix"); copier->connect(lightMapPass->getCamera(), "FloatProjectionMatrix", shadowMaterial, "lightProjectionMatrix"); // Get the result of the lightMapPass and pass it on to the shadowMapPass, because it is used // in a pass we ask the system to use a higher than normal texture unit (in this case 8) for // this texture, this prevents the texture from being overwritten by other textures shadowMaterial->addUniform("sampler2D", "depthMap"); shadowMaterial->setValue("depthMap", lightMapPass->getRenderTarget()->getDepthTarget()); shadowMaterial->getUniform("depthMap")->setValue("MinimumTextureUnit", static_cast(8)); // Make the camera in the shadowMapPass follow the main camera that is being used to render the // whole scene auto shadowCamera = shadowMapPass->getCamera(); copier->connect(osgCamera, "ProjectionMatrix", shadowCamera , "ProjectionMatrix"); copier->connect(osgCamera, "Pose", shadowCamera, "LocalPose"); // Put the result of the last pass into the main camera to make it accessible auto material = std::make_shared("camera material"); material->addUniform("sampler2D", "shadowMap"); std::shared_ptr texture; if (useBlur) { auto blurrPass = setupBlurPasses( shadowMapPass, shadowTextureSize, static_cast(blurRadius), showDebug, &result); texture = blurrPass->getRenderTarget()->getColorTarget(0); } else { texture = shadowCamera->getRenderTarget()->getColorTarget(0); } material->setValue("shadowMap", texture); material->getUniform("shadowMap")->setValue("MinimumTextureUnit", static_cast(8)); osgCamera->getSceneElement()->addComponent(material); osgCamera->setMaterial(material); lightMapPass->addComponent(copier); return result; } } } opensurgsim-0.7.0/SurgSim/Blocks/ShadowMapping.h000066400000000000000000000056501277777236100216420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_SHADOWMAPPING_H #define SURGSIM_BLOCKS_SHADOWMAPPING_H #include #include #include #include namespace SurgSim { namespace Graphics { class OsgMaterial; } namespace Framework { class SceneElement; class Component; } namespace Blocks { ///@{ /// Names to use as RenderGroupReferences static const std::string GROUP_SHADOW_CASTER = "Shadowing"; static const std::string GROUP_SHADOW_RECEIVER = "Shadowed"; ///@} /// Builds a series of SceneElements enabling the rendering of shadows, all graphics object that should cast shadows /// need to be in the render group GROUP_SHADOW_CASTER, all objects that should receive shadows should be in the /// render group GROUP_SHADOW_RECEIVER. The rest is done by the graphics system. /// All of the elements added are \sa RenderPass elements /// \param camera the view camera that is used for this pass /// \param light the light that should be used for the shadows /// \param depthTextureSize the size of the texture for the depth map, main determinant for the quality of the shadows /// \param shadowTextureSize the size of shadowTexture pass and the blur textures /// \param lightCameraProjection parameters for an orthogonal projection that will be used to render the scene from /// the lights point of view, needs to be set so it encompasses all the shadow casters and receivers /// \param bias the bias to be used when determining something is in shadow or not, increasing this can help remove /// sharp edges at glancing angles /// \param intensity the general intensity of the shadow, 1 means everything in shadow will be black, 0 means there /// won't be any shadows at all /// \param useBlur whether to blur the output of the light map pass, this will remove some of the blockiness of the /// shadows /// \param blurRadius sampling radius for the blur pass /// \param showDebug whether to show debug information std::vector> createShadowMapping( std::shared_ptr camera, std::shared_ptr light, int depthTextureSize, int shadowTextureSize, std::array lightCameraProjection, double bias, double intensity, bool useBlur, double blurRadius, bool showDebug); } } #endif opensurgsim-0.7.0/SurgSim/Blocks/SingleKeyBehavior.cpp000066400000000000000000000041711277777236100230030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SingleKeyBehavior.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Devices/Keyboard/KeyCode.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Input/InputComponent.h" namespace SurgSim { namespace Blocks { SingleKeyBehavior::SingleKeyBehavior(const std::string& name) : KeyBehavior(name), m_actionKey(SurgSim::Devices::KeyCode::NONE) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(SingleKeyBehavior, int, ActionKey, getKey, setKey); } SingleKeyBehavior::~SingleKeyBehavior() { } bool SingleKeyBehavior::doWakeUp() { SURGSIM_LOG_IF(m_actionKey == Devices::KeyCode::NONE, SurgSim::Framework::Logger::getDefaultLogger(), WARNING) << "No key set in " << getFullName(); return KeyBehavior::doWakeUp() && m_actionKey != Devices::KeyCode::NONE; } int SingleKeyBehavior::getKey() const { return m_actionKey; } void SingleKeyBehavior::setDescription(const std::string& description) { m_description = description; } void SingleKeyBehavior::onKeyDown(int actualKey) { if (actualKey == m_actionKey) { onKey(); } } void SingleKeyBehavior::onKeyUp(int val) { return; } void SingleKeyBehavior::setKey(int val) { KeyBehavior::unregisterKey(m_actionKey); m_actionKey = val; std::string description = m_description; if (description == "") { description = getClassName(); } KeyBehavior::registerKey(val, description); } }; // namespace Blocks }; // namespace SurgSimopensurgsim-0.7.0/SurgSim/Blocks/SingleKeyBehavior.h000066400000000000000000000035131277777236100224470ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_SINGLEKEYBEHAVIOR_H #define SURGSIM_BLOCKS_SINGLEKEYBEHAVIOR_H #include #include #include "SurgSim/Blocks/KeyBehavior.h" namespace SurgSim { namespace Input { class InputComponent; } namespace Blocks { /// Behavior to abstract the functionality of keyboard driven behaviors, can be programmed to react to a /// single keystroke class SingleKeyBehavior : public KeyBehavior { public: /// Constructor explicit SingleKeyBehavior(const std::string& name); /// Destructor ~SingleKeyBehavior(); bool doWakeUp() override; /// Sets the current key value used to trigger this behavior /// \param val the key code to use to trigger this behavior void setKey(int val); /// \return the key code that triggers this behavior int getKey() const; protected: void setDescription(const std::string& description); virtual void onKey() = 0; void onKeyDown(int actualKey) override; void onKeyUp(int actualKey) override; std::shared_ptr m_inputComponent; /// Registered key to trigger action int m_actionKey; std::string m_description; }; }; // namespace Blocks }; // namespace SurgSim #endif // SURGSIM_BLOCKS_SINGLEKEYBEHAVIOR_H opensurgsim-0.7.0/SurgSim/Blocks/SphereElement.cpp000066400000000000000000000054441277777236100221750ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/SphereElement.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgProgram.h" #include "SurgSim/Graphics/OsgSphereRepresentation.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" using SurgSim::Graphics::OsgMaterial; using SurgSim::Graphics::OsgProgram; using SurgSim::Graphics::OsgSphereRepresentation; using SurgSim::Math::SphereShape; using SurgSim::Physics::RigidCollisionRepresentation; using SurgSim::Physics::RigidRepresentation; namespace SurgSim { namespace Blocks { SphereElement::SphereElement(const std::string& name) : SurgSim::Framework::SceneElement(name) { } bool SphereElement::doInitialize() { std::shared_ptr physicsRepresentation = std::make_shared(getName() + " Physics"); physicsRepresentation->setDensity(700.0); // Wood physicsRepresentation->setLinearDamping(0.1); std::shared_ptr shape = std::make_shared(0.1); // 1cm Sphere physicsRepresentation->setShape(shape); std::shared_ptr graphicsRepresentation = std::make_shared(getName() + " Graphics"); graphicsRepresentation->setRadius(shape->getRadius()); std::shared_ptr material = std::make_shared("material"); std::shared_ptr program = std::make_shared(); program->setVertexShaderSource( "varying vec4 color;\n" "void main(void)\n" "{\n" " gl_Position = gl_ModelViewProjectionMatrix * gl_Vertex;\n" " color.rgb = gl_Normal;\n" " color.a = 1.0;\n" "}"); program->setFragmentShaderSource( "varying vec4 color;\n" "void main(void)\n" "{\n" " gl_FragColor = color;\n" "}"); material->setProgram(program); graphicsRepresentation->setMaterial(material); addComponent(physicsRepresentation); addComponent(graphicsRepresentation); auto rigidCollision = std::make_shared("Sphere Collision Representation"); physicsRepresentation->setCollisionRepresentation(rigidCollision); addComponent(rigidCollision); return true; } }; }; opensurgsim-0.7.0/SurgSim/Blocks/SphereElement.h000066400000000000000000000021341277777236100216330ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_SPHEREELEMENT_H #define SURGSIM_BLOCKS_SPHEREELEMENT_H #include #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Math/RigidTransform.h" namespace SurgSim { namespace Blocks { class SphereElement : public SurgSim::Framework::SceneElement { public: /// Constructor /// \param name Name of the sphere explicit SphereElement(const std::string& name); protected: bool doInitialize() override; }; }; }; #endif opensurgsim-0.7.0/SurgSim/Blocks/TransferParticlesToPointCloudBehavior.cpp000066400000000000000000000065341277777236100270550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/TransferParticlesToPointCloudBehavior.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/DataStructures/Vertex.h" #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Graphics/OsgPointCloudRepresentation.h" #include "SurgSim/Particles/Representation.h" using SurgSim::Framework::checkAndConvert; namespace SurgSim { namespace Blocks { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Blocks::TransferParticlesToPointCloudBehavior, TransferParticlesToPointCloudBehavior); TransferParticlesToPointCloudBehavior::TransferParticlesToPointCloudBehavior(const std::string& name) : SurgSim::Framework::Behavior(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(TransferParticlesToPointCloudBehavior, std::shared_ptr, Source, getSource, setSource); SURGSIM_ADD_SERIALIZABLE_PROPERTY(TransferParticlesToPointCloudBehavior, std::shared_ptr, Target, getTarget, setTarget); } void TransferParticlesToPointCloudBehavior::setSource(const std::shared_ptr& source) { SURGSIM_ASSERT(nullptr != source) << "'source' can not be nullptr."; m_source = checkAndConvert( source, "SurgSim::Particles::Representation"); } void TransferParticlesToPointCloudBehavior::setTarget(const std::shared_ptr& target) { SURGSIM_ASSERT(nullptr != target) << "'target' can not be nullptr."; m_target = checkAndConvert( target, "SurgSim::Graphics::PointCloudRepresentation"); } std::shared_ptr TransferParticlesToPointCloudBehavior::getSource() const { return m_source; } std::shared_ptr TransferParticlesToPointCloudBehavior::getTarget() const { return m_target; } void TransferParticlesToPointCloudBehavior::update(double dt) { *m_target->getVertices() = *m_source->getParticles().safeGet(); } bool TransferParticlesToPointCloudBehavior::doInitialize() { return true; } bool TransferParticlesToPointCloudBehavior::doWakeUp() { if (m_source == nullptr) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << getClassName() << " named '" + getName() + "' must have a source."; return false; } if (m_target == nullptr) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << getClassName() << " named '" + getName() + "' must have a target."; return false; } return true; } }; //namespace Blocks }; //namespace SurgSim opensurgsim-0.7.0/SurgSim/Blocks/TransferParticlesToPointCloudBehavior.h000066400000000000000000000054241277777236100265170ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_TRANSFERPARTICLESTOPOINTCLOUDBEHAVIOR_H #define SURGSIM_BLOCKS_TRANSFERPARTICLESTOPOINTCLOUDBEHAVIOR_H #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Framework/Macros.h" namespace SurgSim { namespace Framework { class Component; } namespace Graphics { class PointCloudRepresentation; } namespace Particles { class Representation; } namespace Blocks { SURGSIM_STATIC_REGISTRATION(TransferParticlesToPointCloudBehavior); /// Behavior to copy positions of a Particles::Representation to a PointCloud. class TransferParticlesToPointCloudBehavior : public SurgSim::Framework::Behavior { public: /// Constructor /// \param name Name of the behavior explicit TransferParticlesToPointCloudBehavior(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Blocks::TransferParticlesToPointCloudBehavior); /// Set the representation from which the positions are from /// \param source The particles representation void setSource(const std::shared_ptr& source); /// Set the point cloud representation which will receive the positions /// \param target The Graphics PointCloud representation void setTarget(const std::shared_ptr& target); /// Get the particles representation which sends the positions /// \return The Physics representation which produces positions. std::shared_ptr getSource() const; /// Get the point cloud representation which receives the positions /// \return The Graphics PointCloud representation which receives positions. std::shared_ptr getTarget() const; void update(double dt) override; private: bool doInitialize() override; bool doWakeUp() override; /// The Particles::Representation from which the positions come. std::shared_ptr m_source; /// The Graphics PointCloud Representation to which the vertices's positions are set. std::shared_ptr m_target; }; }; // namespace Blocks }; // namespace SurgSim #endif // SURGSIM_BLOCKS_TRANSFERPARTICLESTOPOINTCLOUDBEHAVIOR_H opensurgsim-0.7.0/SurgSim/Blocks/TransferPhysicsToGraphicsMeshBehavior.cpp000066400000000000000000000217111277777236100270400ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/TransferPhysicsToGraphicsMeshBehavior.h" #include "SurgSim/DataStructures/DataStructuresConvert.h" #include "SurgSim/DataStructures/Grid.h" #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Graphics/Mesh.h" #include "SurgSim/Graphics/OsgMeshRepresentation.h" #include "SurgSim/Math/Aabb.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Physics/DeformableRepresentation.h" using SurgSim::Framework::checkAndConvert; namespace SurgSim { namespace Blocks { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior, TransferPhysicsToGraphicsMeshBehavior); TransferPhysicsToGraphicsMeshBehavior::TransferPhysicsToGraphicsMeshBehavior(const std::string& name) : Framework::Behavior(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(TransferPhysicsToGraphicsMeshBehavior, std::shared_ptr, Source, getSource, setSource); SURGSIM_ADD_SERIALIZABLE_PROPERTY(TransferPhysicsToGraphicsMeshBehavior, std::shared_ptr, Target, getTarget, setTarget); // Enable full serialization on the index map type, but need to deal with overloaded functions { typedef std::vector> ParamType; typedef TransferPhysicsToGraphicsMeshBehavior ClassType; // Deal with the overloaded function, by casting to explicit function type auto getter = (ParamType(ClassType::*)(void) const)&ClassType::getIndexMap; auto setter = (void(ClassType::*)(const ParamType&))&ClassType::setIndexMap; setAccessors("IndexMap", std::bind(getter, this), std::bind(setter, this, std::bind(Framework::convert, std::placeholders::_1))); setSerializable("IndexMap", std::bind(&YAML::convert::encode, std::bind(getter, this)), std::bind(setter, this, std::bind(&YAML::Node::as, std::placeholders::_1))); } // Enable a setter to take the names of two mesh files to create the index map { typedef std::pair ParamType; typedef TransferPhysicsToGraphicsMeshBehavior ClassType; auto setter = (void(ClassType::*)(const ParamType&))&ClassType::setIndexMap; setSetter("IndexMapMeshNames", std::bind(setter, this, std::bind(Framework::convert, std::placeholders::_1))); setDecoder("IndexMapMeshNames", std::bind(setter, this, std::bind(&YAML::Node::as, std::placeholders::_1))); } // Enable a setter to take two meshes to create the index map { typedef std::pair, std::shared_ptr> ParamType; typedef TransferPhysicsToGraphicsMeshBehavior ClassType; auto setter = (void(ClassType::*)(const ParamType&))&ClassType::setIndexMap; setSetter("IndexMapMeshes", std::bind(setter, this, std::bind(Framework::convert, std::placeholders::_1))); setDecoder("IndexMapMeshes", std::bind(setter, this, std::bind(&YAML::Node::as, std::placeholders::_1))); } } void TransferPhysicsToGraphicsMeshBehavior::setSource(const std::shared_ptr& source) { SURGSIM_ASSERT(nullptr != source) << " 'source' can not be nullptr."; m_source = checkAndConvert( source, "Physics::DeformableRepresentation"); } void TransferPhysicsToGraphicsMeshBehavior::setTarget(const std::shared_ptr& target) { SURGSIM_ASSERT(nullptr != target) << " 'target' can not be nullptr."; m_target = checkAndConvert( target, "Graphics::MeshRepresentation"); } std::shared_ptr TransferPhysicsToGraphicsMeshBehavior::getSource() const { return m_source; } std::shared_ptr TransferPhysicsToGraphicsMeshBehavior::getTarget() const { return m_target; } void TransferPhysicsToGraphicsMeshBehavior::update(double dt) { auto state = m_source->getFinalState(); if (m_indexMap.empty()) { auto mesh = m_target->getMesh(); for (size_t nodeId = 0; nodeId < state->getNumNodes(); ++nodeId) { mesh->setVertexPosition(nodeId, state->getPosition(nodeId)); } } else { auto mesh = m_target->getMesh(); for (const auto& mapping : m_indexMap) { mesh->setVertexPosition(mapping.second, state->getPosition(mapping.first)); } } m_target->getMesh()->dirty(); } bool TransferPhysicsToGraphicsMeshBehavior::doInitialize() { return true; } bool TransferPhysicsToGraphicsMeshBehavior::doWakeUp() { auto state = m_source->getFinalState(); auto target = m_target->getMesh(); if (target->getNumVertices() == 0) { for (size_t nodeId = 0; nodeId < state->getNumNodes(); ++nodeId) { Graphics::Mesh::VertexType vertex(state->getPosition(nodeId)); target->addVertex(vertex); } } return true; } void TransferPhysicsToGraphicsMeshBehavior::setIndexMap( const std::shared_ptr& source, const std::shared_ptr& target) { setIndexMap(generateIndexMap(source, target)); } void TransferPhysicsToGraphicsMeshBehavior::setIndexMap(const std::string& sourceName , const std::string& targetName) { auto source = std::make_shared(); source->load(sourceName); auto target = std::make_shared(); target->load(targetName); setIndexMap(source, target); } void TransferPhysicsToGraphicsMeshBehavior::setIndexMap(const std::pair& fileName) { setIndexMap(fileName.first, fileName.second); } void TransferPhysicsToGraphicsMeshBehavior::setIndexMap( const std::pair, std::shared_ptr>& meshes) { auto first = std::dynamic_pointer_cast(meshes.first); auto second = std::dynamic_pointer_cast(meshes.second); SURGSIM_ASSERT(first != nullptr) << "Incoming first asset not TriangleMeshPlain"; SURGSIM_ASSERT(second != nullptr) << "Incoming second asset not TriangleMeshPlain"; setIndexMap(first, second); } void TransferPhysicsToGraphicsMeshBehavior::setIndexMap(const std::vector>& indexMap) { m_indexMap = indexMap; } const std::vector> TransferPhysicsToGraphicsMeshBehavior::getIndexMap() const { return m_indexMap; } std::vector> generateIndexMap( const std::shared_ptr& source, const std::shared_ptr& target) { auto logger = Framework::Logger::getLogger("Blocks/TransferPhysicsToGraphicsMeshBehavior"); SURGSIM_LOG_INFO(logger) << "Building map"; SURGSIM_ASSERT(source->getNumVertices() > 0 && target->getNumVertices() > 0) << "Can't build correspondence map, meshes are missing vertices"; // Caclulate AABB for Mesh const auto& vertices = target->getVertices(); Math::Aabbd bounds; for (const auto& vertex : vertices) { bounds.extend(vertex.position); } bounds.extend(bounds.max() + Math::Vector3d(0.1, 0.1, 0.1)); bounds.extend(bounds.min() - Math::Vector3d(0.1, 0.1, 0.1)); // Add All vertices to grid // 100 Seems like a reasonable value ... Math::Vector3d cellSize(bounds.diagonal() / 100.0); DataStructures::Grid grid(cellSize, bounds); size_t index = 0; for (const auto& vertex : vertices) { grid.addElement(index++, vertex.position); } std::vector> indexMap; // For each state node query grid for neighbors indexMap.reserve(target->getNumVertices()); for (size_t nodeId = 0; nodeId < source->getNumVertices(); ++nodeId) { bool hasNeighbors = false; const auto& position = source->getVertexPosition(nodeId); // make a copy const std::vector& neighbors = grid.getNeighbors(position); // For each neighbor check if same, if yes add to map for (auto neighborIndex : neighbors) { if (position.isApprox(vertices[neighborIndex].position)) { indexMap.push_back(std::make_pair(nodeId, neighborIndex)); hasNeighbors = true; } } if (!hasNeighbors) { SURGSIM_LOG_WARNING(logger) << "No coincident point found for node with index " << index; } } return indexMap; } }; //namespace Blocks }; //namespace SurgSimopensurgsim-0.7.0/SurgSim/Blocks/TransferPhysicsToGraphicsMeshBehavior.h000066400000000000000000000120251277777236100265030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_TRANSFERPHYSICSTOGRAPHICSMESHBEHAVIOR_H #define SURGSIM_BLOCKS_TRANSFERPHYSICSTOGRAPHICSMESHBEHAVIOR_H #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Framework/Macros.h" namespace SurgSim { namespace Framework { class Component; class Asset; } namespace Graphics { class MeshRepresentation; } namespace Physics { class DeformableRepresentation; } namespace Blocks { SURGSIM_STATIC_REGISTRATION(TransferPhysicsToGraphicsMeshBehavior); /// Behavior to copy positions of a PhysicsRepresentation to a GraphicsMesh. /// By default the behavior will take each node and copy the position of that node to the vertex with the corresponding /// index. If an index map is available, for each pair in the index map it will take the nodeId from the first /// member of the pair and copy it to the vertex with the id of the second member of the pair. /// The index map can be computed from meshes given to this behavior or precomputed via other means. class TransferPhysicsToGraphicsMeshBehavior : public Framework::Behavior { public: /// Constructor /// \param name Name of the behavior explicit TransferPhysicsToGraphicsMeshBehavior(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior); /// Set the representation from which the positions are from /// \param source The physics representation void setSource(const std::shared_ptr& source); /// Set the representation which will receive the positions /// \param target The Graphics Mesh representation void setTarget(const std::shared_ptr& target); /// Get the Physics representation which sends the positions /// \return The Physics representation which produces positions. std::shared_ptr getSource() const; /// Get the Graphics representation which receives the positions /// \return The Graphics Mesh representation which receives positions. std::shared_ptr getTarget() const; /// Generate a mapping, for each point in source find the points target that coincide /// \param source Source of search /// \param target Target of search /// \note source and target need to be triangle meshes void setIndexMap( const std::shared_ptr& source, const std::shared_ptr& target); /// Generate a mapping, for each point in source find the points target that coincide /// \param sourceFile filename for source mesh /// \param targetFile filename for target mesh /// \note sourceFile and targetFile need to be valid ply files void setIndexMap(const std::string& sourceFile, const std::string& targetFile); /// Set the mapping to be used if not empty. first index is the node, second index is the vertex. /// for all pairs copy node position to given vertex index. /// \param indexMap mapping to be used for this mesh void setIndexMap(const std::vector>& indexMap); /// \return the current mapping const std::vector> getIndexMap() const; void update(double dt) override; private: bool doInitialize() override; bool doWakeUp() override; void setIndexMap(const std::pair& fileName); void setIndexMap(const std::pair, std::shared_ptr>& meshes); /// The DeformableRepresentation from which the Ode state comes. std::shared_ptr m_source; /// The Graphics Mesh Representation to which the vertices' positions are set. std::shared_ptr m_target; /// The mapping to be used if not empty. std::vector> m_indexMap; }; /// Generate a mapping, for each point in source find the points target that coincide /// \param source Source of search /// \param target Target of search /// \note source and target need to be triangle meshes /// \return the map of matching points, pair.first are all points from source, pair.second will be points in target std::vector> generateIndexMap( const std::shared_ptr& source, const std::shared_ptr& target); }; // namespace Blocks }; // namespace SurgSim #endif // SURGSIM_BLOCKS_TRANSFERPHYSICSTOGRAPHICSMESHBEHAVIOR_Hopensurgsim-0.7.0/SurgSim/Blocks/TransferPhysicsToPointCloudBehavior.cpp000066400000000000000000000067141277777236100265510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/TransferPhysicsToPointCloudBehavior.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/DataStructures/Vertex.h" #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Graphics/OsgPointCloudRepresentation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Physics/DeformableRepresentation.h" using SurgSim::Framework::checkAndConvert; namespace SurgSim { namespace Blocks { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Blocks::TransferPhysicsToPointCloudBehavior, TransferPhysicsToPointCloudBehavior); TransferPhysicsToPointCloudBehavior::TransferPhysicsToPointCloudBehavior(const std::string& name) : SurgSim::Framework::Behavior(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(TransferPhysicsToPointCloudBehavior, std::shared_ptr, Source, getSource, setSource); SURGSIM_ADD_SERIALIZABLE_PROPERTY(TransferPhysicsToPointCloudBehavior, std::shared_ptr, Target, getTarget, setTarget); } void TransferPhysicsToPointCloudBehavior::setSource(const std::shared_ptr& source) { SURGSIM_ASSERT(nullptr != source) << "'source' can not be nullptr."; m_source = checkAndConvert( source, "SurgSim::Physics::DeformableRepresentation"); } void TransferPhysicsToPointCloudBehavior::setTarget(const std::shared_ptr& target) { SURGSIM_ASSERT(nullptr != target) << "'target' can not be nullptr."; m_target = checkAndConvert( target, "SurgSim::Graphics::PointCloudRepresentation"); } std::shared_ptr TransferPhysicsToPointCloudBehavior::getSource() const { return m_source; } std::shared_ptr TransferPhysicsToPointCloudBehavior::getTarget() const { return m_target; } void TransferPhysicsToPointCloudBehavior::update(double dt) { auto state = m_source->getFinalState(); auto target = m_target->getVertices(); for (size_t nodeId = 0; nodeId < state->getNumNodes(); ++nodeId) { target->setVertexPosition(nodeId, state->getPosition(nodeId)); } } bool TransferPhysicsToPointCloudBehavior::doInitialize() { return true; } bool TransferPhysicsToPointCloudBehavior::doWakeUp() { auto state = m_source->getFinalState(); auto target = m_target->getVertices(); if (target->getNumVertices() == 0) { for (size_t nodeId = 0; nodeId < state->getNumNodes(); ++nodeId) { SurgSim::Graphics::PointCloud::VertexType vertex(state->getPosition(nodeId)); target->addVertex(vertex); } } return true; } }; //namespace Blocks }; //namespace SurgSim opensurgsim-0.7.0/SurgSim/Blocks/TransferPhysicsToPointCloudBehavior.h000066400000000000000000000054241277777236100262130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_TRANSFERPHYSICSTOPOINTCLOUDBEHAVIOR_H #define SURGSIM_BLOCKS_TRANSFERPHYSICSTOPOINTCLOUDBEHAVIOR_H #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Framework/Macros.h" namespace SurgSim { namespace Framework { class Component; } namespace Graphics { class PointCloudRepresentation; } namespace Physics { class DeformableRepresentation; } namespace Blocks { SURGSIM_STATIC_REGISTRATION(TransferPhysicsToPointCloudBehavior); /// Behavior to copy positions of a PhysicsRepresentation to a PointCloud. class TransferPhysicsToPointCloudBehavior : public SurgSim::Framework::Behavior { public: /// Constructor /// \param name Name of the behavior explicit TransferPhysicsToPointCloudBehavior(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Blocks::TransferPhysicsToPointCloudBehavior); /// Set the representation from which the positions are from /// \param source The physics representation void setSource(const std::shared_ptr& source); /// Set the point cloud representation which will receive the positions /// \param target The Graphics PointCloud representation void setTarget(const std::shared_ptr& target); /// Get the Physics representation which sends the positions /// \return The Physics representation which produces positions. std::shared_ptr getSource() const; /// Get the point cloud representation which receives the positions /// \return The Graphics PointCloud representation which receives positions. std::shared_ptr getTarget() const; void update(double dt) override; private: bool doInitialize() override; bool doWakeUp() override; /// The DeformableRepresentation from which the Ode state comes. std::shared_ptr m_source; /// The Graphics PointCloud Representation to which the vertices' positions are set. std::shared_ptr m_target; }; }; // namespace Blocks }; // namespace SurgSim #endif // SURGSIM_BLOCKS_TRANSFERPHYSICSTOPOINTCLOUDBEHAVIOR_Hopensurgsim-0.7.0/SurgSim/Blocks/TransferPhysicsToVerticesBehavior.cpp000066400000000000000000000050741277777236100262530ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/TransferPhysicsToVerticesBehavior.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Physics/DeformableRepresentation.h" namespace SurgSim { namespace Blocks { TransferPhysicsToVerticesBehavior::TransferPhysicsToVerticesBehavior(const std::string& name) : Framework::Behavior(name) { } void TransferPhysicsToVerticesBehavior::setSource(const std::shared_ptr& source) { SURGSIM_ASSERT(nullptr != source) << "'source' can not be nullptr."; m_source = Framework::checkAndConvert( source, "SurgSim::Physics::DeformableRepresentation"); } void TransferPhysicsToVerticesBehavior::setTarget(const std::shared_ptr& target) { SURGSIM_ASSERT(nullptr != target) << "'target' can not be nullptr."; SURGSIM_ASSERT(target->isWriteable("Vertices")) << "'target'" << target->getFullName() << "needs to accept 'Vertices'"; m_target = target; } std::shared_ptr TransferPhysicsToVerticesBehavior::getSource() const { return m_source; } std::shared_ptr TransferPhysicsToVerticesBehavior::getTarget() const { return m_target; } void TransferPhysicsToVerticesBehavior::update(double dt) { auto state = m_source->getFinalState(); for (size_t nodeId = 0; nodeId < state->getNumNodes(); ++nodeId) { m_vertices.setVertexPosition(nodeId, state->getPosition(nodeId)); } m_target->setValue("Vertices", m_vertices); } bool TransferPhysicsToVerticesBehavior::doInitialize() { return true; } bool TransferPhysicsToVerticesBehavior::doWakeUp() { if (m_vertices.getNumVertices() == 0) { auto state = m_source->getFinalState(); for (size_t nodeId = 0; nodeId < state->getNumNodes(); ++nodeId) { DataStructures::VerticesPlain::VertexType vertex(state->getPosition(nodeId)); m_vertices.addVertex(std::move(vertex)); } } return true; } } } opensurgsim-0.7.0/SurgSim/Blocks/TransferPhysicsToVerticesBehavior.h000066400000000000000000000054141277777236100257160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_TRANSFERPHYSICSTOVERTICESBEHAVIOR_H #define SURGSIM_BLOCKS_TRANSFERPHYSICSTOVERTICESBEHAVIOR_H #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Framework/Behavior.h" namespace SurgSim { namespace Physics { class DeformableRepresentation; } namespace Graphics { class CurveRepresentation; } namespace Blocks { /// Transfer Physics State to any representation that has a Vertices property, the "Vertices" property on the targets /// side needs to accept DataStructures::VerticesPlain for the type. class TransferPhysicsToVerticesBehavior : public Framework::Behavior { public: /// Constructor /// \param name Name of the behavior explicit TransferPhysicsToVerticesBehavior(const std::string& name); /// \return the source representation of this behavior std::shared_ptr getSource() const; /// Sets the source for this behavior, all the positions from the state of the source /// will be copied into a Vertices object and set in the target, using setValue("Vertices") /// \param source the component that is the source void setSource(const std::shared_ptr& source); /// \return the target representation of this behavior std::shared_ptr getTarget() const; /// Sets the target for this behavior, it needs to have a "Vertices" property that takes /// DataStructures::VerticesPlain as a parameter /// \throws if target does not have a "Vertices" property /// \param target the representation to be used as a target void setTarget(const std::shared_ptr& target); /// override update /// \throws if the type of the "Vertices" property on the target is not DataStructures::VerticesPlain void update(double dt) override; bool doInitialize() override; bool doWakeUp() override; private: std::shared_ptr m_source; ///@< Source representation std::shared_ptr m_target; ///@< Target representation /// vertices structure that is used for the update DataStructures::VerticesPlain m_vertices; }; } } #endif opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/000077500000000000000000000000001277777236100206645ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/CMakeLists.txt000066400000000000000000000034261277777236100234310ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2016, SimQuest Solutions 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 # # 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_directories ( ${gtest_SOURCE_DIR}/include ${gmock_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES CompoundShapeToGraphicsTests.cpp DriveElementFromInputBehaviorTests.cpp FunctionBehaviorTests.cpp KeyBehaviorTests.cpp KeyboardCallbackBehaviorTests.cpp KeyboardTogglesComponentBehaviorTests.cpp MassSpring1DRepresentationTests.cpp MassSpring2DRepresentationTests.cpp MassSpring3DRepresentationTests.cpp MassSpringNDRepresentationUtilsTests.cpp PoseInterpolatorTests.cpp SingleKeyBehaviorTests.cpp SpringTestUtils.cpp TransferParticlesToPointCloudBehaviorTests.cpp TransferPhysicsToGraphicsMeshBehaviorTests.cpp TransferPhysicsToPointCloudBehaviorTests.cpp VisualizeConstraintsTest.cpp VisualizeContactsBehaviorTests.cpp ) set(UNIT_TEST_HEADERS SpringTestUtils.h ) # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) set(LIBS IdentityPoseDevice SurgSimBlocks SurgSimGraphics ) file(COPY Data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) surgsim_add_unit_tests(SurgSimBlocksTest) set_target_properties(SurgSimBlocksTest PROPERTIES FOLDER "Blocks") opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/CompoundShapeToGraphicsTests.cpp000066400000000000000000000162461277777236100271550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/CompoundShapeToGraphics.h" #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Graphics/OsgSceneryRepresentation.h" #include "SurgSim/Math/CompoundShape.h" #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Physics/FixedRepresentation.h" #include namespace SurgSim { namespace Blocks { TEST(CompoundShapeToGraphicsTests, Init) { EXPECT_NO_THROW(std::make_shared("Copier")); } TEST(CompoundShapeToGraphicsTests, SetShape) { auto shape = std::make_shared(); auto behavior = std::make_shared("Copier"); EXPECT_EQ(nullptr, behavior->getShape()); EXPECT_NO_THROW(behavior->setShape(shape)); EXPECT_EQ(shape, behavior->getShape()); // With shape set, setting Source will fail. auto physics = std::make_shared("Physics"); EXPECT_ANY_THROW(behavior->setSource(physics)); } TEST(CompoundShapeToGraphicsTests, SetSource) { auto behavior = std::make_shared("Copier"); auto physics = std::make_shared("Physics"); auto collisions = std::make_shared("Physics"); auto graphics = std::make_shared("Graphics"); EXPECT_NO_THROW(behavior->setSource(physics)); EXPECT_EQ(physics, behavior->getSource()); EXPECT_NO_THROW(behavior->setSource(collisions)); EXPECT_EQ(collisions, behavior->getSource()); EXPECT_ANY_THROW(behavior->setSource(graphics)); // With Source being set, setting Shape will fail. auto shape = std::make_shared(); EXPECT_ANY_THROW(behavior->setShape(shape)); } TEST(CompoundShapeToGraphicsTests, Serialization) { std::shared_ptr behavior; EXPECT_NO_THROW( behavior = SurgSim::Framework::Component::getFactory().create("SurgSim::Blocks::CompoundShapeToGraphics", "newCopier")); auto behavior2 = std::make_shared("Copier"); auto graphics = std::make_shared("Graphics"); std::shared_ptr compoundShape = std::make_shared(); std::shared_ptr physics = std::make_shared("Physics"); std::vector> targets; targets.push_back(graphics); targets.push_back(graphics); targets.push_back(graphics); EXPECT_NO_THROW(behavior->setValue("Targets", targets)); EXPECT_NO_THROW(behavior->setValue("Source", physics)); EXPECT_NO_THROW(behavior2->setValue("Targets", targets)); EXPECT_NO_THROW(behavior2->setValue("Shape", compoundShape)); EXPECT_EQ(3u, behavior->getValue>>("Targets").size()); EXPECT_EQ(physics, behavior->getValue>("Source")); EXPECT_EQ(compoundShape, behavior2->getValue>("Shape")); YAML::Node node; // Shape is not set on 'behavior', serialization should fail. EXPECT_ANY_THROW(node = YAML::convert::encode(*behavior)); EXPECT_NO_THROW(node = YAML::convert::encode(*behavior2)); EXPECT_EQ(6u, node[behavior2->getClassName()].size()); std::shared_ptr newBehavior; EXPECT_NO_THROW(newBehavior = std::dynamic_pointer_cast( node.as>())); EXPECT_EQ(3u, newBehavior->getValue>>("Targets").size()); EXPECT_NE(nullptr, newBehavior->getValue>("Shape")); } TEST(CompoundShapeToGraphicsTests, SetGraphics) { auto behavior = std::make_shared("Copier"); EXPECT_EQ(0u, behavior->getTargets().size()); auto graphics = std::make_shared("One"); auto physics = std::make_shared("Invalid"); EXPECT_NO_THROW(behavior->addTarget(graphics)); EXPECT_EQ(1u, behavior->getTargets().size()); EXPECT_ANY_THROW(behavior->addTarget(physics)); EXPECT_EQ(1u, behavior->getTargets().size()); std::vector> targets; targets.push_back(graphics); targets.push_back(graphics); targets.push_back(graphics); EXPECT_NO_THROW(behavior->setTargets(targets)); EXPECT_EQ(3u, behavior->getTargets().size()); } TEST(CompoundShapeToGraphicsTests, SetSourceWithValidShape) { auto runtime = std::make_shared(); auto element = std::make_shared("Element"); auto behavior = std::make_shared("Copier"); auto physics = std::make_shared("Physics"); auto shape = std::make_shared(); physics->setShape(shape); behavior->setSource(physics); element->addComponent(physics); element->addComponent(behavior); runtime->getScene()->addSceneElement(element); EXPECT_NO_THROW(behavior->wakeUp()); EXPECT_EQ(shape, behavior->getShape()); } TEST(CompoundShapeToGraphicsTests, SetSourceWithInvalidShape) { auto runtime = std::make_shared(); auto element = std::make_shared("Element"); auto behavior = std::make_shared("Copier"); auto collision = std::make_shared("Collisions"); auto shape = std::make_shared(); EXPECT_ANY_THROW(behavior->setShape(shape)); collision->setShape(shape); behavior->setSource(collision); element->addComponent(collision); element->addComponent(behavior); runtime->getScene()->addSceneElement(element); EXPECT_ANY_THROW(behavior->wakeUp()); } TEST(CompoundShapeToGraphicsTests, SetSourceWithoutShape) { auto runtime = std::make_shared(); auto element = std::make_shared("Element"); auto behavior = std::make_shared("Copier"); auto collision = std::make_shared("Collisions"); behavior->setSource(collision); element->addComponent(collision); element->addComponent(behavior); runtime->getScene()->addSceneElement(element); EXPECT_ANY_THROW(behavior->wakeUp()); } } }opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/Data/000077500000000000000000000000001277777236100215355ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/Data/TransferPhysicsToGraphicsMeshBehavior/000077500000000000000000000000001277777236100311455ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/Data/TransferPhysicsToGraphicsMeshBehavior/data.ply000066400000000000000000000004441277777236100326060ustar00rootroot00000000000000ply format ascii 1.0 comment Created by hand element vertex 4 property float x property float y property float z element face 0 property list uchar uint vertex_indices end_header -0.050000 -0.050000 0.050000 -0.050000 0.050000 0.050000 -0.050000 0.050000 -0.050000 0.050000 0.050000 0.050000 opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/Data/TransferPhysicsToGraphicsMeshBehavior/data_more.ply000066400000000000000000000011071277777236100336250ustar00rootroot00000000000000ply # contains the following points from data.ply # 0: 0 # 1: 2 # 2: 3 # 3: 4 # and one extra point that will not be connected format ascii 1.0 comment Created by hand element vertex 10 property float x property float y property float z element face 0 property list uchar uint vertex_indices end_header 2.000000 2.000000 2.000000 -0.050000 0.050000 0.050000 -0.050000 0.050000 -0.050000 0.050000 0.050000 0.050000 -0.050000 0.050000 0.050000 -0.050000 0.050000 -0.050000 -0.050000 0.050000 -0.050000 0.050000 0.050000 0.050000 0.050000 0.050000 0.050000 0.050000 0.050000 0.050000 opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/DriveElementFromInputBehaviorTests.cpp000066400000000000000000000115231277777236100303240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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. /// \file /// Tests for the DriveElementFromInputBehavior class. #include #include #include "SurgSim/Blocks/DriveElementFromInputBehavior.h" #include "SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Input/InputComponent.h" #include "SurgSim/Input/OutputComponent.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" using SurgSim::Devices::IdentityPoseDevice; using SurgSim::Input::InputComponent; using SurgSim::Input::OutputComponent; using SurgSim::Framework::BasicSceneElement; using SurgSim::Math::makeRigidTranslation; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Blocks { TEST(DriveElementFromInputBehaviorTest, Constructor) { EXPECT_NO_THROW(DriveElementFromInputBehavior behavior("DriveElementFromInputBehavior")); } TEST(DriveElementFromInputBehaviorTest, SetGetSource) { auto behavior = std::make_shared("DriveElementFromInputBehavior"); EXPECT_EQ(nullptr, behavior->getSource()); auto invalidInputComponent = std::make_shared("InvalidInputComponent"); EXPECT_THROW(behavior->setSource(invalidInputComponent), SurgSim::Framework::AssertionFailure); auto inputComponent = std::make_shared("InputComponent"); EXPECT_NO_THROW(behavior->setSource(inputComponent)); EXPECT_EQ(inputComponent, behavior->getSource()); } TEST(DriveElementFromInputBehaviorTest, SetGetName) { auto behavior = std::make_shared("DriveElementFromInputBehavior"); EXPECT_EQ("pose", behavior->getPoseName()); behavior->setPoseName("new_name"); EXPECT_EQ("new_name", behavior->getPoseName()); } TEST(DriveElementFromInputBehaviorTest, Update) { auto runtime = std::make_shared(); auto scene = runtime->getScene(); auto behavior = std::make_shared("DriveElementFromInputBehavior"); auto element = std::make_shared("SceneElement"); auto device = std::make_shared("IdentityPoseDevice"); auto inputComponent = std::make_shared("InputComponent"); device->addInputConsumer(inputComponent); behavior->setSource(inputComponent); element->addComponent(behavior); element->addComponent(inputComponent); scene->addSceneElement(element); behavior->wakeUp(); inputComponent->wakeUp(); element->setPose(makeRigidTranslation(Vector3d(-1.0, -2.0, -3.0))); behavior->update(0.1); EXPECT_TRUE(element->getPose().isApprox(RigidTransform3d::Identity())); RigidTransform3d inputOffset = makeRigidTranslation(Vector3d(10.0, 20.0, 30.0)); inputComponent->setLocalPose(inputOffset); behavior->update(0.1); EXPECT_TRUE(element->getPose().isApprox(inputOffset)); } TEST(DriveElementFromInputBehaviorTest, Serialization) { auto behavior = std::make_shared("DriveElementFromInputBehavior"); EXPECT_EQ("SurgSim::Blocks::DriveElementFromInputBehavior", behavior->getClassName()); auto inputComponent = std::make_shared("InputComponent"); EXPECT_NO_THROW(behavior->setValue("Source", std::static_pointer_cast(inputComponent))); EXPECT_NO_THROW(behavior->setValue("PoseName", std::string("Test"))); YAML::Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*behavior)); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(5, node[behavior->getClassName()].size()); std::shared_ptr decodedBehavior; EXPECT_NO_THROW(decodedBehavior = std::dynamic_pointer_cast( node.as>())); EXPECT_EQ("InputComponent", SurgSim::Framework::convert>( decodedBehavior->getValue("Source"))->getName()); EXPECT_EQ("Test", SurgSim::Framework::convert(decodedBehavior->getValue("PoseName"))); } }; //namespace Blocks }; //namespace SurgSim opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/FunctionBehaviorTests.cpp000066400000000000000000000070361277777236100256660ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Blocks/FunctionBehavior.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/Runtime.h" namespace { void f1(double dt) { std::cout << dt; } void f2(double dt, double a) { std::cout << dt + a; } }; namespace SurgSim { namespace Blocks { TEST(FunctionBehaviorTest, Constructor) { EXPECT_NO_THROW(FunctionBehavior behavior("Behavior")); } TEST(FunctionBehaviorTest, GetSetTargetManagerType) { auto behavior = std::make_shared("Behavior"); EXPECT_EQ(Framework::MANAGER_TYPE_BEHAVIOR, behavior->getTargetManagerType()); EXPECT_THROW(behavior->setTargetManagerType(-1), Framework::AssertionFailure); EXPECT_NO_THROW(behavior->setTargetManagerType(Framework::MANAGER_TYPE_PHYSICS)); EXPECT_EQ(Framework::MANAGER_TYPE_PHYSICS, behavior->getTargetManagerType()); auto runtime = std::make_shared(); behavior->setFunction([](double dt) { std::cout << dt; }); behavior->initialize(runtime); EXPECT_THROW(behavior->setTargetManagerType(Framework::MANAGER_TYPE_GRAPHICS), Framework::AssertionFailure); } TEST(FunctionBehaviorTest, SetFunction) { auto runtime = std::make_shared(); { auto behavior = std::make_shared("Behavior"); EXPECT_FALSE(behavior->initialize(runtime)); } { auto behavior = std::make_shared("Behavior"); behavior->setFunction([](double dt) { std::cout << dt; }); EXPECT_TRUE(behavior->initialize(runtime)); } } TEST(FunctionBehaviorTest, Update) { size_t numUpdates = 0; auto behavior = std::make_shared("Behavior"); behavior->setFunction([&numUpdates](double dt) { numUpdates++; }); auto runtime = std::make_shared(); behavior->initialize(runtime); behavior->wakeUp(); behavior->update(1.0); behavior->update(1.0); EXPECT_EQ(2, numUpdates); } TEST(FunctionBehaviorTest, ExampleUsage) { auto behavior1 = std::make_shared("Behavior 1"); EXPECT_NO_THROW(behavior1->setTargetManagerType(SurgSim::Framework::MANAGER_TYPE_BEHAVIOR)); EXPECT_NO_THROW(behavior1->setFunction(f1)); auto behavior2 = std::make_shared("Behavior 2"); EXPECT_NO_THROW(behavior2->setTargetManagerType(SurgSim::Framework::MANAGER_TYPE_GRAPHICS)); EXPECT_NO_THROW(behavior2->setFunction(std::bind(f2, std::placeholders::_1, 2.0))); auto behavior3 = std::make_shared("Behavior 3"); EXPECT_NO_THROW(behavior3->setTargetManagerType(SurgSim::Framework::MANAGER_TYPE_PHYSICS)); EXPECT_NO_THROW(behavior3->setFunction([](double dt) { std::cout << dt; })); auto element = std::make_shared("Element"); EXPECT_NO_THROW(element->addComponent(behavior1)); EXPECT_NO_THROW(element->addComponent(behavior2)); EXPECT_NO_THROW(element->addComponent(behavior3)); } }; }; opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/KeyBehaviorTests.cpp000066400000000000000000000117001277777236100246220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013 - 2016, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Blocks/KeyBehavior.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/DataStructures/NamedData.h" #include "SurgSim/Devices/Keyboard/KeyCode.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Testing/MockInputComponent.h" namespace SurgSim { namespace Blocks { class MockKeyBehavior : public KeyBehavior { public: explicit MockKeyBehavior(const std::string& name) : KeyBehavior(name) {} MOCK_METHOD1(onKeyDown, void(int)); MOCK_METHOD1(onKeyUp, void(int)); }; class KeyBehaviorTest: public testing::Test { public: void SetUp() { builder.addInteger(DataStructures::Names::KEY); data = builder.createData(); inputComponent = std::make_shared("Input"); inputComponent->setData(data); runtime = std::make_shared(); element = std::make_shared("Element"); runtime->getScene()->addSceneElement(element); element->addComponent(inputComponent); } DataStructures::DataGroupBuilder builder; DataStructures::DataGroup data; std::shared_ptr inputComponent; std::shared_ptr runtime; std::shared_ptr element; }; TEST_F(KeyBehaviorTest, Init) { std::shared_ptr behavior; std::shared_ptr component = inputComponent; ASSERT_NO_THROW(behavior = std::make_shared("Behavior")); EXPECT_NO_THROW(behavior->setValue("InputComponent", component)); auto input = behavior->getValue>("InputComponent"); EXPECT_EQ(inputComponent.get(), input.get()); } TEST_F(KeyBehaviorTest, SetAndGetInputComponent) { auto behavior = std::make_shared("MockSingleKeyBehavior"); auto input = std::make_shared("input"); EXPECT_NO_THROW(behavior->setInputComponent(input)); std::shared_ptr retrievedInputComponent; EXPECT_NO_THROW(retrievedInputComponent = behavior->getInputComponent()); EXPECT_EQ(input, retrievedInputComponent); } TEST_F(KeyBehaviorTest, SimpleTrigger) { auto behavior = std::make_shared("Behavior"); EXPECT_CALL(*behavior, onKeyDown(Devices::KEY_A)); EXPECT_CALL(*behavior, onKeyUp(Devices::KEY_A)); behavior->setInputComponent(inputComponent); element->addComponent(behavior); data.integers().set(DataStructures::Names::KEY, Devices::KeyCode::KEY_A); inputComponent->setData(data); behavior->update(0.0); // Shouldn't trigger another KeyDown .. data.integers().set(DataStructures::Names::KEY, Devices::KeyCode::KEY_A); inputComponent->setData(data); behavior->update(0.0); data.integers().set(DataStructures::Names::KEY, Devices::KeyCode::NONE); inputComponent->setData(data); behavior->update(0.0); // Shouldn't trigger another KeyUp .. behavior->update(0.0); } TEST_F(KeyBehaviorTest, FromOneKeyToAnother) { auto behavior = std::make_shared("Behavior"); EXPECT_CALL(*behavior, onKeyDown(Devices::KEY_A)); EXPECT_CALL(*behavior, onKeyDown(Devices::KEY_B)); EXPECT_CALL(*behavior, onKeyUp(Devices::KEY_A)); EXPECT_CALL(*behavior, onKeyUp(Devices::KEY_B)); behavior->setInputComponent(inputComponent); element->addComponent(behavior); data.integers().set(DataStructures::Names::KEY, Devices::KeyCode::KEY_A); inputComponent->setData(data); behavior->update(0.0); data.integers().set(DataStructures::Names::KEY, Devices::KeyCode::KEY_B); inputComponent->setData(data); behavior->update(0.0); data.integers().set(DataStructures::Names::KEY, Devices::KeyCode::NONE); inputComponent->setData(data); behavior->update(0.0); // Shouldn't trigger another KeyUp .. behavior->update(0.0); } TEST_F(KeyBehaviorTest, Registry) { EXPECT_TRUE(KeyBehavior::registerKey(Devices::KeyCode::KEY_A, "TestFunctionality")); EXPECT_TRUE(KeyBehavior::registerKey(Devices::KeyCode::KEY_B, "OtherFunctionality")); EXPECT_FALSE(KeyBehavior::registerKey(Devices::KeyCode::KEY_A, "TestFunctionality")); KeyBehavior::unregisterKey(Devices::KeyCode::KEY_A); EXPECT_TRUE(KeyBehavior::registerKey(Devices::KeyCode::KEY_A, "TestFunctionality")); KeyBehavior::logMap(); } } } opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/KeyboardCallbackBehaviorTests.cpp000066400000000000000000000060441277777236100272540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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. /// \file /// Tests for the KeyboardCallbackBehavior class. #include #include #include "SurgSim/Blocks/KeyboardCallbackBehavior.h" #include "SurgSim/DataStructures/DataStructuresConvert.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Input/InputComponent.h" #include "SurgSim/Input/OutputComponent.h" using SurgSim::Blocks::KeyboardCallbackBehavior; using SurgSim::Devices::KeyCode; using SurgSim::Framework::Component; using SurgSim::Input::InputComponent; using SurgSim::Input::OutputComponent; TEST(KeyboardCallbackBehavior, Constructor) { EXPECT_NO_THROW(KeyboardCallbackBehavior behavior("KeyboardCallbackBehavior")); } TEST(KeyboardCallbackBehavior, InputComponentTests) { auto keyboardCallbackBehavior = std::make_shared("KeyboardCallbackBehavior"); { auto invalidInputComponent = std::make_shared("InvalidInputComponent"); EXPECT_ANY_THROW(keyboardCallbackBehavior->setInputComponent(invalidInputComponent)); } { auto inputComponent = std::make_shared("InputComponent"); EXPECT_NO_THROW(keyboardCallbackBehavior->setInputComponent(inputComponent)); EXPECT_EQ(inputComponent, keyboardCallbackBehavior->getInputComponent()); } } TEST(KeyboardCallbackBehavior, Serialization) { auto keyboardCallbackBehavior = std::make_shared("KeyboardCallbackBehavior"); std::shared_ptr inputComponent = std::make_shared("InputComponent"); int keyValue = static_cast(KeyCode::KEY_A); keyboardCallbackBehavior->setValue("ActionKey", keyValue); keyboardCallbackBehavior->setValue("InputComponent", inputComponent); YAML::Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*keyboardCallbackBehavior)); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(5, node[keyboardCallbackBehavior->getClassName()].size()); std::shared_ptr newKeyboardCallbackBehavior; EXPECT_NO_THROW(newKeyboardCallbackBehavior = std::dynamic_pointer_cast( node.as>())); ASSERT_NE(nullptr, newKeyboardCallbackBehavior); EXPECT_NE(nullptr, newKeyboardCallbackBehavior->getValue>("InputComponent")); int newKeyValue = newKeyboardCallbackBehavior->getValue("ActionKey"); EXPECT_EQ(newKeyValue, keyValue); } opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/KeyboardTogglesComponentBehaviorTests.cpp000066400000000000000000000163551277777236100310550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the KeyboardTogglesComponentBehavior class. #include #include #include #include "SurgSim/Blocks/KeyboardTogglesComponentBehavior.h" #include "SurgSim/DataStructures/DataStructuresConvert.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Input/InputComponent.h" #include "SurgSim/Input/OutputComponent.h" using SurgSim::Blocks::KeyboardTogglesComponentBehavior; using SurgSim::Devices::KeyCode; using SurgSim::Framework::Component; using SurgSim::Graphics::OsgBoxRepresentation; using SurgSim::Graphics::Representation; using SurgSim::Input::InputComponent; using SurgSim::Input::OutputComponent; TEST(KeyboardTogglesComponentBehavior, Constructor) { EXPECT_NO_THROW(KeyboardTogglesComponentBehavior behavior("KeyboardTogglesComponentBehavior")); } TEST(KeyboardTogglesComponentBehavior, InputComponentTests) { auto keyboardTogglesComponentBehavior = std::make_shared("KeyboardTogglesComponentBehavior"); { auto invalidInputComponent = std::make_shared("InvalidInputComponent"); EXPECT_ANY_THROW(keyboardTogglesComponentBehavior->setInputComponent(invalidInputComponent)); } { auto inputComponent = std::make_shared("InputComponent"); EXPECT_NO_THROW(keyboardTogglesComponentBehavior->setInputComponent(inputComponent)); EXPECT_EQ(inputComponent, keyboardTogglesComponentBehavior->getInputComponent()); } } TEST(KeyboardTogglesComponentBehavior, RegistrationTests) { auto keyboardTogglesComponentBehavior = std::make_shared("KeyboardTogglesComponentBehavior"); { auto graphics = std::make_shared("Graphics"); auto graphics2 = std::make_shared("Graphics2"); auto graphics3 = std::make_shared("Graphics3"); keyboardTogglesComponentBehavior->registerKey(KeyCode::KEY_A, graphics); keyboardTogglesComponentBehavior->registerKey(KeyCode::KEY_A, graphics2); keyboardTogglesComponentBehavior->registerKey(KeyCode::KEY_B, graphics3); auto keyMap = keyboardTogglesComponentBehavior->getKeyboardRegistry(); auto keyAPair = keyMap.find(KeyCode::KEY_A); auto keyBPair = keyMap.find(KeyCode::KEY_B); EXPECT_EQ(2u, keyAPair->second.size()); EXPECT_EQ(1u, keyBPair->second.size()); EXPECT_NE(std::end(keyAPair->second), keyAPair->second.find(graphics)); EXPECT_NE(std::end(keyAPair->second), keyAPair->second.find(graphics2)); EXPECT_NE(std::end(keyBPair->second), keyBPair->second.find(graphics3)); } } TEST(KeyboardTogglesComponentBehavior, SetAndGetKeyboardRegisterTypeTest) { auto keyboardTogglesComponentBehavior = std::make_shared("KeyboardTogglesComponentBehavior"); std::shared_ptr graphics1 = std::make_shared("graphics1"); std::shared_ptr graphics2 = std::make_shared("graphics2"); std::shared_ptr graphics3 = std::make_shared("graphics3"); std::unordered_set> set1; std::unordered_set> set2; set1.insert(graphics1); set2.insert(graphics2); set2.insert(graphics3); KeyboardTogglesComponentBehavior::KeyboardRegistryType keyMap; keyMap[KeyCode::KEY_A] = set1; keyMap[KeyCode::KEY_B] = set2; EXPECT_NO_THROW(keyboardTogglesComponentBehavior->setKeyboardRegistry(keyMap)); auto retrievedKeyMap = keyboardTogglesComponentBehavior->getKeyboardRegistry(); EXPECT_EQ(keyMap.size(), retrievedKeyMap.size()); for (auto it = std::begin(keyMap); it != std::end(keyMap); ++it) { auto componentSet = retrievedKeyMap.find(it->first)->second; EXPECT_EQ(it->second.size(), componentSet.size()); for (auto item = std::begin(it->second); item != std::end(it->second); ++item) { auto match = std::find_if(std::begin(componentSet), std::end(componentSet), [&item](const std::shared_ptr rep) { return rep->getName() == (*item)->getName(); }); EXPECT_NE(std::end(componentSet), match); } } } TEST(KeyboardTogglesComponentBehavior, Serialization) { auto keyboardTogglesComponentBehavior = std::make_shared("KeyboardTogglesComponentBehavior"); std::shared_ptr inputComponent = std::make_shared("InputComponent"); std::shared_ptr graphics1 = std::make_shared("graphics1"); std::shared_ptr graphics2 = std::make_shared("graphics2"); std::unordered_set> set1; std::unordered_set> set2; set1.insert(graphics1); set2.insert(graphics2); KeyboardTogglesComponentBehavior::KeyboardRegistryType keyMap; keyMap[KeyCode::KEY_A] = set1; keyMap[KeyCode::KEY_B] = set2; keyboardTogglesComponentBehavior->setValue("KeyboardRegistry", keyMap); keyboardTogglesComponentBehavior->setValue("InputComponent", inputComponent); YAML::Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*keyboardTogglesComponentBehavior)); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(5, node[keyboardTogglesComponentBehavior->getClassName()].size()); std::shared_ptr newKeyboardTogglesComponentBehavior; EXPECT_NO_THROW(newKeyboardTogglesComponentBehavior = std::dynamic_pointer_cast( node.as>())); ASSERT_NE(nullptr, newKeyboardTogglesComponentBehavior); EXPECT_NE(nullptr, newKeyboardTogglesComponentBehavior->getValue< std::shared_ptr>("InputComponent")); // Make sure every registered representation in the original 'keyMap' is present in the de-serialized keyMap. auto retrievedKeyMap = newKeyboardTogglesComponentBehavior->getValue< KeyboardTogglesComponentBehavior::KeyboardRegistryType>("KeyboardRegistry"); EXPECT_EQ(keyMap.size(), retrievedKeyMap.size()); for (auto it = std::begin(keyMap); it != std::end(keyMap); ++it) { auto componentSet = retrievedKeyMap.find(it->first)->second; EXPECT_EQ(it->second.size(), componentSet.size()); for (auto item = std::begin(it->second); item != std::end(it->second); ++item) { auto match = std::find_if(std::begin(componentSet), std::end(componentSet), [&item](const std::shared_ptr rep) { return rep->getName() == (*item)->getName(); }); EXPECT_NE(std::end(componentSet), match); } } } opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/MassSpring1DRepresentationTests.cpp000066400000000000000000000101241277777236100276070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the MassSpring1DRepresentation class. #include #include "SurgSim/Blocks/MassSpring1DRepresentation.h" #include "SurgSim/Blocks/UnitTests/SpringTestUtils.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Physics/LinearSpring.h" using SurgSim::Math::Vector3d; using SurgSim::Physics::LinearSpring; using SurgSim::Blocks::MassSpring1DRepresentation; using SurgSim::Blocks::springTest; TEST(MassSpring1DRepresentationTests, init1DTest) { MassSpring1DRepresentation m("MassSpring1D"); std::array extremities = {{ Vector3d(1.1, 1.2, 1.3), Vector3d(2.2, 2.3, 2.4) }}; size_t numNodesPerDim[1] = {10}; std::vector nodes; for (size_t nodeId = 0; nodeId < numNodesPerDim[0]; ++nodeId) { double abscissa = static_cast(nodeId) / static_cast(numNodesPerDim[0] - 1); nodes.push_back(extremities[0] + abscissa * (extremities[1] - extremities[0])); } std::vector boundaryConditions; double totalMass = 1.1; double stiffnessStretching = 2.2; double dampingStretching = 3.3; double stiffnessBending = 4.4; double dampingBending = 5.5; boundaryConditions.push_back(0); boundaryConditions.push_back(numNodesPerDim[0] - 1); m.init1D(nodes, boundaryConditions, totalMass, stiffnessStretching, dampingStretching, stiffnessBending, dampingBending); m.initialize(std::make_shared()); m.wakeUp(); EXPECT_EQ(numNodesPerDim[0] * 3, m.getNumDof()); EXPECT_EQ(numNodesPerDim[0], m.getNumMasses()); EXPECT_EQ(numNodesPerDim[0] - 1 + numNodesPerDim[0] - 2, m.getNumSprings()); for (size_t massId = 0; massId < m.getNumMasses(); massId++) { EXPECT_DOUBLE_EQ(totalMass/numNodesPerDim[0], m.getMass(massId)->getMass()); } // The 1st springs are the stretching springs size_t springId = 0; for (size_t nodeId = 0; nodeId < m.getNumMasses() - 1; nodeId++) { springTest(std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId, nodeId + 1, stiffnessStretching, dampingStretching); springId++; } // Followed by bending springs for (size_t nodeId = 0; nodeId < m.getNumMasses() - 2; nodeId++) { springTest(std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId, nodeId + 2, stiffnessBending, dampingBending); springId++; } // States all equals EXPECT_EQ(*m.getPreviousState(), *m.getFinalState()); EXPECT_EQ(*m.getCurrentState(), *m.getFinalState()); EXPECT_EQ(*m.getInitialState(), *m.getFinalState()); // States should contains expected values Vector3d delta = (extremities[1] - extremities[0]) / static_cast(numNodesPerDim[0] - 1); EXPECT_TRUE(m.getFinalState()->getVelocities().isZero()); EXPECT_FALSE(m.getFinalState()->getPositions().isZero()); for (size_t nodeId = 0; nodeId < numNodesPerDim[0]; nodeId++) { Vector3d piExpected = extremities[0] + delta * static_cast(nodeId); SurgSim::Math::Vector& x = m.getFinalState()->getPositions(); Eigen::VectorBlock pi = SurgSim::Math::getSubVector(x, nodeId, 3); EXPECT_TRUE(pi.isApprox(piExpected)); } std::vector dofBoundaryConditions; for (auto it = boundaryConditions.begin(); it != boundaryConditions.end(); ++it) { dofBoundaryConditions.push_back((*it) * 3); dofBoundaryConditions.push_back((*it) * 3 + 1); dofBoundaryConditions.push_back((*it) * 3 + 2); } EXPECT_EQ(dofBoundaryConditions, m.getFinalState()->getBoundaryConditions()); } opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/MassSpring2DRepresentationTests.cpp000066400000000000000000000155051277777236100276200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the MassSpring2DRepresentation class. #include #include "SurgSim/Blocks/MassSpring2DRepresentation.h" #include "SurgSim/Blocks/UnitTests/SpringTestUtils.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Physics/LinearSpring.h" using SurgSim::Math::Vector3d; using SurgSim::Physics::LinearSpring; using SurgSim::Blocks::MassSpring2DRepresentation; using SurgSim::Blocks::springTest; TEST(MassSpring2DRepresentationTests, init2DTest) { MassSpring2DRepresentation m("MassSpring2D"); std::array, 2> extremities = {{ {{Vector3d(0.1, 0.2, 0.3), Vector3d(1.1, 1.2, 1.3)}}, {{Vector3d(10.1, 10.2, 10.4), Vector3d(9.5, 9.6, 9.3)}} }}; size_t numNodesPerDim[2] = {10, 5}; std::vector boundaryConditions; double totalMass = 1.1; double stiffnessStretching = 2.2; double dampingStretching = 3.3; double stiffnessBending = 4.4; double dampingBending = 5.5; double stiffnessFaceDiagonal = 6.6; double dampingFaceDiagonal = 7.7; boundaryConditions.push_back(0); boundaryConditions.push_back(numNodesPerDim[0] * numNodesPerDim[1] - 1); m.init2D(extremities, numNodesPerDim, boundaryConditions, totalMass, stiffnessStretching, dampingStretching, stiffnessBending, dampingBending, stiffnessFaceDiagonal, dampingFaceDiagonal); m.initialize(std::make_shared()); m.wakeUp(); const size_t numNodes = numNodesPerDim[0] * numNodesPerDim[1]; EXPECT_EQ(numNodes * 3, m.getNumDof()); EXPECT_EQ(numNodes, m.getNumMasses()); size_t numSpringsExpected = 0; numSpringsExpected += numNodesPerDim[1] * (numNodesPerDim[0] - 1); // Stretching along Y numSpringsExpected += numNodesPerDim[0] * (numNodesPerDim[1] - 1); // Stretching along X numSpringsExpected += numNodesPerDim[1] * (numNodesPerDim[0] - 2); // Bending along Y numSpringsExpected += numNodesPerDim[0] * (numNodesPerDim[1] - 2); // Bending along X numSpringsExpected += (numNodesPerDim[0] - 1) * (numNodesPerDim[1] - 1) * 2; // Face diagonal EXPECT_EQ(numSpringsExpected, m.getNumSprings()); for (size_t massId = 0; massId < m.getNumMasses(); massId++) { EXPECT_DOUBLE_EQ(totalMass/numNodes, m.getMass(massId)->getMass()); } const size_t rowOffset = numNodesPerDim[0]; const size_t colOffset = 1; size_t springId = 0; // The 1st springs are the stretching springs along X for (size_t row = 0; row < numNodesPerDim[1]; row++) { for (size_t col = 0; col < numNodesPerDim[0] - 1; col++) { size_t nodeId = row * rowOffset + col * colOffset; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId, nodeId + colOffset, stiffnessStretching, dampingStretching); springId++; } } // Followed by stretching springs along Y for (size_t col = 0; col < numNodesPerDim[0]; col++) { for (size_t row = 0; row < numNodesPerDim[1] - 1; row++) { size_t nodeId = row * rowOffset + col * colOffset; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId, nodeId + rowOffset, stiffnessStretching, dampingStretching); springId++; } } // Followed by bending springs along X for (size_t row = 0; row < numNodesPerDim[1]; row++) { for (size_t col = 0; col < numNodesPerDim[0] - 2; col++) { size_t nodeId = row * rowOffset + col * colOffset; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId, nodeId + 2 * colOffset, stiffnessBending, dampingBending); springId++; } } // Followed by bending springs along Y for (size_t col = 0; col < numNodesPerDim[0]; col++) { for (size_t row = 0; row < numNodesPerDim[1] - 2; row++) { size_t nodeId = row * rowOffset + col * colOffset; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId, nodeId + 2 * rowOffset, stiffnessBending, dampingBending); springId++; } } // Followed by face diagonal springs for (size_t row = 0; row < numNodesPerDim[1] - 1; row++) { for (size_t col = 0; col < numNodesPerDim[0] - 1; col++) { size_t nodeId = row * rowOffset + col * colOffset; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId, nodeId + rowOffset + colOffset, stiffnessFaceDiagonal, dampingFaceDiagonal); springId++; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId + colOffset, nodeId + rowOffset, stiffnessFaceDiagonal, dampingFaceDiagonal); springId++; } } // States all equals EXPECT_EQ(*m.getPreviousState(), *m.getFinalState()); EXPECT_EQ(*m.getCurrentState(), *m.getFinalState()); EXPECT_EQ(*m.getInitialState(), *m.getFinalState()); // States should contains expected values EXPECT_TRUE(m.getFinalState()->getVelocities().isZero()); EXPECT_FALSE(m.getFinalState()->getPositions().isZero()); Vector3d rowExtremititiesDelta[2] = { (extremities[0][1] - extremities[0][0]) / static_cast(numNodesPerDim[1] - 1) , (extremities[1][1] - extremities[1][0]) / static_cast(numNodesPerDim[1] - 1) }; size_t nodeId = 0; for (size_t row = 0; row < numNodesPerDim[1]; row++) { Vector3d rowExtremities[2]; rowExtremities[0] = extremities[0][0] + rowExtremititiesDelta[0] * static_cast(row); rowExtremities[1] = extremities[1][0] + rowExtremititiesDelta[1] * static_cast(row); Vector3d delta = (rowExtremities[1] - rowExtremities[0]) / static_cast(numNodesPerDim[0] - 1); for (size_t col = 0; col < numNodesPerDim[0]; col++) { SurgSim::Math::Vector3d piExpected(rowExtremities[0] + static_cast(col) * delta); SurgSim::Math::Vector& x = m.getFinalState()->getPositions(); Eigen::VectorBlock pi = SurgSim::Math::getSubVector(x, nodeId, 3); EXPECT_TRUE(pi.isApprox(piExpected)); nodeId++; } } std::vector dofBoundaryConditions; for (auto it = boundaryConditions.begin(); it != boundaryConditions.end(); ++it) { dofBoundaryConditions.push_back((*it) * 3); dofBoundaryConditions.push_back((*it) * 3 + 1); dofBoundaryConditions.push_back((*it) * 3 + 2); } EXPECT_EQ(dofBoundaryConditions, m.getFinalState()->getBoundaryConditions()); } opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/MassSpring3DRepresentationTests.cpp000066400000000000000000000317771277777236100276320ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the MassSpring3DRepresentation class. #include #include "SurgSim/Blocks/MassSpring3DRepresentation.h" #include "SurgSim/Blocks/UnitTests/SpringTestUtils.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Physics/LinearSpring.h" using SurgSim::Math::Vector3d; using SurgSim::Physics::LinearSpring; using SurgSim::Blocks::MassSpring3DRepresentation; using SurgSim::Blocks::springTest; TEST(MassSpring3DRepresentationTests, init3DTest) { MassSpring3DRepresentation m("MassSpring3D"); std::array, 2>, 2> extremities = {{ {{ {{Vector3d(-0.5, -0.4, -0.3), Vector3d( 0.4, -0.5, -0.3)}}, {{Vector3d(-0.4, 0.3, -0.5), Vector3d( 0.5, 0.3, -0.4)}} }}, {{ {{Vector3d(-0.3, -0.5, 0.4), Vector3d( 0.5, -0.3, 0.4)}}, {{Vector3d(-0.4, 0.3, 0.5), Vector3d( 0.4, 0.3, 0.5)}} }} }}; size_t numNodesPerDim[3] = {10, 5, 3}; std::vector boundaryConditions; double totalMass = 1.1; double stiffnessStretching = 2.2; double dampingStretching = 3.3; double stiffnessBending = 4.4; double dampingBending = 5.5; double stiffnessFaceDiagonal = 6.6; double dampingFaceDiagonal = 7.7; double stiffnessVolumeDiagonal = 8.8; double dampingVolumeDiagonal = 9.9; boundaryConditions.push_back(0); boundaryConditions.push_back(numNodesPerDim[0] * numNodesPerDim[1] * numNodesPerDim[2] - 1); m.init3D(extremities, numNodesPerDim, boundaryConditions, totalMass, stiffnessStretching, dampingStretching, stiffnessBending, dampingBending, stiffnessFaceDiagonal, dampingFaceDiagonal, stiffnessVolumeDiagonal, dampingVolumeDiagonal); m.initialize(std::make_shared()); m.wakeUp(); const size_t numNodes = numNodesPerDim[0] * numNodesPerDim[1] * numNodesPerDim[2]; EXPECT_EQ(numNodes * 3, m.getNumDof()); EXPECT_EQ(numNodes, m.getNumMasses()); size_t numSpringsExpected = 0; // Stretching springs numSpringsExpected += numNodesPerDim[0] * numNodesPerDim[2] * (numNodesPerDim[1] - 1); // along X numSpringsExpected += numNodesPerDim[1] * numNodesPerDim[2] * (numNodesPerDim[0] - 1); // along Y numSpringsExpected += numNodesPerDim[0] * numNodesPerDim[1] * (numNodesPerDim[2] - 1); // along Z // Bending springs numSpringsExpected += numNodesPerDim[0] * numNodesPerDim[2] * (numNodesPerDim[1] - 2); // along X numSpringsExpected += numNodesPerDim[1] * numNodesPerDim[2] * (numNodesPerDim[0] - 2); // along Y numSpringsExpected += numNodesPerDim[0] * numNodesPerDim[1] * (numNodesPerDim[2] - 2); // along Z // Face diagonal springs numSpringsExpected += numNodesPerDim[1] * (numNodesPerDim[2] - 1) * (numNodesPerDim[0] - 1) * 2; // facing X numSpringsExpected += numNodesPerDim[0] * (numNodesPerDim[2] - 1) * (numNodesPerDim[1] - 1) * 2; // facing Y numSpringsExpected += numNodesPerDim[2] * (numNodesPerDim[1] - 1) * (numNodesPerDim[0] - 1) * 2; // facing Z // Volume diagonal springs numSpringsExpected += (numNodesPerDim[0] - 1) * (numNodesPerDim[1] - 1) * (numNodesPerDim[2] - 1) * 4; EXPECT_EQ(numSpringsExpected, m.getNumSprings()); for (size_t massId = 0; massId < m.getNumMasses(); massId++) { EXPECT_DOUBLE_EQ(totalMass/numNodes, m.getMass(massId)->getMass()); } const size_t depthOffset = numNodesPerDim[0] * numNodesPerDim[1]; const size_t rowOffset = numNodesPerDim[0]; const size_t colOffset = 1; size_t springId = 0; // The 1st springs are the stretching springs along X for (size_t depth = 0; depth < numNodesPerDim[2]; depth++) { for (size_t row = 0; row < numNodesPerDim[1]; row++) { for (size_t col = 0; col < numNodesPerDim[0] - 1; col++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId, nodeId + colOffset, stiffnessStretching, dampingStretching); springId++; } } } // Followed by stretching springs along Y for (size_t depth = 0; depth < numNodesPerDim[2]; depth++) { for (size_t col = 0; col < numNodesPerDim[0]; col++) { for (size_t row = 0; row < numNodesPerDim[1] - 1; row++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId, nodeId + rowOffset, stiffnessStretching, dampingStretching); springId++; } } } // Followed by stretching springs along Z for (size_t row = 0; row < numNodesPerDim[1]; row++) { for (size_t col = 0; col < numNodesPerDim[0]; col++) { for (size_t depth = 0; depth < numNodesPerDim[2] - 1; depth++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId, nodeId + depthOffset, stiffnessStretching, dampingStretching); springId++; } } } // Followed by bending springs along X for (size_t depth = 0; depth < numNodesPerDim[2]; depth++) { for (size_t row = 0; row < numNodesPerDim[1]; row++) { for (size_t col = 0; col < numNodesPerDim[0] - 2; col++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId, nodeId + 2 * colOffset, stiffnessBending, dampingBending); springId++; } } } // Followed by bending springs along Y for (size_t depth = 0; depth < numNodesPerDim[2]; depth++) { for (size_t col = 0; col < numNodesPerDim[0]; col++) { for (size_t row = 0; row < numNodesPerDim[1] - 2; row++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId, nodeId + 2 * rowOffset, stiffnessBending, dampingBending); springId++; } } } // Followed by bending springs along Z for (size_t row = 0; row < numNodesPerDim[1]; row++) { for (size_t col = 0; col < numNodesPerDim[0]; col++) { for (size_t depth = 0; depth < numNodesPerDim[2] - 2; depth++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId, nodeId + 2 * depthOffset, stiffnessBending, dampingBending); springId++; } } } // Followed by face diagonal springs orthogonal to Z for (size_t depth = 0; depth < numNodesPerDim[2]; depth++) { for (size_t row = 0; row < numNodesPerDim[1] - 1; row++) { for (size_t col = 0; col < numNodesPerDim[0] - 1; col++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId, nodeId + rowOffset + colOffset, stiffnessFaceDiagonal, dampingFaceDiagonal); springId++; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId + colOffset, nodeId + rowOffset, stiffnessFaceDiagonal, dampingFaceDiagonal); springId++; } } } // Followed by face diagonal springs orthogonal to Y for (size_t row = 0; row < numNodesPerDim[1]; row++) { for (size_t depth = 0; depth < numNodesPerDim[2] - 1; depth++) { for (size_t col = 0; col < numNodesPerDim[0] - 1; col++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId, nodeId + depthOffset + colOffset, stiffnessFaceDiagonal, dampingFaceDiagonal); springId++; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId + colOffset, nodeId + depthOffset, stiffnessFaceDiagonal, dampingFaceDiagonal); springId++; } } } // Followed by face diagonal springs orthogonal to X for (size_t col = 0; col < numNodesPerDim[0]; col++) { for (size_t row = 0; row < numNodesPerDim[1] - 1; row++) { for (size_t depth = 0; depth < numNodesPerDim[2] - 1; depth++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId, nodeId + depthOffset + rowOffset, stiffnessFaceDiagonal, dampingFaceDiagonal); springId++; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId + rowOffset, nodeId + depthOffset, stiffnessFaceDiagonal, dampingFaceDiagonal); springId++; } } } // Followed by volume diagonal springs for (size_t col = 0; col < numNodesPerDim[0] - 1; col++) { for (size_t row = 0; row < numNodesPerDim[1] - 1; row++) { for (size_t depth = 0; depth < numNodesPerDim[2] - 1; depth++) { size_t nodeId = depth * depthOffset + row * rowOffset + col * colOffset; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId, nodeId + depthOffset + rowOffset + colOffset, stiffnessVolumeDiagonal, dampingVolumeDiagonal); springId++; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId + colOffset, nodeId + depthOffset + rowOffset, stiffnessVolumeDiagonal, dampingVolumeDiagonal); springId++; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId + rowOffset, nodeId + depthOffset + colOffset, stiffnessVolumeDiagonal, dampingVolumeDiagonal); springId++; springTest( std::dynamic_pointer_cast(m.getSpring(springId)), m.getFinalState(), nodeId + rowOffset + colOffset, nodeId + depthOffset, stiffnessVolumeDiagonal, dampingVolumeDiagonal); springId++; } } } // States all equals EXPECT_EQ(*m.getPreviousState(), *m.getFinalState()); EXPECT_EQ(*m.getCurrentState(), *m.getFinalState()); EXPECT_EQ(*m.getInitialState(), *m.getFinalState()); // States should contains expected values EXPECT_TRUE(m.getFinalState()->getVelocities().isZero()); EXPECT_FALSE(m.getFinalState()->getPositions().isZero()); Vector3d depthExtremitiesDelta[2][2] = {{(extremities[0][0][1] - extremities[0][0][0]) / static_cast(numNodesPerDim[2] - 1) , (extremities[1][0][1] - extremities[1][0][0]) / static_cast(numNodesPerDim[2] - 1)} , {(extremities[0][1][1] - extremities[0][1][0]) / static_cast(numNodesPerDim[2] - 1) , (extremities[1][1][1] - extremities[1][1][0]) / static_cast(numNodesPerDim[2] - 1)}}; size_t nodeId = 0; for (size_t depth = 0; depth < numNodesPerDim[2]; depth++) { Vector3d depthExtremities[2][2]; depthExtremities[0][0] = extremities[0][0][0] + depthExtremitiesDelta[0][0] * static_cast(depth); depthExtremities[1][0] = extremities[1][0][0] + depthExtremitiesDelta[0][1] * static_cast(depth); depthExtremities[0][1] = extremities[0][1][0] + depthExtremitiesDelta[1][0] * static_cast(depth); depthExtremities[1][1] = extremities[1][1][0] + depthExtremitiesDelta[1][1] * static_cast(depth); Vector3d rowExtremitiesDelta[2] = {(depthExtremities[0][1] - depthExtremities[0][0]) / static_cast(numNodesPerDim[1] - 1) , (depthExtremities[1][1] - depthExtremities[1][0]) / static_cast(numNodesPerDim[1] - 1)}; for (size_t row = 0; row < numNodesPerDim[1]; row++) { Vector3d rowExtremities[2]; rowExtremities[0] = depthExtremities[0][0] + rowExtremitiesDelta[0] * static_cast(row); rowExtremities[1] = depthExtremities[1][0] + rowExtremitiesDelta[1] * static_cast(row); Vector3d delta = (rowExtremities[1] - rowExtremities[0]) / static_cast(numNodesPerDim[0] - 1); for (size_t col = 0; col < numNodesPerDim[0]; col++) { Vector3d xiExpected(rowExtremities[0] + static_cast(col) * delta); SurgSim::Math::Vector& x = m.getFinalState()->getPositions(); Eigen::VectorBlock xi = SurgSim::Math::getSubVector(x, nodeId, 3); EXPECT_TRUE(xi.isApprox(xiExpected)); nodeId++; } } } std::vector dofBoundaryConditions; for (auto it = boundaryConditions.begin(); it != boundaryConditions.end(); ++it) { dofBoundaryConditions.push_back((*it) * 3); dofBoundaryConditions.push_back((*it) * 3 + 1); dofBoundaryConditions.push_back((*it) * 3 + 2); } EXPECT_EQ(dofBoundaryConditions, m.getFinalState()->getBoundaryConditions()); } opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/MassSpringNDRepresentationUtilsTests.cpp000066400000000000000000000060201277777236100306650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the MassSpring1DRepresentation class. #include #include #include "SurgSim/Blocks/MassSpringNDRepresentationUtils.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Physics/LinearSpring.h" using SurgSim::Physics::LinearSpring; TEST(MassSpringNDRepresentationUtilsTests, CreateLinearSpring) { const int numDofPerNode = 3; const int numNodes = 10; double stiffness = 14.54; double damping = 4.398; { SCOPED_TRACE("Create linear spring with 0 rest-length"); std::shared_ptr state; state = std::make_shared(); state->setNumDof(numDofPerNode, numNodes); std::shared_ptr linearSpring; linearSpring = SurgSim::Blocks::createLinearSpring(state, 3, 7, stiffness, damping); EXPECT_DOUBLE_EQ(damping, linearSpring->getDamping()); EXPECT_DOUBLE_EQ(stiffness, linearSpring->getStiffness()); EXPECT_DOUBLE_EQ(0.0, linearSpring->getRestLength()); EXPECT_EQ(2u, linearSpring->getNumNodes()); EXPECT_EQ(3u, linearSpring->getNodeId(0)); EXPECT_EQ(7u, linearSpring->getNodeId(1)); EXPECT_EQ(2, linearSpring->getNodeIds().size()); EXPECT_EQ(3u, linearSpring->getNodeIds()[0]); EXPECT_EQ(7u, linearSpring->getNodeIds()[1]); } { SCOPED_TRACE("Create linear spring with non 0 rest-length"); std::shared_ptr state; state = std::make_shared(); state->setNumDof(numDofPerNode, numNodes); for (int nodeId = 0; nodeId < numNodes; nodeId++) { SurgSim::Math::Vector& x = state->getPositions(); SurgSim::Math::getSubVector(x, nodeId, numDofPerNode)[0] = static_cast(nodeId) + 0.45009; SurgSim::Math::getSubVector(x, nodeId, numDofPerNode)[1] = -4.5343; SurgSim::Math::getSubVector(x, nodeId, numDofPerNode)[2] = 0.2325445; } std::shared_ptr linearSpring; linearSpring = SurgSim::Blocks::createLinearSpring(state, 3, 7, stiffness, damping); EXPECT_DOUBLE_EQ(damping, linearSpring->getDamping()); EXPECT_DOUBLE_EQ(stiffness, linearSpring->getStiffness()); EXPECT_DOUBLE_EQ(4.0, linearSpring->getRestLength()); EXPECT_EQ(2u, linearSpring->getNumNodes()); EXPECT_EQ(3u, linearSpring->getNodeId(0)); EXPECT_EQ(7u, linearSpring->getNodeId(1)); EXPECT_EQ(2, linearSpring->getNodeIds().size()); EXPECT_EQ(3u, linearSpring->getNodeIds()[0]); EXPECT_EQ(7u, linearSpring->getNodeIds()[1]); } } opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/PoseInterpolatorTests.cpp000066400000000000000000000132741277777236100257330ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Blocks/PoseInterpolator.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/Representation.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Quaterniond; using SurgSim::Math::Vector3d; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::interpolate; namespace { RigidTransform3d startPose = makeRigidTransform(Quaterniond::Identity(), Vector3d(1.0, 2.0, 3.0)); RigidTransform3d endPose = makeRigidTransform(Quaterniond::Identity(), Vector3d(3.0, 2.0, 1.0)); } namespace SurgSim { namespace Blocks { class PoseInterpolatorTests : public ::testing::Test { public: void SetUp() { runtime = std::make_shared(""); scene = runtime->getScene(); element = std::make_shared("element"); representation = std::make_shared("representation"); interpolator = std::make_shared("interpolator"); } void TearDown() { representation->retire(); interpolator->retire(); } std::shared_ptr runtime; std::shared_ptr scene; std::shared_ptr element; std::shared_ptr representation; std::shared_ptr interpolator; }; TEST_F(PoseInterpolatorTests, InitTest) { ASSERT_NO_THROW({auto interpolator = std::make_shared("test");}); } TEST_F(PoseInterpolatorTests, StartAndEndPose) { interpolator->setStartingPose(startPose); interpolator->setEndingPose(endPose); element->addComponent(representation); element->addComponent(interpolator); scene->addSceneElement(element); interpolator->wakeUp(); representation->wakeUp(); interpolator->update(0.0); EXPECT_TRUE(startPose.isApprox(representation->getPose())); interpolator->update(0.5); RigidTransform3d pose = interpolate(startPose, endPose, 0.5); EXPECT_TRUE(pose.matrix().isApprox(representation->getPose().matrix())) << pose.matrix() << std::endl << representation->getPose().matrix(); } TEST_F(PoseInterpolatorTests, UseOptionalStartPose) { interpolator->setStartingPose(startPose); interpolator->setEndingPose(endPose); interpolator->setTarget(element); element->addComponent(representation); element->addComponent(interpolator); scene->addSceneElement(element); interpolator->wakeUp(); representation->wakeUp(); interpolator->update(0.0); EXPECT_TRUE(startPose.isApprox(representation->getPose())); interpolator->update(0.5); RigidTransform3d pose = interpolate(startPose, endPose, 0.5); EXPECT_TRUE(pose.matrix().isApprox(representation->getPose().matrix())) << pose.matrix() << std::endl << representation->getPose().matrix(); } TEST_F(PoseInterpolatorTests, UseLoop) { interpolator->setStartingPose(startPose); interpolator->setEndingPose(endPose); element->addComponent(representation); element->addComponent(interpolator); scene->addSceneElement(element); interpolator->setPingPong(true); interpolator->setLoop(true); // Enabling loop should disable pingpong EXPECT_TRUE(interpolator->isLoop()); EXPECT_FALSE(interpolator->isPingPong()); interpolator->wakeUp(); representation->wakeUp(); interpolator->update(0.0); EXPECT_TRUE(startPose.isApprox(representation->getPose())); interpolator->update(0.25); RigidTransform3d pose = interpolate(startPose, endPose, 0.25); EXPECT_TRUE(pose.matrix().isApprox(representation->getPose().matrix())) << pose.matrix() << std::endl << representation->getPose().matrix(); // We advance by 1.0, this should wrap around to 0.25 again and the poses should be the same interpolator->update(1.0); EXPECT_TRUE(pose.matrix().isApprox(representation->getPose().matrix())) << pose.matrix() << std::endl << representation->getPose().matrix(); } TEST_F(PoseInterpolatorTests, UsePingPong) { interpolator->setStartingPose(startPose); interpolator->setEndingPose(endPose); element->addComponent(representation); element->addComponent(interpolator); scene->addSceneElement(element); interpolator->setLoop(true); interpolator->setPingPong(true); // Enabling PingPong should disable Loop EXPECT_FALSE(interpolator->isLoop()); EXPECT_TRUE(interpolator->isPingPong()); interpolator->wakeUp(); representation->wakeUp(); interpolator->update(0.0); EXPECT_TRUE(startPose.isApprox(representation->getPose())); interpolator->update(0.25); RigidTransform3d pose = interpolate(startPose, endPose, 0.25); EXPECT_TRUE(pose.matrix().isApprox(representation->getPose().matrix())) << pose.matrix() << std::endl << representation->getPose().matrix(); // We advance by 1.0, this should wrap around to 0.25 and the poses should be flipped pose = interpolate(endPose, startPose, 0.25); interpolator->update(1.0); EXPECT_TRUE(pose.matrix().isApprox(representation->getPose().matrix())) << pose.matrix() << std::endl << representation->getPose().matrix(); } }; }; opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/SingleKeyBehaviorTests.cpp000066400000000000000000000065441277777236100257760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013 - 2016, SimQuest Solutions 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 // // 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. /// \file /// Tests for the SingleKeyBehavior class. #include #include #include "SurgSim/Blocks/SingleKeyBehavior.h" #include "SurgSim/Devices/Keyboard/KeyCode.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Input/InputComponent.h" class MockSingleKeyBehavior : public SurgSim::Blocks::SingleKeyBehavior { public: explicit MockSingleKeyBehavior(const std::string& name) : SingleKeyBehavior(name) { } protected: void onKey() override { } }; TEST(SingleKeyBehaviorTest, Constructor) { std::shared_ptr singleKeyBehavior; ASSERT_NO_THROW(singleKeyBehavior = std::make_shared("SingleKeyBehavior")); EXPECT_EQ(nullptr, singleKeyBehavior->getInputComponent()); EXPECT_EQ(SurgSim::Devices::KeyCode::NONE, singleKeyBehavior->getKey()); } TEST(SingleKeyBehaviorTest, SetAndGetKey) { auto behavior = std::make_shared("MockSingleKeyBehavior"); int key = SurgSim::Devices::KeyCode::KEY_0; EXPECT_NO_THROW(behavior->setKey(key)); int retrievedKey; EXPECT_NO_THROW(retrievedKey = behavior->getKey()); EXPECT_EQ(key, retrievedKey); } TEST(SingleKeyBehaviorTest, WakeUp) { auto input = std::make_shared("input"); int key = SurgSim::Devices::KeyCode::KEY_1; { auto behavior = std::make_shared("MockSingleKeyBehavior"); EXPECT_FALSE(behavior->doWakeUp()); } { auto behavior = std::make_shared("MockSingleKeyBehavior"); behavior->setInputComponent(input); EXPECT_FALSE(behavior->doWakeUp()); } { auto behavior = std::make_shared("MockSingleKeyBehavior"); behavior->setKey(key); EXPECT_FALSE(behavior->doWakeUp()); } { auto behavior = std::make_shared("MockSingleKeyBehavior"); behavior->setKey(key); behavior->setInputComponent(input); EXPECT_TRUE(behavior->doWakeUp()); } } TEST(SingleKeyBehaviorTest, AccessibleValues) { auto behavior = std::make_shared("MockSingleKeyBehavior"); std::shared_ptr input = std::make_shared("input"); int key = SurgSim::Devices::KeyCode::KEY_0; EXPECT_NO_THROW(behavior->setValue("ActionKey", key)); EXPECT_NO_THROW(behavior->setValue("InputComponent", input)); int retrievedKey; std::shared_ptr retrievedInputComponent; EXPECT_NO_THROW(retrievedKey = behavior->getValue("ActionKey")); EXPECT_NO_THROW(retrievedInputComponent = behavior->getValue>("InputComponent")); EXPECT_EQ(key, retrievedKey); EXPECT_EQ(input, retrievedInputComponent); } opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/SpringTestUtils.cpp000066400000000000000000000033241277777236100245150ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Utility function to test a LinearSpring #include #include "SurgSim/Blocks/UnitTests/SpringTestUtils.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/LinearSpring.h" namespace SurgSim { namespace Blocks { void springTest(std::shared_ptr spring, std::shared_ptr state, size_t expectedNodeId0, size_t expectedNodeId1, double expectedStiffness, double expectedDamping) { EXPECT_DOUBLE_EQ(expectedStiffness, spring->getStiffness()); EXPECT_DOUBLE_EQ(expectedDamping, spring->getDamping()); EXPECT_EQ(expectedNodeId0, spring->getNodeId(0)); EXPECT_EQ(expectedNodeId1, spring->getNodeId(1)); SurgSim::Math::Vector& x =state->getPositions(); Eigen::VectorBlock x0 = SurgSim::Math::getSubVector(x, expectedNodeId0, 3); Eigen::VectorBlock x1 = SurgSim::Math::getSubVector(x, expectedNodeId1, 3); EXPECT_DOUBLE_EQ((x1 - x0).norm(), spring->getRestLength()); } }; // namespace Blocks }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/SpringTestUtils.h000066400000000000000000000023751277777236100241670ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Utility function to test a LinearSpring #ifndef SURGSIM_BLOCKS_UNITTESTS_SPRINGTESTUTILS_H #define SURGSIM_BLOCKS_UNITTESTS_SPRINGTESTUTILS_H #include namespace SurgSim { namespace Math { class OdeState; }; namespace Physics { class LinearSpring; }; namespace Blocks { void springTest(std::shared_ptr spring, std::shared_ptr state, size_t expectedNodeId0, size_t expectedNodeId1, double expectedStiffness, double expectedDamping); }; // namespace Blocks }; // namespace SurgSim #endif // SURGSIM_BLOCKS_UNITTESTS_SPRINGTESTUTILS_H opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/TransferParticlesToPointCloudBehaviorTests.cpp000066400000000000000000000165751277777236100320500ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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. /// \file /// Tests for the TransferParticlesToGraphicsBehavior class. #include #include "SurgSim/Blocks/TransferParticlesToPointCloudBehavior.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/BehaviorManager.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Graphics/OsgPointCloudRepresentation.h" #include "SurgSim/Particles/SphRepresentation.h" #include "SurgSim/Physics/PhysicsManager.h" #include "SurgSim/Physics/RigidRepresentation.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Blocks { TEST(TransferParticlesToPointCloudBehaviorTests, ConstructorTest) { ASSERT_NO_THROW(TransferParticlesToPointCloudBehavior("TestBehavior")); } TEST(TransferParticlesToPointCloudBehaviorTests, SetGetSourceTest) { auto particles = std::make_shared("Particles"); auto rigid = std::make_shared("Rigid"); auto behavior = std::make_shared("Behavior"); EXPECT_THROW(behavior->setSource(nullptr), Framework::AssertionFailure); EXPECT_THROW(behavior->setSource(rigid), Framework::AssertionFailure); EXPECT_NO_THROW(behavior->setSource(particles)); EXPECT_EQ(particles, behavior->getSource()); } TEST(TransferParticlesToPointCloudBehaviorTests, SetGetTargetTest) { auto pointCloud = std::make_shared("OsgMesh"); auto graphicsBox = std::make_shared("OsgBox"); auto behavior = std::make_shared("Behavior"); EXPECT_THROW(behavior->setTarget(nullptr), Framework::AssertionFailure); EXPECT_THROW(behavior->setTarget(graphicsBox), Framework::AssertionFailure); EXPECT_NO_THROW(behavior->setTarget(pointCloud)); EXPECT_EQ(pointCloud, behavior->getTarget()); } TEST(TransferParticlesToPointCloudBehaviorTests, WakeUpTest) { auto runtime = std::make_shared("config.txt"); auto particles = std::make_shared("Particles"); particles->setMassPerParticle(1.0); particles->setDensity(1.0); particles->setGasStiffness(1.0); particles->setKernelSupport(1.0); auto pointCloud = std::make_shared("Graphics"); { auto behavior = std::make_shared("Behavior"); EXPECT_TRUE(behavior->initialize(runtime)); EXPECT_FALSE(behavior->wakeUp()); } { auto behavior = std::make_shared("Behavior"); behavior->setTarget(pointCloud); EXPECT_TRUE(behavior->initialize(runtime)); EXPECT_FALSE(behavior->wakeUp()); } { auto behavior = std::make_shared("Behavior"); behavior->setSource(particles); EXPECT_TRUE(behavior->initialize(runtime)); EXPECT_FALSE(behavior->wakeUp()); } { auto behavior = std::make_shared("Behavior"); behavior->setSource(particles); behavior->setTarget(pointCloud); EXPECT_TRUE(behavior->initialize(runtime)); EXPECT_TRUE(behavior->wakeUp()); } } TEST(TransferParticlesToPointCloudBehaviorTests, UpdateTest) { auto runtime = std::make_shared(); runtime->addManager(std::make_shared()); runtime->addManager(std::make_shared()); auto sceneElement = std::make_shared("Element"); auto particles = std::make_shared("Particles"); particles->setMaxParticles(10); particles->setMassPerParticle(1.0); particles->setDensity(1.0); particles->setGasStiffness(1.0); particles->setKernelSupport(1.0); for (size_t particleId = 0; particleId < 10; particleId++) { particles->addParticle(Vector3d(static_cast(particleId), 0.0, 0.0), Vector3d::Zero(), 100000); } sceneElement->addComponent(particles); auto pointCloud = std::make_shared("Graphics"); sceneElement->addComponent(pointCloud); auto behavior = std::make_shared("Behavior"); behavior->setSource(particles); behavior->setTarget(pointCloud); sceneElement->addComponent(behavior); auto scene = runtime->getScene(); scene->addSceneElement(sceneElement); particles->update(0.1); behavior->update(0.1); auto sourceVertices = particles->getParticles().safeGet()->getVertices(); auto targetVertices = pointCloud->getVertices()->getVertices(); ASSERT_EQ(sourceVertices.size(), targetVertices.size()); auto sourceVertex = sourceVertices.begin(); auto targetVertex = targetVertices.begin(); for (; sourceVertex != sourceVertices.end(); ++sourceVertex, ++targetVertex) { EXPECT_TRUE(sourceVertex->position.isApprox(targetVertex->position)); } particles->removeParticle(0); particles->removeParticle(1); particles->update(0.1); behavior->update(0.1); sourceVertices = particles->getParticles().safeGet()->getVertices(); targetVertices = pointCloud->getVertices()->getVertices(); ASSERT_EQ(sourceVertices.size(), targetVertices.size()); sourceVertex = sourceVertices.begin(); targetVertex = targetVertices.begin(); for (; sourceVertex != sourceVertices.end(); ++sourceVertex, ++targetVertex) { EXPECT_TRUE(sourceVertex->position.isApprox(targetVertex->position)); } } TEST(TransferParticlesToPointCloudBehaviorTests, SerializationTest) { std::shared_ptr particles = std::make_shared("Particles"); std::shared_ptr pointCloud = std::make_shared("Graphics"); auto behavior = std::make_shared("Behavior"); EXPECT_NO_THROW(behavior->setValue("Source", particles)); EXPECT_NO_THROW(behavior->setValue("Target", pointCloud)); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*behavior)); EXPECT_EQ(1u, node.size()); YAML::Node data = node["SurgSim::Blocks::TransferParticlesToPointCloudBehavior"]; EXPECT_EQ(5u, data.size()); std::shared_ptr newBehavior; std::shared_ptr nodeAsComponent = node.as>(); ASSERT_NO_THROW(newBehavior = std::dynamic_pointer_cast(nodeAsComponent)); EXPECT_EQ("SurgSim::Blocks::TransferParticlesToPointCloudBehavior", newBehavior->getClassName()); EXPECT_NE(nullptr, newBehavior->getValue>("Source")); EXPECT_NE(nullptr, newBehavior->getValue>("Target")); } }; // namespace Blocks }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/TransferPhysicsToGraphicsMeshBehaviorTests.cpp000066400000000000000000000217101277777236100320240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the TransferPhysicsToGraphicsBehavior class. #include #include "SurgSim/Blocks/TransferPhysicsToGraphicsMeshBehavior.h" #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/BehaviorManager.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Graphics/Mesh.h" #include "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Graphics/OsgMeshRepresentation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem3DElementTetrahedron.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/RigidRepresentation.h" using SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior; using SurgSim::Framework::BasicSceneElement; using SurgSim::Framework::BehaviorManager; using SurgSim::Framework::Runtime; using SurgSim::Graphics::OsgBoxRepresentation; using SurgSim::Graphics::OsgMeshRepresentation; using SurgSim::Math::Vector3d; using SurgSim::Physics::Fem3DRepresentation; using SurgSim::Physics::RigidRepresentation; namespace SurgSim { namespace Blocks { TEST(TransferPhysicsToGraphicsMeshBehaviorTests, Constructor) { ASSERT_NO_THROW(TransferPhysicsToGraphicsMeshBehavior("TestBehavior")); } TEST(TransferPhysicsToGraphicsMeshBehaviorTests, SetGetSource) { auto physics = std::make_shared("PhysicsDeformable"); auto rigid = std::make_shared("PhysicsRigid"); auto behavior = std::make_shared("Behavior"); EXPECT_THROW(behavior->setSource(nullptr), SurgSim::Framework::AssertionFailure); EXPECT_THROW(behavior->setSource(rigid), SurgSim::Framework::AssertionFailure); EXPECT_NO_THROW(behavior->setSource(physics)); EXPECT_EQ(physics, behavior->getSource()); } TEST(TransferPhysicsToGraphicsMeshBehaviorTests, SetGetTarget) { auto graphics = std::make_shared("OsgMesh"); auto graphicsBox = std::make_shared("OsgBox"); auto behavior = std::make_shared("Behavior"); EXPECT_THROW(behavior->setTarget(nullptr), SurgSim::Framework::AssertionFailure); EXPECT_THROW(behavior->setTarget(graphicsBox), SurgSim::Framework::AssertionFailure); EXPECT_NO_THROW(behavior->setTarget(graphics)); EXPECT_EQ(graphics, behavior->getTarget()); } TEST(TransferPhysicsToGraphicsMeshBehaviorTests, Update) { auto runtime = std::make_shared("config.txt"); auto behaviorManager = std::make_shared(); runtime->addManager(behaviorManager); auto scene = runtime->getScene(); auto sceneElement = std::make_shared("scene element"); auto physics = std::make_shared("Fem3D"); physics->loadFem("Geometry/wound_deformable.ply"); auto graphics = std::make_shared("GraphicsMesh"); auto behavior = std::make_shared("Behavior"); behavior->setSource(physics); behavior->setTarget(graphics); sceneElement->addComponent(behavior); sceneElement->addComponent(physics); sceneElement->addComponent(graphics); scene->addSceneElement(sceneElement); // Test doInitialize(), doWakeUP() EXPECT_NO_THROW(runtime->start()); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); auto finalState = physics->getFinalState(); auto numNodes = finalState->getNumNodes(); auto target = graphics->getMesh(); ASSERT_NE(0u, target->getNumVertices()); ASSERT_NE(0u, numNodes); ASSERT_EQ(numNodes, target->getNumVertices()); for (size_t nodeId = 0; nodeId < numNodes; ++nodeId) { EXPECT_TRUE(finalState->getPosition(nodeId).isApprox(target->getVertex(nodeId).position)); } // Test TransferPhysicsToGraphicsBehavior::update() finalState->reset(); behavior->update(1.0); for (size_t nodeId = 0; nodeId < numNodes; ++nodeId) { EXPECT_TRUE(target->getVertex(nodeId).position.isApprox(Vector3d::Zero())); } runtime->stop(); } TEST(TransferPhysicsToGraphicsMeshBehaviorTests, Serialization) { std::string filename = std::string("Geometry/wound_deformable_with_texture.ply"); std::shared_ptr physics = std::make_shared("Fem3D"); auto fem3d = std::dynamic_pointer_cast(physics); auto runtime = std::make_shared("config.txt"); fem3d->loadFem(filename); std::shared_ptr graphics = std::make_shared("GraphicsMesh"); auto behavior = std::make_shared("Behavior"); EXPECT_NO_THROW(behavior->setValue("Source", physics)); EXPECT_NO_THROW(behavior->setValue("Target", graphics)); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*behavior)); EXPECT_EQ(1u, node.size()); YAML::Node data = node["SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior"]; std::shared_ptr newBehavior; ASSERT_NO_THROW(newBehavior = std::dynamic_pointer_cast( node.as>())); EXPECT_EQ("SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior", newBehavior->getClassName()); EXPECT_NE(nullptr, newBehavior->getValue>("Source")); EXPECT_NE(nullptr, newBehavior->getValue>("Target")); } TEST(TransferPhysicsToGraphicsMeshBehaviorTests, MappingAccessors) { auto runtime = std::make_shared("config.txt"); auto behavior = std::make_shared("Behavior"); auto names = std::make_pair(std::string("TransferPhysicsToGraphicsMeshBehavior/data.ply"), std::string("TransferPhysicsToGraphicsMeshBehavior/data.ply")); // Plain Setter auto indices = behavior->getIndexMap(); std::vector> empty; EXPECT_TRUE(indices.empty()); indices.push_back(std::make_pair(0, 0)); behavior->setValue("IndexMap", indices); EXPECT_EQ(1u, behavior->getIndexMap().size()); // SetValue with pair ASSERT_NO_THROW(behavior->setValue("IndexMapMeshNames", names)); indices = behavior->getValue>>("IndexMap"); EXPECT_EQ(4, indices.size()); // SetValue with pair of meshes std::shared_ptr mesh1 = std::make_shared(); mesh1->load("TransferPhysicsToGraphicsMeshBehavior/data.ply"); std::shared_ptr mesh2 = std::make_shared(); mesh2->load("TransferPhysicsToGraphicsMeshBehavior/data_more.ply"); auto meshes = std::make_pair(mesh1, mesh2); ASSERT_NO_THROW(behavior->setValue("IndexMapMeshes", meshes)); EXPECT_EQ(9u, behavior->getIndexMap().size()); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*behavior)); EXPECT_EQ(1u, node.size()); YAML::Node data = node["SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior"]; std::shared_ptr newBehavior; ASSERT_NO_THROW(newBehavior = std::dynamic_pointer_cast( node.as>())); EXPECT_EQ(9u, newBehavior->getIndexMap().size()); } TEST(TransferPhysicsToGraphicsMeshBehaviorTests, Mapping) { Framework::ApplicationData data("config.txt"); auto mesh1 = std::make_shared(); mesh1->load("TransferPhysicsToGraphicsMeshBehavior/data.ply", data); auto indices = generateIndexMap(mesh1, mesh1); EXPECT_EQ(mesh1->getNumVertices(), indices.size()); for (const auto& pair : indices) { EXPECT_EQ(pair.first, pair.second); } auto mesh2 = std::make_shared(); mesh2->load("TransferPhysicsToGraphicsMeshBehavior/data_more.ply", data); indices = generateIndexMap(mesh1, mesh2); EXPECT_EQ(9u, indices.size()); std::array counts = {0, 0, 0, 0}; for (const auto& pair : indices) { ++counts[pair.first]; // Nothing should refer to the first vertex EXPECT_NE(0, pair.second); } EXPECT_EQ(0u, counts[0]); EXPECT_EQ(2u, counts[1]); EXPECT_EQ(3u, counts[2]); EXPECT_EQ(4u, counts[3]); } } } opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/TransferPhysicsToPointCloudBehaviorTests.cpp000066400000000000000000000140651277777236100315340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the TransferPhysicsToGraphicsBehavior class. #include #include "SurgSim/Blocks/TransferPhysicsToPointCloudBehavior.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/BehaviorManager.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Graphics/OsgPointCloudRepresentation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem3DElementTetrahedron.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/RigidRepresentation.h" using SurgSim::Blocks::TransferPhysicsToPointCloudBehavior; using SurgSim::Framework::BasicSceneElement; using SurgSim::Framework::BehaviorManager; using SurgSim::Framework::Runtime; using SurgSim::Graphics::OsgBoxRepresentation; using SurgSim::Graphics::OsgPointCloudRepresentation; using SurgSim::Math::Vector3d; using SurgSim::Physics::Fem3DRepresentation; using SurgSim::Physics::RigidRepresentation; TEST(TransferPhysicsToPointCloudBehaviorTests, ConstructorTest) { ASSERT_NO_THROW(TransferPhysicsToPointCloudBehavior("TestBehavior")); } TEST(TransferPhysicsToPointCloudBehaviorTests, SetGetSourceTest) { auto physics = std::make_shared("PhysicsDeformable"); auto rigid = std::make_shared("PhysicsRigid"); auto behavior = std::make_shared("Behavior"); EXPECT_THROW(behavior->setSource(nullptr), SurgSim::Framework::AssertionFailure); EXPECT_THROW(behavior->setSource(rigid), SurgSim::Framework::AssertionFailure); EXPECT_NO_THROW(behavior->setSource(physics)); EXPECT_EQ(physics, behavior->getSource()); } TEST(TransferPhysicsToPointCloudBehaviorTests, SetGetTargetTest) { auto pointCloud = std::make_shared("OsgMesh"); auto graphicsBox = std::make_shared("OsgBox"); auto behavior = std::make_shared("Behavior"); EXPECT_THROW(behavior->setTarget(nullptr), SurgSim::Framework::AssertionFailure); EXPECT_THROW(behavior->setTarget(graphicsBox), SurgSim::Framework::AssertionFailure); EXPECT_NO_THROW(behavior->setTarget(pointCloud)); EXPECT_EQ(pointCloud, behavior->getTarget()); } TEST(TransferPhysicsToPointCloudBehaviorTests, UpdateTest) { auto runtime = std::make_shared("config.txt"); auto behaviorManager = std::make_shared(); runtime->addManager(behaviorManager); auto scene = runtime->getScene(); auto sceneElement = std::make_shared("scene element"); auto physics = std::make_shared("Fem3D"); physics->loadFem("Geometry/wound_deformable.ply"); auto pointCloud = std::make_shared("GraphicsMesh"); auto behavior = std::make_shared("Behavior"); behavior->setSource(physics); behavior->setTarget(pointCloud); sceneElement->addComponent(behavior); sceneElement->addComponent(physics); sceneElement->addComponent(pointCloud); scene->addSceneElement(sceneElement); // Test doInitialize(), doWakeUP() EXPECT_NO_THROW(runtime->start()); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); auto finalState = physics->getFinalState(); auto numNodes = finalState->getNumNodes(); auto target = pointCloud->getVertices(); ASSERT_NE(0, target->getNumVertices()); ASSERT_NE(0, numNodes); ASSERT_EQ(numNodes, target->getNumVertices()); for (size_t nodeId = 0; nodeId < numNodes; ++nodeId) { EXPECT_TRUE(finalState->getPosition(nodeId).isApprox(target->getVertex(nodeId).position)); } // Test TransferPhysicsToGraphicsBehavior::update() finalState->reset(); behavior->update(1.0); for (size_t nodeId = 0; nodeId < numNodes; ++nodeId) { EXPECT_TRUE(target->getVertex(nodeId).position.isApprox(Vector3d::Zero())); } runtime->stop(); } TEST(TransferPhysicsToPointCloudBehaviorTests, SerializationTest) { std::string filename = std::string("Geometry/wound_deformable_with_texture.ply"); std::shared_ptr physics = std::make_shared("Fem3D"); auto fem3d = std::dynamic_pointer_cast(physics); auto runtime = std::make_shared("config.txt"); fem3d->loadFem(filename); std::shared_ptr pointCloud = std::make_shared("GraphicsMesh"); auto behavior = std::make_shared("Behavior"); EXPECT_NO_THROW(behavior->setValue("Source", physics)); EXPECT_NO_THROW(behavior->setValue("Target", pointCloud)); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*behavior)); EXPECT_EQ(1u, node.size()); YAML::Node data = node["SurgSim::Blocks::TransferPhysicsToPointCloudBehavior"]; EXPECT_EQ(5u, data.size()); std::shared_ptr newBehavior; ASSERT_NO_THROW(newBehavior = std::dynamic_pointer_cast( node.as>())); EXPECT_EQ("SurgSim::Blocks::TransferPhysicsToPointCloudBehavior", newBehavior->getClassName()); EXPECT_NE(nullptr, newBehavior->getValue>("Source")); EXPECT_NE(nullptr, newBehavior->getValue>("Target")); } opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/VisualizeConstraintsTest.cpp000066400000000000000000000054471277777236100264450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/VisualizeConstraints.h" #include "SurgSim/Graphics/OsgVectorFieldRepresentation.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Framework/FrameworkConvert.h" #include namespace SurgSim { namespace Blocks { TEST(VisualizeConstraintsTest, Init) { EXPECT_NO_THROW({ auto element = std::make_shared(); }); EXPECT_NO_THROW({ auto component = std::make_shared("Behavior"); }); } TEST(VisualizeConstraintsTest, SingleSetter) { auto visualizer = std::make_shared("Behavior"); std::shared_ptr field = std::make_shared("VectorField"); EXPECT_NO_THROW(visualizer->setVectorField(Physics::CONSTRAINT_GROUP_TYPE_CONTACT, field)); EXPECT_ANY_THROW(visualizer->setVectorField(Physics::CONSTRAINT_GROUP_TYPE_COUNT, field)); EXPECT_ANY_THROW(visualizer->setVectorField(Physics::CONSTRAINT_GROUP_TYPE_CONTACT, nullptr)); } TEST(VisualizeConstraintsTest, Serialization) { auto behavior = std::make_shared("VisualizeConstraints"); std::shared_ptr field = std::make_shared("VectorField"); VisualizeConstraintsBehavior::FieldsType fields; fields.push_back(std::make_pair(Physics::CONSTRAINT_GROUP_TYPE_CONTACT, field)); EXPECT_NO_THROW(behavior->setValue("VectorFields", fields)); EXPECT_EQ("SurgSim::Blocks::VisualizeConstraintsBehavior", behavior->getClassName()); // Encode YAML::Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*behavior)); EXPECT_TRUE(node.IsMap()); // Decode std::shared_ptr newBehavior; EXPECT_NO_THROW(newBehavior = std::dynamic_pointer_cast( node.as>())); EXPECT_NE(nullptr, newBehavior); // Verify auto newFields = newBehavior->getValue("VectorFields"); EXPECT_EQ(1u, newFields.size()); EXPECT_EQ("VectorField", newFields[0].second->getName()); } } }opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/VisualizeContactsBehaviorTests.cpp000066400000000000000000000113731277777236100275520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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. /// \file /// Tests for the VisualizeContactsBehavior class. #include #include #include "SurgSim/Blocks/VisualizeContactsBehavior.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" using SurgSim::Blocks::VisualizeContactsBehavior; using SurgSim::Physics::RigidCollisionRepresentation; using YAML::Node; TEST(VisualizeContactsBehaviorTests, Constructor) { EXPECT_NO_THROW(std::make_shared("VisualizeContactsBehavior")); EXPECT_NO_THROW({ VisualizeContactsBehavior visualizeContactsBehavior("VisualizeContactsBehavior"); }); } TEST(VisualizeContactsBehaviorTests, SettersGetters) { auto visualizeContactsBehavior = std::make_shared("VisualizeContactsBehavior"); // Test collision representation. std::string name = "CollisionRepresentation"; auto collisionRepresentaiton = std::make_shared(name); EXPECT_NO_THROW(visualizeContactsBehavior->setSource(collisionRepresentaiton)); EXPECT_EQ(name, visualizeContactsBehavior->getSource()->getName()); // Test vector field scale. EXPECT_ANY_THROW(visualizeContactsBehavior->setVectorFieldScale(-1.023)); double scale = 1.234; EXPECT_NO_THROW(visualizeContactsBehavior->setVectorFieldScale(scale)); EXPECT_EQ(scale, visualizeContactsBehavior->getVectorFieldScale()); } TEST(VisualizeContactsBehaviorTests, Serialization) { auto visualizeContactsBehavior = std::make_shared("VisualizeContactsBehavior"); std::string name = "CollisionRepresentation"; auto collisionRepresentation = std::make_shared(name); EXPECT_NO_THROW(visualizeContactsBehavior->setValue("Source", std::static_pointer_cast(collisionRepresentation));); double scale = 1.234; EXPECT_NO_THROW(visualizeContactsBehavior->setValue("VectorFieldScale", scale)); EXPECT_EQ("SurgSim::Blocks::VisualizeContactsBehavior", visualizeContactsBehavior->getClassName()); // Encode Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*visualizeContactsBehavior)); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(5, node[visualizeContactsBehavior->getClassName()].size()); // Decode std::shared_ptr newVisualizeContactsBehavior; EXPECT_NO_THROW(newVisualizeContactsBehavior = std::dynamic_pointer_cast( node.as>())); // Verify EXPECT_EQ(name, SurgSim::Framework::convert>( newVisualizeContactsBehavior->getValue("Source"))->getName()); EXPECT_EQ(scale, SurgSim::Framework::convert(newVisualizeContactsBehavior->getValue("VectorFieldScale"))); } TEST(VisualizeContactsBehaviorTests, MultipleInstances) { auto runtime = std::make_shared(); auto manager = std::make_shared(); runtime->addManager(manager); auto visualizeContactsBehavior1 = std::make_shared("VisualizeContactsBehavior1"); auto visualizeContactsBehavior2 = std::make_shared("VisualizeContactsBehavior2"); auto sceneElement = std::make_shared("SceneElement"); sceneElement->addComponent(visualizeContactsBehavior1); sceneElement->addComponent(visualizeContactsBehavior2); auto collisionRepresentation = std::make_shared("CollisionRepresentation"); EXPECT_NO_THROW(visualizeContactsBehavior1->setSource(collisionRepresentation)); EXPECT_NO_THROW(visualizeContactsBehavior2->setSource(collisionRepresentation)); runtime->getScene()->addSceneElement(sceneElement); EXPECT_TRUE(visualizeContactsBehavior1->isInitialized()); EXPECT_TRUE(visualizeContactsBehavior2->isInitialized()); EXPECT_TRUE(visualizeContactsBehavior1->wakeUp()); EXPECT_TRUE(visualizeContactsBehavior2->wakeUp()); } opensurgsim-0.7.0/SurgSim/Blocks/UnitTests/config.txt.in000066400000000000000000000001521277777236100232750ustar00rootroot00000000000000${PROJECT_BINARY_DIR}/Data/ ${CMAKE_CURRENT_BINARY_DIR}/Data/ ${PROJECT_BINARY_DIR}/SurgSim/Testing/Data/ opensurgsim-0.7.0/SurgSim/Blocks/VisualizeConstraints.cpp000066400000000000000000000147121277777236100236360ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/VisualizeConstraints.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Graphics/OsgVectorFieldRepresentation.h" #include "SurgSim/Physics/ContactConstraintData.h" #include "SurgSim/Physics/PhysicsManager.h" #include "SurgSim/Physics/SlidingConstraintData.h" namespace SurgSim { namespace Blocks { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Blocks::VisualizeConstraintsBehavior, VisualizeConstraintsBehavior); VisualizeConstraintsBehavior::VisualizeConstraintsBehavior(const std::string& name) : Behavior(name), m_logger(SurgSim::Framework::Logger::getLogger("Block/VisualizeConstraintsBehavior")) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(VisualizeConstraintsBehavior, FieldsType, VectorFields, getVectorFields, setVectorFields); } void VisualizeConstraintsBehavior::setVectorField(Physics::ConstraintGroupType constraintType, const std::shared_ptr& vectorField) { SURGSIM_ASSERT(constraintType < Physics::CONSTRAINT_GROUP_TYPE_COUNT) << "Invalid constraint type"; auto converted = Framework::checkAndConvert( vectorField, "SurgSim::Graphics::VectorFieldRepresentation"); boost::lock_guard lock(m_graphicsMutex); m_graphics[constraintType] = converted; } void VisualizeConstraintsBehavior::update(double dt) { using DataStructures::Vertices; using Graphics::VectorFieldData; using Physics::ConstraintGroupType; using Physics::ContactConstraintData; Physics::PhysicsManagerState state; auto manager = m_manager.lock(); if (manager == nullptr) { return; } manager->getFinalState(&state); if (state.getMlcpProblem().getSize() == 0) { return; } Math::MlcpSolution::Vector& x = state.getMlcpSolution().x; if (state.getMlcpProblem().getSize() != static_cast(x.size())) { SURGSIM_LOG_WARNING(m_logger) << "mlcp solution size = " << x.size() << " while mlcp problem size = " << state.getMlcpProblem().getSize() << std::endl; return; } if (x.size() < 1) { return; } // For each constraint type... size_t constraintTypeEnd = static_cast(Physics::CONSTRAINT_GROUP_TYPE_COUNT); std::map vectorFields; for (size_t constraintType = 0; constraintType < constraintTypeEnd; constraintType++) { ConstraintGroupType constraintGroupType = static_cast(constraintType); const std::vector>& constraints = state.getConstraintGroup(constraintType); // For each constraint of that type... for (auto it = constraints.begin(); it != constraints.end(); it++) { // Let's gather the application point and the force vector... Math::Vector3d force = Math::Vector3d::Zero(); Math::Vector3d point = (*it)->getLocalizations().first->calculatePosition(); int mlcpConstraintIndex = state.getConstraintsMapping().getValue((*it).get()); Math::Vector4d color = Math::Vector4d::Zero(); switch ((*it)->getType()) { case SurgSim::Physics::FIXED_3DPOINT: { force = x.segment(mlcpConstraintIndex, 3); color = SurgSim::Math::Vector4d(0.9, 0.9, 0.9, 1); } break; case SurgSim::Physics::FIXED_3DROTATION_VECTOR: { force = x.segment(mlcpConstraintIndex, 3); color = SurgSim::Math::Vector4d(0.0, 0.0, 0.9, 1); } break; case SurgSim::Physics::FRICTIONLESS_3DCONTACT: { const SurgSim::Math::Vector3d& forceNormal = std::static_pointer_cast((*it)->getData())->getNormal(); double forceNormalIntensity = x[mlcpConstraintIndex]; force = forceNormal * forceNormalIntensity; color = SurgSim::Math::Vector4d(0.9, 0.0, 0.0, 1); } break; case SurgSim::Physics::FRICTIONLESS_SLIDING: { auto data = std::static_pointer_cast((*it)->getData()); auto normals = data->getNormals(); force = normals[0].cross(normals[1]) * 0.1; color = SurgSim::Math::Vector4d(0.0, 0.9, 0.0, 1); } break; default: break; } // Build the data VectorFieldData data; data.direction = force; data.color.setValue(color); Vertices::VertexType vertex(point, data); vectorFields[constraintGroupType].addVertex(vertex); } } boost::lock_guard lock(m_graphicsMutex); for (const auto& graphics : m_graphics) { graphics.second->updateVectorField(vectorFields[graphics.first]); } } int VisualizeConstraintsBehavior::getTargetManagerType() const { return Framework::MANAGER_TYPE_GRAPHICS; } bool VisualizeConstraintsBehavior::doInitialize() { m_manager = getRuntime()->getManager(); return !m_manager.expired(); } bool VisualizeConstraintsBehavior::doWakeUp() { return true; } void VisualizeConstraintsBehavior::setVectorFields(const FieldsType& fields) { for (const auto& field : fields) { setVectorField(static_cast(field.first), field.second); } } SurgSim::Blocks::VisualizeConstraintsBehavior::FieldsType VisualizeConstraintsBehavior::getVectorFields() const { FieldsType result; for (const auto& field : m_graphics) { result.push_back(field); } return result; } VisualizeConstraints::VisualizeConstraints(const std::string& name) : BasicSceneElement(name) { auto visualizer = std::make_shared("Visualizer"); addComponent(visualizer); { auto vectors = std::make_shared("Contact"); visualizer->setVectorField(Physics::CONSTRAINT_GROUP_TYPE_CONTACT, vectors); addComponent(vectors); } { auto vectors = std::make_shared("Scene"); visualizer->setVectorField(Physics::CONSTRAINT_GROUP_TYPE_SCENE, vectors); addComponent(vectors); } } } } opensurgsim-0.7.0/SurgSim/Blocks/VisualizeConstraints.h000066400000000000000000000064011277777236100232770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_VISUALIZECONSTRAINTS_H #define SURGSIM_BLOCKS_VISUALIZECONSTRAINTS_H #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Physics/PhysicsManagerState.h" namespace SurgSim { namespace Physics { class PhysicsManager; } namespace Framework { class Logger; } namespace Graphics { class VectorFieldRepresentation; } namespace Blocks { SURGSIM_STATIC_REGISTRATION(VisualizeConstraintsBehavior); /// Behavior to visualize information about the constraints as they are in the physics manager /// this will show the constraint location and the force from the last iteration of the physics manager /// \note currently only two types of constraint are being visualized MLCP_BILATERAL_3D_CONSTRAINT and /// MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT class VisualizeConstraintsBehavior : public SurgSim::Framework::Behavior { public: explicit VisualizeConstraintsBehavior(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Blocks::VisualizeConstraintsBehavior); /// Set the graphics Vectorfield to be used to display the constraint of the given physics manager group /// \param constraintType internal group type e.g. CONSTRAINT_GROUP_TYPE_CONTACT /// \param vectorField vectorField to be used for visualization of this constraint group void setVectorField(Physics::ConstraintGroupType constraintType, const std::shared_ptr& vectorField); typedef std::vector>> FieldsType; /// Sets all of the fields in one swoop /// \param fields list of all the fields and their constraint group void setVectorFields(const FieldsType& fields); /// \return all the vector fields used in this behavior FieldsType getVectorFields() const; void update(double dt) override; int getTargetManagerType() const override; private: bool doInitialize() override; bool doWakeUp() override; /// Need reference to physics manager for introspection into the state std::weak_ptr m_manager; std::map> m_graphics; boost::mutex m_graphicsMutex; std::shared_ptr m_logger; }; /// SceneElement that generates the VisualizeConstraintBehavior and the appropriate graphics Vectorfield class VisualizeConstraints : public SurgSim::Framework::BasicSceneElement { public: explicit VisualizeConstraints(const std::string& name = "ConstraintVisualization"); }; }; // namespace Blocks }; // namespace SurgSim #endif // SURGSIM_BLOCKS_VISUALIZECONSTRAINTS_H opensurgsim-0.7.0/SurgSim/Blocks/VisualizeContactsBehavior.cpp000066400000000000000000000126501277777236100245640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include "SurgSim/Blocks/VisualizeContactsBehavior.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/DataStructures/BufferedValue.h" #include "SurgSim/DataStructures/Vertex.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Graphics/OsgVectorFieldRepresentation.h" #include "SurgSim/Graphics/VectorField.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::Collision::Contact; using SurgSim::Collision::Representation; using SurgSim::DataStructures::Vertex; using SurgSim::Framework::checkAndConvert; using SurgSim::Graphics::OsgVectorFieldRepresentation; using SurgSim::Graphics::VectorField; using SurgSim::Graphics::VectorFieldData; namespace SurgSim { namespace Blocks { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Blocks::VisualizeContactsBehavior, VisualizeContactsBehavior); VisualizeContactsBehavior::VisualizeContactsBehavior(const std::string& name): SurgSim::Framework::Behavior(name), m_vectorField(std::make_shared(name + std::string("_VectorField"))) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(VisualizeContactsBehavior, std::shared_ptr, Source, getSource, setSource); SURGSIM_ADD_SERIALIZABLE_PROPERTY(VisualizeContactsBehavior, double, VectorFieldScale, getVectorFieldScale, setVectorFieldScale); } std::shared_ptr VisualizeContactsBehavior::getSource() { return m_source; } void VisualizeContactsBehavior::setSource(std::shared_ptr source) { m_source = checkAndConvert(source, "SurgSim::Collision::Representation"); } void VisualizeContactsBehavior::update(double dt) { std::shared_ptr collisions = m_source->getCollisions().safeGet(); if (!collisions->empty()) { size_t totalContacts = 0; for (auto collision = collisions->cbegin(); collision != collisions->cend(); ++collision) { totalContacts += collision->second.size(); } std::shared_ptr vectorField = m_vectorField->getVectorField(); vectorField->clear(); vectorField->getVertices().reserve(2 * totalContacts); Math::RigidTransform3d inverseElementPose; auto element = getSceneElement(); if (element != nullptr) { inverseElementPose = element->getPose().inverse(); } else { inverseElementPose = Math::RigidTransform3d::Identity(); SURGSIM_LOG_ONCE(Framework::Logger::getDefaultLogger(), WARNING) << getClassName() << " named '" << getFullName() << "' must be in a SceneElement."; } auto representationPoseFirst = m_source->getPose(); for (auto it = collisions->cbegin(); it != collisions->cend(); ++it) { auto representationPoseSecond = (*it).first->getPose(); for (auto iter = (*it).second.cbegin(); iter != (*it).second.cend(); ++iter) { VectorFieldData vectorData1; VectorFieldData vectorData2; vectorData1.direction = -(*iter)->normal * (*iter)->depth; vectorData2.direction = (*iter)->normal * (*iter)->depth; Vertex vertex1 = Vertex( (*iter)->penetrationPoints.first.rigidLocalPosition.getValue(), vectorData1); Vertex vertex2 = Vertex( (*iter)->penetrationPoints.second.rigidLocalPosition.getValue(), vectorData2); vertex1.position = inverseElementPose * representationPoseFirst * vertex1.position; vertex2.position = inverseElementPose * representationPoseSecond * vertex2.position; vectorField->addVertex(vertex1); vectorField->addVertex(vertex2); } } m_vectorField->setLocalActive(true); } else { m_vectorField->setLocalActive(false); } } int VisualizeContactsBehavior::getTargetManagerType() const { return SurgSim::Framework::MANAGER_TYPE_GRAPHICS; } bool VisualizeContactsBehavior::doInitialize() { return true; } bool VisualizeContactsBehavior::doWakeUp() { if (m_source == nullptr) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << getClassName() << " named '" << getName() << "' must have a source."; return false; } auto element = getSceneElement(); if (element == nullptr) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << getClassName() << " named '" << getFullName() << "' must be in a SceneElement."; return false; } return element->addComponent(m_vectorField); } double VisualizeContactsBehavior::getVectorFieldScale() { return m_vectorField->getScale(); } void VisualizeContactsBehavior::setVectorFieldScale(double scale) { SURGSIM_ASSERT(scale > 0.0) << "Scale of vector field must be positive."; m_vectorField->setScale(scale); } } // namespace Blocks } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Blocks/VisualizeContactsBehavior.h000066400000000000000000000050331277777236100242260ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_BLOCKS_VISUALIZECONTACTSBEHAVIOR_H #define SURGSIM_BLOCKS_VISUALIZECONTACTSBEHAVIOR_H #include #include #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Framework/ObjectFactory.h" namespace SurgSim { namespace Graphics { class VectorFieldRepresentation; } namespace Collision { class Representation; } namespace Blocks { SURGSIM_STATIC_REGISTRATION(VisualizeContactsBehavior); /// This behavior is used to visualize the contacts /// on collision representation through vector field class VisualizeContactsBehavior: public SurgSim::Framework::Behavior { public: /// Constructor /// \param name Name of the behavior explicit VisualizeContactsBehavior(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Blocks::VisualizeContactsBehavior); /// Get the source of the contacts /// \return The collision representation whose contacts will be visualized. std::shared_ptr getSource(); /// Set the source of the contacts /// \param source The collision representation whose contacts will be visualized. void setSource(std::shared_ptr source); void update(double dt) override; int getTargetManagerType() const override; /// \return The scale of the vector field. double getVectorFieldScale(); /// Set the scale of vector field, default 1.0. // \param scale The scale of the vector field. void setVectorFieldScale(double scale); protected: bool doInitialize() override; bool doWakeUp() override; private: /// The collision representation to get contacts for visualizing. std::shared_ptr m_source; /// The osg vector field for visualizing contacts on collision representation std::shared_ptr m_vectorField; }; } // namespace Blocks } // namespace SurgSim #endif // SURGSIM_BLOCKS_VISUALIZECONTACTSBEHAVIOR_H opensurgsim-0.7.0/SurgSim/CMakeLists.txt000066400000000000000000000020361277777236100202460ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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. link_directories(${Boost_LIBRARY_DIRS}) add_subdirectory(Blocks) add_subdirectory(Collision) add_subdirectory(DataStructures) add_subdirectory(Devices) add_subdirectory(Framework) add_subdirectory(Graphics) add_subdirectory(Input) add_subdirectory(Math) add_subdirectory(Particles) add_subdirectory(Physics) add_subdirectory(Testing) set(SURGSIM_DEVICES_LIBRARIES ${SURGSIM_DEVICES_LIBRARIES} PARENT_SCOPE) opensurgsim-0.7.0/SurgSim/Collision/000077500000000000000000000000001277777236100174405ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Collision/BoxCapsuleContact.cpp000066400000000000000000000156511277777236100235350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include "SurgSim/Collision/BoxCapsuleContact.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::Location; using SurgSim::Math::BoxShape; using SurgSim::Math::CapsuleShape; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Math::doesIntersectBoxCapsule; using SurgSim::Math::distancePointSegment; using SurgSim::Math::intersectionsSegmentBox; using SurgSim::Math::Geometry::DistanceEpsilon; namespace { typedef Eigen::AlignedBox::CornerType CornerType; const std::array, 12> edges = { std::make_pair(CornerType::BottomLeftFloor, CornerType::TopLeftFloor), std::make_pair(CornerType::BottomRightFloor, CornerType::TopRightFloor), std::make_pair(CornerType::BottomLeftCeil, CornerType::TopLeftCeil), std::make_pair(CornerType::BottomRightCeil, CornerType::TopRightCeil), std::make_pair(CornerType::BottomLeftFloor, CornerType::BottomRightFloor), std::make_pair(CornerType::BottomLeftCeil, CornerType::BottomRightCeil), std::make_pair(CornerType::TopLeftFloor, CornerType::TopRightFloor), std::make_pair(CornerType::TopLeftCeil, CornerType::TopRightCeil), std::make_pair(CornerType::BottomLeftFloor, CornerType::BottomLeftCeil), std::make_pair(CornerType::BottomRightFloor, CornerType::BottomRightCeil), std::make_pair(CornerType::TopLeftFloor, CornerType::TopLeftCeil), std::make_pair(CornerType::TopRightFloor, CornerType::TopRightCeil) }; }; namespace SurgSim { namespace Collision { std::pair BoxCapsuleContact::getShapeTypes() { return std::pair(SurgSim::Math::SHAPE_TYPE_BOX, SurgSim::Math::SHAPE_TYPE_CAPSULE); } std::list> BoxCapsuleContact::calculateDcdContact( const SurgSim::Math::BoxShape& boxShape, const SurgSim::Math::RigidTransform3d& boxPose, const SurgSim::Math::CapsuleShape& capsuleShape, const SurgSim::Math::RigidTransform3d& capsulePose) const { std::list> contacts; RigidTransform3d capsuleToBoxTransform = boxPose.inverse() * capsulePose; Vector3d capsuleBottom = capsuleToBoxTransform * capsuleShape.bottomCenter(); Vector3d capsuleTop = capsuleToBoxTransform * capsuleShape.topCenter(); double capsuleRadius = capsuleShape.getRadius(); Vector3d boxRadii = boxShape.getSize() / 2.0; Eigen::AlignedBox box(-boxRadii, boxRadii); if (doesIntersectBoxCapsule(capsuleBottom, capsuleTop, capsuleRadius, box)) { Vector3d normal, segmentPoint, deepestBoxPoint, deepestCapsulePoint; distancePointSegment(Vector3d::Zero().eval(), capsuleBottom, capsuleTop, &segmentPoint); if (!segmentPoint.isZero(DistanceEpsilon)) { // The capsule's segment does not pass through the box center. if (box.contains(segmentPoint)) { // The capsule's segment passes through the box. Vector3d::Index closestFace; (boxRadii - segmentPoint.cwiseAbs()).minCoeff(&closestFace); normal.setZero(); normal[closestFace] = -segmentPoint[closestFace]; normal.normalize(); deepestBoxPoint = boxRadii.array() * (1 - 2 * (segmentPoint.array() < 0).cast()); deepestCapsulePoint = segmentPoint - capsuleRadius * segmentPoint.normalized(); } else { // The closest point on the capsule's segment to the center of the box is outside the box. deepestBoxPoint = segmentPoint.array().min(box.max().array()).max(box.min().array()); normal = deepestBoxPoint - segmentPoint; if (normal.norm() > capsuleRadius) { // The closest point to the box center is too far away. // Find the closest point to all 12 box edges. double minDistance = 2.0 * capsuleRadius; for (auto edge : edges) { Vector3d tempSegmentPoint; Vector3d tempBoxPoint; double tempDistance = SurgSim::Math::distanceSegmentSegment(capsuleBottom, capsuleTop, box.corner(edge.first), box.corner(edge.second), &tempSegmentPoint, &tempBoxPoint); if (tempDistance < minDistance) { minDistance = tempDistance; segmentPoint = tempSegmentPoint; deepestBoxPoint = tempBoxPoint; } } normal = deepestBoxPoint - segmentPoint; if (normal.norm() > capsuleRadius) { // The closest point to any edge is too far away. // Check the endpoints. segmentPoint = capsuleTop; deepestBoxPoint = segmentPoint.array().min(box.max().array()).max(box.min().array()); normal = deepestBoxPoint - segmentPoint; if (normal.norm() > capsuleRadius) { segmentPoint = capsuleBottom; deepestBoxPoint = segmentPoint.array().min(box.max().array()).max(box.min().array()); normal = deepestBoxPoint - segmentPoint; } } } normal.normalize(); deepestCapsulePoint = segmentPoint + capsuleRadius * normal; } } else { // The capsule's segment passes through the box center. if (capsuleTop.isZero(DistanceEpsilon) && capsuleBottom.isZero(DistanceEpsilon)) { // The capsule's segment has no length and is located at the box center. Vector3d::Index closestFace; boxRadii.minCoeff(&closestFace); normal.setZero(); normal[closestFace] = -boxRadii[closestFace]; normal.normalize(); } else { // The capsule's segment has a length, pick the closest endpoint to the box center. if (capsuleTop.squaredNorm() < capsuleBottom.squaredNorm()) { segmentPoint = capsuleTop; normal = -capsuleBottom.normalized(); } else { segmentPoint = capsuleBottom; normal = -capsuleTop.normalized(); } } deepestBoxPoint = boxRadii.array() * (1 - 2 * (normal.array() > 0).cast()); deepestCapsulePoint = segmentPoint + capsuleRadius * normal; } double distance = (deepestCapsulePoint - deepestBoxPoint).dot(normal); normal = boxPose.linear() * normal; std::pair penetrationPoints = std::make_pair(Location(deepestBoxPoint), Location(capsulePose.inverse() * boxPose * deepestCapsulePoint)); contacts.emplace_back(std::make_shared(COLLISION_DETECTION_TYPE_DISCRETE, distance, 1.0, Vector3d::Zero(), normal, penetrationPoints)); } return contacts; } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/BoxCapsuleContact.h000066400000000000000000000031341277777236100231730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_BOXCAPSULECONTACT_H #define SURGSIM_COLLISION_BOXCAPSULECONTACT_H #include #include "SurgSim/Collision/ShapeShapeContactCalculation.h" #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/CapsuleShape.h" #include "SurgSim/Math/RigidTransform.h" namespace SurgSim { namespace Collision { /// Class to calculate intersections between Boxes and Capsules class BoxCapsuleContact : public ShapeShapeContactCalculation { public: using ContactCalculation::calculateDcdContact; std::list> calculateDcdContact( const SurgSim::Math::BoxShape& boxShape, const SurgSim::Math::RigidTransform3d& boxPose, const SurgSim::Math::CapsuleShape& capsuleShape, const SurgSim::Math::RigidTransform3d& capsulePose) const override; std::pair getShapeTypes() override; }; }; // namespace Collision }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Collision/BoxDoubleSidedPlaneContact.cpp000066400000000000000000000123721277777236100253010ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Collision/BoxDoubleSidedPlaneContact.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::Location; using SurgSim::Math::BoxShape; using SurgSim::Math::DoubleSidedPlaneShape; using SurgSim::Math::Geometry::DistanceEpsilon; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { std::pair BoxDoubleSidedPlaneContact::getShapeTypes() { return std::pair(SurgSim::Math::SHAPE_TYPE_BOX, SurgSim::Math::SHAPE_TYPE_DOUBLESIDEDPLANE); } std::list> BoxDoubleSidedPlaneContact::calculateDcdContact( const SurgSim::Math::BoxShape& boxShape, const SurgSim::Math::RigidTransform3d& boxPose, const SurgSim::Math::DoubleSidedPlaneShape& planeShape, const SurgSim::Math::RigidTransform3d& planePose) const { std::list> contacts; // Transform the plane normal to box co-ordinate system. SurgSim::Math::RigidTransform3d planeLocalToBoxLocal = boxPose.inverse() * planePose; Vector3d planeNormal = planeLocalToBoxLocal.linear() * planeShape.getNormal(); Vector3d planeNormalScaled = planeShape.getNormal() * -planeShape.getD(); Vector3d planePoint = planeLocalToBoxLocal * planeNormalScaled; double planeD = -planeNormal.dot(planePoint); // Loop through the box vertices (boxVertex) and calculate "d = (planeNormal.dot(boxVertex) + planeD)". // Keep track of max and min of 'd'. // Collision check overview: // - If 'd' values contain both positive and negative values, there is an intersection. // ---- Lower of the abs(maxD) and abs(minD) is the deepest penetration point. // ---- collisionNormal is sign(d) * planeNormal. // - If not, at least one of the 'd' values is zero. // ---- collisionNormal is sign(max(abs(maxD), abs(minD))) * planeNormal. double d[8] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; double maxD = -std::numeric_limits::max(); double minD = std::numeric_limits::max(); Vector3d boxVertices[8]; for (int i = 0; i < 8; ++i) { boxVertices[i] = boxShape.getVertex(i); d[i] = planeNormal.dot(boxVertices[i]) + planeD; maxD = std::max(d[i], maxD); minD = std::min(d[i], minD); } if (!(maxD > DistanceEpsilon && minD > DistanceEpsilon) && !(maxD < -DistanceEpsilon && minD < -DistanceEpsilon)) { // There is an intersection. // Two cases: // - Vertex touching plane. // - Vertex through plane. Vector3d normal; enum BoxPlaneIntersectionType { BoxPlaneIntersectionTypeEqualsZero, BoxPlaneIntersectionTypeLessThanZero, BoxPlaneIntersectionTypeGreaterThanZero } boxPlaneIntersectionType; if (std::abs(maxD) < DistanceEpsilon) { // Box is touching the "back side" of plane. normal = -(planePose.linear() * planeShape.getNormal()); boxPlaneIntersectionType = BoxPlaneIntersectionTypeEqualsZero; } else if (std::abs(minD) < DistanceEpsilon) { // Box is touching the "front side" of plane. normal = planePose.linear() * planeShape.getNormal(); boxPlaneIntersectionType = BoxPlaneIntersectionTypeEqualsZero; } else { if (std::abs(maxD) >= std::abs(minD)) { // Box is penetrating through the "front side" of plane. normal = planePose.linear() * planeShape.getNormal(); boxPlaneIntersectionType = BoxPlaneIntersectionTypeLessThanZero; } else { // Box is penetrating through the "back side" of plane. normal = -(planePose.linear() * planeShape.getNormal()); boxPlaneIntersectionType = BoxPlaneIntersectionTypeGreaterThanZero; } } // Loop through vertices and check if a contact point needs to be generated. bool generateContact = false; for (int i = 0; i < 8; ++i) { switch (boxPlaneIntersectionType) { case BoxPlaneIntersectionTypeEqualsZero: generateContact = std::abs(d[i]) < DistanceEpsilon; break; case BoxPlaneIntersectionTypeLessThanZero: generateContact = d[i] < -DistanceEpsilon; break; case BoxPlaneIntersectionTypeGreaterThanZero: generateContact = d[i] > DistanceEpsilon; break; } if (generateContact) { std::pair penetrationPoints = std::make_pair(Location(boxVertices[i]), Location(planePose.inverse() * (boxPose * boxVertices[i] + normal * std::abs(d[i])))); contacts.emplace_back(std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, std::abs(d[i]), 1.0, Vector3d::Zero(), normal, penetrationPoints)); generateContact = false; } } } return contacts; } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/BoxDoubleSidedPlaneContact.h000066400000000000000000000032421277777236100247420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_BOXDOUBLESIDEDPLANECONTACT_H #define SURGSIM_COLLISION_BOXDOUBLESIDEDPLANECONTACT_H #include #include "SurgSim/Collision/ShapeShapeContactCalculation.h" #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/DoubleSidedPlaneShape.h" #include "SurgSim/Math/RigidTransform.h" namespace SurgSim { namespace Collision { class CollisionPair; /// Class to calculate intersections between Boxes and Planes class BoxDoubleSidedPlaneContact : public ShapeShapeContactCalculation { public: using ContactCalculation::calculateDcdContact; std::list> calculateDcdContact( const SurgSim::Math::BoxShape& boxShape, const SurgSim::Math::RigidTransform3d& boxPose, const SurgSim::Math::DoubleSidedPlaneShape& planeShape, const SurgSim::Math::RigidTransform3d& planePose) const override; std::pair getShapeTypes() override; }; }; // namespace Collision }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Collision/BoxPlaneContact.cpp000066400000000000000000000053711277777236100231760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Collision/BoxPlaneContact.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::Location; using SurgSim::Math::BoxShape; using SurgSim::Math::Geometry::DistanceEpsilon; using SurgSim::Math::PlaneShape; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { std::pair BoxPlaneContact::getShapeTypes() { return std::pair(SurgSim::Math::SHAPE_TYPE_BOX, SurgSim::Math::SHAPE_TYPE_PLANE); } std::list> BoxPlaneContact::calculateDcdContact( const SurgSim::Math::BoxShape& boxShape, const SurgSim::Math::RigidTransform3d& boxPose, const SurgSim::Math::PlaneShape& planeShape, const SurgSim::Math::RigidTransform3d& planePose) const { std::list> contacts; // Transform the plane normal to box co-ordinate system. SurgSim::Math::RigidTransform3d planeLocalToBoxLocal = boxPose.inverse() * planePose; SurgSim::Math::RigidTransform3d boxLocalToPlaneLocal = planeLocalToBoxLocal.inverse(); Vector3d planeNormal = planeLocalToBoxLocal.linear() * planeShape.getNormal(); Vector3d planeNormalScaled = planeShape.getNormal() * -planeShape.getD(); Vector3d planePoint = planeLocalToBoxLocal * planeNormalScaled; double planeD = -planeNormal.dot(planePoint); // Loop through the box vertices (boxVertex) and check it it is below plane. double d = 0.0; Vector3d boxVertex; for (int i = 0; i < 8; ++i) { boxVertex = boxShape.getVertex(i); d = planeNormal.dot(boxVertex) + planeD; if (d < DistanceEpsilon) { std::pair penetrationPoints = std::make_pair(Location(boxVertex), Location(boxLocalToPlaneLocal * (boxVertex - planeNormal * d))); contacts.emplace_back(std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, -d, 1.0, Vector3d::Zero(), planePose.linear() * planeShape.getNormal(), penetrationPoints)); } } return contacts; } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/BoxPlaneContact.h000066400000000000000000000031411277777236100226340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_BOXPLANECONTACT_H #define SURGSIM_COLLISION_BOXPLANECONTACT_H #include #include "SurgSim/Collision/ShapeShapeContactCalculation.h" #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/PlaneShape.h" #include "SurgSim/Math/RigidTransform.h" namespace SurgSim { namespace Collision { class CollisionPair; /// Class to calculate intersections between Boxes and Planes class BoxPlaneContact : public ShapeShapeContactCalculation { public: using ContactCalculation::calculateDcdContact; std::list> calculateDcdContact( const SurgSim::Math::BoxShape& boxShape, const SurgSim::Math::RigidTransform3d& boxPose, const SurgSim::Math::PlaneShape& planeShape, const SurgSim::Math::RigidTransform3d& planePose) const override; std::pair getShapeTypes() override; }; }; // namespace Collision }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Collision/BoxSphereContact.cpp000066400000000000000000000116221277777236100233610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Collision/BoxSphereContact.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::Location; using SurgSim::Math::BoxShape; using SurgSim::Math::Geometry::DistanceEpsilon; using SurgSim::Math::Geometry::SquaredDistanceEpsilon; using SurgSim::Math::SphereShape; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { std::pair BoxSphereContact::getShapeTypes() { return std::pair(SurgSim::Math::SHAPE_TYPE_BOX, SurgSim::Math::SHAPE_TYPE_SPHERE); } std::list> BoxSphereContact::calculateDcdContact( const SurgSim::Math::BoxShape& boxShape, const SurgSim::Math::RigidTransform3d& boxPose, const SurgSim::Math::SphereShape& sphereShape, const SurgSim::Math::RigidTransform3d& spherePose) const { std::list> contacts; // Sphere center... Vector3d sphereCenter = spherePose.translation(); // ... in Box coordinate system. Vector3d boxLocalSphereCenter = boxPose.inverse() * sphereCenter; // Box half size. Vector3d boxSize = boxShape.getSize() * 0.5; // Determine the closest point to the sphere center in the box Vector3d closestPoint = boxLocalSphereCenter; closestPoint.x() = std::min(boxSize.x(), closestPoint.x()); closestPoint.x() = std::max(-boxSize.x(), closestPoint.x()); closestPoint.y() = std::min(boxSize.y(), closestPoint.y()); closestPoint.y() = std::max(-boxSize.y(), closestPoint.y()); closestPoint.z() = std::min(boxSize.z(), closestPoint.z()); closestPoint.z() = std::max(-boxSize.z(), closestPoint.z()); // Distance between the closestPoint and boxLocalSphereCenter. Normal points into first representation, the box. Vector3d normal = closestPoint - boxLocalSphereCenter; double distanceSquared = normal.squaredNorm(); if (distanceSquared - (sphereShape.getRadius() * sphereShape.getRadius()) > SquaredDistanceEpsilon) { // There is no collision. return contacts; } double distance = 0.0; // If sphere center is inside box, it is handled differently. if (distanceSquared <= SquaredDistanceEpsilon) { // Sphere center is inside the box. // In this case closestPoint is equal to boxLocalSphereCenter. // Find which face of the box is closest to the closestPoint. // abs(boxSize.x - closestPoint.x) and abs(-boxSize.x - closestPoint.x) are the distances between the // closestPoint and the two faces (along x-axis) of the box. // But since the abs(closestPoint.x) will always <= boxSize.x (because the point is inside box), // (boxSize.x() - abs(closestPoint.x())) gives the distance from the closestPoint to whichever x-axis face is // closest. This value is calculated for all the axes. The axis with the minimum value contains the // colliding face. Vector3d distancesFromFaces = boxSize - closestPoint.cwiseAbs(); int minimumDistanceId; distancesFromFaces.minCoeff(&minimumDistanceId); // The mininumDistanceId is the index of the non-zero component of the normal of the closest face. // The normal points toward the first representation, the box. So the sign (or direction) of that entry is +1 // if the closestPoint component is negative and vice versa. double direction = closestPoint[minimumDistanceId] > -DistanceEpsilon ? -1.0 : 1.0; normal.setZero(); normal[minimumDistanceId] = direction; // The closestPoint should be on the closest box face, so the negative of the normal direction. closestPoint[minimumDistanceId] = boxSize[minimumDistanceId] * (-direction); distance = -std::abs(distancesFromFaces[minimumDistanceId]); } else { // Sphere center is outside box. distance = normal.norm(); normal /= distance; } double depth = std::abs(distance - sphereShape.getRadius()); normal = boxPose.linear() * normal; std::pair penetrationPoints = std::make_pair(Location(closestPoint), Location(spherePose.inverse() * (sphereCenter + (normal * sphereShape.getRadius())))); // Create the contact. contacts.emplace_back(std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, depth, 1.0, Vector3d::Zero(), normal, penetrationPoints)); return contacts; } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/BoxSphereContact.h000066400000000000000000000031101277777236100230170ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_BOXSPHERECONTACT_H #define SURGSIM_COLLISION_BOXSPHERECONTACT_H #include #include "SurgSim/Collision/ShapeShapeContactCalculation.h" #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/RigidTransform.h" namespace SurgSim { namespace Collision { class CollisionPair; /// Class to calculate intersections between a box and a sphere class BoxSphereContact : public ShapeShapeContactCalculation { public: using ContactCalculation::calculateDcdContact; std::list> calculateDcdContact( const Math::BoxShape& boxShape, const Math::RigidTransform3d& boxPose, const Math::SphereShape& sphereShape, const Math::RigidTransform3d& spherePose) const override; std::pair getShapeTypes() override; }; }; // namespace Collision }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Collision/CMakeLists.txt000066400000000000000000000055571277777236100222140ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2015, SimQuest Solutions 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 # # 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. set(SURGSIM_COLLISION_SOURCES BoxCapsuleContact.cpp BoxDoubleSidedPlaneContact.cpp BoxPlaneContact.cpp BoxSphereContact.cpp CapsuleSphereContact.cpp CollisionPair.cpp CompoundShapeContact.cpp ContactCalculation.cpp ContactFilter.cpp DefaultContactCalculation.cpp ElementContactFilter.cpp OctreeCapsuleContact.cpp OctreeContact.cpp OctreeDoubleSidedPlaneContact.cpp OctreePlaneContact.cpp OctreeSphereContact.cpp Representation.cpp SegmentMeshTriangleMeshContact.cpp SegmentSegmentCcdIntervalCheck.cpp SegmentSegmentCcdMovingContact.cpp SegmentSegmentCcdStaticContact.cpp SegmentSelfContact.cpp ShapeCollisionRepresentation.cpp SphereDoubleSidedPlaneContact.cpp SpherePlaneContact.cpp SphereSphereContact.cpp TriangleMeshParticlesContact.cpp TriangleMeshPlaneContact.cpp TriangleMeshSurfaceMeshContact.cpp TriangleMeshTriangleMeshContact.cpp ) set(SURGSIM_COLLISION_HEADERS BoxCapsuleContact.h BoxDoubleSidedPlaneContact.h BoxPlaneContact.h BoxSphereContact.h CapsuleSphereContact.h CcdDcdCollision.h CollisionPair.h CompoundShapeContact.h ContactCalculation.h ContactFilter.h DefaultContactCalculation.h ElementContactFilter.h OctreeCapsuleContact.h OctreeContact.h OctreeDoubleSidedPlaneContact.h OctreePlaneContact.h OctreeSphereContact.h Representation.h SegmentMeshTriangleMeshContact.h SegmentSegmentCcdIntervalCheck.h SegmentSegmentCcdMovingContact.h SegmentSegmentCcdStaticContact.h SegmentSelfContact.h ShapeCollisionRepresentation.h ShapeShapeContactCalculation.h SphereDoubleSidedPlaneContact.h SpherePlaneContact.h SphereSphereContact.h TriangleMeshParticlesContact.h TriangleMeshPlaneContact.h TriangleMeshSurfaceMeshContact.h TriangleMeshTriangleMeshContact.h ) surgsim_create_library_header(Collision.h "${SURGSIM_COLLISION_HEADERS}") surgsim_add_library( SurgSimCollision "${SURGSIM_COLLISION_SOURCES}" "${SURGSIM_COLLISION_HEADERS}" ) SET(LIBS SurgSimFramework SurgSimMath ${Boost_LIBRARIES} ) target_link_libraries(SurgSimCollision ${LIBS} ) if(BUILD_TESTING) add_subdirectory(UnitTests) if(BUILD_PERFORMANCE_TESTING) add_subdirectory(PerformanceTests) endif() endif() # Put SurgSimCollision into folder "Collision" set_target_properties(SurgSimCollision PROPERTIES FOLDER "Collision") opensurgsim-0.7.0/SurgSim/Collision/CapsuleSphereContact.cpp000066400000000000000000000051461277777236100242310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Collision/CapsuleSphereContact.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Math/CapsuleShape.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/SphereShape.h" using SurgSim::DataStructures::Location; using SurgSim::Math::CapsuleShape; using SurgSim::Math::SphereShape; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { std::pair CapsuleSphereContact::getShapeTypes() { return std::pair(SurgSim::Math::SHAPE_TYPE_CAPSULE, SurgSim::Math::SHAPE_TYPE_SPHERE); } std::list> CapsuleSphereContact::calculateDcdContact( const Math::CapsuleShape& capsule, const Math::RigidTransform3d& capsulePose, const Math::SphereShape& sphere, const Math::RigidTransform3d& spherePose) const { std::list> contacts; Vector3d sphereCenter(spherePose.translation()); Vector3d globalTop(capsulePose * capsule.topCenter()); Vector3d globalBottom(capsulePose * capsule.bottomCenter()); Vector3d result; double dist = SurgSim::Math::distancePointSegment(sphereCenter, globalTop, globalBottom, &result); double distThreshold = capsule.getRadius() + sphere.getRadius(); if (dist < distThreshold) { double depth = distThreshold - dist; // Calculate the normal going from the sphere to the capsule Vector3d normal = (result - sphereCenter).normalized(); std::pair penetrationPoints; penetrationPoints.first.rigidLocalPosition.setValue( capsulePose.inverse() * (result - normal * capsule.getRadius())); penetrationPoints.second.rigidLocalPosition.setValue( spherePose.inverse() * (sphereCenter + normal * sphere.getRadius())); contacts.emplace_back(std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, depth, 1.0, Vector3d::Zero(), normal, penetrationPoints)); } return contacts; } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/CapsuleSphereContact.h000066400000000000000000000030671277777236100236760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_CAPSULESPHERECONTACT_H #define SURGSIM_COLLISION_CAPSULESPHERECONTACT_H #include #include "SurgSim/Math/CapsuleShape.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Collision/ShapeShapeContactCalculation.h" namespace SurgSim { namespace Collision { class CollisionPair; /// Class to calculate intersections between a capsule and a sphere class CapsuleSphereContact : public ShapeShapeContactCalculation { public: using ContactCalculation::calculateDcdContact; std::list> calculateDcdContact( const Math::CapsuleShape& capsule, const Math::RigidTransform3d& capsulePose, const Math::SphereShape& sphere, const Math::RigidTransform3d& spherePose) const override; std::pair getShapeTypes() override; }; }; // namespace Collision }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Collision/CcdDcdCollision.h000066400000000000000000000036201277777236100225720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_CCDDCDCOLLISION_H #define SURGSIM_COLLISION_CCDDCDCOLLISION_H #include "SurgSim/Collision/BoxCapsuleContact.h" #include "SurgSim/Collision/BoxDoubleSidedPlaneContact.h" #include "SurgSim/Collision/BoxPlaneContact.h" #include "SurgSim/Collision/BoxSphereContact.h" #include "SurgSim/Collision/CapsuleSphereContact.h" #include "SurgSim/Collision/CompoundShapeContact.h" #include "SurgSim/Collision/ContactCalculation.h" #include "SurgSim/Collision/DefaultContactCalculation.h" #include "SurgSim/Collision/OctreeCapsuleContact.h" #include "SurgSim/Collision/OctreeDoubleSidedPlaneContact.h" #include "SurgSim/Collision/OctreePlaneContact.h" #include "SurgSim/Collision/OctreeSphereContact.h" #include "SurgSim/Collision/SegmentMeshTriangleMeshContact.h" #include "SurgSim/Collision/SegmentSelfContact.h" #include "SurgSim/Collision/SphereDoubleSidedPlaneContact.h" #include "SurgSim/Collision/SpherePlaneContact.h" #include "SurgSim/Collision/SphereSphereContact.h" #include "SurgSim/Collision/TriangleMeshParticlesContact.h" #include "SurgSim/Collision/TriangleMeshPlaneContact.h" #include "SurgSim/Collision/TriangleMeshSurfaceMeshContact.h" #include "SurgSim/Collision/TriangleMeshTriangleMeshContact.h" #endif // SURGSIM_COLLISION_CCDDCDCOLLISION_H opensurgsim-0.7.0/SurgSim/Collision/CollisionPair.cpp000066400000000000000000000115031277777236100227130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Framework/Assert.h" using SurgSim::DataStructures::Location; namespace SurgSim { namespace Collision { CollisionPair::CollisionPair() { } CollisionPair::CollisionPair(const std::shared_ptr& first, const std::shared_ptr& second) { setRepresentations(first, second); } CollisionPair::~CollisionPair() { } void CollisionPair::setRepresentations(const std::shared_ptr& first, const std::shared_ptr& second) { SURGSIM_ASSERT(first != nullptr && second != nullptr) << "Collision Representation cannot be null"; // Invalidate the current contacts clearContacts(); m_representations.first = first; m_representations.second = second; m_isSwapped = false; if (m_representations.first == m_representations.second) { m_type = m_representations.first->getSelfCollisionDetectionType(); } else if (m_representations.first->getCollisionDetectionType() == COLLISION_DETECTION_TYPE_NONE || m_representations.second->getCollisionDetectionType() == COLLISION_DETECTION_TYPE_NONE) { m_type = COLLISION_DETECTION_TYPE_NONE; } else if (m_representations.first->getCollisionDetectionType() == COLLISION_DETECTION_TYPE_CONTINUOUS && m_representations.second->getCollisionDetectionType() == COLLISION_DETECTION_TYPE_CONTINUOUS) { m_type = COLLISION_DETECTION_TYPE_CONTINUOUS; } else { m_type = COLLISION_DETECTION_TYPE_DISCRETE; } } const std::pair, std::shared_ptr>& CollisionPair::getRepresentations() const { return m_representations; } CollisionDetectionType CollisionPair::getType() const { return m_type; } std::shared_ptr CollisionPair::getFirst() const { return m_representations.first; } std::shared_ptr CollisionPair::getSecond() const { return m_representations.second; } bool CollisionPair::hasContacts() const { return !m_contacts.empty(); } void CollisionPair::addCcdContact(const double& depth, const double& time, const SurgSim::Math::Vector3d& contactPoint, const SurgSim::Math::Vector3d& normal, const std::pair& penetrationPoints) { SURGSIM_ASSERT(getType() == COLLISION_DETECTION_TYPE_CONTINUOUS) << "Can only add CCD contacts to a CollisionPair that is COLLISION_DETECTION_TYPE_CONTINUOUS"; addContact(std::make_shared(COLLISION_DETECTION_TYPE_CONTINUOUS, depth, time, contactPoint, normal, penetrationPoints)); } void CollisionPair::addDcdContact(const double& depth, const SurgSim::Math::Vector3d& normal, const std::pair& penetrationPoints) { SURGSIM_ASSERT(getType() == COLLISION_DETECTION_TYPE_DISCRETE) << "Can only add DCD contacts to a CollisionPair that is COLLISION_DETECTION_TYPE_DISCRETE"; addContact(std::make_shared(COLLISION_DETECTION_TYPE_DISCRETE, depth, 1.0, Math::Vector3d::Zero(), normal, penetrationPoints)); } void CollisionPair::addContact(const std::shared_ptr& contact) { SURGSIM_ASSERT(contact->type == getType()) << "Only contacts with the same CollisionDetectionType can be added to this CollisionPair."; m_contacts.push_back(contact); } void CollisionPair::updateRepresentations() { for (auto& contact : m_contacts) { m_representations.first->addContact(m_representations.second, contact); m_representations.second->addContact(m_representations.first, contact->makeComplimentary()); } } std::list>& CollisionPair::getContacts() { return m_contacts; } void CollisionPair::clearContacts() { m_contacts.clear(); } void CollisionPair::swapRepresentations() { SURGSIM_ASSERT(!hasContacts()) << "Can't swap representations after contacts have already been calculated"; m_isSwapped = !m_isSwapped; std::swap(m_representations.first, m_representations.second); } bool CollisionPair::isSwapped() const { return m_isSwapped; } bool CollisionPair::mayIntersect() const { const auto& one = m_representations.first->getBoundingBox(); const auto& two = m_representations.second->getBoundingBox(); return (one.isEmpty() || two.isEmpty() || SurgSim::Math::doAabbIntersect(one, two)); } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/CollisionPair.h000066400000000000000000000167411277777236100223710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_COLLISIONPAIR_H #define SURGSIM_COLLISION_COLLISIONPAIR_H #include #include #include "SurgSim/Collision/Representation.h" #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Collision { /// Contact data structure used when two representations touch each other /// The convention is that if body 1 is moved along the normal vector by /// a distance depth (or equivalently if body 2 is moved the same distance /// in the opposite direction) then the penetration depth will be reduced to /// zero. This means that the normal vector points "in" to body 1 struct Contact { Contact(const CollisionDetectionType& newType, const double& newDepth, const double& newTime, const SurgSim::Math::Vector3d& newContact, const SurgSim::Math::Vector3d& newNormal, const std::pair& newPenetrationPoints) : type(newType), depth(newDepth), time(newTime), contact(newContact), normal(newNormal), penetrationPoints(newPenetrationPoints), force(SurgSim::Math::Vector3d::Zero()) { } std::shared_ptr makeComplimentary() { auto complimentary = std::make_shared(type, depth, time, contact, -normal, std::make_pair(penetrationPoints.second, penetrationPoints.first)); complimentary->force = -force; return complimentary; } bool operator==(const Contact& contact) const { return type == contact.type && std::abs(time - contact.time) < 1e-8 && penetrationPoints.first.isApprox(contact.penetrationPoints.first) && penetrationPoints.second.isApprox(contact.penetrationPoints.second) && normal.isApprox(contact.normal); } CollisionDetectionType type; ///< What collision algorithm class was used to get the contact double depth; ///< What is the penetration depth for the representation double time; ///< What is the time of the collision, CCD only SurgSim::Math::Vector3d contact; ///< The actual contact point, only used for CCD SurgSim::Math::Vector3d normal; ///< The normal on the contact point (normalized) std::pair penetrationPoints; ///< The deepest point inside the opposing object SurgSim::Math::Vector3d force; ///< The reaction force to correct this contact. }; /// Collision Pair class, it signifies a pair of items that should be checked with the /// collision algorithm, this structure will be used for input as well as output, as contacts /// get appended to the contacts list when found. class CollisionPair { public: /// Default Constructor CollisionPair(); /// Normal constructor CollisionPair(const std::shared_ptr& first, const std::shared_ptr& second); /// Destructor ~CollisionPair(); /// Sets the representations in this pair, representations cannot be the same instance and neither can be nullptr. /// \param first The first Collision Representation. /// \param second The second Collision Representation. void setRepresentations(const std::shared_ptr& first, const std::shared_ptr& second); /// Function that returns the pair of representations of the objects that are colliding. /// \return The pair of representations that are colliding. const std::pair, std::shared_ptr>& getRepresentations() const; /// Get the collision detection type for this pair /// \return The collision detection type CollisionDetectionType getType() const; /// \return The representation considered to be the first std::shared_ptr getFirst() const; /// \return The representation considered to be the second std::shared_ptr getSecond() const; /// \return true if there are any contacts assigned to the pair, false otherwise bool hasContacts() const; /// Adds a CCD contact to the collision pair. /// \param depth The depth of the intersection. /// \param time The actual time of contact as determined by the CCD algorithm. /// \param contactPoint The contact point, between the two bodies at time "time" /// \param normal The normal of the contact pointing into the first representation. /// \param penetrationPoints The points furthest into the opposing object void addCcdContact(const double& depth, const double& time, const SurgSim::Math::Vector3d& contactPoint, const SurgSim::Math::Vector3d& normal, const std::pair& penetrationPoints); /// Adds a DCD contact to the collision pair. /// \param depth The depth of the intersection. /// \param normal The normal of the contact pointing into the first representation. /// \param penetrationPoints The points furthest into the opposing object void addDcdContact(const double& depth, const SurgSim::Math::Vector3d& normal, const std::pair& penetrationPoints); /// Adds a contact. /// \param contact The contact between the first and the second representation. void addContact(const std::shared_ptr& contact); /// Update the representations by adding the contacts to them. void updateRepresentations(); /// \return All the contacts. std::list>& getContacts(); /// Reset clear the list of contacts, invalidating all the contacts void clearContacts(); /// Swap the representation pair so that first becomes second and second becomes first void swapRepresentations(); /// Query if this the pair has been swapped from when it was constructed. /// \return true if swapped, false if not. bool isSwapped() const; /// \return whether the two represenations might have an intersection /// \note The bounding boxes are taken, if the bounding box is empty it is always considered for collision bool mayIntersect() const; private: /// Pair of objects that are colliding std::pair, std::shared_ptr> m_representations; /// Collision detection type for this pair CollisionDetectionType m_type; /// List of current contacts std::list> m_contacts; bool m_isSwapped; }; }; // namespace Collision }; // namespace SurgSim template std::basic_ostream& operator << (std::basic_ostream& out, const SurgSim::Collision::Contact& contact) { out << "Normal: " << contact.normal.transpose() << std::endl; out << "Depth: " << contact.depth << std::endl; out << "Time: " << contact.time << std::endl; out << "Penetration Point 1 :" << contact.penetrationPoints.first << std::endl; out << "Penetration Point 2 :" << contact.penetrationPoints.second << std::endl; return out; } #endif opensurgsim-0.7.0/SurgSim/Collision/CompoundShapeContact.cpp000066400000000000000000000115761277777236100242370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/CompoundShapeContact.h" #include "SurgSim/Math/CompoundShape.h" namespace SurgSim { namespace Collision { CompoundShapeContact::CompoundShapeContact(const std::pair& types) : m_types(types) { } std::pair CompoundShapeContact::getShapeTypes() { return m_types; } std::list> CompoundShapeContact::doCalculateDcdContact( const Math::PosedShape>& posedShape1, const Math::PosedShape>& posedShape2) { typedef Math::PosedShape> PosedShape; std::list> contacts; const auto& calculations = ContactCalculation::getDcdContactTable(); // Shape1 is compound shape const auto& compoundShape = std::static_pointer_cast(posedShape1.getShape()); SURGSIM_ASSERT(compoundShape->getType() == posedShape1.getShape()->getType()) << "Invalid static cast to compound shape"; Math::RigidTransform3d inversePose = posedShape1.getPose().inverse(); size_t index = 0; for (const Math::CompoundShape::SubShape& subShape : compoundShape->getShapes()) { const auto& calculation = calculations[subShape.first->getType()][posedShape2.getShape()->getType()]; auto relativePose = inversePose * subShape.second; std::list> localContacts = calculation->calculateDcdContact( PosedShape(subShape.first, subShape.second), posedShape2); for (auto& contact : localContacts) { auto& locations = contact->penetrationPoints.first; locations.index = index; if (locations.rigidLocalPosition.hasValue()) { locations.rigidLocalPosition.setValue(relativePose * locations.rigidLocalPosition.getValue()); } } contacts.splice(contacts.end(), localContacts); index++; } return contacts; } std::list> CompoundShapeContact::doCalculateCcdContact( const Math::PosedShapeMotion>& shape1, const Math::PosedShapeMotion>& shape2) { typedef Math::PosedShape> PosedShape; typedef Math::PosedShapeMotion> Motionshape; std::list> contacts; const auto& calculations = ContactCalculation::getCcdContactTable(); // Shape1 is compound shape const auto& startShape = std::static_pointer_cast(shape1.first.getShape()); const auto& endShape = std::static_pointer_cast(shape1.second.getShape()); // Get Motion Shapes from left hand side // For each Motion Shape run that shape and the opposing side through the CCD contact calc SURGSIM_ASSERT(startShape->getType() == shape1.first.getShape()->getType()) << "Invalid static cast to compound shape"; SURGSIM_ASSERT(endShape->getType() == shape1.second.getShape()->getType()) << "Invalid static cast to compound shape"; size_t numShapes = startShape->getNumShapes(); for (size_t index = 0; index < numShapes; ++index) { auto posedSubshape1 = PosedShape(startShape->getShape(index), startShape->getPose(index)); auto type = posedSubshape1.getShape()->getType(); auto posedSubshape2 = PosedShape(endShape->getShape(index), endShape->getPose(index)); auto motionSubShape = Motionshape(posedSubshape1, posedSubshape2); const auto& calculation = calculations[type][shape2.second.getShape()->getType()]; std::list> localContacts = calculation->calculateCcdContact( motionSubShape, shape2); for (auto& contact : localContacts) { auto t = contact->time; Math::RigidTransform3d inverseGlobal = Math::interpolate(shape1.first.getPose(), shape1.second.getPose(), t).inverse(); Math::RigidTransform3d relativePose = inverseGlobal * Math::interpolate(motionSubShape.first.getPose(), motionSubShape.second.getPose(), t); auto& locations = contact->penetrationPoints.first; locations.index = index; if (locations.rigidLocalPosition.hasValue()) { locations.rigidLocalPosition.setValue(relativePose * locations.rigidLocalPosition.getValue()); } } contacts.splice(contacts.end(), localContacts); } return contacts; } } }opensurgsim-0.7.0/SurgSim/Collision/CompoundShapeContact.h000066400000000000000000000031701277777236100236730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_COMPOUNDSHAPECONTACT_H #define SURGSIM_COLLISION_COMPOUNDSHAPECONTACT_H #include "SurgSim/Collision/ContactCalculation.h" namespace SurgSim { namespace Collision { class CompoundShapeContact : public ContactCalculation { public: /// Constructor explicit CompoundShapeContact(const std::pair& types); protected: std::pair getShapeTypes() override; std::list> doCalculateDcdContact( const Math::PosedShape>& posedShape1, const Math::PosedShape>& posedShape2) override; std::list> doCalculateCcdContact( const Math::PosedShapeMotion>& shape1, const Math::PosedShapeMotion>& shape2) override; /// Local shape types for this instance, these can be set to match the expected shapes std::pair m_types; }; } } #endif opensurgsim-0.7.0/SurgSim/Collision/ContactCalculation.cpp000066400000000000000000000257141277777236100237270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include "SurgSim/Collision/CcdDcdCollision.h" #include "SurgSim/Collision/ContactCalculation.h" #include "SurgSim/Collision/DefaultContactCalculation.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace Collision { ContactCalculation::TableType ContactCalculation::m_contactDcdCalculations; ContactCalculation::TableType ContactCalculation::m_contactCcdCalculations; std::once_flag ContactCalculation::m_initializationFlag; ContactCalculation::ContactCalculation() { } ContactCalculation::~ContactCalculation() { } void ContactCalculation::registerDcdContactCalculation(const std::shared_ptr& calculation) { std::call_once(m_initializationFlag, ContactCalculation::initializeTables); privateDcdRegister(calculation, calculation->getShapeTypes()); } void ContactCalculation::registerCcdContactCalculation(const std::shared_ptr& calculation) { std::call_once(m_initializationFlag, ContactCalculation::initializeTables); privateCcdRegister(calculation, calculation->getShapeTypes()); } const ContactCalculation::TableType& ContactCalculation::getDcdContactTable() { std::call_once(m_initializationFlag, ContactCalculation::initializeTables); return m_contactDcdCalculations; } const ContactCalculation::TableType& ContactCalculation::getCcdContactTable() { std::call_once(m_initializationFlag, ContactCalculation::initializeTables); return m_contactCcdCalculations; } void ContactCalculation::calculateContact(std::shared_ptr pair) { doCalculateContact(pair); } std::list> ContactCalculation::calculateDcdContact( const Math::PosedShape> posedShape1, const Math::PosedShape> posedShape2) { auto types = getShapeTypes(); auto incoming = std::make_pair(posedShape1.getShape()->getType(), posedShape2.getShape()->getType()); if (incoming == types) { return doCalculateDcdContact(posedShape1, posedShape2); } if (incoming.first == types.second && incoming.second == types.first) { auto contacts = doCalculateDcdContact(posedShape2, posedShape1); for (const auto& contact : contacts) { contact->normal = -contact->normal; contact->force = -contact->force; std::swap(contact->penetrationPoints.first, contact->penetrationPoints.second); } return contacts; } if (types.first != Math::SHAPE_TYPE_NONE && types.second != Math::SHAPE_TYPE_NONE) { SURGSIM_FAILURE() << "Incorrect shape type for this calculation expected " << types.first << ", " << types.second << " received " << incoming.first << ", " << incoming.second << "."; } return std::list>(); } std::list> ContactCalculation::calculateCcdContact( const Math::PosedShapeMotion> posedShapeMotion1, const Math::PosedShapeMotion> posedShapeMotion2) { auto types = getShapeTypes(); auto incoming = std::make_pair(posedShapeMotion1.first.getShape()->getType(), posedShapeMotion2.first.getShape()->getType()); if (incoming == types) { return doCalculateCcdContact(posedShapeMotion1, posedShapeMotion2); } if (incoming.first == types.second && incoming.second == types.first) { auto contacts = doCalculateCcdContact(posedShapeMotion2, posedShapeMotion1); for (const auto& contact : contacts) { contact->normal = -contact->normal; contact->force = -contact->force; std::swap(contact->penetrationPoints.first, contact->penetrationPoints.second); } return contacts; } if (types.first != Math::SHAPE_TYPE_NONE && types.second != Math::SHAPE_TYPE_NONE) { SURGSIM_FAILURE() << "Incorrect shape type for this calculation expected " << types.first << ", " << types.second << " received " << incoming.first << ", " << incoming.second << "."; } return std::list>(); } void ContactCalculation::doCalculateContact(std::shared_ptr pair) { std::pair shapeTypes = getShapeTypes(); int firstShapeType = pair->getFirst()->getShapeType(); int secondShapeType = pair->getSecond()->getShapeType(); if (firstShapeType != secondShapeType && firstShapeType == shapeTypes.second && secondShapeType == shapeTypes.first) { pair->swapRepresentations(); std::swap(firstShapeType, secondShapeType); } if (shapeTypes.first != SurgSim::Math::SHAPE_TYPE_NONE) { SURGSIM_ASSERT(firstShapeType == shapeTypes.first) << "First Object, wrong type of object" << firstShapeType; } if (shapeTypes.second != SurgSim::Math::SHAPE_TYPE_NONE) { SURGSIM_ASSERT(secondShapeType == shapeTypes.second) << "Second Object, wrong type of object" << secondShapeType; } std::shared_ptr shape1 = pair->getFirst()->getPosedShape(); std::shared_ptr shape2 = pair->getSecond()->getPosedShape(); std::list> contacts; if (pair->getType() == Collision::CollisionDetectionType::COLLISION_DETECTION_TYPE_DISCRETE) { Math::PosedShape> posedShape1(shape1, pair->getFirst()->getPose()); Math::PosedShape> posedShape2(shape2, pair->getSecond()->getPose()); contacts = doCalculateDcdContact(posedShape1, posedShape2); } else if (pair->getType() == Collision::CollisionDetectionType::COLLISION_DETECTION_TYPE_CONTINUOUS) { contacts = doCalculateCcdContact( pair->getFirst()->getPosedShapeMotion(), pair->getSecond()->getPosedShapeMotion()); } else { SURGSIM_FAILURE() << "Invalid collision detection type, neither discrete nor continuous"; } for (auto& contact : contacts) { pair->addContact(contact); } } std::list> ContactCalculation::doCalculateDcdContact( const Math::PosedShape>& posedShape1, const Math::PosedShape>& posedShape2) { SURGSIM_FAILURE() << "Not implemented"; return std::list>(); } std::list> ContactCalculation::doCalculateCcdContact( const Math::PosedShapeMotion>& posedShapeMotion1, const Math::PosedShapeMotion>& posedShapeMotion2) { SURGSIM_FAILURE() << "Not implemented"; return std::list>(); } void ContactCalculation::initializeTables() { // Fill up both tables with default empty contact calculation for (int i = 0; i < SurgSim::Math::SHAPE_TYPE_COUNT; ++i) { for (int j = 0; j < SurgSim::Math::SHAPE_TYPE_COUNT; ++j) { m_contactDcdCalculations[i][j].reset(new Collision::DefaultContactCalculation(false)); m_contactCcdCalculations[i][j].reset(new Collision::DefaultContactCalculation(false)); } } // Fill up the Dcd contact calculation table ContactCalculation::privateDcdRegister(std::make_shared()); ContactCalculation::privateDcdRegister(std::make_shared()); ContactCalculation::privateDcdRegister(std::make_shared()); ContactCalculation::privateDcdRegister(std::make_shared()); ContactCalculation::privateDcdRegister(std::make_shared()); ContactCalculation::privateDcdRegister(std::make_shared()); ContactCalculation::privateDcdRegister(std::make_shared()); ContactCalculation::privateDcdRegister(std::make_shared()); ContactCalculation::privateDcdRegister(std::make_shared()); ContactCalculation::privateDcdRegister(std::make_shared()); ContactCalculation::privateDcdRegister(std::make_shared()); ContactCalculation::privateDcdRegister(std::make_shared()); ContactCalculation::privateDcdRegister(std::make_shared()); ContactCalculation::privateDcdRegister(std::make_shared()); ContactCalculation::privateDcdRegister(std::make_shared()); ContactCalculation::privateDcdRegister(std::make_shared()); ContactCalculation::privateDcdRegister(std::make_shared()); const std::array allshapes = { Math::SHAPE_TYPE_BOX, Math::SHAPE_TYPE_CAPSULE, Math::SHAPE_TYPE_CYLINDER, Math::SHAPE_TYPE_DOUBLESIDEDPLANE, Math::SHAPE_TYPE_MESH, Math::SHAPE_TYPE_OCTREE, Math::SHAPE_TYPE_PARTICLES, Math::SHAPE_TYPE_PLANE, Math::SHAPE_TYPE_SPHERE, Math::SHAPE_TYPE_SURFACEMESH, Math::SHAPE_TYPE_SEGMENTMESH, Math::SHAPE_TYPE_COMPOUNDSHAPE }; for (auto type : allshapes) { ContactCalculation::privateDcdRegister(std::make_shared( std::make_pair(Math::SHAPE_TYPE_COMPOUNDSHAPE, type))); } ContactCalculation::privateCcdRegister(std::make_shared()); ContactCalculation::privateCcdRegister(std::make_shared()); ContactCalculation::privateCcdRegister(std::make_shared( std::make_pair(Math::SHAPE_TYPE_COMPOUNDSHAPE, Math::SHAPE_TYPE_SEGMENTMESH))); } void ContactCalculation::privateDcdRegister( const std::shared_ptr& calculation) { privateDcdRegister(calculation, calculation->getShapeTypes()); } void ContactCalculation::privateDcdRegister( const std::shared_ptr& calculation, const std::pair& types) { m_contactDcdCalculations[types.first][types.second] = calculation; m_contactDcdCalculations[types.second][types.first] = calculation; } void ContactCalculation::privateCcdRegister( const std::shared_ptr& calculation) { privateCcdRegister(calculation, calculation->getShapeTypes()); } void ContactCalculation::privateCcdRegister( const std::shared_ptr& calculation, const std::pair& types) { m_contactCcdCalculations[types.first][types.second] = calculation; m_contactCcdCalculations[types.second][types.first] = calculation; } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/ContactCalculation.h000066400000000000000000000136041277777236100233670ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_CONTACTCALCULATION_H #define SURGSIM_COLLISION_CONTACTCALCULATION_H #include #include #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Shape.h" namespace SurgSim { namespace Math { class Shape; } namespace Collision { /// Base class responsible for calculating contact data between two objects. /// It is used for determining whether two objects intersect. If there is /// contact, new Contacts are calculated. /// \sa Contact class ContactCalculation { public: /// Constructor ContactCalculation(); /// Destructor virtual ~ContactCalculation(); /// Calculate the contacts for a given pair /// \param pair A CollisionPair that is under consideration, new contacts will be added to this pair void calculateContact(std::shared_ptr pair); /// Calculate the dcd contacts between two posed/transformed shapes /// \param posedShape1, posedShape2 The two posed shape to consider for this dcd contact calculation /// \return a list of contacts between the two given posed shapes std::list> calculateDcdContact( const Math::PosedShape> posedShape1, const Math::PosedShape> posedShape2); /// Calculate the ccd contacts between two posed/transformed shapes /// \param posedShapeMotion1, posedShapeMotion2 The two posed shape motion to calculate ccd contact for /// \return a list of ccd contacts between the two given shapes /// \note The contact information is related to the end of the time range, so solving these contact will /// \note solve the collision at the end of the time range. std::list> calculateCcdContact( const Math::PosedShapeMotion> posedShapeMotion1, const Math::PosedShapeMotion> posedShapeMotion2); /// Virtual function that returns the shapes that this ContactCalculation class handles. /// \return Return the shape types this class handles. virtual std::pair getShapeTypes() = 0; /// Register an instance of a contact calculation in the table /// \param calculation The calculation to be registered static void registerDcdContactCalculation(const std::shared_ptr& calculation); /// Register an instance of a contact calculation in the table /// \param calculation The calculation to be registered static void registerCcdContactCalculation(const std::shared_ptr& calculation); typedef std::array, Math::SHAPE_TYPE_COUNT>, Math::SHAPE_TYPE_COUNT> TableType; static const TableType& getDcdContactTable(); static const TableType& getCcdContactTable(); private: /// Calculate the actual contact between two shapes of the given CollisionPair. /// \param pair The symmetric pair that is under consideration. virtual void doCalculateContact(std::shared_ptr pair); /// Virtual function receives the call from the public interface, usually will type the /// shapes statically to their known types and then execute a specific contact calculation /// between the two shapes /// \param posedShape1, posedShape2 The two posed shapes to calculate dcd contact for /// \return a list of dcd contacts between the two given posed shapes virtual std::list> doCalculateDcdContact( const Math::PosedShape>& posedShape1, const Math::PosedShape>& posedShape2); /// Virtual function receives the call from the public interface, usually will type the /// shapes statically to their known types and then execute a specific contact calculation /// between the two shapes /// \param posedShapeMotion1, posedShapeMotion2 The two posed shapes motion to calculate ccd contact for /// \return a list of ccd contacts between the two given posed shapes motion virtual std::list> doCalculateCcdContact( const Math::PosedShapeMotion>& posedShapeMotion1, const Math::PosedShapeMotion>& posedShapeMotion2); /// Statically initialize the tables, used via call once static void initializeTables(); ///@{ /// registration to call at static scope (does not protect the initialization via call_once) /// Mirroring the public functions static void privateDcdRegister( const std::shared_ptr& calculation, const std::pair& types); static void privateDcdRegister(const std::shared_ptr& calculation); ///@} ///@{ /// registration to call at static scope (does not protect the initialization via call_once) /// Mirroring the public functions static void privateCcdRegister( const std::shared_ptr& calculation, const std::pair& types); static void privateCcdRegister(const std::shared_ptr& calculation); ///@} static TableType m_contactDcdCalculations; ///< Static table of Dcd contact calculations static TableType m_contactCcdCalculations; ///< Static table of Ccd contact calculations static std::once_flag m_initializationFlag; ///< Flag used for initialization. }; }; // namespace Collision }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Collision/ContactFilter.cpp000066400000000000000000000020761277777236100227120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Collision/ContactFilter.h" namespace SurgSim { namespace Collision { ContactFilter::ContactFilter(const std::string& name) : Framework::Component(name) { } void ContactFilter::filterContacts(const std::shared_ptr& state, const std::shared_ptr& pair) { doFilterContacts(state, pair); } void ContactFilter::update(double dt) { doUpdate(dt); } } } opensurgsim-0.7.0/SurgSim/Collision/ContactFilter.h000066400000000000000000000044361277777236100223610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_CONTACTFILTER_H #define SURGSIM_COLLISION_CONTACTFILTER_H #include "SurgSim/Framework/Component.h" #include namespace SurgSim { namespace Physics { class PhysicsManagerState; } namespace Collision { class CollisionPair; /// Base class to implement a contact filter, the job of this class is to be executed by the ContactFiltering stage /// in the PhysicsManager. /// Filters are being executed in parallel over all CollisionPair objects that have contacts, be careful with thread /// safety of the doFilterContacts function and all other writes to class members in your subclass class ContactFilter : public Framework::Component { public: /// Constructor explicit ContactFilter(const std::string& name); /// Base function to filter the contacts on a collision pair this will modify the 'contacts' in the collision pair /// \param state the physics state /// \param pair the collision pair void filterContacts( const std::shared_ptr& state, const std::shared_ptr& pair); /// Base function to update the internal data structures with regard to the filtering operation, this should only /// be called once per iteration /// \param dt the time passed since the last call to update void update(double dt); protected: /// Override this with the implementation of the filter, this has to be threadsafe, it will be called in parallel /// with different collision pairs. virtual void doFilterContacts(const std::shared_ptr& state, const std::shared_ptr& pair) = 0; virtual void doUpdate(double dt) = 0; }; } } #endif opensurgsim-0.7.0/SurgSim/Collision/DefaultContactCalculation.cpp000066400000000000000000000063101277777236100252230ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/DefaultContactCalculation.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Math/Shape.h" namespace SurgSim { namespace Collision { DefaultContactCalculation::DefaultContactCalculation(bool doAssert) : m_doAssert(doAssert) { } DefaultContactCalculation::~DefaultContactCalculation() { } std::pair DefaultContactCalculation::getShapeTypes() { return std::pair(SurgSim::Math::SHAPE_TYPE_NONE, SurgSim::Math::SHAPE_TYPE_NONE); } void DefaultContactCalculation::doCalculateContact(std::shared_ptr pair) { SURGSIM_ASSERT(!m_doAssert) << "Contact calculation not implemented for pairs with types (" << pair->getFirst()->getShapeType() << ", " << pair->getSecond()->getShapeType() << ")."; SURGSIM_LOG_ONCE(SurgSim::Framework::Logger::getDefaultLogger(), WARNING) << "Contact calculation not implemented for pairs with types (" << pair->getFirst()->getShapeType() << ", " << pair->getSecond()->getShapeType() << ")."; } std::list> DefaultContactCalculation::doCalculateDcdContact( const Math::PosedShape>& posedShape1, const Math::PosedShape>& posedShape2) { SURGSIM_ASSERT(!m_doAssert) << "Contact calculation not implemented for shapes with types (" << posedShape1.getShape()->getType() << ", " << posedShape2.getShape()->getType() << ")."; SURGSIM_LOG_ONCE(SurgSim::Framework::Logger::getDefaultLogger(), WARNING) << "Contact calculation not implemented for pairs with types (" << posedShape1.getShape()->getType() << ", " << posedShape2.getShape()->getType() << ")."; return std::list>(); } std::list> DefaultContactCalculation::doCalculateCcdContact( const Math::PosedShapeMotion>& posedShapeMotion1, const Math::PosedShapeMotion>& posedShapeMotion2) { SURGSIM_ASSERT(!m_doAssert) << "Contact calculation not implemented for pairs with types (" << posedShapeMotion1.first.getShape()->getType() << ", " << posedShapeMotion2.first.getShape()->getType() << ")."; SURGSIM_LOG_ONCE(SurgSim::Framework::Logger::getDefaultLogger(), WARNING) << "Contact calculation not implemented for pairs with types (" << posedShapeMotion1.first.getShape()->getType() << ", " << posedShapeMotion2.first.getShape()->getType() << ")."; return std::list>(); } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/DefaultContactCalculation.h000066400000000000000000000040061277777236100246700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_DEFAULTCONTACTCALCULATION_H #define SURGSIM_COLLISION_DEFAULTCONTACTCALCULATION_H #include #include "SurgSim/Collision/ContactCalculation.h" namespace SurgSim { namespace Collision { class CollisionPair; /// A default calculation, it does nothing and can be used as a placeholder class DefaultContactCalculation : public ContactCalculation { public: /// Constructor /// \param doAssert If set the calculation will throw an exception if it is executed, this /// can be used to detect cases where a contact calculation is being called /// on a pair that should be implemented explicit DefaultContactCalculation(bool doAssert = false); /// Destructor virtual ~DefaultContactCalculation(); std::pair getShapeTypes() override; private: bool m_doAssert; void doCalculateContact(std::shared_ptr pair) override; std::list> doCalculateDcdContact( const Math::PosedShape>& posedShape1, const Math::PosedShape>& posedShape2) override; std::list> doCalculateCcdContact( const Math::PosedShapeMotion>& posedShapeMotion1, const Math::PosedShapeMotion>& posedShapeMotion2) override; }; }; // namespace Collision }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Collision/ElementContactFilter.cpp000066400000000000000000000133061277777236100242220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Collision/ElementContactFilter.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Framework/FrameworkConvert.h" namespace SurgSim { namespace Collision { SURGSIM_REGISTER(SurgSim::Framework::Component, ElementContactFilter, ElementContactFilter); ElementContactFilter::ElementContactFilter(const std::string& name) : ContactFilter(name), m_logger(SurgSim::Framework::Logger::getLogger("Collision/ElementContactFilter")) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(ElementContactFilter, std::shared_ptr, Representation, getRepresentation, setRepresentation); SURGSIM_ADD_SERIALIZABLE_PROPERTY(ElementContactFilter, FilterMapType, FilterElements, getFilterElements, setFilterElements); } bool ElementContactFilter::doInitialize() { return true; } bool ElementContactFilter::doWakeUp() { bool valid = false; SURGSIM_LOG_IF(m_representation == nullptr, m_logger, WARNING) << "No representation for filtering on " << getFullName(); if (m_representation != nullptr) { auto type = m_representation->getShapeType(); if (type == SurgSim::Math::SHAPE_TYPE_MESH || type == SurgSim::Math::SHAPE_TYPE_SEGMENTMESH || type == SurgSim::Math::SHAPE_TYPE_SURFACEMESH) { valid = true; } else { SURGSIM_LOG_WARNING(m_logger) << "ElementContactFilter " << getFullName() << "invalid mesh structure for collision shape, current shape is " << type << std::endl << "Should be one of " << SurgSim::Math::SHAPE_TYPE_MESH << ", " << SurgSim::Math::SHAPE_TYPE_SURFACEMESH << ", or " << SurgSim::Math::SHAPE_TYPE_SEGMENTMESH; } } return valid; } void ElementContactFilter::setFilter(const std::shared_ptr& other, const std::vector& indices) { SURGSIM_ASSERT(std::dynamic_pointer_cast(other) != nullptr) << "Need a collision representation as a filter object."; boost::lock_guard guard(m_writeMutex); m_writeBuffer[other.get()] = indices; } const std::vector& ElementContactFilter::getFilter(const std::shared_ptr& other) const { static const std::vector empty; auto it = m_filters.find(other.get()); if (it != m_filters.end()) { return it->second; } return empty; } void ElementContactFilter::setFilterElements(const FilterMapType& filterElements) { boost::lock_guard guard(m_writeMutex); m_writeBuffer.clear(); for (const auto& item : filterElements) { auto converted = std::dynamic_pointer_cast(item.first); if (converted != nullptr) { m_writeBuffer[converted.get()] = item.second; } } } ElementContactFilter::FilterMapType ElementContactFilter::getFilterElements() { FilterMapType result; boost::lock_guard guard(m_writeMutex); for (const auto& item : m_writeBuffer) { result.emplace_back(item.first->getSharedPtr(), item.second); } return result; } void ElementContactFilter::setRepresentation(const std::shared_ptr& val) { SURGSIM_ASSERT(!isAwake()) << "Can't set representation after waking up on " << getFullName(); m_representation = Framework::checkAndConvert( val, "SurgSim::Collision::Representation"); } std::shared_ptr ElementContactFilter::getRepresentation() const { return m_representation; } void ElementContactFilter::doFilterContacts(const std::shared_ptr&, const std::shared_ptr& pair) { for (const auto& filter : m_filters) { if (filter.second.empty()) { continue; } for (size_t i = 0, j = 1; i < 2; ++i, --j) { if (pairAt(pair->getRepresentations(), i).get() == getRepresentation().get() && pairAt(pair->getRepresentations(), j).get() == filter.first) { executeFilter(pair, i, filter.second); } } } } void ElementContactFilter::doUpdate(double dt) { boost::lock_guard guard(m_writeMutex); m_filters = m_writeBuffer; } void ElementContactFilter::executeFilter( const std::shared_ptr& pair, size_t pairIndex, const std::vector& filter) { auto shapeType = pairAt(pair->getRepresentations(), pairIndex)->getShapeType(); DataStructures::Location::Type locationType; if (shapeType == Math::SHAPE_TYPE_MESH || shapeType == Math::SHAPE_TYPE_SURFACEMESH) { locationType = DataStructures::Location::TRIANGLE; } else if (shapeType == Math::SHAPE_TYPE_SEGMENTMESH) { locationType = DataStructures::Location::ELEMENT; } else { return; } pair->getContacts().erase( (std::remove_if(pair->getContacts().begin(), pair->getContacts().end(), [pairIndex, locationType, &filter](const std::shared_ptr& contact) { return pairAt(contact->penetrationPoints, pairIndex).get(locationType).hasValue() && std::find(filter.begin(), filter.end(), pairAt(contact->penetrationPoints, pairIndex).get(locationType).getValue().index) != filter.end(); })), pair->getContacts().end()); } } } opensurgsim-0.7.0/SurgSim/Collision/ElementContactFilter.h000066400000000000000000000107731277777236100236740ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_ELEMENTCONTACTFILTER_H #define SURGSIM_COLLISION_ELEMENTCONTACTFILTER_H #include "SurgSim/Collision/ContactFilter.h" #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Framework/LockedContainer.h" namespace SurgSim { namespace Physics { class PhysicsManagerState; } namespace Collision { class CollisionPair; class Representation; struct Contact; SURGSIM_STATIC_REGISTRATION(ElementContactFilter); /// Given a DeformableCollisionRepresentation this filter can remove contacts on specific elements of that /// representation. The contacts will be flatly removed. class ElementContactFilter : public ContactFilter { public: explicit ElementContactFilter(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Collision::ElementContactFilter); bool doInitialize() override; bool doWakeUp() override; /// Set the filter for one representation, this means any contects on the given indices for that representation /// will be removed /// \param other The other side of the collisionpair /// \param indices The indices to filter from the list of contacts void setFilter(const std::shared_ptr& other, const std::vector& indices); /// Query the filters for one specific representation /// \param other the representation /// \return the currently ignored indices for a specific element const std::vector& getFilter(const std::shared_ptr& other) const; /// Sets the representation used for filtering, can only be used before initialization /// \param val the collision representation to be used for filtering void setRepresentation(const std::shared_ptr& val); /// \return the collision representation used for filtering std::shared_ptr getRepresentation() const; protected: typedef std::vector, std::vector>> FilterMapType; void setFilterElements(const FilterMapType& filterElements); FilterMapType getFilterElements(); void doFilterContacts( const std::shared_ptr& state, const std::shared_ptr& pair) override; void doUpdate(double dt) override; private: std::shared_ptr m_logger; /// Representation whose contacts need to be filtered std::shared_ptr m_representation; mutable boost::mutex m_writeMutex; std::unordered_map> m_writeBuffer; std::unordered_map> m_filters; /// Run the filter over the side of the collision pair indicated by pairIndex /// \param pair the collision pair that is being filtered /// \param pairIndex 0/1 representing first, and second values of the pair data structure /// \param filter indices to filter void executeFilter( const std::shared_ptr& pair, size_t pairIndex, const std::vector& filter); }; /// Get member of pair data via indexed access, the members of the pair have to have the same type /// const version /// \tparam T the member type /// \param p the pair /// \param i the index to access /// \return p.first if index == 0 and p.second if index == 1 template const T& pairAt(const std::pair& p, size_t i) { SURGSIM_ASSERT(i == 0 || i == 1) << "Index for pair must be 0 or 1."; return (i == 0) ? p.first : p.second; }; /// Get member of pair data via indexed access, the members of the pair have to have the same type /// non-const version /// \tparam T the member type /// \param p the pair /// \param i the index to access /// \return p.first if index == 0 and p.second if index == 1 template T& pairAt(std::pair& p, size_t i) // NOLINT { SURGSIM_ASSERT(i == 0 || i == 1) << "Index for pair must be 0 or 1."; return (i == 0) ? p.first : p.second; }; } } #endif opensurgsim-0.7.0/SurgSim/Collision/OctreeCapsuleContact.cpp000066400000000000000000000024731277777236100242240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/OctreeCapsuleContact.h" using SurgSim::Math::CapsuleShape; namespace SurgSim { namespace Collision { std::pair OctreeCapsuleContact::getShapeTypes() { return std::pair(SurgSim::Math::SHAPE_TYPE_OCTREE, SurgSim::Math::SHAPE_TYPE_CAPSULE); } std::list> OctreeCapsuleContact::boxContactCalculation( const SurgSim::Math::BoxShape& boxShape, const SurgSim::Math::RigidTransform3d& boxPose, const SurgSim::Math::Shape& otherShape, const SurgSim::Math::RigidTransform3d& otherPose) { return m_calculator.calculateDcdContact(boxShape, boxPose, static_cast(otherShape), otherPose); } }; }; opensurgsim-0.7.0/SurgSim/Collision/OctreeCapsuleContact.h000066400000000000000000000025341277777236100236670ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_OCTREECAPSULECONTACT_H #define SURGSIM_COLLISION_OCTREECAPSULECONTACT_H #include "SurgSim/Collision/BoxCapsuleContact.h" #include "SurgSim/Collision/OctreeContact.h" namespace SurgSim { namespace Collision { class OctreeCapsuleContact : public OctreeContact { public: std::pair getShapeTypes() override; protected: std::list> boxContactCalculation(const SurgSim::Math::BoxShape& boxShape, const SurgSim::Math::RigidTransform3d& boxPose, const SurgSim::Math::Shape& otherShape, const SurgSim::Math::RigidTransform3d& otherPose) override; private: BoxCapsuleContact m_calculator; }; }; }; #endif //SURGSIM_COLLISION_OCTREECAPSULECONTACT_H opensurgsim-0.7.0/SurgSim/Collision/OctreeContact.cpp000066400000000000000000000067121277777236100227070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/OctreeContact.h" #include #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Collision { size_t OctreeContact::Vector3dHash::operator()(const SurgSim::Math::Vector3d& id) const { return boost::hash_range(id.data(), id.data() + 3); } std::list> OctreeContact::doCalculateDcdContact( const Math::PosedShape>& posedShape1, const Math::PosedShape>& posedShape2) { SURGSIM_ASSERT(posedShape1.getShape()->getType() == Math::SHAPE_TYPE_OCTREE) << "Octree Contact needs an OctreeShape."; SurgSim::DataStructures::OctreePath nodePath; std::list> result; std::shared_ptr shape = std::static_pointer_cast(posedShape1.getShape()); calculateContactWithNode(shape->getOctree(), posedShape1.getPose(), posedShape2.getShape(), posedShape2.getPose(), &nodePath, &result); return result; } void OctreeContact::calculateContactWithNode( std::shared_ptr node, Math::RigidTransform3d octreePose, const std::shared_ptr& shape, const Math::RigidTransform3d& shapePose, SurgSim::DataStructures::OctreePath* nodePath, std::list>* result) { if (! node->isActive()) { return; } Math::Vector3d nodeSize = node->getBoundingBox().sizes(); std::shared_ptr nodeShape; if (m_shapes.count(nodeSize) > 0) { nodeShape = m_shapes[nodeSize]; } else { nodeShape = std::make_shared(nodeSize.x(), nodeSize.y(), nodeSize.z()); m_shapes[nodeSize] = nodeShape; } Math::Vector3d nodeCenter = node->getBoundingBox().center(); Math::RigidTransform3d nodePose = octreePose; nodePose.translation() += nodePose.linear() * nodeCenter; auto contacts = boxContactCalculation(*nodeShape, nodePose, *shape, shapePose); if (!contacts.empty()) { if (node->hasChildren()) { for (size_t i = 0; i < node->getChildren().size(); i++) { nodePath->push_back(i); calculateContactWithNode(node->getChild(i), octreePose, shape, shapePose, nodePath, result); nodePath->pop_back(); } } else { Math::Vector3d contactPosition; for (auto& contact : contacts) { contact->penetrationPoints.first.octreeNodePath.setValue(*nodePath); contactPosition = contact->penetrationPoints.first.rigidLocalPosition.getValue(); contactPosition += nodeCenter; contact->penetrationPoints.first.rigidLocalPosition.setValue(contactPosition); } result->splice(result->end(), contacts); } } } }; }; opensurgsim-0.7.0/SurgSim/Collision/OctreeContact.h000066400000000000000000000066461277777236100223620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_OCTREECONTACT_H #define SURGSIM_COLLISION_OCTREECONTACT_H #include #include "SurgSim/Collision/ContactCalculation.h" #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/OctreeShape.h" #include "SurgSim/Math/RigidTransform.h" namespace SurgSim { namespace Collision { class CollisionPair; class ShapeCollisionRepresentation; /// Abstract base class to calculate intersections between an Octree and other shapes /// /// Derived classes handle the calculation for specific shape types (ie /// OctreeSphereContact). class OctreeContact : public ContactCalculation { protected: /// Do the calculation between an octree node (BoxShape) and the other shape /// \param boxShape the box shape /// \param boxPose the pose of the box /// \param otherShape the other shape /// \param otherPose the pose of the other shape /// \return a list of contacts between the shapes, if any virtual std::list> boxContactCalculation( const SurgSim::Math::BoxShape& boxShape, const SurgSim::Math::RigidTransform3d& boxPose, const SurgSim::Math::Shape& otherShape, const SurgSim::Math::RigidTransform3d& otherPose) = 0; private: std::list> doCalculateDcdContact( const Math::PosedShape>& posedShape1, const Math::PosedShape>& posedShape2) override; /// Calculate the collision between a specific octree node and a shape /// This function will check for contact between the node and shape. If /// contact is found, this function will be called on each of the /// node's children. Once a leaf node is reached, contacts are added to the /// CollisionPair. /// \param node the octree node to collide with /// \param octreePose the pose of the octree shape /// \param shape the shape that the octree is colliding with /// \param shapePose the pose of the shape /// \param nodePath the NodePath of the current octree node /// \param result [in,out] all generated contacts are agreggated here /// \param nodePath [in,out] the path of the current node void calculateContactWithNode( std::shared_ptr node, Math::RigidTransform3d octreePose, const std::shared_ptr& shape, const Math::RigidTransform3d& shapePose, SurgSim::DataStructures::OctreePath* nodePath, std::list>* result); /// Enable a Vector3d to be used as a key in an unordered map. class Vector3dHash { public: size_t operator()(const SurgSim::Math::Vector3d& id) const; }; /// The shapes used for the contact calculations are cached for performance. std::unordered_map, Vector3dHash> m_shapes; }; }; }; #endif // SURGSIM_COLLISION_OCTREECONTACT_H opensurgsim-0.7.0/SurgSim/Collision/OctreeDoubleSidedPlaneContact.cpp000066400000000000000000000025641277777236100257740ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/OctreeDoubleSidedPlaneContact.h" using SurgSim::Math::DoubleSidedPlaneShape; namespace SurgSim { namespace Collision { std::pair OctreeDoubleSidedPlaneContact::getShapeTypes() { return std::pair(SurgSim::Math::SHAPE_TYPE_OCTREE, SurgSim::Math::SHAPE_TYPE_DOUBLESIDEDPLANE); } std::list> OctreeDoubleSidedPlaneContact::boxContactCalculation( const SurgSim::Math::BoxShape& boxShape, const SurgSim::Math::RigidTransform3d& boxPose, const SurgSim::Math::Shape& otherShape, const SurgSim::Math::RigidTransform3d& otherPose) { return m_calculator.calculateDcdContact(boxShape, boxPose, static_cast(otherShape), otherPose); } }; }; opensurgsim-0.7.0/SurgSim/Collision/OctreeDoubleSidedPlaneContact.h000066400000000000000000000026221277777236100254340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_OCTREEDOUBLESIDEDPLANECONTACT_H #define SURGSIM_COLLISION_OCTREEDOUBLESIDEDPLANECONTACT_H #include "SurgSim/Collision/BoxDoubleSidedPlaneContact.h" #include "SurgSim/Collision/OctreeContact.h" namespace SurgSim { namespace Collision { class OctreeDoubleSidedPlaneContact : public OctreeContact { public: std::pair getShapeTypes() override; protected: std::list> boxContactCalculation(const SurgSim::Math::BoxShape& boxShape, const SurgSim::Math::RigidTransform3d& boxPose, const SurgSim::Math::Shape& otherShape, const SurgSim::Math::RigidTransform3d& otherPose) override; private: BoxDoubleSidedPlaneContact m_calculator; }; }; }; #endif //SURGSIM_COLLISION_OCTREEDOUBLESIDEDPLANECONTACT_H opensurgsim-0.7.0/SurgSim/Collision/OctreePlaneContact.cpp000066400000000000000000000024571277777236100236710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/OctreePlaneContact.h" using SurgSim::Math::PlaneShape; namespace SurgSim { namespace Collision { std::pair OctreePlaneContact::getShapeTypes() { return std::pair(SurgSim::Math::SHAPE_TYPE_OCTREE, SurgSim::Math::SHAPE_TYPE_PLANE); } std::list> OctreePlaneContact::boxContactCalculation( const SurgSim::Math::BoxShape& boxShape, const SurgSim::Math::RigidTransform3d& boxPose, const SurgSim::Math::Shape& otherShape, const SurgSim::Math::RigidTransform3d& otherPose) { return m_calculator.calculateDcdContact(boxShape, boxPose, static_cast(otherShape), otherPose); } }; }; opensurgsim-0.7.0/SurgSim/Collision/OctreePlaneContact.h000066400000000000000000000025201277777236100233250ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_OCTREEPLANECONTACT_H #define SURGSIM_COLLISION_OCTREEPLANECONTACT_H #include "SurgSim/Collision/BoxPlaneContact.h" #include "SurgSim/Collision/OctreeContact.h" namespace SurgSim { namespace Collision { class OctreePlaneContact : public OctreeContact { public: std::pair getShapeTypes() override; protected: std::list> boxContactCalculation(const SurgSim::Math::BoxShape& boxShape, const SurgSim::Math::RigidTransform3d& boxPose, const SurgSim::Math::Shape& otherShape, const SurgSim::Math::RigidTransform3d& otherPose) override; private: BoxPlaneContact m_calculator; }; }; }; #endif //SURGSIM_COLLISION_OCTREEPLANECONTACT_H opensurgsim-0.7.0/SurgSim/Collision/OctreeSphereContact.cpp000066400000000000000000000024651277777236100240570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/OctreeSphereContact.h" using SurgSim::Math::SphereShape; namespace SurgSim { namespace Collision { std::pair OctreeSphereContact::getShapeTypes() { return std::pair(SurgSim::Math::SHAPE_TYPE_OCTREE, SurgSim::Math::SHAPE_TYPE_SPHERE); } std::list> OctreeSphereContact::boxContactCalculation( const SurgSim::Math::BoxShape& boxShape, const SurgSim::Math::RigidTransform3d& boxPose, const SurgSim::Math::Shape& otherShape, const SurgSim::Math::RigidTransform3d& otherPose) { return m_calculator.calculateDcdContact(boxShape, boxPose, static_cast(otherShape), otherPose); } }; }; opensurgsim-0.7.0/SurgSim/Collision/OctreeSphereContact.h000066400000000000000000000025261277777236100235220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_OCTREESPHERECONTACT_H #define SURGSIM_COLLISION_OCTREESPHERECONTACT_H #include "SurgSim/Collision/BoxSphereContact.h" #include "SurgSim/Collision/OctreeContact.h" namespace SurgSim { namespace Collision { class OctreeSphereContact : public OctreeContact { public: std::pair getShapeTypes() override; protected: std::list> boxContactCalculation(const SurgSim::Math::BoxShape& boxShape, const SurgSim::Math::RigidTransform3d& boxPose, const SurgSim::Math::Shape& otherShape, const SurgSim::Math::RigidTransform3d& otherPose) override; private: BoxSphereContact m_calculator; }; }; }; #endif //SURGSIM_COLLISION_OCTREESPHERECONTACT_H opensurgsim-0.7.0/SurgSim/Collision/PerformanceTests/000077500000000000000000000000001277777236100227245ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Collision/PerformanceTests/CMakeLists.txt000066400000000000000000000022571277777236100254720ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories ( ${gtest_SOURCE_DIR}/include ${gmock_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES TriangleMeshTriangleMeshContactCalculationPerformanceTest.cpp ) set(UNIT_TEST_HEADERS ) set(LIBS SurgSimCollision SurgSimDataStructures SurgSimFramework ) # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) surgsim_add_unit_tests(SurgSimCollisionPerformanceTest) set_target_properties(SurgSimCollisionPerformanceTest PROPERTIES FOLDER "Collision") TriangleMeshTriangleMeshContactCalculationPerformanceTest.cpp000066400000000000000000000050761277777236100367630ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Collision/PerformanceTests// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/TriangleMeshTriangleMeshContact.h" #include "SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Timer.h" using SurgSim::Math::MeshShape; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { TEST(TriangleMeshTriangleMeshContactCalculationPerformanceTests, IntersectionTest) { auto runtime = std::make_shared("config.txt"); auto meshA = std::make_shared(); meshA->load("Geometry/stapler_collision.ply"); auto meshB = std::make_shared(); meshB->load("Geometry/wound_deformable_with_texture.ply"); std::shared_ptr meshARep = std::make_shared("Collision Mesh 0"); meshARep->setShape(meshA); std::shared_ptr meshBRep = std::make_shared("Collision Mesh 1"); meshBRep->setShape(meshB); TriangleMeshTriangleMeshContact calcContact; std::shared_ptr pair = std::make_shared(meshARep, meshBRep); Framework::Timer timer; int loops = 100; size_t contacts = 0; for (int i = 0 ; i < loops; ++i) { pair->clearContacts(); meshARep->getCollisions().unsafeGet().clear(); meshBRep->getCollisions().unsafeGet().clear(); RigidTransform3d pose = Math::makeRigidTransform(Math::makeRotationQuaternion(2.0 * M_PI * i / loops, Vector3d::UnitX().eval()), Vector3d(i, -1.5 * i, 0.0)); meshARep->setLocalPose(pose); meshBRep->setLocalPose(pose); timer.beginFrame(); calcContact.calculateContact(pair); timer.endFrame(); contacts += pair->getContacts().size(); } RecordProperty("FrameRate", boost::to_string(loops / timer.getCumulativeTime())); RecordProperty("Duration", boost::to_string(timer.getCumulativeTime())); RecordProperty("Loops", boost::to_string(loops)); } } } opensurgsim-0.7.0/SurgSim/Collision/PerformanceTests/config.txt.in000066400000000000000000000000541277777236100253360ustar00rootroot00000000000000${PROJECT_BINARY_DIR}/SurgSim/Testing/Data/ opensurgsim-0.7.0/SurgSim/Collision/Representation.cpp000066400000000000000000000207111277777236100231470ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Collision/Representation.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Physics/Representation.h" namespace SurgSim { namespace Collision { Representation::Representation(const std::string& name) : SurgSim::Framework::Representation(name), m_logger(Framework::Logger::getLogger("Collision/Representation")), m_collisionDetectionType(COLLISION_DETECTION_TYPE_DISCRETE), m_selfCollisionDetectionType(COLLISION_DETECTION_TYPE_NONE) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(Representation, std::vector, Ignore, getIgnoring, setIgnoring); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Representation, std::vector, Allow, getAllowing, setAllowing); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Representation, CollisionDetectionType, CollisionDetectionType, getCollisionDetectionType, setCollisionDetectionType); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Representation, CollisionDetectionType, SelfCollisionDetectionType, getSelfCollisionDetectionType, setSelfCollisionDetectionType); } Representation::~Representation() { } void Representation::setCollisionDetectionType(CollisionDetectionType type) { m_collisionDetectionType = type; } CollisionDetectionType Representation::getCollisionDetectionType() const { return m_collisionDetectionType; } void Representation::setSelfCollisionDetectionType(CollisionDetectionType type) { m_selfCollisionDetectionType = type; } CollisionDetectionType Representation::getSelfCollisionDetectionType() const { return m_selfCollisionDetectionType; } const Math::PosedShapeMotion>& Representation::getPosedShapeMotion() const { boost::shared_lock lock(m_posedShapeMotionMutex); return m_posedShapeMotion; } void Representation::setPosedShapeMotion(const Math::PosedShapeMotion>& posedShapeMotion) { boost::unique_lock lock(m_posedShapeMotionMutex); m_posedShapeMotion = posedShapeMotion; } std::shared_ptr Representation::getPosedShape() { if (getShape()->isTransformable()) { // HS-3-mar-2016 This is still being used by all representations it will be superceded by // local update functionality after ryans merge request goes in // #todo get rid of this in favor of transforming the mesh shape boost::unique_lock lock(m_posedShapeMotionMutex); Math::RigidTransform3d identity = Math::RigidTransform3d::Identity(); Math::RigidTransform3d pose = getPose(); if (pose.isApprox(identity)) { Math::PosedShape> newPosedShape(getShape(), identity); m_posedShapeMotion.second = newPosedShape; } else if (m_posedShapeMotion.second.getShape() == nullptr || !pose.isApprox(m_posedShapeMotion.second.getPose())) { Math::PosedShape> newPosedShape(getShape()->getTransformed(pose), pose); m_posedShapeMotion.second = newPosedShape; } return m_posedShapeMotion.second.getShape(); } else { return getShape(); } } void Representation::invalidatePosedShapeMotion() { boost::unique_lock lock(m_posedShapeMotionMutex); m_posedShapeMotion.invalidate(); } SurgSim::DataStructures::BufferedValue& Representation::getCollisions() { return m_collisions; } void Representation::addContact(const std::shared_ptr& other, const std::shared_ptr& contact) { boost::lock_guard lock(m_collisionsMutex); m_collisions.unsafeGet()[other].push_back(contact); } bool Representation::collidedWith(const std::shared_ptr& other) { auto collisions = m_collisions.safeGet(); return (collisions->find(other) != collisions->end()); } void Representation::update(const double& dt) { // HS-2-Mar-2016 // #todo if we decide to keep this it should be used to make a threadsafe copy of the data and enable outside // access to it, this can then be used by a behavior to access the correct shape // currently this is unused } bool Representation::ignore(const std::string& fullName) { bool result = false; if (m_allowing.empty()) { result = m_ignoring.insert(fullName).second; } else { auto found = m_allowing.find(fullName); if (found != m_allowing.end()) { m_allowing.erase(found); result = true; } else { SURGSIM_LOG_WARNING(m_logger) << getFullName() << " Trying to un-allow" << fullName << " but it wasn't found."; } } return result; } bool Representation::ignore(const std::shared_ptr& representation) { if (representation->getSceneElement() == nullptr) { SURGSIM_LOG_WARNING(m_logger) << getFullName() << " cannot ignore " << representation->getName() << ", which is not in a scene element."; return false; } return ignore(representation->getFullName()); } bool Representation::allow(const std::string& fullName) { bool result = false; if (m_ignoring.empty()) { result = m_allowing.insert(fullName).second; } else { auto found = m_ignoring.find(fullName); if (found != m_ignoring.end()) { m_ignoring.erase(found); result = true; } else { SURGSIM_LOG_WARNING(m_logger) << getFullName() << " Trying un-ignore" << fullName << " but it wasn't found."; } } return result; } bool Representation::allow(const std::shared_ptr& representation) { if (representation->getSceneElement() == nullptr) { SURGSIM_LOG_WARNING(m_logger) << getFullName() << " cannot allow " << representation->getName() << ", which is not in a scene element."; return false; } return allow(representation->getFullName()); } void Representation::setIgnoring(const std::vector& fullNames) { if (m_allowing.empty()) { m_ignoring.clear(); std::copy(fullNames.cbegin(), fullNames.cend(), std::inserter(m_ignoring, m_ignoring.begin())); } else { SURGSIM_LOG_SEVERE(m_logger) << getFullName() << " cannot use setIgnoring. " << "You can only set what representations to ignore or allow, not both."; } } std::vector Representation::getIgnoring() const { return std::vector(std::begin(m_ignoring), std::end(m_ignoring)); } bool Representation::isIgnoring(const std::string& fullName) const { if (m_allowing.empty()) { return m_ignoring.find(fullName) != m_ignoring.end(); } return m_allowing.find(fullName) == m_allowing.end(); } bool Representation::isIgnoring(const std::shared_ptr& representation) const { return isIgnoring(representation->getFullName()); } bool Representation::isAllowing(const std::string& fullName) const { return !isIgnoring(fullName); } bool Representation::isAllowing(const std::shared_ptr& representation) const { return isAllowing(representation->getFullName()); } void Representation::setAllowing(const std::vector& fullNames) { if (m_ignoring.empty()) { m_allowing.clear(); std::copy(fullNames.cbegin(), fullNames.cend(), std::inserter(m_allowing, m_allowing.begin())); } else { SURGSIM_LOG_SEVERE(m_logger) << getFullName() << " cannot use setAllowing. " << "You can only set what representations to ignore or allow, not both."; } } std::vector Representation::getAllowing() const { return std::vector(std::begin(m_allowing), std::end(m_allowing)); } void Representation::doRetire() { m_collisions.unsafeGet().clear(); m_collisions.publish(); Framework::Representation::doRetire(); } Math::Aabbd Representation::getBoundingBox() const { SURGSIM_ASSERT(getShape() != nullptr); return Math::transformAabb(getPose(), getShape()->getBoundingBox()); } void Representation::updateDcdData() { } void Representation::updateCcdData(double timeOfImpact) { } void Representation::updateShapeData() { getPosedShape(); } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/Representation.h000066400000000000000000000260711277777236100226210ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_REPRESENTATION_H #define SURGSIM_COLLISION_REPRESENTATION_H #include #include #include #include #include #include "SurgSim/DataStructures/BufferedValue.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/Representation.h" #include "SurgSim/Math/Aabb.h" #include "SurgSim/Math/Shape.h" namespace SurgSim { namespace Math { class Shape; }; namespace Physics { class Representation; }; namespace Collision { struct Contact; class Representation; typedef std::unordered_map, std::list>> ContactMapType; /// The type of collision detection enum CollisionDetectionType : SURGSIM_ENUM_TYPE; /// Wrapper class to use for the collision operation, handles its enclosed shaped /// and a possible local to global coordinate system transform, if the physics representation /// is a nullptr or a has gone out of scope ASSERT's will be triggered. /// Collision with other representations will be updated by CollisionPair::addContact() and /// be cleared every time DcdCollision::updatePair() makes a new CollisionPair. class Representation : public SurgSim::Framework::Representation { public: /// Constructor /// \param name Name of this collision representation explicit Representation(const std::string& name); /// Destructor virtual ~Representation(); /// Get the shape type id /// \return The unique type of the shape, used to determine which calculation to use. virtual int getShapeType() const = 0; /// Set the type of collision detection to use between this representation and other representations /// \param type The collision detection type void setCollisionDetectionType(CollisionDetectionType type); /// Get the type of collision detection used between this representation and other representations /// \return The collision detection type CollisionDetectionType getCollisionDetectionType() const; /// Set the type of collision detection to use between this representation and itself /// \param type The collision detection type void setSelfCollisionDetectionType(CollisionDetectionType type); /// Get the type of collision detection used between this representation and itself /// \return The collision detection type CollisionDetectionType getSelfCollisionDetectionType() const; /// Get the shape /// \return The actual shape used for collision. virtual const std::shared_ptr getShape() const = 0; /// Get the shape, posed /// \return The shape transformed by the pose of this representation virtual std::shared_ptr getPosedShape(); /// \return the posed shape motion const Math::PosedShapeMotion>& getPosedShapeMotion() const; /// A map between collision representations and contacts. /// For each collision representation, it gives the list of contacts registered against this instance. /// \return A map with collision representations as keys and lists of contacts as the associated value. SurgSim::DataStructures::BufferedValue& getCollisions(); /// Add a contact with another representation /// \param other The other collision representation /// \param contact The contact to be added /// \note This method is thread-safe void addContact(const std::shared_ptr& other, const std::shared_ptr& contact); /// Check whether this collision representation collided with another during the last update /// \param other other collision representation to check against /// \return true if there were contacts recorded, false otherwise bool collidedWith(const std::shared_ptr& other); /// Update the representation. /// \param dt the time passed from the last update. virtual void update(const double& dt); /// Update the basic Shape's state from the physics state, so that the bounding box can correctly be determined virtual void updateShapeData(); /// Update the data (the shape) in preparation for a DCD contact calculation virtual void updateDcdData(); /// Update the data (the motionShape) in preparation for a CCD contact calcul ation /// \param timeOfImpact the last time of impact, the representation is responsible for managing /// the time correctly virtual void updateCcdData(double timeOfImpact); /// Set a collision representation to ignore /// Collisions with this collision representation will not be detected /// This acts as the opposite of allow if the representation that is passed here was previously added via allow() /// \param fullName The full name of the collision representation to ignore bool ignore(const std::string& fullName); /// Set a collision representation to ignore /// Collisions with this collision representation will not be detected /// This acts as the opposite of allow if the representation that is passed here was previously added via allow() /// \param representation The collision representation to ignore bool ignore(const std::shared_ptr& representation); /// Set the collision representations to ignore /// Collisions with these collision representation will not be detected /// \note This method conflicts with setAllowing. You can only set what /// representations to ignore or allow collisions with, not both. /// \param fullNames The collision representations (given by full name) to ignore void setIgnoring(const std::vector& fullNames); /// Is the collision representation being ignored /// \param fullName The full name of the collision representation to check /// return True if the collision representation is being ignored bool isIgnoring(const std::string& fullName) const; /// Is the collision representation being ignored /// \param representation The collision representation to check /// return True if the collision representation is being ignored bool isIgnoring(const std::shared_ptr& representation) const; /// Set a collision representation to allow /// Only collisions with "allowed" collision representation will be detected /// If the the representation is currently being "ignored" then it will be removed from that state and /// collisions will be allowed again. /// \note When both the allow and ignore lists are empty calling allow may cause a change of behavior that /// might not be wanted (i.e. the representation will go from colliding with all others to just colliding with /// one other representation). This might be caused by trying to revert an "ignore" that has already been reversed. /// \param fullName The full name of the collision representation to allow bool allow(const std::string& fullName); /// Set a collision representation to allow /// Only collisions with "allowed" collision representation will be detected /// If the the representation is currently being "ignored" then it will be removed from that state and /// collisions will be allowed again. /// \note When both the allow and ignore lists are empty calling allow may cause a change of behavior that /// might not be wanted (i.e. the representation will go from colliding with all others to just colliding with /// one other representation). This might be caused by trying to revert an "ignore" that has already been reversed. /// \param representation The collision representation to allow bool allow(const std::shared_ptr& representation); /// Set the only collision representations to allow collisions with /// Only Collisions with these collision representation will be detected /// \note This method conflicts with ignore and setIgnoring. You can only set what /// representations to ignore or allow collisions with, not both. /// \param fullNames The collision representations (given by full name) to allow void setAllowing(const std::vector& fullNames); /// Is the collision representation being allowed /// \param fullName The full name of the collision representation to check /// return True if the collision representation is being allowed bool isAllowing(const std::string& fullName) const; /// Is the collision representation being allowed /// \param representation The collision representation to check /// return True if the collision representation is being allowed bool isAllowing(const std::shared_ptr& representation) const; /// \return the Bounding box for this object Math::Aabbd getBoundingBox() const; protected: /// Invalidate the cached posed shape motion void invalidatePosedShapeMotion(); /// Get the ignored collision representations /// \return The full names of all the ignored collision representations std::vector getIgnoring() const; /// Get the only collision representations that this representation is allowed to collide with /// \return The full names of all the collision representations to allow std::vector getAllowing() const; void doRetire() override; /// \param posedShape the posed shape motion to be set void setPosedShapeMotion(const Math::PosedShapeMotion>& posedShape); std::shared_ptr m_logger; private: /// The type of collision detection CollisionDetectionType m_collisionDetectionType; /// The type of self collision detection CollisionDetectionType m_selfCollisionDetectionType; /// A map which associates a list of contacts with each collision representation. /// Every contact added to this map follows the convention of pointing the contact normal toward this /// representation. And the first penetration point is on this representation. SurgSim::DataStructures::BufferedValue m_collisions; /// Mutex to lock write access to m_collisions boost::mutex m_collisionsMutex; /// The shape transformed in space and defined through time, i.e. with 2 differents configurations Math::PosedShapeMotion> m_posedShapeMotion; /// Mutex to lock write access to m_posedShapeMotion mutable boost::shared_mutex m_posedShapeMotionMutex; /// Ignored collision representations std::unordered_set m_ignoring; /// Allowed collision representations std::unordered_set m_allowing; }; }; // namespace Collision }; // namespace SurgSim SURGSIM_SERIALIZABLE_ENUM(SurgSim::Collision::CollisionDetectionType, (COLLISION_DETECTION_TYPE_NONE) (COLLISION_DETECTION_TYPE_DISCRETE) (COLLISION_DETECTION_TYPE_CONTINUOUS) (MAX_COLLISION_DETECTION_TYPES)) #endif opensurgsim-0.7.0/SurgSim/Collision/SegmentMeshTriangleMeshContact.cpp000066400000000000000000000376551277777236100262220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/SegmentMeshTriangleMeshContact.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/DataStructures/AabbTree.h" #include "SurgSim/DataStructures/AabbTreeNode.h" #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SegmentMeshShape.h" using SurgSim::DataStructures::Location; using SurgSim::DataStructures::TriangleMesh; using SurgSim::Math::MeshShape; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::SegmentMeshShape; using SurgSim::Math::Vector3d; namespace SegmentMeshTriangleMesh { bool isThisContactADuplicate( const std::shared_ptr& newContact, const std::list>& contacts) { for (const auto& contact : contacts) { if (*newContact == *contact) { return true; } } return false; } } namespace SurgSim { namespace Collision { std::pair SegmentMeshTriangleMeshContact::getShapeTypes() { return std::pair(SurgSim::Math::SHAPE_TYPE_SEGMENTMESH, SurgSim::Math::SHAPE_TYPE_MESH); } std::list> SegmentMeshTriangleMeshContact::calculateDcdContact( const Math::SegmentMeshShape& segmentMeshShape, const Math::RigidTransform3d& segmentMeshPose, const Math::MeshShape& triangleMeshShape, const Math::RigidTransform3d& triangleMeshPose) const { std::list> contacts; std::list intersectionList = segmentMeshShape.getAabbTree()->spatialJoin(*triangleMeshShape.getAabbTree()); double radius = segmentMeshShape.getRadius(); double depth = 0.0; Vector3d normal; Vector3d penetrationPointCapsule, penetrationPointTriangle, penetrationPointCapsuleAxis; for (const auto& intersection : intersectionList) { std::shared_ptr nodeSegment = intersection.first; std::shared_ptr nodeTriangle = intersection.second; std::list edgeList; std::list triangleList; nodeSegment->getIntersections(nodeTriangle->getAabb(), &edgeList); nodeTriangle->getIntersections(nodeSegment->getAabb(), &triangleList); for (auto i = triangleList.begin(); i != triangleList.end(); ++i) { const Vector3d& normalTriangle = triangleMeshShape.getNormal(*i); if (normalTriangle.isZero()) { continue; } const auto& verticesTriangle = triangleMeshShape.getTrianglePositions(*i); for (auto j = edgeList.begin(); j != edgeList.end(); ++j) { const auto& verticesSegment = segmentMeshShape.getEdgePositions(*j); // Check if the triangle and capsule intersect. if (SurgSim::Math::calculateContactTriangleCapsule( verticesTriangle[0], verticesTriangle[1], verticesTriangle[2], normalTriangle, verticesSegment[0], verticesSegment[1], radius, &depth, &penetrationPointTriangle, &penetrationPointCapsule, &normal, &penetrationPointCapsuleAxis)) { // Create the contact. std::pair penetrationPoints; SurgSim::Math::Vector2d barycentricCoordinate2; SurgSim::Math::barycentricCoordinates(penetrationPointCapsuleAxis, verticesSegment[0], verticesSegment[1], &barycentricCoordinate2); penetrationPoints.first.elementMeshLocalCoordinate.setValue( SurgSim::DataStructures::IndexedLocalCoordinate(*j, barycentricCoordinate2)); penetrationPoints.first.rigidLocalPosition.setValue( segmentMeshPose.inverse() * penetrationPointCapsuleAxis); Vector3d barycentricCoordinate; SurgSim::Math::barycentricCoordinates(penetrationPointTriangle, verticesTriangle[0], verticesTriangle[1], verticesTriangle[2], normalTriangle, &barycentricCoordinate); penetrationPoints.second.triangleMeshLocalCoordinate.setValue( SurgSim::DataStructures::IndexedLocalCoordinate(*i, barycentricCoordinate)); penetrationPoints.second.rigidLocalPosition.setValue( triangleMeshPose.inverse() * penetrationPointTriangle); // Create the contact. contacts.push_back(std::make_shared(COLLISION_DETECTION_TYPE_DISCRETE, std::abs(depth) + (penetrationPointCapsule - penetrationPointCapsuleAxis).dot(normal), 1.0, Vector3d::Zero(), -normal, penetrationPoints)); } } } } return contacts; } std::list>SegmentMeshTriangleMeshContact::calculateCcdContact( const Math::SegmentMeshShape& shape1AtTime0, const Math::RigidTransform3d& pose1AtTime0, const Math::SegmentMeshShape& shape1AtTime1, const Math::RigidTransform3d& pose1AtTime1, const Math::MeshShape& shape2AtTime0, const Math::RigidTransform3d& pose2AtTime0, const Math::MeshShape& shape2AtTime1, const Math::RigidTransform3d& pose2AtTime1) const { using SegmentMeshTriangleMesh::isThisContactADuplicate; using Math::calculateCcdContactSegmentSegment; using Math::calculateCcdContactPointTriangle; double epsilon = Math::Geometry::DistanceEpsilon; std::list> contacts; // This code is not tested for SegmentMeshes on Rigids, warn the user ! SURGSIM_LOG_ONCE_IF(! pose1AtTime0.isApprox(Math::RigidTransform3d::Identity()) && ! pose1AtTime1.isApprox(Math::RigidTransform3d::Identity()), SurgSim::Framework::Logger::getLogger("Collision"), SEVERE) << "It looks like you're using the SegmentMesh with a rigid object under CCD, the " << "SegmentMeshTriangleMeshContact is not tested for this case."; SURGSIM_ASSERT(shape1AtTime0.getNumEdges() > 0); SURGSIM_ASSERT(shape1AtTime0.getNumEdges() == shape1AtTime1.getNumEdges()); SURGSIM_ASSERT(shape2AtTime0.getNumTriangles() > 0); SURGSIM_ASSERT(shape2AtTime0.getNumTriangles() == shape2AtTime1.getNumTriangles()); for (size_t edgeId = 0; edgeId < shape1AtTime0.getNumEdges(); edgeId++) { auto edgeT0 = shape1AtTime0.getEdge(edgeId); auto edgeT1 = shape1AtTime1.getEdge(edgeId); SURGSIM_ASSERT(edgeT0.verticesId == edgeT1.verticesId) << "Edges are different:\n" << "(" << edgeT0.verticesId[0] << "," << edgeT0.verticesId[1] << ")\n" << "(" << edgeT1.verticesId[0] << "," << edgeT1.verticesId[1] << ")\n" << "edgeT0.valid = " << edgeT0.isValid << "\nedgeT1.valid = " << edgeT1.isValid; std::pair sv0 = std::make_pair( shape1AtTime0.getVertexPosition(edgeT0.verticesId[0]), shape1AtTime1.getVertexPosition(edgeT1.verticesId[0])); std::pair sv1 = std::make_pair( shape1AtTime0.getVertexPosition(edgeT0.verticesId[1]), shape1AtTime1.getVertexPosition(edgeT1.verticesId[1])); Math::Aabbd segmentAabb; segmentAabb.extend(sv0.first); segmentAabb.extend(sv0.second); segmentAabb.extend(sv1.first); segmentAabb.extend(sv1.second); for (size_t triangleId = 0; triangleId < shape2AtTime0.getNumTriangles(); triangleId++) { auto triangleT0 = shape2AtTime0.getTriangle(triangleId); auto triangleT1 = shape2AtTime1.getTriangle(triangleId); SURGSIM_ASSERT(triangleT0.verticesId == triangleT1.verticesId) << "Triangles are different:\n" << "(" << triangleT0.verticesId[0] << "," << triangleT0.verticesId[1] << "," << triangleT0.verticesId[2] << ")\n" << "(" << triangleT1.verticesId[0] << "," << triangleT1.verticesId[1] << "," << triangleT1.verticesId[2] << ")\n" << "triangleT0.valid = " << triangleT0.isValid << "\ntriangleT1.valid = " << triangleT1.isValid; std::pair tv0 = std::make_pair( shape2AtTime0.getVertexPosition(triangleT0.verticesId[0]), shape2AtTime1.getVertexPosition(triangleT1.verticesId[0])); std::pair tv1 = std::make_pair( shape2AtTime0.getVertexPosition(triangleT0.verticesId[1]), shape2AtTime1.getVertexPosition(triangleT1.verticesId[1])); std::pair tv2 = std::make_pair( shape2AtTime0.getVertexPosition(triangleT0.verticesId[2]), shape2AtTime1.getVertexPosition(triangleT1.verticesId[2])); Math::Aabbd triangleAabb; triangleAabb.extend(tv0.first); triangleAabb.extend(tv0.second); triangleAabb.extend(tv1.first); triangleAabb.extend(tv1.second); triangleAabb.extend(tv2.first); triangleAabb.extend(tv2.second); if (!SurgSim::Math::doAabbIntersect(segmentAabb, triangleAabb)) { continue; } double earliestTimeOfImpact = std::numeric_limits::max(); double segmentAlpha = -1.0; //!< Barycentric coordinates of P in the segment sv0sv1 //!< P = sv0 + segmentAlpha.sv0sv1 double triangleAlpha = -1.0; //!< Barycentric coordinates of P in triangle tv0tv1tv2 double triangleBeta = -1.0; //!< P = tv0 + triangleAlpha.tv0tv1 + triangleBeta.tv0tv2 // Check collision at time t = 0 Math::Vector3d pt; Math::Vector3d tn = ((tv1.first - tv0.first).cross(tv2.first - tv0.first)); if (tn.norm() < Math::Geometry::DistanceEpsilon) { SURGSIM_LOG_WARNING(Framework::Logger::getLogger("SegmentMeshTriangleMeshContact")) << "The triangle mesh contains a degenerate triangle (null normal)"; } tn.normalize(); bool segmentSegmentCcdFound = false; if (Math::doesCollideSegmentTriangle( sv0.first, sv1.first, tv0.first, tv1.first, tv2.first, tn, &pt)) { Math::Vector2d baryCoordSegment; Math::Vector3d baryCoordTriangle; if (!Math::barycentricCoordinates(pt, sv0.first, sv1.first, &baryCoordSegment)) { SURGSIM_LOG_WARNING(Framework::Logger::getLogger("SegmentMeshTriangleMeshContact")) << "[t=0] Could not deduce the barycentric coordinate of (" << pt.transpose() << ") in the segment (" << sv0.first.transpose() << ") (" << sv1.first.transpose() << ")"; } if (!Math::barycentricCoordinates(pt, tv0.first, tv1.first, tv2.first, &baryCoordTriangle)) { SURGSIM_LOG_WARNING(Framework::Logger::getLogger("SegmentMeshTriangleMeshContact")) << "[t=0] Could not deduce the barycentric coordinate of (" << pt.transpose() << ") in the triangle (" << tv0.first.transpose() << ") (" << tv1.first.transpose() << ") (" << tv2.first.transpose() << ")"; } segmentSegmentCcdFound = false; earliestTimeOfImpact = 0.0; segmentAlpha = baryCoordSegment[1]; triangleAlpha = baryCoordTriangle[1]; triangleBeta = baryCoordTriangle[2]; } else { // No collision at time t = 0, let's look for collision in the interval ]0..1] // Calculate Segment/Segment ccd double timeOfImpact; double sFactor, tFactor; if (calculateCcdContactSegmentSegment(sv0, sv1, tv0, tv1, &timeOfImpact, &sFactor, &tFactor)) { if (timeOfImpact < earliestTimeOfImpact) { segmentSegmentCcdFound = true; earliestTimeOfImpact = timeOfImpact; segmentAlpha = sFactor; triangleAlpha = tFactor; triangleBeta = 0.0; } } if (calculateCcdContactSegmentSegment(sv0, sv1, tv1, tv2, &timeOfImpact, &sFactor, &tFactor)) { if (timeOfImpact < earliestTimeOfImpact) { segmentSegmentCcdFound = true; earliestTimeOfImpact = timeOfImpact; segmentAlpha = sFactor; triangleAlpha = 1.0 - tFactor; // P = P0 + P0P1.(1 - tFactor) + P0P2.tFactor triangleBeta = tFactor; } } if (calculateCcdContactSegmentSegment(sv0, sv1, tv2, tv0, &timeOfImpact, &sFactor, &tFactor)) { if (timeOfImpact < earliestTimeOfImpact) { segmentSegmentCcdFound = true; earliestTimeOfImpact = timeOfImpact; segmentAlpha = sFactor; triangleAlpha = 0.0; // P = P0 + P0P2.(1 - tFactor) triangleBeta = 1.0 - tFactor; } } // Calculate Point/Triangle ccd double u, v; if (calculateCcdContactPointTriangle(sv0, tv0, tv1, tv2, &timeOfImpact, &u, &v)) { if (timeOfImpact < earliestTimeOfImpact) { segmentSegmentCcdFound = false; earliestTimeOfImpact = timeOfImpact; segmentAlpha = 0.0; triangleAlpha = u; triangleBeta = v; } } if (calculateCcdContactPointTriangle(sv1, tv0, tv1, tv2, &timeOfImpact, &u, &v)) { if (timeOfImpact < earliestTimeOfImpact) { segmentSegmentCcdFound = false; earliestTimeOfImpact = timeOfImpact; segmentAlpha = 1.0; triangleAlpha = u; triangleBeta = v; } } } // False positive from the AABB, no collision found if (earliestTimeOfImpact == std::numeric_limits::max()) { continue; } SURGSIM_ASSERT(segmentAlpha >= -epsilon && segmentAlpha <= (1.0 + epsilon)) << "earliestTimeOfImpact = " << earliestTimeOfImpact << "; segmentAlpha = " << segmentAlpha; SURGSIM_ASSERT(triangleAlpha >= -epsilon && triangleBeta >= -epsilon && triangleAlpha + triangleBeta <= (1.0 + epsilon + epsilon)) << "earliestTimeOfImpact = " << earliestTimeOfImpact << "; triangleAlpha = " << triangleAlpha << "; triangleBeta = " << triangleBeta << "; triangleAlpha + triangleBeta = " << triangleAlpha + triangleBeta; Math::Vector3d T, Tn; double penentrationDepthAtT1; Math::Vector3d S = Math::interpolate(sv0.second, sv1.second, segmentAlpha); { Math::Vector3d T0T1 = tv1.second - tv0.second; Math::Vector3d T0T2 = tv2.second - tv0.second; T = tv0.second + triangleAlpha * T0T1 + triangleBeta * T0T2; Tn = (segmentSegmentCcdFound) ? (T - S).normalized() : T0T1.cross(T0T2).normalized(); penentrationDepthAtT1 = (S - T).dot(Tn); } Math::Vector segmentBaryCoord(2); segmentBaryCoord << 1.0 - segmentAlpha, segmentAlpha; DataStructures::IndexedLocalCoordinate localCoordinateSegment(edgeId, segmentBaryCoord); DataStructures::Location locationSegment(localCoordinateSegment, Location::ELEMENT); locationSegment.rigidLocalPosition = S; Math::Vector triangleBaryCoord(3); triangleBaryCoord << 1.0 - triangleAlpha - triangleBeta, triangleAlpha, triangleBeta; DataStructures::IndexedLocalCoordinate localCoordinateTriangle(triangleId, triangleBaryCoord); // The location related to the TriangleMesh can carry a TRIANGLE information // e.g. part of a Mass-Spring with deformable triangulation for collision DataStructures::Location locationTriangle(localCoordinateTriangle, Location::TRIANGLE); // The location related to the TriangleMesh can carry an ELEMENT information // e.g. part of an Fem2D for example locationTriangle.elementMeshLocalCoordinate = locationTriangle.triangleMeshLocalCoordinate; // The location related to the TriangleMesh can carry a RIGID LOCAL POSITION information // e.g. part of a rigid body locationTriangle.rigidLocalPosition = pose2AtTime1.inverse() * T; auto contact = std::make_shared( COLLISION_DETECTION_TYPE_CONTINUOUS, penentrationDepthAtT1, earliestTimeOfImpact, T, Tn, std::make_pair(locationSegment, locationTriangle)); if (!isThisContactADuplicate(contact, contacts)) { contacts.push_back(std::move(contact)); } } } return contacts; } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/SegmentMeshTriangleMeshContact.h000066400000000000000000000041371277777236100256540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_SEGMENTMESHTRIANGLEMESHCONTACT_H #define SURGSIM_COLLISION_SEGMENTMESHTRIANGLEMESHCONTACT_H #include #include "SurgSim/Collision/ShapeShapeContactCalculation.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/SegmentMeshShape.h" namespace SurgSim { namespace Collision { class CollisionPair; /// Class to calculate intersections between a segment mesh and a triangle mesh class SegmentMeshTriangleMeshContact : public ShapeShapeContactCalculation { public: using ContactCalculation::calculateDcdContact; std::pair getShapeTypes() override; std::list> calculateDcdContact( const Math::SegmentMeshShape& segmentMeshShape, const Math::RigidTransform3d& segmentMeshPose, const Math::MeshShape& triangleMeshShape, const Math::RigidTransform3d& triangleMeshPose) const override; std::list> calculateCcdContact( const Math::SegmentMeshShape& shape1AtTime0, const Math::RigidTransform3d& pose1AtTime0, const Math::SegmentMeshShape& shape1AtTime1, const Math::RigidTransform3d& pose1AtTime1, const Math::MeshShape& shape2AtTime0, const Math::RigidTransform3d& pose2AtTime0, const Math::MeshShape& shape2AtTime1, const Math::RigidTransform3d& pose2AtTime1) const override; }; }; // namespace Collision }; // namespace SurgSim #endif // SURGSIM_COLLISION_SEGMENTMESHTRIANGLEMESHCONTACT_H opensurgsim-0.7.0/SurgSim/Collision/SegmentSegmentCcdIntervalCheck.cpp000066400000000000000000000305351277777236100261540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Collision/SegmentSegmentCcdIntervalCheck.h" namespace SurgSim { namespace Collision { // The order of initialization MUST match the necessary initialization order -- // if member B is calculated from member A, then B must of course be initialized after A in // the constructor, and B must be declared after A in here the class definition. SegmentSegmentCcdIntervalCheck::SegmentSegmentCcdIntervalCheck( const std::array& pT0, const std::array& pT1, const std::array& qT0, const std::array& qT1, double thicknessP, double thicknessQ, double timePrecisionEpsilon, double distanceEpsilon) : m_motionP1(pT0[0], pT1[0]), m_motionP2(pT0[1], pT1[1]), m_motionQ1(qT0[0], qT1[0]), m_motionQ2(qT0[1], qT1[1]), m_relativeP1Q1(m_motionQ1 - m_motionP1), m_relativeQ1Q2(m_motionQ2 - m_motionQ1), m_relativeP1P2(m_motionP2 - m_motionP1), m_P1Q1_P1P2_Q1Q2(Math::analyticTripleProduct(m_relativeP1Q1, m_relativeP1P2, m_relativeQ1Q2)), m_P1P2_P1Q1(Math::analyticDotProduct(m_relativeP1P2, m_relativeP1Q1)), m_Q1Q2_P1Q1(Math::analyticDotProduct(m_relativeQ1Q2, m_relativeP1Q1)), m_P1P2_Q1Q2(Math::analyticDotProduct(m_relativeP1P2, m_relativeQ1Q2)), m_P1P2_sq(Math::analyticMagnitudeSquared(m_relativeP1P2)), m_Q1Q2_sq(Math::analyticMagnitudeSquared(m_relativeQ1Q2)), m_P1P2xQ1Q2_x(Math::analyticCrossProductXAxis(m_relativeP1P2, m_relativeQ1Q2)), m_P1P2xQ1Q2_y(Math::analyticCrossProductYAxis(m_relativeP1P2, m_relativeQ1Q2)), m_P1P2xQ1Q2_z(Math::analyticCrossProductZAxis(m_relativeP1P2, m_relativeQ1Q2)), m_thicknessP(thicknessP), m_thicknessQ(thicknessQ), m_timePrecisionEpsilon(timePrecisionEpsilon), m_distanceEpsilon(distanceEpsilon), m_volumeEpsilonTimes6(0), m_muNuEpsilon(0) { } // Accessors const Math::LinearMotionND& SegmentSegmentCcdIntervalCheck::motionP1() const { return m_motionP1; } const Math::LinearMotionND& SegmentSegmentCcdIntervalCheck::motionP2() const { return m_motionP2; } const Math::LinearMotionND& SegmentSegmentCcdIntervalCheck::motionQ1() const { return m_motionQ1; } const Math::LinearMotionND& SegmentSegmentCcdIntervalCheck::motionQ2() const { return m_motionQ2; } Math::Vector3d SegmentSegmentCcdIntervalCheck::p1T0() const { return m_motionP1.getStart(); } Math::Vector3d SegmentSegmentCcdIntervalCheck::p1T1() const { return m_motionP1.getEnd(); } Math::Vector3d SegmentSegmentCcdIntervalCheck::p2T0() const { return m_motionP2.getStart(); } Math::Vector3d SegmentSegmentCcdIntervalCheck::p2T1() const { return m_motionP2.getEnd(); } Math::Vector3d SegmentSegmentCcdIntervalCheck::q1T0() const { return m_motionQ1.getStart(); } Math::Vector3d SegmentSegmentCcdIntervalCheck::q1T1() const { return m_motionQ1.getEnd(); } Math::Vector3d SegmentSegmentCcdIntervalCheck::q2T0() const { return m_motionQ2.getStart(); } Math::Vector3d SegmentSegmentCcdIntervalCheck::q2T1() const { return m_motionQ2.getEnd(); } const Math::PolynomialValues& SegmentSegmentCcdIntervalCheck::P1Q1_P1P2_Q1Q2() const { return m_P1Q1_P1P2_Q1Q2; } const Math::PolynomialValues& SegmentSegmentCcdIntervalCheck::P1P2_P1Q1() const { return m_P1P2_P1Q1; } const Math::PolynomialValues& SegmentSegmentCcdIntervalCheck::Q1Q2_P1Q1() const { return m_Q1Q2_P1Q1; } const Math::PolynomialValues& SegmentSegmentCcdIntervalCheck::P1P2_Q1Q2() const { return m_P1P2_Q1Q2; } const Math::PolynomialValues& SegmentSegmentCcdIntervalCheck::P1P2_sq() const { return m_P1P2_sq; } const Math::PolynomialValues& SegmentSegmentCcdIntervalCheck::Q1Q2_sq() const { return m_Q1Q2_sq; } Math::Interval SegmentSegmentCcdIntervalCheck::crossValueOnInterval( const Math::Interval& range) const { return ( m_P1P2xQ1Q2_x.valuesOverInterval(range).square() + m_P1P2xQ1Q2_y.valuesOverInterval(range).square() + m_P1P2xQ1Q2_z.valuesOverInterval(range).square() ); } double SegmentSegmentCcdIntervalCheck::thicknessP() const { return m_thicknessP; } double SegmentSegmentCcdIntervalCheck::thicknessQ() const { return m_thicknessQ; } void SegmentSegmentCcdIntervalCheck::setTimePrecisionEpsilon(double epsilon) { m_timePrecisionEpsilon = epsilon; } void SegmentSegmentCcdIntervalCheck::setDistanceEpsilon(double epsilon) { m_distanceEpsilon = epsilon; } void SegmentSegmentCcdIntervalCheck::setTripleProductEpsilon(double epsilon) { m_volumeEpsilonTimes6 = epsilon; } void SegmentSegmentCcdIntervalCheck::setMuNuEpsilon(double epsilon) { m_muNuEpsilon = epsilon; } double SegmentSegmentCcdIntervalCheck::timePrecisionEpsilon() const { return m_timePrecisionEpsilon; } double SegmentSegmentCcdIntervalCheck::distanceEpsilon() const { return m_distanceEpsilon; } double SegmentSegmentCcdIntervalCheck::tripleProductEpsilon() const { return m_volumeEpsilonTimes6; } double SegmentSegmentCcdIntervalCheck::muNuEpsilon() const { return m_muNuEpsilon; } SegmentSegmentCcdIntervalCheck::IntervalCheckResults SegmentSegmentCcdIntervalCheck::possibleCollisionTestNoThickness( const Math::Interval& range) const { Math::Interval P1Q1_P1P2_Q1Q2_values = P1Q1_P1P2_Q1Q2().valuesOverInterval(range); Math::Interval P1P2_P1Q1_values = P1P2_P1Q1().valuesOverInterval(range); Math::Interval Q1Q2_P1Q1_values = Q1Q2_P1Q1().valuesOverInterval(range); Math::Interval P1P2_Q1Q2_values = P1P2_Q1Q2().valuesOverInterval(range); Math::Interval P1P2_sq_values = P1P2_sq().valuesOverInterval(range); Math::Interval Q1Q2_sq_values = Q1Q2_sq().valuesOverInterval(range); Math::Interval crossProductSquared_values = crossValueOnInterval(range); P1Q1_P1P2_Q1Q2_values.addThickness(m_volumeEpsilonTimes6); bool lineDistanceIsZero = P1Q1_P1P2_Q1Q2_values.containsZero(); if (!lineDistanceIsZero) { return IntervalCheckNoCollisionVolume; } // The following eqns and their derivation are written up in // the document Segment-segmentCCDlocationcheck.pdf in the Assembla OSS Files page. See link: // https://www.assembla.com/spaces/OpenSurgSim/documents/dce2Euy6Cr5znOdmr6CpXy/download/dce2Euy6Cr5znOdmr6CpXy // 0 = \mu (P1P2 x Q1Q2)^2 - (P1P2 * P1Q1) Q1Q2^2 + (Q1Q2 * P1Q1) (P1P2 * Q1Q2) // 0 = \nu (P1P2 x Q1Q2)^2 - (Q1Q2 * P1Q1) P1P2^2 + (P1P2 * P1Q1) (P1P2 * Q1Q2) // Calculate the values of the \mu and \nu terms in the equations above; note that valid \mu and \nu are in [0,1]. // We make use of the fact that I*0 = [0,0] and I*1 = I, so I*[0,1] can be found by simply extending I to include 0. Math::Interval muNuTerm_values = crossProductSquared_values; muNuTerm_values.extendToInclude(0); // Add an epsilon to the result, to handle possible numerical noise. muNuTerm_values.addThickness(m_muNuEpsilon); Math::Interval muExpression = muNuTerm_values - P1P2_P1Q1_values * Q1Q2_sq_values + Q1Q2_P1Q1_values * P1P2_Q1Q2_values; Math::Interval nuExpression = muNuTerm_values + Q1Q2_P1Q1_values * P1P2_sq_values - P1P2_P1Q1_values * P1P2_Q1Q2_values; bool segmentLocationsMakeCollisionPossible = muExpression.containsZero() && nuExpression.containsZero(); if (!segmentLocationsMakeCollisionPossible) { return IntervalCheckNoCollisionEndpoints; } return IntervalCheckPossibleCollision; } SegmentSegmentCcdIntervalCheck::IntervalCheckResults SegmentSegmentCcdIntervalCheck::possibleCollisionTestWithThickness( const Math::Interval& range) const { Math::Interval P1Q1_P1P2_Q1Q2_values = P1Q1_P1P2_Q1Q2().valuesOverInterval(range); Math::Interval P1P2_P1Q1_values = P1P2_P1Q1().valuesOverInterval(range); Math::Interval Q1Q2_P1Q1_values = Q1Q2_P1Q1().valuesOverInterval(range); Math::Interval P1P2_Q1Q2_values = P1P2_Q1Q2().valuesOverInterval(range); Math::Interval P1P2_sq_values = P1P2_sq().valuesOverInterval(range); Math::Interval Q1Q2_sq_values = Q1Q2_sq().valuesOverInterval(range); Math::Interval P1P2xQ1Q2_sq_values = crossValueOnInterval(range); // Now we need to account for thickness. // The following eqns and their derivation are written up in // the document Line-lineCCDwiththickness.pdf in the Assembla OSS Files page. See link: // https://www.assembla.com/spaces/OpenSurgSim/documents/c_CS4My6Cr5APjacwqjQXA/download/c_CS4My6Cr5APjacwqjQXA double maxLengthP = std::sqrt(P1P2_sq_values.getMax()); double maxLengthQ = std::sqrt(Q1Q2_sq_values.getMax()); // Figure out some upper bounds on the value of | P1P2 x Q1Q2 |. // TO DO: figure out if both of the bounds are effective, i.e. if it makes sense to keep them both. // (My guess would be that the first is more effective for perpendicular segments, second for near-parallel.) double crossProductUpperBound1 = maxLengthP * maxLengthQ; // ignores the sine of the angle double crossProductUpperBound2 = std::sqrt(P1P2xQ1Q2_sq_values.getMax()); // NOT necessarily tight double crossProductUpperBound = std::min(crossProductUpperBound1, crossProductUpperBound2); // pick the LOWEST of the upper bounds... // Compute the upper bound on the volume that the tetrahedron P1P2Q1Q2 would have if the segments were // just coming into contact. (What we actually calculate is the bound on the triple product, which is // six times the tetrahedron volume.) double touchingVolumeUpperBound = crossProductUpperBound * (thicknessP() + thicknessQ()); // Just to be clear here: The triple product P1Q1_P1P2_Q1Q2_values is the 6*volume of the // tetrahedron defined by [p1, p2, q1, q2] over the interval. The value touchingVolumeUpperBound // is an upper bound of 6*volume for the tetrahedron if the the two segments just reach contact. // If the interval contains 0, then somewhere in the interval, the two volumes meet and we have // contact at that point. P1Q1_P1P2_Q1Q2_values.addThickness(touchingVolumeUpperBound); bool lineDistanceIsSmallEnough = P1Q1_P1P2_Q1Q2_values.containsZero(); if (!lineDistanceIsSmallEnough) { return IntervalCheckNoCollisionVolume; } // If we detected that a collision is possible based on segment orientation, then we will make one more // check to verify that the actual points of closest approach live on the segments. double minLengthP = std::sqrt(P1P2_sq_values.getMin()); double minLengthQ = std::sqrt(Q1Q2_sq_values.getMin()); Math::Interval weightCoefficient = P1P2xQ1Q2_sq_values; // So, if we consider the endpoints, then the lambda and \mu overshoots extend the physical dimension // to include the end caps of the capsules. The division of the radii by minLengthX scales the implicit // overshoot proportionately to the length of the vector. E.g. so if the radii of the segments combine // to be 10% of the length of segment P, then the lambda interval will be extended by 10% = 0.1 at // the beginning and end, i.e. [-0.1, 1.1] double lambdaOvershoot = (thicknessP() + thicknessQ()) / minLengthP; Math::Interval lambdaInterval = Math::Interval(-lambdaOvershoot, 1. + lambdaOvershoot); Math::Interval lambdaExpression = lambdaInterval * weightCoefficient - P1P2_P1Q1_values * Q1Q2_sq_values + Q1Q2_P1Q1_values * P1P2_Q1Q2_values; double muOvershoot = (thicknessP() + thicknessQ()) / minLengthQ; Math::Interval muInterval = Math::Interval(-muOvershoot, 1. + muOvershoot); Math::Interval muExpression = muInterval * weightCoefficient + Q1Q2_P1Q1_values * P1P2_sq_values - P1P2_P1Q1_values * P1P2_Q1Q2_values; bool segmentLocationsMakeCollisionPossible = lambdaExpression.containsZero() && muExpression.containsZero(); if (!segmentLocationsMakeCollisionPossible) { return IntervalCheckNoCollisionEndpoints; } return IntervalCheckPossibleCollision; } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/SegmentSegmentCcdIntervalCheck.h000066400000000000000000000227751277777236100256300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_SEGMENTSEGMENTCCDINTERVALCHECK_H #define SURGSIM_COLLISION_SEGMENTSEGMENTCCDINTERVALCHECK_H #include "SurgSim/Math/LinearMotionArithmetic.h" #include "SurgSim/Math/PolynomialValues.h" namespace SurgSim { namespace Collision { /// /// SegmentSegmentCcdIntervalCheck uses the Interval classes including the LinearMotion /// and Polynomial families to quickly determine if there is a possible collision between /// two moving segments over a specified time interval. The time interval /// under consideration is defined as a subset of the parametric time interval [0, 1]. /// /// Details of the actual time of collision and the implementation of the recursion /// strategy are at a higher level. /// /// \sa Interval, IntervalND, LinearMotion, and Polynomial /// class SegmentSegmentCcdIntervalCheck { public: /// Enum /// Possible interval check return values. IntervalCheckPossibleCollision indicates /// the given interval may have a collision between the segments, while /// IntervalCheckNoCollisionVolume indicates no collision based on a gross volume /// calculation and IntervalCheckNoCollisionEndpoints indicates that the endpoint /// check indicates that the segments do not overlap at closest approach. enum IntervalCheckResults { IntervalCheckPossibleCollision, IntervalCheckNoCollisionVolume, IntervalCheckNoCollisionEndpoints }; /// Constructor /// \param pT0 Starting and ending vertices for segment p at time 0 /// \param pT1 Starting and ending vertices for segment p at time 1 /// \param qT0 Starting and ending vertices for segment q at time 0 /// \param qT1 Starting and ending vertices for segment q at time 1 /// \param thicknessP Radius of segment P /// \param thicknessQ Radius of segment Q /// \param timePrecisionEpsilon Desired time accuracy /// \param distanceEpsilon Desired distance accuracy SegmentSegmentCcdIntervalCheck(const std::array& pT0, const std::array& pT1, const std::array& qT0, const std::array& qT1, double thicknessP, double thicknessQ, double timePrecisionEpsilon, double distanceEpsilon); /// @{ /// Motion accessors /// \return the motion vector (value(t1) - value(t0)) for the segment endpoints p1, p2, q1, and q2, respectively. const Math::LinearMotionND& motionP1() const; const Math::LinearMotionND& motionP2() const; const Math::LinearMotionND& motionQ1() const; const Math::LinearMotionND& motionQ2() const; /// @} /// @{ /// Endpoint accessors /// \return the motion vector [value(t0), value(t0)] for the segment endpoints p1, p2, q1, and q2, respectively. Math::Vector3d p1T0() const; Math::Vector3d p1T1() const; Math::Vector3d p2T0() const; Math::Vector3d p2T1() const; Math::Vector3d q1T0() const; Math::Vector3d q1T1() const; Math::Vector3d q2T0() const; Math::Vector3d q2T1() const; /// @} /// Triple product value /// \return the triple product of (Q1(t) - P1(t)) X (P2(t) - P1(t)) X (Q2(t) - Q1(t)) as a 3rd degree polynomial /// where P1, P2,Q1 and Q2 are time dependent positions for the segment endpoints. /// \note the triple product is equivalent to 6 x the volume of tetrahedron P1P2Q1Q2. The polynomial /// captures the variation in volume over the time interval. const Math::PolynomialValues& P1Q1_P1P2_Q1Q2() const; /// @{ /// Dot product accessors for time dependent vertex positions P1(t), P2(t), Q1(t) and Q2(t) /// \return the dot product of the difference operators for the named endpoints const Math::PolynomialValues& P1P2_P1Q1() const; const Math::PolynomialValues& Q1Q2_P1Q1() const; const Math::PolynomialValues& P1P2_Q1Q2() const; /// @} /// @{ /// Magnitude squared product accessors /// \return the squared magnitude of the difference operators for time dependent /// vertex positions P1(t), P2(t), Q1(t) and Q2(t). const Math::PolynomialValues& P1P2_sq() const; const Math::PolynomialValues& Q1Q2_sq() const; /// @} /// \param range the interval over which the cross product values are to be bounded. /// \return the minimum and maximum of (P2 - P1) X (Q2 - Q1) restricted to the interval range. Math::Interval crossValueOnInterval(const Math::Interval& range) const; /// @{ /// Thickness accessors /// \return the thickness parameters for P and Q, respectively. double thicknessP() const; double thicknessQ() const; /// @} /// @{ /// Algorithm epsilons. Set the epsilon values for the various member variables. /// \param epsilon the algorithm epsilon parameters for "close enough" decisions. void setTimePrecisionEpsilon(double epsilon); void setDistanceEpsilon(double epsilon); void setTripleProductEpsilon(double epsilon); void setMuNuEpsilon(double epsilon); /// @} /// @{ /// Algorithm epsilons /// \return the algorithm epsilon parameters for "close enough" decisions. double timePrecisionEpsilon() const; double distanceEpsilon() const; double tripleProductEpsilon() const; double muNuEpsilon() const; /// @} /// Check if a collision is possible within a specified time interval assuming ideal (0 thickness) segments /// \param range the parametric [0, 1] time interval over which the collision is to be detected. /// \return IntervalCheckPossibleCollision, IntervalCheckNoCollisionVolume, or IntervalCheckNoCollisionEndpoints /// indicating if a collision is possible (returns IntervalCheckPossibleCollision); if tetrahedron /// (P1, P2, Q1, Q2) has too great a volume for a collision (returns IntervalCheckNoCollisionVolume); /// or if the possibly valid collision is not contained /// within segments (P1, P2) and (Q1, Q2) (returns IntervalCheckNoCollisionEndpoints). IntervalCheckResults possibleCollisionTestNoThickness(const Math::Interval& range) const; /// Check if a collision is possible within a specified time interval assuming segments with fixed radius /// \param range the parametric [0, 1] time interval over which the collision is to be detected. /// \return IntervalCheckPossibleCollision, IntervalCheckNoCollisionVolume, or IntervalCheckNoCollisionEndpoints /// indicating if a collision is possible (returns IntervalCheckPossibleCollision); if tetrahedron /// (P1, P2, Q1, Q2) has too great a volume for a collision (returns IntervalCheckNoCollisionVolume); /// or if the possibly valid collision is not contained /// within segments (P1, P2) and (Q1, Q2) (returns IntervalCheckNoCollisionEndpoints). IntervalCheckResults possibleCollisionTestWithThickness(const Math::Interval& range) const; private: /// @{ /// Private constructor and assignment operators to prevent copying. SegmentSegmentCcdIntervalCheck(const SegmentSegmentCcdIntervalCheck&); SegmentSegmentCcdIntervalCheck& operator=(const SegmentSegmentCcdIntervalCheck&); /// @} /// @{ /// Linear motion intervals for each of the segment endpoints from t(0) to t(1). Math::LinearMotionND m_motionP1; Math::LinearMotionND m_motionP2; Math::LinearMotionND m_motionQ1; Math::LinearMotionND m_motionQ2; /// @} /// @{ /// Linear motion intervals for relative endpoint differences (i.e. P1Q1 indicates that the /// interval encodes Q1 - P1). Math::LinearMotionND m_relativeP1Q1; Math::LinearMotionND m_relativeQ1Q2; Math::LinearMotionND m_relativeP1P2; /// @} /// The triple product of (Q1(t) - P1(t)) X (P2(t) - P1(t)) X (Q2(t) - Q1(t)) as a 3rd degree polynomial /// where P1, P2,Q1 and Q2 are time dependent positions for the segment endpoints. /// \note the triple product is equivalent to 6 x the volume of tetrahedron P1P2Q1Q2. Math::PolynomialValues m_P1Q1_P1P2_Q1Q2; /// @{ /// Dot product accessors /// The dot product for time dependent vertex positions P1(t), P2(t), Q1(t) and Q2(t) Math::PolynomialValues m_P1P2_P1Q1; Math::PolynomialValues m_Q1Q2_P1Q1; Math::PolynomialValues m_P1P2_Q1Q2; /// @} /// @{ /// The squared magnitude of the difference operators for time dependent /// vertex positions P1(t), P2(t), Q1(t) and Q2(t). Math::PolynomialValues m_P1P2_sq; Math::PolynomialValues m_Q1Q2_sq; /// @} /// @{ /// The x, y and z components of (P2 - P1) X (Q2 - Q1). Math::PolynomialValues m_P1P2xQ1Q2_x; Math::PolynomialValues m_P1P2xQ1Q2_y; Math::PolynomialValues m_P1P2xQ1Q2_z; /// @} /// @{ /// The thickness parameters for P and Q, respectively. double m_thicknessP; double m_thicknessQ; /// @} /// @{ /// The algorithm epsilon parameters for "close enough" decisions. double m_timePrecisionEpsilon; double m_distanceEpsilon; double m_volumeEpsilonTimes6; double m_muNuEpsilon; /// @} }; }; // namespace Collision }; // namespace SurgSim #endif // SURGSIM_COLLISION_SEGMENTSEGMENTCCDINTERVALCHECK_Hopensurgsim-0.7.0/SurgSim/Collision/SegmentSegmentCcdMovingContact.cpp000066400000000000000000000450641277777236100262100ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/SegmentSegmentCcdMovingContact.h" #include #include "SurgSim/Collision/SegmentSegmentCcdIntervalCheck.h" #include "SurgSim/Collision/SegmentSegmentCcdStaticContact.h" #include "SurgSim/Framework/LogMacros.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/Vector.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { SegmentSegmentCcdMovingContact::SegmentSegmentCcdMovingContact() : m_distanceEpsilon(1.0e-09), m_logger(Framework::Logger::getLogger("CCDMovingContactLog")) { } bool SegmentSegmentCcdMovingContact::collideMovingSegmentSegment( const std::array& pt0Positions, const std::array& pt1Positions, const std::array& qt0Positions, const std::array& qt1Positions, double thicknessEpsilon, double timePrecisionEpsilon, double* t, double* r, double* s, Math::Vector3d* pToQDir) { return collideMovingSegmentSegment(pt0Positions, pt1Positions, qt0Positions, qt1Positions, thicknessEpsilon / 2.0, thicknessEpsilon / 2.0, timePrecisionEpsilon, t, r, s, pToQDir); } bool SegmentSegmentCcdMovingContact::collideMovingSegmentSegment( const std::array& pt0Positions, const std::array& pt1Positions, const std::array& qt0Positions, const std::array& qt1Positions, double thicknessP, double thicknessQ, double timePrecisionEpsilon, double* t, double* r, double* s, Math::Vector3d* pToQDir) { bool ans = collideSegmentSegmentBaseCase( pt0Positions, pt1Positions, qt0Positions, qt1Positions, thicknessP, thicknessQ, timePrecisionEpsilon, t, r, s); if (ans) { // Calculate the contact points at t. Math::Vector3d contactPointP = Math::interpolate( Math::interpolate(pt0Positions[0], pt0Positions[1], *r), Math::interpolate(pt1Positions[0], pt1Positions[1], *r), *t); Math::Vector3d contactPointQ = Math::interpolate( Math::interpolate(qt0Positions[0], qt0Positions[1], *s), Math::interpolate(qt1Positions[0], qt1Positions[1], *s), *t); *pToQDir = contactPointQ - contactPointP; } return ans; } bool SegmentSegmentCcdMovingContact::collideSegmentSegmentBaseCase( const std::array& pT0, const std::array& pT1, const std::array& qT0, const std::array& qT1, double thicknessP, double thicknessQ, double timePrecisionEpsilon, double* t, double* r, double* s) { bool collisionFound = false; const double parallelEpsilon = 1e-9; const double degenerateEpsilon = 1e-10; const double coplanarEpsilon = 1e-18; const double parallelEpsilon2 = parallelEpsilon * parallelEpsilon; Math::Vector3d p0t0p1t0 = pT0[1] - pT0[0]; Math::Vector3d q0t0q1t0 = qT0[1] - qT0[0]; Math::Vector3d p0t1p1t1 = pT1[1] - pT1[0]; Math::Vector3d q0t1q1t1 = qT1[1] - qT1[0]; //################################################################# // 1st) Case of parallel segment through time step (at t=0 and t=1) // // Check if the cross product is near zero at both t0 and t1. Math::Vector3d p0t0p1t0_vec_q0t0q1t0 = p0t0p1t0.cross(q0t0q1t0); Math::Vector3d p0t1p1t1_vec_q0t1q1t1 = p0t1p1t1.cross(q0t1q1t1); double p0t0p1t0_vec_q0t0q1t0_SQ = p0t0p1t0_vec_q0t0q1t0.squaredNorm(); double p0t1p1t1_vec_q0t1q1t1_SQ = p0t1p1t1_vec_q0t1q1t1.squaredNorm(); if (p0t0p1t0_vec_q0t0q1t0_SQ < parallelEpsilon2 && p0t1p1t1_vec_q0t1q1t1_SQ < parallelEpsilon2) { SURGSIM_LOG_WARNING(m_logger) << "Segments are parallel at start and end of time step. " << "Handling with parallel method rather than general method."; // Either it collides at t=0 or we do a dichotomy to find intersection in [0..1] if (m_staticTest.collideStaticSegmentSegment(pT0, qT0, thicknessP, thicknessQ, r, s)) { *t = 0.0; collisionFound = true; } else { collisionFound = collideSegmentSegmentParallelCase( pT0, // Segment 1 at t=0 pT1, // Segment 1 at t=1 qT0, // Segment 2 at t=0 qT1, // Segment 2 at t=1 0.0, 1.0, thicknessP, thicknessQ, timePrecisionEpsilon, t, r, s); } } else { //################################################################# // 2nd) Case of coplanar segment through time step (at t=0 and t=1) // Calculate the normal of p X q for at least one of the end points of // q. Do this at both t=0 and t=1. Math::Vector3d pt0Xqt0 = Math::robustCrossProduct(pT0, qT0, degenerateEpsilon); Math::Vector3d pt1Xqt1 = Math::robustCrossProduct(pT1, qT1, degenerateEpsilon); // TODO(wturner): Currently set to (10^-9), but has been as high as (10^-7) in previous versions. // verify that this value works as intended. If not, we will need to add and set another // member variable for the additional threshold. normalizeSegmentsConsistently(&q0t0q1t0, &q0t1q1t1, m_distanceEpsilon); // Do the segments remain coplanar all the time ? if (std::fabs(pt0Xqt0.dot(q0t0q1t0)) < coplanarEpsilon && std::fabs(pt1Xqt1.dot(q0t1q1t1)) < coplanarEpsilon) { SURGSIM_LOG_WARNING(m_logger) << "Segments are coplanar at start and end of " << "the time step. Handling with coplanar method."; if (m_staticTest.collideStaticSegmentSegment(pT0, qT0, thicknessP, thicknessQ, r, s)) { *t = 0.0; collisionFound = true; } else { // At this point, {r,s} are computed for t=0 ! collisionFound = collideSegmentSegmentCoplanarCase( pT0, // Segment 1 at t=0 pT1, // Segment 1 at t=1 qT0, // Segment 2 at t=0 qT1, // Segment 2 at t=1 0.0, 1.0, // Interval boundaries timePrecisionEpsilon, thicknessP, thicknessQ, t, r, s); } } else { //################################################################# // 3rd) General case SegmentSegmentCcdIntervalCheck state(pT0, pT1, qT0, qT1, thicknessP, thicknessQ, timePrecisionEpsilon, -1); collisionFound = collideSegmentSegmentGeneralCase( state, 0.0, 1.0, // Look inside the interval t [0..1] t, r, s); } } return collisionFound; } bool SegmentSegmentCcdMovingContact::collideSegmentSegmentParallelCase( const std::array& pT0, const std::array& pT1, const std::array& qT0, const std::array& qT1, double a, double b, double thicknessP, double thicknessQ, double timePrecisionEpsilon, double* t, double* r, double* s, int depth /*= 0*/) { // Geometry at time t=b Math::Vector3d p0Tb = Math::interpolate(pT0[0], pT1[0], b); // p[0] interpolated at time b Math::Vector3d p1Tb = Math::interpolate(pT0[1], pT1[1], b); // p[1] interpolated at time b Math::Vector3d q0Tb = Math::interpolate(qT0[0], qT1[0], b); // q[0] interpolated at time b Math::Vector3d q1Tb = Math::interpolate(qT0[1], qT1[1], b); // q[1] interpolated at time b std::array pb = {p0Tb, p1Tb}; std::array qb = {q0Tb, q1Tb}; if (b - a < timePrecisionEpsilon) { // We know that no collision happened at t=a, that is why we recursed to this level, but // we believe that there is a collision in the interval. If our time precision is good enough, // the segments should be colliding at t=b. Otherwise, we are either moving too fast to detect // this collision, or something went wrong. Report true and make a best guess at the middle of // the current interval. if (m_staticTest.collideStaticSegmentSegment(pb, qb, thicknessP, thicknessQ, r, s)) { *t = b; } else { *t = ((b + a) / 2.0); } return true; } // Geometry at time t=a Math::Vector3d p0Ta = Math::interpolate(pT0[0], pT1[0], a); // p[0] interpolated at time a Math::Vector3d q0Ta = Math::interpolate(qT0[0], qT1[0], a); // q[0] interpolated at time a Math::Vector3d q1Ta = Math::interpolate(qT0[1], qT1[1], a); // q[1] interpolated at time a // Compute intermediate geometry..and work on subdivisions based on 1/nbSubPoint (instead of 1/2) // // During this next phase, we potentially take two passes through the system. In the first pass, we // do a quick check to see if we can find a collision at the end of any subdivision using our static // segment code. If we do, we can immediately recurse only on that subdivision to further refine // our time estimate. // // Otherwise, failing to find an easy detection, there is the possibility that we are moving // towards an intersection at the start of an interval and away at the end. Any possible // contact would be within the bracketed time frame, so if we detect it, we also recurse on the // candidate interval. // double t_i[SUB_POINTS_PARALLEL_CASE + 1]; Math::Vector3d p0p0Proj[SUB_POINTS_PARALLEL_CASE + 1]; Math::Vector3d p0Proj = Math::nearestPointOnLine(p0Ta, q0Ta, q1Ta); p0p0Proj[0] = p0Proj - p0Ta; t_i[0] = a; double deltaT = 1.0 / SUB_POINTS_PARALLEL_CASE; for (int i = 1 ; i <= SUB_POINTS_PARALLEL_CASE ; i++) { t_i[i] = a + (b - a) * (i * deltaT); double r_i; double s_i; // p and q at time i std::array p_i = {Math::interpolate(pT0[0], pT1[0], t_i[i]), Math::interpolate(pT0[1], pT1[1], t_i[i]) }; std::array q_i = {Math::interpolate(qT0[0], qT1[0], t_i[i]), Math::interpolate(qT0[1], qT1[1], t_i[i]) }; if (m_staticTest.collideStaticSegmentSegment(p_i, q_i, thicknessP, thicknessQ, &r_i, &s_i)) { // Collision happens between [t[i-1]..t[i]] return collideSegmentSegmentParallelCase( pT0, pT1, qT0, qT1, t_i[i - 1], t_i[i], thicknessP, thicknessQ, timePrecisionEpsilon, t, r, s, depth + 1); } p0Proj = Math::nearestPointOnLine(p_i[0], q_i[0], q_i[1]); p0p0Proj[i] = p0Proj - p_i[0]; } // No collision found at the discretization // Let analyze the variation of p1q1...if it switches direction, we more // likely passed a parallel intersection case in between ! for (int i = 0; i < SUB_POINTS_PARALLEL_CASE; i++) { if (p0p0Proj[i].dot(p0p0Proj[i + 1]) < 0.0) { bool found = collideSegmentSegmentParallelCase( pT0, pT1, qT0, qT1, t_i[i], t_i[i + 1], thicknessP, thicknessQ, timePrecisionEpsilon, t, r, s, depth + 1); if (found) { return true; } } } return false; } bool SegmentSegmentCcdMovingContact::collideSegmentSegmentCoplanarCase( const std::array& pT0, /* Segment 1 at t=0 */ const std::array& pT1, /* Segment 1 at t=1 */ const std::array& qT0, /* Segment 2 at t=0 */ const std::array& qT1, /* Segment 2 at t=1 */ double a, double b, /* Interval boundaries */ double timePrecisionEpsilon, double thickness_p, double thickness_q, double* t, double* r, double* s, int depth /*= 0*/) { // Geometry at time t=b Math::Vector3d p0Tb = Math::interpolate(pT0[0], pT1[0], b); // p[0] interpolated at time b Math::Vector3d p1Tb = Math::interpolate(pT0[1], pT1[1], b); // p[1] interpolated at time b Math::Vector3d q0Tb = Math::interpolate(qT0[0], qT1[0], b); // q[0] interpolated at time b Math::Vector3d q1Tb = Math::interpolate(qT0[1], qT1[1], b); // q[1] interpolated at time b if (b - a < timePrecisionEpsilon) { std::array pTb = {p0Tb, p1Tb}; std::array qTb = {q0Tb, q1Tb}; // We do know that no collision happen at t=a. // We do know that a collision happen in between, but not sure exactly when... // and more likely the 2 segments are colliding at t=b if (m_staticTest.collideStaticSegmentSegment(pTb, qTb, thickness_p, thickness_q, r, s)) { *t = b; } else { *t = ((b + a) / 2.0); } return true; } // Geometry at time t=a Math::Vector3d p0Ta = Math::interpolate(pT0[0], pT1[0], a); // p[0] interpolated at time a Math::Vector3d p1Ta = Math::interpolate(pT0[1], pT1[1], a); // p[1] interpolated at time a Math::Vector3d q0Ta = Math::interpolate(qT0[0], qT1[0], a); // q[0] interpolated at time a Math::Vector3d q1Ta = Math::interpolate(qT0[1], qT1[1], a); // q[1] interpolated at time a // Compute intermediate geometry..and work on dichotomy based on 1/nbSubPoint (instead of 1/2) double t_i[SUB_POINTS_COPLANAR_CASE + 1]; Math::Vector3d normal[SUB_POINTS_COPLANAR_CASE + 1]; double deltaT = 1.0 / SUB_POINTS_COPLANAR_CASE; double r_i[SUB_POINTS_COPLANAR_CASE + 1], s_i[SUB_POINTS_COPLANAR_CASE + 1]; t_i[0] = a; r_i[0] = *r; s_i[0] = *s; normal[0] = (p1Ta - p0Ta).cross(q1Ta - q0Ta).normalized(); for (int i = 1 ; i <= SUB_POINTS_COPLANAR_CASE ; i++) { t_i[i] = a + (b - a) * (i * deltaT); // p and q at time i std::array p_i = {Math::interpolate(pT0[0], pT1[0], t_i[i]), Math::interpolate(pT0[1], pT1[1], t_i[i]) }; std::array q_i = {Math::interpolate(qT0[0], qT1[0], t_i[i]), Math::interpolate(qT0[1], qT1[1], t_i[i]) }; if (m_staticTest.collideStaticSegmentSegment(p_i, q_i, thickness_p, thickness_q, &r_i[i], &s_i[i])) { *r = r_i[i - 1]; *s = s_i[i - 1]; return collideSegmentSegmentCoplanarCase( pT0, // Segment 1 at t=0 pT1, // Segment 1 at t=1 qT0, // Segment 2 at t=0 qT1, // Segment 2 at t=1 t_i[i - 1], t_i[i], // Interval boundaries timePrecisionEpsilon, thickness_p, thickness_q, t, r, s, depth + 1); } normal[i] = (p_i[1] - p_i[0]).cross(q_i[1] - q_i[0]).normalized(); } // Check for a flip or a change in normal. If one is detected, then a collision might occur within the // current interval. Recurse and check. for (int i = 1; i <= SUB_POINTS_COPLANAR_CASE; i++) { if (checkForCoplanarContactWithinInterval(r_i[i - 1], r_i[i], s_i[i - 1], s_i[i], normal[i - 1], normal[i])) { double old_r = *r; double old_s = *s; *r = r_i[i - 1]; *s = s_i[i - 1]; bool found = collideSegmentSegmentCoplanarCase( pT0, // Segment 1 at t=0 pT1, // Segment 1 at t=1 qT0, // Segment 2 at t=0 qT1, // Segment 2 at t=1 t_i[i - 1], t_i[i], // Interval boundaries timePrecisionEpsilon, thickness_p, thickness_q, t, r, s, depth + 1); if (found) { return true; } *r = old_r; *s = old_s; } } return false; } bool SegmentSegmentCcdMovingContact::collideSegmentSegmentGeneralCase( const SegmentSegmentCcdIntervalCheck& state, double a, double b, // Interval boundaries double* t, double* r, double* s, int depth) { Math::Interval range(a, b); if (state.possibleCollisionTestWithThickness(range) != SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision) { return false; } // Recursion bottoms out at time precision. if (b - a < state.timePrecisionEpsilon()) { std::array pTb = {state.motionP1().atTime(b), state.motionP2().atTime(b)}; std::array qTb = {state.motionQ1().atTime(b), state.motionQ2().atTime(b)}; *t = b; // The recursion has bottomed out, and we should have already detected if we are colliding at t=0. // Make one final check at the other end of the interval and end the recursion. return m_staticTest.collideStaticSegmentSegment(pTb, qTb, state.thicknessP(), state.thicknessQ(), r, s); } // Otherwise, recursion has not yet bottomed out, go down one more level. double midpoint = (a + b) * 0.5; // Test 1st semi-interval [a, (a + b) / 2] if (collideSegmentSegmentGeneralCase( state, a, midpoint, t, r, s, depth + 1)) { return true; } // Test 2nd semi-interval [(a + b) / 2, b] if (collideSegmentSegmentGeneralCase( state, midpoint, b, t, r, s, depth + 1)) { return true; } return false; } void SegmentSegmentCcdMovingContact::normalizeSegmentsConsistently(Math::Vector3d* t0, Math::Vector3d* t1, double epsilon) const { // safely normalize t0 and t1. We will need to calculate // dot products against them to test orthogonality with p X q at // the two time points. double norm_t0 = t0->norm(); double norm_t1 = t1->norm(); if (norm_t0 >= epsilon) { *t0 *= 1.0 / norm_t0; if (norm_t1 >= epsilon) { // t0 and t1 both good *t1 *= 1.0 / norm_t1; } else { // t0 good, t1 bad *t1 = *t0; // t1 <- t0 SURGSIM_LOG_WARNING(m_logger) << "Segment is degenerate at time 1. Using time 0 " << "value for both coplanarity tests."; } } else if (norm_t1 >= epsilon) { // t1 good, t0 bad *t1 *= 1.0 / norm_t1; *t0 = *t1; // t0 <- t1 SURGSIM_LOG_WARNING(m_logger) << "Segment is degenerate at time 0. Using time 1 value for " << "both coplanarity tests."; } else { SURGSIM_LOG_WARNING(m_logger) << "Segment is degenerate at time 0 and time 1. Unable to " << "normalize for coplanarity tests."; } } bool SegmentSegmentCcdMovingContact::checkForCoplanarContactWithinInterval( double rCurrent, double rNext, double sCurrent, double sNext, const Math::Vector3d& nCurrent, const Math::Vector3d& nNext) const { // TODO(wturner): Given the original code, this test IS ALWAYS TRUE as r and s are clamped to [0, 1] // and numberSubpoints > 1. I do not think this was operational and that may explain the extraordinarily // small epsilon (1.0e-18) being used a the gatekeeper to this function: // // return (((rCurrent >= 0 && rCurrent < 1) || (rCurrent < 0 && rNext >= 0) || (rCurrent > 1 && rNext <= 1)) && // ((sCurrent >= 0 && sCurrent < 1) || (sCurrent < 0 && sNext >= 0) || (sCurrent > 1 && sNext <= 1)) && // rCurrent * rNext > -(double)numberSubpoints * 0.5 // && sCurrent * sNext > -(double)numberSubpoints * 0.5) || // (nCurrent.dot(nNext) < 0.0); return (((rCurrent > 0.0 && rCurrent < 1.0) || (rCurrent == 0.0 && rNext > 0) || (std::abs(rCurrent - 1.0) < m_distanceEpsilon && rNext < 1.0)) && ((sCurrent > 0.0 && sCurrent < 1.0) || (sCurrent == 0.0 && sNext > 0) || (std::abs(sCurrent - 1.0) < m_distanceEpsilon && sNext < 1.0))) || (nCurrent.dot(nNext) < 0.0); } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/SegmentSegmentCcdMovingContact.h000066400000000000000000000314711277777236100256520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_SEGMENTSEGMENTCCDMOVINGCONTACT_H #define SURGSIM_COLLISION_SEGMENTSEGMENTCCDMOVINGCONTACT_H #include #include "SurgSim/Collision/SegmentSegmentCcdIntervalCheck.h" #include "SurgSim/Collision/SegmentSegmentCcdStaticContact.h" #include "SurgSim/Framework/Logger.h" namespace SurgSim { namespace Math { class SegmentMeshShape; }; namespace Collision { class CollisionPair; /// SegmentSegmentCcdMovingContact computes the self collisions among a SegmentMesh under motion at two /// time points parametrized over the time interval [0,1]. An initial phase uses the AABB tree to /// select a set of potentially colliding segments from the SegmentMesh. For each of these /// candidate segment pairs, the goal is to determine the point of earliest contact should any exist. /// /// At the highest level the actual collision detection of candidate segment pairs is a two phase /// algorithm. First determine if there is contact at the start of an interval and report the contact if /// found. If no contact is found at the start, subdivide the interval, determine which of the resulting /// candidate subintervals may have collisions, and then recursively check those promising subintervals. /// Note that a simple algorithm based on interval arithmetic (including the Interval, LinearMotion and /// Polynomial interval classes) allows for a quick determination of promising subintervals allowing many /// of the subintervals to be pruned during the subdivision step without forcing the recursion to bottom out. /// /// \sa Interval, LinearMotion, Polynomial, SegmentSegmentCcdIntervalCheck /// class SegmentSegmentCcdMovingContact { public: static const int SUB_POINTS_PARALLEL_CASE = 5; static const int SUB_POINTS_COPLANAR_CASE = 10; /// Constructor. SegmentSegmentCcdMovingContact(); /// Calculate if, where, and when the segments p and q collide in the interval from t = 0 to t = 1 /// for "zero" thickness segments. /// \param pt0Positions are the segment endpoints for the first segment at time t=0. /// \param pt1Positions are the segment endpoints for the first segment at time t=1. /// \param qt0Positions are the segment endpoints for the second segment at time t=0. /// \param qt1Positions are the segment endpoints for the second segment at time t=1. /// \param thicknessEpsilon spatial nearness criteria for declaring a contact. /// \param timePrecisionEpsilon time nearness criteria for declaring a contact. /// \param t [out] parametric location of the collision along the time axes in the interval [0, 1] /// \param r [out] parametric location of the collision along p in the interval [0, 1] /// \param s [out] parametric location of the collision along q in the interval [0, 1] /// \param pToQDir [out] direction from the contact point on p to the contact point on q /// \return true if p and q collide in interval [0, 1] bool collideMovingSegmentSegment( const std::array& pt0Positions, const std::array& pt1Positions, const std::array& qt0Positions, const std::array& qt1Positions, double thicknessEpsilon, double timePrecisionEpsilon, double* t, double* r, double* s, Math::Vector3d* pToQDir); /// Calculate if, where, and when the segments p and q collide in the interval from t = 0 to t = 1 /// for thick segments. /// \param pt0Positions are the segment endpoints for the first segment at time t=0. /// \param pt1Positions are the segment endpoints for the first segment at time t=1. /// \param qt0Positions are the segment endpoints for the second segment at time t=0. /// \param qt1Positions are the segment endpoints for the second segment at time t=1. /// \param thicknessP radius of segment p. /// \param thicknessQ radius of segment q. /// \param timePrecisionEpsilon time nearness criteria for declaring a contact. /// \param t [out] parametric location of the collision along the time axes in the interval [0, 1] /// \param r [out] parametric location of the collision along p in the interval [0, 1] /// \param s [out] parametric location of the collision along q in the interval [0, 1] /// \param pToQDir [out] direction from the contact point on p to the contact point on q at time t /// \return true if p and q collide in interval [0, 1] bool collideMovingSegmentSegment( const std::array& pt0Positions, const std::array& pt1Positions, const std::array& qt0Positions, const std::array& qt1Positions, double thicknessP, double thicknessQ, double timePrecisionEpsilon, double* t, double* r, double* s, Math::Vector3d* pToQDir); protected: /// Manage the collision of moving segments as a series of cases based on the segment /// relationships over the moving interval. /// \param pT0 are the segment endpoints for the first segment at time t=0. /// \param pT1 are the segment endpoints for the first segment at time t=1. /// \param qT0 are the segment endpoints for the second segment at time t=0. /// \param qT1 are the segment endpoints for the second segment at time t=1. /// \param thicknessP radius of segment p. /// \param thicknessQ radius of segment q. /// \param timePrecisionEpsilon time nearness criteria for declaring a contact. /// \param t [out] parametric location of the collision along the time axes in the interval [0, 1] /// \param r [out] parametric location of the collision along p in the interval [0, 1] /// \param s [out] parametric location of the collision along q in the interval [0, 1] /// \return true if p and q collide in interval [0, 1] bool collideSegmentSegmentBaseCase( const std::array& pT0, const std::array& pT1, const std::array& qT0, const std::array& qT1, double thicknessP, double thicknessQ, double timePrecisionEpsilon, double* t, double* r, double* s); /// Manage the specific case of detecting collisions between segments p and q which are parallel throughout /// the parametric time interval of interest [a, b]. /// \param pT0 are the segment endpoints for the first segment at time t=0. /// \param pT1 are the segment endpoints for the first segment at time t=1. /// \param qT0 are the segment endpoints for the second segment at time t=0. /// \param qT1 are the segment endpoints for the second segment at time t=1. /// \param a parametric starting point of the interval of interest. /// \param b parametric ending point of the interval of interest. /// \param thicknessP radius of segment p. /// \param thicknessQ radius of segment q. /// \param timePrecisionEpsilon time nearness criteria for declaring a contact. /// \param t [out] parametric location of the collision along the time axes in the interval [0, 1] /// \param r [in/out] parametric location of the collision along p in the interval [0, 1] /// \param s [in/out] parametric location of the collision along q in the interval [0, 1] /// \param depth recursion depth. /// \return true if p and q collide in interval [a, b] bool collideSegmentSegmentParallelCase( const std::array& pT0, const std::array& pT1, const std::array& qT0, const std::array& qT1, double a, double b, double thicknessP, double thicknessQ, double timePrecisionEpsilon, double* t, double* r, double* s, int depth = 0); /// Manage the specific case of detecting collisions between segments p and q which are coplanar throughout /// the parametric time interval of interest [a, b]. /// \param pT0 are the segment endpoints for the first segment at time t=0. /// \param pT1 are the segment endpoints for the first segment at time t=1. /// \param qT0 are the segment endpoints for the second segment at time t=0. /// \param qT1 are the segment endpoints for the second segment at time t=1. /// \param a parametric starting point of the interval of interest. /// \param b parametric ending point of the interval of interest. /// \param thicknessP radius of segment p. /// \param thicknessQ radius of segment q. /// \param timePrecisionEpsilon time nearness criteria for declaring a contact. /// \param t [out] parametric location of the collision along the time axes in the interval [0, 1] /// \param r [in/out] parametric location of the collision along p in the interval [0, 1] /// \param s [in/out] parametric location of the collision along q in the interval [0, 1] /// \param depth recursion depth. /// \return true if p and q collide in interval [a, b] bool collideSegmentSegmentCoplanarCase( const std::array& pT0, /* Segment 1 at t=0 */ const std::array& pT1, /* Segment 1 at t=1 */ const std::array& qT0, /* Segment 2 at t=0 */ const std::array& qT1, /* Segment 2 at t=1 */ double a, double b, /* Interval boundaries */ double timePrecisionEpsilon, double thicknessP, double thicknessQ, double* t, double* r, double* s, int depth = 0); /// Manage the general case of detecting collisions between segments p and q over the parametric time /// interval [a, b] when no special spatial relationships can be observed that improve performance. /// \param state an encapsulation of the segment locations, movements, and detection parameters. /// \param a parametric starting point of the interval of interest. /// \param b parametric ending point of the interval of interest. /// \param t [out] parametric location of the collision along the time axes in the interval [0, 1] /// \param r [out] parametric location of the collision along p in the interval [0, 1] /// \param s [out] parametric location of the collision along q in the interval [0, 1] /// \param depth recursion depth. /// \return true if p and q collide in interval [a, b] bool collideSegmentSegmentGeneralCase( const SegmentSegmentCcdIntervalCheck& state, double a, double b, // Interval boundaries double* t, double* r, double* s, int depth = 0); /// Safely normalize segments t0 and t1 consistently with each other. Under the assumption that they /// both represent the same segment at two different time points. Ensure that for cases where the segment /// is too small at one or both time points (i.e. they essentially degenerate to a point) that we make /// an intelligent choice. /// \param t0 segment at time 0 /// \param t1 segment at time 1 /// \param epsilon threshold for valid normalization value. void normalizeSegmentsConsistently(Math::Vector3d* t0, Math::Vector3d* t1, double epsilon) const; private: /// Utility routine to perform a series of checks to determine if a collision is likely within an interval. The /// checks seek to determine if two coplanar segments could have been out of contact at the start of an interval, /// and then moved through a contact and back away. Among the values checked are the normals because a change in /// normal direction of p X q indicates that p is now on the other side of q. Other checks are made for flipping /// segments, etc. /// \param rCurrent is the parametric location on segment p at the start of the current time interval /// \param rNext is the parametric location on segment p at the end of the current time interval /// \param sCurrent is the parametric location on segment q at the start of the current time interval /// \param sNext is the parametric location on segment q at the end of the current time interval /// \param nCurrent is the normal of p x q at the start of the current time interval /// \param nNext is the normal of p x q at the current time point /// \return true if the check indicates a collision may be possible for coplanar segments p and /// q at the current time interval. bool checkForCoplanarContactWithinInterval(double rCurrent, double rNext, double sCurrent, double sNext, const Math::Vector3d& nCurrent, const Math::Vector3d& nNext) const; /// Minimum distance precision epsilon used in continuous collision detection. const double m_distanceEpsilon; /// Utility class for testing interval boundary collisions. Collision::SegmentSegmentCcdStaticContact m_staticTest; /// Logger std::shared_ptr m_logger; }; }; // namespace Collision }; // namespace SurgSim #endif // SURGSIM_COLLISION_SEGMENTSEGMENTCCDMOVINGCONTACT_H opensurgsim-0.7.0/SurgSim/Collision/SegmentSegmentCcdStaticContact.cpp000066400000000000000000000230711277777236100261720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Collision/SegmentSegmentCcdStaticContact.h" #include "SurgSim/Math/Scalar.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { SegmentSegmentCcdStaticContact::SegmentSegmentCcdStaticContact(): m_degenerateEpsilon(1.0e-15) { } bool SegmentSegmentCcdStaticContact::collideStaticSegmentSegment( const std::array& p, const std::array& q, double distanceEpsilon, double* r, double* s) { return collideStaticSegmentSegment(p, q, distanceEpsilon / 2.0, distanceEpsilon / 2.0, r, s); } bool SegmentSegmentCcdStaticContact::collideStaticSegmentSegment( const std::array& p, const std::array& q, double radiusP, double radiusQ, double* r, double* s) { const double totalThickness = radiusP + radiusQ; const double totalThickness2 = totalThickness * totalThickness; // Based on the outline of: // https://www.assembla.com/spaces/OpenSurgSim/documents/cRWomWC2er5ykpacwqjQYw/download/cRWomWC2er5ykpacwqjQYw. // We are minimizing the squared distance R(sp,sq) = (a.sp)^2 + 2b.sp.sq + (c.sq)^2 + 2d.sq + 2e.sp + f // for P(s) = (1-s).P0 + s.P1 and Q(t) = (1-t).Q0 + t.Q1, and as defined in the paper: // a = (P1 - P0)(P1 - P0) // b = -(P1 - P0)(Q1 - Q0) // c = (Q1 - Q0)(Q1 - Q0) // d = (P1 - P0)(P0 - Q0) // e = -(Q1 - Q0)(P0 - Q0) // f = (P0 - Q0)(P0 - Q0) // First determine if either of our segments are really points. If so this is easier. Take advantage. auto p0p1 = p[1] - p[0]; double a = p0p1.dot(p0p1); if (a <= m_degenerateEpsilon) // Degenerate segment P { *r = 0.0; return collideStaticPointSegment(p[0], q, radiusP, radiusQ, s); } auto q0q1 = q[1] - q[0]; double c = q0q1.dot(q0q1); if (c <= m_degenerateEpsilon) // Degenerate segment Q { *s = 0; return collideStaticPointSegment(q[0], p, radiusQ, radiusP, r); } double b = -p0p1.dot(q0q1); auto q0p0 = p[0] - q[0]; double d = p0p1.dot(q0p0); double e = -q0q1.dot(q0p0); double ratio = a * c - b * b; // Characterize the angle between p and q. If it is big enough // then handle it with the generic code. Otherwise, use an // algorithm specific to parallel segments. if (ratio >= m_degenerateEpsilon) { // This section of the code carries out the steps of the cited paper. // 1. Determine the points of closest approach for the infinite lines containing p and q // 2. Determine where these values fall with respect to the segment end points and which edges (if any) // must be clamped to the parametric range [0.0, 1.0] // 3. Calculate the parametrics for the closest approach of the segments using the edge information. double infiniteLineR = b * e - c * d; double infiniteLineS = b * d - a * e; *r = infiniteLineR; *s = infiniteLineS; SegmentCcdEdgeType edge = computeCollisionEdge(a, b, d, infiniteLineR, infiniteLineS, ratio); computeCollisionParametrics(edge, a, b, c, d, e, ratio, r, s); } else // Parallel case { computeParallelSegmentParametrics(a, b, d, r, s); } SURGSIM_ASSERT(*r >= 0.0 && *r <= 1.0) << "Segment collision s should be in [0,1]!"; SURGSIM_ASSERT(*s >= 0.0 && *s <= 1.0) << "Segment collision s should be in [0,1]!"; Vector3d pBar = Math::interpolate(p[0], p[1], *r); Vector3d qBar = Math::interpolate(q[0], q[1], *s); Vector3d pq = qBar - pBar; return pq.squaredNorm() <= totalThickness2; } bool SegmentSegmentCcdStaticContact::collideStaticPointSegment( const Math::Vector3d& point, const std::array& p, double thicknessPoint, double thicknessSegment, double* r) { Math::Vector3d b = p[0]; Math::Vector3d c = p[1]; auto ba = point - b; auto ca = point - c; auto bc = c - b; double baNormSQ = ba.squaredNorm(); double caNormSQ = ca.squaredNorm(); double bcNormSQ = bc.squaredNorm(); double totalThicknessSQ = (thicknessPoint + thicknessSegment) * (thicknessPoint + thicknessSegment); // p is essentially a point if (bcNormSQ < m_degenerateEpsilon) { if (baNormSQ <= totalThicknessSQ) { *r = 0.0; return true; } if (caNormSQ <= totalThicknessSQ) { *r = 1.0; return true; } else { return false; } } // b!=c => compute the projection abscissa *r = bc.dot(ba) / bcNormSQ; // Clamp abscissa *r = Math::clamp(*r, 0.0, 1.0, 0.0); // Compute the closest point of a on [bc] Math::Vector3d closestPtOnBC = Math::interpolate(b, c, *r); return (closestPtOnBC - point).squaredNorm() <= totalThicknessSQ; } SegmentSegmentCcdStaticContact::SegmentCcdEdgeType SegmentSegmentCcdStaticContact::computeCollisionEdge( double a, double b, double d, double r, double s, double ratio) const { // Region mappings from reference: // // r=0 r=1 // ^ // | | // 4 | 3 | 2 // ----|-------|------- s=1 // | | // 5 | 0 | 1 // | | // ----|-------|-------> s=0 // | | // 6 | 7 | 8 // | | // SegmentSegmentCcdStaticContact::SegmentCcdEdgeType edge = SegmentCcdEdgeTypeEdgeInvalid; if (r >= 0) { if (r <= ratio) { if (s >= 0) { if (s <= ratio) { // region = 0; (0 <= r,s <= 1) edge = SegmentCcdEdgeTypeEdgeSkip; } else { // region = 3; (0 <= r <= 1; 1 <= s) edge = SegmentCcdEdgeTypeS1; } } else { // region = 7; (0 <= r <= 1; s <= 0) edge = SegmentCcdEdgeTypeS0; } } else { if (s >= 0) { if (s <= ratio) { // region = 1; (1 <= r; 0 <= s <= 1) edge = SegmentCcdEdgeTypeR1; } else { // region = 2; (1 <= r,s) if (a + b + d > 0) { edge = SegmentCcdEdgeTypeS1; } else { edge = SegmentCcdEdgeTypeR1; } } } else { // region = 8; (1 <= r; s <= 0) if (a + d > 0) { edge = SegmentCcdEdgeTypeS0; } else { edge = SegmentCcdEdgeTypeR1; } } } } else { if (s >= 0) { if (s <= ratio) { // region = 5;(r <= 0; 0 <= s <= 1) edge = SegmentCcdEdgeTypeR0; } else { // region = 4; (r <= 0; 1 <= s) if (b + d > 0) { edge = SegmentCcdEdgeTypeR0; } else { edge = SegmentCcdEdgeTypeS1; } } } else { // region = 6; (r <= 0; s <= 0) if (d > 0) { edge = SegmentCcdEdgeTypeR0; } else { edge = SegmentCcdEdgeTypeS0; } } } return edge; } void SegmentSegmentCcdStaticContact::computeCollisionParametrics(SegmentCcdEdgeType edge, double a, double b, double c, double d, double e, double ratio, double* r, double* s) const { // On entry r and s are parametrically calculated based on infinite lines, i.e., r and s may not lie in [0, 1] // *r = b * e - c * d // *s = b * d - a * e double tmp; switch (edge) { case SegmentCcdEdgeTypeR0: // F(s) = Q(0,s), F?(s) = 2*(e+c*s) // F?(T) = 0 when T = -e/c, then clamp between 0 and 1 (c always >= 0) *r = 0.0; tmp = -e; if (tmp < 0) { *s = 0; } else if (tmp > c) { *s = 1.0; } else { *s = tmp / c; } break; case SegmentCcdEdgeTypeR1: // F(s) = Q(1,s), F?(s) = 2*((b+e)+c*s) // F?(T) = 0 when T = -(b+e)/c, then clamp between 0 and 1 (c always >= 0) *r = 1.0; tmp = -b - e; if (tmp < 0) { *s = 0.0; } else if (tmp > c) { *s = 1.0; } else { *s = tmp / c; } break; case SegmentCcdEdgeTypeS0: // F(r) = Q(r,0), F?(r) = 2*(d+a*r) => // F?(S) = 0 when S = -d/a, then clamp between 0 and 1 (a always >= 0) *s = 0.0; tmp = -d; if (tmp < 0) { *r = 0.0; } else if (tmp > a) { *r = 1.0; } else { *r = tmp / a; } break; case SegmentCcdEdgeTypeS1: // F(r) = Q(r,1), F?(r) = 2*(b+d+a*r) => // F?(S) = 0 when S = -(b+d)/a, then clamp between 0 and 1 (a always >= 0) *s = 1.0; tmp = -b - d; if (tmp < 0.0) { *r = 0.0; } else if (tmp > a) { *r = 1.0; } else { *r = tmp / a; } break; case SegmentCcdEdgeTypeEdgeSkip: tmp = 1.0 / ratio; *r *= tmp; *s *= tmp; break; default: break; } } void SegmentSegmentCcdStaticContact::computeParallelSegmentParametrics(double a, double b, double d, double* r, double* s) const { if (b > 0.0) { // Segments have different directions if (d >= 0.0) { // 0-0 end points since r-segment 0 less than s-segment 0 *r = 0.0; *s = 0.0; } else if (-d <= a) { // s-segment 0 end-point in the middle of the r 0-1 segment, get distance *r = -d / a; *s = 0.0; } else { // r-segment 1 is definitely closer *r = 1.0; double tmp = a + d; if (-tmp >= b) { *s = 1.0; } else { *s = -tmp / b; } } } else { // Both segments have the same dir if (-d >= a) { // 1-0 *r = 1.0; *s = 0.0; } else if (d <= 0.0) { // mid-0 *r = -d / a; *s = 0.0; } else { *r = 0.0; // 1-mid if (d >= -b) { *s = 1.0; } else { *s = -d / b; } } } } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/SegmentSegmentCcdStaticContact.h000066400000000000000000000162461277777236100256450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_SEGMENTSEGMENTCCDSTATICCONTACT_H #define SURGSIM_COLLISION_SEGMENTSEGMENTCCDSTATICCONTACT_H #include #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Collision { /// SegmentSegmentCcdStaticContact computes if there is contact between two segments at a specific point in time /// in support of the CCD calculations for moving intervals. Algorithm optimizations improve performance for /// specific orientations and positions of segments such as parallel segments, or segments where the closest /// approach is at one or both of the segment endpoints. /// /// \sa SegmentSegmentCcdIntervalCheck /// class SegmentSegmentCcdStaticContact { public: enum SegmentCcdEdgeType { SegmentCcdEdgeTypeR0, // Closest approach occurs at parametric value r = 0 SegmentCcdEdgeTypeR1, // Closest approach occurs at parametric value r = 1 SegmentCcdEdgeTypeS0, // Closest approach occurs at parametric value s = 0 SegmentCcdEdgeTypeS1, // Closest approach occurs at parametric value s = 1 SegmentCcdEdgeTypeEdgeSkip, // Closest approach is not at segment boundary (0.0 <= r,s, <= 1.0) SegmentCcdEdgeTypeEdgeInvalid // Invalid value }; /// Constructor. SegmentSegmentCcdStaticContact(); /// Determine whether two "zero radius" segments collide. For moving segments, this represents contact at a /// specific point in time. /// \param p segment 1 endpoints. /// \param q segment 2 endpoints. /// \param distanceEpsilon closeness parameter for the zero thickness collision. /// \param r [out] parametric location of the collision point (if any) on segment 1. /// \param s [out] parametric location of the collision point (if any) on segment 2. /// \return false if no collision is occurring, or true otherwise. bool collideStaticSegmentSegment( const std::array& p, const std::array& q, double distanceEpsilon, double* r, double* s); /// Determine whether two thick segments collide. For moving segments, this represents contact at a /// specific point in time. /// \param p segment 1 endpoints. /// \param q segment 2 endpoints. /// \param radiusP thickness of segment 1. /// \param radiusQ thickness of segment 2. /// \param r [out] parametric location of the collision point (if any) on segment 1. /// \param s [out] parametric location of the collision point (if any) on segment 2. /// \return false if no collision is occurring, or true otherwise. bool collideStaticSegmentSegment( const std::array& p, const std::array& q, double radiusP, double radiusQ, double* r, double* s); protected: /// Determine whether a single point and a segment collide. /// \param point point position. /// \param p segment endpoints. /// \param thicknessPoint radius of the point. /// \param thicknessSegment radius of the segment. /// \param r [out] parametric location of the collision point (if any) on segment p. /// \return false if no collision is occurring, or true otherwise. bool collideStaticPointSegment( const Math::Vector3d& point, const std::array& p, double thicknessPoint, double thicknessSegment, double* r ); /// Find the edge to be clamped for the closest point solution using the outline of: /// https://www.assembla.com/spaces/OpenSurgSim/documents/cRWomWC2er5ykpacwqjQYw/download/cRWomWC2er5ykpacwqjQYw /// /// Calculates the parametric value that must be clamped in determining the segment - /// segment distance where: /// SegmentCcdEdgeTypeR0 clamp parametric value r to 0 /// SegmentCcdEdgeTypeR1 clamp parametric value r to 1 /// SegmentCcdEdgeTypeS0 clamp parametric value s to 0 /// SegmentCcdEdgeTypeS1 clamp parametric value s to 1 /// SegmentCcdEdgeSkip both values are with [0, 1] /// a = (P1 - P0)(P1 - P0) /// b = -(P1 - P0)(Q1 - Q0) /// c = (Q1 - Q0)(Q1 - Q0) /// d = (P1 - P0)(P0 - Q0) /// e = -(Q1 - Q0)(P0 - Q0) /// f = (P0 - Q0)(P0 - Q0) /// \param a value of p dot p /// \param b value of -(p dot q) /// \param d value of p dot (q[0] - p[0]) /// \param r unnormalized parametric location of the intersection point on line p /// \param s unnormalized parametric location of the intersection point on line q /// \param ratio normalization value defined as (p dot p) . (q dot q) - (p dot q)^2. /// \return an indicator of the edge (r and s) which must be clamped and its clamp value. SegmentCcdEdgeType computeCollisionEdge(double a, double b, double d, double r, double s, double ratio) const; /// Given an edge indicator, clamp the indicated parametric edge and calculate the minimum parametric /// value for the other segment using the outline of: /// https://www.assembla.com/spaces/OpenSurgSim/documents/cRWomWC2er5ykpacwqjQYw/download/cRWomWC2er5ykpacwqjQYw /// Definitions of the values are: /// a = (P1 - P0)(P1 - P0) /// b = -(P1 - P0)(Q1 - Q0) /// c = (Q1 - Q0)(Q1 - Q0) /// d = (P1 - P0)(P0 - Q0) /// e = -(Q1 - Q0)(P0 - Q0) /// f = (P0 - Q0)(P0 - Q0) /// \param edge indicator of previously calculated edge constraint /// \param a value of p dot p /// \param b value of -(p dot q) /// \param c value of q dot q /// \param d value of p dot (p[0] - q[0]) /// \param e value of -(q dot (p[0] - q[0])) /// \param ratio normalization value defined as (p dot p) . (q dot q) - (p dot q)^2. /// \param r [out] parametric location of the intersection point on segment p /// \param s [out] parametric location of the intersection point on segment q void computeCollisionParametrics(SegmentCcdEdgeType edge, double a, double b, double c, double d, double e, double ratio, double* r, double* s) const; /// Calculate the parametric values that give the minimum distance for two parallel segments /// value for the other edge. Definitions of the values are: /// a = (P1 - P0)(P1 - P0) /// b = -(P1 - P0)(Q1 - Q0) /// c = (Q1 - Q0)(Q1 - Q0) /// d = (P1 - P0)(P0 - Q0) /// e = -(Q1 - Q0)(P0 - Q0) /// f = (P0 - Q0)(P0 - Q0) /// \param a value of p dot p /// \param b value of -(p dot q) /// \param d value of p dot (p[0] - q[0]) /// \param r [out] parametric location of the intersection point on segment p /// \param s [out] parametric location of the intersection point on segment q void computeParallelSegmentParametrics(double a, double b, double d, double* r, double* s) const; private: /// During collision, points closer than this value are considered a single point const double m_degenerateEpsilon; }; }; // namespace Collision }; // namespace SurgSim #endif // SURGSIM_COLLISION_SEGMENTSEGMENTCCDSTATICCONTACT_H opensurgsim-0.7.0/SurgSim/Collision/SegmentSelfContact.cpp000066400000000000000000000554231277777236100237050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/SegmentSelfContact.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Collision/SegmentSegmentCcdMovingContact.h" #include "SurgSim/Collision/SegmentSegmentCcdStaticContact.h" #include "SurgSim/DataStructures/AabbTreeNode.h" #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/Scalar.h" #include "SurgSim/Math/SegmentMeshShape.h" using SurgSim::DataStructures::Location; using SurgSim::Math::MeshShape; namespace SurgSim { namespace Collision { SegmentSelfContact::SegmentSelfContact(): m_distanceEpsilon(1.0e-04), m_timeMinPrecisionEpsilon(1.0e-06), m_timeMaxPrecisionEpsilon(1.0), m_maxMovementThreshold(0.1), m_useSegmentThickness(true), m_logger(Framework::Logger::getLogger("Collision/SegmentSelfContact")) { } std::pair SegmentSelfContact::getShapeTypes() { return std::pair(Math::SHAPE_TYPE_SEGMENTMESH, Math::SHAPE_TYPE_SEGMENTMESH); } void SegmentSelfContact::setTimeMinPrecisionEpsilon(double precision) { SURGSIM_ASSERT(precision > 0.0) << "Cannot set a negative min/max time precision."; m_timeMinPrecisionEpsilon = precision; } double SegmentSelfContact::getTimeMinPrecisionEpsilon() { return m_timeMinPrecisionEpsilon; } void SegmentSelfContact::setTimeMaxPrecisionEpsilon(double precision) { SURGSIM_ASSERT(precision > 0.0) << "Cannot set a negative min/max time precision."; m_timeMaxPrecisionEpsilon = precision; } double SegmentSelfContact::getTimeMaxPrecisionEpsilon() { return m_timeMaxPrecisionEpsilon; } void SegmentSelfContact::setDistanceEpsilon(double precision) { m_distanceEpsilon = precision; } double SegmentSelfContact::distanceEpsilon() { return m_distanceEpsilon; } std::list> SegmentSelfContact::calculateCcdContact( const Math::SegmentMeshShape& segmentShape1AtTime0, const Math::RigidTransform3d& segmentPose1AtTime0, const Math::SegmentMeshShape& segmentShape1AtTime1, const Math::RigidTransform3d& segmentPose1AtTime1, const Math::SegmentMeshShape& segmentShape2AtTime0, const Math::RigidTransform3d& segmentPose2AtTime0, const Math::SegmentMeshShape& segmentShape2AtTime1, const Math::RigidTransform3d& segmentPose2AtTime1) const { const Math::SegmentMeshShape& segmentShape1 = segmentShape1AtTime0; const Math::RigidTransform3d& segmentPose1 = segmentPose1AtTime0; const Math::SegmentMeshShape& segmentShape2 = segmentShape1AtTime1; const Math::RigidTransform3d& segmentPose2 = segmentPose1AtTime1; SURGSIM_ASSERT(segmentShape1.getNumEdges() == segmentShape2.getNumEdges()) << "Segment CCD self collision detects that " << "the segment at time t and time t + 1 have different numbers of edges."; std::list> contacts; // Intersect the AABB trees of the Segment Mesh at time 0 and time 1 to get a list of // potential intersecting segments. std::set> segmentIds; // Use a local aabb tree for the movement volume to calculate the first set of possible intersections. auto const& edges1 = segmentShape1.getEdges(); auto const& edges2 = segmentShape2.getEdges(); const Math::Vector3d halfExtent = Math::Vector3d(segmentShape1.getRadius(), segmentShape1.getRadius(), segmentShape1.getRadius()); std::list items; for (size_t id = 0; id < edges1.size(); ++id) { if (edges1[id].isValid && edges2[id].isValid) { const auto& vertices1 = segmentShape1.getEdgePositions(id); Math::Aabbd aabb((vertices1[0] - halfExtent).eval()); aabb.extend((vertices1[0] + halfExtent).eval()); aabb.extend((vertices1[1] - halfExtent).eval()); aabb.extend((vertices1[1] + halfExtent).eval()); const auto& vertices2 = segmentShape2.getEdgePositions(id); aabb.extend((vertices2[0] - halfExtent).eval()); aabb.extend((vertices2[0] + halfExtent).eval()); aabb.extend((vertices2[1] - halfExtent).eval()); aabb.extend((vertices2[1] + halfExtent).eval()); items.emplace_back(aabb, id); } } DataStructures::AabbTree tree; tree.set(std::move(items)); std::list intersectionList = tree.spatialJoin(tree); getUniqueCandidates(intersectionList, &segmentIds); size_t evaluations = 0; for (const auto& idPair : segmentIds) { size_t id1 = idPair.first; size_t id2 = idPair.second; SURGSIM_ASSERT(id1 >= 0 && id1 < segmentShape1.getNumEdges()) << "Invalid segment detected in " << "Segment CCD self collision. Colliding segment at time point 0 does not exist."; SURGSIM_ASSERT(id2 >= 0 && id2 < segmentShape2.getNumEdges()) << "Invalid segment detected in " << "Segment CCD self collision. Colliding segment at time point 1 does not exist."; // Do a little filtering. We do not allow a segment to collide with itself or // with an immediate neighbor; and pragmatically, it seems reasonable to disregard any segments that show // too much movement between times. At best this means that we should be taking smaller time steps, // but it is probably more likely to reflect some other error such as an unstable solution. if (removeInvalidCollisions(segmentShape1, segmentShape2, id1, id2)) { continue; } evaluations++; const auto& pt0Positions = segmentShape1.getEdgePositions(id1); const auto& pt1Positions = segmentShape2.getEdgePositions(id1); const auto& qt0Positions = segmentShape1.getEdgePositions(id2); const auto& qt1Positions = segmentShape2.getEdgePositions(id2); double segmentRadius1 = 0.0; double segmentRadius2 = 0.0; double effectiveThickness = m_distanceEpsilon; if (m_useSegmentThickness) { // TODO(wdturner-11/2015): We need to get thickness as a property. Until then use // the radius ... // // segmentRadius1 = segmentA->getEdge(id1).data.thickness; // segmentRadius2 = segmentB->getEdge(id2).data.thickness; segmentRadius1 = segmentShape1.getRadius(); segmentRadius2 = segmentShape2.getRadius(); effectiveThickness = segmentRadius1 + segmentRadius2; } // // Based on movement speed, calculate the maximum time interval that will maintain detection accuracy. // double timePrecision = maxTimePrecision(pt0Positions, pt1Positions, qt0Positions, qt1Positions, effectiveThickness); double pLen = (pt0Positions[1] - pt0Positions[0]).squaredNorm(); double rParametricPrecision = m_distanceEpsilon; if (pLen > 0.0) { rParametricPrecision = std::min(0.5, m_distanceEpsilon / std::sqrt(pLen)); } double qLen = (pt1Positions[1] - pt1Positions[0]).squaredNorm(); double sParametricPrecision = m_distanceEpsilon; if (qLen > 0.0) { sParametricPrecision = std::min(0.5, m_distanceEpsilon / std::sqrt(qLen)); } // Perform the actual collision detection and create the contact. double r; // Parametric location of collision on segment p double s; // Parametric location of collision on segment q double t; // Time of collision (if any) Math::Vector3d pToQDir; Math::Vector3d segmentPContact; Math::Vector3d segmentQContact; if (detectCollision(pt0Positions, pt1Positions, qt0Positions, qt1Positions, segmentRadius1, segmentRadius2, timePrecision, &r, &s, &t, &pToQDir, &segmentPContact, &segmentQContact)) { // The segments collide within tolerance, but if the collision is really close to an endpoint // then move it to the start of the segment to aid in removing duplicates. r = Math::clamp(r, 0.0, 1.0, rParametricPrecision); s = Math::clamp(s, 0.0, 1.0, sParametricPrecision); // When a segment extremity collides, its collision can be detected twice, // as this point is shared between 2 segments! Here, we choose *one* of them to add! // Be sure to check both directions. if (!findSegSegContact(segmentShape1, contacts, t, COLLISION_DETECTION_TYPE_CONTINUOUS, id1, r, id2, s, timePrecision) && !findSegSegContact(segmentShape1, contacts, t, COLLISION_DETECTION_TYPE_CONTINUOUS, id2, s, id1, r, timePrecision)) { // Encode the segment specific intersection points for later recall. Here we encode each // side of the contact point specific to each segment. std::pair penetrationPoints; Math::Vector2d parametricCoordinateP(1.0 - r, r); penetrationPoints.first.elementMeshLocalCoordinate.setValue( DataStructures::IndexedLocalCoordinate(id1, parametricCoordinateP)); Math::Vector2d parametricCoordinateQ(1.0 - s, s); penetrationPoints.second.elementMeshLocalCoordinate.setValue( DataStructures::IndexedLocalCoordinate(id2, parametricCoordinateQ)); penetrationPoints.first.rigidLocalPosition.setValue( segmentPose1.inverse() * segmentPContact); penetrationPoints.second.rigidLocalPosition.setValue( segmentPose2.inverse() * segmentQContact); // Calculate the normal and the contact point. The contact point is a point along the normal // connecting the segments. If we are using the segment thickness, the point should be located // a segment radius distance from each individual contact point. Otherwise, it should be within // m_distanceEpsilon/2. For accuracy, it is calculated from both starting points and then averaged. double effectiveRadiusP = m_useSegmentThickness ? segmentRadius1 : m_distanceEpsilon / 2.0; double effectiveRadiusQ = m_useSegmentThickness ? segmentRadius2 : m_distanceEpsilon / 2.0; auto normal = pToQDir.normalized(); Math::Vector3d contactP = segmentPContact + (effectiveRadiusP * normal); Math::Vector3d contactQ = segmentQContact - (effectiveRadiusQ * normal); auto contactPoint = 0.5 * (contactP + contactQ); auto depth = ((contactP - contactQ).dot(normal) > 0.0) ? (contactP - contactQ).norm() : -(contactP - contactQ).norm(); SURGSIM_LOG_DEBUG(m_logger) << "Contact detected: time:\t" << t << "\tsegment 1 id:\t" << id1 << "\tsegment 2 id:\t" << id2 << "\tbarymetric coordinate r:\t" << r << "\tbarymetric coordinate s:\t" << s << "\tMagnitude:\t" << pToQDir.norm() << "\tDepth:\t" << depth; contacts.emplace_back(std::make_shared( CollisionDetectionType::COLLISION_DETECTION_TYPE_CONTINUOUS, depth, t, contactPoint, -normal, penetrationPoints)); } } else { SURGSIM_LOG_DEBUG(m_logger) << "AABB tree detected false positive between segments " << id1 << " and " << id2; } } SURGSIM_LOG_DEBUG(m_logger) << "Segment intersections detected: " << segmentIds.size() << "\tActual intersections evaluated: " << evaluations; return contacts; } bool SegmentSelfContact::detectCollision( const std::array& pt0Positions, const std::array& pt1Positions, const std::array& qt0Positions, const std::array& qt1Positions, double segmentRadius1, double segmentRadius2, double timePrecision, double* r, double* s, double* t, Math::Vector3d* pToQDir, Math::Vector3d* contactPtP, Math::Vector3d* contactPtQ) const { // // First check for intersection at the start of the interval. If this is true, we can just report on the // contact at t=0 and return. Note that the original code compared totalThickness == 0.0. This is slightly // different in that it assumes that totalThickness cannot be less than m_distanceEpsilon since // m_distanceEpsilon represents the 0 segment thickness case. // // Important safety note. These calls to compute the static segment collision originally had two flavors: one // for segments with thickness and one for segments with no thickness (which used an attributed thickness of // m_distanceEpsilon). I dug into this and the only difference in the two was in the handling of potential // intersections beyond the segment end point. For segments with thickness, the intersection point was // clamped to the end of the segment but was deemed real if the modified endpoint was within an acceptable // distance of the true intersection point as determined by the segment radius. For the zero radius case, // this margin at the segment ends was not observed. While this implementation maintains the two different // APIs, it does not maintain the algorithmic differences. The duplicate collision removal as implemented // should resolve any places within a string of segments where extra collisions are detected and the only // observable change should be at unattached segment boundaries where it is arguable as to which method is // more correct. Certainly, it will be easier to selectively impose this condition should it prove desirable, // than it is to maintain two nearly identical methods as was done previously. // double totalThickness = segmentRadius1 + segmentRadius2; bool collidingAtT0; static SegmentSegmentCcdStaticContact staticContact; if (totalThickness <= m_distanceEpsilon) { collidingAtT0 = staticContact.collideStaticSegmentSegment(pt0Positions, qt0Positions, m_distanceEpsilon, r, s); } else { collidingAtT0 = staticContact.collideStaticSegmentSegment(pt0Positions, qt0Positions, segmentRadius1, segmentRadius2, r, s); } if (collidingAtT0) { *t = 0; *contactPtP = Math::interpolate(pt0Positions[0], pt0Positions[1], *r); *contactPtQ = Math::interpolate(qt0Positions[0], qt0Positions[1], *s); *pToQDir = *contactPtQ - *contactPtP; return true; } // // Finally, detect if the segments collide throughout the period of movement. // bool collisionDetected; static SegmentSegmentCcdMovingContact movingContact; if (totalThickness < m_distanceEpsilon) { collisionDetected = movingContact.collideMovingSegmentSegment(pt0Positions, pt1Positions, qt0Positions, qt1Positions, m_distanceEpsilon, timePrecision, t, r, s, pToQDir); } else { collisionDetected = movingContact.collideMovingSegmentSegment(pt0Positions, pt1Positions, qt0Positions, qt1Positions, segmentRadius1, segmentRadius2, timePrecision, t, r, s, pToQDir); } // // If a collision is detected, use interpolation to determine the point in time and space. // if (collisionDetected) { Math::Vector3d p0Contact = Math::interpolate(pt0Positions[0], pt0Positions[1], *r); Math::Vector3d p1Contact = Math::interpolate(pt1Positions[0], pt1Positions[1], *r); Math::Vector3d q0Contact = Math::interpolate(qt0Positions[0], qt0Positions[1], *s); Math::Vector3d q1Contact = Math::interpolate(qt1Positions[0], qt1Positions[1], *s); *contactPtP = Math::interpolate(p0Contact, p1Contact, *t); *contactPtQ = Math::interpolate(q0Contact, q1Contact, *t); *pToQDir = *contactPtQ - *contactPtP; } return collisionDetected; } void SegmentSelfContact::getUniqueCandidates( const std::list& intersectionList, std::set>* segmentIds) const { for (const auto& intersection : intersectionList) { std::shared_ptr nodeA = intersection.first; std::shared_ptr nodeB = intersection.second; std::list localIdListA; std::list localIdListB; nodeA->getIntersections(nodeB->getAabb(), &localIdListA); nodeB->getIntersections(nodeA->getAabb(), &localIdListB); for (const auto& idA : localIdListA) { for (const auto& idB : localIdListB) { // Segments are the same if (idA == idB) { continue; } // Segment pair has already been added auto testValue = (idA < idB) ? std::pair(idA, idB) : std::pair(idB, idA); segmentIds->insert(testValue); } } } } bool SegmentSelfContact::removeInvalidCollisions( const Math::SegmentMeshShape& segmentT0, const Math::SegmentMeshShape& segmentT1, size_t id1, size_t id2) const { auto& verticesA = segmentT0.getEdge(id1).verticesId; auto& verticesB = segmentT1.getEdge(id2).verticesId; if ((verticesA[0] == verticesB[0]) || (verticesA[0] == verticesB[1]) || (verticesA[1] == verticesB[0]) || (verticesA[1] == verticesB[1])) { SURGSIM_LOG_DEBUG(m_logger) << "Locality: Edge " << id1 << " and " << id2 << " share a common vertex."; return true; } const auto& pt0Positions = segmentT0.getEdgePositions(id1); const auto& pt1Positions = segmentT1.getEdgePositions(id1); const auto& qt0Positions = segmentT0.getEdgePositions(id2); const auto& qt1Positions = segmentT1.getEdgePositions(id2); auto p1t0 = pt0Positions[0]; auto p2t0 = pt0Positions[1]; auto p1t1 = pt1Positions[0]; auto p2t1 = pt1Positions[1]; auto q1t0 = qt0Positions[0]; auto q2t0 = qt0Positions[1]; auto q1t1 = qt1Positions[0]; auto q2t1 = qt1Positions[1]; if (detectExcessMovement(p1t0, p1t1, m_maxMovementThreshold) || detectExcessMovement(p2t0, p2t1, m_maxMovementThreshold) || detectExcessMovement(q1t0, q1t1, m_maxMovementThreshold) || detectExcessMovement(q2t0, q2t1, m_maxMovementThreshold)) { SURGSIM_LOG_WARNING(m_logger) << "Excessive movement detected during contact evaluation"; return true; } return false; } bool SegmentSelfContact::detectExcessMovement(const Math::Vector3d& pt0, const Math::Vector3d& pt1, double threshold) const { return (std::abs(pt0[0] - pt1[0]) > threshold) || (std::abs(pt0[1] - pt1[1]) > threshold) || (std::abs(pt0[2] - pt1[2]) > threshold); } bool SegmentSelfContact::findSegSegContact(const Math::SegmentMeshShape& segmentShape, const std::list>& contacts, double t, Collision::CollisionDetectionType collisionType, size_t segId1, double s1, size_t segId2, double s2, double timeEpsilon) const { for (const auto& contact : contacts) { auto existingSegId1 = contact->penetrationPoints.first.elementMeshLocalCoordinate.getValue().index; auto existingSegId2 = contact->penetrationPoints.second.elementMeshLocalCoordinate.getValue().index; auto existingS1 = contact->penetrationPoints.first.elementMeshLocalCoordinate.getValue().coordinate[1]; auto existingS2 = contact->penetrationPoints.second.elementMeshLocalCoordinate.getValue().coordinate[1]; // Check for same object type and same time. The test for same objectID was // removed as it did not appear to be used (all find segment calls set that // variable to -1) and because it is not available here. if (contact->type == collisionType && std::abs(contact->time - t) < timeEpsilon) { // Check that it is the same contact point on both segments if (isSameSegContactPoint(segmentShape, segId1, s1, existingSegId1, existingS1)) { // Colliding against the same segment (no need to check the abscissa) // Then check for end point cases, which can have different segIDs if ((existingSegId2 == segId2) || isSameSegContactPoint(segmentShape, segId2, s2, existingSegId2, existingS2)) { return true; } } } } return false; } bool SegmentSelfContact::isSameSegContactPoint(const Math::SegmentMeshShape& segmentShape, size_t segId1, double s1, size_t segId2, double s2) const { auto& verticesA = segmentShape.getEdge(segId1).verticesId; auto& verticesB = segmentShape.getEdge(segId2).verticesId; if (segId1 == segId2 && // Same segment? std::fabs(s1 - s2) < m_distanceEpsilon) // Same abscissa? { return true; } // Check for segment extremities, which may be shared with another segment. Unlike the previous version, // which used ordering of the segments to determine "sharedness" this version cannot rely on ordering. Instead, // we need to determine the vertex ids and compare them. Assuming a vertex may exhibit either a branching or // a linear structure, this gives us 4 cases (1a, 1b, 2a, 2b). 1 and 2 represent vertices where the segId // is at the beginning of the segment (s==0), or at the end of the segment (s==1); while a and b represent // the equivalent position on the test vertex. // Test for segId at the start of the segment (1a and 1b) if (s1 < m_distanceEpsilon) { return ((s2 < m_distanceEpsilon) && verticesA[0] == verticesB[0]) || ((s2 > (1.0 - m_distanceEpsilon) && verticesA[0] == verticesB[1])); } // Test for segId at the end of the segment (2a and 2b) if (s1 > (1.0 - m_distanceEpsilon)) { return ((s2 < m_distanceEpsilon) && verticesA[1] == verticesB[0]) || ((s2 > (1.0 - m_distanceEpsilon) && verticesA[1] == verticesB[1])); } return false; } double SegmentSelfContact::maxTimePrecision( const std::array& pt0Positions, const std::array& pt1Positions, const std::array& qt0Positions, const std::array& qt1Positions, double effectiveThickness) const { SURGSIM_ASSERT(effectiveThickness > 0.0) << "Attempting CCD with segment thickness <= 0."; // Find the displacement of the endpoints during the time period auto p0Displacement = pt1Positions[0] - pt0Positions[0]; auto p1Displacement = pt1Positions[1] - pt0Positions[1]; auto q1Displacement = qt1Positions[0] - qt0Positions[0]; auto q2Displacement = qt1Positions[1] - qt0Positions[1]; // Get the relative displacement between the segments, so we know the relative movement double p1q1RelativeDisplacementNorm2 = (p0Displacement - q1Displacement).squaredNorm(); double p1q2RelativeDisplacementNorm2 = (p0Displacement - q2Displacement).squaredNorm(); double p2q1RelativeDisplacementNorm2 = (p1Displacement - q1Displacement).squaredNorm(); double p2q2RelativeDisplacementNorm2 = (p1Displacement - q2Displacement).squaredNorm(); // Now calculate the maximum relative displacement double maxP1RelativeDisplacementNorm2 = std::max(p1q1RelativeDisplacementNorm2, p1q2RelativeDisplacementNorm2); double maxP2RelativeDisplacementNorm2 = std::max(p2q1RelativeDisplacementNorm2, p2q2RelativeDisplacementNorm2); double maxRelativeDisplacement = std::sqrt(std::max(maxP1RelativeDisplacementNorm2, maxP2RelativeDisplacementNorm2)); // The time precision should be set low enough so that we don't miss any segment collision. double timePrecision = effectiveThickness / maxRelativeDisplacement; if (timePrecision < m_timeMinPrecisionEpsilon) { SURGSIM_LOG_WARNING(m_logger) << "Minimum time precision(" << m_timeMinPrecisionEpsilon << ") needs to be smaller(" << timePrecision << ") to guarantee no missed self - collisions!"; timePrecision = m_timeMinPrecisionEpsilon; } timePrecision = std::min(timePrecision, m_timeMaxPrecisionEpsilon); return timePrecision; } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/SegmentSelfContact.h000066400000000000000000000260401277777236100233430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_SEGMENTSELFCONTACT_H #define SURGSIM_COLLISION_SEGMENTSELFCONTACT_H #include "SurgSim/Collision/ShapeShapeContactCalculation.h" #include "SurgSim/DataStructures/AabbTree.h" #include "SurgSim/Framework/Logger.h" #include "SurgSim/Math/SegmentMeshShape.h" namespace SurgSim { namespace Collision { class CollisionPair; /// SegmentSelfContact computes the self collisions among a SegmentMesh under motion at two /// time points parametrized over the time interval [0,1]. An initial phase uses the AABB tree to /// select a set of potentially colliding segments from the SegmentMesh. For each of these /// candidate segment pairs, the goal is to determine the point of earliest contact should any exist. /// /// At the highest level the actual collision detection of candidate segment pairs is a two phase /// algorithm. First determine if there is contact at the start of an interval and report the contact if /// found. If no contact is found at the start, subdivide the interval, determine which of the resulting /// candidate subintervals may have collisions, and then recursively check those promising subintervals. /// Note that a simple algorithm based on interval arithmetic (including the Interval, LinearMotion and /// Polynomial interval classes) allows for a quick determination of promising subintervals allowing many /// of the subintervals to be pruned during the subdivision step without forcing the recursion to bottom out. /// /// \sa Interval, LinearMotion, Polynomial, SegmentSegmentCcdIntervalCheck /// class SegmentSelfContact : public ShapeShapeContactCalculation { public: /// Constructor. SegmentSelfContact(); std::list> calculateCcdContact( const Math::SegmentMeshShape& segmentShape1AtTime0, const Math::RigidTransform3d& segmentPose1AtTime0, const Math::SegmentMeshShape& segmentShape1AtTime1, const Math::RigidTransform3d& segmentPose1AtTime1, const Math::SegmentMeshShape& segmentShape2AtTime0, const Math::RigidTransform3d& segmentPose2AtTime0, const Math::SegmentMeshShape& segmentShape2AtTime1, const Math::RigidTransform3d& segmentPose2AtTime1) const override; /// Set the minimum time precision allowed when deciding on the depth of recursion. /// \param precision the desired minimum time precision void setTimeMinPrecisionEpsilon(double precision); /// \return the minimum time precision allowed when deciding on the depth of recursion. double getTimeMinPrecisionEpsilon(); /// Set the maximum time precision allowed when deciding on the depth of recursion. /// \param precision the desired maximum time precision void setTimeMaxPrecisionEpsilon(double precision); /// \return the maximum time precision allowed when deciding on the depth of recursion. double getTimeMaxPrecisionEpsilon(); /// Set the maximum separation for which two points are considered the same. /// \param precision the desired maximum separation for which two points are considered the same. void setDistanceEpsilon(double precision); /// \return the maximum separation for which two points are considered the same. double distanceEpsilon(); /// Function that returns the shapes between which this class performs collision detection. /// \return int std::pair containing the shape types. std::pair getShapeTypes() override; protected: /// Detect if two segments actually collide either at time t=0 (Fixed case) or within a movement phase. /// \param pt0Positions are the segment endpoints for the first segment at time t=0. /// \param pt1Positions are the segment endpoints for the first segment at time t=1. /// \param qt0Positions are the segment endpoints for the second segment at time t=0. /// \param qt1Positions are the segment endpoints for the second segment at time t=1. /// \param segmentRadius1 is the radius of the first segment. /// \param segmentRadius2 is the radius of the second segment. /// \param timePrecision is the minimum time delta. Recursion terminates at or below the timePrecision. /// \param r [out] parametric location of the collision point (if any) on segment 1. /// \param s [out] parametric location of the collision point (if any) on segment 2. /// \param t [out] parametric location of the time of any collision in the interval [0, 1]. /// \param pToQDir [out] direction from p(s) to q(r) /// \param contactPtP [out] location of the contact point along segment 1. /// \param contactPtQ [out] location of the contact point along segment 2. /// \return true if a collision is detected between segment 1 and segment 2; false otherwise. bool detectCollision( const std::array& pt0Positions, const std::array& pt1Positions, const std::array& qt0Positions, const std::array& qt1Positions, double segmentRadius1, double segmentRadius2, double timePrecision, double* r, double* s, double* t, SurgSim::Math::Vector3d* pToQDir, SurgSim::Math::Vector3d* contactPtP, SurgSim::Math::Vector3d* contactPtQ) const; /// Given a list of potentially intersecting AABB nodes, cull the list of any duplicates /// and return the uniques candidates as synchronized pairs. /// \param intersectionList list of potentially intersecting AABB node. /// \param segmentIds [out] paired unique matches void getUniqueCandidates( const std::list& intersectionList, std::set>* segmentIds) const; /// From the initial AABB tree collisions, there are some very simple filtering operations that we can /// do to eliminate a number of false positives. Most notably, we do not want to collide a single segment /// against itself, or against one of the segments with which it shares a vertex. These are trivial collisions /// and will always be present. Less obvious, we want to filter out segments with wild movement vectors. /// These segments cannot be appropriately processed and are likely to represent errors. /// \param segmentA the segment mesh at time t=0. /// \param segmentB the segment mesh at time t=1. /// \param segment1SegID the specific identifier of the candidate segment at time t=0. /// \param segment2SegID the specific identifier of the candidate segment at time t=1. /// \return true if this collision should be discarded, false if it should be processed further. bool removeInvalidCollisions( const Math::SegmentMeshShape& segmentA, const Math::SegmentMeshShape& segmentB, size_t segment1SegID, size_t segment2SegID) const; /// Verify the a given point at times t0 and t1 have remained within a reasonable neighborhood. Large /// movements make it impossible to accurately determine collisions. /// \param pt0 vertex coordinates at time t0 /// \param pt1 vertex coordinates at time t1 /// \param threshold distance threshold /// \return true if any point has exceeded the movement threshold bool detectExcessMovement(const SurgSim::Math::Vector3d& pt0, const SurgSim::Math::Vector3d& pt1, double threshold) const; /// Search the list of contacts for a match to the current contact. /// \param segmentShape shape to be interrogated to see if the contacts match /// \param contacts the current list of detected contacts /// \param t time of the contact under consideration. /// \param collisionType type of contact under consideration. /// \param segId1 segment 1 identifier. /// \param s1 parametric location of the contact point along segment 1. /// \param segId2 segment 2 identifier. /// \param s2 parametric location of the contact point along segment 2. /// \param timeEpsilon maximum allowed epsilon for time matches. /// \return true if the contacts match, return false otherwise. bool findSegSegContact(const Math::SegmentMeshShape& segmentShape, const std::list>& contacts, double t, Collision::CollisionDetectionType collisionType, size_t segId1, double s1, size_t segId2, double s2, double timeEpsilon) const; /// Check for the same location among two parametric location specifications. /// \param segmentShape shape to be interrogated to see if the contacts match /// \param segId1 segment 1 identifier. /// \param s1 parametric location of the contact point along segment 1. /// \param segId2 segment 2 identifier. /// \param s2 parametric location of the contact point along segment 2. /// \return true if the contacts match, return false otherwise. bool isSameSegContactPoint(const Math::SegmentMeshShape& segmentShape, size_t segId1, double s1, size_t segId2, double s2) const; /// Calculate the maximum time interval that guarantees that all collisions can be detected given the /// derived motions of the segment end points. /// \param pt0Positions are the segment endpoints for the first segment at time t=0. /// \param pt1Positions are the segment endpoints for the first segment at time t=1. /// \param qt0Positions are the segment endpoints for the second segment at time t=0. /// \param qt1Positions are the segment endpoints for the second segment at time t=1. /// \param effectiveThickness nearness criteria for declaring a contact. /// \return the maximum time interval that will still allow for the detection of all /// contacts within effectveThickness. This value is bounded from below by the value of /// the member variable m_timeMinPrecisionEpsilon and from above by m_timeMaxPrecisionEpsilon. double maxTimePrecision( const std::array& pt0Positions, const std::array& pt1Positions, const std::array& qt0Positions, const std::array& qt1Positions, double effectiveThickness) const; private: /// Minimum distance precision epsilon used in continuous collision detection. double m_distanceEpsilon; /// Minimum time precision epsilon used in continuous collision detection. double m_timeMinPrecisionEpsilon; /// Maximum time precision epsilon used in continuous collision detection. double m_timeMaxPrecisionEpsilon; /// Maximum time precision epsilon used in continuous collision detection. const double m_maxMovementThreshold; /// Flag to determine if segment thickness is to be used in contact calculations const bool m_useSegmentThickness; /// Logger std::shared_ptr m_logger; }; }; // namespace Collision }; // namespace SurgSim #endif // SURGSIM_COLLISION_SEGMENTSELFCONTACT_H opensurgsim-0.7.0/SurgSim/Collision/ShapeCollisionRepresentation.cpp000066400000000000000000000042661277777236100260130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Physics/Representation.h" namespace SurgSim { namespace Collision { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Collision::ShapeCollisionRepresentation, ShapeCollisionRepresentation); ShapeCollisionRepresentation::ShapeCollisionRepresentation(const std::string& name) : Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(ShapeCollisionRepresentation, std::shared_ptr, Shape, getShape, setShape); } ShapeCollisionRepresentation::~ShapeCollisionRepresentation() { } int ShapeCollisionRepresentation::getShapeType() const { return m_shape->getType(); } void ShapeCollisionRepresentation::setLocalPose(const SurgSim::Math::RigidTransform3d& pose) { Representation::setLocalPose(pose); update(0.0); } void ShapeCollisionRepresentation::setShape(const std::shared_ptr& shape) { SURGSIM_ASSERT(nullptr != shape) << "Can not set a empty shape."; m_shape = shape; update(0.0); } const std::shared_ptr ShapeCollisionRepresentation::getShape() const { return m_shape; } bool ShapeCollisionRepresentation::doInitialize() { if (nullptr != m_shape) { SURGSIM_ASSERT(m_shape->isValid()) << "An invalid MeshShape is used in this ShapeCollisionRepresentation."; } return true; } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/ShapeCollisionRepresentation.h000066400000000000000000000040131277777236100254460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_SHAPECOLLISIONREPRESENTATION_H #define SURGSIM_COLLISION_SHAPECOLLISIONREPRESENTATION_H #include "SurgSim/Collision/Representation.h" #include "SurgSim/Framework/Macros.h" #include "SurgSim/Framework/ObjectFactory.h" namespace SurgSim { namespace Math { class Shape; } namespace Collision { SURGSIM_STATIC_REGISTRATION(ShapeCollisionRepresentation); /// Use a Shape as a Collision Representation, any SurgSim::Physics::Representation can /// be used as a backing representation class ShapeCollisionRepresentation : public Representation { public: /// Constructor explicit ShapeCollisionRepresentation(const std::string& name); /// Destructor virtual ~ShapeCollisionRepresentation(); SURGSIM_CLASSNAME(SurgSim::Collision::ShapeCollisionRepresentation); int getShapeType() const override; void setLocalPose(const SurgSim::Math::RigidTransform3d& pose) override; // Set the shape to be used in this representation // \param shape Shape to be used in this representation. void setShape(const std::shared_ptr& shape); const std::shared_ptr getShape() const override; protected: bool doInitialize() override; private: // Shape used by this representation std::shared_ptr m_shape; }; }; // namespace Collision }; // namespace SurgSim #endif // SURGSIM_COLLISION_SHAPECOLLISIONREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Collision/ShapeShapeContactCalculation.h000066400000000000000000000105311277777236100253250ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_SHAPESHAPECONTACTCALCULATION_H #define SURGSIM_COLLISION_SHAPESHAPECONTACTCALCULATION_H #include "SurgSim/Collision/ContactCalculation.h" #include "SurgSim/Math/Shape.h" namespace SurgSim { namespace Collision { /// Class that can automate the type conversion and provides a consistent interface to the typed call /// Takes the shapes to convert as template parameters template class ShapeShapeContactCalculation : public ContactCalculation { /// Virtual function to be overridden, this provides the typed contact calculation between two shapes /// it takes two shapes and their respective poses, and will return the contacts between those two shapes /// for shapes that return true for isTransformable(), the calculation may ignore the pose passed in the /// function. virtual std::list> calculateDcdContact( const Shape1& shape1, const Math::RigidTransform3d& pose1, const Shape2& shape2, const Math::RigidTransform3d& pose2) const { SURGSIM_FAILURE() << "Not implemented"; return std::list>(); } virtual std::list> calculateCcdContact( const Shape1& shape1AtTime0, const Math::RigidTransform3d& pose1AtTime0, const Shape1& shape1AtTime1, const Math::RigidTransform3d& pose1AtTime1, const Shape2& shape2AtTime0, const Math::RigidTransform3d& pose2AtTime0, const Shape2& shape2AtTime1, const Math::RigidTransform3d& pose2AtTime1) const { SURGSIM_FAILURE() << "Not implemented"; return std::list>(); } /// Overrides the dcd contact calculation to go from untyped shapes to the typed shapes std::list> doCalculateDcdContact( const Math::PosedShape>& posedShape1, const Math::PosedShape>& posedShape2) override { auto one = std::static_pointer_cast(posedShape1.getShape()); auto two = std::static_pointer_cast(posedShape2.getShape()); SURGSIM_ASSERT(one->getType() == posedShape1.getShape()->getType()) << "Invalid Shape 1"; SURGSIM_ASSERT(two->getType() == posedShape2.getShape()->getType()) << "Invalid Shape 2"; return calculateDcdContact(*one, posedShape1.getPose(), *two, posedShape2.getPose()); } /// Overrides the ccd contact calculation to go from untyped shapes to the typed shapes std::list> doCalculateCcdContact( const Math::PosedShapeMotion>& posedShapeMotion1, const Math::PosedShapeMotion>& posedShapeMotion2) override { auto oneAtTime0 = std::static_pointer_cast(posedShapeMotion1.first.getShape()); auto oneAtTime1 = std::static_pointer_cast(posedShapeMotion1.second.getShape()); auto twoAtTime0 = std::static_pointer_cast(posedShapeMotion2.first.getShape()); auto twoAtTime1 = std::static_pointer_cast(posedShapeMotion2.second.getShape()); SURGSIM_ASSERT(oneAtTime0->getType() == posedShapeMotion1.first.getShape()->getType()) << "Invalid Shape 1 detected at time 0"; SURGSIM_ASSERT(oneAtTime1->getType() == posedShapeMotion1.second.getShape()->getType()) << "Invalid Shape 1 detected at time 1"; SURGSIM_ASSERT(twoAtTime0->getType() == posedShapeMotion2.first.getShape()->getType()) << "Invalid Shape 2 detected at time 0"; SURGSIM_ASSERT(twoAtTime1->getType() == posedShapeMotion2.second.getShape()->getType()) << "Invalid Shape 2 detected at time 1"; return calculateCcdContact( *oneAtTime0, posedShapeMotion1.first.getPose(), *oneAtTime1, posedShapeMotion1.second.getPose(), *twoAtTime0, posedShapeMotion2.first.getPose(), *twoAtTime1, posedShapeMotion2.second.getPose()); } }; } } #endif opensurgsim-0.7.0/SurgSim/Collision/SphereDoubleSidedPlaneContact.cpp000066400000000000000000000055501277777236100257770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Collision/SphereDoubleSidedPlaneContact.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Math/DoubleSidedPlaneShape.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::Location; using SurgSim::Math::DoubleSidedPlaneShape; using SurgSim::Math::SphereShape; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { std::list> SphereDoubleSidedPlaneContact::calculateDcdContact( const Math::SphereShape& sphere, const Math::RigidTransform3d& spherePose, const Math::DoubleSidedPlaneShape& plane, const Math::RigidTransform3d& planePose) const { std::list> contacts; Vector3d sphereCenter = spherePose.translation(); // Move into Plane coordinate system Vector3d planeLocalSphereCenter = planePose.inverse() * sphereCenter; Vector3d result; double dist = Math::distancePointPlane(planeLocalSphereCenter, plane.getNormal(), plane.getD(), &result); double distAbsolute = std::abs(dist); if (distAbsolute < sphere.getRadius()) { double depth = sphere.getRadius() - distAbsolute; // Calculate the normal going from the plane to the sphere, it is the plane normal transformed by the // plane pose, flipped if the sphere is behind the plane and normalize it Vector3d normal = (planePose.linear() * plane.getNormal()) * ((dist < 0.0) ? -1.0 : 1.0); std::pair penetrationPoints; penetrationPoints.first.rigidLocalPosition.setValue( spherePose.inverse() * (sphereCenter - normal * sphere.getRadius())); penetrationPoints.second.rigidLocalPosition.setValue( planePose.inverse() * (sphereCenter - normal * distAbsolute)); contacts.emplace_back(std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, depth, 1.0, Vector3d::Zero(), normal, penetrationPoints)); } return contacts; } std::pair SphereDoubleSidedPlaneContact::getShapeTypes() { return std::pair(SurgSim::Math::SHAPE_TYPE_SPHERE, SurgSim::Math::SHAPE_TYPE_DOUBLESIDEDPLANE); } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/SphereDoubleSidedPlaneContact.h000066400000000000000000000031611277777236100254400ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_SPHEREDOUBLESIDEDPLANECONTACT_H #define SURGSIM_COLLISION_SPHEREDOUBLESIDEDPLANECONTACT_H #include #include "SurgSim/Collision/ShapeShapeContactCalculation.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/DoubleSidedPlaneShape.h" namespace SurgSim { namespace Collision { class CollisionPair; /// Class to calculate intersections between Spheres and DoubleSidedPlanes class SphereDoubleSidedPlaneContact : public ShapeShapeContactCalculation { public: using ContactCalculation::calculateDcdContact; std::list> calculateDcdContact( const Math::SphereShape& sphere, const Math::RigidTransform3d& spherePose, const Math::DoubleSidedPlaneShape& plane, const Math::RigidTransform3d& planePose) const override; std::pair getShapeTypes() override; }; }; // namespace Collision }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Collision/SpherePlaneContact.cpp000066400000000000000000000052721277777236100236740ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Collision/SpherePlaneContact.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/PlaneShape.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::Location; using SurgSim::Math::PlaneShape; using SurgSim::Math::SphereShape; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { std::list> SpherePlaneContact::calculateDcdContact( const Math::SphereShape& sphere, const Math::RigidTransform3d& spherePose, const Math::PlaneShape& plane, const Math::RigidTransform3d& planePose) const { std::list> contacts; Vector3d sphereCenter = spherePose.translation(); // Move into Plane coordinate system Vector3d planeLocalSphereCenter = planePose.inverse() * sphereCenter; Vector3d result; double dist = Math::distancePointPlane(planeLocalSphereCenter, plane.getNormal(), plane.getD(), &result); if (dist < sphere.getRadius()) { double depth = sphere.getRadius() - dist; // Calculate the normal going from the plane to the sphere, it is the plane normal transformed by the // plane pose, flipped if the sphere is behind the plane and normalize it Vector3d normal = planePose.linear() * plane.getNormal(); std::pair penetrationPoints; penetrationPoints.first.rigidLocalPosition.setValue( spherePose.inverse() * (sphereCenter - normal * sphere.getRadius())); penetrationPoints.second.rigidLocalPosition.setValue( planePose.inverse() * (sphereCenter - normal * dist)); contacts.emplace_back(std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, depth, 1.0, Vector3d::Zero(), normal, penetrationPoints)); } return contacts; } std::pair SpherePlaneContact::getShapeTypes() { return std::pair(SurgSim::Math::SHAPE_TYPE_SPHERE, SurgSim::Math::SHAPE_TYPE_PLANE); } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/SpherePlaneContact.h000066400000000000000000000030431277777236100233330ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_SPHEREPLANECONTACT_H #define SURGSIM_COLLISION_SPHEREPLANECONTACT_H #include #include "SurgSim/Collision/ShapeShapeContactCalculation.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/PlaneShape.h" namespace SurgSim { namespace Collision { class CollisionPair; /// Class to calculate intersections between Spheres and Planes class SpherePlaneContact : public ShapeShapeContactCalculation { public: using ContactCalculation::calculateDcdContact; std::list> calculateDcdContact( const Math::SphereShape& sphere, const Math::RigidTransform3d& spherePose, const Math::PlaneShape& plane, const Math::RigidTransform3d& planePose) const override; std::pair getShapeTypes() override; }; }; // namespace Collision }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Collision/SphereSphereContact.cpp000066400000000000000000000044341277777236100240620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Collision/SphereSphereContact.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::Location; using SurgSim::Math::SphereShape; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { std::list> SphereSphereContact::calculateDcdContact( const Math::SphereShape& sphere1, const Math::RigidTransform3d& sphere1Pose, const Math::SphereShape& sphere2, const Math::RigidTransform3d& sphere2Pose) const { std::list> contacts; Vector3d center1 = sphere1Pose.translation(); Vector3d center2 = sphere2Pose.translation(); Vector3d normal = center1 - center2; double dist = normal.norm(); double maxDist = sphere1.getRadius() + sphere2.getRadius(); if (dist < maxDist) { std::pair penetrationPoints; normal.normalize(); penetrationPoints.first.rigidLocalPosition.setValue( (sphere1Pose.linear().inverse() * -normal) * sphere1.getRadius()); penetrationPoints.second.rigidLocalPosition.setValue( (sphere2Pose.linear().inverse() * normal) * sphere2.getRadius()); contacts.emplace_back(std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, maxDist - dist, 1.0, Vector3d::Zero(), normal, penetrationPoints)); } return contacts; } std::pair SphereSphereContact::getShapeTypes() { return std::pair(SurgSim::Math::SHAPE_TYPE_SPHERE, SurgSim::Math::SHAPE_TYPE_SPHERE); } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/SphereSphereContact.h000066400000000000000000000027771277777236100235370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_SPHERESPHERECONTACT_H #define SURGSIM_COLLISION_SPHERESPHERECONTACT_H #include #include "SurgSim/Collision/ShapeShapeContactCalculation.h" #include "SurgSim/Math/SphereShape.h" namespace SurgSim { namespace Collision { class CollisionPair; /// Class to calculate intersections between spheres class SphereSphereContact : public ShapeShapeContactCalculation { public: using ContactCalculation::calculateDcdContact; std::list> calculateDcdContact( const Math::SphereShape& sphere1, const Math::RigidTransform3d& sphere1Pose, const Math::SphereShape& sphere2, const Math::RigidTransform3d& sphere2Pose) const override; std::pair getShapeTypes() override; }; }; // namespace Collision }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Collision/TriangleMeshParticlesContact.cpp000066400000000000000000000065021277777236100257140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Collision/TriangleMeshParticlesContact.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/DataStructures/AabbTree.h" #include "SurgSim/DataStructures/AabbTreeNode.h" #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::IndexedLocalCoordinate; using SurgSim::DataStructures::Location; using SurgSim::Math::barycentricCoordinates; using SurgSim::Math::distancePointTriangle; using SurgSim::Math::Vector; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { std::pair TriangleMeshParticlesContact::getShapeTypes() { return std::pair(Math::SHAPE_TYPE_MESH, Math::SHAPE_TYPE_PARTICLES); } std::list> TriangleMeshParticlesContact::calculateDcdContact( const Math::MeshShape& mesh, const Math::RigidTransform3d&, const Math::ParticlesShape& particles, const Math::RigidTransform3d&) const { std::list> contacts; Vector3d closestPoint; Vector3d coordinates; const double particleRadius = particles.getRadius(); auto intersections = mesh.getAabbTree()->spatialJoin(*particles.getAabbTree()); for (auto& intersection : intersections) { std::list candidateTriangles; std::list candidateParticles; intersection.first->getIntersections(intersection.second->getAabb(), &candidateTriangles); intersection.second->getIntersections(intersection.first->getAabb(), &candidateParticles); for (auto& triangle : candidateTriangles) { const Vector3d& normal = mesh.getNormal(triangle); if (normal.isZero()) { continue; } for (auto& particle : candidateParticles) { const Vector3d& particlePosition = particles.getVertexPosition(particle); auto vertices = mesh.getTrianglePositions(triangle); double distance = distancePointTriangle(particlePosition, vertices[0], vertices[1], vertices[2], &closestPoint); if (distance < particleRadius) { double depth = particleRadius - normal.dot(particlePosition - closestPoint); barycentricCoordinates(closestPoint, vertices[0], vertices[1], vertices[2], normal, &coordinates); auto penetrationPoints = std::make_pair( Location(IndexedLocalCoordinate(triangle, coordinates), DataStructures::Location::TRIANGLE), Location(particle)); contacts.push_back(std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, depth, 1.0, Vector3d::Zero(), -normal, penetrationPoints)); } } } } return contacts; } }; }; opensurgsim-0.7.0/SurgSim/Collision/TriangleMeshParticlesContact.h000066400000000000000000000032471277777236100253640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_TRIANGLEMESHPARTICLESCONTACT_H #define SURGSIM_COLLISION_TRIANGLEMESHPARTICLESCONTACT_H #include #include "SurgSim/Collision/ShapeShapeContactCalculation.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/ParticlesShape.h" namespace SurgSim { namespace Collision { class CollisionPair; /// Class to calculate intersections between a triangle mesh and particles class TriangleMeshParticlesContact : public ShapeShapeContactCalculation { public: using ContactCalculation::calculateDcdContact; /// \note poses are ignored for this calculation std::list> calculateDcdContact( const Math::MeshShape& mesh, const Math::RigidTransform3d&, const Math::ParticlesShape& particles, const Math::RigidTransform3d&) const override; std::pair getShapeTypes() override; }; }; // namespace Collision }; // namespace SurgSim #endif // SURGSIM_COLLISION_TRIANGLEMESHPARTICLESCONTACT_H opensurgsim-0.7.0/SurgSim/Collision/TriangleMeshPlaneContact.cpp000066400000000000000000000051131277777236100250220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Collision/TriangleMeshPlaneContact.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/PlaneShape.h" #include "SurgSim/Math/MeshShape.h" using SurgSim::DataStructures::Location; using SurgSim::Math::MeshShape; using SurgSim::Math::PlaneShape; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { std::pair TriangleMeshPlaneContact::getShapeTypes() { return std::pair (SurgSim::Math::SHAPE_TYPE_MESH, SurgSim::Math::SHAPE_TYPE_PLANE); } std::list> TriangleMeshPlaneContact::calculateDcdContact( const Math::MeshShape& mesh, const Math::RigidTransform3d& meshPose, const Math::PlaneShape& plane, const Math::RigidTransform3d& planePose) const { std::list> contacts; // Transform the plane normal to Mesh co-ordinate system. Vector3d planeNormal = planePose.linear() * plane.getNormal(); Vector3d planeNormalScaled = plane.getNormal() * -plane.getD(); Vector3d planePoint = planePose * planeNormalScaled; double planeD = -planeNormal.dot(planePoint); double d; Vector3d normal; for (auto& vertex : mesh.getVertices()) { d = planeNormal.dot(vertex.position) + planeD; if (d < SurgSim::Math::Geometry::DistanceEpsilon) { // Create the contact normal = planePose.linear() * plane.getNormal(); std::pair penetrationPoints; penetrationPoints.first.rigidLocalPosition.setValue( meshPose.inverse() * vertex.position); penetrationPoints.second.rigidLocalPosition.setValue( planePose.inverse() * (vertex.position - normal * d)); contacts.emplace_back(std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, -d, 1.0, Vector3d::Zero(), normal, penetrationPoints)); } } return contacts; } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Collision/TriangleMeshPlaneContact.h000066400000000000000000000027621277777236100244760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_TRIANGLEMESHPLANECONTACT_H #define SURGSIM_COLLISION_TRIANGLEMESHPLANECONTACT_H #include #include "SurgSim/Collision/ShapeShapeContactCalculation.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/PlaneShape.h" namespace SurgSim { namespace Collision { /// Class to calculate intersections between a triangle mesh and a plane class TriangleMeshPlaneContact : public ShapeShapeContactCalculation { public: using ContactCalculation::calculateDcdContact; std::list> calculateDcdContact( const Math::MeshShape& mesh, const Math::RigidTransform3d& meshPose, const Math::PlaneShape& plane, const Math::RigidTransform3d& planePose) const override; std::pair getShapeTypes() override; }; }; }; #endif opensurgsim-0.7.0/SurgSim/Collision/TriangleMeshSurfaceMeshContact.cpp000066400000000000000000000117301277777236100261720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Collision/TriangleMeshSurfaceMeshContact.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/DataStructures/AabbTree.h" #include "SurgSim/DataStructures/AabbTreeNode.h" #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::DataStructures::Location; using SurgSim::DataStructures::TriangleMesh; using SurgSim::Math::MeshShape; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { std::pair TriangleMeshSurfaceMeshContact::getShapeTypes() { return std::pair(SurgSim::Math::SHAPE_TYPE_MESH, SurgSim::Math::SHAPE_TYPE_SURFACEMESH); } std::list> TriangleMeshSurfaceMeshContact::calculateDcdContact( const Math::MeshShape& meshA, const Math::RigidTransform3d& meshAPose, const Math::SurfaceMeshShape& meshB, const Math::RigidTransform3d& meshBPose) const { std::list> contacts; std::list intersectionList = meshA.getAabbTree()->spatialJoin(*(meshB.getAabbTree())); double depth = 0.0; Vector3d normal; Vector3d penetrationPointA, penetrationPointB; for (auto intersection = intersectionList.begin(); intersection != intersectionList.end(); ++intersection) { std::shared_ptr nodeA = intersection->first; std::shared_ptr nodeB = intersection->second; std::list triangleListA; std::list triangleListB; nodeA->getIntersections(nodeB->getAabb(), &triangleListA); nodeB->getIntersections(nodeA->getAabb(), &triangleListB); for (auto i = triangleListA.begin(); i != triangleListA.end(); ++i) { const Vector3d& normalA = meshA.getNormal(*i); if (normalA.isZero()) { continue; } auto verticesA = meshA.getTrianglePositions(*i); for (auto j = triangleListB.begin(); j != triangleListB.end(); ++j) { const Vector3d& normalB = meshB.getNormal(*j); if (normalB.isZero()) { continue; } auto verticesB = meshB.getTrianglePositions(*j); bool trianglesInContact = false; // Check if the triangle A is on the bottom side of triangle B if ((((verticesA[0] + verticesA[1] + verticesA[2]) / 3.0) - verticesB[0]).dot(normalB) < 0.0) { // The centroid of triangle A is below the plane of triangle B. // Reverse the normal of the triangle B trianglesInContact = Math::calculateContactTriangleTriangle(verticesA[0], verticesA[1], verticesA[2], verticesB[0], verticesB[2], verticesB[1], normalA, (-normalB).eval(), &depth, &penetrationPointA, &penetrationPointB, &normal); } else { trianglesInContact = Math::calculateContactTriangleTriangle(verticesA[0], verticesA[1], verticesA[2], verticesB[0], verticesB[1], verticesB[2], normalA, normalB, &depth, &penetrationPointA, &penetrationPointB, &normal); } // Check if the triangles intersect. if (trianglesInContact) { // Create the contact. std::pair penetrationPoints; Vector3d barycentricCoordinate; Math::barycentricCoordinates(penetrationPointA, verticesA[0], verticesA[1], verticesA[2], normalA, &barycentricCoordinate); penetrationPoints.first.triangleMeshLocalCoordinate.setValue( DataStructures::IndexedLocalCoordinate(*i, barycentricCoordinate)); Math::barycentricCoordinates(penetrationPointB, verticesB[0], verticesB[1], verticesB[2], normalB, &barycentricCoordinate); penetrationPoints.second.triangleMeshLocalCoordinate.setValue( DataStructures::IndexedLocalCoordinate(*j, barycentricCoordinate)); penetrationPoints.first.rigidLocalPosition.setValue(meshAPose.inverse() * penetrationPointA); penetrationPoints.second.rigidLocalPosition.setValue(meshBPose.inverse() * penetrationPointB); contacts.emplace_back(std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, std::abs(depth), 1.0, Vector3d::Zero(), normal, penetrationPoints)); } } } } return contacts; } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/TriangleMeshSurfaceMeshContact.h000066400000000000000000000033011277777236100256320ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_TRIANGLEMESHSURFACEMESHCONTACT_H #define SURGSIM_COLLISION_TRIANGLEMESHSURFACEMESHCONTACT_H #include #include "SurgSim/Collision/ShapeShapeContactCalculation.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/SurfaceMeshShape.h" namespace SurgSim { namespace Collision { class CollisionPair; /// Class to calculate intersections between a surface mesh and a triangle/surface mesh class TriangleMeshSurfaceMeshContact : public ShapeShapeContactCalculation { public: using ContactCalculation::calculateDcdContact; /// \note this expects the posed version of the shape to be passed std::list> calculateDcdContact( const Math::MeshShape& mesh1, const Math::RigidTransform3d& mesh1Pose, const Math::SurfaceMeshShape& mesh2, const Math::RigidTransform3d& mesh2Pose) const override; std::pair getShapeTypes() override; }; }; // namespace Collision }; // namespace SurgSim #endif // SURGSIM_COLLISION_TRIANGLEMESHSURFACEMESHCONTACT_H opensurgsim-0.7.0/SurgSim/Collision/TriangleMeshTriangleMeshContact.cpp000066400000000000000000000216571277777236100263600ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Collision/TriangleMeshTriangleMeshContact.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/DataStructures/AabbTree.h" #include "SurgSim/DataStructures/AabbTreeNode.h" #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::DataStructures::Location; using SurgSim::DataStructures::TriangleMesh; using SurgSim::Math::MeshShape; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { std::pair TriangleMeshTriangleMeshContact::getShapeTypes() { return std::pair(SurgSim::Math::SHAPE_TYPE_MESH, SurgSim::Math::SHAPE_TYPE_MESH); } #ifdef SURGSIM_DEBUG_TRIANGLETRIANGLECONTACT namespace { /// Asserts the points are coplanar, and prints debug output on the failing condition. /// \param triangle0, triangle1, triangle2 the vertices of the triangle /// \param point the point to compare against /// \throws If the points are not coplanar void assertIsCoplanar(const Vector3d& triangle0, const Vector3d& triangle1, const Vector3d& triangle2, const Vector3d& point) { SURGSIM_ASSERT(SurgSim::Math::isCoplanar(triangle0, triangle1, triangle2, point)) << "Coplanar assertion failed with: " "t0 [" << triangle0.transpose() << "], " "t1 [" << triangle1.transpose() << "], " "t2 [" << triangle2.transpose() << "], " "pt [" << point.transpose() << "]"; } /// Asserts the point is inside the triangle, and prints debug output on the failing condition. /// \param point the point to compare against /// \param triangle0, triangle1, triangle2 the vertices of the triangle /// \param normal the unit normal of the triangle /// \throws If the point is not inside the triangle void assertIsPointInsideTriangle(const Vector3d& point, const Vector3d& triangle0, const Vector3d& triangle1, const Vector3d& triangle2, const Vector3d& normal) { SURGSIM_ASSERT(SurgSim::Math::isPointInsideTriangle(point, triangle0, triangle1, triangle2, normal)) << "Point inside triangle assertion failed with: " "t0 [" << triangle0.transpose() << "], " "t1 [" << triangle1.transpose() << "], " "t2 [" << triangle2.transpose() << "], " "n [" << normal.transpose() << "], " "pt [" << point.transpose() << "]"; } /// Asserts the provided normal and depth minimally resolve the interpenetration of the two triangles, and prints debug /// output on the failing condition. /// \param normal the unit normal in the direction to resolve the penetration /// \param penetrationDepth the depth of penetration to check /// \param triangleA0, triangleA1, triangleA2 the vertices of the first triangle /// \param triangleB0, triangleB1, triangleB2 the vertices of the second triangle /// \throws If the normal and depth do not minimally resolve the interpenetration of the two triangles void assertIsCorrectNormalAndDepth(const Vector3d& normal, double penetrationDepth, const Vector3d& triangleA0, const Vector3d& triangleA1, const Vector3d& triangleA2, const Vector3d& triangleB0, const Vector3d& triangleB1, const Vector3d& triangleB2) { Vector3d correction = normal * (penetrationDepth - SurgSim::Math::Geometry::DistanceEpsilon); SURGSIM_ASSERT(SurgSim::Math::doesIntersectTriangleTriangle( (Vector3d)(triangleA0 + correction), (Vector3d)(triangleA1 + correction), (Vector3d)(triangleA2 + correction), triangleB0, triangleB1, triangleB2)) << "Correct normal and depth assertion failed with: " "n [" << normal.transpose() << "], " "d [" << penetrationDepth << "], " "a0 [" << triangleA0.transpose() << "], " "a1 [" << triangleA1.transpose() << "], " "a2 [" << triangleA2.transpose() << "], " "b0 [" << triangleB0.transpose() << "], " "b1 [" << triangleB1.transpose() << "], " "b2 [" << triangleB2.transpose() << "]"; correction = normal * (penetrationDepth + 2.0 * SurgSim::Math::Geometry::DistanceEpsilon); SURGSIM_ASSERT(!SurgSim::Math::doesIntersectTriangleTriangle( (Vector3d)(triangleA0 + correction), (Vector3d)(triangleA1 + correction), (Vector3d)(triangleA2 + correction), triangleB0, triangleB1, triangleB2)) << "Correct normal and depth assertion failed with: " "n [" << normal.transpose() << "], " "d [" << penetrationDepth << "], " "a0 [" << triangleA0.transpose() << "], " "a1 [" << triangleA1.transpose() << "], " "a2 [" << triangleA2.transpose() << "], " "b0 [" << triangleB0.transpose() << "], " "b1 [" << triangleB1.transpose() << "], " "b2 [" << triangleB2.transpose() << "]"; } } // namespace #endif //SURGSIM_DEBUG_TRIANGLETRIANGLECONTACT std::list> TriangleMeshTriangleMeshContact::calculateDcdContact( const Math::MeshShape& meshA, const Math::RigidTransform3d& meshAPose, const Math::MeshShape& meshB, const Math::RigidTransform3d& meshBPose) const { std::list> contacts; std::list intersectionList = meshA.getAabbTree()->spatialJoin(*(meshB.getAabbTree())); double depth = 0.0; Vector3d normal; Vector3d penetrationPointA, penetrationPointB; for (auto intersection = intersectionList.begin(); intersection != intersectionList.end(); ++intersection) { std::shared_ptr nodeA = intersection->first; std::shared_ptr nodeB = intersection->second; std::list triangleListA; std::list triangleListB; nodeA->getIntersections(nodeB->getAabb(), &triangleListA); nodeB->getIntersections(nodeA->getAabb(), &triangleListB); for (auto i = triangleListA.begin(); i != triangleListA.end(); ++i) { const Vector3d& normalA = meshA.getNormal(*i); if (normalA.isZero()) { continue; } auto verticesA = meshA.getTrianglePositions(*i); for (auto j = triangleListB.begin(); j != triangleListB.end(); ++j) { const Vector3d& normalB = meshB.getNormal(*j); if (normalB.isZero()) { continue; } auto verticesB = meshB.getTrianglePositions(*j); // Check if the triangles intersect. if (Math::calculateContactTriangleTriangle(verticesA[0], verticesA[1], verticesA[2], verticesB[0], verticesB[1], verticesB[2], normalA, normalB, &depth, &penetrationPointA, &penetrationPointB, &normal)) { #ifdef SURGSIM_DEBUG_TRIANGLETRIANGLECONTACT assertIsCoplanar(verticesA[0], verticesA[1], verticesA[2], penetrationPointA); assertIsCoplanar(verticesB[0], verticesB[1], verticesB[2], penetrationPointB); assertIsPointInsideTriangle( penetrationPointA, verticesA[0], verticesA[1], verticesA[2], normalA); assertIsPointInsideTriangle(penetrationPointB, verticesB[0], verticesB[1], verticesB[2], normalB); assertIsCorrectNormalAndDepth(normal, depth, verticesA[0], verticesA[1], verticesA[2], verticesB[0], verticesB[1], verticesB[2]); #endif // Create the contact. std::pair penetrationPoints; Vector3d barycentricCoordinate; Math::barycentricCoordinates(penetrationPointA, verticesA[0], verticesA[1], verticesA[2], normalA, &barycentricCoordinate); penetrationPoints.first.triangleMeshLocalCoordinate.setValue( DataStructures::IndexedLocalCoordinate(*i, barycentricCoordinate)); Math::barycentricCoordinates(penetrationPointB, verticesB[0], verticesB[1], verticesB[2], normalB, &barycentricCoordinate); penetrationPoints.second.triangleMeshLocalCoordinate.setValue( DataStructures::IndexedLocalCoordinate(*j, barycentricCoordinate)); penetrationPoints.first.rigidLocalPosition.setValue(meshAPose.inverse() * penetrationPointA); penetrationPoints.second.rigidLocalPosition.setValue(meshBPose.inverse() * penetrationPointB); contacts.emplace_back(std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, std::abs(depth), 1.0, Vector3d::Zero(), normal, penetrationPoints)); } } } } return contacts; } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/TriangleMeshTriangleMeshContact.h000066400000000000000000000032511277777236100260130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_TRIANGLEMESHTRIANGLEMESHCONTACT_H #define SURGSIM_COLLISION_TRIANGLEMESHTRIANGLEMESHCONTACT_H #include #include "SurgSim/Collision/ShapeShapeContactCalculation.h" #include "SurgSim/Math/MeshShape.h" namespace SurgSim { namespace Collision { class CollisionPair; /// Class to calculate intersections between a triangle mesh and a triangle mesh class TriangleMeshTriangleMeshContact : public ShapeShapeContactCalculation { public: using ContactCalculation::calculateDcdContact; /// \note this expects the posed version of the shape to be passed std::list> calculateDcdContact( const Math::MeshShape& mesh1, const Math::RigidTransform3d& mesh1Pose, const Math::MeshShape& mesh2, const Math::RigidTransform3d& mesh2Pose) const override; std::pair getShapeTypes() override; }; }; // namespace Collision }; // namespace SurgSim #endif // SURGSIM_COLLISION_TRIANGLEMESHTRIANGLEMESHCONTACT_H opensurgsim-0.7.0/SurgSim/Collision/UnitTests/000077500000000000000000000000001277777236100214025ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Collision/UnitTests/BoxCapsuleContactCalculationTests.cpp000066400000000000000000000304001277777236100306660ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Collision/BoxCapsuleContact.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/CapsuleShape.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::Math::BoxShape; using SurgSim::Math::CapsuleShape; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; using SurgSim::Math::Quaterniond; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { void doBoxCapsuleTest(std::shared_ptr box, const Quaterniond& boxQuat, const Vector3d& boxTrans, std::shared_ptr capsule, const Quaterniond& capsuleQuat, const Vector3d& capsuleTrans, const bool expectedInContact) { std::shared_ptr boxRep = std::make_shared("Collision Box 0"); boxRep->setShape(box); boxRep->setLocalPose(makeRigidTransform(boxQuat, boxTrans)); std::shared_ptr capsuleRep = std::make_shared("Collision Capsule 0"); capsuleRep->setShape(capsule); capsuleRep->setLocalPose(makeRigidTransform(capsuleQuat, capsuleTrans)); // Perform collision detection. BoxCapsuleContact calcContact; std::shared_ptr pair = std::make_shared(boxRep, capsuleRep); calcContact.calculateContact(pair); EXPECT_EQ(expectedInContact, pair->hasContacts()); if (expectedInContact) { Vector3d capsuleToBox = boxTrans - capsuleTrans; double depthMax = box->getSize().norm(); depthMax += capsule->getLength() / 2.0 + capsule->getRadius(); auto contacts = pair->getContacts(); for (auto contact=contacts.cbegin(); contact!=contacts.cend(); ++contact) { if (! capsuleToBox.isZero()) { // Check that each normal is pointing into the box EXPECT_LT(0.0, (*contact)->normal.dot(capsuleToBox)); } // Check that the depth is sane EXPECT_LT(0.0, (*contact)->depth); EXPECT_GT(depthMax, (*contact)->depth); // Check that the locations are sane Vector3d boxPenetrationPoint = boxQuat * (*contact)->penetrationPoints.first.rigidLocalPosition.getValue() + boxTrans; Vector3d capsulePenetrationPoint = capsuleQuat * (*contact)->penetrationPoints.second.rigidLocalPosition.getValue() + capsuleTrans; EXPECT_GT(0.0, (*contact)->normal.dot(boxPenetrationPoint - boxTrans)); EXPECT_LT(0.0, (*contact)->normal.dot(capsulePenetrationPoint - capsuleTrans)); } } } TEST(BoxCapsuleContactCalculationTests, UnitTests) { std::shared_ptr box = std::make_shared(1.0, 1.0, 1.0); std::shared_ptr capsule = std::make_shared(4.0, 1.0); Quaterniond boxQuat; Vector3d boxTrans; Quaterniond capsuleQuat; Vector3d capsuleTrans; { SCOPED_TRACE("No intersection, box in front of capsule"); boxQuat = Quaterniond::Identity(); boxTrans = Vector3d(10.6, 0.0, 0.0); capsuleQuat = Quaterniond::Identity(); capsuleTrans = Vector3d::Zero(); bool expectedInContact = false; doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("No intersection, capsule beyond corner of box"); boxQuat = Quaterniond::Identity(); boxTrans = Vector3d::Zero(); capsuleQuat = Quaterniond::Identity(); bool expectedInContact = false; capsuleTrans = Vector3d(1.5, 0.0, 1.5); doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); capsuleTrans = Vector3d(1.5, 0.0, -1.5); doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); capsuleTrans = Vector3d(-1.5, 0.0, 1.5); doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); capsuleTrans = Vector3d(-1.5, 0.0, -1.5); doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("No intersection, box below capsule"); boxQuat = Quaterniond::Identity(); boxTrans = Vector3d(0.0, -3.6, 0.0); capsuleQuat = Quaterniond::Identity(); capsuleTrans = Vector3d::Zero(); bool expectedInContact = false; doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("Intersection, box intersection with capsule side"); boxQuat = Quaterniond::Identity(); boxTrans = Vector3d(1.0 , 0.0, 0.0); capsuleQuat = Quaterniond::Identity(); capsuleTrans = Vector3d::Zero(); bool expectedInContact = true; doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("Intersection, box intersection with upside down capsule"); boxQuat = Quaterniond::Identity(); boxTrans = Vector3d(1.0 , 0.0, 0.0); capsuleQuat = makeRotationQuaternion(M_PI, Vector3d(0.0, 0.0, 1.0)); capsuleTrans = Vector3d::Zero(); bool expectedInContact = true; doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("Intersection, box intersection with z-axis capsule"); boxQuat = Quaterniond::Identity(); boxTrans = Vector3d(1.0 , 0.0, 0.0); capsuleQuat = makeRotationQuaternion(M_PI_2, Vector3d(1.0, 0.0, 0.0)); capsuleTrans = Vector3d::Zero(); bool expectedInContact = true; doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("Intersection, box intersection with x-axis capsule"); boxQuat = makeRotationQuaternion(M_PI, Vector3d(0.0, 0.0, 1.0)); boxTrans = Vector3d(1.0 , 0.0, 0.0); capsuleQuat = makeRotationQuaternion(M_PI_2, Vector3d(1.0, 0.0, 0.0)); capsuleTrans = Vector3d::Zero(); bool expectedInContact = true; doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("Intersection, box intersection with capsule cap"); boxQuat = makeRotationQuaternion(M_PI_2, Vector3d(0.0, 0.0, 1.0)); boxTrans = Vector3d(0.1 , 0.0, 0.1); capsuleQuat = Quaterniond::Identity(); capsuleTrans = Vector3d(0.0 , 2.6, 0.0); bool expectedInContact = true; doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("No intersection, capsule near box corner, but not intersecting"); boxQuat = Quaterniond::Identity(); boxTrans = Vector3d(0.0 , 0.0, 0.0); capsuleQuat = Quaterniond::Identity(); capsuleTrans = Vector3d(1.3 , 0.0, 1.3); bool expectedInContact = false; doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("Intersection, capsule intersecting with box corner"); boxQuat = Quaterniond::Identity(); boxTrans = Vector3d(0.0 , 0.0, 0.0); capsuleQuat = Quaterniond::Identity(); capsuleTrans = Vector3d(1.2 , 0.0, 1.2); bool expectedInContact = true; doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("Intersection, box inside capsule"); boxQuat = Quaterniond::Identity(); boxTrans = Vector3d::Zero(); capsuleQuat = Quaterniond::Identity(); capsuleTrans = Vector3d::Zero(); bool expectedInContact = true; doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("Intersection, capsule inside box"); std::shared_ptr bigBox = std::make_shared(10.0, 10.0, 10.0); boxQuat = makeRotationQuaternion(-M_PI_4, Vector3d(0.0, 1.0, 0.0)); boxTrans = Vector3d::Zero(); capsuleQuat = makeRotationQuaternion(M_PI, Vector3d(1.0, 0.0, 0.0)); capsuleTrans = Vector3d(0.0, 0.0, 0.0); bool expectedInContact = true; doBoxCapsuleTest(bigBox, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("Intersection, capsule bottom at box center"); boxQuat = Quaterniond::Identity(); boxTrans = Vector3d::Zero(); capsuleQuat = Quaterniond::Identity(); capsuleTrans = Vector3d(0.0, -2.0, 0.0); bool expectedInContact = true; doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("Intersection, capsule top at box center"); boxQuat = Quaterniond::Identity(); boxTrans = Vector3d::Zero(); capsuleQuat = Quaterniond::Identity(); capsuleTrans = Vector3d(0.0, 2.0, 0.0); bool expectedInContact = true; doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("Intersection with box edge, box's point on edge"); boxQuat = Quaterniond::Identity(); boxTrans = Vector3d::Zero(); capsuleQuat = makeRotationQuaternion(0.1, Vector3d::UnitZ().eval()); capsuleTrans = Vector3d(1.52, 0.0, 0.0); bool expectedInContact = true; doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("Intersection with box edge, box's point on edge, capsule point along vector towards box point"); std::shared_ptr box = std::make_shared(0.0256, 0.0256, 0.0256); std::shared_ptr capsule = std::make_shared(0.01, 0.0063); boxQuat = Quaterniond::Identity(); boxTrans = Vector3d(0.0254, 0.0524, 0.5128); capsuleQuat = Quaterniond::Identity(); capsuleTrans = Vector3d(0.0081837091898594016, 0.074665473951012307, 0.50404931721342927); bool expectedInContact = true; doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("Intersection with box corner"); std::shared_ptr box = std::make_shared(0.0032, 0.0032, 0.0032); std::shared_ptr capsule = std::make_shared(0.01, 0.0063); boxQuat = Quaterniond::Identity(); boxTrans = Vector3d(0.011, 0.038, 0.5496); capsuleQuat = Quaterniond(0.99814646292568798, 0.0035271245394549833, -0.023780789153701510, 0.055907709742473284); capsuleTrans = Vector3d(0.0059124370262071749, 0.031538130383304983, 0.54312746745813301); bool expectedInContact = true; doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("Another intersection with box corner"); std::shared_ptr box = std::make_shared(0.0008, 0.0008, 0.0008); std::shared_ptr capsule = std::make_shared(0.01, 0.0063); boxQuat = Quaterniond::Identity(); boxTrans = Vector3d(0.005, 0.052, 0.5308); capsuleQuat = Quaterniond(0.71851427633922127, 0.00027205941221747750, 0.0021375922639339773, 0.69550887225089708); capsuleTrans = Vector3d(0.010224217835903153, 0.058515488684803690, 0.53177563225691493); bool expectedInContact = true; doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } { SCOPED_TRACE("Intersection with box face, but closest point to box center is outside dilated box"); std::shared_ptr box = std::make_shared(0.012800000000000004, 0.012799999999999999, 0.012800000000000034); std::shared_ptr capsule = std::make_shared(0.01, 0.0063); boxQuat = Quaterniond::Identity(); boxTrans = Vector3d(0.019000000000000003, 0.045999999999999999, 0.51920000000000011); capsuleQuat = Quaterniond(0.71552146749248391, -0.00014598153123885886, 0.0013667288118696403, 0.69858939320544333); capsuleTrans = Vector3d(0.017905427782122299, 0.058803866737869748, 0.51747490113489192); bool expectedInContact = true; doBoxCapsuleTest(box, boxQuat, boxTrans, capsule, capsuleQuat, capsuleTrans, expectedInContact); } } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/BoxDoubleSidedPlaneContactCalculationTests.cpp000066400000000000000000000265431277777236100324520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.h" #include "SurgSim/Collision/BoxDoubleSidedPlaneContact.h" using SurgSim::Math::BoxShape; using SurgSim::Math::DoubleSidedPlaneShape; namespace SurgSim { namespace Collision { void doBoxDoubleSidedPlaneTest(std::shared_ptr box, const Quaterniond& boxQuat, const Vector3d& boxTrans, std::shared_ptr plane, const Quaterniond& planeQuat, const Vector3d& planeTrans, const int expectedNumberOfContacts, const int* expectedBoxIndicesInContacts, const bool collisionNormalIsPlaneNormal) { std::shared_ptr boxRep = std::make_shared("Collision Box 0"); boxRep->setShape(box); boxRep->setLocalPose(SurgSim::Math::makeRigidTransform(boxQuat, boxTrans)); std::shared_ptr planeRep = std::make_shared("Collision Plane 0"); planeRep->setShape(plane); planeRep->setLocalPose(SurgSim::Math::makeRigidTransform(planeQuat, planeTrans)); // First calculate the expected contact info. std::list> expectedContacts; if (expectedNumberOfContacts > 0) { generateBoxDoubleSidedPlaneContact(&expectedContacts, expectedNumberOfContacts, expectedBoxIndicesInContacts, box, boxTrans, boxQuat, plane, planeTrans, planeQuat, collisionNormalIsPlaneNormal); } // Perform collision detection. BoxDoubleSidedPlaneContact calcContact; std::shared_ptr pair = std::make_shared(boxRep, planeRep); calcContact.calculateContact(pair); // Compare the contact info. contactsInfoEqualityTest(expectedContacts, pair->getContacts()); } TEST(BoxDoubleSidedPlaneContactCalculationTests, UnitTests) { std::shared_ptr box = std::make_shared(1.0, 1.0, 1.0); std::shared_ptr plane = std::make_shared(); SurgSim::Math::Quaterniond boxQuat; SurgSim::Math::Vector3d boxTrans; SurgSim::Math::Quaterniond planeQuat; SurgSim::Math::Vector3d planeTrans; SurgSim::Math::Quaterniond globalQuat; { SCOPED_TRACE("No intersection, box in front of rotated plane"); boxQuat = SurgSim::Math::makeRotationQuaternion(0.5674, Vector3d(0.4332,0.927, 0.13557).normalized()); boxTrans = Vector3d(2.5,10.0,350.0); planeQuat = SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = Vector3d::Zero(); int expectedNumberOfContacts = 0; int expectedBoxIndicesInContacts[] = {0}; bool collisionNormalIsPlaneNormal = true; doBoxDoubleSidedPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts, collisionNormalIsPlaneNormal); } { SCOPED_TRACE("Intersection in front of plane, four contacts, rotated plane"); boxQuat = SurgSim::Math::makeRotationQuaternion(1.233469, Vector3d(0.91834,0.39687,0.8271).normalized()); boxTrans = Vector3d(0.5,10.0,350.0); planeQuat = boxQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = boxTrans + boxQuat * Vector3d(-0.5,0.0,0.0); int expectedNumberOfContacts = 4; int expectedBoxIndicesInContacts[] = {0, 1, 2, 3}; bool collisionNormalIsPlaneNormal = true; doBoxDoubleSidedPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts, collisionNormalIsPlaneNormal); } { SCOPED_TRACE("Intersection inside of plane, four contacts, rotated plane"); boxQuat = SurgSim::Math::makeRotationQuaternion(1.233469, Vector3d(0.91834,0.39687,0.8271).normalized()); boxTrans = Vector3d(0.5,10.0,350.0); planeQuat = boxQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = boxTrans + boxQuat * Vector3d(-0.4,0.0,0.0); int expectedNumberOfContacts = 4; int expectedBoxIndicesInContacts[] = {0, 1, 2, 3}; bool collisionNormalIsPlaneNormal = true; doBoxDoubleSidedPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts, collisionNormalIsPlaneNormal); } { SCOPED_TRACE("Intersection in front of plane, two contacts, rotated plane"); globalQuat = SurgSim::Math::makeRotationQuaternion(0.8753, Vector3d(0.235345,0.6754,0.4567).normalized()); boxQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_4, Vector3d(0.0,0.0,1.0)); boxTrans = Vector3d(std::sqrt(0.5),230.0,540.0); planeQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = boxTrans + globalQuat * Vector3d(-std::sqrt(0.5),0.0,0.0); int expectedNumberOfContacts = 2; int expectedBoxIndicesInContacts[] = {0, 1}; bool collisionNormalIsPlaneNormal = true; doBoxDoubleSidedPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts, collisionNormalIsPlaneNormal); } { SCOPED_TRACE("Intersection inside of plane, two contacts, rotated plane"); globalQuat = SurgSim::Math::makeRotationQuaternion(0.8753, Vector3d(0.235345,0.6754,0.4567).normalized()); boxQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_4, Vector3d(0.0,0.0,1.0)); boxTrans = Vector3d(std::sqrt(0.5),230.0,540.0); planeQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = boxTrans + globalQuat * Vector3d(-std::sqrt(0.45),0.0,0.0); int expectedNumberOfContacts = 2; int expectedBoxIndicesInContacts[] = {0, 1}; bool collisionNormalIsPlaneNormal = true; doBoxDoubleSidedPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts, collisionNormalIsPlaneNormal); } { SCOPED_TRACE("Intersection in front of plane, one contact, rotated plane"); globalQuat = SurgSim::Math::makeRotationQuaternion(-0.3257, Vector3d(-0.4575,-0.8563,0.63457).normalized()); double angle = -35.264389682754654315377000330019*(M_PI/180.0); boxQuat = globalQuat * (SurgSim::Math::makeRotationQuaternion(angle, Vector3d(0.0,1.0,0.0)) * SurgSim::Math::makeRotationQuaternion(-M_PI_4, Vector3d(0.0,0.0,1.0))); boxTrans = Vector3d(std::sqrt(0.75),0.0,0.0); planeQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = boxTrans + globalQuat * Vector3d(-std::sqrt(0.75),0.0,0.0); int expectedNumberOfContacts = 1; int expectedBoxIndicesInContacts[] = {1}; bool collisionNormalIsPlaneNormal = true; doBoxDoubleSidedPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts, collisionNormalIsPlaneNormal); } { SCOPED_TRACE("Intersection inside of plane, one contact, rotated plane"); globalQuat = SurgSim::Math::makeRotationQuaternion(-0.3257, Vector3d(-0.4575,-0.8563,0.63457).normalized()); double angle = -35.264389682754654315377000330019*(M_PI/180.0); boxQuat = globalQuat * Quaterniond(SurgSim::Math::makeRotationQuaternion(angle, Vector3d(0.0,1.0,0.0)) * SurgSim::Math::makeRotationQuaternion(-M_PI_4, Vector3d(0.0,0.0,1.0))); boxTrans = Vector3d(std::sqrt(0.75),0.0,0.0); planeQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = boxTrans + globalQuat * Vector3d(-std::sqrt(0.74),0.0,0.0); int expectedNumberOfContacts = 1; int expectedBoxIndicesInContacts[] = {1}; bool collisionNormalIsPlaneNormal = true; doBoxDoubleSidedPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts, collisionNormalIsPlaneNormal); } { SCOPED_TRACE("No intersection, box behind rotated plane"); boxQuat = SurgSim::Math::makeRotationQuaternion(0.3252, Vector3d(0.5434,0.634,0.13435).normalized()); boxTrans = Vector3d(-45.5,10.0,350.0); planeQuat = SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = Vector3d::Zero(); int expectedNumberOfContacts = 0; int expectedBoxIndicesInContacts[] = {0}; bool collisionNormalIsPlaneNormal = false; doBoxDoubleSidedPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts, collisionNormalIsPlaneNormal); } { SCOPED_TRACE("Intersection behind plane, four contacts, rotated plane"); boxQuat = SurgSim::Math::makeRotationQuaternion(0.1436, Vector3d(0.8441,0.3579,0.2168).normalized()); boxTrans = Vector3d(-0.5,0.0,0.0); planeQuat = boxQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = boxTrans + boxQuat * Vector3d(0.5,0.0,0.0); int expectedNumberOfContacts = 4; int expectedBoxIndicesInContacts[] = {4, 5, 6, 7}; bool collisionNormalIsPlaneNormal = false; doBoxDoubleSidedPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts, collisionNormalIsPlaneNormal); } { SCOPED_TRACE("Intersection behind plane, two contacts, rotated plane"); globalQuat = SurgSim::Math::makeRotationQuaternion(-0.2356, Vector3d(0.4542,-0.2356,0.1187).normalized()); boxQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_4, Vector3d(0.0,0.0,1.0)); boxTrans = Vector3d(-std::sqrt(0.5),0.0,0.0); planeQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = boxTrans + globalQuat * Vector3d(std::sqrt(0.5),0.0,0.0); int expectedNumberOfContacts = 2; int expectedBoxIndicesInContacts[] = {6, 7}; bool collisionNormalIsPlaneNormal = false; doBoxDoubleSidedPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts, collisionNormalIsPlaneNormal); } { SCOPED_TRACE("Intersection behind plane, one contact, rotated plane"); globalQuat = SurgSim::Math::makeRotationQuaternion(1.4576, Vector3d(23.45,-98.24,42.46).normalized()); double angle = -35.264389682754654315377000330019*(M_PI/180.0); boxQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(angle, Vector3d(0.0,0.0,1.0)) * SurgSim::Math::makeRotationQuaternion(-M_PI_4, Vector3d(0.0,1.0,0.0)); boxTrans = Vector3d(-std::sqrt(0.75),0.0,0.0); planeQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = boxTrans + globalQuat * Vector3d(std::sqrt(0.75),0.0,0.0); int expectedNumberOfContacts = 1; int expectedBoxIndicesInContacts[] = {7}; bool collisionNormalIsPlaneNormal = false; doBoxDoubleSidedPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts, collisionNormalIsPlaneNormal); } } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/BoxPlaneContactCalculationTests.cpp000066400000000000000000000236431277777236100303440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.h" #include "SurgSim/Collision/BoxPlaneContact.h" #include "SurgSim/Math/Geometry.h" using SurgSim::Math::BoxShape; using SurgSim::Math::PlaneShape; using SurgSim::Math::Geometry::DistanceEpsilon; namespace SurgSim { namespace Collision { void doBoxPlaneTest(std::shared_ptr box, const Quaterniond& boxQuat, const Vector3d& boxTrans, std::shared_ptr plane, const Quaterniond& planeQuat, const Vector3d& planeTrans, const int expectedNumberOfContacts, const int* expectedBoxIndicesInContacts) { std::shared_ptr boxRep = std::make_shared("Collision Box 0"); boxRep->setShape(box); boxRep->setLocalPose(SurgSim::Math::makeRigidTransform(boxQuat, boxTrans)); std::shared_ptr planeRep = std::make_shared("Collision Plane 0"); planeRep->setShape(plane); planeRep->setLocalPose(SurgSim::Math::makeRigidTransform(planeQuat, planeTrans)); // First calculate the expected contact info. std::list> expectedContacts; if (expectedNumberOfContacts > 0) { generateBoxPlaneContact(&expectedContacts, expectedNumberOfContacts, expectedBoxIndicesInContacts, box, boxTrans, boxQuat, plane, planeTrans, planeQuat); } // Perform collision detection. BoxPlaneContact calcContact; std::shared_ptr pair = std::make_shared(boxRep, planeRep); calcContact.calculateContact(pair); const Vector3d globalPlaneNormal = planeRep->getPose().linear() * plane->getNormal(); const Vector3d planeToBox = boxTrans - planeTrans; Vector3d nearestPointOnPlane; const double distanceBoxPlane = SurgSim::Math::distancePointPlane(planeToBox, globalPlaneNormal, plane->getD(), &nearestPointOnPlane); const Vector3d boxRadii = box->getSize() / 2.0; const double minDepth = -distanceBoxPlane - boxRadii.norm(); const double maxDepth = -distanceBoxPlane + boxRadii.norm(); for (auto contact : pair->getContacts()) { EXPECT_LT(-DistanceEpsilon, contact->depth); EXPECT_LT(minDepth - DistanceEpsilon, contact->depth); EXPECT_GT(maxDepth + DistanceEpsilon, contact->depth); EXPECT_TRUE(eigenEqual(globalPlaneNormal, contact->normal)); } // Compare the contact info. contactsInfoEqualityTest(expectedContacts, pair->getContacts()); } TEST(BoxPlaneContactCalculationTests, UnitTests) { std::shared_ptr box = std::make_shared(1.0, 1.0, 1.0); std::shared_ptr plane = std::make_shared(); SurgSim::Math::Quaterniond boxQuat; SurgSim::Math::Vector3d boxTrans; SurgSim::Math::Quaterniond planeQuat; SurgSim::Math::Vector3d planeTrans; SurgSim::Math::Quaterniond globalQuat; { SCOPED_TRACE("No intersection, box in front of rotated plane"); boxQuat = SurgSim::Math::makeRotationQuaternion(0.5674, Vector3d(0.4332,0.927, 0.13557).normalized()); boxTrans = Vector3d(3.4535,10.0,350.0); planeQuat = SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = Vector3d::Zero(); int expectedNumberOfContacts = 0; int expectedBoxIndicesInContacts[] = {0}; doBoxPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("Intersection in front of plane, four contacts, rotated plane"); boxQuat = SurgSim::Math::makeRotationQuaternion(1.233469, Vector3d(0.91834,0.39687,0.8271).normalized()); boxTrans = Vector3d(0.5,10.0,350.0); planeQuat = boxQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = boxTrans + boxQuat * Vector3d(-0.5,0.0,0.0); int expectedNumberOfContacts = 4; int expectedBoxIndicesInContacts[] = {0, 1, 2, 3}; doBoxPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("Intersection in front of plane, two contacts, rotated plane"); globalQuat = SurgSim::Math::makeRotationQuaternion(0.8753, Vector3d(0.235345,0.6754,0.4567).normalized()); boxQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_4, Vector3d(0.0,0.0,1.0)); boxTrans = Vector3d(std::sqrt(0.5),230.0,540.0); planeQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = boxTrans + globalQuat * Vector3d(-std::sqrt(0.5),0.0,0.0); int expectedNumberOfContacts = 2; int expectedBoxIndicesInContacts[] = {0, 1}; doBoxPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("Intersection in front of plane, one contact, rotated plane"); globalQuat = SurgSim::Math::makeRotationQuaternion(-0.3257, Vector3d(-0.4575,-0.8563,0.63457).normalized()); double angle = -35.264389682754654315377000330019*(M_PI/180.0); boxQuat = globalQuat * (SurgSim::Math::makeRotationQuaternion(angle, Vector3d(0.0,1.0,0.0)) * SurgSim::Math::makeRotationQuaternion(-M_PI_4, Vector3d(0.0,0.0,1.0))); boxTrans = Vector3d(std::sqrt(0.75),0.0,0.0); planeQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = boxTrans + globalQuat * Vector3d(-std::sqrt(0.75),0.0,0.0); int expectedNumberOfContacts = 1; int expectedBoxIndicesInContacts[] = {1}; doBoxPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("Intersection inside of plane, one contact, rotated plane"); globalQuat = SurgSim::Math::makeRotationQuaternion(0.3465, Vector3d(54.4575,76.8563,43.63457).normalized()); double angle = -35.264389682754654315377000330019*(M_PI/180.0); boxQuat = globalQuat * (SurgSim::Math::makeRotationQuaternion(angle, Vector3d(0.0,1.0,0.0)) * SurgSim::Math::makeRotationQuaternion(-M_PI_4, Vector3d(0.0,0.0,1.0))); boxTrans = Vector3d(std::sqrt(0.73),0.0,0.0); planeQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = boxTrans + globalQuat * Vector3d(-std::sqrt(0.75),0.0,0.0); int expectedNumberOfContacts = 1; int expectedBoxIndicesInContacts[] = {1}; doBoxPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("Intersection in front of plane, two contacts, rotated plane"); globalQuat = SurgSim::Math::makeRotationQuaternion(-0.8753, Vector3d(-1.235345,1.6754,1.4567).normalized()); boxQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_4, Vector3d(0.0,0.0,1.0)); boxTrans = Vector3d(std::sqrt(0.45),230.0,540.0); planeQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = boxTrans + globalQuat * Vector3d(-std::sqrt(0.5),0.0,0.0); int expectedNumberOfContacts = 2; int expectedBoxIndicesInContacts[] = {0, 1}; doBoxPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("Intersection inside of plane, four contacts, rotated plane"); boxQuat = SurgSim::Math::makeRotationQuaternion(.99763, Vector3d(0.19834,0.93687,0.2871).normalized()); boxTrans = Vector3d(0.23,10.0,350.0); planeQuat = boxQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = boxTrans + boxQuat * Vector3d(-0.5,0.0,0.0); int expectedNumberOfContacts = 4; int expectedBoxIndicesInContacts[] = {0, 1, 2, 3}; doBoxPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("Intersection inside of plane - case 1, eight contacts, rotated plane"); globalQuat = SurgSim::Math::makeRotationQuaternion(-0.8753, Vector3d(-1.235345,1.6754,1.4567).normalized()); boxQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_4, Vector3d(0.0,0.0,1.0)); boxTrans = Vector3d(0.435,230.0,540.0); planeQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = boxTrans + globalQuat * Vector3d(9.43523,0.0,0.0); int expectedNumberOfContacts = 8; int expectedBoxIndicesInContacts[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; doBoxPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("Intersection inside of plane - case 2, eight contacts, rotated plane"); globalQuat = SurgSim::Math::makeRotationQuaternion(1.4576, Vector3d(23.45,-98.24,42.46).normalized()); double angle = -35.264389682754654315377000330019*(M_PI/180.0); boxQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(angle, Vector3d(0.0,0.0,1.0)) * SurgSim::Math::makeRotationQuaternion(-M_PI_4, Vector3d(0.0,1.0,0.0)); boxTrans = Vector3d(0.34,0.0,0.0); planeQuat = globalQuat * SurgSim::Math::makeRotationQuaternion(-M_PI_2, Vector3d(0.0,0.0,1.0)); planeTrans = boxTrans + globalQuat * Vector3d(5.345,0.0,0.0); int expectedNumberOfContacts = 8; int expectedBoxIndicesInContacts[] = {0, 1, 2, 3, 4, 5, 6, 7}; doBoxPlaneTest(box, boxQuat, boxTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/BoxSphereContactCalculationTests.cpp000066400000000000000000000333621277777236100305320ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.h" #include "SurgSim/Collision/BoxSphereContact.h" #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/SphereShape.h" using SurgSim::Math::BoxShape; using SurgSim::Math::SphereShape; namespace SurgSim { namespace Collision { void doBoxSphereTest(std::shared_ptr box, const Quaterniond& boxQuat, const Vector3d& boxTrans, std::shared_ptr sphere, const Quaterniond& sphereQuat, const Vector3d& sphereTrans, bool hasContacts = false, double expectedDepth = 0.0, Vector3d expectedNormal = Vector3d::UnitX(), Vector3d expectedPenetrationPoint0 = Vector3d::Zero(), Vector3d expectedPenetrationPoint1 = Vector3d::Zero()) { using SurgSim::Math::Geometry::DistanceEpsilon; using SurgSim::Math::Geometry::ScalarEpsilon; std::shared_ptr boxRep = std::make_shared("Collision Box 0"); boxRep->setShape(box); boxRep->setLocalPose(SurgSim::Math::makeRigidTransform(boxQuat, boxTrans)); std::shared_ptr sphereRep = std::make_shared("Collision Sphere 0"); sphereRep->setShape(sphere); sphereRep->setLocalPose(SurgSim::Math::makeRigidTransform(sphereQuat, sphereTrans)); // Perform collision detection. BoxSphereContact calcContact; std::shared_ptr pair = std::make_shared(boxRep, sphereRep); calcContact.calculateContact(pair); // Compare contact info. EXPECT_EQ(hasContacts, pair->hasContacts()); if (pair->hasContacts()) { std::shared_ptr contact = pair->getContacts().front(); EXPECT_TRUE(eigenEqual(expectedNormal, contact->normal)); EXPECT_NEAR(expectedDepth, contact->depth, DistanceEpsilon); EXPECT_TRUE(contact->penetrationPoints.first.rigidLocalPosition.hasValue()); EXPECT_TRUE(contact->penetrationPoints.second.rigidLocalPosition.hasValue()); EXPECT_TRUE(eigenEqual(expectedPenetrationPoint0, contact->penetrationPoints.first.rigidLocalPosition.getValue())); EXPECT_TRUE(eigenEqual(expectedPenetrationPoint1, contact->penetrationPoints.second.rigidLocalPosition.getValue())); } } TEST(BoxSphereContactCalculationTests, UnitTests) { std::shared_ptr box = std::make_shared(1.0, 1.0, 1.0); std::shared_ptr sphere = std::make_shared(1.0); SurgSim::Math::Quaterniond boxQuat; SurgSim::Math::Vector3d boxTrans; SurgSim::Math::Quaterniond sphereQuat; SurgSim::Math::Vector3d sphereTrans; SurgSim::Math::Quaterniond globalQuat; SurgSim::Math::Vector3d globalTrans; { SCOPED_TRACE("No Intersection"); boxQuat.setIdentity(); boxTrans = Vector3d(100.0,0.0,0.0); sphereQuat.setIdentity(); sphereTrans = Vector3d(0.0,0.0,0.0); doBoxSphereTest(box, boxQuat, boxTrans, sphere, sphereQuat, sphereTrans, false); } { SCOPED_TRACE("Intersection on top face"); boxQuat.setIdentity(); boxTrans = Vector3d(0.0,0.0,0.0); sphereQuat.setIdentity(); sphereTrans = Vector3d(0.0,1.0,0.0); globalQuat = SurgSim::Math::makeRotationQuaternion(0.35465, Vector3d(0.3454, 0.78567, 0.234346).normalized()); globalTrans = Vector3d(24.6,-32.67,87.53); boxQuat = globalQuat * boxQuat; boxTrans = globalQuat * boxTrans + globalTrans; sphereQuat = globalQuat * sphereQuat; sphereTrans = globalQuat * sphereTrans + globalTrans; doBoxSphereTest(box, boxQuat, boxTrans, sphere, sphereQuat, sphereTrans, true, 0.5, // depth boxQuat * Vector3d(0.0,-1.0,0.0), // normal points into first representation of CollisionPair Vector3d(0.0,0.5,0.0), // box penetration point Vector3d(0.0,-1.0,0.0)); // sphere penetration point } { SCOPED_TRACE("Sphere center inside box, intersection on top face"); boxQuat.setIdentity(); boxTrans = Vector3d(0.0,0.0,0.0); sphereQuat.setIdentity(); sphereTrans = Vector3d(0.0,0.05,0.0); globalQuat = SurgSim::Math::makeRotationQuaternion(0.35465, Vector3d(0.3454, 0.78567, 0.234346).normalized()); globalTrans = Vector3d(24.6,-32.67,87.53); boxQuat = globalQuat * boxQuat; boxTrans = globalQuat * boxTrans + globalTrans; sphereQuat = globalQuat * sphereQuat; sphereTrans = globalQuat * sphereTrans + globalTrans; doBoxSphereTest(box, boxQuat, boxTrans, sphere, sphereQuat, sphereTrans, true, 1.45, // depth boxQuat * Vector3d(0.0,-1.0,0.0), // normal points into first representation of CollisionPair Vector3d(0.0,0.5,0.0), // box penetration point Vector3d(0.0,-1.0,0.0)); // sphere penetration point } { SCOPED_TRACE("Intersection on bottom face"); boxQuat.setIdentity(); boxTrans = Vector3d(0.0,0.0,0.0); sphereQuat.setIdentity(); sphereTrans = Vector3d(0.3345,-1.2,0.1234); globalQuat = SurgSim::Math::makeRotationQuaternion(-0.35465, Vector3d(18.3454, -27.78567, 23.234346).normalized()); globalTrans = Vector3d(234.6,326.67,987.53); boxQuat = globalQuat * boxQuat; boxTrans = globalQuat * boxTrans + globalTrans; sphereQuat = globalQuat * sphereQuat; sphereTrans = globalQuat * sphereTrans + globalTrans; doBoxSphereTest(box, boxQuat, boxTrans, sphere, sphereQuat, sphereTrans, true, 0.3, // depth boxQuat * Vector3d(0.0,1.0,0.0), // normal points into first representation of CollisionPair Vector3d(0.3345,-0.5,0.1234), // box penetration point Vector3d(0.0,1.0,0.0)); // sphere penetration point } { SCOPED_TRACE("Sphere center inside box, intersection on bottom face"); boxQuat.setIdentity(); boxTrans = Vector3d(0.0,0.0,0.0); sphereQuat.setIdentity(); sphereTrans = Vector3d(0.3345,-0.4,0.1234); globalQuat = SurgSim::Math::makeRotationQuaternion(-0.35465, Vector3d(18.3454, -27.78567, 23.234346).normalized()); globalTrans = Vector3d(234.6,326.67,987.53); boxQuat = globalQuat * boxQuat; boxTrans = globalQuat * boxTrans + globalTrans; sphereQuat = globalQuat * sphereQuat; sphereTrans = globalQuat * sphereTrans + globalTrans; doBoxSphereTest(box, boxQuat, boxTrans, sphere, sphereQuat, sphereTrans, true, 1.1, // depth boxQuat * Vector3d(0.0,1.0,0.0), // normal points into first representation of CollisionPair Vector3d(0.3345,-0.5,0.1234), // box penetration point Vector3d(0.0,1.0,0.0)); // sphere penetration point } { SCOPED_TRACE("Intersection on right face"); boxQuat.setIdentity(); boxTrans = Vector3d(23.545,3.4321,5.3421); sphereQuat.setIdentity(); sphereTrans = boxTrans + Vector3d(1.2324,-0.2354,0.412); globalQuat = SurgSim::Math::makeRotationQuaternion(1.285, Vector3d(23.446, 13.786, 32.254).normalized()); globalTrans = Vector3d(-249.6,532.67,977.53); boxQuat = globalQuat * boxQuat; boxTrans = globalQuat * boxTrans + globalTrans; sphereQuat = globalQuat * sphereQuat; sphereTrans = globalQuat * sphereTrans + globalTrans; doBoxSphereTest(box, boxQuat, boxTrans, sphere, sphereQuat, sphereTrans, true, 0.2676, // depth boxQuat * Vector3d(-1.0,0.0,0.0), // normal points into first representation of CollisionPair Vector3d(0.5,-0.2354,0.412), // box penetration point Vector3d(-1.0,0.0,0.0)); // sphere penetration point } { SCOPED_TRACE("Sphere center inside box, intersection on right face"); boxQuat.setIdentity(); boxTrans = Vector3d(23.545,3.4321,5.3421); sphereQuat.setIdentity(); sphereTrans = boxTrans + Vector3d(0.45,-0.2354,0.412); globalQuat = SurgSim::Math::makeRotationQuaternion(1.285, Vector3d(23.446, 13.786, 32.254).normalized()); globalTrans = Vector3d(-249.6,532.67,977.53); boxQuat = globalQuat * boxQuat; boxTrans = globalQuat * boxTrans + globalTrans; sphereQuat = globalQuat * sphereQuat; sphereTrans = globalQuat * sphereTrans + globalTrans; doBoxSphereTest(box, boxQuat, boxTrans, sphere, sphereQuat, sphereTrans, true, 1.05, // depth boxQuat * Vector3d(-1.0,0.0,0.0), // normal points into first representation of CollisionPair Vector3d(0.5,-0.2354,0.412), // box penetration point Vector3d(-1.0,0.0,0.0)); // sphere penetration point } { SCOPED_TRACE("Intersection on left face"); boxQuat.setIdentity(); boxTrans = Vector3d(876.324,6754.23,7343.76); sphereQuat.setIdentity(); sphereTrans = boxTrans + Vector3d(-1.1223,0.2354,-0.412); globalQuat = SurgSim::Math::makeRotationQuaternion(0.276, Vector3d(0.945, 1.532, 0.896).normalized()); globalTrans = Vector3d(-24.6,32.67,97.53); boxQuat = globalQuat * boxQuat; boxTrans = globalQuat * boxTrans + globalTrans; sphereQuat = globalQuat * sphereQuat; sphereTrans = globalQuat * sphereTrans + globalTrans; doBoxSphereTest(box, boxQuat, boxTrans, sphere, sphereQuat, sphereTrans, true, 0.3777, // depth boxQuat * Vector3d(1.0,0.0,0.0), // normal points into first representation of CollisionPair Vector3d(-0.5,0.2354,-0.412), // box penetration point Vector3d(1.0,0.0,0.0)); // sphere penetration point } { SCOPED_TRACE("Sphere center inside box, intersection on left face"); boxQuat.setIdentity(); boxTrans = Vector3d(876.324,6754.23,7343.76); sphereQuat.setIdentity(); sphereTrans = boxTrans + Vector3d(-0.3,0.2354,-0.012); globalQuat = SurgSim::Math::makeRotationQuaternion(0.276, Vector3d(0.945, 1.532, 0.896).normalized()); globalTrans = Vector3d(-24.6,32.67,97.53); boxQuat = globalQuat * boxQuat; boxTrans = globalQuat * boxTrans + globalTrans; sphereQuat = globalQuat * sphereQuat; sphereTrans = globalQuat * sphereTrans + globalTrans; doBoxSphereTest(box, boxQuat, boxTrans, sphere, sphereQuat, sphereTrans, true, 1.2, // depth boxQuat * Vector3d(1.0,0.0,0.0), // normal points into first representation of CollisionPair Vector3d(-0.5,0.2354,-0.012), // box penetration point Vector3d(1.0,0.0,0.0)); // sphere penetration point } { SCOPED_TRACE("Intersection on front face"); boxQuat.setIdentity(); boxTrans = Vector3d(0.3252,-0.64564,0.12345); sphereQuat.setIdentity(); sphereTrans = boxTrans + Vector3d(0.1564,-0.2987,-0.8986); globalQuat = SurgSim::Math::makeRotationQuaternion(-1.32, Vector3d(235.67, 215.567, 146.345).normalized()); globalTrans = Vector3d(224.6,132.67,27.53); boxQuat = globalQuat * boxQuat; boxTrans = globalQuat * boxTrans + globalTrans; sphereQuat = globalQuat * sphereQuat; sphereTrans = globalQuat * sphereTrans + globalTrans; doBoxSphereTest(box, boxQuat, boxTrans, sphere, sphereQuat, sphereTrans, true, 0.6014, // depth boxQuat * Vector3d(0.0,0.0,1.0), // normal points into first representation of CollisionPair Vector3d(0.1564,-0.2987,-0.5), // box penetration point Vector3d(0.0,0.0,1.0)); // sphere penetration point } { SCOPED_TRACE("Sphere center inside box, intersection on front face"); boxQuat.setIdentity(); boxTrans = Vector3d(0.3252,-0.64564,0.12345); sphereQuat.setIdentity(); sphereTrans = boxTrans + Vector3d(0.1564,-0.2987,-0.3986); globalQuat = SurgSim::Math::makeRotationQuaternion(-1.32, Vector3d(235.67, 215.567, 146.345).normalized()); globalTrans = Vector3d(224.6,132.67,27.53); boxQuat = globalQuat * boxQuat; boxTrans = globalQuat * boxTrans + globalTrans; sphereQuat = globalQuat * sphereQuat; sphereTrans = globalQuat * sphereTrans + globalTrans; doBoxSphereTest(box, boxQuat, boxTrans, sphere, sphereQuat, sphereTrans, true, 1.1014, // depth boxQuat * Vector3d(0.0,0.0,1.0), // normal points into first representation of CollisionPair Vector3d(0.1564,-0.2987,-0.5), // box penetration point Vector3d(0.0,0.0,1.0)); // sphere penetration point } { SCOPED_TRACE("Intersection on back face"); boxQuat.setIdentity(); boxTrans = Vector3d(24.345,-865.325,46.345); sphereQuat.setIdentity(); sphereTrans = boxTrans + Vector3d(-0.2564,-0.4987,0.7986); globalQuat = SurgSim::Math::makeRotationQuaternion(1.2, Vector3d(25.67, -25.567, 16.345).normalized()); globalTrans = Vector3d(24.6,3243.67,9762.53); boxQuat = globalQuat * boxQuat; boxTrans = globalQuat * boxTrans + globalTrans; sphereQuat = globalQuat * sphereQuat; sphereTrans = globalQuat * sphereTrans + globalTrans; doBoxSphereTest(box, boxQuat, boxTrans, sphere, sphereQuat, sphereTrans, true, 0.7014, // depth boxQuat * Vector3d(0.0,0.0,-1.0), // normal points into first representation of CollisionPair Vector3d(-0.2564,-0.4987,0.5), // box penetration point Vector3d(0.0,0.0,-1.0)); // sphere penetration point } { SCOPED_TRACE("Sphere center inside box, intersection on back face"); boxQuat.setIdentity(); boxTrans = Vector3d(24.345,-865.325,46.345); sphereQuat.setIdentity(); sphereTrans = boxTrans + Vector3d(-0.2564,-0.3987,0.48); globalQuat = SurgSim::Math::makeRotationQuaternion(1.2, Vector3d(25.67, -25.567, 16.345).normalized()); globalTrans = Vector3d(24.6,3243.67,9762.53); boxQuat = globalQuat * boxQuat; boxTrans = globalQuat * boxTrans + globalTrans; sphereQuat = globalQuat * sphereQuat; sphereTrans = globalQuat * sphereTrans + globalTrans; doBoxSphereTest(box, boxQuat, boxTrans, sphere, sphereQuat, sphereTrans, true, 1.02, // depth boxQuat * Vector3d(0.0,0.0,-1.0), // normal points into first representation of CollisionPair Vector3d(-0.2564,-0.3987,0.5), // box penetration point Vector3d(0.0,0.0,-1.0)); // sphere penetration point } } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/CMakeLists.txt000066400000000000000000000043301277777236100241420ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories ( ${gtest_SOURCE_DIR}/include ${gmock_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES BoxCapsuleContactCalculationTests.cpp BoxDoubleSidedPlaneContactCalculationTests.cpp BoxPlaneContactCalculationTests.cpp BoxSphereContactCalculationTests.cpp CapsuleSphereContactCalculationTests.cpp CollisionPairTests.cpp CompoundShapeContactCalculationTests.cpp ContactCalculationTests.cpp ContactCalculationTestsCommon.cpp DefaultContactCalculationTests.cpp ElementContactFilterTests.cpp OctreeContactCalculationTests.cpp RepresentationTest.cpp RepresentationUtilities.cpp SegmentMeshTriangleMeshContactCalculationTests.cpp SegmentSegmentCcdIntervalCheckTests.cpp SegmentSegmentCcdMovingContactTests.cpp SegmentSegmentCcdStaticContactTests.cpp SegmentSelfContactTests.cpp ShapeCollisionRepresentationTest.cpp SphereDoubleSidedPlaneContactCalculationTests.cpp SpherePlaneContactCalculationTests.cpp SphereSphereContactCalculationTests.cpp TriangleMeshParticlesContactCalculationTests.cpp TriangleMeshPlaneContactCalculationTests.cpp TriangleMeshSurfaceMeshContactCalculationTests.cpp TriangleMeshTriangleMeshContactCalculationTests.cpp ) set(UNIT_TEST_HEADERS ContactCalculationTestsCommon.h RepresentationUtilities.h ) set(LIBS SurgSimCollision SurgSimDataStructures SurgSimMath SurgSimPhysics SurgSimInput ) # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) surgsim_add_unit_tests(SurgSimCollisionTest) set_target_properties(SurgSimCollisionTest PROPERTIES FOLDER "Collision") opensurgsim-0.7.0/SurgSim/Collision/UnitTests/CapsuleSphereContactCalculationTests.cpp000066400000000000000000000077561277777236100314060ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.h" #include "SurgSim/Collision/CapsuleSphereContact.h" #include "SurgSim/Math/CapsuleShape.h" #include "SurgSim/Math/SphereShape.h" using SurgSim::Math::CapsuleShape; using SurgSim::Math::SphereShape; namespace SurgSim { namespace Collision { void doCapsuleSphereTest(double capsuleHeight, double capsuleRadius, const Vector3d& capsulePosition, const Quaterniond& capsuleQuat, double sphereRadius, const Vector3d& spherePosition, const Quaterniond& sphereQuat, bool hasContacts, double depth, const Vector3d& sphereProjection = Vector3d::Zero(), const Vector3d& expectedNorm = Vector3d::Zero()) { std::shared_ptr pair = std::make_shared( makeCapsuleRepresentation(capsuleHeight, capsuleRadius, capsuleQuat, capsulePosition), makeSphereRepresentation(sphereRadius, sphereQuat, spherePosition)); CapsuleSphereContact calc; calc.calculateContact(pair); EXPECT_EQ(hasContacts, pair->hasContacts()); if (pair->hasContacts()) { std::shared_ptr contact(pair->getContacts().front()); EXPECT_TRUE(eigenEqual(expectedNorm, contact->normal)); EXPECT_NEAR(depth, contact->depth, SurgSim::Math::Geometry::DistanceEpsilon); EXPECT_TRUE(contact->penetrationPoints.first.rigidLocalPosition.hasValue()); EXPECT_TRUE(contact->penetrationPoints.second.rigidLocalPosition.hasValue()); Vector3d capsuleLocalNormal = capsuleQuat.inverse() * expectedNorm; Vector3d penetrationPoint0(sphereProjection - capsuleLocalNormal * capsuleRadius); Vector3d sphereLocalNormal = sphereQuat.inverse() * expectedNorm; Vector3d penetrationPoint1(sphereLocalNormal * sphereRadius); EXPECT_TRUE(eigenEqual(penetrationPoint0, contact->penetrationPoints.first.rigidLocalPosition.getValue())); EXPECT_TRUE(eigenEqual(penetrationPoint1, contact->penetrationPoints.second.rigidLocalPosition.getValue())); } } TEST(CapsuleSphereContactCalculationTests, UnitTests) { { SCOPED_TRACE("No Intersection"); doCapsuleSphereTest(0.2, 0.1, Vector3d::Zero(), Quaterniond::Identity(), 0.1, Vector3d(1.0, 1.0, 1.0), Quaterniond::Identity(), false, 0.0); } { SCOPED_TRACE("Capsule along Y-axis, intersection with cylindrical part of the capsule"); doCapsuleSphereTest(0.8, 0.5, Vector3d::Zero(), Quaterniond::Identity(), 0.3, Vector3d(0.7, 0, 0), Quaterniond::Identity(), true, 0.1, Vector3d::Zero(), Vector3d(-1.0, 0.0, 0.0)); } { SCOPED_TRACE("Capsule along X-axis, intersection with hemispherical part of the capsule"); doCapsuleSphereTest(0.1, 0.2, Vector3d::Zero(), SurgSim::Math::makeRotationQuaternion(M_PI_2, Vector3d(0.0, 0.0, 1.0)), 0.1, Vector3d(-0.2, 0.0, 0.0), Quaterniond::Identity(), true, 0.15, Vector3d(0.0, 0.05, 0.0), Vector3d(1.0, 0.0, 0.0)); } { SCOPED_TRACE("Intersection, capsule roated along Z-axis clockwise 45 degrees"); Vector3d sphereCenter(2.0, 0.0, 0.0); Vector3d sphereProjection(1.0, 1.0, 0.0); Vector3d expectedNormal = (sphereProjection - sphereCenter).normalized(); doCapsuleSphereTest(2 * M_SQRT2, M_SQRT2, Vector3d::Zero(), SurgSim::Math::makeRotationQuaternion(-M_PI_4, Vector3d(0.0, 0.0, 1.0)), 1.0, sphereCenter, Quaterniond::Identity(), true, 1, Vector3d(0.0, M_SQRT2, 0.0), expectedNormal); } } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/CollisionPairTests.cpp000066400000000000000000000210471277777236100257040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Collision/ContactCalculation.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/UnitTests/RepresentationUtilities.h" #include "SurgSim/DataStructures/BufferedValue.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Physics/RigidState.h" using SurgSim::Collision::ContactMapType; using SurgSim::DataStructures::Location; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { TEST(CollisionPairTests, InitTest) { // Default Constructor, needs to work for ReuseFrepresentationy EXPECT_NO_THROW({CollisionPair pair;}); std::shared_ptr rep0 = makeSphereRepresentation(1.0); std::shared_ptr rep1 = makeSphereRepresentation(2.0); EXPECT_NO_THROW({CollisionPair pair(rep0, rep0);}); EXPECT_ANY_THROW({CollisionPair pair(nullptr, rep0);}); EXPECT_ANY_THROW({CollisionPair pair(nullptr, nullptr);}); EXPECT_ANY_THROW({CollisionPair pair(rep0, nullptr);}); ASSERT_NO_THROW({CollisionPair pair(rep0, rep1);}); CollisionPair pair(rep0, rep1); EXPECT_EQ(rep0, pair.getFirst()); EXPECT_EQ(rep1, pair.getSecond()); EXPECT_FALSE(pair.hasContacts()); EXPECT_FALSE(pair.isSwapped()); std::pair penetrationPoints; penetrationPoints.first.rigidLocalPosition.setValue(Vector3d(0.1, 0.2, 0.3)); penetrationPoints.second.rigidLocalPosition.setValue(Vector3d(0.4, 0.5, 0.6)); pair.addDcdContact(1.0, Vector3d(1.0, 0.0, 0.0), penetrationPoints); EXPECT_TRUE(pair.hasContacts()); } TEST(CollisionPairTests, SwapTest) { std::shared_ptr rep0 = makeSphereRepresentation(1.0); std::shared_ptr rep1 = makeSphereRepresentation(2.0); CollisionPair pair(rep0, rep1); EXPECT_FALSE(pair.isSwapped()); EXPECT_EQ(rep0.get(), pair.getRepresentations().first.get()); EXPECT_EQ(rep1.get(), pair.getRepresentations().second.get()); pair.swapRepresentations(); EXPECT_TRUE(pair.isSwapped()); pair.swapRepresentations(); EXPECT_FALSE(pair.isSwapped()); std::pair penetrationPoints; penetrationPoints.first.rigidLocalPosition.setValue(Vector3d(0.1, 0.2, 0.3)); penetrationPoints.second.rigidLocalPosition.setValue(Vector3d(0.4, 0.5, 0.6)); pair.addDcdContact(1.0, Vector3d(1.0, 0.0, 0.0), penetrationPoints); EXPECT_TRUE(pair.hasContacts()); EXPECT_ANY_THROW(pair.swapRepresentations()); } TEST(CollisionPairTests, setRepresentationsTest) { std::shared_ptr rep0 = makeSphereRepresentation(1.0); std::shared_ptr rep1 = makeSphereRepresentation(2.0); std::shared_ptr repA = makeSphereRepresentation(99.0); std::shared_ptr repB = makeSphereRepresentation(100.0); CollisionPair pair(repA, repB); EXPECT_FALSE(pair.isSwapped()); pair.swapRepresentations(); pair.setRepresentations(rep0, rep1); EXPECT_EQ(rep0.get(), pair.getRepresentations().first.get()); EXPECT_EQ(rep1.get(), pair.getRepresentations().second.get()); EXPECT_FALSE(pair.isSwapped()); } TEST(CollisionPairTests, CollisionDetectionTypeTest) { std::shared_ptr repCCD1 = makeSphereRepresentation(1.0); repCCD1->setCollisionDetectionType(COLLISION_DETECTION_TYPE_CONTINUOUS); std::shared_ptr repCCD2 = makeSphereRepresentation(2.0); repCCD2->setCollisionDetectionType(COLLISION_DETECTION_TYPE_CONTINUOUS); std::shared_ptr repDCD1 = makeSphereRepresentation(99.0); repDCD1->setCollisionDetectionType(COLLISION_DETECTION_TYPE_DISCRETE); std::shared_ptr repDCD2 = makeSphereRepresentation(100.0); repDCD2->setCollisionDetectionType(COLLISION_DETECTION_TYPE_DISCRETE); std::shared_ptr repNone = makeSphereRepresentation(300.0); repNone->setCollisionDetectionType(COLLISION_DETECTION_TYPE_NONE); { CollisionPair pair(repCCD1, repCCD2); EXPECT_EQ(COLLISION_DETECTION_TYPE_CONTINUOUS, pair.getType()); } { CollisionPair pair(repDCD1, repDCD2); EXPECT_EQ(COLLISION_DETECTION_TYPE_DISCRETE, pair.getType()); } { CollisionPair pair(repCCD1, repDCD1); EXPECT_EQ(COLLISION_DETECTION_TYPE_DISCRETE, pair.getType()); } { CollisionPair pair(repDCD2, repCCD2); EXPECT_EQ(COLLISION_DETECTION_TYPE_DISCRETE, pair.getType()); } { CollisionPair pair(repNone, repDCD1); EXPECT_EQ(COLLISION_DETECTION_TYPE_NONE, pair.getType()); } { CollisionPair pair(repCCD1, repNone); EXPECT_EQ(COLLISION_DETECTION_TYPE_NONE, pair.getType()); } } TEST(CollisionPairTests, SelfCollisionDetectionTypeTest) { std::shared_ptr repCCD = makeSphereRepresentation(1.0); repCCD->setSelfCollisionDetectionType(COLLISION_DETECTION_TYPE_CONTINUOUS); std::shared_ptr repDCD = makeSphereRepresentation(99.0); repDCD->setSelfCollisionDetectionType(COLLISION_DETECTION_TYPE_DISCRETE); std::shared_ptr repNone = makeSphereRepresentation(300.0); repNone->setSelfCollisionDetectionType(COLLISION_DETECTION_TYPE_NONE); { CollisionPair pair(repCCD, repCCD); EXPECT_EQ(COLLISION_DETECTION_TYPE_CONTINUOUS, pair.getType()); } { CollisionPair pair(repDCD, repDCD); EXPECT_EQ(COLLISION_DETECTION_TYPE_DISCRETE, pair.getType()); } { CollisionPair pair(repNone, repNone); EXPECT_EQ(COLLISION_DETECTION_TYPE_NONE, pair.getType()); } } TEST(CollisionPairTests, addContactTest) { auto rep0 = makeSphereRepresentation(1.0); auto rep1 = makeSphereRepresentation(2.0); auto other = makeSphereRepresentation(3.0); auto rep0Collisions = rep0->getCollisions().safeGet(); auto rep1Collisions = rep1->getCollisions().safeGet(); EXPECT_TRUE(rep0Collisions->empty()); EXPECT_TRUE(rep1Collisions->empty()); std::pair penetrationPoints; penetrationPoints.first.rigidLocalPosition.setValue(Vector3d(0.1, 0.2, 0.3)); penetrationPoints.second.rigidLocalPosition.setValue(Vector3d(0.4, 0.5, 0.6)); CollisionPair pair(rep0, rep1); pair.addDcdContact(1.0, Vector3d::UnitY(), penetrationPoints); pair.updateRepresentations(); rep0->update(0.0); rep0->getCollisions().publish(); rep1->update(0.0); rep1->getCollisions().publish(); rep0Collisions = rep0->getCollisions().safeGet(); rep1Collisions = rep1->getCollisions().safeGet(); EXPECT_EQ(1u, rep0Collisions->size()); auto rep0CollisionContacts = rep0Collisions->find(rep1); EXPECT_NE(rep0Collisions->end(), rep0CollisionContacts); EXPECT_EQ(rep1, rep0CollisionContacts->first); std::shared_ptr rep0FirstContact = rep0CollisionContacts->second.front(); EXPECT_EQ(rep0FirstContact->depth, 1.0); EXPECT_TRUE(rep0FirstContact->normal.isApprox(Vector3d::UnitY())); EXPECT_TRUE(rep0FirstContact->penetrationPoints.first.rigidLocalPosition.getValue().isApprox( Vector3d(0.1, 0.2, 0.3))); EXPECT_TRUE(rep0FirstContact->penetrationPoints.second.rigidLocalPosition.getValue().isApprox( Vector3d(0.4, 0.5, 0.6))); EXPECT_TRUE(rep0->collidedWith(rep1)); EXPECT_FALSE(rep0->collidedWith(other)); EXPECT_EQ(1u, rep1Collisions->size()); auto rep1CollisionContacts = rep1Collisions->find(rep0); EXPECT_NE(rep1Collisions->end(), rep1CollisionContacts); EXPECT_EQ(rep0, rep1CollisionContacts->first); std::shared_ptr rep1FirstContact = rep1CollisionContacts->second.front(); EXPECT_EQ(rep1FirstContact->depth, 1.0); EXPECT_TRUE(rep1FirstContact->normal.isApprox(-Vector3d::UnitY())); EXPECT_TRUE(rep1FirstContact->penetrationPoints.first.rigidLocalPosition.getValue().isApprox( Vector3d(0.4, 0.5, 0.6))); EXPECT_TRUE(rep1FirstContact->penetrationPoints.second.rigidLocalPosition.getValue().isApprox( Vector3d(0.1, 0.2, 0.3))); EXPECT_TRUE(rep1->collidedWith(rep0)); EXPECT_FALSE(rep0->collidedWith(other)); rep0->retire(); rep1->retire(); } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/CompoundShapeContactCalculationTests.cpp000066400000000000000000000113411277777236100313710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include "SurgSim/Collision/BoxPlaneContact.h" #include "SurgSim/Collision/BoxSphereContact.h" #include "SurgSim/Collision/CompoundShapeContact.h" #include "SurgSim/Collision/ContactCalculation.h" #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.h" #include "SurgSim/Math/Shapes.h" namespace SurgSim { typedef Math::PosedShape> PosedShape; namespace Collision { class CompoundShapeDcdContactTest : public ::testing::Test { void SetUp() override { ContactCalculation::registerDcdContactCalculation(std::make_shared()); ContactCalculation::registerDcdContactCalculation(std::make_shared()); ContactCalculation::registerDcdContactCalculation(std::make_shared( std::make_pair(Math::SHAPE_TYPE_COMPOUNDSHAPE, Math::SHAPE_TYPE_SPHERE))); ContactCalculation::registerDcdContactCalculation(std::make_shared( std::make_pair(Math::SHAPE_TYPE_COMPOUNDSHAPE, Math::SHAPE_TYPE_PLANE))); } void TearDown() override { } }; // The basic principle here is that colliding a set of shapes with each other should give the same // results as colliding a compound representation TEST_F(CompoundShapeDcdContactTest, SingleCube) { auto box = std::make_shared(1.0, 1.0, 1.0); auto sphere = std::make_shared(1.0); auto compoundShape = std::make_shared(); Math::RigidTransform3d identity = Math::RigidTransform3d::Identity(); Math::RigidTransform3d transform = Math::makeRigidTranslation(Math::Vector3d(0.25, 0.25, 0.25)); compoundShape->addShape(box); auto calc1 = ContactCalculation::getDcdContactTable()[Math::SHAPE_TYPE_BOX][Math::SHAPE_TYPE_SPHERE]; auto calc2 = ContactCalculation::getDcdContactTable()[Math::SHAPE_TYPE_COMPOUNDSHAPE][Math::SHAPE_TYPE_SPHERE]; auto expected = calc1->calculateDcdContact(PosedShape(box, identity), PosedShape(sphere, transform)); auto result = calc2->calculateDcdContact(PosedShape(compoundShape, identity), PosedShape(sphere, transform)); ASSERT_EQ(1, expected.size()); contactsInfoEqualityTest(expected, result); } TEST_F(CompoundShapeDcdContactTest, MultipleShapes) { auto box = std::make_shared(1.0, 1.0, 1.0); auto plane = std::make_shared(); auto planePose = Math::makeRigidTransform(Math::makeRotationQuaternion(0.01, Vector3d::UnitX().eval()), Vector3d::Zero()); auto basePose = Math::makeRigidTranslation(Math::Vector3d(0.0, 0.01, 0.0)); auto box1Pose = Math::makeRigidTransform( Math::makeRotationQuaternion(0.01, Vector3d(0.01, 0.01, 0.01)), Vector3d(0.1, 0.1, 0.1)); auto box2Pose = Math::makeRigidTransform( Math::makeRotationQuaternion(-0.01, Vector3d(0.01, 0.01, 0.01)), Vector3d(0.0, -1.0, 0.0)); auto compoundShape = std::make_shared(); compoundShape->addShape(box, box1Pose); compoundShape->addShape(box, box2Pose); auto calc1 = ContactCalculation::getDcdContactTable()[Math::SHAPE_TYPE_BOX][Math::SHAPE_TYPE_PLANE]; auto calc2 = ContactCalculation::getDcdContactTable()[Math::SHAPE_TYPE_COMPOUNDSHAPE][Math::SHAPE_TYPE_PLANE]; auto result = calc2->calculateDcdContact(PosedShape(compoundShape->getTransformed(basePose), basePose), PosedShape(plane, planePose)); std::list> expected = calc1->calculateDcdContact(PosedShape(box, basePose * box1Pose), PosedShape(plane, planePose)); for (auto& contact : expected) { contact->penetrationPoints.first.rigidLocalPosition.setValue(box1Pose * contact->penetrationPoints.first.rigidLocalPosition.getValue()); } auto box2Expected = calc1->calculateDcdContact(PosedShape(box, basePose * box2Pose), PosedShape(plane, planePose)); for (auto& contact : box2Expected) { contact->penetrationPoints.first.rigidLocalPosition.setValue(box2Pose * contact->penetrationPoints.first.rigidLocalPosition.getValue()); } expected.splice(expected.end(), box2Expected); ASSERT_EQ(12, expected.size()); contactsInfoEqualityTest(expected, result); } } }opensurgsim-0.7.0/SurgSim/Collision/UnitTests/ContactCalculationTests.cpp000066400000000000000000000102051277777236100267010ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Collision/ContactCalculation.h" #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/Collision/SpherePlaneContact.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/PlaneShape.h" #include "SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::Math::Vector3d; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::PlaneShape; using SurgSim::Math::SphereShape; namespace SurgSim { typedef Math::PosedShape> PosedShape; namespace Collision { // This uses a concrete contact calculation as a placeholder, the current algorithm // has the check for the pair in the superclass, therefore a test on one class should // be sufficient TEST(ContactCalculationTests, SwappedPairTest) { std::shared_ptr plane = std::make_shared(); std::shared_ptr sphere = std::make_shared(1.0); Vector3d trans(0.0, 0.0, 0.0); Quaterniond quat = Quaterniond::Identity(); std::shared_ptr planeRep = std::make_shared("Plane Shape"); planeRep->setShape(plane); planeRep->setLocalPose(SurgSim::Math::makeRigidTransform(quat, trans)); std::shared_ptr sphereRep = std::make_shared("Sphere Shape"); sphereRep->setShape(sphere); sphereRep->setLocalPose(SurgSim::Math::makeRigidTransform(quat, trans)); std::shared_ptr pair1 = std::make_shared(sphereRep, planeRep); std::shared_ptr pair2 = std::make_shared(planeRep, sphereRep); std::shared_ptr calc = std::make_shared(); EXPECT_NO_THROW(calc->calculateContact(pair1)); EXPECT_NO_THROW(calc->calculateContact(pair2)); } TEST(ContactCalculationTests, SwappedShapeTest) { std::shared_ptr plane = std::make_shared(); std::shared_ptr sphere = std::make_shared(1.0); std::shared_ptr calc = std::make_shared(); auto transform = Math::RigidTransform3d::Identity(); ASSERT_NO_THROW(calc->calculateDcdContact(PosedShape(sphere, transform), PosedShape(plane, transform))); ASSERT_NO_THROW(calc->calculateDcdContact(PosedShape(plane, transform), PosedShape(sphere, transform))); auto planeRep = std::make_shared("Plane Shape"); planeRep->setShape(plane); planeRep->setLocalPose(transform); auto sphereRep = std::make_shared("Sphere Shape"); sphereRep->setShape(sphere); sphereRep->setLocalPose(transform); std::shared_ptr pair1 = std::make_shared(sphereRep, planeRep); calc->calculateContact(pair1); auto contacts1 = calc->calculateDcdContact(PosedShape(sphere, transform), PosedShape(plane, transform)); auto contacts2 = calc->calculateDcdContact(PosedShape(plane, transform), PosedShape(sphere, transform)); contactsInfoEqualityTest(pair1->getContacts(), contacts1); // Contacts2 should be flipped from contacts1 for (auto& contact : contacts2) { contact->normal = -contact->normal; std::swap(contact->penetrationPoints.first, contact->penetrationPoints.second); } contactsInfoEqualityTest(contacts1 , contacts2); } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.cpp000066400000000000000000000225621277777236100300630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.h" using SurgSim::DataStructures::IndexedLocalCoordinate; namespace SurgSim { namespace Collision { ::testing::AssertionResult eigenEqual(const Vector3d& left, const Vector3d& right) { if (std::abs((left - right).norm()) < SurgSim::Math::Geometry::DistanceEpsilon) { return ::testing::AssertionSuccess(); } else { return ::testing::AssertionFailure() << std::endl << "Vectors not close, expected: " << left.transpose() << std::endl << " result: " << right.transpose() << std::endl; } } void checkContactInfo(std::shared_ptr contact, CollisionDetectionType expectedType, double expectedDepth, double expectedTime, const Vector3d& expectedNormal, const Vector3d& expectedPenetrationPointFirst, const Vector3d& expectedPenetrationPointSecond) { EXPECT_EQ(expectedType, contact->type); EXPECT_NEAR(expectedDepth, contact->depth, SurgSim::Math::Geometry::DistanceEpsilon); EXPECT_NEAR(expectedTime, contact->time, SurgSim::Math::Geometry::DistanceEpsilon); EXPECT_TRUE(eigenEqual(expectedNormal, contact->normal)); EXPECT_TRUE(contact->penetrationPoints.first.rigidLocalPosition.hasValue()); EXPECT_TRUE(contact->penetrationPoints.second.rigidLocalPosition.hasValue()); EXPECT_TRUE(eigenEqual(expectedPenetrationPointFirst, contact->penetrationPoints.first.rigidLocalPosition.getValue())); EXPECT_TRUE(eigenEqual(expectedPenetrationPointSecond, contact->penetrationPoints.second.rigidLocalPosition.getValue())); } bool checkMeshLocalCoordinate( const SurgSim::DataStructures::OptionalValue& actualLocalCoordinate, const std::array& vertices, const SurgSim::DataStructures::OptionalValue& expectedLocalCoordinate, const SurgSim::Math::Vector3d& expectedLocalPosition) { bool isEqual = true; EXPECT_EQ(expectedLocalCoordinate.hasValue(), actualLocalCoordinate.hasValue()); if (expectedLocalCoordinate.hasValue() && actualLocalCoordinate.hasValue()) { isEqual &= expectedLocalCoordinate.getValue().index == actualLocalCoordinate.getValue().index; Vector3d barycentricCoordinates = actualLocalCoordinate.getValue().coordinate; isEqual &= eigenEqual(expectedLocalPosition, barycentricCoordinates[0] * vertices[0] + barycentricCoordinates[1] * vertices[1] + barycentricCoordinates[2] * vertices[2]); } return isEqual; } ::testing::AssertionResult isContactPresentInList(std::shared_ptr expected, const std::list>& contactsList, bool expectedHasTriangleContactObject) { using SurgSim::Math::Geometry::ScalarEpsilon; bool contactPresent = false; for (auto it = contactsList.begin(); it != contactsList.end() && !contactPresent; ++it) { // Compare the normals. contactPresent = eigenEqual(expected->normal, it->get()->normal); // Compare the global position of first object. contactPresent &= eigenEqual(expected->penetrationPoints.first.rigidLocalPosition.getValue(), it->get()->penetrationPoints.first.rigidLocalPosition.getValue()); // Compare the global position of second object. contactPresent &= eigenEqual(expected->penetrationPoints.second.rigidLocalPosition.getValue(), it->get()->penetrationPoints.second.rigidLocalPosition.getValue()); // Compare the depth. contactPresent &= std::abs(expected->depth - it->get()->depth) <= ScalarEpsilon; // Compare the time. contactPresent &= std::abs(expected->time - it->get()->time) <= ScalarEpsilon; // Compare the contact types. contactPresent &= (expected->type == it->get()->type); // Check if the optional 'meshLocalCoordinate' are the same. std::shared_ptr triangleContact; std::shared_ptr contact; if (expectedHasTriangleContactObject) { triangleContact = std::static_pointer_cast(expected); contact = *it; } else { triangleContact = std::static_pointer_cast(*it); contact = expected; } contactPresent &= checkMeshLocalCoordinate( contact->penetrationPoints.first.triangleMeshLocalCoordinate, triangleContact->firstVertices, triangleContact->penetrationPoints.first.triangleMeshLocalCoordinate, expected->penetrationPoints.first.rigidLocalPosition.getValue()); contactPresent &= checkMeshLocalCoordinate( contact->penetrationPoints.second.triangleMeshLocalCoordinate, triangleContact->secondVertices, triangleContact->penetrationPoints.second.triangleMeshLocalCoordinate, expected->penetrationPoints.second.rigidLocalPosition.getValue()); } if (contactPresent) { return ::testing::AssertionSuccess(); } else { return ::testing::AssertionFailure() << "Expected contact not found in calculated contacts list:\n" << "Normal: " << expected->normal << "\n" << "First objects' contact point: " << expected->penetrationPoints.first.rigidLocalPosition.getValue() << "\n" << "Second objects' contact point: " << expected->penetrationPoints.second.rigidLocalPosition.getValue() << "\n" << "Depth of penetration: " << expected->depth << "\n"; } } void contactsInfoEqualityTest(const std::list>& expectedContacts, const std::list>& calculatedContacts, bool expectedHasTriangleContactObject) { SCOPED_TRACE("Comparing the contact info."); EXPECT_EQ(expectedContacts.size(), calculatedContacts.size()); for (auto it = expectedContacts.begin(); it != expectedContacts.end(); ++it) { EXPECT_TRUE(isContactPresentInList(*it, calculatedContacts, expectedHasTriangleContactObject)); } } void generateBoxPlaneContact(std::list>* expectedContacts, const int expectedNumberOfContacts, const int* expectedBoxIndicesInContacts, const std::shared_ptr box, const Vector3d& boxTrans, const Quaterniond& boxQuat, const std::shared_ptr plane, const Vector3d& planeTrans, const Quaterniond& planeQuat) { Vector3d vertex; Vector3d boxLocalVertex, planeLocalVertex; Vector3d planeNormalGlobal = planeQuat * plane->getNormal(); Vector3d pointOnPlane = planeTrans + (planeNormalGlobal * plane->getD()); double depth = 0.0; Vector3d collisionNormal = planeNormalGlobal; RigidTransform3d boxTransform = SurgSim::Math::makeRigidTransform(boxQuat, boxTrans); for (int i = 0; i < expectedNumberOfContacts; ++i) { boxLocalVertex = box->getVertex(expectedBoxIndicesInContacts[i]); vertex = boxTransform * boxLocalVertex; depth = -planeNormalGlobal.dot(vertex - pointOnPlane); planeLocalVertex = planeQuat.inverse() * (vertex + planeNormalGlobal * depth - planeTrans); std::pair penetrationPoint; penetrationPoint.first.rigidLocalPosition.setValue(boxLocalVertex); penetrationPoint.second.rigidLocalPosition.setValue(planeLocalVertex); expectedContacts->push_back(std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, depth, 1.0, Vector3d::Zero(), collisionNormal, penetrationPoint)); } } void generateBoxDoubleSidedPlaneContact(std::list>* expectedContacts, const int expectedNumberOfContacts, const int* expectedBoxIndicesInContacts, const std::shared_ptr box, const Vector3d& boxTrans, const Quaterniond& boxQuat, const std::shared_ptr plane, const Vector3d& planeTrans, const Quaterniond& planeQuat, const bool collisionNormalIsPlaneNormal) { Vector3d vertex; Vector3d boxLocalVertex, planeLocalVertex; Vector3d planeNormalGlobal = planeQuat * plane->getNormal(); Vector3d pointOnPlane = planeTrans + (planeNormalGlobal * plane->getD()); double depth = 0.0; Vector3d collisionNormal = planeNormalGlobal * (collisionNormalIsPlaneNormal ? 1.0 : -1.0); RigidTransform3d boxTransform = SurgSim::Math::makeRigidTransform(boxQuat, boxTrans); for (int i = 0; i < expectedNumberOfContacts; ++i) { boxLocalVertex = box->getVertex(expectedBoxIndicesInContacts[i]); vertex = boxTransform * boxLocalVertex; depth = planeNormalGlobal.dot(vertex - pointOnPlane); planeLocalVertex = planeQuat.inverse() * (vertex - planeNormalGlobal * depth - planeTrans); std::pair penetrationPoint; penetrationPoint.first.rigidLocalPosition.setValue(boxLocalVertex); penetrationPoint.second.rigidLocalPosition.setValue(planeLocalVertex); expectedContacts->push_back(std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, std::abs(depth), 1.0, Vector3d::Zero(), collisionNormal, penetrationPoint)); } } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.h000066400000000000000000000162361277777236100275310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_UNITTESTS_CONTACTCALCULATIONTESTSCOMMON_H #define SURGSIM_COLLISION_UNITTESTS_CONTACTCALCULATIONTESTSCOMMON_H #include #include #include "SurgSim/Collision/UnitTests/RepresentationUtilities.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/PlaneShape.h" #include "SurgSim/Math/DoubleSidedPlaneShape.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/SegmentMeshShape.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Collision/ContactCalculation.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/Math/Geometry.h" using SurgSim::DataStructures::Location; using SurgSim::Math::Vector3d; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::BoxShape; using SurgSim::Math::PlaneShape; using SurgSim::Math::DoubleSidedPlaneShape; using SurgSim::Math::MeshShape; using SurgSim::Math::SegmentMeshShape; namespace SurgSim { namespace Collision { /// Struct to store the triangle vertices along with the Contact struct. struct TriangleContact : public Contact { TriangleContact(const CollisionDetectionType newCollisionDetectionType, const double& newDepth, const double& newTime, const SurgSim::Math::Vector3d& newContact, const SurgSim::Math::Vector3d& newNormal, const std::pair& newPenetrationPoints) : Contact(newCollisionDetectionType, newDepth, newTime, newContact, newNormal, newPenetrationPoints) { } std::array firstVertices; std::array secondVertices; }; /// Function that compares two 3d vectors and asserts that they are equal. /// The tolerance for the numerical values is SurgSim::Math::Geometry::DistanceEpsilon. /// \param left First vector. /// \param right Second vector. ::testing::AssertionResult eigenEqual(const Vector3d& left, const Vector3d& right); /// Function that checks if a given contact contains the given normal, depth and /// penetration points. /// \param contact The contact object that is being checked. /// \param expectedDepth The expected depth. /// \param expectedNormal The expected normal. /// \param expectedPenetrationPointFirst The expected first penetration point. /// \param expectedPenetrationPointSecond The expected second penetration point. void checkContactInfo(std::shared_ptr contact, CollisionDetectionType expectedType, double expectedDepth, double expectedTime, const Vector3d& expectedNormal, const Vector3d& expectedPenetrationPointFirst, const Vector3d& expectedPenetrationPointSecond); /// Function that checks if a given contact is present in the list of given contacts. /// \param expected The expected contact. /// \param contactsList The list of contacts. /// \param expectedHasTriangleContactObject True, if the expected pointer points to a TriangleContact object. /// False, if contactsList points to TriangleContact objects. ::testing::AssertionResult isContactPresentInList(std::shared_ptr expected, const std::list>& contactsList, bool expectedHasTriangleContactObject = false); /// Function that checks if two given list of contacts are the same. /// \param expectedContacts The expected contact lists. /// \param calculatedContacts The list of given contact list. /// \param expectedHasTriangleContactObject True, if the expectedContacts points to TriangleContact objects. /// False, if calculatedContacts points to TriangleContact objects. void contactsInfoEqualityTest(const std::list>& expectedContacts, const std::list>& calculatedContacts, bool expectedHasTriangleContactObject = false); /// Function that generates (no collision detection performed) the contact information between a box and a plane, /// given the box vertex indices that are known to be in contact. /// \param expectedContacts The list where the generated contacts are added. /// \param expectedNumberOfContacts The number of contacts to be generated. /// \param expectedBoxIndicesInContacts The vertex indices of the box which are in collision with the plane. /// \param box The box shape. /// \param boxTrans The box translation in global co-ordinate system. /// \param boxQuat The box orientation in global co-ordinate system. /// \param plane The plane shape. /// \param planeTrans The plane translation in global co-ordinate system. /// \param planeQuat The plane orientation in global co-ordinate system. void generateBoxPlaneContact(std::list>* expectedContacts, const int expectedNumberOfContacts, const int* expectedBoxIndicesInContacts, const std::shared_ptr box, const Vector3d& boxTrans, const Quaterniond& boxQuat, const std::shared_ptr plane, const Vector3d& planeTrans, const Quaterniond& planeQuat); /// Function that generates (no collision detection performed) the contact information between a box and /// a double-sided plane, given the box vertex indices that are known to be in contact. /// \param expectedContacts The list where the generated contacts are added. /// \param expectedNumberOfContacts The number of contacts to be generated. /// \param expectedBoxIndicesInContacts The vertex indices of the box which are in collision /// with the double-sided plane. /// \param box The box shape. /// \param boxTrans The box translation in global co-ordinate system. /// \param boxQuat The box orientation in global co-ordinate system. /// \param plane The double-sided plane shape. /// \param planeTrans The double-sided plane translation in global co-ordinate system. /// \param planeQuat The double-sided plane orientation in global co-ordinate system. /// \param collisionNormalIsPlaneNormal Flag to represent if the box is in collision void generateBoxDoubleSidedPlaneContact(std::list>* expectedContacts, const int expectedNumberOfContacts, const int* expectedBoxIndicesInContacts, const std::shared_ptr box, const Vector3d& boxTrans, const Quaterniond& boxQuat, const std::shared_ptr plane, const Vector3d& planeTrans, const Quaterniond& planeQuat, const bool collisionNormalIsPlaneNormal); }; // namespace Collision }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Collision/UnitTests/DefaultContactCalculationTests.cpp000066400000000000000000000036471277777236100302220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.h" #include "SurgSim/Collision/DefaultContactCalculation.h" #include "SurgSim/Math/SphereShape.h" namespace SurgSim { namespace Collision { TEST(DefaultContactCalculationTests, UnitTests) { std::shared_ptr sphereShape = std::make_shared(1.0); std::shared_ptr rep0 = std::make_shared("TestSphere 1"); rep0->setShape(sphereShape); rep0->setLocalPose(SurgSim::Math::makeRigidTransform(Quaterniond::Identity(), Vector3d(3.0,0.0,0.0))); std::shared_ptr rep1 = std::make_shared("TestSphere 2"); rep1->setShape(sphereShape); rep1->setLocalPose(SurgSim::Math::makeRigidTransform(Quaterniond::Identity(), Vector3d(0.5,0.0,0.0))); std::shared_ptr pair01 = std::make_shared(rep0, rep1); DefaultContactCalculation calcShouldLog(false); EXPECT_NO_THROW(calcShouldLog.calculateContact(pair01)); EXPECT_FALSE(pair01->hasContacts()); DefaultContactCalculation calcShouldThrow(true); EXPECT_ANY_THROW(calcShouldThrow.calculateContact(pair01)); EXPECT_FALSE(pair01->hasContacts()); } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/ElementContactFilterTests.cpp000066400000000000000000000213611277777236100272070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Collision/ElementContactFilter.h" #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/SegmentMeshShape.h" namespace { std::shared_ptr makePair() { auto rep1 = std::make_shared("rep1"); rep1->setShape(std::make_shared()); auto rep2 = std::make_shared("rep2"); rep2->setShape(std::make_shared()); return std::make_shared (rep1, rep2); } std::shared_ptr makeContact( size_t triMesh1, size_t elementMesh1, size_t triMesh2, size_t elementMesh2) { std::pair penetrationPoints; penetrationPoints.first.triangleMeshLocalCoordinate = SurgSim::DataStructures::IndexedLocalCoordinate(triMesh1, SurgSim::Math::Vector3d::Zero()); penetrationPoints.first.elementMeshLocalCoordinate = SurgSim::DataStructures::IndexedLocalCoordinate(elementMesh1, SurgSim::Math::Vector3d::Zero()); penetrationPoints.second.triangleMeshLocalCoordinate = SurgSim::DataStructures::IndexedLocalCoordinate(triMesh2, SurgSim::Math::Vector3d::Zero()); penetrationPoints.second.elementMeshLocalCoordinate = SurgSim::DataStructures::IndexedLocalCoordinate(elementMesh2, SurgSim::Math::Vector3d::Zero()); return std::make_shared( SurgSim::Collision::COLLISION_DETECTION_TYPE_DISCRETE, 0.0, 1.0, SurgSim::Math::Vector3d::Zero(), SurgSim::Math::Vector3d::Zero(), penetrationPoints); } } namespace SurgSim { namespace Collision { class ElementContactFilterTest : public testing::Test { public: void SetUp() { filter = std::make_shared("filter"); pair = makePair(); } std::shared_ptr state; std::shared_ptr filter; std::shared_ptr pair; }; TEST_F(ElementContactFilterTest, Accessors) { { std::shared_ptr rep = std::make_shared("rep"); filter->setValue("Representation", rep); auto result = filter->getValue >("Representation"); EXPECT_EQ(rep.get(), result.get()); } { typedef std::vector, std::vector>> FilterMapType; FilterMapType empty; EXPECT_NO_THROW(filter->setValue("FilterElements", empty)); filter->update(0.0); auto result = filter->getValue("FilterElements"); EXPECT_EQ(0u, result.size()); FilterMapType filters; filters.emplace_back(pair->getRepresentations().first, std::vector(3, 1)); filters.emplace_back(pair->getRepresentations().second, std::vector(5, 1)); filter->setValue("FilterElements", filters); filter->update(0.0); result = filter->getValue("FilterElements"); EXPECT_EQ(2u, result.size()); for (const auto& item : result) { if (item.first.get() == pair->getRepresentations().first.get()) { EXPECT_EQ(3u, item.second.size()); } else if (item.first.get() == pair->getRepresentations().second.get()) { EXPECT_EQ(5u, item.second.size()); } else { ADD_FAILURE() << "Found invalid representation in filters."; } } } } TEST_F(ElementContactFilterTest, SetGetFilter) { auto result = filter->getFilter(nullptr); EXPECT_EQ(0u, result.size()); auto rep = std::make_shared("representation"); rep->setShape(std::make_shared()); result = filter->getFilter(rep); EXPECT_EQ(0u, result.size()); std::vector ignores(2, 1); filter->setFilter(rep, ignores); filter->update(0.0); result = filter->getFilter(rep); EXPECT_EQ(2u, result.size()); std::vector empty; filter->setFilter(rep, empty); filter->update(0.0); result = filter->getFilter(rep); EXPECT_EQ(0u, result.size()); filter->setFilter(pair->getRepresentations().second, ignores); filter->update(0.0); result = filter->getFilter(rep); EXPECT_EQ(0u, result.size()); result = filter->getFilter(pair->getRepresentations().second); EXPECT_EQ(2u, result.size()); } TEST_F(ElementContactFilterTest, Noop) { EXPECT_NO_THROW(filter->filterContacts(state, pair)); std::vector ignores(1, 1); filter->setRepresentation(pair->getRepresentations().first); filter->setFilter(pair->getRepresentations().second, ignores); filter->update(0.0); EXPECT_NO_THROW(filter->filterContacts(state, pair)); pair->addContact(makeContact(0, 0, 0, 0)); EXPECT_NO_THROW(filter->filterContacts(state, pair)); } TEST_F(ElementContactFilterTest, OnlyRemoveMatches) { auto rep3 = std::make_shared("rep3"); rep3->setShape(std::make_shared()); std::vector ignores; ignores.push_back(0); ignores.push_back(2); filter->setRepresentation(pair->getRepresentations().first); filter->setFilter(rep3, ignores); pair->addContact(makeContact(2, 10, 10, 10)); pair->addContact(makeContact(0, 10, 10, 10)); pair->addContact(makeContact(1, 10, 10, 10)); pair->addContact(makeContact(1, 10, 10, 10)); pair->addContact(makeContact(2, 10, 10, 10)); pair->addContact(makeContact(2, 10, 10, 10)); EXPECT_EQ(6u, pair->getContacts().size()); EXPECT_NO_THROW(filter->filterContacts(state, pair)); EXPECT_EQ(6u, pair->getContacts().size()); filter->update(0.0); EXPECT_NO_THROW(filter->filterContacts(state, pair)); EXPECT_EQ(6u, pair->getContacts().size()); } TEST_F(ElementContactFilterTest, RemoveOnTriangleMesh) { std::vector ignores; ignores.push_back(0); ignores.push_back(2); filter->setRepresentation(pair->getRepresentations().first); filter->setFilter(pair->getRepresentations().second, ignores); pair->addContact(makeContact(2, 10, 10, 10)); pair->addContact(makeContact(0, 10, 10, 10)); pair->addContact(makeContact(1, 10, 10, 10)); pair->addContact(makeContact(1, 10, 10, 10)); pair->addContact(makeContact(2, 10, 10, 10)); pair->addContact(makeContact(2, 10, 10, 10)); EXPECT_EQ(6u, pair->getContacts().size()); EXPECT_NO_THROW(filter->filterContacts(state, pair)); EXPECT_EQ(6u, pair->getContacts().size()); filter->update(0.0); EXPECT_NO_THROW(filter->filterContacts(state, pair)); EXPECT_EQ(2u, pair->getContacts().size()); } TEST_F(ElementContactFilterTest, RemoveOnTriangleMeshSwapped) { std::vector ignores; ignores.push_back(0); ignores.push_back(2); filter->setRepresentation(pair->getRepresentations().first); filter->setFilter(pair->getRepresentations().second, ignores); filter->update(0.0); pair->swapRepresentations(); pair->addContact(makeContact(10, 10, 2, 10)); pair->addContact(makeContact(10, 10, 0, 10)); pair->addContact(makeContact(10, 10, 1, 10)); pair->addContact(makeContact(10, 10, 1, 10)); pair->addContact(makeContact(10, 10, 2, 10)); pair->addContact(makeContact(10, 10, 2, 10)); EXPECT_EQ(6u, pair->getContacts().size()); EXPECT_NO_THROW(filter->filterContacts(state, pair)); EXPECT_EQ(2u, pair->getContacts().size()); } TEST_F(ElementContactFilterTest, RemoveOnSegmentMesh) { std::vector ignores; ignores.push_back(0); ignores.push_back(2); filter->setRepresentation(pair->getRepresentations().second); filter->setFilter(pair->getRepresentations().first, ignores); filter->update(0.0); pair->addContact(makeContact(10, 10, 10, 0)); pair->addContact(makeContact(10, 10, 10, 1)); pair->addContact(makeContact(10, 10, 10, 1)); pair->addContact(makeContact(10, 10, 10, 2)); pair->addContact(makeContact(10, 10, 10, 2)); pair->addContact(makeContact(10, 10, 10, 2)); EXPECT_EQ(6u, pair->getContacts().size()); filter->filterContacts(state, pair); EXPECT_EQ(2u, pair->getContacts().size()); } } } opensurgsim-0.7.0/SurgSim/Collision/UnitTests/OctreeContactCalculationTests.cpp000066400000000000000000000372141277777236100300540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Collision/CcdDcdCollision.h" #include "SurgSim/Collision/OctreeCapsuleContact.h" #include "SurgSim/Collision/OctreeDoubleSidedPlaneContact.h" #include "SurgSim/Collision/OctreePlaneContact.h" #include "SurgSim/Collision/OctreeSphereContact.h" #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/DataStructures/Location.h" #include "SurgSim/DataStructures/OctreeNode.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Math/Shapes.h" #include "SurgSim/Math/Vector.h" using SurgSim::Collision::ShapeCollisionRepresentation; using SurgSim::DataStructures::Location; using SurgSim::DataStructures::OctreeNode; using SurgSim::DataStructures::OctreePath; using SurgSim::Math::CapsuleShape; using SurgSim::Math::DoubleSidedPlaneShape; using SurgSim::Math::Geometry::DistanceEpsilon; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; using SurgSim::Math::OctreeShape; using SurgSim::Math::PlaneShape; using SurgSim::Math::Quaterniond; using SurgSim::Math::Shape; using SurgSim::Math::SphereShape; using SurgSim::Math::Vector3d; struct OctreeData { std::string name; }; template<> std::string SurgSim::DataStructures::OctreeNode::m_className = "OctreeNode"; namespace SurgSim { namespace Collision { std::list> doCollision(std::shared_ptr octree, const Quaterniond& octreeQuat, const Vector3d& octreeTrans, std::shared_ptr shape, const Quaterniond& shapeQuat, const Vector3d& shapeTrans, ContactCalculation* calculator) { std::shared_ptr octreeRep = std::make_shared("Collision Octree 0"); octreeRep->setShape(octree); octreeRep->setLocalPose(makeRigidTransform(octreeQuat, octreeTrans)); std::shared_ptr shapeRep = std::make_shared("Collision Capsule 0"); shapeRep->setShape(shape); shapeRep->setLocalPose(makeRigidTransform(shapeQuat, shapeTrans)); // Perform collision detection. std::shared_ptr pair = std::make_shared(octreeRep, shapeRep); calculator->calculateContact(pair); return pair->getContacts(); } void checkContacts(const std::list>& contacts, std::shared_ptr> octree) { for (auto contact = contacts.cbegin(); contact != contacts.cend(); ++contact) { Location& location = (*contact)->penetrationPoints.first; ASSERT_TRUE(location.octreeNodePath.hasValue()); ASSERT_TRUE(location.rigidLocalPosition.hasValue()); auto nodeBoundingBox = octree->getNode(location.octreeNodePath.getValue())->getBoundingBox(); double distanceFromBox = nodeBoundingBox.squaredExteriorDistance(location.rigidLocalPosition.getValue()); EXPECT_GT(DistanceEpsilon, distanceFromBox) << "Location of contact is not inside the node"; } } bool nodeInContacts(const std::string& name, const std::list>& contacts, std::shared_ptr> octree) { for (auto contact = contacts.cbegin(); contact != contacts.cend(); ++contact) { OctreePath path = (*contact)->penetrationPoints.first.octreeNodePath.getValue(); std::shared_ptr> node = octree->getNode(path); if (node->data.name == name) { return true; } } return false; } std::shared_ptr> buildTestOctree() { // To keep things simple, create an 4 level octree with leaf nodes of size 1x1x1. // As a result, the root bounding box is 2^4 x 2^4 x 2^4, or 16x16x16 Eigen::AlignedBox boundingBox; const int numLevels = 4; boundingBox.min() = Vector3d::Zero(); boundingBox.max() = Vector3d::Ones() * pow(2.0, numLevels); std::shared_ptr> rootNode = std::make_shared>(boundingBox); OctreeData data; data.name = "center"; rootNode->addData(Vector3d(8.5, 8.5, 8.5), numLevels, data); data.name = "corner0"; rootNode->addData(Vector3d(0.5, 0.5, 0.5), numLevels, data); data.name = "corner1"; rootNode->addData(Vector3d(15.5, 0.5, 0.5), numLevels, data); data.name = "corner2"; rootNode->addData(Vector3d(0.5, 15.5, 0.5), numLevels, data); data.name = "corner3"; rootNode->addData(Vector3d(15.5, 15.5, 0.5), numLevels, data); data.name = "corner4"; rootNode->addData(Vector3d(0.5, 0.5, 15.5), numLevels, data); data.name = "corner5"; rootNode->addData(Vector3d(15.5, 0.5, 15.5), numLevels, data); data.name = "corner6"; rootNode->addData(Vector3d(0.5, 15.5, 15.5), numLevels, data); data.name = "corner7"; rootNode->addData(Vector3d(15.5, 15.5, 15.5), numLevels, data); return rootNode; } TEST(OctreeContactCalculationTests, Capsule) { std::shared_ptr> octree = buildTestOctree(); std::shared_ptr octreeShape = std::make_shared(*octree); std::shared_ptr capsuleShape = std::make_shared(16.0, 1.0); OctreeCapsuleContact calculator; std::list> contacts; { SCOPED_TRACE("No intersection, capsule outside octree"); contacts = doCollision( octreeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(5.0, 0.0, 0.0), capsuleShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 0.0), &calculator); EXPECT_EQ(0, contacts.size()); } { SCOPED_TRACE("No intersection, capsule inside octree, but not contacting active nodes"); contacts = doCollision( octreeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 0.0), capsuleShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(5.0, 3.0, 0.0), &calculator); EXPECT_EQ(0, contacts.size()); } { SCOPED_TRACE("Intersection, capsule is in the center of the octree"); contacts = doCollision( octreeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 0.0), capsuleShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(8.0, 8.0, 8.0), &calculator); checkContacts(contacts, octree); EXPECT_TRUE(nodeInContacts("center", contacts, octree)); } { SCOPED_TRACE("Intersection, capsule intersection 2 nodes"); contacts = doCollision( octreeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 0.0), capsuleShape, makeRotationQuaternion(M_PI_2, Vector3d(0.0, 0.0, 1.0)), Vector3d(8.0, 0.0, 0.0), &calculator); checkContacts(contacts, octree); EXPECT_TRUE(nodeInContacts("corner0", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner1", contacts, octree)); } { SCOPED_TRACE("Intersection, octree rotated"); contacts = doCollision( octreeShape, makeRotationQuaternion(M_PI_4, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 0.0), capsuleShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 12.0, 0.0), &calculator); checkContacts(contacts, octree); EXPECT_TRUE(nodeInContacts("corner3", contacts, octree)); } } TEST(OctreeContactCalculationTests, Plane) { std::shared_ptr> octree = buildTestOctree(); std::shared_ptr octreeShape = std::make_shared(*octree); std::shared_ptr planeShape = std::make_shared(); OctreePlaneContact calculator; std::list> contacts; { SCOPED_TRACE("No intersection, plane outside octree"); contacts = doCollision( octreeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 5.0, 0.0), planeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 0.0), &calculator); EXPECT_EQ(0, contacts.size()); } { SCOPED_TRACE("Intersection, plane inside octree"); contacts = doCollision( octreeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 0.0), planeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 2.0, 0.0), &calculator); checkContacts(contacts, octree); EXPECT_TRUE(nodeInContacts("corner0", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner1", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner4", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner5", contacts, octree)); } { SCOPED_TRACE("Intersection, rotated octree"); contacts = doCollision( octreeShape, makeRotationQuaternion(M_PI_4, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 0.0), planeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 2.0, 0.0), &calculator); checkContacts(contacts, octree); EXPECT_TRUE(nodeInContacts("corner0", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner4", contacts, octree)); } { SCOPED_TRACE("Intersection, rotated plane"); contacts = doCollision( octreeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 0.0), planeShape, makeRotationQuaternion(M_PI_4, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 8.0, 0.0), &calculator); checkContacts(contacts, octree); EXPECT_TRUE(nodeInContacts("corner0", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner1", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner3", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner4", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner5", contacts, octree)); } } TEST(OctreeContactCalculationTests, DoubleSidedPlane) { std::shared_ptr> octree = buildTestOctree(); std::shared_ptr octreeShape = std::make_shared(*octree); std::shared_ptr planeShape = std::make_shared(); OctreeDoubleSidedPlaneContact calculator; std::list> contacts; { SCOPED_TRACE("No intersection, plane outside octree"); contacts = doCollision( octreeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 5.0, 0.0), planeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 0.0), &calculator); EXPECT_EQ(0, contacts.size()); } { SCOPED_TRACE("Intersection, plane along bottom face"); contacts = doCollision( octreeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 0.0), planeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 0.0), &calculator); checkContacts(contacts, octree); EXPECT_TRUE(nodeInContacts("corner0", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner1", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner4", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner5", contacts, octree)); } { SCOPED_TRACE("Intersection, plane along diagnol"); contacts = doCollision( octreeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 0.0), planeShape, makeRotationQuaternion(M_PI_4, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 0.0), &calculator); checkContacts(contacts, octree); EXPECT_TRUE(nodeInContacts("center", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner0", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner3", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner4", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner7", contacts, octree)); } } TEST(OctreeContactCalculationTests, Sphere) { std::shared_ptr> octree = buildTestOctree(); std::shared_ptr octreeShape = std::make_shared(*octree); std::shared_ptr sphereShape = std::make_shared(9); OctreeSphereContact calculator; std::list> contacts; { SCOPED_TRACE("No intersection, sphere outside octree"); contacts = doCollision( octreeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 10.0, 0.0), sphereShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 0.0), &calculator); EXPECT_EQ(0, contacts.size()); } { SCOPED_TRACE("Intersection, sphere at center of octree"); contacts = doCollision( octreeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 0.0), sphereShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(8.0, 8.0, 8.0), &calculator); checkContacts(contacts, octree); EXPECT_TRUE(nodeInContacts("center", contacts, octree)); } { SCOPED_TRACE("Intersection, sphere center on box face"); contacts = doCollision( octreeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 0.0), sphereShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(8.0, 8.0, 0.0), &calculator); checkContacts(contacts, octree); EXPECT_TRUE(nodeInContacts("corner0", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner1", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner2", contacts, octree)); EXPECT_TRUE(nodeInContacts("corner3", contacts, octree)); } { SCOPED_TRACE("No intersection, sphere inside octree, but not contacting active nodes"); contacts = doCollision( octreeShape, makeRotationQuaternion(0.0, Vector3d(0.0, 0.0, 1.0)), Vector3d(0.0, 0.0, 4.0), sphereShape, makeRotationQuaternion(M_PI_4, Vector3d(0.0, 0.0, 1.0)), Vector3d(8.0, 8.0, 0.0), &calculator); EXPECT_EQ(0, contacts.size()); } } TEST(OctreeContactCalculationTests, CheckNumberOfContacts) { std::shared_ptr> octree = buildTestOctree(); std::shared_ptr octreeShape = std::make_shared(*octree); std::shared_ptr sphereShape = std::make_shared(9); OctreeSphereContact calculator; std::shared_ptr octreeRep = std::make_shared("Collision Octree 0"); octreeRep->setShape(octreeShape); std::shared_ptr shapeRep = std::make_shared("Collision sphere 0"); shapeRep->setShape(sphereShape); shapeRep->setLocalPose(SurgSim::Math::makeRigidTranslation(Vector3d(8.0, 8.0, 8.0))); std::shared_ptr pair = std::make_shared(octreeRep, shapeRep); calculator.calculateContact(pair); pair->updateRepresentations(); EXPECT_EQ(1, shapeRep->getCollisions().unsafeGet().size()); EXPECT_EQ(1, shapeRep->getCollisions().unsafeGet().count(octreeRep)); octreeRep->retire(); shapeRep->retire(); } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/RepresentationTest.cpp000066400000000000000000000262251277777236100257570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/DataStructures/BufferedValue.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/ThreadPool.h" #include "SurgSim/Math/PlaneShape.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" using SurgSim::Collision::Contact; using SurgSim::Collision::ContactMapType; using SurgSim::Collision::ShapeCollisionRepresentation; using SurgSim::DataStructures::Location; using SurgSim::Framework::BasicSceneElement; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::PlaneShape; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::SphereShape; using SurgSim::Math::Vector3d; namespace { const double epsilon = 1e-10; }; namespace SurgSim { namespace Collision { struct RepresentationTest : public ::testing::Test { virtual void SetUp() { runtime = std::make_shared(); scene = runtime->getScene(); element = std::make_shared("Element"); plane = std::make_shared(); sphere = std::make_shared(1.0); planeRep = std::make_shared("PlaneShape"); sphereRep = std::make_shared("SphereShape"); planeRep->setShape(plane); planeRep->setLocalPose(RigidTransform3d::Identity()); sphereRep->setShape(sphere); sphereRep->setLocalPose(RigidTransform3d::Identity()); element->addComponent(planeRep); element->addComponent(sphereRep); scene->addSceneElement(element); planeRep->wakeUp(); sphereRep->wakeUp(); } virtual void TearDown() { } std::shared_ptr runtime; std::shared_ptr scene; std::shared_ptr element; std::shared_ptr plane; std::shared_ptr sphere; std::shared_ptr planeRep; std::shared_ptr sphereRep; }; TEST_F(RepresentationTest, InitTest) { EXPECT_NO_THROW(ShapeCollisionRepresentation("Plane")); } TEST_F(RepresentationTest, CollisionDetectionType) { EXPECT_EQ(COLLISION_DETECTION_TYPE_NONE, sphereRep->getSelfCollisionDetectionType()); EXPECT_EQ(COLLISION_DETECTION_TYPE_DISCRETE, sphereRep->getCollisionDetectionType()); sphereRep->setCollisionDetectionType(COLLISION_DETECTION_TYPE_NONE); EXPECT_EQ(COLLISION_DETECTION_TYPE_NONE, sphereRep->getCollisionDetectionType()); sphereRep->setSelfCollisionDetectionType(COLLISION_DETECTION_TYPE_CONTINUOUS); EXPECT_EQ(COLLISION_DETECTION_TYPE_CONTINUOUS, sphereRep->getSelfCollisionDetectionType()); } TEST_F(RepresentationTest, PoseTest) { RigidTransform3d initialPose = makeRigidTransform(Quaterniond::Identity(), Vector3d(1.0, 2.0, 3.0)); planeRep->setLocalPose(initialPose); EXPECT_TRUE(initialPose.isApprox(planeRep->getPose(), epsilon)); RigidTransform3d pose = makeRigidTransform(Quaterniond::Identity(), Vector3d(0.0, 2.0, 0.0)); element->setPose(pose); EXPECT_TRUE(pose.isApprox(sphereRep->getPose(), epsilon)); sphereRep->setLocalPose(initialPose); EXPECT_TRUE((pose * initialPose).isApprox(sphereRep->getPose(), epsilon)); } TEST_F(RepresentationTest, ShapeTest) { EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_PLANE, planeRep->getShapeType()); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_SPHERE, sphereRep->getShapeType()); EXPECT_EQ(plane, planeRep->getShape()); EXPECT_EQ(sphere, sphereRep->getShape()); } TEST_F(RepresentationTest, EmptyCollisionTest) { EXPECT_TRUE(planeRep->getCollisions().unsafeGet().empty()); EXPECT_TRUE(sphereRep->getCollisions().unsafeGet().empty()); } TEST_F(RepresentationTest, CollisionTest) { ContactMapType& unsafePlaneCollisions = planeRep->getCollisions().unsafeGet(); ContactMapType& unsafeSphereCollisions = sphereRep->getCollisions().unsafeGet(); std::shared_ptr safePlaneCollisions = planeRep->getCollisions().safeGet(); EXPECT_TRUE(unsafePlaneCollisions.empty()); EXPECT_TRUE(unsafeSphereCollisions.empty()); EXPECT_TRUE(safePlaneCollisions->empty()); std::shared_ptr dummyContact = std::make_shared(COLLISION_DETECTION_TYPE_DISCRETE, 0.0, 1.0, Vector3d::Zero(), Vector3d::Zero(), std::make_pair(Location(), Location())); unsafeSphereCollisions[planeRep].push_back(dummyContact); auto spherePlanePair = unsafeSphereCollisions.find(planeRep); EXPECT_NE(unsafeSphereCollisions.end(), spherePlanePair); std::list> spherePlaneContacts = spherePlanePair->second; EXPECT_EQ(dummyContact, spherePlaneContacts.front()); // Collision is only added to 'sphereRep', thus the plane should have no collisions. EXPECT_TRUE(unsafePlaneCollisions.empty()); // The thread-safe collision map is buffered, so it should still be empty before the publish. EXPECT_TRUE(planeRep->getCollisions().safeGet()->empty()); // After the publish the thread-safe collision map should be up-to-date. planeRep->getCollisions().publish(); EXPECT_EQ(unsafePlaneCollisions, *planeRep->getCollisions().safeGet()); } // addContact method thread-safety test case. // WARNING: Due to the nature of multi-threaded environment, a successful test does not imply thread-safety // also note the lack of reproducibility. TEST_F(RepresentationTest, AddContactsInParallelTest) { auto rep = std::make_shared("collisionRepReference"); auto contact = std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, 0.1, 1.0, Math::Vector3d::Zero(), Math::Vector3d::Zero(), std::make_pair(DataStructures::Location(), DataStructures::Location())); auto threadPool = Framework::Runtime::getThreadPool(); std::vector> tasks; const size_t numContacts = 500; for (size_t i = 0; i < numContacts; i++) { tasks.push_back(threadPool->enqueue([&rep, &contact]() { rep->addContact(rep, contact); })); } std::for_each(tasks.begin(), tasks.end(), [](std::future& p) { p.get(); }); ASSERT_EQ(numContacts, rep->getCollisions().unsafeGet()[rep].size()); rep->retire(); } TEST_F(RepresentationTest, Ignoring) { EXPECT_TRUE(planeRep->ignore("Test")); EXPECT_FALSE(planeRep->ignore("Test")); EXPECT_TRUE(planeRep->ignore(sphereRep)); EXPECT_TRUE(planeRep->isIgnoring("Test")); EXPECT_TRUE(planeRep->isIgnoring("Element/SphereShape")); EXPECT_FALSE(planeRep->isIgnoring("Invalid")); EXPECT_FALSE(planeRep->isAllowing("Test")); EXPECT_FALSE(planeRep->isAllowing("Element/SphereShape")); EXPECT_TRUE(planeRep->isAllowing("Invalid")); // Remove and add Test back from the ignoring list EXPECT_TRUE(planeRep->allow("Test")); EXPECT_FALSE(planeRep->isIgnoring("Test")); EXPECT_FALSE(planeRep->allow("Test")); EXPECT_TRUE(planeRep->ignore("Test")); EXPECT_TRUE(planeRep->isIgnoring("Test")); std::vector newExclusions; newExclusions.push_back("Test"); newExclusions.push_back("Element/PlaneShape"); sphereRep->setIgnoring(newExclusions); EXPECT_TRUE(sphereRep->isIgnoring("Test")); EXPECT_TRUE(sphereRep->isIgnoring("Element/PlaneShape")); EXPECT_FALSE(sphereRep->isIgnoring("Invalid")); EXPECT_FALSE(sphereRep->isAllowing("Test")); EXPECT_FALSE(sphereRep->isAllowing("Element/PlaneShape")); EXPECT_TRUE(sphereRep->isAllowing("Invalid")); std::vector allowing; allowing.push_back("Invalid"); sphereRep->setAllowing(allowing); EXPECT_FALSE(sphereRep->allow("Invalid")); EXPECT_TRUE(sphereRep->isIgnoring("Test")); EXPECT_TRUE(sphereRep->isIgnoring("Element/PlaneShape")); EXPECT_FALSE(sphereRep->isIgnoring("Invalid")); EXPECT_FALSE(sphereRep->isAllowing("Test")); EXPECT_FALSE(sphereRep->isAllowing("Element/PlaneShape")); EXPECT_TRUE(sphereRep->isAllowing("Invalid")); } TEST_F(RepresentationTest, Allowing) { EXPECT_FALSE(sphereRep->isIgnoring("Other")); EXPECT_FALSE(sphereRep->isIgnoring("CollideWith1")); EXPECT_FALSE(sphereRep->isIgnoring("CollideWith2")); EXPECT_TRUE(sphereRep->isAllowing("Other")); EXPECT_TRUE(sphereRep->isAllowing("CollideWith1")); EXPECT_TRUE(sphereRep->isAllowing("CollideWith2")); std::vector allowing; allowing.push_back("CollideWith1"); allowing.push_back("CollideWith2"); sphereRep->setAllowing(allowing); sphereRep->allow("CollideWith3"); EXPECT_TRUE(sphereRep->isIgnoring("Other")); EXPECT_FALSE(sphereRep->isIgnoring("CollideWith1")); EXPECT_FALSE(sphereRep->isIgnoring("CollideWith2")); EXPECT_FALSE(sphereRep->isIgnoring("CollideWith3")); EXPECT_FALSE(sphereRep->isAllowing("Other")); EXPECT_TRUE(sphereRep->isAllowing("CollideWith1")); EXPECT_TRUE(sphereRep->isAllowing("CollideWith2")); EXPECT_TRUE(sphereRep->isAllowing("CollideWith3")); /// CollideWith1 is will be removed from the 'allowing' EXPECT_TRUE(sphereRep->ignore("CollideWith1")); EXPECT_TRUE(sphereRep->isIgnoring("CollideWith1")); EXPECT_FALSE(sphereRep->isAllowing("CollideWith1")); EXPECT_TRUE(sphereRep->allow("CollideWith1")); EXPECT_TRUE(sphereRep->isAllowing("CollideWith1")); } TEST_F(RepresentationTest, SerializationTest) { std::vector ignoring; ignoring.push_back("Test"); ignoring.push_back("Element/PlaneShape"); EXPECT_NO_THROW(sphereRep->setValue("Ignore", ignoring)); EXPECT_NO_THROW(sphereRep->setValue("CollisionDetectionType", COLLISION_DETECTION_TYPE_CONTINUOUS)); EXPECT_NO_THROW(sphereRep->setValue("SelfCollisionDetectionType", COLLISION_DETECTION_TYPE_DISCRETE)); YAML::Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*sphereRep)); EXPECT_TRUE(node.IsMap()); std::shared_ptr decodedSphereRep; ASSERT_NO_THROW(decodedSphereRep = std::dynamic_pointer_cast( node.as>())); ASSERT_NE(nullptr, decodedSphereRep); EXPECT_TRUE(decodedSphereRep->isIgnoring("Test")); EXPECT_TRUE(decodedSphereRep->isIgnoring("Element/PlaneShape")); EXPECT_EQ(COLLISION_DETECTION_TYPE_CONTINUOUS, sphereRep->getValue("CollisionDetectionType")); EXPECT_EQ(COLLISION_DETECTION_TYPE_CONTINUOUS, sphereRep->getCollisionDetectionType()); EXPECT_EQ(COLLISION_DETECTION_TYPE_DISCRETE, sphereRep->getValue("SelfCollisionDetectionType")); EXPECT_EQ(COLLISION_DETECTION_TYPE_DISCRETE, sphereRep->getSelfCollisionDetectionType()); } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/RepresentationUtilities.cpp000066400000000000000000000057001277777236100270060ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/UnitTests/RepresentationUtilities.h" #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Math/Shapes.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::Math::Quaterniond; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { std::shared_ptr makeSphereRepresentation( const double& radius, const Quaterniond& rotation, const Vector3d& position) { std::shared_ptr sphere = std::make_shared(radius); auto result = std::make_shared("TestSphereShapeCollisionRep"); result->setShape(sphere); result->setLocalPose(SurgSim::Math::makeRigidTransform(rotation, position)); return result; } std::shared_ptr makeDoubleSidedPlaneRepresentation( const Quaterniond& rotation, const Vector3d& position) { std::shared_ptr plane = std::make_shared(); auto result = std::make_shared("TestDoubleSidedPlaneCollisionRep"); result->setShape(plane); result->setLocalPose(SurgSim::Math::makeRigidTransform(rotation, position)); return result; } std::shared_ptr makePlaneRepresentation( const Quaterniond& rotation, const Vector3d& position) { std::shared_ptr plane = std::make_shared(); auto result = std::make_shared("TestPlaneRepresentation"); result->setShape(plane); result->setLocalPose(SurgSim::Math::makeRigidTransform(rotation, position)); return result; } std::shared_ptr makeCapsuleRepresentation( const double& length, const double& radius, const Quaterniond& rotation, const Vector3d& position) { std::shared_ptr capsule = std::make_shared(length, radius); auto result = std::make_shared("TestCapsuleShapeCollisionRep"); result->setShape(capsule); result->setLocalPose(SurgSim::Math::makeRigidTransform(rotation, position)); return result; } }; // Collision }; // SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/RepresentationUtilities.h000066400000000000000000000040701277777236100264520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_COLLISION_UNITTESTS_REPRESENTATIONUTILITIES_H #define SURGSIM_COLLISION_UNITTESTS_REPRESENTATIONUTILITIES_H #include #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Collision/Representation.h" namespace SurgSim { namespace Collision { class Representation; std::shared_ptr makeSphereRepresentation( const double& radius = 1.0, const SurgSim::Math::Quaterniond& rotation = SurgSim::Math::Quaterniond::Identity(), const SurgSim::Math::Vector3d& position = SurgSim::Math::Vector3d::Zero()); std::shared_ptr makeDoubleSidedPlaneRepresentation( const SurgSim::Math::Quaterniond& rotation = SurgSim::Math::Quaterniond::Identity(), const SurgSim::Math::Vector3d& position = SurgSim::Math::Vector3d::Zero()); std::shared_ptr makePlaneRepresentation( const SurgSim::Math::Quaterniond& rotation = SurgSim::Math::Quaterniond::Identity(), const SurgSim::Math::Vector3d& position = SurgSim::Math::Vector3d::Zero()); std::shared_ptr makeCapsuleRepresentation( const double& length = 1.0, const double& radius = 1.0, const SurgSim::Math::Quaterniond& rotation = SurgSim::Math::Quaterniond::Identity(), const SurgSim::Math::Vector3d& position = SurgSim::Math::Vector3d::Zero()); }; // namespace Collision }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Collision/UnitTests/SegmentMeshTriangleMeshContactCalculationTests.cpp000066400000000000000000001037321277777236100333540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Collision/SegmentMeshTriangleMeshContact.h" #include "SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.h" #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/DataStructures/SegmentMesh.h" #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::SegmentMeshPlain; using SurgSim::DataStructures::TriangleMeshPlain; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { class SegmentMeshTriangleMeshContactCalculationTests : public ::testing::Test { protected: RigidTransform3d buildRigidTransform(double angle, double axisX, double axisY, double axisZ, double translationX, double translationY, double translationZ) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; return makeRigidTransform(makeRotationQuaternion(angle, Vector3d(axisX, axisY, axisZ).normalized()), Vector3d(translationX, translationY, translationZ)); } void SetUp() override { m_cubeSize = 1.0; m_segmentRadius = 0.1; m_transforms.push_back(std::pair( RigidTransform3d::Identity(), "Identity")); m_transforms.push_back(std::pair( buildRigidTransform(1.234, 17.04, 2.047, 3.052, 23.34, 42.45, 83.68), "Transform 1")); m_transforms.push_back(std::pair( buildRigidTransform(-5.34, 41.03, -2.52, -3.84, -3.45, 66.47, 29.34), "Transform 2")); m_transforms.push_back(std::pair( buildRigidTransform(0.246, -9.42, -4.86, 2.469, 37.68, -34.6, -17.1), "Transform 3")); m_transforms.push_back(std::pair( buildRigidTransform(-0.85, 3.344, 8.329, -97.4, 9.465, 0.275, -95.9), "Transform 4")); } /// \return The SegmentMeshShape with a line mesh. std::shared_ptr createSegmentMeshShape() { static const int segmentNumPoints = 3; static const double segmentPoints[3][3] = { {0.0, -0.5, 0.0}, {0.0, 0.0, 0.0}, {0.0, 0.5, 0.0} }; static const int segmentNumEdges = 2; static const int segmentEdges[2][2] = { {0, 1}, {1, 2} }; auto mesh = std::make_shared(); for (int i = 0; i < segmentNumPoints; ++i) { Vector3d p; p[0] = segmentPoints[i][0]; p[1] = segmentPoints[i][1]; p[2] = segmentPoints[i][2]; SegmentMeshPlain::VertexType v(p); mesh->addVertex(v); } for (int i = 0; i < segmentNumEdges; ++i) { std::array edgePoints; for (int j = 0; j < 2; j++) { edgePoints[j] = segmentEdges[i][j]; } SegmentMeshPlain::EdgeType e(edgePoints); mesh->addEdge(e); } return std::make_shared(*mesh, m_segmentRadius); } /// \return The MeshShape with a cube mesh. std::shared_ptr createCubeMeshShape() { // Create a Mesh Cube static const int cubeNumPoints = 8; static const double cubePoints[8][3] = { {-0.5, -0.5, -0.5}, {0.5, -0.5, -0.5}, {0.5, 0.5, -0.5}, {-0.5, 0.5, -0.5}, {-0.5, -0.5, 0.5}, {0.5, -0.5, 0.5}, {0.5, 0.5, 0.5}, {-0.5, 0.5, 0.5} }; static const int cubeNumEdges = 12; static const int cubeEdges[12][2] = { {0, 1}, {3, 2}, {4, 5}, {7, 6}, // +X {0, 3}, {1, 2}, {4, 7}, {5, 6}, // +Y {0, 4}, {1, 5}, {2, 6}, {3, 7} // +Z }; static const int cubeNumTriangles = 12; static const int cubeTrianglesCCW[12][3] = { {6, 2, 3}, {6, 3, 7}, // Top ( 0 1 0) [6237] {0, 1, 5}, {0, 5, 4}, // Bottom ( 0 -1 0) [0154] {4, 5, 6}, {4, 6, 7}, // Front ( 0 0 1) [4567] {0, 3, 2}, {0, 2, 1}, // Back ( 0 0 -1) [0321] {1, 2, 6}, {1, 6, 5}, // Right ( 1 0 0) [1265] {0, 4, 7}, {0, 7, 3} // Left (-1 0 0) [0473] }; auto mesh = std::make_shared(); for (int i = 0; i < cubeNumPoints; ++i) { Vector3d p; p[0] = cubePoints[i][0]; p[1] = cubePoints[i][1]; p[2] = cubePoints[i][2]; TriangleMeshPlain::VertexType v(p); mesh->addVertex(v); } for (int i = 0; i < cubeNumEdges; ++i) { std::array edgePoints; for (int j = 0; j < 2; j++) { edgePoints[j] = cubeEdges[i][j]; } TriangleMeshPlain::EdgeType e(edgePoints); mesh->addEdge(e); } for (int i = 0; i < cubeNumTriangles; ++i) { std::array trianglePoints; for (int j = 0; j < 3; j++) { trianglePoints[j] = cubeTrianglesCCW[i][j]; } TriangleMeshPlain::TriangleType t(trianglePoints); mesh->addTriangle(t); } return std::make_shared(*mesh); } void testSegmentMeshTriangleMeshDCD(std::string scenario, std::shared_ptr segmentMeshShape, RigidTransform3d segmentMeshShapeTransform, std::shared_ptr meshShape, RigidTransform3d meshShapeTransform, int expectedNumContacts = 0) { for (const auto& transform : m_transforms) { SCOPED_TRACE("Scenario: " + scenario + ", for transform: " + transform.second); std::shared_ptr segmentMeshRep = std::make_shared("Collision Mesh - Segment"); segmentMeshRep->setShape(segmentMeshShape); segmentMeshRep->setLocalPose(transform.first * segmentMeshShapeTransform); std::shared_ptr triangleMeshRep = std::make_shared("Collision Mesh - Triangle"); triangleMeshRep->setShape(meshShape); triangleMeshRep->setLocalPose(transform.first * meshShapeTransform); // Perform collision detection. SegmentMeshTriangleMeshContact calcContact; std::shared_ptr pair = std::make_shared(segmentMeshRep, triangleMeshRep); calcContact.calculateContact(pair); // Verify for correct contact generation. auto contacts = pair->getContacts(); // Check if the number of generated contacts was the expected number. EXPECT_EQ(expectedNumContacts, contacts.size()); if (contacts.size() > 0) { // Find correction that need to be applied to remove all intersections. Vector3d correction = Vector3d::Zero(); for (auto &contact : contacts) { Vector3d intersection = contact->normal * contact->depth; // Project intersection on correction and subtract that component from intersection. if (!correction.isZero()) { Vector3d correctionNormalized = correction.normalized(); intersection -= intersection.dot(correctionNormalized) * correctionNormalized; } // Add the unique component of intersection to overall correction. correction += intersection; } // Change this correction to a RigidTransform3d RigidTransform3d correctionTransform = Math::makeRigidTranslation(correction); // Applying this correction to the two shapes should remove all intersections. segmentMeshRep->setLocalPose(correctionTransform * transform.first * segmentMeshShapeTransform); // Perform collision detection. std::shared_ptr pair2 = std::make_shared(segmentMeshRep, triangleMeshRep); calcContact.calculateContact(pair2); // There should be no intersections. EXPECT_EQ(0, pair2->getContacts().size()); } } } // Cube size double m_cubeSize; // Segment radius double m_segmentRadius; private: // List of random transformations and a string to identify it. std::vector> m_transforms; }; TEST_F(SegmentMeshTriangleMeshContactCalculationTests, NonintersectionTest) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRigidTranslation; using SurgSim::Math::makeRotationQuaternion; double epsilonTrans = 0.001; auto segmentMeshShape = createSegmentMeshShape(); auto meshShape = createCubeMeshShape(); RigidTransform3d segmentMeshShapeTransform; RigidTransform3d meshShapeTransform; // No rotations { segmentMeshShapeTransform = makeRigidTranslation(Vector3d(0.0, m_cubeSize + m_segmentRadius + epsilonTrans, 0.0)); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (segment mesh above box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { segmentMeshShapeTransform = makeRigidTranslation(Vector3d(0.0, -m_cubeSize - m_segmentRadius - epsilonTrans, 0.0)); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (segment mesh below box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { segmentMeshShapeTransform = makeRigidTranslation(Vector3d(-m_cubeSize * 0.5 - m_segmentRadius - epsilonTrans, 0.0, 0.0)); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (segment mesh left of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { segmentMeshShapeTransform = makeRigidTranslation(Vector3d(m_cubeSize * 0.5 + m_segmentRadius + epsilonTrans, 0.0, 0.0)); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (segment mesh right of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { segmentMeshShapeTransform = makeRigidTranslation(Vector3d(0.0, 0.0, -m_cubeSize * 0.5 - m_segmentRadius - epsilonTrans)); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (segment mesh behind box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { segmentMeshShapeTransform = makeRigidTranslation(Vector3d(0.0, 0.0, m_cubeSize * 0.5 + m_segmentRadius + epsilonTrans)); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (segment mesh in front of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } // Rotation about X { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 1.0, 0.0, 0.0, 0.0, offset + m_segmentRadius + epsilonTrans, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about x-axis) segment mesh above box)", createSegmentMeshShape(), segmentMeshShapeTransform, createCubeMeshShape(), meshShapeTransform); } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 1.0, 0.0, 0.0, 0.0, -offset - m_segmentRadius - epsilonTrans, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about x-axis) segment mesh below box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 1.0, 0.0, 0.0, m_cubeSize * 0.5 + m_segmentRadius + epsilonTrans, 0.0, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about x-axis) segment mesh right of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 1.0, 0.0, 0.0, -m_cubeSize * 0.5 - m_segmentRadius - epsilonTrans, 0.0, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about x-axis) segment mesh left of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 1.0, 0.0, 0.0,0.0, 0.0, offset + m_segmentRadius + epsilonTrans); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about x-axis) segment mesh in front of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 1.0, 0.0, 0.0,0.0, 0.0, -offset - m_segmentRadius - epsilonTrans); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about x-axis) segment mesh behind box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } // Rotation about Y { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 1.0, 0.0, 0.0, m_cubeSize + m_segmentRadius + epsilonTrans, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about y-axis) segment mesh above box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 1.0, 0.0, 0.0, -m_cubeSize - m_segmentRadius - epsilonTrans, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about y-axis) segment mesh below box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 1.0, 0.0, m_cubeSize * 0.5 + m_segmentRadius + epsilonTrans, 0.0, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about y-axis) segment mesh right of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 1.0, 0.0, -m_cubeSize * 0.5 - m_segmentRadius - epsilonTrans, 0.0, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about y-axis) segment mesh left of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 1.0, 0.0, 0.0, 0.0, m_cubeSize * 0.5 + m_segmentRadius + epsilonTrans); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about y-axis) segment mesh in front of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 1.0, 0.0, 0.0, 0.0, -m_cubeSize * 0.5 - m_segmentRadius - epsilonTrans); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about y-axis) segment mesh behind box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } // Rotation about Z { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 0.0, 1.0, 0.0, offset + m_segmentRadius + epsilonTrans, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about z-axis) segment mesh above box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 0.0, 1.0, 0.0, -offset - m_segmentRadius - epsilonTrans, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about z-axis) segment mesh below box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 0.0, 1.0, offset + m_segmentRadius + epsilonTrans, 0.0, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about z-axis) segment mesh right of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 0.0, 1.0, -offset - m_segmentRadius - epsilonTrans, 0.0, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about z-axis) segment mesh left of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 0.0, 1.0, 0.0, 0.0, m_cubeSize * 0.5 + m_segmentRadius + epsilonTrans); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about z-axis) segment mesh in front of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 0.0, 1.0, 0.0, 0.0, -m_cubeSize * 0.5 - m_segmentRadius - epsilonTrans); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("No intersection (rotated (about z-axis) segment mesh behind box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform); } } TEST_F(SegmentMeshTriangleMeshContactCalculationTests, IntersectionTest) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRigidTranslation; using SurgSim::Math::makeRotationQuaternion; double epsilonTrans = -0.001; auto segmentMeshShape = createSegmentMeshShape(); auto meshShape = createCubeMeshShape(); RigidTransform3d segmentMeshShapeTransform; RigidTransform3d meshShapeTransform; // No rotations { segmentMeshShapeTransform = makeRigidTranslation(Vector3d(0.0, m_cubeSize + m_segmentRadius + epsilonTrans, 0.0)); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (segment mesh above box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 2); // bottom segment intersects top two triangles } { segmentMeshShapeTransform = makeRigidTranslation(Vector3d(0.0, -m_cubeSize - m_segmentRadius - epsilonTrans, 0.0)); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (segment mesh below box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 2); // top segment intersects bottom two triangles } { segmentMeshShapeTransform = makeRigidTranslation(Vector3d(-m_cubeSize * 0.5 - m_segmentRadius - epsilonTrans, 0.0, 0.0)); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (segment mesh left of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 6); // both segments intersect left two, one top and one bottom triangles } { segmentMeshShapeTransform = makeRigidTranslation(Vector3d(m_cubeSize * 0.5 + m_segmentRadius + epsilonTrans, 0.0, 0.0)); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (segment mesh right of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 6); // both segments intersect right two, one top and one bottom triangles } { segmentMeshShapeTransform = makeRigidTranslation(Vector3d(0.0, 0.0, -m_cubeSize * 0.5 - m_segmentRadius - epsilonTrans)); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (segment mesh behind box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 6); // both segments intersect farthest two, one top and one bottom triangles } { segmentMeshShapeTransform = makeRigidTranslation(Vector3d(0.0, 0.0, m_cubeSize * 0.5 + m_segmentRadius + epsilonTrans)); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (segment mesh in front of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 6); // both segments intersect nearest two, one top and one bottom triangles } // Rotation about X { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 1.0, 0.0, 0.0, 0.0, offset + m_segmentRadius + epsilonTrans, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about x-axis) segment mesh above box)", createSegmentMeshShape(), segmentMeshShapeTransform, createCubeMeshShape(), meshShapeTransform, 1); // bottom segment intersect one top triangle } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 1.0, 0.0, 0.0, 0.0, -offset - m_segmentRadius - epsilonTrans, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about x-axis) segment mesh below box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // top segment intersect one bottom triangle } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 1.0, 0.0, 0.0, m_cubeSize * 0.5 + m_segmentRadius + epsilonTrans, 0.0, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about x-axis) segment mesh right of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 4); // both segments intersect two right side triangles } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 1.0, 0.0, 0.0, -m_cubeSize * 0.5 - m_segmentRadius - epsilonTrans, 0.0, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about x-axis) segment mesh left of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 4); // both segments intersect two left side triangles } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 1.0, 0.0, 0.0,0.0, 0.0, offset + m_segmentRadius + epsilonTrans); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about x-axis) segment mesh in front of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // top segment intersects one of the nearer triangle } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 1.0, 0.0, 0.0,0.0, 0.0, -offset - m_segmentRadius - epsilonTrans); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about x-axis) segment mesh behind box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // bottom segment intersects one of the farther triangle } // Rotation about Y { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 1.0, 0.0, 0.0, m_cubeSize + m_segmentRadius + epsilonTrans, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about y-axis) segment mesh above box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 2); // bottom segment intersects top two triangles } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 1.0, 0.0, 0.0, -m_cubeSize - m_segmentRadius - epsilonTrans, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about y-axis) segment mesh below box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 2); // top segment intersects bottom two triangles } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 1.0, 0.0, m_cubeSize * 0.5 + m_segmentRadius + epsilonTrans, 0.0, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about y-axis) segment mesh right of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 6); // both segments intersect left two, one top and one bottom triangles } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 1.0, 0.0, -m_cubeSize * 0.5 - m_segmentRadius - epsilonTrans, 0.0, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about y-axis) segment mesh left of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 6); // both segments intersect right two, one top and one bottom triangles } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 1.0, 0.0, 0.0, 0.0, m_cubeSize * 0.5 + m_segmentRadius + epsilonTrans); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about y-axis) segment mesh in front of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 6); // both segments intersect nearest two, one top and one bottom triangles } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 1.0, 0.0, 0.0, 0.0, -m_cubeSize * 0.5 - m_segmentRadius - epsilonTrans); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about y-axis) segment mesh behind box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 6); // both segments intersect farthest two, one top and one bottom triangles } // Rotation about Z { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 0.0, 1.0, 0.0, offset + m_segmentRadius + epsilonTrans, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about z-axis) segment mesh above box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // bottom segment intersect one of the top triangles } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 0.0, 1.0, 0.0, -offset - m_segmentRadius - epsilonTrans, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about z-axis) segment mesh below box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // top segment intersects one of the bottom triangles } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 0.0, 1.0, offset + m_segmentRadius + epsilonTrans, 0.0, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about z-axis) segment mesh right of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // bottom segment intersects one of the right side triangles } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 0.0, 1.0, -offset - m_segmentRadius - epsilonTrans, 0.0, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about z-axis) segment mesh left of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // top segment intersects one of the left side triangles } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 0.0, 1.0, 0.0, 0.0, m_cubeSize * 0.5 + m_segmentRadius + epsilonTrans); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about z-axis) segment mesh in front of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 4); // both segments intersect the two nearest triangles } { segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 0.0, 1.0, 0.0, 0.0, -m_cubeSize * 0.5 - m_segmentRadius - epsilonTrans); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection (rotated (about z-axis) segment mesh behind box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 4); // both segments intersect the two farthest triangles } } TEST_F(SegmentMeshTriangleMeshContactCalculationTests, IntersectionWithSegmentAxisTest) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRigidTranslation; using SurgSim::Math::makeRotationQuaternion; double epsilonTrans = -0.001; auto segmentMeshShape = createSegmentMeshShape(); auto meshShape = createCubeMeshShape(); RigidTransform3d segmentMeshShapeTransform; RigidTransform3d meshShapeTransform; // No rotations { double offset = m_segmentRadius + 0.001; segmentMeshShapeTransform = makeRigidTranslation(Vector3d(offset, m_cubeSize + epsilonTrans, -offset)); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection with axis (segment mesh above box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // bottom segment intersects one of the top two triangles } { double offset = m_segmentRadius + 0.001; segmentMeshShapeTransform = makeRigidTranslation(Vector3d(offset, -m_cubeSize - epsilonTrans, -offset)); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection with axis (segment mesh below box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // top segment intersects one of the bottom two triangles } // Rotation about X { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 1.0, 0.0, 0.0, 0.0, offset + epsilonTrans, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection with axis (rotated (about x-axis) segment mesh above box)", createSegmentMeshShape(), segmentMeshShapeTransform, createCubeMeshShape(), meshShapeTransform, 1); // bottom segment intersects one of the top triangles } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 1.0, 0.0, 0.0, 0.0, -offset - epsilonTrans, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection with axis (rotated (about x-axis) segment mesh below box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // top segment intersect one bottom triangle } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 1.0, 0.0, 0.0,0.0, 0.0, offset + epsilonTrans); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection with axis (rotated (about x-axis) segment mesh in front of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // top segment intersects one of the nearer triangle } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 1.0, 0.0, 0.0,0.0, 0.0, -offset - epsilonTrans); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection with axis (rotated (about x-axis) segment mesh behind box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // bottom segment intersects one of the farther triangle } // Rotation about Y { double offset = m_segmentRadius + 0.001; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 1.0, 0.0, offset, m_cubeSize + epsilonTrans, -offset); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection with axis (rotated (about y-axis) segment mesh above box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // bottom segment intersects one of the top two triangles } { double offset = m_segmentRadius + 0.001; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 1.0, 0.0, offset, -m_cubeSize - epsilonTrans, -offset); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection with axis (rotated (about y-axis) segment mesh below box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // top segment intersects one of the bottom two triangles } // Rotation about Z { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 0.0, 1.0, 0.0, offset + epsilonTrans, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection with axis (rotated (about z-axis) segment mesh above box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // bottom segment intersect one of the top triangles } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 0.0, 1.0, 0.0, -offset - epsilonTrans, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection with axis (rotated (about z-axis) segment mesh below box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // top segment intersects one of the bottom triangles } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 0.0, 1.0, offset + epsilonTrans, 0.0, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection with axis (rotated (about z-axis) segment mesh right of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // bottom segment intersects one of the right side triangles } { double offset = (1.0 + std::sin(M_PI_4)) * m_cubeSize * 0.5; segmentMeshShapeTransform = buildRigidTransform(M_PI_4, 0.0, 0.0, 1.0, -offset - epsilonTrans, 0.0, 0.0); meshShapeTransform.setIdentity(); testSegmentMeshTriangleMeshDCD("Intersection with axis (rotated (about z-axis) segment mesh left of box)", segmentMeshShape, segmentMeshShapeTransform, meshShape, meshShapeTransform, 1); // top segment intersects one of the left side triangles } } }; // namespace Collision }; // namespace Surgsim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/SegmentSegmentCcdIntervalCheckTests.cpp000066400000000000000000000655321277777236100311460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the SegmentSegmentCcdCheck functions. #include #include #include "SurgSim/Collision/SegmentSegmentCcdIntervalCheck.h" #include "SurgSim/Math/LinearMotionArithmetic.h" namespace SurgSim { namespace Collision { namespace { double epsilon = 1.0e-10; } template class SegmentSegmentCcdIntervalCheckTests : public ::testing::Test { }; TEST(SegmentSegmentCcdIntervalCheckTests, Initialization) { // Set up some arbitrary locations to check the class initialization. std::array pStart = {Math::Vector3d(-1.0, 1.0, 0.0), Math::Vector3d(-0.5, 1.5, 1.5)}; std::array pEnd = {Math::Vector3d(-1.0, 1.0, 1.5), Math::Vector3d(-0.5, 1.5, 3.0)}; std::array qStart = {Math::Vector3d(2.0, 1.0, 4.0), Math::Vector3d(1.0, 3.5, 2.5)}; std::array qEnd = {Math::Vector3d(0.0, 1.0, 2.0), Math::Vector3d(-2.0, 1.5, 3.5)}; ASSERT_NO_THROW(SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 1.0e-06, 2.0e-06, 3.0e-06, 4.0e-06)); SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 1.0e-06, 2.0e-06, 3.0e-06, 4.0e-06); Math::Vector3d p11 = status.p1T0(); Math::Vector3d p12 = status.p1T1(); Math::Vector3d p21 = status.p2T0(); Math::Vector3d p22 = status.p2T1(); Math::Vector3d q11 = status.q1T0(); Math::Vector3d q12 = status.q1T1(); Math::Vector3d q21 = status.q2T0(); Math::Vector3d q22 = status.q2T1(); EXPECT_TRUE(p11.isApprox(Math::Vector3d(-1.0, 1.0, 0.0), epsilon)); EXPECT_TRUE(p12.isApprox(Math::Vector3d(-1.0, 1.0, 1.5), epsilon)); EXPECT_TRUE(p21.isApprox(Math::Vector3d(-0.5, 1.5, 1.5), epsilon)); EXPECT_TRUE(p22.isApprox(Math::Vector3d(-0.5, 1.5, 3.0), epsilon)); EXPECT_TRUE(q11.isApprox(Math::Vector3d(2.0, 1.0, 4.0), epsilon)); EXPECT_TRUE(q12.isApprox(Math::Vector3d(0.0, 1.0, 2.0), epsilon)); EXPECT_TRUE(q21.isApprox(Math::Vector3d(1.0, 3.5, 2.5), epsilon)); EXPECT_TRUE(q22.isApprox(Math::Vector3d(-2.0, 1.5, 3.5), epsilon)); EXPECT_TRUE((Math::LinearMotionND(p11, p12)).isApprox(status.motionP1(), epsilon)); EXPECT_TRUE((Math::LinearMotionND(p21, p22)).isApprox(status.motionP2(), epsilon)); EXPECT_TRUE((Math::LinearMotionND(q11, q12)).isApprox(status.motionQ1(), epsilon)); EXPECT_TRUE((Math::LinearMotionND(q21, q22)).isApprox(status.motionQ2(), epsilon)); EXPECT_DOUBLE_EQ(1.0e-06, status.thicknessP()); EXPECT_DOUBLE_EQ(2.0e-06, status.thicknessQ()); EXPECT_DOUBLE_EQ(3.0e-06, status.timePrecisionEpsilon()); EXPECT_DOUBLE_EQ(4.0e-06, status.distanceEpsilon()); EXPECT_DOUBLE_EQ(0.0, status.tripleProductEpsilon()); EXPECT_DOUBLE_EQ(0.0, status.muNuEpsilon()); auto p1q1 = status.motionQ1() - status.motionP1(); auto p1p2 = status.motionP2() - status.motionP1(); auto q1q2 = status.motionQ2() - status.motionQ1(); EXPECT_TRUE(analyticTripleProduct(p1q1, p1p2, q1q2).isApprox(status.P1Q1_P1P2_Q1Q2().getPolynomial(), epsilon)); EXPECT_TRUE(analyticDotProduct(p1p2, p1q1).isApprox(status.P1P2_P1Q1().getPolynomial(), epsilon)); EXPECT_TRUE(analyticDotProduct(q1q2, p1q1).isApprox(status.Q1Q2_P1Q1().getPolynomial(), epsilon)); EXPECT_TRUE(analyticDotProduct(p1p2, q1q2).isApprox(status.P1P2_Q1Q2().getPolynomial(), epsilon)); EXPECT_TRUE(analyticMagnitudeSquared(p1p2).isApprox(status.P1P2_sq().getPolynomial(), epsilon)); EXPECT_TRUE(analyticMagnitudeSquared(q1q2).isApprox(status.Q1Q2_sq().getPolynomial(), epsilon)); Math::Interval range(0.5, 0.75); Math::Polynomial axisX; Math::Polynomial axisY; Math::Polynomial axisZ; Math::analyticCrossProduct(p1p2, q1q2, &axisX, &axisY, &axisZ); Math::PolynomialValues valueX(axisX); Math::PolynomialValues valueY(axisY); Math::PolynomialValues valueZ(axisZ); Math::Interval cross = valueX.valuesOverInterval(range).square() + valueY.valuesOverInterval(range).square() + valueZ.valuesOverInterval(range).square(); EXPECT_TRUE(cross.isApprox(status.crossValueOnInterval(range), epsilon)); }; TEST(SegmentSegmentCcdIntervalCheckTests, SetGetTests) { // Set up some arbitrary locations to check the class initialization. std::array pStart = {Math::Vector3d(-1.0, 1.0, 0.0), Math::Vector3d(-0.5, 1.5, 1.5)}; std::array pEnd = {Math::Vector3d(-1.0, 1.0, 1.5), Math::Vector3d(-0.5, 1.5, 3.0)}; std::array qStart = {Math::Vector3d(2.0, 1.0, 4.0), Math::Vector3d(1.0, 3.5, 2.5)}; std::array qEnd = {Math::Vector3d(0.0, 1.0, 2.0), Math::Vector3d(-2.0, 1.5, 3.5)}; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 1.0e-06, 2.0e-06, 3.0e-06, 4.0e-06); status.setTimePrecisionEpsilon(5.0e-06); status.setDistanceEpsilon(6.0e-06); status.setTripleProductEpsilon(7.0e-06); status.setMuNuEpsilon(8.0e-06); EXPECT_DOUBLE_EQ(5.0e-06, status.timePrecisionEpsilon()); EXPECT_DOUBLE_EQ(6.0e-06, status.distanceEpsilon()); EXPECT_DOUBLE_EQ(7.0e-06, status.tripleProductEpsilon()); EXPECT_DOUBLE_EQ(8.0e-06, status.muNuEpsilon()); }; TEST(SegmentSegmentCcdIntervalCheckTests, CollisionChecksWithThickness) { { // Two crossed segments intersecting at X = Y = 0 when the distance between is <= 0.75. This // should occur when t >= 0.75 SCOPED_TRACE("Testing simple crossed segments moving towards each other."); std::array pStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array pEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; std::array qStart = {Math::Vector3d(1.0, -1.0, 1.0), Math::Vector3d(-1.0, 1.0, 1.0)}; std::array qEnd = {Math::Vector3d(1.0, -1.0, 0.0), Math::Vector3d(-1.0, 1.0, 0.0)}; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestWithThickness(Math::Interval (0.0, 1.0))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestWithThickness(Math::Interval (0.0, 0.7500000001))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionVolume, status.possibleCollisionTestWithThickness(Math::Interval (0.0, 0.7499999999))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionVolume, status.possibleCollisionTestWithThickness(Math::Interval (0.0, 0.5))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionVolume, status.possibleCollisionTestWithThickness(Math::Interval (0.5, 0.7499999999))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestWithThickness(Math::Interval (0.5, 0.7500000001))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestWithThickness(Math::Interval (0.7499999999, 1.0))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestWithThickness(Math::Interval (0.7500000001, 1.0))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestWithThickness(Math::Interval (0.9, 0.95))); } { // Two crossed segments intersecting at X = Y = 0 when the distance between is <= 0.75. This // should occur when t <= 0.25 SCOPED_TRACE("Testing simple crossed segments moving away from each other."); std::array pStart = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; std::array pEnd = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array qStart = {Math::Vector3d(1.0, -1.0, 0.0), Math::Vector3d(-1.0, 1.0, 0.0)}; std::array qEnd = {Math::Vector3d(1.0, -1.0, 1.0), Math::Vector3d(-1.0, 1.0, 1.0)}; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestWithThickness(Math::Interval (0.0, 1.0))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestWithThickness(Math::Interval (0.2499999999, 1.0))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestWithThickness(Math::Interval (0.2499999999, 0.2500000001))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionVolume, status.possibleCollisionTestWithThickness(Math::Interval (0.2500000001, 1.0))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionVolume, status.possibleCollisionTestWithThickness(Math::Interval (0.5, 1.0))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionVolume, status.possibleCollisionTestWithThickness(Math::Interval (0.5, 0.7499999999))); } { SCOPED_TRACE("Slanted T formation around Q1. Segments never get close enough."); std::array pStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array pEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; std::array qStart = { Math::Vector3d(0.0, 0.7500000001, 1.0), Math::Vector3d(0.0, 1.7500000001, 1.0) }; std::array qEnd = { Math::Vector3d(0.0, 0.7500000001, 0.0), Math::Vector3d(0.0, 1.7500000001, 0.0) }; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionEndpoints, status.possibleCollisionTestWithThickness(Math::Interval (0.0, 1.0))); } { SCOPED_TRACE("Slanted T formation around Q1. Segments get close enough right around time = 1.0."); std::array pStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array pEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; std::array qStart = { Math::Vector3d(0.0, 0.7499999999, 1.0), Math::Vector3d(0.0, 1.7499999999, 1.0) }; std::array qEnd = { Math::Vector3d(0.0, 0.7499999999, 0.0), Math::Vector3d(0.0, 1.7499999999, 0.0) }; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestWithThickness(Math::Interval (0.0, 1.0))); } { SCOPED_TRACE("Slanted T formation around Q2. Segments never get close enough."); std::array pStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array pEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; std::array qStart = { Math::Vector3d(0.0, -1.7500000001, 1.0), Math::Vector3d(0.0, -0.7500000001, 1.0) }; std::array qEnd = { Math::Vector3d(0.0, -1.7500000001, 0.0), Math::Vector3d(0.0, -0.7500000001, 0.0) }; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionEndpoints, status.possibleCollisionTestWithThickness(Math::Interval (0.0, 1.0))); } { SCOPED_TRACE("Slanted T formation around Q2. Segments get close enough right around time = 1.0."); std::array pStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array pEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; std::array qStart = { Math::Vector3d(0.0, -1.7499999999, 1.0), Math::Vector3d(0.0, -0.7499999999, 1.0) }; std::array qEnd = { Math::Vector3d(0.0, -1.7499999999, 0.0), Math::Vector3d(0.0, -0.7499999999, 0.0) }; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestWithThickness(Math::Interval (0.0, 1.0))); } { SCOPED_TRACE("Slanted T formation around P1. Segments never get close enough."); std::array pStart = { Math::Vector3d(0.0, 0.7500000001, 1.0), Math::Vector3d(0.0, 1.7500000001, 1.0) }; std::array pEnd = { Math::Vector3d(0.0, 0.7500000001, 0.0), Math::Vector3d(0.0, 1.7500000001, 0.0) }; std::array qStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array qEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionEndpoints, status.possibleCollisionTestWithThickness(Math::Interval (0.0, 1.0))); } { SCOPED_TRACE("Slanted T formation around P1. Segments get close enough right around time = 1.0."); std::array pStart = { Math::Vector3d(0.0, 0.7499999999, 1.0), Math::Vector3d(0.0, 1.7499999999, 1.0) }; std::array pEnd = { Math::Vector3d(0.0, 0.7499999999, 0.0), Math::Vector3d(0.0, 1.7499999999, 0.0) }; std::array qStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array qEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestWithThickness(Math::Interval (0.0, 1.0))); } { SCOPED_TRACE("Slanted T formation around P2. Segments never get close enough."); std::array pStart = { Math::Vector3d(0.0, -1.7500000001, 1.0), Math::Vector3d(0.0, -0.7500000001, 1.0) }; std::array pEnd = { Math::Vector3d(0.0, -1.7500000001, 0.0), Math::Vector3d(0.0, -0.7500000001, 0.0) }; std::array qStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array qEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionEndpoints, status.possibleCollisionTestWithThickness(Math::Interval (0.0, 1.0))); } { SCOPED_TRACE("Slanted T formation around P2. Segments get close enough right around time = 1.0."); std::array pStart = { Math::Vector3d(0.0, -1.7499999999, 1.0), Math::Vector3d(0.0, -0.7499999999, 1.0) }; std::array pEnd = { Math::Vector3d(0.0, -1.7499999999, 0.0), Math::Vector3d(0.0, -0.7499999999, 0.0) }; std::array qStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array qEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestWithThickness(Math::Interval (0.0, 1.0))); } }; TEST(SegmentSegmentCcdIntervalCheckTests, CollisionChecksWithoutThickness) { { // Two crossed segments intersecting at X = Y = 0 when the distance between is = 0.0. This // should occur when t >= 0.5 SCOPED_TRACE("Testing simple crossed segments moving towards each other."); std::array pStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array pEnd = {Math::Vector3d(-1.0, -1.0, 2.0), Math::Vector3d(1.0, 1.0, 2.0)}; std::array qStart = {Math::Vector3d(1.0, -1.0, 1.0), Math::Vector3d(-1.0, 1.0, 1.0)}; std::array qEnd = {Math::Vector3d(1.0, -1.0, -1.0), Math::Vector3d(-1.0, 1.0, -1.0)}; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestNoThickness(Math::Interval (0.0, 1.0))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestNoThickness(Math::Interval (0.0, 0.5000000001))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionVolume, status.possibleCollisionTestNoThickness(Math::Interval (0.0, 0.4999999999))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionVolume, status.possibleCollisionTestNoThickness(Math::Interval (0.0, 0.25))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionVolume, status.possibleCollisionTestNoThickness(Math::Interval (0.25, 0.4999999999))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestNoThickness(Math::Interval (0.4999999999, 0.5000000001))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestNoThickness(Math::Interval (0.4999999999, 1.0))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionVolume, status.possibleCollisionTestNoThickness(Math::Interval (0.5000000001, 1.0))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionVolume, status.possibleCollisionTestNoThickness(Math::Interval (0.9, 0.95))); } { // Two crossed segments intersecting at X = Y = 0 when the distance between is = 0.0. This // should occur at t = 0.0 SCOPED_TRACE("Testing simple crossed segments moving away from each other."); std::array pStart = { Math::Vector3d(-1.0, -1.0, 0.0000000001), Math::Vector3d(1.0, 1.0, 0.0000000001) }; std::array pEnd = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array qStart = { Math::Vector3d(1.0, -1.0, -0.0000000001), Math::Vector3d(-1.0, 1.0, -0.0000000001) }; std::array qEnd = {Math::Vector3d(1.0, -1.0, 1.0), Math::Vector3d(-1.0, 1.0, 1.0)}; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestNoThickness(Math::Interval (0.0, 1.0))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionVolume, status.possibleCollisionTestNoThickness(Math::Interval (0.25, 1.0))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestNoThickness(Math::Interval (0.0, 0.1))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionVolume, status.possibleCollisionTestNoThickness(Math::Interval (0.000001, 1.0))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionVolume, status.possibleCollisionTestNoThickness(Math::Interval (0.5, 1.0))); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionVolume, status.possibleCollisionTestNoThickness(Math::Interval (0.5, 0.7499999999))); } { SCOPED_TRACE("Slanted T formation around Q1. Segments never get close enough."); std::array pStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array pEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; std::array qStart = { Math::Vector3d(0.0, 0.0000000001, 1.0), Math::Vector3d(0.0, 1.0000000001, 1.0) }; std::array qEnd = { Math::Vector3d(0.0, 0.0000000001, 0.0), Math::Vector3d(0.0, 1.0000000001, 0.0) }; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionEndpoints, status.possibleCollisionTestNoThickness(Math::Interval (0.0, 1.0))); } { SCOPED_TRACE("Slanted T formation around Q1. Segments get close enough right around time = 1.0."); std::array pStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array pEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; std::array qStart = { Math::Vector3d(0.0, -0.0000000001, 1.0), Math::Vector3d(0.0, 1.0000000001, 1.0) }; std::array qEnd = { Math::Vector3d(0.0, -0.0000000001, 0.0), Math::Vector3d(0.0, 1.0000000001, 0.0) }; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestNoThickness(Math::Interval (0.0, 1.0))); } { SCOPED_TRACE("Slanted T formation around Q2. Segments never get close enough."); std::array pStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array pEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; std::array qStart = { Math::Vector3d(0.0, -1.0000000001, 1.0), Math::Vector3d(0.0, -0.0000000001, 1.0) }; std::array qEnd = { Math::Vector3d(0.0, -1.0000000001, 0.0), Math::Vector3d(0.0, -0.0000000001, 0.0) }; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionEndpoints, status.possibleCollisionTestNoThickness(Math::Interval (0.0, 1.0))); } { SCOPED_TRACE("Slanted T formation around Q2. Segments get close enough right around time = 1.0."); std::array pStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array pEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; std::array qStart = { Math::Vector3d(0.0, -1.0000000001, 1.0), Math::Vector3d(0.0, 0.0000000001, 1.0) }; std::array qEnd = { Math::Vector3d(0.0, -1.0000000001, 0.0), Math::Vector3d(0.0, 0.0000000001, 0.0) }; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestNoThickness(Math::Interval (0.0, 1.0))); } { SCOPED_TRACE("Slanted T formation around P1. Segments never get close enough."); std::array pStart = { Math::Vector3d(0.0, 0.0000000001, 1.0), Math::Vector3d(0.0, 1.0000000001, 1.0) }; std::array pEnd = { Math::Vector3d(0.0, 0.0000000001, 0.0), Math::Vector3d(0.0, 1.0000000001, 0.0) }; std::array qStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array qEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionEndpoints, status.possibleCollisionTestNoThickness(Math::Interval (0.0, 1.0))); } { SCOPED_TRACE("Slanted T formation around P1. Segments get close enough right around time = 1.0."); std::array pStart = { Math::Vector3d(0.0, -0.0000000001, 1.0), Math::Vector3d(0.0, 1.0000000001, 1.0) }; std::array pEnd = { Math::Vector3d(0.0, -0.0000000001, 0.0), Math::Vector3d(0.0, 1.0000000001, 0.0) }; std::array qStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array qEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestNoThickness(Math::Interval (0.0, 1.0))); } { SCOPED_TRACE("Slanted T formation around P2. Segments never get close enough."); std::array pStart = { Math::Vector3d(0.0, -1.0000000001, 1.0), Math::Vector3d(0.0, -0.0000000001, 1.0) }; std::array pEnd = { Math::Vector3d(0.0, -1.0000000001, 0.0), Math::Vector3d(0.0, -0.0000000001, 0.0) }; std::array qStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array qEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckNoCollisionEndpoints, status.possibleCollisionTestNoThickness(Math::Interval (0.0, 1.0))); } { SCOPED_TRACE("Slanted T formation around P2. Segments get close enough right around time = 1.0."); std::array pStart = { Math::Vector3d(0.0, -1.0000000001, 1.0), Math::Vector3d(0.0, 0.0000000001, 1.0) }; std::array pEnd = { Math::Vector3d(0.0, -1.0000000001, 0.0), Math::Vector3d(0.0, 0.0000000001, 0.0) }; std::array qStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array qEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_EQ(SegmentSegmentCcdIntervalCheck::IntervalCheckPossibleCollision, status.possibleCollisionTestNoThickness(Math::Interval (0.0, 1.0))); } }; }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/SegmentSegmentCcdMovingContactTests.cpp000066400000000000000000000511001277777236100311610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the SegmentSegmentCcdMovingContact functions. #include #include #include "SurgSim/Collision/SegmentSegmentCcdMovingContact.h" namespace SurgSim { namespace Collision { namespace { double epsilon = 1.0e-05; } template class SegmentSegmentCcdMovingContactTests : public ::testing::Test { }; class MockSegmentSegmentCcdMovingContact : public SurgSim::Collision::SegmentSegmentCcdMovingContact { public: void normalizeSegmentsConsistently(Math::Vector3d* t0, Math::Vector3d* t1, double epsilon) const { SegmentSegmentCcdMovingContact::normalizeSegmentsConsistently(t0, t1, epsilon); } bool collideSegmentSegmentBaseCase( const std::array& pT0, const std::array& pT1, const std::array& qT0, const std::array& qT1, double thicknessP, double thicknessQ, double timePrecisionEpsilon, double* t, double* r, double* s) { return SegmentSegmentCcdMovingContact::collideSegmentSegmentBaseCase(pT0, pT1, qT0, qT1, thicknessP, thicknessQ, timePrecisionEpsilon, t, r, s); } bool collideSegmentSegmentGeneralCase( const SegmentSegmentCcdIntervalCheck& state, double a, double b, // Interval boundaries double* t, double* r, double* s, int depth = 0) { return SegmentSegmentCcdMovingContact::collideSegmentSegmentGeneralCase(state, a, b, t, r, s, depth); } bool collideSegmentSegmentCoplanarCase( const std::array& pT0, /* Segment 1 at t=0 */ const std::array& pT1, /* Segment 1 at t=1 */ const std::array& qT0, /* Segment 2 at t=0 */ const std::array& qT1, /* Segment 2 at t=1 */ double a, double b, /* Interval boundaries */ double timePrecisionEpsilon, double thicknessP, double thicknessQ, double* t, double* r, double* s, int depth = 0) { m_staticTest.collideStaticSegmentSegment(pT0, qT0, thicknessP, thicknessQ, r, s); return SegmentSegmentCcdMovingContact::collideSegmentSegmentCoplanarCase( pT0, pT1, qT0, qT1, a, b, timePrecisionEpsilon, thicknessP, thicknessQ, t, r, s, depth); } bool collideSegmentSegmentParallelCase( const std::array& pT0, const std::array& pT1, const std::array& qT0, const std::array& qT1, double a, double b, double thicknessP, double thicknessQ, double timePrecisionEpsilon, double* t, double* r, double* s, int depth = 0) { m_staticTest.collideStaticSegmentSegment(pT0, qT0, thicknessP, thicknessQ, r, s); return SegmentSegmentCcdMovingContact::collideSegmentSegmentParallelCase( pT0, pT1, qT0, qT1, a, b, thicknessP, thicknessQ, timePrecisionEpsilon, t, r, s, depth); } Collision::SegmentSegmentCcdStaticContact m_staticTest; }; TEST(SegmentSegmentCcdMovingContactTests, Initialization) { ASSERT_NO_THROW(SegmentSegmentCcdMovingContact movingTest); SegmentSegmentCcdMovingContact movingTest; }; TEST(SegmentSegmentCcdMovingContactTests, TestSafeNormalization) { MockSegmentSegmentCcdMovingContact movingTest; { SCOPED_TRACE("Normalizing 2 good vectors."); Math::Vector3d vector1(0.0, 0.1, 0.2); Math::Vector3d vector2(0.2, 0.1, 0.0); movingTest.normalizeSegmentsConsistently(&vector1, &vector2, epsilon); EXPECT_TRUE(vector1.isApprox(Math::Vector3d(0.0, 1.0 / std::sqrt(5.0), 2 / std::sqrt(5.0)), epsilon)); EXPECT_TRUE(vector2.isApprox(Math::Vector3d(2 / std::sqrt(5.0), 1.0 / std::sqrt(5.0), 0.0), epsilon)); } { SCOPED_TRACE("Vector 1 is good. Vector 2 is bad."); Math::Vector3d vector1(0.0, 0.1, 0.2); Math::Vector3d vector2(2.0e-11, 1.0e-11, 0.0); movingTest.normalizeSegmentsConsistently(&vector1, &vector2, epsilon); EXPECT_TRUE(vector1.isApprox(Math::Vector3d(0.0, 1.0 / std::sqrt(5.0), 2 / std::sqrt(5.0)), epsilon)); EXPECT_TRUE(vector2.isApprox(Math::Vector3d(0.0, 1.0 / std::sqrt(5.0), 2 / std::sqrt(5.0)), epsilon)); } { SCOPED_TRACE("Vector 1 is bad. Vector 2 is good."); Math::Vector3d vector1(0.0, 1.0e-11, 2.0e-11); Math::Vector3d vector2(0.2, 0.1, 0.0); movingTest.normalizeSegmentsConsistently(&vector1, &vector2, epsilon); EXPECT_TRUE(vector1.isApprox(Math::Vector3d(2 / std::sqrt(5.0), 1.0 / std::sqrt(5.0), 0.0), epsilon)); EXPECT_TRUE(vector2.isApprox(Math::Vector3d(2 / std::sqrt(5.0), 1.0 / std::sqrt(5.0), 0.0), epsilon)); } { SCOPED_TRACE("Normalizing 2 bad vectors."); Math::Vector3d vector1(0.0, 1.0e-11, 2.0e-11); Math::Vector3d vector2(2.0e-11, 1.0e-11, 0.0); movingTest.normalizeSegmentsConsistently(&vector1, &vector2, epsilon); EXPECT_TRUE(vector1.isApprox(Math::Vector3d(0.0, 1.0e-11, 2.0e-11), epsilon)); EXPECT_TRUE(vector2.isApprox(Math::Vector3d(2.0e-11, 1.0e-11, 0.0), epsilon)); } }; TEST(SegmentSegmentCcdMovingContactTests, TestSegmentSegmentGeneralCase) { MockSegmentSegmentCcdMovingContact movingTest; std::array pStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array pEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; std::array qStart = {Math::Vector3d(1.0, -1.0, 1.0), Math::Vector3d(-1.0, 1.0, 1.0)}; std::array qEnd = {Math::Vector3d(1.0, -1.0, 0.0), Math::Vector3d(-1.0, 1.0, 0.0)}; double t; double r; double s; { SCOPED_TRACE("Collision not possible within time interval."); SegmentSegmentCcdIntervalCheck status(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_FALSE(movingTest.collideSegmentSegmentGeneralCase(status, 0.0, 0.5, &t, &r, &s, 0)); } { // Test where collision occurs at the end of the (small) time interval SCOPED_TRACE("Recursion bottomed out, test collision and no collision at time precision."); SegmentSegmentCcdIntervalCheck statusTrue(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_TRUE(movingTest.collideSegmentSegmentGeneralCase(statusTrue, 0.75 - 1.4e-07, 0.75 + 1.5e-07, &t, &r, &s, 0)); EXPECT_DOUBLE_EQ(0.75 + 1.5e-07, t); EXPECT_DOUBLE_EQ(0.50, r); EXPECT_DOUBLE_EQ(0.50, s); // Increase the interval and time precision so that no collision occurs SegmentSegmentCcdIntervalCheck statusFalse(pStart, pEnd, qStart, qEnd, 1.0e-06, 1.0e-06, 0.5, 4.0e-06); EXPECT_FALSE(movingTest.collideSegmentSegmentGeneralCase(statusFalse, 0.76 - 2.5, 0.75 + 2.4999, &t, &r, &s, 0)); } { // Test complete recursion SCOPED_TRACE("Full recursion test, test collision and no collision at time precision."); SegmentSegmentCcdIntervalCheck statusTrue(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, 4.0e-06); EXPECT_TRUE(movingTest.collideSegmentSegmentGeneralCase(statusTrue, 0.0, 1.0, &t, &r, &s, 0)); EXPECT_GT(epsilon, std::abs(0.75 - t)); EXPECT_DOUBLE_EQ(0.50, r); EXPECT_DOUBLE_EQ(0.50, s); // Increase the interval and time precision so that no collision occurs SegmentSegmentCcdIntervalCheck statusFalse(pStart, pEnd, qStart, qEnd, 1.0e-06, 1.0e-06, 0.5, 4.0e-06); EXPECT_FALSE(movingTest.collideSegmentSegmentGeneralCase(statusFalse, 0.0, 0.75 + 1.0, &t, &r, &s, 0)); } }; TEST(SegmentSegmentCcdMovingContactTests, TestSegmentSegmentCoplanarCase) { MockSegmentSegmentCcdMovingContact movingTest; std::array pStart = {Math::Vector3d(-1.0, 1.75, 0.0), Math::Vector3d(1.0, 1.75, 0.0)}; std::array pEnd = {Math::Vector3d(1.0, -0.25, 0.0), Math::Vector3d(3.0, -0.25, 0.0)}; std::array qStart = {Math::Vector3d(-1.0, 0.0, 0.0), Math::Vector3d(-1.0, -1.0, 0.0)}; std::array qEnd = {Math::Vector3d(1.0, 0.0, 0.0), Math::Vector3d(1.0, -1.0, 0.0)}; double t; double r; double s; { // Test where collision occurs at the end of the (small) time interval SCOPED_TRACE("Recursion bottomed out, test collision and no collision at time precision."); EXPECT_TRUE(movingTest.collideSegmentSegmentCoplanarCase( pStart, pEnd, qStart, qEnd, 0.5 - 1.4e-07, 0.5 + 1.5e-07, 3.0e-06, 0.5, 0.25, &t, &r, &s, 0)); EXPECT_GE(3.0e-06, std::abs(0.5 - t)); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_DOUBLE_EQ(0.0, s); // Increase the interval and time precision so that no collision occurs EXPECT_TRUE(movingTest.collideSegmentSegmentCoplanarCase( pEnd, pStart, qStart, qEnd, 0.5 - .24, 0.5 + .25, .50, 0.5, 0.25, &t, &r, &s, 0)); EXPECT_GE(1.0e-02, std::abs(0.5 - t)); } { // Test complete recursion SCOPED_TRACE("Full recursion test, test start, middle, and end of interval."); EXPECT_TRUE(movingTest.collideSegmentSegmentCoplanarCase( pStart, pEnd, qStart, qEnd, 0.5 - 1.5e-06, 1.0, 3.0e-06, 0.5, 0.25, &t, &r, &s, 0)); EXPECT_GE(3.0e-06, std::abs(0.5 - t)); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_DOUBLE_EQ(0.0, s); EXPECT_TRUE(movingTest.collideSegmentSegmentCoplanarCase( pStart, pEnd, qStart, qEnd, 0.0, 1.0, 3.0e-06, 0.5, 0.25, &t, &r, &s, 0)); EXPECT_GE(3.0e-06, std::abs(0.5 - t)); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_DOUBLE_EQ(0.0, s); EXPECT_TRUE(movingTest.collideSegmentSegmentCoplanarCase( pStart, pEnd, qStart, qEnd, 0.0, 0.5 + 1.5e-06, 3.0e-06, 0.5, 0.25, &t, &r, &s, 0)); EXPECT_GE(3.0e-06, std::abs(0.5 - t)); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_DOUBLE_EQ(0.0, s); } { SCOPED_TRACE("Test normal flip at start, middle, and end of interval."); std::array pFlipStart = {Math::Vector3d(0.0625, 1.0, 0.0), Math::Vector3d(-3.5 + 0.0625, -1.0e-03, 0.0) }; std::array pFlipEnd = {Math::Vector3d(0.0625, 1.0, 0.0), Math::Vector3d(3.5, -1.0e-03, 0.0) }; std::array qFlip = {Math::Vector3d(0.0625, -1.0, 0.0), Math::Vector3d(0.0625, 0.0, 0.0) }; EXPECT_TRUE(movingTest.collideSegmentSegmentCoplanarCase( pFlipStart, pFlipEnd, qFlip, qFlip, 0.503, 1.0, 1.0e-10, 1.0e-09, 1.0e-09, &t, &r, &s, 0)); EXPECT_GE(2.0e-06, std::abs(0.504504 - t)); EXPECT_GT(2.0e-03, 1.0 - r); EXPECT_GT(2.0e-03, 1.0 - s); EXPECT_TRUE(movingTest.collideSegmentSegmentCoplanarCase( pFlipStart, pFlipEnd, qFlip, qFlip, 0.0, 1.0, 1.0e-10, 1.0e-09, 1.0e-09, &t, &r, &s, 0)); EXPECT_GE(2.0e-06, std::abs(0.504504 - t)); EXPECT_GT(2.0e-03, 1.0 - r); EXPECT_GT(2.0e-03, 1.0 - s); EXPECT_TRUE(movingTest.collideSegmentSegmentCoplanarCase( pFlipStart, pFlipEnd, qFlip, qFlip, 0.0, 0.505, 1.0e-10, 1.0e-09, 1.0e-09, &t, &r, &s, 0)); EXPECT_GE(2.0e-06, std::abs(0.504504 - t)); EXPECT_GT(2.0e-03, 1.0 - r); EXPECT_GT(2.0e-03, 1.0 - s); } { SCOPED_TRACE("Test the no flip combinations."); std::array pSpinStart = {Math::Vector3d(-0.5 + 1.0e-03, -1.0e-09, 0.0), Math::Vector3d(0.0 + 1.0e-03, 0.5, 0.0) }; std::array pSpinEnd = {Math::Vector3d(0.5 + 1.0e-03, -1.0e-09, 0.0), Math::Vector3d(1.0 + 1.0e-03, -0.5, 0.0) }; std::array qSpin = {Math::Vector3d(0.0, -1.0, 0.0), Math::Vector3d(0.0, 0.0, 0.0) }; // We don't need to test the endpoints of the region. We verified that // we hit those with the flip tests. Instead, test all possible combinations // of crossing ... EXPECT_TRUE(movingTest.collideSegmentSegmentCoplanarCase( pSpinStart, pSpinEnd, qSpin, qSpin, 0.0, 1.0, 1.0e-10, 1.0e-09, 1.0e-09, &t, &r, &s, 0)); EXPECT_GE(3.0e-06, std::abs(0.5 - t - 1.0e-03)); EXPECT_GT(1.0e-08, std::abs(3.0e-06 - r)); EXPECT_GT(1.0e-08, std::abs(1.0 - s)); EXPECT_TRUE(movingTest.collideSegmentSegmentCoplanarCase( pSpinEnd, pSpinStart, qSpin, qSpin, 0.0, 1.0, 1.0e-10, 1.0e-09, 1.0e-09, &t, &r, &s, 0)); EXPECT_GE(3.0e-06, std::abs(0.5 - t + 1.0e-03)); EXPECT_GT(1.0e-08, std::abs(r)); EXPECT_GT(1.0e-08, std::abs(1.0 - s)); EXPECT_TRUE(movingTest.collideSegmentSegmentCoplanarCase( qSpin, qSpin, pSpinStart, pSpinEnd, 0.0, 1.0, 1.0e-10, 1.0e-09, 1.0e-09, &t, &r, &s, 0)); EXPECT_GE(3.0e-06, std::abs(0.5 - t - 1.0e-03)); EXPECT_GT(1.0e-08, std::abs(1.0 - r)); EXPECT_GT(1.0e-08, std::abs(3.0e-06 - s)); EXPECT_TRUE(movingTest.collideSegmentSegmentCoplanarCase( qSpin, qSpin, pSpinEnd, pSpinStart, 0.0, 1.0, 1.0e-10, 1.0e-09, 1.0e-09, &t, &r, &s, 0)); EXPECT_GE(3.0e-06, std::abs(0.5 - t + 1.0e-03)); EXPECT_GT(1.0e-08, std::abs(1.0 - r)); EXPECT_GT(1.0e-08, s); } }; TEST(SegmentSegmentCcdMovingContactTests, TestSegmentSegmentParallelCase) { MockSegmentSegmentCcdMovingContact movingTest; std::array pStart = {Math::Vector3d(-5.0, -1.0e-09, 0.0), Math::Vector3d(-5.0, 1.0, 0.0) }; std::array pEnd = {Math::Vector3d(5.0, -1.0e-09, 0.0), Math::Vector3d(5.0, 1.0, 0.0) }; std::array qStart = {Math::Vector3d(0.0, -1.0, 0.0), Math::Vector3d(0.0, 0.0, 0.0) }; std::array qEnd = {Math::Vector3d(0.0, -1.0, 0.0), Math::Vector3d(0.0, 0.0, 0.0) }; double t; double r; double s; { // Test where collision occurs in one of the intervals SCOPED_TRACE("Test success and failure at end of recursion."); EXPECT_TRUE(movingTest.collideSegmentSegmentParallelCase( pStart, pEnd, qStart, qEnd, 0.425 - 1.4e-07, 0.425 + 1.4e-07, 0.5, 0.25, 3.0e-06, &t, &r, &s, 0)); EXPECT_GE(3.0e-06, std::abs(0.425 - t)); EXPECT_GE(1.0e-09, std::abs(5.0e-10 - r)); EXPECT_GE(1.0e-09, std::abs(1.0 - 5.0e-10 - s)); EXPECT_TRUE(movingTest.collideSegmentSegmentParallelCase( pStart, pEnd, qStart, qEnd, 0.4 - 1.4e-07, 0.4 + 1.4e-07, 0.5, 0.25, 3.0e-06, &t, &r, &s, 0)); EXPECT_GE(5.0e-02, std::abs(0.425 - t)); } { // Test where collision occurs in one of the intervals SCOPED_TRACE("Test collision at end of one of the intervals, first, middle, and last."); EXPECT_TRUE(movingTest.collideSegmentSegmentParallelCase( pStart, pEnd, qStart, qEnd, 0.4, 1.0, 0.5, 0.25, 3.0e-06, &t, &r, &s, 0)); EXPECT_GE(3.0e-06, std::abs(0.425 - t)); EXPECT_GE(1.0e-09, std::abs(5.0e-10 - r)); EXPECT_GE(1.0e-09, std::abs(1.0 - 5.0e-10 - s)); EXPECT_TRUE(movingTest.collideSegmentSegmentParallelCase( pStart, pEnd, qStart, qEnd, 0.1, 1.0, 0.5, 0.25, 3.0e-06, &t, &r, &s, 0)); EXPECT_GE(3.0e-06, std::abs(0.425 - t)); EXPECT_GE(1.0e-09, std::abs(5.0e-10 - r)); EXPECT_GE(1.0e-09, std::abs(1.0 - 5.0e-10 - s)); EXPECT_TRUE(movingTest.collideSegmentSegmentParallelCase( pStart, pEnd, qStart, qEnd, 0.1, 0.43, 0.5, 0.25, 3.0e-06, &t, &r, &s, 0)); EXPECT_GE(3.0e-06, std::abs(0.425 - t)); EXPECT_GE(1.0e-09, std::abs(5.0e-10 - r)); EXPECT_GE(1.0e-09, std::abs(1.0 - 5.0e-10 - s)); } { // Test where collision occurs in one of the intervals SCOPED_TRACE("Test within one of the intervals, first, middle, and last."); EXPECT_TRUE(movingTest.collideSegmentSegmentParallelCase( pStart, pEnd, qStart, qEnd, 0.42, 1.0, 1.0e-03, 1.0e-03, 1.0e-06, &t, &r, &s, 0)); EXPECT_GE(2.0e-06, std::abs(0.5 - 2.0e-04 - t)); EXPECT_GE(1.0e-09, std::abs(5.0e-10 - r)); EXPECT_GE(1.0e-09, std::abs(1.0 - 5.0e-10 - s)); EXPECT_TRUE(movingTest.collideSegmentSegmentParallelCase( pStart, pEnd, qStart, qEnd, 0.0, 1.0, 1.0e-03, 1.0e-03, 1.0e-06, &t, &r, &s, 0)); EXPECT_GE(2.0e-06, std::abs(0.5 - 2.0e-04 - t)); EXPECT_GE(1.0e-09, std::abs(5.0e-10 - r)); EXPECT_GE(1.0e-09, std::abs(1.0 - 5.0e-10 - s)); EXPECT_TRUE(movingTest.collideSegmentSegmentParallelCase( pStart, pEnd, qStart, qEnd, 0.0, 0.51, 1.0e-03, 1.0e-03, 1.0e-06, &t, &r, &s, 0)); EXPECT_GE(2.0e-06, std::abs(0.5 - 2.0e-04 - t)); EXPECT_GE(1.0e-09, std::abs(5.0e-10 - r)); EXPECT_GE(1.0e-09, std::abs(1.0 - 5.0e-10 - s)); } }; TEST(SegmentSegmentCcdMovingContactTests, TestRouting) { // Test the base case for handling traffic to each of the 3 specific cases. MockSegmentSegmentCcdMovingContact movingTest; double r; double s; double t; { SCOPED_TRACE("Test the routing of the Parallel case."); std::array pStart = {Math::Vector3d(-5.0, -1.0e-09, 0.0), Math::Vector3d(-5.0, 1.0, 0.0) }; std::array pEnd = {Math::Vector3d(5.0, -1.0e-09, 0.0), Math::Vector3d(5.0, 1.0, 0.0) }; std::array qStart = {Math::Vector3d(0.0, -1.0, 0.0), Math::Vector3d(0.0, 0.0, 0.0) }; std::array qEnd = {Math::Vector3d(0.0, -1.0, 0.0), Math::Vector3d(0.0, 0.0, 0.0) }; EXPECT_TRUE(movingTest.collideSegmentSegmentBaseCase( pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, &t, &r, &s)); EXPECT_GE(3.0e-06, std::abs(0.425 - t)); EXPECT_GE(1.0e-09, std::abs(5.0e-10 - r)); EXPECT_GE(1.0e-09, std::abs(1.0 - 5.0e-10 - s)); } { SCOPED_TRACE("Test the routing of the Coplanar case."); std::array pStart = {Math::Vector3d(-0.5 + 1.0e-03, -1.0e-09, 0.0), Math::Vector3d(0.0 + 1.0e-03, 0.5, 0.0) }; std::array pEnd = {Math::Vector3d(0.5 + 1.0e-03, -1.0e-09, 0.0), Math::Vector3d(1.0 + 1.0e-03, -0.5, 0.0) }; std::array q = {Math::Vector3d(0.0, -1.0, 0.0), Math::Vector3d(0.0, 0.0, 0.0) }; EXPECT_TRUE(movingTest.collideSegmentSegmentBaseCase(pStart, pEnd, q, q, 1.0e-09, 1.0e-09, 1.0e-10, &t, &r, &s)); EXPECT_GE(3.0e-06, std::abs(0.5 - t - 1.0e-03)); EXPECT_GT(1.0e-08, std::abs(3.0e-06 - r)); EXPECT_GT(1.0e-08, std::abs(1.0 - s)); } { SCOPED_TRACE("Test the routing of the General case."); std::array pStart = {Math::Vector3d(-1.0, -1.0, -2.0), Math::Vector3d(1.0, 1.0, -2.0)}; std::array pEnd = {Math::Vector3d(-1.0, -1.0, 0.0), Math::Vector3d(1.0, 1.0, 0.0)}; std::array qStart = {Math::Vector3d(1.0, -1.0, 1.0), Math::Vector3d(-1.0, 1.0, 1.0)}; std::array qEnd = {Math::Vector3d(1.0, -1.0, 0.0), Math::Vector3d(-1.0, 1.0, 0.0)}; EXPECT_TRUE(movingTest.collideSegmentSegmentBaseCase(pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, &t, &r, &s)); EXPECT_GT(epsilon, std::abs(0.75 - t)); EXPECT_DOUBLE_EQ(0.50, r); EXPECT_DOUBLE_EQ(0.50, s); } }; TEST(SegmentSegmentCcdMovingContactTests, PublicAPI) { // Test the base case for handling traffic to each of the 3 specific cases. MockSegmentSegmentCcdMovingContact movingTest; std::array pStart = {Math::Vector3d(-5.0, -1.0e-09, 0.0), Math::Vector3d(-5.0, 1.0, 0.0) }; std::array pEnd = {Math::Vector3d(5.0, -1.0e-09, 0.0), Math::Vector3d(5.0, 1.0, 0.0) }; std::array qStart = {Math::Vector3d(0.0, -1.0, 0.0), Math::Vector3d(0.0, 0.0, 0.0) }; std::array qEnd = {Math::Vector3d(0.0, -1.0, 0.0), Math::Vector3d(0.0, 0.0, 0.0) }; Math::Vector3d dir; double r; double s; double t; { SCOPED_TRACE("Test thick segments."); EXPECT_TRUE(movingTest.collideMovingSegmentSegment( pStart, pEnd, qStart, qEnd, 0.5, 0.25, 3.0e-06, &t, &r, &s, &dir)); EXPECT_GE(3.0e-06, std::abs(0.425 - t)); EXPECT_GE(1.0e-09, std::abs(5.0e-10 - r)); EXPECT_GE(1.0e-09, std::abs(1.0 - 5.0e-10 - s)); EXPECT_TRUE(dir.normalized().isApprox(Math::Vector3d(1.0, 0.0, 0.0), 1.0e-09)); } { SCOPED_TRACE("Test zero thickness segments."); EXPECT_TRUE(movingTest.collideMovingSegmentSegment( pStart, pEnd, qStart, qEnd, 2.0e-03, 1.0e-06, &t, &r, &s, &dir)); EXPECT_GE(2.0e-06, std::abs(0.5 - 2.0e-04 - t)); EXPECT_GE(1.0e-09, std::abs(5.0e-10 - r)); EXPECT_GE(1.0e-09, std::abs(1.0 - 5.0e-10 - s)); EXPECT_TRUE(dir.normalized().isApprox(Math::Vector3d(1.0, 0.0, 0.0), 1.0e-09)); } }; }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/SegmentSegmentCcdStaticContactTests.cpp000066400000000000000000000651741277777236100311710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the SegmentSegmentCcdCheck functions. #include #include #include "SurgSim/Collision/SegmentSegmentCcdStaticContact.h" namespace SurgSim { namespace Collision { namespace { double epsilon = 1.0e-05; } template class SegmentSegmentCcdStaticContactTests : public ::testing::Test { }; class MockSegmentSegmentCcdStaticContact : public SurgSim::Collision::SegmentSegmentCcdStaticContact { public: bool collideStaticPointSegment( const Math::Vector3d& point, const std::array& p, double thicknessPoint, double thicknessSegment, double* r) { return SegmentSegmentCcdStaticContact::collideStaticPointSegment(point, p, thicknessPoint, thicknessSegment, r); } SegmentCcdEdgeType computeCollisionEdge(double a, double b, double d, double r, double s, double ratio) const { return SegmentSegmentCcdStaticContact::computeCollisionEdge(a, b, d, r, s, ratio); } void computeCollisionParametrics(SegmentCcdEdgeType edge, double a, double b, double c, double d, double e, double ratio, double* r, double* s) const { SegmentSegmentCcdStaticContact::computeCollisionParametrics(edge, a, b, c, d, e, ratio, r, s); } void computeParallelSegmentParametrics(double a, double b, double d, double* r, double* s) { SegmentSegmentCcdStaticContact::computeParallelSegmentParametrics(a, b, d, r, s); } }; TEST(SegmentSegmentCcdStaticContactTests, Initialization) { ASSERT_NO_THROW(SegmentSegmentCcdStaticContact staticTest); SegmentSegmentCcdStaticContact staticTest; }; TEST(SegmentSegmentCcdStaticContactTests, RegionAndEdgeGenerator) { MockSegmentSegmentCcdStaticContact staticTest; const double ratio = 0.5; double a = 1.0; double b = 1.0; double d = 3.0; for (double r = -1.0; r <= 0.0; r += 0.1) { for (double s = -1.0; s < 0.0; s += 0.1) { // Region 6 EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeR0, staticTest.computeCollisionEdge(a, b, d, r, s, ratio)); EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeS0, staticTest.computeCollisionEdge(a, b, -d, r, s, ratio)); } for (double s = 0.0; s <= ratio; s += 0.1) { // Region 5 EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeR0, staticTest.computeCollisionEdge(a, b, d, r, s, ratio)); EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeR0, staticTest.computeCollisionEdge(a, b, -d, r, s, ratio)); } for (double s = ratio + 0.1; s <= 2 * ratio; s += 0.1) { // Region 4 EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeR0, staticTest.computeCollisionEdge(a, b, d, r, s, ratio)); EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeS1, staticTest.computeCollisionEdge(a, b, -d, r, s, ratio)); } } for (double r = 0.0; r <= ratio; r += 0.1) { for (double s = -1.0; s < 0.0; s += 0.1) { // Region 7 EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeS0, staticTest.computeCollisionEdge(a, b, d, r, s, ratio)); EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeS0, staticTest.computeCollisionEdge(a, b, -d, r, s, ratio)); } for (double s = 0.0; s <= ratio; s += 0.1) { // Region 0 EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeEdgeSkip, staticTest.computeCollisionEdge(a, b, d, r, s, ratio)); EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeEdgeSkip, staticTest.computeCollisionEdge(a, b, -d, r, s, ratio)); } for (double s = ratio + 0.1; s <= 2 * ratio; s += 0.1) { // Region 3 EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeS1, staticTest.computeCollisionEdge(a, b, d, r, s, ratio)); EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeS1, staticTest.computeCollisionEdge(a, b, -d, r, s, ratio)); } } for (double r = ratio + 0.1; r <= 2 * ratio; r += 0.1) { for (double s = -1.0; s < 0.0; s += 0.1) { // Region 8 EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeS0, staticTest.computeCollisionEdge(a, b, d, r, s, ratio)); EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeR1, staticTest.computeCollisionEdge(a, b, -d, r, s, ratio)); } for (double s = 0.0; s <= ratio; s += 0.1) { // Region 1 EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeR1, staticTest.computeCollisionEdge(a, b, d, r, s, ratio)); EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeR1, staticTest.computeCollisionEdge(a, b, -d, r, s, ratio)); } for (double s = ratio + 0.1; s <= 2 * ratio; s += 0.1) { // Region 2 EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeS1, staticTest.computeCollisionEdge(a, b, d, r, s, ratio)); EXPECT_EQ(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeR1, staticTest.computeCollisionEdge(a, b, -d, r, s, ratio)); } } }; TEST(SegmentSegmentCcdStaticContactTests, CalculateParametrics) { MockSegmentSegmentCcdStaticContact staticTest; double a = 3.3; double b = 3.2; double c = 3.0; double d = 3.2; double e = -4.2; double ratio = 5.0; double r = 4.5; double s = 4.0; { SCOPED_TRACE("Testing region 0. Nearest point is on both segments."); staticTest.computeCollisionParametrics(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeEdgeSkip, a, b, c, d, e, ratio, &r, &s); EXPECT_DOUBLE_EQ(0.9, r); EXPECT_DOUBLE_EQ(0.8, s); } { SCOPED_TRACE("Testing when r = 0. s depends on e and c."); e = 5.0; c = 7.0; staticTest.computeCollisionParametrics(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeR0, a, b, c, d, e, ratio, &r, &s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_DOUBLE_EQ(0.0, s); e = -5.0; c = 7.0; staticTest.computeCollisionParametrics(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeR0, a, b, c, d, e, ratio, &r, &s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_DOUBLE_EQ(5.0 / 7.0, s); e = -5.0; c = 4.0; staticTest.computeCollisionParametrics(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeR0, a, b, c, d, e, ratio, &r, &s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_DOUBLE_EQ(1.0, s); } { SCOPED_TRACE("Testing when r = 1. s depends on e, b, and c."); e = 5.0; b = -4.0; c = 4.0; staticTest.computeCollisionParametrics(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeR1, a, b, c, d, e, ratio, &r, &s); EXPECT_DOUBLE_EQ(1.0, r); EXPECT_DOUBLE_EQ(0.0, s); e = -5.0; b = 4.0; c = 4.0; staticTest.computeCollisionParametrics(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeR1, a, b, c, d, e, ratio, &r, &s); EXPECT_DOUBLE_EQ(1.0, r); EXPECT_DOUBLE_EQ(0.25, s); e = -5.0; b = -4.0; c = 4.0; staticTest.computeCollisionParametrics(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeR1, a, b, c, d, e, ratio, &r, &s); EXPECT_DOUBLE_EQ(1.0, r); EXPECT_DOUBLE_EQ(1.0, s); } { SCOPED_TRACE("Testing when s = 0. r depends on d and a."); d = 7.0; a = 8.0; staticTest.computeCollisionParametrics(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeS0, a, b, c, d, e, ratio, &r, &s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_DOUBLE_EQ(0.0, s); d = -7.0; a = 8.0; staticTest.computeCollisionParametrics(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeS0, a, b, c, d, e, ratio, &r, &s); EXPECT_DOUBLE_EQ(0.875, r); EXPECT_DOUBLE_EQ(0.0, s); d = -9.0; a = 8.0; staticTest.computeCollisionParametrics(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeS0, a, b, c, d, e, ratio, &r, &s); EXPECT_DOUBLE_EQ(1.0, r); EXPECT_DOUBLE_EQ(0.0, s); SCOPED_TRACE("Testing when s = 1. r depends on d, b, and a."); d = 6.0; b = -1.0; a = 8.0; staticTest.computeCollisionParametrics(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeS1, a, b, c, d, e, ratio, &r, &s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_DOUBLE_EQ(1.0, s); d = -6.0; b = -1.0; a = 8.0; staticTest.computeCollisionParametrics(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeS1, a, b, c, d, e, ratio, &r, &s); EXPECT_DOUBLE_EQ(0.875, r); EXPECT_DOUBLE_EQ(1.0, s); d = -6.0; b = -6.0; a = 8.0; staticTest.computeCollisionParametrics(SegmentSegmentCcdStaticContact::SegmentCcdEdgeTypeS1, a, b, c, d, e, ratio, &r, &s); EXPECT_DOUBLE_EQ(1.0, r); EXPECT_DOUBLE_EQ(1.0, s); } }; TEST(SegmentSegmentCcdStaticContactTests, CalculateParallelParametrics) { MockSegmentSegmentCcdStaticContact staticTest; double a; double b; double d; double r = 4.5; double s = 4.0; { SCOPED_TRACE("Segments in opposite directions. End point r = s = 0."); a = 4.0; b = 3.2; d = 3.2; staticTest.computeParallelSegmentParametrics(a, b, d, &r, &s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_DOUBLE_EQ(0.0, s); } { SCOPED_TRACE("Segments in opposite directions. End point s0 in r."); a = 4.0; b = 4.0; d = -3.2; staticTest.computeParallelSegmentParametrics(a, b, d, &r, &s); EXPECT_DOUBLE_EQ(0.8, r); EXPECT_DOUBLE_EQ(0.0, s); } { SCOPED_TRACE("Segments in opposite directions. End point r = s = 1."); a = 4.0; b = 3.2; d = -9.2; staticTest.computeParallelSegmentParametrics(a, b, d, &r, &s); EXPECT_DOUBLE_EQ(1.0, r); EXPECT_DOUBLE_EQ(1.0, s); } { SCOPED_TRACE("Segments in opposite directions. End point r = 1 is closest to s."); a = 4.0; b = 3.2; d = -5.6; staticTest.computeParallelSegmentParametrics(a, b, d, &r, &s); EXPECT_DOUBLE_EQ(1.0, r); EXPECT_DOUBLE_EQ(0.5, s); } { SCOPED_TRACE("Segments in same directions, but don't overlap. End point r = 1, s = 0."); a = 4.0; b = -3.2; d = -4.2; staticTest.computeParallelSegmentParametrics(a, b, d, &r, &s); EXPECT_DOUBLE_EQ(1.0, r); EXPECT_DOUBLE_EQ(0.0, s); } { SCOPED_TRACE("Segments in same directions, r overlaps s0."); a = 4.0; b = -3.2; d = -3.0; staticTest.computeParallelSegmentParametrics(a, b, d, &r, &s); EXPECT_DOUBLE_EQ(0.75, r); EXPECT_DOUBLE_EQ(0.0, s); } { SCOPED_TRACE("Segments in same directions, end points r0 and s1 closest."); a = 4.0; b = -3.2; d = 6.0; staticTest.computeParallelSegmentParametrics(a, b, d, &r, &s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_DOUBLE_EQ(1.0, s); } { SCOPED_TRACE("Segments in same directions, and r0 overlaps s."); a = 4.0; b = -3.2; d = 2.4; staticTest.computeParallelSegmentParametrics(a, b, d, &r, &s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_DOUBLE_EQ(0.75, s); } }; TEST(SegmentSegmentCcdStaticContactTests, PointSegmentCollisions) { MockSegmentSegmentCcdStaticContact staticTest; Math::Vector3d point; Math::Vector3d p0; Math::Vector3d p1; std::array p; double thicknessA = 0.25; double thicknessP = 0.75; double r; { SCOPED_TRACE("Segment degenerate, end 0 is close enough."); point = Math::Vector3d(0.0, 0.0, 0.0); p0 = Math::Vector3d(0.0, 0.0, 1.0 - 1.0e-09 / 4.0); p1 = Math::Vector3d(0.0, 0.0, 1.0 + 1.0e-09 / 4.0); p[0] = p0; p[1] = p1; EXPECT_TRUE(staticTest.collideStaticPointSegment(point, p, thicknessA, thicknessP, &r)); EXPECT_DOUBLE_EQ(0.0, r); } { SCOPED_TRACE("Segment degenerate, end 1 is close enough."); point = Math::Vector3d(0.0, 0.0, 0.0); p0 = Math::Vector3d(0.0, 0.0, 1.0 - 1.0e-09 / 4.0); p1 = Math::Vector3d(0.0, 0.0, 1.0 + 1.0e-09 / 4.0); p[0] = p1; p[1] = p0; EXPECT_TRUE(staticTest.collideStaticPointSegment(point, p, thicknessA, thicknessP, &r)); EXPECT_DOUBLE_EQ(1.0, r); } { SCOPED_TRACE("Segment degenerate, neither point close enough."); point = Math::Vector3d(0.0, 0.0, 0.0); p0 = Math::Vector3d(0.0, 0.0, 1.0 - 1.0e-09 / 4.0); p1 = Math::Vector3d(1.0, 0.0, 1.0 + 1.0e-09 / 4.0); p[0] = p1; p[1] = p1; EXPECT_FALSE(staticTest.collideStaticPointSegment(point, p, thicknessA, thicknessP, &r)); } { SCOPED_TRACE("Segment clamped to 0, close enough"); point = Math::Vector3d(0.0, 0.5, 0.0); p0 = Math::Vector3d(0.5, 0.0, 0.25); p1 = Math::Vector3d(1.5, 0.0, 0.25); p[0] = p0; p[1] = p1; EXPECT_TRUE(staticTest.collideStaticPointSegment(point, p, thicknessA, thicknessP, &r)); EXPECT_DOUBLE_EQ(0.0, r); } { SCOPED_TRACE("Segment clamped to 0, not close enough"); point = Math::Vector3d(0.0, 1.0, 0.0); p0 = Math::Vector3d(0.5, 0.0, 0.25); p1 = Math::Vector3d(1.5, 0.0, 0.25); p[0] = p0; p[1] = p1; EXPECT_FALSE(staticTest.collideStaticPointSegment(point, p, thicknessA, thicknessP, &r)); } { SCOPED_TRACE("Segment clamped to 1, close enough"); point = Math::Vector3d(0.0, 0.5, 0.0); p0 = Math::Vector3d(0.5, 0.0, 0.25); p1 = Math::Vector3d(1.5, 0.0, 0.25); p[0] = p1; p[1] = p0; EXPECT_TRUE(staticTest.collideStaticPointSegment(point, p, thicknessA, thicknessP, &r)); EXPECT_DOUBLE_EQ(1.0, r); } { SCOPED_TRACE("Segment clamped to 1, not close enough"); point = Math::Vector3d(0.0, 1.0, 0.0); p0 = Math::Vector3d(0.5, 0.0, 0.25); p1 = Math::Vector3d(1.5, 0.0, 0.25); p[0] = p1; p[1] = p0; EXPECT_FALSE(staticTest.collideStaticPointSegment(point, p, thicknessA, thicknessP, &r)); } { SCOPED_TRACE("Segment not clamped, close enough"); point = Math::Vector3d(0.0, 0.5, 0.0); p0 = Math::Vector3d(-1.5, 0.0, 0.25); p1 = Math::Vector3d(1.5, 0.0, 0.25); p[0] = p0; p[1] = p1; EXPECT_TRUE(staticTest.collideStaticPointSegment(point, p, thicknessA, thicknessP, &r)); EXPECT_DOUBLE_EQ(0.5, r); } { SCOPED_TRACE("Segment not clamped, not close enough"); point = Math::Vector3d(0.0, 1.0, 0.0); p0 = Math::Vector3d(0.5, 0.0, 0.25); p1 = Math::Vector3d(1.5, 0.0, 0.25); p[0] = p0; p[1] = p1; EXPECT_FALSE(staticTest.collideStaticPointSegment(point, p, thicknessA, thicknessP, &r)); } }; TEST(SegmentSegmentCcdStaticContactTests, SegmentSegmentCollisions) { MockSegmentSegmentCcdStaticContact staticTest; Math::Vector3d p0; Math::Vector3d p1; std::array p; Math::Vector3d q0; Math::Vector3d q1; std::array q; double radiusP = 0.25; double radiusQ = 0.75; double distanceEpsilon = radiusP + radiusQ; double r; double s; Math::Vector3d increment(0.1, 0, 0); { SCOPED_TRACE("Test degenerate segment cases - 2 points"); p0 = Math::Vector3d(-1.0e-09 / 4.0, 0.0, 1.0); p1 = Math::Vector3d(1.0e-09 / 4.0, 0.0, 1.0); q0 = Math::Vector3d(-1.0 - 1.0e-09 / 4.0, 0.0, 0.5); q1 = Math::Vector3d(-1.0 + 1.0e-09 / 4.0, 0.0, 0.5); for (size_t ctr = 0; ctr < 2; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_FALSE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); q0 += increment; q1 += increment; } for (size_t ctr = 0; ctr < 17; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); EXPECT_DOUBLE_EQ(0.0, s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); EXPECT_DOUBLE_EQ(0.0, s); EXPECT_DOUBLE_EQ(0.0, r); q0 += increment; q1 += increment; } for (size_t ctr = 0; ctr < 2; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_FALSE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); q0 += increment; q1 += increment; } } { SCOPED_TRACE("Test degenerate segment cases - one segment is point"); p0 = Math::Vector3d(0.0, 0.0, 1.0); p1 = Math::Vector3d(1.0e-09 / 2.0, 0.0, 1.0); q0 = Math::Vector3d(-1.0, 0.0, 0.5); q1 = Math::Vector3d(-2.0, 0.0, 0.5); for (size_t ctr = 0; ctr < 2; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_FALSE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(q, p, distanceEpsilon, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(q, p, radiusP, radiusQ, &r, &s)); q0 += increment; q1 += increment; } for (size_t ctr = 0; ctr < 8; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); EXPECT_DOUBLE_EQ(0.0, s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); EXPECT_DOUBLE_EQ(0.0, s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, distanceEpsilon, &r, &s)); EXPECT_DOUBLE_EQ(0.0, s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, radiusP, radiusQ, &r, &s)); EXPECT_DOUBLE_EQ(0.0, s); EXPECT_DOUBLE_EQ(0.0, r); q0 += increment; q1 += increment; } for (size_t ctr = 0; ctr < 10; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); EXPECT_NEAR(ctr / 10.0, s, epsilon); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); EXPECT_NEAR(ctr / 10.0, s, epsilon); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, distanceEpsilon, &r, &s)); EXPECT_NEAR(ctr / 10.0, r, epsilon); EXPECT_DOUBLE_EQ(0.0, s); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, radiusP, radiusQ, &r, &s)); EXPECT_NEAR(ctr / 10.0, r, epsilon); EXPECT_DOUBLE_EQ(0.0, s); q0 += increment; q1 += increment; } for (size_t ctr = 0; ctr < 9; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); EXPECT_DOUBLE_EQ(1.0, s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); EXPECT_DOUBLE_EQ(1.0, s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, distanceEpsilon, &r, &s)); EXPECT_DOUBLE_EQ(1.0, r); EXPECT_DOUBLE_EQ(0.0, s); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, radiusP, radiusQ, &r, &s)); EXPECT_DOUBLE_EQ(1.0, r); EXPECT_DOUBLE_EQ(0.0, s); q0 += increment; q1 += increment; } for (size_t ctr = 0; ctr < 2; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_FALSE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(q, p, distanceEpsilon, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(q, p, radiusP, radiusQ, &r, &s)); q0 += increment; q1 += increment; } } { SCOPED_TRACE("Test degenerate segment cases - Parallel segments"); Math::Vector3d newP; Math::Vector3d newQ; p0 = Math::Vector3d(0.0, 0.0, 1.0); p1 = Math::Vector3d(1.0, 0.0, 1.0); q0 = Math::Vector3d(-1.0, 0.0, 0.5); q1 = Math::Vector3d(-2.0, 0.0, 0.5); for (size_t ctr = 0; ctr < 2; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_FALSE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(q, p, distanceEpsilon, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(q, p, radiusP, radiusQ, &r, &s)); q0 += increment; q1 += increment; } for (size_t ctr = 0; ctr < 8; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); EXPECT_DOUBLE_EQ(0.0, s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); EXPECT_DOUBLE_EQ(0.0, s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, distanceEpsilon, &r, &s)); EXPECT_DOUBLE_EQ(0.0, s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, radiusP, radiusQ, &r, &s)); EXPECT_DOUBLE_EQ(0.0, s); EXPECT_DOUBLE_EQ(0.0, r); q0 += increment; q1 += increment; } for (size_t ctr = 0; ctr < 20; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); newP = Math::interpolate(p0, p1, r); newQ = Math::interpolate(q0, q1, s); EXPECT_NEAR(0.5, (newP - newQ).norm(), epsilon); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); newP = Math::interpolate(p0, p1, r); newQ = Math::interpolate(q0, q1, s); EXPECT_NEAR(0.5, (newP - newQ).norm(), epsilon); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, distanceEpsilon, &r, &s)); newP = Math::interpolate(p0, p1, s); newQ = Math::interpolate(q0, q1, r); EXPECT_NEAR(0.5, (newP - newQ).norm(), epsilon); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, radiusP, radiusQ, &r, &s)); newP = Math::interpolate(p0, p1, s); newQ = Math::interpolate(q0, q1, r); EXPECT_NEAR(0.5, (newP - newQ).norm(), epsilon); q0 += increment; q1 += increment; } for (size_t ctr = 0; ctr < 9; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); EXPECT_DOUBLE_EQ(1.0, s); EXPECT_DOUBLE_EQ(1.0, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); EXPECT_DOUBLE_EQ(1.0, s); EXPECT_DOUBLE_EQ(1.0, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, distanceEpsilon, &r, &s)); EXPECT_DOUBLE_EQ(1.0, r); EXPECT_DOUBLE_EQ(1.0, s); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, radiusP, radiusQ, &r, &s)); EXPECT_DOUBLE_EQ(1.0, r); EXPECT_DOUBLE_EQ(1.0, s); q0 += increment; q1 += increment; } for (size_t ctr = 0; ctr < 2; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_FALSE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(q, p, distanceEpsilon, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(q, p, radiusP, radiusQ, &r, &s)); q0 += increment; q1 += increment; } } { SCOPED_TRACE("Test intersecting segments"); Math::Vector3d newP; Math::Vector3d newQ; p0 = Math::Vector3d(0.0, -1.0, 1.0); p1 = Math::Vector3d(0.0, 1.0, 1.0); q0 = Math::Vector3d(-1.0, 0.0, 0.5); q1 = Math::Vector3d(-3.0, 0.0, 0.5); for (size_t ctr = 0; ctr < 2; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_FALSE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(q, p, distanceEpsilon, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(q, p, radiusP, radiusQ, &r, &s)); q0 += increment; q1 += increment; } for (size_t ctr = 0; ctr < 8; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); EXPECT_DOUBLE_EQ(0.0, s); EXPECT_DOUBLE_EQ(0.5, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); EXPECT_DOUBLE_EQ(0.0, s); EXPECT_DOUBLE_EQ(0.5, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, distanceEpsilon, &r, &s)); EXPECT_DOUBLE_EQ(0.5, s); EXPECT_DOUBLE_EQ(0.0, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, radiusP, radiusQ, &r, &s)); EXPECT_DOUBLE_EQ(0.5, s); EXPECT_DOUBLE_EQ(0.0, r); q0 += increment; q1 += increment; } for (size_t ctr = 0; ctr < 20; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); newP = Math::interpolate(p0, p1, r); newQ = Math::interpolate(q0, q1, s); EXPECT_NEAR(0.5, (newP - newQ).norm(), epsilon); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); newP = Math::interpolate(p0, p1, r); newQ = Math::interpolate(q0, q1, s); EXPECT_NEAR(0.5, (newP - newQ).norm(), epsilon); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, distanceEpsilon, &r, &s)); newP = Math::interpolate(p0, p1, s); newQ = Math::interpolate(q0, q1, r); EXPECT_NEAR(0.5, (newP - newQ).norm(), epsilon); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, radiusP, radiusQ, &r, &s)); newP = Math::interpolate(p0, p1, s); newQ = Math::interpolate(q0, q1, r); EXPECT_NEAR(0.5, (newP - newQ).norm(), epsilon); q0 += increment; q1 += increment; } for (size_t ctr = 0; ctr < 9; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); EXPECT_DOUBLE_EQ(1.0, s); EXPECT_DOUBLE_EQ(0.5, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); EXPECT_DOUBLE_EQ(1.0, s); EXPECT_DOUBLE_EQ(0.5, r); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, distanceEpsilon, &r, &s)); EXPECT_DOUBLE_EQ(1.0, r); EXPECT_DOUBLE_EQ(0.5, s); EXPECT_TRUE(staticTest.collideStaticSegmentSegment(q, p, radiusP, radiusQ, &r, &s)); EXPECT_DOUBLE_EQ(1.0, r); EXPECT_DOUBLE_EQ(0.5, s); q0 += increment; q1 += increment; } for (size_t ctr = 0; ctr < 2; ++ctr) { p[0] = p0; p[1] = p1; q[0] = q0; q[1] = q1; EXPECT_FALSE(staticTest.collideStaticSegmentSegment(p, q, distanceEpsilon, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(p, q, radiusP, radiusQ, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(q, p, distanceEpsilon, &r, &s)); EXPECT_FALSE(staticTest.collideStaticSegmentSegment(q, p, radiusP, radiusQ, &r, &s)); q0 += increment; q1 += increment; } } }; }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/SegmentSelfContactTests.cpp000066400000000000000000000606071277777236100266720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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. /// \file /// Tests for the SegmentSegmentCheck functions. #include #include #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/SegmentSelfContact.h" #include "SurgSim/DataStructures/AabbTree.h" #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Math/SegmentMeshShape.h" using SurgSim::DataStructures::Location; using SurgSim::DataStructures::SegmentMeshPlain; using SurgSim::Math::SegmentMeshShape; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { class MockSegmentCcdSelfContact : public SurgSim::Collision::SegmentSelfContact { public: double maxTimePrecision( const std::array& pt0Positions, const std::array& pt1Positions, const std::array& qt0Positions, const std::array& qt1Positions, double effectiveThickness) const { return SegmentSelfContact::maxTimePrecision(pt0Positions, pt1Positions, qt0Positions, qt1Positions, effectiveThickness); } bool isSameSegContactPoint(const Math::SegmentMeshShape& segmentShape, size_t segId1, double s1, size_t segId2, double s2) const { return SegmentSelfContact::isSameSegContactPoint(segmentShape, segId1, s1, segId2, s2); } bool findSegSegContact(const Math::SegmentMeshShape& segmentShape, const std::list>& contacts, double toi, Collision::CollisionDetectionType collisionType, size_t segId1, double s1, size_t segId2, double s2, double timeEpsilon) const { return SegmentSelfContact::findSegSegContact( segmentShape, contacts, toi, collisionType, segId1, s1, segId2, s2, timeEpsilon); } bool detectExcessMovement(const SurgSim::Math::Vector3d& pt0, const SurgSim::Math::Vector3d& pt1, double threshold) const { return SegmentSelfContact::detectExcessMovement(pt0, pt1, threshold); } bool removeInvalidCollisions( const Math::SegmentMeshShape& segmentA, const Math::SegmentMeshShape& segmentB, size_t id1, size_t id2) const { return SegmentSelfContact::removeInvalidCollisions(segmentA, segmentB, id1, id2); } void getUniqueCandidates( const std::list& intersectionList, std::set>* segmentIdList) const { SegmentSelfContact::getUniqueCandidates(intersectionList, segmentIdList); } bool detectCollision( const std::array& pt0Positions, const std::array& pt1Positions, const std::array& qt0Positions, const std::array& qt1Positions, double segmentRadius1, double segmentRadius2, double timePrecision, double* r, double* s, double* t, SurgSim::Math::Vector3d* pToQDir, SurgSim::Math::Vector3d* contactPtP, SurgSim::Math::Vector3d* contactPtQ) const { return SegmentSelfContact::detectCollision(pt0Positions, pt1Positions, qt0Positions, qt1Positions, segmentRadius1, segmentRadius2, timePrecision, r, s, t, pToQDir, contactPtP, contactPtQ); } }; class SegmentCcdSelfContactTests : public ::testing::Test { public: void SetUp() { MockSegmentCcdSelfContact m_selfContact; } std::shared_ptr createContact(CollisionDetectionType type, double r, double s, size_t seg1, size_t seg2, double toi) { std::pair penetrationPoints; Math::Vector2d parametricCoordinateP(1.0 - r, r); penetrationPoints.first.elementMeshLocalCoordinate.setValue( SurgSim::DataStructures::IndexedLocalCoordinate(seg1, parametricCoordinateP)); Math::Vector2d parametricCoordinateQ(1.0 - s, s); penetrationPoints.second.elementMeshLocalCoordinate.setValue( SurgSim::DataStructures::IndexedLocalCoordinate(seg2, parametricCoordinateQ)); // Dummy up some values unless we need them Vector3d normal(1.0, 0.0, 0.0); Vector3d contactPoint(0.0, 0.0, 0.0); return std::make_shared(type, 0.0, toi, contactPoint, normal, penetrationPoints); } std::shared_ptr build(const Vector3d& start, const Vector3d& direction, double radius, size_t numVertices = 10) const { auto mesh = std::make_shared(); // Add the vertices for (size_t i = 0; i < numVertices; ++i) { mesh->addVertex(SegmentMeshPlain::VertexType(start + direction * static_cast(i))); } // Define the edges for (size_t i = 0; i < numVertices - 1; ++i) { std::array indices = {{i, i + 1}}; mesh->addEdge(SegmentMeshPlain::EdgeType(indices)); } return std::make_shared(*mesh, radius); } std::shared_ptr buildLoop(double zInit, double radius) const { auto mesh = std::make_shared(); double zDelta = 2 * zInit / 10; double z = zInit; mesh->addVertex(SegmentMeshPlain::VertexType(Vector3d(1.0, 1.0, z))); z -= zDelta; mesh->addVertex(SegmentMeshPlain::VertexType(Vector3d(0.0, 0.0, z))); z -= zDelta; mesh->addVertex(SegmentMeshPlain::VertexType(Vector3d(-0.25, -0.25, z))); z -= zDelta; mesh->addVertex(SegmentMeshPlain::VertexType(Vector3d(-0.5, -0.5, z))); z -= zDelta; mesh->addVertex(SegmentMeshPlain::VertexType(Vector3d(-0.25, -0.75, z))); z -= zDelta; mesh->addVertex(SegmentMeshPlain::VertexType(Vector3d(0.0, -1.0, z))); z -= zDelta; mesh->addVertex(SegmentMeshPlain::VertexType(Vector3d(0.25, -0.75, z))); z -= zDelta; mesh->addVertex(SegmentMeshPlain::VertexType(Vector3d(0.5, -0.5, z))); z -= zDelta; mesh->addVertex(SegmentMeshPlain::VertexType(Vector3d(0.25, -0.25, z))); z -= zDelta; mesh->addVertex(SegmentMeshPlain::VertexType(Vector3d(0.0, 0.0, z))); z -= zDelta; mesh->addVertex(SegmentMeshPlain::VertexType(Vector3d(-1.0, 1.0, z))); // Define the edges for (size_t i = 0; i < 10; ++i) { std::array indices = {{i, i + 1}}; mesh->addEdge(SegmentMeshPlain::EdgeType(indices)); } return std::make_shared(*mesh, radius); } MockSegmentCcdSelfContact m_selfContact; }; TEST_F(SegmentCcdSelfContactTests, Initialization) { ASSERT_NO_THROW(SegmentSelfContact selfContact); SegmentSelfContact selfContact; auto shapeTypes = selfContact.getShapeTypes(); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_SEGMENTMESH, shapeTypes.first); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_SEGMENTMESH, shapeTypes.second); EXPECT_DOUBLE_EQ(1e-06, selfContact.getTimeMinPrecisionEpsilon()); EXPECT_DOUBLE_EQ(1.0, selfContact.getTimeMaxPrecisionEpsilon()); EXPECT_DOUBLE_EQ(1e-04, selfContact.distanceEpsilon()); EXPECT_ANY_THROW(selfContact.setTimeMinPrecisionEpsilon(0.0)); EXPECT_ANY_THROW(selfContact.setTimeMinPrecisionEpsilon(-2.0e-06)); EXPECT_ANY_THROW(selfContact.setTimeMaxPrecisionEpsilon(0.0)); EXPECT_ANY_THROW(selfContact.setTimeMaxPrecisionEpsilon(-1.0e-05)); selfContact.setTimeMinPrecisionEpsilon(2.0e-06); selfContact.setTimeMaxPrecisionEpsilon(1.0e-05); selfContact.setDistanceEpsilon(1.0e-06); EXPECT_DOUBLE_EQ(2e-06, selfContact.getTimeMinPrecisionEpsilon()); EXPECT_DOUBLE_EQ(1.0e-05, selfContact.getTimeMaxPrecisionEpsilon()); EXPECT_DOUBLE_EQ(1.0e-06, selfContact.distanceEpsilon()); }; TEST_F(SegmentCcdSelfContactTests, MaxTimePrecision) { Math::Vector3d zeroPosition(0.0, 0.0, 0.0); Math::Vector3d changePos(1.0, 2.0, 3.0); Math::Vector3d changeNeg(-1.0, -2.0, -3.0); std::array noChange = {zeroPosition, zeroPosition}; std::array change = {changePos, changeNeg}; m_selfContact.setTimeMaxPrecisionEpsilon(1.0e-05); ASSERT_ANY_THROW(m_selfContact.maxTimePrecision(change, noChange, noChange, noChange, -0.5)); EXPECT_DOUBLE_EQ(1.0e-05, m_selfContact.maxTimePrecision(change, noChange, noChange, noChange, 0.5)); EXPECT_DOUBLE_EQ(1.0e-05, m_selfContact.maxTimePrecision(noChange, change, noChange, noChange, 0.5)); EXPECT_DOUBLE_EQ(1.0e-05, m_selfContact.maxTimePrecision(noChange, noChange, change, noChange, 0.5)); EXPECT_DOUBLE_EQ(1.0e-05, m_selfContact.maxTimePrecision(noChange, noChange, noChange, change, 0.5)); EXPECT_DOUBLE_EQ(3.0e-05 / std::sqrt(14), m_selfContact.maxTimePrecision(change, noChange, noChange, noChange, 3.0e-05)); EXPECT_DOUBLE_EQ(3.0e-05 / std::sqrt(14), m_selfContact.maxTimePrecision(noChange, change, noChange, noChange, 3.0e-05)); EXPECT_DOUBLE_EQ(3.0e-05 / std::sqrt(14), m_selfContact.maxTimePrecision(noChange, noChange, change, noChange, 3.0e-05)); EXPECT_DOUBLE_EQ(3.0e-05 / std::sqrt(14), m_selfContact.maxTimePrecision(noChange, noChange, noChange, change, 3.0e-05)); EXPECT_DOUBLE_EQ(1.0e-06, m_selfContact.maxTimePrecision(change, noChange, noChange, noChange, 3.0e-07)); EXPECT_DOUBLE_EQ(1.0e-06, m_selfContact.maxTimePrecision(noChange, change, noChange, noChange, 3.0e-07)); EXPECT_DOUBLE_EQ(1.0e-06, m_selfContact.maxTimePrecision(noChange, noChange, change, noChange, 3.0e-07)); EXPECT_DOUBLE_EQ(1.0e-06, m_selfContact.maxTimePrecision(noChange, noChange, noChange, change, 3.0e-07)); }; TEST_F(SegmentCcdSelfContactTests, IsSameSegContactPoint) { std::shared_ptr shape = build(Vector3d(-10.0, -10.0, -10.0), Vector3d(10.0, 10.0, 10.0), 0.5, 10); m_selfContact.setTimeMaxPrecisionEpsilon(1.0e-06); m_selfContact.setTimeMinPrecisionEpsilon(1.0e-06); m_selfContact.setDistanceEpsilon(1.0e-09); // Different segments, no shared endpoints EXPECT_FALSE(m_selfContact.isSameSegContactPoint(*shape, 1, 0.9, 7, 0.8)); // Same segment, discrete contact points EXPECT_FALSE(m_selfContact.isSameSegContactPoint(*shape, 1, 0.9 - 1.0e-09, 1, 0.9 + 1.0e-09)); // Same segment, same contact point EXPECT_TRUE(m_selfContact.isSameSegContactPoint(*shape, 1, 0.9 - 5.0e-10, 1, 0.9 + 4.9e-10)); // Different segment, failure on distance from endpoint EXPECT_FALSE(m_selfContact.isSameSegContactPoint(*shape, 1, 2.0e-09, 0, 1.0)); EXPECT_FALSE(m_selfContact.isSameSegContactPoint(*shape, 1, 1.0 - 2.0e-09, 2, 0.0)); EXPECT_FALSE(m_selfContact.isSameSegContactPoint(*shape, 1, 0.0, 0, 1.0 - 2.0e-09)); EXPECT_FALSE(m_selfContact.isSameSegContactPoint(*shape, 1, 1.0, 2, 2.0e-09)); // Different segment, failure on adjacency EXPECT_FALSE(m_selfContact.isSameSegContactPoint(*shape, 1, 4.9e-10, 2, 1.0 - 5.0e-10)); EXPECT_FALSE(m_selfContact.isSameSegContactPoint(*shape, 1, 1.0 - 5.0e-10, 0, 4.9e-10)); EXPECT_FALSE(m_selfContact.isSameSegContactPoint(*shape, 1, 4.9e-10, 2, 1.0 - 5.0e-10)); EXPECT_FALSE(m_selfContact.isSameSegContactPoint(*shape, 1, 1.0 - 5.0e-10, 0, 4.9e-10)); // Different segment, same contact point EXPECT_TRUE(m_selfContact.isSameSegContactPoint(*shape, 1, 4.9e-10, 0, 1.0 - 5.0e-10)); EXPECT_TRUE(m_selfContact.isSameSegContactPoint(*shape, 1, 1.0 - 5.0e-10, 2, 4.9e-10)); EXPECT_TRUE(m_selfContact.isSameSegContactPoint(*shape, 1, 4.9e-10, 0, 1.0 - 5.0e-10)); EXPECT_TRUE(m_selfContact.isSameSegContactPoint(*shape, 1, 1.0 - 5.0e-10, 2, 4.9e-10)); }; TEST_F(SegmentCcdSelfContactTests, FindSegSegContact) { std::shared_ptr shape = build(Vector3d(-10.0, -10.0, -10.0), Vector3d(10.0, 10.0, 10.0), 0.5, 10); { SCOPED_TRACE("Wrong collision type"); std::list> contacts; contacts.emplace_back(createContact( CollisionDetectionType::COLLISION_DETECTION_TYPE_DISCRETE, 0.8, 0.4, 1, 3, 0.25)); EXPECT_FALSE(m_selfContact.findSegSegContact(*shape, contacts, 0.25, CollisionDetectionType::COLLISION_DETECTION_TYPE_CONTINUOUS, 1, 0.8, 3, 0.4, 1.0e-06)); } { SCOPED_TRACE("Wrong time"); std::list> contacts; contacts.emplace_back(createContact( CollisionDetectionType::COLLISION_DETECTION_TYPE_CONTINUOUS, 0.8, 0.4, 1, 3, 0.25)); EXPECT_FALSE(m_selfContact.findSegSegContact(*shape, contacts, 0.25 - 2.0e-06, CollisionDetectionType::COLLISION_DETECTION_TYPE_CONTINUOUS, 1, 0.8, 3, 0.4, 1.0e-06)); EXPECT_FALSE(m_selfContact.findSegSegContact(*shape, contacts, 0.25 + 2.0e-06, CollisionDetectionType::COLLISION_DETECTION_TYPE_CONTINUOUS, 1, 0.8, 3, 0.4, 1.0e-06)); } { SCOPED_TRACE("Wrong segment ID"); std::list> contacts; contacts.emplace_back(createContact( CollisionDetectionType::COLLISION_DETECTION_TYPE_CONTINUOUS, 0.8, 0.4, 1, 3, 0.25)); EXPECT_FALSE(m_selfContact.findSegSegContact(*shape, contacts, 0.25, CollisionDetectionType::COLLISION_DETECTION_TYPE_CONTINUOUS, 2, 0.8, 3, 0.4, 1.0e-06)); EXPECT_FALSE(m_selfContact.findSegSegContact(*shape, contacts, 0.25, CollisionDetectionType::COLLISION_DETECTION_TYPE_CONTINUOUS, 1, 0.4, 4, 0.4, 1.0e-06)); } { SCOPED_TRACE("Wrong parametric value"); std::list> contacts; contacts.emplace_back(createContact( CollisionDetectionType::COLLISION_DETECTION_TYPE_CONTINUOUS, 0.8, 0.4, 1, 3, 0.25)); EXPECT_FALSE(m_selfContact.findSegSegContact(*shape, contacts, 0.25, CollisionDetectionType::COLLISION_DETECTION_TYPE_CONTINUOUS, 1, 0.8 - 1.0e-03, 3, 0.4, 1.0e-06)); } { SCOPED_TRACE("Same point, middle of segment"); std::list> contacts; contacts.emplace_back(createContact( CollisionDetectionType::COLLISION_DETECTION_TYPE_CONTINUOUS, 0.8, 0.4, 1, 3, 0.25)); EXPECT_TRUE(m_selfContact.findSegSegContact(*shape, contacts, 0.25, CollisionDetectionType::COLLISION_DETECTION_TYPE_CONTINUOUS, 1, 0.8, 3, 0.4, 1.0e-06)); } { SCOPED_TRACE("Same point, segment endpoints"); std::list> contacts; contacts.emplace_back(createContact( CollisionDetectionType::COLLISION_DETECTION_TYPE_CONTINUOUS, 1.0, 0.0, 1, 4, 0.25)); EXPECT_TRUE(m_selfContact.findSegSegContact(*shape, contacts, 0.25, CollisionDetectionType::COLLISION_DETECTION_TYPE_CONTINUOUS, 2, 0.0, 3, 1.0, 1.0e-06)); } }; TEST_F(SegmentCcdSelfContactTests, DetectExcessMovement) { Vector3d point1(1.0e-03 / 2.0, 1.0e-03 / 2.0, 1.0e-03 / 2.0); Vector3d point2(0.0, 0.0, 0.0); EXPECT_FALSE(m_selfContact.detectExcessMovement(point1, point2, 1.0e-03)); EXPECT_FALSE(m_selfContact.detectExcessMovement(point2, point1, 1.0e-03)); point2 = Vector3d(-1.0e-03, 0.0, 0.0); EXPECT_TRUE(m_selfContact.detectExcessMovement(point1, point2, 1.0e-03)); EXPECT_TRUE(m_selfContact.detectExcessMovement(point2, point1, 1.0e-03)); point2 = Vector3d(0.0, -1.0e-03, 0.0); EXPECT_TRUE(m_selfContact.detectExcessMovement(point1, point2, 1.0e-03)); EXPECT_TRUE(m_selfContact.detectExcessMovement(point2, point1, 1.0e-03)); point2 = Vector3d(0.0, 0.0, -1.0e-03); EXPECT_TRUE(m_selfContact.detectExcessMovement(point1, point2, 1.0e-03)); EXPECT_TRUE(m_selfContact.detectExcessMovement(point2, point1, 1.0e-03)); }; TEST_F(SegmentCcdSelfContactTests, RemoveInvalidCollisions) { std::shared_ptr shapeT0 = buildLoop(1.0e-03, 1.0e-04); std::shared_ptr shapeT1 = buildLoop(-1.0e-03, 1.0e-04); EXPECT_FALSE(m_selfContact.removeInvalidCollisions(*shapeT0, *shapeT1, 0, 9)); EXPECT_FALSE(m_selfContact.removeInvalidCollisions(*shapeT0, *shapeT1, 1, 9)); EXPECT_FALSE(m_selfContact.removeInvalidCollisions(*shapeT0, *shapeT1, 0, 8)); EXPECT_FALSE(m_selfContact.removeInvalidCollisions(*shapeT0, *shapeT1, 1, 8)); EXPECT_TRUE(m_selfContact.removeInvalidCollisions(*shapeT0, *shapeT1, 1, 1)); EXPECT_TRUE(m_selfContact.removeInvalidCollisions(*shapeT0, *shapeT1, 0, 1)); EXPECT_TRUE(m_selfContact.removeInvalidCollisions(*shapeT0, *shapeT1, 1, 2)); EXPECT_TRUE(m_selfContact.removeInvalidCollisions(*shapeT0, *shapeT1, 1, 0)); shapeT0->getVertex(0).position += Vector3d(10, 0, 0); EXPECT_TRUE(m_selfContact.removeInvalidCollisions(*shapeT0, *shapeT1, 0, 9)); shapeT0->getVertex(0).position -= Vector3d(10, 0, 0); shapeT0->getVertex(1).position += Vector3d(10, 0, 0); EXPECT_TRUE(m_selfContact.removeInvalidCollisions(*shapeT0, *shapeT1, 0, 9)); shapeT0->getVertex(1).position -= Vector3d(10, 0, 0); shapeT1->getVertex(0).position += Vector3d(10, 0, 0); EXPECT_TRUE(m_selfContact.removeInvalidCollisions(*shapeT0, *shapeT1, 0, 9)); shapeT1->getVertex(0).position -= Vector3d(10, 0, 0); shapeT1->getVertex(1).position += Vector3d(10, 0, 0); EXPECT_TRUE(m_selfContact.removeInvalidCollisions(*shapeT0, *shapeT1, 0, 9)); shapeT1->getVertex(1).position -= Vector3d(10, 0, 0); shapeT0->getVertex(9).position += Vector3d(10, 0, 0); EXPECT_TRUE(m_selfContact.removeInvalidCollisions(*shapeT0, *shapeT1, 0, 9)); shapeT0->getVertex(9).position -= Vector3d(10, 0, 0); shapeT0->getVertex(10).position += Vector3d(10, 0, 0); EXPECT_TRUE(m_selfContact.removeInvalidCollisions(*shapeT0, *shapeT1, 0, 9)); shapeT0->getVertex(10).position -= Vector3d(10, 0, 0); shapeT1->getVertex(9).position += Vector3d(10, 0, 0); EXPECT_TRUE(m_selfContact.removeInvalidCollisions(*shapeT0, *shapeT1, 0, 9)); shapeT1->getVertex(9).position -= Vector3d(10, 0, 0); shapeT1->getVertex(10).position += Vector3d(10, 0, 0); EXPECT_TRUE(m_selfContact.removeInvalidCollisions(*shapeT0, *shapeT1, 0, 9)); shapeT1->getVertex(10).position -= Vector3d(10, 0, 0); }; TEST_F(SegmentCcdSelfContactTests, GetUniqueCandidates) { std::shared_ptr shapeT0 = buildLoop(1.0e-03, 1.0e-04); std::shared_ptr shapeT1 = buildLoop(-1.0e-03, 1.0e-04); std::set> segmentIdList; std::list intersectionList = shapeT0->getAabbTree()->spatialJoin(*(shapeT1->getAabbTree())); m_selfContact.getUniqueCandidates(intersectionList, &segmentIdList); EXPECT_EQ(6, segmentIdList.size()); EXPECT_TRUE(std::find(segmentIdList.begin(), segmentIdList.end(), std::pair(0, 9)) != segmentIdList.end()); EXPECT_TRUE(std::find(segmentIdList.begin(), segmentIdList.end(), std::pair(0, 8)) != segmentIdList.end()); EXPECT_TRUE(std::find(segmentIdList.begin(), segmentIdList.end(), std::pair(1, 9)) != segmentIdList.end()); EXPECT_TRUE(std::find(segmentIdList.begin(), segmentIdList.end(), std::pair(1, 8)) != segmentIdList.end()); EXPECT_TRUE(std::find(segmentIdList.begin(), segmentIdList.end(), std::pair(4, 5)) != segmentIdList.end()); EXPECT_TRUE(std::find(segmentIdList.begin(), segmentIdList.end(), std::pair(5, 6)) != segmentIdList.end()); EXPECT_FALSE(std::find(segmentIdList.begin(), segmentIdList.end(), std::pair(1, 7)) != segmentIdList.end()); }; TEST_F(SegmentCcdSelfContactTests, DetectCollision) { std::shared_ptr shapeT0 = buildLoop(1.0e-03, 1.0e-04); std::shared_ptr shapeT1 = buildLoop(-1.0e-03, 1.0e-04); double r; double s; double t; Vector3d pToQDir; Vector3d contactPtP; Vector3d contactPtQ; { SCOPED_TRACE("Successful detection"); std::array pt0Positions = shapeT0->getEdgePositions(0); std::array pt1Positions = shapeT1->getEdgePositions(0); std::array qt0Positions = shapeT0->getEdgePositions(9); std::array qt1Positions = shapeT1->getEdgePositions(9); m_selfContact.setTimeMaxPrecisionEpsilon(1.0e-06); m_selfContact.setTimeMinPrecisionEpsilon(1.0e-06); m_selfContact.setDistanceEpsilon(1.0e-09); EXPECT_TRUE(m_selfContact.detectCollision(pt0Positions, pt1Positions, qt0Positions, qt1Positions, 1.0e-04, 1.0e-04, 1.0e-09, &r, &s, &t, &pToQDir, &contactPtP, &contactPtQ)); EXPECT_GT(1.0e-09, std::abs(r - 1.0)); EXPECT_GT(1.0e-09, std::abs(s)); EXPECT_GT(2.0e-09, std::abs(t - 0.4375)); EXPECT_TRUE(pToQDir.normalized().isApprox(Vector3d(0.0, 0.0, -1.0), 1.0e-05)); EXPECT_TRUE(contactPtP.isApprox(Vector3d(0.0, 0.0, 1.0e-04), 1.0e-05)); EXPECT_TRUE(contactPtQ.isApprox(Vector3d(0.0, 0.0, -1.0e-04), 1.0e-05)); EXPECT_TRUE(m_selfContact.detectCollision(pt0Positions, pt1Positions, qt0Positions, qt1Positions, 0.0, 0.0, 1.0e-09, &r, &s, &t, &pToQDir, &contactPtP, &contactPtQ)); EXPECT_GT(1.0e-09, std::abs(r - 1.0)); EXPECT_GT(1.0e-09, std::abs(s)); EXPECT_GT(2.0e-03, std::abs(t - 0.5)); EXPECT_GT(1.0e-09, pToQDir.norm()); EXPECT_GT(1.0e-09, (contactPtP - Vector3d(0.0, 0.0, 5.0e-10)).norm()); EXPECT_GT(1.0e-09, (contactPtQ - Vector3d(0.0, 0.0, 5.0e-10)).norm()); } { SCOPED_TRACE("Detection at T=0 (before movement)"); std::array pt0Positions = shapeT0->getEdgePositions(4); std::array pt1Positions = shapeT1->getEdgePositions(4); std::array qt0Positions = shapeT0->getEdgePositions(5); std::array qt1Positions = shapeT1->getEdgePositions(5); EXPECT_TRUE(m_selfContact.detectCollision(pt0Positions, pt1Positions, qt0Positions, qt1Positions, 1.0e-04, 1.0e-04, 1.0e-03, &r, &s, &t, &pToQDir, &contactPtP, &contactPtQ)); EXPECT_GT(1.0e-09, std::abs(r - 1.0)); EXPECT_GT(1.0e-09, std::abs(s)); EXPECT_GT(1.0e-09, std::abs(t)); EXPECT_GT(1.0e-09, pToQDir.norm()); EXPECT_TRUE(contactPtP.isApprox(Vector3d(0.0, -1.0, 0.0), 1.0e-05)); EXPECT_TRUE(contactPtQ.isApprox(Vector3d(0.0, -1.0, 0.0), 1.0e-05)); EXPECT_TRUE(m_selfContact.detectCollision(pt0Positions, pt1Positions, qt0Positions, qt1Positions, 0.0, 0.0, 1.0e-03, &r, &s, &t, &pToQDir, &contactPtP, &contactPtQ)); EXPECT_GT(1.0e-09, std::abs(r - 1.0)); EXPECT_GT(1.0e-09, std::abs(s)); EXPECT_GT(1.0e-09, std::abs(t)); EXPECT_GT(1.0e-09, pToQDir.norm()); EXPECT_TRUE(contactPtP.isApprox(Vector3d(0.0, -1.0, 0.0), 1.0e-05)); EXPECT_TRUE(contactPtQ.isApprox(Vector3d(0.0, -1.0, 0.0), 1.0e-05)); } { SCOPED_TRACE("No detection"); std::array pt0Positions = shapeT0->getEdgePositions(1); std::array pt1Positions = shapeT1->getEdgePositions(1); std::array qt0Positions = shapeT0->getEdgePositions(7); std::array qt1Positions = shapeT1->getEdgePositions(7); EXPECT_FALSE(m_selfContact.detectCollision(pt0Positions, pt1Positions, qt0Positions, qt1Positions, 1.0e-04, 1.0e-04, 1.0e-03, &r, &s, &t, &pToQDir, &contactPtP, &contactPtQ)); EXPECT_FALSE(m_selfContact.detectCollision(pt0Positions, pt1Positions, qt0Positions, qt1Positions, 0.0, 0.0, 1.0e-03, &r, &s, &t, &pToQDir, &contactPtP, &contactPtQ)); } }; TEST_F(SegmentCcdSelfContactTests, CalculateContact) { { SCOPED_TRACE("Successful detection"); std::shared_ptr shapeT0 = buildLoop(1.0e-03, 1.0e-04); std::shared_ptr shapeT1 = buildLoop(-1.0e-03, 1.0e-04); m_selfContact.setDistanceEpsilon(1.0e-06); auto transformP = Math::RigidTransform3d::Identity(); transformP.translate(Vector3d(1.0, 2.0, 3.0)); auto transformQ = Math::RigidTransform3d::Identity(); transformQ.translate(Vector3d(3.0, 4.0, 5.0)); auto collisionList = m_selfContact.calculateCcdContact( *shapeT0, transformP, *shapeT1, transformQ, *shapeT0, transformP, // unused for self-collision *shapeT1, transformQ); // unused for self-collision EXPECT_EQ(1, collisionList.size()); std::shared_ptr contacted = *(collisionList.begin()); EXPECT_EQ(CollisionDetectionType::COLLISION_DETECTION_TYPE_CONTINUOUS, contacted->type); EXPECT_GT(2.0 * m_selfContact.getTimeMinPrecisionEpsilon(), std::abs(contacted->time - 0.4375)); EXPECT_GT(1.0e-08, contacted->contact.norm()); EXPECT_GT(1.0e-04, (contacted->normal.normalized() - Vector3d(0.0, 0.0, 1.0)).norm()); auto contactP = contacted->penetrationPoints.first.rigidLocalPosition.getValue(); EXPECT_TRUE((contactP.isApprox(transformP.inverse() * (contacted->contact + Vector3d(0.0, 0.0, 0.0001)), 1.0e-06))); auto contactQ = contacted->penetrationPoints.second.rigidLocalPosition.getValue(); EXPECT_TRUE((contactQ.isApprox(transformQ.inverse() * (contacted->contact + Vector3d(0.0, 0.0, -0.0001)), 1.0e-06))); EXPECT_GT(1.0e-10, contacted->depth); } }; }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/ShapeCollisionRepresentationTest.cpp000066400000000000000000000105561277777236100306140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace { static const double dt = 0.001; } namespace SurgSim { namespace Collision { TEST(ShapeCollisionRepresentationTest, MeshUpdateTest) { auto runtime = std::make_shared("config.txt"); const std::string fileName = "Geometry/staple_collision.ply"; auto mesh = std::make_shared(); ASSERT_NO_THROW(mesh->load(fileName)); auto originalMesh = std::make_shared(*mesh); auto expectedMesh = std::make_shared(*mesh); auto collisionRepresentation = std::make_shared("Collision"); collisionRepresentation->setShape(originalMesh); collisionRepresentation->setLocalPose(SurgSim::Math::RigidTransform3d::Identity()); collisionRepresentation->update(dt); EXPECT_EQ(collisionRepresentation->getShapeType(), originalMesh->getType()); auto actualMesh = std::static_pointer_cast(collisionRepresentation->getPosedShape()); EXPECT_EQ(expectedMesh->getVertices(), actualMesh->getVertices()); EXPECT_EQ(expectedMesh->getTriangles(), actualMesh->getTriangles()); RigidTransform3d transform = SurgSim::Math::makeRigidTransform(Vector3d(4.3, 2.1, 6.5), Vector3d(-1.5, 7.5, -2.5), Vector3d(8.7, -4.7, -3.1)); collisionRepresentation->setLocalPose(transform); collisionRepresentation->update(dt); actualMesh = std::static_pointer_cast(collisionRepresentation->getPosedShape()); expectedMesh->transform(transform); EXPECT_TRUE(expectedMesh->update()); EXPECT_EQ(expectedMesh->getVertices(), actualMesh->getVertices()); EXPECT_EQ(expectedMesh->getTriangles(), actualMesh->getTriangles()); } TEST(ShapeCollisionRepresentationTest, SerializationTest) { SurgSim::Framework::Runtime runtime("config.txt"); const std::string fileName = "Geometry/staple_collision.ply"; std::shared_ptr shape = std::make_shared(); auto meshShape = std::dynamic_pointer_cast(shape); EXPECT_NO_THROW(meshShape->load(fileName)); auto collisionRepresentation = std::make_shared("Collision"); collisionRepresentation->setValue("Shape", shape); RigidTransform3d pose = SurgSim::Math::makeRigidTransform(Vector3d(4.3, 2.1, 6.5), Vector3d(-1.5, 7.5, -2.5), Vector3d(8.7, -4.7, -3.1)); collisionRepresentation->setLocalPose(pose); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*collisionRepresentation)); EXPECT_EQ(1u, node.size()); std::shared_ptr newShapeCollisionRepresentation; ASSERT_NO_THROW(newShapeCollisionRepresentation = std::dynamic_pointer_cast (node.as>())); EXPECT_TRUE(pose.isApprox(newShapeCollisionRepresentation->getPose())); auto mesh = std::dynamic_pointer_cast( newShapeCollisionRepresentation->getValue>("Shape")); ASSERT_TRUE(nullptr != mesh); EXPECT_EQ(meshShape->getNumEdges(), mesh->getNumEdges()); EXPECT_EQ(meshShape->getNumTriangles(), mesh->getNumTriangles()); EXPECT_EQ(meshShape->getNumVertices(), mesh->getNumVertices()); } } // namespace Collision } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/SphereDoubleSidedPlaneContactCalculationTests.cpp000066400000000000000000000157121277777236100331440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.h" #include "SurgSim/Collision/SphereDoubleSidedPlaneContact.h" #include "SurgSim/Math/PlaneShape.h" #include "SurgSim/Math/SphereShape.h" using SurgSim::Math::Shape; using SurgSim::Math::SphereShape; using SurgSim::Math::DoubleSidedPlaneShape; namespace SurgSim { namespace Collision { void doSphereDoubleSidedPlaneTest(std::shared_ptr sphere, const Quaterniond& sphereQuat, const Vector3d& sphereTrans, std::shared_ptr plane, const Quaterniond& planeQuat, const Vector3d& planeTrans, bool expectedIntersect, const double& expectedDepth = 0 , const Vector3d& expectedNorm = Vector3d::Zero()) { using SurgSim::Math::Geometry::ScalarEpsilon; using SurgSim::Math::Geometry::DistanceEpsilon; std::shared_ptr planeRep = std::make_shared("Collision Plane"); planeRep->setShape(plane); planeRep->setLocalPose(SurgSim::Math::makeRigidTransform(planeQuat, planeTrans)); std::shared_ptr sphereRep = std::make_shared("Collision Sphere"); sphereRep->setShape(sphere); sphereRep->setLocalPose(SurgSim::Math::makeRigidTransform(sphereQuat, sphereTrans)); SphereDoubleSidedPlaneContact calcNormal; std::shared_ptr pair = std::make_shared(sphereRep, planeRep); // Again this replicates the way this is calculated in the contact calculation just with different // starting values Vector3d sphereLocalNormal = sphereQuat.inverse() * expectedNorm; Vector3d spherePenetration = -sphereLocalNormal * sphere->getRadius(); Vector3d planePenetration = -sphereLocalNormal * (sphere->getRadius() - expectedDepth); planePenetration = (sphereQuat * planePenetration) + sphereTrans; planePenetration = planeQuat.inverse() * (planePenetration - planeTrans); calcNormal.calculateContact(pair); if (expectedIntersect) { ASSERT_TRUE(pair->hasContacts()); std::shared_ptr contact = pair->getContacts().front(); EXPECT_NEAR(expectedDepth, contact->depth, 1e-10); EXPECT_TRUE(eigenEqual(expectedNorm, contact->normal)); EXPECT_TRUE(contact->penetrationPoints.first.rigidLocalPosition.hasValue()); EXPECT_TRUE(contact->penetrationPoints.second.rigidLocalPosition.hasValue()); EXPECT_TRUE(eigenEqual(spherePenetration, contact->penetrationPoints.first.rigidLocalPosition.getValue())); EXPECT_TRUE(eigenEqual(planePenetration, contact->penetrationPoints.second.rigidLocalPosition.getValue())); } else { EXPECT_FALSE(pair->hasContacts()); } } TEST(SphereDoubleSidedPlaneContactCalculationTests, UnitTests) { std::shared_ptr plane = std::make_shared(); std::shared_ptr sphere = std::make_shared(1.0); { SCOPED_TRACE("No Intersection, no transformation"); doSphereDoubleSidedPlaneTest(sphere, Quaterniond::Identity(), Vector3d(0.0,2.0,0.0), plane, Quaterniond::Identity(), Vector3d(0.0,0.5,0.0), false); } { SCOPED_TRACE("Intersection front, no transformation"); doSphereDoubleSidedPlaneTest(sphere, Quaterniond::Identity(), Vector3d(0.0,1.0,0.0), plane,Quaterniond::Identity(), Vector3d(0.0,0.5,0.0), true, 0.5, Vector3d(0.0,1.0,0.0)); } { SCOPED_TRACE("Intersection back, no transformation"); doSphereDoubleSidedPlaneTest(sphere, Quaterniond::Identity(), Vector3d(0.0,0.0,0.0), plane, Quaterniond::Identity(), Vector3d(0.0,0.5,0.0), true, 0.5, Vector3d(0.0,-1.0,0.0)); } { SCOPED_TRACE("Intersection front, sphere center on the plane, rotated plane"); doSphereDoubleSidedPlaneTest(sphere, Quaterniond::Identity(), Vector3d(0.0,0,0.0), plane, SurgSim::Math::makeRotationQuaternion(M_PI_2, Vector3d(1.0,0.0,0.0)), Vector3d(0.0,0.0,0.0), true, 1.0, Vector3d(0.0,0.0,1.0)); } { SCOPED_TRACE("Intersection front, rotated Plane"); doSphereDoubleSidedPlaneTest(sphere, Quaterniond::Identity(), Vector3d(0.0,0.0,0.5), plane, SurgSim::Math::makeRotationQuaternion(M_PI_2, Vector3d(1.0,0.0,0.0)), Vector3d(0.0,0.0,0.0), true, 0.5, Vector3d(0.0,0.0,1.0)); } { Vector3d planeTrans(365.321,-342.324,325.324); Quaterniond planeQuat = SurgSim::Math::makeRotationQuaternion(1.23456, Vector3d(0.234,-0.986,0.646).normalized()); SCOPED_TRACE("Intersection front, rotated plane 2"); doSphereDoubleSidedPlaneTest(sphere, Quaterniond::Identity(), planeQuat * (Vector3d(0.0,0.5,0.0)) + planeTrans, plane, planeQuat, planeTrans, true, 0.5, planeQuat * Vector3d(0.0, 1.0, 0.0)); } } TEST(SphereDoubleSidedPlaneContactCalculationTests, ShouldFail) { std::shared_ptr sphereShape = std::make_shared(1.0); std::shared_ptr doubleSidedPlaneShape = std::make_shared(); std::shared_ptr reps0 = std::make_shared("Collision Sphere 0"); reps0->setShape(sphereShape); reps0->setLocalPose(SurgSim::Math::makeRigidTransform(Quaterniond::Identity(), Vector3d(1.0,0.0,0.0))); std::shared_ptr repp0 = std::make_shared("Collision Plane 0"); repp0->setShape(doubleSidedPlaneShape); repp0->setLocalPose(SurgSim::Math::makeRigidTransform(Quaterniond::Identity(), Vector3d(0.5,0.0,0.0))); std::shared_ptr reps1 = std::make_shared("Collision Sphere 1"); reps1->setShape(sphereShape); reps1->setLocalPose(SurgSim::Math::makeRigidTransform(Quaterniond::Identity(), Vector3d(1.0,0.0,0.0))); std::shared_ptr repp1 = std::make_shared("Collision Plane 1"); repp1->setShape(doubleSidedPlaneShape); repp1->setLocalPose(SurgSim::Math::makeRigidTransform(Quaterniond::Identity(), Vector3d(0.5,0.0,0.0))); std::shared_ptr pairpp = std::make_shared(repp0, repp1); std::shared_ptr pairss = std::make_shared(reps0, reps1); SphereDoubleSidedPlaneContact contact; EXPECT_ANY_THROW(contact.calculateContact(pairpp)); EXPECT_ANY_THROW(contact.calculateContact(pairss)); } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/SpherePlaneContactCalculationTests.cpp000066400000000000000000000112211277777236100310270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.h" #include "SurgSim/Collision/SpherePlaneContact.h" #include "SurgSim/Math/PlaneShape.h" #include "SurgSim/Math/SphereShape.h" using SurgSim::Math::SphereShape; using SurgSim::Math::PlaneShape; namespace SurgSim { namespace Collision { void doSpherePlaneTest(std::shared_ptr sphere, const Quaterniond& sphereQuat, const Vector3d& sphereTrans, std::shared_ptr plane, const Quaterniond& planeQuat, const Vector3d& planeTrans, bool expectedIntersect, const double& expectedDepth = 0, const Vector3d& expectedNorm = Vector3d::Zero()) { std::shared_ptr planeRep = std::make_shared("Plane Shape"); planeRep->setShape(plane); planeRep->setLocalPose(SurgSim::Math::makeRigidTransform(planeQuat,planeTrans)); std::shared_ptr sphereRep = std::make_shared("Sphere Shape"); sphereRep->setShape(sphere); sphereRep->setLocalPose(SurgSim::Math::makeRigidTransform(sphereQuat, sphereTrans)); SpherePlaneContact calcNormal; std::shared_ptr pair = std::make_shared(sphereRep, planeRep); // Again this replicates the way this is calculated in the contact calculation just with different // starting values Vector3d sphereLocalNormal = sphereQuat.inverse() * expectedNorm; Vector3d spherePenetration = -sphereLocalNormal * sphere->getRadius(); Vector3d planePenetration = -sphereLocalNormal * (sphere->getRadius() - expectedDepth); planePenetration = (sphereQuat * planePenetration) + sphereTrans; planePenetration = planeQuat.inverse() * (planePenetration - planeTrans); calcNormal.calculateContact(pair); if (expectedIntersect) { ASSERT_TRUE(pair->hasContacts()); std::shared_ptr contact = pair->getContacts().front(); EXPECT_NEAR(expectedDepth, contact->depth, SurgSim::Math::Geometry::DistanceEpsilon); EXPECT_TRUE(eigenEqual(expectedNorm, contact->normal)); EXPECT_TRUE(contact->penetrationPoints.first.rigidLocalPosition.hasValue()); EXPECT_TRUE(contact->penetrationPoints.second.rigidLocalPosition.hasValue()); EXPECT_TRUE(eigenEqual(spherePenetration, contact->penetrationPoints.first.rigidLocalPosition.getValue())); EXPECT_TRUE(eigenEqual(planePenetration, contact->penetrationPoints.second.rigidLocalPosition.getValue())); } else { EXPECT_FALSE(pair->hasContacts()); } } TEST(SpherePlaneContactCalculationTests, UnitTests) { std::shared_ptr plane = std::make_shared(); std::shared_ptr sphere = std::make_shared(1.0); { SCOPED_TRACE("No Intersection, no transformation"); doSpherePlaneTest(sphere, Quaterniond::Identity(), Vector3d(0.0,2.0,0.0), plane, Quaterniond::Identity(), Vector3d(0.0,0.5,0.0), false); } { SCOPED_TRACE("Intersection front, no transformation"); doSpherePlaneTest(sphere, Quaterniond::Identity(), Vector3d(0.0,1.0,0.0), plane,Quaterniond::Identity(), Vector3d(0.0,0.5,0.0), true, 0.5, Vector3d(0.0,1.0,0.0)); } { SCOPED_TRACE("Intersection back, no transformation"); doSpherePlaneTest(sphere, Quaterniond::Identity(), Vector3d(0.0,0.0,0.0), plane, Quaterniond::Identity(), Vector3d(0.0,0.5,0.0), true, 1.5, Vector3d(0.0,1.0,0.0)); } { SCOPED_TRACE("Intersection front, sphere center on the plane, rotated plane"); doSpherePlaneTest(sphere, Quaterniond::Identity(), Vector3d(0.0,0,0.0), plane, SurgSim::Math::makeRotationQuaternion(M_PI_2, Vector3d(1.0,0.0,0.0)), Vector3d(0.0,0.0,0.0), true, 1.0, Vector3d(0.0,0.0,1.0)); } { SCOPED_TRACE("Intersection front, rotated Plane"); doSpherePlaneTest(sphere, Quaterniond::Identity(), Vector3d(0.0,0.0,0.5), plane, SurgSim::Math::makeRotationQuaternion(M_PI_2, Vector3d(1.0,0.0,0.0)), Vector3d(0.0,0.0,0.0), true, 0.5, Vector3d(0.0,0.0,1.0)); } } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/SphereSphereContactCalculationTests.cpp000066400000000000000000000075001277777236100312230ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.h" #include "SurgSim/Collision/SphereSphereContact.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/SphereShape.h" using SurgSim::Math::Geometry::DistanceEpsilon; namespace SurgSim { namespace Collision { void doSphereSphereTest(double r0, Vector3d p0, double r1, Vector3d p1, bool hasContacts, double expectedDepth = 0.0, Vector3d expectedNormal = Vector3d::UnitX(), Vector3d expectedPenetrationPoint0 = Vector3d::Zero(), Vector3d expectedPenetrationPoint1 = Vector3d::Zero()) { SphereSphereContact calc; auto sphere1 = std::make_shared(r0); auto sphereRep1 = std::make_shared("TestSphereShapeCollisionRep1"); sphereRep1->setShape(sphere1); sphereRep1->setLocalPose(SurgSim::Math::makeRigidTransform(Quaterniond::Identity(), p0)); auto sphere2 = std::make_shared(r1); auto sphereRep2 = std::make_shared("TestSphereShapeCollisionRep2"); sphereRep2->setShape(sphere2); sphereRep2->setLocalPose(SurgSim::Math::makeRigidTransform(Quaterniond::Identity(), p1)); std::shared_ptr pair = std::make_shared(sphereRep1, sphereRep2); calc.calculateContact(pair); EXPECT_EQ(hasContacts, pair->hasContacts()); if (pair->hasContacts()) { std::shared_ptr contact = pair->getContacts().front(); EXPECT_LT(-DistanceEpsilon, contact->depth); const double maxDepth = std::max(sphere1->getRadius(), sphere2->getRadius()); EXPECT_GT(maxDepth + DistanceEpsilon, contact->depth); const Vector3d sphere2ToSphere1 = sphereRep1->getPose().translation() - sphereRep2->getPose().translation(); if (!sphere2ToSphere1.isZero()) { EXPECT_TRUE(eigenEqual(sphere2ToSphere1.normalized(), contact->normal)); } EXPECT_TRUE(eigenEqual(expectedNormal, contact->normal)); EXPECT_NEAR(expectedDepth, contact->depth, SurgSim::Math::Geometry::DistanceEpsilon); EXPECT_TRUE(contact->penetrationPoints.first.rigidLocalPosition.hasValue()); EXPECT_TRUE(contact->penetrationPoints.second.rigidLocalPosition.hasValue()); EXPECT_TRUE(eigenEqual(expectedPenetrationPoint0, contact->penetrationPoints.first.rigidLocalPosition.getValue())); EXPECT_TRUE(eigenEqual(expectedPenetrationPoint1, contact->penetrationPoints.second.rigidLocalPosition.getValue())); } } TEST(SphereSphereContactCalculationTests, UnitTests) { using SurgSim::Math::Geometry::DistanceEpsilon; { SCOPED_TRACE("No Intersection"); doSphereSphereTest(0.1, Vector3d(0.0,0.0,0.0), 0.1, Vector3d(1.0,1.0,1.0), false); } { SCOPED_TRACE("Sphere-Sphere intersection at origin"); doSphereSphereTest(0.5, Vector3d(-0.5+DistanceEpsilon/2.0,0.0,0.0), 0.5, Vector3d(0.5-DistanceEpsilon/2.0,0.0,0.0), true, DistanceEpsilon, Vector3d(-1.0,0.0,0.0), Vector3d(0.5,0.0,0.0), Vector3d(-0.5,0.0,0.0)); } { SCOPED_TRACE("Sphere-Sphere intersection"); doSphereSphereTest(0.5, Vector3d(0.0,0.0,0.0), 0.5, Vector3d(0.5,0.0,0.0), true, 0.5, Vector3d(-1.0,0.0,0.0), Vector3d(0.5,0.0,0.0), Vector3d(-0.5,0.0,0.0)); } } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/TriangleMeshParticlesContactCalculationTests.cpp000066400000000000000000000132561277777236100330640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/Collision/TriangleMeshParticlesContact.h" #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/ParticlesShape.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::Math::Geometry::DistanceEpsilon; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::MeshShape; using SurgSim::Math::ParticlesShape; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { void doCollisionTest(std::shared_ptr particles, std::shared_ptr mesh, const RigidTransform3d& meshPose, const size_t numContactingParticles) { auto meshRep = std::make_shared("Mesh"); meshRep->setShape(mesh); meshRep->setLocalPose(meshPose); auto particlesRep = std::make_shared("Particles"); particlesRep->setShape(particles); TriangleMeshParticlesContact calcContact; auto pair = std::make_shared(meshRep, particlesRep); calcContact.calculateContact(pair); std::unordered_set contactingParticles; for (auto& contact : pair->getContacts()) { size_t particleIndex = contact->penetrationPoints.second.index.getValue(); ASSERT_LE(0u, particleIndex); ASSERT_GT(particles->getVertices().size(), particleIndex); contactingParticles.insert(particleIndex); Vector3d particlesToMesh = meshPose * mesh->getCenter() - particles->getVertex(particleIndex).position; if (!particlesToMesh.isZero()) { // Check that each normal is pointing into the mesh EXPECT_LT(0.0, contact->normal.dot(particlesToMesh)); } // Check that the depth is sane EXPECT_LT(0.0, contact->depth); EXPECT_GE(particles->getRadius() + DistanceEpsilon, contact->depth); } EXPECT_EQ(numContactingParticles, contactingParticles.size()); } TEST(TriangleMeshParticlesContactCalculationTests, CanConstruct) { EXPECT_NO_THROW({ TriangleMeshParticlesContact calculation;}); } TEST(TriangleMeshParticlesContactCalculationTests, CollisionTests) { auto runtime = std::make_shared("config.txt"); auto cube = std::make_shared(); cube->load("Geometry/Cube.ply"); { SCOPED_TRACE("No intersection, no particles"); auto mesh = std::make_shared(*cube); auto meshPose = RigidTransform3d::Identity(); auto particles = std::make_shared(0.5); doCollisionTest(particles, mesh, meshPose, 0); } { SCOPED_TRACE("No Intersection with particles"); auto mesh = std::make_shared(*cube); auto meshPose = RigidTransform3d::Identity(); auto particles = std::make_shared(0.5); particles->addVertex(ParticlesShape::VertexType(Vector3d::Constant(100.0))); particles->addVertex(ParticlesShape::VertexType(Vector3d::UnitX() * 2.0)); particles->addVertex(ParticlesShape::VertexType(Vector3d::UnitY() * -3.0)); particles->addVertex(ParticlesShape::VertexType(Vector3d::UnitZ() * 4.0)); particles->update(); doCollisionTest(particles, mesh, meshPose, 0); } { SCOPED_TRACE("Intersection with one particle"); auto mesh = std::make_shared(*cube); auto meshPose = RigidTransform3d::Identity(); auto particles = std::make_shared(0.5); particles->addVertex(ParticlesShape::VertexType(Vector3d::UnitX())); particles->addVertex(ParticlesShape::VertexType(Vector3d::Constant(100.0))); particles->addVertex(ParticlesShape::VertexType(Vector3d::UnitX() * 2.0)); particles->addVertex(ParticlesShape::VertexType(Vector3d::UnitY() * -3.0)); particles->addVertex(ParticlesShape::VertexType(Vector3d::UnitZ() * 4.0)); particles->update(); doCollisionTest(particles, mesh, meshPose, 1); } { SCOPED_TRACE("No intersection with posed mesh"); auto mesh = std::make_shared(*cube); auto meshPose = makeRigidTransform(Eigen::AngleAxisd(M_PI_4, Vector3d::UnitZ()).matrix(), Vector3d::Zero()); auto particles = std::make_shared(0.5); particles->addVertex(ParticlesShape::VertexType(Vector3d::Ones() * 2.0)); particles->addVertex(ParticlesShape::VertexType(Vector3d::Ones() * -2.0)); particles->addVertex(ParticlesShape::VertexType(Vector3d(1.15, 1.15, 0.0))); particles->update(); doCollisionTest(particles, mesh, meshPose, 0); } { SCOPED_TRACE("Intersection with posed mesh"); auto mesh = std::make_shared(*cube); auto meshPose = makeRigidTransform(Eigen::AngleAxisd(M_PI_4, Vector3d::UnitZ()).matrix(), Vector3d::UnitX() * 10.0); auto particles = std::make_shared(0.5); particles->addVertex(ParticlesShape::VertexType(Vector3d::UnitX() * 11.6)); particles->addVertex(ParticlesShape::VertexType(Vector3d(10.0, 1.9, 0.0))); particles->addVertex(ParticlesShape::VertexType(Vector3d::Zero())); particles->update(); doCollisionTest(particles, mesh, meshPose, 2); } } }; }; opensurgsim-0.7.0/SurgSim/Collision/UnitTests/TriangleMeshPlaneContactCalculationTests.cpp000066400000000000000000000374311277777236100321760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Collision/TriangleMeshPlaneContact.h" #include "SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.h" #include "SurgSim/DataStructures/AabbTree.h" #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::TriangleMeshPlain; using SurgSim::Math::Geometry::DistanceEpsilon; using SurgSim::Math::Matrix33d; using SurgSim::Math::Quaterniond; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { namespace { // CUBE // 3*----------*2 // / /| // 7*----------* | // | 6| | // | *0 | *1 // | |/ // 4*----------*5 static const int cubeNumPoints = 8; static const SurgSim::Math::Vector3d cubePoints[8] = { Vector3d(-1.0 / 2.0, -1.0 / 2.0, -1.0 / 2.0), Vector3d(1.0 / 2.0, -1.0 / 2.0, -1.0 / 2.0), Vector3d(1.0 / 2.0, 1.0 / 2.0, -1.0 / 2.0), Vector3d(-1.0 / 2.0, 1.0 / 2.0, -1.0 / 2.0), Vector3d(-1.0 / 2.0, -1.0 / 2.0, 1.0 / 2.0), Vector3d(1.0 / 2.0, -1.0 / 2.0, 1.0 / 2.0), Vector3d(1.0 / 2.0, 1.0 / 2.0, 1.0 / 2.0), Vector3d(-1.0 / 2.0, 1.0 / 2.0, 1.0 / 2.0) }; static const int cubeNumEdges = 12; static const int cubeEdges[12][2] = { {0, 1}, {3, 2}, {4, 5}, {7, 6}, // +X {0, 3}, {1, 2}, {4, 7}, {5 , 6}, // +Y {0, 4}, {1, 5}, {2, 6}, {3, 7} // +Z }; static const int cubeNumTriangles = 12; static const int cubeTrianglesCCW[12][3] = { {6, 2, 3}, {6, 3, 7}, // Top ( 0 1 0) [6237] {0, 1, 5}, {0, 5, 4}, // Bottom ( 0 -1 0) [0154] {4, 5, 6}, {4, 6, 7}, // Front ( 0 0 1) [4567] {0, 3, 2}, {0, 2, 1}, // Back ( 0 0 -1) [0321] {1, 2, 6}, {1, 6, 5}, // Right ( 1 0 0) [1265] {0, 4, 7}, {0, 7, 3} // Left (-1 0 0) [0473] }; Vector3d calculateTriangleMeshVertex(const int i, const Quaterniond& quat, const Vector3d& trans) { return (quat * Vector3d(cubePoints[i][0], cubePoints[i][1], cubePoints[i][2])) + trans; } void generateTriangleMeshPlaneContact(std::list>* expectedContacts, const int expectedNumberOfContacts, const int* expectedMeshIndicesInContacts, const Vector3d& meshTrans, const Quaterniond& meshQuat, const Vector3d& planeNormal, const double planeD, const Vector3d& planeTrans, const Quaterniond& planeQuat) { Vector3d vertex; Vector3d boxLocalVertex, planeLocalVertex; Vector3d planeNormalGlobal = planeQuat * planeNormal; Vector3d pointOnPlane = planeTrans + (planeNormalGlobal * planeD); double depth = 0.0; Vector3d collisionNormal = planeNormalGlobal; for (int i = 0; i < expectedNumberOfContacts; ++i) { vertex = calculateTriangleMeshVertex(expectedMeshIndicesInContacts[i], meshQuat, meshTrans); depth = -planeNormalGlobal.dot(vertex - pointOnPlane); boxLocalVertex = calculateTriangleMeshVertex(expectedMeshIndicesInContacts[i], Quaterniond::Identity(), Vector3d::Zero()); planeLocalVertex = vertex + planeNormalGlobal * depth; planeLocalVertex = planeQuat.inverse() * (planeLocalVertex - planeTrans); std::pair penetrationPoint; penetrationPoint.first.rigidLocalPosition.setValue(boxLocalVertex); penetrationPoint.second.rigidLocalPosition.setValue(planeLocalVertex); expectedContacts->push_back(std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, depth, 1.0, Vector3d::Zero(), collisionNormal, penetrationPoint)); } } void doTriangleMeshPlaneTest(std::shared_ptr mesh, const Quaterniond& meshQuat, const Vector3d& meshTrans, std::shared_ptr plane, const Quaterniond& planeQuat, const Vector3d& planeTrans, const int expectedNumberOfContacts, const int* expectedMeshIndicesInContacts) { std::shared_ptr meshRep = std::make_shared("Collision Mesh 0"); meshRep->setShape(mesh); meshRep->setLocalPose(SurgSim::Math::makeRigidTransform(meshQuat, meshTrans)); std::shared_ptr planeRep = std::make_shared("Collision Plane 0"); planeRep->setShape(plane); planeRep->setLocalPose(SurgSim::Math::makeRigidTransform(planeQuat, planeTrans)); // First calculate the expected contact info. std::list> expectedContacts; if (expectedNumberOfContacts > 0) { generateTriangleMeshPlaneContact(&expectedContacts, expectedNumberOfContacts, expectedMeshIndicesInContacts, meshTrans, meshQuat, plane->getNormal(), plane->getD(), planeTrans, planeQuat); } // Perform collision detection. TriangleMeshPlaneContact calcContact; std::shared_ptr pair = std::make_shared(meshRep, planeRep); calcContact.calculateContact(pair); const Vector3d globalPlaneNormal = planeRep->getPose().linear() * plane->getNormal(); // update the AABB tree mesh->update(); const double maxRadius = mesh->getAabbTree()->getAabb().diagonal().norm() / 2.0; const Vector3d planeToMesh = mesh->getCenter() - planeTrans; Vector3d nearestPointOnPlane; const double distanceMeshPlane = SurgSim::Math::distancePointPlane(planeToMesh, globalPlaneNormal, plane->getD(), &nearestPointOnPlane); const double minDepth = -distanceMeshPlane - maxRadius; const double maxDepth = -distanceMeshPlane + maxRadius; for (auto contact : pair->getContacts()) { EXPECT_LT(-DistanceEpsilon, contact->depth); EXPECT_LT(minDepth - DistanceEpsilon, contact->depth); EXPECT_GT(maxDepth + DistanceEpsilon, contact->depth); EXPECT_TRUE(eigenEqual(globalPlaneNormal, contact->normal)); } // Compare the contact info. contactsInfoEqualityTest(expectedContacts, pair->getContacts()); } TEST(TriangleMeshPlaneContactCalculationTests, UnitTests) { // Create a Mesh Cube std::shared_ptr mesh = std::make_shared(); for (int i = 0; i < cubeNumPoints; ++i) { Vector3d p; p[0] = cubePoints[i][0]; p[1] = cubePoints[i][1]; p[2] = cubePoints[i][2]; TriangleMeshPlain::VertexType v(p); mesh->addVertex(v); } for (int i = 0; i < cubeNumEdges; ++i) { std::array edgePoints; for (int j = 0; j < 2; ++j) { edgePoints[j] = cubeEdges[i][j]; } TriangleMeshPlain::EdgeType e(edgePoints); mesh->addEdge(e); } for (int i = 0; i < cubeNumTriangles; ++i) { std::array trianglePoints; for (int j = 0; j < 3; ++j) { trianglePoints[j] = cubeTrianglesCCW[i][j]; } TriangleMeshPlain::TriangleType t(trianglePoints); mesh->addTriangle(t); } std::shared_ptr cubeMesh = std::make_shared(*mesh); std::shared_ptr plane = std::make_shared(); Quaterniond meshQuat; Vector3d meshTrans; Quaterniond planeQuat; Vector3d planeTrans; Quaterniond globalQuat; Vector3d planNormal; Matrix33d mRotation; const double epsilonTrans = 0.1; const double cubeSize = 1.0; { SCOPED_TRACE("No intersection, box in front of plane, no rotation"); meshQuat = Quaterniond::Identity(); meshTrans = Vector3d::Zero(); planeQuat = Quaterniond::Identity(); planeTrans = Vector3d(0.0, -(cubeSize / 2.0 + epsilonTrans), 0.0); int expectedNumberOfContacts = 0; int expectedBoxIndicesInContacts[] = {0}; doTriangleMeshPlaneTest(cubeMesh, meshQuat, meshTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("Intersection, 04 contacts, no rotation"); meshQuat = Quaterniond::Identity(); meshTrans = Vector3d::Zero(); planeQuat = Quaterniond::Identity(); planeTrans = Vector3d::Zero(); int expectedNumberOfContacts = 4; int expectedBoxIndicesInContacts[] = {0, 1, 4, 5}; doTriangleMeshPlaneTest(cubeMesh, meshQuat, meshTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("intersection, 08 contacts, no rotation"); meshQuat = Quaterniond::Identity(); meshTrans = Vector3d::Zero(); planeQuat = Quaterniond::Identity(); planeTrans = Vector3d(0.0, (cubeSize / 2.0 + epsilonTrans), 0.0); int expectedNumberOfContacts = 8; int expectedBoxIndicesInContacts[] = {0, 1, 2, 3, 4, 5, 6, 7}; doTriangleMeshPlaneTest(cubeMesh, meshQuat, meshTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("intersection, 02 contacts, plane rotate(Z, -45)"); meshQuat = Quaterniond::Identity(); meshTrans = Vector3d::Zero(); mRotation = Eigen::AngleAxisd(-M_PI_4, Vector3d::UnitZ()); planeQuat = Quaterniond(mRotation); planeTrans = Vector3d(-1.0, -1.0, 0.0) * (cubeSize / 2.0 - epsilonTrans); int expectedNumberOfContacts = 2; int expectedBoxIndicesInContacts[] = {0, 4}; doTriangleMeshPlaneTest(cubeMesh, meshQuat, meshTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("intersection, 06 contacts, plane rotate(Z, 45)"); meshQuat = Quaterniond::Identity(); meshTrans = Vector3d::Zero(); mRotation = Eigen::AngleAxisd(-M_PI_4, Vector3d::UnitZ()); planeQuat = Quaterniond(mRotation); planNormal = mRotation * Vector3d::UnitY(); planeTrans = planNormal * (cubeSize / 2 - epsilonTrans); int expectedNumberOfContacts = 6; int expectedBoxIndicesInContacts[] = {0, 4, 1, 3, 7, 5}; doTriangleMeshPlaneTest(cubeMesh, meshQuat, meshTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } // Test cases to cover all collisions between each corner of the cube with the plane { SCOPED_TRACE("intersection, 01 contact, plane rotate(XZ, -45)"); meshQuat = Quaterniond::Identity(); meshTrans = Vector3d::Zero(); mRotation = Eigen::AngleAxisd(-M_PI_4, Vector3d(1.0, 0.0, 1.0).normalized()); planeQuat = Quaterniond(mRotation); planNormal = Vector3d::UnitY(); planeTrans = -1.0 * planNormal * (sqrt(3.0) * cubeSize / 2.0 - epsilonTrans); int expectedNumberOfContacts = 1; int expectedBoxIndicesInContacts[] = {4}; doTriangleMeshPlaneTest(cubeMesh, meshQuat, meshTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("intersection, 01 contacts, plane rotate(+XZ,-M_PI/2-45)"); meshQuat = Quaterniond::Identity(); meshTrans = Vector3d::Zero(); mRotation = Eigen::AngleAxisd(-M_PI_2 - M_PI_4, Vector3d(1.0, 0.0, 1.0).normalized()); planeQuat = Quaterniond(mRotation); planNormal = mRotation * Vector3d::UnitY(); planeTrans = -1.0 * planNormal * (sqrt(3.0) * cubeSize / 2.0 - epsilonTrans); int expectedNumberOfContacts = 1; int expectedBoxIndicesInContacts[] = {7}; doTriangleMeshPlaneTest(cubeMesh, meshQuat, meshTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("intersection, 01 contacts, plane rotate(+X-Z, +45)"); meshQuat = Quaterniond::Identity(); meshTrans = Vector3d::Zero(); mRotation = Eigen::AngleAxisd(M_PI_4, Vector3d(1.0, 0.0, -1.0).normalized()); planeQuat = Quaterniond(mRotation); planNormal = mRotation * Vector3d::UnitY(); planeTrans = -1.0 * planNormal * (sqrt(3.0) * cubeSize / 2.0 - epsilonTrans); int expectedNumberOfContacts = 1; int expectedBoxIndicesInContacts[] = {0}; doTriangleMeshPlaneTest(cubeMesh, meshQuat, meshTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("intersection, 01 contacts, plane rotate(+X-Z, M_PI/2+45)"); meshQuat = Quaterniond::Identity(); meshTrans = Vector3d::Zero(); mRotation = Eigen::AngleAxisd(0.75 * M_PI, Vector3d(1.0, 0.0, -1.0).normalized()); planeQuat = Quaterniond(mRotation); planNormal = mRotation * Vector3d::UnitY(); planeTrans = -1.0 * planNormal * (sqrt(3.0) * cubeSize / 2.0 - epsilonTrans); int expectedNumberOfContacts = 1; int expectedBoxIndicesInContacts[] = {3}; doTriangleMeshPlaneTest(cubeMesh, meshQuat, meshTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("intersection, 01 contacts, plane rotate(+X-Z, -45)"); meshQuat = Quaterniond::Identity(); meshTrans = Vector3d::Zero(); mRotation = Eigen::AngleAxisd(-M_PI_4, Vector3d(1.0, 0.0, -1.0).normalized()); planeQuat = Quaterniond(mRotation); planNormal = mRotation * Vector3d::UnitY(); planeTrans = -1.0 * planNormal * (sqrt(3.0) * cubeSize / 2.0 - epsilonTrans); int expectedNumberOfContacts = 1; int expectedBoxIndicesInContacts[] = {5}; doTriangleMeshPlaneTest(cubeMesh, meshQuat, meshTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("intersection, 01 contacts, plane rotate(+X-Z,-M_PI/2-45)"); meshQuat = Quaterniond::Identity(); meshTrans = Vector3d::Zero(); mRotation = Eigen::AngleAxisd(-M_PI_2 - M_PI_4, Vector3d(1.0, 0.0, -1.0).normalized()); planeQuat = Quaterniond(mRotation); planNormal = mRotation * Vector3d::UnitY(); planeTrans = -1.0 * planNormal * (sqrt(3.0) * cubeSize / 2.0 - epsilonTrans); int expectedNumberOfContacts = 1; int expectedBoxIndicesInContacts[] = {6}; doTriangleMeshPlaneTest(cubeMesh, meshQuat, meshTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("intersection, 01 contacts, plane rotate(+X+Z, +45)"); meshQuat = Quaterniond::Identity(); meshTrans = Vector3d::Zero(); mRotation = Eigen::AngleAxisd(M_PI_4, Vector3d(1.0, 0.0, 1.0).normalized()); planeQuat = Quaterniond(mRotation); planNormal = mRotation * Vector3d::UnitY(); planeTrans = -1.0 * planNormal * (sqrt(3.0) * cubeSize / 2.0 - epsilonTrans); int expectedNumberOfContacts = 1; int expectedBoxIndicesInContacts[] = {1}; doTriangleMeshPlaneTest(cubeMesh, meshQuat, meshTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("intersection, 01 contacts, plane rotate(+X+Z, M_PI/2+45)"); meshQuat = Quaterniond::Identity(); meshTrans = Vector3d::Zero(); mRotation = Eigen::AngleAxisd(M_PI_2 + M_PI_4, Vector3d(1.0, 0.0, 1.0).normalized()); planeQuat = Quaterniond(mRotation); planNormal = mRotation * Vector3d::UnitY(); planeTrans = -1.0 * planNormal * (sqrt(3.0) * cubeSize / 2.0 - epsilonTrans); int expectedNumberOfContacts = 1; int expectedBoxIndicesInContacts[] = {2}; doTriangleMeshPlaneTest(cubeMesh, meshQuat, meshTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } { SCOPED_TRACE("intersection, 01 contacts, plane & cube -0.8*M_PI*rotate(Z, -M_PI/4)"); globalQuat = SurgSim::Math::makeRotationQuaternion(-1.318, Vector3d::UnitZ()); meshQuat = globalQuat * Quaterniond::Identity(); meshTrans = Vector3d::Zero(); planeQuat = globalQuat * Quaterniond(Eigen::AngleAxisd(-M_PI_4, Vector3d::UnitZ())); planeTrans = Vector3d(-1.0, -1.0, 0.0) * (cubeSize / 2.0 - epsilonTrans); int expectedNumberOfContacts = 2; int expectedBoxIndicesInContacts[] = {0, 4}; doTriangleMeshPlaneTest(cubeMesh, meshQuat, meshTrans, plane, planeQuat, planeTrans, expectedNumberOfContacts, expectedBoxIndicesInContacts); } } } }; // Physics }; // Surgsim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/TriangleMeshSurfaceMeshContactCalculationTests.cpp000066400000000000000000000327131277777236100333420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Collision/TriangleMeshSurfaceMeshContact.h" #include "SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.h" #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::TriangleMeshPlain; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { /* CUBE 3*----------*2 / /| 7*----------* | | 6| | | *0 | *1 | |/ 4*----------*5 */ static const int cubeNumPoints = 8; static const Vector3d cubePoints[8] = { Vector3d(-1.0 / 2.0, -1.0 / 2.0, -1.0 / 2.0), Vector3d(1.0 / 2.0, -1.0 / 2.0, -1.0 / 2.0), Vector3d(1.0 / 2.0, 1.0 / 2.0, -1.0 / 2.0), Vector3d(-1.0 / 2.0, 1.0 / 2.0, -1.0 / 2.0), Vector3d(-1.0 / 2.0, -1.0 / 2.0, 1.0 / 2.0), Vector3d(1.0 / 2.0, -1.0 / 2.0, 1.0 / 2.0), Vector3d(1.0 / 2.0, 1.0 / 2.0, 1.0 / 2.0), Vector3d(-1.0 / 2.0, 1.0 / 2.0, 1.0 / 2.0) }; static const int cubeNumEdges = 12; static const int cubeEdges[12][2] = { {0, 1}, {3, 2}, {4, 5}, {7, 6}, // +X {0, 3}, {1, 2}, {4, 7}, {5 , 6}, // +Y {0, 4}, {1, 5}, {2, 6}, {3, 7} // +Z }; static const int cubeNumTriangles = 12; static const int cubeTrianglesCCW[12][3] = { {6, 2, 3}, {6, 3, 7}, // Top ( 0 1 0) [6237] {0, 1, 5}, {0, 5, 4}, // Bottom ( 0 -1 0) [0154] {4, 5, 6}, {4, 6, 7}, // Front ( 0 0 1) [4567] {0, 3, 2}, {0, 2, 1}, // Back ( 0 0 -1) [0321] {1, 2, 6}, {1, 6, 5}, // Right ( 1 0 0) [1265] {0, 4, 7}, {0, 7, 3} // Left (-1 0 0) [0473] }; void doTriangleMeshSurfaceMeshTest(std::shared_ptr meshA, const RigidTransform3d& meshATransform, std::shared_ptr meshB, const RigidTransform3d& meshBTransform, const std::list> expectedContacts) { std::shared_ptr meshARep = std::make_shared("Collision Mesh 0"); meshARep->setShape(meshA); meshARep->setLocalPose(meshATransform); std::shared_ptr meshBRep = std::make_shared("Collision Mesh 1"); meshBRep->setShape(meshB); meshBRep->setLocalPose(meshBTransform); // Perform collision detection. TriangleMeshSurfaceMeshContact calcContact; std::shared_ptr pair = std::make_shared(meshARep, meshBRep); calcContact.calculateContact(pair); contactsInfoEqualityTest(expectedContacts, pair->getContacts(), true); } TEST(TriangleMeshSurfaceMeshContactCalculationTests, NonintersectionTest) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; // Create a Mesh Cube std::shared_ptr meshA = std::make_shared(); std::shared_ptr meshB = std::make_shared(); for (int i = 0; i < cubeNumPoints; ++i) { Vector3d p; p[0] = cubePoints[i][0]; p[1] = cubePoints[i][1]; p[2] = cubePoints[i][2]; TriangleMeshPlain::VertexType v(p); meshA->addVertex(v); meshB->addVertex(v); } for (int i = 0; i < cubeNumEdges; ++i) { std::array edgePoints; for (int j = 0; j < 2; j++) { edgePoints[j] = cubeEdges[i][j]; } TriangleMeshPlain::EdgeType e(edgePoints); meshA->addEdge(e); meshB->addEdge(e); } for (int i = 0; i < cubeNumTriangles; ++i) { std::array trianglePoints; for (int j = 0; j < 3; j++) { trianglePoints[j] = cubeTrianglesCCW[i][j]; } TriangleMeshPlain::TriangleType t(trianglePoints); meshA->addTriangle(t); if (i < cubeNumTriangles - 2) { meshB->addTriangle(t); } } std::shared_ptr cubeMeshA = std::make_shared(*meshA); std::shared_ptr cubeMeshB = std::make_shared(*meshB); SurgSim::Math::RigidTransform3d cubeMeshATransform; SurgSim::Math::RigidTransform3d cubeMeshBTransform; SurgSim::Math::RigidTransform3d globalTransform; const std::list> emptyContacts; double cubeSize = 1.0; double epsilonTrans = 0.001; { SCOPED_TRACE("No intersection, boxB above boxA"); cubeMeshATransform.setIdentity(); cubeMeshBTransform = Eigen::Translation(0.0, cubeSize + epsilonTrans, 0.0); globalTransform = makeRigidTransform(makeRotationQuaternion(1.234, Vector3d(1.2, 3.4, 5.6).normalized()), Vector3d(34.4, 567.6, 234.5)); cubeMeshATransform = globalTransform * cubeMeshATransform; cubeMeshBTransform = globalTransform * cubeMeshBTransform; doTriangleMeshSurfaceMeshTest(cubeMeshA, cubeMeshATransform, cubeMeshB, cubeMeshBTransform, emptyContacts); } { SCOPED_TRACE("No intersection, boxB below boxA"); cubeMeshATransform.setIdentity(); cubeMeshBTransform = Eigen::Translation(0.0, -(cubeSize + epsilonTrans), 0.0); globalTransform = makeRigidTransform(makeRotationQuaternion(1.4, Vector3d(10.2, 34.4, 15.6).normalized()), Vector3d(3.4, 6.6, 2.5)); cubeMeshATransform = globalTransform * cubeMeshATransform; cubeMeshBTransform = globalTransform * cubeMeshBTransform; doTriangleMeshSurfaceMeshTest(cubeMeshA, cubeMeshATransform, cubeMeshB, cubeMeshBTransform, emptyContacts); } { SCOPED_TRACE("No intersection, boxB to the left of boxA"); cubeMeshATransform.setIdentity(); cubeMeshBTransform = Eigen::Translation(-(cubeSize + epsilonTrans), 0.0, 0.0); globalTransform = makeRigidTransform(makeRotationQuaternion(1.4, Vector3d(1.2, 3.4, 5.6).normalized()), Vector3d(340.4, 567.6, 234.5)); cubeMeshATransform = globalTransform * cubeMeshATransform; cubeMeshBTransform = globalTransform * cubeMeshBTransform; doTriangleMeshSurfaceMeshTest(cubeMeshA, cubeMeshATransform, cubeMeshB, cubeMeshBTransform, emptyContacts); } { SCOPED_TRACE("No intersection, boxB to the right of boxA"); cubeMeshATransform.setIdentity(); cubeMeshBTransform = Eigen::Translation((cubeSize + epsilonTrans), 0.0, 0.0); globalTransform = makeRigidTransform(makeRotationQuaternion(1.2, Vector3d(11.2, 13.4, 15.6).normalized()), Vector3d(3.4, 5.6, 2.5)); cubeMeshATransform = globalTransform * cubeMeshATransform; cubeMeshBTransform = globalTransform * cubeMeshBTransform; doTriangleMeshSurfaceMeshTest(cubeMeshA, cubeMeshATransform, cubeMeshB, cubeMeshBTransform, emptyContacts); } { SCOPED_TRACE("No intersection, boxB in front of boxA"); cubeMeshATransform.setIdentity(); cubeMeshBTransform = Eigen::Translation(0.0, 0.0, (cubeSize + epsilonTrans)); globalTransform = makeRigidTransform(makeRotationQuaternion(2.234, Vector3d(10.2, 30.4, 50.6).normalized()), Vector3d(84.4, 56.6, 24.5)); cubeMeshATransform = globalTransform * cubeMeshATransform; cubeMeshBTransform = globalTransform * cubeMeshBTransform; doTriangleMeshSurfaceMeshTest(cubeMeshA, cubeMeshATransform, cubeMeshB, cubeMeshBTransform, emptyContacts); } { SCOPED_TRACE("No intersection, boxB behind boxA"); cubeMeshATransform.setIdentity(); cubeMeshBTransform = Eigen::Translation(0.0, 0.0, -(cubeSize + epsilonTrans)); globalTransform = makeRigidTransform(makeRotationQuaternion(1.24, Vector3d(9.2, 7.4, 5.6).normalized()), Vector3d(39.4, 67.6, 34.5)); cubeMeshATransform = globalTransform * cubeMeshATransform; cubeMeshBTransform = globalTransform * cubeMeshBTransform; doTriangleMeshSurfaceMeshTest(cubeMeshA, cubeMeshATransform, cubeMeshB, cubeMeshBTransform, emptyContacts); } } namespace { void addNewTriangle(std::shared_ptr mesh, SurgSim::Math::Vector3d point0, SurgSim::Math::Vector3d point1, SurgSim::Math::Vector3d point2) { // Add vertices TriangleMeshPlain::VertexType vertexMesh(Vector3d::Zero()); vertexMesh = TriangleMeshPlain::VertexType(point0); size_t index0 = mesh->addVertex(vertexMesh); vertexMesh = TriangleMeshPlain::VertexType(point1); size_t index1 = mesh->addVertex(vertexMesh); vertexMesh = TriangleMeshPlain::VertexType(point2); size_t index2 = mesh->addVertex(vertexMesh); // Add edges std::array edge; TriangleMeshPlain::EdgeType meshEdge(edge); edge[0] = index0; edge[1] = index1; meshEdge = TriangleMeshPlain::EdgeType(edge); mesh->addEdge(meshEdge); edge[0] = index1; edge[1] = index2; meshEdge = TriangleMeshPlain::EdgeType(edge); mesh->addEdge(meshEdge); edge[0] = index2; edge[1] = index0; meshEdge = TriangleMeshPlain::EdgeType(edge); mesh->addEdge(meshEdge); // Add triangle std::array triangle = {index0, index1, index2}; TriangleMeshPlain::TriangleType meshTriangle(triangle); mesh->addTriangle(meshTriangle); } } TEST(TriangleMeshSurfaceMeshContactCalculationTests, IntersectionTest) { using SurgSim::Math::MeshShape; using SurgSim::Math::Vector3d; using SurgSim::Math::RigidTransform3d; RigidTransform3d pose; pose = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(0.3468, Vector3d(0.2577, 0.8245, 1.0532).normalized()), Vector3d(120.34, 567.23, -832.84)); { // The first mesh. auto intersectingTriangle = std::make_shared(); addNewTriangle(intersectingTriangle, Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 1.0), Vector3d(1.0, 0.0, 0.5)); auto triangleMesh = std::make_shared(*intersectingTriangle); // The first mesh. auto baseTriangles = std::make_shared(); static const int numTriangles = 100; std::list> expectedContacts; double expectedDepth; double zIncrement = 1.0 / (numTriangles + 1); double zValue; std::pair expectedPenetrationPoints; Vector3d expectedPoint0, expectedPoint1; Vector3d expectedNormal, expectedContact(0, 0, 0); for (int i = 0; i < numTriangles; i++) { zValue = static_cast(i + 1) * zIncrement; addNewTriangle(baseTriangles, Vector3d(50, 50, zValue), Vector3d(-50, 50, zValue), Vector3d(0, -50, zValue)); expectedDepth = zValue; if (expectedDepth >= 0.5) { expectedDepth = 1.0 - expectedDepth; expectedNormal = pose.linear() * Vector3d(0, 0, -1); expectedPoint0 = Vector3d(0, 0, 1.0); expectedPoint1 = Vector3d(0, 0, zValue); } else { expectedNormal = pose.linear() * Vector3d(0, 0, 1); expectedPoint0 = Vector3d(0, 0, 0.0); expectedPoint1 = Vector3d(0, 0, zValue); } if (expectedDepth > 0.0) { expectedPenetrationPoints.first.rigidLocalPosition.setValue(expectedPoint0); expectedPenetrationPoints.second.rigidLocalPosition.setValue(expectedPoint1); SurgSim::DataStructures::IndexedLocalCoordinate triangleLocalPosition; triangleLocalPosition.index = 0; expectedPenetrationPoints.first.triangleMeshLocalCoordinate.setValue(triangleLocalPosition); triangleLocalPosition.index = i; expectedPenetrationPoints.second.triangleMeshLocalCoordinate.setValue(triangleLocalPosition); auto contact = std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, expectedDepth, 1.0, expectedContact, expectedNormal, expectedPenetrationPoints); contact->firstVertices = intersectingTriangle->getTrianglePositions(0); contact->secondVertices = baseTriangles->getTrianglePositions(baseTriangles->getNumTriangles() - 1); expectedContacts.push_back(contact); } } auto baseMesh = std::make_shared(*baseTriangles); // Looking in -y, triangle A points in +y, +z is left, +x is down // |-------| => k // * * * * * * * * * * * * * ----- // * * * | // * * * | => 2*k on right, 2*(1-k) on left // * * * | // * * ----- // * * // * // // Looking in -z, triangle B points in +z, +y is up, +x is right // (1) When triangle A sticks sufficiently out of triangle B // i.e. k >= 1/8 && k <= 7/8 // // * ----- // * * | => 1/2 // * * | // * * * * * ----- // * * | => 1/2 // * * | // * * * * * * * * * * * * * ----- // |-----| => 1/4 // // (2) When triangle A only partially sticks out of triangle B // i.e. k > 7/8 || k < 1/8 // * ----- // * * | => 1/2 // * * | // * * * ----- // * * | => 1/2 // * * | // * * * * * * * * * * * * * ----- // |--| => 2k // doTriangleMeshSurfaceMeshTest(triangleMesh, pose, baseMesh, pose, expectedContacts); } } }; // namespace Collision }; // namespace Surgsim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/TriangleMeshTriangleMeshContactCalculationTests.cpp000066400000000000000000000443711277777236100335220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Collision/TriangleMeshTriangleMeshContact.h" #include "SurgSim/Collision/UnitTests/ContactCalculationTestsCommon.h" #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::TriangleMeshPlain; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { /* CUBE 3*----------*2 / /| 7*----------* | | 6| | | *0 | *1 | |/ 4*----------*5 */ static const int cubeNumPoints = 8; static const Vector3d cubePoints[8] = { Vector3d(-1.0 / 2.0, -1.0 / 2.0, -1.0 / 2.0), Vector3d(1.0 / 2.0, -1.0 / 2.0, -1.0 / 2.0), Vector3d(1.0 / 2.0, 1.0 / 2.0, -1.0 / 2.0), Vector3d(-1.0 / 2.0, 1.0 / 2.0, -1.0 / 2.0), Vector3d(-1.0 / 2.0, -1.0 / 2.0, 1.0 / 2.0), Vector3d(1.0 / 2.0, -1.0 / 2.0, 1.0 / 2.0), Vector3d(1.0 / 2.0, 1.0 / 2.0, 1.0 / 2.0), Vector3d(-1.0 / 2.0, 1.0 / 2.0, 1.0 / 2.0) }; static const int cubeNumEdges = 12; static const int cubeEdges[12][2] = { {0, 1}, {3, 2}, {4, 5}, {7, 6}, // +X {0, 3}, {1, 2}, {4, 7}, {5 , 6}, // +Y {0, 4}, {1, 5}, {2, 6}, {3, 7} // +Z }; static const int cubeNumTriangles = 12; static const int cubeTrianglesCCW[12][3] = { {6, 2, 3}, {6, 3, 7}, // Top ( 0 1 0) [6237] {0, 1, 5}, {0, 5, 4}, // Bottom ( 0 -1 0) [0154] {4, 5, 6}, {4, 6, 7}, // Front ( 0 0 1) [4567] {0, 3, 2}, {0, 2, 1}, // Back ( 0 0 -1) [0321] {1, 2, 6}, {1, 6, 5}, // Right ( 1 0 0) [1265] {0, 4, 7}, {0, 7, 3} // Left (-1 0 0) [0473] }; void doTriangleMeshTriangleMeshTest(std::shared_ptr meshA, const RigidTransform3d& meshATransform, std::shared_ptr meshB, const RigidTransform3d& meshBTransform, const std::list> expectedContacts) { std::shared_ptr meshARep = std::make_shared("Collision Mesh 0"); meshARep->setShape(meshA); meshARep->setLocalPose(meshATransform); std::shared_ptr meshBRep = std::make_shared("Collision Mesh 1"); meshBRep->setShape(meshB); meshBRep->setLocalPose(meshBTransform); // Perform collision detection. TriangleMeshTriangleMeshContact calcContact; std::shared_ptr pair = std::make_shared(meshARep, meshBRep); calcContact.calculateContact(pair); contactsInfoEqualityTest(expectedContacts, pair->getContacts(), true); } TEST(TriangleMeshTriangleMeshContactCalculationTests, NonintersectionTest) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; // Create a Mesh Cube std::shared_ptr mesh = std::make_shared(); for (int i = 0; i < cubeNumPoints; ++i) { Vector3d p; p[0] = cubePoints[i][0]; p[1] = cubePoints[i][1]; p[2] = cubePoints[i][2]; TriangleMeshPlain::VertexType v(p); mesh->addVertex(v); } for (int i = 0; i < cubeNumEdges; ++i) { std::array edgePoints; for (int j = 0; j < 2; j++) { edgePoints[j] = cubeEdges[i][j]; } TriangleMeshPlain::EdgeType e(edgePoints); mesh->addEdge(e); } for (int i = 0; i < cubeNumTriangles; ++i) { std::array trianglePoints; for (int j = 0; j < 3; j++) { trianglePoints[j] = cubeTrianglesCCW[i][j]; } TriangleMeshPlain::TriangleType t(trianglePoints); mesh->addTriangle(t); } std::shared_ptr cubeMeshA = std::make_shared(*mesh); std::shared_ptr cubeMeshB = std::make_shared(*mesh); SurgSim::Math::RigidTransform3d cubeMeshATransform; SurgSim::Math::RigidTransform3d cubeMeshBTransform; SurgSim::Math::RigidTransform3d globalTransform; const std::list> emptyContacts; double cubeSize = 1.0; double epsilonTrans = 0.001; { SCOPED_TRACE("No intersection, boxB above boxA"); cubeMeshATransform.setIdentity(); cubeMeshBTransform = Eigen::Translation(0.0, cubeSize + epsilonTrans, 0.0); globalTransform = makeRigidTransform(makeRotationQuaternion(1.234, Vector3d(1.2, 3.4, 5.6).normalized()), Vector3d(34.4, 567.6, 234.5)); cubeMeshATransform = globalTransform * cubeMeshATransform; cubeMeshBTransform = globalTransform * cubeMeshBTransform; doTriangleMeshTriangleMeshTest(cubeMeshA, cubeMeshATransform, cubeMeshB, cubeMeshBTransform, emptyContacts); } { SCOPED_TRACE("No intersection, boxB below boxA"); cubeMeshATransform.setIdentity(); cubeMeshBTransform = Eigen::Translation(0.0, -(cubeSize + epsilonTrans), 0.0); globalTransform = makeRigidTransform(makeRotationQuaternion(1.4, Vector3d(10.2, 34.4, 15.6).normalized()), Vector3d(3.4, 6.6, 2.5)); cubeMeshATransform = globalTransform * cubeMeshATransform; cubeMeshBTransform = globalTransform * cubeMeshBTransform; doTriangleMeshTriangleMeshTest(cubeMeshA, cubeMeshATransform, cubeMeshB, cubeMeshBTransform, emptyContacts); } { SCOPED_TRACE("No intersection, boxB to the left of boxA"); cubeMeshATransform.setIdentity(); cubeMeshBTransform = Eigen::Translation(-(cubeSize + epsilonTrans), 0.0, 0.0); globalTransform = makeRigidTransform(makeRotationQuaternion(1.4, Vector3d(1.2, 3.4, 5.6).normalized()), Vector3d(340.4, 567.6, 234.5)); cubeMeshATransform = globalTransform * cubeMeshATransform; cubeMeshBTransform = globalTransform * cubeMeshBTransform; doTriangleMeshTriangleMeshTest(cubeMeshA, cubeMeshATransform, cubeMeshB, cubeMeshBTransform, emptyContacts); } { SCOPED_TRACE("No intersection, boxB to the right of boxA"); cubeMeshATransform.setIdentity(); cubeMeshBTransform = Eigen::Translation((cubeSize + epsilonTrans), 0.0, 0.0); globalTransform = makeRigidTransform(makeRotationQuaternion(1.2, Vector3d(11.2, 13.4, 15.6).normalized()), Vector3d(3.4, 5.6, 2.5)); cubeMeshATransform = globalTransform * cubeMeshATransform; cubeMeshBTransform = globalTransform * cubeMeshBTransform; doTriangleMeshTriangleMeshTest(cubeMeshA, cubeMeshATransform, cubeMeshB, cubeMeshBTransform, emptyContacts); } { SCOPED_TRACE("No intersection, boxB in front of boxA"); cubeMeshATransform.setIdentity(); cubeMeshBTransform = Eigen::Translation(0.0, 0.0, (cubeSize + epsilonTrans)); globalTransform = makeRigidTransform(makeRotationQuaternion(2.234, Vector3d(10.2, 30.4, 50.6).normalized()), Vector3d(84.4, 56.6, 24.5)); cubeMeshATransform = globalTransform * cubeMeshATransform; cubeMeshBTransform = globalTransform * cubeMeshBTransform; doTriangleMeshTriangleMeshTest(cubeMeshA, cubeMeshATransform, cubeMeshB, cubeMeshBTransform, emptyContacts); } { SCOPED_TRACE("No intersection, boxB behind boxA"); cubeMeshATransform.setIdentity(); cubeMeshBTransform = Eigen::Translation(0.0, 0.0, -(cubeSize + epsilonTrans)); globalTransform = makeRigidTransform(makeRotationQuaternion(1.24, Vector3d(9.2, 7.4, 5.6).normalized()), Vector3d(39.4, 67.6, 34.5)); cubeMeshATransform = globalTransform * cubeMeshATransform; cubeMeshBTransform = globalTransform * cubeMeshBTransform; doTriangleMeshTriangleMeshTest(cubeMeshA, cubeMeshATransform, cubeMeshB, cubeMeshBTransform, emptyContacts); } } namespace { void addNewTriangle(std::shared_ptr mesh, SurgSim::Math::Vector3d point0, SurgSim::Math::Vector3d point1, SurgSim::Math::Vector3d point2) { // Add vertices TriangleMeshPlain::VertexType vertexMesh(Vector3d::Zero()); vertexMesh = TriangleMeshPlain::VertexType(point0); size_t index0 = mesh->addVertex(vertexMesh); vertexMesh = TriangleMeshPlain::VertexType(point1); size_t index1 = mesh->addVertex(vertexMesh); vertexMesh = TriangleMeshPlain::VertexType(point2); size_t index2 = mesh->addVertex(vertexMesh); // Add edges std::array edge; TriangleMeshPlain::EdgeType meshEdge(edge); edge[0] = index0; edge[1] = index1; meshEdge = TriangleMeshPlain::EdgeType(edge); mesh->addEdge(meshEdge); edge[0] = index1; edge[1] = index2; meshEdge = TriangleMeshPlain::EdgeType(edge); mesh->addEdge(meshEdge); edge[0] = index2; edge[1] = index0; meshEdge = TriangleMeshPlain::EdgeType(edge); mesh->addEdge(meshEdge); // Add triangle std::array triangle = {index0, index1, index2}; TriangleMeshPlain::TriangleType meshTriangle(triangle); mesh->addTriangle(meshTriangle); } } TEST(TriangleMeshTriangleMeshContactCalculationTests, IntersectionTest) { using SurgSim::Math::MeshShape; using SurgSim::Math::Vector3d; using SurgSim::Math::RigidTransform3d; RigidTransform3d pose; pose = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(0.3468, Vector3d(0.2577, 0.8245, 1.0532).normalized()), Vector3d(120.34, 567.23, -832.84)); { // The second mesh. auto intersectingTriangle = std::make_shared(); addNewTriangle(intersectingTriangle, Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 1.0), Vector3d(1.0, 0.0, 0.5)); auto triangleMesh = std::make_shared(*intersectingTriangle); // The first mesh. auto baseTriangles = std::make_shared(); static const int numTriangles = 100; std::list> expectedContacts; double expectedDepth; double zOffset = 0.5 / numTriangles; double zValue; std::pair expectedPenetrationPoints; Vector3d expectedPoint0, expectedPoint1; Vector3d expectedNormal, expectedContact(0, 0, 0); for (int i = 0; i < numTriangles - 1; i++) { zValue = static_cast(i) / numTriangles + zOffset; addNewTriangle(baseTriangles, Vector3d(0.5, 0.5, zValue), Vector3d(-0.5, 0.5, zValue), Vector3d(0.0, -0.5, zValue)); expectedDepth = zValue; if (expectedDepth >= 0.5) { expectedDepth = 0.5; expectedNormal = pose.linear() * Vector3d(0, 1, 0); expectedPoint0 = Vector3d(0, -0.5, zValue); expectedPoint1 = Vector3d(0, 0, zValue); } else { expectedNormal = pose.linear() * Vector3d(0, 0, -1); expectedPoint0 = Vector3d(0, 0, zValue); expectedPoint1 = Vector3d(0, 0, 0); } if (expectedDepth > 0.0) { expectedPenetrationPoints.first.rigidLocalPosition.setValue(expectedPoint0); expectedPenetrationPoints.second.rigidLocalPosition.setValue(expectedPoint1); SurgSim::DataStructures::IndexedLocalCoordinate triangleLocalPosition; triangleLocalPosition.index = i; expectedPenetrationPoints.first.triangleMeshLocalCoordinate.setValue(triangleLocalPosition); triangleLocalPosition.index = 0; expectedPenetrationPoints.second.triangleMeshLocalCoordinate.setValue(triangleLocalPosition); auto contact = std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, expectedDepth, 1.0, expectedContact, expectedNormal, expectedPenetrationPoints); contact->firstVertices = baseTriangles->getTrianglePositions(baseTriangles->getNumTriangles() - 1); contact->secondVertices = intersectingTriangle->getTrianglePositions(0); for (size_t i = 0; i < 3; ++i) { contact->firstVertices[i] = contact->firstVertices[i]; contact->secondVertices[i] = contact->secondVertices[i]; } expectedContacts.push_back(contact); } } auto baseMesh = std::make_shared(*baseTriangles); // Looking in -y, triangle A points in +y, +z is left, +x is down // |-------| => k // * * * * * * * * * * * * * ----- // * * * | // * * * | => 2*k on right, 2*(1-k) on left // * * * | // * * ----- // * * // * // // Looking in -z, triangle B points in +z, +y is up, +x is right // (1) When triangle A sticks sufficiently out of triangle B // i.e. k >= 1/8 && k <= 7/8 // // * ----- // * * | => 1/2 // * * | // * * * * * ----- // * * | => 1/2 // * * | // * * * * * * * * * * * * * ----- // |-----| => 1/4 // // (2) When triangle A only partially sticks out of triangle B // i.e. k > 7/8 || k < 1/8 // * ----- // * * | => 1/2 // * * | // * * * ----- // * * | => 1/2 // * * | // * * * * * * * * * * * * * ----- // |--| => 2k // doTriangleMeshTriangleMeshTest(baseMesh, pose, triangleMesh, pose, expectedContacts); } } TEST(TriangleMeshTriangleMeshContactCalculationTests, IntersectionTestAtIdenticalDepth) { using SurgSim::Math::MeshShape; using SurgSim::Math::Vector3d; using SurgSim::Math::RigidTransform3d; RigidTransform3d pose; pose = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(0.4638, Vector3d(0.5727, 0.2485, 1.532).normalized()), Vector3d(210.34, 675.23, -283.84)); pose = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(0.0, Vector3d(0.5727, 0.2485, 1.532).normalized()), Vector3d(0, 0, 0)); { // The second mesh. const double e = 8e-11; auto intersectingTriangle = std::make_shared(); addNewTriangle(intersectingTriangle, Vector3d(e, 0.0, 0.0), Vector3d(-0.5, 0.0, 1.0), Vector3d(e, 0.0, 1.0)); auto triangleMesh = std::make_shared(*intersectingTriangle); // The first mesh. auto baseTriangles = std::make_shared(); static const size_t numTriangles = 100; SurgSim::DataStructures::IndexedLocalCoordinate triangleLocalPosition; std::list> expectedContacts; double expectedDepth; double expectedTime; double interval = 1.0 / static_cast(numTriangles + 1); double coordinate; std::pair expectedPenetrationPoints; Vector3d expectedPoint0, expectedPoint1; Vector3d expectedNormal, expectedContact(0, 0, 0); for (size_t i = 0; i < numTriangles; i++) { coordinate = interval * static_cast(i + 1); addNewTriangle(baseTriangles, Vector3d(-e, -coordinate, coordinate), Vector3d(0.5, 1.0 - coordinate, coordinate), Vector3d(-e, 1.0 - coordinate, coordinate)); expectedDepth = coordinate; expectedTime = 1.0; { expectedPenetrationPoints.first.rigidLocalPosition.setValue(Vector3d(0, 0, coordinate)); expectedPenetrationPoints.second.rigidLocalPosition.setValue(Vector3d(0, 0, 0)); triangleLocalPosition.index = i; expectedPenetrationPoints.first.triangleMeshLocalCoordinate.setValue(triangleLocalPosition); triangleLocalPosition.index = 0; expectedPenetrationPoints.second.triangleMeshLocalCoordinate.setValue(triangleLocalPosition); auto contact = std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, expectedDepth, expectedTime, expectedContact, pose.linear() * Vector3d(0, 0, -1), expectedPenetrationPoints); contact->firstVertices = baseTriangles->getTrianglePositions(baseTriangles->getNumTriangles() - 1); contact->secondVertices = intersectingTriangle->getTrianglePositions(0); for (size_t i = 0; i < 3; ++i) { contact->firstVertices[i] = contact->firstVertices[i]; contact->secondVertices[i] = contact->secondVertices[i]; } expectedContacts.push_back(contact); } { expectedPenetrationPoints.first.rigidLocalPosition.setValue(Vector3d(0, -coordinate, coordinate)); expectedPenetrationPoints.second.rigidLocalPosition.setValue(Vector3d(0, 0, coordinate)); triangleLocalPosition.index = i; expectedPenetrationPoints.first.triangleMeshLocalCoordinate.setValue(triangleLocalPosition); triangleLocalPosition.index = 0; expectedPenetrationPoints.second.triangleMeshLocalCoordinate.setValue(triangleLocalPosition); auto contact = std::make_shared( COLLISION_DETECTION_TYPE_DISCRETE, expectedDepth, expectedTime, expectedContact, pose.linear() * Vector3d(0, 1, 0), expectedPenetrationPoints); contact->firstVertices = baseTriangles->getTrianglePositions(baseTriangles->getNumTriangles() - 1); contact->secondVertices = intersectingTriangle->getTrianglePositions(0); for (size_t i = 0; i < 3; ++i) { contact->firstVertices[i] = contact->firstVertices[i]; contact->secondVertices[i] = contact->secondVertices[i]; } expectedContacts.push_back(contact); } } auto baseMesh = std::make_shared(*baseTriangles); std::shared_ptr meshARep = std::make_shared("Collision Mesh 0"); meshARep->setShape(baseMesh); meshARep->setLocalPose(pose); std::shared_ptr meshBRep = std::make_shared("Collision Mesh 1"); meshBRep->setShape(triangleMesh); meshBRep->setLocalPose(pose); // Perform collision detection. TriangleMeshTriangleMeshContact calcContact; std::shared_ptr pair = std::make_shared(meshARep, meshBRep); calcContact.calculateContact(pair); auto& calculatedContacts = pair->getContacts(); EXPECT_EQ(numTriangles, calculatedContacts.size()); for (auto it = calculatedContacts.begin(); it != calculatedContacts.end(); ++it) { EXPECT_TRUE(isContactPresentInList(*it, expectedContacts, false)); } } } }; // namespace Collision }; // namespace Surgsim opensurgsim-0.7.0/SurgSim/Collision/UnitTests/config.txt.in000066400000000000000000000000541277777236100240140ustar00rootroot00000000000000${PROJECT_BINARY_DIR}/SurgSim/Testing/Data/ opensurgsim-0.7.0/SurgSim/DataStructures/000077500000000000000000000000001277777236100204625ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/DataStructures/AabbTree.cpp000066400000000000000000000064171277777236100226430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/AabbTree.h" #include "SurgSim/DataStructures/AabbTreeNode.h" #include namespace SurgSim { namespace DataStructures { AabbTree::AabbTree() : m_maxObjectsPerNode(3) { m_typedRoot = std::make_shared(); setRoot(m_typedRoot); } AabbTree::AabbTree(size_t maxObjectsPerNode) : m_maxObjectsPerNode(maxObjectsPerNode) { m_typedRoot = std::make_shared(); setRoot(m_typedRoot); } AabbTree::~AabbTree() { } void AabbTree::add(const SurgSim::Math::Aabbd& aabb, size_t objectId) { m_typedRoot->addData(aabb, objectId, m_maxObjectsPerNode); } void AabbTree::set(const std::list& items) { m_typedRoot = std::make_shared(); setRoot(m_typedRoot); m_typedRoot->setData(items, m_maxObjectsPerNode); } void AabbTree::set(std::list&& items) { m_typedRoot = std::make_shared(); setRoot(m_typedRoot); m_typedRoot->setData(std::move(items), m_maxObjectsPerNode); } size_t AabbTree::getMaxObjectsPerNode() const { return m_maxObjectsPerNode; } const SurgSim::Math::Aabbd& AabbTree::getAabb() const { return m_typedRoot->getAabb(); } std::list AabbTree::spatialJoin(const AabbTree& otherTree) const { std::list result; spatialJoin(std::static_pointer_cast(getRoot()), std::static_pointer_cast(otherTree.getRoot()), &result); return result; } void AabbTree::spatialJoin(std::shared_ptr lhsParent, std::shared_ptr rhsParent, std::list* result) const { if (!SurgSim::Math::doAabbIntersect(lhsParent->getAabb(), rhsParent->getAabb())) { return; } if ((lhsParent->getNumChildren() == 0) && (rhsParent->getNumChildren() == 0)) { result->emplace_back(lhsParent, rhsParent); } else if (lhsParent->getNumChildren() == 0) { for (size_t j = 0; j < rhsParent->getNumChildren(); j++) { auto rhs = std::static_pointer_cast(rhsParent->getChild(j)); spatialJoin(lhsParent, rhs, result); } } else if (rhsParent->getNumChildren() == 0) { for (size_t i = 0; i < lhsParent->getNumChildren(); i++) { auto lhs = std::static_pointer_cast(lhsParent->getChild(i)); spatialJoin(lhs, rhsParent, result); } } else { for (size_t i = 0; i < lhsParent->getNumChildren(); i++) { auto lhs = std::static_pointer_cast(lhsParent->getChild(i)); for (size_t j = 0; j < rhsParent->getNumChildren(); j++) { auto rhs = std::static_pointer_cast(rhsParent->getChild(j)); spatialJoin(lhs, rhs, result); } } } } } } opensurgsim-0.7.0/SurgSim/DataStructures/AabbTree.h000066400000000000000000000066441277777236100223120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_AABBTREE_H #define SURGSIM_DATASTRUCTURES_AABBTREE_H #include #include "SurgSim/DataStructures/Tree.h" #include "SurgSim/DataStructures/AabbTreeData.h" #include "SurgSim/Math/Aabb.h" namespace SurgSim { namespace DataStructures { class AabbTreeNode; /// AabbTree is a tree that is organized by the bounding boxes of the referenced objects, the bounding box used is /// the Axis Aligned Bounding Box (AABB), with the extents of an AABB describing the min and max of each coordinate /// for the given object. class AabbTree : public Tree { public: /// Constructor AabbTree(); /// Constructor /// \param maxObjectsPerNode if the number of objects exceeds this a split of the node will be triggered explicit AabbTree(size_t maxObjectsPerNode); /// Destructor virtual ~AabbTree(); /// \return the number of objects per node that will trigger a split for this tree size_t getMaxObjectsPerNode() const; /// Add a give object identified by objectId to the tree, this id should be unqiue on the users side, but no /// checks are made in the inside of the tree /// \param aabb AABB of this object. /// \param objectId Id for the object to be identified with this bounding box void add(const SurgSim::Math::Aabbd& aabb, size_t objectId); /// Create the tree from a list of tree items, all the tree information will be deleted /// \param items list of items to insert into the tree void set(const std::list& items); /// Create the tree from a list of tree items, all the tree information will be deleted /// \param items rvalue reference to list of items to insert into the tree void set(std::list&& items); /// \return the AABB for the tree const SurgSim::Math::Aabbd& getAabb() const; /// Type indicating a relationship between two AabbTreeNodes typedef std::pair, std::shared_ptr> TreeNodePairType; /// Query to find all pairs of intersecting nodes between two aabb r-trees. /// \param otherTree The other tree to compare against /// \return The list of all pairs of intersecting nodes std::list spatialJoin(const AabbTree& otherTree) const; /// Query to find all pairs of intersecting nodes between two aabb r-trees. /// \param lhsParent root node of the first tree /// \param rhsParent root node of the second tree /// \param result the list of all pairs of intersecting nodes void spatialJoin(std::shared_ptr lhsParent, std::shared_ptr rhsParent, std::list* result) const; private: /// Number of objects in a node that will trigger a split size_t m_maxObjectsPerNode; /// A typed version of the root for access without typecasting std::shared_ptr m_typedRoot; }; } } #endif opensurgsim-0.7.0/SurgSim/DataStructures/AabbTreeData.cpp000066400000000000000000000071201277777236100234250ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/AabbTreeData.h" #include "SurgSim/Framework/Assert.h" #include namespace SurgSim { namespace DataStructures { AabbTreeData::AabbTreeData() { } AabbTreeData::AabbTreeData(const std::list& data) : m_data(data) { recalculateAabb(); } AabbTreeData::AabbTreeData(std::list&& data) : m_data(std::move(data)) { recalculateAabb(); } AabbTreeData::~AabbTreeData() { } bool AabbTreeData::isEqual(const TreeData* data) const { // The type safety of this is guaranteed by the == operator in TreeData const AabbTreeData* treeData = static_cast(data); bool result = false; if (getSize() == treeData->getSize() && getAabb().isApprox(treeData->getAabb())) { result = true; auto it = m_data.cbegin(); auto endIt = m_data.cend(); auto otherEnd = treeData->m_data.cend(); auto functor = [it](const Item & other) { return ((*it).second == other.second && (*it).first.isApprox(other.first)); }; for (; it != endIt; ++it) { if (std::find_if(treeData->m_data.cbegin(), treeData->m_data.cend(), functor) == otherEnd) { result = false; break; } } } return result; } void AabbTreeData::add(const SurgSim::Math::Aabbd aabb, size_t id) { m_aabb.extend(aabb); m_data.emplace_back(aabb, id); } const SurgSim::Math::Aabbd& AabbTreeData::getAabb() const { return m_aabb; } bool AabbTreeData::isEmpty() const { return m_data.empty(); } size_t AabbTreeData::getSize() const { return m_data.size(); } std::shared_ptr AabbTreeData::takeLargerElements() { std::shared_ptr result(std::make_shared()); int axis; m_aabb.sizes().maxCoeff(&axis); double centerValue = m_aabb.center()(axis); // HS-2015-03-20 // The new left and right aabb extents can probably be calculated here // Only the separating axis extents would change the other two axis are unaffected // #performance auto functor = [centerValue, axis](const Item & item) { return item.first.center()(axis) < centerValue; }; auto split = std::partition(m_data.begin(), m_data.end(), functor); // In some cases all pieces may end up on one or the other side of the split, make this a noop if (split != m_data.begin() && split != m_data.end()) { result->m_data.splice(result->m_data.end(), m_data, split, m_data.end()); recalculateAabb(); result->recalculateAabb(); } return result; } void AabbTreeData::recalculateAabb() { m_aabb.setNull(); std::for_each(m_data.begin(), m_data.end(), [&](const Item & item) { m_aabb.extend(item.first); }); } void AabbTreeData::getIntersections(const SurgSim::Math::Aabbd& aabb, std::list* result) const { std::for_each(m_data.begin(), m_data.end(), [&](const Item & item) { if (SurgSim::Math::doAabbIntersect(item.first, aabb)) { result->push_back(item.second); } }); } bool AabbTreeData::hasIntersections(const SurgSim::Math::Aabbd& aabb) const { return SurgSim::Math::doAabbIntersect(m_aabb, aabb); } } } opensurgsim-0.7.0/SurgSim/DataStructures/AabbTreeData.h000066400000000000000000000066361277777236100231050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_AABBTREEDATA_H #define SURGSIM_DATASTRUCTURES_AABBTREEDATA_H #include "SurgSim/DataStructures/TreeData.h" #include "SurgSim/Math/Aabb.h" #include #include #include namespace SurgSim { namespace DataStructures { /// Internal class to hold a list of AABBs and their respective object ids, it can calculate the elements /// that intersect with a given aabb each node in the AABB tree holds one of these. class AabbTreeData : public TreeData { public: typedef std::pair Item; /// Constructor AabbTreeData(); /// Copy Constructor AabbTreeData(const AabbTreeData& data); /// Constructor with list of items explicit AabbTreeData(const std::list& data); /// Constructor with moveable list of items explicit AabbTreeData(std::list&& data); /// Destructor ~AabbTreeData(); /// Add an item to the data /// \param aabb the AABB of the item /// \param id an object identifier assigned by the user of this class void add(const SurgSim::Math::Aabbd aabb, size_t id); /// \return the combined AABB of all the contained items const SurgSim::Math::Aabbd& getAabb() const; /// \return true when there are no items, false otherwise bool isEmpty() const; /// \return the number of items size_t getSize() const; /// Split the current items into two geometric halves, keep the first half and return a pointer to the second half. /// The split is done along the longest axis of the enclosing aabb, the center of this axis is the point where /// the split occurs. This object will keep items that have a smaller coordinate than the center, the result will /// receive all items that have a larger coordinate on the determined axis. /// \return AabbTreeData with the items to the right of the center of the longest axis. std::shared_ptr takeLargerElements(); /// Check whether there could be any intersections with a given bounding box. /// \param aabb bounding box to use for the intersection check. /// \return true if the given AABB intersects with the AABB of all contained items. bool hasIntersections(const SurgSim::Math::Aabbd& aabb) const; /// Check all items bounding boxes against the one passed as a parameter and append items that overlap /// to the list given as a parameter /// \param aabb the bounding box being queried /// \param [out] result list to be used for intersecting items void getIntersections(const SurgSim::Math::Aabbd& aabb, std::list* result) const; private: /// Recalculate the aabb of this class, in case items where updated void recalculateAabb(); bool isEqual(const TreeData* data) const override; /// AABB containg all items SurgSim::Math::Aabbd m_aabb; /// The items that were added to this list std::list m_data; }; } } #endif opensurgsim-0.7.0/SurgSim/DataStructures/AabbTreeIntersectionVisitor.cpp000066400000000000000000000041761277777236100266120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/AabbTreeIntersectionVisitor.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/DataStructures/AabbTreeNode.h" #include "SurgSim/Math/Aabb.h" namespace SurgSim { namespace DataStructures { AabbTreeIntersectionVisitor::AabbTreeIntersectionVisitor() { } AabbTreeIntersectionVisitor::AabbTreeIntersectionVisitor(const SurgSim::Math::Aabbd& aabb) : m_aabb(aabb) { } AabbTreeIntersectionVisitor::~AabbTreeIntersectionVisitor() { } bool AabbTreeIntersectionVisitor::handle(TreeNode* node) { SURGSIM_FAILURE() << "Can only handle AabbTreeNodes, this is of a different type."; return false; } bool AabbTreeIntersectionVisitor::handle(AabbTreeNode* node) { bool result = false; if (node->getNumChildren() == 0) { // On a leaf node, perform the intersections node->getIntersections(m_aabb, &m_intersections); } else { // On non leaf nodes check if we have an intersection with the common aabb result = SurgSim::Math::doAabbIntersect(m_aabb, node->getAabb()); } return result; } void AabbTreeIntersectionVisitor::reset() { m_intersections.clear(); } SurgSim::Math::Aabbd AabbTreeIntersectionVisitor::getAabb() const { return m_aabb; } void AabbTreeIntersectionVisitor::setAabb(const SurgSim::Math::Aabbd& aabb) { m_aabb = aabb; reset(); } const std::list& AabbTreeIntersectionVisitor::getIntersections() const { return m_intersections; } bool AabbTreeIntersectionVisitor::hasIntersections() const { return !m_intersections.empty(); } } } opensurgsim-0.7.0/SurgSim/DataStructures/AabbTreeIntersectionVisitor.h000066400000000000000000000040111277777236100262430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_AABBTREEINTERSECTIONVISITOR_H #define SURGSIM_DATASTRUCTURES_AABBTREEINTERSECTIONVISITOR_H #include "SurgSim/DataStructures/TreeVisitor.h" #include "SurgSim/Math/Aabb.h" #include namespace SurgSim { namespace DataStructures { /// Visitor class to collect the items that intersect with a given bounding box class AabbTreeIntersectionVisitor : public TreeVisitor { public: /// Constructor AabbTreeIntersectionVisitor(); /// Constructor /// \param aabb the bounding box to be used. explicit AabbTreeIntersectionVisitor(const SurgSim::Math::Aabbd& aabb); /// Destructor virtual ~AabbTreeIntersectionVisitor(); bool handle(TreeNode* node) override; bool handle(AabbTreeNode* node) override; /// \return true if the visitor has found intersections bool hasIntersections() const; /// Resets the data in the tree void reset(); /// \return the bounding box to be used for the test. SurgSim::Math::Aabbd getAabb() const; /// Sets a new bounding box, will also call reset() /// \param aabb The new bounding box. void setAabb(const SurgSim::Math::Aabbd& aabb); /// \return a reference to the found intersections. const std::list& getIntersections() const; private: /// List of ids found for intersections std::list m_intersections; /// Bounding box used for intersection test SurgSim::Math::Aabbd m_aabb; }; } } #endif opensurgsim-0.7.0/SurgSim/DataStructures/AabbTreeNode.cpp000066400000000000000000000111641277777236100234440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/AabbTreeNode.h" #include "SurgSim/DataStructures/AabbTreeData.h" #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace DataStructures { AabbTreeNode::AabbTreeNode() { } AabbTreeNode::~AabbTreeNode() { } void AabbTreeNode::splitNode(size_t maxNodeData) { auto leftData = std::static_pointer_cast(getData()); if (leftData->getSize() > maxNodeData) { std::shared_ptr rightData = leftData->takeLargerElements(); std::shared_ptr leftChild; std::shared_ptr rightChild; // Early exit, takeLargerElements() may not be able to split the list, in this // case we abort the splitNode. if (leftData->getSize() == 0 || rightData->getSize() == 0) { auto count = std::max(leftData->getSize(), rightData->getSize()); if (maxNodeData > 0 && count > 3 * maxNodeData) { SURGSIM_LOG_ONCE(Framework::Logger::getLogger("DataStructures/AabbTreeNode"), WARNING) << "The aabb tree build process encountered some items that could not be split anymore " << "this may cause suboptimal behavior when querying the aabb tree."; } return; } if (getNumChildren() != 2) { leftChild = std::make_shared(); addChild(leftChild); rightChild = std::make_shared(); addChild(rightChild); } else { leftChild = std::static_pointer_cast(getChild(0)); rightChild = std::static_pointer_cast(getChild(1)); } // Update the local aabb // The axis won't change after it has been split m_aabb = leftData->getAabb(); m_aabb.extend(rightData->getAabb()); m_aabb.sizes().maxCoeff(&m_axis); setData(nullptr); size_t leftCount = leftData->getSize(); size_t rightCount = rightData->getSize(); leftChild->setData(std::move(leftData)); if (maxNodeData > 0 && leftCount > maxNodeData) { leftChild->splitNode(maxNodeData); } rightChild->setData(std::move(rightData)); if (maxNodeData > 0 && rightCount > maxNodeData) { rightChild->splitNode(maxNodeData); } } } const SurgSim::Math::Aabbd& AabbTreeNode::getAabb() const { auto data = std::static_pointer_cast(getData()); if (data == nullptr) { return m_aabb; } else { return data->getAabb(); } } void AabbTreeNode::addData(const SurgSim::Math::Aabbd& aabb, size_t id, size_t maxNodeData) { if (getNumChildren() > 0) { size_t childIndex = (aabb.center()(m_axis) < m_aabb.center()(m_axis)) ? 0 : 1; auto childNode = std::static_pointer_cast(getChild(childIndex)); childNode->addData(aabb, id, maxNodeData); m_aabb.extend(aabb); } else { auto data = std::static_pointer_cast(getData()); if (data == nullptr) { data = std::make_shared(); setData(data); } data->add(aabb, id); if (maxNodeData > 0 && data->getSize() > maxNodeData) { splitNode(); } } } void AabbTreeNode::setData(const std::list& items, size_t maxNodeData) { SURGSIM_ASSERT(getNumChildren() == 0) << "Can't call setData on a node that already has nodes"; SURGSIM_ASSERT(getData() == nullptr) << "Can't call setData on a node that already has data."; auto data = std::make_shared(items); setData(data); splitNode(maxNodeData); } void AabbTreeNode::setData(std::list&& items, size_t maxNodeData) { SURGSIM_ASSERT(getNumChildren() == 0) << "Can't call setData on a node that already has nodes"; SURGSIM_ASSERT(getData() == nullptr) << "Can't call setData on a node that already has data."; auto data = std::make_shared(std::move(items)); setData(data); splitNode(maxNodeData); } bool AabbTreeNode::doAccept(TreeVisitor* visitor) { return visitor->handle(this); } void AabbTreeNode::getIntersections(const SurgSim::Math::Aabbd& aabb, std::list* result) { auto data = std::static_pointer_cast(getData()); SURGSIM_ASSERT(data != nullptr) << "AabbTreeNode data is nullptr."; data->getIntersections(aabb, result); } } } opensurgsim-0.7.0/SurgSim/DataStructures/AabbTreeNode.h000066400000000000000000000106441277777236100231130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_AABBTREENODE_H #define SURGSIM_DATASTRUCTURES_AABBTREENODE_H #include "SurgSim/DataStructures/TreeNode.h" #include "SurgSim/DataStructures/AabbTreeData.h" #include "SurgSim/Math/Aabb.h" namespace SurgSim { namespace DataStructures { /// Node class for the AabbTree, this handles groups of items and subdivision if the number of items gets too big class AabbTreeNode : public TreeNode { public: using TreeNode::setData; /// Constructor AabbTreeNode(); /// Destructor virtual ~AabbTreeNode(); /// Splits the data into two parts, creates two children and puts the split data into the children /// the aabb of this node does not change, the data of this node will be empty after this. /// \param maxNodeData number of maximum items of data in this node, if more, the node will split, /// if 0 the node will not be split until it is no longer possible, the structure will /// approach a binary tree. /// \note Sometimes the current mechanism to split the list of AABBs along the longest axis will fail to actually /// split the list, if the size of the list is greater than 3 * maxNodeData a warning will be generated void splitNode(size_t maxNodeData = 0); /// Get the aabb of this node, it is the union of the aabb of all the items in the data when the node /// has data, or all the union of the aabb trees of all the sub-nodes. /// \return The aabb box of this node. const SurgSim::Math::Aabbd& getAabb() const; /// Add data to this node, if maxNodeData is >0 the node will split if the number of data items exceeds maxNodeData /// \param aabb The aabb for the item to be added. /// \param id The id for the item that is being added, handled by the user of this class. /// \param maxNodeData number of maximum items of data in this node, if more, the node will split, /// if 0 the node will not be split until it is no longer possible, the structure will /// approach a binary tree. void addData(const SurgSim::Math::Aabbd& aabb, size_t id, size_t maxNodeData = 0); /// Set the data on this node, the node needs to be empty and not have any children for this to work. /// Nodes will be split until there are only maxNodeData elements in one node /// \param items list of AabbTreeData::Item elements that should populate the tree /// \param maxNodeData number of maximum items of data in this node, if more, the node will split, /// if 0 the node will not be split until it is no longer possible, the structure will /// approach a binary tree. void setData(const std::list& items, size_t maxNodeData = 0); /// Set the data on this node, rvalue reference version, /// the node needs to be empty and not have any children for this to work. /// Nodes will be split until there are only maxNodeData elements in one node /// \param items list of AabbTreeData::Item elements that should populate the tree /// \param maxNodeData number of maximum items of data in this node, if more, the node will split, /// if 0 the node will not be split until it is no longer possible, the structure will /// approach a binary tree. void setData(std::list&& items, size_t maxNodeData); /// Fetch a list of items that have AABBs intersecting with the given AABB. /// \param aabb The bounding box for the query. /// \param [out] result location to receive the results of the call. void getIntersections(const SurgSim::Math::Aabbd& aabb, std::list* result); protected: bool doAccept(TreeVisitor* visitor) override; private: /// The internal bounding box for this node, it is used when the node does not have any data SurgSim::Math::Aabbd m_aabb; /// Cache for the index of the longest axis on this node size_t m_axis; }; } } #endif opensurgsim-0.7.0/SurgSim/DataStructures/BufferedValue-inl.h000066400000000000000000000030041277777236100241270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_BUFFEREDVALUE_INL_H #define SURGSIM_DATASTRUCTURES_BUFFEREDVALUE_INL_H namespace SurgSim { namespace DataStructures { template BufferedValue::BufferedValue() { m_safeValue = std::make_shared(); } template BufferedValue::BufferedValue(const T& value) : m_value(value) { m_safeValue = std::make_shared(m_value); } template BufferedValue::~BufferedValue() { } template void BufferedValue::publish() { auto newSafeValue = std::make_shared(m_value); { UniqueLock lock(m_mutex); std::swap(newSafeValue, m_safeValue); } } template T& BufferedValue::unsafeGet() { return m_value; } template std::shared_ptr BufferedValue::safeGet() const { SharedLock lock(m_mutex); return m_safeValue; } } // DataStructures } // SurgSim #endif opensurgsim-0.7.0/SurgSim/DataStructures/BufferedValue.h000066400000000000000000000040711277777236100233540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_BUFFEREDVALUE_H #define SURGSIM_DATASTRUCTURES_BUFFEREDVALUE_H #include #include #include #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace DataStructures { /// BufferedValue is a class to enable a representation of two values for one variable, where both values need to be /// accessible at the same time, one in a thread safe, single threaded context, the other in a thread unsafe context. /// \tparam T Type that is used for the value. template class BufferedValue { public: // Default Constructor BufferedValue(); // Constructor /// \param value Default value. explicit BufferedValue(const T& value); /// Destructor ~BufferedValue(); /// Make the current value the one returned by calls to safeGet. void publish(); /// Get the value /// \return A reference to the value. T& unsafeGet(); /// Get the buffered value /// \return The value at the last call to publish. std::shared_ptr safeGet() const; private: typedef boost::shared_lock SharedLock; typedef boost::unique_lock UniqueLock; /// The raw value T m_value; /// The buffered value std::shared_ptr m_safeValue; /// The mutex used to lock for reading and writing mutable boost::shared_mutex m_mutex; }; } // DataStructures } // SurgSim #include "SurgSim/DataStructures/BufferedValue-inl.h" #endif opensurgsim-0.7.0/SurgSim/DataStructures/CMakeLists.txt000066400000000000000000000050021277777236100232170ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2016, SimQuest Solutions 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 # # 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. set(SURGSIM_DATA_STRUCTURES_SOURCES AabbTree.cpp AabbTreeData.cpp AabbTreeIntersectionVisitor.cpp AabbTreeNode.cpp DataGroup.cpp DataGroupBuilder.cpp DataGroupCopier.cpp IndexDirectory.cpp IndexedLocalCoordinate.cpp OctreeNode.cpp OctreeNodePlyReaderDelegate.cpp ply.c PlyReader.cpp SegmentMesh.cpp Tree.cpp TreeData.cpp TreeNode.cpp TriangleMesh.cpp ) set(SURGSIM_DATA_STRUCTURES_HEADERS AabbTree.h AabbTreeData.h AabbTreeIntersectionVisitor.h AabbTreeNode.h BufferedValue.h BufferedValue-inl.h DataGroup.h DataGroupBuilder.h DataGroupCopier.h DataStructuresConvert.h DataStructuresConvert-inl.h EmptyData.h Grid.h Grid-inl.h Groups.h Groups-inl.h Image.h Image-inl.h ImageBase.h ImageBase-inl.h ImageMap.h ImageMap-inl.h IndexDirectory.h IndexedLocalCoordinate.h Location.h MeshElement.h NamedData.h NamedData-inl.h NamedDataBuilder.h NamedVariantData.h NamedVariantData-inl.h NormalData.h OctreeNode.h OctreeNode-inl.h OctreeNodePlyReaderDelegate.h OctreeNodePlyReaderDelegate-inl.h OptionalValue.h ply.h PlyReader.h PlyReaderDelegate.h SegmentEmptyData.h SegmentMesh.h SegmentMesh-inl.h TetrahedronMesh.h TetrahedronMesh-inl.h Tree.h TreeData.h TreeNode.h TreeVisitor.h TriangleMesh.h TriangleMesh-inl.h TriangleMeshPlyReaderDelegate.h TriangleMeshPlyReaderDelegate-inl.h Vertex.h Vertices.h Vertices-inl.h ) surgsim_create_library_header(DataStructures.h "${SURGSIM_DATA_STRUCTURES_HEADERS}") surgsim_add_library( SurgSimDataStructures "${SURGSIM_DATA_STRUCTURES_SOURCES}" "${SURGSIM_DATA_STRUCTURES_HEADERS}" ) set(LIBS SurgSimFramework ${Boost_LIBRARIES} ) target_link_libraries(SurgSimDataStructures ${LIBS} ) if(BUILD_TESTING) add_subdirectory(UnitTests) if(BUILD_PERFORMANCE_TESTING) add_subdirectory(PerformanceTests) endif() endif() set_target_properties(SurgSimDataStructures PROPERTIES FOLDER "DataStructures") opensurgsim-0.7.0/SurgSim/DataStructures/DataGroup.cpp000066400000000000000000000100211277777236100230460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/DataGroup.h" namespace SurgSim { namespace DataStructures { DataGroup::DataGroup() { } DataGroup::DataGroup(const DataGroup& dataGroup) : m_poses(dataGroup.m_poses), m_vectors(dataGroup.m_vectors), m_matrices(dataGroup.m_matrices), m_scalars(dataGroup.m_scalars), m_integers(dataGroup.m_integers), m_booleans(dataGroup.m_booleans), m_strings(dataGroup.m_strings), m_images(dataGroup.m_images), m_customData(dataGroup.m_customData) { } DataGroup& DataGroup::operator=(const DataGroup& dataGroup) { m_poses = dataGroup.m_poses; m_vectors = dataGroup.m_vectors; m_matrices = dataGroup.m_matrices; m_scalars = dataGroup.m_scalars; m_integers = dataGroup.m_integers; m_booleans = dataGroup.m_booleans; m_strings = dataGroup.m_strings; m_images = dataGroup.m_images; m_customData = dataGroup.m_customData; return *this; } DataGroup& DataGroup::operator=(DataGroup&& dataGroup) { m_poses = std::move(dataGroup.m_poses); m_vectors = std::move(dataGroup.m_vectors); m_matrices = std::move(dataGroup.m_matrices); m_scalars = std::move(dataGroup.m_scalars); m_integers = std::move(dataGroup.m_integers); m_booleans = std::move(dataGroup.m_booleans); m_strings = std::move(dataGroup.m_strings); m_images = std::move(dataGroup.m_images); m_customData = std::move(dataGroup.m_customData); return *this; } NamedData& DataGroup::poses() { return m_poses; } const NamedData& DataGroup::poses() const { return m_poses; } NamedData& DataGroup::vectors() { return m_vectors; } const NamedData& DataGroup::vectors() const { return m_vectors; } NamedData& DataGroup::matrices() { return m_matrices; } const NamedData& DataGroup::matrices() const { return m_matrices; } NamedData& DataGroup::scalars() { return m_scalars; } const NamedData& DataGroup::scalars() const { return m_scalars; } NamedData& DataGroup::integers() { return m_integers; } const NamedData& DataGroup::integers() const { return m_integers; } NamedData& DataGroup::booleans() { return m_booleans; } const NamedData& DataGroup::booleans() const { return m_booleans; } NamedData& DataGroup::strings() { return m_strings; } const NamedData& DataGroup::strings() const { return m_strings; } NamedData& DataGroup::images() { return m_images; } const NamedData& DataGroup::images() const { return m_images; } NamedVariantData& DataGroup::customData() { return m_customData; } const NamedVariantData& DataGroup::customData() const { return m_customData; } void DataGroup::resetAll() { m_poses.resetAll(); m_vectors.resetAll(); m_matrices.resetAll(); m_scalars.resetAll(); m_integers.resetAll(); m_booleans.resetAll(); m_strings.resetAll(); m_images.resetAll(); m_customData.resetAll(); } bool DataGroup::isEmpty() const { return !(m_poses.isValid() || m_vectors.isValid() || m_matrices.isValid() || m_scalars.isValid() || m_integers.isValid() || m_booleans.isValid() || m_strings.isValid() || m_images.isValid() || m_customData.isValid()); } }; // namespace DataStructures }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/DataGroup.h000066400000000000000000000221401277777236100225200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_DATAGROUP_H #define SURGSIM_DATASTRUCTURES_DATAGROUP_H #include #include "SurgSim/DataStructures/Image.h" #include "SurgSim/DataStructures/NamedData.h" #include "SurgSim/DataStructures/NamedVariantData.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace DataStructures { /// A collection of \ref NamedData objects. /// /// A DataGroup object contains a NamedData for each of several predefined types: /// \li \em Booleans contain a Boolean logic value (true or false). /// \li \em Images contain float images. /// \li \em Integers contain an integer value. /// \li \em Poses contain the position and orientation of an object in space, represented as a 3D rigid-body /// (isometric) transformation. /// \li \em Matrices contain a matrix. /// \li \em Scalars contain a scalar value (i.e. anything that can be represented as a double). /// \li \em Strings contain a text value. /// \li \em Vectors contain a vector quantity that does not change when the coordinate system is translated, /// such as a force or an oriented distance. /// \li \em CustomData contain a custom data structure, \ref NamedVariantData. /// /// The entries (names and indices) are unique within each NamedData member, but not necessarily across different types /// (i.e. there could be a scalar and a vector both named "friction", or a pose and a boolean both at index 1). /// It is recommended that you keep names separate between different types to avoid confusion. /// /// A DataGroup object constructed by the default constructor starts out empty, meaning all its NamedData member /// objects are "invalid". An empty DataGroup object can be made non-empty by: /// \li using the \ref DataGroupBuilder class, /// \li copy construction, /// \li assigning from a non-empty DataGroup object, or /// \li assigning a "valid" NamedData object (of the correct template type) to one or more NamedData members. /// /// Assignment to a non-empty DataGroup object is only possible if either of the two objects in the assignment was made /// non-empty based on the other object (see the above list items about copy construction and assignment from a /// non-empty DataGroup object). /// /// Once a DataGroup is non-empty, the "entries" (i.e., the strings and indices that are used to access the data) /// cannot be changed, added to, removed from, or made empty. These properties ensure that a stable data layout is /// available to the code using this class. For example, the calling code can cache the entries' indices and from then /// on use the faster index-based lookup instead of the slower string-based lookup. /// /// \sa SurgSim::DataStructures::NamedData, SurgSim::DataStructers::DataGroupBuilder class DataGroup { public: /// The type used for poses. typedef SurgSim::Math::RigidTransform3d PoseType; /// The type used for vectors. typedef SurgSim::Math::Vector3d VectorType; /// The type used for matrices. typedef Eigen::Matrix DynamicMatrixType; /// The type used for scalars. typedef double ScalarType; /// The type used for integers. typedef int IntegerType; /// The type used for booleans. typedef bool BooleanType; /// The type used for strings. typedef std::string StringType; /// The type used for images. typedef Image ImageType; /// Construct an empty object, with no associated names and indices yet. DataGroup(); /// Construct an object as a copy of the data from another object. /// \param dataGroup The object to copy from. DataGroup(const DataGroup& dataGroup); /// Copy the data from another object. /// /// The object being assigned into must either be empty (not yet associated with a set of names and indices), or /// the two objects must share the same data layout, resulting from earlier copy construction or assignment. /// ~~~~~ /// DataGroup initial; /// // ...initialize "initial" to some non-empty value... /// DataGroup copyConstructed(initial); // Layout is shared with initial /// copyConstructed = initial // OK, using the same layout /// DataGroup another; // Object is empty (no layout) /// another = initial; // OK, layout is now shared with initial /// another = initial // OK, using the same layout /// ~~~~~ /// /// Note that the data layout must be the same, i.e. related to one another by object assignment or copy /// construction. Objects that merely contain entries with the same names and indices are not acceptable! /// (Otherwise, we'd need to inefficiently compare layout contents each time we assign.) /// ~~~~~ /// DataGroupBuilder builder; /// // ...initialize the entries in the builder... /// NamedData first = builder.createData(); // Layout of entries created from builder /// NamedData second = builder.createData(); // Another layout of entries created; names and indices match /// second = first; // ERROR at run-time, layouts were created separately! /// ~~~~~ /// /// \param dataGroup The object to copy from. /// \return The object that was assigned into. DataGroup& operator=(const DataGroup& dataGroup); /// Move the data from another object. /// /// The same restrictions on object compatibility apply as in the case of the copy assignment /// operator=(const DataGroup&). /// /// \param [in,out] dataGroup The object to copy from, which will be left in an unusable state. /// \return The object that was assigned into. DataGroup& operator=(DataGroup&& dataGroup); /// Return the pose data structure. /// \return the mutable pose data. NamedData& poses(); /// Return the pose data structure. /// \return the read-only pose data. const NamedData& poses() const; /// Return the vector data structure. /// \return the mutable vector data. NamedData& vectors(); /// Return the vector data structure. /// \return the read-only vector data. const NamedData& vectors() const; /// Return the matrix data structure. /// \return the mutable matrix data. NamedData& matrices(); /// Return the matrix data structure. /// \return the read-only matrix data. const NamedData& matrices() const; /// Return the scalar data structure. /// \return the mutable scalar data. NamedData& scalars(); /// Return the scalar data structure. /// \return the read-only scalar data. const NamedData& scalars() const; /// Return the integer data structure. /// \return the mutable integer data. NamedData& integers(); /// Return the integer data structure. /// \return the read-only integer data. const NamedData& integers() const; /// Return the boolean data structure. /// \return the mutable Boolean data. NamedData& booleans(); /// Return the boolean data structure. /// \return the read-only Boolean data. const NamedData& booleans() const; /// Return the string data structure. /// \return the mutable string data. NamedData& strings(); /// Return the string data structure. /// \return the read-only string data. const NamedData& strings() const; /// Return the image data structure. /// \return the mutable iamge data. NamedData& images(); /// Return the image data structure. /// \return the read-only images data. const NamedData& images() const; /// Return the custom data structure. /// \return the mutable data. NamedVariantData& customData(); /// Return the custom data structure. /// \return the read-only data. const NamedVariantData& customData() const; /// Mark all data as not current. void resetAll(); /// An empty DataGroup can be assigned to by any DataGroup with only valid NamedData. /// return true if all the NamedData are invalid. bool isEmpty() const; private: /// The pose values. NamedData m_poses; /// The vector values. NamedData m_vectors; /// The matrix values. NamedData m_matrices; /// The scalar values. NamedData m_scalars; /// The integer values. NamedData m_integers; /// The boolean values. NamedData m_booleans; /// The string values. NamedData m_strings; /// The string values. NamedData m_images; /// The custom data values. NamedVariantData m_customData; }; }; // namespace DataStructures }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_DATAGROUP_H opensurgsim-0.7.0/SurgSim/DataStructures/DataGroupBuilder.cpp000066400000000000000000000117521277777236100243710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/DataGroupBuilder.h" namespace SurgSim { namespace DataStructures { DataGroupBuilder::DataGroupBuilder() { } DataGroup DataGroupBuilder::createData() const { DataGroup data; data.poses() = poses().createData(); data.vectors() = vectors().createData(); data.matrices() = matrices().createData(); data.scalars() = scalars().createData(); data.integers() = integers().createData(); data.booleans() = booleans().createData(); data.strings() = strings().createData(); data.images() = images().createData(); data.customData() = customData().createData(); return data; } std::shared_ptr DataGroupBuilder::createSharedData() const { return std::make_shared(createData()); } NamedDataBuilder& DataGroupBuilder::poses() { return m_poses; } const NamedDataBuilder& DataGroupBuilder::poses() const { return m_poses; } NamedDataBuilder& DataGroupBuilder::vectors() { return m_vectors; } const NamedDataBuilder& DataGroupBuilder::vectors() const { return m_vectors; } NamedDataBuilder& DataGroupBuilder::matrices() { return m_matrices; } const NamedDataBuilder& DataGroupBuilder::matrices() const { return m_matrices; } NamedDataBuilder& DataGroupBuilder::scalars() { return m_scalars; } const NamedDataBuilder& DataGroupBuilder::scalars() const { return m_scalars; } NamedDataBuilder& DataGroupBuilder::integers() { return m_integers; } const NamedDataBuilder& DataGroupBuilder::integers() const { return m_integers; } NamedDataBuilder& DataGroupBuilder::booleans() { return m_booleans; } const NamedDataBuilder& DataGroupBuilder::booleans() const { return m_booleans; } NamedDataBuilder& DataGroupBuilder::strings() { return m_strings; } const NamedDataBuilder& DataGroupBuilder::strings() const { return m_strings; } NamedDataBuilder& DataGroupBuilder::images() { return m_images; } const NamedDataBuilder& DataGroupBuilder::images() const { return m_images; } NamedVariantDataBuilder& DataGroupBuilder::customData() { return m_customData; } const NamedVariantDataBuilder& DataGroupBuilder::customData() const { return m_customData; } void DataGroupBuilder::addPose(const std::string& name) { poses().addEntry(name); } void DataGroupBuilder::addVector(const std::string& name) { vectors().addEntry(name); } void DataGroupBuilder::addMatrix(const std::string& name) { matrices().addEntry(name); } void DataGroupBuilder::addScalar(const std::string& name) { scalars().addEntry(name); } void DataGroupBuilder::addInteger(const std::string& name) { integers().addEntry(name); } void DataGroupBuilder::addBoolean(const std::string& name) { booleans().addEntry(name); } void DataGroupBuilder::addString(const std::string& name) { strings().addEntry(name); } void DataGroupBuilder::addImage(const std::string& name) { images().addEntry(name); } void DataGroupBuilder::addCustom(const std::string& name) { customData().addEntry(name); } void DataGroupBuilder::addEntriesFrom(const DataGroupBuilder& builder) { poses().addEntriesFrom(builder.poses()); vectors().addEntriesFrom(builder.vectors()); matrices().addEntriesFrom(builder.matrices()); scalars().addEntriesFrom(builder.scalars()); integers().addEntriesFrom(builder.integers()); booleans().addEntriesFrom(builder.booleans()); strings().addEntriesFrom(builder.strings()); images().addEntriesFrom(builder.images()); customData().addEntriesFrom(builder.customData()); } void DataGroupBuilder::addEntriesFrom(const DataGroup& data) { poses().addEntriesFrom(data.poses()); vectors().addEntriesFrom(data.vectors()); matrices().addEntriesFrom(data.matrices()); scalars().addEntriesFrom(data.scalars()); integers().addEntriesFrom(data.integers()); booleans().addEntriesFrom(data.booleans()); strings().addEntriesFrom(data.strings()); images().addEntriesFrom(data.images()); customData().addEntriesFrom(data.customData()); } }; // namespace Input }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/DataGroupBuilder.h000066400000000000000000000213001277777236100240240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_DATAGROUPBUILDER_H #define SURGSIM_DATASTRUCTURES_DATAGROUPBUILDER_H #include "SurgSim/DataStructures/NamedDataBuilder.h" #include "SurgSim/DataStructures/NamedVariantData.h" #include "SurgSim/DataStructures/DataGroup.h" #include namespace SurgSim { namespace DataStructures { /// A class that allows you to build a \ref DataGroup structure. /// /// Since the data layout of a \ref DataGroup object cannot be modified, this class is helpful in initially setting /// up the names and their corresponding indices. You can add entries to the builder using the \ref addPose, /// \ref addVector, \ref addScalar, \ref addInteger, \ref addBoolean, \ref addString, and \ref addEntriesFrom /// calls, or using similar calls on one of the type-specific element groups; and then create the DataGroup /// instance with createData() or createSharedData(). /// /// \sa DataGroup class DataGroupBuilder { public: /// The type used for poses. typedef DataGroup::PoseType PoseType; /// The type used for vectors. typedef DataGroup::VectorType VectorType; /// The type used for matrices. typedef DataGroup::DynamicMatrixType DynamicMatrixType; /// The type used for scalars. typedef DataGroup::ScalarType ScalarType; /// The type used for integers. typedef DataGroup::IntegerType IntegerType; /// The type used for booleans. typedef DataGroup::BooleanType BooleanType; /// The type used for strings. typedef DataGroup::StringType StringType; /// The type used for images. typedef Image ImageType; /// Constructs an empty builder object. DataGroupBuilder(); /// Produces a \ref DataGroup object with an immutable set of names and indices. /// None of the values will contain any current data. /// \return the DataGroup object *by value*. DataGroup createData() const; /// Produce a shared pointer to an empty \ref DataGroup object with an immutable set of names and indices. /// None of the values will contain any current data. /// \return a shared pointer to the DataGroup object. std::shared_ptr createSharedData() const; /// Provides access to the pose value entries. /// \return a writable reference to the sub-object that contains pose value entries. NamedDataBuilder& poses(); /// Provides access to the pose value entries. /// \return a read-only reference to the sub-object that contains pose value entries. const NamedDataBuilder& poses() const; /// Provides access to the vector value entries. /// \return a writable reference to the sub-object that contains vector value entries. NamedDataBuilder& vectors(); /// Provides access to the vector value entries. /// \return a read-only reference to the sub-object that contains vector value entries. const NamedDataBuilder& vectors() const; /// Provides access to the matrix value entries. /// \return a writable reference to the sub-object that contains matrix value entries. NamedDataBuilder& matrices(); /// Provides access to the matrix value entries. /// \return a read-only reference to the sub-object that contains matrix value entries. const NamedDataBuilder& matrices() const; /// Provides access to the scalar value entries. /// \return a writable reference to the sub-object that contains scalar value entries. NamedDataBuilder& scalars(); /// Provides access to the scalar value entries. /// \return a read-only reference to the sub-object that contains scalar value entries. const NamedDataBuilder& scalars() const; /// Provides access to the integer value entries. /// \return a writable reference to the sub-object that contains integer value entries. NamedDataBuilder& integers(); /// Provides access to the integer value entries. /// \return a read-only reference to the sub-object that contains integer value entries. const NamedDataBuilder& integers() const; /// Provides access to the Boolean value entries. /// \return a writable reference to the sub-object that contains Boolean value entries. NamedDataBuilder& booleans(); /// Provides access to the Boolean value entries. /// \return a read-only reference to the sub-object that contains Boolean value entries. const NamedDataBuilder& booleans() const; /// Provides access to the string value entries. /// \return a writable reference to the sub-object that contains string value entries. NamedDataBuilder& strings(); /// Provides access to the string value entries. /// \return a read-only reference to the sub-object that contains string value entries. const NamedDataBuilder& strings() const; /// Provides access to the image value entries. /// \return a writable reference to the sub-object that contains image value entries. NamedDataBuilder& images(); /// Provides access to the image value entries. /// \return a read-only reference to the sub-object that contains image value entries. const NamedDataBuilder& images() const; /// Provides access to the custom data entries. /// \return a writable reference to the sub-object that contains custom data entries. NamedVariantDataBuilder& customData(); /// Provides access to the custom data entries. /// \return a read-only reference to the sub-object that contains custom data entries. const NamedVariantDataBuilder& customData() const; /// A shortcut for adding a named pose entry. /// Identical to %poses().addEntry(name). void addPose(const std::string& name); /// A shortcut for adding a named vector entry. /// Identical to %vectors().addEntry(name). void addVector(const std::string& name); /// A shortcut for adding a named matrix entry. /// Identical to %matrices().addEntry(name). void addMatrix(const std::string& name); /// A shortcut for adding a named scalar entry. /// Identical to %scalars().addEntry(name). void addScalar(const std::string& name); /// A shortcut for adding a named integer entry. /// Identical to %integers().addEntry(name). void addInteger(const std::string& name); /// A shortcut for adding a named boolean entry. /// Identical to %booleans().addEntry(name). void addBoolean(const std::string& name); /// A shortcut for adding a named string entry. /// Identical to %strings().addEntry(name). void addString(const std::string& name); /// A shortcut for adding a named image entry. /// Identical to %images().addEntry(name). void addImage(const std::string& name); /// A shortcut for adding a named custom data entry. /// Identical to %customData().addEntry(name). void addCustom(const std::string& name); /// Create new entries from another DataGroupBuilder. /// \param builder The other builder. void addEntriesFrom(const DataGroupBuilder& builder); /// Create new entries from an already initialized DataGroup. /// \param data The data object. void addEntriesFrom(const DataGroup& data); private: // Prevent copy construction and copy assignment. DataGroupBuilder(const DataGroupBuilder&); DataGroupBuilder& operator=(const DataGroupBuilder&); /// The subsidiary builder used for pose values. NamedDataBuilder m_poses; /// The subsidiary builder used for vector values. NamedDataBuilder m_vectors; /// The subsidiary builder used for matrix values. NamedDataBuilder m_matrices; /// The subsidiary builder used for scalar values. NamedDataBuilder m_scalars; /// The subsidiary builder used for integer values. NamedDataBuilder m_integers; /// The subsidiary builder used for boolean values. NamedDataBuilder m_booleans; /// The subsidiary builder used for string values. NamedDataBuilder m_strings; /// The subsidiary builder used for image values. NamedDataBuilder m_images; /// The subsidiary builder used for custom data. NamedVariantDataBuilder m_customData; }; }; // namespace Input }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_DATAGROUPBUILDER_H opensurgsim-0.7.0/SurgSim/DataStructures/DataGroupCopier.cpp000066400000000000000000000056561277777236100242320ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/DataGroupCopier.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/IndexDirectory.h" using SurgSim::DataStructures::IndexDirectory; namespace SurgSim { namespace DataStructures { DataGroupCopier::DataGroupCopier(const DataGroup& source, DataGroup* target) { SURGSIM_ASSERT(target != nullptr) << "Target is a nullptr"; m_map[0] = findMap(source.poses().getDirectory(), target->poses().getDirectory()); m_map[1] = findMap(source.vectors().getDirectory(), target->vectors().getDirectory()); m_map[2] = findMap(source.matrices().getDirectory(), target->matrices().getDirectory()); m_map[3] = findMap(source.scalars().getDirectory(), target->scalars().getDirectory()); m_map[4] = findMap(source.integers().getDirectory(), target->integers().getDirectory()); m_map[5] = findMap(source.booleans().getDirectory(), target->booleans().getDirectory()); m_map[6] = findMap(source.strings().getDirectory(), target->strings().getDirectory()); m_map[7] = findMap(source.images().getDirectory(), target->images().getDirectory()); m_map[8] = findMap(source.customData().getDirectory(), target->customData().getDirectory()); } void DataGroupCopier::copy(const DataGroup& source, DataGroup* target) { SURGSIM_ASSERT(target != nullptr) << "Target is a nullptr"; target->poses().copy(source.poses(), m_map[0]); target->vectors().copy(source.vectors(), m_map[1]); target->matrices().copy(source.matrices(), m_map[2]); target->scalars().copy(source.scalars(), m_map[3]); target->integers().copy(source.integers(), m_map[4]); target->booleans().copy(source.booleans(), m_map[5]); target->strings().copy(source.strings(), m_map[6]); target->images().copy(source.images(), m_map[7]); target->customData().copy(source.customData(), m_map[8]); } NamedDataCopyMap DataGroupCopier::findMap(std::shared_ptr source, std::shared_ptr target) const { NamedDataCopyMap map; const std::vector& sourceNames = source->getAllNames(); for (auto it = sourceNames.cbegin(); it != sourceNames.cend(); ++it) { const int targetIndex = target->getIndex(*it); if (targetIndex > -1) { map[source->getIndex(*it)] = targetIndex; } } return map; } }; // namespace DataStructures }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/DataGroupCopier.h000066400000000000000000000045341277777236100236710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_DATAGROUPCOPIER_H #define SURGSIM_DATASTRUCTURES_DATAGROUPCOPIER_H #include #include #include #include "SurgSim/DataStructures/NamedData.h" namespace SurgSim { namespace DataStructures { class DataGroup; class IndexDirectory; /// The type used for copying values between two DataGroups that cannot assign to each other. typedef std::array DataGroupCopyMap; /// A class that assists in copying from one DataGroup to another, when assignment is not possible. /// \sa SurgSim::DataStructures::DataGroup class DataGroupCopier { public: /// Construct a copier. /// \param source The source DataGroup. /// \param target The target DataGroup. DataGroupCopier(const DataGroup& source, DataGroup* target); /// Copies the NamedData entries with the same names. Resets entries in the target that are reset in the source. /// The source and target IndexDirectories are assumed to be the same as the source and target /// used in the constructor. /// \param source The source DataGroup. /// \param target The target DataGroup. void copy(const DataGroup& source, DataGroup* target); private: /// Find the entries (by name) from the source to target IndexDirectories, and return the matching entries. /// \param source The source IndexDirectory. /// \param target The target IndexDirectory. /// \return The map from source to target indices. NamedDataCopyMap findMap(std::shared_ptr source, std::shared_ptr target) const; /// The map from source to target. DataGroupCopyMap m_map; }; }; // namespace DataStructures }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_DATAGROUPCOPIER_H opensurgsim-0.7.0/SurgSim/DataStructures/DataStructuresConvert-inl.h000066400000000000000000000117541277777236100257410ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_DATASTRUCTURESCONVERT_INL_H #define SURGSIM_DATASTRUCTURES_DATASTRUCTURESCONVERT_INL_H #include #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace DataStructures { namespace Convert { const std::string serializeLogger = "Serialization"; const std::string hasValueName = "HasValue"; const std::string valueName = "Value"; }; }; }; template YAML::Node YAML::convert>::encode( const SurgSim::DataStructures::OptionalValue& rhs) { Node node; node[SurgSim::DataStructures::Convert::hasValueName] = rhs.hasValue(); if (rhs.hasValue()) { node[SurgSim::DataStructures::Convert::valueName] = rhs.getValue(); } else { node[SurgSim::DataStructures::Convert::valueName] = "Not set"; } return node; } template bool YAML::convert>::decode( const Node& node, SurgSim::DataStructures::OptionalValue& rhs) //NOLINT { bool result = true; if (node.IsMap()) { if (node[SurgSim::DataStructures::Convert::hasValueName].as()) { try { rhs.setValue(node[SurgSim::DataStructures::Convert::valueName].as()); } catch (YAML::RepresentationException) { result = false; auto logger = SurgSim::Framework::Logger::getLogger(SurgSim::DataStructures::Convert::serializeLogger); SURGSIM_LOG(logger, WARNING) << "Bad conversion"; } } else { rhs.invalidate(); } } else if (node.IsScalar()) { try { rhs.setValue(node.as()); } catch (YAML::RepresentationException) { result = false; auto logger = SurgSim::Framework::Logger::getLogger(SurgSim::DataStructures::Convert::serializeLogger); SURGSIM_LOG(logger, WARNING) << "Bad conversion"; } } return result; } template YAML::Node YAML::convert>::encode(const std::array& rhs) { Node node(NodeType::Sequence); for (auto it = rhs.cbegin(); it != rhs.cend(); ++it) { node.push_back(*it); } return node; } template bool YAML::convert>::decode(const Node& node, std::array& rhs) //NOLINT { if (!node.IsSequence() || node.size() != N) { return false; } bool result = true; auto rhsit = rhs.begin(); for (YAML::const_iterator it = node.begin(); it != node.end(); ++it, ++rhsit) { try { (*rhsit) = it->as(); } catch (YAML::RepresentationException) { result = false; auto logger = SurgSim::Framework::Logger::getLogger(SurgSim::DataStructures::Convert::serializeLogger); SURGSIM_LOG(logger, WARNING) << __FUNCTION__ << ": Bad conversion"; } } return result; } template YAML::Node YAML::convert>::encode(const std::unordered_map& rhs) { Node node(NodeType::Map); for (auto it = std::begin(rhs); it != std::end(rhs); ++it) { node[it->first] = it->second; } return node; } template bool YAML::convert>::decode(const Node& node, std::unordered_map& rhs) //NOLINT { if (!node.IsMap()) { return false; } bool result = true; for (auto it = node.begin(); it != node.end(); ++it) { try { rhs[it->first.as()] = it->second.as(); } catch (YAML::RepresentationException) { result = false; auto logger = SurgSim::Framework::Logger::getLogger(SurgSim::DataStructures::Convert::serializeLogger); SURGSIM_LOG(logger, WARNING) << __FUNCTION__ << ": Bad conversion"; } } return result; } template YAML::Node YAML::convert>::encode(const std::unordered_set& rhs) { Node node(NodeType::Sequence); for (auto it = std::begin(rhs); it != std::end(rhs); ++it) { node.push_back(*it); } return node; } template bool YAML::convert>::decode(const Node& node, std::unordered_set& rhs) //NOLINT { if (!node.IsSequence()) { return false; } bool result = true; for (auto it = node.begin(); it != node.end(); ++it) { try { rhs.insert(it->as()); } catch (YAML::RepresentationException) { result = false; auto logger = SurgSim::Framework::Logger::getLogger(SurgSim::DataStructures::Convert::serializeLogger); SURGSIM_LOG(logger, WARNING) << __FUNCTION__ << ": Bad conversion"; } } return result; } #endif // SURGSIM_DATASTRUCTURES_DATASTRUCTURESCONVERT_INL_H opensurgsim-0.7.0/SurgSim/DataStructures/DataStructuresConvert.h000066400000000000000000000044351277777236100251570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_DATASTRUCTURESCONVERT_H #define SURGSIM_DATASTRUCTURES_DATASTRUCTURESCONVERT_H #include #include #include #include #include #include "SurgSim/DataStructures/OptionalValue.h" #include "SurgSim/Framework/Macros.h" namespace YAML { /// YAML::convert specialization for OptionalValue. SURGSIM_DOUBLE_SPECIALIZATION template struct convert> { static Node encode(const SurgSim::DataStructures::OptionalValue& rhs); static bool decode(const Node& node, SurgSim::DataStructures::OptionalValue& rhs); //NOLINT }; /// YAML::convert specialization for std::array. SURGSIM_DOUBLE_SPECIALIZATION template struct convert> { static Node encode(const std::array& rhs); static bool decode(const Node& node, std::array& rhs); //NOLINT }; /// YAML::convert specialization for std::unordered_map. SURGSIM_DOUBLE_SPECIALIZATION template struct convert> { static Node encode(const std::unordered_map& rhs); static bool decode(const Node& node, std::unordered_map& rhs); //NOLINT }; /// YAML::convert specialization for std::unordered_set. SURGSIM_DOUBLE_SPECIALIZATION template struct convert> { static Node encode(const std::unordered_set& rhs); static bool decode(const Node& node, std::unordered_set& rhs); //NOLINT }; } // namespace YAML #include "SurgSim/DataStructures/DataStructuresConvert-inl.h" #endif // SURGSIM_DATASTRUCTURES_DATASTRUCTURESCONVERT_H opensurgsim-0.7.0/SurgSim/DataStructures/EmptyData.h000066400000000000000000000020441277777236100225230ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_EMPTYDATA_H #define SURGSIM_DATASTRUCTURES_EMPTYDATA_H namespace SurgSim { namespace DataStructures { /// EmptyData class class EmptyData { public: /// Comparison operator /// \param data The data to compare it to. /// \return true for all cases. bool operator==(const EmptyData& data) const { return true; } }; } } #endif //SURGSIM_DATASTRUCTURES_EMPTYDATA_H opensurgsim-0.7.0/SurgSim/DataStructures/Grid-inl.h000066400000000000000000000204661277777236100223100ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_GRID_INL_H #define SURGSIM_DATASTRUCTURES_GRID_INL_H #include namespace SurgSim { namespace DataStructures { namespace { /// Class handling number in a given base with a given number of digits /// Example numbers in base 3 with 3 digits are defined in order: /// 000, 001, 002, 010, 011, 012, 020, 021, 022, /// 100, 101, 102, 110, 111, 112, 120, 121, 122 /// 200, 201, 202, 210, 211, 212, 220, 221, 222 /// Note that the storage is done in Eigen column-major vector (ith entry corresponds to the ith degree of the base) /// Expected usage looking for all neighbors in a 3d array: /// Number neighborOffset; /// Eigen::Matrix currentElement = ...; // Location of an element in a 3d grid; /// do{ /// Eigen::Matrix neighborElement = currentElement + neighborOffset; /// // do something with the neighbor element /// ...} while (neighborOffset.next()); /// \tparam T The type storing the number (must be an integral type) /// \tparam B The base in which the number is expressed (must be within [2..9]) /// \tparam N The number of digits for this number template class Number : public Eigen::Matrix { public: static_assert(B > 1 && B < 10, "B (the base) needs to be within [2..9]"); /// Constructor Number() { this->setZero(); } /// \return the number expressed in base 10 size_t toDecimal() const { size_t value = 0; size_t BexponentDigit = 1; for (size_t digit = 0; digit < N; ++digit) { value += (*this)[digit] * BexponentDigit; BexponentDigit *= B; } return value; } /// Increment the number /// \return False if there is no next number on N digits, True otherwise. bool next() { size_t digit = 0; do { (*this)[digit]++; if ((*this)[digit] == B) { (*this)[digit] = 0; } else { return true; } digit++; } while (digit < N); return false; } }; }; // namespace template size_t Grid::NDIdHash::operator()(const NDId& nd) const { return boost::hash_range(nd.data(), nd.data() + N); } template Grid::Grid(const Eigen::Matrix& cellSize, const Eigen::AlignedBox& bounds) : m_size(cellSize), m_aabb(bounds), m_neighborsDirtyFlag(false) { static_assert(N >= 1, "A grid must have a positive non null dimension"); } template Grid::~Grid() { } template void Grid::reset() { // Clear the mapping element -> cellId m_cellIds.clear(); // Clear the active cells m_activeCells.clear(); // Nothing in the grid (no elements, no neighbors)...so it is up to date m_neighborsDirtyFlag = false; } template template void Grid::addElement(const T element, const Eigen::MatrixBase& position) { // Only add element that are located in the grid if (!m_aabb.contains(position)) { return; } // Find the dimension-N cell id from the location // Example in 3D: cell (i, j, k) has 3D min/max coordinates // min[axis] = (size[axis] * (-numCellPerDim[axis] / 2 + i) // max[axis] = (size[axis] * (-numCellPerDim[axis] / 2 + i + 1) NDId cellId = ((position - m_aabb.min()).cwiseQuotient(m_size)).template cast(); // Register the element into its corresponding cell if it exists, or creates it. m_activeCells[cellId].elements.push_back(element); // Add this element in the map [element -> cellID] m_cellIds[element] = cellId; /// Flag that the neighbors list will need to be recomputed on the next access m_neighborsDirtyFlag = true; } template void Grid::update() { std::array::value> cellsIds; // Start by clearing up all the neighbor's list for (typename std::unordered_map::CellContent, NDIdHash>::reference cell : m_activeCells) { cell.second.neighbors.clear(); } // Compute each cell's neighbors list for (typename std::unordered_map::CellContent, NDIdHash>::reference cell : m_activeCells) { getNeighborsCellIds(cell.first, &cellsIds); for (size_t index = 0; index < powerOf3::value; ++index) { // Use symmetry between pair of cells to only treat neighbors with a larger or equal id. if (isNdGreaterOrEqual(cellsIds[index], cell.first)) { auto neighborCell = m_activeCells.find(cellsIds[index]); if (neighborCell != m_activeCells.end()) { cell.second.neighbors.insert(cell.second.neighbors.end(), neighborCell->second.elements.cbegin(), neighborCell->second.elements.cend()); // Treat symmetry if the cells are different if (cellsIds[index] != cell.first) { neighborCell->second.neighbors.insert(neighborCell->second.neighbors.end(), cell.second.elements.cbegin(), cell.second.elements.cend()); } } } } } m_neighborsDirtyFlag = false; } template const std::vector& Grid::getNeighbors(const T& element) { static std::vector empty; if (m_neighborsDirtyFlag) { update(); } auto const foundCell = m_cellIds.find(element); if (foundCell != m_cellIds.cend()) { return m_activeCells[foundCell->second].neighbors; } return empty; } template template const std::vector& Grid::getNeighbors(const Eigen::MatrixBase& position) { static const std::vector empty; // If outside the bounding box, can't find any neighbors if (m_aabb.contains(position)) { if (m_neighborsDirtyFlag) { update(); } NDId cellId = ((position - m_aabb.min()).cwiseQuotient(m_size)).template cast(); auto foundCell = m_activeCells.find(cellId); if (foundCell == m_activeCells.end()) { // If the cell doesn't exist, collect all the neighbors std::array::value> cellsIds; getNeighborsCellIds(cellId, &cellsIds); std::vector neighbors; for (const auto& neighborId : cellsIds) { auto neighborCell = m_activeCells.find(neighborId); if (neighborCell != m_activeCells.end()) { neighbors.insert(neighbors.end(), neighborCell->second.elements.cbegin(), neighborCell->second.elements.cend()); } } m_activeCells[cellId].neighbors = std::move(neighbors); } return m_activeCells[cellId].neighbors; } return empty; } template void Grid::getNeighborsCellIds(NDId cellId, std::array::value>* cellsIds) { // Now build up all the 3^N neighbors cell around this n-d cell // It corresponds to all possible permutation in dimension-N of the indices // {(cellIdnD[0] - 1, cellIdnD[0], cellIdnD[0] + 1) x ... x // (cellIdnD[N - 1] - 1, cellIdnD[N - 1], cellIdnD[N - 1] + 1)} // It is (cellIdnD[0] - 1, ... , cellIdnD[N - 1] - 1) + all possible number in base 3 with N digit // For example in 2D, the NumberInBase3<2> are in order: 00 01 02 10 11 12 20 21 22 // For example in 3D, the NumberInBase3<3> are in order: // 000 001 002 010 011 012 020 021 022 // 100 101 102 110 111 112 120 121 122 // 200 201 202 210 211 212 220 221 222 cellId -= NDId::Ones(); Number currentNumberNDigitBase3; for (size_t i = 0; i < powerOf3::value; ++i) { (*cellsIds)[i] = cellId + currentNumberNDigitBase3; currentNumberNDigitBase3.next(); } } template bool Grid::isNdGreaterOrEqual(const NDId& a, const NDId& b) { for (size_t i = 0; i < N; ++i) { if (a[i] > b[i]) { return true; } if (a[i] < b[i]) { return false; } } return true; } }; // namespace DataStructures }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_GRID_INL_H opensurgsim-0.7.0/SurgSim/DataStructures/Grid.h000066400000000000000000000102141277777236100215160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_GRID_H #define SURGSIM_DATASTRUCTURES_GRID_H #include #include #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace DataStructures { /// Templated function to compute a power of 3 at compile time (useful for template parameter) template struct powerOf3 { enum { value = 3 * powerOf3::value }; }; template <> struct powerOf3<0> { enum { value = 1 }; }; /// n-dimensional grid structure with uniform non-cubic cells /// This data structure is useful to search for neighbors in a given range (the size of each cell) /// \tparam T Element type to be stored /// \tparam N The dimension of the grid (i.e. 2 => 2D, 3 => 3D) template class Grid { public: /// Constructor /// \param cellSize The size of each cell in dimension N (i.e. cells are not necessarily cubic). /// \param bounds The dimension-N boundaries of the space covered by the grid. Grid(const Eigen::Matrix& cellSize, const Eigen::AlignedBox& bounds); /// Destructor virtual ~Grid(); /// Reset the grid content and the neighbors' mapping void reset(); /// Add an element in the grid /// \param element to be added at this position /// \param position of the element in the n-D space /// \note If the position is outside of the grid, the element is simply not added to the grid template void addElement(const T element, const Eigen::MatrixBase& position); /// Retrieve an elements' neighbors /// \param element The element for which the neighbors are requested /// \return The element's neighbors list (including the element itself) const std::vector& getNeighbors(const T& element); /// Retrieve the neighbors of a location /// \param position The position for which the neighbors are requested /// \return The neighbors for this position, i.e. all the elements in the positions cell and all surrounding cells template const std::vector& getNeighbors(const Eigen::MatrixBase& position); protected: /// Data structure for a cell's content (the list of elements and the list of all the neighbors) typedef struct { std::vector elements; std::vector neighbors; } CellContent; /// The type of the n-dimensional cell Id. typedef Eigen::Matrix NDId; /// Enable the NDId to be used as a key in an unordered map. class NDIdHash { public: size_t operator()(const NDId& nd) const; }; /// Active cells (referenced by their ids (spatial hashing)) with their content std::unordered_map m_activeCells; /// Mapping from element to cell id containing the element std::unordered_map m_cellIds; /// Size of each cell (same on all dimension) Eigen::Matrix m_size; /// Grid min and max Eigen::AlignedBox m_aabb; /// Does the neighbors needs to be recomputed ? bool m_neighborsDirtyFlag; private: /// Update the neighbors lists void update(); /// Retrieve the neighboring cells id (including this cell) /// \param cellId for which the neighbors cells are requested /// \param cellsIds [out] Neighbors cells ids void getNeighborsCellIds(NDId cellId, std::array::value>* cellsIds); /// \param a The first cell ID. /// \param b The second cell ID. /// \return true if a is > b. bool isNdGreaterOrEqual(const NDId& a, const NDId& b); }; }; // namespace DataStructures }; // namespace SurgSim #include "SurgSim/DataStructures/Grid-inl.h" #endif // SURGSIM_DATASTRUCTURES_GRID_H opensurgsim-0.7.0/SurgSim/DataStructures/Groups-inl.h000066400000000000000000000072611277777236100227000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_GROUPS_INL_H #define SURGSIM_DATASTRUCTURES_GROUPS_INL_H namespace SurgSim { namespace DataStructures { template bool Groups::add(const Key& group, const T& element) { UniqueLock lock(m_mutex); auto result = m_groups[group].insert(element); if (result.second == true) { m_membership[element].insert(group); } return result.second; } template bool Groups::add(const std::vector& groups, const T& element) { bool result = false; for (auto& group : groups) { result = add(group, element) || result; } return result; } template bool Groups::add(const Groups& other) { bool result = false; for (auto& members : other.m_membership) { result = add(std::vector(members.second.begin(), members.second.end()), members.first) || result; } return result; } template bool Groups::remove(const Key& group, const T& element) { bool result = false; UniqueLock lock(m_mutex); auto found = m_groups.find(group); if (found != m_groups.end()) { auto count = found->second.erase(element); if (count > 0) { if (found->second.empty()) { m_groups.erase(group); } m_membership[element].erase(group); if (m_membership[element].empty()) { m_membership.erase(element); } result = true; } } return result; } template std::vector Groups::getMembers(const Key& group) const { std::vector result; SharedLock lock(m_mutex); auto found = m_groups.find(group); if (found != m_groups.end()) { result.assign(found->second.cbegin(), found->second.cend()); } return result; } template std::vector Groups::getGroups(const T& element) const { std::vector result; SharedLock lock(m_mutex); auto found = m_membership.find(element); if (found != m_membership.end()) { result.assign(found->second.cbegin(), found->second.cend()); } return result; } template std::vector Groups::getGroups() const { std::vector result; { SharedLock lock(m_mutex); std::for_each(m_groups.cbegin(), m_groups.cend(), [&result](const std::pair>& value) { result.emplace(result.end(), value.first); }); } return result; } template bool Groups::remove(const T& element) { bool result = false; UniqueLock lock(m_mutex); if (m_membership.find(element) != m_membership.end()) { for (auto& group : m_membership[element]) { m_groups[group].erase(element); } m_membership.erase(element); result = true; } return result; } template std::vector Groups::operator[](const Key& group) const { // Get member does the locking, not needed here return getMembers(group); } template void Groups::clear() { UniqueLock lock(m_mutex); m_groups.clear(); m_membership.clear(); } } } #endifopensurgsim-0.7.0/SurgSim/DataStructures/Groups.h000066400000000000000000000100351277777236100221110ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_GROUPS_H #define SURGSIM_DATASTRUCTURES_GROUPS_H #include #include #include #include namespace SurgSim { namespace DataStructures { /// Class to wrap grouping operations, gives access to the members of a group and the groups of members. /// Groups is threadsafe with regard to add and remove operations, and observations /// \tparam Key the label to be used for the groups /// \tparam T the type of the group members template class Groups { public: typedef Key IdentifierType; typedef T MemberType; /// Add an element to the given group, if the group doesn't exist it will be created, if the element /// is already a member of the group, nothing happens /// \param group the group to use /// \param element the element to add /// \return true if the element was actually added to the group bool add(const Key& group, const T& element); /// Add a member to the given groups, if any of the groups don't exist they will be created, if the element /// is already a member of a group, it won't be added to that specific group /// \param groups the groups to use /// \param element the element to add /// \return true if the element was added to at least one group bool add(const std::vector& groups, const T& element); /// Add all the members from the other group to this group, essentially forming a union of the two /// \param other object to add groups from /// \return true if at least one new element was added bool add(const Groups& other); /// Remove an element from a given group, if the group does not exist or the element is not a member of that /// group, nothing will happen. /// \param group the group to use /// \param element the element to remove /// \return true if the element was member of that group bool remove(const Key& group, const T& element); /// Remove an element from all known groups, if the element is not a member of any group, nothing happens /// \param element the element to remove /// \return true if there was an actual removal that was executed bool remove(const T& element); /// Return all the members of the given group /// \param group the group to query /// \return members of the given group, empty if the group has no members, or doesn't exist std::vector getMembers(const Key& group) const; /// Return all the groups that the given member is a member of /// \param element the element to query /// \return groups which contain the given element, empty if the element is not member of any group std::vector getGroups(const T& element) const; /// \return all the known groups that have members std::vector getGroups() const; /// Return all the members of the given group /// \param group group to query /// \return members of the given group, empty if the group has no members std::vector operator[](const Key& group) const; /// Erases all entries void clear(); private: typedef boost::shared_lock SharedLock; typedef boost::unique_lock UniqueLock; /// The mutex used to lock for reading and writing mutable boost::shared_mutex m_mutex; /// Map groups to members std::unordered_map> m_groups; /// Map members to groups std::unordered_map> m_membership; }; } } #include "SurgSim/DataStructures/Groups-inl.h" #endif opensurgsim-0.7.0/SurgSim/DataStructures/Image-inl.h000066400000000000000000000064111277777236100224370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_IMAGE_INL_H #define SURGSIM_DATASTRUCTURES_IMAGE_INL_H namespace SurgSim { namespace DataStructures { template Image::Image() { ImageBase::setSize(0, 0, 0); } template Image::Image(size_t width, size_t height, size_t channels) : m_data(new T[width * height * channels]) { ImageBase::setSize(width, height, channels); } template Image::Image(size_t width, size_t height, size_t channels, const T* const data) : m_data(new T[width * height * channels]) { ImageBase::setSize(width, height, channels); std::copy(data, data + width * height * channels, m_data.get()); } template template Image::Image(size_t width, size_t height, size_t channels, const D* const data) : m_data(new T[width * height * channels]) { ImageBase::setSize(width, height, channels); Eigen::Map> theirData(data, width * height * channels); Eigen::Map::VectorType, Eigen::Unaligned> myData(m_data.get(), width * height * channels); myData = theirData.template cast(); } template Image::Image(const Image& other) { ImageBase::setSize(other.getWidth(), other.getHeight(), other.getNumChannels()); size_t size = other.getWidth() * other.getHeight() * other.getNumChannels(); m_data = std::unique_ptr(new T[size]); std::copy(other.m_data.get(), other.m_data.get() + size, m_data.get()); } template Image::Image(Image&& other) { // Can use the move assignment operator to construct *this = std::move(other); } template Image& Image::operator=(const Image& other) { if (this != &other) { size_t newDataSize = other.getWidth() * other.getHeight() * other.getNumChannels(); size_t oldDataSize = ImageBase::getWidth() * ImageBase::getHeight() * ImageBase::getNumChannels(); if (newDataSize != oldDataSize) { m_data.reset(new T[newDataSize]); } ImageBase::setSize(other.getWidth(), other.getHeight(), other.getNumChannels()); std::copy(other.m_data.get(), other.m_data.get() + newDataSize, m_data.get()); } return *this; } template Image& Image::operator=(Image&& other) { if (this != &other) { m_data = std::move(other.m_data); ImageBase::setSize(other.getWidth(), other.getHeight(), other.getNumChannels()); other.setSize(0, 0, 0); } return *this; } template Image::~Image() { } template T* const Image::getData() { return m_data.get(); } template const T* const Image::getData() const { return m_data.get(); } }; }; #endif //SURGSIM_DATASTRUCTURES_IMAGE_INL_H opensurgsim-0.7.0/SurgSim/DataStructures/Image.h000066400000000000000000000051361277777236100216620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_IMAGE_H #define SURGSIM_DATASTRUCTURES_IMAGE_H #include #include "SurgSim/DataStructures/ImageBase.h" namespace SurgSim { namespace DataStructures { /// A templated Image class /// /// \tparam T the data type of the image data template class Image : public ImageBase { public: /// Default Constructor Image(); /// Constructor /// \param width the image width /// \param height the image height /// \param channels the number of channels in the image Image(size_t width, size_t height, size_t channels); /// Copy constructor from a data pointer /// \param width the image width /// \param height the image height /// \param channels the number of channels in the image /// \param data pointer to the data to copy from Image(size_t width, size_t height, size_t channels, const T* const data); /// Copy constructor from a data pointer of a different type /// \tparam D type of data stored in the pointer /// \param width the image width /// \param height the image height /// \param channels the number of channels in the image /// \param data pointer to the data to copy from template Image(size_t width, size_t height, size_t channels, const D* const data); /// Copy constructor /// \param other Image to copy from Image(const Image& other); /// Move constructor /// \param other Image to move data from Image(Image&& other); /// Destructor virtual ~Image(); /// Assignment Operator /// \param other The Image to copy from /// \return The Image that was assigned into Image& operator=(const Image& other); /// Move Assignment Operator /// \param other The Image to move data from /// \return The Image that was assigned into Image& operator=(Image&& other); T* const getData() override; const T* const getData() const override; private: std::unique_ptr m_data; }; } } #include "SurgSim/DataStructures/Image-inl.h" #endif //SURGSIM_DATASTRUCTURES_IMAGE_H opensurgsim-0.7.0/SurgSim/DataStructures/ImageBase-inl.h000066400000000000000000000107121277777236100232310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_IMAGEBASE_INL_H #define SURGSIM_DATASTRUCTURES_IMAGEBASE_INL_H #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace DataStructures { template ImageBase::~ImageBase() { } template Eigen::Map> ImageBase::operator()(size_t x, size_t y) { SURGSIM_ASSERT(x < m_width) << "x is larger than the image width (" << x << " >= " << m_width << ")"; SURGSIM_ASSERT(y < m_height) << "y is larger than the image height (" << y << " >= " << m_height << ")"; return Eigen::Map> (getData() + m_channels * (x + y * m_width), m_channels); } template Eigen::Map> ImageBase::operator()(size_t x, size_t y) const { SURGSIM_ASSERT(x < m_width) << "x is larger than the image width (" << x << " >= " << m_width << ")"; SURGSIM_ASSERT(y < m_height) << "y is larger than the image height (" << y << " >= " << m_height << ")"; return Eigen::Map> (getData() + m_channels * (x + y * m_width), m_channels); } template Eigen::Map::ChannelType, Eigen::Unaligned, Eigen::Stride<-1, -1>> ImageBase::getChannel(size_t index) { SURGSIM_ASSERT(index < m_channels) << "Channel number is larger than the number of channels"; Eigen::Stride stride(m_width*m_channels, m_channels); return Eigen::Map> (getData() + index, m_width, m_height, stride); } template Eigen::Map::ChannelType, Eigen::Unaligned, Eigen::Stride<-1, -1>> ImageBase::getChannel(size_t index) const { SURGSIM_ASSERT(index < m_channels) << "Channel number is larger than the number of channels"; Eigen::Stride stride(m_width*m_channels, m_channels); return Eigen::Map> (getData() + index, m_width, m_height, stride); } template void ImageBase::setChannel(size_t index, const Eigen::Ref& data) { auto myChannel = getChannel(index); SURGSIM_ASSERT(myChannel.rows() == data.rows() && myChannel.cols() == data.cols()) << "Channel data must be of size " << myChannel.rows() << "x" << myChannel.cols() << ". " << data.rows() << "x" << data.cols() << " data was provided."; myChannel = data; } template Eigen::Map::VectorType, Eigen::Unaligned> ImageBase::getAsVector() { return Eigen::Map(getData(), m_width * m_height * m_channels); } template Eigen::Map::VectorType, Eigen::Unaligned> ImageBase::getAsVector() const { return Eigen::Map(getData(), m_width * m_height * m_channels); } template void ImageBase::setAsVector(const Eigen::Ref& data) { auto myVector = getAsVector(); SURGSIM_ASSERT(myVector.rows() == data.rows() && myVector.cols() == data.cols()) << "Vector must be of size " << myVector.rows() << "x" << myVector.cols() << ". " << "A " << data.rows() << "x" << data.cols() << " vector was provided."; myVector = data; } template size_t ImageBase::getWidth() const { return m_width; } template size_t ImageBase::getHeight() const { return m_height; } template std::array ImageBase::getSize() const { std::array size = {m_width, m_height, m_channels}; return size; } template size_t ImageBase::getNumChannels() const { return m_channels; } template void ImageBase::setSize(size_t width, size_t height, size_t channels) { m_width = width; m_height = height; m_channels = channels; } }; }; #endif //SURGSIM_DATASTRUCTURES_IMAGEBASE_INL_H opensurgsim-0.7.0/SurgSim/DataStructures/ImageBase.h000066400000000000000000000077051277777236100224610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_IMAGEBASE_H #define SURGSIM_DATASTRUCTURES_IMAGEBASE_H #include #include namespace SurgSim { namespace DataStructures { /// Base class for Image-like classes /// /// \tparam T the data type of the image data template class ImageBase { public: /// Destructor virtual ~ImageBase(); /// Get the Image width /// \return the width size_t getWidth() const; /// Get the Image height /// \return the height size_t getHeight() const; /// Get the Image size /// \return the image size as (width, height, channels) std::array getSize() const; /// Get the number of channels in this Image /// \return the number of channels size_t getNumChannels() const; /// Get the pixel value at (x, y) /// \param x The horizontal image position /// \param y The vertical image position /// \return mutable pixel value as Eigen::Map of size (channels x 1) Eigen::Map> operator()(size_t x, size_t y); /// Get the pixel value at (x, y), constant version /// \param x The horizontal position in the image /// \param y The vertical position in the image /// \return constant pixel value as Eigen::Map of size (channels x 1) Eigen::Map> operator()(size_t x, size_t y) const; /// 2D Channel Type; typedef Eigen::Matrix ChannelType; /// Get the 2D image channel data /// \param index the channel number /// \return mutable channel data as an Eigen::Map (can be used as an Eigen::Matrix) Eigen::Map> getChannel(size_t index); /// Get the 2D image channel data, constant version /// \param index the channel number /// \return constant channel data as an Eigen::Map (can be used as an Eigen::Matrix) Eigen::Map> getChannel(size_t index) const; /// Set the image data in the channel /// \param index the channel number /// \param data the channel data as a compatible Eigen type void setChannel(size_t index, const Eigen::Ref& data); /// 1D Vector Type; typedef Eigen::Matrix VectorType; /// Get the data as a 1D Vector /// \return mutable 1D data as an Eigen::Map (can be used as an Eigen::Matrix) Eigen::Map getAsVector(); /// Get the data as a 1D Vector, constant version /// \return constant 1D data as an Eigen::Map (can be used as an Eigen::Matrix) Eigen::Map getAsVector() const; /// Set the image data as a 1D Vector /// \param data the data as a compatible Eigen vector type void setAsVector(const Eigen::Ref& data); /// Get the pointer to the data /// \return the data virtual T* const getData() = 0; /// Get the pointer to the data, constant version /// \return the data virtual const T* const getData() const = 0; protected: /// Set the Image size /// \param width the image width /// \param height the image height /// \param channels the number of channels in the image void setSize(size_t width, size_t height, size_t channels); private: size_t m_width; size_t m_height; size_t m_channels; }; }; }; #include "SurgSim/DataStructures/ImageBase-inl.h" #endif //SURGSIM_DATASTRUCTURES_IMAGEBASE_H opensurgsim-0.7.0/SurgSim/DataStructures/ImageMap-inl.h000066400000000000000000000022201277777236100230670ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_IMAGEMAP_INL_H #define SURGSIM_DATASTRUCTURES_IMAGEMAP_INL_H namespace SurgSim { namespace DataStructures { template ImageMap::ImageMap(size_t width, size_t height, size_t channels, T* data) : m_data(data) { ImageBase::setSize(width, height, channels); } template T* const ImageMap::getData() { return m_data; } template const T* const ImageMap::getData() const { return m_data; } }; }; #endif //SURGSIM_DATASTRUCTURES_IMAGEMAP_INL_H opensurgsim-0.7.0/SurgSim/DataStructures/ImageMap.h000066400000000000000000000027061277777236100223200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_IMAGEMAP_H #define SURGSIM_DATASTRUCTURES_IMAGEMAP_H #include "SurgSim/DataStructures/ImageBase.h" namespace SurgSim { namespace DataStructures { /// A class that behaves like an Image but maps an existing array of data /// /// \tparam T the data type of the image data template class ImageMap : public ImageBase { public: /// Constructor /// \param width the image width /// \param height the image height /// \param channels the number of channels in the image /// \param data pointer to the array to map ImageMap(size_t width, size_t height, size_t channels, T* data); T* const getData() override; const T* const getData() const override; private: T* m_data; }; }; }; #include "SurgSim/DataStructures/ImageMap-inl.h" #endif //SURGSIM_DATASTRUCTURES_IMAGEMAP_H opensurgsim-0.7.0/SurgSim/DataStructures/IndexDirectory.cpp000066400000000000000000000031261277777236100241240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/IndexDirectory.h" namespace SurgSim { namespace DataStructures { IndexDirectory::IndexDirectory() { } IndexDirectory::IndexDirectory(const std::vector& names) { for (auto it = names.cbegin(); it != names.cend(); ++it) { addEntry(*it); } } const std::vector& IndexDirectory::getAllNames() const { return m_names; } IndexDirectory::IndexDirectory(const IndexDirectory& directory) : m_names(directory.m_names), m_indices(directory.m_indices) { } IndexDirectory& IndexDirectory::operator =(const IndexDirectory& directory) { m_names = directory.m_names; m_indices = directory.m_indices; return *this; } int IndexDirectory::addEntry(const std::string& name) { if ((name.length() == 0) || hasEntry(name)) { return -1; } int index = static_cast(m_names.size()); m_names.push_back(name); m_indices[name] = index; return index; } }; // namespace Input }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/IndexDirectory.h000066400000000000000000000077521277777236100236020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_INDEXDIRECTORY_H #define SURGSIM_DATASTRUCTURES_INDEXDIRECTORY_H #include #include #include namespace SurgSim { namespace DataStructures { /// A simple bidirectional mapping between names (strings) and distinct consecutive non-negative indices. /// /// Access to this class is thread-safe if all of the threads are only performing const operations, i.e. reading /// the names and indices. class IndexDirectory { public: /// Create an empty directory object. IndexDirectory(); /// Create a directory object initialized to a list of names. /// \param names The names. explicit IndexDirectory(const std::vector& names); /// Given a name, return the corresponding index (or -1). /// \param name The name. /// \return the index for that name if one exists; -1 otherwise. int getIndex(const std::string& name) const { if (name.length() == 0) { return -1; } auto entry = m_indices.find(name); if (entry == m_indices.cend()) { return -1; } else { return entry->second; } } /// Given an index, return the corresponding name (or ""). /// \param index The index. /// \return the name for that index if one exists; an empty string otherwise. std::string getName(int index) const { if ((index < 0) || (index >= static_cast(m_names.size()))) { return ""; } else { return m_names[index]; } } /// Get a list of all the names available from the index directory. /// \return all the names, in index order. const std::vector& getAllNames() const; /// Check whether the specified name exists in the directory. /// /// \param name The name. /// \return true if the entry exists. bool hasEntry(const std::string& name) const { return ((name.length() > 0) && (m_indices.count(name) > 0)); } /// Check the number of existing entries in the directory. /// \return the size of the directory. /// \sa getNumEntries() size_t size() const { return m_names.size(); } /// Check the number of existing entries in the directory. /// \return the size of the directory. /// \sa size() int getNumEntries() const { return static_cast(m_names.size()); } protected: template friend class NamedDataBuilder; friend class DataGroupBuilder; /// Copy constructor. /// Not generally accessible by external code, but is used by friend classes. /// \sa NamedDataBuilder, DataGroupBuilder IndexDirectory(const IndexDirectory& directory); /// Assignment operator. /// Not generally accessible by external code, but is used by friend classes. /// \sa NamedDataBuilder, DataGroupBuilder IndexDirectory& operator =(const IndexDirectory& directory); /// Create a new entry for the specified name. /// Not generally accessible by external code, but is used by friend classes. /// \sa NamedDataBuilder, DataGroupBuilder /// /// \param name The name, which should be non-empty and should not already exist in the directory. /// \return the index of the created entry, or -1 if the entry could not be added. int addEntry(const std::string& name); private: /// The array of entry names, in index order. std::vector m_names; /// A mapping of entry names to indices. std::unordered_map m_indices; }; }; // namespace Input }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_INDEXDIRECTORY_H opensurgsim-0.7.0/SurgSim/DataStructures/IndexedLocalCoordinate.cpp000066400000000000000000000024171277777236100255350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/IndexedLocalCoordinate.h" namespace SurgSim { namespace DataStructures { IndexedLocalCoordinate::IndexedLocalCoordinate() : index(0) { } IndexedLocalCoordinate::IndexedLocalCoordinate(size_t index, const SurgSim::Math::Vector& coordinate) : index(index), coordinate(coordinate) { } bool IndexedLocalCoordinate::isApprox(const IndexedLocalCoordinate& other, double precision) const { return (index == other.index) && ((coordinate.isZero(precision) && other.coordinate.isZero(precision)) || coordinate.isApprox(other.coordinate, precision)); } } // namespace DataStructures } // namespace SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/IndexedLocalCoordinate.h000066400000000000000000000042011277777236100251730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_INDEXEDLOCALCOORDINATE_H #define SURGSIM_DATASTRUCTURES_INDEXEDLOCALCOORDINATE_H #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace DataStructures { /// A generic (size_t index, Vector coordinate) pair. The coordinate is a dynamic size vector. /// E.g. This can be used to represent a barycentric coordinate within a simplex (identified by the index). struct IndexedLocalCoordinate { /// Default constructor with no initialization. IndexedLocalCoordinate(); /// Constructor with initialization. /// \param index Numeric index. /// \param coordinate Coordinates with respect to the entity identified by the index. /// \note Constructor does not throw when given malformed parameters. IndexedLocalCoordinate(size_t index, const SurgSim::Math::Vector& coordinate); /// Numeric index to indicate the entity w.r.t which the barycentricCoordinate is defined. size_t index; /// Coordinates with respect to the entity identified by the index. SurgSim::Math::Vector coordinate; /// Comparison method 'isApprox' /// \param other The other IndexedLocalCoordinate to compare it to /// \param precision The precision with which to compare /// \return True if the two IndexedLocalCoordinate are equal within precision, False otherwise bool isApprox(const IndexedLocalCoordinate& other, double precision = std::numeric_limits::epsilon()) const; }; } // namespace DataStructures } // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_INDEXEDLOCALCOORDINATE_H opensurgsim-0.7.0/SurgSim/DataStructures/Location.h000066400000000000000000000157041277777236100224120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_LOCATION_H #define SURGSIM_DATASTRUCTURES_LOCATION_H #include #include "SurgSim/DataStructures/OptionalValue.h" #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/DataStructures/OctreeNode.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace DataStructures { /// A Location defines a local position w.r.t. any shape. Depending on the type of shape, /// different data is needed to specify a location on it. This structure supports: /// - Any rigid shape (location identified by a local position) /// - Octree (location identified by an octree path) /// - Index (location indentified by an index) /// - A triangle mesh (location identified by the triangle id, and the barycentric coordinate of a point in it) /// - A node in a mesh (location identified by the node id) /// - An element in a mesh (location identified by the element id, and the barycentric coordinate of a point in it) struct Location { public: enum Type {TRIANGLE, ELEMENT}; /// Default constructor Location() { } /// Copy constructor /// \param other The location to be copied while constructing. Location(const Location& other) : rigidLocalPosition(other.rigidLocalPosition), octreeNodePath(other.octreeNodePath), index(other.index), triangleMeshLocalCoordinate(other.triangleMeshLocalCoordinate), elementMeshLocalCoordinate(other.elementMeshLocalCoordinate) {} /// Constructor for rigid local position /// \param localPosition The 3D local position to set this location to explicit Location(const SurgSim::Math::Vector3d& localPosition) { rigidLocalPosition.setValue(localPosition); } /// Constructor for octree node path /// \param nodePath The octree node path to set this location to explicit Location(const SurgSim::DataStructures::OctreePath& nodePath) { octreeNodePath.setValue(nodePath); } /// Constructor for an index /// \param val The index to set this location to explicit Location(const size_t val) { index.setValue(val); } /// Constructor for mesh-based location /// \param localCoordinate index-based local coordinate /// \param meshType the type of location (a node, a triangle or an element) Location(const SurgSim::DataStructures::IndexedLocalCoordinate& localCoordinate, Type meshType) { switch (meshType) { case TRIANGLE: triangleMeshLocalCoordinate.setValue(localCoordinate); break; case ELEMENT: elementMeshLocalCoordinate.setValue(localCoordinate); break; default: SURGSIM_FAILURE() << "Unknown location"; break; } } /// Gives access to the coordinates via enum rather than '.' public member access, this can reduce complexity /// in the calling code /// \param meshType (TRIANGLE or ELEMENT) /// \return the appropriate coordinate for the type of mesh const SurgSim::DataStructures::OptionalValue& get(Type meshType) { static SurgSim::DataStructures::OptionalValue null; switch (meshType) { case TRIANGLE: return triangleMeshLocalCoordinate; break; case ELEMENT: return elementMeshLocalCoordinate; break; default: SURGSIM_FAILURE() << "Unknown location"; break; } return null; } bool isApprox(const Location& other, double precision = std::numeric_limits::epsilon()) const { bool result = false; if (rigidLocalPosition.hasValue() && other.rigidLocalPosition.hasValue()) { auto const& vector1 = rigidLocalPosition.getValue(); auto const& vector2 = other.rigidLocalPosition.getValue(); result = (vector1.isZero(precision) && vector2.isZero(precision)) || vector1.isApprox(vector2, precision); } else if (octreeNodePath.hasValue() && other.octreeNodePath.hasValue()) { result = (octreeNodePath.getValue() == other.octreeNodePath.getValue()); } else if (index.hasValue() && other.index.hasValue()) { result = (index.getValue() == other.index.getValue()); } else if (triangleMeshLocalCoordinate.hasValue() && other.triangleMeshLocalCoordinate.hasValue()) { result = triangleMeshLocalCoordinate.getValue().isApprox(other.triangleMeshLocalCoordinate.getValue()); } else if (elementMeshLocalCoordinate.hasValue() && other.elementMeshLocalCoordinate.hasValue()) { result = elementMeshLocalCoordinate.getValue().isApprox(other.elementMeshLocalCoordinate.getValue()); } else { SURGSIM_FAILURE() << "Invalid location type"; } return result; } SurgSim::DataStructures::OptionalValue rigidLocalPosition; SurgSim::DataStructures::OptionalValue octreeNodePath; SurgSim::DataStructures::OptionalValue index; SurgSim::DataStructures::OptionalValue triangleMeshLocalCoordinate; SurgSim::DataStructures::OptionalValue elementMeshLocalCoordinate; }; template std::basic_ostream& operator << (std::basic_ostream& out, const SurgSim::DataStructures::OptionalValue& val) { if (val.hasValue()) { out << val.getValue(); } else { out << ""; } return out; } template std::basic_ostream& operator << (std::basic_ostream& out, const SurgSim::DataStructures::OptionalValue& val) { if (val.hasValue()) { out << val.getValue().transpose(); } else { out << ""; } return out; } template std::basic_ostream& operator << (std::basic_ostream& out, const SurgSim::DataStructures::IndexedLocalCoordinate& val) { out << "[ " << val.index << " : " << val.coordinate.transpose() << " ]"; return out; } template std::basic_ostream& operator << (std::basic_ostream& out, const Location& loc) { out << "ElementMesh: " << loc.elementMeshLocalCoordinate << std::endl; out << "Index: " << loc.index << std::endl; out << "RigidLocal: " << loc.rigidLocalPosition << std::endl; out << "TriangleMeshLocal: " << loc.triangleMeshLocalCoordinate << std::endl; return out; } }; // namespace DataStructures }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_LOCATION_H opensurgsim-0.7.0/SurgSim/DataStructures/MeshElement.h000066400000000000000000000067551277777236100230560ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_MESHELEMENT_H #define SURGSIM_DATASTRUCTURES_MESHELEMENT_H #include #include namespace SurgSim { namespace DataStructures { /// Element structure for meshes. MeshElement combines Vertices to form the structure of a mesh and can store extra /// per-element data. /// /// MeshElement is to be used purely as a data structure and not provide implementation of algorithms. /// For example, a physics FEM's elements are not subclasses of MeshElement if they provide code that is part of the FEM /// algorithm, but they may used with a Mesh to store the structure of the FEM. /// /// The extra Data is left up to the particular use of Mesh to specify. For example, for use collision detection, /// a vertex may need a normal and adjacent triangle information, which could be stored in a struct. /// /// If no extra Data is needed, a specialization exists for void, in which case the constructor takes no data. /// /// \tparam N Number of vertices in the element /// \tparam Data Type of extra data stored in the element (void for no data) /// \sa Vertices template struct MeshElement { /// Constructor /// \param verticesId IDs of the N element vertices /// \param data Extra data to be stored with the element MeshElement(const std::array& verticesId, const Data& data) : verticesId(verticesId), data(data), isValid(true) { } /// Constructor where the Data is constructed by its default constructor. /// \param verticesId IDs of the N element vertices explicit MeshElement(const std::array& verticesId) : verticesId(verticesId), isValid(true) { } /// Copy constructor when the template data is a different type /// In this case, no data will be copied /// \tparam T type of data stored in the other MeshElement /// \param other the MeshElement to copy from template explicit MeshElement(const MeshElement& other) : verticesId(other.verticesId), isValid(other.isValid) { } typedef std::array IdType; /// Element vertices. IdType verticesId; /// Extra element data. Data data; /// Is this a valid element bool isValid; /// Compare the element with another one (equality) /// \param element The MeshElement to compare it to /// \return True if the two MeshElements are equals, False otherwise bool operator==(const MeshElement& element) const { return isValid == element.isValid && verticesId == element.verticesId && data == element.data; } /// Compare the element with another one (inequality) /// \param element The MeshElement to compare it to /// \return False if the two MeshElements are equals, True otherwise bool operator!=(const MeshElement& element) const { return !((*this) == element); } }; }; // namespace DataStructures }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_MESHELEMENT_H opensurgsim-0.7.0/SurgSim/DataStructures/NamedData-inl.h000066400000000000000000000171621277777236100232400ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_NAMEDDATA_INL_H #define SURGSIM_DATASTRUCTURES_NAMEDDATA_INL_H #include #include "SurgSim/DataStructures/NamedData.h" #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace DataStructures { template inline NamedData::NamedData() { } template inline NamedData::NamedData(std::shared_ptr directory) : m_directory(directory) { SURGSIM_ASSERT(isValid()); m_data.resize(m_directory->getNumEntries()); m_isDataValid.resize(m_directory->getNumEntries(), false); } template inline NamedData::NamedData(const std::vector& names) : m_directory(std::make_shared(names)) { SURGSIM_ASSERT(isValid()); m_data.resize(m_directory->getNumEntries()); m_isDataValid.resize(m_directory->getNumEntries(), false); } template inline NamedData::NamedData(const NamedData& namedData) : m_directory(namedData.m_directory), m_data(namedData.m_data), m_isDataValid(namedData.m_isDataValid) { SURGSIM_ASSERT(isValid()); } template inline NamedData& NamedData::operator=(const NamedData& namedData) { SURGSIM_ASSERT(namedData.isValid()) << "Cannot use an invalid (empty) NamedData on the right-hand side of an assignment!"; if (!isValid()) { m_directory = namedData.m_directory; } else { SURGSIM_ASSERT(m_directory == namedData.m_directory) << "Incompatible NamedData contents in assignment!"; } m_data = namedData.m_data; m_isDataValid = namedData.m_isDataValid; SURGSIM_ASSERT(isValid()) << "NamedData is not valid after assignment!"; SURGSIM_ASSERT(m_data.size() == m_directory->size() && m_isDataValid.size() == m_directory->size()) << "NamedData is not correctly sized after assignment!"; return *this; } template inline NamedData::NamedData(NamedData&& namedData) : m_directory(std::move(namedData.m_directory)), m_data(std::move(namedData.m_data)), m_isDataValid(std::move(namedData.m_isDataValid)) { SURGSIM_ASSERT(isValid()); } template inline NamedData& NamedData::operator=(NamedData&& namedData) { SURGSIM_ASSERT(namedData.isValid()) << "Cannot use an invalid (empty) NamedData on the right-hand side of an assignment!"; if (!isValid()) { m_directory = std::move(namedData.m_directory); } else { SURGSIM_ASSERT(m_directory == namedData.m_directory) << "Incompatible NamedData contents in assignment!"; } m_data = std::move(namedData.m_data); m_isDataValid = std::move(namedData.m_isDataValid); SURGSIM_ASSERT(isValid()) << "NamedData is not valid after assignment!"; SURGSIM_ASSERT(m_data.size() == m_directory->size() && m_isDataValid.size() == m_directory->size()) << "NamedData is not correctly sized after assignment!"; return *this; } template inline bool NamedData::isValid() const { return static_cast(m_directory); } template inline std::shared_ptr NamedData::getDirectory() const { return m_directory; } template inline int NamedData::getIndex(const std::string& name) const { if (! isValid()) { return -1; } return m_directory->getIndex(name); } template inline std::string NamedData::getName(int index) const { if (! isValid()) { return ""; } return m_directory->getName(index); } template inline bool NamedData::hasEntry(int index) const { return ((index >= 0) && (index < static_cast(m_data.size()))); } template inline bool NamedData::hasEntry(const std::string& name) const { if (! isValid()) { return false; } return m_directory->hasEntry(name); } template inline bool NamedData::hasData(int index) const { return hasEntry(index) && m_isDataValid[index]; } template inline bool NamedData::hasData(const std::string& name) const { int index = getIndex(name); if (index < 0) { return false; } else { SURGSIM_ASSERT(hasEntry(index)); return m_isDataValid[index]; } } template inline bool NamedData::get(int index, T* value) const { if (! hasData(index)) { return false; } else { *value = m_data[index]; return true; } } template inline bool NamedData::get(const std::string& name, T* value) const { int index = getIndex(name); if ((index < 0) || ! m_isDataValid[index]) { return false; } else { SURGSIM_ASSERT(hasEntry(index)); *value = m_data[index]; return true; } } template inline bool NamedData::set(int index, const T& value) { if (! hasEntry(index)) { return false; } else { m_data[index] = value; m_isDataValid[index] = true; return true; } } template inline bool NamedData::set(int index, T&& value) { if (! hasEntry(index)) { return false; } else { m_data[index] = std::move(value); m_isDataValid[index] = true; return true; } } template inline bool NamedData::set(const std::string& name, const T& value) { int index = getIndex(name); if (index < 0) { return false; } else { SURGSIM_ASSERT(set(index, value) == true) << "The directory returned an index larger than the number of entries in the stored data."; return true; } } template inline bool NamedData::set(const std::string& name, T&& value) { int index = getIndex(name); if (index < 0) { return false; } else { SURGSIM_ASSERT(set(index, std::move(value)) == true) << "The directory returned an index larger than the number of entries in the stored data."; return true; } } template inline bool NamedData::reset(int index) { if (! hasEntry(index)) { return false; } else { m_isDataValid[index] = false; return true; } } template inline bool NamedData::reset(const std::string& name) { int index = getIndex(name); if (index < 0) { return false; } else { SURGSIM_ASSERT(reset(index) == true) << "The directory returned an index larger than the number of entries in the stored data."; return true; } } template inline void NamedData::resetAll() { m_isDataValid.assign(m_data.size(), false); } template inline size_t NamedData::size() const { return m_data.size(); } template inline int NamedData::getNumEntries() const { return static_cast(m_data.size()); } template template inline void NamedData::copy(const NamedData& source, const NamedDataCopyMap& map) { static_assert(std::is_same::value, "NamedData::copy can only copy from another NamedData."); for (auto it = map.cbegin(); it != map.cend(); ++it) { T value; if (source.get(it->first, &value)) { set(it->second, value); } else { reset(it->second); } } } template void SurgSim::DataStructures::NamedData::cacheIndex(const std::string& name, int* index) const { if (*index < 0) { *index = getIndex(name); } } }; // namespace Input }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_NAMEDDATA_INL_H opensurgsim-0.7.0/SurgSim/DataStructures/NamedData.h000066400000000000000000000344641277777236100224640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_NAMEDDATA_H #define SURGSIM_DATASTRUCTURES_NAMEDDATA_H #include #include #include #include "SurgSim/Framework/Assert.h" #include "SurgSim/DataStructures/IndexDirectory.h" namespace SurgSim { namespace DataStructures { /// The type used for copying values between two NamedData objects that cannot assign to each other. The keys are /// the source indices. The values are the target indices. typedef std::unordered_map NamedDataCopyMap; /// Common strings for NamedData. namespace Names { static const char* const BUTTON_0 = "button0"; static const char* const BUTTON_1 = "button1"; static const char* const BUTTON_2 = "button2"; static const char* const BUTTON_3 = "button3"; static const char* const BUTTON_4 = "button4"; static const char* const TOOLDOF = "toolDof"; static const char* const POSE = "pose"; static const char* const INPUT_POSE = "inputPose"; static const char* const ANGULAR_VELOCITY = "angularVelocity"; static const char* const LINEAR_VELOCITY = "linearVelocity"; static const char* const INPUT_ANGULAR_VELOCITY = "inputAngularVelocity"; static const char* const INPUT_LINEAR_VELOCITY = "inputLinearVelocity"; static const char* const FORCE = "force"; static const char* const TORQUE = "torque"; static const char* const DAMPER_JACOBIAN = "damperJacobian"; static const char* const SPRING_JACOBIAN = "springJacobian"; static const char* const IS_HOMED = "isHomed"; static const char* const IS_ORIENTATION_HOMED = "isOrientationHomed"; static const char* const IS_POSITION_HOMED = "isPositionHomed"; static const char* const DIGITAL_INPUT_PREFIX = "digitalInput"; static const char* const DIGITAL_OUTPUT_PREFIX = "digitalOutput"; static const char* const TIMER_INPUT_PREFIX = "timerInput"; static const char* const TIMER_OUTPUT_PREFIX = "timerOutput"; static const char* const ANALOG_INPUT_PREFIX = "analogInput"; static const char* const ANALOG_OUTPUT_PREFIX = "analogOutput"; static const char* const PROJECTION_MATRIX = "projectionMatix"; static const char* const LEFT_PROJECTION_MATRIX = "leftProjectionMatix"; static const char* const RIGHT_PROJECTION_MATRIX = "rightProjectionMatix"; static const char* const KEY = "key"; }; /// A templated dictionary in which data can be accessed by name or index, with immutable names & indices. /// /// A NamedData object consists of a collection of entries of type \a T. The data value for each entry can be accessed /// by either the entry's unique name (a std::string) or the entry's unique index (a non-negative integer). Access by /// name is more convenient, but less efficient. /// /// A NamedData object constructed by the default constructor has no entries, meaning it has not been associated with a /// set of names and indices, and is called invalid or empty. /// /// An non-empty object contains an immutable collection of entries. For a non-empty object: entries cannot be /// added or removed, and the entries' names and indices cannot be changed. Further, a non-empty object cannot /// become empty. These properties ensure that a stable data layout is available to the code using this class so /// that it can, for example, record entry indices and use them to retrieve the same entries later on. /// /// The data associated with an entry (e.g., the true or false associated with a particular name and index in a /// NamedData) can be changed, and each entry can be reset to a "missing" state. A reset entry remains in the /// collection, but has no associated data. /// /// The entries (i.e., names & indices) in a NamedData object can be set by passing a vector of names to the /// constructor, or by using the \ref NamedDataBuilder class. Given one non-empty object, other objects with the same /// entries can be created via copy construction or assignment of the non-empty object to an empty /// (default-constructed) object. /// /// \tparam T the data type used for values contained in this collection. template class NamedData { public: /// Create an empty object, with no associated names and indices yet. inline NamedData(); /// Create an object containing items from an index directory. /// You should probably use \ref NamedDataBuilder or copy construction/assignment instead. /// /// \param directory The IndexDirectory object describing the names and indices to be used. inline explicit NamedData(std::shared_ptr directory); /// Construct an object, using the names from a vector of strings. /// The indices corresponding to each name's entry will be the same as that name's index in the vector. /// /// \param names The names, which should be unique. inline explicit NamedData(const std::vector& names); /// Construct an object as a copy of the data from another object. /// This is used in the NamedVariantData copy constructor. /// \param namedData The object to copy from. inline NamedData(const NamedData& namedData); /// Copy the data from another object. /// /// The object being assigned into must either be empty (not yet associated with a set of names and indices), or /// the two objects must share the same data layout, resulting from earlier copy construction or assignment. /// ~~~~~ /// DataGroup initial; /// // ...initialize "initial" to some non-empty value... /// NamedData copyConstructed(initial); // Layout is shared with initial /// copyConstructed = initial // OK, using the same layout /// NamedData another; // Object is empty (no layout) /// another = initial; // OK, layout is now shared with initial /// another = initial // OK, using the same layout /// ~~~~~ /// /// Note that the data layout must be the same, i.e. related to one another by object assignment or copy /// construction. Objects that merely contain entries with the same names and indices are not acceptable! /// (Otherwise, we'd need to inefficiently compare layout contents each time we assign.) /// ~~~~~ /// std::vector names // = ...initialized to some value...; /// NamedData first(names); // Layout of entries created from names /// NamedData second(names); // Another layout of entries created from names; names and indices match /// second = first; // ERROR at run-time, layouts were created separately! /// ~~~~~ /// /// \param namedData The object to copy from. /// \return The object that was assigned into. inline NamedData& operator=(const NamedData& namedData); /// Create an object and move the data from another object. /// /// \param [in,out] namedData The object to copy from, which will be left in an unusable state. inline NamedData(NamedData&& namedData); /// Move the data from another object. /// /// The same restrictions on object compatibility apply as in the case of the copy assignment /// operator=(const NamedData&). /// /// \param [in,out] namedData The object to copy from, which will be left in an unusable state. /// \return The object that was assigned into. inline NamedData& operator=(NamedData&& namedData); /// Check if the object has been initialized, which means it has a set of entries (i.e., names, indices, and the /// map between them). If the object has not been initialized, it can become initialized on assignment from an /// initialized object. /// /// \return true if initialized. inline bool isValid() const; /// Return the object's layout directory, which is its collection of names and indices. /// In most cases, you should use direct assignment instead of doing things via the directory. /// \return The IndexDirectory object containing the names and indices of entries. inline std::shared_ptr getDirectory() const; /// Given a name, return the corresponding index (or -1). /// \param name The name. /// \return the index for that name if one exists; -1 otherwise. inline int getIndex(const std::string& name) const; /// Given an index, return the corresponding name (or ""). /// \param index The index. /// \return the name for that index if one exists; an empty string otherwise. inline std::string getName(int index) const; /// Check whether the object contains an entry with the specified index. /// Logically equivalent to getName(index) != "". /// /// \param index The index corresponding to the entry. /// \return true if that entry exists, false if not. inline bool hasEntry(int index) const; /// Check whether the object contains an entry with the specified name. /// Logically equivalent to getIndex(name) != -1. /// /// \param name The name corresponding to the entry. /// \return true if that entry exists, false if not. inline bool hasEntry(const std::string& name) const; /// Check whether the entry with the specified index contains valid data. /// The check verifies that the entry's data was %set using set(int, const T&) or /// set(const std::string&, const T&), without being subsequently invalidated by reset(int) /// or reset(const std::string&). /// /// \param index The index of the entry. /// \return true if that entry exists and contains valid data. inline bool hasData(int index) const; /// Check whether the entry with the specified name contains valid data. /// The check verifies that the entry's data was %set using set(int, const T&) or /// set(const std::string&, const T&), without being subsequently invalidated by reset(int) /// or reset(const std::string&). /// /// \param name The name of the entry. /// \return true if that entry exists and contains valid data. inline bool hasData(const std::string& name) const; /// Given an index, get the corresponding value. /// It's only possible to get the value if the data was %set using set(int, const T&) or /// set(const std::string&, const T&), without being subsequently invalidated by reset(int) /// or reset(const std::string&). In other words, get returns the same value as hasData would return. /// /// \param index The index of the entry. /// \param [out] value The location for the retrieved value. Must not be null. /// \return true if a valid value is available and was written to \a value. inline bool get(int index, T* value) const; /// Given a name, get the corresponding value. /// It's only possible to get the value if the data was %set using set(int, const T&) or /// set(const std::string&, const T&), without being subsequently invalidated by reset(int) /// or reset(const std::string&). In other words, get returns the same value as hasData would return. /// /// \param name The name of the entry. /// \param [out] value The location for the retrieved value. Must not be null. /// \return true if a valid value is available and was written to \a value. inline bool get(const std::string& name, T* value) const; /// Record the data for an entry specified by an index. /// The entry will also be marked as containing valid data. /// /// \param index The index of the entry. /// \param value The value to be set. /// \return true if successful. inline bool set(int index, const T& value); /// Record the data for an entry specified by an index. /// This version accepts rvalues, and the data will be moved /// The entry will also be marked as containing valid data. /// /// \param index The index of the entry. /// \param value The value to be set. /// \return true if successful. inline bool set(int index, T&& value); /// Record the data for an entry specified by a name. /// The entry will also be marked as containing valid data. /// /// \param name The name of the entry. /// \param value The value to be set. /// \return true if successful. inline bool set(const std::string& name, const T& value); /// Record the data for an entry specified by a name. /// This version accepts rvalues, and the data will be moved /// The entry will also be marked as containing valid data. /// /// \param name The name of the entry. /// \param value The value to be set. /// \return true if successful. inline bool set(const std::string& name, T&& value); /// Invalidate an entry— mark it as not containing any valid data. /// /// \param index The index of the entry. /// \return true if successful. inline bool reset(int index); /// Invalidate an entry— mark it as not containing any valid data. /// /// \param name The name of the entry. /// \return true if successful. inline bool reset(const std::string& name); /// Invalidate all entries— mark everything as not containing any valid data. inline void resetAll(); /// Check the number of existing entries. /// \return the size of the data collection. /// \sa getNumEntries() inline size_t size() const; /// Check the number of existing entries. /// \return the size of the data collection. /// \sa size() inline int getNumEntries() const; /// Copy the data from another NamedData, based on a map of indices. Resets entries that are reset in the other. /// \param source The source NamedData. /// \param map The map of indices. /// \exception Asserts if the objects do not have the same template type. template void copy(const NamedData& source, const NamedDataCopyMap& map); /// Caches an entry's index if it is not already cached. An index is considered already cached if it is >= 0. /// \param name The name of the entry. /// \param [in,out] index The cached index. void cacheIndex(const std::string& name, int* index) const; private: /// The mapping between names and indices. std::shared_ptr m_directory; /// The array of values. std::vector m_data; /// The array storing whether the data is currently valid. std::vector m_isDataValid; }; }; // namespace DataStructures }; // namespace SurgSim #include "SurgSim/DataStructures/NamedData-inl.h" #endif // SURGSIM_DATASTRUCTURES_NAMEDDATA_H opensurgsim-0.7.0/SurgSim/DataStructures/NamedDataBuilder.h000066400000000000000000000116371277777236100237700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_NAMEDDATABUILDER_H #define SURGSIM_DATASTRUCTURES_NAMEDDATABUILDER_H #include #include "SurgSim/DataStructures/NamedData.h" namespace SurgSim { namespace DataStructures { /// A class that allows you to build a \ref NamedData structure. /// /// Since the data layout of a \ref NamedData object cannot be modified, this class can be helpful in initially /// setting up the names and their corresponding indices. You can add entries to the builder using \ref addEntry /// and \ref addEntriesFrom calls, then create the NamedData instance with createData() or createSharedData(). /// /// \sa NamedData template class NamedDataBuilder { public: /// Constructs an empty builder object. NamedDataBuilder() { } /// Produces a \ref NamedData object with an immutable set of names and indices. /// None of the values will contain any current data. /// \return the NamedData object *by value*. NamedData createData() const { // NB: can't use copy construction in the std::make_shared call, because access is protected. std::shared_ptr dir = std::make_shared(); *dir = m_directory; return NamedData(dir); } /// Produces a shared pointer to an empty \ref NamedData object with an immutable set of names and indices. /// None of the values will contain any current data. /// \return a shared pointer to the NamedData object. std::shared_ptr> createSharedData() const { return std::make_shared>(createData()); } /// Creates a new entry for the specified name. /// /// \param name The name, which should be non-empty and should not already exist in the data. /// \return the index of the created entry, or -1 if the entry could not be added. int addEntry(const std::string& name) { return m_directory.addEntry(name); } /// Create new entries from a vector of names. /// \param names The names. void addEntriesFrom(const std::vector& names) { for (auto it = names.cbegin(); it != names.cend(); ++it) { addEntry(*it); } } /// Create new entries from another NamedDataBuilder. /// \tparam typename U The data type of the other NamedDataBuilder. /// \param builder The other builder. template void addEntriesFrom(const NamedDataBuilder& builder) { addEntriesFrom(builder.getAllNames()); } /// Create new entries from an already initialized NamedData. /// \tparam typename U The data type of the NamedData. /// \param data The data object. template void addEntriesFrom(const NamedData& data) { addEntriesFrom(data.getDirectory()->getAllNames()); } /// Create new entries from an IndexDirectory. /// \param directory The index directory object. void addEntriesFrom(const IndexDirectory& directory) { addEntriesFrom(directory.getAllNames()); } /// Given a name, return the corresponding index (or -1). /// \param name The name. /// \return the index for that name if one exists; -1 otherwise. int getIndex(const std::string& name) const { return m_directory.getIndex(name); } /// Given an index, return the corresponding name (or ""). /// \param index The index. /// \return the name for that index if one exists; an empty string otherwise. std::string getName(int index) const { return m_directory.getName(index); } /// Get a list of all the names available in the builder. /// \return all the names. const std::vector& getAllNames() const { return m_directory.getAllNames(); } /// Check whether the specified name exists in the builder. /// /// \param name The name. /// \return true if the entry exists. bool hasEntry(const std::string& name) const { return m_directory.hasEntry(name); } /// Check the number of existing entries in the builder. /// \return the number of entries. /// \sa getNumEntries() size_t size() const { return m_directory.size(); } /// Check the number of existing entries in the builder. /// \return the number of entries. /// \sa size() int getNumEntries() const { return m_directory.getNumEntries(); } private: /// The mapping between names and indices that will be used to create the NamedData instance. IndexDirectory m_directory; }; }; // namespace Input }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_NAMEDDATABUILDER_H opensurgsim-0.7.0/SurgSim/DataStructures/NamedVariantData-inl.h000066400000000000000000000041001277777236100245510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_NAMEDVARIANTDATA_INL_H #define SURGSIM_DATASTRUCTURES_NAMEDVARIANTDATA_INL_H #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace DataStructures { inline NamedVariantData::NamedVariantData() { } inline NamedVariantData::NamedVariantData(const NamedData& namedData) : NamedData(namedData) { } template inline bool NamedVariantData::hasTypedData(int index) const { if (! hasData(index)) { return false; } boost::any a; if (! NamedData::get(index, &a)) { return false; } if (a.empty()) { return false; } return (a.type() == typeid(T)); } template inline bool NamedVariantData::hasTypedData(const std::string& name) const { if (! hasData(name)) { return false; } int index = getIndex(name); return hasTypedData(index); } template inline bool NamedVariantData::get(int index, T* value) const { boost::any a; if (!NamedData::get(index, &a)) return false; try { *value = boost::any_cast(a); } catch(const boost::bad_any_cast &) { SURGSIM_FAILURE() << "Cannot cast the named value to the specified type."; } return true; } template inline bool NamedVariantData::get(const std::string& name, T* value) const { int index = getIndex(name); return get(index, value); } }; // namespace DataStructures }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_NAMEDVARIANTDATA_INL_H opensurgsim-0.7.0/SurgSim/DataStructures/NamedVariantData.h000066400000000000000000000105221277777236100237760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_NAMEDVARIANTDATA_H #define SURGSIM_DATASTRUCTURES_NAMEDVARIANTDATA_H #include #include "SurgSim/DataStructures/NamedData.h" #include "SurgSim/DataStructures/NamedDataBuilder.h" namespace SurgSim { namespace DataStructures { typedef NamedDataBuilder NamedVariantDataBuilder; /// A NamedData collection of variant data type. /// /// A NamedVariantData collection is a collection variant datatypes. Each entry in the collection can be /// accessed by using either its unique name (a std::string) or its unique index (a non-negative integer). /// Access by name is more convenient, but also less efficient. /// /// This sub-class of NameData encapsulates the boost::any variant type, and adds two get functions that /// provide typed access to the contained data. class NamedVariantData : public NamedData { public: NamedVariantData(); /// Implicit conversion for NamedVariantData constructor is used on purpose. NamedVariantData(const NamedData& namedData); //NOLINT /// Check whether the entry with the specified index contains valid data. /// The check verifies that the entry's data is of type T, was %set using /// set(int, const T&) or set(const std::string&, const T&), without being /// subsequently invalidated by reset(int) or reset(const std::string&). /// /// \tparam T the data type to check for at the given index. /// \param index The index of the entry. /// \return true if that entry exists, is of type T, and contains valid data. template inline bool hasTypedData(int index) const; /// Check whether the entry with the specified name contains valid data. /// The check verifies that the entry's data is of type T, was %set using /// set(int, const T&) or set(const std::string&, const T&), without being /// subsequently invalidated by reset(int) or reset(const std::string&). /// /// \tparam T the data type to check for at the given index. /// \param name The name of the entry. /// \return true if that entry exists, is of type T, and contains valid data. template inline bool hasTypedData(const std::string& name) const; /// Given an index, get the corresponding value. /// It's only possible to get the value if the data was %set using set(int, const T&) or /// set(const std::string&, const T&), without being subsequently invalidated by reset(int) /// or reset(const std::string&). In other words, get returns the same value as hasData would return. /// /// \tparam T the data type used for the value at the given index. /// \param index The index of the entry. /// \param [out] value The location for the retrieved value. Must not be null. /// \return true if a valid value is available, was written to \a value, and value is the correct type. template inline bool get(int index, T* value) const; /// Given a name, get the corresponding value. /// It's only possible to get the value if the data was %set using set(int, const T&) or /// set(const std::string&, const T&), without being subsequently invalidated by reset(int) /// or reset(const std::string&). In other words, get returns the same value as hasData would return. /// /// \tparam T the data type used for the value with the given name. /// \param name The name of the entry. /// \param [out] value The location for the retrieved value. Must not be null. /// \return true if a valid value is available, was written to \a value, and value is the correct type. template inline bool get(const std::string& name, T* value) const; }; }; // namespace DataStructures }; // namespace SurgSim #include "SurgSim/DataStructures/NamedVariantData-inl.h" #endif // SURGSIM_DATASTRUCTURES_NAMEDVARIANTDATA_H opensurgsim-0.7.0/SurgSim/DataStructures/NormalData.h000066400000000000000000000026331277777236100226610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_NORMALDATA_H #define SURGSIM_DATASTRUCTURES_NORMALDATA_H #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace DataStructures { /// Store normal for each triangle in a triangle mesh. struct NormalData { SurgSim::Math::Vector3d normal; /// Equality operator. /// \param rhs The right hand side NormalData. /// \return true if the parameters are considered equivalent. bool operator==(const NormalData& rhs) const { return normal == rhs.normal; } /// Inequality operator. /// \param rhs The right hand side NormalData. /// \return true if the parameters are not considered equivalent. bool operator!=(const NormalData& rhs) const { return !((*this) == rhs); } }; }; }; #endif // SURGSIM_DATASTRUCTURES_NORMALDATA_H opensurgsim-0.7.0/SurgSim/DataStructures/OctreeNode-inl.h000066400000000000000000000142761277777236100234540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_OCTREENODE_INL_H #define SURGSIM_DATASTRUCTURES_OCTREENODE_INL_H #include #include #include #include "SurgSim/DataStructures/OctreeNodePlyReaderDelegate.h" #include "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/Timer.h" namespace SurgSim { namespace DataStructures { template OctreeNode::OctreeNode() : m_isActive(false), m_hasChildren(false) { } template OctreeNode::OctreeNode(const SurgSim::Math::Aabbd& boundingBox) : m_boundingBox(boundingBox), m_isActive(false), m_hasChildren(false) { } template SurgSim::DataStructures::OctreeNode::OctreeNode(const OctreeNode& other) { m_boundingBox = other.m_boundingBox; m_hasChildren = other.m_hasChildren; m_isActive = other.m_isActive; // Also copy the data since they are the same type data = other.data; for (size_t i = 0; i < other.m_children.size(); i++) { if (other.getChild(i) == nullptr) { m_children[i] = nullptr; } else { m_children[i] = std::make_shared>(*other.m_children[i]); } } } template template SurgSim::DataStructures::OctreeNode::OctreeNode(const OctreeNode& other) { m_boundingBox = other.getBoundingBox(); m_hasChildren = other.hasChildren(); m_isActive = other.isActive(); for (size_t i = 0; i < m_children.size(); i++) { auto child = other.getChild(i); if (child == nullptr) { m_children[i] = nullptr; } else { m_children[i] = std::make_shared>(*child); } } } template OctreeNode::~OctreeNode() { } template std::string OctreeNode::getClassName() const { return m_className; } template const SurgSim::Math::Aabbd& OctreeNode::getBoundingBox() const { return m_boundingBox; } template bool OctreeNode::isActive() const { return m_isActive; } template void OctreeNode::setIsActive(bool isActive) { m_isActive = isActive; } template bool OctreeNode::hasChildren() const { return m_hasChildren; } template void OctreeNode::subdivide() { using SurgSim::Math::Vector3d; if (! m_hasChildren) { Vector3d childsSize = (m_boundingBox.max() - m_boundingBox.min()) / 2.0; AxisAlignedBoundingBox childsBoundingBox; for (int i = 0; i < 8; i++) { // Use the index to pick one of the eight regions Vector3d regionIndex = Vector3d(((i & 1) == 0) ? 0 : 1, ((i & 2) == 0) ? 0 : 1, ((i & 4) == 0) ? 0 : 1); childsBoundingBox.min() = m_boundingBox.min().array() + regionIndex.array() * childsSize.array(); childsBoundingBox.max() = childsBoundingBox.min() + childsSize; m_children[i] = std::make_shared>(childsBoundingBox); } m_hasChildren = true; } } template bool OctreeNode::addData(const SurgSim::Math::Vector3d& position, const int level, const Data& nodeData) { return doAddData(position, nodeData, level, 1); } template bool OctreeNode::doAddData(const SurgSim::Math::Vector3d& position, const Data& nodeData, const int level, const int currentLevel) { if (! m_boundingBox.contains(position)) { return false; } if (currentLevel == level) { data = nodeData; m_isActive = true; return true; } if (! m_hasChildren) { subdivide(); } for (auto child = m_children.begin(); child != m_children.end(); ++child) { if ((*child)->doAddData(position, nodeData, level, currentLevel + 1)) { m_isActive = true; return true; } } return false; } template std::array>, 8>& OctreeNode::getChildren() { return m_children; } template const std::array>, 8>& OctreeNode::getChildren() const { return m_children; } template std::shared_ptr> OctreeNode::getChild(size_t index) { return m_children[index]; } template const std::shared_ptr> OctreeNode::getChild(size_t index) const { return m_children[index]; } template std::shared_ptr> OctreeNode::getNode(const OctreePath& path, bool returnLastValid) { std::shared_ptr> node = this->shared_from_this(); std::shared_ptr> previous; for (auto index = path.cbegin(); index != path.cend(); ++index) { previous = std::move(node); node = previous->getChild(*index); if (node == nullptr) { if (returnLastValid) { node = std::move(previous); break; } else { SURGSIM_FAILURE() << "Octree path is invalid. Path is longer than octree is deep in this given branch."; } } } return node; } template bool SurgSim::DataStructures::OctreeNode::doLoad(const std::string& fileName) { SurgSim::Framework::Timer timer; auto delegate = std::make_shared>(this->shared_from_this()); PlyReader reader(fileName); SURGSIM_ASSERT(reader.isValid()) << "'" << fileName << "' is an invalid .ply file."; SURGSIM_ASSERT(reader.parseWithDelegate(delegate)) << "The input file " << fileName << " does not have the property required by the octree."; timer.endFrame(); SURGSIM_LOG_INFO(SurgSim::Framework::Logger::getDefaultLogger()) << "Loading " << fileName << " took " << timer.getCumulativeTime() << "s. "; return true; } }; // namespace DataStructures }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_OCTREENODE_INL_H opensurgsim-0.7.0/SurgSim/DataStructures/OctreeNode.cpp000066400000000000000000000153471277777236100232270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/OctreeNode.h" #include "SurgSim/Framework/Assert.h" #include #include #include #include namespace { using SurgSim::DataStructures::SYMBOL_HALT; using SurgSim::DataStructures::SYMBOL_LEFT; using SurgSim::DataStructures::SYMBOL_RIGHT; using SurgSim::DataStructures::SYMBOL_FRONT; using SurgSim::DataStructures::SYMBOL_BACK; using SurgSim::DataStructures::SYMBOL_UP; using SurgSim::DataStructures::SYMBOL_DOWN; using SurgSim::DataStructures::Symbol; struct TransitionCode { size_t nodeId; Symbol symbol; }; /// State machine codes, paired by new Value, new Directions value static TransitionCode transitionTable[6][8] = { // Transition codes for 'Down' { {2u, SYMBOL_DOWN}, {3u, SYMBOL_DOWN}, {0u, SYMBOL_HALT}, {1u, SYMBOL_HALT}, {6u, SYMBOL_DOWN}, {7u, SYMBOL_DOWN}, {4u, SYMBOL_HALT}, {5u, SYMBOL_HALT} }, // Transition Codes for 'Up' { {2u, SYMBOL_HALT}, {3u, SYMBOL_HALT}, {0u, SYMBOL_UP}, {1u, SYMBOL_UP}, {6u, SYMBOL_HALT}, {7u, SYMBOL_HALT}, {4u, SYMBOL_UP}, {5u, SYMBOL_UP} }, // Transition Codes for 'Right' { {1u, SYMBOL_HALT}, {0u, SYMBOL_RIGHT}, {3u, SYMBOL_HALT}, {2u, SYMBOL_RIGHT}, {5u, SYMBOL_HALT}, {4u, SYMBOL_RIGHT}, {7u, SYMBOL_HALT}, {6u, SYMBOL_RIGHT} }, // Transition Codes for 'Left' { {1u, SYMBOL_LEFT}, {0u, SYMBOL_HALT}, {3u, SYMBOL_LEFT}, {2u, SYMBOL_HALT}, {5u, SYMBOL_LEFT}, {4u, SYMBOL_HALT}, {7u, SYMBOL_LEFT}, {6u, SYMBOL_HALT} }, // Transition Codes for 'Back' { {4u, SYMBOL_BACK}, {5u, SYMBOL_BACK}, {6u, SYMBOL_BACK}, {7u, SYMBOL_BACK}, {0u, SYMBOL_HALT}, {1u, SYMBOL_HALT}, {2u, SYMBOL_HALT}, {3u, SYMBOL_HALT} }, // Transition Codes for 'Front' { {4u, SYMBOL_HALT}, {5u, SYMBOL_HALT}, {6u, SYMBOL_HALT}, {7u, SYMBOL_HALT}, {0u, SYMBOL_FRONT}, {1u, SYMBOL_FRONT}, {2u, SYMBOL_FRONT}, {3u, SYMBOL_FRONT} } }; static const std::array, 6> FaceNeighbors = { SYMBOL_DOWN, SYMBOL_HALT, SYMBOL_HALT, SYMBOL_UP, SYMBOL_HALT, SYMBOL_HALT, SYMBOL_RIGHT, SYMBOL_HALT, SYMBOL_HALT, SYMBOL_LEFT, SYMBOL_HALT, SYMBOL_HALT, SYMBOL_BACK, SYMBOL_HALT, SYMBOL_HALT, SYMBOL_FRONT, SYMBOL_HALT, SYMBOL_HALT, }; static const std::array, 12> EdgeNeighbors = { SYMBOL_DOWN, SYMBOL_RIGHT, SYMBOL_HALT, SYMBOL_DOWN, SYMBOL_LEFT, SYMBOL_HALT, SYMBOL_DOWN, SYMBOL_FRONT, SYMBOL_HALT, SYMBOL_DOWN, SYMBOL_BACK, SYMBOL_HALT, SYMBOL_UP, SYMBOL_RIGHT, SYMBOL_HALT, SYMBOL_UP, SYMBOL_LEFT, SYMBOL_HALT, SYMBOL_UP, SYMBOL_FRONT, SYMBOL_HALT, SYMBOL_UP, SYMBOL_BACK, SYMBOL_HALT, SYMBOL_BACK, SYMBOL_RIGHT, SYMBOL_HALT, SYMBOL_BACK, SYMBOL_LEFT, SYMBOL_HALT, SYMBOL_FRONT, SYMBOL_RIGHT, SYMBOL_HALT, SYMBOL_FRONT, SYMBOL_LEFT, SYMBOL_HALT, }; static const std::array, 8> VertexNeighbors = { SYMBOL_DOWN, SYMBOL_RIGHT, SYMBOL_FRONT, SYMBOL_DOWN, SYMBOL_RIGHT, SYMBOL_BACK, SYMBOL_DOWN, SYMBOL_LEFT, SYMBOL_FRONT, SYMBOL_DOWN, SYMBOL_LEFT, SYMBOL_BACK, SYMBOL_UP, SYMBOL_RIGHT, SYMBOL_FRONT, SYMBOL_UP, SYMBOL_RIGHT, SYMBOL_BACK, SYMBOL_UP, SYMBOL_LEFT, SYMBOL_FRONT, SYMBOL_UP, SYMBOL_LEFT, SYMBOL_BACK, }; } namespace SurgSim { namespace DataStructures { SURGSIM_REGISTER(SurgSim::Framework::Asset, SurgSim::DataStructures::OctreeNode, OctreeNodeEmptyData); // Predefine classname of OctreeNode of EmptyData template<> std::string OctreeNode::m_className = "SurgSim::DataStructures::OctreeNode"; SurgSim::DataStructures::OctreePath getNeighbor(const OctreePath& origin, const std::array& direction) { // Early Exit if (origin.size() == 0 || direction[0] == SYMBOL_HALT) { return OctreePath(); } boost::container::static_vector currentDirection; boost::container::static_vector newDirection; for (size_t i = 0; i < direction.size() && direction[i] != SYMBOL_HALT; ++i) { currentDirection.push_back(direction[i]); } OctreePath result(origin); bool didHalt = false; // For each level iterate over all directions and remember the new node value, and any directions // if there were any new directions (transitionCode.second != SYMBOL_HALT) then do the same for the // preceding level. If there are no new directions then we are done and the superior level are unchanged // If after the topmost level was dealt with there are still directions to work with, the neighbor is outside // of the octree, an empty array is returned in that case. for (ptrdiff_t pathIndex = origin.size() - 1; pathIndex >= 0; --pathIndex) { newDirection.clear(); size_t currentNodeId = origin[pathIndex]; for (size_t directionIndex = 0; directionIndex < currentDirection.size(); ++directionIndex) { TransitionCode code = transitionTable[currentDirection[directionIndex]][currentNodeId]; currentNodeId = code.nodeId; if (code.symbol != SYMBOL_HALT) { newDirection.push_back(code.symbol); } } currentDirection = newDirection; result[pathIndex] = currentNodeId; // If now other new direction was found then we are done and can break of the algorithm if (currentDirection.empty()) { didHalt = true; break; } } // If the last symbol was not a Halt, then the node is outside of the tree if (!didHalt) { result.clear(); } return result; } std::vector getNeighbors(const OctreePath& origin, int type) { std::vector result; auto f = [&origin, &result](const std::array& direction) { auto n = getNeighbor(origin, direction); if (! n.empty()) { result.push_back(std::move(n)); } }; size_t size = (((NEIGHBORHOOD_FACE & type) == 0) ? 0 : 6) + (((NEIGHBORHOOD_EDGE & type) == 0) ? 0 : 12) + (((NEIGHBORHOOD_VERTEX & type) == 0) ? 0 : 8); result.reserve(size); if ((NEIGHBORHOOD_FACE & type) != 0) { std::for_each(FaceNeighbors.begin(), FaceNeighbors.end(), f); } if ((NEIGHBORHOOD_EDGE & type) != 0) { std::for_each(EdgeNeighbors.begin(), EdgeNeighbors.end(), f); } if ((NEIGHBORHOOD_VERTEX & type) != 0) { std::for_each(VertexNeighbors.begin(), VertexNeighbors.end(), f); } return result; } }; // namespace DataStructures }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/OctreeNode.h000066400000000000000000000220371277777236100226660ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_OCTREENODE_H #define SURGSIM_DATASTRUCTURES_OCTREENODE_H #include #include #include #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/Framework/Asset.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Aabb.h" namespace SurgSim { namespace Math { class OctreeShape; } namespace DataStructures { /// Typedef of octree path /// The path is a vector of children indexes (each within 0 to 7) that lead to /// the specific node the front of the vector holds the index of the root's children. typedef std::vector OctreePath; /// Enable the OctreePath to be used as a key in an unordered map, if the int range is exceeded this will just /// push the least significant numbers (root addresses) out of scope, it loses a little bit of address space as /// octree ids only go from 0-7 class OctreePathHash { public: size_t operator()(const OctreePath& path) const { size_t result = 0; for (auto i : path) { result = (result << 3) | i; } return m_hasher(result); } private: std::hash m_hasher; }; /// Indicates what neighbors to grab enum Neighborhood { NEIGHBORHOOD_NONE = 0x0, NEIGHBORHOOD_FACE = 0x1, NEIGHBORHOOD_EDGE = 0x2, NEIGHBORHOOD_VERTEX = 0x4, NEIGHBORHOOD_ALL = 0x1 | 0x2 | 0x4 }; /// Direction code for the neighborhood search enum Symbol { SYMBOL_HALT = -1, SYMBOL_DOWN = 0, SYMBOL_UP = 1, SYMBOL_RIGHT = 2, SYMBOL_LEFT = 3, SYMBOL_BACK = 4, SYMBOL_FRONT = 5 }; /// Calculate the neighbor of an node in the octree by traversing a state machine, see /// http://ww1.ucmss.com/books/LFS/CSREA2006/MSV4517.pdf for detailed description. /// The information about the location of a nodes neighbor is encoded in a state machine, this machine is traversed /// until a 'Halt' instruction is found. If the neighbor is across a boundary on the octree, a new search direction /// is determined by the algorithm. /// \note The numbering in the paper and our numbering is slightly different, this means the following transformations /// took place. /// a) The colums where reordered to match our numbering /// b) All the numbers where replaced to match out numbering /// The number changes where as following: 0 => 6, 1 => 7, 2 => 4, 3 => 5, 4 => 2, 5 => 3, 6 => 0, 7 => 1 /// \param origin the node whose neighbor is needed /// \param direction a set of directions, for face neighbors use 1, for edge neighbors use 2 and for vertex neighbors /// use 3 direction, fill the other spots with SYMBOL_HALT. E.g. to find the left neighbor use /// {SYMBOL_LEFT, SYMBOL_HALT, SYMBOL_HALT}, for the vertex neighber on the upper left front corner use /// {SYMBOL_LEFT, SYMBOLD_FRONT, SYMBOL_UP} /// \return a OctreePath to the correct neighbor, empty if the neighbor is outside of the tree OctreePath getNeighbor(const OctreePath& origin, const std::array& direction); /// Fetch a list of neighbors, indicated by the type, Face, Edge and Vertex are possible types and can be combined /// via OR /// \param origin the node whose neighbor is needed /// \param type the kind of neighborhood that is needed, \sa Neighborhood /// \return list of paths with neighbors of the node at origin std::vector getNeighbors(const OctreePath& origin, int type); template class OctreeNodePlyReaderDelegate; /// Octree data structure /// /// The octree node consists of an axis aligned bounding box, that can be /// subdivided into 8 equally sized subregions. Each subregion is an octree /// node and can be further subdivided. /// with x-right and y-up on a right handed coordinate system this is the ordering of the nodes of the tree, looking /// down the z-axis /// Back Face /// 2 3 /// 0 1 /// Front Face /// 6 7 /// 4 5 /// /// \tparam Data Type of extra data stored in each node template class OctreeNode : public SurgSim::Framework::Asset, public std::enable_shared_from_this> { friend class SurgSim::Math::OctreeShape; friend class SurgSim::DataStructures::OctreeNodePlyReaderDelegate; public: /// Bounding box type for convenience typedef Eigen::AlignedBox AxisAlignedBoundingBox; /// Constructor OctreeNode(); /// Copy constructor when the template data is the same type /// \param other the octree to copy from OctreeNode(const OctreeNode& other); /// Copy constructor when the template data is a different type /// In this case, no data will be copied /// \tparam T type of data stored in the other node /// \param other the octree to copy from template OctreeNode(const OctreeNode& other); std::string getClassName() const override; /// Constructor /// \param boundingBox The region contained by this octree node explicit OctreeNode(const SurgSim::Math::Aabbd& boundingBox); /// Destructor virtual ~OctreeNode(); /// Get the bounding box for this octree node /// \return the bounding box const SurgSim::Math::Aabbd& getBoundingBox() const; /// Is this node active /// \return true if the octree node is active bool isActive() const; /// Set active flag for this octree node /// \param isActive True if the octree node is being activated, False otherwise void setIsActive(bool isActive); /// Does this node have children /// \return true if this node has children bool hasChildren() const; /// Subdivide the node into 8 equal regions. Each subregion will be stored /// as this nodes children. /// \note The data stored in the current node will not be automatically subdivided. void subdivide(); /// Add data to a node in this octree /// The octree will build the octree as necessary to add the /// node at the specified level /// \param position The position to add the data at /// \param nodeData The data to store in the node /// \param level The number of levels down the octree to store the data /// \return true if data is added bool addData(const SurgSim::Math::Vector3d& position, const int level, const Data& nodeData = Data()); /// Get the children of this node (non const version) /// \return vector of all eight children std::array>, 8>& getChildren(); /// Get the children of this node /// \return vector of all eight children const std::array>, 8>& getChildren() const; /// Get a child of this node (non const version) /// \throws SurgSim::Framework::AssertionFailure if the index >= 8 /// \param index the child index /// \return the requested octree node std::shared_ptr> getChild(size_t index); /// Get a child of this node /// \throws SurgSim::Framework::AssertionFailure if the index >= 8 /// \param index the child index /// \return the requested octree node const std::shared_ptr> getChild(size_t index) const; /// Get the node at the supplied path /// \throws SurgSim::Framework::AssertionFailure if returnLastValid is false and the node does not exist. /// \param path the path to the specific node /// \param returnLastValid if true and the path is longer than the tree deep, the function will return // the last node on a given path, otherwise it will throw. /// \return the requested octree node virtual std::shared_ptr> getNode(const OctreePath& path, bool returnLastValid = false); /// Extra node data Data data; protected: /// Recursive function that does the adding of the data to the octree /// \param position The position to add the data at /// \param nodeData The data to store in the node /// \param level The number of levels down the octree to store the data /// \param currentLevel Used to keep track of the current level during recursive calls /// \return true if data is added bool doAddData(const SurgSim::Math::Vector3d& position, const Data& nodeData, const int level, const int currentLevel); bool doLoad(const std::string& filePath) override; /// The bounding box of the current OctreeNode SurgSim::Math::Aabbd m_boundingBox; /// True if there is any data inside this node, including data held by children, children's children, etc. bool m_isActive; /// True if the node has children bool m_hasChildren; /// The children of this node std::array>, 8> m_children; private: static std::string m_className; }; }; // namespace DataStructures }; // namespace SurgSim #include "SurgSim/DataStructures/OctreeNode-inl.h" #endif // SURGSIM_DATASTRUCTURES_OCTREENODE_H opensurgsim-0.7.0/SurgSim/DataStructures/OctreeNodePlyReaderDelegate-inl.h000066400000000000000000000040501277777236100267040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_OCTREENODEPLYREADERDELEGATE_INL_H #define SURGSIM_DATASTRUCTURES_OCTREENODEPLYREADERDELEGATE_INL_H namespace SurgSim { namespace DataStructures { template OctreeNodePlyReaderDelegate::OctreeNodePlyReaderDelegate() : m_octree(std::make_shared>()) { static_assert(std::is_default_constructible::value, "OctreeNode Data needs default constructor."); } template OctreeNodePlyReaderDelegate::OctreeNodePlyReaderDelegate(std::shared_ptr> octree) : m_octree(octree) { static_assert(std::is_default_constructible::value, "OctreeNode Data needs default constructor"); SURGSIM_ASSERT(!m_octree->hasChildren()) << "Can't process an octree that already has children in it."; } template OctreeNodePlyReaderDelegate::~OctreeNodePlyReaderDelegate() { } template std::shared_ptr> OctreeNodePlyReaderDelegate::getOctree() { return m_octree; } template void OctreeNodePlyReaderDelegate::processVoxel(const std::string& elementName) { SurgSim::Math::Vector3d position; position[0] = m_voxel.x; position[1] = m_voxel.y; position[2] = m_voxel.z; m_octree->addData(position, m_numLevels); } template void OctreeNodePlyReaderDelegate::initializeOctree() { m_octree->m_boundingBox = m_boundingBox; } } } #endif opensurgsim-0.7.0/SurgSim/DataStructures/OctreeNodePlyReaderDelegate.cpp000066400000000000000000000136431277777236100264670ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/OctreeNodePlyReaderDelegate.h" #include "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace DataStructures { OctreeNodePlyReaderDelegateBase::OctreeNodePlyReaderDelegateBase() : m_haveSpacing(false), m_haveDimensions(false), m_haveBounds(false) { } OctreeNodePlyReaderDelegateBase::~OctreeNodePlyReaderDelegateBase() { } bool OctreeNodePlyReaderDelegateBase::registerDelegate(PlyReader* reader) { // Vertex processing reader->requestElement("bounds", std::bind(&OctreeNodePlyReaderDelegateBase::beginBounds, this, std::placeholders::_1, std::placeholders::_2), nullptr, nullptr); reader->requestScalarProperty("bounds", "xMin", PlyReader::TYPE_DOUBLE, offsetof(BoundsData, xMin)); reader->requestScalarProperty("bounds", "yMin", PlyReader::TYPE_DOUBLE, offsetof(BoundsData, yMin)); reader->requestScalarProperty("bounds", "zMin", PlyReader::TYPE_DOUBLE, offsetof(BoundsData, zMin)); reader->requestScalarProperty("bounds", "xMax", PlyReader::TYPE_DOUBLE, offsetof(BoundsData, xMax)); reader->requestScalarProperty("bounds", "yMax", PlyReader::TYPE_DOUBLE, offsetof(BoundsData, yMax)); reader->requestScalarProperty("bounds", "zMax", PlyReader::TYPE_DOUBLE, offsetof(BoundsData, zMax)); reader->requestElement("dimension", std::bind(&OctreeNodePlyReaderDelegateBase::beginDimension, this, std::placeholders::_1, std::placeholders::_2), nullptr, nullptr); reader->requestScalarProperty("dimension", "x", PlyReader::TYPE_UNSIGNED_INT, offsetof(DimensionData, x)); reader->requestScalarProperty("dimension", "y", PlyReader::TYPE_UNSIGNED_INT, offsetof(DimensionData, y)); reader->requestScalarProperty("dimension", "z", PlyReader::TYPE_UNSIGNED_INT, offsetof(DimensionData, z)); reader->requestElement("spacing", std::bind(&OctreeNodePlyReaderDelegateBase::beginSpacing, this, std::placeholders::_1, std::placeholders::_2), nullptr, nullptr); reader->requestScalarProperty("spacing", "x", PlyReader::TYPE_DOUBLE, offsetof(SpacingData, x)); reader->requestScalarProperty("spacing", "y", PlyReader::TYPE_DOUBLE, offsetof(SpacingData, y)); reader->requestScalarProperty("spacing", "z", PlyReader::TYPE_DOUBLE, offsetof(SpacingData, z)); reader->requestElement("voxel", std::bind(&OctreeNodePlyReaderDelegateBase::beginVoxel, this, std::placeholders::_1, std::placeholders::_2), std::bind(&OctreeNodePlyReaderDelegateBase::processVoxel, this, std::placeholders::_1), nullptr); reader->requestScalarProperty("voxel", "x", PlyReader::TYPE_DOUBLE, offsetof(VoxelData, x)); reader->requestScalarProperty("voxel", "y", PlyReader::TYPE_DOUBLE, offsetof(VoxelData, y)); reader->requestScalarProperty("voxel", "z", PlyReader::TYPE_DOUBLE, offsetof(VoxelData, z)); return true; } bool OctreeNodePlyReaderDelegateBase::fileIsAcceptable(const PlyReader& reader) { bool result = true; // Shortcut test if one fails ... result = result && reader.hasProperty("bounds", "xMin") && reader.hasProperty("bounds", "yMin") && reader.hasProperty("bounds", "zMin") && reader.hasProperty("bounds", "xMax") && reader.hasProperty("bounds", "yMax") && reader.hasProperty("bounds", "zMax"); result = result && reader.hasProperty("dimension", "x") && reader.hasProperty("dimension", "y") && reader.hasProperty("dimension", "z"); result = result && reader.hasProperty("spacing", "x") && reader.hasProperty("spacing", "y") && reader.hasProperty("spacing", "z"); result = result && reader.hasProperty("voxel", "x") && reader.hasProperty("voxel", "y") && reader.hasProperty("voxel", "z"); return result; } void* OctreeNodePlyReaderDelegateBase::beginBounds(const std::string& elementName, size_t count) { SURGSIM_ASSERT(count == 1) << "Bounds should only have exactly one entry."; m_haveBounds = true; return &m_bounds; } void* OctreeNodePlyReaderDelegateBase::beginDimension(const std::string& elementName, size_t count) { SURGSIM_ASSERT(count == 1) << "Dimension should only have exactly one entry."; m_haveDimensions = true; return &m_dimension; } void* OctreeNodePlyReaderDelegateBase::beginSpacing(const std::string& elementName, size_t count) { SURGSIM_ASSERT(count == 1) << "Spacing should only have exactly one entry."; m_haveSpacing = true; return &m_spacing; } void* OctreeNodePlyReaderDelegateBase::beginVoxel(const std::string& elementName, size_t count) { SURGSIM_ASSERT(m_haveSpacing) << "Need spacing data for complete octree."; SURGSIM_ASSERT(m_haveBounds) << "Need bounds data for complete octree."; SURGSIM_ASSERT(m_haveDimensions) << "Need dimension data for complete octree."; auto maxDimension = std::max(m_dimension.x, std::max(m_dimension.y, m_dimension.z)); m_numLevels = 1 + static_cast(std::ceil(std::log(maxDimension) / std::log(2.0))); SurgSim::Math::Vector3d octreeDimensions = SurgSim::Math::Vector3d::Ones() * std::pow(2.0, m_numLevels - 1); Math::Vector3d spacing(m_spacing.x, m_spacing.y, m_spacing.z); m_boundingBox.min() = Math::Vector3d(m_bounds.xMin, m_bounds.yMin, m_bounds.zMin); m_boundingBox.max() = Math::Vector3d(m_bounds.xMin, m_bounds.yMin, m_bounds.zMin).array() + octreeDimensions.array() * spacing.array(); initializeOctree(); return &m_voxel; } } } opensurgsim-0.7.0/SurgSim/DataStructures/OctreeNodePlyReaderDelegate.h000066400000000000000000000120221277777236100261220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_OCTREENODEPLYREADERDELEGATE_H #define SURGSIM_DATASTRUCTURES_OCTREENODEPLYREADERDELEGATE_H #include "SurgSim/DataStructures/PlyReaderDelegate.h" #include "SurgSim/DataStructures/OctreeNode.h" #include "SurgSim/DataStructures/EmptyData.h" namespace SurgSim { namespace DataStructures { /// Delegate to read Octrees from ply files, this is the abstract base class, to let us modify /// loading by datatype class OctreeNodePlyReaderDelegateBase : public PlyReaderDelegate { public: /// Constructor OctreeNodePlyReaderDelegateBase(); /// Destructor virtual ~OctreeNodePlyReaderDelegateBase(); bool registerDelegate(PlyReader* reader) override; bool fileIsAcceptable(const PlyReader& reader) override; /// Callback function, begin the processing of the bounds. /// \param elementName Name of the element. /// \param count Number of entries. /// \throws SurgSim::Framework::AssertionFailure if count != 1, only one bounds entry is expected /// \return memory for bounds data to the reader. void* beginBounds(const std::string& elementName, size_t count); /// Callback function, begin the processing of the dimension. /// \param elementName Name of the element. /// \param count Number of entries. /// \throws SurgSim::Framework::AssertionFailure if count != 1, only one dimesion entry is expected /// \return memory for dimension data to the reader. void* beginDimension(const std::string& elementName, size_t count); /// Callback function, begin the processing of the bounds. /// \param elementName Name of the element. /// \param count Number of entries. /// \throws SurgSim::Framework::AssertionFailure if count != 1, only one spacing entry is expected /// \return memory for spacing data to the reader. void* beginSpacing(const std::string& elementName, size_t count); /// Callback function, begin the processing of the voxels. /// \param elementName Name of the element. /// \param count Number of bounds entry. /// \return memory for voxel data to the reader. virtual void* beginVoxel(const std::string& elementName, size_t count); /// Callback function to process one voxel. This is left up to the subclasses, they might have to deal with /// data specific processing /// \param elementName Name of the element. virtual void processVoxel(const std::string& elementName) = 0; protected: /// Set up the octree, this is left up to the derived classes virtual void initializeOctree() = 0; /// Data Structure to receive the bounds information struct BoundsData { double xMin; double yMin; double zMin; double xMax; double yMax; double zMax; } m_bounds; /// Bounding box, will be initialized from the file Eigen::AlignedBox m_boundingBox; /// Data structure to receive the spacing information from the file struct SpacingData { double x; double y; double z; } m_spacing; /// Data structure to receive the dimension information from the file struct DimensionData { unsigned int x; unsigned int y; unsigned int z; } m_dimension; /// Data structure to receive the specific voxel information from the file struct VoxelData { double x; double y; double z; } m_voxel; /// Calculated number of levels for the octree int m_numLevels; ///@{ /// Check wether we actually received the appropriate information, if not we can't initialize the octree bool m_haveSpacing; bool m_haveDimensions; bool m_haveBounds; ///@} }; /// Subclass the OctreeNodePLyReaderDelegateBase class to enable processing of the templated data, this should be /// specialized to enable specific processing of various extended node types /// \tparam Data The data the should be inside the Octree, needs to be default constructable template class OctreeNodePlyReaderDelegate : public OctreeNodePlyReaderDelegateBase { public: /// Constructor OctreeNodePlyReaderDelegate(); /// Constructor /// \param octree read the data into this octree explicit OctreeNodePlyReaderDelegate(std::shared_ptr> octree); /// Destructor virtual ~OctreeNodePlyReaderDelegate(); /// \return the octree std::shared_ptr> getOctree(); void processVoxel(const std::string& elementName) override; void initializeOctree() override; private: /// The octree that will be filled with the data from the file std::shared_ptr> m_octree; }; } } #include "SurgSim/DataStructures/OctreeNodePlyReaderDelegate-inl.h" #endif opensurgsim-0.7.0/SurgSim/DataStructures/OptionalValue.h000066400000000000000000000102331277777236100234140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_OPTIONALVALUE_H #define SURGSIM_DATASTRUCTURES_OPTIONALVALUE_H #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace DataStructures { template /// Container class that can indicate whether the object has been assigned a value. /// \tparam Class of the value that this object contains class OptionalValue { public: /// Default Constructor, no value. OptionalValue() : m_hasValue(false) { } /// Constructor that assigns a value. /// \param value The value that should be used. explicit OptionalValue(const T& value) : m_hasValue(true), m_value(value) { } /// Copy constructor /// \param other The value used for copying. OptionalValue(const OptionalValue& other) : m_hasValue(other.m_hasValue) { if (m_hasValue) { m_value = other.m_value; } } /// Query if this object has been assigned a value. /// \return true if yes, false if not. bool hasValue() const { return m_hasValue; } /// Mark this object as invalid void invalidate() { m_hasValue = false; } /// Set the value of this object, and mark it as valid /// \param val The value of the object void setValue(const T& val) { m_hasValue = true; m_value = val; } /// Gets the value. /// \throws SurgSim::Framework::AssertionFailure if the value was not set /// \return The assigned value if set. const T& getValue() const { SURGSIM_ASSERT(m_hasValue) << "Tried to fetch a value from an invalid OptionalValue"; return m_value; } /// Gets the value /// \note do not implement T& operator*(), because *optionalValue = X; would not be able to set /// the hasValue() property properly. /// \throws SurgSim::Framework::AssertionFailure if the value was not set /// \return the contained value. const T& operator*() const { SURGSIM_ASSERT(m_hasValue) << "Tried to fetch a value from an invalid OptionalValue"; return m_value; } /// Equality operator. /// \param rhs The right hand side. /// \return true if the parameters are considered equivalent. bool operator==(const OptionalValue& rhs) const { if (m_hasValue == true && rhs.m_hasValue == true) { return m_value == rhs.m_value; } else { return m_hasValue == rhs.m_hasValue; } } /// Equality operator. /// \param rhs The right hand side with the specific template type. /// \return true if the parameters are considered equivalent. bool operator==(const T& rhs) const { if (m_hasValue) { return m_value == rhs; } else { return false; } } /// Inequality operator /// \param rhs the right hand side. /// \return true if the parameters are not considered equivalent bool operator!=(const OptionalValue& rhs) const { return !(*this == rhs); } /// Inequality operator /// \param rhs the right hand side. /// \return true if the parameters are not considered equivalent bool operator!=(const T& rhs) const { return !(*this == rhs); } /// Assignment operator. /// \param rhs The right hand side of the operator. /// \return reference to this. OptionalValue& operator=(const OptionalValue& rhs) { m_hasValue = rhs.m_hasValue; if (m_hasValue) { m_value = rhs.m_value; } return *this; } /// Assignment operator from template type, after this hasValue() is true even if the /// right hand side was not initialized /// \param rhs the value to be assigned to this optional value /// \return reference to this. OptionalValue& operator=(const T& rhs) { setValue(rhs); return *this; } private: bool m_hasValue; T m_value; }; }; // Datastructures }; // SurgSim #endif opensurgsim-0.7.0/SurgSim/DataStructures/PerformanceTests/000077500000000000000000000000001277777236100237465ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/DataStructures/PerformanceTests/CMakeLists.txt000066400000000000000000000017431277777236100265130ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES GridPerformanceTest.cpp NamedDataPerformanceTest.cpp ) set(UNIT_TEST_HEADERS ) set(LIBS SurgSimDataStructures ) surgsim_add_unit_tests(SurgSimDataStructuresPerformanceTest) set_target_properties(SurgSimDataStructuresPerformanceTest PROPERTIES FOLDER "DataStructures") opensurgsim-0.7.0/SurgSim/DataStructures/PerformanceTests/GridPerformanceTest.cpp000066400000000000000000000100231277777236100303550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/Framework/Timer.h" #include "SurgSim/DataStructures/Grid.h" namespace SurgSim { namespace DataStructures { /// This class test the grid timings for a given concentration of elements per cell and a given number of element per /// dimension. These two information are embedded in GTest WithParamInterface which takes a /// tuple class Grid3DPerformanceTests : public ::testing::Test, public ::testing::WithParamInterface> { public: typedef Eigen::Matrix Vector3ui; virtual void SetUp() { m_h = 0.1; m_bounds.min().setConstant(-pow(2, 10) / 2.0); m_bounds.max().setConstant(pow(2, 10) / 2.0); m_grid = std::make_shared>(Eigen::Matrix::Constant(m_h), m_bounds); } void addElementsUniformDistribution(const Vector3ui& numElementsPerAxis, double concentrationPerAxis) { double coef = m_h / static_cast(concentrationPerAxis); size_t elementId = 0; for (size_t x = 0; x < numElementsPerAxis[0]; x++) { for (size_t y = 0; y < numElementsPerAxis[1]; y++) { for (size_t z = 0; z < numElementsPerAxis[2]; z++) { SurgSim::Math::Vector3d point(x * coef, y * coef, z * coef); m_grid->addElement(elementId, point); elementId++; } } } } double performTimingTest(double concentrationPerCell, size_t numElementPerDimension) { SurgSim::Framework::Timer timer; Vector3ui numElementsPerAxis = Vector3ui::Constant(numElementPerDimension); double concentrationPerAxis = pow(concentrationPerCell, 1.0 / 3.0); timer.start(); // Clear the grid from all previously added elements and clear the neighbor's list m_grid->reset(); // Add all elements in the grid, triggering a dirty flag for the neighbor's list addElementsUniformDistribution(numElementsPerAxis, concentrationPerAxis); // Request any neighbor's list to force all neighbor's lists recalculation m_grid->getNeighbors(0); timer.endFrame(); return timer.getCumulativeTime(); } protected: /// Grid size (cells are cubic in this test) double m_h; /// Grid boundary Eigen::AlignedBox m_bounds; /// Grid std::shared_ptr> m_grid; }; TEST_P(Grid3DPerformanceTests, Grid3DTest) { double concentrationPerCell; size_t numElementsPerDimension; std::tie(concentrationPerCell, numElementsPerDimension) = GetParam(); size_t numElements = numElementsPerDimension * numElementsPerDimension * numElementsPerDimension; RecordProperty("ElementsPerCell", boost::to_string(concentrationPerCell)); RecordProperty("NumberOfElements", boost::to_string(numElements)); RecordProperty("Duration", boost::to_string(performTimingTest(concentrationPerCell, numElementsPerDimension))); } INSTANTIATE_TEST_CASE_P( Grid3D, Grid3DPerformanceTests, ::testing::Combine( // Concentration per cell is fine between 1 and 3^3, then coarser ::testing::Values(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0, 11.0, 12.0, 13.0, 14.0, 15.0, 16.0, 17.0, 18.0, 19.0, 20.0, 21.0, 22.0, 23.0, 24.0, 25.0, 26.0, 27.0, 4 * 4 * 4, 5 * 5 * 5, 6 * 6 * 6, 7 * 7 * 7, 8 * 8 * 8, 9 * 9 * 9, 10 * 10 * 10), // Number of elements per dimension ::testing::Values(50, 60, 60, 70, 80, 90, 100, 110, 120))); } // namespace DataStructures } // namespace SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/PerformanceTests/NamedDataPerformanceTest.cpp000066400000000000000000000052131277777236100313130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include #include #include "SurgSim/DataStructures/NamedData.h" #include "SurgSim/DataStructures/NamedDataBuilder.h" #include "SurgSim/Framework/Timer.h" namespace SurgSim { namespace DataStructures { class NamedDataTest : public ::testing::Test { public: virtual void SetUp() { numberOfLoops = 100000; const std::string array[] = {"uzgfk1f41V", "PbpZficBR2", "M3OYjZgHXX", "WVIEjG3QaX", "2o6nN2nuaW", "3rWXCXR2gi", "XO2dATxWFq", "M2xpjE6PAL", "cT1Bmj3Z1U", "65UtrrfXn7", "tNltVIcurd", "jFVkKzn17i", "0QlA0FAPc3", "jCXGBopngK", "GTwY4YyVnC", "0uVPK4S9Le", "iNdq3p6ZQb", "LfREPeFczN", "9RKdlFnm1I", "N2acPVhGY2"}; names = std::vector(std::begin(array), std::end(array)); NamedDataBuilder builder; for (std::string name : names) { builder.addEntry(name); } data = builder.createData(); for (int i = 0; i < static_cast(names.size()); ++i) { ASSERT_TRUE(data.set(i, i)); indices.push_back(i); } } virtual void TearDown() { } NamedData data; std::vector indices; std::vector names; int numberOfLoops; }; TEST_F(NamedDataTest, GetByName) { int value; const size_t numberOfEntries = names.size(); SurgSim::Framework::Timer timer; for (int i = 0; i < numberOfLoops; ++i) { for (size_t j = 0; j < numberOfEntries; ++j) { ASSERT_TRUE(data.get(names[j], &value)); } } timer.endFrame(); RecordProperty("Duration", boost::to_string(timer.getCumulativeTime())); } TEST_F(NamedDataTest, GetByIndex) { int value; const size_t numberOfEntries = indices.size(); SurgSim::Framework::Timer timer; for (int i = 0; i < numberOfLoops; ++i) { for (size_t j = 0; j < numberOfEntries; ++j) { ASSERT_TRUE(data.get(indices[j], &value)); } } timer.endFrame(); RecordProperty("Duration", boost::to_string(timer.getCumulativeTime())); } } // namespace DataStructures } // namespace SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/PlyReader.cpp000066400000000000000000000257551277777236100230730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/DataStructures/PlyReaderDelegate.h" #include "SurgSim/DataStructures/ply.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Math/Vector.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace DataStructures { // Pimpl data, keep ply.h out of the SurgSim include chain struct PlyReader::Data { Data() : plyFile(nullptr), elementNames(nullptr) { types[TYPE_INVALID] = PLY_START_TYPE; types[TYPE_CHAR] = PLY_CHAR; types[TYPE_SHORT] = PLY_SHORT; types[TYPE_INT] = PLY_INT; types[TYPE_UNSIGNED_CHAR] = PLY_UCHAR; types[TYPE_UNSIGNED_SHORT] = PLY_USHORT; types[TYPE_UNSIGNED_INT] = PLY_UINT; types[TYPE_FLOAT] = PLY_FLOAT; types[TYPE_DOUBLE] = PLY_DOUBLE; } PlyFile* plyFile; int file_type; float version; int elementCount; char** elementNames; std::unordered_map types; }; PlyReader::PlyReader(const std::string& filename) : m_filename(filename), m_data(new Data()) { m_data->plyFile = ply_open_for_reading( filename.data(), &m_data->elementCount, &m_data->elementNames, &m_data->file_type, &m_data->version); SURGSIM_LOG_IF(!isValid(), SurgSim::Framework::Logger::getLogger("InputOutput"), WARNING) << "'" << m_filename << "' is an invalid .ply file"; } PlyReader::~PlyReader() { if (isValid()) { for (int i=0; i < m_data->elementCount; ++i) { free(m_data->elementNames[i]); } free(m_data->elementNames); ply_close(m_data->plyFile); m_data->plyFile = nullptr; } } bool PlyReader::isValid() const { return m_data->plyFile != nullptr; } bool PlyReader::requestElement(const std::string& elementName, std::function startElementCallback, std::function processElementCallback, std::function endElementCallback) { SURGSIM_ASSERT(isValid()) << "'" << m_filename << "' is an invalid .ply file"; bool result = false; if (hasElement(elementName) && m_requestedElements.find(elementName) == m_requestedElements.end()) { ElementInfo info; info.name = elementName; info.startElementCallback = startElementCallback; info.endElementCallback = endElementCallback; info.processElementCallback = processElementCallback; m_requestedElements[elementName] = info; result = true; } return result; } bool PlyReader::requestScalarProperty(const std::string& elementName, const std::string& propertyName, int dataType, int dataOffset) { return requestProperty(elementName, propertyName, dataType, dataOffset, 0, 0); } bool PlyReader::requestListProperty(const std::string& elementName, const std::string& propertyName, int dataType, int dataOffset, int countType, int countOffset) { return requestProperty(elementName, propertyName, dataType, dataOffset, countType, countOffset); } void PlyReader::setStartParseFileCallback(std::function startParseFileCallback) { m_startParseFileCallback = startParseFileCallback; } void PlyReader::setEndParseFileCallback(std::function endParseFileCallback) { m_endParseFileCallback = endParseFileCallback; } bool PlyReader::requestProperty(const std::string& elementName, const std::string& propertyName, int dataType, int dataOffset, int countType, int countOffset) { SURGSIM_ASSERT(isValid()) << "'" << m_filename << "' is an invalid .ply file"; SURGSIM_ASSERT(hasElement(elementName)) << "The element <" << elementName << "> has not been requested yet, you cannot access properties for it"; SURGSIM_ASSERT(hasProperty(elementName, propertyName)) << "The requested property <" << propertyName << "> cannot be found in element <" << elementName << ">."; bool result = false; bool scalar = isScalar(elementName, propertyName); bool wantScalar = (countType == 0); if (wantScalar && !scalar) { SURGSIM_FAILURE() << "Trying to access a list property as a scalar." << "for element <" << elementName << "> and property <" << propertyName << ">."; } else if (!wantScalar && scalar) { SURGSIM_FAILURE() << "Trying to access a scalar property as a list." << "for element <" << elementName << "> and property <" << propertyName << ">."; } if (hasProperty(elementName, propertyName) && (scalar == wantScalar)) { auto itBegin = std::begin(m_requestedElements[elementName].requestedProperties); auto itEnd = std::end(m_requestedElements[elementName].requestedProperties); bool doAdd = std::find_if(itBegin, itEnd, [propertyName](PropertyInfo p){return p.propertyName == propertyName;}) == itEnd; if (doAdd) { PropertyInfo info; info.propertyName = propertyName; info.dataType = m_data->types[dataType]; info.dataOffset = dataOffset; info.countType = m_data->types[countType]; info.countOffset = countOffset; m_requestedElements[elementName].requestedProperties.push_back(info); result = true; } } return result; } bool PlyReader::setDelegate(std::shared_ptr delegate) { SURGSIM_ASSERT(isValid()) << "'" << m_filename << "' is an invalid .ply file"; bool result = false; if (delegate != nullptr) { if (delegate->fileIsAcceptable(*this)) { result = delegate->registerDelegate(this); } } return result; } void PlyReader::parseFile() { SURGSIM_ASSERT(isValid()) << "'" << m_filename << "' is an invalid .ply file"; if (m_startParseFileCallback != nullptr) { m_startParseFileCallback(); } char* currentElementName; for (int elementIndex = 0; elementIndex < m_data->elementCount; ++elementIndex) { currentElementName = m_data->elementNames[elementIndex]; int numberOfElements; int propertyCount; // Free this after we are done with it PlyProperty** properties = ply_get_element_description(m_data->plyFile, currentElementName, &numberOfElements, &propertyCount); std::vector listOffsets; // Check if the user wanted this element, if yes process if (m_requestedElements.find(currentElementName) != m_requestedElements.end()) { ElementInfo& elementInfo = m_requestedElements[currentElementName]; // Build the propertyinfo structure for (size_t propertyIndex = 0; propertyIndex < elementInfo.requestedProperties.size(); ++propertyIndex) { PropertyInfo& propertyInfo = elementInfo.requestedProperties[propertyIndex]; PlyProperty requestedProperty = {nullptr, 0, 0, 0, 0, 0, 0, 0}; // Create temp char* std::vector writable(propertyInfo.propertyName.size() + 1); std::copy(propertyInfo.propertyName.begin(), propertyInfo.propertyName.end(), writable.begin()); requestedProperty.name = &writable[0]; requestedProperty.internal_type = propertyInfo.dataType; requestedProperty.offset = propertyInfo.dataOffset; requestedProperty.count_internal = propertyInfo.countType; requestedProperty.count_offset = propertyInfo.countOffset; requestedProperty.is_list = (propertyInfo.countType != 0) ? PLY_LIST : PLY_SCALAR; if (requestedProperty.is_list == PLY_LIST) { listOffsets.push_back(propertyInfo.dataOffset); } // Tell ply that we want this property to be read and put into the readbuffer ply_get_property(m_data->plyFile, currentElementName, &requestedProperty); } void* readBuffer = elementInfo.startElementCallback(currentElementName, numberOfElements); for (int element = 0; element < numberOfElements; ++element) { ply_get_element(m_data->plyFile, readBuffer); if (elementInfo.processElementCallback != nullptr) { try { elementInfo.processElementCallback(currentElementName); } catch (const std::exception&) { for (size_t i = 0; iname); free(properties[i]); } free(properties); throw; } } // Free the lists that where allocated by plyreader // This gains access to the buffer, where ply.c put the address of // the memory that was allocated to carry the information for the list property // it does that for all properties that where marked as lists for (size_t i = 0; iplyFile, currentElementName, numberOfElements); } // Free the data allocated in the ply_get_element_description call for (int i = 0; i < propertyCount; ++i) { free(properties[i]->name); free(properties[i]); } free(properties); } if (m_endParseFileCallback != nullptr) { m_endParseFileCallback(); } } bool PlyReader::parseWithDelegate(std::shared_ptr delegate) { bool result = setDelegate(delegate); if (result) { parseFile(); } return result; } bool PlyReader::hasElement(const std::string& elementName) const { SURGSIM_ASSERT(isValid()) << "'" << m_filename << "' is an invalid .ply file"; return find_element(m_data->plyFile, elementName.c_str()) != nullptr; } bool PlyReader::hasProperty(const std::string& elementName, const std::string& propertyName) const { SURGSIM_ASSERT(isValid()) << "'" << m_filename << "' is an invalid .ply file"; bool result = false; PlyElement* element = find_element(m_data->plyFile, elementName.c_str()); if (element != nullptr) { int index; result = find_property(element, propertyName.c_str(), &index) != nullptr; } return result; } bool PlyReader::isScalar(const std::string& elementName, const std::string& propertyName) const { SURGSIM_ASSERT(isValid()) << "'" << m_filename << "' is an invalid .ply file"; bool result = false; PlyElement* element = find_element(m_data->plyFile, elementName.c_str()); if (element != nullptr) { int index; PlyProperty* property = find_property(element, propertyName.c_str(), &index); if (property != nullptr) { result = (property->is_list == PLY_SCALAR); } } return result; } } // namespace DataStructures } // namespace SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/PlyReader.h000066400000000000000000000305301277777236100225230ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_PLYREADER_H #define SURGSIM_DATASTRUCTURES_PLYREADER_H #include #include #include #include #include namespace SurgSim { namespace DataStructures { class PlyReaderDelegate; /// Wrapper for the C .ply file parser /// This class wraps the main functionality for the original C .ply file parser at /// http://paulbourke.net/dataformats/ply/ /// it enables customization of the parsing process either through a delegate class or through executing /// the requestElement and requestProperty functions. /// The file needs to be a valid .ply file, either ascii or binary, for the reader to be a valid reader. /// ## General Information /// A ply file consists of a header description followed by the data, a header might look like this /// ply /// format ascii 1.0 { ascii/binary, format version number } /// comment made by Greg Turk { comments keyword specified, like all lines } /// comment this file is a cube /// element vertex 8 { define "vertex" element, 8 of them in file } /// property float x { vertex contains float "x" coordinate } /// property float y { y coordinate is also a vertex property } /// property float z { z coordinate, too } /// element face 6 { there are 6 "face" elements in the file } /// property list uchar int vertex_indices { "vertex_indices" is a list of ints } /// end_header { delimits the end of the header } /// /// As you can see there are elements with properties, there can be multiple elements and multiple /// properties per element. An element can have scalar and/or list properties. /// To work correctly users will have to preallocate the memory that will be used by the parser /// to deposit the information from the file, and set offsets to the correct value to match /// the expected locations in the preallocated receiving memory. /// /// ## Initialisation /// The constructor for the PlyReader accepts the file name of the file, it will make sure /// the the file exists and is actually a .ply file, after the constructor has executed /// isValid() should be true. At this time all the information in the header is available and /// users of the reader can tell the reader which elements and which properties are of interest /// using the requestElement() and requestProperty() functions. /// /// ## The three types of callback functions /// Parsing is accomplished via a set of callback functions. There are three kinds of callback /// function each with a different responsibility. /// - The BeginElement callback is called whenever the section for an element is encountered in /// the file, it will pass the name of the element and the number of elements that will be read /// it should return a pointer to the preallocated memory that will be used for reading. /// /// - The ProcessElement callback is called whenever a new element has been read from the file, /// the read values can be copied from the preallocated memory that was sent to the parser in the /// previous callback. If list data was requested, the memory for the list data needs to be freed /// at this time. /// /// - The EndElement callback is called whenever processing of the element is concluded, this /// gives users a chance to finalize processing on their side. /// /// ## The delegate /// The PlyReaderDelegate interface should be used to create classes that encapsulate the needed /// callbacks and their processing. class PlyReader { public: /// Values that represent the data type/size of requested data. enum Type { TYPE_INVALID = 0, TYPE_CHAR, TYPE_SHORT, TYPE_INT, TYPE_UNSIGNED_CHAR, TYPE_UNSIGNED_SHORT, TYPE_UNSIGNED_INT, TYPE_FLOAT, TYPE_DOUBLE, TYPE_COUNT }; /// The callback that is being used to indicate the start of an element, the parameters that are passed /// into the callback are the name of the element that is being processed and the number of elements /// that will be processed. The callback needs to return allocated memory that is used by the reader /// to deposit the read information typedef std::function StartElementCallbackType; /// The callback that is used for the processing and the end of processing, the parameter passed is /// the name of the element that is being processed. typedef std::function StandardCallbackType; /// Constructor. /// \param filename Filename of the .ply file. explicit PlyReader(const std::string& filename); /// Destructor. virtual ~PlyReader(); /// Query if this object is valid. /// \return true if the file was successfully opened, false if not. bool isValid() const; /// Request element to be processed during parsing. /// /// \param elementName Name of the element that is needed. /// \param startElementCallback The callback to be used when the element is first encountered. /// \param processElementCallback The callback to be used when one element of this type is read. /// \param endElementCallback The callback to be used when all of the elements of this type have been read. /// /// \return true if there is a element elementName in the .ply file and it has not been requested yet. bool requestElement(const std::string& elementName, std::function startElementCallback, std::function processElementCallback, std::function endElementCallback); /// Request a scalar property for parsing. /// Use this for when you want the information from a scalar property from the .ply file. With this call /// you register the type that you want for storing the data and the offset in the data structure where the /// information should be stored. The data actually comes from the startElementCallback that was supplied /// in the previous call /// \warning If the offset is wrong or the data type provided and the actual data type in your structure /// does not match there could be a buffer overrun, use this with caution /// \param elementName Name of the element that contains this property. /// \param propertyName Name of the property that you want stored. /// \param dataType The type of the data that should be stored. /// \param dataOffset The offset of the data in your data structure where the data should be stored. /// \return true if the property exists and has not been registered yet and is a scalar property, /// otherwise false. bool requestScalarProperty(const std::string& elementName, const std::string& propertyName, int dataType, int dataOffset); /// Request a list property for parsing. /// Use this for when you want the information from a list property from the .ply file. The item in your /// data structure should be a pointer of the type of data that you want, the reader will allocate the needed /// space and deposit all the items in the list in this space. /// \warning If the offset is wrong or the data type provided and the actual data type in your structure /// does not match there could be a buffer overrun, use this with caution. /// \param elementName Name of the element that contains this property. /// \param propertyName Name of the property that you want stored. /// \param dataType The type of the data that should be stored. /// \param dataOffset The offset of the data in your data structure where the data should be stored. /// \param countType The type of the number of element that should be stored. /// \param countOffset The offset for storing the count. /// /// \return true if it succeeds, false if it fails. bool requestListProperty(const std::string& elementName, const std::string& propertyName, int dataType, int dataOffset, int countType, int countOffset); /// Query if this elementName is in the .ply file /// \param elementName Name of the element. /// \return true if yes, false otherwise. bool hasElement(const std::string& elementName) const; /// Query if 'elementName' has the given property. /// \param elementName Name of the element. /// \param propertyName Name of the property. /// \return true if the element exists and has the property, false otherwise. bool hasProperty(const std::string& elementName, const std::string& propertyName) const; /// Query if the property of the give element is scalar. /// \param elementName Name of the element. /// \param propertyName Name of the property. /// \return true if the element exists and has the property and it is a scalar value. bool isScalar(const std::string& elementName, const std::string& propertyName) const; /// Sets a delegate for parsing and then parse the file. /// \param delegate The delegate. /// \return true if set and parse are successful; otherwise false. bool parseWithDelegate(std::shared_ptr delegate); /// Register callback to be called at the begining of parseFile. void setStartParseFileCallback(std::function startParseFileCallback); /// Register callback to be called at the end of parseFile. void setEndParseFileCallback(std::function endParseFileCallback); /// Sets a delegate for parsing. /// \param delegate The delegate. /// \return true if it succeeds and the properties in the ply file satisfy the delegates fileIsAcceptable(). bool setDelegate(std::shared_ptr delegate); /// Parse the file. void parseFile(); private: friend class PlyReaderTests; /// Generic Internal function to handle list and scalar properties, see requestScalarProperty() and /// requestListProperty() for full documentation. /// \param elementName Name of the element that contains this property. /// \param propertyName Name of the property that you want stored. /// \param dataType The type of the data that should be stored. /// \param dataOffset The offset of the data in your data structure where the data should be stored. /// \param countType The type of the number of element that should be stored. /// \param countOffset The offset for storing the count. /// /// \return true if it succeeds, false if it fails. bool requestProperty(const std::string& elementName, const std::string& propertyName, int dataType, int dataOffset, int countType, int countOffset); /// The name of the .ply file std::string m_filename; /// Information about the property on the .ply file. struct PropertyInfo { std::string propertyName; ///< Name of the property. int dataType; ///< Type of the receiving data. int dataOffset; ///< Location for the receiving data. int countType; ///< For lists, type of the receiving data for the count of listelements. int countOffset; ///< For lists, location of the receiving data for the count. }; /// Information about the element in the .ply file. struct ElementInfo { std::string name; ///< Name of the element StartElementCallbackType startElementCallback; ///< Callback to be used when the element is first encountered. StandardCallbackType processElementCallback; ///< Callback to be used for each processed element. StandardCallbackType endElementCallback; ///< Callback to be used after all the elements have been processed. std::vector requestedProperties; ///< All the properties that are wanted }; std::unordered_map m_requestedElements; ///@{ /// Pimpl Data to wrap ply reader local information struct Data; std::unique_ptr m_data; ///@} /// The delegate. std::shared_ptr m_delegate; /// Callback to be executed at the start of 'parseFile'. std::function m_startParseFileCallback; /// Callback to be executed at the end of 'parseFile'. std::function m_endParseFileCallback; }; } // DataStructures } // SurgSim #endif // SURGSIM_DATASTRUCTURES_PLYREADER_Hopensurgsim-0.7.0/SurgSim/DataStructures/PlyReaderDelegate.h000066400000000000000000000032131277777236100241540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_PLYREADERDELEGATE_H #define SURGSIM_DATASTRUCTURES_PLYREADERDELEGATE_H namespace SurgSim { namespace DataStructures { class PlyReader; /// PlyReaderDelegate abstract class. /// The purpose of this class is to customize the parsing and contain the callback functions that /// are being used in the parsing process. class PlyReaderDelegate { public: /// Virtual destructor. virtual ~PlyReaderDelegate() { } /// Registers the delegate with the reader. /// \param [out] reader The reader that should be used by the delegate. /// \return true usually if the reader is valid and fileIsAcceptable() is true. virtual bool registerDelegate(PlyReader* reader) = 0; /// Check whether the file in the reader can be used with this delegate, /// this gives the delegate a chance to make sure that all the elements and /// properties that are required are available in the file encapsulated by /// the reader virtual bool fileIsAcceptable(const PlyReader& reader) = 0; }; } } #endif opensurgsim-0.7.0/SurgSim/DataStructures/SegmentEmptyData.h000066400000000000000000000023611277777236100240500ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_SEGMENTEMPTYDATA_H #define SURGSIM_DATASTRUCTURES_SEGMENTEMPTYDATA_H namespace SurgSim { namespace DataStructures { /// SegmentEmptyData class /// This class is to ensure that the static TriangleMesh::m_className in SegmentMesh does not clash with /// static TriangleMesh. class SegmentEmptyData { public: /// Comparison operator /// \param data The data to compare it to. /// \return true for all cases. bool operator==(const SegmentEmptyData& data) const { return true; } }; } } #endif //SURGSIM_DATASTRUCTURES_SEGMENTEMPTYDATA_H opensurgsim-0.7.0/SurgSim/DataStructures/SegmentMesh-inl.h000066400000000000000000000156461277777236100236460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_SEGMENTMESH_INL_H #define SURGSIM_DATASTRUCTURES_SEGMENTMESH_INL_H #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace DataStructures { template SegmentMesh::SegmentMesh() { } template SegmentMesh::SegmentMesh( const SegmentMesh& other) : TriangleMeshType(other) { } template template SegmentMesh::SegmentMesh(const SegmentMesh& other) : TriangleMeshType(other) { } template SegmentMesh::~SegmentMesh() { } template SegmentMesh::SegmentMesh(SegmentMesh&& other) : TriangleMeshType(std::move(other)) { } template SegmentMesh& SegmentMesh::operator=( const SegmentMesh& other) { return TriangleMeshType::operator=(other); } template SegmentMesh& SegmentMesh::operator=( SegmentMesh&& other) { return TriangleMeshType::operator=(std::move(other)); } template size_t SegmentMesh::addTriangle(const TriangleType& triangle) { SURGSIM_FAILURE() << "Cannot insert triangle into segment mesh."; return static_cast(0); } template size_t SegmentMesh::getNumTriangles() const { SURGSIM_FAILURE() << "No triangles present in segment mesh."; return static_cast(0); } template const std::vector::TriangleType>& SegmentMesh::getTriangles() const { SURGSIM_FAILURE() << "No triangles present in segment mesh."; return TriangleMeshType::getTriangles(); } template std::vector::TriangleType>& SegmentMesh::getTriangles() { SURGSIM_FAILURE() << "No triangles present in segment mesh."; return TriangleMeshType::getTriangles(); } template const typename SegmentMesh::TriangleType& SegmentMesh::getTriangle(size_t id) const { SURGSIM_FAILURE() << "No triangles present in segment mesh."; return TriangleMeshType::getTriangle(id); } template typename SegmentMesh::TriangleType& SegmentMesh::getTriangle(size_t id) { SURGSIM_FAILURE() << "No triangles present in segment mesh."; return TriangleMeshType::getTriangle(id); } template void SegmentMesh::removeTriangle(size_t id) { SURGSIM_FAILURE() << "No triangles present in segment mesh."; } template std::array SegmentMesh::getTrianglePositions(size_t id) const { using SurgSim::Math::Vector3d; SURGSIM_FAILURE() << "No triangles present in segment mesh."; std::array result = { { Vector3d::Zero(), Vector3d::Zero(), Vector3d::Zero() } }; return result; } template void SegmentMesh::doClearTriangles() { SURGSIM_FAILURE() << "No triangles present in segment mesh."; } template void SegmentMesh::doClear() { TriangleMeshType::doClearEdges(); TriangleMeshType::doClearVertices(); } template void SurgSim::DataStructures::SegmentMesh::createDefaultEdges() { doClearEdges(); for (size_t i = 0; i < getNumVertices() - 1; ++i) { std::array vertices = { i, i + 1 }; EdgeType edge(vertices); addEdge(edge); } } template bool SegmentMesh::save(const std::string& fileName, bool asPhysics, double radius, double massDensity, double poissonRatio, double youngsModulus) { std::fstream out(fileName, std::ios::out); if (out.is_open()) { out << "ply" << std::endl; out << "format ascii 1.0" << std::endl; out << "comment Created by OpenSurgSim, www.opensurgsim.org" << std::endl; out << "element vertex " << getNumVertices() << std::endl; out << "property float x\nproperty float y\nproperty float z" << std::endl; if (asPhysics) { out << "element 1d_element " << getNumEdges() << std::endl; out << "property list uint uint vertex_indices" << std::endl; out << "element radius 1" << std::endl; out << "property double value" << std::endl; out << "element material 1" << std::endl; out << "property double mass_density" << std::endl; out << "property double poisson_ratio" << std::endl; out << "property double young_modulus" << std::endl; out << "element boundary_condition 0" << std::endl; out << "property uint vertex_index" << std::endl; } else { out << "element edge " << getNumEdges() << std::endl; out << "property uint vertex1" << std::endl; out << "property uint vertex2" << std::endl; } out << "end_header" << std::endl; for (const auto& vertex : getVertices()) { out << vertex.position[0] << " " << vertex.position[1] << " " << vertex.position[2] << std::endl; } for (const auto& edge : getEdges()) { if (asPhysics) { out << "2 "; } out << edge.verticesId[0] << " " << edge.verticesId[1] << std::endl; } if (asPhysics) { out << radius << std::endl; out << massDensity << " " << poissonRatio << " " << youngsModulus << std::endl; } if (out.bad()) { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << __FUNCTION__ << "There was a problem writing " << fileName; } out.close(); } else { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << __FUNCTION__ << "Could not open " << fileName << " for writing."; return false; } return true; } } // namespace DataStructures } // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_SEGMENTMESH_INL_H opensurgsim-0.7.0/SurgSim/DataStructures/SegmentMesh.cpp000066400000000000000000000016601277777236100234100ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/SegmentMesh.h" namespace SurgSim { namespace DataStructures { template <> std::string SegmentMesh::TriangleMeshType::m_className = "SurgSim::DataStructures::SegmentMeshPlain"; } // namespace DataStructures } // namespace SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/SegmentMesh.h000066400000000000000000000116631277777236100230610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_SEGMENTMESH_H #define SURGSIM_DATASTRUCTURES_SEGMENTMESH_H #include "SurgSim/DataStructures/SegmentEmptyData.h" #include "SurgSim/DataStructures/TriangleMesh.h" namespace SurgSim { namespace DataStructures { /// Class to hold the type of a SegmentMesh. /// /// \tparam VertexData Type of extra data stored in each vertex /// \tparam EdgeData Type of extra data stored in each edge /// \sa TriangleMesh template class SegmentMesh : public TriangleMesh { public: /// TriangleMesh type for convenience typedef TriangleMesh TriangleMeshType; /// Edge type for convenience (Ids of the 2 vertices) typedef typename TriangleMeshType::EdgeType EdgeType; /// Triangle type for convenience (Ids of the 3 vertices) typedef typename TriangleMeshType::TriangleType TriangleType; /// Constructor. The mesh is initially empty (no vertices, no edges). SegmentMesh(); /// Copy constructor when the template data is the same type /// \param other the mesh to copy from SegmentMesh(const SegmentMesh& other); /// Copy constructor when the template data is a different type /// \tparam V Type of extra data stored in each vertex /// \tparam E Type of extra data stored in each edge /// \param other The mesh to be copied from. Vertex and edge data will not be copied /// \note: Data of the input mesh, i.e. VertexDataSource, EdgeDataSource will not be copied. template explicit SegmentMesh(const SegmentMesh& other); /// Destructor virtual ~SegmentMesh(); /// Move Constructor /// \param other Constructor source SegmentMesh(SegmentMesh&& other); /// Copy Assignment /// \param other Assignment source SegmentMesh& operator=( const SegmentMesh& other); /// Move Assignment /// \param other Assignment source SegmentMesh& operator=( SegmentMesh&& other); /// Creates edges for all vertices in the mesh connecting all the points consecutively /// \note This will clear all the current edges void createDefaultEdges(); /// Save the current structure to a ply file /// \param fileName Name of the file for writing /// \param asPhysics Format the file to be used as a physics file, otherwise the file will be ply format /// with 'edge' as the edge element /// \param radius if asPhysics is true, this will be used as the radius for the ply file /// \param massDensity if asPhysics is true, this will be used as the massDensity for the ply file /// \param poissonRatio if asPhysics is true, this will be used as the poissonRatio for the ply file /// \param youngsModulus if asPhysics is true, this will be used as the youngsModulus for the ply file /// \return true if the file was written successfully bool save(const std::string& fileName, bool asPhysics = true, double radius = 0.0001, double massDensity = 900, double poissonRatio = 0.45, double youngsModulus = 1.75e9); using TriangleMesh::addEdge; using TriangleMesh::doClearEdges; using TriangleMesh::getNumEdges; using TriangleMesh::getNumVertices; using TriangleMesh::getEdges; using TriangleMesh::getVertices; ///@{ /// Functions that need to assert, because they deal with triangles. size_t addTriangle(const TriangleType& triangle); size_t getNumTriangles() const; const std::vector& getTriangles() const; std::vector& getTriangles(); const TriangleType& getTriangle(size_t id) const; TriangleType& getTriangle(size_t id); void removeTriangle(size_t id); std::array getTrianglePositions(size_t id) const; void doClearTriangles() override; ///@} private: /// Clear mesh to return to an empty state (no vertices, no edges). void doClear() override; }; typedef SegmentMesh SegmentMeshPlain; } // namespace DataStructures } // namespace SurgSim #include "SurgSim/DataStructures/SegmentMesh-inl.h" #endif // SURGSIM_DATASTRUCTURES_SEGMENTMESH_H opensurgsim-0.7.0/SurgSim/DataStructures/TetrahedronMesh-inl.h000066400000000000000000000223171277777236100245140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_TETRAHEDRONMESH_INL_H #define SURGSIM_DATASTRUCTURES_TETRAHEDRONMESH_INL_H namespace SurgSim { namespace DataStructures { template TetrahedronMesh:: TetrahedronMesh() { } template TetrahedronMesh:: ~TetrahedronMesh() { } template size_t TetrahedronMesh:: addEdge(const EdgeType& edge) { m_edges.push_back(edge); return m_edges.size() - 1; } template size_t TetrahedronMesh:: addTriangle(const TriangleType& triangle) { m_triangles.push_back(triangle); return m_triangles.size() - 1; } template size_t TetrahedronMesh:: addTetrahedron(const TetrahedronType& tetrahedron) { m_tetrahedrons.push_back(tetrahedron); return m_tetrahedrons.size() - 1; } template size_t TetrahedronMesh:: getNumEdges() const { return m_edges.size(); } template size_t TetrahedronMesh:: getNumTriangles() const { return m_triangles.size(); } template size_t TetrahedronMesh:: getNumTetrahedrons() const { return m_tetrahedrons.size(); } template const std::vector::EdgeType>& TetrahedronMesh:: getEdges() const { return m_edges; } template std::vector::EdgeType>& TetrahedronMesh:: getEdges() { return m_edges; } template const std::vector::TriangleType>& TetrahedronMesh:: getTriangles() const { return m_triangles; } template std::vector::TriangleType>& TetrahedronMesh:: getTriangles() { return m_triangles; } template const std::vector::TetrahedronType>& TetrahedronMesh:: getTetrahedrons() const { return m_tetrahedrons; } template std::vector::TetrahedronType>& TetrahedronMesh:: getTetrahedrons() { return m_tetrahedrons; } template const typename TetrahedronMesh::EdgeType& TetrahedronMesh:: getEdge(size_t id) const { return m_edges[id]; } template typename TetrahedronMesh::EdgeType& TetrahedronMesh:: getEdge(size_t id) { return m_edges[id]; } template const typename TetrahedronMesh::TriangleType& TetrahedronMesh:: getTriangle(size_t id) const { return m_triangles[id]; } template typename TetrahedronMesh::TriangleType& TetrahedronMesh:: getTriangle(size_t id) { return m_triangles[id]; } template const typename TetrahedronMesh::TetrahedronType& TetrahedronMesh:: getTetrahedron(size_t id) const { return m_tetrahedrons[id]; } template typename TetrahedronMesh::TetrahedronType& TetrahedronMesh:: getTetrahedron(size_t id) { return m_tetrahedrons[id]; } template bool TetrahedronMesh:: isValid() const { typedef typename TetrahedronMesh::EdgeType EdgeType; typedef typename TetrahedronMesh::TriangleType TriangleType; typedef typename TetrahedronMesh::TetrahedronType TetrahedronType; size_t numVertices = Vertices::getNumVertices(); // Test edges validity for (typename std::vector::const_iterator it = m_edges.begin(); it != m_edges.end(); it++) { for (size_t vertexId = 0; vertexId < 2; vertexId++) { if (it->verticesId[vertexId] >= numVertices) { return false; } } } // Test triangles validity for (typename std::vector::const_iterator it = m_triangles.begin(); it != m_triangles.end(); it++) { for (size_t vertexId = 0; vertexId < 3; vertexId++) { if (it->verticesId[vertexId] >= numVertices) { return false; } } } // Test tetrahedrons validity for (typename std::vector::const_iterator it = m_tetrahedrons.begin(); it != m_tetrahedrons.end(); it++) { for (size_t vertexId = 0; vertexId < 4; vertexId++) { if (it->verticesId[vertexId] >= numVertices) { return false; } } } return true; } template void TetrahedronMesh:: doClearEdges() { m_edges.clear(); } template void TetrahedronMesh:: doClearTriangles() { m_triangles.clear(); } template void TetrahedronMesh:: doClearTetrahedrons() { m_tetrahedrons.clear(); } template bool TetrahedronMesh:: isEqual(const Vertices& mesh) const { const TetrahedronMesh& tetrahedronMesh = static_cast(mesh); return Vertices::isEqual(mesh) && m_edges == tetrahedronMesh.getEdges() && m_triangles == tetrahedronMesh.getTriangles() && m_tetrahedrons == tetrahedronMesh.getTetrahedrons(); } template void TetrahedronMesh:: doClear() { doClearTetrahedrons(); doClearTriangles(); doClearEdges(); Vertices::doClearVertices(); } }; // namespace DataStructures }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_TETRAHEDRONMESH_INL_H opensurgsim-0.7.0/SurgSim/DataStructures/TetrahedronMesh.h000066400000000000000000000210531277777236100237300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_TETRAHEDRONMESH_H #define SURGSIM_DATASTRUCTURES_TETRAHEDRONMESH_H #include #include "SurgSim/DataStructures/MeshElement.h" #include "SurgSim/DataStructures/Vertices.h" namespace SurgSim { namespace DataStructures { /// Basic class for storing Tetrahedron Meshes, handling basic vertex, edge, triangle and tetrahedron functionality. /// /// TetrahedronMesh is to be used purely as a data structure and not provide implementation of algorithms. /// For example, a physics 3D FEM is not a subclass of TetrahedronMesh, but may use a TetrahedronMesh for storing the /// structure of the FEM. /// /// It is recommended that subclasses with a specific purpose (such as for use in collision detection) provide /// convenience methods for creation of vertices, edges, triangles, tetrahedrons and the data each contains. /// Methods such as createVertex(position, other data...), createEdge(vertices, other data...), /// createTriangle(vertices, other data...) and createTetrahedron(vertices, other data...) simplify the creation of /// vertices and elements and the data required. /// These methods would use the addVertex(), addEdge(), addTriangle() and addTetrahedron() methods to add the created /// vertices and elements to the TetrahedronMesh. /// /// Overriding isEqual(const Mesh&) is necessary to do more than just basic list comparison of the /// vertices, edges, triangles and tetrahedrons which is dependent on order in the list. /// /// Override doUpdate() to provide update functionality when vertices are changed, such as recalculating surface /// normals. /// /// A subclass that is designed for a specific use (such as collision detection) may also specify the VertexData, /// EdgeData, TriangleData and TetrahedronData to what is required. /// /// \tparam VertexData Type of extra data stored in each vertex /// \tparam EdgeData Type of extra data stored in each edge /// \tparam TriangleData Type of extra data stored in each triangle /// \tparam TetrahedronData Type of extra data stored in each tetrahedron /// \sa Vertices /// \sa MeshElement template class TetrahedronMesh : public Vertices { public: /// Edge type for convenience (Ids of the 2 vertices) typedef MeshElement<2, EdgeData> EdgeType; /// Triangle type for convenience (Ids of the 3 vertices) typedef MeshElement<3, TriangleData> TriangleType; /// Tetrahedron type for convenience (Ids of the 4 vertices) typedef MeshElement<4, TetrahedronData> TetrahedronType; /// Constructor. The mesh is initially empty (no vertices, no edges, no triangles, no tetrahedrons). TetrahedronMesh(); /// Destructor virtual ~TetrahedronMesh(); /// Adds an edge to the mesh. /// No checking on the edge's vertices is performed. /// Recommend that subclasses with a specific purpose (such as for use in collision detection) have a /// createEdge(vertices, other data...) method which performs any checking desired and sets up the edge data based /// on the vertices and other parameters. /// \param edge Edge to add to the mesh /// \return Unique ID of the new edge. size_t addEdge(const EdgeType& edge); /// Adds a triangle to the mesh. /// \param triangle Triangle to add to the mesh /// Recommend that subclasses with a specific purpose (such as for use in collision detection) have a /// createTriangle(vertices, other data...) method which performs any checking desired and sets up the triangle data /// based on the vertices and other parameters. /// \return Unique ID of the new triangle. size_t addTriangle(const TriangleType& triangle); /// Adds a tetrahedron to the mesh. /// \param tetrahedron Tetrahedron to add to the mesh /// Recommend that subclasses with a specific purpose (such as for use in collision detection) have a /// createTetrahedron(vertices, other data...) method which performs any checking desired and sets up the /// tetrahedron data based on the vertices and other parameters. /// \return Unique ID of the new tetrahedron. size_t addTetrahedron(const TetrahedronType& tetrahedron); /// Returns the number of edges in this mesh. /// \return The number of edges size_t getNumEdges() const; /// Returns the number of triangles in this mesh. /// \return The number of triangles size_t getNumTriangles() const; /// Returns the number of tetrahedrons in this mesh. /// \return The number of tetrahedrons size_t getNumTetrahedrons() const; /// Returns a vector containing the position of each edge. /// \return The vector containing all edges const std::vector& getEdges() const; /// Returns a vector containing the position of each edge (non const version). /// \return The vector containing all edges std::vector& getEdges(); /// Returns a vector containing the position of each triangle. /// \return The vector containing all triangles const std::vector& getTriangles() const; /// Returns a vector containing the position of each triangle (non const version). /// \return The vector containing all triangles std::vector& getTriangles(); /// Returns a vector containing the position of each tetrahedron. /// \return The vector containing all tetrahedrons const std::vector& getTetrahedrons() const; /// Returns a vector containing the position of each tetrahedron (non const version). /// \return The vector containing all tetrahedrons std::vector& getTetrahedrons(); /// Returns the specified edge. /// \param id The edge's id /// \return The edge id /// \note No check is performed on the id const EdgeType& getEdge(size_t id) const; /// Returns the specified edge (non const version). /// \param id The edge's id /// \return The edge id /// \note No check is performed on the id EdgeType& getEdge(size_t id); /// Returns the specified triangle. /// \param id The triangle's id /// \return The triangle id /// \note No check is performed on the id const TriangleType& getTriangle(size_t id) const; /// Returns the specified triangle (non const version). /// \param id The triangle's id /// \return The triangle id /// \note No check is performed on the id TriangleType& getTriangle(size_t id); /// Returns the specified tetrahedron. /// \param id The tetrahedron's id /// \return The tetrahedron id /// \note No check is performed on the id const TetrahedronType& getTetrahedron(size_t id) const; /// Returns the specified tetrahedron (non const version). /// \param id The tetrahedron's id /// \return The tetrahedron id /// \note No check is performed on the id TetrahedronType& getTetrahedron(size_t id); /// Test if the TetrahedronMesh is valid (valid vertex Ids used in all MeshElements) /// \return True if the TetrahedronMesh is valid, False otherwise (the topology is then broken) bool isValid() const; protected: /// Remove all edges from the mesh. virtual void doClearEdges(); /// Remove all triangles from the mesh. virtual void doClearTriangles(); /// Remove all tetrahedrons from the mesh. virtual void doClearTetrahedrons(); /// Internal comparison of meshes of the same type: returns true if equal, false if not equal. /// Override this method to provide custom comparison. Basic TriangleMesh implementation compares vertices, /// edges and triangles: the order of vertices, edges, and triangles must also match to be considered equal. /// \param mesh Mesh must be of the same type as that which it is compared against virtual bool isEqual(const Vertices& mesh) const; private: /// Clear mesh to return to an empty state (no vertices, no edges, no triangles, no m_tetrahedrons). virtual void doClear(); /// Edges std::vector m_edges; /// Triangles std::vector m_triangles; /// Tetrahedrons std::vector m_tetrahedrons; }; }; // namespace DataStructures }; // namespace SurgSim #include "SurgSim/DataStructures/TetrahedronMesh-inl.h" #endif // SURGSIM_DATASTRUCTURES_TETRAHEDRONMESH_H opensurgsim-0.7.0/SurgSim/DataStructures/Tree.cpp000066400000000000000000000025301277777236100220650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/Tree.h" #include "SurgSim/DataStructures/TreeNode.h" #include using SurgSim::DataStructures::Tree; using SurgSim::DataStructures::TreeNode; Tree::Tree() { } Tree::~Tree() { } bool Tree::operator==(const Tree& tree) const { return (typeid(*this) == typeid(tree)) && isEqual(tree); } bool Tree::operator!=(const Tree& tree) const { return (typeid(*this) != typeid(tree)) || ! isEqual(tree); } bool Tree::isEqual(const Tree& tree) const { return *m_root == *tree.m_root; } void SurgSim::DataStructures::Tree::setRoot(std::shared_ptr root) { m_root = root; } std::shared_ptr SurgSim::DataStructures::Tree::getRoot() const { return m_root; } opensurgsim-0.7.0/SurgSim/DataStructures/Tree.h000066400000000000000000000044311277777236100215340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_TREE_H #define SURGSIM_DATASTRUCTURES_TREE_H #include namespace SurgSim { namespace DataStructures { class TreeNode; /// Basic tree structure. /// The tree is composed of TreeNodes, which are all accessible from the root. /// \sa TreeNode TreeData class Tree { public: /// Constructor. After construction, the root is null. Tree(); /// Destructor virtual ~Tree(); /// Sets the root of the tree. /// \param root The new root of the tree. void setRoot(std::shared_ptr root); /// \return The root of the tree. std::shared_ptr getRoot() const; /// If the trees are not of the same type, returns false; /// otherwise, compares with the implementation of isEqual(const Tree&). /// \param tree Other tree for comparison. /// \return true if the trees are equal; otherwise, returns false. bool operator==(const Tree& tree) const; /// If the trees are not of the same type, returns false; /// otherwise, compares with the implementation of isEqual(const Tree&). /// \param tree Other tree for comparison. /// \return true if the trees are not equal; otherwise, returns false. bool operator!=(const Tree& tree) const; protected: /// Recurses through the tree, starting at the root. /// Override this method in derived classes to implement different comparisons. /// \param tree Other tree for comparison. /// \return true if the trees are equal; otherwise, returns false. virtual bool isEqual(const Tree& tree) const; private: /// Root of the tree. std::shared_ptr m_root; }; }; // namespace DataStructures }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_TREE_H opensurgsim-0.7.0/SurgSim/DataStructures/TreeData.cpp000066400000000000000000000020331277777236100226550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/TreeData.h" #include using SurgSim::DataStructures::TreeData; TreeData::TreeData() { } TreeData::~TreeData() { } bool TreeData::operator==(const TreeData& data) const { return (typeid(*this) == typeid(data)) && isEqual(&data); } bool TreeData::operator!=(const TreeData& data) const { return (typeid(*this) != typeid(data)) || ! isEqual(&data); } opensurgsim-0.7.0/SurgSim/DataStructures/TreeData.h000066400000000000000000000041061277777236100223250ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_TREEDATA_H #define SURGSIM_DATASTRUCTURES_TREEDATA_H #include namespace SurgSim { namespace DataStructures { /// Abstract base class for data stored in a Tree. Each TreeNode has a pointer to a TreeData object. /// \sa TreeNode Tree class TreeData { public: /// Constructor TreeData(); /// Destructor virtual ~TreeData(); /// If the data are not of the same type, returns false; /// otherwise, compares with the implementation of isEqual(const TreeData&). /// \param data Other TreeData for comparison. /// \return true if the data are equal; otherwise, returns false. bool operator==(const TreeData& data) const; /// Returns true if the data are not equal; otherwise, returns false. /// If the data are not of the same type, returns false; /// otherwise, compares with the implementation of isEqual(const TreeData&). /// \param data Other TreeData for comparison. /// \return true if the data are equal; otherwise, returns false. bool operator!=(const TreeData& data) const; private: /// Returns true if the trees are equal; otherwise, returns false. /// Implement this method in derived classes to do the comparison. /// \param data Other TreeData for comparison. /// \return true if the data are equal; otherwise, returns false. virtual bool isEqual(const TreeData* data) const = 0; }; }; // namespace DataStructures }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_TREEDATA_H opensurgsim-0.7.0/SurgSim/DataStructures/TreeNode.cpp000066400000000000000000000047151277777236100227020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/TreeNode.h" #include "SurgSim/DataStructures/TreeData.h" #include "SurgSim/Framework/Assert.h" #include namespace SurgSim { namespace DataStructures { TreeNode::TreeNode() : m_data(nullptr) { } TreeNode::~TreeNode() { } bool TreeNode::operator==(const TreeNode& node) const { return (typeid(*this) == typeid(node)) && isEqual(node); } bool TreeNode::operator!=(const TreeNode& node) const { return (typeid(*this) != typeid(node)) || ! isEqual(node); } bool TreeNode::isEqual(const TreeNode& node) const { if ((m_data != nullptr && node.m_data == nullptr) || (m_data == nullptr && node.m_data != nullptr)) { return false; } if (m_data != nullptr && node.m_data != nullptr) { return *m_data == *node.m_data; } return true; } void TreeNode::setData(std::shared_ptr data) { m_data = data; } std::shared_ptr TreeNode::getData() const { return m_data; } void TreeNode::setNumChildren(size_t numChildren) { m_children.resize(numChildren); } size_t TreeNode::getNumChildren() const { return m_children.size(); } void TreeNode::addChild(const std::shared_ptr& node) { m_children.emplace_back(node); } void TreeNode::addChild(const std::shared_ptr&& node) { m_children.emplace_back(node); } void TreeNode::setChild(size_t index, const std::shared_ptr& node) { SURGSIM_ASSERT(index < m_children.size()) << "setChild() with invalid index for child."; m_children[index] = node; } std::shared_ptr TreeNode::getChild(size_t index) const { SURGSIM_ASSERT(index < m_children.size()) << "getChild() with invalid index for child."; return m_children[index]; } void TreeNode::accept(TreeVisitor* visitor) { if (doAccept(visitor)) { for (size_t i = 0; i < getNumChildren(); ++i) { getChild(i)->accept(visitor); } } } } } opensurgsim-0.7.0/SurgSim/DataStructures/TreeNode.h000066400000000000000000000101001277777236100223300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_TREENODE_H #define SURGSIM_DATASTRUCTURES_TREENODE_H #include #include #include "SurgSim/DataStructures/TreeVisitor.h" namespace SurgSim { namespace DataStructures { class TreeData; /// Basic tree node structure. /// The nodes build up the structure of a Tree. /// \sa Tree TreeData class TreeNode { public: /// Constructor. After construction, the node has no children, and the data is null. TreeNode(); /// Destructor virtual ~TreeNode(); /// Sets the data of this node. /// \param data The data for this node. void setData(std::shared_ptr data); /// \return The data of this node. std::shared_ptr getData() const; /// \return The number of children of this node. size_t getNumChildren() const; /// Returns the specified child of this node. /// \param index Index of the child /// \return Child at the specified index std::shared_ptr getChild(size_t index) const; /// Public entry point for visitor, currently this performs pre-order traversal of the tree /// \param visitor The visitor that wants to traverse the tree void accept(TreeVisitor* visitor); /// Returns true if the nodes are equal; otherwise, returns false. /// If the nodes are not of the same type, returns false; /// otherwise, compares with the implementation of isEqual(const TreeNode&). /// \param node The node for comparison. /// \return true is this node and the one from the parameter are equal. bool operator==(const TreeNode& node) const; /// Returns true if the nodes are not equal; otherwise, returns false. /// If the nodes are not of the same type, returns false; /// otherwise, compares with the implementation of isEqual(const TreeNode&). /// \param node The node for comparison. /// \return true if this node and the parameter are not equal bool operator!=(const TreeNode& node) const; protected: /// Returns true if the nodes are equal; otherwise, returns false. /// Recurses on children. /// Override this method in derived classes to implement different comparisons. /// \param node The node for comparison. /// \return true if this node is equal to the node in the parameter. virtual bool isEqual(const TreeNode& node) const; /// Private function for use with the visitor pattern, this needs to be implemented /// to make the correct double dispatch call to the dynamic type of this class. /// \param visitor The visitor that is trying to traverse the tree. /// \return true to indicate proceeding with the visitor, false indicates to abort the traversal. virtual bool doAccept(TreeVisitor* visitor) = 0; /// Sets the number of children of this node. /// Any added children will be null. /// \param numChildren The new number of children. void setNumChildren(size_t numChildren); /// Add a child to this node. /// \param node The new child node. void addChild(const std::shared_ptr& node); /// Add a child to this node. /// \param node The new child node. void addChild(const std::shared_ptr&& node); /// Set a specific child of this node. /// \param index Index of the child /// \param node Node to become a child void setChild(size_t index, const std::shared_ptr& node); private: /// Children of this node. std::vector> m_children; /// Data of this node. std::shared_ptr m_data; }; }; // namespace DataStructures }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_TREENODE_H opensurgsim-0.7.0/SurgSim/DataStructures/TreeVisitor.h000066400000000000000000000030251277777236100231120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_TREEVISITOR_H #define SURGSIM_DATASTRUCTURES_TREEVISITOR_H namespace SurgSim { namespace DataStructures { class TreeNode; class AabbTreeNode; /// Abstract Class for visitors, this needs to be extended for other tree nodes when necessary /// return false from handle() to abort traversal. class TreeVisitor { public: /// Destructor virtual ~TreeVisitor() { } /// Handle TreeNode basic type. /// \param node Node to process. /// \return true To indicates that the visitor wishes to continue traversal, false if the visitor wants /// to abort traversal. virtual bool handle(TreeNode* node) = 0; /// Handle AabbTreeNode basic type, default body, override for specific work. /// \param node Node to process. /// \return true to continue traversal, false to abort. virtual bool handle(AabbTreeNode* node) { return false; }; }; } } #endif opensurgsim-0.7.0/SurgSim/DataStructures/TriangleMesh-inl.h000066400000000000000000000275101277777236100240020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_TRIANGLEMESH_INL_H #define SURGSIM_DATASTRUCTURES_TRIANGLEMESH_INL_H #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace DataStructures { template TriangleMesh::TriangleMesh() { } template TriangleMesh::TriangleMesh( const TriangleMesh& other) : Vertices::Vertices(other), SurgSim::Framework::Asset(), m_edges(other.getEdges()), m_triangles(other.getTriangles()), m_freeTriangles(other.m_freeTriangles) { } template template TriangleMesh::TriangleMesh(const TriangleMesh& other) : Vertices::Vertices(other), SurgSim::Framework::Asset() { m_edges.reserve(other.getEdges().size()); for (auto& edge : other.getEdges()) { addEdge(EdgeType(edge)); } size_t index = 0; m_triangles.reserve(other.getTriangles().size()); for (auto& triangle : other.getTriangles()) { addTriangle(TriangleType(triangle)); if (!triangle.isValid) { m_freeTriangles.push_back(index); } ++index; } } template TriangleMesh::~TriangleMesh() { } template std::string TriangleMesh::getClassName() const { return m_className; } template size_t TriangleMesh::addEdge(const EdgeType& edge) { m_edges.push_back(edge); return m_edges.size() - 1; } template size_t TriangleMesh::addTriangle(const TriangleType& triangle) { size_t result; SURGSIM_ASSERT(triangle.isValid) << "Cannot insert invalid triangle into mesh."; if (m_freeTriangles.empty()) { m_triangles.push_back(triangle); result = m_triangles.size() - 1; } else { result = m_freeTriangles.back(); m_freeTriangles.pop_back(); m_triangles[result] = triangle; } return result; } template size_t TriangleMesh::getNumEdges() const { return m_edges.size(); } template size_t TriangleMesh::getNumTriangles() const { return m_triangles.size() - m_freeTriangles.size(); } template const std::vector::EdgeType>& TriangleMesh::getEdges() const { return m_edges; } template std::vector::EdgeType>& TriangleMesh::getEdges() { return m_edges; } template const std::vector::TriangleType>& TriangleMesh::getTriangles() const { return m_triangles; } template std::vector::TriangleType>& TriangleMesh::getTriangles() { return m_triangles; } template const typename TriangleMesh::EdgeType& TriangleMesh::getEdge(size_t id) const { return m_edges[id]; } template typename TriangleMesh::EdgeType& TriangleMesh::getEdge(size_t id) { return m_edges[id]; } template std::array TriangleMesh::getEdgePositions(size_t id) const { auto& ids = getEdge(id).verticesId; std::array result = {{ Vertices::getVertex(ids[0]).position, Vertices::getVertex(ids[1]).position }}; return result; } template const typename TriangleMesh::TriangleType& TriangleMesh::getTriangle(size_t id) const { auto const& triangle = m_triangles[id]; SURGSIM_ASSERT(triangle.isValid) << "Attempted to access invalid or deleted triangle " << id << " have " << getNumTriangles(); return triangle; } template typename TriangleMesh::TriangleType& TriangleMesh::getTriangle(size_t id) { auto& triangle = m_triangles[id]; SURGSIM_ASSERT(triangle.isValid) << "Attempted to access invalid or deleted triangle."; return triangle; } template void TriangleMesh::removeTriangle(size_t id) { auto& triangle = m_triangles[id]; if (triangle.isValid) { triangle.isValid = false; m_freeTriangles.push_back(id); } } template std::array TriangleMesh::getTrianglePositions(size_t id) const { auto& ids = getTriangle(id).verticesId; std::array result = {{ Vertices::getVertex(ids[0]).position, Vertices::getVertex(ids[1]).position, Vertices::getVertex(ids[2]).position }}; return result; } template bool TriangleMesh::isValid() const { typedef typename TriangleMesh::EdgeType EdgeType; typedef typename TriangleMesh::TriangleType TriangleType; size_t numVertices = Vertices::getNumVertices(); // Test edges validity for (typename std::vector::const_iterator it = m_edges.begin(); it != m_edges.end(); ++it) { for (int vertexId = 0; vertexId < 2; vertexId++) { if (it->verticesId[vertexId] >= numVertices) { return false; } } } // Test triangles validity for (typename std::vector::const_iterator it = m_triangles.begin(); it != m_triangles.end(); ++it) { for (int vertexId = 0; vertexId < 3; vertexId++) { if (it->verticesId[vertexId] >= numVertices) { return false; } } } return true; } template void TriangleMesh::doClearEdges() { m_edges.clear(); } template void TriangleMesh::doClearTriangles() { m_triangles.clear(); m_freeTriangles.clear(); } template bool TriangleMesh::isEqual(const Vertices& mesh) const { const TriangleMesh& triangleMesh = static_cast(mesh); return Vertices::isEqual(triangleMesh) && m_edges == triangleMesh.getEdges() && m_triangles == triangleMesh.getTriangles(); } template bool TriangleMesh::doLoad(const std::string& fileName) { PlyReader reader(fileName); if (! reader.isValid()) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << "'" << fileName << "' is an invalid .ply file."; return false; } typedef TriangleMesh MeshType; auto delegate = std::make_shared>(this->shared_from_this()); if (! reader.parseWithDelegate(delegate)) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << "The input file '" << fileName << "' does not have the property required by triangle mesh."; return false; } return true; } template void TriangleMesh::doClear() { doClearTriangles(); doClearEdges(); doClearVertices(); } template TriangleMesh::TriangleMesh(TriangleMesh&& other) : Vertices::Vertices(std::move(other)) { doClearTriangles(); doClearEdges(); std::swap(m_triangles, other.m_triangles); std::swap(m_edges, other.m_edges); std::swap(m_freeTriangles, other.m_freeTriangles); } template TriangleMesh& TriangleMesh::operator=(const TriangleMesh& other) { Vertices::operator=(other); m_triangles = other.m_triangles; m_edges = other.m_edges; m_freeTriangles = other.m_freeTriangles; return *this; } template TriangleMesh& TriangleMesh::operator= (TriangleMesh&& other) { Vertices::operator=(std::move(other)); doClearTriangles(); doClearEdges(); std::swap(m_triangles, other.m_triangles); std::swap(m_edges, other.m_edges); std::swap(m_freeTriangles, other.m_freeTriangles); return *this; } template void SurgSim::DataStructures::TriangleMesh::save(const std::string& fileName) { std::fstream out(fileName, std::ios::out); if (out.is_open()) { out << "ply" << std::endl; out << "format ascii 1.0" << std::endl; out << "comment Created by OpenSurgSim, www.opensurgsim.org" << std::endl; out << "element vertex " << getNumVertices() << std::endl; out << "property float x\nproperty float y\nproperty float z" << std::endl; out << "element face " << getNumTriangles() << std::endl; out << "property list uchar uint vertex_indices" << std::endl; out << "end_header" << std::endl; for (const auto& vertex : getVertices()) { out << vertex.position[0] << " " << vertex.position[1] << " " << vertex.position[2] << std::endl; } for (const auto& tri : getTriangles()) { out << "3 " << tri.verticesId[0] << " " << tri.verticesId[1] << " " << tri.verticesId[2] << std::endl; } if (out.bad()) { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << __FUNCTION__ << "There was a problem writing " << fileName; } out.close(); } else { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << __FUNCTION__ << "Could not open " << fileName << " for writing."; } } }; // namespace DataStructures }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_TRIANGLEMESH_INL_H opensurgsim-0.7.0/SurgSim/DataStructures/TriangleMesh.cpp000066400000000000000000000016211277777236100235500ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/TriangleMesh.h" namespace SurgSim { namespace DataStructures { template<> std::string TriangleMeshPlain::m_className = "SurgSim::DataStructures::TriangleMeshPlain"; }; // namespace DataStructures }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/TriangleMesh.h000066400000000000000000000256011277777236100232210ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_TRIANGLEMESH_H #define SURGSIM_DATASTRUCTURES_TRIANGLEMESH_H #include #include #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/MeshElement.h" #include "SurgSim/DataStructures/NormalData.h" #include "SurgSim/DataStructures/TriangleMeshPlyReaderDelegate.h" #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Framework/Asset.h" namespace SurgSim { namespace DataStructures { /// Basic class for storing Triangle Meshes, handling basic vertex, edge, and triangle functionality. /// /// TriangleMesh is to be used purely as a data structure and not provide implementation of algorithms. /// For example, a physics 2D FEM is not a subclass of TriangleMesh, but may use a TriangleMesh for storing the /// structure of the FEM. /// /// It is recommended that subclasses with a specific purpose (such as for use in collision detection) provide /// convenience methods for creation of vertices, edges, and triangles and the data each contains. Methods such as /// createVertex(position, other data...), createEdge(vertices, other data...), /// and createTriangle(vertices, other data...) simplify the creation of vertices and elements and the data required. /// These methods would use the addVertex(), addEdge(), and addTriangle() methods to add the created vertices and /// elements to the TriangleMesh. /// /// Overriding isEqual(const Mesh&) is necessary to do more than just basic list comparison of the /// vertices, edges, and triangles, which is dependent on order in the list. /// /// Override doUpdate() to provide update functionality when vertices are changes, such as recalculating surface /// normals. /// /// A subclass that is designed for a specific use (such as collision detection) may also specify the VertexData, /// EdgeData, and TriangleData to what is required. /// /// \tparam VertexData Type of extra data stored in each vertex /// \tparam EdgeData Type of extra data stored in each edge /// \tparam TriangleData Type of extra data stored in each triangle /// \sa Vertex /// \sa MeshElement template class TriangleMesh : public Vertices, public SurgSim::Framework::Asset, public std::enable_shared_from_this> { public: /// Edge type for convenience (Ids of the 2 vertices) typedef MeshElement<2, EdgeData> EdgeType; /// Triangle type for convenience (Ids of the 3 vertices) typedef MeshElement<3, TriangleData> TriangleType; /// Constructor. The mesh is initially empty (no vertices, no edges, no triangles). TriangleMesh(); /// Copy constructor when the template data is the same type /// \param other the mesh to copy from TriangleMesh(const TriangleMesh& other); /// Copy constructor when the template data is a different type /// \tparam V Type of extra data stored in each vertex /// \tparam E Type of extra data stored in each edge /// \tparam T Type of extra data stored in each triangle /// \param other The mesh to be copied from. Vertex, edge and triangle data will not be copied /// \note: Data of the input mesh, i.e. VertexDataSource, EdgeDataSource and TrianleDataSource will not be copied. template explicit TriangleMesh(const TriangleMesh& other); /// Destructor virtual ~TriangleMesh(); /// Move Constructor /// \param other Constructor source TriangleMesh(TriangleMesh&& other); /// Copy Assignment /// \param other Assignment source TriangleMesh& operator=( const TriangleMesh& other); /// Move Assignment /// \param other Assignment source TriangleMesh& operator=( TriangleMesh&& other); std::string getClassName() const override; /// Adds an edge to the mesh. /// No checking on the edge's vertices is performed. /// Recommend that subclasses with a specific purpose (such as for use in collision detection) have a /// createEdge(vertices, other data...) method which performs any checking desired and sets up the edge data based /// on the vertices and other parameters. /// \param edge Edge to add to the mesh /// \return Unique ID of the new edge. size_t addEdge(const EdgeType& edge); /// Adds a triangle to the mesh. /// \param triangle Triangle to add to the mesh /// Recommend that subclasses with a specific purpose (such as for use in collision detection) have a /// createTriangle(vertices, other data...) method which performs any checking desired and sets up the triangle data /// based on the vertices and other parameters. /// \note The ids of deleted triangles will be reused in no particular order /// \return id of the new triangle. size_t addTriangle(const TriangleType& triangle); /// Get the number of edges /// \return the number of edges in this mesh. size_t getNumEdges() const; /// Get the number of triangles /// \note The number of triangles might not match the size of the array returned by getTriangles(), after deletion /// has occurred it cannot be used to access all triangles. /// \return the number of triangles in this mesh. size_t getNumTriangles() const; /// Retrieve all edges /// \return a vector containing the position of each edge. const std::vector& getEdges() const; /// Retrieve all edges (non const version) /// \return a vector containing the position of each edge. std::vector& getEdges(); /// Retrieve all triangles /// \note The number of triangles might not match the size of the array returned by getTriangles(), after deletion /// has occurred it cannot be used to access all triangles. When processing this array, /// check \sa TriangleType::isValid to see wether to do something with this triangle /// \return a vector containing the position of each triangle. Some of these triangles might be deleted, they need /// to be checked via \sa isValid before further processing const std::vector& getTriangles() const; /// Retrieve all triangles (non const version) /// \note The number of triangles might not match the size of the array returned by getTriangles(), after deletion /// has occurred it cannot be used to access all triangles. When processing this array, /// check \sa TriangleType::isValid to see wether to do something with this triangle /// \return a vector containing the position of each triangle. Some of these triangles might be deleted, they need /// to be checked via \sa isValid before further processing std::vector& getTriangles(); /// Retrieve a specific edge /// \param id the edge to be retrieved. /// \return the specified edge. const EdgeType& getEdge(size_t id) const; /// Retrieve a specific edge (non const version) /// \param id the edge to be retrieved. /// \return the specified edge. EdgeType& getEdge(size_t id); /// Returns an array of the edge's vertices' positions /// \param id the id of the edge /// \return an array of the edge's vertices' positions std::array getEdgePositions(size_t id) const; /// Retrieve a specific triangle /// \throws SurgSim::Framework::AssertionFailure if the given triangle was deleted /// \param id The id of the triangle to retrieve /// \return the specified triangle const TriangleType& getTriangle(size_t id) const; /// Retrieve a specific triangle (non const version) /// \throws SurgSim::Framework::AssertionFailure if the give triangle was deleted /// \param id The id of the triangle to retrieve /// \return the specified triangle TriangleType& getTriangle(size_t id); /// Marks a triangle as invalid, the triangle cannot be accessed via getTriangle anymore /// \note users of getTriangles() will have to check for deleted triangles if this feature is used /// the size of the vector returned by getTriangles does not reflect the number of triangles anymore /// use getNumTriangles() to figure out the correct number. /// \param id triangle to delete void removeTriangle(size_t id); /// Returns an array of the triangle's vertices' positions /// \param id the id of the triangle /// \return an array of the triangle's vertices' positions std::array getTrianglePositions(size_t id) const; /// Test if the TriangleMesh is valid (valid vertex Ids used in all MeshElements) /// \return True if the TriangleMesh is valid, False otherwise (the topology is then broken) bool isValid() const; /// Save the triangle mesh in the ply format /// \param fileName the filename where to save void save(const std::string& fileName); protected: /// Remove all edges from the mesh. virtual void doClearEdges(); /// Remove all triangles from the mesh. virtual void doClearTriangles(); /// Internal comparison of meshes of the same type: returns true if equal, false if not equal. /// Override this method to provide custom comparison. Basic TriangleMesh implementation compares vertices, /// edges and triangles: the order of vertices, edges, and triangles must also match to be considered equal. /// \param mesh Mesh must be of the same type as that which it is compared against /// \return True if the vertices are equals, False otherwise virtual bool isEqual(const Vertices& mesh) const; bool doLoad(const std::string& fileName) override; using Vertices::doClearVertices; static std::string m_className; private: /// Clear mesh to return to an empty state (no vertices, no edges, no triangles). virtual void doClear(); /// Edges std::vector m_edges; /// Triangles std::vector m_triangles; /// List of indices of deleted triangles, to be reused when another triangle is added std::vector m_freeTriangles; public: // Dependent name resolution for inherited functions and typenames from templates using typename Vertices::VertexType; using Vertices::addVertex; using Vertices::getNumVertices; using Vertices::getVertices; }; typedef TriangleMesh TriangleMeshPlain; }; // namespace DataStructures }; // namespace SurgSim #include "SurgSim/DataStructures/TriangleMesh-inl.h" #endif // SURGSIM_DATASTRUCTURES_TRIANGLEMESH_H opensurgsim-0.7.0/SurgSim/DataStructures/TriangleMeshPlyReaderDelegate-inl.h000066400000000000000000000163611277777236100272470ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_TRIANGLEMESHPLYREADERDELEGATE_INL_H #define SURGSIM_DATASTRUCTURES_TRIANGLEMESHPLYREADERDELEGATE_INL_H #include #include "SurgSim/Math/Vector.h" template SurgSim::DataStructures::TriangleMeshPlyReaderDelegate::TriangleMeshPlyReaderDelegate() : m_mesh(std::make_shared()), m_hasTextureCoordinates(false), m_hasFaces(false), m_hasEdges(false) { } template SurgSim::DataStructures::TriangleMeshPlyReaderDelegate::TriangleMeshPlyReaderDelegate(std::shared_ptr mesh) : m_mesh(mesh), m_hasTextureCoordinates(false), m_hasFaces(false), m_hasEdges(false) { SURGSIM_ASSERT(mesh != nullptr) << "The mesh cannot be null."; mesh->clear(); } template std::shared_ptr SurgSim::DataStructures::TriangleMeshPlyReaderDelegate::getMesh() { return m_mesh; } template bool SurgSim::DataStructures::TriangleMeshPlyReaderDelegate::registerDelegate(PlyReader* reader) { // Vertex processing reader->requestElement("vertex", std::bind(&TriangleMeshPlyReaderDelegate::beginVertices, this, std::placeholders::_1, std::placeholders::_2), std::bind(&TriangleMeshPlyReaderDelegate::processVertex, this, std::placeholders::_1), std::bind(&TriangleMeshPlyReaderDelegate::endVertices, this, std::placeholders::_1)); reader->requestScalarProperty("vertex", "x", PlyReader::TYPE_DOUBLE, offsetof(VertexData, x)); reader->requestScalarProperty("vertex", "y", PlyReader::TYPE_DOUBLE, offsetof(VertexData, y)); reader->requestScalarProperty("vertex", "z", PlyReader::TYPE_DOUBLE, offsetof(VertexData, z)); // Normal processing m_hasTextureCoordinates = reader->hasProperty("vertex", "s") && reader->hasProperty("vertex", "t"); if (m_hasTextureCoordinates) { reader->requestScalarProperty("vertex", "s", PlyReader::TYPE_DOUBLE, offsetof(VertexData, s)); reader->requestScalarProperty("vertex", "t", PlyReader::TYPE_DOUBLE, offsetof(VertexData, t)); } if (m_hasFaces) { // Face Processing reader->requestElement("face", std::bind(&TriangleMeshPlyReaderDelegate::beginFaces, this, std::placeholders::_1, std::placeholders::_2), std::bind(&TriangleMeshPlyReaderDelegate::processFace, this, std::placeholders::_1), std::bind(&TriangleMeshPlyReaderDelegate::endFaces, this, std::placeholders::_1)); reader->requestListProperty("face", "vertex_indices", PlyReader::TYPE_UNSIGNED_INT, offsetof(ListData, indices), PlyReader::TYPE_UNSIGNED_INT, offsetof(ListData, count)); } if (m_hasEdges) { // Edge Processing reader->requestElement("1d_element", std::bind(&TriangleMeshPlyReaderDelegate::beginEdges, this, std::placeholders::_1, std::placeholders::_2), std::bind(&TriangleMeshPlyReaderDelegate::processEdge, this, std::placeholders::_1), std::bind(&TriangleMeshPlyReaderDelegate::endEdges, this, std::placeholders::_1)); reader->requestListProperty("1d_element", "vertex_indices", PlyReader::TYPE_UNSIGNED_INT, offsetof(ListData, indices), PlyReader::TYPE_UNSIGNED_INT, offsetof(ListData, count)); } reader->setEndParseFileCallback(std::bind(&TriangleMeshPlyReaderDelegate::endFile, this)); return true; } template bool SurgSim::DataStructures::TriangleMeshPlyReaderDelegate::fileIsAcceptable(const PlyReader& reader) { bool result = true; m_hasFaces = reader.hasProperty("face", "vertex_indices") && !reader.isScalar("face", "vertex_indices"); m_hasEdges = reader.hasProperty("1d_element", "vertex_indices") && !reader.isScalar("1d_element", "vertex_indices"); // Shortcut test if one fails ... result = result && reader.hasProperty("vertex", "x"); result = result && reader.hasProperty("vertex", "y"); result = result && reader.hasProperty("vertex", "z"); result = result && (m_hasFaces || m_hasEdges); return result; } template void* SurgSim::DataStructures::TriangleMeshPlyReaderDelegate::beginVertices( const std::string& elementName, size_t vertexCount) { m_vertexData.overrun1 = 0l; m_vertexData.overrun2 = 0l; return &m_vertexData; } template void SurgSim::DataStructures::TriangleMeshPlyReaderDelegate::processVertex(const std::string& elementName) { typename M::VertexType vertex(SurgSim::Math::Vector3d(m_vertexData.x, m_vertexData.y, m_vertexData.z)); m_mesh->addVertex(vertex); } template void SurgSim::DataStructures::TriangleMeshPlyReaderDelegate::endVertices(const std::string& elementName) { SURGSIM_ASSERT(m_vertexData.overrun1 == 0l && m_vertexData.overrun2 == 0l) << "There was an overrun while reading the vertex structures, it is likely that data " << "has become corrupted."; } template void* SurgSim::DataStructures::TriangleMeshPlyReaderDelegate::beginFaces( const std::string& elementName, size_t faceCount) { m_listData.overrun = 0l; return &m_listData; } template void SurgSim::DataStructures::TriangleMeshPlyReaderDelegate::processFace(const std::string& elementName) { SURGSIM_ASSERT(m_listData.count == 3) << "Can only process triangle meshes."; std::copy(m_listData.indices, m_listData.indices + 3, m_face.begin()); typename M::TriangleType triangle(m_face); m_mesh->addTriangle(triangle); } template void SurgSim::DataStructures::TriangleMeshPlyReaderDelegate::endFaces(const std::string& elementName) { SURGSIM_ASSERT(m_listData.overrun == 0l) << "There was an overrun while reading the face structures, it is likely that data " << "has become corrupted."; } template void SurgSim::DataStructures::TriangleMeshPlyReaderDelegate::endFile() { m_mesh->update(); } template bool SurgSim::DataStructures::TriangleMeshPlyReaderDelegate::hasTextureCoordinates() { return m_hasTextureCoordinates; } template void* SurgSim::DataStructures::TriangleMeshPlyReaderDelegate::beginEdges(const std::string& elementName, size_t edgeCount) { m_listData.overrun = 0l; return &m_listData; } template void SurgSim::DataStructures::TriangleMeshPlyReaderDelegate::processEdge(const std::string& elementName) { SURGSIM_ASSERT(m_listData.count == 2) << "Edges have to have 2 points."; std::copy(m_listData.indices, m_listData.indices + 2, m_edge.begin()); typename M::EdgeType edge(m_edge); m_mesh->addEdge(edge); } template void SurgSim::DataStructures::TriangleMeshPlyReaderDelegate::endEdges(const std::string& elementName) { SURGSIM_ASSERT(m_listData.overrun == 0l) << "There was an overrun while reading the face structures, it is likely that data " << "has become corrupted."; } #endif opensurgsim-0.7.0/SurgSim/DataStructures/TriangleMeshPlyReaderDelegate.h000066400000000000000000000110041277777236100264540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_TRIANGLEMESHPLYREADERDELEGATE_H #define SURGSIM_DATASTRUCTURES_TRIANGLEMESHPLYREADERDELEGATE_H #include #include #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/DataStructures/PlyReaderDelegate.h" namespace SurgSim { namespace DataStructures { /// Implementation of PlyReaderDelegate for simple triangle meshes template class TriangleMeshPlyReaderDelegate : public PlyReaderDelegate { public: typedef M MeshType; /// Default constructor. TriangleMeshPlyReaderDelegate(); /// Constructor. /// \param mesh The mesh to be used, it will be cleared by the constructor. explicit TriangleMeshPlyReaderDelegate(std::shared_ptr mesh); /// Gets the mesh. /// \return The mesh. std::shared_ptr getMesh(); /// Registers the delegate with the reader, overridden from \sa PlyReaderDelegate. /// \param reader The reader that should be used. /// \return true if it succeeds, false otherwise. bool registerDelegate(PlyReader* reader) override; /// Check whether this file is acceptable to the delegate, overridden from \sa PlyReaderDelegate. /// \param reader The reader that should be used. /// \return true if it succeeds, false otherwise. bool fileIsAcceptable(const PlyReader& reader) override; /// Callback function, begin the processing of vertices. /// \param elementName Name of the element. /// \param vertexCount Number of vertices. /// \return memory for vertex data to the reader. void* beginVertices(const std::string& elementName, size_t vertexCount); /// Callback function to process one vertex. /// \param elementName Name of the element. virtual void processVertex(const std::string& elementName); /// Callback function to finalize processing of vertices. /// \param elementName Name of the element. void endVertices(const std::string& elementName); /// Callback function, begin the processing of faces. /// \param elementName Name of the element. /// \param faceCount Number of faces. /// \return memory for face data to the reader. void* beginFaces(const std::string& elementName, size_t faceCount); /// Callback function to process one face. /// \param elementName Name of the element. void processFace(const std::string& elementName); /// Callback function to finalize processing of faces. /// \param elementName Name of the element. void endFaces(const std::string& elementName); void* beginEdges(const std::string& elementName, size_t edgeCount); void processEdge(const std::string& elementName); void endEdges(const std::string& elementName); /// Callback function to finalize processing of the mesh void endFile(); protected: /// \return true if s/t coordinates where found in the ply file on registration. bool hasTextureCoordinates(); /// Internal structure, the receiver for data from the "vertex" element /// Provide space for standard ply vertex data, x/y/z and s/t struct VertexData { double x; double y; double z; int64_t overrun1; ///< Used to check for buffer overruns double s; double t; int64_t overrun2; ///< Used to check for buffer overruns } m_vertexData; /// Internal structure, the received for data from the "face" element struct ListData { unsigned int count; unsigned int* indices; int64_t overrun; ///< Used to check for buffer overruns } m_listData; /// The mesh that will be created std::shared_ptr m_mesh; // Statically allocated index array to receive data for the faces std::array m_face; std::array m_edge; private: /// Set to true if s/t coordinates are found in the .ply file bool m_hasTextureCoordinates; /// Set to true if faces are found in the .ply file bool m_hasFaces; /// Set to true if edges are found in the .ply file bool m_hasEdges; }; }; }; #include "SurgSim/DataStructures/TriangleMeshPlyReaderDelegate-inl.h" #endif opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/000077500000000000000000000000001277777236100224245ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/AabbTreeDataTests.cpp000066400000000000000000000122541277777236100264160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/DataStructures/AabbTreeData.h" #include "SurgSim/Math/Aabb.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Testing/MathUtilities.h" using SurgSim::Math::Aabbd; using SurgSim::Math::Vector3d; namespace SurgSim { namespace DataStructures { TEST(AabbTreeDataTests, InitTest) { ASSERT_NO_THROW(AabbTreeData data;); AabbTreeData data; EXPECT_TRUE(data.isEmpty()); EXPECT_EQ(0u, data.getSize()); } TEST(AabbTreeDataTests, EqualityTests) { Aabbd a(Vector3d(-1.0, -1.0, -1.0), Vector3d(1.0, 1.0, 1.0)); Aabbd b(Vector3d(-2.0, -2.0, -2.0), Vector3d(0.0, 0.0, 0.0)); AabbTreeData empty; AabbTreeData containsA; AabbTreeData containsAnotherA; AabbTreeData containsB; AabbTreeData containsAB; AabbTreeData containsBA; containsA.add(a, 0); containsAnotherA.add(a, 0); containsB.add(b, 0); containsAB.add(a, 0); containsAB.add(b, 0); containsBA.add(b, 0); containsBA.add(a, 0); EXPECT_EQ(empty, empty); EXPECT_NE(empty, containsA); EXPECT_NE(empty, containsAB); EXPECT_NE(containsA, empty); EXPECT_NE(containsBA, empty); EXPECT_EQ(containsA, containsA); EXPECT_EQ(containsA, containsAnotherA); EXPECT_NE(containsA, containsB); EXPECT_NE(containsA, containsAB); EXPECT_EQ(containsAB, containsAB); EXPECT_EQ(containsAB, containsBA); EXPECT_EQ(containsBA, containsAB); } TEST(AabbTreeDataTests, AddTest) { Aabbd a(Vector3d(-1.0, -1.0, -1.0), Vector3d(1.0, 1.0, 1.0)); Aabbd b(Vector3d(-2.0, -2.0, -2.0), Vector3d(0.0, 0.0, 0.0)); Aabbd c = a.merged(b); AabbTreeData data; EXPECT_NO_THROW(data.add(a, 0)); EXPECT_TRUE(a.isApprox(data.getAabb())); EXPECT_EQ(1u, data.getSize()); data.add(b, 1); EXPECT_EQ(2u, data.getSize()); EXPECT_TRUE(c.isApprox(data.getAabb())); } TEST(AabbTreeDataTests, SimpleSplitTest) { AabbTreeData data; // add 11 elements for (int i = 0; i <= 10; ++i) { data.add(Aabbd(Vector3d(i, -1.0, -1.0), Vector3d(i + 2, 1.0, 1.0)), i); } // The original box, encompasses all the members Aabbd original(Vector3d(0.0, -1.0, -1.0), Vector3d(12.0, 1.0, 1.0)); // The left hand side box, this is what is left in the original data item // all the items with center.x < (12.0 - 0.0) / 2.0, 5 items Aabbd expectedLeft(Vector3d(0.0, -1.0, -1.0), Vector3d(6.0, 1.0, 1.0)); // The left hand side box, this is what moved to the new data item // all the items with center.x >= (12.0 - 0.0) / 2.0, 6 items Aabbd expectedRight(Vector3d(5.0, -1.0, -1.0), Vector3d(12.0, 1.0, 1.0)); EXPECT_TRUE(original.isApprox(data.getAabb())) << original << ", " << data.getAabb(); std::shared_ptr ptr = data.takeLargerElements(); EXPECT_EQ(5u, data.getSize()); EXPECT_TRUE(expectedLeft.isApprox(data.getAabb())) << expectedLeft << ", " << data.getAabb(); EXPECT_EQ(6u, ptr->getSize()); EXPECT_TRUE(expectedRight.isApprox(ptr->getAabb())) << expectedRight << ", " << ptr->getAabb(); } TEST(AabbTreeDataTests, IntersectionTest) { Aabbd a(Vector3d(-1.0, -1.0, -1.0), Vector3d(1.0, 1.0, 1.0)); Aabbd b(Vector3d(-2.0, -2.0, -2.0), Vector3d(0.0, 0.0, 0.0)); AabbTreeData data; data.add(Aabbd(Vector3d(-1.0, 0.0, 0.0), Vector3d(-1.0, 0.0, 0.0)), 0); data.add(Aabbd(Vector3d(-2.0, 0.0, 0.0), Vector3d(-2.0, 0.0, 0.0)), 1); data.add(Aabbd(Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0)), 2); data.add(Aabbd(Vector3d(1.0, 0.0, 0.0), Vector3d(1.0, 0.0, 0.0)), 3); Aabbd noIntersections(Vector3d(-0.5, -2.0, -2.0), Vector3d(0.5, -1.0, -1.0)); Aabbd oneIntersection(Vector3d(-0.5, 0.0, 0.0), Vector3d(0.5, 0.0, 0.0)); Aabbd twoIntersections(Vector3d(-0.5, 0.0, 0.0), Vector3d(1.5, 0.0, 0.0)); Aabbd threeIntersections(Vector3d(-1.5, 0.0, 0.0), Vector3d(1.5, 0.0, 0.0)); Aabbd fourIntersections(Vector3d(-2.5, 0.0, 0.0), Vector3d(2.5, 0.0, 0.0)); std::list results; EXPECT_FALSE(data.hasIntersections(noIntersections)); data.getIntersections(noIntersections, &results); EXPECT_EQ(0u, results.size()); results.size(); results.clear(); EXPECT_TRUE(data.hasIntersections(oneIntersection)); data.getIntersections(oneIntersection, &results); EXPECT_EQ(1u, results.size()); EXPECT_EQ(2u, results.front()); results.clear(); EXPECT_TRUE(data.hasIntersections(twoIntersections)); data.getIntersections(twoIntersections, &results); EXPECT_EQ(2u, results.size()); results.clear(); EXPECT_TRUE(data.hasIntersections(threeIntersections)); data.getIntersections(threeIntersections, &results); EXPECT_EQ(3u, results.size()); results.clear(); EXPECT_TRUE(data.hasIntersections(fourIntersections)); data.getIntersections(fourIntersections, &results); EXPECT_EQ(4u, results.size()); } } } opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/AabbTreeNodeTests.cpp000066400000000000000000000050671277777236100264360ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Math/Aabb.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/DataStructures/TreeVisitor.h" #include "SurgSim/DataStructures/AabbTreeNode.h" using SurgSim::Math::Aabbd; using SurgSim::Math::Vector3d; namespace SurgSim { namespace DataStructures { TEST(AabbTreeNodeTests, InitTest) { EXPECT_NO_THROW(AabbTreeNode node); auto node = std::make_shared(); EXPECT_EQ(0u, node->getNumChildren()); EXPECT_TRUE(node->getAabb().isEmpty()); } TEST(AabbTreeNodeTests, AddTest) { auto node = std::make_shared(); Aabbd one(Vector3d(-1.0, -1.0, -1.0), Vector3d(0.0, 0.0, 0.0)); Aabbd two(Vector3d(0.0, 0.0, 0.0), Vector3d(1.0, 1.0, 1.0)); Aabbd combined(Vector3d(-1.0, -1.0, -1.0), Vector3d(1.0, 1.0, 1.0)); EXPECT_NO_THROW(node->addData(one, 0)); EXPECT_EQ(0u, node->getNumChildren()); EXPECT_TRUE(one.isApprox(node->getAabb())); node->addData(one, 1, 3); node->addData(two, 2, 3); node->addData(two, 3, 3); ASSERT_EQ(2u, node->getNumChildren()); EXPECT_TRUE(combined.isApprox(node->getAabb())); ASSERT_NE(nullptr, node->getChild(0)); ASSERT_NE(nullptr, node->getChild(1)); auto child = std::dynamic_pointer_cast(node->getChild(0)); ASSERT_NE(nullptr, child); ASSERT_EQ(0u, child->getNumChildren()); EXPECT_TRUE(one.isApprox(child->getAabb())); child = std::dynamic_pointer_cast(node->getChild(1)); ASSERT_NE(nullptr, child); ASSERT_EQ(0u, child->getNumChildren()); EXPECT_TRUE(two.isApprox(child->getAabb())); } class TestVisitor : public TreeVisitor { public: virtual ~TestVisitor() {} bool handle(TreeNode* node) override { throw std::logic_error("The method or operation is not implemented."); return false; } bool handle(AabbTreeNode* node) override { return true; } }; TEST(AabbTreeNodeTests, VisitorTest) { TestVisitor visitor; auto node = std::make_shared(); node->accept(&visitor); } } } opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/AabbTreeTests.cpp000066400000000000000000000223661277777236100256310ustar00rootroot00000000000000#include "../PlyReader.h" #include "../TriangleMeshPlyReaderDelegate.h" // This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/DataStructures/AabbTree.h" #include "SurgSim/DataStructures/AabbTreeIntersectionVisitor.h" #include "SurgSim/DataStructures/AabbTreeNode.h" #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Timer.h" #include "SurgSim/Math/Aabb.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Testing/MathUtilities.h" using SurgSim::Math::Aabbd; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace SurgSim { namespace DataStructures { TEST(AabbTreeTests, InitTest) { ASSERT_NO_THROW({AabbTree tree(3);}); auto tree = std::make_shared(3); EXPECT_EQ(3u, tree->getMaxObjectsPerNode()); EXPECT_NE(nullptr, tree->getRoot()); } TEST(AabbTreeTests, AddTest) { auto tree = std::make_shared(3); Aabbd one(Vector3d(-1.0, -1.0, -1.0), Vector3d(0.0, 0.0, 0.0)); Aabbd two(Vector3d(0.0, 0.0, 0.0), Vector3d(1.0, 1.0, 1.0)); EXPECT_NO_THROW(tree->add(one, 0)); EXPECT_NO_THROW(tree->add(one, 1)); EXPECT_NO_THROW(tree->add(two, 2)); EXPECT_NO_THROW(tree->add(two, 3)); EXPECT_EQ(2u, tree->getRoot()->getNumChildren()); } TEST(AabbTreeTests, BuildTest) { auto runtime = std::make_shared("config.txt"); auto tree = std::make_shared(3); auto mesh = std::make_shared(); mesh->load("Geometry/arm_collision.ply"); for (size_t i = 0; i < mesh->getNumTriangles(); ++i) { auto triangle = mesh->getTriangle(i); Aabbd aabb(SurgSim::Math::makeAabb( mesh->getVertex(triangle.verticesId[0]).position, mesh->getVertex(triangle.verticesId[1]).position, mesh->getVertex(triangle.verticesId[2]).position)); tree->add(std::move(aabb), i); } } TEST(AabbTreeTests, BatchBuildTest) { auto runtime = std::make_shared("config.txt"); auto tree = std::make_shared(3); auto mesh = std::make_shared(); mesh->load("Geometry/arm_collision.ply"); std::list items; for (size_t i = 0; i < mesh->getNumTriangles(); ++i) { auto triangle = mesh->getTriangle(i); Aabbd aabb(SurgSim::Math::makeAabb( mesh->getVertex(triangle.verticesId[0]).position, mesh->getVertex(triangle.verticesId[1]).position, mesh->getVertex(triangle.verticesId[2]).position)); items.emplace_back(std::make_pair(std::move(aabb), i)); } tree->set(std::move(items)); } TEST(AabbTreeTests, EasyIntersectionTest) { auto tree = std::make_shared(3); Aabbd bigBox; for (int i = 0; i <= 6; ++i) { Aabbd aabb(Vector3d(static_cast(i) - 0.01, -0.01, -0.01), Vector3d(static_cast(i) + 0.01, 0.01, 0.01)); bigBox.extend(aabb); tree->add(aabb, i); } EXPECT_TRUE(bigBox.isApprox(tree->getAabb())) << bigBox << ", " << tree->getAabb(); AabbTreeIntersectionVisitor visitor(bigBox); tree->getRoot()->accept(&visitor); EXPECT_EQ(7u, visitor.getIntersections().size()); Aabbd leftBox(Vector3d(0.0, -0.02, -0.02), Vector3d(3.4, 0.02, 0.02)); visitor.setAabb(leftBox); tree->getRoot()->accept(&visitor); EXPECT_EQ(4u, visitor.getIntersections().size()) << "Left Box Incorrect"; Aabbd middleBox(Vector3d(1.8, -0.02, -0.02), Vector3d(4.4, 0.02, 0.02)); visitor.setAabb(middleBox); tree->getRoot()->accept(&visitor); EXPECT_EQ(3u, visitor.getIntersections().size()) << "Middle Box Incorrect"; Aabbd rightBox(Vector3d(2.8, -0.02, -0.02), Vector3d(6.4, 0.02, 0.02)); visitor.setAabb(rightBox); tree->getRoot()->accept(&visitor); EXPECT_EQ(4u, visitor.getIntersections().size()) << "Right Box Incorrect"; } TEST(AabbTreeTests, MeshIntersectionTest) { auto runtime = std::make_shared("config.txt"); auto tree = std::make_shared(3); auto mesh = std::make_shared(); mesh->load("Geometry/arm_collision.ply"); Aabbd expectedBigBox; for (size_t i = 0; i < mesh->getNumTriangles(); ++i) { auto triangle = mesh->getTriangle(i); std::array vertices = { mesh->getVertex(triangle.verticesId[0]).position, mesh->getVertex(triangle.verticesId[1]).position, mesh->getVertex(triangle.verticesId[2]).position }; Aabbd aabb(SurgSim::Math::makeAabb(vertices[0], vertices[1], vertices[2])); expectedBigBox.extend(aabb); tree->add(std::move(aabb), i); } Aabbd bigBox = tree->getAabb(); EXPECT_TRUE(expectedBigBox.isApprox(bigBox)); AabbTreeIntersectionVisitor intersector(bigBox); SurgSim::Framework::Timer timer; timer.start(); tree->getRoot()->accept(&intersector); timer.endFrame(); EXPECT_EQ(mesh->getNumTriangles(), intersector.getIntersections().size()); } template class TreeLeavesVisitor : public TreeVisitor { public: bool handle(TreeNode* node) override { SURGSIM_FAILURE() << "Function " << __FUNCTION__ << " not implemented"; return false; } bool handle(NodeType* node) override { if (node->getNumChildren() == 0) { leaves.push_back(node); } return true; } std::vector leaves; }; template static typename std::list::const_iterator getEquivalentPair(const std::list& list, const PairTypeRhs& item) { return std::find_if(list.cbegin(), list.cend(), [&item](const PairTypeLhs & pair) { return (pair.first->getAabb().isApprox(item.first->getAabb()) && pair.second->getAabb().isApprox(item.second->getAabb())) || (pair.first->getAabb().isApprox(item.second->getAabb()) && pair.second->getAabb().isApprox(item.first->getAabb())); } ); } TEST(AabbTreeTests, SpatialJoinTest) { auto runtime = std::make_shared("config.txt"); const std::string fileName = "Geometry/staple_collision.ply"; auto meshA = std::make_shared(); ASSERT_NO_THROW(meshA->load(fileName)); auto meshB = std::make_shared(); ASSERT_NO_THROW(meshB->load(fileName)); RigidTransform3d rhsPose = SurgSim::Math::makeRigidTranslation(Vector3d(0.005, 0.0, 0.0)); meshB->transform(rhsPose); // update the AABB trees meshA->update(); meshB->update(); auto aabbA = meshA->getAabbTree(); auto aabbB = meshB->getAabbTree(); auto actualIntersection = aabbA->spatialJoin(*aabbB); TreeLeavesVisitor leavesVisitorA; std::static_pointer_cast(aabbA->getRoot())->accept(&leavesVisitorA); auto& leavesA = leavesVisitorA.leaves; TreeLeavesVisitor leavesVisitorB; std::static_pointer_cast(aabbB->getRoot())->accept(&leavesVisitorB); auto& leavesB = leavesVisitorB.leaves; std::list> expectedIntersection; for (auto leafA = leavesA.begin(); leafA != leavesA.end(); ++leafA) { for (auto leafB = leavesB.begin(); leafB != leavesB.end(); ++leafB) { if (SurgSim::Math::doAabbIntersect((*leafA)->getAabb(), (*leafB)->getAabb())) { expectedIntersection.emplace_back(*leafA, *leafB); } } } { SCOPED_TRACE("Equivalent sets"); ASSERT_GT(expectedIntersection.size(), 0u); ASSERT_EQ(expectedIntersection.size(), actualIntersection.size()); // Sets A and B are equal if and only if A is a subset of B and B is a subset of A. for (auto it = actualIntersection.begin(); it != actualIntersection.end(); ++it) { EXPECT_FALSE(getEquivalentPair(expectedIntersection, *it) == expectedIntersection.cend()); } for (auto it = expectedIntersection.begin(); it != expectedIntersection.end(); ++it) { EXPECT_FALSE(getEquivalentPair(actualIntersection, *it) == actualIntersection.cend()); } } { SCOPED_TRACE("Inequivalent sets."); auto newNode = std::make_shared(); newNode->addData( SurgSim::Math::makeAabb(Vector3d(-0.1, 0.3, 5.3), Vector3d(5.4, -5.8, 1.1), Vector3d(0, 0.5, 11)), 4543); expectedIntersection.emplace_back(newNode.get(), expectedIntersection.front().second); actualIntersection.emplace_back(newNode, actualIntersection.back().first); ASSERT_GT(expectedIntersection.size(), 0u); ASSERT_EQ(expectedIntersection.size(), actualIntersection.size()); EXPECT_TRUE(getEquivalentPair(expectedIntersection, actualIntersection.back()) == expectedIntersection.cend()); EXPECT_TRUE(getEquivalentPair(actualIntersection, expectedIntersection.back()) == actualIntersection.cend()); } } } // namespace DataStructure } // namespace SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/BufferedValueTests.cpp000066400000000000000000000031461277777236100266760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/DataStructures/BufferedValue.h" #include #include namespace SurgSim { namespace DataStructures { TEST(BufferedValueTests, InitTest) { EXPECT_NO_THROW({BufferedValue value(3);}); EXPECT_NO_THROW({BufferedValue value;}); } TEST(BufferedValueTests, SafeAndUnsafeGettersTest) { auto buffer = std::make_shared>(10); int& value = buffer->unsafeGet(); std::shared_ptr initialBufferedValue = buffer->safeGet(); EXPECT_EQ(10, value); EXPECT_EQ(10, *initialBufferedValue); value = 20; EXPECT_EQ(20, value); EXPECT_EQ(10, *initialBufferedValue); std::shared_ptr postAssignBufferedValue = buffer->safeGet(); EXPECT_EQ(initialBufferedValue, postAssignBufferedValue); buffer->publish(); EXPECT_EQ(10, *initialBufferedValue); std::shared_ptr postPublishBufferedValue = buffer->safeGet(); EXPECT_EQ(20, *postPublishBufferedValue); } } } opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/CMakeLists.txt000066400000000000000000000032321277777236100251640ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2016, SimQuest Solutions 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 # # 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_directories ( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES AabbTreeDataTests.cpp AabbTreeNodeTests.cpp AabbTreeTests.cpp BufferedValueTests.cpp DataGroupTests.cpp DataStructuresConvertTests.cpp Grid1DTests.cpp Grid2DTests.cpp Grid3DTests.cpp GridTests.cpp GroupsTests.cpp ImageMapTest.cpp ImageTest.cpp IndexDirectoryTests.cpp IndexedLocalCoordinateTest.cpp LocationTests.cpp MeshElementTest.cpp MeshTest.cpp MeshVertexTest.cpp NamedDataTests.cpp NamedVariantDataTests.cpp OctreeNodeTests.cpp OptionalValueTests.cpp PlyReaderTests.cpp SegmentMeshTest.cpp TetrahedronMeshTest.cpp TriangleMeshTest.cpp ) set(UNIT_TEST_HEADERS GridTests.h MockObjects.h ) set(LIBS SurgSimDataStructures SurgSimMath ) file(COPY Data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) surgsim_add_unit_tests(SurgSimDataStructuresTest) set_target_properties(SurgSimDataStructuresTest PROPERTIES FOLDER "DataStructures") opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/Data/000077500000000000000000000000001277777236100232755ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/Data/PlyReaderTests/000077500000000000000000000000001277777236100262075ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/Data/PlyReaderTests/Cube_with_physics.ply000066400000000000000000000036371277777236100324210ustar00rootroot00000000000000ply format ascii 1.0 comment Created by Blender 2.69 (sub 0) - www.blender.org, source 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opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/Data/PlyReaderTests/Testdata.ply000066400000000000000000000010211277777236100305000ustar00rootroot00000000000000ply format ascii 1.0 comment TestData not really a mesh element vertex 4 property float x property float y property float z property float nx property float ny property float nz element face 4 property list uchar uint vertex_indices property int extra end_header 1.000000 2.000000 3.000000 0.000000 0.000000 -1.000000 -2.000000 -3.000000 -4.000000 0.000000 0.000000 -1.000000 3.000000 4.000000 5.000000 0.000000 0.000000 -1.000000 -4.000000 -5.000000 -6.000000 0.000000 0.000000 -1.000000 1 0 0 2 1 2 -1 3 3 4 5 -2 4 6 7 8 9 -3 opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/Data/SegmentMeshTest/000077500000000000000000000000001277777236100263545ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/Data/SegmentMeshTest/segmentmesh.ply000066400000000000000000000003511277777236100314200ustar00rootroot00000000000000ply format ascii 1.0 comment Created by hand element vertex 4 property double x property double y property double z element 1d_element 3 property list uint uint vertex_indices end_header 1 2 3 4 5 6 7 8 9 11 11 12 2 0 1 2 1 2 2 2 3 opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/DataGroupTests.cpp000066400000000000000000000410551277777236100260460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the DataGroup class. #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/DataStructures/DataGroupCopier.h" #include "SurgSim/DataStructures/NamedData.h" #include "SurgSim/Framework/LockedContainer.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include "gtest/gtest.h" #include "SurgSim/DataStructures/UnitTests/MockObjects.h" using SurgSim::DataStructures::DataGroup; using SurgSim::DataStructures::DataGroupBuilder; using SurgSim::DataStructures::DataGroupCopier; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace { const double EPSILON = 1e-9; }; /// Creating a named data object. TEST(DataGroupTests, CanConstruct) { DataGroupBuilder builder; builder.addPose("test"); builder.addVector("test"); builder.addMatrix("test"); builder.addScalar("test"); builder.addInteger("test"); builder.addBoolean("test"); builder.addString("test"); builder.addImage("test"); builder.addCustom("test"); DataGroup data = builder.createData(); EXPECT_TRUE(data.poses().hasEntry("test")); EXPECT_FALSE(data.poses().hasData("test")); EXPECT_FALSE(data.strings().hasEntry("missing")); EXPECT_FALSE(data.strings().hasData("missing")); DataGroupBuilder builder2; builder2.addInteger("test"); DataGroup data2 = builder2.createData(); EXPECT_TRUE(data2.integers().hasEntry("test")); EXPECT_FALSE(data2.integers().hasData("test")); EXPECT_FALSE(data2.strings().hasEntry("missing")); EXPECT_FALSE(data2.strings().hasData("missing")); DataGroupBuilder builder3; DataGroup data3, data4 = builder3.createData(); EXPECT_NO_THROW(data3 = data4); // A DataGroup created by an empty DataGroupBuilder is valid (aka non-empty). } /// Creating a shared_ref to a named data object. TEST(DataGroupTests, CanCreateShared) { DataGroupBuilder builder; builder.addPose("test"); builder.addVector("test"); builder.addMatrix("test"); builder.addScalar("test"); builder.addInteger("test"); builder.addBoolean("test"); builder.addString("test"); builder.addImage("test"); builder.addCustom("test"); std::shared_ptr data = builder.createSharedData(); EXPECT_TRUE(data->poses().hasEntry("test")); EXPECT_FALSE(data->poses().hasData("test")); EXPECT_FALSE(data->strings().hasEntry("missing")); EXPECT_FALSE(data->strings().hasData("missing")); } /// Creating an invalid (aka empty) data object. TEST(DataGroupTests, Uninitialized) { DataGroup data, data2; EXPECT_THROW(data = data2, SurgSim::Framework::AssertionFailure); } /// Putting data into the container. TEST(DataGroupTests, PutName) { DataGroupBuilder builder; builder.addPose("pose"); builder.addVector("vector"); builder.addMatrix("matrix"); builder.addScalar("scalar"); builder.addInteger("integer"); builder.addBoolean("boolean"); builder.addString("string"); builder.addImage("image"); builder.addCustom("mock_data"); DataGroup data = builder.createData(); const SurgSim::Math::Vector3d vector(1.23, 4.56, 7.89); const SurgSim::Math::Quaterniond quat = SurgSim::Math::makeRotationQuaternion(M_PI_2, SurgSim::Math::Vector3d(1, 0, 0)); const SurgSim::Math::RigidTransform3d pose = SurgSim::Math::makeRigidTransform(quat, vector); DataGroup::DynamicMatrixType matrix(2,3); matrix.fill(3.0); Mock3DData mockData(10,10,10); mockData.set(5, 5, 5, 1.2345); DataGroup::ImageType mockImage(3,3,1); data.poses().set("pose", pose); data.vectors().set("vector", vector); data.matrices().set("matrix", matrix); data.scalars().set("scalar", 1.23f); data.integers().set("integer", 123); data.booleans().set("boolean", true); data.strings().set("string", "string"); data.images().set("image", mockImage); data.customData().set("mock_data", mockData); EXPECT_TRUE(data.poses().hasEntry("pose")); EXPECT_TRUE(data.poses().hasData("pose")); EXPECT_TRUE(data.vectors().hasEntry("vector")); EXPECT_TRUE(data.vectors().hasData("vector")); EXPECT_TRUE(data.matrices().hasEntry("matrix")); EXPECT_TRUE(data.matrices().hasData("matrix")); EXPECT_TRUE(data.scalars().hasEntry("scalar")); EXPECT_TRUE(data.scalars().hasData("scalar")); EXPECT_TRUE(data.integers().hasEntry("integer")); EXPECT_TRUE(data.integers().hasData("integer")); EXPECT_TRUE(data.booleans().hasEntry("boolean")); EXPECT_TRUE(data.booleans().hasData("boolean")); EXPECT_TRUE(data.strings().hasEntry("string")); EXPECT_TRUE(data.strings().hasData("string")); EXPECT_TRUE(data.images().hasEntry("image")); EXPECT_TRUE(data.images().hasData("image")); EXPECT_TRUE(data.customData().hasEntry("mock_data")); EXPECT_TRUE(data.customData().hasData("mock_data")); } /// Getting data from the container. TEST(DataGroupTests, GetName) { DataGroupBuilder builder; builder.addPose("pose"); builder.addVector("vector"); builder.addMatrix("matrix"); builder.addScalar("scalar"); builder.addInteger("integer"); builder.addBoolean("boolean"); builder.addString("string"); builder.addImage("image"); builder.addCustom("mock_data"); DataGroup data = builder.createData(); const SurgSim::Math::Vector3d vector(1.23, 4.56, 7.89); const SurgSim::Math::Quaterniond quat = SurgSim::Math::makeRotationQuaternion(M_PI_2, SurgSim::Math::Vector3d(1, 0, 0)); const SurgSim::Math::RigidTransform3d pose = SurgSim::Math::makeRigidTransform(quat, vector); DataGroup::DynamicMatrixType matrix(2,3); matrix.fill(3.0); Mock3DData mockData(10,10,10); mockData.set(5, 5, 5, 1.23); mockData.set(1, 2, 3, 4.56); DataGroup::ImageType mockImage(3,3,1); mockImage.getChannel(0) << 0, 3, 6, 1, 4, 7, 2, 5, 8; data.poses().set("pose", pose); data.vectors().set("vector", vector); data.matrices().set("matrix", matrix); data.scalars().set("scalar", 1.23); data.integers().set("integer", 123); data.booleans().set("boolean", true); data.strings().set("string", "string"); data.images().set("image", mockImage); data.customData().set("mock_data", mockData); { SurgSim::Math::RigidTransform3d value = SurgSim::Math::RigidTransform3d::Identity(); EXPECT_TRUE(data.poses().get("pose", &value)); EXPECT_NEAR(0, (value.linear() - quat.matrix()).norm(), EPSILON); EXPECT_NEAR(0, (value.translation() - vector).norm(), EPSILON); } { SurgSim::Math::Vector3d value(0, 0, 0); EXPECT_TRUE(data.vectors().get("vector", &value)); EXPECT_NEAR(0, (value - vector).norm(), EPSILON); } { DataGroup::DynamicMatrixType value; EXPECT_TRUE(data.matrices().get("matrix", &value)); EXPECT_EQ(matrix.cols(), value.cols()); EXPECT_EQ(matrix.rows(), value.rows()); EXPECT_NEAR(0, (value - matrix).norm(), EPSILON); } { double value = 0; EXPECT_TRUE(data.scalars().get("scalar", &value)); EXPECT_NEAR(1.23, value, EPSILON); } { int value = 0; EXPECT_TRUE(data.integers().get("integer", &value)); EXPECT_EQ(123, value); } { bool value = 0; EXPECT_TRUE(data.booleans().get("boolean", &value)); EXPECT_EQ(true, value); } { std::string value = ""; EXPECT_TRUE(data.strings().get("string", &value)); EXPECT_EQ("string", value); } { DataGroup::ImageType value; EXPECT_TRUE(data.images().get("image", &value)); EXPECT_NEAR(0.0f, value.getData()[0], EPSILON); EXPECT_NEAR(1.0f, value.getData()[1], EPSILON); EXPECT_NEAR(2.0f, value.getData()[2], EPSILON); EXPECT_NEAR(3.0f, value.getData()[3], EPSILON); EXPECT_NEAR(4.0f, value.getData()[4], EPSILON); EXPECT_NEAR(5.0f, value.getData()[5], EPSILON); EXPECT_NEAR(6.0f, value.getData()[6], EPSILON); EXPECT_NEAR(7.0f, value.getData()[7], EPSILON); EXPECT_NEAR(8.0f, value.getData()[8], EPSILON); } { Mock3DData value; EXPECT_TRUE(data.customData().get("mock_data", &value)); EXPECT_NEAR(1.23, value.get(5, 5, 5), EPSILON); EXPECT_NEAR(4.56, value.get(1, 2, 3), EPSILON); } } /// Resetting the data in the container. TEST(DataGroupTests, ResetAll) { DataGroupBuilder builder; builder.addPose("first"); builder.addScalar("second"); builder.addString("third"); builder.addCustom("fourth"); builder.addImage("fifth"); DataGroup data = builder.createData(); data.scalars().set("second", 1.23); data.strings().set("third", "hello"); data.customData().set("fourth", Mock3DData(10, 10, 10)); data.images().set("fifth", DataGroup::ImageType(10,10,2)); data.resetAll(); EXPECT_TRUE(data.poses().hasEntry("first")); EXPECT_FALSE(data.poses().hasData("first")); EXPECT_TRUE(data.scalars().hasEntry("second")); EXPECT_FALSE(data.scalars().hasData("second")); EXPECT_TRUE(data.strings().hasEntry("third")); EXPECT_FALSE(data.strings().hasData("third")); EXPECT_TRUE(data.customData().hasEntry("fourth")); EXPECT_FALSE(data.customData().hasData("fourth")); EXPECT_TRUE(data.images().hasEntry("fifth")); EXPECT_FALSE(data.images().hasData("fifth")); } /// Resetting one data entry at a time. TEST(DataGroupTests, ResetOne) { DataGroupBuilder builder; builder.addPose("first"); builder.addScalar("second"); builder.addString("third"); builder.addCustom("fourth"); DataGroup data = builder.createData(); data.scalars().set("second", 1.23); data.strings().set("third", "hello"); data.customData().set("fourth", Mock3DData(10, 10, 10)); data.strings().reset("third"); EXPECT_TRUE(data.poses().hasEntry("first")); EXPECT_FALSE(data.poses().hasData("first")); EXPECT_TRUE(data.scalars().hasEntry("second")); EXPECT_TRUE(data.scalars().hasData("second")); EXPECT_TRUE(data.strings().hasEntry("third")); EXPECT_FALSE(data.strings().hasData("third")); EXPECT_TRUE(data.customData().hasEntry("fourth")); EXPECT_TRUE(data.customData().hasData("fourth")); data.scalars().reset("second"); EXPECT_TRUE(data.scalars().hasEntry("second")); EXPECT_FALSE(data.scalars().hasData("second")); } /// Copy Constructing DataGroups TEST(DataGroupTests, CopyConstruction) { DataGroupBuilder builder; builder.addPose("test"); builder.addBoolean("test"); builder.addBoolean("test2"); DataGroup data = builder.createData(); const bool trueBool = true; data.booleans().set("test2", trueBool); DataGroup copied_data = data; EXPECT_TRUE(copied_data.poses().hasEntry("test")); EXPECT_FALSE(copied_data.poses().hasData("test")); EXPECT_TRUE(copied_data.booleans().hasEntry("test")); EXPECT_FALSE(copied_data.booleans().hasData("test")); EXPECT_TRUE(copied_data.booleans().hasEntry("test2")); EXPECT_TRUE(copied_data.booleans().hasData("test2")); bool outBool, outCopiedBool; data.booleans().get("test2", &outBool); copied_data.booleans().get("test2", &outCopiedBool); EXPECT_EQ(outBool, outCopiedBool); EXPECT_EQ(trueBool, outCopiedBool); EXPECT_FALSE(copied_data.strings().hasEntry("missing")); EXPECT_FALSE(copied_data.strings().hasData("missing")); } /// Assigning DataGroups, testing DataGroup::operator= TEST(DataGroupTests, Assignment) { DataGroupBuilder builder; builder.addPose("test"); builder.addBoolean("test"); builder.addBoolean("test2"); DataGroup data = builder.createData(); const bool trueBool = true; data.booleans().set("test2", trueBool); DataGroup copied_data; copied_data = data; EXPECT_TRUE(copied_data.poses().hasEntry("test")); EXPECT_FALSE(copied_data.poses().hasData("test")); EXPECT_TRUE(copied_data.booleans().hasEntry("test")); EXPECT_FALSE(copied_data.booleans().hasData("test")); EXPECT_TRUE(copied_data.booleans().hasEntry("test2")); EXPECT_TRUE(copied_data.booleans().hasData("test2")); bool outBool, outCopiedBool; data.booleans().get("test2", &outBool); copied_data.booleans().get("test2", &outCopiedBool); EXPECT_EQ(outBool, outCopiedBool); EXPECT_EQ(trueBool, outCopiedBool); EXPECT_FALSE(copied_data.strings().hasEntry("missing")); EXPECT_FALSE(copied_data.strings().hasData("missing")); DataGroup data2; EXPECT_THROW(data = data2, SurgSim::Framework::AssertionFailure); // the right-hand DataGroup is not valid DataGroup data3 = builder.createData(); // Having the same entries is not sufficient for DataGroup assignment. // There are three situations in which assignment will not assert: // 1) the DataGroup being assigned to is "empty" (i.e., was default-constructed and has not yet been assigned to or // otherwise altered), // 2) one of the DataGroups was default-constructed and then the other DataGroup was assigned to it, or // 3) one of the DataGroups was copy-constructed from the other. EXPECT_THROW(data = data3, SurgSim::Framework::AssertionFailure); DataGroup data4(data); data4.booleans().set("test2", !trueBool); EXPECT_NO_THROW(data = data4); // data4 can assign to data because data4 was copy-constructed from data EXPECT_NO_THROW(data4 = data); } /// Non-assignment copying DataGroups with DataGroupCopier. TEST(DataGroupTests, DataGroupCopier) { DataGroupBuilder sourceBuilder; sourceBuilder.addPose("test"); sourceBuilder.addBoolean("test"); sourceBuilder.addBoolean("test2"); DataGroup sourceData = sourceBuilder.createData(); DataGroupBuilder targetBuilder; targetBuilder.addPose("test2"); //different pose name targetBuilder.addBoolean("test2"); // same boolean name targetBuilder.addEntriesFrom(sourceData); DataGroup targetData = targetBuilder.createData(); ASSERT_TRUE(targetData.poses().hasEntry("test")); ASSERT_TRUE(targetData.poses().hasEntry("test2")); ASSERT_TRUE(targetData.booleans().hasEntry("test")); ASSERT_TRUE(targetData.booleans().hasEntry("test2")); ASSERT_THROW(targetData = sourceData, SurgSim::Framework::AssertionFailure); ASSERT_THROW(DataGroupCopier badCopier(sourceData, nullptr), SurgSim::Framework::AssertionFailure); DataGroupCopier copier(sourceData, &targetData); const RigidTransform3d testPose = SurgSim::Math::makeRigidTransform(Vector3d(1.0, 2.0, 3.0), Vector3d(1.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0)); ASSERT_TRUE(sourceData.poses().set("test", testPose)); const bool testBoolean = true; ASSERT_TRUE(sourceData.booleans().set("test", testBoolean)); const bool testBoolean2 = false; ASSERT_TRUE(sourceData.booleans().set("test2", testBoolean2)); // Setting the initial value for the targetData's test2 boolean to the opposite value. ASSERT_TRUE(targetData.booleans().set("test2", !testBoolean2)); // Copy the data. ASSERT_THROW(copier.copy(sourceData, nullptr), SurgSim::Framework::AssertionFailure); ASSERT_NO_THROW(copier.copy(sourceData, &targetData)); RigidTransform3d outTestPose; ASSERT_TRUE(targetData.poses().get("test", &outTestPose)); EXPECT_TRUE(outTestPose.isApprox(testPose, EPSILON)); EXPECT_FALSE(targetData.poses().hasData("test2")); bool outTestBoolean; ASSERT_TRUE(targetData.booleans().get("test", &outTestBoolean)); EXPECT_EQ(testBoolean, outTestBoolean); bool outTestBoolean2; ASSERT_TRUE(targetData.booleans().get("test2", &outTestBoolean2)); EXPECT_EQ(testBoolean2, outTestBoolean2); } TEST(DataGroupTests, DataGroupInLockedContainer) { DataGroupBuilder builder; builder.addBoolean("test"); DataGroup data = builder.createData(); const bool trueBool = true; data.booleans().set("test", trueBool); SurgSim::Framework::LockedContainer lockedDataGroup; DataGroup copied_data; // the DataGroup in the LockedContainer was default-constructed and so is invalid (aka empty) // you cannot "get" an invalid DataGroup out of the LockedContainer. "set" must be called before "get". EXPECT_THROW(lockedDataGroup.get(&copied_data), SurgSim::Framework::AssertionFailure); lockedDataGroup.set(data); lockedDataGroup.get(&copied_data); EXPECT_TRUE(copied_data.booleans().hasEntry("test")); EXPECT_TRUE(copied_data.booleans().hasData("test")); bool outBool, outCopiedBool; data.booleans().get("test", &outBool); copied_data.booleans().get("test", &outCopiedBool); EXPECT_EQ(outBool, outCopiedBool); EXPECT_EQ(trueBool, outCopiedBool); } TEST(DataGroupTests, IsEmpty) { DataGroupBuilder builder; builder.addBoolean("test"); DataGroup data; EXPECT_TRUE(data.isEmpty()); data = builder.createData(); EXPECT_FALSE(data.isEmpty()); DataGroup data2; std::vector names; names.push_back("test string"); data2.scalars() = SurgSim::DataStructures::NamedData(names); EXPECT_FALSE(data2.isEmpty()); } opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/DataStructuresConvertTests.cpp000066400000000000000000000166161277777236100305030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/DataStructures/DataStructuresConvert.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/FrameworkConvert.h" namespace { class EmptyComponent : public SurgSim::Framework::Component { public: explicit EmptyComponent(const std::string& name) : SurgSim::Framework::Component(name) { } SURGSIM_CLASSNAME(EmptyComponent); bool doInitialize() override { return true; } bool doWakeUp() override { return true; } }; SURGSIM_REGISTER(SurgSim::Framework::Component, EmptyComponent, EmptyComponent); } namespace SurgSim { namespace DataStructures { template void testStdArraySerialization(const std::array& value) { { SCOPED_TRACE("Normal test"); // Encode YAML::Node node; EXPECT_NO_THROW(node = value;); // Decode std::array newValue; newValue = node.as>(); // Verify for (size_t i = 0; i < Size; ++i) { EXPECT_EQ(value[i], newValue[i]); } } { SCOPED_TRACE("Decode into smaller array"); typedef std::array < Type, Size - 1 > SmallerArray; // Encode YAML::Node node; EXPECT_NO_THROW(node = value;); // Try decoding into a smaller array. SmallerArray smallerNewValue; EXPECT_ANY_THROW(smallerNewValue = node.as()); } { SCOPED_TRACE("Decode into larger array"); typedef std::array < Type, Size + 1 > LargerArray; // Encode YAML::Node node; EXPECT_NO_THROW(node = value;); // Try decoding into a larger array. LargerArray largerNewValue; EXPECT_ANY_THROW(largerNewValue = node.as()); } } TEST(DataStructuresConvertTests, StdArray) { { SCOPED_TRACE("Serialization of std::array of size 3"); std::array doubleArray; doubleArray[0] = 534.34; doubleArray[1] = 0.8435e56; doubleArray[2] = -56754.3; testStdArraySerialization(doubleArray); } { SCOPED_TRACE("Serialization of std::array of size 0"); typedef std::array ZeroSizeArray; ZeroSizeArray doubleEmptyArray; // Encode YAML::Node node; EXPECT_NO_THROW(node = doubleEmptyArray;); // Decode ZeroSizeArray newValue; EXPECT_NO_THROW(newValue = node.as();); } } TEST(DataStructuresConvertTests, StdUnorderedMapTests) { { SCOPED_TRACE("Serialization of std::unordered_map with double as key and integer as values"); typedef std::unordered_map TestMapType; TestMapType originalMap; originalMap.insert(TestMapType::value_type(1.0, 2)); originalMap.insert(TestMapType::value_type(3.0, 4)); YAML::Node node; EXPECT_NO_THROW(node = originalMap); EXPECT_EQ(2u, node.size()); TestMapType newMap; EXPECT_NO_THROW(newMap = node.as()); EXPECT_EQ(originalMap, newMap); } { SCOPED_TRACE("Serialization of std::unordered_map with integer as key and std::shared_ptr<> as values"); typedef std::unordered_map> TestMapType; TestMapType originalMap; auto mockComponent = std::make_shared("Component1"); auto mockComponent2 = std::make_shared("Component2"); originalMap.insert(TestMapType::value_type(1, mockComponent)); originalMap.insert(TestMapType::value_type(2, mockComponent2)); YAML::Node node; EXPECT_NO_THROW(node = originalMap); EXPECT_EQ(2u, node.size()); TestMapType newMap; EXPECT_NO_THROW(newMap = node.as()); EXPECT_EQ(originalMap.size(), newMap.size()); for (auto it = std::begin(originalMap); it != std::end(originalMap); ++it) { auto result = std::find_if(std::begin(newMap), std::end(newMap), [&it](const std::pair>& pair) { return it->second->getName() == pair.second->getName(); }); EXPECT_NE(std::end(newMap), result); } } { SCOPED_TRACE("Serialization of std::unordered_map with integer as key and std::unordered_set<> as values"); typedef std::unordered_map>> TestMapType2; TestMapType2 originalMap; std::unordered_set> set1; std::unordered_set> set2; auto mockComponent = std::make_shared("Component1"); auto mockComponent2 = std::make_shared("Component2"); auto mockComponent3 = std::make_shared("Component3"); set1.insert(mockComponent); set2.insert(mockComponent2); set2.insert(mockComponent3); originalMap.insert(TestMapType2::value_type(1, set1)); originalMap.insert(TestMapType2::value_type(2, set2)); YAML::Node node; EXPECT_NO_THROW(node = originalMap); EXPECT_EQ(2u, node.size()); TestMapType2 newMap; EXPECT_NO_THROW(newMap = node.as()); EXPECT_EQ(originalMap.size(), newMap.size()); for (auto it = std::begin(originalMap); it != std::end(originalMap); ++it) { auto representationSet = newMap.find(it->first)->second; EXPECT_EQ(it->second.size(), representationSet.size()); for (auto item = std::begin(it->second); item != std::end(it->second); ++item) { auto match = std::find_if(std::begin(representationSet), std::end(representationSet), [&item](const std::shared_ptr rep) { return rep->getName() == (*item)->getName(); }); EXPECT_NE(std::end(representationSet), match); } } } } TEST(DataStructuresConvertTests, StdUnorderedSetTests) { { SCOPED_TRACE("Serialization of std::unordered_set<> of integers"); typedef std::unordered_set TestSetType; TestSetType originalSet; originalSet.insert(1); originalSet.insert(2); YAML::Node node; EXPECT_NO_THROW(node = originalSet); EXPECT_EQ(2u, node.size()); TestSetType newSet; EXPECT_NO_THROW(newSet = node.as()); EXPECT_EQ(originalSet, newSet); } { SCOPED_TRACE("Serialization of std::unordered_set<> of std::shared_ptr<>"); typedef std::unordered_set> TestSetType; TestSetType originalSet; auto mockComponent = std::make_shared("Component1"); auto mockComponent2 = std::make_shared("Component2"); originalSet.insert(mockComponent); originalSet.insert(mockComponent2); YAML::Node node; EXPECT_NO_THROW(node = originalSet); EXPECT_EQ(2u, node.size()); TestSetType newSet; EXPECT_NO_THROW(newSet = node.as()); EXPECT_EQ(originalSet.size(), newSet.size()); for (auto it = std::begin(originalSet); it != std::end(originalSet); ++it) { auto result = std::find_if(std::begin(newSet), std::end(newSet), [&it](const std::shared_ptr& item) { return (*it)->getName() == item->getName(); }); EXPECT_NE(std::end(newSet), result); } } } }; // namespace DataStructures }; // namespace SurgSimopensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/Grid1DTests.cpp000066400000000000000000000250611277777236100252310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Math/Vector.h" #include "SurgSim/DataStructures/Grid.h" #include "SurgSim/DataStructures/UnitTests/GridTests.h" namespace SurgSim { namespace DataStructures { template class Grid1DTestBase : public GridTestBase { public: static const size_t dimension = 1u; typedef T TypeElement; }; typedef ::testing::Types MyTypes; TYPED_TEST_CASE(Grid1DTestBase, MyTypes); TYPED_TEST(Grid1DTestBase, ConstructorTest) { typedef typename TestFixture::GridType GridType; ASSERT_NO_THROW({GridType grid(this->m_size, this->m_aabb1Cell);}); ASSERT_NO_THROW({GridType grid(this->m_size, this->m_aabb);}); GridType grid(this->m_size, this->m_aabb); ASSERT_EQ(0u, grid.getActiveCells().size()); ASSERT_EQ(0u, grid.getCellIds().size()); ASSERT_TRUE(grid.getSize().isApprox(this->m_size)); ASSERT_TRUE(grid.getAABB().isApprox(this->m_aabb)); } TYPED_TEST(Grid1DTestBase, addElementTest) { typedef typename TestFixture::GridType GridType; typedef typename TestFixture::TypeElement TypeElement; GridType grid(this->m_size, this->m_aabb); // Add an element outside of the grid auto positionMin = this->m_aabb.max() - this->m_aabb.sizes() * 1.001; grid.addElement(TypeElement(), positionMin); ASSERT_EQ(0u, grid.getActiveCells().size()); ASSERT_EQ(0u, grid.getCellIds().size()); // Add an element outside of the grid auto positionMax = this->m_aabb.min() + this->m_aabb.sizes() * 1.001; grid.addElement(TypeElement(), positionMax); ASSERT_EQ(0u, grid.getActiveCells().size()); ASSERT_EQ(0u, grid.getCellIds().size()); // Add an element inside of the grid TypeElement e0(0), e1(1); grid.addElement(e0, Eigen::Matrix::Zero()); ASSERT_EQ(1u, grid.getActiveCells().size()); ASSERT_EQ(1u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_ANY_THROW(grid.getCellIds().at(e1)); // Add an element inside of the grid, in the same cell grid.addElement(e1, Eigen::Matrix::Zero()); ASSERT_EQ(1u, grid.getActiveCells().size()); ASSERT_EQ(2u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); // Add an element inside of the grid, in a different cell TypeElement e2(2); grid.addElement(e2, this->m_size * 1.5); ASSERT_EQ(2u, grid.getActiveCells().size()); ASSERT_EQ(3u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_NO_THROW(grid.getCellIds().at(e2)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e2]); ASSERT_NE(grid.getCellIds()[e1], grid.getCellIds()[e2]); } TYPED_TEST(Grid1DTestBase, NeighborsTest) { typedef typename TestFixture::GridType GridType; typedef typename TestFixture::TypeElement TypeElement; GridType grid(this->m_size, this->m_aabb); // Build the following grid: // Cell(e0, e1) <- neighbor -> Cell(e2) <- neighbor -> Cell(e3) <- ..not neighbor.. -> Cell(e4) Eigen::Matrix position = Eigen::Matrix::Zero(); // Add an element inside of the grid TypeElement e0(0), e1(1); grid.addElement(e0, position); ASSERT_EQ(1u, grid.getActiveCells().size()); ASSERT_EQ(1u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_ANY_THROW(grid.getCellIds().at(e1)); // Add an element inside of the grid, in the same cell grid.addElement(e1, position); ASSERT_EQ(1u, grid.getActiveCells().size()); ASSERT_EQ(2u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); // Add an element inside of the grid, in a different cell position[0] += this->m_size[0] * 1.1; // Next cell on the 1st dimension TypeElement e2(2); grid.addElement(e2, position); ASSERT_EQ(2u, grid.getActiveCells().size()); ASSERT_EQ(3u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_NO_THROW(grid.getCellIds().at(e2)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e2]); ASSERT_NE(grid.getCellIds()[e1], grid.getCellIds()[e2]); // Add an element inside of the grid, in a different cell position[0] += this->m_size[0] * 1.1; // Next cell on the 1st dimension TypeElement e3(3); grid.addElement(e3, position); ASSERT_EQ(3u, grid.getActiveCells().size()); ASSERT_EQ(4u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_NO_THROW(grid.getCellIds().at(e2)); ASSERT_NO_THROW(grid.getCellIds().at(e3)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e2]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e3]); ASSERT_NE(grid.getCellIds()[e2], grid.getCellIds()[e3]); // Add an element inside of the grid, far away from all other elements position[0] += this->m_size[0] * 2.1; // Few cells further on the 1st dimension TypeElement e4(4); grid.addElement(e4, position); ASSERT_EQ(4u, grid.getActiveCells().size()); ASSERT_EQ(5u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_NO_THROW(grid.getCellIds().at(e2)); ASSERT_NO_THROW(grid.getCellIds().at(e3)); ASSERT_NO_THROW(grid.getCellIds().at(e4)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e2]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e3]); ASSERT_NE(grid.getCellIds()[e2], grid.getCellIds()[e3]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e4]); ASSERT_NE(grid.getCellIds()[e1], grid.getCellIds()[e4]); ASSERT_NE(grid.getCellIds()[e2], grid.getCellIds()[e4]); ASSERT_NE(grid.getCellIds()[e3], grid.getCellIds()[e4]); ASSERT_NO_THROW(grid.getNeighbors(e0)); ASSERT_NO_THROW(grid.getNeighbors(e1)); ASSERT_NO_THROW(grid.getNeighbors(e2)); ASSERT_NO_THROW(grid.getNeighbors(e3)); ASSERT_NO_THROW(grid.getNeighbors(e4)); // e0's neighbors = {e0, e1, e2} auto& e0Neighbors = grid.getNonConstNeighbors(e0); ASSERT_EQ(3u, e0Neighbors.size()); ASSERT_TRUE(std::find(e0Neighbors.begin(), e0Neighbors.end(), e0) != e0Neighbors.end()); ASSERT_TRUE(std::find(e0Neighbors.begin(), e0Neighbors.end(), e1) != e0Neighbors.end()); ASSERT_TRUE(std::find(e0Neighbors.begin(), e0Neighbors.end(), e2) != e0Neighbors.end()); ASSERT_FALSE(std::find(e0Neighbors.begin(), e0Neighbors.end(), e3) != e0Neighbors.end()); ASSERT_FALSE(std::find(e0Neighbors.begin(), e0Neighbors.end(), e4) != e0Neighbors.end()); // e1's neighbors = {e0, e1, e2} auto& e1Neighbors = grid.getNonConstNeighbors(e1); ASSERT_EQ(3u, e1Neighbors.size()); ASSERT_TRUE(std::find(e1Neighbors.begin(), e1Neighbors.end(), e0) != e1Neighbors.end()); ASSERT_TRUE(std::find(e1Neighbors.begin(), e1Neighbors.end(), e1) != e1Neighbors.end()); ASSERT_TRUE(std::find(e1Neighbors.begin(), e1Neighbors.end(), e2) != e1Neighbors.end()); ASSERT_FALSE(std::find(e1Neighbors.begin(), e1Neighbors.end(), e3) != e1Neighbors.end()); ASSERT_FALSE(std::find(e1Neighbors.begin(), e1Neighbors.end(), e4) != e1Neighbors.end()); // e2's neighbors = {e0, e1, e2, e3} auto& e2Neighbors = grid.getNonConstNeighbors(e2); ASSERT_EQ(4u, e2Neighbors.size()); ASSERT_TRUE(std::find(e2Neighbors.begin(), e2Neighbors.end(), e0) != e2Neighbors.end()); ASSERT_TRUE(std::find(e2Neighbors.begin(), e2Neighbors.end(), e1) != e2Neighbors.end()); ASSERT_TRUE(std::find(e2Neighbors.begin(), e2Neighbors.end(), e2) != e2Neighbors.end()); ASSERT_TRUE(std::find(e2Neighbors.begin(), e2Neighbors.end(), e3) != e2Neighbors.end()); ASSERT_FALSE(std::find(e2Neighbors.begin(), e2Neighbors.end(), e4) != e2Neighbors.end()); // e3's neighbors = {e2, e3} auto& e3Neighbors = grid.getNonConstNeighbors(e3); ASSERT_EQ(2u, e3Neighbors.size()); ASSERT_FALSE(std::find(e3Neighbors.begin(), e3Neighbors.end(), e0) != e3Neighbors.end()); ASSERT_FALSE(std::find(e3Neighbors.begin(), e3Neighbors.end(), e1) != e3Neighbors.end()); ASSERT_TRUE(std::find(e3Neighbors.begin(), e3Neighbors.end(), e2) != e3Neighbors.end()); ASSERT_TRUE(std::find(e3Neighbors.begin(), e3Neighbors.end(), e3) != e3Neighbors.end()); ASSERT_FALSE(std::find(e3Neighbors.begin(), e3Neighbors.end(), e4) != e3Neighbors.end()); // e4's neighbors = {e4} auto& e4Neighbors = grid.getNonConstNeighbors(e4); ASSERT_EQ(1u, e4Neighbors.size()); ASSERT_FALSE(std::find(e4Neighbors.begin(), e4Neighbors.end(), e0) != e4Neighbors.end()); ASSERT_FALSE(std::find(e4Neighbors.begin(), e4Neighbors.end(), e1) != e4Neighbors.end()); ASSERT_FALSE(std::find(e4Neighbors.begin(), e4Neighbors.end(), e2) != e4Neighbors.end()); ASSERT_FALSE(std::find(e4Neighbors.begin(), e4Neighbors.end(), e3) != e4Neighbors.end()); ASSERT_TRUE(std::find(e4Neighbors.begin(), e4Neighbors.end(), e4) != e4Neighbors.end()); // Test element not in the grid has no neighbors TypeElement e5(5); ASSERT_EQ(0u, grid.getNeighbors(e5).size()); } TYPED_TEST(Grid1DTestBase, ResetTest) { typedef typename TestFixture::GridType GridType; typedef typename TestFixture::TypeElement TypeElement; GridType grid(this->m_size, this->m_aabb); TypeElement e0(0), e1(1); grid.addElement(e0, Eigen::Matrix::Zero()); grid.addElement(e1, Eigen::Matrix::Zero()); ASSERT_NE(0u, grid.getActiveCells().size()); ASSERT_NE(0u, grid.getCellIds().size()); ASSERT_NE(0u, grid.getNeighbors(e0).size()); ASSERT_NE(0u, grid.getNeighbors(e1).size()); ASSERT_NO_THROW(grid.reset()); ASSERT_EQ(0u, grid.getActiveCells().size()); ASSERT_EQ(0u, grid.getCellIds().size()); ASSERT_EQ(0u, grid.getNeighbors(e0).size()); ASSERT_EQ(0u, grid.getNeighbors(e1).size()); } }; // namespace DataStructures }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/Grid2DTests.cpp000066400000000000000000000252151277777236100252330ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Math/Vector.h" #include "SurgSim/DataStructures/Grid.h" #include "SurgSim/DataStructures/UnitTests/GridTests.h" namespace SurgSim { namespace DataStructures { template class Grid2DTestBase : public GridTestBase { public: /// The test parameters typedef T TypeElement; static const size_t dimension = 2u; }; typedef ::testing::Types MyTypes; TYPED_TEST_CASE(Grid2DTestBase, MyTypes); TYPED_TEST(Grid2DTestBase, ConstructorTest) { typedef typename TestFixture::GridType GridType; ASSERT_NO_THROW({GridType grid(this->m_size, this->m_aabb1Cell);}); ASSERT_NO_THROW({GridType grid(this->m_size, this->m_aabb);}); ASSERT_NO_THROW({GridType grid(this->m_size, this->m_aabbBig);}); GridType grid(this->m_size, this->m_aabb); ASSERT_EQ(0u, grid.getActiveCells().size()); ASSERT_EQ(0u, grid.getCellIds().size()); ASSERT_TRUE(grid.getSize().isApprox(this->m_size)); ASSERT_TRUE(grid.getAABB().isApprox(this->m_aabb)); } TYPED_TEST(Grid2DTestBase, addElementTest) { typedef typename TestFixture::GridType GridType; typedef typename TestFixture::TypeElement TypeElement; GridType grid(this->m_size, this->m_aabb); // Add an element outside of the grid auto positionMin = this->m_aabb.max() - this->m_aabb.sizes() * 1.001; grid.addElement(TypeElement(), positionMin); ASSERT_EQ(0u, grid.getActiveCells().size()); ASSERT_EQ(0u, grid.getCellIds().size()); // Add an element outside of the grid auto positionMax = this->m_aabb.min() + this->m_aabb.sizes() * 1.001; grid.addElement(TypeElement(), positionMax); ASSERT_EQ(0u, grid.getActiveCells().size()); ASSERT_EQ(0u, grid.getCellIds().size()); // Add an element inside of the grid TypeElement e0(0), e1(1); grid.addElement(e0, Eigen::Matrix::Zero()); ASSERT_EQ(1u, grid.getActiveCells().size()); ASSERT_EQ(1u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_ANY_THROW(grid.getCellIds().at(e1)); // Add an element inside of the grid, in the same cell grid.addElement(e1, Eigen::Matrix::Zero()); ASSERT_EQ(1u, grid.getActiveCells().size()); ASSERT_EQ(2u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); // Add an element inside of the grid, in a different cell TypeElement e2(2); grid.addElement(e2, this->m_size * 1.5); ASSERT_EQ(2u, grid.getActiveCells().size()); ASSERT_EQ(3u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_NO_THROW(grid.getCellIds().at(e2)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e2]); ASSERT_NE(grid.getCellIds()[e1], grid.getCellIds()[e2]); } TYPED_TEST(Grid2DTestBase, NeighborsTest) { typedef typename TestFixture::GridType GridType; typedef typename TestFixture::TypeElement TypeElement; GridType grid(this->m_size, this->m_aabb); // Build the following grid: // Cell(e0, e1) <- neighbor -> Cell(e2) <- neighbor -> Cell(e3) <- ..not neighbor.. -> Cell(e4) Eigen::Matrix position = Eigen::Matrix::Zero(); // Add an element inside of the grid TypeElement e0(0), e1(1); grid.addElement(e0, position); ASSERT_EQ(1u, grid.getActiveCells().size()); ASSERT_EQ(1u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_ANY_THROW(grid.getCellIds().at(e1)); // Add an element inside of the grid, in the same cell grid.addElement(e1, position); ASSERT_EQ(1u, grid.getActiveCells().size()); ASSERT_EQ(2u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); // Add an element inside of the grid, in a different cell position[0] += this->m_size[0] * 1.1; // Next cell on the 1st dimension TypeElement e2(2); grid.addElement(e2, position); ASSERT_EQ(2u, grid.getActiveCells().size()); ASSERT_EQ(3u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_NO_THROW(grid.getCellIds().at(e2)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e2]); ASSERT_NE(grid.getCellIds()[e1], grid.getCellIds()[e2]); // Add an element inside of the grid, in a different cell position[0] += this->m_size[0] * 1.1; // Next cell on the 1st dimension TypeElement e3(3); grid.addElement(e3, position); ASSERT_EQ(3u, grid.getActiveCells().size()); ASSERT_EQ(4u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_NO_THROW(grid.getCellIds().at(e2)); ASSERT_NO_THROW(grid.getCellIds().at(e3)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e2]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e3]); ASSERT_NE(grid.getCellIds()[e2], grid.getCellIds()[e3]); // Add an element inside of the grid, far away from all other elements position[0] += this->m_size[0] * 2.1; // Few cells further on the 1st dimension TypeElement e4(4); grid.addElement(e4, position); ASSERT_EQ(4u, grid.getActiveCells().size()); ASSERT_EQ(5u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_NO_THROW(grid.getCellIds().at(e2)); ASSERT_NO_THROW(grid.getCellIds().at(e3)); ASSERT_NO_THROW(grid.getCellIds().at(e4)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e2]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e3]); ASSERT_NE(grid.getCellIds()[e2], grid.getCellIds()[e3]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e4]); ASSERT_NE(grid.getCellIds()[e1], grid.getCellIds()[e4]); ASSERT_NE(grid.getCellIds()[e2], grid.getCellIds()[e4]); ASSERT_NE(grid.getCellIds()[e3], grid.getCellIds()[e4]); ASSERT_NO_THROW(grid.getNeighbors(e0)); ASSERT_NO_THROW(grid.getNeighbors(e1)); ASSERT_NO_THROW(grid.getNeighbors(e2)); ASSERT_NO_THROW(grid.getNeighbors(e3)); ASSERT_NO_THROW(grid.getNeighbors(e4)); // e0's neighbors = {e0, e1, e2} auto& e0Neighbors = grid.getNonConstNeighbors(e0); ASSERT_EQ(3u, e0Neighbors.size()); ASSERT_TRUE(std::find(e0Neighbors.begin(), e0Neighbors.end(), e0) != e0Neighbors.end()); ASSERT_TRUE(std::find(e0Neighbors.begin(), e0Neighbors.end(), e1) != e0Neighbors.end()); ASSERT_TRUE(std::find(e0Neighbors.begin(), e0Neighbors.end(), e2) != e0Neighbors.end()); ASSERT_FALSE(std::find(e0Neighbors.begin(), e0Neighbors.end(), e3) != e0Neighbors.end()); ASSERT_FALSE(std::find(e0Neighbors.begin(), e0Neighbors.end(), e4) != e0Neighbors.end()); // e1's neighbors = {e0, e1, e2} auto& e1Neighbors = grid.getNonConstNeighbors(e1); ASSERT_EQ(3u, e1Neighbors.size()); ASSERT_TRUE(std::find(e1Neighbors.begin(), e1Neighbors.end(), e0) != e1Neighbors.end()); ASSERT_TRUE(std::find(e1Neighbors.begin(), e1Neighbors.end(), e1) != e1Neighbors.end()); ASSERT_TRUE(std::find(e1Neighbors.begin(), e1Neighbors.end(), e2) != e1Neighbors.end()); ASSERT_FALSE(std::find(e1Neighbors.begin(), e1Neighbors.end(), e3) != e1Neighbors.end()); ASSERT_FALSE(std::find(e1Neighbors.begin(), e1Neighbors.end(), e4) != e1Neighbors.end()); // e2's neighbors = {e0, e1, e2, e3} auto& e2Neighbors = grid.getNonConstNeighbors(e2); ASSERT_EQ(4u, e2Neighbors.size()); ASSERT_TRUE(std::find(e2Neighbors.begin(), e2Neighbors.end(), e0) != e2Neighbors.end()); ASSERT_TRUE(std::find(e2Neighbors.begin(), e2Neighbors.end(), e1) != e2Neighbors.end()); ASSERT_TRUE(std::find(e2Neighbors.begin(), e2Neighbors.end(), e2) != e2Neighbors.end()); ASSERT_TRUE(std::find(e2Neighbors.begin(), e2Neighbors.end(), e3) != e2Neighbors.end()); ASSERT_FALSE(std::find(e2Neighbors.begin(), e2Neighbors.end(), e4) != e2Neighbors.end()); // e3's neighbors = {e2, e3} auto& e3Neighbors = grid.getNonConstNeighbors(e3); ASSERT_EQ(2u, e3Neighbors.size()); ASSERT_FALSE(std::find(e3Neighbors.begin(), e3Neighbors.end(), e0) != e3Neighbors.end()); ASSERT_FALSE(std::find(e3Neighbors.begin(), e3Neighbors.end(), e1) != e3Neighbors.end()); ASSERT_TRUE(std::find(e3Neighbors.begin(), e3Neighbors.end(), e2) != e3Neighbors.end()); ASSERT_TRUE(std::find(e3Neighbors.begin(), e3Neighbors.end(), e3) != e3Neighbors.end()); ASSERT_FALSE(std::find(e3Neighbors.begin(), e3Neighbors.end(), e4) != e3Neighbors.end()); // e4's neighbors = {e4} auto& e4Neighbors = grid.getNonConstNeighbors(e4); ASSERT_EQ(1u, e4Neighbors.size()); ASSERT_FALSE(std::find(e4Neighbors.begin(), e4Neighbors.end(), e0) != e4Neighbors.end()); ASSERT_FALSE(std::find(e4Neighbors.begin(), e4Neighbors.end(), e1) != e4Neighbors.end()); ASSERT_FALSE(std::find(e4Neighbors.begin(), e4Neighbors.end(), e2) != e4Neighbors.end()); ASSERT_FALSE(std::find(e4Neighbors.begin(), e4Neighbors.end(), e3) != e4Neighbors.end()); ASSERT_TRUE(std::find(e4Neighbors.begin(), e4Neighbors.end(), e4) != e4Neighbors.end()); // Test element not in the grid has no neighbors TypeElement e5(5); ASSERT_EQ(0u, grid.getNeighbors(e5).size()); } TYPED_TEST(Grid2DTestBase, ResetTest) { typedef typename TestFixture::GridType GridType; typedef typename TestFixture::TypeElement TypeElement; GridType grid(this->m_size, this->m_aabb); TypeElement e0(0), e1(1); grid.addElement(e0, Eigen::Matrix::Zero()); grid.addElement(e1, Eigen::Matrix::Zero()); ASSERT_NE(0u, grid.getActiveCells().size()); ASSERT_NE(0u, grid.getCellIds().size()); ASSERT_NE(0u, grid.getNeighbors(e0).size()); ASSERT_NE(0u, grid.getNeighbors(e1).size()); ASSERT_NO_THROW(grid.reset()); ASSERT_EQ(0u, grid.getActiveCells().size()); ASSERT_EQ(0u, grid.getCellIds().size()); ASSERT_EQ(0u, grid.getNeighbors(e0).size()); ASSERT_EQ(0u, grid.getNeighbors(e1).size()); } }; // namespace DataStructures }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/Grid3DTests.cpp000066400000000000000000000405531277777236100252360ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Math/Vector.h" #include "SurgSim/DataStructures/Grid.h" #include "SurgSim/DataStructures/UnitTests/GridTests.h" namespace SurgSim { namespace DataStructures { template class Grid3DTestBase : public GridTestBase { public: /// The test parameters typedef T TypeElement; static const size_t dimension = 3u; }; typedef ::testing::Types MyTypes; TYPED_TEST_CASE(Grid3DTestBase, MyTypes); TYPED_TEST(Grid3DTestBase, ConstructorTest) { typedef typename TestFixture::GridType GridType; ASSERT_NO_THROW({GridType grid(this->m_size, this->m_aabb1Cell);}); ASSERT_NO_THROW({GridType grid(this->m_size, this->m_aabb);}); ASSERT_NO_THROW({GridType grid(this->m_size, this->m_aabbBig);}); GridType grid(this->m_size, this->m_aabb); ASSERT_EQ(0u, grid.getActiveCells().size()); ASSERT_EQ(0u, grid.getCellIds().size()); ASSERT_TRUE(grid.getSize().isApprox(this->m_size)); ASSERT_TRUE(grid.getAABB().isApprox(this->m_aabb)); } TYPED_TEST(Grid3DTestBase, addElementTest) { typedef typename TestFixture::GridType GridType; typedef typename TestFixture::TypeElement TypeElement; GridType grid(this->m_size, this->m_aabb); // Add an element outside of the grid auto positionMin = this->m_aabb.max() - this->m_aabb.sizes() * 1.001; grid.addElement(TypeElement(), positionMin); ASSERT_EQ(0u, grid.getActiveCells().size()); ASSERT_EQ(0u, grid.getCellIds().size()); // Add an element outside of the grid auto positionMax = this->m_aabb.min() + this->m_aabb.sizes() * 1.001; grid.addElement(TypeElement(), positionMax); ASSERT_EQ(0u, grid.getActiveCells().size()); ASSERT_EQ(0u, grid.getCellIds().size()); // Add an element inside of the grid TypeElement e0(0), e1(1); grid.addElement(e0, Eigen::Matrix::Zero()); ASSERT_EQ(1u, grid.getActiveCells().size()); ASSERT_EQ(1u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_ANY_THROW(grid.getCellIds().at(e1)); // Add an element inside of the grid, in the same cell grid.addElement(e1, Eigen::Matrix::Zero()); ASSERT_EQ(1u, grid.getActiveCells().size()); ASSERT_EQ(2u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); // Add an element inside of the grid, in a different cell TypeElement e2(2); grid.addElement(e2, this->m_size * 1.5); ASSERT_EQ(2u, grid.getActiveCells().size()); ASSERT_EQ(3u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_NO_THROW(grid.getCellIds().at(e2)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e2]); ASSERT_NE(grid.getCellIds()[e1], grid.getCellIds()[e2]); } TYPED_TEST(Grid3DTestBase, NeighborsTest) { typedef typename TestFixture::GridType GridType; typedef typename TestFixture::TypeElement TypeElement; GridType grid(this->m_size, this->m_aabb); // Build the following grid: // Cell(e0, e1) <- neighbor -> Cell(e2) <- neighbor -> Cell(e3) <- ..not neighbor.. -> Cell(e4) Eigen::Matrix position = Eigen::Matrix::Zero(); // Add an element inside of the grid TypeElement e0(0), e1(1); grid.addElement(e0, position); ASSERT_EQ(1u, grid.getActiveCells().size()); ASSERT_EQ(1u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_ANY_THROW(grid.getCellIds().at(e1)); // Add an element inside of the grid, in the same cell grid.addElement(e1, position); ASSERT_EQ(1u, grid.getActiveCells().size()); ASSERT_EQ(2u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); // Add an element inside of the grid, in a different cell position[0] += this->m_size[0] * 1.1; // Next cell on the 1st dimension TypeElement e2(2); grid.addElement(e2, position); ASSERT_EQ(2u, grid.getActiveCells().size()); ASSERT_EQ(3u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_NO_THROW(grid.getCellIds().at(e2)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e2]); ASSERT_NE(grid.getCellIds()[e1], grid.getCellIds()[e2]); // Add an element inside of the grid, in a different cell position[0] += this->m_size[0] * 1.1; // Next cell on the 1st dimension TypeElement e3(3); grid.addElement(e3, position); ASSERT_EQ(3u, grid.getActiveCells().size()); ASSERT_EQ(4u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_NO_THROW(grid.getCellIds().at(e2)); ASSERT_NO_THROW(grid.getCellIds().at(e3)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e2]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e3]); ASSERT_NE(grid.getCellIds()[e2], grid.getCellIds()[e3]); // Add an element inside of the grid, far away from all other elements position[0] += this->m_size[0] * 2.1; // Few cells further on the 1st dimension TypeElement e4(4); grid.addElement(e4, position); ASSERT_EQ(4u, grid.getActiveCells().size()); ASSERT_EQ(5u, grid.getCellIds().size()); ASSERT_NO_THROW(grid.getCellIds().at(e0)); ASSERT_NO_THROW(grid.getCellIds().at(e1)); ASSERT_NO_THROW(grid.getCellIds().at(e2)); ASSERT_NO_THROW(grid.getCellIds().at(e3)); ASSERT_NO_THROW(grid.getCellIds().at(e4)); ASSERT_EQ(grid.getCellIds()[e0], grid.getCellIds()[e1]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e2]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e3]); ASSERT_NE(grid.getCellIds()[e2], grid.getCellIds()[e3]); ASSERT_NE(grid.getCellIds()[e0], grid.getCellIds()[e4]); ASSERT_NE(grid.getCellIds()[e1], grid.getCellIds()[e4]); ASSERT_NE(grid.getCellIds()[e2], grid.getCellIds()[e4]); ASSERT_NE(grid.getCellIds()[e3], grid.getCellIds()[e4]); ASSERT_NO_THROW(grid.getNeighbors(e0)); ASSERT_NO_THROW(grid.getNeighbors(e1)); ASSERT_NO_THROW(grid.getNeighbors(e2)); ASSERT_NO_THROW(grid.getNeighbors(e3)); ASSERT_NO_THROW(grid.getNeighbors(e4)); // e0's neighbors = {e0, e1, e2} auto& e0Neighbors = grid.getNonConstNeighbors(e0); ASSERT_EQ(3u, e0Neighbors.size()); ASSERT_TRUE(std::find(e0Neighbors.begin(), e0Neighbors.end(), e0) != e0Neighbors.end()); ASSERT_TRUE(std::find(e0Neighbors.begin(), e0Neighbors.end(), e1) != e0Neighbors.end()); ASSERT_TRUE(std::find(e0Neighbors.begin(), e0Neighbors.end(), e2) != e0Neighbors.end()); ASSERT_FALSE(std::find(e0Neighbors.begin(), e0Neighbors.end(), e3) != e0Neighbors.end()); ASSERT_FALSE(std::find(e0Neighbors.begin(), e0Neighbors.end(), e4) != e0Neighbors.end()); // e1's neighbors = {e0, e1, e2} auto& e1Neighbors = grid.getNonConstNeighbors(e1); ASSERT_EQ(3u, e1Neighbors.size()); ASSERT_TRUE(std::find(e1Neighbors.begin(), e1Neighbors.end(), e0) != e1Neighbors.end()); ASSERT_TRUE(std::find(e1Neighbors.begin(), e1Neighbors.end(), e1) != e1Neighbors.end()); ASSERT_TRUE(std::find(e1Neighbors.begin(), e1Neighbors.end(), e2) != e1Neighbors.end()); ASSERT_FALSE(std::find(e1Neighbors.begin(), e1Neighbors.end(), e3) != e1Neighbors.end()); ASSERT_FALSE(std::find(e1Neighbors.begin(), e1Neighbors.end(), e4) != e1Neighbors.end()); // e2's neighbors = {e0, e1, e2, e3} auto& e2Neighbors = grid.getNonConstNeighbors(e2); ASSERT_EQ(4u, e2Neighbors.size()); ASSERT_TRUE(std::find(e2Neighbors.begin(), e2Neighbors.end(), e0) != e2Neighbors.end()); ASSERT_TRUE(std::find(e2Neighbors.begin(), e2Neighbors.end(), e1) != e2Neighbors.end()); ASSERT_TRUE(std::find(e2Neighbors.begin(), e2Neighbors.end(), e2) != e2Neighbors.end()); ASSERT_TRUE(std::find(e2Neighbors.begin(), e2Neighbors.end(), e3) != e2Neighbors.end()); ASSERT_FALSE(std::find(e2Neighbors.begin(), e2Neighbors.end(), e4) != e2Neighbors.end()); // e3's neighbors = {e2, e3} auto& e3Neighbors = grid.getNonConstNeighbors(e3); ASSERT_EQ(2u, e3Neighbors.size()); ASSERT_FALSE(std::find(e3Neighbors.begin(), e3Neighbors.end(), e0) != e3Neighbors.end()); ASSERT_FALSE(std::find(e3Neighbors.begin(), e3Neighbors.end(), e1) != e3Neighbors.end()); ASSERT_TRUE(std::find(e3Neighbors.begin(), e3Neighbors.end(), e2) != e3Neighbors.end()); ASSERT_TRUE(std::find(e3Neighbors.begin(), e3Neighbors.end(), e3) != e3Neighbors.end()); ASSERT_FALSE(std::find(e3Neighbors.begin(), e3Neighbors.end(), e4) != e3Neighbors.end()); // e4's neighbors = {e4} auto& e4Neighbors = grid.getNonConstNeighbors(e4); ASSERT_EQ(1u, e4Neighbors.size()); ASSERT_FALSE(std::find(e4Neighbors.begin(), e4Neighbors.end(), e0) != e4Neighbors.end()); ASSERT_FALSE(std::find(e4Neighbors.begin(), e4Neighbors.end(), e1) != e4Neighbors.end()); ASSERT_FALSE(std::find(e4Neighbors.begin(), e4Neighbors.end(), e2) != e4Neighbors.end()); ASSERT_FALSE(std::find(e4Neighbors.begin(), e4Neighbors.end(), e3) != e4Neighbors.end()); ASSERT_TRUE(std::find(e4Neighbors.begin(), e4Neighbors.end(), e4) != e4Neighbors.end()); // Test element not in the grid has no neighbors TypeElement e5(5); ASSERT_EQ(0u, grid.getNeighbors(e5).size()); } TYPED_TEST(Grid3DTestBase, NeighborsPosition) { typedef typename TestFixture::GridType GridType; typedef typename TestFixture::TypeElement TypeElement; GridType grid(this->m_size, this->m_aabb); // Build the following grid: // Cell(e0, e1) <- neighbor -> Cell(e2) <- neighbor -> Cell(e3) <- ..not neighbor.. -> Cell(e4) Eigen::Matrix position = Eigen::Matrix::Zero(); // Add an element inside of the grid TypeElement e0(0), e1(1); grid.addElement(e0, position); auto positione0 = position; // Add an element inside of the grid, in the same cell grid.addElement(e1, position); // Add an element inside of the grid, in a different cell position[0] += this->m_size[0] * 1.1; // Next cell on the 1st dimension TypeElement e2(2); grid.addElement(e2, position); // Add an element inside of the grid, in a different cell position[0] += this->m_size[0] * 1.1; // Next cell on the 1st dimension TypeElement e3(3); grid.addElement(e3, position); position[0] += this->m_size[0] * 1.1; // Next cell on the 1st dimension auto positionEmpty = position; // Add an element inside of the grid, far away from all other elements position[0] += this->m_size[0] * 1.1; // Few cells further on the 1st dimension TypeElement e4(4); grid.addElement(e4, position); { // e0's neighbors = {e0, e1, e2} // e0's position has a grid cell in it, should return neighbors of e0 auto& neighbors = grid.getNeighbors(positione0); EXPECT_EQ(3u, neighbors.size()); EXPECT_TRUE(std::find(neighbors.begin(), neighbors.end(), e0) != neighbors.end()); EXPECT_TRUE(std::find(neighbors.begin(), neighbors.end(), e1) != neighbors.end()); EXPECT_TRUE(std::find(neighbors.begin(), neighbors.end(), e2) != neighbors.end()); } { // Move the position just a little bit away from e0, should still result in the e0 cell auto positionNote0 = positione0 * 1.01; auto& neighbors = grid.getNeighbors(positionNote0); EXPECT_EQ(3u, neighbors.size()); EXPECT_TRUE(std::find(neighbors.begin(), neighbors.end(), e0) != neighbors.end()); EXPECT_TRUE(std::find(neighbors.begin(), neighbors.end(), e1) != neighbors.end()); EXPECT_TRUE(std::find(neighbors.begin(), neighbors.end(), e2) != neighbors.end()); } { // This cell does not exist but should return e3 and e4 as neighbors, it's not cached auto& neighbors = grid.getNeighbors(positionEmpty); EXPECT_EQ(2u, neighbors.size()); EXPECT_TRUE(std::find(neighbors.begin(), neighbors.end(), e3) != neighbors.end()); EXPECT_TRUE(std::find(neighbors.begin(), neighbors.end(), e4) != neighbors.end()); } { // This cell does not exist but should return e3 and e4 as neighbors, this is from // the cache now auto& neighbors = grid.getNeighbors(positionEmpty); EXPECT_EQ(2u, neighbors.size()); EXPECT_TRUE(std::find(neighbors.begin(), neighbors.end(), e3) != neighbors.end()); EXPECT_TRUE(std::find(neighbors.begin(), neighbors.end(), e4) != neighbors.end()); } { // This is outside of the AABB position = this->m_size * 3; auto& neighbors = grid.getNeighbors(position); EXPECT_EQ(0u, neighbors.size()); } } TYPED_TEST(Grid3DTestBase, Neighbors3DTest) { typedef typename TestFixture::GridType GridType; typedef typename TestFixture::TypeElement TypeElement; GridType grid(this->m_size, this->m_aabb); // Build a grid where we have 1 element per cell and 1 cell has all its neighbors populated // The grid content would be for dimension x=0 (similar on dimension x=1 and x=2): // Cell(e000) Cell(e001) Cell(e002) // Cell(e010) Cell(e011) Cell(e012) // Cell(e020) Cell(e021) Cell(e022) // Add the 27 elements inside the grid on 27 different cells forming a cube Eigen::Matrix position = Eigen::Matrix::Zero(); Number number; // 3 digits in base 3 => covers 27 different numbers const TypeElement element[27] = { TypeElement(0), TypeElement(1), TypeElement(2), TypeElement(3), TypeElement(4), TypeElement(5), TypeElement(6), TypeElement(7), TypeElement(8), TypeElement(9), TypeElement(10), TypeElement(11), TypeElement(12), TypeElement(13), TypeElement(14), TypeElement(15), TypeElement(16), TypeElement(17), TypeElement(18), TypeElement(19), TypeElement(20), TypeElement(21), TypeElement(22), TypeElement(23), TypeElement(24), TypeElement(25), TypeElement(26)}; for(size_t X = 0; X < 3; ++X) { for(size_t Y = 0; Y < 3; ++Y) { for(size_t Z = 0; Z < 3; ++Z) { SurgSim::Math::Vector3d offset(this->m_size[0] * X, this->m_size[1] * Y, this->m_size[2] * Z); grid.addElement(element[number.toDecimal()], position + offset); number.next(); } } } ASSERT_EQ(27u, grid.getActiveCells().size()); ///< 27 cells ASSERT_EQ(27u, grid.getCellIds().size()); ///< 27 elements for (size_t elementId = 0; elementId < 27; elementId++) { ASSERT_NO_THROW(grid.getCellIds().at(element[elementId])); for (size_t otherElementId = 0; otherElementId < 27; otherElementId++) { if (elementId == otherElementId) { continue; } /// Each cell contains only 1 unique element and each element is associated to a unique cell ASSERT_NE(grid.getCellIds()[element[elementId]], grid.getCellIds()[element[otherElementId]]); } } for (size_t elementId = 0; elementId < 27; elementId++) { ASSERT_NO_THROW(grid.getNeighbors(element[elementId])); ASSERT_GT(grid.getNeighbors(element[elementId]).size(), 0u); } // The central element should have all the elements for neighbors (including itself) auto& e111Neighbors = grid.getNonConstNeighbors(element[13]); ASSERT_EQ(27u, e111Neighbors.size()); for (size_t elementId = 0; elementId < 27; elementId++) { auto found = std::find(e111Neighbors.begin(), e111Neighbors.end(), element[elementId]); ASSERT_NE(e111Neighbors.end(), found); } } TYPED_TEST(Grid3DTestBase, ResetTest) { typedef typename TestFixture::GridType GridType; typedef typename TestFixture::TypeElement TypeElement; GridType grid(this->m_size, this->m_aabb); TypeElement e0(0), e1(1); grid.addElement(e0, Eigen::Matrix::Zero()); grid.addElement(e1, Eigen::Matrix::Zero()); ASSERT_NE(0u, grid.getActiveCells().size()); ASSERT_NE(0u, grid.getCellIds().size()); ASSERT_NE(0u, grid.getNeighbors(e0).size()); ASSERT_NE(0u, grid.getNeighbors(e1).size()); ASSERT_NO_THROW(grid.reset()); ASSERT_EQ(0u, grid.getActiveCells().size()); ASSERT_EQ(0u, grid.getCellIds().size()); ASSERT_EQ(0u, grid.getNeighbors(e0).size()); ASSERT_EQ(0u, grid.getNeighbors(e1).size()); } }; // namespace DataStructures }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/GridTests.cpp000066400000000000000000000020671277777236100250450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/DataStructures/Grid.h" TEST(Grid, PowerOf3StaticAssertionTest) { static_assert(SurgSim::DataStructures::powerOf3<0>::value == 1, "3^0 != 1"); static_assert(SurgSim::DataStructures::powerOf3<1>::value == 3, "3^1 != 3"); static_assert(SurgSim::DataStructures::powerOf3<2>::value == 9, "3^2 != 9"); static_assert(SurgSim::DataStructures::powerOf3<3>::value == 27, "3^3 != 27"); } opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/GridTests.h000066400000000000000000000043021277777236100245040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_UNITTESTS_GRIDTESTS_H #define SURGSIM_DATASTRUCTURES_UNITTESTS_GRIDTESTS_H #include #include "SurgSim/Math/Vector.h" #include "SurgSim/DataStructures/Grid.h" #include "SurgSim/DataStructures/UnitTests/MockObjects.h" namespace SurgSim { namespace DataStructures { template class GridTestBase : public testing::Test { public: /// The test parameters typedef T TypeElement; static const size_t dimension = N; /// The grid type for this test typedef MockGrid GridType; /// Useful vector type of various vectors typedef Eigen::Matrix VectorND; /// Useful variables VectorND m_size; /// Grid min and max n-d vectors Eigen::AlignedBox m_aabb; Eigen::AlignedBox m_aabb1Cell; Eigen::AlignedBox m_aabbBig; void SetUp() override { m_size = VectorND::LinSpaced(0.6, 1.67); VectorND numCells = VectorND::LinSpaced(16.45, 257.43); m_aabb.min() = -(numCells.cwiseProduct(m_size) * 0.5); m_aabb.max() = numCells.cwiseProduct(m_size) * 0.5; m_aabb1Cell.min() = -(m_size * 0.5); m_aabb1Cell.max() = m_size * 0.5; size_t architectureSize = sizeof(size_t) * 8; m_aabbBig.min() = -static_cast(static_cast(1u) << (architectureSize - 2)) * m_size * 0.5; m_aabbBig.max() = static_cast(static_cast(1u) << (architectureSize - 2)) * m_size * 0.5; } }; }; // namespace DataStructures }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_UNITTESTS_GRIDTESTS_H opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/GroupsTests.cpp000066400000000000000000000177221277777236100254430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/DataStructures/Groups.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Testing/Utilities.h" namespace SurgSim { namespace DataStructures { TEST(GroupsTests, InitTest) { // The comma in the template is throwing off the macro, predefine the types for testing typedef Groups TypeA; EXPECT_NO_THROW(TypeA groups;); typedef Groups TypeB; EXPECT_NO_THROW({TypeB groups;}); typedef Groups > TypeC; EXPECT_NO_THROW({TypeC groups;}); } TEST(GroupsTest, DefaultInitialization) { Groups groups; EXPECT_TRUE(groups.getGroups().empty()); EXPECT_TRUE(groups.getGroups(1).empty()); EXPECT_TRUE(groups.getMembers("None").empty()); } TEST(GroupsTest, Clear) { Groups> groups; auto element1 = std::make_shared("One"); EXPECT_TRUE(groups.add("One", element1)); EXPECT_TRUE(groups.add("Two", element1)); groups.clear(); EXPECT_EQ(0L, groups.getGroups().size()); EXPECT_EQ(0L, groups.getGroups(element1).size()); EXPECT_EQ(0L, groups.getMembers("One").size()); EXPECT_EQ(0L, groups.getMembers("Two").size()); } TEST(GroupsTests, AddElement) { Groups> groups; auto element1 = std::make_shared("One"); auto element2 = std::make_shared("Two"); EXPECT_TRUE(groups.add("One", element1)); EXPECT_EQ(1L, groups.getGroups().size()); EXPECT_EQ(1L, groups.getGroups(element1).size()); EXPECT_EQ(1L, groups.getMembers("One").size()); EXPECT_FALSE(groups.add("One", element1)); EXPECT_EQ(1L, groups.getGroups().size()); EXPECT_EQ(1L, groups.getGroups(element1).size()); EXPECT_EQ(1L, groups.getMembers("One").size()); groups.add("Two", element1); EXPECT_EQ(2L, groups.getGroups().size()); EXPECT_EQ(2L, groups.getGroups(element1).size()); EXPECT_EQ(1L, groups.getMembers("One").size()); groups.add("Two", element2); EXPECT_EQ(2L, groups.getGroups().size()); EXPECT_EQ(2L, groups.getGroups(element1).size()); EXPECT_EQ(1L, groups.getGroups(element2).size()); EXPECT_EQ(1L, groups.getMembers("One").size()); EXPECT_EQ(2L, groups.getMembers("Two").size()); auto members = groups.getMembers("Two"); auto names = groups.getGroups(); EXPECT_TRUE(SurgSim::Testing::doesContain(members, element1)); EXPECT_TRUE(SurgSim::Testing::doesContain(members, element2)); EXPECT_TRUE(SurgSim::Testing::doesContain(names, "One")); EXPECT_TRUE(SurgSim::Testing::doesContain(names, "Two")); } TEST(GroupsTests, MultiAddTest) { Groups> groups; auto element1 = std::make_shared("One"); auto element2 = std::make_shared("Two"); std::vector names; names.push_back("One"); names.push_back("Two"); groups.add(names, element1); EXPECT_EQ(2L, groups.getGroups().size()); EXPECT_EQ(2L, groups.getGroups(element1).size()); } TEST(GroupsTests, AddGroups) { Groups groups; Groups sourceGroups; groups.add("One", 1); groups.add("Two", 1); sourceGroups.add("One", 2); sourceGroups.add("Two", 1); sourceGroups.add("Three", 1); EXPECT_FALSE(groups.add(groups)); EXPECT_EQ(2L, groups.getGroups().size()); EXPECT_EQ(2L, groups.getGroups(1).size()); EXPECT_TRUE(groups.add(sourceGroups)); EXPECT_EQ(3L, groups.getGroups().size()); EXPECT_EQ(3L, groups.getGroups(1).size()); EXPECT_EQ(1L, groups.getGroups(2).size()); EXPECT_EQ(2L, groups.getMembers("One").size()); EXPECT_EQ(1L, groups.getMembers("Two").size()); EXPECT_EQ(1L, groups.getMembers("Three").size()); } TEST(GroupsTests, BracketOperator) { Groups> groups; auto element1 = std::make_shared("One"); auto element2 = std::make_shared("Two"); EXPECT_EQ(0L, groups["One"].size()); groups.add("One", element1); groups.add("One", element2); EXPECT_EQ(2L, groups["One"].size()); } TEST(GroupsTests, ValidRemoves) { Groups> groups; auto element1 = std::make_shared("One"); auto element2 = std::make_shared("Two"); auto element3 = std::make_shared("Three"); groups.add("One", element1); groups.add("Two", element1); groups.add("Three", element1); groups.add("One", element2); groups.add("Two", element2); // Just check for the expected state ... (is tested above) EXPECT_EQ(3L, groups.getGroups().size()); EXPECT_EQ(3L, groups.getGroups(element1).size()); EXPECT_EQ(2L, groups.getGroups(element2).size()); EXPECT_EQ(2L, groups.getMembers("One").size()); EXPECT_EQ(2L, groups.getMembers("Two").size()); EXPECT_EQ(1L, groups.getMembers("Three").size()); EXPECT_TRUE(groups.remove("Three", element1)); EXPECT_EQ(2L, groups.getGroups().size()); EXPECT_EQ(2L, groups.getGroups(element1).size()); EXPECT_EQ(2L, groups.getGroups(element2).size()); EXPECT_EQ(2L, groups.getMembers("One").size()); EXPECT_EQ(2L, groups.getMembers("Two").size()); EXPECT_EQ(0L, groups.getMembers("Three").size()); EXPECT_TRUE(groups.remove("One", element2)); EXPECT_EQ(2L, groups.getGroups().size()); EXPECT_EQ(2L, groups.getGroups(element1).size()); EXPECT_EQ(1L, groups.getGroups(element2).size()); EXPECT_EQ(1L, groups.getMembers("One").size()); EXPECT_EQ(2L, groups.getMembers("Two").size()); EXPECT_EQ(0L, groups.getMembers("Three").size()); groups.remove("One", element1); groups.remove("Two", element1); groups.remove("Two", element2); EXPECT_EQ(0L, groups.getGroups().size()); EXPECT_EQ(0L, groups.getGroups(element1).size()); EXPECT_EQ(0L, groups.getGroups(element2).size()); EXPECT_EQ(0L, groups.getMembers("One").size()); EXPECT_EQ(0L, groups.getMembers("Two").size()); EXPECT_EQ(0L, groups.getMembers("Three").size()); } TEST(GroupsTests, InvalidRemoves) { Groups> groups; auto element1 = std::make_shared("One"); auto element2 = std::make_shared("Two"); auto element3 = std::make_shared("Three"); groups.add("One", element1); groups.add("Two", element1); groups.add("Three", element1); groups.add("One", element2); groups.add("Two", element2); // Remove non existing element from group should not do anything EXPECT_FALSE(groups.remove("One", element3)); EXPECT_EQ(2L, groups.getMembers("One").size()); EXPECT_EQ(0L, groups.getGroups(element3).size()); // Removing from a non existing group should not do anything EXPECT_FALSE(groups.remove("None", element1)); EXPECT_EQ(3L, groups.getGroups().size()); EXPECT_EQ(3L, groups.getGroups(element1).size()); // Removing a non exisiting member from a nonexisting group should not do anything EXPECT_FALSE(groups.remove("None", element3)); EXPECT_EQ(3L, groups.getGroups().size()); EXPECT_EQ(0L, groups.getGroups(element3).size()); // Removing a non exisitng member categorically should not do anything EXPECT_FALSE(groups.remove(element3)); EXPECT_EQ(3L, groups.getGroups().size()); EXPECT_EQ(0L, groups.getGroups(element3).size()); } } }opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/ImageMapTest.cpp000066400000000000000000000115051277777236100254520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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. /// \file /// Tests for the ImageMap class. #include "gtest/gtest.h" #include "SurgSim/DataStructures/ImageMap.h" namespace { double epsilon = 1e-10; } namespace SurgSim { namespace DataStructures { template class ImageMapTests : public testing::Test { public: typedef T Scalar; }; typedef ::testing::Types ImageMapTestTypes; TYPED_TEST_CASE(ImageMapTests, ImageMapTestTypes); TYPED_TEST(ImageMapTests, Construct) { typedef typename TestFixture::Scalar T; T array[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; ASSERT_NO_THROW({ImageMap image(3, 3, 1, array);}); } TYPED_TEST(ImageMapTests, Copy) { typedef typename TestFixture::Scalar T; T array[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; ImageMap image(3, 3, 1, array); ImageMap newImage(image); EXPECT_EQ(image.getSize(), newImage.getSize()); EXPECT_EQ(image.getData(), newImage.getData()); } TYPED_TEST(ImageMapTests, Assign) { typedef typename TestFixture::Scalar T; T array[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; ImageMap image(3, 3, 1, array); T newArray[] = {0, 1, 2, 3}; ImageMap newImage(2, 2, 1, newArray); EXPECT_NE(image.getSize(), newImage.getSize()); EXPECT_NE(image.getData(), newImage.getData()); newImage = image; EXPECT_EQ(image.getSize(), newImage.getSize()); EXPECT_EQ(image.getData(), newImage.getData()); } TYPED_TEST(ImageMapTests, Accessors) { typedef typename TestFixture::Scalar T; T array[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; ImageMap image(3, 3, 1, array); EXPECT_EQ(3, image.getWidth()); EXPECT_EQ(3, image.getHeight()); EXPECT_EQ(1, image.getNumChannels()); std::array size = {3, 3, 1}; EXPECT_EQ(size, image.getSize()); for (int i = 0; i < 9; i++) { EXPECT_NEAR(array[i], image.getData()[i], epsilon); } } TYPED_TEST(ImageMapTests, Move) { typedef typename TestFixture::Scalar T; { T array[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; ImageMap oldImage(3, 3, 1, array); T* const dataPtr = oldImage.getData(); ImageMap newImage = std::move(oldImage); EXPECT_EQ(dataPtr, newImage.getData()); EXPECT_EQ(3, newImage.getWidth()); EXPECT_EQ(3, newImage.getHeight()); EXPECT_EQ(1, newImage.getNumChannels()); } { T array[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; ImageMap oldImage(3, 1, 3, array); T* const dataPtr = oldImage.getData(); ImageMap newImage(std::move(oldImage)); EXPECT_EQ(dataPtr, newImage.getData()); EXPECT_EQ(3, newImage.getWidth()); EXPECT_EQ(1, newImage.getHeight()); EXPECT_EQ(3, newImage.getNumChannels()); } } TYPED_TEST(ImageMapTests, ArrayMapping) { typedef typename TestFixture::Scalar T; { SCOPED_TRACE("Modifying the array should modify the data in the ImageMap"); T array[] = {0, 1, 2, 3, 4, 5, 6, 7}; ImageMap image(2, 2, 2, array); array[2] = 20; EXPECT_NEAR(20, image.getData()[2], epsilon); } { SCOPED_TRACE("Modifying the ImageMap with getData should modify the array"); T array[] = {0, 1, 2, 3, 4, 5, 6, 7}; ImageMap image(2, 2, 2, array); image.getData()[3] = 30; EXPECT_NEAR(30, array[3], epsilon); } { SCOPED_TRACE("Modifying the ImageMap with operator() should modify the array"); T array[] = {0, 1, 2, 3, 4, 5, 6, 7}; ImageMap image(2, 2, 2, array); image(1, 1) << 100, 101; EXPECT_NEAR(100, array[6], epsilon); EXPECT_NEAR(101, array[7], epsilon); } { SCOPED_TRACE("Modifying the ImageMap with getChannel() should modify the array"); T array[] = {0, 1, 2, 3, 4, 5, 6, 7}; ImageMap image(2, 2, 2, array); image.getChannel(1) << 100, 101, 110, 111; EXPECT_NEAR(100, array[1], epsilon); EXPECT_NEAR(110, array[3], epsilon); EXPECT_NEAR(101, array[5], epsilon); EXPECT_NEAR(111, array[7], epsilon); } { SCOPED_TRACE("Modifying the ImageMap with getAsVector() should modify the array"); T array[] = {0, 1, 2, 3, 4, 5, 6, 7}; ImageMap image(2, 2, 2, array); image.getAsVector() << 100, 101, 102, 103, 104, 105, 106, 107; EXPECT_NEAR(100, array[0], epsilon); EXPECT_NEAR(101, array[1], epsilon); EXPECT_NEAR(102, array[2], epsilon); EXPECT_NEAR(103, array[3], epsilon); EXPECT_NEAR(104, array[4], epsilon); EXPECT_NEAR(105, array[5], epsilon); EXPECT_NEAR(106, array[6], epsilon); EXPECT_NEAR(107, array[7], epsilon); } } }; }; opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/ImageTest.cpp000066400000000000000000000233001277777236100250100ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2015, SimQuest Solutions 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 // // 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. /// \file /// Tests for the Image class. #include "gtest/gtest.h" #include "SurgSim/DataStructures/Image.h" #include "SurgSim/Math/Matrix.h" namespace { double epsilon = 1e-10; } namespace SurgSim { namespace DataStructures { template class ImageTests : public testing::Test { public: typedef T Scalar; }; typedef ::testing::Types ImageTestTypes; TYPED_TEST_CASE(ImageTests, ImageTestTypes); TYPED_TEST(ImageTests, Construct) { typedef typename TestFixture::Scalar T; ASSERT_NO_THROW({Image image;}); ASSERT_NO_THROW({Image image(10, 10, 1);}); ASSERT_NO_THROW({Image image(100, 10, 3);}); ASSERT_NO_THROW({Image image(512, 1024, 4);}); T array[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; ASSERT_NO_THROW({Image image(3, 3, 1, array);}); } TYPED_TEST(ImageTests, ConstructFromOtherType) { typedef typename TestFixture::Scalar T; double array[] = {0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0}; Image image(3, 3, 1, array); for (int i = 0; i < 9; i++) { EXPECT_NEAR(static_cast(array[i]), image.getData()[i], epsilon); } } TYPED_TEST(ImageTests, Copy) { typedef typename TestFixture::Scalar T; Image image(10, 10, 1); Image newImage(image); EXPECT_EQ(image.getSize(), newImage.getSize()); EXPECT_NE(image.getData(), newImage.getData()); } TYPED_TEST(ImageTests, Assign) { typedef typename TestFixture::Scalar T; Image image(10, 10, 1); Image newImage; newImage = image; EXPECT_EQ(image.getSize(), newImage.getSize()); EXPECT_NE(image.getData(), newImage.getData()); } TYPED_TEST(ImageTests, Accessors) { typedef typename TestFixture::Scalar T; { Image image; EXPECT_EQ(0, image.getWidth()); EXPECT_EQ(0, image.getHeight()); EXPECT_EQ(0, image.getNumChannels()); EXPECT_EQ(nullptr, image.getData()); std::array size = {0, 0, 0}; EXPECT_EQ(size, image.getSize()); } { Image image(10, 20, 30); EXPECT_EQ(10, image.getWidth()); EXPECT_EQ(20, image.getHeight()); EXPECT_EQ(30, image.getNumChannels()); std::array size = {10, 20, 30}; EXPECT_EQ(size, image.getSize()); } { T array[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; Image image(3, 3, 1, array); EXPECT_EQ(3, image.getWidth()); EXPECT_EQ(3, image.getHeight()); EXPECT_EQ(1, image.getNumChannels()); std::array size = {3, 3, 1}; EXPECT_EQ(size, image.getSize()); for (int i = 0; i < 9; i++) { EXPECT_NEAR(array[i], image.getData()[i], epsilon); } } } TYPED_TEST(ImageTests, Move) { typedef typename TestFixture::Scalar T; { Image oldImage(3, 3, 1); T* const dataPtr = oldImage.getData(); Image newImage = std::move(oldImage); EXPECT_EQ(nullptr, oldImage.getData()); EXPECT_NE(dataPtr, oldImage.getData()); EXPECT_EQ(0, oldImage.getWidth()); EXPECT_EQ(0, oldImage.getHeight()); EXPECT_EQ(0, oldImage.getNumChannels()); EXPECT_EQ(dataPtr, newImage.getData()); EXPECT_EQ(3, newImage.getWidth()); EXPECT_EQ(3, newImage.getHeight()); EXPECT_EQ(1, newImage.getNumChannels()); } { Image oldImage(15, 25, 4); T* const dataPtr = oldImage.getData(); Image newImage(std::move(oldImage)); EXPECT_EQ(nullptr, oldImage.getData()); EXPECT_EQ(0, oldImage.getWidth()); EXPECT_EQ(0, oldImage.getHeight()); EXPECT_EQ(0, oldImage.getNumChannels()); EXPECT_EQ(dataPtr, newImage.getData()); EXPECT_EQ(15, newImage.getWidth()); EXPECT_EQ(25, newImage.getHeight()); EXPECT_EQ(4, newImage.getNumChannels()); } } TYPED_TEST(ImageTests, PointerAccess) { typedef typename TestFixture::Scalar T; Image image(3, 3, 1); T array[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; std::copy(array, array+9, image.getData()); for (int i = 0; i < 9; i++) { EXPECT_NEAR(array[i], image.getData()[i], epsilon); } } TYPED_TEST(ImageTests, PixelAccess) { typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Matrix; { Image image(20, 30, 3); EXPECT_THROW(image(20, 10), SurgSim::Framework::AssertionFailure); EXPECT_THROW(image(10, 40), SurgSim::Framework::AssertionFailure); EXPECT_NO_THROW(image(1, 20)); EXPECT_NO_THROW(image(10, 29)); } { Image image(300, 300, 3); image.setChannel(0, Matrix::Constant(300, 300, T(0))); image.setChannel(1, Matrix::Constant(300, 300, T(1))); image.setChannel(2, Matrix::Constant(300, 300, T(2))); Eigen::Matrix pixelValue(T(0), T(1), T(2)); EXPECT_TRUE(pixelValue.isApprox(image(1, 2))); EXPECT_TRUE(pixelValue.isApprox(image(100, 50))); EXPECT_TRUE(pixelValue.isApprox(image(50, 200))); } { T array[] = {0, 1, 2, 3, 4, 5, 6, 7}; Image image(2, 2, 2, array); typedef Eigen::Matrix PixelType; EXPECT_TRUE(PixelType(T(0), T(1)).isApprox(image(0, 0))); EXPECT_TRUE(PixelType(T(2), T(3)).isApprox(image(1, 0))); EXPECT_TRUE(PixelType(T(4), T(5)).isApprox(image(0, 1))); EXPECT_TRUE(PixelType(T(6), T(7)).isApprox(image(1, 1))); } { Image image(10, 10, 2); image.getAsVector().setConstant(T(0)); Eigen::Matrix pixelValue(T(10), T(20)); image(5, 5) = pixelValue; EXPECT_TRUE(pixelValue.isApprox(image(5, 5))); } } TYPED_TEST(ImageTests, ChannelAccess) { typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Matrix; { Image image(50, 1000, 2); EXPECT_NO_THROW(image.getChannel(0)); EXPECT_NO_THROW(image.getChannel(1)); EXPECT_THROW(image.getChannel(2), SurgSim::Framework::AssertionFailure); EXPECT_THROW(image.getChannel(100), SurgSim::Framework::AssertionFailure); } { Image image(10, 20, 3); EXPECT_THROW(image.setChannel(100, Matrix::Constant(10, 20, T(0))), SurgSim::Framework::AssertionFailure); EXPECT_THROW(image.setChannel(0, Matrix::Constant(20, 10, T(0))), SurgSim::Framework::AssertionFailure); EXPECT_THROW(image.setChannel(2, Matrix::Constant(20, 20, T(0))), SurgSim::Framework::AssertionFailure); EXPECT_NO_THROW(image.setChannel(2, Matrix::Constant(10, 20, T(0)))); } { Image image(300, 300, 3); image.setChannel(0, Matrix::Constant(300, 300, T(0))); image.setChannel(1, Matrix::Constant(300, 300, T(1))); image.setChannel(2, Matrix::Constant(300, 300, T(2))); for (int i = 0; i < 300*300; i++) { EXPECT_NEAR(i % 3, image.getData()[i], epsilon); } Matrix total = image.getChannel(0) + image.getChannel(1) + image.getChannel(2); EXPECT_TRUE(total.isApprox(Matrix::Constant(300, 300, T(3)))); } { Image image(6, 6, 1); image.getChannel(0) << 0, 1, 2, 3, 4, 5, 10, 11, 12, 13, 14, 15, 20, 21, 22, 23, 24, 25, 30, 31, 32, 33, 34, 35, 30, 41, 42, 43, 44, 45, 50, 51, 52, 53, 54, 55; Matrix matrix = image.getChannel(0); EXPECT_NEAR(24, matrix(2, 4), epsilon); EXPECT_NEAR(15, matrix(1, 5), epsilon); EXPECT_NEAR(30, matrix(3, 0), epsilon); EXPECT_NEAR(54, matrix(5, 4), epsilon); } { Image image(10, 30, 1); image.setChannel(0, Matrix::Constant(10, 30, T(1))); image.setChannel(0, image.getChannel(0) * T(2)); EXPECT_TRUE(image.getChannel(0).isApprox(Matrix::Constant(10, 30, T(2)))); image.setChannel(0, image.getChannel(0).array() + T(3)); EXPECT_TRUE(image.getChannel(0).isApprox(Matrix::Constant(10, 30, T(5)))); } { Image image(10, 30, 1); image.getChannel(0) = Matrix::Constant(10, 30, T(1)); image.getChannel(0) *= 2; EXPECT_TRUE(image.getChannel(0).isApprox(Matrix::Constant(10, 30, T(2)))); image.getChannel(0) = image.getChannel(0).array() + T(3); EXPECT_TRUE(image.getChannel(0).isApprox(Matrix::Constant(10, 30, T(5)))); } } TYPED_TEST(ImageTests, VectorAccess) { typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Matrix; T array[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; { Image image(3, 3, 1, array); for (int i = 0; i < 9; i++) { auto vector = image.getAsVector(); EXPECT_NEAR(array[i], vector[i], epsilon); } } { Image image(3, 1, 3, array); for (int i = 0; i < 9; i++) { auto vector = image.getAsVector(); EXPECT_NEAR(array[i], vector[i], epsilon); } } { Image image(1, 3, 3, array); for (int i = 0; i < 9; i++) { auto vector = image.getAsVector(); EXPECT_NEAR(array[i], vector[i], epsilon); } } { Image image(10, 20, 3); EXPECT_THROW(image.setAsVector(Matrix::Constant(2, 1, T(0))), SurgSim::Framework::AssertionFailure); EXPECT_THROW(image.setAsVector(Matrix::Constant(10*20, 1, T(0))), SurgSim::Framework::AssertionFailure); EXPECT_NO_THROW(image.setAsVector(Matrix::Constant(10*20*3, 1, T(0)))); } { Image image(3,3,1); image.setAsVector(Matrix::Constant(9, 1, T(7))); EXPECT_TRUE(image.getAsVector().isApprox(Matrix::Constant(9, 1, T(7)))); EXPECT_TRUE(image.getChannel(0).isApprox(Matrix::Constant(3, 3, T(7)))); image.setAsVector(image.getAsVector() * T(2)); EXPECT_TRUE(image.getAsVector().isApprox(Matrix::Constant(9, 1, T(14)))); EXPECT_TRUE(image.getChannel(0).isApprox(Matrix::Constant(3, 3, T(14)))); image.getAsVector() *= T(2); EXPECT_TRUE(image.getAsVector().isApprox(Matrix::Constant(9, 1, T(28)))); EXPECT_TRUE(image.getChannel(0).isApprox(Matrix::Constant(3, 3, T(28)))); } } }; }; opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/IndexDirectoryTests.cpp000066400000000000000000000063051277777236100271130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the IndexDirectory class. #include "SurgSim/DataStructures/NamedDataBuilder.h" #include "SurgSim/DataStructures/IndexDirectory.h" #include "gtest/gtest.h" using SurgSim::DataStructures::NamedDataBuilder; using SurgSim::DataStructures::IndexDirectory; /// Run a few tests against an empty index directory. TEST(IndexDirectoryTests, EmptyTests) { { IndexDirectory dir; EXPECT_EQ(0, dir.getNumEntries()); EXPECT_EQ("", dir.getName(0)); EXPECT_EQ(-1, dir.getIndex("missing")); EXPECT_FALSE(dir.hasEntry("missing")); } { NamedDataBuilder builder; EXPECT_EQ(0, builder.getNumEntries()); EXPECT_EQ("", builder.getName(0)); EXPECT_EQ(-1, builder.getIndex("missing")); EXPECT_FALSE(builder.hasEntry("missing")); std::shared_ptr dir = builder.createData().getDirectory(); EXPECT_EQ(0, dir->getNumEntries()); EXPECT_EQ("", dir->getName(0)); EXPECT_EQ(-1, dir->getIndex("missing")); EXPECT_FALSE(dir->hasEntry("missing")); } } /// Populate an index directory and run a few tests against that. TEST(IndexDirectoryTests, SmallDirectoryTests) { NamedDataBuilder builder; builder.addEntry("first"); builder.addEntry("second"); std::shared_ptr dir = builder.createData().getDirectory(); EXPECT_EQ(2, dir->getNumEntries()); EXPECT_EQ(2u, dir->size()); EXPECT_EQ("first", dir->getName(0)); EXPECT_EQ(0, dir->getIndex("first")); EXPECT_TRUE(dir->hasEntry("first")); EXPECT_EQ("second", dir->getName(1)); EXPECT_EQ(1, dir->getIndex("second")); EXPECT_TRUE(dir->hasEntry("second")); EXPECT_EQ(-1, dir->getIndex("missing")); EXPECT_FALSE(dir->hasEntry("missing")); } /// Check return values from populating an index directory. TEST(IndexDirectoryTests, ReturnValueFromAdd) { NamedDataBuilder builder; EXPECT_EQ(-1, builder.addEntry("")); EXPECT_EQ(0, builder.addEntry("entry")); EXPECT_EQ(-1, builder.addEntry("entry")); // Also check that the failed calls did not increase the number of entries: EXPECT_EQ(1, builder.getNumEntries()); EXPECT_EQ(1, builder.createData().getDirectory()->getNumEntries()); } /// Try passing bad key/index values. TEST(IndexDirectoryTests, BadKeyOrIndex) { NamedDataBuilder builder; EXPECT_EQ(0, builder.addEntry("first")); EXPECT_EQ(1, builder.addEntry("second")); EXPECT_EQ(-1, builder.addEntry("")); std::shared_ptr dir = builder.createData().getDirectory(); EXPECT_EQ("", dir->getName(-1)); EXPECT_EQ("", dir->getName(-12345)); EXPECT_EQ("", dir->getName(+56789)); EXPECT_EQ("", dir->getName(2)); }opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/IndexedLocalCoordinateTest.cpp000066400000000000000000000055271277777236100303440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace DataStructures { TEST(IndexedLocalCoordinateTest, IndexedLocalCoordinate) { using SurgSim::Math::Vector4d; EXPECT_NO_THROW({ IndexedLocalCoordinate coord; }); EXPECT_NO_THROW({ IndexedLocalCoordinate coord(6u, Vector4d(0.25, 0.55, 0.73, 0.11)); }); { IndexedLocalCoordinate coord(6u, Vector4d(0.25, 0.55, 0.73, 0.11)); EXPECT_EQ(6u, coord.index); EXPECT_TRUE(Vector4d(0.25, 0.55, 0.73, 0.11).isApprox(coord.coordinate)); } { IndexedLocalCoordinate coord; coord.index = 12u; coord.coordinate = Vector4d(0.33, 0.1, 0.05, 0.99); EXPECT_EQ(12u, coord.index); EXPECT_TRUE(Vector4d(0.33, 0.1, 0.05, 0.99).isApprox(coord.coordinate)); } { IndexedLocalCoordinate coord0; coord0.index = 0u; SurgSim::Math::Vector cubeNodes(8); cubeNodes << 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0; coord0.coordinate = cubeNodes; EXPECT_EQ(0u, coord0.index); EXPECT_TRUE(cubeNodes.isApprox(coord0.coordinate)); } } TEST(IndexedLocalCoordinateTest, IsApprox) { using SurgSim::Math::Vector3d; double epsilon = 1e-12; IndexedLocalCoordinate null6(6u, Vector3d::Zero()); IndexedLocalCoordinate almostNull6(6u, Vector3d(0.0, 0.0, epsilon / 2.0)); IndexedLocalCoordinate null5(5u, Vector3d::Zero()); IndexedLocalCoordinate almostNull5(5u, Vector3d(0.0, 0.0, epsilon / 2.0)); EXPECT_TRUE(null6.isApprox(null6, epsilon)); EXPECT_TRUE(null6.isApprox(almostNull6, epsilon)); EXPECT_FALSE(null6.isApprox(null5, epsilon)); EXPECT_FALSE(null6.isApprox(almostNull5, epsilon)); IndexedLocalCoordinate one6(6u, Vector3d::Ones()); IndexedLocalCoordinate almostOne6(6u, Vector3d::Ones() + Vector3d(0.0, 0.0, epsilon / 2.0)); IndexedLocalCoordinate one5(5u, Vector3d::Ones()); IndexedLocalCoordinate two6(6u, Vector3d::Constant(2.0)); IndexedLocalCoordinate three7(7u, Vector3d::Constant(3.0)); EXPECT_TRUE(one6.isApprox(one6, epsilon)); EXPECT_TRUE(one6.isApprox(almostOne6, epsilon)); EXPECT_FALSE(one6.isApprox(one5, epsilon)); EXPECT_FALSE(one6.isApprox(two6, epsilon)); EXPECT_FALSE(one6.isApprox(three7, epsilon)); } } // namespace Collision } // namespace SurgSimopensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/LocationTests.cpp000066400000000000000000000244271277777236100257340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include "SurgSim/DataStructures/Location.h" namespace SurgSim { namespace DataStructures { TEST(LocationTests, Constructor) { Math::Vector3d rigidLocalPosition = Math::Vector3d::Ones(); OctreePath octreeNodePath; octreeNodePath.push_back(1); octreeNodePath.push_back(2); octreeNodePath.push_back(3); size_t index(3); IndexedLocalCoordinate triangleMeshLocalCoordinate(1, Math::Vector2d(4.0, 5.0)); IndexedLocalCoordinate elementMeshLocalCoordinate(1, Math::Vector4d::Ones()); EXPECT_NO_THROW({Location location(rigidLocalPosition);}); EXPECT_NO_THROW({Location location(octreeNodePath);}); EXPECT_NO_THROW({Location location(index);}); EXPECT_NO_THROW({Location location(triangleMeshLocalCoordinate, Location::TRIANGLE);}); EXPECT_NO_THROW({Location location(elementMeshLocalCoordinate, Location::ELEMENT);}); EXPECT_THROW({Location location(elementMeshLocalCoordinate, \ static_cast(Location::ELEMENT + 10));}, Framework::AssertionFailure); { SCOPED_TRACE("Using rigid local position"); Location location(rigidLocalPosition); EXPECT_TRUE(location.rigidLocalPosition.hasValue()); EXPECT_FALSE(location.octreeNodePath.hasValue()); EXPECT_FALSE(location.index.hasValue()); EXPECT_FALSE(location.triangleMeshLocalCoordinate.hasValue()); EXPECT_FALSE(location.elementMeshLocalCoordinate.hasValue()); EXPECT_TRUE(location.rigidLocalPosition.getValue().isApprox(rigidLocalPosition)); Location location1(location); EXPECT_TRUE(location1.rigidLocalPosition.hasValue()); EXPECT_FALSE(location1.octreeNodePath.hasValue()); EXPECT_FALSE(location1.index.hasValue()); EXPECT_FALSE(location1.triangleMeshLocalCoordinate.hasValue()); EXPECT_FALSE(location1.elementMeshLocalCoordinate.hasValue()); EXPECT_TRUE(location1.rigidLocalPosition.getValue().isApprox(rigidLocalPosition)); } { SCOPED_TRACE("Using octree node path"); Location location(octreeNodePath); EXPECT_EQ(octreeNodePath, location.octreeNodePath.getValue()); EXPECT_FALSE(location.rigidLocalPosition.hasValue()); EXPECT_TRUE(location.octreeNodePath.hasValue()); EXPECT_FALSE(location.index.hasValue()); EXPECT_FALSE(location.triangleMeshLocalCoordinate.hasValue()); EXPECT_FALSE(location.elementMeshLocalCoordinate.hasValue()); Location location1(location); EXPECT_FALSE(location1.rigidLocalPosition.hasValue()); EXPECT_TRUE(location1.octreeNodePath.hasValue()); EXPECT_FALSE(location1.index.hasValue()); EXPECT_FALSE(location1.triangleMeshLocalCoordinate.hasValue()); EXPECT_FALSE(location1.elementMeshLocalCoordinate.hasValue()); EXPECT_EQ(octreeNodePath, location1.octreeNodePath.getValue()); } { SCOPED_TRACE("Using index"); Location location(index); EXPECT_EQ(index, location.index.getValue()); EXPECT_FALSE(location.rigidLocalPosition.hasValue()); EXPECT_FALSE(location.octreeNodePath.hasValue()); EXPECT_TRUE(location.index.hasValue()); EXPECT_FALSE(location.triangleMeshLocalCoordinate.hasValue()); EXPECT_FALSE(location.elementMeshLocalCoordinate.hasValue()); Location location1(location); EXPECT_FALSE(location1.rigidLocalPosition.hasValue()); EXPECT_FALSE(location1.octreeNodePath.hasValue()); EXPECT_TRUE(location1.index.hasValue()); EXPECT_FALSE(location1.triangleMeshLocalCoordinate.hasValue()); EXPECT_FALSE(location1.elementMeshLocalCoordinate.hasValue()); EXPECT_EQ(index, location1.index.getValue()); } { SCOPED_TRACE("Using triangle mesh local coordinate"); Location location(triangleMeshLocalCoordinate, Location::TRIANGLE); EXPECT_FALSE(location.rigidLocalPosition.hasValue()); EXPECT_FALSE(location.octreeNodePath.hasValue()); EXPECT_FALSE(location.index.hasValue()); EXPECT_TRUE(location.triangleMeshLocalCoordinate.hasValue()); EXPECT_FALSE(location.elementMeshLocalCoordinate.hasValue()); EXPECT_EQ(triangleMeshLocalCoordinate.index, location.triangleMeshLocalCoordinate.getValue().index); EXPECT_TRUE(location.triangleMeshLocalCoordinate.getValue().coordinate.isApprox(\ triangleMeshLocalCoordinate.coordinate)); Location location1(location); EXPECT_FALSE(location1.rigidLocalPosition.hasValue()); EXPECT_FALSE(location1.octreeNodePath.hasValue()); EXPECT_FALSE(location1.index.hasValue()); EXPECT_TRUE(location1.triangleMeshLocalCoordinate.hasValue()); EXPECT_FALSE(location1.elementMeshLocalCoordinate.hasValue()); EXPECT_EQ(triangleMeshLocalCoordinate.index, location1.triangleMeshLocalCoordinate.getValue().index); EXPECT_TRUE(location1.triangleMeshLocalCoordinate.getValue().coordinate.isApprox(\ triangleMeshLocalCoordinate.coordinate)); } { SCOPED_TRACE("Using element mesh local coordinate"); Location location(elementMeshLocalCoordinate, Location::ELEMENT); EXPECT_FALSE(location.rigidLocalPosition.hasValue()); EXPECT_FALSE(location.octreeNodePath.hasValue()); EXPECT_FALSE(location.index.hasValue()); EXPECT_FALSE(location.triangleMeshLocalCoordinate.hasValue()); EXPECT_TRUE(location.elementMeshLocalCoordinate.hasValue()); EXPECT_EQ(elementMeshLocalCoordinate.index, location.elementMeshLocalCoordinate.getValue().index); EXPECT_TRUE(location.elementMeshLocalCoordinate.getValue().coordinate.isApprox(\ elementMeshLocalCoordinate.coordinate)); Location location1(location); EXPECT_FALSE(location1.rigidLocalPosition.hasValue()); EXPECT_FALSE(location1.octreeNodePath.hasValue()); EXPECT_FALSE(location1.index.hasValue()); EXPECT_FALSE(location1.triangleMeshLocalCoordinate.hasValue()); EXPECT_TRUE(location1.elementMeshLocalCoordinate.hasValue()); EXPECT_EQ(elementMeshLocalCoordinate.index, location1.elementMeshLocalCoordinate.getValue().index); EXPECT_TRUE(location1.elementMeshLocalCoordinate.getValue().coordinate.isApprox(\ elementMeshLocalCoordinate.coordinate)); } } TEST(LocationTests, IsApprox) { double epsilon = 1e-15; { SCOPED_TRACE("Rigid location"); Location rigidLocationOnes(Math::Vector3d::Ones()); Location rigidLocationZero(Math::Vector3d::Zero()); Location rigidLocationAlmostOnes(Math::Vector3d(1.0, 1.0, 1 + epsilon * 0.5)); Location rigidLocationAlmostZero(Math::Vector3d(0.0, 0.0, epsilon * 0.5)); EXPECT_FALSE(rigidLocationOnes.isApprox(rigidLocationZero, epsilon)); EXPECT_TRUE(rigidLocationOnes.isApprox(rigidLocationOnes, epsilon)); EXPECT_TRUE(rigidLocationOnes.isApprox(rigidLocationAlmostOnes, epsilon)); EXPECT_FALSE(rigidLocationOnes.isApprox(rigidLocationAlmostZero, epsilon)); EXPECT_TRUE(rigidLocationZero.isApprox(rigidLocationZero, epsilon)); EXPECT_FALSE(rigidLocationZero.isApprox(rigidLocationOnes, epsilon)); EXPECT_FALSE(rigidLocationZero.isApprox(rigidLocationAlmostOnes, epsilon)); EXPECT_TRUE(rigidLocationZero.isApprox(rigidLocationAlmostZero, epsilon)); } { SCOPED_TRACE("Octree location"); std::array path1 = {{0, 1, 2}}; std::array path2 = {{2, 1, 0}}; Location octreeLocation1(OctreePath(path1.begin(), path1.end())); Location octreeLocation2(OctreePath(path2.begin(), path2.end())); EXPECT_TRUE(octreeLocation1.isApprox(octreeLocation1)); EXPECT_TRUE(octreeLocation2.isApprox(octreeLocation2)); EXPECT_FALSE(octreeLocation1.isApprox(octreeLocation2)); } { SCOPED_TRACE("Index location"); Location indexLocationOne(1); Location indexLocationZero(0); EXPECT_TRUE(indexLocationOne.isApprox(indexLocationOne)); EXPECT_TRUE(indexLocationZero.isApprox(indexLocationZero)); EXPECT_FALSE(indexLocationZero.isApprox(indexLocationOne)); } { SCOPED_TRACE("TriangleMesh location"); auto vector001 = Math::Vector(3); vector001 << 0, 0, 1; auto vector100 = Math::Vector(3); vector100 << 1, 0, 0; auto vector010 = Math::Vector(3); vector010 << 0, 1, 1; IndexedLocalCoordinate triangleBarycentricCoord11(9, vector001); IndexedLocalCoordinate triangleBarycentricCoord12(9, vector100); IndexedLocalCoordinate triangleBarycentricCoord2(0, vector010); Location triangleMeshLocation11(triangleBarycentricCoord11, Location::TRIANGLE); Location triangleMeshLocation12(triangleBarycentricCoord12, Location::TRIANGLE); Location triangleMeshLocation2(triangleBarycentricCoord2, Location::TRIANGLE); EXPECT_TRUE(triangleMeshLocation11.isApprox(triangleMeshLocation11)); EXPECT_FALSE(triangleMeshLocation11.isApprox(triangleMeshLocation12)); EXPECT_FALSE(triangleMeshLocation11.isApprox(triangleMeshLocation2)); } { SCOPED_TRACE("Element location"); auto vector01 = Math::Vector(2); vector01 << 0, 1; auto vector10 = Math::Vector(2); vector10 << 1, 0; IndexedLocalCoordinate triangleBarycentricCoord11(9, vector01); IndexedLocalCoordinate triangleBarycentricCoord12(9, vector10); IndexedLocalCoordinate triangleBarycentricCoord2(0, vector10); Location triangleMeshLocation11(triangleBarycentricCoord11, Location::ELEMENT); Location triangleMeshLocation12(triangleBarycentricCoord12, Location::ELEMENT); Location triangleMeshLocation2(triangleBarycentricCoord2, Location::ELEMENT); EXPECT_TRUE(triangleMeshLocation11.isApprox(triangleMeshLocation11)); EXPECT_FALSE(triangleMeshLocation11.isApprox(triangleMeshLocation12)); EXPECT_FALSE(triangleMeshLocation11.isApprox(triangleMeshLocation2)); } } TEST(LocationTests, get) { Location loc1; EXPECT_FALSE(loc1.get(Location::TRIANGLE).hasValue()); EXPECT_FALSE(loc1.get(Location::ELEMENT).hasValue()); loc1.triangleMeshLocalCoordinate = IndexedLocalCoordinate(0, Math::Vector3d::Zero()); EXPECT_TRUE(loc1.get(Location::TRIANGLE).hasValue()); EXPECT_FALSE(loc1.get(Location::ELEMENT).hasValue()); Location loc2; loc2.elementMeshLocalCoordinate = IndexedLocalCoordinate(0, Math::Vector3d::Zero()); EXPECT_FALSE(loc2.get(Location::TRIANGLE).hasValue()); EXPECT_TRUE(loc2.get(Location::ELEMENT).hasValue()); } }; // namespace DataStructures }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/MeshElementTest.cpp000066400000000000000000000120161277777236100261760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the MeshElement class. /// Edges and Triangles are used as example elements for testing. #include "gtest/gtest.h" #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/MeshElement.h" #include "SurgSim/DataStructures/UnitTests/MockObjects.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::EmptyData; using SurgSim::Math::Vector3d; /// Edge element with ID data. typedef SurgSim::DataStructures::MeshElement<2, MockEdgeData> MockEdge; /// Triangle element with ID and edge ID data. typedef SurgSim::DataStructures::MeshElement<3, MockTriangleData> MockTriangle; /// Tetrahedron element with no data typedef SurgSim::DataStructures::MeshElement<4, EmptyData> MockTetrahedron; TEST(MeshElementTest, InitTest) { std::array edgeVertices = {{0, 1}}; MockEdgeData edgeData(0); ASSERT_NO_THROW({MockEdge edge(edgeVertices, edgeData);}); std::array triangleVertices = {{0, 1, 2}}; std::array triangleEdges = {{0, 1, 2}}; MockTriangleData triangleData(0, triangleEdges); ASSERT_NO_THROW({MockTriangle triangle(triangleVertices, triangleData);}); std::array tetrahedronVertices = {{0, 1, 2, 3}}; ASSERT_NO_THROW({MockTetrahedron triangle(tetrahedronVertices);}); } TEST(MeshElementTest, EdgeTest) { std::array edgeVertices = {{2, 10}}; MockEdgeData edgeData(5); MockEdge edge(edgeVertices, edgeData); EXPECT_EQ(edgeVertices, edge.verticesId); EXPECT_EQ(edgeData, edge.data); { const MockEdgeData& data = edge.data; EXPECT_EQ(5u, data.getId()); } /// Check comparisons MockEdge sameEdge(edgeVertices, edgeData); EXPECT_TRUE(edge == sameEdge); EXPECT_FALSE(edge != sameEdge); std::array differentEdgeVertices = {{10, 5}}; MockEdgeData differentEdgeData(7); MockEdge edgeWithDifferentVertices(differentEdgeVertices, edgeData); EXPECT_FALSE(edge == edgeWithDifferentVertices); EXPECT_TRUE(edge != edgeWithDifferentVertices); MockEdge edgeWithDifferentData(edgeVertices, differentEdgeData); EXPECT_FALSE(edge == edgeWithDifferentData); EXPECT_TRUE(edge != edgeWithDifferentData); MockEdge edgeWithDifferentVerticesAndData(differentEdgeVertices, differentEdgeData); EXPECT_FALSE(edge == edgeWithDifferentVerticesAndData); EXPECT_TRUE(edge != edgeWithDifferentVerticesAndData); } TEST(MeshElementTest, TriangleTest) { std::array triangleVertices = {{5, 2, 10}}; std::array triangleEdges = {{0, 1, 2}}; MockTriangleData triangleData(4, triangleEdges); MockTriangle triangle(triangleVertices, triangleData); EXPECT_EQ(triangleVertices, triangle.verticesId); EXPECT_EQ(triangleData, triangle.data); { const MockTriangleData& data = triangle.data; EXPECT_EQ(4u, data.getId()); EXPECT_EQ(triangleEdges, data.getEdges()); } /// Check comparisons MockTriangle sameTriangle(triangleVertices, triangleData); EXPECT_TRUE(triangle == sameTriangle); EXPECT_FALSE(triangle != sameTriangle); std::array differentTriangleVertices = {{10, 5, 7}}; std::array differentTriangleEdges = {{2, 1, 3}}; MockTriangleData differentTriangleData(4, differentTriangleEdges); MockTriangle triangleWithDifferentVertices(differentTriangleVertices, triangleData); EXPECT_FALSE(triangle == triangleWithDifferentVertices); EXPECT_TRUE(triangle != triangleWithDifferentVertices); MockTriangle triangleWithDifferentData(triangleVertices, differentTriangleData); EXPECT_FALSE(triangle == triangleWithDifferentData); EXPECT_TRUE(triangle != triangleWithDifferentData); MockTriangle triangleWithDifferentVerticesAndData(differentTriangleVertices, differentTriangleData); EXPECT_FALSE(triangle == triangleWithDifferentVerticesAndData); EXPECT_TRUE(triangle != triangleWithDifferentVerticesAndData); } TEST(MeshElementTest, TetrahedronTest) { std::array tetrahedronVertices = {{5, 2, 10, 6}}; MockTetrahedron tetrahedron(tetrahedronVertices); EXPECT_EQ(tetrahedronVertices, tetrahedron.verticesId); /// Check comparisons MockTetrahedron sameTetrahedron(tetrahedronVertices); EXPECT_TRUE(tetrahedron == sameTetrahedron); EXPECT_FALSE(tetrahedron != sameTetrahedron); std::array differentTetrahedronVertices = {{10, 5, 7, 3}}; MockTetrahedron tetrahedronWithDifferentVertices(differentTetrahedronVertices); EXPECT_FALSE(tetrahedron == tetrahedronWithDifferentVertices); EXPECT_TRUE(tetrahedron != tetrahedronWithDifferentVertices); }opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/MeshTest.cpp000066400000000000000000000156671277777236100247030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the Mesh class. #include "gtest/gtest.h" #include "SurgSim/DataStructures/MeshElement.h" #include "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/DataStructures/UnitTests/MockObjects.h" #include "SurgSim/DataStructures/Vertex.h" #include using SurgSim::DataStructures::Vertices; using SurgSim::DataStructures::Vertex; using SurgSim::Math::Vector3d; class MeshTests : public ::testing::Test { public: void SetUp() { // Set to true to print the test positions. bool printPositions = false; // Set to true to print the test normals. bool printNormals = false; // Set the number of test vertices size_t numVertices = 10; std::default_random_engine generator; std::uniform_real_distribution positionDistribution(-10.0, 10.0); std::uniform_real_distribution normalDistribution(-1.0, 1.0); if (printPositions) { std::cout << "Test Positions:\n"; } /// Generate random positions for each vertex for (size_t i = 0; i < numVertices; ++i) { Vector3d position(positionDistribution(generator), positionDistribution(generator), positionDistribution(generator)); testPositions.push_back(position); if (printPositions) { std::cout << "\t" << i << ": (" << position.x() << ", " << position.y() << ", " << position.z() << ")\n"; } } if (printNormals) { std::cout << "Test Normals:\n"; } /// Generate random normals for each vertex for (size_t i = 0; i < numVertices; ++i) { Vector3d normal(normalDistribution(generator), normalDistribution(generator), normalDistribution(generator)); normal.normalize(); testNormals.push_back(normal); if (printNormals) { std::cout << "\t" << i << ": (" << normal.x() << ", " << normal.y() << ", " << normal.z() << ")\n"; } } } void TearDown() { } /// Positions of test vertices std::vector testPositions; /// Normals of test vertices std::vector testNormals; }; TEST_F(MeshTests, InitTest) { ASSERT_NO_THROW({MockMesh mesh;}); /// Check that we can also create a mesh with no data ASSERT_NO_THROW({Vertices mesh;}); } TEST_F(MeshTests, CreateVerticesTest) { MockMesh mesh; EXPECT_EQ(0u, mesh.getNumVertices()); EXPECT_EQ(0u, mesh.getVertices().size()); /// Create the test vertices for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(testPositions[i], testNormals[i])); EXPECT_EQ(i + 1, mesh.getNumVertices()); const std::vector& vertices = mesh.getVertices(); EXPECT_EQ(i + 1, vertices.size()); /// Make sure each vertex is set properly for (size_t j = 0; j < mesh.getNumVertices(); ++j) { EXPECT_EQ(testPositions[j], vertices[j].position); const MockVertexData& data = vertices[j].data; EXPECT_EQ(j, data.getId()); EXPECT_EQ(testNormals[j], data.getNormal()); } } } TEST_F(MeshTests, SetVertexPositionsTest) { MockMesh mesh; /// Create vertices with test normals, but all positions at (0,0,0) for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(Vector3d(0.0, 0.0, 0.0), testNormals[i])); EXPECT_EQ(i + 1, mesh.getNumVertices()); } mesh.setVertexPositions(testPositions); EXPECT_EQ(1, mesh.getNumUpdates()); EXPECT_EQ(testPositions.size(), mesh.getNumVertices()); const std::vector& vertices = mesh.getVertices(); EXPECT_EQ(testPositions.size(), vertices.size()); /// Make sure each vertex is set properly for (size_t i = 0; i < mesh.getNumVertices(); ++i) { EXPECT_EQ(testPositions[i], vertices[i].position); const MockVertexData& data = vertices[i].data; EXPECT_EQ(testNormals[i], data.getNormal()); } mesh.setVertexPositions(testPositions, false); EXPECT_EQ(1, mesh.getNumUpdates()); EXPECT_EQ(testPositions.size(), mesh.getNumVertices()); EXPECT_EQ(testPositions.size(), mesh.getVertices().size()); mesh.setVertexPositions(testPositions, true); EXPECT_EQ(2, mesh.getNumUpdates()); EXPECT_EQ(testPositions.size(), mesh.getNumVertices()); EXPECT_EQ(testPositions.size(), mesh.getVertices().size()); /// Test the individual set/get methods mesh.setVertexPosition(5, Vector3d(0.0, 0.0, 0.0)); /// Make sure each vertex is set properly for (size_t i = 0; i < mesh.getNumVertices(); ++i) { if (i == 5) { EXPECT_EQ(Vector3d(0.0, 0.0, 0.0), mesh.getVertexPosition(i)); EXPECT_EQ(testNormals[i], mesh.getVertexNormal(i)); } else { EXPECT_EQ(testPositions[i], mesh.getVertexPosition(i)); EXPECT_EQ(testNormals[i], mesh.getVertexNormal(i)); } } /// Try setting with wrong number of vertices mesh.createVertex(Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0)); // create one more vertex EXPECT_ANY_THROW(mesh.setVertexPositions(testPositions)); } TEST_F(MeshTests, ClearTest) { MockMesh mesh; EXPECT_EQ(0, mesh.getNumUpdates()); EXPECT_EQ(0u, mesh.getNumVertices()); EXPECT_EQ(0u, mesh.getVertices().size()); /// Create vertices for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0))); EXPECT_EQ(i + 1, mesh.getNumVertices()); } EXPECT_EQ(testPositions.size(), mesh.getNumVertices()); EXPECT_EQ(testPositions.size(), mesh.getVertices().size()); /// Clear mesh mesh.clear(); EXPECT_EQ(0u, mesh.getNumVertices()); EXPECT_EQ(0u, mesh.getVertices().size()); } TEST_F(MeshTests, UpdateTest) { MockMesh mesh; EXPECT_EQ(0, mesh.getNumUpdates()); for (int i = 0; i < 10; ++i) { mesh.update(); EXPECT_EQ(i + 1, mesh.getNumUpdates()); } } TEST_F(MeshTests, ComparisonTest) { MockMesh mesh; /// Create vertices using test positions and normals for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(testPositions[i], testNormals[i])); } MockMesh sameMesh; /// Create same mesh again for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, sameMesh.createVertex(testPositions[i], testNormals[i])); } MockMesh differentMesh; /// Create vertices, each with position and normal of (0,0,0) for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, differentMesh.createVertex(Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0))); } /// Test comparisons EXPECT_TRUE(mesh == sameMesh); EXPECT_FALSE(mesh != sameMesh); EXPECT_FALSE(mesh == differentMesh); EXPECT_TRUE(mesh != differentMesh); } opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/MeshVertexTest.cpp000066400000000000000000000036171277777236100260710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the Mesh class. #include "gtest/gtest.h" #include "SurgSim/DataStructures/Vertex.h" #include "SurgSim/DataStructures/UnitTests/MockObjects.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::Vertex; using SurgSim::Math::Vector3d; /// Vertex with ID and normal data typedef SurgSim::DataStructures::Vertex MockVertex; /// Vertex with no data typedef SurgSim::DataStructures::Vertex MockVertexNoData; TEST(MeshVertexTest, InitTest) { Vector3d position(0.0, 0.0, 0.0); MockVertexData data(0, Vector3d(1.0, 0.0, 0.0)); ASSERT_NO_THROW({MockVertex vertex(position, data);}); /// Check that we can also create a vertex with no data ASSERT_NO_THROW({MockVertexNoData vertex(position);}); } TEST(MeshVertexTest, VertexTest) { Vector3d position(1.0, 2.0, 3.0); MockVertexData data(2, Vector3d(1.0, 0.0, 0.0)); MockVertex vertex(position, data); EXPECT_EQ(position, vertex.position); EXPECT_EQ(data, vertex.data); { const MockVertexData& data = vertex.data; EXPECT_EQ(2u, data.getId()); EXPECT_EQ(Vector3d(1.0, 0.0, 0.0), data.getNormal()); } } TEST(MeshVertexTest, VertexNoDataTest) { Vector3d position(1.0, 2.0, 3.0); MockVertexNoData vertex(position); EXPECT_EQ(position, vertex.position); }opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/MockObjects.h000066400000000000000000000327031277777236100250050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_UNITTESTS_MOCKOBJECTS_H #define SURGSIM_DATASTRUCTURES_UNITTESTS_MOCKOBJECTS_H #include #include #include "SurgSim/DataStructures/Grid.h" #include "SurgSim/DataStructures/TetrahedronMesh.h" #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Math/Vector.h" class ElementTest { public: int m_number; std::string m_string; ElementTest() : m_number(-1), m_string("Empty"){} explicit ElementTest(int i) : m_number(i) { std::stringstream s; s << i; m_string = s.str(); } ElementTest(const ElementTest& e) : m_number(e.m_number), m_string(e.m_string){} bool operator ==(const ElementTest& e) const { return m_number == e.m_number && m_string.compare(e.m_string) == 0; } }; // Add a hash function for this class namespace std { template <> struct hash { std::size_t operator()(const ElementTest& k) const { using std::size_t; using std::hash; using std::string; // Compute individual hash values for first, // second and third and combine them using XOR // and bit shifting: return (hash()(k.m_string) ^ (hash()(k.m_number) << 1)); } }; }; // namespace std template class Mock3DData { public: Mock3DData() : m_height(0), m_width(0), m_depth(0), m_buffer(0) { } Mock3DData(int height, int width, int depth) : m_height(height), m_width(width), m_depth(depth), m_buffer(height*depth*width) { } T get(int i, int j, int k) { return m_buffer[getIndex(i,j,k)]; } void set(int i, int j, int k, T value) { m_buffer[getIndex(i,j,k)] = value; } private: int getIndex(int i, int j, int k) { return i + j*m_width + k*m_width*m_height; } int m_height; int m_width; int m_depth; std::vector m_buffer; }; /// Vertex data for testing, storing ID and surface normal class MockVertexData { public: /// Constructor /// \param id Unique ID of the vertex in its mesh /// \param normal Surface normal of the vertex MockVertexData(size_t id, const SurgSim::Math::Vector3d& normal) : m_id(id), m_normal(normal) { } /// Constructor MockVertexData() { } /// Destructor virtual ~MockVertexData() { } /// Gets the vertex's unique ID in its mesh. size_t getId() const { return m_id; } /// Gets the vertex surface normal const SurgSim::Math::Vector3d& getNormal() const { return m_normal; } /// Compare the vertex data to another one (equality) /// \param data The MockVertexData to compare it to /// \return True if the two vertex data are equal, False otherwise bool operator==(const MockVertexData& data) const { return m_id == data.m_id && (m_normal - data.m_normal).norm() < 1.0e-10; } private: /// Vertex's unique ID in its mesh size_t m_id; /// Vertex surface normal SurgSim::Math::Vector3d m_normal; }; /// Edge data for testing, storing ID class MockEdgeData { public: /// Constructor /// \param id Unique ID of the edge in its mesh explicit MockEdgeData(size_t id) : m_id(id) { } /// Constructor MockEdgeData() { } /// Destructor virtual ~MockEdgeData() { } /// Gets the edge's unique ID in its mesh. size_t getId() const { return m_id; } /// Compare the edge data to another one (equality) /// \param data The MockEdgeData to compare it to /// \return True if the two edge data are equal, False otherwise bool operator==(const MockEdgeData& data) const { return m_id == data.m_id; } private: /// Edge's unique ID in its mesh size_t m_id; }; /// Triangle data for testing, storing ID and edge IDs class MockTriangleData { public: /// Constructor /// \param id Unique ID of the triangle in its mesh /// \param edges IDs of the triangle's edges in its mesh MockTriangleData(size_t id, const std::array& edges) : m_id(id), m_edges(edges) { } /// Constructor MockTriangleData() { } /// Destructor virtual ~MockTriangleData() { } /// Gets the triangle's unique ID in its mesh. size_t getId() const { return m_id; } /// Gets the IDs of the triangle's edges in its mesh. const std::array& getEdges() const { return m_edges; } /// Compare the triangle data to another one (equality) /// \param data The MockTriangleData to compare it to /// \return True if the two triangle data are equal, False otherwise bool operator==(const MockTriangleData& data) const { return m_id == data.m_id && m_edges == data.m_edges; } private: /// Triangle's unique ID in its mesh size_t m_id; /// The IDs of the triangle's edges in its mesh, in order: {vertex0->vertex1, vertex1->vertex2, vertex2->vertex3} std::array m_edges; }; /// Tetrahedron data for testing, storing ID and edge IDs, triangle IDs class MockTetrahedronData { public: /// Constructor /// \param id Unique ID of the tetrahedron in its mesh /// \param edges IDs of the tetrahedron's edges in its mesh (6 edges) /// \param triangles IDs of the tetrahedron's triangles in its mesh (4 triangles) MockTetrahedronData(size_t id, const std::array& edges, const std::array& triangles) : m_id(id), m_edges(edges), m_triangles(triangles) { } /// Destructor virtual ~MockTetrahedronData() { } /// Gets the tetrahedron's unique ID in its mesh. size_t getId() const { return m_id; } /// Gets the IDs of the tetrahedron's edges in its mesh. const std::array& getEdges() const { return m_edges; } /// Gets the IDs of the tetrahedron's triangles in its mesh. const std::array& getTriangles() const { return m_triangles; } /// Compare the tetrahedron data (equality) /// \param data The MockTetrahedronData to compare it to /// \return True if the two tetrahedron data are equals, False otherwise bool operator==(const MockTetrahedronData& data) const { return m_id == data.m_id && m_edges == data.m_edges && m_triangles == data.m_triangles; } private: /// Tetrahedron's unique ID in its mesh size_t m_id; /// The IDs of the tetrahedron's edges in its mesh, in order: /// {vertex0->vertex1, vertex0->vertex2, vertex0->vertex3, vertex1->vertex2, vertex1->vertex3, vertex2->vertex3} std::array m_edges; /// The IDs of the tetrahedron's triangles in its mesh, in order: {vertex012, vertex123, vertex230, vertex301} std::array m_triangles; }; /// Mesh for testing using MockVertexData class MockMesh : public SurgSim::DataStructures::Vertices { public: /// Vertex type for convenience typedef Vertices::VertexType VertexType; /// Constructor. Start out with no vertices and 0 updates MockMesh() : SurgSim::DataStructures::Vertices(), m_numUpdates(0) { } /// Destructor virtual ~MockMesh() { } /// Create a new vertex in the mesh /// \param position Position of the vertex /// \param normal Normal of the vertex /// \return Unique ID of vertex in the mesh size_t createVertex(const SurgSim::Math::Vector3d& position, const SurgSim::Math::Vector3d& normal) { VertexType vertex(position, MockVertexData(getNumVertices(), normal)); return addVertex(vertex); } /// Returns the normal of a vertex const SurgSim::Math::Vector3d& getVertexNormal(size_t id) const { return getVertex(id).data.getNormal(); } /// Returns the number of updates performed on the mesh int getNumUpdates() const { return m_numUpdates; } private: /// Provides update functionality, which just increments the number of updates bool doUpdate() override { ++m_numUpdates; return true; } /// Number of updates performed on the mesh int m_numUpdates; }; /// Tetrahedron Mesh for testing using MockVertexData, MockEdgeData, MockTriangleData and MockTetrahedronData class MockTetrahedronMesh : public SurgSim::DataStructures::TetrahedronMesh { public: /// Vertex type for convenience typedef TetrahedronMesh::VertexType VertexType; /// Edge type for convenience typedef TetrahedronMesh::EdgeType EdgeType; /// Triangle type for convenience typedef TetrahedronMesh::TriangleType TriangleType; /// Tetrahedron type for convenience typedef TetrahedronMesh::TetrahedronType TetrahedronType; /// Constructor. Start out with no vertices and 0 updates MockTetrahedronMesh() : SurgSim::DataStructures::TetrahedronMesh(), m_numUpdates(0) { } /// Destructor virtual ~MockTetrahedronMesh() { } /// Create a new vertex in the mesh /// \param position Position of the vertex /// \param normal Normal of the vertex /// \return Unique ID of vertex in the mesh size_t createVertex(const SurgSim::Math::Vector3d& position, const SurgSim::Math::Vector3d& normal) { VertexType vertex(position, MockVertexData(getNumVertices(), normal)); return addVertex(vertex); } /// Create a new edge in the mesh /// \param vertices Edge vertices (x2) /// \return Unique ID of vertex in the mesh size_t createEdge(const std::array& vertices) { EdgeType edge(vertices, MockEdgeData(getNumEdges())); return addEdge(edge); } /// Create a new triangle in the mesh /// \param vertices (x3) /// \param edges (x3) /// \return Unique ID of vertex in the mesh size_t createTriangle(const std::array& vertices, const std::array& edges) { TriangleType triangle(vertices, MockTriangleData(getNumTriangles(), edges)); return addTriangle(triangle); } /// Create a new tetrahedron in the mesh /// \param vertices connectivity (x4) /// \param edges connectivity (x6) /// \param triangles connectivity (x4) /// \return Unique ID of vertex in the mesh size_t createTetrahedron(const std::array& vertices, const std::array& edges, const std::array& triangles) { TetrahedronType tetrahedron(vertices, MockTetrahedronData(getNumTetrahedrons(), edges, triangles)); return addTetrahedron(tetrahedron); } /// Returns the normal of a vertex const SurgSim::Math::Vector3d& getVertexNormal(size_t id) const { return getVertex(id).data.getNormal(); } /// Returns the number of updates performed on the mesh int getNumUpdates() const { return m_numUpdates; } private: /// Provides update functionality, which just increments the number of updates bool doUpdate() override { ++m_numUpdates; return true; } /// Number of updates performed on the mesh int m_numUpdates; }; template class MockGrid : public SurgSim::DataStructures::Grid { public: typedef typename SurgSim::DataStructures::Grid::CellContent CellContent; typedef typename SurgSim::DataStructures::Grid::NDId NDId; typedef typename SurgSim::DataStructures::Grid::NDIdHash NDIdHash; MockGrid(const Eigen::Matrix& cellSize, const Eigen::AlignedBox& bounds) : SurgSim::DataStructures::Grid(cellSize, bounds) {} std::unordered_map& getActiveCells() { return this->m_activeCells; } std::unordered_map& getCellIds() { return this->m_cellIds; } std::vector& getNonConstNeighbors(const T& element) { return const_cast&>(this->getNeighbors(element)); } Eigen::Matrix getSize() const { return this->m_size; } Eigen::AlignedBox getAABB() const { return this->m_aabb; } }; namespace wrappers { template class formatIterator { public: formatIterator(IteratorType begin, IteratorType end, const std::string& separator) : m_begin(begin), m_end(end), m_separator(separator) { } friend std::ostream& operator<<(std::ostream& stream, const formatIterator& formatIterator) { if (formatIterator.m_begin == formatIterator.m_end) { return stream; } IteratorType start = formatIterator.m_begin; IteratorType penultimate = formatIterator.m_end - 1; while (start != penultimate) { stream << *start++ << formatIterator.m_separator; } stream << *start; return stream; } private: IteratorType m_begin; IteratorType m_end; const std::string& m_separator; }; } template wrappers::formatIterator formatIterator(const IterableType& iterable, const std::string& separator) { return wrappers::formatIterator( iterable.cbegin(), iterable.cend(), separator); } template wrappers::formatIterator formatIterator(IteratorType begin, IteratorType end, const std::string& separator) { return wrappers::formatIterator(begin, end, separator); } #endif // SURGSIM_DATASTRUCTURES_UNITTESTS_MOCKOBJECTS_H opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/NamedDataTests.cpp000066400000000000000000000265211277777236100257770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the NamedData class. #include #include "SurgSim/DataStructures/IndexDirectory.h" #include "SurgSim/DataStructures/NamedData.h" #include "SurgSim/DataStructures/NamedDataBuilder.h" #include "gtest/gtest.h" using SurgSim::DataStructures::NamedData; using SurgSim::DataStructures::NamedDataBuilder; namespace { const double EPSILON = 1e-9; }; /// Creating a named data object. TEST(NamedDataTests, CanConstruct) { NamedDataBuilder builder; builder.addEntry("test"); NamedData data = builder.createData(); EXPECT_EQ(1, data.getNumEntries()); EXPECT_EQ(1u, data.size()); EXPECT_TRUE(data.isValid()); EXPECT_TRUE(data.hasEntry(0)); EXPECT_TRUE(data.hasEntry("test")); EXPECT_FALSE(data.hasData(0)); EXPECT_FALSE(data.hasData("test")); EXPECT_EQ(0, data.getIndex("test")); EXPECT_EQ("test", data.getName(0)); EXPECT_FALSE(data.hasEntry(1)); EXPECT_FALSE(data.hasEntry("missing")); EXPECT_FALSE(data.hasData(1)); EXPECT_FALSE(data.hasData("missing")); EXPECT_EQ(-1, data.getIndex("missing")); EXPECT_EQ("", data.getName(1)); } /// Creating a named data object by copy construction. TEST(NamedDataTests, CanCopyConstruct) { NamedDataBuilder builder; builder.addEntry("test"); NamedData preData = builder.createData(); NamedData data = preData; EXPECT_EQ(1, data.getNumEntries()); EXPECT_EQ(1u, data.size()); EXPECT_TRUE(data.isValid()); EXPECT_TRUE(data.hasEntry(0)); EXPECT_TRUE(data.hasEntry("test")); EXPECT_FALSE(data.hasData(0)); EXPECT_FALSE(data.hasData("test")); EXPECT_EQ(0, data.getIndex("test")); EXPECT_EQ("test", data.getName(0)); EXPECT_FALSE(data.hasEntry(1)); EXPECT_FALSE(data.hasEntry("missing")); EXPECT_FALSE(data.hasData(1)); EXPECT_FALSE(data.hasData("missing")); EXPECT_EQ(-1, data.getIndex("missing")); EXPECT_EQ("", data.getName(1)); } /// Creating a shared_ptr to a named data object. TEST(NamedDataTests, CanCreateShared) { NamedDataBuilder builder; builder.addEntry("test"); std::shared_ptr> data = builder.createSharedData(); EXPECT_EQ(1, data->getNumEntries()); EXPECT_EQ(1u, data->size()); EXPECT_TRUE(data->isValid()); EXPECT_TRUE(data->hasEntry(0)); EXPECT_TRUE(data->hasEntry("test")); EXPECT_FALSE(data->hasData(0)); EXPECT_FALSE(data->hasData("test")); EXPECT_EQ(0, data->getIndex("test")); EXPECT_EQ("test", data->getName(0)); EXPECT_FALSE(data->hasEntry(1)); EXPECT_FALSE(data->hasEntry("missing")); EXPECT_FALSE(data->hasData(1)); EXPECT_FALSE(data->hasData("missing")); EXPECT_EQ(-1, data->getIndex("missing")); EXPECT_EQ("", data->getName(1)); } /// Creating a named data object using a vector of names, without a builder. TEST(NamedDataTests, CanConstructFromNames) { std::vector names; names.push_back("test"); NamedData data(names); EXPECT_EQ(1, data.getNumEntries()); EXPECT_EQ(1u, data.size()); EXPECT_TRUE(data.isValid()); EXPECT_TRUE(data.hasEntry(0)); EXPECT_TRUE(data.hasEntry("test")); EXPECT_FALSE(data.hasData(0)); EXPECT_FALSE(data.hasData("test")); EXPECT_EQ(0, data.getIndex("test")); EXPECT_EQ("test", data.getName(0)); EXPECT_FALSE(data.hasEntry(1)); EXPECT_FALSE(data.hasEntry("missing")); EXPECT_FALSE(data.hasData(1)); EXPECT_FALSE(data.hasData("missing")); EXPECT_EQ(-1, data.getIndex("missing")); EXPECT_EQ("", data.getName(1)); } /// Creating a named data object using an IndexDirectory, not from a builder. TEST(NamedDataTests, CanConstructFromIndexDirectory) { NamedDataBuilder builder; builder.addEntry("test"); std::shared_ptr dir = builder.createData().getDirectory(); NamedData data(dir); EXPECT_EQ(1, data.getNumEntries()); EXPECT_EQ(1u, data.size()); EXPECT_TRUE(data.isValid()); EXPECT_TRUE(data.hasEntry(0)); EXPECT_TRUE(data.hasEntry("test")); EXPECT_FALSE(data.hasData(0)); EXPECT_FALSE(data.hasData("test")); EXPECT_EQ(0, data.getIndex("test")); EXPECT_EQ("test", data.getName(0)); EXPECT_FALSE(data.hasEntry(1)); EXPECT_FALSE(data.hasEntry("missing")); EXPECT_FALSE(data.hasData(1)); EXPECT_FALSE(data.hasData("missing")); EXPECT_EQ(-1, data.getIndex("missing")); EXPECT_EQ("", data.getName(1)); } /// Run a few tests against an empty NamedData structure. TEST(NamedDataTests, Empty) { NamedDataBuilder builder; EXPECT_EQ(0, builder.getNumEntries()); EXPECT_EQ("", builder.getName(0)); EXPECT_EQ(-1, builder.getIndex("missing")); EXPECT_FALSE(builder.hasEntry("missing")); NamedData data = builder.createData(); EXPECT_EQ(0, data.getNumEntries()); EXPECT_EQ("", data.getName(0)); EXPECT_EQ(-1, data.getIndex("missing")); EXPECT_FALSE(data.hasEntry("missing")); } /// Creating an uninitialized data object. TEST(NamedDataTests, Uninitialized) { NamedData data; EXPECT_FALSE(data.isValid()); EXPECT_EQ(0, data.getNumEntries()); EXPECT_EQ("", data.getName(0)); EXPECT_EQ(-1, data.getIndex("missing")); EXPECT_FALSE(data.hasEntry("missing")); EXPECT_FALSE(data.hasData("missing")); float value = 9.87f; EXPECT_FALSE(data.get("missing", &value)); EXPECT_NEAR(9.87f, value, 1e-9); // i.e. unchanged EXPECT_FALSE(data.reset("missing")); EXPECT_FALSE(data.set("missing", value)); } /// Putting data into the container. TEST(NamedDataTests, Put) { NamedDataBuilder builder; builder.addEntry("first"); builder.addEntry("second"); builder.addEntry("third"); NamedData data = builder.createData(); data.set("first", 1.23f); data.set(1, 4.56f); EXPECT_TRUE(data.hasEntry(0)); EXPECT_TRUE(data.hasEntry("first")); EXPECT_TRUE(data.hasData(0)); EXPECT_TRUE(data.hasData("first")); EXPECT_EQ(0, data.getIndex("first")); EXPECT_EQ("first", data.getName(0)); EXPECT_TRUE(data.hasEntry(1)); EXPECT_TRUE(data.hasEntry("second")); EXPECT_TRUE(data.hasData(1)); EXPECT_TRUE(data.hasData("second")); EXPECT_EQ(1, data.getIndex("second")); EXPECT_EQ("second", data.getName(1)); EXPECT_TRUE(data.hasEntry(2)); EXPECT_TRUE(data.hasEntry("third")); EXPECT_FALSE(data.hasData(2)); EXPECT_FALSE(data.hasData("third")); EXPECT_EQ(2, data.getIndex("third")); EXPECT_EQ("third", data.getName(2)); } /// Copying data between NamedData, when they cannot assign to each other. TEST(NamedDataTests, Copy) { NamedDataBuilder sourceBuilder; sourceBuilder.addEntry("first"); sourceBuilder.addEntry("second"); NamedData sourceData = sourceBuilder.createData(); NamedDataBuilder targetBuilder; targetBuilder.addEntry("second"); targetBuilder.addEntry("third"); NamedData targetData = targetBuilder.createData(); const float secondFloat = 1.23f; sourceData.set("second", secondFloat); SurgSim::DataStructures::NamedDataCopyMap map; map[sourceData.getIndex("second")] = targetData.getIndex("second"); targetData.copy(sourceData, map); EXPECT_FALSE(targetData.hasEntry("first")); float outSecondFloat; ASSERT_TRUE(targetData.get("second", &outSecondFloat)); EXPECT_NEAR(secondFloat, outSecondFloat, EPSILON); EXPECT_FALSE(targetData.hasData("third")); } /// Getting data into the container. TEST(NamedDataTests, Get) { NamedDataBuilder builder; builder.addEntry("first"); builder.addEntry("second"); builder.addEntry("third"); NamedData data = builder.createData(); data.set("first", 1.23f); data.set(1, 4.56f); { float value = 9.87f; EXPECT_TRUE(data.get(0, &value)); EXPECT_NEAR(1.23f, value, 1e-9); } { float value = 9.87f; EXPECT_TRUE(data.get("first", &value)); EXPECT_NEAR(1.23f, value, 1e-9); } { float value = 9.87f; EXPECT_TRUE(data.get(1, &value)); EXPECT_NEAR(4.56f, value, 1e-9); } { float value = 9.87f; EXPECT_TRUE(data.get("second", &value)); EXPECT_NEAR(4.56f, value, 1e-9); } { float value = 9.87f; EXPECT_FALSE(data.get(2, &value)); EXPECT_NEAR(9.87f, value, 1e-9); // i.e. unchanged } { float value = 9.87f; EXPECT_FALSE(data.get("third", &value)); EXPECT_NEAR(9.87f, value, 1e-9); // i.e. unchanged } } /// Resetting the data in the container. TEST(NamedDataTests, ResetAll) { NamedDataBuilder builder; builder.addEntry("first"); builder.addEntry("second"); builder.addEntry("third"); NamedData data = builder.createData(); data.set("first", 1.23f); data.set(1, 4.56f); data.resetAll(); EXPECT_TRUE(data.hasEntry(0)); EXPECT_TRUE(data.hasEntry("first")); EXPECT_FALSE(data.hasData(0)); EXPECT_FALSE(data.hasData("first")); EXPECT_TRUE(data.hasEntry(1)); EXPECT_TRUE(data.hasEntry("second")); EXPECT_FALSE(data.hasData(1)); EXPECT_FALSE(data.hasData("second")); EXPECT_TRUE(data.hasEntry(2)); EXPECT_TRUE(data.hasEntry("third")); EXPECT_FALSE(data.hasData(2)); EXPECT_FALSE(data.hasData("third")); } /// Resetting one data entry at a time. TEST(NamedDataTests, ResetOne) { NamedDataBuilder builder; builder.addEntry("first"); builder.addEntry("second"); builder.addEntry("third"); NamedData data = builder.createData(); data.set("first", 1.23f); data.set(1, 4.56f); data.reset(0); EXPECT_TRUE(data.hasEntry(0)); EXPECT_TRUE(data.hasEntry("first")); EXPECT_FALSE(data.hasData(0)); EXPECT_FALSE(data.hasData("first")); EXPECT_TRUE(data.hasEntry(1)); EXPECT_TRUE(data.hasEntry("second")); EXPECT_TRUE(data.hasData(1)); EXPECT_TRUE(data.hasData("second")); EXPECT_TRUE(data.hasEntry(2)); EXPECT_TRUE(data.hasEntry("third")); EXPECT_FALSE(data.hasData(2)); EXPECT_FALSE(data.hasData("third")); data.reset("second"); EXPECT_TRUE(data.hasEntry(1)); EXPECT_TRUE(data.hasEntry("second")); EXPECT_FALSE(data.hasData(1)); EXPECT_FALSE(data.hasData("second")); } TEST(NamedDataTests, CacheIndex) { std::string name = "test"; NamedData data; int index = -1; // invalid NamedData data.cacheIndex(name, &index); EXPECT_EQ(-1, index); NamedDataBuilder builder; builder.addEntry(name); data = builder.createData(); // valid NamedData, finds the string data.cacheIndex(name, &index); EXPECT_EQ(0, index); // index is >= 0, so nothing happens data.cacheIndex(name + "2", &index); EXPECT_EQ(0, index); int index2 = -1; // valid NamedData, string not there data.cacheIndex(name + "2", &index2); EXPECT_EQ(-1, index2); } TEST(NamedDataTests, SetRValue) { NamedDataBuilder builder; builder.addEntry("test"); { NamedData data; data = builder.createData(); std::string setValue = "value"; std::string getValue; data.set("test", std::move(setValue)); EXPECT_EQ("", setValue); data.get("test", &getValue); EXPECT_EQ("value", getValue); } { NamedData data; data = builder.createData(); std::string setValue = "value"; std::string getValue; int index = data.getIndex("test"); data.set(index, std::move(setValue)); EXPECT_EQ("", setValue); data.get(index, &getValue); EXPECT_EQ("value", getValue); } } opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/NamedVariantDataTests.cpp000066400000000000000000000123361277777236100273230ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the NamedVariantData class. #include "SurgSim/Framework/Assert.h" #include "SurgSim/DataStructures/NamedVariantData.h" #include "SurgSim/DataStructures/UnitTests/MockObjects.h" #include "gtest/gtest.h" using SurgSim::DataStructures::NamedVariantData; using SurgSim::DataStructures::NamedVariantDataBuilder; /// Creating a named variant data object. TEST(NamedVariantDataTests, CanConstruct) { SurgSim::DataStructures::NamedVariantDataBuilder builder; builder.addEntry("test"); SurgSim::DataStructures::NamedVariantData data = builder.createData(); EXPECT_EQ(1, data.getNumEntries()); EXPECT_EQ(1u, data.size()); EXPECT_TRUE(data.isValid()); EXPECT_TRUE(data.hasEntry(0)); EXPECT_TRUE(data.hasEntry("test")); EXPECT_FALSE(data.hasData(0)); EXPECT_FALSE(data.hasData("test")); EXPECT_EQ(0, data.getIndex("test")); EXPECT_EQ("test", data.getName(0)); EXPECT_FALSE(data.hasEntry(1)); EXPECT_FALSE(data.hasEntry("missing")); EXPECT_FALSE(data.hasData(1)); EXPECT_FALSE(data.hasData("missing")); EXPECT_EQ(-1, data.getIndex("missing")); EXPECT_EQ("", data.getName(1)); } /// Creating a named variant data object by copy construction. TEST(NamedVariantDataTests, CanCopyConstruct) { SurgSim::DataStructures::NamedVariantDataBuilder builder; builder.addEntry("test"); SurgSim::DataStructures::NamedVariantData preData = builder.createData(); SurgSim::DataStructures::NamedVariantData data = preData; EXPECT_EQ(1, data.getNumEntries()); EXPECT_EQ(1u, data.size()); EXPECT_TRUE(data.isValid()); EXPECT_TRUE(data.hasEntry(0)); EXPECT_TRUE(data.hasEntry("test")); EXPECT_FALSE(data.hasData(0)); EXPECT_FALSE(data.hasData("test")); EXPECT_EQ(0, data.getIndex("test")); EXPECT_EQ("test", data.getName(0)); EXPECT_FALSE(data.hasEntry(1)); EXPECT_FALSE(data.hasEntry("missing")); EXPECT_FALSE(data.hasData(1)); EXPECT_FALSE(data.hasData("missing")); EXPECT_EQ(-1, data.getIndex("missing")); EXPECT_EQ("", data.getName(1)); } TEST(NamedVariantDataTests, Set) { SurgSim::DataStructures::NamedVariantDataBuilder builder; builder.addEntry("test"); SurgSim::DataStructures::NamedVariantData data = builder.createData(); Mock3DData mockData(5, 5, 5); mockData.set(1, 1, 1, 1.23f); mockData.set(4, 3, 2, 4.56f); data.set("test", mockData); EXPECT_TRUE(data.hasEntry(0)); EXPECT_TRUE(data.hasEntry("test")); EXPECT_TRUE(data.hasData(0)); EXPECT_TRUE(data.hasData("test")); } TEST(NamedVariantDataTests, HasTypedData) { SurgSim::DataStructures::NamedVariantDataBuilder builder; builder.addEntry("test"); SurgSim::DataStructures::NamedVariantData data = builder.createData(); EXPECT_FALSE(data.hasTypedData(0)); EXPECT_FALSE(data.hasTypedData("test")); Mock3DData mockData(5, 5, 5); mockData.set(1, 1, 1, 1.23); mockData.set(4, 3, 2, 4.56); data.set("test", mockData); EXPECT_TRUE(data.hasTypedData >(0)); EXPECT_TRUE(data.hasTypedData >("test")); EXPECT_FALSE(data.hasTypedData(0)); EXPECT_FALSE(data.hasTypedData("test")); EXPECT_FALSE(data.hasTypedData(5)); EXPECT_FALSE(data.hasTypedData("missing")); } TEST(NamedVariantDataTests, Get) { SurgSim::DataStructures::NamedVariantDataBuilder builder; builder.addEntry("test"); SurgSim::DataStructures::NamedVariantData data = builder.createData(); Mock3DData mockData(5, 5, 5); mockData.set(1, 1, 1, 1.23f); mockData.set(4, 3, 2, 4.56f); data.set("test", mockData); { Mock3DData value; EXPECT_TRUE(data.get("test", &value)); EXPECT_EQ(1.23f, value.get(1, 1, 1)); EXPECT_EQ(4.56f, value.get(4, 3, 2)); } { Mock3DData value; EXPECT_TRUE(data.get(0, &value)); EXPECT_EQ(1.23f, value.get(1, 1, 1)); EXPECT_EQ(4.56f, value.get(4, 3, 2)); } { Mock3DData value; EXPECT_FALSE(data.get(5, &value)); EXPECT_FALSE(data.get("missing", &value)); } { Mock3DData wrongType; EXPECT_THROW(data.get("test", &wrongType), SurgSim::Framework::AssertionFailure); } } TEST(NamedVariantDataTests, Reset) { SurgSim::DataStructures::NamedVariantDataBuilder builder; builder.addEntry("test"); SurgSim::DataStructures::NamedVariantData data = builder.createData(); Mock3DData mockData(5, 5, 5); mockData.set(1, 1, 1, 1.23f); mockData.set(4, 3, 2, 4.56f); data.set("test", mockData); EXPECT_TRUE(data.hasEntry(0)); EXPECT_TRUE(data.hasEntry("test")); EXPECT_TRUE(data.hasData(0)); EXPECT_TRUE(data.hasData("test")); data.resetAll(); EXPECT_TRUE(data.hasEntry(0)); EXPECT_TRUE(data.hasEntry("test")); EXPECT_FALSE(data.hasData(0)); EXPECT_FALSE(data.hasData("test")); } opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/OctreeNodeTests.cpp000066400000000000000000000402371277777236100262100ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OctreeNode class. #include "gtest/gtest.h" #include #include #include #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/OctreeNode.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::EmptyData; using SurgSim::DataStructures::OctreeNode; using SurgSim::Math::Vector3d; struct MockData { int mockInt; double mockDouble; std::string mockString; }; typedef OctreeNode OctreeNodeType; template<> std::string OctreeNodeType::m_className = "OctreeNode"; namespace { const double epsilon = 1e-14; } namespace SurgSim { namespace DataStructures { TEST(OctreeNodeTests, CanConstruct) { SurgSim::Math::Aabbd boundingBox(Vector3d::Zero(), Vector3d::Ones()); EXPECT_NO_THROW({OctreeNodeType octree(boundingBox);}); EXPECT_NO_THROW(std::make_shared(boundingBox)); } TEST(OctreeNodeTests, InitialValues) { SurgSim::Math::Aabbd expectedBoundingBox(Vector3d::Zero(), Vector3d::Ones()); OctreeNodeType octree(expectedBoundingBox); EXPECT_FALSE(octree.isActive()); EXPECT_FALSE(octree.hasChildren()); EXPECT_TRUE(expectedBoundingBox.isApprox(octree.getBoundingBox())); auto children = octree.getChildren(); for (auto child = children.cbegin(); child != children.cend(); ++child) { EXPECT_EQ(nullptr, *child); } } TEST(OctreeNodeTests, SetIsActive) { SurgSim::Math::Aabbd expectedBoundingBox(Vector3d::Zero(), Vector3d::Ones()); OctreeNodeType octree(expectedBoundingBox); octree.setIsActive(true); EXPECT_TRUE(octree.isActive()); octree.setIsActive(false); EXPECT_FALSE(octree.isActive()); } TEST(OctreeNodeTests, Subdivide) { SurgSim::Math::Aabbd boundingBox(Vector3d::Zero(), Vector3d::Ones() * 16.0); OctreeNodeType octree(boundingBox); EXPECT_FALSE(octree.hasChildren()); EXPECT_FALSE(octree.isActive()); octree.subdivide(); EXPECT_TRUE(octree.hasChildren()); EXPECT_FALSE(octree.isActive()); auto children = octree.getChildren(); for (auto child = children.cbegin(); child != children.cend(); ++child) { ASSERT_NE(nullptr, *child); EXPECT_FALSE((*child)->isActive()); EXPECT_FALSE((*child)->hasChildren()); } std::array expectedBoxes = {{ SurgSim::Math::Aabbd(Vector3d(0.0, 0.0, 0.0), Vector3d(8.0, 8.0, 8.0)), SurgSim::Math::Aabbd(Vector3d(0.0, 0.0, 8.0), Vector3d(8.0, 8.0, 16.0)), SurgSim::Math::Aabbd(Vector3d(0.0, 8.0, 0.0), Vector3d(8.0, 16.0, 8.0)), SurgSim::Math::Aabbd(Vector3d(0.0, 8.0, 8.0), Vector3d(8.0, 16.0, 16.0)), SurgSim::Math::Aabbd(Vector3d(8.0, 0.0, 0.0), Vector3d(16.0, 8.0, 8.0)), SurgSim::Math::Aabbd(Vector3d(8.0, 0.0, 8.0), Vector3d(16.0, 8.0, 16.0)), SurgSim::Math::Aabbd(Vector3d(8.0, 8.0, 0.0), Vector3d(16.0, 16.0, 8.0)), SurgSim::Math::Aabbd(Vector3d(8.0, 8.0, 8.0), Vector3d(16.0, 16.0, 16.0)) } }; for (auto expectedBox = expectedBoxes.cbegin(); expectedBox != expectedBoxes.cend(); ++expectedBox) { bool boxFound = false; for (auto child = children.cbegin(); child != children.cend(); ++child) { if (expectedBox->isApprox((*child)->getBoundingBox())) { boxFound = true; break; } } EXPECT_TRUE(boxFound); } } int countOctreeLevels(std::shared_ptr node) { if (node->hasChildren()) { auto children = node->getChildren(); int maxLevels = 0; for (auto child = children.cbegin(); child != children.cend(); ++child) { if ((*child)->isActive()) { int levels = countOctreeLevels(*child); if (levels > maxLevels) { maxLevels = levels; } } } return maxLevels + 1; } return 1; } TEST(OctreeNodeTests, AddNodes) { SurgSim::Math::Aabbd boundingBox(Vector3d::Ones() * (-8.0), Vector3d::Ones() * 8.0); std::shared_ptr octree = std::make_shared(boundingBox); const int levels = 5; MockData data = {1, 3.14, "string"}; EXPECT_FALSE(octree->hasChildren()); EXPECT_FALSE(octree->isActive()); EXPECT_TRUE(octree->addData(Vector3d(1.0, 1.0, 1.0), levels, data)); EXPECT_TRUE(octree->addData(Vector3d(-4.0, 5.0, -7.0), levels, data)); EXPECT_TRUE(octree->hasChildren()); EXPECT_TRUE(octree->isActive()); EXPECT_EQ(5, countOctreeLevels(octree)); int numActive = 0; auto children = octree->getChildren(); for (auto child = children.cbegin(); child != children.cend(); ++child) { if ((*child)->isActive()) { numActive++; } } EXPECT_EQ(2, numActive); } TEST(OctreeNodeTests, Data) { SurgSim::Math::Aabbd boundingBox(Vector3d::Ones() * (-8.0), Vector3d::Ones() * 8.0); OctreeNodeType octree(boundingBox); const int levels = 1; MockData expectedData = {1, 3.14, "string"}; EXPECT_FALSE(octree.hasChildren()); EXPECT_FALSE(octree.isActive()); EXPECT_TRUE(octree.addData(Vector3d(1.0, 1.0, 1.0), levels, expectedData)); EXPECT_FALSE(octree.hasChildren()); EXPECT_TRUE(octree.isActive()); EXPECT_EQ(expectedData.mockInt, octree.data.mockInt); EXPECT_NEAR(expectedData.mockDouble, octree.data.mockDouble, epsilon); EXPECT_EQ(expectedData.mockString, octree.data.mockString); } TEST(OctreeNodeTests, OctreePath) { SurgSim::Math::Aabbd boundingBox(Vector3d::Ones() * (-8.0), Vector3d::Ones() * 8.0); std::shared_ptr octree = std::make_shared(boundingBox); SurgSim::DataStructures::OctreePath path; EXPECT_NO_THROW(octree->getNode(path)); EXPECT_EQ(octree, octree->getNode(path)); octree->subdivide(); path.push_back(3); EXPECT_NO_THROW(octree->getNode(path)); EXPECT_NE(nullptr, octree->getNode(path)); auto previous = octree->getNode(path); path.push_back(1); EXPECT_THROW(octree->getNode(path), SurgSim::Framework::AssertionFailure); // Should return the last valid node on the path EXPECT_NO_THROW(octree->getNode(path, true)); EXPECT_EQ(previous, octree->getNode(path, true)); } struct Data1 { std::string name; }; template <> std::string OctreeNode::m_className = "OctreeNode"; struct Data2 { double value; }; template <> std::string OctreeNode::m_className = "OctreeNode"; TEST(OctreeNodeTests, CopyConstructor) { SurgSim::Math::Aabbd boundingBox(Vector3d::Zero(), 2 * Vector3d::Ones()); std::shared_ptr> octree1 = std::make_shared>(boundingBox); Data1 dataRoot = {"root"}; octree1->addData(Vector3d(1.0, 1.0, 1.0), 1, dataRoot); Data1 dataChild = {"child"}; octree1->addData(Vector3d(0.5, 0.5, 0.5), 2, dataChild); { SCOPED_TRACE("Copying with different Data Type"); std::shared_ptr> octree2 = std::make_shared>(*octree1); ASSERT_NE(nullptr, octree2); EXPECT_TRUE(octree1->getBoundingBox().isApprox(octree2->getBoundingBox())); EXPECT_EQ(octree1->hasChildren(), octree2->hasChildren()); EXPECT_EQ(octree1->isActive(), octree2->isActive()); for (size_t i = 0; i < 8; i++) { if (octree1->getChild(i) == nullptr) { EXPECT_EQ(nullptr, octree2->getChild(i)); } else { ASSERT_NE(nullptr, octree2->getChild(i)); EXPECT_TRUE(octree1->getChild(i)->getBoundingBox().isApprox(octree2->getChild(i)->getBoundingBox())); EXPECT_EQ(octree1->getChild(i)->hasChildren(), octree2->getChild(i)->hasChildren()); EXPECT_EQ(octree1->getChild(i)->isActive(), octree2->getChild(i)->isActive()); } } } { SCOPED_TRACE("Copying with same Data Type"); std::shared_ptr> octree2 = std::make_shared>(*octree1); ASSERT_NE(nullptr, octree2); EXPECT_TRUE(octree1->getBoundingBox().isApprox(octree2->getBoundingBox())); EXPECT_EQ(octree1->hasChildren(), octree2->hasChildren()); EXPECT_EQ(octree1->isActive(), octree2->isActive()); EXPECT_EQ(octree1->data.name, octree2->data.name); for (size_t i = 0; i < 8; i++) { if (octree1->getChild(i) == nullptr) { EXPECT_EQ(nullptr, octree2->getChild(i)); } else { ASSERT_NE(nullptr, octree2->getChild(i)); EXPECT_TRUE(octree1->getChild(i)->getBoundingBox().isApprox(octree2->getChild(i)->getBoundingBox())); EXPECT_EQ(octree1->getChild(i)->hasChildren(), octree2->getChild(i)->hasChildren()); EXPECT_EQ(octree1->getChild(i)->isActive(), octree2->getChild(i)->isActive()); EXPECT_EQ(octree1->getChild(i)->data.name, octree2->getChild(i)->data.name); } } } } TEST(OctreeNodeTests, EmptyData) { SurgSim::Math::Aabbd boundingBox(Vector3d::Zero(), Vector3d::Ones()); EXPECT_NO_THROW({OctreeNode octree(boundingBox);}); EXPECT_NO_THROW(std::make_shared>(boundingBox)); } TEST(OctreeNodeTests, DoLoadOctree) { SurgSim::Framework::ApplicationData appData("config.txt"); auto octree = std::make_shared>(); ASSERT_NO_THROW(octree->load("Geometry/staple.ply", appData)); ASSERT_TRUE(nullptr != octree); auto boundingBox = octree->getBoundingBox(); SurgSim::Math::Vector3d boundingMin(-0.00207699998282, -0.00532899983227, -0.000403999991249); SurgSim::Math::Vector3d boundingMax(0.01392300001718, 0.01067100016773, 0.015596000008751); EXPECT_TRUE(boundingMin.isApprox(boundingBox.min())); EXPECT_TRUE(boundingMax.isApprox(boundingBox.max())); EXPECT_TRUE(octree->isActive()); EXPECT_TRUE(octree->hasChildren()); EXPECT_TRUE(octree->getChild(0)->isActive()); EXPECT_TRUE(octree->getChild(0)->hasChildren()); EXPECT_TRUE(octree->getChild(0)->getChild(2)->isActive()); EXPECT_TRUE(octree->getChild(0)->getChild(2)->hasChildren()); EXPECT_TRUE(octree->getChild(0)->getChild(2)->getChild(2)->isActive()); Vector3d leafSize = octree->getChild(0)->getChild(0)->getChild(0)->getChild(0)->getBoundingBox().sizes(); EXPECT_TRUE(leafSize.isApprox(Vector3d(0.001, 0.001, 0.001))); } TEST(OctreeNodeTests, NeighborhoodTestSimple) { OctreePath path; { SCOPED_TRACE("No direction should not fail"); std::array direction = { SYMBOL_HALT, SYMBOL_HALT, SYMBOL_HALT}; EXPECT_NO_THROW(getNeighbor(path, direction)); } path.push_back(0); { SCOPED_TRACE("Right of 0 should be 1"); std::array direction = { SYMBOL_RIGHT, SYMBOL_HALT, SYMBOL_HALT}; EXPECT_NO_THROW(getNeighbor(path, direction)); auto result = getNeighbor(path, direction); ASSERT_EQ(1u, result.size()); EXPECT_EQ(1, result[0]); } { SCOPED_TRACE("Left of 0 with not levels is nothing"); std::array direction = { SYMBOL_LEFT, SYMBOL_HALT, SYMBOL_HALT}; EXPECT_NO_THROW(getNeighbor(path, direction)); auto result = getNeighbor(path, direction); ASSERT_EQ(0u, result.size()); } } // This verifies the basic non-boundary crossing neighborhoods TEST(OctreeNodeTests, NeigborhoodPlainFaces) { int testValues[24][3] = { 0, SYMBOL_RIGHT, 1, 0, SYMBOL_UP, 2, 0, SYMBOL_FRONT, 4, 1, SYMBOL_LEFT, 0, 1, SYMBOL_UP, 3, 1, SYMBOL_FRONT, 5, 2, SYMBOL_RIGHT, 3, 2, SYMBOL_DOWN, 0, 2, SYMBOL_FRONT, 6, 3, SYMBOL_LEFT, 2, 3, SYMBOL_DOWN, 1, 3, SYMBOL_FRONT, 7, 4, SYMBOL_RIGHT, 5, 4, SYMBOL_UP, 6, 4, SYMBOL_BACK, 0, 5, SYMBOL_LEFT, 4, 5, SYMBOL_UP, 7, 5, SYMBOL_BACK, 1, 6, SYMBOL_RIGHT, 7, 6, SYMBOL_DOWN, 4, 6, SYMBOL_BACK, 2, 7, SYMBOL_LEFT, 6, 7, SYMBOL_DOWN, 5, 7, SYMBOL_BACK, 3 }; for (size_t i = 0; i < 24; ++i) { OctreePath path(1); path[0] = testValues[i][0]; std::array direction = { static_cast(testValues[i][1]), SYMBOL_HALT, SYMBOL_HALT}; auto result = getNeighbor(path, direction); ASSERT_EQ(1u, result.size()) << "For row " << i; EXPECT_EQ(testValues[i][2], result[0]) << "For row " << i; } } /// Verifies face neighbors for one set of second level nodes, this should exercise all of the state table, /// the expected data was calculated manually TEST(OctreeNodeTests, AllFaceNeighbors) { size_t expected[8][7][2] = { // Node Down Up Right Left Back Front 7, 0, 5, 2, 7, 2, 7, 1, 6, 1, 3, 4, 7, 4, 6, 1, 4, 3, 6, 3, 7, 0, 6, 0, 2, 5, 6, 5, 5, 2, 5, 0, 7, 0, 5, 3, 4, 3, 1, 6, 5, 6, 4, 3, 6, 1, 4, 1, 5, 2, 4, 2, 0, 7, 4, 7, 3, 4, 1, 6, 3, 6, 2, 5, 3, 5, 3, 0, 7, 0, 2, 5, 0, 7, 2, 7, 3, 4, 2, 4, 2, 1, 6, 1, 1, 6, 1, 4, 3, 4, 1, 7, 0, 7, 1, 2, 5, 2, 0, 7, 0, 5, 2, 5, 1, 6, 0, 6, 0, 3, 4, 3 }; size_t checkSum = 0; for (int i = 0; i < 8; ++i) { OctreePath node; node.push_back(expected[i][0][0]); node.push_back(expected[i][0][1]); auto neighbors = getNeighbors(node, NEIGHBORHOOD_FACE); checkSum += neighbors.size(); for (int j = 0; j < 6; ++j) { OctreePath neighbor; neighbor.push_back(expected[i][1 + j][0]); neighbor.push_back(expected[i][1 + j][1]); EXPECT_TRUE(std::find(neighbors.begin(), neighbors.end(), neighbor) != neighbors.end()) << "Node # " << i << "Neighbor #" << j << " not found"; } } EXPECT_EQ(48u, checkSum); } // This verifies edge neighbours for one node TEST(OctreeNodeTests, EdgeNeighbors) { OctreePath path; path.push_back(1); path.push_back(6); auto neighbors = getNeighbors(path, NEIGHBORHOOD_EDGE); const size_t expectedCount = 12; EXPECT_EQ(expectedCount, neighbors.size()); // Expected coordinates of face neighbors for the node 1/6 size_t expected[expectedCount][2] = { // Upper Ring 3, 5, // Up Right 2, 5, // Up Left 3, 0, // Up Back 7, 0, // Up Front // Lower Ring 1, 5, // Down Right 0, 5, // Down Left 1, 0, // Down Back 5, 0, // Down Front // Horizontals 1, 3, // Back Right 0, 3, // Back Left 5, 3, // Front Right 4, 3, // Front Left }; for (size_t i = 0; i < expectedCount; ++i) { OctreePath path; path.push_back(expected[i][0]); path.push_back(expected[i][1]); EXPECT_TRUE(std::find(neighbors.begin(), neighbors.end(), path) != neighbors.end()) << "Item #" << i << " not found"; } } // This verifies corner neighbours for one node TEST(OctreeNodeTests, VertexNeighbors) { OctreePath path; path.push_back(1); path.push_back(6); auto neighbors = getNeighbors(path, NEIGHBORHOOD_VERTEX); const size_t expectedCount = 8; EXPECT_EQ(expectedCount, neighbors.size()); // Expected coordinates of face neighbors for the node 1/6 size_t expected[expectedCount][2] = { // Lower Ring 5, 1, // Down Right Front 1, 1, // Down Right Back 4, 1, // Down Left Front 0, 1, // Down Left Back // Upper Ring 7, 1, // Up Right Front 3, 1, // Up Right Back 6, 1, // Up Left Front 2, 1, // Up Left Back }; for (size_t i = 0; i < expectedCount; ++i) { OctreePath path; path.push_back(expected[i][0]); path.push_back(expected[i][1]); EXPECT_TRUE(std::find(neighbors.begin(), neighbors.end(), path) != neighbors.end()) << "Item #" << i << " not found"; } } TEST(OctreeNodeTests, AllNeighbors) { // All of these nodes are interior, they should return 26 neighbors size_t nodes[8][2] = { 7, 0, 6, 1, 5, 2, 4, 3, 3, 4, 2, 5, 1, 6, 0, 7 }; for (int i = 0; i < 8; ++i) { OctreePath path; path.push_back(nodes[i][0]); path.push_back(nodes[i][1]); auto neighbors = getNeighbors(path, NEIGHBORHOOD_FACE | NEIGHBORHOOD_EDGE | NEIGHBORHOOD_VERTEX); EXPECT_EQ(26u, neighbors.size()); } } TEST(OctreeNodeTests, IncompleteNeighbors) { static const size_t numNodes = 16; size_t nodes[numNodes][3] = { //Node, Expected Vertex Neighbors 0, 0, 1, // These are the cube corner pieces 1, 1, 1, 2, 2, 1, 3, 3, 1, 4, 4, 1, 5, 5, 1, 6, 6, 1, 7, 7, 1, 5, 4, 2, // These are on the outside cube edge 3, 2, 2, 1, 5, 2, 0, 4, 2, 3, 6, 4, // These are on an outside surface 1, 4, 4, 4, 2, 4, 7, 2, 4 }; for (size_t i = 0; i < numNodes; ++i) { OctreePath path; path.push_back(nodes[i][0]); path.push_back(nodes[i][1]); auto neighbors = getNeighbors(path, NEIGHBORHOOD_VERTEX); EXPECT_EQ(nodes[i][2], neighbors.size()) << "Incorrect Neighbor Count for Node #" << i << " [" << path[0] << ", " << path[1] << "]."; } } } } opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/OptionalValueTests.cpp000066400000000000000000000106661277777236100267460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/DataStructures/OptionalValue.h" #include "SurgSim/DataStructures/DataStructuresConvert.h" namespace SurgSim { namespace DataStructures { TEST(OptionalValueTests, InitTest) { EXPECT_NO_THROW({OptionalValue a;}); EXPECT_NO_THROW({OptionalValue b(10.0);}); OptionalValue a; EXPECT_FALSE(a.hasValue()); } TEST(OptionalValueTests, AssertTest) { OptionalValue> a; EXPECT_ANY_THROW({ auto i = a.getValue();}); } TEST(OptionalValueTests, SetValueTest) { OptionalValue a; EXPECT_FALSE(a.hasValue()); a.setValue(10.0); EXPECT_TRUE(a.hasValue()); EXPECT_EQ(10.0, a.getValue()); a.invalidate(); EXPECT_FALSE(a.hasValue()); } TEST(OptionalValueTests, ComparatorTest) { OptionalValue a; OptionalValue b; EXPECT_TRUE(a == b); EXPECT_FALSE(a != b); a.setValue(10); EXPECT_FALSE(a == b); EXPECT_TRUE(a != b); b.setValue(10); EXPECT_TRUE(a == b); EXPECT_FALSE(a != b); b.setValue(20); EXPECT_FALSE(a == b); EXPECT_TRUE(a != b); a.invalidate(); EXPECT_FALSE(a == b); EXPECT_TRUE(a != b); EXPECT_FALSE(a == 1); // NOLINT a = 2; EXPECT_FALSE(a == 1); // NOLINT EXPECT_TRUE(a != 1); // NOLINT EXPECT_TRUE(a == 2); // NOLINT } TEST(OptionalValueTests, CopyConstructorTest) { OptionalValue one; OptionalValue copyOfOne(one); EXPECT_EQ(one, copyOfOne); OptionalValue two(10); OptionalValue copyOfTwo(two); EXPECT_EQ(two, copyOfTwo); } TEST(OptionalValueTests, AssignmentOperatorTest) { OptionalValue one; OptionalValue two(10); OptionalValue target(100); EXPECT_NE(one, target); EXPECT_NE(two, target); target = one; EXPECT_EQ(one, target); EXPECT_NE(two, target); target = two; EXPECT_NE(one, target); EXPECT_EQ(two, target); one = 1; EXPECT_TRUE(one.hasValue()); EXPECT_EQ(1, one.getValue()); } template void testOptionalValueSerialization(Type value) { { OptionalValue optionalValue; optionalValue.setValue(value); // Encode YAML::Node node; EXPECT_NO_THROW(node = optionalValue;); // Decode OptionalValue newOptionalValue; EXPECT_NO_THROW(newOptionalValue = node.as>()); // Verify EXPECT_TRUE(newOptionalValue.hasValue()); EXPECT_NO_THROW(newOptionalValue.getValue()); EXPECT_EQ(optionalValue.getValue(), newOptionalValue.getValue()); } // Test for an empty node { OptionalValue optionalValue; // Encode YAML::Node node; EXPECT_NO_THROW(node = optionalValue;); // Decode OptionalValue newOptionalValue; newOptionalValue.setValue(value); EXPECT_NO_THROW(newOptionalValue = node.as>()); // Verify EXPECT_FALSE(newOptionalValue.hasValue()); } // Test for scalar assignment, assigning an optional value from a node that contains // only the value of the correct type should succeed and not throw { OptionalValue optionalValue; YAML::Node node; node = value; EXPECT_NO_THROW(optionalValue = node.as>()); // Verify EXPECT_TRUE(optionalValue.hasValue()); EXPECT_EQ(value, *optionalValue); } } TEST(OptionalValueTests, Serialization) { testOptionalValueSerialization(true); testOptionalValueSerialization(false); testOptionalValueSerialization(144); testOptionalValueSerialization(37451); testOptionalValueSerialization(921.457f); testOptionalValueSerialization(3.1415); testOptionalValueSerialization('f'); testOptionalValueSerialization("TestString"); } TEST(OptionalValueTests, DereferenceAccess) { OptionalValue one; OptionalValue two(10); EXPECT_ANY_THROW(*one); EXPECT_NO_THROW(*two); EXPECT_EQ(10, *two); } }; // namespace DataStructures }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/PlyReaderTests.cpp000066400000000000000000000221011277777236100260360ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/DataStructures/TriangleMeshPlyReaderDelegate.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Math/Vector.h" using SurgSim::Math::Vector3d; namespace { std::string findFile(const std::string& filename) { std::vector paths; paths.push_back("Data/"); SurgSim::Framework::ApplicationData data(paths); return data.findFile(filename); } typedef SurgSim::DataStructures::TriangleMeshPlain MeshType; } namespace SurgSim { namespace DataStructures { class PlyReaderTests : public ::testing::Test { }; TEST_F(PlyReaderTests, InitTest) { ASSERT_NO_THROW(PlyReader("xxx")); ASSERT_NO_THROW(PlyReader(findFile("PlyReaderTests/Cube_with_physics.ply"))); PlyReader reader(findFile("PlyReaderTests/Cube_with_physics.ply")); EXPECT_TRUE(reader.isValid()); PlyReader reader2(findFile("xxx")); EXPECT_FALSE(reader2.isValid()); } TEST_F(PlyReaderTests, FindElementsAndProperties) { PlyReader reader(findFile("PlyReaderTests/Cube_with_physics.ply")); EXPECT_TRUE(reader.hasElement("vertex")); EXPECT_TRUE(reader.hasElement("face")); EXPECT_FALSE(reader.hasElement("xxx")); EXPECT_TRUE(reader.hasProperty("vertex", "x")); EXPECT_TRUE(reader.hasProperty("vertex", "y")); EXPECT_TRUE(reader.hasProperty("face", "nature")); EXPECT_TRUE(reader.hasProperty("face", "vertex_indices")); EXPECT_FALSE(reader.hasProperty("xxx", "vertex_indices")); EXPECT_FALSE(reader.hasProperty("vertex", "vertex_indices")); } TEST_F(PlyReaderTests, IsScalar) { PlyReader reader(findFile("PlyReaderTests/Testdata.ply")); EXPECT_TRUE(reader.isScalar("vertex", "x")); EXPECT_FALSE(reader.isScalar("face", "vertex_indices")); EXPECT_TRUE(reader.isScalar("face", "extra")); EXPECT_FALSE(reader.isScalar("xxx", "xxx")); EXPECT_FALSE(reader.isScalar("vertex", "xxx")); EXPECT_FALSE(reader.isScalar("face", "xxx")); } class TestData { public: void* beginVertices(const std::string& elementName, size_t vertices) { vertexData.overrun = 0; vertexInitCount = vertices; vertexRunningCount = 0; endVerticesCalled = false; return &vertexData; } void newVertex(const std::string& elementName) { ++vertexRunningCount; vertices.push_back(Vector3d(vertexData.x, vertexData.y, vertexData.z)); } void endVertices(const std::string& elementName) { endVerticesCalled = true; } void* beginFaces(const std::string& elementName, size_t faces) { faceInitCount = faces; faceRunningCount = 0; faceData.overrun = 0; faceData.faceCount = 0; faceData.faces = nullptr; return &faceData; } void newFace(const std::string& elementName) { ++faceRunningCount; std::vector face; for (unsigned int i = 0; i < faceData.faceCount; ++i) { face.push_back(faceData.faces[i]); } faces.push_back(face); extras.push_back(faceData.extra); natures.push_back(faceData.nature); } struct VertexData { double x; double y; double z; int64_t overrun; }; struct FaceData { unsigned int faceCount; unsigned int* faces; int extra; unsigned int nature; int64_t overrun; }; VertexData vertexData; size_t vertexInitCount; int vertexRunningCount; bool endVerticesCalled; FaceData faceData; size_t faceInitCount; int faceRunningCount; std::vector vertices; std::vector> faces; std::vector extras; std::vector natures; }; TEST_F(PlyReaderTests, ElementTwoPropertyTest) { TestData testData; PlyReader reader(findFile("PlyReaderTests/Cube_with_physics.ply")); EXPECT_TRUE(reader.requestElement("face", std::bind(&TestData::beginFaces, &testData, std::placeholders::_1, std::placeholders::_2), std::bind(&TestData::newFace, &testData, std::placeholders::_1), nullptr)); EXPECT_TRUE(reader.requestScalarProperty("face", "nature", PlyReader::TYPE_UNSIGNED_INT, offsetof(TestData::FaceData, nature))); EXPECT_TRUE(reader.requestListProperty("face", "vertex_indices", PlyReader::TYPE_UNSIGNED_INT, offsetof(TestData::FaceData, faces), PlyReader::TYPE_UNSIGNED_INT, offsetof(TestData::FaceData, faceCount))); ASSERT_NO_THROW(reader.parseFile()); EXPECT_EQ(11, testData.natures[0]); EXPECT_EQ(0, testData.natures[8]); } TEST_F(PlyReaderTests, ScalarReadTest) { TestData testData; PlyReader reader(findFile("PlyReaderTests/Testdata.ply")); EXPECT_TRUE(reader.requestElement("vertex", std::bind(&TestData::beginVertices, &testData, std::placeholders::_1, std::placeholders::_2), std::bind(&TestData::newVertex, &testData, std::placeholders::_1), std::bind(&TestData::endVertices, &testData, std::placeholders::_1))); /// Should not be able to register the element twice EXPECT_FALSE(reader.requestElement("vertex", std::bind(&TestData::beginVertices, &testData, std::placeholders::_1, std::placeholders::_2), std::bind(&TestData::newVertex, &testData, std::placeholders::_1), std::bind(&TestData::endVertices, &testData, std::placeholders::_1))); EXPECT_TRUE(reader.requestScalarProperty( "vertex", "x", PlyReader::TYPE_DOUBLE, offsetof(TestData::VertexData, x))); EXPECT_FALSE(reader.requestScalarProperty( "vertex", "x", PlyReader::TYPE_DOUBLE, offsetof(TestData::VertexData, x))); EXPECT_TRUE(reader.requestScalarProperty( "vertex", "y", PlyReader::TYPE_DOUBLE, offsetof(TestData::VertexData, y))); EXPECT_TRUE(reader.requestScalarProperty( "vertex", "z", PlyReader::TYPE_DOUBLE, offsetof(TestData::VertexData, z))); ASSERT_NO_THROW(reader.parseFile()); EXPECT_EQ(0L, testData.vertexData.overrun); EXPECT_EQ(4, testData.vertexInitCount); EXPECT_EQ(4, testData.vertexRunningCount); EXPECT_EQ(4u, testData.vertices.size()); for (size_t i = 0; i < testData.vertices.size(); ++i) { double sign = (i % 2 == 0) ? 1 : -1; Vector3d expected(static_cast(sign * (i + 1)), static_cast(sign * (i + 2)), static_cast(sign * (i + 3))); EXPECT_TRUE(expected.isApprox(testData.vertices[i])) << expected << testData.vertices[i]; } } TEST_F(PlyReaderTests, ListReadTest) { TestData testData; PlyReader reader(findFile("PlyReaderTests/Testdata.ply")); EXPECT_TRUE(reader.requestElement("face", std::bind(&TestData::beginFaces, &testData, std::placeholders::_1, std::placeholders::_2), std::bind(&TestData::newFace, &testData, std::placeholders::_1), nullptr)); EXPECT_TRUE(reader.requestListProperty("face", "vertex_indices", PlyReader::TYPE_UNSIGNED_INT, offsetof(TestData::FaceData, faces), PlyReader::TYPE_UNSIGNED_INT, offsetof(TestData::FaceData, faceCount))); EXPECT_TRUE(reader.requestScalarProperty( "face", "extra", PlyReader::TYPE_INT, offsetof(TestData::FaceData, extra))); ASSERT_NO_THROW(reader.parseFile()); EXPECT_EQ(0L, testData.faceData.overrun); EXPECT_EQ(4, testData.faceInitCount); EXPECT_EQ(4, testData.faceRunningCount); EXPECT_EQ(4u, testData.faces.size()); EXPECT_EQ(4u, testData.extras.size()); unsigned int expected = 0; for (size_t i = 0; i < testData.faces.size(); ++i) { std::vector face = testData.faces[i]; EXPECT_EQ(i + 1, face.size()); EXPECT_EQ(-static_cast(i), testData.extras[i]); for (size_t j = 0; j < face.size(); ++j) { EXPECT_EQ(expected, face[j]); ++expected; } } } TEST_F(PlyReaderTests, TriangleMeshDelegateTest) { PlyReader reader(findFile("PlyReaderTests/Cube_with_physics.ply")); auto delegate = std::make_shared>(); // parseWithDeletegate() will first call setDelegate(), then parseFile() if previous step successed. EXPECT_NO_THROW(EXPECT_TRUE(reader.parseWithDelegate(delegate))); auto mesh = delegate->getMesh(); EXPECT_EQ(26u, mesh->getNumVertices()); EXPECT_EQ(12u, mesh->getNumTriangles()); // The first and last vertices from the file Vector3d vertex0(1.0, 1.0, -1.0); Vector3d vertex25(-1.0, -1.0, 1.0); EXPECT_TRUE(vertex0.isApprox(mesh->getVertex(0).position)); EXPECT_TRUE(vertex25.isApprox(mesh->getVertex(25).position)); std::array triangle0 = {0, 1, 2}; std::array triangle11 = {10, 25, 11}; EXPECT_EQ(triangle0, mesh->getTriangle(0).verticesId); EXPECT_EQ(triangle11, mesh->getTriangle(11).verticesId); } } // DataStructures } // SurgSim opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/SegmentMeshTest.cpp000066400000000000000000000413421277777236100262130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the Mesh class. #include #include #include #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/MeshElement.h" #include "SurgSim/DataStructures/SegmentMesh.h" #include "SurgSim/DataStructures/UnitTests/MockObjects.h" #include "SurgSim/DataStructures/Vertex.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/ApplicationData.h" using SurgSim::DataStructures::EmptyData; using SurgSim::DataStructures::SegmentMesh; using SurgSim::DataStructures::SegmentMeshPlain; using SurgSim::Math::Vector3d; /// Triangle Mesh for testing using MockVertexData, MockEdgeData, and MockTriangleData class MockSegmentMesh : public SurgSim::DataStructures::SegmentMesh { public: /// Vertex type for convenience typedef SegmentMesh::VertexType VertexType; /// Edge type for convenience typedef SegmentMesh::EdgeType EdgeType; /// Triangle type for convenience typedef SegmentMesh::TriangleType TriangleType; /// Constructor. Start out with no vertices and 0 updates MockSegmentMesh() : SurgSim::DataStructures::SegmentMesh(), m_numUpdates(0) { } SURGSIM_CLASSNAME(MockSegmentMesh); /// Destructor virtual ~MockSegmentMesh() { } /// Create a new vertex in the mesh /// \param position Position of the vertex /// \param normal Normal of the vertex /// \return Unique ID of vertex in the mesh size_t createVertex(const SurgSim::Math::Vector3d& position, const SurgSim::Math::Vector3d& normal) { VertexType vertex(position, MockVertexData(getNumVertices(), normal)); return addVertex(vertex); } /// Create a new edge in the mesh /// \param vertices Edge vertices /// \return Unique ID of vertex in the mesh size_t createEdge(const std::array& vertices) { EdgeType edge(vertices, MockEdgeData(getNumEdges())); return addEdge(edge); } /// Returns the normal of a vertex const SurgSim::Math::Vector3d& getVertexNormal(size_t id) const { return getVertex(id).data.getNormal(); } /// Returns the number of updates performed on the mesh int getNumUpdates() const { return m_numUpdates; } private: /// Provides update functionality, which just increments the number of updates bool doUpdate() override { ++m_numUpdates; return true; } /// Number of updates performed on the mesh int m_numUpdates; }; template<> std::string SurgSim::DataStructures::SegmentMesh ::TriangleMesh::m_className = "MockSegmentMesh"; class SegmentMeshTest : public ::testing::Test { public: void SetUp() { // Set to true to print the test positions. bool printPositions = false; // Set to true to print the test normals. bool printNormals = false; // Set to true to print the test edges. bool printEdges = false; // Set the number of test vertices size_t numVertices = 10; std::default_random_engine generator; std::uniform_real_distribution positionDistribution(-10.0, 10.0); std::uniform_real_distribution normalDistribution(-1.0, 1.0); std::uniform_int_distribution vertexIdDistribution(0, numVertices - 1); if (printPositions) { std::cout << "Test Vertex Positions:\n"; } /// Generate random positions for each vertex for (size_t i = 0; i < numVertices; ++i) { Vector3d position(positionDistribution(generator), positionDistribution(generator), positionDistribution(generator)); testPositions.push_back(position); if (printPositions) { std::cout << "\t" << i << ": (" << position.x() << ", " << position.y() << ", " << position.z() << ")\n"; } } if (printNormals) { std::cout << "Test Vertex Normals:\n"; } /// Generate random normals for each vertex for (size_t i = 0; i < numVertices; ++i) { Vector3d normal(normalDistribution(generator), normalDistribution(generator), normalDistribution(generator)); normal.normalize(); testNormals.push_back(normal); if (printNormals) { std::cout << "\t" << i << ": (" << normal.x() << ", " << normal.y() << ", " << normal.z() << ")\n"; } } if (printEdges) { std::cout << "Test Edges:\n"; } for (size_t i = 0; i < numVertices - 1; ++i) { std::array edgeVertices = {{ i, i + 1 }}; testEdgeVertices.push_back(edgeVertices); if (printEdges) { std::cout << "\t" << i << ": (" << formatIterator(edgeVertices, ", ") << ")\n"; } } } void TearDown() { boost::filesystem::remove("export.ply"); } /// Positions of test vertices std::vector testPositions; /// Normals of test vertices std::vector testNormals; /// Vertices of test edges std::vector> testEdgeVertices; }; TEST_F(SegmentMeshTest, InitTest) { ASSERT_NO_THROW({MockSegmentMesh mesh;}); ASSERT_NO_THROW({SegmentMeshPlain mesh;}); } TEST_F(SegmentMeshTest, ClassNameTest) { MockSegmentMesh mesh; EXPECT_EQ("MockSegmentMesh", mesh.getClassName()); SegmentMeshPlain meshPlain; EXPECT_EQ("SurgSim::DataStructures::SegmentMeshPlain", meshPlain.getClassName()); } TEST_F(SegmentMeshTest, CreateVerticesTest) { MockSegmentMesh mesh; EXPECT_EQ(0u, mesh.getNumVertices()); EXPECT_EQ(0u, mesh.getVertices().size()); /// Create the test vertices for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(testPositions[i], testNormals[i])); EXPECT_EQ(i + 1, mesh.getNumVertices()); const std::vector& vertices = mesh.getVertices(); EXPECT_EQ(i + 1, vertices.size()); /// Make sure each vertex is set properly for (size_t j = 0; j < mesh.getNumVertices(); ++j) { EXPECT_EQ(testPositions[j], vertices[j].position); const MockVertexData& data = vertices[j].data; EXPECT_EQ(j, data.getId()); EXPECT_EQ(testNormals[j], data.getNormal()); } } /// Create the test edges for (size_t i = 0; i < testEdgeVertices.size(); ++i) { EXPECT_EQ(i, mesh.createEdge(testEdgeVertices[i])); EXPECT_EQ(i + 1, mesh.getNumEdges()); const std::vector& edges = mesh.getEdges(); EXPECT_EQ(i + 1, edges.size()); /// Make sure each vertex is set properly for (size_t j = 0; j < mesh.getNumEdges(); ++j) { EXPECT_EQ(testEdgeVertices[j], edges[j].verticesId); const MockEdgeData& data = edges[j].data; EXPECT_EQ(j, data.getId()); } } } TEST_F(SegmentMeshTest, isValidTest) { MockSegmentMesh mesh; EXPECT_TRUE(mesh.isValid()); /// Create the edges (no vertices yet => the mesh is NOT valid) for (size_t i = 0; i < testEdgeVertices.size(); ++i) { mesh.createEdge(testEdgeVertices[i]); } EXPECT_FALSE(mesh.isValid()); /// Create the vertices for (size_t i = 0; i < testPositions.size(); ++i) { mesh.createVertex(testPositions[i], testNormals[i]); } EXPECT_TRUE(mesh.isValid()); } TEST_F(SegmentMeshTest, SetVertexPositionsTest) { MockSegmentMesh mesh; /// Create vertices with test normals, but all positions at (0,0,0) for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(Vector3d(0.0, 0.0, 0.0), testNormals[i])); EXPECT_EQ(i + 1, mesh.getNumVertices()); } mesh.setVertexPositions(testPositions); EXPECT_EQ(1, mesh.getNumUpdates()); EXPECT_EQ(testPositions.size(), mesh.getNumVertices()); const std::vector& vertices = mesh.getVertices(); EXPECT_EQ(testPositions.size(), vertices.size()); /// Make sure each vertex is set properly for (size_t i = 0; i < mesh.getNumVertices(); ++i) { EXPECT_EQ(testPositions[i], vertices[i].position); const MockVertexData& data = vertices[i].data; EXPECT_EQ(testNormals[i], data.getNormal()); } mesh.setVertexPositions(testPositions, false); EXPECT_EQ(1, mesh.getNumUpdates()); EXPECT_EQ(testPositions.size(), mesh.getNumVertices()); EXPECT_EQ(testPositions.size(), mesh.getVertices().size()); mesh.setVertexPositions(testPositions, true); EXPECT_EQ(2, mesh.getNumUpdates()); EXPECT_EQ(testPositions.size(), mesh.getNumVertices()); EXPECT_EQ(testPositions.size(), mesh.getVertices().size()); /// Test the individual set/get methods mesh.setVertexPosition(5, Vector3d(0.0, 0.0, 0.0)); /// Make sure each vertex is set properly for (size_t i = 0; i < mesh.getNumVertices(); ++i) { if (i == 5) { EXPECT_EQ(Vector3d(0.0, 0.0, 0.0), mesh.getVertexPosition(i)); EXPECT_EQ(testNormals[i], mesh.getVertexNormal(i)); } else { EXPECT_EQ(testPositions[i], mesh.getVertexPosition(i)); EXPECT_EQ(testNormals[i], mesh.getVertexNormal(i)); } } /// Try setting with wrong number of vertices mesh.createVertex(Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0)); // create one more vertex EXPECT_THROW(mesh.setVertexPositions(testPositions), SurgSim::Framework::AssertionFailure); } TEST_F(SegmentMeshTest, ClearTest) { MockSegmentMesh mesh; EXPECT_EQ(0, mesh.getNumUpdates()); EXPECT_EQ(0u, mesh.getNumVertices()); EXPECT_EQ(0u, mesh.getVertices().size()); EXPECT_EQ(0u, mesh.getNumEdges()); EXPECT_EQ(0u, mesh.getEdges().size()); /// Create mesh using test data for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0))); EXPECT_EQ(i + 1, mesh.getNumVertices()); } for (size_t i = 0; i < testEdgeVertices.size(); ++i) { EXPECT_EQ(i, mesh.createEdge(testEdgeVertices[i])); EXPECT_EQ(i + 1, mesh.getNumEdges()); } EXPECT_EQ(testPositions.size(), mesh.getNumVertices()); EXPECT_EQ(testPositions.size(), mesh.getVertices().size()); EXPECT_EQ(testEdgeVertices.size(), mesh.getNumEdges()); EXPECT_EQ(testEdgeVertices.size(), mesh.getEdges().size()); /// Clear mesh mesh.clear(); EXPECT_EQ(0u, mesh.getNumVertices()); EXPECT_EQ(0u, mesh.getVertices().size()); EXPECT_EQ(0u, mesh.getNumEdges()); EXPECT_EQ(0u, mesh.getEdges().size()); } TEST_F(SegmentMeshTest, UpdateTest) { MockSegmentMesh mesh; EXPECT_EQ(0, mesh.getNumUpdates()); for (int i = 0; i < 10; ++i) { mesh.update(); EXPECT_EQ(i + 1, mesh.getNumUpdates()); } } TEST_F(SegmentMeshTest, ComparisonTest) { /// Create mesh using test data MockSegmentMesh mesh; for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(testPositions[i], testNormals[i])); } for (size_t i = 0; i < testEdgeVertices.size(); ++i) { EXPECT_EQ(i, mesh.createEdge(testEdgeVertices[i])); } /// Create same mesh again MockSegmentMesh sameMesh; for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, sameMesh.createVertex(testPositions[i], testNormals[i])); } for (size_t i = 0; i < testEdgeVertices.size(); ++i) { EXPECT_EQ(i, sameMesh.createEdge(testEdgeVertices[i])); } /// Create mesh with test data, but each vertex has position and normal of (0,0,0) to make them different MockSegmentMesh meshWithDifferentVertices; for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, meshWithDifferentVertices.createVertex(Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0))); } for (size_t i = 0; i < testEdgeVertices.size(); ++i) { EXPECT_EQ(i, meshWithDifferentVertices.createEdge(testEdgeVertices[i])); } /// Create mesh with test data, but reverse each edge's vertex order to make them different MockSegmentMesh meshWithDifferentEdges; for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, meshWithDifferentEdges.createVertex(testPositions[i], testNormals[i])); } for (size_t i = 0; i < testEdgeVertices.size(); ++i) { std::array edge = {{ testEdgeVertices[i][1], testEdgeVertices[i][0] }}; EXPECT_EQ(i, meshWithDifferentEdges.createEdge(edge)); } /// Test comparisons EXPECT_TRUE(mesh == sameMesh); EXPECT_FALSE(mesh != sameMesh); EXPECT_FALSE(mesh == meshWithDifferentVertices); EXPECT_TRUE(mesh != meshWithDifferentVertices); EXPECT_FALSE(mesh == meshWithDifferentEdges); EXPECT_TRUE(mesh != meshWithDifferentEdges); } TEST_F(SegmentMeshTest, CopyConstructorTest) { MockSegmentMesh mesh; /// Create mesh using test data for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0))); EXPECT_EQ(i + 1, mesh.getNumVertices()); } for (size_t i = 0; i < testEdgeVertices.size(); ++i) { EXPECT_EQ(i, mesh.createEdge(testEdgeVertices[i])); EXPECT_EQ(i + 1, mesh.getNumEdges()); } SurgSim::DataStructures::SegmentMeshPlain mesh2(mesh); for (size_t i = 0; i < mesh.getNumVertices(); ++i) { EXPECT_EQ(mesh.getVertexPosition(i), mesh2.getVertexPosition(i)); } for (size_t i = 0; i < mesh.getNumEdges(); ++i) { EXPECT_EQ(mesh.getEdge(i).verticesId, mesh2.getEdge(i).verticesId); } } TEST_F(SegmentMeshTest, GetEdgePositions) { MockSegmentMesh mesh; // Initialization auto normal = testNormals.begin(); for (auto position = testPositions.begin(); position != testPositions.end(); ++position) { mesh.createVertex(*position, *normal++); } for (auto vertices = testEdgeVertices.begin(); vertices != testEdgeVertices.end(); ++vertices) { mesh.createEdge(*vertices); } // Testing for (size_t id = 0; id < mesh.getEdges().size(); ++id) { auto verticesPositions = mesh.getEdgePositions(id); auto& vertexIds = mesh.getEdge(id).verticesId; EXPECT_TRUE(mesh.getVertex(vertexIds[0]).position.isApprox(verticesPositions[0])); EXPECT_TRUE(mesh.getVertex(vertexIds[1]).position.isApprox(verticesPositions[1])); } } TEST_F(SegmentMeshTest, AssertingFunctions) { MockSegmentMesh mesh; // Initialization auto normal = testNormals.begin(); for (auto position = testPositions.begin(); position != testPositions.end(); ++position) { mesh.createVertex(*position, *normal++); } for (auto vertices = testEdgeVertices.begin(); vertices != testEdgeVertices.end(); ++vertices) { mesh.createEdge(*vertices); } // Testing std::array triangleIds = {{0, 1, 2}}; MockSegmentMesh::TriangleType triangle(triangleIds); EXPECT_THROW(mesh.addTriangle(triangle), SurgSim::Framework::AssertionFailure); EXPECT_THROW(mesh.getNumTriangles(), SurgSim::Framework::AssertionFailure); EXPECT_THROW(mesh.getTriangles(), SurgSim::Framework::AssertionFailure); EXPECT_THROW(mesh.getTriangle(0), SurgSim::Framework::AssertionFailure); EXPECT_THROW(mesh.removeTriangle(0), SurgSim::Framework::AssertionFailure); EXPECT_THROW(mesh.getTrianglePositions(0), SurgSim::Framework::AssertionFailure); EXPECT_THROW(mesh.doClearTriangles(), SurgSim::Framework::AssertionFailure); } TEST_F(SegmentMeshTest, CreateDefaultedges) { MockSegmentMesh mesh; for (size_t i = 0; i < 10; ++i) { mesh.createVertex(Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0)); } mesh.createDefaultEdges(); EXPECT_EQ(9, mesh.getNumEdges()); for (size_t i = 0; i < mesh.getNumEdges(); ++i) { EXPECT_EQ(i, mesh.getEdge(i).verticesId[0]); EXPECT_EQ(i + 1, mesh.getEdge(i).verticesId[1]); } } TEST_F(SegmentMeshTest, LoadMesh) { auto mesh = std::make_shared(); SurgSim::Framework::ApplicationData data("config.txt"); mesh->load("SegmentMeshTest/segmentmesh.ply", data); ASSERT_EQ(4u, mesh->getNumVertices()); ASSERT_EQ(3u, mesh->getNumEdges()); auto edge = mesh->getEdge(0); ASSERT_EQ(0u, edge.verticesId[0]); ASSERT_EQ(1u, edge.verticesId[1]); edge = mesh->getEdge(1); ASSERT_EQ(1u, edge.verticesId[0]); ASSERT_EQ(2u, edge.verticesId[1]); edge = mesh->getEdge(2); ASSERT_EQ(2u, edge.verticesId[0]); ASSERT_EQ(3u, edge.verticesId[1]); } TEST_F(SegmentMeshTest, WriteMesh) { auto mesh = std::make_shared(); SurgSim::Framework::ApplicationData data("config.txt"); mesh->load("SegmentMeshTest/segmentmesh.ply", data); EXPECT_NO_THROW(mesh->save("export.ply")); std::vector paths(1, "."); SurgSim::Framework::ApplicationData localPath(paths); auto loaded = std::make_shared(); EXPECT_NO_THROW(loaded->load("export.ply", localPath)); ASSERT_EQ(4u, mesh->getNumVertices()); ASSERT_EQ(3u, mesh->getNumEdges()); auto edge = mesh->getEdge(0); ASSERT_EQ(0u, edge.verticesId[0]); ASSERT_EQ(1u, edge.verticesId[1]); edge = mesh->getEdge(1); ASSERT_EQ(1u, edge.verticesId[0]); ASSERT_EQ(2u, edge.verticesId[1]); edge = mesh->getEdge(2); ASSERT_EQ(2u, edge.verticesId[0]); ASSERT_EQ(3u, edge.verticesId[1]); } opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/TetrahedronMeshTest.cpp000066400000000000000000000536551277777236100271020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the Tetrahedron class. #include "gtest/gtest.h" #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/Vertex.h" #include "SurgSim/DataStructures/MeshElement.h" #include "SurgSim/DataStructures/UnitTests/MockObjects.h" #include using SurgSim::DataStructures::EmptyData; using SurgSim::DataStructures::TetrahedronMesh; using SurgSim::Math::Vector3d; class TetrahedronMeshTest : public ::testing::Test { public: void SetUp() { // Set to true to print the test positions. bool printPositions = false; // Set to true to print the test normals. bool printNormals = false; // Set to true to print the test edges. bool printEdges = false; // Set to true to print the test triangles. bool printTriangles = false; // Set to true to print the test tetrahedrons. bool printTetrahedrons = false; // Set the number of test vertices size_t numVertices = 10; // Set the number of test tetrahedrons size_t numTetrahedrons = 15; std::default_random_engine generator; std::uniform_real_distribution positionDistribution(-10.0, 10.0); std::uniform_real_distribution normalDistribution(-1.0, 1.0); std::uniform_int_distribution vertexIdDistribution(0, numVertices-1); if (printPositions) { std::cout << "Test Vertex Positions:\n"; } /// Generate random positions for each vertex for (size_t i = 0; i < numVertices; ++i) { Vector3d position(positionDistribution(generator), positionDistribution(generator), positionDistribution(generator)); testPositions.push_back(position); if (printPositions) { std::cout << "\t" << i << ": (" << position.x() << ", " << position.y() << ", " << position.z() << ")\n"; } } if (printNormals) { std::cout << "Test Vertex Normals:\n"; } /// Generate random normals for each vertex for (size_t i = 0; i < numVertices; ++i) { Vector3d normal(normalDistribution(generator), normalDistribution(generator), normalDistribution(generator)); normal.normalize(); testNormals.push_back(normal); if (printNormals) { std::cout << "\t" << i << ": (" << normal.x() << ", " << normal.y() << ", " << normal.z() << ")\n"; } } if (printTetrahedrons) { std::cout << "Test Tetrahedrons:\n"; } /// Generate random vertex IDs within [0, numVertices) in quadruplets for mesh tetrahedrons for (size_t i = 0; i < numTetrahedrons; ++i) { std::array tetrahedronVertices = {{ vertexIdDistribution(generator), vertexIdDistribution(generator), vertexIdDistribution(generator), vertexIdDistribution(generator) }}; testTetrahedronsVerticesId.push_back(tetrahedronVertices); /// Create 6 vertex ID pairs for each tetrahedron edge (not worrying about duplicates for these tests) std::array tetrahedronEdges; int edgeIDs[6][2] = { {0, 1}, {0, 2}, {0, 3}, {1, 2}, {1, 3}, {2, 3} }; for (int j = 0; j < 6; ++j) { std::array edgeVertices = { { tetrahedronVertices[edgeIDs[j][0]], tetrahedronVertices[edgeIDs[j][1]] } }; testEdgesVerticesId.push_back(edgeVertices); tetrahedronEdges[j] = testEdgesVerticesId.size() - 1; } testTetrahedronsEdgesId.push_back(tetrahedronEdges); /// Create 4 vertex ID pairs for each tetrahedron triangle (not worrying about duplicates for these tests) int vertexIDs[4][3] = { {0, 1, 2}, {0, 1, 3}, {0, 2, 3}, {1, 2, 3} }; int tetTriangleEdgeIds[4][3] = { {0, 1, 3}, {0, 2, 4}, {1, 2, 5}, {3, 4, 5} }; std::array tetrahedronTriangles; for (int j = 0; j < 4; ++j) { std::array triangleVertices = { { tetrahedronVertices[vertexIDs[j][0]], tetrahedronVertices[vertexIDs[j][1]], tetrahedronVertices[vertexIDs[j][2]] } }; testTrianglesVerticesId.push_back(triangleVertices); tetrahedronTriangles[j] = testTrianglesVerticesId.size() - 1; std::array triangleEdges; for (int k = 0; k < 3; k++) { triangleEdges[k] = tetrahedronEdges[tetTriangleEdgeIds[j][k]]; } testTrianglesEdgesId.push_back(triangleEdges); } testTetrahedronsTrianglesId.push_back(tetrahedronTriangles); if (printTetrahedrons) { std::cout << "\t" << i << ": Vertices (" << formatIterator(tetrahedronVertices, ", ") << "), Edges (" << formatIterator(tetrahedronEdges, ", ") << "), Triangles (" << formatIterator(tetrahedronTriangles, ", ") << ")\n"; } } if (printTriangles) { std::cout << "Test Triangles:\n"; for (size_t i = 0; i < testTrianglesVerticesId.size(); ++i) { const std::array& triangleVertices = testTrianglesVerticesId[i]; const std::array& triangleEdges = testTrianglesEdgesId[i]; std::cout << "\t" << i << ": Vertices (" << formatIterator(triangleVertices, ", ") << ") - Edges (" << formatIterator(triangleEdges, ", ") << ")\n"; } } if (printEdges) { std::cout << "Test Edges:\n"; for (size_t i = 0; i < testEdgesVerticesId.size(); ++i) { const std::array& edgeVertices = testEdgesVerticesId[i]; std::cout << "\t" << i << ": (" << formatIterator(edgeVertices, ", ") << ")\n"; } } } void TearDown() { } /// Positions of test vertices std::vector testPositions; /// Normals of test vertices std::vector testNormals; /// Vertices Id for all edges std::vector> testEdgesVerticesId; /// Vertices Id for all triangles std::vector> testTrianglesVerticesId; /// Edges Id for all triangles std::vector> testTrianglesEdgesId; /// Vertices Id for all tetrahedrons std::vector> testTetrahedronsVerticesId; /// Edges Id for all tetrahedrons std::vector> testTetrahedronsEdgesId; /// Triangles Id for all tetrahedrons std::vector> testTetrahedronsTrianglesId; }; TEST_F(TetrahedronMeshTest, InitTest) { ASSERT_NO_THROW({MockTetrahedronMesh mesh;}); /// Make sure we can create triangle meshes with each possible combination of void data. /// One void entry typedef TetrahedronMesh TetrahedronMeshNoVertexData; typedef TetrahedronMesh TetrahedronMeshNoEdgeData; typedef TetrahedronMesh TetrahedronMeshNoTriangleData; typedef TetrahedronMesh TetrahedronMeshNoTetrahedronData; ASSERT_NO_THROW({TetrahedronMeshNoVertexData mesh;}); ASSERT_NO_THROW({TetrahedronMeshNoEdgeData mesh;}); ASSERT_NO_THROW({TetrahedronMeshNoTriangleData mesh;}); ASSERT_NO_THROW({TetrahedronMeshNoTetrahedronData mesh;}); /// Two void entries typedef TetrahedronMesh TetrahedronMeshNoVertexOrEdgeData; typedef TetrahedronMesh TetrahedronMeshNoVertexOrTriangleData; typedef TetrahedronMesh TetrahedronMeshNoVertexOrTetrahedronData; typedef TetrahedronMesh TetrahedronMeshNoEdgeOrTriangleData; typedef TetrahedronMesh TetrahedronMeshNoEdgeOrTetrahedronData; typedef TetrahedronMesh TetrahedronMeshNoTriangleOrTetrahedronData; ASSERT_NO_THROW({TetrahedronMeshNoVertexOrEdgeData mesh;}); ASSERT_NO_THROW({TetrahedronMeshNoVertexOrTriangleData mesh;}); ASSERT_NO_THROW({TetrahedronMeshNoVertexOrTetrahedronData mesh;}); ASSERT_NO_THROW({TetrahedronMeshNoEdgeOrTriangleData mesh;}); ASSERT_NO_THROW({TetrahedronMeshNoEdgeOrTetrahedronData mesh;}); ASSERT_NO_THROW({TetrahedronMeshNoTriangleOrTetrahedronData mesh;}); /// Three void entries typedef TetrahedronMesh TetrahedronMeshOnlyTetrahedronData; typedef TetrahedronMesh TetrahedronMeshOnlyTriangleData; typedef TetrahedronMesh TetrahedronMeshOnlyEdgeData; typedef TetrahedronMesh TetrahedronMeshOnlyVertexData; ASSERT_NO_THROW({TetrahedronMeshOnlyTetrahedronData mesh;}); ASSERT_NO_THROW({TetrahedronMeshOnlyTriangleData mesh;}); ASSERT_NO_THROW({TetrahedronMeshOnlyEdgeData mesh;}); ASSERT_NO_THROW({TetrahedronMeshOnlyVertexData mesh;}); /// Four void entries typedef TetrahedronMesh TetrahedronMeshNoData; ASSERT_NO_THROW({TetrahedronMeshNoData mesh;}); } TEST_F(TetrahedronMeshTest, CreateVerticesTest) { MockTetrahedronMesh mesh; EXPECT_EQ(0u, mesh.getNumVertices()); EXPECT_EQ(0u, mesh.getVertices().size()); EXPECT_EQ(0u, mesh.getNumEdges()); EXPECT_EQ(0u, mesh.getEdges().size()); EXPECT_EQ(0u, mesh.getNumTriangles()); EXPECT_EQ(0u, mesh.getTriangles().size()); EXPECT_EQ(0u, mesh.getNumTetrahedrons()); EXPECT_EQ(0u, mesh.getTetrahedrons().size()); EXPECT_EQ(0, mesh.getNumUpdates()); /// Create the test vertices for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(testPositions[i], testNormals[i])); EXPECT_EQ(i + 1, mesh.getNumVertices()); const std::vector& vertices = mesh.getVertices(); EXPECT_EQ(i + 1, vertices.size()); /// Make sure each vertex is set properly for (size_t j = 0; j < mesh.getNumVertices(); ++j) { EXPECT_EQ(testPositions[j], vertices[j].position); const MockVertexData& data = vertices[j].data; EXPECT_EQ(j, data.getId()); EXPECT_EQ(testNormals[j], data.getNormal()); } } /// Create the test edges for (size_t i = 0; i < testEdgesVerticesId.size(); ++i) { EXPECT_EQ(i, mesh.createEdge(testEdgesVerticesId[i])); EXPECT_EQ(i + 1, mesh.getNumEdges()); const std::vector& edges = mesh.getEdges(); EXPECT_EQ(i + 1, edges.size()); /// Make sure each vertex is set properly for (size_t j = 0; j < mesh.getNumEdges(); ++j) { EXPECT_EQ(testEdgesVerticesId[j], edges[j].verticesId); const MockEdgeData& data = edges[j].data; EXPECT_EQ(j, data.getId()); } } /// Create the test triangles for (size_t i = 0; i < testTrianglesVerticesId.size(); ++i) { EXPECT_EQ(i, mesh.createTriangle(testTrianglesVerticesId[i], testTrianglesEdgesId[i])); EXPECT_EQ(i + 1, mesh.getNumTriangles()); const std::vector& triangles = mesh.getTriangles(); EXPECT_EQ(i + 1, triangles.size()); /// Make sure each vertex is set properly for (size_t j = 0; j < mesh.getNumTriangles(); ++j) { EXPECT_EQ(testTrianglesVerticesId[j], triangles[j].verticesId); const MockTriangleData& data = triangles[j].data; EXPECT_EQ(j, data.getId()); EXPECT_EQ(testTrianglesEdgesId[j], data.getEdges()); } } /// Create the test tetrahedrons for (size_t i = 0; i < testTetrahedronsVerticesId.size(); ++i) { EXPECT_EQ(i, mesh.createTetrahedron(testTetrahedronsVerticesId[i], \ testTetrahedronsEdgesId[i], testTetrahedronsTrianglesId[i])); EXPECT_EQ(i + 1, mesh.getNumTetrahedrons()); const std::vector& tetrahedrons = mesh.getTetrahedrons(); EXPECT_EQ(i + 1, tetrahedrons.size()); /// Make sure each tetrahedron is set properly for (size_t j = 0; j < mesh.getNumTetrahedrons(); ++j) { EXPECT_EQ(testTetrahedronsVerticesId[j], tetrahedrons[j].verticesId); const MockTetrahedronData& data = tetrahedrons[j].data; EXPECT_EQ(j, data.getId()); EXPECT_EQ(testTetrahedronsEdgesId[j], data.getEdges()); EXPECT_EQ(testTetrahedronsTrianglesId[j], data.getTriangles()); } } } TEST_F(TetrahedronMeshTest, isValidTest) { MockTetrahedronMesh mesh; EXPECT_TRUE(mesh.isValid()); /// Create the edges (no vertices yet => the mesh is NOT valid) for (size_t i = 0; i < testEdgesVerticesId.size(); ++i) { mesh.createEdge(testEdgesVerticesId[i]); } EXPECT_FALSE(mesh.isValid()); /// Create the triangles (no vertices yet => the mesh is NOT valid) for (size_t i = 0; i < testTrianglesVerticesId.size(); ++i) { mesh.createTriangle(testTrianglesVerticesId[i], testTrianglesEdgesId[i]); } EXPECT_FALSE(mesh.isValid()); /// Create the tetrahedrons (no vertices yet => the mesh is NOT valid) for (size_t i = 0; i < testTetrahedronsVerticesId.size(); ++i) { mesh.createTetrahedron(testTetrahedronsVerticesId[i], testTetrahedronsEdgesId[i], \ testTetrahedronsTrianglesId[i]); } EXPECT_FALSE(mesh.isValid()); /// Create the vertices for (size_t i = 0; i < testPositions.size(); ++i) { mesh.createVertex(testPositions[i], testNormals[i]); } EXPECT_TRUE(mesh.isValid()); } TEST_F(TetrahedronMeshTest, SetVertexPositionsTest) { MockTetrahedronMesh mesh; /// Create vertices with test normals, but all positions at (0,0,0) for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(Vector3d(0.0, 0.0, 0.0), testNormals[i])); EXPECT_EQ(i + 1, mesh.getNumVertices()); } mesh.setVertexPositions(testPositions); EXPECT_EQ(1, mesh.getNumUpdates()); EXPECT_EQ(testPositions.size(), mesh.getNumVertices()); const std::vector& vertices = mesh.getVertices(); EXPECT_EQ(testPositions.size(), vertices.size()); /// Make sure each vertex is set properly for (size_t i = 0; i < mesh.getNumVertices(); ++i) { EXPECT_EQ(testPositions[i], vertices[i].position); const MockVertexData& data = vertices[i].data; EXPECT_EQ(testNormals[i], data.getNormal()); } mesh.setVertexPositions(testPositions, false); EXPECT_EQ(1, mesh.getNumUpdates()); EXPECT_EQ(testPositions.size(), mesh.getNumVertices()); EXPECT_EQ(testPositions.size(), mesh.getVertices().size()); mesh.setVertexPositions(testPositions, true); EXPECT_EQ(2, mesh.getNumUpdates()); EXPECT_EQ(testPositions.size(), mesh.getNumVertices()); EXPECT_EQ(testPositions.size(), mesh.getVertices().size()); /// Test the individual set/get methods mesh.setVertexPosition(5, Vector3d(0.0, 0.0, 0.0)); /// Make sure each vertex is set properly for (size_t i = 0; i < mesh.getNumVertices(); ++i) { if (i == 5) { EXPECT_EQ(Vector3d(0.0, 0.0, 0.0), mesh.getVertexPosition(i)); EXPECT_EQ(testNormals[i], mesh.getVertexNormal(i)); } else { EXPECT_EQ(testPositions[i], mesh.getVertexPosition(i)); EXPECT_EQ(testNormals[i], mesh.getVertexNormal(i)); } } /// Try setting with wrong number of vertices mesh.createVertex(Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0)); // create one more vertex EXPECT_ANY_THROW(mesh.setVertexPositions(testPositions)); } TEST_F(TetrahedronMeshTest, ClearTest) { MockTetrahedronMesh mesh; EXPECT_EQ(0, mesh.getNumUpdates()); EXPECT_EQ(0u, mesh.getNumVertices()); EXPECT_EQ(0u, mesh.getVertices().size()); EXPECT_EQ(0u, mesh.getNumEdges()); EXPECT_EQ(0u, mesh.getEdges().size()); EXPECT_EQ(0u, mesh.getNumTriangles()); EXPECT_EQ(0u, mesh.getTriangles().size()); EXPECT_EQ(0u, mesh.getNumTetrahedrons()); EXPECT_EQ(0u, mesh.getTetrahedrons().size()); /// Create mesh using test data for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0))); EXPECT_EQ(i + 1, mesh.getNumVertices()); } for (size_t i = 0; i < testEdgesVerticesId.size(); ++i) { EXPECT_EQ(i, mesh.createEdge(testEdgesVerticesId[i])); EXPECT_EQ(i + 1, mesh.getNumEdges()); } for (size_t i = 0; i < testTrianglesVerticesId.size(); ++i) { EXPECT_EQ(i, mesh.createTriangle(testTrianglesVerticesId[i], testTrianglesEdgesId[i])); EXPECT_EQ(i + 1, mesh.getNumTriangles()); } for (size_t i = 0; i < testTetrahedronsVerticesId.size(); ++i) { EXPECT_EQ(i, mesh.createTetrahedron(testTetrahedronsVerticesId[i], \ testTetrahedronsEdgesId[i], testTetrahedronsTrianglesId[i])); EXPECT_EQ(i + 1, mesh.getNumTetrahedrons()); } EXPECT_EQ(testPositions.size(), mesh.getNumVertices()); EXPECT_EQ(testPositions.size(), mesh.getVertices().size()); EXPECT_EQ(testEdgesVerticesId.size(), mesh.getNumEdges()); EXPECT_EQ(testEdgesVerticesId.size(), mesh.getEdges().size()); EXPECT_EQ(testTrianglesVerticesId.size(), mesh.getNumTriangles()); EXPECT_EQ(testTrianglesVerticesId.size(), mesh.getTriangles().size()); EXPECT_EQ(testTetrahedronsVerticesId.size(), mesh.getNumTetrahedrons()); EXPECT_EQ(testTetrahedronsVerticesId.size(), mesh.getTetrahedrons().size()); /// Clear mesh mesh.clear(); EXPECT_EQ(0u, mesh.getNumVertices()); EXPECT_EQ(0u, mesh.getVertices().size()); EXPECT_EQ(0u, mesh.getNumEdges()); EXPECT_EQ(0u, mesh.getEdges().size()); EXPECT_EQ(0u, mesh.getNumTriangles()); EXPECT_EQ(0u, mesh.getTriangles().size()); EXPECT_EQ(0u, mesh.getNumTetrahedrons()); EXPECT_EQ(0u, mesh.getTetrahedrons().size()); } TEST_F(TetrahedronMeshTest, UpdateTest) { MockTetrahedronMesh mesh; EXPECT_EQ(0, mesh.getNumUpdates()); for (int i = 0; i < 10; ++i) { mesh.update(); EXPECT_EQ(i + 1, mesh.getNumUpdates()); } } TEST_F(TetrahedronMeshTest, ComparisonTest) { /// Create mesh using test data MockTetrahedronMesh mesh; for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(testPositions[i], testNormals[i])); } for (size_t i = 0; i < testEdgesVerticesId.size(); ++i) { EXPECT_EQ(i, mesh.createEdge(testEdgesVerticesId[i])); } for (size_t i = 0; i < testTrianglesVerticesId.size(); ++i) { EXPECT_EQ(i, mesh.createTriangle(testTrianglesVerticesId[i], testTrianglesEdgesId[i])); } for (size_t i = 0; i < testTetrahedronsVerticesId.size(); ++i) { EXPECT_EQ(i, mesh.createTetrahedron(testTetrahedronsVerticesId[i], \ testTetrahedronsEdgesId[i], testTetrahedronsTrianglesId[i])); } /// Create same mesh again MockTetrahedronMesh sameMesh; for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, sameMesh.createVertex(testPositions[i], testNormals[i])); } for (size_t i = 0; i < testEdgesVerticesId.size(); ++i) { EXPECT_EQ(i, sameMesh.createEdge(testEdgesVerticesId[i])); } for (size_t i = 0; i < testTrianglesVerticesId.size(); ++i) { EXPECT_EQ(i, sameMesh.createTriangle(testTrianglesVerticesId[i], testTrianglesEdgesId[i])); } for (size_t i = 0; i < testTetrahedronsVerticesId.size(); ++i) { EXPECT_EQ(i, sameMesh.createTetrahedron(testTetrahedronsVerticesId[i], \ testTetrahedronsEdgesId[i], testTetrahedronsTrianglesId[i])); } /// Create mesh with test data, but each vertex has position and normal of (0,0,0) to make them different MockTetrahedronMesh meshWithDifferentVertices; for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, meshWithDifferentVertices.createVertex(Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0))); } for (size_t i = 0; i < testEdgesVerticesId.size(); ++i) { EXPECT_EQ(i, meshWithDifferentVertices.createEdge(testEdgesVerticesId[i])); } for (size_t i = 0; i < testTrianglesVerticesId.size(); ++i) { EXPECT_EQ(i, meshWithDifferentVertices.createTriangle(testTrianglesVerticesId[i], testTrianglesEdgesId[i])); } for (size_t i = 0; i < testTetrahedronsVerticesId.size(); ++i) { EXPECT_EQ(i, meshWithDifferentVertices.createTetrahedron(testTetrahedronsVerticesId[i], \ testTetrahedronsEdgesId[i], testTetrahedronsTrianglesId[i])); } /// Create mesh with test data, but reverse each edge's vertex order to make them different MockTetrahedronMesh meshWithDifferentEdges; for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, meshWithDifferentEdges.createVertex(testPositions[i], testNormals[i])); } for (size_t i = 0; i < testEdgesVerticesId.size(); ++i) { std::array edge = {{ testEdgesVerticesId[i][1], testEdgesVerticesId[i][0] }}; EXPECT_EQ(i, meshWithDifferentEdges.createEdge(edge)); } for (size_t i = 0; i < testTrianglesVerticesId.size(); ++i) { EXPECT_EQ(i, meshWithDifferentEdges.createTriangle(testTrianglesVerticesId[i], testTrianglesEdgesId[i])); } for (size_t i = 0; i < testTetrahedronsVerticesId.size(); ++i) { EXPECT_EQ(i, meshWithDifferentEdges.createTetrahedron(testTetrahedronsVerticesId[i], \ testTetrahedronsEdgesId[i], testTetrahedronsTrianglesId[i])); } /// Create mesh with test data, but only create half of the triangles to make the list different. MockTetrahedronMesh meshWithDifferentTriangles; for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, meshWithDifferentTriangles.createVertex(testPositions[i], testNormals[i])); } for (size_t i = 0; i < testEdgesVerticesId.size(); ++i) { EXPECT_EQ(i, meshWithDifferentTriangles.createEdge(testEdgesVerticesId[i])); } for (size_t i = 0; i < testTrianglesVerticesId.size() / 2; ++i) { EXPECT_EQ(i, meshWithDifferentTriangles.createTriangle(testTrianglesVerticesId[i], testTrianglesEdgesId[i])); } for (size_t i = 0; i < testTetrahedronsVerticesId.size(); ++i) { EXPECT_EQ(i, meshWithDifferentTriangles.createTetrahedron(testTetrahedronsVerticesId[i], \ testTetrahedronsEdgesId[i], testTetrahedronsTrianglesId[i])); } /// Test comparisons EXPECT_TRUE(mesh == sameMesh); EXPECT_FALSE(mesh != sameMesh); EXPECT_FALSE(mesh == meshWithDifferentVertices); EXPECT_TRUE(mesh != meshWithDifferentVertices); EXPECT_FALSE(mesh == meshWithDifferentEdges); EXPECT_TRUE(mesh != meshWithDifferentEdges); EXPECT_FALSE(mesh == meshWithDifferentTriangles); EXPECT_TRUE(mesh != meshWithDifferentTriangles); } opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/TriangleMeshTest.cpp000066400000000000000000000566231277777236100263660ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the Mesh class. #include #include #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/MeshElement.h" #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/DataStructures/UnitTests/MockObjects.h" #include "SurgSim/DataStructures/Vertex.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/ApplicationData.h" using SurgSim::DataStructures::EmptyData; using SurgSim::DataStructures::TriangleMesh; using SurgSim::DataStructures::TriangleMeshPlain; using SurgSim::Math::Vector3d; /// Triangle Mesh for testing using MockVertexData, MockEdgeData, and MockTriangleData class MockTriangleMesh : public SurgSim::DataStructures::TriangleMesh { public: /// Vertex type for convenience typedef TriangleMesh::VertexType VertexType; /// Edge type for convenience typedef TriangleMesh::EdgeType EdgeType; /// Triangle type for convenience typedef TriangleMesh::TriangleType TriangleType; /// Constructor. Start out with no vertices and 0 updates MockTriangleMesh() : SurgSim::DataStructures::TriangleMesh(), m_numUpdates(0) { } SURGSIM_CLASSNAME(MockTriangleMesh); /// Destructor virtual ~MockTriangleMesh() { } /// Create a new vertex in the mesh /// \param position Position of the vertex /// \param normal Normal of the vertex /// \return Unique ID of vertex in the mesh size_t createVertex(const SurgSim::Math::Vector3d& position, const SurgSim::Math::Vector3d& normal) { VertexType vertex(position, MockVertexData(getNumVertices(), normal)); return addVertex(vertex); } /// Create a new edge in the mesh /// \param vertices Edge vertices /// \return Unique ID of vertex in the mesh size_t createEdge(const std::array& vertices) { EdgeType edge(vertices, MockEdgeData(getNumEdges())); return addEdge(edge); } /// Create a new triangle in the mesh /// \param vertices The triangle vertices /// \param edges The triangle edges /// \return Unique ID of vertex in the mesh size_t createTriangle(const std::array& vertices, const std::array& edges) { TriangleType triangle(vertices, MockTriangleData(getNumTriangles(), edges)); return addTriangle(triangle); } /// Returns the normal of a vertex const SurgSim::Math::Vector3d& getVertexNormal(size_t id) const { return getVertex(id).data.getNormal(); } /// Returns the number of updates performed on the mesh int getNumUpdates() const { return m_numUpdates; } private: /// Provides update functionality, which just increments the number of updates bool doUpdate() override { ++m_numUpdates; return true; } /// Number of updates performed on the mesh int m_numUpdates; }; template<> std::string SurgSim::DataStructures::TriangleMesh ::m_className = "MockTriangleMesh"; class TriangleMeshTest : public ::testing::Test { public: void SetUp() { // Set to true to print the test positions. bool printPositions = false; // Set to true to print the test normals. bool printNormals = false; // Set to true to print the test triangles. bool printTriangles = false; // Set to true to print the test edges. bool printEdges = false; // Set the number of test vertices size_t numVertices = 10; // Set the number of test triangles size_t numTriangles = 20; std::default_random_engine generator; std::uniform_real_distribution positionDistribution(-10.0, 10.0); std::uniform_real_distribution normalDistribution(-1.0, 1.0); std::uniform_int_distribution vertexIdDistribution(0, numVertices - 1); if (printPositions) { std::cout << "Test Vertex Positions:\n"; } /// Generate random positions for each vertex for (size_t i = 0; i < numVertices; ++i) { Vector3d position(positionDistribution(generator), positionDistribution(generator), positionDistribution(generator)); testPositions.push_back(position); if (printPositions) { std::cout << "\t" << i << ": (" << position.x() << ", " << position.y() << ", " << position.z() << ")\n"; } } if (printNormals) { std::cout << "Test Vertex Normals:\n"; } /// Generate random normals for each vertex for (size_t i = 0; i < numVertices; ++i) { Vector3d normal(normalDistribution(generator), normalDistribution(generator), normalDistribution(generator)); normal.normalize(); testNormals.push_back(normal); if (printNormals) { std::cout << "\t" << i << ": (" << normal.x() << ", " << normal.y() << ", " << normal.z() << ")\n"; } } if (printTriangles) { std::cout << "Test Triangles:\n"; } /// Generate random vertex IDs within [0, numVertices) in triplets for mesh triangles for (size_t i = 0; i < numTriangles; ++i) { std::array triangleVertices = {{ vertexIdDistribution(generator), vertexIdDistribution(generator), vertexIdDistribution(generator) } }; testTriangleVertices.push_back(triangleVertices); /// Create 3 vertex ID pairs for each triangle edge (not worrying about duplicates for these tests) std::array triangleEdges; for (int j = 0; j < 3; ++j) { std::array edgeVertices = {{ triangleVertices[0], triangleVertices[1] }}; testEdgeVertices.push_back(edgeVertices); triangleEdges[j] = testEdgeVertices.size() - 1; } testTriangleEdges.push_back(triangleEdges); if (printTriangles) { std::cout << "\t" << i << ": Vertices (" << formatIterator(triangleVertices, ", ") << "), Edges (" << formatIterator(triangleEdges, ", ") << ")\n"; } } if (printEdges) { std::cout << "Test Edges:\n"; for (size_t i = 0; i < testEdgeVertices.size(); ++i) { const std::array& edgeVertices = testEdgeVertices[i]; std::cout << "\t" << i << ": (" << formatIterator(edgeVertices, ", ") << ")\n"; } } } void TearDown() { } /// Positions of test vertices std::vector testPositions; /// Normals of test vertices std::vector testNormals; /// Vertices of test edges std::vector> testEdgeVertices; /// Vertices of test triangles std::vector> testTriangleVertices; /// Edges of test triangles std::vector> testTriangleEdges; }; TEST_F(TriangleMeshTest, InitTest) { ASSERT_NO_THROW({MockTriangleMesh mesh;}); ASSERT_NO_THROW({TriangleMeshPlain mesh;}); } TEST_F(TriangleMeshTest, CreateVerticesTest) { MockTriangleMesh mesh; EXPECT_EQ(0u, mesh.getNumVertices()); EXPECT_EQ(0u, mesh.getVertices().size()); /// Create the test vertices for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(testPositions[i], testNormals[i])); EXPECT_EQ(i + 1, mesh.getNumVertices()); const std::vector& vertices = mesh.getVertices(); EXPECT_EQ(i + 1, vertices.size()); /// Make sure each vertex is set properly for (size_t j = 0; j < mesh.getNumVertices(); ++j) { EXPECT_EQ(testPositions[j], vertices[j].position); const MockVertexData& data = vertices[j].data; EXPECT_EQ(j, data.getId()); EXPECT_EQ(testNormals[j], data.getNormal()); } } /// Create the test edges for (size_t i = 0; i < testEdgeVertices.size(); ++i) { EXPECT_EQ(i, mesh.createEdge(testEdgeVertices[i])); EXPECT_EQ(i + 1, mesh.getNumEdges()); const std::vector& edges = mesh.getEdges(); EXPECT_EQ(i + 1, edges.size()); /// Make sure each vertex is set properly for (size_t j = 0; j < mesh.getNumEdges(); ++j) { EXPECT_EQ(testEdgeVertices[j], edges[j].verticesId); const MockEdgeData& data = edges[j].data; EXPECT_EQ(j, data.getId()); } } /// Create the test triangles for (size_t i = 0; i < testTriangleVertices.size(); ++i) { EXPECT_EQ(i, mesh.createTriangle(testTriangleVertices[i], testTriangleEdges[i])); EXPECT_EQ(i + 1, mesh.getNumTriangles()); const std::vector& triangles = mesh.getTriangles(); EXPECT_EQ(i + 1, triangles.size()); /// Make sure each vertex is set properly for (size_t j = 0; j < mesh.getNumTriangles(); ++j) { EXPECT_EQ(testTriangleVertices[j], triangles[j].verticesId); const MockTriangleData& data = triangles[j].data; EXPECT_EQ(j, data.getId()); EXPECT_EQ(testTriangleEdges[j], data.getEdges()); } } } TEST_F(TriangleMeshTest, isValidTest) { MockTriangleMesh mesh; EXPECT_TRUE(mesh.isValid()); /// Create the edges (no vertices yet => the mesh is NOT valid) for (size_t i = 0; i < testEdgeVertices.size(); ++i) { mesh.createEdge(testEdgeVertices[i]); } EXPECT_FALSE(mesh.isValid()); /// Create the triangles (no vertices yet => the mesh is NOT valid) for (size_t i = 0; i < testTriangleVertices.size(); ++i) { mesh.createTriangle(testTriangleVertices[i], testTriangleEdges[i]); } EXPECT_FALSE(mesh.isValid()); /// Create the vertices for (size_t i = 0; i < testPositions.size(); ++i) { mesh.createVertex(testPositions[i], testNormals[i]); } EXPECT_TRUE(mesh.isValid()); } TEST_F(TriangleMeshTest, SetVertexPositionsTest) { MockTriangleMesh mesh; /// Create vertices with test normals, but all positions at (0,0,0) for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(Vector3d(0.0, 0.0, 0.0), testNormals[i])); EXPECT_EQ(i + 1, mesh.getNumVertices()); } mesh.setVertexPositions(testPositions); EXPECT_EQ(1, mesh.getNumUpdates()); EXPECT_EQ(testPositions.size(), mesh.getNumVertices()); const std::vector& vertices = mesh.getVertices(); EXPECT_EQ(testPositions.size(), vertices.size()); /// Make sure each vertex is set properly for (size_t i = 0; i < mesh.getNumVertices(); ++i) { EXPECT_EQ(testPositions[i], vertices[i].position); const MockVertexData& data = vertices[i].data; EXPECT_EQ(testNormals[i], data.getNormal()); } mesh.setVertexPositions(testPositions, false); EXPECT_EQ(1, mesh.getNumUpdates()); EXPECT_EQ(testPositions.size(), mesh.getNumVertices()); EXPECT_EQ(testPositions.size(), mesh.getVertices().size()); mesh.setVertexPositions(testPositions, true); EXPECT_EQ(2, mesh.getNumUpdates()); EXPECT_EQ(testPositions.size(), mesh.getNumVertices()); EXPECT_EQ(testPositions.size(), mesh.getVertices().size()); /// Test the individual set/get methods mesh.setVertexPosition(5, Vector3d(0.0, 0.0, 0.0)); /// Make sure each vertex is set properly for (size_t i = 0; i < mesh.getNumVertices(); ++i) { if (i == 5) { EXPECT_EQ(Vector3d(0.0, 0.0, 0.0), mesh.getVertexPosition(i)); EXPECT_EQ(testNormals[i], mesh.getVertexNormal(i)); } else { EXPECT_EQ(testPositions[i], mesh.getVertexPosition(i)); EXPECT_EQ(testNormals[i], mesh.getVertexNormal(i)); } } /// Try setting with wrong number of vertices mesh.createVertex(Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0)); // create one more vertex EXPECT_THROW(mesh.setVertexPositions(testPositions), SurgSim::Framework::AssertionFailure); } TEST_F(TriangleMeshTest, ClearTest) { MockTriangleMesh mesh; EXPECT_EQ(0, mesh.getNumUpdates()); EXPECT_EQ(0u, mesh.getNumVertices()); EXPECT_EQ(0u, mesh.getVertices().size()); EXPECT_EQ(0u, mesh.getNumEdges()); EXPECT_EQ(0u, mesh.getEdges().size()); EXPECT_EQ(0u, mesh.getNumTriangles()); EXPECT_EQ(0u, mesh.getTriangles().size()); /// Create mesh using test data for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0))); EXPECT_EQ(i + 1, mesh.getNumVertices()); } for (size_t i = 0; i < testEdgeVertices.size(); ++i) { EXPECT_EQ(i, mesh.createEdge(testEdgeVertices[i])); EXPECT_EQ(i + 1, mesh.getNumEdges()); } for (size_t i = 0; i < testTriangleVertices.size(); ++i) { EXPECT_EQ(i, mesh.createTriangle(testTriangleVertices[i], testTriangleEdges[i])); EXPECT_EQ(i + 1, mesh.getNumTriangles()); } EXPECT_EQ(testPositions.size(), mesh.getNumVertices()); EXPECT_EQ(testPositions.size(), mesh.getVertices().size()); EXPECT_EQ(testEdgeVertices.size(), mesh.getNumEdges()); EXPECT_EQ(testEdgeVertices.size(), mesh.getEdges().size()); EXPECT_EQ(testTriangleVertices.size(), mesh.getNumTriangles()); EXPECT_EQ(testTriangleVertices.size(), mesh.getTriangles().size()); /// Clear mesh mesh.clear(); EXPECT_EQ(0u, mesh.getNumVertices()); EXPECT_EQ(0u, mesh.getVertices().size()); EXPECT_EQ(0u, mesh.getNumEdges()); EXPECT_EQ(0u, mesh.getEdges().size()); EXPECT_EQ(0u, mesh.getNumTriangles()); EXPECT_EQ(0u, mesh.getTriangles().size()); } TEST_F(TriangleMeshTest, UpdateTest) { MockTriangleMesh mesh; EXPECT_EQ(0, mesh.getNumUpdates()); for (int i = 0; i < 10; ++i) { mesh.update(); EXPECT_EQ(i + 1, mesh.getNumUpdates()); } } TEST_F(TriangleMeshTest, ComparisonTest) { /// Create mesh using test data MockTriangleMesh mesh; for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(testPositions[i], testNormals[i])); } for (size_t i = 0; i < testEdgeVertices.size(); ++i) { EXPECT_EQ(i, mesh.createEdge(testEdgeVertices[i])); } for (size_t i = 0; i < testTriangleVertices.size(); ++i) { EXPECT_EQ(i, mesh.createTriangle(testTriangleVertices[i], testTriangleEdges[i])); } /// Create same mesh again MockTriangleMesh sameMesh; for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, sameMesh.createVertex(testPositions[i], testNormals[i])); } for (size_t i = 0; i < testEdgeVertices.size(); ++i) { EXPECT_EQ(i, sameMesh.createEdge(testEdgeVertices[i])); } for (size_t i = 0; i < testTriangleVertices.size(); ++i) { EXPECT_EQ(i, sameMesh.createTriangle(testTriangleVertices[i], testTriangleEdges[i])); } /// Create mesh with test data, but each vertex has position and normal of (0,0,0) to make them different MockTriangleMesh meshWithDifferentVertices; for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, meshWithDifferentVertices.createVertex(Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0))); } for (size_t i = 0; i < testEdgeVertices.size(); ++i) { EXPECT_EQ(i, meshWithDifferentVertices.createEdge(testEdgeVertices[i])); } for (size_t i = 0; i < testTriangleVertices.size(); ++i) { EXPECT_EQ(i, meshWithDifferentVertices.createTriangle(testTriangleVertices[i], testTriangleEdges[i])); } /// Create mesh with test data, but reverse each edge's vertex order to make them different MockTriangleMesh meshWithDifferentEdges; for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, meshWithDifferentEdges.createVertex(testPositions[i], testNormals[i])); } for (size_t i = 0; i < testEdgeVertices.size(); ++i) { std::array edge = {{ testEdgeVertices[i][1], testEdgeVertices[i][0] }}; EXPECT_EQ(i, meshWithDifferentEdges.createEdge(edge)); } for (size_t i = 0; i < testTriangleVertices.size(); ++i) { EXPECT_EQ(i, meshWithDifferentEdges.createTriangle(testTriangleVertices[i], testTriangleEdges[i])); } /// Create mesh with test data, but only create half of the triangles to make the list different. MockTriangleMesh meshWithDifferentTriangles; for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, meshWithDifferentTriangles.createVertex(testPositions[i], testNormals[i])); } for (size_t i = 0; i < testEdgeVertices.size(); ++i) { EXPECT_EQ(i, meshWithDifferentTriangles.createEdge(testEdgeVertices[i])); } for (size_t i = 0; i < testTriangleVertices.size() / 2; ++i) { EXPECT_EQ(i, meshWithDifferentTriangles.createTriangle(testTriangleVertices[i], testTriangleEdges[i])); } /// Test comparisons EXPECT_TRUE(mesh == sameMesh); EXPECT_FALSE(mesh != sameMesh); EXPECT_FALSE(mesh == meshWithDifferentVertices); EXPECT_TRUE(mesh != meshWithDifferentVertices); EXPECT_FALSE(mesh == meshWithDifferentEdges); EXPECT_TRUE(mesh != meshWithDifferentEdges); EXPECT_FALSE(mesh == meshWithDifferentTriangles); EXPECT_TRUE(mesh != meshWithDifferentTriangles); } TEST_F(TriangleMeshTest, CopyConstructorTest) { MockTriangleMesh mesh; /// Create mesh using test data for (size_t i = 0; i < testPositions.size(); ++i) { EXPECT_EQ(i, mesh.createVertex(Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0))); EXPECT_EQ(i + 1, mesh.getNumVertices()); } for (size_t i = 0; i < testEdgeVertices.size(); ++i) { EXPECT_EQ(i, mesh.createEdge(testEdgeVertices[i])); EXPECT_EQ(i + 1, mesh.getNumEdges()); } for (size_t i = 0; i < testTriangleVertices.size(); ++i) { EXPECT_EQ(i, mesh.createTriangle(testTriangleVertices[i], testTriangleEdges[i])); EXPECT_EQ(i + 1, mesh.getNumTriangles()); } SurgSim::DataStructures::TriangleMeshPlain mesh2(mesh); for (size_t i = 0; i < mesh.getNumVertices(); ++i) { EXPECT_EQ(mesh.getVertexPosition(i), mesh2.getVertexPosition(i)); } for (size_t i = 0; i < mesh.getNumEdges(); ++i) { EXPECT_EQ(mesh.getEdge(i).verticesId, mesh2.getEdge(i).verticesId); } for (size_t i = 0; i < mesh.getNumTriangles(); ++i) { EXPECT_EQ(mesh.getTriangle(i).verticesId, mesh2.getTriangle(i).verticesId); } } TEST_F(TriangleMeshTest, LoadTest) { auto runtime = std::make_shared("config.txt"); { SCOPED_TRACE("Load nonexistent file should throw"); auto mesh = std::make_shared(); EXPECT_THROW(mesh->load("Nonexistent file"), SurgSim::Framework::AssertionFailure); } { SCOPED_TRACE("Load existent file which contains invalid mesh should throw"); auto mesh = std::make_shared(); EXPECT_THROW(mesh->load("Geometry/InvalidMesh.ply"), SurgSim::Framework::AssertionFailure); } { SCOPED_TRACE("Load existent file which contains valid mesh should not throw"); auto mesh = std::make_shared(); EXPECT_NO_THROW(mesh->load("Geometry/staple_collision.ply")); } { SCOPED_TRACE("Load Cube.ply and check mesh"); auto mesh = std::make_shared(); mesh->load("Geometry/Cube.ply"); ASSERT_NO_THROW(mesh->load("Geometry/Cube.ply")); EXPECT_EQ(26u, mesh->getNumVertices()); EXPECT_EQ(12u, mesh->getNumTriangles()); // The first and last vertices from the file Vector3d vertex0(1.0, 1.0, -1.0); Vector3d vertex25(-1.0, -1.0, 1.0); EXPECT_TRUE(vertex0.isApprox(mesh->getVertex(0).position)); EXPECT_TRUE(vertex25.isApprox(mesh->getVertex(25).position)); std::array triangle0 = {0, 1, 2}; std::array triangle11 = {10, 25, 11}; EXPECT_EQ(triangle0, mesh->getTriangle(0).verticesId); EXPECT_EQ(triangle11, mesh->getTriangle(11).verticesId); } } TEST_F(TriangleMeshTest, GetTrianglePositions) { MockTriangleMesh mesh; // Initialization auto normal = testNormals.begin(); for (auto position = testPositions.begin(); position != testPositions.end(); ++position) { mesh.createVertex(*position, *normal++); } auto edges = testTriangleEdges.begin(); for (auto vertices = testTriangleVertices.begin(); vertices != testTriangleVertices.end(); ++vertices) { mesh.createTriangle(*vertices, *edges++); } // Testing for (size_t id = 0; id < mesh.getTriangles().size(); ++id) { auto verticesPositions = mesh.getTrianglePositions(id); auto& vertexIds = mesh.getTriangle(id).verticesId; EXPECT_TRUE(mesh.getVertex(vertexIds[0]).position.isApprox(verticesPositions[0])); EXPECT_TRUE(mesh.getVertex(vertexIds[1]).position.isApprox(verticesPositions[1])); EXPECT_TRUE(mesh.getVertex(vertexIds[2]).position.isApprox(verticesPositions[2])); } } TEST_F(TriangleMeshTest, GetEdgePositions) { MockTriangleMesh mesh; // Initialization auto normal = testNormals.begin(); for (auto position = testPositions.begin(); position != testPositions.end(); ++position) { mesh.createVertex(*position, *normal++); } for (auto vertices = testEdgeVertices.begin(); vertices != testEdgeVertices.end(); ++vertices) { mesh.createEdge(*vertices); } // Testing for (size_t id = 0; id < mesh.getEdges().size(); ++id) { auto verticesPositions = mesh.getEdgePositions(id); auto& vertexIds = mesh.getEdge(id).verticesId; EXPECT_TRUE(mesh.getVertex(vertexIds[0]).position.isApprox(verticesPositions[0])); EXPECT_TRUE(mesh.getVertex(vertexIds[1]).position.isApprox(verticesPositions[1])); } } TEST_F(TriangleMeshTest, TriangleDeletionTest) { typedef TriangleMeshPlain::VertexType VertexType; typedef TriangleMeshPlain::TriangleType TriangleType; TriangleMeshPlain mesh; mesh.addVertex(VertexType(testPositions[0])); mesh.addVertex(VertexType(testPositions[0])); mesh.addVertex(VertexType(testPositions[0])); TriangleType::IdType ids = {0, 1, 2}; mesh.addTriangle(TriangleType(ids)); mesh.addTriangle(TriangleType(ids)); mesh.addTriangle(TriangleType(ids)); EXPECT_TRUE(mesh.isValid()); EXPECT_NO_THROW(mesh.removeTriangle(1)); EXPECT_TRUE(mesh.isValid()); // Basic checks EXPECT_EQ(2u, mesh.getNumTriangles()); EXPECT_THROW(mesh.getTriangle(1), SurgSim::Framework::AssertionFailure); EXPECT_EQ(3u, mesh.getTriangles().size()); // Should be able to remove the same triangle twice EXPECT_NO_THROW(mesh.removeTriangle(1)); // Remove all other triangles to check boundary conditions mesh.removeTriangle(0); EXPECT_EQ(1u, mesh.getNumTriangles()); mesh.removeTriangle(2); EXPECT_EQ(0u, mesh.getNumTriangles()); EXPECT_EQ(3u, mesh.getTriangles().size()); // Adding a new triangle we should get an id from the old ids EXPECT_GT(3u, mesh.addTriangle(TriangleType(ids))); EXPECT_EQ(1u, mesh.getNumTriangles()); // The array size should not have been change EXPECT_EQ(3u, mesh.getTriangles().size()); EXPECT_GT(3u, mesh.addTriangle(TriangleType(ids))); EXPECT_GT(3u, mesh.addTriangle(TriangleType(ids))); // That is a new triangle EXPECT_EQ(3u, mesh.addTriangle(TriangleType(ids))); EXPECT_EQ(4u, mesh.getNumTriangles()); EXPECT_EQ(4u, mesh.getTriangles().size()); // Test clear with deleted triangles mesh.removeTriangle(3); EXPECT_NO_THROW(mesh.clear()); EXPECT_EQ(0u, mesh.getNumTriangles()); EXPECT_EQ(0u, mesh.addTriangle(TriangleType(ids))); EXPECT_EQ(1u, mesh.addTriangle(TriangleType(ids))); } TEST_F(TriangleMeshTest, Save) { std::vector paths; paths.push_back("."); SurgSim::Framework::ApplicationData data(paths); /// Create mesh using test data TriangleMeshPlain mesh; for (size_t i = 0; i < testPositions.size(); ++i) { mesh.addVertex(TriangleMeshPlain::VertexType(testPositions[i])); } for (size_t i = 0; i < testTriangleVertices.size(); ++i) { mesh.addTriangle(TriangleMeshPlain::TriangleType(testTriangleVertices[i])); } ASSERT_NO_THROW(mesh.save("test.ply")); auto loadedMesh = std::make_shared(); ASSERT_NO_THROW(loadedMesh->load("test.ply", data)); EXPECT_EQ(testPositions.size(), loadedMesh->getNumVertices()); EXPECT_EQ(testTriangleVertices.size(), loadedMesh->getNumTriangles()); } opensurgsim-0.7.0/SurgSim/DataStructures/UnitTests/config.txt.in000066400000000000000000000001201277777236100250300ustar00rootroot00000000000000${CMAKE_CURRENT_BINARY_DIR}/Data/ ${PROJECT_BINARY_DIR}/SurgSim/Testing/Data/ opensurgsim-0.7.0/SurgSim/DataStructures/Vertex.h000066400000000000000000000102711277777236100221110ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_VERTEX_H #define SURGSIM_DATASTRUCTURES_VERTEX_H #include "SurgSim/Math/Vector.h" #include namespace SurgSim { namespace DataStructures { /// Vertex structure for meshes. Vertices are the lowest level of structure in a Mesh, providing a position and can /// store extra per-vertex data. MeshElements combine MeshVertices to form the structure of the mesh. /// /// Vertex is to be used purely as a data structure and not provide implementation of algorithms. /// For example, a physics FEM's nodes are not subclasses of Vertex if they provide code that is part of the FEM /// algorithm, but they may used with a Mesh to store the structure of the FEM. /// /// The extra Data is left up to the particular use of Mesh to specify. For example, for use collision detection, /// a vertex may need a normal and adjacent triangle information, which could be stored in a struct. /// /// If no extra Data is needed, a specialization exists for void, in which case the constructor takes no data. /// /// \tparam Data Type of extra data stored in the vertex (void for no data) /// \sa Vertices template struct Vertex { /// Constructor Vertex() { } /// Constructor /// \param position Position of the vertex /// \param data Extra data to be stored in the vertex explicit Vertex(const SurgSim::Math::Vector3d& position, const Data& data = Data()) : position(position), data(data) { } /// Copy constructor when the template data is a different type /// In this case, no data will be copied /// \tparam T type of data stored in the other Vertex /// \param other the Vertex to copy from template explicit Vertex(const Vertex& other) : position(other.position) { } /// Assignment when the template data is a different type /// In this case, no data will be copied /// \tparam T type of data stored in the other Vertex /// \param other the Vertex to copy from template Vertex& operator=(const Vertex& other) { position = other.position; return *this; } /// Position of the vertex. SurgSim::Math::Vector3d position; /// Extra vertex data. Data data; /// Compare the vertex to another one (equality) /// \param vertex The Vertex to compare it to /// \return True if the two vertices are equal, false otherwise. bool operator==(const Vertex& vertex) const { return data == vertex.data && position == vertex.position; } /// Compare the vertex to another one (inequality) /// \param vertex The Vertex to compare it to /// \return False if the two vertices are equal, true otherwise. bool operator!=(const Vertex& vertex) const { return ! ((*this) == vertex); } }; /// Specialization of Vertex with no data. /// \sa Vertex template <> struct Vertex { /// Constructor /// \param position Position of the vertex explicit Vertex(const SurgSim::Math::Vector3d& position) : position(position) { } /// Position of the vertex. SurgSim::Math::Vector3d position; /// Compare the vertex to another one (equality) /// \param vertex The Vertex to compare it to /// \return True if the two vertices are equal, false otherwise. bool operator==(const Vertex& vertex) const { return position == vertex.position; } /// Compare the vertex to another one (inequality) /// \param vertex The Vertex to compare it to /// \return False if the two vertices are equal, true otherwise. bool operator!=(const Vertex& vertex) const { return ! ((*this) == vertex); } }; }; // namespace DataStructures }; // namespace SurgSim #endif // SURGSIM_DATASTRUCTURES_VERTEX_H opensurgsim-0.7.0/SurgSim/DataStructures/Vertices-inl.h000066400000000000000000000107441277777236100232050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_VERTICES_INL_H #define SURGSIM_DATASTRUCTURES_VERTICES_INL_H #include #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace DataStructures { template Vertices::Vertices() { } template template Vertices::Vertices(const Vertices& other) { m_vertices.reserve(other.getVertices().size()); for (auto& otherVertex : other.getVertices()) { addVertex(VertexType(otherVertex)); } } template template Vertices& Vertices::operator=(const Vertices& other) { auto& otherVertices = other.getVertices(); if (otherVertices.size() < m_vertices.size()) { m_vertices.resize(otherVertices.size()); } else { m_vertices.reserve(otherVertices.size()); } auto vertex = m_vertices.begin(); auto otherVertex = otherVertices.begin(); for (; vertex != m_vertices.end(); ++vertex, ++otherVertex) { *vertex = *otherVertex; } for (; otherVertex != otherVertices.end(); ++otherVertex) { addVertex(VertexType(*otherVertex)); } return *this; } template Vertices::~Vertices() { } template void Vertices::clear() { doClear(); } template bool Vertices::update() { return doUpdate(); } template size_t Vertices::addVertex(const VertexType& vertex) { m_vertices.push_back(vertex); return m_vertices.size() - 1; } template size_t Vertices::getNumVertices() const { return m_vertices.size(); } template const typename Vertices::VertexType& Vertices::getVertex(size_t id) const { return m_vertices[id]; } template typename Vertices::VertexType& Vertices::getVertex(size_t id) { return m_vertices[id]; } template const std::vector::VertexType>& Vertices::getVertices() const { return m_vertices; } template std::vector::VertexType>& Vertices::getVertices() { return m_vertices; } template void Vertices::setVertexPosition(size_t id, const SurgSim::Math::Vector3d& position) { m_vertices[id].position = position; } template const SurgSim::Math::Vector3d& Vertices::getVertexPosition(size_t id) const { return m_vertices[id].position; } template void Vertices::setVertexPositions(const std::vector& positions, bool doUpdate) { SURGSIM_ASSERT(m_vertices.size() == positions.size()) << "Number of positions must match number of vertices."; for (size_t i = 0; i < m_vertices.size(); ++i) { m_vertices[i].position = positions[i]; } if (doUpdate) { update(); } } template void Vertices::transform(const Math::RigidTransform3d& pose) { for (auto& vertex : m_vertices) { vertex.position = pose * vertex.position; } } template bool Vertices::operator==(const Vertices& mesh) const { return (typeid(*this) == typeid(mesh)) && isEqual(mesh); } template bool Vertices::operator!=(const Vertices& mesh) const { return (typeid(*this) != typeid(mesh)) || ! isEqual(mesh); } template void Vertices::doClearVertices() { m_vertices.clear(); } template bool Vertices::isEqual(const Vertices& mesh) const { return m_vertices == mesh.m_vertices; } template void Vertices::doClear() { doClearVertices(); } template bool Vertices::doUpdate() { return true; } }; }; #endif //SURGSIM_DATASTRUCTURES_VERTICES_INL_H opensurgsim-0.7.0/SurgSim/DataStructures/Vertices.h000066400000000000000000000142701277777236100224230ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DATASTRUCTURES_VERTICES_H #define SURGSIM_DATASTRUCTURES_VERTICES_H #include #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/Vertex.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace DataStructures { /// Base class for mesh structures, handling basic vertex functionality. /// /// Vertices is to be used purely as a data structure and not provide implementation of algorithms. /// For example, a physics FEM is not a subclass of Vertices, but may use a Mesh for storing the structure of the FEM. /// /// Subclasses of this class should handle the elements required for a specific type of mesh (as simple as just a /// generic triangle mesh or as specific as a triangle mesh for collision detection, which might also specify the data /// types for the vertex and elements). /// /// It is recommended that subclasses of this class also provide convenience methods for creation of vertices and /// elements, and the data each contains. A method such as createVertex(position, other data...) simplifies the creation /// of vertices and the data required. This method would use the addVertex() method to add the created vertices to the /// Mesh. /// /// \tparam VertexData Type of extra data stored in each vertex (void for no data) /// \sa Vertex /// \sa MeshElement template class Vertices { public: /// Vertex type for convenience typedef Vertex VertexType; /// Constructor Vertices(); /// Copy constructor when the template data is a different type /// In this case, no data will be copied /// \tparam V type of data stored in the other Vertices /// \param other the Vertices to copy from template explicit Vertices(const Vertices& other); /// Assignment when the template data is a different type /// In this case, no data will be copied /// \tparam V type of data stored in the other Vertices /// \param other the Vertices to copy from template Vertices& operator=(const Vertices& other); /// Destructor virtual ~Vertices(); /// Clear mesh to return to an empty state (no vertices). void clear(); /// Performs any updates that are required when the vertices are modified. /// Calls doUpdate() to perform the updates. /// \return true on success. bool update(); /// Adds a vertex to the mesh. /// Recommend that subclasses with a specific purpose (such as for use in collision detection), have a /// createVertex(position, other data...) method which performs any checking desired and sets up the vertex data /// based on the other parameters. /// \param vertex Vertex to add to the mesh /// \return Unique ID of the new vertex. size_t addVertex(const VertexType& vertex); /// Returns the number of vertices in this mesh. size_t getNumVertices() const; /// Returns the specified vertex. const VertexType& getVertex(size_t id) const; /// Returns the specified vertex (non const version). VertexType& getVertex(size_t id); /// Returns a vector containing the position of each vertex. const std::vector& getVertices() const; /// Returns a vector containing the position of each vertex (non const version). std::vector& getVertices(); /// Sets the position of a vertex. /// \param id Unique ID of the vertex /// \param position Position of the vertex void setVertexPosition(size_t id, const SurgSim::Math::Vector3d& position); /// Returns the position of a vertex. /// \param id Unique ID of the vertex /// \return Position of the vertex const SurgSim::Math::Vector3d& getVertexPosition(size_t id) const; /// Sets the position of each vertex. /// \param positions Vector containing new position for each vertex /// \param doUpdate True to perform an update after setting the vertices, false to skip update; default is true. void setVertexPositions(const std::vector& positions, bool doUpdate = true); /// Apply a rigid transform to each vertex /// \param pose the rigid transform to apply void transform(const Math::RigidTransform3d& pose); /// Compares the mesh with another one (equality) /// \param mesh The Vertices to compare it to /// \return True if the two vertices are equals, False otherwise bool operator==(const Vertices& mesh) const; /// Compares the mesh with another one (inequality) /// \param mesh The Vertices to compare it to /// \return False if the two vertices are equals, True otherwise bool operator!=(const Vertices& mesh) const; protected: /// Remove all vertices from the mesh. virtual void doClearVertices(); /// Internal comparison of meshes of the same type: returns true if equal, false if not equal. /// Override this method to provide custom comparison. Base Mesh implementation compares vertices: /// the order of vertices must also match to be considered equal. /// \param mesh Mesh must be of the same type as that which it is compared against virtual bool isEqual(const Vertices& mesh) const; private: /// Clear mesh to return to an empty state (no vertices). virtual void doClear(); /// Performs any updates that are required when the vertices are modified. /// Override this method to implement update functionality. /// For example, this could be overridden to calculate normals for each Vertex. /// \return true on success. virtual bool doUpdate(); /// Vertices std::vector m_vertices; }; typedef Vertices VerticesPlain; }; // namespace DataStructures }; // namespace SurgSim #include "SurgSim/DataStructures/Vertices-inl.h" #endif // SURGSIM_DATASTRUCTURES_VERTICES_H opensurgsim-0.7.0/SurgSim/DataStructures/ply.c000066400000000000000000002133511277777236100214370ustar00rootroot00000000000000/* The interface routines for reading and writing PLY polygon files. Greg Turk, February 1994 --------------------------------------------------------------- A PLY file contains a single polygonal _object_. An object is composed of lists of _elements_. Typical elements are vertices, faces, edges and materials. Each type of element for a given object has one or more _properties_ associated with the element type. For instance, a vertex element may have as properties the floating-point values x,y,z and the three unsigned chars representing red, green and blue. --------------------------------------------------------------- Copyright (c) 1994 The Board of Trustees of The Leland Stanford Junior University. All rights reserved. Permission to use, copy, modify and distribute this software and its documentation for any purpose is hereby granted without fee, provided that the above copyright notice and this permission notice appear in all copies of this software and that you do not sell the software. THE SOFTWARE IS PROVIDED "AS IS" AND WITHOUT WARRANTY OF ANY KIND, EXPRESS, IMPLIED OR OTHERWISE, INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. */ #include #include #include #include #include "SurgSim/DataStructures/ply.h" // HS-2014-apr-03 There are a few warnings from gcc regarding these // in the spirit of changing this file as little as possible we decided // to ignore these. The variables concerned are: // line 1621 'item' // line 1736 'item_size' // line 2378 'item' // line 1717 'other_data' // JL-2014-may-23 Upgrade get_words() to handle Windows line ending properly. // Minimal changes as been made from lines 1843 to 1846 and comment updated on line 1830. #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4996) #elif defined(__GNUC__) #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wmaybe-uninitialized" #endif char *type_names[] = { "invalid", "char", "short", "int", "uchar", "ushort", "uint", "float", "double" }; int ply_type_size[] = { 0, sizeof(char), sizeof(short), sizeof(int), sizeof(unsigned char), sizeof(unsigned short), sizeof(unsigned int), sizeof(float), sizeof(double) }; #define NO_OTHER_PROPS -1 #define DONT_STORE_PROP 0 #define STORE_PROP 1 #define OTHER_PROP 0 #define NAMED_PROP 1 /* returns 1 if strings are equal, 0 if not */ int equal_strings(const char *,const char *); /* find an element in a plyfile's list */ PlyElement *find_element(PlyFile *,const char *); /* find a property in an element's list */ PlyProperty *find_property(PlyElement *,const char *, int *); /* write to a file the word describing a PLY file data type */ void write_scalar_type (FILE *, int); /* read a line from a file and break it up into separate words */ char **get_words(FILE *, int *, char **); char **old_get_words(FILE *, int *); /* write an item to a file */ void write_binary_item(FILE *, int, unsigned int, double, int); void write_ascii_item(FILE *, int, unsigned int, double, int); double old_write_ascii_item(FILE *, char *, int); /* add information to a PLY file descriptor */ void add_element(PlyFile *, char **, int); void add_property(PlyFile *, char **, int); void add_comment(PlyFile *, char *); void add_obj_info(PlyFile *, char *); /* copy a property */ void copy_property(PlyProperty *, PlyProperty *); /* store a value into where a pointer and a type specify */ void store_item(char *, int, int, unsigned int, double); /* return the value of a stored item */ void get_stored_item( void *, int, int *, unsigned int *, double *); /* return the value stored in an item, given ptr to it and its type */ double get_item_value(char *, int); /* get binary or ascii item and store it according to ptr and type */ void get_ascii_item(char *, int, int *, unsigned int *, double *); void get_binary_item(FILE *, int, int *, unsigned int *, double *); /* get a bunch of elements from a file */ void ascii_get_element(PlyFile *, char *); void binary_get_element(PlyFile *, char *); // /* memory allocation */ // static char *my_alloc(int, int, char *); /*************/ /* Writing */ /*************/ /****************************************************************************** Given a file pointer, get ready to write PLY data to the file. Entry: fp - the given file pointer nelems - number of elements in object elem_names - list of element names file_type - file type, either ascii or binary Exit: returns a pointer to a PlyFile, used to refer to this file, or NULL if error ******************************************************************************/ PlyFile *ply_write( FILE *fp, int nelems, char **elem_names, int file_type ) { int i; PlyFile *plyfile; PlyElement *elem; /* check for NULL file pointer */ if (fp == NULL) return (NULL); /* create a record for this object */ plyfile = (PlyFile *) myalloc (sizeof (PlyFile)); plyfile->file_type = file_type; plyfile->num_comments = 0; plyfile->num_obj_info = 0; plyfile->nelems = nelems; plyfile->version = 1.0; plyfile->fp = fp; plyfile->other_elems = NULL; /* tuck aside the names of the elements */ plyfile->elems = (PlyElement **) myalloc (sizeof (PlyElement *) * nelems); for (i = 0; i < nelems; i++) { elem = (PlyElement *) myalloc (sizeof (PlyElement)); plyfile->elems[i] = elem; elem->name = strdup (elem_names[i]); elem->num = 0; elem->nprops = 0; } /* return pointer to the file descriptor */ return (plyfile); } /****************************************************************************** Open a polygon file for writing. Entry: filename - name of file to read from nelems - number of elements in object elem_names - list of element names file_type - file type, either ascii or binary Exit: version - version number of PLY file returns a file identifier, used to refer to this file, or NULL if error ******************************************************************************/ PlyFile *ply_open_for_writing( const char *filename, int nelems, char **elem_names, int file_type, float *version ) { PlyFile *plyfile; char *name; FILE *fp; /* tack on the extension .ply, if necessary */ name = (char *) myalloc (sizeof (char) * (strlen (filename) + 5)); strcpy (name, filename); if (strlen (name) < 4 || strcmp (name + strlen (name) - 4, ".ply") != 0) strcat (name, ".ply"); /* open the file for writing */ fp = fopen (name, "w"); if (fp == NULL) { return (NULL); } /* create the actual PlyFile structure */ plyfile = ply_write (fp, nelems, elem_names, file_type); if (plyfile == NULL) return (NULL); /* say what PLY file version number we're writing */ *version = plyfile->version; /* return pointer to the file descriptor */ return (plyfile); } /****************************************************************************** Describe an element, including its properties and how many will be written to the file. Entry: plyfile - file identifier elem_name - name of element that information is being specified about nelems - number of elements of this type to be written nprops - number of properties contained in the element prop_list - list of properties ******************************************************************************/ void ply_describe_element( PlyFile *plyfile, char *elem_name, int nelems, int nprops, PlyProperty *prop_list ) { int i; PlyElement *elem; PlyProperty *prop; /* look for appropriate element */ elem = find_element (plyfile, elem_name); if (elem == NULL) { fprintf(stderr,"ply_describe_element: can't find element '%s'\n",elem_name); exit (-1); } elem->num = nelems; /* copy the list of properties */ elem->nprops = nprops; elem->props = (PlyProperty **) myalloc (sizeof (PlyProperty *) * nprops); elem->store_prop = (char *) myalloc (sizeof (char) * nprops); for (i = 0; i < nprops; i++) { prop = (PlyProperty *) myalloc (sizeof (PlyProperty)); elem->props[i] = prop; elem->store_prop[i] = NAMED_PROP; copy_property (prop, &prop_list[i]); } } /****************************************************************************** Describe a property of an element. Entry: plyfile - file identifier elem_name - name of element that information is being specified about prop - the new property ******************************************************************************/ void ply_describe_property( PlyFile *plyfile, char *elem_name, PlyProperty *prop ) { PlyElement *elem; PlyProperty *elem_prop; /* look for appropriate element */ elem = find_element (plyfile, elem_name); if (elem == NULL) { fprintf(stderr, "ply_describe_property: can't find element '%s'\n", elem_name); return; } /* create room for new property */ if (elem->nprops == 0) { elem->props = (PlyProperty **) myalloc (sizeof (PlyProperty *)); elem->store_prop = (char *) myalloc (sizeof (char)); elem->nprops = 1; } else { elem->nprops++; elem->props = (PlyProperty **) realloc (elem->props, sizeof (PlyProperty *) * elem->nprops); elem->store_prop = (char *) realloc (elem->store_prop, sizeof (char) * elem->nprops); } /* copy the new property */ elem_prop = (PlyProperty *) myalloc (sizeof (PlyProperty)); elem->props[elem->nprops - 1] = elem_prop; elem->store_prop[elem->nprops - 1] = NAMED_PROP; copy_property (elem_prop, prop); } /****************************************************************************** Describe what the "other" properties are that are to be stored, and where they are in an element. ******************************************************************************/ void ply_describe_other_properties( PlyFile *plyfile, PlyOtherProp *other, int offset ) { int i; PlyElement *elem; PlyProperty *prop; /* look for appropriate element */ elem = find_element (plyfile, other->name); if (elem == NULL) { fprintf(stderr, "ply_describe_other_properties: can't find element '%s'\n", other->name); return; } /* create room for other properties */ if (elem->nprops == 0) { elem->props = (PlyProperty **) myalloc (sizeof (PlyProperty *) * other->nprops); elem->store_prop = (char *) myalloc (sizeof (char) * other->nprops); elem->nprops = 0; } else { int newsize; newsize = elem->nprops + other->nprops; elem->props = (PlyProperty **) realloc (elem->props, sizeof (PlyProperty *) * newsize); elem->store_prop = (char *) realloc (elem->store_prop, sizeof (char) * newsize); } /* copy the other properties */ for (i = 0; i < other->nprops; i++) { prop = (PlyProperty *) myalloc (sizeof (PlyProperty)); copy_property (prop, other->props[i]); elem->props[elem->nprops] = prop; elem->store_prop[elem->nprops] = OTHER_PROP; elem->nprops++; } /* save other info about other properties */ elem->other_size = other->size; elem->other_offset = offset; } /****************************************************************************** State how many of a given element will be written. Entry: plyfile - file identifier elem_name - name of element that information is being specified about nelems - number of elements of this type to be written ******************************************************************************/ void ply_element_count( PlyFile *plyfile, char *elem_name, int nelems ) { PlyElement *elem; /* look for appropriate element */ elem = find_element (plyfile, elem_name); if (elem == NULL) { fprintf(stderr,"ply_element_count: can't find element '%s'\n",elem_name); exit (-1); } elem->num = nelems; } /****************************************************************************** Signal that we've described everything a PLY file's header and that the header should be written to the file. Entry: plyfile - file identifier ******************************************************************************/ void ply_header_complete(PlyFile *plyfile) { int i,j; FILE *fp = plyfile->fp; PlyElement *elem; PlyProperty *prop; fprintf (fp, "ply\n"); switch (plyfile->file_type) { case PLY_ASCII: fprintf (fp, "format ascii 1.0\n"); break; case PLY_BINARY_BE: fprintf (fp, "format binary_big_endian 1.0\n"); break; case PLY_BINARY_LE: fprintf (fp, "format binary_little_endian 1.0\n"); break; default: fprintf (stderr, "ply_header_complete: bad file type = %d\n", plyfile->file_type); exit (-1); } /* write out the comments */ for (i = 0; i < plyfile->num_comments; i++) fprintf (fp, "comment %s\n", plyfile->comments[i]); /* write out object information */ for (i = 0; i < plyfile->num_obj_info; i++) fprintf (fp, "obj_info %s\n", plyfile->obj_info[i]); /* write out information about each element */ for (i = 0; i < plyfile->nelems; i++) { elem = plyfile->elems[i]; fprintf (fp, "element %s %d\n", elem->name, elem->num); /* write out each property */ for (j = 0; j < elem->nprops; j++) { prop = elem->props[j]; if (prop->is_list) { fprintf (fp, "property list "); write_scalar_type (fp, prop->count_external); fprintf (fp, " "); write_scalar_type (fp, prop->external_type); fprintf (fp, " %s\n", prop->name); } else { fprintf (fp, "property "); write_scalar_type (fp, prop->external_type); fprintf (fp, " %s\n", prop->name); } } } fprintf (fp, "end_header\n"); } /****************************************************************************** Specify which elements are going to be written. This should be called before a call to the routine ply_put_element(). Entry: plyfile - file identifier elem_name - name of element we're talking about ******************************************************************************/ void ply_put_element_setup(PlyFile *plyfile, char *elem_name) { PlyElement *elem; elem = find_element (plyfile, elem_name); if (elem == NULL) { fprintf(stderr, "ply_elements_setup: can't find element '%s'\n", elem_name); exit (-1); } plyfile->which_elem = elem; } /****************************************************************************** Write an element to the file. This routine assumes that we're writing the type of element specified in the last call to the routine ply_put_element_setup(). Entry: plyfile - file identifier elem_ptr - pointer to the element ******************************************************************************/ void ply_put_element(PlyFile *plyfile, void *elem_ptr) { int j,k; FILE *fp = plyfile->fp; PlyElement *elem; PlyProperty *prop; char *elem_data,*item; char **item_ptr; int list_count; int item_size; int int_val; unsigned int uint_val; double double_val; char **other_ptr; elem = plyfile->which_elem; elem_data = elem_ptr; other_ptr = (char **) (((char *) elem_ptr) + elem->other_offset); /* write out either to an ascii or binary file */ if (plyfile->file_type == PLY_ASCII) { /* write an ascii file */ /* write out each property of the element */ for (j = 0; j < elem->nprops; j++) { prop = elem->props[j]; if (elem->store_prop[j] == OTHER_PROP) elem_data = *other_ptr; else elem_data = elem_ptr; if (prop->is_list) { item = elem_data + prop->count_offset; get_stored_item ((void *) item, prop->count_internal, &int_val, &uint_val, &double_val); write_ascii_item (fp, int_val, uint_val, double_val, prop->count_external); list_count = uint_val; item_ptr = (char **) (elem_data + prop->offset); item = item_ptr[0]; item_size = ply_type_size[prop->internal_type]; for (k = 0; k < list_count; k++) { get_stored_item ((void *) item, prop->internal_type, &int_val, &uint_val, &double_val); write_ascii_item (fp, int_val, uint_val, double_val, prop->external_type); item += item_size; } } else { item = elem_data + prop->offset; get_stored_item ((void *) item, prop->internal_type, &int_val, &uint_val, &double_val); write_ascii_item (fp, int_val, uint_val, double_val, prop->external_type); } } fprintf (fp, "\n"); } else { /* write a binary file */ /* write out each property of the element */ for (j = 0; j < elem->nprops; j++) { prop = elem->props[j]; if (elem->store_prop[j] == OTHER_PROP) elem_data = *other_ptr; else elem_data = elem_ptr; if (prop->is_list) { item = elem_data + prop->count_offset; item_size = ply_type_size[prop->count_internal]; get_stored_item ((void *) item, prop->count_internal, &int_val, &uint_val, &double_val); write_binary_item (fp, int_val, uint_val, double_val, prop->count_external); list_count = uint_val; item_ptr = (char **) (elem_data + prop->offset); item = item_ptr[0]; item_size = ply_type_size[prop->internal_type]; for (k = 0; k < list_count; k++) { get_stored_item ((void *) item, prop->internal_type, &int_val, &uint_val, &double_val); write_binary_item (fp, int_val, uint_val, double_val, prop->external_type); item += item_size; } } else { item = elem_data + prop->offset; item_size = ply_type_size[prop->internal_type]; get_stored_item ((void *) item, prop->internal_type, &int_val, &uint_val, &double_val); write_binary_item (fp, int_val, uint_val, double_val, prop->external_type); } } } } /****************************************************************************** Specify a comment that will be written in the header. Entry: plyfile - file identifier comment - the comment to be written ******************************************************************************/ void ply_put_comment(PlyFile *plyfile, char *comment) { /* (re)allocate space for new comment */ if (plyfile->num_comments == 0) plyfile->comments = (char **) myalloc (sizeof (char *)); else plyfile->comments = (char **) realloc (plyfile->comments, sizeof (char *) * (plyfile->num_comments + 1)); /* add comment to list */ plyfile->comments[plyfile->num_comments] = strdup (comment); plyfile->num_comments++; } /****************************************************************************** Specify a piece of object information (arbitrary text) that will be written in the header. Entry: plyfile - file identifier obj_info - the text information to be written ******************************************************************************/ void ply_put_obj_info(PlyFile *plyfile, char *obj_info) { /* (re)allocate space for new info */ if (plyfile->num_obj_info == 0) plyfile->obj_info = (char **) myalloc (sizeof (char *)); else plyfile->obj_info = (char **) realloc (plyfile->obj_info, sizeof (char *) * (plyfile->num_obj_info + 1)); /* add info to list */ plyfile->obj_info[plyfile->num_obj_info] = strdup (obj_info); plyfile->num_obj_info++; } /*************/ /* Reading */ /*************/ /****************************************************************************** Given a file pointer, get ready to read PLY data from the file. Entry: fp - the given file pointer Exit: nelems - number of elements in object elem_names - list of element names returns a pointer to a PlyFile, used to refer to this file, or NULL if error ******************************************************************************/ PlyFile *ply_read(FILE *fp, int *nelems, char ***elem_names) { int i,j; PlyFile *plyfile; int nwords; char **words; char **elist; PlyElement *elem; char *orig_line; /* check for NULL file pointer */ if (fp == NULL) return (NULL); /* create record for this object */ plyfile = (PlyFile *) myalloc (sizeof (PlyFile)); plyfile->nelems = 0; plyfile->comments = NULL; plyfile->num_comments = 0; plyfile->obj_info = NULL; plyfile->num_obj_info = 0; plyfile->fp = fp; plyfile->other_elems = NULL; /* read and parse the file's header */ words = get_words (plyfile->fp, &nwords, &orig_line); if (!words || !equal_strings (words[0], "ply")) { if (words) free(words); if (plyfile) free(plyfile); return (NULL); } while (words) { /* parse words */ if (equal_strings (words[0], "format")) { if (nwords != 3) { if (words) free(words); if (plyfile) free(plyfile); return (NULL); } if (equal_strings (words[1], "ascii")) plyfile->file_type = PLY_ASCII; else if (equal_strings (words[1], "binary_big_endian")) plyfile->file_type = PLY_BINARY_BE; else if (equal_strings (words[1], "binary_little_endian")) plyfile->file_type = PLY_BINARY_LE; else { if (words) free(words); if (plyfile) free(plyfile); return (NULL); } plyfile->version = (float)atof (words[2]); } else if (equal_strings (words[0], "element")) add_element (plyfile, words, nwords); else if (equal_strings (words[0], "property")) add_property (plyfile, words, nwords); else if (equal_strings (words[0], "comment")) add_comment (plyfile, orig_line); else if (equal_strings (words[0], "obj_info")) add_obj_info (plyfile, orig_line); else if (equal_strings (words[0], "end_header")) { free(words); break; } /* free up words space */ free (words); words = get_words (plyfile->fp, &nwords, &orig_line); } /* create tags for each property of each element, to be used */ /* later to say whether or not to store each property for the user */ for (i = 0; i < plyfile->nelems; i++) { elem = plyfile->elems[i]; elem->store_prop = (char *) myalloc (sizeof (char) * elem->nprops); for (j = 0; j < elem->nprops; j++) elem->store_prop[j] = DONT_STORE_PROP; elem->other_offset = NO_OTHER_PROPS; /* no "other" props by default */ } /* set return values about the elements */ elist = (char **) myalloc (sizeof (char *) * plyfile->nelems); for (i = 0; i < plyfile->nelems; i++) elist[i] = strdup (plyfile->elems[i]->name); *elem_names = elist; *nelems = plyfile->nelems; /* return a pointer to the file's information */ return (plyfile); } /****************************************************************************** Open a polygon file for reading. Entry: filename - name of file to read from Exit: nelems - number of elements in object elem_names - list of element names file_type - file type, either ascii or binary version - version number of PLY file returns a file identifier, used to refer to this file, or NULL if error ******************************************************************************/ PlyFile *ply_open_for_reading( const char *filename, int *nelems, char ***elem_names, int *file_type, float *version ) { FILE *fp; PlyFile *plyfile; /* open the file for reading */ fp = fopen (filename, "r"); if (fp == NULL) return (NULL); /* create the PlyFile data structure */ plyfile = ply_read (fp, nelems, elem_names); /* determine the file type and version */ if (plyfile != NULL) { *file_type = plyfile->file_type; *version = plyfile->version; } /* return a pointer to the file's information */ return (plyfile); } /****************************************************************************** Get information about a particular element. Entry: plyfile - file identifier elem_name - name of element to get information about Exit: nelems - number of elements of this type in the file nprops - number of properties returns a list of properties, or NULL if the file doesn't contain that elem ******************************************************************************/ PlyProperty **ply_get_element_description( PlyFile *plyfile, char *elem_name, int *nelems, int *nprops ) { int i; PlyElement *elem; PlyProperty *prop; PlyProperty **prop_list; /* find information about the element */ elem = find_element (plyfile, elem_name); if (elem == NULL) return (NULL); *nelems = elem->num; *nprops = elem->nprops; /* make a copy of the element's property list */ prop_list = (PlyProperty **) myalloc (sizeof (PlyProperty *) * elem->nprops); for (i = 0; i < elem->nprops; i++) { prop = (PlyProperty *) myalloc (sizeof (PlyProperty)); copy_property (prop, elem->props[i]); prop_list[i] = prop; } /* return this duplicate property list */ return (prop_list); } /****************************************************************************** Specify which properties of an element are to be returned. This should be called before a call to the routine ply_get_element(). Entry: plyfile - file identifier elem_name - which element we're talking about nprops - number of properties prop_list - list of properties ******************************************************************************/ void ply_get_element_setup( PlyFile *plyfile, char *elem_name, int nprops, PlyProperty *prop_list ) { int i; PlyElement *elem; PlyProperty *prop; int index; /* find information about the element */ elem = find_element (plyfile, elem_name); plyfile->which_elem = elem; /* deposit the property information into the element's description */ for (i = 0; i < nprops; i++) { /* look for actual property */ prop = find_property (elem, prop_list[i].name, &index); if (prop == NULL) { fprintf (stderr, "Warning: Can't find property '%s' in element '%s'\n", prop_list[i].name, elem_name); continue; } /* store its description */ prop->internal_type = prop_list[i].internal_type; prop->offset = prop_list[i].offset; prop->count_internal = prop_list[i].count_internal; prop->count_offset = prop_list[i].count_offset; /* specify that the user wants this property */ elem->store_prop[index] = STORE_PROP; } } /****************************************************************************** Specify a property of an element that is to be returned. This should be called (usually multiple times) before a call to the routine ply_get_element(). This routine should be used in preference to the less flexible old routine called ply_get_element_setup(). Entry: plyfile - file identifier elem_name - which element we're talking about prop - property to add to those that will be returned ******************************************************************************/ void ply_get_property( PlyFile *plyfile, char *elem_name, PlyProperty *prop ) { PlyElement *elem; PlyProperty *prop_ptr; int index; /* find information about the element */ elem = find_element (plyfile, elem_name); plyfile->which_elem = elem; /* deposit the property information into the element's description */ prop_ptr = find_property (elem, prop->name, &index); if (prop_ptr == NULL) { fprintf (stderr, "Warning: Can't find property '%s' in element '%s'\n", prop->name, elem_name); return; } prop_ptr->internal_type = prop->internal_type; prop_ptr->offset = prop->offset; prop_ptr->count_internal = prop->count_internal; prop_ptr->count_offset = prop->count_offset; /* specify that the user wants this property */ elem->store_prop[index] = STORE_PROP; } /****************************************************************************** Read one element from the file. This routine assumes that we're reading the type of element specified in the last call to the routine ply_get_element_setup(). Entry: plyfile - file identifier elem_ptr - pointer to location where the element information should be put ******************************************************************************/ void ply_get_element(PlyFile *plyfile, void *elem_ptr) { if (plyfile->file_type == PLY_ASCII) ascii_get_element (plyfile, (char *) elem_ptr); else binary_get_element (plyfile, (char *) elem_ptr); } /****************************************************************************** Extract the comments from the header information of a PLY file. Entry: plyfile - file identifier Exit: num_comments - number of comments returned returns a pointer to a list of comments ******************************************************************************/ char **ply_get_comments(PlyFile *plyfile, int *num_comments) { *num_comments = plyfile->num_comments; return (plyfile->comments); } /****************************************************************************** Extract the object information (arbitrary text) from the header information of a PLY file. Entry: plyfile - file identifier Exit: num_obj_info - number of lines of text information returned returns a pointer to a list of object info lines ******************************************************************************/ char **ply_get_obj_info(PlyFile *plyfile, int *num_obj_info) { *num_obj_info = plyfile->num_obj_info; return (plyfile->obj_info); } /****************************************************************************** Make ready for "other" properties of an element-- those properties that the user has not explicitly asked for, but that are to be stashed away in a special structure to be carried along with the element's other information. Entry: plyfile - file identifier elem - element for which we want to save away other properties ******************************************************************************/ void setup_other_props(PlyFile *plyfile, PlyElement *elem) { int i; PlyProperty *prop; int size = 0; int type_size; /* Examine each property in decreasing order of size. */ /* We do this so that all data types will be aligned by */ /* word, half-word, or whatever within the structure. */ for (type_size = 8; type_size > 0; type_size /= 2) { /* add up the space taken by each property, and save this information */ /* away in the property descriptor */ for (i = 0; i < elem->nprops; i++) { /* don't bother with properties we've been asked to store explicitly */ if (elem->store_prop[i]) continue; prop = elem->props[i]; /* internal types will be same as external */ prop->internal_type = prop->external_type; prop->count_internal = prop->count_external; /* check list case */ if (prop->is_list) { /* pointer to list */ if (type_size == sizeof (void *)) { prop->offset = size; size += sizeof (void *); /* always use size of a pointer here */ } /* count of number of list elements */ if (type_size == ply_type_size[prop->count_external]) { prop->count_offset = size; size += ply_type_size[prop->count_external]; } } /* not list */ else if (type_size == ply_type_size[prop->external_type]) { prop->offset = size; size += ply_type_size[prop->external_type]; } } } /* save the size for the other_props structure */ elem->other_size = size; } /****************************************************************************** Specify that we want the "other" properties of an element to be tucked away within the user's structure. The user needn't be concerned for how these properties are stored. Entry: plyfile - file identifier elem_name - name of element that we want to store other_props in offset - offset to where other_props will be stored inside user's structure Exit: returns pointer to structure containing description of other_props ******************************************************************************/ PlyOtherProp *ply_get_other_properties( PlyFile *plyfile, char *elem_name, int offset ) { int i; PlyElement *elem; PlyOtherProp *other; PlyProperty *prop; int nprops; /* find information about the element */ elem = find_element (plyfile, elem_name); if (elem == NULL) { fprintf (stderr, "ply_get_other_properties: Can't find element '%s'\n", elem_name); return (NULL); } /* remember that this is the "current" element */ plyfile->which_elem = elem; /* save the offset to where to store the other_props */ elem->other_offset = offset; /* place the appropriate pointers, etc. in the element's property list */ setup_other_props (plyfile, elem); /* create structure for describing other_props */ other = (PlyOtherProp *) myalloc (sizeof (PlyOtherProp)); other->name = strdup (elem_name); #if 0 if (elem->other_offset == NO_OTHER_PROPS) { other->size = 0; other->props = NULL; other->nprops = 0; return (other); } #endif other->size = elem->other_size; other->props = (PlyProperty **) myalloc (sizeof(PlyProperty) * elem->nprops); /* save descriptions of each "other" property */ nprops = 0; for (i = 0; i < elem->nprops; i++) { if (elem->store_prop[i]) continue; prop = (PlyProperty *) myalloc (sizeof (PlyProperty)); copy_property (prop, elem->props[i]); other->props[nprops] = prop; nprops++; } other->nprops = nprops; #if 1 /* set other_offset pointer appropriately if there are NO other properties */ if (other->nprops == 0) { elem->other_offset = NO_OTHER_PROPS; } #endif /* return structure */ return (other); } /*************************/ /* Other Element Stuff */ /*************************/ /****************************************************************************** Grab all the data for an element that a user does not want to explicitly read in. Entry: plyfile - pointer to file elem_name - name of element whose data is to be read in elem_count - number of instances of this element stored in the file Exit: returns pointer to ALL the "other" element data for this PLY file ******************************************************************************/ PlyOtherElems *ply_get_other_element ( PlyFile *plyfile, char *elem_name, int elem_count ) { int i; PlyElement *elem; PlyOtherElems *other_elems; OtherElem *other; /* look for appropriate element */ elem = find_element (plyfile, elem_name); if (elem == NULL) { fprintf (stderr, "ply_get_other_element: can't find element '%s'\n", elem_name); exit (-1); } /* create room for the new "other" element, initializing the */ /* other data structure if necessary */ if (plyfile->other_elems == NULL) { plyfile->other_elems = (PlyOtherElems *) myalloc (sizeof (PlyOtherElems)); other_elems = plyfile->other_elems; other_elems->other_list = (OtherElem *) myalloc (sizeof (OtherElem)); other = &(other_elems->other_list[0]); other_elems->num_elems = 1; } else { other_elems = plyfile->other_elems; other_elems->other_list = (OtherElem *) realloc (other_elems->other_list, sizeof (OtherElem) * (other_elems->num_elems + 1)); other = &(other_elems->other_list[other_elems->num_elems]); other_elems->num_elems++; } /* count of element instances in file */ other->elem_count = elem_count; /* save name of element */ other->elem_name = strdup (elem_name); /* create a list to hold all the current elements */ other->other_data = (OtherData **) malloc (sizeof (OtherData *) * other->elem_count); /* set up for getting elements */ other->other_props = ply_get_other_properties (plyfile, elem_name, offsetof(OtherData,other_props)); /* grab all these elements */ for (i = 0; i < other->elem_count; i++) { /* grab and element from the file */ other->other_data[i] = (OtherData *) malloc (sizeof (OtherData)); ply_get_element (plyfile, (void *) other->other_data[i]); } /* return pointer to the other elements data */ return (other_elems); } /****************************************************************************** Pass along a pointer to "other" elements that we want to save in a given PLY file. These other elements were presumably read from another PLY file. Entry: plyfile - file pointer in which to store this other element info other_elems - info about other elements that we want to store ******************************************************************************/ void ply_describe_other_elements ( PlyFile *plyfile, PlyOtherElems *other_elems ) { int i; OtherElem *other; /* ignore this call if there is no other element */ if (other_elems == NULL) return; /* save pointer to this information */ plyfile->other_elems = other_elems; /* describe the other properties of this element */ for (i = 0; i < other_elems->num_elems; i++) { other = &(other_elems->other_list[i]); ply_element_count (plyfile, other->elem_name, other->elem_count); ply_describe_other_properties (plyfile, other->other_props, offsetof(OtherData,other_props)); } } /****************************************************************************** Write out the "other" elements specified for this PLY file. Entry: plyfile - pointer to PLY file to write out other elements for ******************************************************************************/ void ply_put_other_elements (PlyFile *plyfile) { int i,j; OtherElem *other; /* make sure we have other elements to write */ if (plyfile->other_elems == NULL) return; /* write out the data for each "other" element */ for (i = 0; i < plyfile->other_elems->num_elems; i++) { other = &(plyfile->other_elems->other_list[i]); ply_put_element_setup (plyfile, other->elem_name); /* write out each instance of the current element */ for (j = 0; j < other->elem_count; j++) ply_put_element (plyfile, (void *) other->other_data[j]); } } /****************************************************************************** Free up storage used by an "other" elements data structure. Entry: other_elems - data structure to free up ******************************************************************************/ void ply_free_other_elements (PlyOtherElems *other_elems) { } /*******************/ /* Miscellaneous */ /*******************/ /****************************************************************************** Close a PLY file. Entry: plyfile - identifier of file to close ******************************************************************************/ void ply_close(PlyFile *plyfile) { int i; int j; PlyElement* elem; fclose (plyfile->fp); for (i=0; inelems; i++) { elem = plyfile->elems[i]; free(elem->name); for (j=0; jnprops; j++) { free((elem->props[j]->name)); free (elem->props[j]); } free (elem->props); free (elem->store_prop); free (elem); } free(plyfile->elems); for (i=0; inum_comments; i++) { free (plyfile->comments[i]); } free (plyfile->comments); for (i=0; inum_obj_info; i++) { free (plyfile->obj_info[i]); } free (plyfile->obj_info); if (plyfile->other_elems != NULL) { for (i=0; iother_elems->num_elems; ++i) { OtherElem* other = &(plyfile->other_elems->other_list[i]); free(other->elem_name); for (j=0; jelem_count; ++j) { free(other->other_data[j]); } free(other->other_data); free(other->other_props->name); for (j=0; jother_props->nprops; ++j) { free(other->other_props->props[j]->name); free(other->other_props->props[j]); } free(other->other_props->props); free(other->other_props); } free(plyfile->other_elems->other_list); free(plyfile->other_elems); } free (plyfile); } /****************************************************************************** Get version number and file type of a PlyFile. Entry: ply - pointer to PLY file Exit: version - version of the file file_type - PLY_ASCII, PLY_BINARY_BE, or PLY_BINARY_LE ******************************************************************************/ void ply_get_info(PlyFile *ply, float *version, int *file_type) { if (ply == NULL) return; *version = ply->version; *file_type = ply->file_type; } /****************************************************************************** Compare two strings. Returns 1 if they are the same, 0 if not. ******************************************************************************/ int equal_strings(const char *s1,const char *s2) { while (*s1 && *s2) if (*s1++ != *s2++) return (0); if (*s1 != *s2) return (0); else return (1); } /****************************************************************************** Find an element from the element list of a given PLY object. Entry: plyfile - file id for PLY file element - name of element we're looking for Exit: returns the element, or NULL if not found ******************************************************************************/ PlyElement *find_element(PlyFile *plyfile,const char *element) { int i; for (i = 0; i < plyfile->nelems; i++) if (equal_strings (element, plyfile->elems[i]->name)) return (plyfile->elems[i]); return (NULL); } /****************************************************************************** Find a property in the list of properties of a given element. Entry: elem - pointer to element in which we want to find the property prop_name - name of property to find Exit: index - index to position in list returns a pointer to the property, or NULL if not found ******************************************************************************/ PlyProperty *find_property(PlyElement *elem, const char *prop_name, int *index) { int i; for (i = 0; i < elem->nprops; i++) if (equal_strings (prop_name, elem->props[i]->name)) { *index = i; return (elem->props[i]); } *index = -1; return (NULL); } /****************************************************************************** Read an element from an ascii file. Entry: plyfile - file identifier elem_ptr - pointer to element ******************************************************************************/ void ascii_get_element(PlyFile *plyfile, char *elem_ptr) { int j,k; PlyElement *elem; PlyProperty *prop; char **words; int nwords; int which_word; FILE *fp = plyfile->fp; char *elem_data,*item; char *item_ptr; int item_size; int int_val; unsigned int uint_val; double double_val; int list_count; int store_it; char **store_array; char *orig_line; char *other_data = NULL; int other_flag; /* the kind of element we're reading currently */ elem = plyfile->which_elem; /* do we need to setup for other_props? */ // NOTE HS-2014-02-12 This leaks, it is easier to disable the 'other' functionality than to // fix the leak, vtk solves this by allocating on an internal heap rather than the global heap // if (elem->other_offset != NO_OTHER_PROPS) { // char **ptr; // other_flag = 1; // /* make room for other_props */ // other_data = (char *) myalloc (elem->other_size); // /* store pointer in user's structure to the other_props */ // ptr = (char **) (elem_ptr + elem->other_offset); // *ptr = other_data; // } // else other_flag = 0; /* read in the element */ words = get_words (fp, &nwords, &orig_line); if (words == NULL) { fprintf (stderr, "ply_get_element: unexpected end of file\n"); exit (-1); } which_word = 0; for (j = 0; j < elem->nprops; j++) { prop = elem->props[j]; store_it = (elem->store_prop[j] | other_flag); /* store either in the user's structure or in other_props */ if (elem->store_prop[j]) elem_data = elem_ptr; else elem_data = other_data; if (prop->is_list) { /* a list */ /* get and store the number of items in the list */ get_ascii_item (words[which_word++], prop->count_external, &int_val, &uint_val, &double_val); if (store_it) { item = elem_data + prop->count_offset; store_item(item, prop->count_internal, int_val, uint_val, double_val); } /* allocate space for an array of items and store a ptr to the array */ list_count = int_val; item_size = ply_type_size[prop->internal_type]; store_array = (char **) (elem_data + prop->offset); if (list_count == 0) { if (store_it) *store_array = NULL; } else { if (store_it) { item_ptr = (char *) myalloc (sizeof (char) * item_size * list_count); item = item_ptr; *store_array = item_ptr; } /* read items and store them into the array */ for (k = 0; k < list_count; k++) { get_ascii_item (words[which_word++], prop->external_type, &int_val, &uint_val, &double_val); if (store_it) { store_item (item, prop->internal_type, int_val, uint_val, double_val); item += item_size; } } } } else { /* not a list */ get_ascii_item (words[which_word++], prop->external_type, &int_val, &uint_val, &double_val); if (store_it) { item = elem_data + prop->offset; store_item (item, prop->internal_type, int_val, uint_val, double_val); } } } free (words); } /****************************************************************************** Read an element from a binary file. Entry: plyfile - file identifier elem_ptr - pointer to an element ******************************************************************************/ void binary_get_element(PlyFile *plyfile, char *elem_ptr) { int j,k; PlyElement *elem; PlyProperty *prop; FILE *fp = plyfile->fp; char *elem_data,*item; char *item_ptr; int item_size; int int_val; unsigned int uint_val; double double_val; int list_count; int store_it; char **store_array; char *other_data; int other_flag; /* the kind of element we're reading currently */ elem = plyfile->which_elem; /* do we need to setup for other_props? */ if (elem->other_offset != NO_OTHER_PROPS) { char **ptr; other_flag = 1; /* make room for other_props */ other_data = (char *) myalloc (elem->other_size); /* store pointer in user's structure to the other_props */ ptr = (char **) (elem_ptr + elem->other_offset); *ptr = other_data; } else other_flag = 0; /* read in a number of elements */ for (j = 0; j < elem->nprops; j++) { prop = elem->props[j]; store_it = (elem->store_prop[j] | other_flag); /* store either in the user's structure or in other_props */ if (elem->store_prop[j]) elem_data = elem_ptr; else elem_data = other_data; if (prop->is_list) { /* a list */ /* get and store the number of items in the list */ get_binary_item (fp, prop->count_external, &int_val, &uint_val, &double_val); if (store_it) { item = elem_data + prop->count_offset; store_item(item, prop->count_internal, int_val, uint_val, double_val); } /* allocate space for an array of items and store a ptr to the array */ list_count = int_val; /* The "if" was added by Afra Zomorodian 8/22/95 * so that zipper won't crash reading plies that have additional * properties. */ if (store_it) { item_size = ply_type_size[prop->internal_type]; } store_array = (char **) (elem_data + prop->offset); if (list_count == 0) { if (store_it) *store_array = NULL; } else { if (store_it) { item_ptr = (char *) myalloc (sizeof (char) * item_size * list_count); item = item_ptr; *store_array = item_ptr; } /* read items and store them into the array */ for (k = 0; k < list_count; k++) { get_binary_item (fp, prop->external_type, &int_val, &uint_val, &double_val); if (store_it) { store_item (item, prop->internal_type, int_val, uint_val, double_val); item += item_size; } } } } else { /* not a list */ get_binary_item (fp, prop->external_type, &int_val, &uint_val, &double_val); if (store_it) { item = elem_data + prop->offset; store_item (item, prop->internal_type, int_val, uint_val, double_val); } } } } /****************************************************************************** Write to a file the word that represents a PLY data type. Entry: fp - file pointer code - code for type ******************************************************************************/ void write_scalar_type (FILE *fp, int code) { /* make sure this is a valid code */ if (code <= PLY_START_TYPE || code >= PLY_END_TYPE) { fprintf (stderr, "write_scalar_type: bad data code = %d\n", code); exit (-1); } /* write the code to a file */ fprintf (fp, "%s", type_names[code]); } /****************************************************************************** Get a text line from a file and break it up into words. IMPORTANT: The calling routine call "free" on the returned pointer once finished with it. Entry: fp - file to read from Exit: nwords - number of words returned orig_line - the original line of characters returns a list of words from the line, or NULL if end-of-file ******************************************************************************/ char **get_words(FILE *fp, int *nwords, char **orig_line) { #define BIG_STRING 4096 static char str[BIG_STRING]; static char str_copy[BIG_STRING]; char **words; int max_words = 10; int num_words = 0; char *ptr,*ptr2; char *result; /* read in a line */ result = fgets (str, BIG_STRING, fp); if (result == NULL) { *nwords = 0; *orig_line = NULL; return (NULL); } words = (char **) myalloc (sizeof (char *) * max_words); /* convert carriage-return, line-feed and tabs into spaces */ /* (this guarentees that there will be a space before the */ /* null character at the end of the string) */ str[BIG_STRING-2] = ' '; str[BIG_STRING-1] = '\0'; for (ptr = str, ptr2 = str_copy; *ptr != '\0'; ptr++, ptr2++) { *ptr2 = *ptr; if (*ptr == '\t') { *ptr = ' '; *ptr2 = ' '; } else if (*ptr == '\r' || *ptr == '\n') { // In Linux line ending, the line would end by "\n\0", which originally was changed into " \0". // In Windows line ending, the line would end by "\r\n\0", which needs to change into " \0" as well. *ptr++ = ' '; *ptr = '\0'; *ptr2 = '\0'; break; } } /* find the words in the line */ ptr = str; while (*ptr != '\0') { /* jump over leading spaces */ while (*ptr == ' ') ptr++; /* break if we reach the end */ if (*ptr == '\0') break; /* save pointer to beginning of word */ if (num_words >= max_words) { max_words += 10; words = (char **) realloc (words, sizeof (char *) * max_words); } words[num_words++] = ptr; /* jump over non-spaces */ while (*ptr != ' ') ptr++; /* place a null character here to mark the end of the word */ *ptr++ = '\0'; } /* return the list of words */ *nwords = num_words; *orig_line = str_copy; return (words); } /****************************************************************************** Return the value of an item, given a pointer to it and its type. Entry: item - pointer to item type - data type that "item" points to Exit: returns a double-precision float that contains the value of the item ******************************************************************************/ double get_item_value(char *item, int type) { unsigned char *puchar; char *pchar; short int *pshort; unsigned short int *pushort; int *pint; unsigned int *puint; float *pfloat; double *pdouble; int int_value; unsigned int uint_value; double double_value; switch (type) { case PLY_CHAR: pchar = (char *) item; int_value = *pchar; return ((double) int_value); case PLY_UCHAR: puchar = (unsigned char *) item; int_value = *puchar; return ((double) int_value); case PLY_SHORT: pshort = (short int *) item; int_value = *pshort; return ((double) int_value); case PLY_USHORT: pushort = (unsigned short int *) item; int_value = *pushort; return ((double) int_value); case PLY_INT: pint = (int *) item; int_value = *pint; return ((double) int_value); case PLY_UINT: puint = (unsigned int *) item; uint_value = *puint; return ((double) uint_value); case PLY_FLOAT: pfloat = (float *) item; double_value = *pfloat; return (double_value); case PLY_DOUBLE: pdouble = (double *) item; double_value = *pdouble; return (double_value); default: fprintf (stderr, "get_item_value: bad type = %d\n", type); exit (-1); } } /****************************************************************************** Write out an item to a file as raw binary bytes. Entry: fp - file to write to int_val - integer version of item uint_val - unsigned integer version of item double_val - double-precision float version of item type - data type to write out ******************************************************************************/ void write_binary_item( FILE *fp, int int_val, unsigned int uint_val, double double_val, int type ) { unsigned char uchar_val; char char_val; unsigned short ushort_val; short short_val; float float_val; switch (type) { case PLY_CHAR: char_val = int_val; fwrite (&char_val, 1, 1, fp); break; case PLY_SHORT: short_val = int_val; fwrite (&short_val, 2, 1, fp); break; case PLY_INT: fwrite (&int_val, 4, 1, fp); break; case PLY_UCHAR: uchar_val = uint_val; fwrite (&uchar_val, 1, 1, fp); break; case PLY_USHORT: ushort_val = uint_val; fwrite (&ushort_val, 2, 1, fp); break; case PLY_UINT: fwrite (&uint_val, 4, 1, fp); break; case PLY_FLOAT: float_val = (float)double_val; fwrite (&float_val, 4, 1, fp); break; case PLY_DOUBLE: fwrite (&double_val, 8, 1, fp); break; default: fprintf (stderr, "write_binary_item: bad type = %d\n", type); exit (-1); } } /****************************************************************************** Write out an item to a file as ascii characters. Entry: fp - file to write to int_val - integer version of item uint_val - unsigned integer version of item double_val - double-precision float version of item type - data type to write out ******************************************************************************/ void write_ascii_item( FILE *fp, int int_val, unsigned int uint_val, double double_val, int type ) { switch (type) { case PLY_CHAR: case PLY_SHORT: case PLY_INT: fprintf (fp, "%d ", int_val); break; case PLY_UCHAR: case PLY_USHORT: case PLY_UINT: fprintf (fp, "%u ", uint_val); break; case PLY_FLOAT: case PLY_DOUBLE: fprintf (fp, "%g ", double_val); break; default: fprintf (stderr, "write_ascii_item: bad type = %d\n", type); exit (-1); } } /****************************************************************************** Write out an item to a file as ascii characters. Entry: fp - file to write to item - pointer to item to write type - data type that "item" points to Exit: returns a double-precision float that contains the value of the written item ******************************************************************************/ double old_write_ascii_item(FILE *fp, char *item, int type) { unsigned char *puchar; char *pchar; short int *pshort; unsigned short int *pushort; int *pint; unsigned int *puint; float *pfloat; double *pdouble; int int_value; unsigned int uint_value; double double_value; switch (type) { case PLY_CHAR: pchar = (char *) item; int_value = *pchar; fprintf (fp, "%d ", int_value); return ((double) int_value); case PLY_UCHAR: puchar = (unsigned char *) item; int_value = *puchar; fprintf (fp, "%d ", int_value); return ((double) int_value); case PLY_SHORT: pshort = (short int *) item; int_value = *pshort; fprintf (fp, "%d ", int_value); return ((double) int_value); case PLY_USHORT: pushort = (unsigned short int *) item; int_value = *pushort; fprintf (fp, "%d ", int_value); return ((double) int_value); case PLY_INT: pint = (int *) item; int_value = *pint; fprintf (fp, "%d ", int_value); return ((double) int_value); case PLY_UINT: puint = (unsigned int *) item; uint_value = *puint; fprintf (fp, "%u ", uint_value); return ((double) uint_value); case PLY_FLOAT: pfloat = (float *) item; double_value = *pfloat; fprintf (fp, "%g ", double_value); return (double_value); case PLY_DOUBLE: pdouble = (double *) item; double_value = *pdouble; fprintf (fp, "%g ", double_value); return (double_value); default: fprintf (stderr, "old_write_ascii_item: bad type = %d\n", type); exit (-1); } } /****************************************************************************** Get the value of an item that is in memory, and place the result into an integer, an unsigned integer and a double. Entry: ptr - pointer to the item type - data type supposedly in the item Exit: int_val - integer value uint_val - unsigned integer value double_val - double-precision floating point value ******************************************************************************/ void get_stored_item( void *ptr, int type, int *int_val, unsigned int *uint_val, double *double_val ) { switch (type) { case PLY_CHAR: *int_val = *((char *) ptr); *uint_val = *int_val; *double_val = *int_val; break; case PLY_UCHAR: *uint_val = *((unsigned char *) ptr); *int_val = *uint_val; *double_val = *uint_val; break; case PLY_SHORT: *int_val = *((short int *) ptr); *uint_val = *int_val; *double_val = *int_val; break; case PLY_USHORT: *uint_val = *((unsigned short int *) ptr); *int_val = *uint_val; *double_val = *uint_val; break; case PLY_INT: *int_val = *((int *) ptr); *uint_val = *int_val; *double_val = *int_val; break; case PLY_UINT: *uint_val = *((unsigned int *) ptr); *int_val = *uint_val; *double_val = *uint_val; break; case PLY_FLOAT: *double_val = *((float *) ptr); *int_val = (int)(*double_val); *uint_val = (unsigned int)*double_val; break; case PLY_DOUBLE: *double_val = *((double *) ptr); *int_val = (int)(*double_val); *uint_val = (unsigned int)(*double_val); break; default: fprintf (stderr, "get_stored_item: bad type = %d\n", type); exit (-1); } } /****************************************************************************** Get the value of an item from a binary file, and place the result into an integer, an unsigned integer and a double. Entry: fp - file to get item from type - data type supposedly in the word Exit: int_val - integer value uint_val - unsigned integer value double_val - double-precision floating point value ******************************************************************************/ void get_binary_item( FILE *fp, int type, int *int_val, unsigned int *uint_val, double *double_val ) { char c[8]; void *ptr; ptr = (void *) c; switch (type) { case PLY_CHAR: if (fread (ptr, 1, 1, fp) != 1) { fprintf (stderr, "get_binary_item: read error\n"); exit (-1); } *int_val = *((char *) ptr); *uint_val = *int_val; *double_val = *int_val; break; case PLY_UCHAR: if (fread (ptr, 1, 1, fp) != 1) { fprintf (stderr, "get_binary_item: read error\n"); exit (-1); } *uint_val = *((unsigned char *) ptr); *int_val = *uint_val; *double_val = *uint_val; break; case PLY_SHORT: if (fread (ptr, 2, 1, fp) != 1) { fprintf (stderr, "get_binary_item: read error\n"); exit (-1); } *int_val = *((short int *) ptr); *uint_val = *int_val; *double_val = *int_val; break; case PLY_USHORT: if (fread (ptr, 2, 1, fp) != 1) { fprintf (stderr, "get_binary_item: read error\n"); exit (-1); } *uint_val = *((unsigned short int *) ptr); *int_val = *uint_val; *double_val = *uint_val; break; case PLY_INT: if (fread (ptr, 4, 1, fp) != 1) { fprintf (stderr, "get_binary_item: read error\n"); exit (-1); } *int_val = *((int *) ptr); *uint_val = *int_val; *double_val = *int_val; break; case PLY_UINT: if (fread (ptr, 4, 1, fp) != 1) { fprintf (stderr, "get_binary_item: read error\n"); exit (-1); } *uint_val = *((unsigned int *) ptr); *int_val = *uint_val; *double_val = *uint_val; break; case PLY_FLOAT: if (fread (ptr, 4, 1, fp) != 1) { fprintf (stderr, "get_binary_item: read error\n"); exit (-1); } *double_val = *((float *) ptr); *int_val = (int)(*double_val); *uint_val = (unsigned int)(*double_val); break; case PLY_DOUBLE: if (fread (ptr, 8, 1, fp) != 1) { fprintf (stderr, "get_binary_item: read error\n"); exit (-1); } *double_val = *((double *) ptr); *int_val = (int)(*double_val); *uint_val = (unsigned int)(*double_val); break; default: fprintf (stderr, "get_binary_item: bad type = %d\n", type); exit (-1); } } /****************************************************************************** Extract the value of an item from an ascii word, and place the result into an integer, an unsigned integer and a double. Entry: word - word to extract value from type - data type supposedly in the word Exit: int_val - integer value uint_val - unsigned integer value double_val - double-precision floating point value ******************************************************************************/ void get_ascii_item( char *word, int type, int *int_val, unsigned int *uint_val, double *double_val ) { switch (type) { case PLY_CHAR: case PLY_UCHAR: case PLY_SHORT: case PLY_USHORT: case PLY_INT: *int_val = atoi (word); *uint_val = *int_val; *double_val = *int_val; break; case PLY_UINT: *uint_val = strtoul (word, (char **) NULL, 10); *int_val = *uint_val; *double_val = *uint_val; break; case PLY_FLOAT: case PLY_DOUBLE: *double_val = atof (word); *int_val = (int) *double_val; *uint_val = (unsigned int) *double_val; break; default: fprintf (stderr, "get_ascii_item: bad type = %d\n", type); exit (-1); } } /****************************************************************************** Store a value into a place being pointed to, guided by a data type. Entry: item - place to store value type - data type int_val - integer version of value uint_val - unsigned integer version of value double_val - double version of value Exit: item - pointer to stored value ******************************************************************************/ void store_item ( char *item, int type, int int_val, unsigned int uint_val, double double_val ) { unsigned char *puchar; short int *pshort; unsigned short int *pushort; int *pint; unsigned int *puint; float *pfloat; double *pdouble; switch (type) { case PLY_CHAR: *item = int_val; break; case PLY_UCHAR: puchar = (unsigned char *) item; *puchar = uint_val; break; case PLY_SHORT: pshort = (short *) item; *pshort = int_val; break; case PLY_USHORT: pushort = (unsigned short *) item; *pushort = uint_val; break; case PLY_INT: pint = (int *) item; *pint = int_val; break; case PLY_UINT: puint = (unsigned int *) item; *puint = uint_val; break; case PLY_FLOAT: pfloat = (float *) item; *pfloat = (float)double_val; break; case PLY_DOUBLE: pdouble = (double *) item; *pdouble = double_val; break; default: fprintf (stderr, "store_item: bad type = %d\n", type); exit (-1); } } /****************************************************************************** Add an element to a PLY file descriptor. Entry: plyfile - PLY file descriptor words - list of words describing the element nwords - number of words in the list ******************************************************************************/ void add_element (PlyFile *plyfile, char **words, int nwords) { PlyElement *elem; /* create the new element */ elem = (PlyElement *) myalloc (sizeof (PlyElement)); elem->name = strdup (words[1]); elem->num = atoi (words[2]); elem->nprops = 0; /* make room for new element in the object's list of elements */ if (plyfile->nelems == 0) plyfile->elems = (PlyElement **) myalloc (sizeof (PlyElement *)); else plyfile->elems = (PlyElement **) realloc (plyfile->elems, sizeof (PlyElement *) * (plyfile->nelems + 1)); /* add the new element to the object's list */ plyfile->elems[plyfile->nelems] = elem; plyfile->nelems++; } /****************************************************************************** Return the type of a property, given the name of the property. Entry: name - name of property type Exit: returns integer code for property, or 0 if not found ******************************************************************************/ int get_prop_type(char *type_name) { int i; for (i = PLY_START_TYPE + 1; i < PLY_END_TYPE; i++) if (equal_strings (type_name, type_names[i])) return (i); /* if we get here, we didn't find the type */ return (0); } /****************************************************************************** Add a property to a PLY file descriptor. Entry: plyfile - PLY file descriptor words - list of words describing the property nwords - number of words in the list ******************************************************************************/ void add_property (PlyFile *plyfile, char **words, int nwords) { PlyProperty *prop; PlyElement *elem; /* create the new property */ prop = (PlyProperty *) myalloc (sizeof (PlyProperty)); if (equal_strings (words[1], "list")) { /* is a list */ prop->count_external = get_prop_type (words[2]); prop->external_type = get_prop_type (words[3]); prop->name = strdup (words[4]); prop->is_list = 1; } else { /* not a list */ prop->external_type = get_prop_type (words[1]); prop->name = strdup (words[2]); prop->is_list = 0; } /* add this property to the list of properties of the current element */ elem = plyfile->elems[plyfile->nelems - 1]; if (elem->nprops == 0) elem->props = (PlyProperty **) myalloc (sizeof (PlyProperty *)); else elem->props = (PlyProperty **) realloc (elem->props, sizeof (PlyProperty *) * (elem->nprops + 1)); elem->props[elem->nprops] = prop; elem->nprops++; } /****************************************************************************** Add a comment to a PLY file descriptor. Entry: plyfile - PLY file descriptor line - line containing comment ******************************************************************************/ void add_comment (PlyFile *plyfile, char *line) { int i; /* skip over "comment" and leading spaces and tabs */ i = 7; while (line[i] == ' ' || line[i] == '\t') i++; ply_put_comment (plyfile, &line[i]); } /****************************************************************************** Add a some object information to a PLY file descriptor. Entry: plyfile - PLY file descriptor line - line containing text info ******************************************************************************/ void add_obj_info (PlyFile *plyfile, char *line) { int i; /* skip over "obj_info" and leading spaces and tabs */ i = 8; while (line[i] == ' ' || line[i] == '\t') i++; ply_put_obj_info (plyfile, &line[i]); } /****************************************************************************** Copy a property. ******************************************************************************/ void copy_property(PlyProperty *dest, PlyProperty *src) { dest->name = strdup (src->name); dest->external_type = src->external_type; dest->internal_type = src->internal_type; dest->offset = src->offset; dest->is_list = src->is_list; dest->count_external = src->count_external; dest->count_internal = src->count_internal; dest->count_offset = src->count_offset; } /****************************************************************************** Allocate some memory. Entry: size - amount of memory requested (in bytes) lnum - line number from which memory was requested fname - file name from which memory was requested ******************************************************************************/ char *my_alloc(int size, int lnum, char *fname) { char *ptr; ptr = (char *) malloc (size); if (ptr == 0) { fprintf(stderr, "Memory allocation bombed on line %d in %s\n", lnum, fname); } return (ptr); } #if defined(_MSC_VER) #pragma warning(pop) #endif opensurgsim-0.7.0/SurgSim/DataStructures/ply.h000066400000000000000000000160011277777236100214350ustar00rootroot00000000000000/* Copyright (c) 1994 The Board of Trustees of The Leland Stanford Junior University. All rights reserved. Header for PLY polygon files. - Greg Turk, March 1994 A PLY file contains a single polygonal _object_. An object is composed of lists of _elements_. Typical elements are vertices, faces, edges and materials. Each type of element for a given object has one or more _properties_ associated with the element type. For instance, a vertex element may have as properties three floating-point values x,y,z and three unsigned chars for red, green and blue. --------------------------------------------------------------- Copyright (c) 1994 The Board of Trustees of The Leland Stanford Junior University. All rights reserved. Permission to use, copy, modify and distribute this software and its documentation for any purpose is hereby granted without fee, provided that the above copyright notice and this permission notice appear in all copies of this software and that you do not sell the software. THE SOFTWARE IS PROVIDED "AS IS" AND WITHOUT WARRANTY OF ANY KIND, EXPRESS, IMPLIED OR OTHERWISE, INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. */ #ifndef SURGSIM_DATASTRUCTURES_PLY_H #define SURGSIM_DATASTRUCTURES_PLY_H #ifdef __cplusplus #include namespace SurgSim { namespace DataStructures { extern "C" { #endif #include #include #define PLY_ASCII 1 /* ascii PLY file */ #define PLY_BINARY_BE 2 /* binary PLY file, big endian */ #define PLY_BINARY_LE 3 /* binary PLY file, little endian */ #define PLY_OKAY 0 /* ply routine worked okay */ #define PLY_ERROR -1 /* error in ply routine */ /* scalar data types supported by PLY format */ #define PLY_START_TYPE 0 #define PLY_CHAR 1 #define PLY_SHORT 2 #define PLY_INT 3 #define PLY_UCHAR 4 #define PLY_USHORT 5 #define PLY_UINT 6 #define PLY_FLOAT 7 #define PLY_DOUBLE 8 #define PLY_END_TYPE 9 #define PLY_SCALAR 0 #define PLY_LIST 1 typedef struct PlyProperty { /* description of a property */ char *name; /* property name */ int external_type; /* file's data type */ int internal_type; /* program's data type */ int offset; /* offset bytes of prop in a struct */ int is_list; /* 1 = list, 0 = scalar */ int count_external; /* file's count type */ int count_internal; /* program's count type */ int count_offset; /* offset byte for list count */ } PlyProperty; typedef struct PlyElement { /* description of an element */ char *name; /* element name */ int num; /* number of elements in this object */ int size; /* size of element (bytes) or -1 if variable */ int nprops; /* number of properties for this element */ PlyProperty **props; /* list of properties in the file */ char *store_prop; /* flags: property wanted by user? */ int other_offset; /* offset to un-asked-for props, or -1 if none*/ int other_size; /* size of other_props structure */ } PlyElement; typedef struct PlyOtherProp { /* describes other properties in an element */ char *name; /* element name */ int size; /* size of other_props */ int nprops; /* number of properties in other_props */ PlyProperty **props; /* list of properties in other_props */ } PlyOtherProp; typedef struct OtherData { /* for storing other_props for an other element */ void *other_props; } OtherData; typedef struct OtherElem { /* data for one "other" element */ char *elem_name; /* names of other elements */ int elem_count; /* count of instances of each element */ OtherData **other_data; /* actual property data for the elements */ PlyOtherProp *other_props; /* description of the property data */ } OtherElem; typedef struct PlyOtherElems { /* "other" elements, not interpreted by user */ int num_elems; /* number of other elements */ OtherElem *other_list; /* list of data for other elements */ } PlyOtherElems; typedef struct PlyFile { /* description of PLY file */ FILE *fp; /* file pointer */ int file_type; /* ascii or binary */ float version; /* version number of file */ int nelems; /* number of elements of object */ PlyElement **elems; /* list of elements */ int num_comments; /* number of comments */ char **comments; /* list of comments */ int num_obj_info; /* number of items of object information */ char **obj_info; /* list of object info items */ PlyElement *which_elem; /* which element we're currently writing */ PlyOtherElems *other_elems; /* "other" elements from a PLY file */ } PlyFile; /* memory allocation */ extern char *my_alloc(); #define myalloc(mem_size) my_alloc((mem_size), __LINE__, __FILE__) /*** delcaration of routines ***/ extern PlyFile *ply_write(FILE *, int, char **, int); extern PlyFile *ply_open_for_writing(const char *, int, char **, int, float *); extern void ply_describe_element(PlyFile *, char *, int, int, PlyProperty *); extern void ply_describe_property(PlyFile *, char *, PlyProperty *); extern void ply_element_count(PlyFile *, char *, int); extern void ply_header_complete(PlyFile * plyfile); extern void ply_put_element_setup(PlyFile *, char *); extern void ply_put_element(PlyFile *, void *); extern void ply_put_comment(PlyFile *, char *); extern void ply_put_obj_info(PlyFile *, char *); extern PlyFile *ply_read(FILE *, int *, char ***); extern PlyFile *ply_open_for_reading(const char *, int *, char ***, int *, float *); extern PlyProperty **ply_get_element_description(PlyFile *, char *, int*, int*); extern void ply_get_element_setup( PlyFile *, char *, int, PlyProperty *); extern void ply_get_property(PlyFile *, char *, PlyProperty *); extern PlyOtherProp *ply_get_other_properties(PlyFile *, char *, int); extern void ply_get_element(PlyFile *, void *); extern char **ply_get_comments(PlyFile *, int *); extern char **ply_get_obj_info(PlyFile *, int *); extern void ply_close(PlyFile * plyfile); extern void ply_get_info(PlyFile *, float *, int *); extern PlyOtherElems *ply_get_other_element (PlyFile *, char *, int); extern void ply_describe_other_elements ( PlyFile *, PlyOtherElems *); extern void ply_put_other_elements (PlyFile *plyfile); extern void ply_free_other_elements (PlyOtherElems *elements); extern int equal_strings(const char *,const char *); /* find an element in a plyfile's list */ PlyElement *find_element(PlyFile *, const char *); /* find a property in an element's list */ PlyProperty *find_property(PlyElement *, const char *, int *); #ifdef __cplusplus } } } #endif #endif opensurgsim-0.7.0/SurgSim/Devices/000077500000000000000000000000001277777236100170675ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/CMakeLists.txt000066400000000000000000000041121277777236100216250ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2015, SimQuest Solutions 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 # # 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. add_subdirectory(DeviceFilters) add_subdirectory(IdentityPoseDevice) add_subdirectory(Keyboard) add_subdirectory(Mouse) add_subdirectory(ReplayPoseDevice) set(OPTIONAL_DEVICES LabJack Leap MultiAxis Nimble Novint Oculus OpenNI Phantom Sixense TrackIR ) set(DEVICE_LIBRARIES "SurgSimDeviceFilters;IdentityPoseDevice;KeyboardDevice;MouseDevice;ReplayPoseDevice;") set(DEVICE_DOCUMENTATION devices.dox) foreach(DEVICE ${OPTIONAL_DEVICES}) string(TOUPPER ${DEVICE} DEVICE_UPPER_CASE) option(BUILD_DEVICE_${DEVICE_UPPER_CASE} "Build ${DEVICE} device." OFF) if(BUILD_DEVICE_${DEVICE_UPPER_CASE}) add_subdirectory(${DEVICE}) list(APPEND DEVICE_DOCUMENTATION ${DEVICE}/${DEVICE}.dox) set(DEVICE_LIBRARIES "${DEVICE_LIBRARIES};${DEVICE}Device") endif(BUILD_DEVICE_${DEVICE_UPPER_CASE}) endforeach(DEVICE) set(SURGSIM_DEVICES_SOURCES DeviceUtilities.cpp ) set(SURGSIM_DEVICES_HEADERS DeviceUtilities.h ) surgsim_add_library( SurgSimDevices "${SURGSIM_DEVICES_SOURCES}" "${SURGSIM_DEVICES_HEADERS}" ) target_link_libraries(SurgSimDevices SurgSimFramework SurgSimInput ${DEVICE_LIBRARIES} ) set_target_properties(SurgSimDevices PROPERTIES FOLDER "Devices") surgsim_create_library_header(Devices.h "${SURGSIM_DEVICES_HEADERS};${DEVICE_HEADERS}") add_custom_target(SurgSimDevicesDocumentation SOURCES ${DEVICE_DOCUMENTATION}) set_target_properties(SurgSimDevicesDocumentation PROPERTIES FOLDER "Devices") if(BUILD_TESTING) add_subdirectory(UnitTests) endif() opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/000077500000000000000000000000001277777236100216175ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/BoolToScalar.cpp000066400000000000000000000116301277777236100246500ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Devices/DeviceFilters/BoolToScalar.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/DataStructures/DataGroupCopier.h" #include "SurgSim/Math/Scalar.h" namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::BoolToScalar, BoolToScalar); BoolToScalar::BoolToScalar(const std::string& name) : DeviceFilter(name), m_isClamping(true), m_value(0.0), m_scale(1.0), m_range(0.0, 1.0), m_increaseField(DataStructures::Names::BUTTON_2), m_decreaseField(DataStructures::Names::BUTTON_1), m_targetField(DataStructures::Names::TOOLDOF) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(BoolToScalar, double, Scale, getScale, setScale); SURGSIM_ADD_SERIALIZABLE_PROPERTY(BoolToScalar, double, Scalar, getScalar, setScalar); SURGSIM_ADD_SERIALIZABLE_PROPERTY(BoolToScalar, bool, Clamping, isClamping, setClamping); { typedef std::pair ParamType; SURGSIM_ADD_SERIALIZABLE_PROPERTY(BoolToScalar, ParamType, Range, getRange, setRange); } SURGSIM_ADD_SERIALIZABLE_PROPERTY(BoolToScalar, std::string, IncreaseField, getIncreaseField, setIncreaseField); SURGSIM_ADD_SERIALIZABLE_PROPERTY(BoolToScalar, std::string, DecreaseField, getDecreaseField, setDecreaseField); SURGSIM_ADD_SERIALIZABLE_PROPERTY(BoolToScalar, std::string, TargetField, getTargetField, setTargetField); } BoolToScalar::~BoolToScalar() { } void BoolToScalar::initializeInput(const std::string& device, const DataStructures::DataGroup& inputData) { SURGSIM_ASSERT(inputData.booleans().getIndex(m_decreaseField) != -1) << "Can't find decrease field " << m_decreaseField << " in booleans of datagroup."; SURGSIM_ASSERT(inputData.booleans().getIndex(m_increaseField) != -1) << "Can't find increase field " << m_increaseField << " in booleans of datagroup."; if (getInputData().isEmpty()) { if (!inputData.scalars().hasEntry(m_targetField)) { DataStructures::DataGroupBuilder builder; builder.addEntriesFrom(inputData); builder.addScalar(m_targetField); getInputData() = builder.createData(); m_copier = std::make_shared(inputData, &getInputData()); } } if (m_copier == nullptr) { getInputData() = inputData; } else { m_copier->copy(inputData, &getInputData()); } m_timer.start(); } void BoolToScalar::filterInput(const std::string& device, const DataStructures::DataGroup& dataToFilter, DataStructures::DataGroup* result) { m_timer.markFrame(); double dt = m_timer.getLastFramePeriod(); if (m_copier == nullptr) { *result = dataToFilter; } else { m_copier->copy(dataToFilter, result); } bool increase = false; dataToFilter.booleans().get(m_increaseField, &increase); bool decrease = false; dataToFilter.booleans().get(m_decreaseField, &decrease); if (increase != decrease) { m_value += (increase) ? dt * m_scale : -1.0 * dt * m_scale; if (m_isClamping) { m_value = Math::clamp(m_value, m_range.first, m_range.second, 0.0); } } result->scalars().set(m_targetField, m_value); } double BoolToScalar::getScale() const { return m_scale; } void BoolToScalar::setRange(const std::pair& val) { m_range = val; if (val.first > val.second) { std::swap(m_range.first, m_range.second); } } std::pair BoolToScalar::getRange() const { return m_range; } void BoolToScalar::setClamping(bool val) { m_isClamping = val; } bool BoolToScalar::isClamping() { return m_isClamping; } void BoolToScalar::setScale(double val) { m_scale = val; } std::string BoolToScalar::getIncreaseField() const { return m_increaseField; } void BoolToScalar::setIncreaseField(const std::string& val) { m_increaseField = val; } std::string BoolToScalar::getDecreaseField() const { return m_decreaseField; } void BoolToScalar::setDecreaseField(const std::string& val) { m_decreaseField = val; } double BoolToScalar::getScalar() const { return m_value; } void BoolToScalar::setScalar(double val) { m_value = val; if (m_isClamping) { m_value = Math::clamp(m_value, m_range.first, m_range.second, 0.0); } } std::string BoolToScalar::getTargetField() const { return m_targetField; } void BoolToScalar::setTargetField(const std::string& val) { m_targetField = val; } }; // namespace Devices }; // namepsace SurgSimopensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/BoolToScalar.h000066400000000000000000000075201277777236100243200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_DEVICEFILTERS_BOOLTOSCALAR_H #define SURGSIM_DEVICES_DEVICEFILTERS_BOOLTOSCALAR_H #include "SurgSim/Devices/DeviceFilters/DeviceFilter.h" #include "SurgSim/Framework/Timer.h" namespace SurgSim { namespace DataStructures { class DataGroupCopier; } namespace Devices { SURGSIM_STATIC_REGISTRATION(BoolToScalar); /// Maps the on and off state of two boolean values to the increase and decrease of a scalar field, /// this for example enables the driving on a scalar value through two buttons on a device, no change occurs /// when both booleans are true at the same time class BoolToScalar : public DeviceFilter { public: /// Constructor explicit BoolToScalar(const std::string& name); /// Destructor ~BoolToScalar(); SURGSIM_CLASSNAME(SurgSim::Devices::BoolToScalar); void initializeInput(const std::string& device, const DataStructures::DataGroup& inputData) override; void filterInput(const std::string& device, const DataStructures::DataGroup& dataToFilter, DataStructures::DataGroup* result) override; /// Sets the value that gets used, the actual value to be added is scale * dt per call to filterInput /// \param val scale to be used void setScale(double val); /// \return the scale for addition double getScale() const; /// Set the range of values that should be produced by this /// \param val (min and max for the range) void setRange(const std::pair& val); /// \return the range of values used std::pair getRange() const; /// Enables or disables clamping on the output value (default true) /// \param val whether to enable or disable clamping void setClamping(bool val); /// \return whether the output value is being clamped bool isClamping(); /// Set the field that is read to increase the scalar value, needs to be a bool /// \param val name of the field to read for an increase void setIncreaseField(const std::string& val); /// \return the name of the field used for increasing the value std::string getIncreaseField() const; /// Set the field this is read to decrease the scalar value, needs to be a bool /// \param val name of the field to be read for decrease void setDecreaseField(const std::string& val); /// \return the name of the field used for decreasing the value std::string getDecreaseField() const; /// Set the value of the mapped field, can also be used to set a starting value for the field /// \param val new Value to be used for the scalar field void setScalar(double val); /// \return the actual value of the mapped field double getScalar() const; /// Set the name of the target field that carries the scalar value, will be created in the datagroup if it doesn't /// exist /// \param val name of the target field void setTargetField(const std::string& val); /// \return the name of the target field for the scalar information std::string getTargetField() const; private: bool m_isClamping; double m_value; double m_scale; std::pair m_range; std::string m_increaseField; std::string m_decreaseField; std::string m_targetField; Framework::Timer m_timer; std::shared_ptr m_copier; }; }; // namespace Devices }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/CMakeLists.txt000066400000000000000000000032601277777236100243600ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013-2016, SimQuest Solutions 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 # # 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. set(LIBS ${Boost_LIBRARIES} SurgSimDataStructures SurgSimFramework SurgSimInput SurgSimMath ) set(DEVICE_FILTERS_SOURCES BoolToScalar.cpp DeviceFilter.cpp FilteredDevice.cpp ForceScale.cpp PoseIntegrator.cpp PoseTransform.cpp RecordPose.cpp ) set(DEVICE_FILTERS_HEADERS BoolToScalar.h DeviceFilter.h FilteredDevice.h ForceScale.h PoseIntegrator.h PoseTransform.h RecordPose.h ) set(DEVICE_HEADERS ${DEVICE_HEADERS} DeviceFilters/BoolToScalar.h #NOLINT DeviceFilters/DeviceFilter.h #NOLINT DeviceFilters/FilteredDevice.h #NOLINT DeviceFilters/ForceScale.h #NOLINT DeviceFilters/PoseIntegrator.h #NOLINT DeviceFilters/PoseTransform.h #NOLINT DeviceFilters/RecordPose.h #NOLINT PARENT_SCOPE) surgsim_add_library( SurgSimDeviceFilters "${DEVICE_FILTERS_SOURCES}" "${DEVICE_FILTERS_HEADERS}" ) target_link_libraries(SurgSimDeviceFilters ${LIBS}) if(BUILD_TESTING) # The unit tests will be built whenever the library is built. add_subdirectory(UnitTests) endif() set_target_properties(SurgSimDeviceFilters PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/DeviceFilter.cpp000066400000000000000000000041471277777236100246760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/DeviceFilters/DeviceFilter.h" #include "SurgSim/DataStructures/DataGroup.h" using SurgSim::DataStructures::DataGroup; namespace SurgSim { namespace Devices { DeviceFilter::DeviceFilter(const std::string& name) : CommonDevice(name), m_initialized(false) { } bool DeviceFilter::initialize() { SURGSIM_ASSERT(!isInitialized()) << getName() << " already initialized."; m_initialized = true; return true; } bool DeviceFilter::finalize() { SURGSIM_ASSERT(isInitialized()) << getName() << " is not initialized, cannot finalize."; m_initialized = false; return true; } bool DeviceFilter::isInitialized() const { return m_initialized; } void DeviceFilter::initializeInput(const std::string& device, const DataGroup& inputData) { filterInput(device, inputData, &getInputData()); } void DeviceFilter::handleInput(const std::string& device, const DataGroup& inputData) { filterInput(device, inputData, &getInputData()); pushInput(); } bool DeviceFilter::requestOutput(const std::string& device, DataGroup* outputData) { bool state = pullOutput(); if (state) { filterOutput(device, getOutputData(), outputData); } return state; } void DeviceFilter::filterInput(const std::string& device, const DataGroup& dataToFilter, DataGroup* result) { *result = dataToFilter; } void DeviceFilter::filterOutput(const std::string& device, const DataGroup& dataToFilter, DataGroup* result) { *result = dataToFilter; } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/DeviceFilter.h000066400000000000000000000057201277777236100243410ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_DEVICEFILTERS_DEVICEFILTER_H #define SURGSIM_DEVICES_DEVICEFILTERS_DEVICEFILTER_H #include #include "SurgSim/Input/CommonDevice.h" #include "SurgSim/Input/InputConsumerInterface.h" #include "SurgSim/Input/OutputProducerInterface.h" namespace SurgSim { namespace DataStructures { class DataGroup; } namespace Devices { /// A device filter can be connected between a device and the InputConsumerInterface (e.g., InputComponent) and/or /// the OutputProducerInterface (e.g., OutputComponent), and can alter the data being passed from/to the device. class DeviceFilter : public Input::CommonDevice, public Input::InputConsumerInterface, public Input::OutputProducerInterface { public: /// Constructor. /// \param name Name of this device filter. explicit DeviceFilter(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Devices::DeviceFilter); bool initialize() override; bool isInitialized() const override; void initializeInput(const std::string& device, const DataStructures::DataGroup& inputData) override; void handleInput(const std::string& device, const DataStructures::DataGroup& inputData) override; bool requestOutput(const std::string& device, DataStructures::DataGroup* outputData) override; protected: /// Filter the input data. /// \param device The name of the device pushing the input data. /// \param dataToFilter The data that will be filtered. /// \param [in,out] result A pointer to a DataGroup object that must be assignable to by the dataToFilter object. /// Will contain the filtered data. virtual void filterInput(const std::string& device, const DataStructures::DataGroup& dataToFilter, DataStructures::DataGroup* result); /// Filter the output data. /// \param device The name of the device pulling the output data. /// \param dataToFilter The data that will be filtered. /// \param [in,out] result A pointer to a DataGroup object that must be assignable to by the dataToFilter object. /// Will contain the filtered data. virtual void filterOutput(const std::string& device, const DataStructures::DataGroup& dataToFilter, DataStructures::DataGroup* result); protected: bool finalize() override; /// true if initialized and not finalized. bool m_initialized; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_DEVICEFILTERS_DEVICEFILTER_H opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/FilteredDevice.cpp000066400000000000000000000173501277777236100252070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/DeviceFilters/FilteredDevice.h" #include "SurgSim/Devices/DeviceFilters/DeviceFilter.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Input/InputConsumerInterface.h" #include "SurgSim/Input/OutputProducerInterface.h" using SurgSim::Input::InputConsumerInterface; using SurgSim::Input::OutputProducerInterface; namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::FilteredDevice, FilteredDevice); FilteredDevice::FilteredDevice(const std::string& name) : m_name(name), m_initialized(false), m_logger(Framework::Logger::getLogger("Devices/FilteredDevice")) { m_devices.push_back(nullptr); } FilteredDevice::~FilteredDevice() { if (isInitialized()) { finalize(); } } std::string FilteredDevice::getName() const { return m_name; } bool FilteredDevice::initialize() { SURGSIM_ASSERT(!isInitialized()) << "Already initialized."; boost::unique_lock(m_deviceMutex); SURGSIM_ASSERT(m_devices.size() > 0) << "There must be at least one device."; bool result = true; if (m_devices[0] == nullptr) { SURGSIM_LOG_WARNING(m_logger) << "A raw/base device is required for " << getName(); result = false; } if (result) { for (size_t i = 0; i < m_devices.size() - 1; ++i) { auto deviceFilter = std::dynamic_pointer_cast(m_devices[i + 1]); SURGSIM_ASSERT(deviceFilter != nullptr) << "Expected a device filter."; result = result && m_devices[i]->addInputConsumer(deviceFilter) && m_devices[i]->setOutputProducer(deviceFilter); } for (auto& device : m_devices) { if (!device->isInitialized()) { result = result && device->initialize(); } } if (!result) { doFinalize(); } } m_initialized = result; SURGSIM_LOG_IF(!result, m_logger, WARNING) << "Failed to initialize " << getName(); return result; } bool FilteredDevice::isInitialized() const { return m_initialized; } bool FilteredDevice::finalize() { SURGSIM_ASSERT(isInitialized()) << getName() << " is not initialized, cannot finalize."; m_initialized = false; boost::shared_lock(m_deviceMutex); doFinalize(); return true; } void FilteredDevice::doFinalize() { for (size_t i = 0; i < m_devices.size() - 1; ++i) { auto deviceFilter = std::dynamic_pointer_cast(m_devices[i + 1]); SURGSIM_ASSERT(deviceFilter != nullptr) << "Expected a device filter."; m_devices[i]->removeInputConsumer(deviceFilter); m_devices[i]->removeOutputProducer(deviceFilter); } } bool FilteredDevice::addInputConsumer(std::shared_ptr inputConsumer) { boost::shared_lock(m_deviceMutex); SURGSIM_ASSERT(m_devices.size() > 0) << "There must be at least one device."; bool result = false; if (m_devices.back() == nullptr) { SURGSIM_LOG_WARNING(m_logger) << "Cannot addInputConsumer on " << getName() << " before setting the device and/or adding a filter."; } else { result = m_devices.back()->addInputConsumer(inputConsumer); } return result; } bool FilteredDevice::removeInputConsumer(std::shared_ptr inputConsumer) { boost::shared_lock(m_deviceMutex); SURGSIM_ASSERT(m_devices.size() > 0) << "There must be at least one device."; bool result = false; if (m_devices.back() == nullptr) { SURGSIM_LOG_WARNING(m_logger) << getName() << " does not have a device or filter from which to removeInputConsumer."; } else { result = m_devices.back()->removeInputConsumer(inputConsumer); } return result; } void FilteredDevice::clearInputConsumers() { boost::shared_lock(m_deviceMutex); SURGSIM_ASSERT(m_devices.size() > 0) << "There must be at least one device."; if (m_devices.back() != nullptr) { m_devices.back()->clearInputConsumers(); } } bool FilteredDevice::setOutputProducer(std::shared_ptr outputProducer) { boost::shared_lock(m_deviceMutex); SURGSIM_ASSERT(m_devices.size() > 0) << "There must be at least one device."; bool result = false; if (m_devices.back() == nullptr) { SURGSIM_LOG_WARNING(m_logger) << "Cannot setOutputProducer on " << getName() << " before setting the device and/or adding a filter."; } else { result = m_devices.back()->setOutputProducer(outputProducer); } return result; } bool FilteredDevice::removeOutputProducer(std::shared_ptr outputProducer) { boost::shared_lock(m_deviceMutex); SURGSIM_ASSERT(m_devices.size() > 0) << "There must be at least one device."; bool result = false; if (m_devices.back() == nullptr) { SURGSIM_LOG_WARNING(m_logger) << getName() << " does not have a device or filter from which to removeOutputProducer."; } else { result = m_devices.back()->removeOutputProducer(outputProducer); } return result; } bool FilteredDevice::hasOutputProducer() { boost::shared_lock(m_deviceMutex); SURGSIM_ASSERT(m_devices.size() > 0) << "There must be at least one device."; return ((m_devices.back() != nullptr) && m_devices.back()->hasOutputProducer()); } void FilteredDevice::clearOutputProducer() { boost::shared_lock(m_deviceMutex); SURGSIM_ASSERT(m_devices.size() > 0) << "There must be at least one device."; if (m_devices.back() != nullptr) { m_devices.back()->clearOutputProducer(); } } void FilteredDevice::setDevice(std::shared_ptr device) { SURGSIM_ASSERT(!isInitialized()) << "Cannot set device after initialization"; SURGSIM_ASSERT(device != nullptr) << "Cannot set a nullptr device."; boost::unique_lock(m_deviceMutex); m_devices[0] = device; } void FilteredDevice::addFilter(std::shared_ptr filter) { SURGSIM_ASSERT(!isInitialized()) << "Cannot add filter after initialization"; SURGSIM_ASSERT(filter != nullptr) << "Cannot add a nullptr filter."; boost::unique_lock(m_deviceMutex); m_devices.push_back(filter); } const std::vector>& FilteredDevice::getDevices() const { boost::shared_lock(m_deviceMutex); return m_devices; } bool FilteredDevice::setDevices(const std::vector>& devices) { SURGSIM_ASSERT(!isInitialized()) << "Cannot set devices after initialization"; bool result = true; boost::unique_lock(m_deviceMutex); if (devices.size() > 0) { for (const auto& device : devices) { if (device == nullptr) { SURGSIM_LOG_WARNING(m_logger) << "Cannot set a nullptr device on " << getName(); result = false; } else { if ((device != devices[0]) && (std::dynamic_pointer_cast(device) == nullptr)) { SURGSIM_LOG_WARNING(m_logger) << getName() << " setDevices got a " << device->getClassName() << " named " << device->getName() << " where a DeviceFilter is required."; result = false; } } } } else { SURGSIM_LOG_WARNING(m_logger) << "Cannot set 0 devices on " << getName(); result = false; } if (result) { m_devices = devices; } return result; } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/FilteredDevice.h000066400000000000000000000070431277777236100246520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_DEVICEFILTERS_FILTEREDDEVICE_H #define SURGSIM_DEVICES_DEVICEFILTERS_FILTEREDDEVICE_H #include #include #include #include #include "SurgSim/Input/DeviceInterface.h" namespace SurgSim { namespace Input { class InputConsumerInterface; class OutputProducerInterface; } namespace Devices { class DeviceFilter; /// A DeviceInterface connected in series with one or more DeviceFilters. Useful for serialization. class FilteredDevice : public Input::DeviceInterface { public: /// Constructor. /// \param name Name of this device. explicit FilteredDevice(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Devices::FilteredDevice); /// Destructor. virtual ~FilteredDevice(); std::string getName() const override; bool initialize() override; bool isInitialized() const override; bool addInputConsumer(std::shared_ptr inputConsumer) override; bool removeInputConsumer(std::shared_ptr inputConsumer) override; void clearInputConsumers() override; bool setOutputProducer(std::shared_ptr outputProducer) override; bool removeOutputProducer(std::shared_ptr outputProducer) override; bool hasOutputProducer() override; void clearOutputProducer() override; /// Sets the raw/base device. /// \param device The device connected to the filter(s). void setDevice(std::shared_ptr device); /// Adds a DeviceFilter. The first filter that is added will be connected to the raw/base device. /// The last filter that is added will interface with InputConsumers and/or an OutputProducer. /// Any filters added in-between will be connected in order. /// \param filter A DeviceFilter. void addFilter(std::shared_ptr filter); /// \return All devices. const std::vector>& getDevices() const; /// Sets the devices. /// \param devices All the devices. /// \return true on success bool setDevices(const std::vector>& devices); private: bool finalize() override; /// Implements the finalize functionality. void doFinalize(); /// The name of this device. std::string m_name; /// true if initialized and not finalized. bool m_initialized; /// The devices. m_devices.back() will be connected to any InputComponent or OutputComponent. /// m_devices.front() is the raw/base device to be filtered. If this contains more than one element, all but /// the front element are DeviceFilters. std::vector> m_devices; /// The mutex to protect access to the devices. boost::shared_mutex m_deviceMutex; /// The logger. std::shared_ptr m_logger; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_DEVICEFILTERS_FILTEREDDEVICE_H opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/ForceScale.cpp000066400000000000000000000054721277777236100243410ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include "SurgSim/Devices/DeviceFilters/ForceScale.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::DataGroup; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::ForceScale, ForceScale); ForceScale::ForceScale(const std::string& name) : DeviceFilter(name), m_forceScale(1.0), m_torqueScale(1.0) { } void ForceScale::filterOutput(const std::string& device, const DataGroup& dataToFilter, DataGroup* result) { boost::lock_guard lock(m_mutex); *result = dataToFilter; Vector3d force; if (dataToFilter.vectors().get(DataStructures::Names::FORCE, &force)) { force *= m_forceScale; result->vectors().set(DataStructures::Names::FORCE, force); } Vector3d torque; if (dataToFilter.vectors().get(DataStructures::Names::TORQUE, &torque)) { torque *= m_torqueScale; result->vectors().set(DataStructures::Names::TORQUE, torque); } // Scale the spring's contribution to the force and torque. First three rows calculate force, last three for torque. DataGroup::DynamicMatrixType springJacobian; if (dataToFilter.matrices().get(DataStructures::Names::SPRING_JACOBIAN, &springJacobian)) { springJacobian.block<3,6>(0, 0) *= m_forceScale; springJacobian.block<3,6>(3, 0) *= m_torqueScale; result->matrices().set(DataStructures::Names::SPRING_JACOBIAN, springJacobian); } // Scale the damper's contribution to the force and torque. First three rows calculate force, last three for torque. DataGroup::DynamicMatrixType damperJacobian; if (dataToFilter.matrices().get(DataStructures::Names::DAMPER_JACOBIAN, &damperJacobian)) { damperJacobian.block<3,6>(0, 0) *= m_forceScale; damperJacobian.block<3,6>(3, 0) *= m_torqueScale; result->matrices().set(DataStructures::Names::DAMPER_JACOBIAN, damperJacobian); } } void ForceScale::setForceScale(double forceScale) { boost::lock_guard lock(m_mutex); m_forceScale = forceScale; } void ForceScale::setTorqueScale(double torqueScale) { boost::lock_guard lock(m_mutex); m_torqueScale = torqueScale; } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/ForceScale.h000066400000000000000000000046741277777236100240110ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_DEVICEFILTERS_FORCESCALE_H #define SURGSIM_DEVICES_DEVICEFILTERS_FORCESCALE_H #include #include #include "SurgSim/Devices/DeviceFilters/DeviceFilter.h" namespace SurgSim { namespace Devices { SURGSIM_STATIC_REGISTRATION(ForceScale); /// An output device filter that scales forces and/or torques. Any other entries in the DataGroup are passed through. /// For convenience, it is also an InputConsumerInterface that does no filtering of the input data. Thus it can be /// added as an input consumer to the raw device, and set as the output producer for the raw device, after which other /// device filters, input components, and output components only need access to the ForceScale instance, not the raw /// device. class ForceScale : public DeviceFilter { public: /// Constructor. /// \param name Name of this device filter. explicit ForceScale(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Devices::ForceScale); /// Set the force scale factor so that each direction has the same scale. /// \param forceScale The scalar scaling factor. void setForceScale(double forceScale); /// Set the torque scale factor so that each direction has the same scale. /// \param torqueScale The scalar scaling factor. void setTorqueScale(double torqueScale); private: void filterOutput(const std::string& device, const DataStructures::DataGroup& dataToFilter, DataStructures::DataGroup* result) override; /// The mutex that protects the scaling factors. boost::mutex m_mutex; /// The scaling factor applied to each direction of the force. double m_forceScale; /// The scaling factor applied to each direction of the torque. double m_torqueScale; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_DEVICEFILTERS_FORCESCALE_H opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/PoseIntegrator.cpp000066400000000000000000000102201277777236100252630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Devices/DeviceFilters/PoseIntegrator.h" #include #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/DataStructures/DataGroupCopier.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Vector.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::PoseIntegrator, PoseIntegrator); PoseIntegrator::PoseIntegrator(const std::string& name) : DeviceFilter(name), m_poseResult(PoseType::Identity()) { } const PoseIntegrator::PoseType& PoseIntegrator::integrate(const PoseType& pose) { // Note: we apply translation and rotation separately. This is NOT the same as (m_poseResult * pose)! m_poseResult.pretranslate(pose.translation()); m_poseResult.rotate(pose.rotation()); return m_poseResult; } void PoseIntegrator::initializeInput(const std::string& device, const DataStructures::DataGroup& inputData) { if (getInputData().isEmpty()) { if (!inputData.vectors().hasEntry(DataStructures::Names::LINEAR_VELOCITY) || !inputData.vectors().hasEntry(DataStructures::Names::ANGULAR_VELOCITY)) { DataStructures::DataGroupBuilder builder; builder.addEntriesFrom(inputData); builder.addVector(DataStructures::Names::LINEAR_VELOCITY); builder.addVector(DataStructures::Names::ANGULAR_VELOCITY); getInputData() = builder.createData(); m_copier = std::make_shared(inputData, &getInputData()); } } if (m_copier == nullptr) { getInputData() = inputData; } else { m_copier->copy(inputData, &getInputData()); } PoseType pose; if (inputData.poses().get(DataStructures::Names::POSE, &pose)) { m_poseResult = pose; } } void PoseIntegrator::handleInput(const std::string& device, const DataStructures::DataGroup& inputData) { if (m_copier == nullptr) { getInputData() = inputData; } else { m_copier->copy(inputData, &getInputData()); } PoseType pose; if (inputData.poses().get(DataStructures::Names::POSE, &pose)) { m_timer.markFrame(); double rate = m_timer.getAverageFrameRate(); if (m_timer.getNumberOfClockFails() > 0) { m_timer.start(); rate = 0.0; SURGSIM_LOG_DEBUG(Framework::Logger::getLogger("Devices/Filters/PoseIntegrator")) << "The Timer used by " << getName() << " had a clock fail. The calculated velocities will be zero this update."; } if (!boost::math::isnormal(rate)) { rate = 0.0; } bool reset = false; inputData.booleans().get(m_resetName, &reset); if (reset) { pose.translation() = -m_poseResult.translation(); pose.linear() = m_poseResult.linear().transpose(); } // Before updating the current pose, use it to calculate the angular velocity. Vector3d rotationAxis; double angle; Math::computeAngleAndAxis(pose.rotation(), &angle, &rotationAxis); rotationAxis = m_poseResult.rotation() * rotationAxis; // rotate the axis into global space getInputData().vectors().set(DataStructures::Names::ANGULAR_VELOCITY, rotationAxis * angle * rate); getInputData().poses().set(DataStructures::Names::POSE, integrate(pose)); getInputData().vectors().set(DataStructures::Names::LINEAR_VELOCITY, pose.translation() * rate); } pushInput(); } void PoseIntegrator::setReset(const std::string& name) { SURGSIM_ASSERT(getInputData().isEmpty()) << "PoseIntegrator::setReset cannot be called after the first call to initializeInput."; m_resetName = name; } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/PoseIntegrator.h000066400000000000000000000067531277777236100247500ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_DEVICEFILTERS_POSEINTEGRATOR_H #define SURGSIM_DEVICES_DEVICEFILTERS_POSEINTEGRATOR_H #include #include #include "SurgSim/DataStructures/OptionalValue.h" #include "SurgSim/Devices/DeviceFilters/DeviceFilter.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Framework/Timer.h" namespace SurgSim { namespace DataStructures { class DataGroupCopier; }; namespace Devices { SURGSIM_STATIC_REGISTRATION(PoseIntegrator); /// A device filter that integrates the pose, turning a relative device into an absolute one. /// Also provides the instantaneous linear and angular velocities. /// \sa SurgSim::Input::CommonDevice /// \sa SurgSim::Input::InputConsumerInterface /// \sa SurgSim::Input::OutputProducerInterface class PoseIntegrator : public DeviceFilter { public: /// The type used for poses. typedef Math::RigidTransform3d PoseType; /// Constructor. /// \param name Name of this device filter. explicit PoseIntegrator(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Devices::PoseIntegrator); /// Integrates the pose. /// \param pose The latest differential pose. /// \return The integrated pose. const PoseType& integrate(const PoseType& pose); void initializeInput(const std::string& device, const DataStructures::DataGroup& inputData) override; /// Notifies the consumer that the application input coming from the device has been updated. /// Treats the pose coming from the input device as a delta pose and integrates it to get the output pose. /// \param device The name of the device that is producing the input. This should only be used to identify /// the device (e.g. if the consumer is listening to several devices at once). /// \param inputData The application input state coming from the device. void handleInput(const std::string& device, const DataStructures::DataGroup& inputData) override; /// Sets the string name of the boolean entry that will reset the pose to its initial value. Such a reset can be /// useful if the integrated pose is used to position an object and the integration takes the object out of view. /// \param name The name of the NamedData entry. /// \warning A pose reset may generate high velocities, and if the pose is the input to a VirtualToolCoupler then /// large forces will likely be generated. /// \exception Asserts if called after initialize. void setReset(const std::string& name); private: /// The result of integrating the input poses. PoseType m_poseResult; /// A timer for the update rate needed for calculating velocity. Framework::Timer m_timer; /// A copier into the input DataGroup, if needed. std::shared_ptr m_copier; /// The name of the reset boolean (if any). std::string m_resetName; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_DEVICEFILTERS_POSEINTEGRATOR_H opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/PoseTransform.cpp000066400000000000000000000212611277777236100251270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Devices/DeviceFilters/PoseTransform.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/Matrix.h" using SurgSim::DataStructures::DataGroup; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::PoseTransform, PoseTransform); PoseTransform::PoseTransform(const std::string& name) : DeviceFilter(name), m_transform(RigidTransform3d::Identity()), m_transformInverse(RigidTransform3d::Identity()), m_translationScale(1.0) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(PoseTransform, double, TranslationScale, getTranslationScale, setTranslationScale); SURGSIM_ADD_SERIALIZABLE_PROPERTY(PoseTransform, RigidTransform3d, Transform, getTransform, setTransform); } void PoseTransform::filterInput(const std::string& device, const DataGroup& dataToFilter, DataGroup* result) { boost::lock_guard lock(m_mutex); // Prevent the transform or scaling from being set simultaneously. *result = dataToFilter; // Pass on all the data entries. RigidTransform3d pose; // If there is a pose, scale the translation, then transform the result. if (dataToFilter.poses().get(DataStructures::Names::POSE, &pose)) { pose.translation() *= m_translationScale; pose = m_transform * pose; result->poses().set(DataStructures::Names::POSE, pose); } // If there is a linear velocity, scale then rotate it. The linear velocity is scaled because it is the change // in translation over time, and the translation is being scaled. Vector3d linearVelocity; if (dataToFilter.vectors().get(DataStructures::Names::LINEAR_VELOCITY, &linearVelocity)) { linearVelocity *= m_translationScale; linearVelocity = m_transform.linear() * linearVelocity; result->vectors().set(DataStructures::Names::LINEAR_VELOCITY, linearVelocity); } Vector3d angularVelocity; // If there is an angular velocity, rotate it. if (dataToFilter.vectors().get(DataStructures::Names::ANGULAR_VELOCITY, &angularVelocity)) { angularVelocity = m_transform.linear() * angularVelocity; result->vectors().set(DataStructures::Names::ANGULAR_VELOCITY, angularVelocity); } } void PoseTransform::filterOutput(const std::string& device, const DataGroup& dataToFilter, DataGroup* result) { boost::lock_guard lock(m_mutex); // Prevent the transform or scaling from being set simultaneously. *result = dataToFilter; // Pass on all the data entries. // Since the haptic devices will compare the data in the output DataGroup to a raw input pose, the filter must // perform the reverse transform and scaling to data used by the haptic devices. // The force and torque must be transformed into device space. In order to reliably display the desired // forces as calculated by the simulation, the nominal forces and torques are not scaled by the translation scaling. // The benefit is that increasing the translation scaling does not result in larger penetrations for the // same force, but the downside is that as the translation scaling increases it becomes more likely that the haptic // feedback loop at a surface will become "active" (smaller motions penetrating another object are sufficient to // create forces ejecting the device's collision representation). Therefore, a device that is having its // translation scaled may required a force scaling filter to reduce the forces. Vector3d force; if (dataToFilter.vectors().get(DataStructures::Names::FORCE, &force)) { force = m_transformInverse.linear() * force; result->vectors().set(DataStructures::Names::FORCE, force); } Vector3d torque; if (dataToFilter.vectors().get(DataStructures::Names::TORQUE, &torque)) { torque = m_transformInverse.linear() * torque; result->vectors().set(DataStructures::Names::TORQUE, torque); } // The Jacobians must be transformed into device space. The Jacobians are scaled based on the translation scaling, // so that the forces and torques displayed by the device will be correct for the scene-space motions, not for the // device-space motions. Let R be the linear rotation portion of our transform, s be the translation scaling // factor, and J be the 3x3 upper-left corner of the spring Jacobian. Then: // delta-translation-in-scene = s * R * delta-translation-in-device // delta-force-in-scene = J * delta-translation-in-scene // So to transform J into the device space, we left-multiply by R^-1, and right-multiply by R. // Then, because we want the forces to be scaled as in scene-space, we scale J by s. The bottom-left 3x3 block // in springJacobian (or damperJacobian) also transforms from delta-translation and is treated the same, while the // two 3x3 blocks on the right half (of springJacobian or damperJacobian) will be multiplied by the delta-rotation // (not delta-translation) and so should not be scaled. DataGroup::DynamicMatrixType springJacobian; if (dataToFilter.matrices().get(DataStructures::Names::SPRING_JACOBIAN, &springJacobian)) { springJacobian.block<3,3>(0, 0).applyOnTheLeft(m_transformInverse.linear()); springJacobian.block<3,3>(0, 0).applyOnTheRight(m_transform.linear()); springJacobian.block<3,3>(3, 0).applyOnTheLeft(m_transformInverse.linear()); springJacobian.block<3,3>(3, 0).applyOnTheRight(m_transform.linear()); springJacobian.block<3,3>(0, 3).applyOnTheLeft(m_transformInverse.linear()); springJacobian.block<3,3>(0, 3).applyOnTheRight(m_transform.linear()); springJacobian.block<3,3>(3, 3).applyOnTheLeft(m_transformInverse.linear()); springJacobian.block<3,3>(3, 3).applyOnTheRight(m_transform.linear()); springJacobian.block<6,3>(0, 0) *= m_translationScale; result->matrices().set(DataStructures::Names::SPRING_JACOBIAN, springJacobian); } RigidTransform3d inputPose; if (dataToFilter.poses().get(DataStructures::Names::INPUT_POSE, &inputPose)) { inputPose = m_transformInverse * inputPose; inputPose.translation() /= m_translationScale; result->poses().set(DataStructures::Names::INPUT_POSE, inputPose); } DataGroup::DynamicMatrixType damperJacobian; if (dataToFilter.matrices().get(DataStructures::Names::DAMPER_JACOBIAN, &damperJacobian)) { damperJacobian.block<3,3>(0, 0).applyOnTheLeft(m_transformInverse.linear()); damperJacobian.block<3,3>(0, 0).applyOnTheRight(m_transform.linear()); damperJacobian.block<3,3>(3, 0).applyOnTheLeft(m_transformInverse.linear()); damperJacobian.block<3,3>(3, 0).applyOnTheRight(m_transform.linear()); damperJacobian.block<3,3>(0, 3).applyOnTheLeft(m_transformInverse.linear()); damperJacobian.block<3,3>(0, 3).applyOnTheRight(m_transform.linear()); damperJacobian.block<3,3>(3, 3).applyOnTheLeft(m_transformInverse.linear()); damperJacobian.block<3,3>(3, 3).applyOnTheRight(m_transform.linear()); damperJacobian.block<6,3>(0, 0) *= m_translationScale; result->matrices().set(DataStructures::Names::DAMPER_JACOBIAN, damperJacobian); } Vector3d inputLinearVelocity; if (dataToFilter.vectors().get(DataStructures::Names::INPUT_LINEAR_VELOCITY, &inputLinearVelocity)) { inputLinearVelocity = m_transformInverse.linear() * inputLinearVelocity; inputLinearVelocity /= m_translationScale; result->vectors().set(DataStructures::Names::INPUT_LINEAR_VELOCITY, inputLinearVelocity); } Vector3d inputAngularVelocity; if (dataToFilter.vectors().get(DataStructures::Names::INPUT_ANGULAR_VELOCITY, &inputAngularVelocity)) { inputAngularVelocity = m_transformInverse.linear() * inputAngularVelocity; result->vectors().set(DataStructures::Names::INPUT_ANGULAR_VELOCITY, inputAngularVelocity); } } double PoseTransform::getTranslationScale() const { return m_translationScale; } void PoseTransform::setTranslationScale(double translationScale) { boost::lock_guard lock(m_mutex); m_translationScale = translationScale; } const RigidTransform3d& PoseTransform::getTransform() const { return m_transform; } void PoseTransform::setTransform(const RigidTransform3d& transform) { boost::lock_guard lock(m_mutex); m_transform = transform; m_transformInverse = m_transform.inverse(); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/PoseTransform.h000066400000000000000000000113751277777236100246010ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_DEVICEFILTERS_POSETRANSFORM_H #define SURGSIM_DEVICES_DEVICEFILTERS_POSETRANSFORM_H #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Devices/DeviceFilters/DeviceFilter.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Devices { SURGSIM_STATIC_REGISTRATION(PoseTransform); /// A device filter that transforms the input pose. It can scale the translation, and/or apply a constant transform. /// Any other data in the DataGroup is passed through. For an input/output device (e.g., a haptic device), the filter /// should be added as one of the device's input consumers and set as the device's output producer. For a purely input /// device, the filter can just be added as an input consumer. If it is used for both input and output, the input data /// is filtered using the offset(s) and scaling, and the output data is un-filtered so the device does not need to know /// about the filtering. /// For haptic devices, so that changing the translation scaling does not alter the relationship between displayed /// forces and collision penetrations, the output filter does not scale the nominal forces and torques, and it does /// scale the Jacobians. Thereby the displayed forces and torques are appropriate for the scene (not the device-space /// motions). In other words, a 1 m motion by the device's scene representation generates forces according to that 1 m /// motion, instead of the original device motion before scaling. This means the device displays forces and torques /// that are "true" to the scene, with the consequence that increasing the translation scaling can negatively impact the /// haptic stability. As the scaling increases, the same motion would cause larger forces, until at great enough /// scaling the system becomes unstable (either when colliding with another scene element, or just due to over-damping). /// Consider chaining this device filter with a force scaling device filter to improve system stability. /// \sa SurgSim::Input::CommonDevice /// \sa SurgSim::Input::InputConsumerInterface /// \sa SurgSim::Input::OutputProducerInterface class PoseTransform : public DeviceFilter { public: /// Constructor. /// \param name Name of this device filter. explicit PoseTransform(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Devices::PoseTransform); /// \return Get the translation scale factor. double getTranslationScale() const; /// Set the translation scale factor so that each direction has the same scale. /// \param translationScale The scalar scaling factor. /// \warning This setter is thread-safe, but after calling this function the output filter will use the new /// transform even if the following output data is based off input data that used the old transform. void setTranslationScale(double translationScale); /// \return The current transform. const Math::RigidTransform3d& getTransform() const; /// Set the constant transform. The transform is pre-applied to the input pose. /// \param transform The transform, which must be invertible. /// \warning This setter is thread-safe, but after calling this function the output filter will use the new /// transform even if the following output data is based off input data that used the old transform. void setTransform(const Math::RigidTransform3d& transform); private: void filterInput(const std::string& device, const DataStructures::DataGroup& dataToFilter, DataStructures::DataGroup* result) override; void filterOutput(const std::string& device, const DataStructures::DataGroup& dataToFilter, DataStructures::DataGroup* result) override; /// The mutex that protects the transform and scaling factor. boost::mutex m_mutex; /// The constant pre-transform. Math::RigidTransform3d m_transform; /// The inverse of the pre-transform. Math::RigidTransform3d m_transformInverse; /// The scaling factor applied to each direction of the translation. double m_translationScale; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_DEVICEFILTERS_POSETRANSFORM_H opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/RecordPose.cpp000066400000000000000000000050531277777236100243730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Devices/DeviceFilters/RecordPose.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::DataStructures::DataGroup; using SurgSim::Math::RigidTransform3d; namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::RecordPose, RecordPose); RecordPose::RecordPose(const std::string& name) : DeviceFilter(name), m_cumulativeTime(0), m_fileName("ReplayPoseDevice.txt") { SURGSIM_ADD_SERIALIZABLE_PROPERTY(RecordPose, std::string, FileName, getFileName, setFileName); m_timer.setMaxNumberOfFrames(1); m_timer.start(); } RecordPose::~RecordPose() { if (m_outputFile.is_open()) { m_outputFile.close(); } } void RecordPose::setFileName(const std::string& fileName) { m_fileName = fileName; } const std::string& RecordPose::getFileName() const { return m_fileName; } void RecordPose::initializeInput(const std::string& device, const DataStructures::DataGroup& inputData) { if (!m_outputFile.is_open()) { m_outputFile.open(m_fileName, std::ios::out | std::ios::trunc); if (!m_outputFile.is_open()) { SURGSIM_LOG_IF(!m_outputFile.is_open(), Framework::Logger::getLogger("Devices/RecordPose"), WARNING) << "File " << m_fileName << " could not be open to record device pose"; } } } void RecordPose::filterInput(const std::string& device, const DataGroup& dataToFilter, DataGroup* result) { *result = dataToFilter; if (m_outputFile.is_open()) { RigidTransform3d pose; if (dataToFilter.poses().get(DataStructures::Names::POSE, &pose)) { m_timer.markFrame(); m_cumulativeTime += m_timer.getLastFramePeriod(); // We back up the time along with the pose to make sure we can replay the motion real-time, no matter // which rate it is recorded and replayed. m_outputFile << m_cumulativeTime << std::endl << pose.matrix() << std::endl; } } } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/RecordPose.h000066400000000000000000000046111277777236100240370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_DEVICEFILTERS_RECORDPOSE_H #define SURGSIM_DEVICES_DEVICEFILTERS_RECORDPOSE_H #include #include "SurgSim/Devices/DeviceFilters/DeviceFilter.h" #include "SurgSim/Framework/Timer.h" namespace SurgSim { namespace Devices { SURGSIM_STATIC_REGISTRATION(RecordPose); /// An input device filter that record the input pose along with the relative time. All entries in the DataGroup are /// passed through. For convenience, it is also an OutputProducerInterface that does no filtering of the ouput data. class RecordPose : public DeviceFilter { public: /// Constructor. /// \param name Name of this device filter. explicit RecordPose(const std::string& name); /// Desctructor ~RecordPose(); /// \param fileName The filename to record the pose/time to (default is empty string) void setFileName(const std::string& fileName); /// \return The filename where the pose/time are recorded (default is empty string) const std::string& getFileName() const; void initializeInput(const std::string& device, const DataStructures::DataGroup& inputData) override; SURGSIM_CLASSNAME(SurgSim::Devices::RecordPose); private: void filterInput(const std::string& device, const DataStructures::DataGroup& dataToFilter, DataStructures::DataGroup* result) override; /// Timer to keep the recording real-time Framework::Timer m_timer; /// Cumulative time elapsed since the timer started (on creation of the instance, in ctor) double m_cumulativeTime; /// Filename where the poses will be recorded std::string m_fileName; /// Output stream to the file 'm_fileName', the entire content is replaced at each run std::ofstream m_outputFile; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_DEVICEFILTERS_RECORDPOSE_H opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/UnitTests/000077500000000000000000000000001277777236100235615ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/UnitTests/BoolToScalarTest.cpp000066400000000000000000000161531277777236100274570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Devices/DeviceFilters/BoolToScalar.h" #include "SurgSim/Input/CommonDevice.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Testing/MockInputOutput.h" namespace SurgSim { namespace Devices { using DataStructures::Names::BUTTON_0; using DataStructures::Names::BUTTON_1; using DataStructures::Names::BUTTON_2; using DataStructures::Names::TOOLDOF; class BoolToScalarFilterTest : public testing::Test { public: void SetUp() { // values for default buttons builder.addBoolean(BUTTON_1); builder.addBoolean(BUTTON_2); builder.addScalar(TOOLDOF); defaultData = builder.createData(); } DataStructures::DataGroupBuilder builder; DataStructures::DataGroup defaultData; }; TEST_F(BoolToScalarFilterTest, GeneralSetters) { auto filter = std::make_shared("Filter"); filter->setValue("Scalar", 0.5); EXPECT_DOUBLE_EQ(0.5, filter->getValue("Scalar")); filter->setValue("Scale", 4.0); EXPECT_DOUBLE_EQ(4.0, filter->getValue("Scale")); filter->setValue("Clamping", false); EXPECT_EQ(false, filter->getValue("Clamping")); filter->setValue("IncreaseField", std::string("IncreaseField")); EXPECT_EQ("IncreaseField", filter->getValue("IncreaseField")); filter->setValue("DecreaseField", "DecreaseField"); EXPECT_EQ("DecreaseField", filter->getValue("DecreaseField")); filter->setValue("TargetField", "TargetField"); EXPECT_EQ("TargetField", filter->getValue("TargetField")); } TEST_F(BoolToScalarFilterTest, SetRange) { auto filter = std::make_shared("Filter"); auto expectedRange = std::make_pair(5.0, 6.0); filter->setValue("Range", expectedRange); auto resultRange = filter->getValue>("Range"); EXPECT_DOUBLE_EQ(expectedRange.first, resultRange.first); EXPECT_DOUBLE_EQ(expectedRange.second, resultRange.second); // Reverse the range if it's [max, min] auto inputRange = std::make_pair(10.0, 1.0); expectedRange = std::make_pair(1.0, 10.0); filter->setRange(inputRange); resultRange = filter->getRange(); EXPECT_DOUBLE_EQ(expectedRange.first, resultRange.first); EXPECT_DOUBLE_EQ(expectedRange.second, resultRange.second); } TEST_F(BoolToScalarFilterTest, DataGroupHandling) { { SCOPED_TRACE("Valid Data"); auto filter = std::make_shared("Filter"); EXPECT_NO_THROW(filter->initializeInput("device", defaultData)); } { SCOPED_TRACE("Invalid IncreaseField"); auto filter = std::make_shared("Filter"); filter->setIncreaseField("wrongIncrease"); EXPECT_ANY_THROW(filter->initializeInput("device", defaultData)); } { SCOPED_TRACE("Invalid DecreaseField"); auto filter = std::make_shared("Filter"); filter->setDecreaseField("wrongDecrease"); EXPECT_ANY_THROW(filter->initializeInput("device", defaultData)); } { SCOPED_TRACE("Append Target"); DataStructures::DataGroupBuilder builder; builder.addBoolean(BUTTON_1); builder.addBoolean(BUTTON_2); auto data = builder.createData(); auto filter = std::make_shared("Filter"); EXPECT_NO_THROW(filter->initializeInput("device", data)); } } TEST_F(BoolToScalarFilterTest, UpdateTest) { const double epsilon = 0.05; auto filter = std::make_shared("Filter"); filter->setScale(2.0); auto resultData = defaultData; defaultData.booleans().set(BUTTON_1, false); defaultData.booleans().set(BUTTON_2, true); double value; filter->initializeInput("device", defaultData); // Running .25 of a second we expect the value to go up .. by at least 0.25 * 2 (scale) boost::this_thread::sleep(boost::posix_time::milliseconds(250)); filter->filterInput("device", defaultData, &resultData); resultData.scalars().get(TOOLDOF, &value); EXPECT_LT(0.5 - epsilon, value); // Switiching the buttons, running for .125 of a second so the value should go down by at least 0.125 * 2 (scale) defaultData.booleans().set(BUTTON_1, true); defaultData.booleans().set(BUTTON_2, false); // prevent accumulated error in the test filter->setScalar(0.5); boost::this_thread::sleep(boost::posix_time::milliseconds(125)); filter->filterInput("device", defaultData, &resultData); resultData.scalars().get(TOOLDOF, &value); EXPECT_GT(0.25 + epsilon, value); } TEST_F(BoolToScalarFilterTest, ClampTest) { auto filter = std::make_shared("Filter"); filter->setScale(10.0); auto resultData = defaultData; defaultData.booleans().set(BUTTON_1, false); defaultData.booleans().set(BUTTON_2, true); double value; filter->initializeInput("device", defaultData); // Running .25 of a second we expect the value to go up .. by 0.25 * 10 (scale) // but it's clamped to [0,1] boost::this_thread::sleep(boost::posix_time::milliseconds(250)); filter->filterInput("device", defaultData, &resultData); resultData.scalars().get(TOOLDOF, &value); EXPECT_DOUBLE_EQ(1.0, value); // Switiching the buttons, running for .25 of a second so the value should go down by 0.25 * 10 (scale) // but it's clamped to [0,1] defaultData.booleans().set(BUTTON_1, true); defaultData.booleans().set(BUTTON_2, false); boost::this_thread::sleep(boost::posix_time::milliseconds(250)); filter->filterInput("device", defaultData, &resultData); resultData.scalars().get(TOOLDOF, &value); EXPECT_DOUBLE_EQ(0.0, value); } TEST_F(BoolToScalarFilterTest, UnClampedTest) { auto filter = std::make_shared("Filter"); filter->setScale(10.0); filter->setClamping(false); auto resultData = defaultData; defaultData.booleans().set(BUTTON_1, false); defaultData.booleans().set(BUTTON_2, true); double value; filter->initializeInput("device", defaultData); // Running .25 of a second we expect the value to go up .. by 0.25 * 10 (scale) // but it's not clamped boost::this_thread::sleep(boost::posix_time::milliseconds(250)); filter->filterInput("device", defaultData, &resultData); resultData.scalars().get(TOOLDOF, &value); EXPECT_TRUE(value > 2.0); // Switiching the buttons, running for .25 of a second so the value should go down by 0.25 * 10 (scale) // but it's clamped to [0,]1 filter->setScalar(0.5); defaultData.booleans().set(BUTTON_1, true); defaultData.booleans().set(BUTTON_2, false); boost::this_thread::sleep(boost::posix_time::milliseconds(250)); filter->filterInput("device", defaultData, &resultData); resultData.scalars().get(TOOLDOF, &value); EXPECT_TRUE(value < 0.0); } } } opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/UnitTests/CMakeLists.txt000066400000000000000000000024261277777236100263250ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES BoolToScalarTest.cpp DeviceFilterTest.cpp FilteredDeviceTest.cpp ForceScaleTest.cpp PoseIntegratorTest.cpp PoseTransformTest.cpp ) set(LIBS SurgSimDataStructures SurgSimDevices SurgSimFramework SurgSimInput SurgSimMath ${Boost_LIBRARIES} ) surgsim_add_unit_tests(SurgSimDeviceFiltersTest) set_target_properties(SurgSimDeviceFiltersTest PROPERTIES FOLDER "Devices") file(COPY Data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/UnitTests/Data/000077500000000000000000000000001277777236100244325ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/UnitTests/Data/FilteredDevice.yaml000066400000000000000000000005701277777236100301760ustar00rootroot00000000000000- SurgSim::Devices::FilteredDevice: Name: ConstantPose Devices: - SurgSim::Devices::IdentityPoseDevice: Name: Identity - SurgSim::Devices::PoseTransform: Name: Transform TranslationScale: 3.4 Transform: Quaternion: {Angle: 12.3, Axis: [0.5, 0.5, 0.0]} Translation: [7.8, 8.9, 9.0] opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/UnitTests/Data/PoseTransform.yaml000066400000000000000000000003001277777236100301110ustar00rootroot00000000000000- SurgSim::Devices::PoseTransform: Name: Transform TranslationScale: 3.4 Transform: Quaternion: {Angle: 12.3, Axis: [0.5, 0.5, 0.0]} Translation: [7.8, 8.9, 9.0] opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/UnitTests/DeviceFilterTest.cpp000066400000000000000000000061011277777236100274700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the DeviceFilter class. #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Devices/DeviceFilters/DeviceFilter.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::DataStructures::DataGroup; using SurgSim::DataStructures::DataGroupBuilder; using SurgSim::Devices::DeviceFilter; using SurgSim::Testing::MockInputOutput; /// Exposes protected members of CommonDevice. class MockDeviceFilter : public DeviceFilter { public: explicit MockDeviceFilter(const std::string& name) : DeviceFilter(name) { } SurgSim::DataStructures::DataGroup& doGetInputData() { return getInputData(); } }; TEST(DeviceFilterTest, InputDataFilter) { auto filter = std::make_shared("filter"); ASSERT_TRUE(filter->initialize()); DataGroupBuilder builder; std::string scalarName = "scalar"; builder.addScalar(scalarName); DataGroup data = builder.createData(); const double initialScalar = 17.3; data.scalars().set(scalarName, initialScalar); // Normally the input device's initial input data would be set by the constructor or scaffold, then // initializeInput would be called in addInputConsumer. filter->initializeInput("device", data); DataGroup actualInputData = filter->doGetInputData(); double actualScalar; ASSERT_TRUE(actualInputData.scalars().get(scalarName, &actualScalar)); EXPECT_EQ(initialScalar, actualScalar); } TEST(DeviceFilterTest, OutputDataFilter) { auto filter = std::make_shared("filter"); ASSERT_TRUE(filter->initialize()); DataGroupBuilder builder; std::string scalarName = "scalar"; builder.addScalar(scalarName); DataGroup data = builder.createData(); const double initialScalar = 17.3; data.scalars().set(scalarName, initialScalar); // Normally the data would be set by a behavior, then the output device scaffold would call requestOutput on the // filter, which would call requestOutput on the OutputComponent. auto producer = std::make_shared(); producer->m_output.setValue(data); // The OutputProducer sends data out to the filter, which sends data out to the device. filter->setOutputProducer(producer); DataGroup actualData; ASSERT_TRUE(filter->requestOutput("device", &actualData)); double actualScalar; ASSERT_TRUE(actualData.scalars().get(scalarName, &actualScalar)); EXPECT_EQ(initialScalar, actualScalar); } opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/UnitTests/FilteredDeviceTest.cpp000066400000000000000000000123661277777236100300130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the FilteredDevice class. #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Devices/Devices.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::DataStructures::DataGroup; using SurgSim::DataStructures::DataGroupBuilder; using SurgSim::Devices::FilteredDevice; using SurgSim::Testing::MockInputOutput; TEST(FilteredDeviceTest, WithFilters) { std::string name = "device"; auto filteredDevice = std::make_shared(name); EXPECT_EQ(name, filteredDevice->getName()); ASSERT_FALSE(filteredDevice->initialize()); auto inputOutput = std::make_shared(); EXPECT_FALSE(filteredDevice->addInputConsumer(inputOutput)); EXPECT_FALSE(filteredDevice->removeInputConsumer(inputOutput)); EXPECT_FALSE(filteredDevice->setOutputProducer(inputOutput)); EXPECT_FALSE(filteredDevice->removeOutputProducer(inputOutput)); ASSERT_ANY_THROW(filteredDevice->setDevice(nullptr)); std::string subDeviceName = "identity"; ASSERT_NO_THROW(filteredDevice->setDevice(std::make_shared(subDeviceName))); ASSERT_ANY_THROW(filteredDevice->addFilter(nullptr)); filteredDevice->addFilter(std::make_shared("filter1")); filteredDevice->addFilter(std::make_shared("filter2")); EXPECT_TRUE(filteredDevice->initialize()); EXPECT_ANY_THROW(filteredDevice->initialize()); EXPECT_ANY_THROW(filteredDevice->setDevice(std::make_shared("identity2"))); EXPECT_ANY_THROW(filteredDevice->addFilter(std::make_shared("filter3"))); EXPECT_TRUE(filteredDevice->addInputConsumer(inputOutput)); EXPECT_TRUE(filteredDevice->removeInputConsumer(inputOutput)); EXPECT_TRUE(filteredDevice->setOutputProducer(inputOutput)); EXPECT_TRUE(filteredDevice->hasOutputProducer()); EXPECT_TRUE(filteredDevice->removeOutputProducer(inputOutput)); EXPECT_FALSE(filteredDevice->hasOutputProducer()); } TEST(FilteredDeviceTest, GetSetDevices) { std::vector> devices; std::string subDeviceName = "identity"; devices.push_back(std::make_shared(subDeviceName)); devices.push_back(std::make_shared("filter1")); devices.push_back(std::make_shared("filter2")); auto filteredDevice = std::make_shared("device"); ASSERT_NO_THROW(filteredDevice->setDevices(devices)); EXPECT_TRUE(filteredDevice->initialize()); ASSERT_ANY_THROW(filteredDevice->setDevices(devices)); auto actualDevices = filteredDevice->getDevices(); EXPECT_EQ(3, devices.size()); EXPECT_EQ(subDeviceName, devices[0]->getName()); EXPECT_EQ("SurgSim::Devices::IdentityPoseDevice", devices[0]->getClassName()); } TEST(FilteredDeviceTest, NoFilters) { auto filteredDevice = std::make_shared("device"); ASSERT_NO_THROW(filteredDevice->setDevice(std::make_shared("identity"))); auto inputOutput = std::make_shared(); EXPECT_TRUE(filteredDevice->addInputConsumer(inputOutput)); EXPECT_TRUE(filteredDevice->setOutputProducer(inputOutput)); EXPECT_TRUE(filteredDevice->initialize()); EXPECT_TRUE(filteredDevice->hasOutputProducer()); EXPECT_TRUE(filteredDevice->removeInputConsumer(inputOutput)); EXPECT_TRUE(filteredDevice->removeOutputProducer(inputOutput)); EXPECT_FALSE(filteredDevice->hasOutputProducer()); } TEST(FilteredDeviceTest, Serialization) { auto runtime = std::make_shared("config.txt"); std::shared_ptr device; ASSERT_NO_THROW(device = SurgSim::Devices::loadDevice("FilteredDevice.yaml")); ASSERT_NE(nullptr, device); auto typedDevice = std::dynamic_pointer_cast(device); ASSERT_NE(nullptr, typedDevice); auto input = std::make_shared(); ASSERT_TRUE(device->addInputConsumer(input)); SurgSim::Math::RigidTransform3d pose; ASSERT_TRUE(input->m_lastReceivedInput.poses().get(SurgSim::DataStructures::Names::POSE, &pose)); Eigen::AngleAxisd angleAxis; angleAxis.angle() = 12.3; angleAxis.axis() = SurgSim::Math::Vector3d(0.5, 0.5, 0.0); SurgSim::Math::Vector3d translation = SurgSim::Math::Vector3d(7.8, 8.9, 9.0); SurgSim::Math::RigidTransform3d expectedTransform = SurgSim::Math::makeRigidTransform(SurgSim::Math::Quaterniond(angleAxis), translation); EXPECT_TRUE(pose.isApprox(expectedTransform)); }opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/UnitTests/ForceScaleTest.cpp000066400000000000000000000226451277777236100271440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the forceScale class. #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Devices/DeviceFilters/ForceScale.h" #include "SurgSim/Input/CommonDevice.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::DataStructures::DataGroup; using SurgSim::DataStructures::DataGroupBuilder; using SurgSim::Devices::ForceScale; using SurgSim::Input::CommonDevice; using SurgSim::Math::Matrix66d; using SurgSim::Math::Vector3d; using SurgSim::Testing::MockInputOutput; namespace { const double ERROR_EPSILON = 1e-7; } /// Exposes protected members of CommonDevice. class MockForceScale : public ForceScale { public: explicit MockForceScale(const std::string& name) : ForceScale(name) { } SurgSim::DataStructures::DataGroup& doGetInputData() { return getInputData(); } }; TEST(ForceScaleDeviceFilterTest, InputDataFilter) { auto forceScaler = std::make_shared("ForceScaleFilter"); ASSERT_TRUE(forceScaler->initialize()); DataGroupBuilder builder; builder.addVector(SurgSim::DataStructures::Names::LINEAR_VELOCITY); DataGroup data = builder.createData(); data.vectors().set(SurgSim::DataStructures::Names::LINEAR_VELOCITY, Vector3d(5.0, 6.0, 7.0)); // Normally the input device's initial input data would be set by the constructor or scaffold, then // initializeInput would be called in addInputConsumer. forceScaler->initializeInput("device", data); // The ForceScale device filter should pass through the input data unchanged. DataGroup actualInputData = forceScaler->doGetInputData(); Vector3d actualLinearVelocity; ASSERT_TRUE(actualInputData.vectors().get(SurgSim::DataStructures::Names::LINEAR_VELOCITY, &actualLinearVelocity)); EXPECT_TRUE(actualLinearVelocity.isApprox(Vector3d(5.0, 6.0, 7.0), ERROR_EPSILON)); } TEST(ForceScaleDeviceFilterTest, OutputDataFilterDefaultScaling) { auto forceScaler = std::make_shared("ForceScaleFilter"); ASSERT_TRUE(forceScaler->initialize()); DataGroupBuilder builder; builder.addVector(SurgSim::DataStructures::Names::FORCE); builder.addVector(SurgSim::DataStructures::Names::TORQUE); builder.addMatrix(SurgSim::DataStructures::Names::SPRING_JACOBIAN); builder.addMatrix(SurgSim::DataStructures::Names::DAMPER_JACOBIAN); builder.addBoolean("extraData"); DataGroup data = builder.createData(); const Vector3d initialForce(1.0, 2.5, -13.8); data.vectors().set(SurgSim::DataStructures::Names::FORCE, initialForce); const Vector3d initialTorque(-7.0, 5.0, -1.2); data.vectors().set(SurgSim::DataStructures::Names::TORQUE, initialTorque); Matrix66d initialSpringJacobian; initialSpringJacobian << 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8; data.matrices().set(SurgSim::DataStructures::Names::SPRING_JACOBIAN, initialSpringJacobian); Matrix66d initialDamperJacobian; initialDamperJacobian << 0.91, 0.82, 0.73, 0.64, 0.55, 0.46, 0.37, 0.28, 0.19, 11.0, 21.1, 31.2, 41.3, 51.4, 61.5, 71.6, 81.7, 91.8, 0.91, 0.82, 0.73, 0.64, 0.55, 0.46, 0.37, 0.28, 0.19, 11.0, 21.1, 31.2, 41.3, 51.4, 61.5, 71.6, 81.7, 91.8; data.matrices().set(SurgSim::DataStructures::Names::DAMPER_JACOBIAN, initialDamperJacobian); const bool initialBoolean = true; data.booleans().set("extraData", initialBoolean); // Normally the data would be set by a behavior, then the output device scaffold would call requestOutput on the // filter, which would call requestOutput on the OutputComponent. auto producer = std::make_shared(); producer->m_output.setValue(data); // The OutputProducer sends data out to the filter, which sends data out to the device. forceScaler->setOutputProducer(producer); DataGroup actualData; ASSERT_TRUE(forceScaler->requestOutput("device", &actualData)); // Check the default scaling. Should be identity. Vector3d actualForce; ASSERT_TRUE(actualData.vectors().get(SurgSim::DataStructures::Names::FORCE, &actualForce)); EXPECT_TRUE(actualForce.isApprox(initialForce, ERROR_EPSILON)); Vector3d actualTorque; ASSERT_TRUE(actualData.vectors().get(SurgSim::DataStructures::Names::TORQUE, &actualTorque)); EXPECT_TRUE(actualTorque.isApprox(initialTorque, ERROR_EPSILON)); SurgSim::DataStructures::DataGroup::DynamicMatrixType actualSpringJacobian; ASSERT_TRUE(actualData.matrices().get(SurgSim::DataStructures::Names::SPRING_JACOBIAN, &actualSpringJacobian)); EXPECT_TRUE(actualSpringJacobian.isApprox(initialSpringJacobian, ERROR_EPSILON)); SurgSim::DataStructures::DataGroup::DynamicMatrixType actualDamperJacobian; ASSERT_TRUE(actualData.matrices().get(SurgSim::DataStructures::Names::DAMPER_JACOBIAN, &actualDamperJacobian)); EXPECT_TRUE(actualDamperJacobian.isApprox(initialDamperJacobian, ERROR_EPSILON)); // Other data should pass through. bool actualBoolean; ASSERT_TRUE(actualData.booleans().get("extraData", &actualBoolean)); EXPECT_EQ(actualBoolean, initialBoolean); } TEST(ForceScaleDeviceFilterTest, OutputDataFilter) { auto forceScaler = std::make_shared("ForceScaleFilter"); ASSERT_TRUE(forceScaler->initialize()); DataGroupBuilder builder; builder.addVector(SurgSim::DataStructures::Names::FORCE); builder.addVector(SurgSim::DataStructures::Names::TORQUE); builder.addMatrix(SurgSim::DataStructures::Names::SPRING_JACOBIAN); builder.addMatrix(SurgSim::DataStructures::Names::DAMPER_JACOBIAN); builder.addBoolean("extraData"); DataGroup data = builder.createData(); data.vectors().set(SurgSim::DataStructures::Names::FORCE, Vector3d(1.0, 2.5, -13.8)); data.vectors().set(SurgSim::DataStructures::Names::TORQUE, Vector3d(-7.0, 5.0, -1.2)); Matrix66d springJacobian; springJacobian << 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8; data.matrices().set(SurgSim::DataStructures::Names::SPRING_JACOBIAN, springJacobian); Matrix66d damperJacobian; damperJacobian << 0.91, 0.82, 0.73, 0.64, 0.55, 0.46, 0.37, 0.28, 0.19, 11.0, 21.1, 31.2, 41.3, 51.4, 61.5, 71.6, 81.7, 91.8, 0.91, 0.82, 0.73, 0.64, 0.55, 0.46, 0.37, 0.28, 0.19, 11.0, 21.1, 31.2, 41.3, 51.4, 61.5, 71.6, 81.7, 91.8; data.matrices().set(SurgSim::DataStructures::Names::DAMPER_JACOBIAN, damperJacobian); data.booleans().set("extraData", true); // Normally the data would be set by a behavior, then the output device scaffold would call requestOutput on the // filter, which would call requestOutput on the OutputComponent. auto producer = std::make_shared(); producer->m_output.setValue(data); // The OutputProducer sends data out to the filter, which sends data out to the device. forceScaler->setForceScale(10.0); forceScaler->setTorqueScale(0.1); forceScaler->setOutputProducer(producer); DataGroup actualData; ASSERT_TRUE(forceScaler->requestOutput("device", &actualData)); // Check the scaling. Vector3d actualForce; ASSERT_TRUE(actualData.vectors().get(SurgSim::DataStructures::Names::FORCE, &actualForce)); Vector3d expectedForce; expectedForce << 10.0, 25.0, -138.0; EXPECT_TRUE(actualForce.isApprox(expectedForce, ERROR_EPSILON)); Vector3d actualTorque; ASSERT_TRUE(actualData.vectors().get(SurgSim::DataStructures::Names::TORQUE, &actualTorque)); Vector3d expectedTorque; expectedTorque << -0.7, 0.5, -0.12; EXPECT_TRUE(actualTorque.isApprox(expectedTorque, ERROR_EPSILON)); SurgSim::DataStructures::DataGroup::DynamicMatrixType actualSpringJacobian; ASSERT_TRUE(actualData.matrices().get(SurgSim::DataStructures::Names::SPRING_JACOBIAN, &actualSpringJacobian)); Matrix66d expectedSpringJacobian; expectedSpringJacobian << 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0, 11.0, 12.0, 13.0, 14.0, 15.0, 16.0, 17.0, 18.0, 0.01, 0.02, 0.03, 0.04, 0.05, 0.06, 0.07, 0.08, 0.09, 0.1, 0.11, 0.12, 0.13, 0.14, 0.15, 0.16, 0.17, 0.18; EXPECT_TRUE(actualSpringJacobian.isApprox(expectedSpringJacobian, ERROR_EPSILON)); SurgSim::DataStructures::DataGroup::DynamicMatrixType actualDamperJacobian; ASSERT_TRUE(actualData.matrices().get(SurgSim::DataStructures::Names::DAMPER_JACOBIAN, &actualDamperJacobian)); Matrix66d expectedDamperJacobian; expectedDamperJacobian << 9.1, 8.2, 7.3, 6.4, 5.5, 4.6, 3.7, 2.8, 1.9, 110.0, 211.0, 312.0, 413.0, 514.0, 615.0, 716.0, 817.0, 918.0, 0.091, 0.082, 0.073, 0.064, 0.055, 0.046, 0.037, 0.028, 0.019, 1.10, 2.11, 3.12, 4.13, 5.14, 6.15, 7.16, 8.17, 9.18; EXPECT_TRUE(actualDamperJacobian.isApprox(expectedDamperJacobian, ERROR_EPSILON)); // Other data should pass through. bool actualBoolean; ASSERT_TRUE(actualData.booleans().get("extraData", &actualBoolean)); EXPECT_EQ(actualBoolean, true); } opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/UnitTests/PoseIntegratorTest.cpp000066400000000000000000000277641277777236100301120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the PoseIntegrator class. #include #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Devices/DeviceFilters/PoseIntegrator.h" #include "SurgSim/Input/CommonDevice.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::DataStructures::DataGroup; using SurgSim::DataStructures::DataGroupBuilder; using SurgSim::Devices::PoseIntegrator; using SurgSim::Input::CommonDevice; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Testing::MockInputOutput; namespace { const double ERROR_EPSILON = 1e-7; /// Exposes protected members of CommonDevice. class MockPoseIntegrator : public PoseIntegrator { public: explicit MockPoseIntegrator(const std::string& name) : PoseIntegrator(name) { } SurgSim::DataStructures::DataGroup& doGetInputData() { return getInputData(); } }; void TestInputDataGroup(const DataGroup& actualData, const DataGroup& expectedData) { RigidTransform3d actualPose; ASSERT_TRUE(actualData.poses().get(SurgSim::DataStructures::Names::POSE, &actualPose)); RigidTransform3d expectedPose; ASSERT_TRUE(expectedData.poses().get(SurgSim::DataStructures::Names::POSE, &expectedPose)); EXPECT_TRUE(actualPose.isApprox(expectedPose, ERROR_EPSILON)); Vector3d actualLinearVelocity; ASSERT_TRUE(actualData.vectors().get(SurgSim::DataStructures::Names::LINEAR_VELOCITY, &actualLinearVelocity)); Vector3d expectedLinearVelocity; ASSERT_TRUE(expectedData.vectors().get(SurgSim::DataStructures::Names::LINEAR_VELOCITY, &expectedLinearVelocity)); EXPECT_TRUE(actualLinearVelocity.isApprox(expectedLinearVelocity, ERROR_EPSILON)); Vector3d actualAngularVelocity; ASSERT_TRUE(actualData.vectors().get(SurgSim::DataStructures::Names::ANGULAR_VELOCITY, &actualAngularVelocity)); Vector3d expectedAngularVelocity; ASSERT_TRUE(expectedData.vectors().get(SurgSim::DataStructures::Names::ANGULAR_VELOCITY, &expectedAngularVelocity)); EXPECT_TRUE(actualAngularVelocity.isApprox(expectedAngularVelocity, ERROR_EPSILON)); bool actualBoolean; ASSERT_TRUE(actualData.booleans().get("extraData", &actualBoolean)); bool expectedBoolean; ASSERT_TRUE(expectedData.booleans().get("extraData", &expectedBoolean)); EXPECT_EQ(expectedBoolean, actualBoolean); } }; // If the Device being filtered does not provide the linear and/or angular velocity vectors in its DataGroup, the // PoseIntegrator adds them. TEST(PoseIntegratorDeviceFilterTest, AddVelocityDataEntries) { auto integrator = std::make_shared("PoseIntegratorFilter"); ASSERT_TRUE(integrator->initialize()); DataGroupBuilder builder; builder.addPose(SurgSim::DataStructures::Names::POSE); builder.addVector("someVector"); builder.addBoolean("extraData"); DataGroup data = builder.createData(); const double rotationAngle = 0.1; const Vector3d rotationAxis = Vector3d::UnitX(); const Vector3d translation(2.0, 3.0, 4.0); const RigidTransform3d pose = makeRigidTransform(makeRotationQuaternion(rotationAngle, rotationAxis), translation); data.poses().set(SurgSim::DataStructures::Names::POSE, pose); const Vector3d expectedVector(24.0, -3.2, 0.0); data.vectors().set("someVector", expectedVector); const bool expectedBoolean = true; data.booleans().set("extraData", expectedBoolean); { // Test the code-path in initializeInput when the filter has to add entries. // Normally the input device's initial input data would be set by the constructor or scaffold, then // initializeInput would be called in addInputConsumer. integrator->initializeInput("device", data); const DataGroup actualInputData = integrator->doGetInputData(); // Test that the velocity entries were added EXPECT_TRUE(actualInputData.vectors().hasEntry(SurgSim::DataStructures::Names::LINEAR_VELOCITY)); EXPECT_TRUE(actualInputData.vectors().hasEntry(SurgSim::DataStructures::Names::ANGULAR_VELOCITY)); RigidTransform3d actualPose; ASSERT_TRUE(actualInputData.poses().get(SurgSim::DataStructures::Names::POSE, &actualPose)); EXPECT_TRUE(actualPose.isApprox(pose, ERROR_EPSILON)); Vector3d actualVector; ASSERT_TRUE(actualInputData.vectors().get("someVector", &actualVector)); EXPECT_TRUE(actualVector.isApprox(expectedVector, ERROR_EPSILON)); bool actualBoolean; ASSERT_TRUE(actualInputData.booleans().get("extraData", &actualBoolean)); EXPECT_EQ(expectedBoolean, actualBoolean); } const RigidTransform3d newPose = pose.inverse(); data.poses().set(SurgSim::DataStructures::Names::POSE, newPose); const Vector3d newVector = Vector3d(-0.77, 3.9, 99.0); data.vectors().set("someVector", newVector); const bool newBoolean = !expectedBoolean; data.booleans().set("extraData", newBoolean); { // Test that the code-path through handleInput if the filter had to add entries...did it correctly pass data. // The InputDataFilter test checks for correctness of the pose and velocity entries. integrator->handleInput("device", data); const DataGroup actualInputData = integrator->doGetInputData(); Vector3d actualVector; ASSERT_TRUE(actualInputData.vectors().get("someVector", &actualVector)); EXPECT_TRUE(actualVector.isApprox(newVector, ERROR_EPSILON)); bool actualBoolean; ASSERT_TRUE(actualInputData.booleans().get("extraData", &actualBoolean)); EXPECT_EQ(newBoolean, actualBoolean); } }; TEST(PoseIntegratorDeviceFilterTest, InputDataFilter) { auto integrator = std::make_shared("PoseIntegratorFilter"); EXPECT_NO_THROW(integrator->setReset(SurgSim::DataStructures::Names::BUTTON_1)); ASSERT_TRUE(integrator->initialize()); DataGroupBuilder builder; builder.addPose(SurgSim::DataStructures::Names::POSE); builder.addVector(SurgSim::DataStructures::Names::LINEAR_VELOCITY); builder.addVector(SurgSim::DataStructures::Names::ANGULAR_VELOCITY); builder.addBoolean("extraData"); builder.addBoolean(SurgSim::DataStructures::Names::BUTTON_1); DataGroup data = builder.createData(); const double rotationAngle = 0.1; const Vector3d rotationAxis = Vector3d::UnitX(); const Vector3d translation(2.0, 3.0, 4.0); const RigidTransform3d pose = makeRigidTransform(makeRotationQuaternion(rotationAngle, rotationAxis), translation); data.poses().set(SurgSim::DataStructures::Names::POSE, pose); data.vectors().set(SurgSim::DataStructures::Names::LINEAR_VELOCITY, Vector3d(5.0, 6.0, 7.0)); data.vectors().set(SurgSim::DataStructures::Names::ANGULAR_VELOCITY, Vector3d(8.0, 9.0, 10.0)); data.booleans().set("extraData", true); // Normally the input device's initial input data would be set by the constructor or scaffold, then // initializeInput would be called in addInputConsumer. integrator->initializeInput("device", data); EXPECT_ANY_THROW(integrator->setReset(SurgSim::DataStructures::Names::BUTTON_2)); // After initialization, before the first handleInput, the initial and current input data should be the same. // There is no DataGroup::operator==, so we just test both DataGroups. { SCOPED_TRACE("Testing Initial Input Data."); // Normally the InputComponent (or another device filter) would have its handleInput called with the // PoseIntegrator's input data. DataGroup actualInputData = integrator->doGetInputData(); TestInputDataGroup(actualInputData, data); } { SCOPED_TRACE("Testing Input Data, before first HandleInput."); DataGroup actualInputData = integrator->doGetInputData(); TestInputDataGroup(actualInputData, data); } // Now test integration and velocity calculation. // Normally the input device would PushInput, which would call the filter's handleInput. boost::this_thread::sleep(boost::posix_time::millisec(100)); integrator->handleInput("device", data); DataGroup expectedData = builder.createData(); // The "pose" data should have incremented its angle of rotation and its translation. RigidTransform3d expectedPose = makeRigidTransform(makeRotationQuaternion(2.0 * rotationAngle, rotationAxis), 2.0 * translation); expectedData.poses().set(SurgSim::DataStructures::Names::POSE, expectedPose); // The linearVelocity should be the translation (as a delta) times the rate. We don't know the rate, so we'll // back-calculate it from the linear velocity...then we'll make sure the same rate was used for both linear and // angular velocities. const DataGroup actualTransformedInputData = integrator->doGetInputData(); Vector3d actualLinearVelocity; ASSERT_TRUE(actualTransformedInputData.vectors().get(SurgSim::DataStructures::Names::LINEAR_VELOCITY, &actualLinearVelocity)); const double rate = actualLinearVelocity.norm() / translation.norm(); Vector3d actualAngularVelocity; ASSERT_TRUE(actualTransformedInputData.vectors().get(SurgSim::DataStructures::Names::ANGULAR_VELOCITY, &actualAngularVelocity)); ASSERT_NEAR(rate, actualAngularVelocity.norm() / rotationAngle, ERROR_EPSILON); Vector3d expectedLinearVelocity = translation * rate; expectedData.vectors().set(SurgSim::DataStructures::Names::LINEAR_VELOCITY, expectedLinearVelocity); // The angularVelocity should be the angleAxis (as a delta) times the rate. Vector3d expectedAngularVelocity = rotationAxis * rotationAngle * rate; expectedData.vectors().set(SurgSim::DataStructures::Names::ANGULAR_VELOCITY, expectedAngularVelocity); expectedData.booleans().set("extraData", true); { SCOPED_TRACE("Testing Input Data, after HandleInput."); TestInputDataGroup(actualTransformedInputData, expectedData); } // Reset the pose data.booleans().set(SurgSim::DataStructures::Names::BUTTON_1, true); integrator->handleInput("device", data); const DataGroup resetInputData = integrator->doGetInputData(); RigidTransform3d actualPose; ASSERT_TRUE(resetInputData.poses().get(SurgSim::DataStructures::Names::POSE, &actualPose)); EXPECT_TRUE(actualPose.isApprox(RigidTransform3d::Identity(), ERROR_EPSILON)); } TEST(PoseIntegratorDeviceFilterTest, OutputDataFilter) { auto integrator = std::make_shared("PoseIntegratorFilter"); ASSERT_TRUE(integrator->initialize()); DataGroupBuilder builder; builder.addPose(SurgSim::DataStructures::Names::POSE); builder.addBoolean("extraData"); DataGroup data = builder.createData(); const double rotationAngle = 0.1; const Vector3d rotationAxis = Vector3d::UnitX(); const Vector3d translation(2.0, 3.0, 4.0); const RigidTransform3d pose = makeRigidTransform(makeRotationQuaternion(rotationAngle, rotationAxis), translation); data.poses().set(SurgSim::DataStructures::Names::POSE, pose); data.booleans().set("extraData", true); // Normally the data would be set by a behavior, then the output device scaffold would call requestOutput on the // filter, which would call requestOutput on the OutputComponent. auto producer = std::make_shared(); producer->m_output.setValue(data); integrator->setOutputProducer(producer); DataGroup actualData; integrator->requestOutput("device", &actualData); // The PoseIntegrator should not alter output data. RigidTransform3d actualPose; ASSERT_TRUE(actualData.poses().get(SurgSim::DataStructures::Names::POSE, &actualPose)); EXPECT_TRUE(actualPose.isApprox(pose, ERROR_EPSILON)); bool actualBoolean; ASSERT_TRUE(actualData.booleans().get("extraData", &actualBoolean)); const bool expectedBoolean = true; EXPECT_EQ(expectedBoolean, actualBoolean); } opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/UnitTests/PoseTransformTest.cpp000066400000000000000000000333241277777236100277340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the PoseTransform class. #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Devices/Devices.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Input/CommonDevice.h" #include "SurgSim/Input/DeviceInterface.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::DataStructures::DataGroup; using SurgSim::DataStructures::DataGroupBuilder; using SurgSim::Devices::PoseTransform; using SurgSim::Input::CommonDevice; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; using SurgSim::Math::Matrix66d; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Testing::MockInputOutput; namespace { const double ERROR_EPSILON = 1e-7; } /// Exposes protected members of CommonDevice. class MockPoseTransform : public PoseTransform { public: explicit MockPoseTransform(const std::string& name) : PoseTransform(name) { } SurgSim::DataStructures::DataGroup& doGetInputData() { return getInputData(); } }; void TestInputDataGroup(const DataGroup& actualData, const DataGroup& expectedData) { RigidTransform3d actualPose; ASSERT_TRUE(actualData.poses().get(SurgSim::DataStructures::Names::POSE, &actualPose)); RigidTransform3d expectedPose; ASSERT_TRUE(expectedData.poses().get(SurgSim::DataStructures::Names::POSE, &expectedPose)); EXPECT_TRUE(actualPose.isApprox(expectedPose, ERROR_EPSILON)); Vector3d actualLinearVelocity; ASSERT_TRUE(actualData.vectors().get(SurgSim::DataStructures::Names::LINEAR_VELOCITY, &actualLinearVelocity)); Vector3d expectedLinearVelocity; ASSERT_TRUE(expectedData.vectors().get(SurgSim::DataStructures::Names::LINEAR_VELOCITY, &expectedLinearVelocity)); EXPECT_TRUE(actualLinearVelocity.isApprox(expectedLinearVelocity, ERROR_EPSILON)); Vector3d actualAngularVelocity; ASSERT_TRUE(actualData.vectors().get(SurgSim::DataStructures::Names::ANGULAR_VELOCITY, &actualAngularVelocity)); Vector3d expectedAngularVelocity; ASSERT_TRUE(expectedData.vectors().get(SurgSim::DataStructures::Names::ANGULAR_VELOCITY, &expectedAngularVelocity)); EXPECT_TRUE(actualAngularVelocity.isApprox(expectedAngularVelocity, ERROR_EPSILON)); bool actualBoolean; ASSERT_TRUE(actualData.booleans().get("extraData", &actualBoolean)); bool expectedBoolean; ASSERT_TRUE(expectedData.booleans().get("extraData", &expectedBoolean)); EXPECT_EQ(expectedBoolean, actualBoolean); } TEST(PoseTransformDeviceFilterTest, InputDataFilter) { auto poseTransformer = std::make_shared("PoseTransformFilter"); ASSERT_TRUE(poseTransformer->initialize()); DataGroupBuilder builder; builder.addPose(SurgSim::DataStructures::Names::POSE); builder.addVector(SurgSim::DataStructures::Names::LINEAR_VELOCITY); builder.addVector(SurgSim::DataStructures::Names::ANGULAR_VELOCITY); builder.addBoolean("extraData"); DataGroup data = builder.createData(); RigidTransform3d pose = makeRigidTransform(makeRotationQuaternion(1.5, Vector3d(1.2, 5.6, 0.7).normalized()), Vector3d(2.0, 3.0, 4.0)); data.poses().set(SurgSim::DataStructures::Names::POSE, pose); data.vectors().set(SurgSim::DataStructures::Names::LINEAR_VELOCITY, Vector3d(5.0, 6.0, 7.0)); data.vectors().set(SurgSim::DataStructures::Names::ANGULAR_VELOCITY, Vector3d(8.0, 9.0, 10.0)); data.booleans().set("extraData", true); // Normally the input device's initial input data would be set by the constructor or scaffold, then // initializeInput would be called in addInputConsumer. poseTransformer->initializeInput("device", data); // After initialization, before the first handleInput, the input data should be unchanged. { SCOPED_TRACE("Testing Input Data, no transform or scaling."); // Normally the InputComponent (or another device filter) would have its handleInput called with the // PoseTransform's input data. DataGroup actualInputData = poseTransformer->doGetInputData(); TestInputDataGroup(actualInputData, data); } // Now test setting transform and scaling. RigidTransform3d transform = makeRigidTransform(makeRotationQuaternion(0.9, Vector3d(10.8, -7.6, 5.4)).normalized(), Vector3d(18.3, -12.6, 1.0)); poseTransformer->setTransform(transform); poseTransformer->setTranslationScale(3.7); // Normally the input device would PushInput, which would call the filter's handleInput. poseTransformer->handleInput("device", data); DataGroup expectedData = builder.createData(); // The "pose" data should have its translation scaled and be pre-transformed. RigidTransform3d expectedPose = makeRigidTransform(makeRotationQuaternion(2.4972022984476547, Vector3d(0.29211414245268102, -0.31582037986877071, 0.90273297017372756)), Vector3d(15.6146599514, -31.1502325138, -5.75927677405)); expectedData.poses().set(SurgSim::DataStructures::Names::POSE, expectedPose); // The linearVelocity should be scaled and rotated. Vector3d expectedLinearVelocity(-6.28155746782, -37.3676130859, -8.37278496308); expectedData.vectors().set(SurgSim::DataStructures::Names::LINEAR_VELOCITY, expectedLinearVelocity); // The angularVelocity should be rotated. Vector3d expectedAngularVelocity(-2.66966888839, -15.1851334211, -2.69899814922); expectedData.vectors().set(SurgSim::DataStructures::Names::ANGULAR_VELOCITY, expectedAngularVelocity); expectedData.booleans().set("extraData", true); { SCOPED_TRACE("Testing Input Data, with transform or scaling."); DataGroup actualTransformedInputData = poseTransformer->doGetInputData(); TestInputDataGroup(actualTransformedInputData, expectedData); } // A new initializeInput should run the new input data through the filter with the new parameters. poseTransformer->initializeInput("device", data); { SCOPED_TRACE("Testing Input Data after initializeInput, with transform or scaling."); DataGroup actualInputData = poseTransformer->doGetInputData(); TestInputDataGroup(actualInputData, expectedData); } } TEST(PoseTransformDeviceFilterTest, OutputDataFilter) { auto poseTransformer = std::make_shared("PoseTransformFilter"); ASSERT_TRUE(poseTransformer->initialize()); DataGroupBuilder builder; builder.addVector(SurgSim::DataStructures::Names::FORCE); builder.addVector(SurgSim::DataStructures::Names::TORQUE); builder.addMatrix(SurgSim::DataStructures::Names::SPRING_JACOBIAN); builder.addPose(SurgSim::DataStructures::Names::INPUT_POSE); builder.addMatrix(SurgSim::DataStructures::Names::DAMPER_JACOBIAN); builder.addVector(SurgSim::DataStructures::Names::INPUT_LINEAR_VELOCITY); builder.addVector(SurgSim::DataStructures::Names::INPUT_ANGULAR_VELOCITY); builder.addBoolean("extraData"); DataGroup data = builder.createData(); data.vectors().set(SurgSim::DataStructures::Names::FORCE, Vector3d(-6.0, 8.0, -10.0)); data.vectors().set(SurgSim::DataStructures::Names::TORQUE, Vector3d(8.0, -4.0, 2.0)); Matrix66d springJacobian; springJacobian << 2.0, 4.0, 6.0, 8.0, 10.0, 12.0, 14.0, 16.0, 18.0, 20.0, 22.0, 24.0, 26.0, 28.0, 30.0, 32.0, 34.0, 36.0, -2.0, -4.0, -6.0, -8.0, -10.0, -12.0, -14.0, -16.0, -18.0, -20.0, -22.0, -24.0, -26.0, -28.0, -30.0, -32.0, -34.0, -36.0; data.matrices().set(SurgSim::DataStructures::Names::SPRING_JACOBIAN, springJacobian); RigidTransform3d inputPose = makeRigidTransform(makeRotationQuaternion(M_PI_2, Vector3d::UnitX().eval()), Vector3d(3., 5., 7.)); data.poses().set(SurgSim::DataStructures::Names::INPUT_POSE, inputPose); Matrix66d damperJacobian; damperJacobian << 6.0, 10.0, 14.0, 18.0, 22.0, 26.0, 30.0, 34.0, 38.0, 42.0, 46.0, 50.0, 54.0, 58.0, 62.0, 66.0, 70.0, 74.0, -6.0, -10.0, -14.0, -18.0, -22.0, -26.0, -30.0, -34.0, -38.0, -42.0, -46.0, -50.0, -54.0, -58.0, -62.0, -66.0, -70.0, -74.0; data.matrices().set(SurgSim::DataStructures::Names::DAMPER_JACOBIAN, damperJacobian); data.vectors().set(SurgSim::DataStructures::Names::INPUT_LINEAR_VELOCITY, Vector3d(10.0, 6.0, 14.0)); data.vectors().set(SurgSim::DataStructures::Names::INPUT_ANGULAR_VELOCITY, Vector3d(8.0, 9.0, 10.0)); data.booleans().set("extraData", true); // Normally the data would be set by a behavior, then the output device scaffold would call requestOutput on the // filter, which would call requestOutput on the OutputComponent. auto producer = std::make_shared(); producer->m_output.setValue(data); poseTransformer->setOutputProducer(producer); RigidTransform3d transform = makeRigidTransform(makeRotationQuaternion(M_PI_2, Vector3d::UnitY().eval()), Vector3d(11.0, 12.0, 13.0)); poseTransformer->setTransform(transform); poseTransformer->setTranslationScale(2.0); DataGroup actualData; poseTransformer->requestOutput("device", &actualData); // The force should be anti-rotated. Vector3d actualForce; ASSERT_TRUE(actualData.vectors().get(SurgSim::DataStructures::Names::FORCE, &actualForce)); Vector3d expectedForce(10.0, 8.0, -6.0); EXPECT_TRUE(actualForce.isApprox(expectedForce, ERROR_EPSILON)); // The torque should be anti-rotated. Vector3d actualtorque; ASSERT_TRUE(actualData.vectors().get(SurgSim::DataStructures::Names::TORQUE, &actualtorque)); Vector3d expectedtorque(-2.0, -4.0, 8.0); EXPECT_TRUE(actualtorque.isApprox(expectedtorque, ERROR_EPSILON)); // The springJacobian should be transformed into device space, so each 3x3 block should be left-multiplied by // the rotation, and right-multiplied by the anti-rotation, then the first three columns of the 6x6 should // be scaled by the translation scaling factor so that the forces & torques are the right magnitude for // the scene. SurgSim::DataStructures::DataGroup::DynamicMatrixType actualSpringJacobian; ASSERT_TRUE(actualData.matrices().get(SurgSim::DataStructures::Names::SPRING_JACOBIAN, &actualSpringJacobian)); Matrix66d expectedSpringJacobian; expectedSpringJacobian << 60.0, -56.0, -52.0, 36.0, -34.0, -32.0, -36.0, 32.0, 28.0, -24.0, 22.0, 20.0, -12.0, 8.0, 4.0, -12.0, 10.0, 8.0, -60.0, 56.0, 52.0, -36.0, 34.0, 32.0, 36.0, -32.0, -28.0, 24.0, -22.0, -20.0, 12.0, -8.0, -4.0, 12.0, -10.0, -8.0; EXPECT_TRUE(actualSpringJacobian.isApprox(expectedSpringJacobian, ERROR_EPSILON)); // The inputPose should be anti-transformed, and have its translation un-scaled. RigidTransform3d actualInputPose; ASSERT_TRUE(actualData.poses().get(SurgSim::DataStructures::Names::INPUT_POSE, &actualInputPose)); RigidTransform3d expectedInputPose = makeRigidTransform(makeRotationQuaternion(-M_PI_2, Vector3d::UnitY().eval()) * makeRotationQuaternion(M_PI_2, Vector3d::UnitX().eval()), Vector3d(3.0, -3.5, -4.0)); EXPECT_TRUE(actualInputPose.isApprox(expectedInputPose, ERROR_EPSILON)); // The damperJacobian should be transformed the same as the springJacobian. SurgSim::DataStructures::DataGroup::DynamicMatrixType actualDamperJacobian; ASSERT_TRUE(actualData.matrices().get(SurgSim::DataStructures::Names::DAMPER_JACOBIAN, &actualDamperJacobian)); Matrix66d expectedDamperJacobian; expectedDamperJacobian << 124.0, -116.0, -108.0, 74.0, -70.0, -66.0, -76.0, 68.0, 60.0, -50.0, 46.0, 42.0, -28.0, 20.0, 12.0, -26.0, 22.0, 18.0, -124.0, 116.0, 108.0, -74.0, 70.0, 66.0, 76.0, -68.0, -60.0, 50.0, -46.0, -42.0, 28.0, -20.0, -12.0, 26.0, -22.0, -18.0; EXPECT_TRUE(actualDamperJacobian.isApprox(expectedDamperJacobian, ERROR_EPSILON)); // The inputLinearVelocity should be anti-rotated and un-scaled. Vector3d actualInputLinearVelocity; ASSERT_TRUE(actualData.vectors().get(SurgSim::DataStructures::Names::INPUT_LINEAR_VELOCITY, &actualInputLinearVelocity)); Vector3d expectedInputLinearVelocity(-7.0, 3.0, 5.0); EXPECT_TRUE(actualInputLinearVelocity.isApprox(expectedInputLinearVelocity, ERROR_EPSILON)); // The inputAngularVelocity should be anti-rotated. Vector3d actualInputAngularVelocity; ASSERT_TRUE(actualData.vectors().get(SurgSim::DataStructures::Names::INPUT_ANGULAR_VELOCITY, &actualInputAngularVelocity)); Vector3d expectedInputAngularVelocity(-10.0, 9.0, 8.0); EXPECT_TRUE(actualInputAngularVelocity.isApprox(expectedInputAngularVelocity, ERROR_EPSILON)); // Other data should pass through unchanged. bool actualBoolean; ASSERT_TRUE(actualData.booleans().get("extraData", &actualBoolean)); bool expectedBoolean = true; EXPECT_EQ(expectedBoolean, actualBoolean); } TEST(PoseTransformDeviceFilterTest, Serialization) { auto runtime = std::make_shared("config.txt"); std::string fileName = "PoseTransform.yaml"; std::shared_ptr device; ASSERT_NO_THROW(device = SurgSim::Devices::loadDevice(fileName)); ASSERT_NE(nullptr, device); auto typedDevice = std::dynamic_pointer_cast(device); ASSERT_NE(nullptr, typedDevice); EXPECT_NEAR(3.4, typedDevice->getTranslationScale(), 1e-10); Eigen::AngleAxisd angleAxis; angleAxis.angle() = 12.3; angleAxis.axis() = SurgSim::Math::Vector3d(0.5, 0.5, 0.0); SurgSim::Math::Vector3d translation = SurgSim::Math::Vector3d(7.8, 8.9, 9.0); SurgSim::Math::RigidTransform3d expectedTransform = SurgSim::Math::makeRigidTransform(SurgSim::Math::Quaterniond(angleAxis), translation); EXPECT_TRUE(typedDevice->getTransform().isApprox(expectedTransform)); }opensurgsim-0.7.0/SurgSim/Devices/DeviceFilters/UnitTests/config.txt.in000066400000000000000000000000411277777236100261670ustar00rootroot00000000000000${CMAKE_CURRENT_BINARY_DIR}/Data/opensurgsim-0.7.0/SurgSim/Devices/DeviceUtilities.cpp000066400000000000000000000131361277777236100226720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/DeviceUtilities.h" #include #include "SurgSim/Devices/DeviceFilters/DeviceFilter.h" #include "SurgSim/Devices/DeviceFilters/FilteredDevice.h" #include "SurgSim/Input/DeviceInterface.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/Runtime.h" using SurgSim::Input::DeviceInterface; namespace { const std::string NamePropertyName = "Name"; /// Convert node to device /// \param possibleDevice The node to be converted /// \param fileName The original filename for error reporting /// \return The device if it was created and initialized, otherwise nullptr std::shared_ptr tryConvertDevice(const YAML::Node& possibleDevice, const std::string& fileName) { auto logger = SurgSim::Framework::Logger::getLogger("Devices"); std::shared_ptr device; if (possibleDevice.IsMap()) { std::string className = possibleDevice.begin()->first.as(); if (DeviceInterface::getFactory().isRegistered(className)) { const YAML::Node& data = possibleDevice.begin()->second; if (data.IsMap() && data[NamePropertyName].IsDefined()) { SURGSIM_LOG_DEBUG(logger) << "Loading: " << std::endl << possibleDevice; std::string name = data[NamePropertyName].as(); device = DeviceInterface::getFactory().create(className, name); auto filteredDevice = std::dynamic_pointer_cast(device); if (filteredDevice == nullptr) { std::vector ignoredProperties; ignoredProperties.push_back(NamePropertyName); device->decode(data, ignoredProperties); } else { if (data["Devices"].IsDefined() && data["Devices"].IsSequence()) { std::vector> subDevices; for (const YAML::Node& deviceNode : data["Devices"]) { subDevices.push_back(tryConvertDevice(deviceNode, fileName)); } SURGSIM_LOG_IF(!filteredDevice->setDevices(subDevices), logger, WARNING) << "File " << fileName << " failed to setDevices on a FilteredDevice : " << std::endl << data["Devices"]; } std::vector ignoredProperties; ignoredProperties.push_back(NamePropertyName); ignoredProperties.push_back("Devices"); device->decode(data, ignoredProperties); } if (device->initialize()) { SURGSIM_LOG_INFO(logger) << "Successfully loaded " << className << " named " << name; } else { device = nullptr; SURGSIM_LOG_INFO(logger) << "Failed to initialize " << className << " named " << name; } } else { SURGSIM_LOG_WARNING(logger) << "File " << fileName << " contains an entry for class " << className << " that is not a map or does not have a Name property:" << std::endl << possibleDevice; } } else { SURGSIM_LOG_INFO(logger) << "Class " << className << " is not registered in the factory."; } } else { SURGSIM_LOG_WARNING(logger) << "File " << fileName << " contains a non-map where a map is expected:" << std::endl << possibleDevice; } return device; } } namespace SurgSim { namespace Devices { std::shared_ptr createDevice(const std::vector& classNames, const std::string& name) { std::shared_ptr device; auto& factory = DeviceInterface::getFactory(); for (const auto& className : classNames) { if (factory.isRegistered(className)) { SURGSIM_LOG_INFO(Framework::Logger::getLogger("Devices")) << "Trying to create a " << className; device = factory.create(className, name); if (device->initialize()) { SURGSIM_LOG_INFO(Framework::Logger::getLogger("Devices")) << "Successfully created a " << className; break; } else { device = nullptr; SURGSIM_LOG_INFO(Framework::Logger::getLogger("Devices")) << "Failed to initialize a " << className; } } else { SURGSIM_LOG_INFO(Framework::Logger::getLogger("Devices")) << className << " is not registered in the Devices factory."; } } return device; } std::shared_ptr createDevice(const std::string& className, const std::string& name) { std::vector names; names.push_back(className); return createDevice(names, name); } std::shared_ptr loadDevice(const std::string& fileName) { SURGSIM_LOG_INFO(Framework::Logger::getLogger("Devices")) << "Adding a device from " << fileName; YAML::Node node; SURGSIM_ASSERT(Framework::tryLoadNode(fileName, &node)) << "Could not load a device from the YAML file: " << fileName; std::shared_ptr device; if (node.IsSequence()) { for (const auto& possibleDevice : node) { device = tryConvertDevice(possibleDevice, fileName); if (device != nullptr) { break; } } } else { SURGSIM_LOG_SEVERE(Framework::Logger::getLogger("Devices")) << "File " << fileName << " not a YAML sequence; cannot load device:" << std::endl << node; } return device; } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/DeviceUtilities.h000066400000000000000000000045031277777236100223350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_DEVICEUTILITIES_H #define SURGSIM_DEVICES_DEVICEUTILITIES_H #include #include #include namespace SurgSim { namespace Input { class DeviceInterface; } namespace Devices { /// Attempts to create and initialize a device from a list of devices to try /// \param classNames The fully-qualified device class names to try. The elements will be tried in order, front to back. /// \param name The name to be given to the created device /// \return An initialized device or nullptr if no device was available. std::shared_ptr createDevice(const std::vector& classNames, const std::string& name); /// Attempts to create and initialize a device /// \param className The fully-qualified device class name to try. /// \param name The name to be given to the created device /// \return An initialized device or nullptr if no device was available. std::shared_ptr createDevice(const std::string& className, const std::string& name); /// Loads a single device from the file, the first device that successfully initializes. /// The file format should be just a list of DeviceInterfaces /// \code /// - SurgSim::Devices::MultiAxisDevice: /// Name: element1 /// - SurgSim::Devices::IdentityPoseDevice: /// Name: element1 /// \endcode /// \param fileName the filename of the devices to be loaded, needs to be found /// \return an initialized device, or nullptr if no device could be created and initialized /// \throws If the file cannot be found or is an invalid file std::shared_ptr loadDevice(const std::string& fileName); }; }; #endif // SURGSIM_DEVICES_DEVICEUTILITIES_H opensurgsim-0.7.0/SurgSim/Devices/IdentityPoseDevice/000077500000000000000000000000001277777236100226275ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/IdentityPoseDevice/CMakeLists.txt000066400000000000000000000024361277777236100253740ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. link_directories(${Boost_LIBRARY_DIRS}) include_directories("${CMAKE_CURRENT_SOURCE_DIR}") set(IDENTITY_POSE_DEVICE_SOURCES IdentityPoseDevice.cpp ) set(IDENTITY_POSE_DEVICE_HEADERS IdentityPoseDevice.h ) set(DEVICE_HEADERS ${DEVICE_HEADERS} IdentityPoseDevice/IdentityPoseDevice.h PARENT_SCOPE) surgsim_add_library( IdentityPoseDevice "${IDENTITY_POSE_DEVICE_SOURCES}" "${IDENTITY_POSE_DEVICE_HEADERS}" ) set(LIBS SurgSimInput ) target_link_libraries(IdentityPoseDevice ${LIBS} ) if(BUILD_TESTING) add_subdirectory(UnitTests) endif() # Put IdentityPoseDevice into folder "Devices" set_target_properties(IdentityPoseDevice PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.cpp000066400000000000000000000052571277777236100271040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::DataStructures::DataGroup; using SurgSim::DataStructures::DataGroupBuilder; using SurgSim::Math::RigidTransform3d; namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::IdentityPoseDevice, IdentityPoseDevice); IdentityPoseDevice::IdentityPoseDevice(const std::string& uniqueName) : Input::CommonDevice(uniqueName, buildInputData()), m_initialized(false) { } bool IdentityPoseDevice::initialize() { SURGSIM_ASSERT(!isInitialized()) << getName() << " already initialized."; SURGSIM_LOG_INFO(Framework::Logger::getLogger("Devices/IdentityPose")) << "Device " << getName() << " initialized."; m_initialized = true; return true; } bool IdentityPoseDevice::isInitialized() const { return m_initialized; } bool IdentityPoseDevice::finalize() { SURGSIM_ASSERT(isInitialized()) << getName() << " is not initialized, cannot finalize."; SURGSIM_LOG_INFO(Framework::Logger::getLogger("Devices/IdentityPose")) << "Device " << getName() << " finalized."; m_initialized = false; return true; } DataGroup IdentityPoseDevice::buildInputData() { DataGroupBuilder builder; builder.addPose(DataStructures::Names::POSE); return builder.createData(); } bool IdentityPoseDevice::addInputConsumer(std::shared_ptr inputConsumer) { if (!CommonDevice::addInputConsumer(std::move(inputConsumer))) { return false; } // The IdentityPoseDevice doesn't have any input events; it just sits there. // So we push the output to all the consumers, including the new one, right away after we add a consumer. // This ensures that all consumers always see the identity pose. getInputData().poses().set(DataStructures::Names::POSE, RigidTransform3d::Identity()); pushInput(); return true; } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.h000066400000000000000000000044041277777236100265420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_IDENTITYPOSEDEVICE_IDENTITYPOSEDEVICE_H #define SURGSIM_DEVICES_IDENTITYPOSEDEVICE_IDENTITYPOSEDEVICE_H #include #include #include "SurgSim/Input/CommonDevice.h" namespace SurgSim { namespace Devices { SURGSIM_STATIC_REGISTRATION(IdentityPoseDevice); /// A class implementing the identity pose device, which is a pretend device that doesn't move. /// /// The identity pose device produces a pose that's always the identity transform (no translation from the origin /// and no rotation from the model orientation). /// This can be useful not only for writing tests, but also as a way to replace real hardware devices in situations /// where the simulator needs to be run but the hardware is not currently available. /// /// \sa SurgSim::Input::DeviceInterface class IdentityPoseDevice : public SurgSim::Input::CommonDevice { public: /// Constructor. /// \param uniqueName A unique name for the device that will be used by the application. explicit IdentityPoseDevice(const std::string& uniqueName); SURGSIM_CLASSNAME(SurgSim::Devices::IdentityPoseDevice); bool addInputConsumer(std::shared_ptr inputConsumer) override; bool initialize() override; bool isInitialized() const override; protected: /// Builds the data layout for the application input (i.e. device output). static SurgSim::DataStructures::DataGroup buildInputData(); private: bool finalize() override; /// true if initialized and not finalized. bool m_initialized; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_IDENTITYPOSEDEVICE_IDENTITYPOSEDEVICE_H opensurgsim-0.7.0/SurgSim/Devices/IdentityPoseDevice/UnitTests/000077500000000000000000000000001277777236100245715ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/IdentityPoseDevice/UnitTests/CMakeLists.txt000066400000000000000000000016111277777236100273300ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES IdentityPoseDeviceTest.cpp ) set(LIBS IdentityPoseDevice ) surgsim_add_unit_tests(IdentityPoseDeviceTest) set_target_properties(IdentityPoseDeviceTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/IdentityPoseDevice/UnitTests/IdentityPoseDeviceTest.cpp000066400000000000000000000117611277777236100317030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the IdentityPoseDevice class. #include #include #include #include "SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::Devices::IdentityPoseDevice; using SurgSim::DataStructures::DataGroup; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Matrix44d; using SurgSim::Testing::MockInputOutput; TEST(IdentityPoseDeviceTest, CanConstruct) { EXPECT_NO_THROW({IdentityPoseDevice device("MyIdentityPoseDevice");}); } TEST(IdentityPoseDeviceTest, Name) { IdentityPoseDevice device("MyIdentityPoseDevice"); EXPECT_EQ("MyIdentityPoseDevice", device.getName()); } TEST(IdentityPoseDeviceTest, Factory) { std::shared_ptr device; ASSERT_NO_THROW(device = SurgSim::Input::DeviceInterface::getFactory().create( "SurgSim::Devices::IdentityPoseDevice", "Device")); EXPECT_NE(nullptr, device); } TEST(IdentityPoseDeviceTest, AddInputConsumer) { IdentityPoseDevice device("MyIdentityPoseDevice"); std::shared_ptr consumer = std::make_shared(); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device.addInputConsumer(consumer)); // IdentityPoseDevice is supposed to shove an identity pose at every consumer when it's added. EXPECT_EQ(1, consumer->m_numTimesReceivedInput); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData(SurgSim::DataStructures::Names::POSE)); // Check the data. RigidTransform3d pose = SurgSim::Math::makeRigidTransform(SurgSim::Math::Vector3d(1.3, 32.0, 68.0), SurgSim::Math::Vector3d(13.2, 2.8, 8.0), SurgSim::Math::Vector3d(273.0, -32.0, -6.0)); ASSERT_TRUE(consumer->m_lastReceivedInput.poses().get(SurgSim::DataStructures::Names::POSE, &pose)); EXPECT_NEAR(0, (pose.matrix() - Matrix44d::Identity()).norm(), 1e-6); // Adding the same input consumer again should fail. EXPECT_FALSE(device.addInputConsumer(consumer)); EXPECT_EQ(1, consumer->m_numTimesReceivedInput); // Adding a different device should push to it. std::shared_ptr consumer2 = std::make_shared(); EXPECT_EQ(0, consumer2->m_numTimesReceivedInput); EXPECT_TRUE(device.addInputConsumer(consumer2)); EXPECT_EQ(1, consumer2->m_numTimesReceivedInput); // We don't care if the first consumer was updated again or not. EXPECT_TRUE((consumer->m_numTimesReceivedInput >= 1) && (consumer->m_numTimesReceivedInput <= 2)) << "consumer->m_numTimesReceivedInput = " << consumer->m_numTimesReceivedInput << std::endl; } TEST(IdentityPoseDeviceTest, RemoveInputConsumer) { IdentityPoseDevice device("MyIdentityPoseDevice"); std::shared_ptr consumer = std::make_shared(); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_FALSE(device.removeInputConsumer(consumer)); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device.addInputConsumer(consumer)); // IdentityPoseDevice is supposed to shove an identity pose at every consumer when it's added. EXPECT_EQ(1, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device.removeInputConsumer(consumer)); EXPECT_EQ(1, consumer->m_numTimesReceivedInput); EXPECT_FALSE(device.removeInputConsumer(consumer)); EXPECT_EQ(1, consumer->m_numTimesReceivedInput); } TEST(IdentityPoseDeviceTest, SetOutputProducer) { IdentityPoseDevice device("MyIdentityPoseDevice"); std::shared_ptr producer = std::make_shared(); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_TRUE(device.setOutputProducer(producer)); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); } TEST(IdentityPoseDeviceTest, RemoveOutputProducer) { IdentityPoseDevice device("MyIdentityPoseDevice"); std::shared_ptr producer = std::make_shared(); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_FALSE(device.removeOutputProducer(producer)); EXPECT_EQ(0, producer->m_numTimesReceivedInput); EXPECT_TRUE(device.setOutputProducer(producer)); EXPECT_EQ(0, producer->m_numTimesReceivedInput); EXPECT_TRUE(device.removeOutputProducer(producer)); EXPECT_EQ(0, producer->m_numTimesReceivedInput); EXPECT_FALSE(device.removeOutputProducer(producer)); EXPECT_EQ(0, producer->m_numTimesReceivedInput); } opensurgsim-0.7.0/SurgSim/Devices/Keyboard/000077500000000000000000000000001277777236100206275ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Keyboard/CMakeLists.txt000066400000000000000000000027641277777236100234000ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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_directories( "${CMAKE_CURRENT_SOURCE_DIR}" "${OPENSCENEGRAPH_INCLUDE_DIR}" ) set(KEYBOARD_DEVICE_SOURCES KeyboardDevice.cpp KeyboardScaffold.cpp OsgKeyboardHandler.cpp ) set(KEYBOARD_DEVICE_HEADERS KeyboardDevice.h KeyboardScaffold.h KeyCode.h OsgKeyboardHandler.h ) set(DEVICE_HEADERS ${DEVICE_HEADERS} Keyboard/KeyboardDevice.h #NOLINT Keyboard/KeyCode.h #NOLINT PARENT_SCOPE) surgsim_add_library( KeyboardDevice "${KEYBOARD_DEVICE_SOURCES}" "${KEYBOARD_DEVICE_HEADERS}" ) set(LIBS SurgSimInput ${Boost_LIBRARIES} ${OPENSCENEGRAPH_LIBRARIES} ) target_link_libraries(KeyboardDevice ${LIBS} ) if(BUILD_TESTING) # The unit tests will be built whenever the library is built. add_subdirectory(UnitTests) add_subdirectory(VisualTests) endif() # Put KeyboardDevice into folder "Devices" set_target_properties(KeyboardDevice PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Keyboard/KeyCode.h000066400000000000000000000220641277777236100223270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_KEYBOARD_KEYCODE_H #define SURGSIM_DEVICES_KEYBOARD_KEYCODE_H namespace SurgSim { namespace Devices { // KeyCode pulled out from osgGA/GUIEventAdapter enum KeyCode { NONE = -1, KEY_SPACE = 0x20, KEY_0 = '0', KEY_1 = '1', KEY_2 = '2', KEY_3 = '3', KEY_4 = '4', KEY_5 = '5', KEY_6 = '6', KEY_7 = '7', KEY_8 = '8', KEY_9 = '9', KEY_A = 'a', KEY_B = 'b', KEY_C = 'c', KEY_D = 'd', KEY_E = 'e', KEY_F = 'f', KEY_G = 'g', KEY_H = 'h', KEY_I = 'i', KEY_J = 'j', KEY_K = 'k', KEY_L = 'l', KEY_M = 'm', KEY_N = 'n', KEY_O = 'o', KEY_P = 'p', KEY_Q = 'q', KEY_R = 'r', KEY_S = 's', KEY_T = 't', KEY_U = 'u', KEY_V = 'v', KEY_W = 'w', KEY_X = 'x', KEY_Y = 'y', KEY_Z = 'z', KEY_EXCLAIM = 0x21, KEY_QUOTEDBL = 0x22, KEY_HASH = 0x23, KEY_DOLLAR = 0x24, KEY_AMPERSAND = 0x26, KEY_QUOTE = 0x27, KEY_LEFTPAREN = 0x28, KEY_RIGHTPAREN = 0x29, KEY_ASTERISK = 0x2A, KEY_PLUS = 0x2B, KEY_COMMA = 0x2C, KEY_MINUS = 0x2D, KEY_PERIOD = 0x2E, KEY_SLASH = 0x2F, KEY_COLON = 0x3A, KEY_SEMICOLON = 0x3B, KEY_LESS = 0x3C, KEY_EQUALS = 0x3D, KEY_GREATER = 0x3E, KEY_QUESTION = 0x3F, KEY_AT = 0x40, KEY_LEFTBRACKET = 0x5B, KEY_BACKSLASH = 0x5C, KEY_RIGHTBRACKET = 0x5D, KEY_CARET = 0x5E, KEY_UNDERSCORE = 0x5F, KEY_BACKQUOTE = 0x60, KEY_BACKSPACE = 0xFF08, /* back space, back char */ KEY_TAB = 0xFF09, KEY_LINEFEED = 0xFF0A, /* Linefeed, LF */ KEY_CLEAR = 0xFF0B, KEY_RETURN = 0xFF0D, /* Return, enter */ KEY_PAUSE = 0xFF13, /* Pause, hold */ KEY_SCROLL_LOCK = 0xFF14, KEY_SYS_REQ = 0xFF15, KEY_ESCAPE = 0xFF1B, KEY_DELETE = 0xFFFF, /* Delete, rubout */ KEY_HOME = 0xFF50, KEY_LEFT = 0xFF51, /* Move left, left arrow */ KEY_UP = 0xFF52, /* Move up, up arrow */ KEY_RIGHT = 0xFF53, /* Move right, right arrow */ KEY_DOWN = 0xFF54, /* Move down, down arrow */ KEY_PRIOR = 0xFF55, /* Prior, previous */ KEY_PAGE_UP = 0xFF55, KEY_NEXT = 0xFF56, /* Next */ KEY_PAGE_DOWN = 0xFF56, KEY_END = 0xFF57, /* EOL */ KEY_BEGIN = 0xFF58, /* BOL */ KEY_SELECT = 0xFF60, /* Select, mark */ KEY_PRINT = 0xFF61, KEY_EXECUTE = 0xFF62, /* Execute, run, do */ KEY_INSERT = 0xFF63, /* Insert, insert here */ KEY_UNDO = 0xFF65, /* Undo, oops */ KEY_REDO = 0xFF66, /* redo, again */ KEY_MENU = 0xFF67, /* On Windows, this is VK_APPS, the context-menu key */ KEY_FIND = 0xFF68, /* Find, search */ KEY_CANCEL = 0xFF69, /* Cancel, stop, abort, exit */ KEY_HELP = 0xFF6A, /* Help */ KEY_BREAK = 0xFF6B, KEY_MODE_SWITCH = 0xFF7E, /* Character set switch */ KEY_SCRIPT_SWITCH = 0xFF7E, /* Alias for mode_switch */ KEY_NUM_LOCK = 0xFF7F, KEY_KP_SPACE = 0xFF80, /* space */ KEY_KP_TAB = 0xFF89, KEY_KP_ENTER = 0xFF8D, /* enter */ KEY_KP_F1 = 0xFF91, /* PF1, KP_A, ... */ KEY_KP_F2 = 0xFF92, KEY_KP_F3 = 0xFF93, KEY_KP_F4 = 0xFF94, KEY_KP_HOME = 0xFF95, KEY_KP_LEFT = 0xFF96, KEY_KP_UP = 0xFF97, KEY_KP_RIGHT = 0xFF98, KEY_KP_DOWN = 0xFF99, KEY_KP_PRIOR = 0xFF9A, KEY_KP_PAGE_UP = 0xFF9A, KEY_KP_NEXT = 0xFF9B, KEY_KP_PAGE_DOWN = 0xFF9B, KEY_KP_END = 0xFF9C, KEY_KP_BEGIN = 0xFF9D, KEY_KP_INSERT = 0xFF9E, KEY_KP_DELETE = 0xFF9F, KEY_KP_EQUAL = 0xFFBD, /* equals */ KEY_KP_MULTIPLY = 0xFFAA, KEY_KP_ADD = 0xFFAB, KEY_KP_SEPARATOR = 0xFFAC, /* separator, often comma */ KEY_KP_SUBTRACT = 0xFFAD, KEY_KP_DECIMAL = 0xFFAE, KEY_KP_DIVIDE = 0xFFAF, KEY_KP_0 = 0xFFB0, KEY_KP_1 = 0xFFB1, KEY_KP_2 = 0xFFB2, KEY_KP_3 = 0xFFB3, KEY_KP_4 = 0xFFB4, KEY_KP_5 = 0xFFB5, KEY_KP_6 = 0xFFB6, KEY_KP_7 = 0xFFB7, KEY_KP_8 = 0xFFB8, KEY_KP_9 = 0xFFB9, KEY_F1 = 0xFFBE, KEY_F2 = 0xFFBF, KEY_F3 = 0xFFC0, KEY_F4 = 0xFFC1, KEY_F5 = 0xFFC2, KEY_F6 = 0xFFC3, KEY_F7 = 0xFFC4, KEY_F8 = 0xFFC5, KEY_F9 = 0xFFC6, KEY_F10 = 0xFFC7, KEY_F11 = 0xFFC8, KEY_F12 = 0xFFC9, KEY_F13 = 0xFFCA, KEY_F14 = 0xFFCB, KEY_F15 = 0xFFCC, KEY_F16 = 0xFFCD, KEY_F17 = 0xFFCE, KEY_F18 = 0xFFCF, KEY_F19 = 0xFFD0, KEY_F20 = 0xFFD1, KEY_F21 = 0xFFD2, KEY_F22 = 0xFFD3, KEY_F23 = 0xFFD4, KEY_F24 = 0xFFD5, KEY_F25 = 0xFFD6, KEY_F26 = 0xFFD7, KEY_F27 = 0xFFD8, KEY_F28 = 0xFFD9, KEY_F29 = 0xFFDA, KEY_F30 = 0xFFDB, KEY_F31 = 0xFFDC, KEY_F32 = 0xFFDD, KEY_F33 = 0xFFDE, KEY_F34 = 0xFFDF, KEY_F35 = 0xFFE0, /* Modifiers */ KEY_SHIFT_L = 0xFFE1, /* Left shift */ KEY_SHIFT_R = 0xFFE2, /* Right shift */ KEY_CONTROL_L = 0xFFE3, /* Left control */ KEY_CONTROL_R = 0xFFE4, /* Right control */ KEY_CAPS_LOCK = 0xFFE5, /* Caps lock */ KEY_SHIFT_LOCK = 0xFFE6, /* Shift lock */ KEY_META_L = 0xFFE7, /* Left meta */ KEY_META_R = 0xFFE8, /* Right meta */ KEY_ALT_L = 0xFFE9, /* Left alt */ KEY_ALT_R = 0xFFEA, /* Right alt */ KEY_SUPER_L = 0xFFEB, /* Left super */ KEY_SUPER_R = 0xFFEC, /* Right super */ KEY_HYPER_L = 0xFFED, /* Left hyper */ KEY_HYPER_R = 0xFFEE /* Right hyper */ }; // Masks pulled out from osgGA/GUIEventAdapter enum ModKeyMask { MODKEY_NONE = 0, MODKEY_LEFT_SHIFT = 0x0001, MODKEY_RIGHT_SHIFT = 0x0002, MODKEY_LEFT_CTRL = 0x0004, MODKEY_RIGHT_CTRL = 0x0008, MODKEY_LEFT_ALT = 0x0010, MODKEY_RIGHT_ALT = 0x0020, MODKEY_LEFT_META = 0x0040, MODKEY_RIGHT_META = 0x0080, MODKEY_LEFT_SUPER = 0x0100, MODKEY_RIGHT_SUPER = 0x0200, MODKEY_LEFT_HYPER = 0x0400, MODKEY_RIGHT_HYPER = 0x0800, MODKEY_NUM_LOCK = 0x1000, MODKEY_CAPS_LOCK = 0x2000, MODKEY_CTRL = (MODKEY_LEFT_CTRL|MODKEY_RIGHT_CTRL), MODKEY_SHIFT = (MODKEY_LEFT_SHIFT|MODKEY_RIGHT_SHIFT), MODKEY_ALT = (MODKEY_LEFT_ALT|MODKEY_RIGHT_ALT), MODKEY_META = (MODKEY_LEFT_META|MODKEY_RIGHT_META), MODKEY_SUPER = (MODKEY_LEFT_SUPER|MODKEY_RIGHT_SUPER), MODKEY_HYPER = (MODKEY_LEFT_HYPER|MODKEY_RIGHT_HYPER), MODKEY_CAPS_SHIFT_L = (MODKEY_CAPS_LOCK|MODKEY_LEFT_SHIFT), MODKEY_CAPS_SHIFT_R = (MODKEY_CAPS_LOCK|MODKEY_RIGHT_SHIFT), MODKEY_CAPS_CONTROL_L = (MODKEY_CAPS_LOCK|MODKEY_LEFT_CTRL), MODKEY_CAPS_CONTROL_R = (MODKEY_CAPS_LOCK|MODKEY_RIGHT_CTRL), MODKEY_CAPS_ALT_L = (MODKEY_CAPS_LOCK|MODKEY_LEFT_ALT), MODKEY_CAPS_ALT_R = (MODKEY_CAPS_LOCK|MODKEY_RIGHT_ALT) }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_KEYBOARD_KEYCODE_Hopensurgsim-0.7.0/SurgSim/Devices/Keyboard/KeyboardDevice.cpp000066400000000000000000000040021277777236100242070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Keyboard/KeyboardDevice.h" #include "SurgSim/Devices/Keyboard/KeyboardScaffold.h" #include "SurgSim/Devices/Keyboard/OsgKeyboardHandler.h" #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::KeyboardDevice, KeyboardDevice); KeyboardDevice::KeyboardDevice(const std::string& deviceName) : Input::CommonDevice(deviceName, KeyboardScaffold::buildDeviceInputData()) { } KeyboardDevice::~KeyboardDevice() { if (isInitialized()) { finalize(); } } bool KeyboardDevice::initialize() { SURGSIM_ASSERT(!isInitialized()) << getName() << " already initialized."; auto scaffold = KeyboardScaffold::getOrCreateSharedInstance(); SURGSIM_ASSERT(scaffold != nullptr); bool registered = false; if (scaffold->registerDevice(this)) { m_scaffold = std::move(scaffold); registered = true; } return registered; } bool KeyboardDevice::finalize() { SURGSIM_ASSERT(isInitialized()) << getName() << " is not initialized, cannot finalize."; bool unregistered = m_scaffold->unregisterDevice(); m_scaffold.reset(); return unregistered; } bool KeyboardDevice::isInitialized() const { return (m_scaffold != nullptr); } OsgKeyboardHandler* KeyboardDevice::getKeyboardHandler() const { return m_scaffold->getKeyboardHandler(); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Keyboard/KeyboardDevice.h000066400000000000000000000045721277777236100236700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_KEYBOARD_KEYBOARDDEVICE_H #define SURGSIM_DEVICES_KEYBOARD_KEYBOARDDEVICE_H #include #include #include "SurgSim/Input/CommonDevice.h" namespace SurgSim { namespace Devices { class KeyboardScaffold; class OsgKeyboardHandler; SURGSIM_STATIC_REGISTRATION(KeyboardDevice); /// A class implementing the communication with a keyboard /// /// \par Application input provided from the device: /// | type | name | | /// | ---- | ---- | --- | /// | int | "key" | %Key code for the pressed key, if any. Default: -1 | /// | int | "modifierMask" | %Mask for the pressed modifier, if any. Default: 0 | /// /// \par Application output used by the device: /// NONE /// /// \note Key 'Fn' is not currently captured (No key code is assigned to it). /// \sa SurgSim::Input::CommonDevice, SurgSim::Input::DeviceInterface class KeyboardDevice : public SurgSim::Input::CommonDevice { friend class KeyboardScaffold; friend class KeyboardDeviceTest; public: /// Constructor /// \param deviceName Name for keyboard device explicit KeyboardDevice(const std::string& deviceName); SURGSIM_CLASSNAME(SurgSim::Devices::KeyboardDevice); /// Destructor virtual ~KeyboardDevice(); bool initialize() override; bool isInitialized() const override; /// Get keyboard handler /// \return The keyboard handler associated with this device OsgKeyboardHandler* getKeyboardHandler() const; private: bool finalize() override; /// Communication with hardware is handled by scaffold. std::shared_ptr m_scaffold; }; }; // namespace Devices }; // namespace SurgSim #endif //SURGSIM_DEVICES_KEYBOARD_KEYBOARDDEVICE_Hopensurgsim-0.7.0/SurgSim/Devices/Keyboard/KeyboardScaffold.cpp000066400000000000000000000072321277777236100245410ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Keyboard/KeyboardScaffold.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Devices/Keyboard/KeyboardDevice.h" #include "SurgSim/Devices/Keyboard/OsgKeyboardHandler.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SharedInstance.h" namespace SurgSim { namespace Devices { /// Struct to hold a KeyboardDevice object, a KeyboardHandler object, and a mutex for data passing. struct KeyboardScaffold::DeviceData { /// Constructor /// \param device Device to be managed by this scaffold explicit DeviceData(KeyboardDevice* device) : deviceObject(device) { keyboardHandler = new OsgKeyboardHandler(); } /// Device object managed by this scaffold. KeyboardDevice* const deviceObject; /// Keyboard Handler to communicate with underneath API. osg::ref_ptr keyboardHandler; /// The mutex that protects the externally modifiable parameters. boost::mutex mutex; private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) DeviceData(const DeviceData&) /*= delete*/; DeviceData& operator=(const DeviceData&) /*= delete*/; }; KeyboardScaffold::KeyboardScaffold() : m_logger(Framework::Logger::getLogger("Devices/Keyboard")) { SURGSIM_LOG_DEBUG(m_logger) << "Shared scaffold created."; } KeyboardScaffold::~KeyboardScaffold() { if (m_device != nullptr) { unregisterDevice(); } SURGSIM_LOG_DEBUG(m_logger) << "Shared scaffold destroyed."; } bool KeyboardScaffold::registerDevice(KeyboardDevice* device) { SURGSIM_ASSERT(m_device == nullptr) << "Can't register two Keyboard devices."; m_device.reset(new DeviceData(device)); if (m_device == nullptr) { SURGSIM_LOG_CRITICAL(m_logger) << "Failed to create a DeviceData"; return false; } SURGSIM_LOG_DEBUG(m_logger) << "Registered device " << device->getName(); return true; } bool KeyboardScaffold::unregisterDevice() { m_device.reset(); if (m_device == nullptr) { SURGSIM_LOG_DEBUG(m_logger) << "Unregistered device"; return true; } SURGSIM_LOG_DEBUG(m_logger) << "There is no device to unregister."; return false; } bool KeyboardScaffold::updateDevice(int key, int modifierMask) { boost::lock_guard lock(m_device->mutex); DataStructures::DataGroup& inputData = m_device->deviceObject->getInputData(); inputData.integers().set("key", key); inputData.integers().set("modifierMask", modifierMask); m_device->deviceObject->pushInput(); return true; } OsgKeyboardHandler* KeyboardScaffold::getKeyboardHandler() const { return m_device->keyboardHandler.get(); } DataStructures::DataGroup KeyboardScaffold::buildDeviceInputData() { DataStructures::DataGroupBuilder builder; builder.addInteger("key"); builder.addInteger("modifierMask"); return builder.createData(); } std::shared_ptr KeyboardScaffold::getOrCreateSharedInstance() { static Framework::SharedInstance sharedInstance; return sharedInstance.get(); } }; // namespace Devices }; // namespace SurgSimopensurgsim-0.7.0/SurgSim/Devices/Keyboard/KeyboardScaffold.h000066400000000000000000000056311277777236100242070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_KEYBOARD_KEYBOARDSCAFFOLD_H #define SURGSIM_DEVICES_KEYBOARD_KEYBOARDSCAFFOLD_H #include #include "SurgSim/Framework/Logger.h" namespace SurgSim { namespace DataStructures { class DataGroup; } namespace Devices { class KeyboardDevice; class OsgKeyboardHandler; /// A class that implements the behavior of KeyboardDevice objects. /// \sa SurgSim::Devices::KeyboardDevice class KeyboardScaffold { friend class KeyboardDevice; friend class KeyboardDeviceTest; friend class OsgKeyboardHandler; public: /// Constructor. KeyboardScaffold(); /// Destructor ~KeyboardScaffold(); /// Gets or creates the scaffold shared by all KeyboardDevice instances. /// The scaffold is managed using a SharedInstance object, so it will be destroyed when all devices are released. /// \return the scaffold object. static std::shared_ptr getOrCreateSharedInstance(); private: /// Internal per-device information. struct DeviceData; /// Registers the specified device object. /// If successful, the device object will become connected to an hardware device. /// \param device The device object to be used, which should have a unique name. /// \return True if the initialization succeeds, false if it fails. bool registerDevice(KeyboardDevice* device); /// Unregisters the specified device object. /// The corresponding controller will become unused, and can be re-registered later. /// \return True on success, false on failure. bool unregisterDevice(); /// Updates the device information for a single device. /// \param key Unmodified OSG key code. /// \param modifierMask Modifier mask. /// \return True on success. bool updateDevice(int key, int modifierMask); /// Get keyboard handler /// \return The keyboard handler associated with this device OsgKeyboardHandler* getKeyboardHandler() const; /// Builds the data layout for the application input (i.e. device output). static SurgSim::DataStructures::DataGroup buildDeviceInputData(); /// Logger used by the scaffold and all devices. std::shared_ptr m_logger; /// The keyboard device managed by this scaffold std::unique_ptr m_device; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_KEYBOARD_KEYBOARDSCAFFOLD_H opensurgsim-0.7.0/SurgSim/Devices/Keyboard/OsgKeyboardHandler.cpp000066400000000000000000000037621277777236100250520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Keyboard/KeyCode.h" #include "SurgSim/Devices/Keyboard/KeyboardScaffold.h" #include "SurgSim/Devices/Keyboard/OsgKeyboardHandler.h" #include #include namespace SurgSim { namespace Devices { OsgKeyboardHandler::OsgKeyboardHandler() : m_keyboardScaffold(KeyboardScaffold::getOrCreateSharedInstance()) { } bool OsgKeyboardHandler::handle(const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter&) { bool result = false; switch (ea.getEventType()) { case (osgGA::GUIEventAdapter::KEYDOWN) : { // Note that we are setting the modifier mask here instead of the modifier itself m_keyboardScaffold.lock()->updateDevice(ea.getUnmodifiedKey(), ea.getModKeyMask()); result = true; break; } case (osgGA::GUIEventAdapter::KEYUP) : { m_keyboardScaffold.lock()->updateDevice(KeyCode::NONE, ModKeyMask::MODKEY_NONE); result = true; break; } default: result = false; break; } // We wan to to support some of the osg viewer keys, pass these through, we will still receive the event, but osg // will also react here int key = ea.getUnmodifiedKey(); if (key == 's' || key == 't' || key == 'v' || key == 'w') { // s: Stats Display // t: texturing // v: vsync // w: wireframe result = false; } return result; } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Keyboard/OsgKeyboardHandler.h000066400000000000000000000030011277777236100245010ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_KEYBOARD_OSGKEYBOARDHANDLER_H #define SURGSIM_DEVICES_KEYBOARD_OSGKEYBOARDHANDLER_H #include #include namespace SurgSim { namespace Devices { class KeyboardScaffold; class OsgKeyboardHandler : public osgGA::GUIEventHandler { public: /// Constructor OsgKeyboardHandler(); /// Method to handle GUI event /// \param ea A osgGA::GUIEventAdapter /// \param aa A osgGA::GUIActionAdapter (required by this virtual method) /// \return True if the event has been handled by this method; Otherwise, false. bool handle(const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter& aa) override; private: /// A back pointer to the scaffold which owns this handle std::weak_ptr m_keyboardScaffold; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_KEYBOARD_OSGKEYBOARDHANDLER_Hopensurgsim-0.7.0/SurgSim/Devices/Keyboard/UnitTests/000077500000000000000000000000001277777236100225715ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Keyboard/UnitTests/CMakeLists.txt000066400000000000000000000017721277777236100253400ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES KeyboardDeviceTest.cpp KeyboardScaffoldTest.cpp ) set(LIBS KeyboardDevice SurgSimDataStructures SurgSimFramework SurgSimInput ${Boost_LIBRARIES} ${OPENSCENEGRAPH_LIBRARIES} ) surgsim_add_unit_tests(KeyboardDeviceTest) set_target_properties(KeyboardDeviceTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Keyboard/UnitTests/KeyboardDeviceTest.cpp000066400000000000000000000047731277777236100270300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the KeyboardDevice class. #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Devices/Keyboard/KeyboardDevice.h" #include "SurgSim/Devices/Keyboard/KeyboardScaffold.h" #include "SurgSim/Input/InputConsumerInterface.h" #include "SurgSim/Testing/MockInputOutput.h" namespace SurgSim { namespace Devices { using SurgSim::Devices::KeyboardDevice; using SurgSim::DataStructures::DataGroup; using SurgSim::Testing::MockInputOutput; class KeyboardDeviceTest : public ::testing::Test { public: static void update(std::shared_ptr device) { device->m_scaffold->updateDevice(0, 0); } }; TEST_F(KeyboardDeviceTest, InitializeDevice) { std::shared_ptr device = std::make_shared("TestKeyboard"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_FALSE(device->isInitialized()); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Keyboard device plugged in?"; EXPECT_TRUE(device->isInitialized()); } TEST_F(KeyboardDeviceTest, InputConsumer) { std::shared_ptr device = std::make_shared("TestKeyboard"); device->initialize(); std::shared_ptr consumer = std::make_shared(); EXPECT_TRUE(device->addInputConsumer(consumer)); KeyboardDeviceTest::update(device); EXPECT_TRUE(consumer->m_lastReceivedInput.integers().hasData("key")); EXPECT_TRUE(consumer->m_lastReceivedInput.integers().hasData("modifierMask")); } TEST_F(KeyboardDeviceTest, NoTwoKeyboards) { std::shared_ptr device1 = std::make_shared("TestKeyboard1"); std::shared_ptr device2 = std::make_shared("TestKeyboard2"); EXPECT_NO_THROW(device1->initialize()); EXPECT_ANY_THROW(device2->initialize()); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Keyboard/UnitTests/KeyboardScaffoldTest.cpp000066400000000000000000000043601277777236100273420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgKeyboardScaffold class and its device interactions. #include #include "SurgSim/Devices/Keyboard/KeyboardScaffold.h" using SurgSim::Devices::KeyboardScaffold; TEST(KeyboardScaffoldTest, CreateAndDestroyScaffold) { std::shared_ptr scaffold = KeyboardScaffold::getOrCreateSharedInstance(); ASSERT_TRUE(nullptr != scaffold) << "The scaffold was not created!"; std::weak_ptr scaffold1 = scaffold; { std::shared_ptr stillHaveScaffold = scaffold1.lock(); EXPECT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; EXPECT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } { std::shared_ptr sameScaffold = KeyboardScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, sameScaffold) << "Unable to get scaffold from class"; EXPECT_EQ(scaffold, sameScaffold) << "Scaffold mismatch!"; } scaffold.reset(); { std::shared_ptr dontHaveScaffold = scaffold1.lock(); EXPECT_TRUE(nullptr == dontHaveScaffold) << "Able to get scaffold from weak ref (with no strong ref)"; } scaffold = KeyboardScaffold::getOrCreateSharedInstance(); ASSERT_TRUE(nullptr != scaffold) << "The scaffold was not created the 2nd time!"; std::weak_ptr scaffold2 = scaffold; { std::shared_ptr stillHaveScaffold = scaffold2.lock(); ASSERT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; ASSERT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } }opensurgsim-0.7.0/SurgSim/Devices/Keyboard/VisualTests/000077500000000000000000000000001277777236100231155ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Keyboard/VisualTests/CMakeLists.txt000066400000000000000000000020671277777236100256620ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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. set(UNIT_TEST_SOURCES KeyboardVisualTests.cpp ) set(UNIT_TEST_HEADERS ) surgsim_add_executable(KeyboardVisualTest "${UNIT_TEST_SOURCES}" "${UNIT_TEST_HEADERS}") set(LIBS KeyboardDevice SurgSimDataStructures SurgSimInput ${OPENSCENEGRAPH_LIBRARIES} ) target_link_libraries(KeyboardVisualTest ${LIBS}) # Put KeyboardVisualTest into folder "Devices" set_target_properties(KeyboardVisualTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Keyboard/VisualTests/KeyboardVisualTests.cpp000066400000000000000000000313351277777236100275750ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include #include #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Devices/Keyboard/KeyboardDevice.h" #include "SurgSim/Devices/Keyboard/OsgKeyboardHandler.h" #include "SurgSim/Devices/Keyboard/KeyCode.h" #include "SurgSim/Input/InputConsumerInterface.h" using SurgSim::DataStructures::DataGroup; struct TestListener : public SurgSim::Input::InputConsumerInterface { TestListener() { creatKeyMap(); createModifierMap(); } void initializeInput(const std::string& device, const DataGroup& inputData) override {} void handleInput(const std::string& device, const DataGroup& inputData) override { int key, modifierMask; inputData.integers().get("key", &key); inputData.integers().get("modifierMask", &modifierMask); if (key != SurgSim::Devices::KeyCode::NONE) { std::cerr << "Key pressed :" << keyMap[key] << std::endl; if (modifierMask != SurgSim::Devices::ModKeyMask::MODKEY_NONE) { if (modifierMap[modifierMask] != "") { std::cerr << "Modifier:" << modifierMap[modifierMask] << std::endl; } else { std::cerr << "Modifier: UNDEFINED" << std::endl; } } } } // keyMap is used to output the corresponding key name for a given key code. std::map keyMap; // modifierMap is used to output the corresponding modifier name for a given modifier mask. std::map modifierMap; void creatKeyMap() { using SurgSim::Devices::KeyCode; keyMap[KeyCode::KEY_SPACE] = "KEY_SPACE"; keyMap[KeyCode::KEY_0] = "0"; keyMap[KeyCode::KEY_1] = "1"; keyMap[KeyCode::KEY_2] = "2"; keyMap[KeyCode::KEY_3] = "3"; keyMap[KeyCode::KEY_4] = "4"; keyMap[KeyCode::KEY_5] = "5"; keyMap[KeyCode::KEY_6] = "6"; keyMap[KeyCode::KEY_7] = "7"; keyMap[KeyCode::KEY_8] = "8"; keyMap[KeyCode::KEY_9] = "9"; keyMap[KeyCode::KEY_A] = "a"; keyMap[KeyCode::KEY_B] = "b"; keyMap[KeyCode::KEY_C] = "c"; keyMap[KeyCode::KEY_D] = "d"; keyMap[KeyCode::KEY_E] = "e"; keyMap[KeyCode::KEY_F] = "f"; keyMap[KeyCode::KEY_G] = "g"; keyMap[KeyCode::KEY_H] = "h"; keyMap[KeyCode::KEY_I] = "i"; keyMap[KeyCode::KEY_J] = "j"; keyMap[KeyCode::KEY_K] = "k"; keyMap[KeyCode::KEY_L] = "l"; keyMap[KeyCode::KEY_M] = "m"; keyMap[KeyCode::KEY_N] = "n"; keyMap[KeyCode::KEY_O] = "o"; keyMap[KeyCode::KEY_P] = "p"; keyMap[KeyCode::KEY_Q] = "q"; keyMap[KeyCode::KEY_R] = "r"; keyMap[KeyCode::KEY_S] = "s"; keyMap[KeyCode::KEY_T] = "t"; keyMap[KeyCode::KEY_U] = "u"; keyMap[KeyCode::KEY_V] = "v"; keyMap[KeyCode::KEY_W] = "w"; keyMap[KeyCode::KEY_X] = "x"; keyMap[KeyCode::KEY_Y] = "y"; keyMap[KeyCode::KEY_Z] = "z"; keyMap[KeyCode::KEY_EXCLAIM] = "KEY_EXCLAIM"; keyMap[KeyCode::KEY_QUOTEDBL] = "KEY_QUOTEDBL"; keyMap[KeyCode::KEY_HASH] = "KEY_HASH"; keyMap[KeyCode::KEY_DOLLAR] = "KEY_DOLLAR"; keyMap[KeyCode::KEY_AMPERSAND] = "KEY_AMPERSAND"; keyMap[KeyCode::KEY_QUOTE] = "KEY_QUOTE"; keyMap[KeyCode::KEY_LEFTPAREN] = "KEY_LEFTPAREN"; keyMap[KeyCode::KEY_RIGHTPAREN]= "KEY_RIGHTPAREN"; keyMap[KeyCode::KEY_ASTERISK] = "KEY_ASTERISK"; keyMap[KeyCode::KEY_PLUS] = "KEY_PLUS"; keyMap[KeyCode::KEY_COMMA] = "KEY_COMMA"; keyMap[KeyCode::KEY_MINUS] = "KEY_MINUS"; keyMap[KeyCode::KEY_PERIOD] = "KEY_PERIOD"; keyMap[KeyCode::KEY_SLASH] = "KEY_SLASH"; keyMap[KeyCode::KEY_COLON] = "KEY_COLON"; keyMap[KeyCode::KEY_SEMICOLON] = "KEY_SEMICOLON"; keyMap[KeyCode::KEY_LESS] = "KEY_LESS"; keyMap[KeyCode::KEY_EQUALS] = "KEY_EQUALS"; keyMap[KeyCode::KEY_GREATER] = "KEY_GREATER"; keyMap[KeyCode::KEY_QUESTION] = "KEY_QUESTION"; keyMap[KeyCode::KEY_AT] = "KEY_AT"; keyMap[KeyCode::KEY_LEFTBRACKET] = "KEY_LEFTBRACKET"; keyMap[KeyCode::KEY_BACKSLASH] = "KEY_BACKSLASH"; keyMap[KeyCode::KEY_RIGHTBRACKET]= "KEY_RIGHTBRACKET"; keyMap[KeyCode::KEY_CARET] = "KEY_CARET"; keyMap[KeyCode::KEY_UNDERSCORE] = "KEY_UNDERSCORE"; keyMap[KeyCode::KEY_BACKQUOTE] = "KEY_BACKQUOTE"; keyMap[KeyCode::KEY_BACKSPACE] = "KEY_BACKSPACE"; keyMap[KeyCode::KEY_TAB] = "KEY_TAB"; keyMap[KeyCode::KEY_LINEFEED] = "KEY_LINEFEED"; keyMap[KeyCode::KEY_CLEAR] = "KEY_CLEAR"; keyMap[KeyCode::KEY_RETURN] = "KEY_RETURN"; keyMap[KeyCode::KEY_PAUSE] = "KEY_PAUSE"; keyMap[KeyCode::KEY_SCROLL_LOCK] = "KEY_SCROLL_LOCK"; keyMap[KeyCode::KEY_SYS_REQ] = "KEY_SYS_REQ"; keyMap[KeyCode::KEY_ESCAPE] = "KEY_ESCAPE"; keyMap[KeyCode::KEY_DELETE] = "KEY_DELETE"; keyMap[KeyCode::KEY_HOME] = "KEY_HOME"; keyMap[KeyCode::KEY_LEFT] = "KEY_LEFT"; keyMap[KeyCode::KEY_UP] = "KEY_UP"; keyMap[KeyCode::KEY_RIGHT] = "KEY_RIGHT"; keyMap[KeyCode::KEY_DOWN] = "KEY_DOWN"; keyMap[KeyCode::KEY_PRIOR] = "KEY_PRIOR"; keyMap[KeyCode::KEY_PAGE_UP] = "KEY_PAGE_UP"; keyMap[KeyCode::KEY_NEXT] = "KEY_NEXT"; keyMap[KeyCode::KEY_PAGE_DOWN] = "KEY_PAGE_DOWN"; keyMap[KeyCode::KEY_END] = "KEY_END"; keyMap[KeyCode::KEY_BEGIN] = "KEY_BEGIN"; keyMap[KeyCode::KEY_SELECT] = "KEY_SELECT"; keyMap[KeyCode::KEY_PRINT] = "KEY_PRINT"; keyMap[KeyCode::KEY_EXECUTE] = "KEY_EXECUTE"; keyMap[KeyCode::KEY_INSERT] = "KEY_INSERT"; keyMap[KeyCode::KEY_UNDO] = "KEY_UNDO"; keyMap[KeyCode::KEY_REDO] = "KEY_REDO"; keyMap[KeyCode::KEY_MENU] = "KEY_MENU"; keyMap[KeyCode::KEY_FIND] = "KEY_FIND"; keyMap[KeyCode::KEY_CANCEL] = "KEY_CANCEL"; keyMap[KeyCode::KEY_HELP] = "KEY_HELP"; keyMap[KeyCode::KEY_BREAK] = "KEY_BREAK"; keyMap[KeyCode::KEY_MODE_SWITCH] = "KEY_MODE_SWITCH"; keyMap[KeyCode::KEY_SCRIPT_SWITCH] = "KEY_SCRIPT_SWITCH"; keyMap[KeyCode::KEY_NUM_LOCK] = "KEY_NUM_LOCK"; keyMap[KeyCode::KEY_KP_SPACE] = "KEY_KP_SPACE"; keyMap[KeyCode::KEY_KP_TAB] = "KEY_KP_TAB"; keyMap[KeyCode::KEY_KP_ENTER] = "KEY_KP_ENTER"; keyMap[KeyCode::KEY_KP_F1] = "KEY_KP_F1"; keyMap[KeyCode::KEY_KP_F2] = "KEY_KP_F2"; keyMap[KeyCode::KEY_KP_F3] = "KEY_KP_F3"; keyMap[KeyCode::KEY_KP_F4] = "KEY_KP_F4"; keyMap[KeyCode::KEY_KP_HOME] = "KEY_KP_HOME"; keyMap[KeyCode::KEY_KP_LEFT] = "KEY_KP_LEFT"; keyMap[KeyCode::KEY_KP_UP] = "KEY_KP_UP"; keyMap[KeyCode::KEY_KP_RIGHT] = "KEY_KP_RIGHT"; keyMap[KeyCode::KEY_KP_DOWN] = "KEY_KP_DOWN"; keyMap[KeyCode::KEY_KP_PRIOR] = "KEY_KP_PRIOR"; keyMap[KeyCode::KEY_KP_PAGE_UP] = "KEY_KP_PAGE_UP"; keyMap[KeyCode::KEY_KP_NEXT] = "KEY_KP_NEXT"; keyMap[KeyCode::KEY_KP_PAGE_DOWN] = "KEY_KP_PAGE_DOWN"; keyMap[KeyCode::KEY_KP_END] = "KEY_KP_END"; keyMap[KeyCode::KEY_KP_BEGIN] = "KEY_KP_BEGIN"; keyMap[KeyCode::KEY_KP_INSERT] = "KEY_KP_INSERT"; keyMap[KeyCode::KEY_KP_DELETE] = "KEY_KP_DELETE"; keyMap[KeyCode::KEY_KP_EQUAL] = "KEY_KP_EQUAL"; keyMap[KeyCode::KEY_KP_MULTIPLY] = "KEY_KP_MULTIPLY"; keyMap[KeyCode::KEY_KP_ADD] = "KEY_KP_ADD"; keyMap[KeyCode::KEY_KP_SEPARATOR]= "KEY_KP_SEPARATOR"; keyMap[KeyCode::KEY_KP_SUBTRACT] = "KEY_KP_SUBTRACT"; keyMap[KeyCode::KEY_KP_DECIMAL] = "KEY_KP_DECIMAL"; keyMap[KeyCode::KEY_KP_DIVIDE] = "KEY_KP_DIVIDE"; keyMap[KeyCode::KEY_KP_0] = "KEY_KP_0"; keyMap[KeyCode::KEY_KP_1] = "KEY_KP_1"; keyMap[KeyCode::KEY_KP_2] = "KEY_KP_2"; keyMap[KeyCode::KEY_KP_3] = "KEY_KP_3"; keyMap[KeyCode::KEY_KP_4] = "KEY_KP_4"; keyMap[KeyCode::KEY_KP_5] = "KEY_KP_5"; keyMap[KeyCode::KEY_KP_6] = "KEY_KP_6"; keyMap[KeyCode::KEY_KP_7] = "KEY_KP_7"; keyMap[KeyCode::KEY_KP_8] = "KEY_KP_8"; keyMap[KeyCode::KEY_KP_9] = "KEY_KP_9"; keyMap[KeyCode::KEY_F1] = "KEY_F1"; keyMap[KeyCode::KEY_F2] = "KEY_F2"; keyMap[KeyCode::KEY_F3] = "KEY_F3"; keyMap[KeyCode::KEY_F4] = "KEY_F4"; keyMap[KeyCode::KEY_F5] = "KEY_F5"; keyMap[KeyCode::KEY_F6] = "KEY_F6"; keyMap[KeyCode::KEY_F7] = "KEY_F7"; keyMap[KeyCode::KEY_F8] = "KEY_F8"; keyMap[KeyCode::KEY_F9] = "KEY_F9"; keyMap[KeyCode::KEY_F10] = "KEY_F10"; keyMap[KeyCode::KEY_F11] = "KEY_F11"; keyMap[KeyCode::KEY_F12] = "KEY_F12"; keyMap[KeyCode::KEY_F13] = "KEY_F13"; keyMap[KeyCode::KEY_F14] = "KEY_F14"; keyMap[KeyCode::KEY_F15] = "KEY_F15"; keyMap[KeyCode::KEY_F16] = "KEY_F16"; keyMap[KeyCode::KEY_F17] = "KEY_F17"; keyMap[KeyCode::KEY_F18] = "KEY_F18"; keyMap[KeyCode::KEY_F19] = "KEY_F19"; keyMap[KeyCode::KEY_F20] = "KEY_F20"; keyMap[KeyCode::KEY_F21] = "KEY_F21"; keyMap[KeyCode::KEY_F22] = "KEY_F22"; keyMap[KeyCode::KEY_F23] = "KEY_F23"; keyMap[KeyCode::KEY_F24] = "KEY_F24"; keyMap[KeyCode::KEY_F25] = "KEY_F25"; keyMap[KeyCode::KEY_F26] = "KEY_F26"; keyMap[KeyCode::KEY_F27] = "KEY_F27"; keyMap[KeyCode::KEY_F28] = "KEY_F28"; keyMap[KeyCode::KEY_F29] = "KEY_F29"; keyMap[KeyCode::KEY_F30] = "KEY_F30"; keyMap[KeyCode::KEY_F31] = "KEY_F31"; keyMap[KeyCode::KEY_F32] = "KEY_F32"; keyMap[KeyCode::KEY_F33] = "KEY_F33"; keyMap[KeyCode::KEY_F34] = "KEY_F34"; keyMap[KeyCode::KEY_F35] = "KEY_F35"; keyMap[KeyCode::KEY_SHIFT_L] = "KEY_SHIFT_L"; keyMap[KeyCode::KEY_SHIFT_R] = "KEY_SHIFT_R"; keyMap[KeyCode::KEY_CONTROL_L] = "KEY_CONTROL_L"; keyMap[KeyCode::KEY_CONTROL_R] = "KEY_CONTROL_R"; keyMap[KeyCode::KEY_CAPS_LOCK] = "KEY_CAPS_LOCK"; keyMap[KeyCode::KEY_SHIFT_LOCK] = "KEY_SHIFT_LOCK"; keyMap[KeyCode::KEY_META_L] = "KEY_META_L"; keyMap[KeyCode::KEY_META_R] = "KEY_META_R"; keyMap[KeyCode::KEY_ALT_L] = "KEY_ALT_L"; keyMap[KeyCode::KEY_ALT_R] = "KEY_ALT_R"; keyMap[KeyCode::KEY_SUPER_L] = "KEY_SUPER_L"; keyMap[KeyCode::KEY_SUPER_R] = "KEY_SUPER_R"; keyMap[KeyCode::KEY_HYPER_L] = "KEY_HYPER_L"; keyMap[KeyCode::KEY_HYPER_R] = "KEY_HYPER_R"; }; void createModifierMap() { using SurgSim::Devices::ModKeyMask; modifierMap[ModKeyMask::MODKEY_LEFT_SHIFT] = "KEY_SHIFT_L"; modifierMap[ModKeyMask::MODKEY_RIGHT_SHIFT] = "KEY_SHIFT_R"; modifierMap[ModKeyMask::MODKEY_LEFT_CTRL] = "KEY_CONTROL_L"; modifierMap[ModKeyMask::MODKEY_RIGHT_CTRL] = "KEY_CONTROL_R"; modifierMap[ModKeyMask::MODKEY_LEFT_ALT] = "KEY_ALT_L"; modifierMap[ModKeyMask::MODKEY_RIGHT_ALT] = "KEY_ALT_R"; modifierMap[ModKeyMask::MODKEY_LEFT_META] = "KEY_META_L"; modifierMap[ModKeyMask::MODKEY_RIGHT_META] = "KEY_META_R"; modifierMap[ModKeyMask::MODKEY_LEFT_SUPER] = "KEY_SUPER_L"; modifierMap[ModKeyMask::MODKEY_RIGHT_SUPER] = "KEY_SUPER_R"; modifierMap[ModKeyMask::MODKEY_LEFT_HYPER] = "KEY_HYPER_L"; modifierMap[ModKeyMask::MODKEY_RIGHT_HYPER] = "KEY_HYPER_R"; modifierMap[ModKeyMask::MODKEY_NUM_LOCK] = "KEY_NUM_LOCK"; modifierMap[ModKeyMask::MODKEY_CAPS_LOCK] = "KEY_CAPS_LOCK"; modifierMap[ModKeyMask::MODKEY_CTRL] = "KEY_CTRL"; modifierMap[ModKeyMask::MODKEY_SHIFT] = "KEY_SHIFT"; modifierMap[ModKeyMask::MODKEY_ALT] = "KEY_ALT"; modifierMap[ModKeyMask::MODKEY_META] = "KEY_META"; modifierMap[ModKeyMask::MODKEY_SUPER] = "KEY_SUPER"; modifierMap[ModKeyMask::MODKEY_HYPER] = "KEY_HYPER"; modifierMap[ModKeyMask::MODKEY_CAPS_SHIFT_L] = "KEY_CAPS_SHIFT_L"; modifierMap[ModKeyMask::MODKEY_CAPS_SHIFT_R] = "KEY_CAPS_SHIFT_R"; modifierMap[ModKeyMask::MODKEY_CAPS_CONTROL_L] = "KEY_CAPS_CONTROL_L"; modifierMap[ModKeyMask::MODKEY_CAPS_CONTROL_R] = "KEY_CAPS_CONTROL_R"; modifierMap[ModKeyMask::MODKEY_CAPS_ALT_L] = "KEY_CAPS_ALT_L"; modifierMap[ModKeyMask::MODKEY_CAPS_ALT_R] = "KEY_CAPS_ALT_R"; } }; int main(int argc, char* argv[]) { auto toolDevice = std::make_shared("Keyboard"); toolDevice->initialize(); osg::ref_ptr keyboardHandler = toolDevice->getKeyboardHandler(); auto consumer = std::make_shared(); toolDevice->addInputConsumer(consumer); osg::ref_ptr text = new osgText::Text; text->setText("Press any key in this window \n\nto verify keyboard driver \n\nworks correctly."); text->setPosition(osg::Vec3(0.0f, 300.0f, 0.0f)); osg::ref_ptr geode = new osg::Geode; geode->addDrawable(text); osg::ref_ptr camera = new osg::Camera; camera->setReferenceFrame(osg::Transform::ABSOLUTE_RF); camera->setProjectionMatrixAsOrtho2D(0, 600 ,0, 400); camera->getOrCreateStateSet()->setMode(GL_LIGHTING,osg::StateAttribute::OFF); camera->addChild(geode); osg::ref_ptr group = new osg::Group; group->addChild(camera); osg::ref_ptr viewer = new osgViewer::Viewer; viewer->setUpViewInWindow(400, 400, 640, 480); viewer->addEventHandler(keyboardHandler); viewer->setSceneData(group); viewer->run(); return 0; } opensurgsim-0.7.0/SurgSim/Devices/LabJack/000077500000000000000000000000001277777236100203565ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/LabJack/CMakeLists.txt000066400000000000000000000041261277777236100231210ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. find_package(LabJack REQUIRED) link_directories(${Boost_LIBRARY_DIRS}) set(LIBS ${Boost_LIBRARIES} SurgSimFramework SurgSimInput ${LABJACK_LIBRARY} ) include_directories( ${CMAKE_CURRENT_SOURCE_DIR} ${LABJACK_INCLUDE_DIR} ) set(LABJACK_DEVICE_SOURCES LabJackDevice.cpp LabJackThread.cpp ) set(LABJACK_DEVICE_HEADERS LabJackDevice.h LabJackScaffold.h LabJackThread.h ) set(DEVICE_HEADERS ${DEVICE_HEADERS} LabJack/LabJackDevice.h PARENT_SCOPE) set(LABJACK_DEVICE_LINUX_SOURCES linux/LabJackChecksums.cpp linux/LabJackScaffold.cpp linux/LabJackTypeConverters.cpp ) set(LABJACK_DEVICE_LINUX_HEADERS linux/LabJackChecksums.h linux/LabJackConstants.h linux/LabJackTypeConverters.h ) set(LABJACK_DEVICE_WIN_SOURCES win32/LabJackScaffold.cpp ) if(${CMAKE_SYSTEM_NAME} STREQUAL "Windows") list(APPEND LABJACK_DEVICE_SOURCES ${LABJACK_DEVICE_WIN_SOURCES}) else() list(APPEND LABJACK_DEVICE_HEADERS ${LABJACK_DEVICE_LINUX_HEADERS}) list(APPEND LABJACK_DEVICE_SOURCES ${LABJACK_DEVICE_LINUX_SOURCES}) endif() # TODO(advornik): the installation should NOT copy all the headers... surgsim_add_library( LabJackDevice "${LABJACK_DEVICE_SOURCES}" "${LABJACK_DEVICE_HEADERS}" ) target_link_libraries(LabJackDevice ${LIBS}) if(BUILD_TESTING) # The unit tests will be built whenever the library is built. add_subdirectory(UnitTests) if(GLUT_FOUND) add_subdirectory(VisualTest) endif(GLUT_FOUND) endif() set_target_properties(LabJackDevice PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/LabJack/LabJack.dox000066400000000000000000000023321277777236100223610ustar00rootroot00000000000000/*! \page LabJack LabJack: A Measurement and Automation Device LabJack Corporation produces measurement and automation devices (e.g., DAQs). Currently OpenSurgSim supports only some devices (dependent on operating system, see below), and only some functionality on any device. Supported functionality: digital input, digital output, and timers (e.g., PWM, frequency output, and quadrature input). Supported models: - Linux (and Mac OS X): The LabJack U3 and U6 (including Pro version) are supported with limited functionality. - Windows: The LabJack U3, U6 (including Pro version), and UE9 are supported with limited functionality. Dependencies: - Linux (and Mac OS X): The exodriver (aka labjackusb) driver must be installed https://github.com/labjack/exodriver - Follow the instructions in the INSTALL file; installation of libusb-1.0 library and development files is required. - (Probably optional) An environment variable named LABJACK_SDK may be set to the directory containing (include/)LabJackUD.h - Windows: The LabJackUD driver must be installed from the company's website http://labjack.com/ - An environment variable named LABJACK_SDK must be set to the directory containing (include\\)LabJackUD.h */opensurgsim-0.7.0/SurgSim/Devices/LabJack/LabJackDevice.cpp000066400000000000000000000226611277777236100235000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/LabJack/LabJackDevice.h" #include "SurgSim/Devices/LabJack/LabJackScaffold.h" #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::LabJackDevice, LabJackDevice); LabJackDevice::LabJackDevice(const std::string& uniqueName) : SurgSim::Input::CommonDevice(uniqueName, LabJackScaffold::buildDeviceInputData()), m_model(LabJack::MODEL_SEARCH), m_connection(LabJack::CONNECTION_SEARCH), m_address(""), m_reset(false), m_timerBase(LabJack::TIMERBASE_DEFAULT), m_timerClockDivisor(1), m_timerCounterPinOffset(0), m_threadRate(1000.0), m_analogInputResolution(0), m_analogInputSettling(0) { } LabJackDevice::~LabJackDevice() { if (isInitialized()) { finalize(); } } bool LabJackDevice::initialize() { SURGSIM_ASSERT(!isInitialized()) << "LabJackDevice already initialized."; std::shared_ptr scaffold = LabJackScaffold::getOrCreateSharedInstance(); SURGSIM_ASSERT(scaffold != nullptr) << "LabJackDevice failed to get a LabJackScaffold."; auto logger = Framework::Logger::getLogger("Devices/LabJack"); SURGSIM_LOG_IF((getDigitalOutputs().size() > 0) && !hasOutputProducer(), logger, WARNING) << "LabJackDevice named " << getName() << " has digital output channels but no output producer to provide the output data. Call setOutputProducer."; SURGSIM_LOG_IF((getAnalogOutputs().size() > 0) && !hasOutputProducer(), logger, WARNING) << "LabJackDevice named " << getName() << " has analog output channels but no output producer to provide the output data. Call setOutputProducer."; bool registered = false; // registerDevice will set this object's type and/or connection, if they are currently set to SEARCH. if (scaffold->registerDevice(this)) { m_scaffold = std::move(scaffold); registered = true; } return registered; } bool LabJackDevice::finalize() { SURGSIM_ASSERT(isInitialized()) << "LabJackDevice has not been initialized before finalize."; const bool ok = m_scaffold->unregisterDevice(this); m_scaffold.reset(); return ok; } bool LabJackDevice::isInitialized() const { return (m_scaffold != nullptr); } void LabJackDevice::setModel(LabJack::Model model) { SURGSIM_ASSERT(!isInitialized()) << "LabJackDevice's model cannot be set after it is initialized."; m_model = model; } LabJack::Model LabJackDevice::getModel() const { return m_model; } void LabJackDevice::setConnection(LabJack::Connection connection) { SURGSIM_ASSERT(!isInitialized()) << "LabJackDevice's connection cannot be set after it is initialized."; m_connection = connection; } LabJack::Connection LabJackDevice::getConnection() const { return m_connection; } void LabJackDevice::setAddress(std::string address) { SURGSIM_ASSERT(!isInitialized()) << "LabJackDevice's address cannot be set after it is initialized."; m_address = address; } const std::string& LabJackDevice::getAddress() const { return m_address; } void LabJackDevice::setResetOnDestruct(bool reset) { m_reset = reset; } bool LabJackDevice::getResetOnDestruct() const { return m_reset; } void LabJackDevice::enableDigitalInput(int channel) { SURGSIM_ASSERT(!isInitialized()) << "Digital input cannot be enabled for a LabJackDevice after it is initialized."; m_digitalInputChannels.insert(channel); } void LabJackDevice::setDigitalInputs(const std::unordered_set& digitalInputChannels) { SURGSIM_ASSERT(!isInitialized()) << "Digital inputs cannot be enabled for a LabJackDevice after it is initialized."; m_digitalInputChannels = digitalInputChannels; } const std::unordered_set& LabJackDevice::getDigitalInputs() const { return m_digitalInputChannels; } void LabJackDevice::enableDigitalOutput(int channel) { SURGSIM_ASSERT(!isInitialized()) << "Digital output cannot be enabled for a LabJackDevice after it is initialized."; m_digitalOutputChannels.insert(channel); } void LabJackDevice::setDigitalOutputs(const std::unordered_set& digitalOutputChannels) { SURGSIM_ASSERT(!isInitialized()) << "Digital outputs cannot be enabled for a LabJackDevice after it is initialized."; m_digitalOutputChannels = digitalOutputChannels; } const std::unordered_set& LabJackDevice::getDigitalOutputs() const { return m_digitalOutputChannels; } void LabJackDevice::setTimerBase(LabJack::TimerBase base) { SURGSIM_ASSERT(!isInitialized()) << "LabJackDevice's timer base cannot be set after it is initialized."; m_timerBase = base; } LabJack::TimerBase LabJackDevice::getTimerBase() const { return m_timerBase; } void LabJackDevice::setTimerClockDivisor(int divisor) { SURGSIM_ASSERT(!isInitialized()) << "LabJackDevice's timer clock divisor cannot be set after it is initialized."; m_timerClockDivisor = divisor; } int LabJackDevice::getTimerClockDivisor() const { return m_timerClockDivisor; } void LabJackDevice::setTimerCounterPinOffset(int offset) { SURGSIM_ASSERT(!isInitialized()) << "LabJackDevice's timer/counter pin offset cannot be set after it is initialized."; m_timerCounterPinOffset = offset; } int LabJackDevice::getTimerCounterPinOffset() const { return m_timerCounterPinOffset; } void LabJackDevice::enableTimer(int index, LabJack::TimerMode mode) { SURGSIM_ASSERT(!isInitialized()) << "Timers cannot be enabled for a LabJackDevice after it is initialized."; LabJack::TimerSettings timerModeAndOptionalInitialValue = {mode, DataStructures::OptionalValue()}; m_timers[index] = std::move(timerModeAndOptionalInitialValue); } void LabJackDevice::enableTimer(int index, LabJack::TimerMode mode, int initialValue) { SURGSIM_ASSERT(!isInitialized()) << "Timers cannot be enabled for a LabJackDevice after it is initialized."; LabJack::TimerSettings timerModeAndOptionalInitialValue = {mode, DataStructures::OptionalValue(initialValue)}; m_timers[index] = std::move(timerModeAndOptionalInitialValue); } void LabJackDevice::setTimers(const std::unordered_map& timers) { SURGSIM_ASSERT(!isInitialized()) << "Timers cannot be enabled for a LabJackDevice after it is initialized."; m_timers = timers; } const std::unordered_map& LabJackDevice::getTimers() const { return m_timers; } void LabJackDevice::setMaximumUpdateRate(double rate) { SURGSIM_ASSERT(!isInitialized()) << "LabJackDevice's maximum update rate cannot be set after it is initialized."; m_threadRate = rate; } double LabJackDevice::getMaximumUpdateRate() const { return m_threadRate; } void LabJackDevice::enableAnalogInput(int positiveChannel, LabJack::Range range, int negativeChannel) { SURGSIM_ASSERT(!isInitialized()) << "Analog inputs cannot be enabled for a LabJackDevice after it is initialized."; LabJack::AnalogInputSettings rangeAndOptionalNegativeChannel = {range, DataStructures::OptionalValue(negativeChannel)}; m_analogInputs[positiveChannel] = std::move(rangeAndOptionalNegativeChannel); } void LabJackDevice::enableAnalogInput(int channel, LabJack::Range range) { SURGSIM_ASSERT(!isInitialized()) << "Analog inputs cannot be enabled for a LabJackDevice after it is initialized."; LabJack::AnalogInputSettings rangeAndOptionalNegativeChannel = {range, DataStructures::OptionalValue()}; m_analogInputs[channel] = std::move(rangeAndOptionalNegativeChannel); } void LabJackDevice::setAnalogInputs(const std::unordered_map& analogInputs) { SURGSIM_ASSERT(!isInitialized()) << "Analog inputs cannot be enabled for a LabJackDevice after it is initialized."; m_analogInputs = analogInputs; } const std::unordered_map& LabJackDevice::getAnalogInputs() const { return m_analogInputs; } void LabJackDevice::enableAnalogOutput(int channel) { SURGSIM_ASSERT(!isInitialized()) << "Analog outputs cannot be enabled for a LabJackDevice after it is initialized."; m_analogOutputChannels.insert(channel); } void LabJackDevice::setAnalogOutputs(const std::unordered_set& analogOutputChannels) { SURGSIM_ASSERT(!isInitialized()) << "Analog outputs cannot be enabled for a LabJackDevice after it is initialized."; m_analogOutputChannels = analogOutputChannels; } const std::unordered_set& LabJackDevice::getAnalogOutputs() const { return m_analogOutputChannels; } void LabJackDevice::setAnalogInputResolution(int resolution) { SURGSIM_ASSERT(!isInitialized()) << "Analog input resolution cannot be set for a LabJackDevice after it is initialized."; m_analogInputResolution = resolution; } int LabJackDevice::getAnalogInputResolution() const { return m_analogInputResolution; } void LabJackDevice::setAnalogInputSettling(int settling) { SURGSIM_ASSERT(!isInitialized()) << "Analog input settling time cannot be set for a LabJackDevice after it is initialized."; m_analogInputSettling = settling; } int LabJackDevice::getAnalogInputSettling() const { return m_analogInputSettling; } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/LabJack/LabJackDevice.h000066400000000000000000000512171277777236100231440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_LABJACK_LABJACKDEVICE_H #define SURGSIM_DEVICES_LABJACK_LABJACKDEVICE_H #include #include #include #include #include "SurgSim/DataStructures/OptionalValue.h" #include "SurgSim/Input/CommonDevice.h" namespace SurgSim { namespace Devices { class LabJackScaffold; SURGSIM_STATIC_REGISTRATION(LabJackDevice); namespace LabJack { ///@{ /// The timer or channel number that corresponds with the descriptive name used by the LabJack. /// Use these for the arguments to the enable* functions. enum TIMER { TIMER0, TIMER1, TIMER2, TIMER3, TIMER4, TIMER5 }; enum FIO_LINE { FIO0, FIO1, FIO2, FIO3, FIO4, FIO5, FIO6, FIO7 }; enum EIO_LINE { EIO0 = 8, EIO1, EIO2, EIO3, EIO4, EIO5, EIO6, EIO7 }; enum CIO_LINE { CIO0 = 16, CIO1, CIO2, CIO3 }; enum MIO_LINE { MIO0 = 20, MIO1, MIO2 }; enum AIN { AIN0, AIN1, AIN2, AIN3, AIN4, AIN5, AIN6, AIN7, AIN8, AIN9, AIN10, AIN11, AIN12, AIN13, AIN14, AIN15 }; enum DAC { DAC0, DAC1 }; ///@} /// The models of LabJack devices. Numbers come from LabJackUD.h. enum Model { MODEL_SEARCH = -1, MODEL_UE9 = 9, MODEL_U3 = 3, MODEL_U6 = 6 }; /// The connection (i.e., communication media) for LabJacks. Numbers come from LabJackUD.h. enum Connection { CONNECTION_SEARCH = -1, CONNECTION_USB = 1, CONNECTION_ETHERNET = 2, CONNECTION_ETHERNET_MB = 3, CONNECTION_ETHERNET_DATA_ONLY = 4 }; /// The timer base frequencies for LabJacks. A given value can correspond to different clock frequencies for different /// LabJack models. The same clock frequency corresponds to different values depending on whether the /// high- or low-level driver is used. See section 2.10 - Timers/Counters in the respective model's User's Guide. enum TimerBase { TIMERBASE_DEFAULT = -1, TIMERBASE_0 = 0, TIMERBASE_1 = 1, TIMERBASE_2 = 2, TIMERBASE_3 = 3, TIMERBASE_4 = 4, TIMERBASE_5 = 5, TIMERBASE_6 = 6, TIMERBASE_20 = 20, TIMERBASE_21 = 21, TIMERBASE_22 = 22, TIMERBASE_23 = 23, TIMERBASE_24 = 24, TIMERBASE_25 = 25, TIMERBASE_26 = 26 }; /// The timer modes. Numbers come from LabJackUD.h. Note that edge-counting modes require processing time: see the /// LabJack manual for restrictions on number of edges counted per second over all timers /// (e.g., 30,000/second for U3 or U6). enum TimerMode { TIMERMODE_PWM_16BIT = 0, // 16 bit PWM TIMERMODE_PWM_8BIT = 1, // 8 bit PWM TIMERMODE_RISING_EDGES_32BIT = 2, // 32-bit rising to rising edge measurement TIMERMODE_FALLING_EDGES_32BIT = 3, // 32-bit falling to falling edge measurement TIMERMODE_DUTY_CYCLE = 4, // duty cycle measurement TIMERMODE_FIRMWARE_COUNTER = 5, // firmware based rising edge counter TIMERMODE_FIRMWARE_COUNTER_DEBOUNCED = 6, // firmware counter with debounce TIMERMODE_FREQUENCY_OUTPUT = 7, // frequency output TIMERMODE_QUADRATURE = 8, // Quadrature TIMERMODE_TIMER_STOP = 9, // stops another timer after n pulses TIMERMODE_SYSTEM_TIMER_LOWER_32BITS = 10, // read lower 32-bits of system timer TIMERMODE_SYSTEM_TIMER_UPPR_32BITS = 11, // read upper 32-bits of system timer TIMERMODE_RISING_EDGES_16BIT = 12, // 16-bit rising to rising edge measurement TIMERMODE_FALLING_EDGES_16BIT = 13, // 16-bit falling to falling edge measurement TIMERMODE_LINE_TO_LINE = 14 // Line to Line measurement }; /// A struct holding the data to be associated with a Timer. struct TimerSettings { /// Equality comparison. /// \param other The object with which to compare. /// \return true if equivalent. bool operator==(const TimerSettings& other) const { return (mode == other.mode) && (initialValue == other.initialValue); } /// The mode. TimerMode mode; /// The initial value. SurgSim::DataStructures::OptionalValue initialValue; }; /// The analog input ranges. Equivalent to gain. Ignored for Linux scaffold, which auto-ranges. enum Range { RANGE_20 = 1, // -20V to +20V, LJ_rgBIP20V RANGE_10 = 2, // -10V to +10V, LJ_rgBIP10V RANGE_5 = 3, // -5V to +5V, LJ_rgBIP5V RANGE_4 = 4, // -4V to +4V, LJ_rgBIP4V RANGE_2_POINT_5 = 5, // -2.5V to +2.5V, LJ_rgBIP2P5V RANGE_2 = 6, // -2V to +2V, LJ_rgBIP2V RANGE_1_POINT_25 = 7, // -1.25V to +1.25V, LJ_rgBIP1P25V RANGE_1 = 8, // -1V to +1V, LJ_rgBIP1V RANGE_0_POINT_625 = 9, // -0.625V to +0.625V, LJ_rgBIPP625V RANGE_0_POINT_1 = 10, // -0.1V to +0.1V, LJ_rgBIPP1V RANGE_0_POINT_01 = 11 // -0.01V to +0.01V, LJ_rgBIPP01V }; /// A struct holding the data to be associated with the positive channel for an analog input. struct AnalogInputSettings { /// Equality comparison. /// \param other The object with which to compare. /// \return true if equivalent. bool operator==(const AnalogInputSettings& other) const { return (negativeChannel == other.negativeChannel) && (range == other.range); } /// The range. Range range; /// The negative channel. SurgSim::DataStructures::OptionalValue negativeChannel; }; }; /// A class implementing the communication with a LabJack data acquisition (DAQ) device. Should work for the U3, U6, /// and U9 models on Windows and the U3 and U6 on Linux. See the manual(s) for your LabJack device(s) to understand /// the input and output data, the configuration parameters, timing limitations, etc. The various parameters and /// inputs are almost always passed through unchanged to the device driver. Timers, digital input/output, and /// analog input/output are supported. Currently not supported are counters, using the same channel as /// the positive channel for multiple analog inputs, and reconfiguring the device after initialization. /// \warning The LabJack device is configurable to such a degree that neither this class nor LabJackScaffold are able /// to do significant error-checking. If the output DataGroup and the calls (e.g., addTimer) to this class /// are not in agreement, the requests to the LabJack device driver will not be correct. /// /// \par Application input provided by the device: /// | type | name | | /// | ---- | ---- | --- | /// | scalar | "analogInput0" | %Analog input with AIN0 as the positive channel | /// | scalar | "analogInput" | %Analog input with AIN1 as the positive channel | /// | ... | ... | ... | /// | scalar | "analogInput16" | %Analog input with AIN16 as the positive channel | /// | boolean| "digitalInput0" | %Digital input, line #0, true for high input, false for low | /// | boolean| "digitalInput1" | %Digital input, line #1, true for high input, false for low | /// | ... | ... | ... | /// | boolean| "digitalInput23" | %Digital input, line #23, true for high input, false for low | /// | scalar | "timerInput0" | %The input from timer #0 if that timer provides input values | /// | scalar | "timerInput1" | %The input from timer #1 if that timer provides input values | /// | ... | ... | ... | /// | scalar | "timerInput6" | %The input from timer #6 if that timer provides input values | /// /// /// \par Application output used by the device: /// | type | name | | /// | ---- | ---- | --- | /// | scalar | "analogOutput0" | %Analog output, DAC0 | /// | scalar | "analogOutput1" | %Analog output, DAC1 | /// | boolean| "digitalOutput0" | %Digital output, line #0, true for high output, false for low | /// | boolean| "digitalOutput1" | %Digital output, line #1, true for high output, false for low | /// | ... | ... | ... | /// | boolean| "digitalOutput23" | %Digital output, line #23, true for high output, false for low | /// | scalar | "timerOutput0" | %The output for timer #0 if that timer accepts output values | /// | scalar | "timerOutput1" | %The output for timer #1 if that timer accepts output values | /// | ... | ... | ... | /// | scalar | "timerOutput6" | %The output for timer #6 if that timer accepts output values | /// /// \sa SurgSim::Input::CommonDevice, SurgSim::Input::DeviceInterface, LabJackScaffold class LabJackDevice : public SurgSim::Input::CommonDevice { public: /// Constructor. /// \param uniqueName A unique name for the device that will be used by the application. explicit LabJackDevice(const std::string& uniqueName); SURGSIM_CLASSNAME(SurgSim::Devices::LabJackDevice); /// Destructor. virtual ~LabJackDevice(); bool initialize() override; bool isInitialized() const override; /// Set the model, e.g., U6. /// \param model The model. /// \exception Asserts if already initialized. void setModel(LabJack::Model model); /// \return The model, e.g., U6. LabJack::Model getModel() const; /// Set the connection type of the LabJack, e.g., USB. /// \param connection The communication medium. /// \exception Asserts if already initialized. void setConnection(LabJack::Connection connection); /// \return The connection type of the LabJack, e.g., USB. LabJack::Connection getConnection() const; /// Set the address of the LabJack, e.g., "1" or "192.168.7.23". If the address is zero-length, attempt to open the /// first-found device of the specified type on the specified connection. /// \param address The address for the device, or a zero-length string. /// \exception Asserts if already initialized. void setAddress(std::string address); /// \return The address of the LabJack, e.g., "1" or "192.168.7.23". const std::string& getAddress() const; /// Reset LabJack during destruct. /// \param reset true if the hardware should reset & re-enumerate when this object destructs. /// \note The LabJack hardware has the feature that it continues operation and remembers all settings even after /// the associated LabJackDevice object destructs and communication ends. /// This function causes the hardware to reset when the LabJackDevice object destructs, thereby returning to its /// default (boot-up) settings and forcing USB re-enumeration. /// \note After a reset, it will take a few seconds before the hardware can communicate. /// \warning If the LabJackDevice object does not cleanly destruct (e.g., the executable halts due to an exception), /// then the hardware will not reset. void setResetOnDestruct(bool reset); /// Get whether or not the hardware should reset when the LabJackDevice object destructs. /// \return true if should reset on destruct. bool getResetOnDestruct() const; /// Enable digital input line. /// \param channel The channel number. /// \exception Asserts if already initialized. void enableDigitalInput(int channel); /// Set which digital input lines are enabled. /// \param digitalInputChannels The line numbers for the digital inputs. /// \exception Asserts if already initialized. void setDigitalInputs(const std::unordered_set& digitalInputChannels); /// \return The enabled digital input lines. const std::unordered_set& getDigitalInputs() const; /// Enable digital output line. /// \param channel The channel number. /// \exception Asserts if already initialized. void enableDigitalOutput(int channel); /// Set which digital output lines are enabled. /// \param digitalOutputChannels The line numbers for the digital outputs. /// \exception Asserts if already initialized. void setDigitalOutputs(const std::unordered_set& digitalOutputChannels); /// \return The enabled digital output lines. const std::unordered_set& getDigitalOutputs() const; /// Set the timer base rate. Timer base rates that end in "_DIV" are divided by the divisor to get the actual timer /// frequency. See section 2.10 - Timers/Counters in the respective LabJack model's User's Guide. /// \param base The timer base rate. /// \exception Asserts if already initialized. void setTimerBase(LabJack::TimerBase base); /// \return The timer base rate. LabJack::TimerBase getTimerBase() const; /// If the Timer type ends in "_DIV", then the actual timer frequency is divided by the divisor. /// \param divisor The amount by which to divide the frequency. Values from 1-255 are used directly, while 0 means /// divide by 256. Values above 255 are not supported and cause an error. /// \exception Asserts if already initialized. void setTimerClockDivisor(int divisor); /// \return The timer clock divisor. int getTimerClockDivisor() const; /// The timers and counters are always on consecutive pins, but the start pin can be varied within limits. /// \param offset The channel number of the first timer/counter. /// \exception Asserts if already initialized. void setTimerCounterPinOffset(int offset); /// \return The channel number of the first timer/counter. int getTimerCounterPinOffset() const; /// Enable timer. /// Since quadrature requires two lines, to measure a single quadrature encoder this function /// must be called twice on consecutive timerNumbers. All output timers use the same clock (see setTimerBase and /// setTimerClockDivisor). /// \param index The index of the timer (not the line number, see setTimerCounterPinOffset). /// \param mode The type of timer. /// \exception Asserts if already initialized. void enableTimer(int index, LabJack::TimerMode mode); /// Enable timer with an initial value. /// Since quadrature requires two lines, to measure a single quadrature encoder this function /// must be called twice on consecutive timerNumbers. For example, to enable z-phase support for a quadrature /// timer, with the Z (aka index) signal on digital channel FIO4 (channel 4), set initialValue for both timer /// channels to ((1 << 15) | 4). All output timers use the same clock (see setTimerBase and setTimerClockDivisor). /// \param index The index of the timer (not the line number, see setTimerCounterPinOffset). /// \param mode The type of timer. /// \param initialValue The initial value. /// \exception Asserts if already initialized. void enableTimer(int index, LabJack::TimerMode mode, int initialValue); /// Set which timers are enabled. /// \sa enableTimer /// \param timers The map from timer index (not line number) to mode and optional initial value. /// \exception Asserts if already initialized. void setTimers(const std::unordered_map& timers); /// \return The enabled timers. const std::unordered_map& getTimers() const; /// Set the maximum update rate for the LabJackThread. Since the device driver blocks thread execution /// while acquiring new data, update rates have a definite upper-bound that is dependent on the requested /// inputs (at least). See the LabJack User's Guide for details. void setMaximumUpdateRate(double rate); /// \return The maximum update rate for the LabJackThread. double getMaximumUpdateRate() const; /// Enable differential analog input. /// \param positiveChannel The positive channel. /// \param range The voltage range. /// \param negativeChannel The negative channel. /// \exception Asserts if already initialized. /// \note On Linux, does not correctly handle negative channels 31 or 32 for U3 model. void enableAnalogInput(int positiveChannel, LabJack::Range range, int negativeChannel); /// Enable single-ended analog input. /// \param channel The channel. /// \param range The voltage range. /// \exception Asserts if already initialized. void enableAnalogInput(int channel, LabJack::Range range); /// Set which analog inputs are enabled. /// \sa enableAnalogInput /// \param analogInputs The map from the line number of the positive channel to the range and /// (for differential readings only) the line number of the negative channel. /// \exception Asserts if already initialized. void setAnalogInputs(const std::unordered_map& analogInputs); /// \return The enabled analog inputs. const std::unordered_map& getAnalogInputs() const; /// Enable analog output. /// \param channel The channel. /// \exception Asserts if already initialized. void enableAnalogOutput(int channel); /// Set which analog outputs are enabled. /// \sa enableAnalogOutput /// \param analogOutputChannels The line numbers for the analog outputs. /// \exception Asserts if already initialized. void setAnalogOutputs(const std::unordered_set& analogOutputChannels); /// \return The enabled analog output channels. const std::unordered_set& getAnalogOutputs() const; /// Set the resolution for all the analog inputs. The resolution parameter is a model-dependent code. Refer to the /// User's Guide for the specific model to determine behavior for different codes. For example, for the U6 see /// http://labjack.com/support/u6/users-guide/4.3.3 and http://labjack.com/support/u6/users-guide/appendix-b /// \param resolution The resolution code. /// \exception Asserts if already initialized. void setAnalogInputResolution(int resolution); /// \return The resolution code for all the analog inputs. int getAnalogInputResolution() const; /// Set the settling time for all the analog inputs. The settling parameter is a model-dependent code. Refer to the /// User's Guide for the specific model to determine behavior for different codes. For example, for the U6 see /// http://labjack.com/support/u6/users-guide/2.6 /// \param settling The settling time code. /// \exception Asserts if already initialized. void setAnalogInputSettling(int settling); /// \return The settling time code for all the analog inputs. int getAnalogInputSettling() const; private: friend class LabJackScaffold; bool finalize() override; /// The single scaffold object that handles communications with all instances of LabJackDevice. std::shared_ptr m_scaffold; /// The model, e.g., U6. LabJack::Model m_model; /// The type of communication connection, e.g., USB. LabJack::Connection m_connection; /// The address, or a zero-length string to indicate the first-found device of this type on this connection. std::string m_address; /// Whether or not the hardware should reset when this object destructs. bool m_reset; /// The line numbers for the digital inputs. std::unordered_set m_digitalInputChannels; /// The analog inputs. The key is the positive channel. std::unordered_map m_analogInputs; /// The line numbers for the digital outputs. std::unordered_set m_digitalOutputChannels; /// The line numbers for the analog outputs. std::unordered_set m_analogOutputChannels; /// The timer base, which is the frequency of all the output timers unless it ends in "_DIV", /// in which case the frequency is the base divided by the divisor. See section 2.10 - Timers/Counters in the /// respective LabJack model's User's Guide. LabJack::TimerBase m_timerBase; /// The timer clock's divisor, see m_timerBase. int m_timerClockDivisor; /// The number of the lowest FIO pin that is a timer or counter. int m_timerCounterPinOffset; /// A map from the timers' line numbers to their mode and optional initial value. std::unordered_map m_timers; /// The maximum update rate for the LabJackThread. double m_threadRate; /// The resolution for all the analog inputs. int m_analogInputResolution; /// The settling time for all the analog inputs. int m_analogInputSettling; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_LABJACK_LABJACKDEVICE_H opensurgsim-0.7.0/SurgSim/Devices/LabJack/LabJackScaffold.h000066400000000000000000000113101277777236100234540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_LABJACK_LABJACKSCAFFOLD_H #define SURGSIM_DEVICES_LABJACK_LABJACKSCAFFOLD_H #include namespace SurgSim { namespace DataStructures { class DataGroup; }; namespace Framework { class Logger; } namespace Devices { class LabJackDevice; class LabJackThread; /// A class that implements the behavior of LabJackDevice objects. /// \sa SurgSim::Devices::LabJackDevice class LabJackScaffold { public: /// Internal per-device information. This is public because it is passed to the LabJackThread and back. struct DeviceData; /// Constructor. LabJackScaffold(); /// Destructor. ~LabJackScaffold(); /// Gets or creates the scaffold shared by all LabJackDevice instances. /// The scaffold is managed using a SharedInstance object, so it will be destroyed when all devices are released. /// \return the scaffold object. static std::shared_ptr getOrCreateSharedInstance(); /// Does one-time configuration of the LabJack for timers, counters, and analog inputs. /// Must be called by the LabJackThread because the LabJack separates all commands by the calling thread. /// \param device The internal device data. void configureDevice(DeviceData* device); private: /// Internal shared state data type. struct StateData; /// Wrapper for the LabJack device handle. class Handle; friend class LabJackDevice; friend class LabJackThread; friend struct StateData; /// Registers the specified device object. /// If successful, the device object will become connected to an unused hardware device. /// \param device The device object to be used, which should have a unique name. /// \return True if the initialization succeeds, false if it fails. bool registerDevice(LabJackDevice* device); /// Unregisters the specified device object. /// The corresponding hardware device will become unused, and can be re-registered later. /// \param device The device object. /// \return true on success, false on failure. bool unregisterDevice(const LabJackDevice* device); /// Executes the operations for a single input frame for a single device. /// Should only be called from the context of the input loop thread. /// \param info The internal device data. /// \return True to keep the LabJackThread running. bool runInputFrame(DeviceData* info); /// Updates the device information for a single device. /// \param info The internal device data. /// \return true on success. bool updateDevice(DeviceData* info); /// Destroys the input loop thread. /// \param data The internal device data. /// \return true on success. bool destroyPerDeviceThread(DeviceData* data); /// One-time configuration of the clock and timers. /// \param deviceData The internal device data. /// \return False if any errors. bool configureClockAndTimers(DeviceData* deviceData); /// One-time configuration of the number of timers. /// \param deviceData The internal device data. /// \return False if any errors. bool configureNumberOfTimers(DeviceData* deviceData); /// One-time configuration of the clock. /// \param deviceData The internal device data. /// \return False if any errors. bool configureClock(DeviceData* deviceData); /// One-time configuration of the timers. /// \param deviceData The internal device data. /// \return False if any errors. bool configureTimers(DeviceData* deviceData); /// One-time configuration of the digital inputs and outputs. /// \param deviceData The internal device data. /// \return False if any errors. bool configureDigital(DeviceData* deviceData); /// One-time configuration of the analog inputs. /// \param deviceData The internal device data. /// \return False if any errors. bool configureAnalog(DeviceData* deviceData); /// Builds the data layout for the application input (i.e. device output). static DataStructures::DataGroup buildDeviceInputData(); /// Logger used by the scaffold and all devices. std::shared_ptr m_logger; /// Internal scaffold state. std::unique_ptr m_state; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_LABJACK_LABJACKSCAFFOLD_H opensurgsim-0.7.0/SurgSim/Devices/LabJack/LabJackThread.cpp000066400000000000000000000023541277777236100235050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/LabJack/LabJackThread.h" namespace SurgSim { namespace Devices { LabJackThread::LabJackThread(LabJackScaffold* scaffold, LabJackScaffold::DeviceData* deviceData) : BasicThread("LabJack thread"), m_scaffold(scaffold), m_deviceData(deviceData) { m_scaffold->configureDevice(m_deviceData); } LabJackThread::~LabJackThread() { } bool LabJackThread::doInitialize() { return true; } bool LabJackThread::doStartUp() { return true; } bool LabJackThread::doUpdate(double dt) { return m_scaffold->runInputFrame(m_deviceData); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/LabJack/LabJackThread.h000066400000000000000000000027621277777236100231550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_LABJACK_LABJACKTHREAD_H #define SURGSIM_DEVICES_LABJACK_LABJACKTHREAD_H #include #include "SurgSim/Framework/BasicThread.h" #include "SurgSim/Devices/LabJack/LabJackScaffold.h" namespace SurgSim { namespace Devices { /// A class implementing the thread context for communicating with LabJack devices. /// \sa SurgSim::Devices::LabJackScaffold class LabJackThread : public SurgSim::Framework::BasicThread { public: explicit LabJackThread(LabJackScaffold* scaffold, LabJackScaffold::DeviceData* deviceData); virtual ~LabJackThread(); protected: bool doInitialize() override; bool doStartUp() override; bool doUpdate(double dt) override; private: LabJackScaffold* m_scaffold; LabJackScaffold::DeviceData* m_deviceData; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_LABJACK_LABJACKTHREAD_H opensurgsim-0.7.0/SurgSim/Devices/LabJack/UnitTests/000077500000000000000000000000001277777236100223205ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/LabJack/UnitTests/CMakeLists.txt000066400000000000000000000022451277777236100250630ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES LabJackDeviceTest.cpp LabJackScaffoldTest.cpp ) set(UNIT_TEST_LINUX_SOURCES LabJackChecksumsTest.cpp LabJackTypeConvertersTest.cpp ) if(NOT ${CMAKE_SYSTEM_NAME} STREQUAL "Windows") list(APPEND UNIT_TEST_SOURCES ${UNIT_TEST_LINUX_SOURCES}) endif() set(LIBS LabJackDevice SurgSimInput SurgSimFramework SurgSimDataStructures ${Boost_LIBRARIES} ) surgsim_add_unit_tests(LabJackDeviceTest) set_target_properties(LabJackDeviceTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/LabJack/UnitTests/LabJackChecksumsTest.cpp000066400000000000000000000072731277777236100270320ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the LabJack specific checksum functions. #include #include "SurgSim/Devices/LabJack/linux/LabJackConstants.h" #include "SurgSim/Devices/LabJack/linux/LabJackChecksums.h" using SurgSim::Devices::LabJack::extendedChecksum; using SurgSim::Devices::LabJack::extendedChecksum8; using SurgSim::Devices::LabJack::extendedChecksum16; using SurgSim::Devices::LabJack::normalChecksum; using SurgSim::Devices::LabJack::normalChecksum8; TEST(LabJackChecksumsTest, NormalChecksum) { // Sum less than 256 std::array bytes; unsigned char fillValue = 2; bytes.fill(fillValue); int count = 10; int expectedValue = fillValue * (count - 1); EXPECT_EQ(expectedValue, normalChecksum8(bytes, count)); normalChecksum(&bytes, count); EXPECT_EQ(expectedValue, bytes[0]); // Sum greater than 256, quotient + remainder < 256 fillValue = 100; bytes.fill(fillValue); count = 4; int sum = fillValue * (count - 1); // 300 int quotient = sum / 256; // 1 int remainder = sum % 256; // 44 expectedValue = quotient + remainder; EXPECT_EQ(expectedValue, normalChecksum8(bytes, count)); normalChecksum(&bytes, count); EXPECT_EQ(expectedValue, bytes[0]); // Sum greater than 256, quotient + remainder > 256 fillValue = 255; bytes.fill(fillValue); bytes[4] = 2; count = 5; // sum = 767, quotient = 2, remainder = 255, quotient + remainder = 257 // second_quotient = 1, second_remainder = 1, second_quotient + second_remainder = 2 expectedValue = 2; EXPECT_EQ(expectedValue, normalChecksum8(bytes, count)); normalChecksum(&bytes, count); EXPECT_EQ(expectedValue, bytes[0]); } TEST(LabJackChecksumsTest, ExtendedChecksum) { // Sums less than 256 std::array bytes; unsigned char fillValue = 2; bytes.fill(fillValue); int count = 10; int expectedValue16 = (count - 6) * fillValue; // 4 * 2 = 8 EXPECT_EQ(expectedValue16, extendedChecksum16(bytes, count)); int expectedValue8 = (6 - 1) * fillValue; // 5 * 2 = 10 EXPECT_EQ(expectedValue8, extendedChecksum8(bytes)); extendedChecksum(&bytes, count); EXPECT_EQ(expectedValue16, bytes[4]); EXPECT_EQ(0, bytes[5]); // extendedChecksum alters the buffer before setting bytes[0] to the return value of extendedChecksum8. EXPECT_EQ(expectedValue8 - 2 * fillValue + expectedValue16, bytes[0]); // Sum greater than 256, quotient + remainder < 256 fillValue = 100; bytes.fill(fillValue); count = 20; expectedValue16 = (count - 6) * fillValue; // 14 * 100 = 1400 EXPECT_EQ(expectedValue16, extendedChecksum16(bytes, count)); expectedValue8 = 245; // sum = 5 * 100 = 500, quotient = 1, remainder = 244, quotient + remainder = 245 EXPECT_EQ(expectedValue8, extendedChecksum8(bytes)); extendedChecksum(&bytes, count); EXPECT_EQ(120, bytes[4]); EXPECT_EQ(5, bytes[5]); // extendedChecksum alters the buffer before setting bytes[0] to the return value of extendedChecksum8. // sum = 100 + 100 + 100 + 120 + 5 = 425, quotient = 1, remainder = 169, quotient + remainder = 170 EXPECT_EQ(170, bytes[0]); } opensurgsim-0.7.0/SurgSim/Devices/LabJack/UnitTests/LabJackDeviceTest.cpp000066400000000000000000000375741277777236100263130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the LabJackDevice class. #include #include #include #include #include #include "SurgSim/Devices/LabJack/LabJackDevice.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::Devices::LabJackDevice; using SurgSim::Devices::LabJackScaffold; using SurgSim::DataStructures::DataGroup; using SurgSim::Input::InputConsumerInterface; using SurgSim::Input::OutputProducerInterface; using SurgSim::Testing::MockInputOutput; namespace { void testCreateDeviceSeveralTimes(bool doSleep) { for (int i = 0; i < 6; ++i) { std::shared_ptr device = std::make_shared("TestLabJack"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a LabJack device plugged in?"; if (doSleep) { boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(100)); } // the device will be destroyed here } } }; TEST(LabJackDeviceTest, CreateUninitializedDevice) { //LabJackScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device = std::make_shared("TestLabJack"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; } TEST(LabJackDeviceTest, CreateAndInitializeDevice) { //LabJackScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device = std::make_shared("TestLabJack"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_FALSE(device->isInitialized()); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a LabJack device plugged in?"; EXPECT_TRUE(device->isInitialized()); } TEST(LabJackDeviceTest, Name) { //LabJackScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device = std::make_shared("TestLabJack"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_EQ("TestLabJack", device->getName()); EXPECT_TRUE(device->initialize()) << "Initialization failed. Is a LabJack device plugged in?"; EXPECT_EQ("TestLabJack", device->getName()); } TEST(LabJackDeviceTest, CreateDeviceSeveralTimes) { //LabJackScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); testCreateDeviceSeveralTimes(true); } TEST(LabJackDeviceTest, CreateSeveralDevices) { //LabJackScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device1 = std::make_shared("LabJack1"); ASSERT_TRUE(device1 != nullptr) << "Device creation failed."; ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a LabJack device plugged in?"; // We can't check what happens with the scaffolds, since those are no longer a part of the device's API... std::shared_ptr device2 = std::make_shared("LabJack2"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; if (!device2->initialize()) { std::cerr << "[Warning: second LabJack controller did not come up; is it plugged in?]" << std::endl; } } TEST(LabJackDeviceTest, CreateDevicesWithSameName) { //LabJackScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device1 = std::make_shared("LabJack"); ASSERT_TRUE(device1 != nullptr) << "Device creation failed."; ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a LabJack device plugged in?"; std::shared_ptr device2 = std::make_shared("LabJack"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; ASSERT_FALSE(device2->initialize()) << "Initialization succeeded despite duplicate name."; } TEST(LabJackDeviceTest, InputConsumer) { std::shared_ptr device = std::make_shared("TestLabJack"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a LabJack device plugged in?"; std::shared_ptr consumer = std::make_shared(); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_FALSE(device->removeInputConsumer(consumer)); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device->addInputConsumer(consumer)); EXPECT_TRUE(device->setOutputProducer(consumer)); // Adding the same input consumer again should fail. EXPECT_FALSE(device->addInputConsumer(consumer)); // Sleep to see how many times the consumer is invoked. boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeInputConsumer(consumer)); // Removing the same input consumer again should fail. EXPECT_FALSE(device->removeInputConsumer(consumer)); // Check the number of invocations. EXPECT_EQ(1, consumer->m_numTimesInitializedInput); // The update rate is not compared against a larger lower bound because the LabJack's response time is highly // dependent on the model, the connection (e.g., whether a high-speed USB2 hub is between the device and the // USB host), the number of USB frames required, and the calculations necessary for inputs/outputs. // See section 3.1 - Command/Response in the LabJack User's Guide. EXPECT_GE(consumer->m_numTimesReceivedInput, 1); EXPECT_LE(consumer->m_numTimesReceivedInput, 1.1 * device->getMaximumUpdateRate()); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasEntry(SurgSim::DataStructures::Names::DIGITAL_INPUT_PREFIX + std::to_string(0))); // The LabJackDevice provides entries for digital input lines 0 - 23. EXPECT_TRUE(consumer->m_lastReceivedInput.scalars().hasEntry(SurgSim::DataStructures::Names::TIMER_INPUT_PREFIX + std::to_string(0))); // The LabJackDevice provides entries for timer input lines 0 - 6. } TEST(LabJackDeviceTest, OutputProducer) { //LabJackScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device = std::make_shared("TestLabJack"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a LabJack device plugged in?"; std::shared_ptr producer = std::make_shared(); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_FALSE(device->removeOutputProducer(producer)); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_TRUE(device->setOutputProducer(producer)); // Sleep to see how many times the producer is invoked. boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeOutputProducer(producer)); // Removing the same input producer again should fail. EXPECT_FALSE(device->removeOutputProducer(producer)); // Check the number of invocations. // The update rate is not compared against a larger lower bound because the LabJack's response time is highly // dependent on the model, the connection (e.g., whether a high-speed USB2 hub is between the device and the // USB host), the number of USB frames required, and the calculations necessary for inputs/outputs. // See section 3.1 - Command/Response in the LabJack User's Guide. EXPECT_GE(producer->m_numTimesRequestedOutput, 1); EXPECT_LE(producer->m_numTimesRequestedOutput, 1.1 * device->getMaximumUpdateRate()); } TEST(LabJackDeviceTest, GettersAndSetters) { std::shared_ptr device = std::make_shared("TestLabJack"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; const SurgSim::Devices::LabJack::Model model = SurgSim::Devices::LabJack::MODEL_U6; EXPECT_NO_THROW(device->setModel(model)); EXPECT_EQ(model, device->getModel()); const SurgSim::Devices::LabJack::Connection connection = SurgSim::Devices::LabJack::CONNECTION_USB; EXPECT_NO_THROW(device->setConnection(connection)); EXPECT_EQ(connection, device->getConnection()); const std::string address = "14"; EXPECT_NO_THROW(device->setAddress(address)); EXPECT_EQ(address, device->getAddress()); bool reset = true; device->setResetOnDestruct(reset); EXPECT_EQ(reset, device->getResetOnDestruct()); reset = false; device->setResetOnDestruct(reset); EXPECT_EQ(reset, device->getResetOnDestruct()); std::unordered_set digitalInputChannels; digitalInputChannels.insert(2); digitalInputChannels.insert(11); EXPECT_NO_THROW(device->enableDigitalInput(SurgSim::Devices::LabJack::FIO2)); EXPECT_NO_THROW(device->enableDigitalInput(SurgSim::Devices::LabJack::EIO3)); EXPECT_EQ(digitalInputChannels, device->getDigitalInputs()); digitalInputChannels.insert(14); EXPECT_NO_THROW(device->setDigitalInputs(digitalInputChannels)); EXPECT_EQ(digitalInputChannels, device->getDigitalInputs()); std::unordered_set digitalOutputChannels; digitalOutputChannels.insert(3); digitalOutputChannels.insert(17); EXPECT_NO_THROW(device->enableDigitalOutput(SurgSim::Devices::LabJack::FIO3)); EXPECT_NO_THROW(device->enableDigitalOutput(SurgSim::Devices::LabJack::CIO1)); EXPECT_EQ(digitalOutputChannels, device->getDigitalOutputs()); digitalOutputChannels.insert(5); EXPECT_NO_THROW(device->setDigitalOutputs(digitalOutputChannels)); EXPECT_EQ(digitalOutputChannels, device->getDigitalOutputs()); const SurgSim::Devices::LabJack::TimerBase timerBase = SurgSim::Devices::LabJack::TIMERBASE_DEFAULT; EXPECT_NO_THROW(device->setTimerBase(timerBase)); EXPECT_EQ(timerBase, device->getTimerBase()); const int timerDivisor = 7; EXPECT_NO_THROW(device->setTimerClockDivisor(timerDivisor)); EXPECT_EQ(timerDivisor, device->getTimerClockDivisor()); const int pinOffset = 3; EXPECT_NO_THROW(device->setTimerCounterPinOffset(pinOffset)); EXPECT_EQ(pinOffset, device->getTimerCounterPinOffset()); std::unordered_map timers; SurgSim::Devices::LabJack::TimerSettings quadrature = {SurgSim::Devices::LabJack::TIMERMODE_QUADRATURE, SurgSim::DataStructures::OptionalValue()}; timers[0] = quadrature; SurgSim::Devices::LabJack::TimerSettings frequencyOutput = {SurgSim::Devices::LabJack::TIMERMODE_FREQUENCY_OUTPUT, SurgSim::DataStructures::OptionalValue(234)}; timers[3] = frequencyOutput; EXPECT_NO_THROW(device->enableTimer(SurgSim::Devices::LabJack::TIMER0, SurgSim::Devices::LabJack::TIMERMODE_QUADRATURE)); EXPECT_NO_THROW(device->enableTimer(SurgSim::Devices::LabJack::TIMER3, SurgSim::Devices::LabJack::TIMERMODE_FREQUENCY_OUTPUT, 234)); EXPECT_EQ(timers, device->getTimers()); SurgSim::Devices::LabJack::TimerSettings dutyCycle = {SurgSim::Devices::LabJack::TIMERMODE_DUTY_CYCLE, SurgSim::DataStructures::OptionalValue()}; timers[4] = dutyCycle; EXPECT_NO_THROW(device->setTimers(timers)); EXPECT_EQ(timers, device->getTimers()); const double rate = 300.0; EXPECT_NO_THROW(device->setMaximumUpdateRate(rate)); EXPECT_NEAR(rate, device->getMaximumUpdateRate(), 1e-9); std::unordered_map analogInputs; const SurgSim::Devices::LabJack::AnalogInputSettings differentialRangeAndChannel = {SurgSim::Devices::LabJack::Range::RANGE_10, SurgSim::DataStructures::OptionalValue(1)}; analogInputs[2] = differentialRangeAndChannel; const SurgSim::Devices::LabJack::AnalogInputSettings singleEndedRange = {SurgSim::Devices::LabJack::Range::RANGE_0_POINT_1, SurgSim::DataStructures::OptionalValue()}; analogInputs[5] = singleEndedRange; EXPECT_NO_THROW(device->enableAnalogInput(SurgSim::Devices::LabJack::AIN2, SurgSim::Devices::LabJack::Range::RANGE_10, 1)); EXPECT_NO_THROW(device->enableAnalogInput(SurgSim::Devices::LabJack::AIN5, SurgSim::Devices::LabJack::Range::RANGE_0_POINT_1)); EXPECT_EQ(analogInputs, device->getAnalogInputs()); const SurgSim::Devices::LabJack::AnalogInputSettings anotherRange = {SurgSim::Devices::LabJack::Range::RANGE_0_POINT_01, SurgSim::DataStructures::OptionalValue()}; analogInputs[6] = anotherRange; EXPECT_NO_THROW(device->setAnalogInputs(analogInputs)); EXPECT_EQ(analogInputs, device->getAnalogInputs()); const int resolution = 3; EXPECT_NO_THROW(device->setAnalogInputResolution(resolution)); EXPECT_EQ(resolution, device->getAnalogInputResolution()); const int settling = 2; EXPECT_NO_THROW(device->setAnalogInputSettling(settling)); EXPECT_EQ(settling, device->getAnalogInputSettling()); std::unordered_set analogOutputChannels; analogOutputChannels.insert(1); EXPECT_NO_THROW(device->enableAnalogOutput(SurgSim::Devices::LabJack::DAC1)); EXPECT_EQ(analogOutputChannels, device->getAnalogOutputs()); analogOutputChannels.insert(0); EXPECT_NO_THROW(device->setAnalogOutputs(analogOutputChannels)); EXPECT_EQ(analogOutputChannels, device->getAnalogOutputs()); } TEST(LabJackDeviceTest, NoSettingAfterInitialization) { std::shared_ptr device = std::make_shared("TestLabJack"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a LabJack device plugged in?"; EXPECT_THROW(device->setModel(SurgSim::Devices::LabJack::MODEL_U6), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->setConnection(SurgSim::Devices::LabJack::CONNECTION_USB), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->setAddress("14"), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->enableDigitalInput(SurgSim::Devices::LabJack::FIO2), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->setDigitalInputs(std::unordered_set()), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->enableDigitalOutput(SurgSim::Devices::LabJack::FIO3), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->setDigitalOutputs(std::unordered_set()), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->setTimerBase(SurgSim::Devices::LabJack::TIMERBASE_DEFAULT), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->setTimerClockDivisor(7), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->setTimerCounterPinOffset(3), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->enableTimer(SurgSim::Devices::LabJack::TIMER0, SurgSim::Devices::LabJack::TIMERMODE_QUADRATURE), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->setTimers(std::unordered_map()), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->setMaximumUpdateRate(300.0), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->enableAnalogInput(SurgSim::Devices::LabJack::AIN2, SurgSim::Devices::LabJack::Range::RANGE_10, 1), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->setAnalogInputs(std::unordered_map()), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->setAnalogInputResolution(3), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->setAnalogInputSettling(2), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->enableAnalogOutput(SurgSim::Devices::LabJack::DAC0), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->setAnalogOutputs(std::unordered_set()), SurgSim::Framework::AssertionFailure); }opensurgsim-0.7.0/SurgSim/Devices/LabJack/UnitTests/LabJackScaffoldTest.cpp000066400000000000000000000164371277777236100266300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the LabJackScaffold class and its device interactions. #include #include #include #include #include #include "SurgSim/Devices/LabJack/LabJackDevice.h" #include "SurgSim/Devices/LabJack/LabJackScaffold.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Input/InputConsumerInterface.h" #include "SurgSim/Input/OutputProducerInterface.h" using SurgSim::Devices::LabJackDevice; using SurgSim::Devices::LabJackScaffold; TEST(LabJackScaffoldTest, CreateAndDestroyScaffold) { //LabJackScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr scaffold = LabJackScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created!"; std::weak_ptr scaffold1 = scaffold; { std::shared_ptr stillHaveScaffold = scaffold1.lock(); EXPECT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; EXPECT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } { std::shared_ptr sameScaffold = LabJackScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, sameScaffold) << "Unable to get scaffold from class"; EXPECT_EQ(scaffold, sameScaffold) << "Scaffold mismatch!"; } scaffold.reset(); { std::shared_ptr dontHaveScaffold = scaffold1.lock(); EXPECT_EQ(nullptr, dontHaveScaffold) << "Able to get scaffold from weak ref (with no strong ref)"; } scaffold = LabJackScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created the 2nd time!"; std::weak_ptr scaffold2 = scaffold; { std::shared_ptr stillHaveScaffold = scaffold2.lock(); ASSERT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; ASSERT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } } TEST(LabJackScaffoldTest, ScaffoldLifeCycle) { //LabJackScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::weak_ptr lastScaffold; { std::shared_ptr scaffold = LabJackScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created!"; lastScaffold = scaffold; } { std::shared_ptr dontHaveScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, dontHaveScaffold) << "Able to get scaffold from weak ref (with no strong ref)"; lastScaffold.reset(); } { std::shared_ptr device = std::make_shared("TestLabJack"); ASSERT_NE(nullptr, device) << "Creation failed. Is a LabJack device plugged in?"; // note: the device is NOT initialized! { std::shared_ptr scaffold = LabJackScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // save the scaffold for later std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); EXPECT_EQ(scaffold, sameScaffold); } // The device has not been initialized, so it should NOT be hanging on to the device! { std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } // the ("empty") device is about to get destroyed } { std::shared_ptr device = std::make_shared("TestLabJack"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a LabJack device plugged in?"; { std::shared_ptr scaffold = LabJackScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // save the scaffold for later std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); EXPECT_EQ(scaffold, sameScaffold); } // The same scaffold is supposed to still be around because of the device { std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); std::shared_ptr scaffold = LabJackScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; EXPECT_EQ(sameScaffold, scaffold); } // the device and the scaffold are about to get destroyed } { std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } { std::shared_ptr device = std::make_shared("TestLabJack"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Didn't this work a moment ago?"; std::shared_ptr scaffold = LabJackScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } } TEST(LabJackScaffoldTest, CreateDeviceSeveralTimes) { //LabJackScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::weak_ptr lastScaffold; for (int i = 0; i < 6; ++i) { SCOPED_TRACE(i); EXPECT_EQ(nullptr, lastScaffold.lock()); std::shared_ptr device = std::make_shared("TestLabJack"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a LabJack device plugged in?"; std::shared_ptr scaffold = LabJackScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // the device and the scaffold will be destroyed here } } TEST(LabJackScaffoldTest, CreateDeviceSeveralTimesWithScaffoldRef) { //LabJackScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr lastScaffold; for (int i = 0; i < 6; ++i) { SCOPED_TRACE(i); std::shared_ptr device = std::make_shared("TestLabJack"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a LabJack device plugged in?"; std::shared_ptr scaffold = LabJackScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; if (! lastScaffold) { lastScaffold = scaffold; } EXPECT_EQ(lastScaffold, scaffold); // the device will be destroyed here, but the scaffold stays around because we have a shared_ptr to it. } } opensurgsim-0.7.0/SurgSim/Devices/LabJack/UnitTests/LabJackTypeConvertersTest.cpp000066400000000000000000000050171277777236100300730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the LabJack specific type converters. #include #include "SurgSim/Devices/LabJack/linux/LabJackConstants.h" #include "SurgSim/Devices/LabJack/linux/LabJackTypeConverters.h" namespace { const double EPSILON = 1e-9; } TEST(LabJackTypeConvertersTest, DoubleFromChars) { std::array bytes; for (int i = 0; i < 24; ++i) { bytes[i] = 0; } EXPECT_NEAR(0.0, SurgSim::Devices::LabJack::doubleFromChars(bytes, 0), EPSILON); bytes[12] = 2; EXPECT_NEAR(2.0, SurgSim::Devices::LabJack::doubleFromChars(bytes, 8), EPSILON); bytes[20] = 255; bytes[21] = 255; bytes[22] = 255; bytes[23] = 255; EXPECT_NEAR(-1.0, SurgSim::Devices::LabJack::doubleFromChars(bytes, 16), EPSILON); } TEST(LabJackTypeConvertersTest, Uint32FromChars) { std::array bytes; for (int i = 0; i < 8; ++i) { bytes[i] = 0; } bytes[4] = 1; EXPECT_ANY_THROW(SurgSim::Devices::LabJack::uint32FromChars(bytes, 0, 5)); EXPECT_EQ(0, SurgSim::Devices::LabJack::uint32FromChars(bytes, 0, 4)); EXPECT_EQ(1 << 24, SurgSim::Devices::LabJack::uint32FromChars(bytes, 1, 4)); EXPECT_EQ(1 << 16, SurgSim::Devices::LabJack::uint32FromChars(bytes, 2, 3)); EXPECT_EQ(1, SurgSim::Devices::LabJack::uint32FromChars(bytes, 4, 4)); } TEST(LabJackTypeConvertersTest, Uint16FromChars) { std::array bytes; for (int i = 0; i < 4; ++i) { bytes[i] = 0; } bytes[2] = 1; EXPECT_ANY_THROW(SurgSim::Devices::LabJack::uint16FromChars(bytes, 0, 3)); EXPECT_EQ(0, SurgSim::Devices::LabJack::uint16FromChars(bytes, 0, 2)); EXPECT_EQ(1 << 8, SurgSim::Devices::LabJack::uint16FromChars(bytes, 1, 2)); EXPECT_EQ(1, SurgSim::Devices::LabJack::uint16FromChars(bytes, 2, 1)); EXPECT_EQ(1, SurgSim::Devices::LabJack::uint16FromChars(bytes, 2, 2)); } opensurgsim-0.7.0/SurgSim/Devices/LabJack/VisualTest/000077500000000000000000000000001277777236100224615ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/LabJack/VisualTest/CMakeLists.txt000066400000000000000000000020161277777236100252200ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. set(EXAMPLE_SOURCES main.cpp ) set(EXAMPLE_HEADERS ) surgsim_add_executable(LabJackVisualTest "${EXAMPLE_SOURCES}" "${EXAMPLE_HEADERS}") set(LIBS IdentityPoseDevice LabJackDevice SurgSimDataStructures SurgSimDeviceFilters SurgSimInput SurgSimMath VisualTestCommon ) target_link_libraries(LabJackVisualTest ${LIBS}) set_target_properties(LabJackVisualTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/LabJack/VisualTest/main.cpp000066400000000000000000000262761277777236100241260ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Devices/DeviceFilters/DeviceFilter.h" #include "SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.h" #include "SurgSim/Devices/LabJack/LabJackDevice.h" #include "SurgSim/Input/CommonDevice.h" #include "SurgSim/Input/DeviceInterface.h" #include "SurgSim/Input/InputConsumerInterface.h" #include "SurgSim/Input/OutputProducerInterface.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Testing/VisualTestCommon/ToolSquareTest.h" using SurgSim::DataStructures::DataGroup; using SurgSim::DataStructures::DataGroupBuilder; using SurgSim::Devices::IdentityPoseDevice; using SurgSim::Devices::LabJackDevice; using SurgSim::Input::DeviceInterface; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; class LabJackToPoseFilter : public SurgSim::Devices::DeviceFilter { public: LabJackToPoseFilter(const std::string& name, int firstTimerForQuadrature, int resetQuadrature, int plusX, int minusX, double translationPerUpdate, int positiveAnalogDifferential, int analogSingleEnded, int xOut, int loopbackOut) : SurgSim::Devices::DeviceFilter(name), m_pose(RigidTransform3d::Identity()), m_translationPerUpdate(translationPerUpdate), m_lineForPlusX(plusX), m_lineForMinusX(minusX), m_firstTimerForQuadrature(firstTimerForQuadrature), m_lineForResetQuadrature(resetQuadrature), m_analogInputDifferentialPositive(positiveAnalogDifferential), m_analogInputSingleEnded(analogSingleEnded), m_cachedOutputIndices(false), m_digitalInputPlusXIndex(-1), m_digitalInputMinusXIndex(-1), m_timerInputIndex(-1), m_analogInputDifferentialIndex(-1), m_analogInputSingleEndedIndex(-1), m_analogOutputIndex(-1), m_digitalOutputIndex(-1) { DataGroupBuilder inputBuilder; inputBuilder.addPose(SurgSim::DataStructures::Names::POSE); getInputData() = inputBuilder.createData(); m_poseIndex = getInputData().poses().getIndex(SurgSim::DataStructures::Names::POSE); DataGroupBuilder outputBuilder; const std::string outputName = SurgSim::DataStructures::Names::ANALOG_OUTPUT_PREFIX + std::to_string(xOut); outputBuilder.addScalar(outputName); const std::string digitalOutputName = SurgSim::DataStructures::Names::DIGITAL_OUTPUT_PREFIX + std::to_string(loopbackOut); outputBuilder.addBoolean(digitalOutputName); outputBuilder.addScalar(SurgSim::DataStructures::Names::TIMER_OUTPUT_PREFIX + std::to_string(m_firstTimerForQuadrature)); m_outputData = outputBuilder.createData(); m_analogOutputIndex = m_outputData.scalars().getIndex(outputName); m_digitalOutputIndex = m_outputData.booleans().getIndex(digitalOutputName); } void initializeInput(const std::string& device, const DataGroup& inputData) override { m_digitalInputPlusXIndex = inputData.booleans().getIndex(SurgSim::DataStructures::Names::DIGITAL_INPUT_PREFIX + std::to_string(m_lineForPlusX)); m_digitalInputMinusXIndex = inputData.booleans().getIndex(SurgSim::DataStructures::Names::DIGITAL_INPUT_PREFIX + std::to_string(m_lineForMinusX)); m_timerInputIndex = inputData.scalars().getIndex(SurgSim::DataStructures::Names::TIMER_INPUT_PREFIX + std::to_string(m_firstTimerForQuadrature)); m_analogInputDifferentialIndex = inputData.scalars().getIndex(SurgSim::DataStructures::Names::ANALOG_INPUT_PREFIX + std::to_string(m_analogInputDifferentialPositive)); m_analogInputSingleEndedIndex = inputData.scalars().getIndex(SurgSim::DataStructures::Names::ANALOG_INPUT_PREFIX + std::to_string(m_analogInputSingleEnded)); filterInput(device, inputData, &getInputData()); } void filterInput(const std::string& device, const DataGroup& dataToFilter, DataGroup* result) override { m_lastInputData = dataToFilter; // Turn LabJack inputs into a pose so it can control the sphere. if (m_digitalInputPlusXIndex >= 0) { bool value; if (dataToFilter.booleans().get(m_digitalInputPlusXIndex, &value)) { // If the device passed us this line's input, and the input is high... if (value) { m_pose.translation() += Vector3d::UnitX() * m_translationPerUpdate; } } } if (m_digitalInputMinusXIndex >= 0) { bool value; if (dataToFilter.booleans().get(m_digitalInputMinusXIndex, &value)) { // If the device passed us this line's input, and the input is high... if (value) { m_pose.translation() -= Vector3d::UnitX() * m_translationPerUpdate; } } } if (m_timerInputIndex >= 0) { double value; // For quadrature inputs, we only need the input value of the first of the timers. if (dataToFilter.scalars().get(m_timerInputIndex, &value)) { m_pose.translation()[1] = value * m_translationPerUpdate; } } const double rotationScaling = 0.0001 * 180.0 / M_PI; if (m_analogInputDifferentialIndex >= 0) { double value; if (dataToFilter.scalars().get(m_analogInputDifferentialIndex, &value)) { m_pose.rotate(SurgSim::Math::makeRotationQuaternion(value * rotationScaling, Vector3d::UnitX().eval())); } } if (m_analogInputSingleEndedIndex >= 0) { double value; if (dataToFilter.scalars().get(m_analogInputSingleEndedIndex, &value)) { m_pose.rotate(SurgSim::Math::makeRotationQuaternion(value * rotationScaling, Vector3d::UnitY().eval())); } } result->poses().set(m_poseIndex, m_pose); } void filterOutput(const std::string& device, const DataGroup& dataToFilter, DataGroup* result) override { *result = m_outputData; const double xScaling = 100.0; const double x = std::min(5.0, std::abs(m_pose.translation().x() * xScaling)); result->scalars().set(m_analogOutputIndex, x); bool value; if (m_lastInputData.booleans().get(m_digitalInputMinusXIndex, &value)) { result->booleans().set(m_digitalOutputIndex, value); } else { result->booleans().reset(m_digitalOutputIndex); } bool resetQuadrature = false; if ((m_lastInputData.booleans().get(SurgSim::DataStructures::Names::DIGITAL_INPUT_PREFIX + std::to_string(m_lineForResetQuadrature), &resetQuadrature)) && resetQuadrature) { result->scalars().set(SurgSim::DataStructures::Names::TIMER_OUTPUT_PREFIX + std::to_string(m_firstTimerForQuadrature), 0.0); } else { result->scalars().reset(SurgSim::DataStructures::Names::TIMER_OUTPUT_PREFIX + std::to_string(m_firstTimerForQuadrature)); } } private: DataGroup m_outputData; DataGroup m_lastInputData; RigidTransform3d m_pose; double m_translationPerUpdate; int m_lineForPlusX; int m_lineForMinusX; int m_firstTimerForQuadrature; int m_lineForResetQuadrature; int m_analogInputDifferentialPositive; int m_analogInputDifferentialNegative; int m_analogInputSingleEnded; bool m_cachedOutputIndices; int m_poseIndex; int m_digitalInputPlusXIndex; int m_digitalInputMinusXIndex; int m_timerInputIndex; int m_analogInputDifferentialIndex; int m_analogInputSingleEndedIndex; int m_analogOutputIndex; int m_digitalOutputIndex; }; int main(int argc, char** argv) { std::shared_ptr toolDevice = std::make_shared("LabJackDevice"); toolDevice->setAddress(""); // Get the first-found of the specified type and connection. const int plusX = SurgSim::Devices::LabJack::FIO0; toolDevice->enableDigitalInput(plusX); const int minusX = SurgSim::Devices::LabJack::FIO1; toolDevice->enableDigitalInput(minusX); const int loopbackOut = SurgSim::Devices::LabJack::FIO2; toolDevice->enableDigitalOutput(loopbackOut); const int offset = 4; toolDevice->setTimerCounterPinOffset(offset); // the U3 requires the offset to be 4+. const int firstTimerForQuadrature = SurgSim::Devices::LabJack::TIMER0; toolDevice->enableTimer(firstTimerForQuadrature, SurgSim::Devices::LabJack::TIMERMODE_QUADRATURE); toolDevice->enableTimer(firstTimerForQuadrature + 1, SurgSim::Devices::LabJack::TIMERMODE_QUADRATURE); const int resetQuadrature = SurgSim::Devices::LabJack::FIO3; toolDevice->enableDigitalInput(resetQuadrature); const int singleEndedAnalog = SurgSim::Devices::LabJack::AIN1; toolDevice->enableAnalogInput(singleEndedAnalog, SurgSim::Devices::LabJack::Range::RANGE_10); const int positiveAnalogDifferential = SurgSim::Devices::LabJack::AIN2; const int negativeAnalogDifferential = SurgSim::Devices::LabJack::AIN3; toolDevice->enableAnalogInput(positiveAnalogDifferential, SurgSim::Devices::LabJack::Range::RANGE_10, negativeAnalogDifferential); const int xOut = SurgSim::Devices::LabJack::DAC1; toolDevice->enableAnalogOutput(xOut); const double translationPerUpdate = 0.001; // Millimeter per update. auto filter = std::make_shared("LabJack to Pose filter", firstTimerForQuadrature, resetQuadrature, plusX, minusX, translationPerUpdate, positiveAnalogDifferential, singleEndedAnalog, xOut, loopbackOut); toolDevice->setOutputProducer(filter); toolDevice->addInputConsumer(filter); if (toolDevice->initialize()) { // The square is controlled by a second device. For a simple test, we're using an IdentityPoseDevice-- // a pretend device that doesn't actually move. std::shared_ptr squareDevice = std::make_shared("IdentityPoseDevice"); std::string text = "Set FIO" + std::to_string(plusX); text += " low to move the sphere tool in positive x-direction. "; text += "Set FIO" + std::to_string(minusX); text += " low to move in negative x, and that input will be output to FIO"; text += std::to_string(loopbackOut) + " (a loopback). "; text += "DAC" + std::to_string(xOut); text += " will provide a voltage proportional to the absolute value of the x-position, up to 5v. "; text += "Spin a quadrature encoder attached to FIO" + std::to_string(firstTimerForQuadrature + offset); text += " and FIO" + std::to_string(firstTimerForQuadrature + offset + 1); text += " to move the sphere +/- y-direction. Set FIO" + std::to_string(resetQuadrature); text += " high to reset the quadrature reading. "; text += "Provide a differential analog input to AIN" + std::to_string(positiveAnalogDifferential); text += " and AIN" + std::to_string(negativeAnalogDifferential) + " to spin about the red axis. "; text += "Provide a single-ended analog input to AIN" + std::to_string(singleEndedAnalog); text += " to spin about the green axis."; runToolSquareTest(filter, squareDevice, //2345678901234567890123456789012345678901234567890123456789012345678901234567890 text.c_str()); } else { std::cout << std::endl << "Error initializing tool." << std::endl; } std::cout << std::endl << "Exiting." << std::endl; // Cleanup and shutdown will happen automatically as objects go out of scope. return 0; } opensurgsim-0.7.0/SurgSim/Devices/LabJack/linux/000077500000000000000000000000001277777236100215155ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/LabJack/linux/LabJackChecksums.cpp000066400000000000000000000044121277777236100253570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/LabJack/linux/LabJackChecksums.h" namespace SurgSim { namespace Devices { namespace LabJack { unsigned char normalChecksum8(const std::array& bytes, int count) { uint16_t accumulator = 0; //Sums bytes 1 to n-1 unsigned to a 2 byte value. Sums quotient and //remainder of 256 division. Again, sums quotient and remainder of //256 division. for (int i = 1; i < count; ++i) { accumulator += static_cast(bytes.at(i)); } uint16_t quotient = accumulator / 256; accumulator = (accumulator - 256 * quotient) + quotient; quotient = accumulator / 256; return static_cast((accumulator - 256 * quotient) + quotient); } uint16_t extendedChecksum16(const std::array& bytes, int count) { uint16_t accumulator = 0; //Sums bytes 6 to n-1 to an unsigned 2 byte value for (int i = 6; i < count; ++i) { accumulator += static_cast(bytes.at(i)); } return accumulator; } unsigned char extendedChecksum8(const std::array& bytes) { return normalChecksum8(bytes, 6); } void normalChecksum(std::array* bytes, int count) { (*bytes)[0] = normalChecksum8(*bytes, count); } void extendedChecksum(std::array* bytes, int count) { uint16_t accumulator = extendedChecksum16(*bytes, count); (*bytes)[4] = static_cast(accumulator & 0xff); (*bytes)[5] = static_cast((accumulator / 256) & 0xff); (*bytes)[0] = extendedChecksum8(*bytes); } }; // namespace LabJack }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/LabJack/linux/LabJackChecksums.h000066400000000000000000000062371277777236100250330ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_LABJACK_LINUX_LABJACKCHECKSUMS_H #define SURGSIM_DEVICES_LABJACK_LINUX_LABJACKCHECKSUMS_H #include #include "SurgSim/Devices/LabJack/linux/LabJackConstants.h" namespace SurgSim { namespace Devices { /// A collection of checksum functions specifically tailored for the labjackusb driver. These functions are based off /// the description in the LabJack User's Guide, and the examples provided with labjackusb. namespace LabJack { /// Calculates an 8-bit 1's complement unsigned checksum specifically for normal command communication with the /// low-level LabJack driver. /// \param bytes The buffer of bytes. /// \param count The number of bytes to check. /// \return The checksum byte. unsigned char normalChecksum8(const std::array& bytes, int count); /// Calculates a 16-bit 1's complement unsigned checksum specifically for extended command communication with the /// low-level LabJack driver. /// \param bytes The buffer of bytes. /// \param count The number of bytes to check. /// \return The checksum byte. uint16_t extendedChecksum16(const std::array& bytes, int count); /// Calculates an 8-bit 1's complement unsigned checksum specifically for extended command communication with the /// low-level LabJack driver. /// \param bytes The buffer of bytes. /// \return The checksum byte. unsigned char extendedChecksum8(const std::array& bytes); /// Performs the 8-bit 1's complement unsigned checksum required for normal command communication with the /// low-level LabJack driver, and stores the result in the buffer. This function is called prior to writing data /// to the device for a "normal" command, so that the device can do a checksum. /// \param [in,out] bytes The buffer of bytes. /// \param count The number of bytes to check. void normalChecksum(std::array* bytes, int count); /// Performs the 1's complement unsigned checksums required for extended command communication with the /// low-level LabJack driver, and stores the results in the buffer. This function is called prior to writing data /// to the device for an "extended" command, so that the device can do a checksum. /// \param [in,out] bytes The buffer of bytes. /// \param count The number of bytes to check. void extendedChecksum(std::array* bytes, int count); }; // namespace LabJack }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_LABJACK_LINUX_LABJACKCHECKSUMS_H opensurgsim-0.7.0/SurgSim/Devices/LabJack/linux/LabJackConstants.h000066400000000000000000000021041277777236100250470ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_LABJACK_LINUX_LABJACKCONSTANTS_H #define SURGSIM_DEVICES_LABJACK_LINUX_LABJACKCONSTANTS_H #include namespace SurgSim { namespace Devices { namespace LabJack { /// The maximum size of a read or write buffer for labjackusb driver. static const int MAXIMUM_BUFFER = 64; }; // namespace LabJack }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_LABJACK_LINUX_LABJACKCONSTANTS_H opensurgsim-0.7.0/SurgSim/Devices/LabJack/linux/LabJackScaffold.cpp000066400000000000000000001617371277777236100251710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/LabJack/LabJackScaffold.h" #include #include #include #include #include #include // the low-level LabJack library (aka exodriver) #include #include #include // fixed-width integer types are used for low-level data communication #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Devices/LabJack/LabJackDevice.h" #include "SurgSim/Devices/LabJack/LabJackThread.h" #include "SurgSim/Devices/LabJack/linux/LabJackChecksums.h" #include "SurgSim/Devices/LabJack/linux/LabJackConstants.h" #include "SurgSim/Devices/LabJack/linux/LabJackTypeConverters.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SharedInstance.h" namespace SurgSim { namespace Devices { namespace { /// Distinguish the name of the hardware library's handle from our wrapper with a prefix. typedef HANDLE LJ_HANDLE; /// The low-level LabJack library returns a NULL handle when failing to open a new device. static const LJ_HANDLE LABJACK_INVALID_HANDLE = NULL; /// A struct containing the default settings that depend on the model of LabJack. struct LabJackDefaults { LabJackDefaults() { timerBase[LabJack::MODEL_U3] = LabJack::TIMERBASE_2; timerBase[LabJack::MODEL_U6] = LabJack::TIMERBASE_2; timerBase[LabJack::MODEL_UE9] = LabJack::TIMERBASE_1; } /// The default timer base rate. std::unordered_map> timerBase; }; /// A struct containing various parameters that depend on the model of LabJack. struct LabJackParameters { LabJackParameters() { configBlocks[LabJack::MODEL_U3] = 16; // hardware version 1.30 & 1.21 configBlocks[LabJack::MODEL_U6] = 10; configBlocks[LabJack::MODEL_UE9] = 4; calibrationCommand[LabJack::MODEL_U3] = 0x2D; calibrationCommand[LabJack::MODEL_U6] = 0x2D; calibrationCommand[LabJack::MODEL_UE9] = 0x2A; calibrationThirdByte[LabJack::MODEL_U3] = 0x11; calibrationThirdByte[LabJack::MODEL_U6] = 0x11; calibrationThirdByte[LabJack::MODEL_UE9] = 0x41; calibrationReadBytes[LabJack::MODEL_U3] = 40; calibrationReadBytes[LabJack::MODEL_U6] = 40; calibrationReadBytes[LabJack::MODEL_UE9] = 136; } /// The number of config memory blocks. std::unordered_map> configBlocks; /// The extended command for reading the calibration data. std::unordered_map> calibrationCommand; /// The expected read third byte for the read calibration command. std::unordered_map> calibrationThirdByte; /// The number of bytes read per calibration read. std::unordered_map> calibrationReadBytes; }; /// Convert the LabJack::Range to the gain code expected by the low level driver. /// \param range The LabJack::Range code. /// \return The gain code. int getGain(LabJack::Range range) { int gain; switch (range) { case LabJack::RANGE_10: gain = 0; break; case LabJack::RANGE_1: gain = 1; break; case LabJack::RANGE_0_POINT_1: gain = 2; break; case LabJack::RANGE_0_POINT_01: gain = 3; break; default: gain = 15; } return gain; } /// Read from the LabJack and do most of the checksum tests. This function does not test readBytes[2] because its /// expected value varies. /// \param rawHandle The handle. /// \param readBytes The array of bytes. /// \param readBytesSize The number of bytes that should be read. /// \param name The name of the device being read. /// \param sendBytes The bytes that were sent. /// \param text The text explaining what the read is for, used in error log messages. /// \param logger The logger for error messages. /// \return true if no errors. bool readAndCheck(const LJ_HANDLE rawHandle, std::array* readBytes, int readBytesSize, const std::string& name, const std::array& sendBytes, const std::string& text, std::shared_ptr logger) { bool result = true; const int read = LJUSB_Read(rawHandle, &((*readBytes)[0]), readBytesSize); const uint16_t checksumTotal = LabJack::extendedChecksum16(*readBytes, readBytesSize); if (read < readBytesSize) { SURGSIM_LOG_SEVERE(logger) << "Failed to read response of " << text << " a device named '" << name << "'. " << readBytesSize << " bytes were expected, but only " << read << " were received." << std::endl << " labjackusb error code: " << errno << "." << std::endl; result = false; } else if ((((checksumTotal / 256 ) & 0xff) != (*readBytes)[5]) || ((checksumTotal & 0xff) != (*readBytes)[4]) || (LabJack::extendedChecksum8(*readBytes) != (*readBytes)[0])) { SURGSIM_LOG_SEVERE(logger) << "Failed to read response of " << text << " a device named '" << name << "'. The checksums are bad." << std::endl << " labjackusb error code: " << errno << "." << std::endl; result = false; } else if (((*readBytes)[1] != sendBytes[1]) || ((*readBytes)[3] != sendBytes[3])) { SURGSIM_LOG_SEVERE(logger) << "Failed to read response of " << text << " a device named '" << name << "'. The command bytes are wrong. Expected bytes 1 & 3: " << static_cast(sendBytes[1]) << "," << static_cast(sendBytes[3]) << ". Received bytes 1 & 3: " << static_cast((*readBytes)[1]) << ", " << static_cast((*readBytes)[3]) << "." << std::endl << " labjackusb error code: " << errno << "." << std::endl; result = false; } else if ((*readBytes)[6] != 0) { SURGSIM_LOG_SEVERE(logger) << "Failed to read response of " << text << " a device named '" << name << "'. The device library returned an error code: " << static_cast((*readBytes)[6]) << ", for frame: " << static_cast((*readBytes)[7]) << std::endl << " labjackusb error code: " << errno << "." << std::endl; result = false; } return result; } }; class LabJackScaffold::Handle { public: /// Constructor that attempts to open a device. /// \param model The model of LabJack device to open (see strings in LabJackUD.h). /// \param connection How to connect to the device (e.g., USB) (see strings in LabJackUD.h). /// \param address Either the ID or serial number (if USB), or the IP address. Handle(SurgSim::Devices::LabJack::Model model, SurgSim::Devices::LabJack::Connection connection, const std::string& address) : m_deviceHandle(LABJACK_INVALID_HANDLE), m_address(address), m_model(model), m_connection(connection), m_logger(Framework::Logger::getLogger("Devices/LabJack")) { bool result = true; if (m_model == LabJack::MODEL_UE9) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to open a device. " << "The UE9 model LabJack is not supported for the low-level driver used on Linux & Mac. " << "The commands for the UE9 have a different structure, which is not currently implemented." << std::endl << " Model: '" << m_model << "'. Connection: '" << m_connection << "'. Address: '" << m_address << "'." << std::endl; result = false; } if (m_connection != LabJack::CONNECTION_USB) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to open a device. " << "The LabJackDevice connection must be set to USB for the low-level driver used on Linux & Mac." << std::endl << " Model: '" << m_model << "'. Connection: '" << m_connection << "'. Address: '" << m_address << "'." << std::endl; result = false; } unsigned int deviceNumber = 1; // If no address is specified, grab the first device found of this model. if (m_address.length() > 0) { try { deviceNumber = std::stoi(m_address); } catch (int e) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to open a device. " << "The LabJackDevice address should be a string representation of an unsigned integer " << "corresponding to the device number (or the empty string to get the first device), " << "but the conversion from string to integer failed." << std::endl << " Model: '" << m_model << "'. Connection: '" << m_connection << "'. Address: '" << m_address << "'." << std::endl; result = false; } } if (result) { const unsigned int dwReserved = 0; // Not used, set to 0. int tries = 3; m_deviceHandle = LABJACK_INVALID_HANDLE; while ((m_deviceHandle == LABJACK_INVALID_HANDLE) && (--tries >= 0)) { m_deviceHandle = LJUSB_OpenDevice(deviceNumber, dwReserved, m_model); if ((m_deviceHandle == LABJACK_INVALID_HANDLE) && (tries >= 0)) { boost::this_thread::sleep_for(boost::chrono::milliseconds(1000)); } } if (m_deviceHandle == LABJACK_INVALID_HANDLE) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to open a device." << std::endl << " Model: '" << m_model << "'. Connection: '" << m_connection << "'. Address: '" << m_address << "'." << std::endl << " labjackusb error code: " << errno << "." << std::endl; result = false; } } } /// Destructor. ~Handle() { destroy(); } /// \return Whether or not the wrapped handle is valid. bool isValid() const { return (m_deviceHandle != LABJACK_INVALID_HANDLE); } /// Close communication with the hardware. /// \param reset true to cause a hardware reset & USB re-enumeration. Otherwise the hardware's settings will be /// unchanged (i.e., it will continue timing, counting, and outputting). void destroy(bool reset = false) { if (isValid()) { if (reset) { std::array sendBytes; sendBytes[1] = 0x99; //Command byte, Reset sendBytes[2] = 2; // Bit 1: Hard Reset. Bit 0: Soft Reset. sendBytes[3] = 0x00; int sendBytesSize = 4; int readBytesSize = 4; sendBytes[0] = LabJack::normalChecksum8(sendBytes, sendBytesSize); const int sent = LJUSB_Write(m_deviceHandle, &(sendBytes[0]), sendBytesSize); bool sendResult = true; if (sent < sendBytesSize) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to write reset command to a device." << " Model: '" << m_model << "'. Connection: '" << m_connection << "'. Address: '" << m_address << "'." << std::endl << sendBytesSize << " bytes should have been sent, but only " << sent << " were actually sent." << std::endl << " labjackusb error code: " << errno << "." << std::endl; sendResult = false; } if (sendResult) { std::array readBytes; const int read = LJUSB_Read(m_deviceHandle, &(readBytes[0]), readBytesSize); if (read < readBytesSize) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to read response of reset command." << " Model: '" << m_model << "'. Connection: '" << m_connection << "'. Address: '" << m_address << "'." << std::endl << readBytesSize << " bytes were expected, but only " << read << " were received." << std::endl << " labjackusb error code: " << errno << "." << std::endl; } else if (LabJack::normalChecksum8(readBytes, readBytesSize) != readBytes[0]) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to read response of reset command." << " Model: '" << m_model << "'. Connection: '" << m_connection << "'. Address: '" << m_address << "'." << std::endl << "The checksums are bad." << std::endl << " labjackusb error code: " << errno << "." << std::endl; } else if (readBytes[3] != 0) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to read response of reset command." << " Model: '" << m_model << "'. Connection: '" << m_connection << "'. Address: '" << m_address << "'." << std::endl << "The device library returned an error code: " << static_cast(readBytes[3]) << "." << std::endl << " labjackusb error code: " << errno << "." << std::endl; } } } LJUSB_CloseDevice(m_deviceHandle); m_deviceHandle = LABJACK_INVALID_HANDLE; } } /// \return The LabJack SDK's handle wrapped by this Handle. LJ_HANDLE get() const { return m_deviceHandle; } private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) Handle(const Handle&) /*= delete*/; Handle& operator=(const Handle&) /*= delete*/; /// The exodriver device handle (or LABJACK_INVALID_HANDLE if not valid). LJ_HANDLE m_deviceHandle; /// The address used to open the device. Can be the empty string if the first-found device was opened. std::string m_address; /// The model of the device. SurgSim::Devices::LabJack::Model m_model; /// The connection to the device. SurgSim::Devices::LabJack::Connection m_connection; /// The logger. std::shared_ptr m_logger; }; /// The per-device data. struct LabJackScaffold::DeviceData { public: /// Initialize the data, creating a thread. DeviceData(LabJackDevice* device, std::unique_ptr&& handle) : deviceObject(device), thread(), deviceHandle(std::move(handle)), digitalInputChannels(device->getDigitalInputs()), digitalOutputChannels(device->getDigitalOutputs()), timerInputChannels(getTimerInputChannels(device->getTimers())), timerOutputChannels(getTimerOutputChannels(device->getTimers())), analogInputs(device->getAnalogInputs()), analogOutputChannels(device->getAnalogOutputs()), cachedOutputIndices(false), configured(false) { } ~DeviceData() { if (thread != nullptr) { thread->stop(); thread = nullptr; } deviceHandle->destroy(deviceObject->getResetOnDestruct()); } /// The corresponding device object. LabJackDevice* const deviceObject; /// Processing thread. std::unique_ptr thread; /// Device handle to read from. std::unique_ptr deviceHandle; /// The channels read for digital inputs. const std::unordered_set digitalInputChannels; /// The channels set for digital outputs. const std::unordered_set digitalOutputChannels; /// The timer channels that provide inputs. const std::unordered_set timerInputChannels; /// The timer channels set for timer outputs (e.g., PWM outputs). const std::unordered_set timerOutputChannels; /// The analog inputs. const std::unordered_map analogInputs; /// The channels set for analog outputs. const std::unordered_set analogOutputChannels; /// The DataGroup indices for the digital outputs. std::unordered_map digitalOutputIndices; /// The DataGroup indices for the digital inputs. std::unordered_map digitalInputIndices; /// The DataGroup indices for the timer outputs. std::unordered_map timerOutputIndices; /// The DataGroup indices for the timer inputs. std::unordered_map timerInputIndices; /// The DataGroup indices for the analog outputs. std::unordered_map analogOutputIndices; /// The DataGroup indices for the analog inputs. std::unordered_map analogInputIndices; /// True if the output indices have been cached. bool cachedOutputIndices; /// Calibration constants. The meaning of each entry is specific to the model (i.e., LabJack::Model). double calibration[40]; /// True if the device has been successfully configured. bool configured; private: /// Given all the timers, return just the ones that provide inputs. /// \param timers The timers. /// \return The timers that provide inputs. const std::unordered_set getTimerInputChannels(const std::unordered_map& timers) const { std::unordered_set timersWithInputs; for (auto timer = timers.cbegin(); timer != timers.cend(); ++timer) { if ((timer->second.mode != LabJack::TIMERMODE_PWM_16BIT) && (timer->second.mode != LabJack::TIMERMODE_PWM_8BIT) && (timer->second.mode != LabJack::TIMERMODE_FREQUENCY_OUTPUT)) { timersWithInputs.insert(timer->first); } } return timersWithInputs; } /// Given all the timers, return just the ones that take outputs. /// \param timers The timers. /// \return The timers that take outputs. const std::unordered_set getTimerOutputChannels(const std::unordered_map& timers) const { std::unordered_set timersWithOutputs; for (auto timer = timers.cbegin(); timer != timers.cend(); ++timer) { if ((timer->second.mode == LabJack::TIMERMODE_PWM_16BIT) || (timer->second.mode == LabJack::TIMERMODE_PWM_8BIT) || (timer->second.mode == LabJack::TIMERMODE_RISING_EDGES_32BIT) || (timer->second.mode == LabJack::TIMERMODE_FALLING_EDGES_32BIT) || (timer->second.mode == LabJack::TIMERMODE_DUTY_CYCLE) || (timer->second.mode == LabJack::TIMERMODE_FIRMWARE_COUNTER) || (timer->second.mode == LabJack::TIMERMODE_FIRMWARE_COUNTER_DEBOUNCED) || (timer->second.mode == LabJack::TIMERMODE_FREQUENCY_OUTPUT) || (timer->second.mode == LabJack::TIMERMODE_QUADRATURE) || (timer->second.mode == LabJack::TIMERMODE_RISING_EDGES_16BIT) || (timer->second.mode == LabJack::TIMERMODE_FALLING_EDGES_16BIT) || (timer->second.mode == LabJack::TIMERMODE_LINE_TO_LINE)) { timersWithOutputs.insert(timer->first); } } return timersWithOutputs; } // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) DeviceData(const DeviceData&) /*= delete*/; DeviceData& operator=(const DeviceData&) /*= delete*/; }; /// The per-scaffold data (in comparison to DeviceData the per-device data). /// Note that there is only a single instance of LabJackScaffold and so only a single instance of this struct. struct LabJackScaffold::StateData { public: /// Initialize the state. StateData() { } /// The list of known devices. std::list> activeDeviceList; /// The mutex that protects the list of known devices. boost::mutex mutex; private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) StateData(const StateData&) /*= delete*/; StateData& operator=(const StateData&) /*= delete*/; }; LabJackScaffold::LabJackScaffold() : m_logger(Framework::Logger::getLogger("Devices/LabJack")), m_state(new StateData) { SURGSIM_LOG_DEBUG(m_logger) << "Shared scaffold created. labjackusb driver version: " << LJUSB_GetLibraryVersion() << "."; } LabJackScaffold::~LabJackScaffold() { boost::lock_guard lock(m_state->mutex); if (!m_state->activeDeviceList.empty()) { SURGSIM_LOG_SEVERE(m_logger) << "Destroying scaffold while devices are active!?!"; m_state->activeDeviceList.clear(); } SURGSIM_LOG_DEBUG(m_logger) << "Shared scaffold destroyed."; } bool LabJackScaffold::registerDevice(LabJackDevice* device) { boost::lock_guard lock(m_state->mutex); bool result = true; // Make sure the object is unique. auto sameObject = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); SURGSIM_ASSERT(sameObject == m_state->activeDeviceList.end()) << "LabJack: Tried to register a device named '" << device->getName() << "', which is already present!"; // Make sure the name is unique. const std::string& deviceName = device->getName(); auto const sameName = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [&deviceName](const std::unique_ptr& info) { return info->deviceObject->getName() == deviceName; }); if (sameName != m_state->activeDeviceList.end()) { SURGSIM_LOG_SEVERE(m_logger) << "Tried to register a device when the same name, '" << device->getName() << "', is already present!"; result = false; } // Make sure the combination of connection and address is unique, unless the address is zero-length, in which // case the first-found device of this model on this connection will be opened. const std::string& address = device->getAddress(); if (result && (address.length() > 0)) { const SurgSim::Devices::LabJack::Model model = device->getModel(); const SurgSim::Devices::LabJack::Connection connection = device->getConnection(); auto const sameInitialization = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [&address, connection, model](const std::unique_ptr& info) { return (info->deviceObject->getAddress() == address) && (info->deviceObject->getConnection() == connection) && (info->deviceObject->getModel() == model); }); if (sameInitialization != m_state->activeDeviceList.cend()) { SURGSIM_LOG_SEVERE(m_logger) << "Tried to register a device named '" << device->getName() << "', but a device with the same model (" << model << "), connection (" << connection << "), and address ('" << address << "') is already present!"; result = false; } } if (result) { // Create a handle, opening communications. // If the device's model is SEARCH, iterate over the options. std::vector modelsToSearch; if (device->getModel() == LabJack::MODEL_SEARCH) { SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << ": searching for models U3 and U6."; modelsToSearch.push_back(LabJack::MODEL_U6); modelsToSearch.push_back(LabJack::MODEL_U3); } else { modelsToSearch.push_back(device->getModel()); } // If the device's connection is search, set it to USB since that is all we currently support for the // low-level driver. if (device->getConnection() == LabJack::CONNECTION_SEARCH) { SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << ": searching for connection. " << "The low-level driver currently only supports USB as the medium."; device->setConnection(LabJack::CONNECTION_USB); } std::unique_ptr handle; for (auto model = modelsToSearch.cbegin(); model != modelsToSearch.cend(); ++model) { device->setModel(*model); handle = std::unique_ptr(new Handle(*model, device->getConnection(), address)); result = handle->isValid(); if (result) { auto const sameHandle = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [&handle](const std::unique_ptr& info) { return (info->deviceHandle->get() == handle->get()); }); if (sameHandle != m_state->activeDeviceList.cend()) { SURGSIM_LOG_INFO(m_logger) << "Tried to register a device named '" << device->getName() << "', but a device with the same handle (" << handle->get() << ") is already present! " << "This can happen if multiple LabJack devices are used without setting their addresses."; result = false; } else { break; } } } if (result) { std::unique_ptr info(new DeviceData(device, std::move(handle))); // Cache the NamedData indices for the input DataGroup. const SurgSim::DataStructures::DataGroup& inputData = device->getInputData(); for (auto input = info->digitalInputChannels.cbegin(); input != info->digitalInputChannels.cend(); ++input) { info->digitalInputIndices[*input] = inputData.booleans().getIndex(SurgSim::DataStructures::Names::DIGITAL_INPUT_PREFIX + std::to_string(*input)); SURGSIM_ASSERT(info->digitalInputIndices[*input] >= 0) << "LabJackScaffold::DeviceData " << "failed to get a valid NamedData index for the digital input for line " << *input << ". Make sure that is a valid line number."; } for (auto timer = info->timerInputChannels.cbegin(); timer != info->timerInputChannels.cend(); ++timer) { info->timerInputIndices[*timer] = inputData.scalars().getIndex(SurgSim::DataStructures::Names::TIMER_INPUT_PREFIX + std::to_string(*timer)); SURGSIM_ASSERT(info->timerInputIndices[*timer] >= 0) << "LabJackScaffold::DeviceData " << "failed to get a valid NamedData index for the timer for channel " << *timer << ". Make sure that is a valid timer number."; } for (auto input = info->analogInputs.cbegin(); input != info->analogInputs.cend(); ++input) { std::string name = SurgSim::DataStructures::Names::ANALOG_INPUT_PREFIX + std::to_string(input->first); info->analogInputIndices[input->first] = inputData.scalars().getIndex(name); SURGSIM_ASSERT(info->analogInputIndices[input->first] >= 0) << "LabJackScaffold::DeviceData failed to get a valid NamedData index for the " << "analog input for channel " << input->first << ". Make sure that is a valid line number. " << "Expected an entry named " << name << "."; } std::unique_ptr thread(new LabJackThread(this, info.get())); result = info->configured; if (result) { thread->setRate(device->getMaximumUpdateRate()); thread->start(); info.get()->thread = std::move(thread); m_state->activeDeviceList.emplace_back(std::move(info)); } } } SURGSIM_LOG_IF(result, m_logger, INFO) << "Device " << device->getName() << " registered."; return result; } bool LabJackScaffold::unregisterDevice(const LabJackDevice* const device) { bool found = false; { boost::lock_guard lock(m_state->mutex); auto matching = std::find_if(m_state->activeDeviceList.begin(), m_state->activeDeviceList.end(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (matching != m_state->activeDeviceList.end()) { m_state->activeDeviceList.erase(matching); // the iterator is now invalid but that's OK found = true; SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << " unregistered."; } } SURGSIM_LOG_IF(!found, m_logger, CRITICAL) << "Attempted to release a non-registered device named '" << device->getName() << "."; return found; } bool LabJackScaffold::runInputFrame(LabJackScaffold::DeviceData* info) { if (info->deviceObject->pullOutput() && !info->cachedOutputIndices) { const SurgSim::DataStructures::DataGroup& initialOutputData = info->deviceObject->getOutputData(); const std::unordered_set& digitalOutputChannels = info->digitalOutputChannels; for (auto output = digitalOutputChannels.cbegin(); output != digitalOutputChannels.cend(); ++output) { info->digitalOutputIndices[*output] = initialOutputData.booleans().getIndex(SurgSim::DataStructures::Names::DIGITAL_OUTPUT_PREFIX + std::to_string(*output)); } const std::unordered_set& timerOutputChannels = info->timerOutputChannels; for (auto timer = timerOutputChannels.cbegin(); timer != timerOutputChannels.cend(); ++timer) { info->timerOutputIndices[*timer] = initialOutputData.scalars().getIndex(SurgSim::DataStructures::Names::TIMER_OUTPUT_PREFIX + std::to_string(*timer)); } const std::unordered_set& analogOutputChannels = info->analogOutputChannels; for (auto output = analogOutputChannels.cbegin(); output != analogOutputChannels.cend(); ++output) { info->analogOutputIndices[*output] = initialOutputData.scalars().getIndex(SurgSim::DataStructures::Names::ANALOG_OUTPUT_PREFIX + std::to_string(*output)); } info->cachedOutputIndices = true; } if (!updateDevice(info)) { return false; } info->deviceObject->pushInput(); return true; } bool LabJackScaffold::updateDevice(LabJackScaffold::DeviceData* info) { const LJ_HANDLE rawHandle = info->deviceHandle->get(); const SurgSim::DataStructures::DataGroup& outputData = info->deviceObject->getOutputData(); const LabJackDevice* device = info->deviceObject; bool result = true; // Use one Feedback command for all the inputs and outputs. // According to the Users Guide, the Feedback command has a max size of 64 bytes. Currently only a single command is // used, and we try to add all the input/output information. To be safe the std::array::at function is used for any // access to a non-constant index, and will throw an out_of_range exception if the index is too large. std::array sendBytes; sendBytes[1] = 0xF8; //Command byte, Feedback sendBytes[3] = 0x00; //Extended command number sendBytes[6] = 0; //Echo int sendBytesSize = 7; // the first IOType goes here int readBytesSize = 9; // Reading after a Feedback command provides 9+ bytes. // Read digital inputs const std::unordered_set& digitalInputChannels = info->digitalInputChannels; for (auto input = digitalInputChannels.cbegin(); input != digitalInputChannels.cend(); ++input) { sendBytes.at(sendBytesSize++) = 10; //IOType, BitStateRead sendBytes.at(sendBytesSize++) = *input; //Bits 0-4: IO Number ++readBytesSize; } // Write digital outputs const std::unordered_set& digitalOutputChannels = info->digitalOutputChannels; for (auto output = digitalOutputChannels.cbegin(); output != digitalOutputChannels.cend(); ++output) { if (info->digitalOutputIndices.count(*output) > 0) { const int index = info->digitalOutputIndices[*output]; SURGSIM_ASSERT(index >= 0) << "LabJackScaffold: A LabJackDevice was configured with line " << *output << " set to digital output, but the scaffold does not know the correct index into the NamedData. " << " Make sure there is an entry in the booleans with the correct string key."; bool value; if (outputData.booleans().get(index, &value)) { const BYTE valueAsByte = (value ? 1 : 0); sendBytes.at(sendBytesSize++) = 11; //IOType, BitStateWrite sendBytes.at(sendBytesSize++) = (*output) | ((valueAsByte & 0xF) << 7); //Bits 0-4: IO Number, //Bit 7: State } } } // Write to timers (e.g., resetting firmware counters). const std::unordered_set& timerOutputChannels = info->timerOutputChannels; for (auto timer = timerOutputChannels.cbegin(); timer != timerOutputChannels.cend(); ++timer) { if (info->timerOutputIndices.count(*timer) > 0) { const int index = info->timerOutputIndices[*timer]; // We do not ensure that all the timers can be output to, because the user might not need to reset them. if (index >= 0) { double value; if (outputData.scalars().get(index, &value)) { const int valueAsInt = value + 0.5; // value is non-negative. The conversion will truncate. sendBytes.at(sendBytesSize++) = 42 + 2 * (*timer); //IOType, Timer# sendBytes.at(sendBytesSize++) = 1; //Bit 0: UpdateReset sendBytes.at(sendBytesSize++) = valueAsInt & 255; //LSB sendBytes.at(sendBytesSize++) = (valueAsInt & 65280) / 256; //MSB readBytesSize += 4; } } } } // Read from timers. const std::unordered_set& timerInputChannels = info->timerInputChannels; for (auto timer = timerInputChannels.cbegin(); timer != timerInputChannels.cend(); ++timer) { // If we write to a timer, the response to that write will have the timer value so we don't need to request it. if (timerOutputChannels.count(*timer) == 0) { sendBytes.at(sendBytesSize++) = 42 + 2 * (*timer); //IOType, Timer# sendBytes.at(sendBytesSize++) = 0; //Bit 0: UpdateReset sendBytes.at(sendBytesSize++) = 0; //LSB sendBytes.at(sendBytesSize++) = 0; //MSB readBytesSize += 4; } } // Request the values of analog inputs. auto const& analogInputs = info->analogInputs; for (auto input = analogInputs.cbegin(); input != analogInputs.cend(); ++input) { if (device->getModel() == LabJack::MODEL_U3) { const BYTE longSettling = (device->getAnalogInputSettling() > 0 ? (1 << 6) : 0); const BYTE quickSample = (device->getAnalogInputResolution() > 0 ? (1 << 7) : 0); // Third byte is the negative channel for differential input, or 31 for single-ended input. const BYTE negativeChannel = input->second.negativeChannel.hasValue() ? input->second.negativeChannel.getValue() : 31; sendBytes.at(sendBytesSize++) = 1; sendBytes.at(sendBytesSize++) = input->first | longSettling | quickSample; sendBytes.at(sendBytesSize++) = negativeChannel; readBytesSize += 2; } else { // The U6 can only do consecutive channels for a differential read, so the actual channel is not sent. const BYTE differential = input->second.negativeChannel.hasValue() ? 1 << 7 : 0; sendBytes.at(sendBytesSize++) = 3; sendBytes.at(sendBytesSize++) = input->first; sendBytes.at(sendBytesSize++) = device->getAnalogInputResolution() | (getGain(input->second.range) << 4); sendBytes.at(sendBytesSize++) = device->getAnalogInputSettling() | differential; readBytesSize += 5; } } // Set analog outputs. const std::unordered_set& analogOutputs = info->analogOutputChannels; for (auto output = analogOutputs.cbegin(); output != analogOutputs.cend(); ++output) { if (info->analogOutputIndices.count(*output) > 0) { const int index = info->analogOutputIndices[*output]; if (index >= 0) { double value; if (outputData.scalars().get(index, &value)) { const BYTE dacConfigCode = *output + 38; sendBytes.at(sendBytesSize++) = dacConfigCode; int bytes; if (device->getModel() == LabJack::MODEL_U3) { const int calibrationIndex = *output * 2 + 4; bytes = value * info->calibration[calibrationIndex] * 256 + info->calibration[calibrationIndex + 1] * 256; } else { const int calibrationIndex = *output * 2 + 16; bytes = value * info->calibration[calibrationIndex] + info->calibration[calibrationIndex + 1]; } bytes = std::min(bytes, 65535); bytes = std::max(bytes, 0); sendBytes.at(sendBytesSize++) = bytes & 255; sendBytes.at(sendBytesSize++) = bytes / 256; } } } } // Write the Feedback command. // Must send an even number of bytes. if (sendBytesSize % 2 == 1) { sendBytes.at(sendBytesSize++) = 0; } // Must read an even number of bytes if (readBytesSize % 2 == 1) { ++readBytesSize; } // According to the Users Guide, the Feedback command has a max Response/Read size of 64 bytes. // Most IOTypes Read no more bytes than they Write, including the digital input/output and timers currently // supported, but some IOTypes do Read more than they Write. Thus, this assertion should never be triggered, and // to make sure the access indices into the buffer are being correctly calculated, the std::array::at function is // used for any access to a non-constant index, and will throw an out_of_range exception if the index is too large. if (readBytesSize > LabJack::MAXIMUM_BUFFER) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to update device named '" << device->getName() << "'. The low-level LabJack communication function 'Feedback' has a max Response size of " << std::to_string(LabJack::MAXIMUM_BUFFER) << " bytes. " << "The current configuration and output DataGroup would cause a size of " << readBytesSize << " bytes." << std::endl; result = false; } if (result) { const BYTE sendCommandBytes = 6; const BYTE dataWords = (sendBytesSize - sendCommandBytes) / 2; sendBytes[2] = dataWords; LabJack::extendedChecksum(&sendBytes, sendBytesSize); const int sent = LJUSB_Write(rawHandle, &(sendBytes[0]), sendBytesSize); if (sent < sendBytesSize) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to write feedback command to update a device named '" << device->getName() << "'. " << sendBytesSize << " bytes should have been sent, but only " << sent << " were actually sent." << std::endl << " labjackusb error code: " << errno << "." << std::endl; result = false; } } const BYTE readCommandBytes = 6; std::array readBytes; // Feedback commands respond with a max of 64 bytes // Read the response for the feedback command. if (result) { const std::string errorText = "feedback command to update"; result = readAndCheck(rawHandle, &readBytes, readBytesSize, device->getName(), sendBytes, errorText, m_logger); const BYTE dataWords = (readBytesSize - readCommandBytes) / 2; if (readBytes[2] != dataWords) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to read response of " << errorText << " a device named '" << device->getName() << "'. The number of words in the response is wrong. Expected: " << static_cast(dataWords) << ". Received: " << static_cast(readBytes[2]) << "." << std::endl << " labjackusb error code: " << errno << "." << std::endl; result = false; } } SurgSim::DataStructures::DataGroup& inputData = info->deviceObject->getInputData(); if (result) { const int errorBytes = 2; const int echoBytes = 1; int currentByte = readCommandBytes + errorBytes + echoBytes; // Digital inputs. for (auto input = digitalInputChannels.cbegin(); input != digitalInputChannels.cend(); ++input) { const bool value = (readBytes.at(currentByte++) > 0 ? true : false); inputData.booleans().set(info->digitalInputIndices[*input], value); } // Read from the timers in the same order as above. for (auto timer = timerOutputChannels.cbegin(); timer != timerOutputChannels.cend(); ++timer) { const int count = 4; const uint32_t value = LabJack::uint32FromChars(readBytes, currentByte, count); inputData.scalars().set(info->timerInputIndices[*timer], value); currentByte += 4; } for (auto timer = timerInputChannels.cbegin(); timer != timerInputChannels.cend(); ++timer) { if (timerOutputChannels.count(*timer) == 0) { const int count = 4; const uint32_t value = LabJack::uint32FromChars(readBytes, currentByte, count); currentByte += 4; // Interpret the value as signed. inputData.scalars().set(info->timerInputIndices[*timer], value); } } for (auto input = analogInputs.cbegin(); input != analogInputs.cend(); ++input) { if (device->getModel() == LabJack::MODEL_U3) { const int count = 2; const uint16_t value = LabJack::uint16FromChars(readBytes, currentByte, count); currentByte += 2; const double volts = info->calibration[2] * static_cast(value) + info->calibration[3]; inputData.scalars().set(info->analogInputIndices[input->first], volts); } else { const int count = 3; const uint32_t value = LabJack::uint32FromChars(readBytes, currentByte, count); double bits = value; bits /= 256.0; const int gain = readBytes.at(currentByte + 3) / 16; int index = gain * 2 + 8; const int resolution = readBytes.at(currentByte + 3) & 15; if (resolution > 8) { index += 24; } currentByte += 5; double volts; const double center = info->calibration[index + 1]; if (bits < center) { volts = (center - bits) * info->calibration[index]; } else { volts = (bits - center) * info->calibration[index - 8]; } inputData.scalars().set(info->analogInputIndices[input->first], volts); } } } else { // Failure communicating with the LabJack inputData.resetAll(); } return true; // Returning false ends the thread. } SurgSim::DataStructures::DataGroup LabJackScaffold::buildDeviceInputData() { SurgSim::DataStructures::DataGroupBuilder builder; // We don't know which input lines we need until after the configuration, but LabJackDevice must be constructed with // a valid DataGroup, so we add every possible line. const int maxDigitalInputs = 23; // The UE9 can have 23 digital inputs. for (int i = 0; i < maxDigitalInputs; ++i) { builder.addBoolean(SurgSim::DataStructures::Names::DIGITAL_INPUT_PREFIX + std::to_string(i)); } const int maxTimerInputs = 6; // The UE9 can have 6 timers. for (int i = 0; i < maxTimerInputs; ++i) { builder.addScalar(SurgSim::DataStructures::Names::TIMER_INPUT_PREFIX + std::to_string(i)); } const int maxAnalogInputs = 16; // The U3 can have 16 analog inputs. for (int i = 0; i < maxAnalogInputs; ++i) { builder.addScalar(SurgSim::DataStructures::Names::ANALOG_INPUT_PREFIX + std::to_string(i)); } return builder.createData(); } std::shared_ptr LabJackScaffold::getOrCreateSharedInstance() { static SurgSim::Framework::SharedInstance sharedInstance; return sharedInstance.get(); } void LabJackScaffold::configureDevice(DeviceData* deviceData) { deviceData->configured = configureClockAndTimers(deviceData) && configureDigital(deviceData) && configureAnalog(deviceData); } bool LabJackScaffold::configureClockAndTimers(DeviceData* deviceData) { bool result = configureNumberOfTimers(deviceData); if (result && (deviceData->deviceObject->getTimers().size() > 0)) { result = configureClock(deviceData) && configureTimers(deviceData); } return result; } bool LabJackScaffold::configureNumberOfTimers(DeviceData* deviceData) { LabJackDevice* device = deviceData->deviceObject; LJ_HANDLE rawHandle = deviceData->deviceHandle->get(); // One-time configuration of counters and timers. const std::unordered_map& timers = device->getTimers(); for (auto timer : timers) { SURGSIM_LOG_IF(timer.first >= static_cast(timers.size()), m_logger, SEVERE) << "Error configuring enabled timers for a device named '" << device->getName() << "', with number of timers: " << timers.size() << "." << std::endl << " Timers must be enabled consecutively, starting with #0." << std::endl << " With the currently enabled number of timers, the highest allowable timer is #" << timers.size() - 1 << ", but one of the enabled timers is #" << timer.first << "." << std::endl; } const BYTE numberOfTimers = timers.size(); const BYTE counterEnable = 0; // Counters are not currently supported. const BYTE pinOffset = device->getTimerCounterPinOffset(); // First, configure the number of timers and counters std::array sendBytes; sendBytes[1] = 0xF8; //Command byte, ConfigIO sendBytes[2] = 0x05; //Number of data words sendBytes[3] = 0x0B; //Extended command number sendBytes[6] = 1; //Writemask : Setting writemask for timerCounterConfig (bit 0) sendBytes[7] = numberOfTimers; //NumberTimersEnabled sendBytes[8] = counterEnable; //CounterEnable: Bit 0 is Counter 0, Bit 1 is Counter 1 sendBytes[9] = pinOffset; //TimerCounterPinOffset int sendBytesSize = 16; //ConfigIO command sends 16 bytes for (int i = 10; i < sendBytesSize; ++i) { sendBytes[i] = 0; //Reserved } LabJack::extendedChecksum(&sendBytes, 16); int sent = LJUSB_Write(rawHandle, &(sendBytes[0]), sendBytesSize); bool result = true; if (sent < sendBytesSize) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to write timer/counter configuration information for a device named '" << device->getName() << "'. " << sendBytesSize << " bytes should have been sent, but only " << sent << " were actually sent." << std::endl << " labjackusb error code: " << errno << "." << std::endl; result = false; } if (result) { const int readBytesSize = 16; // timerCounterConfig replies with 16 bytes. std::array readBytes; const std::string errorText = "timer/counter configuration for"; result = readAndCheck(rawHandle, &readBytes, readBytesSize, device->getName(), sendBytes, errorText, m_logger); if (readBytes[2] != sendBytes[2]) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to read response of " << errorText << " a device named '" << device->getName() << "'. The command bytes are wrong. Expected: " << static_cast(sendBytes[1]) << ", " << static_cast(sendBytes[2]) << ", " << static_cast(sendBytes[3]) << ". Received: " << static_cast(readBytes[1]) << ", " << static_cast(readBytes[2]) << ", " << static_cast(readBytes[3]) << "." << std::endl << " labjackusb error code: " << errno << "." << std::endl; result = false; } } return result; } bool LabJackScaffold::configureClock(DeviceData* deviceData) { LabJackDevice* device = deviceData->deviceObject; LJ_HANDLE rawHandle = deviceData->deviceHandle->get(); LabJack::TimerBase base = device->getTimerBase(); if (base == LabJack::TimerBase::TIMERBASE_DEFAULT) { LabJackDefaults defaults; base = defaults.timerBase[device->getModel()]; } // Second, set the clock base and divisor // The low-level settings for the timer base are 20 less than the high-level values for the U3 and U6. // The low- and high-level settings are the same for the UE9. const int timerBaseOffset = 20; BYTE timerBase = device->getTimerBase(); // If the TimerBase is above 20, it was set for a high-level value, convert to the equivalent value for // the low-level driver. if (timerBase > timerBaseOffset) { timerBase -= timerBaseOffset; } const BYTE divisor = device->getTimerClockDivisor(); // Write the clock configuration. std::array sendBytes; sendBytes[1] = 0xF8; //Command byte, ConfigTimerClock sendBytes[2] = 0x02; //Number of data words sendBytes[3] = 0x0A; //Extended command number sendBytes[6] = 0; //Reserved sendBytes[7] = 0; //Reserved //TimerClockConfig : Configuring the clock (bit 7) and setting the TimerClockBase (bits 0-2) const BYTE configureClockCode = 1 << 7; sendBytes[8] = timerBase | configureClockCode; sendBytes[9] = divisor; //TimerClockDivisor int sendBytesSize = 10; // ConfigTimerClock sends 10 bytes LabJack::extendedChecksum(&sendBytes, sendBytesSize); int sent = LJUSB_Write(rawHandle, &(sendBytes[0]), sendBytesSize); bool result = true; if (sent < sendBytesSize) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to write clock configuration information for a device named '" << device->getName() << "'. " << sendBytesSize << " bytes should have been sent, but only " << sent << " were actually sent." << std::endl << " labjackusb error code: " << errno << "." << std::endl; result = false; } if (result) { // Read the response for the clock configuration. const int readBytesSize = 10; // ConfigTimerClock replies with 10 bytes. std::array readBytes; const std::string errorText = "clock configuration for"; result = readAndCheck(rawHandle, &readBytes, readBytesSize, device->getName(), sendBytes, errorText, m_logger); if (readBytes[2] != sendBytes[2]) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to read response of " << errorText << " a device named '" << device->getName() << "'. The command bytes are wrong. Expected: " << static_cast(sendBytes[1]) << ", " << static_cast(sendBytes[2]) << ", " << static_cast(sendBytes[3]) << ". Received: " << static_cast(readBytes[1]) << ", " << static_cast(readBytes[2]) << ", " << static_cast(readBytes[3]) << "." << std::endl << " labjackusb error code: " << errno << "." << std::endl; result = false; } } return result; } bool LabJackScaffold::configureTimers(DeviceData* deviceData) { LabJackDevice* device = deviceData->deviceObject; LJ_HANDLE rawHandle = deviceData->deviceHandle->get(); bool result = true; // Configure each timer's mode via a Feedback command. std::array sendBytes; sendBytes[1] = 0xF8; //Command byte, Feedback sendBytes[3] = 0x00; //Extended command number sendBytes[6] = 0; //Echo int sendBytesSize = 7; // the first IOType goes here int readBytesSize = 9; // Reading after a Feedback command provides 9+ bytes. const std::unordered_map timers = device->getTimers(); for (auto timer = timers.cbegin(); timer != timers.cend(); ++timer) { const int minimumTimer = 0; const int maximumTimer = 3; if ((timer->first < minimumTimer) || (timer->first > maximumTimer)) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to configure a timer for a device named '" << device->getName() << "'. Timer number (the key in the argument to LabJackDevice::setTimers) " << timer->first << " is outside of the valid range " << minimumTimer << "-" << maximumTimer << "." << std::endl; result = false; } if (result) { const BYTE timerConfigCode = timer->first * 2 + 43; // The timer configs are 43, 45, 47, and 49. sendBytes.at(sendBytesSize++) = timerConfigCode; //IOType, Timer#Config (e.g., Timer0Config) sendBytes.at(sendBytesSize++) = timer->second.mode; //TimerMode const int initialValue = timer->second.initialValue.hasValue() ? timer->second.initialValue.getValue() : 0; sendBytes.at(sendBytesSize++) = static_cast(initialValue & 0xFF); //Value LSB sendBytes.at(sendBytesSize++) = static_cast((initialValue >> 8) & 0xFF); //Value MSB } } if (result) { // Write the timer Feedback command. // Must send an even number of bytes. if (sendBytesSize % 2 == 1) { sendBytes.at(sendBytesSize++) = 0; } const BYTE sendCommandBytes = 6; const BYTE dataWords = (sendBytesSize - sendCommandBytes) / 2; sendBytes[2] = dataWords; LabJack::extendedChecksum(&sendBytes, sendBytesSize); int sent = LJUSB_Write(rawHandle, &(sendBytes[0]), sendBytesSize); if (sent < sendBytesSize) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to write timer mode feedback command for a device named '" << device->getName() << "'. " << sendBytesSize << " bytes should have been sent, but only " << sent << " were actually sent." << std::endl << " labjackusb error code: " << errno << "." << std::endl; result = false; } } if (result) { // Read the response for the timer feedback command. // Must read an even number of bytes if (readBytesSize % 2 == 1) { ++readBytesSize; } std::array readBytes; const std::string errorText = "timer mode feedback command for"; result = readAndCheck(rawHandle, &readBytes, readBytesSize, device->getName(), sendBytes, errorText, m_logger); const BYTE readCommandBytes = 6; const BYTE dataWords = (readBytesSize - readCommandBytes) / 2; if (readBytes[2] != dataWords) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to read response of " << errorText << " a device named '" << device->getName() << "'. The number of words in the response is wrong. Expected: " << static_cast(dataWords) << ". Received: " << static_cast(readBytes[2]) << "." << std::endl << " labjackusb error code: " << errno << "." << std::endl; result = false; } } return result; } bool LabJackScaffold::configureAnalog(DeviceData* deviceData) { LabJackDevice* device = deviceData->deviceObject; LJ_HANDLE rawHandle = deviceData->deviceHandle->get(); bool result = true; const std::unordered_set& analogOutputs = deviceData->analogOutputChannels; for (auto output = analogOutputs.cbegin(); output != analogOutputs.cend(); ++output) { const int minimumDac = 0; const int maximumDac = 1; if ((*output < minimumDac) || (*output > maximumDac)) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to configure an analog output (DAC) for a device named '" << device->getName() << "'. DAC number " << *output << " is outside of the valid range " << minimumDac << "-" << maximumDac << "." << std::endl; result = false; } } if (device->getModel() == LabJack::MODEL_U6) { auto const& analogInputs = deviceData->analogInputs; for (auto input = analogInputs.cbegin(); input != analogInputs.cend(); ++input) { if ((input->second.negativeChannel.hasValue()) && (input->second.negativeChannel.getValue() != input->first + 1)) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to configure a differential analog input for a device named '" << device->getName() << "'. For a model U6(-PRO), with the low-level driver, "<< "the negative channel number must be one greater than the positive channel number, " << "but positive channel " << input->first << " is paired with negative channel " << input->second.negativeChannel.getValue() << "."; result = false; } } } LabJackParameters parameters; const int blocks = parameters.configBlocks[device->getModel()]; std::array sendBytes; sendBytes[1] = 0xF8; //command byte sendBytes[2] = 0x01; //number of data words sendBytes[3] = parameters.calibrationCommand[device->getModel()]; sendBytes[6] = 0; const int sendBytesSize = 8; const int readBytesSize = parameters.calibrationReadBytes[device->getModel()]; for (int i = 0; i < blocks; ++i) { if (result) { sendBytes[7] = i; LabJack::extendedChecksum(&sendBytes, sendBytesSize); const int sent = LJUSB_Write(rawHandle, &(sendBytes[0]), sendBytesSize); if (sent < sendBytesSize) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to write a feedback command to read the calibration data for a device named '" << device->getName() << "'. " << sendBytesSize << " bytes should have been sent, but only " << sent << " were actually sent." << std::endl << " labjackusb error code: " << errno << "." << std::endl; result = false; } } if (result) { std::array readBytes; const std::string errorText = "feedback command to read the calibration data for"; result = readAndCheck(rawHandle, &readBytes, readBytesSize, device->getName(), sendBytes, errorText, m_logger); if (readBytes[2] != parameters.calibrationThirdByte[device->getModel()]) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to read response of " << errorText << " a device named '" << device->getName() << "'. The command bytes are wrong. Expected byte 2: " << static_cast(parameters.calibrationThirdByte[device->getModel()]) << ". Received: " << static_cast(readBytes[2]) << "." << std::endl << " labjackusb error code: " << errno << "." << std::endl; result = false; } if (result) { const int offset = i * 4; deviceData->calibration[offset] = LabJack::doubleFromChars(readBytes, 8); deviceData->calibration[offset + 1] = LabJack::doubleFromChars(readBytes, 16); deviceData->calibration[offset + 2] = LabJack::doubleFromChars(readBytes, 24); deviceData->calibration[offset + 3] = LabJack::doubleFromChars(readBytes, 32); } } } return result; } bool LabJackScaffold::configureDigital(DeviceData* deviceData) { LabJackDevice* device = deviceData->deviceObject; LJ_HANDLE rawHandle = deviceData->deviceHandle->get(); bool result = true; const std::unordered_set& digitalInputChannels = deviceData->digitalInputChannels; const std::unordered_set& digitalOutputChannels = deviceData->digitalOutputChannels; if ((digitalInputChannels.size() > 0) || (digitalOutputChannels.size() > 0)) { // Configure each digital line's direction via a Feedback command. The output lines will automatically be // forced high when we write their states in updateDevice, but we must explicitly set the direction on // input lines so we just do both here. std::array sendBytes; sendBytes[1] = 0xF8; //Command byte, Feedback sendBytes[3] = 0x00; //Extended command number sendBytes[6] = 0; //Echo int sendBytesSize = 7; // the first IOType goes here int readBytesSize = 9; // Reading after a Feedback command provides 9+ bytes. for (auto input = digitalInputChannels.cbegin(); input != digitalInputChannels.cend(); ++input) { sendBytes.at(sendBytesSize++) = 13; //IOType, BitDirWrite sendBytes.at(sendBytesSize++) = *input; //Bits 0-4: IO Number, Bit 7: Direction (1=output, 0=input) } for (auto output = digitalOutputChannels.cbegin(); output != digitalOutputChannels.cend(); ++output) { const BYTE direction = 1 << 7; sendBytes.at(sendBytesSize++) = 13; //IOType, BitDirWrite sendBytes.at(sendBytesSize++) = *output | direction; //Bits 0-4: IO Number, // Bit 7: Direction (1=output, 0=input) } // Write the digital input/output Feedback command. // Must send an even number of bytes. if (sendBytesSize % 2 == 1) { sendBytes.at(sendBytesSize++) = 0; } const BYTE sendCommandBytes = 6; const BYTE dataWords = (sendBytesSize - sendCommandBytes) / 2; sendBytes[2] = dataWords; LabJack::extendedChecksum(&sendBytes, sendBytesSize); int sent = LJUSB_Write(rawHandle, &(sendBytes[0]), sendBytesSize); if (sent < sendBytesSize) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to write digital line direction feedback command for a device named '" << device->getName() << "'. " << sendBytesSize << " bytes should have been sent, but only " << sent << " were actually sent." << std::endl << " labjackusb error code: " << errno << "." << std::endl; result = false; } if (result) { // Read the response for the digital input/output feedback command. // Must read an even number of bytes if (readBytesSize % 2 == 1) { ++readBytesSize; } std::array readBytes; const std::string errorText = "digital line direction configuration for"; result = readAndCheck(rawHandle, &readBytes, readBytesSize, device->getName(), sendBytes, errorText, m_logger); const BYTE readCommandBytes = 6; const BYTE dataWords = (readBytesSize - readCommandBytes) / 2; if (readBytes[2] != dataWords) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to read response of " << errorText << " a device named '" << device->getName() << "'. The number of words in the response is wrong. Expected: " << static_cast(dataWords) << ". Received: " << static_cast(readBytes[2]) << "." << std::endl << " labjackusb error code: " << errno << "." << std::endl; result = false; } } } return result; } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/LabJack/linux/LabJackTypeConverters.cpp000066400000000000000000000044541277777236100264340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/LabJack/linux/LabJackTypeConverters.h" #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace Devices { namespace LabJack { double doubleFromChars(const std::array& bytes, int startIndex) { uint32_t decimal = static_cast(bytes.at(startIndex)) | (static_cast(bytes.at(startIndex + 1)) << 8) | (static_cast(bytes.at(startIndex + 2)) << 16) | (static_cast(bytes.at(startIndex + 3)) << 24); uint32_t whole = static_cast(bytes[startIndex + 4]) | (static_cast(bytes.at(startIndex + 5)) << 8) | (static_cast(bytes.at(startIndex + 6)) << 16) | (static_cast(bytes.at(startIndex + 7)) << 24); return static_cast(static_cast(whole)) + static_cast(decimal)/4294967296.0; } uint32_t uint32FromChars(const std::array &bytes, int startIndex, int count) { SURGSIM_ASSERT(count <= 4) << __FUNCTION__ << " got a count of " << count << "; that is too large."; uint32_t value = 0; for (int i = count - 1; i > 0; --i) { value += bytes.at(startIndex + i); value = value << 8; } value += bytes.at(startIndex); return value; } uint16_t uint16FromChars(const std::array &bytes, int startIndex, int count) { SURGSIM_ASSERT(count <= 2) << __FUNCTION__ << " got a count of " << count << "; that is too large."; uint16_t value = 0; if (count > 1) { value += bytes.at(startIndex + 1); value = value << 8; } value += bytes.at(startIndex); return value; } }; // namespace LabJack }; // namespace Devices }; // namespace SurgSimopensurgsim-0.7.0/SurgSim/Devices/LabJack/linux/LabJackTypeConverters.h000066400000000000000000000053101277777236100260710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_LABJACK_LINUX_LABJACKTYPECONVERTERS_H #define SURGSIM_DEVICES_LABJACK_LINUX_LABJACKTYPECONVERTERS_H #include #include "SurgSim/Devices/LabJack/linux/LabJackConstants.h" namespace SurgSim { namespace Devices { namespace LabJack { /// Converts an eight byte array to a floating point double value. This function is necessary for /// communication with the low-level driver for the LabJack, which passes all data via unsigned char. The expected /// format is: the first four bytes store the truncated absolute value of the decimal portion times 4294967296, /// the last four bytes store the signed whole-number portion, and the bytes are stored in little endian order. /// \param bytes The array. /// \param startIndex The index of the first element. /// \return The double. double doubleFromChars(const std::array& bytes, int startIndex); /// Converts an array of bytes to a uint32_t, with the least significant byte at startIndex, and the most significant /// byte at startIndex + byteCount - 1. /// \param bytes The array. /// \param startIndex The index in the array of the first byte to use. /// \param count The number of bytes to convert. /// \return A uint32_t. /// \exception Asserts if byteCount is greater than 4, or it attempts to access beyond the end of the byte array. uint32_t uint32FromChars(const std::array &bytes, int startIndex, int count); /// Converts an array of bytes to a uint16_t, with the least significant byte at startIndex. /// \param bytes The array. /// \param startIndex The index in the array of the first byte to use. /// \param count The number of bytes to convert. /// \return A uint16_t. /// \exception Asserts if byteCount is greater than 2, or it attempts to access beyond the end of the byte array. uint16_t uint16FromChars(const std::array &bytes, int startIndex, int count); }; // namespace LabJack }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_LABJACK_LINUX_LABJACKTYPECONVERTERS_H opensurgsim-0.7.0/SurgSim/Devices/LabJack/win32/000077500000000000000000000000001277777236100213205ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/LabJack/win32/LabJackScaffold.cpp000066400000000000000000001134211277777236100247570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/LabJack/LabJackScaffold.h" #include #include #include #include #include // the high-level LabJack library. #include #include #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Devices/LabJack/LabJackDevice.h" #include "SurgSim/Devices/LabJack/LabJackThread.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SharedInstance.h" namespace SurgSim { namespace Devices { namespace { /// The LabJackUD returns a handle of 0 when failing to open a new device. static const LJ_HANDLE LABJACK_INVALID_HANDLE = 0; /// Returns true if there are no LabJackUD errors. /// \param code The error code. /// \return True if no LabJackUD errors. bool isOk(LJ_ERROR code) { return (code == LJE_NOERROR); } /// Outputs a string containing the LabJackUD error code and text equivalent. /// \param errorCode The error code used by LabJackUD. /// \return A string containing the message. std::string formatErrorMessage(LJ_ERROR code) { char error[256]; // According to LabJackUD.h, the buffer must store at least 256 elements. ErrorToString(code, error); return std::string("LabJackUD returned error code: ") + std::to_string(code) + ", and string: " + error; } /// A struct containing the default settings that depend on the model of LabJack. struct LabJackDefaults { LabJackDefaults() { timerBase[LabJack::MODEL_U3] = LabJack::TIMERBASE_22; timerBase[LabJack::MODEL_U6] = LabJack::TIMERBASE_22; timerBase[LabJack::MODEL_UE9] = LabJack::TIMERBASE_1; } /// The default timer base rate. std::unordered_map timerBase; }; }; class LabJackScaffold::Handle { public: /// Constructor that attempts to open a device. /// \param model The model of LabJack device to open (see strings in LabJackUD.h). /// \param connection How to connect to the device (e.g., USB) (see strings in LabJackUD.h). /// \param address Either the ID or serial number (if USB), or the IP address. Handle(LabJack::Model model, LabJack::Connection connection, const std::string& address) : m_address(address), m_model(model), m_connection(connection), m_deviceHandle(LABJACK_INVALID_HANDLE), m_logger(Framework::Logger::getLogger("Devices/LabJack")) { int firstFound = 0; if (m_address.length() == 0) { firstFound = 1; // If no address is specified, grab the first device found of this model and connection. } int tries = 3; LJ_ERROR error = LJE_MIN_USER_ERROR; while (!isOk(error) && (--tries >= 0)) { error = OpenLabJack(m_model, m_connection, m_address.c_str(), firstFound, &m_deviceHandle); if (!isOk(error) && (tries >= 0)) { boost::this_thread::sleep_for(boost::chrono::milliseconds(1000)); } } SURGSIM_LOG_IF(!isOk(error), m_logger, SEVERE) << "Failed to initialize a device. Model: " << m_model << ". Connection: " << m_connection << ". Address: '" << m_address << "'." << std::endl << formatErrorMessage(error); } /// Destructor. ~Handle() { destroy(); } /// \return Whether or not the wrapped handle is valid. bool isValid() const { return (m_deviceHandle != LABJACK_INVALID_HANDLE); } /// Close communication with the hardware. /// \param reset true to cause a hardware reset & USB re-enumeration. Otherwise the hardware's settings will be /// unchanged (i.e., it will continue timing, counting, and outputting). void destroy(bool reset = false) { if (isValid()) { if (reset) { const LJ_ERROR error = ResetLabJack(m_deviceHandle); SURGSIM_LOG_IF(!isOk(error), m_logger, SEVERE) << "Failed to reset the LabJack device. Model: " << m_model << ". Connection: " << m_connection << ". Address: '" << m_address << "'." << std::endl << formatErrorMessage(error); } m_deviceHandle = LABJACK_INVALID_HANDLE; } } /// \return The LabJackUD's handle wrapped by this Handle. LJ_HANDLE get() const { return m_deviceHandle; } private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) Handle(const Handle&) /*= delete*/; Handle& operator=(const Handle&) /*= delete*/; /// The HDAL device handle (or LABJACK_INVALID_HANDLE if not valid). LJ_HANDLE m_deviceHandle; /// The address used to open the device. Can be the empty string if the first-found device was opened. std::string m_address; /// The device model. LabJack::Model m_model; /// The connection to the device. LabJack::Connection m_connection; /// The logger. std::shared_ptr m_logger; }; /// The per-device data. struct LabJackScaffold::DeviceData { public: /// Initialize the data, creating a thread. DeviceData(LabJackDevice* device, std::unique_ptr&& handle) : deviceObject(device), thread(), deviceHandle(std::move(handle)), digitalInputChannels(device->getDigitalInputs()), digitalOutputChannels(device->getDigitalOutputs()), timerInputChannels(getTimerInputChannels(device->getTimers())), timerOutputChannels(getTimerOutputChannels(device->getTimers())), analogInputs(device->getAnalogInputs()), analogOutputChannels(device->getAnalogOutputs()), cachedOutputIndices(false), configured(false) { } ~DeviceData() { if (thread != nullptr) { thread->stop(); thread = nullptr; } deviceHandle->destroy(deviceObject->getResetOnDestruct()); } /// The corresponding device object. LabJackDevice* const deviceObject; /// Processing thread. std::unique_ptr thread; /// Device handle to read from. std::unique_ptr deviceHandle; /// The channels read for digital inputs. const std::unordered_set digitalInputChannels; /// The channels set for digital outputs. const std::unordered_set digitalOutputChannels; /// The timer channels that provide inputs. const std::unordered_set timerInputChannels; /// The timer channels set for timer outputs (e.g., PWM outputs). const std::unordered_set timerOutputChannels; /// The analog inputs. const std::unordered_map analogInputs; /// The channels set for analog outputs. const std::unordered_set analogOutputChannels; /// The DataGroup indices for the digital outputs. std::unordered_map digitalOutputIndices; /// The DataGroup indices for the digital inputs. std::unordered_map digitalInputIndices; /// The DataGroup indices for the timer outputs. std::unordered_map timerOutputIndices; /// The DataGroup indices for the timer inputs. std::unordered_map timerInputIndices; /// The DataGroup indices for the analog outputs. std::unordered_map analogOutputIndices; /// The DataGroup indices for the analog inputs. std::unordered_map analogInputIndices; /// True if the output indices have been cached. bool cachedOutputIndices; /// True if the device has been successfully configured. bool configured; private: /// Given all the timers, return just the ones that provide inputs. /// \param timers The timers. /// \return The timers that provide inputs. const std::unordered_set getTimerInputChannels(const std::unordered_map& timers) const { std::unordered_set timersWithInputs; for (auto timer = timers.cbegin(); timer != timers.cend(); ++timer) { if ((timer->second.mode != LabJack::TIMERMODE_PWM_16BIT) && (timer->second.mode != LabJack::TIMERMODE_PWM_8BIT) && (timer->second.mode != LabJack::TIMERMODE_FREQUENCY_OUTPUT)) { timersWithInputs.insert(timer->first); } } return timersWithInputs; } /// Given all the timers, return just the ones that take outputs. /// \param timers The timers. /// \return The timers that take outputs. const std::unordered_set getTimerOutputChannels(const std::unordered_map& timers) const { std::unordered_set timersWithOutputs; for (auto timer = timers.cbegin(); timer != timers.cend(); ++timer) { if ((timer->second.mode == LabJack::TIMERMODE_PWM_16BIT) || (timer->second.mode == LabJack::TIMERMODE_PWM_8BIT) || (timer->second.mode == LabJack::TIMERMODE_RISING_EDGES_32BIT) || (timer->second.mode == LabJack::TIMERMODE_FALLING_EDGES_32BIT) || (timer->second.mode == LabJack::TIMERMODE_DUTY_CYCLE) || (timer->second.mode == LabJack::TIMERMODE_FIRMWARE_COUNTER) || (timer->second.mode == LabJack::TIMERMODE_FIRMWARE_COUNTER_DEBOUNCED) || (timer->second.mode == LabJack::TIMERMODE_FREQUENCY_OUTPUT) || (timer->second.mode == LabJack::TIMERMODE_QUADRATURE) || (timer->second.mode == LabJack::TIMERMODE_RISING_EDGES_16BIT) || (timer->second.mode == LabJack::TIMERMODE_FALLING_EDGES_16BIT) || (timer->second.mode == LabJack::TIMERMODE_LINE_TO_LINE)) { timersWithOutputs.insert(timer->first); } } return timersWithOutputs; } // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) DeviceData(const DeviceData&) /*= delete*/; DeviceData& operator=(const DeviceData&) /*= delete*/; }; /// The per-scaffold data (in comparison to DeviceData the per-device data). /// Note that there is only a single instance of LabJackScaffold and so only a single instance of this struct. struct LabJackScaffold::StateData { public: /// Initialize the state. StateData() { } /// The list of known devices. std::list> activeDeviceList; /// The mutex that protects the list of known devices. boost::mutex mutex; private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) StateData(const StateData&) /*= delete*/; StateData& operator=(const StateData&) /*= delete*/; }; LabJackScaffold::LabJackScaffold() : m_logger(Framework::Logger::getLogger("Devices/LabJack")), m_state(new StateData) { SURGSIM_LOG_DEBUG(m_logger) << "Shared scaffold created. LabJackUD driver version: " << GetDriverVersion(); } LabJackScaffold::~LabJackScaffold() { boost::lock_guard lock(m_state->mutex); if (!m_state->activeDeviceList.empty()) { SURGSIM_LOG_SEVERE(m_logger) << "Destroying scaffold while devices are active!?!"; m_state->activeDeviceList.clear(); } SURGSIM_LOG_DEBUG(m_logger) << "Shared scaffold destroyed."; } bool LabJackScaffold::registerDevice(LabJackDevice* device) { boost::lock_guard lock(m_state->mutex); bool result = true; // Make sure the object is unique. auto sameObject = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); SURGSIM_ASSERT(sameObject == m_state->activeDeviceList.end()) << "LabJack: Tried to register a device named '" << device->getName() << "', which is already present!"; // Make sure the name is unique. const std::string& deviceName = device->getName(); auto const sameName = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [&deviceName](const std::unique_ptr& info) { return info->deviceObject->getName() == deviceName; }); if (sameName != m_state->activeDeviceList.end()) { SURGSIM_LOG_SEVERE(m_logger) << "Tried to register a device when the same name, '" << device->getName() << "', is already present!"; result = false; } // Make sure the combination of connection and address is unique, unless the address is zero-length, in which // case the first-found device of this model on this connection will be opened. const std::string& address = device->getAddress(); if (result && (address.length() > 0)) { const LabJack::Model model = device->getModel(); const LabJack::Connection connection = device->getConnection(); auto const sameInitialization = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [&address, connection, model](const std::unique_ptr& info) { return (info->deviceObject->getAddress() == address) && (info->deviceObject->getConnection() == connection) && (info->deviceObject->getModel() == model); }); if (sameInitialization != m_state->activeDeviceList.cend()) { SURGSIM_LOG_SEVERE(m_logger) << "Tried to register a device named '" << device->getName() << "', but a device with the same model (" << model << "), connection (" << connection << "), and address ('" << address << "') is already present!"; result = false; } } if (result) { // Create a handle, opening communications. // If the device's model or connection are SEARCH, iterate over the options. std::vector modelsToSearch; if (device->getModel() == LabJack::MODEL_SEARCH) { SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << ": searching for models U3, U6, and UE9."; modelsToSearch.push_back(LabJack::MODEL_U6); modelsToSearch.push_back(LabJack::MODEL_U3); modelsToSearch.push_back(LabJack::MODEL_UE9); } else { modelsToSearch.push_back(device->getModel()); } std::vector connectionsToSearch; if (device->getConnection() == LabJack::CONNECTION_SEARCH) { SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << ": searching for connections USB and Ethernet."; connectionsToSearch.push_back(LabJack::CONNECTION_USB); connectionsToSearch.push_back(LabJack::CONNECTION_ETHERNET); } else { connectionsToSearch.push_back(device->getConnection()); } std::unique_ptr handle; for (auto model = modelsToSearch.cbegin(); model != modelsToSearch.cend(); ++model) { for (auto connection = connectionsToSearch.cbegin(); connection != connectionsToSearch.cend(); ++connection) { device->setModel(*model); device->setConnection(*connection); handle = std::unique_ptr(new Handle(*model, *connection, address)); result = handle->isValid(); if (result) { auto const sameHandle = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [&handle](const std::unique_ptr& info) { return (info->deviceHandle->get() == handle->get()); }); if (sameHandle != m_state->activeDeviceList.cend()) { SURGSIM_LOG_INFO(m_logger) << "Tried to register a device named '" << device->getName() << "', but a device with the same handle (" << handle->get() << ") is already present! " << "This can happen if multiple LabJack devices are used without setting their addresses."; result = false; } else { break; } } } if (result) { break; } } if (result) { std::unique_ptr info(new DeviceData(device, std::move(handle))); // Cache the NamedData indices for the input DataGroup. const SurgSim::DataStructures::DataGroup& inputData = device->getInputData(); for (auto input = info->digitalInputChannels.cbegin(); input != info->digitalInputChannels.cend(); ++input) { const std::string name = SurgSim::DataStructures::Names::DIGITAL_INPUT_PREFIX + std::to_string(*input); info->digitalInputIndices[*input] = inputData.booleans().getIndex(name); SURGSIM_ASSERT(info->digitalInputIndices[*input] >= 0) << "LabJackScaffold::DeviceData " << "failed to get a valid NamedData index for the digital input for line " << *input << ". Make sure that is a valid line number. Expected an entry named " << name << "."; } for (auto timer = info->timerInputChannels.cbegin(); timer != info->timerInputChannels.cend(); ++timer) { const std::string name = SurgSim::DataStructures::Names::TIMER_INPUT_PREFIX + std::to_string(*timer); info->timerInputIndices[*timer] = inputData.scalars().getIndex(name); SURGSIM_ASSERT(info->timerInputIndices[*timer] >= 0) << "LabJackScaffold::DeviceData " << "failed to get a valid NamedData index for the timer for channel " << *timer << ". Make sure that is a valid timer number. Expected an entry named " << name << "."; } for (auto input = info->analogInputs.cbegin(); input != info->analogInputs.cend(); ++input) { std::string name = SurgSim::DataStructures::Names::ANALOG_INPUT_PREFIX + std::to_string(input->first); info->analogInputIndices[input->first] = inputData.scalars().getIndex(name); SURGSIM_ASSERT(info->analogInputIndices[input->first] >= 0) << "LabJackScaffold::DeviceData failed to get a valid NamedData index for the " << "analog input for channel " << input->first << ". Make sure that is a valid line number. " << "Expected an entry named " << name << "."; } std::unique_ptr thread(new LabJackThread(this, info.get())); result = info->configured; if (result) { thread->setRate(device->getMaximumUpdateRate()); thread->start(); info.get()->thread = std::move(thread); m_state->activeDeviceList.emplace_back(std::move(info)); } } } SURGSIM_LOG_IF(result, m_logger, INFO) << "Device " << device->getName() << " registered."; return result; } bool LabJackScaffold::unregisterDevice(const LabJackDevice* const device) { bool found = false; { boost::lock_guard lock(m_state->mutex); auto matching = std::find_if(m_state->activeDeviceList.begin(), m_state->activeDeviceList.end(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (matching != m_state->activeDeviceList.end()) { m_state->activeDeviceList.erase(matching); // the iterator is now invalid but that's OK found = true; SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << " unregistered."; } } SURGSIM_LOG_IF(!found, m_logger, CRITICAL) << "Attempted to release a non-registered device named '" << device->getName() << "."; return found; } bool LabJackScaffold::runInputFrame(LabJackScaffold::DeviceData* info) { if (info->deviceObject->pullOutput() && !info->cachedOutputIndices) { const SurgSim::DataStructures::DataGroup& initialOutputData = info->deviceObject->getOutputData(); const std::unordered_set& digitalOutputChannels = info->digitalOutputChannels; for (auto output = digitalOutputChannels.cbegin(); output != digitalOutputChannels.cend(); ++output) { info->digitalOutputIndices[*output] = initialOutputData.booleans().getIndex(SurgSim::DataStructures::Names::DIGITAL_OUTPUT_PREFIX + std::to_string(*output)); } const std::unordered_set& timerOutputChannels = info->timerOutputChannels; for (auto timer = timerOutputChannels.cbegin(); timer != timerOutputChannels.cend(); ++timer) { info->timerOutputIndices[*timer] = initialOutputData.scalars().getIndex(SurgSim::DataStructures::Names::TIMER_OUTPUT_PREFIX + std::to_string(*timer)); } const std::unordered_set& analogOutputChannels = info->analogOutputChannels; for (auto output = analogOutputChannels.cbegin(); output != analogOutputChannels.cend(); ++output) { info->analogOutputIndices[*output] = initialOutputData.scalars().getIndex(SurgSim::DataStructures::Names::ANALOG_OUTPUT_PREFIX + std::to_string(*output)); } info->cachedOutputIndices = true; } if (!updateDevice(info)) { return false; } info->deviceObject->pushInput(); return true; } bool LabJackScaffold::updateDevice(LabJackScaffold::DeviceData* info) { const LJ_HANDLE rawHandle = info->deviceHandle->get(); // First we AddRequests. This clears the old data. const SurgSim::DataStructures::DataGroup& outputData = info->deviceObject->getOutputData(); // Request the values of digital inputs. const std::unordered_set& digitalInputChannels = info->digitalInputChannels; for (auto input = digitalInputChannels.cbegin(); input != digitalInputChannels.cend(); ++input) { const LJ_ERROR error = AddRequest(rawHandle, LJ_ioGET_DIGITAL_BIT, *input, 0, 0, 0); SURGSIM_LOG_IF(!isOk(error), m_logger, WARNING) << "Failed to request digital input for a device named '" << info->deviceObject->getName() << "', line number " << *input << "." << std::endl << formatErrorMessage(error); } // Request to set digital outputs. const std::unordered_set& digitalOutputChannels = info->digitalOutputChannels; for (auto output = digitalOutputChannels.cbegin(); output != digitalOutputChannels.cend(); ++output) { if (info->digitalOutputIndices.count(*output) > 0) { const int index = info->digitalOutputIndices[*output]; SURGSIM_ASSERT(index >= 0) << "LabJackScaffold: A LabJackDevice was configured with line " << *output << " set to digital output, but the scaffold does not know the correct index into the NamedData. " << " Make sure there is an entry in the booleans with the correct string key."; bool value; if (outputData.booleans().get(index, &value)) { const double valueToSend = (value ? 1.0 : 0.0); const LJ_ERROR error = AddRequest(rawHandle, LJ_ioPUT_DIGITAL_BIT, *output, valueToSend, 0, 0); SURGSIM_LOG_IF(!isOk(error), m_logger, WARNING) << "Failed to set digital output for a device named '" << info->deviceObject->getName() << "', line number " << *output << ", value " << valueToSend << "." << std::endl << formatErrorMessage(error); } } } // Request to set to timers (e.g., resetting firmware counters). const std::unordered_set& timerOutputChannels = info->timerOutputChannels; for (auto timer = timerOutputChannels.cbegin(); timer != timerOutputChannels.cend(); ++timer) { if (info->timerOutputIndices.count(*timer) > 0) { const int index = info->timerOutputIndices[*timer]; // We do not ensure that all the timers can be output to, because the user might not need to reset them. if (index >= 0) { double value; if (outputData.scalars().get(index, &value)) { const LJ_ERROR error = AddRequest(rawHandle, LJ_ioPUT_TIMER_VALUE, *timer, value, 0, 0); SURGSIM_LOG_IF(!isOk(error), m_logger, WARNING) << "Failed to set timer value for a device named '" << info->deviceObject->getName() << "', channel number " << *timer << ", value " << value << "." << std::endl << formatErrorMessage(error); } } } } // Request inputs from timers. const std::unordered_set& timerInputChannels = info->timerInputChannels; for (auto timer = timerInputChannels.cbegin(); timer != timerInputChannels.cend(); ++timer) { const LJ_ERROR error = AddRequest(rawHandle, LJ_ioGET_TIMER, *timer, 0, 0, 0); SURGSIM_LOG_IF(!isOk(error), m_logger, WARNING) << "Failed to request timer input for a device named '" << info->deviceObject->getName() << "', channel number " << *timer << "." << std::endl << formatErrorMessage(error); } // Request the values of analog inputs. auto const& analogInputs = info->analogInputs; for (auto input = analogInputs.cbegin(); input != analogInputs.cend(); ++input) { if (input->second.negativeChannel.hasValue()) { const LJ_ERROR error = AddRequest(rawHandle, LJ_ioGET_AIN_DIFF, input->first, 0, input->second.negativeChannel.getValue(), 0); SURGSIM_LOG_IF(!isOk(error), m_logger, WARNING) << "Failed to request differential analog input for a device named '" << info->deviceObject->getName() << "', positive channel " << input->first << ", negative channel " << input->second.negativeChannel.getValue() << "." << std::endl << formatErrorMessage(error); } else { const LJ_ERROR error = AddRequest(rawHandle, LJ_ioGET_AIN, input->first, 0, 0, 0); SURGSIM_LOG_IF(!isOk(error), m_logger, WARNING) << "Failed to request single-ended analog input for a device named '" << info->deviceObject->getName() << "', channel " << input->first << "." << std::endl << formatErrorMessage(error); } } // Request to set analog outputs. const std::unordered_set& analogOutputChannels = info->analogOutputChannels; for (auto output = analogOutputChannels.cbegin(); output != analogOutputChannels.cend(); ++output) { if (info->analogOutputIndices.count(*output) > 0) { const int index = info->analogOutputIndices[*output]; SURGSIM_ASSERT(index >= 0) << "LabJackScaffold: A LabJackDevice was configured with line " << *output << " set to analog output, but the scaffold does not know the correct index into the NamedData. " << " Make sure there is an entry in the scalars with the correct string key."; double value; if (outputData.scalars().get(index, &value)) { const LJ_ERROR error = AddRequest(rawHandle, LJ_ioPUT_DAC, *output, value, 0, 0); SURGSIM_LOG_IF(!isOk(error), m_logger, WARNING) << "Failed to set analog output for a device named '" << info->deviceObject->getName() << "', line number " << *output << ", value " << value << "." << std::endl << formatErrorMessage(error); } } } // GoOne, telling this specific LabJack to perform the requests. const LJ_ERROR error = GoOne(rawHandle); // Finally we get the results. SurgSim::DataStructures::DataGroup& inputData = info->deviceObject->getInputData(); if (isOk(error)) { // Digital inputs. for (auto input = digitalInputChannels.cbegin(); input != digitalInputChannels.cend(); ++input) { double value; const LJ_ERROR error = GetResult(rawHandle, LJ_ioGET_DIGITAL_BIT, *input, &value); if (isOk(error)) { const bool valueToSet = value > 0.5 ? true : false; inputData.booleans().set(info->digitalInputIndices[*input], valueToSet); } else { SURGSIM_LOG_WARNING(m_logger) << "Failed to get digital input for a device named '" << info->deviceObject->getName() << "', line number " << *input << "." << std::endl << formatErrorMessage(error); inputData.booleans().reset(info->digitalInputIndices[*input]); } } // Timer inputs. for (auto timer = timerInputChannels.cbegin(); timer != timerInputChannels.cend(); ++timer) { double value; const LJ_ERROR error = GetResult(rawHandle, LJ_ioGET_TIMER, *timer, &value); if (isOk(error)) { inputData.scalars().set(info->timerInputIndices[*timer], value); } else { SURGSIM_LOG_WARNING(m_logger) << "Failed to get timer input for a device named '" << info->deviceObject->getName() << "', channel number " << *timer << "." << std::endl << formatErrorMessage(error); inputData.scalars().reset(info->timerInputIndices[*timer]); } } // Analog inputs. for (auto input = analogInputs.cbegin(); input != analogInputs.cend(); ++input) { double value; if (input->second.negativeChannel.hasValue()) { const LJ_ERROR error = GetResult(rawHandle, LJ_ioGET_AIN_DIFF, input->first, &value); if (isOk(error)) { inputData.scalars().set(info->analogInputIndices[input->first], value); } else { SURGSIM_LOG_WARNING(m_logger) << "Failed to get differential analog input for a device named '" << info->deviceObject->getName() << "', positive channel " << input->first << ", negative channel " << input->second.negativeChannel.getValue() << "." << std::endl << formatErrorMessage(error); inputData.scalars().reset(info->analogInputIndices[input->first]); } } else { const LJ_ERROR error = GetResult(rawHandle, LJ_ioGET_AIN, input->first, &value); if (isOk(error)) { inputData.scalars().set(info->analogInputIndices[input->first], value); } else { SURGSIM_LOG_WARNING(m_logger) << "Failed to get single-ended analog input for a device named '" << info->deviceObject->getName() << "', channel " << input->first << "." << std::endl << formatErrorMessage(error); inputData.scalars().reset(info->analogInputIndices[input->first]); } } } } else { SURGSIM_LOG_WARNING(m_logger) << "Failed to submit requests for a device named '" << info->deviceObject->getName() << "." << std::endl << formatErrorMessage(error); inputData.resetAll(); } return true; } SurgSim::DataStructures::DataGroup LabJackScaffold::buildDeviceInputData() { SurgSim::DataStructures::DataGroupBuilder builder; // We don't know which input lines we need until after the configuration, but LabJackDevice must be constructed with // a valid DataGroup, so we add every possible line. const int maxDigitalInputs = 23; // The UE9 can have 23 digital inputs. for (int i = 0; i < maxDigitalInputs; ++i) { builder.addBoolean(SurgSim::DataStructures::Names::DIGITAL_INPUT_PREFIX + std::to_string(i)); } const int maxTimerInputs = 6; // The UE9 can have 6 timers. for (int i = 0; i < maxTimerInputs; ++i) { builder.addScalar(SurgSim::DataStructures::Names::TIMER_INPUT_PREFIX + std::to_string(i)); } const int maxAnalogInputs = 16; // The U3 can have 16 analog inputs. for (int i = 0; i < maxAnalogInputs; ++i) { builder.addScalar(SurgSim::DataStructures::Names::ANALOG_INPUT_PREFIX + std::to_string(i)); } return builder.createData(); } std::shared_ptr LabJackScaffold::getOrCreateSharedInstance() { static SurgSim::Framework::SharedInstance sharedInstance; return sharedInstance.get(); } void LabJackScaffold::configureDevice(DeviceData* deviceData) { LJ_HANDLE rawHandle = deviceData->deviceHandle->get(); // Reset the configuration. LJ_ERROR error = ePut(rawHandle, LJ_ioPIN_CONFIGURATION_RESET, 0, 0, 0); bool result = isOk(error); SURGSIM_LOG_IF(!result, m_logger, SEVERE) << "Failed to reset configuration for a device named '" << deviceData->deviceObject->getName() << "." << std::endl << formatErrorMessage(error); deviceData->configured = result && configureClockAndTimers(deviceData) && configureDigital(deviceData) && configureAnalog(deviceData); } bool LabJackScaffold::configureClockAndTimers(DeviceData* deviceData) { bool result = configureNumberOfTimers(deviceData); if (result && (deviceData->deviceObject->getTimers().size() > 0)) { result = configureClock(deviceData) && configureTimers(deviceData); } return result; } bool LabJackScaffold::configureNumberOfTimers(DeviceData* deviceData) { LabJackDevice* device = deviceData->deviceObject; LJ_HANDLE rawHandle = deviceData->deviceHandle->get(); const std::unordered_map& timers = device->getTimers(); for (auto timer : timers) { SURGSIM_LOG_IF(timer.first >= static_cast(timers.size()), m_logger, SEVERE) << "Error configuring enabled timers for a device named '" << device->getName() << "', with number of timers: " << timers.size() << "." << std::endl << " Timers must be enabled consecutively, starting with #0." << std::endl << " With the currently enabled number of timers, the highest allowable timer is #" << timers.size() - 1 << ", but one of the enabled timers is #" << timer.first << "." << std::endl; } LJ_ERROR error = ePut(rawHandle, LJ_ioPUT_CONFIG, LJ_chNUMBER_TIMERS_ENABLED, static_cast(timers.size()), 0); bool result = isOk(error); SURGSIM_LOG_IF(!isOk(error), m_logger, SEVERE) << "Failed to configure number of enabled timers for a device named '" << device->getName() << "', with number of timers " << timers.size() << "." << std::endl << formatErrorMessage(error); // Counters are not yet supported so they are explicitly disabled. const int numberOfChannels = 2; // The LabJack U3, U6, and UE9 models each have two counters. for (int channel = 0; channel < numberOfChannels; ++channel) { const int enable = 0; // Disable both counters. const LJ_ERROR error = ePut(rawHandle, LJ_ioPUT_COUNTER_ENABLE, channel, enable, 0); result = result && isOk(error); SURGSIM_LOG_IF(!isOk(error), m_logger, SEVERE) << "Failed to enable/disable counter for a device named '" << device->getName() << "." << std::endl << formatErrorMessage(error); } error = ePut(rawHandle, LJ_ioPUT_CONFIG, LJ_chTIMER_COUNTER_PIN_OFFSET, device->getTimerCounterPinOffset(), 0); result = result && isOk(error); SURGSIM_LOG_IF(!isOk(error), m_logger, SEVERE) << "Failed to configure timer/counter pin offset for a device named '" << device->getName() << "', with offset " << device->getTimerCounterPinOffset() << "." << std::endl << formatErrorMessage(error); return result; } bool LabJackScaffold::configureClock(DeviceData* deviceData) { LabJackDevice* device = deviceData->deviceObject; LJ_HANDLE rawHandle = deviceData->deviceHandle->get(); LabJack::TimerBase base = device->getTimerBase(); if (base == LabJack::TIMERBASE_DEFAULT) { LabJackDefaults defaults; base = defaults.timerBase[device->getModel()]; } LJ_ERROR error = ePut(rawHandle, LJ_ioPUT_CONFIG, LJ_chTIMER_CLOCK_BASE, base, 0); bool result = isOk(error); SURGSIM_LOG_IF(!isOk(error), m_logger, SEVERE) << "Failed to configure the timer base rate for a device named '" << device->getName() << "', with timer base " << device->getTimerBase() << "." << std::endl << formatErrorMessage(error); error = ePut(rawHandle, LJ_ioPUT_CONFIG, LJ_chTIMER_CLOCK_DIVISOR, device->getTimerClockDivisor(), 0); result = result && isOk(error); SURGSIM_LOG_IF(!isOk(error), m_logger, SEVERE) << "Failed to configure the timer/clock divisor for a device named '" << device->getName() << "', with divisor " << device->getTimerClockDivisor() << "." << std::endl << formatErrorMessage(error); return result; } bool LabJackScaffold::configureTimers(DeviceData* deviceData) { LabJackDevice* device = deviceData->deviceObject; LJ_HANDLE rawHandle = deviceData->deviceHandle->get(); bool result = true; const std::unordered_map& timers = device->getTimers(); for (auto timer = timers.cbegin(); timer != timers.cend(); ++timer) { LJ_ERROR error = AddRequest(rawHandle, LJ_ioPUT_TIMER_MODE, timer->first, timer->second.mode, 0, 0); result = result && isOk(error); SURGSIM_LOG_IF(!isOk(error), m_logger, SEVERE) << "Failed to configure a timer for a device named '" << device->getName() << "', timer number " << timer->first << ", with mode code " << timer->second.mode << "." << std::endl << formatErrorMessage(error); if (result && (timer->second.initialValue.hasValue())) { error = AddRequest(rawHandle, LJ_ioPUT_TIMER_VALUE, timer->first, timer->second.initialValue.getValue(), 0, 0); result = result && isOk(error); SURGSIM_LOG_IF(!result, m_logger, SEVERE) << "Failed to set the initial value for a timer for a device named '" << device->getName() << "', timer number " << timer->first << ", with mode code " << timer->second.mode << ", and value " << timer->second.initialValue.getValue() << "." << std::endl << formatErrorMessage(error); } if (result) { error = GoOne(rawHandle); result = result && isOk(error); double value; error = GetResult(rawHandle, LJ_ioPUT_TIMER_MODE, timer->first, &value); result = result && isOk(error); if (result && timer->second.initialValue.hasValue()) { error = GetResult(rawHandle, LJ_ioPUT_TIMER_VALUE, timer->first, &value); result = result && isOk(error); } SURGSIM_LOG_IF(!result, m_logger, SEVERE) << "Failed to configure timer for a device named '" << device->getName() << "', timer number " << timer->first << ", with mode code " << timer->second.mode << "." << std::endl << formatErrorMessage(error); } } return result; } bool LabJackScaffold::configureAnalog(DeviceData* deviceData) { LabJackDevice* device = deviceData->deviceObject; LJ_HANDLE rawHandle = deviceData->deviceHandle->get(); bool result = true; const std::unordered_set& analogOutputs = deviceData->analogOutputChannels; for (auto output = analogOutputs.cbegin(); output != analogOutputs.cend(); ++output) { LJ_ERROR error = ePut(rawHandle, LJ_ioPUT_DAC_ENABLE, *output, 1, 0); result = result && isOk(error); SURGSIM_LOG_IF(!isOk(error), m_logger, SEVERE) << "Failed to enable analog output for a device named '" << device->getName() << "', channel " << *output << "." << std::endl << formatErrorMessage(error); } auto const& analogInputs = deviceData->analogInputs; if (analogInputs.size() > 0) { LJ_ERROR error = ePut(rawHandle, LJ_ioPUT_CONFIG, LJ_chAIN_RESOLUTION, device->getAnalogInputResolution(), 0); result = result && isOk(error); SURGSIM_LOG_IF(!isOk(error), m_logger, SEVERE) << "Failed to configure analog input resolution for a device named '" << device->getName() << "', with resolution code " << device->getAnalogInputResolution() << "." << std::endl << formatErrorMessage(error); error = ePut(rawHandle, LJ_ioPUT_CONFIG, LJ_chAIN_SETTLING_TIME, device->getAnalogInputSettling(), 0); result = result && isOk(error); SURGSIM_LOG_IF(!isOk(error), m_logger, SEVERE) << "Failed to configure analog input settling time for a device named '" << device->getName() << "', with settling time code " << device->getAnalogInputSettling() << "." << std::endl << formatErrorMessage(error); for (auto input = analogInputs.cbegin(); input != analogInputs.cend(); ++input) { error = ePut(rawHandle, LJ_ioPUT_ANALOG_ENABLE_BIT, input->first, 1, 0); result = result && isOk(error); SURGSIM_LOG_IF(!isOk(error), m_logger, SEVERE) << "Failed to enable analog input for a device named '" << device->getName() << "', channel " << input->first << "." << std::endl << formatErrorMessage(error); error = ePut(rawHandle, LJ_ioPUT_AIN_RANGE, input->first, input->second.range, 0); result = result && isOk(error); SURGSIM_LOG_IF(!isOk(error), m_logger, SEVERE) << "Failed to set the range for an analog input for a device named '" << device->getName() << "', channel " << input->first << ", with range code " << input->second.range << "." << std::endl << formatErrorMessage(error); } } return result; } bool LabJackScaffold::configureDigital(DeviceData* deviceData) { return true; } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Leap/000077500000000000000000000000001277777236100177505ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Leap/CMakeLists.txt000066400000000000000000000025561277777236100225200ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013-2015, SimQuest Solutions 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 # # 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. find_package(LeapSdk REQUIRED) include_directories(SYSTEM ${LEAPSDK_INCLUDE_DIR} ) set(LIBS SurgSimDataStructures SurgSimFramework SurgSimInput ${LEAPSDK_LIBRARY} ) set(LEAP_DEVICE_SOURCES LeapDevice.cpp LeapScaffold.cpp LeapUtilities.cpp ) set(LEAP_DEVICE_HEADERS LeapDevice.h LeapScaffold.h LeapUtilities.h ) set(DEVICE_HEADERS ${DEVICE_HEADERS} Leap/LeapDevice.h Leap/LeapUtilities.h PARENT_SCOPE) surgsim_add_library( LeapDevice "${LEAP_DEVICE_SOURCES}" "${LEAP_DEVICE_HEADERS}" ) target_link_libraries(LeapDevice ${LIBS}) if(BUILD_TESTING) add_subdirectory(UnitTests) if(GLUT_FOUND) add_subdirectory(VisualTest) endif(GLUT_FOUND) endif() set_target_properties(LeapDevice PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Leap/Leap.dox000066400000000000000000000011101277777236100213360ustar00rootroot00000000000000/*! \page Leap Leap: Leap Motion Hand Tracking Cameras This adds support for Leap Motion hand tracking cameras. Dependencies ------------ Leap Motion SDK: The SDK is available for Windows and GNU/Linux on Leap Motion's Developer website. To build OpenSurgSim with Leap Motion support, create a LEAPSDK_DIR environment variable that points to the location of the LeapSDK directory. This directory should include the 'include' and 'lib' directories. Also, in CMake enable BUILD_DEVICE_LEAP. */ opensurgsim-0.7.0/SurgSim/Devices/Leap/LeapDevice.cpp000066400000000000000000000063471277777236100224670ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Leap/LeapDevice.h" #include #include "SurgSim/Devices/Leap/LeapScaffold.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::LeapDevice, LeapDevice); LeapDevice::LeapDevice(const std::string& name) : Input::CommonDevice(name, LeapScaffold::buildDeviceInputData()), m_handType(HANDTYPE_RIGHT), m_isProvidingImages(false) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(LeapDevice, bool, UseHmdTrackingMode, isUsingHmdTrackingMode, setUseHmdTrackingMode); SURGSIM_ADD_SERIALIZABLE_PROPERTY(LeapDevice, bool, ProvideImages, isProvidingImages, setProvideImages); SURGSIM_ADD_SERIALIZABLE_PROPERTY(LeapDevice, SurgSim::Devices::HandType, HandType, getHandType, setHandType); } LeapDevice::~LeapDevice() { if (isInitialized()) { finalize(); } } void LeapDevice::setHandType(HandType type) { m_handType = type; } HandType LeapDevice::getHandType() const { return m_handType; } void LeapDevice::setUseHmdTrackingMode(bool useHmdTrackingMode) { if (isInitialized()) { m_scaffold->setUseHmdTrackingMode(useHmdTrackingMode); } m_requestedHmdTrackingMode = useHmdTrackingMode; } bool LeapDevice::isUsingHmdTrackingMode() const { if (isInitialized()) { return m_scaffold->isUsingHmdTrackingMode(); } else { return m_requestedHmdTrackingMode.getValue(); } } void LeapDevice::setProvideImages(bool produceImages) { SURGSIM_ASSERT(!isInitialized()) << "Cannot call setProvideImages after LeapDevice is initialized"; m_isProvidingImages = produceImages; } bool LeapDevice::isProvidingImages() const { return m_isProvidingImages; } bool LeapDevice::initialize() { SURGSIM_ASSERT(!isInitialized()) << getName() << "is already initialized, cannot initialize again."; auto scaffold = LeapScaffold::getOrCreateSharedInstance(); SURGSIM_ASSERT(scaffold != nullptr) << getName() << " initialization failed, cannot get scaffold."; bool registered = false; if (scaffold->registerDevice(this)) { if (m_requestedHmdTrackingMode.hasValue()) { scaffold->setUseHmdTrackingMode(m_requestedHmdTrackingMode.getValue()); } m_scaffold = std::move(scaffold); registered = true; } return registered; } bool LeapDevice::finalize() { SURGSIM_ASSERT(isInitialized()) << getName() << " is not initialized, cannot finalize."; bool success = m_scaffold->unregisterDevice(this); m_scaffold.reset(); return success; } bool LeapDevice::isInitialized() const { return (m_scaffold != nullptr); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Leap/LeapDevice.h000066400000000000000000000120521277777236100221220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_LEAP_LEAPDEVICE_H #define SURGSIM_DEVICES_LEAP_LEAPDEVICE_H #include #include "SurgSim/DataStructures/OptionalValue.h" #include "SurgSim/Input/CommonDevice.h" namespace SurgSim { namespace Devices { class LeapScaffold; SURGSIM_STATIC_REGISTRATION(LeapDevice); enum HandType : SURGSIM_ENUM_TYPE; /// A class implementing the communication with one hand tracked by Leap Motion camera /// /// \par Application input provided by the device: /// | type | name | | /// | ---- | ---- | --- | /// | image | "left" | Left infrared image, each pixel value is between 0 and 1. | /// | image | "right" | Right infrared image, each pixel value is between 0 and 1. | /// | image | "left_distortion" | Left distortion calibration map | /// | image | "right_distortion" | Right distortion calibration map | /// | pose | "pose" | %Hand pose | /// | pose | "ThumbProximal" | %Pose of thumb proximal joint | /// | pose | "ThumbIntermediate" | %Pose of thumb intermediate joint | /// | pose | "ThumbDistal" | %Pose of thumb distal joint | /// | pose | "IndexFingerProximal" | %Pose of index finger proximal joint | /// | pose | "IndexFingerIntermediate" | %Pose of index finger intermediate joint | /// | pose | "IndexFingerDistal" | %Pose of index finger distal joint | /// | pose | "MiddleFingerProximal" | %Pose of middle finger proximal joint | /// | pose | "MiddleFingerIntermediate" | %Pose of middle finger intermediate joint | /// | pose | "MiddleFingerDistal" | %Pose of middle finger distal joint | /// | pose | "RingFingerProximal" | %Pose of ring finger proximal joint | /// | pose | "RingFingerIntermediate" | %Pose of ring finger intermediate joint | /// | pose | "RingFingerDistal" | %Pose of ring finger distal joint | /// | pose | "SmallFingerProximal" | %Pose of small finger proximal joint | /// | pose | "SmallFingerIntermediate" | %Pose of small finger intermediate joint | /// | pose | "SmallFingerDistal" | %Pose of small finger distal joint | /// /// \par Application output used by the device: none. /// /// \sa SurgSim::Devices::LeapScaffold class LeapDevice : public SurgSim::Input::CommonDevice { public: /// Constructor. /// \param name A unique name for the device that will be used by the application. explicit LeapDevice(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Devices::LeapDevice); /// Destructor. virtual ~LeapDevice(); /// Set the type of hand /// \param type The hand type, either HANDTYPE_LEFT or HANDTYPE_RIGHT void setHandType(HandType type); /// Get the type of hand /// \return The hand type, either HANDTYPE_LEFT or HANDTYPE_RIGHT HandType getHandType() const; /// Set the hand tracking mode to HMD /// This is a global setting that optimizes hand tracking based on the Leap camera /// placement. The default is desktop mode, where the camera is placed /// face up on a desktop. Use Hmd mode when the camera is attached to /// the front of a head mounted display. /// \param useHmdTrackingMode True if Hmd tracking mode is to be used void setUseHmdTrackingMode(bool useHmdTrackingMode); /// Is Using HMD Tracking Mode /// \return True is HMD Tracking Mode is on bool isUsingHmdTrackingMode() const; /// Set if the device should provide the stereo infrared images /// \param provideImages True if providing images void setProvideImages(bool provideImages); /// Get if the device should provide the stereo infrared images /// \return True if providing images bool isProvidingImages() const; bool initialize() override; bool isInitialized() const override; private: friend class LeapScaffold; bool finalize() override; std::shared_ptr m_scaffold; HandType m_handType; /// Tracking mode DataStructures::OptionalValue m_requestedHmdTrackingMode; /// Request Camera Images mode bool m_isProvidingImages; }; }; }; SURGSIM_SERIALIZABLE_ENUM(SurgSim::Devices::HandType, (HANDTYPE_LEFT)(HANDTYPE_RIGHT)); #endif //SURGSIM_DEVICES_LEAP_LEAPDEVICE_H opensurgsim-0.7.0/SurgSim/Devices/Leap/LeapScaffold.cpp000066400000000000000000000322311277777236100230000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Leap/LeapScaffold.h" #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SharedInstance.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" using SurgSim::Math::RigidTransform3d; namespace { RigidTransform3d makeRigidTransform(const Leap::Matrix& rotation, const Leap::Vector& translation, bool isRightHanded = true) { Leap::Matrix matrix = rotation; if (!isRightHanded) { matrix.zBasis *= -1.0; } // Convert milimeters to meters matrix.origin = translation * 0.001f; SurgSim::Math::Matrix44d transform; matrix.toArray4x4(transform.data()); return RigidTransform3d(transform.transpose()); } void updateDataGroup(const Leap::Hand& hand, SurgSim::DataStructures::DataGroup* inputData) { static const std::array fingerNames = {"Thumb", "IndexFinger", "MiddleFinger", "RingFinger", "SmallFinger"}; static const std::array boneNames = {"Metacarpal", "Proximal", "Intermediate", "Distal"}; inputData->poses().set("pose", makeRigidTransform(hand.basis(), hand.palmPosition(), hand.isRight())); std::string name; const Leap::FingerList fingers = hand.fingers(); for (const Leap::Finger& finger : fingers) { for (int boneType = Leap::Bone::TYPE_PROXIMAL; boneType <= Leap::Bone::TYPE_DISTAL; ++boneType) { Leap::Bone bone = finger.bone(static_cast(boneType)); name = fingerNames[finger.type()] + boneNames[boneType]; inputData->poses().set(name, makeRigidTransform(bone.basis(), bone.prevJoint(), hand.isRight())); inputData->scalars().set(name + "Length", bone.length() / 1000.0); inputData->scalars().set(name + "Width", bone.width() / 1000.0); } } } }; namespace SurgSim { namespace Devices { class LeapScaffold::Listener : public Leap::Listener { public: Listener() : m_scaffold(LeapScaffold::getOrCreateSharedInstance()), m_logger(Framework::Logger::getLogger("Devices/Leap")) { } void onConnect(const Leap::Controller&) override { SURGSIM_LOG_INFO(m_logger) << "Connected to Leap Motion camera"; auto scaffold = m_scaffold.lock(); if (scaffold != nullptr) { scaffold->handleConnect(); } } void onDisconnect(const Leap::Controller&) override { SURGSIM_LOG_INFO(m_logger) << "Diconnected from Leap Motion camera"; } void onFrame(const Leap::Controller&) override { auto scaffold = m_scaffold.lock(); if (scaffold != nullptr) { scaffold->handleFrame(); } } private: std::weak_ptr m_scaffold; std::shared_ptr m_logger; }; struct LeapScaffold::DeviceData { explicit DeviceData(LeapDevice* device) : deviceObject(device), handId(std::numeric_limits::quiet_NaN()) { } /// The corresponding device object. LeapDevice* const deviceObject; /// A unique id for the hand, assigned by the Leap SDK int32_t handId; }; struct LeapScaffold::StateData { // The SDK's interface to a single Leap Motion Camera Leap::Controller controller; /// A listener that receives updates from the Leap SDK std::unique_ptr listener; /// The list of known devices. std::list> activeDevices; /// The mutex that protects the list of known devices. boost::mutex mutex; }; LeapScaffold::LeapScaffold() : m_state(new StateData), m_logger(Framework::Logger::getLogger("Devices/Leap")) { } LeapScaffold::~LeapScaffold() { if (m_state->listener != nullptr) { m_state->controller.removeListener(*m_state->listener); } } bool LeapScaffold::registerDevice(LeapDevice* device) { bool success = true; boost::lock_guard lock(m_state->mutex); const std::string deviceName = device->getName(); auto sameName = [&deviceName](const std::unique_ptr& info) { return info->deviceObject->getName() == deviceName; }; auto found = std::find_if(m_state->activeDevices.cbegin(), m_state->activeDevices.cend(), sameName); if (found == m_state->activeDevices.end()) { std::unique_ptr info(new DeviceData(device)); success = doRegisterDevice(info.get()); if (success) { SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << ": Registered"; m_state->activeDevices.emplace_back(std::move(info)); } else { SURGSIM_LOG_SEVERE(m_logger) << "Device " << device->getName() << ": Not registered"; } } else { SURGSIM_LOG_SEVERE(m_logger) << "Tried to register a device when the same name, '" << device->getName() << "', is already present!"; success = false; } return success; } bool LeapScaffold::doRegisterDevice(DeviceData* info) { if (m_state->listener == nullptr) { m_state->listener = std::unique_ptr(new Listener); m_state->controller.addListener(*m_state->listener); } if (info->deviceObject->isProvidingImages()) { m_state->controller.setPolicy(Leap::Controller::PolicyFlag::POLICY_IMAGES); } return true; } bool LeapScaffold::unregisterDevice(const LeapDevice* device) { bool success = true; boost::lock_guard lock(m_state->mutex); auto& devices = m_state->activeDevices; if (device->isProvidingImages()) { auto providingImages = [](const std::unique_ptr& info) { return info->deviceObject->isProvidingImages(); }; if (std::find_if(devices.begin(), devices.end(), providingImages) == devices.end()) { m_state->controller.clearPolicy(Leap::Controller::PolicyFlag::POLICY_IMAGES); } } auto sameDevice = [device](const std::unique_ptr& info) { return info->deviceObject == device; }; auto info = std::find_if(devices.begin(), devices.end(), sameDevice); if (info != devices.end()) { devices.erase(info); SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << ": Unregistered"; } else { SURGSIM_LOG_SEVERE(m_logger) << "Attempted to release a non-registered device named '" << device->getName() << "."; success = false; } return success; } void LeapScaffold::handleConnect() { m_state->controller.setPolicy(Leap::Controller::PolicyFlag::POLICY_BACKGROUND_FRAMES); for (auto& device : m_state->activeDevices) { if (device->deviceObject->isProvidingImages()) { m_state->controller.setPolicy(Leap::Controller::PolicyFlag::POLICY_IMAGES); break; } } } void LeapScaffold::handleFrame() { updateHandData(); updateImageData(); for (auto& device : m_state->activeDevices) { device->deviceObject->pushInput(); } } void LeapScaffold::updateHandData() { std::list unassignedDevices; for (auto& device : m_state->activeDevices) { unassignedDevices.push_back(device.get()); } std::list newHands; Leap::HandList hands = m_state->controller.frame().hands(); for (auto hand = hands.begin(); hand != hands.end(); ++hand) { auto sameHandId = [hand](const std::unique_ptr& info) { return info->handId == (*hand).id(); }; auto assignedDevice = std::find_if(m_state->activeDevices.begin(), m_state->activeDevices.end(), sameHandId); if (assignedDevice != m_state->activeDevices.end()) { updateDataGroup(*hand, &(*assignedDevice)->deviceObject->getInputData()); unassignedDevices.remove(assignedDevice->get()); } else { newHands.push_back(hand); } } static auto higherConfidence = [](const Leap::HandList::const_iterator &a, const Leap::HandList::const_iterator &b) { return (*a).confidence() > (*b).confidence(); }; newHands.sort(higherConfidence); for (auto& newHand : newHands) { auto sameHandType = [newHand](DeviceData* info) { return (info->deviceObject->getHandType() == HANDTYPE_LEFT) == (*newHand).isLeft(); }; auto unassignedDevice = std::find_if(unassignedDevices.begin(), unassignedDevices.end(), sameHandType); if (unassignedDevice != unassignedDevices.end()) { (*unassignedDevice)->handId = (*newHand).id(); updateDataGroup(*newHand, &(*unassignedDevice)->deviceObject->getInputData()); unassignedDevices.remove(*unassignedDevice); } } for(auto& unassignedDevice : unassignedDevices) { unassignedDevice->deviceObject->getInputData().poses().resetAll(); } } void LeapScaffold::updateImageData() { Leap::ImageList images = m_state->controller.frame().images(); if (!images.isEmpty()) { typedef DataStructures::DataGroup::ImageType ImageType; ImageType leftImage(images[0].width(), images[0].height(), 1, images[0].data()); ImageType rightImage(images[1].width(), images[1].height(), 1, images[1].data()); ImageType leftDistortion(images[0].distortionWidth() / 2, images[0].distortionHeight(), 2, images[0].distortion()); ImageType rightDistortion(images[1].distortionWidth() / 2, images[1].distortionHeight(), 2, images[1].distortion()); // scale values to 0..1 leftImage.getAsVector() *= (1.0f / 255.0f); rightImage.getAsVector() *= (1.0f / 255.0f); for (auto& device : m_state->activeDevices) { if (device->deviceObject->isProvidingImages()) { device->deviceObject->getInputData().images().set("left", leftImage); device->deviceObject->getInputData().images().set("right", rightImage); device->deviceObject->getInputData().images().set("left_distortion", leftDistortion); device->deviceObject->getInputData().images().set("right_distortion", rightDistortion); } else { device->deviceObject->getInputData().images().resetAll(); } } } else { for (auto& device : m_state->activeDevices) { device->deviceObject->getInputData().images().resetAll(); } } } std::shared_ptr LeapScaffold::getOrCreateSharedInstance() { static auto creator = []() { return std::shared_ptr(new LeapScaffold); }; static Framework::SharedInstance sharedInstance(creator); return sharedInstance.get(); } DataStructures::DataGroup LeapScaffold::buildDeviceInputData() { DataStructures::DataGroupBuilder builder; builder.addImage("left"); builder.addImage("right"); builder.addImage("left_distortion"); builder.addImage("right_distortion"); builder.addPose("pose"); builder.addPose("ThumbProximal"); builder.addPose("ThumbIntermediate"); builder.addPose("ThumbDistal"); builder.addPose("IndexFingerProximal"); builder.addPose("IndexFingerIntermediate"); builder.addPose("IndexFingerDistal"); builder.addPose("MiddleFingerProximal"); builder.addPose("MiddleFingerIntermediate"); builder.addPose("MiddleFingerDistal"); builder.addPose("RingFingerProximal"); builder.addPose("RingFingerIntermediate"); builder.addPose("RingFingerDistal"); builder.addPose("SmallFingerProximal"); builder.addPose("SmallFingerIntermediate"); builder.addPose("SmallFingerDistal"); builder.addScalar("ThumbProximalWidth"); builder.addScalar("ThumbIntermediateWidth"); builder.addScalar("ThumbDistalWidth"); builder.addScalar("IndexFingerProximalWidth"); builder.addScalar("IndexFingerIntermediateWidth"); builder.addScalar("IndexFingerDistalWidth"); builder.addScalar("MiddleFingerProximalWidth"); builder.addScalar("MiddleFingerIntermediateWidth"); builder.addScalar("MiddleFingerDistalWidth"); builder.addScalar("RingFingerProximalWidth"); builder.addScalar("RingFingerIntermediateWidth"); builder.addScalar("RingFingerDistalWidth"); builder.addScalar("SmallFingerProximalWidth"); builder.addScalar("SmallFingerIntermediateWidth"); builder.addScalar("SmallFingerDistalWidth"); builder.addScalar("ThumbProximalLength"); builder.addScalar("ThumbIntermediateLength"); builder.addScalar("ThumbDistalLength"); builder.addScalar("IndexFingerProximalLength"); builder.addScalar("IndexFingerIntermediateLength"); builder.addScalar("IndexFingerDistalLength"); builder.addScalar("MiddleFingerProximalLength"); builder.addScalar("MiddleFingerIntermediateLength"); builder.addScalar("MiddleFingerDistalLength"); builder.addScalar("RingFingerProximalLength"); builder.addScalar("RingFingerIntermediateLength"); builder.addScalar("RingFingerDistalLength"); builder.addScalar("SmallFingerProximalLength"); builder.addScalar("SmallFingerIntermediateLength"); builder.addScalar("SmallFingerDistalLength"); return builder.createData(); } void LeapScaffold::setUseHmdTrackingMode(bool useHmdTrackingMode) { if (useHmdTrackingMode) { m_state->controller.setPolicy(Leap::Controller::PolicyFlag::POLICY_OPTIMIZE_HMD); } else { m_state->controller.clearPolicy(Leap::Controller::PolicyFlag::POLICY_OPTIMIZE_HMD); } } bool LeapScaffold::isUsingHmdTrackingMode() const { return m_state->controller.isPolicySet(Leap::Controller::PolicyFlag::POLICY_OPTIMIZE_HMD); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Leap/LeapScaffold.h000066400000000000000000000060021277777236100224420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_LEAP_LEAPSCAFFOLD_H #define SURGSIM_DEVICES_LEAP_LEAPSCAFFOLD_H #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Devices/Leap/LeapDevice.h" namespace SurgSim { namespace Framework { class Logger; }; namespace Devices { class LeapDevice; /// A class that manages Leap devices /// /// \sa SurgSim::Devices::LeapDevice class LeapScaffold { public: /// Destructor. virtual ~LeapScaffold(); private: /// Internal shared state data type. struct StateData; /// Internal per-device information. struct DeviceData; /// Class for receiving data from the Leap SDK class Listener; friend class LeapDevice; /// Constructor. LeapScaffold(); /// Gets or creates the scaffold shared by all LeapDevice instances. /// The scaffold is managed using a SharedInstance object, so it will be destroyed when all devices are released. /// \return the scaffold object. static std::shared_ptr getOrCreateSharedInstance(); /// Registers the specified device object. /// \param device The device object to be used /// \return True if the initialization succeeds, false if it fails. bool registerDevice(LeapDevice* device); /// Unregisters the specified device object. /// \param device The device object. /// \return true on success, false on failure. bool unregisterDevice(const LeapDevice* device); /// Do the Leap specific registration /// \param info The device data /// \return true on success, false on failure. bool doRegisterDevice(DeviceData* info); /// Handle a new frame of data void handleFrame(); /// Handle initial connection to SDK void handleConnect(); /// Update the hand data void updateHandData(); /// Update the image data void updateImageData(); /// Builds the data layout for the application input (i.e. device output). static DataStructures::DataGroup buildDeviceInputData(); /// Internal scaffold state. std::unique_ptr m_state; /// Set using HMD Tracking Mode /// \param useHmdTrackingMode True if using HMD Tracking Mode void setUseHmdTrackingMode(bool useHmdTrackingMode); /// Is Using HMD Tracking Mode /// \return True if using HMD Tracking Mode bool isUsingHmdTrackingMode() const; /// Logger used by the scaffold std::shared_ptr m_logger; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_LEAP_LEAPSCAFFOLD_H opensurgsim-0.7.0/SurgSim/Devices/Leap/LeapUtilities.cpp000066400000000000000000000045141277777236100232350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Leap/LeapUtilities.h" namespace SurgSim { namespace Devices { DataStructures::DataGroup::ImageType undistortLeapImage(const DataStructures::DataGroup::ImageType& image, const DataStructures::DataGroup::ImageType& distortion) { DataStructures::DataGroup::ImageType result(image.getWidth(), image.getHeight(), image.getNumChannels()); Eigen::Array2f distortionPosition; Eigen::Array2f weights; Eigen::Array2f size(result.getWidth(), result.getHeight()); Eigen::Array2i corner; Eigen::RowVector2f preMultiply; Eigen::Vector2f postMultiply; Eigen::Array2f position; // Undistort the images using the Leap distortion map. // See Image::distortion() documentation for reference implementation: // https://developer.leapmotion.com/documentation/cpp/api/Leap.Image.html for (size_t i = 0; i < result.getWidth(); i++) { for (size_t j = 0; j < result.getHeight(); j++) { distortionPosition << 63 * i / size[0], 62 * (1 - j / size[1]); corner = distortionPosition.template cast(); // Bilinear interpolation weights = distortionPosition - distortionPosition.unaryExpr(std::ptr_fun(std::floor)); preMultiply << 1 - weights[0], weights[0]; postMultiply << 1 - weights[1], weights[1]; position << preMultiply * distortion.getChannel(0).block<2, 2>(corner[0], corner[1]) * postMultiply, preMultiply * distortion.getChannel(1).block<2, 2>(corner[0], corner[1]) * postMultiply; if ((position >= 0).all() && (position <= 1.0).all()) { position *= size; result(i, j) = image(static_cast(position[0]), static_cast(position[1])); } else { result(i, j).setConstant(0); } } } return result; } }; }; opensurgsim-0.7.0/SurgSim/Devices/Leap/LeapUtilities.h000066400000000000000000000024041277777236100226760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_LEAP_LEAPUTILITIES_H #define SURGSIM_DEVICES_LEAP_LEAPUTILITIES_H #include "SurgSim/DataStructures/DataGroup.h" namespace SurgSim { namespace Devices { /// Correct an infrared image from the LeapDevice, given its distortion callibration map /// \param image The distorted infrared image /// \param distortion The distortion callibration map /// \return The corrected infrared image DataStructures::DataGroup::ImageType undistortLeapImage(const DataStructures::DataGroup::ImageType& image, const DataStructures::DataGroup::ImageType& distortion); }; }; #endif //SURGSIM_DEVICES_LEAP_LEAPUTILITIES_H opensurgsim-0.7.0/SurgSim/Devices/Leap/UnitTests/000077500000000000000000000000001277777236100217125ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Leap/UnitTests/CMakeLists.txt000066400000000000000000000016111277777236100244510ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES LeapDeviceTest.cpp ) set(LIBS LeapDevice SurgSimDataStructures SurgSimInput ) surgsim_add_unit_tests(LeapDeviceTest) set_target_properties(LeapDeviceTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Leap/UnitTests/LeapDeviceTest.cpp000066400000000000000000000225041277777236100252620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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. /// \file /// Tests for the LeapDevice class. #include #include #include #include #include #include "SurgSim/Devices/Leap/LeapDevice.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::Devices::LeapDevice; using SurgSim::DataStructures::DataGroup; using SurgSim::Testing::MockInputOutput; namespace SurgSim { namespace Devices { TEST(LeapDeviceTest, CreateUninitializedDevice) { std::shared_ptr device; ASSERT_NO_THROW({ device = std::make_shared("TestLeap"); }); ASSERT_TRUE(device != nullptr) << "Device creation failed."; } TEST(LeapDeviceTest, CreateAndInitializeDevice) { std::shared_ptr device = std::make_shared("TestLeap"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_FALSE(device->isInitialized()); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Leap device plugged in?"; EXPECT_TRUE(device->isInitialized()); } TEST(LeapDeviceTest, Name) { std::shared_ptr device = std::make_shared("TestLeap"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_EQ("TestLeap", device->getName()); EXPECT_TRUE(device->initialize()) << "Initialization failed. Is a Leap device plugged in?"; EXPECT_EQ("TestLeap", device->getName()); } TEST(LeapDeviceTest, HandType) { std::shared_ptr device = std::make_shared("TestLeap"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_EQ(HANDTYPE_RIGHT, device->getHandType()); device->setHandType(HANDTYPE_LEFT); EXPECT_EQ(HANDTYPE_LEFT, device->getHandType()); device->setHandType(HANDTYPE_RIGHT); EXPECT_EQ(HANDTYPE_RIGHT, device->getHandType()); } TEST(LeapDeviceTest, TrackingMode) { { std::shared_ptr device = std::make_shared("TestLeap"); EXPECT_THROW(device->isUsingHmdTrackingMode(), Framework::AssertionFailure) << "TrackingMode not previously set, nor device initialized, should not be able to determine tracking mode"; } { std::shared_ptr device = std::make_shared("TestLeap"); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Leap device plugged in?"; EXPECT_FALSE(device->isUsingHmdTrackingMode()) << "HMD Tracking should be off by default."; } { std::shared_ptr device = std::make_shared("TestLeap"); device->setUseHmdTrackingMode(true); EXPECT_TRUE(device->isUsingHmdTrackingMode()); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Leap device plugged in?"; boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(100)); EXPECT_TRUE(device->isUsingHmdTrackingMode()) << "HMD Tracking Mode not set. This could be do to user settings in the LeapControlPanel." << std::endl << "Disable 'Auto-orient Tracking' in Settings>>Tracking."; } } TEST(LeapDeviceTest, ProvidingImages) { std::shared_ptr device = std::make_shared("TestLeap"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_FALSE(device->isProvidingImages()); device->setProvideImages(true); EXPECT_TRUE(device->isProvidingImages()); EXPECT_FALSE(device->isInitialized()); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Leap device plugged in?"; EXPECT_TRUE(device->isInitialized()); EXPECT_THROW(device->setProvideImages(true), Framework::AssertionFailure); } TEST(LeapDeviceTest, CreateDevicesWithSameName) { std::shared_ptr device1 = std::make_shared("TestLeap"); ASSERT_TRUE(device1 != nullptr) << "Device creation failed."; ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a Leap device plugged in?"; std::shared_ptr device2 = std::make_shared("TestLeap"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; ASSERT_FALSE(device2->initialize()) << "Initialization succeeded despite duplicate name."; } TEST(LeapDeviceTest, InputConsumer) { std::shared_ptr device = std::make_shared("TestLeap"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Leap device plugged in?"; std::shared_ptr consumer = std::make_shared(); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_FALSE(device->removeInputConsumer(consumer)); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device->addInputConsumer(consumer)); // Adding the same input consumer again should fail. EXPECT_FALSE(device->addInputConsumer(consumer)); // Sleep for a second, to see how many times the consumer is invoked. boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeInputConsumer(consumer)); // Removing the same input consumer again should fail. EXPECT_FALSE(device->removeInputConsumer(consumer)); // Check the number of invocations. EXPECT_EQ(1, consumer->m_numTimesInitializedInput); EXPECT_GE(consumer->m_numTimesReceivedInput, 5); EXPECT_LE(consumer->m_numTimesReceivedInput, 120); EXPECT_TRUE(consumer->m_lastReceivedInput.images().hasEntry("left")); EXPECT_TRUE(consumer->m_lastReceivedInput.images().hasEntry("left_distortion")); EXPECT_TRUE(consumer->m_lastReceivedInput.images().hasEntry("right")); EXPECT_TRUE(consumer->m_lastReceivedInput.images().hasEntry("right_distortion")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasEntry("pose")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasEntry("ThumbProximal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasEntry("ThumbIntermediate")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasEntry("ThumbDistal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasEntry("IndexFingerProximal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasEntry("IndexFingerIntermediate")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasEntry("IndexFingerDistal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasEntry("MiddleFingerProximal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasEntry("MiddleFingerIntermediate")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasEntry("MiddleFingerDistal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasEntry("RingFingerProximal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasEntry("RingFingerIntermediate")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasEntry("RingFingerDistal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasEntry("SmallFingerProximal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasEntry("SmallFingerIntermediate")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasEntry("SmallFingerDistal")); } TEST(LeapDeviceTest, OutputProducer) { std::shared_ptr device = std::make_shared("TestLeap"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Leap device plugged in?"; std::shared_ptr producer = std::make_shared(); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_FALSE(device->removeOutputProducer(producer)); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_TRUE(device->setOutputProducer(producer)); // Sleep for a second, to see how many times the producer is invoked. boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeOutputProducer(producer)); // Removing the same input producer again should fail. EXPECT_FALSE(device->removeOutputProducer(producer)); // Check the number of invocations. EXPECT_EQ(0, producer->m_numTimesRequestedOutput); } TEST(LeapDeviceTest, FactoryCreation) { std::shared_ptr device; ASSERT_NO_THROW(device = Input::DeviceInterface::getFactory().create("SurgSim::Devices::LeapDevice", "TestLeap")); EXPECT_EQ("SurgSim::Devices::LeapDevice", device->getClassName()); } TEST(LeapDeviceTest, AccessibleTest) { std::shared_ptr device = std::make_shared("TestLeap"); EXPECT_EQ(HANDTYPE_RIGHT, device->getValue("HandType")); device->setValue("HandType", HANDTYPE_LEFT); EXPECT_EQ(HANDTYPE_LEFT, device->getValue("HandType")); EXPECT_EQ(HANDTYPE_LEFT, device->getHandType()); EXPECT_NO_THROW(device->setValue("HandType", HANDTYPE_RIGHT)); EXPECT_EQ(HANDTYPE_RIGHT, device->getValue("HandType")); EXPECT_EQ(HANDTYPE_RIGHT, device->getHandType()); } }; }; opensurgsim-0.7.0/SurgSim/Devices/Leap/VisualTest/000077500000000000000000000000001277777236100220535ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Leap/VisualTest/CMakeLists.txt000066400000000000000000000017651277777236100246240ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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_directories( "${GLUT_INCLUDE_DIR}" ) set(EXAMPLE_SOURCES main.cpp ) set(EXAMPLE_HEADERS ) surgsim_add_executable(LeapVisualTest "${EXAMPLE_SOURCES}" "${EXAMPLE_HEADERS}") set(LIBS LeapDevice SurgSimInput VisualTestCommon ${GLUT_LIBRARIES} ) target_link_libraries(LeapVisualTest ${LIBS}) set_target_properties(LeapVisualTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Leap/VisualTest/main.cpp000066400000000000000000000106471277777236100235130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Devices/Leap/LeapDevice.h" #include "SurgSim/Devices/Leap/LeapUtilities.h" #include "SurgSim/Input/DeviceInterface.h" #include "SurgSim/Input/InputConsumerInterface.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Testing/VisualTestCommon/GlutRenderer.h" using SurgSim::Input::DeviceInterface; using SurgSim::Devices::LeapDevice; using SurgSim::Math::Vector2d; using SurgSim::Math::Vector3d; class GlutWindow : public SurgSim::Input::InputConsumerInterface { public: GlutWindow() : m_numHands(0) { m_camera = std::make_shared(Vector3d(0.0, -1.0, 0.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, -1.0), 45.0, 0.001, 2.0); GlutRenderer::setCamera(m_camera); m_leftView = std::make_shared( Eigen::AlignedBox(Vector2d(-0.7, -0.9), Vector2d(-0.3, -0.5))); m_rightView = std::make_shared( Eigen::AlignedBox(Vector2d(0.3, -0.9), Vector2d(0.7, -0.5))); GlutRenderer::addObject(m_leftView); GlutRenderer::addObject(m_rightView); m_renderThread = boost::thread(boost::ref(GlutRenderer::run)); } ~GlutWindow() { if (m_renderThread.joinable()) { m_renderThread.join(); } } void initializeInput(const std::string& device, const SurgSim::DataStructures::DataGroup& inputData) override { m_numHands++; for (size_t i = 0; i < inputData.poses().size(); i++) { auto sphere = std::make_shared(0.010, Vector3d::Unit(m_numHands % 3)); GlutRenderer::addObject(sphere); m_spheres.insert(std::make_pair(device + inputData.poses().getName(i), sphere)); } } void handleInput(const std::string& device, const SurgSim::DataStructures::DataGroup& inputData) override { SurgSim::Math::RigidTransform3d pose; for (size_t i = 0; i < inputData.poses().size(); i++) { inputData.poses().get(i, &pose); m_spheres[device + inputData.poses().getName(i)]->pose = pose; } SurgSim::DataStructures::DataGroup::ImageType image; SurgSim::DataStructures::DataGroup::ImageType distortion; if (inputData.images().get("left", &image) && inputData.images().get("left_distortion", &distortion)) { image = SurgSim::Devices::undistortLeapImage(image, distortion); m_leftView->image.set(std::move(image)); } if (inputData.images().get("right", &image) && inputData.images().get("right_distortion", &distortion)) { image = SurgSim::Devices::undistortLeapImage(image, distortion); m_rightView->image.set(std::move(image)); } } private: boost::thread m_renderThread; std::shared_ptr m_camera; size_t m_numHands; std::unordered_map> m_spheres; std::shared_ptr m_leftView; std::shared_ptr m_rightView; }; int main(int argc, char** argv) { auto leftHand = std::make_shared("Left Hand"); leftHand->setHandType(SurgSim::Devices::HANDTYPE_LEFT); leftHand->setProvideImages(true); leftHand->initialize(); auto rightHand = std::make_shared("Right Hand"); rightHand->setHandType(SurgSim::Devices::HANDTYPE_RIGHT); rightHand->initialize(); std::shared_ptr window = std::make_shared(); leftHand->addInputConsumer(window); rightHand->addInputConsumer(window); std::cout << std::endl << "**********************************************************************" << std::endl << "Leap Visual Test" << std::endl << std::endl << "When done, press Enter to quit the application." << std::endl << "**********************************************************************" << std::endl; getc(stdin); std::cout << "Exiting..." << std::endl; leftHand->removeInputConsumer(window); rightHand->removeInputConsumer(window); exit(0); } opensurgsim-0.7.0/SurgSim/Devices/Mouse/000077500000000000000000000000001277777236100201575ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Mouse/CMakeLists.txt000066400000000000000000000025771277777236100227320ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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_directories( "${CMAKE_CURRENT_SOURCE_DIR}" "${OPENSCENEGRAPH_INCLUDE_DIR}" ) set(MOUSE_DEVICE_SOURCES MouseDevice.cpp MouseScaffold.cpp OsgMouseHandler.cpp ) set(MOUSE_DEVICE_HEADERS MouseDevice.h MouseScaffold.h OsgMouseHandler.h ) set(DEVICE_HEADERS ${DEVICE_HEADERS} Mouse/MouseDevice.h PARENT_SCOPE) surgsim_add_library( MouseDevice "${MOUSE_DEVICE_SOURCES}" "${MOUSE_DEVICE_HEADERS}" ) set(LIBS SurgSimInput ${OPENSCENEGRAPH_LIBRARIES} ) target_link_libraries(MouseDevice ${LIBS} ) if(BUILD_TESTING) # The unit tests will be built whenever the library is built. add_subdirectory(UnitTests) add_subdirectory(VisualTests) endif() # Put MouseDevice into folder "Devices" set_target_properties(MouseDevice PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Mouse/MouseDevice.cpp000066400000000000000000000037131277777236100230770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Mouse/MouseDevice.h" #include "SurgSim/Devices/Mouse/MouseScaffold.h" #include "SurgSim/Devices/Mouse/OsgMouseHandler.h" #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::MouseDevice, MouseDevice); MouseDevice::MouseDevice(const std::string& deviceName) : SurgSim::Input::CommonDevice(deviceName, MouseScaffold::buildDeviceInputData()) { } MouseDevice::~MouseDevice() { if (isInitialized()) { finalize(); } } bool MouseDevice::initialize() { SURGSIM_ASSERT(!isInitialized()) << getName() << " already initialized."; auto scaffold = MouseScaffold::getOrCreateSharedInstance(); SURGSIM_ASSERT(scaffold != nullptr); bool registered = false; if (scaffold->registerDevice(this)) { m_scaffold = std::move(scaffold); registered = true; } return registered; } bool MouseDevice::finalize() { SURGSIM_ASSERT(isInitialized()) << getName() << " is not initialized, cannot finalize."; bool unregistered = m_scaffold->unregisterDevice(); m_scaffold.reset(); return unregistered; } bool MouseDevice::isInitialized() const { return (m_scaffold != nullptr); } OsgMouseHandler* MouseDevice::getMouseHandler() const { return m_scaffold->getMouseHandler(); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Mouse/MouseDevice.h000066400000000000000000000054301277777236100225420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_MOUSE_MOUSEDEVICE_H #define SURGSIM_DEVICES_MOUSE_MOUSEDEVICE_H #include "SurgSim/Input/CommonDevice.h" #include #include namespace SurgSim { namespace Devices { class MouseScaffold; class OsgMouseHandler; SURGSIM_STATIC_REGISTRATION(MouseDevice); /// A class implementing the communication with a mouse /// /// \par Application input provided from the device: /// | type | name | | /// | ---- | ---- | --- | /// | bool | "button1" | %State of mouse left button | /// | bool | "button2" | %State of mouse middle button | /// | bool | "button3" | %State of mouse right button | /// | scalar | "x" | %X-coordinate of mouse | /// | scalar | "y" | %Y-coordinate of mouse | /// | int | "scrollDeltaX" | %Indicates vertical movement direction of mouse wheel | /// | int | "scrollDeltaY" | %Indicates horizontal movement direction of mouse wheel | /// /// \par Application output used by the device: /// NONE /// /// \note Mouse wheel movement will be indicated by +1/-1 (scroll up/down, right/left) followed by a 0. /// /// \sa SurgSim::Input::CommonDevice, SurgSim::Input::DeviceInterface class MouseDevice : public SurgSim::Input::CommonDevice { friend class MouseScaffold; friend class MouseDeviceTest; public: /// Constructor /// \param deviceName Name for mouse device explicit MouseDevice(const std::string& deviceName); SURGSIM_CLASSNAME(SurgSim::Devices::MouseDevice); /// Destructor virtual ~MouseDevice(); bool initialize() override; bool isInitialized() const override; /// Get mouse handler /// \return The mouse handler associated with this device OsgMouseHandler* getMouseHandler() const; private: bool finalize() override; /// Communication with hardware is handled by scaffold. std::shared_ptr m_scaffold; }; }; // namespace Devices }; // namespace SurgSim #endif //SURGSIM_DEVICES_MOUSE_MOUSEDEVICE_Hopensurgsim-0.7.0/SurgSim/Devices/Mouse/MouseScaffold.cpp000066400000000000000000000114561277777236100234240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Mouse/MouseScaffold.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Devices/Mouse/MouseDevice.h" #include "SurgSim/Devices/Mouse/OsgMouseHandler.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SharedInstance.h" namespace SurgSim { namespace Devices { using SurgSim::DataStructures::DataGroup; using SurgSim::DataStructures::DataGroupBuilder; /// Struct to hold a MouseDevice object, a OsgMouseHandler, and a mutex for data passing. struct MouseScaffold::DeviceData { /// Constructor /// \param device Device to be managed by this scaffold explicit DeviceData(MouseDevice* device) : deviceObject(device) { mouseHandler = new OsgMouseHandler(); } /// Device object managed by this scaffold. MouseDevice* const deviceObject; /// Mouse Handler to communicate with underneath API. osg::ref_ptr mouseHandler; /// The mutex that protects the externally modifiable parameters. boost::mutex mutex; private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) DeviceData(const DeviceData&) /*= delete*/; DeviceData& operator=(const DeviceData&) /*= delete*/; }; MouseScaffold::MouseScaffold() : m_logger(Framework::Logger::getLogger("Devices/Mouse")) { SURGSIM_LOG_DEBUG(m_logger) << "Shared scaffold created."; } MouseScaffold::~MouseScaffold() { if (m_device != nullptr) { unregisterDevice(); } SURGSIM_LOG_DEBUG(m_logger) << "Shared scaffold destroyed."; } bool MouseScaffold::registerDevice(MouseDevice* device) { SURGSIM_ASSERT(m_device == nullptr) << "Can't register two Mouse devices."; m_device.reset(new DeviceData(device)); if (nullptr == m_device) { SURGSIM_LOG_CRITICAL(m_logger) << "Failed to create a DeviceData for " << device->getName(); return false; } SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << " registered."; return true; } bool MouseScaffold::unregisterDevice() { m_device.reset(); SURGSIM_LOG_DEBUG(m_logger) << "Unregistered device."; return true; } bool MouseScaffold::updateDevice(int buttonMask, float x, float y, int scrollDeltaX, int scrollDeltaY) { boost::lock_guard lock(m_device->mutex); SurgSim::DataStructures::DataGroup& inputData = m_device->deviceObject->getInputData(); inputData.booleans().set(SurgSim::DataStructures::Names::BUTTON_1, (buttonMask & osgGA::GUIEventAdapter::LEFT_MOUSE_BUTTON) != 0); inputData.booleans().set(SurgSim::DataStructures::Names::BUTTON_2, (buttonMask & osgGA::GUIEventAdapter::MIDDLE_MOUSE_BUTTON) != 0); inputData.booleans().set(SurgSim::DataStructures::Names::BUTTON_3, (buttonMask & osgGA::GUIEventAdapter::RIGHT_MOUSE_BUTTON) != 0); inputData.scalars().set("x", static_cast(x)); inputData.scalars().set("y", static_cast(y)); inputData.integers().set("scrollDeltaX", scrollDeltaX); inputData.integers().set("scrollDeltaY", scrollDeltaY); m_device->deviceObject->pushInput(); return true; } OsgMouseHandler* MouseScaffold::getMouseHandler() const { return m_device->mouseHandler.get(); } /// Builds the data layout for the application input (i.e. device output). SurgSim::DataStructures::DataGroup MouseScaffold::buildDeviceInputData() { DataGroupBuilder builder; builder.addBoolean(SurgSim::DataStructures::Names::BUTTON_1); // Indicates mouse left button builder.addBoolean(SurgSim::DataStructures::Names::BUTTON_2); // Indicates mouse middle button (i.e. wheel) builder.addBoolean(SurgSim::DataStructures::Names::BUTTON_3); // Indicates mouse right button builder.addScalar("x"); // Indicates mouse's X-coordinate in the current window, left bottom = (0, 0) builder.addScalar("y"); // Indicates mouse's Y-coordinate in the current window, left bottom = (0, 0) builder.addInteger("scrollDeltaX"); // Indicates mouse wheel vertical movement builder.addInteger("scrollDeltaY"); // Indicates mouse wheel horizontal movement return builder.createData(); } std::shared_ptr MouseScaffold::getOrCreateSharedInstance() { static SurgSim::Framework::SharedInstance sharedInstance; return sharedInstance.get(); } }; // namespace Devices }; // namespace SurgSimopensurgsim-0.7.0/SurgSim/Devices/Mouse/MouseScaffold.h000066400000000000000000000060461277777236100230700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_MOUSE_MOUSESCAFFOLD_H #define SURGSIM_DEVICES_MOUSE_MOUSESCAFFOLD_H #include #include "SurgSim/Framework/Logger.h" namespace SurgSim { namespace DataStructures { class DataGroup; } namespace Devices { class MouseDevice; class OsgMouseHandler; /// A class that implements the behavior of MouseDevice objects. /// \sa SurgSim::Devices::MouseDevice class MouseScaffold { friend class MouseDevice; friend class MouseDeviceTest; friend class OsgMouseHandler; public: /// Constructor. MouseScaffold(); /// Destructor ~MouseScaffold(); /// Gets or creates the scaffold shared by all MouseDevice instances. /// The scaffold is managed using a SharedInstance object, so it will be destroyed when all devices are released. /// \return the scaffold object. static std::shared_ptr getOrCreateSharedInstance(); private: /// Internal per-device information. struct DeviceData; /// Registers the specified device object. /// If successful, the device object will become connected to an hardware device. /// \param device The device object to be used, which should have a unique name. /// \return True if the initialization succeeds, false if it fails. bool registerDevice(MouseDevice* device); /// Unregisters the specified device object. /// The corresponding controller will become unused, and can be re-registered later. /// \return True on success, false on failure. bool unregisterDevice(); /// Updates the device information for a single device. /// \param buttons Buttons being pressed. /// \param x X-Coordinate for the device. /// \param y Y-Coordinate for the device. /// \param scrollDeltaX Horizontal indicator for mouse wheel. /// \param scrollDeltaY Vertical indicator for mouse wheel. /// \return True on success. bool updateDevice(int buttons, float x, float y, int scrollDeltaX, int scrollDeltaY); /// Get mouse handler /// \return The mouse handler associated with this device OsgMouseHandler* getMouseHandler() const; /// Builds the data layout for the application input (i.e. device output). static SurgSim::DataStructures::DataGroup buildDeviceInputData(); /// Logger used by the scaffold and all devices. std::shared_ptr m_logger; /// The mouse device managed by this scaffold std::unique_ptr m_device; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_MOUSE_MOUSESCAFFOLD_H opensurgsim-0.7.0/SurgSim/Devices/Mouse/OsgMouseHandler.cpp000066400000000000000000000042131277777236100237220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Mouse/OsgMouseHandler.h" #include "SurgSim/Devices/Mouse/MouseScaffold.h" namespace SurgSim { namespace Devices { OsgMouseHandler::OsgMouseHandler() : m_mouseScaffold(MouseScaffold::getOrCreateSharedInstance()), m_lastX(0.0), m_lastY(0.0), m_lastButtonMask(0), m_lastScrollX(0), m_lastScrollY(0) { } bool OsgMouseHandler::handle(const osgGA::GUIEventAdapter& eventHandler, osgGA::GUIActionAdapter&) { int scrollX = 0, scrollY = 0; if (eventHandler.getEventType() == osgGA::GUIEventAdapter::EventType::SCROLL) { switch(eventHandler.getScrollingMotion()) { case(osgGA::GUIEventAdapter::SCROLL_UP) : { scrollY = 1; break; } case(osgGA::GUIEventAdapter::SCROLL_DOWN) : { scrollY = -1; break; } case(osgGA::GUIEventAdapter::SCROLL_LEFT) : { scrollX = -1; break; } case(osgGA::GUIEventAdapter::SCROLL_RIGHT) : { scrollX = 1; break; } default: break; } } // Any mouse state change will cause an update if( eventHandler.getX() != m_lastX || eventHandler.getY() != m_lastY || eventHandler.getButtonMask() != m_lastButtonMask || m_lastScrollX != scrollX || m_lastScrollY != scrollY) { m_lastX = eventHandler.getX(); m_lastY = eventHandler.getY(); m_lastButtonMask = eventHandler.getButtonMask(); m_lastScrollX = scrollX; m_lastScrollY = scrollY; m_mouseScaffold.lock()->updateDevice(m_lastButtonMask, m_lastX, m_lastY, m_lastScrollX, m_lastScrollY); } return true; } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Mouse/OsgMouseHandler.h000066400000000000000000000034641277777236100233760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_MOUSE_OSGMOUSEHANDLER_H #define SURGSIM_DEVICES_MOUSE_OSGMOUSEHANDLER_H #include #include namespace SurgSim { namespace Devices { class MouseScaffold; class OsgMouseHandler : public osgGA::GUIEventHandler { public: /// Constructor OsgMouseHandler(); /// Method to handle GUI event /// \param eventHandler A osgGA::GUIEventAdapter /// \param actionAdapter A osgGA::GUIActionAdapter (required by this virtual method) /// \return True if the event has been handled by this method; Otherwise, false. bool handle(const osgGA::GUIEventAdapter& eventHandler, osgGA::GUIActionAdapter& actionAdapter) override; private: /// A back pointer to the scaffold which owns this handle std::weak_ptr m_mouseScaffold; /// lastX is the X-coordinate of mouse's last location /// lastY is the Y-coordinate of mouse's last location float m_lastX, m_lastY; /// Last button mask int m_lastButtonMask; /// Last direction of mouse wheel's horizontal (X) and vertical (Y) movement. int m_lastScrollX, m_lastScrollY; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_MOUSE_OSGMOUSEHANDLER_Hopensurgsim-0.7.0/SurgSim/Devices/Mouse/UnitTests/000077500000000000000000000000001277777236100221215ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Mouse/UnitTests/CMakeLists.txt000066400000000000000000000017421277777236100246650ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES MouseDeviceTest.cpp MouseScaffoldTest.cpp ) set(LIBS MouseDevice SurgSimDataStructures SurgSimFramework SurgSimInput ${OPENSCENEGRAPH_LIBRARIES} ) surgsim_add_unit_tests(MouseDeviceTest) set_target_properties(MouseDeviceTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Mouse/UnitTests/MouseDeviceTest.cpp000066400000000000000000000056041277777236100257020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the MouseDevice class. #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Devices/Mouse/MouseDevice.h" #include "SurgSim/Devices/Mouse/MouseScaffold.h" #include "SurgSim/Input/InputConsumerInterface.h" #include "SurgSim/Testing/MockInputOutput.h" namespace SurgSim { namespace Devices { using SurgSim::Devices::MouseDevice; using SurgSim::DataStructures::DataGroup; using SurgSim::Testing::MockInputOutput; class MouseDeviceTest : public ::testing::Test { public: static void update(std::shared_ptr device) { device->m_scaffold->updateDevice(0, 0, 0, 0, 0); } }; TEST_F(MouseDeviceTest, InitializeDevice) { std::shared_ptr device = std::make_shared("TestMouse"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_FALSE(device->isInitialized()); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Mouse device plugged in?"; EXPECT_TRUE(device->isInitialized()); } TEST_F(MouseDeviceTest, InputConsumer) { std::shared_ptr device = std::make_shared("TestMouse"); device->initialize(); std::shared_ptr consumer = std::make_shared(); EXPECT_TRUE(device->addInputConsumer(consumer)); MouseDeviceTest::update(device); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData(SurgSim::DataStructures::Names::BUTTON_1)); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData(SurgSim::DataStructures::Names::BUTTON_2)); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData(SurgSim::DataStructures::Names::BUTTON_3)); EXPECT_TRUE(consumer->m_lastReceivedInput.scalars().hasData("x")); EXPECT_TRUE(consumer->m_lastReceivedInput.scalars().hasData("y")); EXPECT_TRUE(consumer->m_lastReceivedInput.integers().hasData("scrollDeltaX")); EXPECT_TRUE(consumer->m_lastReceivedInput.integers().hasData("scrollDeltaY")); } TEST_F(MouseDeviceTest, NoTwoMice) { std::shared_ptr device1 = std::make_shared("TestMouse1"); std::shared_ptr device2 = std::make_shared("TestMouse2"); EXPECT_NO_THROW(device1->initialize()); EXPECT_ANY_THROW(device2->initialize()); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Mouse/UnitTests/MouseScaffoldTest.cpp000066400000000000000000000043001277777236100262140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the MouseScaffold class and its device interactions. #include #include "SurgSim/Devices/Mouse/MouseScaffold.h" using SurgSim::Devices::MouseScaffold; TEST(MouseScaffoldTest, CreateAndDestroyScaffold) { std::shared_ptr scaffold = MouseScaffold::getOrCreateSharedInstance(); ASSERT_TRUE(nullptr != scaffold) << "The scaffold was not created!"; std::weak_ptr scaffold1 = scaffold; { std::shared_ptr stillHaveScaffold = scaffold1.lock(); EXPECT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; EXPECT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } { std::shared_ptr sameScaffold = MouseScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, sameScaffold) << "Unable to get scaffold from class"; EXPECT_EQ(scaffold, sameScaffold) << "Scaffold mismatch!"; } scaffold.reset(); { std::shared_ptr dontHaveScaffold = scaffold1.lock(); EXPECT_TRUE(nullptr == dontHaveScaffold) << "Able to get scaffold from weak ref (with no strong ref)"; } scaffold = MouseScaffold::getOrCreateSharedInstance(); ASSERT_TRUE(nullptr != scaffold) << "The scaffold was not created the 2nd time!"; std::weak_ptr scaffold2 = scaffold; { std::shared_ptr stillHaveScaffold = scaffold2.lock(); ASSERT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; ASSERT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } }opensurgsim-0.7.0/SurgSim/Devices/Mouse/VisualTests/000077500000000000000000000000001277777236100224455ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Mouse/VisualTests/CMakeLists.txt000066400000000000000000000020451277777236100252060ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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. set(UNIT_TEST_SOURCES MouseVisualTests.cpp ) set(UNIT_TEST_HEADERS ) surgsim_add_executable(MouseVisualTest "${UNIT_TEST_SOURCES}" "${UNIT_TEST_HEADERS}") set(LIBS MouseDevice SurgSimDataStructures SurgSimInput ${OPENSCENEGRAPH_LIBRARIES} ) target_link_libraries(MouseVisualTest ${LIBS}) # Put MouseVisualTest into folder "Devices" set_target_properties(MouseVisualTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Mouse/VisualTests/MouseVisualTests.cpp000066400000000000000000000066361277777236100264630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include #include #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Devices/Mouse/MouseDevice.h" #include "SurgSim/Devices/Mouse/OsgMouseHandler.h" #include "SurgSim/Input/InputConsumerInterface.h" using SurgSim::DataStructures::DataGroup; struct TestListener : public SurgSim::Input::InputConsumerInterface { void initializeInput(const std::string& device, const DataGroup& inputData) override { } void handleInput(const std::string& device, const DataGroup& inputData) override { bool button1, button2, button3; double x, y; int scrollDeltaX, scrollDeltaY; if (inputData.booleans().get(SurgSim::DataStructures::Names::BUTTON_1, &button1)) { std::cerr << "button1 = " << button1 << std::endl; } if (inputData.booleans().get(SurgSim::DataStructures::Names::BUTTON_2, &button2)) { std::cerr << "button2 = " << button2 << std::endl; } if (inputData.booleans().get(SurgSim::DataStructures::Names::BUTTON_3, &button3)) { std::cerr << "button3 = " << button3 << std::endl; } if (inputData.scalars().get("x", &x)) { std::cerr << "x = " << x << std::endl; } if (inputData.scalars().get("y", &y)) { std::cerr << "y = " << y << std::endl; } if (inputData.integers().get("scrollDeltaX", &scrollDeltaX)) { std::cerr << "scrollDeltaX = " << scrollDeltaX << std::endl; } if (inputData.integers().get("scrollDeltaY", &scrollDeltaY)) { std::cerr << "scrollDeltaY = " << scrollDeltaY << std::endl; } std::cerr << std::endl; } }; int main(int argc, char* argv[]) { auto toolDevice = std::make_shared("Mouse"); toolDevice->initialize(); osg::ref_ptr mouseHandler = toolDevice->getMouseHandler(); auto consumer = std::make_shared(); toolDevice->addInputConsumer(consumer); osg::ref_ptr text = new osgText::Text; text->setText("Move/click/drag mouse in\n\nthis window to verify that\n\nmouse driver works correctly."); text->setPosition(osg::Vec3(0.0f, 300.0f, 0.0f)); osg::ref_ptr geode = new osg::Geode; geode->addDrawable(text); osg::ref_ptr camera = new osg::Camera; camera->setReferenceFrame(osg::Transform::ABSOLUTE_RF); camera->setProjectionMatrixAsOrtho2D(0, 600, 0, 400); camera->getOrCreateStateSet()->setMode(GL_LIGHTING,osg::StateAttribute::OFF); camera->addChild(geode); osg::ref_ptr group = new osg::Group; group->addChild(camera); osg::ref_ptr viewer = new osgViewer::Viewer; viewer->setUpViewInWindow(400, 400, 640, 480); viewer->addEventHandler(mouseHandler); viewer->setSceneData(group); viewer->run(); return 0; } opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/000077500000000000000000000000001277777236100210065ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/BitSetBuffer.h000066400000000000000000000063711277777236100235120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_MULTIAXIS_BITSETBUFFER_H #define SURGSIM_DEVICES_MULTIAXIS_BITSETBUFFER_H #include #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace Devices { /// A bit set corresponding to a contiguous memory buffer. /// /// A std::bitset {\em almost} does everything we need, but we need to also access the storage as bytes. /// /// The method names are generally stolen straight from std::bitset. /// /// \tparam N The number of bits in the bit set. template class BitSetBuffer { public: /// Create a bit buffer with all bits set to zero. BitSetBuffer() { reset(); } /// Create a bit buffer by copying another buffer. BitSetBuffer(const BitSetBuffer& other) : m_bytes(other.m_bytes) { } /// Copy bit buffer contents from another buffer. BitSetBuffer& operator=(const BitSetBuffer& other) { m_bytes = other.m_bytes; return *this; } /// Set all bits in the buffer to on. void set() { m_bytes.fill(~static_cast(0)); } /// Set the specified bit in the buffer to on. /// \param pos The index of the bit to turn on. void set(size_t pos) { SURGSIM_ASSERT(pos < NUM_BITS); m_bytes[pos / ELEMENT_BITS] |= (1U << (pos % ELEMENT_BITS)); } /// Reset all bits in the buffer to off. void reset() { m_bytes.fill(0); } /// Reset the specified bit in the buffer to off. /// \param pos The index of the bit to turn off. void reset(size_t pos) { SURGSIM_ASSERT(pos < NUM_BITS); m_bytes[pos / ELEMENT_BITS] &= ~(1U << (pos % ELEMENT_BITS)); } /// Get the specified bit in the buffer. /// \param pos The index of the bit to test. bool test(size_t pos) const { SURGSIM_ASSERT(pos < NUM_BITS); return ((m_bytes[pos / ELEMENT_BITS] & (1U << (pos % ELEMENT_BITS))) != 0); } /// Get a pointer to the buffer's storage. void* getPointer() { return &(m_bytes[0]); } /// Get a pointer to the buffer's storage. const void* getPointer() const { return &(m_bytes[0]); } /// Get the number of bits in the bit set. static size_t size() { return NUM_BITS; } /// Get the number of bytes in the bit set. static size_t sizeBytes() { return NUM_BYTES; } private: typedef unsigned char value_type; static const size_t ELEMENT_BYTES = sizeof(value_type); static const size_t ELEMENT_BITS = ELEMENT_BYTES * 8; static_assert(ELEMENT_BITS == 8, "An unsigned char is not 8 bits?!"); static const size_t NUM_BITS = N; static const size_t NUM_BYTES = (NUM_BITS + ELEMENT_BITS - 1) / ELEMENT_BITS; std::array m_bytes; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_MULTIAXIS_BITSETBUFFER_H opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/CMakeLists.txt000066400000000000000000000072131277777236100235510ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux") else(${CMAKE_SYSTEM_NAME} STREQUAL "Linux") find_package(WDK REQUIRED) endif(${CMAKE_SYSTEM_NAME} STREQUAL "Linux") include_directories("${CMAKE_CURRENT_SOURCE_DIR}") if(WDK_FOUND) if(WDK_CAN_BUILD_DIRECTLY) #message(STATUS "WDK does not need additional include paths; see the try_compile in FindWDK.cmake") else(WDK_CAN_BUILD_DIRECTLY) #message(STATUS "WDK was found, and needs the include directory '${WDK_INCLUDE_DIR}'.") include_directories( # This is a hack needed to get the Visual Studio includes into the # include path ahead of the WDK ones, which is needed for the WDK # 7.1.0 not to interfere with includes provided by Visual Studio. # CMake will prefix this entry by the current path, but Visual # Studio will split the path at the semicolon; the net effect is to # add $(IncludePath) to the Visual Studio include directories. # In cmake 2.8.11+, this hack generates a Policy CMP0021 warning due to relative path. ".;$(IncludePath)" # Now it's safe to add ${WDK_INCLUDE_DIR}. "${WDK_INCLUDE_DIR}" ) endif(WDK_CAN_BUILD_DIRECTLY) endif(WDK_FOUND) set(MULTIAXIS_DEVICE_SOURCES MultiAxisDevice.cpp RawMultiAxisDevice.cpp RawMultiAxisScaffold.cpp RawMultiAxisThread.cpp SystemInputDeviceHandle.cpp ) set(MULTIAXIS_DEVICE_HEADERS CreateInputDeviceHandle.h GetSystemError.h MultiAxisDevice.h RawMultiAxisDevice.h RawMultiAxisScaffold.h RawMultiAxisThread.h SystemInputDeviceHandle.h ) set(DEVICE_HEADERS ${DEVICE_HEADERS} MultiAxis/MultiAxisDevice.h #NOLINT MultiAxis/RawMultiAxisDevice.h #NOLINT PARENT_SCOPE) set(MULTIAXIS_DEVICE_LINUX_SOURCES linux/CreateInputDeviceHandle.cpp linux/FileDescriptor.cpp linux/GetSystemError.cpp linux/InputDeviceHandle.cpp ) set(MULTIAXIS_DEVICE_LINUX_HEADERS BitSetBuffer.h linux/FileDescriptor.h linux/InputDeviceHandle.h ) set(MULTIAXIS_DEVICE_WDK_HID_SOURCES win32/CreateInputDeviceHandle.cpp win32/FileHandle.cpp win32/GetSystemError.cpp win32/WdkHidDeviceHandle.cpp ) set(MULTIAXIS_DEVICE_WDK_HID_HEADERS win32/FileHandle.h win32/WdkHidDeviceHandle.h ) if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux") list(APPEND MULTIAXIS_DEVICE_SOURCES ${MULTIAXIS_DEVICE_LINUX_SOURCES}) list(APPEND MULTIAXIS_DEVICE_HEADERS ${MULTIAXIS_DEVICE_LINUX_HEADERS}) elseif(WDK_FOUND) list(APPEND MULTIAXIS_DEVICE_SOURCES ${MULTIAXIS_DEVICE_WDK_HID_SOURCES}) list(APPEND MULTIAXIS_DEVICE_HEADERS ${MULTIAXIS_DEVICE_WDK_HID_HEADERS}) endif() # TODO(advornik): the installation should NOT copy all the headers... surgsim_add_library( MultiAxisDevice "${MULTIAXIS_DEVICE_SOURCES}" "${MULTIAXIS_DEVICE_HEADERS}" ) set(LIBS SurgSimDeviceFilters SurgSimInput SurgSimFramework ) if(WDK_FOUND) list(APPEND LIBS ${WDK_LIBRARIES}) endif() target_link_libraries(MultiAxisDevice ${LIBS} ) if(BUILD_TESTING) add_subdirectory(UnitTests) if(GLUT_FOUND) add_subdirectory(VisualTest) endif(GLUT_FOUND) endif() # Put MultiAxisDevice into folder "Devices" set_target_properties(MultiAxisDevice PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/CreateInputDeviceHandle.h000066400000000000000000000032301277777236100256340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_MULTIAXIS_CREATEINPUTDEVICEHANDLE_H #define SURGSIM_DEVICES_MULTIAXIS_CREATEINPUTDEVICEHANDLE_H #include #include #include namespace SurgSim { namespace Framework { class Logger; }; // namespace Framework namespace Devices { class SystemInputDeviceHandle; /// Opens the given path and creates an access wrapper for the device. /// \param path Full pathname for the device. /// \param logger The logger to be used by the device. /// \return The created device object, or an empty unique_ptr on failure. std::unique_ptr createInputDeviceHandle(const std::string& path, std::shared_ptr logger); /// Enumerates input devices. /// \param logger The logger to be used during enumeration. /// \return A list of device paths. std::vector enumerateInputDevicePaths(SurgSim::Framework::Logger* logger); }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_MULTIAXIS_CREATEINPUTDEVICEHANDLE_H opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/GetSystemError.h000066400000000000000000000031451277777236100241200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_MULTIAXIS_GETSYSTEMERROR_H #define SURGSIM_DEVICES_MULTIAXIS_GETSYSTEMERROR_H #include #include namespace SurgSim { namespace Devices { namespace Internal { /// Gets the most recent error code from the operating system. /// The error code will correspond to the status of the most recent failed (or, in some cases, successful) call /// to the operating system APIs from this thread. /// \return The OS-dependent system error code. int64_t getSystemErrorCode(); /// Gets the system error text corresponding to the specified error code, or the most recent error text. /// \param errorCode (Optional) The error code. If omitted, the most recent OS error code will be used. /// \return The error text corresponding to the error code. std::string getSystemErrorText(int64_t errorCode = getSystemErrorCode()); }; // namespace Internal }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_MULTIAXIS_GETSYSTEMERROR_H opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/MultiAxis.dox000066400000000000000000000032011277777236100234350ustar00rootroot00000000000000/*! \page MultiAxis MultiAxis: 3D Mouse Device (e.g, 3Dconnexion SpaceNavigator) 3D mice (aka 3D motion controllers, 3D navigation devices, or 6 DOF devices) are input devices similar to typical computer mice, but enabling control of position and orientation. They are commonly used to operate CAD, 3D modeling, and animation applications. Supported devices: - 3Dconnexion - The SpaceNavigator is tested, other models are expected to work. Dependencies: - Linux: No requirements. - If experiencing difficulties: -# check the udev rules - By default, regular users on most Linux systems DO NOT have the permissions necessary to access the multi-axis controller devices on their system. Fortunately, the permissions that are set on those devices are usually relatively easy to configure using udev rules. - To allow all users direct access to various 3DConnexion devices, you can simply copy the rules file from the udev-rules directory into the system directory /etc/udev/rules.d. (You will need administrative privileges to do so.) For example, on many systems you can run: sudo cp SurgSim/Devices/MultiAxis/udev-rules/90-3dconnexion.rules /etc/udev/rules.d - For other devices, or to set up the privileges differently, you will need to set up your own rules file. -# try the drivers provided by 3Dconnexion http://www.3dconnexion.com/service/drivers.html - Windows: Drivers from 3Dconnexion http://www.3dconnexion.com/service/drivers.html - Visual Studio 2012+: No further requirements. - Other build tools: May require Windows Driver Kit (WDK), available from http://www.microsoft.com/en-us/default.aspx */opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/MultiAxisDevice.cpp000066400000000000000000000056111277777236100245540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/MultiAxis/MultiAxisDevice.h" #include "SurgSim/Devices/MultiAxis/RawMultiAxisDevice.h" #include "SurgSim/Devices/DeviceFilters/PoseIntegrator.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::MultiAxisDevice, MultiAxisDevice); MultiAxisDevice::MultiAxisDevice(const std::string& uniqueName) : FilteredDevice(uniqueName), m_rawDevice(std::make_shared(uniqueName + "_RawBase")), m_filter(std::make_shared(uniqueName + "_Integrator")) { m_rawDevice->setPositionScale(defaultPositionScale()); m_rawDevice->setOrientationScale(defaultOrientationScale()); m_rawDevice->setAxisDominance(true); setDevice(m_rawDevice); m_filter->setNameForCallback(uniqueName); // the filter should make callbacks as the entire device addFilter(m_filter); SURGSIM_ADD_SERIALIZABLE_PROPERTY(MultiAxisDevice, double, PositionScale, getPositionScale, setPositionScale); SURGSIM_ADD_SERIALIZABLE_PROPERTY(MultiAxisDevice, double, OrientationScale, getOrientationScale, setOrientationScale); SURGSIM_ADD_SERIALIZABLE_PROPERTY(MultiAxisDevice, bool, AxisDominance, isUsingAxisDominance, setAxisDominance); } void MultiAxisDevice::setPositionScale(double scale) { m_rawDevice->setPositionScale(scale); } double MultiAxisDevice::getPositionScale() const { return m_rawDevice->getPositionScale(); } void MultiAxisDevice::setOrientationScale(double scale) { m_rawDevice->setOrientationScale(scale); } double MultiAxisDevice::getOrientationScale() const { return m_rawDevice->getOrientationScale(); } void MultiAxisDevice::setAxisDominance(bool onOff) { m_rawDevice->setAxisDominance(onOff); } bool MultiAxisDevice::isUsingAxisDominance() const { return m_rawDevice->isUsingAxisDominance(); } double MultiAxisDevice::defaultPositionScale() { return 0.00001; // The default position scale, in meters per tick. } double MultiAxisDevice::defaultOrientationScale() { return 0.0001; // The default rotation scale, in radians per tick. } void MultiAxisDevice::setReset(const std::string& name) { m_filter->setReset(name); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/MultiAxisDevice.h000066400000000000000000000122561277777236100242240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_MULTIAXIS_MULTIAXISDEVICE_H #define SURGSIM_DEVICES_MULTIAXIS_MULTIAXISDEVICE_H #include #include #include "SurgSim/Devices/DeviceFilters/FilteredDevice.h" #include "SurgSim/Input/CommonDevice.h" namespace SurgSim { namespace Devices { class RawMultiAxisDevice; class PoseIntegrator; SURGSIM_STATIC_REGISTRATION(MultiAxisDevice); /// A class implementing the communication with a multi-axis controller input device, for example a 3DConnexion /// SpaceNavigator. /// /// This object will integrate the output of the physical device, treating it as a differential device. In other /// words, holding the controller moves the pose and releasing the controller lets the pose hold steady in its /// new state. /// /// \par Application input provided by the device: /// | type | name | | /// | ---- | ---- | --- | /// | pose | "pose" | %Absolute device pose (units are ill-defined, but nominally meters). | /// | bool | "button1" | True if button 1 exists and is pressed. | /// | bool | "button2" | True if button 2 exists and is pressed. | /// | bool | "button3" | True if button 3 exists and is pressed. | /// | bool | "button4" | True if button 4 exists and is pressed. | /// /// \par Application output used by the device: /// | type | name | | /// | ---- | ---- | --- | /// | bool | "led1" | If the device has at least one LED light, controls the first one. | /// /// \sa RawMultiAxisDevice class MultiAxisDevice : public FilteredDevice { public: /// Constructor. /// \param uniqueName A unique name for the device that will be used by the application. explicit MultiAxisDevice(const std::string& uniqueName); SURGSIM_CLASSNAME(SurgSim::Devices::MultiAxisDevice); /// Sets the position scale for this device. /// The position scale controls how much the pose changes for a given device translation. /// The default value for a raw device tries to correspond to the actual physical motion of the device. void setPositionScale(double scale); /// Gets the position scale for this device. /// \return The position scale. double getPositionScale() const; /// Sets the orientation scale for this device. /// The orientation scale controls how much the pose changes for a given device rotation. /// \param scale The new scale. /// \note The default value for a raw device tries to correspond to the actual physical motion of the device. void setOrientationScale(double scale); /// Gets the orientation scale for this device. /// \return The orientation scale. double getOrientationScale() const; /// Turns on or off the axis dominance setting for this device. /// When axis dominance is on, only one (the largest) of the 6 pure axis directions is allowed to be active. /// In other words, the device will be translating in X, or in Y, or in Z, or rotating around X, or around Y, /// or around Z; but only one of those at a time. /// \param onOff Whether or not to use only the dominant axis. void setAxisDominance(bool onOff); /// Gets the axis dominance setting for this device. /// \return True if using axis dominance. bool isUsingAxisDominance() const; /// Sets the string name of the boolean entry that will reset the pose to its initial value. /// \param name The name of the NamedData entry, e.g., SurgSim::DataStructures::Names::BUTTON_1. /// \sa PoseIntegrator::setReset void setReset(const std::string& name); private: /// Get the default position scale from device ticks to meters. /// \return The default position scale, in meters per tick. static double defaultPositionScale(); /// Get the default rotation from device ticks to radians. /// \return The default rotation scale, in radians per tick. static double defaultOrientationScale(); /// The raw underlying device. std::shared_ptr m_rawDevice; /// The pose integration filter. std::shared_ptr m_filter; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_MULTIAXIS_MULTIAXISDEVICE_H opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/README.linux000066400000000000000000000013011277777236100230170ustar00rootroot00000000000000By default, regular users on most Linux systems DO NOT have the permissions necessary to access the multi-axis controller devices on their system. Fortunately, the permissions that are set on those devices are usually relatively easy to configure using udev rules. To allow all users direct access to various 3DConnexion devices, you can simply copy the rules file from the udev-rules directory into the system directory /etc/udev/rules.d. (You will need administrative privileges to do so.) For example, on many systems you can run: sudo cp udev-rules/90-3dconnexion.rules /etc/udev/rules.d For other devices, or to set up the privileges differently, you will need to set up your own rules file. opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/RawMultiAxisDevice.cpp000066400000000000000000000064451277777236100252340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/MultiAxis/RawMultiAxisDevice.h" #include "SurgSim/Devices/MultiAxis/RawMultiAxisScaffold.h" #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::RawMultiAxisDevice, RawMultiAxisDevice); RawMultiAxisDevice::RawMultiAxisDevice(const std::string& uniqueName) : Input::CommonDevice(uniqueName, RawMultiAxisScaffold::buildDeviceInputData()), m_positionScale(defaultPositionScale()), m_orientationScale(defaultOrientationScale()), m_useAxisDominance(false) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(RawMultiAxisDevice, double, PositionScale, getPositionScale, setPositionScale); SURGSIM_ADD_SERIALIZABLE_PROPERTY(RawMultiAxisDevice, double, OrientationScale, getOrientationScale, setOrientationScale); SURGSIM_ADD_SERIALIZABLE_PROPERTY(RawMultiAxisDevice, bool, AxisDominance, isUsingAxisDominance, setAxisDominance); } RawMultiAxisDevice::~RawMultiAxisDevice() { if (isInitialized()) { finalize(); } } bool RawMultiAxisDevice::initialize() { SURGSIM_ASSERT(!isInitialized()) << getName() << " already initialized."; std::shared_ptr scaffold = RawMultiAxisScaffold::getOrCreateSharedInstance(); SURGSIM_ASSERT(scaffold); if (!scaffold->registerDevice(this)) { return false; } m_scaffold = std::move(scaffold); m_scaffold->setPositionScale(this, m_positionScale); m_scaffold->setOrientationScale(this, m_orientationScale); m_scaffold->setAxisDominance(this, m_useAxisDominance); return true; } bool RawMultiAxisDevice::finalize() { SURGSIM_ASSERT(isInitialized()) << getName() << " is not initialized, cannot finalize."; bool ok = m_scaffold->unregisterDevice(this); m_scaffold.reset(); return ok; } bool RawMultiAxisDevice::isInitialized() const { return (m_scaffold != nullptr); } void RawMultiAxisDevice::setPositionScale(double scale) { m_positionScale = scale; if (m_scaffold) { m_scaffold->setPositionScale(this, m_positionScale); } } double RawMultiAxisDevice::getPositionScale() const { return m_positionScale; } void RawMultiAxisDevice::setOrientationScale(double scale) { m_orientationScale = scale; if (m_scaffold) { m_scaffold->setOrientationScale(this, m_orientationScale); } } double RawMultiAxisDevice::getOrientationScale() const { return m_orientationScale; } void RawMultiAxisDevice::setAxisDominance(bool onOff) { m_useAxisDominance = onOff; if (m_scaffold) { m_scaffold->setAxisDominance(this, m_useAxisDominance); } } bool RawMultiAxisDevice::isUsingAxisDominance() const { return m_useAxisDominance; } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/RawMultiAxisDevice.h000066400000000000000000000130541277777236100246730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_MULTIAXIS_RAWMULTIAXISDEVICE_H #define SURGSIM_DEVICES_MULTIAXIS_RAWMULTIAXISDEVICE_H #include #include #include "SurgSim/Input/CommonDevice.h" #include "SurgSim/Devices/MultiAxis/MultiAxisDevice.h" namespace SurgSim { namespace Devices { class RawMultiAxisScaffold; SURGSIM_STATIC_REGISTRATION(RawMultiAxisDevice); /// A class implementing the communication with a multi-axis controller input device, for example a 3DConnexion /// SpaceNavigator. /// /// This object will only generate raw output reported by the controller, which indicates the /// movement of the controller from its rest state. Normally, that result will need to be integrated to allow the /// controller to be treated as a differential device, where holding the controller moves the pose and releasing /// the controller lets the pose hold steady in its new state. The MultiAxisDevice class provides that. /// /// \par Application input provided by the device: /// | type | name | | /// | ---- | ---- | --- | /// | pose | "pose" | %Absolute device pose (units are ill-defined, but nominally meters). | /// | bool | "button1" | True if button 1 exists and is pressed. | /// | bool | "button2" | True if button 2 exists and is pressed. | /// | bool | "button3" | True if button 3 exists and is pressed. | /// | bool | "button4" | True if button 4 exists and is pressed. | /// /// \par Application output used by the device: /// | type | name | | /// | ---- | ---- | --- | /// | bool | "led1" | If the device has at least one LED light, controls the first one. | /// /// \sa MultiAxisDevice, SurgSim::Input::CommonDevice, SurgSim::Input::DeviceInterface class RawMultiAxisDevice : public SurgSim::Input::CommonDevice { public: /// Constructor. /// /// \param uniqueName A unique name for the device that will be used by the application. explicit RawMultiAxisDevice(const std::string& uniqueName); SURGSIM_CLASSNAME(SurgSim::Devices::RawMultiAxisDevice); /// Destructor. virtual ~RawMultiAxisDevice(); bool initialize() override; bool isInitialized() const override; /// Sets the position scale for this device. /// The position scale controls how much the pose changes for a given device translation. /// The default value for a raw device tries to correspond to the actual physical motion of the device. void setPositionScale(double scale); /// Gets the position scale for this device. double getPositionScale() const; /// Sets the orientation scale for this device. /// The orientation scale controls how much the pose changes for a given device rotation. /// The default value for a raw device tries to correspond to the actual physical motion of the device. void setOrientationScale(double scale); /// Gets the orientation scale for this device. double getOrientationScale() const; /// Turns on or off the axis dominance setting for this device. /// When axis dominance is on, only one (the largest) of the 6 pure axis directions is allowed to be active. /// In other words, the device will be translating in X, or in Y, or in Z, or rotating around X, or around Y, /// or around Z; but only one of those at a time. void setAxisDominance(bool onOff); /// Gets the axis dominance setting for this device. bool isUsingAxisDominance() const; private: bool finalize() override; // Returns the default position scale, in meters per tick. static double defaultPositionScale() { // the position scale from Paul N's measurements of the SpaceNavigator; 1/16"/350 ticks return 0.0000045; } // Returns the default rotation scale, in radians per tick. static double defaultOrientationScale() { // the rotation scale from Paul N's measurements of the SpaceNavigator return 0.0003; } friend SurgSim::Devices::MultiAxisDevice::MultiAxisDevice(const std::string& uniqueName); friend class RawMultiAxisScaffold; std::shared_ptr m_scaffold; /// Scale factor for the position axes; stored locally before the device is initialized. double m_positionScale; /// Scale factor for the orientation axes; stored locally before the device is initialized. double m_orientationScale; /// Controls whether dominance will be enabled; stored locally before the device is initialized. bool m_useAxisDominance; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_MULTIAXIS_RAWMULTIAXISDEVICE_H opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/RawMultiAxisScaffold.cpp000066400000000000000000000440561277777236100255560ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/MultiAxis/RawMultiAxisScaffold.h" #include #include #include #include #include #include #include #include "SurgSim/Devices/MultiAxis/RawMultiAxisDevice.h" #include "SurgSim/Devices/MultiAxis/RawMultiAxisThread.h" #include "SurgSim/Devices/MultiAxis/GetSystemError.h" #include "SurgSim/Devices/MultiAxis/SystemInputDeviceHandle.h" #include "SurgSim/Devices/MultiAxis/CreateInputDeviceHandle.h" #include "SurgSim/Devices/MultiAxis/BitSetBuffer.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SharedInstance.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::Math::Vector3d; using SurgSim::Math::Vector3f; using SurgSim::Math::Matrix44d; using SurgSim::Math::Matrix33d; using SurgSim::Math::RigidTransform3d; using SurgSim::Devices::Internal::getSystemErrorCode; using SurgSim::Devices::Internal::getSystemErrorText; namespace SurgSim { namespace Devices { struct RawMultiAxisScaffold::DeviceData { public: /// Initialize the data. DeviceData(const std::string& path, RawMultiAxisDevice* device, std::unique_ptr&& handle) : devicePath(path), deviceObject(device), thread(), deviceHandle(std::move(handle)), axisStates(initialAxisStates()), buttonStates(initialButtonStates()), coordinateSystemRotation(defaultCoordinateSystemRotation()), positionScale(device->getPositionScale()), orientationScale(device->getOrientationScale()), useAxisDominance(device->isUsingAxisDominance()) { } // Initialize by moving the data from another object. // Needed because Visual Studio 2010 doesn't support multi-argument emplace_back() for STL containers. DeviceData(DeviceData&& other) : devicePath(std::move(other.devicePath)), deviceObject(std::move(other.deviceObject)), thread(std::move(other.thread)), deviceHandle(std::move(other.deviceHandle)), axisStates(std::move(other.axisStates)), buttonStates(std::move(other.buttonStates)), coordinateSystemRotation(std::move(other.coordinateSystemRotation)), positionScale(std::move(other.positionScale)), orientationScale(std::move(other.orientationScale)), useAxisDominance(std::move(other.useAxisDominance)) { } ~DeviceData() { } // Returns the default coordinate system rotation matrix. static SurgSim::Math::Matrix33d defaultCoordinateSystemRotation() { SurgSim::Math::Matrix33d coordinateSystemRotation; // Make +Y point up (3DConnexion devices use +Z up) coordinateSystemRotation << 1, 0, 0, 0, 0, -1, 0, 1, 0; return coordinateSystemRotation; } static SystemInputDeviceHandle::AxisStates initialAxisStates() { SystemInputDeviceHandle::AxisStates states; states.fill(0); return states; } static SystemInputDeviceHandle::ButtonStates initialButtonStates() { SystemInputDeviceHandle::ButtonStates states; states.fill(false); return states; } /// The system device path corresponding to this device. const std::string devicePath; /// The corresponding device object. RawMultiAxisDevice* const deviceObject; /// Processing thread. std::unique_ptr thread; /// Device handle to read from. std::unique_ptr deviceHandle; /// Persistent axis states. SystemInputDeviceHandle::AxisStates axisStates; /// Persistent button states. SystemInputDeviceHandle::ButtonStates buttonStates; /// The rotation of the coordinate system (used to reorient, e.g. point +Y up) SurgSim::Math::Matrix33d coordinateSystemRotation; /// Scale factor for the position axes. double positionScale; /// Scale factor for the orientation axes. double orientationScale; /// Controls whether dominance will be enabled. bool useAxisDominance; /// The mutex that protects the externally modifiable parameters. boost::mutex parametersMutex; private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) DeviceData(const DeviceData&) /*= delete*/; DeviceData& operator=(const DeviceData&) /*= delete*/; }; struct RawMultiAxisScaffold::StateData { public: /// Initialize the state. StateData() { } /// The list of known devices. std::list> activeDeviceList; /// The mutex that protects the list of known devices. boost::mutex mutex; private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) StateData(const StateData&) /*= delete*/; StateData& operator=(const StateData&) /*= delete*/; }; RawMultiAxisScaffold::RawMultiAxisScaffold() : m_logger(Framework::Logger::getLogger("Devices/RawMultiAxis")), m_state(new StateData) { SURGSIM_LOG_DEBUG(m_logger) << "Shared scaffold created."; } RawMultiAxisScaffold::~RawMultiAxisScaffold() { // The following block controls the duration of the mutex being locked. { boost::lock_guard lock(m_state->mutex); if (! m_state->activeDeviceList.empty()) { SURGSIM_LOG_SEVERE(m_logger) << "RawMultiAxis: Destroying scaffold while devices are active!?!"; for (auto it = m_state->activeDeviceList.begin(); it != m_state->activeDeviceList.end(); ++it) { if ((*it)->thread) { destroyPerDeviceThread(it->get()); } } m_state->activeDeviceList.clear(); } } SURGSIM_LOG_DEBUG(m_logger) << "RawMultiAxis: Shared scaffold destroyed."; } bool RawMultiAxisScaffold::registerDevice(RawMultiAxisDevice* device) { int numUsedDevicesSeen = 0; if (!findUnusedDeviceAndRegister(device, &numUsedDevicesSeen)) { if (numUsedDevicesSeen > 0) { SURGSIM_LOG_SEVERE(m_logger) << "RawMultiAxis: Failed to find any unused multi-axis controllers," << " out of " << numUsedDevicesSeen << " present!"; } else { SURGSIM_LOG_SEVERE(m_logger) << "RawMultiAxis: Failed to find any multi-axis controllers." << " Is one plugged in? Are the permissions correct?"; } return false; } SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << "registered."; return true; } bool RawMultiAxisScaffold::unregisterDevice(const RawMultiAxisDevice* const device) { bool found = false; { boost::lock_guard lock(m_state->mutex); auto matching = std::find_if(m_state->activeDeviceList.begin(), m_state->activeDeviceList.end(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (matching != m_state->activeDeviceList.end()) { if ((*matching)->thread) { destroyPerDeviceThread(matching->get()); } m_state->activeDeviceList.erase(matching); // the iterator is now invalid but that's OK found = true; SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << " unregistered."; } } SURGSIM_LOG_IF(!found, m_logger, WARNING) << "Attempted to release a non-registered device " << device->getName(); return found; } void RawMultiAxisScaffold::setPositionScale(const RawMultiAxisDevice* device, double scale) { boost::lock_guard lock(m_state->mutex); auto matching = std::find_if(m_state->activeDeviceList.begin(), m_state->activeDeviceList.end(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (matching != m_state->activeDeviceList.end()) { boost::lock_guard lock((*matching)->parametersMutex); (*matching)->positionScale = scale; } } void RawMultiAxisScaffold::setOrientationScale(const RawMultiAxisDevice* device, double scale) { boost::lock_guard lock(m_state->mutex); auto matching = std::find_if(m_state->activeDeviceList.begin(), m_state->activeDeviceList.end(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (matching != m_state->activeDeviceList.end()) { boost::lock_guard lock((*matching)->parametersMutex); (*matching)->orientationScale = scale; } } void RawMultiAxisScaffold::setAxisDominance(const RawMultiAxisDevice* device, bool onOff) { boost::lock_guard lock(m_state->mutex); auto matching = std::find_if(m_state->activeDeviceList.begin(), m_state->activeDeviceList.end(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (matching != m_state->activeDeviceList.end()) { boost::lock_guard lock((*matching)->parametersMutex); (*matching)->useAxisDominance = onOff; } } bool RawMultiAxisScaffold::runInputFrame(RawMultiAxisScaffold::DeviceData* info) { info->deviceObject->pullOutput(); if (!updateDevice(info)) { return false; } info->deviceObject->pushInput(); return true; } bool RawMultiAxisScaffold::runAfterLastFrame(RawMultiAxisScaffold::DeviceData* info) { info->deviceHandle->prepareForShutdown(); return true; } static int findDominantAxis(const std::array& axes) { int biggestAxis = 0; int biggestValue = abs(axes[biggestAxis]); for (int i = 1; i < 6; ++i) { int value = abs(axes[i]); if (value > biggestValue) { biggestValue = value; biggestAxis = i; } } // Note that if a tie occurs, the 1st entry with the biggest absolute value wins ! return biggestAxis; } bool RawMultiAxisScaffold::updateDevice(RawMultiAxisScaffold::DeviceData* info) { const SurgSim::DataStructures::DataGroup& outputData = info->deviceObject->getOutputData(); boost::lock_guard lock(info->parametersMutex); bool ledState = false; if (outputData.booleans().get("led1", &ledState)) { static bool firstTimeWarning = true; if (firstTimeWarning) { firstTimeWarning = false; SURGSIM_LOG_CRITICAL(m_logger) << "RawMultiAxis: controlling LEDs is not supported yet!"; // TODO(advornik): We should implement LED control. But that probably doesn't mix well with blocking // reads here, and would either need to be done in another thread, or we'd need to poll here. } } bool didUpdate = false; if (!info->deviceHandle->updateStates(&(info->axisStates), &(info->buttonStates), &didUpdate)) { // If updateStates returns false, the device is no longer usable, so we exit and stop its update loop. return false; } if (didUpdate) { SURGSIM_LOG_DEBUG(m_logger) << "RawMultiAxis: STATE " << std::setw(3) << info->axisStates[0] << " " << std::setw(3) << info->axisStates[1] << " " << std::setw(3) << info->axisStates[2] << " / " << std::setw(3) << info->axisStates[3] << " " << std::setw(3) << info->axisStates[4] << " " << std::setw(3) << info->axisStates[5] << " :" << (info->buttonStates[0] ? " X" : " _") << (info->buttonStates[1] ? " X" : " _") << (info->buttonStates[2] ? " X" : " _") << (info->buttonStates[3] ? " X" : " _"); } // Deal with dominance and scaling. // It would be neat to put dominance into a filter, outside of the raw multi-axis device... but it has to // happen before filtering, and putting dominance AND filtering (and integrator) into components is too much. Vector3d position; Vector3d rotation; if (!info->useAxisDominance) { position = Vector3d(info->axisStates[0], info->axisStates[1], info->axisStates[2]) * info->positionScale; rotation = Vector3d(info->axisStates[3], info->axisStates[4], info->axisStates[5]) * info->orientationScale; } else { position.setZero(); rotation.setZero(); int index = findDominantAxis(info->axisStates); if (index >= 0 && index < 3) { position[index] = info->axisStates[index] * info->positionScale; } else if (index >= 3 && index < 6) { rotation[index-3] = info->axisStates[index] * info->orientationScale; } } // Fix up the coordinate system (3DConnexion devices use +Z up coordinates, we want +Y up). position = info->coordinateSystemRotation * position; rotation = info->coordinateSystemRotation * rotation; // Convert to a pose. Matrix33d orientation; double angle = rotation.norm(); if (angle < 1e-9) { orientation.setIdentity(); } else { orientation = SurgSim::Math::makeRotationMatrix(angle, Vector3d(rotation / angle)); } RigidTransform3d pose; pose.makeAffine(); pose.linear() = orientation; pose.translation() = position; // TODO(bert): this code should cache the access indices. SurgSim::DataStructures::DataGroup& inputData = info->deviceObject->getInputData(); inputData.poses().set(SurgSim::DataStructures::Names::POSE, pose); inputData.booleans().set(SurgSim::DataStructures::Names::BUTTON_1, info->buttonStates[0]); inputData.booleans().set(SurgSim::DataStructures::Names::BUTTON_2, info->buttonStates[1]); inputData.booleans().set(SurgSim::DataStructures::Names::BUTTON_3, info->buttonStates[2]); inputData.booleans().set(SurgSim::DataStructures::Names::BUTTON_4, info->buttonStates[3]); return true; } std::unique_ptr RawMultiAxisScaffold::openDevice(const std::string& path) { std::unique_ptr handle = createInputDeviceHandle(path, m_logger); if (!handle) { int64_t error = getSystemErrorCode(); SURGSIM_LOG_INFO(m_logger) << "Could not open device " << path << ": error " << error << ", " << getSystemErrorText(error); } return std::move(handle); } bool RawMultiAxisScaffold::findUnusedDeviceAndRegister(RawMultiAxisDevice* device, int* numUsedDevicesSeen) { *numUsedDevicesSeen = 0; boost::lock_guard lock(m_state->mutex); // Make sure the object is unique. auto sameObject = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); SURGSIM_ASSERT(sameObject == m_state->activeDeviceList.end()) << "Tried to register a device" << " which is already present!"; // Make sure the name is unique. const std::string deviceName = device->getName(); auto sameName = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [&deviceName](const std::unique_ptr& info) { return info->deviceObject->getName() == deviceName; }); if (sameName != m_state->activeDeviceList.end()) { SURGSIM_LOG_CRITICAL(m_logger) << "Tried to register a device when the same name is" << " already present!"; return false; } const std::vector devicePaths = enumerateInputDevicePaths(m_logger.get()); for (auto it = devicePaths.cbegin(); it != devicePaths.cend(); ++it) { const std::string& devicePath = *it; // Check if this is the device we wanted. std::unique_ptr handle = openDevice(devicePath); if (!handle) { // message was already printed continue; } const std::string reportedName = handle->getDeviceName(); int vendorId, productId; if (handle->getDeviceIds(&vendorId, &productId)) { SURGSIM_LOG_DEBUG(m_logger) << "RawMultiAxis: Examining device " << devicePath << " (" << std::hex << std::setfill('0') << std::setw(4) << vendorId << ":" << std::setw(4) << productId << " " << reportedName << ")"; } else { SURGSIM_LOG_DEBUG(m_logger) << "RawMultiAxis: Examining device " << devicePath << " (????:???? " << reportedName << ")"; } if (!handle->hasTranslationAndRotationAxes()) { continue; } handle.reset(); if (registerIfUnused(devicePath, device, numUsedDevicesSeen)) { return true; } } return false; } bool RawMultiAxisScaffold::registerIfUnused(const std::string& path, RawMultiAxisDevice* device, int* numUsedDevicesSeen) { // Check existing devices. auto sameIndices = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [path](const std::unique_ptr& info) { return (info->devicePath == path); }); if (sameIndices != m_state->activeDeviceList.end()) { // We found an existing device for this controller. ++(*numUsedDevicesSeen); return false; } // The controller is not yet in use. std::unique_ptr handle = openDevice(path); if (!handle) { return false; } // Construct the object, start its thread, then move it to the list. // The thread needs a device entry pointer, but the unique_ptr indirection means we have one to provide even // before we've put an entry in the active device array. std::unique_ptr info(new DeviceData(path, device, std::move(handle))); createPerDeviceThread(info.get()); SURGSIM_ASSERT(info->thread); m_state->activeDeviceList.emplace_back(std::move(info)); return true; } bool RawMultiAxisScaffold::createPerDeviceThread(DeviceData* data) { SURGSIM_ASSERT(!data->thread); std::unique_ptr thread(new RawMultiAxisThread(this, data)); thread->start(); data->thread = std::move(thread); return true; } bool RawMultiAxisScaffold::destroyPerDeviceThread(DeviceData* data) { SURGSIM_ASSERT(data->thread); std::unique_ptr thread = std::move(data->thread); thread->stop(); thread.reset(); return true; } SurgSim::DataStructures::DataGroup RawMultiAxisScaffold::buildDeviceInputData() { SurgSim::DataStructures::DataGroupBuilder builder; builder.addPose(SurgSim::DataStructures::Names::POSE); builder.addBoolean(SurgSim::DataStructures::Names::BUTTON_1); builder.addBoolean(SurgSim::DataStructures::Names::BUTTON_2); builder.addBoolean(SurgSim::DataStructures::Names::BUTTON_3); builder.addBoolean(SurgSim::DataStructures::Names::BUTTON_4); return builder.createData(); } std::shared_ptr RawMultiAxisScaffold::getOrCreateSharedInstance() { static SurgSim::Framework::SharedInstance sharedInstance; return sharedInstance.get(); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/RawMultiAxisScaffold.h000066400000000000000000000124251277777236100252160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_MULTIAXIS_RAWMULTIAXISSCAFFOLD_H #define SURGSIM_DEVICES_MULTIAXIS_RAWMULTIAXISSCAFFOLD_H #include #include #include "SurgSim/Framework/Logger.h" #include "SurgSim/DataStructures/DataGroup.h" namespace SurgSim { namespace Devices { class RawMultiAxisDevice; class RawMultiAxisThread; class SystemInputDeviceHandle; /// A class that implements the behavior of RawMultiAxisDevice objects. /// /// \sa SurgSim::Devices::RawMultiAxisDevice class RawMultiAxisScaffold { public: /// Constructor. RawMultiAxisScaffold(); /// Destructor. ~RawMultiAxisScaffold(); /// Gets or creates the scaffold shared by all RawMultiAxisDevice instances. /// The scaffold is managed using a SharedInstance object, so it will be destroyed when all devices are released. /// \return the scaffold object. static std::shared_ptr getOrCreateSharedInstance(); private: /// Internal shared state data type. struct StateData; /// Interal per-device information. struct DeviceData; friend class RawMultiAxisDevice; friend class RawMultiAxisThread; friend struct StateData; /// Registers the specified device object. /// If successful, the device object will become connected to an unused hardware device. /// /// \param device The device object to be used, which should have a unique name. /// \return True if the initialization succeeds, false if it fails. bool registerDevice(RawMultiAxisDevice* device); /// Unregisters the specified device object. /// The corresponding hardware device will become unused, and can be re-registered later. /// /// \param device The device object. /// \return true on success, false on failure. bool unregisterDevice(const RawMultiAxisDevice* device); /// Sets the position scale for this device. void setPositionScale(const RawMultiAxisDevice* device, double scale); /// Sets the orientation scale for this device. void setOrientationScale(const RawMultiAxisDevice* device, double scale); /// Turns on or off the axis dominance setting for this device. void setAxisDominance(const RawMultiAxisDevice* device, bool onOff); /// Executes the operations for a single input frame for a single device. /// Should only be called from the context of the input loop thread. /// \param info The internal device data. /// \return true on success. bool runInputFrame(DeviceData* info); /// Executes the operations after the last input frame, as the device input loop thread is shutting down. /// Should only be called from the context of the input loop thread. /// \param info The internal device data. /// \return true on success. bool runAfterLastFrame(DeviceData* info); /// Updates the device information for a single device. /// \return true on success. bool updateDevice(DeviceData* info); /// Scans hardware that is present in the system, and if an unused device is found, register an object for it. /// /// \param device The device object to register if an unused device is found. /// \param [out] numUsedDevicesSeen The number of devices that were found during the scan but were already /// in use. Can be used if the scan fails to determine the error message that should be displayed. /// \return true on success. bool findUnusedDeviceAndRegister(RawMultiAxisDevice* device, int* numUsedDevicesSeen); /// Register a device object given a device path, if the same path is not already in use. /// /// \param path A unique system path that can be used to communicate with the device. /// \param device The device object to register if the index pair is in fact unused. /// \param [in,out] numUsedDevicesSeen The number of devices that were found during the scan but were /// already in use; incremented when an unused device is seen. /// \return true on success. bool registerIfUnused(const std::string& path, RawMultiAxisDevice* device, int* numUsedDevicesSeen); /// Creates the input loop thread. /// \return true on success. bool createPerDeviceThread(DeviceData* data); /// Destroys the input loop thread. /// \return true on success. bool destroyPerDeviceThread(DeviceData* data); /// Opens the specified device. /// \return The system-specific wrapper for the device. std::unique_ptr openDevice(const std::string& path); /// Builds the data layout for the application input (i.e. device output). static SurgSim::DataStructures::DataGroup buildDeviceInputData(); /// Logger used by the scaffold and all devices. std::shared_ptr m_logger; /// Internal scaffold state. std::unique_ptr m_state; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_MULTIAXIS_RAWMULTIAXISSCAFFOLD_H opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/RawMultiAxisThread.cpp000066400000000000000000000025461277777236100252420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/MultiAxis/RawMultiAxisThread.h" namespace SurgSim { namespace Devices { RawMultiAxisThread::RawMultiAxisThread(RawMultiAxisScaffold* scaffold, RawMultiAxisScaffold::DeviceData* deviceData) : BasicThread("RawMultiAxis thread"), m_scaffold(scaffold), m_deviceData(deviceData) { setRate(100.0); } RawMultiAxisThread::~RawMultiAxisThread() { } bool RawMultiAxisThread::doInitialize() { return true; } bool RawMultiAxisThread::doStartUp() { return true; } bool RawMultiAxisThread::doUpdate(double dt) { return m_scaffold->runInputFrame(m_deviceData); } void RawMultiAxisThread::doBeforeStop() { m_scaffold->runAfterLastFrame(m_deviceData); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/RawMultiAxisThread.h000066400000000000000000000031431277777236100247010ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_MULTIAXIS_RAWMULTIAXISTHREAD_H #define SURGSIM_DEVICES_MULTIAXIS_RAWMULTIAXISTHREAD_H #include #include #include "SurgSim/Framework/BasicThread.h" #include "SurgSim/Devices/MultiAxis/RawMultiAxisScaffold.h" namespace SurgSim { namespace Devices { /// A class implementing the thread context for sampling RawMultiAxis devices. /// \sa SurgSim::Devices::RawMultiAxisScaffold class RawMultiAxisThread : public SurgSim::Framework::BasicThread { public: explicit RawMultiAxisThread(RawMultiAxisScaffold* scaffold, RawMultiAxisScaffold::DeviceData* deviceData); virtual ~RawMultiAxisThread(); protected: bool doInitialize() override; bool doStartUp() override; bool doUpdate(double dt) override; void doBeforeStop() override; private: RawMultiAxisScaffold* m_scaffold; RawMultiAxisScaffold::DeviceData* m_deviceData; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_MULTIAXIS_RAWMULTIAXISTHREAD_H opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/SystemInputDeviceHandle.cpp000066400000000000000000000017231277777236100262550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/MultiAxis/SystemInputDeviceHandle.h" namespace SurgSim { namespace Devices { SystemInputDeviceHandle::SystemInputDeviceHandle() { } SystemInputDeviceHandle::~SystemInputDeviceHandle() { } void SystemInputDeviceHandle::prepareForShutdown() { } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/SystemInputDeviceHandle.h000066400000000000000000000066141277777236100257260ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_MULTIAXIS_SYSTEMINPUTDEVICEHANDLE_H #define SURGSIM_DEVICES_MULTIAXIS_SYSTEMINPUTDEVICEHANDLE_H #include #include #include #include namespace SurgSim { namespace Devices { /// A wrapper for system-dependent access to an input/HID device. class SystemInputDeviceHandle { public: /// The maximum number of axes supported by any device object. static const size_t MAX_NUM_AXES = 6; /// The maximum number of buttons supported by any device object. static const size_t MAX_NUM_BUTTONS = 4; /// Type used to store axis states. typedef std::array AxisStates; /// Type used to store button states. typedef std::array ButtonStates; /// Destructor. virtual ~SystemInputDeviceHandle(); /// Gets the name returned by the operating system for this device. /// \return The reported name, or "???" if no name information could be found. virtual std::string getDeviceName() const = 0; /// Gets the device identifiers. /// \param [out] vendorId The USB or PCI vendor identifier. /// \param [out] productId The USB or PCI product identifier. /// \return true if it succeeds. virtual bool getDeviceIds(int* vendorId, int* productId) const = 0; /// Queries if this device has 3 translation and 3 rotation axes. /// \return true if the desired axes are present. virtual bool hasTranslationAndRotationAxes() const = 0; /// Updates the axis and states from the device input, if any. /// \param [in,out] axisStates The states for each axis of the device. /// \param [in,out] buttonStates The states for each device button. /// \param [out] updated True if any states were actually updated. (Note that even if this value is true, the /// states may not have changed value; one or more states could have been updated to the same value.) /// \return true if the operation was successful; false if the device is no longer in a usable state. virtual bool updateStates(AxisStates* axisStates, ButtonStates* buttonStates, bool* updated) = 0; /// Prepares the handle for sampling thread shutdown. /// Should be called from the same thread that was calling updateStates, after the calls to updateStates /// have been stopped, but before object destruction. virtual void prepareForShutdown(); protected: /// Default constructor. /// Cannot be called directly; see open and enumerate. SystemInputDeviceHandle(); private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) SystemInputDeviceHandle(const SystemInputDeviceHandle& other) /*= delete*/; SystemInputDeviceHandle& operator=(const SystemInputDeviceHandle& other) /*= delete*/; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_MULTIAXIS_SYSTEMINPUTDEVICEHANDLE_H opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/UnitTests/000077500000000000000000000000001277777236100227505ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/UnitTests/CMakeLists.txt000066400000000000000000000017561277777236100255210ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES MultiAxisDeviceTest.cpp RawMultiAxisDeviceTest.cpp RawMultiAxisScaffoldTest.cpp ) set(LIBS MultiAxisDevice ) if(WDK_FOUND) list(APPEND LIBS ${WDK_LIBRARIES}) endif() surgsim_add_unit_tests(MultiAxisDeviceTest) set_target_properties(MultiAxisDeviceTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/UnitTests/MultiAxisDeviceTest.cpp000066400000000000000000000202721277777236100273560ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the MultiAxisDevice class. #include #include #include #include #include #include "SurgSim/Devices/MultiAxis/MultiAxisDevice.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::Devices::MultiAxisDevice; using SurgSim::DataStructures::DataGroup; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Matrix44d; using SurgSim::Testing::MockInputOutput; TEST(MultiAxisDeviceTest, CreateUninitializedDevice) { std::shared_ptr device = std::make_shared("TestMultiAxis"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; } TEST(MultiAxisDeviceTest, CreateAndInitializeDevice) { std::shared_ptr device = std::make_shared("TestMultiAxis"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_FALSE(device->isInitialized()); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a MultiAxis device plugged in?"; EXPECT_TRUE(device->isInitialized()); } TEST(MultiAxisDeviceTest, Name) { std::shared_ptr device = std::make_shared("TestMultiAxis"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_EQ("TestMultiAxis", device->getName()); EXPECT_TRUE(device->initialize()) << "Initialization failed. Is a MultiAxis device plugged in?"; EXPECT_EQ("TestMultiAxis", device->getName()); } TEST(MultiAxisDeviceTest, Factory) { std::shared_ptr device; ASSERT_NO_THROW(device = SurgSim::Input::DeviceInterface::getFactory().create( "SurgSim::Devices::MultiAxisDevice", "Device")); EXPECT_NE(nullptr, device); } static void testCreateDeviceSeveralTimes(bool doSleep) { for (int i = 0; i < 6; ++i) { std::shared_ptr device = std::make_shared("TestMultiAxis"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a MultiAxis device plugged in?"; if (doSleep) { boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(100)); } // the device will be destroyed here } } TEST(MultiAxisDeviceTest, CreateDeviceSeveralTimes) { testCreateDeviceSeveralTimes(true); } TEST(MultiAxisDeviceTest, CreateSeveralDevices) { std::shared_ptr device1 = std::make_shared("MultiAxis1"); ASSERT_TRUE(device1 != nullptr) << "Device creation failed."; ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a MultiAxis device plugged in?"; // We can't check what happens with the scaffolds, since those are no longer a part of the device's API... std::shared_ptr device2 = std::make_shared("MultiAxis2"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; if (! device2->initialize()) { std::cerr << "[Warning: second MultiAxis controller did not come up; is it plugged in?]" << std::endl; } } TEST(MultiAxisDeviceTest, CreateDevicesWithSameName) { std::shared_ptr device1 = std::make_shared("MultiAxis"); ASSERT_TRUE(device1 != nullptr) << "Device creation failed."; ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a MultiAxis device plugged in?"; std::shared_ptr device2 = std::make_shared("MultiAxis"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; ASSERT_FALSE(device2->initialize()) << "Initialization succeeded despite duplicate name."; } // Create a string representation from an int. // C++11 adds std::to_string() to do this for various types, but VS2010 only half-supports that. template inline std::string makeString(T value) { std::ostringstream out; out << value; return out.str(); } TEST(MultiAxisDeviceTest, CreateAllDevices) { std::vector> devices; for (int i = 1; ; ++i) { std::string name = "MultiAxis" + makeString(i); std::shared_ptr device = std::make_shared(name); ASSERT_TRUE(device != nullptr) << "Device creation failed."; if (! device->initialize()) { break; } devices.emplace_back(std::move(device)); } std::cout << devices.size() << " devices initialized." << std::endl; ASSERT_GT(devices.size(), 0U) << "Initialization failed. Is a MultiAxis device plugged in?"; } TEST(MultiAxisDeviceTest, InputConsumer) { std::shared_ptr device = std::make_shared("TestMultiAxis"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a MultiAxis device plugged in?"; std::shared_ptr consumer = std::make_shared(); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_FALSE(device->removeInputConsumer(consumer)); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device->addInputConsumer(consumer)); // Adding the same input consumer again should fail. EXPECT_FALSE(device->addInputConsumer(consumer)); // Sleep for a second, to see how many times the consumer is invoked. // (A MultiAxis device updates internally at 60Hz, but our code currently runs at 100Hz to reduce latency.) boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeInputConsumer(consumer)); // Removing the same input consumer again should fail. EXPECT_FALSE(device->removeInputConsumer(consumer)); // Check the number of invocations. EXPECT_EQ(1, consumer->m_numTimesInitializedInput); EXPECT_GE(consumer->m_numTimesReceivedInput, 90); EXPECT_LE(consumer->m_numTimesReceivedInput, 110); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData(SurgSim::DataStructures::Names::POSE)); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData(SurgSim::DataStructures::Names::BUTTON_1)); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData(SurgSim::DataStructures::Names::BUTTON_2)); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData(SurgSim::DataStructures::Names::BUTTON_3)); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData(SurgSim::DataStructures::Names::BUTTON_4)); } TEST(MultiAxisDeviceTest, OutputProducer) { std::shared_ptr device = std::make_shared("TestMultiAxis"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a MultiAxis device plugged in?"; std::shared_ptr producer = std::make_shared(); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_FALSE(device->removeOutputProducer(producer)); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_TRUE(device->setOutputProducer(producer)); // Sleep for a second, to see how many times the producer is invoked. // (A MultiAxis device is does not request any output.) boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeOutputProducer(producer)); // Removing the same input producer again should fail. EXPECT_FALSE(device->removeOutputProducer(producer)); // Check the number of invocations. EXPECT_GE(producer->m_numTimesRequestedOutput, 90); EXPECT_LE(producer->m_numTimesRequestedOutput, 110); } opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/UnitTests/RawMultiAxisDeviceTest.cpp000066400000000000000000000206361277777236100300340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the RawMultiAxisDevice class. #include #include #include #include #include #include "SurgSim/Devices/MultiAxis/RawMultiAxisDevice.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::Devices::RawMultiAxisDevice; using SurgSim::Devices::RawMultiAxisScaffold; using SurgSim::DataStructures::DataGroup; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Matrix44d; using SurgSim::Testing::MockInputOutput; TEST(RawMultiAxisDeviceTest, CreateUninitializedDevice) { std::shared_ptr device = std::make_shared("TestRawMultiAxis"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; } TEST(RawMultiAxisDeviceTest, CreateAndInitializeDevice) { std::shared_ptr device = std::make_shared("TestRawMultiAxis"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_FALSE(device->isInitialized()); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a RawMultiAxis device plugged in?"; EXPECT_TRUE(device->isInitialized()); } TEST(RawMultiAxisDeviceTest, Name) { std::shared_ptr device = std::make_shared("TestRawMultiAxis"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_EQ("TestRawMultiAxis", device->getName()); EXPECT_TRUE(device->initialize()) << "Initialization failed. Is a RawMultiAxis device plugged in?"; EXPECT_EQ("TestRawMultiAxis", device->getName()); } TEST(RawMultiAxisDeviceTest, Factory) { std::shared_ptr device; ASSERT_NO_THROW(device = SurgSim::Input::DeviceInterface::getFactory().create( "SurgSim::Devices::RawMultiAxisDevice", "Device")); EXPECT_NE(nullptr, device); } static void testCreateDeviceSeveralTimes(bool doSleep) { for (int i = 0; i < 6; ++i) { std::shared_ptr device = std::make_shared("TestRawMultiAxis"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a RawMultiAxis device plugged in?"; if (doSleep) { boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(100)); } // the device will be destroyed here } } TEST(RawMultiAxisDeviceTest, CreateDeviceSeveralTimes) { testCreateDeviceSeveralTimes(true); } TEST(RawMultiAxisDeviceTest, CreateSeveralDevices) { std::shared_ptr device1 = std::make_shared("RawMultiAxis1"); ASSERT_TRUE(device1 != nullptr) << "Device creation failed."; ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a RawMultiAxis device plugged in?"; // We can't check what happens with the scaffolds, since those are no longer a part of the device's API... std::shared_ptr device2 = std::make_shared("RawMultiAxis2"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; if (! device2->initialize()) { std::cerr << "[Warning: second RawMultiAxis controller did not come up; is it plugged in?]" << std::endl; } } TEST(RawMultiAxisDeviceTest, CreateDevicesWithSameName) { std::shared_ptr device1 = std::make_shared("RawMultiAxis"); ASSERT_TRUE(device1 != nullptr) << "Device creation failed."; ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a RawMultiAxis device plugged in?"; std::shared_ptr device2 = std::make_shared("RawMultiAxis"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; ASSERT_FALSE(device2->initialize()) << "Initialization succeeded despite duplicate name."; } // Create a string representation from an int. // C++11 adds std::to_string() to do this for various types, but VS2010 only half-supports that. template inline std::string makeString(T value) { std::ostringstream out; out << value; return out.str(); } TEST(RawMultiAxisDeviceTest, CreateAllDevices) { std::vector> devices; for (int i = 1; ; ++i) { std::string name = "RawMultiAxis" + makeString(i); std::shared_ptr device = std::make_shared(name); ASSERT_TRUE(device != nullptr) << "Device creation failed."; if (! device->initialize()) { break; } devices.emplace_back(std::move(device)); } std::cout << devices.size() << " devices initialized." << std::endl; ASSERT_GT(devices.size(), 0U) << "Initialization failed. Is a RawMultiAxis device plugged in?"; } TEST(RawMultiAxisDeviceTest, InputConsumer) { std::shared_ptr device = std::make_shared("TestRawMultiAxis"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a RawMultiAxis device plugged in?"; std::shared_ptr consumer = std::make_shared(); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_FALSE(device->removeInputConsumer(consumer)); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device->addInputConsumer(consumer)); // Adding the same input consumer again should fail. EXPECT_FALSE(device->addInputConsumer(consumer)); // Sleep for a second, to see how many times the consumer is invoked. // (A RawMultiAxis device updates internally at 60Hz, but our code currently runs at 100Hz to reduce latency.) boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeInputConsumer(consumer)); // Removing the same input consumer again should fail. EXPECT_FALSE(device->removeInputConsumer(consumer)); // Check the number of invocations. EXPECT_EQ(1, consumer->m_numTimesInitializedInput); EXPECT_GE(consumer->m_numTimesReceivedInput, 90); EXPECT_LE(consumer->m_numTimesReceivedInput, 110); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData(SurgSim::DataStructures::Names::POSE)); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData(SurgSim::DataStructures::Names::BUTTON_1)); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData(SurgSim::DataStructures::Names::BUTTON_2)); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData(SurgSim::DataStructures::Names::BUTTON_3)); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData(SurgSim::DataStructures::Names::BUTTON_4)); } TEST(RawMultiAxisDeviceTest, OutputProducer) { std::shared_ptr device = std::make_shared("TestRawMultiAxis"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a RawMultiAxis device plugged in?"; std::shared_ptr producer = std::make_shared(); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_FALSE(device->removeOutputProducer(producer)); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_TRUE(device->setOutputProducer(producer)); // Sleep for a second, to see how many times the producer is invoked. // (A RawMultiAxis device is does not request any output.) boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeOutputProducer(producer)); // Removing the same input producer again should fail. EXPECT_FALSE(device->removeOutputProducer(producer)); // Check the number of invocations. EXPECT_GE(producer->m_numTimesRequestedOutput, 90); EXPECT_LE(producer->m_numTimesRequestedOutput, 110); } opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/UnitTests/RawMultiAxisScaffoldTest.cpp000066400000000000000000000164121277777236100303530ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the RawMultiAxisScaffold class and its device interactions. #include #include #include #include #include #include "SurgSim/Devices/MultiAxis/RawMultiAxisDevice.h" #include "SurgSim/Devices/MultiAxis/RawMultiAxisScaffold.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Matrix.h" using SurgSim::Devices::RawMultiAxisDevice; using SurgSim::Devices::RawMultiAxisScaffold; TEST(RawMultiAxisScaffoldTest, CreateAndDestroyScaffold) { std::shared_ptr scaffold = RawMultiAxisScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created!"; std::weak_ptr scaffold1 = scaffold; { std::shared_ptr stillHaveScaffold = scaffold1.lock(); EXPECT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; EXPECT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } { std::shared_ptr sameScaffold = RawMultiAxisScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, sameScaffold) << "Unable to get scaffold from class"; EXPECT_EQ(scaffold, sameScaffold) << "Scaffold mismatch!"; } scaffold.reset(); { std::shared_ptr dontHaveScaffold = scaffold1.lock(); EXPECT_EQ(nullptr, dontHaveScaffold) << "Able to get scaffold from weak ref (with no strong ref)"; } scaffold = RawMultiAxisScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created the 2nd time!"; std::weak_ptr scaffold2 = scaffold; { std::shared_ptr stillHaveScaffold = scaffold2.lock(); ASSERT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; ASSERT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } } TEST(RawMultiAxisScaffoldTest, ScaffoldLifeCycle) { std::weak_ptr lastScaffold; { std::shared_ptr scaffold = RawMultiAxisScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created!"; lastScaffold = scaffold; } { std::shared_ptr dontHaveScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, dontHaveScaffold) << "Able to get scaffold from weak ref (with no strong ref)"; lastScaffold.reset(); } { std::shared_ptr device = std::make_shared("TestRawMultiAxis"); ASSERT_NE(nullptr, device) << "Creation failed. Is a RawMultiAxis device plugged in?"; // note: the device is NOT initialized! { std::shared_ptr scaffold = RawMultiAxisScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // save the scaffold for later std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); EXPECT_EQ(scaffold, sameScaffold); } // The device has not been initialized, so it should NOT be hanging on to the device! { std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } // the ("empty") device is about to get destroyed } { std::shared_ptr device = std::make_shared("TestRawMultiAxis"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a RawMultiAxis device plugged in?"; { std::shared_ptr scaffold = RawMultiAxisScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // save the scaffold for later std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); EXPECT_EQ(scaffold, sameScaffold); } // The same scaffold is supposed to still be around because of the device { std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); std::shared_ptr scaffold = RawMultiAxisScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; EXPECT_EQ(sameScaffold, scaffold); } // the device and the scaffold are about to get destroyed } { std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } { std::shared_ptr device = std::make_shared("TestRawMultiAxis"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Didn't this work a moment ago?"; std::shared_ptr scaffold = RawMultiAxisScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } } TEST(RawMultiAxisScaffoldTest, CreateDeviceSeveralTimes) { std::weak_ptr lastScaffold; for (int i = 0; i < 6; ++i) { SCOPED_TRACE(i); EXPECT_EQ(nullptr, lastScaffold.lock()); std::shared_ptr device = std::make_shared("TestRawMultiAxis"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a RawMultiAxis device plugged in?"; std::shared_ptr scaffold = RawMultiAxisScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // the device and the scaffold will be destroyed here } } TEST(RawMultiAxisScaffoldTest, CreateDeviceSeveralTimesWithScaffoldRef) { std::shared_ptr lastScaffold; for (int i = 0; i < 6; ++i) { SCOPED_TRACE(i); std::shared_ptr device = std::make_shared("TestRawMultiAxis"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a RawMultiAxis device plugged in?"; std::shared_ptr scaffold = RawMultiAxisScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; if (! lastScaffold) { lastScaffold = scaffold; } EXPECT_EQ(lastScaffold, scaffold); // the device will be destroyed here, but the scaffold stays around because we have a shared_ptr to it. } } opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/VisualTest/000077500000000000000000000000001277777236100231115ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/VisualTest/CMakeLists.txt000066400000000000000000000024601277777236100256530ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. set(EXAMPLE_SOURCES main.cpp ) set(EXAMPLE_HEADERS ) set(RAW_EXAMPLE_SOURCES raw_test_main.cpp ) set(RAW_EXAMPLE_HEADERS ) set(LIBS IdentityPoseDevice MultiAxisDevice SurgSimInput VisualTestCommon ) surgsim_add_executable(MultiAxisVisualTest "${EXAMPLE_SOURCES}" "${EXAMPLE_HEADERS}") target_link_libraries(MultiAxisVisualTest ${LIBS}) surgsim_add_executable(RawMultiAxisVisualTest "${RAW_EXAMPLE_SOURCES}" "${RAW_EXAMPLE_HEADERS}") target_link_libraries(RawMultiAxisVisualTest ${LIBS}) # Put all projects into folder "Devices" set_target_properties(RawMultiAxisVisualTest PROPERTIES FOLDER "Devices") set_target_properties(MultiAxisVisualTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/VisualTest/main.cpp000066400000000000000000000035701277777236100245460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Input/DeviceInterface.h" #include "SurgSim/Devices/MultiAxis/MultiAxisDevice.h" #include "SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.h" #include "SurgSim/Testing/VisualTestCommon/ToolSquareTest.h" using SurgSim::Input::DeviceInterface; using SurgSim::Devices::MultiAxisDevice; using SurgSim::Devices::IdentityPoseDevice; int main(int argc, char** argv) { std::shared_ptr toolDevice = std::make_shared("MultiAxisDevice"); //toolDevice->setPositionScale(0.0002); //toolDevice->setOrientationScale(0.005); //toolDevice->setAxisDominance(false); // The square is controlled by a second device. For a simple test, we're using an IdentityPoseDevice-- // a pretend device that doesn't actually move. std::shared_ptr squareDevice = std::make_shared("IdentityPoseDevice"); runToolSquareTest(toolDevice, squareDevice, //2345678901234567890123456789012345678901234567890123456789012345678901234567890 "Move the multi-axis device (e.g. 3DConnexion) to move the sphere tool."); std::cout << std::endl << "Exiting." << std::endl; // Cleanup and shutdown will happen automatically as objects go out of scope. return 0; } opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/VisualTest/raw_test_main.cpp000066400000000000000000000036011277777236100264510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Input/DeviceInterface.h" #include "SurgSim/Devices/MultiAxis/RawMultiAxisDevice.h" #include "SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.h" #include "SurgSim/Testing/VisualTestCommon/ToolSquareTest.h" using SurgSim::Input::DeviceInterface; using SurgSim::Devices::RawMultiAxisDevice; using SurgSim::Devices::IdentityPoseDevice; int main(int argc, char** argv) { std::shared_ptr toolDevice = std::make_shared("RawMultiAxisDevice"); toolDevice->setPositionScale(0.0002); toolDevice->setOrientationScale(0.005); toolDevice->setAxisDominance(false); // The square is controlled by a second device. For a simple test, we're using an IdentityPoseDevice-- // a pretend device that doesn't actually move. std::shared_ptr squareDevice = std::make_shared("IdentityPoseDevice"); runToolSquareTest(toolDevice, squareDevice, //2345678901234567890123456789012345678901234567890123456789012345678901234567890 "Move the multi-axis device (e.g. 3DConnexion) to move the sphere tool."); std::cout << std::endl << "Exiting." << std::endl; // Cleanup and shutdown will happen automatically as objects go out of scope. return 0; } opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/linux/000077500000000000000000000000001277777236100221455ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/linux/CreateInputDeviceHandle.cpp000066400000000000000000000022761277777236100273370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/MultiAxis/CreateInputDeviceHandle.h" #include "SurgSim/Devices/MultiAxis/linux/InputDeviceHandle.h" namespace SurgSim { namespace Devices { std::unique_ptr createInputDeviceHandle(const std::string& path, std::shared_ptr logger) { return InputDeviceHandle::open(path, logger); } std::vector enumerateInputDevicePaths(SurgSim::Framework::Logger* logger) { return InputDeviceHandle::enumeratePaths(logger); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/linux/FileDescriptor.cpp000066400000000000000000000065601277777236100255760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/MultiAxis/linux/FileDescriptor.h" #include #include #include #include #include #include #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace Devices { FileDescriptor::FileDescriptor() : m_descriptor(INVALID_VALUE), m_canRead(false), m_canWrite(false) { } FileDescriptor::FileDescriptor(FileDescriptor&& other) : m_descriptor(other.m_descriptor), m_canRead(other.m_canRead), m_canWrite(other.m_canWrite) { other.m_descriptor = INVALID_VALUE; // take ownership } FileDescriptor& FileDescriptor::operator=(FileDescriptor&& other) { m_descriptor = other.m_descriptor; m_canRead = other.m_canRead; m_canWrite = other.m_canWrite; other.m_descriptor = INVALID_VALUE; // take ownership return *this; } FileDescriptor::~FileDescriptor() { reset(); } bool FileDescriptor::isValid() const { return (m_descriptor != INVALID_VALUE); } bool FileDescriptor::canRead() const { return isValid() && m_canRead; } bool FileDescriptor::canWrite() const { return isValid() && m_canWrite; } int FileDescriptor::get() const { SURGSIM_ASSERT(m_descriptor != INVALID_VALUE); return m_descriptor; } bool FileDescriptor::openForReadingAndWriting(const std::string& path) { reset(); m_descriptor = open(path.c_str(), O_RDWR); m_canRead = true; m_canWrite = true; return isValid(); } bool FileDescriptor::openForReading(const std::string& path) { reset(); m_descriptor = open(path.c_str(), O_RDONLY); m_canRead = true; m_canWrite = false; return isValid(); } bool FileDescriptor::openForWriting(const std::string& path) { reset(); m_descriptor = open(path.c_str(), O_WRONLY); m_canRead = false; m_canWrite = true; return isValid(); } bool FileDescriptor::openForReadingAndMaybeWriting(const std::string& path) { if (! openForReadingAndWriting(path)) { if (! openForReading(path)) { return false; } } return true; } void FileDescriptor::reset() { if (m_descriptor != INVALID_VALUE) { close(m_descriptor); m_descriptor = INVALID_VALUE; } } bool FileDescriptor::hasDataToRead() const { if (! canRead()) { return false; } struct pollfd pollData[1]; pollData[0].fd = m_descriptor; pollData[0].events = POLLIN; //const int timeoutMsec = 10; const int nonBlockingOnly = 0; int status = poll(pollData, 1, nonBlockingOnly); return (status > 0); } bool FileDescriptor::readBytes(void* dataBuffer, size_t bytesToRead, size_t* bytesActuallyRead) { SURGSIM_ASSERT(canRead()); ssize_t numBytesRead = read(m_descriptor, dataBuffer, bytesToRead); if (numBytesRead < 0) { *bytesActuallyRead = 0; return false; } else { *bytesActuallyRead = numBytesRead; return true; } } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/linux/FileDescriptor.h000066400000000000000000000076521277777236100252460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_MULTIAXIS_LINUX_FILEDESCRIPTOR_H #define SURGSIM_DEVICES_MULTIAXIS_LINUX_FILEDESCRIPTOR_H #include namespace SurgSim { namespace Devices { /// A wrapper for an UNIX-style integer file descriptor. /// Allows callers to implement RAII-style resource management. class FileDescriptor { public: /// Default constructor. /// Initializes the file descriptor to an invalid state. FileDescriptor(); /// Move constructor. /// \param [in,out] other The object to move. The original object will be invalidated. FileDescriptor(FileDescriptor&& other); /// Move assignment operator. /// \param [in,out] other The object to move. The original object will be invalidated. /// \return A reference to this object. FileDescriptor& operator=(FileDescriptor&& other); /// Destructor. ~FileDescriptor(); /// Checks if the file descriptor is valid, i.e. has been opened. /// \return true if valid, false if not. bool isValid() const; /// Determines if the file descriptor can be read from. /// \return true if the descriptor has been open for reading. bool canRead() const; /// Determines if the file descriptor can be written to. /// \return true if the descriptor has been open for writing. bool canWrite() const; /// Checks whether this object has data available to be read. /// \return true if there is data currently available. bool hasDataToRead() const; /// Reads bytes from the file descriptor. /// \param [out] dataBuffer Buffer to read into. Must have room for at least bytesToRead bytes of data. /// \param bytesToRead The number of bytes to try reading. Actual number of bytes received may be smaller. /// \param [out] bytesActuallyRead The number of bytes that were actually read into the buffer. /// \return true if it succeeds, false if it fails. bool readBytes(void* dataBuffer, size_t bytesToRead, size_t* bytesActuallyRead); /// Gets the raw underlying OS file descriptor. /// \return The raw file descriptor. int get() const; /// Attempts to open the file descriptor for reading and writing. /// \param path Full pathname of the file. /// \return true if it succeeds, false if it fails. bool openForReadingAndWriting(const std::string& path); /// Attempts to open the file descriptor for reading only. /// \param path Full pathname of the file. /// \return true if it succeeds, false if it fails. bool openForReading(const std::string& path); /// Attempts to open the file descriptor for writing only. /// \param path Full pathname of the file. /// \return true if it succeeds, false if it fails. bool openForWriting(const std::string& path); /// Attempts to open the file descriptor for reading and (if permissions allow it) writing. /// \param path Full pathname of the file. /// \return true if it succeeds, false if it fails. bool openForReadingAndMaybeWriting(const std::string& path); /// Resets the file descriptor back to an invalid state. /// If the descriptor was open, it will be closed. void reset(); private: FileDescriptor(const FileDescriptor& other) = delete; FileDescriptor& operator=(const FileDescriptor& other) = delete; static const int INVALID_VALUE = -1; int m_descriptor; bool m_canRead; bool m_canWrite; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_MULTIAXIS_LINUX_FILEDESCRIPTOR_H opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/linux/GetSystemError.cpp000066400000000000000000000037531277777236100256170ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/MultiAxis/GetSystemError.h" #include #include namespace SurgSim { namespace Devices { namespace Internal { int64_t getSystemErrorCode() { return errno; } // Helps retrieve the output location for the XSI version of strerror_r. static inline const char* systemErrorTextHelper(const char* buffer, int returnValue) { if (returnValue != 0) { return nullptr; } return buffer; } // Helps retrieve the output location for the GNU version of strerror_r. static inline const char* systemErrorTextHelper(const char* buffer, const char* returnValue) { return returnValue; } std::string getSystemErrorText(int64_t errorCode) { const size_t BUFFER_SIZE = 1024; char errorBuffer[BUFFER_SIZE]; errorBuffer[0] = '\0'; // Unfortunately, on Linux you can't really know if you will get the XSI version or the GNU version of // strerror_r. Fortunately, the arguments are the same (only return type differs), so we can cheat. const char* message = systemErrorTextHelper(errorBuffer, strerror_r(errorCode, errorBuffer, sizeof(errorBuffer))); if (message == nullptr || message[0] == '\0') { snprintf(errorBuffer, sizeof(errorBuffer), "", static_cast(errorCode)); message = errorBuffer; } return std::string(message); } }; // namespace Internal }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/linux/InputDeviceHandle.cpp000066400000000000000000000225031277777236100262060ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/MultiAxis/linux/InputDeviceHandle.h" #include #include #include #include "SurgSim/Devices/MultiAxis/GetSystemError.h" #include "SurgSim/Devices/MultiAxis/BitSetBuffer.h" #include "SurgSim/Devices/MultiAxis/linux/FileDescriptor.h" #include "SurgSim/Framework/Log.h" using SurgSim::Devices::Internal::getSystemErrorCode; using SurgSim::Devices::Internal::getSystemErrorText; namespace SurgSim { namespace Devices { struct InputDeviceHandle::State { public: explicit State(std::shared_ptr&& logger_) : logger(std::move(logger_)), handle() { buttonCodes.fill(-1); } /// The logger to use. std::shared_ptr logger; /// The underlying device file descriptor. FileDescriptor handle; /// Event library button code corresponding to each index. std::array buttonCodes; private: // Prevent copy construction and copy assignment. State(const State& other) = delete; State& operator=(const State& other) = delete; }; InputDeviceHandle::InputDeviceHandle(std::shared_ptr&& logger) : m_state(new InputDeviceHandle::State(std::move(logger))) { } InputDeviceHandle::~InputDeviceHandle() { } std::vector InputDeviceHandle::enumeratePaths(SurgSim::Framework::Logger* logger) { std::vector results; for (int i = 0; i < 100; ++i) { char devicePath[128]; snprintf(devicePath, sizeof(devicePath), "/dev/input/event%d", i); FileDescriptor handle; if (! handle.openForReadingAndMaybeWriting(devicePath)) { int error = errno; if (error != ENOENT) { SURGSIM_LOG_INFO(logger) << "InputDeviceHandle::enumeratePaths: Could not open device " << devicePath << ": error " << error << ", " << getSystemErrorText(error); } continue; } results.push_back(devicePath); } return results; } std::unique_ptr InputDeviceHandle::open( const std::string& path, std::shared_ptr logger) { std::unique_ptr object(new InputDeviceHandle(std::move(logger))); if (! object->m_state->handle.openForReadingAndMaybeWriting(path)) { object.reset(); // could not open the device handle; destroy the object again } else { const std::vector buttonCodeList = object->getDeviceButtonsAndKeys(); for (size_t i = 0; (i < object->m_state->buttonCodes.size()) && (i < buttonCodeList.size()); ++i) { object->m_state->buttonCodes[i] = buttonCodeList[i]; } for (size_t i = buttonCodeList.size(); i < object->m_state->buttonCodes.size(); ++i) { object->m_state->buttonCodes[i] = -1; } } return object; } std::string InputDeviceHandle::getDeviceName() const { char reportedName[1024]; if (ioctl(m_state->handle.get(), EVIOCGNAME(sizeof(reportedName)), reportedName) < 0) { int error = errno; SURGSIM_LOG_DEBUG(m_state->logger) << "InputDeviceHandle: ioctl(EVIOCGNAME): error " << error << ", " << getSystemErrorText(error); snprintf(reportedName, sizeof(reportedName), "???"); } else { reportedName[sizeof(reportedName)-1] = '\0'; } return std::string(reportedName); } bool InputDeviceHandle::getDeviceIds(int* vendorId, int* productId) const { struct input_id reportedId; if (ioctl(m_state->handle.get(), EVIOCGID, &reportedId) < 0) { int error = errno; SURGSIM_LOG_DEBUG(m_state->logger) << "InputDeviceHandle: ioctl(EVIOCGID): error " << error << ", " << getSystemErrorText(error); *vendorId = *productId = -1; return false; } *vendorId = reportedId.vendor; *productId = reportedId.product; return true; } bool InputDeviceHandle::hasAbsoluteTranslationAndRotationAxes() const { BitSetBuffer buffer; if (ioctl(m_state->handle.get(), EVIOCGBIT(EV_ABS, buffer.sizeBytes()), buffer.getPointer()) == -1) { int error = errno; SURGSIM_LOG_DEBUG(m_state->logger) << "InputDeviceHandle: ioctl(EVIOCGBIT(EV_ABS)): error " << error << ", " << getSystemErrorText(error); return false; } if (! buffer.test(ABS_X) || ! buffer.test(ABS_Y) || ! buffer.test(ABS_Z) || ! buffer.test(ABS_RX) || ! buffer.test(ABS_RY) || ! buffer.test(ABS_RZ)) { SURGSIM_LOG_DEBUG(m_state->logger) << "InputDeviceHandle: does not have the 6 absolute axes."; return false; } int numIgnoredAxes = 0; for (size_t i = 0; i < ABS_CNT; ++i) { if (buffer.test(i)) { if ((i != ABS_X) && (i != ABS_Y) && (i != ABS_Z) && (i != ABS_RX) && (i != ABS_RY) && (i != ABS_RZ)) { ++numIgnoredAxes; } } } if (numIgnoredAxes) { SURGSIM_LOG_INFO(m_state->logger) << "InputDeviceHandle: has absolute translation and rotation axes;" << " ignoring " << numIgnoredAxes << " additional axes."; } return true; } bool InputDeviceHandle::hasRelativeTranslationAndRotationAxes() const { BitSetBuffer buffer; if (ioctl(m_state->handle.get(), EVIOCGBIT(EV_REL, buffer.sizeBytes()), buffer.getPointer()) == -1) { int error = errno; SURGSIM_LOG_DEBUG(m_state->logger) << "InputDeviceHandle: ioctl(EVIOCGBIT(EV_REL)): error " << error << ", " << getSystemErrorText(error); return false; } if (! buffer.test(REL_X) || ! buffer.test(REL_Y) || ! buffer.test(REL_Z) || ! buffer.test(REL_RX) || ! buffer.test(REL_RY) || ! buffer.test(REL_RZ)) { SURGSIM_LOG_DEBUG(m_state->logger) << "InputDeviceHandle: does not have the 6 relative axes."; return false; } int numIgnoredAxes = 0; for (size_t i = 0; i < REL_CNT; ++i) { if (buffer.test(i)) { if ((i != REL_X) && (i != REL_Y) && (i != REL_Z) && (i != REL_RX) && (i != REL_RY) && (i != REL_RZ)) { ++numIgnoredAxes; } } } if (numIgnoredAxes) { SURGSIM_LOG_INFO(m_state->logger) << "InputDeviceHandle: has relative translation and rotation axes;" << " ignoring " << numIgnoredAxes << " additional axes."; } return true; } bool InputDeviceHandle::hasTranslationAndRotationAxes() const { return hasAbsoluteTranslationAndRotationAxes() || hasRelativeTranslationAndRotationAxes(); } bool InputDeviceHandle::updateStates(AxisStates* axisStates, ButtonStates* buttonStates, bool* updated) { *updated = false; while (m_state->handle.hasDataToRead()) { struct input_event event; size_t numRead; if (! m_state->handle.readBytes(&event, sizeof(event), &numRead)) { int64_t error = getSystemErrorCode(); if (error == ENODEV) { SURGSIM_LOG_SEVERE(m_state->logger) << "InputDeviceHandle: read failed; device has been disconnected! (stopping)"; return false; // stop updating this device! } else { SURGSIM_LOG_WARNING(m_state->logger) << "InputDeviceHandle: read failed with error " << error << ", " << getSystemErrorText(error); } } else if (numRead != sizeof(event)) { SURGSIM_LOG_WARNING(m_state->logger) << "InputDeviceHandle: reading produced " << numRead << " bytes (expected " << sizeof(event) << ")"; } else { if (event.type == EV_REL) { if (event.code >= REL_X && event.code < (REL_X+3)) // Assume that X, Y, Z are consecutive { (*axisStates)[0 + (event.code - REL_X)] = event.value; *updated = true; } else if (event.code >= REL_RX && event.code < (REL_RX+3)) // Assume that RX, RY, RZ are consecutive { (*axisStates)[3 + (event.code - REL_RX)] = event.value; *updated = true; } } else if (event.type == EV_ABS) { if (event.code >= ABS_X && event.code < (ABS_X+3)) // Assume that X, Y, Z are consecutive { (*axisStates)[0 + (event.code - ABS_X)] = event.value; *updated = true; } else if (event.code >= ABS_RX && event.code < (ABS_RX+3)) // Assume that RX, RY, RZ are consecutive { (*axisStates)[3 + (event.code - ABS_RX)] = event.value; *updated = true; } } else if (event.type == EV_KEY) { for (size_t i = 0; i < m_state->buttonCodes.size(); ++i) { if (event.code == m_state->buttonCodes[i]) { (*buttonStates)[i] = (event.value != 0); *updated = true; break; } } } } } return true; } std::vector InputDeviceHandle::getDeviceButtonsAndKeys() { std::vector result; BitSetBuffer buffer; if (ioctl(m_state->handle.get(), EVIOCGBIT(EV_KEY, buffer.sizeBytes()), buffer.getPointer()) == -1) { int error = errno; SURGSIM_LOG_DEBUG(m_state->logger) << "InputDeviceHandle: ioctl(EVIOCGBIT(EV_KEY)): error " << error << ", " << getSystemErrorText(error); return result; } // Start listing buttons/keys from BTN_0; then go back and cover the earlier ones. for (int i = BTN_0; i < KEY_CNT; ++i) { if (buffer.test(i)) { result.push_back(i); } } for (int i = 0; i < BTN_0; ++i) { if (buffer.test(i)) { result.push_back(i); } } return result; } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/linux/InputDeviceHandle.h000066400000000000000000000060231277777236100256520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_MULTIAXIS_LINUX_INPUTDEVICEHANDLE_H #define SURGSIM_DEVICES_MULTIAXIS_LINUX_INPUTDEVICEHANDLE_H #include #include #include #include #include "SurgSim/Devices/MultiAxis/SystemInputDeviceHandle.h" namespace SurgSim { namespace Framework { class Logger; }; // namespace Framework namespace Devices { /// Access to an input/HID device using the Input API in Linux. /// \sa SystemInputDeviceHandle class InputDeviceHandle : public SystemInputDeviceHandle { public: /// Destructor. ~InputDeviceHandle(); /// Enumerates input devices. /// \param logger The logger to be used during enumeration. /// \return A list of device paths. static std::vector enumeratePaths(SurgSim::Framework::Logger* logger); /// Opens the given path and creates an access wrapper for the device. /// \param path Full pathname for the device. /// \param logger The logger to be used by the device. /// \return The created device object, or an empty unique_ptr on failure. static std::unique_ptr open(const std::string& path, std::shared_ptr logger); std::string getDeviceName() const override; bool getDeviceIds(int* vendorId, int* productId) const override; bool hasTranslationAndRotationAxes() const override; bool updateStates(AxisStates* axisStates, ButtonStates* buttonStates, bool* updated) override; private: /// Constructor. /// Cannot be called directly. /// \sa open explicit InputDeviceHandle(std::shared_ptr&& logger); // Prevent copy construction and copy assignment. InputDeviceHandle(const InputDeviceHandle& other) = delete; InputDeviceHandle& operator=(const InputDeviceHandle& other) = delete; /// Gets the indices of the available device buttons. /// \return a vector of indices. std::vector getDeviceButtonsAndKeys(); /// Query if this device has 3 translation and 3 rotation {\em absolute} axes. /// \return true if the desired axes are present. bool hasAbsoluteTranslationAndRotationAxes() const; /// Query if this device has 3 translation and 3 rotation {\em relative} axes. /// \return true if the desired axes are present. bool hasRelativeTranslationAndRotationAxes() const; struct State; std::unique_ptr m_state; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_MULTIAXIS_LINUX_INPUTDEVICEHANDLE_H opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/udev-rules/000077500000000000000000000000001277777236100231015ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/udev-rules/90-3dconnexion.rules000066400000000000000000000040121277777236100266270ustar00rootroot00000000000000# Rules for the Logitech 3DConnexion SpaceNavigator and related devices. # By default, any user can read from and write to the devices. # The ID mappings taken from # http://www.3dconnexion.com/index.php?id=200&faq_red=faq/27 # KERNEL=="event[0-9]*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c603", MODE="0666", GROUP="plugdev", SYMLINK+="input/spacemouse_plus", SYMLINK+="input/3dconnexion" KERNEL=="event[0-9]*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c605", MODE="0666", GROUP="plugdev", SYMLINK+="input/cadman", SYMLINK+="input/3dconnexion" KERNEL=="event[0-9]*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c606", MODE="0666", GROUP="plugdev", SYMLINK+="input/spacemouse_classic", SYMLINK+="input/3dconnexion" # KERNEL=="event[0-9]*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c621", MODE="0666", GROUP="plugdev", SYMLINK+="input/spaceball5000", SYMLINK+="input/3dconnexion" KERNEL=="event[0-9]*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c623", MODE="0666", GROUP="plugdev", SYMLINK+="input/spacetraveler", SYMLINK+="input/3dconnexion" KERNEL=="event[0-9]*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c625", MODE="0666", GROUP="plugdev", SYMLINK+="input/spacepilot", SYMLINK+="input/3dconnexion" KERNEL=="event[0-9]*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c626", MODE="0666", GROUP="plugdev", SYMLINK+="input/spacenavigator", SYMLINK+="input/3dconnexion" KERNEL=="event[0-9]*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c627", MODE="0666", GROUP="plugdev", SYMLINK+="input/spaceexplorer", SYMLINK+="input/3dconnexion" KERNEL=="event[0-9]*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c628", MODE="0666", GROUP="plugdev", SYMLINK+="input/spacenavigator_notebooks", SYMLINK+="input/3dconnexion" KERNEL=="event[0-9]*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c629", MODE="0666", GROUP="plugdev", SYMLINK+="input/spacepilot_pro", SYMLINK+="input/3dconnexion" KERNEL=="event[0-9]*", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c62b", MODE="0666", GROUP="plugdev", SYMLINK+="input/spacemouse_pro", SYMLINK+="input/3dconnexion" opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/win32/000077500000000000000000000000001277777236100217505ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/win32/CreateInputDeviceHandle.cpp000066400000000000000000000023011277777236100271270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/MultiAxis/CreateInputDeviceHandle.h" #include "SurgSim/Devices/MultiAxis/win32/WdkHidDeviceHandle.h" namespace SurgSim { namespace Devices { std::unique_ptr createInputDeviceHandle(const std::string& path, std::shared_ptr logger) { return WdkHidDeviceHandle::open(path, logger); } std::vector enumerateInputDevicePaths(SurgSim::Framework::Logger* logger) { return WdkHidDeviceHandle::enumeratePaths(logger); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/win32/FileHandle.cpp000066400000000000000000000104551277777236100244540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/MultiAxis/win32/FileHandle.h" #undef _WIN32_WINNT #define _WIN32_WINNT 0x0501 // request Windows XP-compatible SDK APIs #undef WIN32_LEAN_AND_MEAN #define WIN32_LEAN_AND_MEAN // do not automatically include WinSock 1 and some other header files #include #include #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace Devices { // TODO(advornik): This would be a perfect use for "constexpr", but VS 2012 doesn't support it... static const FileHandle::RawHandleType INVALID_VALUE = INVALID_HANDLE_VALUE; FileHandle::FileHandle() : m_handle(INVALID_VALUE), m_canRead(false), m_canWrite(false), m_openFlags(0) { } FileHandle::FileHandle(FileHandle&& other) : m_handle(other.m_handle), m_canRead(other.m_canRead), m_canWrite(other.m_canWrite), m_openFlags(other.m_openFlags) { other.m_handle = INVALID_VALUE; // take ownership } FileHandle& FileHandle::operator=(FileHandle&& other) { m_handle = other.m_handle; m_canRead = other.m_canRead; m_canWrite = other.m_canWrite; m_openFlags = other.m_openFlags; other.m_handle = INVALID_VALUE; // take ownership return *this; } FileHandle::~FileHandle() { reset(); } bool FileHandle::isValid() const { return (m_handle && (m_handle != INVALID_VALUE)); } bool FileHandle::canRead() const { return isValid() && m_canRead; } bool FileHandle::canWrite() const { return isValid() && m_canWrite; } FileHandle::RawHandleType FileHandle::get() const { SURGSIM_ASSERT(isValid()); return m_handle; } bool FileHandle::openForReadingAndWriting(const std::string& path) { reset(); m_handle = CreateFile(path.c_str(), GENERIC_READ | GENERIC_WRITE | SYNCHRONIZE, FILE_SHARE_READ | FILE_SHARE_WRITE, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL | static_cast(m_openFlags), NULL); m_canRead = true; m_canWrite = true; return isValid(); } bool FileHandle::openForReading(const std::string& path) { reset(); m_handle = CreateFile(path.c_str(), GENERIC_READ | SYNCHRONIZE, FILE_SHARE_READ | FILE_SHARE_WRITE, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL | static_cast(m_openFlags), NULL); m_canRead = true; m_canWrite = false; return isValid(); } bool FileHandle::openForWriting(const std::string& path) { reset(); m_handle = CreateFile(path.c_str(), GENERIC_WRITE | SYNCHRONIZE, FILE_SHARE_READ | FILE_SHARE_WRITE, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL | static_cast(m_openFlags), NULL); m_canRead = false; m_canWrite = true; return isValid(); } bool FileHandle::openForReadingAndMaybeWriting(const std::string& path) { if (! openForReadingAndWriting(path)) { if (! openForReading(path)) { return false; } } return true; } void FileHandle::reset() { if (m_handle != INVALID_VALUE) { CloseHandle(m_handle); m_handle = INVALID_VALUE; } } void FileHandle::setFileOpenFlags(uint64_t flags) { SURGSIM_ASSERT(! isValid()) << "Flags need to be set before the file is opened!"; m_openFlags = flags; } uint64_t FileHandle::getFileOpenFlags() const { return m_openFlags; } bool FileHandle::hasDataToRead() const { if (! canRead()) { return false; } //const DWORD timeoutMsec = 10; const DWORD nonBlockingOnly = 0; DWORD status = WaitForSingleObject(m_handle, nonBlockingOnly); return (status == WAIT_OBJECT_0); } bool FileHandle::readBytes(void* dataBuffer, unsigned int bytesToRead, unsigned int* bytesActuallyRead) { SURGSIM_ASSERT(canRead()); DWORD numBytesRead = 0; if (ReadFile(m_handle, dataBuffer, bytesToRead, &numBytesRead, NULL) != TRUE) { *bytesActuallyRead = 0; return false; } else { *bytesActuallyRead = numBytesRead; return true; } } }; // namespace Devices }; // namespace SurgSimopensurgsim-0.7.0/SurgSim/Devices/MultiAxis/win32/FileHandle.h000066400000000000000000000110061277777236100241120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_MULTIAXIS_WIN32_FILEHANDLE_H #define SURGSIM_DEVICES_MULTIAXIS_WIN32_FILEHANDLE_H #include #include namespace SurgSim { namespace Devices { /// A wrapper for an Windows-style HANDLE file descriptor. /// Allows callers to implement RAII-style resource management. class FileHandle { public: /// Type of the raw handle used by the operating system. /// Defined this way to avoid including just for the sake of defining HANDLE. typedef void* RawHandleType; /// Default constructor. /// Initializes the file handle to an invalid state. FileHandle(); /// Move constructor. /// \param [in,out] other The object to move. The original object will be invalidated. FileHandle(FileHandle&& other); /// Move assignment operator. /// \param [in,out] other The object to move. The original object will be invalidated. /// \return A reference to this object. FileHandle& operator=(FileHandle&& other); /// Destructor. ~FileHandle(); /// Checks if the file handle is valid, i.e. has been opened. /// \return true if valid, false if not. bool isValid() const; /// Determines if the file handle can be read from. /// \return true if the handle has been open for reading. bool canRead() const; /// Determines if the file handle can be written to. /// \return true if the handle has been open for writing. bool canWrite() const; /// Checks whether this object has data available to be read. /// \return true if there is data currently available. bool hasDataToRead() const; /// Reads bytes from the file handle. /// \param [out] dataBuffer Buffer to read into. Must have room for at least bytesToRead bytes of data. /// \param bytesToRead The number of bytes to try reading. Actual number of bytes received may be smaller. /// \param [out] bytesActuallyRead The number of bytes that were actually read into the buffer. /// \return true if it succeeds, false if it fails. bool readBytes(void* dataBuffer, unsigned int bytesToRead, unsigned int* bytesActuallyRead); /// Gets the raw underlying OS file handle. /// \return The raw file handle. RawHandleType get() const; /// Attempts to open the file handle for reading and writing. /// \param path Full pathname of the file. /// \return true if it succeeds, false if it fails. bool openForReadingAndWriting(const std::string& path); /// Attempts to open the file handle for reading only. /// \param path Full pathname of the file. /// \return true if it succeeds, false if it fails. bool openForReading(const std::string& path); /// Attempts to open the file handle for writing only. /// \param path Full pathname of the file. /// \return true if it succeeds, false if it fails. bool openForWriting(const std::string& path); /// Attempts to open the file handle for reading and (if permissions allow it) writing. /// \param path Full pathname of the file. /// \return true if it succeeds, false if it fails. bool openForReadingAndMaybeWriting(const std::string& path); /// Sets the flags that will be passed to CreateFile when opening the file. /// \param flags The flags, a combination of zero or more Windows FILE_FLAG_* flags. void setFileOpenFlags(uint64_t flags); /// Gets the flags that will be passed to CreateFile when opening the file. /// \return The value passed to setFileOpenFlags (or if never set, a default value). uint64_t getFileOpenFlags() const; /// Resets the file handle back to an invalid state. /// If the handle was open, it will be closed. void reset(); private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) FileHandle(const FileHandle& other) /*= delete*/; FileHandle& operator=(const FileHandle& other) /*= delete*/; RawHandleType m_handle; bool m_canRead; bool m_canWrite; uint64_t m_openFlags; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_MULTIAXIS_WIN32_FILEHANDLE_H opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/win32/GetSystemError.cpp000066400000000000000000000037661277777236100254260ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/MultiAxis/GetSystemError.h" #undef _WIN32_WINNT #define _WIN32_WINNT 0x0501 // request Windows XP-compatible SDK APIs #undef WIN32_LEAN_AND_MEAN #define WIN32_LEAN_AND_MEAN // do not automatically include WinSock 1 and some other header files #include namespace SurgSim { namespace Devices { namespace Internal { int64_t getSystemErrorCode() { return GetLastError(); } std::string getSystemErrorText(int64_t errorCode) { const size_t BUFFER_SIZE = 1024; char errorBuffer[BUFFER_SIZE]; if (FormatMessageA(FORMAT_MESSAGE_FROM_SYSTEM | FORMAT_MESSAGE_IGNORE_INSERTS, 0, static_cast(errorCode), 0, errorBuffer, BUFFER_SIZE-1, nullptr) <= 0) { _snprintf(errorBuffer, BUFFER_SIZE, "", static_cast(errorCode)); } errorBuffer[BUFFER_SIZE-1] = '\0'; // Strip terminal whitespace, if any. // Note that this approach only works for fixed-width characters, which is why we use the ASCII API above. const size_t end = strnlen(errorBuffer, BUFFER_SIZE-1); if ((end > 0) && isspace(errorBuffer[end-1])) { size_t lastWhitespace = end - 1; while ((lastWhitespace > 0) && isspace(errorBuffer[lastWhitespace-1])) { --lastWhitespace; } errorBuffer[lastWhitespace] = '\0'; } return std::string(errorBuffer); } }; // namespace Internal }; // namespace Devices }; // namespace SurgSimopensurgsim-0.7.0/SurgSim/Devices/MultiAxis/win32/WdkHidDeviceHandle.cpp000066400000000000000000000433061277777236100260700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/MultiAxis/win32/WdkHidDeviceHandle.h" #undef _WIN32_WINNT #define _WIN32_WINNT 0x0501 // request Windows XP-compatible SDK APIs #undef WIN32_LEAN_AND_MEAN #define WIN32_LEAN_AND_MEAN // do not automatically include WinSock 1 and some other header files #include #include extern "C" { // sigh... #include } #include #include "SurgSim/Devices/MultiAxis/GetSystemError.h" #include "SurgSim/Devices/MultiAxis/win32/FileHandle.h" #include "SurgSim/Framework/Log.h" using SurgSim::Devices::Internal::getSystemErrorCode; using SurgSim::Devices::Internal::getSystemErrorText; namespace SurgSim { namespace Devices { // Usage page and usage IDs for interface devices; see e.g. http://www.usb.org/developers/devclass_docs/Hut1_12v2.pdf enum UsagePageConstants { DEV_USAGE_PAGE_GENERIC_DESKTOP = 0x01 // Generic Desktop usage page }; enum UsageConstants { // Usages for the DEV_USAGE_PAGE_GENERIC_DESKTOP usage page: DEV_USAGE_ID_MOUSE = 0x02, // Mouse usage ID DEV_USAGE_ID_JOYSTICK = 0x04, // Joystick usage ID DEV_USAGE_ID_GAME_PAD = 0x05, // Game Pad usage ID DEV_USAGE_ID_KEYBOARD = 0x06, // Keyboard usage ID DEV_USAGE_ID_KEYPAD = 0x07, // Keypad usage ID DEV_USAGE_ID_MULTI_AXIS_CONTROLLER = 0x08 // Multi-axis Controller usage ID }; struct WdkHidDeviceHandle::State { public: explicit State(std::shared_ptr&& logger_) : logger(std::move(logger_)), handle(), isOverlappedReadPending(false), isDeviceDead(false) { } /// The logger to use. std::shared_ptr logger; /// The underlying device file handle. FileHandle handle; /// The OVERLAPPED state structure for overlapped (i.e. asynchronous) reads. OVERLAPPED overlappedReadState; /// The buffer used to store the output of overlapped (i.e. asynchronous) reads. unsigned char overlappedReadBuffer[7*128]; /// True if we are waiting for the result of an overlapped (i.e. asynchronous) read. bool isOverlappedReadPending; /// True if the communication with this device has failed without possibility of recovery. bool isDeviceDead; private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) State(const State& other) /*= delete*/; State& operator=(const State& other) /*= delete*/; }; WdkHidDeviceHandle::WdkHidDeviceHandle(std::shared_ptr&& logger) : m_state(new WdkHidDeviceHandle::State(std::move(logger))) { } WdkHidDeviceHandle::~WdkHidDeviceHandle() { } std::vector WdkHidDeviceHandle::enumeratePaths(SurgSim::Framework::Logger* logger) { std::vector results; // Prepare to iterate over the attached HID devices GUID hidGuid; HidD_GetHidGuid(&hidGuid); HDEVINFO hidDeviceInfo = SetupDiGetClassDevs(&hidGuid, NULL, NULL, DIGCF_DEVICEINTERFACE | DIGCF_PRESENT | DIGCF_PROFILE); if (hidDeviceInfo == INVALID_HANDLE_VALUE) { DWORD error = GetLastError(); SURGSIM_LOG_CRITICAL(logger) << "WdkHidDeviceHandle::enumerate: Failed to query HID devices;" << " SetupDiGetClassDevs() failed with error " << error << ", " << getSystemErrorText(error); return results; } // Loop through the device list, looking for the devices we want for (int hidEnumerationIndex = 0; true; ++hidEnumerationIndex) { // Get the next interface in the list. SP_DEVICE_INTERFACE_DATA deviceInterfaceData; deviceInterfaceData.cbSize = sizeof(deviceInterfaceData); if (! SetupDiEnumDeviceInterfaces(hidDeviceInfo, NULL, &hidGuid, hidEnumerationIndex, &deviceInterfaceData)) { DWORD error = GetLastError(); if (error == ERROR_NO_MORE_ITEMS) { break; } else { SURGSIM_LOG_CRITICAL(logger) << "WdkHidDeviceHandle::enumerate: Failed to query HID devices;" << " SetupDiEnumDeviceInterfaces() failed with error " << error << ", " << getSystemErrorText(error); return results; } } // Find out the required size. DWORD deviceInterfaceDetailSize = 0; if (! SetupDiGetDeviceInterfaceDetail(hidDeviceInfo, &deviceInterfaceData, NULL, 0, &deviceInterfaceDetailSize, NULL)) { DWORD error = GetLastError(); if (error != ERROR_INSUFFICIENT_BUFFER) { SURGSIM_LOG_INFO(logger) << "WdkHidDeviceHandle::enumerate: Failed to get the device detail size," << " device will be ignored; error " << error << ", " << getSystemErrorText(error); continue; } } // Get the device detail (which actually just means the path). SP_DEVICE_INTERFACE_DETAIL_DATA* deviceInterfaceDetail = static_cast(malloc(deviceInterfaceDetailSize)); deviceInterfaceDetail->cbSize = sizeof(*deviceInterfaceDetail); if (! SetupDiGetDeviceInterfaceDetail(hidDeviceInfo, &deviceInterfaceData, deviceInterfaceDetail, deviceInterfaceDetailSize, NULL, NULL)) { DWORD error = GetLastError(); SURGSIM_LOG_INFO(logger) << "WdkHidDeviceHandle::enumerate: Failed to get the HID device detail," << " device will be ignored; error " << error << ", " << getSystemErrorText(error); free(deviceInterfaceDetail); continue; } std::string devicePath(deviceInterfaceDetail->DevicePath); free(deviceInterfaceDetail); FileHandle handle; if (! handle.openForReadingAndMaybeWriting(devicePath)) { DWORD error = GetLastError(); SURGSIM_LOG_INFO(logger) << "WdkHidDeviceHandle::enumerate: Could not open device " << devicePath << ": error " << error << ", " << getSystemErrorText(error); continue; } results.push_back(devicePath); } return results; } std::unique_ptr WdkHidDeviceHandle::open( const std::string& path, std::shared_ptr logger) { std::unique_ptr object(new WdkHidDeviceHandle(std::move(logger))); object->m_state->handle.setFileOpenFlags(FILE_FLAG_OVERLAPPED); // set up the handle for asynchronous I/O if (! object->m_state->handle.openForReadingAndMaybeWriting(path)) { object.reset(); // could not open the device handle; destroy the object again } else { object->m_state->isOverlappedReadPending = false; object->m_state->isDeviceDead = false; } return object; } static std::string convertWideString(const wchar_t* wideString) { char buffer[4096]; int status = WideCharToMultiByte(CP_UTF8, 0, wideString, -1, buffer, sizeof(buffer), nullptr, nullptr); if (! (status > 0 && status < sizeof(buffer))) { _snprintf(buffer, sizeof(buffer), "???"); } return std::string(buffer); } std::string WdkHidDeviceHandle::getDeviceName() const { wchar_t manufacturer[1024]; if (HidD_GetManufacturerString(m_state->handle.get(), manufacturer, sizeof(manufacturer)) != TRUE) { manufacturer[0] = '\0'; } wchar_t product[1024]; if (HidD_GetProductString(m_state->handle.get(), product, sizeof(product)) != TRUE) { product[0] = '\0'; } std::string result(""); if (manufacturer[0]) { result = convertWideString(manufacturer) + " "; } if (product[0]) { result += convertWideString(product); } else { result += "???"; } return result; } bool WdkHidDeviceHandle::getDeviceIds(int* vendorId, int* productId) const { HIDD_ATTRIBUTES attributes; attributes.Size = sizeof(attributes); if (HidD_GetAttributes(m_state->handle.get(), &attributes) != TRUE) { DWORD error = GetLastError(); SURGSIM_LOG_INFO(m_state->logger) << "WdkHidDeviceHandle: Could not get attributes/IDs: error " << error << ", " << getSystemErrorText(error); *vendorId = *productId = -1; return false; } *vendorId = attributes.VendorID; *productId = attributes.ProductID; return true; } bool WdkHidDeviceHandle::getCapabilities(HIDP_CAPS* capabilities) const { PHIDP_PREPARSED_DATA preParsedData = 0; if (HidD_GetPreparsedData(m_state->handle.get(), &preParsedData) != TRUE) { DWORD error = GetLastError(); SURGSIM_LOG_INFO(m_state->logger) << "WdkHidDeviceHandle: Could not get preparsed data: error " << error << ", " << getSystemErrorText(error); return false; } if (HidP_GetCaps(preParsedData, capabilities) != HIDP_STATUS_SUCCESS) { DWORD error = GetLastError(); SURGSIM_LOG_INFO(m_state->logger) << "WdkHidDeviceHandle: Could not get capabilities: error " << error << ", " << getSystemErrorText(error); HidD_FreePreparsedData(preParsedData); return false; } HidD_FreePreparsedData(preParsedData); // don't need the pre-parsed data any more return true; } bool WdkHidDeviceHandle::hasTranslationAndRotationAxes() const { HIDP_CAPS capabilities; if (! getCapabilities(&capabilities)) { // message already shown return false; } if ((capabilities.UsagePage != DEV_USAGE_PAGE_GENERIC_DESKTOP) || (capabilities.Usage != DEV_USAGE_ID_MULTI_AXIS_CONTROLLER)) { SURGSIM_LOG_DEBUG(m_state->logger) << "WdkHidDeviceHandle: device is not a multi-axis controller."; return false; } int numExtraAxes = static_cast(capabilities.NumberInputValueCaps) - 6; if (numExtraAxes < 0) { SURGSIM_LOG_DEBUG(m_state->logger) << "WdkHidDeviceHandle: device does not have 6 input axes."; return false; } else if (numExtraAxes > 0) { SURGSIM_LOG_INFO(m_state->logger) << "WdkHidDeviceHandle: device has more than 6 axes;" << " ignoring " << numExtraAxes << " additional axes."; } return true; } bool WdkHidDeviceHandle::startAsynchronousRead() { SURGSIM_ASSERT(! m_state->isOverlappedReadPending) << "Previous asynchronous read has not been handled!"; memset(&(m_state->overlappedReadState), 0, sizeof(m_state->overlappedReadState)); if (ReadFile(m_state->handle.get(), m_state->overlappedReadBuffer, sizeof(m_state->overlappedReadBuffer), NULL, &(m_state->overlappedReadState)) != TRUE) { DWORD error = GetLastError(); if (error == ERROR_IO_PENDING) { m_state->isOverlappedReadPending = true; } else if (error == ERROR_DEVICE_NOT_CONNECTED) { SURGSIM_LOG_SEVERE(m_state->logger) << "WdkHidDeviceHandle: read failed; device has been disconnected! (stopping)"; m_state->isDeviceDead = true; } else { SURGSIM_LOG_WARNING(m_state->logger) << "WdkHidDeviceHandle: read failed with error " << error << ", " << getSystemErrorText(error); } } else { // Read succeeded synchronously. That means that the read has actually completed, but we still need to // retrieve the returned data using GetOverlappedResult, just like for a pending result. m_state->isOverlappedReadPending = true; } return m_state->isOverlappedReadPending; } bool WdkHidDeviceHandle::finishAsynchronousRead(size_t* numBytesRead) { SURGSIM_ASSERT(m_state->isOverlappedReadPending) << "Asynchronous read has not been started!"; DWORD numRead = 0; if (GetOverlappedResult(m_state->handle.get(), &(m_state->overlappedReadState), &numRead, FALSE) == FALSE) { DWORD error = GetLastError(); if (error == ERROR_IO_INCOMPLETE) { // keep checking for asynchronous I/O completion } else if (error == ERROR_DEVICE_NOT_CONNECTED) { SURGSIM_LOG_SEVERE(m_state->logger) << "WdkHidDeviceHandle: read failed; device has been disconnected! (stopping)"; m_state->isDeviceDead = true; m_state->isOverlappedReadPending = false; } else { SURGSIM_LOG_WARNING(m_state->logger) << "WdkHidDeviceHandle: GetOverlappedResult failed with error " << error << ", " << getSystemErrorText(error); // keep checking for asynchronous I/O completion, I guess } *numBytesRead = 0; return false; } // The read has been completed. m_state->isOverlappedReadPending = false; *numBytesRead = numRead; return true; } void WdkHidDeviceHandle::cancelAsynchronousRead() { if (CancelIo(m_state->handle.get()) == FALSE) { DWORD error = GetLastError(); if (error == ERROR_NOT_FOUND) { // No requests were pending. SURGSIM_LOG_WARNING(m_state->logger) << "WdkHidDeviceHandle: No asynchronous I/O requests were pending when attempting to cancel."; m_state->isOverlappedReadPending = false; } else { SURGSIM_LOG_WARNING(m_state->logger) << "WdkHidDeviceHandle: Could not cancel pending asynchronous I/O; error " << error << ", " << getSystemErrorText(error); } } else { DWORD numRead = 0; if (GetOverlappedResult(m_state->handle.get(), &(m_state->overlappedReadState), &numRead, TRUE) == FALSE) { DWORD error = GetLastError(); if (error == ERROR_OPERATION_ABORTED) { // It worked. m_state->isOverlappedReadPending = false; } else { SURGSIM_LOG_WARNING(m_state->logger) << "WdkHidDeviceHandle: Final GetOverlappedResult failed with error " << error << ", " << getSystemErrorText(error); } } else { m_state->isOverlappedReadPending = false; } } } bool WdkHidDeviceHandle::updateStates(AxisStates* axisStates, ButtonStates* buttonStates, bool* updated) { *updated = false; // Both WaitForSingleObject() and WaitForMultipleObjects() always claim data is available for 3DConnexion device // file handles. So we can't check for data availability that way. Instead, we use overlapped (asynchronous) I/O. int numInitialFinished = 0; int numStarted = 0; int numFinished = 0; if (m_state->isOverlappedReadPending) { size_t numRead = 0; if (! finishAsynchronousRead(&numRead)) { if (m_state->isDeviceDead) { return false; // stop updating this device! } } else { decodeStateUpdates(m_state->overlappedReadBuffer, numRead, axisStates, buttonStates, updated); ++numInitialFinished; } } while (! m_state->isOverlappedReadPending) { if (! startAsynchronousRead()) { if (m_state->isDeviceDead) { return false; // stop updating this device! } else { break; } } ++numStarted; size_t numRead = 0; if (! finishAsynchronousRead(&numRead)) { if (m_state->isDeviceDead) { return false; // stop updating this device! } } else { decodeStateUpdates(m_state->overlappedReadBuffer, numRead, axisStates, buttonStates, updated); ++numFinished; } } if (numInitialFinished > 0 || numStarted > 0 || numFinished > 0) { SURGSIM_LOG_DEBUG(m_state->logger) << "WdkHidDeviceHandle: started " << numStarted << " reads, finished " << numInitialFinished << "+" << numFinished << ", delta = " << (numStarted - numInitialFinished - numFinished); } return true; } void WdkHidDeviceHandle::prepareForShutdown() { // When this code is running, the thread that calls updateStates() should no longer be running. // So we make the assumption that no synchronization is needed. // Cancel any pending asynchronous I/O, so it doesn't try reading into memory that is about to be freed. if (m_state->isOverlappedReadPending) { cancelAsynchronousRead(); } } static inline int16_t signedShortData(unsigned char byte0, unsigned char byte1) { return static_cast(static_cast(byte0) | (static_cast(byte1) << 8)); } void WdkHidDeviceHandle::decodeStateUpdates(const unsigned char* rawData, size_t rawDataSize, AxisStates* axisStates, ButtonStates* buttonStates, bool* updated) { if ((rawDataSize >= 7) && (rawData[0] == 0x01)) // Translation { // We could parse this via HidP_GetData(), but that won't work for buttons (see below) (*axisStates)[0] = signedShortData(rawData[1], rawData[2]); (*axisStates)[1] = signedShortData(rawData[3], rawData[4]); (*axisStates)[2] = signedShortData(rawData[5], rawData[6]); *updated = true; if ((rawDataSize >= 14) && (rawData[7] == 0x02)) // translation data may have rotation appended to it { (*axisStates)[3] = signedShortData(rawData[8], rawData[9]); (*axisStates)[4] = signedShortData(rawData[10], rawData[11]); (*axisStates)[5] = signedShortData(rawData[12], rawData[13]); } } else if ((rawDataSize >= 7) && (rawData[0] == 0x02)) // Rotation { // We could parse this via HidP_GetData(), but that won't work for buttons (see below) (*axisStates)[3] = signedShortData(rawData[1], rawData[2]); (*axisStates)[4] = signedShortData(rawData[3], rawData[4]); (*axisStates)[5] = signedShortData(rawData[5], rawData[6]); *updated = true; if ((rawDataSize >= 14) && (rawData[7] == 0x01)) // rotation data may have translation appended to it { (*axisStates)[0] = signedShortData(rawData[8], rawData[9]); (*axisStates)[1] = signedShortData(rawData[10], rawData[11]); (*axisStates)[2] = signedShortData(rawData[12], rawData[13]); } } else if ((rawDataSize >= 2) && (rawData[0] == 0x03)) // Buttons { // We CAN'T parse buttons via HidP_GetData(), because 3DConnexion devices produce button state in a // different report from the axes, so when the last button is released you simply get no data. We could // interpret "empty data list" as "the last button has been released", but that seems dangerous. So we // roll our own parsing for now, even though it may not work for other devices. --advornik 2012-08-01 size_t currentByte = 1; // Byte 0 specifies the packet type; data starts at byte 1 unsigned char currentBit = 0x01; for (size_t i = 0; i < (*buttonStates).size(); ++i) { (*buttonStates)[i] = ((rawData[currentByte] & currentBit) != 0); if (currentBit < 0x80) { currentBit = currentBit << 1; } else { currentBit = 0x01; ++currentByte; if (currentByte >= rawDataSize) // out of data? { break; } } } *updated = true; } } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/MultiAxis/win32/WdkHidDeviceHandle.h000066400000000000000000000107261277777236100255350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_MULTIAXIS_WIN32_WDKHIDDEVICEHANDLE_H #define SURGSIM_DEVICES_MULTIAXIS_WIN32_WDKHIDDEVICEHANDLE_H #include #include #include #include #include "SurgSim/Devices/MultiAxis/SystemInputDeviceHandle.h" // The following structure is defined by the Windows HID API, but we don't want to include the whole thing here. struct _HIDP_CAPS; namespace SurgSim { namespace Framework { class Logger; }; // namespace Framework namespace Devices { /// Access to an input/HID device using the HID API from the Windows Driver Kit. /// \sa SystemInputDeviceHandle class WdkHidDeviceHandle : public SystemInputDeviceHandle { public: /// Destructor. ~WdkHidDeviceHandle(); /// Enumerates input devices. /// \param logger The logger to be used during enumeration. /// \return A list of device paths. static std::vector enumeratePaths(SurgSim::Framework::Logger* logger); /// Opens the given path and creates an access wrapper for the device. /// \param path Full pathname for the device. /// \param logger The logger to be used by the device. /// \return The created device object, or an empty unique_ptr on failure. static std::unique_ptr open(const std::string& path, std::shared_ptr logger); std::string getDeviceName() const override; bool getDeviceIds(int* vendorId, int* productId) const override; bool hasTranslationAndRotationAxes() const override; bool updateStates(AxisStates* axisStates, ButtonStates* buttonStates, bool* updated) override; void prepareForShutdown() override; private: /// Constructor. /// Cannot be called directly. /// \sa open explicit WdkHidDeviceHandle(std::shared_ptr&& logger); // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) WdkHidDeviceHandle(const WdkHidDeviceHandle& other) /*= delete*/; WdkHidDeviceHandle& operator=(const WdkHidDeviceHandle& other) /*= delete*/; /// Gets the device capabilities. /// \param [out] capabilities The capabilities data for the device. /// \return true if it succeeds. bool getCapabilities(struct _HIDP_CAPS* capabilities) const; /// Starts an asynchronous read from the device. /// Updates the internal flags to indicate the state of the device I/O. /// \return true if an asynchronous read has been started, or the read has already completed synchronously. bool startAsynchronousRead(); /// Checks if an asynchronous read from the device has completed. /// Updates the internal flags to indicate the state of the device I/O. /// \param [out] numBytesRead If the function returns true, the number of bytes read from the device. /// \return true if data has been received; false if the asynchronous read is still pending or an error has /// occurred. bool finishAsynchronousRead(size_t* numBytesRead); /// Cancels an asynchronous read from the device. /// Should be executed in the context of the thread that called startAsynchronousRead. void cancelAsynchronousRead(); /// Decode the raw state update data received from the device. /// \param rawData Raw state update data. /// \param rawDataSize Size of the raw state update data. /// \param [in,out] axisStates The states for each axis of the device. /// \param [in,out] buttonStates The states for each device button. /// \param [out] updated True if any states were actually updated. (Note that even if this value is true, the /// states may not have changed value; one or more states could have been updated to the same value.) void decodeStateUpdates(const unsigned char* rawData, size_t rawDataSize, AxisStates* axisStates, ButtonStates* buttonStates, bool* updated); struct State; std::unique_ptr m_state; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_MULTIAXIS_WIN32_WDKHIDDEVICEHANDLE_H opensurgsim-0.7.0/SurgSim/Devices/Nimble/000077500000000000000000000000001277777236100202755ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Nimble/CMakeLists.txt000066400000000000000000000030151277777236100230340ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. # Choose not to link boost::regex as we dont use read_until() or async_read_until() set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBOOST_REGEX_NO_LIB") link_directories(${Boost_LIBRARY_DIRS}) set(LIBS ${Boost_LIBRARIES} SurgSimInput ) include_directories( "${CMAKE_CURRENT_SOURCE_DIR}" "${EIGEN3_INCLUDE_DIR}" "${Boost_INCLUDE_DIR}" ) set(NIMBLE_DEVICE_SOURCES NimbleDevice.cpp NimbleScaffold.cpp ) set(NIMBLE_DEVICE_HEADERS NimbleDevice.h NimbleScaffold.h ) set(DEVICE_HEADERS ${DEVICE_HEADERS} Nimble/NimbleDevice.h PARENT_SCOPE) surgsim_add_library( NimbleDevice "${NIMBLE_DEVICE_SOURCES}" "${NIMBLE_DEVICE_HEADERS}" ) target_link_libraries(NimbleDevice ${LIBS}) if(BUILD_TESTING) add_subdirectory(UnitTests) if(GLUT_FOUND) add_subdirectory(VisualTest) endif(GLUT_FOUND) endif() # Put NimbleDevice into folder "Nimble" set_target_properties(NimbleDevice PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Nimble/Nimble.dox000066400000000000000000000012311277777236100222140ustar00rootroot00000000000000/*! \page Nimble Nimble: Hand tracking using the NimbleSDK and OpenNI. NimbleSDK (http://www.threegear.com/download.html), by Three Gear Systems, is a hand tracking software which can communicate (using OpenNI) with a range of special depth cameras, and use the data to calculate the pose of the (two) hands in view. The software for NimbleSDK consists of the driver for the camera (OpenNI installer is packaged with the SDK) and the hand tracking server, which needs to be started and be running for the NimbleDevice to receive data. The steps to start the server are described here (http://www.threegear.com/latest/doc/index.html) for Windows and Mac OSX. */ opensurgsim-0.7.0/SurgSim/Devices/Nimble/NimbleDevice.cpp000066400000000000000000000040651277777236100233340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Nimble/NimbleDevice.h" #include "SurgSim/Devices/Nimble/NimbleScaffold.h" #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::NimbleDevice, NimbleDevice); NimbleDevice::NimbleDevice(const std::string& uniqueName) : SurgSim::Input::CommonDevice(uniqueName, NimbleScaffold::buildDeviceInputData()), m_trackedHandDataIndex(0) { } NimbleDevice::~NimbleDevice() { if (isInitialized()) { finalize(); } } void NimbleDevice::setupToTrackLeftHand() { m_trackedHandDataIndex = 0; } void NimbleDevice::setupToTrackRightHand() { m_trackedHandDataIndex = 1; } bool NimbleDevice::initialize() { SURGSIM_ASSERT(!isInitialized()) << "Nimble: Attempt to initialize already initialized device."; auto scaffold = NimbleScaffold::getOrCreateSharedInstance(); SURGSIM_ASSERT(scaffold != nullptr) << "Unable to acquire a NimbleScaffold instance"; bool initialize = false; if (scaffold->registerDevice(this)) { m_scaffold = std::move(scaffold); initialize = true; } return initialize; } bool NimbleDevice::finalize() { SURGSIM_ASSERT(isInitialized()) << "Nimble: Attempt to finalize an uninitialized device."; bool ok = m_scaffold->unregisterDevice(this); m_scaffold.reset(); return ok; } bool NimbleDevice::isInitialized() const { return (m_scaffold != nullptr); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Nimble/NimbleDevice.h000066400000000000000000000073411277777236100230010ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_NIMBLE_NIMBLEDEVICE_H #define SURGSIM_DEVICES_NIMBLE_NIMBLEDEVICE_H #include #include #include "SurgSim/Input/CommonDevice.h" namespace SurgSim { namespace Devices { class NimbleScaffold; SURGSIM_STATIC_REGISTRATION(NimbleDevice); /// A class implementing the communication with the Nimble server. /// /// \par Application input provided by the device: /// | type | name | | /// | ---- | ---- | --- | /// | pose | "pose" | %Hand pose w.r.t. JointFrameIndex.ROOT_JOINT (units are meters). | /// | pose | "ThumbProximal" | %Pose w.r.t. thumb proximal joint | /// | pose | "ThumbIntermediate" | %Pose w.r.t. thumb intermediate joint | /// | pose | "ThumbDistal" | %Pose w.r.t. thumb distal joint | /// | pose | "IndexFingerProximal" | %Pose w.r.t. index finger proximal joint | /// | pose | "IndexFingerIntermediate" | %Pose w.r.t. index finger intermediate joint | /// | pose | "IndexFingerDistal" | %Pose w.r.t. index finger distal joint | /// | pose | "MiddleFingerProximal" | %Pose w.r.t. middle finger proximal joint | /// | pose | "MiddleFingerIntermediate" | %Pose w.r.t. middle finger intermediate joint | /// | pose | "MiddleFingerDistal" | %Pose w.r.t. middle finger distal joint | /// | pose | "RingFingerProximal" | %Pose w.r.t. ring finger proximal joint | /// | pose | "RingFingerIntermediate" | %Pose w.r.t. ring finger intermediate joint | /// | pose | "RingFingerDistal" | %Pose w.r.t. ring finger distal joint | /// | pose | "SmallFingerProximal" | %Pose w.r.t. small finger proximal joint | /// | pose | "SmallFingerIntermediate" | %Pose w.r.t. small finger intermediate joint | /// | pose | "SmallFingerDistal" | %Pose w.r.t. small finger distal joint | /// /// \par Application output used by the device: none. /// /// \sa SurgSim::Input::CommonDevice, SurgSim::Input::DeviceInterface class NimbleDevice : public SurgSim::Input::CommonDevice { public: /// Constructor. /// /// \param uniqueName A unique name for the device that will be used by the application. explicit NimbleDevice(const std::string& uniqueName); SURGSIM_CLASSNAME(SurgSim::Devices::NimbleDevice); /// Destructor. virtual ~NimbleDevice(); /// Set the left hand to be tracked. void setupToTrackLeftHand(); /// Set the right hand to be tracked. void setupToTrackRightHand(); bool initialize() override; bool isInitialized() const override; private: friend class NimbleScaffold; bool finalize() override; /// The shared pointer to the NimbleScaffold. std::shared_ptr m_scaffold; /// Indicate whether the hand tracked is left (0) or right (1). size_t m_trackedHandDataIndex; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_NIMBLE_NIMBLEDEVICE_H opensurgsim-0.7.0/SurgSim/Devices/Nimble/NimbleScaffold.cpp000066400000000000000000000406071277777236100236600ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif #include "SurgSim/Devices/Nimble/NimbleScaffold.h" #include #include #include #include #include #include #include #include #include "SurgSim/Devices/Nimble/NimbleDevice.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SharedInstance.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::Math::Vector3d; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Quaterniond; namespace { /// Data structure to hold the data from the Nimble hand tracking SDK, for a single hand. struct HandTrackingData { /// Number of hands tracked (left, right). static const size_t NUM_HANDS = 2; /// Number of fingers tracked in one hand. static const size_t NUM_FINGERS = 5; /// Number of predefined poses for each hand. static const size_t NUM_POSES = 7; // Joint frames used for skinning. // // These are the frames stored in HandTrackingData.jointQuaternions/HandTrackingData.jointPositions. // They are used to locate points in 3D space or define 3D frames. If you want to recognize gestures of the form // "finger X is bending" it is recommended to use the FingerDOF instead. The most stable frame is the one defined // by the metacarpals (WRIST_JOINT). enum JointFrameIndex { ROOT_JOINT = 0, // The frame of the user's forearm (this is where the hand model is rooted). WRIST_JOINT = 1, // The frame of the back of the hand (anatomically, this is the frame of the carpals). THUMB_PROXIMAL = 2, // Thumb proximal frame, refers to the thumb metacarpal bone. THUMB_INTERMEDIATE = 3, // Thumb intermediate frame, refers to the thumb proximal phalange. THUMB_DISTAL = 4, // Thumb distal frame, refers to the thumb distal phalange. INDEX_PROXIMAL = 5, // Index finger proximal frame, refers to the proximal phalange. INDEX_INTERMEDIATE = 6, // Index finger intermediate frame, refers to the intermediate phalange. INDEX_DISTAL = 7, // Index finger distal frame, refers to the distal phalange. MIDDLE_PROXIMAL = 8, // Middle finger proximal frame, refers to the proximal phalange. MIDDLE_INTERMEDIATE = 9, // Middle finger intermediate frame, refers to the intermediate phalange. MIDDLE_DISTAL = 10, // Middle finger distal frame, refers to the distal phalange. RING_PROXIMAL = 11, // Ring finger proximal frame, refers to the proximal phalange. RING_INTERMEDIATE = 12, // Ring finger intermediate frame, refers to the intermediate phalange. RING_DISTAL = 13, // Ring finger distal frame, refers to the distal phalange. SMALL_PROXIMAL = 14, // Small finger proximal frame, refers to the proximal phalange. SMALL_INTERMEDIATE = 15, // Small finger intermediate frame, refers to the intermediate phalange. SMALL_DISTAL = 16, // Small finger distal frame, refers to the distal phalange. NUM_JOINTS }; // Degrees of freedom of the hand model. // // Stored in HandTrackingData.fingerDofs. Each of these is a rotation in radians that measures how far the // corresponding finger is bent from its rest pose. For flexion/extension joints, positive angles indicate // flexion while negative angles indicate extension. // // Recommended for detecting gestures of the form "finger X is bending." To know the global position/orientation // of the hand, use HandTrackingData.jointPositions/HandTrackingData.jointQuaternions instead. enum FingerDOF { THUMB_CMC_AA = 0, ///< Thumb carpal-metacarpal joint, adduction/abduction THUMB_CMC_FE = 1, ///< Thumb carpal-metacarpal joint, flexion/extension THUMB_MCP = 2, ///< Thumb metacarpal-phalangeal joint, flexion/extension THUMB_IP = 3, ///< Thumb interphalangeal joint, flexion/extension INDEX_MCP_AA = 4, ///< Index finger metacarpal-phalangeal joint, adduction/abduction INDEX_MCP_FE = 5, ///< Index finger metacarpal-phalangeal joint, flexion/extension INDEX_PIP = 6, ///< Index finger proximal interphalangeal joint, flexion/extension MIDDLE_MCP_AA = 7, ///< Middle finger metacarpal-phalangeal joint, adduction/abduction MIDDLE_MCP_FE = 8, ///< Middle finger metacarpal-phalangeal joint, flexion/extension MIDDLE_PIP = 9, ///< Middle finger proximal interphalangeal joint, flexion/extension RING_MCP_AA = 10, ///< Ring finger metacarpal-phalangeal joint, adduction/abduction RING_MCP_FE = 11, ///< Ring finger metacarpal-phalangeal joint, flexion/extension RING_PIP = 12, ///< Ring finger proximal interphalangeal joint, flexion/extension SMALL_MCP_AA = 13, ///< Small finger metacarpal-phalangeal joint, adduction/abduction SMALL_MCP_FE = 14, ///< Small finger metacarpal-phalangeal joint, flexion/extension SMALL_PIP = 15, ///< Small finger proximal interphalangeal joint, flexion/extension NUM_FINGER_DOFS_PER_HAND }; struct HandData { /// Transform of the hand (w.r.t JointFrameIndex.ROOT_JOINT). RigidTransform3d pose; /// Number of times the hand was clicked. 0, 1 or 2. int clickCount; /// Value between 0 and 1 to specify the confidence of the poses. Currently, either 0 or 1. double confidenceEstimate; /// Transform of each of the joints. std::array jointPoses; /// Position of each of the finger tips. std::array fingerTips; /// Value between 0 and 1 to specify the confidence of the hand being in one of the N_POSES poses. Sums to 1. std::array handPoseConfidences; /// The angle of each of the finger joints. std::array fingerDofs; }; std::array hands; }; /// Parse the values in the stream into a Vector3d. /// \param in The stream from where data is parsed. /// \param [out] vector The object to which the parsed values are written to. /// \return The stream that was sent in. std::istream& operator>> (std::istream& in, Vector3d& vector) { std::istream::sentry sentry(in); if (sentry) { in >> vector.x(); in >> vector.y(); in >> vector.z(); } return in; } /// Parse the values in the stream into a Quaterniond. /// \param in The stream from where data is parsed. /// \param [out] quaternion The object to which the parsed values are written to. /// \return The stream that was sent in. std::istream& operator>> (std::istream& in, Quaterniond& quaternion) { std::istream::sentry sentry(in); if (sentry) { in >> quaternion.x(); in >> quaternion.y(); in >> quaternion.z(); in >> quaternion.w(); } return in; } /// Parse the values in the stream into the HandTracking Data structure. /// \param in The stream from where data is parsed. /// \param [out] handData The object to which the parsed values are written to. /// \return The stream that was sent in. std::istream& operator>> (std::istream& in, HandTrackingData& handData) { Vector3d position; Quaterniond quaternion; for (auto hand = handData.hands.begin(); in.good() && hand != handData.hands.end(); ++hand) { in >> position; hand->pose.translation() = position; in >> quaternion; hand->pose.linear() = quaternion.matrix(); in >> hand->clickCount; } for (auto hand = handData.hands.begin(); in.good() && hand != handData.hands.end(); ++hand) { in >> hand->confidenceEstimate; for (auto jointPose = hand->jointPoses.begin(); in.good() && jointPose != hand->jointPoses.end(); ++jointPose) { in >> quaternion; jointPose->linear() = quaternion.matrix(); in >> position; jointPose->translation() = position; } for (auto fingerTip = hand->fingerTips.begin(); in.good() && fingerTip != hand->fingerTips.end(); ++fingerTip) { in >> *fingerTip; } } for (auto hand = handData.hands.begin(); in.good() && hand != handData.hands.end(); ++hand) { for (auto handPoseConfidence = hand->handPoseConfidences.begin(); in.good() && handPoseConfidence != hand->handPoseConfidences.end(); ++handPoseConfidence) { in >> *handPoseConfidence; } } for (auto hand = handData.hands.begin(); in.good() && hand != handData.hands.end(); ++hand) { for (auto fingerDof = hand->fingerDofs.begin(); in.good() && fingerDof != hand->fingerDofs.end(); ++fingerDof) { in >> *fingerDof; } } return in; } } namespace SurgSim { namespace Devices { std::array, 15> NimbleScaffold::m_jointPoseNames = { std::make_pair("ThumbProximal", HandTrackingData::THUMB_PROXIMAL), std::make_pair("ThumbIntermediate", HandTrackingData::THUMB_INTERMEDIATE), std::make_pair("ThumbDistal", HandTrackingData::THUMB_DISTAL), std::make_pair("IndexFingerProximal", HandTrackingData::INDEX_PROXIMAL), std::make_pair("IndexFingerIntermediate", HandTrackingData::INDEX_INTERMEDIATE), std::make_pair("IndexFingerDistal", HandTrackingData::INDEX_DISTAL), std::make_pair("MiddleFingerProximal", HandTrackingData::MIDDLE_PROXIMAL), std::make_pair("MiddleFingerIntermediate", HandTrackingData::MIDDLE_INTERMEDIATE), std::make_pair("MiddleFingerDistal", HandTrackingData::MIDDLE_DISTAL), std::make_pair("RingFingerProximal", HandTrackingData::RING_PROXIMAL), std::make_pair("RingFingerIntermediate", HandTrackingData::RING_INTERMEDIATE), std::make_pair("RingFingerDistal", HandTrackingData::RING_DISTAL), std::make_pair("SmallFingerProximal", HandTrackingData::SMALL_PROXIMAL), std::make_pair("SmallFingerIntermediate", HandTrackingData::SMALL_INTERMEDIATE), std::make_pair("SmallFingerDistal", HandTrackingData::SMALL_DISTAL) }; struct NimbleScaffold::StateData { public: /// Initialize the state. StateData() { } /// The socket used for connecting to the Nimble server. boost::asio::ip::tcp::iostream socketStream; /// The hand tracking data. HandTrackingData handData; /// The list of active devices. std::vector activeDevices; /// The mutex that protects the active device. boost::mutex mutex; private: // Prohibit copy construction and assignment StateData(const StateData&); StateData& operator=(const StateData&); }; NimbleScaffold::NimbleScaffold() : SurgSim::Framework::BasicThread("Nimble Scaffold"), m_logger(Framework::Logger::getLogger("Devices/Nimble")), m_state(new StateData()), m_serverIpAddress("127.0.0.1"), m_serverPort("1988"), m_serverSocketOpen(false) { setRate(1000.0); SURGSIM_LOG_DEBUG(m_logger) << "Shared scaffold created."; } NimbleScaffold::~NimbleScaffold() { { boost::lock_guard lock(m_state->mutex); if (m_state->activeDevices.size() > 0) { SURGSIM_LOG_SEVERE(m_logger) << "Nimble: Destroying scaffold while devices are active!?!"; } } SURGSIM_LOG_DEBUG(m_logger) << "Nimble: Shared scaffold destroyed."; } bool NimbleScaffold::registerDevice(NimbleDevice* device) { bool success = true; { boost::lock_guard lock(m_state->mutex); auto found = std::find_if(m_state->activeDevices.begin(), m_state->activeDevices.end(), [device](const NimbleDevice* it) { return it->getName() == device->getName(); }); if (found == m_state->activeDevices.end()) { m_state->activeDevices.push_back(device); SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << " registered in Scaffold."; } else { SURGSIM_LOG_SEVERE(m_logger) << "Attempted to register device " << device->getName() << " with the same name again."; success = false; } } if (success && !isRunning()) { std::shared_ptr barrier = std::make_shared(2); start(barrier); barrier->wait(true); // Wait for initialize barrier->wait(true); // Wait for startup success = isInitialized(); } return success; } bool NimbleScaffold::unregisterDevice(const NimbleDevice* device) { bool success = true; { boost::lock_guard lock(m_state->mutex); auto found = std::find(m_state->activeDevices.begin(), m_state->activeDevices.end(), device); if (found != m_state->activeDevices.end()) { m_state->activeDevices.erase(found); SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << " unregistered from Scaffold."; } else { SURGSIM_LOG_WARNING(m_logger) << "Attempted to unregister a device " << device->getName() << " from Scaffold which is not registered."; success = false; } } if (success && isRunning() && m_state->activeDevices.size() == 0) { stop(); } return success; } bool NimbleScaffold::doInitialize() { // Connect to the Nimble hand tracking server. m_serverSocketOpen = true; m_state->socketStream.connect(m_serverIpAddress, m_serverPort); if (!m_state->socketStream) { SURGSIM_LOG_SEVERE(m_logger) << "Nimble: Error while opening a iostream to the server: " << m_state->socketStream.error().message() << ")"; m_serverSocketOpen = false; } return m_serverSocketOpen; } bool NimbleScaffold::doStartUp() { return true; } bool NimbleScaffold::doUpdate(double dt) { bool success = true; if (!m_state->socketStream) { SURGSIM_LOG_SEVERE(m_logger) << "Nimble: Socket stream no longer good: " << m_state->socketStream.error().message() << ")"; success = false; } else { std::string messageType; m_state->socketStream >> messageType; if (messageType == "POSE") { m_state->socketStream >> m_state->handData; if (!m_state->socketStream.fail()) { updateDeviceData(); } else { SURGSIM_LOG_WARNING(m_logger) << "Nimble: Hand data not parsed correctly."; resetDeviceData(); } } else { m_state->socketStream.ignore(std::numeric_limits::max(), '\n'); } } return success; } void NimbleScaffold::doBeforeStop() { // This would be killed soon, so the socket is closed here. if (m_serverSocketOpen) { m_state->socketStream.close(); if (m_state->socketStream.fail()) { SURGSIM_LOG_SEVERE(m_logger) << "Nimble: Error when shutting down socket: " << m_state->socketStream.error().message() << ")"; } m_serverSocketOpen = false; } } void NimbleScaffold::updateDeviceData() { boost::lock_guard lock(m_state->mutex); for (auto it = m_state->activeDevices.begin(); it != m_state->activeDevices.end(); ++it) { size_t index = (*it)->m_trackedHandDataIndex; SurgSim::DataStructures::DataGroup& inputData = (*it)->getInputData(); inputData.poses().set(SurgSim::DataStructures::Names::POSE, m_state->handData.hands[index].pose); for (auto name = m_jointPoseNames.begin(); name != m_jointPoseNames.end(); ++name) { inputData.poses().set(name->first, m_state->handData.hands[index].jointPoses[name->second]); } (*it)->pushInput(); } } void NimbleScaffold::resetDeviceData() { boost::lock_guard lock(m_state->mutex); for (auto it = m_state->activeDevices.begin(); it != m_state->activeDevices.end(); ++it) { SurgSim::DataStructures::DataGroup& inputData = (*it)->getInputData(); inputData.resetAll(); } } SurgSim::DataStructures::DataGroup NimbleScaffold::buildDeviceInputData() { SurgSim::DataStructures::DataGroupBuilder builder; builder.addPose(SurgSim::DataStructures::Names::POSE); for (auto name = m_jointPoseNames.begin(); name != m_jointPoseNames.end(); ++name) { builder.addPose(name->first); } return builder.createData(); } std::shared_ptr NimbleScaffold::getOrCreateSharedInstance() { // Using an explicit creation function gets around problems with accessing the private constructor. static auto creator = []() { return std::shared_ptr(new NimbleScaffold()); }; // NOLINT(readability/braces) static SurgSim::Framework::SharedInstance sharedInstance(creator); return sharedInstance.get(); } } // namespace Devices } // namespace SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif opensurgsim-0.7.0/SurgSim/Devices/Nimble/NimbleScaffold.h000066400000000000000000000061221277777236100233170ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_NIMBLE_NIMBLESCAFFOLD_H #define SURGSIM_DEVICES_NIMBLE_NIMBLESCAFFOLD_H #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Framework/BasicThread.h" #include "SurgSim/Framework/Logger.h" namespace SurgSim { namespace Devices { class NimbleDevice; class NimbleThread; /// A class that manages Nimble devices. /// /// \sa SurgSim::Devices::NimbleDevice class NimbleScaffold : public SurgSim::Framework::BasicThread { public: /// Destructor. ~NimbleScaffold(); /// Gets or creates the scaffold shared by all NimbleDevice instances. /// The scaffold is managed using a SingleInstance object. /// \return the scaffold object. static std::shared_ptr getOrCreateSharedInstance(); protected: bool doInitialize() override; bool doStartUp() override; bool doUpdate(double dt) override; void doBeforeStop() override; private: /// Internal shared state data type. struct StateData; friend class NimbleDevice; friend class NimbleThread; /// Constructor. NimbleScaffold(); /// Registers the specified device object. /// \param device The device object to be used. /// \return True if the initialization succeeds, false if it fails. /// \note There can be only one NimbleDevice at a time. bool registerDevice(NimbleDevice* device); /// Unregisters the specified device object. /// \param device The device object. /// \return true on success, false on failure. bool unregisterDevice(const NimbleDevice* device); /// Update the devices based on the data read from the Nimble server. void updateDeviceData(); /// Reset the device data. void resetDeviceData(); /// Builds the data layout for the application input (i.e. device output). static SurgSim::DataStructures::DataGroup buildDeviceInputData(); /// Logger used by the scaffold and all devices. std::shared_ptr m_logger; /// Internal scaffold state. std::unique_ptr m_state; /// The IP address of the Nimble hand tracking server. std::string m_serverIpAddress; /// The port where the server is communicating. std::string m_serverPort; /// Flag to indicate that the socket is opened successfully. bool m_serverSocketOpen; /// The data group name for the joint poses, and the corresponding indices within the state data. static std::array, 15> m_jointPoseNames; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_NIMBLE_NIMBLESCAFFOLD_Hopensurgsim-0.7.0/SurgSim/Devices/Nimble/UnitTests/000077500000000000000000000000001277777236100222375ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Nimble/UnitTests/CMakeLists.txt000066400000000000000000000016051277777236100250010ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES NimbleDeviceTest.cpp NimbleScaffoldTest.cpp ) set(LIBS NimbleDevice ) surgsim_add_unit_tests(NimbleDeviceTest) set_target_properties(NimbleDeviceTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Nimble/UnitTests/NimbleDeviceTest.cpp000066400000000000000000000161461277777236100261410ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the NimbleDevice class. #include #include #include #include #include #include "SurgSim/Devices/Nimble/NimbleDevice.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::Devices::NimbleDevice; using SurgSim::Devices::NimbleScaffold; using SurgSim::DataStructures::DataGroup; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Matrix44d; using SurgSim::Testing::MockInputOutput; TEST(NimbleDeviceTest, CreateUninitializedDevice) { std::shared_ptr device = std::make_shared("TestNimble"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; } TEST(NimbleDeviceTest, CreateAndInitializeDevice) { std::shared_ptr device = std::make_shared("TestNimble"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_FALSE(device->isInitialized()); ASSERT_TRUE(device->initialize()) << "Initialization failed."; EXPECT_TRUE(device->isInitialized()); boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(100)); } TEST(NimbleDeviceTest, Name) { std::shared_ptr device = std::make_shared("TestNimble"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_EQ("TestNimble", device->getName()); EXPECT_TRUE(device->initialize()) << "Initialization failed."; EXPECT_EQ("TestNimble", device->getName()); } TEST(NimbleDeviceTest, CreateDeviceSeveralTimes) { for (int i = 0; i < 6; ++i) { std::shared_ptr device = std::make_shared("TestNimble"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed."; // Rapidly initializing and destructing causes the thread destructor to be called before it has been // stopped (by calling stop()), this sleep prevents the problem. boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(100)); } } TEST(NimbleDeviceTest, CreateSeveralDevices) { std::shared_ptr device1 = std::make_shared("Nimble1"); ASSERT_TRUE(device1 != nullptr) << "Device creation failed."; ASSERT_TRUE(device1->initialize()) << "Initialization failed."; std::shared_ptr device2 = std::make_shared("Nimble2"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; ASSERT_TRUE(device2->initialize()) << "Initialization failed."; } TEST(NimbleDeviceTest, InputConsumer) { std::shared_ptr device = std::make_shared("TestNimbleLeft"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed."; std::shared_ptr consumer = std::make_shared(); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_FALSE(device->removeInputConsumer(consumer)); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device->addInputConsumer(consumer)); // Adding the same input consumer again should fail. EXPECT_FALSE(device->addInputConsumer(consumer)); // Sleep for a second, to see how many times the consumer is invoked. // (The Nimble server updates internally at 30Hz, but our code currently runs at 1kHz.) boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeInputConsumer(consumer)); // Removing the same input consumer again should fail. EXPECT_FALSE(device->removeInputConsumer(consumer)); // Check the number of invocations. // The input is only pushed if a valid pose was detected. So, the minimum m_numTimesReceivedInput is 1. EXPECT_EQ(1, consumer->m_numTimesInitializedInput); EXPECT_GE(consumer->m_numTimesReceivedInput, 1); EXPECT_LE(consumer->m_numTimesReceivedInput, 30); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData(SurgSim::DataStructures::Names::POSE)); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData("ThumbProximal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData("ThumbIntermediate")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData("ThumbDistal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData("IndexFingerProximal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData("IndexFingerIntermediate")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData("IndexFingerDistal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData("MiddleFingerProximal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData("MiddleFingerIntermediate")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData("MiddleFingerDistal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData("RingFingerProximal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData("RingFingerIntermediate")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData("RingFingerDistal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData("SmallFingerProximal")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData("SmallFingerIntermediate")); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData("SmallFingerDistal")); } TEST(NimbleDeviceTest, OutputProducer) { //NimbleScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device = std::make_shared("TestNimble"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed."; std::shared_ptr producer = std::make_shared(); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_FALSE(device->removeOutputProducer(producer)); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_TRUE(device->setOutputProducer(producer)); // Sleep for a second, to see how many times the producer is invoked. // (A Nimble device is does not request any output.) boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeOutputProducer(producer)); // Removing the same input producer again should fail. EXPECT_FALSE(device->removeOutputProducer(producer)); // Check the number of invocations. EXPECT_EQ(0, producer->m_numTimesRequestedOutput); } opensurgsim-0.7.0/SurgSim/Devices/Nimble/UnitTests/NimbleScaffoldTest.cpp000066400000000000000000000154411277777236100264600ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the NimbleScaffold class and its device interactions. #include #include #include #include #include #include "SurgSim/Devices/Nimble/NimbleDevice.h" #include "SurgSim/Devices/Nimble/NimbleScaffold.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Matrix.h" using SurgSim::Devices::NimbleDevice; using SurgSim::Devices::NimbleScaffold; TEST(NimbleScaffoldTest, CreateAndDestroyScaffold) { std::shared_ptr scaffold = NimbleScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created!"; std::weak_ptr scaffold1 = scaffold; { std::shared_ptr stillHaveScaffold = scaffold1.lock(); EXPECT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; EXPECT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } { std::shared_ptr sameScaffold = NimbleScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, sameScaffold) << "Unable to get scaffold from class"; EXPECT_EQ(scaffold, sameScaffold) << "Scaffold mismatch!"; } scaffold.reset(); { std::shared_ptr dontHaveScaffold = scaffold1.lock(); EXPECT_EQ(nullptr, dontHaveScaffold) << "Able to get scaffold from weak ref (with no strong ref)"; } scaffold = NimbleScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created the 2nd time!"; std::weak_ptr scaffold2 = scaffold; { std::shared_ptr stillHaveScaffold = scaffold2.lock(); ASSERT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; ASSERT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } } TEST(NimbleScaffoldTest, ScaffoldLifeCycle) { std::weak_ptr lastScaffold; { std::shared_ptr scaffold = NimbleScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created!"; lastScaffold = scaffold; } { std::shared_ptr dontHaveScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, dontHaveScaffold) << "Able to get scaffold from weak ref (with no strong ref)"; lastScaffold.reset(); } { std::shared_ptr device = std::make_shared("TestNimble"); ASSERT_NE(nullptr, device) << "Creation failed."; // note: the device is NOT initialized! { std::shared_ptr scaffold = NimbleScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // save the scaffold for later std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); EXPECT_EQ(scaffold, sameScaffold); } // The device has not been initialized, so it should NOT be hanging on to the device! { std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } // the ("empty") device is about to get destroyed } { std::shared_ptr device = std::make_shared("TestNimble"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed."; { std::shared_ptr scaffold = NimbleScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // save the scaffold for later std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); EXPECT_EQ(scaffold, sameScaffold); } // The same scaffold is supposed to still be around because of the device { std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); std::shared_ptr scaffold = NimbleScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; EXPECT_EQ(sameScaffold, scaffold); } // the device and the scaffold are about to get destroyed } { std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } { std::shared_ptr device = std::make_shared("TestNimble"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed."; std::shared_ptr scaffold = NimbleScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } } TEST(NimbleScaffoldTest, CreateDeviceSeveralTimes) { std::weak_ptr lastScaffold; for (int i = 0; i < 6; ++i) { SCOPED_TRACE(i); EXPECT_EQ(nullptr, lastScaffold.lock()); std::shared_ptr device = std::make_shared("TestNimble"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed."; std::shared_ptr scaffold = NimbleScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // the device and the scaffold will be destroyed here } } TEST(NimbleScaffoldTest, CreateDeviceSeveralTimesWithScaffoldRef) { std::shared_ptr lastScaffold; for (int i = 0; i < 6; ++i) { SCOPED_TRACE(i); std::shared_ptr device = std::make_shared("TestNimble"); ASSERT_NE(nullptr, device) << "Attempt " << i + 1 << ": Device creation failed."; ASSERT_TRUE(device->initialize()) << "Attempt " << i + 1 << ": Initialization failed."; std::shared_ptr scaffold = NimbleScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; if (!lastScaffold) { lastScaffold = scaffold; } EXPECT_EQ(lastScaffold, scaffold); // the device will be destroyed here, but the scaffold stays around because we have a shared_ptr to it. } } opensurgsim-0.7.0/SurgSim/Devices/Nimble/VisualTest/000077500000000000000000000000001277777236100224005ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Nimble/VisualTest/CMakeLists.txt000066400000000000000000000017221277777236100251420ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. set(EXAMPLE_SOURCES main.cpp ) set(EXAMPLE_HEADERS ) surgsim_add_executable(NimbleVisualTest "${EXAMPLE_SOURCES}" "${EXAMPLE_HEADERS}") set(LIBS NimbleDevice SurgSimDeviceFilters SurgSimInput VisualTestCommon ) target_link_libraries(NimbleVisualTest ${LIBS}) set_target_properties(NimbleVisualTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Nimble/VisualTest/main.cpp000066400000000000000000000037271277777236100240410ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Input/DeviceInterface.h" #include "SurgSim/Devices/DeviceFilters/PoseTransform.h" #include "SurgSim/Devices/Nimble/NimbleDevice.h" #include "SurgSim/Testing/VisualTestCommon/ToolSquareTest.h" using SurgSim::Input::DeviceInterface; using SurgSim::Devices::PoseTransform; using SurgSim::Devices::NimbleDevice; int main(int argc, char** argv) { auto leftDevice = std::make_shared("NimbleDeviceLeft"); auto leftDeviceFilter = std::make_shared("NimbleDeviceLeftDeviceFilter"); leftDeviceFilter->setTranslationScale(0.0001); leftDevice->addInputConsumer(leftDeviceFilter); leftDevice->setOutputProducer(leftDeviceFilter); leftDevice->initialize(); auto rightDevice = std::make_shared("NimbleDeviceRight"); rightDevice->setupToTrackRightHand(); auto rightDeviceFilter = std::make_shared("NimbleDeviceRightDeviceFilter"); rightDeviceFilter->setTranslationScale(0.0001); rightDevice->addInputConsumer(rightDeviceFilter); rightDevice->setOutputProducer(rightDeviceFilter); rightDevice->initialize(); runToolSquareTest(leftDeviceFilter, rightDeviceFilter, "Move the hands to control the sphere/square."); std::cout << std::endl << "Exiting." << std::endl; // Cleanup and shutdown will happen automatically as objects go out of scope. return 0; } opensurgsim-0.7.0/SurgSim/Devices/Novint/000077500000000000000000000000001277777236100203445ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Novint/CMakeLists.txt000066400000000000000000000032071277777236100231060ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. find_package(NovintHdalSdk REQUIRED) link_directories(${Boost_LIBRARY_DIRS}) set(LIBS SurgSimDataStructures SurgSimFramework SurgSimInput SurgSimMath ${Boost_LIBRARIES} ${NOVINTHDALSDK_LIBRARIES} ${YAML_CPP_LIBRARIES} ) include_directories( "${CMAKE_CURRENT_SOURCE_DIR}" "${NOVINTHDALSDK_INCLUDE_DIR}" ) set(NOVINT_DEVICE_SOURCES NovintDevice.cpp NovintScaffold.cpp ) set(NOVINT_DEVICE_HEADERS NovintDevice.h NovintScaffold.h ) set(DEVICE_HEADERS ${DEVICE_HEADERS} Novint/NovintDevice.h #NOLINT PARENT_SCOPE) # TODO(advornik): the installation should NOT copy all the headers... surgsim_add_library( NovintDevice "${NOVINT_DEVICE_SOURCES}" "${NOVINT_DEVICE_HEADERS}" ) target_link_libraries(NovintDevice ${LIBS}) if(BUILD_TESTING) # The unit tests will be built whenever the library is built. add_subdirectory(UnitTests) if(GLUT_FOUND) add_subdirectory(VisualTest) endif(GLUT_FOUND) endif() # Put NovintDevice into folder "Devices" set_target_properties(NovintDevice PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Novint/Novint.dox000066400000000000000000000015321277777236100223360ustar00rootroot00000000000000/*! \page Novint Novint: Haptic Device The Novint Falcon (by Novint Technologies, Inc.) is a 3D force-feedback haptic device. The user holds a grip that measures the hand's position, and can exert forces on the hand. Novint Technologies, Inc., only provides Novint Falcon driver support for Windows. Dependencies: - Windows: - Requires a more recent HDAL SDK than is publicly available (currently 2.1.3 is publicly available) http://home.novint.com/index.php/support/downloads -# Install the Falcon drivers. -# Install the SDK. -# Run NDSSetter as administrator (executable provided with the HDAL SDK) to set an environment variable named NOVINT_DEVICE_SUPPORT to the directory where the SDK was installed. -# Add the directory containing hd.dll to the environment path (e.g., C:\\Program Files (x86)\\novint\\HDAL_SDK_X.X.XX.XX\\bin). */opensurgsim-0.7.0/SurgSim/Devices/Novint/NovintDevice.cpp000066400000000000000000000137571277777236100234620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Novint/NovintDevice.h" #include "SurgSim/DataStructures/DataStructuresConvert.h" #include "SurgSim/Devices/Novint/NovintScaffold.h" #include "SurgSim/Math/MathConvert.h" using SurgSim::DataStructures::OptionalValue; namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::NovintDevice, NovintDevice); NovintDevice::NovintDevice(const std::string& uniqueName) : Input::CommonDevice(uniqueName, NovintScaffold::buildDeviceInputData()), m_positionScale(1.0), m_orientationScale(1.0), m_7DofDevice(false), m_maxForce(8.9), m_antigrav(Math::Vector3d::Zero()) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(NovintDevice, OptionalValue, InitializationName, getOptionalInitializationName, setOptionalInitializationName); SURGSIM_ADD_SERIALIZABLE_PROPERTY(NovintDevice, OptionalValue, SerialNumber, getOptionalSerialNumber, setOptionalSerialNumber); SURGSIM_ADD_SERIALIZABLE_PROPERTY(NovintDevice, bool, 7DofDevice, is7DofDevice, set7DofDevice); SURGSIM_ADD_SERIALIZABLE_PROPERTY(NovintDevice, double, PositionScale, getPositionScale, setPositionScale); SURGSIM_ADD_SERIALIZABLE_PROPERTY(NovintDevice, double, OrientationScale, getOrientationScale, setOrientationScale); SURGSIM_ADD_SERIALIZABLE_PROPERTY(NovintDevice, double, MaxForce, getMaxForce, setMaxForce); SURGSIM_ADD_SERIALIZABLE_PROPERTY(NovintDevice, Math::Vector3d, Antigrav, getAntigrav, setAntigrav); } NovintDevice::~NovintDevice() { if (isInitialized()) { finalize(); } } void NovintDevice::setSerialNumber(const std::string& serialNumber) { SURGSIM_ASSERT(!m_initializationName.hasValue()) << "Cannot set serialNumber for a NovintDevice named " << getName() << ", which already has an initializationName."; SURGSIM_ASSERT(!isInitialized()) << "Cannot setSerialNumber after the device named " << getName() << " has been initialized."; m_serialNumber.setValue(serialNumber); } bool NovintDevice::getSerialNumber(std::string* serialNumber) const { const bool hasValue = m_serialNumber.hasValue(); if (hasValue) { *serialNumber = m_serialNumber.getValue(); } return hasValue; } void NovintDevice::setInitializationName(const std::string& initializationName) { SURGSIM_ASSERT(!m_serialNumber.hasValue()) << "Cannot set initializationName for a NovintDevice named " << getName() << ", which already has a serialNumber."; SURGSIM_ASSERT(!isInitialized()) << "Cannot setInitializationName after the device named " << getName() << " has been initialized."; m_initializationName.setValue(initializationName); } bool NovintDevice::getInitializationName(std::string* initializationName) const { const bool hasValue = m_initializationName.hasValue(); if (hasValue) { *initializationName = m_initializationName.getValue(); } return hasValue; } bool NovintDevice::initialize() { SURGSIM_ASSERT(!isInitialized()) << getName() << " already initialized."; auto scaffold = NovintScaffold::getOrCreateSharedInstance(); SURGSIM_ASSERT(scaffold != nullptr); bool initialize = false; if (scaffold->registerDevice(this)) { m_scaffold = std::move(scaffold); initialize = true; } return initialize; } bool NovintDevice::finalize() { SURGSIM_ASSERT(isInitialized()) << getName() << " is not initialized, cannot finalize."; bool result = m_scaffold->unregisterDevice(this); m_scaffold.reset(); return result; } bool NovintDevice::isInitialized() const { return (m_scaffold != nullptr); } void NovintDevice::setPositionScale(double scale) { m_positionScale = scale; if (m_scaffold) { m_scaffold->setPositionScale(this, m_positionScale); } } double NovintDevice::getPositionScale() const { return m_positionScale; } void NovintDevice::setOrientationScale(double scale) { m_orientationScale = scale; if (m_scaffold) { m_scaffold->setOrientationScale(this, m_orientationScale); } } double NovintDevice::getOrientationScale() const { return m_orientationScale; } void NovintDevice::set7DofDevice(bool val) { SURGSIM_ASSERT(!isInitialized()) << "Cannot set 7Dof status after initialization."; m_7DofDevice = val; } bool NovintDevice::is7DofDevice() const { return m_7DofDevice; } void NovintDevice::setMaxForce(double force) { SURGSIM_ASSERT(!isInitialized()) << "Cannot setMaxForce after the device named " << getName() << " has been initialized."; SURGSIM_ASSERT(force >= 0.0) << "Cannot set a negative maximum force magnitude on device named " << getName(); m_maxForce = force; } double NovintDevice::getMaxForce() const { return m_maxForce; } void NovintDevice::setAntigrav(Math::Vector3d antigrav) { SURGSIM_ASSERT(!isInitialized()) << "Cannot setAntigrav after the device named " << getName() << " has been initialized."; m_antigrav = antigrav; } Math::Vector3d NovintDevice::getAntigrav() const { return m_antigrav; } const OptionalValue& NovintDevice::getOptionalInitializationName() const { return m_initializationName; } void NovintDevice::setOptionalInitializationName(const OptionalValue& name) { m_initializationName = name; } const OptionalValue& NovintDevice::getOptionalSerialNumber() const { return m_serialNumber; } void NovintDevice::setOptionalSerialNumber(const OptionalValue& serial) { m_serialNumber = serial; } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Novint/NovintDevice.h000066400000000000000000000226601277777236100231200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_NOVINT_NOVINTDEVICE_H #define SURGSIM_DEVICES_NOVINT_NOVINTDEVICE_H #include #include "SurgSim/DataStructures/OptionalValue.h" #include "SurgSim/Input/CommonDevice.h" namespace SurgSim { namespace Devices { class NovintScaffold; SURGSIM_STATIC_REGISTRATION(NovintDevice); /// A class implementing the communication with a Novint Falcon device. /// /// This should provide basic support for any device that can communicate using the Novint HDAL SDK toolkit, such as /// the off-the-shelf Novint Falcon haptic gaming controller. Note that certain devices may require device-specific /// support in the code to enable particular hardware features. In particular, the Novint Falcon with the Open Surgery /// Grip will not be able to produce torques unless it is accessed using the NovintOsgDevice class. /// /// \par Application input provided by the device: /// | type | name | | /// | ---- | ---- | --- | /// | pose | "pose" | %Device pose (units are meters)*. | /// | scalar | "toolDof" | %7th Dof (e.g., handle open/close angle) | /// | bool | "button1" | %State of the first device button if present.** | /// | bool | "button2" | %State of the second device button if present.** | /// | bool | "button3" | %State of the third device button if present.** | /// | bool | "button4" | %State of the third device button if present.** | /// | bool | "isHomed" | %Device homing status. | /// | bool | "isPositionHomed" | %Device homing status, position only. | /// | bool | "isOrientationHomed" | %Device homing status, orientation only. | /// * The workspace of an off-the-shelf Novint Falcon is +z points out from the face of the Falcon, +y points up, and /// +x points to your right if you are looking at the face of the Falcon (a right-hand frame). The workspace of /// both 7dof OSG Falcons in a pair is +x towards the right Falcon, +y up, and +z towards the user /// (a right-hand frame). Thus, if the 7dof OSG Falcons are setup in a typical configuration such that the /// left Falcon is to the user's left and the right Falcon is to the user's right, then the workspace will be the /// same as an off-the-shelf Falcon placed directly facing the user. The identity orientation for an OSG Falcon /// is with the handle of the tool parallel to the floor (pitch), and pointed towards the user (yaw)...therefore /// in the home pose, the "business end" of the tool points away from the user along the -z axis. /// **\c button1 through \c 4 correspond to the buttons 0 through 3 provided by the HDAL SDK, but a custom /// Novint device might have fewer than 4 buttons. /// /// \par Application output used by the device: /// | type | name | | /// | ---- | ---- | --- | /// | vector | "force" | %Device output force (units are newtons). | /// | vector | "torque" | %Device output torque (in newton-meters, 7Dof only). | /// | bool | "gravityCompensation" | Enable or disable hardware gravity compensation. | /// class NovintDevice : public SurgSim::Input::CommonDevice { public: /// Constructor. /// \param name A unique name for the device that will be used by the application. explicit NovintDevice(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Devices::NovintDevice); /// Destructor. virtual ~NovintDevice(); /// Sets the serial number used to register this device with the hardware library. /// An empty string indicates the first available device. /// \param serialNumber The serial number. /// \sa setInitializationName void setSerialNumber(const std::string& serialNumber); /// Gets the serial number used to register this device with the hardware library. /// \param [out] serialNumber The serial number, if set. /// \return true if the serialNumber has been set. bool getSerialNumber(std::string* serialNumber) const; /// Sets the name used to register this device with the hardware library. /// To use an initialization name, the 'devices.yaml' file must be in the working directory, /// (see example at Data/devices.yaml) with an entry of the form "initializationName: serialNumber". /// An empty string indicates the first available device. /// \param initializationName The initialization name. /// \sa setSerialNumber void setInitializationName(const std::string& initializationName); /// Gets the name used to register this device with the hardware library. /// \param [out] initializationName The initialization name, if set. /// \return true if the initializationName has been set bool getInitializationName(std::string* initializationName) const; bool initialize() override; bool isInitialized() const override; /// Sets the position scale for this device. /// The position scale controls how much the pose changes for a given device translation. /// The default value for a raw device tries to correspond to the actual physical motion of the device. /// \param scale The multiplicative factor to apply to the position. void setPositionScale(double scale); /// Gets the position scale for this device. double getPositionScale() const; /// Sets the orientation scale for this device. /// The orientation scale controls how much the pose changes for a given device rotation. /// The default value for a raw device tries to correspond to the actual physical motion of the device. /// \param scale The multiplicative factor to apply to the rotation angles. void setOrientationScale(double scale); /// Gets the orientation scale for this device. double getOrientationScale() const; /// Sets whether or not this is supposed to be a 7Dof device. /// If the hardware is not actually 7Dof, the resulting device will never home. /// If the hardware is 7Dof, and this is not called, the resulting device will act like a typical 3Dof. /// \param val true for a 7Dof device. void set7DofDevice(bool val); /// Query if this object represents a 7 degree of freedom hardware device. /// \return true if 7 degree of freedom device, false if not. virtual bool is7DofDevice() const; /// Set the maximum force that can be sent to the device. Higher force values will be scaled to this magnitude. /// Generally Falcons are robust enough that commanding excessive forces will not cause a problem, /// but in-development systems may overheat if over-driven. /// \param force The maximum force magnitude (in Newtons) that will be sent to the hardware. void setMaxForce(double force); /// \return The maximum force (in Newtons) that can be sent to the device. double getMaxForce() const; /// Set a constant force that gets added to all forces sent to the hardware. /// \param antigrav The anti-gravity force in Newtons. void setAntigrav(Math::Vector3d antigrav); /// \return The constant force that gets added to all forces sent to the hardware (in Newtons). Math::Vector3d getAntigrav() const; protected: /// True if the device is 7Dof, false if the device is 3Dof. bool m_7DofDevice; /// The maximum force magnitude (in Newtons) that should be sent to the hardware. double m_maxForce; /// The anti-gravity force in Newtons. Math::Vector3d m_antigrav; private: friend class NovintScaffold; bool finalize() override; ///@{ /// Used for serializing optional properties const DataStructures::OptionalValue& getOptionalInitializationName() const; void setOptionalInitializationName(const DataStructures::OptionalValue& name); const DataStructures::OptionalValue& getOptionalSerialNumber() const; void setOptionalSerialNumber(const DataStructures::OptionalValue& serial); ///@} /// The scaffold handles all the communication with the SDK. std::shared_ptr m_scaffold; /// The name passed to the SDK to specify which hardware device should be used. SurgSim::DataStructures::OptionalValue m_initializationName; /// The serial number passed to the SDK to specify which hardware device should be used. SurgSim::DataStructures::OptionalValue m_serialNumber; /// Scale factor for the position axes; stored locally before the device is initialized. double m_positionScale; /// Scale factor for the orientation axes; stored locally before the device is initialized. double m_orientationScale; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_NOVINT_NOVINTDEVICE_H opensurgsim-0.7.0/SurgSim/Devices/Novint/NovintScaffold.cpp000066400000000000000000001375201277777236100237770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Novint/NovintScaffold.h" #include #include #include #include #include #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Devices/Novint/NovintDevice.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Clock.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SharedInstance.h" #include "SurgSim/Framework/Timer.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::DataGroup; using SurgSim::Math::makeRotationMatrix; using SurgSim::Math::Matrix33d; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; namespace { /// Convert a HDLError to text. /// Error code and descriptions are from Novint's hdlErrors.h file. std::string convertErrorCodeToString(HDLError errorCode) { switch (errorCode) { case HDL_ERROR_STACK_OVERFLOW: return "Overflow of error stack"; case HDL_ERROR_INTERNAL: return "HDAL internal error"; case HDL_ERROR_INIT_FAILED: return "Device initialization error"; case HDL_INIT_INI_NOT_FOUND: return "Could not find configuration file"; case HDL_INIT_INI_DLL_STRING_NOT_FOUND: return "No DLL name in configuration file"; case HDL_INIT_INI_MANUFACTURER_NAME_STRING_NOT_FOUND: return "No MANUFACTURER_NAME value in configuration file"; case HDL_INIT_DLL_LOAD_ERROR: return "Could not load driver DLL"; case HDL_INIT_DEVICE_FAILURE: return "Failed to initialize device"; case HDL_INIT_DEVICE_ALREADY_INITED: return "Device already initialized"; case HDL_INIT_DEVICE_NOT_CONNECTED: return "Requested device not connected"; case HDL_SERVO_START_ERROR: return "Could not start servo thread"; default: return ""; } } /// Check for HDAL errors, display them, and signal fatal errors. /// \param message An additional descriptive message. /// \return true if there was a fatal error; false if everything is OK. bool isFatalError(const std::string& message) { HDLError errorCode = hdlGetError(); if (errorCode == HDL_NO_ERROR) { return false; } // The HDAL maintains an error stack, so in theory there could be more than one error pending. // We do head recursion to get them all in the correct order, and hope we don't overrun the stack... bool isFatal = isFatalError(message); SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getLogger("Devices/Novint")) << message << std::endl << " Error text from HDAL: '" << convertErrorCodeToString(errorCode) << "'" << std::endl << " Error code: 0x" << std::hex << std::setw(4) << std::setfill('0') << errorCode << std::endl; return (isFatal || (errorCode != HDL_ERROR_STACK_OVERFLOW)); } }; namespace SurgSim { namespace Devices { class NovintScaffold::Handle { public: explicit Handle(const std::string& info, bool initBySerialNumber = true) : m_deviceHandle(HDL_INVALID_HANDLE) { if (initBySerialNumber) { m_deviceHandle = hdlInitDeviceBySerialNumber(info.c_str()); } else { m_deviceHandle = hdlInitNamedDevice(info.c_str()); } if (isFatalError("Failed to initialize")) { SURGSIM_LOG_INFO(Framework::Logger::getLogger("Devices/Novint")) << (initBySerialNumber ? "HDAL serial number: '" : "device name: '") << info << "'"; } else if (!isValid()) { if (initBySerialNumber) { SURGSIM_LOG_SEVERE(Framework::Logger::getLogger("Devices/Novint")) << "No error during initializing device with serial number: '" << info << "', but an invalid handle returned. Is that Novint device plugged in?"; } else { SURGSIM_LOG_SEVERE(Framework::Logger::getLogger("Devices/Novint")) << "No error during initializing device named: '" << info << "', but an invalid handle returned. Is that Novint device plugged in? " << "Did the HDAL find hdal.ini? Is the initialization name in the hdal.ini?"; } } else { SURGSIM_LOG_DEBUG(Framework::Logger::getLogger("Devices/Novint")) << "Handle " << m_deviceHandle << " created for device: '" << info << "'."; } } ~Handle() { if (isValid()) { isFatalError("Error prior to calling hdlUninitDevice"); SURGSIM_LOG_DEBUG(Framework::Logger::getLogger("Devices/Novint")) << "Handle " << m_deviceHandle << " destructing, calling hdlUninitDevice."; hdlUninitDevice(m_deviceHandle); m_deviceHandle = HDL_INVALID_HANDLE; isFatalError("Error calling hdlUninitDevice"); SURGSIM_LOG_DEBUG(Framework::Logger::getLogger("Devices/Novint")) << "Handle " << m_deviceHandle << " destructed, hdlUninitDevice called."; } } bool isValid() const { return (m_deviceHandle != HDL_INVALID_HANDLE); } HDLDeviceHandle get() const { SURGSIM_ASSERT(isValid()) << "HDL device handle is not valid."; return m_deviceHandle; } private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) Handle(const Handle&) /*= delete*/; Handle& operator=(const Handle&) /*= delete*/; /// The HDAL device handle (or HDL_INVALID_HANDLE if not valid). HDLDeviceHandle m_deviceHandle; }; class NovintScaffold::Callback { public: explicit Callback(NovintScaffold* scaffold) : m_callbackHandle(HDL_INVALID_HANDLE) { SURGSIM_ASSERT(scaffold != nullptr) << "Callback::create needs non-nullptr scaffold."; m_callbackHandle = hdlCreateServoOp(run, scaffold, false); if (!isFatalError("Failed to create servoOp callback")) { if (!isValid()) { SURGSIM_LOG_SEVERE(Framework::Logger::getLogger("Devices/Novint")) << "Servo operation created, but invalid servo operation entry handle returned." << std::endl << " Error details: unknown (HDAL returned an invalid servo operation entry handle)"; } else { SURGSIM_LOG_DEBUG(Framework::Logger::getLogger("Devices/Novint")) << "Callback created, hdlCreateServoOp called."; } } } ~Callback() { if (isValid()) { isFatalError("Error prior to stopping haptic callback"); SURGSIM_LOG_DEBUG(Framework::Logger::getLogger("Devices/Novint")) << "Callback destructing, calling hdlDestroyServoOp..."; hdlDestroyServoOp(m_callbackHandle); SURGSIM_LOG_IF(!isFatalError("Error stopping haptic callback"), Framework::Logger::getLogger("Devices/Novint"), DEBUG) << "Callback destructing, hdlDestroyServoOp called."; m_callbackHandle = HDL_INVALID_HANDLE; } } bool isValid() const { return (m_callbackHandle != HDL_INVALID_HANDLE); } private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) Callback(const Callback&) /*= delete*/; Callback& operator=(const Callback&) /*= delete*/; /// The callback wrapper passed to HDAL. /// \param [in,out] data The user data (in our case, the scaffold pointer). /// \return HD_CALLBACK_CONTINUE to wait for the next frame, or HD_CALLBACK_DONE to terminate further calls. static HDLServoOpExitCode run(void* data); /// The haptic loop callback handle (or HDL_INVALID_HANDLE if not valid). HDLOpHandle m_callbackHandle; }; HDLServoOpExitCode NovintScaffold::Callback::run(void* data) { static_cast(data)->runHapticFrame(); return HDL_SERVOOP_CONTINUE; } struct NovintScaffold::DeviceData { /// Initialize the state. explicit DeviceData(NovintDevice* device) : initializationName(""), serialNumber(""), deviceObject(device), isPositionHomed(false), isOrientationHomed(false), isDeviceHomed(false), isDeviceHeld(false), isDevice7Dof(device->is7DofDevice()), maxForce(device->getMaxForce()), antigrav(device->getAntigrav()), isDeviceRollAxisReversed(false), eulerAngleOffsetRoll(0.0), eulerAngleOffsetYaw(0.0), eulerAngleOffsetPitch(0.0), toolDof(0.0), forwardPointingPoseThreshold(0.9), torqueScale(Vector3d::Constant(1.0)), positionScale(device->getPositionScale()), orientationScale(device->getOrientationScale()), jointAngles(Vector3d::Zero()), force(Vector3d::Zero()), torque(Vector4d::Zero()), scaledPose(RigidTransform3d::Identity()) { buttonStates.fill(false); } /// The maximum number of buttons supported by any device object. static const size_t MAX_NUM_BUTTONS = 4; /// Type used to store button states. typedef std::array ButtonStates; /// The HDAL device name. std::string initializationName; /// The HDAL device serial number. std::string serialNumber; /// The corresponding device object. NovintDevice* const deviceObject; /// The device handle wrapper. std::shared_ptr deviceHandle; /// The joint angles for the device orientation. Vector3d jointAngles; /// The button state read from the device. ButtonStates buttonStates; /// The homing state read from the device. bool isPositionHomed; /// The homing state read from the device. bool isOrientationHomed; /// The homing state read from the device. bool isDeviceHomed; /// The proximity state read from the device. bool isDeviceHeld; /// True if this is a 7DoF device. bool isDevice7Dof; /// The maximum force magnitude (in Newtons) to send to the device. double maxForce; /// The constant force added to all forces sent to the device (in Newtons). Vector3d antigrav; /// True if the roll axis of a 7DoF device has reverse polarity because the device is left-handed. bool isDeviceRollAxisReversed; /// The offset added to the roll Euler angle. double eulerAngleOffsetRoll; /// The offset added to the yaw Euler angle. double eulerAngleOffsetYaw; /// The offset added to the pitch Euler angle. double eulerAngleOffsetPitch; /// The tool's degree-of-freedom, e.g., the handle's open/close angle. double toolDof; /// The threshold to determine if the device is pointing forwards before unlocking orientation. double forwardPointingPoseThreshold; /// The scaling factors for the torque axes. Vector3d torqueScale; /// The pose value from the device, after scaling. RigidTransform3d scaledPose; /// The force value to be written to the device. Vector3d force; /// The torque value to be written to the device. Vector4d torque; /// Scale factor for the position axes. double positionScale; /// Scale factor for the orientation axes. double orientationScale; /// The mutex that protects the externally modifiable parameters. boost::mutex parametersMutex; private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) DeviceData(const DeviceData&) /*= delete*/; DeviceData& operator=(const DeviceData&) /*= delete*/; }; struct NovintScaffold::StateData { public: /// Initialize the state. StateData() : isApiInitialized(false), logger(Framework::Logger::getLogger("Devices/Novint")) { } /// True if the API has been initialized (and not finalized). bool isApiInitialized; /// Wrapper for the haptic loop callback handle. std::unique_ptr callback; /// The registered devices. std::list> registeredDevices; /// The map from serial number to Handle for all devices that were available when the SDK was initialized. std::unordered_map> serialToHandle; /// List of devices that have been unregistered and should have their forces, torques, and gravity compensation /// zeroed in the next update. std::list> unregisteredHandles; /// The map from name to serial number for all devices. std::map nameToSerial; /// The mutex that protects the list of registered devices. boost::mutex mutex; /// Time of the initialization of the latest handle. Framework::Clock::time_point initializationTime; /// Timer to measure update rate. Framework::Timer timer; /// Logger used by the scaffold and all devices. std::shared_ptr logger; private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) StateData(const StateData&) /*= delete*/; StateData& operator=(const StateData&) /*= delete*/; }; template static inline T clampToRange(T value, T rangeMin, T rangeMax) { if (value < rangeMin) return rangeMin; if (value > rangeMax) return rangeMax; return value; } NovintScaffold::NovintScaffold() : m_state(new StateData) { { // Drain the HDAL error stack while (hdlGetError() != HDL_NO_ERROR) { } } m_state->timer.setMaxNumberOfFrames(5000); // The canonical HDAL approach (Programmer's Guide, section 4.7 Multiple devices) is: // 1) hdlInitXXXX on all devices that will be used by this application, // 2) hdlStart (must be after all hdlInitX and before hdlCreateServoOp), then // 3) hdlCreateServoOp (starts the callback). // Note: 1. If no device is initialized (i.e. hdlInitXXX returned an invalid handle), // don't call hdlStart() or it will crash. // 2. In order to use Novint 7Dof device, device MUST BE initialized by name (NOT by serial number). // Novint 3Dof device could be used/initialized either by name or serial number. // 3. If a Novint device is in 'cut-out' state (happened with E3 binary/serial number), // HDAL library will crash. // Load the list of Novint devices (devices.yaml) user wants to use. m_state->nameToSerial = getNameMap(); if (createAllHandles()) { hdlStart(); if (!isFatalError("Couldn't start HDAL scheduler")) { SURGSIM_LOG_DEBUG(m_state->logger) << "Scheduler started, hdlStart called."; std::unique_ptr callback(new Callback(this)); if (callback->isValid()) { m_state->callback = std::move(callback); m_state->isApiInitialized = true; SURGSIM_LOG_DEBUG(m_state->logger) << "Callback scheduled; Scaffold created successfully."; } else { SURGSIM_LOG_SEVERE(m_state->logger) << "Failed to create a callback."; hdlStop(); isFatalError("Couldn't stop HDAL scheduler"); } } } } NovintScaffold::~NovintScaffold() { if (m_state->isApiInitialized) { // The HDAL seems to do bad things (and the CRT complains) if we uninitialize the device too soon. const int MINIMUM_LIFETIME_MILLISECONDS = 500; Framework::Clock::time_point earliestEndTime = m_state->initializationTime + boost::chrono::milliseconds(MINIMUM_LIFETIME_MILLISECONDS); boost::this_thread::sleep_until(earliestEndTime); m_state->callback = nullptr; SURGSIM_LOG_DEBUG(m_state->logger) << "Callback reset.\nStopping HDAL scheduler..."; hdlStop(); SURGSIM_LOG_IF(!isFatalError("Couldn't stop HDAL scheduler"), m_state->logger, DEBUG) << "HDAL scheduler stopped, hdlStop called."; boost::this_thread::sleep_for(boost::chrono::milliseconds(10)); if (!m_state->registeredDevices.empty()) { SURGSIM_LOG_SEVERE(m_state->logger) << "Destroying scaffold while there are still registered devices!?!"; m_state->registeredDevices.clear(); } destroyAllHandles(); SURGSIM_LOG_DEBUG(m_state->logger) << "Scaffold destroyed."; } } bool NovintScaffold::registerDevice(NovintDevice* device) { boost::lock_guard lock(m_state->mutex); // Make sure the serial number is unique. std::string serialNumber; if ((device->getSerialNumber(&serialNumber)) && (!serialNumber.empty())) { auto& sameSerialNumber = std::find_if(m_state->registeredDevices.cbegin(), m_state->registeredDevices.cend(), [&serialNumber](const std::unique_ptr& info) { return info->serialNumber == serialNumber; }); if (sameSerialNumber != m_state->registeredDevices.end()) { SURGSIM_LOG_CRITICAL(m_state->logger) << "Tried to register a device when the same serial number " << serialNumber <<" is already present!"; return false; } } // Make sure the initialization name is unique. std::string initializationName; if ((device->getInitializationName(&initializationName)) && (!initializationName.empty())) { auto& sameInitializationName = std::find_if(m_state->registeredDevices.cbegin(), m_state->registeredDevices.cend(), [&initializationName](const std::unique_ptr& info) { return info->initializationName == initializationName; }); if (sameInitializationName != m_state->registeredDevices.end()) { SURGSIM_LOG_CRITICAL(m_state->logger) << "Tried to register a device when the same initialization (HDAL) name " << initializationName << " is already present!"; return false; } } // Construct the object, start its thread, then move it to the list. // Note that since Visual Studio 2010 doesn't support multi-argument emplace_back() for STL containers, storing a // list of unique_ptr results in nicer code than storing a list of DeviceData values directly. std::unique_ptr info(new DeviceData(device)); info->serialNumber = serialNumber; info->initializationName = initializationName; if (!initializeDeviceState(info.get())) { return false; // message already printed } m_state->registeredDevices.emplace_back(std::move(info)); SURGSIM_LOG_INFO(m_state->logger) << "Device " << device->getName() << " initialized. Maximum force is " << m_state->registeredDevices.back()->maxForce << " Newtons. Antigrav is (" << m_state->registeredDevices.back()->antigrav.transpose() << ") Newtons"; return true; } bool NovintScaffold::unregisterDevice(const NovintDevice* const device) { bool result = false; std::unique_ptr savedInfo; { boost::lock_guard lock(m_state->mutex); auto& matching = std::find_if(m_state->registeredDevices.begin(), m_state->registeredDevices.end(), [&device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (matching != m_state->registeredDevices.end()) { savedInfo = std::move(*matching); m_state->registeredDevices.erase(matching); m_state->unregisteredHandles.push_back(savedInfo->deviceHandle); SURGSIM_LOG_INFO(m_state->logger) << "Device " << device->getName() << " finalized."; result = true; // the iterator is now invalid but that's OK } } SURGSIM_LOG_IF(!result, m_state->logger, SEVERE) << "Attempted to release a non-registered device."; return result; } std::shared_ptr NovintScaffold::findHandleByInitializationName(const std::string& initializationName) { std::shared_ptr handle; if (initializationName.empty()) { // get the first available for (auto& it : m_state->serialToHandle) { auto& possibleHandle = it.second; auto& matching = std::find_if(m_state->registeredDevices.begin(), m_state->registeredDevices.end(), [&possibleHandle](const std::unique_ptr& info) { return info->deviceHandle == possibleHandle; }); if (matching == m_state->registeredDevices.end()) { handle = possibleHandle; break; } } if (handle == nullptr) { SURGSIM_ASSERT(m_state->serialToHandle.size() == m_state->registeredDevices.size()) << "Failed to find an un-registered device when the number of registered devices is not equal to" << " the number of devices found at startup."; SURGSIM_LOG_SEVERE(m_state->logger) << "Attempted to register a default device, but no more devices are available." << " There were " << m_state->serialToHandle.size() << " devices available at program start."; } } else { if (m_state->nameToSerial.count(initializationName) > 0) { const std::string& serial = m_state->nameToSerial[initializationName]; if (m_state->serialToHandle.count(serial) > 0) { handle = m_state->serialToHandle[serial]; } else { SURGSIM_LOG_SEVERE(m_state->logger) << "Attempted to register a device named '" << initializationName << "', which should map to serial number " << serial << ", but no device with that serial number is available. " << "Is it plugged in? Is the correct hdal.ini found and does it have an entry for this name?"; } } else { SURGSIM_LOG_SEVERE(m_state->logger) << "Attempted to register a device named '" << initializationName << "', but that name does not map to a serial number. The configuration file (devices.yaml) was " << (m_state->nameToSerial.empty() ? "not found, did not contain a YAML node (the map from name to serial number), or the map was empty." : "found, but the device name is not a key in the contained map from name to serial number."); } } return handle; } bool NovintScaffold::initializeDeviceState(DeviceData* info) { SURGSIM_ASSERT(info->deviceHandle == nullptr) << "The raw handle should be nullptr before initialization."; if (info->serialNumber.empty()) { info->deviceHandle = findHandleByInitializationName(info->initializationName); } else { if (m_state->serialToHandle.count(info->serialNumber) > 0) { info->deviceHandle = m_state->serialToHandle[info->serialNumber]; } else { SURGSIM_LOG_SEVERE(m_state->logger) << "Attempted to register a device by serial number for serial number " << info->serialNumber << ", but no device with that serial number is available."; } } m_state->unregisteredHandles.remove(info->deviceHandle); return info->deviceHandle != nullptr; } bool NovintScaffold::updateDeviceOutput(DeviceData* info, bool pulledOutput) { hdlMakeCurrent(info->deviceHandle->get()); // This device is now "current", and all hdlXxx calls apply to it. bool fatalError = isFatalError("hdlMakeCurrent()"); info->force.setZero(); info->torque.setZero(); if (info->isDeviceHomed && pulledOutput) { bool desiredGravityCompensation = false; if (info->deviceObject->getOutputData().booleans().get("gravityCompensation", &desiredGravityCompensation)) { setGravityCompensation(info, desiredGravityCompensation); } calculateForceAndTorque(info); } // Set the force command (in newtons). const double norm = info->force.norm(); if (norm > info->maxForce) { info->force = info->force.normalized() * info->maxForce; } hdlGripSetAttributev(HDL_GRIP_FORCE, 0, info->force.data()); // 2nd arg is index; output force is always "vector #0" fatalError = fatalError || isFatalError("hdlGripSetAttributev(HDL_GRIP_FORCE)"); if (info->isDevice7Dof) { // Set the torque vector. Also set the jaw squeeze torque (as 4th element of the array)-- though this is not // used anywhere at the moment. // The 2nd arg to this call is the count; we're setting 4 doubles. hdlGripSetAttributesd(HDL_GRIP_TORQUE, 4, info->torque.data()); fatalError = fatalError || isFatalError("hdlGripSetAttributesd(HDL_GRIP_TORQUE)"); } return !fatalError; } bool NovintScaffold::updateDeviceInput(DeviceData* info) { boost::lock_guard lock(info->parametersMutex); hdlMakeCurrent(info->deviceHandle->get()); // This device is now "current", and all hdlXxx calls apply to it. bool fatalError = isFatalError("hdlMakeCurrent()"); info->buttonStates.fill(false); hdlGripGetAttributesb(HDL_GRIP_BUTTON, static_cast(info->buttonStates.size()), info->buttonStates.data()); fatalError = fatalError || isFatalError("hdlGripGetAttributesb(HDL_GRIP_BUTTON)"); checkDeviceHoming(info); if (info->isPositionHomed) { hdlGripGetAttributev(HDL_GRIP_POSITION, 0, info->scaledPose.translation().data()); fatalError = fatalError || isFatalError("hdlGripGetAttributev(HDL_GRIP_POSITION)"); info->scaledPose.translation() *= info->positionScale; } // Get the additional 7DoF data if available. if (info->isDevice7Dof) { if (info->isPositionHomed) { // The 7dofs should have +x towards the right Falcon (i.e., to the user's right), // +y up, and +z towards the user (i.e., right-hand frame based on x & y), so we transform from // the per-device HDAL workspace. static const Matrix33d leftTranslationTransform = makeRotationMatrix(M_PI_2, Vector3d::UnitY().eval()); static const Matrix33d rightTranslationTransform = makeRotationMatrix(-M_PI_2, Vector3d::UnitY().eval()); if (info->isDeviceRollAxisReversed) { info->scaledPose.translation() = leftTranslationTransform * info->scaledPose.translation(); } else { info->scaledPose.translation() = rightTranslationTransform * info->scaledPose.translation(); } } int gripStatus[2] = { 0, 0 }; // OSG2 grips report their "handedness" in the LSB of the second raw status byte // We re-check this state each update because sometimes the first few callbacks have incorrect states. hdlGripGetAttributes(HDL_GRIP_STATUS, 2, gripStatus); if (isFatalError("Cannot get grip status")) { // HDL reported an error. An error message was already logged. return false; } info->eulerAngleOffsetRoll = 0.0; bool leftHanded = (gripStatus[1] & 0x01) != 0; if (leftHanded) { info->isDeviceRollAxisReversed = true; info->eulerAngleOffsetYaw = -0.5; info->eulerAngleOffsetPitch = -0.9; } else { info->isDeviceRollAxisReversed = false; info->eulerAngleOffsetYaw = 0.3; info->eulerAngleOffsetPitch = -0.7; } if (info->isOrientationHomed) { // We compute the device orientation from the joint angles, for two reasons. The first that it lets us // compensate for recurrent bugs in the HDAL grip code. The second is that we'll need the joint angles in // order to correctly generate joint torques. double angles[4]; hdlGripGetAttributesd(HDL_GRIP_ANGLE, 4, angles); fatalError = fatalError || isFatalError("hdlGripGetAttributesd(HDL_GRIP_ANGLE)"); // The zero values are NOT the home orientation, and we are flipping some axes to map to our desired // device workspace (from the underlying per-device HDAL workspace). if (info->isDeviceRollAxisReversed) { info->jointAngles[0] = -angles[0] + info->eulerAngleOffsetRoll; info->jointAngles[1] = angles[1] + info->eulerAngleOffsetYaw; info->jointAngles[2] = angles[2] + info->eulerAngleOffsetPitch; } else { info->jointAngles[0] = angles[0] + info->eulerAngleOffsetRoll; info->jointAngles[1] = angles[1] + info->eulerAngleOffsetYaw; info->jointAngles[2] = -angles[2] + info->eulerAngleOffsetPitch; } /* HW-Nov-12-2015 Testing on Nov 10, 2015 shows that hdlGripGetAttributesd(HDL_GRIP_ANGLE, 3, &info->toolDof); gives the correct reading for the 7th Dof value. However, it didn't give correct value in follow up tests. 'angles[3]' has the value for the 7th Dof now (but it didn't on Nov 10's test). hdlGripGetAttributesd(HDL_GRIP_ANGLE, 3, &info->toolDof); should be kept in mind. */ info->toolDof = angles[3]; // Get the reading for 7th Dof, the open/close angle of the tool. // For the Falcon 7DoF grip, the axes are perpendicular and the joint angles are Euler angles. // The home position (identity orientation) is with the tool parallel to the ground with the handle pointed // at the user (and some roll angle). Matrix33d rotationX = makeRotationMatrix(info->jointAngles[2] * info->orientationScale, Vector3d(Vector3d::UnitX())); Matrix33d rotationY = makeRotationMatrix(info->jointAngles[1] * info->orientationScale, Vector3d(Vector3d::UnitY())); Matrix33d rotationZ = makeRotationMatrix(info->jointAngles[0] * info->orientationScale, Vector3d(Vector3d::UnitZ())); info->scaledPose.linear() = rotationY * rotationX * rotationZ; } } setInputData(info); return !fatalError; } void NovintScaffold::checkDeviceHoming(DeviceData* info) { unsigned int deviceStateBitmask = hdlGetState(); info->isPositionHomed = ((deviceStateBitmask & HDAL_NOT_CALIBRATED) == 0); if (info->isDevice7Dof) { // The homing state is communicated using the button information. info->isOrientationHomed = info->buttonStates[0] && info->buttonStates[1]; // So is the state of whether the device is currently held (proximity sensor). info->isDeviceHeld = info->buttonStates[2]; // There are no ACTUAL buttons on the 7DoF Falcons, so we clear the button buffer. info->buttonStates.fill(false); } else { // The 3-DoF device doesn't need the orientation homing shenanigans... info->isOrientationHomed = true; info->isDeviceHomed = info->isPositionHomed; info->isDeviceHeld = true; // ...I guess } if (info->isPositionHomed && info->isOrientationHomed && !info->isDeviceHomed) { // Wait until the tool is pointed forwards (i.e. perpendicular to the Falcon centerline) before proclaiming the // whole device homed. static const Vector3d forwardDirection = Vector3d::UnitZ(); double forwardMetric = forwardDirection.dot(info->scaledPose.linear() * forwardDirection); SURGSIM_LOG_DEBUG(m_state->logger) << "NovintDevice " << info->deviceObject->getName() << " is position- and orientation-homed, but needs to be near the home orientation. forwardMetric " << forwardMetric << " vs. threshold " << info->forwardPointingPoseThreshold; if (forwardMetric >= info->forwardPointingPoseThreshold) { // It looks like everything is ready! info->isDeviceHomed = true; } } } void NovintScaffold::calculateForceAndTorque(DeviceData* info) { const DataGroup& outputData = info->deviceObject->getOutputData(); outputData.vectors().get(DataStructures::Names::FORCE, &(info->force)); info->force += info->antigrav; // If the springJacobian was provided, multiply with the change in position since the output data was set, // to get a delta force. This way a linearized output force is calculated at haptic update rates. Math::Vector6d deltaPosition; DataGroup::DynamicMatrixType springJacobian; bool havespringJacobian = outputData.matrices().get(DataStructures::Names::SPRING_JACOBIAN, &springJacobian); if (havespringJacobian) { RigidTransform3d poseForNominal = info->scaledPose; outputData.poses().get(DataStructures::Names::INPUT_POSE, &poseForNominal); Vector3d rotationVector = Vector3d::Zero(); // Unfortunately, the current version of the OSG Falcon does not provide the roll angle via // hdlGripGetAttributesd(HDL_GRIP_ANGLE, ...) so here we do not know the actual orientation of a 7Dof robot // (and a 3Dof robot will not change orientation). // Math::computeRotationVector(info->scaledPose, poseForNominal, &rotationVector); Math::setSubVector(info->scaledPose.translation() - poseForNominal.translation(), 0, 3, &deltaPosition); Math::setSubVector(rotationVector, 1, 3, &deltaPosition); info->force += springJacobian.block<3,6>(0, 0) * deltaPosition; } /* Since the HDAL does not provide a velocity, NovintScaffold cannot use the damper Jacobian. // TODO(ryanbeasley): consider adding a velocity filter setting to NovintDevice/DeviceData. // If the damperJacobian was provided, calculate a delta force based on the change in velocity. Math::Vector6d deltaVelocity; DataGroup::DynamicMatrixType damperJacobian; bool havedamperJacobian = outputData.matrices().get(DataStructures::Names::DAMPER_JACOBIAN, &damperJacobian); if (havedamperJacobian) { Vector3d linearVelocity = Vector3d::Zero(); Vector3d angularVelocity = Vector3d::Zero(); Vector3d linearVelocityForNominal = linearVelocity; outputData.vectors().get(DataStructures::Names::INPUT_LINEAR_VELOCITY, &linearVelocityForNominal); Vector3d angularVelocityForNominal = angularVelocity; outputData.vectors().get(DataStructures::Names::INPUT_ANGULAR_VELOCITY, &angularVelocityForNominal); Math::setSubVector(linearVelocity - linearVelocityForNominal, 0, 3, &deltaVelocity); Math::setSubVector(angularVelocity - angularVelocityForNominal, 1, 3, &deltaVelocity); info->force += damperJacobian.block<3,6>(0, 0) * deltaVelocity; } */ // Calculate the torque command if applicable (and convert newton-meters to command counts). if (info->isDevice7Dof) { // Transform the forces from our device-space into the individual Falcon spaces // (+z out of Falcon front, +y up, +x to right of Falcon when looking at it from the front). static const Matrix33d leftForceTransform = makeRotationMatrix(-M_PI_2, Vector3d::UnitY().eval()); static const Matrix33d rightForceTransform = makeRotationMatrix(M_PI_2, Vector3d::UnitY().eval()); if (info->isDeviceRollAxisReversed) { info->force = leftForceTransform * info->force; } else { info->force = rightForceTransform * info->force; } Vector3d torque = Vector3d::Zero(); outputData.vectors().get(DataStructures::Names::TORQUE, &torque); if (havespringJacobian) { torque += springJacobian.block<3,6>(3, 0) * deltaPosition; } // Since the HDAL does not provide a velocity, we cannot use the damper Jacobian. // TODO(ryanbeasley): consider adding a velocity filter setting to NovintDevice/DeviceData. //if (havedamperJacobian) //{ // torque += damperJacobian.block<3,6>(3, 0) * deltaVelocity; //} static const Matrix33d rightTorqueTransform = makeRotationMatrix(M_PI, Vector3d::UnitY().eval()); if (!info->isDeviceRollAxisReversed) { torque.head<3>() = rightTorqueTransform * torque.head<3>(); } // We have the torque vector in newton-meters. Sadly, what we need is the torque command counts FOR EACH MOTOR // AXIS, not for each Cartesian axis. Which means we need to go back to calculations with joint angles. // For the Falcon 7DoF grip, the axes are perpendicular and the joint angles are Euler angles: Matrix33d rotationX = makeRotationMatrix(info->jointAngles[2], Vector3d(Vector3d::UnitX())); Matrix33d rotationY = makeRotationMatrix(info->jointAngles[1], Vector3d(Vector3d::UnitY())); Matrix33d rotationZ = makeRotationMatrix(info->jointAngles[0], Vector3d(Vector3d::UnitZ())); // NB: the order of rotations is (rotY * rotX * rotZ), not XYZ! // Construct the joint axes for the CURRENT pose of the device. Vector3d jointAxisY = Vector3d::UnitY(); Vector3d jointAxisX = rotationY * Vector3d::UnitX(); Vector3d jointAxisZ = rotationY * (rotationX * Vector3d::UnitZ()); // To convert from Cartesian space to motor-axis space, we assemble the axes into a basis matrix and invert it. Matrix33d basisMatrix; basisMatrix.col(0) = jointAxisX; basisMatrix.col(1) = jointAxisY; basisMatrix.col(2) = jointAxisZ; double basisDeterminant = fabs(basisMatrix.determinant()); // Also construct a "fake" X axis orthogonal with the other two, to be used when the pose is degenerate. // Note that the Y and X axes are always perpendicular for the Falcon 7DoF, so the normalize() can't fail and // is basically unnecessary, but... Vector3d fakeAxisZ = jointAxisY.cross(jointAxisX).normalized(); Matrix33d fakeBasisMatrix; fakeBasisMatrix.col(0) = jointAxisX; fakeBasisMatrix.col(1) = jointAxisY; fakeBasisMatrix.col(2) = fakeAxisZ; const double mediumBasisDeterminantThreshold = 0.6; const double smallBasisDeterminantThreshold = 0.4; Matrix33d decompositionMatrix; if (basisDeterminant >= mediumBasisDeterminantThreshold) { // All is well! decompositionMatrix = basisMatrix.inverse(); } else if (basisDeterminant >= smallBasisDeterminantThreshold) { // If the determinant is "medium" but not "small", the device is in a near-degenerate configuration. // Which axes are going to be commanded may be hugely dependent on small changes in the pose. // We want to gradually decrease the amount of roll torque produced near the degenerate point. double ratio = ((basisDeterminant - smallBasisDeterminantThreshold) / (mediumBasisDeterminantThreshold - smallBasisDeterminantThreshold)); // The computed ratio has to be 0 <= ratio < 1. We just use linear drop-off. // The "fake" basis matrix replaces the X axis with a fake (so it's always invertible), but the output X // torque is then meaningless. Matrix33d fakeDecompositionMatrix = fakeBasisMatrix.inverse(); fakeDecompositionMatrix.row(0) = Vector3d::Zero(); decompositionMatrix = basisMatrix.inverse() * ratio + fakeDecompositionMatrix * (1.0 - ratio); } else { // If the determinant is small, the matrix may not be invertible. // The "fake" basis matrix replaces the Z axis with a fake (so it's always invertible), but the output Z // torque is then meaningless. decompositionMatrix = fakeBasisMatrix.inverse(); decompositionMatrix.row(2) = Vector3d::Zero(); // Moreover, near the degenerate position the Z axis free-spins but is aligned with Y, // so we want to reduce Y torques as well. //double ratio = (basisDeterminant / smallBasisDeterminantThreshold); double ratio = 0; // The computed ratio has to be 0 <= ratio < 1. We just use linear drop-off. decompositionMatrix.row(1) *= ratio; } Vector3d axisTorqueVector = decompositionMatrix * torque; // Unit conversion factors for the Falcon 7DoF. THIS SHOULD BE PARAMETRIZED! const double axisTorqueMin = -2000; const double axisTorqueMax = +2000; // roll axis: torque = 41.97 mNm when command = 2000 (but flipped in left grip!) const double rollTorqueScale = axisTorqueMax / 41.97e-3; // yaw axis: torque = 95.92 mNm when command = 2000 const double yawTorqueScale = axisTorqueMax / 95.92e-3; // pitch axis: torque = 95.92 mNm when command = 2000 const double pitchTorqueScale = axisTorqueMax / 95.92e-3; info->torque[0] = 0; // Roll torque currently disabled because the roll sensor is too jittery. info->torque[1] = clampToRange(yawTorqueScale * info->torqueScale.y() * axisTorqueVector.y(), axisTorqueMin, axisTorqueMax); info->torque[2] = clampToRange(pitchTorqueScale * info->torqueScale.x() * axisTorqueVector.x(), axisTorqueMin, axisTorqueMax); info->torque[3] = 0; if (info->isDeviceRollAxisReversed) { info->torque[0] = -info->torque[0]; } } } void NovintScaffold::setInputData(DeviceData* info) { DataGroup& inputData = info->deviceObject->getInputData(); inputData.poses().set(DataStructures::Names::POSE, info->scaledPose); inputData.scalars().set(DataStructures::Names::TOOLDOF, info->toolDof); inputData.booleans().set(DataStructures::Names::BUTTON_1, info->buttonStates[0]); inputData.booleans().set(DataStructures::Names::BUTTON_2, info->buttonStates[1]); inputData.booleans().set(DataStructures::Names::BUTTON_3, info->buttonStates[2]); inputData.booleans().set(DataStructures::Names::BUTTON_4, info->buttonStates[3]); inputData.booleans().set(DataStructures::Names::IS_HOMED, info->isDeviceHomed); inputData.booleans().set(DataStructures::Names::IS_POSITION_HOMED, info->isPositionHomed); inputData.booleans().set(DataStructures::Names::IS_ORIENTATION_HOMED, info->isOrientationHomed); } bool NovintScaffold::createAllHandles() { // The Scaffold does not know which devices will be initialized, so we will try to initialize all the // devices (by name) listed in device.yaml first. // Then use hdlCatalogDevices to get the serial numbers for other connected devices not listed in device.yaml, // and initialize them (by serial number). // When registerDevice is called the name can be matched to a Handle created from a serial number. // Note: initializaiton name is case insensitive. for (const auto& item : m_state->nameToSerial) { std::string deviceName = item.first; std::transform(deviceName.begin(), deviceName.end(), deviceName.begin(), tolower); if (deviceName == "default") { SURGSIM_LOG_INFO(m_state->logger) << "'" << item.first << "' is system reserved. No Novint device should be named 'Default' (case insensitive)."; continue; } // initialize by name auto handle = std::make_shared(item.first, false); SURGSIM_LOG_IF(!storeHandleIfValid(handle, item.second), m_state->logger, WARNING) << "Failed to initialize Novint device: " << item.first << " (Serial #: " << item.second << ")"; } char serials[HDL_MAX_DEVICES * HDL_SERNUM_BUFFSIZE]; const int numDevices = hdlCatalogDevices(HDL_NOT_OPEN_BY_ANY_APP, &(serials[0]), NULL); isFatalError("Failed to get catalog of devices."); for (int i = 0; i < numDevices; ++i) { const std::string serial(&(serials[i * HDL_SERNUM_BUFFSIZE]), HDL_SERNUM_BUFFSIZE - 1); SURGSIM_LOG_DEBUG(m_state->logger) << "Found serial number " << serial << "."; // Device with serial number 'serial' already initialized. if (m_state->serialToHandle.find(serial) != m_state->serialToHandle.end()) { SURGSIM_LOG_DEBUG(m_state->logger) << "Device with serial number " << serial << " already created."; continue; } auto handle = std::make_shared(serial); SURGSIM_LOG_IF(!storeHandleIfValid(handle, serial), m_state->logger, WARNING) << "Failed to initialize Falcon with serial " << serial << "."; } m_state->initializationTime = Framework::Clock::now(); SURGSIM_LOG_DEBUG(m_state->logger) << "All device handles created."; return !m_state->serialToHandle.empty(); } void NovintScaffold::destroyAllHandles() { SURGSIM_LOG_DEBUG(m_state->logger) << "Destroying all Handles..."; m_state->registeredDevices.clear(); m_state->unregisteredHandles.clear(); m_state->serialToHandle.clear(); SURGSIM_LOG_DEBUG(m_state->logger) << "Handles destroyed."; } bool NovintScaffold::storeHandleIfValid(const std::shared_ptr& handle, const std::string& serial) { bool result = false; if (handle->isValid()) { m_state->serialToHandle[serial] = handle; hdlMakeCurrent(handle->get()); isFatalError("Failed to make device current."); result = true; } return result; } std::map NovintScaffold::getNameMap() { std::map map; std::vector paths; paths.push_back("."); Framework::ApplicationData applicationData(paths); std::string filePath; if (applicationData.tryFindFile("devices.yaml", &filePath)) { SURGSIM_LOG_DEBUG(m_state->logger) << "Found devices.yaml at '" << filePath << "'."; YAML::Node node = YAML::LoadFile(filePath); map = node["Novint"].as>(); } else { SURGSIM_LOG_INFO(m_state->logger) << "Failed to find devices.yaml, cannot map names to serial numbers."; } return map; } void NovintScaffold::runHapticFrame() { m_state->timer.markFrame(); if (m_state->timer.getCurrentNumberOfFrames() == m_state->timer.getMaxNumberOfFrames()) { SURGSIM_LOG_INFO(m_state->logger) << std::setprecision(4) << "Rate: " << m_state->timer.getAverageFrameRate() << "Hz " << "(min individual frame " << 1.0 / m_state->timer.getMaxFramePeriod() << "Hz)."; m_state->timer.setMaxNumberOfFrames(static_cast(m_state->timer.getAverageFrameRate() * 5.0)); m_state->timer.start(); } boost::lock_guard lock(m_state->mutex); for (auto& it = m_state->registeredDevices.begin(); it != m_state->registeredDevices.end(); ++it) { if (updateDeviceInput((*it).get())) { (*it)->deviceObject->pushInput(); } } for (auto& it = m_state->registeredDevices.begin(); it != m_state->registeredDevices.end(); ++it) { updateDeviceOutput(it->get(), (*it)->deviceObject->pullOutput()); } bool desiredGravityCompensation = false; Vector3d force = Vector3d::Zero(); Vector4d torque = Vector4d::Zero(); for (auto& handle : m_state->unregisteredHandles) { if (handle->isValid()) { hdlMakeCurrent(handle->get()); hdlGripSetAttributeb(HDL_GRIP_GRAVITY_COMP, 1, &desiredGravityCompensation); isFatalError("Cannot set gravity compensation state on recently unregistered device."); hdlGripSetAttributev(HDL_GRIP_FORCE, 0, force.data()); isFatalError("hdlGripSetAttributev(HDL_GRIP_FORCE)"); hdlGripSetAttributesd(HDL_GRIP_TORQUE, 4, torque.data()); isFatalError("hdlGripSetAttributesd(HDL_GRIP_TORQUE)"); } } m_state->unregisteredHandles.clear(); } bool NovintScaffold::getGravityCompensation(const NovintScaffold::DeviceData* info, bool* gravityCompensationState) { bool state1 = true; hdlGripGetAttributeb(HDL_GRIP_GRAVITY_COMP, 1, &state1); if (isFatalError("Cannot get gravity compensation (#1)")) { return false; } bool state2 = false; hdlGripGetAttributeb(HDL_GRIP_GRAVITY_COMP, 1, &state2); if (isFatalError("Cannot get gravity compensation (#2)")) { return false; } if (state1 == true && state2 == false) { SURGSIM_LOG_WARNING(m_state->logger) << "getting gravity compensation state for '" << info->deviceObject->getName() << "' does nothing!"; return false; } else if (state1 != state2) { SURGSIM_LOG_WARNING(m_state->logger) << "getting gravity compensation state for '" << info->deviceObject->getName() << "' keeps changing?!?"; return false; } *gravityCompensationState = state1; return true; } bool NovintScaffold::enforceGravityCompensation(const NovintScaffold::DeviceData* info, bool gravityCompensationState) { bool initialState; bool isInitialStateValid = getGravityCompensation(info, &initialState); const int maxAttempts = 20; for (int i = 0; i < maxAttempts; ++i) { bool state = gravityCompensationState; hdlGripSetAttributeb(HDL_GRIP_GRAVITY_COMP, 1, &state); if (isFatalError("Cannot set gravity compensation state")) { return false; } if (!getGravityCompensation(info, &state)) { return false; } else if (state == gravityCompensationState) { // If the state has been changed, log a message. if (isInitialStateValid && (initialState != gravityCompensationState)) { SURGSIM_LOG_INFO(m_state->logger) << "gravity compensation for '" << info->deviceObject->getName() << "' changed to " << (gravityCompensationState? "enabled." : "disabled." ); } return true; } } SURGSIM_LOG_WARNING(m_state->logger) << "failed to set gravity compensation for '" << info->deviceObject->getName() << "' to " << (gravityCompensationState ? "enabled" : "disabled") << " after " << maxAttempts << " attempts"; return false; } bool NovintScaffold::setGravityCompensation(const NovintScaffold::DeviceData* info, bool gravityCompensationState) { bool initialState; bool isInitialStateValid = getGravityCompensation(info, &initialState); if (isInitialStateValid && (initialState == gravityCompensationState)) { return true; // no need to do anything } return enforceGravityCompensation(info, gravityCompensationState); } DataGroup NovintScaffold::buildDeviceInputData() { DataStructures::DataGroupBuilder builder; builder.addPose(DataStructures::Names::POSE); builder.addScalar(DataStructures::Names::TOOLDOF); builder.addBoolean(DataStructures::Names::BUTTON_1); builder.addBoolean(DataStructures::Names::BUTTON_2); builder.addBoolean(DataStructures::Names::BUTTON_3); builder.addBoolean(DataStructures::Names::BUTTON_4); builder.addBoolean(DataStructures::Names::IS_HOMED); builder.addBoolean(DataStructures::Names::IS_POSITION_HOMED); builder.addBoolean(DataStructures::Names::IS_ORIENTATION_HOMED); return builder.createData(); } void NovintScaffold::setPositionScale(const NovintDevice* device, double scale) { boost::lock_guard lock(m_state->mutex); auto& matching = std::find_if(m_state->registeredDevices.begin(), m_state->registeredDevices.end(), [&device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (matching != m_state->registeredDevices.end()) { boost::lock_guard lock((*matching)->parametersMutex); (*matching)->positionScale = scale; } } void NovintScaffold::setOrientationScale(const NovintDevice* device, double scale) { boost::lock_guard lock(m_state->mutex); auto& matching = std::find_if(m_state->registeredDevices.begin(), m_state->registeredDevices.end(), [&device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (matching != m_state->registeredDevices.end()) { boost::lock_guard lock((*matching)->parametersMutex); (*matching)->orientationScale = scale; } } std::shared_ptr NovintScaffold::getOrCreateSharedInstance() { static Framework::SharedInstance sharedInstance; return sharedInstance.get(); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Novint/NovintScaffold.h000066400000000000000000000176141277777236100234450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_NOVINT_NOVINTSCAFFOLD_H #define SURGSIM_DEVICES_NOVINT_NOVINTSCAFFOLD_H #include #include #include "SurgSim/DataStructures/DataGroup.h" namespace SurgSim { namespace Devices { class NovintDevice; /// A class that manages Novint Falcon devices. /// /// This should support any device that can communicate using the Novint HDAL SDK toolkit, such as the /// off-the-shelf Novint Falcon gaming controller and the Novint Falcon with the Open Surgery Grip. /// /// \sa SurgSim::Devices::NovintDevice class NovintScaffold { public: /// Constructor. NovintScaffold(); /// Destructor. ~NovintScaffold(); /// Gets or creates the scaffold shared by all NovintDevice and Novint7DofDevice instances. /// The scaffold is managed using a SharedInstance object, so it will be destroyed when all devices are released. /// \return the scaffold object. static std::shared_ptr getOrCreateSharedInstance(); private: NovintScaffold(const NovintScaffold&) /*= delete*/; NovintScaffold& operator=(const NovintScaffold&) /*= delete*/; /// Internal shared state data type. struct StateData; /// Internal per-device information. struct DeviceData; /// Wrapper for the haptic loop callback. class Callback; /// Wrapper for the HDAL device handle. class Handle; friend class NovintDevice; /// Registers the specified device object, and starts the servo loop if necessary. /// If successful, the device object will become connected to an unused controller. /// /// \param device The device object to be used, which should have a unique name. /// \return True if the initialization succeeds, false if it fails. bool registerDevice(NovintDevice* device); /// Unregisters the specified device object. /// The corresponding controller will become unused, and can be re-registered later. /// /// \param device The device object. /// \return true on success, false on failure. bool unregisterDevice(const NovintDevice* device); /// Initializes a single device, creating the necessary HDAL resources. /// \param [in,out] info The device data. /// \return true on success. bool initializeDeviceState(DeviceData* info); /// Get the Handle associated with an initialization name, if any. /// \param initializationName The initialization name (from the configuration file). /// \return Shared pointer to Handle, or nullptr if not found. std::shared_ptr findHandleByInitializationName(const std::string& initializationName); /// Updates the device information for a single device's input. /// \param info The device data. /// \return true on success. bool updateDeviceInput(DeviceData* info); /// Updates the device information for a single device's output. If pullOutput failed, zeros forces & torques. /// \param info The device data. /// \param pulledOutput true if the most recent pullOutput succeeded. /// \return true on success. bool updateDeviceOutput(DeviceData* info, bool pulledOutput); /// Checks whether a device has been homed. If the position and/or orientation have not been homed, zeros the /// respective Values. Call this before setting the data to send to the Input Component. The DeviceData's /// parameter mutex should be locked before this function is called. /// \param info The device data. void checkDeviceHoming(DeviceData* info); /// Calculates forces, and torques if the device is a 7Dof, and sends them to the HDAL. The force to output is /// composed of a vector named "force" in the output data, plus contributions from two optional Jacobians. /// If the matrix "springJacobian" is provided in the output data, a spring force & torque are generated from /// its product with the difference between the current pose and the pose in the output data named "inputPose". /// A damping force & torque are generated similarly. The intention is for a Behavior to calculate a nominal /// force & torque as well as the desired linearized changes to the force & torque based on changes to the input's /// pose & velocities. Then the linearized deltas to the output force & torque can be calculated at the haptic /// update rates, thereby smoothing the output response to motion. /// \param info The device data. /// \note The DeviceData's parameter mutex should be locked before this function is called. void calculateForceAndTorque(DeviceData* info); /// Sets the input DataGroup, which will be pushed to the InputComponent /// \param info The device data void setInputData(DeviceData* info); /// Gets the map from name to serial number. /// \return The map. std::map getNameMap(); /// Creates a NovintScaffold::Handle for each device connected when the first registerDevice is called. /// \return True if there are device handles created; false otherwise. bool createAllHandles(); /// Destroys all the initialized handles. void destroyAllHandles(); /// Store the handle if it is valid. /// \return true If handle is valid and stored; false, otherwise. bool storeHandleIfValid(const std::shared_ptr& handle, const std::string& serial); /// Executes the operations for a single haptic frame. /// Should only be called from the context of a HDAL callback. void runHapticFrame(); /// Gets the gravity compensation flag for the current device. /// \param info The device data. /// \param [out] gravityCompensationState State of the gravity compensation flag. /// \return true if it succeeds, false if it fails. bool getGravityCompensation(const DeviceData* info, bool* gravityCompensationState); /// Attempts to force the gravity compensation flag for the current device to the specified value. /// /// Sets the flag repeatedly, until it reports the desired value, in order to work around the problem where /// attempts to set the gravity compensation do not always change the actual gravity compensation flag in the /// device. /// /// Logs a message if the state is known to have been changed. /// /// \param info The device data. /// \param gravityCompensationState Desired state of the gravity compensation flag. /// \return true if it succeeds, false if it fails. bool enforceGravityCompensation(const DeviceData* info, bool gravityCompensationState); /// Sets the gravity compensation flag for the current device, unless it's already set as desired. /// \param info The device data. /// \param gravityCompensationState Desired state of the gravity compensation flag. /// \return true if it succeeds, false if it fails. bool setGravityCompensation(const DeviceData* info, bool gravityCompensationState); /// Builds the data layout for the application input (i.e. device output). static SurgSim::DataStructures::DataGroup buildDeviceInputData(); /// Sets the position scale for this device. /// \param device A pointer to the device. /// \param scale The multiplicative factor to apply to the position. void setPositionScale(const NovintDevice* device, double scale); /// Sets the orientation scale for this device. /// \param device A pointer to the device. /// \param scale The multiplicative factor to apply to the rotation angles. void setOrientationScale(const NovintDevice* device, double scale); /// Internal scaffold state. std::unique_ptr m_state; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_NOVINT_NOVINTSCAFFOLD_H opensurgsim-0.7.0/SurgSim/Devices/Novint/UnitTests/000077500000000000000000000000001277777236100223065ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Novint/UnitTests/CMakeLists.txt000066400000000000000000000017601277777236100250520ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES NovintDeviceTest.cpp NovintScaffoldTest.cpp ) set(LIBS NovintDevice SurgSimInput SurgSimFramework SurgSimDataStructures ${Boost_LIBRARIES} ${NOVINTHDALSDK_LIBRARIES} ) surgsim_add_unit_tests(NovintDeviceTest) set_target_properties(NovintDeviceTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Novint/UnitTests/NovintDeviceTest.cpp000066400000000000000000000302111277777236100262440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the NovintDevice class. #include #include #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/OptionalValue.h" #include "SurgSim/Devices/Novint/NovintDevice.h" #include "SurgSim/Framework/Clock.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::Devices::NovintDevice; using SurgSim::DataStructures::DataGroup; using SurgSim::Framework::Clock; using SurgSim::Math::Matrix44d; using SurgSim::Math::RigidTransform3d; using SurgSim::Testing::MockInputOutput; // Define common device names used in the Novint device tests. // These initialization names should be set to two of the names used in devices.yaml (or be empty strings to just get // the first device). The serial number should be a serial number for one of the attached Falcons (or be an empty // string to just get the first device.) const std::string NOVINT_TEST_DEVICE_NAME = "FALCON_1"; const std::string NOVINT_TEST_DEVICE_NAME_2 = "FALCON_2"; const std::string NOVINT_TEST_DEVICE_SERIAL_NUMBER = "14QAVEFF"; TEST(NovintDeviceTest, CreateAndInitializeDeviceByName) { std::shared_ptr device = std::make_shared("TestFalcon"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; std::string initializationName = ""; EXPECT_FALSE(device->getInitializationName(&initializationName)); EXPECT_NO_THROW(device->setInitializationName(NOVINT_TEST_DEVICE_NAME)); ASSERT_TRUE(device->getInitializationName(&initializationName)); EXPECT_EQ(NOVINT_TEST_DEVICE_NAME, initializationName); std::string serialNumber; EXPECT_FALSE(device->getSerialNumber(&serialNumber)); EXPECT_ANY_THROW(device->setSerialNumber("")); EXPECT_FALSE(device->isInitialized()); EXPECT_EQ("TestFalcon", device->getName()); EXPECT_NEAR(8.9, device->getMaxForce(), 1e-9); EXPECT_NO_THROW(device->setMaxForce(20.0)); EXPECT_NEAR(20.0, device->getMaxForce(), 1e-9); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Novint device plugged in?"; ASSERT_TRUE(device->isInitialized()); ASSERT_ANY_THROW(device->initialize()) << "Initialized the same device twice."; ASSERT_ANY_THROW(device->setInitializationName("OtherName")); ASSERT_ANY_THROW(device->setMaxForce(20.0)) << "Set maximum force after initialization."; EXPECT_EQ("TestFalcon", device->getName()); const double positionScale = 2.0; device->setPositionScale(positionScale); EXPECT_EQ(positionScale, device->getPositionScale()); const double orientationScale = 2.0; device->setOrientationScale(orientationScale); EXPECT_EQ(orientationScale, device->getOrientationScale()); } TEST(NovintDeviceTest, CreateAndInitializeDeviceBySerialNumber) { std::shared_ptr device = std::make_shared("TestFalcon"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; std::string serialNumber = ""; EXPECT_FALSE(device->getSerialNumber(&serialNumber)); device->setSerialNumber(NOVINT_TEST_DEVICE_SERIAL_NUMBER); ASSERT_TRUE(device->getSerialNumber(&serialNumber)); EXPECT_EQ(NOVINT_TEST_DEVICE_SERIAL_NUMBER, serialNumber); std::string initializationName; EXPECT_FALSE(device->getInitializationName(&initializationName)); EXPECT_ANY_THROW(device->setInitializationName("")); EXPECT_FALSE(device->isInitialized()); EXPECT_EQ("TestFalcon", device->getName()); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Novint device plugged in?"; EXPECT_TRUE(device->isInitialized()); EXPECT_EQ("TestFalcon", device->getName()); const double positionScale = 2.0; device->setPositionScale(positionScale); EXPECT_EQ(positionScale, device->getPositionScale()); const double orientationScale = 2.0; device->setOrientationScale(orientationScale); EXPECT_EQ(orientationScale, device->getOrientationScale()); } TEST(NovintDeviceTest, CreateAndInitializeDefaultDevices) { std::shared_ptr device = std::make_shared("TestFalcon"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_FALSE(device->isInitialized()); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Novint device plugged in?"; EXPECT_TRUE(device->isInitialized()); std::string initializationName; EXPECT_FALSE(device->getInitializationName(&initializationName)); std::string serialNumber; EXPECT_FALSE(device->getSerialNumber(&serialNumber)); std::shared_ptr device2 = std::make_shared("TestFalcon2"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; EXPECT_FALSE(device2->isInitialized()); if (!device2->initialize()) { std::cerr << "[Warning: second Novint did not come up; is it plugged in?]" << std::endl; } } static void testCreateDeviceSeveralTimes(bool doSleep) { for (int i = 0; i < 6; ++i) { std::shared_ptr device = std::make_shared("TestFalcon"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Novint device plugged in?"; if (doSleep) { boost::this_thread::sleep_until(Clock::now() + boost::chrono::milliseconds(100)); } // the device will be destroyed here } } TEST(NovintDeviceTest, CreateDeviceSeveralTimes) { testCreateDeviceSeveralTimes(true); } TEST(NovintDeviceTest, CreateTwoDevices) { std::shared_ptr device1 = std::make_shared("Novint1"); ASSERT_TRUE(device1 != nullptr) << "Device creation failed."; device1->setInitializationName(NOVINT_TEST_DEVICE_NAME); ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a Novint device plugged in?"; std::shared_ptr device2 = std::make_shared("Novint2"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; device2->setInitializationName(NOVINT_TEST_DEVICE_NAME_2); if (!device2->initialize()) { std::cerr << "[Warning: second Novint did not come up; is it plugged in?]" << std::endl; } } TEST(NovintDeviceTest, CreateDevicesWithSameInitializationName) { if (NOVINT_TEST_DEVICE_NAME != "") { std::shared_ptr device1 = std::make_shared("Novint1"); ASSERT_TRUE(device1 != nullptr) << "Device creation failed."; device1->setInitializationName(NOVINT_TEST_DEVICE_NAME); ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a Novint device plugged in?"; std::shared_ptr device2 = std::make_shared("Novint2"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; device2->setInitializationName(NOVINT_TEST_DEVICE_NAME); ASSERT_FALSE(device2->initialize()) << "Initialization succeeded despite duplicate initialization name."; } } TEST(NovintDeviceTest, CreateDevicesWithSameSerialNumber) { if (NOVINT_TEST_DEVICE_SERIAL_NUMBER != "") { std::shared_ptr device1 = std::make_shared("Novint1"); ASSERT_TRUE(device1 != nullptr) << "Device creation failed."; device1->setSerialNumber(NOVINT_TEST_DEVICE_SERIAL_NUMBER); ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a Novint device plugged in?"; std::shared_ptr device2 = std::make_shared("Novint2"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; device2->setSerialNumber(NOVINT_TEST_DEVICE_SERIAL_NUMBER); ASSERT_FALSE(device2->initialize()) << "Initialization succeeded despite duplicate serial number."; } } TEST(NovintDeviceTest, InputConsumer) { std::shared_ptr device = std::make_shared("TestFalcon"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; device->setInitializationName(NOVINT_TEST_DEVICE_NAME); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Novint device plugged in?"; /// Wait a while for the HDL to initialize and start running the callback. boost::this_thread::sleep_for(boost::chrono::milliseconds(1000)); std::shared_ptr consumer = std::make_shared(); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_FALSE(device->removeInputConsumer(consumer)); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device->addInputConsumer(consumer)); // Adding the same input consumer again should fail. EXPECT_FALSE(device->addInputConsumer(consumer)); // Sleep for a second, to see how many times the consumer is invoked. // (A Novint device is supposed to run at 1KHz.) boost::this_thread::sleep_for(boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeInputConsumer(consumer)); // Removing the same input consumer again should fail. EXPECT_FALSE(device->removeInputConsumer(consumer)); // Check the number of invocations. EXPECT_GE(consumer->m_numTimesReceivedInput, 700); EXPECT_LE(consumer->m_numTimesReceivedInput, 1300); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData(SurgSim::DataStructures::Names::POSE)); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData(SurgSim::DataStructures::Names::BUTTON_1)); } TEST(NovintDeviceTest, OutputProducer) { std::shared_ptr device = std::make_shared("TestFalcon"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; device->setInitializationName(NOVINT_TEST_DEVICE_NAME); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Novint device plugged in?"; /// Wait a while for the HDL to initialize and start running the callback. boost::this_thread::sleep_for(boost::chrono::milliseconds(1000)); std::shared_ptr producer = std::make_shared(); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_FALSE(device->removeOutputProducer(producer)); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_TRUE(device->setOutputProducer(producer)); // Sleep for a second, to see how many times the producer is invoked. // (A Novint Falcon device is supposed to run at 1KHz.) boost::this_thread::sleep_for(boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeOutputProducer(producer)); // Removing the same input producer again should fail. EXPECT_FALSE(device->removeOutputProducer(producer)); // Check the number of invocations. EXPECT_GE(producer->m_numTimesRequestedOutput, 700); EXPECT_LE(producer->m_numTimesRequestedOutput, 1300); } TEST(NovintDeviceTest, FactoryCreation) { std::shared_ptr device; ASSERT_NO_THROW(device = SurgSim::Input::DeviceInterface::getFactory().create("SurgSim::Devices::NovintDevice", "TestFalcon")); EXPECT_EQ("SurgSim::Devices::NovintDevice", device->getClassName()); } TEST(NovintDeviceTest, AccessibleTest) { std::shared_ptr device = std::make_shared("TestFalcon"); std::string name = "initName"; SurgSim::DataStructures::OptionalValue optionalName(name); EXPECT_NO_THROW(device->setValue("InitializationName", optionalName)); std::string actualName; ASSERT_TRUE(device->getInitializationName(&actualName)); EXPECT_EQ(name, actualName); std::string number = "serialNumber"; SurgSim::DataStructures::OptionalValue optionalNumber(number); EXPECT_NO_THROW(device->setValue("SerialNumber", optionalNumber)); std::string actualNumber; ASSERT_TRUE(device->getSerialNumber(&actualNumber)); EXPECT_EQ(number, actualNumber); ASSERT_FALSE(device->is7DofDevice()); EXPECT_NO_THROW(device->setValue("7DofDevice", true)); EXPECT_TRUE(device->is7DofDevice()); EXPECT_NEAR(8.9, device->getMaxForce(), 1e-9); EXPECT_NO_THROW(device->setValue("MaxForce", 20.0)); EXPECT_NEAR(20.0, device->getMaxForce(), 1e-9); } opensurgsim-0.7.0/SurgSim/Devices/Novint/UnitTests/NovintScaffoldTest.cpp000066400000000000000000000154311277777236100265750ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the NovintScaffold class and its device interactions. #include #include #include #include #include #include "SurgSim/Devices/Novint/NovintDevice.h" #include "SurgSim/Devices/Novint/NovintScaffold.h" using SurgSim::Devices::NovintDevice; using SurgSim::Devices::NovintScaffold; TEST(NovintScaffoldTest, CreateAndDestroyScaffold) { std::shared_ptr scaffold = NovintScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created!"; std::weak_ptr scaffold1 = scaffold; { std::shared_ptr stillHaveScaffold = scaffold1.lock(); EXPECT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; EXPECT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } { std::shared_ptr sameScaffold = NovintScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, sameScaffold) << "Unable to get scaffold from class"; EXPECT_EQ(scaffold, sameScaffold) << "Scaffold mismatch!"; } scaffold.reset(); { std::shared_ptr dontHaveScaffold = scaffold1.lock(); EXPECT_EQ(nullptr, dontHaveScaffold) << "Able to get scaffold from weak ref (with no strong ref)"; } scaffold = NovintScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created the 2nd time!"; std::weak_ptr scaffold2 = scaffold; { std::shared_ptr stillHaveScaffold = scaffold2.lock(); ASSERT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; ASSERT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } } TEST(NovintScaffoldTest, ScaffoldLifeCycle) { std::weak_ptr lastScaffold; { std::shared_ptr scaffold = NovintScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created!"; lastScaffold = scaffold; } { std::shared_ptr dontHaveScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, dontHaveScaffold) << "Able to get scaffold from weak ref (with no strong ref)"; lastScaffold.reset(); } { std::shared_ptr device = std::make_shared("TestFalcon"); ASSERT_NE(nullptr, device) << "Creation failed. Is a Novint device plugged in?"; // note: the device is NOT initialized! { std::shared_ptr scaffold = NovintScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // save the scaffold for later std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); EXPECT_EQ(scaffold, sameScaffold); } // The device has not been initialized, so it should NOT be hanging on to the device! { std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } // the ("empty") device is about to get destroyed } { std::shared_ptr device = std::make_shared("TestFalcon"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Novint device plugged in?"; { std::shared_ptr scaffold = NovintScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // save the scaffold for later std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); EXPECT_EQ(scaffold, sameScaffold); } // The same scaffold is supposed to still be around because of the device { std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); std::shared_ptr scaffold = NovintScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; EXPECT_EQ(sameScaffold, scaffold); } // the device and the scaffold are about to get destroyed } { std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } { std::shared_ptr device = std::make_shared("TestFalcon"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Didn't this work a moment ago?"; std::shared_ptr scaffold = NovintScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } } TEST(NovintScaffoldTest, CreateDeviceSeveralTimes) { std::weak_ptr lastScaffold; for (int i = 0; i < 6; ++i) { SCOPED_TRACE(i); EXPECT_EQ(nullptr, lastScaffold.lock()); std::shared_ptr device = std::make_shared("TestFalcon"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Novint device plugged in?"; std::shared_ptr scaffold = NovintScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // the device and the scaffold will be destroyed here } } TEST(NovintScaffoldTest, CreateDeviceSeveralTimesWithScaffoldRef) { std::shared_ptr lastScaffold; for (int i = 0; i < 6; ++i) { SCOPED_TRACE(i); std::shared_ptr device = std::make_shared("TestFalcon"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Novint device plugged in?"; std::shared_ptr scaffold = NovintScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; if (! lastScaffold) { lastScaffold = scaffold; } EXPECT_EQ(lastScaffold, scaffold); // the device will be destroyed here, but the scaffold stays around because we have a shared_ptr to it. } } opensurgsim-0.7.0/SurgSim/Devices/Novint/VisualTest/000077500000000000000000000000001277777236100224475ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Novint/VisualTest/CMakeLists.txt000066400000000000000000000017161277777236100252140ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. set(EXAMPLE_SOURCES main.cpp ) set(EXAMPLE_HEADERS ) set(LIBS IdentityPoseDevice NovintDevice SurgSimInput VisualTestCommon ) surgsim_add_executable(NovintVisualTest "${EXAMPLE_SOURCES}" "${EXAMPLE_HEADERS}") target_link_libraries(NovintVisualTest ${LIBS}) set_target_properties(NovintVisualTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Novint/VisualTest/main.cpp000066400000000000000000000032241277777236100241000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.h" #include "SurgSim/Devices/Novint/NovintDevice.h" #include "SurgSim/Testing/VisualTestCommon/ToolSquareTest.h" // The initialization name of the NovintDevice. An empty string will use the first available Falcon. static const char* const NOVINT_DEVICE_NAME = ""; // true if the Novint should be 7Dof, false if the Novint should be 3Dof. static const bool NOVINT_7_DOF = false; int main(int argc, char** argv) { auto toolDevice = std::make_shared("NovintDevice"); toolDevice->setInitializationName(NOVINT_DEVICE_NAME); toolDevice->set7DofDevice(NOVINT_7_DOF); auto squareDevice = std::make_shared("IdentityPoseDevice"); runToolSquareTest(toolDevice, squareDevice, "Move the Novint Falcon device to move the sphere tool."); std::cout << std::endl << "Exiting." << std::endl; // Cleanup and shutdown will happen automatically as objects go out of scope. return 0; } opensurgsim-0.7.0/SurgSim/Devices/Oculus/000077500000000000000000000000001277777236100203415ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Oculus/CMakeLists.txt000066400000000000000000000031571277777236100231070ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2015, SimQuest Solutions 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 # # 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. find_package(OculusSdk) include_directories( "${CMAKE_CURRENT_SOURCE_DIR}" "${OCULUSSDK_INCLUDE_DIR}" ) set(OCULUS_DEVICE_SOURCES OculusDevice.cpp OculusDisplaySettings.cpp OculusScaffold.cpp OculusView.cpp ) set(OCULUS_DEVICE_HEADERS OculusDevice.h OculusDisplaySettings.h OculusScaffold.h OculusView.h ) set(DEVICE_HEADERS ${DEVICE_HEADERS} Oculus/OculusDevice.h Oculus/OculusView.h PARENT_SCOPE) surgsim_add_library( OculusDevice "${OCULUS_DEVICE_SOURCES}" "${OCULUS_DEVICE_HEADERS}" ) set(LIBS SurgSimDataStructures SurgSimFramework SurgSimGraphics SurgSimInput ${OCULUSSDK_LIBRARY} ${OPENSCENEGRAPH_LIBRARIES} ) target_link_libraries(OculusDevice ${LIBS}) if(BUILD_TESTING) # The unit tests will be built whenever the library is built. add_subdirectory(UnitTests) add_subdirectory(SceneTest) if(GLUT_FOUND) add_subdirectory(VisualTest) endif(GLUT_FOUND) endif() # Put OculusDevice into folder "Devices" set_target_properties(OculusDevice PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Oculus/Oculus.dox000066400000000000000000000017261277777236100223350ustar00rootroot00000000000000/*! \page Oculus Oculus: Oculus Rift DK2 This adds support for Oculus Rift DK2 virtual reality display. Supported Version ----------------- Version 0.5.0.1 beta is the ONLY SDK tested and supported for Windows and GNU/Linux. Dependencies ------------ Oculus Rift SDK: SDK is available for Windows and GNU/Linux on Oculus Rift Developer website. For Windows, you must first install the Oculus Runtime package and download the Oculus SDK. Then set an environment variable OCULUSSDK_DIR to the directory containing LibOVR (but do not include 'LibOVR' in the variable). For GNU/Linux, download the SDK package, extract it, run its configuration script FIRST, build the library, then install it. If the SDK is in a custom location, you must set an environment variable OCULUSSDK_DIR pointing to the install path. The default installed one will be picked if both exist. Then, in CMake, enable BUILD_DEVICE_OCULUS. */ opensurgsim-0.7.0/SurgSim/Devices/Oculus/OculusDevice.cpp000066400000000000000000000052331277777236100234420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Oculus/OculusDevice.h" #include "SurgSim/Devices/Oculus/OculusScaffold.h" #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::OculusDevice, OculusDevice); OculusDevice::OculusDevice(const std::string& name) : SurgSim::Input::CommonDevice(name, OculusScaffold::buildDeviceInputData()), m_nearPlane(0.1f), m_farPlane(10.0f) { } OculusDevice::~OculusDevice() { if (isInitialized()) { finalize(); } } bool OculusDevice::initialize() { SURGSIM_ASSERT(!isInitialized()) << getName() << " already initialized."; auto scaffold = OculusScaffold::getOrCreateSharedInstance(); SURGSIM_ASSERT(scaffold != nullptr); bool initialize = false; if (scaffold->registerDevice(this)) { m_scaffold = std::move(scaffold); initialize = true; } return initialize; } bool OculusDevice::finalize() { SURGSIM_ASSERT(isInitialized()) << getName() << " is not initialized, cannot finalize."; bool result = m_scaffold->unregisterDevice(this); m_scaffold.reset(); return result; } bool OculusDevice::isInitialized() const { return (m_scaffold != nullptr); } void OculusDevice::setNearPlane(float nearPlane) { SURGSIM_ASSERT(nearPlane > 0.0f) << "Can not use a negative near plane."; SURGSIM_LOG_IF(nearPlane > m_farPlane, SurgSim::Framework::Logger::getLogger("Device/OculusDevice"), WARNING) << __FUNCTION__ << "Trying to set a near plane that is greater than the far plane."; m_nearPlane = nearPlane; } float OculusDevice::getNearPlane() const { return m_nearPlane; } void OculusDevice::setFarPlane(float farPlane) { SURGSIM_ASSERT(farPlane > 0.0f) << "Can not use a negative far plane."; SURGSIM_LOG_IF(farPlane < m_nearPlane, SurgSim::Framework::Logger::getLogger("Device/OculusDevice"), WARNING) << __FUNCTION__ << "Trying to set a far plane that is smaller than the near plane."; m_farPlane = farPlane; } float OculusDevice::getFarPlane() const { return m_farPlane; } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Oculus/OculusDevice.h000066400000000000000000000057151277777236100231140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_OCULUS_OCULUSDEVICE_H #define SURGSIM_DEVICES_OCULUS_OCULUSDEVICE_H #include #include #include "SurgSim/Input/CommonDevice.h" namespace SurgSim { namespace Devices { class OculusScaffold; SURGSIM_STATIC_REGISTRATION(OculusDevice); /// A class implementing the communication with Oculus Rift DK2. /// /// \par Application input provided by the device: /// | type | name | | /// | ---- | ---- | --- | /// | pose | "pose" | %Device pose (units are meters). | /// | matrix | "leftProjectionMatix" | %Projection matrix for left eye | /// | matrix | "rghtProjectionMatix" | %Projection matrix for right eye | /// /// \par Application output used by the device: none. /// \note The axes of the pose of the HMD are a right-handed system: X & Z are in the plane of the floor, /// with X pointing to the camera's left (i.e. to the HMD's right) and Z pointing towards the camera, /// while Y points up from the floor. /// By default the tracking origin is located one meter away from the positional tracking camera in the direction /// of the optical axis but with the same height as the camera. /// \sa SurgSim::Input::CommonDevice, SurgSim::Input::DeviceInterface class OculusDevice : public SurgSim::Input::CommonDevice { public: /// Constructor. /// \param name A unique name for the device. explicit OculusDevice(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Devices::OculusDevice); /// Destructor. virtual ~OculusDevice(); bool initialize() override; bool isInitialized() const override; /// Set the near plane /// \param nearPlane The near plane void setNearPlane(float nearPlane); /// \return The near plane float getNearPlane() const; /// Set the far plane /// \param farPlane The far plane void setFarPlane(float farPlane); /// \return The far plane float getFarPlane() const; private: friend class OculusScaffold; bool finalize() override; /// Near Plane float m_nearPlane; /// Far Plane float m_farPlane; /// Communication with hardware is handled by scaffold. std::shared_ptr m_scaffold; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_OCULUS_OCULUSDEVICE_H opensurgsim-0.7.0/SurgSim/Devices/Oculus/OculusDisplaySettings.cpp000066400000000000000000000041451277777236100253720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Oculus/OculusDisplaySettings.h" #include "SurgSim/Graphics/OsgMatrixConversions.h" namespace SurgSim { namespace Devices { OculusDisplaySettings::OculusDisplaySettings() : m_leftEyeProjectionMatrix(osg::Matrixd()), m_rightEyeProjectionMatrix(osg::Matrixd()) { } OculusDisplaySettings::OculusDisplaySettings(const osg::DisplaySettings* displaySettings) : osg::DisplaySettings(*displaySettings), m_leftEyeProjectionMatrix(osg::Matrixd()), m_rightEyeProjectionMatrix(osg::Matrixd()) { } void OculusDisplaySettings::setLeftEyeProjectionMatrix(const SurgSim::Math::Matrix44d& matrix) { m_leftEyeProjectionMatrix = SurgSim::Graphics::toOsg(matrix); } SurgSim::Math::Matrix44d OculusDisplaySettings::getLeftEyeProjectionMatrix() const { return SurgSim::Graphics::fromOsg(m_leftEyeProjectionMatrix); } void OculusDisplaySettings::setRightEyeProjectionMatrix(const SurgSim::Math::Matrix44d& matrix) { m_rightEyeProjectionMatrix = SurgSim::Graphics::toOsg(matrix); } SurgSim::Math::Matrix44d OculusDisplaySettings::getRightEyeProjectionMatrix() const { return SurgSim::Graphics::fromOsg(m_rightEyeProjectionMatrix); } osg::Matrixd OculusDisplaySettings::computeLeftEyeProjectionImplementation(const osg::Matrixd&) const { return m_leftEyeProjectionMatrix; } osg::Matrixd OculusDisplaySettings::computeRightEyeProjectionImplementation(const osg::Matrixd&) const { return m_rightEyeProjectionMatrix; } }; // namespace Devices }; // namespace SurgSimopensurgsim-0.7.0/SurgSim/Devices/Oculus/OculusDisplaySettings.h000066400000000000000000000054151277777236100250400ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_OCULUS_OCULUSDISPLAYSETTINGS_H #define SURGSIM_DEVICES_OCULUS_OCULUSDISPLAYSETTINGS_H #include #include "SurgSim/Math/Matrix.h" namespace SurgSim { namespace Devices { /// A customized osg::DisplaySettings, to be used with Oculus device. /// It passes customized projection matrices to OSG for rendering. class OculusDisplaySettings : public osg::DisplaySettings { public: /// Constructor OculusDisplaySettings(); /// Constructor /// \param displaySettings An instance of osg::DisplaySettings explicit OculusDisplaySettings(const osg::DisplaySettings* displaySettings); /// Set the projection matrix of the left eye /// \param matrix Projection matrix for left eye void setLeftEyeProjectionMatrix(const SurgSim::Math::Matrix44d& matrix); /// Get the projection matrix of the left eye /// \return Projection matrix for left eye SurgSim::Math::Matrix44d getLeftEyeProjectionMatrix() const; /// Set the projection matrix of the right eye /// \param matrix Projection matrix for right eye void setRightEyeProjectionMatrix(const SurgSim::Math::Matrix44d& matrix); /// Get the projection matrix of the right eye /// \return Projection matrix for right eye SurgSim::Math::Matrix44d getRightEyeProjectionMatrix() const; /// This method returns the projection matrix set by setLeftEyeProjectionMatrix() method. /// OSG calls this overriding function to get the left eye projection matrix to use. /// The parameter passed in is NOT used. osg::Matrixd computeLeftEyeProjectionImplementation(const osg::Matrixd&) const override; /// This method returns the projection matrix set by setRighttEyeProjectionMatrix() method. /// OSG calls this overiding function to get the right eye projection matrix to use. /// The parameter passed in is NOT used. osg::Matrixd computeRightEyeProjectionImplementation(const osg::Matrixd&) const override; private: /// Left eye projection matrix osg::Matrixd m_leftEyeProjectionMatrix; /// Right eye projection matrix osg::Matrixd m_rightEyeProjectionMatrix; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_OCULUS_OCULUSDISPLAYSETTINGS_Hopensurgsim-0.7.0/SurgSim/Devices/Oculus/OculusScaffold.cpp000066400000000000000000000224051277777236100237640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015-2016, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Oculus/OculusScaffold.h" #include #include #include #include #include #if 6 == OVR_MAJOR_VERSION #include #elif 5 == OVR_MAJOR_VERSION #include #endif #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Devices/Oculus/OculusDevice.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SharedInstance.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::DataStructures::DataGroup; using SurgSim::DataStructures::DataGroupBuilder; using SurgSim::Framework::Logger; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Devices { struct OculusScaffold::DeviceData { /// Constructor /// \param device Device to be wrapped explicit DeviceData(OculusDevice* device) : deviceObject(device), handle(nullptr) { #if 6 == OVR_MAJOR_VERSION ovrHmd_Create(0, &handle); #elif 5 == OVR_MAJOR_VERSION handle = ovrHmd_Create(0); #endif } ~DeviceData() { if (handle != nullptr) { ovrHmd_Destroy(handle); } } /// The device object wrapped in this class. OculusDevice* const deviceObject; /// Device handle ovrHmd handle; }; struct OculusScaffold::StateData { /// List of registered devices. std::list> registeredDevices; /// The mutex that protects the list of registered devices. boost::mutex mutex; }; OculusScaffold::OculusScaffold() : Framework::BasicThread("OculusScaffold"), m_logger(Logger::getLogger("Devices/Oculus")), m_state(new StateData) { SURGSIM_LOG_DEBUG(m_logger) << "Oculus: Shared scaffold created."; // Oculus DK2 tracks Gyroscope, Accelerometer, Magnetometer at 1000Hz and // positional tracking is done at 60Hz. setRate(1000.0); } OculusScaffold::~OculusScaffold() { ovr_Shutdown(); } bool OculusScaffold::registerDevice(OculusDevice* device) { bool success = true; if (!isRunning()) { std::shared_ptr barrier = std::make_shared(2); start(barrier); barrier->wait(true); // Wait for initialize barrier->wait(true); // Wait for startup success = isInitialized(); } if (success) { boost::lock_guard lock(m_state->mutex); const std::string deviceName = device->getName(); auto sameName = [&deviceName](const std::unique_ptr& info) { return info->deviceObject->getName() == deviceName; }; auto found = std::find_if(m_state->registeredDevices.cbegin(), m_state->registeredDevices.cend(), sameName); if (found == m_state->registeredDevices.end()) { std::unique_ptr info(new DeviceData(device)); success = doRegisterDevice(info.get()); if (success) { SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << ": Registered"; m_state->registeredDevices.emplace_back(std::move(info)); } } else { SURGSIM_LOG_SEVERE(m_logger) << "Tried to register a device when the same name, '" << device->getName() << "', is already present!"; success = false; } } if (isRunning() && m_state->registeredDevices.size() == 0) { stop(); } return success; } bool OculusScaffold::doRegisterDevice(DeviceData* info) { if (ovrHmd_Detect() < 1) { SURGSIM_LOG_SEVERE(m_logger) << "No available Oculus device detected."; return false; } if (m_state->registeredDevices.size() > 0) { SURGSIM_LOG_SEVERE(m_logger) << "There is one registered Oculus device already. OculusScaffold only supports one device right now"; return false; } if (info->handle == nullptr) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to obtain a handle to Oculus Device. Is an Oculus device plugged in?"; return false; } #if 6 == OVR_MAJOR_VERSION if (ovrSuccess != ovrHmd_ConfigureTracking(info->handle, ovrTrackingCap_Orientation | ovrTrackingCap_MagYawCorrection | ovrTrackingCap_Position, 0)) #elif 5 == OVR_MAJOR_VERSION if (ovrTrue != ovrHmd_ConfigureTracking(info->handle, ovrTrackingCap_Orientation | ovrTrackingCap_MagYawCorrection | ovrTrackingCap_Position, 0)) #endif { SURGSIM_LOG_SEVERE(m_logger) << "Failed to configure an Oculus Device. Registration failed"; return false; } // Query the HMD for the left and right projection matrices. ovrFovPort defaultLeftFov = info->handle->DefaultEyeFov[ovrEyeType::ovrEye_Left]; ovrFovPort defaultRightFov = info->handle->DefaultEyeFov[ovrEyeType::ovrEye_Right]; float nearPlane = info->deviceObject->getNearPlane(); float farPlane = info->deviceObject->getFarPlane(); ovrMatrix4f leftProjection = ovrMatrix4f_Projection(defaultLeftFov, nearPlane, farPlane, ovrProjectionModifier::ovrProjection_RightHanded); ovrMatrix4f rightProjection = ovrMatrix4f_Projection(defaultRightFov, nearPlane, farPlane, ovrProjectionModifier::ovrProjection_RightHanded); DataGroup& inputData = info->deviceObject->getInputData(); inputData.matrices().set(DataStructures::Names::LEFT_PROJECTION_MATRIX, Eigen::Map> (&leftProjection.M[0][0]).cast()); inputData.matrices().set(DataStructures::Names::RIGHT_PROJECTION_MATRIX, Eigen::Map> (&rightProjection.M[0][0]).cast()); info->deviceObject->pushInput(); return true; } bool OculusScaffold::unregisterDevice(const OculusDevice* const device) { bool result = false; { boost::lock_guard lock(m_state->mutex); auto match = std::find_if(m_state->registeredDevices.begin(), m_state->registeredDevices.end(), [&device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (match != m_state->registeredDevices.end()) { m_state->registeredDevices.erase(match); // the iterator is now invalid but that's OK SURGSIM_LOG_INFO(m_logger) << "Device " << getName() << ": unregistered."; result = true; } } // #threadsafety After unregistering, another thread could be in the process of registering. if (isRunning() && m_state->registeredDevices.size() == 0) { stop(); } SURGSIM_LOG_IF(!result, m_logger, SEVERE) << "Attempted to release a non-registered device."; return result; } bool OculusScaffold::doInitialize() { #if 6 == OVR_MAJOR_VERSION if (ovrSuccess != ovr_Initialize(nullptr)) #elif 5 == OVR_MAJOR_VERSION if (ovrTrue != ovr_Initialize(nullptr)) #endif { SURGSIM_LOG_SEVERE(m_logger) << "Oculus SDK initialization failed."; } return true; } bool OculusScaffold::doStartUp() { return true; } bool OculusScaffold::doUpdate(double dt) { boost::lock_guard lock(m_state->mutex); for (auto& device : m_state->registeredDevices) { DataGroup& inputData = device->deviceObject->getInputData(); // Query the HMD for the current tracking state. // If time in 2nd parameter is now or earlier, no pose prediction is made. // Pose is reported in a right handed coordinate system, X->RIGHT, Y->UP, Z->OUT. // Positive rotation is counterclockwise. // The XZ plane is ALWAYS aligned with the ground regardless of camera orientation. // Default tracking origin is one meter away from the camera. ovrTrackingState ts = ovrHmd_GetTrackingState(device->handle, ovr_GetTimeInSeconds()); if (ts.StatusFlags & (ovrStatus_OrientationTracked | ovrStatus_PositionTracked)) { ovrPosef ovrPose = ts.HeadPose.ThePose; Vector3d position(ovrPose.Position.x, ovrPose.Position.y, ovrPose.Position.z); Quaterniond orientation(ovrPose.Orientation.w, ovrPose.Orientation.x, ovrPose.Orientation.y, ovrPose.Orientation.z); RigidTransform3d pose = makeRigidTransform(orientation, position); inputData.poses().set(DataStructures::Names::POSE, pose); } else { inputData.poses().reset(DataStructures::Names::POSE); } device->deviceObject->pushInput(); } return true; } SurgSim::DataStructures::DataGroup OculusScaffold::buildDeviceInputData() { DataGroupBuilder builder; builder.addPose(DataStructures::Names::POSE); builder.addMatrix(DataStructures::Names::LEFT_PROJECTION_MATRIX); builder.addMatrix(DataStructures::Names::RIGHT_PROJECTION_MATRIX); return builder.createData(); } std::shared_ptr OculusScaffold::getOrCreateSharedInstance() { static auto creator = []() { return std::shared_ptr(new OculusScaffold); }; static Framework::SharedInstance sharedInstance(creator); return sharedInstance.get(); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Oculus/OculusScaffold.h000066400000000000000000000056701277777236100234360ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_OCULUS_OCULUSSCAFFOLD_H #define SURGSIM_DEVICES_OCULUS_OCULUSSCAFFOLD_H #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Framework/BasicThread.h" namespace SurgSim { namespace Framework { class Logger; } }; namespace SurgSim { namespace Devices { class OculusDevice; /// A class that manages Oculus Rift DK2 devices. /// /// \sa SurgSim::Devices::OculusDevice class OculusScaffold : SurgSim::Framework::BasicThread { public: /// Destructor. ~OculusScaffold(); protected: bool doInitialize() override; bool doStartUp() override; bool doUpdate(double dt) override; private: /// Internal shared state data type. struct StateData; /// Internal per-device information. struct DeviceData; friend class OculusDevice; /// Constructor. OculusScaffold(); /// Gets or creates the scaffold shared by all OculusDevice instances. /// The scaffold is managed using a SharedInstance object, so it will be destroyed when all devices are released. /// \return the scaffold object. static std::shared_ptr getOrCreateSharedInstance(); /// Registers the specified device object. /// \param device The device object to be used, which should have a unique name. /// \return True if the initialization succeeds, false if it fails. bool registerDevice(OculusDevice* device); /// Do the Oculus SDK specific registration /// \param info The device data /// \return true on success, false on failure. bool doRegisterDevice(DeviceData* info); /// Unregisters the specified device object. /// \param device The device object. /// \return true on success, false on failure. bool unregisterDevice(const OculusDevice* device); /// Initializes Oculus SDK. /// \return true on success; false otherwise. bool initializeSdk(); /// Finalizes (de-initializes) Oculus SDK. /// \return true on success; false otherwise. bool finalizeSdk(); /// Builds the data layout for the application input (i.e. device output). static SurgSim::DataStructures::DataGroup buildDeviceInputData(); /// Logger used by the scaffold and all devices. std::shared_ptr m_logger; /// Internal scaffold state. std::unique_ptr m_state; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_OCULUS_OCULUSSCAFFOLD_H opensurgsim-0.7.0/SurgSim/Devices/Oculus/OculusView.cpp000066400000000000000000000063101277777236100231520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Oculus/OculusView.h" #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Devices/Oculus/OculusDisplaySettings.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Input/InputComponent.h" namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Devices::OculusView, OculusView); OculusView::OculusView(const std::string& name) : OsgView(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(OculusView, std::shared_ptr, InputComponent, getInputComponent, setInputComponent); // Default Settings of Oculus DK2 setFullScreen(true); setDisplayType(View::DISPLAY_TYPE_HMD); setStereoMode(View::STEREO_MODE_HORIZONTAL_SPLIT); setScreenWidth(0.0631); setScreenHeight(0.071); setEyeSeparation(0.06); setScreenDistance(0.10); setTargetScreen(1); // Assume Oculus HMD has ID '1'. std::array dimensions = {1920, 1080}; setDimensions(dimensions); } OculusView::~OculusView() { } void OculusView::setInputComponent(std::shared_ptr input) { m_inputComponent = Framework::checkAndConvert(input, "SurgSim::Input::InputComponent"); } std::shared_ptr OculusView::getInputComponent() const { return m_inputComponent; } osg::ref_ptr OculusView::createDisplaySettings() const { SURGSIM_ASSERT(m_inputComponent != nullptr) << "No InputComponent is connected to this view."; osg::ref_ptr displaySettings = new SurgSim::Devices::OculusDisplaySettings(OsgView::createDisplaySettings()); SurgSim::DataStructures::DataGroup dataGroup; m_inputComponent->getData(&dataGroup); SurgSim::DataStructures::DataGroup::DynamicMatrixType leftProjectionMatrix; SurgSim::DataStructures::DataGroup::DynamicMatrixType rightProjectionMatrix; if (dataGroup.matrices().get(SurgSim::DataStructures::Names::LEFT_PROJECTION_MATRIX, &leftProjectionMatrix) && dataGroup.matrices().get(SurgSim::DataStructures::Names::RIGHT_PROJECTION_MATRIX, &rightProjectionMatrix)) { displaySettings->setLeftEyeProjectionMatrix(leftProjectionMatrix.block<4,4>(0, 0)); displaySettings->setRightEyeProjectionMatrix(rightProjectionMatrix.block<4,4>(0, 0)); } else { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getLogger("OculusView")) << "No projection matrices for left/right eye."; } return displaySettings; } }; // namespace Devices }; // namespace SurgSimopensurgsim-0.7.0/SurgSim/Devices/Oculus/OculusView.h000066400000000000000000000040651277777236100226240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_OCULUS_OCULUSVIEW_H #define SURGSIM_DEVICES_OCULUS_OCULUSVIEW_H #include #include #include #include "SurgSim/Graphics/OsgView.h" namespace osg { class DisplaySettings; } namespace SurgSim { namespace Framework { class Component; } namespace Input { class InputComponent; } namespace Devices { SURGSIM_STATIC_REGISTRATION(OculusView); /// OculusView is a customization of SurgSim::Graphics::OsgView with projection matrices pulled from the Oculus device. class OculusView : public SurgSim::Graphics::OsgView { public: /// Constructor /// \param name Name of the view explicit OculusView(const std::string& name); /// Destructor ~OculusView(); SURGSIM_CLASSNAME(SurgSim::Devices::OculusView); /// Set the InputComponent this view connects to. /// Projection matrices of the Oculus device are passed via the DataGroup the InputComponent carries. /// \param input The InputComponent void setInputComponent(std::shared_ptr input); /// \return The InputComponnet this view connects std::shared_ptr getInputComponent() const; protected: osg::ref_ptr createDisplaySettings() const override; private: /// The InputComponent this view connects. std::shared_ptr m_inputComponent; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_DEVICES_OCULUS_OCULUSVIEW_H opensurgsim-0.7.0/SurgSim/Devices/Oculus/SceneTest/000077500000000000000000000000001277777236100222365ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Oculus/SceneTest/CMakeLists.txt000066400000000000000000000025411277777236100250000ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. find_package(Boost 1.54 COMPONENTS program_options) link_directories( ${Boost_LIBRARY_DIRS} ) include_directories( "${CMAKE_CURRENT_SOURCE_DIR}" "${OPENTHREADS_INCLUDE_DIR}" ) set(SOURCES OculusSceneTest.cpp ) set(HEADERS ) # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) surgsim_add_executable(OculusSceneTest "${SOURCES}" "${HEADERS}") SET(LIBS SurgSimFramework SurgSimBlocks SurgSimGraphics SurgSimDataStructures SurgSimInput OculusDevice IdentityPoseDevice ${Boost_LIBRARIES} ${YAML_CPP_LIBRARIES} ) target_link_libraries(OculusSceneTest ${LIBS}) set_target_properties(OculusSceneTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Oculus/SceneTest/Data/000077500000000000000000000000001277777236100231075ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Oculus/SceneTest/Data/CameraText.yaml000066400000000000000000000014501277777236100260300ustar00rootroot00000000000000- SurgSim::Framework::BasicSceneElement: Name: CameraText Components: - SurgSim::Blocks::DriveElementFromInputBehavior: Name: Driver Source: SurgSim::Input::InputComponent: Name: Input Id: 9b77c4e2-e9ea-484f-bfca-72121189dcb6 - SurgSim::Graphics::OsgTextRepresentation: Name: Text Text: This is the text for this text I would hope it gets wrapped MaximumWidth: 0.4 FontSize: 0.02 UseScreenSpace: false LocalPose: Quaternion: [0, 0, 0, 1] Translation: [-0.2, 0, -1.5] Color: [0.81, 0.81, 0.0, 1.0] DrawBackground: true BackgroundColor: [0.05, 0.05, 0.6, 1.0] BackgroundMargin: 0.005 opensurgsim-0.7.0/SurgSim/Devices/Oculus/SceneTest/Data/Cube.yaml000066400000000000000000000003761277777236100246570ustar00rootroot00000000000000- SurgSim::Framework::BasicSceneElement: Name: Graphics Components: - SurgSim::Graphics::OsgBoxRepresentation: Name: Box Size: [0.1, 0.1, 0.1] - SurgSim::Graphics::OsgAxesRepresentation: Name: Axesopensurgsim-0.7.0/SurgSim/Devices/Oculus/SceneTest/Data/MonoView.yaml000066400000000000000000000013101277777236100255310ustar00rootroot00000000000000- SurgSim::Framework::BasicSceneElement: Name: View Components: - SurgSim::Graphics::OsgView: Name: View Camera: SurgSim::Graphics::OsgCamera: Id: 9018dd38-c1ae-4e80-a27a-dc24e4b75d35 Name: Camera CameraPosition: [0, 0.5, 1] CameraLookAt: [0, 0, 0] CameraManipulatorEnabled: true - SurgSim::Graphics::OsgCamera: Id: 9018dd38-c1ae-4e80-a27a-dc24e4b75d35 Name: Camera ProjectionMatrix: [[2.414213562373095, 0, 0, 0], [0, 2.414213562373095, 0, 0], [0, 0, -1.002002002002002, -0.02002002002002002], [0, 0, -1, 0]] RenderGroupReference: __OssDefault__opensurgsim-0.7.0/SurgSim/Devices/Oculus/SceneTest/Data/OculusView.yaml000066400000000000000000000025461277777236100261070ustar00rootroot00000000000000- SurgSim::Framework::BasicSceneElement: Name: View Components: - SurgSim::Blocks::DriveElementFromInputBehavior: Name: Driver Source: SurgSim::Input::InputComponent: Name: Input Id: 9b77c4e2-e9ea-484f-bfca-72121189dcb6 - SurgSim::Input::InputComponent: Name: Input Id: 9b77c4e2-e9ea-484f-bfca-72121189dcb6 DeviceName: Tracker LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0.5, 2.0] - SurgSim::Devices::OculusView: Name: View TargetScreen: 2 Camera: SurgSim::Graphics::OsgCamera: Id: 9018dd38-c1ae-4e80-a27a-dc24e4b75d35 Name: Camera EyeSeparation: 0.06 ScreenHeight: 0.071 ScreenDistance: 0.10 ScreenWidth: 0.0631 InputComponent: SurgSim::Input::InputComponent: Name: Input Id: 9b77c4e2-e9ea-484f-bfca-72121189dcb6 - SurgSim::Graphics::OsgCamera: Id: 9018dd38-c1ae-4e80-a27a-dc24e4b75d35 Name: Camera ProjectionMatrix: [[0.8390996311772799, 0, 0, 0], [0, 0.8390996311772799, 0, 0], [0, 0, -1.002002002002002, -0.02002002002002002], [0, 0, -1, 0]] RenderGroupReference: __OssDefault__opensurgsim-0.7.0/SurgSim/Devices/Oculus/SceneTest/Data/OsgView.yaml000066400000000000000000000025271277777236100253640ustar00rootroot00000000000000- SurgSim::Framework::BasicSceneElement: Name: View Components: - SurgSim::Blocks::DriveElementFromInputBehavior: Name: Driver Source: SurgSim::Input::InputComponent: Name: Input Id: 9b77c4e2-e9ea-484f-bfca-72121189dcb6 - SurgSim::Input::InputComponent: Name: Input Id: 9b77c4e2-e9ea-484f-bfca-72121189dcb6 DeviceName: Tracker LocalPose: Quaternion: [0, 0, 0, 1] Translation: [0, 0.5, 2.0] - SurgSim::Graphics::OsgView: Name: View FullScreen: true Dimensions: - 1920 - 1080 TargetScreen: 2 Camera: SurgSim::Graphics::OsgCamera: Id: 9018dd38-c1ae-4e80-a27a-dc24e4b75d35 Name: Camera DisplayType: 1 StereoMode: 2 EyeSeparation: 0.06 ScreenHeight: 0.071 ScreenDistance: 0.10 ScreenWidth: 0.0631 - SurgSim::Graphics::OsgCamera: Id: 9018dd38-c1ae-4e80-a27a-dc24e4b75d35 Name: Camera ProjectionMatrix: [[0.8390996311772799, 0, 0, 0], [0, 0.8390996311772799, 0, 0], [0, 0, -1.002002002002002, -0.02002002002002002], [0, 0, -1, 0]] RenderGroupReference: __OssDefault__opensurgsim-0.7.0/SurgSim/Devices/Oculus/SceneTest/OculusSceneTest.cpp000066400000000000000000000102241277777236100260310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include #include #include #include "SurgSim/Blocks/Blocks.h" #include "SurgSim/Framework/Framework.h" #include "SurgSim/Graphics/Graphics.h" #include "SurgSim/Input/Input.h" #include "SurgSim/Math/Math.h" // Include this for linking only #include "SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.h" #include "SurgSim/Devices/Oculus/OculusDevice.h" #include "SurgSim/Devices/Oculus/OculusView.h" using SurgSim::Framework::Logger; using SurgSim::Framework::Runtime; using SurgSim::Math::Vector3d; namespace po = boost::program_options; int main(int argc, char* argv[]) { // Parse command-line parameters std::string sceneFileName; po::options_description visible("Allowed options"); visible.add_options()("help", "produce help message") ("config-file", po::value(), "The config file to use"); po::options_description hidden("Hidden options"); hidden.add_options()("input-file", po::value>(), "input file"); po::options_description all("All options"); all.add(visible).add(hidden); po::positional_options_description positional; positional.add("input-file", -1); po::variables_map variables; po::store(po::command_line_parser(argc, argv).options(all).positional(positional).run(), variables); if (variables.count("help")) { std::cout << visible << "\n"; return 1; } if (variables.count("input-file") == 0) { std::cout << "You need to supply one or more input files.\n"; return 1; } std::shared_ptr runtime; if (variables.count("config-file") == 1) { runtime = std::make_shared(variables["config-file"].as()); } else { runtime = std::make_shared(); } auto data = runtime->getApplicationData(); runtime->addManager(std::make_shared()); runtime->addManager(std::make_shared()); std::string sceneFile; if (variables.count("scene") == 1) { runtime->loadScene(variables["config-file"].as()); } std::array devices = { "SurgSim::Devices::OculusDevice", "SurgSim::Devices::IdentityPoseDevice" }; std::shared_ptr device; for (auto deviceName : devices) { try { device = SurgSim::Input::DeviceInterface::getFactory().create(deviceName, "Tracker"); } catch (std::exception e) { continue; } if (device->initialize()) { break; } else { device = nullptr; } } SURGSIM_ASSERT(device != nullptr) << "Could not initialize any kind of tracking device."; auto inputManager = std::make_shared(); runtime->addManager(inputManager); inputManager->addDevice(device); auto scene = runtime->getScene(); auto files = variables["input-file"].as>(); for (auto file : files) { auto appData = runtime->getApplicationData(); std::string path; #ifdef WIN32 // Fix windows backslashes coming in from the command-line, these may be absolute paths std::replace_if(file.begin(), file.end(), [](const char& c) { return c == '\\'; }, '/'); #endif // In this case we circumvent the assertion that will stop execution if the file can't be found and // try to show as many scenery objects as possible if (appData->tryFindFile(file, &path)) { runtime->addSceneElements(file); } else { SURGSIM_LOG_WARNING(Logger::getDefaultLogger()) << "Can't find " << file; } } runtime->execute(); return 0; } opensurgsim-0.7.0/SurgSim/Devices/Oculus/SceneTest/config.txt.in000066400000000000000000000000761277777236100246540ustar00rootroot00000000000000${SURGSIM_SOURCE_DIR}/Data/ ${CMAKE_CURRENT_SOURCE_DIR}/Data/opensurgsim-0.7.0/SurgSim/Devices/Oculus/UnitTests/000077500000000000000000000000001277777236100223035ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Oculus/UnitTests/CMakeLists.txt000066400000000000000000000021141277777236100250410ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2015, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES OculusDeviceTest.cpp OculusDisplaySettingsTests.cpp OculusViewTests.cpp ) set(UNIT_TEST_HEADERS ) set(LIBS SurgSimDataStructures SurgSimInput SurgSimTesting OculusDevice ) surgsim_add_unit_tests(OculusDeviceTest) target_link_libraries(OculusDeviceTest ${LIBS}) # Put OculusDeviceTest into folder "Devices" set_target_properties(OculusDeviceTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Oculus/UnitTests/OculusDeviceTest.cpp000066400000000000000000000106251277777236100262450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Devices/Oculus/OculusDevice.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::Devices::OculusDevice; using SurgSim::DataStructures::DataGroup; using SurgSim::Input::InputConsumerInterface; using SurgSim::Testing::MockInputOutput; TEST(OculusDeviceTest, CreateAndInitializeDevice) { auto device = std::make_shared("Oculus"); ASSERT_TRUE(nullptr != device) << "Device creation failed."; EXPECT_FALSE(device->isInitialized()); EXPECT_EQ("Oculus", device->getName()); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is an Oculus device plugged in?"; EXPECT_TRUE(device->isInitialized()); EXPECT_EQ("Oculus", device->getName()); EXPECT_FLOAT_EQ(0.1f, device->getNearPlane()); EXPECT_FLOAT_EQ(10.0f, device->getFarPlane()); } TEST(OculusDeviceTest, SetAndGetNearAndFarPlanes) { auto device = std::make_shared("Oculus"); EXPECT_FLOAT_EQ(0.1f, device->getNearPlane()); EXPECT_FLOAT_EQ(10.0f, device->getFarPlane()); EXPECT_THROW(device->setNearPlane(-0.1f), SurgSim::Framework::AssertionFailure); EXPECT_THROW(device->setFarPlane(-10.0f), SurgSim::Framework::AssertionFailure); EXPECT_NO_THROW(device->setNearPlane(0.2f)); EXPECT_NO_THROW(device->setFarPlane(20.0f)); EXPECT_FLOAT_EQ(0.2f, device->getNearPlane()); EXPECT_FLOAT_EQ(20.0f, device->getFarPlane()); } TEST(OculusDeviceTest, Factory) { std::shared_ptr device; ASSERT_NO_THROW(device = SurgSim::Input::DeviceInterface::getFactory().create( "SurgSim::Devices::OculusDevice", "Device")); EXPECT_NE(nullptr, device); } TEST(OculusDeviceTest, RegisterMoreThanOneDevice) { auto device1 = std::make_shared("Oculus"); ASSERT_TRUE(nullptr != device1) << "Device creation failed."; ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is an Oculus device plugged in?"; auto device2 = std::make_shared("Oculus2"); ASSERT_TRUE(nullptr != device2) << "Device creation failed."; ASSERT_FALSE(device2->initialize()) << "Initialization should not have succeceded, only one device allowed."; } TEST(OculusDeviceTest, InputConsumer) { auto device = std::make_shared("Oculus"); ASSERT_TRUE(nullptr != device) << "Device creation failed."; EXPECT_TRUE(device->initialize()) << "Initialization failed. Is an Oculus device plugged in?"; auto consumer = std::make_shared(); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_FALSE(device->removeInputConsumer(consumer)); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device->addInputConsumer(consumer)); // Adding the same input consumer again should fail. EXPECT_FALSE(device->addInputConsumer(consumer)); // Sleep for a second, to see how many times the consumer is invoked. boost::this_thread::sleep_for(boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeInputConsumer(consumer)); // Removing the same input consumer again should fail. EXPECT_FALSE(device->removeInputConsumer(consumer)); // Check the number of invocations. EXPECT_EQ(1, consumer->m_numTimesInitializedInput); EXPECT_GE(consumer->m_numTimesReceivedInput, 800); EXPECT_LE(consumer->m_numTimesReceivedInput, 1200); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData(SurgSim::DataStructures::Names::POSE)); EXPECT_TRUE(consumer->m_lastReceivedInput.matrices(). hasData(SurgSim::DataStructures::Names::LEFT_PROJECTION_MATRIX)); EXPECT_TRUE(consumer->m_lastReceivedInput.matrices(). hasData(SurgSim::DataStructures::Names::RIGHT_PROJECTION_MATRIX)); } opensurgsim-0.7.0/SurgSim/Devices/Oculus/UnitTests/OculusDisplaySettingsTests.cpp000066400000000000000000000037321277777236100303600ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Devices/Oculus/OculusDisplaySettings.h" #include "SurgSim/Math/Matrix.h" namespace { const double epsilon = 1e-10; } using SurgSim::Devices::OculusDisplaySettings; TEST(OculusDisplaySettingsTest, Constructor) { EXPECT_NO_THROW(OculusDisplaySettings displaySettings); osg::ref_ptr osgDisplaySettings = new osg::DisplaySettings; EXPECT_NO_THROW(OculusDisplaySettings displaySettings(osgDisplaySettings)); } TEST(OculusDisplaySettingsTest, SetAndGetProjectionMatrix) { OculusDisplaySettings displaySettings; SurgSim::Math::Matrix44d leftProjectionMatrix = SurgSim::Math::Matrix44d::Identity() * 2.0; SurgSim::Math::Matrix44d rightProjectionMatrix = SurgSim::Math::Matrix44d::Identity() * 3.0; EXPECT_NO_THROW(displaySettings.setLeftEyeProjectionMatrix(leftProjectionMatrix)); EXPECT_NO_THROW(displaySettings.setRightEyeProjectionMatrix(rightProjectionMatrix)); SurgSim::Math::Matrix44d leftRetrieved; EXPECT_NO_THROW(leftRetrieved = displaySettings.getLeftEyeProjectionMatrix()); EXPECT_TRUE(leftProjectionMatrix.isApprox(leftRetrieved, epsilon)); SurgSim::Math::Matrix44d rightRetrieved; EXPECT_NO_THROW(rightRetrieved = displaySettings.getRightEyeProjectionMatrix()); EXPECT_TRUE(rightProjectionMatrix.isApprox(rightRetrieved, epsilon)); } opensurgsim-0.7.0/SurgSim/Devices/Oculus/UnitTests/OculusViewTests.cpp000066400000000000000000000040721277777236100261420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OculusView class. #include #include "SurgSim/Devices/Oculus/OculusView.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Input/InputComponent.h" using SurgSim::Devices::OculusView; TEST(OculusViewTests, InitTest) { EXPECT_NO_THROW(SurgSim::Devices::OculusView("OculusView")); } TEST(OculusViewTests, SetAndGetInputComponent) { auto view = std::make_shared("OculusView"); auto inputComponent = std::make_shared("InputComponent"); EXPECT_NO_THROW(view->setInputComponent(inputComponent)); EXPECT_EQ(inputComponent, view->getInputComponent()); } TEST(OculusViewTests, Serialization) { auto view = std::make_shared("test name"); std::shared_ptr inputComponent = std::make_shared("InputComponent"); view->setValue("InputComponent", inputComponent); /// Serialize YAML::Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*view);); /// Deserialize std::shared_ptr newView; EXPECT_NO_THROW(newView = std::dynamic_pointer_cast( node.as>())); EXPECT_NE(nullptr, newView); EXPECT_NE(nullptr, newView->getInputComponent()); EXPECT_EQ(inputComponent->getName(), newView->getInputComponent()->getName()); } opensurgsim-0.7.0/SurgSim/Devices/Oculus/VisualTest/000077500000000000000000000000001277777236100224445ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Oculus/VisualTest/CMakeLists.txt000066400000000000000000000017601277777236100252100ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. set(EXAMPLE_SOURCES main.cpp ) set(EXAMPLE_HEADERS ) surgsim_add_executable(OculusVisualTest "${EXAMPLE_SOURCES}" "${EXAMPLE_HEADERS}") set(LIBS IdentityPoseDevice OculusDevice VisualTestCommon ) target_link_libraries(OculusVisualTest ${LIBS}) # Put OculusVisualTest into folder "Devices" set_target_properties(OculusVisualTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Oculus/VisualTest/main.cpp000066400000000000000000000031301277777236100240710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.h" #include "SurgSim/Devices/Oculus/OculusDevice.h" #include "SurgSim/Input/DeviceInterface.h" #include "SurgSim/Testing/VisualTestCommon/ToolSquareTest.h" using SurgSim::Devices::IdentityPoseDevice; using SurgSim::Devices::OculusDevice; using SurgSim::Input::DeviceInterface; int main(int argc, char** argv) { auto toolDevice = std::make_shared("OculusDevice"); // The square is controlled by a second device. For a simple test, we're using an IdentityPoseDevice-- // a pretend device that doesn't actually move. std::shared_ptr squareDevice = std::make_shared("IdentityPoseDevice"); runToolSquareTest(toolDevice, squareDevice, "Move the Oculus device to move the sphere tool."); std::cout << std::endl << "Exiting." << std::endl; // Cleanup and shutdown will happen automatically as objects go out of scope. return 0; } opensurgsim-0.7.0/SurgSim/Devices/OpenNI/000077500000000000000000000000001277777236100202175ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/OpenNI/CMakeLists.txt000066400000000000000000000024301277777236100227560ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. find_package(OpenNI2 REQUIRED) include_directories(SYSTEM ${OPENNI2_INCLUDE_DIRS} ) set(LIBS SurgSimInput ${OPENNI2_LIBRARIES} ) set(OPENNI_DEVICE_SOURCES OpenNIDevice.cpp OpenNIScaffold.cpp ) set(OPENNI_DEVICE_HEADERS OpenNIDevice.h OpenNIScaffold.h ) set(DEVICE_HEADERS ${DEVICE_HEADERS} OpenNI/OpenNIDevice.h PARENT_SCOPE) surgsim_add_library( OpenNIDevice "${OPENNI_DEVICE_SOURCES}" "${OPENNI_DEVICE_HEADERS}" ) target_link_libraries(OpenNIDevice ${LIBS}) if(BUILD_TESTING) add_subdirectory(UnitTests) if(GLUT_FOUND) add_subdirectory(VisualTest) endif(GLUT_FOUND) endif() set_target_properties(OpenNIDevice PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/OpenNI/OpenNI.dox000066400000000000000000000007771277777236100220760ustar00rootroot00000000000000/*! \page OpenNI OpenNI: Depth Sensing Cameras This adds support for OpenNI 2 compatible depth sensing cameras, such as the Asus Xtion Pro. Dependencies ------------ OpenNI 2 SDK: Prebuilt binaries are availble for Windows, and GNU/Linux on Structure.io's website. For Windows, add the 'OpenNI2/Redist/' folder to your PATH environment variable. If you used the default installation location, this will be: \code C:/ProgramFiles (x86)/OpenNI2/Redist/ \endcode */ opensurgsim-0.7.0/SurgSim/Devices/OpenNI/OpenNIDevice.cpp000066400000000000000000000034241277777236100231760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/OpenNI/OpenNIDevice.h" #include "SurgSim/Devices/OpenNI/OpenNIScaffold.h" namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::OpenNIDevice, OpenNIDevice); OpenNIDevice::OpenNIDevice(const std::string& name) : SurgSim::Input::CommonDevice(name, OpenNIScaffold::buildDeviceInputData()) { } OpenNIDevice::~OpenNIDevice() { if (isInitialized()) { finalize(); } } bool OpenNIDevice::initialize() { SURGSIM_ASSERT(!isInitialized()) << getName() << " already initialized."; auto scaffold = OpenNIScaffold::getOrCreateSharedInstance(); SURGSIM_ASSERT(scaffold != nullptr); bool initialize = false; if (scaffold->registerDevice(this)) { m_scaffold = std::move(scaffold); initialize = true; } return initialize; } bool OpenNIDevice::finalize() { SURGSIM_ASSERT(isInitialized()) << getName() << " is not initialized, cannot finalize."; bool success = m_scaffold->unregisterDevice(this); m_scaffold.reset(); return success; } bool OpenNIDevice::isInitialized() const { return (m_scaffold != nullptr); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/OpenNI/OpenNIDevice.h000066400000000000000000000043511277777236100226430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_OPENNI_OPENNIDEVICE_H #define SURGSIM_DEVICES_OPENNI_OPENNIDEVICE_H #include "SurgSim/Input/CommonDevice.h" namespace SurgSim { namespace Devices { class OpenNIScaffold; SURGSIM_STATIC_REGISTRATION(OpenNIDevice); /// A class implementing the communication with one OpenNI compatible depth camera /// /// \par Application input provided by the device: /// | type | name | | /// | ---- | ---- | --- | /// | image | "color" | Color image (RGB) of floats, each pixel value is between 0 and 1. | /// | image | "depth" | Depth image of floats, each pixel value is depth from the camera in meters.| /// | image | "depth_xyz" | Position of each pixel (x, y, z) in meters with respect to the camera. | /// /// \par Application output used by the device: none. /// /// \sa SurgSim::Devices::OpenNIScaffold class OpenNIDevice : public SurgSim::Input::CommonDevice { public: /// Constructor. /// \param name A unique name for the device that will be used by the application. explicit OpenNIDevice(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Devices::OpenNIDevice); /// Destructor. virtual ~OpenNIDevice(); bool initialize() override; bool isInitialized() const override; private: friend class OpenNIScaffold; bool finalize() override; std::shared_ptr m_scaffold; }; }; }; #endif //SURGSIM_DEVICES_OPENNI_OPENNIDEVICE_H opensurgsim-0.7.0/SurgSim/Devices/OpenNI/OpenNIScaffold.cpp000066400000000000000000000204471277777236100235240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/OpenNI/OpenNIScaffold.h" #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Devices/OpenNI/OpenNIDevice.h" #include "SurgSim/Framework/Barrier.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SharedInstance.h" namespace SurgSim { namespace Devices { struct OpenNIScaffold::DeviceData { explicit DeviceData(OpenNIDevice* device) : deviceObject(device) { } /// OpenNI device openni::Device camera; /// OpenNI Depth Video Stream openni::VideoStream depthStream; /// OpenNI RGB Image Video Stream openni::VideoStream colorStream; /// The corresponding device object. OpenNIDevice* const deviceObject; }; struct OpenNIScaffold::StateData { /// The list of known devices. std::list> activeDevices; /// The mutex that protects the list of known devices. boost::mutex mutex; }; OpenNIScaffold::OpenNIScaffold() : SurgSim::Framework::BasicThread("OpenNI Scaffold"), m_state(new StateData), m_logger(SurgSim::Framework::Logger::getLogger("OpenNI")) { setRate(100); } OpenNIScaffold::~OpenNIScaffold() { openni::OpenNI::shutdown(); } bool OpenNIScaffold::registerDevice(OpenNIDevice* device) { bool success = true; if (!isRunning()) { std::shared_ptr barrier = std::make_shared(2); start(barrier); barrier->wait(true); // Wait for initialize barrier->wait(true); // Wait for startup success = isInitialized(); } if (success) { boost::lock_guard lock(m_state->mutex); const std::string deviceName = device->getName(); auto sameName = [&deviceName](const std::unique_ptr& info) { return info->deviceObject->getName() == deviceName; }; auto found = std::find_if(m_state->activeDevices.cbegin(), m_state->activeDevices.cend(), sameName); if (found == m_state->activeDevices.end()) { std::unique_ptr info(new DeviceData(device)); success = doRegisterDevice(info.get()); if (success) { SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << ": Registered"; m_state->activeDevices.emplace_back(std::move(info)); } } else { SURGSIM_LOG_SEVERE(m_logger) << "Tried to register a device when the same name, '" << device->getName() << "', is already present!"; success = false; } } return success; } bool OpenNIScaffold::doRegisterDevice(DeviceData* info) { openni::Status status; status = info->camera.open(openni::ANY_DEVICE); if (status != openni::STATUS_OK) { SURGSIM_LOG_SEVERE(m_logger) << "Could not connect to a camera: " << openni::OpenNI::getExtendedError(); return false; } status = info->depthStream.create(info->camera, openni::SENSOR_DEPTH); if (status != openni::STATUS_OK) { SURGSIM_LOG_SEVERE(m_logger) << "Could not find depth stream: " << openni::OpenNI::getExtendedError(); return false; } status = info->colorStream.create(info->camera, openni::SENSOR_COLOR); if (status != openni::STATUS_OK) { SURGSIM_LOG_SEVERE(m_logger) << "Could find color image stream: " << openni::OpenNI::getExtendedError(); return false; } status = info->depthStream.start(); if (status != openni::STATUS_OK || !info->depthStream.isValid()) { SURGSIM_LOG_SEVERE(m_logger) << "Unable to start depth stream: " << openni::OpenNI::getExtendedError(); return false; } status = info->colorStream.start(); if (status != openni::STATUS_OK || !info->colorStream.isValid()) { SURGSIM_LOG_SEVERE(m_logger) << "Unable to start color image stream: " << openni::OpenNI::getExtendedError(); return false; } return true; } bool OpenNIScaffold::unregisterDevice(const OpenNIDevice* device) { bool success = true; { boost::lock_guard lock(m_state->mutex); auto sameDevice = [device](const std::unique_ptr& info) { return info->deviceObject == device; }; auto info = std::find_if(m_state->activeDevices.begin(), m_state->activeDevices.end(), sameDevice); if (info != m_state->activeDevices.end()) { success = doUnregisterDevice((*info).get()); if (success) { SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << ": Unregistered"; m_state->activeDevices.erase(info); } } else { SURGSIM_LOG_SEVERE(m_logger) << "Attempted to release a non-registered device named '" << device->getName() << "."; success = false; } } if (success && isRunning() && m_state->activeDevices.size() == 0) { stop(); } return success; } bool OpenNIScaffold::doUnregisterDevice(DeviceData* info) { info->depthStream.destroy(); info->colorStream.destroy(); info->camera.close(); return true; } bool OpenNIScaffold::doInitialize() { openni::Status status = openni::OpenNI::initialize(); bool success = (status == openni::STATUS_OK); SURGSIM_LOG_IF(!success, m_logger, SEVERE) << "Initialize failed: " << openni::OpenNI::getExtendedError(); return success; } bool OpenNIScaffold::doStartUp() { return true; } bool OpenNIScaffold::doUpdate(double dt) { boost::lock_guard lock(m_state->mutex); openni::VideoFrameRef depthFrame; openni::VideoFrameRef colorFrame; typedef SurgSim::DataStructures::DataGroup::ImageType ImageType; for (auto info = m_state->activeDevices.begin(); info != m_state->activeDevices.end(); ++info) { SurgSim::DataStructures::DataGroup& inputData = (*info)->deviceObject->getInputData(); if ((*info)->depthStream.readFrame(&depthFrame) == openni::STATUS_OK) { size_t width = depthFrame.getWidth(); size_t height = depthFrame.getHeight(); typedef Eigen::Map> DepthDataType; DepthDataType depthData(reinterpret_cast(depthFrame.getData()), width, height); ImageType depth(width, height, 1); depth.getAsVector() = depthData.cast() * (1.0f / 1000.0f); // convert milimeters to meters inputData.images().set("depth", std::move(depth)); ImageType depth_xyz(width, height, 3); auto x = depth_xyz.getChannel(0); auto y = depth_xyz.getChannel(1); auto z = depth_xyz.getChannel(2); for (size_t i = 0; i < width; i++) { for (size_t j = 0; j < height; j++) { openni::CoordinateConverter::convertDepthToWorld((*info)->depthStream, i, j, depthData(i, j), &x(i, j), &y(i, j), &z(i, j)); } } depth_xyz.getAsVector() *= (1.0f / 1000.0f); // convert milimeters to meters inputData.images().set("depth_xyz", std::move(depth_xyz)); } else { inputData.images().reset("depth"); inputData.images().reset("depth_xyz"); } if ((*info)->colorStream.readFrame(&colorFrame) == openni::STATUS_OK) { ImageType image(colorFrame.getWidth(), colorFrame.getHeight(), 3, reinterpret_cast(colorFrame.getData())); image.getAsVector() *= (1.0f / 255.0f); // OpenNI returns colors between 0 and 255, scale values to 0..1 inputData.images().set("color", std::move(image)); } else { inputData.images().reset("color"); } (*info)->deviceObject->pushInput(); } return true; } std::shared_ptr OpenNIScaffold::getOrCreateSharedInstance() { static auto creator = []() { return std::shared_ptr(new OpenNIScaffold); }; static SurgSim::Framework::SharedInstance sharedInstance(creator); return sharedInstance.get(); } SurgSim::DataStructures::DataGroup OpenNIScaffold::buildDeviceInputData() { SurgSim::DataStructures::DataGroupBuilder builder; builder.addImage("color"); builder.addImage("depth"); builder.addImage("depth_xyz"); return builder.createData(); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/OpenNI/OpenNIScaffold.h000066400000000000000000000055051277777236100231670ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_OPENNI_OPENNISCAFFOLD_H #define SURGSIM_DEVICES_OPENNI_OPENNISCAFFOLD_H #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Framework/BasicThread.h" namespace SurgSim { namespace Framework { class Logger; }; namespace Devices { class OpenNIDevice; /// A class that manages OpenNI devices /// /// \sa SurgSim::Devices::OpenNIDevice class OpenNIScaffold : public SurgSim::Framework::BasicThread { public: /// Destructor. virtual ~OpenNIScaffold(); protected: bool doInitialize() override; bool doStartUp() override; bool doUpdate(double dt) override; private: /// Internal shared state data type. struct StateData; /// Interal per-device information. struct DeviceData; friend class OpenNIDevice; /// Constructor. OpenNIScaffold(); /// Gets or creates the scaffold shared by all OpenNIDevice instances. /// The scaffold is managed using a SharedInstance object, so it will be destroyed when all devices are released. /// \return the scaffold object. static std::shared_ptr getOrCreateSharedInstance(); /// Registers the specified device object. /// \param device The device object to be used /// \return True if the initialization succeeds, false if it fails. bool registerDevice(OpenNIDevice* device); /// Unregisters the specified device object. /// \param device The device object. /// \return true on success, false on failure. bool unregisterDevice(const OpenNIDevice* device); /// Do the OpenNI specific registration /// \param info The device data /// \return true on success, false on failure. bool doRegisterDevice(DeviceData* info); /// Do the OpenNI specific unregistration /// \param info The device data /// \return true on success, false on failure. bool doUnregisterDevice(DeviceData* info); /// Builds the data layout for the application input (i.e. device output). static SurgSim::DataStructures::DataGroup buildDeviceInputData(); /// Internal scaffold state. std::unique_ptr m_state; /// Logger used by the scaffold std::shared_ptr m_logger; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_OPENNI_OPENNISCAFFOLD_H opensurgsim-0.7.0/SurgSim/Devices/OpenNI/UnitTests/000077500000000000000000000000001277777236100221615ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/OpenNI/UnitTests/CMakeLists.txt000066400000000000000000000015541277777236100247260ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES OpenNIDeviceTest.cpp ) set(LIBS OpenNIDevice ) surgsim_add_unit_tests(OpenNIDeviceTest) set_target_properties(OpenNIDeviceTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/OpenNI/UnitTests/OpenNIDeviceTest.cpp000066400000000000000000000123011277777236100257720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OpenNIDevice class. #include #include #include #include #include #include "SurgSim/Devices/OpenNI/OpenNIDevice.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::Devices::OpenNIDevice; using SurgSim::Devices::OpenNIScaffold; using SurgSim::DataStructures::DataGroup; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Matrix44d; using SurgSim::Testing::MockInputOutput; TEST(OpenNIDeviceTest, CreateUninitializedDevice) { std::shared_ptr device = std::make_shared("TestOpenNI"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; } TEST(OpenNIDeviceTest, CreateAndInitializeDevice) { std::shared_ptr device = std::make_shared("TestOpenNI"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_FALSE(device->isInitialized()); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a OpenNI device plugged in?"; EXPECT_TRUE(device->isInitialized()); } TEST(OpenNIDeviceTest, Name) { std::shared_ptr device = std::make_shared("TestOpenNI"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_EQ("TestOpenNI", device->getName()); EXPECT_TRUE(device->initialize()) << "Initialization failed. Is a OpenNI device plugged in?"; EXPECT_EQ("TestOpenNI", device->getName()); } TEST(OpenNIDeviceTest, CreateDevicesWithSameName) { std::shared_ptr device1 = std::make_shared("OpenNI"); ASSERT_TRUE(device1 != nullptr) << "Device creation failed."; ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a OpenNI device plugged in?"; std::shared_ptr device2 = std::make_shared("OpenNI"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; ASSERT_FALSE(device2->initialize()) << "Initialization succeeded despite duplicate name."; } TEST(OpenNIDeviceTest, InputConsumer) { std::shared_ptr device = std::make_shared("TestOpenNI"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a OpenNI device plugged in?"; std::shared_ptr consumer = std::make_shared(); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_FALSE(device->removeInputConsumer(consumer)); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device->addInputConsumer(consumer)); // Adding the same input consumer again should fail. EXPECT_FALSE(device->addInputConsumer(consumer)); // Sleep for a second, to see how many times the consumer is invoked. boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeInputConsumer(consumer)); // Removing the same input consumer again should fail. EXPECT_FALSE(device->removeInputConsumer(consumer)); // Check the number of invocations. EXPECT_EQ(1, consumer->m_numTimesInitializedInput); EXPECT_GE(consumer->m_numTimesReceivedInput, 10); EXPECT_LE(consumer->m_numTimesReceivedInput, 120); EXPECT_TRUE(consumer->m_lastReceivedInput.images().hasData("color")); EXPECT_TRUE(consumer->m_lastReceivedInput.images().hasData("depth")); EXPECT_TRUE(consumer->m_lastReceivedInput.images().hasData("depth_xyz")); } TEST(OpenNIDeviceTest, OutputProducer) { std::shared_ptr device = std::make_shared("TestOpenNI"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a OpenNI device plugged in?"; std::shared_ptr producer = std::make_shared(); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_FALSE(device->removeOutputProducer(producer)); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_TRUE(device->setOutputProducer(producer)); // Sleep for a second, to see how many times the producer is invoked. boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeOutputProducer(producer)); // Removing the same input producer again should fail. EXPECT_FALSE(device->removeOutputProducer(producer)); // Check the number of invocations. EXPECT_EQ(0, producer->m_numTimesRequestedOutput); } opensurgsim-0.7.0/SurgSim/Devices/OpenNI/VisualTest/000077500000000000000000000000001277777236100223225ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/OpenNI/VisualTest/CMakeLists.txt000066400000000000000000000021371277777236100250650ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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_directories( "${GLUT_INCLUDE_DIR}" ) set(EXAMPLE_SOURCES main.cpp ) set(EXAMPLE_HEADERS ) surgsim_add_executable(OpenNIVisualTest "${EXAMPLE_SOURCES}" "${EXAMPLE_HEADERS}" ) set(LIBS OpenNIDevice SurgSimDataStructures SurgSimFramework SurgSimInput SurgSimMath VisualTestCommon ${Boost_LIBRARIES} ${GLUT_LIBRARIES} ${OPENGL_LIBRARIES} ) target_link_libraries(OpenNIVisualTest ${LIBS}) set_target_properties(OpenNIVisualTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/OpenNI/VisualTest/main.cpp000066400000000000000000000071521277777236100237570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/Image.h" #include "SurgSim/Devices/OpenNI/OpenNIDevice.h" #include "SurgSim/Framework/LockedContainer.h" #include "SurgSim/Input/DeviceInterface.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Testing/VisualTestCommon/GlutRenderer.h" using SurgSim::Devices::OpenNIDevice; using SurgSim::Input::DeviceInterface; using SurgSim::Math::Vector3d; class ImageGlutWindow : public SurgSim::Input::InputConsumerInterface { public: explicit ImageGlutWindow(const std::vector& imageNames) { const size_t numImages = imageNames.size(); const SurgSim::Math::Vector2d yRange(-1.0, 1.0); SurgSim::Math::Vector2d xRange; for (size_t i = 0; i < numImages; i++) { xRange = SurgSim::Math::Vector2d(i - numImages, i - numImages + 1) / numImages; auto view = std::make_shared(Eigen::AlignedBox(xRange, yRange)); GlutRenderer::addObject(view); m_views.insert(std::make_pair(imageNames[i], view)); } m_renderThread = boost::thread(boost::ref(GlutRenderer::run)); } ~ImageGlutWindow() { if (m_renderThread.joinable()) { m_renderThread.join(); } } void initializeInput(const std::string& device, const SurgSim::DataStructures::DataGroup& inputData) override { for (auto view : m_views) { SURGSIM_ASSERT(inputData.images().hasEntry(view.first)) << "No image named '" << view.first << "' provided by the device: " << device; } } void handleInput(const std::string& device, const SurgSim::DataStructures::DataGroup& inputData) override { SurgSim::DataStructures::DataGroup::ImageType data; for (auto view : m_views) { if(inputData.images().get(view.first, &data)) { view.second->image.set(std::move(data)); } } } private: boost::thread m_renderThread; std::unordered_map> m_views; }; int main(int argc, char** argv) { std::shared_ptr device = std::make_shared("OpenNIDevice"); if (!device->initialize()) { std::cout << std::endl << "Could not initialize device: " << device->getName() << std::endl << "--- Press Enter to quit the application! ---" << std::endl; getc(stdin); return 1; } std::vector imagesToDraw; imagesToDraw.push_back("color"); imagesToDraw.push_back("depth"); std::shared_ptr imageWindow = std::make_shared(imagesToDraw); device->addInputConsumer(imageWindow); std::cout << std::endl << "**********************************************************************" << std::endl << "OpenNI Visual Test" << std::endl << std::endl << "When done, press Enter to quit the application." << std::endl << "**********************************************************************" << std::endl; getc(stdin); std::cout << "Exiting..." << std::endl; device->removeInputConsumer(imageWindow); device.reset(); exit(0); } opensurgsim-0.7.0/SurgSim/Devices/Phantom/000077500000000000000000000000001277777236100204755ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Phantom/CMakeLists.txt000066400000000000000000000031121277777236100232320ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. find_package(OpenHaptics REQUIRED) link_directories(${Boost_LIBRARY_DIRS}) set(LIBS ${Boost_LIBRARIES} ${OPENHAPTICS_LIBRARIES} SurgSimFramework SurgSimInput ) include_directories( "${CMAKE_CURRENT_SOURCE_DIR}" "${OPENHAPTICS_INCLUDE_DIR}" ) set(PHANTOM_DEVICE_SOURCES PhantomDevice.cpp PhantomScaffold.cpp ) set(PHANTOM_DEVICE_HEADERS PhantomDevice.h PhantomScaffold.h ) set(DEVICE_HEADERS ${DEVICE_HEADERS} Phantom/PhantomDevice.h PARENT_SCOPE) # TODO(advornik): the installation should NOT copy all the headers... surgsim_add_library( PhantomDevice "${PHANTOM_DEVICE_SOURCES}" "${PHANTOM_DEVICE_HEADERS}" ) target_link_libraries(PhantomDevice ${LIBS}) if(BUILD_TESTING) # The unit tests will be built whenever the library is built. add_subdirectory(UnitTests) if(GLUT_FOUND) add_subdirectory(VisualTest) endif(GLUT_FOUND) endif() # Put PhantomDevice into folder "Devices" set_target_properties(PhantomDevice PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Phantom/Phantom.dox000066400000000000000000000014351277777236100226220ustar00rootroot00000000000000/*! \page Phantom Phantom: Haptic Devices The Geomagic haptic devices measure 6DOF positions and orientations, and can exert forces on the user's hand (some models exert 3DOF forces, others 6DOF). Supported models: Geomagic Touch is tested. Any model/configuration allowed by the OpenHaptics library (for Linux http://www.geomagic.com/en/products/open-haptics/specifications-2/specifications-2-21/ ) is expected to work. Dependencies: - Device drivers - OpenHaptics http://www.geomagic.com/en/products/open-haptics/overview/ - An environment variable named 3DTOUCH_BASE or OH_SDK_BASE must be set to the directory containing (include\\)HD\hd.h - The location of the hd.lib file must be added to your path, e.g., C:\\Program Files (x86)\\SensAble\\3DTouch\\lib\\win32 */opensurgsim-0.7.0/SurgSim/Devices/Phantom/PhantomDevice.cpp000066400000000000000000000041721277777236100237330ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Phantom/PhantomDevice.h" #include "SurgSim/Devices/Phantom/PhantomScaffold.h" #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::PhantomDevice, PhantomDevice); PhantomDevice::PhantomDevice(const std::string& uniqueName) : SurgSim::Input::CommonDevice(uniqueName, PhantomScaffold::buildDeviceInputData()) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(PhantomDevice, std::string, InitializationName, getInitializationName, setInitializationName); } PhantomDevice::~PhantomDevice() { if (isInitialized()) { finalize(); } } void PhantomDevice::setInitializationName(const std::string& initializationName) { m_initializationName = initializationName; } std::string PhantomDevice::getInitializationName() const { return m_initializationName; } bool PhantomDevice::initialize() { SURGSIM_ASSERT(! isInitialized()); auto scaffold = PhantomScaffold::getOrCreateSharedInstance(); SURGSIM_ASSERT(scaffold); bool initialize = false; if (scaffold->registerDevice(this)) { m_scaffold = std::move(scaffold); initialize = true; } return initialize; } bool PhantomDevice::finalize() { SURGSIM_ASSERT(isInitialized()) << getName() << " is not initialized, cannot finalize."; bool ok = m_scaffold->unregisterDevice(this); m_scaffold.reset(); return ok; } bool PhantomDevice::isInitialized() const { return (m_scaffold != nullptr); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Phantom/PhantomDevice.h000066400000000000000000000102731277777236100233770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_PHANTOM_PHANTOMDEVICE_H #define SURGSIM_DEVICES_PHANTOM_PHANTOMDEVICE_H #include #include #include "SurgSim/Input/CommonDevice.h" namespace SurgSim { namespace Devices { class PhantomScaffold; SURGSIM_STATIC_REGISTRATION(PhantomDevice); /// A class implementing the communication with a SensAble/Geomagic PHANTOM device. /// /// This should support any device that can communicate using the OpenHaptics 3.x toolkit, such as the /// PHANTOM Omni (a.k.a. Geomagic Touch), PHANTOM Desktop (a.k.a. Geomagic Touch X), and the PHANTOM Premium /// series devices. /// /// \par Application input provided by the device: /// | type | name | | /// | ---- | ---- | --- | /// | pose | "pose" | %Device pose (units are meters). | /// | bool | "button1" | %State of the first device button. | /// | bool | "button2" | %State of the second device button if present. | /// | bool | "button3" | %State of the third device button (probably doesn't exist). | /// | bool | "button4" | %State of the third device button (probably doesn't exist). | /// Note that \c button1 through \c 4 correspond to the \c HD_DEVICE_BUTTON_1 through \c 4 provided by the /// OpenHaptics API, but your PHANTOM device likely has fewer than 4 buttons. On one-button PHANTOM devices, /// the button state can be accessed through \c button1. On a PHANTOM Omni or a Geomagic Touch, \c button1 /// corresponds to the front (blue) stylus button, and \c button2 to the rear (white/gray) stylus button. /// /// \par Application output used by the device: /// | type | name | | /// | ---- | ---- | --- | /// | vector | "force" | %Device output force (units are newtons). | /// | vector | "torque" | %Device output torque (units are Nm). | /// /// \sa SurgSim::Input::CommonDevice, SurgSim::Input::DeviceInterface class PhantomDevice : public SurgSim::Input::CommonDevice { public: /// Constructor. /// /// \param uniqueName A unique name for the device that will be used by the application. explicit PhantomDevice(const std::string& uniqueName); SURGSIM_CLASSNAME(SurgSim::Devices::PhantomDevice); /// Destructor. virtual ~PhantomDevice(); /// Sets the name used to register this device with the hardware library. /// \param initializationName The name passed to HDAPI when initializing the device. This should match a /// configured PHANTOM device; alternately, an empty string indicates the default device. void setInitializationName(const std::string& initializationName); /// Gets the name used by the Phantom device configuration to refer to this device. /// Note that this may or may not be the same as the device name retrieved by getName(). /// An empty string indicates the default device. /// \return The initialization name. std::string getInitializationName() const; bool initialize() override; bool isInitialized() const override; private: friend class PhantomScaffold; bool finalize() override; std::shared_ptr m_scaffold; std::string m_initializationName; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_PHANTOM_PHANTOMDEVICE_H opensurgsim-0.7.0/SurgSim/Devices/Phantom/PhantomScaffold.cpp000066400000000000000000000516331277777236100242610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Phantom/PhantomScaffold.h" #include #include #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Devices/Phantom/PhantomDevice.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SharedInstance.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::DataGroup; using SurgSim::DataStructures::DataGroupBuilder; using SurgSim::Math::Matrix33d; using SurgSim::Math::Matrix44d; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace { /// Check for OpenHaptics HDAPI errors, display them, and signal fatal errors. /// \param message An additional descriptive message. /// \return true if there was a fatal error; false if everything is OK. bool checkForFatalError(const char* message) { HDErrorInfo error = hdGetError(); if (error.errorCode == HD_SUCCESS) { return false; } // The HD API maintains an error stack, so in theory there could be more than one error pending. // We do head recursion to get them all in the correct order, and hope we don't overrun the stack... bool anotherFatalError = checkForFatalError(message); bool isFatal = ((error.errorCode != HD_WARM_MOTORS) && (error.errorCode != HD_EXCEEDED_MAX_FORCE) && (error.errorCode != HD_EXCEEDED_MAX_FORCE_IMPULSE) && (error.errorCode != HD_EXCEEDED_MAX_VELOCITY) && (error.errorCode != HD_FORCE_ERROR)); SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getLogger("Devices/Phantom")) << "Phantom: " << message << std::endl << " Error text: '" << hdGetErrorString(error.errorCode) << "'" << std::endl << " Error code: 0x" << std::hex << std::setw(4) << std::setfill('0') << error.errorCode << " (internal: " << std::dec << error.internalErrorCode << ")" << std::endl; return (isFatal || anotherFatalError); } } namespace SurgSim { namespace Devices { class PhantomScaffold::Handle { public: Handle() : m_deviceHandle(HD_INVALID_HANDLE), m_logger(Framework::Logger::getLogger("Devices/Phantom")) { } Handle(const std::string& deviceName, const std::string& initializationName) : m_deviceHandle(HD_INVALID_HANDLE), m_logger(Framework::Logger::getLogger("Devices/Phantom")) { create(deviceName, initializationName); } ~Handle() { SURGSIM_ASSERT(!isValid()) << "Expected destroy() to be called before Handle object destruction."; } bool isValid() const { return (m_deviceHandle != HD_INVALID_HANDLE); } bool create(const std::string& deviceName, const std::string& initializationName) { SURGSIM_ASSERT(!isValid()); HHD deviceHandle = HD_INVALID_HANDLE; if (initializationName.length() > 0) { deviceHandle = hdInitDevice(initializationName.c_str()); } else { deviceHandle = hdInitDevice(HD_DEFAULT_DEVICE); } if (checkForFatalError("Failed to initialize")) { // HDAPI error message already logged SURGSIM_LOG_INFO(m_logger) << std::endl << " Device name: '" << deviceName << "'" << std::endl << " OpenHaptics device name: '" << initializationName << "'" << std::endl; return false; } else if (deviceHandle == HD_INVALID_HANDLE) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to initialize '" << deviceName << "'" << std::endl << " Error details: unknown (HDAPI returned an invalid handle)" << std::endl << " OpenHaptics device name: '" << initializationName << "'" << std::endl; return false; } m_deviceHandle = deviceHandle; return true; } bool destroy() { SURGSIM_ASSERT(isValid()); HHD deviceHandle = m_deviceHandle; if (deviceHandle == HD_INVALID_HANDLE) { return false; } m_deviceHandle = HD_INVALID_HANDLE; hdDisableDevice(deviceHandle); checkForFatalError("Couldn't disable device"); return true; } HHD get() const { SURGSIM_ASSERT(isValid()); return m_deviceHandle; } private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) Handle(const Handle&) /*= delete*/; Handle& operator=(const Handle&) /*= delete*/; /// The OpenHaptics device handle (or HD_INVALID_HANDLE if not valid). HHD m_deviceHandle; /// The logger. std::shared_ptr m_logger; }; class PhantomScaffold::Callback { public: Callback() : m_callbackHandle(0), m_haveCallback(false), m_scaffold(PhantomScaffold::getOrCreateSharedInstance()) { create(); } ~Callback() { if (m_haveCallback) { destroy(); } } bool isValid() const { return m_haveCallback; } bool create() { SURGSIM_ASSERT(! m_haveCallback); m_callbackHandle = hdScheduleAsynchronous(run, m_scaffold.get(), HD_DEFAULT_SCHEDULER_PRIORITY); if (checkForFatalError("Couldn't run haptic callback")) { return false; } m_haveCallback = true; return true; } bool destroy() { SURGSIM_ASSERT(m_haveCallback); hdUnschedule(m_callbackHandle); if (checkForFatalError("Couldn't stop haptic callback")) { return false; } m_haveCallback = false; return true; } private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) Callback(const Callback&) /*= delete*/; Callback& operator=(const Callback&) /*= delete*/; /// The callback wrapper passed to OpenHaptics. /// \param [in,out] data The user data (in our case, the scaffold pointer). /// \return HD_CALLBACK_CONTINUE to wait for the next frame, or HD_CALLBACK_DONE to terminate further calls. static HDCallbackCode HDCALLBACK run(void* data); /// The haptic loop callback handle. HDSchedulerHandle m_callbackHandle; /// True if the callback has been created (and not destroyed). bool m_haveCallback; /// The scaffold. std::shared_ptr m_scaffold; }; struct PhantomScaffold::DeviceData { /// Initialize the state. DeviceData(const std::string& apiName, PhantomDevice* device) : initializationName(apiName), deviceObject(device), position(Vector3d::Zero()), linearVelocity(Vector3d::Zero()), scaledPose(RigidTransform3d::Identity()), force(Vector3d::Zero()), torque(Vector3d::Zero()), buttonsBuffer(0) { } /// The OpenHaptics device name. const std::string initializationName; /// The corresponding device object. PhantomDevice* const deviceObject; /// The device handle wrapper. PhantomScaffold::Handle deviceHandle; /// The raw button state read from the device. int buttonsBuffer; /// The position value from the device. Vector3d position; /// The linear velocity value from the device. Vector3d linearVelocity; /// The pose value from the device, after scaling. RigidTransform3d scaledPose; /// The force value to be written to the device, in Newtons. Vector3d force; /// The torque value to be written to the device, in milliNewton-meters. Vector3d torque; private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) DeviceData(const DeviceData&) /*= delete*/; DeviceData& operator=(const DeviceData&) /*= delete*/; }; struct PhantomScaffold::StateData { public: /// Initialize the state. StateData() { } /// Wrapper for the haptic loop callback handle. std::unique_ptr callback; /// The list of known devices. std::list> activeDeviceList; /// The mutex that protects the list of known devices. boost::mutex mutex; private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) StateData(const StateData&) /*= delete*/; StateData& operator=(const StateData&) /*= delete*/; }; HDCallbackCode HDCALLBACK PhantomScaffold::Callback::run(void* data) { PhantomScaffold* scaffold = static_cast(data); if (! scaffold->runHapticFrame()) { //...do something?... } // Should return HD_CALLBACK_CONTINUE to wait for the next frame, or HD_CALLBACK_DONE to terminate the calls. return HD_CALLBACK_CONTINUE; } PhantomScaffold::PhantomScaffold() : m_logger(Framework::Logger::getLogger("Devices/Phantom")), m_state(new StateData) { { // Drain the HDAPI error stack HDErrorInfo error = hdGetError(); while (error.errorCode != HD_SUCCESS) { error = hdGetError(); } } SURGSIM_LOG_DEBUG(m_logger) << "Shared scaffold created."; } PhantomScaffold::~PhantomScaffold() { if (m_state->callback) { destroyHapticLoop(); } // The following block controls the duration of the mutex being locked. { boost::lock_guard lock(m_state->mutex); if (! m_state->activeDeviceList.empty()) { SURGSIM_LOG_SEVERE(m_logger) << "Phantom: Destroying scaffold while devices are active!?!"; // do anything special with each device? m_state->activeDeviceList.clear(); } } SURGSIM_LOG_DEBUG(m_logger) << "Shared scaffold destroyed."; } bool PhantomScaffold::registerDevice(PhantomDevice* device) { boost::lock_guard lock(m_state->mutex); // Make sure the object is unique. auto sameObject = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); SURGSIM_ASSERT(sameObject == m_state->activeDeviceList.end()) << "Phantom: Tried to register a device" << " which is already present!"; // Make sure the name is unique. const std::string deviceName = device->getName(); auto sameName = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [&deviceName](const std::unique_ptr& info) { return info->deviceObject->getName() == deviceName; }); if (sameName != m_state->activeDeviceList.end()) { SURGSIM_LOG_CRITICAL(m_logger) << "Phantom: Tried to register a device when the same name is" << " already present!"; return false; } // Make sure the initialization name is unique. const std::string initializationName = device->getInitializationName(); auto sameInitializationName = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [&deviceName](const std::unique_ptr& info) { return info->deviceObject->getInitializationName() == deviceName; }); if (sameInitializationName != m_state->activeDeviceList.end()) { SURGSIM_LOG_CRITICAL(m_logger) << "Phantom: Tried to register a device when the same initialization" << " (OpenHaptics) name is already present!"; return false; } // Construct the object, start its thread, then move it to the list. // Note that since Visual Studio 2010 doesn't support multi-argument emplace_back() for STL containers, storing a // list of unique_ptr results in nicer code than storing a list of DeviceData values directly. std::unique_ptr info(new DeviceData(initializationName, device)); if (! initializeDeviceState(info.get())) { return false; // message already printed } m_state->activeDeviceList.emplace_back(std::move(info)); SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << " initialized."; if (m_state->activeDeviceList.size() == 1) { // If this is the first device, create the haptic loop as well. // The haptic loop should be created AFTER initializing the device, or OpenHaptics will complain. createHapticLoop(); } return true; } bool PhantomScaffold::unregisterDevice(const PhantomDevice* const device) { std::unique_ptr savedInfo; bool haveOtherDevices = false; { boost::lock_guard lock(m_state->mutex); auto matching = std::find_if(m_state->activeDeviceList.begin(), m_state->activeDeviceList.end(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (matching != m_state->activeDeviceList.end()) { savedInfo = std::move(*matching); m_state->activeDeviceList.erase(matching); // the iterator is now invalid but that's OK SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << " unregistered."; } haveOtherDevices = (m_state->activeDeviceList.size() > 0); } bool status = true; if (! savedInfo) { SURGSIM_LOG_WARNING(m_logger) << "Attempted to release a non-registered device " << device->getName(); status = false; } else { // If you attempt to destroy the device while the haptic callback is active, you see lots of nasty errors // under OpenHaptics 3.0. The solution seems to be to disable the haptic callback when destroying the device. destroyHapticLoop(); finalizeDeviceState(savedInfo.get()); savedInfo.reset(nullptr); if (haveOtherDevices) { // If there are other devices left, we need to recreate the haptic callback. // If there aren't, we don't need the callback... and moreover, trying to create it will fail. createHapticLoop(); } } return status; } bool PhantomScaffold::initializeDeviceState(DeviceData* info) { SURGSIM_ASSERT(! info->deviceHandle.isValid()); if (! info->deviceHandle.create(info->deviceObject->getName(), info->deviceObject->getInitializationName())) { return false; // message was already printed } // Enable forces. hdMakeCurrentDevice(info->deviceHandle.get()); hdEnable(HD_FORCE_OUTPUT); checkForFatalError("Couldn't enable forces"); return true; } bool PhantomScaffold::finalizeDeviceState(DeviceData* info) { bool status = false; if (info->deviceHandle.isValid()) { status = info->deviceHandle.destroy(); } return status; } bool PhantomScaffold::updateDevice(PhantomScaffold::DeviceData* info) { //boost::lock_guard lock(info->parametersMutex); hdBeginFrame(info->deviceHandle.get()); // Receive the current device position (in millimeters!), pose transform, and button state bitmap. hdGetDoublev(HD_CURRENT_POSITION, info->position.data()); info->scaledPose.translation() = info->position * 0.001; // convert from millimeters to meters! hdGetDoublev(HD_CURRENT_VELOCITY, info->linearVelocity.data()); info->linearVelocity *= 0.001; //TODO(ryanbeasley): convert HD_CURRENT_ANGULAR_VELOCITY to a rotation vector and store in info->angularVelocity. Eigen::Matrix transform; hdGetDoublev(HD_CURRENT_TRANSFORM, transform.data()); info->scaledPose.linear() = transform.block<3,3>(0, 0); // store orientation in a RigidTransform3d hdGetIntegerv(HD_CURRENT_BUTTONS, &(info->buttonsBuffer)); calculateForceAndTorque(info); // Set the force command (in newtons). hdSetDoublev(HD_CURRENT_FORCE, info->force.data()); // Set the torque command. hdSetDoublev(HD_CURRENT_GIMBAL_TORQUE, info->torque.data()); hdEndFrame(info->deviceHandle.get()); setInputData(info); bool fatalError = checkForFatalError("Error in device update"); return !fatalError; } void PhantomScaffold::calculateForceAndTorque(PhantomScaffold::DeviceData* info) { typedef Eigen::Matrix Vector6d; const SurgSim::DataStructures::DataGroup& outputData = info->deviceObject->getOutputData(); // Get the nominal force and torque, if provided. Vector3d nominalForce = Vector3d::Zero(); outputData.vectors().get(SurgSim::DataStructures::Names::FORCE, &nominalForce); Vector3d nominalTorque = Vector3d::Zero(); Vector6d nominalForceAndTorque = Vector6d::Zero(); SurgSim::Math::setSubVector(nominalForce, 0, 3, &nominalForceAndTorque); // If the springJacobian was provided, multiply with the change in position since the output data was set, // to get a delta force & torque. This way a linearized output force & torque is calculated at haptic update rates. Vector6d forceAndTorqueFromDeltaPosition = Vector6d::Zero(); SurgSim::DataStructures::DataGroup::DynamicMatrixType springJacobian; if (outputData.matrices().get(SurgSim::DataStructures::Names::SPRING_JACOBIAN, &springJacobian)) { RigidTransform3d poseForNominal = info->scaledPose; outputData.poses().get(SurgSim::DataStructures::Names::INPUT_POSE, &poseForNominal); Vector3d rotationVector = Vector3d::Zero(); SurgSim::Math::computeRotationVector(info->scaledPose, poseForNominal, &rotationVector); Vector6d deltaPosition; SurgSim::Math::setSubVector(info->scaledPose.translation() - poseForNominal.translation(), 0, 3, &deltaPosition); SurgSim::Math::setSubVector(rotationVector, 1, 3, &deltaPosition); forceAndTorqueFromDeltaPosition = springJacobian * deltaPosition; } // If the damperJacobian was provided, calculate a delta force & torque based on the change in velocity. Vector6d forceAndTorqueFromDeltaVelocity = Vector6d::Zero(); SurgSim::DataStructures::DataGroup::DynamicMatrixType damperJacobian; if (outputData.matrices().get(SurgSim::DataStructures::Names::DAMPER_JACOBIAN, &damperJacobian)) { Vector3d angularVelocity = Vector3d::Zero(); Vector3d linearVelocityForNominal = info->linearVelocity; outputData.vectors().get(SurgSim::DataStructures::Names::INPUT_LINEAR_VELOCITY, &linearVelocityForNominal); Vector3d angularVelocityForNominal = angularVelocity; outputData.vectors().get(SurgSim::DataStructures::Names::INPUT_ANGULAR_VELOCITY, &angularVelocityForNominal); Vector6d deltaVelocity; SurgSim::Math::setSubVector(info->linearVelocity - linearVelocityForNominal, 0, 3, &deltaVelocity); SurgSim::Math::setSubVector(angularVelocity - angularVelocityForNominal, 1, 3, &deltaVelocity); forceAndTorqueFromDeltaVelocity = damperJacobian * deltaVelocity; } Vector6d forceAndTorque = nominalForceAndTorque + forceAndTorqueFromDeltaPosition + forceAndTorqueFromDeltaVelocity; info->force = SurgSim::Math::getSubVector(forceAndTorque, 0, 3); // convert the torque from Newton-meters to milliNewton-meters as expected by the hardware library. info->torque = SurgSim::Math::getSubVector(forceAndTorque, 1, 3) * 1000.0; } void PhantomScaffold::setInputData(DeviceData* info) { // TODO(bert): this code should cache the access indices. SurgSim::DataStructures::DataGroup& inputData = info->deviceObject->getInputData(); inputData.poses().set(SurgSim::DataStructures::Names::POSE, info->scaledPose); inputData.vectors().set(SurgSim::DataStructures::Names::LINEAR_VELOCITY, info->linearVelocity); inputData.booleans().set(SurgSim::DataStructures::Names::BUTTON_1, (info->buttonsBuffer & HD_DEVICE_BUTTON_1) != 0); inputData.booleans().set(SurgSim::DataStructures::Names::BUTTON_2, (info->buttonsBuffer & HD_DEVICE_BUTTON_2) != 0); inputData.booleans().set(SurgSim::DataStructures::Names::BUTTON_3, (info->buttonsBuffer & HD_DEVICE_BUTTON_3) != 0); inputData.booleans().set(SurgSim::DataStructures::Names::BUTTON_4, (info->buttonsBuffer & HD_DEVICE_BUTTON_4) != 0); } bool PhantomScaffold::runHapticFrame() { boost::lock_guard lock(m_state->mutex); for (auto it = m_state->activeDeviceList.begin(); it != m_state->activeDeviceList.end(); ++it) { (*it)->deviceObject->pullOutput(); if (updateDevice((*it).get())) { (*it)->deviceObject->pushInput(); } } return true; } bool PhantomScaffold::createHapticLoop() { SURGSIM_ASSERT(! m_state->callback); if (! startScheduler()) { return false; } std::unique_ptr callback(new Callback); if (! callback->isValid()) { stopScheduler(); return false; } m_state->callback = std::move(callback); return true; } bool PhantomScaffold::destroyHapticLoop() { SURGSIM_ASSERT(m_state->callback); checkForFatalError("Error prior to stopping haptic callback"); // NOT considered an error for return code! bool didDestroy = m_state->callback->destroy(); m_state->callback.reset(nullptr); bool didStop = stopScheduler(); return didDestroy && didStop; } bool PhantomScaffold::startScheduler() { hdStartScheduler(); if (checkForFatalError("Couldn't start the scheduler")) { return false; } return true; } bool PhantomScaffold::stopScheduler() { hdStopScheduler(); if (checkForFatalError("Couldn't stop the scheduler")) { return false; } return true; } SurgSim::DataStructures::DataGroup PhantomScaffold::buildDeviceInputData() { DataGroupBuilder builder; builder.addPose(SurgSim::DataStructures::Names::POSE); builder.addVector(SurgSim::DataStructures::Names::LINEAR_VELOCITY); builder.addBoolean(SurgSim::DataStructures::Names::BUTTON_1); builder.addBoolean(SurgSim::DataStructures::Names::BUTTON_2); builder.addBoolean(SurgSim::DataStructures::Names::BUTTON_3); builder.addBoolean(SurgSim::DataStructures::Names::BUTTON_4); return builder.createData(); } std::shared_ptr PhantomScaffold::getOrCreateSharedInstance() { static SurgSim::Framework::SharedInstance sharedInstance; return sharedInstance.get(); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Phantom/PhantomScaffold.h000066400000000000000000000122331277777236100237170ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_PHANTOM_PHANTOMSCAFFOLD_H #define SURGSIM_DEVICES_PHANTOM_PHANTOMSCAFFOLD_H #include #include "SurgSim/Framework/Logger.h" #include "SurgSim/DataStructures/DataGroup.h" namespace SurgSim { namespace Devices { class PhantomDevice; /// A class that manages Sensable PHANTOM devices. /// /// This should support any PHANTOM device that can communicate using OpenHaptics 3.0 toolkit, such as PHANTOM /// Omni, PHANTOM Desktop, and the PHANTOM Premium series devices. The implementation is currently limited to /// 3DoF haptic output (forces only, no torques). /// /// \sa SurgSim::Devices::PhantomDevice class PhantomScaffold { public: /// Constructor. PhantomScaffold(); /// Destructor. ~PhantomScaffold(); /// Gets or creates the scaffold shared by all PhantomDevice instances. /// The scaffold is managed using a SharedInstance object, so it will be destroyed when all devices are released. /// \return the scaffold object. static std::shared_ptr getOrCreateSharedInstance(); private: /// Internal shared state data type. struct StateData; /// Interal per-device information. struct DeviceData; /// Wrapper for the haptic loop callback. class Callback; /// Wrapper for the OpenHaptics device handle. class Handle; friend class PhantomDevice; /// Registers the specified device object. /// If successful, the device object will become connected to an unused controller. /// /// \param device The device object to be used, which should have a unique name. /// \return True if the initialization succeeds, false if it fails. bool registerDevice(PhantomDevice* device); /// Unregisters the specified device object. /// The corresponding controller will become unused, and can be re-registered later. /// /// \param device The device object. /// \return true on success, false on failure. bool unregisterDevice(const PhantomDevice* device); /// Initializes a single device, creating the necessary HDAPI resources. /// \param [in,out] info The device data. /// \return true on success. bool initializeDeviceState(DeviceData* info); /// Finalizes a single device, destroying the necessary HDAPI resources. /// \param [in,out] info The device data. /// \return true on success. bool finalizeDeviceState(DeviceData* info); /// Updates the device information for a single device. /// \param info The device data. /// \return true on success. bool updateDevice(DeviceData* info); /// Calculates forces and torques and sends them to the device library. The force to output is /// composed of a vector named "force" in the output data, plus contributions from two optional Jacobians. /// If the matrix "springJacobian" is provided in the output data, a spring force & torque are generated from /// its product with the difference between the current pose and the pose in the output data named "inputPose". /// A damping force & torque are generated similarly. The intention is for a Behavior to calculate a nominal /// force & torque as well as the desired linearized changes to the force & torque based on changes to the input's /// pose & velocities. Then the linearized deltas to the output force & torque can be calculated at the haptic /// update rates, thereby smoothing the output response to motion. /// \param info The device data. void calculateForceAndTorque(DeviceData* info); /// Sets the input DataGroup, which will be pushed to the InputComponent /// \param info The device data void setInputData(DeviceData* info); /// Executes the operations for a single haptic frame. /// Should only be called from the context of an OpenHaptics callback. /// \return true on success. bool runHapticFrame(); /// Creates the haptic loop callback. /// \return true on success. bool createHapticLoop(); /// Destroys the haptic loop callback. /// Should be called while NOT holding the internal device list mutex, to prevent deadlock. /// \return true on success. bool destroyHapticLoop(); /// Starts the OpenHaptics scheduler. /// \return true on success. bool startScheduler(); /// Stops the OpenHaptics scheduler. /// \return true on success. bool stopScheduler(); /// Builds the data layout for the application input (i.e. device output). static SurgSim::DataStructures::DataGroup buildDeviceInputData(); /// Logger used by the scaffold and all devices. std::shared_ptr m_logger; /// Internal scaffold state. std::unique_ptr m_state; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_PHANTOM_PHANTOMSCAFFOLD_H opensurgsim-0.7.0/SurgSim/Devices/Phantom/UnitTests/000077500000000000000000000000001277777236100224375ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Phantom/UnitTests/CMakeLists.txt000066400000000000000000000017631277777236100252060ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES PhantomDeviceTest.cpp PhantomScaffoldTest.cpp ) set(LIBS PhantomDevice SurgSimInput SurgSimFramework SurgSimDataStructures ${Boost_LIBRARIES} ${OPENHAPTICS_LIBRARIES} ) surgsim_add_unit_tests(PhantomDeviceTest) set_target_properties(PhantomDeviceTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Phantom/UnitTests/PhantomDeviceTest.cpp000066400000000000000000000226371277777236100265430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the PhantomDevice class. #include #include #include #include #include #include "SurgSim/Devices/Phantom/PhantomDevice.h" #include "SurgSim/Devices/Phantom/PhantomScaffold.h" // only needed if calling setDefaultLogLevel() #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::Devices::PhantomDevice; using SurgSim::Devices::PhantomScaffold; using SurgSim::DataStructures::DataGroup; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Matrix44d; using SurgSim::Testing::MockInputOutput; TEST(PhantomDeviceTest, CreateUninitializedDevice) { //PhantomScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device = std::make_shared("TestPhantom"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; } TEST(PhantomDeviceTest, CreateAndInitializeDevice) { //PhantomScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device = std::make_shared("TestPhantom"); device->setInitializationName("Default PHANToM"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_FALSE(device->isInitialized()); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Phantom device plugged in?"; EXPECT_TRUE(device->isInitialized()); } TEST(PhantomDeviceTest, CreateAndInitializeDefaultDevice) { //PhantomScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device = std::make_shared("TestPhantom"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_FALSE(device->isInitialized()); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Phantom device plugged in?"; EXPECT_TRUE(device->isInitialized()); } TEST(PhantomDeviceTest, Name) { //PhantomScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device = std::make_shared("TestPhantom"); device->setInitializationName("Default PHANToM"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_EQ("TestPhantom", device->getName()); EXPECT_TRUE(device->initialize()) << "Initialization failed. Is a Phantom device plugged in?"; EXPECT_EQ("TestPhantom", device->getName()); } static void testCreateDeviceSeveralTimes(bool doSleep) { for (int i = 0; i < 6; ++i) { std::shared_ptr device = std::make_shared("TestPhantom"); device->setInitializationName("Default PHANToM"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Phantom device plugged in?"; if (doSleep) { boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(100)); } // the device will be destroyed here } } TEST(PhantomDeviceTest, CreateDeviceSeveralTimes) { //PhantomScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); testCreateDeviceSeveralTimes(true); } TEST(PhantomDeviceTest, CreateSeveralDevices) { //PhantomScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device1 = std::make_shared("Phantom1"); device1->setInitializationName("Default PHANToM"); ASSERT_TRUE(device1 != nullptr) << "Device creation failed."; ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a Phantom device plugged in?"; // We can't check what happens with the scaffolds, since those are no longer a part of the device's API... std::shared_ptr device2 = std::make_shared("Phantom2"); device2->setInitializationName("Second PHANToM"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; if (! device2->initialize()) { std::cerr << "[Warning: second Phantom did not come up; is it plugged in?]" << std::endl; } } TEST(PhantomDeviceTest, CreateDevicesWithSameName) { //PhantomScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device1 = std::make_shared("Phantom"); device1->setInitializationName("Default PHANToM"); ASSERT_TRUE(device1 != nullptr) << "Device creation failed."; ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a Phantom device plugged in?"; std::shared_ptr device2 = std::make_shared("Phantom"); device2->setInitializationName("Second PHANToM"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; ASSERT_FALSE(device2->initialize()) << "Initialization succeeded despite duplicate name."; } TEST(PhantomDeviceTest, CreateDevicesWithSameInitializationName) { //PhantomScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device1 = std::make_shared("Phantom1"); device1->setInitializationName("Default PHANToM"); ASSERT_TRUE(device1 != nullptr) << "Device creation failed."; ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a Phantom device plugged in?"; std::shared_ptr device2 = std::make_shared("Phantom2"); device2->setInitializationName("Default PHANToM"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; ASSERT_FALSE(device2->initialize()) << "Initialization succeeded despite duplicate initialization name."; } TEST(PhantomDeviceTest, InputConsumer) { //PhantomScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device = std::make_shared("TestPhantom"); device->setInitializationName("Default PHANToM"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_TRUE(device->initialize()) << "Initialization failed. Is a Phantom device plugged in?"; std::shared_ptr consumer = std::make_shared(); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_FALSE(device->removeInputConsumer(consumer)); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device->addInputConsumer(consumer)); // Adding the same input consumer again should fail. EXPECT_FALSE(device->addInputConsumer(consumer)); // Sleep for a second, to see how many times the consumer is invoked. // (A Phantom device is supposed to run at 1KHz.) boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeInputConsumer(consumer)); // Removing the same input consumer again should fail. EXPECT_FALSE(device->removeInputConsumer(consumer)); // Check the number of invocations. EXPECT_GE(consumer->m_numTimesReceivedInput, 700); EXPECT_LE(consumer->m_numTimesReceivedInput, 1300); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData(SurgSim::DataStructures::Names::POSE)); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData(SurgSim::DataStructures::Names::BUTTON_1)); } TEST(PhantomDeviceTest, OutputProducer) { //PhantomScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device = std::make_shared("TestPhantom"); device->setInitializationName("Default PHANToM"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_TRUE(device->initialize()) << "Initialization failed. Is a Phantom device plugged in?"; std::shared_ptr producer = std::make_shared(); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_FALSE(device->removeOutputProducer(producer)); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_TRUE(device->setOutputProducer(producer)); // Sleep for a second, to see how many times the producer is invoked. // (A Phantom device is supposed to run at 1KHz.) boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeOutputProducer(producer)); // Removing the same input producer again should fail. EXPECT_FALSE(device->removeOutputProducer(producer)); // Check the number of invocations. EXPECT_GE(producer->m_numTimesRequestedOutput, 700); EXPECT_LE(producer->m_numTimesRequestedOutput, 1300); } TEST(PhantomDeviceTest, FactoryCreation) { std::shared_ptr device; ASSERT_NO_THROW(device = SurgSim::Input::DeviceInterface::getFactory().create("SurgSim::Devices::PhantomDevice", "TestPhantom")); EXPECT_EQ("SurgSim::Devices::PhantomDevice", device->getClassName()); } TEST(PhantomDeviceTest, AccessibleTest) { std::shared_ptr device = std::make_shared("TestFalcon"); std::string name = "initName"; EXPECT_NO_THROW(device->setValue("InitializationName", name)); EXPECT_EQ(name, device->getInitializationName()); } opensurgsim-0.7.0/SurgSim/Devices/Phantom/UnitTests/PhantomScaffoldTest.cpp000066400000000000000000000170101277777236100270520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the PhantomScaffold class and its device interactions. #include #include #include #include #include #include "SurgSim/Devices/Phantom/PhantomDevice.h" #include "SurgSim/Devices/Phantom/PhantomScaffold.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Matrix.h" using SurgSim::Devices::PhantomDevice; using SurgSim::Devices::PhantomScaffold; TEST(PhantomScaffoldTest, CreateAndDestroyScaffold) { //PhantomScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr scaffold = PhantomScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created!"; std::weak_ptr scaffold1 = scaffold; { std::shared_ptr stillHaveScaffold = scaffold1.lock(); EXPECT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; EXPECT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } { std::shared_ptr sameScaffold = PhantomScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, sameScaffold) << "Unable to get scaffold from class"; EXPECT_EQ(scaffold, sameScaffold) << "Scaffold mismatch!"; } scaffold.reset(); { std::shared_ptr dontHaveScaffold = scaffold1.lock(); EXPECT_EQ(nullptr, dontHaveScaffold) << "Able to get scaffold from weak ref (with no strong ref)"; } scaffold = PhantomScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created the 2nd time!"; std::weak_ptr scaffold2 = scaffold; { std::shared_ptr stillHaveScaffold = scaffold2.lock(); ASSERT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; ASSERT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } } TEST(PhantomScaffoldTest, ScaffoldLifeCycle) { //PhantomScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::weak_ptr lastScaffold; { std::shared_ptr scaffold = PhantomScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created!"; lastScaffold = scaffold; } { std::shared_ptr dontHaveScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, dontHaveScaffold) << "Able to get scaffold from weak ref (with no strong ref)"; lastScaffold.reset(); } { std::shared_ptr device = std::make_shared("TestPhantom"); device->setInitializationName("Default PHANToM"); ASSERT_NE(nullptr, device) << "Creation failed. Is a Phantom device plugged in?"; // note: the device is NOT initialized! { std::shared_ptr scaffold = PhantomScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // save the scaffold for later std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); EXPECT_EQ(scaffold, sameScaffold); } // The device has not been initialized, so it should NOT be hanging on to the device! { std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } // the ("empty") device is about to get destroyed } { std::shared_ptr device = std::make_shared("TestPhantom"); device->setInitializationName("Default PHANToM"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Phantom device plugged in?"; { std::shared_ptr scaffold = PhantomScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // save the scaffold for later std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); EXPECT_EQ(scaffold, sameScaffold); } // The same scaffold is supposed to still be around because of the device { std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); std::shared_ptr scaffold = PhantomScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; EXPECT_EQ(sameScaffold, scaffold); } // the device and the scaffold are about to get destroyed } { std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } { std::shared_ptr device = std::make_shared("TestPhantom"); device->setInitializationName("Default PHANToM"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Didn't this work a moment ago?"; std::shared_ptr scaffold = PhantomScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } } TEST(PhantomScaffoldTest, CreateDeviceSeveralTimes) { //PhantomScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::weak_ptr lastScaffold; for (int i = 0; i < 6; ++i) { SCOPED_TRACE(i); EXPECT_EQ(nullptr, lastScaffold.lock()); std::shared_ptr device = std::make_shared("TestPhantom"); device->setInitializationName("Default PHANToM"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Phantom device plugged in?"; std::shared_ptr scaffold = PhantomScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // the device and the scaffold will be destroyed here } } TEST(PhantomScaffoldTest, CreateDeviceSeveralTimesWithScaffoldRef) { //PhantomScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr lastScaffold; for (int i = 0; i < 6; ++i) { SCOPED_TRACE(i); std::shared_ptr device = std::make_shared("TestPhantom"); device->setInitializationName("Default PHANToM"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Phantom device plugged in?"; std::shared_ptr scaffold = PhantomScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; if (! lastScaffold) { lastScaffold = scaffold; } EXPECT_EQ(lastScaffold, scaffold); // the device will be destroyed here, but the scaffold stays around because we have a shared_ptr to it. } } opensurgsim-0.7.0/SurgSim/Devices/Phantom/VisualTest/000077500000000000000000000000001277777236100226005ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Phantom/VisualTest/CMakeLists.txt000066400000000000000000000020021277777236100253320ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. set(EXAMPLE_SOURCES main.cpp ) set(EXAMPLE_HEADERS ) surgsim_add_executable(PhantomVisualTest "${EXAMPLE_SOURCES}" "${EXAMPLE_HEADERS}") set(LIBS IdentityPoseDevice PhantomDevice SurgSimInput VisualTestCommon ) target_link_libraries(PhantomVisualTest ${LIBS}) # Put PhantomVisualTest into folder "Devices" set_target_properties(PhantomVisualTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Phantom/VisualTest/main.cpp000066400000000000000000000034211277777236100242300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Input/DeviceInterface.h" #include "SurgSim/Devices/Phantom/PhantomDevice.h" #include "SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.h" #include "SurgSim/Testing/VisualTestCommon/ToolSquareTest.h" using SurgSim::Input::DeviceInterface; using SurgSim::Devices::PhantomDevice; using SurgSim::Devices::IdentityPoseDevice; int main(int argc, char** argv) { std::shared_ptr toolDevice = std::make_shared("PhantomDevice"); toolDevice->setInitializationName("Default PHANToM"); // The square is controlled by a second device. For a simple test, we're using an IdentityPoseDevice-- // a pretend device that doesn't actually move. std::shared_ptr squareDevice = std::make_shared("IdentityPoseDevice"); runToolSquareTest(toolDevice, squareDevice, //2345678901234567890123456789012345678901234567890123456789012345678901234567890 "Move the Phantom device to move the sphere tool."); std::cout << std::endl << "Exiting." << std::endl; // Cleanup and shutdown will happen automatically as objects go out of scope. return 0; } opensurgsim-0.7.0/SurgSim/Devices/ReplayPoseDevice/000077500000000000000000000000001277777236100222725ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/ReplayPoseDevice/CMakeLists.txt000066400000000000000000000025511277777236100250350ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. link_directories(${Boost_LIBRARY_DIRS}) include_directories("${CMAKE_CURRENT_SOURCE_DIR}") set(REPLAY_POSE_DEVICE_SOURCES ReplayPoseDevice.cpp ReplayPoseScaffold.cpp ) set(REPLAY_POSE_DEVICE_HEADERS ReplayPoseDevice.h ReplayPoseScaffold.h ) set(DEVICE_HEADERS ${DEVICE_HEADERS} ReplayPoseDevice/ReplayPoseDevice.h PARENT_SCOPE) surgsim_add_library( ReplayPoseDevice "${REPLAY_POSE_DEVICE_SOURCES}" "${REPLAY_POSE_DEVICE_HEADERS}" ) set(LIBS SurgSimDataStructures SurgSimFramework SurgSimInput SurgSimMath ) target_link_libraries(ReplayPoseDevice ${LIBS} ) if(BUILD_TESTING) add_subdirectory(UnitTests) endif() # Put ReplayPoseDevice into folder "Devices" set_target_properties(ReplayPoseDevice PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/ReplayPoseDevice/ReplayPoseDevice.cpp000066400000000000000000000051051277777236100262020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Devices/ReplayPoseDevice/ReplayPoseDevice.h" #include "SurgSim/Devices/ReplayPoseDevice/ReplayPoseScaffold.h" #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::ReplayPoseDevice, ReplayPoseDevice); ReplayPoseDevice::ReplayPoseDevice(const std::string& uniqueName) : SurgSim::Input::CommonDevice(uniqueName, ReplayPoseScaffold::buildDeviceInputData()), m_fileName("ReplayPoseDevice.txt"), m_rate(1000.0) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(ReplayPoseDevice, std::string, FileName, getFileName, setFileName); SURGSIM_ADD_SERIALIZABLE_PROPERTY(ReplayPoseDevice, double, Rate, getRate, setRate); } ReplayPoseDevice::~ReplayPoseDevice() { if (isInitialized()) { finalize(); } } const std::string ReplayPoseDevice::getFileName() const { return m_fileName; } void ReplayPoseDevice::setFileName(const std::string& fileName) { SURGSIM_ASSERT(!isInitialized()) << "The filename can only be set before initialization"; m_fileName = fileName; } double ReplayPoseDevice::getRate() const { return m_rate; } void ReplayPoseDevice::setRate(double rate) { SURGSIM_ASSERT(!isInitialized()) << "The rate can only be set before initialization"; m_rate = rate; } bool ReplayPoseDevice::initialize() { SURGSIM_ASSERT(!isInitialized()) << getName() << " already initialized."; std::shared_ptr scaffold = ReplayPoseScaffold::getOrCreateSharedInstance(); SURGSIM_ASSERT(scaffold); if (!scaffold->registerDevice(this)) { return false; } m_scaffold = std::move(scaffold); return true; } bool ReplayPoseDevice::finalize() { SURGSIM_ASSERT(isInitialized()) << getName() << " is not initialized, cannot finalize."; bool ok = m_scaffold->unregisterDevice(); m_scaffold.reset(); return ok; } bool ReplayPoseDevice::isInitialized() const { return (m_scaffold != nullptr); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/ReplayPoseDevice/ReplayPoseDevice.h000066400000000000000000000062301277777236100256470ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_REPLAYPOSEDEVICE_REPLAYPOSEDEVICE_H #define SURGSIM_DEVICES_REPLAYPOSEDEVICE_REPLAYPOSEDEVICE_H #include #include #include "SurgSim/Input/CommonDevice.h" namespace SurgSim { namespace Devices { class ReplayPoseScaffold; SURGSIM_STATIC_REGISTRATION(ReplayPoseDevice); /// A class implementing the replay pose device, which is a pretend device that replays a recorded motion from a file /// /// This can be useful not only for writing tests, but also as a way to replace real hardware devices in situations /// where the simulator needs to be run but the hardware is not currently available. /// /// \par Application input provided by the device: /// | type | name | | /// | ---- | ---- | --- | /// | pose | "pose" | %Device pose (units are meters). | /// /// \sa SurgSim::Input::CommonDevice class ReplayPoseDevice : public SurgSim::Input::CommonDevice { public: /// Constructor. /// \param uniqueName A unique name for the device that will be used by the application. explicit ReplayPoseDevice(const std::string& uniqueName); /// \return The filename from which the input poses are read (default is 'ReplayPoseDevice.txt') const std::string getFileName() const; /// \param fileName from which the input poses will be read (default is 'ReplayPoseDevice.txt') void setFileName(const std::string& fileName); /// \return The rate (in Hz) at which the device is running (1KHz is the default) double getRate() const; /// \param rate The rate (in Hz) at which the device will run (1KHz is the default) /// \exception SurgSim::Framework::AssertionFailure if the method is called after initialization void setRate(double rate); SURGSIM_CLASSNAME(SurgSim::Devices::ReplayPoseDevice); virtual ~ReplayPoseDevice(); bool initialize() override; bool isInitialized() const override; private: friend class ReplayPoseScaffold; bool finalize() override; std::shared_ptr m_scaffold; /// The filename to read the input transform from std::string m_fileName; /// The rate to run the device at (i.e. at which rate the information is populated). /// This is independent of the record being replayed, the motion will be real-time (interpolation may occur). double m_rate; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_REPLAYPOSEDEVICE_REPLAYPOSEDEVICE_H opensurgsim-0.7.0/SurgSim/Devices/ReplayPoseDevice/ReplayPoseScaffold.cpp000066400000000000000000000165471277777236100265400ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Devices/ReplayPoseDevice/ReplayPoseScaffold.h" #include #include #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Devices/ReplayPoseDevice/ReplayPoseDevice.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SharedInstance.h" namespace { /// Missing istream "operator >>" for Eigen matrix type /// http://eigen.tuxfamily.org/bz/show_bug.cgi?id=622 template std::istream& operator >>(std::istream& s, Eigen::MatrixBase& m) { for (int i = 0; i < m.rows(); ++i) { for (int j = 0; j < m.cols(); j++) { s >> m(i, j); } } return s; } } namespace SurgSim { namespace Devices { ReplayPoseScaffold::ReplayPoseScaffold() : Framework::BasicThread("ReplayPoseScaffold"), m_logger(Framework::Logger::getLogger("Devices/ReplayPoseScaffold")) { SURGSIM_LOG_DEBUG(m_logger) << "ReplayPose scaffold created."; } ReplayPoseScaffold::~ReplayPoseScaffold() { if (m_device != nullptr) { unregisterDevice(); } SURGSIM_LOG_DEBUG(m_logger) << "ReplayPose scaffold destroyed."; } std::shared_ptr ReplayPoseScaffold::getOrCreateSharedInstance() { static Framework::SharedInstance sharedInstance; return sharedInstance.get(); } bool ReplayPoseScaffold::doInitialize() { return true; } bool ReplayPoseScaffold::doStartUp() { return true; } bool ReplayPoseScaffold::doUpdate(double dt) { boost::unique_lock scopedLock(m_deviceLock); SURGSIM_ASSERT(m_device != nullptr) << "DeviceData not properly allocated"; return updateDevice(m_device.get()); } struct ReplayPoseScaffold::DeviceData { /// Constructor /// \param device Device to be managed by this scaffold explicit DeviceData(ReplayPoseDevice* device) : deviceObject(device), m_timestamp(0), m_index(0), m_fileLoaded(false) { m_fileLoaded = loadFile(deviceObject->getFileName()); m_timer.start(); } /// Retrieve the pose for the given time stamp "m_timestamp" /// \return The requested pose, Identity if none could be loaded Math::RigidTransform3d getPose() { if (m_motion.size() == 0) { return Math::RigidTransform3d::Identity(); } if (m_motion.size() == 1 || (m_index == 0 && m_timestamp <= m_motion[0].first)) { return m_motion[0].second; } while (m_motion.size() > m_index && m_timestamp > m_motion[m_index].first) { m_index++; } // Requesting a timestamp over the higher limit recorded in the file if (m_motion.size() <= m_index) { return m_motion[m_motion.size() - 1].second; } // Are we requesting exactly the timestamp we just indexed if (m_timestamp == m_motion[m_index].first) { return m_motion[m_index].second; } // Otherwise, we need to interpolate between the index and the previous index double range = m_motion[m_index].first - m_motion[m_index - 1].first; double time = (m_timestamp - m_motion[m_index - 1].first) / range; return Math::interpolate(m_motion[m_index - 1].second, m_motion[m_index].second, time); } /// Device object managed by this scaffold. ReplayPoseDevice* const deviceObject; /// Timer to keep track of the time stamp and keep the replay in sync with the recording Framework::Timer m_timer; /// Time stamp for the device (which time stamp are we reproducing?) double m_timestamp; /// Series of poses through time loaded from the input file std::vector> m_motion; /// Index of the latest pose used size_t m_index; /// Valid file loaded successfully bool m_fileLoaded; private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) DeviceData(const DeviceData&) /*= delete*/; DeviceData& operator=(const DeviceData&) /*= delete*/; /// \param fileName the file to be open and loaded /// \return True if the file was loaded successfully, False otherwise bool loadFile(const std::string& fileName) { auto logger = Framework::Logger::getLogger("Devices/ReplayPoseScaffold"); std::ifstream inputFile; bool result = true; inputFile.open(fileName, std::ios::in); if (!inputFile.is_open()) { SURGSIM_LOG_WARNING(logger) << "Could not find or open the file " << fileName << "; Replay will use Identity pose"; result = false; } else { while (!inputFile.eof()) { double timeStamp; Math::RigidTransform3d pose; inputFile >> timeStamp >> pose.matrix(); m_motion.emplace_back(timeStamp, pose); } SURGSIM_LOG_INFO(logger) << "Loaded " << m_motion.size() << " timestamps"; if (m_motion.size() >= 1) { SURGSIM_LOG_INFO(logger) << "The loaded timestamps cover a range of " << m_motion[m_motion.size() - 1].first - m_motion[0].first << " second(s)"; } SURGSIM_LOG_IF(m_motion.size() == 0, logger, WARNING) << "No poses could be properly loaded, Identity pose will be used"; inputFile.close(); } return result; } }; bool ReplayPoseScaffold::registerDevice(ReplayPoseDevice* device) { boost::unique_lock scopedLock(m_deviceLock); SURGSIM_ASSERT(m_device == nullptr) << "Can't register two ReplayPoseDevice."; m_device.reset(new ReplayPoseScaffold::DeviceData(device)); if (m_device == nullptr) { SURGSIM_LOG_CRITICAL(m_logger) << "Failed to create a DeviceData"; return false; } if (!m_device->m_fileLoaded) { SURGSIM_LOG_CRITICAL(m_logger) << "Failed to load the file to replay"; return false; } SURGSIM_LOG_DEBUG(m_logger) << "Registered device " << device->getName(); bool success = true; if (!isRunning()) { std::shared_ptr barrier = std::make_shared(2); start(barrier); barrier->wait(true); // Wait for initialize barrier->wait(true); // Wait for startup success = isInitialized(); } if (success) { setRate(device->getRate()); } return success; } bool ReplayPoseScaffold::unregisterDevice() { if (isRunning()) { stop(); } // #threadsafety After unregistering, another thread could be in the process of registering. boost::unique_lock scopedLock(m_deviceLock); m_device.reset(); SURGSIM_LOG_DEBUG(m_logger) << "Unregistered device"; return true; } bool ReplayPoseScaffold::updateDevice(ReplayPoseScaffold::DeviceData* info) { DataStructures::DataGroup& inputData = m_device->deviceObject->getInputData(); info->m_timer.markFrame(); info->m_timestamp += info->m_timer.getLastFramePeriod(); Math::RigidTransform3d pose = info->getPose(); inputData.poses().set(DataStructures::Names::POSE, pose); m_device->deviceObject->pushInput(); return true; } DataStructures::DataGroup ReplayPoseScaffold::buildDeviceInputData() { DataStructures::DataGroupBuilder builder; builder.addPose(DataStructures::Names::POSE); return builder.createData(); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/ReplayPoseDevice/ReplayPoseScaffold.h000066400000000000000000000056641277777236100262030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_REPLAYPOSEDEVICE_REPLAYPOSESCAFFOLD_H #define SURGSIM_DEVICES_REPLAYPOSEDEVICE_REPLAYPOSESCAFFOLD_H #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Framework/BasicThread.h" #include "SurgSim/Framework/Logger.h" #include "SurgSim/Math/RigidTransform.h" namespace SurgSim { namespace Devices { class ReplayPoseDevice; class ReplayPoseScaffold : public SurgSim::Framework::BasicThread { friend class ReplayPoseDevice; public: /// Constructor. ReplayPoseScaffold(); /// Destructor. ~ReplayPoseScaffold(); /// Gets or creates the scaffold shared by all RawMultiAxisDevice instances. /// The scaffold is managed using a SharedInstance object, so it will be destroyed when all devices are released. /// \return the scaffold object. static std::shared_ptr getOrCreateSharedInstance(); protected: bool doInitialize() override; bool doStartUp() override; bool doUpdate(double dt) override; private: /// Internal per-device information. struct DeviceData; /// Registers the specified device object. /// If successful, the device object will become connected to an hardware device. /// \param device The device object to be used, which should have a unique name. /// \return True if the initialization succeeds, false if it fails. bool registerDevice(ReplayPoseDevice* device); /// Unregisters the specified device object. /// The corresponding controller will become unused, and can be re-registered later. /// \return True on success, false on failure. bool unregisterDevice(); /// Updates the device information for a single device. /// \param info The information to update the device from /// \return True on success. bool updateDevice(ReplayPoseScaffold::DeviceData* info); /// Builds the data layout for the application input (i.e. device output). static DataStructures::DataGroup buildDeviceInputData(); /// Logger used by the scaffold and all devices. std::shared_ptr m_logger; /// The ReplayPose device locking mechanism boost::mutex m_deviceLock; /// The ReplayPose device managed by this scaffold std::unique_ptr m_device; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_REPLAYPOSEDEVICE_REPLAYPOSESCAFFOLD_H opensurgsim-0.7.0/SurgSim/Devices/ReplayPoseDevice/UnitTests/000077500000000000000000000000001277777236100242345ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/ReplayPoseDevice/UnitTests/CMakeLists.txt000066400000000000000000000016011277777236100267720ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES ReplayPoseDeviceTest.cpp ) set(LIBS ReplayPoseDevice ) surgsim_add_unit_tests(ReplayPoseDeviceTest) set_target_properties(ReplayPoseDeviceTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/ReplayPoseDevice/UnitTests/ReplayPoseDeviceTest.cpp000066400000000000000000000153411277777236100310070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the ReplayPoseDevice class. #include #include #include #include // This is to access boost::this_thread namespace #include "SurgSim/Devices/ReplayPoseDevice/ReplayPoseDevice.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Framework/Timer.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::Devices::ReplayPoseDevice; using SurgSim::DataStructures::DataGroup; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Matrix44d; using SurgSim::Testing::MockInputOutput; namespace { void createFakeRecord(const std::string& fileName, double rate) { SurgSim::Framework::Timer timer; timer.setMaxNumberOfFrames(1); timer.start(); std::ofstream f(fileName, std::ios::out | std::ios::trunc); timer.endFrame(); double cumulativeTime = timer.getLastFramePeriod(); double deltaTime = 1.0 / rate; SurgSim::Math::Quaterniond q(Eigen::AngleAxisd(2.0123, SurgSim::Math::Vector3d(1, 2, 3).normalized())); SurgSim::Math::Vector3d t(0.01, -0.04, 0.0035); SurgSim::Math::RigidTransform3d poseStart = SurgSim::Math::makeRigidTranslation(SurgSim::Math::Vector3d::Zero()); SurgSim::Math::RigidTransform3d poseEnd = SurgSim::Math::makeRigidTransform(q, t); do { auto pose = SurgSim::Math::interpolate(poseStart, poseEnd, cumulativeTime); f << cumulativeTime << std::endl << pose.matrix() << std::endl; cumulativeTime += deltaTime; } while (cumulativeTime < 1.0); f << "1.0" << std::endl << poseEnd.matrix() << std::endl; f.close(); } bool exist(const std::string& fileName) { std::ifstream f(fileName.c_str()); bool result = f.good(); f.close(); return result; } void clearFakeRecord(const std::string& fileName) { if (exist(fileName)) { std::remove(fileName.c_str()); } } } TEST(ReplayPoseDeviceTest, Name) { auto device = std::make_shared("FakeReplayDevice"); EXPECT_EQ("FakeReplayDevice", device->getName()); } TEST(ReplayPoseDeviceTest, Filename) { std::string fileName("FakeRecord.txt"); createFakeRecord(fileName, 30); auto device = std::make_shared("FakeReplayDevice"); EXPECT_EQ(0, device->getFileName().compare("ReplayPoseDevice.txt")); EXPECT_NO_THROW(device->setFileName(fileName)); EXPECT_EQ(0, device->getFileName().compare(fileName)); EXPECT_TRUE(device->initialize()); clearFakeRecord(fileName); EXPECT_THROW(device->setFileName(fileName), SurgSim::Framework::AssertionFailure); } TEST(ReplayPoseDeviceTest, Initialize) { std::string fileName("FakeRecord.txt"); clearFakeRecord(fileName); { SCOPED_TRACE("Missing filename"); auto device = std::make_shared("FakeReplayDevice"); device->setFileName(fileName); EXPECT_FALSE(device->initialize()); // Missing the setFilename call, no file open EXPECT_FALSE(device->isInitialized()); } { SCOPED_TRACE("Success"); createFakeRecord(fileName, 30); auto device = std::make_shared("FakeReplayDevice"); device->setFileName(fileName); EXPECT_TRUE(device->initialize()); EXPECT_TRUE(device->isInitialized()); clearFakeRecord(fileName); } } TEST(ReplayPoseDeviceTest, Factory) { std::shared_ptr device; ASSERT_NO_THROW(device = SurgSim::Input::DeviceInterface::getFactory().create( "SurgSim::Devices::ReplayPoseDevice", "Device")); EXPECT_NE(nullptr, device); } namespace { void AddInputConsumerRecordXHzReplayYHz(double rateRecord, double rateReplay) { std::string fileName("FakeRecord.txt"); createFakeRecord(fileName, rateRecord); std::shared_ptr device = std::make_shared("MyReplayPoseDevice"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; device->setRate(rateReplay); device->setFileName("FakeRecord.txt"); ASSERT_TRUE(device->initialize()) << "Initialization failed."; std::shared_ptr consumer = std::make_shared(); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_FALSE(device->removeInputConsumer(consumer)); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device->addInputConsumer(consumer)); // Adding the same input consumer again should fail. EXPECT_FALSE(device->addInputConsumer(consumer)); // Sleep for a second, to see how many times the consumer is invoked. boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); // Check the number of invocations. EXPECT_EQ(1, consumer->m_numTimesInitializedInput); EXPECT_LE(consumer->m_numTimesReceivedInput, rateReplay * 1.3); // rateReplay@ 1000Hz => higher limit@ 1300Hz EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData(SurgSim::DataStructures::Names::POSE)); // Check the replay pose passed 1.0 second SurgSim::Math::RigidTransform3d pose; boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(50)); ASSERT_TRUE(consumer->m_lastReceivedInput.poses().get(SurgSim::DataStructures::Names::POSE, &pose)); SurgSim::Math::Quaterniond q(Eigen::AngleAxisd(2.0123, SurgSim::Math::Vector3d(1, 2, 3).normalized())); SurgSim::Math::Vector3d t(0.01, -0.04, 0.0035); SurgSim::Math::RigidTransform3d poseEnd = SurgSim::Math::makeRigidTransform(q, t); EXPECT_NEAR(0, (pose.matrix() - poseEnd.matrix()).norm(), 1e-6); EXPECT_TRUE(device->removeInputConsumer(consumer)); // Removing the same input consumer again should fail. EXPECT_FALSE(device->removeInputConsumer(consumer)); clearFakeRecord(fileName); } } TEST(ReplayPoseDeviceTest, AddInputConsumerRecord60HzReplay60Hz) { AddInputConsumerRecordXHzReplayYHz(60.0, 60.0); } TEST(ReplayPoseDeviceTest, AddInputConsumerRecord60HzReplay1000Hz) { AddInputConsumerRecordXHzReplayYHz(60.0, 1000.0); } TEST(ReplayPoseDeviceTest, AddInputConsumerRecord1000HzReplay60Hz) { AddInputConsumerRecordXHzReplayYHz(1000.0, 60.0); } TEST(ReplayPoseDeviceTest, AddInputConsumerRecord1000HzReplay1000Hz) { AddInputConsumerRecordXHzReplayYHz(1000.0, 1000.0); } opensurgsim-0.7.0/SurgSim/Devices/Sixense/000077500000000000000000000000001277777236100205055ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Sixense/CMakeLists.txt000066400000000000000000000026551277777236100232550ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. find_package(SixenseSdk REQUIRED) include_directories( ${SIXENSESDK_INCLUDE_DIR} ) set(LIBS ${SIXENSESDK_LIBRARIES} ) set(SIXENSE_DEVICE_SOURCES SixenseDevice.cpp SixenseScaffold.cpp SixenseThread.cpp ) set(SIXENSE_DEVICE_HEADERS SixenseDevice.h SixenseScaffold.h SixenseThread.h ) set(DEVICE_HEADERS ${DEVICE_HEADERS} Sixense/SixenseDevice.h PARENT_SCOPE) # TODO(advornik): the installation should NOT copy all the headers... surgsim_add_library( SixenseDevice "${SIXENSE_DEVICE_SOURCES}" "${SIXENSE_DEVICE_HEADERS}" ) target_link_libraries(SixenseDevice ${LIBS}) if(BUILD_TESTING) add_subdirectory(UnitTests) if(GLUT_FOUND) add_subdirectory(VisualTest) endif(GLUT_FOUND) endif() # Put SixenseDevice into folder "Devices" set_target_properties(SixenseDevice PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Sixense/Sixense.dox000066400000000000000000000016501277777236100226410ustar00rootroot00000000000000/*! \page Sixense Sixense: Motion and Orientation Tracking Device The Razer Hydra (by Sixense Entertainment and Razer USA) is a device that tracks position and orientation of two controllers using magnetic fields. Dependencies: - Requires the Sixense SDK, available through Steam http://sixense.com/hardware/sixensesdk - An environment variable named SIXENSESDK_PATH or SIXENSE_ROOT must be set to the directory containing (include\\)sixense.h - Executables that incorporate this device must have access to the appropriate libraries at runtime, either by adding the appropriate folder(s) to the path environment variable, or copying the libraries into the folder with the executable. - Sixense's SDK is distributed/built under Visual Studio 2010 or 2013 (no source code available). To run applications under debug mode with Sixense's SDK, MSVCP100d.dll is required, which is only distributed in Visual Studio 2010. */ opensurgsim-0.7.0/SurgSim/Devices/Sixense/SixenseDevice.cpp000066400000000000000000000035111277777236100237470ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Sixense/SixenseDevice.h" #include "SurgSim/Devices/Sixense/SixenseScaffold.h" #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::SixenseDevice, SixenseDevice); SixenseDevice::SixenseDevice(const std::string& uniqueName) : SurgSim::Input::CommonDevice(uniqueName, SixenseScaffold::buildDeviceInputData()) { } SixenseDevice::~SixenseDevice() { if (isInitialized()) { finalize(); } } bool SixenseDevice::initialize() { SURGSIM_ASSERT(!isInitialized()) << getName() << " already initialized."; auto scaffold = SixenseScaffold::getOrCreateSharedInstance(); SURGSIM_ASSERT(scaffold != nullptr); bool initialize = false; if (scaffold->registerDevice(this)) { m_scaffold = std::move(scaffold); initialize = true; } return initialize; } bool SixenseDevice::finalize() { SURGSIM_ASSERT(isInitialized()) << getName() << " is not initialized, cannot finalize."; bool ok = m_scaffold->unregisterDevice(this); m_scaffold.reset(); return ok; } bool SixenseDevice::isInitialized() const { return (m_scaffold != nullptr); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Sixense/SixenseDevice.h000066400000000000000000000066631277777236100234270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_SIXENSE_SIXENSEDEVICE_H #define SURGSIM_DEVICES_SIXENSE_SIXENSEDEVICE_H #include #include #include "SurgSim/Input/CommonDevice.h" namespace SurgSim { namespace Devices { class SixenseScaffold; SURGSIM_STATIC_REGISTRATION(SixenseDevice); /// A class implementing the communication with one Sixense controller, for example one of the two on the Razer Hydra. /// /// \par Application input provided by the device: /// | type | name | | /// | ---- | ---- | --- | /// | pose | "pose" | %Device pose (units are meters). | /// | scalar | "trigger" | State of the analog trigger button (0 = not pressed, 1 = fully pressed). | /// | scalar | "joystickX" | Joystick X position (0 = center, -1 = fully left, +1 = fully right). | /// | scalar | "joystickY" | Joystick Y position (0 = center, -1 = fully down/near, +1 = up/far). | /// | bool | "buttonTrigger" | True if the analog trigger button is pressed, i.e. its value is non-zero. | /// | bool | "buttonBumper" | True if the bumper button (next to the trigger) is pressed. | /// | bool | "button1" | True if the button marked "1" is pressed. | /// | bool | "button2" | True if the button marked "2" is pressed. | /// | bool | "button3" | True if the button marked "3" is pressed. | /// | bool | "button4" | True if the button marked "4" is pressed. | /// | bool | "buttonStart" | True if the "start" button is pressed. | /// | bool | "buttonJoystick" | True if the joystick is pressed down as a button ("into" the controller). | /// /// \par Application output used by the device: none. /// /// \sa SurgSim::Input::CommonDevice, SurgSim::Input::DeviceInterface class SixenseDevice : public SurgSim::Input::CommonDevice { public: /// Constructor. /// /// \param uniqueName A unique name for the device that will be used by the application. explicit SixenseDevice(const std::string& uniqueName); SURGSIM_CLASSNAME(SurgSim::Devices::SixenseDevice); /// Destructor. virtual ~SixenseDevice(); bool initialize() override; bool isInitialized() const override; private: friend class SixenseScaffold; bool finalize() override; std::shared_ptr m_scaffold; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_SIXENSE_SIXENSEDEVICE_H opensurgsim-0.7.0/SurgSim/Devices/Sixense/SixenseScaffold.cpp000066400000000000000000000360041277777236100242740ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Sixense/SixenseScaffold.h" #include #include #include #include #include #include #include #include "SurgSim/Devices/Sixense/SixenseDevice.h" #include "SurgSim/Devices/Sixense/SixenseThread.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SharedInstance.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::Math::Vector3d; using SurgSim::Math::Vector3f; using SurgSim::Math::Matrix44d; using SurgSim::Math::Matrix33d; using SurgSim::Math::RigidTransform3d; namespace SurgSim { namespace Devices { struct SixenseScaffold::DeviceData { public: /// Initialize the data. DeviceData(int baseIndex, int controllerIndex, SixenseDevice* device) : deviceBaseIndex(baseIndex), deviceControllerIndex(controllerIndex), deviceObject(device) { } /// The index of the Sixense base unit for this device. const int deviceBaseIndex; /// The index of the Sixense controller for this device. const int deviceControllerIndex; /// The corresponding device object. SixenseDevice* const deviceObject; private: // prohibit copy construction and assignment DeviceData(const DeviceData&); DeviceData& operator=(const DeviceData&); }; struct SixenseScaffold::StateData { public: /// Initialize the state. StateData() : isApiInitialized(false) { } /// True if the API has been initialized (and not finalized). bool isApiInitialized; /// Processing thread. std::unique_ptr thread; /// The list of known devices. std::list> activeDeviceList; /// The mutex that protects the list of known devices. boost::mutex mutex; private: // prohibit copy construction and assignment StateData(const StateData&); StateData& operator=(const StateData&); }; SixenseScaffold::SixenseScaffold() : m_logger(Framework::Logger::getLogger("Devices/Sixense")), m_state(new StateData) { SURGSIM_LOG_DEBUG(m_logger) << "Shared scaffold created."; } SixenseScaffold::~SixenseScaffold() { // The thread needs to be torn down while NOT holding the mutex, to avoid deadlock. if (m_state->thread) { destroyThread(); } // The following block controls the duration of the mutex being locked. { boost::lock_guard lock(m_state->mutex); if (! m_state->activeDeviceList.empty()) { SURGSIM_LOG_SEVERE(m_logger) << "Sixense/Hydra: Destroying scaffold while devices are active!?!"; // do anything special with each device? m_state->activeDeviceList.clear(); } if (m_state->isApiInitialized) { finalizeSdk(); } } SURGSIM_LOG_DEBUG(m_logger) << "Sixense/Hydra: Shared scaffold destroyed."; } bool SixenseScaffold::registerDevice(SixenseDevice* device) { { boost::lock_guard lock(m_state->mutex); if (! m_state->isApiInitialized) { if (! initializeSdk()) { return false; } } } boost::chrono::steady_clock::time_point tick = boost::chrono::steady_clock::now(); int numUsedDevicesSeen = 0; bool fatalError = false; bool deviceFound = findUnusedDeviceAndRegister(device, &numUsedDevicesSeen, &fatalError); if (! deviceFound && ! fatalError && (numUsedDevicesSeen == 0) && (m_startupDelayMilliseconds > 0)) { // Unfortunately, right after sixenseInit() the library has not yet completed its device discovery! // That means that calls to sixenseIsBaseConnected(), sixenseIsControllerEnabled(), etc. will return // *false* even if the base/controller is actually present. // // One way to deal with that would be to dynamically handle any (or no) connected devices, the way the // example code does. But we'd like to report missing devices to the calling code as soon as possible. // // Another is to simply sleep and retry a few times here. Ugh. // --advornik 2012-08-03 boost::chrono::steady_clock::time_point retryEnd = tick + boost::chrono::milliseconds(m_startupDelayMilliseconds); while (true) { tick += boost::chrono::milliseconds(m_startupRetryIntervalMilliseconds); boost::this_thread::sleep_until(tick); tick = boost::chrono::steady_clock::now(); // finding a device may take > 100ms, so fix up the time. deviceFound = findUnusedDeviceAndRegister(device, &numUsedDevicesSeen, &fatalError); if (deviceFound || fatalError || (numUsedDevicesSeen > 0) || (tick >= retryEnd)) { break; } } } if (! deviceFound) { if (fatalError) { // error information was hopefully already logged SURGSIM_LOG_DEBUG(m_logger) << "Sixense/Hydra: Registering device failed due to earlier fatal error."; } else if (numUsedDevicesSeen > 0) { SURGSIM_LOG_SEVERE(m_logger) << "Sixense/Hydra: Failed to find any unused controllers!"; } else { SURGSIM_LOG_SEVERE(m_logger) << "Sixense/Hydra: Failed to find any devices." << " Are the base and controllers plugged in?"; } return false; } SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << " initialized."; return true; } bool SixenseScaffold::unregisterDevice(const SixenseDevice* const device) { bool found = false; { boost::lock_guard lock(m_state->mutex); auto matching = std::find_if(m_state->activeDeviceList.begin(), m_state->activeDeviceList.end(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (matching != m_state->activeDeviceList.end()) { m_state->activeDeviceList.erase(matching); // the iterator is now invalid but that's OK found = true; SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << " finalized."; } } SURGSIM_LOG_IF(!found, m_logger, SEVERE) << "Attempted to release a non-registered device " << device->getName(); return found; } bool SixenseScaffold::runInputFrame() { boost::lock_guard lock(m_state->mutex); for (auto it = m_state->activeDeviceList.begin(); it != m_state->activeDeviceList.end(); ++it) { // We don't call it->deviceObject->pullOutput() because we don't use any output at all. if (updateDevice(**it)) { (*it)->deviceObject->pushInput(); } } return true; } bool SixenseScaffold::updateDevice(const SixenseScaffold::DeviceData& info) { //const SurgSim::DataStructures::DataGroup& outputData = info.deviceObject->getOutputData(); int status = sixenseSetActiveBase(info.deviceBaseIndex); if (status != SIXENSE_SUCCESS) { SURGSIM_LOG_CRITICAL(m_logger) << "Sixense/Hydra: Could not activate base unit #" << info.deviceBaseIndex << " to read device '" << info.deviceObject->getName() << "'! (status = " << status << ")"; return false; } sixenseControllerData data; status = sixenseGetNewestData(info.deviceControllerIndex, &data); if (status != SIXENSE_SUCCESS) { SURGSIM_LOG_CRITICAL(m_logger) << "Sixense/Hydra: Could not get data from controller #" << info.deviceBaseIndex << "," << info.deviceControllerIndex << " for device '" << info.deviceObject->getName() << "'! (status = " << status << ")"; return false; } // Use Eigen::Map to make the raw API output values look like Eigen data types Eigen::Map position(data.pos); Eigen::Map> orientation(&(data.rot_mat[0][0])); RigidTransform3d pose; pose.makeAffine(); pose.linear() = orientation.cast(); pose.translation() = position.cast() * 0.001; // convert from millimeters to meters! // TODO(bert): this code should cache the access indices. SurgSim::DataStructures::DataGroup& inputData = info.deviceObject->getInputData(); inputData.poses().set(SurgSim::DataStructures::Names::POSE, pose); inputData.scalars().set("trigger", data.trigger); inputData.scalars().set("joystickX", data.joystick_x); inputData.scalars().set("joystickY", data.joystick_y); inputData.booleans().set("buttonTrigger", (data.trigger > 0)); inputData.booleans().set("buttonBumper", (data.buttons & SIXENSE_BUTTON_BUMPER) != 0); inputData.booleans().set(SurgSim::DataStructures::Names::BUTTON_1, (data.buttons & SIXENSE_BUTTON_1) != 0); inputData.booleans().set(SurgSim::DataStructures::Names::BUTTON_2, (data.buttons & SIXENSE_BUTTON_2) != 0); inputData.booleans().set(SurgSim::DataStructures::Names::BUTTON_3, (data.buttons & SIXENSE_BUTTON_3) != 0); inputData.booleans().set(SurgSim::DataStructures::Names::BUTTON_4, (data.buttons & SIXENSE_BUTTON_4) != 0); inputData.booleans().set("buttonStart", (data.buttons & SIXENSE_BUTTON_START) != 0); inputData.booleans().set("buttonJoystick", (data.buttons & SIXENSE_BUTTON_JOYSTICK) != 0); return true; } bool SixenseScaffold::initializeSdk() { SURGSIM_ASSERT(! m_state->isApiInitialized); int status = sixenseInit(); if (status != SIXENSE_SUCCESS) { SURGSIM_LOG_CRITICAL(m_logger) << "Sixense/Hydra: Could not initialize the Sixense library (status = " << status << ")"; return false; } m_state->isApiInitialized = true; return true; } bool SixenseScaffold::finalizeSdk() { SURGSIM_ASSERT(m_state->isApiInitialized); int status = sixenseExit(); if (status != SIXENSE_SUCCESS) { SURGSIM_LOG_CRITICAL(m_logger) << "Sixense/Hydra: Could not shut down the Sixense library (status = " << status << ")"; return false; } m_state->isApiInitialized = false; return true; } bool SixenseScaffold::findUnusedDeviceAndRegister(SixenseDevice* device, int* numUsedDevicesSeen, bool* fatalError) { *numUsedDevicesSeen = 0; *fatalError = false; boost::lock_guard lock(m_state->mutex); // Make sure the object is unique. auto sameObject = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); SURGSIM_ASSERT(sameObject == m_state->activeDeviceList.end()) << "Sixense/Hydra: Tried to register a device" << " which is already present!"; // Make sure the name is unique. const std::string deviceName = device->getName(); auto sameName = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [&deviceName](const std::unique_ptr& info) { return info->deviceObject->getName() == deviceName; }); if (sameName != m_state->activeDeviceList.end()) { SURGSIM_LOG_CRITICAL(m_logger) << "Sixense/Hydra: Tried to register a device when the same name is" << " already present!"; *fatalError = true; return false; } const int maxNumBases = sixenseGetMaxBases(); for (int b = 0; b < maxNumBases; ++b) { SURGSIM_LOG_DEBUG(m_logger) << "Sixense/Hydra: scanning base #" << b << " (of total " << maxNumBases << ")"; if (! sixenseIsBaseConnected(b)) { continue; } int status = sixenseSetActiveBase(b); if (status != SIXENSE_SUCCESS) { SURGSIM_LOG_SEVERE(m_logger) << "Sixense/Hydra: Could not activate connected base #" << b << " (status = " << status << ")"; continue; } const int maxNumControllers = sixenseGetMaxControllers(); for (int c = 0; c < maxNumControllers; ++c) { if (! sixenseIsControllerEnabled(c)) { continue; } sixenseControllerData data; status = sixenseGetNewestData(c, &data); if (status != SIXENSE_SUCCESS) { SURGSIM_LOG_SEVERE(m_logger) << "Sixense/Hydra: Could not get data from enabled controller #" << b << "," << c << " (status = " << status << ")"; continue; } SURGSIM_LOG_DEBUG(m_logger) << "Sixense/Hydra: scanning controller #" << b << "," << c << " (of total " << maxNumControllers << ")"; if (registerIfUnused(b, c, device, numUsedDevicesSeen)) { return true; } } } return false; } bool SixenseScaffold::registerIfUnused(int baseIndex, int controllerIndex, SixenseDevice* device, int* numUsedDevicesSeen) { // Check existing devices. auto sameIndices = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [baseIndex, controllerIndex](const std::unique_ptr& info) { return ((info->deviceBaseIndex == baseIndex) && (info->deviceControllerIndex == controllerIndex)); }); if (sameIndices != m_state->activeDeviceList.end()) { // We found an existing device for this controller. ++(*numUsedDevicesSeen); return false; } // The controller is not yet in use. if (! m_state->thread) { createThread(); } // Construct the object, start its thread, then move it to the list. // Note that since Visual Studio 2010 doesn't support multi-argument emplace_back() for STL containers, storing a // list of unique_ptr results in nicer code than storing a list of DeviceData values directly. std::unique_ptr info(new DeviceData(baseIndex, controllerIndex, device)); m_state->activeDeviceList.emplace_back(std::move(info)); return true; } bool SixenseScaffold::createThread() { SURGSIM_ASSERT(! m_state->thread); std::unique_ptr thread(new SixenseThread(this)); thread->start(); m_state->thread = std::move(thread); return true; } bool SixenseScaffold::destroyThread() { SURGSIM_ASSERT(m_state->thread); std::unique_ptr thread = std::move(m_state->thread); thread->stop(); thread.release(); return true; } SurgSim::DataStructures::DataGroup SixenseScaffold::buildDeviceInputData() { SurgSim::DataStructures::DataGroupBuilder builder; builder.addPose(SurgSim::DataStructures::Names::POSE); builder.addScalar("trigger"); builder.addScalar("joystickX"); builder.addScalar("joystickY"); builder.addBoolean("buttonTrigger"); builder.addBoolean("buttonBumper"); builder.addBoolean(SurgSim::DataStructures::Names::BUTTON_1); builder.addBoolean(SurgSim::DataStructures::Names::BUTTON_2); builder.addBoolean(SurgSim::DataStructures::Names::BUTTON_3); builder.addBoolean(SurgSim::DataStructures::Names::BUTTON_4); builder.addBoolean("buttonStart"); builder.addBoolean("buttonJoystick"); return builder.createData(); } std::shared_ptr SixenseScaffold::getOrCreateSharedInstance() { // Using an explicit creation function gets around problems with accessing the private constructor. static auto creator = []() { return std::shared_ptr(new SixenseScaffold); }; // NOLINT(readability/braces) static SurgSim::Framework::SharedInstance sharedInstance(creator); return sharedInstance.get(); } int SixenseScaffold::m_startupDelayMilliseconds = 6000; int SixenseScaffold::m_startupRetryIntervalMilliseconds = 100; }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Sixense/SixenseScaffold.h000066400000000000000000000117021277777236100237370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_SIXENSE_SIXENSESCAFFOLD_H #define SURGSIM_DEVICES_SIXENSE_SIXENSESCAFFOLD_H #include #include "SurgSim/Framework/Logger.h" #include "SurgSim/DataStructures/DataGroup.h" namespace SurgSim { namespace Devices { class SixenseDevice; class SixenseThread; /// A class that manages Sixense devices, such as the Razer Hydra. /// /// \sa SurgSim::Devices::SixenseDevice class SixenseScaffold { public: /// Destructor. ~SixenseScaffold(); /// Gets or creates the scaffold shared by all SixenseDevice instances. /// The scaffold is managed using a SharedInstance object, so it will be destroyed when all devices are released. /// \return the scaffold object. static std::shared_ptr getOrCreateSharedInstance(); private: /// Internal shared state data type. struct StateData; /// Interal per-device information. struct DeviceData; friend class SixenseDevice; friend class SixenseThread; friend struct StateData; /// Constructor. SixenseScaffold(); /// Registers the specified device object. /// If successful, the device object will become connected to an unused controller. /// /// \param device The device object to be used, which should have a unique name. /// \return True if the initialization succeeds, false if it fails. bool registerDevice(SixenseDevice* device); /// Unregisters the specified device object. /// The corresponding controller will become unused, and can be re-registered later. /// /// \param device The device object. /// \return true on success, false on failure. bool unregisterDevice(const SixenseDevice* device); /// Executes the operations for a single input frame. /// Should only be called from the context of the input loop thread. /// \return true on success. bool runInputFrame(); /// Updates the device information for a single device. /// \return true on success. bool updateDevice(const DeviceData& info); /// Initializes the Sixense SDK. /// \return true on success. bool initializeSdk(); /// Finalizes (de-initializes) the Sixense SDK. /// \return true on success. bool finalizeSdk(); /// Scans controllers that are present in the system, and if an unused one is found, register a device for it. /// /// \param device The device object to register if an unused device is found. /// \param [out] numUsedDevicesSeen The number of devices that were found during the scan but were already /// in use. Can be used if the scan fails to determine the error message that should be displayed. /// \param [out] fatalError Set to true if an error (such as a duplicate device name) prevented device /// registration such that retrying will not help; false otherwise. /// \return true on success. bool findUnusedDeviceAndRegister(SixenseDevice* device, int* numUsedDevicesSeen, bool* fatalError); /// Register a device object given a (baseIndex, controllerIndex) pair, if the same pair is not already in use. /// /// \param baseIndex Index of the base unit. /// \param controllerIndex Index of the controller within the base unit. /// \param device The device object to register if the index pair is in fact unused. /// \param [in,out] numUsedDevicesSeen The number of devices that were found during the scan but were /// already in use; incremented when an unused device is seen. /// \return true on success. bool registerIfUnused(int baseIndex, int controllerIndex, SixenseDevice* device, int* numUsedDevicesSeen); /// Creates the input loop thread. /// \return true on success. bool createThread(); /// Destroys the input loop thread. /// Should be called while NOT holding the internal device list mutex, to prevent deadlock. /// \return true on success. bool destroyThread(); /// Builds the data layout for the application input (i.e. device output). static SurgSim::DataStructures::DataGroup buildDeviceInputData(); /// Logger used by the scaffold and all devices. std::shared_ptr m_logger; /// Internal scaffold state. std::unique_ptr m_state; /// How long we're willing to wait for devices to be detected, in milliseconds. static int m_startupDelayMilliseconds; /// How long to wait between trying to detect devices, in milliseconds. static int m_startupRetryIntervalMilliseconds; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_SIXENSE_SIXENSESCAFFOLD_H opensurgsim-0.7.0/SurgSim/Devices/Sixense/SixenseThread.cpp000066400000000000000000000020711277777236100237570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/Sixense/SixenseThread.h" #include "SurgSim/Devices/Sixense/SixenseScaffold.h" namespace SurgSim { namespace Devices { SixenseThread::~SixenseThread() { } bool SixenseThread::doUpdate(double dt) { m_scaffold->runInputFrame(); return true; } bool SixenseThread::doInitialize() { return true; } bool SixenseThread::doStartUp() { return true; } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/Sixense/SixenseThread.h000066400000000000000000000030711277777236100234250ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_SIXENSE_SIXENSETHREAD_H #define SURGSIM_DEVICES_SIXENSE_SIXENSETHREAD_H #include #include #include "SurgSim/Framework/BasicThread.h" namespace SurgSim { namespace Devices { class SixenseScaffold; /// A class implementing the thread context for sampling Sixense devices. /// \sa SurgSim::Devices::SixenseScaffold class SixenseThread : public SurgSim::Framework::BasicThread { public: explicit SixenseThread(SixenseScaffold* scaffold) : BasicThread("Sixense thread"), m_scaffold(scaffold) { setRate(120.0); // The Hydra runs at 60Hz, but running at 60Hz here could introduce up to 16.6ms extra latency } virtual ~SixenseThread(); protected: bool doInitialize() override; bool doStartUp() override; bool doUpdate(double dt) override; private: SixenseScaffold* m_scaffold; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_SIXENSE_SIXENSETHREAD_H opensurgsim-0.7.0/SurgSim/Devices/Sixense/UnitTests/000077500000000000000000000000001277777236100224475ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Sixense/UnitTests/CMakeLists.txt000066400000000000000000000025241277777236100252120ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES SixenseDeviceTest.cpp SixenseScaffoldTest.cpp ) set(LIBS SixenseDevice SurgSimDataStructures SurgSimMath SurgSimTesting ) surgsim_add_unit_tests(SixenseDeviceTest) # Copy the device DLLs into the build directory surgsim_copy_to_target_directory_for_release(SixenseDeviceTest ${SIXENSESDK_sixense_SHARED_RELEASE} ${SIXENSESDK_sixense_utils_SHARED_RELEASE} ) surgsim_copy_to_target_directory_for_debug(SixenseDeviceTest ${SIXENSESDK_sixense_SHARED_DEBUG} ${SIXENSESDK_sixense_utils_SHARED_DEBUG} ${SIXENSESDK_DeviceDLL_SHARED_DEBUG} # crazy debug-only dependency ) set_target_properties(SixenseDeviceTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Sixense/UnitTests/SixenseDeviceTest.cpp000066400000000000000000000225251277777236100265570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the SixenseDevice class. #include #include #include #include #include #include "SurgSim/Devices/Sixense/SixenseDevice.h" //#include "SurgSim/Devices/Sixense/SixenseScaffold.h" // only needed if calling SixenseScaffold::setDefaultLogLevel() #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::Devices::SixenseDevice; using SurgSim::Devices::SixenseScaffold; using SurgSim::DataStructures::DataGroup; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Matrix44d; using SurgSim::Testing::MockInputOutput; TEST(SixenseDeviceTest, CreateUninitializedDevice) { //SixenseScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device = std::make_shared("TestSixense"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; } TEST(SixenseDeviceTest, CreateAndInitializeDevice) { //SixenseScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device = std::make_shared("TestSixense"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_FALSE(device->isInitialized()); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Sixense/Hydra device plugged in?"; EXPECT_TRUE(device->isInitialized()); } TEST(SixenseDeviceTest, Name) { //SixenseScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device = std::make_shared("TestSixense"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; EXPECT_EQ("TestSixense", device->getName()); EXPECT_TRUE(device->initialize()) << "Initialization failed. Is a Sixense/Hydra device plugged in?"; EXPECT_EQ("TestSixense", device->getName()); } TEST(SixenseDeviceTest, CreateDeviceSeveralTimes) { //SixenseScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); for (int i = 0; i < 6; ++i) { std::shared_ptr device = std::make_shared("TestSixense"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Sixense/Hydra device plugged in?"; // the device will be destroyed here } } TEST(SixenseDeviceTest, CreateSeveralDevices) { //SixenseScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device1 = std::make_shared("Sixense1"); ASSERT_TRUE(device1 != nullptr) << "Device creation failed."; ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a Sixense/Hydra device plugged in?"; std::shared_ptr device2 = std::make_shared("Sixense2"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; ASSERT_TRUE(device2->initialize()) << "Initialization failed for second controller." << " Is only one controller plugged in?"; // We can't check what happens with the scaffolds, since those are no longer a part of the device's API... std::shared_ptr device3 = std::make_shared("Sixense3"); ASSERT_TRUE(device3 != nullptr) << "Device creation failed."; if (! device3->initialize()) { std::cerr << "[Warning: third Sixense/Hydra controller did not come up; is it plugged in?]" << std::endl; } } TEST(SixenseDeviceTest, CreateDevicesWithSameName) { //SixenseScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device1 = std::make_shared("Sixense"); ASSERT_TRUE(device1 != nullptr) << "Device creation failed."; ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a Sixense/Hydra device plugged in?"; std::shared_ptr device2 = std::make_shared("Sixense"); ASSERT_TRUE(device2 != nullptr) << "Device creation failed."; ASSERT_FALSE(device2->initialize()) << "Initialization succeeded despite duplicate name."; } // Create a string representation from an int. // C++11 adds std::to_string() to do this for various types, but VS2010 only half-supports that. template inline std::string makeString(T value) { std::ostringstream out; out << value; return out.str(); } TEST(SixenseDeviceTest, CreateAllDevices) { //SixenseScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::vector> devices; for (int i = 1; ; ++i) { std::string name = "Sixense" + makeString(i); std::shared_ptr device = std::make_shared(name); ASSERT_TRUE(device != nullptr) << "Device creation failed."; if (! device->initialize()) { break; } devices.emplace_back(std::move(device)); } std::cout << devices.size() << " devices initialized." << std::endl; ASSERT_GT(devices.size(), 0U) << "Initialization failed. Is a Sixense/Hydra device plugged in?"; EXPECT_GT(devices.size(), 1U) << "Controller #2 initialization failed. Is only one controller plugged in?"; } TEST(SixenseDeviceTest, InputConsumer) { //SixenseScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device = std::make_shared("TestSixense"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Sixense/Hydra device plugged in?"; std::shared_ptr consumer = std::make_shared(); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_FALSE(device->removeInputConsumer(consumer)); EXPECT_EQ(0, consumer->m_numTimesInitializedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device->addInputConsumer(consumer)); // Adding the same input consumer again should fail. EXPECT_FALSE(device->addInputConsumer(consumer)); // Sleep for a second, to see how many times the consumer is invoked. // (A Sixense device updates internally at 60Hz, but our code currently runs at 120Hz to reduce latency.) boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeInputConsumer(consumer)); // Removing the same input consumer again should fail. EXPECT_FALSE(device->removeInputConsumer(consumer)); // Check the number of invocations. EXPECT_EQ(1, consumer->m_numTimesInitializedInput); EXPECT_GE(consumer->m_numTimesReceivedInput, 100); EXPECT_LE(consumer->m_numTimesReceivedInput, 140); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().hasData(SurgSim::DataStructures::Names::POSE)); EXPECT_TRUE(consumer->m_lastReceivedInput.scalars().hasData("trigger")); EXPECT_TRUE(consumer->m_lastReceivedInput.scalars().hasData("joystickX")); EXPECT_TRUE(consumer->m_lastReceivedInput.scalars().hasData("joystickY")); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData("buttonTrigger")); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData("buttonBumper")); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData(SurgSim::DataStructures::Names::BUTTON_1)); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData(SurgSim::DataStructures::Names::BUTTON_2)); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData(SurgSim::DataStructures::Names::BUTTON_3)); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData(SurgSim::DataStructures::Names::BUTTON_4)); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData("buttonStart")); EXPECT_TRUE(consumer->m_lastReceivedInput.booleans().hasData("buttonJoystick")); } TEST(SixenseDeviceTest, OutputProducer) { //SixenseScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr device = std::make_shared("TestSixense"); ASSERT_TRUE(device != nullptr) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Sixense/Hydra device plugged in?"; std::shared_ptr producer = std::make_shared(); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_FALSE(device->removeOutputProducer(producer)); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_TRUE(device->setOutputProducer(producer)); // Sleep for a second, to see how many times the producer is invoked. // (A Sixense device is does not request any output.) boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeOutputProducer(producer)); // Removing the same input producer again should fail. EXPECT_FALSE(device->removeOutputProducer(producer)); // Check the number of invocations. EXPECT_EQ(0, producer->m_numTimesRequestedOutput); } opensurgsim-0.7.0/SurgSim/Devices/Sixense/UnitTests/SixenseScaffoldTest.cpp000066400000000000000000000164341277777236100271030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the SixenseScaffold class and its device interactions. #include #include #include #include #include #include "SurgSim/Devices/Sixense/SixenseDevice.h" #include "SurgSim/Devices/Sixense/SixenseScaffold.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Matrix.h" using SurgSim::Devices::SixenseDevice; using SurgSim::Devices::SixenseScaffold; TEST(SixenseScaffoldTest, CreateAndDestroyScaffold) { //SixenseScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr scaffold = SixenseScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created!"; std::weak_ptr scaffold1 = scaffold; { std::shared_ptr stillHaveScaffold = scaffold1.lock(); EXPECT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; EXPECT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } { std::shared_ptr sameScaffold = SixenseScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, sameScaffold) << "Unable to get scaffold from class"; EXPECT_EQ(scaffold, sameScaffold) << "Scaffold mismatch!"; } scaffold.reset(); { std::shared_ptr dontHaveScaffold = scaffold1.lock(); EXPECT_EQ(nullptr, dontHaveScaffold) << "Able to get scaffold from weak ref (with no strong ref)"; } scaffold = SixenseScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created the 2nd time!"; std::weak_ptr scaffold2 = scaffold; { std::shared_ptr stillHaveScaffold = scaffold2.lock(); ASSERT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; ASSERT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } } TEST(SixenseScaffoldTest, ScaffoldLifeCycle) { //SixenseScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::weak_ptr lastScaffold; { std::shared_ptr scaffold = SixenseScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created!"; lastScaffold = scaffold; } { std::shared_ptr dontHaveScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, dontHaveScaffold) << "Able to get scaffold from weak ref (with no strong ref)"; lastScaffold.reset(); } { std::shared_ptr device = std::make_shared("TestSixense"); ASSERT_NE(nullptr, device) << "Creation failed. Is a Sixense/Hydra device plugged in?"; // note: the device is NOT initialized! { std::shared_ptr scaffold = SixenseScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // save the scaffold for later std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); EXPECT_EQ(scaffold, sameScaffold); } // The device has not been initialized, so it should NOT be hanging on to the device! { std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } // the ("empty") device is about to get destroyed } { std::shared_ptr device = std::make_shared("TestSixense"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Sixense/Hydra device plugged in?"; { std::shared_ptr scaffold = SixenseScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // save the scaffold for later std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); EXPECT_EQ(scaffold, sameScaffold); } // The same scaffold is supposed to still be around because of the device { std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); std::shared_ptr scaffold = SixenseScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; EXPECT_EQ(sameScaffold, scaffold); } // the device and the scaffold are about to get destroyed } { std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } { std::shared_ptr device = std::make_shared("TestSixense"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Didn't this work a moment ago?"; std::shared_ptr scaffold = SixenseScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } } TEST(SixenseScaffoldTest, CreateDeviceSeveralTimes) { //SixenseScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::weak_ptr lastScaffold; for (int i = 0; i < 6; ++i) { SCOPED_TRACE(i); EXPECT_EQ(nullptr, lastScaffold.lock()); std::shared_ptr device = std::make_shared("TestSixense"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Sixense/Hydra device plugged in?"; std::shared_ptr scaffold = SixenseScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // the device and the scaffold will be destroyed here } } TEST(SixenseScaffoldTest, CreateDeviceSeveralTimesWithScaffoldRef) { //SixenseScaffold::setDefaultLogLevel(SurgSim::Framework::LOG_LEVEL_DEBUG); std::shared_ptr lastScaffold; for (int i = 0; i < 6; ++i) { SCOPED_TRACE(i); std::shared_ptr device = std::make_shared("TestSixense"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a Sixense/Hydra device plugged in?"; std::shared_ptr scaffold = SixenseScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; if (! lastScaffold) { lastScaffold = scaffold; } EXPECT_EQ(lastScaffold, scaffold); // the device will be destroyed here, but the scaffold stays around because we have a shared_ptr to it. } } opensurgsim-0.7.0/SurgSim/Devices/Sixense/VisualTest/000077500000000000000000000000001277777236100226105ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/Sixense/VisualTest/CMakeLists.txt000066400000000000000000000025561277777236100253600ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. set(EXAMPLE_SOURCES main.cpp ) set(EXAMPLE_HEADERS ) surgsim_add_executable(SixenseVisualTest "${EXAMPLE_SOURCES}" "${EXAMPLE_HEADERS}" ) set(LIBS IdentityPoseDevice SixenseDevice SurgSimInput VisualTestCommon ) target_link_libraries(SixenseVisualTest ${LIBS}) # Copy the device DLLs into the build directory surgsim_copy_to_target_directory_for_release(SixenseVisualTest ${SIXENSESDK_sixense_SHARED_RELEASE} ${SIXENSESDK_sixense_utils_SHARED_RELEASE} ) surgsim_copy_to_target_directory_for_debug(SixenseVisualTest ${SIXENSESDK_sixense_SHARED_DEBUG} ${SIXENSESDK_sixense_utils_SHARED_DEBUG} ${SIXENSESDK_DeviceDLL_SHARED_DEBUG} # crazy debug-only dependency ) set_target_properties(SixenseVisualTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/Sixense/VisualTest/main.cpp000066400000000000000000000032471277777236100242460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Input/DeviceInterface.h" #include "SurgSim/Devices/Sixense/SixenseDevice.h" #include "SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.h" #include "SurgSim/Testing/VisualTestCommon/ToolSquareTest.h" using SurgSim::Input::DeviceInterface; using SurgSim::Devices::SixenseDevice; using SurgSim::Devices::IdentityPoseDevice; int main(int argc, char** argv) { std::shared_ptr toolDevice = std::make_shared("SixenseDevice1"); std::shared_ptr squareDevice = std::make_shared("SixenseDevice2"); runToolSquareTest(toolDevice, squareDevice, //2345678901234567890123456789012345678901234567890123456789012345678901234567890 "Move the Razer Hydra controllers, but keep them above the base unit!\n" "\n" "One controller will control the sphere tool, the other the square."); std::cout << std::endl << "Exiting." << std::endl; // Cleanup and shutdown will happen automatically as objects go out of scope. return 0; } opensurgsim-0.7.0/SurgSim/Devices/TrackIR/000077500000000000000000000000001277777236100203665ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/TrackIR/CMakeLists.txt000066400000000000000000000036071277777236100231340ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. find_package(OptiTrack REQUIRED) include_directories( "${CMAKE_CURRENT_SOURCE_DIR}" "${OPENSCENEGRAPH_INCLUDE_DIR}" "${OPTITRACK_INCLUDE_DIR}" ) set(LIBS ${OPTITRACK_LIBRARY} ) set(TRACKIR_DEVICE_SOURCES TrackIRDevice.cpp TrackIRThread.cpp ) set(TRACKIR_DEVICE_HEADERS TrackIRDevice.h TrackIRScaffold.h TrackIRThread.h ) set(DEVICE_HEADERS ${DEVICE_HEADERS} TrackIR/TrackIRDevice.h PARENT_SCOPE) set(TRACKIR_DEVICE_LINUX_SOURCES linux/TrackIRScaffold.cpp ) set(TRACKIR_DEVICE_WIN_SOURCES win32/TrackIRScaffold.cpp ) if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux") list(APPEND TRACKIR_DEVICE_SOURCES ${TRACKIR_DEVICE_LINUX_SOURCES}) else() list(APPEND TRACKIR_DEVICE_SOURCES ${TRACKIR_DEVICE_WIN_SOURCES}) endif() surgsim_add_library( TrackIRDevice "${TRACKIR_DEVICE_SOURCES}" "${TRACKIR_DEVICE_HEADERS}" ) target_link_libraries(TrackIRDevice ${LIBS}) if(BUILD_TESTING) # The unit tests will be built whenever the library is built. add_subdirectory(UnitTests) if(GLUT_FOUND) add_subdirectory(VisualTest) endif(GLUT_FOUND) endif() # Natural Point Camera SDK needs this preprocessor definition to work properly add_definitions( -DCAMERALIBRARY_IMPORTS ) # Put TrackIRDevice into folder "Devices" set_target_properties(TrackIRDevice PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/TrackIR/TrackIR.dox000066400000000000000000000022731277777236100224050ustar00rootroot00000000000000/*! \page TrackIR TrackIR: Optical Tracker NaturalPoint's product list contains various motion capture cameras/systems to measure position and orientation of tracked objects. Supported devices: - Linux: - NaturalPoint's TrackIR is tested. Other devices supported by linux-track (SmartNav, Wiimote, and some webcams) may work https://code.google.com/p/linux-track/wiki/InputDevices - Windows: - NaturalPoint's TrackIR is tested. All OptiTrack and SmartNav models are expected to work. Dependencies: - Linux: Requires linuxtrack https://code.google.com/p/linux-track/ - Change file 51-TIR.rules to (replace the "simquest" with your group name): SUBSYSTEM=="usb", ATTRS{idVendor}=="131d", GROUP="simquest", MODE="0666" - Then move it to /lib/udev/rules.d/ and restart the udev service. - Run ltr_gui (requires Wine). - (Probably optional) An environment variable named NP_CAMERASDK may be set to the directory containing (include/)linuxtrack.h - Windows: Requires NaturalPoint's Camera SDK https://www.naturalpoint.com/optitrack/downloads/developer-tools.html - An environment variable named NP_CAMERASDK must be set to the directory containing (include\\)cameralibrary.h */opensurgsim-0.7.0/SurgSim/Devices/TrackIR/TrackIRDevice.cpp000066400000000000000000000050351277777236100235140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/TrackIR/TrackIRDevice.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Devices/TrackIR/TrackIRScaffold.h" namespace SurgSim { namespace Devices { SURGSIM_REGISTER(SurgSim::Input::DeviceInterface, SurgSim::Devices::TrackIRDevice, TrackIRDevice); TrackIRDevice::TrackIRDevice(const std::string& uniqueName) : SurgSim::Input::CommonDevice(uniqueName, TrackIRScaffold::buildDeviceInputData()), m_positionScale(1.0), m_orientationScale(1.0) { } TrackIRDevice::~TrackIRDevice() { if (isInitialized()) { finalize(); } } bool TrackIRDevice::initialize() { SURGSIM_ASSERT(!isInitialized()) << "TrackIR device already initialized."; auto scaffold = TrackIRScaffold::getOrCreateSharedInstance(); SURGSIM_ASSERT(scaffold != nullptr) << "TrackIRDevice::initialize(): Failed to obtain a TrackIR scaffold."; bool initialize = false; if (scaffold->registerDevice(this)) { m_scaffold = std::move(scaffold); initialize = true; } return initialize; } bool TrackIRDevice::finalize() { SURGSIM_ASSERT(isInitialized()) << "TrackIR device already finalized."; bool ok = m_scaffold->unregisterDevice(this); m_scaffold.reset(); return ok; } bool TrackIRDevice::isInitialized() const { return (nullptr != m_scaffold); } void TrackIRDevice::setPositionScale(double scale) { m_positionScale = scale; if (m_scaffold) { m_scaffold->setPositionScale(this, m_positionScale); } } double TrackIRDevice::getPositionScale() const { return m_positionScale; } void TrackIRDevice::setOrientationScale(double scale) { m_orientationScale = scale; if (m_scaffold) { m_scaffold->setOrientationScale(this, m_orientationScale); } } double TrackIRDevice::getOrientationScale() const { return m_orientationScale; } double TrackIRDevice::defaultPositionScale() { return 1.0; } double TrackIRDevice::defaultOrientationScale() { return 1.0; } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/TrackIR/TrackIRDevice.h000066400000000000000000000065021277777236100231610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_TRACKIR_TRACKIRDEVICE_H #define SURGSIM_DEVICES_TRACKIR_TRACKIRDEVICE_H #include #include #include "SurgSim/Input/CommonDevice.h" namespace SurgSim { namespace Devices { class TrackIRScaffold; SURGSIM_STATIC_REGISTRATION(TrackIRDevice); /// A class implementing the communication with Natural Point TrackIR camera. /// Z is the direction that the camera faces. /// Y is in the direction of the camera's up. /// X is the direction to the camera's left (making a right-hand coordinate system). /// \par Application input provided by the device: /// | type | name | | /// | ---- | ---- | --- | /// | pose | "pose" | %Device pose (units are meters). | /// /// \par Application output used by the device: none. /// /// \sa SurgSim::Input::CommonDevice, SurgSim::Input::DeviceInterface class TrackIRDevice : public SurgSim::Input::CommonDevice { public: /// Constructor. /// \param uniqueName A unique name for the device. explicit TrackIRDevice(const std::string& uniqueName); SURGSIM_CLASSNAME(SurgSim::Devices::TrackIRDevice); /// Destructor. virtual ~TrackIRDevice(); bool initialize() override; bool isInitialized() const override; /// Sets the position scale for this device. /// The position scale controls how much the pose changes for a given device translation. /// The default value for a raw device tries to correspond to the actual physical motion of the device. void setPositionScale(double scale); /// Gets the position scale for this device. double getPositionScale() const; /// Sets the orientation scale for this device. /// The orientation scale controls how much the pose changes for a given device rotation. /// The default value for a raw device tries to correspond to the actual physical motion of the device. void setOrientationScale(double scale); /// Gets the orientation scale for this device. double getOrientationScale() const; private: friend class TrackIRScaffold; bool finalize() override; // Returns the default position scale static double defaultPositionScale(); // Returns the default rotation scale static double defaultOrientationScale(); /// Scale factor for the position axes; stored locally before the device is initialized. double m_positionScale; /// Scale factor for the orientation axes; stored locally before the device is initialized. double m_orientationScale; /// Communication with hardware is handled by scaffold. std::shared_ptr m_scaffold; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_TRACKIR_TRACKIRDEVICE_H opensurgsim-0.7.0/SurgSim/Devices/TrackIR/TrackIRScaffold.h000066400000000000000000000105631277777236100235050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_TRACKIR_TRACKIRSCAFFOLD_H #define SURGSIM_DEVICES_TRACKIR_TRACKIRSCAFFOLD_H #include #include "SurgSim/Framework/Logger.h" namespace SurgSim { namespace DataStructures { class DataGroup; } namespace Devices { class TrackIRDevice; /// A class that manages Natural Point TRACKIR devices. /// /// \sa SurgSim::Devices::TrackIRDevice class TrackIRScaffold { public: /// Constructor. TrackIRScaffold(); /// Destructor. ~TrackIRScaffold(); /// Gets or creates the scaffold shared by all TrackIRDevice instances. /// The scaffold is managed using a SharedInstance object, so it will be destroyed when all devices are released. /// \return the scaffold object. static std::shared_ptr getOrCreateSharedInstance(); private: /// Internal shared state data type. struct StateData; /// Internal per-device information. struct DeviceData; friend class TrackIRDevice; friend class TrackIRThread; friend struct StateData; /// Registers the specified device object. /// If successful, the device object will become connected to an unused controller. /// /// \param device The device object to be used, which should have a unique name. /// \return True if the initialization succeeds, false if it fails. bool registerDevice(TrackIRDevice* device); /// Unregisters the specified device object. /// The corresponding controller will become unused, and can be re-registered later. /// /// \param device The device object. /// \return true on success, false on failure. bool unregisterDevice(const TrackIRDevice* device); /// Sets the position scale for the device. /// \param device The device whose position scale will be set. /// \param scale Scale of the position. void setPositionScale(const TrackIRDevice* device, double scale); /// Sets the orientation scale for the device. /// \param device The device whose orientation scale will be set. /// \param scale Scale of the orientation. void setOrientationScale(const TrackIRDevice* device, double scale); /// Initializes the OptiTrack SDK. /// \return true on success. bool initializeSdk(); /// Finalizes (de-initializes) the OptiTrack SDK. /// \return true on success. bool finalizeSdk(); /// Start the camera, it will start sending frames. /// \param info DeviceData object which contains the camera to be started. /// \return true on success. bool startCamera(DeviceData* info); /// Stop the camera, it will stop sending frames. /// \param info DeviceData object which contains the camera to be stopped. /// \return true on success. bool stopCamera(DeviceData* info); /// Executes the operations for a single input frame for a single device. /// Should only be called from the context of the input loop thread. /// \param info The internal device data. /// \return true on success. bool runInputFrame(DeviceData* info); /// Updates the device information for a single device. /// \param info The device data. /// \return true on success. bool updateDevice(DeviceData* info); /// Creates a thread for the given DeviceData object /// \param data A DeviceData object /// \return true on success. bool createPerDeviceThread(DeviceData* data); /// Destroys the thread associated with the given DeviceData object /// \param data A DeviceData object /// \return true on success. bool destroyPerDeviceThread(DeviceData* data); /// Builds the data layout for the application input (i.e. device output). static SurgSim::DataStructures::DataGroup buildDeviceInputData(); /// Logger used by the scaffold and all devices. std::shared_ptr m_logger; /// Internal scaffold state. std::unique_ptr m_state; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_TRACKIR_TRACKIRSCAFFOLD_H opensurgsim-0.7.0/SurgSim/Devices/TrackIR/TrackIRThread.cpp000066400000000000000000000024101277777236100235160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/TrackIR/TrackIRThread.h" #include "SurgSim/Devices/TrackIR/TrackIRScaffold.h" namespace SurgSim { namespace Devices { TrackIRThread::TrackIRThread(TrackIRScaffold* scaffold, TrackIRScaffold::DeviceData* deviceData) : BasicThread("TrackIR thread"), m_scaffold(scaffold), m_deviceData(deviceData) { setRate(100.0); } TrackIRThread::~TrackIRThread() { } bool TrackIRThread::doInitialize() { return true; } bool TrackIRThread::doStartUp() { return true; } bool TrackIRThread::doUpdate(double dt) { return m_scaffold->runInputFrame(m_deviceData); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/TrackIR/TrackIRThread.h000066400000000000000000000042011277777236100231630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_DEVICES_TRACKIR_TRACKIRTHREAD_H #define SURGSIM_DEVICES_TRACKIR_TRACKIRTHREAD_H #include "SurgSim/Framework/BasicThread.h" #include "SurgSim/Devices/TrackIR/TrackIRScaffold.h" namespace SurgSim { namespace Devices { /// A class implementing the thread context for sampling TrackIR devices. /// \sa SurgSim::Devices::TrackIRScaffold class TrackIRThread : public SurgSim::Framework::BasicThread { public: /// Constructor /// TrackIR sample rate: 120FPS. /// Default update rate is set by BasicThread constructor to 30Hz /// \param scaffold The TrackIRScaffold updated by this thread /// \param deviceData Corresponds to the TrackIRScaffold::DeviceData updated by this thread TrackIRThread(TrackIRScaffold* scaffold, TrackIRScaffold::DeviceData* deviceData); /// Destructor virtual ~TrackIRThread(); protected: /// Initialize this thread. /// \return True on success, false otherwise. bool doInitialize() override; /// Start up this thread. /// \return True on success, false otherwise. bool doStartUp() override; /// Update work of this thread. /// \param dt The time step. /// \return True on success, false otherwise. bool doUpdate(double dt) override; private: // Pointer to the scaffold which will be updated by this thread. TrackIRScaffold* m_scaffold; // Pointer to the DeviceData object which will be updated by the scaffold. TrackIRScaffold::DeviceData* m_deviceData; }; }; // namespace Devices }; // namespace SurgSim #endif // SURGSIM_DEVICES_TRACKIR_TRACKIRTHREAD_H opensurgsim-0.7.0/SurgSim/Devices/TrackIR/UnitTests/000077500000000000000000000000001277777236100223305ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/TrackIR/UnitTests/CMakeLists.txt000066400000000000000000000031771277777236100251000ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ${gtest_SOURCE_DIR} ) set(UNIT_TEST_SOURCES TrackIRDeviceTest.cpp TrackIRScaffoldTest.cpp ) set(UNIT_TEST_HEADERS ) set(LIBS TrackIRDevice SurgSimInput SurgSimFramework SurgSimDataStructures gmock gtest ${Boost_LIBRARIES} ${OPTITRACK_LIBRARY} ) # The unit tests will be built whenever the library is built, but # running them at build time requires hardware and is disabled by # default. option(SURGSIM_TESTS_RUN_DEVICE_TRACKIR "Run the TrackIR tests as part of unit tests. (Requires hardware and OptiTrack!)" OFF) surgsim_add_unit_tests(TrackIRDeviceTest RUN ${SURGSIM_TESTS_RUN_DEVICE_TRACKIR}) # Copy the device DLLs into the build directory surgsim_copy_to_target_directory_for_release(TrackIRDeviceTest ${OPTITRACK_SHARED_RELEASE} ) surgsim_copy_to_target_directory_for_debug(TrackIRDeviceTest ${OPTITRACK_SHARED_DEBUG} ) # Put TrackIRDeviceTest into folder "Devices" set_target_properties(TrackIRDeviceTest PROPERTIES FOLDER "Devices")opensurgsim-0.7.0/SurgSim/Devices/TrackIR/UnitTests/TrackIRDeviceTest.cpp000066400000000000000000000072641277777236100263240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the TrackIRDevice class. #include #include #include #include #include #include "SurgSim/Devices/TrackIR/TrackIRDevice.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Input/InputConsumerInterface.h" #include "SurgSim/Testing/MockInputOutput.h" using SurgSim::Devices::TrackIRDevice; using SurgSim::DataStructures::DataGroup; using SurgSim::Input::InputConsumerInterface; using SurgSim::Testing::MockInputOutput; TEST(TrackIRDeviceTest, CreateAndInitializeDevice) { std::shared_ptr device = std::make_shared("TrackIR"); ASSERT_TRUE(nullptr != device) << "Device creation failed."; EXPECT_FALSE(device->isInitialized()); EXPECT_EQ("TrackIR", device->getName()); ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a TrackIR device plugged in?"; EXPECT_TRUE(device->isInitialized()); EXPECT_EQ("TrackIR", device->getName()); } TEST(TrackIRDeviceTest, CreateDevicesWithSameName) { std::shared_ptr device1 = std::make_shared("TrackIR"); ASSERT_TRUE(nullptr != device1) << "Device creation failed."; ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a TrackIR device plugged in?"; std::shared_ptr device2 = std::make_shared("TrackIR"); ASSERT_TRUE(nullptr != device2) << "Device creation failed."; ASSERT_ANY_THROW(device2->initialize()) << "Initialization succeeded despite duplicate name."; } TEST(TrackIRDeviceTest, RegisterMoreThanOneDevice) { std::shared_ptr device1 = std::make_shared("TrackIR"); ASSERT_TRUE(nullptr != device1) << "Device creation failed."; ASSERT_TRUE(device1->initialize()) << "Initialization failed. Is a TrackIR device plugged in?"; std::shared_ptr device2 = std::make_shared("TrackIR2"); ASSERT_TRUE(nullptr != device2) << "Device creation failed."; ASSERT_ANY_THROW(device2->initialize()) << "Two TrackIR cameras are registered."; } TEST(TrackIRDeviceTest, InputConsumer) { std::shared_ptr device = std::make_shared("TrackIR"); ASSERT_TRUE(nullptr != device) << "Device creation failed."; EXPECT_TRUE(device->initialize()) << "Initialization failed. Is a TrackIR device plugged in?"; std::shared_ptr consumer = std::make_shared(); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device->addInputConsumer(consumer)); // Sleep for one second, to see how many times the consumer is invoked. // (TrackIR device sample rate is 120FPS.) // (The thread to poll data out of TrackIR is running at default 100Hz.) boost::this_thread::sleep_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); EXPECT_TRUE(device->removeInputConsumer(consumer)); // Check the number of invocations. EXPECT_GE(consumer->m_numTimesReceivedInput, 50); EXPECT_LE(consumer->m_numTimesReceivedInput, 120); EXPECT_TRUE(consumer->m_lastReceivedInput.poses().isValid()); } opensurgsim-0.7.0/SurgSim/Devices/TrackIR/UnitTests/TrackIRScaffoldTest.cpp000066400000000000000000000154361277777236100266460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the TrackIRScaffold class and its device interactions. #include #include #include "SurgSim/Devices/TrackIR/TrackIRDevice.h" #include "SurgSim/Devices/TrackIR/TrackIRScaffold.h" using SurgSim::Devices::TrackIRDevice; using SurgSim::Devices::TrackIRScaffold; TEST(TrackIRScaffoldTest, CreateAndDestroyScaffold) { std::shared_ptr scaffold = TrackIRScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created!"; std::weak_ptr weakScaffold = scaffold; { std::shared_ptr stillHaveScaffold = weakScaffold.lock(); EXPECT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; EXPECT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } { std::shared_ptr sameScaffold = TrackIRScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, sameScaffold) << "Unable to get scaffold from class"; EXPECT_EQ(scaffold, sameScaffold) << "Scaffold mismatch!"; } scaffold.reset(); { std::shared_ptr dontHaveScaffold = weakScaffold.lock(); EXPECT_EQ(nullptr, dontHaveScaffold) << "Able to get scaffold from weak ref (with no strong ref)"; } scaffold = TrackIRScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created the 2nd time!"; std::weak_ptr yetAnotherWeakScaffold = scaffold; { std::shared_ptr stillHaveScaffold = yetAnotherWeakScaffold.lock(); ASSERT_NE(nullptr, stillHaveScaffold) << "Unable to get scaffold from weak ref (while strong ref exists)"; ASSERT_EQ(scaffold, stillHaveScaffold) << "Scaffold mismatch!"; } } TEST(TrackIRScaffoldTest, ScaffoldLifeCycle) { std::weak_ptr lastScaffold; { std::shared_ptr scaffold = TrackIRScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not created!"; lastScaffold = scaffold; } { std::shared_ptr dontHaveScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, dontHaveScaffold) << "Able to get scaffold from weak ref (with no strong ref)"; lastScaffold.reset(); } { std::shared_ptr device = std::make_shared("TrackIR"); ASSERT_NE(nullptr, device) << "Creation failed. Is a TrackIR device plugged in?"; // note: the device is NOT initialized! { std::shared_ptr scaffold = TrackIRScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // save the scaffold for later std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); EXPECT_EQ(scaffold, sameScaffold); } // The device has not been initialized, so it should NOT be hanging on to the device! { std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } // the ("empty") device is about to get destroyed } { std::shared_ptr device = std::make_shared("TrackIR"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a TrackIR device plugged in?"; { std::shared_ptr scaffold = TrackIRScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // save the scaffold for later std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); EXPECT_EQ(scaffold, sameScaffold); } // The same scaffold is supposed to still be around because of the device { std::shared_ptr sameScaffold = lastScaffold.lock(); EXPECT_NE(nullptr, sameScaffold); std::shared_ptr scaffold = TrackIRScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; EXPECT_EQ(sameScaffold, scaffold); } // the device and the scaffold are about to get destroyed } { std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } { std::shared_ptr device = std::make_shared("TrackIR"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Didn't this work a moment ago?"; std::shared_ptr scaffold = TrackIRScaffold::getOrCreateSharedInstance(); EXPECT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; std::shared_ptr deadScaffold = lastScaffold.lock(); EXPECT_EQ(nullptr, deadScaffold); } } TEST(TrackIRScaffoldTest, CreateDeviceSeveralTimes) { std::weak_ptr lastScaffold; for (int i = 0; i < 6; ++i) { SCOPED_TRACE(i); EXPECT_EQ(nullptr, lastScaffold.lock()); std::shared_ptr device = std::make_shared("TrackIR"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a TrackIR device plugged in?"; std::shared_ptr scaffold = TrackIRScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; lastScaffold = scaffold; // the device and the scaffold will be destroyed here } } TEST(TrackIRScaffoldTest, CreateDeviceSeveralTimesWithScaffoldRef) { std::shared_ptr lastScaffold; for (int i = 0; i < 6; ++i) { SCOPED_TRACE(i); std::shared_ptr device = std::make_shared("TrackIR"); ASSERT_NE(nullptr, device) << "Device creation failed."; ASSERT_TRUE(device->initialize()) << "Initialization failed. Is a TrackIR device plugged in?"; std::shared_ptr scaffold = TrackIRScaffold::getOrCreateSharedInstance(); ASSERT_NE(nullptr, scaffold) << "The scaffold was not retrieved!"; if (!lastScaffold) { lastScaffold = scaffold; } EXPECT_EQ(lastScaffold, scaffold); // the device will be destroyed here, but the scaffold stays around because we have a shared_ptr to it. } } opensurgsim-0.7.0/SurgSim/Devices/TrackIR/VisualTest/000077500000000000000000000000001277777236100224715ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/TrackIR/VisualTest/CMakeLists.txt000066400000000000000000000024031277777236100252300ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. set(EXAMPLE_SOURCES main.cpp ) set(EXAMPLE_HEADERS ) surgsim_add_executable(TrackIRVisualTest "${EXAMPLE_SOURCES}" "${EXAMPLE_HEADERS}") set(LIBS IdentityPoseDevice SurgSimInput TrackIRDevice VisualTestCommon ${OPTITRACK_LIBRARY} ) target_link_libraries(TrackIRVisualTest ${LIBS}) # Copy the device DLLs into the build directory surgsim_copy_to_target_directory_for_release(TrackIRVisualTest ${OPTITRACK_SHARED_RELEASE} ) surgsim_copy_to_target_directory_for_debug(TrackIRVisualTest ${OPTITRACK_SHARED_DEBUG} ) # Put TrackIRVisualTest into folder "Devices" set_target_properties(TrackIRVisualTest PROPERTIES FOLDER "Devices") opensurgsim-0.7.0/SurgSim/Devices/TrackIR/VisualTest/main.cpp000066400000000000000000000033321277777236100241220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Input/DeviceInterface.h" #include "SurgSim/Devices/TrackIR/TrackIRDevice.h" #include "SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.h" #include "SurgSim/Testing/VisualTestCommon/ToolSquareTest.h" using SurgSim::Input::DeviceInterface; using SurgSim::Devices::TrackIRDevice; using SurgSim::Devices::IdentityPoseDevice; int main(int argc, char** argv) { std::shared_ptr toolDevice = std::make_shared("TrackIRDevice"); // The square is controlled by a second device. For a simple test, we're using an IdentityPoseDevice-- // a pretend device that doesn't actually move. std::shared_ptr squareDevice = std::make_shared("IdentityPoseDevice"); runToolSquareTest(toolDevice, squareDevice, //2345678901234567890123456789012345678901234567890123456789012345678901234567890 "Move the TrackIR device to move the sphere tool."); std::cout << std::endl << "Exiting." << std::endl; // Cleanup and shutdown will happen automatically as objects go out of scope. return 0; } opensurgsim-0.7.0/SurgSim/Devices/TrackIR/linux/000077500000000000000000000000001277777236100215255ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/TrackIR/linux/TrackIRScaffold.cpp000066400000000000000000000267421277777236100252050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/TrackIR/TrackIRScaffold.h" #include #include #include #include #include #include #include "SurgSim/Devices/TrackIR/TrackIRDevice.h" #include "SurgSim/Devices/TrackIR/TrackIRThread.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SharedInstance.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::DataGroupBuilder; using SurgSim::Math::makeRotationMatrix; using SurgSim::Math::Matrix33d; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Devices { struct TrackIRScaffold::DeviceData { /// Constructor /// \param device Device to be wrapped explicit DeviceData(TrackIRDevice* device) : deviceObject(device), thread(), positionScale(TrackIRDevice::defaultPositionScale()), orientationScale(TrackIRDevice::defaultOrientationScale()) { } /// The corresponding device object. SurgSim::Devices::TrackIRDevice* const deviceObject; /// Processing thread. std::unique_ptr thread; /// Scale factor for the position axes; stored locally before the device is initialized. double positionScale; /// Scale factor for the orientation axes; stored locally before the device is initialized. double orientationScale; /// The mutex that protects the externally modifiable parameters. boost::mutex parametersMutex; private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) DeviceData(const DeviceData&) /*= delete*/; DeviceData& operator=(const DeviceData&) /*= delete*/; }; struct TrackIRScaffold::StateData { public: /// Initialize the state. StateData() : isApiInitialized(false) { } /// True if the API has been initialized (and not finalized). bool isApiInitialized; /// The list of known devices. std::list> activeDeviceList; /// The mutex that protects the list of known devices. boost::mutex mutex; private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) StateData(const StateData&) /*= delete*/; StateData& operator=(const StateData&) /*= delete*/; }; TrackIRScaffold::TrackIRScaffold() : m_logger(Framework::Logger::getLogger("Devices/TrackIR")), m_state(new StateData) { SURGSIM_LOG_DEBUG(m_logger) << "Shared scaffold created."; } TrackIRScaffold::~TrackIRScaffold() { // The following block controls the duration of the mutex being locked. { boost::lock_guard lock(m_state->mutex); if (!m_state->activeDeviceList.empty()) { SURGSIM_LOG_SEVERE(m_logger) << "TrackIR: Destroying scaffold while devices are active!?!"; for (auto it = std::begin(m_state->activeDeviceList); it != std::end(m_state->activeDeviceList); ++it) { stopCamera((*it).get()); if ((*it)->thread) { destroyPerDeviceThread(it->get()); } } m_state->activeDeviceList.clear(); } if (m_state->isApiInitialized) { if (!finalizeSdk()) { SURGSIM_LOG_SEVERE(m_logger) << "Finalizing TrackIR SDK failed."; } } } SURGSIM_LOG_DEBUG(m_logger) << "TrackIR: Shared scaffold destroyed."; } bool TrackIRScaffold::registerDevice(TrackIRDevice* device) { boost::lock_guard lock(m_state->mutex); if (!m_state->isApiInitialized) { if (!initializeSdk()) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to initialize TrackIR SDK in TrackIRScaffold::registerDevice(). " << "Continuing without the TrackIR device."; } } // Only proceed when initializationSdk() is successful. if (m_state->isApiInitialized) { // Make sure the object is unique. auto sameObject = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); SURGSIM_ASSERT(sameObject == m_state->activeDeviceList.end()) << "TrackIR: Tried to register a device" << " which is already registered!"; // Make sure the name is unique. const std::string name = device->getName(); auto sameName = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [&name](const std::unique_ptr& info) { return info->deviceObject->getName() == name; }); SURGSIM_ASSERT(sameName == m_state->activeDeviceList.end()) << "TrackIR: Tried to register a device" << " when the same name is already present!"; // The handling of multiple cameras could be done in different ways, each with trade-offs. // Instead of choosing an approach now, we assert on attempting to use more than one camera. SURGSIM_ASSERT(m_state->activeDeviceList.size() < 1) << "There is already an active TrackIR camera." << " TrackIRScaffold only supports one TrackIR camera right now."; std::unique_ptr info(new DeviceData(device)); createPerDeviceThread(info.get()); SURGSIM_ASSERT(info->thread) << "Failed to create a per-device thread for TrackIR device: " << info->deviceObject->getName(); startCamera(info.get()); m_state->activeDeviceList.emplace_back(std::move(info)); SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << " initialized."; } return m_state->isApiInitialized; } bool TrackIRScaffold::unregisterDevice(const TrackIRDevice* const device) { bool found = false; { boost::lock_guard lock(m_state->mutex); auto matching = std::find_if(m_state->activeDeviceList.begin(), m_state->activeDeviceList.end(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (matching != m_state->activeDeviceList.end()) { stopCamera((*matching).get()); if ((*matching)->thread) { destroyPerDeviceThread(matching->get()); } m_state->activeDeviceList.erase(matching); // the iterator is now invalid but that's OK found = true; SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << " unregistered."; } } SURGSIM_LOG_IF(!found, m_logger, SEVERE) << "Attempted to release a non-registered device " << device->getName(); return found; } void TrackIRScaffold::setPositionScale(const TrackIRDevice* device, double scale) { boost::lock_guard lock(m_state->mutex); auto matching = std::find_if(m_state->activeDeviceList.begin(), m_state->activeDeviceList.end(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (matching != m_state->activeDeviceList.end()) { boost::lock_guard lock((*matching)->parametersMutex); (*matching)->positionScale = scale; } } void TrackIRScaffold::setOrientationScale(const TrackIRDevice* device, double scale) { boost::lock_guard lock(m_state->mutex); auto matching = std::find_if(m_state->activeDeviceList.begin(), m_state->activeDeviceList.end(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (matching != m_state->activeDeviceList.end()) { boost::lock_guard lock((*matching)->parametersMutex); (*matching)->orientationScale = scale; } } bool TrackIRScaffold::runInputFrame(TrackIRScaffold::DeviceData* info) { if (!updateDevice(info)) { return false; } info->deviceObject->pushInput(); return true; } bool TrackIRScaffold::updateDevice(TrackIRScaffold::DeviceData* info) { SurgSim::DataStructures::DataGroup& inputData = info->deviceObject->getInputData(); boost::lock_guard lock(info->parametersMutex); float x = 0.0, y = 0.0, z = 0.0, yaw = 0.0, pitch = 0.0, roll = 0.0; unsigned counter = 0; // Current camera frame number // roll: rotation around X-axis // yaw: rotation around Y-axis // pitch: rotation around Z-axis // Positions are reported in millimeters. // Angles are in radians. ltr_get_pose(&yaw, &pitch, &roll, &x, &y, &z, &counter); Vector3d position(static_cast(x) / 1000.0, static_cast(y) / 1000.0, static_cast(z) / 1000.0); // Convert millimeter to meter // Scale Position position *= info->positionScale; Matrix33d rotationX = makeRotationMatrix( info->orientationScale * static_cast(-roll), Vector3d(Vector3d::UnitX())); Matrix33d rotationY = makeRotationMatrix( info->orientationScale * static_cast(yaw), Vector3d(Vector3d::UnitY())); Matrix33d rotationZ = makeRotationMatrix( info->orientationScale * static_cast(pitch), Vector3d(Vector3d::UnitZ())); // Rotation order is intrinsic/local XYZ Matrix33d orientation = rotationX * rotationY * rotationZ; RigidTransform3d pose; pose.linear() = orientation; pose.translation() = position; inputData.poses().set(SurgSim::DataStructures::Names::POSE, pose); return true; } bool TrackIRScaffold::initializeSdk() { SURGSIM_ASSERT(!m_state->isApiInitialized) << "TrackIR API already initialized."; //Initialize the tracking using Default profile ltr_init(NULL); //Wait for TrackIR initialization ltr_state_type state; int timeout = 100; // Wait for 10 seconds before quit while(timeout > 0) { state = ltr_get_tracking_state(); if(state != RUNNING) { usleep(100000); //sleep 0.1s } else { m_state->isApiInitialized = true; break; } --timeout; }; return m_state->isApiInitialized; } bool TrackIRScaffold::finalizeSdk() { SURGSIM_ASSERT(m_state->isApiInitialized) << "TrackIR API already finalized."; ltr_shutdown(); ltr_state_type state; state = ltr_get_tracking_state(); if (state == STOPPED) { m_state->isApiInitialized = false; } return !m_state->isApiInitialized; } bool TrackIRScaffold::createPerDeviceThread(DeviceData* deviceData) { SURGSIM_ASSERT(!deviceData->thread) << "Device " << deviceData->deviceObject->getName() << " already has a thread."; std::unique_ptr thread(new TrackIRThread(this, deviceData)); thread->start(); deviceData->thread = std::move(thread); return true; } bool TrackIRScaffold::destroyPerDeviceThread(DeviceData* deviceData) { SURGSIM_ASSERT(deviceData->thread) << "No thread attached to device " << deviceData->deviceObject->getName(); std::unique_ptr thread = std::move(deviceData->thread); thread->stop(); thread.reset(); return true; } bool TrackIRScaffold::startCamera(DeviceData* info) { return true; } bool TrackIRScaffold::stopCamera(DeviceData* info) { return true; } SurgSim::DataStructures::DataGroup TrackIRScaffold::buildDeviceInputData() { DataGroupBuilder builder; builder.addPose(SurgSim::DataStructures::Names::POSE); return builder.createData(); } std::shared_ptr TrackIRScaffold::getOrCreateSharedInstance() { static SurgSim::Framework::SharedInstance sharedInstance; return sharedInstance.get(); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/TrackIR/win32/000077500000000000000000000000001277777236100213305ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/TrackIR/win32/TrackIRScaffold.cpp000066400000000000000000000365131277777236100250050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Devices/TrackIR/TrackIRScaffold.h" #include #include #include #include #include #include #include "SurgSim/Devices/TrackIR/TrackIRDevice.h" #include "SurgSim/Devices/TrackIR/TrackIRThread.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SharedInstance.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::DataGroupBuilder; using SurgSim::Math::makeRotationMatrix; using SurgSim::Math::Matrix33d; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Devices { struct TrackIRScaffold::DeviceData { /// Constructor /// \param device Device to be wrapped /// \param cameraID The camera identifier explicit DeviceData(TrackIRDevice* device, int cameraID) : deviceObject(device), thread(), vector(CameraLibrary::cModuleVector::Create()), vectorProcessor(new CameraLibrary::cModuleVectorProcessing()) { CameraLibrary::CameraList list; list.Refresh(); camera = CameraLibrary::CameraManager::X().GetCamera(list[cameraID].UID()); SURGSIM_ASSERT(nullptr != camera) << "Failed to obtain a camera from CameraLibrary."; camera->SetVideoType(CameraLibrary::BitPackedPrecisionMode); CameraLibrary::cVectorProcessingSettings vectorProcessorSettings; vectorProcessorSettings = *(vectorProcessor->Settings()); vectorProcessorSettings.Arrangement = CameraLibrary::cVectorSettings::VectorClip; vectorProcessorSettings.ShowPivotPoint = false; vectorProcessorSettings.ShowProcessed = false; vectorProcessorSettings.ScaleTranslationX = device->defaultPositionScale(); vectorProcessorSettings.ScaleTranslationY = device->defaultPositionScale(); vectorProcessorSettings.ScaleTranslationZ = device->defaultPositionScale(); vectorProcessorSettings.ScaleRotationPitch = device->defaultOrientationScale(); vectorProcessorSettings.ScaleRotationYaw = device->defaultOrientationScale(); vectorProcessorSettings.ScaleRotationRoll = device->defaultOrientationScale(); vectorProcessor->SetSettings(vectorProcessorSettings); //== Plug in focal length in (mm) by converting it from pixels -> mm CameraLibrary::cVectorSettings vectorSettings; vectorSettings = *(vector->Settings()); vectorSettings.Arrangement = CameraLibrary::cVectorSettings::VectorClip; vectorSettings.Enabled = true; camera->GetDistortionModel(lensDistortion); vectorSettings.ImagerFocalLength = lensDistortion.HorizontalFocalLength / static_cast(camera->PhysicalPixelWidth()) * camera->ImagerWidth(); vectorSettings.ImagerHeight = camera->ImagerHeight(); vectorSettings.ImagerWidth = camera->ImagerWidth(); vectorSettings.PrincipalX = camera->PhysicalPixelWidth() / 2.0; vectorSettings.PrincipalY = camera->PhysicalPixelHeight() / 2.0; vectorSettings.PixelWidth = camera->PhysicalPixelWidth(); vectorSettings.PixelHeight = camera->PhysicalPixelHeight(); vector->SetSettings(vectorSettings); } ~DeviceData() { camera->Release(); } Core::DistortionModel lensDistortion; CameraLibrary::Camera* camera; CameraLibrary::cModuleVector* vector; CameraLibrary::cModuleVectorProcessing* vectorProcessor; /// The corresponding device object. SurgSim::Devices::TrackIRDevice* const deviceObject; /// Processing thread. std::unique_ptr thread; /// The mutex that protects the externally modifiable parameters. boost::mutex parametersMutex; private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) DeviceData(const DeviceData&) /*= delete*/; DeviceData& operator=(const DeviceData&) /*= delete*/; }; struct TrackIRScaffold::StateData { public: /// Initialize the state. StateData() : isApiInitialized(false) { } /// True if the API has been initialized (and not finalized). bool isApiInitialized; /// The list of known devices. std::list> activeDeviceList; /// The mutex that protects the list of known devices. boost::mutex mutex; private: // Prevent copy construction and copy assignment. (VS2012 does not support "= delete" yet.) StateData(const StateData&) /*= delete*/; StateData& operator=(const StateData&) /*= delete*/; }; TrackIRScaffold::TrackIRScaffold() : m_logger(Framework::Logger::getLogger("Devices/TrackIR")), m_state(new StateData) { SURGSIM_LOG_DEBUG(m_logger) << "Shared scaffold created."; } TrackIRScaffold::~TrackIRScaffold() { // The following block controls the duration of the mutex being locked. { boost::lock_guard lock(m_state->mutex); if (!m_state->activeDeviceList.empty()) { SURGSIM_LOG_SEVERE(m_logger) << "TrackIR: Destroying scaffold while devices are active!?!"; for (auto it = std::begin(m_state->activeDeviceList); it != std::end(m_state->activeDeviceList); ++it) { stopCamera((*it).get()); if ((*it)->thread) { destroyPerDeviceThread(it->get()); } } m_state->activeDeviceList.clear(); } if (m_state->isApiInitialized) { if (!finalizeSdk()) { SURGSIM_LOG_SEVERE(m_logger) << "Finalizing TrackIR SDK failed."; } } } SURGSIM_LOG_DEBUG(m_logger) << "TrackIR: Shared scaffold destroyed."; } bool TrackIRScaffold::registerDevice(TrackIRDevice* device) { boost::lock_guard lock(m_state->mutex); if (!m_state->isApiInitialized) { if (!initializeSdk()) { SURGSIM_LOG_SEVERE(m_logger) << "Failed to initialize TrackIR SDK in TrackIRScaffold::registerDevice(). " << "Continuing without the TrackIR device."; } } // Only proceed when initializationSdk() is successful. if (m_state->isApiInitialized) { // Make sure the object is unique. auto sameObject = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); SURGSIM_ASSERT(sameObject == m_state->activeDeviceList.end()) << "TrackIR: Tried to register a device" << " which is already registered!"; // Make sure the name is unique. const std::string name = device->getName(); auto sameName = std::find_if(m_state->activeDeviceList.cbegin(), m_state->activeDeviceList.cend(), [&name](const std::unique_ptr& info) { return info->deviceObject->getName() == name; }); SURGSIM_ASSERT(sameName == m_state->activeDeviceList.end()) << "TrackIR: Tried to register a device" << " when the same name is already present!"; // The handling of multiple cameras could be done in different ways, each with trade-offs. // Instead of choosing an approach now, we assert on attempting to use more than one camera. SURGSIM_ASSERT(m_state->activeDeviceList.size() < 1) << "There is already an active TrackIR camera." << " TrackIRScaffold only supports one TrackIR camera right now."; CameraLibrary::CameraList cameraList; cameraList.Refresh(); if (cameraList.Count() > static_cast(m_state->activeDeviceList.size())) { int cameraID = static_cast(m_state->activeDeviceList.size()); std::unique_ptr info(new DeviceData(device, cameraID)); createPerDeviceThread(info.get()); SURGSIM_ASSERT(info->thread) << "Failed to create a per-device thread for TrackIR device: " << info->deviceObject->getName() << ", with ID number " << cameraID << "."; startCamera(info.get()); m_state->activeDeviceList.emplace_back(std::move(info)); SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << " initialized."; } else { SURGSIM_LOG_SEVERE(m_logger) << "Registration failed. Is a TrackIR device plugged in?"; m_state->isApiInitialized = false; } } return m_state->isApiInitialized; } bool TrackIRScaffold::unregisterDevice(const TrackIRDevice* const device) { bool found = false; { boost::lock_guard lock(m_state->mutex); auto matching = std::find_if(m_state->activeDeviceList.begin(), m_state->activeDeviceList.end(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (matching != m_state->activeDeviceList.end()) { stopCamera((*matching).get()); if ((*matching)->thread) { destroyPerDeviceThread(matching->get()); } m_state->activeDeviceList.erase(matching); // the iterator is now invalid but that's OK found = true; SURGSIM_LOG_INFO(m_logger) << "Device " << device->getName() << " unregistered."; } } SURGSIM_LOG_IF(!found, m_logger, SEVERE) << "Attempted to release a non-registered device " << device->getName(); return found; } void TrackIRScaffold::setPositionScale(const TrackIRDevice* device, double scale) { boost::lock_guard lock(m_state->mutex); auto matching = std::find_if(m_state->activeDeviceList.begin(), m_state->activeDeviceList.end(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (matching != m_state->activeDeviceList.end()) { boost::lock_guard lock((*matching)->parametersMutex); CameraLibrary::cVectorProcessingSettings* vectorProcessorSettings = (*matching)->vectorProcessor->Settings(); vectorProcessorSettings->ScaleTranslationX = scale; vectorProcessorSettings->ScaleTranslationY = scale; vectorProcessorSettings->ScaleTranslationZ = scale; } } void TrackIRScaffold::setOrientationScale(const TrackIRDevice* device, double scale) { boost::lock_guard lock(m_state->mutex); auto matching = std::find_if(m_state->activeDeviceList.begin(), m_state->activeDeviceList.end(), [device](const std::unique_ptr& info) { return info->deviceObject == device; }); if (matching != m_state->activeDeviceList.end()) { boost::lock_guard lock((*matching)->parametersMutex); CameraLibrary::cVectorProcessingSettings* vectorProcessorSettings = (*matching)->vectorProcessor->Settings(); vectorProcessorSettings->ScaleRotationPitch = scale; vectorProcessorSettings->ScaleRotationYaw = scale; vectorProcessorSettings->ScaleRotationRoll = scale; } } bool TrackIRScaffold::runInputFrame(TrackIRScaffold::DeviceData* info) { if (!updateDevice(info)) { return false; } info->deviceObject->pushInput(); return true; } bool TrackIRScaffold::updateDevice(TrackIRScaffold::DeviceData* info) { SurgSim::DataStructures::DataGroup& inputData = info->deviceObject->getInputData(); boost::lock_guard lock(info->parametersMutex); CameraLibrary::Frame *frame = info->camera->GetFrame(); bool poseValid = false; double x, y, z, pitch, yaw, roll; if (frame) { info->vector->BeginFrame(); for(int i = 0; i < frame->ObjectCount(); ++i) { CameraLibrary::cObject *obj = frame->Object(i); float xValue = obj->X(); float yValue = obj->Y(); Core::Undistort2DPoint(info->lensDistortion, xValue, yValue); info->vector->PushMarkerData(xValue, yValue, obj->Area(), obj->Width(), obj->Height()); } info->vector->Calculate(); info->vectorProcessor->PushData(info->vector); // Vector Clip uses 3 markers to identify the pose, i.e. 6DOF // Otherwise, the pose is considered as invalid. if(info->vectorProcessor->MarkerCount() == 3) { info->vectorProcessor->GetOrientation(yaw, pitch, roll); // Rotations are Euler Angles in degrees. info->vectorProcessor->GetPosition(x, y, z); // Positions are reported in millimeters. poseValid = true; } frame->Release(); } if (poseValid) { // Positions returned from CameraSDK are right-handed. Vector3d position(x / 1000.0, y / 1000.0, z / 1000.0); // Convert millimeter to meter // The angles returned from CameraSDK are Euler angles (y-x'-z'' intrinsic rotations): X=pitch, Y=yaw, Z=roll. // OSS use right handed coordinate system (X:Right, Y:Up, Z:Outward) and right hand rule for rotations. Matrix33d rotationX = makeRotationMatrix(pitch * M_PI / 180.0, Vector3d(Vector3d::UnitX())); Matrix33d rotationY = makeRotationMatrix(yaw * M_PI / 180.0, Vector3d(Vector3d::UnitY())); Matrix33d rotationZ = makeRotationMatrix(roll * M_PI / 180.0, Vector3d(Vector3d::UnitZ())); Matrix33d orientation = rotationY * rotationX * rotationZ; RigidTransform3d pose; pose.linear() = orientation; pose.translation() = position; inputData.poses().set(SurgSim::DataStructures::Names::POSE, pose); } else // Invalid pose. inputData.poses().hasData("pose") will be set to 'false'. { inputData.poses().reset(SurgSim::DataStructures::Names::POSE); } return true; } bool TrackIRScaffold::initializeSdk() { SURGSIM_ASSERT(!m_state->isApiInitialized) << "TrackIR API already initialized."; if (!CameraLibrary::CameraManager::X().AreCamerasInitialized()) { CameraLibrary::CameraManager::X().WaitForInitialization(); } if (CameraLibrary::CameraManager::X().GetCamera()) { m_state->isApiInitialized = true; } return m_state->isApiInitialized; } bool TrackIRScaffold::finalizeSdk() { SURGSIM_ASSERT(m_state->isApiInitialized) << "TrackIR API already finalized."; if (!CameraLibrary::CameraManager::X().AreCamerasShutdown()) { // Dec-17-2013-HW It's a bug in TrackIR CameraSDK that after calling CameraLibrary::CameraManager::X().Shutdown(), // calls to CameraLibrary::CameraManager::X().WaitForInitialization will throw memory violation error. //CameraLibrary::CameraManager::X().Shutdown(); } m_state->isApiInitialized = false; return !m_state->isApiInitialized; } bool TrackIRScaffold::createPerDeviceThread(DeviceData* deviceData) { SURGSIM_ASSERT(!deviceData->thread) << "Device " << deviceData->deviceObject->getName() << " already has a thread."; std::unique_ptr thread(new TrackIRThread(this, deviceData)); thread->start(); deviceData->thread = std::move(thread); return true; } bool TrackIRScaffold::destroyPerDeviceThread(DeviceData* deviceData) { SURGSIM_ASSERT(deviceData->thread) << "No thread attached to device " << deviceData->deviceObject->getName(); std::unique_ptr thread = std::move(deviceData->thread); thread->stop(); thread.reset(); return true; } bool TrackIRScaffold::startCamera(DeviceData* info) { info->camera->Start(); return info->camera->IsCameraRunning(); } bool TrackIRScaffold::stopCamera(DeviceData* info) { info->camera->Stop(); return !(info->camera->IsCameraRunning()); } SurgSim::DataStructures::DataGroup TrackIRScaffold::buildDeviceInputData() { DataGroupBuilder builder; builder.addPose("pose"); return builder.createData(); } std::shared_ptr TrackIRScaffold::getOrCreateSharedInstance() { static SurgSim::Framework::SharedInstance sharedInstance; return sharedInstance.get(); } }; // namespace Devices }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Devices/UnitTests/000077500000000000000000000000001277777236100210315ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/UnitTests/CMakeLists.txt000066400000000000000000000022001277777236100235630ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES DeviceUtilitiesTests.cpp ) set(UNIT_TEST_HEADERS ) set(LIBS IdentityPoseDevice SurgSimDevices SurgSimInput ) surgsim_add_unit_tests(SurgSimDevicesTest) set_target_properties(SurgSimDevicesTest PROPERTIES FOLDER "Devices") file(COPY Data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) opensurgsim-0.7.0/SurgSim/Devices/UnitTests/Data/000077500000000000000000000000001277777236100217025ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Devices/UnitTests/Data/noInitialize.yaml000066400000000000000000000000551277777236100252240ustar00rootroot00000000000000- MockDeviceNoInitialize: Name: Device opensurgsim-0.7.0/SurgSim/Devices/UnitTests/Data/noName.yaml000066400000000000000000000000731277777236100240030ustar00rootroot00000000000000- SurgSim::Devices::IdentityPoseDevice: NoName: Deviceopensurgsim-0.7.0/SurgSim/Devices/UnitTests/Data/notMap.yaml000066400000000000000000000000421277777236100240200ustar00rootroot00000000000000- SurgSim::Devices::NovintDevice opensurgsim-0.7.0/SurgSim/Devices/UnitTests/Data/notRegistered.yaml000066400000000000000000000000631277777236100254030ustar00rootroot00000000000000- SurgSim::Devices::NotADevice: Name: Device opensurgsim-0.7.0/SurgSim/Devices/UnitTests/Data/notSequence.yaml000066400000000000000000000000441277777236100250550ustar00rootroot00000000000000SurgSim::Devices::InputPoseDevice: opensurgsim-0.7.0/SurgSim/Devices/UnitTests/Data/success.yaml000066400000000000000000000001701277777236100242340ustar00rootroot00000000000000- SurgSim::Devices::IdentityPoseDevice: Name: Device1 - SurgSim::Devices::IdentityPoseDevice: Name: Device2 opensurgsim-0.7.0/SurgSim/Devices/UnitTests/DeviceUtilitiesTests.cpp000066400000000000000000000055551277777236100256650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the DeviceUtilities. #include #include #include #include "SurgSim/Devices/DeviceUtilities.h" #include "SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Input/DeviceInterface.h" namespace { class MockDeviceNoInitialize : public SurgSim::Devices::IdentityPoseDevice { public: explicit MockDeviceNoInitialize(const std::string& name) : SurgSim::Devices::IdentityPoseDevice(name) { } std::string getClassName() const override { return "MockDeviceNoInitialize"; } bool initialize() override { return false; } }; } TEST(DeviceUtilitiesTests, CreateDevice) { const std::string name = "name"; std::vector types; EXPECT_EQ(nullptr, SurgSim::Devices::createDevice(types, name)); types.push_back("DoNotHave"); EXPECT_EQ(nullptr, SurgSim::Devices::createDevice(types, name)); types.push_back("SurgSim::Devices::IdentityPoseDevice"); auto device = SurgSim::Devices::createDevice(types, name); ASSERT_NE(nullptr, device); EXPECT_NE(nullptr, std::dynamic_pointer_cast(device)); EXPECT_EQ(name, device->getName()); } TEST(DeviceUtilitiesTests, LoadDevice) { auto runtime = std::make_shared("config.txt"); std::shared_ptr device; EXPECT_ANY_THROW(device = SurgSim::Devices::loadDevice("noFile.yaml")); ASSERT_EQ(nullptr, device); EXPECT_NO_THROW(device = SurgSim::Devices::loadDevice("notSequence.yaml")); ASSERT_EQ(nullptr, device); EXPECT_NO_THROW(device = SurgSim::Devices::loadDevice("notMap.yaml")); ASSERT_EQ(nullptr, device); EXPECT_NO_THROW(device = SurgSim::Devices::loadDevice("notRegistered.yaml")); ASSERT_EQ(nullptr, device); EXPECT_NO_THROW(device = SurgSim::Devices::loadDevice("noName.yaml")); ASSERT_EQ(nullptr, device); SurgSim::Input::DeviceInterface::getFactory().registerClass("MockDeviceNoInitialize"); EXPECT_NO_THROW(device = SurgSim::Devices::loadDevice("noInitialize.yaml")); ASSERT_EQ(nullptr, device); EXPECT_NO_THROW(device = SurgSim::Devices::loadDevice("success.yaml")); ASSERT_NE(nullptr, device); EXPECT_EQ("Device1", device->getName()); }opensurgsim-0.7.0/SurgSim/Devices/UnitTests/config.txt.in000066400000000000000000000000411277777236100234370ustar00rootroot00000000000000${CMAKE_CURRENT_BINARY_DIR}/Data/opensurgsim-0.7.0/SurgSim/Devices/devices.dox000066400000000000000000000010741277777236100212270ustar00rootroot00000000000000/*! \page Devices Devices The 'Devices' namespace contains classes that add physical devices (e.g., mice, keyboards, data acquisition, and robots) to simulations. Some devices are always built, while others require specific cmake options to be set (e.g., BUILD_DEVICE_SIXENSE) due to required dependencies that may not exist in all build environments. Devices with Dependencies: - \subpage LabJack - \subpage Leap - \subpage MultiAxis - \subpage Nimble - \subpage Novint - \subpage Oculus - \subpage OpenNI - \subpage Phantom - \subpage Sixense - \subpage TrackIR */ opensurgsim-0.7.0/SurgSim/Framework/000077500000000000000000000000001277777236100174425ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Framework/Accessible-inl.h000066400000000000000000000031611277777236100224310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_ACCESSIBLE_INL_H #define SURGSIM_FRAMEWORK_ACCESSIBLE_INL_H #include "SurgSim/Framework/Assert.h" template bool SurgSim::Framework::Accessible::getValue(const std::string& name, T* value) const { bool result = false; auto functors = m_functors.find(name); if (value != nullptr && functors != m_functors.end() && functors->second.getter != nullptr) { try { *value = boost::any_cast(functors->second.getter()); result = true; } catch (boost::bad_any_cast exception) { } } return result; } template T SurgSim::Framework::Accessible::getValue(const std::string& name) const { T result; try { result = boost::any_cast(getValue(name)); } catch (boost::bad_any_cast exception) { SURGSIM_FAILURE() << "Failure to cast to the given type. <" << exception.what() << ">"; return T(); } return result; } template T SurgSim::Framework::convert(boost::any val) { return boost::any_cast(val); } #endif opensurgsim-0.7.0/SurgSim/Framework/Accessible.cpp000066400000000000000000000146241277777236100222120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Accessible.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Math/Matrix.h" namespace SurgSim { namespace Framework { Accessible::Accessible() { } Accessible::~Accessible() { } template <> boost::any Accessible::getValue(const std::string& name) const { auto functors = m_functors.find(name); if (functors != std::end(m_functors) && functors->second.getter != nullptr) { return functors->second.getter(); } else { SURGSIM_FAILURE() << "Can't get property: " << name << ". " << ((functors == std::end(m_functors)) ? "Property not found." : "No getter defined for property."); return boost::any(); } } boost::any Accessible::getValue(const std::string& name) const { return getValue(name); } void Accessible::setValue(const std::string& name, const boost::any& value) { auto functors = m_functors.find(name); if (functors != std::end(m_functors) && functors->second.setter != nullptr) { functors->second.setter(value); } else { SURGSIM_FAILURE() << "Can't set property: " << name << ". " << ((functors == std::end(m_functors)) ? "Property not found." : "No setter defined for property."); } } void Accessible::setGetter(const std::string& name, GetterType func) { SURGSIM_ASSERT(func != nullptr) << "Getter functor can't be nullptr"; m_functors[name].getter = func; } void Accessible::setSetter(const std::string& name, SetterType func) { SURGSIM_ASSERT(func != nullptr) << "Setter functor can't be nullptr"; m_functors[name].setter = func; } void Accessible::setAccessors(const std::string& name, GetterType getter, SetterType setter) { setGetter(name, getter); setSetter(name, setter); } void Accessible::removeAccessors(const std::string& name) { auto functors = m_functors.find(name); if (functors != std::end(m_functors)) { functors->second.setter = nullptr; functors->second.getter = nullptr; } } bool Accessible::isReadable(const std::string& name) const { auto functors = m_functors.find(name); return (functors != m_functors.end() && functors->second.getter != nullptr); } bool Accessible::isWriteable(const std::string& name) const { auto functors = m_functors.find(name); return (functors != m_functors.end() && functors->second.setter != nullptr); } void Accessible::setSerializable(const std::string& name, EncoderType encoder, DecoderType decoder) { SURGSIM_ASSERT(encoder != nullptr) << "Encoder functor can't be nullptr."; SURGSIM_ASSERT(decoder != nullptr) << "Decoder functor can't be nullptr."; m_functors[name].encoder = encoder; m_functors[name].decoder = decoder; } void Accessible::setDecoder(const std::string& name, DecoderType decoder) { SURGSIM_ASSERT(decoder != nullptr) << "Decoder functor can't be nullptr"; m_functors[name].decoder = decoder; } YAML::Node Accessible::encode() const { YAML::Node result; for (auto functors = m_functors.cbegin(); functors != m_functors.cend(); ++functors) { auto encoder = functors->second.encoder; if (encoder != nullptr) { result[functors->first] = encoder(); } } return result; } void Accessible::decode(const YAML::Node& node, const std::vector& ignoredProperties) { SURGSIM_LOG_DEBUG(SurgSim::Framework::Logger::getLogger("Framework/Accessible")) << "Decoding node: \n" << node; SURGSIM_ASSERT(node.IsMap()) << "Node to be decoded has to be map."; for (auto data = node.begin(); data != node.end(); ++data) { std::string name = data->first.as(); if (std::find(std::begin(ignoredProperties), std::end(ignoredProperties), name) != std::end(ignoredProperties)) { continue; } auto functors = m_functors.find(name); if (functors == std::end(m_functors) || !functors->second.decoder) { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getLogger("Framework/Accessible")) << "Can't find property with name " << name << " in the accessible, while trying to set " << data->second; } else { YAML::Node temporary = data->second; if (!temporary.IsNull() && temporary.IsDefined()) { try { functors->second.decoder(&temporary); } catch (std::exception e) { SURGSIM_FAILURE() << e.what() << " for value " << std::endl << temporary; } } else { SURGSIM_LOG_INFO(SurgSim::Framework::Logger::getLogger("Framework/Accessible")) << "Found property with name " << name << " in the accessible." << " But it seems no value is specified for this property in the YAML file."; } } } } void Accessible::forwardProperty(const std::string& name, const Accessible& target, const std::string& targetValueName) { Functors functors; auto found = target.m_functors.find(targetValueName); if (found != target.m_functors.end()) { functors.getter = found->second.getter; functors.setter = found->second.setter; functors.encoder = found->second.encoder; functors.decoder = found->second.decoder; m_functors[name] = std::move(functors); } else { SURGSIM_FAILURE() << "Target does not have any setters or getters on property " << targetValueName; } } template<> SurgSim::Math::Matrix44f convert(boost::any val) { SurgSim::Math::Matrix44f floatResult; // Use try in case this conversion was created using a Matrix44f, in which case the any_cast will // still fail and throw an exception try { SurgSim::Math::Matrix44d result = boost::any_cast(val); floatResult = result.cast(); } catch (boost::bad_any_cast&) { floatResult = boost::any_cast(val); } return floatResult; } template<> std::string convert(boost::any val) { std::string result; try { result = std::string(boost::any_cast(val)); } catch (boost::bad_any_cast&) { result = std::string(boost::any_cast(val)); } return result; } }; // Framework }; // SurgSim opensurgsim-0.7.0/SurgSim/Framework/Accessible.h000066400000000000000000000303001277777236100216440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_ACCESSIBLE_H #define SURGSIM_FRAMEWORK_ACCESSIBLE_H #include #include #include #include #include #include #include #include "SurgSim/Math/Matrix.h" namespace SurgSim { namespace Framework { /// Mixin class for enabling a property system on OSS classes, the instance still needs to initialize properties in /// the constructor by using either addSetter, addGetter, addAccessors or the macro for each member variable /// that should be made accessible. class Accessible { public: /// Default Constructor Accessible(); /// Destructor ~Accessible(); typedef std::function GetterType; typedef std::function SetterType; typedef std::function EncoderType; typedef std::function DecoderType; /// Retrieves the value with the name by executing the getter if it is found and tries to convert /// it to the given type. /// \throws SurgSim::Framework::AssertionFailure If the conversion fails or the property cannot be found. /// \tparam T The requested type for the property. /// \param name The name of the property. /// \return The value of the property if the getter was found template T getValue(const std::string& name) const; /// Retrieves the value with the name by executing the getter if it is found. /// \throws SurgSim::Framework::AssertionFailure if the property cannot be found /// \param name The name of the property. /// \return The value of the property if the getter was found boost::any getValue(const std::string& name) const; /// Retrieves the value with the name by executing the getter if it is found, and converts it to /// the type of the output parameter. This does not throw. /// \tparam T the type of the property, usually can be deduced automatically /// \param name The name of the property. /// \param [out] value If non-null, will receive the value of the given property. /// \return true if value != nullptr and the getter can be found. template bool getValue(const std::string& name, T* value) const; /// Sets a value of a property that has setter. /// \throws SurgSim::Framework::AssertionFailure If the property cannot be found. /// \param name The name of the property. /// \param value The value that it should be set to. void setValue(const std::string& name, const boost::any& value); /// Check whether a property is readable /// \param name Name of the property to be checked. /// \return true if the property exists and has a getter bool isReadable(const std::string& name) const; /// Check whether a property is writable /// \param name Name of the property to be checked. /// \return true if the property exists and has a setter bool isWriteable(const std::string& name) const; /// Sets a getter for a given property. /// \throws SurgSim::Framework::AssertionFailure if func is a nullptr. /// \param name The name of the property. /// \param func The getter function. void setGetter(const std::string& name, GetterType func); /// Sets a setter for a given property. /// \throws SurgSim::Framework::AssertionFailure if func is a nullptr. /// \param name The name of the property. /// \param func The setter function. void setSetter(const std::string& name, SetterType func); /// Sets the accessors getter and setter in one function. /// \throws SurgSim::Framework::AssertionFailure if either getter or setter is a nullptr. /// \param name The name of the property. /// \param getter The getter. /// \param setter The setter. void setAccessors(const std::string& name, GetterType getter, SetterType setter); /// Removes all the accessors (getter and setter) for a given property /// \param name The name of the property void removeAccessors(const std::string& name); /// Adds a property with the given name that uses the targets accessors, in effect forwarding the value /// to the target /// \note This will copy the appropriate calls into the local function table of this accessible, in effect /// exposing a pointer to the target, if the target goes out of scope, the behavior is undefined /// \throws SurgSim::Framework::AssertionFailure if the target does not contain the property named in this call. /// \param name The name of the new property /// \param target The instance that provides the actual property /// \param targetProperty The name of the property that should be used. void forwardProperty(const std::string& name, const Accessible& target, const std::string& targetProperty); /// Sets the functions used to convert data from and to a YAML::Node. Will throw an exception /// if the data type that is passed to YAML cannot be converted into a YAML::Node /// \param name The name of the property. /// \param encoder The function to be used to put the property into the node. /// \param decoder The function to be used to read the property from the node and set it /// in the instance. void setSerializable(const std::string& name, EncoderType encoder, DecoderType decoder); /// Sets the functions used to convert data from a YAML::Node. /// This leaves the encoder (class -> YAML) conversion empty, this can be used to let the user decide how to /// model the data in the data file, inside the class this should all result in one member to be created/changed. /// \param name The name of the property. /// \param decoder The function to be used to read the property from the node and set it /// in the instance. void setDecoder(const std::string& name, DecoderType decoder); /// Encode this Accessible to a YAML::Node /// \return The encoded version of this instance. YAML::Node encode() const; /// Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot /// be converted. /// \throws SurgSim::Framework::AssertionFailure if node is not of YAML::NodeType::Map. /// \param node The node that carries the data to be decoded, properties with names that don't /// match up with properties in the Accessible will be reported. /// \param ignoredProperties Properties that will be ignored. void decode(const YAML::Node& node, const std::vector& ignoredProperties = std::vector()); private: /// @{ /// Prevent default copy construction and default assignment Accessible(const Accessible& other) /*= delete*/; Accessible& operator=(const Accessible& other) /*= delete*/; /// @} /// Private struct to keep the map under control struct Functors { Functors() : getter(nullptr), setter(nullptr), encoder(nullptr), decoder(nullptr) {} GetterType getter; SetterType setter; EncoderType encoder; DecoderType decoder; }; std::unordered_map m_functors; }; /// Public struct to pair an accessible with its appropriate property struct Property { std::weak_ptr accessible; std::string name; }; template <> boost::any Accessible::getValue(const std::string& name) const; /// Wrap boost::any_cast to use in std::bind, for some reason it does not work by itself. This function will /// throw an exception if the cast does not work, this usually means that the types do not match up at all. /// \tparam T target type for conversion. /// \param val The value to be converted. /// \return An object converted from boost::any to T, will throw an exception if the conversion fails template T convert(boost::any val); /// Specialization for convert() to correctly cast Matrix44d to Matrix44f, will throw if the val is not casteable to /// Matrix44[fd]. This is necessary as we need Matrix44f as outputs in some cases but all our Matrices are Matrix44d. /// This lets the user define a property that does a type conversion, without having to implement an accessor. /// \param val The value to be converted, should be a Matrix44[df]. /// \return A matrix val converted to Matrix44f. template <> SurgSim::Math::Matrix44f convert(boost::any val); /// Specialization for convert() to correctly cast const char* to std::string /// \param val The value to be converted, should be a const char* /// \return A std::string template <> std::string convert(boost::any val); /// A macro to register getter and setter for a property that is readable and writeable, /// order of getter and setter agrees with 'RW'. Note that the property should not be quoted in the original /// macro call. #define SURGSIM_ADD_RW_PROPERTY(class, type, property, getter, setter) \ setAccessors(#property, \ std::bind(&class::getter, this),\ std::bind(&class::setter, this, std::bind(SurgSim::Framework::convert,std::placeholders::_1))) /// A macro to register a getter for a property that is read only #define SURGSIM_ADD_RO_PROPERTY(class, type, property, getter) \ setGetter(#property, \ std::bind(&class::getter, this)) /// A macro to register a serializable property, this needs to support reading, writing and all the /// conversions to and from YAML::Node #define SURGSIM_ADD_SERIALIZABLE_PROPERTY(class, type, property, getter, setter) \ setAccessors(#property, \ std::bind(&class::getter, this),\ std::bind(&class::setter, this, std::bind(SurgSim::Framework::convert,std::placeholders::_1)));\ setSerializable(#property,\ std::bind(&YAML::convert::encode, std::bind(&class::getter, this)),\ std::bind(&class::setter, this, std::bind(&YAML::Node::as,std::placeholders::_1))) /// A macro to register a setter that can be used from YAML, and as a writeable property /// use this to provide alternatives to more complicated values, e.g. setModelFilename() vs generate and set Model /// Enables the alternative use of the model file instead of the actual mesh object #define SURGSIM_ADD_SETTER(class, type, property, setter) \ {\ setDecoder(#property, std::bind((void(class::*)(const type&))&class::setter, this,\ std::bind(&YAML::Node::as,std::placeholders::_1))); \ setSetter(#property, std::bind((void(class::*)(const type&))&class::setter, this,\ std::bind(SurgSim::Framework::convert,std::placeholders::_1)));\ } }; // Framework }; // SurgSim #define SURGSIM_ENUM_TOSTRING(r, data, elem) \ case data::elem: \ result = BOOST_PP_STRINGIZE(elem); \ break; #define SURGSIM_ENUM_FROMSTRING(r, data, elem) \ if (value == BOOST_PP_STRINGIZE(elem)) \ { \ rhs = data::elem; \ return true; \ } /// Required type of enums used by SURGSIM_SERIALIZABLE_ENUM #define SURGSIM_ENUM_TYPE int8_t /// A macro to create an enum that can be easily serialized /// During serialization, the enum will be converted to its string based named, /// back to an enum during deserialization. The enum must already be forward /// declared in its namespace before calling this macro in the global namespace. #define SURGSIM_SERIALIZABLE_ENUM(name, enumerators) \ enum name : SURGSIM_ENUM_TYPE\ { \ BOOST_PP_SEQ_ENUM(enumerators) \ }; \ namespace YAML \ { \ template <> \ struct convert \ { \ static Node encode(const name& rhs) \ { \ Node result; \ switch (rhs) \ { \ BOOST_PP_SEQ_FOR_EACH(SURGSIM_ENUM_TOSTRING, name, enumerators) \ default: \ SURGSIM_FAILURE() << "Can not find enum value in " << #name << ": " << rhs; \ } \ return result; \ } \ static bool decode(const Node& node, name& rhs) \ { \ std::string value = node.as(); \ std::transform(value.begin(), value.end(), value.begin(), ::toupper); \ BOOST_PP_SEQ_FOR_EACH(SURGSIM_ENUM_FROMSTRING, name, enumerators) \ SURGSIM_FAILURE() << "Unknown " << #name << ": " << value; \ return false; \ } \ }; \ } #include "SurgSim/Framework/Accessible-inl.h" #endif opensurgsim-0.7.0/SurgSim/Framework/ApplicationData.cpp000066400000000000000000000101051277777236100232000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Log.h" #include #include #include using boost::filesystem::path; namespace SurgSim { namespace Framework { ApplicationData::ApplicationData(const std::vector& paths) { setPaths(paths); } ApplicationData::ApplicationData(const std::string& configurationFileName) { path filePath(configurationFileName); SURGSIM_ASSERT(boost::filesystem::exists(filePath)) << "ApplicationdData could not find configuration file " << configurationFileName << " " << "the application is probably not going to be able to find it's data files"; std::vector paths; boost::filesystem::ifstream in(filePath); std::string line; while (! in.eof()) { getline(in, line); paths.push_back(line); // Skip possible Trailing newlines in >> std::ws; } setPaths(paths); } ApplicationData::~ApplicationData() { } std::string ApplicationData::findFile(const std::string& fileName) const { std::string result; if (!isValidFilename(fileName)) { return ""; } path file(fileName); if (file.is_absolute() && boost::filesystem::exists(file)) { result = file.make_preferred().string(); } else { for (auto it = m_paths.cbegin(); it != m_paths.cend(); ++it) { path filePath(*it); filePath /= fileName; if (boost::filesystem::exists(filePath)) { result = filePath.make_preferred().string(); break; } } } return result; } bool ApplicationData::tryFindFile(const std::string& fileName, std::string* target) const { bool result = false; std::string resultName = findFile(fileName); if (resultName != "") { *target = std::move(resultName); result = true; } return result; } bool ApplicationData::setPaths(const std::vector& paths) { bool result = true; m_paths.clear(); for (auto it = paths.cbegin(); it != paths.cend(); ++it) { result = addPath(*it) && result; } return result; } bool ApplicationData::addPath(const std::string& pathName) { bool result = false; if (! isValidFilename(pathName)) { return false; } path newPath(pathName); if (boost::filesystem::exists(newPath) && boost::filesystem::is_directory(newPath)) { newPath = boost::filesystem::canonical(newPath).make_preferred(); if (std::find(m_paths.cbegin(), m_paths.cend(), newPath) == m_paths.cend()) { m_paths.push_back(newPath); result = true; } else { SURGSIM_LOG_INFO(Logger::getDefaultLogger()) << "ApplicationsData::addPath: Trying to add duplicate path " << pathName; } } else { SURGSIM_LOG_WARNING(Logger::getDefaultLogger()) << "ApplicationData, trying to add nonexistent or non directory path to search list " << newPath; } return result; } std::vector ApplicationData::getPaths() const { std::vector result; for (auto it = m_paths.cbegin(); it != m_paths.cend(); ++it) { result.push_back(it->string()); } return result; } bool ApplicationData::isValidFilename(const std::string& fileName) const { bool result = true; if (fileName.empty()) { result = false; } size_t index = fileName.find("\\"); if (index != std::string::npos) { SURGSIM_LOG_WARNING(Logger::getDefaultLogger()) << __FUNCTION__ << " Backslashes encountered in the path, this path cannot be used " << fileName << " to be useful it needs to be rewritten using '/'."; result = false; } return result; } }; // Framework }; // SurgSim opensurgsim-0.7.0/SurgSim/Framework/ApplicationData.h000066400000000000000000000100521277777236100226460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_APPLICATIONDATA_H #define SURGSIM_FRAMEWORK_APPLICATIONDATA_H #include #include #if !defined(SURGSIM_PARSED_BY_DOXYGEN) // do not generate documentation for Boost stuff! namespace boost { namespace filesystem { class path; } // namespace filesystem } // namespace boost #endif // defined(SURGSIM_PARSED_BY_DOXYGEN) namespace SurgSim { namespace Framework { /// Enable searching for files in a given list of paths, give access to the current directory and /// wrap boost::filesystem functionality class ApplicationData { public: /// Constructor, class is immutable, pass a list of paths to be used for searching duplicate /// paths will be eliminated, invalid paths will be eliminated, the order of the paths given here /// is the order that will be used in searching, the first occurrance of a file within a given /// path will be used. /// \param paths The list of search paths. explicit ApplicationData(const std::vector& paths); /// Reads the search paths from a given configuration file /// \param configFile The configuration file for reading the search paths. explicit ApplicationData(const std::string& configFile); ~ApplicationData(); /// Gets the search paths. /// \return The paths, passed in the constructor with duplicates and invalid paths /// removed. All paths returned will be absolute and in system format. std::vector getPaths() const; /// Searches for the first occurrence of fileName amongst the given paths, the /// search is shallow, only direct content of the directories in the path list /// will be used as search candidates. /// \param fileName Filename of the file. /// \return The absolute path to the file in system format i.e c:\\xxx\\yyy\\file.txt for /// windows and /xxx/yyy/file.txt for all other systems. An empty string will be /// returned if the file cannot be found. std::string findFile(const std::string& fileName) const; /// Searches for the first occurrence of fileName amongst the given paths, see findFile() for details. /// If the file is found the full pathName will be sent in target and true returned. If the file is /// not found the result will be false and the content of target will not change. /// \param fileName Filename of the file. /// \param target The location for the converted filename if it was found. /// \return true if the file is found, false otherwise. bool tryFindFile(const std::string& fileName, std::string* target) const; /// Checks if the filename is acceptable /// \param fileName Filename to be checked. /// \return true if the name is valid, false otherwise. bool isValidFilename(const std::string& fileName) const; private: /// Adds a single path to the list of search paths. /// \param pathName Full pathname. /// \return true if it succeeds, false if the given path does not exist or if it is /// already in the list of paths. bool addPath(const std::string& pathName); /// Sets the list of search paths to be used for finding the location of files. /// Eliminates duplicate paths and paths that do not exist /// \param paths The paths to be used for finding files. /// \return true if it succeeds, false if one or more of the paths /// do not exist in the system or are duplicated. bool setPaths(const std::vector& paths); std::vector m_paths; }; }; // Framework }; // SurgSim #endif // SURGSIM_FRAMEWORK_APPLICATIONDATA_H opensurgsim-0.7.0/SurgSim/Framework/Assert.h000066400000000000000000000072651277777236100210660ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// The header that provides the assertion API. /// \ingroup assertAPI /// \sa assertAPI #ifndef SURGSIM_FRAMEWORK_ASSERT_H #define SURGSIM_FRAMEWORK_ASSERT_H #include "SurgSim/Framework/Logger.h" #include "SurgSim/Framework/AssertMessage.h" namespace SurgSim { namespace Framework { /// \defgroup assertAPI Assertions /// The assertion API used by OpenSurgSim code. /// \sa loggingAPI /// @{ /// \defgroup assertInternals Internal assertion helpers /// Not meant for public consumption. #if !defined(SURGSIM_ASSERT_LOGGER) /// Logger used to log asserts. /// The default logger is used if no other logger is defined. /// \ingroup assertInternals #define SURGSIM_ASSERT_LOGGER ::SurgSim::Framework::Logger::getDefaultLogger() #endif /// Helper macro to determine the function name currently being compiled. /// Tries to provide some readable but information-rich version of the name, as provided by different compilers. /// \ingroup assertInternals /// \hideinitializer #if defined(__func__) #define SURGSIM_CURRENT_FUNCTION __func__ #elif defined(__FUNCSIG__) #define SURGSIM_CURRENT_FUNCTION __FUNCSIG__ #elif defined(__PRETTY_FUNCTION__) #define SURGSIM_CURRENT_FUNCTION __PRETTY_FUNCTION__ #elif defined(__FUNCTION__) #define SURGSIM_CURRENT_FUNCTION __FUNCTION__ #else #define SURGSIM_CURRENT_FUNCTION "???" #endif /// Helper macros to turn its argument into a quoted string constant. /// \ingroup assertInternals /// \param x Argument to convert into a string /// \return Quoted string constant. Note that macros such as __LINE__ may be quoted literally rather than expanded. #define SURGSIM_MAKE_STRING(x) #x /// Assert that \c condition is true. If not, abort program execution, printing an error message that will include /// \c failText, the condition, source file/line, etc. /// \param condition Condition to test /// \return Stream to output extra assert information /// /// Example: /// SURGSIM_ASSERT(index >= 0) << "bad index: " << index; #define SURGSIM_ASSERT(condition) \ if ((condition)) \ { \ } \ else \ /* important: no curly braces around this! */ \ ::SurgSim::Framework::AssertMessage(SURGSIM_ASSERT_LOGGER) << "*** Assertion failed: " << \ SURGSIM_MAKE_STRING(condition) << " ***" << std::endl << \ " in " << SURGSIM_CURRENT_FUNCTION << std::endl << \ " at " << __FILE__ << ":" << __LINE__ << std::endl /// Report that something very bad has happened and abort program execution. An error message will be printed, and will /// include \c failText, source file/line, etc. /// This is pretty similar to SURGSIM_ASSERT(true, ...), except "true" won't be included in the resulting message. =) /// \return Stream to output extra failure information /// /// Example: /// SURGSIM_FAILURE() << failText; #define SURGSIM_FAILURE() \ ::SurgSim::Framework::AssertMessage(SURGSIM_ASSERT_LOGGER) << "*** Failure ***" << std::endl << \ " in " << SURGSIM_CURRENT_FUNCTION << std::endl << \ " at " << __FILE__ << ":" << __LINE__ << std::endl /// @} }; // namespace Framework }; // namespace SurgSim #endif // SURGSIM_FRAMEWORK_ASSERT_H opensurgsim-0.7.0/SurgSim/Framework/AssertMessage.cpp000066400000000000000000000027321277777236100227200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/AssertMessage.h" #if defined(_WIN32) #include #else // not defined(_WIN32) #include #endif // not defined(_WIN32) namespace SurgSim { namespace Framework { void AssertMessage::setFailureCallback(AssertMessage::DeathCallback callback) { m_killMeNow = callback; } AssertMessage::DeathCallback AssertMessage::getFailureCallback() { return m_killMeNow; } void AssertMessage::throwException(const std::string& errorMessage) { throw AssertionFailure(errorMessage); } void AssertMessage::killApplication(const std::string& errorMessage) { #if defined(_WIN32) DebugBreak(); #else // not defined(_WIN32) abort(); #endif // not defined(_WIN32) } AssertMessage::DeathCallback AssertMessage::m_killMeNow = AssertMessage::throwException; }; // namespace Framework }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Framework/AssertMessage.h000066400000000000000000000101221277777236100223550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_ASSERTMESSAGE_H #define SURGSIM_FRAMEWORK_ASSERTMESSAGE_H #include #include "SurgSim/Framework/LogMessageBase.h" namespace SurgSim { namespace Framework { /// An exception class thrown by SURGSIM_ASSERT() failures and SURGSIM_FAILURE(). /// \ingroup assertAPI class AssertionFailure : public std::runtime_error { public: /// Constructor /// \param message Exception message explicit AssertionFailure(const std::string& message) : std::runtime_error(message) { } }; /// An internal message class used for assertion failures. Dies after logging. /// \ingroup assertInternals class AssertMessage : public LogMessageBase { public: /// The type used for the callback function that is triggered after an assertion has failed. typedef void (*DeathCallback)(const std::string& message); /// Constructor. /// \param logger %Logger used to log this message. explicit AssertMessage(Logger* logger) : LogMessageBase(logger, LOG_LEVEL_CRITICAL) { } /// Constructor. /// \param logger %Logger used to log this message. explicit AssertMessage(const std::unique_ptr& logger) : LogMessageBase(logger.get(), LOG_LEVEL_CRITICAL) { } /// Constructor. /// \param logger %Logger used to log this message. explicit AssertMessage(const std::shared_ptr& logger) : LogMessageBase(logger.get(), LOG_LEVEL_CRITICAL) { } /// Destructor, which may throw an exception if the failure behavior does #ifdef _MSC_VER ~AssertMessage() throw(...) // Visual Studio does not support noexcept. The throw(...) is optional. #else ~AssertMessage() noexcept(false) /// C++11 introduced noexcept #endif { flush(); m_killMeNow(getMessage()); } /// After an assertion has failed, call some arbitrary function. /// The callback function should cause the application (or at least the current thread) to terminate. /// /// Thread-unsafe if called concurrently from multiple threads, or concurrently with a failing assertion. static void setFailureCallback(DeathCallback callback); /// Get the callback that will currently be called after an assertion has failed. /// Thread-unsafe if called concurrently from multiple threads, or concurrently with a failing assertion. /// \return The callback. static DeathCallback getFailureCallback(); /// After an assertion has failed, throw a C++ exception. /// Thread-unsafe if called concurrently from multiple threads, or concurrently with a failing assertion. static void setFailureBehaviorToThrow() { setFailureCallback(throwException); } /// After an assertion has failed, enter the debugger or kill the application in a system-dependent way. /// Thread-unsafe if called concurrently from multiple threads, or concurrently with a failing assertion. static void setFailureBehaviorToDeath() { setFailureCallback(killApplication); } private: /// Kill the application by throwing an exception. /// \param errorMessage Message describing the error. static void throwException(const std::string& errorMessage); /// Enter the debugger or kill the application in a system-dependent way. /// \param errorMessage Message describing the error (which will be ignored). static void killApplication(const std::string& errorMessage); /// The callback function that is triggered after an assertion has failed. /// Thread-unsafe if called concurrently from multiple threads. static DeathCallback m_killMeNow; }; }; // namespace Framework }; // namespace SurgSim #endif // SURGSIM_FRAMEWORK_ASSERTMESSAGE_H opensurgsim-0.7.0/SurgSim/Framework/Asset.cpp000066400000000000000000000045041277777236100212300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Asset.h" #include "SurgSim/Framework/Accessible.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Runtime.h" namespace SurgSim { namespace Framework { Asset::Asset() : m_fileName() { serializeFileName(this); } Asset::Asset(const Asset& rhs) { serializeFileName(this); } Asset::~Asset() { } void Asset::load(const std::string& fileName, const SurgSim::Framework::ApplicationData& data) { m_fileName = fileName; SURGSIM_ASSERT(!m_fileName.empty()) << "File name is empty"; std::string path = data.findFile(m_fileName); SURGSIM_ASSERT(!path.empty()) << "Can not locate file " << m_fileName; SURGSIM_ASSERT(doLoad(path)) << "Failed to load file " << m_fileName; } void Asset::load(const std::string& fileName) { load(fileName, *SurgSim::Framework::Runtime::getApplicationData()); } std::string Asset::getFileName() const { return m_fileName; } void Asset::serializeFileName(SurgSim::Framework::Accessible* accessible) { // Special treatment to let std::bind() deal with overloaded function. auto resolvedOverloadFunction = static_cast(&Asset::load); accessible->setAccessors("FileName", std::bind(&Asset::getFileName, this), std::bind(resolvedOverloadFunction, this, std::bind(SurgSim::Framework::convert, std::placeholders::_1))); accessible->setSerializable("FileName", std::bind(&YAML::convert::encode, std::bind(&Asset::getFileName, this)), std::bind(resolvedOverloadFunction, this, std::bind(&YAML::Node::as, std::placeholders::_1))); } }; // Framework }; // SurgSimopensurgsim-0.7.0/SurgSim/Framework/Asset.h000066400000000000000000000071171277777236100207000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_ASSET_H #define SURGSIM_FRAMEWORK_ASSET_H #include #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Framework/Accessible.h" namespace SurgSim { namespace Framework { class Accessible; class ApplicationData; class AssetTest; /// This class is used to facilitate file loading. It uses the static ApplicationData /// in SurgSim::Framework::Runtime to load file. /// Classes not in SurgSim::Framework::Component hierarchy should inherit this class in /// order to load a file. /// Components that take assets as parameters should, in addition to their general `set()` and `get()` /// functions, implement a helper function `load()`, that creates and loads the specified asset. /// Additionally, a special YAML parameter (`FileName`) should be implemented, that can be used to specify /// the asset, without having to specify the whole asset in serialized form. class Asset : virtual public Accessible, public FactoryBase { friend AssetTest; public: /// Constructor Asset(); /// Copy Constructor Asset(const Asset& rhs); /// Destructor virtual ~Asset(); /// Load a file with given name using 'data' as look up path(s). /// If 'fileName' is not empty and the file is found, this method calls 'doLoad()' to load the file. /// Assertions will fail if 'fileName' is empty or file is not found or file loading is unsuccessful. /// \note As a side effect, the name of the file will be recorded in /// \note Asset::m_fileName and can be retrieved by Asset::getFileName(). /// \param fileName Name of the file to be loaded. /// \param data ApplicationData which provides the runtime look up path(s). void load(const std::string& fileName, const SurgSim::Framework::ApplicationData& data); /// Overloaded function using SurgSim::Framework::Runtime::getApplicationData() as look up path(s). /// \param fileName Name of the file to be loaded. void load(const std::string& fileName); /// Return the name of file loaded by this class. /// \return Name of the file loaded by this class. std::string getFileName() const; /// Support serialization with a classname /// \return the name of this class virtual std::string getClassName() const = 0; protected: /// Derived classes will overwrite this method to do actual loading. /// \note This method is not required to do any check on the validity or the existence of the file. /// \param filePath Absolute path to the file. /// \return True if loading is successful; Otherwise, false. virtual bool doLoad(const std::string& filePath) = 0; private: /// Wrap the registration calls for the filename property, which is more complicated due to the overloaded /// function call load() /// \param accessible 'this' pointer of derived class. void serializeFileName(SurgSim::Framework::Accessible* accessible); /// Name of the file to be loaded. std::string m_fileName; }; } // namespace Framework } // namespace SurgSim #endif // SURGSIM_FRAMEWORK_ASSET_H opensurgsim-0.7.0/SurgSim/Framework/Barrier.cpp000066400000000000000000000031261277777236100215360ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. // Based on barrier.hpp from Boost 1.51 // Copyright (C) 2002-2003 // David Moore, William E. Kempf // Copyright (C) 2007-8 Anthony Williams // // Which was distributed under the Boost Software License, Version 1.0. // (See accomanying NOTICES or a copy at http://www.boost.org/LICENSE_1_0.txt) #include "SurgSim/Framework/Barrier.h" SurgSim::Framework::Barrier::Barrier(size_t count) : m_threshold(count), m_count(count), m_generation(0), m_success(true) { SURGSIM_ASSERT(count != 0) << "Barrier constructor count cannot be zero"; } bool SurgSim::Framework::Barrier::wait(bool success) { boost::mutex::scoped_lock lock(m_mutex); size_t gen = m_generation; m_success = m_success && success; --m_count; if (m_count == 0) { m_generation++; m_count = m_threshold; m_successResult = m_success; m_success = true; m_cond.notify_all(); return m_successResult; } while (gen == m_generation) { m_cond.wait(lock); } return m_successResult; } opensurgsim-0.7.0/SurgSim/Framework/Barrier.h000066400000000000000000000047551277777236100212140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. // Based on barrier.hpp from Boost 1.51 // Copyright (C) 2002-2003 // David Moore, William E. Kempf // Copyright (C) 2007-8 Anthony Williams // // Which was distributed under the Boost Software License, Version 1.0. // (See accomanying NOTICES or a copy at http://www.boost.org/LICENSE_1_0.txt) #ifndef SURGSIM_FRAMEWORK_BARRIER_H #define SURGSIM_FRAMEWORK_BARRIER_H #include #include #include #include #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace Framework { /// Barrier class, synchronize a set of threads to wait at a common point, all /// threads will wait at Barrier::wait(val) until the number of threads calling /// wait is equal to the number given in the constructor. /// Additionally wait will return a boolean AND over all the values passed into /// the wait function, this can be used to signal a failure condition across /// threads. class Barrier { public: /// Construct the barrier. /// \param count Number of threads to synchronize, can't be 0. explicit Barrier(size_t count); /// Waits until all \a count threads have called wait. /// /// The wait calls in all of the threads waiting on a barrier will return /// the same value. This return value will be true if the \c success /// argument was true in \em all of the threads; if any thread passes false, /// the return value will be false. /// \param success a value indicating if this thread has been successful, used to determine the return /// value across all threads. /// \return true if all threads claimed success, false otherwise. bool wait(bool success); private: boost::mutex m_mutex; boost::condition_variable m_cond; size_t m_threshold; size_t m_count; size_t m_generation; bool m_success; bool m_successResult; }; } // namespace Framework } // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Framework/BasicSceneElement.cpp000066400000000000000000000017031277777236100234600ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/BasicSceneElement.h" namespace SurgSim { namespace Framework { BasicSceneElement::BasicSceneElement(const std::string& name) : SurgSim::Framework::SceneElement(name) { } BasicSceneElement::~BasicSceneElement() { } bool BasicSceneElement::doInitialize() { return true; } } } opensurgsim-0.7.0/SurgSim/Framework/BasicSceneElement.h000066400000000000000000000027151277777236100231310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_BASICSCENEELEMENT_H #define SURGSIM_FRAMEWORK_BASICSCENEELEMENT_H #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Framework/Macros.h" namespace SurgSim { namespace Framework { /// Simple concrete implementation of a scene element that does not have any higher logic class BasicSceneElement : public SurgSim::Framework::SceneElement { public: /// Constructor /// \name Name of the scene element explicit BasicSceneElement(const std::string& name); /// Destructor virtual ~BasicSceneElement(); SURGSIM_CLASSNAME(SurgSim::Framework::BasicSceneElement); protected: /// Initializes the scene element /// \return True if succeeds, false if fails bool doInitialize() override; }; }; // namespace Framework }; // namespace SurgSim #endif // SURGSIM_FRAMEWORK_BASICSCENEELEMENT_H opensurgsim-0.7.0/SurgSim/Framework/BasicThread.cpp000066400000000000000000000164461277777236100223320ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Framework/BasicThread.h" #include #include #include #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Clock.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/Runtime.h" namespace SurgSim { namespace Framework { BasicThread::BasicThread(const std::string& name) : m_logger(Logger::getLogger(name)), m_name(name), m_period(1.0 / 30), m_isIdle(false), m_isInitialized(false), m_isRunning(false), m_stopExecution(false), m_isSynchronous(false) { // The maximum number of frames in the timer is set to 1,000,000 // + If the timer is reset every second, that is enough frame to measure real rates up to 1MHz // + If the timer is reset every minute, that is enough frame to measure real rates up to 16.66KHz // + If the timer is reset every hour, that is enough frame to measure real rates up to 277.77Hz m_timer.setMaxNumberOfFrames(1000000); } #ifdef _MSC_VER BasicThread::~BasicThread() throw(...) // Visual Studio does not support noexcept. The throw(...) is optional. #else BasicThread::~BasicThread() noexcept(false) /// C++11 introduced noexcept #endif { // Still need to stop thread to get a clean exit if (m_isRunning || m_thisThread.joinable()) { SURGSIM_FAILURE() << "A BasicThread instance destructor was called while the thread was still running or " << "in the process of being stopped, this is currently not supported. If this was intentional " << "call stop() before destruction of the thread. If this is unintentional, make sure to prevent " << "the destructor from being called."; } } bool BasicThread::isInitialized() { return m_isInitialized; } bool BasicThread::isRunning() const { return m_isRunning; } bool BasicThread::initialize() { m_isInitialized = doInitialize(); return m_isInitialized; } bool BasicThread::startUp() { return doStartUp(); } void BasicThread::start(std::shared_ptr startupBarrier, bool isSynchronized) { boost::unique_lock lock(m_mutexStartStop); m_startupBarrier = startupBarrier; m_stopExecution = false; m_isRunning = false; m_isSynchronous = isSynchronized; // Start the thread with a reference to this // prevents making a copy m_isRunning = true; m_thisThread = boost::thread(boost::ref(*this)); } boost::thread& BasicThread::getThread() { return m_thisThread; } void BasicThread::operator()() { bool success = executeInitialization(); if (! success) { m_isRunning = false; return; } size_t numUpdates = 0; boost::chrono::duration totalFrameTime(0.0); boost::chrono::duration sleepTime(0.0); boost::chrono::duration totalSleepTime(0.0); Clock::time_point start; m_timer.start(); while (m_isRunning && !m_stopExecution) { start = Clock::now(); if (! m_isSynchronous) { if (!m_isIdle) { m_timer.beginFrame(); m_isRunning = doUpdate(m_period.count()); m_timer.endFrame(); } // Check for frameTime being > desired update period report error, adjust ... sleepTime = m_period - (Clock::now() - start); if (sleepTime.count() > 0.0) { totalSleepTime += sleepTime; SurgSim::Framework::sleep_until(start + m_period); } } else { // HS-2014-feb-21 This is not thread safe, if setSynchronous(false) is called while the thread is in the // _not_ in the wait state, the thread will exit without having issued a wait, this will cause the // all the threads that are waiting to indefinitely wait as there is one less thread on the barrier // #threadsafety bool success = waitForBarrier(true); totalSleepTime += Clock::now() - start; if (success && !m_isIdle) { m_timer.beginFrame(); m_isRunning = doUpdate(m_period.count()); m_timer.endFrame(); } if (! success || !m_isRunning) { m_isRunning = false; m_isSynchronous = false; } } totalFrameTime += Clock::now() - start; numUpdates++; if (m_logger->getThreshold() <= SURGSIM_LOG_LEVEL(INFO)) { if (totalFrameTime.count() > 5.0) { SURGSIM_LOG_INFO(m_logger) << std::setprecision(4) << "Rate: " << numUpdates / totalFrameTime.count() << "Hz / " << 1.0 / m_period.count() << "Hz, " << "Average doUpdate: " << (totalFrameTime.count() - totalSleepTime.count()) / numUpdates << "s, " << "Sleep: " << 100.0 * totalSleepTime.count() / totalFrameTime.count() << "%"; totalFrameTime = boost::chrono::duration::zero(); totalSleepTime = boost::chrono::duration::zero(); numUpdates = 0; } } } doBeforeStop(); m_isRunning = false; m_stopExecution = false; } void BasicThread::stop() { boost::unique_lock lock(m_mutexStartStop); m_stopExecution = true; if (! m_isSynchronous) { if (! m_thisThread.joinable()) { SURGSIM_LOG_INFO(m_logger) << "Thread is detached, cannot wait for it to stop."; } else { m_thisThread.join(); } } else { SURGSIM_LOG_INFO(m_logger) << "Thread is in synchronouse mode, stop with a barrier->wait(false)."; } } void BasicThread::setIdle(bool isIdle) { m_isIdle = isIdle; } bool BasicThread::isIdle() { return m_isIdle; } std::string BasicThread::getName() const { return m_name; } bool BasicThread::executeInitialization() { bool success = true; success = initialize(); SURGSIM_ASSERT(success) << "Initialization has failed for thread " << getName(); SURGSIM_LOG_INFO(m_logger) << "Initialization has succeeded for thread"; // Waits for all the threads to init and then proceeds // If one of the other thread asserts and ends this does not matter // as the process will be taken down success = waitForBarrier(success); if (!success) { return success; } success = startUp(); SURGSIM_ASSERT(success) << "Startup has failed for thread " << getName(); SURGSIM_LOG_INFO(m_logger) << "Startup has succeeded for thread " << getName(); // Waits for all the threads to startup and then proceeds success = waitForBarrier(success); return success; } bool BasicThread::waitForBarrier(bool success) { if (m_startupBarrier != nullptr) { success = m_startupBarrier->wait(success); } return success; } bool BasicThread::setSynchronous(bool val) { if (m_startupBarrier != nullptr) { m_isSynchronous = val; } return m_isSynchronous; } bool BasicThread::isSynchronous() { return m_isSynchronous; } double BasicThread::getCpuTime() const { return m_timer.getCumulativeTime(); } size_t BasicThread::getUpdateCount() const { return m_timer.getCurrentNumberOfFrames(); } void BasicThread::resetCpuTimeAndUpdateCount() { m_timer.start(); } bool BasicThread::doUpdate(double dt) { return true; } void SurgSim::Framework::BasicThread::doBeforeStop() { } }; // namespace Framework }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Framework/BasicThread.h000066400000000000000000000164421277777236100217730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_BASICTHREAD_H #define SURGSIM_FRAMEWORK_BASICTHREAD_H #include #include #include #include #include "SurgSim/Framework/Barrier.h" #include "SurgSim/Framework/Timer.h" namespace SurgSim { namespace Framework { class Component; class Runtime; /// Basic thread implementation, tries to maintain a constant rate, supplies /// startup an initialization, can be synchronized with other threads at startup /// after calling doRun() a thread be be set off and doInit() and doStartup() will /// be called in succession. If given a startup barrier the sequence will pause at /// both steps until all other threads are done with these steps. /// Initialization can be further customized by implementing a executeInitialization() function. /// When a barrier was used to start up the thread it can also be used to run the thread in a /// synchronous fashion. Use setIsSynchrous(true) to switch the thread over, after that the thread /// will wait for the barrier to trigger before it executes another update. When running asynchronously the thread /// cannot be stopped with the stop() call, a barrier wait with an argument of false has to be used /// to stop the thread. The thread can be set back to asynchronous execution, one last barrier wait after /// the switch has to be executed for the thread to come out of the wait. class BasicThread { public: explicit BasicThread(const std::string& name = "Unknown Thread"); #ifdef _MSC_VER virtual ~BasicThread() throw(...); // Visual Studio does not support noexcept. The throw(...) is optional. #else virtual ~BasicThread() noexcept(false); /// C++11 introduced noexcept #endif /// Live cycle functions, public implementation. /// All of these have virtual partners as private functions /// Start the thread from the outside, this will call the private /// run() function that can be overridden for each implementor of this /// interface. /// \param startupBarrier is a barrier it synchronizes a group of thread that should go through their startup /// sequence in step. /// \param isSynchronous when true the thread will wait on the barrier after each call to update(dt), this /// means that only one step will be performed at a time void start(std::shared_ptr startupBarrier = nullptr, bool isSynchronous = false); /// Stopping the execution, blocks until the running thread has actually stopped, /// \note When the thread is in synchronous mode, it needs to be stopped with a call to /// the barrier wait function with an argument of false, of course it can always be stopped /// by going back to asynchronous mode and then calling stop void stop(); /// Set/Unset the thread in an idle state (doUpdate() called or not in the update() method) /// \param isIdle True to set the thread in an idle state, false otherwise void setIdle(bool isIdle); /// Query if this thread is in idle state or not /// \return true if the thread is in idle state, false otherwise. bool isIdle(); /// Query if this object is initialized. /// \return true if initialized, false if not. bool isInitialized(); /// Query if this object is running. /// \return true if the threads update() function is being called bool isRunning() const; /// This is what boost::thread executes on thread creation. void operator()(); /// \return the boost threading object boost::thread& getThread(); /// \return the name of the thread std::string getName() const; /// Set the update rate of the thread /// \param val rate in hertz (updates per second) of the thread void setRate(double val) { m_period = boost::chrono::duration(1.0 / val); } /// Sets the thread to synchronized execution in concert with the startup /// barrier, the startup barrier has to exist for this call to succeed. /// When the thread is set to run synchronized it will only execute one update at a time /// and then wait for the startup barrier to wake it up again. /// \param val if true the thread will need to be controlled via the barrier. /// \return the actual value of isSynchronous() /// \note HS-2013-nov-01 Currently mostly for use in unit tests and debugging, when multiple thread with differing /// rates are being synchronized the call rates will not correspond to the expected rates. bool setSynchronous(bool val); /// Query if this object is synchronized. /// \return true if synchronized, false if not. bool isSynchronous(); /// \return the cumulated cpu time taken to run all update since last reset or thread creation /// \note Only the latest 1,000,000 frames since last reset are cumulated, so if the timer is never reset, /// \note the Cpu time will not increase past that limit. double getCpuTime() const; /// \return the number of updates done since last reset or thread creation /// \note The update count since last reset has a limit of 1,000,000. size_t getUpdateCount() const; /// Reset the cpu time and the update count to 0 void resetCpuTimeAndUpdateCount(); protected: /// Timer to measure the actual time taken to doUpdate Timer m_timer; /// Trigger the initialization of this object, this will be called before all other threads doStartup() /// are called /// \return true on success bool initialize(); /// Trigger the startup of this object, this will be called after all other threads doInit() was called /// the thread will only enter the run loop triggering upated() if all threads doInit() and doStartup() /// returned true /// \return true on success bool startUp(); bool waitForBarrier(bool success); virtual bool executeInitialization(); /// Logger for this thread std::shared_ptr m_logger; private: std::string m_name; boost::thread m_thisThread; boost::chrono::duration m_period; std::shared_ptr m_startupBarrier; // Protects the start and stop functions so on can only execute once the other is done boost::mutex m_mutexStartStop; bool m_isIdle; bool m_isInitialized; bool m_isRunning; bool m_stopExecution; bool m_isSynchronous; virtual bool doInitialize() = 0; virtual bool doStartUp() = 0; /// Implementation of actual work function for this thread, this has a default implementation to handle /// destruction better, as it could be called while the thread is under destruction, if left unimplemented /// this would trigger a call to a pure virtual function. /// \return false when the thread is done, this will stop execution virtual bool doUpdate(double dt); /// Prepares the thread for its execution to be stopped /// \note Called from this thread before joined virtual void doBeforeStop(); }; }; // namespace Framework }; // namespace SurgSim #endif // SURGSIM_FRAMEWORK_BASICTHREAD_H opensurgsim-0.7.0/SurgSim/Framework/Behavior.h000066400000000000000000000034511277777236100213550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_BEHAVIOR_H #define SURGSIM_FRAMEWORK_BEHAVIOR_H #include "SurgSim/Framework/Component.h" namespace SurgSim { namespace Framework { /// Fixed List of enums for the available manager types, do not explicitly assign values, /// MANAGER_TYPE_COUNT is used to determine the number of actual manager types enum { MANAGER_TYPE_NONE = -1, MANAGER_TYPE_BEHAVIOR, MANAGER_TYPE_GRAPHICS, MANAGER_TYPE_INPUT, MANAGER_TYPE_PHYSICS, MANAGER_TYPE_COUNT }; /// Behaviors perform actions. They can update components, facilitate /// communication between components, and create new components. They are /// updated periodicly by the BehaviorManager through update() call. class Behavior: public Component { public: explicit Behavior(const std::string& name) : Component(name) { } virtual ~Behavior() { } /// Update the behavior /// \param dt The length of time (seconds) between update calls. virtual void update(double dt) = 0; /// Specifies which manger will handle this behavior virtual int getTargetManagerType() const { return MANAGER_TYPE_BEHAVIOR; } }; }; //namespace Framework }; //namespace SurgSim #endif // SURGSIM_FRAMEWORK_BEHAVIOR_H opensurgsim-0.7.0/SurgSim/Framework/BehaviorManager.cpp000066400000000000000000000031001277777236100231720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Framework/BehaviorManager.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/Logger.h" namespace SurgSim { namespace Framework { BehaviorManager::BehaviorManager() : ComponentManager("Behavior Manager") { m_logger = SurgSim::Framework::Logger::getLogger(getName()); } BehaviorManager::~BehaviorManager() { } bool BehaviorManager::doInitialize() { return true; } bool BehaviorManager::doStartUp() { return true; } bool BehaviorManager::executeAdditions(const std::shared_ptr& component) { return false; } bool BehaviorManager::executeRemovals(const std::shared_ptr& component) { return false; } bool BehaviorManager::doUpdate(double dt) { processBehaviors(dt); processComponents(); return true; } int BehaviorManager::getType() const { return MANAGER_TYPE_BEHAVIOR; } }; // namespace Framework }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Framework/BehaviorManager.h000066400000000000000000000031061277777236100226450ustar00rootroot00000000000000 // This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_BEHAVIORMANAGER_H #define SURGSIM_FRAMEWORK_BEHAVIORMANAGER_H #include #include "SurgSim/Framework/ComponentManager.h" namespace SurgSim { namespace Framework { /// Manager to handle Behaviors. The manager will collect all the behaviors /// in the scene through addComponent/removeComponent calls. All the /// behaviors will be update once per period (default 30Hz) once the /// BehaviorManager is started. class BehaviorManager : public ComponentManager { public: BehaviorManager(); ~BehaviorManager(); int getType() const override; protected: bool executeAdditions(const std::shared_ptr& component) override; bool executeRemovals(const std::shared_ptr& component) override; private: bool doInitialize() override; bool doStartUp() override; bool doUpdate(double dt) override; }; }; // namespace Framework }; // namespace SurgSim #endif // SURGSIM_FRAMEWORK_BEHAVIORMANAGER_H opensurgsim-0.7.0/SurgSim/Framework/CMakeLists.txt000066400000000000000000000044231277777236100222050ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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. set(SURGSIM_FRAMEWORK_SOURCES Accessible.cpp ApplicationData.cpp AssertMessage.cpp Asset.cpp Barrier.cpp BasicSceneElement.cpp BasicThread.cpp BehaviorManager.cpp Component.cpp ComponentManager.cpp FrameworkConvert.cpp Logger.cpp LoggerManager.cpp LogMessageBase.cpp LogOutput.cpp PoseComponent.cpp Representation.cpp Runtime.cpp SamplingMetricBase.cpp Scene.cpp SceneElement.cpp ThreadPool.cpp Timer.cpp TransferPropertiesBehavior.cpp ) set(SURGSIM_FRAMEWORK_HEADERS Accessible.h Accessible-inl.h ApplicationData.h Assert.h AssertMessage.h Asset.h Barrier.h BasicSceneElement.h BasicThread.h Behavior.h BehaviorManager.h Clock.h Component.h Component-inl.h ComponentManager.h ComponentManager-inl.h FrameworkConvert.h FrameworkConvert-inl.h LockedContainer.h Log.h Logger.h LoggerManager.h LogMacros.h LogMessage.h LogMessageBase.h LogOutput.h Macros.h ObjectFactory.h ObjectFactory-inl.h PoseComponent.h Representation.h ReuseFactory.h Runtime.h SamplingMetricBase.h Scene.h SceneElement.h SceneElement-inl.h SharedInstance.h SharedInstance-inl.h ThreadPool.h ThreadPool-inl.h Timer.h TransferPropertiesBehavior.h ) surgsim_create_library_header(Framework.h "${SURGSIM_FRAMEWORK_HEADERS}") surgsim_add_library( SurgSimFramework "${SURGSIM_FRAMEWORK_SOURCES}" "${SURGSIM_FRAMEWORK_HEADERS}" ) SET(LIBS ${Boost_LIBRARIES} ${YAML_CPP_LIBRARIES} ) target_link_libraries(SurgSimFramework ${LIBS}) if(BUILD_TESTING) add_subdirectory(UnitTests) endif() add_subdirectory(Documentation) # Put SurgSimFramework into folder "Framework" set_target_properties(SurgSimFramework PROPERTIES FOLDER "Framework") opensurgsim-0.7.0/SurgSim/Framework/Clock.h000066400000000000000000000031351277777236100206500ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_CLOCK_H #define SURGSIM_FRAMEWORK_CLOCK_H #include #include /// \file /// Place for a simple wrapper around boost namespace SurgSim { namespace Framework { /// Wraps around the actual clock we are using. typedef boost::chrono::high_resolution_clock Clock; /// A more accurate sleep_until that accounts for scheduler errors /// \tparam C Clock type /// \tparam D Duration type /// \param time The time point in absolute time to sleep until template void sleep_until(const boost::chrono::time_point& time) { // 2ms gives good results on windows and linux static const boost::chrono::duration schedulerError(0.002); boost::chrono::time_point earlierTime = time - schedulerError; if (earlierTime > C::now()) { boost::this_thread::sleep_until(earlierTime); } while (C::now() < time) { boost::this_thread::yield(); } } }; // Framework }; // SurgSim #endif opensurgsim-0.7.0/SurgSim/Framework/Component-inl.h000066400000000000000000000024431277777236100223400ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_COMPONENT_INL_H #define SURGSIM_FRAMEWORK_COMPONENT_INL_H namespace SurgSim { namespace Framework { template std::shared_ptr checkAndConvert(std::shared_ptr incoming, const std::string& expectedTypeName) { SURGSIM_ASSERT(incoming != nullptr) << "Incoming pointer can't be nullptr"; auto result = std::dynamic_pointer_cast(incoming); SURGSIM_ASSERT(result != nullptr) << "Expected " << expectedTypeName << " but received " << incoming->getClassName() << " which cannot " << "be converted, in component " << incoming->getFullName() << "."; return result; }; } } #endif opensurgsim-0.7.0/SurgSim/Framework/Component.cpp000066400000000000000000000110101277777236100221010ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Component.h" #include #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/PoseComponent.h" #include "SurgSim/Framework/SceneElement.h" namespace SurgSim { namespace Framework { // Forward References class Runtime; class Scene; Component::Component(const std::string& name) : m_name(name), m_uuid(boost::uuids::random_generator()()), m_didInit(false), m_didWakeUp(false), m_isInitialized(false), m_isAwake(false), m_isLocalActive(true) { SURGSIM_ADD_RO_PROPERTY(Component, bool, IsActive, isActive); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Component, bool, IsLocalActive, isLocalActive, setLocalActive); } Component::~Component() { } std::string Component::getName() const { return m_name; } std::string Component::getFullName() const { std::string name; const auto& sceneElement = getSceneElement(); if (sceneElement != nullptr) { name = sceneElement->getName() + "/"; } return name + m_name; } void Component::setName(const std::string& name) { m_name = name; } bool Component::isInitialized() const { return m_isInitialized; } bool Component::initialize(const std::weak_ptr& runtime) { SURGSIM_ASSERT(!m_didInit) << "Double initialization called in component " << getName(); m_runtime = runtime; m_didInit = true; m_isInitialized = doInitialize(); return m_isInitialized; } bool Component::isAwake() const { return m_isAwake; } bool Component::wakeUp() { SURGSIM_ASSERT(! m_didWakeUp) << "Double wakeup called on component." << getName(); SURGSIM_ASSERT(m_didInit) << "Component " << getName() << " was awoken without being initialized."; SURGSIM_ASSERT(m_isInitialized) << "Wakeup called even though initialization failed on component." << getName(); m_didWakeUp = true; m_isAwake = doWakeUp(); return m_isAwake; } void Component::retire() { doRetire(); m_isAwake = false; } void Component::doRetire() { return; } void Component::setScene(std::weak_ptr scene) { m_scene = scene; } std::shared_ptr Component::getScene() { return m_scene.lock(); } void Component::setSceneElement(std::weak_ptr sceneElement) { m_sceneElement = sceneElement; } std::shared_ptr Component::getSceneElement() { return m_sceneElement.lock(); } std::shared_ptr Component::getSceneElement() const { return m_sceneElement.lock(); } std::shared_ptr Component::getRuntime() const { return m_runtime.lock(); } std::shared_ptr Component::getPoseComponent() const { SURGSIM_ASSERT(m_isInitialized) << "Can't access the pose component before initialization"; return m_sceneElement.lock()->getPoseComponent(); } std::shared_ptr Component::getPoseComponent() { SURGSIM_ASSERT(m_isInitialized) << "Can't access the pose component before initialization"; return m_sceneElement.lock()->getPoseComponent(); } boost::uuids::uuid Component::getUuid() const { return m_uuid; } std::string Component::getClassName() const { SURGSIM_LOG_WARNING(Logger::getDefaultLogger()) << "getClassName() called on Component base class, this is wrong" << " in almost all cases, this means there is a class that does not have getClassName() defined."; return "SurgSim::Framework::Component"; } std::shared_ptr Component::getSharedPtr() { std::shared_ptr result; try { result = shared_from_this(); } catch (const std::exception&) { SURGSIM_FAILURE() << "Component was not created as a shared_ptr."; } return result; } bool Component::isActive() const { if (getSceneElement() != nullptr) { return getSceneElement()->isActive() && m_isLocalActive; } else { return m_isLocalActive; } } void Component::setLocalActive(bool val) { m_isLocalActive = val; } bool Component::isLocalActive() const { return m_isLocalActive; } }; // namespace Framework }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Framework/Component.h000066400000000000000000000165641277777236100215710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_COMPONENT_H #define SURGSIM_FRAMEWORK_COMPONENT_H #include #include #include #include "SurgSim/Framework/Accessible.h" #include "SurgSim/Framework/ObjectFactory.h" namespace SurgSim { namespace Framework { // Forward References class PoseComponent; class Runtime; class Scene; class SceneElement; /// Component is the main interface class to pass information to the system managers each will decide /// whether to handle a component of a given type or not. Components will get initialized by having /// doInit(), and doWakeUp() called in succession, all components together will have doInit() called before /// any component will recieve doWakeUp() class Component : public Accessible, public std::enable_shared_from_this, public FactoryBase1 { public: /// Constructor /// \param name Name of the component explicit Component(const std::string& name); /// Destructor virtual ~Component(); /// Gets component name. /// \return Name of this component. std::string getName() const; /// Gets a string containing the name of the Component and (if it has one) its SceneElement. /// \return Name of Component and SceneElement. std::string getFullName() const; /// Sets the name of component. /// \param name The name of this component. void setName(const std::string& name); /// Gets the id of the component boost::uuids::uuid getUuid() const; /// \return True if this component is initialized; otherwise, false. bool isInitialized() const; /// Initialize this component, this needs to be called before wakeUp() can be called. /// This will be done automatically by the Scene hierarchy, either in SceneElement::addComponent(), if /// SceneElement has already been added to the Scene, or through Scene::addSceneElement() on all Components /// on the SceneElement. /// \param runtime The runtime which contains this component. /// \return True if this component is initialized successfully; otherwise, false. bool initialize(const std::weak_ptr& runtime); /// \return True if this component is awake; otherwise, false. bool isAwake() const; /// Wakeup this component, this will be called when the component is inserted into the ComponentManager that is /// responsible for handling this component. /// \return True if this component is woken up successfully; otherwise, false. bool wakeUp(); /// Retire this component, this will be called when the component is removed from the ComponentManager that is /// responsible for handling this component. This gives the component a chance to get rid of all shared objects void retire(); /// Sets the scene. /// \param scene The scene for this component void setScene(std::weak_ptr scene); /// Gets the scene. /// \return The scene for this component std::shared_ptr getScene(); /// Sets the scene element. /// \param sceneElement The scene element for this component. void setSceneElement(std::weak_ptr sceneElement); /// Gets the scene element. /// \return The scene element for this component. std::shared_ptr getSceneElement(); /// Gets the scene element, constant version /// \return The scene element for this component. std::shared_ptr getSceneElement() const; /// Get the runtime which contains this component. /// \return The runtime which contains this component. std::shared_ptr getRuntime() const; /// The class name for this class, this being the base class it should /// return SurgSim::Framework::Component but this would make missing implemenentations /// of this hard to catch, therefore this calls SURGSIM_FAILURE. /// \note Use the SURGSIM_CLASSNAME macro in derived classes. /// \return The fully namespace qualified name of this class. virtual std::string getClassName() const; /// Gets a shared pointer to this component. /// \return The shared pointer. std::shared_ptr getSharedPtr(); /// Interface to be implemented by derived classes /// \return True if component is initialized successfully; otherwise, false. virtual bool doInitialize() = 0; /// Interface to be implemented by derived classes /// \return True if component is woken up successfully; otherwise, false. virtual bool doWakeUp() = 0; /// Interface to be implemented by derived classes /// Has a default implementation, does nothing virtual void doRetire(); /// \return True if this component is active and its SceneElement (if any) is also active; /// Otherwise, false. bool isActive() const; /// Set the component's active state /// \param val If true component is active, inactive if false. virtual void setLocalActive(bool val); /// \return True if this component is active /// Otherwise, false. bool isLocalActive() const; protected: /// Get the PoseComponent for this component /// \return The PoseComponent virtual std::shared_ptr getPoseComponent(); /// Get the PoseComponent for this component, constant access /// \return The PoseComponent virtual std::shared_ptr getPoseComponent() const; private: /// Name of this component std::string m_name; /// Id of this component boost::uuids::uuid m_uuid; /// Runtime which contains this component std::weak_ptr m_runtime; /// Scene which contains this component std::weak_ptr m_scene; /// SceneElement which contains this component std::weak_ptr m_sceneElement; /// Indicates if doInitialize() has been called bool m_didInit; /// Indicates if doWakeup() has been called bool m_didWakeUp; /// Indicates if this component is initialized bool m_isInitialized; /// Indicates if this component is awake bool m_isAwake; /// Indicates if this component is active bool m_isLocalActive; }; /// The function tries to convert the Source type to the Target type it will throw if Target is not a subclass /// of Source. /// \tparam Target type that is used as the target type for the conversion, can usually be deduced /// \tparam Source type that is the type of the incoming parameter, target needs to be a subclass of Source for the /// function to succeed /// \param incoming pointer to an instance of Source that is supposed to be converted to a pointer to Target /// \param expectedTypeName a name to be used in the error message if the conversion fails, use the full /// namespace name of Source here. /// \throws if /// \return pointer of type Target if Target is a subclass of Source, throws otherwise. template std::shared_ptr checkAndConvert(std::shared_ptr incoming, const std::string& expectedTypeName); }; // namespace Framework }; // namespace SurgSim #include "SurgSim/Framework/Component-inl.h" #endif // SURGSIM_FRAMEWORK_COMPONENT_H opensurgsim-0.7.0/SurgSim/Framework/ComponentManager-inl.h000066400000000000000000000063011277777236100236300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_COMPONENTMANAGER_INL_H #define SURGSIM_FRAMEWORK_COMPONENTMANAGER_INL_H namespace SurgSim { namespace Framework { /// Executes the add component operation. /// \tparam T Type of the component to be added. /// \param component The component that is being added. /// \param [in,out] container The container that the component is being added to. /// \return The correctly cast component if it is of type T and does not exist in the container yet, nullptr otherwise. template std::shared_ptr ComponentManager::tryAddComponent(std::shared_ptr component, std::vector>* container) { SURGSIM_ASSERT(component != nullptr) << "Trying to add a component that is null"; SURGSIM_ASSERT(container != nullptr) << "Trying to use a component container that is null"; std::shared_ptr typedComponent = std::dynamic_pointer_cast(component); if (typedComponent != nullptr) { auto found = std::find(container->cbegin(), container->cend(), typedComponent); if (found == container->cend()) { SURGSIM_LOG_INFO(m_logger) << "Added component " << component->getFullName(); container->push_back(typedComponent); } else { SURGSIM_LOG_INFO(m_logger) << "Component " << component->getFullName() << " already added to " << getName(); typedComponent = nullptr; } } return typedComponent; }; template bool ComponentManager::tryRemoveComponent(std::shared_ptr component, std::vector>* container) { SURGSIM_ASSERT(container != nullptr) << "Trying to use a component container that is null"; bool result = false; std::shared_ptr typedComponent = std::dynamic_pointer_cast(component); if (typedComponent != nullptr && container->size() != 0) { auto found = std::find(container->begin(), container->end(), typedComponent); if (found != container->end()) { container->erase(found); SURGSIM_LOG_DEBUG(m_logger) << __FUNCTION__ << " Removed component " << typedComponent->getName(); result = true; } else { SURGSIM_LOG_INFO(m_logger) << SURGSIM_CURRENT_FUNCTION << " Unable to remove component " << typedComponent->getName() << ". Not found."; } } return result; }; template void ComponentManager::retireComponents(const std::vector>& container) { static_assert(std::is_base_of::value == true, "Class has to be of type component"); for (const auto& component : container) { component->retire(); } } }; // namespace Framework }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Framework/ComponentManager.cpp000066400000000000000000000153101277777236100234030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/ComponentManager.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/Runtime.h" #include namespace SurgSim { namespace Framework { ComponentManager::ComponentManager(const std::string& name /*= "Unknown Component Manager"*/) : BasicThread(name) { } ComponentManager::~ComponentManager() { SURGSIM_LOG_INFO(m_logger) << getName() << " destruction"; } void ComponentManager::setRuntime(std::shared_ptr val) { m_runtime = val; } bool ComponentManager::enqueueAddComponent(const std::shared_ptr& component) { boost::lock_guard lock(m_componentMutex); m_componentAdditions.push_back(component); return true; } bool ComponentManager::enqueueRemoveComponent(const std::shared_ptr& component) { boost::lock_guard lock(m_componentMutex); m_componentRemovals.push_back(component); m_elementCache.push_back(component->getSceneElement()); return true; } std::shared_ptr ComponentManager::getRuntime() const { return m_runtime.lock(); } void ComponentManager::processComponents() { // Please note that the implementation of this function needs to mirror the executeInitialization() function. // This is called from within the update() function, and executeInitialization() is called at startup std::vector> inflightAdditions; std::vector> inflightRemovals; std::vector> inflightElements; std::vector> actualAdditions; copyScheduledComponents(&inflightAdditions, &inflightRemovals, &inflightElements); actualAdditions.reserve(inflightAdditions.size()); if (!inflightAdditions.empty()) { addComponents(std::begin(inflightAdditions), std::end(inflightAdditions), &actualAdditions); wakeUpComponents(std::begin(actualAdditions), std::end(actualAdditions)); } if (!inflightRemovals.empty()) { removeComponents(std::begin(inflightRemovals), std::end(inflightRemovals)); } } void ComponentManager::processBehaviors(const double dt) { auto it = std::begin(m_behaviors); auto endIt = std::end(m_behaviors); for (; it != endIt; ++it) { if ((*it)->isActive()) { (*it)->update(dt); } } } bool ComponentManager::executeInitialization() { // Please note that the implementation of this function needs to mirror processComponents() // this function is called at startup whereas the other is called during the update call. // Call BasicThread initialize to do the initialize and startup call bool success = BasicThread::executeInitialization(); if (! success) { return success; } // Now Initialize and and wakeup all the components std::vector> inflightAdditions; std::vector> inflightRemovals; std::vector> inflightElements; std::vector> actualAdditions; copyScheduledComponents(&inflightAdditions, &inflightRemovals, &inflightElements); actualAdditions.reserve(inflightAdditions.size()); if (! inflightAdditions.empty()) { addComponents(std::begin(inflightAdditions), std::end(inflightAdditions), &actualAdditions); } success = waitForBarrier(success); if (! success) { return success; } if (! inflightAdditions.empty()) { wakeUpComponents(std::begin(actualAdditions), std::end(actualAdditions)); } if (! inflightRemovals.empty()) { removeComponents(std::begin(inflightRemovals), std::end(inflightRemovals)); } success = waitForBarrier(success); return success; } void ComponentManager::copyScheduledComponents( std::vector>* inflightAdditions, std::vector>* inflightRemovals, std::vector>* inflightElements) { // Lock for any more additions or removals and then copy to local storage // this will insulate us from the actual add or remove call taking longer than it should boost::lock_guard lock(m_componentMutex); std::swap(m_componentAdditions, *inflightAdditions); m_componentAdditions.clear(); std::swap(m_componentRemovals, *inflightRemovals); m_componentRemovals.clear(); std::swap(m_elementCache, *inflightElements); m_elementCache.clear(); } void ComponentManager::removeComponents(const std::vector>::const_iterator& beginIt, const std::vector>::const_iterator& endIt) { for (auto it = beginIt; it != endIt; ++it) { if (tryRemoveComponent(*it, &m_behaviors) || executeRemovals(*it)) { (*it)->retire(); } } } void ComponentManager::addComponents( const std::vector>::const_iterator& beginIt, const std::vector>::const_iterator& endIt, std::vector>* actualAdditions) { // Add All Components to the internal storage for (auto it = beginIt; it != endIt; ++it) { std::shared_ptr behavior = std::dynamic_pointer_cast(*it); if (behavior != nullptr && behavior->getTargetManagerType() == getType()) { if (tryAddComponent(*it, &m_behaviors) != nullptr) { actualAdditions->push_back(*it); } } else if (executeAdditions(*it)) { actualAdditions->push_back(*it); } } } void ComponentManager::wakeUpComponents(const std::vector>::const_iterator& beginIt, const std::vector>::const_iterator& endIt) { for (auto it = beginIt; it != endIt; ++it) { if ((*it)->isInitialized() && !(*it)->isAwake()) { if (!(*it)->wakeUp()) { SURGSIM_LOG_WARNING(m_logger) << "Failed to wake up component " << (*it)->getName() << " in manager " << getName() << ". Component was not added to the manager!"; executeRemovals(*it); } } } } void ComponentManager::doBeforeStop() { for (const auto& behavior : m_behaviors) { behavior->retire(); } } /// Returns this manager's logger std::shared_ptr ComponentManager::getLogger() const { return m_logger; } }; // Framework }; // SurgSim opensurgsim-0.7.0/SurgSim/Framework/ComponentManager.h000066400000000000000000000176751277777236100230700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_COMPONENTMANAGER_H #define SURGSIM_FRAMEWORK_COMPONENTMANAGER_H #include #include #include #include #include "SurgSim/Framework/BasicThread.h" #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/Component.h" namespace SurgSim { namespace Framework { class Runtime; class Logger; /// Base Component Manager class. Component Managers manage a collection of components. /// The runtime will present each new component to the manager, and it is up to /// the manger to decide whether to handle a component of a given type or not. /// Adding and removing components is thread-safe, when the [add|remove]Component /// call is made, the component is added to an intermediary data structure, each /// ComponentManager implementation must call processComponents() to trigger the /// actual addition and removal. Each ComponentManager subclass needs to implement /// doAddComponent() and doRemoveComponent() to the actual addition and removal of /// components. /// ComponentManager implements a custom executeInitialization() method that lets the /// runtime schedule initialization of components that exist at the start of the simulation class ComponentManager : public BasicThread { public: explicit ComponentManager(const std::string& name = "Unknown Component Manager"); virtual ~ComponentManager(); /// Queues a component to be added later. /// \param component The component to be added. /// \return true if the component was scheduled for addition, this does not indicate that /// the component will actually be added to this manager bool enqueueAddComponent(const std::shared_ptr& component); /// Queues a component to be removed /// \param component The component to be removed. /// \return true if the component was scheduled for removal, this does not indicate that /// the component will actually be removed from this manager bool enqueueRemoveComponent(const std::shared_ptr& component); /// @{ /// Runtime accessors std::shared_ptr getRuntime() const; void setRuntime(std::shared_ptr val); /// @} protected: /// Template version of the addComponent method. /// \tparam T Specific type of the component that is being added. /// \param component The component that needs to be added. /// \param [in,out] container If non-null, the container that should receive the component if of the correct type. /// \return the correctly cast component pointer if successful and the /// component did not already exist in the container template std::shared_ptr tryAddComponent(std::shared_ptr component, std::vector>* container); /// Template version of the removeComponent method. /// \tparam T Specific type of the component that is being removed. /// \param component The component that needs to be removed. /// \param [in,out] container If non-null, the container, from which the component should be removed. /// \return true if the component exists in the container or the component did not cast to T, otherwise. template bool tryRemoveComponent(std::shared_ptr component, std::vector>* container); /// Processes all the components that are scheduled for addition or removal, this needs to be called /// inside the doUpdate() function. void processComponents(); /// Processes behaviors /// This needs to be called inside doUpdate() function in each 'sub' manager. void processBehaviors(const double dt); /// Returns the type of Manager // Enum is defined in the beginning of this file virtual int getType() const = 0; /// Helper, blocks access to the additions and removal queue and copies the components /// from there to the intermediate inflight queues, after this call, the incoming /// queues will be empty. void copyScheduledComponents(std::vector>* inflightAdditions, std::vector>* inflightRemovals, std::vector>* inflightElements); /// Returns this manager's logger std::shared_ptr getLogger() const; /// Blocks protects addition and removal queues boost::mutex m_componentMutex; ///@{ /// Data structures /// Contain components scheduled to be added/removed std::vector> m_componentAdditions; std::vector> m_componentRemovals; std::vector> m_elementCache; ///@} /// Collection of behaviors // Each behavior will have a type to be matched with the corresponding manager // Managers will only handle matching behaviors std::vector> m_behaviors; void doBeforeStop() override; template void retireComponents(const std::vector>& container); private: /// Adds a component. /// \param component The component to be added. /// \return true if the component was scheduled for addition, this does not indicate that /// the component will actually be added to this manager. virtual bool executeAdditions(const std::shared_ptr& component) = 0; /// Handle representations, override for each thread /// \param component The component to be removed. /// \return true if the component was scheduled for removal, this does not indicate that /// the component will actually be removed from this manager. virtual bool executeRemovals(const std::shared_ptr& component) = 0; /// Overridden from BasicThread, extends the initialization to contain component initialization /// including waiting for the other threads to conclude their component initialization and wakeup bool executeInitialization() override; /// Delegates to doRemoveComponent to remove all the components in the indicated array. /// \param beginIt The begin iterator. /// \param endIt The end iterator. void removeComponents(const std::vector>::const_iterator& beginIt, const std::vector>::const_iterator& endIt); /// Delegates to doAddComponent and calls initialize on all the components /// \param beginIt The begin iterator. /// \param endIt The end iterator. /// \param[out] actualAdditions List of components actually added void addComponents( const std::vector>::const_iterator& beginIt, const std::vector>::const_iterator& endIt, std::vector>* actualAdditions); /// Wake all the components up, only the components that were successfully initialized get /// the wakeup call, check for isAwake because there to catch multiple versions of the same /// component from being awoken more than once. Will also remove components if they did not /// wake up as expected /// \param beginIt The begin iterator. /// \param endIt The end iterator. void wakeUpComponents(const std::vector>::const_iterator& beginIt, const std::vector>::const_iterator& endIt); std::weak_ptr m_runtime; }; }; // namespace Framework }; // namespace SurgSim #include "SurgSim/Framework/ComponentManager-inl.h" #endif // SURGSIM_FRAMEWORK_COMPONENTMANAGER_H opensurgsim-0.7.0/SurgSim/Framework/Documentation/000077500000000000000000000000001277777236100222535ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Framework/Documentation/CMakeLists.txt000066400000000000000000000015731277777236100250210ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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. set(SURGSIM_FRAMEWORK_DOCUMENTATION framework.dox serialization.dox ) add_custom_target(SurgSimFrameworkDocumentation SOURCES ${SURGSIM_FRAMEWORK_DOCUMENTATION}) set_target_properties(SurgSimFrameworkDocumentation PROPERTIES FOLDER "Framework")opensurgsim-0.7.0/SurgSim/Framework/Documentation/framework.dox000066400000000000000000000004301277777236100247610ustar00rootroot00000000000000/*! \page Framework The OSS Framework \addtogroup Framework The 'Framework' namespace contains classes that are the basis of the OSS simulation framework. Most of the classes here are not used by themselves but are extended by the other libraries in OSS. \ref Serialization */ opensurgsim-0.7.0/SurgSim/Framework/Documentation/serialization.dox000066400000000000000000000156241277777236100256540ustar00rootroot00000000000000/*! \page Serialization Serialization Loading and storing of instances from the OpenSurgSim framework utilizes the facilities provided by YAML-cpp, the duck typing and introspection capabilities provided by SurgSim::Framework::Accessible and when necessary a generic class registration and factory mechanism provided by SurgSim::Framework::ObjectFactory. Together these classes enable a serialization solution that can load and store instances of classes without the need of knowing the structure. By using YAML::Node, we can represent data in a form that can be written to file and read from a file in the YAML format. By converting instances to and from YAML::Node we can enable the loading and storing of instances to disk. Depending on the requirements more or less work needs to be done to enable the conversions. We will describe the various steps in order of increasing complexity. ## Conventions For consistency we will agree on naming properties in CamelCase beginning with a capital letter, this concurs with the naming portion of the getter and setter. E.g. if a component has a public getter and setter getFileName() and setFileName() the property should be named 'FileName'. We reserve the names "ClassName", "Name" and "Uuid" for use in component serialization. ## POD SurgSim and YAML-cpp already include conversions from and to YAML::node for all the POD types that should be needed, int, float, double, std::map, std::vector, ... are handle, likewise with the main Eigen classes Matrix and Vector. These can all be used with YAML::Node as such. YAML::Node node; node["value"] = 1; int a = node["value"].as(); For more complex data types the conversion can be implemented as member functions, for consistency purposes the following signatures should be used: YAML::node Class::encode(); void Class::decode(const YAML::Node& node); If an addition to the member class is not possible or the conversion using 'node.as<>()' is wished, it will be necessary to specialize the YAML::convert structure for the required class type that needs to be converted. template <> YAML::convert(...) After implementing either of these it should be possible to create a node structure from the class under development, and to fill the members of the class with values from the node. When restoring the class these approaches work best if the class that is being handled implements a default constructor, when it does the data in the given node does not have to be inspected or extracted before class creation. And a class can be filled with data as such. Class a; a.decode(dataNode); When the constructor needs more data things like the following might become necessary possibly making the process more brittle int val = node["val"].as(); Class a(val); a.decode(dataNode); ## Accessible An easy way to enable serialization for a class is to derive from SurgSim::Framework::Accessible, and to declare all the classes' properties that need to be serialized through the `SURGSIM_SERIALIZABLE_PROPERTY` macro. This macro does two things, it declares a read/write property on the instance, but it also declares a conversion from and to YAML::Node for this property. `Accessible` implements `encode()` and `decode()` in a way so that all the properties that were declared serializable can be serialized to and from the YAML::Node. ## ObjectFactory The above approaches work well when the type of the data that is being serialized is known, e.g. a list of objects of the same type, or the specific member variables of a class. An additional facility needs to be utilized when the objects that are being dealt with are of heterogeneous types, i.e. list of objects with same base type but different subtypes. In this case a factory class needs to be filled and utilized. The main purpose of the factory is to create an instance of a class from the name of the class. `SurgSim::Framework::ObjectFactory` is one kind of factory class. For it to work correctly classes need to be registered with `ObjectFactory` through the `register()` template call. After register has been executed, you can create an instance of a class by calling `create("ClassName")` on the factory. Just by convention each class should indicate its name by using the 'ClassName' property or `getClassName()` member function. ### Registration For classes with limited subclasses it is usually pretty easy to execute all the calls to `register()` in one place, but sometimes this is not feasible and a more distributed approach is necessary. For Example when the classes are spread out over multiple libraries it can be hard to create an exhaustive list. In this case on can register the class through static initialisation using a macro. The following code used in the `.cpp` file can register a subclass in the superclasses factory if the superclass contains a factory. namespace { SURGSIM_REGISTER(BaseClass, DerivedClass) } with `Baseclass` being the fully qualified name of the base class e.g. `SurgSim::Framework::Component` and `Derived` the name of the derived class without name space e.g. `OsgBoxRepresentation`. ### Loading The key to restore the correct class under differing incoming classes is to implement the YAML conversion specialized to the base class pointer, when the decode function is called, the decode code can determine at runtime what instance needs to be created and call the appropriate factory function. After the correct instance has been created, a class member `decode()` function can be used to fill the appropriate member variables. ## Instances vs. References When there is a need to load and store references to objects, when objects are being shared amongst other objects the serialization can be specialized to object instances and object pointers to indicate whether a reference to an object as opposed to the actual object data should be written. template<> YAML::convert ... template<> YAMLL::convert> In the calling code the determination needs to be made whether the reference is serialized or the actual instance. Only the instance serialization should write out the data, the reference serializations should write out, a unique identifier for the instance and class information, if needed. When reading the unique identifier can be used to return a pointer to the shared instance in all places where the object is being used. When the actual data is found the normal `decode()` can be used to restore the member data. ## Component Loading and Storing All of the above mechanisms are in place for loading and storing components. The component class implements a factory, it utilizes the split convert object to serialize shared component references from the inside of a component. The data for a component can be written out when the owning `SceneElement` writes its component. Additionally there is a registry data structure for components in the inside of the convert object that can be used to restore shared instances to components. */ opensurgsim-0.7.0/SurgSim/Framework/FrameworkConvert-inl.h000066400000000000000000000035421277777236100236750ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_FRAMEWORKCONVERT_INL_H #define SURGSIM_FRAMEWORK_FRAMEWORKCONVERT_INL_H #include #include "SurgSim/Framework/Assert.h" // Use of enable_if. this function is only created if 'T' is a subclass of SurgSim::Framework::Component // Which means for each subclass that is being deserialized, a new converter function is created template YAML::Node YAML::convert>::encode( const typename std::enable_if ::value, std::shared_ptr >::type rhs) { return YAML::convert>::encode(rhs); } template bool YAML::convert>::decode(const Node& node, typename std::enable_if ::value, std::shared_ptr >::type& rhs) //NOLINT { std::shared_ptr temporary; bool success = YAML::convert>::decode(node, temporary); if (success) { rhs = std::dynamic_pointer_cast(temporary); SURGSIM_ASSERT(rhs != nullptr) << "Failure to convert to target type in " << __FUNCTION__; } return success; } #endif opensurgsim-0.7.0/SurgSim/Framework/FrameworkConvert.cpp000066400000000000000000000166701277777236100234560ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/Asset.h" #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/ApplicationData.h" namespace { const std::string NamePropertyName = "Name"; const std::string IdPropertyName = "Id"; } namespace YAML { Node convert>::encode( const std::shared_ptr rhs) { Node result; if (nullptr != rhs) { Node data; data[IdPropertyName] = to_string(rhs->getUuid()); data[NamePropertyName] = rhs->getName(); result[rhs->getClassName()] = data; } return result; } bool convert>::decode( const Node& node, std::shared_ptr& rhs) //NOLINT { bool result = false; if (!node.IsMap()) { return false; } SurgSim::Framework::Component::FactoryType& factory = SurgSim::Framework::Component::getFactory(); std::string className = node.begin()->first.as(); SURGSIM_ASSERT(factory.isRegistered(className)) << "Class " << className << " is not registered in the factory."; Node data = node.begin()->second; if (data.IsMap() && data[NamePropertyName].IsDefined()) { std::string name = data[NamePropertyName].as(); if (rhs == nullptr) { if (data[IdPropertyName].IsDefined()) { std::string id = data[IdPropertyName].as(); RegistryType& registry = getRegistry(); auto sharedComponent = registry.find(id); if (sharedComponent != registry.end()) { SURGSIM_ASSERT(name == sharedComponent->second->getName() && className == sharedComponent->second->getClassName()) << "The current node:" << std::endl << node << std::endl << "has the same id as an " << "instance already registered, but the name and/or the className are different. This is " << "likely a problem with a manually assigned id." << std::endl << "The original component is a:" << std::endl << sharedComponent->second->getClassName() << std::endl << sharedComponent->second->getName(); rhs = sharedComponent->second; } else { rhs = factory.create(className, name); getRegistry()[id] = rhs; } } else { rhs = factory.create(className, name); } } std::vector ignoredProperties; ignoredProperties.push_back(NamePropertyName); ignoredProperties.push_back(IdPropertyName); rhs->decode(data, ignoredProperties); result = true; } return result; } convert>::RegistryType& convert>::getRegistry() { static RegistryType registry; return registry; } Node convert::encode(const SurgSim::Framework::Component& rhs) { YAML::Node data(rhs.encode()); data[IdPropertyName] = to_string(rhs.getUuid()); data[NamePropertyName] = rhs.getName(); YAML::Node result; result[rhs.getClassName()] = data; return result; } Node convert>::encode( const std::shared_ptr rhs) { SURGSIM_ASSERT(rhs != nullptr) << "Trying to encode nullptr SceneElement"; return rhs->encode(false); } bool convert>::decode( const Node& node, std::shared_ptr& rhs) //NOLINT { if (rhs == nullptr) { // For now only deal with BasicSceneElement classes rhs = std::make_shared(""); } return rhs->decode(node); } bool YAML::convert>>::decode( const Node& node, std::vector>& rhs, // NOLINT std::vector* stack) { std::unique_ptr> localStack; if (node.IsSequence()) { if (stack == nullptr) { localStack.reset(new std::vector()); stack = localStack.get(); } for (auto element = node.begin(); element != node.end(); ++element) { if (element->IsMap() && element->begin()->first.as() == "INCLUDE") { auto file = element->begin()->second.as(); auto data = SurgSim::Framework::Runtime::getApplicationData(); SURGSIM_ASSERT(data->tryFindFile(file, &file)) << "Could not find include file " << file; SURGSIM_ASSERT(std::find(stack->cbegin(), stack->cend(), file) == stack->cend()) << "Found inclusion loop File: " << file << " included from " << stack->back() << " is already included."; auto included = YAML::LoadFile(file); stack->push_back(file); YAML::convert>>::decode( included, rhs, stack); stack->pop_back(); } else { rhs.push_back(element->as>()); } } } else if (node.IsMap()) { rhs.push_back(node.as>()); } else { SURGSIM_FAILURE() << "Trying to decode std::vector> but the received node is neither " << "a sequence nor a map"; return false; } return true; } Node convert::encode( const SurgSim::Framework::SceneElement& rhs) { return rhs.encode(true); } Node convert>::encode( const std::shared_ptr rhs) { SURGSIM_ASSERT(rhs != nullptr) << "Trying to encode nullptr Scene"; return rhs->encode(); } bool convert>::decode( const Node& node, std::shared_ptr& rhs) //NOLINT { bool result = false; if (rhs != nullptr) { result = rhs->decode(node); } return result; } YAML::Node YAML::convert>::encode( const std::shared_ptr rhs) { YAML::Node node; node[rhs->getClassName()] = rhs->encode(); return node; } bool YAML::convert>::decode( const Node& node, std::shared_ptr& rhs) //NOLINT { bool result = false; if (node.IsMap()) { if (nullptr == rhs) { std::string className = node.begin()->first.as(); auto& factory = SurgSim::Framework::Asset::getFactory(); if (factory.isRegistered(className)) { rhs = factory.create(className); } else { SURGSIM_FAILURE() << "Class " << className << " is not registered in the Asset factory."; } } Node data = node.begin()->second; if (data.IsMap()) { rhs->decode(data); } result = true; } return result; } } opensurgsim-0.7.0/SurgSim/Framework/FrameworkConvert.h000066400000000000000000000111351277777236100231120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_FRAMEWORKCONVERT_H #define SURGSIM_FRAMEWORK_FRAMEWORKCONVERT_H #include #include #include namespace SurgSim { namespace Framework { class Asset; class Component; class SceneElement; class Scene; } } namespace YAML { /// Specialization of YAML::convert for std::shared_ptr, this is used to redirect the serialization of a derived class /// to the specialization of the serialization for a base class, for example all subclasses of Component can use the /// Component serialization specialization, currently each redirection has to be implemented separately, the re is /// probably a way to do this automatically. /// \tparam T class that should be converted from a shared ptr template struct convert> { static YAML::Node encode( const typename std::enable_if ::value, std::shared_ptr>::type rhs); static bool decode( const Node& node, typename std::enable_if ::value, std::shared_ptr>::type& rhs); //NOLINT }; /// Specialization of YAML::convert for std::shared_ptr, use this for to read in a component /// written by the convert converter, or a reference to a /// component written by this converter. /// This specialization, is slightly asymmetric, on encode it will only encode a components /// name, id and className. When decoding this conversion will check whether a component with /// the same id has already been encountered. If no a new instance will be created and stored /// in a local Registry. If yes, the entry from the registry will be returned, this makes sure /// that all references to the same id will use the correct, copy of the smart pointer. /// Additionally this class contains a class factory that can be used to generate the class from /// its name. template <> struct convert> { static Node encode(const std::shared_ptr rhs); static bool decode(const Node& node, std::shared_ptr& rhs); //NOLINT typedef std::unordered_map> RegistryType; /// \return The static registry for shared instances static RegistryType& getRegistry(); }; /// Override of the convert structure for an Component, use this form to write out a full version /// of the component information, to decode a component use the other converter. This converter /// intentionally does not have a decode function. template<> struct convert { static Node encode(const SurgSim::Framework::Component& rhs); }; template<> struct convert> { static Node encode(const std::shared_ptr rhs); static bool decode(const Node& node, std::shared_ptr& rhs); //NOLINT }; template<> struct convert >> { static bool decode(const Node& node, std::vector>& rhs, //NOLINT std::vector* stack = nullptr); }; template<> struct convert { static Node encode(const SurgSim::Framework::SceneElement& rhs); }; template<> struct convert> { static Node encode(const std::shared_ptr rhs); static bool decode(const Node& node, std::shared_ptr& rhs); //NOLINT }; template<> struct convert> { static Node encode(const std::shared_ptr rhs); static bool decode(const Node& node, std::shared_ptr& rhs); //NOLINT }; }; #include "SurgSim/Framework/FrameworkConvert-inl.h" #endif // SURGSIM_FRAMEWORK_FRAMEWORKCONVERT_H opensurgsim-0.7.0/SurgSim/Framework/LockedContainer.h000066400000000000000000000160431277777236100226630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_LOCKEDCONTAINER_H #define SURGSIM_FRAMEWORK_LOCKEDCONTAINER_H #include #include namespace SurgSim { namespace Framework { /// A simple thread-safe data container that can support multiple writers and readers. /// /// The type of the contained data is determined by the template argument, and should satisfy the following: /// - It must be either default-constructable or copy-constructable or move-constructable. In other words, /// construction must be possible using either T() or T(const T&) or /// T(T&&), or compiler-generated equivalents. /// - It must be either copy-assignable or move-assignable. In other words, assignment must be possible using /// either operator=(const T&) or operator=(T&&), or compiler-generated /// equivalents. (If it is only move-assignable, then you can't get the value in the container without /// erasing it.) /// /// Note that STL container types, plain-old-data structs, and most other things you might want to use satisfy /// those requirements. /// /// The container will create and manage an extra internal instance of the data object. /// /// The interface has been designed to be incredibly simple. The trade-off is that the overhead of reading or /// writing to the container is significant (Each write incurs either a copy or a move of the data, plus a mutex /// lock/unlock. Each read incurs a copy, plus a mutex lock/unlock. Applications that write and read heavily /// may also become mutex-bound.) /// /// Writers write the data by calling the \ref set method, which copies or moves the data into internal storage. /// Readers read the data by calling the \ref get method, which copies the data from internal storage. /// /// \tparam T Type of the data held by the LockedContainer. template class LockedContainer { public: /// Create the container and the data it contains. /// /// The data will be initialized using the default constructor. LockedContainer() : m_buffer(), m_haveNewData(false) { } /// Create the container and the data it contains. /// /// The data will be initialized using the copy constructor. /// \param initialValue The initial value to be used. explicit LockedContainer(const T& initialValue) : m_buffer(initialValue), m_haveNewData(false) { } /// Create the container and the data it contains. /// /// The data in the active buffer will be initialized using the move constructor. /// The data in the second, inactive buffer will be initialized using the default constructor. /// \param initialValue The initial value to be moved into the active buffer. explicit LockedContainer(T&& initialValue) : m_buffer(std::move(initialValue)), m_haveNewData(false) { } /// Destroy the container and the data it contains. ~LockedContainer() { } /// Write (copy) new data into the container. /// /// The data will be copied into internal storage. If \ref set is called again before the next \ref get, /// the first data will be overwritten and lost. /// \param value The value to be written. void set(const T& value) { boost::lock_guard lock(m_mutex); m_buffer = value; m_haveNewData = true; } /// Write (move) new data into the container. /// /// The data will be moved into internal storage. If \ref set is called again before the next \ref get, the /// first data will be overwritten and lost. /// \param value The value to be written. void set(T&& value) { boost::lock_guard lock(m_mutex); m_buffer = std::move(value); m_haveNewData = true; } /// Read (copy) the data from the container. /// \param [out] value The location to write the data from the container. The pointer must be non-null. void get(T* value) const { boost::lock_guard lock(m_mutex); m_haveNewData = false; *value = m_buffer; } /// Move the data out of the container. /// For types that support move assignment, the internal state of the container will be invalidated. /// \param [out] value The location to write the data from the container. The pointer must be non-null. void take(T* value) { boost::lock_guard lock(m_mutex); m_haveNewData = false; *value = std::move(m_buffer); } /// Read (copy) the data from the container if it has been modified since the last access. /// If \ref set has not been called since the last \ref get, \ref take, \ref tryGetChanged or /// \ref tryTakeChanged, the method returns \c false and doesn't modify the data. /// /// \param [out] value The location to write the data from the container if it has changed. The pointer /// must be non-null. /// \return true if there was new data (which may or may not be equal to the old). Note that the initial /// value created when the object was constructed (if any) is not considered "new" data by this method. bool tryGetChanged(T* value) const { boost::lock_guard lock(m_mutex); if (! m_haveNewData) { return false; } else { m_haveNewData = false; *value = m_buffer; return true; } } /// Move the data out of the container if it has been modified since the last access. /// If \ref set has not been called since the last \ref get, \ref take, \ref tryGetChanged or /// \ref tryTakeChanged, the method returns \c false and doesn't modify the data. /// /// \param [out] value The location to write the data from the container if it has changed. The pointer /// must be non-null. /// \return true if there was new data (which may or may not be equal to the old). Note that the initial /// value created when the object was constructed (if any) is not considered "new" data by this method. bool tryTakeChanged(T* value) { boost::lock_guard lock(m_mutex); if (! m_haveNewData) { return false; } else { m_haveNewData = false; *value = std::move(m_buffer); return true; } } private: /// Prevent copying LockedContainer(const LockedContainer&); /// Prevent assignment LockedContainer& operator=(const LockedContainer&); /// Internal buffer. T m_buffer; /// True if there data that has been written, but not yet pulled in by get, take, etc. mutable bool m_haveNewData; /// Mutex for synchronization of set() and get() calls. mutable boost::mutex m_mutex; }; }; // namespace Framework }; // namespace SurgSim #endif // SURGSIM_FRAMEWORK_LOCKEDCONTAINER_H opensurgsim-0.7.0/SurgSim/Framework/Log.h000066400000000000000000000024671277777236100203450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// The convenience header that provides the entirety of the logging API. /// \ingroup loggingAPI /// \sa loggingAPI #ifndef SURGSIM_FRAMEWORK_LOG_H #define SURGSIM_FRAMEWORK_LOG_H /// \defgroup loggingAPI Logging API /// The logging API used by OpenSurgSim code. /// \sa assertAPI /// @{ /// \defgroup logInternals Internal logging helpers /// Not meant for public consumption. #include "SurgSim/Framework/Logger.h" #include "SurgSim/Framework/LoggerManager.h" #include "SurgSim/Framework/LogMessage.h" #include "SurgSim/Framework/LogOutput.h" #include "SurgSim/Framework/LogMacros.h" #include "SurgSim/Framework/Assert.h" /// @} #endif // SURGSIM_FRAMEWORK_LOG_H opensurgsim-0.7.0/SurgSim/Framework/LogMacros.h000066400000000000000000000201341277777236100215010ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Macros used for logging. /// \ingroup logInternals /// \sa loggingAPI #ifndef SURGSIM_FRAMEWORK_LOGMACROS_H #define SURGSIM_FRAMEWORK_LOGMACROS_H #include "SurgSim/Framework/Logger.h" #include "SurgSim/Framework/LogMessage.h" namespace SurgSim { namespace Framework { /// \addtogroup loggingAPI /// @{ /// Converts a short level name to the log level enum value. /// \param level Short log level name /// (\link SurgSim::Framework::LOG_LEVEL_DEBUG DEBUG\endlink, /// \link SurgSim::Framework::LOG_LEVEL_INFO INFO\endlink, /// \link SurgSim::Framework::LOG_LEVEL_WARNING WARNING\endlink, /// \link SurgSim::Framework::LOG_LEVEL_SEVERE SEVERE\endlink or /// \link SurgSim::Framework::LOG_LEVEL_CRITICAL CRITICAL\endlink). /// \return Log level \link SurgSim::Framework::LogLevel enum value\endlink. /// \ingroup logInternals #define SURGSIM_LOG_LEVEL(level) ::SurgSim::Framework::LOG_LEVEL_ ## level /// Logs a message to the specified \c logger with the short \c level name. /// \param logger Logger used to log the message /// \param level Level of this log message /// (\link SurgSim::Framework::LOG_LEVEL_DEBUG DEBUG\endlink, /// \link SurgSim::Framework::LOG_LEVEL_INFO INFO\endlink, /// \link SurgSim::Framework::LOG_LEVEL_WARNING WARNING\endlink, /// \link SurgSim::Framework::LOG_LEVEL_SEVERE SEVERE\endlink or /// \link SurgSim::Framework::LOG_LEVEL_CRITICAL CRITICAL\endlink). /// \return Stream to output the log message /// /// \b Example /// ~~~~ /// SURGSIM_LOG(logger, WARNING) << messageText; /// ~~~~ #define SURGSIM_LOG(logger, level) \ if (SURGSIM_LOG_LEVEL(level) < (logger)->getThreshold()) \ { \ } \ else \ /* important: no curly braces around this! */ \ ::SurgSim::Framework::LogMessage((logger), SURGSIM_LOG_LEVEL(level)) /// Logs a message to the specified \c logger at the \link SurgSim::Framework::LOG_LEVEL_DEBUG DEBUG\endlink level. /// \param logger Logger used to log the message /// \return Stream to output the log message /// /// \b Example /// ~~~~ /// SURGSIM_LOG_DEBUG(logger) << messageText; /// ~~~~ #define SURGSIM_LOG_DEBUG(logger) SURGSIM_LOG(logger, DEBUG) /// Logs a message to the specified \c logger at the \link SurgSim::Framework::LOG_LEVEL_INFO INFO\endlink level. /// \param logger Logger used to log the message /// \return Stream to output the log message /// /// \b Example /// ~~~~ /// SURGSIM_LOG_INFO(logger) << messageText; /// ~~~~ #define SURGSIM_LOG_INFO(logger) SURGSIM_LOG(logger, INFO) /// Logs a message to the specified \c logger at the \link SurgSim::Framework::LOG_LEVEL_WARNING WARNING\endlink level. /// \param logger Logger used to log the message /// \return Stream to output the log message /// /// \b Example /// ~~~~ /// SURGSIM_LOG_WARNING(logger) << messageText; /// ~~~~ #define SURGSIM_LOG_WARNING(logger) SURGSIM_LOG(logger, WARNING) /// Logs a message to the specified \c logger at the \link SurgSim::Framework::LOG_LEVEL_SEVERE SEVERE\endlink level. /// \param logger Logger used to log the message /// \return Stream to output the log message /// /// \b Example /// ~~~~ /// SURGSIM_LOG_SEVERE(logger) << messageText; /// ~~~~ #define SURGSIM_LOG_SEVERE(logger) SURGSIM_LOG(logger, SEVERE) /// Logs a message to the specified \c logger at the \link SurgSim::Framework::LOG_LEVEL_CRITICAL CRITICAL\endlink /// level. /// \param logger Logger used to log the message /// \return Stream to output the log message /// /// \b Example /// ~~~~ /// SURGSIM_LOG_CRITICAL(logger) << messageText; /// ~~~~ #define SURGSIM_LOG_CRITICAL(logger) SURGSIM_LOG(logger, CRITICAL) /// Logs a message to the specified \c logger with the short \c level name if \c condition is true. /// \param condition Condition to test. /// \param logger Logger used to log the message. /// \param level Level of this log message /// (\link SurgSim::Framework::LOG_LEVEL_DEBUG DEBUG\endlink, /// \link SurgSim::Framework::LOG_LEVEL_INFO INFO\endlink, /// \link SurgSim::Framework::LOG_LEVEL_WARNING WARNING\endlink, /// \link SurgSim::Framework::LOG_LEVEL_SEVERE SEVERE\endlink or /// \link SurgSim::Framework::LOG_LEVEL_CRITICAL CRITICAL\endlink). /// \return Stream to output the log message. /// /// \b Example /// ~~~~ /// SURGSIM_LOG_IF(size >= 100, logger, INFO) << "size is " << size; /// ~~~~ #define SURGSIM_LOG_IF(condition, logger, level) \ if (! (condition)) \ { \ } \ else \ /* important: no curly braces around this! */ \ SURGSIM_LOG(logger, level) /// Generate a variable name that should be unique within a file. /// The name will be unique unless this macro is used twice on the same source code line, e.g. due to macro expansion. /// Two macros are needed to make sure the argument is fully expanded. /// \ingroup logInternals #define SURGSIM_FLAG_VARIABLE_NAME_HELPER(base, line) base ## line /// Generate a variable name that should be unique within a file. /// The name will be unique unless this macro is used twice on the same source code line, e.g. due to macro expansion. /// Two macros are needed to make sure the argument is fully expanded. /// \ingroup logInternals #define SURGSIM_FLAG_VARIABLE_NAME(base, line) SURGSIM_FLAG_VARIABLE_NAME_HELPER(base, line) /// Define a variable name that depends on the line number in the source file where the macro is called from. /// We need this because we can't just add braces to create a scope; that would break using << to add more info. /// \ingroup logInternals #define SURGSIM_LOG_ONCE_VARIABLE SURGSIM_FLAG_VARIABLE_NAME(surgsimLogOnceFlag, __LINE__) /// Logs a message to the specified \c logger with the short \c level name, but only the first time this statement /// is reached. /// \param logger Logger used to log the message. /// \param level Level of this log message /// (\link SurgSim::Framework::LOG_LEVEL_DEBUG DEBUG\endlink, /// \link SurgSim::Framework::LOG_LEVEL_INFO INFO\endlink, /// \link SurgSim::Framework::LOG_LEVEL_WARNING WARNING\endlink, /// \link SurgSim::Framework::LOG_LEVEL_SEVERE SEVERE\endlink or /// \link SurgSim::Framework::LOG_LEVEL_CRITICAL CRITICAL\endlink). /// \return Stream to output the log message. /// /// \b Example /// ~~~~ /// SURGSIM_LOG_ONCE(logger, level) << messageTextShownOnce; /// ~~~~ #define SURGSIM_LOG_ONCE(logger, level) \ static int SURGSIM_LOG_ONCE_VARIABLE = 0; \ if ((SURGSIM_LOG_ONCE_VARIABLE++) != 0) \ { \ } \ else \ /* important: no curly braces around this! */ \ SURGSIM_LOG(logger, level) /// Logs a message to the specified \c logger with the short \c level name if \c condition is true, but only the /// first time *this* particular condition is true. /// \param condition Condition to test /// \param logger Logger used to log the message /// \param level Level of this log message /// (\link SurgSim::Framework::LOG_LEVEL_DEBUG DEBUG\endlink, /// \link SurgSim::Framework::LOG_LEVEL_INFO INFO\endlink, /// \link SurgSim::Framework::LOG_LEVEL_WARNING WARNING\endlink, /// \link SurgSim::Framework::LOG_LEVEL_SEVERE SEVERE\endlink or /// \link SurgSim::Framework::LOG_LEVEL_CRITICAL CRITICAL\endlink). /// \return Stream to output the log message /// /// \b Example /// ~~~~ /// SURGSIM_LOG_ONCE_IF(condition, logger, level) << messageTextShownOnce; /// ~~~~ #define SURGSIM_LOG_ONCE_IF(condition, logger, level) \ static int SURGSIM_LOG_ONCE_VARIABLE = 0; \ if (! (condition)) \ { \ } \ else if ((SURGSIM_LOG_ONCE_VARIABLE++) != 0) \ { \ } \ else \ /* important: no curly braces around this! */ \ SURGSIM_LOG(logger, level) /// @} }; // namespace Framework }; // namespace SurgSim #endif // SURGSIM_FRAMEWORK_LOGMACROS_H opensurgsim-0.7.0/SurgSim/Framework/LogMessage.h000066400000000000000000000026311277777236100216430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_LOGMESSAGE_H #define SURGSIM_FRAMEWORK_LOGMESSAGE_H #include "SurgSim/Framework/LogMessageBase.h" namespace SurgSim { namespace Framework { class Logger; /// \addtogroup logInternals /// @{ /// Specialization, handles flush on destruction class LogMessage : public LogMessageBase { public: explicit LogMessage(Logger* logger, int level) : LogMessageBase(logger, level) { } explicit LogMessage(const std::unique_ptr& logger, int level) : LogMessageBase(logger.get(), level) { } explicit LogMessage(const std::shared_ptr& logger, int level) : LogMessageBase(logger.get(), level) { } ~LogMessage() { flush(); } }; /// @} }; // namespace Framework }; // namespace SurgSim #endif // SURGSIM_FRAMEWORK_LOGMESSAGE_H opensurgsim-0.7.0/SurgSim/Framework/LogMessageBase.cpp000066400000000000000000000032731277777236100227740ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/LogMessageBase.h" #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace Framework { LogMessageBase::LogMessageBase(Logger* logger, int level) : m_stream(), m_logger(logger) { SURGSIM_ASSERT(logger) << "logger should not be a null pointer"; static std::string levelNames[5] = {"DEBUG ", "INFO ", "WARNING ", "SEVERE ", "CRITICAL"}; std::time_t timeStamp; std::time(&timeStamp); ::tm tm; #ifdef _MSC_VER localtime_s(&tm, &timeStamp); #else localtime_r(&timeStamp, &tm); #endif std::string levelName("NONE "); if (level >= 0 && level <= LOG_LEVEL_CRITICAL) { levelName = levelNames[level]; } char fillChar = m_stream.fill(); m_stream << std::setfill('0') << std::setw(2) << 1 + tm.tm_mon << "." << std::setw(2) << tm.tm_mday << ' ' << std::setw(2) << tm.tm_hour << ':' << std::setw(2) << tm.tm_min << ':' << std::setw(2) << tm.tm_sec << ' ' << std::setfill(fillChar) << levelName << " " << m_logger->getName() << " "; } }; // namespace Framework }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Framework/LogMessageBase.h000066400000000000000000000054671277777236100224500ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_LOGMESSAGEBASE_H #define SURGSIM_FRAMEWORK_LOGMESSAGEBASE_H #include #include #include #include #include "SurgSim/Framework/Logger.h" namespace SurgSim { namespace Framework { /// \addtogroup logInternals /// @{ /// LogMessageBase is a base class to be used to customize messages for logging /// textual information can be put into a log message by using the << operator /// in general the message class will output all of its information when the /// destructor is being invoked, formats the incoming message to timestamp it /// and adds information about the logger class LogMessageBase { public: /// Construct a LogMessage /// \param logger The logger to be used /// \param level The logging level for this message LogMessageBase(Logger* logger, int level); /// Destructor. ~LogMessageBase() { } /// Add the given input to the current log message. /// \param input The input to be added to the current stream template LogMessageBase& operator <<(T&& input) { m_stream << input; return *this; } // A specialization for output manipulators (functions that apply to the stream). // Otherwise overloaded manipulators like std::endl and std::endl don't work, since the compiler can't know // what overloaded variant to apply. LogMessageBase& operator <<(std::ios_base& (*manipulator)(std::ios_base&)) { m_stream << *manipulator; return *this; } // A specialization for output manipulators (functions that apply to the stream). // Otherwise overloaded manipulators like std::hex and std::endl don't work, since the compiler can't know // what overloaded variant to apply. LogMessageBase& operator <<(std::ostream& (*manipulator)(std::ostream&)) { m_stream << *manipulator; return *this; } protected: /// \return the current content of the message to be logged std::string getMessage() { return m_stream.str(); } /// write the current message to the logger void flush() { m_logger->writeMessage(m_stream.str()); } private: std::ostringstream m_stream; Logger* m_logger; }; /// @} }; // namespace Framework }; // namespace SurgSim #endif // SURGSIM_FRAMEWORK_LOGMESSAGEBASE_H opensurgsim-0.7.0/SurgSim/Framework/LogOutput.cpp000066400000000000000000000035501277777236100221130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Framework/LogOutput.h" #include #include #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Logger.h" namespace SurgSim { namespace Framework { FileOutput::FileOutput(const std::string& filename) : m_filename(filename) { if (! m_stream.is_open()) { m_stream.open(m_filename,std::ios_base::app); } SURGSIM_ASSERT(! m_stream.fail()) << "Failed to open '" << m_filename << "'!"; } bool SurgSim::Framework::FileOutput::writeMessage(const std::string& message) { SURGSIM_ASSERT(m_stream.is_open() && ! m_stream.fail()) << "Error writing to " << m_filename; { boost::mutex::scoped_lock lock(m_mutex); m_stream << message << std::endl; } return true; } StreamOutput::StreamOutput(std::ostream& ostream) : m_stream(ostream) //NOLINT { } bool StreamOutput::writeMessage(const std::string& message) { bool result = false; if (!m_stream.fail()) { boost::mutex::scoped_lock lock(m_mutex); m_stream << message << std::endl; result = true; } else { //TODO(hscheirich) 2013-01-28: Still need to figure out default logging throw("Default logging not implemented yet"); } return result; } }; // namespace Framework }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Framework/LogOutput.h000066400000000000000000000044751277777236100215670ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_LOGOUTPUT_H #define SURGSIM_FRAMEWORK_LOGOUTPUT_H #include #include namespace SurgSim { namespace Framework { /// Virtual Base class to define an interface for outputting logging information class LogOutput { public: LogOutput() { } virtual ~LogOutput() { } /// \param message to be written out /// \return true on success virtual bool writeMessage(const std::string& message) = 0; }; class NullOutput : public LogOutput { public: virtual bool writeMessage(const std::string& message) {return true;} }; /// Class to output logging information to a give file class FileOutput : public LogOutput { public: /// Constructor /// \param filename The filename to be used for writing explicit FileOutput(const std::string& filename); /// \param message to be written out /// \return true on success bool writeMessage(const std::string& message) override; private: std::string m_filename; std::ofstream m_stream; boost::mutex m_mutex; }; /// Class to output logging information to a stream that can be passed /// into the constructor of the class class StreamOutput : public LogOutput { public: /// Constructor /// \param ostream stream to be used for writing /// ostream parameter to be passed by non-const reference on purpose. explicit StreamOutput(std::ostream& ostream); //NOLINT /// Writes a message to the stream. /// \param message Message to be written to the stream /// \return True on success bool writeMessage(const std::string& message) override; private: std::ostream& m_stream; boost::mutex m_mutex; }; }; // namespace Framework }; // namespace SurgSim #endif // SURGSIM_FRAMEWORK_LOGOUTPUT_H opensurgsim-0.7.0/SurgSim/Framework/Logger.cpp000066400000000000000000000021151277777236100213640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Logger.h" namespace SurgSim { namespace Framework { Logger::Logger(const std::string& name, std::shared_ptr output) : m_threshold(LOG_LEVEL_DEBUG), // include all logging levels m_name(name), m_output(output) { } std::shared_ptr Logger::getLoggerManager() { static std::shared_ptr loggerManager = std::make_shared(); return loggerManager; } } } opensurgsim-0.7.0/SurgSim/Framework/Logger.h000066400000000000000000000073571277777236100210460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_LOGGER_H #define SURGSIM_FRAMEWORK_LOGGER_H #include "SurgSim/Framework/LoggerManager.h" #include "SurgSim/Framework/LogOutput.h" #include #include namespace SurgSim { namespace Framework { /// \addtogroup loggingAPI /// @{ /// Logging levels. /// Please note that most logging macros take an abbreviated version of these enumerations, without the leading /// \c LOG_LEVEL_, i.e. one of \c DEBUG, \c INFO, \c WARNING, \c SEVERE or \c CRITICAL . enum LogLevel { /// Use at your discretion. LOG_LEVEL_DEBUG, /// Informational, notify of state changes. LOG_LEVEL_INFO, /// Something failed, but the impact of the failure is not know or minimal (e.g. purely visual). LOG_LEVEL_WARNING, /// Something failed and will impact functionality, some parts of the program will not function correctly. LOG_LEVEL_SEVERE, /// Used by assertion, after using this level the program will not be functional at all. LOG_LEVEL_CRITICAL }; /// An object that can be used to control logging parameters, such as verbosity and log output destination. class Logger { public: friend class LoggerManager; /// Destructor. ~Logger() { } /// Uses the contained instance of LogOutput to write the log message /// \return true on success /// \param message the message to be printed bool writeMessage(const std::string& message) { return m_output->writeMessage(message); } /// Gets the logging threshold. /// Anything message with less than this level will be ignored. /// \return The threshold value. int getThreshold() const { return m_threshold; } /// Sets the logging threshold. /// Anything message with less than this level will be ignored. /// \param val The value to be used as the threshold. void setThreshold(int val) { m_threshold = val; } /// Gets the output object used by this logger. /// \return The current output object used this logger. std::shared_ptr getOutput() const { return m_output; } /// Sets the output object used by this logger. /// \param val The output object to be used. void setOutput(std::shared_ptr val) { m_output = val; } /// Gets this logger's name. /// \return The name. std::string getName( ) const { return m_name; } /// Get a logger by name from Logger Manager /// \return A logger with given name. static std::shared_ptr getLogger(const std::string& name) { return getLoggerManager()->getLogger(name); } /// Get default logger /// \return Default logger static std::shared_ptr getDefaultLogger() { return getLoggerManager()->getDefaultLogger(); } /// Get the logger manager /// \return Logger Manager that manages all loggers static std::shared_ptr getLoggerManager(); private: /// Constructor. /// \param name The name used for this logger. /// \param output The LogOutput instance used to display or log the data. Logger(const std::string& name, std::shared_ptr output); int m_threshold; std::string m_name; std::shared_ptr m_output; }; /// @} }; // namespace Framework }; // namespace SurgSim #endif // SURGSIM_FRAMEWORK_LOGGER_H opensurgsim-0.7.0/SurgSim/Framework/LoggerManager.cpp000066400000000000000000000052201277777236100226570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Logger.h" #include "SurgSim/Framework/LogOutput.h" #include "SurgSim/Framework/LoggerManager.h" #include #include #include namespace SurgSim { namespace Framework { LoggerManager::LoggerManager(): m_loggers(), m_defaultOutput(std::make_shared(std::cerr)), m_globalThreshold(LOG_LEVEL_WARNING), m_mutex() { } LoggerManager::~LoggerManager() { } void LoggerManager::setDefaultOutput(std::shared_ptr output) { m_defaultOutput = output; } std::shared_ptr LoggerManager::getDefaultOutput() const { return m_defaultOutput; } void LoggerManager::setThreshold(int threshold) { { boost::lock_guard lock(m_mutex); m_globalThreshold = threshold; } setThreshold("", threshold); } void LoggerManager::setThreshold(const std::string& path, int threshold) { boost::lock_guard lock(m_mutex); m_thresholds.push_back(std::make_pair(path, threshold)); for (auto it = m_loggers.cbegin(); it != m_loggers.cend(); ++it) { if (boost::istarts_with(it->first, path)) { if (it->second != nullptr) { it->second->setThreshold(threshold); } } } } int LoggerManager::getThreshold() const { return m_globalThreshold; } std::shared_ptr LoggerManager::getLogger(const std::string& name) { boost::lock_guard lock(m_mutex); auto it = m_loggers.find(name); std::shared_ptr result; if (it != m_loggers.end() && (it->second != nullptr)) { result = it->second; } else { result = std::make_shared(Logger(name, m_defaultOutput)); result->setThreshold(m_globalThreshold); for (const auto& subgroupThreshold : m_thresholds) { if (boost::istarts_with(name, subgroupThreshold.first)) { result->setThreshold(subgroupThreshold.second); } } m_loggers[name] = result; } return result; } std::shared_ptr LoggerManager::getDefaultLogger() { return getLogger("default"); } }; // Framework }; // SurgSim opensurgsim-0.7.0/SurgSim/Framework/LoggerManager.h000066400000000000000000000054721277777236100223350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_LOGGERMANAGER_H #define SURGSIM_FRAMEWORK_LOGGERMANAGER_H #include #include #include namespace SurgSim { namespace Framework { class Logger; class LogOutput; /// Class to safely handle access to a group of loggers, manipulate the global /// logging threshold, and fetch logger(s) from a global pool class LoggerManager { public: /// Constructor LoggerManager(); /// Destructor ~LoggerManager(); /// Sets/Changes default output. /// \param output The output class to be used. void setDefaultOutput(std::shared_ptr output); /// Return the default output std::shared_ptr getDefaultOutput() const; /// Gets the default logger /// \return The default logger. std::shared_ptr getDefaultLogger(); /// Gets a logger with a given name, creates a new one if none exists or the logger /// has been deallocated. /// \param name The name. /// \return The logger. std::shared_ptr getLogger(const std::string& name); /// Sets a threshold for all loggers. /// \param threshold The threshold. void setThreshold(int threshold); /// Sets a threshold for a subgroup of loggers, the group is chosen by finding all loggers /// whose pathname starts with the same string as the pathname given. /// \param path Full pathname of the file. /// \param threshold The threshold to use for these loggers. void setThreshold(const std::string& path, int threshold); /// Return the threshold used by all loggers /// \return Threshold used by all the loggers. int getThreshold() const; private: /// Keep track of all the loggers std::unordered_map> m_loggers; /// Keep track of subgroup thresholds. std::vector> m_thresholds; /// Use for default output of the logger std::shared_ptr m_defaultOutput; /// Threshold used by all loggers int m_globalThreshold; boost::mutex m_mutex; // Aug 13, 2013 // VS2012 does not support "delete" now LoggerManager(const LoggerManager&); LoggerManager& operator=(const LoggerManager&); }; }; // Framework }; // SurgSim #endif //SURGSIM_FRAMEWORK_LOGGERMANAGER_H opensurgsim-0.7.0/SurgSim/Framework/Macros.h000066400000000000000000000034541277777236100210450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_MACROS_H #define SURGSIM_FRAMEWORK_MACROS_H /// Declare the class name of a class with the appropriate function header, /// do not use quotes #define SURGSIM_CLASSNAME(ClassName) \ virtual std::string getClassName() const {return #ClassName;} /// Macro to tell GCC this is a used variable, and not to optimize it out #ifdef __GNUC__ #define SURGSIM_USED_VARIABLE(x) x __attribute__((used)) #else #define SURGSIM_USED_VARIABLE(x) x #endif ///@{ /// Set of macros to create a unique name with a common basename #define SURGSIM_CONCATENATE_DETAIL(x, y) x##y #define SURGSIM_CONCATENATE(x, y) SURGSIM_CONCATENATE_DETAIL(x, y) #define SURGSIM_MAKE_UNIQUE(x) SURGSIM_CONCATENATE(x, __COUNTER__) ///@} /// \note HS-2013-dec-23 The gcc and msvc compilers seem to have different requirements when a template class /// needs to be passed template parameters in a specialization, that extend the original template interface /// gcc needs the template<> statement before the new template parameters, msvc does not like it at all. #ifdef _GNUC_ #define SURGSIM_DOUBLE_SPECIALIZATION template<> #else #define SURGSIM_DOUBLE_SPECIALIZATION #endif #endif opensurgsim-0.7.0/SurgSim/Framework/ObjectFactory-inl.h000066400000000000000000000060111277777236100231270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_OBJECTFACTORY_INL_H #define SURGSIM_FRAMEWORK_OBJECTFACTORY_INL_H #include "SurgSim/Framework/Assert.h" template template bool SurgSim::Framework::ObjectFactory::registerClass(const std::string& className) { boost::mutex::scoped_lock lock(m_mutex); bool result = false; if (m_constructors.find(className) == m_constructors.end()) { m_constructors[className] = boost::factory>(); result = true; }; return result; }; template std::shared_ptr SurgSim::Framework::ObjectFactory::create(const std::string& className) { boost::mutex::scoped_lock lock(m_mutex); auto it = m_constructors.find(className); if (it == m_constructors.end()) { SURGSIM_FAILURE() << "ObjectFactory does not know about class called " << className; // gcc complains if there is no return return nullptr; } return (it->second)(); }; template bool SurgSim::Framework::ObjectFactory::isRegistered(const std::string& className) const { boost::mutex::scoped_lock lock(m_mutex); auto it = m_constructors.find(className); return (it != m_constructors.end()); } template template bool SurgSim::Framework::ObjectFactory1::registerClass(const std::string& className) { boost::mutex::scoped_lock lock(m_mutex); bool result = false; if (m_constructors.find(className) == m_constructors.end()) { m_constructors[className] = boost::factory>(); result = true; }; return result; }; template std::shared_ptr SurgSim::Framework::ObjectFactory1::create( const std::string& className, const Parameter1& val) { boost::mutex::scoped_lock lock(m_mutex); auto it = m_constructors.find(className); if (it == m_constructors.end()) { SURGSIM_FAILURE() << "ObjectFactory does not know about class called " << className; // gcc complains if there is no return return nullptr; } return (it->second)(val); }; template bool SurgSim::Framework::ObjectFactory1::isRegistered(const std::string& className) const { boost::mutex::scoped_lock lock(m_mutex); auto it = m_constructors.find(className); return (it != m_constructors.end()); } #endif // SURGSIM_FRAMEWORK_OBJECTFACTORY_INL_Hopensurgsim-0.7.0/SurgSim/Framework/ObjectFactory.h000066400000000000000000000163741277777236100223640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_OBJECTFACTORY_H #define SURGSIM_FRAMEWORK_OBJECTFACTORY_H #include "SurgSim/Framework/Macros.h" #include #include #include #include #include namespace SurgSim { namespace Framework { /// An object factory, once a class is registered with the factory it can /// be used to create instances of registered classes. All the classes registered /// need to have a default constructor. /// \note The names used for registration and the actual c++ class names are independent /// the className parameter here is just an identifier for the class. /// \tparam Base the base class for all classes that can be registered with the factory. template class ObjectFactory { public: /// Register a class with the factory. /// \tparam T The specific type of the class to be registered. /// \param className The name of this class. /// \return true if the class was added, false if it already existed in the registry. template bool registerClass(const std::string& className); /// Create an instance of a class based on the specific class name. /// \param className The class name that was used to register the class. /// \return a shared pointer to the object of type className, fails with an /// assertion otherwise. std::shared_ptr create(const std::string& className); /// Check whether the class is registered in the factory. /// \param className Name of the class to check. /// \return true if the factory has a constructor for this class. bool isRegistered(const std::string& className) const; private: typedef boost::function()> Constructor; /// All the constructors. std::map m_constructors; /// Threadsafety for registration mutable boost::mutex m_mutex; }; /// An object factory, once a class is registered with the factory it can /// be used to create instances of registered classes. All the classes registered /// need to have a one parameter constructor, the type for that parameter can be /// passed as a template parameter. /// \note The names used for registration and the actual c++ class names are independent /// the className parameter here is just an identifier for the class. /// \tparam Base The base class for all classes that can be registered with the factory. /// \tparam Parameter1 The class for the constructor parameter. template class ObjectFactory1 { public: /// Register a class with the factory. /// \tparam T The specific type of the class to be registered. /// \param className The name of this class. /// \return true if the class was added, false if it already existed in the registry. template bool registerClass(const std::string& className); /// Create an instance of a class based on the specific class name, whose constructor takes 1 parameter. /// \param className The class name. /// \param val The value of the parameter. /// \return a shared pointer to the object of type className instantiated with the given parameter, /// fails with an assertion otherwise. std::shared_ptr create(const std::string& className, const Parameter1& val); /// Check whether the class is registered in the factory. /// \param className Name of the class to check. /// \return true if the factory has a constructor for this class bool isRegistered(const std::string& className) const; private: typedef boost::function(const Parameter1&)> Constructor; /// All the constructors. std::map m_constructors; /// Threadsafety for registration mutable boost::mutex m_mutex; }; /// CRTP Base class to implement Object Factory functionality on a base class, use this rather than writing /// your own functions to return the factory /// \tparam T base class of the generated objects template class FactoryBase { public: typedef ObjectFactory FactoryType; /// \return a reference to the factory static FactoryType& getFactory() { static FactoryType factory; return factory; } }; /// CRTP Base class to implement Object Factory functionality on a base class, use this rather than writing /// your own functions to return the factory /// \tparam T base class of the generated objects /// \tparam P constructor parameter for object generation template class FactoryBase1 { public: typedef ObjectFactory1 FactoryType; /// \return a reference to the factory static FactoryType& getFactory() { static FactoryType factory; return factory; } }; }; }; #include "SurgSim/Framework/ObjectFactory-inl.h" /// Register a class with a factory that is in a base class, DerivedClass has to be of type BaseClass. /// The assignment is used to enable the execution of registerClass during static initialization time. /// This macro should be put under the same namespace in which 'ClassName' is, to avoid symbol clashes. /// 'BaseClass' should be the full name of the base class with namespace prefix, /// 'DerivedClass' is 'ClassName' with namespace prefixes, /// and 'ClassName' is the name of the class without namespace prefix. #define SURGSIM_REGISTER(BaseClass, DerivedClass, ClassName) \ SURGSIM_USED_VARIABLE(bool SURGSIM_CONCATENATE(ClassName, Registered)) = \ BaseClass::getFactory().registerClass(#DerivedClass); /// Force compilation of the boolean symbol SURGSIM_CONCATENATE(ClassName, Registered) in SURGSIM_REGISTER macro, /// which in turn registers DerivedClass into BaseClass's ObjectFactory. /// After that, DerivedClass is linked to any code which includes its header. /// /// Boolean symbol SURGSIM_CONCATENATE(ClassName, Registered) in SURGSIM_REGISTER macro is exposed as an /// extern variable in DerivedClass's header, and is referenced to initialize the static global variable /// SURGSIM_CONCATENATE(ClassName, IsRegistered) in the header. /// /// This forces the compiler to include the definition of SURGSIM_CONCATENATE(ClassName, Registered) /// (defined most likely in the cpp file). /// The variable SURGSIM_CONCATENATE(ClassName, IsRegistered) will never be used, so the GCC warning is disabled. /// This macro should be put in the DerivedClass's header file, under the same namespace in which the DerivedClass is. /// 'ClassName' should be the name of the class without any prefix. #define SURGSIM_STATIC_REGISTRATION(ClassName) \ extern bool SURGSIM_CONCATENATE(ClassName, Registered); \ SURGSIM_USED_VARIABLE(static bool SURGSIM_CONCATENATE(ClassName, IsRegistered)) = \ SURGSIM_CONCATENATE(ClassName, Registered); #endif // SURGSIM_FRAMEWORK_OBJECTFACTORY_H opensurgsim-0.7.0/SurgSim/Framework/PoseComponent.cpp000066400000000000000000000030671277777236100227450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/PoseComponent.h" #include "SurgSim/Math/MathConvert.h" namespace SurgSim { namespace Framework { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Framework::PoseComponent, PoseComponent); PoseComponent::PoseComponent(const std::string& name) : Component(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(PoseComponent, SurgSim::Math::RigidTransform3d, Pose, getPose, setPose); } void PoseComponent::setPose(const SurgSim::Math::RigidTransform3d& pose) { m_pose = pose; } const SurgSim::Math::RigidTransform3d& PoseComponent::getPose() const { return m_pose; } std::shared_ptr PoseComponent::getPoseComponent() const { return nullptr; } std::shared_ptr PoseComponent::getPoseComponent() { return nullptr; } bool PoseComponent::doInitialize() { return true; } bool PoseComponent::doWakeUp() { return true; } }; // namespace Framework }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Framework/PoseComponent.h000066400000000000000000000043711277777236100224110ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_POSECOMPONENT_H #define SURGSIM_FRAMEWORK_POSECOMPONENT_H #include #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/Macros.h" #include "SurgSim/Math/RigidTransform.h" namespace SurgSim { namespace Framework { SURGSIM_STATIC_REGISTRATION(PoseComponent); /// The PoseComponent holds a pose. It is used to group Representations that /// share a common pose, in a SceneElement for example. class PoseComponent : public Component { public: /// Constructor /// \param name Name of the representation explicit PoseComponent(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Framework::PoseComponent); /// Set the Pose of the PoseComponent /// \param pose The pose in world coordinates void setPose(const SurgSim::Math::RigidTransform3d& pose); /// Get the pose of the PoseComponent /// \return The pose in world coordinates const SurgSim::Math::RigidTransform3d& getPose() const; protected: /// Get the PoseComponent for this component /// A PoseComponent cannot have a PoseComponent, so this will /// return nullptr. /// \return The PoseComponent std::shared_ptr getPoseComponent() override; /// Get the PoseComponent for this component, constant access /// A PoseComponent cannot have a PoseComponent, so this will /// return nullptr. /// \return The PoseComponent std::shared_ptr getPoseComponent() const override; private: bool doInitialize() override; bool doWakeUp() override; SurgSim::Math::RigidTransform3d m_pose; }; }; // namespace Framework }; // namespace SurgSim #endif // SURGSIM_FRAMEWORK_POSECOMPONENT_H opensurgsim-0.7.0/SurgSim/Framework/Representation.cpp000066400000000000000000000034331277777236100231530ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Representation.h" #include "SurgSim/Framework/PoseComponent.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Math/MathConvert.h" namespace SurgSim { namespace Framework { Representation::Representation(const std::string& m_name) : Component(m_name), m_localPose(Math::RigidTransform3d::Identity()) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(Representation, Math::RigidTransform3d, LocalPose, getLocalPose, setLocalPose); SURGSIM_ADD_RO_PROPERTY(Representation, Math::RigidTransform3d, Pose, getPose); } Representation::~Representation() { } bool Representation::doInitialize() { return true; } bool Representation::doWakeUp() { return true; } void Representation::setLocalPose(const SurgSim::Math::RigidTransform3d& pose) { m_localPose = pose; } SurgSim::Math::RigidTransform3d Representation::getPose() const { auto element = getSceneElement(); if (element != nullptr) { return element->getPose() * getLocalPose(); } else { return getLocalPose(); } } SurgSim::Math::RigidTransform3d Representation::getLocalPose() const { return m_localPose; } }; // namespace Framework }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Framework/Representation.h000066400000000000000000000041231277777236100226150ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_REPRESENTATION_H #define SURGSIM_FRAMEWORK_REPRESENTATION_H #include #include "SurgSim/Framework/Component.h" #include "SurgSim/Math/RigidTransform.h" namespace SurgSim { namespace Framework { /// Representations are manifestations of a SceneElement. For example, a /// SceneElement can be represented in graphics, physics, etc. Each of these /// representation will be derived from this class. class Representation : public Component { public: /// Constructor /// \param name Name of the representation explicit Representation(const std::string& name); /// Destructor virtual ~Representation(); /// Set the pose of the representation with respect to the Scene Element /// \param pose The pose to set the representation to virtual void setLocalPose(const SurgSim::Math::RigidTransform3d& pose); /// Get the pose of the representation with respect to the Scene Element /// \return The pose of this representation virtual SurgSim::Math::RigidTransform3d getLocalPose() const; /// Get the pose of the representation in world coordinates /// \return The pose of this representation virtual SurgSim::Math::RigidTransform3d getPose() const; private: /// Local Pose of the Representation with respect to the SceneElement SurgSim::Math::RigidTransform3d m_localPose; bool doInitialize() override; bool doWakeUp() override; }; }; // namespace Framework }; // namespace SurgSim #endif // SURGSIM_FRAMEWORK_REPRESENTATION_H opensurgsim-0.7.0/SurgSim/Framework/ReuseFactory.h000066400000000000000000000100601277777236100222230ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_REUSEFACTORY_H #define SURGSIM_FRAMEWORK_REUSEFACTORY_H #include #include namespace SurgSim { namespace Framework { /// Factory for acquiring new or unused existing instances of class T to reduce repeated deallocation and reallocation /// of objects with short lifespans. /// /// Example Usage: /// \code{.cpp} /// { /// // Create an instance of the factory to provide instances of MyObject. /// ReuseFactory factory; /// // Get an instance of MyObject. This instance will be allocated as no unused objects are available yet. /// std::shared_ptr myObject = factory.getInstance(); /// // Setup the provided object, as the state is not guaranteed to be initialized. /// myObject.set(...); /// } /// // When myObject goes out of scope, it will automatically be added back to the factory for reuse later. /// // This will return the previous, now unused, instance rather than allocating anew. /// std::shared_ptr myObject2 = factory.getInstance(); /// // Setup the provided object, as the state is not guaranteed to be initialized. /// myObject2.set(...); /// \endcode /// /// Limitations: /// - The class T must have a default constructor. /// - The state of returned objects are in no way reset, so the state will need to be setup after retrieving the /// instance from the factory. /// - Custom deleters for an instance of T cannot be specified, as a custom deleter is used to manage the unused /// objects. /// /// \tparam T Instances of this class are provided by this factory template class ReuseFactory { /// Custom Deleter is friended to manage unused objects rather than actually deleting them. friend class Deleter; public: /// Constructor. Initially no unused objects are available, so returned instances are new allocations. ReuseFactory() {} /// Destructor. Any remaining unused objects will be deleted. ~ReuseFactory() {} /// Get a new or previously deleted object of class T. /// \return Valid shared pointer to an object of class T std::shared_ptr getInstance() { std::shared_ptr object; if (m_unusedObjects.empty()) { object = std::shared_ptr(new T(), Deleter(this)); } else { object = std::shared_ptr(m_unusedObjects.top().release(), Deleter(this)); m_unusedObjects.pop(); } return object; } private: /// Custom deleter to keep unused objects for reuse, rather than actually deleting them. class Deleter { public: /// Constructor /// \param factory ReuseFactory with the collection of unused object for reuse. explicit Deleter(ReuseFactory* factory) : m_factory(factory) { } /// Deletion method, adds the object to the ReuseFactory's collection. /// \param unusedObject Object that is no longer referenced by any shared pointers void operator()(T* unusedObject) const { m_factory->addUnused(unusedObject); } private: /// ReuseFactory with the collection of unused objects for reuse. ReuseFactory* m_factory; }; /// Adds an object to the stack of unused objects. /// This should only be called from Deleter. /// \param unusedObject Object that is no longer referenced by any shared pointers void addUnused(T* unusedObject) { m_unusedObjects.push(std::unique_ptr(unusedObject)); } /// Stack of objects that are available for reuse. std::stack> m_unusedObjects; }; }; // namespace Framework }; // namespace SurgSim #endif // SURGSIM_FRAMEWORK_REUSEFACTORY_H opensurgsim-0.7.0/SurgSim/Framework/Runtime.cpp000066400000000000000000000300311277777236100215660ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Barrier.h" #include "SurgSim/Framework/ComponentManager.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/ThreadPool.h" #include "SurgSim/Framework/Timer.h" namespace SurgSim { namespace Framework { std::shared_ptr Runtime::m_applicationData; Runtime::Runtime() : m_isRunning(false), m_isPaused(false), m_isStopped(false) { initSearchPaths(""); } Runtime::Runtime(const std::string& configFilePath) : m_isRunning(false), m_isPaused(false), m_isStopped(false) { initSearchPaths(configFilePath); } Runtime::~Runtime() { // Kill all threads stop(); } void Runtime::addManager(std::shared_ptr manager) { SURGSIM_ASSERT(! m_isRunning) << "Cannot add a manager to the runtime once it is running"; if (manager != nullptr) { manager->setRuntime(getSharedPtr()); m_managers.push_back(manager); } } std::vector> Runtime::getManagers() const { std::vector> result(m_managers.size()); std::copy(m_managers.begin(), m_managers.end(), result.begin()); return result; } std::shared_ptr Runtime::getScene() { if (m_scene == nullptr) { m_scene = std::make_shared(getSharedPtr()); } return m_scene; } bool Runtime::addSceneElement(std::shared_ptr sceneElement) { // Before the runtime has been started, adding components will be handled via // preprocessSceneElements() if (m_isRunning) { addComponents(sceneElement->getComponents()); } return m_isRunning; } void Runtime::addComponents(const std::vector>& components) { auto componentsIt = std::begin(components); auto componentsEnd = std::end(components); for (; componentsIt != componentsEnd; ++componentsIt) { for (auto manager = std::begin(m_managers); manager != std::end(m_managers); ++manager) { if ((*componentsIt)->isInitialized()) { (*manager)->enqueueAddComponent(*componentsIt); } else { SURGSIM_LOG_WARNING(Logger::getLogger("Runtime")) << "Trying to add an uninitialized component."; } } } } bool Runtime::execute() { bool doExit = false; if (start()) { auto it = m_managers.cbegin(); while (!doExit) { // Watchdog, shut down all managers if one manager is done boost::this_thread::sleep(boost::posix_time::milliseconds(2000)); for (it = m_managers.cbegin(); it != m_managers.cend(); ++it) { if (!(*it)->isRunning()) { doExit = true; break; } } } stop(); } return true; } bool Runtime::start(bool paused) { auto logger = Logger::getDefaultLogger(); SURGSIM_ASSERT(m_isStopped == false) << "This runtime has already been stopped, it cannot be started again."; // Gather all the Components from the currently known SceneElements to add them // collectively. // HS-2013-dec-12 This construct cause a bug as this also gathers the elements to be processed // any sceneelements added after this call and before initialization is finished will get lost preprocessSceneElements(); m_isRunning = true; m_isPaused = paused; std::vector>::iterator it; m_barrier.reset(new Barrier(m_managers.size() + 1)); for (it = m_managers.begin(); it != m_managers.end(); ++it) { (*it)->start(m_barrier, m_isPaused); } // Wait for all the managers to initialize m_barrier->wait(true); SURGSIM_LOG_INFO(logger) << "All managers doInit() succeeded"; // Wait for all the managers to startup m_barrier->wait(true); SURGSIM_LOG_INFO(logger) << "All managers doStartup() succeeded"; // Wait for all the components to initialize() m_barrier->wait(true); SURGSIM_LOG_INFO(logger) << "All component initialize() succeeded"; // Wait for all the components to wakeUp() m_barrier->wait(true); SURGSIM_LOG_INFO(logger) << "All component wakeUp() succeeded"; SURGSIM_LOG_INFO(logger) << "Scene is initialized. All managers updating"; return true; } bool Runtime::stop() { if (m_isStopped == true) { return false; } if (isPaused()) { resume(); } m_isRunning = false; // Suspend updates on all threads std::vector>::iterator it; for (it = m_managers.begin(); it != m_managers.end(); ++it) { (*it)->setIdle(true); } // Give all threads time to run through update boost::this_thread::sleep(boost::posix_time::milliseconds(500)); // Now stop all threads for (it = m_managers.begin(); it != m_managers.end(); ++it) { SurgSim::Framework::Timer timer; timer.start(); (*it)->stop(); timer.endFrame(); SURGSIM_LOG_INFO(SurgSim::Framework::Logger::getDefaultLogger()) << "Killing : " << (*it)->getName() << " took " << timer.getCumulativeTime() << "s"; } m_isStopped = true; return true; } void Runtime::pause() { m_isPaused = true; for (auto it = std::begin(m_managers); it != std::end(m_managers); ++it) { (*it)->setSynchronous(true); } } void Runtime::resume() { if (isPaused()) { m_isPaused = false; for (auto it = std::begin(m_managers); it != std::end(m_managers); ++it) { (*it)->setSynchronous(false); } // HS-2014-feb-21 if there are threads that are not waiting this will hang, this can happen if the above call // to setSynchronous was made while the thread was executing code rather than waiting. // #threadsafety m_barrier->wait(true); } } void Runtime::step() { if (isPaused()) { m_barrier->wait(true); } } bool Runtime::isRunning() const { return m_isRunning; } bool Runtime::isPaused() const { return m_isPaused; } void Runtime::preprocessSceneElements() { // Collect all the Components std::vector> newComponents; auto sceneElements = getScene()->getSceneElements(); for (auto it = sceneElements.begin(); it != sceneElements.end(); ++it) { // Initialize should have been called by now, if the SceneElement is not initialized this means // initialization failed if ((*it)->isInitialized()) { std::vector> elementComponents = (*it)->getComponents(); newComponents.insert(newComponents.end(), elementComponents.begin(), elementComponents.end()); } } addComponents(newComponents); } std::shared_ptr Runtime::getSharedPtr() { std::shared_ptr result; try { result = shared_from_this(); } catch (const std::exception&) { SURGSIM_FAILURE() << "Runtime was not created as a shared_ptr"; } return result; } void Runtime::initSearchPaths(const std::string& configFilePath) { if (configFilePath == "") { std::vector paths; paths.push_back("."); m_applicationData = std::make_shared(paths); } else { m_applicationData = std::make_shared(configFilePath); } } std::shared_ptr Runtime::getApplicationData() { SURGSIM_ASSERT(nullptr != m_applicationData) << "Runtime::getApplicationData() should be called after the Runtime is created."; return m_applicationData; } std::shared_ptr Runtime::getThreadPool() { static auto threadPool = std::make_shared(); return threadPool; } void Runtime::addComponent(const std::shared_ptr& component) { if (m_isRunning) { for (auto it = std::begin(m_managers); it != std::end(m_managers); ++it) { (*it)->enqueueAddComponent(component); } } } void Runtime::removeComponent(const std::shared_ptr& component) { SURGSIM_ASSERT(component != nullptr) << "Trying to remove a nullptr !"; if (m_isRunning) { for (auto it = std::begin(m_managers); it != std::end(m_managers); ++it) { (*it)->enqueueRemoveComponent(component); } } } void Runtime::loadScene(const std::string& fileName) { YAML::Node node; boost::lock_guard lock(m_sceneHandling); if (tryLoadNode(fileName, &node)) { YAML::convert>::getRegistry().clear(); m_scene = std::make_shared(getSharedPtr()); m_scene->decode(node); } else { SURGSIM_FAILURE() << "Loading of the Scene failed."; } } void Runtime::addSceneElements(const std::string& fileName) { SURGSIM_LOG_DEBUG(Logger::getLogger("Runtime")) << "Adding scene elements from " << fileName; YAML::Node node; boost::lock_guard lock(m_sceneHandling); if (tryLoadNode(fileName, &node)) { std::vector> elements; if (tryConvertElements(fileName, node, &elements)) { getScene()->addSceneElements(elements); } } else { SURGSIM_FAILURE() << "Could not add scene elements from the YAML file: " << fileName; } SURGSIM_LOG_DEBUG(Logger::getLogger("Runtime")) << "Done adding scene elements from " << fileName; } std::vector> Runtime::duplicateSceneElements(const std::string& fileName) { YAML::Node node; YAML::convert>::RegistryType registry; std::vector> result; boost::lock_guard lock(m_sceneHandling); // Use a temporary registry std::swap(YAML::convert>::getRegistry(), registry); bool success = false; if (tryLoadNode(fileName, &node) && tryConvertElements(fileName, node, &result)) { success = true; } // restore the original registry std::swap(YAML::convert>::getRegistry(), registry); if (!success) { SURGSIM_FAILURE() << "Could not clone from the YAML file: " << fileName; } return result; } bool tryLoadNode(const std::string& fileName, YAML::Node* node) { bool result = false; std::string path; SURGSIM_ASSERT(node != nullptr) << "Can't load node into nullptr."; if (Runtime::getApplicationData()->tryFindFile(fileName, &path)) { try { *node = YAML::LoadFile(path); result = true; } catch (YAML::ParserException e) { SURGSIM_LOG_SEVERE(Logger::getLogger("Runtime")) << "Could not parse YAML File at " << path << " due to " << e.msg << " at line " << e.mark.line << " column " << e.mark.column; } } else { SURGSIM_LOG_SEVERE(Logger::getLogger("Runtime")) << "Could not find file " << fileName; } return result; } bool Runtime::tryConvertElements(const std::string& filename, const YAML::Node& node, std::vector>* elements) { bool result = false; if (node.IsSequence()) { try { *elements = node.as>>(); result = true; } catch (YAML::Exception e) { SURGSIM_LOG_SEVERE(Logger::getLogger("Runtime")) << "File " << filename << " YAML conversion failed with exception: " + e.msg; } catch (SurgSim::Framework::AssertionFailure e) { SURGSIM_LOG_CRITICAL(Logger::getLogger("Runtime")) << "File " << filename << " conversion failed."; throw e; } } else { SURGSIM_LOG_SEVERE(Logger::getLogger("Runtime")) << "File " << filename << " not a YAML sequence, can't load scene elements."; } return result; } void Runtime::saveScene(const std::string& fileName) const { std::ofstream out(fileName); if (out.good()) { out << m_scene->encode(); } else { SURGSIM_LOG_WARNING(Logger::getLogger("Runtime")) << "Failed to open " << fileName << ". Cannot save the scene."; } } }; // namespace Framework }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Framework/Runtime.h000066400000000000000000000211341277777236100212370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_RUNTIME_H #define SURGSIM_FRAMEWORK_RUNTIME_H #include #include #include #include #include namespace YAML { class Node; } namespace SurgSim { namespace Framework { class ApplicationData; class Barrier; class ComponentManager; class Component; class Logger; class Scene; class SceneElement; class ThreadPool; /// This class contains all the information about the runtime environment of /// the simulation, all the running threads, the state, while it is de facto a /// singleton it should be passed around if needed. Needs to be created as a /// shared object. class Runtime : public std::enable_shared_from_this { public: /// Default constructor. Runtime(); /// Constructor, initializes the search path with paths from the given file. /// \param configFilePath Full pathname of the configuration file that contains paths, /// one per line, to search for application data. If no config file /// is given "." will be used as default path. explicit Runtime(const std::string& configFilePath); /// Destructor. ~Runtime(); /// Add a worker thread, this should probably only be possible if the system is not running void addManager(std::shared_ptr thread); /// \return All the managers from the runtime std::vector> getManagers() const; /// \return The first manager of type T that is found nullptr otherwise template std::shared_ptr getManager() const; /// \return The scene to be used for this runtime. Use this for any kind of scene manipulation. std::shared_ptr getScene(); /// \returns The current scene std::shared_ptr getScene() const; /// Adds a scene element /// \param sceneElement The scene element. /// \return true if it succeeds, false if it fails. bool addSceneElement(std::shared_ptr sceneElement); /// Start all the threads and block until one of them quits bool execute(); /// Start all the threads non returns after the startup as succeeded /// \return true if it succeeds, false if it fails. bool start(bool paused = false); /// Pause all managers, this will set all managers to synchronous execution, they will all complete /// their updates and then wait for step() to proceed, call resume to go back to uninterupted execution. /// \note HS-2013-nov-01 this is mostly to be used as a facillity for testing and debugging, the threads /// are not executed at the correct rates against each other, this is an issue that can be resolved /// but is not necessary right now. void pause(); /// Resume from pause, causes all managers to resume normal processing /// \warning This function is not thread safe, if stop is called when there are threads that are not waiting, /// this call will hang indefinitely. void resume(); /// Make all managers execute 1 update loop, afterwards they will wait for another step() call or resume() void step(); /// Stops the simulation. /// The call will wait for all the threads to finish, except for any threads that have been detached. /// \warning This function is not thread safe, if stop is called when there are threads that are not waiting, /// this call will hang indefinitely. /// \return true if it succeeds, false if it fails. bool stop(); /// Query if this object is running. /// \return true if running, false if not. bool isRunning() const; /// Query if this object is paused. /// \return true if paused, false if not. bool isPaused() const; /// Gets application data for the runtime. /// \return The application data. static std::shared_ptr getApplicationData(); /// Gets the thread pool for the runtime. /// \return The thread pool. static std::shared_ptr getThreadPool(); /// Adds a component. /// \param component The component. void addComponent(const std::shared_ptr& component); /// Removes the component described by component. /// \param component The component. void removeComponent(const std::shared_ptr& component); /// Loads the scene from the given file, clears all the elements in the scene, the old scene will be /// overwritten. /// \param fileName the filename of the scene to be loaded, needs to be found /// \throws If the file cannot be found or is an invalid YAML file void loadScene(const std::string& fileName); /// Adds the scene elements from the file to the current scene /// The file format should be just a list of sceneElements /// \code /// - SurgSim::Framework::BasicSceneElement: /// Name: element1 /// IsActive: true /// Components: /// - MockComponent: /// Name: component1 /// Id: 792faa40-459b-40cf-981d-560a8f2bd1801 /// - SurgSim::Framework::BasicSceneElement: /// Name: element2 /// IsActive: true /// Components: /// - MockComponent: /// Name: component2 /// Id: 1de26315-82a7-46b2-ae38-324d25009629 /// \endcode /// \param fileName the filename of the scene to be loaded, needs to be found /// \throws If the file cannot be found or is an invalid file void addSceneElements(const std::string& fileName); /// Loads and duplicates the scene elements from the file, the elements will not have common ids /// with any other cloned elements, this lets you repeatedly load a set of elements to replicate this /// set. The format is a list of scene elements \sa addSceneElements(). /// \param fileName the filename of the scene to be loaded, needs to be found /// \throws if loading failed /// \return a vector of scene elements with the loaded elements std::vector> duplicateSceneElements(const std::string& fileName); /// Write out the whole scene as a file /// \param fileName the name of the scene-file if no path is given, uses the current path of the executable void saveScene(const std::string& fileName) const; private: /// Preprocess scene elements. This is called during the startup sequence /// and installs all the Components of the SceneElements in the worker threads void preprocessSceneElements(); /// Adds the components. /// \param components The components. /// \return true if it succeeds, false if it fails. void addComponents(const std::vector>& components); /// Initializes the search paths. /// \param configFilePath Full pathname of the configuration file, if path is empty /// "." will be used as default path. void initSearchPaths(const std::string& configFilePath); /// Convert nodes to vector of elements /// \param fileName the original filename for error reporting /// \param node the node to be converted /// \param [out] elements the pointer for the results /// \return true if the conversion was successful bool tryConvertElements(const std::string& fileName, const YAML::Node& node, std::vector>* elements); /// Gets a shared pointer to the runtime. /// \return The shared pointer. std::shared_ptr getSharedPtr(); bool m_isRunning; std::vector> m_managers; std::shared_ptr m_scene; static std::shared_ptr m_applicationData; boost::mutex m_sceneHandling; std::shared_ptr m_barrier; bool m_isPaused; bool m_isStopped; }; template std::shared_ptr SurgSim::Framework::Runtime::getManager() const { std::shared_ptr result; for (auto& manager : m_managers) { result = std::dynamic_pointer_cast(manager); if (result != nullptr) { return result; } } return result; } /// Perform a YAML load operation /// \param fileName the filename of the scene to be loaded, needs to be found /// \param [out] node pointer to the nodes structure to receive the newly loaded nodes /// \return true if the loading succeeded bool tryLoadNode(const std::string& fileName, YAML::Node* node); }; // namespace Framework }; // namespace SurgSim #endif // SURGSIM_FRAMEWORK_RUNTIME_H opensurgsim-0.7.0/SurgSim/Framework/SamplingMetricBase.cpp000066400000000000000000000057511277777236100236670ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SamplingMetricBase.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/Accessible.h" namespace SurgSim { namespace Framework { SamplingMetricBase::SamplingMetricBase(const std::string& name) : SurgSim::Framework::Behavior(name), m_logger(SurgSim::Framework::Logger::getLogger(name)), m_targetManagerType(SurgSim::Framework::MANAGER_TYPE_BEHAVIOR), m_elapsedTime(0.0), m_maxNumberOfMeasurements(54000) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(SurgSim::Framework::SamplingMetricBase, size_t, MaxNumberOfMeasurements, getMaxNumberOfMeasurements, setMaxNumberOfMeasurements); SURGSIM_ADD_SERIALIZABLE_PROPERTY(SurgSim::Framework::SamplingMetricBase, int, TargetManagerType, getTargetManagerType, setTargetManagerType); } bool SamplingMetricBase::doWakeUp() { return true; } bool SamplingMetricBase::doInitialize() { m_elapsedTime = 0.0; m_measurementValues.clear(); return true; } bool SamplingMetricBase::canMeasure(double dt) { return true; } SamplingMetricBase::MeasurementsType SamplingMetricBase::getMeasurementValues() { return m_measurementValues; } int SamplingMetricBase::getTargetManagerType() const { return m_targetManagerType; } void SamplingMetricBase::setTargetManagerType(int targetManagerType) { m_targetManagerType = targetManagerType; } void SamplingMetricBase::setMaxNumberOfMeasurements(size_t maxNumberOfMeasurements) { m_maxNumberOfMeasurements = (maxNumberOfMeasurements > 0) ? maxNumberOfMeasurements : 1; if (m_measurementValues.size() > m_maxNumberOfMeasurements) { m_measurementValues.erase(std::begin(m_measurementValues), std::begin(m_measurementValues) + m_measurementValues.size() - m_maxNumberOfMeasurements); } } size_t SamplingMetricBase::getMaxNumberOfMeasurements() const { return m_maxNumberOfMeasurements; } size_t SamplingMetricBase::getCurrentNumberOfMeasurements() const { return m_measurementValues.size(); } double SamplingMetricBase::getElapsedTime() const { return m_elapsedTime; } void SamplingMetricBase::update(double dt) { m_elapsedTime += dt; if (canMeasure(dt)) { MeasurementEntryType newEntry; newEntry.first = m_elapsedTime; newEntry.second = performMeasurement(dt); m_measurementValues.push_back(newEntry); if (m_measurementValues.size() > m_maxNumberOfMeasurements) { m_measurementValues.pop_front(); } } } } } opensurgsim-0.7.0/SurgSim/Framework/SamplingMetricBase.h000066400000000000000000000114601277777236100233260ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_SAMPLINGMETRICBASE_H #define SURGSIM_FRAMEWORK_SAMPLINGMETRICBASE_H #include #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Framework/ObjectFactory.h" namespace SurgSim { namespace Framework { class Logger; }; }; namespace SurgSim { namespace Framework { /// SamplingMetricBase provides a base class to support metric development. New /// metrics should derive from the base class and redefine canMeasure() and /// takeMeasurement() ensure the system is ready to be measured and to perform /// the measurement respectively. /// /// The nominal setting provides for 30 minutes of continuous sampling at 30 hertz. /// After that time, old measurements will be discarded as new measurements are made /// so as to stay within the same memory footprint. class SamplingMetricBase : public SurgSim::Framework::Behavior { public: /// Constructor for the class. /// \param name is the name given to the behavior. explicit SamplingMetricBase(const std::string& name); /// Type of the individual entries in the measurement data structure. The first field of the /// pair holds the elapsed simulation time (accumulation of the dt value) since the last successful /// measurement and the second field of the pair holds the measurement value obtained at that time. typedef std::pair MeasurementEntryType; /// Type of the cumulative entries data structure. The code current caps the number of entries at a /// user prescribed value to keep from overwriting all of memory when the process is allowed to run /// unchecked over long periods. The maximum number of entries is nominally capped at 30 minutes of samples /// taken 30 times per second, but it can be adjusted using he setMaxNumberOfMeasurements call. Note /// that the last measurements taken are always saved. After the limit is reached the oldest entry is /// discarded to make room for the new measurement. typedef std::deque MeasurementsType; void update(double dt) override; /// Set the desired manager type for this metric. Given the potential tight coupling of the /// and the various other behaviors, this will provide us with the flexibility to choose /// the appropriate manager for the task. /// \param targetManagerType is the manager type to be used for managing this metric void setTargetManagerType(int targetManagerType); int getTargetManagerType() const override; /// Set the maximum number of measurements to store. void setMaxNumberOfMeasurements(size_t numberOfMeasurements); /// \return Maximum number of measurements to be stored. size_t getMaxNumberOfMeasurements() const; /// \return Number of measurements currently stored (not the maximum number of measurements). size_t getCurrentNumberOfMeasurements() const; /// Get the amount of time since the last successful measurement reading based on the /// accumulation of successive dt values. /// \return the elapsed time double getElapsedTime() const; /// Return the measurement values obtained for this measurement. virtual MeasurementsType getMeasurementValues(); protected: bool doWakeUp() override; bool doInitialize() override; /// Determine if it is appropriate to take a measurement. /// \param dt is the elapsed time since the last call to update. /// \return if it is currently valid to calculate the next measurement value. /// \note Be careful with threading when implementing this call. Anything referenced both /// here and in performMeasurement() must be safe. virtual bool canMeasure(double dt); /// Obtain the measurement. /// \param dt is the elapsed time since the last call to update. /// \return the next measurement value. This method should be overwritten to provide the /// various measurements for the simulation. /// \note Be careful with threading when implementing this call. Anything referenced both /// here and in canMeasure() must be safe. virtual double performMeasurement(double dt) = 0; std::shared_ptr m_logger; private: /// measurement list MeasurementsType m_measurementValues; int m_targetManagerType; double m_elapsedTime; size_t m_maxNumberOfMeasurements; }; }; }; #endif // SURGSIM_FRAMEWORK_SAMPLINGMETRICBASE_H opensurgsim-0.7.0/SurgSim/Framework/Scene.cpp000066400000000000000000000111551277777236100212060ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest LLC. // // 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 // // 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 "SurgSim/Framework/Scene.h" #include #include #include #include #include #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/SceneElement.h" namespace SurgSim { namespace Framework { Scene::Scene(std::weak_ptr runtime) : m_runtime(runtime), m_logger(Framework::Logger::getLogger("Framework/Scene")) { SURGSIM_ASSERT(!m_runtime.expired()) << "Can't create scene with empty runtime."; } Scene::~Scene() { } void Scene::addSceneElement(std::shared_ptr element) { auto runtime = getRuntime(); SURGSIM_ASSERT(runtime) << "Runtime pointer is expired, cannot add SceneElement to Scene."; std::string name = element->getName(); element->setScene(getSharedPtr()); element->setRuntime(runtime); if (element->initialize()) { { boost::lock_guard lock(m_sceneElementsMutex); m_elements.push_back(element); m_groups.add(element->getGroups(), element); } runtime->addSceneElement(element); } } void Scene::removeSceneElement(std::shared_ptr element) { element->setActive(false); element->removeComponents(); boost::lock_guard lock(m_sceneElementsMutex); auto found = std::find(m_elements.begin(), m_elements.end(), element); if (found != m_elements.end()) { m_elements.erase(found); } else { SURGSIM_LOG_WARNING(m_logger) << "Could not find element '" << element->getName() << "' in Scene, unable to remove"; } } void Scene::addSceneElements(std::vector> elements) { for (auto element : elements) { addSceneElement(element); } } std::shared_ptr Scene::getRuntime() { return m_runtime.lock(); } const std::vector >& Scene::getSceneElements() const { return m_elements; } const std::shared_ptr Scene::getSceneElement(const std::string& name) const { std::shared_ptr result = nullptr; for (auto it = std::begin(m_elements); it != std::end(m_elements); ++it) { if ((*it)->getName() == name) { result = *it; break; } } return result; } std::shared_ptr Scene::getSharedPtr() { std::shared_ptr result; try { result = shared_from_this(); } catch (const std::exception&) { SURGSIM_FAILURE() << "Scene was not created as a shared_ptr"; } return result; } YAML::Node Scene::encode() const { YAML::Node result(YAML::NodeType::Map); YAML::Node data(YAML::NodeType::Map); for (auto sceneElement = m_elements.begin(); sceneElement != m_elements.end(); ++sceneElement) { data["SceneElements"].push_back(*(*sceneElement)); } result["SurgSim::Framework::Scene"] = data; return result; } bool Scene::decode(const YAML::Node& node) { bool result = false; if (node.IsMap()) { YAML::Node data = node["SurgSim::Framework::Scene"]; if (data["SceneElements"].IsDefined()) { auto sceneElements = data["SceneElements"].as>>(); std::for_each(sceneElements.begin(), sceneElements.end(), [&](std::shared_ptr element) { addSceneElement(element); }); } result = true; } return result; } SurgSim::DataStructures::Groups>& Scene::getGroups() { return m_groups; } std::shared_ptr Scene::getComponent(const std::string& elementName, const std::string& componentName) const { std::shared_ptr result; auto element = getSceneElement(elementName); if (element != nullptr) { result = element->getComponent(componentName); if (result == nullptr) { SURGSIM_LOG_INFO(m_logger) << "Could not find component '" << componentName << "' in Element '" << elementName << "'."; } } else { SURGSIM_LOG_INFO(m_logger) << "Could not find element '" << elementName << "'."; } return result; } }; // namespace Framework }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Framework/Scene.h000066400000000000000000000071621277777236100206560ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_SCENE_H #define SURGSIM_FRAMEWORK_SCENE_H #include #include #include #include #include "SurgSim/DataStructures/Groups.h" #include "SurgSim/Framework/SceneElement.h" namespace YAML { class Node; } namespace SurgSim { namespace Framework { class Logger; class Runtime; /// Scene. Basic Container for SceneElements class Scene : public std::enable_shared_from_this { public: /// Constructor. /// \param runtime The runtime to be used. explicit Scene(std::weak_ptr runtime); /// Destructor ~Scene(); /// Adds a scene element to the Scene, the SceneElement will have its initialize() function called. /// \param element The element. void addSceneElement(std::shared_ptr element); /// Removes a scene element from the Scene /// \param element The element. void removeSceneElement(std::shared_ptr element); /// Invokes addSceneElement() for each element in the list. /// \param elements the list of elements to be added. void addSceneElements(std::vector> elements); /// Gets all the scene elements in the scene. /// \return The scene elements. const std::vector>& getSceneElements() const; /// Retrieve a SceneElement for this scene with the given name. /// \return A SceneElement with given name; Empty share_ptr<> will be returned if no such SceneElement found. const std::shared_ptr getSceneElement(const std::string& name) const; /// Look through the scene to find a component of a named element /// \param elementName The name of the element to find /// \param componentName The name of the component to find /// \return the component that was found, nullptr if no component was found std::shared_ptr getComponent(const std::string& elementName, const std::string& componentName) const; /// Gets the runtime. /// \return runtime The runtime for this scene. std::shared_ptr getRuntime(); /// Convert to a YAML::Node /// \return A node with all the public data of this instance YAML::Node encode() const; /// Pull data from a YAML::Node. /// \param node the node to decode. /// \return true if the decoding succeeded and the node was formatted correctly, false otherwise bool decode(const YAML::Node& node); /// \return the groups of the scene SurgSim::DataStructures::Groups>& getGroups(); private: /// Get a shared pointer to Scene. /// \return The shared pointer. std::shared_ptr getSharedPtr(); std::weak_ptr m_runtime; std::vector> m_elements; // Used in a const function, need to declare mutable mutable boost::mutex m_sceneElementsMutex; SurgSim::DataStructures::Groups> m_groups; std::shared_ptr m_logger; }; }; // namespace Framework }; // namespace SurgSim #endif // SURGSIM_FRAMEWORK_SCENE_H opensurgsim-0.7.0/SurgSim/Framework/SceneElement-inl.h000066400000000000000000000041051277777236100227420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_SCENEELEMENT_INL_H #define SURGSIM_FRAMEWORK_SCENEELEMENT_INL_H #include "SurgSim/Framework/Component.h" namespace SurgSim { namespace Framework { /// Implementation of getComponents method to get all the components with type T /// \return The type T components template std::vector> SceneElement::getComponents() const { std::vector> result; for (auto componentIt = m_components.begin(); componentIt != m_components.end(); ++componentIt) { std::shared_ptr typedElement = std::dynamic_pointer_cast(componentIt->second); if (typedElement) { result.emplace_back(std::move(typedElement)); } } return result; } template T SceneElement::getValue(const std::string& component, const std::string& property) const { auto found = m_components.find(component); SURGSIM_ASSERT(found != m_components.end()) << "Component named " << component << " not found in SceneElement named " << getName() << ". Cannot get " << property << " property."; return found->second->getValue(property); } template bool SceneElement::getValue(const std::string& component, const std::string& property, T* value) const { bool result = false; auto found = m_components.find(component); if (found != m_components.end()) { result = found->second->getValue(property, value); } return result; } }; // namespace Framework }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Framework/SceneElement.cpp000066400000000000000000000241651277777236100225250ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest LLC. // // 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 // // 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 "SurgSim/Framework/SceneElement.h" #include #include "SurgSim/DataStructures/DataStructuresConvert.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/PoseComponent.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" namespace SurgSim { namespace Framework { SceneElement::SceneElement(const std::string& name) : m_name(name), m_isInitialized(false), m_isActive(true) { m_pose = std::make_shared("Pose"); m_pose->setPose(Math::RigidTransform3d::Identity()); m_components[m_pose->getName()] = m_pose; } SceneElement::~SceneElement() { } bool SceneElement::addComponent(std::shared_ptr component) { SURGSIM_ASSERT(nullptr != component) << "Cannot add a nullptr as a component"; bool result = false; if (m_components.find(component->getName()) == m_components.end()) { result = true; if (isInitialized()) { auto runtime = getRuntime(); SURGSIM_ASSERT(nullptr != runtime) << "Runtime cannot be expired when adding a component " << getName(); result = initializeComponent(component); if (result) { runtime->addComponent(component); } } if (result) { try { // This will except if called during constructor // the this will be set in initialize() component->setSceneElement(shared_from_this()); } catch (std::exception) { // intentionally empty } m_components[component->getName()] = component; } } else { SURGSIM_LOG_WARNING(Logger::getLogger("runtime")) << "Component with name " << component->getName() << " already exists on SceneElement " << getName() << ", did not add component"; } return result; } bool SceneElement::removeComponent(std::shared_ptr component) { return removeComponent(component->getName()); } bool SceneElement::removeComponent(const std::string& name) { bool result = false; auto found = m_components.find(name); if (found != m_components.end()) { if (isInitialized()) { auto runtime = getRuntime(); SURGSIM_ASSERT(nullptr != runtime) << "Runtime cannot be expired when removing a component " << getName(); found->second->setLocalActive(false); runtime->removeComponent(found->second); } size_t count = m_components.erase(name); result = (count == 1); } return result; } void SceneElement::removeComponents() { if (!m_components.empty()) { auto runtime = getRuntime(); SURGSIM_ASSERT(runtime) << "Runtime cannot be expired when removing components from " << getName(); for (auto it = std::begin(m_components); it != std::end(m_components); ++it) { it->second->setLocalActive(false); runtime->removeComponent(it->second); } m_components.clear(); } } std::shared_ptr SceneElement::getComponent(const std::string& name) const { std::shared_ptr result; auto findResult = m_components.find(name); if (findResult != m_components.end()) { result = findResult->second; } return result; } bool SceneElement::initialize() { SURGSIM_ASSERT(!m_isInitialized) << "Double initialization calls on SceneElement " << m_name; m_isInitialized = doInitialize(); // If it did not happen in addComponent do it here m_pose->setSceneElement(getSharedPtr()); if (m_isInitialized) { // initialize all components for (auto pair = std::begin(m_components); m_isInitialized && pair != std::end(m_components); ++pair) { m_isInitialized = initializeComponent(pair->second); } } return m_isInitialized; } bool SceneElement::initializeComponent(std::shared_ptr component) { component->setSceneElement(getSharedPtr()); component->setScene(m_scene); return component->initialize(getRuntime()); } std::string SceneElement::getName() const { return m_name; } void SceneElement::setPose(const SurgSim::Math::RigidTransform3d& pose) { m_pose->setPose(pose); } const SurgSim::Math::RigidTransform3d& SceneElement::getPose() const { return m_pose->getPose(); } std::shared_ptr SceneElement::getPoseComponent() { return m_pose; } std::vector> SceneElement::getComponents() const { std::vector> result(m_components.size()); auto componentIt = m_components.begin(); for (int i = 0; componentIt != m_components.end(); ++componentIt, ++i) { result[i] = componentIt->second; } return result; } boost::any SceneElement::getValue(const std::string& component, const std::string& property) const { auto found = m_components.find(component); SURGSIM_ASSERT(found != m_components.end()) << "Component named " << component << " not found in SceneElement named " << getName() << ". Cannot get " << property << " property."; return found->second->getValue(property); } void SceneElement::setValue(const std::string& component, const std::string& property, const boost::any& value) { auto found = m_components.find(component); SURGSIM_ASSERT(found != m_components.end()) << "Component named " << component << " not found in SceneElement named " << getName() << ". Cannot get " << property << " property."; found->second->setValue(property, value); } void SceneElement::setScene(std::weak_ptr scene) { m_scene = scene; for (auto it = std::begin(m_components); it != std::end(m_components); ++it) { (it->second)->setScene(scene); } } std::shared_ptr SceneElement::getScene() { return m_scene.lock(); } void SceneElement::setRuntime(std::weak_ptr runtime) { m_runtime = runtime; } std::shared_ptr SceneElement::getRuntime() { return m_runtime.lock(); } bool SceneElement::isInitialized() const { return m_isInitialized; } std::shared_ptr SceneElement::getSharedPtr() { std::shared_ptr result; try { result = shared_from_this(); } catch (const std::exception&) { SURGSIM_FAILURE() << "SceneElement was not created as a shared_ptr."; } return result; } void SceneElement::setName(const std::string& name) { m_name = name; } YAML::Node SceneElement::encode(bool standalone) const { YAML::Node data(YAML::NodeType::Map); data["Name"] = getName(); data["IsActive"] = isActive(); // Only encode groups when they are there, also encode them using the flow style i.e. with [] if (m_groups.size() > 0) { data["Groups"] = m_groups; data["Groups"].SetStyle(YAML::EmitterStyle::Flow); } for (auto component = std::begin(m_components); component != std::end(m_components); ++component) { if (standalone) { data["Components"].push_back(*component->second); } else { data["Components"].push_back(component->second); } } YAML::Node node(YAML::NodeType::Map); node[getClassName()] = data; return node; } bool SceneElement::decode(const YAML::Node& node) { SURGSIM_ASSERT(!isInitialized()) << "Should not call decode on a SceneElement that has already been initialized."; bool result = false; if (node.IsMap()) { std::string className = node.begin()->first.as(); SURGSIM_ASSERT(className == getClassName()) << "Type in node does not match class, wanted <" << className << ">" << " but this is a <" << getClassName() << ">."; YAML::Node data = node[getClassName()]; SURGSIM_ASSERT(data.IsDefined() && !data.IsNull()) << "Content of node is empty, for class " << className << ". This is probably an indentation issue."; if (data["Name"].IsScalar()) { m_name = data["Name"].as(); } if (data["IsActive"].IsDefined()) { m_isActive = data["IsActive"].as(); } if (data["Groups"].IsDefined()) { m_groups = data["Groups"].as>(); } if (data["Components"].IsSequence()) { for (auto nodeIt = data["Components"].begin(); nodeIt != data["Components"].end(); ++nodeIt) { if ("SurgSim::Framework::PoseComponent" == nodeIt->begin()->first.as()) { removeComponent(m_pose); m_pose = nodeIt->as>(); addComponent(m_pose); } else { try { addComponent(nodeIt->as>()); } catch (YAML::Exception e) { SURGSIM_FAILURE() << e.what() << "for " << std::endl << *nodeIt; } } } result = true; } } return result; } std::string SceneElement::getClassName() const { // SURGSIM_FAILURE() << "SceneElement is abstract, this should not be called."; return "SurgSim::Framework::SceneElement"; } void SceneElement::setActive(bool val) { m_isActive = val; } bool SceneElement::isActive() const { return m_isActive; } void SceneElement::addToGroup(const std::string& group) { m_groups.insert(group); if (isInitialized()) { getScene()->getGroups().add(group, getSharedPtr()); } } void SceneElement::removeFromGroup(const std::string& group) { m_groups.erase(group); if (isInitialized()) { getScene()->getGroups().remove(group, getSharedPtr()); } } void SceneElement::setGroups(const std::vector& groups) { if (isInitialized()) { auto& groupings = getScene()->getGroups(); groupings.remove(getSharedPtr()); groupings.add(groups, getSharedPtr()); } std::unordered_set temp(groups.cbegin(), groups.cend()); std::swap(m_groups, temp); } std::vector SceneElement::getGroups() const { return std::vector(m_groups.cbegin(), m_groups.cend()); } bool SceneElement::inGroup(const std::string& name) { auto groups = getGroups(); return (std::find(groups.begin(), groups.end(), name) != groups.end()); } }; // namespace Framework }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Framework/SceneElement.h000066400000000000000000000224351277777236100221700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_SCENEELEMENT_H #define SURGSIM_FRAMEWORK_SCENEELEMENT_H #include #include #include #include #include #include #include #include "SurgSim/Math/RigidTransform.h" namespace YAML { class Node; } namespace SurgSim { namespace Framework { class Component; class PoseComponent; class Scene; class Runtime; /// SceneElement is the basic part of a scene, it is a container of components. When a /// SceneElement is added to a Scene, the Scene will call initialize() on the SceneElement, /// which in turn will call initialize() on all its components. /// If a component is added to a SceneElement after the SceneElement was initialized, the component will /// be initialized immediately. /// \note A SceneElement needs to be created as a shared_ptr. class SceneElement : public std::enable_shared_from_this { public: /// Constructor /// \param name Name of this SceneElement explicit SceneElement(const std::string& name); /// Destructor virtual ~SceneElement(); /// \return the class name for this class virtual std::string getClassName() const; /// Adds a component, calls initialize() on the component, if SceneElement::isInitialized() is true /// \param component The component. /// \return true if it succeeds, false if it fails. bool addComponent(std::shared_ptr component); /// Removes a given component. /// \param component The component. /// \return true if it succeeds, false if it fails or the component cannot be found. bool removeComponent(std::shared_ptr component); /// Removes the component described by name. /// \param name The name. /// \return true if it succeeds, false if it fails or the component cannot be found. bool removeComponent(const std::string& name); /// Removes all components void removeComponents(); /// Gets the component identified by name. /// \param name The name. /// \return The component or nullptr if the component cannot be found. std::shared_ptr getComponent(const std::string& name) const; /// Gets all the components of this SceneElement. /// \return The components. std::vector> getComponents() const; /// Template version of getComponents method to get all the components with type T /// \return The type T components template std::vector> getComponents() const; /// Retrieves the property value from a component /// \throws SurgSim::Framework::AssertionFailure If the conversion fails or the property cannot be found. /// \tparam T The requested type for the property. /// \param component The name of the component. /// \param property The name of the property. /// \return The value of the property if found. template T getValue(const std::string& component, const std::string& property) const; /// Retrieves the property value from a component /// \throws SurgSim::Framework::AssertionFailure if the property cannot be found /// \param component The name of the component. /// \param property The name of the property. /// \return The value of the property if found. boost::any getValue(const std::string& component, const std::string& property) const; /// Retrieves the property value from a component, and convertis it to the /// type of the output parameter. This does not throw. /// \tparam T the type of the property /// \param component The name of the component. /// \param property The name of the property. /// \param [out] value If non-null, will receive the value of the given property. /// \return true if value != nullptr and the property is found. template bool getValue(const std::string& component, const std::string& property, T* value) const; /// Sets the property value of a component /// \throws SurgSim::Framework::AssertionFailure If the property cannot be found. /// \param component The name of the component. /// \param property The name of the property. /// \param value The value that it should be set to. void setValue(const std::string& component, const std::string& property, const boost::any& value); /// Add this scene element to the given group /// \param group name of the group void addToGroup(const std::string& group); /// Remove this scene element from the given group /// \param group name of the group void removeFromGroup(const std::string& group); /// Set the groups of this scene element /// \param groups all the groups that this scene element should be in void setGroups(const std::vector& groups); /// \return all the groups of this scene element std::vector getGroups() const; /// Test whether this SceneElement is in a specific group /// \param name group to test /// \return true if the SceneElement is in group name bool inGroup(const std::string& name); /// Executes the initialize operation. /// \return true if it succeeds, false if it fails. bool initialize(); /// Return the name of this SceneElement /// \return The name. std::string getName() const; /// Set the pose of this SceneElement /// \param pose The pose void setPose(const SurgSim::Math::RigidTransform3d& pose); /// Get the pose of this SceneElement /// \return the pose const SurgSim::Math::RigidTransform3d& getPose() const; /// Get the PoseComponent that controls the pose all Representations /// in this SceneElement /// \return the PoseComponent std::shared_ptr getPoseComponent(); /// Sets the Scene. /// \param scene Pointer to the scene. void setScene(std::weak_ptr scene); /// Gets the Scene. /// \return The scene. std::shared_ptr getScene(); /// Sets the Runtime. /// \param runtime Pointer to the runtime. void setRuntime(std::weak_ptr runtime); /// Gets the runtime. /// \return The runtime. std::shared_ptr getRuntime(); /// Return if this SceneElement is initialized. /// \return True if this SceneElement is initialized; Otherwise, false. bool isInitialized() const; /// Set this SceneElement's status (active/inactive) /// \note Set 'inactive' on an active SceneElement will cause all the components it contains to not be processed. /// \note Set 'active' on an inactive SceneElement will cause all the components it contains which are active /// \note to be processed again. /// \note Inactive components will not be processed no matter the SceneElement is active or inactive. /// \param val True to set the SceneElement active, false to set inactive. void setActive(bool val); /// \return True if this SceneElement is active; Otherwise, false. bool isActive() const; /// Gets a shared pointer to this SceneElement. /// \return The shared pointer. std::shared_ptr getSharedPtr(); /// Convert to a YAML::Node /// \param standalone when true, all the components will be represented as full component, when false /// they will be represented as references /// \return A node with all the public data of this instance virtual YAML::Node encode(bool standalone) const; /// Pull data from a YAML::Node. /// \throws SurgSim::Framework::AssertionFailure if the SceneElement is already initialized /// \param node the node to decode. /// \return true if the decoding succeeded and the node was formatted correctly, false otherwise virtual bool decode(const YAML::Node& node); private: /// Initialize the given component /// \param component The component to be initialized. /// \return True if initialization succeeded, false otherwise. bool initializeComponent(std::shared_ptr component); /// Name of this SceneElement std::string m_name; std::shared_ptr m_pose; /// A collection of Components std::unordered_map> m_components; /// A (weak) back pointer to the Scene containing this SceneElement std::weak_ptr m_scene; /// A (weak) back pointer to the Runtime containing this SceneElement std::weak_ptr m_runtime; /// Local groups for serialization local handling std::unordered_set m_groups; /// Method to initialize this SceneElement. To be overridden by derived class(es). /// \return True if initialization is successful; Otherwise, false. virtual bool doInitialize() = 0; /// Sets the name of this SceneElement. /// \param name The new name. void setName(const std::string& name); /// Indicates if this SceneElement has been initialized or not. bool m_isInitialized; /// Indicates if this SceneElement is active or not. bool m_isActive; }; }; // namespace Framework }; // namespace SurgSim #include "SurgSim/Framework/SceneElement-inl.h" #endif // SURGSIM_FRAMEWORK_SCENEELEMENT_H opensurgsim-0.7.0/SurgSim/Framework/SharedInstance-inl.h000066400000000000000000000037531277777236100232760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_SHAREDINSTANCE_INL_H #define SURGSIM_FRAMEWORK_SHAREDINSTANCE_INL_H #include #include #include #include #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace Framework { template SharedInstance::SharedInstance() : m_instanceCreator(defaultInstanceCreator()) { } template SharedInstance::SharedInstance(const InstanceCreator& instanceCreator) : m_instanceCreator(instanceCreator) { } template SharedInstance::~SharedInstance() { } template std::shared_ptr SharedInstance::get() { boost::lock_guard lock(m_mutex); std::shared_ptr instance = m_weakInstance.lock(); if (! instance) { instance = createInstance(); m_weakInstance = instance; } return std::move(instance); } template std::shared_ptr SharedInstance::createInstance() { std::shared_ptr instance = m_instanceCreator(); SURGSIM_ASSERT(instance); return std::move(instance); } template typename SharedInstance::InstanceCreator SharedInstance::defaultInstanceCreator() { return []() { return std::make_shared(); }; // NOLINT(readability/braces) } }; // namespace Framework }; // namespace SurgSim #endif // SURGSIM_FRAMEWORK_SHAREDINSTANCE_INL_H opensurgsim-0.7.0/SurgSim/Framework/SharedInstance.h000066400000000000000000000155501277777236100225140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_SHAREDINSTANCE_H #define SURGSIM_FRAMEWORK_SHAREDINSTANCE_H #include #include #include #include #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace Framework { /// A utility class to manage a shared instance of an object. /// /// This class behaves in a way that is superficially similar to the Singleton pattern, in that it manages a single /// shared instance of an object. However, there are some important differences to note: /// * The Singleton pattern applies to a particular class, so that a single instance is shared between any /// and all uses of that class. The SharedInstance case applies to a specific use of a class: the user /// creates a (shared) SharedInstance<T> object that manages the sharing of one instance of T. It is /// possible for another SharedInstance<T> that manages the same type T to be created elsewhere. This /// second SharedInstance manages a second, separate instance of T. /// * The object will not only be created as needed, but also destroyed when all of the shared_ptr references to it /// are released. If it is released and then needed again, a new instance will be created. /// * This life-cycle management based on reference counting makes it imperative for the calling code to hold /// onto their own shared_ptr for as long as they want to interact with the shared object instance. /// Releasing the shared_ptr indicates that the code using it is ready for the instance to be potentially /// destroyed. /// /// Code using this class will normally use the get() method to initialize its own shared_ptr referencing the /// shared instance. Such code should hold onto the shared_ptr for as long as it needs to use the shared instance. /// As soon as all of the shared pointers are released, the shared object instance will be destroyed. /// /// A Simple Example /// /// To share an instance between many objects in the same class, you can declare a static SharedInstance member: /// ~~~~ /// class ManyObjects /// { /// ManyObjects() : m_sharedInstance(m_sharedInstanceManager.get()) /// { /// } /// /// // ... /// /// std::shared_ptr m_sharedInstance; /// static SurgSim::Framework::SharedInstance m_sharedInstanceManager; /// } /// /// // Need to also define the static member somewhere: /// SurgSim::Framework::SharedInstance ManyObjects::m_sharedInstanceManager; /// ~~~~ /// The downside to this approach is that it requires the SharedInstance object itself to be created as a static /// member of a class. Since the order of construction (and destruction) of various static data members is not /// well defined by the C++ language standards, this can lead to objects getting used before they are initialized. /// /// A Better Example /// /// To avoid the initialization order problems, you can instead use the SharedInstance as a static variable /// inside a function or a (most likely also static) method, so it will not be initialized until that /// function/method is first called. (Note that this is only safe if your compiler follows the C++11 /// requirement that the initialization of static variables inside functions must be atomic.) /// ~~~~ /// class ManyObjects /// { /// ManyObjects() : m_sharedInstance(getSharedInstance()) /// { /// } /// /// // ... /// /// static std::shared_ptr getSharedInstance(); /// std::shared_ptr m_sharedInstance; /// } /// /// std::shared_ptr ManyObjects::getSharedInstance() /// { /// static SharedInstance shared; /// return shared.get(); /// } /// ~~~~ /// /// \tparam T Type of the data held by the SharedInstance. template class SharedInstance { public: /// A type that can hold a function object or lambda that takes no arguments and returns std::shared_ptr. typedef std::function()> InstanceCreator; /// Create the SharedInstance object used to manage the shared instance. /// Note that this does not immediately create the instance itself. /// If and when the shared instance is created, it will be initialized using the default constructor via /// std::make_shared. SharedInstance(); /// Create the SharedInstance object used to manage the shared instance. /// Note that this does not immediately create the instance itself. /// If and when the shared instance is created, it will be initialized using the creator call. explicit SharedInstance(const InstanceCreator& instanceCreator); /// Destroy the container and the data it contains. ~SharedInstance(); /// Gets the shared object instance. /// If the instance has not been created previously, it will be created during the call. /// /// The calling code should generally copy the shared_ptr and hold onto it for as long as needed. /// As soon as all of the shared pointers are released, the shared object instance will be destroyed. /// /// \return a shared_ptr holding the instance. std::shared_ptr get(); private: /// Prevent copying SharedInstance(const SharedInstance&); /// Prevent assignment SharedInstance& operator=(const SharedInstance&); /// Creates an object instance. /// \return a shared_ptr containing a newly created object instance. std::shared_ptr createInstance(); /// Creates a function that can create an instance using std::make_shared(). /// The function must be default-constuctible. /// It was necessary to split this into a separate function because with VS2010, we can't just put a lambda in the /// initializer for m_instanceCreator. /// \return a function that creates a new object of type T using std::make_shared. static InstanceCreator defaultInstanceCreator(); /// A creator function used to construct the shared instance. InstanceCreator m_instanceCreator; /// A weak reference to the shared instance, if any. std::weak_ptr m_weakInstance; /// Mutex for synchronization of object creation. boost::mutex m_mutex; }; }; // namespace Framework }; // namespace SurgSim #include "SurgSim/Framework/SharedInstance-inl.h" #endif // SURGSIM_FRAMEWORK_SHAREDINSTANCE_H opensurgsim-0.7.0/SurgSim/Framework/ThreadPool-inl.h000066400000000000000000000030701277777236100224340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_THREADPOOL_INL_H #define SURGSIM_FRAMEWORK_THREADPOOL_INL_H namespace SurgSim { namespace Framework { class ThreadPool::TaskBase { public: virtual void execute() = 0; virtual ~TaskBase() {} }; template class ThreadPool::Task : public ThreadPool::TaskBase { public: explicit Task(std::function function) : m_task(function) { } void execute() override { m_task(); } std::future getFuture() { return m_task.get_future(); } private: std::packaged_task m_task; }; template std::future ThreadPool::enqueue(std::function function) { std::unique_ptr> task = std::unique_ptr>(new Task(function)); std::future future = task->getFuture(); { boost::unique_lock lock(m_mutex); m_tasks.push(std::move(task)); } m_threadSignaler.notify_one(); return future; } }; }; #endif //SURGSIM_FRAMEWORK_THREADPOOL_INL_H opensurgsim-0.7.0/SurgSim/Framework/ThreadPool.cpp000066400000000000000000000027461277777236100222200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/ThreadPool.h" namespace SurgSim { namespace Framework { ThreadPool::ThreadPool(size_t numThreads) : m_destructing(false) { // Main loop for each worker thread. auto threadLoop = [this] () { while (true) { std::unique_ptr task; { boost::unique_lock lock(m_mutex); m_threadSignaler.wait(lock, [this] { return m_destructing || !m_tasks.empty(); }); if (m_destructing) { return; } task = std::move(m_tasks.front()); m_tasks.pop(); } task->execute(); } }; for (size_t i = 0; i < numThreads; i++) { m_threads.emplace_back(threadLoop); } } ThreadPool::~ThreadPool() { { boost::unique_lock lock(m_mutex); m_destructing = true; } m_threadSignaler.notify_all(); for (auto& thread : m_threads) { thread.join(); } } }; }; opensurgsim-0.7.0/SurgSim/Framework/ThreadPool.h000066400000000000000000000066501277777236100216630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_THREADPOOL_H #define SURGSIM_FRAMEWORK_THREADPOOL_H #include #include #include #include #include #include #include namespace SurgSim { namespace Framework { /// A thread pool for completing heterogenous tasks /// /// The thread pool is a class that completes given tasks using a set of worker /// threads. These threads pull tasks off of a task queue. Once finished with /// the task, the thread gets the next task if one is available, or waits for /// another task to be added. The tasks can be heterogenous, meaning any /// callable target can be added with any return type. /// /// Example Usage: /// \code{.cpp} /// double f1() { return 1.0; } /// int f2(int val) { return val; } /// /// int main() /// { /// ThreadPool pool; /// /// // Add a task /// std::future result1 = pool.enqueue(f1); /// /// // Add a task using std::bind /// std::future result2 = pool.enqueue(std::bind(f2, 2)); /// /// // Add a task using a lambda function /// std::future result3 = pool.enqueue([]() {return "string"; }); /// /// // Print out result when task is completed /// std::cout << "Result 1: " << result1.get() << std::endl; /// std::cout << "Result 2: " << result2.get() << std::endl; /// std::cout << "Result 3: " << result3.get() << std::endl; /// } /// \endcode class ThreadPool { public: /// Constructor /// \param numThreads The number of worker threads explicit ThreadPool(size_t numThreads = boost::thread::hardware_concurrency()); /// Desctructor ~ThreadPool(); /// Queue a task to be run by the ThreadPool /// \note The task must not take any arguments. To add a function that does /// require arguments use std::bind. /// \tparam R return type of the task /// \param function The task to be queued /// \return a std::future that holds the results (of type R) once completed template std::future enqueue(std::function function); private: /// @{ /// Prevent default copy construction and default assignment ThreadPool(const ThreadPool& other); ThreadPool& operator=(const ThreadPool& other); /// @} /// Abstract base class for all tasks class TaskBase; /// Actual tasks, with typed return type template class Task; /// The worker threads std::list m_threads; /// Queued tasks waiting for an available thread std::queue> m_tasks; /// Mutex for protecting the tasks queue boost::mutex m_mutex; /// Signaler for waking up threads waiting for tasks boost::condition_variable m_threadSignaler; /// True if the ThreadPool is destructing std::atomic m_destructing; }; }; }; #include "SurgSim/Framework/ThreadPool-inl.h" #endif //SURGSIM_FRAMEWORK_THREADPOOL_H opensurgsim-0.7.0/SurgSim/Framework/Timer.cpp000066400000000000000000000111121277777236100212220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Timer.h" namespace SurgSim { namespace Framework { Timer::Timer() : m_maxNumberOfFrames(100), m_clockFails(0) { start(); } void Timer::start() { { // Define scope around m_frameDurations to lock only this access boost::unique_lock lock(m_sharedMutex); m_frameDurations.clear(); m_clockFails = 0; } beginFrame(); } void Timer::beginFrame() { m_lastTime = now(); } void Timer::endFrame() { TimerTimePoint currentTime = now(); TimerDuration duration = currentTime - m_lastTime; { // Define scope around m_frameDurations to lock only this access boost::unique_lock lock(m_sharedMutex); m_frameDurations.push_back(duration); if (m_frameDurations.size() > m_maxNumberOfFrames) { m_frameDurations.pop_front(); } } } void Timer::markFrame() { endFrame(); beginFrame(); } double Timer::getCumulativeTime() const { TimerDuration cumulativeTime; { // Define scope around m_frameDurations to lock only this access boost::shared_lock lock(m_sharedMutex); cumulativeTime = std::accumulate(std::begin(m_frameDurations), std::end(m_frameDurations), TimerDuration::zero()); } return cumulativeTime.count(); } double Timer::getAverageFramePeriod() const { TimerDuration cumulativeTime; size_t numDuration; { // Define scope around m_frameDurations to lock only this access boost::shared_lock lock(m_sharedMutex); numDuration = m_frameDurations.size(); cumulativeTime = std::accumulate(std::begin(m_frameDurations), std::end(m_frameDurations), TimerDuration::zero()); } SURGSIM_ASSERT(numDuration > 0) << "Attempted to access the frames for a Timer with no frames."; return cumulativeTime.count() / static_cast(numDuration); } double Timer::getAverageFrameRate() const { return 1.0 / getAverageFramePeriod(); } double Timer::getLastFramePeriod() const { boost::shared_lock lock(m_sharedMutex); SURGSIM_ASSERT(m_frameDurations.size() > 0) << "Attempted to access the last frame period for a Timer with no frames."; return m_frameDurations.back().count(); } double Timer::getLastFrameRate() const { return 1.0 / getLastFramePeriod(); } void Timer::setMaxNumberOfFrames(size_t maxNumberOfFrames) { boost::unique_lock lock(m_sharedMutex); m_maxNumberOfFrames = (maxNumberOfFrames > 0) ? maxNumberOfFrames : 1; if (m_frameDurations.size() > m_maxNumberOfFrames) { m_frameDurations.erase(std::begin(m_frameDurations), std::begin(m_frameDurations) + m_frameDurations.size() - m_maxNumberOfFrames); } } size_t Timer::getMaxNumberOfFrames() { return m_maxNumberOfFrames; } size_t Timer::getCurrentNumberOfFrames() const { boost::shared_lock lock(m_sharedMutex); return m_frameDurations.size(); } size_t Timer::getNumberOfClockFails() const { return m_clockFails; } Timer::TimerTimePoint Timer::now() { boost::system::error_code ec; TimerTimePoint currentTime = m_clock.now(ec); if (ec.value() != 0) { ++ m_clockFails; } return currentTime; } double Timer::getMaxFramePeriod() const { boost::shared_lock lock(m_sharedMutex); SURGSIM_ASSERT(m_frameDurations.size() > 0) << "Attempted to access the maximum frame period for a Timer with no frames."; return std::max_element(m_frameDurations.cbegin(), m_frameDurations.cend())->count(); } double Timer::getMinFramePeriod() const { boost::shared_lock lock(m_sharedMutex); SURGSIM_ASSERT(m_frameDurations.size() > 0) << "Attempted to access the maximum frame period for a Timer with no frames."; return std::min_element(m_frameDurations.cbegin(), m_frameDurations.cend())->count(); } bool Timer::isBufferFull() const { boost::shared_lock lock(m_sharedMutex); return (m_frameDurations.size() == m_maxNumberOfFrames); } }; // namespace Framework }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Framework/Timer.h000066400000000000000000000103001277777236100206650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_TIMER_H #define SURGSIM_FRAMEWORK_TIMER_H #include #include #include namespace SurgSim { namespace Framework { /// Timer class, measures execution times. Multiple times can be stored as "frames" to provide an average rate or /// period. class Timer { public: /// Instantiate a TimerClock and start a timing run. Timer(); /// Begin a timing run by clearing out any stored frames and beginning a frame. void start(); /// Begin a frame (storing the current time). void beginFrame(); /// End this frame by storing the duration since the current frame was begun. /// \note \c endFrame does not start a new frame, call \c beginFrame to do so. /// \sa Timer::markFrame void endFrame(); /// End the current frame and begin a new frame. void markFrame(); /// Return the sum of the durations over all the stored frames. /// \return Sum of stored frame durations in seconds. double getCumulativeTime() const; /// Return the average duration across all stored frames. Asserts if there are no frames. /// \return Average period in seconds. double getAverageFramePeriod() const; /// Return the inverse of the average duration across all stored frames. Asserts if there are no frames. /// \return The average frequency in Hz. double getAverageFrameRate() const; /// Return the duration of the most-recent frame (time between last \c endFrame and the previous \c start, /// \c beginFrame, or \c endFrame ). Asserts if there are no frames. /// \return Most-recent period in seconds. double getLastFramePeriod() const; /// Return the inverse of the duration of the most-recent frame. Asserts if there are no frames. /// \return Most-recent frequency in Hz. double getLastFrameRate() const; /// Set the maximum number of frames to store. void setMaxNumberOfFrames(size_t numberOfFrames); /// \return The maximum number of frames to store. size_t getMaxNumberOfFrames(); /// \return Number of frames currently stored (not the maximum number of frames). size_t getCurrentNumberOfFrames() const; /// \return Number of times the clock returned an error code since \c start. If this is non-zero, the frame /// durations may be incorrect. size_t getNumberOfClockFails() const; /// \return The maximum duration across all the stored frames. Asserts if there are no frames. double getMaxFramePeriod() const; /// \return The minimum duration across all the stored frames. Asserts if there are no frames. double getMinFramePeriod() const; /// \return true if the frame buffer is full. bool isBufferFull() const; private: /// The Clock used by the Timer class. typedef boost::chrono::steady_clock TimerClock; /// Durations used by the Timer class. typedef boost::chrono::duration TimerDuration; /// Time points used by the Timer class. typedef boost::chrono::time_point TimerTimePoint; /// Get the current time. Checks for any error code from the clock. /// \return Current time. TimerTimePoint now(); /// The clock used to get the time. static const TimerClock m_clock; /// The time at last \c start, \c beginFrame, or \c markFrame. TimerTimePoint m_lastTime; /// Maximum number of frames to store. size_t m_maxNumberOfFrames; /// Durations of the frames, i.e., the "stored frames". std::deque m_frameDurations; /// Mutex to access the data structure m_frameDurations safely mutable boost::shared_mutex m_sharedMutex; /// Number of clock errors since last \c start. size_t m_clockFails; }; } // Framework } // SurgSim #endif opensurgsim-0.7.0/SurgSim/Framework/TransferPropertiesBehavior.cpp000066400000000000000000000072431277777236100254750ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Framework/TransferPropertiesBehavior.h" #include #include namespace SurgSim { namespace Framework { TransferPropertiesBehavior::TransferPropertiesBehavior(const std::string& name) : SurgSim::Framework::Behavior(name), m_targetManager(MANAGER_TYPE_BEHAVIOR) { } TransferPropertiesBehavior::~TransferPropertiesBehavior() { } void TransferPropertiesBehavior::update(double dt) { { boost::lock_guard lock(m_incomingMutex); m_connections.insert(m_connections.end(), m_incomingConnections.begin(), m_incomingConnections.end()); m_incomingConnections.clear(); } for (auto it = std::begin(m_connections); it != std::end(m_connections); ++it) { if (!it->first.accessible.expired() && !it->second.accessible.expired()) { auto source = it->first.accessible.lock(); auto target = it->second.accessible.lock(); target->setValue(it->second.name, source->getValue(it->first.name)); } } } bool TransferPropertiesBehavior::connect( std::shared_ptr sourceAccessible, const std::string& sourcePropertyName, std::shared_ptr targetAccessible, const std::string& targetPropertyName) { SURGSIM_ASSERT(sourceAccessible != nullptr && targetAccessible != nullptr) << "Accessibles cannot be nullptr"; Property source = {sourceAccessible, sourcePropertyName}; Property target = {targetAccessible, targetPropertyName}; return connect(source, target); } bool TransferPropertiesBehavior::connect(const Property& source, const Property& target) { // Early outs if (source.accessible.expired() || target.accessible.expired()) { return false; } auto sharedSource = source.accessible.lock(); auto sharedTarget = target.accessible.lock(); SURGSIM_ASSERT(sharedSource != sharedTarget || source.name != target.name) << "Cannot Read/Write with exactly the same property and object."; SURGSIM_ASSERT(sharedSource->isReadable(source.name)) << "Source does not have a readable property called <" << source.name << ">."; SURGSIM_ASSERT(sharedTarget->isWriteable(target.name)) << "Target does not have a writeable property called <" << target.name << ">."; // \note HS-2013-nov-26 should also that the type of the output can be converted to the input auto entry = std::make_pair(source, target); boost::lock_guard lock(m_incomingMutex); m_incomingConnections.push_back(std::move(entry)); return true; } bool TransferPropertiesBehavior::doInitialize() { return true; } bool TransferPropertiesBehavior::doWakeUp() { // Do an update step to initialize all the values update(0.0); return true; } void TransferPropertiesBehavior::setTargetManagerType(int managerType) { SURGSIM_ASSERT(managerType >= 0 && managerType < MANAGER_TYPE_COUNT) << "Invalid manager type."; SURGSIM_ASSERT(!isInitialized()) << "Cannot change the manager type after initialization."; m_targetManager = managerType; } int TransferPropertiesBehavior::getTargetManagerType() const { return m_targetManager; } } } opensurgsim-0.7.0/SurgSim/Framework/TransferPropertiesBehavior.h000066400000000000000000000067721277777236100251500ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_FRAMEWORK_TRANSFERPROPERTIESBEHAVIOR_H #define SURGSIM_FRAMEWORK_TRANSFERPROPERTIESBEHAVIOR_H #include #include #include "SurgSim/Framework/Accessible.h" #include "SurgSim/Framework/Behavior.h" namespace SurgSim { namespace Framework { /// Behavior to copy properties between instances of Accessible /// \note HS-2013-dec-12 does not support removal of connections yes class TransferPropertiesBehavior : public SurgSim::Framework::Behavior { public: /// Constructor. /// \param name The name of the behavior. explicit TransferPropertiesBehavior(const std::string& name); /// Destructor. virtual ~TransferPropertiesBehavior(); /// Connect two properties of two instances of accessible, once connected the value of the property /// will be copied from source to target at every update call. /// \pre pointers cannot be nullptr, properties need to exist and the property /// at the source needs to be readable and the property at the target needs /// to be writeable /// \param sourceAccessible Source Accessible instance. /// \param sourcePropertyName The name of the source property. /// \param tagetAccessible Target Accessible instance. /// \param targetPropertyName The name of the target property. /// \return true if the connection was created bool connect( std::shared_ptr sourceAccessible, const std::string& sourcePropertyName, std::shared_ptr tagetAccessible, const std::string& targetPropertyName); /// Connect two properties of two instances of accessible, once connected the value of the property /// will be copied from source to target at every update call. /// \pre pointers cannot be nullptr, properties need to exist and the property /// at the source needs to be readable and the property at the target needs /// to be writeable /// \param source Source property. /// \param target Target property. /// \return true if the connection was created bool connect(const Property& source, const Property& target); /// Sets the type of manager that this behavior should use, this cannot be done after /// initialization has occurred. /// \param managerType Type of manager for this behavior void setTargetManagerType(int managerType); int getTargetManagerType() const override; void update(double dt) override; private: ///@{ /// Overridden from Behavior bool doInitialize() override; bool doWakeUp() override; ///@} /// Local typedefs typedef std::pair Connection; /// List of connections in this object std::vector m_connections; /// Lock for adding new connections boost::mutex m_incomingMutex; /// Queue for adding new connections std::vector m_incomingConnections; /// The manager type that will handle this behavior int m_targetManager; }; } } #endif opensurgsim-0.7.0/SurgSim/Framework/UnitTests/000077500000000000000000000000001277777236100214045ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Framework/UnitTests/AccessibleTests.cpp000066400000000000000000000264271277777236100252030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Accessible.h" #include #include #include #include #include "SurgSim/Math/Matrix.h" enum TestEnum : SURGSIM_ENUM_TYPE; SURGSIM_SERIALIZABLE_ENUM(TestEnum, (TEST_ENUM_A)(TEST_ENUM_B)); namespace { class TestClass : public SurgSim::Framework::Accessible { public: TestClass() : normal(100), readWrite(100.0), readOnly(100), sharedPtr(std::make_shared(4)), serializableEnum(TEST_ENUM_A), overloadedValue(200.0), virtualProperty(300), privateProperty(100) { setGetter("normal", std::bind(&TestClass::getNormal, this)); setSetter("normal", std::bind(&TestClass::setNormal, this, std::bind(SurgSim::Framework::convert, std::placeholders::_1))); SURGSIM_ADD_RW_PROPERTY(TestClass, double, readWrite, getReadWrite, setReadWrite); SURGSIM_ADD_RW_PROPERTY(TestClass, std::shared_ptr, sharedPtr, getSharedPtr, setSharedPtr); SURGSIM_ADD_RO_PROPERTY(TestClass, int, readOnly, getReadOnly); SURGSIM_ADD_RW_PROPERTY(TestClass, double, privateProperty, getPrivateProperty, setPrivateProperty); SURGSIM_ADD_SERIALIZABLE_PROPERTY(TestClass, float, serializableProperty, getSerializableProperty, setSerializableProperty); SURGSIM_ADD_SERIALIZABLE_PROPERTY(TestClass, TestEnum, serializableEnum, getSerializableEnum, setSerializableEnum); SURGSIM_ADD_RO_PROPERTY(TestClass, int, virtualProperty, getVirtualProperty); SURGSIM_ADD_RO_PROPERTY(TestClass, int, overriddenProperty, getReadWrite); } int normal; double readWrite; int readOnly; std::shared_ptr sharedPtr; float serializableProperty; TestEnum serializableEnum; double overloadedValue; int virtualProperty; int getNormal() { return normal; } void setNormal(int val) { normal = val; } double getReadWrite() { return readWrite; } void setReadWrite(double val) { readWrite = val; } std::shared_ptr getSharedPtr() { return sharedPtr; } void setSharedPtr(std::shared_ptr val) { sharedPtr = val; } int getReadOnly() { return readOnly; } double getPrivateProperty() const { return privateProperty; } void setPrivateProperty(double val) { privateProperty = val; } float getSerializableProperty() const { return serializableProperty; } void setSerializableProperty(float val) { serializableProperty = val; } TestEnum getSerializableEnum() const { return serializableEnum; } void setSerializableEnum(TestEnum val) { serializableEnum = val; } void getOverloadedFunction(double* x) const {} double getOverloadedFunction() const { return overloadedValue; } void setOverloadedFunction(double x, double y) {} void setOverloadedFunction(const double& x) { overloadedValue = x; } virtual int getVirtualProperty() { return virtualProperty; } private: double privateProperty; }; class DerivedTestClass : public TestClass { public: DerivedTestClass() : TestClass(), otherValue(400) { // Override the accessor from the base class by changing the entry in the function table SURGSIM_ADD_RO_PROPERTY(DerivedTestClass, int, overriddenProperty, getOtherValue); } int otherValue; int getOtherValue() { return otherValue; } // Overrides the accessor, this tests if the virtual function resolution works on the function pointer int getVirtualProperty() override { return otherValue; } }; } namespace SurgSim { namespace Framework { TEST(AccessibleTest, GetterTest) { TestClass t; t.normal = 5; int receiver = -1; EXPECT_EQ(5, boost::any_cast(t.getValue("normal"))); EXPECT_EQ(5, t.getValue("normal")); EXPECT_TRUE(t.getValue("normal", &receiver)); EXPECT_EQ(5, receiver); /// Response to fetching value that does not exist EXPECT_ANY_THROW(t.getValue("xxx")); EXPECT_ANY_THROW(t.getValue("xxx")); receiver = -1; EXPECT_FALSE(t.getValue("xxx", &receiver)); EXPECT_EQ(-1, receiver); /// Response to trying to fetch an type that can't be converted std::string string; EXPECT_ANY_THROW(t.getValue("normal")); EXPECT_FALSE(t.getValue("normal", &string)); } TEST(AccessibleTest, SetterTest) { TestClass t; t.normal = 0; t.setValue("normal", 4); EXPECT_EQ(4, t.getNormal()); EXPECT_ANY_THROW(t.setValue("xxxx", 666.66)); } TEST(AccessibleTest, TransferTest) { TestClass a, b; a.normal = 100; b.normal = 0; b.setValue("normal", a.getValue("normal")); EXPECT_EQ(a.normal, b.normal); } TEST(AccessibleTest, ReadWriteMacroTest) { TestClass a; a.readWrite = 100.0; EXPECT_EQ(a.readWrite, boost::any_cast(a.getValue("readWrite"))); a.setValue("readWrite", 50.0); EXPECT_EQ(50.0, a.readWrite); } TEST(AccessibleTest, ReadOnlyMacroTest) { TestClass a; a.readOnly = 200; EXPECT_EQ(a.readOnly, boost::any_cast(a.getValue("readOnly"))); EXPECT_ANY_THROW(a.setValue("readOnly", 100)); } TEST(AccessibleTest, TemplateFunction) { TestClass a; a.normal = 10; a.readWrite = 100.0; // Parameter Deduction int aDotNormal = 123; double aDotReadWrite = 456; EXPECT_TRUE(a.getValue("normal", &aDotNormal)); EXPECT_EQ(10, aDotNormal); EXPECT_TRUE(a.getValue("readWrite", &aDotReadWrite)); EXPECT_EQ(100.0, aDotReadWrite); EXPECT_FALSE(a.getValue("xxxx", &aDotNormal)); double* noValue = nullptr; EXPECT_FALSE(a.getValue("normal", noValue)); } TEST(AccessibleTest, Privates) { TestClass a; EXPECT_EQ(a.getPrivateProperty(), boost::any_cast(a.getValue("privateProperty"))); EXPECT_NO_THROW(a.setValue("privateProperty", 123.456)); EXPECT_NEAR(123.456, boost::any_cast(a.getValue("privateProperty")), 1e10); EXPECT_NEAR(a.getPrivateProperty(), boost::any_cast(a.getValue("privateProperty")), 1e10); } TEST(AccessibleTest, SharedPointer) { TestClass a; std::shared_ptr x = std::make_shared(5); std::shared_ptr y; y = boost::any_cast>(a.getValue("sharedPtr")); EXPECT_EQ(4, *y); a.setValue("sharedPtr", x); y = boost::any_cast>(a.getValue("sharedPtr")); EXPECT_EQ(5, *y); } // We want to check whether we can forward a setter and a getter from one class to the other, // i.e. a.setValue("Forwarded") should actually change a specific value in b via Properties TEST(AccessibleTest, Forwarding) { TestClass a; TestClass b; b.normal = 543; ASSERT_NO_THROW(a.forwardProperty("forwarded", b, "normal")); EXPECT_EQ(543, a.getValue("forwarded")); ASSERT_NO_THROW(a.setValue("forwarded", 345)); EXPECT_EQ(345, b.normal); } TEST(AccessibleTest, RemoveAccessors) { TestClass a; EXPECT_NO_THROW(a.getValue("readWrite")); EXPECT_NO_THROW(a.setValue("readWrite", 2.0)); a.removeAccessors("readWrite"); EXPECT_ANY_THROW(a.getValue("readWrite")); EXPECT_ANY_THROW(a.setValue("readWrite", 2.0)); } TEST(AccessibleTests, VirtualFunctionTest) { std::shared_ptr derived = std::make_shared(); std::shared_ptr base = std::dynamic_pointer_cast(derived); EXPECT_EQ(derived->otherValue, derived->getValue("virtualProperty")); EXPECT_EQ(derived->otherValue, derived->getValue("overriddenProperty")); EXPECT_EQ(derived->otherValue, base->getValue("virtualProperty")); EXPECT_EQ(derived->otherValue, base->getValue("overriddenProperty")); } TEST(AccessibleTest, ConvertDoubleToFloat) { // Values don't matter only care for them to be filled SurgSim::Math::Matrix44d sourceDouble; sourceDouble << 1.0 / 2.0, 1.0 / 3.0, 1.0 / 4.0, 1.0 / 5.0, 1.0 / 6.0, 1.0 / 7.0, 1.0 / 8.0, 1.0 / 9.0, 1.0 / 10.0, 1.0 / 11.0, 1.0 / 12.0, 1.0 / 13.0, 1.0 / 14.0, 1.0 / 15.0, 1.0 / 16.0, 1.0 / 17.0; SurgSim::Math::Matrix44f sourceFloat; sourceFloat << 1.0f / 2.0f, 1.0f / 3.0f, 1.0f / 4.0f, 1.0f / 5.0f, 1.0f / 6.0f, 1.0f / 7.0f, 1.0f / 8.0f, 1.0f / 9.0f, 1.0f / 10.0f, 1.0f / 11.0f, 1.0f / 12.0f, 1.0f / 13.0f, 1.0f / 14.0f, 1.0f / 15.0f, 1.0f / 16.0f, 1.0f / 17.0f; SurgSim::Math::Matrix44f target; ASSERT_NO_THROW({convert(sourceDouble);}); target = convert(sourceDouble); SurgSim::Math::Matrix44f doubleToFloat = sourceDouble.cast(); EXPECT_TRUE(target.isApprox(doubleToFloat)); ASSERT_NO_THROW({convert(sourceFloat);}); target = convert(sourceFloat); EXPECT_TRUE(target.isApprox(sourceFloat)); } TEST(AccessibleTest, ConvertConstCharToString) { std::string source("Test Value"); { std::string target; ASSERT_NO_THROW({target = convert(source);}); EXPECT_EQ(source, target); } { std::string target; ASSERT_NO_THROW({target = convert(source.c_str());}); EXPECT_EQ(source, target); } float notString; ASSERT_THROW({convert(notString);}, boost::bad_any_cast); } TEST(AccessibleTests, Serialize) { TestClass a; a.serializableProperty = 100; a.serializableEnum = TEST_ENUM_B; YAML::Node node = a.encode(); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(100, node["serializableProperty"].as()); EXPECT_EQ(TEST_ENUM_B, node["serializableEnum"].as()); EXPECT_EQ("TEST_ENUM_B", node["serializableEnum"].as()); node["serializableProperty"] = 50; node["serializableEnum"] = "TEST_ENUM_A"; EXPECT_NO_THROW(a.decode(node)); EXPECT_EQ(50, a.serializableProperty); EXPECT_EQ(TEST_ENUM_A, a.serializableEnum); node["serializableEnum"] = "INVALID_ENUM_STRING"; EXPECT_THROW(a.decode(node), SurgSim::Framework::AssertionFailure); } class MultipleValuesClass : public Accessible { public: MultipleValuesClass() : a("invalid"), b("invalid"), c("invalid") { SURGSIM_ADD_SERIALIZABLE_PROPERTY(MultipleValuesClass, std::string, a, getA, setA); SURGSIM_ADD_SERIALIZABLE_PROPERTY(MultipleValuesClass, std::string, b, getB, setB); SURGSIM_ADD_SERIALIZABLE_PROPERTY(MultipleValuesClass, std::string, c, getC, setC); } std::string a; std::string getA() const { return a; } void setA(const std::string& val) { a = val; } std::string b; std::string getB() const { return b; } void setB(const std::string& val) { b = val; } std::string c; std::string getC() const { return c; } void setC(const std::string& val) { c = val; } }; TEST(AccessibleTests, MultipleValues) { YAML::Node newValues; newValues["xxx"] = "invalid"; newValues["a"] = "a"; newValues["b"] = "b"; MultipleValuesClass test; test.decode(newValues); EXPECT_EQ(test.a, "a"); EXPECT_EQ(test.b, "b"); EXPECT_EQ(test.c, "invalid"); YAML::Node encodedValues = test.encode(); EXPECT_EQ("a", encodedValues["a"].as()); EXPECT_EQ("b", encodedValues["b"].as()); EXPECT_EQ("invalid", encodedValues["c"].as()); } }; // namespace Framework }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Framework/UnitTests/AccessibleTypeTests.cpp000066400000000000000000000151231277777236100260340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Accessible.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" // We need ALL of the math types using namespace SurgSim::Math; //NOLINT namespace SurgSim { namespace Framework { template class BaseTest : public testing::Test { public: typedef T Scalar; }; template class ScalarTest : public BaseTest { }; typedef ::testing::Types ScalarTypes; TYPED_TEST_CASE(ScalarTest, ScalarTypes); template class VectorTest: public BaseTest { public: typedef T Vector; }; typedef ::testing::Types VectorTypes; TYPED_TEST_CASE(VectorTest, VectorTypes); template class QuaternionTest : public BaseTest { public: typedef T Quaternion; }; typedef ::testing::Types QuaternionTypes; TYPED_TEST_CASE(QuaternionTest, QuaternionTypes); template class RigidTransformTest : public BaseTest { public: typedef T RigidTransform; }; typedef ::testing::Types RigidTransformTypes; TYPED_TEST_CASE(RigidTransformTest, RigidTransformTypes); template class Testable : public Accessible { public: Testable() { setAccessors("property", std::bind(&Testable::getProperty, this), std::bind(&Testable::setProperty, this, std::bind(SurgSim::Framework::convert, std::placeholders::_1))); setSerializable("property", std::bind(&YAML::convert::encode, std::bind(&Testable::getProperty, this)), std::bind(&Testable::setProperty, this, std::bind(&YAML::Node::as, std::placeholders::_1))); } T property; void setProperty(const T& value) { property = value; } T getProperty() { return property; } }; template std::pair testProperty(const T& a, const T& b) { Testable test; std::pair result; test.property = a; test.setValue("property", b); result.first = test.property; test.getValue("property", &result.second); return result; } template std::pair testEncodeDecode(const T& a, const T& b) { Testable test; std::pair result; test.property = a; YAML::Node node; node["property"] = b; test.decode(node); result.first = test.property; YAML::Node resultNode = test.encode(); result.second = resultNode["property"].as(); return result; } TYPED_TEST(ScalarTest, Accessible) { typedef typename TestFixture::Scalar Scalar; Scalar initialValue = static_cast(1); Scalar newValue = static_cast(2); std::pair result = testProperty(initialValue, newValue); EXPECT_NEAR(static_cast(newValue), static_cast(result.first), 1e-6); EXPECT_NEAR(static_cast(newValue), static_cast(result.second), 1e-6); result = testEncodeDecode(initialValue, newValue); EXPECT_NEAR(static_cast(newValue), static_cast(result.first), 1e-6); EXPECT_NEAR(static_cast(newValue), static_cast(result.second), 1e-6); } TYPED_TEST(VectorTest, Accessible) { typedef typename TestFixture::Scalar Scalar; typedef typename TestFixture::Vector Vector; Vector initialValue; Vector newValue; for (int i = 0; i < initialValue.size(); ++i) { initialValue[i] = static_cast(i); newValue[i] = static_cast(i * 2); } std::pair result = testProperty(initialValue, newValue); EXPECT_TRUE(newValue.isApprox(result.first)); EXPECT_TRUE(newValue.isApprox(result.second)); result = testEncodeDecode(initialValue, newValue); EXPECT_TRUE(newValue.isApprox(result.first)); EXPECT_TRUE(newValue.isApprox(result.second)); } TYPED_TEST(QuaternionTest, Accessible) { typedef typename TestFixture::Scalar Scalar; typedef typename TestFixture::Quaternion Quaternion; Quaternion initialValue(static_cast(1.0), static_cast(2.0), static_cast(3.0), static_cast(4.0)); Quaternion newValue(static_cast(5.0), static_cast(6.0), static_cast(7.0), static_cast(8.0)); initialValue.normalize(); newValue.normalize(); std::pair result = testProperty(initialValue, newValue); EXPECT_TRUE(newValue.isApprox(result.first)); EXPECT_TRUE(newValue.isApprox(result.second)); result = testEncodeDecode(initialValue, newValue); EXPECT_TRUE(newValue.isApprox(result.first)); EXPECT_TRUE(newValue.isApprox(result.second)); } TYPED_TEST(RigidTransformTest, Accessible) { typedef typename TestFixture::Scalar Scalar; typedef typename TestFixture::RigidTransform RigidTransform; typedef Eigen::Quaternion Quaternion; typedef Eigen::Matrix Vector3; typename RigidTransform::MatrixType initialMatrix; typename RigidTransform::MatrixType newMatrix; RigidTransform initialValue; { Quaternion quaternion(1.0, 2.0, 3.0, 4.0); quaternion.normalize(); Vector3 translation(1.0, 2.0, 3.0); initialValue = SurgSim::Math::makeRigidTransform(quaternion, translation); } RigidTransform newValue; { Quaternion quaternion(4.0, 3.0, 2.0, 1.0); quaternion.normalize(); Vector3 translation(3.0, 2.0, 1.0); newValue = SurgSim::Math::makeRigidTransform(quaternion, translation); } std::pair result = testProperty(initialValue, newValue); EXPECT_TRUE(newValue.isApprox(result.first)); EXPECT_TRUE(newValue.isApprox(result.second)); result = testEncodeDecode(initialValue, newValue); EXPECT_TRUE(newValue.isApprox(result.first)); EXPECT_TRUE(newValue.isApprox(result.second)); } } } opensurgsim-0.7.0/SurgSim/Framework/UnitTests/ApplicationDataTest.cpp000066400000000000000000000171761277777236100260210ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/Framework/ApplicationData.h" #include using SurgSim::Framework::ApplicationData; using boost::filesystem::path; namespace std { ::std::ostream& operator<<(::std::ostream& os, const vector& content) { os << "("; for (size_t i = 0; i < content.size(); ++i) { if (i > 0) { os << ", "; } os << "\"" << content[i] << "\""; } os << ")"; return os; } } ::testing::AssertionResult isContained(const std::string& expected, const std::vector& argument) { if (std::find(argument.cbegin(), argument.cend(), expected) != argument.cend()) { return ::testing::AssertionSuccess(); } else { return ::testing::AssertionFailure() << "\"" << expected << "\"" << " not contained in " << argument; } } ::testing::AssertionResult fileIsFoundCorrectly( const ApplicationData& data, const std::string& searchFileName, const std::string& expectedDirectoryName) { // First file should be there and in directory1 std::string fileName = data.findFile(searchFileName); boost::filesystem::path filePath(fileName); if (! filePath.is_absolute()) { return ::testing::AssertionFailure() << "Result not absolute path <" << fileName << "> expected " << boost::filesystem::canonical(filePath); } if (! boost::filesystem::exists(filePath)) { return ::testing::AssertionFailure() << "Result does not exist <" << fileName << ">"; } if (fileName != filePath.make_preferred().string()) { return ::testing::AssertionFailure() << "Result not system format path " << fileName << " expected " << filePath.make_preferred().string(); } if (boost::filesystem::path(searchFileName).filename() != filePath.filename()) { return ::testing::AssertionFailure() << "Expected " << searchFileName << " Result " << filePath.filename(); } if (fileName.find(expectedDirectoryName) == std::string::npos) { return ::testing::AssertionFailure() << "Expected the file to be in subdirectory " << expectedDirectoryName << " but is not " << fileName; } return ::testing::AssertionSuccess(); } TEST(ApplicationDataTest, InitTest) { std::vector paths; ASSERT_NO_THROW({ApplicationData appData(paths);}); } TEST(ApplicationDataTest, OnlyValidPaths) { // Expects to find "Data" correctly ... ASSERT_TRUE(boost::filesystem::exists("Data")) << "WARNING: Data directory could not be found, possibly you are running the " "test from the wrong directory, some or other following tests will fail. " << std::endl << "FIX THIS TEST FIRST!"; std::vector paths; paths.push_back("Data"); paths.push_back("Data"); paths.push_back("invalid"); paths.push_back("invalid"); paths.push_back("Data/ApplicationDataTest/Directory1"); // Path with backslashes should get ignored paths.push_back("Data\\ApplicationDataTest\\Directory2"); ApplicationData data(paths); ASSERT_EQ(2u, data.getPaths().size()); } TEST(ApplicationDataTest, GetPathsTest) { ASSERT_TRUE(boost::filesystem::exists("Data")); std::vector paths; std::string path1 = "Data/ApplicationDataTest/Directory1"; std::string path2 = "Data/ApplicationDataTest/Directory2"; paths.push_back(path1); paths.push_back(path2); ApplicationData data(paths); ASSERT_EQ(2u, data.getPaths().size()); paths = data.getPaths(); EXPECT_TRUE(boost::filesystem::equivalent( path(path1), path(paths[0]))) << path1 << " not considered equivalent to " << paths[0]; EXPECT_TRUE(boost::filesystem::equivalent( path(path2), path(paths[1]))) << path2 << " not considered equivalent to " << paths[1]; } TEST(ApplicationDataTest, FindFileTest) { ASSERT_TRUE(boost::filesystem::exists("Data")); std::vector paths; paths.push_back("Data/ApplicationDataTest/Directory1"); paths.push_back("Data/ApplicationDataTest/Directory2"); ApplicationData data(paths); boost::filesystem::path filePath; ASSERT_EQ(2u, data.getPaths().size()); EXPECT_TRUE(fileIsFoundCorrectly(data, "uniqueFile1.txt", "Directory1")); EXPECT_TRUE(fileIsFoundCorrectly(data, "uniqueFile2.txt", "Directory2")); EXPECT_TRUE(fileIsFoundCorrectly(data, "duplicatedFile.txt", "Directory1")); EXPECT_EQ("", data.findFile("missingFile.txt")); EXPECT_EQ("", data.findFile("")); } TEST(ApplicationDataTest, TryFindFileTest) { ASSERT_TRUE(boost::filesystem::exists("Data")); std::vector paths; paths.push_back("Data/ApplicationDataTest/Directory1"); paths.push_back("Data/ApplicationDataTest/Directory2"); ApplicationData data(paths); std::string fileName; boost::filesystem::path filePath; EXPECT_TRUE(data.tryFindFile("uniqueFile1.txt", &fileName)); EXPECT_EQ(data.findFile("uniqueFile1.txt"), fileName); EXPECT_TRUE(data.tryFindFile("duplicatedFile.txt", &fileName)); EXPECT_EQ(data.findFile("duplicatedFile.txt"), fileName); fileName = "Should Not Change"; EXPECT_FALSE(data.tryFindFile("missingFile.txt", &fileName)); EXPECT_EQ("Should Not Change", fileName); } TEST(ApplicationDataTest, DirectorywithSpaceTest) { ASSERT_TRUE(boost::filesystem::exists("Data")); std::string path = "Data/ApplicationDataTest/Test Directory/uniqueFile.txt"; ApplicationData data(path); EXPECT_TRUE(fileIsFoundCorrectly(data, "uniqueFile.txt", "Test Directory")); } // We don't accept anything that contains backslashes ... TEST(ApplicationDataTest, MessedUpSlashesTest) { ASSERT_TRUE(boost::filesystem::exists("Data")); std::vector paths; paths.push_back("Data\\ApplicationDataTest/Directory1"); paths.push_back("Data/ApplicationDataTest\\Directory2"); ApplicationData data(paths); ASSERT_EQ(0u, data.getPaths().size()); } TEST(ApplicationDataTest, DeepPathTest) { ASSERT_TRUE(boost::filesystem::exists("Data")); std::vector paths; paths.push_back("Data/ApplicationDataTest"); ApplicationData data(paths); EXPECT_TRUE(fileIsFoundCorrectly(data, "Directory1/uniqueFile1.txt", "Directory1")); EXPECT_TRUE(fileIsFoundCorrectly(data, "Directory2/uniqueFile2.txt", "Directory2")); } TEST(ApplicationDataTest, InitFromFile) { ASSERT_TRUE(boost::filesystem::exists("Data")); ASSERT_ANY_THROW({ApplicationData data("nonexistingFile.xxx");}); ASSERT_NO_THROW({ApplicationData data("Data/ApplicationDataTest/testFile1.txt");}); ApplicationData data("Data/ApplicationDataTest/testFile1.txt"); ASSERT_EQ(2u, data.getPaths().size()); EXPECT_TRUE(fileIsFoundCorrectly(data, "uniqueFile1.txt", "Directory1")); EXPECT_TRUE(fileIsFoundCorrectly(data, "uniqueFile2.txt", "Directory2")); EXPECT_TRUE(fileIsFoundCorrectly(data, "duplicatedFile.txt", "Directory1")); EXPECT_EQ("", data.findFile("missingFile.txt")); } TEST(ApplicationDataTest, IsValidFilenameTest) { ApplicationData data("Data/ApplicationDataTest/testFile1.txt"); std::string validFileName("123.txt"); std::string invalidFileName1(""); std::string invalidFileName2("\\invalid\\123.txt"); EXPECT_TRUE(data.isValidFilename(validFileName)); EXPECT_FALSE(data.isValidFilename(invalidFileName1)); EXPECT_FALSE(data.isValidFilename(invalidFileName2)); } opensurgsim-0.7.0/SurgSim/Framework/UnitTests/AssertTest.cpp000066400000000000000000000155431277777236100242210ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for SURGSIM_ASSERT() and SURGSIM_FAILURE(). #include #include "SurgSim/Framework/Assert.h" class MockOutput : public SurgSim::Framework::LogOutput { public: MockOutput() { } ~MockOutput() { } bool writeMessage(const std::string& message) { logMessage = message; return true; } void reset() { logMessage = ""; } std::string logMessage; }; class AssertTest : public ::testing::Test { public: void SetUp() { logOutput = std::make_shared(); testLogger = SurgSim::Framework::Logger::getLogger("test"); testLogger->setOutput(logOutput); // testLogger will be used for assertions in most tests, due to the definition of SURGSIM_ASSERT_LOGGER below. savedCallback = SurgSim::Framework::AssertMessage::getFailureCallback(); } void TearDown() { SurgSim::Framework::AssertMessage::setFailureCallback(savedCallback); testLogger.reset(); logOutput.reset(); } std::shared_ptr logOutput; std::shared_ptr testLogger; SurgSim::Framework::AssertMessage::DeathCallback savedCallback; }; typedef AssertTest AssertDeathTest; TEST_F(AssertTest, DefaultAssertLogger) { EXPECT_THROW(SURGSIM_ASSERT(1 == 2) << "extra information would go here", SurgSim::Framework::AssertionFailure); } #undef SURGSIM_ASSERT_LOGGER // override the default definition #define SURGSIM_ASSERT_LOGGER testLogger // defined in the test fixture, above inline bool stringContains(const std::string& string, const std::string& fragment) { return string.find(fragment) != std::string::npos; } static int numIgnoredAssertions = 0; static void ignoreAssertionKeepGoing(const std::string& message) { ++numIgnoredAssertions; } TEST_F(AssertTest, Assertion) { logOutput->reset(); EXPECT_THROW(SURGSIM_ASSERT(1 == 2) << "extra information would go here", SurgSim::Framework::AssertionFailure); EXPECT_TRUE(stringContains(logOutput->logMessage, "1 == 2")) << "message: '" << logOutput->logMessage << "'"; EXPECT_TRUE(stringContains(logOutput->logMessage, "AssertTest.cpp")) << "message: '" << logOutput->logMessage << "'"; EXPECT_TRUE(stringContains(logOutput->logMessage, "extra information")) << "message: '" << logOutput->logMessage << "'"; logOutput->reset(); EXPECT_NO_THROW({SURGSIM_ASSERT(3 == 3) << "extra information would go here";}); EXPECT_EQ("", logOutput->logMessage) << "message: '" << logOutput->logMessage << "'"; } TEST_F(AssertTest, Failure) { logOutput->reset(); EXPECT_THROW(SURGSIM_FAILURE() << "extra information would go here", SurgSim::Framework::AssertionFailure); EXPECT_TRUE(stringContains(logOutput->logMessage, "AssertTest.cpp")) << "message: '" << logOutput->logMessage << "'"; EXPECT_TRUE(stringContains(logOutput->logMessage, "extra information")) << "message: '" << logOutput->logMessage << "'"; } TEST_F(AssertTest, Manipulators) { logOutput->reset(); EXPECT_THROW(SURGSIM_ASSERT(1 == 2) << "aAa" << std::endl << "bBb", SurgSim::Framework::AssertionFailure); EXPECT_TRUE(stringContains(logOutput->logMessage, "aAa\nbBb") || stringContains(logOutput->logMessage, "aAa\r\n\bBb")) << "message: '" << logOutput->logMessage << "'"; logOutput->reset(); EXPECT_THROW(SURGSIM_ASSERT(1 == 2) << "[" << std::hex << std::setw(5) << std::setfill('0') << 0x1234 << "]", SurgSim::Framework::AssertionFailure); EXPECT_TRUE(stringContains(logOutput->logMessage, "[01234]")) << "message: '" << logOutput->logMessage << "'"; logOutput->reset(); // The next message should not show any evidence of previous manipulators. EXPECT_THROW(SURGSIM_ASSERT(1 == 2) << "[" << 987 << "]", SurgSim::Framework::AssertionFailure); EXPECT_TRUE(stringContains(logOutput->logMessage, "[987]")) << "message: '" << logOutput->logMessage << "'"; } TEST_F(AssertTest, ExceptionBehavior) { logOutput->reset(); SurgSim::Framework::AssertMessage::setFailureBehaviorToThrow(); EXPECT_THROW(SURGSIM_ASSERT(1 == 2) << "extra information would go here", SurgSim::Framework::AssertionFailure); EXPECT_NO_THROW({SURGSIM_ASSERT(3 == 3) << "extra information would go here";}); EXPECT_THROW(SURGSIM_FAILURE() << "extra information would go here", SurgSim::Framework::AssertionFailure); } TEST_F(AssertTest, Callback) { logOutput->reset(); typedef SurgSim::Framework::AssertMessage::DeathCallback CallbackType; const CallbackType defaultCallback = SurgSim::Framework::AssertMessage::getFailureCallback(); SurgSim::Framework::AssertMessage::setFailureBehaviorToThrow(); const CallbackType throwCallback = SurgSim::Framework::AssertMessage::getFailureCallback(); EXPECT_EQ(throwCallback, defaultCallback); SurgSim::Framework::AssertMessage::setFailureCallback(ignoreAssertionKeepGoing); EXPECT_EQ(static_cast(ignoreAssertionKeepGoing), SurgSim::Framework::AssertMessage::getFailureCallback()); numIgnoredAssertions = 0; EXPECT_NO_THROW(SURGSIM_ASSERT(1 == 2) << "extra information would go here"); EXPECT_EQ(1, numIgnoredAssertions); EXPECT_NO_THROW({SURGSIM_ASSERT(3 == 3) << "extra information would go here";}); EXPECT_EQ(1, numIgnoredAssertions); EXPECT_NO_THROW(SURGSIM_FAILURE() << "extra information would go here"); EXPECT_EQ(2, numIgnoredAssertions); SurgSim::Framework::AssertMessage::setFailureBehaviorToThrow(); EXPECT_EQ(throwCallback, SurgSim::Framework::AssertMessage::getFailureCallback()); EXPECT_THROW(SURGSIM_ASSERT(1 == 2) << "extra information would go here", SurgSim::Framework::AssertionFailure); EXPECT_EQ(2, numIgnoredAssertions); } TEST_F(AssertDeathTest, DebuggerBehaviorAssertFailed) { logOutput->reset(); SurgSim::Framework::AssertMessage::setFailureBehaviorToDeath(); // The assertion should die with no output to stdout. ASSERT_DEATH_IF_SUPPORTED({SURGSIM_ASSERT(1 == 2) << "extra information would go here";}, "^$"); } TEST_F(AssertDeathTest, DebuggerBehaviorAssertSucceded) { logOutput->reset(); SurgSim::Framework::AssertMessage::setFailureBehaviorToDeath(); EXPECT_NO_THROW({SURGSIM_ASSERT(3 == 3) << "extra information would go here";}); } TEST_F(AssertDeathTest, DebuggerBehaviorFailure) { logOutput->reset(); SurgSim::Framework::AssertMessage::setFailureBehaviorToDeath(); // The assertion should die with no output to stdout. ASSERT_DEATH_IF_SUPPORTED({SURGSIM_FAILURE() << "extra information would go here";}, "^$"); } opensurgsim-0.7.0/SurgSim/Framework/UnitTests/AssetTests.cpp000066400000000000000000000054151277777236100242170ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for SURGSIM_ASSERT() and SURGSIM_FAILURE(). #include #include #include #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Asset.h" #include "SurgSim/Framework/Runtime.h" class MockAsset: public SurgSim::Framework::Asset { public: MockAsset() {} ~MockAsset() {} SURGSIM_CLASSNAME(MockAsset) virtual bool doLoad(const std::string& fileName) { bool result = false; std::ifstream in(fileName); if (in.is_open()) { result = true; } return result; } }; namespace SurgSim { namespace Framework { class AssetTest : public ::testing::Test { public: void SetUp() { runtime = std::make_shared("config.txt"); } std::shared_ptr runtime; }; TEST_F(AssetTest, InitTest) { EXPECT_NO_THROW(MockAsset t); MockAsset test; EXPECT_EQ("", test.getFileName()); } TEST_F(AssetTest, LoadAndFileNameTest) { MockAsset test; // HW-JULY-16, 2014 // Since Asset::load(const std::string&) simply delegates all calls to its overloading counterpart with // ApplicationData from SurgSim::Framwork::Runtime, // tests below actually test Asset::load(const std::string& fileName, const ApplicationData& data); // No need to duplicate tests. Update when those two functions diverge. // Call 'Asset::load()' with empty file name will fail. EXPECT_ANY_THROW(test.load("")); EXPECT_EQ("", test.getFileName()); // Loading nonexist file will fail, but the internal file name recorded by Asset will be updated. std::string invalidFileName("Non-exist-file"); EXPECT_ANY_THROW(test.load(invalidFileName)); EXPECT_EQ(invalidFileName, test.getFileName()); // Loading existing file should success and internal file name recorded by Asset will be updated. std::string validDummyFile("AssetTestData/DummyFile.txt"); EXPECT_NO_THROW(test.load(validDummyFile)); EXPECT_EQ(validDummyFile, test.getFileName()); // Loading same existing file again should success and internal file name will be the same. EXPECT_NO_THROW(test.load(validDummyFile)); EXPECT_EQ(validDummyFile, test.getFileName()); } }; // Framework }; // SurgSimopensurgsim-0.7.0/SurgSim/Framework/UnitTests/BarrierTest.cpp000066400000000000000000000032121277777236100243340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. // Original barrier.hpp // Copyright (C) 2002-2003 // David Moore, William E. Kempf // Copyright (C) 2007-8 Anthony Williams // // Distributed under the Boost Software License, Version 1.0. (See accompanying // file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) #include #include "SurgSim/Framework/Barrier.h" #include "MockObjects.h" //NOLINT #include using SurgSim::Framework::Barrier; namespace { std::shared_ptr barrier; void threadSuccessFunc() { barrier->wait(true); } void threadFailureFunc() { barrier->wait(false); } } TEST(BarrierTest, BasicTest) { ASSERT_ANY_THROW({Barrier(0);}); EXPECT_NO_THROW({Barrier(2);}); } TEST(BarrierTest, SuccessTest) { barrier = std::make_shared(2); boost::thread thread(threadSuccessFunc); EXPECT_TRUE(barrier->wait(true)); } TEST(BarrierTest, FailureTest) { barrier = std::make_shared(2); boost::thread thread(threadFailureFunc); EXPECT_FALSE(barrier->wait(true)); } opensurgsim-0.7.0/SurgSim/Framework/UnitTests/BasicSceneElementTests.cpp000066400000000000000000000075731277777236100264600ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the BasicSceneElement class. #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/BehaviorManager.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/UnitTests/MockObjects.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Testing/Utilities.h" #include #include using SurgSim::Framework::Behavior; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Math::makeRigidTransform; namespace { SURGSIM_REGISTER(SurgSim::Framework::Component, MockRepresentation, MockRepresentation); } namespace SurgSim { namespace Framework { TEST(BasicSceneElementTests, InitTest) { std::shared_ptr sceneElement = std::make_shared("test name"); EXPECT_EQ("test name", sceneElement->getName()); } TEST(BasicSceneElementTests, InitComponentTest) { std::shared_ptr sceneElement = std::make_shared( "SceneElement"); /// Scene element needs a runtime to initialize std::shared_ptr runtime = std::make_shared(); sceneElement->setRuntime(runtime); std::shared_ptr representation1 = std::make_shared("TestRepresentation1"); std::shared_ptr representation2 = std::make_shared("TestRepresentation2"); sceneElement->addComponent(representation1); sceneElement->addComponent(representation2); EXPECT_FALSE(representation1->didInit()); EXPECT_FALSE(representation1->didWakeUp()); EXPECT_FALSE(representation2->didInit()); EXPECT_FALSE(representation2->didWakeUp()); } TEST(BasicSceneElementTests, SerializationTest) { std::shared_ptr sceneElement = std::make_shared("SceneElement"); auto representation1 = std::make_shared("TestRepresentation1"); auto representation2 = std::make_shared("TestRepresentation2"); sceneElement->addComponent(representation1); sceneElement->addComponent(representation2); sceneElement->setActive(false); sceneElement->addToGroup("One"); RigidTransform3d pose(makeRigidTransform(Quaterniond(0.0, 1.0, 0.0, 0.0), Vector3d(1.0, 2.0, 3.0))); sceneElement->setPose(pose); YAML::Node node; ASSERT_NO_THROW(sceneElement->encode(false)) << "Failed to serialize a SceneElement";; ASSERT_NO_THROW(node = sceneElement->encode(true)) << "Failed to serialize a SceneElement"; EXPECT_TRUE(node.IsMap()); EXPECT_EQ("SurgSim::Framework::BasicSceneElement", node.begin()->first.as()); std::shared_ptr result; ASSERT_NO_THROW(result = node.as>()) << "Failed to restore SceneElement."; EXPECT_EQ("SceneElement", result->getName()); EXPECT_EQ(3u, result->getComponents().size()); EXPECT_TRUE(pose.isApprox(result->getPose())); EXPECT_FALSE(result->isActive()); EXPECT_TRUE(SurgSim::Testing::doesContain(result->getGroups(), "One")); } }; // namespace Blocks }; // namespace SurgSimopensurgsim-0.7.0/SurgSim/Framework/UnitTests/BasicThreadTests.cpp000066400000000000000000000176421277777236100253160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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. // Original barrier.hpp // Copyright (C) 2002-2003 // David Moore, William E. Kempf // Copyright (C) 2007-8 Anthony Williams // // Distributed under the Boost Software License, Version 1.0. (See accompanying // file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) #include #include #include "SurgSim/Framework/BasicThread.h" #include "MockObjects.h" //NOLINT namespace SurgSim { namespace Framework { TEST(BasicThreadTest, Instantiation) { MockThread m; EXPECT_FALSE(m.isInitialized()); EXPECT_FALSE(m.isRunning()); } TEST(BasicThreadTest, Running) { MockThread m(10); m.start(nullptr); m.getThread().join(); EXPECT_EQ(0, m.count); } TEST(BasicThreadTest, Stop) { MockThread m; m.start(nullptr); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); EXPECT_TRUE(m.isRunning()); m.stop(); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); EXPECT_TRUE(m.didBeforeStop); EXPECT_FALSE(m.isRunning()); } TEST(BasicThreadTest, StopWithoutSleep) { for (int i = 0; i < 10; ++i) { MockThread m; m.count = 1000000; m.start(nullptr); // Stopping right away should not create a race condition. m.stop(); EXPECT_TRUE(m.didBeforeStop); EXPECT_FALSE(m.isRunning()); } } TEST(BasicThreadTest, RunTimeManagement) { MockThread m; EXPECT_EQ(-1, m.count); std::shared_ptr barrier = std::make_shared(2); EXPECT_FALSE(m.didInitialize); EXPECT_FALSE(m.didStartUp); EXPECT_FALSE(m.isRunning()); m.start(barrier); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); EXPECT_TRUE(m.isRunning()); EXPECT_TRUE(m.didInitialize); EXPECT_FALSE(m.didStartUp); barrier->wait(true); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); EXPECT_TRUE(m.didInitialize); EXPECT_TRUE(m.didStartUp); barrier->wait(true); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); m.stop(); } TEST(BasicThreadTest, DestructStoppedThread) { std::unique_ptr m; m.reset(new MockThread()); m->start(nullptr); m->stop(); EXPECT_NO_THROW(m.reset()); } TEST(BasicThreadTest, SynchronousThread) { MockThread m(10); EXPECT_EQ(10, m.count); std::shared_ptr barrier = std::make_shared(2); EXPECT_FALSE(m.didInitialize); EXPECT_FALSE(m.didStartUp); EXPECT_FALSE(m.isRunning()); EXPECT_FALSE(m.isSynchronous()); m.start(barrier, true); // Run through the initialization barrier->wait(true); barrier->wait(true); barrier->wait(true); EXPECT_TRUE(m.isRunning()); EXPECT_TRUE(m.isSynchronous()); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); // It's running but waiting for a new wait call EXPECT_EQ(9, m.count); barrier->wait(true); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); EXPECT_EQ(8, m.count); barrier->wait(true); barrier->wait(false); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); m.stop(); } TEST(BasicThreadTest, PauseResumeUpdateTest) { MockThread m(100000000); int previousCount = m.count; std::shared_ptr barrier = std::make_shared(2); EXPECT_EQ(100000000, m.count); EXPECT_FALSE(m.didInitialize); EXPECT_FALSE(m.didStartUp); EXPECT_FALSE(m.isRunning()); EXPECT_FALSE(m.isSynchronous()); EXPECT_FALSE(m.isIdle()); m.start(barrier, true); // Run through the initialization barrier->wait(true); barrier->wait(true); barrier->wait(true); EXPECT_FALSE(m.isIdle()); EXPECT_TRUE(m.isRunning()); EXPECT_TRUE(m.isSynchronous()); for (int i = 0; i < 10; i++) { barrier->wait(true); } boost::this_thread::sleep(boost::posix_time::milliseconds(100)); EXPECT_EQ(m.count, previousCount - 11); m.setIdle(true); EXPECT_TRUE(m.isIdle()); EXPECT_TRUE(m.isRunning()); barrier->wait(true); previousCount = m.count; for (int i = 0; i < 10; i++) { barrier->wait(true); } EXPECT_EQ(previousCount, m.count); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); m.setIdle(false); EXPECT_FALSE(m.isIdle()); EXPECT_TRUE(m.isRunning()); for (int i = 0; i < 10; i++) { barrier->wait(true); } boost::this_thread::sleep(boost::posix_time::milliseconds(100)); EXPECT_EQ(m.count, previousCount - 10); barrier->wait(false); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); m.stop(); } TEST(BasicThreadTest, SwitchSyncOnThread) { MockThread m(-1); std::shared_ptr barrier = std::make_shared(2); EXPECT_FALSE(m.didInitialize); EXPECT_FALSE(m.didStartUp); EXPECT_FALSE(m.isRunning()); EXPECT_FALSE(m.isSynchronous()); m.start(barrier, false); // Run through the initialization barrier->wait(true); barrier->wait(true); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); EXPECT_TRUE(m.isRunning()); // Thread is running, count should be less than count after waiting int count = m.count; boost::this_thread::sleep(boost::posix_time::milliseconds(150)); EXPECT_GT(count, m.count); m.setSynchronous(true); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); // Thread is stopped count should be equal to count after waiting count = m.count; boost::this_thread::sleep(boost::posix_time::milliseconds(150)); EXPECT_EQ(count, m.count); // Take one step, count should be just on less than last count barrier->wait(true); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); EXPECT_EQ(count - 1, m.count); count = count - 1; m.setSynchronous(false); // restart the thread ... barrier->wait(true); // Thread is running count should decrease and keep decreasing count = m.count; boost::this_thread::sleep(boost::posix_time::milliseconds(200)); EXPECT_GT(count, m.count); // Thread is running count should decrease and keep decreasing count = m.count; boost::this_thread::sleep(boost::posix_time::milliseconds(200)); EXPECT_GT(count, m.count); m.stop(); } TEST(BasicThreadTest, RealTimings) { MockThread m; m.start(nullptr); while (m.getCpuTime() < 1e-6); EXPECT_GT(m.getCpuTime(), 1e-6); EXPECT_GT(m.getUpdateCount(), 0u); // Ask the manager to idle for a while, just the time for us to reset the timer and check right after // what the timer contains (the delay between the reset and the checks could trigger a race condition). // Asking the thread to idle suppress this race condition. m.setIdle(true); // Reset the timer (=> no more frames in the timer queue) m.resetCpuTimeAndUpdateCount(); EXPECT_NEAR(0.0, m.getCpuTime(), 1e-9); EXPECT_EQ(m.getUpdateCount(), 0u); // Resume the thread loop update. m.setIdle(false); while (m.getCpuTime() < 1e-6); EXPECT_GT(m.getCpuTime(), 1e-6); EXPECT_GT(m.getUpdateCount(), 0u); m.stop(); } // HS-2013-jun-25 Can't figure out how to make this work or what is going wrong with the test class BasicThreadDeathTest : public ::testing::Test { public: void SetUp() { m = std::make_shared(); m->start(nullptr); } void TearDown() { m->stop(); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); } std::shared_ptr m; }; TEST_F(BasicThreadDeathTest, DestructLiveThread) { ::testing::FLAGS_gtest_death_test_style = "threadsafe"; boost::this_thread::sleep(boost::posix_time::milliseconds(100)); ASSERT_DEATH_IF_SUPPORTED( { SurgSim::Framework::AssertMessage::setFailureBehaviorToDeath(); m.reset(); }, ""); } }; // namespace Framework }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Framework/UnitTests/BehaviorManagerTest.cpp000066400000000000000000000062661277777236100260140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "boost/thread/thread.hpp" #include "SurgSim/Framework/BehaviorManager.h" #include "SurgSim/Framework/UnitTests/MockObjects.h" using SurgSim::Framework::BehaviorManager; using SurgSim::Framework::Runtime; using SurgSim::Framework::Scene; using SurgSim::Framework::SceneElement; TEST(BehaviorManagerTest, BehaviorInitTest) { std::shared_ptr runtime(new Runtime()); std::shared_ptr behaviorManager(new BehaviorManager()); runtime->addManager(behaviorManager); auto scene = runtime->getScene(); std::shared_ptr element(new MockSceneElement()); std::shared_ptr behavior(new MockBehavior("MockBehavior")); std::shared_ptr component(new MockComponent("Test Component")); element->addComponent(behavior); element->addComponent(component); scene->addSceneElement(element); EXPECT_TRUE(element->isInitialized()); EXPECT_TRUE(behavior->isInitialized()); EXPECT_TRUE(component->isInitialized()); runtime->start(); EXPECT_TRUE(behaviorManager->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(250)); EXPECT_TRUE(behavior->isAwake()); runtime->stop(); EXPECT_FALSE(behavior->isAwake()); EXPECT_FALSE(component->isAwake()); EXPECT_GT(behavior->updateCount, 0); } TEST(BehaviorManagerTest, UpdateTest) { auto runtime = std::make_shared(); auto scene = runtime->getScene(); auto behaviorManager = std::make_shared(); auto element = std::make_shared(); auto behavior = std::make_shared("MockBehavior"); runtime->addManager(behaviorManager); element->addComponent(behavior); scene->addSceneElement(element); EXPECT_TRUE(element->isInitialized()); EXPECT_TRUE(behavior->isInitialized()); behavior->setLocalActive(false); behavior->updateCount = 0; // BehaviorManager will not update inactive behaviors. runtime->start(); EXPECT_TRUE(behaviorManager->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); EXPECT_EQ(0, behavior->updateCount); // Turn on the behavior, it will be updated. behavior->setLocalActive(true); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); EXPECT_GT(behavior->updateCount, 0); // Turn off the behavior, it will not be updated any more. behavior->setLocalActive(false); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); auto count = behavior->updateCount; boost::this_thread::sleep(boost::posix_time::milliseconds(100)); EXPECT_EQ(behavior->updateCount, count); runtime->stop(); } opensurgsim-0.7.0/SurgSim/Framework/UnitTests/CMakeLists.txt000066400000000000000000000032251277777236100241460ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories ( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES AccessibleTests.cpp AccessibleTypeTests.cpp ApplicationDataTest.cpp AssertTest.cpp AssetTests.cpp BarrierTest.cpp BasicSceneElementTests.cpp BasicThreadTests.cpp BehaviorManagerTest.cpp ComponentManagerTests.cpp ComponentTest.cpp LockedContainerTest.cpp LoggerManagerTest.cpp LoggerTest.cpp MockObjects.cpp ObjectFactoryTests.cpp ReuseFactoryTest.cpp RuntimeTest.cpp SamplingMetricBaseTest.cpp SceneElementTest.cpp SceneTest.cpp SharedInstanceTest.cpp ThreadPoolTest.cpp TimerTest.cpp TransferPropertiesBehaviorTests.cpp ) set(UNIT_TEST_HEADERS MockObjects.h ) file(COPY Data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) set(LIBS SurgSimFramework SurgSimDataStructures ) surgsim_add_unit_tests(SurgSimFrameworkTest) set_target_properties(SurgSimFrameworkTest PROPERTIES FOLDER "Framework") opensurgsim-0.7.0/SurgSim/Framework/UnitTests/ComponentManagerTests.cpp000066400000000000000000000153111277777236100263710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. ///\file ComponentManagerTests.cpp test the basic functionality of the component manager /// mostly through a mock manager that exposes the private interface and implements /// the simplest version of the abstract interface. #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/ComponentManager.h" #include "SurgSim/Framework/UnitTests/MockObjects.h" using SurgSim::Framework::Runtime; using SurgSim::Framework::Component; namespace SurgSim { namespace Framework { TEST(ComponentManagerTests, TestInternalAddRemove) { std::shared_ptr mock1 = std::make_shared("Component1"); std::shared_ptr mock2 = std::make_shared("Component2"); std::shared_ptr invalid = std::make_shared("Behavior1"); MockManager manager; EXPECT_EQ(0u, manager.getComponents().size()); // Basic case should be able to add mockcomponent EXPECT_TRUE(manager.testTryAddComponent(mock1)); EXPECT_EQ(1u, manager.getComponents().size()); EXPECT_TRUE(manager.testTryAddComponent(mock2)); EXPECT_EQ(2u, manager.getComponents().size()); // Should not be able to add behavior EXPECT_FALSE(manager.testTryAddComponent(invalid)); EXPECT_EQ(2u, manager.getComponents().size()); // Should not be able to add duplicate EXPECT_FALSE(manager.testTryAddComponent(mock2)); EXPECT_EQ(2u, manager.getComponents().size()); // Test the removals EXPECT_FALSE(manager.testTryRemoveComponent(invalid)); EXPECT_EQ(2u, manager.getComponents().size()); EXPECT_TRUE(manager.testTryRemoveComponent(mock1)); EXPECT_EQ(1u, manager.getComponents().size()); EXPECT_FALSE(manager.testTryRemoveComponent(mock1)); EXPECT_EQ(1u, manager.getComponents().size()); EXPECT_TRUE(manager.testTryRemoveComponent(mock2)); EXPECT_EQ(0u, manager.getComponents().size()); // Add after remove EXPECT_TRUE(manager.testTryAddComponent(mock1)); EXPECT_EQ(1u, manager.getComponents().size()); } TEST(ComponentManagerTests, SimpleAddRemoveComponentTest) { std::shared_ptr mock1 = std::make_shared("Component1"); std::shared_ptr mock2 = std::make_shared("Component2"); std::shared_ptr invalid = std::make_shared("Behavior1"); std::shared_ptr runtime = std::make_shared(); MockManager manager; manager.setRuntime(runtime); manager.enqueueAddComponent(mock1); manager.enqueueAddComponent(mock1); manager.testProcessComponents(); EXPECT_EQ(1u, manager.getComponents().size()); manager.enqueueRemoveComponent(mock1); manager.testProcessComponents(); EXPECT_EQ(0u, manager.getComponents().size()); } TEST(ComponentManagerTests, CompoundAddRemoveComponentTest) { std::shared_ptr mock1 = std::make_shared("Component1"); std::shared_ptr mock2 = std::make_shared("Component2"); std::shared_ptr invalid = std::make_shared("Behavior1"); std::shared_ptr runtime = std::make_shared(); MockManager manager; manager.setRuntime(runtime); manager.enqueueAddComponent(mock1); manager.enqueueAddComponent(mock2); manager.enqueueAddComponent(invalid); manager.testProcessComponents(); EXPECT_EQ(2u, manager.getComponents().size()); manager.enqueueRemoveComponent(mock1); manager.enqueueAddComponent(mock2); manager.enqueueRemoveComponent(invalid); manager.testProcessComponents(); EXPECT_EQ(1u, manager.getComponents().size()); } // Bug: Components that were initialized by other threads, can be woken up by a thread // that does not have responsibility. Creating a race condition TEST(ComponentManagerTest, DoNotWakeupForeignComponents) { std::shared_ptr mock1 = std::make_shared("Component1"); std::shared_ptr mock2 = std::make_shared("Component2"); std::shared_ptr invalid = std::make_shared("Behavior1"); std::shared_ptr runtime = std::make_shared(); MockManager manager; manager.setRuntime(runtime); manager.enqueueAddComponent(mock1); manager.enqueueAddComponent(mock2); manager.enqueueAddComponent(invalid); // Simulate another thread initializing 'invalid' invalid->initialize(runtime); manager.testProcessComponents(); // invalid should not be awoken ... EXPECT_FALSE(invalid->isAwake()); } TEST(ComponentManagerTests, TypeTest) { MockManager manager; EXPECT_EQ(SurgSim::Framework::MANAGER_TYPE_NONE, manager.getType()); } // Specific component manager to expose a bug where sceneelements added during initialization of // the ComponentManagers are not initialized themselves class InitializationBugManager : public ComponentManager { public: InitializationBugManager() { m_sceneElementInitialize = std::make_shared("Initialize"); auto mockComponent = std::make_shared("Component"); m_sceneElementInitialize->addComponent(mockComponent); m_sceneElementStartup = std::make_shared("Startup"); mockComponent = std::make_shared("Component"); m_sceneElementStartup->addComponent(mockComponent); } virtual int getType() const { return MANAGER_TYPE_NONE; } virtual bool executeAdditions(const std::shared_ptr& component) { return true; } virtual bool executeRemovals(const std::shared_ptr& component) { return true; } virtual bool doInitialize() { getRuntime()->getScene()->addSceneElement(m_sceneElementInitialize); return true; } virtual bool doStartUp() { getRuntime()->getScene()->addSceneElement(m_sceneElementStartup); return true; } std::shared_ptr m_sceneElementInitialize; std::shared_ptr m_sceneElementStartup; }; TEST(ComponentManagerTests, AdditionDuringInitializationTest) { auto manager = std::make_shared(); auto runtime = std::make_shared(); auto scene = runtime->getScene(); runtime->addManager(manager); runtime->start(); EXPECT_TRUE(manager->m_sceneElementInitialize->isInitialized()); EXPECT_TRUE(manager->m_sceneElementStartup->isInitialized()); } } }opensurgsim-0.7.0/SurgSim/Framework/UnitTests/ComponentTest.cpp000066400000000000000000000426301277777236100247170ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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. ///\file ComponentManagerTests.cpp test the basic functionality of the component manager /// mostly through a mock manager that exposes the private interface and implements /// the simplest version of the abstract interface. #include #include #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/UnitTests/MockObjects.h" #include "SurgSim/Testing/SerializationMockComponent.h" using SurgSim::Framework::Component; using SurgSim::Framework::Runtime; using SurgSim::Framework::Scene; /// Simple component class, no additional features class TestComponent1 : public Component { public: explicit TestComponent1(const std::string& name) : Component(name) { } virtual bool doInitialize() { return true; } virtual bool doWakeUp() { return true; } std::string getClassName() const override { return "TestComponent1"; } }; /// TestComponent with properties, automatic registration in the factory class TestComponent2 : public Component { public: explicit TestComponent2(const std::string& name) : Component(name), valueOne(999), valueTwo(888) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(TestComponent2, int, ValueOne, getValueOne, setValueOne); SURGSIM_ADD_SERIALIZABLE_PROPERTY(TestComponent2, int, ValueTwo, getValueTwo, setValueTwo); } virtual bool doInitialize() { return true; } virtual bool doWakeUp() { return true; } int getValueOne() const { return valueOne; } void setValueOne(int val) { valueOne = val; } int getValueTwo() const { return valueTwo; } void setValueTwo(int val) { valueTwo = val; } std::string getClassName() const override { return "TestComponent2"; } private: int valueOne; int valueTwo; }; /// Testcomponent with references to other components class TestComponent3 : public Component { public: explicit TestComponent3(const std::string& name) : Component(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY( TestComponent3, std::shared_ptr, ComponentOne, getComponentOne, setComponentOne); SURGSIM_ADD_SERIALIZABLE_PROPERTY( TestComponent3, std::shared_ptr, ComponentTwo, getComponentTwo, setComponentTwo); } virtual bool doInitialize() { return true; } virtual bool doWakeUp() { return true; } std::shared_ptr getComponentOne() const { return m_componentOne; } void setComponentOne(std::shared_ptr val) { m_componentOne = val; } std::shared_ptr getComponentTwo() const { return m_componentTwo; } void setComponentTwo(std::shared_ptr val) { m_componentTwo = val; } std::string getClassName() const override { return "TestComponent3"; } private: std::shared_ptr m_componentOne; std::shared_ptr m_componentTwo; }; namespace { SURGSIM_REGISTER(SurgSim::Framework::Component, TestComponent2, TestComponent2); SURGSIM_REGISTER(SurgSim::Framework::Component, TestComponent3, TestComponent3); } TEST(ComponentTests, Constructor) { ASSERT_NO_THROW({MockComponent component("Component");}); } TEST(ComponentTests, SetAndGetSceneElementTest) { std::shared_ptr mock1 = std::make_shared("Component"); std::shared_ptr element1(new MockSceneElement("one")); mock1->setSceneElement(element1); EXPECT_EQ(element1, mock1->getSceneElement()); } TEST(ComponentTests, SetAndGetSceneTest) { std::shared_ptr mock1 = std::make_shared("Component"); std::shared_ptr scene = std::make_shared(std::make_shared()); mock1->setScene(scene); EXPECT_EQ(scene, mock1->getScene()); } TEST(ComponentTests, PointerEncode) { auto component = std::make_shared("TestComponent"); YAML::Node node = YAML::convert>::encode(component); EXPECT_FALSE(node.IsNull()); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); std::string className = node.begin()->first.as(); YAML::Node data = node[className]; EXPECT_EQ(2u, data.size()); EXPECT_EQ("TestComponent1", className); EXPECT_EQ("TestComponent", data["Name"].as()); EXPECT_EQ(to_string(component->getUuid()), data["Id"].as()); } TEST(ComponentTests, NullPointerSerialization) { // Encode a nullptr std::shared_ptr emptyComponent; EXPECT_NO_THROW(YAML::convert>::encode(emptyComponent)); YAML::Node node = YAML::convert>::encode(emptyComponent); EXPECT_FALSE(node.IsMap()); // Decode an empty node onto an empty receiver std::shared_ptr emptyComponentReceiver; EXPECT_NO_THROW(YAML::convert>::decode(node, emptyComponentReceiver);); EXPECT_EQ(nullptr, emptyComponentReceiver); // Decode an empty node onto a non-empty receiver. std::shared_ptr component = std::make_shared("TestMockComponent"); EXPECT_NO_THROW(YAML::convert>::decode(node, component);); EXPECT_NE(nullptr, component); EXPECT_EQ("TestMockComponent", component->getName()); // A derived class of component having empty components. auto container = std::make_shared("TestComponent3"); YAML::Node containerNode = YAML::convert::encode(*container); std::shared_ptr newContainer = std::dynamic_pointer_cast( containerNode.as>()); EXPECT_EQ(nullptr, newContainer->getComponentOne()); EXPECT_EQ(nullptr, newContainer->getComponentTwo()); EXPECT_EQ(container->getName(), newContainer->getName()); } TEST(ComponentTests, ConvertFactoryTest) { Component::getFactory().registerClass("TestComponent1"); YAML::Node node; node["TestComponent1"]["Name"] = "ComponentName"; node["TestComponent1"]["Id"] = "ConvertFactoryTest_TestComponent1"; auto component = node.as>(); auto testComponent = std::dynamic_pointer_cast(component); EXPECT_NE(nullptr, testComponent); EXPECT_EQ("ComponentName", testComponent->getName()); EXPECT_EQ("TestComponent1", testComponent->getClassName()); YAML::Node invalidNode; node["Invalid"]["Name"] = "Other"; node["Invalid"]["Id"] = "ConvertFactoryTest_TestComponent2"; // Should not be able to convert this class EXPECT_ANY_THROW({auto result = invalidNode.as>();}); } TEST(ComponentTests, MacroRegistrationTest) { YAML::Node node; node["TestComponent2"]["Name"] = "ComponentName"; node["TestComponent2"]["Id"] = "AutomaticRegistrationTest_ComponentName"; auto component = node.as>(); auto testComponent = std::dynamic_pointer_cast(component); EXPECT_NE(nullptr, testComponent); EXPECT_EQ("ComponentName", testComponent->getName()); EXPECT_EQ("TestComponent2", testComponent->getClassName()); EXPECT_TRUE(testComponent->isActive()); } TEST(ComponentTests, DecodeSharedReferences) { YAML::Node node; node["TestComponent2"]["Name"] = "OneComponentName"; node["TestComponent2"]["Id"] = "DecodeSharedReferences_OneComponentName"; auto component1 = node.as>(); EXPECT_NE(nullptr, component1); EXPECT_TRUE(component1->isActive()); auto component1copy = node.as>(); EXPECT_NE(nullptr, component1copy); EXPECT_EQ(component1, component1copy); EXPECT_TRUE(component1copy->isActive()); node["TestComponent2"]["Id"] = "DecodeSharedReferences_TwoComponentName"; auto component2 = node.as>(); EXPECT_NE(nullptr, component2); EXPECT_NE(component2, component1); EXPECT_NE(component2, component1copy); EXPECT_TRUE(component2->isActive()); node["TestComponent2"]["IsLocalActive"] = false; auto component3 = node.as>(); EXPECT_FALSE(component3->isLocalActive()); } TEST(ComponentTests, EncodeComponent) { auto component = std::make_shared("TestComponent"); component->setValueOne(1); component->setValueTwo(2); YAML::Node node = YAML::convert::encode(*component); std::string className = node.begin()->first.as(); YAML::Node data = node[className]; EXPECT_EQ("TestComponent", (data["Name"].IsDefined() ? data["Name"].as() : "undefined !")); EXPECT_EQ("TestComponent2", className); EXPECT_EQ(1, (data["ValueOne"].IsDefined() ? data["ValueOne"].as() : 0xbad)); EXPECT_EQ(2, (data["ValueTwo"].IsDefined() ? data["ValueTwo"].as() : 0xbad)); EXPECT_TRUE(data["IsLocalActive"].IsDefined()); EXPECT_TRUE(data["IsLocalActive"].as()); } TEST(ComponentTests, DecodeComponent) { YAML::Node node; node["TestComponent2"]["Name"] = "TestComponentName"; node["TestComponent2"]["Id"] = "DecodeComponent_TestComponentName"; node["TestComponent2"]["ValueOne"] = 100; node["TestComponent2"]["ValueTwo"] = 101; node["TestComponent2"]["IsLocalActive"] = false; auto component = node.as>(); auto testComponent = std::dynamic_pointer_cast(component); EXPECT_NE(nullptr, testComponent); EXPECT_EQ("TestComponentName", testComponent->getName()); EXPECT_EQ(100, testComponent->getValueOne()); EXPECT_EQ(101, testComponent->getValueTwo()); EXPECT_FALSE(testComponent->isLocalActive()); } TEST(ComponentTests, ComponentReferences) { auto containerComponent = std::make_shared("Root"); auto componentOne = std::make_shared("Component1"); auto componentTwo = std::make_shared("Component2"); componentOne->setValueOne(100); componentOne->setValueTwo(101); componentTwo->setValueOne(200); componentTwo->setValueTwo(201); containerComponent->setComponentOne(componentOne); containerComponent->setComponentTwo(componentTwo); // Push the components onto the node, note that one component is serialized before the container // and the other after the container, this is intentional to test referencing YAML::Node node; // because yaml internally does not know about our conversions we have to make them explicit node.push_back(YAML::convert::encode(*componentOne)); node.push_back(YAML::convert::encode(*containerComponent)); node.push_back(YAML::convert::encode(*componentTwo)); // Convert from node to shared component auto resultOne = std::dynamic_pointer_cast(node[0].as>()); auto resultContainer = std::dynamic_pointer_cast(node[1].as>()); auto resultTwo = std::dynamic_pointer_cast(node[2].as>()); // All of the components should have been de-serialized ASSERT_NE(nullptr, resultContainer); ASSERT_NE(nullptr, resultOne); ASSERT_NE(nullptr, resultTwo); // The references should have been resolved correctly ASSERT_EQ(resultContainer->getComponentOne(), resultOne); ASSERT_EQ(resultContainer->getComponentTwo(), resultTwo); // All components should have the correct values ... EXPECT_EQ(componentOne->getValueOne(), boost::any_cast(resultContainer->getComponentOne()->getValue("ValueOne"))); EXPECT_EQ(componentOne->getValueTwo(), boost::any_cast(resultContainer->getComponentOne()->getValue("ValueTwo"))); EXPECT_EQ(componentTwo->getValueOne(), boost::any_cast(resultContainer->getComponentTwo()->getValue("ValueOne"))); EXPECT_EQ(componentTwo->getValueTwo(), boost::any_cast(resultContainer->getComponentTwo()->getValue("ValueTwo"))); } TEST(ComponentTests, MockComponent) { auto component = SurgSim::Framework::Component::getFactory().create("MockComponent", "testcomponent"); ASSERT_NE(nullptr, component); /// SerializationMockComponent does not have an explicit definition anywhere in the code /// there is no SerializationMockComponent, but this should still succeed, this test protects /// against linker optimization auto nonDefinedComponent = SurgSim::Framework::Component::getFactory().create( "SerializationMockComponent", "othercomponent"); ASSERT_NE(nullptr, nonDefinedComponent) << "It looks like SerializationMockComponent was lost during linkage."; YAML::Node node = YAML::convert::encode(*nonDefinedComponent); auto roundtripComponent = node.as>(); ASSERT_NE(nullptr, roundtripComponent); EXPECT_EQ("SerializationMockComponent", roundtripComponent->getClassName()); EXPECT_EQ("othercomponent", roundtripComponent->getName()); } #include "SurgSim/Framework/PoseComponent.h" #include "SurgSim/Math/RigidTransform.h" TEST(ComponentTests, PoseComponentTest) { std::shared_ptr component; ASSERT_NO_THROW(component = SurgSim::Framework::Component::getFactory().create( "SurgSim::Framework::PoseComponent", "pose")); EXPECT_EQ("SurgSim::Framework::PoseComponent", component->getClassName()); SurgSim::Math::RigidTransform3d pose(SurgSim::Math::RigidTransform3d::Identity()); component->setValue("Pose", pose); YAML::Node node(YAML::convert::encode(*component)); auto decoded = std::dynamic_pointer_cast( node.as>()); EXPECT_NE(nullptr, decoded); EXPECT_TRUE(pose.isApprox(decoded->getValue("Pose"))); } TEST(ComponentTests, SetActiveTest) { std::shared_ptr component = std::make_shared("Component"); EXPECT_TRUE(component->isActive()); EXPECT_TRUE(component->isLocalActive()); EXPECT_NO_THROW(component->setLocalActive(false)); EXPECT_FALSE(component->isActive()); EXPECT_FALSE(component->isLocalActive()); // RW property test component->setValue("IsLocalActive", true); EXPECT_TRUE(component->isActive()); EXPECT_TRUE(component->isLocalActive()); EXPECT_TRUE(component->getValue("IsActive")); component->setValue("IsLocalActive", false); EXPECT_FALSE(component->isActive()); EXPECT_FALSE(component->isLocalActive()); EXPECT_FALSE(component->getValue("IsActive")); auto sceneElement = std::make_shared("SceneElement"); auto runtime = std::make_shared(); sceneElement->addComponent(component); runtime->getScene()->addSceneElement(sceneElement); EXPECT_TRUE(sceneElement->isActive()); // An inactive component in an active SceneElement is 'inactive'. EXPECT_FALSE(component->isActive()); // An active component in an active SceneElement is 'active'. component->setLocalActive(true); EXPECT_TRUE(component->isActive()); sceneElement->setActive(false); // An active component in an inactive SceneElement is 'inactive'. EXPECT_FALSE(component->isActive()); // An inactive component in an inactive SceneElement is 'inactive'. component->setLocalActive(false); EXPECT_FALSE(component->isActive()); // During serialization, it's Component::m_isActive being serialized, not Component::isActive(). component->setValue("IsLocalActive", true); YAML::Node node = sceneElement->encode(true); YAML::Node data = node["SurgSim::Framework::BasicSceneElement"]; // Decode the component only. std::shared_ptr decodedComponent; for (auto nodeIt = data["Components"].begin(); nodeIt != data["Components"].end(); ++nodeIt) { if ("MockComponent" == nodeIt->begin()->first.as()) { decodedComponent = nodeIt->as>(); break; } } ASSERT_NE(nullptr, decodedComponent); EXPECT_EQ(nullptr, decodedComponent->getSceneElement()); EXPECT_TRUE(decodedComponent->isActive()); EXPECT_TRUE(decodedComponent->isLocalActive()); // Decode the component with a SceneElement. The SceneElement's activity (active/inactive) will // affect the return value of Component::isActive(). decodedComponent = nullptr; auto decodedSceneElement = std::make_shared("Decoded"); decodedSceneElement->decode(node); runtime->getScene()->addSceneElement(decodedSceneElement); EXPECT_FALSE(decodedSceneElement->isActive()); decodedComponent = decodedSceneElement->getComponent("Component"); EXPECT_NE(nullptr, decodedComponent->getSceneElement()); EXPECT_FALSE(decodedComponent->isActive()); EXPECT_TRUE(decodedComponent->isLocalActive()); } TEST(ComponentTests, CheckAndConvertTest) { using SurgSim::Framework::checkAndConvert; auto original = std::make_shared("test"); auto other = std::make_shared("other"); std::shared_ptr source = original; std::shared_ptr result; EXPECT_NO_THROW(result = checkAndConvert(source, "MockComponent")); EXPECT_EQ(result, original); EXPECT_ANY_THROW(result = checkAndConvert(other, "MockBehavior")); } opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/000077500000000000000000000000001277777236100222555ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/ApplicationDataTest/000077500000000000000000000000001277777236100261525ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/ApplicationDataTest/Directory1/000077500000000000000000000000001277777236100301775ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/ApplicationDataTest/Directory1/duplicatedFile.txt000066400000000000000000000000001277777236100336440ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/ApplicationDataTest/Directory1/uniqueFile1.txt000066400000000000000000000000001277777236100331150ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/ApplicationDataTest/Directory2/000077500000000000000000000000001277777236100302005ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/ApplicationDataTest/Directory2/duplicatedFile.txt000066400000000000000000000000001277777236100336450ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/ApplicationDataTest/Directory2/uniqueFile2.txt000066400000000000000000000000001277777236100331170ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/ApplicationDataTest/Test Directory/000077500000000000000000000000001277777236100310165ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/ApplicationDataTest/Test Directory/uniqueFile.txt000066400000000000000000000000471277777236100336660ustar00rootroot00000000000000Data/ApplicationDataTest/Test Directoryopensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/ApplicationDataTest/testFile1.txt000066400000000000000000000001101277777236100305430ustar00rootroot00000000000000Data/ApplicationDataTest/Directory1 Data/ApplicationDataTest/Directory2 opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/AssetTestData/000077500000000000000000000000001277777236100247665ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/AssetTestData/DummyFile.txt000066400000000000000000000000001277777236100274100ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/SceneElementTest/000077500000000000000000000000001277777236100254645ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/SceneElementTest/circle-1.yaml000066400000000000000000000003001277777236100277400ustar00rootroot00000000000000- SurgSim::Framework::BasicSceneElement: Name: element IsActive: true Components: - MockComponent: Name: clone - INCLUDE: SceneElementTest/circle-2.yaml opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/SceneElementTest/circle-2.yaml000066400000000000000000000003001277777236100277410ustar00rootroot00000000000000- SurgSim::Framework::BasicSceneElement: Name: element IsActive: true Components: - MockComponent: Name: clone - INCLUDE: SceneElementTest/circle-1.yaml opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/SceneElementTest/included.yaml000066400000000000000000000004461277777236100301430ustar00rootroot00000000000000- SurgSim::Framework::BasicSceneElement: Name: element2 IsActive: true Components: - MockComponent: Name: clone - SurgSim::Framework::BasicSceneElement: Name: element3 IsActive: true Components: - MockComponent: Name: clone opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/SceneElementTest/includer.yaml000066400000000000000000000003511277777236100301540ustar00rootroot00000000000000- INCLUDE: SceneElementTest/single.yaml - SurgSim::Framework::BasicSceneElement: Name: element IsActive: true Components: - MockComponent: Name: clone - INCLUDE: SceneElementTest/included.yaml opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/SceneElementTest/single.yaml000066400000000000000000000002201277777236100276230ustar00rootroot00000000000000SurgSim::Framework::BasicSceneElement: Name: element2 IsActive: true Components: - MockComponent: Name: clone opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/SceneTestData/000077500000000000000000000000001277777236100247445ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/SceneTestData/bad.yaml000066400000000000000000000004501277777236100263550ustar00rootroot00000000000000- SurgSim::Framework::BasicSceneElement: Name: element2 IsActive: true Components: - MockComponent: Name: clone Id 1de26315-82a7-46b2-ae38-324d25009629 IsLocalActive: true SucceedWithInit: true SucceedWithWakeUp: true opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/SceneTestData/element.yaml000066400000000000000000000004511277777236100272610ustar00rootroot00000000000000- SurgSim::Framework::BasicSceneElement: Name: element2 IsActive: true Components: - MockComponent: Name: clone Id: 1de26315-82a7-46b2-ae38-324d25009629 IsLocalActive: true SucceedWithInit: true SucceedWithWakeUp: true opensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/SceneTestData/elements.yaml000066400000000000000000000011321277777236100274410ustar00rootroot00000000000000- SurgSim::Framework::BasicSceneElement: IsActive: true Name: element0 Components: - MockComponent: Name: component0 Id: 394ca44f-6117-4eef-90a1-52b81e430e3a IsLocalActive: true SucceedWithInit: true SucceedWithWakeUp: true - SurgSim::Framework::BasicSceneElement: Name: element1 IsActive: true Components: - MockComponent: Name: component1 Id: 2d27d6e1-2628-40a7-9e1d-da8b5032228f IsLocalActive: true SucceedWithInit: true SucceedWithWakeUp: trueopensurgsim-0.7.0/SurgSim/Framework/UnitTests/Data/SceneTestData/scene.yaml000066400000000000000000000023601277777236100267260ustar00rootroot00000000000000SurgSim::Framework::Scene: SceneElements: - SurgSim::Framework::BasicSceneElement: IsActive: true Components: - SurgSim::Framework::PoseComponent: Name: Pose Id: 71fc22e9-a908-48d5-b0f9-198d60513117 IsLocalActive: true Pose: Translation: [0, 0, 0] Quaternion: [0, 0, 0, 1] - MockComponent: Name: component0 IsLocalActive: true SucceedWithInit: true SucceedWithWakeUp: true Id: 350c883b-0283-4e34-8148-5b281b758e3b Name: element0 - SurgSim::Framework::BasicSceneElement: Components: - MockComponent: IsLocalActive: true SucceedWithInit: true SucceedWithWakeUp: true Id: 5def200c-6515-4c2b-a818-936d616c43af Name: component1 - SurgSim::Framework::PoseComponent: IsLocalActive: true Pose: Quaternion: [0, 0, 0, 1] Translation: [0, 0, 0] Id: 65a4bc87-4d3f-487b-aac9-a9db5a250a28 Name: Pose Name: element1 IsActive: trueopensurgsim-0.7.0/SurgSim/Framework/UnitTests/LockedContainerTest.cpp000066400000000000000000000344331277777236100260230ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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. /// \file /// Tests for the LockedContainer class. #include #include "SurgSim/Framework/LockedContainer.h" #include #include using SurgSim::Framework::LockedContainer; // Define some helper data types for testing. /// A class that supports copy construction and copy assignment but not moving. class Copyable { public: Copyable() : m_data(-1) { } Copyable(const Copyable& o) : m_data(o.m_data) { } void operator=(const Copyable& o) { m_data = o.m_data; } int getValue() const { return m_data; } void setValue(int d) { m_data = d; } private: // No need to disable move construction and move assignment-- the compiler does not provide those by default. int m_data; }; /// A class that supports neither copying nor moving. class NonCopyable { public: NonCopyable() : m_data(-1) { } int getValue() const { return m_data; } void setValue(int d) { m_data = d; } private: // Disable copy construction and copy assignment. // No need to disable move construction and move assignment-- the compiler does not provide those by default. NonCopyable(const NonCopyable&); void operator=(const NonCopyable&); int m_data; }; /// A class that supports move construction and move assignment but not copying. class Movable { public: Movable() : m_data(-1) { } Movable(Movable&& o) : m_data(o.m_data) { o.m_data = -1; } void operator=(Movable&& o) { m_data = o.m_data; o.m_data = -1; } int getValue() const { return m_data; } void setValue(int d) { m_data = d; } private: // Disable copy construction and copy assignment. Movable(const Movable&); void operator=(const Movable&); int m_data; }; /// A class with several pieces of data for checking consistency. class BigData { public: BigData() : m_data1(-1), m_data2(-1) { } BigData(const BigData& o) : m_data1(o.m_data1), m_data2(o.m_data2) {} void operator=(const BigData& o) { m_data1 = o.m_data1; m_data2 = o.m_data2; } BigData(BigData&& o) : m_data1(o.m_data1), m_data2(o.m_data2) { o.m_data1 = o.m_data2 = -1; } void operator=(BigData&& o) { m_data1 = o.m_data1; m_data2 = o.m_data2; o.m_data1 = o.m_data2 = -1; } int getValue1() const { return m_data1; } void setValue1(int d) { m_data1 = d; } int getValue2() const { return m_data2; } void setValue2(int d) { m_data2 = d; } private: int m_data1; int padding[1023]; // make it less likely that the cache will be kind to us int m_data2; }; // Now we're ready to start testing... // ==================== SINGLE-THREADED TESTS ==================== TEST(LockedContainerTest, Construct) { // This should work: EXPECT_NO_THROW( {LockedContainer data;}); EXPECT_NO_THROW( {LockedContainer data;}); EXPECT_NO_THROW( {LockedContainer data;}); // This should also work but it's useless (can't modify the data): EXPECT_NO_THROW( {LockedContainer data;}); } TEST(LockedContainerTest, InitializeAtConstruction) { typedef Copyable DataType; // With the following definition, the container construction should not compile: //typedef NonCopyable DataType; DataType initial; initial.setValue(123); EXPECT_EQ(123, initial.getValue()); LockedContainer data(initial); DataType contents; data.get(&contents); EXPECT_EQ(123, contents.getValue()); EXPECT_EQ(123, initial.getValue()); } TEST(LockedContainerTest, MoveInitializeAtConstruction) { typedef Movable DataType; DataType initial; initial.setValue(123); EXPECT_EQ(123, initial.getValue()); LockedContainer data(std::move(initial)); DataType contents; data.take(&contents); EXPECT_EQ(123, contents.getValue()); EXPECT_EQ(-1, initial.getValue()); // the old data has been moved out! } TEST(LockedContainerTest, Get) { Copyable content; content.setValue(987); LockedContainer data(content); EXPECT_EQ(987, content.getValue()); Copyable destination; data.get(&destination); EXPECT_EQ(987, destination.getValue()); data.get(&destination); EXPECT_EQ(987, destination.getValue()); EXPECT_EQ(987, content.getValue()); } TEST(LockedContainerTest, Take) { Movable content; content.setValue(987); LockedContainer data(std::move(content)); EXPECT_EQ(-1, content.getValue()); Movable destination; data.take(&destination); EXPECT_EQ(987, destination.getValue()); data.take(&destination); EXPECT_EQ(-1, destination.getValue()); EXPECT_EQ(-1, content.getValue()); } TEST(LockedContainerTest, SetAndGet) { Copyable initial; initial.setValue(1); LockedContainer data(initial); Copyable contents; data.get(&contents); EXPECT_EQ(1, contents.getValue()); // "writer": initial.setValue(2); // note: NOT writing to the container! // "reader": data.get(&contents); EXPECT_EQ(1, contents.getValue()); // "writer": initial.setValue(3); data.set(initial); // "reader": data.get(&contents); EXPECT_EQ(3, contents.getValue()); } TEST(LockedContainerTest, SetAndTake) { Movable initial; initial.setValue(1); EXPECT_EQ(1, initial.getValue()); LockedContainer data(std::move(initial)); Movable contents; data.take(&contents); EXPECT_EQ(1, contents.getValue()); data.take(&contents); EXPECT_EQ(-1, contents.getValue()); EXPECT_EQ(-1, initial.getValue()); // "writer": initial.setValue(2); // note: NOT writing to the container! // "reader": data.take(&contents); EXPECT_EQ(-1, contents.getValue()); // "writer": initial.setValue(3); data.set(std::move(initial)); // "reader": data.take(&contents); EXPECT_EQ(3, contents.getValue()); data.take(&contents); EXPECT_EQ(-1, contents.getValue()); EXPECT_EQ(-1, initial.getValue()); } TEST(LockedContainerTest, TryGetChanged) { { LockedContainer data; // use default constructor for Copyable Copyable destination; destination.setValue(999); { bool changed = data.tryGetChanged(&destination); EXPECT_FALSE(changed) << "no set(); tryGetChanged() should return false!"; if (! changed) { EXPECT_EQ(999, destination.getValue()) << "tryGetChanged() returned false; value shouldn't have changed!"; } } Copyable content; content.setValue(101); data.set(content); { bool changed = data.tryGetChanged(&destination); EXPECT_TRUE(changed) << "set() called; tryGetChanged() should return true!"; if (changed) { EXPECT_EQ(101, destination.getValue()) << "tryGetChanged() returned true; value should have changed!"; } } destination.setValue(888); { bool changed = data.tryGetChanged(&destination); EXPECT_FALSE(changed) << "no set() since get(); tryGetChanged() should return false!"; if (! changed) { EXPECT_EQ(888, destination.getValue()) << "tryGetChanged() returned false; value shouldn't have changed!"; } } } { Copyable content; content.setValue(654); LockedContainer data(content); // use initializing constructor for Copyable Copyable destination; destination.setValue(999); { bool changed = data.tryGetChanged(&destination); EXPECT_FALSE(changed) << "no set(); tryGetChanged() should return false!"; if (! changed) { EXPECT_EQ(999, destination.getValue()) << "tryGetChanged() returned false; value shouldn't have changed!"; } } content.setValue(121); data.set(content); { bool changed = data.tryGetChanged(&destination); EXPECT_TRUE(changed) << "set() called; tryGetChanged() should return true!"; if (changed) { EXPECT_EQ(121, destination.getValue()) << "tryGetChanged() returned true; value should have changed!"; } } destination.setValue(888); { bool changed = data.tryGetChanged(&destination); EXPECT_FALSE(changed) << "no set() since get(); tryGetChanged() should return false!"; if (! changed) { EXPECT_EQ(888, destination.getValue()) << "tryGetChanged() returned false; value shouldn't have changed!"; } } } } TEST(LockedContainerTest, TryTakeChanged) { { LockedContainer data; // use default constructor for Movable Movable destination; destination.setValue(999); { bool changed = data.tryTakeChanged(&destination); EXPECT_FALSE(changed) << "no set(); tryTakeChanged() should return false!"; if (! changed) { EXPECT_EQ(999, destination.getValue()) << "tryTakeChanged() returned false; value shouldn't have changed!"; } } Movable content; content.setValue(101); data.set(std::move(content)); { bool changed = data.tryTakeChanged(&destination); EXPECT_TRUE(changed) << "set() called; tryTakeChanged() should return true!"; if (changed) { EXPECT_EQ(101, destination.getValue()) << "tryTakeChanged() returned true; value should have changed!"; } } destination.setValue(888); { bool changed = data.tryTakeChanged(&destination); EXPECT_FALSE(changed) << "no set() since get(); tryTakeChanged() should return false!"; if (! changed) { EXPECT_EQ(888, destination.getValue()) << "tryTakeChanged() returned false; value shouldn't have changed!"; } } destination.setValue(777); { data.take(&destination); EXPECT_EQ(-1, destination.getValue()) << "an earlier tryTakeChanged() should have emptied the container!"; } } { Movable content; content.setValue(654); LockedContainer data(std::move(content)); // use initializing constructor for Movable Movable destination; destination.setValue(999); { bool changed = data.tryTakeChanged(&destination); EXPECT_FALSE(changed) << "no set(); tryTakeChanged() should return false!"; if (! changed) { EXPECT_EQ(999, destination.getValue()) << "tryTakeChanged() returned false; value shouldn't have changed!"; } } content.setValue(121); data.set(std::move(content)); { bool changed = data.tryTakeChanged(&destination); EXPECT_TRUE(changed) << "set() called; tryTakeChanged() should return true!"; if (changed) { EXPECT_EQ(121, destination.getValue()) << "tryTakeChanged() returned true; value should have changed!"; } } destination.setValue(888); { bool changed = data.tryTakeChanged(&destination); EXPECT_FALSE(changed) << "no set() since get(); tryTakeChanged() should return false!"; if (! changed) { EXPECT_EQ(888, destination.getValue()) << "tryTakeChanged() returned false; value shouldn't have changed!"; } } destination.setValue(777); { data.take(&destination); EXPECT_EQ(-1, destination.getValue()) << "an earlier tryTakeChanged() should have emptied the container!"; } } } // ==================== MULTI-THREADED TESTS ==================== typedef LockedContainer SharedData; class DataWriter { public: /// data parameter to be passed by non-const reference on purpose. explicit DataWriter(SharedData& data, int start = 0, int step = 1, int loops = 100000) : //NOLINT m_data(data), m_start(start), m_step(step), m_loops(loops), m_isDone(false) { } bool isDone() const { // Direct access to the data member is a hack, since this is called from a different thread. // If this were production code, we would really want to use a LockedContainer instead. // // But in this case, we really want to avoid locking around the flag in order to maximize the likelihood // that adverse race conditions in *actual data* access may pop up, so we do this anyway. return m_isDone; } void start() { m_thread = boost::thread(boost::ref(*this)); } void join() { m_thread.join(); } void operator()() { BigData current; int value = m_start; while (m_loops > 0) { --m_loops; value += m_step; current.setValue1(value); current.setValue2(value); m_data.set(current); } m_isDone = true; } private: DataWriter(const DataWriter&); void operator=(const DataWriter&); SharedData& m_data; int m_start; int m_step; int m_loops; bool m_isDone; boost::thread m_thread; }; void testReaderAndWriters(int numWriters) { // The number of total writes performed by all writers. // // Note that this value shouldn't be too low: when you break the code by eliminating locking altogether, you // don't get reliable failures below about 10000 writes (as tested on a MSI GE70 laptop), presumably because // the threads finish too quickly and thus don't run concurrently. const int NUM_TOTAL_WRITES = 1000000; LockedContainer data; std::vector> writers(numWriters); for (size_t i = 0; i < writers.size(); ++i) { // The step has been chosen so two writers can't ever produce the same value writers[i] = std::unique_ptr(new DataWriter(data, static_cast(i), numWriters, NUM_TOTAL_WRITES / numWriters)); } { BigData value; data.get(&value); EXPECT_EQ(-1, value.getValue1()); EXPECT_EQ(-1, value.getValue2()); } for (size_t i = 0; i < writers.size(); ++i) { writers[i]->start(); } BigData value; while (1) { int z1 = value.getValue1(); bool wasUpdated = data.tryGetChanged(&value); int a1 = value.getValue1(); int a2 = value.getValue2(); EXPECT_EQ(a1, a2); if (wasUpdated) { EXPECT_NE(z1, a1); } else { EXPECT_EQ(z1, a1); } bool allDone = true; for (size_t i = 0; i < writers.size(); ++i) { if (! writers[i]->isDone()) { allDone = false; break; } } if (allDone) { break; } } for (size_t i = 0; i < writers.size(); ++i) { writers[i]->join(); } } TEST(LockedContainerTest, DISABLED_OneWriterThread) { testReaderAndWriters(1); } TEST(LockedContainerTest, TwoWriterThreads) { testReaderAndWriters(2); } TEST(LockedContainerTest, DISABLED_FourWriterThreads) { testReaderAndWriters(4); } TEST(LockedContainerTest, DISABLED_EightWriterThreads) { testReaderAndWriters(8); } TEST(LockedContainerTest, SixteenWriterThreads) { testReaderAndWriters(16); } opensurgsim-0.7.0/SurgSim/Framework/UnitTests/LoggerManagerTest.cpp000066400000000000000000000106761277777236100254740ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for LoggerManager class. #include "SurgSim/Framework/Log.h" #include #include #include using SurgSim::Framework::Logger; using SurgSim::Framework::LoggerManager; using SurgSim::Framework::StreamOutput; class MockOutput : public SurgSim::Framework::LogOutput { public: MockOutput() { } ~MockOutput() { } bool writeMessage(const std::string& message) { logMessage = message; return true; } void reset() { logMessage.clear(); } std::string logMessage; }; TEST(LoggerManagerTest, Constructor) { EXPECT_NO_THROW({std::shared_ptr loggerManager(new LoggerManager());}); } TEST(LoggerManagerTest, DefaultOutput) { auto loggerManager = std::make_shared(); auto output = std::make_shared(std::cerr); loggerManager->setDefaultOutput(output); EXPECT_EQ(output, loggerManager->getDefaultOutput()); } TEST(LoggerManagerTest, DefaultLoggerTest) { auto loggerManager = std::make_shared(); auto defaultLogger = loggerManager->getDefaultLogger(); EXPECT_TRUE(nullptr != defaultLogger); EXPECT_EQ(loggerManager->getDefaultOutput(), defaultLogger->getOutput()); EXPECT_EQ(loggerManager->getThreshold(), defaultLogger->getThreshold()); } TEST(LoggerManagerTest, GetLogger) { auto loggerManager = std::make_shared(); /// getLogger() will create a new logger if a logger with given name is not found auto retrieved = loggerManager->getLogger("test"); EXPECT_TRUE(nullptr != retrieved); /// getLogger() guarantees to return a logger with given name { auto temp = loggerManager->getLogger("logger"); } EXPECT_TRUE(nullptr != loggerManager->getLogger("logger")); } TEST(LoggerManagerTest, Threshold) { auto loggerManager = std::make_shared(); /// Check default log level auto logger0 = loggerManager->getLogger("logger0"); EXPECT_EQ(SurgSim::Framework::LOG_LEVEL_WARNING, logger0->getThreshold()); /// setThreshold(level) will change log level of existing loggers /// and the default log level loggerManager->setThreshold(SurgSim::Framework::LOG_LEVEL_CRITICAL); EXPECT_EQ(SurgSim::Framework::LOG_LEVEL_CRITICAL, loggerManager->getThreshold()); EXPECT_EQ(SurgSim::Framework::LOG_LEVEL_CRITICAL, logger0->getThreshold()); /// setThreshold(level) will affect log level of newly created loggers auto logger1 = loggerManager->getLogger("logger1"); EXPECT_EQ(SurgSim::Framework::LOG_LEVEL_CRITICAL, logger1->getThreshold()); auto logger2 = loggerManager->getLogger("logger2"); auto logger3 = loggerManager->getLogger("logger3"); auto testLogger = loggerManager->getLogger("testLogger"); /// setThreshold(pattern, level) will change log level of existing loggers /// which match given name pattern /// Logger with different pattern will not be changed /// Default log level will not be affected loggerManager->setThreshold("logger", SurgSim::Framework::LOG_LEVEL_WARNING); EXPECT_EQ(SurgSim::Framework::LOG_LEVEL_WARNING, logger2->getThreshold()); EXPECT_EQ(SurgSim::Framework::LOG_LEVEL_WARNING, logger3->getThreshold()); EXPECT_NE(SurgSim::Framework::LOG_LEVEL_WARNING, testLogger->getThreshold()); EXPECT_NE(SurgSim::Framework::LOG_LEVEL_WARNING, loggerManager->getThreshold()); /// setThreshold(pattern, level) will affect newly created loggers if the logger's name matches the pattern auto testLogger2 = loggerManager->getLogger("testLogger2"); EXPECT_NE(SurgSim::Framework::LOG_LEVEL_WARNING, testLogger2->getThreshold()); auto logger5 = loggerManager->getLogger("logger5"); EXPECT_EQ(SurgSim::Framework::LOG_LEVEL_WARNING, logger5->getThreshold()); /// Logger manager should own the logger. loggerManager->getLogger("xxx")->setThreshold(SurgSim::Framework::LOG_LEVEL_DEBUG); EXPECT_EQ(SurgSim::Framework::LOG_LEVEL_DEBUG, loggerManager->getLogger("xxx")->getThreshold()); }opensurgsim-0.7.0/SurgSim/Framework/UnitTests/LoggerTest.cpp000066400000000000000000000213511277777236100241710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the SURGSIM_LOG_*() macros and the related classes. #include #include "SurgSim/Framework/Log.h" #include #include #include #include using SurgSim::Framework::Logger; using SurgSim::Framework::FileOutput; ::testing::AssertionResult isContained(const std::string& expected, const std::string& argument) { if (std::string::npos != argument.find(expected)) { return ::testing::AssertionSuccess(); } else { return ::testing::AssertionFailure() << expected << " not contained in " << argument; } } class MockOutput : public SurgSim::Framework::LogOutput { public: MockOutput() { } ~MockOutput() { } bool writeMessage(const std::string& message) { logMessage = message; return true; } void reset() { logMessage = ""; } std::string logMessage; }; TEST(LoggerTest, MessageTest) { auto logger = Logger::getLogger("TestLogger"); auto output = std::make_shared(); logger->setOutput(output); logger->writeMessage("TestMessage"); EXPECT_EQ("TestMessage", output->logMessage); } TEST(LoggerTest, LogMacroTest) { auto logger = Logger::getLogger("TestLogger"); auto output = std::make_shared(); logger->setOutput(output); logger->setThreshold(SurgSim::Framework::LOG_LEVEL_WARNING); output->reset(); SURGSIM_LOG(logger, CRITICAL) << "Test Text"; EXPECT_TRUE(isContained("Test Text",output->logMessage)); output->reset(); SURGSIM_LOG(logger, DEBUG) << "Missing Text"; EXPECT_EQ("", output->logMessage); output->reset(); SURGSIM_LOG(logger, WARNING) << "Exactly At Threshold"; EXPECT_TRUE(isContained("Exactly At Threshold", output->logMessage)); } TEST(LoggerTest, SharedPtrTest) { auto logger = Logger::getLogger("TestLogger"); auto output = std::make_shared(); logger->setOutput(output); logger->setThreshold(SurgSim::Framework::LOG_LEVEL_WARNING); output->reset(); SURGSIM_LOG(logger, CRITICAL) << "Test Text"; EXPECT_TRUE(isContained("Test Text", output->logMessage)); output->reset(); SURGSIM_LOG(logger, DEBUG) << "Missing Text"; EXPECT_EQ("", output->logMessage); output->reset(); SURGSIM_LOG(logger, WARNING) << "Exactly At Threshold"; EXPECT_TRUE(isContained("Exactly At Threshold", output->logMessage)); } TEST(LoggerTest, LevelSpecificMacroTest) { auto logger = Logger::getLogger("TestLogger"); auto output = std::make_shared(); logger->setOutput(output); logger->setThreshold(SurgSim::Framework::LOG_LEVEL_WARNING); output->reset(); SURGSIM_LOG_CRITICAL(logger) << "Test Text"; EXPECT_TRUE(isContained("Test Text", output->logMessage)); output->reset(); SURGSIM_LOG_DEBUG(logger) << "Missing Text"; EXPECT_EQ("", output->logMessage); output->reset(); SURGSIM_LOG_WARNING(logger) << "Exactly At Threshold"; EXPECT_TRUE(isContained("Exactly At Threshold", output->logMessage)); } TEST(LoggerTest, IfMacroTest) { auto logger = Logger::getLogger("TestLogger"); auto output = std::make_shared(); logger->setOutput(output); logger->setThreshold(SurgSim::Framework::LOG_LEVEL_WARNING); output->reset(); SURGSIM_LOG_IF(true, logger, CRITICAL) << "Test Text"; EXPECT_TRUE(isContained("Test Text", output->logMessage)); output->reset(); SURGSIM_LOG_IF(false, logger, CRITICAL) << "Test Text"; EXPECT_EQ("", output->logMessage); output->reset(); SURGSIM_LOG_IF(true, logger, DEBUG) << "Missing Text"; EXPECT_EQ("", output->logMessage); output->reset(); SURGSIM_LOG_IF(false, logger, DEBUG) << "Missing Text"; EXPECT_EQ("", output->logMessage); output->reset(); SURGSIM_LOG_IF(true, logger, WARNING) << "Exactly At Threshold"; EXPECT_TRUE(isContained("Exactly At Threshold", output->logMessage)); output->reset(); SURGSIM_LOG_IF(false, logger, WARNING) << "Exactly At Threshold"; EXPECT_EQ("", output->logMessage); } TEST(LoggerTest, OnceMacroTest) { auto logger = Logger::getLogger("TestLogger"); auto output = std::make_shared(); logger->setOutput(output); logger->setThreshold(SurgSim::Framework::LOG_LEVEL_WARNING); for (int i = 0; i < 3; ++i) { output->reset(); SURGSIM_LOG_ONCE(logger, CRITICAL) << "Test Text"; if (i == 0) { EXPECT_TRUE(isContained("Test Text", output->logMessage)); } else { EXPECT_EQ("", output->logMessage); } output->reset(); SURGSIM_LOG_ONCE(logger, DEBUG) << "Missing Text"; EXPECT_EQ("", output->logMessage); output->reset(); SURGSIM_LOG_ONCE(logger, CRITICAL) << "More Text"; if (i == 0) { EXPECT_TRUE(isContained("More Text", output->logMessage)); } else { EXPECT_EQ("", output->logMessage); } } } TEST(LoggerTest, OnceIfMacroTest) { auto logger = Logger::getLogger("TestLogger"); auto output = std::make_shared(); logger->setOutput(output); logger->setThreshold(SurgSim::Framework::LOG_LEVEL_WARNING); for (int i = 0; i < 3; ++i) { output->reset(); SURGSIM_LOG_ONCE_IF(i >= 0, logger, CRITICAL) << "Test Text"; if (i == 0) { EXPECT_TRUE(isContained("Test Text", output->logMessage)); } else { EXPECT_EQ("", output->logMessage); } output->reset(); SURGSIM_LOG_ONCE_IF(i >= 1, logger, DEBUG) << "Missing Text"; EXPECT_EQ("", output->logMessage); output->reset(); SURGSIM_LOG_ONCE_IF(i >= 2, logger, CRITICAL) << "More Text"; if (i == 2) { EXPECT_TRUE(isContained("More Text", output->logMessage)); } else { EXPECT_EQ("", output->logMessage); } } } TEST(LoggerTest, EndOfLineTest) { auto logger = Logger::getLogger("TestLogger"); auto output = std::make_shared(); logger->setOutput(output); logger->setThreshold(SurgSim::Framework::LOG_LEVEL_WARNING); output->reset(); SURGSIM_LOG_CRITICAL(logger) << "foo" << std::endl << "bar"; EXPECT_TRUE(isContained("foo\nbar", output->logMessage)); } TEST(LoggerTest, LogLevelTest) { auto logger = Logger::getLogger("TestLogger"); auto output = std::make_shared(); logger->setOutput(output); logger->setThreshold(SurgSim::Framework::LOG_LEVEL_DEBUG); output->reset(); SURGSIM_LOG_DEBUG(logger) << "a message"; EXPECT_TRUE(isContained("DEBUG", output->logMessage)); output->reset(); SURGSIM_LOG_INFO(logger) << "a message"; EXPECT_TRUE(isContained("INFO", output->logMessage)); output->reset(); SURGSIM_LOG_WARNING(logger) << "a message"; EXPECT_TRUE(isContained("WARNING", output->logMessage)); output->reset(); SURGSIM_LOG_SEVERE(logger) << "a message"; EXPECT_TRUE(isContained("SEVERE", output->logMessage)); output->reset(); SURGSIM_LOG_CRITICAL(logger) << "a message"; EXPECT_TRUE(isContained("CRITICAL", output->logMessage)); } TEST(LoggerTest, ManipulatorTest) { auto logger = Logger::getLogger("TestLogger"); auto output = std::make_shared(); logger->setOutput(output); output->reset(); SURGSIM_LOG_WARNING(logger) << "aAa" << std::endl << "bBb"; EXPECT_TRUE(isContained("aAa\nbBb", output->logMessage) || isContained("aAa\r\n\bBb", output->logMessage)) << "message: '" << output->logMessage << "'"; output->reset(); SURGSIM_LOG_WARNING(logger) << "[" << std::hex << std::setw(5) << std::setfill('0') << 0x1234 << "]"; EXPECT_TRUE(isContained("[01234]", output->logMessage)) << "message: '" << output->logMessage << "'"; output->reset(); // The next message should not show any evidence of previous manipulators. SURGSIM_LOG_WARNING(logger) << "[" << 987 << "]"; EXPECT_TRUE(isContained("[987]", output->logMessage)) << "message: '" << output->logMessage << "'"; } class FileOutputTest : public ::testing::Test { public: void SetUp() { output = std::make_shared("test.log"); } void TearDown() { output = nullptr; boost::filesystem::remove("test.log"); } static std::shared_ptr output; }; std::shared_ptr FileOutputTest::output; TEST_F(FileOutputTest, BasicTest) { EXPECT_TRUE(boost::filesystem::exists("test.log")); } TEST_F(FileOutputTest, CreationFailure) { ASSERT_ANY_THROW(FileOutput("asdfasdf/test.log")); } TEST_F(FileOutputTest, Write) { output->writeMessage("TestMessage"); output = nullptr; std::ifstream stream("test.log"); EXPECT_FALSE(stream.fail()); std::string message; stream >> message; EXPECT_EQ("TestMessage",message); } opensurgsim-0.7.0/SurgSim/Framework/UnitTests/MockObjects.cpp000066400000000000000000000035061277777236100243170ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/UnitTests/MockObjects.h" SURGSIM_REGISTER(SurgSim::Framework::Component, MockComponent, MockComponent); MockComponent::MockComponent(const std::string& name, bool succeedInit, bool succeedWakeUp) : Component(name), succeedWithInit(succeedInit), succeedWithWakeUp(succeedWakeUp), didWakeUp(false), didInit(false), didRetire(false) { SURGSIM_ADD_SERIALIZABLE_PROPERTY( MockComponent, bool, SucceedWithInit, getSucceedWithInit, setSucceedWithInit); SURGSIM_ADD_SERIALIZABLE_PROPERTY( MockComponent, bool, SucceedWithWakeUp, getSucceedWithWakeUp, setSucceedWithWakeUp); } MockComponent::~MockComponent() { } bool MockComponent::doInitialize() { didInit = true; return succeedWithInit; } bool MockComponent::doWakeUp() { didWakeUp = true; return succeedWithWakeUp; } void MockComponent::doRetire() { didRetire = true; Component::doRetire(); } bool MockComponent::getSucceedWithInit() const { return succeedWithInit; } void MockComponent::setSucceedWithInit(bool val) { succeedWithInit = val; } bool MockComponent::getSucceedWithWakeUp() const { return succeedWithWakeUp; } void MockComponent::setSucceedWithWakeUp(bool val) { succeedWithWakeUp = val; } opensurgsim-0.7.0/SurgSim/Framework/UnitTests/MockObjects.h000066400000000000000000000211031277777236100237550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest LLC. // // 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 // // 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 SURGSIM_FRAMEWORK_UNITTESTS_MOCKOBJECTS_H #define SURGSIM_FRAMEWORK_UNITTESTS_MOCKOBJECTS_H #include #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/BasicThread.h" #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/ComponentManager.h" #include "SurgSim/Framework/Representation.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/SamplingMetricBase.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/SceneElement.h" /// Class to catch the calls made to the scene element, does nothing class MockSceneElement : public SurgSim::Framework::SceneElement { public: explicit MockSceneElement(const std::string& name = "MockSceneElement") : SceneElement(name), didInit(false), didUpdate(false), didLateUpdate(false), didFixedUpdate(false) { m_localRuntime = std::make_shared(); setRuntime(m_localRuntime); m_localScene = m_localRuntime->getScene(); setScene(m_localScene); } virtual void update(double dt) { didUpdate = true; } virtual void lateUpdate(double dt) { didLateUpdate = true; } virtual void fixedRateUpdate(double dt) { didFixedUpdate = true; } virtual bool doInitialize() { didInit = true; return didInit; }; bool didInit; bool didUpdate; bool didLateUpdate; bool didFixedUpdate; private: std::shared_ptr m_localRuntime; std::shared_ptr m_localScene; }; class MockThread : public SurgSim::Framework::BasicThread { public: explicit MockThread(int runCount = -1) : count(runCount), totalTime(0.0), didBeforeStop(false), didInitialize(false), didStartUp(false) { } virtual ~MockThread() { } int count; double totalTime; bool didBeforeStop; bool runIndefinetly; bool didInitialize; bool didStartUp; private: virtual bool doInitialize() { didInitialize = true; return true; }; virtual bool doStartUp() { didStartUp = true; return true; }; virtual bool doUpdate(double dt) { --count; totalTime += dt; return count != 0; }; virtual void doBeforeStop() { didBeforeStop = true; }; }; class MockComponent : public SurgSim::Framework::Component { public: explicit MockComponent(const std::string& name, bool succeedInit = true, bool succeedWakeUp = true); SURGSIM_CLASSNAME(MockComponent); virtual ~MockComponent(); bool doInitialize() override; bool doWakeUp() override; void doRetire() override; bool getSucceedWithInit() const; void setSucceedWithInit(bool val); bool getSucceedWithWakeUp() const; void setSucceedWithWakeUp(bool val); bool succeedWithInit; bool succeedWithWakeUp; bool didWakeUp; bool didInit; bool didRetire; }; class MockBehavior : public SurgSim::Framework::Behavior { public: explicit MockBehavior(const std::string& name, bool succeedInit = true, bool succeedWakeUp = true) : Behavior(name), succeedWithInit(succeedInit), succeedWithWakeUp(succeedWakeUp), updateCount(0) { } virtual ~MockBehavior() { } virtual bool doInitialize() { return succeedWithInit; } virtual bool doWakeUp() { return succeedWithWakeUp; } virtual void update(double dt) { updateCount++; } bool succeedWithInit; bool succeedWithWakeUp; int updateCount; }; class MockManager : public SurgSim::Framework::ComponentManager { public: explicit MockManager(bool succeedInit = true, bool succeedStartup = true) : succeedInit(succeedInit), succeedStartup(succeedStartup), didInitialize(false), didStartUp(false), didBeforeStop(false), count(0) { } virtual ~MockManager() { } int getType() const override { return SurgSim::Framework::MANAGER_TYPE_NONE; } const std::vector>& getComponents() { return m_components; } bool testTryAddComponent(const std::shared_ptr& component) { return executeAdditions(component); } bool testTryRemoveComponent(const std::shared_ptr& component) { return executeRemovals(component); } void testProcessComponents() { processComponents(); } bool succeedInit; bool succeedStartup; bool didInitialize; bool didStartUp; bool didBeforeStop; int count; private: virtual bool doInitialize() { didInitialize = true; return succeedInit; }; virtual bool doStartUp() { didStartUp = true; return succeedStartup; }; virtual bool doUpdate(double dt) { ++count; processComponents(); return true; }; virtual void doBeforeStop() { didBeforeStop = true; retireComponents(m_components); ComponentManager::doBeforeStop(); } bool executeAdditions(const std::shared_ptr& component) override { return tryAddComponent(component, &m_components) != nullptr; } bool executeRemovals(const std::shared_ptr& component) override { return tryRemoveComponent(component, &m_components); } std::vector> m_components; }; class MockRepresentation : public SurgSim::Framework::Representation { public: /// Constructor /// \param name Name of the representation /// \post m_pose is initialized to identity /// \post m_didInit is initialized to false /// \post m_didWakeUp is initialized to false explicit MockRepresentation(const std::string& name) : SurgSim::Framework::Representation(name), m_didInit(false), m_didWakeUp(false) { } SURGSIM_CLASSNAME(MockRepresentation); /// Returns true if the representation has been initialized, otherwise false bool didInit() const { return m_didInit; } /// Returns true if the representation has been woken up, otherwise false bool didWakeUp() const { return m_didWakeUp; } private: /// Whether the representation has been initialized bool m_didInit; /// Whether the representation has been woken up bool m_didWakeUp; /// Initializes the representation /// \return True if succeeds, otherwise false virtual bool doInitialize() { m_didInit = true; return true; } /// Wakes up the representation /// \return True if succeeds, otherwise false virtual bool doWakeUp() { m_didWakeUp = true; return true; } }; class MockSamplingMetric : public SurgSim::Framework::SamplingMetricBase { public: /// Constructor /// \param name Name of the representation explicit MockSamplingMetric(const std::string& name, bool ableToMeasure = true, double initialMeasurement = 0.0) : SurgSim::Framework::SamplingMetricBase(name), m_canMeasure(ableToMeasure), m_measurement(initialMeasurement) { } SURGSIM_CLASSNAME(MockSamplingMetric); /// Type of the individual entries in the measurement data structure. The first field of the /// pair holds the elapsed time since the start of the measurement process and the second field /// of the pair holds the measurement value obtained at that time. typedef SurgSim::Framework::SamplingMetricBase::MeasurementEntryType MeasurementEntryType; /// Type of the cumulative entries data structure. The code current caps the number of entries at a /// user prescribed value to keep from overwriting all of memory when the process is allowed to run /// unchecked over long periods. The maximum number of entries is nominally capped at 30 minutes of samples /// taken 30 times per second, but it can be adjusted using he setMaxNumberOfMeasurements call. Note /// that we always save the last measurements taken. After the limit is reached we delete the oldest /// current entry every time we need to add a new measurement. typedef SurgSim::Framework::SamplingMetricBase::MeasurementsType MeasurementsType; private: /// Whether the representation has been initialized bool m_canMeasure; /// Next measurement value to return. double m_measurement; /// Return if the measurement can be made at this point /// \return true or false bool canMeasure(double dt) { return m_canMeasure; } double performMeasurement(double dt) { return ++m_measurement; } }; #endif // SURGSIM_FRAMEWORK_UNITTESTS_MOCKOBJECTS_H opensurgsim-0.7.0/SurgSim/Framework/UnitTests/ObjectFactoryTests.cpp000066400000000000000000000046011277777236100256720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/ObjectFactory.h" namespace { class TestClass { public: TestClass() : stringValue("default"), className("TestClass") { } ~TestClass() { } explicit TestClass(const std::string& val) : stringValue(val) { } std::string stringValue; std::string className; }; class TestClassA : public TestClass { public: TestClassA() : TestClass("a") { className = "TestClassA"; } explicit TestClassA(const std::string& val) : TestClass(val) { className = "TestClassA"; } }; class TestClassB : public TestClass { public: TestClassB() : TestClass("b") { className = "TestClassB"; } explicit TestClassB(const std::string& val) : TestClass(val) { className = "TestClassB"; } }; } namespace SurgSim { namespace Framework { TEST(ObjectFactoryTests, Single) { ObjectFactory factory; factory.registerClass("TestClassA"); factory.registerClass("TestClassB"); auto a = factory.create("TestClassA"); EXPECT_NE(nullptr, a); EXPECT_EQ("a", a->stringValue); auto b = factory.create("TestClassB"); EXPECT_NE(nullptr, b); EXPECT_EQ("b", b->stringValue); EXPECT_ANY_THROW(factory.create("xxx")); } TEST(ObjectFactoryTests, OneParameter) { ObjectFactory1 factory; factory.registerClass("TestClassA"); factory.registerClass("TestClassB"); auto a = factory.create("TestClassA", "abc"); EXPECT_NE(nullptr, a); EXPECT_EQ("abc", a->stringValue); EXPECT_EQ("TestClassA", a->className); auto b = factory.create("TestClassB", "cde"); EXPECT_NE(nullptr, b); EXPECT_EQ("cde", b->stringValue); EXPECT_EQ("TestClassB", b->className); EXPECT_ANY_THROW(factory.create("xxx","xyz")); } }; // Framework }; // SurgSimopensurgsim-0.7.0/SurgSim/Framework/UnitTests/ReuseFactoryTest.cpp000066400000000000000000000054021277777236100253640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/ReuseFactory.h" using SurgSim::Framework::ReuseFactory; class MockObject { public: MockObject() { } ~MockObject() { } }; TEST(ReuseFactoryTest, InitTest) { ASSERT_NO_THROW({ReuseFactory();}); } TEST(ReuseFactoryTest, GetNewTest) { ReuseFactory objectFactory; std::shared_ptr object = objectFactory.getInstance(); ASSERT_NE(nullptr, object); } TEST(ReuseFactoryTest, DeleteTest) { ReuseFactory objectFactory; std::weak_ptr weakPointer; { std::shared_ptr sharedPointer; { // Get a new object. std::shared_ptr object = objectFactory.getInstance(); ASSERT_NE(nullptr, object); weakPointer = object; ASSERT_NE(nullptr, weakPointer.lock()); // Make another shared pointer to the object. sharedPointer = object; } // The object should not have been deleted yet, as there is still a shared pointer to it. ASSERT_NE(nullptr, weakPointer.lock()); } // It should be deleted now. EXPECT_EQ(nullptr, weakPointer.lock()) << "The object should no longer exist."; } TEST(ReuseFactoryTest, ReuseTest) { ReuseFactory objectFactory; std::weak_ptr weakPointer; MockObject* pointer; // Get a new object { std::shared_ptr object = objectFactory.getInstance(); ASSERT_NE(nullptr, object); weakPointer = object; ASSERT_NE(nullptr, weakPointer.lock()); pointer = object.get(); } // It should be deleted now. EXPECT_EQ(nullptr, weakPointer.lock()) << "Weak pointer to object = " << weakPointer.lock(); // Reuse the object that has been deleted. { std::shared_ptr object = objectFactory.getInstance(); ASSERT_NE(nullptr, object); EXPECT_EQ(pointer, object.get()) << "The retrieved object should be the object that was previously deleted."; // Get another object, which should be new. { std::shared_ptr object = objectFactory.getInstance(); ASSERT_NE(nullptr, object); EXPECT_NE(pointer, object.get()) << "We should have a completely new object, not the same previous object."; } } } opensurgsim-0.7.0/SurgSim/Framework/UnitTests/RuntimeTest.cpp000066400000000000000000000227701277777236100244030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/SceneElement.h" #include "MockObjects.h" //NOLINT using SurgSim::Framework::Runtime; using SurgSim::Framework::Scene; using SurgSim::Framework::Logger; TEST(RuntimeTest, Constructor) { EXPECT_NO_THROW({std::shared_ptr runtime(new Runtime());}); std::shared_ptr runtime(new Runtime()); EXPECT_NE(nullptr, runtime->getScene()); EXPECT_NO_THROW(std::make_shared()); EXPECT_NO_THROW(std::make_shared("config.txt")); EXPECT_THROW(std::make_shared("Non-exist-file"), SurgSim::Framework::AssertionFailure); } TEST(RuntimeTest, AddManager) { std::shared_ptr runtime(new Runtime()); std::shared_ptr manager(new MockManager()); runtime->addManager(manager); EXPECT_TRUE(runtime->start()); EXPECT_TRUE(manager->isInitialized()); EXPECT_TRUE(runtime->isRunning()); EXPECT_TRUE(runtime->stop()); EXPECT_FALSE(runtime->isRunning()); EXPECT_FALSE(manager->isRunning()); } TEST(RuntimeTest, InitFailureDeathTest) { std::shared_ptr runtime(new Runtime()); std::shared_ptr managerSucceeds(new MockManager()); std::shared_ptr managerFails(new MockManager(false, true)); runtime->addManager(managerSucceeds); runtime->addManager(managerFails); ASSERT_DEATH(runtime->start(), ""); } TEST(RuntimeTest, StartupFailureDeathTest) { std::shared_ptr runtime(new Runtime()); std::shared_ptr managerSucceeds(new MockManager()); std::shared_ptr managerFails(new MockManager(true, false)); runtime->addManager(managerSucceeds); runtime->addManager(managerFails); ASSERT_DEATH(runtime->start(), ""); } TEST(RuntimeTest, SceneInitialization) { std::shared_ptr runtime = std::make_shared(); std::shared_ptr manager = std::make_shared(); runtime->addManager(manager); std::shared_ptr scene = runtime->getScene(); std::vector> elements; std::vector> components; elements.push_back(std::make_shared("one")); elements.push_back(std::make_shared("two")); components.push_back(std::make_shared("one")); components.push_back(std::make_shared("two")); components.push_back(std::make_shared("three")); components.push_back(std::make_shared("four")); scene->addSceneElement(elements[0]); scene->addSceneElement(elements[1]); elements[0]->addComponent(components[0]); elements[0]->addComponent(components[1]); elements[1]->addComponent(components[2]); elements[1]->addComponent(components[3]); EXPECT_FALSE(manager->didInitialize); EXPECT_FALSE(manager->didStartUp); EXPECT_FALSE(manager->didBeforeStop); runtime->start(); EXPECT_TRUE(manager->didInitialize); EXPECT_TRUE(manager->didStartUp); EXPECT_FALSE(manager->didBeforeStop); for (int i = 0; i < 2; ++i) { EXPECT_NE(nullptr, elements[i]->getRuntime()); EXPECT_TRUE(elements[i]->didInit); } for (int i = 0; i < 4; i++) { EXPECT_TRUE(components[i]->didInit); } runtime->stop(); EXPECT_TRUE(manager->didBeforeStop); for (int i = 0; i < 4; i++) { EXPECT_TRUE(components[i]->didRetire); } } TEST(RuntimeTest, PausedStep) { std::shared_ptr runtime(new Runtime()); std::shared_ptr manager1(new MockManager()); std::shared_ptr manager2(new MockManager()); runtime->addManager(manager1); runtime->addManager(manager2); runtime->start(true); EXPECT_TRUE(runtime->isPaused()); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); EXPECT_TRUE(manager1->isSynchronous()); EXPECT_TRUE(manager2->isSynchronous()); int count = manager1->count; runtime->step(); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); EXPECT_EQ(count + 1, manager1->count); runtime->step(); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); EXPECT_EQ(count + 2, manager1->count); runtime->stop(); } TEST(RuntimeTest, PauseResume) { std::shared_ptr runtime(new Runtime()); std::shared_ptr manager1(new MockManager()); std::shared_ptr manager2(new MockManager()); runtime->addManager(manager1); runtime->addManager(manager2); runtime->start(false); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); EXPECT_FALSE(manager1->isSynchronous()); EXPECT_FALSE(manager2->isSynchronous()); runtime->pause(); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); EXPECT_TRUE(manager1->isSynchronous()); EXPECT_TRUE(manager2->isSynchronous()); runtime->step(); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); runtime->step(); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); runtime->resume(); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); EXPECT_FALSE(manager1->isSynchronous()); EXPECT_FALSE(manager2->isSynchronous()); runtime->stop(); } TEST(RuntimeTest, AddComponentAddDuringRuntime) { std::shared_ptr runtime = std::make_shared(); std::shared_ptr manager = std::make_shared(); runtime->addManager(manager); std::shared_ptr scene = runtime->getScene(); std::vector> components; auto element = std::make_shared("one"); components.push_back(std::make_shared("one")); components.push_back(std::make_shared("two")); scene->addSceneElement(element); element->addComponent(components[0]); runtime->start(true); EXPECT_TRUE(manager->didInitialize); EXPECT_TRUE(manager->didStartUp); EXPECT_FALSE(manager->didBeforeStop); // Make sure we are out of initialization completely runtime->step(); EXPECT_FALSE(components[1]->isInitialized()); EXPECT_FALSE(components[1]->isAwake()); EXPECT_TRUE(element->addComponent(components[1])); EXPECT_TRUE(components[1]->isInitialized()); EXPECT_FALSE(components[1]->isAwake()); runtime->step(); runtime->step(); // Right now step is still non-blocking, make sure the thread has finished processing... EXPECT_TRUE(components[1]->isInitialized()); EXPECT_TRUE(components[1]->isAwake()); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); runtime->stop(); EXPECT_FALSE(components[1]->isAwake()); } TEST(RuntimeTest, LoadAndAddScene) { auto runtime = std::make_shared("config.txt"); EXPECT_NO_THROW(runtime->loadScene("SceneTestData/scene.yaml")); auto scene0 = runtime->getScene(); EXPECT_NE(nullptr, scene0); EXPECT_EQ(2L, scene0->getSceneElements().size()); EXPECT_NO_THROW(runtime->loadScene("SceneTestData/scene.yaml")); auto scene1 = runtime->getScene(); EXPECT_NE(nullptr, scene1); EXPECT_NE(scene0, scene1); EXPECT_NO_THROW(runtime->addSceneElements("SceneTestData/elements.yaml")); auto scene2 = runtime->getScene(); EXPECT_NE(nullptr, scene2); EXPECT_EQ(scene1, scene2); EXPECT_EQ(4L, scene2->getSceneElements().size()); } TEST(RuntimeTest, LoadAndDuplicate) { auto runtime = std::make_shared("config.txt"); EXPECT_NO_THROW(runtime->loadScene("SceneTestData/scene.yaml")); auto scene0 = runtime->getScene(); auto elements0 = runtime->duplicateSceneElements("SceneTestData/element.yaml"); auto elements1 = runtime->duplicateSceneElements("SceneTestData/element.yaml"); EXPECT_EQ(1L, elements0.size()); EXPECT_EQ(1L, elements1.size()); // Without the correct cloning, both of these elements would point to the same instance which would be bad auto component0 = elements0[0]->getComponent("clone"); auto component1 = elements1[0]->getComponent("clone"); ASSERT_NE(nullptr, component0); ASSERT_NE(nullptr, component1); EXPECT_NE(component0, component1); component0->setLocalActive(false); EXPECT_NE(component0->isLocalActive(), component1->isLocalActive()); } TEST(RuntimeTest, DuplicateBadYaml) { auto runtime = std::make_shared("config.txt"); EXPECT_NO_THROW(runtime->loadScene("SceneTestData/scene.yaml")); auto scene0 = runtime->getScene(); EXPECT_ANY_THROW(auto elements0 = runtime->duplicateSceneElements("SceneTestData/bad.yaml");); } TEST(RuntimeTest, ManagerAccess) { auto runtime = std::make_shared(); auto managers = runtime->getManagers(); EXPECT_EQ(0L, managers.size()); auto manager1 = std::make_shared(); auto manager2 = std::make_shared(); runtime->addManager(manager1); runtime->addManager(manager2); managers = runtime->getManagers(); EXPECT_EQ(2L, managers.size()); } TEST(RuntimeTest, TypedManagerAccess) { auto runtime = std::make_shared(); auto manager1 = std::make_shared(); runtime->addManager(manager1); auto manager = runtime->getManager(); EXPECT_EQ(manager1, manager); auto impossible = runtime->getManager(); EXPECT_EQ(nullptr, impossible); }opensurgsim-0.7.0/SurgSim/Framework/UnitTests/SamplingMetricBaseTest.cpp000066400000000000000000000071601277777236100264650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/SamplingMetricBase.h" #include "SurgSim/Framework/UnitTests/MockObjects.h" TEST(SamplingMetricBaseTest, SamplingMetricBaseInitTest) { std::shared_ptr mockMetric(std::make_shared("Test Metric")); auto samples = mockMetric->getMeasurementValues(); // Test initialization settings. EXPECT_EQ("Test Metric", mockMetric->getName()); EXPECT_EQ(0, samples.size()); EXPECT_EQ(0.0, mockMetric->getElapsedTime()); EXPECT_EQ(SurgSim::Framework::MANAGER_TYPE_BEHAVIOR, mockMetric->getTargetManagerType()); EXPECT_LT(0u, mockMetric->getMaxNumberOfMeasurements()); EXPECT_EQ(0, mockMetric->getCurrentNumberOfMeasurements()); } TEST(SamplingMetricBaseTest, SetGetTests) { std::shared_ptr mockMetric(std::make_shared("Test Metric")); auto samples = mockMetric->getMeasurementValues(); // Test sets and gets. mockMetric->setName("Test2"); mockMetric->setMaxNumberOfMeasurements(5); mockMetric->setTargetManagerType(SurgSim::Framework::MANAGER_TYPE_PHYSICS); EXPECT_EQ("Test2", mockMetric->getName()); EXPECT_EQ(5, mockMetric->getMaxNumberOfMeasurements()); EXPECT_EQ(SurgSim::Framework::MANAGER_TYPE_PHYSICS, mockMetric->getTargetManagerType()); } TEST(SamplingMetricBaseTest, AbleToPerformMeasurementsTests) { std::shared_ptr mockMetric(std::make_shared("Test Metric", true, 1.0)); // Make 10 updates mockMetric->setMaxNumberOfMeasurements(5); for (int counter = 0; counter < 10; ++counter) { mockMetric->update(static_cast(counter)); } auto samples = mockMetric->getMeasurementValues(); EXPECT_EQ(5, mockMetric->getCurrentNumberOfMeasurements()); EXPECT_EQ(5, samples.size()); EXPECT_EQ(45.0, mockMetric->getElapsedTime()); // When we check the results, our deque holds 5 places. We skip the // first 5 because they already rolled off the end. The metric value // starts at one and accumulates. At position 5, we should already have // a value of 15 accumulated. int counter = 5; int accumulator = 15; for (auto sampleIterator = samples.begin(); sampleIterator != samples.end(); ++sampleIterator) { EXPECT_EQ(static_cast(accumulator), sampleIterator->first); EXPECT_EQ(static_cast(counter + 2), sampleIterator->second); ++counter; accumulator += counter; } } TEST(SamplingMetricBaseTest, UnableToPerformMeasurementsTests) { std::shared_ptr mockMetric(std::make_shared("Test Metric", false, 1.0)); double accumulatedTime = 0.0; // Make 10 updates mockMetric->setMaxNumberOfMeasurements(5); for (int counter = 0; counter < 10; ++counter) { mockMetric->update(static_cast(counter)); accumulatedTime += counter; } auto samples = mockMetric->getMeasurementValues(); EXPECT_EQ(0, mockMetric->getCurrentNumberOfMeasurements()); EXPECT_EQ(0, samples.size()); EXPECT_EQ(accumulatedTime, mockMetric->getElapsedTime()); } opensurgsim-0.7.0/SurgSim/Framework/UnitTests/SceneElementTest.cpp000066400000000000000000000327651277777236100253340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/PoseComponent.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Testing/Utilities.h" #include "MockObjects.h" //NOLINT using SurgSim::Framework::Component; using SurgSim::Framework::PoseComponent; using SurgSim::Framework::SceneElement; TEST(SceneElementTest, Constructor) { ASSERT_NO_THROW(MockSceneElement element); } TEST(SceneElementTest, Pose) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; MockSceneElement element; EXPECT_TRUE(element.getPose().isApprox(RigidTransform3d::Identity())); RigidTransform3d pose(makeRigidTransform(Quaterniond(0.0, 1.0, 0.0, 0.0), Vector3d(1.0, 2.0, 3.0))); element.setPose(pose); EXPECT_TRUE(element.getPose().isApprox(pose)); EXPECT_TRUE(element.getPoseComponent()->getPose().isApprox(pose)); } TEST(SceneElementTest, UpdateFunctions) { MockSceneElement element; element.update(1.0); EXPECT_TRUE(element.didUpdate); element.lateUpdate(1.0); EXPECT_TRUE(element.didLateUpdate); element.fixedRateUpdate(1.0); EXPECT_TRUE(element.didFixedUpdate); } TEST(SceneElementTest, AddAndTestComponentsAssembly) { std::shared_ptr runtime = std::make_shared(); std::shared_ptr manager = std::make_shared(); std::shared_ptr element = std::make_shared(); std::shared_ptr component = std::make_shared("TestComponent"); runtime->addManager(manager); EXPECT_TRUE(element->addComponent(component)); // SceneElement in Component should be set immediately EXPECT_EQ(nullptr, component->getScene()); EXPECT_NE(nullptr, component->getSceneElement()); // Scene and SceneElement should be set after add runtime->getScene()->addSceneElement(element); EXPECT_EQ(element->getScene(), component->getScene()); EXPECT_EQ(element, component->getSceneElement()); // Verify the component made it to the manager runtime->start(true); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); ASSERT_EQ(1, manager->getComponents().size()); EXPECT_EQ(component, manager->getComponents()[0]); runtime->stop(); } class ConstructorSceneElement : public MockSceneElement { public: ConstructorSceneElement() { component = std::make_shared("TestComponent"); addComponent(component); } std::shared_ptr component; }; TEST(SceneElementTest, AddAndTestComponentsConstructor) { std::shared_ptr runtime = std::make_shared(); std::shared_ptr manager = std::make_shared(); std::shared_ptr element = std::make_shared(); auto component = element->component; runtime->addManager(manager); // Scene and SceneElement in Component will not be set until initialization (add to scene). EXPECT_EQ(nullptr, component->getScene()); EXPECT_EQ(nullptr, component->getSceneElement()); // Scene and SceneElement should be set after add runtime->getScene()->addSceneElement(element); EXPECT_EQ(element->getScene(), component->getScene()); EXPECT_EQ(element, component->getSceneElement()); // Verify the component made it to the manager runtime->start(true); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); ASSERT_EQ(1, manager->getComponents().size()); EXPECT_EQ(component, manager->getComponents()[0]); runtime->stop(); } TEST(SceneElementTest, AddAndAccessComponents) { std::shared_ptr element(new MockSceneElement()); std::shared_ptr component1(new MockComponent("TestComponent1")); std::shared_ptr component2(new MockComponent("TestComponent2")); EXPECT_TRUE(element->addComponent(component1)); EXPECT_TRUE(element->addComponent(component2)); // Should not be able to add two with the same name EXPECT_FALSE(element->addComponent(component1)); // Should not be able to add nullptr component EXPECT_ANY_THROW(element->addComponent(nullptr)); std::shared_ptr fetched(element->getComponent("TestComponent1")); ASSERT_NE(nullptr, fetched); EXPECT_EQ("TestComponent1", fetched->getName()); fetched = element->getComponent("Random"); EXPECT_EQ(nullptr, fetched); } TEST(SceneElementTest, RemoveComponent) { std::shared_ptr runtime = std::make_shared(); std::shared_ptr manager = std::make_shared(); std::shared_ptr element(new MockSceneElement()); std::shared_ptr component1(new MockComponent("TestComponent1")); std::shared_ptr component2(new MockComponent("TestComponent2")); EXPECT_TRUE(element->addComponent(component1)); EXPECT_TRUE(element->addComponent(component2)); runtime->addManager(manager); runtime->getScene()->addSceneElement(element); runtime->start(true); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); EXPECT_EQ(2, manager->getComponents().size()); EXPECT_TRUE(element->removeComponent("TestComponent2")); EXPECT_EQ(nullptr, element->getComponent("TestComponent2")); runtime->step(); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); EXPECT_EQ(1, manager->getComponents().size()); EXPECT_TRUE(element->removeComponent(component1)); EXPECT_EQ(nullptr, element->getComponent("TestComponent1")); runtime->step(); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); EXPECT_EQ(0, manager->getComponents().size()); runtime->stop(); } TEST(SceneElementTest, RemoveComponents) { std::shared_ptr runtime = std::make_shared(); std::shared_ptr manager = std::make_shared(); std::shared_ptr element(new MockSceneElement()); std::shared_ptr component1(new MockComponent("TestComponent1")); std::shared_ptr component2(new MockComponent("TestComponent2")); EXPECT_TRUE(element->addComponent(component1)); EXPECT_TRUE(element->addComponent(component2)); runtime->addManager(manager); runtime->getScene()->addSceneElement(element); runtime->start(true); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); EXPECT_EQ(2, manager->getComponents().size()); element->removeComponents(); runtime->step(); boost::this_thread::sleep(boost::posix_time::milliseconds(150)); EXPECT_EQ(0, manager->getComponents().size()); runtime->stop(); } TEST(SceneElementTest, GetComponentsTest) { std::shared_ptr element(new MockSceneElement()); std::shared_ptr component1(new MockComponent("TestComponent1")); std::shared_ptr component2(new MockComponent("TestComponent2")); element->addComponent(component1); EXPECT_EQ(2u, element->getComponents().size()); element->addComponent(component2); EXPECT_EQ(3u, element->getComponents().size()); std::vector> components = element->getComponents(); EXPECT_NE(components.end(), std::find(components.cbegin(), components.cend(), component1)); EXPECT_NE(components.end(), std::find(components.cbegin(), components.cend(), component2)); element->removeComponent(component1); components = element->getComponents(); EXPECT_EQ(2u, components.size()); } TEST(SceneElementTest, GetTypedComponentsTests) { std::shared_ptr element(new MockSceneElement()); std::shared_ptr behavior(new MockBehavior("MockBehavior")); std::shared_ptr component1(new MockComponent("Test Component1")); std::shared_ptr component2(new MockComponent("Test Component2")); element->addComponent(behavior); element->addComponent(component1); element->addComponent(component2); EXPECT_EQ(1u, element->getComponents().size()); EXPECT_EQ(2u, element->getComponents().size()); element->removeComponent(component1); EXPECT_EQ(1u, element->getComponents().size()); element->removeComponent(component2); EXPECT_EQ(0u, element->getComponents().size()); } TEST(SceneElementTest, GetSetValue) { std::shared_ptr element(new MockSceneElement()); std::shared_ptr component(new MockComponent("Component")); element->addComponent(component); { float value; EXPECT_FALSE(element->getValue("Component", "MissingProperty", &value)); EXPECT_THROW(element->getValue("Component", "MissingProperty"), SurgSim::Framework::AssertionFailure); EXPECT_THROW(element->getValue("Component", "MissingProperty"), SurgSim::Framework::AssertionFailure); EXPECT_THROW(element->setValue("Component", "MissingProperty", value), SurgSim::Framework::AssertionFailure); } { bool value = false; component->succeedWithInit = true; EXPECT_TRUE(element->getValue("Component", "SucceedWithInit", &value)); EXPECT_TRUE(value); EXPECT_NO_THROW(element->getValue("Component", "SucceedWithInit")); EXPECT_NO_THROW(element->getValue("Component", "SucceedWithInit")); EXPECT_TRUE(boost::any_cast(element->getValue("Component", "SucceedWithInit"))); EXPECT_TRUE(element->getValue("Component", "SucceedWithInit")); } { bool value = true; component->succeedWithWakeUp = false; EXPECT_NO_THROW(element->setValue("Component", "SucceedWithWakeUp", value)); EXPECT_TRUE(component->succeedWithWakeUp); } } TEST(SceneElementTest, InitComponentTest) { std::shared_ptr element(new MockSceneElement()); std::shared_ptr component1(new MockComponent("TestComponent1")); std::shared_ptr component2(new MockComponent("TestComponent2")); element->addComponent(component1); element->addComponent(component2); element->initialize(); EXPECT_TRUE(element->didInit); } TEST(SceneElementTest, DoubleInitTest) { std::shared_ptr element(new MockSceneElement()); EXPECT_FALSE(element->didInit); element->initialize(); EXPECT_TRUE(element->didInit); ASSERT_ANY_THROW(element->initialize()); } TEST(SceneElement, InGroup) { std::shared_ptr element(new MockSceneElement()); EXPECT_FALSE(element->inGroup("xxx")); element->addToGroup("One"); EXPECT_TRUE(element->inGroup("One")); EXPECT_FALSE(element->inGroup("xxx")); } TEST(SceneElementTest, NoSceneGroupsTest) { std::shared_ptr element(new MockSceneElement()); EXPECT_TRUE(element->getGroups().empty()); element->addToGroup("One"); EXPECT_TRUE(element->inGroup("One")); element->addToGroup("Two"); EXPECT_TRUE(element->inGroup("One")); EXPECT_TRUE(element->inGroup("Two")); element->removeFromGroup("One"); EXPECT_TRUE(element->inGroup("Two")); EXPECT_FALSE(element->inGroup("One")); std::vector newGroups; newGroups.push_back("Three"); newGroups.push_back("Four"); element->setGroups(newGroups); EXPECT_FALSE(element->inGroup("One")); EXPECT_FALSE(element->inGroup("Two")); EXPECT_TRUE(element->inGroup("Three")); EXPECT_TRUE(element->inGroup("Four")); std::vector empty; element->setGroups(empty); EXPECT_FALSE(element->inGroup("One")); EXPECT_FALSE(element->inGroup("Two")); EXPECT_FALSE(element->inGroup("Three")); EXPECT_FALSE(element->inGroup("Four")); } TEST(SceneElementTest, Include) { auto runtime = std::make_shared("config.txt"); std::string file; ASSERT_TRUE(runtime->getApplicationData()->tryFindFile("SceneElementTest/includer.yaml", &file)); YAML::Node node = YAML::LoadFile(file); ASSERT_TRUE(node.IsSequence()); auto elements = node.as>>(); EXPECT_EQ(4u, elements.size()); } TEST(SceneElementTest, IncludeCircle) { auto runtime = std::make_shared("config.txt"); std::string file; ASSERT_TRUE(runtime->getApplicationData()->tryFindFile("SceneElementTest/circle-1.yaml", &file)); YAML::Node node = YAML::LoadFile(file); ASSERT_TRUE(node.IsSequence()); ASSERT_THROW(auto elements = node.as>>(), SurgSim::Framework::AssertionFailure); } TEST(SceneElementTest, SingleAsArray) { auto runtime = std::make_shared("config.txt"); std::string file; ASSERT_TRUE(runtime->getApplicationData()->tryFindFile("SceneElementTest/single.yaml", &file)); YAML::Node node = YAML::LoadFile(file); ASSERT_FALSE(node.IsSequence()); auto elements = node.as>>(); EXPECT_EQ(1u, elements.size()); } opensurgsim-0.7.0/SurgSim/Framework/UnitTests/SceneTest.cpp000066400000000000000000000166251277777236100240170ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/UnitTests/MockObjects.h" #include "SurgSim/Testing/Utilities.h" namespace SurgSim { namespace Framework { TEST(SceneTest, ConstructorTest) { ASSERT_NO_THROW({Scene scene(std::make_shared());}); } TEST(SceneTest, ElementManagement) { auto runtime(std::make_shared()); std::shared_ptr scene = runtime->getScene(); std::shared_ptr element1(new MockSceneElement("one")); std::shared_ptr element2(new MockSceneElement("two")); EXPECT_EQ(0u, scene->getSceneElements().size()); scene->addSceneElement(element1); EXPECT_EQ(1u, scene->getSceneElements().size()); scene->addSceneElement(element2); EXPECT_EQ(2u, scene->getSceneElements().size()); EXPECT_ANY_THROW(scene->addSceneElement(element1)); EXPECT_EQ(2u, scene->getSceneElements().size()); EXPECT_EQ(element1, scene->getSceneElement("one")); EXPECT_EQ(nullptr, scene->getSceneElement("three")); } TEST(SceneTest, AddAndTestScene) { auto runtime(std::make_shared()); std::shared_ptr scene = runtime->getScene(); std::shared_ptr element = std::make_shared("element"); std::shared_ptr component = std::make_shared("component"); EXPECT_TRUE(element->addComponent(component)); scene->addSceneElement(element); EXPECT_EQ(scene, component->getScene()); EXPECT_EQ(element, component->getSceneElement()); EXPECT_EQ(scene, element->getScene()); } TEST(SceneTest, TryFind) { auto runtime = std::make_shared(); auto scene = std::make_shared(runtime); auto element0 = std::make_shared("element0"); auto element1 = std::make_shared("element1"); auto component0 = std::make_shared("component0"); auto component1 = std::make_shared("component1"); element0->addComponent(component0); element1->addComponent(component1); scene->addSceneElement(element0); scene->addSceneElement(element1); std::shared_ptr result; EXPECT_EQ(component0, scene->getComponent("element0", "component0")); EXPECT_EQ(component1, scene->getComponent("element1", "component1")); EXPECT_EQ(nullptr, scene->getComponent("element1", "xxx")); EXPECT_EQ(nullptr, scene->getComponent("xxx", "component0")); } TEST(SceneTest, Removal) { auto runtime(std::make_shared()); std::shared_ptr scene = runtime->getScene(); scene->addSceneElement(std::make_shared("element1")); scene->addSceneElement(std::make_shared("element2")); scene->addSceneElement(std::make_shared("element3")); EXPECT_EQ(3L, scene->getSceneElements().size()); EXPECT_NO_THROW(scene->removeSceneElement(scene->getSceneElement("element1"))); EXPECT_EQ(2L, scene->getSceneElements().size()); } TEST(SceneTest, CheckForExpiredRuntime) { auto runtime = std::make_shared(); auto scene = std::make_shared(runtime); auto element0 = std::make_shared("element0"); auto element1 = std::make_shared("element1"); auto component0 = std::make_shared("component0"); auto component1 = std::make_shared("component1"); // This is the normal behavior EXPECT_NO_THROW(scene->addSceneElement(element0)); EXPECT_NO_THROW(element0->addComponent(component0)); // invalidate runtime pointer, this will cause the weak_ptr inside of scene and sceneelement // to expire runtime.reset(); // We should not be able to do this with an expired runtime pointer EXPECT_THROW(scene->addSceneElement(element1), SurgSim::Framework::AssertionFailure); EXPECT_THROW(element0->addComponent(component1), SurgSim::Framework::AssertionFailure); } TEST(SceneTest, YamlTest) { auto runtime = std::make_shared(); auto scene = std::make_shared(runtime); auto element0 = std::make_shared("element0"); auto element1 = std::make_shared("element1"); auto component0 = std::make_shared("component0"); auto component1 = std::make_shared("component1"); element0->addComponent(component0); element1->addComponent(component1); scene->addSceneElement(element0); scene->addSceneElement(element1); YAML::Node node; ASSERT_NO_THROW(node = scene) << "Failed to serialize Scene."; EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); std::shared_ptr newScene = std::make_shared(runtime); ASSERT_NO_THROW(newScene->decode(node)); EXPECT_EQ(2u, newScene->getSceneElements().size()); } TEST(SceneTest, LoadSceneTest) { auto runtime = std::make_shared("config.txt"); ASSERT_NO_THROW(runtime->loadScene("SceneTestData/scene.yaml")); auto scene = runtime->getScene(); auto element = scene->getSceneElement("element0"); auto component = element->getComponent("component0"); component->setLocalActive(false); // If we get stale components this would assert as the components would be initialized alread ASSERT_NO_THROW(runtime->loadScene("SceneTestData/scene.yaml")); scene = runtime->getScene(); element = scene->getSceneElement("element0"); component = element->getComponent("component0"); // Another check for fresh components, if they are from the cache, this would be false EXPECT_TRUE(component->isLocalActive()); } TEST(SceneTest, SceneElementGroups) { using SurgSim::Testing::doesContain; auto runtime = std::make_shared("config.txt"); auto scene = runtime->getScene(); auto element1 = std::make_shared("element1"); auto element2 = std::make_shared("element2"); element1->addToGroup("One"); auto& groups = scene->getGroups(); EXPECT_TRUE(groups.getGroups().empty()); scene->addSceneElement(element1); EXPECT_EQ(1L, groups.getGroups().size()); EXPECT_TRUE(doesContain(groups.getGroups(), "One")); EXPECT_TRUE(doesContain(groups.getMembers("One"), element1)); scene->addSceneElement(element2); EXPECT_EQ(1L, groups.getGroups().size()); element2->addToGroup("Two"); EXPECT_EQ(2L, groups.getGroups().size()); EXPECT_TRUE(doesContain(groups.getGroups(), "Two")); EXPECT_TRUE(doesContain(groups.getMembers("Two"), element2)); element1->removeFromGroup("One"); EXPECT_EQ(1L, groups.getGroups().size()); EXPECT_TRUE(doesContain(groups.getGroups(), "Two")); EXPECT_TRUE(doesContain(groups.getMembers("Two"), element2)); element1->addToGroup("One"); std::vector groupNames; groupNames.push_back("Three"); groupNames.push_back("Four"); element1->setGroups(groupNames); EXPECT_EQ(4L, groups.getGroups().size()); } } } opensurgsim-0.7.0/SurgSim/Framework/UnitTests/SharedInstanceTest.cpp000066400000000000000000000207201277777236100256440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the SharedInstance class. #include #include #include #include #include "SurgSim/Framework/SharedInstance.h" using SurgSim::Framework::SharedInstance; // Define some helper data types for testing. /// A helper base class. class ObjectCounts { public: static int getNumInstancesCreated() { return m_constructionIndex; } static int getNumInstancesDestroyed() { return m_destructionIndex; } static void resetInstanceIndices() { m_constructionIndex = 0; m_destructionIndex = 0; } protected: ObjectCounts() { } static int getNextInstanceIndex() { // NB: not thread-safe! ++m_constructionIndex; return m_constructionIndex; } static void markDestruction() { // NB: not thread-safe! ++m_destructionIndex; } static int m_constructionIndex; static int m_destructionIndex; }; int ObjectCounts::m_constructionIndex = 0; int ObjectCounts::m_destructionIndex = 0; /// A class that only supports construction with an argument, and doesn't support copying or moving. class ArgumentOnlyConstructible : public ObjectCounts { public: explicit ArgumentOnlyConstructible(int data) : m_data(data), m_instanceIndex(getNextInstanceIndex()) { } ~ArgumentOnlyConstructible() { markDestruction(); } int getValue() const { return m_data; } void setValue(int d) { m_data = d; } int getInstanceIndex() const { return m_instanceIndex; } private: // Disable copy construction and copy assignment. // No need to disable move construction and move assignment-- the compiler does not provide those by default. ArgumentOnlyConstructible(const ArgumentOnlyConstructible&); void operator=(const ArgumentOnlyConstructible&); int m_data; int m_instanceIndex; }; /// A class that supports default construction, but neither copying nor moving. class DefaultConstructible : public ArgumentOnlyConstructible { public: DefaultConstructible() : ArgumentOnlyConstructible(-1) { } }; // Now we're ready to start testing... // ==================== SINGLE-THREADED TESTS ==================== TEST(SharedInstanceTest, Construct) { ObjectCounts::resetInstanceIndices(); // This should work: EXPECT_NO_THROW({SharedInstance shared;}); EXPECT_NO_THROW({SharedInstance shared;}); // This should NOT work: // EXPECT_NO_THROW({SharedInstance shared;}); // ...but this should: SharedInstance::InstanceCreator createArgumentOnlyConstructible = []() { return std::make_shared(1); }; EXPECT_NO_THROW({SharedInstance shared(createArgumentOnlyConstructible);}); // No objects should have been constructed: EXPECT_EQ(0, ObjectCounts::getNumInstancesCreated()); } TEST(SharedInstanceTest, CreateInstance) { typedef DefaultConstructible DataType; ObjectCounts::resetInstanceIndices(); SharedInstance shared; EXPECT_EQ(0, ObjectCounts::getNumInstancesCreated()); { std::shared_ptr ref1 = shared.get(); ASSERT_NE(nullptr, ref1); EXPECT_EQ(1, ref1->getInstanceIndex()); std::shared_ptr ref2 = shared.get(); ASSERT_NE(nullptr, ref2); EXPECT_EQ(1, ref2->getInstanceIndex()); EXPECT_EQ(ref1, ref2); EXPECT_EQ(1, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(0, ObjectCounts::getNumInstancesDestroyed()); } EXPECT_EQ(1, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(1, ObjectCounts::getNumInstancesDestroyed()); { std::shared_ptr ref1 = shared.get(); std::shared_ptr ref2 = shared.get(); EXPECT_EQ(ref1, ref2); EXPECT_EQ(2, ref1->getInstanceIndex()); EXPECT_EQ(2, ref2->getInstanceIndex()); EXPECT_EQ(2, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(1, ObjectCounts::getNumInstancesDestroyed()); ref1.reset(); ASSERT_EQ(nullptr, ref1); // it's dead now! ASSERT_NE(nullptr, ref2); EXPECT_EQ(2, ref2->getInstanceIndex()); EXPECT_EQ(2, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(1, ObjectCounts::getNumInstancesDestroyed()); ref2.reset(); ASSERT_EQ(nullptr, ref2); // it too is dead now! EXPECT_EQ(2, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(2, ObjectCounts::getNumInstancesDestroyed()); } EXPECT_EQ(2, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(2, ObjectCounts::getNumInstancesDestroyed()); } TEST(SharedInstanceTest, CreateInstanceUsingCreator) { typedef DefaultConstructible DataType; ObjectCounts::resetInstanceIndices(); SharedInstance::InstanceCreator createDataType( []() { return std::make_shared(); } ); SharedInstance shared(createDataType); EXPECT_EQ(0, ObjectCounts::getNumInstancesCreated()); { std::shared_ptr ref1 = shared.get(); ASSERT_NE(nullptr, ref1); EXPECT_EQ(1, ref1->getInstanceIndex()); std::shared_ptr ref2 = shared.get(); ASSERT_NE(nullptr, ref2); EXPECT_EQ(1, ref2->getInstanceIndex()); EXPECT_EQ(ref1, ref2); EXPECT_EQ(1, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(0, ObjectCounts::getNumInstancesDestroyed()); } EXPECT_EQ(1, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(1, ObjectCounts::getNumInstancesDestroyed()); { std::shared_ptr ref1 = shared.get(); std::shared_ptr ref2 = shared.get(); EXPECT_EQ(ref1, ref2); EXPECT_EQ(2, ref1->getInstanceIndex()); EXPECT_EQ(2, ref2->getInstanceIndex()); EXPECT_EQ(2, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(1, ObjectCounts::getNumInstancesDestroyed()); ref1.reset(); ASSERT_EQ(nullptr, ref1); // it's dead now! ASSERT_NE(nullptr, ref2); EXPECT_EQ(2, ref2->getInstanceIndex()); EXPECT_EQ(2, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(1, ObjectCounts::getNumInstancesDestroyed()); ref2.reset(); ASSERT_EQ(nullptr, ref2); // it too is dead now! EXPECT_EQ(2, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(2, ObjectCounts::getNumInstancesDestroyed()); } EXPECT_EQ(2, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(2, ObjectCounts::getNumInstancesDestroyed()); } TEST(SharedInstanceTest, CreateNonDefaultConstructibleInstance) { typedef ArgumentOnlyConstructible DataType; ObjectCounts::resetInstanceIndices(); // This should NOT work for a type that's not default-constructible: // SharedInstance shared; // ...but this should: SharedInstance::InstanceCreator createDataType( []() { return std::make_shared(2); } ); SharedInstance shared(createDataType); EXPECT_EQ(0, ObjectCounts::getNumInstancesCreated()); { std::shared_ptr ref1 = shared.get(); ASSERT_NE(nullptr, ref1); EXPECT_EQ(1, ref1->getInstanceIndex()); std::shared_ptr ref2 = shared.get(); ASSERT_NE(nullptr, ref2); EXPECT_EQ(1, ref2->getInstanceIndex()); EXPECT_EQ(ref1, ref2); EXPECT_EQ(1, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(0, ObjectCounts::getNumInstancesDestroyed()); } EXPECT_EQ(1, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(1, ObjectCounts::getNumInstancesDestroyed()); { std::shared_ptr ref1 = shared.get(); std::shared_ptr ref2 = shared.get(); EXPECT_EQ(ref1, ref2); EXPECT_EQ(2, ref1->getInstanceIndex()); EXPECT_EQ(2, ref2->getInstanceIndex()); EXPECT_EQ(2, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(1, ObjectCounts::getNumInstancesDestroyed()); ref1.reset(); ASSERT_EQ(nullptr, ref1); // it's dead now! ASSERT_NE(nullptr, ref2); EXPECT_EQ(2, ref2->getInstanceIndex()); EXPECT_EQ(2, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(1, ObjectCounts::getNumInstancesDestroyed()); ref2.reset(); ASSERT_EQ(nullptr, ref2); // it too is dead now! EXPECT_EQ(2, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(2, ObjectCounts::getNumInstancesDestroyed()); } EXPECT_EQ(2, ObjectCounts::getNumInstancesCreated()); EXPECT_EQ(2, ObjectCounts::getNumInstancesDestroyed()); } opensurgsim-0.7.0/SurgSim/Framework/UnitTests/ThreadPoolTest.cpp000066400000000000000000000033671277777236100250220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/ThreadPool.h" #include namespace { double f1() { return 1.0; } int f2(int val) { return val; } }; namespace SurgSim { namespace Framework { TEST(ThreadPoolTest, CanConstruct) { EXPECT_NO_THROW({ThreadPool pool;}); EXPECT_NO_THROW({ThreadPool pool(2);}); } TEST(ThreadPoolTest, ExampleUsage) { ThreadPool pool; // Add a task std::future result1 = pool.enqueue(f1); // Add a task using std::bind std::future result2 = pool.enqueue(std::bind(f2, 2)); // Add a task using a lambda function std::future result3 = pool.enqueue([]() {return "string"; }); EXPECT_EQ(1.0, result1.get()); EXPECT_EQ(2, result2.get()); EXPECT_EQ("string", result3.get()); } TEST(ThreadPoolTest, AddLotsOfTasks) { ThreadPool pool(2); std::vector> futures; int expectedTotal = 0; for (int i = 0; i < 100; i++) { futures.push_back(pool.enqueue(std::bind(f2, i))); expectedTotal += i; } int total = 0; for (auto& future : futures) { total += future.get(); } EXPECT_EQ(expectedTotal, total); } }; }; opensurgsim-0.7.0/SurgSim/Framework/UnitTests/TimerTest.cpp000066400000000000000000000066421277777236100240400ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Timer.h" #include "SurgSim/Framework/Assert.h" using SurgSim::Framework::Timer; TEST(TimerTest, Constructor) { EXPECT_NO_THROW({std::shared_ptr timer(new Timer());}); } TEST(TimerTest, Starting) { std::shared_ptr timer = std::make_shared(); EXPECT_EQ(timer->getCurrentNumberOfFrames(), 0); EXPECT_EQ(timer->getNumberOfClockFails(), 0); EXPECT_NO_THROW(timer->getCumulativeTime()); EXPECT_NEAR(0.0, timer->getCumulativeTime(), 1e-9); EXPECT_THROW(timer->getAverageFramePeriod(), SurgSim::Framework::AssertionFailure); EXPECT_THROW(timer->getAverageFrameRate(), SurgSim::Framework::AssertionFailure); EXPECT_THROW(timer->getLastFramePeriod(), SurgSim::Framework::AssertionFailure); EXPECT_THROW(timer->getLastFrameRate(), SurgSim::Framework::AssertionFailure); } TEST(TimerTest, SettingFrames) { std::shared_ptr timer = std::make_shared(); timer->endFrame(); EXPECT_EQ(timer->getCurrentNumberOfFrames(), 1); EXPECT_EQ(timer->getAverageFrameRate(), timer->getLastFrameRate()); EXPECT_EQ(timer->getAverageFramePeriod(), timer->getLastFramePeriod()); EXPECT_EQ(timer->getLastFramePeriod(), timer->getCumulativeTime()); timer->setMaxNumberOfFrames(3); EXPECT_EQ(3, timer->getMaxNumberOfFrames()); timer->start(); for (auto i = 0; i < 5; ++i) { timer->markFrame(); } EXPECT_EQ(timer->getCurrentNumberOfFrames(), 3); timer->setMaxNumberOfFrames(2); EXPECT_EQ(timer->getCurrentNumberOfFrames(), 2); EXPECT_TRUE(timer->isBufferFull()); } TEST(TimerTest, Comparison) { std::shared_ptr timer1 = std::make_shared(); std::shared_ptr timer2 = std::make_shared(); for (auto i = 0; i < 100; ++i) { timer2->beginFrame(); timer2->endFrame(); timer1->markFrame(); } // timer1's frames include timer2's frames and the for-loop operations, so timer1's frame period should be longer // than timer2's frames (or at least no shorter). if ((timer1->getNumberOfClockFails() == 0) && (timer2->getNumberOfClockFails() == 0)) { EXPECT_GE(timer1->getAverageFramePeriod(), timer2->getAverageFramePeriod()); EXPECT_GT(timer1->getCumulativeTime(), timer1->getLastFramePeriod()); EXPECT_GE(timer1->getMaxFramePeriod(), timer2->getMaxFramePeriod()); EXPECT_GE(timer1->getMinFramePeriod(), timer2->getMinFramePeriod()); } } TEST(TimerTest, GetWithoutAnyFrames) { std::shared_ptr timer = std::make_shared(); EXPECT_NO_THROW(timer->getCumulativeTime()); EXPECT_ANY_THROW(timer->getAverageFramePeriod()); EXPECT_ANY_THROW(timer->getAverageFrameRate()); EXPECT_ANY_THROW(timer->getLastFramePeriod()); EXPECT_ANY_THROW(timer->getLastFrameRate()); EXPECT_ANY_THROW(timer->getMaxFramePeriod()); EXPECT_ANY_THROW(timer->getMinFramePeriod()); EXPECT_FALSE(timer->isBufferFull()); } opensurgsim-0.7.0/SurgSim/Framework/UnitTests/TransferPropertiesBehaviorTests.cpp000066400000000000000000000065661277777236100304710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/TransferPropertiesBehavior.h" namespace { class A : public SurgSim::Framework::Accessible { public: explicit A(int initialA = 0, int initialB = 0) : a(initialA), b(initialB) { SURGSIM_ADD_RW_PROPERTY(A,int,a,getA,setA); SURGSIM_ADD_RW_PROPERTY(A,int,b,getB,setB); } int a; int getA() const { return a; } void setA(int val) { a = val; } int b; int getB() const { return b; } void setB(int val) { b = val; } }; }; namespace SurgSim { namespace Framework { TEST(TransferPropertiesBehaviorTest, InitTest) { ASSERT_NO_THROW({TransferPropertiesBehavior b("TestName");}); } TEST(TransferPropertiesBehaviorTest, GetSetTargetManagerType) { auto behavior = std::make_shared("test"); auto runtime = std::make_shared(); EXPECT_EQ(Framework::MANAGER_TYPE_BEHAVIOR, behavior->getTargetManagerType()); EXPECT_THROW(behavior->setTargetManagerType(-1), Framework::AssertionFailure); EXPECT_THROW(behavior->setTargetManagerType(Framework::MANAGER_TYPE_COUNT), Framework::AssertionFailure); EXPECT_NO_THROW(behavior->setTargetManagerType(Framework::MANAGER_TYPE_PHYSICS)); EXPECT_EQ(Framework::MANAGER_TYPE_PHYSICS, behavior->getTargetManagerType()); EXPECT_NO_THROW(behavior->setTargetManagerType(Framework::MANAGER_TYPE_BEHAVIOR)); EXPECT_EQ(Framework::MANAGER_TYPE_BEHAVIOR, behavior->getTargetManagerType()); behavior->initialize(runtime); EXPECT_THROW(behavior->setTargetManagerType(Framework::MANAGER_TYPE_GRAPHICS), Framework::AssertionFailure); } TEST(TransferPropertiesBehaviorTest, ValidConnections) { auto a = std::make_shared(); auto b = std::make_shared(); TransferPropertiesBehavior behavior("test"); EXPECT_ANY_THROW(behavior.connect(nullptr, "", a ,"a")); EXPECT_ANY_THROW(behavior.connect(a, "a", nullptr, "")); EXPECT_ANY_THROW(behavior.connect(a, "a", a, "a")); EXPECT_ANY_THROW(behavior.connect(a, "xxx", b, "a")); EXPECT_ANY_THROW(behavior.connect(a, "a", b, "xxx")); EXPECT_TRUE(behavior.connect(a, "a", b, "b")); } TEST(TransferPropertiesBehaviorTest, ValidUpdates) { auto runtime = std::make_shared(); auto behavior = std::make_shared("test"); auto a = std::make_shared(1,2); auto b = std::make_shared(3,4); auto c = std::make_shared(5,6); EXPECT_TRUE(behavior->initialize(runtime)); EXPECT_TRUE(behavior->wakeUp()); EXPECT_TRUE(behavior->connect(a, "a", b, "a")); EXPECT_TRUE(behavior->connect(b, "b", c, "b")); EXPECT_TRUE(behavior->connect(a, "a", c, "a")); behavior->update(0.0); EXPECT_EQ(1, a->a); EXPECT_EQ(2, a->b); EXPECT_EQ(1, b->a); EXPECT_EQ(4, b->b); EXPECT_EQ(1, c->a); EXPECT_EQ(4, c->b); } } } opensurgsim-0.7.0/SurgSim/Framework/UnitTests/config.txt.in000066400000000000000000000000411277777236100240120ustar00rootroot00000000000000${CMAKE_CURRENT_BINARY_DIR}/Data/opensurgsim-0.7.0/SurgSim/Graphics/000077500000000000000000000000001277777236100172455ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Graphics/AxesRepresentation.h000066400000000000000000000026771277777236100232550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_AXESREPRESENTATION_H #define SURGSIM_GRAPHICS_AXESREPRESENTATION_H #include "SurgSim/Graphics/Representation.h" namespace SurgSim { namespace Graphics { /// Displays the coordinate axes, as three lines from the origin /// default size is 1.0, the X/Y/Z axis are indicated by R/G/B respectively class AxesRepresentation : public virtual Representation { public: /// Constructor explicit AxesRepresentation(const std::string& name) : Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(AxesRepresentation, double, Size, getSize, setSize); }; /// Sets the size of the shown axes. /// \param val The value. virtual void setSize(double val) = 0; /// Gets the current size. /// \return The size. virtual double getSize() = 0; private: }; }; // Graphics }; // SurgSim #endifopensurgsim-0.7.0/SurgSim/Graphics/BoxRepresentation.h000066400000000000000000000064231277777236100230760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_BOXREPRESENTATION_H #define SURGSIM_GRAPHICS_BOXREPRESENTATION_H #include "SurgSim/Graphics/Representation.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Graphics { /// Base graphics box representation class, which defines the basic interface for a box that can be visualized. /// The box center is at (0, 0, 0). class BoxRepresentation : public virtual Representation { public: /// Constructor /// \param name Name of the representation /// \post The box size is (1.0,1.0,1.0). explicit BoxRepresentation(const std::string& name) : Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(BoxRepresentation, SurgSim::Math::Vector3d, Size, getSize, setSize); SURGSIM_ADD_RW_PROPERTY(BoxRepresentation, double, SizeX, getSizeX, setSizeX); SURGSIM_ADD_RW_PROPERTY(BoxRepresentation, double, SizeY, getSizeY, setSizeY); SURGSIM_ADD_RW_PROPERTY(BoxRepresentation, double, SizeZ, getSizeZ, setSizeZ); } /// Sets the size along X-axis of the box /// \param sizeX Size along X-axis of the box virtual void setSizeX(double sizeX) = 0; /// Returns the size along X-axis of the box /// \return Size along X-axis of the box virtual double getSizeX() const = 0; /// Sets the size along Y-axis of the box /// \param sizeY Size along Y-axis of the box virtual void setSizeY(double sizeY) = 0; /// Returns the size along Y-axis of the box /// \return Size along Y-axis of the box virtual double getSizeY() const = 0; /// Sets the size along Z-axis of the box /// \param sizeZ Size along Z-axis of the box virtual void setSizeZ(double sizeZ) = 0; /// Returns the size along Z-axis of the box /// \return Size along Z-axis of the box virtual double getSizeZ() const = 0; /// Sets the size of the box /// \param sizeX Size along X-axis of the box /// \param sizeY Size along Y-axis of the box /// \param sizeZ Size along Z-axis of the box virtual void setSizeXYZ(double sizeX, double sizeY, double sizeZ) = 0; /// Gets the size of the box /// \param sizeX Reference to store the size along X-axis of the box /// \param sizeY Reference to store the size along Y-axis of the box /// \param sizeZ Reference to store the size along Z-axis of the box virtual void getSizeXYZ(double* sizeX, double* sizeY, double* sizeZ) const = 0; /// Sets the size of the box /// \param size Size of the box virtual void setSize(const SurgSim::Math::Vector3d& size) = 0; /// Returns the radius of the sphere /// \return Size of the box virtual SurgSim::Math::Vector3d getSize() const = 0; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_BOXREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/CMakeLists.txt000066400000000000000000000104451277777236100220110ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ${OPENTHREADS_INCLUDE_DIR} ) set(SURGSIM_GRAPHICS_SOURCES Camera.cpp CurveRepresentation.cpp Group.cpp Manager.cpp Mesh.cpp MeshPlyReaderDelegate.cpp OsgAxesRepresentation.cpp OsgBoxRepresentation.cpp OsgCamera.cpp OsgCapsuleRepresentation.cpp OsgCurveRepresentation.cpp OsgCylinderRepresentation.cpp OsgFont.cpp OsgGroup.cpp OsgLight.cpp OsgLog.cpp OsgManager.cpp OsgMaterial.cpp OsgMeshRepresentation.cpp OsgModel.cpp OsgOctreeRepresentation.cpp OsgPlaneRepresentation.cpp OsgPointCloudRepresentation.cpp OsgProgram.cpp OsgRepresentation.cpp OsgSceneryRepresentation.cpp OsgScreenSpacePass.cpp OsgScreenSpaceQuadRepresentation.cpp OsgSkeletonRepresentation.cpp OsgSphereRepresentation.cpp OsgTextRepresentation.cpp OsgTexture.cpp OsgTexture1d.cpp OsgTexture2d.cpp OsgTexture3d.cpp OsgTextureCubeMap.cpp OsgTextureRectangle.cpp OsgTrackballZoomManipulator.cpp OsgUniformBase.cpp OsgUniformFactory.cpp OsgUnitAxes.cpp OsgVectorFieldRepresentation.cpp OsgView.cpp OsgViewElement.cpp PaintBehavior.cpp PointCloudRepresentation.cpp RenderPass.cpp Representation.cpp SceneryRepresentation.cpp TangentSpaceGenerator.cpp TextRepresentation.cpp Texture.cpp TriangleNormalGenerator.cpp View.cpp ViewElement.cpp ) set(SURGSIM_GRAPHICS_HEADERS AxesRepresentation.h BoxRepresentation.h Camera.h CapsuleRepresentation.h CurveRepresentation.h CylinderRepresentation.h Font.h Group.h Light.h Manager.h Material.h Mesh.h Mesh-inl.h MeshPlyReaderDelegate.h MeshRepresentation.h Model.h OctreeRepresentation.h OsgAxesRepresentation.h OsgBoxRepresentation.h OsgCamera.h OsgCapsuleRepresentation.h OsgConversions.h OsgCurveRepresentation.h OsgCylinderRepresentation.h OsgFont.h OsgGroup.h OsgLight.h OsgLog.h OsgManager.h OsgMaterial.h OsgMatrixConversions.h OsgMeshRepresentation.h OsgModel.h OsgOctreeRepresentation.h OsgPlane.h OsgPlaneRepresentation.h OsgPointCloudRepresentation.h OsgProgram.h OsgQuaternionConversions.h OsgRenderTarget.h OsgRenderTarget-inl.h OsgRepresentation.h OsgRigidTransformConversions.h OsgSceneryRepresentation.h OsgScreenSpacePass.h OsgScreenSpaceQuadRepresentation.h OsgSkeletonRepresentation.h OsgSphereRepresentation.h OsgTextRepresentation.h OsgTexture.h OsgTexture1d.h OsgTexture2d.h OsgTexture3d.h OsgTextureCubeMap.h OsgTextureRectangle.h OsgTextureUniform.h OsgTextureUniform-inl.h OsgTrackballZoomManipulator.h OsgUniform.h OsgUniform-inl.h OsgUniformBase.h OsgUniformFactory.h OsgUniformTypes.h OsgUnitAxes.h OsgUnitBox.h OsgUnitCylinder.h OsgUnitSphere.h OsgVectorConversions.h OsgVectorFieldRepresentation.h OsgView.h OsgViewElement.h PaintBehavior.h PlaneRepresentation.h PointCloudRepresentation.h Program.h RenderPass.h RenderTarget.h Representation.h SceneryRepresentation.h ScreenSpaceQuadRepresentation.h SkeletonRepresentation.h SphereRepresentation.h TangentSpaceGenerator.h TextRepresentation.h Texture.h Texture1d.h Texture2d.h Texture3d.h TextureCubeMap.h TextureRectangle.h TriangleNormalGenerator.h Uniform.h UniformBase.h VectorField.h VectorFieldRepresentation.h View.h ViewElement.h ) surgsim_create_library_header(Graphics.h "${SURGSIM_GRAPHICS_HEADERS}") surgsim_add_library( SurgSimGraphics "${SURGSIM_GRAPHICS_SOURCES}" "${SURGSIM_GRAPHICS_HEADERS}" ) SET(LIBS SurgSimDataStructures SurgSimFramework SurgSimInput KeyboardDevice MouseDevice ${OPENSCENEGRAPH_LIBRARIES} ) target_link_libraries(SurgSimGraphics ${LIBS} ) if(BUILD_TESTING) add_subdirectory(UnitTests) if(BUILD_RENDER_TESTING) add_subdirectory(RenderTests) endif() endif() set_target_properties(SurgSimGraphics PROPERTIES FOLDER "Graphics") opensurgsim-0.7.0/SurgSim/Graphics/Camera.cpp000066400000000000000000000126711277777236100211500ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/DataStructuresConvert.h" #include "SurgSim/Graphics/Camera.h" #include "SurgSim/Graphics/Group.h" #include "SurgSim/Math/MathConvert.h" namespace SurgSim { namespace Graphics { Camera::Camera(const std::string& name) : Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(Camera, SurgSim::Math::Matrix44d, ProjectionMatrix, getProjectionMatrix, setProjectionMatrix); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Camera, std::vector, RenderGroupReferences, getRenderGroupReferences, setRenderGroupReferences); SURGSIM_ADD_SETTER(Camera, std::string, RenderGroupReference, setRenderGroupReference); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Camera, SurgSim::Math::Vector4d, AmbientColor, getAmbientColor, setAmbientColor); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Camera, bool, MainCamera, isMainCamera, setMainCamera); SURGSIM_ADD_RO_PROPERTY(Camera, SurgSim::Math::Matrix44d, ViewMatrix, getViewMatrix); SURGSIM_ADD_RO_PROPERTY(Camera, SurgSim::Math::Matrix44f, FloatViewMatrix, getViewMatrix); SURGSIM_ADD_RO_PROPERTY(Camera, SurgSim::Math::Matrix44f, FloatProjectionMatrix, getProjectionMatrix); SURGSIM_ADD_RO_PROPERTY(Camera, SurgSim::Math::Matrix44f, FloatInverseViewMatrix, getInverseViewMatrix); SURGSIM_ADD_RO_PROPERTY(Camera, SurgSim::Math::Matrix44f, FloatInverseProjectionMatrix, getInverseProjectionMatrix); { typedef std::array ParamType; SURGSIM_ADD_SERIALIZABLE_PROPERTY(Camera, ParamType, ViewportSize, getViewportSize, setViewportSize); } { typedef std::array ParamType; SURGSIM_ADD_SETTER(Camera, ParamType, PerspectiveProjection, setPerspectiveProjection); } { typedef std::array ParamType; SURGSIM_ADD_SETTER(Camera, ParamType, OrthogonalProjection, setOrthogonalProjection); } { typedef std::array ParamType; // Deal with the overloaded function, by casting to explicit function type auto getter = (ParamType(Camera::*)(void) const)&Camera::getViewport; auto setter = (void(Camera::*)(ParamType))&Camera::setViewport; setAccessors("Viewport", std::bind(getter, this), std::bind(setter, this, std::bind(SurgSim::Framework::convert, std::placeholders::_1))); setSerializable("Viewport", std::bind(&YAML::convert::encode, std::bind(getter, this)), std::bind(setter, this, std::bind(&YAML::Node::as, std::placeholders::_1))); } } void Camera::setRenderGroupReference(const std::string& name) { std::vector references(1, name); setRenderGroupReferences(references); } void Camera::setRenderGroupReferences(const std::vector& names) { m_renderGroupReferences.clear(); for (const auto& name : names) { removeGroupReference(name); addRenderGroupReference(name); } } std::vector Camera::getRenderGroupReferences() const { return m_renderGroupReferences; } void Camera::addRenderGroupReference(const std::string& name) { if (std::find(m_renderGroupReferences.begin(), m_renderGroupReferences.end(), name) == m_renderGroupReferences.end()) { m_renderGroupReferences.push_back(name); } } bool Camera::setRenderGroup(std::shared_ptr group) { std::vector> groups(1, group); return setRenderGroups(groups); } bool Camera::setRenderGroups(const std::vector>& groups) { bool result = false; m_renderGroups.clear(); for (const auto& group : groups) { result = addRenderGroup(group); if (!result) { break; } } return result; } bool Camera::addRenderGroup(std::shared_ptr group) { if (std::find(m_renderGroups.begin(), m_renderGroups.end(), group) == m_renderGroups.end()) { m_renderGroups.push_back(group); return true; } else { return false; } } std::vector> Camera::getRenderGroups() const { return m_renderGroups; } bool Camera::addGroupReference(const std::string& name) { bool result = false; if (std::find(m_renderGroupReferences.begin(), m_renderGroupReferences.end(), name) == m_renderGroupReferences.end()) { result = Representation::addGroupReference(name); } return result; } void Camera::setPerspectiveProjection(const std::array& val) { setPerspectiveProjection(val[0], val[1], val[2], val[3]); } void Camera::setOrthogonalProjection(const std::array& val) { setOrthogonalProjection(val[0], val[1], val[2], val[3], val[4], val[5]); } void Camera::setViewport(std::array val) { setViewport(val[0], val[1], val[2], val[3]); } std::array Camera::getViewport() const { std::array result; getViewport(&result[0], &result[1], &result[2], &result[3]); return result; } bool Camera::doInitialize() { SURGSIM_ASSERT(!m_renderGroupReferences.empty()) << "Can't have a camera without a RenderGroupReference."; return true; } } } opensurgsim-0.7.0/SurgSim/Graphics/Camera.h000066400000000000000000000214421277777236100206110ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_CAMERA_H #define SURGSIM_GRAPHICS_CAMERA_H #include "SurgSim/Graphics/Representation.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Vector.h" #include namespace SurgSim { namespace Graphics { class Group; class Texture; class RenderTarget; /// Base graphics camera class, which defines the basic interface for all graphics cameras. /// /// A Graphics::Camera provides the viewpoint to visualize the Graphics::Group assigned to it. /// /// To disable a camera: setLocalActive(false). To re-enable, setLocalActive(true). /// A disabled (invisible) camera does not produce an image. /// /// Graphics::Camera is used with Graphics::View to provide the visualization of the virtual scene to the user. /// Cameras refer to a group that contain all the elements that they render, they may also parts of other group that /// determine whether they are rendered. /// It should provide the following Uniforms: /// \code /// uniform mat4 viewMatrix; /// uniform mat4 inverseViewMatrix; /// \endcode class Camera : public virtual Representation { public: enum RenderOrder { RENDER_ORDER_PRE_RENDER = 0, RENDER_ORDER_IN_ORDER, RENDER_ORDER_POST_RENDER, RENDER_ORDER_COUNT }; /// Constructor /// \param name Name of the camera explicit Camera(const std::string& name); /// Set the group reference that this camera wants to use as the group for rendering. Objects that, reference /// the same group will be rendered by this camera. The manager will do the actual creation of the group. /// \param name Name of the group to be used for rendering void setRenderGroupReference(const std::string& name); /// Set the collections of group references that this camera wants to use for rendering. /// \param names Vector of names of the groups used for rendering void setRenderGroupReferences(const std::vector& names); /// Gets the collection of names of render groups used for rendering /// \return Vector of names of the groups used for rendering std::vector getRenderGroupReferences() const; /// Adds a single group reference to the collection of group references for rendering /// \param name Name of the group to be used for rendering void addRenderGroupReference(const std::string& name); /// Sets the group of representations that will be seen by this camera. /// Only the representations in this group will be rendered when this camera's view is rendered. /// \note The camera can not be part of the group that it is rendering /// \param group Group of representations /// \return True if it succeeded, false if it failed virtual bool setRenderGroup(std::shared_ptr group); /// Sets the representation groups that will be seen by this camera. /// \param groups Vector of groups of representations /// \return True if it succeeded, false if it failed virtual bool setRenderGroups(const std::vector>& groups); /// Add a group of representations that will seen by this camera. /// \param group Group of representations virtual bool addRenderGroup(std::shared_ptr group); /// Gets all groups of representations that will be seen by this camera. /// Only the representations in this group will be rendered when this camera's view is rendered. /// \return Vector of groups of representations std::vector> getRenderGroups() const; /// Gets the view matrix of the camera /// \return View matrix virtual SurgSim::Math::Matrix44d getViewMatrix() const = 0; /// Gets the inverse view matrix of the camera /// \return Inverse view matrix virtual SurgSim::Math::Matrix44d getInverseViewMatrix() const = 0; /// Sets the projection matrix of the camera /// \param matrix Projection matrix virtual void setProjectionMatrix(const SurgSim::Math::Matrix44d& matrix) = 0; /// Sets the viewport size for this camera /// \param x,y location of the viewport in screen space /// \param width, height size of the viewport in screen space virtual void setViewport(int x, int y, int width, int height) = 0; /// collect the viewport values /// \param x,y,width,height [out] non-nullptr parameters to write the viewport parameters virtual void getViewport(int* x, int* y, int* width, int* height) const = 0; /// Sets the width and height of the viewport /// \param dimensions size of the viewport in screen space virtual void setViewportSize(std::array dimensions) = 0; /// Gets the dimensions of the viewport virtual std::array getViewportSize() const = 0; /// Set the projection matrix with the appropriate perspective projection parameters /// \param fovy Field of view along the y-axis /// \param aspect Aspect ration between y and x axis in the viewport /// \param near, far near and far clipping planes virtual void setPerspectiveProjection(double fovy, double aspect, double near, double far) = 0; /// Set the projection matrix with the appropriate orthogonal projection parameters /// \param left, right left and right bounds of the view volume /// \param bottom, top bottom and top bounds of the view volume /// \param near, far near and far bounds of the view volume virtual void setOrthogonalProjection( double left, double right, double bottom, double top, double near, double far) = 0; /// Gets the projection matrix of the camera /// \return Projection matrix virtual const SurgSim::Math::Matrix44d& getProjectionMatrix() const = 0; /// Gets the inverse projection matrix of the camera /// \return Inverse Projection matrix virtual SurgSim::Math::Matrix44d getInverseProjectionMatrix() const = 0; /// Sets RenderTarget for the current camera, enables the camera to render to off-screen textures. /// \param renderTarget The render target. virtual bool setRenderTarget(std::shared_ptr renderTarget) = 0; /// Gets RenderTarget that is currently being used by the camera. /// \return The RenderTarget. virtual std::shared_ptr getRenderTarget() const = 0; /// Determine when this camera will render. The main camera will render at (RENDER_ORDER_IN_ORDER,0) /// In general all preprocessing should be done in RENDER_ORDER_PRE_ORDER, HUD Displaying usually /// at RENDER_ORDER_POST_ORDER /// \param order The phase of rendering. /// \param value The index within the phase, the order between two cameras of the same phase and index is not /// determined. virtual void setRenderOrder(RenderOrder order, int value) = 0; bool addGroupReference(const std::string& name) override; /// Sets a value for the ambient lighting term, this can add light to the scene when there is no lighting /// \param color value for the light that should get added to the scene virtual void setAmbientColor(const SurgSim::Math::Vector4d& color) = 0; /// \return the ambient light that gets added to the scene virtual SurgSim::Math::Vector4d getAmbientColor() = 0; /// Marks the camera as a main view camera, this means that view dependent passes should follow this camera with /// their appropriate calculations, for this purpose when isMainCamera() is true, the camera provides a uniform /// struct with it's transforms. This function will most likely be called by the view. /// \code /// struct MainCamera { /// mat4 viewMatrix; /// mat4 inverseViewMatrix; /// mat4 projectionMatrix; /// mat4 mainProjectionMatrix; /// }; /// uniform MainCamera mainCamera; /// \endcode virtual void setMainCamera(bool val) = 0; /// \return whether this is used as a main camera virtual bool isMainCamera() = 0; private: void setPerspectiveProjection(const std::array& val); void setOrthogonalProjection(const std::array& val); void setViewport(std::array val); std::array getViewport() const; bool doInitialize() override; /// Group of representations that this camera sees /// Only the representations in this group will be rendered when this camera's view is rendered. std::vector> m_renderGroups; /// The names of the groups that the camera wants to use for rendering, the graphics manager will actually assign /// this group std::vector m_renderGroupReferences; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_CAMERA_H opensurgsim-0.7.0/SurgSim/Graphics/CapsuleRepresentation.h000066400000000000000000000054271277777236100237450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_CAPSULEREPRESENTATION_H #define SURGSIM_GRAPHICS_CAPSULEREPRESENTATION_H #include "SurgSim/Graphics/Representation.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Graphics { /// Base graphics capsule representation class, which defines the basic interface for a capsule that can be visualized. /// The capsule center is at (0, 0, 0). class CapsuleRepresentation : public virtual Representation { public: /// Constructor /// \param name Name of the representation /// \post The capsule radius is 1.0. explicit CapsuleRepresentation(const std::string& name) : Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(CapsuleRepresentation, double, Radius, getRadius, setRadius); SURGSIM_ADD_SERIALIZABLE_PROPERTY(CapsuleRepresentation, double, Height, getHeight, setHeight); } /// Sets the radius of the capsule /// \param radius Radius of the capsule virtual void setRadius(double radius) = 0; /// Returns the radius of the capsule /// \return Radius along X-axis and Z-axis of the capsule virtual double getRadius() const = 0; /// Sets the height of the capsulei /// \param height Height of the capsule virtual void setHeight(double height) = 0; /// Returns the height of the capsule /// \return Height along Y-axis of the capsule virtual double getHeight() const = 0; /// Sets the size of the capsule /// \param radius Size along X-axis and Z-axis of the capsule /// \param height Size along Y-axis of the capsule virtual void setSize(double radius, double height) = 0; /// Gets the size of the capsule /// \param [out] radius Variable to receive the size along X-axis and Z-axis of the capsule /// \param [out] height Variable to receive the size along Y-axis of the capsule virtual void getSize(double* radius, double* height) = 0; /// Sets the size of the capsule /// \param size Size of the capsule virtual void setSize(const SurgSim::Math::Vector2d& size) = 0; /// Returns the radius of the capsule /// \return Size of the capsule virtual SurgSim::Math::Vector2d getSize() const = 0; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_CAPSULEREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/CurveRepresentation.cpp000066400000000000000000000044621277777236100237660ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/CurveRepresentation.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Math/MathConvert.h" namespace SurgSim { namespace Graphics { CurveRepresentation::CurveRepresentation(const std::string& name) : Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(CurveRepresentation, size_t, Subdivisions, getSubdivisions, setSubdivisions); SURGSIM_ADD_SERIALIZABLE_PROPERTY(CurveRepresentation, double, Tension, getTension, setTension); SURGSIM_ADD_SERIALIZABLE_PROPERTY(CurveRepresentation, Math::Vector4d, Color, getColor, setColor); SURGSIM_ADD_SERIALIZABLE_PROPERTY(CurveRepresentation, double, Width, getWidth, setWidth); SURGSIM_ADD_SERIALIZABLE_PROPERTY(CurveRepresentation, bool, AntiAliasing, isAntiAliasing, setAntiAliasing); // Provide a common entry point accepting VerticesPlain under the label "Vertices" // this can be used by behaviors to address this structure and the point cloud the same way auto converter = std::bind(SurgSim::Framework::convert, std::placeholders::_1); auto functor = std::bind((void(CurveRepresentation::*)(const DataStructures::VerticesPlain&)) &CurveRepresentation::updateControlPoints, this, converter); setSetter("Vertices", functor); } void CurveRepresentation::updateControlPoints(const DataStructures::VerticesPlain& vertices) { SURGSIM_ASSERT(vertices.getNumVertices() > 1) << "Need at least 2 control points."; m_locker.set(vertices); } void CurveRepresentation::updateControlPoints(DataStructures::VerticesPlain&& vertices) { SURGSIM_ASSERT(vertices.getNumVertices() > 1) << "Need at least 2 control points."; m_locker.set(std::move(vertices)); } } }opensurgsim-0.7.0/SurgSim/Graphics/CurveRepresentation.h000066400000000000000000000071441277777236100234330ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_CURVEREPRESENTATION_H #define SURGSIM_GRAPHICS_CURVEREPRESENTATION_H #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Framework/LockedContainer.h" #include "SurgSim/Graphics/Representation.h" namespace SurgSim { namespace Graphics { /// This implements a graphical object to draw an interpolated curve, it accepts a series of control points, the /// number of segments in the curve will depend on the number of control points and the value returned from /// getSubdivisions(). /// This class also provides the ad-hoc "Vertices" property, this means it can receive a /// \sa DataStructures::VerticesPlain structure as a property via setValue() class CurveRepresentation : public virtual Representation { public: /// Constructor /// \param name the name of the representation explicit CurveRepresentation(const std::string& name); /// Sets the number of intermediate points the get generated between each two control points /// \param num number of interpolated points virtual void setSubdivisions(size_t num) = 0; /// \return the number of interpolated points between control points virtual size_t getSubdivisions() const = 0; /// Sets the tension (tau) parameter of the Catmull Rom interpolation, needs to be between 0.0 and 1.0 /// \param tension the tension virtual void setTension(double tension) = 0; /// \return the tension currently used virtual double getTension() const = 0; /// Sets the color for the curve /// \param color the new color to be used virtual void setColor(const SurgSim::Math::Vector4d& color) = 0; /// \return the current color for this curve virtual Math::Vector4d getColor() const = 0; /// Sets the line width to be used for drawing this curve /// \param width the new width to be used virtual void setWidth(double width) = 0; /// \return the current width virtual double getWidth() const = 0; /// Sets up whether to use anti aliasing on the curve or not /// \param val if true anti aliasing will be turned on virtual void setAntiAliasing(bool val) = 0; /// \return whether the curve is currently being drawn with anti aliasing virtual bool isAntiAliasing() const = 0; /// Updates the control points for this class, this will cause a new curve to be generated on the next update /// \note this method is threadsafe /// \throws if the number of control points is < 2 /// \param vertices new vertices to be used as control points void updateControlPoints(const DataStructures::VerticesPlain& vertices); /// Updates the control points for this class, this will cause a new curve to be generated on the next update /// move support. /// \note this method is threadsafe /// \throws if the number of control points is < 2 /// \param vertices new vertices to be used as control points void updateControlPoints(DataStructures::VerticesPlain&& vertices); protected: /// Container control points, threadsafe access when updating. Framework::LockedContainer m_locker; }; } } #endif opensurgsim-0.7.0/SurgSim/Graphics/CylinderRepresentation.h000066400000000000000000000055261277777236100241220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_CYLINDERREPRESENTATION_H #define SURGSIM_GRAPHICS_CYLINDERREPRESENTATION_H #include "SurgSim/Graphics/Representation.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Graphics { /// Base graphics cylinder representation class, /// which defines the basic interface for a cylinder that can be visualized. /// The cylinder center is at (0, 0, 0). class CylinderRepresentation : public virtual Representation { public: /// Constructor /// \param name Name of the representation /// \post The cylinder radius is 1.0. explicit CylinderRepresentation(const std::string& name) : Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(CylinderRepresentation, double, Radius, getRadius, setRadius); SURGSIM_ADD_SERIALIZABLE_PROPERTY(CylinderRepresentation, double, Height, getHeight, setHeight); } /// Sets the radius of the cylinder /// \param radius Radius along X-axis and Z-axis of the cylinder virtual void setRadius(double radius) = 0; /// Returns the radius of the cylinder /// \return Radius along X-axis and Z-axis of cylinder virtual double getRadius() const = 0; /// Sets the height of the cylinder /// \param height Height along Y-axis of the cylinder virtual void setHeight(double height) = 0; /// Returns the height of the cylinder /// \return Height along Y-axis of the cylinder virtual double getHeight() const = 0; /// Sets the size of the cylinder /// \param radius Size along X-axis and Z-axis of the cylinder /// \param height Size along Y-axis of the cylinder virtual void setSize(double radius, double height) = 0; /// Gets the size of the cylinder /// \param [out] radius Variable to receive the size along X-axis and Z-axis of the cylinder /// \param [out] height Variable to receive the size along Y-axis of the cylinder virtual void getSize(double* radius, double* height) = 0; /// Sets the size of the cylinder /// \param size Size of the cylinder virtual void setSize(const SurgSim::Math::Vector2d& size) = 0; /// Returns the size of the cylinder /// \return Size of the cylinder virtual SurgSim::Math::Vector2d getSize() const = 0; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_CYLINDERREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/Font.h000066400000000000000000000017631277777236100203330ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_FONT_H #define SURGSIM_GRAPHICS_FONT_H #include "SurgSim/Framework/Asset.h" namespace SurgSim { namespace Graphics { /// Abstract base class for the Font Asset, fonts are typefaces that can be used to render /// text on screen they would usually be loaded from disk class Font : public SurgSim::Framework::Asset { }; } } #endif opensurgsim-0.7.0/SurgSim/Graphics/Group.cpp000066400000000000000000000036321277777236100210510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/Group.h" #include "SurgSim/Graphics/Representation.h" namespace SurgSim { namespace Graphics { Group::Group(const std::string& name) : m_name(name) { } Group::~Group() { } bool Group::add(std::shared_ptr representation) { bool result = false; if (std::find(m_representations.begin(), m_representations.end(), representation) == m_representations.end()) { m_representations.push_back(representation); result = true; } return result; } bool Group::append(std::shared_ptr group) { bool result = true; const std::vector>& members = group->getMembers(); for (auto it = members.begin(); it != members.end(); ++it) { if (! add(*it)) { result = false; } } return result; } bool Group::remove(std::shared_ptr representation) { bool result = false; auto it = std::find(m_representations.begin(), m_representations.end(), representation); if (it != m_representations.end()) { m_representations.erase(it); result = true; } return result; } const std::vector>& Group::getMembers() const { return m_representations; } void Group::clear() { m_representations.clear(); } std::string Group::getName() const { return m_name; } } } opensurgsim-0.7.0/SurgSim/Graphics/Group.h000066400000000000000000000057061277777236100205220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_GROUP_H #define SURGSIM_GRAPHICS_GROUP_H #include "SurgSim/Framework/Component.h" #include #include namespace SurgSim { namespace Graphics { class Representation; /// Base graphics group class, which defines the interface that all graphics groups must implement. /// /// Graphics::Group allows the organization of Graphics::Representation objects so that different algorithms can /// operate on specific sub-sets rather than the entire scene. class Group { public: /// Constructor. The group is initially empty. /// \param name Name of the group, this has to be unique over the whole system, otherwise /// adding the group will fail explicit Group(const std::string& name); /// Destructor virtual ~Group(); /// Sets whether the group is currently visible /// \param visible True for visible, false for invisible virtual void setVisible(bool visible) = 0; /// Gets whether the group is currently visible /// \return visible True for visible, false for invisible virtual bool isVisible() const = 0; /// Adds an representation /// \param representation Representation to add to this group /// \return True if the representation is added successfully, false if failure virtual bool add(std::shared_ptr representation); /// Adds all representations in another group to this group /// \param group Group of representations to add /// \return True if all representations are added successfully, false if failure virtual bool append(std::shared_ptr group); /// Removes an representation. /// \param representation Representation to remove from this group /// \return True if the representation is removed successfully, false if representation is not in this group or /// other failure. virtual bool remove(std::shared_ptr representation); /// \return a container with all the representations in this group. const std::vector>& getMembers() const; /// Removes all representations. virtual void clear(); /// \return The name of this group. std::string getName() const; private: std::string m_name; /// Representations in this group std::vector> m_representations; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_GROUP_H opensurgsim-0.7.0/SurgSim/Graphics/Light.h000066400000000000000000000107521277777236100204720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_LIGHT_H #define SURGSIM_GRAPHICS_LIGHT_H #include "SurgSim/Graphics/Representation.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Graphics { class Group; /// Abstract interface for a light, a light needs to be assigned to a group to be active, only the members of this /// group will be considered to be lit by this light. Currently this light implements a pointlight. It will have to /// be extended for a directional and spot lights. The class should provide the following uniform values. The position /// is set by using the representations setPose() call. /// \code /// struct LightSource { /// vec4 ambient; /// vec4 diffuse; /// vec4 specular; /// vec4 position; /// float constantAttenuation; /// float linearAttenuation; /// float quadraticAttenuation; /// }; /// /// uniform LightSource lightSource; /// \endcode /// class Light : public virtual Representation { public: /// Constructor explicit Light(const std::string& name) : Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(Light, SurgSim::Math::Vector4d, DiffuseColor, getDiffuseColor, setDiffuseColor); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Light, SurgSim::Math::Vector4d, SpecularColor, getSpecularColor, setSpecularColor); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Light, double, ConstantAttenuation, getConstantAttenuation, setConstantAttenuation); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Light, double, LinearAttenuation, getLinearAttenuation, setLinearAttenuation); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Light, double, QuadraticAttenuation, getQuadraticAttenuation, setQuadraticAttenuation); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Light, std::string, LightGroupReference, getLightGroupReference, setLightGroupReference); } virtual ~Light() { } /// Sets the group for this light, setting nullptr here will remove the light from its current group /// \param group The group. /// \return true if it succeeds, false if the group is not an OsgGroup. virtual bool setGroup(std::shared_ptr group) = 0; /// Gets the group that this light has been assigned to. /// \return The group or nullptr if no group has been set. virtual std::shared_ptr getGroup() = 0; /// Sets diffuse color of this light. /// \param color The color. virtual void setDiffuseColor(const SurgSim::Math::Vector4d& color) = 0; /// Gets diffuse color. /// \return The diffuse color. virtual SurgSim::Math::Vector4d getDiffuseColor() = 0; /// Sets specular color of this light. /// \param color The color. virtual void setSpecularColor(const SurgSim::Math::Vector4d& color) = 0; /// Gets specular color. /// \return The specular color. virtual SurgSim::Math::Vector4d getSpecularColor() = 0; /// Sets constant attenuation. /// \param val The value. virtual void setConstantAttenuation(double val) = 0; /// Gets constant attenuation. /// \return The constant attenuation. virtual double getConstantAttenuation() = 0; /// Sets linear attenuation. /// \param val The value. virtual void setLinearAttenuation(double val) = 0; /// Gets linear attenuation. /// \return The linear attenuation. virtual double getLinearAttenuation() = 0; /// Sets quadratic attenuation. /// \param val The value. virtual void setQuadraticAttenuation(double val) = 0; /// Gets quadratic attenuation. /// \return The quadratic attenuation. virtual double getQuadraticAttenuation() = 0; /// Sets the name of the group that this light should work on /// \param name The name of the group to light virtual void setLightGroupReference(const std::string& name) = 0; /// Gets the name of the group this light should operate on /// \return the name of the group for this light virtual std::string getLightGroupReference() = 0; }; }; // Graphics }; // SurgSim #endifopensurgsim-0.7.0/SurgSim/Graphics/Manager.cpp000066400000000000000000000134711277777236100213310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/Manager.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Graphics/Camera.h" #include "SurgSim/Graphics/Light.h" #include "SurgSim/Graphics/Group.h" #include "SurgSim/Graphics/Representation.h" #include "SurgSim/Graphics/View.h" using SurgSim::Graphics::Camera; using SurgSim::Graphics::Group; using SurgSim::Graphics::Manager; using SurgSim::Graphics::Representation; using SurgSim::Graphics::View; Manager::Manager() : ComponentManager("Graphics Manager") { setRate(60.0); } Manager::~Manager() { } bool Manager::executeRemovals(const std::shared_ptr& component) { bool result = false; std::shared_ptr representation = std::dynamic_pointer_cast(component); if (representation != nullptr) { result = removeRepresentation(representation); } std::shared_ptr view = std::dynamic_pointer_cast(component); if (view != nullptr) { result = removeView(view); } return result; } bool Manager::executeAdditions(const std::shared_ptr& component) { bool result = false; std::shared_ptr representation = std::dynamic_pointer_cast(component); if (representation != nullptr) { result = addRepresentation(representation); } std::shared_ptr view = std::dynamic_pointer_cast(component); if (view != nullptr) { result = addView(view); } return result; } bool Manager::addRepresentation(std::shared_ptr representation) { bool result = false; if (std::find(m_representations.begin(), m_representations.end(), representation) == m_representations.end()) { m_representations.push_back(representation); // Check all the groups that are requested for this representation, fetch them and // add this representation std::vector requestedGroups = representation->getGroupReferences(); for (auto groupName = std::begin(requestedGroups); groupName != std::end(requestedGroups); ++groupName) { auto group = getOrCreateGroup(*groupName); group->add(representation); } // Additionally for a camera create or fetch the RenderGroup auto camera = std::dynamic_pointer_cast(representation); if (camera != nullptr) { std::vector> groups; for (auto reference : camera->getRenderGroupReferences()) { groups.push_back(getOrCreateGroup(reference)); } camera->setRenderGroups(groups); } auto light = std::dynamic_pointer_cast(representation); if (light != nullptr) { light->setGroup(getOrCreateGroup(light->getLightGroupReference())); } SURGSIM_LOG_INFO(m_logger) << "Added representation " << representation->getFullName(); result = true; } else { SURGSIM_LOG_INFO(m_logger) << "Cannot add duplicate representation " << representation->getFullName(); } return result; } bool Manager::addView(std::shared_ptr view) { bool result = false; if (std::find(m_views.begin(), m_views.end(), view) == m_views.end()) { m_views.push_back(view); SURGSIM_LOG_INFO(m_logger) << "Added view " << view->getFullName(); result = true; } else { SURGSIM_LOG_INFO(m_logger) << "Cannot add duplicate view " << view->getFullName(); } return result; } bool Manager::removeRepresentation(std::shared_ptr representation) { bool result = false; auto groupReferences = representation->getGroupReferences(); for (auto it = groupReferences.cbegin(); it != groupReferences.cend(); ++it) { m_groups[*it]->remove(representation); } auto it = std::find(m_representations.begin(), m_representations.end(), representation); if (it != m_representations.end()) { m_representations.erase(it); SURGSIM_LOG_INFO(m_logger) << "Removed representation " << representation->getFullName(); result = true; } else { SURGSIM_LOG_INFO(m_logger) << "Representation not found for removal, " << representation->getFullName(); } return result; } bool Manager::removeView(std::shared_ptr view) { bool result = false; auto it = std::find(m_views.begin(), m_views.end(), view); if (it != m_views.end()) { m_views.erase(it); SURGSIM_LOG_INFO(m_logger) << "Removed view " << view->getFullName(); result = true; } else { SURGSIM_LOG_INFO(m_logger) << "View not found for removal, " << view->getFullName(); } return result; } bool Manager::doInitialize() { return true; } bool Manager::doStartUp() { return true; } bool Manager::doUpdate(double dt) { processBehaviors(dt); processComponents(); for (auto& view : m_views) { view->update(dt); } for (auto& representation : m_representations) { representation->update(dt); } return true; } int Manager::getType() const { return SurgSim::Framework::MANAGER_TYPE_GRAPHICS; } void SurgSim::Graphics::Manager::addGroup(std::shared_ptr group) { auto oldGroup = m_groups.find(group->getName()); SURGSIM_ASSERT(oldGroup == m_groups.end()) << "Tried to add a group that has already been added, " << group->getName(); m_groups[group->getName()] = group; SURGSIM_LOG_INFO(m_logger) << "Added group " << group->getName(); } void Manager::doBeforeStop() { retireComponents(m_views); retireComponents(m_representations); ComponentManager::doBeforeStop(); } opensurgsim-0.7.0/SurgSim/Graphics/Manager.h000066400000000000000000000115721277777236100207760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_MANAGER_H #define SURGSIM_GRAPHICS_MANAGER_H #include "SurgSim/Framework/ComponentManager.h" #include #include namespace SurgSim { namespace Graphics { class Group; class Representation; class View; /// Basic graphics manager class which manages graphics components to provide a visualization of the scene to the user. /// /// Graphics::Manager manages Graphics::Representation, Graphics::Group, and Graphics::View components. class Manager : public SurgSim::Framework::ComponentManager { public: /// Constructor Manager(); /// Destructor virtual ~Manager(); /// Returns the representations assigned to the manager const std::vector>& getRepresentations() const { return m_representations; } /// Returns the groups assigned to the manager const std::unordered_map>& getGroups() const { return m_groups; } /// Returns the views assigned to the manager const std::vector>& getViews() const { return m_views; } /// Generic unspecified debug handle, there are no requirements on this interface /// the manager implementation can decide what to do virtual void dumpDebugInfo() const = 0; protected: /// Adds a component /// \param component The component to be added. /// \return True if it succeeds or the manager is not concerned with the component, false if it fails. virtual bool executeAdditions(const std::shared_ptr& component); /// Removes a component /// \param component The component to be removed. /// \return True if it succeeds or the manager is not concerned with the component, false if it fails. virtual bool executeRemovals(const std::shared_ptr& component); /// Adds an representation to the manager. This will also add the representation to all of the groups /// contained in its groupRenferences. /// \param representation The representation to be added. /// \return True if the representation was not in this manager and has been successfully added, false if it fails. virtual bool addRepresentation(std::shared_ptr representation); /// Adds a view to the manager /// \param view The view to be added. /// \return True if the view was not in this manager and has been successfully added, false if it fails. virtual bool addView(std::shared_ptr view); /// Removes an representation from the manager /// \param representation The representation to be removed. /// \return True if the representation was in this manager and has been successfully removed, false if it fails. virtual bool removeRepresentation(std::shared_ptr representation); /// Removes a view from the manager /// \param view The view to be removed. /// \return True if the view was in this manager and has been successfully removed, false if it fails. virtual bool removeView(std::shared_ptr view); /// Performs an update for a single timestep /// \param dt The time in seconds of the preceding timestep. virtual bool doUpdate(double dt); /// Overrides ComponentManager::getType() int getType() const override; /// Fetch a group with a given name, if the group does not exist, create it. /// \param name Name of the group to be fetched. /// \return group with the given name. virtual std::shared_ptr getOrCreateGroup(const std::string& name) = 0; protected: /// Adds a group to the manager, override for manager specific behavior when adding /// \param group The group to be added. virtual void addGroup(std::shared_ptr group); void doBeforeStop() override; private: /// Initializes the manager /// \return True if it succeeds, false if it fails virtual bool doInitialize(); /// Starts up the manager after all threads have initialized /// \return True if it succeeds, false if it fails virtual bool doStartUp(); /// Representations assigned to the manager std::vector> m_representations; /// Groups assigned to the manager std::unordered_map> m_groups; /// Views assigned to the manager std::vector> m_views; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_MANAGER_H opensurgsim-0.7.0/SurgSim/Graphics/Material.h000066400000000000000000000070101277777236100211520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_MATERIAL_H #define SURGSIM_GRAPHICS_MATERIAL_H #include #include #include "SurgSim/Framework/Component.h" namespace SurgSim { namespace Graphics { class UniformBase; class Program; /// Base class that defines the interface for graphics materials. /// /// Graphics materials define the visual appearance of graphics representations and are composed of the uniforms and /// shaders applied used when rendering the geometry. /// \sa UniformBase /// \sa Shader class Material : public SurgSim::Framework::Component { public: /// Constructor explicit Material(const std::string& name) : Component(name) {} /// Destructor. // (Note that Visual Studio does not support "= default" yet.) virtual ~Material() { } /// Adds a uniform to this material. /// \param uniform Uniform to add. virtual void addUniform(std::shared_ptr uniform) = 0; /// Adds a GLSL typed uniform to this material /// \param type the type of the uniform /// \param name the name that this uniform should have virtual void addUniform(const std::string& type, const std::string& name) = 0; /// Removes a uniform from this material. /// \param uniform Uniform to remove. /// \return True if uniform was removed successfully, otherwise false. virtual bool removeUniform(std::shared_ptr uniform) = 0; /// Removes a uniform from this material. /// \param name Uniform to remove. /// \return True if uniform was removed successfully, otherwise false. virtual bool removeUniform(const std::string& name) = 0; /// Gets a uniform in this material. /// \param name The name of the Uniform to fetch. /// \return The uniform, nullptr if the uniform does not exist. virtual std::shared_ptr getUniform(const std::string& name) const = 0; /// Gets a uniform in this material /// \param index Index of the uniform in the material's list of uniforms /// \return Uniform at the index virtual std::shared_ptr getUniform(size_t index) const = 0; /// Checks if this material has a uniform with the given name. /// \param name The name of the Uniform to check. /// \return true if the uniform is in the material, false otherwise. virtual bool hasUniform(const std::string& name) const = 0; /// Returns the number of uniforms in this material. virtual size_t getNumUniforms() const = 0; /// Sets the program used by this material. /// \param program Shader program. /// \return True if program was set successfully, otherwise false. virtual bool setProgram(std::shared_ptr program) = 0; /// Gets the program used by this material. /// \return Shader program. virtual std::shared_ptr getProgram() const = 0; /// Removes the shader from the material, falling back to fixed-function pipeline. virtual void clearProgram() = 0; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_MATERIAL_H opensurgsim-0.7.0/SurgSim/Graphics/Mesh-inl.h000066400000000000000000000020071277777236100210710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_MESH_INL_H #define SURGSIM_GRAPHICS_MESH_INL_H namespace SurgSim { namespace Graphics { template Mesh::Mesh(const TriangleMesh& other) : DataStructures::TriangleMesh(other) { } }; // Graphics }; // SurgSim #endif // SURGSIM_GRAPHICS_MESH_INL_H opensurgsim-0.7.0/SurgSim/Graphics/Mesh.cpp000066400000000000000000000073641277777236100206570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Graphics/Mesh.h" #include "SurgSim/Graphics/MeshPlyReaderDelegate.h" using SurgSim::DataStructures::EmptyData; template<> std::string SurgSim::DataStructures::TriangleMesh ::m_className = "SurgSim::Graphics::Mesh"; namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Asset, SurgSim::Graphics::Mesh, Mesh); Mesh::Mesh() : m_updateCount(1) { } Mesh::Mesh( const Mesh& other ) : BaseType(other) { } Mesh::Mesh( Mesh&& other ) : BaseType(std::move(other)) { } void Mesh::initialize( const std::vector& vertices, const std::vector& colors, const std::vector& textures, const std::vector& triangles) { SURGSIM_ASSERT(textures.empty() || textures.size() >= vertices.size()) << "To make a mesh you need to either provide at least the same amount" << " of texture coordinates as vertices or none at all."; SURGSIM_ASSERT(colors.empty() || colors.size() >= vertices.size()) << "To make a mesh you need to either provide at least the same amount" << " of colors as vertices or none at all."; clear(); size_t i = 0; for (auto it = std::begin(vertices); it != std::end(vertices); ++it, ++i) { VertexData data; if (! colors.empty()) { data.color.setValue(colors[i]); } if (! textures.empty()) { data.texture.setValue(textures[i]); } addVertex(Mesh::VertexType(*it, data)); } for (size_t i = 0; i < triangles.size(); i += 3) { TriangleType::IdType ids = {{triangles[i], triangles[i + 1], triangles[i + 2]}}; bool valid = true; for (auto it = std::begin(ids); it != std::end(ids); ++it) { if (*it >= getNumVertices()) { valid = false; break; } } if (valid) { Mesh::TriangleType triangle(ids); addTriangle(triangle); } else { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getLogger("Graphics")) << "When building a mesh a vertex was present in a triangle that was not in the list of vertices"; } } } bool Mesh::doLoad(const std::string& fileName) { SurgSim::DataStructures::PlyReader reader(fileName); if (! reader.isValid()) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << "'" << fileName << "' is an invalid .ply file."; return false; } auto delegate = std::make_shared(std::dynamic_pointer_cast(shared_from_this())); if (! reader.parseWithDelegate(delegate)) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << "The input file '" << fileName << "' does not have the property required by triangle mesh."; return false; } return true; } void Mesh::dirty() { ++m_updateCount; } size_t Mesh::getUpdateCount() const { return m_updateCount; } Mesh& Mesh::operator=( const Mesh& other ) { BaseType::operator=(other); return *this; } Mesh& Mesh::operator=( Mesh&& other ) { BaseType::operator=(std::move(other)); return *this; } }; // Graphics }; // SurgSim opensurgsim-0.7.0/SurgSim/Graphics/Mesh.h000066400000000000000000000102311277777236100203070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_MESH_H #define SURGSIM_GRAPHICS_MESH_H #include #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/DataStructures/OptionalValue.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Graphics { struct VertexData { SurgSim::DataStructures::OptionalValue texture; SurgSim::DataStructures::OptionalValue color; /// Equality operator. /// \param rhs The right hand side. /// \return true if the parameters are considered equivalent. bool operator==(const SurgSim::Graphics::VertexData& rhs) const { return texture == rhs.texture && color == rhs.color; } /// Inequality operator. /// \param rhs The right hand side. /// \return true if the parameters are not considered equivalent. bool operator!=(const SurgSim::Graphics::VertexData& rhs) const { return !((*this) == rhs); } }; SURGSIM_STATIC_REGISTRATION(Mesh); class Mesh : public SurgSim::DataStructures::TriangleMesh { public: /// Default constructor Mesh(); typedef TriangleMesh BaseType; /// Copy constructor when the template data is a different type /// \tparam V Type of extra data stored in each vertex /// \tparam E Type of extra data stored in each edge /// \tparam T Type of extra data stored in each triangle /// \param other The mesh to be copied from. Vertex, edge and triangle data will not be copied /// \note: Data of the input mesh, i.e. VertexDataSource, EdgeDataSource and TrianleDataSource will not be copied. template explicit Mesh(const TriangleMesh& other); /// Copy Constructor /// \param other Constructor source Mesh(const Mesh& other); /// Move Constructor /// \param other Constructor source Mesh(Mesh&& other); /// Copy Assignment /// \param other Assignment source Mesh& operator=(const Mesh& other); /// Move Assignment /// \param other Assignment source Mesh& operator=(Mesh&& other); /// Utility function to initialize a mesh with plain data, /// \param vertices An array of vertex coordinates. /// \param colors The colors, the number of colors can be 0 or /// there have to be at least as many colors as vertices. /// \param textures The textures coordinates, the number of coordinates can be 0 or /// there have to be at least as many texture coordinates as there are vertices. /// \param triangles The triangles, a plain array of triplets of triangle indices, the indices should be /// points in the vertices array. void initialize(const std::vector& vertices, const std::vector& colors, const std::vector& textures, const std::vector& triangles); /// Increase the update count, this indicates that the mesh has been changed, if used in a mesh representation /// the mesh representation will still only update the data members that have been marked for updating void dirty(); /// Return the update count, please note that it will silently roll over when the range of size_t has been exceeded size_t getUpdateCount() const; protected: bool doLoad(const std::string& fileName) override; /// For checking whether the mesh has changed size_t m_updateCount; }; }; // Graphics }; // SurgSim #include "SurgSim/Graphics/Mesh-inl.h" #endif // SURGSIM_GRAPHICS_MESH_H opensurgsim-0.7.0/SurgSim/Graphics/MeshPlyReaderDelegate.cpp000066400000000000000000000027341277777236100241160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/MeshPlyReaderDelegate.h" #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/PlyReader.h" using SurgSim::DataStructures::PlyReader; namespace SurgSim { namespace Graphics { MeshPlyReaderDelegate::MeshPlyReaderDelegate() : SurgSim::DataStructures::TriangleMeshPlyReaderDelegate() { } MeshPlyReaderDelegate::MeshPlyReaderDelegate(std::shared_ptr mesh) : SurgSim::DataStructures::TriangleMeshPlyReaderDelegate(mesh) { } void MeshPlyReaderDelegate::processVertex(const std::string& elementName) { MeshType::VertexType vertex(SurgSim::Math::Vector3d(m_vertexData.x, m_vertexData.y, m_vertexData.z)); if (hasTextureCoordinates()) { vertex.data.texture.setValue(SurgSim::Math::Vector2d(m_vertexData.s, m_vertexData.t)); } m_mesh->addVertex(vertex); } } } opensurgsim-0.7.0/SurgSim/Graphics/MeshPlyReaderDelegate.h000066400000000000000000000026371277777236100235650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_MESHPLYREADERDELEGATE_H #define SURGSIM_GRAPHICS_MESHPLYREADERDELEGATE_H #include #include #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/TriangleMeshPlyReaderDelegate.h" #include "SurgSim/Graphics/Mesh.h" namespace SurgSim { namespace Graphics { /// Implementation of PlyReaderDelegate for graphicsmeshes class MeshPlyReaderDelegate : public SurgSim::DataStructures::TriangleMeshPlyReaderDelegate { public: /// Default constructor. MeshPlyReaderDelegate(); /// Constructor. /// \param mesh The mesh to be used, it will be cleared by the constructor. explicit MeshPlyReaderDelegate(std::shared_ptr mesh); void processVertex(const std::string& elementName) override; }; } } #endif opensurgsim-0.7.0/SurgSim/Graphics/MeshRepresentation.h000066400000000000000000000063271277777236100232450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_MESHREPRESENTATION_H #define SURGSIM_GRAPHICS_MESHREPRESENTATION_H #include "SurgSim/Framework/Asset.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/DataStructures/DataStructuresConvert.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Graphics/Mesh.h" #include "SurgSim/Graphics/Representation.h" namespace SurgSim { namespace Graphics { /// Graphics representation of a mesh, can be initialized from a Mesh structure class MeshRepresentation : public virtual Representation { public: enum UpdateOption { UPDATE_OPTION_NONE = 0, UPDATE_OPTION_VERTICES = 0x01, UPDATE_OPTION_COLORS = 0x02, UPDATE_OPTION_TEXTURES = 0x04, UPDATE_OPTION_TRIANGLES = 0x08, UPDATE_OPTION_ALL = UPDATE_OPTION_VERTICES | UPDATE_OPTION_COLORS | UPDATE_OPTION_TEXTURES | UPDATE_OPTION_TRIANGLES }; /// Constructor. /// \param name The name of the representation. explicit MeshRepresentation(const std::string& name) : Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(MeshRepresentation, std::shared_ptr, Mesh, getMesh, setMesh); SURGSIM_ADD_SERIALIZABLE_PROPERTY(MeshRepresentation, int, UpdateOptions, getUpdateOptions, setUpdateOptions); SURGSIM_ADD_SETTER(MeshRepresentation, std::string, MeshFileName, loadMesh); } /// Destructor virtual ~MeshRepresentation() {} /// Gets the mesh. /// \return The mesh. virtual std::shared_ptr getMesh() = 0; /// Sets the mesh. /// \param mesh the graphics mesh to be used virtual void setMesh(std::shared_ptr mesh) = 0; /// Convenience function to trigger the load of the mesh with the given filename /// \param fileName name of the file to be loaded virtual void loadMesh(const std::string& fileName) = 0; /// Sets the shape of the representation /// param shape the shape of this representation /// \note only shapes of type MeshShape are supported virtual void setShape(std::shared_ptr shape) = 0; /// Sets the structures that are expected to change during the lifetime of the mesh, these will be updated /// every frame, independent of a structural change in the mesh. UPDATE_OPTION_VERTICES is set in the constructor /// as a default value. /// \param val Boolean or expression of UpdateOption enum. virtual void setUpdateOptions(int val) = 0; /// Gets update options for this mesh. /// \return The update options. virtual int getUpdateOptions() const = 0; virtual void updateMesh(const Mesh& mesh) = 0; }; }; // Graphics }; // SurgSim #endif // SURGSIM_GRAPHICS_MESHREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/Model.h000066400000000000000000000016031277777236100204560ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_MODEL_H #define SURGSIM_GRAPHICS_MODEL_H #include "SurgSim/Framework/Asset.h" namespace SurgSim { namespace Graphics { // Wraps the Graphics Model class class Model : public SurgSim::Framework::Asset { }; } } #endif opensurgsim-0.7.0/SurgSim/Graphics/OctreeRepresentation.h000066400000000000000000000043601277777236100235650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OCTREEREPRESENTATION_H #define SURGSIM_GRAPHICS_OCTREEREPRESENTATION_H #include #include "SurgSim/Graphics/Representation.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/OctreeShape.h" namespace SurgSim { namespace Graphics { /// Graphic representation of an Octree class OctreeRepresentation : public virtual Representation { public: /// Constructor /// \param name Name of OctreeRepresentation explicit OctreeRepresentation(const std::string& name) : Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(OctreeRepresentation, std::shared_ptr, OctreeShape, getOctreeShape, setOctreeShape); } /// Destructor virtual ~OctreeRepresentation() { } /// Set the OctreeShape of this representation. The Octree is retrieved and visualized. /// \param shape The OctreeShape from which the octree is retrieved and visualized. virtual void setOctreeShape(const std::shared_ptr& shape) = 0; /// \return The OctreeShape from which the Octree is retrieved. virtual std::shared_ptr getOctreeShape() const = 0; /// Mark the OctreeNode visible/invisible in the given a OctreePath (typedef-ed in OctreeNode.h). /// \param path An OctreePath, giving the path leads to the OctreeNode whose visibility to be changed. /// \param visibility Whether or not the OctreeNode specified by 'path' is visible or not. virtual void setNodeVisible(const SurgSim::DataStructures::OctreePath& path, bool visibility) = 0; }; }; // Graphics }; // SurgSim #endif // SURGSIM_GRAPHICS_OCTREEREPRESENTATION_Hopensurgsim-0.7.0/SurgSim/Graphics/OsgAxesRepresentation.cpp000066400000000000000000000031431277777236100242460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgAxesRepresentation.h" #include "SurgSim/Framework/SharedInstance.h" #include namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::OsgAxesRepresentation, OsgAxesRepresentation); OsgAxesRepresentation::OsgAxesRepresentation(const std::string& name) : Representation(name), OsgRepresentation(name), AxesRepresentation(name), m_sharedUnitAxes(getShareUnitAxes()), m_size(1.0) { m_transform->addChild(m_sharedUnitAxes->getNode()); } OsgAxesRepresentation::~OsgAxesRepresentation() { } std::shared_ptr OsgAxesRepresentation::getShareUnitAxes() { static SurgSim::Framework::SharedInstance shared; return shared.get(); } void OsgAxesRepresentation::setSize(double val) { m_size = val; m_transform->setScale(osg::Vec3d(val, val, val)); } double OsgAxesRepresentation::getSize() { return m_size; } }; // Graphics }; // SurgSim opensurgsim-0.7.0/SurgSim/Graphics/OsgAxesRepresentation.h000066400000000000000000000036721277777236100237220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGAXESREPRESENTATION_H #define SURGSIM_GRAPHICS_OSGAXESREPRESENTATION_H #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Graphics/AxesRepresentation.h" #include "SurgSim/Graphics/OsgUnitAxes.h" #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace SurgSim { namespace Graphics { SURGSIM_STATIC_REGISTRATION(OsgAxesRepresentation); /// Osg axes representation implementation for the AxesRepresentation interface in graphics. class OsgAxesRepresentation : public OsgRepresentation, public AxesRepresentation { public: /// Constructor explicit OsgAxesRepresentation(const std::string& name); ~OsgAxesRepresentation(); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgAxesRepresentation); /// Sets the size of the shown axes. /// \param val The value. void setSize(double val) override; /// Gets the current size. /// \return The size. double getSize() override; private: /// Shared unit axes, so that the geometry can be instanced rather than having multiple copies. std::shared_ptr m_sharedUnitAxes; /// Returns the shared unit axes static std::shared_ptr getShareUnitAxes(); /// Hold the size double m_size; }; #if defined(_MSC_VER) #pragma warning(pop) #endif }; // Graphics }; // SurgSim #endifopensurgsim-0.7.0/SurgSim/Graphics/OsgBoxRepresentation.cpp000066400000000000000000000051701277777236100241000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgRigidTransformConversions.h" #include "SurgSim/Graphics/OsgUnitBox.h" #include #include #include namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::OsgBoxRepresentation, OsgBoxRepresentation); OsgBoxRepresentation::OsgBoxRepresentation(const std::string& name) : Representation(name), OsgRepresentation(name), BoxRepresentation(name), m_scale(1.0, 1.0, 1.0), m_sharedUnitBox(getSharedUnitBox()) { m_transform->addChild(m_sharedUnitBox->getNode()); } void OsgBoxRepresentation::setSizeX(double sizeX) { m_scale.x() = sizeX; m_transform->setScale(m_scale); } double OsgBoxRepresentation::getSizeX() const { return m_scale.x(); } void OsgBoxRepresentation::setSizeY(double sizeY) { m_scale.y() = sizeY; m_transform->setScale(m_scale); } double OsgBoxRepresentation::getSizeY() const { return m_scale.y(); } void OsgBoxRepresentation::setSizeZ(double sizeZ) { m_scale.z() = sizeZ; m_transform->setScale(m_scale); } double OsgBoxRepresentation::getSizeZ() const { return m_scale.z(); } void OsgBoxRepresentation::setSizeXYZ(double sizeX, double sizeY, double sizeZ) { m_scale.x() = sizeX; m_scale.y() = sizeY; m_scale.z() = sizeZ; m_transform->setScale(m_scale); } void OsgBoxRepresentation::getSizeXYZ(double* sizeX, double* sizeY, double* sizeZ) const { *sizeX = m_scale.x(); *sizeY = m_scale.y(); *sizeZ = m_scale.z(); } void OsgBoxRepresentation::setSize(const SurgSim::Math::Vector3d& size) { m_scale.set(size.x(), size.y(), size.z()); m_transform->setScale(m_scale); } SurgSim::Math::Vector3d OsgBoxRepresentation::getSize() const { return SurgSim::Math::Vector3d(m_scale._v); } std::shared_ptr OsgBoxRepresentation::getSharedUnitBox() { static SurgSim::Framework::SharedInstance shared; return shared.get(); } }; // Graphics }; // SurgSimopensurgsim-0.7.0/SurgSim/Graphics/OsgBoxRepresentation.h000066400000000000000000000070571277777236100235530ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGBOXREPRESENTATION_H #define SURGSIM_GRAPHICS_OSGBOXREPRESENTATION_H #include "SurgSim/Framework/SharedInstance.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Graphics/BoxRepresentation.h" #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Math/RigidTransform.h" #include #include #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace SurgSim { namespace Graphics { class OsgUnitBox; SURGSIM_STATIC_REGISTRATION(OsgBoxRepresentation); /// OSG implementation of a graphics box representation. class OsgBoxRepresentation : public OsgRepresentation, public BoxRepresentation { public: /// Constructor /// \param name Name of the representation explicit OsgBoxRepresentation(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgBoxRepresentation); /// Sets the size along X-axis of the box /// \param sizeX Size along X-axis of the box void setSizeX(double sizeX) override; /// Returns the size along X-axis of the box /// \return Size along X-axis of the box double getSizeX() const override; /// Sets the size along Y-axis of the box /// \param sizeY Size along Y-axis of the box void setSizeY(double sizeY) override; /// Returns the size along Y-axis of the box /// \return Size along Y-axis of the box double getSizeY() const override; /// Sets the size along Z-axis of the box /// \param sizeZ Size along Z-axis of the box void setSizeZ(double sizeZ) override; /// Returns the size along Z-axis of the box /// \return Size along Z-axis of the box double getSizeZ() const override; /// Sets the size of the box /// \param sizeX Size along X-axis of the box /// \param sizeY Size along Y-axis of the box /// \param sizeZ Size along Z-axis of the box virtual void setSizeXYZ(double sizeX, double sizeY, double sizeZ); /// Gets the size of the box /// \param sizeX Reference to store the size along X-axis of the box /// \param sizeY Reference to store the size along Y-axis of the box /// \param sizeZ Reference to store the size along Z-axis of the box virtual void getSizeXYZ(double* sizeX, double* sizeY, double* sizeZ) const; /// Sets the size of the box /// \param size Size of the box void setSize(const SurgSim::Math::Vector3d& size) override; /// Returns the extents of the box /// \return Size of the box SurgSim::Math::Vector3d getSize() const override; private: /// The OSG box shape is a unit box and this transform scales it to the size set. osg::Vec3d m_scale; /// Shared unit box, so that the geometry can be instanced rather than having multiple copies. std::shared_ptr m_sharedUnitBox; /// Returns the shared unit box static std::shared_ptr getSharedUnitBox(); }; }; // namespace Graphics }; // namespace SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif #endif // SURGSIM_GRAPHICS_OSGBOXREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/OsgCamera.cpp000066400000000000000000000343601277777236100216200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/Manager.h" #include "SurgSim/Graphics/Material.h" #include "SurgSim/Graphics/OsgGroup.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgMatrixConversions.h" #include "SurgSim/Graphics/OsgQuaternionConversions.h" #include "SurgSim/Graphics/OsgRenderTarget.h" #include "SurgSim/Graphics/OsgUniform.h" #include "SurgSim/Graphics/OsgVectorConversions.h" #include "SurgSim/Math/Matrix.h" #include using SurgSim::Math::makeRigidTransform; using SurgSim::Math::Matrix44f; using SurgSim::Math::Vector4d; using SurgSim::Math::Vector4f; namespace { const osg::Camera::BufferComponent ColorBufferEnums[16] = { osg::Camera::COLOR_BUFFER0, osg::Camera::COLOR_BUFFER1, osg::Camera::COLOR_BUFFER2, osg::Camera::COLOR_BUFFER3, osg::Camera::COLOR_BUFFER4, osg::Camera::COLOR_BUFFER5, osg::Camera::COLOR_BUFFER6, osg::Camera::COLOR_BUFFER7, osg::Camera::COLOR_BUFFER8, osg::Camera::COLOR_BUFFER9, osg::Camera::COLOR_BUFFER10, osg::Camera::COLOR_BUFFER11, osg::Camera::COLOR_BUFFER12, osg::Camera::COLOR_BUFFER13, osg::Camera::COLOR_BUFFER14, osg::Camera::COLOR_BUFFER15 }; const osg::Camera::RenderOrder RenderOrderEnums[3] = { osg::Camera::PRE_RENDER, osg::Camera::NESTED_RENDER, osg::Camera::POST_RENDER }; /// Update the main camera uniforms to reflect the state of the rendering camera, this is used when rendering /// stereo via osg, the mainCamera.* uniforms will carry the values of the currently rendering camera, i.e. the left /// and the right view camera. class UniformUpdater : public osg::NodeCallback { public: UniformUpdater(osg::Uniform* projection, osg::Uniform* inverseProjection, osg::Uniform* view, osg::Uniform* inverseView) : m_projection(projection), m_inverseProjection(inverseProjection), m_view(view), m_inverseView(inverseView) { } virtual void operator()(osg::Node* node, osg::NodeVisitor* nodeVisitor) { osgUtil::CullVisitor* cv = dynamic_cast(nodeVisitor); if (cv != nullptr) { auto camera = cv->getCurrentCamera(); const auto& projection = camera->getProjectionMatrix(); m_projection->set(projection); m_inverseProjection->set(osg::Matrix::inverse(projection)); m_view->set(camera->getViewMatrix()); m_inverseView->set(camera->getInverseViewMatrix()); } traverse(node, nodeVisitor); } private: osg::ref_ptr m_projection; osg::ref_ptr m_inverseProjection; osg::ref_ptr m_view; osg::ref_ptr m_inverseView; }; osg::Uniform* addMatrixUniform(osg::Node* node, const std::string& name) { auto uniform = new osg::Uniform; uniform->setName(name); uniform->setType(osg::Uniform::FLOAT_MAT4); osg::Matrix matrix; uniform->set(matrix); node->getOrCreateStateSet()->addUniform(uniform); return uniform; } osg::Switch* createUniformUpdateNode(long mask) // NOLINT { auto node = new osg::Switch; auto projection = addMatrixUniform(node, "mainCamera.projectionMatrix"); auto inverseProjection = addMatrixUniform(node, "mainCamera.inverseProjectionMatrix"); auto view = addMatrixUniform(node, "mainCamera.viewMatrix"); auto inverseView = addMatrixUniform(node, "mainCamera.inverseViewMatrix"); auto callback = new UniformUpdater(projection, inverseProjection, view, inverseView); node->addCullCallback(callback); node->setNodeMask(mask); return node; } const long CullMask = 0xfffffff1; // NOLINT const long CullMaskLeft = 0x1; // NOLINT const long CullMaskRight = 0x2; // NOLINT }; namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::OsgCamera, OsgCamera); OsgCamera::OsgCamera(const std::string& name) : Representation(name), OsgRepresentation(name), Camera(name), m_camera(new osg::Camera()), m_viewMatrixUniform(std::make_shared>("viewMatrix")), m_inverseViewMatrixUniform(std::make_shared>("inverseViewMatrix")), m_ambientColorUniform(std::make_shared>("ambientColor")), m_isMainCamera(false) { m_switch->removeChildren(0, m_switch->getNumChildren()); m_camera->setName(name + " Camera"); m_switch->addChild(m_camera); m_camera->addChild(m_materialProxy); m_materialProxy->setName(name + " MaterialProxy"); m_camera->setViewMatrix(toOsg(getLocalPose().inverse().matrix())); setPerspectiveProjection(45.0, 1.0, 0.01, 10.0); m_camera->setComputeNearFarMode(osgUtil::CullVisitor::DO_NOT_COMPUTE_NEAR_FAR); // Hopefully this will ignore the left and right nodes when rendering mono and // pick the appropriate node when rendering stereo m_camera->setCullMask(CullMask); m_camera->setCullMaskLeft(CullMaskLeft); m_camera->setCullMaskRight(CullMaskRight); /// Update storage of view and projection matrices m_projectionMatrix = fromOsg(m_camera->getProjectionMatrix()); // Set up uniforms osg::ref_ptr state = m_camera->getOrCreateStateSet(); m_viewMatrixUniform->addToStateSet(state); m_inverseViewMatrixUniform->addToStateSet(state); m_ambientColorUniform->addToStateSet(state); setAmbientColor(Vector4d(0.0, 0.0, 0.0, 0.0)); // We will want this in all cases m_camera->getOrCreateStateSet()->setMode(GL_TEXTURE_CUBE_MAP_SEAMLESS, osg::StateAttribute::ON); } bool OsgCamera::setRenderGroup(std::shared_ptr group) { std::vector> groups(1, group); return setRenderGroups(groups); } bool OsgCamera::setRenderGroups(const std::vector>& groups) { bool result = false; int numChildren = m_materialProxy->getNumChildren(); for (const auto& group : groups) { std::vector groupReferences = Camera::getRenderGroupReferences(); SURGSIM_ASSERT(std::find(groupReferences.begin(), groupReferences.end(), group->getName()) != groupReferences.end()) << "Trying to set the wrong group in the camera with group name <" << group->getName() << ">."; std::shared_ptr osgGroup = std::dynamic_pointer_cast(group); if (osgGroup) { result = true; m_materialProxy->addChild(osgGroup->getOsgGroup()); } else { result = false; break; } } if (result) { m_materialProxy->removeChildren(0, numChildren); result = Graphics::Camera::setRenderGroups(groups); } return result; } void OsgCamera::setLocalActive(bool val) { Component::setLocalActive(val); m_switch->setChildValue(m_camera, isActive()); } SurgSim::Math::Matrix44d OsgCamera::getViewMatrix() const { return getPose().matrix().inverse(); } void OsgCamera::setProjectionMatrix(const SurgSim::Math::Matrix44d& matrix) { m_projectionMatrix = matrix; m_camera->setProjectionMatrix(toOsg(matrix)); } const SurgSim::Math::Matrix44d& OsgCamera::getProjectionMatrix() const { return m_projectionMatrix; } SurgSim::Math::Matrix44d OsgCamera::getInverseProjectionMatrix() const { return m_projectionMatrix.inverse(); } void OsgCamera::update(double dt) { setVisible(isActive()); if (isActive()) { // HS-2014-may-05 There is an issue between setting the projection matrix in the constructor and the // instantiation of the viewer with the view port that may change the matrix inbetween, for now ... update // every frame // #workaround // m_projectionMatrix = fromOsg(m_camera->getProjectionMatrix()); auto viewMatrix = getViewMatrix(); auto floatMatrix = viewMatrix.cast(); m_camera->setViewMatrix(toOsg(viewMatrix)); m_viewMatrixUniform->set(floatMatrix); m_inverseViewMatrixUniform->set(floatMatrix.inverse()); } } bool OsgCamera::setRenderTarget(std::shared_ptr renderTarget) { bool result = false; // Check for correct dynamic type auto osg2dTarget = std::dynamic_pointer_cast(renderTarget); auto osgRectTarget = std::dynamic_pointer_cast(renderTarget); if (osg2dTarget != nullptr || osgRectTarget != nullptr) { if (m_renderTarget == nullptr) { detachCurrentRenderTarget(); } int width, height; renderTarget->getSize(&width, &height); m_camera->setViewport(0, 0, width, height); attachRenderTargetTexture(osg::Camera::DEPTH_BUFFER, renderTarget->getDepthTarget()); // OSG has 16 COLOR_BUFFER objects for (int i = 0; i < 16; ++i) { attachRenderTargetTexture(ColorBufferEnums[i], renderTarget->getColorTarget(i)); } m_camera->setRenderTargetImplementation(osg::Camera::FRAME_BUFFER_OBJECT, osg::Camera::PIXEL_BUFFER); m_camera->setRenderOrder(osg::Camera::PRE_RENDER); m_camera->setReferenceFrame(osg::Transform::ABSOLUTE_RF); m_renderTarget = renderTarget; result = true; } else if (renderTarget == nullptr && m_renderTarget != nullptr) { detachCurrentRenderTarget(); result = true; } return result; } std::shared_ptr OsgCamera::getRenderTarget() const { return m_renderTarget; } bool OsgCamera::setMaterial(std::shared_ptr material) { std::shared_ptr osgMaterial = std::dynamic_pointer_cast(material); bool result = false; if (osgMaterial != nullptr) { m_materialProxy->setStateSet(osgMaterial->getOsgStateSet()); result = true; m_material = osgMaterial; } return result; } std::shared_ptr OsgCamera::getMaterial() const { return m_material; } void OsgCamera::clearMaterial() { m_materialProxy->setStateSet(new osg::StateSet()); } void OsgCamera::detachCurrentRenderTarget() { if (m_renderTarget != nullptr) { if (m_renderTarget->doesUseDepthTarget()) { m_camera->detach(osg::Camera::DEPTH_BUFFER); } for (int i = 0; i < m_renderTarget->getColorTargetCount(); ++i) { m_camera->detach(ColorBufferEnums[i]); } } m_renderTarget = nullptr; } void OsgCamera::setViewport(int x, int y, int width, int height) { m_camera->setViewport(x, y, width, height); } void OsgCamera::getViewport(int* x, int* y, int* width, int* height) const { SURGSIM_ASSERT(x != nullptr && y != nullptr && width != nullptr && height != nullptr) << "Parameter can't be nullptr."; auto viewPort = m_camera->getViewport(); SURGSIM_ASSERT(viewPort != nullptr) << "Trying to access viewport before it has been established."; *x = viewPort->x(); *y = viewPort->y(); *width = viewPort->width(); *height = viewPort->height(); } void OsgCamera::setViewportSize(std::array dimensions) { auto viewPort = m_camera->getViewport(); if (viewPort != nullptr) { double aspectRatioChange = (dimensions[0] / viewPort->width()) / (dimensions[1] / viewPort->height()); m_camera->setViewport(viewPort->x(), viewPort->y(), dimensions[0], dimensions[1]); m_camera->getProjectionMatrix() *= osg::Matrix::scale(1.0 / aspectRatioChange, aspectRatioChange,1.0); m_projectionMatrix = fromOsg(m_camera->getProjectionMatrix()); } else { m_camera->setViewport(0, 0, dimensions[0], dimensions[1]); } } std::array OsgCamera::getViewportSize() const { auto viewPort = m_camera->getViewport(); SURGSIM_ASSERT(viewPort != nullptr) << "Trying to access viewport before it has been established."; std::array dimensions = {viewPort->width(), viewPort->height()}; return dimensions; } void OsgCamera::setMainCamera(bool val) { if (val != m_isMainCamera) { if (val) { m_camera->removeChild(m_materialProxy); std::array masks = {CullMaskLeft, CullMaskRight}; // NOLINT // Insert two nodes into the camera hierarchy, they will update the global uniforms with the correct // value. Also attach the material proxy to each of the nodes. for (auto& mask : masks) { auto node = createUniformUpdateNode(mask); m_camera->addChild(node); node->addChild(m_materialProxy); } } else { // Remove the update nodes and hook the material proxy node back up m_camera->removeChildren(0, m_camera->getNumChildren()); m_camera->addChild(m_materialProxy); } m_isMainCamera = val; } } bool OsgCamera::isMainCamera() { return m_isMainCamera; } void OsgCamera::setPerspectiveProjection(double fovy, double aspect, double near, double far) { m_camera->setProjectionMatrixAsPerspective(fovy, aspect, near, far); m_projectionMatrix = fromOsg(m_camera->getProjectionMatrix()); } void OsgCamera::setOrthogonalProjection(double left, double right, double bottom, double top, double near, double far) { m_camera->setProjectionMatrixAsOrtho(left, right, bottom, top, near, far); m_projectionMatrix = fromOsg(m_camera->getProjectionMatrix()); } void OsgCamera::attachRenderTargetTexture(osg::Camera::BufferComponent buffer, std::shared_ptr texture) { if (texture == nullptr) { return; } std::shared_ptr osgTexture = std::dynamic_pointer_cast(texture); SURGSIM_ASSERT(osgTexture != nullptr) << "RenderTarget used a texture that was not an OsgTexture subclass"; osg::Texture* actualTexture = osgTexture->getOsgTexture(); SURGSIM_ASSERT(actualTexture != nullptr) << "Could not find texture"; m_camera->attach(buffer, actualTexture, 0, 0); } void OsgCamera::setRenderOrder(RenderOrder order, int value) { if (order < RENDER_ORDER_COUNT) { m_camera->setRenderOrder(RenderOrderEnums[order], value); } } osg::ref_ptr OsgCamera::getOsgCamera() const { return m_camera; } osg::ref_ptr OsgCamera::getOsgNode() const { return m_switch; } SurgSim::Math::Matrix44d OsgCamera::getInverseViewMatrix() const { return getPose().matrix(); } void OsgCamera::setAmbientColor(const SurgSim::Math::Vector4d& color) { m_ambientColor = color; m_ambientColorUniform->set(color.cast()); } SurgSim::Math::Vector4d OsgCamera::getAmbientColor() { return m_ambientColor; } void OsgCamera::setGenerateTangents(bool value) { SURGSIM_ASSERT(value == false) << "Generate Tangents is not supported on Cameras."; } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/OsgCamera.h000066400000000000000000000116521277777236100212640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGCAMERA_H #define SURGSIM_GRAPHICS_OSGCAMERA_H #include #include "SurgSim/Framework/Macros.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Graphics/Camera.h" #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Graphics/Texture.h" #include #include #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace SurgSim { namespace Graphics { class Material; class Texture; class RenderTarget; template class OsgUniform; SURGSIM_STATIC_REGISTRATION(OsgCamera); /// OSG implementation of a graphics camera. /// /// A Graphics::OsgCamera wraps a osg::Camera to provide camera functionality and a osg::Switch to allow enabling and /// disabling of the camera. class OsgCamera : public OsgRepresentation, public Camera { public: /// Constructor /// \param name Name of the camera /// The view matrix is initialized with eye at (0, 0, 0), center at (0, 0, -1), and up (0, 1, 0). /// The projection matrix is initialized to a perspective matrix with FOV Y of 45 deg, Aspect Ratio of 1.0, /// Z Near of 0.01, and Z Far of 10.0. explicit OsgCamera(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgCamera); bool setRenderGroup(std::shared_ptr group) override; bool setRenderGroups(const std::vector>& groups) override; void setLocalActive(bool val) override; virtual SurgSim::Math::Matrix44d getViewMatrix() const; virtual SurgSim::Math::Matrix44d getInverseViewMatrix() const; void setProjectionMatrix(const SurgSim::Math::Matrix44d& matrix) override; const SurgSim::Math::Matrix44d& getProjectionMatrix() const override; SurgSim::Math::Matrix44d getInverseProjectionMatrix() const override; void update(double dt) override; /// \return the OSG camera node osg::ref_ptr getOsgCamera() const; /// \return the OSG parent node for this object osg::ref_ptr getOsgNode() const; bool setRenderTarget(std::shared_ptr renderTarget) override; std::shared_ptr getRenderTarget() const override; bool setMaterial(std::shared_ptr material) override; std::shared_ptr getMaterial() const override; void clearMaterial() override; void setRenderOrder(RenderOrder order, int value) override; void setAmbientColor(const SurgSim::Math::Vector4d& color) override; SurgSim::Math::Vector4d getAmbientColor() override; void setGenerateTangents(bool value) override; void setPerspectiveProjection(double fovy, double aspect, double near, double far) override; void setOrthogonalProjection( double left, double right, double bottom, double top, double near, double far) override; void setViewport(int x, int y, int width, int height) override; void getViewport(int* x, int* y, int* width, int* height) const override; void setViewportSize(std::array dimensions) override; std::array getViewportSize() const override; void setMainCamera(bool val) override; bool isMainCamera() override; private: osg::ref_ptr m_camera; /// Projection matrix of the camera SurgSim::Math::Matrix44d m_projectionMatrix; std::unordered_map> m_textureMap; std::shared_ptr m_renderTarget; /// Attach a specific texture to a specific BufferComponent, works for Depth and all the Colors. /// \param buffer The BufferComponent enum. /// \param texture The specific texture to attach. void attachRenderTargetTexture(osg::Camera::BufferComponent buffer, std::shared_ptr texture); /// Detach the current render target from the camera. void detachCurrentRenderTarget(); /// Uniform to carry the view matrix std::shared_ptr> m_viewMatrixUniform; /// Uniform to carry the inverse view matrix std::shared_ptr> m_inverseViewMatrixUniform; /// Uniform to carry the ambient color std::shared_ptr> m_ambientColorUniform; /// Value for ambient color SurgSim::Math::Vector4d m_ambientColor; bool m_isMainCamera; }; }; // namespace Graphics }; // namespace SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif #endif // SURGSIM_GRAPHICS_OSGCAMERA_H opensurgsim-0.7.0/SurgSim/Graphics/OsgCapsuleRepresentation.cpp000066400000000000000000000077651277777236100247600ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgCapsuleRepresentation.h" #include "SurgSim/Graphics/OsgUnitCylinder.h" #include "SurgSim/Graphics/OsgUnitSphere.h" namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::OsgCapsuleRepresentation, OsgCapsuleRepresentation); OsgCapsuleRepresentation::OsgCapsuleRepresentation(const std::string& name) : Representation(name), OsgRepresentation(name), CapsuleRepresentation(name), m_scale(1.0, 1.0), m_sharedUnitCylinder(getSharedUnitCylinder()), m_sharedUnitSphere(getSharedUnitSphere()), m_patCylinder(new osg::PositionAttitudeTransform()), m_patSphere1(new osg::PositionAttitudeTransform()), m_patSphere2(new osg::PositionAttitudeTransform()) { m_patCylinder->addChild(m_sharedUnitCylinder->getNode()); m_patSphere1->addChild(m_sharedUnitSphere->getNode()); m_patSphere2->addChild(m_sharedUnitSphere->getNode()); m_patCylinder->setAttitude(osg::Quat(osg::PI_2, osg::Vec3d(1.0, 0.0, 0.0))); m_patSphere1->setPosition(osg::Vec3d(0.0, 0.5, 0.0)); m_patSphere2->setPosition(osg::Vec3d(0.0, -0.5, 0.0)); m_transform->addChild(m_patCylinder); m_transform->addChild(m_patSphere1); m_transform->addChild(m_patSphere2); } void OsgCapsuleRepresentation::setRadius(double radius) { m_scale.x() = radius; m_patCylinder->setScale(osg::Vec3d(radius, radius, m_scale.y())); m_patSphere1->setScale(osg::Vec3d(radius, radius, radius)); m_patSphere2->setScale(osg::Vec3d(radius, radius, radius)); } double OsgCapsuleRepresentation::getRadius() const { return m_scale.x(); } void OsgCapsuleRepresentation::setHeight(double height) { m_scale.y() = height; m_patCylinder->setScale(osg::Vec3d(m_scale.x(), m_scale.x(), height)); m_patSphere1->setPosition(osg::Vec3d(0.0, height / 2, 0.0)); m_patSphere2->setPosition(osg::Vec3d(0.0, -height / 2, 0.0)); } double OsgCapsuleRepresentation::getHeight() const { return m_scale.y(); } void OsgCapsuleRepresentation::setSize(double radius, double height) { m_scale.x() = radius; m_scale.y() = height; m_patCylinder->setScale(osg::Vec3d(radius, radius, height)); m_patSphere1->setScale(osg::Vec3d(radius, radius, radius)); m_patSphere2->setScale(osg::Vec3d(radius, radius, radius)); m_patSphere1->setPosition(osg::Vec3d(0.0, height / 2, 0.0)); m_patSphere2->setPosition(osg::Vec3d(0.0, -height / 2, 0.0)); } void OsgCapsuleRepresentation::getSize(double* radius, double* height) { *radius = m_scale.x(); *height = m_scale.y(); } void OsgCapsuleRepresentation::setSize(const SurgSim::Math::Vector2d& size) { m_scale.set(size.x(), size.y()); m_patCylinder->setScale(osg::Vec3d(size.x(), size.x(), size.y())); m_patSphere1->setScale(osg::Vec3d(size.x(), size.x(), size.x())); m_patSphere2->setScale(osg::Vec3d(size.x(), size.x(), size.x())); m_patSphere1->setPosition(osg::Vec3d(0.0, size.y() / 2, 0.0)); m_patSphere2->setPosition(osg::Vec3d(0.0, -size.y() / 2, 0.0)); } SurgSim::Math::Vector2d OsgCapsuleRepresentation::getSize() const { return SurgSim::Math::Vector2d(m_scale._v); } std::shared_ptr OsgCapsuleRepresentation::getSharedUnitCylinder() { static SurgSim::Framework::SharedInstance shared; return shared.get(); } std::shared_ptr OsgCapsuleRepresentation::getSharedUnitSphere() { static SurgSim::Framework::SharedInstance sharedSphere; return sharedSphere.get(); } }; // Graphics }; // SurgSimopensurgsim-0.7.0/SurgSim/Graphics/OsgCapsuleRepresentation.h000066400000000000000000000071031277777236100244070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGCAPSULEREPRESENTATION_H #define SURGSIM_GRAPHICS_OSGCAPSULEREPRESENTATION_H #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Graphics/CapsuleRepresentation.h" #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Framework/SharedInstance.h" #include #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace SurgSim { namespace Graphics { class OsgUnitCylinder; class OsgUnitSphere; SURGSIM_STATIC_REGISTRATION(OsgCapsuleRepresentation); /// OSG implementation of a graphics capsule representation. class OsgCapsuleRepresentation : public OsgRepresentation, public CapsuleRepresentation { public: /// Constructor /// \param name Name of the representation explicit OsgCapsuleRepresentation(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgCapsuleRepresentation); /// Sets the radius of the capsule /// \param radius Radius of the capsule void setRadius(double radius) override; /// Returns the radius of the capsule /// \return Radius along X-axis and Z-axis of the capsule double getRadius() const override; /// Sets the height of the capsule /// \param height Height of the capsule void setHeight(double height) override; /// Returns the height of the capsule /// \return Height along Y-axis of the capsule double getHeight() const override; /// Sets the size of the capsule /// \param radius Size along X-axis and Z-axis of the capsule /// \param height Size along Y-axis of the capsule void setSize(double radius, double height) override; /// Gets the size of the capsule /// \param [out] radius Variable to receive the size along X-axis and Z-axis of the capsule /// \param [out] height Variable to receive the size along Y-axis of the capsule void getSize(double* radius, double* height) override; /// Sets the size of the capsule /// \param size Size of the capsule void setSize(const SurgSim::Math::Vector2d& size) override; /// Returns the radius of the capsule /// \return Size of the capsule SurgSim::Math::Vector2d getSize() const override; private: /// The OSG Capsule shape consist of one unit cylinder and two unit spheres /// This transform scales it to the size set. osg::Vec2d m_scale; /// Shared capsule, so that the geometry can be instanced rather than having multiple copies. std::shared_ptr m_sharedUnitCylinder; std::shared_ptr m_sharedUnitSphere; /// Returns the shared geometry static std::shared_ptr getSharedUnitCylinder(); static std::shared_ptr getSharedUnitSphere(); osg::ref_ptr m_patCylinder; osg::ref_ptr m_patSphere1; osg::ref_ptr m_patSphere2; }; }; // namespace Graphics }; // namespace SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif #endif // SURGSIM_GRAPHICS_OSGCAPSULEREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/OsgConversions.h000066400000000000000000000020311277777236100223730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Conversions to and from OSG types #ifndef SURGSIM_GRAPHICS_OSGCONVERSIONS_H #define SURGSIM_GRAPHICS_OSGCONVERSIONS_H #include "SurgSim/Graphics/OsgMatrixConversions.h" #include "SurgSim/Graphics/OsgQuaternionConversions.h" #include "SurgSim/Graphics/OsgRigidTransformConversions.h" #include "SurgSim/Graphics/OsgVectorConversions.h" #endif // SURGSIM_GRAPHICS_OSGCONVERSIONS_H opensurgsim-0.7.0/SurgSim/Graphics/OsgCurveRepresentation.cpp000066400000000000000000000132541277777236100244360ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgCurveRepresentation.h" #include #include #include #include #include #include #include #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Graphics/OsgConversions.h" #include "SurgSim/Math/CardinalSplines.h" #include "SurgSim/Math/Geometry.h" namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::OsgCurveRepresentation, OsgCurveRepresentation) OsgCurveRepresentation::OsgCurveRepresentation(const std::string& name) : Representation(name), OsgRepresentation(name), CurveRepresentation(name), m_subdivision(100), m_tension(0.4) { osg::Geode* geode = new osg::Geode(); m_geometry = new osg::Geometry(); m_geometry->getOrCreateStateSet()->setMode(GL_LIGHTING, osg::StateAttribute::OFF); // At this stage there are no vertices in there m_drawArrays = new osg::DrawArrays(osg::PrimitiveSet::LINE_STRIP, 0, 0); m_geometry->addPrimitiveSet(m_drawArrays); m_geometry->setUseDisplayList(false); m_geometry->setUseVertexBufferObjects(true); m_geometry->setDataVariance(osg::Object::DYNAMIC); m_vertexData = new osg::Vec3Array; m_geometry->setVertexArray(m_vertexData); m_normalData = new osg::Vec3Array; m_geometry->setNormalArray(m_normalData, osg::Array::BIND_PER_VERTEX); setColor(Math::Vector4d(1.0, 1.0, 1.0, 1.0)); setWidth(1.5); setAntiAliasing(true); geode->addDrawable(m_geometry); m_transform->addChild(geode); } OsgCurveRepresentation::~OsgCurveRepresentation() { } bool OsgCurveRepresentation::doInitialize() { return true; } bool OsgCurveRepresentation::doWakeUp() { return true; } void OsgCurveRepresentation::doUpdate(double dt) { DataStructures::VerticesPlain controlPoints; if (m_locker.tryTakeChanged(&controlPoints)) { updateGraphics(controlPoints); } } void OsgCurveRepresentation::setSubdivisions(size_t num) { m_subdivision = num; } size_t OsgCurveRepresentation::getSubdivisions() const { return m_subdivision; } void OsgCurveRepresentation::setTension(double tension) { m_tension = tension; } double OsgCurveRepresentation::getTension() const { return m_tension; } void OsgCurveRepresentation::updateGraphics(const DataStructures::VerticesPlain& controlPoints) { const double stepsize = 1.0 / (m_subdivision + 1); Math::CardinalSplines::extendControlPoints(controlPoints, &m_controlPoints); size_t numPoints = static_cast(static_cast(m_controlPoints.size() - 3) / stepsize); m_vertices.clear(); m_vertices.reserve(numPoints); Math::CardinalSplines::interpolate(getSubdivisions(), m_controlPoints, &m_vertices, getTension()); size_t vertexCount = m_vertices.size(); if (m_vertexData->size() != vertexCount) { m_vertexData->resize(vertexCount); m_normalData->resize(vertexCount); m_drawArrays->set(osg::PrimitiveSet::LINE_STRIP, 0, vertexCount); m_drawArrays->dirty(); } // #performance // Calculate the bounding box while iterating over the vertices, this will save osg time in the update traversal for (size_t i = 0; i < vertexCount; ++i) { const auto& vertex0 = m_vertices[i]; const auto& vertex1 = (i < vertexCount - 1) ? m_vertices[i + 1] : m_controlPoints.back(); // Assign the segment into the normal for use in the shader const auto& normal = vertex1 - vertex0; (*m_normalData)[i][0] = static_cast(normal[0]); (*m_normalData)[i][1] = static_cast(normal[1]); (*m_normalData)[i][2] = static_cast(normal[2]); (*m_vertexData)[i][0] = static_cast(vertex0[0]); (*m_vertexData)[i][1] = static_cast(vertex0[1]); (*m_vertexData)[i][2] = static_cast(vertex0[2]); } m_vertexData->dirty(); m_normalData->dirty(); m_geometry->dirtyBound(); } void OsgCurveRepresentation::setWidth(double width) { auto lineWidth = new osg::LineWidth(width); m_geometry->getOrCreateStateSet()->setAttribute(lineWidth, osg::StateAttribute::ON); m_width = width; } double OsgCurveRepresentation::getWidth() const { return m_width; } void OsgCurveRepresentation::setAntiAliasing(bool val) { auto state = m_geometry->getOrCreateStateSet(); if (val && state->getMode(GL_BLEND) == osg::StateAttribute::INHERIT) { state->setMode(GL_BLEND, osg::StateAttribute::ON); state->setMode(GL_LINE_SMOOTH, osg::StateAttribute::ON); } else { state->setMode(GL_BLEND, osg::StateAttribute::INHERIT); state->setMode(GL_LINE_SMOOTH, osg::StateAttribute::INHERIT); } } bool OsgCurveRepresentation::isAntiAliasing() const { return m_geometry->getOrCreateStateSet()->getMode(GL_BLEND) == osg::StateAttribute::ON; } void OsgCurveRepresentation::setColor(const SurgSim::Math::Vector4d& color) { osg::Vec4Array* colors = dynamic_cast(m_geometry->getColorArray()); if (colors == nullptr) { colors = new osg::Vec4Array(1); m_geometry->setColorArray(colors); m_geometry->setColorBinding(osg::Geometry::BIND_OVERALL); } (*colors)[0] = SurgSim::Graphics::toOsg(color); m_color = color; } Math::Vector4d OsgCurveRepresentation::getColor() const { return m_color; } } } opensurgsim-0.7.0/SurgSim/Graphics/OsgCurveRepresentation.h000066400000000000000000000057471277777236100241130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGCURVEREPRESENTATION_H #define SURGSIM_GRAPHICS_OSGCURVEREPRESENTATION_H #include "SurgSim/Graphics/CurveRepresentation.h" #include "SurgSim/Graphics/OsgRepresentation.h" #include #include #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace osg { class Geometry; class DrawArrays; } namespace SurgSim { namespace Graphics { SURGSIM_STATIC_REGISTRATION(OsgCurveRepresentation) /// Implements the CurveRepresentation for OpenSceneGraph, it uses Catmull Rom interpolation, to draw the line /// as a GL_LINESTRIP. use the material_curve.vert shader for rendering. This class will also deposit the information /// of the segment in the normal information for the vertex. class OsgCurveRepresentation : public OsgRepresentation, public CurveRepresentation { public: /// Constructor /// \param name Name of the representation explicit OsgCurveRepresentation(const std::string& name); ~OsgCurveRepresentation(); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgCurveRepresentation); bool doInitialize() override; bool doWakeUp() override; void doUpdate(double dt) override; void setSubdivisions(size_t num) override; size_t getSubdivisions() const override; void setTension(double tension) override; double getTension() const override; void setColor(const SurgSim::Math::Vector4d& color) override; Math::Vector4d getColor() const override; void setWidth(double width) override; double getWidth() const override; void setAntiAliasing(bool val) override; bool isAntiAliasing() const override; private: /// Update the OSG structure with the information of the control points /// \param controlPoints to use void updateGraphics(const DataStructures::VerticesPlain& controlPoints); ///@{ /// OSG handles for updating osg::ref_ptr m_geometry; osg::ref_ptr m_vertexData; osg::ref_ptr m_normalData; osg::ref_ptr m_drawArrays; ///@} /// @{ /// Members for the CurveRepresentation properties Math::Vector4d m_color; size_t m_subdivision; double m_tension; double m_width; ///@} ///@{ /// Local structures to keep allocations to a minimum std::vector m_controlPoints; std::vector m_vertices; ///@} }; #if defined(_MSC_VER) #pragma warning(pop) #endif } } #endif opensurgsim-0.7.0/SurgSim/Graphics/OsgCylinderRepresentation.cpp000066400000000000000000000054321277777236100251220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgCylinderRepresentation.h" #include "SurgSim/Graphics/OsgRigidTransformConversions.h" #include "SurgSim/Graphics/OsgUnitCylinder.h" #include "SurgSim/Framework/SharedInstance.h" #include #include #include namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::OsgCylinderRepresentation, OsgCylinderRepresentation); OsgCylinderRepresentation::OsgCylinderRepresentation(const std::string& name) : Representation(name), OsgRepresentation(name), CylinderRepresentation(name), m_scale(1.0, 1.0), m_sharedUnitCylinder(getSharedUnitCylinder()), m_patCylinder(new osg::PositionAttitudeTransform) { m_patCylinder->addChild(m_sharedUnitCylinder->getNode()); m_patCylinder->setAttitude(osg::Quat(osg::PI_2, osg::Vec3d(1.0, 0.0, 0.0))); m_transform->addChild(m_patCylinder); } void OsgCylinderRepresentation::setRadius(double radius) { m_scale.x() = radius; m_patCylinder->setScale(osg::Vec3d(radius, radius, m_scale.y())); } double OsgCylinderRepresentation::getRadius() const { return m_scale.x(); } void OsgCylinderRepresentation::setHeight(double height) { m_scale.y() = height; m_patCylinder->setScale(osg::Vec3d(m_scale.x(), m_scale.x(), height)); } double OsgCylinderRepresentation::getHeight() const { return m_scale.y(); } void OsgCylinderRepresentation::setSize(double radius, double height) { m_scale.x() = radius; m_scale.y() = height; m_patCylinder->setScale(osg::Vec3d(radius, radius, height)); } void OsgCylinderRepresentation::getSize(double* radius, double* height) { *radius = m_scale.x(); *height = m_scale.y(); } void OsgCylinderRepresentation::setSize(const SurgSim::Math::Vector2d& size) { m_scale.set(size.x(), size.y()); m_patCylinder->setScale(osg::Vec3d(size.x(), size.x(), size.y())); } SurgSim::Math::Vector2d OsgCylinderRepresentation::getSize() const { return SurgSim::Math::Vector2d(m_scale._v); } std::shared_ptr OsgCylinderRepresentation::getSharedUnitCylinder() { static SurgSim::Framework::SharedInstance shared; return shared.get(); } }; // Graphics }; // SurgSimopensurgsim-0.7.0/SurgSim/Graphics/OsgCylinderRepresentation.h000066400000000000000000000064731277777236100245750ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGCYLINDERREPRESENTATION_H #define SURGSIM_GRAPHICS_OSGCYLINDERREPRESENTATION_H #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Graphics/CylinderRepresentation.h" #include "SurgSim/Graphics/OsgRepresentation.h" #include #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace SurgSim { namespace Graphics { class OsgUnitCylinder; SURGSIM_STATIC_REGISTRATION(OsgCylinderRepresentation); /// OSG implementation of a graphics Cylinder representation. class OsgCylinderRepresentation : public OsgRepresentation, public CylinderRepresentation { public: /// Constructor /// \param name Name of the representation explicit OsgCylinderRepresentation(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgCylinderRepresentation); /// Sets the radius of the cylinder /// \param radius Radius along X-axis and Z-axis of the cylinder void setRadius(double radius) override; /// Returns the radius of the cylinder /// \return Radius along X-axis and Z-axis of cylinder double getRadius() const override; /// Sets the height of the cylinder /// \param height Height along Y-axis of the cylinder void setHeight(double height) override; /// Returns the height of the cylinder /// \return Height along Y-axis of the cylinder double getHeight() const override; /// Sets the size of the cylinder /// \param radius Size along X-axis and Z-axis of the cylinder /// \param height Size along Y-axis of the cylinder void setSize(double radius, double height) override; /// Gets the size of the cylinder /// \param [out] radius Variable to receive the size along X-axis and Z-axis of the cylinder /// \param [out] height Variable to receive the size along Y-axis of the cylinder void getSize(double* radius, double* height) override; /// Sets the size of the cylinder /// \param size Size of the cylinder void setSize(const SurgSim::Math::Vector2d& size) override; /// Returns the size of the cylinder /// \return Size of the cylinder SurgSim::Math::Vector2d getSize() const override; private: /// The OSG Cylinder shape is a unit Cylinder and this transform scales it to the size set. osg::Vec2d m_scale; /// Shared unit Cylinder, so that the geometry can be instanced rather than having multiple copies. std::shared_ptr m_sharedUnitCylinder; /// Returns the shared unit cylinder static std::shared_ptr getSharedUnitCylinder(); osg::ref_ptr m_patCylinder; }; }; // namespace Graphics }; // namespace SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif #endif // SURGSIM_GRAPHICS_OSGCYLINDERREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/OsgFont.cpp000066400000000000000000000025461277777236100213370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgFont.h" #include #include "SurgSim/Framework/Log.h" SURGSIM_REGISTER(SurgSim::Framework::Asset, SurgSim::Graphics::OsgFont, OsgFont); namespace SurgSim { namespace Graphics { OsgFont::OsgFont() { } OsgFont::~OsgFont() { } bool OsgFont::doLoad(const std::string& filePath) { std::string osgFilePath = osgText::findFontFile(filePath); m_font = osgText::readFontFile(osgFilePath); bool result = m_font.valid(); if (!result) { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getLogger("Graphics")) << "The font could not be loaded from " << osgFilePath << "."; } return result; } osg::ref_ptr OsgFont::getOsgFont() const { return m_font; } } } opensurgsim-0.7.0/SurgSim/Graphics/OsgFont.h000066400000000000000000000025341277777236100210010ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGFONT_H #define SURGSIM_GRAPHICS_OSGFONT_H #include "SurgSim/Graphics/Font.h" #include namespace osgText { class Font; } namespace SurgSim { namespace Graphics { /// Osg specialization of the Font class, supports osgText::Font class OsgFont : public SurgSim::Graphics::Font { public: /// Constructor OsgFont(); /// Destructor virtual ~OsgFont(); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgFont); /// \return the appropriate osgText::Font reference osg::ref_ptr getOsgFont() const; protected: bool doLoad(const std::string& filePath) override; private: /// Osg pointer to the font structure osg::ref_ptr m_font; }; } } #endif opensurgsim-0.7.0/SurgSim/Graphics/OsgGroup.cpp000066400000000000000000000053431277777236100215230ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgGroup.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Graphics/OsgRepresentation.h" using SurgSim::Graphics::OsgRepresentation; using SurgSim::Graphics::OsgGroup; OsgGroup::OsgGroup(const std::string& name) : SurgSim::Graphics::Group(name), m_isVisible(true), m_switch(new osg::Switch()) { m_switch->getOrCreateStateSet()->setGlobalDefaults(); m_switch->setName(name + " Switch"); }; void OsgGroup::setVisible(bool visible) { m_isVisible = visible; if (m_isVisible) { m_switch->setAllChildrenOn(); } else { m_switch->setAllChildrenOff(); } } bool OsgGroup::isVisible() const { return m_isVisible; } bool OsgGroup::add(std::shared_ptr representation) { std::shared_ptr osgRepresentation = std::dynamic_pointer_cast(representation); if (osgRepresentation && Group::add(osgRepresentation)) { m_switch->addChild(osgRepresentation->getOsgNode()); m_switch->setChildValue(osgRepresentation->getOsgNode(), m_isVisible); return true; } else { return false; } } bool OsgGroup::append(std::shared_ptr group) { std::shared_ptr osgGroup = std::dynamic_pointer_cast(group); if (osgGroup && Group::append(osgGroup)) { return true; } else { return false; } } bool OsgGroup::remove(std::shared_ptr representation) { std::shared_ptr osgRepresentation = std::dynamic_pointer_cast(representation); if (osgRepresentation && Group::remove(osgRepresentation)) { m_switch->removeChild(osgRepresentation->getOsgNode()); return true; } else { return false; } } void OsgGroup::clear() { while (!getMembers().empty()) { std::shared_ptr representation = getMembers().front(); SURGSIM_ASSERT(remove(representation)) << "Removal of representation " << representation->getName() << " failed while attempting to clear group " << getName() << "!"; } } osg::ref_ptr OsgGroup::getOsgGroup() const { return m_switch; }opensurgsim-0.7.0/SurgSim/Graphics/OsgGroup.h000066400000000000000000000054351277777236100211720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGGROUP_H #define SURGSIM_GRAPHICS_OSGGROUP_H #include "SurgSim/Graphics/Group.h" #include #include namespace SurgSim { namespace Graphics { /// OSG implementation of a graphics group. /// /// A Graphics::OsgGroup wraps a osg::Switch to provide group functionality. class OsgGroup : public Group { public: /// Constructor /// \param name Name of the group explicit OsgGroup(const std::string& name); /// Sets whether this group is currently visible /// \param visible True for visible, false for invisible void setVisible(bool visible) override; /// Gets whether this group is currently visible /// \return True for visible, false for invisible bool isVisible() const override; /// Adds an representation /// \param representation Representation to add to this group /// \return True if the representation is added successfully, false if failure /// Only subclasses of OsgRepresentation will be added successfully. bool add(std::shared_ptr representation) override; /// Adds all representations in another group to this group /// \param group Group of representations to add /// \return True if all representations are added successfully, false if failure /// Only subclasses of OsgGroup will be appended successfully. bool append(std::shared_ptr group) override; /// Removes an representation /// \param representation Representation to remove from this group /// \return True if the representation is removed successfully, false if representation is not in this group or /// other failure bool remove(std::shared_ptr representation) override; /// Removes all representations void clear() override; /// Returns the root OSG group node osg::ref_ptr getOsgGroup() const; private: /// Whether the group is currently visible or not /// Newly added representations or groups will have this visibility. bool m_isVisible; /// OSG group node /// A switch is used to provide visibility functionality. osg::ref_ptr m_switch; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGGROUP_H opensurgsim-0.7.0/SurgSim/Graphics/OsgLight.cpp000066400000000000000000000143041277777236100214730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgLight.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Graphics/OsgGroup.h" #include "SurgSim/Graphics/OsgConversions.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::Math::Vector3d; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; #include #include #include #include using osg::Uniform; namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::OsgLight, OsgLight); /// \note HS-2013-sep-09 Right now we are implementing all the shader uniforms as floats, this /// means that they all have to be downconverted from double, i don't know what the hit /// of going to double in the shaders would be OsgLight::OsgLight(const std::string& name) : Representation(name), OsgRepresentation(name), Light(name), m_diffuseColor(1.0, 1.0, 1.0, 1.0), m_specularColor(1.0, 1.0, 1.0, 1.0), m_constantAttenuation(1.0), m_linearAttenuation(0.0), m_quadraticAttenuation(0.0) { std::string prefix = "lightSource."; m_light = new osg::Light(); m_light->setName(name); m_light->setLightNum(0); m_lightSource = new osg::LightSource(); m_lightSource->setDataVariance(osg::Object::DYNAMIC); m_lightSource->setLight(m_light); m_switch->addChild(m_lightSource); m_uniforms[POSITION] = new osg::Uniform(osg::Uniform::FLOAT_VEC4, prefix + "position"); m_uniforms[DIFFUSE_COLOR] = new osg::Uniform(osg::Uniform::FLOAT_VEC4, prefix + "diffuse"); setDiffuseColor(m_diffuseColor); m_uniforms[SPECULAR_COLOR] = new osg::Uniform(osg::Uniform::FLOAT_VEC4, prefix + "specular"); setSpecularColor(m_specularColor); m_uniforms[CONSTANT_ATTENUATION] = new osg::Uniform(osg::Uniform::FLOAT, prefix + "constantAttenuation"); setConstantAttenuation(m_constantAttenuation); m_uniforms[LINEAR_ATTENUATION] = new osg::Uniform(osg::Uniform::FLOAT, prefix + "linearAttenuation"); setLinearAttenuation(m_linearAttenuation); m_uniforms[QUADRATIC_ATTENUATION] = new osg::Uniform(osg::Uniform::FLOAT, prefix + "quadraticAttenuation"); setQuadraticAttenuation(m_quadraticAttenuation); // By default light the main group setLightGroupReference(SurgSim::Graphics::Representation::DefaultGroupName); } OsgLight::~OsgLight() { } bool OsgLight::setGroup(std::shared_ptr group) { std::shared_ptr newGroup = std::dynamic_pointer_cast(group); if (group != nullptr && newGroup == nullptr) { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getLogger("Graphics")) << "OsgLight::setGroup() called with a group that is not an OsgGroup."; } bool clearGroup = m_group != nullptr && (newGroup != nullptr || group == nullptr); bool setGroup = (newGroup != nullptr); bool success = (group != nullptr && newGroup != nullptr) || group == nullptr; if (clearGroup) { osg::ref_ptr stateSet = m_group->getOsgGroup()->getOrCreateStateSet(); remove(stateSet); m_group = nullptr; } if (setGroup) { osg::ref_ptr stateSet = newGroup->getOsgGroup()->getOrCreateStateSet(); apply(stateSet); m_group = newGroup; } return success; } std::shared_ptr OsgLight::getGroup() { return m_group; } void OsgLight::setDiffuseColor(const SurgSim::Math::Vector4d& color) { m_diffuseColor = color; SurgSim::Math::Vector4f floatColor = color.cast(); osg::Vec4f osgVec = toOsg(floatColor); m_uniforms[DIFFUSE_COLOR]->set(osgVec); m_light->setDiffuse(osgVec); } SurgSim::Math::Vector4d OsgLight::getDiffuseColor() { return m_diffuseColor; } void OsgLight::setSpecularColor(const SurgSim::Math::Vector4d& color) { m_specularColor = color; SurgSim::Math::Vector4f floatColor = color.cast(); osg::Vec4f osgVec = toOsg(floatColor); m_uniforms[SPECULAR_COLOR]->set(osgVec); m_light->setSpecular(osgVec); } SurgSim::Math::Vector4d OsgLight::getSpecularColor() { return m_specularColor; } void OsgLight::setConstantAttenuation(double val) { m_constantAttenuation = val; m_uniforms[CONSTANT_ATTENUATION]->set(static_cast(val)); m_light->setConstantAttenuation(val); } double OsgLight::getConstantAttenuation() { return m_constantAttenuation; } void OsgLight::setLinearAttenuation(double val) { m_linearAttenuation = val; m_uniforms[LINEAR_ATTENUATION]->set(static_cast(val)); m_light->setLinearAttenuation(val); } double OsgLight::getLinearAttenuation() { return m_linearAttenuation; } void OsgLight::setQuadraticAttenuation(double val) { m_quadraticAttenuation = val; m_uniforms[QUADRATIC_ATTENUATION]->set(static_cast(val)); m_light->setQuadraticAttenuation(val); } double OsgLight::getQuadraticAttenuation() { return m_quadraticAttenuation; } void OsgLight::doUpdate(double dt) { SurgSim::Math::Vector3f position = getPose().translation().cast(); osg::Vec4f osgVec(osg::Vec4f(toOsg(position), 1.0)); m_uniforms[POSITION]->set(osgVec); m_light->setPosition(osgVec); } void OsgLight::apply(osg::ref_ptr stateSet) { for (auto it = std::begin(m_uniforms); it != std::end(m_uniforms); ++it) { stateSet->addUniform(it->second); } } void OsgLight::remove(osg::ref_ptr stateSet) { for (auto it = std::begin(m_uniforms); it != std::end(m_uniforms); ++it) { stateSet->removeUniform(it->second); } } void OsgLight::setLightGroupReference(const std::string& name) { m_groupReference = name; removeGroupReference(name); } std::string OsgLight::getLightGroupReference() { return m_groupReference; } }; // Graphics }; // SurgSim opensurgsim-0.7.0/SurgSim/Graphics/OsgLight.h000066400000000000000000000073351277777236100211460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGLIGHT_H #define SURGSIM_GRAPHICS_OSGLIGHT_H #include #include #include #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Graphics/Light.h" #include #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace osg { class Uniform; class StateSet; class Light; class LightSource; } namespace SurgSim { namespace Graphics { class OsgGroup; SURGSIM_STATIC_REGISTRATION(OsgLight); /// OpenScenegraph implementation for the Light interface class OsgLight : public OsgRepresentation, public Light { public: /// If we use the uniforms map, to check for all the uniforms that should be set in the stateset, then /// we can reduce the breakability of the unittest friend class OsgLightTests; /// Constructor explicit OsgLight(const std::string& name); virtual ~OsgLight(); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgLight); bool setGroup(std::shared_ptr group) override; void setLightGroupReference(const std::string& name) override; std::string getLightGroupReference() override; std::shared_ptr getGroup() override; void setDiffuseColor(const SurgSim::Math::Vector4d& color) override; SurgSim::Math::Vector4d getDiffuseColor() override; void setSpecularColor(const SurgSim::Math::Vector4d& color) override; SurgSim::Math::Vector4d getSpecularColor() override; void setConstantAttenuation(double val) override; double getConstantAttenuation() override; void setLinearAttenuation(double val) override; double getLinearAttenuation() override; void setQuadraticAttenuation(double val) override; double getQuadraticAttenuation() override; private: void doUpdate(double dt) override; /// Applies all the lights variables to the given StateSet void apply(osg::ref_ptr stateSet); /// Removes all the lights variable from the given StateSet void remove(osg::ref_ptr stateSet); /// Internal for managing uniforms enum UniformType { POSITION = 0, DIFFUSE_COLOR, SPECULAR_COLOR, CONSTANT_ATTENUATION, LINEAR_ATTENUATION, QUADRATIC_ATTENUATION }; /// The group for this light std::shared_ptr m_group; /// Map for managing all uniforms that this object owns std::unordered_map> m_uniforms; SurgSim::Math::Vector4d m_diffuseColor; ///< The actual diffuse color that was set SurgSim::Math::Vector4d m_specularColor; ///< The actual specular color that was set double m_constantAttenuation; ///< The actual constant attenuation value that was set double m_linearAttenuation; ///< The actual linear attenuation value that was set double m_quadraticAttenuation; ///< The actual quadratic attenuation value that was set ///@{ /// Osg instances to manage the light osg::ref_ptr m_light; osg::ref_ptr m_lightSource; ///@} std::string m_groupReference; ///< Name of the group that this light should shine on... }; #if defined(_MSC_VER) #pragma warning(pop) #endif }; // Graphics }; // SurgSim #endif opensurgsim-0.7.0/SurgSim/Graphics/OsgLog.cpp000066400000000000000000000030541277777236100211450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgLog.h" using SurgSim::Graphics::OsgLog; namespace SurgSim { namespace Graphics { OsgLog::OsgLog() : m_logger(SurgSim::Framework::Logger::getLogger("Osg")) { #ifdef OSS_DEBUG osg::setNotifyLevel(osg::DEBUG_FP); #endif } void OsgLog::notify(osg::NotifySeverity severity, const char *message) { // Map osg logging levels into OSS logging levels if (severity <= osg::FATAL) { SURGSIM_LOG(m_logger, CRITICAL) << message; } else if (osg::FATAL < severity && severity <= osg::WARN) { SURGSIM_LOG(m_logger, WARNING) << message; } else if (osg::WARN < severity && severity <= osg::INFO) { SURGSIM_LOG(m_logger, INFO) << message; } else if (osg::INFO < severity && severity <= osg::DEBUG_FP) { SURGSIM_LOG(m_logger, DEBUG) << message; } else { SURGSIM_LOG(m_logger, CRITICAL) << "Unknown severity in OsgLog::notify()"; } } }; // namespace Graphics }; // namespace SurgSimopensurgsim-0.7.0/SurgSim/Graphics/OsgLog.h000066400000000000000000000034731277777236100206170ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGLOG_H #define SURGSIM_GRAPHICS_OSGLOG_H #include #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace Graphics { /// Enable logging of OSG through SurgSim Logging System /// To use this, an object of OsgLog class must be created. /// Then call osg::setNotifyHandler() to let OSG use OSS logging system. class OsgLog : public osg::NotifyHandler { public: /// Constructor /// If OSS_DEBUG is defined, set OSG's log level to the lowest (osg::DEBUG_FP). /// So that all info can be logged. /// Otherwise, keep OSG's default log level (osg::NOTICE). /// Note that message can still be filtered out in user defined derived method notify(). OsgLog(); /// User defined derived log Method /// Based on log level 'severity', this method decides whether to log 'message' with OSS logging system. /// \param severity Log level of message to be logged. /// \param message The actual message to be logged. void notify(osg::NotifySeverity severity, const char *message) override; private: std::shared_ptr m_logger; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGLOG_H opensurgsim-0.7.0/SurgSim/Graphics/OsgManager.cpp000066400000000000000000000147331277777236100220040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgManager.h" #include #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgGroup.h" #include "SurgSim/Graphics/OsgView.h" #include "SurgSim/Graphics/OsgScreenSpacePass.h" #include #include #include #include #include #include using SurgSim::Graphics::OsgRepresentation; using SurgSim::Graphics::OsgCamera; using SurgSim::Graphics::OsgGroup; using SurgSim::Graphics::OsgManager; namespace { /// Class to update the "modelMatrix" uniform for all transforms in the scenegraph /// #performance This could be change to use a stack of matrices rather than query /// the nodepath for every transform class TransformUpdater : public osg::NodeCallback { public: explicit TransformUpdater(osg::Uniform* uniform) : m_uniform(uniform) { } void operator()(osg::Node* node, osg::NodeVisitor* nodeVisitor) override { osgUtil::CullVisitor* cv = dynamic_cast(nodeVisitor); if (cv != nullptr) { auto mat = osg::computeLocalToWorld(nodeVisitor->getNodePath(), true); m_uniform->set(mat); } traverse(node, nodeVisitor); } private: osg::ref_ptr m_uniform; }; /// Class to find all transform nodes in the added scenegraph, and add the "modelMatrix" uniform /// to the stateset, also ads the appropriate callback to the node class TransformModifier : public osg::NodeVisitor { public: TransformModifier() : osg::NodeVisitor(osg::NodeVisitor::TRAVERSE_ALL_CHILDREN) { } void apply(osg::Transform& node) override { auto state = node.getOrCreateStateSet(); auto uniform = new osg::Uniform; uniform->setName("modelMatrix"); uniform->setType(osg::Uniform::FLOAT_MAT4); osg::Matrix matrix; uniform->set(matrix); state->addUniform(uniform); auto callback = new TransformUpdater(uniform); node.addCullCallback(callback); } }; } namespace SurgSim { namespace Graphics { OsgManager::OsgManager() : SurgSim::Graphics::Manager(), m_viewer(new osgViewer::CompositeViewer()) { setMultiThreading(true); } OsgManager::~OsgManager() { } void OsgManager::setMultiThreading(bool val) { if (val == true) { m_viewer->setThreadingModel(osgViewer::ViewerBase::DrawThreadPerContext); } else { m_viewer->setThreadingModel(osgViewer::ViewerBase::SingleThreaded); } } bool OsgManager::isMultiThreading() const { return m_viewer->getThreadingModel() != osgViewer::ViewerBase::SingleThreaded; } std::shared_ptr OsgManager::getOrCreateGroup(const std::string& name) { std::shared_ptr result; auto groups = getGroups(); auto group = groups.find(name); if (group == std::end(groups)) { auto newGroup = std::make_shared(name); addGroup(newGroup); result = newGroup; } else { result = group->second; } return result; } bool OsgManager::addRepresentation(std::shared_ptr representation) { std::shared_ptr osgRepresentation = std::dynamic_pointer_cast(representation); bool result; if (osgRepresentation) { result = Manager::addRepresentation(osgRepresentation); if (result) { TransformModifier modifier; osgRepresentation->getOsgNode()->accept(modifier); } } else { SURGSIM_LOG_INFO(getLogger()) << __FUNCTION__ << " Representation is not a subclass of OsgRepresentation " << representation->getName(); result = false; } return result; } bool OsgManager::addView(std::shared_ptr view) { std::shared_ptr osgView = std::dynamic_pointer_cast(view); bool result = true; if (osgView == nullptr) { SURGSIM_LOG_WARNING(getLogger()) << __FUNCTION__ << " View is not a subclass of OsgView " << view->getName(); result = false; } else { SURGSIM_ASSERT(view->getCamera() != nullptr) << "View should have a camera when added to the manager."; if (Manager::addView(view)) { m_viewer->addView(osgView->getOsgView()); } } return result; } bool OsgManager::removeView(std::shared_ptr view) { std::shared_ptr osgView = std::dynamic_pointer_cast(view); if (osgView) { m_viewer->removeView(osgView->getOsgView()); } return Manager::removeView(view); } bool OsgManager::doInitialize() { m_hudElement = std::make_shared(Representation::DefaultHudGroupName); return true; } bool OsgManager::doStartUp() { return true; } bool OsgManager::doUpdate(double dt) { // There is a bug in the scene initialisation where addSceneElement() will not be correctly executed if // performed inside of doInitialize(), this needs to be fixed // HS-2014-dec-12 // #workaround if (!m_hudElement->isInitialized()) { getRuntime()->getScene()->addSceneElement(m_hudElement); } if (Manager::doUpdate(dt)) { m_viewer->frame(); // \note HS-2013-dec-12 This will work as long as we deal with one view, when we move to stereoscopic // we might have to revise things. Or just assume that most views have the same size if (m_viewer->getNumViews() > 0) { auto dimensions = getViews()[0]->getDimensions(); m_hudElement->setViewPort(dimensions[0], dimensions[1]); } return true; } else { return false; } } void OsgManager::doBeforeStop() { #ifdef OSS_DEBUG dumpDebugInfo(); #endif // Delete the viewer so that the graphics context will be released in the manager's thread m_viewer = nullptr; Graphics::Manager::doBeforeStop(); } osg::ref_ptr OsgManager::getOsgCompositeViewer() const { return m_viewer; } void SurgSim::Graphics::OsgManager::dumpDebugInfo() const { osgDB::writeNodeFile(*m_viewer->getView(0)->getCamera(), "viewer_zero_camera.osgt"); } } } opensurgsim-0.7.0/SurgSim/Graphics/OsgManager.h000066400000000000000000000073211277777236100214440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGMANAGER_H #define SURGSIM_GRAPHICS_OSGMANAGER_H #include "SurgSim/Graphics/Manager.h" #include #include namespace SurgSim { namespace Graphics { class Representation; class Group; class View; class OsgCamera; class OsgGroup; class OsgScreenSpacePass; /// OSG-based implementation of graphics manager class. /// /// A Graphics::OsgManager sets up an osgViewer::CompositeViewer to manage and render each Graphics::OsgView added to /// the Manager. class OsgManager : public Manager { public: /// Constructor /// /// Sets up a default Camera which will be used if for any View that does not have a Camera assigned /// Sets up a default Group which is assigned to the default Camera. All added representations and groups will be /// added to this group. OsgManager(); /// Destructor virtual ~OsgManager(); /// Change the threading model of the graphics manager viewer /// \param val enables or disables multithreading in the viewer void setMultiThreading(bool val); /// \return true when the viewer is multithreading bool isMultiThreading() const; friend class OsgManagerTest; /// Returns the OSG CompositeViewer used to manage and render the views osg::ref_ptr getOsgCompositeViewer() const; /// OsgManager will write out the scenegraph in the working directory void dumpDebugInfo() const override; protected: bool doUpdate(double dt) override; bool doInitialize() override; bool doStartUp() override; /// Adds an representation to the manager /// \param representation The representation to be added. /// Only allows OsgRepresentation components, any other will not be set and it will return false. /// \return True if the representation was not in this manager and has been successfully added, false if it fails. bool addRepresentation(std::shared_ptr representation) override; /// Adds a view to the manager /// \param view The view to be added. /// Only allows OsgView components, any other will not be set and it will return false. /// \return True if the view was not in this manager and has been successfully added, false if it fails. bool addView(std::shared_ptr view) override; /// Removes a view from the manager /// \param view The view to be removed. /// \return True if the view was in this manager and has been successfully removed, false if it fails. /// \post The view is removed from the manager and the osgViewer::CompositeViewer. bool removeView(std::shared_ptr view) override; std::shared_ptr getOrCreateGroup(const std::string& name) override; private: /// Prepares the manager for its execution to be stopped /// \note Called from this thread before joined void doBeforeStop(); /// OSG CompositeViewer to manage and render the individual views osg::ref_ptr m_viewer; /// Builtin RenderPass that can be used for HUD functionality, uses Group "ossHud" std::shared_ptr m_hudElement; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGMANAGER_H opensurgsim-0.7.0/SurgSim/Graphics/OsgMaterial.cpp000066400000000000000000000140251277777236100221620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgMaterial.h" #include #include #include #include "SurgSim/Framework/Accessible.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Graphics/OsgProgram.h" #include "SurgSim/Graphics/OsgUniform.h" #include "SurgSim/Graphics/OsgUniformFactory.h" using SurgSim::Graphics::OsgMaterial; using SurgSim::Graphics::OsgUniformBase; namespace SurgSim { namespace Graphics { OsgMaterial::OsgMaterial(const std::string& name) : Material(name), m_stateSet(new osg::StateSet()) { } void OsgMaterial::addUniform(std::shared_ptr uniform) { std::shared_ptr osgUniform = std::dynamic_pointer_cast(uniform); SURGSIM_ASSERT(osgUniform != nullptr) << "Uniform must be an OsgUniform"; if (isInitialized()) { osgUniform->addToStateSet(m_stateSet); } m_uniforms.push_back(osgUniform); // add a property to Material, that carries the uniform name and forwards to the value of the uniform // This exposes the non-shared pointer to the uniform in the function table, the entry in the function // table will be removed when the uniform is removed from the material. The material holds a shared // pointer to the uniform, keeping the uniform alive during the lifetime of the material. forwardProperty(osgUniform->getName(), *osgUniform.get(), "Value"); } void OsgMaterial::addUniform(const std::string& type, const std::string& name) { static OsgUniformFactory factory; if (factory.isRegistered(type)) { addUniform(factory.create(type, name)); } else { SURGSIM_FAILURE() << "OsgUniform type " << type << " not supported."; } } void OsgMaterial::addUniform(const std::string& type, const std::string& name, const boost::any& value) { addUniform(type, name); setValue(name, value); } bool OsgMaterial::removeUniform(std::shared_ptr uniform) { std::shared_ptr osgUniform = std::dynamic_pointer_cast(uniform); bool didSucceed = false; if (osgUniform) { auto it = std::find(m_uniforms.begin(), m_uniforms.end(), osgUniform); if (it != m_uniforms.end()) { if (isInitialized()) { osgUniform->removeFromStateSet(m_stateSet); } m_uniforms.erase(it); didSucceed = true; } removeAccessors(osgUniform->getName()); } return didSucceed; } size_t OsgMaterial::getNumUniforms() const { return m_uniforms.size(); } std::shared_ptr OsgMaterial::getUniform(size_t index) const { return m_uniforms[index]; } std::shared_ptr OsgMaterial::getUniform(const std::string& name) const { std::shared_ptr result; auto it = std::find_if( std::begin(m_uniforms), std::end(m_uniforms), [&name](const std::shared_ptr& uniform) { return uniform->getName() == name; }); if (it != std::end(m_uniforms)) { result = *it; } return result; } bool OsgMaterial::removeUniform(const std::string& name) { bool result = false; auto it = std::find_if( std::begin(m_uniforms), std::end(m_uniforms), [&name](const std::shared_ptr& uniform) { return uniform->getName() == name; }); if (it != std::end(m_uniforms)) { result = removeUniform(*it); } return result; } bool OsgMaterial::hasUniform(const std::string& name) const { return (getUniform(name) != nullptr); } bool OsgMaterial::setProgram(std::shared_ptr program) { bool didSucceed = false; std::shared_ptr osgProgram = std::dynamic_pointer_cast(program); if (osgProgram) { if (m_program) { m_program->removeFromStateSet(m_stateSet.get()); } osgProgram->addToStateSet(m_stateSet); m_program = osgProgram; didSucceed = true; } return didSucceed; } std::shared_ptr OsgMaterial::getProgram() const { return m_program; } void OsgMaterial::clearProgram() { if (m_program) { m_program->removeFromStateSet(m_stateSet.get()); } m_program = nullptr; } bool OsgMaterial::doInitialize() { for (auto it = m_uniforms.begin(); it != m_uniforms.end(); ++it) { (*it)->addToStateSet(m_stateSet); } return true; } bool OsgMaterial::doWakeUp() { return true; } osg::ref_ptr OsgMaterial::getOsgStateSet() const { return m_stateSet; } std::shared_ptr buildMaterial(const std::string& vertexShaderName, const std::string& fragmentShaderName) { bool result = true; std::shared_ptr material; auto program = std::make_shared(); std::string fileName; fileName = Framework::Runtime::getApplicationData()->findFile(vertexShaderName); if (!program->loadVertexShader(fileName)) { SURGSIM_LOG_WARNING(Framework::Logger::getLogger("Graphics")) << "Shader " << vertexShaderName << ", could not " << ((fileName == "") ? "find shader file" : "compile " + fileName) << "."; result = false; } fileName = Framework::Runtime::getApplicationData()->findFile(fragmentShaderName); if (!program->loadFragmentShader(fileName)) { SURGSIM_LOG_WARNING(Framework::Logger::getLogger("Graphics")) << "Shader " << fragmentShaderName << " , could not " << ((fileName == "") ? "find shader file" : "compile " + fileName) << "."; result = false; } if (result) { material = std::make_shared("material"); material->setProgram(program); } return material; } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/OsgMaterial.h000066400000000000000000000077711277777236100216410ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGMATERIAL_H #define SURGSIM_GRAPHICS_OSGMATERIAL_H #include #include #include #include #include "SurgSim/Graphics/Material.h" namespace SurgSim { namespace Graphics { class MaterialFace; class OsgProgram; class OsgUniformBase; /// OSG-based implementation of a graphics material. /// /// Wraps an osg::StateSet which is applied to the osg::Node of the Representation that is assigned this material. /// /// \note /// Only uniforms that subclass OsgUniformBase and shaders that subclass OsgShader can be assigned to this material. /// \sa OsgUniformBase /// \sa OsgShader class OsgMaterial : public Material { public: /// Constructor /// \post The material has no uniforms and no shader. explicit OsgMaterial(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgMaterial); /// Adds a uniform to this material /// \param uniform Uniform to add /// \note OsgMaterial only accepts subclasses of OsgUniformBase void addUniform(std::shared_ptr uniform) override; void addUniform(const std::string& type, const std::string& name) override; /// Adds and a uniform to this material and set its value /// \param type the type of the uniform /// \param name Name used in shader code to access this uniform /// \param value The value for this uniform void addUniform(const std::string& type, const std::string& name, const boost::any& value); /// Removes a uniform from this material /// \param uniform Uniform to remove /// \return True if uniform was removed successfully, otherwise false /// \note OsgMaterial only accepts subclasses of OsgUniformBase bool removeUniform(std::shared_ptr uniform) override; bool removeUniform(const std::string& name) override; size_t getNumUniforms() const override; std::shared_ptr getUniform(size_t index) const override; std::shared_ptr getUniform(const std::string& name) const override; bool hasUniform(const std::string& name) const override; /// Sets the shader used by this material /// \param program Shader program /// \return True if program was set successfully, otherwise false /// \note OsgMaterial only accepts subclasses of OsgProgram bool setProgram(std::shared_ptr program) override; std::shared_ptr getProgram() const override; void clearProgram() override; /// \return the OSG state set with the material properties osg::ref_ptr getOsgStateSet() const; bool doInitialize() override; bool doWakeUp() override; private: /// OSG state set which provides material properties in the scenegraph osg::ref_ptr m_stateSet; /// Uniforms used by this material std::vector> m_uniforms; /// Shader used by this material std::shared_ptr m_program; }; /// Utility function to build the material. /// \param vertexShaderName name of the vertex shader to be used, needs to be available on the path. /// \param fragmentShaderName name of the fragment shader to be used, needs to be available on the path. /// \return a valid material if all the shaders are found, nullptr otherwise std::shared_ptr buildMaterial( const std::string& vertexShaderName, const std::string& fragmentShaderName); }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGMATERIAL_H opensurgsim-0.7.0/SurgSim/Graphics/OsgMatrixConversions.h000066400000000000000000000114501277777236100235650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Conversions to and from OSG matrix types /// /// SurgSim's Eigen vectors are a single column, and matrix operations use postfix notation. /// OSG vectors are a single row and matrix operations use prefix notation, /// /// For example, with Eigen, one might write: /// \code{.cpp} /// Vector3d columnVector; /// Matrix33d matrix; /// Vector3d result = matrix * columnVector; /// \endcode /// /// However, with OSG, this should be written in the form: /// \code{.cpp} /// osg::Vec3d rowVector; /// osg::Matrix3d columnMajorMatrix; /// osg::Vec3d result = rowVector * columnMajorMatrix; /// \endcode /// /// For the result to be the same, the OSG matrix data must be interpreted as column-major. /// These conversions handle that. #ifndef SURGSIM_GRAPHICS_OSGMATRIXCONVERSIONS_H #define SURGSIM_GRAPHICS_OSGMATRIXCONVERSIONS_H #include "SurgSim/Math/Matrix.h" #include #include #include namespace SurgSim { namespace Graphics { /// Convert a fixed-size 2x2 matrix of floats to OSG. template inline const osg::Matrix2 toOsg(const Eigen::Matrix& matrix) { osg::Matrix2 osgMatrix; Eigen::Map>(osgMatrix.ptr()) = matrix; return osgMatrix; } /// Convert a fixed-size 2x2 matrix of doubles to OSG. template inline const osg::Matrix2d toOsg(const Eigen::Matrix& matrix) { osg::Matrix2d osgMatrix; Eigen::Map>(osgMatrix.ptr()) = matrix; return osgMatrix; } /// Convert from OSG to a 2x2 matrix of floats. inline const Eigen::Matrix fromOsg(const osg::Matrix2& matrix) { return Eigen::Map>(matrix.ptr()); } /// Convert from OSG to a 2x2 matrix of doubles. inline const Eigen::Matrix fromOsg(const osg::Matrix2d& matrix) { return Eigen::Map>(matrix.ptr()); } /// Convert a fixed-size 3x3 matrix of floats to OSG. template inline const osg::Matrix3 toOsg(const Eigen::Matrix& matrix) { osg::Matrix3 osgMatrix; Eigen::Map>(osgMatrix.ptr()) = matrix; return osgMatrix; } /// Convert a fixed-size 3x3 matrix of doubles to OSG. template inline const osg::Matrix3d toOsg(const Eigen::Matrix& matrix) { osg::Matrix3d osgMatrix; Eigen::Map>(osgMatrix.ptr()) = matrix; return osgMatrix; } /// Convert from OSG to a 3x3 matrix of floats. inline const Eigen::Matrix fromOsg(const osg::Matrix3& matrix) { return Eigen::Map>(matrix.ptr()); } /// Convert from OSG to a 3x3 matrix of doubles. inline const Eigen::Matrix fromOsg(const osg::Matrix3d& matrix) { return Eigen::Map>(matrix.ptr()); } /// Convert a fixed-size 4x4 matrix of floats to OSG. template inline const osg::Matrixf toOsg(const Eigen::Matrix& matrix) { osg::Matrixf osgMatrix; Eigen::Map>(osgMatrix.ptr()) = matrix; return osgMatrix; } /// Convert from OSG to a 4x4 matrix of floats. inline const Eigen::Matrix fromOsg(const osg::Matrixf& matrix) { return Eigen::Map>(matrix.ptr()); } /// Convert a fixed-size 4x4 matrix of doubles to OSG. template inline const osg::Matrixd toOsg(const Eigen::Matrix& matrix) { osg::Matrixd osgMatrix; Eigen::Map>(osgMatrix.ptr()) = matrix; return osgMatrix; } /// Convert from OSG to a 4x4 matrix of doubles. inline const Eigen::Matrix fromOsg(const osg::Matrixd& matrix) { return Eigen::Map>(matrix.ptr()); } }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGMATRIXCONVERSIONS_H opensurgsim-0.7.0/SurgSim/Graphics/OsgMeshRepresentation.cpp000066400000000000000000000234271277777236100242510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgMeshRepresentation.h" #include #include #include #include #include #include #include #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Asset.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Graphics/Mesh.h" #include "SurgSim/Graphics/OsgConversions.h" #include "SurgSim/Graphics/TriangleNormalGenerator.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/Shape.h" namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::OsgMeshRepresentation, OsgMeshRepresentation); OsgMeshRepresentation::OsgMeshRepresentation(const std::string& name) : Representation(name), OsgRepresentation(name), MeshRepresentation(name), m_updateOptions(UPDATE_OPTION_VERTICES), m_updateCount(0) { m_meshSwitch = new osg::Switch(); m_transform->addChild(m_meshSwitch); setMesh(std::make_shared()); } OsgMeshRepresentation::~OsgMeshRepresentation() { } void OsgMeshRepresentation::loadMesh(const std::string& fileName) { auto mesh = std::make_shared(); mesh->load(fileName); setMesh(mesh); } void OsgMeshRepresentation::setMesh(std::shared_ptr mesh) { auto graphicsMesh = std::dynamic_pointer_cast(mesh); SURGSIM_ASSERT(graphicsMesh != nullptr) << "Mesh for OsgMeshRepresentation needs to be a SurgSim::Graphics::Mesh"; m_mesh = graphicsMesh; m_updateCount = m_mesh->getUpdateCount(); m_mesh->dirty(); buildGeometry(); } std::shared_ptr OsgMeshRepresentation::getMesh() { return m_mesh; } void OsgMeshRepresentation::setShape(std::shared_ptr shape) { SURGSIM_ASSERT(shape->getType() == SurgSim::Math::SHAPE_TYPE_MESH || shape->getType() == SurgSim::Math::SHAPE_TYPE_SURFACEMESH) << "Shape for OsgMeshRepresentation needs to be a SurgSim::Math::MeshShape/SurgSim::Math::SurfaceMeshShape"; auto meshShape = std::static_pointer_cast(shape); m_mesh = std::make_shared(*meshShape); } void OsgMeshRepresentation::doUpdate(double dt) { size_t updateCount = m_mesh->getUpdateCount(); if (m_updateCount != updateCount) { // The update was done through shared data (might not be threadsafe) // #threadsafety m_updateCount = updateCount; privateUpdateMesh(*m_mesh); } else { // The update was done through the threadsafe Locked container Mesh tempMesh; if (m_writeBuffer.tryTakeChanged(&tempMesh)) { privateUpdateMesh(tempMesh); } } } void OsgMeshRepresentation::privateUpdateMesh(const Mesh& mesh) { SURGSIM_ASSERT(mesh.isValid()) << "The mesh in the OsgMeshRepresentation " << getName() << " is invalid."; // Early exit if there are no vertices if (mesh.getNumVertices() == 0) { m_meshSwitch->setAllChildrenOff(); return; } m_meshSwitch->setSingleChildOn(0); int updateOptions = updateOsgArrays(mesh, m_geometry); updateOptions |= m_updateOptions; if ((updateOptions & UPDATE_OPTION_TRIANGLES) != 0) { updateTriangles(mesh, m_geometry); } if ((updateOptions & (UPDATE_OPTION_VERTICES | UPDATE_OPTION_TEXTURES | UPDATE_OPTION_COLORS)) != 0) { updateVertices(mesh, m_geometry, updateOptions); updateTangents(); m_geometry->dirtyDisplayList(); m_geometry->dirtyBound(); m_geometry->getBound(); } } bool OsgMeshRepresentation::doInitialize() { return true; } void OsgMeshRepresentation::updateVertices(const Mesh& mesh, osg::Geometry* geometry, int updateOptions) { static osg::Vec4d defaultColor(0.8, 0.2, 0.2, 1.0); static osg::Vec2d defaultTextureCoord(0.0, 0.0); bool updateColors = (updateOptions & UPDATE_OPTION_COLORS) != 0; bool updateTextures = (updateOptions & UPDATE_OPTION_TEXTURES) != 0; bool updateVertices = (updateOptions & UPDATE_OPTION_VERTICES) != 0; auto vertices = static_cast(geometry->getVertexArray()); auto colors = static_cast(geometry->getColorArray()); auto textureCoords = static_cast(geometry->getTexCoordArray(0)); size_t index = 0; for (const auto& vertex : mesh.getVertices()) { if (updateVertices) { (*vertices)[index].set(toOsg(vertex.position)); } if (updateColors) { (*colors)[index] = (vertex.data.color.hasValue()) ? toOsg(vertex.data.color.getValue()) : defaultColor; } if (updateTextures) { (*textureCoords)[index] = (vertex.data.texture.hasValue()) ? toOsg(vertex.data.texture.getValue()) : defaultTextureCoord; } ++index; } if (updateVertices) { updateNormals(geometry); } vertices->dirty(); } void OsgMeshRepresentation::updateNormals(osg::Geometry* geometry) { // Generate normals from geometry auto vertices = static_cast(geometry->getVertexArray()); auto normals = static_cast(geometry->getNormalArray()); auto normalGenerator = createNormalGenerator(vertices, normals); geometry->accept(normalGenerator); normalGenerator.normalize(); normals->dirty(); } void OsgMeshRepresentation::updateTriangles(const Mesh& mesh, osg::Geometry* geometry) { osg::Geometry::DrawElementsList drawElements; geometry->getDrawElementsList(drawElements); auto triangles = static_cast(drawElements[0]); size_t i = 0; for (auto const& triangle : mesh.getTriangles()) { if (triangle.isValid) { (*triangles)[i++] = triangle.verticesId[0]; (*triangles)[i++] = triangle.verticesId[1]; (*triangles)[i++] = triangle.verticesId[2]; } } triangles->dirty(); } int OsgMeshRepresentation::updateOsgArrays(const Mesh& mesh, osg::Geometry* geometry) { int result = 0; size_t numVertices = mesh.getNumVertices(); auto vertices = static_cast(geometry->getVertexArray()); auto normals = static_cast(geometry->getNormalArray()); if (numVertices != vertices->size()) { vertices->resize(numVertices); normals->resize(numVertices); result |= UPDATE_OPTION_VERTICES; } vertices->setDataVariance(getDataVariance(UPDATE_OPTION_VERTICES)); normals->setDataVariance(getDataVariance(UPDATE_OPTION_VERTICES)); // The first vertex determines what values the mesh should have ... Mesh::VertexType vertex = mesh.getVertex(0); auto colors = static_cast(geometry->getColorArray()); if (vertex.data.color.hasValue() && numVertices > colors->size()) { if (colors->size() > 1) { geometry->setColorArray(colors, osg::Array::BIND_PER_VERTEX); } colors->resize(numVertices); result |= UPDATE_OPTION_COLORS; } colors->setDataVariance(getDataVariance(UPDATE_OPTION_COLORS)); auto textureCoords = static_cast(geometry->getTexCoordArray(0)); if (vertex.data.texture.hasValue()) { if (textureCoords == nullptr) { textureCoords = new osg::Vec2Array(0); geometry->setTexCoordArray(0, textureCoords, osg::Array::BIND_PER_VERTEX); } textureCoords->resize(numVertices); result |= UPDATE_OPTION_TEXTURES; } if (textureCoords != nullptr) { textureCoords->setDataVariance(getDataVariance(UPDATE_OPTION_TEXTURES)); } osg::Geometry::DrawElementsList drawElements; geometry->getDrawElementsList(drawElements); auto triangles = static_cast(drawElements[0]); if (mesh.getNumTriangles() * 3 != triangles->size()) { triangles->resize(mesh.getNumTriangles() * 3); result |= UPDATE_OPTION_TRIANGLES; } triangles->setDataVariance(getDataVariance(UPDATE_OPTION_TRIANGLES)); return result; } void OsgMeshRepresentation::setUpdateOptions(int val) { if (val <= UPDATE_OPTION_ALL && val >= UPDATE_OPTION_NONE) { m_updateOptions = val; } } int OsgMeshRepresentation::getUpdateOptions() const { return m_updateOptions; } osg::ref_ptr OsgMeshRepresentation::getOsgGeometry() const { return m_geometry; } void OsgMeshRepresentation::updateMesh(const SurgSim::Graphics::Mesh& mesh) { m_writeBuffer.set(mesh); } osg::Object::DataVariance OsgMeshRepresentation::getDataVariance(int updateOption) { return ((m_updateOptions & updateOption) != 0) ? osg::Object::DYNAMIC : osg::Object::STATIC; } void OsgMeshRepresentation::buildGeometry() { // Remove old Geometry nodes m_meshSwitch->removeChildren(0, m_meshSwitch->getNumChildren()); m_geometry = new osg::Geometry; m_geometry->setUseDisplayList(false); // Create Standard arrays zero size, updateOsgArrays will take care of the correct sizing and // setting the correct data variance on them // Set up vertices array auto vertices = new osg::Vec3Array(); m_geometry->setVertexArray(vertices); // Create normals auto normals = new osg::Vec3Array(); m_geometry->setNormalArray(normals, osg::Array::BIND_PER_VERTEX); // Set up color array with default color auto colors = new osg::Vec4Array(1); (*colors)[0] = osg::Vec4(0.8f, 0.8f, 1.0f, 1.0f); m_geometry->setColorArray(colors, osg::Array::BIND_OVERALL); // Set up primitive set for triangles auto triangles = new osg::DrawElementsUInt(osg::PrimitiveSet::TRIANGLES); m_geometry->addPrimitiveSet(triangles); auto geode = new osg::Geode; geode->addDrawable(m_geometry); m_meshSwitch->setAllChildrenOff(); m_meshSwitch->addChild(geode); } }; // Graphics }; // SurgSim opensurgsim-0.7.0/SurgSim/Graphics/OsgMeshRepresentation.h000066400000000000000000000105771277777236100237200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGMESHREPRESENTATION_H #define SURGSIM_GRAPHICS_OSGMESHREPRESENTATION_H #include #include #include #include "SurgSim/Framework/Macros.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Graphics/MeshRepresentation.h" #include "SurgSim/Framework/LockedContainer.h" #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace osg { class Geode; class Geometry; class DrawElementsUInt; } namespace SurgSim { namespace Graphics { class Mesh; SURGSIM_STATIC_REGISTRATION(OsgMeshRepresentation); /// Implementation of a MeshRepresentation for rendering under osg. class OsgMeshRepresentation : public OsgRepresentation, public MeshRepresentation { public: /// Constructor. /// \param name The name. explicit OsgMeshRepresentation(const std::string& name); /// Destructor ~OsgMeshRepresentation(); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgMeshRepresentation); std::shared_ptr getMesh() override; void setMesh(std::shared_ptr mesh) override; void loadMesh(const std::string& fileName) override; void setShape(std::shared_ptr shape) override; void setUpdateOptions(int val) override; int getUpdateOptions() const override; osg::ref_ptr getOsgGeometry() const; void updateMesh(const SurgSim::Graphics::Mesh& mesh) override; protected: void doUpdate(double dt) override; /// \note If m_filename is set, m_mesh will be overwritten with the mesh loaded from the external file. bool doInitialize() override; void privateUpdateMesh(const SurgSim::Graphics::Mesh& mesh); private: /// Indicates which elements of the mesh should be updated on every frame int m_updateOptions; /// The mesh. std::shared_ptr m_mesh; /// File name of the external file which contains the mesh to be used by this class. std::string m_filename; ///@{ /// Osg structures osg::ref_ptr m_meshSwitch; osg::ref_ptr m_geometry; ///@} /// Updates the internal arrays in accordance to the sizes given in the mesh /// \param mesh The mesh used to update /// \param geometry [out] The geometry that carries the data /// \return updateOptions value that indicates which of the structures where updated in size and /// will have to be updated independent of the value set in setUpdateOptions() int updateOsgArrays(const Mesh& mesh, osg::Geometry* geometry); /// Copies the attributes for each mesh vertex in the appropriate osg structure, this will only be done /// for the data as is indicated by updateOptions /// \param mesh The mesh used to update /// \param geometry [out] The geometry that carries the data /// \param updateOptions Set of flags indicating whether a specific vertex attribute should be updated void updateVertices(const Mesh& mesh, osg::Geometry* geometry, int updateOptions); /// Updates the normals. /// \param geometry [out] The geometry that carries the data void updateNormals(osg::Geometry* geometry); /// Updates the triangles. /// \param mesh The mesh used to update /// \param geometry [out] The geometry that carries the data void updateTriangles(const Mesh& mesh, osg::Geometry* geometry); /// Gets data variance for a given update option. /// \param updateOption The update option. /// \return The data variance. osg::Object::DataVariance getDataVariance(int updateOption); /// Create the appropriate geometry nodes void buildGeometry(); /// Cache for the update count pull from the mesh size_t m_updateCount; Framework::LockedContainer m_writeBuffer; }; #if defined(_MSC_VER) #pragma warning(pop) #endif }; // Graphics }; // SurgSim #endif // SURGSIM_GRAPHICS_OSGMESHREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/OsgModel.cpp000066400000000000000000000022661277777236100214700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgModel.h" #include "SurgSim/Framework/Log.h" #include namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Asset, SurgSim::Graphics::OsgModel, OsgModel); OsgModel::OsgModel() { } OsgModel::~OsgModel() { } osg::ref_ptr OsgModel::getOsgNode() { return m_root; } bool OsgModel::doLoad(const std::string& filePath) { m_root = osgDB::readNodeFile(filePath); SURGSIM_ASSERT(m_root.valid()) << "Could not load file " << filePath << std::endl; return true; } } } opensurgsim-0.7.0/SurgSim/Graphics/OsgModel.h000066400000000000000000000026131277777236100211310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGMODEL_H #define SURGSIM_GRAPHICS_OSGMODEL_H #include "SurgSim/Framework/Macros.h" #include "SurgSim/Graphics/Model.h" #include namespace osg { class Node; } namespace SurgSim { namespace Graphics { /// Osg implementation of the Model class, inheriting from Asset, this class knows how to load models that can be /// handled by osg. class OsgModel : public Model { public: /// Constructor OsgModel(); virtual ~OsgModel(); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgModel); /// \return the Node that is the root of the loaded model, nullptr if no model is loaded osg::ref_ptr getOsgNode(); private: bool doLoad(const std::string& filePath) override; osg::ref_ptr m_root; }; } } #endif opensurgsim-0.7.0/SurgSim/Graphics/OsgOctreeRepresentation.cpp000066400000000000000000000100071277777236100245640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Graphics/OsgOctreeRepresentation.h" #include "SurgSim/DataStructures/OctreeNode.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SharedInstance.h" #include "SurgSim/Graphics/OsgConversions.h" #include "SurgSim/Graphics/OsgUnitBox.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::OsgOctreeRepresentation, OsgOctreeRepresentation); using SurgSim::Math::Vector3d; OsgOctreeRepresentation::OsgOctreeRepresentation(const std::string& name) : Representation(name), OctreeRepresentation(name), OsgRepresentation(name), m_sharedUnitBox(getSharedUnitBox()) { } OsgOctreeRepresentation::~OsgOctreeRepresentation() { } void OsgOctreeRepresentation::doUpdate(double dt) { } // An Octree(Node) is traversed in following order (the 2nd OctreeNode, i.e. OctreeNode with "1" is now shown): /* ________ /3 / 7/| /-------/ | /2__/_6_/| | | | | |/| |___|___|/|5| | | | |/ |0__|__4|/ */ void OsgOctreeRepresentation::buildOctree(osg::ref_ptr transformNode, std::shared_ptr octree) { SURGSIM_ASSERT(!isAwake()) << "OsgOctreeRepresentation::buildOctree() should be called before wake up."; osg::ref_ptr osgTransform = new osg::PositionAttitudeTransform(); transformNode->addChild(osgTransform); if (octree->hasChildren()) { auto octreeChildren = octree->getChildren(); for (int i = 0; i < 8; ++i) { buildOctree(osgTransform, octreeChildren[i]); } } else { osgTransform->addChild(m_sharedUnitBox->getNode()); osgTransform->setPosition(toOsg(static_cast(octree->getBoundingBox().center()))); osgTransform->setScale(toOsg(static_cast(octree->getBoundingBox().sizes()))); int nodeMask = octree->isActive() ? 0xffffffff : 0; osgTransform->setNodeMask(nodeMask); } } void OsgOctreeRepresentation::setOctreeShape(const std::shared_ptr& shape) { SURGSIM_ASSERT(!isAwake()) << "OsgOctreeRepresentation::setOctree() should be called before wake up."; auto octreeShape = std::dynamic_pointer_cast(shape); SURGSIM_ASSERT(octreeShape != nullptr) << "OsgOctreeRepresentation can only accept an OctreeShape."; m_octreeShape = octreeShape; buildOctree(m_transform, m_octreeShape->getOctree()); } std::shared_ptr OsgOctreeRepresentation::getOctreeShape() const { return m_octreeShape; } void OsgOctreeRepresentation::setNodeVisible(const SurgSim::DataStructures::OctreePath& path, bool visibility) { SURGSIM_ASSERT(0 != m_transform->getNumChildren()) << "No Octree held by OsgOctreeRepresentation"; osg::ref_ptr result = m_transform->getChild(0)->asGroup(); for (auto index = std::begin(path); index != std::end(path); ++index) { SURGSIM_ASSERT(result->getNumChildren() > 1) << "OsgOctreeRepresentation::setNodeVisible(): Invalid OctreePath"; result = result->getChild(*index)->asGroup(); } result->setNodeMask(visibility ? 0xffffffff : 0); } std::shared_ptr OsgOctreeRepresentation::getSharedUnitBox() { static SurgSim::Framework::SharedInstance shared; return shared.get(); } }; // Graphics }; // SurgSim opensurgsim-0.7.0/SurgSim/Graphics/OsgOctreeRepresentation.h000066400000000000000000000070231277777236100242350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGOCTREEREPRESENTATION_H #define SURGSIM_GRAPHICS_OSGOCTREEREPRESENTATION_H #include #include #include #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Graphics/OctreeRepresentation.h" #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Math/OctreeShape.h" #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace SurgSim { namespace Graphics { class OsgUnitBox; SURGSIM_STATIC_REGISTRATION(OsgOctreeRepresentation); /// OSG octree representation, implements an OctreeRepresenation using OSG. /// Given a OctreeShape, this representation will copy the Octree instead of sharing the Octree (with the OctreeShape). /// Wake up call on this representation will fail if no octree is held. /// That is to say, setOctree() method MUST be called before WakeUp() to make this representation work properly. /// The OSG tree corresponds to the Octree will be built only once at wake up and can not be changed once awake. class OsgOctreeRepresentation : public OctreeRepresentation, public OsgRepresentation { public: /// Constructor /// \param name Name of OsgOctreeRepresentation explicit OsgOctreeRepresentation(const std::string& name); /// Destructor ~OsgOctreeRepresentation(); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgOctreeRepresentation); /// Executes the update operation /// \param dt The time step void doUpdate(double dt) override; void setOctreeShape(const std::shared_ptr& shape) override; std::shared_ptr getOctreeShape() const override; /// Mark the OctreeNode visible/invisible in the given a OctreePath (typedef-ed in OctreeNode.h). /// \param path An OctreePath, giving the path leads to the OctreeNode whose visibility to be changed. /// \param visibility Whether or not the OctreeNode specified by 'path' is visible or not. void setNodeVisible(const SurgSim::DataStructures::OctreePath& path, bool visibility) override; private: /// Draw the Octree associated with this OSG representation. /// \param parentTransformNode The osg::PositionAttitudeTransform node under which either the octreeNode or its /// children will be drawn. /// \param octree The octree to be drawn. void buildOctree(osg::ref_ptr parentTransformNode, std::shared_ptr octree); /// Shared unit box, so that the geometry can be instanced rather than having multiple copies. std::shared_ptr m_sharedUnitBox; /// The OctreeShape whose Octree will be visualized. std::shared_ptr m_octreeShape; /// Returns the shared unit box static std::shared_ptr getSharedUnitBox(); }; }; // Graphics }; // SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif #endif // SURGSIM_GRAPHICS_OSGOCTREEREPRESENTATION_Hopensurgsim-0.7.0/SurgSim/Graphics/OsgPlane.h000066400000000000000000000036341277777236100211340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGPLANE_H #define SURGSIM_GRAPHICS_OSGPLANE_H #include #include namespace SurgSim { namespace Graphics { /// OSG plane geode to be used as a primitive shape /// The plane is the XZ plane, with normal +Y. /// The plane is drawn with a Quad at (0.0, 0.0, 0.0) with length and width specified in the constructor (or default of /// 1000 for each). /// Add the plane geode to a transform node to position it. class OsgPlane { public: /// Constructor /// \param length Length of the plane in X (default is 1000) /// \param width Width of the plane in Z (default is 1000) explicit OsgPlane(float length = 1000.0f, float width = 1000.0f) : m_geode(new osg::Geode()) { osg::ref_ptr plane = osg::createTexturedQuadGeometry( osg::Vec3(- length / 2.0f, 0.0f, width / 2.0f), osg::Vec3(length, 0.0f, 0.0f), osg::Vec3(0.0f, 0.0f, - width)); /// Normal is X^-Z = Y m_geode->addDrawable(plane); } /// Returns the root OSG node for the plane to be inserted into the scene-graph osg::ref_ptr getNode() const { return m_geode; } private: /// Root OSG node of the plane osg::ref_ptr m_geode; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGPLANE_H opensurgsim-0.7.0/SurgSim/Graphics/OsgPlaneRepresentation.cpp000066400000000000000000000027341277777236100244120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgPlaneRepresentation.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgPlane.h" #include "SurgSim/Graphics/OsgRigidTransformConversions.h" #include #include #include namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::OsgPlaneRepresentation, OsgPlaneRepresentation); OsgPlaneRepresentation::OsgPlaneRepresentation(const std::string& name) : Representation(name), OsgRepresentation(name), PlaneRepresentation(name), m_sharedPlane(getSharedPlane()) { m_transform->addChild(m_sharedPlane->getNode()); } std::shared_ptr OsgPlaneRepresentation::getSharedPlane() { static SurgSim::Framework::SharedInstance shared; return shared.get(); } }; // Graphics }; // SurgSimopensurgsim-0.7.0/SurgSim/Graphics/OsgPlaneRepresentation.h000066400000000000000000000036651277777236100240630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGPLANEREPRESENTATION_H #define SURGSIM_GRAPHICS_OSGPLANEREPRESENTATION_H #include "SurgSim/Graphics/PlaneRepresentation.h" #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Framework/SharedInstance.h" #include "SurgSim/Math/RigidTransform.h" #include #include #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace SurgSim { namespace Graphics { class OsgPlane; SURGSIM_STATIC_REGISTRATION(OsgPlaneRepresentation); /// OSG implementation of a graphics plane representation. class OsgPlaneRepresentation : public OsgRepresentation, public PlaneRepresentation { public: /// Constructor /// \param name Name of the representation explicit OsgPlaneRepresentation(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgPlaneRepresentation); private: /// Shared plane, so that the geometry can be instanced rather than having multiple copies. std::shared_ptr m_sharedPlane; /// Returns the shared plane static std::shared_ptr getSharedPlane(); }; }; // namespace Graphics }; // namespace SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif #endif // SURGSIM_GRAPHICS_OSGPLANEREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/OsgPointCloudRepresentation.cpp000066400000000000000000000106141277777236100254270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Graphics/OsgConversions.h" #include "SurgSim/Graphics/OsgPointCloudRepresentation.h" namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::OsgPointCloudRepresentation, OsgPointCloudRepresentation); OsgPointCloudRepresentation::OsgPointCloudRepresentation(const std::string& name) : Representation(name), PointCloudRepresentation(name), OsgRepresentation(name), m_color(1.0, 1.0, 1.0, 1.0) { m_vertices = std::make_shared(); osg::Geode* geode = new osg::Geode(); m_geometry = new osg::Geometry(); m_vertexData = new osg::Vec3Array; m_geometry->setVertexArray(m_vertexData); setColor(m_color); // At this stage there are no vertices in there m_drawArrays = new osg::DrawArrays(osg::PrimitiveSet::POINTS, 0, m_vertexData->size()); m_geometry->addPrimitiveSet(m_drawArrays); m_geometry->setUseDisplayList(false); m_geometry->setDataVariance(osg::Object::DYNAMIC); m_geometry->getOrCreateStateSet()->setMode(GL_LIGHTING, osg::StateAttribute::OFF); m_point = new osg::Point(1.0f); m_geometry->getOrCreateStateSet()->setAttribute(m_point, osg::StateAttribute::ON); geode->addDrawable(m_geometry); m_transform->addChild(geode); } OsgPointCloudRepresentation::~OsgPointCloudRepresentation() { } void OsgPointCloudRepresentation::doUpdate(double dt) { DataStructures::VerticesPlain vertices; // #performance // This is an intermediary step, it keeps the old non-threadsafe interface intact but also supports the // threadsafe update (btw, this is not any worse than what we did before) once we deprecate the non-threadsafe // access to the shared pointer we can remove the else branch // HS-2015-08-11 if (m_locker.tryTakeChanged(&vertices)) { updateGeometry(vertices); } else { updateGeometry(*m_vertices); } } void OsgPointCloudRepresentation::updateGeometry(const DataStructures::VerticesPlain& vertexData) { auto& vertices = vertexData.getVertices(); size_t count = vertices.size(); // Check for size change in number of vertices if (count != static_cast(m_drawArrays->getCount())) { if (count != m_vertexData->size()) { m_vertexData->resize(count); } m_drawArrays->set(osg::PrimitiveSet::POINTS, 0, count); m_drawArrays->dirty(); } // #performance // Calculate the bounding box while iterating over the vertices, this will save osg time in the update traversal for (size_t i = 0; i < count; ++i) { const auto& vertex = vertices[i]; (*m_vertexData)[i][0] = static_cast(vertex.position[0]); (*m_vertexData)[i][1] = static_cast(vertex.position[1]); (*m_vertexData)[i][2] = static_cast(vertex.position[2]); } m_geometry->dirtyBound(); m_geometry->dirtyDisplayList(); } std::shared_ptr OsgPointCloudRepresentation::getVertices() const { return m_vertices; } void OsgPointCloudRepresentation::setPointSize(double val) { m_point->setSize(val); } double OsgPointCloudRepresentation::getPointSize() const { return static_cast(m_point->getSize()); } void OsgPointCloudRepresentation::setColor(const SurgSim::Math::Vector4d& color) { // Set the color of the particles to one single color by default osg::Vec4Array* colors = dynamic_cast(m_geometry->getColorArray()); if (colors == nullptr) { colors = new osg::Vec4Array(1); m_geometry->setColorArray(colors); m_geometry->setColorBinding(osg::Geometry::BIND_OVERALL); } (*colors)[0] = SurgSim::Graphics::toOsg(color); m_color = color; } SurgSim::Math::Vector4d OsgPointCloudRepresentation::getColor() const { return m_color; } }; // Graphics }; // SurgSim opensurgsim-0.7.0/SurgSim/Graphics/OsgPointCloudRepresentation.h000066400000000000000000000053321277777236100250750ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGPOINTCLOUDREPRESENTATION_H #define SURGSIM_GRAPHICS_OSGPOINTCLOUDREPRESENTATION_H #include #include #include #include "SurgSim/Framework/Macros.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Graphics/PointCloudRepresentation.h" #include "SurgSim/Graphics/OsgRepresentation.h" namespace SurgSim { namespace DataStructures { class EmptyData; template class Vertices; } namespace Graphics { #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif SURGSIM_STATIC_REGISTRATION(OsgPointCloudRepresentation); /// Osg point cloud representation, implementation of a PointCloudRepresenation using OSG. class OsgPointCloudRepresentation : public PointCloudRepresentation, public OsgRepresentation { public: /// Constructor /// \param name The name of the Representation. explicit OsgPointCloudRepresentation(const std::string& name); /// Destructor ~OsgPointCloudRepresentation(); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgPointCloudRepresentation); std::shared_ptr getVertices() const override; void setPointSize(double val) override; double getPointSize() const override; void doUpdate(double dt) override; void setColor(const SurgSim::Math::Vector4d& color) override; SurgSim::Math::Vector4d getColor() const override; private: /// Local pointer to vertices with data std::shared_ptr m_vertices; /// OSG vertex data for updating osg::ref_ptr m_vertexData; /// OSG Geometry node holding the data osg::ref_ptr m_geometry; /// OSG DrawArrays for local operations osg::ref_ptr m_drawArrays; /// OSG::Point for local operations osg::ref_ptr m_point; /// Color backing variable SurgSim::Math::Vector4d m_color; /// Update the geometry /// \param vertices new vertices void updateGeometry(const DataStructures::VerticesPlain& vertices); }; #if defined(_MSC_VER) #pragma warning(pop) #endif }; // Graphics }; // SurgSim #endif // SURGSIM_GRAPHICS_OSGPOINTCLOUDREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/OsgProgram.cpp000066400000000000000000000140761277777236100220410ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgProgram.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Log.h" namespace { static const osg::Shader::Type OsgShaderTypes[3] = {osg::Shader::VERTEX, osg::Shader::FRAGMENT, osg::Shader::GEOMETRY}; } namespace SurgSim { namespace Graphics { OsgProgram::OsgProgram() : Program(), m_program(new osg::Program()), m_globalScope(false) { } void OsgProgram::addToStateSet(osg::StateSet* stateSet) { if (stateSet != nullptr) { int attribute = osg::StateAttribute::ON | ((m_globalScope) ? osg::StateAttribute::OVERRIDE : 0); stateSet->setAttributeAndModes(m_program, attribute); } } void OsgProgram::removeFromStateSet(osg::StateSet* stateSet) { if (stateSet != nullptr) { stateSet->removeAttribute(m_program); } } bool OsgProgram:: hasVertexShader() const { return hasShader(SHADER_TYPE_VERTEX); } void OsgProgram::clearVertexShader() { clearShader(SHADER_TYPE_VERTEX); } bool OsgProgram::loadVertexShader(const std::string& filePath) { return loadShaderSource(filePath, SHADER_TYPE_VERTEX); } void OsgProgram::setVertexShaderSource(const std::string& source) { setShaderSource(source, SHADER_TYPE_VERTEX); } bool OsgProgram::getVertexShaderSource(std::string* source) const { return getShaderSource(SHADER_TYPE_VERTEX, source); } bool OsgProgram::hasGeometryShader() const { return hasShader(SHADER_TYPE_GEOMETRY); } void OsgProgram::clearGeometryShader() { return clearShader(SHADER_TYPE_GEOMETRY); } bool OsgProgram::loadGeometryShader(const std::string& filePath) { return loadShaderSource(filePath, SHADER_TYPE_GEOMETRY); } void OsgProgram::setGeometryShaderSource(const std::string& source) { return setShaderSource(source, SHADER_TYPE_GEOMETRY); } bool OsgProgram::getGeometryShaderSource(std::string* source) const { return getShaderSource(SHADER_TYPE_GEOMETRY, source); } bool OsgProgram::hasFragmentShader() const { return hasShader(SHADER_TYPE_FRAGMENT); } void OsgProgram::clearFragmentShader() { clearShader(SHADER_TYPE_FRAGMENT); } bool OsgProgram::loadFragmentShader(const std::string& filePath) { return loadShaderSource(filePath, SHADER_TYPE_FRAGMENT); } void OsgProgram::setFragmentShaderSource(const std::string& source) { setShaderSource(source, SHADER_TYPE_FRAGMENT); } bool OsgProgram::getFragmentShaderSource(std::string* source) const { return getShaderSource(SHADER_TYPE_FRAGMENT, source); } osg::ref_ptr OsgProgram::getOsgProgram() const { return m_program; } void OsgProgram::setGlobalScope(bool val) { m_globalScope = val; osg::StateAttribute::ParentList parents = m_program->getParents(); for (auto it = std::begin(parents); it != std::end(parents); ++it) { addToStateSet(*it); } } bool OsgProgram::isGlobalScope() const { return m_globalScope; } bool OsgProgram::hasShader(int shaderType) const { bool result = true; if (shaderType < SHADER_TYPE_COUNT) { result = m_osgShaders[shaderType].valid(); } return result; } void OsgProgram::clearShader(int shaderType) { if (hasShader(shaderType)) { m_program->removeShader(m_osgShaders[shaderType]); m_osgShaders[shaderType] = nullptr; } } bool OsgProgram::loadShaderSource(const std::string& filePath, int shaderType) { bool result = false; auto shader = getOrCreateOsgShader(shaderType); if (shader->loadShaderSourceFromFile(filePath)) { shader->setName(filePath); result = true; } return result; } void OsgProgram::setShaderSource(const std::string& source, int shaderType) { auto shader = getOrCreateOsgShader(shaderType); shader->setShaderSource(source); } bool OsgProgram::getShaderSource(int shaderType, std::string* source) const { if (hasShader(shaderType)) { *source = m_osgShaders[shaderType]->getShaderSource(); return true; } else { *source = ""; return false; } } osg::ref_ptr OsgProgram::getOrCreateOsgShader(int shaderType) { osg::ref_ptr result; if (!hasShader(shaderType)) { result = new osg::Shader(OsgShaderTypes[shaderType]); m_program->addShader(result); m_osgShaders[shaderType] = result; } else { result = m_osgShaders[shaderType]; } return result; } std::shared_ptr loadProgram(const SurgSim::Framework::ApplicationData& data, const std::string& name) { return loadProgram(data, name + ".vert", name + ".frag"); } std::shared_ptr loadProgram(const SurgSim::Framework::ApplicationData& data, const std::string& vertexShaderName, const std::string& fragmentShaderName) { std::string filename; auto program(std::make_shared()); bool success = true; filename = data.findFile(vertexShaderName); if (filename == "") { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << "Could not find vertex shader " << vertexShaderName; success = false; } else if (!program->loadVertexShader(filename)) { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << "Could not load vertex shader " << vertexShaderName; success = false; } filename = data.findFile(fragmentShaderName); if (filename == "") { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << "Could not find fragment shader " << fragmentShaderName; success = false; } if (!program->loadFragmentShader(filename)) { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << "Could not load fragment shader " << fragmentShaderName; success = false; } if (!success) { program = nullptr; } return program; } } } opensurgsim-0.7.0/SurgSim/Graphics/OsgProgram.h000066400000000000000000000123141277777236100214770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGPROGRAM_H #define SURGSIM_GRAPHICS_OSGPROGRAM_H #include "SurgSim/Graphics/Program.h" #include #include #include #include #include namespace SurgSim { namespace Framework { class ApplicationData; } namespace Graphics { /// OSG-based implementation of a graphics shader. /// /// Wraps an osg::Program which manages the geometry, vertex, and fragment shaders. /// The osg::Program is added to the osg::StateSet of an osg::Node to use the shaders for the rendering of that /// node's geometry. class OsgProgram : public Program { public: /// Constructor /// \post No shader code is set, so the fixed-function pipeline is used. OsgProgram(); bool hasVertexShader() const override; void clearVertexShader() override; bool loadVertexShader(const std::string& filePath) override; void setVertexShaderSource(const std::string& source) override; bool getVertexShaderSource(std::string* source) const override; bool hasGeometryShader() const override; void clearGeometryShader() override; bool loadGeometryShader(const std::string& filePath) override; void setGeometryShaderSource(const std::string& source) override; bool getGeometryShaderSource(std::string* source) const override; bool hasFragmentShader() const override; void clearFragmentShader() override; bool loadFragmentShader(const std::string& filePath) override; void setFragmentShaderSource(const std::string& source) override; bool getFragmentShaderSource(std::string* source) const override; void setGlobalScope(bool val) override; bool isGlobalScope() const override; /// \return the OSG program attribute osg::ref_ptr getOsgProgram() const; /// Adds this shader to the OSG state set /// \param stateSet OSG state set void addToStateSet(osg::StateSet* stateSet); /// Removes this uniform from the OSG state set /// \param stateSet OSG state set void removeFromStateSet(osg::StateSet* stateSet); private: /// OSG program attribute osg::ref_ptr m_program; // Type of shader, internal use only enum ShaderType { SHADER_TYPE_VERTEX = 0, SHADER_TYPE_FRAGMENT, SHADER_TYPE_GEOMETRY, SHADER_TYPE_COUNT }; /// Storage of the osg objects std::array, SHADER_TYPE_COUNT> m_osgShaders; /// Check whether there is a shader in use for the given type /// \param shaderType Type of the shader /// \return true if the shader has been set, otherwise false. bool hasShader(int shaderType) const; /// Removes the geometry shader, returning that portion of the shader program to fixed-function. /// \param shaderType Type of the shader void clearShader(int shaderType); /// Loads the shader source code from a file /// \param filePath Path to file containing shader source code /// \param shaderType Type of the shader /// \return True if the source is successfully loaded, otherwise false. bool loadShaderSource(const std::string& filePath, int shaderType); /// Set the shader source code /// \param source Shader source code /// \param shaderType Type of the shader virtual void setShaderSource(const std::string& source, int shaderType); /// Gets the shader source code /// \return Shader source code virtual bool getShaderSource(int shaderType, std::string* source) const; /// Fetches the appropriate shader if it exists, creates it otherwise /// \param shaderType Type of the shader /// \return the shader with the given type osg::ref_ptr getOrCreateOsgShader(int shaderType); /// Is the shader supposed to be used globally bool m_globalScope; }; /// Utility function, load a program from a set of shader files /// \param data Application data object /// \param name the base name of the shader files to be used '.vert' and '.frag' will be added automatically /// \return a valid program if all the shaders are found, nullptr otherwise std::shared_ptr loadProgram(const SurgSim::Framework::ApplicationData& data, const std::string& name); /// Utility function, load a program from a set of shader files /// \param data Application data object /// \param vertexShaderName name of the vertex shader to be used /// \param fragmentShaderName name of the fragment shader to be used /// \return a valid program if all the shaders are found, nullptr otherwise std::shared_ptr loadProgram(const SurgSim::Framework::ApplicationData& data, const std::string& vertexShaderName, const std::string& fragmentShaderName); }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGPROGRAM_H opensurgsim-0.7.0/SurgSim/Graphics/OsgQuaternionConversions.h000066400000000000000000000037551277777236100244570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Conversions to and from OSG quaternion types /// /// Note that the Eigen quaternion constructor takes the W component first, while OSG stores it last. /// /// Also note that OSG only has one Quat type, which uses double for the value type. Conversions are provided to and /// from this type for both SurgSim::Math::Quaternionf and SurgSim::Math::Quaterniond. #ifndef SURGSIM_GRAPHICS_OSGQUATERNIONCONVERSIONS_H #define SURGSIM_GRAPHICS_OSGQUATERNIONCONVERSIONS_H #include "SurgSim/Math/Quaternion.h" #include namespace SurgSim { namespace Graphics { /// Convert quaternion of floats to OSG inline osg::Quat toOsg(const SurgSim::Math::Quaternionf& quaternion) { return osg::Quat(quaternion.x(), quaternion.y(), quaternion.z(), quaternion.w()); } /// Convert quaternion of doubles to OSG inline osg::Quat toOsg(const SurgSim::Math::Quaterniond& quaternion) { return osg::Quat(quaternion.x(), quaternion.y(), quaternion.z(), quaternion.w()); } /// Convert from OSG to either quaternion of floats or doubles /// \tparam T Value type (float or double) template inline Eigen::Quaternion fromOsg(const osg::Quat& quaternion) { return Eigen::Quaternion(quaternion.w(), quaternion.x(), quaternion.y(), quaternion.z()); } }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGQUATERNIONCONVERSIONS_H opensurgsim-0.7.0/SurgSim/Graphics/OsgRenderTarget-inl.h000066400000000000000000000110451277777236100232360ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGRENDERTARGET_INL_H #define SURGSIM_GRAPHICS_OSGRENDERTARGET_INL_H namespace SurgSim { namespace Graphics { // Osg Supports 16 Color Attachments plus the depth texture const int OsgSupportedTextureCount = 16 + 1; template OsgRenderTarget::OsgRenderTarget() : m_width(0), m_height(0), m_colorTargetCount(0), m_textures(OsgSupportedTextureCount) { } template OsgRenderTarget::OsgRenderTarget( int width, int height, double scale, int colorCount, bool useDepth) : m_width(width * scale), m_height(height * scale), m_colorTargetCount(0), m_textures(OsgSupportedTextureCount) { setColorTargetCount(colorCount); useDepthTarget(useDepth); } template OsgRenderTarget::~OsgRenderTarget() { } template void OsgRenderTarget::getSize(int* width, int* height) const { *width = m_width; *height = m_height; } template int OsgRenderTarget::setColorTargetCount(int count) { int result = (count < 16) ? count : 16; // This does not check against graphics card capabilities, the max 16 provided // by OSG might not be supported by the current graphics card // Keep the other texture allocated when the count goes down // Rendertargets are probably not going to change that much once set up // #memory for (int i = m_colorTargetCount; i < result; ++i) { setupTexture(TARGETTYPE_COLORBASE + i); } m_colorTargetCount = result; return result; } template int OsgRenderTarget::getColorTargetCount() const { return m_colorTargetCount; } template std::shared_ptr OsgRenderTarget::getColorTarget(int index) const { std::shared_ptr result; if (index < m_colorTargetCount) { result = m_textures[TARGETTYPE_COLORBASE + index]; } return result; } template std::shared_ptr OsgRenderTarget::getColorTargetOsg(int index) const { std::shared_ptr result; if (index < m_colorTargetCount) { result = m_textures[TARGETTYPE_COLORBASE + index]; } return result; } template void OsgRenderTarget::useDepthTarget(bool val) { if (val) { setupTexture(TARGETTYPE_DEPTH); } else { m_textures[TARGETTYPE_DEPTH] = nullptr; } } template bool OsgRenderTarget::doesUseDepthTarget() const { return m_textures.at(TARGETTYPE_DEPTH) != nullptr; } template std::shared_ptr OsgRenderTarget::getDepthTarget() const { return m_textures.at(TARGETTYPE_DEPTH); } template std::shared_ptr OsgRenderTarget::getDepthTargetOsg() const { return m_textures.at(TARGETTYPE_DEPTH); } template void OsgRenderTarget::setupTexture(int type) { if (m_textures[type] == nullptr) { m_textures[type] = std::make_shared(); m_textures[type]->setSize(m_width, m_height); osg::Texture* osgTexture = m_textures[type]->getOsgTexture(); // We are not dealing with mipmaps, fix up the filters to enable rendering to FBO // see http://www.opengl.org/wiki/Common_Mistakes#Creating_a_complete_texture osgTexture->setFilter(osg::Texture::MIN_FILTER, osg::Texture::LINEAR); osgTexture->setFilter(osg::Texture::MAG_FILTER, osg::Texture::LINEAR); osgTexture->setWrap(osg::Texture::WRAP_S, osg::Texture::CLAMP_TO_EDGE); osgTexture->setWrap(osg::Texture::WRAP_T, osg::Texture::CLAMP_TO_EDGE); if (type == TARGETTYPE_DEPTH) { osgTexture->setInternalFormat(GL_DEPTH_COMPONENT32F); osgTexture->setSourceFormat(GL_DEPTH_COMPONENT); osgTexture->setSourceType(GL_FLOAT); osgTexture->setWrap(osg::Texture::WRAP_S, osg::Texture::CLAMP_TO_BORDER); osgTexture->setWrap(osg::Texture::WRAP_T, osg::Texture::CLAMP_TO_BORDER); osgTexture->setBorderColor(osg::Vec4(1.0, 1.0, 1.0, 1.0)); } if (type >= TARGETTYPE_COLORBASE) { osgTexture->setInternalFormat(GL_RGBA32F_ARB); osgTexture->setSourceFormat(GL_RGBA); osgTexture->setSourceType(GL_FLOAT); } } } }; // namespace Graphics }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Graphics/OsgRenderTarget.h000066400000000000000000000113621277777236100224600ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGRENDERTARGET_H #define SURGSIM_GRAPHICS_OSGRENDERTARGET_H #include #include #include "SurgSim/Graphics/RenderTarget.h" #include "SurgSim/Graphics/OsgTexture.h" #include "SurgSim/Graphics/OsgTexture2d.h" #include "SurgSim/Graphics/OsgTextureRectangle.h" #include namespace SurgSim { namespace Graphics { /// Osg abstract render target, this hides the type of the actual osg texture and lets us use /// OsgRenderTarget without the template type class OsgAbstractRenderTarget : public RenderTarget { /// Accessor for the color target as an OsgTexture. /// \param index Zero-based index of the color texture. /// \return The color target as an osg specific class. virtual std::shared_ptr getColorTargetOsg(int index) const = 0; /// Accessor for the depth target as an OsgTexture. /// \return The depth target as an osg specific class. virtual std::shared_ptr getDepthTargetOsg() const = 0; }; /// Specific implementation of the render target class. It is templated so different texture formats can be chosen. /// \tparam T Type of the texture that should be used as targets probably either OsgTexture2d or OsgTextureRectangle. template class OsgRenderTarget : public OsgAbstractRenderTarget { public: /// The internal type of the texture, not exposed in the public interface typedef T TextureType; /// Default constructor OsgRenderTarget(); /// Constructor set all the paramters for the render target /// \param width, height The width and height of the target textures. /// \param scale (Optional) the scale, scales width and height by this factor. /// \param colorCount (Optional) number of color textures to use. /// \param useDepth (Optional) whether to use a depth texture. OsgRenderTarget(int width, int height, double scale = 1.0, int colorCount = 0, bool useDepth = false); /// Destructor ~OsgRenderTarget(); /// Gets a size. /// \param [out] width, height The width and height of the RenderTarget textures. void getSize(int* width, int* height) const override; /// \return The number of color targets that are available. int getColorTargetCount() const override; /// Generic accessor for a specific color target texture. /// \param index Zero-based index of the texure. /// \return The actual Texture. std::shared_ptr getColorTarget(int index) const override; /// Accessor for the color target as an OsgTexture. /// \param index Zero-based index of the color texture. /// \return The color target as an osg specific class. std::shared_ptr getColorTargetOsg(int index) const; /// Determines if RenderTarget does use a depth target. /// \return true if it does. bool doesUseDepthTarget() const override; /// Generic accessor for the depth Target. /// \return The depth target. std::shared_ptr getDepthTarget() const override; /// Accessor for the depth target as an OsgTexture. /// \return The depth target as an osg specific class. std::shared_ptr getDepthTargetOsg() const; private: /// Values that represent TargetTypes. enum TargetTypes { TARGETTYPE_DEPTH = 0, TARGETTYPE_COLORBASE = 1 }; /// The width of this RenderTarget. int m_width; /// The height of this RenderTarget. int m_height; /// Number of color targets. int m_colorTargetCount; /// The textures that are being used as target, size of this is 16 (ColorTargets) + 1 (Depth). std::vector> m_textures; /// Sets color target count. /// \param count The number of color textures to use. /// \return . int setColorTargetCount(int count); /// Use depth target. /// \param val true to value. void useDepthTarget(bool val); /// Sets up the texture with a given target type (depth or color w/ index). /// \param type The index of the texture to use. void setupTexture(int type); }; ///@{ /// Predefine specialized render targets typedef OsgRenderTarget OsgRenderTarget2d; typedef OsgRenderTarget OsgRenderTargetRectangle; ///@} }; // Graphics }; // SurgSim #include "SurgSim/Graphics/OsgRenderTarget-inl.h" #endifopensurgsim-0.7.0/SurgSim/Graphics/OsgRepresentation.cpp000066400000000000000000000115541277777236100234320ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgRepresentation.h" #include #include #include #include #include #include #include #include "SurgSim/Framework/Log.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgRigidTransformConversions.h" #include "SurgSim/Graphics/OsgUnitBox.h" #include "SurgSim/Graphics/OsgUniform.h" #include "SurgSim/Graphics/OsgUniformFactory.h" #include "SurgSim/Graphics/TangentSpaceGenerator.h" namespace SurgSim { namespace Graphics { OsgRepresentation::OsgRepresentation(const std::string& name) : Representation(name), m_drawAsWireFrame(false), m_modelMatrixUniform(std::make_shared>("modelMatrix")) { m_switch = new osg::Switch; m_switch->setName(name + " Representation Switch"); m_modelMatrixUniform->addToStateSet(m_switch->getOrCreateStateSet()); m_materialProxy = new osg::Group; m_switch->addChild(m_materialProxy); m_transform = new osg::PositionAttitudeTransform(); m_transform->setName(name + " Transform"); m_materialProxy->addChild(m_transform); m_transform->setAttitude(osg::Quat(0.0, 0.0, 0.0, 1.0)); m_transform->setPosition(osg::Vec3d(0.0, 0.0, 0.0)); } OsgRepresentation::~OsgRepresentation() { } void OsgRepresentation::update(double dt) { if (isActive()) { std::pair pose = toOsg(getPose()); m_transform->setAttitude(pose.first); m_transform->setPosition(pose.second); doUpdate(dt); setVisible(true); } else { setVisible(false); } } bool OsgRepresentation::setMaterial(std::shared_ptr material) { bool didSucceed = false; std::shared_ptr osgMaterial = std::dynamic_pointer_cast(material); if (osgMaterial != nullptr) { m_materialProxy->setStateSet(osgMaterial->getOsgStateSet()); didSucceed = true; m_material = osgMaterial; } return didSucceed; } std::shared_ptr OsgRepresentation::getMaterial() const { return m_material; } void OsgRepresentation::clearMaterial() { m_materialProxy->setStateSet(new osg::StateSet()); // Reset to empty state set m_material = nullptr; } osg::ref_ptr OsgRepresentation::getOsgNode() const { return m_switch; } void OsgRepresentation::doUpdate(double dt) { } void OsgRepresentation::setDrawAsWireFrame(bool val) { m_drawAsWireFrame = val; osg::StateSet* state = m_switch->getOrCreateStateSet(); osg::ref_ptr polygonMode; if (val) { polygonMode = new osg::PolygonMode(osg::PolygonMode::FRONT_AND_BACK, osg::PolygonMode::LINE); } else { polygonMode = new osg::PolygonMode(osg::PolygonMode::FRONT, osg::PolygonMode::FILL); } state->setAttributeAndModes(polygonMode, osg::StateAttribute::ON); } bool OsgRepresentation::getDrawAsWireFrame() const { return m_drawAsWireFrame; } void OsgRepresentation::setVisible(bool val) { m_switch->setChildValue(m_materialProxy, val); } void OsgRepresentation::setGenerateTangents(bool value) { if (value && m_tangentGenerator == nullptr) { m_tangentGenerator = new TangentSpaceGenerator(DIFFUSE_TEXTURE_UNIT, TANGENT_VERTEX_ATTRIBUTE_ID, BITANGENT_VERTEX_ATTRIBUTE_ID); m_tangentGenerator->setBasisOrthonormality(true); } if (!value) { m_tangentGenerator = nullptr; } } bool OsgRepresentation::isGeneratingTangents() const { return m_tangentGenerator != nullptr; } void OsgRepresentation::updateTangents() { if (m_tangentGenerator != nullptr) { m_switch->accept(*m_tangentGenerator); } } void OsgRepresentation::addUniform(std::shared_ptr uniform) { auto osgUniform = std::dynamic_pointer_cast(uniform); SURGSIM_ASSERT(osgUniform != nullptr) << "Uniform must be an OsgUniform"; m_transform->getOrCreateStateSet()->addUniform(osgUniform->getOsgUniform()); } void OsgRepresentation::addUniform(const std::string& type, const std::string& name, const boost::any& value) { static OsgUniformFactory factory; if (factory.isRegistered(type)) { auto uniform = factory.create(type, name); uniform->setValue("Value", value); addUniform(uniform); } else { SURGSIM_FAILURE() << "OsgUniform type " << type << " not supported."; } } }; // Graphics }; // SurgSim opensurgsim-0.7.0/SurgSim/Graphics/OsgRepresentation.h000066400000000000000000000116061277777236100230750ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGREPRESENTATION_H #define SURGSIM_GRAPHICS_OSGREPRESENTATION_H #include #include #include "SurgSim/Graphics/Representation.h" #include "SurgSim/Graphics/OsgUniform.h" namespace osg { class Group; class Node; class PositionAttitudeTransform; class Switch; } namespace SurgSim { namespace Graphics { class OsgMaterial; class TangentSpaceGenerator; class UniformBase; /// OSS default value for opengl values that have to be assigned a fixed number ///@{ static const int TANGENT_VERTEX_ATTRIBUTE_ID = 6; static const int BITANGENT_VERTEX_ATTRIBUTE_ID = 7; static const int DIFFUSE_TEXTURE_UNIT = 0; static const int NORMAL_TEXTURE_UNIT = 1; static const int SHADOW_TEXTURE_UNIT = 8; ///@} /// Base OSG implementation of a graphics representation. /// /// Wraps an osg::Node which serves as the root for the representation's portion of the scene graph. class OsgRepresentation : public virtual Representation { public: /// Constructor explicit OsgRepresentation(const std::string& name); /// Destructor virtual ~OsgRepresentation(); /// Returns the root OSG Node for this representations portion of the scene graph osg::ref_ptr getOsgNode() const; /// Sets the material that defines the visual appearance of the representation /// \param material Graphics material /// \return True if set successfully, otherwise false /// \note OsgPlaneRepresentation only accepts subclasses of OsgMaterial. bool setMaterial(std::shared_ptr material) override; /// Gets the material that defines the visual appearance of the representation /// \return Graphics material std::shared_ptr getMaterial() const override; /// Removes the material from the representation void clearMaterial() override; void setDrawAsWireFrame(bool val) override; bool getDrawAsWireFrame() const override; /// Enable the generation of tangents /// When enabled it is up to the subclasses responsibility to react to changes and trigger the regeneration of /// Tangents. Tangents will be stored for every geometry node that contains a vertex, normal and texture array. /// \note the \sa TangentSpaceGenerator is used to create the appropriate vertex attribute arrays. /// These are stored as vertex attribute arrays at the indices indicated by TANGENT_ARRAY_ATTRIBUTE_ID, /// and BITANGENT_ARRAY_ATTRIBUTE_ID with the format osg::ArrayVec4. /// The tangents will be made orthonormal by default. /// tangents via \sa updateTangents() void setGenerateTangents(bool value) override; bool isGeneratingTangents() const override; /// Updates the representation. /// \param dt The time in seconds of the preceding timestep. void update(double dt) override; /// Adds a uniform to this representation. /// \param uniform Uniform to add. void addUniform(std::shared_ptr uniform); /// Adds and a uniform to this representation and set its value /// \param type the type of the uniform /// \param name Name used in shader code to access this uniform /// \param value The value for this uniform void addUniform(const std::string& type, const std::string& name, const boost::any& value); protected: virtual void doUpdate(double dt); /// Set the visibility of this representation /// \param val The visibility void setVisible(bool val); /// Causes the tangents to be recalculated if tangent generation is enabled /// Subclasses should call this whenever the state changes in a way that need tangents to be recalculated void updateTangents(); /// Switch used to toggle the visibility of the representation osg::ref_ptr m_switch; /// Transform used to pose the representation osg::ref_ptr m_transform; /// Holder for attributes coming from OsgMaterial osg::ref_ptr m_materialProxy; /// Material defining the visual appearance of the representation std::shared_ptr m_material; /// Visitor to generate tangents osg::ref_ptr m_tangentGenerator; /// Indicates if the representation is rendered as a wireframe. bool m_drawAsWireFrame; std::shared_ptr> m_modelMatrixUniform; }; }; // Graphics }; // SurgSim #endif // SURGSIM_GRAPHICS_OSGREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/OsgRigidTransformConversions.h000066400000000000000000000063221277777236100252550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Conversions to and from OSG rigid transform types /// /// Note that OSG does not have a rigid transform type, so a quaternion, vector pair are used for the rotation and /// translation components of the rigid transform. #ifndef SURGSIM_GRAPHICS_OSGRIGIDTRANSFORMCONVERSIONS_H #define SURGSIM_GRAPHICS_OSGRIGIDTRANSFORMCONVERSIONS_H #include "SurgSim/Graphics/OsgQuaternionConversions.h" #include "SurgSim/Graphics/OsgVectorConversions.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include #include #include namespace SurgSim { namespace Graphics { /// Convert 3D rigid body (isometric) transform, represented as floats, to OSG inline std::pair toOsg(const SurgSim::Math::RigidTransform3f& transform) { SurgSim::Math::Quaternionf normalizedQuaternion = SurgSim::Math::Quaternionf(transform.linear()).normalized(); return std::make_pair(toOsg(normalizedQuaternion), toOsg(SurgSim::Math::Vector3f(transform.translation()))); } /// Convert 3D rigid body (isometric) transform, represented as doubles, to OSG inline std::pair toOsg(const SurgSim::Math::RigidTransform3d& transform) { SurgSim::Math::Quaterniond normalizedQuaternion = SurgSim::Math::Quaterniond(transform.linear()).normalized(); return std::make_pair(toOsg(normalizedQuaternion), toOsg(SurgSim::Math::Vector3d(transform.translation()))); } /// Convert from OSG to 3D rigid body (isometric) transform, represented as floats inline SurgSim::Math::RigidTransform3f fromOsg(const osg::Quat& rotation, const osg::Vec3f& translation) { return SurgSim::Math::makeRigidTransform(fromOsg(rotation), fromOsg(translation)); } /// Convert from OSG to 3D rigid body (isometric) transform, represented as floats inline SurgSim::Math::RigidTransform3f fromOsg(const std::pair& transform) { return fromOsg(transform.first, transform.second); } /// Convert from OSG to 3D rigid body (isometric) transform, represented as doubles inline SurgSim::Math::RigidTransform3d fromOsg(const osg::Quat& rotation, const osg::Vec3d& translation) { return SurgSim::Math::makeRigidTransform(fromOsg(rotation), fromOsg(translation)); } /// Convert from OSG to 3D rigid body (isometric) transform, represented as doubles inline SurgSim::Math::RigidTransform3d fromOsg(const std::pair& transform) { return fromOsg(transform.first, transform.second); } }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGRIGIDTRANSFORMCONVERSIONS_Hopensurgsim-0.7.0/SurgSim/Graphics/OsgSceneryRepresentation.cpp000066400000000000000000000047741277777236100247710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Graphics/OsgSceneryRepresentation.h" #include "SurgSim/Graphics/OsgModel.h" namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::OsgSceneryRepresentation, OsgSceneryRepresentation); OsgSceneryRepresentation::OsgSceneryRepresentation(const std::string& name) : Representation(name), OsgRepresentation(name), SceneryRepresentation(name), m_osgNode(nullptr), m_fileName() { } bool OsgSceneryRepresentation::doInitialize() { return true; } void OsgSceneryRepresentation::loadModel(const std::string& fileName) { auto model = std::make_shared(); model->load(fileName); setModel(model); } void OsgSceneryRepresentation::setModel(std::shared_ptr model) { auto osgModel = std::dynamic_pointer_cast(model); SURGSIM_ASSERT(model == nullptr || osgModel != nullptr) << "OsgSceneryRepresentation expects an OsgModel."; if (m_osgNode.valid()) { m_transform->removeChild(m_osgNode); } if (osgModel != nullptr) { SURGSIM_ASSERT(osgModel->getOsgNode().valid()) << "OsgSceneryRepresentation was passed a model that did not have any geometry assigned to it."; m_osgNode = osgModel->getOsgNode(); m_transform->addChild(m_osgNode); } m_model = osgModel; updateTangents(); } std::shared_ptr OsgSceneryRepresentation::getModel() const { return m_model; } osg::ref_ptr OsgSceneryRepresentation::getModelNode() const { return m_osgNode; } void OsgSceneryRepresentation::setGenerateTangents(bool value) { OsgRepresentation::setGenerateTangents(value); if (m_osgNode.valid()) { updateTangents(); } } }; // namespace Graphics }; // namespace SurgSimopensurgsim-0.7.0/SurgSim/Graphics/OsgSceneryRepresentation.h000066400000000000000000000043351277777236100244270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGSCENERYREPRESENTATION_H #define SURGSIM_GRAPHICS_OSGSCENERYREPRESENTATION_H #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Graphics/SceneryRepresentation.h" #include #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace SurgSim { namespace Framework { class Asset; } namespace Graphics { class Model; SURGSIM_STATIC_REGISTRATION(OsgSceneryRepresentation); /// A OsgSceneryRepresentation is used to load osg object/node from file class OsgSceneryRepresentation: public OsgRepresentation, public SceneryRepresentation { public: friend class OsgSceneryRepresentationTest; /// Constructor /// \param name Name of OsgSceneryRepresentation explicit OsgSceneryRepresentation(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgSceneryRepresentation); void loadModel(const std::string& fileName) override; void setModel(std::shared_ptr model) override; std::shared_ptr getModel() const override; /// \return the osg node that carries the information of the loaded model osg::ref_ptr getModelNode() const; void setGenerateTangents(bool value) override; private: bool doInitialize() override; /// A osg::Node to hold the objet loaded from file osg::ref_ptr m_osgNode; std::shared_ptr m_model; /// Name of the object file to be loaded std::string m_fileName; }; }; // namespace Graphics }; // namespace SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif #endif // SURGSIM_GRAPHICS_OSGSCENERYREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/OsgScreenSpacePass.cpp000066400000000000000000000036001277777236100234430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgScreenSpacePass.h" #include "SurgSim/Graphics/OsgCamera.h" #include #include namespace SurgSim { namespace Graphics { OsgScreenSpacePass::OsgScreenSpacePass(const std::string& name) : RenderPass(name), m_width(0), m_height(0) { } OsgScreenSpacePass::~OsgScreenSpacePass() { } bool OsgScreenSpacePass::doInitialize() { RenderPass::doInitialize(); auto camera = std::dynamic_pointer_cast(getCamera()); bool result = false; if (camera != nullptr) { m_camera = camera->getOsgCamera(); m_camera->setReferenceFrame(osg::Transform::ABSOLUTE_RF); m_camera->setClearMask(GL_DEPTH_BUFFER_BIT); setRenderOrder(Camera::RENDER_ORDER_POST_RENDER, 0); updateViewport(m_width, m_height); result = true; } return result; } void OsgScreenSpacePass::updateViewport(int width, int height) { if (m_camera != nullptr) { m_camera->setProjectionMatrixAsOrtho2D(0, width, 0, height); } } void OsgScreenSpacePass::setViewPort(int width, int height) { SURGSIM_ASSERT(width >= 0 && height >= 0) << "Viewport width or height cannot be smaller than 0."; if (m_width != width || m_height != height) { m_width = width; m_height = height; updateViewport(m_width, m_height); } } } } opensurgsim-0.7.0/SurgSim/Graphics/OsgScreenSpacePass.h000066400000000000000000000032601277777236100231120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGSCREENSPACEPASS_H #define SURGSIM_GRAPHICS_OSGSCREENSPACEPASS_H #include #include "SurgSim/Graphics/RenderPass.h" #include namespace osg { class Camera; } namespace SurgSim { namespace Graphics { /// Special RenderPass to draw items using a orthogonal projection, this is specific to the /// Osg implementation of the SurgSim rendering class OsgScreenSpacePass : public RenderPass { public: /// Constructor. /// \param name The name of the component explicit OsgScreenSpacePass(const std::string& name); /// Destructor virtual ~OsgScreenSpacePass(); /// Set viewport dimensions void setViewPort(int width, int height); /// Initialize this Component bool doInitialize() override; private: /// Update the projection matrix void updateViewport(int width, int height); /// The osg camera reference osg::ref_ptr m_camera; /// The width of the viewport int m_width; /// The height of the viewport int m_height; }; } } #endif // SURGSIM_GRAPHICS_OSGSCREENSPACEPASS_H opensurgsim-0.7.0/SurgSim/Graphics/OsgScreenSpaceQuadRepresentation.cpp000066400000000000000000000167021277777236100263610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgRigidTransformConversions.h" #include "SurgSim/Graphics/OsgScreenSpaceQuadRepresentation.h" #include "SurgSim/Graphics/OsgUniform.h" #include "SurgSim/Graphics/OsgUniformBase.h" #include "SurgSim/Graphics/Texture2d.h" #include "SurgSim/Graphics/TextureRectangle.h" #include #include #include #include #include #include #include #include namespace { enum TextureType { TEXTURE_TYPE_RECTANGLE, TEXTURE_TYPE_POWER_OF_TWO }; } namespace SurgSim { namespace Graphics { OsgScreenSpaceQuadRepresentation::OsgScreenSpaceQuadRepresentation(const std::string& name) : Representation(name), OsgRepresentation(name), ScreenSpaceQuadRepresentation(name), m_scale(1.0, 1.0, 1.0) { m_switch = new osg::Switch; m_switch->setName(name + " Switch"); m_transform = new osg::PositionAttitudeTransform(); m_transform->setName(name + " Transform"); m_geode = new osg::Geode; // Make the quad float depth = 0.0; m_geometry = osg::createTexturedQuadGeometry( osg::Vec3(0.0, 0.0, depth), osg::Vec3(1.0, 0.0, depth), osg::Vec3(0.0, 1.0, depth)); osg::Vec4Array* colors = new osg::Vec4Array; colors->push_back(osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f)); m_geometry->setColorArray(colors); m_geometry->setColorBinding(osg::Geometry::BIND_OVERALL); m_geometry->addPrimitiveSet(new osg::DrawArrays(GL_QUADS, 0, 4)); m_geode->addDrawable(m_geometry); m_transform->setReferenceFrame(osg::Transform::ABSOLUTE_RF); m_transform->setCullingActive(false); m_transform->addChild(m_geode); // By default use float texture coordinates, this makes this useable without a texture set setTextureCoordinates(0.0, 0.0, 1.0, 1.0); m_switch->addChild(m_materialProxy); m_materialProxy->addChild(m_transform); m_textureUniform = std::make_shared>>("texture"); m_rectangleTextureUniform = std::make_shared>>("texture"); removeGroupReference(Representation::DefaultGroupName); addGroupReference(Representation::DefaultHudGroupName); SURGSIM_ADD_SERIALIZABLE_PROPERTY(OsgScreenSpaceQuadRepresentation, bool, Transparent, isTransparent, setTransparent); } OsgScreenSpaceQuadRepresentation::~OsgScreenSpaceQuadRepresentation() { } void OsgScreenSpaceQuadRepresentation::setSize(double width, double height) { m_scale.x() = width; m_scale.y() = height; m_transform->setScale(m_scale); } void OsgScreenSpaceQuadRepresentation::getSize(double* width, double* height) const { SURGSIM_ASSERT(width != nullptr && height != nullptr) << "Cannot use a nullptr as an output parameter"; *width = m_scale.x(); *height = m_scale.y(); } bool OsgScreenSpaceQuadRepresentation::setTexture(std::shared_ptr texture) { SURGSIM_ASSERT(texture != nullptr) << "Null texture passed to setTexture"; std::shared_ptr osgTexture2d = std::dynamic_pointer_cast(texture); if (osgTexture2d != nullptr) { return setTexture(osgTexture2d); } std::shared_ptr osgTextureRectangle = std::dynamic_pointer_cast(texture); if (osgTextureRectangle != nullptr) { return setTexture(osgTextureRectangle); } return false; } bool OsgScreenSpaceQuadRepresentation::setTexture(std::shared_ptr osgTexture) { m_textureUniform->set(osgTexture); if (m_texureType.hasValue() && m_texureType.getValue() == TEXTURE_TYPE_RECTANGLE) { SURGSIM_ASSERT(!isInitialized()) << "Cannot change the type of texture once the quad has been initialized."; m_rectangleTextureUniform->removeFromStateSet(m_switch->getOrCreateStateSet()); } else { m_textureUniform->addToStateSet(m_switch->getOrCreateStateSet()); m_texureType.setValue(TEXTURE_TYPE_POWER_OF_TWO); } setTextureCoordinates(0.0, 0.0, 1.0, 1.0); return true; } bool OsgScreenSpaceQuadRepresentation::setTexture(std::shared_ptr osgTexture) { m_rectangleTextureUniform->set(osgTexture); if (m_texureType.hasValue() && m_texureType.getValue() == TEXTURE_TYPE_POWER_OF_TWO) { SURGSIM_ASSERT(!isInitialized()) << "Cannot change the type of texture once the quad has been initialized."; m_textureUniform->removeFromStateSet(m_switch->getOrCreateStateSet()); } else { m_rectangleTextureUniform->addToStateSet(m_switch->getOrCreateStateSet()); m_texureType.setValue(TEXTURE_TYPE_RECTANGLE); } int width, height; osgTexture->getSize(&width, &height); setTextureCoordinates(0.0, 0.0, static_cast(width), static_cast(height)); return true; } void OsgScreenSpaceQuadRepresentation::setTextureCoordinates(float left, float bottom, float right, float top) { osg::Vec2Array* tcoords = new osg::Vec2Array(4); (*tcoords)[0].set(left, top); (*tcoords)[1].set(left, bottom); (*tcoords)[2].set(right, bottom); (*tcoords)[3].set(right, top); m_geometry->setTexCoordArray(0, tcoords); } void OsgScreenSpaceQuadRepresentation::setLocation(double x, double y) { SurgSim::Math::RigidTransform3d transform = SurgSim::Math::makeRigidTransform(SurgSim::Math::Quaterniond::Identity(), SurgSim::Math::Vector3d(x, y, 0)); setLocalPose(transform); } void OsgScreenSpaceQuadRepresentation::getLocation(double* x, double* y) { SURGSIM_ASSERT(x != nullptr && y != nullptr) << "Cannot use a nullptr as an output parameter."; SurgSim::Math::Vector3d position = getLocalPose().translation(); *x = position.x(); *y = position.y(); } void OsgScreenSpaceQuadRepresentation::setTransparent(bool value) { if (value) { m_geode->getOrCreateStateSet()->setRenderingHint(osg::StateSet::TRANSPARENT_BIN); } else { m_geode->getOrCreateStateSet()->setRenderingHint(osg::StateSet::DEFAULT_BIN); } } bool OsgScreenSpaceQuadRepresentation::isTransparent() { return osg::StateSet::TRANSPARENT_BIN == m_geode->getOrCreateStateSet()->getRenderingHint(); } void OsgScreenSpaceQuadRepresentation::doUpdate(double dt) { m_transform->setAttitude(osg::Quat(0.0, 0.0, 0.0, 1.0)); } bool OsgScreenSpaceQuadRepresentation::doInitialize() { bool result = true; // if the material was preassigned, don't create a default one if (getMaterial() == nullptr && m_texureType.hasValue()) { result = false; std::shared_ptr material; switch (m_texureType.getValue()) { case TEXTURE_TYPE_POWER_OF_TWO: material = buildMaterial("Shaders/unlit_texture.vert", "Shaders/unlit_texture.frag"); break; case TEXTURE_TYPE_RECTANGLE: material = buildMaterial("Shaders/unlit_texture.vert", "Shaders/unlit_texture_rectangle.frag"); break; default: break; } if (material != nullptr) { setMaterial(material); result = true; } } return result; } }; // Graphics }; // SurgSim opensurgsim-0.7.0/SurgSim/Graphics/OsgScreenSpaceQuadRepresentation.h000066400000000000000000000132471277777236100260270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGSCREENSPACEQUADREPRESENTATION_H #define SURGSIM_GRAPHICS_OSGSCREENSPACEQUADREPRESENTATION_H #include "SurgSim/DataStructures/OptionalValue.h" #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Graphics/OsgUniform.h" #include "SurgSim/Graphics/Representation.h" #include "SurgSim/Graphics/ScreenSpaceQuadRepresentation.h" #include #include #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace osg { class Projection; class Geode; class Geometry; } namespace SurgSim { namespace Graphics { class UniformBase; class Texture; class OsgTexture2d; class OsgTextureRectangle; /// Implements the ScreenSpaceQuadRepresentation, provides the uniform 'texture' for the texture that /// it carries. class OsgScreenSpaceQuadRepresentation : public OsgRepresentation, public ScreenSpaceQuadRepresentation { public: /// Constructor explicit OsgScreenSpaceQuadRepresentation(const std::string& name); ~OsgScreenSpaceQuadRepresentation(); /// Sets the location in screen space. /// \param x,y The x and y coordinates. virtual void setLocation(double x, double y); /// Gets the location in screen space. /// \param [out] x,y If non-null the x and y coordinates. Throws exception otherwise. virtual void getLocation(double* x, double* y); /// Sets the size for the quad in screen coordinates. /// \param width The width of the quad in screen coordinates. /// \param height The height of the quad in screen coordinates. void setSize(double width, double height) override; /// Gets the size of the quad. /// \param [out] width If non-null, the width. Throws exception otherwise. /// \param [out] height If non-null, the height. Throws exception otherwise. void getSize(double* width, double* height) const override; /// Sets a Texture for this quad, this should replace a current texture, this is a convenience function and /// this will use the uniform name "texture" for the uniform in this operation. This can be accomplished /// from the outside as well by using the material. /// \param texture The texture to be set on the quad. /// \return true if it succeeds, false if it fails. bool setTexture(std::shared_ptr texture) override; /// Sets a Texture2d for this quad, this should replace a current texture, this is a convenience function and /// this will use the uniform name "texture" for the uniform in this operation. This can be accomplished /// from the outside as well by using the material. /// \param texture The texture to be set on the quad. /// \return true if it succeeds, false if it fails. bool setTexture(std::shared_ptr texture); /// Sets a rectangular texture for this quad, this should replace a current texture, /// this is a convenience function and will use the uniform name "texture" for the uniform in this operation. /// \throws SurgSim::Framework::AssertionFailure if the type of the texture is changed during runtime. /// \param texture The texture to be set on the quad. /// \return true if it succeeds, false if it fails. bool setTexture(std::shared_ptr texture); /// Sets whether or not the alpha component of the texture should be used for transparancy blending. /// \param value true will render this last, allowing alpha-based blending to work. void setTransparent(bool value); /// Gets whether or not the alpha component of the texture should be used for transparancy blending. /// \return true if this will render last, allowing alpha-based blending to work. bool isTransparent(); protected: void doUpdate(double dt) override; bool doInitialize() override; private: /// Local geode to contain geometry osg::ref_ptr m_geode; /// Local geometry pointer osg::ref_ptr m_geometry; /// Projection matrix, needs to be updated when the view is changed osg::ref_ptr m_projection; /// Size of the quad osg::Vec3 m_scale; ///@{ /// Cached view extensions int m_displayWidth; int m_displayHeight; ///@} /// Sets texture coordinates for the quad. /// \param left, bottom, right, top The extents for the texture coordinates for the corners of the quad. void setTextureCoordinates(float left, float bottom, float right, float top); /// Replace a uniform in the material, will create the material if necessary /// \param name The name of the uniform to replace. /// \param newUniform The new uniform. /// \return true if it succeeds, false if it fails. bool replaceUniform(const std::string& name, std::shared_ptr newUniform); /// Uniform to carry the power of two texture, "texture" std::shared_ptr>> m_textureUniform; /// Uniform to carry the rectangle texture "texture" std::shared_ptr>> m_rectangleTextureUniform; /// Indicate which type of texture is currently being used SurgSim::DataStructures::OptionalValue m_texureType; }; }; // Graphics }; // SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif #endif opensurgsim-0.7.0/SurgSim/Graphics/OsgSkeletonRepresentation.cpp000066400000000000000000000310021277777236100251250ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgSkeletonRepresentation.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Graphics/OsgModel.h" #include "SurgSim/Graphics/OsgRigidTransformConversions.h" #include "SurgSim/Graphics/OsgProgram.h" /// Local data structure to store the bones and their references to the transforms. struct SurgSim::Graphics::BoneData { osg::ref_ptr osgBone; osg::ref_ptr osgRotation; osg::ref_ptr osgTranslation; SurgSim::Math::RigidTransform3d neutralPose; SurgSim::Math::RigidTransform3d pose; BoneData() : osgBone(nullptr), osgRotation(nullptr), osgTranslation(nullptr), neutralPose(SurgSim::Math::RigidTransform3d::Identity()), pose(SurgSim::Math::RigidTransform3d::Identity()) { } }; namespace { /// Visitor to collect information about the tree that we are using, collect all the /// osgAnimation::Bone nodes in it and add stacked transform elements to them so /// we can manipulate them, also switches the skinning to Hardware class BoneBuilder : public osg::NodeVisitor { public: /// Constructor /// \param hardwareShader The shader which does the skinning. /// \param bones The data structure to store the found bones BoneBuilder(osg::Shader* hardwareShader, std::shared_ptr> bones) : NodeVisitor(NodeVisitor::TRAVERSE_ALL_CHILDREN), m_shader(hardwareShader), m_bones(bones) { } /// Traverse the given tree and collect the bone data in them. /// Also setup for hardware skinning, if a hardware shader is provided. /// \param node The root node of the skeleton tree that needs to be traversed. virtual void apply(osg::Node& node) override // NOLINT { // Look for the transformation root .. if (m_rootTransform == nullptr) { m_rootTransform = dynamic_cast(&node); } // Parse the bone data. osgAnimation::Bone* bone = dynamic_cast(&node); if (bone != nullptr) { auto newBone = m_bones->find(bone->getName()); if (newBone == m_bones->end()) { newBone = m_bones->emplace(std::make_pair(bone->getName(), SurgSim::Graphics::BoneData())).first; } else { if (newBone->second.osgBone != nullptr) { SURGSIM_ASSERT(m_bones->find(bone->getName()) == m_bones->end()) << "There already exists a bone with name, " << bone->getName() << ", in this skeleton. Cannot create a duplicate."; } } newBone->second.osgBone = bone; newBone->second.osgRotation = new osgAnimation::StackedQuaternionElement("OssRotation"); newBone->second.osgRotation->setQuaternion(osg::Quat()); newBone->second.osgTranslation = new osgAnimation::StackedTranslateElement("OssTranslation"); osgAnimation::UpdateMatrixTransform* callback = dynamic_cast(bone->getUpdateCallback()); if (callback == nullptr) { bone->setDefaultUpdateCallback(); callback = dynamic_cast(bone->getUpdateCallback()); } SURGSIM_ASSERT(callback != nullptr) << "Could neither find nor create the appropriate BoneUpdate callback"; // Push these transformations onto the stack so we can manipulate them callback->getStackedTransforms().push_back(newBone->second.osgRotation); callback->getStackedTransforms().push_back(newBone->second.osgTranslation); } // Setup for hardware skinning. if (m_shader != nullptr) { osg::Geode* meshGeode = dynamic_cast(&node); if (nullptr != meshGeode) { osgAnimation::RigTransformHardware* rigTransform = new osgAnimation::RigTransformHardware(); osg::Shader* shader = new osg::Shader(*m_shader); rigTransform->setShader(shader); for (size_t i = 0; i < meshGeode->getNumDrawables(); ++i) { auto rigGeometry = dynamic_cast(meshGeode->getDrawable(i)); if (nullptr != rigGeometry) { rigGeometry->setRigTransformImplementation(rigTransform); } } } } traverse(node); } /// \return The root node of the skeleton on which the transform is set. osg::ref_ptr getRootTransform() { return m_rootTransform; } private: /// The root bone of the skeleton where the global transform is set. osg::ref_ptr m_rootTransform; /// The hardware skinning shader. osg::ref_ptr m_shader; /// The bone data from the skeleton. std::shared_ptr> m_bones; }; }; namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::OsgSkeletonRepresentation, OsgSkeletonRepresentation); OsgSkeletonRepresentation::OsgSkeletonRepresentation(const std::string& name) : Representation(name), OsgRepresentation(name), SkeletonRepresentation(name), m_logger(SurgSim::Framework::Logger::getLogger("Graphics/OsgSkeletonRepresentation")), m_bones(std::make_shared>()) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(OsgSkeletonRepresentation, std::string, SkinningShaderFileName, getSkinningShaderFileName, setSkinningShaderFileName); } void OsgSkeletonRepresentation::loadModel(const std::string& fileName) { SURGSIM_ASSERT(!isInitialized()) << "Cannot load model after OsgSkeletonRepresentation had been initialized."; auto model = std::make_shared(); model->load(fileName); setModel(model); } void OsgSkeletonRepresentation::setModel(std::shared_ptr model) { SURGSIM_ASSERT(!isInitialized()) << "Cannot set model after OsgSkeletonRepresentation had been initialized."; auto osgModel = std::dynamic_pointer_cast(model); SURGSIM_ASSERT(model == nullptr || osgModel != nullptr) << "OsgSkeletonRepresentation expects an OsgModel."; m_model = osgModel; } std::shared_ptr OsgSkeletonRepresentation::getModel() const { return m_model; } void OsgSkeletonRepresentation::setSkinningShaderFileName(const std::string& fileName) { m_skinningShaderFileName = fileName; } std::string OsgSkeletonRepresentation::getSkinningShaderFileName() const { return m_skinningShaderFileName; } void OsgSkeletonRepresentation::setBonePose(const std::string& name, const SurgSim::Math::RigidTransform3d& pose) { boost::unique_lock lock(m_mutex); auto found = m_bones->find(name); if (found != m_bones->end()) { found->second.pose = pose; } else if (isInitialized()) { SURGSIM_FAILURE() << "Bone with name " << name << " is not present in mesh."; } else { auto newBone = m_bones->emplace(std::make_pair(name, BoneData())).first; newBone->second.pose = pose; } } SurgSim::Math::RigidTransform3d OsgSkeletonRepresentation::getBonePose(const std::string& name) const { SurgSim::Math::RigidTransform3d pose = SurgSim::Math::RigidTransform3d::Identity(); boost::shared_lock lock(m_mutex); auto found = m_bones->find(name); if (found != m_bones->end()) { pose = found->second.pose; } else if (isInitialized()) { SURGSIM_FAILURE() << "Bone with name " << name << " is not present in mesh."; } return std::move(pose); } void OsgSkeletonRepresentation::setNeutralBonePose(const std::string& name, const SurgSim::Math::RigidTransform3d& pose) { boost::unique_lock lock(m_mutex); auto found = m_bones->find(name); if (found != m_bones->end()) { found->second.neutralPose = pose; } else if (isInitialized()) { SURGSIM_FAILURE() << "Bone with name " << name << " is not present in mesh."; } else { auto newBone = m_bones->emplace(std::make_pair(name, BoneData())).first; newBone->second.neutralPose = pose; } } SurgSim::Math::RigidTransform3d OsgSkeletonRepresentation::getNeutralBonePose(const std::string& name) const { SurgSim::Math::RigidTransform3d pose = SurgSim::Math::RigidTransform3d::Identity(); boost::shared_lock lock(m_mutex); auto found = m_bones->find(name); if (found != m_bones->end()) { pose = found->second.neutralPose; } else if (isInitialized()) { SURGSIM_FAILURE() << "Bone with name " << name << " is not present in mesh."; } return std::move(pose); } void OsgSkeletonRepresentation::setNeutralBonePoses(const std::map& poses) { for (auto& pose : poses) { setNeutralBonePose(pose.first, pose.second); } } std::map OsgSkeletonRepresentation::getNeutralBonePoses() const { std::map neutralBonePoses; boost::shared_lock lock(m_mutex); for (auto& bone : *m_bones) { neutralBonePoses[bone.first] = bone.second.neutralPose; } return std::move(neutralBonePoses); } void OsgSkeletonRepresentation::doUpdate(double dt) { { boost::shared_lock lock(m_mutex); for (auto& bone : *m_bones) { std::pair pose = toOsg(bone.second.pose * bone.second.neutralPose); bone.second.osgRotation->setQuaternion(pose.first); bone.second.osgTranslation->setTranslate(pose.second); } } // Update the position of the rest of the bones. m_base->accept(*m_updateVisitor); ++m_frameCount; m_updateVisitor->setTraversalNumber(m_frameCount); } bool OsgSkeletonRepresentation::doInitialize() { std::string shaderFilename; if (m_skinningShaderFileName.empty()) { SURGSIM_LOG_SEVERE(m_logger) << getName() << ": Skinning shader file not set."; return false; } getRuntime()->getApplicationData()->tryFindFile(m_skinningShaderFileName, &shaderFilename); if (shaderFilename.empty()) { SURGSIM_LOG_SEVERE(m_logger) << getName() << ": Skinning shader file (" << m_skinningShaderFileName << ") not found."; return false; } m_skinningShader = new osg::Shader(osg::Shader::VERTEX); if (!m_skinningShader->loadShaderSourceFromFile(shaderFilename)) { SURGSIM_LOG_SEVERE(m_logger) << getName() << ": Error loading shader (" << shaderFilename << ")."; return false; } if (m_model == nullptr) { SURGSIM_LOG_SEVERE(m_logger) << getName() << ": Model is not set."; return false; } m_skeleton = dynamic_cast(m_model->getOsgNode().get()); if (m_skeleton == nullptr) { SURGSIM_LOG_SEVERE(m_logger) << getName() << ": Model does not have a valid osgNode."; return false; } if (!setupBones()) { SURGSIM_LOG_SEVERE(m_logger) << getName() << ": Could not find any bones in model."; return false; } // Setup the transform updater for the skeleton. m_updateVisitor = new osgUtil::UpdateVisitor(); m_frameCount = 0; m_updateVisitor->setTraversalNumber(m_frameCount); m_base->accept(*m_updateVisitor); // Add the bone skeleton as a child to m_transform m_transform->addChild(m_base.get()); return true; } bool OsgSkeletonRepresentation::setupBones() { boost::unique_lock lock(m_mutex); BoneBuilder builder(m_skinningShader, m_bones); builder.traverse(*m_skeleton.get()); m_base = builder.getRootTransform(); for (auto bone = m_bones->begin(); bone != m_bones->end();) { if (bone->second.osgBone == nullptr) { SURGSIM_FAILURE() << "Bone with name " << bone->first << " is not present in mesh."; bone = m_bones->erase(bone); } else { ++bone; } } return (m_bones->size() != 0); } }; // Graphics }; // SurgSim opensurgsim-0.7.0/SurgSim/Graphics/OsgSkeletonRepresentation.h000066400000000000000000000076541277777236100246120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGSKELETONREPRESENTATION_H #define SURGSIM_GRAPHICS_OSGSKELETONREPRESENTATION_H #include #include #include #include #include #include #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Graphics/SkeletonRepresentation.h" #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace osg { class Node; class Shader; }; namespace SurgSim { namespace Graphics { struct BoneData; class OsgModel; /// Skeleton representation is used to move a mesh based on the movements of /// pre-selected control points (bones). class OsgSkeletonRepresentation : public OsgRepresentation, public SkeletonRepresentation { public: /// Constructor. /// \param name The name of the representation. explicit OsgSkeletonRepresentation(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgSkeletonRepresentation); void loadModel(const std::string& fileName) override; void setModel(std::shared_ptr model) override; std::shared_ptr getModel() const override; /// Set the file containing the skinning shader. /// \param fileName The file containing the skinning shader. void setSkinningShaderFileName(const std::string& fileName); /// \return The file containing the skinning shader. std::string getSkinningShaderFileName() const; void setBonePose(const std::string& name, const SurgSim::Math::RigidTransform3d& pose) override; SurgSim::Math::RigidTransform3d getBonePose(const std::string& name) const override; void setNeutralBonePose(const std::string& name, const SurgSim::Math::RigidTransform3d& pose) override; SurgSim::Math::RigidTransform3d getNeutralBonePose(const std::string& name) const override; protected: void setNeutralBonePoses(const std::map& poses) override; std::map getNeutralBonePoses() const override; void doUpdate(double dt) override; bool doInitialize() override; private: /// Setup the bones with the model and skinning shader bool setupBones(); /// The logger for this class. std::shared_ptr m_logger; /// The model containing the bone and mesh information. std::shared_ptr m_model; /// The named map of the bones in this skeleton. std::shared_ptr> m_bones; /// Mutex to access m_bones safely. mutable boost::shared_mutex m_mutex; /// The skeleton which is read from the mesh file. osg::ref_ptr m_skeleton; /// The file containing the skinning shader. std::string m_skinningShaderFileName; /// The hardware skinning shader. osg::ref_ptr m_skinningShader; /// Tree updater which updates the position of the bones. osg::ref_ptr m_updateVisitor; /// Parameter to keep track of the skeleton's frame count. Set to the UpdateVisitor. size_t m_frameCount; /// The root node of the skeleton tree. osg::ref_ptr m_root; /// The first MatrixTransform node osg::ref_ptr m_base; }; }; // namespace Graphics }; // namespace SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif #endif // SURGSIM_GRAPHICS_OSGSKELETONREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/OsgSphereRepresentation.cpp000066400000000000000000000036551277777236100246040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgSphereRepresentation.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgRigidTransformConversions.h" #include "SurgSim/Graphics/OsgUnitSphere.h" #include #include #include namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::OsgSphereRepresentation, OsgSphereRepresentation); OsgSphereRepresentation::OsgSphereRepresentation(const std::string& name) : Representation(name), OsgRepresentation(name), SphereRepresentation(name), m_sharedUnitSphere(getSharedUnitSphere()) { m_transform->addChild(m_sharedUnitSphere->getNode()); } void OsgSphereRepresentation::setRadius(double radius) { m_transform->setScale(osg::Vec3d(radius, radius, radius)); } double OsgSphereRepresentation::getRadius() const { SURGSIM_ASSERT(m_transform->getScale().x() == m_transform->getScale().y() && m_transform->getScale().x() == m_transform->getScale().z()) << "Sphere should be scaled equally in all directions!"; return m_transform->getScale().x(); } std::shared_ptr OsgSphereRepresentation::getSharedUnitSphere() { static SurgSim::Framework::SharedInstance shared; return shared.get(); } }; // Graphics }; // SurgSimopensurgsim-0.7.0/SurgSim/Graphics/OsgSphereRepresentation.h000066400000000000000000000042241277777236100242420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGSPHEREREPRESENTATION_H #define SURGSIM_GRAPHICS_OSGSPHEREREPRESENTATION_H #include "SurgSim/Graphics/SphereRepresentation.h" #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Framework/SharedInstance.h" #include "SurgSim/Math/RigidTransform.h" #include #include #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace SurgSim { namespace Graphics { class OsgUnitSphere; SURGSIM_STATIC_REGISTRATION(OsgSphereRepresentation); /// OSG implementation of a graphics sphere representation. class OsgSphereRepresentation : public OsgRepresentation, public SphereRepresentation { public: /// Constructor /// \param name Name of the representation explicit OsgSphereRepresentation(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgSphereRepresentation); /// Sets the radius of the sphere /// \param radius Radius of the sphere virtual void setRadius(double radius); /// Returns the radius of the sphere /// \return Radius of the sphere virtual double getRadius() const; private: /// Shared unit sphere, so that the geometry can be instanced rather than having multiple copies. std::shared_ptr m_sharedUnitSphere; /// Returns the shared unit sphere static std::shared_ptr getSharedUnitSphere(); }; }; // namespace Graphics }; // namespace SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif #endif // SURGSIM_GRAPHICS_OSGSPHEREREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/OsgTextRepresentation.cpp000066400000000000000000000172761277777236100243060ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgTextRepresentation.h" #include #include #include #include #include "SurgSim/Framework/Log.h" #include "SurgSim/Graphics/OsgConversions.h" #include "SurgSim/Graphics/OsgFont.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgUniform.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" using SurgSim::Math::makeRigidTransform; using SurgSim::Math::Quaterniond; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::OsgTextRepresentation, OsgTextRepresentation); OsgTextRepresentation::OsgTextRepresentation(const std::string& name) : Representation(name), OsgRepresentation(name), TextRepresentation(name), m_geode(new osg::Geode), m_textNode(new osgText::Text), m_needUpdate(true) { m_textNode->setDataVariance(osg::Object::DYNAMIC); m_textNode->setUseDisplayList(false); m_characterSize = m_textNode->getCharacterHeight(); m_geode->addDrawable(m_textNode); m_transform->addChild(m_geode); m_transform->setCullingActive(false); // Try to find default font, if this fails OSG will fall back to its own default, only a warning warranted auto font = std::make_shared(); try { font->load("Fonts/Vera.ttf"); } catch (std::exception e) { font = nullptr; SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getLogger("Graphics")) << "Could not set default font Fonts/Vera.ttf"; } m_font = font; setUseScreenSpace(true); } OsgTextRepresentation::~OsgTextRepresentation() { } void OsgTextRepresentation::setLocation(double x, double y) { setLocalPose(makeRigidTransform(Quaterniond::Identity(), Vector3d(x, y, 0.0))); } void OsgTextRepresentation::getLocation(double* x, double* y) const { SURGSIM_ASSERT(x != nullptr && y != nullptr) << "Cannot use a nullptr as an output parameter."; Vector3d position = getLocalPose().translation(); *x = position.x(); *y = position.y(); } void OsgTextRepresentation::setText(const std::string& text) { boost::mutex::scoped_lock lock(m_parameterMutex); m_text = text; m_needUpdate = true; } std::string OsgTextRepresentation::getText() const { return m_text; } void OsgTextRepresentation::doUpdate(double dt) { { boost::mutex::scoped_lock lock(m_parameterMutex); if (m_needUpdate) { // Osg will catch which ones have been updated, no need for more fine grained control. // Each of these may trigger an operation that rebuilds the internal structure of the text drawable // which may cause problems with the render m_textNode->setFont(m_font->getOsgFont()); m_textNode->setText(m_text); m_textNode->setCharacterSize(m_characterSize); m_textNode->setMaximumWidth(m_optionalWidth.hasValue() ? m_optionalWidth.getValue() : 0.0); m_needUpdate = false; } } if (isUsingScreenSpace()) { m_transform->setAttitude(osg::Quat(0.0, 0.0, 0.0, 1.0)); } } bool OsgTextRepresentation::doInitialize() { bool result = true; // if the material was preassigned, don't create a default one if (getMaterial() == nullptr) { result = false; auto material = buildMaterial("Shaders/unlit_texture.vert", "Shaders/unlit_text.frag"); if (material != nullptr) { m_textNode->getOrCreateStateSet()->addUniform(new osg::Uniform("texture", 0)); setMaterial(material); result = true; } } return result; } void OsgTextRepresentation::loadFont(const std::string& fileName) { auto newFont = std::make_shared(); newFont->load(fileName); setFont(newFont); } void OsgTextRepresentation::setFont(std::shared_ptr font) { SURGSIM_ASSERT(! isInitialized()) << "Can't set font after text has been initialized."; SURGSIM_ASSERT(font != nullptr) << "Can't use nullptr font."; auto osgFont = std::dynamic_pointer_cast(font); SURGSIM_ASSERT(osgFont != nullptr) << "Font has to be OsgFont, instead it was " << font->getClassName(); { boost::mutex::scoped_lock lock(m_parameterMutex); m_font = osgFont; m_needUpdate = true; } } std::shared_ptr OsgTextRepresentation::getFont() const { return m_font; } void OsgTextRepresentation::setOptionalMaximumWidth(SurgSim::DataStructures::OptionalValue maximum) { boost::mutex::scoped_lock lock(m_parameterMutex); m_optionalWidth = maximum; m_needUpdate = true; } SurgSim::DataStructures::OptionalValue OsgTextRepresentation::getOptionalMaximumWidth() { return m_optionalWidth; } void OsgTextRepresentation::setDrawBackground(bool value) { int drawMode = osgText::TextBase::TEXT; if (value) { drawMode |= osgText::TextBase::FILLEDBOUNDINGBOX; } m_textNode->setDrawMode(drawMode); } bool OsgTextRepresentation::isDrawingBackground() const { return (m_textNode->getDrawMode() & osgText::TextBase::FILLEDBOUNDINGBOX) != 0; } void OsgTextRepresentation::setBackgroundColor(Math::Vector4d color) { m_textNode->setBoundingBoxColor(toOsg(color)); } Math::Vector4d OsgTextRepresentation::getBackgroundColor() { Math::Vector4d result = fromOsg(m_textNode->getBoundingBoxColor()).cast(); return result; } void OsgTextRepresentation::setBackgroundMargin(double margin) { m_textNode->setBoundingBoxMargin(static_cast(margin)); } double OsgTextRepresentation::getBackgroundMargin() const { return m_textNode->getBoundingBoxMargin(); } void OsgTextRepresentation::setUseScreenSpace(bool value) { if (value == true) { removeGroupReference(Representation::DefaultGroupName); addGroupReference(Representation::DefaultHudGroupName); m_transform->setReferenceFrame(osg::Transform::ABSOLUTE_RF); m_textNode->setCharacterSizeMode(osgText::TextBase::SCREEN_COORDS); } else { removeGroupReference(Representation::DefaultHudGroupName); addGroupReference(Representation::DefaultGroupName); m_transform->setReferenceFrame(osg::Transform::RELATIVE_RF); m_textNode->setCharacterSizeMode(osgText::TextBase::OBJECT_COORDS); } } bool OsgTextRepresentation::isUsingScreenSpace() const { auto references = getGroupReferences(); auto found = std::find(references.begin(), references.end(), Representation::DefaultHudGroupName); return (found != references.end()); } void OsgTextRepresentation::setMaximumWidth(double width) { boost::mutex::scoped_lock lock(m_parameterMutex); if (width > 0.0) { m_optionalWidth.setValue(width); } else { m_optionalWidth.invalidate(); } m_needUpdate = true; } double OsgTextRepresentation::getMaximumWidth() { return m_optionalWidth.hasValue() ? m_optionalWidth.getValue() : 0.0; } void OsgTextRepresentation::setFontSize(double size) { boost::mutex::scoped_lock lock(m_parameterMutex); m_characterSize = size; m_needUpdate = true; } double OsgTextRepresentation::getFontSize() const { return m_characterSize; } void OsgTextRepresentation::setColor(SurgSim::Math::Vector4d color) { m_textNode->setColor(toOsg(color)); } SurgSim::Math::Vector4d OsgTextRepresentation::getColor() const { SurgSim::Math::Vector4d result = fromOsg(m_textNode->getColor()).cast(); return result; } }; // Graphics }; // SurgSim opensurgsim-0.7.0/SurgSim/Graphics/OsgTextRepresentation.h000066400000000000000000000073421277777236100237440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGTEXTREPRESENTATION_H #define SURGSIM_GRAPHICS_OSGTEXTREPRESENTATION_H #include #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Graphics/TextRepresentation.h" #include "SurgSim/DataStructures/OptionalValue.h" #include #include #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace osg { class Geode; } namespace osgText { class Text; } namespace SurgSim { namespace Framework { class Asset; } namespace Graphics { class OsgFont; SURGSIM_STATIC_REGISTRATION(OsgTextRepresentation); /// Osg implementation of the TextRepresentation, to be used with OsgFont assets class OsgTextRepresentation : public OsgRepresentation, public TextRepresentation { public: /// Constructor /// \param name Name of this OsgInfo explicit OsgTextRepresentation(const std::string& name); /// Destructor ~OsgTextRepresentation(); friend class OsgTextRepresentationTests_MaximumWidth_Test; SURGSIM_CLASSNAME(SurgSim::Graphics::OsgTextRepresentation); void setLocation(double x, double y) override; void getLocation(double* x, double* y) const override; void setMaximumWidth(double width) override; double getMaximumWidth() override; void setText(const std::string& text) override; std::string getText() const override; void loadFont(const std::string& fileName) override; void setFont(std::shared_ptr font) override; std::shared_ptr getFont() const override; void setColor(SurgSim::Math::Vector4d color) override; SurgSim::Math::Vector4d getColor() const override; void setFontSize(double size) override; double getFontSize() const override; void setUseScreenSpace(bool value) override; bool isUsingScreenSpace() const override; enum Anchor { ANCHOR_TOP_LEFT, ANCHOR_CENTER }; void setAnchor(int anchor); int getAnchor() const; void setDrawBackground(bool value) override; bool isDrawingBackground() const override; void setBackgroundColor(Math::Vector4d color) override; Math::Vector4d getBackgroundColor() override; void setBackgroundMargin(double margin) override; double getBackgroundMargin() const override; protected: void doUpdate(double dt) override; bool doInitialize() override; void setOptionalMaximumWidth(SurgSim::DataStructures::OptionalValue maximum) override; SurgSim::DataStructures::OptionalValue getOptionalMaximumWidth() override; private: osg::ref_ptr m_geode; ///< node used to render text osg::ref_ptr m_textNode; ///< node for text display std::string m_text; ///< Text set by the user std::shared_ptr m_font; ///< font used for rendering SurgSim::DataStructures::OptionalValue m_optionalWidth; ///< information about the maximum width double m_characterSize; ///< the font height boost::mutex m_parameterMutex; ///< protect changes of parameters bool m_needUpdate; ///< indicate whether parameters need to be updated int m_anchor; SurgSim::Math::Vector3d m_offset; }; }; // Graphics }; // SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif #endifopensurgsim-0.7.0/SurgSim/Graphics/OsgTexture.cpp000066400000000000000000000021701277777236100220620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgTexture.h" #include using SurgSim::Graphics::OsgTexture; OsgTexture::OsgTexture(osg::Texture* texture) : m_texture(texture) { } bool OsgTexture::loadImage(const std::string& filePath) { osg::ref_ptr imageNode = osgDB::readImageFile(filePath); if (imageNode.valid()) { m_texture->setImage(0u, imageNode); return true; } else { return false; } } void OsgTexture::clearImage() { m_texture->setImage(0, nullptr); } opensurgsim-0.7.0/SurgSim/Graphics/OsgTexture.h000066400000000000000000000031561277777236100215340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGTEXTURE_H #define SURGSIM_GRAPHICS_OSGTEXTURE_H #include "SurgSim/Graphics/Texture.h" #include namespace SurgSim { namespace Graphics { /// Base class for OSG implementations of Graphics Textures. /// /// Wraps an osg::Texture. class OsgTexture : public virtual Texture { public: /// Loads an image into the texture from a file /// \param filePath Path to the image file /// \return True if the image is successfully loaded, otherwise false virtual bool loadImage(const std::string& filePath); /// Removes the image from the texture virtual void clearImage(); /// Returns the osg::Texture1D osg::ref_ptr getOsgTexture() const { return m_texture; } protected: /// Constructor /// \param texture OSG texture explicit OsgTexture(osg::Texture* texture); private: /// OSG texture osg::ref_ptr m_texture; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGTEXTURE_H opensurgsim-0.7.0/SurgSim/Graphics/OsgTexture1d.cpp000066400000000000000000000021131277777236100223040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgTexture1d.h" using SurgSim::Graphics::OsgTexture1d; OsgTexture1d::OsgTexture1d() : OsgTexture(new osg::Texture1D()) { } void OsgTexture1d::setSize(int width) { getOsgTexture1d()->setTextureWidth(width); } void OsgTexture1d::getSize(int* width) const { *width = getOsgTexture1d()->getTextureWidth(); if (*width == 0 && getOsgTexture()->getNumImages() > 0) { *width = getOsgTexture()->getImage(0)->s(); } } opensurgsim-0.7.0/SurgSim/Graphics/OsgTexture1d.h000066400000000000000000000034141277777236100217560ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGTEXTURE1D_H #define SURGSIM_GRAPHICS_OSGTEXTURE1D_H #include "SurgSim/Graphics/OsgTexture.h" #include "SurgSim/Graphics/Texture1d.h" #include #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace SurgSim { namespace Graphics { /// OSG implementation of a 1D Texture /// /// Wraps an osg::Texture1d class OsgTexture1d : public OsgTexture, public Texture1d { public: /// Constructor /// \post No image is loaded in the texture. OsgTexture1d(); /// Sets the size of the texture /// \param width Width of the texture /// \note Use this to setup a texture as a render target rather than loading from file. virtual void setSize(int width); /// Gets the size of the texture /// \return width Width of the texture virtual void getSize(int* width) const; /// Returns the osg::Texture1D osg::ref_ptr getOsgTexture1d() const { return static_cast(getOsgTexture().get()); } }; }; // namespace Graphics }; // namespace SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif #endif // SURGSIM_GRAPHICS_OSGTEXTURE1D_H opensurgsim-0.7.0/SurgSim/Graphics/OsgTexture2d.cpp000066400000000000000000000037151277777236100223160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgTexture2d.h" using SurgSim::Graphics::OsgTexture2d; OsgTexture2d::OsgTexture2d() : OsgTexture(new osg::Texture2D()) { } void OsgTexture2d::setSize(int width, int height) { getOsgTexture2d()->setTextureSize(width, height); } void OsgTexture2d::getSize(int* width, int* height) const { *width = getOsgTexture2d()->getTextureWidth(); if (*width == 0 && getOsgTexture()->getNumImages() > 0) { *width = getOsgTexture()->getImage(0)->s(); } *height = getOsgTexture2d()->getTextureHeight(); if (*height == 0 && getOsgTexture()->getNumImages() > 0) { *height = getOsgTexture()->getImage(0)->t(); } } template <> std::shared_ptr SurgSim::Framework::convert(boost::any val) { std::shared_ptr result; try { std::shared_ptr tex = boost::any_cast>(val); result = std::dynamic_pointer_cast(tex); } catch (boost::bad_any_cast&) { result = boost::any_cast>(val); } SURGSIM_ASSERT(result != nullptr) << "Conversion from the incoming type to OsgTexture2d failed, this probably means that the input value " << "was a texture but not an OsgTexture2d."; return result; } opensurgsim-0.7.0/SurgSim/Graphics/OsgTexture2d.h000066400000000000000000000043551277777236100217640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGTEXTURE2D_H #define SURGSIM_GRAPHICS_OSGTEXTURE2D_H #include "SurgSim/Graphics/OsgTexture.h" #include "SurgSim/Graphics/Texture2d.h" #include #include "SurgSim/Framework/Accessible.h" #include #include #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace SurgSim { namespace Graphics { /// OSG implementation of a 2D Texture /// /// Wraps an osg::Texture2d class OsgTexture2d : public OsgTexture, public Texture2d { public: /// Constructor /// \post No image is loaded in the texture. OsgTexture2d(); /// Sets the size of the texture /// \param width Width of the texture /// \param height Height of the texture /// \note Use this to setup a texture as a render target rather than loading from file. virtual void setSize(int width, int height); /// Gets the size of the texture /// \param[out] width Width of the texture /// \param[out] height Height of the texture virtual void getSize(int* width, int* height) const; /// Returns the osg::Texture2D osg::ref_ptr getOsgTexture2d() const { return static_cast(getOsgTexture().get()); } }; }; // namespace Graphics namespace Framework { /// Template specialization for the convert<> function used in accessible, this one can convert an incoming /// SurgSim::Graphics::Texture to an outgoing OsgTexture2d template <> std::shared_ptr convert(boost::any val); } }; // namespace SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif #endif // SURGSIM_GRAPHICS_OSGTEXTURE2D_H opensurgsim-0.7.0/SurgSim/Graphics/OsgTexture3d.cpp000066400000000000000000000067141277777236100223210ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgTexture3d.h" #include "SurgSim/Framework/Assert.h" #include using SurgSim::Graphics::OsgTexture3d; OsgTexture3d::OsgTexture3d() : OsgTexture(new osg::Texture3D()) { } void OsgTexture3d::setSize(int width, int height, int depth) { getOsgTexture3d()->setTextureSize(width, height, depth); } void OsgTexture3d::getSize(int* width, int* height, int* depth) const { *width = getOsgTexture3d()->getTextureWidth(); if (*width == 0 && getOsgTexture()->getNumImages() > 0) { *width = getOsgTexture()->getImage(0)->s(); } *height = getOsgTexture3d()->getTextureHeight(); if (*height == 0 && getOsgTexture()->getNumImages() > 0) { *height = getOsgTexture()->getImage(0)->t(); } *depth = getOsgTexture3d()->getTextureDepth(); if (*depth == 0 && getOsgTexture()->getNumImages() > 0) { *depth = getOsgTexture()->getImage(0)->r(); } } bool OsgTexture3d::loadImageSlices(const std::vector& filePaths) { SURGSIM_ASSERT(! filePaths.empty()) << "No image file paths to load!"; std::vector> slices; slices.reserve(filePaths.size()); int width; int height; GLenum pixelFormat; GLenum dataType; /// Load first slice, all others should have same properties { osg::ref_ptr firstSlice = osgDB::readImageFile(filePaths.front()); if (! firstSlice.valid()) { return false; } slices.push_back(firstSlice); width = firstSlice->s(); height = firstSlice->t(); pixelFormat = firstSlice->getPixelFormat(); dataType = firstSlice->getDataType(); } /// Load the remaining slices for (auto it = filePaths.begin() + 1; it != filePaths.end(); ++it) { osg::ref_ptr slice = osgDB::readImageFile(*it); if (! slice.valid()) { return false; } SURGSIM_ASSERT(slice->s() == width) << "Slice has different width! File: " << *it << " Width: " << slice->s() << " Expected Width: " << width; SURGSIM_ASSERT(slice->t() == height) << "Slice has different height! File: " << *it << " Height: " << slice->s() << " Expected Height: " << height; SURGSIM_ASSERT(slice->getPixelFormat() == pixelFormat) << "Slice has different pixel format! File: " << *it << " Pixel Format: " << slice->getPixelFormat() << " Expected Pixel Format: " << pixelFormat; SURGSIM_ASSERT(slice->getDataType() == dataType) << "Slice has different data type! File: " << *it << " Data type: " << slice->getDataType() << " Expected Data Type: " << dataType; slices.push_back(slice); } /// Copy the slices into the 3D image, starting at depth 0 osg::ref_ptr image = new osg::Image(); image->allocateImage(width, height, slices.size(), pixelFormat, dataType); int depth = 0; for (auto it = slices.begin(); it != slices.end(); ++it) { image->copySubImage(0, 0, depth, it->get()); } getOsgTexture()->setImage(0u, image); return true; }opensurgsim-0.7.0/SurgSim/Graphics/OsgTexture3d.h000066400000000000000000000045021277777236100217570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGTEXTURE3D_H #define SURGSIM_GRAPHICS_OSGTEXTURE3D_H #include "SurgSim/Graphics/OsgTexture.h" #include "SurgSim/Graphics/Texture3d.h" #include #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace SurgSim { namespace Graphics { /// OSG implementation of a 3D Texture /// /// Wraps an osg::Texture3d class OsgTexture3d : public OsgTexture, public Texture3d { public: /// Constructor /// \post No image is loaded in the texture. OsgTexture3d(); /// Sets the size of the texture /// \param width Width of the texture /// \param height Height of the texture /// \param depth Depth of the texture /// \note Use this to setup a texture as a render target rather than loading from file. virtual void setSize(int width, int height, int depth); /// Gets the size of the texture /// \param[out] width Width of the texture /// \param[out] height Height of the texture /// \param[out] depth Depth of the texture virtual void getSize(int* width, int* height, int* depth) const; /// Loads images slices from files into the 3D texture /// \param filePaths Paths to the image files /// \return True if the image is successfully loaded, otherwise false /// \note The slices are stacked in the order provided to create the depth of the 3D texture. virtual bool loadImageSlices(const std::vector& filePaths); /// Returns the osg::Texture3D osg::ref_ptr getOsgTexture3d() const { return static_cast(getOsgTexture().get()); } }; }; // namespace Graphics }; // namespace SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif #endif // SURGSIM_GRAPHICS_OSGTEXTURE3D_H opensurgsim-0.7.0/SurgSim/Graphics/OsgTextureCubeMap.cpp000066400000000000000000000122641277777236100233240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgTextureCubeMap.h" #include using SurgSim::Graphics::OsgTextureCubeMap; OsgTextureCubeMap::OsgTextureCubeMap() : OsgTexture(new osg::TextureCubeMap()) { } void OsgTextureCubeMap::setSize(int width, int height) { getOsgTextureCubeMap()->setTextureSize(width, height); } void OsgTextureCubeMap::getSize(int* width, int* height) const { *width = getOsgTextureCubeMap()->getTextureWidth(); if (*width == 0 && getOsgTexture()->getNumImages() > 0) { *width = getOsgTexture()->getImage(0)->s(); } *height = getOsgTextureCubeMap()->getTextureHeight(); if (*height == 0 && getOsgTexture()->getNumImages() > 0) { *height = getOsgTexture()->getImage(0)->t(); } } bool OsgTextureCubeMap::loadImage(const std::string& filePath) { osg::ref_ptr imageNode = osgDB::readImageFile(filePath); if (! imageNode.valid()) { return false; } // Split up image to the six sides of the cube int width = imageNode->s() / 3; int height = imageNode->t() / 4; osg::ref_ptr negativeZ = copyImageBlock(*imageNode, width, 0, width, height); negativeZ->flipHorizontal(); osg::ref_ptr negativeY = copyImageBlock(*imageNode, width, height, width, height); negativeY->flipVertical(); osg::ref_ptr negativeX = copyImageBlock(*imageNode, 0, height * 2, width, height); negativeX->flipVertical(); osg::ref_ptr positiveZ = copyImageBlock(*imageNode, width, height * 2, width, height); positiveZ->flipVertical(); osg::ref_ptr positiveX = copyImageBlock(*imageNode, width * 2, height * 2, width, height); positiveX->flipVertical(); osg::ref_ptr positiveY = copyImageBlock(*imageNode, width, height * 3, width, height); positiveY->flipVertical(); getOsgTexture()->setImage(osg::TextureCubeMap::POSITIVE_X, positiveX); getOsgTexture()->setImage(osg::TextureCubeMap::NEGATIVE_X, negativeX); getOsgTexture()->setImage(osg::TextureCubeMap::POSITIVE_Y, positiveY); getOsgTexture()->setImage(osg::TextureCubeMap::NEGATIVE_Y, negativeY); getOsgTexture()->setImage(osg::TextureCubeMap::POSITIVE_Z, positiveZ); getOsgTexture()->setImage(osg::TextureCubeMap::NEGATIVE_Z, negativeZ); return true; } bool OsgTextureCubeMap::loadImageFaces(const std::string& negativeX, const std::string& positiveX, const std::string& negativeY, const std::string& positiveY, const std::string& negativeZ, const std::string& positiveZ) { osg::ref_ptr negativeXImage = osgDB::readImageFile(negativeX); osg::ref_ptr positiveXImage = osgDB::readImageFile(positiveX); osg::ref_ptr negativeYImage = osgDB::readImageFile(negativeY); osg::ref_ptr positiveYImage = osgDB::readImageFile(positiveY); osg::ref_ptr negativeZImage = osgDB::readImageFile(negativeZ); osg::ref_ptr positiveZImage = osgDB::readImageFile(positiveZ); if (negativeXImage.valid() && positiveXImage.valid() && negativeYImage.valid() && positiveYImage.valid() && negativeZImage.valid() && positiveZImage.valid()) { getOsgTexture()->setImage(osg::TextureCubeMap::NEGATIVE_X, negativeXImage); getOsgTexture()->setImage(osg::TextureCubeMap::POSITIVE_X, positiveXImage); getOsgTexture()->setImage(osg::TextureCubeMap::NEGATIVE_Y, negativeYImage); getOsgTexture()->setImage(osg::TextureCubeMap::POSITIVE_Y, positiveYImage); getOsgTexture()->setImage(osg::TextureCubeMap::NEGATIVE_Z, negativeZImage); getOsgTexture()->setImage(osg::TextureCubeMap::POSITIVE_Z, positiveZImage); return true; } else { return false; } } osg::ref_ptr OsgTextureCubeMap::copyImageBlock( const osg::Image& source, size_t startColumn, size_t startRow, size_t width, size_t height) { size_t pixelSize = source.getPixelSizeInBits() / 8; unsigned char* buffer = new unsigned char[(width * height) * pixelSize]; size_t index = 0; for (size_t row = startRow; row < startRow + height; ++row) { for (size_t column = startColumn; column < startColumn + width; ++column) { const unsigned char* pixel = source.data(column, row, 0); for (size_t p = 0; p < pixelSize; ++p) { buffer[index] = pixel[p]; index++; } } } osg::ref_ptr subImage = new osg::Image(); subImage->setImage(width, height, 1, source.getInternalTextureFormat(), source.getPixelFormat(), GL_UNSIGNED_BYTE, buffer, osg::Image::USE_NEW_DELETE, 1); return subImage; } osg::ref_ptr SurgSim::Graphics::OsgTextureCubeMap::getOsgTextureCubeMap() const { return static_cast(getOsgTexture().get()); } opensurgsim-0.7.0/SurgSim/Graphics/OsgTextureCubeMap.h000066400000000000000000000062031277777236100227650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGTEXTURECUBEMAP_H #define SURGSIM_GRAPHICS_OSGTEXTURECUBEMAP_H #include "SurgSim/Graphics/OsgTexture.h" #include "SurgSim/Graphics/TextureCubeMap.h" #include #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace SurgSim { namespace Graphics { /// OSG implementation of a Cube Map Texture /// /// Wraps an osg::TextureCubeMap class OsgTextureCubeMap : public OsgTexture, public TextureCubeMap { public: /// Constructor /// \post No image is loaded in the texture. OsgTextureCubeMap(); void setSize(int width, int height) override; void getSize(int* width, int* height) const override; /// Loads an image into the texture from a file /// \param filePath Path to the image file /// \return True if the image is successfully loaded, otherwise false /// \note /// The image should contain the cube map unwrapped such that each face is width/3 x height/4 and the corners /// for the faces are arranged as follows, with (0, 0) as the bottom-left corner and (width, height) as the /// top-right corner: /// (-Z): (width * 1/3, 0 ) to (width * 2/3, height * 1/4) /// (-Y): (width * 1/3, height * 1/4) to (width * 2/3, height * 1/2) /// (-X): (0, height * 1/2) to (width * 1/3, height * 3/4) /// (+Z): (width * 1/3, height * 1/2) to (width * 2/3, height * 3/4) /// (+X): (width * 2/3, height * 1/2) to (width, height * 3/4) /// (+Y): (width * 1/3, height * 3/4) to (width * 2/3, height ) bool loadImage(const std::string& filePath) override; bool loadImageFaces(const std::string& negativeX, const std::string& positiveX, const std::string& negativeY, const std::string& positiveY, const std::string& negativeZ, const std::string& positiveZ) override; /// Returns the osg::TextureCubeMap osg::ref_ptr getOsgTextureCubeMap() const; protected: /// Makes a copy of an image block /// \param source Source image to copy from /// \param startColumn First column of block in the source image /// \param startRow First row of block in the source image /// \param width Width of the block /// \param height Height of the block /// \return Copy of the image block osg::ref_ptr copyImageBlock(const osg::Image& source, size_t startColumn, size_t startRow, size_t width, size_t height); }; }; // namespace Graphics }; // namespace SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif #endif // SURGSIM_GRAPHICS_OSGTEXTURECUBEMAP_H opensurgsim-0.7.0/SurgSim/Graphics/OsgTextureRectangle.cpp000066400000000000000000000025221277777236100237100ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgTextureRectangle.h" using SurgSim::Graphics::OsgTextureRectangle; OsgTextureRectangle::OsgTextureRectangle() : OsgTexture(new osg::TextureRectangle()) { } void OsgTextureRectangle::setSize(int width, int height) { getOsgTextureRectangle()->setTextureSize(width, height); } void OsgTextureRectangle::getSize(int* width, int* height) const { *width = getOsgTextureRectangle()->getTextureWidth(); if (*width == 0 && getOsgTexture()->getNumImages() > 0) { *width = getOsgTexture()->getImage(0)->s(); } *height = getOsgTextureRectangle()->getTextureHeight(); if (*height == 0 && getOsgTexture()->getNumImages() > 0) { *height = getOsgTexture()->getImage(0)->t(); } } opensurgsim-0.7.0/SurgSim/Graphics/OsgTextureRectangle.h000066400000000000000000000040431277777236100233550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGTEXTURERECTANGLE_H #define SURGSIM_GRAPHICS_OSGTEXTURERECTANGLE_H #include "SurgSim/Graphics/OsgTexture.h" #include "SurgSim/Graphics/TextureRectangle.h" #include #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif namespace SurgSim { namespace Graphics { /// OSG implementation of a Rectangle Texture /// /// Wraps an osg::TextureRectangle /// /// \note Texel coordinates are used to access this texture. class OsgTextureRectangle : public OsgTexture, public TextureRectangle { public: /// Constructor /// \post No image is loaded in the texture. OsgTextureRectangle(); /// Sets the size of the texture /// \param width Width of the texture /// \param height Height of the texture /// \note Use this to setup a texture as a render target rather than loading from file. virtual void setSize(int width, int height); /// Gets the size of the texture /// \param[out] width Width of the texture /// \param[out] height Height of the texture virtual void getSize(int* width, int* height) const; /// Returns the osg::TextureRectangle osg::ref_ptr getOsgTextureRectangle() const { return static_cast(getOsgTexture().get()); } }; }; // namespace Graphics }; // namespace SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif #endif // SURGSIM_GRAPHICS_OSGTEXTURERECTANGLE_H opensurgsim-0.7.0/SurgSim/Graphics/OsgTextureUniform-inl.h000066400000000000000000000104451277777236100236530ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGTEXTUREUNIFORM_INL_H #define SURGSIM_GRAPHICS_OSGTEXTUREUNIFORM_INL_H #include #include "SurgSim/Framework/Assert.h" #include "SurgSim/Graphics/OsgTexture.h" #include "SurgSim/Graphics/OsgTexture1d.h" #include "SurgSim/Graphics/OsgTexture2d.h" #include "SurgSim/Graphics/OsgTexture3d.h" #include "SurgSim/Graphics/OsgTextureCubeMap.h" #include "SurgSim/Graphics/OsgTextureRectangle.h" #include "SurgSim/Graphics/OsgUniformTypes.h" namespace SurgSim { namespace Graphics { template OsgTextureUniform::OsgTextureUniform(const std::string& name) : UniformBase(), Uniform>(), OsgUniformBase(name), m_unit(-1), m_minimumTextureUnit(0) { SURGSIM_ADD_RW_PROPERTY(OsgTextureUniform, size_t, MinimumTextureUnit, getMinimumTextureUnit, setMinimumTextureUnit); osg::Uniform::Type osgUniformType = getOsgUniformType>(); SURGSIM_ASSERT(osgUniformType != osg::Uniform::UNDEFINED) << "Failed to get OSG uniform type!"; SURGSIM_ASSERT(m_uniform->setType(osgUniformType)) << "Failed to set OSG uniform type!"; m_uniform->setNumElements(1); } template void OsgTextureUniform::set(const std::shared_ptr& value) { m_texture = value; if (m_stateset != nullptr) { m_stateset->setTextureAttributeAndModes(m_unit, m_texture->getOsgTexture(), osg::StateAttribute::ON); } } template void OsgTextureUniform::set(const YAML::Node& value) { m_unit = value.as(); } template const std::shared_ptr& OsgTextureUniform::get() const { return m_texture; } template void OsgTextureUniform::addToStateSet(osg::StateSet* stateSet) { SURGSIM_ASSERT(m_stateset == nullptr) << "Unexpected addToStateSet for OsgTextureUniform " << getName() << "."; const osg::StateSet::TextureAttributeList& textures = stateSet->getTextureAttributeList(); // Grab the smallest unit that is equal or higher than m_minimumTextureUnit // and search through allocated units for free ones int availableUnit = m_minimumTextureUnit; if (textures.size() > m_minimumTextureUnit) { for (auto it = textures.begin() + m_minimumTextureUnit; it != textures.end(); ++it) { if (it->empty()) { break; } availableUnit++; } } m_unit = availableUnit; SURGSIM_ASSERT(m_texture != nullptr) << "Tried to add uniform " << getName() << " without a valid Texture"; if(m_texture->isPointSprite()) { osg::PointSprite* sprite = new osg::PointSprite(); stateSet->setTextureAttributeAndModes(m_unit, sprite, osg::StateAttribute::ON); stateSet->setMode(GL_VERTEX_PROGRAM_POINT_SIZE, osg::StateAttribute::ON); } stateSet->setTextureAttributeAndModes(m_unit, m_texture->getOsgTexture(), osg::StateAttribute::ON); SURGSIM_ASSERT(m_uniform->set(static_cast(m_unit))) << "Failed to set OSG texture uniform unit!" << " Uniform: " << getName() << " unit: " << m_unit; stateSet->addUniform(m_uniform); m_stateset = stateSet; } template void OsgTextureUniform::removeFromStateSet(osg::StateSet* stateSet) { SURGSIM_ASSERT(m_stateset != stateSet) << "Unexpected Remove for OsgTextureUniform"; stateSet->removeTextureAttribute(m_unit, m_texture->getOsgTexture()); stateSet->removeUniform(m_uniform); m_stateset = nullptr; } template void OsgTextureUniform::setMinimumTextureUnit(size_t unit) { SURGSIM_ASSERT(m_unit == -1) << "Can't set minimumTextureUnit after the unit has been assigned."; m_minimumTextureUnit = unit; } template size_t OsgTextureUniform::getMinimumTextureUnit() const { return m_minimumTextureUnit; } }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGTEXTUREUNIFORM_INL_H opensurgsim-0.7.0/SurgSim/Graphics/OsgTextureUniform.h000066400000000000000000000101741277777236100230720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGTEXTUREUNIFORM_H #define SURGSIM_GRAPHICS_OSGTEXTUREUNIFORM_H /// \note HS-2013-jul-07 This file is included by OsgUniform.h, it is not meant to be used on its own namespace SurgSim { namespace Graphics { /// OSG implementation of graphics uniform with a texture value /// \tparam T Texture type template class OsgTextureUniform : public Uniform>, public OsgUniformBase { public: /// Constructor /// \param name Name used in shader code to access this uniform explicit OsgTextureUniform(const std::string& name); /// This is the texture unit from where the search for a free texture unit will start /// \param unit lowest texture unit to use, default is 0 void setMinimumTextureUnit(size_t unit); /// \return the value of the lowest texture unit to use for this uniform size_t getMinimumTextureUnit() const; /// Sets the value of the uniform /// \note using this directly might make the state of the uniform incosistent with /// the texture that was used to create this uniform virtual void set(const std::shared_ptr& value); virtual void set(const YAML::Node& node); /// Returns the value of the uniform virtual const std::shared_ptr& get() const; /// Adds this uniform to the OSG state set /// \param stateSet OSG state set virtual void addToStateSet(osg::StateSet* stateSet); /// Removes this uniform from the OSG state set /// \param stateSet OSG state set virtual void removeFromStateSet(osg::StateSet* stateSet); private: /// Texture std::shared_ptr m_texture; osg::ref_ptr m_stateset; /// Texture unit ptrdiff_t m_unit; /// The smallest unit to be used size_t m_minimumTextureUnit; }; /// Specialization of OsgUniform for OsgTexture1d template <> class OsgUniform> : public OsgTextureUniform { public: /// Constructor /// \param name Name used in shader code to access this uniform explicit OsgUniform(const std::string& name) : OsgTextureUniform(name) { } }; /// Specialization of OsgUniform for OsgTexture2d template <> class OsgUniform> : public OsgTextureUniform { public: /// Constructor /// \param name Name used in shader code to access this uniform explicit OsgUniform(const std::string& name) : OsgTextureUniform(name) { } }; /// Specialization of OsgUniform for OsgTexture3d template <> class OsgUniform> : public OsgTextureUniform { public: /// Constructor /// \param name Name used in shader code to access this uniform explicit OsgUniform(const std::string& name) : OsgTextureUniform(name) { } }; /// Specialization of OsgUniform for OsgTextureCubeMap template <> class OsgUniform> : public OsgTextureUniform { public: /// Constructor /// \param name Name used in shader code to access this uniform explicit OsgUniform(const std::string& name) : OsgTextureUniform(name) { } }; /// Specialization of OsgUniform for OsgTextureRectangle template <> class OsgUniform> : public OsgTextureUniform { public: /// Constructor /// \param name Name used in shader code to access this uniform explicit OsgUniform(const std::string& name) : OsgTextureUniform(name) { } }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGTEXTUREUNIFORM_H opensurgsim-0.7.0/SurgSim/Graphics/OsgTrackballZoomManipulator.cpp000066400000000000000000000124211277777236100254020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgTrackballZoomManipulator.h" #include /// Calculate the key code value of Ctrl-{character}, given the uppercase character. /// If a key is pressed while holding Ctrl, OSG "helpfully" gives you the key code of the control character /// (i.e. ^A == 1) instead of the key itself ('A' == 65). /// To cope with this, you can use CONTROL_CHAR_FROM_UPPERCASE('A') which is easier to read than /// strange character ('\001') or integral (1) constants. #define CONTROL_CHAR_FROM_UPPERCASE(uppercaseCharacter) ((uppercaseCharacter) - ('A' - 1)) namespace SurgSim { namespace Graphics { OsgTrackballZoomManipulator::OsgTrackballZoomManipulator() : osgGA::TrackballManipulator(), m_minZoomFactor(0.05), m_maxZoomFactor(1.0), m_minZoomAmount(0.01), m_maxZoomAmount(1.0), m_zoomFactor(1.0), m_zoomFactorScale(1.0) { } void OsgTrackballZoomManipulator::setMinZoomFactor(double factor) { m_minZoomFactor = factor; } double OsgTrackballZoomManipulator::getMinZoomFactor() const { return m_minZoomFactor; } void OsgTrackballZoomManipulator::setMaxZoomFactor(double factor) { m_maxZoomFactor = factor; } double OsgTrackballZoomManipulator::getMaxZoomFactor() const { return m_maxZoomFactor; } void OsgTrackballZoomManipulator::setMinZoomAmount(double amount) { m_minZoomAmount = amount; } double OsgTrackballZoomManipulator::getMinZoomAmount() const { return m_minZoomAmount; } void OsgTrackballZoomManipulator::setMaxZoomAmount(double amount) { m_maxZoomAmount = amount; } double OsgTrackballZoomManipulator::getMaxZoomAmount() const { return m_maxZoomAmount; } void OsgTrackballZoomManipulator::setZoomFactor(double factor) { m_zoomFactor = factor; } double OsgTrackballZoomManipulator::getZoomFactor() const { return m_zoomFactor; } void OsgTrackballZoomManipulator::setZoomFactorScale(double factor) { m_zoomFactorScale = factor; } double OsgTrackballZoomManipulator::getZoomFactorScale() const { return m_zoomFactorScale; } void OsgTrackballZoomManipulator::zoom(double zoomPercent) { double difference = m_zoomFactor - m_minZoomFactor; if (difference < m_minZoomAmount) { difference = m_minZoomAmount; } else if (difference > m_maxZoomAmount) { difference = m_maxZoomAmount; } m_zoomFactor += difference * zoomPercent; if (m_zoomFactor < m_minZoomFactor) { m_zoomFactor = m_minZoomFactor; } else if (m_zoomFactor > m_maxZoomFactor) { m_zoomFactor = m_maxZoomFactor; } } void OsgTrackballZoomManipulator::makeUpright() { osg::Matrixd rotationMatrix(getRotation()); // Remove any roll from the camera pose. osg::Vec3d backwards(rotationMatrix(2, 0), rotationMatrix(2, 1), rotationMatrix(2, 2)); osg::Vec3d right = osg::Vec3d(0.0, 1.0, 0.0) ^ backwards; if (right.length2() < 1e-12) { right.set(0.0, 0.0, 1.0); // arbitrary... } right.normalize(); osg::Vec3d up = backwards ^ right; // shouldn't need to be normalized for (int c = 0; c < 3; ++c) { rotationMatrix(0, c) = right[c]; } for (int c = 0; c < 3; ++c) { rotationMatrix(1, c) = up[c]; } setRotation(rotationMatrix.getRotate()); } bool OsgTrackballZoomManipulator::handle( const osgGA::GUIEventAdapter& eventAdapter, osgGA::GUIActionAdapter& actionAdapter) { unsigned int mask = eventAdapter.getModKeyMask(); switch (eventAdapter.getEventType()) { case (osgGA::GUIEventAdapter::KEYDOWN): { int key = eventAdapter.getKey(); switch (key) { case 'u': case 'U': case CONTROL_CHAR_FROM_UPPERCASE('U'): { // ctrl-U makes the camera upright, so that the up axis points up if ((mask & osgGA::GUIEventAdapter::MODKEY_CTRL) && !(mask & osgGA::GUIEventAdapter::MODKEY_ALT) && !(mask & osgGA::GUIEventAdapter::MODKEY_SHIFT)) { makeUpright(); } } break; } } default: break; } return osgGA::TrackballManipulator::handle(eventAdapter, actionAdapter); } bool OsgTrackballZoomManipulator::handleMouseWheel( const osgGA::GUIEventAdapter& eventAdapter, osgGA::GUIActionAdapter& actionAdapter) { osgGA::GUIEventAdapter::ScrollingMotion scrollingMotion = eventAdapter.getScrollingMotion(); switch (scrollingMotion) { // Scroll up to zoom in case osgGA::GUIEventAdapter::SCROLL_UP: { zoom(-_wheelZoomFactor); actionAdapter.requestRedraw(); actionAdapter.requestContinuousUpdate(false); return true; } // Scroll down to zoom out case osgGA::GUIEventAdapter::SCROLL_DOWN: { zoom(_wheelZoomFactor); actionAdapter.requestRedraw(); actionAdapter.requestContinuousUpdate(false); return true; } default: return false; } } void OsgTrackballZoomManipulator::updateCamera(osg::Camera& camera) { return; } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/OsgTrackballZoomManipulator.h000066400000000000000000000107401277777236100250510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGTRACKBALLZOOMMANIPULATOR_H #define SURGSIM_GRAPHICS_OSGTRACKBALLZOOMMANIPULATOR_H #include namespace SurgSim { namespace Graphics { /// Trackball manipulator that uses the mouse wheel to control zoom amount. /// The output matrices are view matrices and do not include the zoom. /// To apply the zoom, get the value from getZoomFactor() and multiply /// it by some base FOV to calculate the FOV for the current zoom level. class OsgTrackballZoomManipulator : public osgGA::TrackballManipulator { public: /// Initializes the zoom parameters to default values OsgTrackballZoomManipulator(); /// Sets the minimum zoom factor (zoomed out) /// \param factor Minimum zoom factor virtual void setMinZoomFactor(double factor); /// Gets the minimum zoom factor /// \return Minimum zoom factor double getMinZoomFactor() const; /// Sets the maximum zoom factor (zoomed out) /// \param factor Maximum zoom factor virtual void setMaxZoomFactor(double factor); /// Gets the maximum zoom factor /// \return Maximum zoom factor double getMaxZoomFactor() const; /// Sets the minimum amount to change the zoom factor in one step /// \param amount Minimum zoom amount virtual void setMinZoomAmount(double amount); /// Gets the minimum amount to change the zoom factor in one step /// \return Minimum zoom factor double getMinZoomAmount() const;// /// Sets the maximum amount to change the zoom factor in one step /// \param amount Maximum zoom amount virtual void setMaxZoomAmount(double amount); /// Gets the maximum amount to change the zoom factor in one step /// \return Maximum zoom factor double getMaxZoomAmount() const; /// Sets the current zoom factor /// \param factor Zoom factor virtual void setZoomFactor(double factor); /// Gets the current zoom factor /// \return Zoom factor double getZoomFactor() const; /// Sets the scale applied to the zoom factor before it is applied to the FOV /// \param factor Scale applied to the zoom factor virtual void setZoomFactorScale(double factor); /// Gets the current zoom factor /// \return Scale applied to the zoom factor double getZoomFactorScale() const; /// Zoom by a percent of the difference between the current zoom amount and minimum zoom factor /// \param zoomPercent Percent to zoom by: positive values zoom out, negative values zoom in virtual void zoom(double zoomPercent); /// Removes roll of the camera, so that the top of the view is towards the Y direction. virtual void makeUpright(); protected: /// Minimum zoom factor value (zoomed in) double m_minZoomFactor; /// Maximum zoom factor value (zoomed out) double m_maxZoomFactor; /// Minimum amount to change the zoom factor in one step /// This minimum prevents zooming by infinitely smaller amounts. double m_minZoomAmount; /// Maximum amount to change the zoom factor in one step double m_maxZoomAmount; /// Current zoom factor /// Larger values are zoomed out, smaller values are zoomed in. double m_zoomFactor; /// Scaling factor applied to the zoom factor before it is applied to the FOV double m_zoomFactorScale; /// Handle keyboard CTRL-U events to make the view upright /// \param eventAdapter Event adapter /// \param actionAdapter Action adapter /// \return true if the event was handled, false otherwise virtual bool handle(const osgGA::GUIEventAdapter& eventAdapter, osgGA::GUIActionAdapter& actionAdapter); //NOLINT /// Handle mouse wheel scrolling to zoom in or out /// \param eventAdapter Event adapter /// \param actionAdapter Action adapter /// \return true if the mouse wheel was handled, false otherwise virtual bool handleMouseWheel(const osgGA::GUIEventAdapter& eventAdapter, osgGA::GUIActionAdapter& actionAdapter); //NOLINT void updateCamera(osg::Camera& camera) override; }; }; // namespace Graphics }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Graphics/OsgUniform-inl.h000066400000000000000000000075321277777236100222750ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGUNIFORM_INL_H #define SURGSIM_GRAPHICS_OSGUNIFORM_INL_H #include "SurgSim/Framework/Assert.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Graphics/OsgConversions.h" #include "SurgSim/Graphics/OsgUniformTypes.h" namespace SurgSim { namespace Graphics { /// Default type conversion to OSG /// \tparam T Type /// \note /// The input value is just returned. This allows this conversion method to be used with scalar types such as int and /// float, which are the same in Eigen and OSG. template const T& toOsg(const T& value) { return value; } template OsgUniform::OsgUniform(const std::string& name) : UniformBase(), Uniform(), OsgUniformBase(name) { osg::Uniform::Type osgUniformType = getOsgUniformType(); SURGSIM_ASSERT(osgUniformType != osg::Uniform::UNDEFINED) << "Failed to get OSG uniform type!"; SURGSIM_ASSERT(m_uniform->setType(osgUniformType)) << "Failed to set OSG uniform type!"; m_uniform->setNumElements(1); } template void OsgUniform::set(const T& value) { SURGSIM_ASSERT(m_uniform->set(toOsg(value))) << "Failed to set OSG uniform value!" << " Uniform: " << getName() << " value: " << value; m_value = value; } template void OsgUniform::set(const YAML::Node& node) { set(node.as()); } template const T& OsgUniform::get() const { return m_value; } template OsgUniform>::OsgUniform(const std::string& name, size_t numElements) : UniformBase(), Uniform>(), OsgUniformBase(name) { osg::Uniform::Type osgUniformType = getOsgUniformType(); SURGSIM_ASSERT(osgUniformType != osg::Uniform::UNDEFINED) << "Failed to get OSG uniform type!"; SURGSIM_ASSERT(m_uniform->setType(osgUniformType)) << "Failed to set OSG uniform type!"; m_value.resize(numElements); m_uniform->setNumElements(numElements); } template size_t OsgUniform>::getNumElements() const { return m_uniform->getNumElements(); } template void OsgUniform>::setElement(size_t index, const T& value) { SURGSIM_ASSERT(m_uniform->setElement(index, toOsg(value))) << "Failed to set OSG uniform value!" << " Uniform: " << getName() << " index: " << index << " value: " << value; m_value[index] = value; } template void OsgUniform>::set(const std::vector& value) { SURGSIM_ASSERT(value.size() == m_uniform->getNumElements()) << "Number of elements (" << value.size() << ") must match uniform's number of elements (" << m_uniform->getNumElements() << ")! Uniform: " << getName(); for (size_t i = 0; i < value.size(); ++i) { setElement(i, value[i]); } } template void OsgUniform>::set(const YAML::Node& node) { SURGSIM_ASSERT(node.IsSequence()) << "Yaml setter called on vector uniform with non-sequence yaml node."; set(node.as>()); } template typename std::vector::const_reference OsgUniform>::getElement(size_t index) const { return m_value[index]; } template const std::vector& OsgUniform>::get() const { return m_value; } }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGUNIFORM_INL_H opensurgsim-0.7.0/SurgSim/Graphics/OsgUniform.h000066400000000000000000000073141277777236100215130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGUNIFORM_H #define SURGSIM_GRAPHICS_OSGUNIFORM_H #include "SurgSim/Graphics/OsgUniformBase.h" #include "SurgSim/Graphics/Uniform.h" namespace YAML { class Node; } namespace SurgSim { namespace Graphics { /// OSG implementation of graphics uniform with a value of type T. /// \tparam Value the value type of the uniform template class OsgUniform : public Uniform, public OsgUniformBase { public: /// Constructor /// \param name Name used in shader code to access this uniform explicit OsgUniform(const std::string& name); /// Sets the value of the uniform /// \param value the value for this uniform virtual void set(const T& value); /// Sets the value of the uniform from a YAML Node doing the correct conversion /// \param node the node that contains the value for this uniform virtual void set(const YAML::Node& node); /// \return the value of the uniform virtual const T& get() const; private: /// Value of the uniform T m_value; }; /// Specialization of OsgUniform for vectors of values. /// \tparam Value type stored in the vector template class OsgUniform> : public Uniform>, public OsgUniformBase { public: /// Constructor /// \param name Name used in shader code to access this uniform /// \param numElements Number of elements OsgUniform(const std::string& name, size_t numElements); /// \return the number of elements in the uniform virtual size_t getNumElements() const; /// Sets the value of one of the uniform's elements /// \param index Index of the element /// \param value Value to set virtual void setElement(size_t index, const T& value); /// Sets the value of all of the uniform's elements /// \param value Array of values virtual void set(const std::vector& value); /// Sets the value of the uniform from a YAML Node doing the correct conversion /// \param node that contains the values for this uniform (needs to be sequence type) /// \throws if the node is not of sequence type virtual void set(const YAML::Node& node); /// Gets the value of one of the uniform's elements /// \param index Index of the element /// \return Value of the element virtual typename std::vector::const_reference getElement(size_t index) const; /// Gets the value of all of the uniform's elements /// \return Vector of values virtual const std::vector& get() const; private: /// Vector containing the values of the uniform's elements std::vector m_value; }; }; // namespace Graphics }; // namespace SurgSim #include "SurgSim/Graphics/OsgUniform-inl.h" /// \note HS-2013-jul-30 If OsgUniform.h is included by itself without OsgTextureUniform.h we have a /// state where the specializations that are implemented in OsgTextureUniform.h will not be found /// by the compiler, the code will compile but not work correctly, if you remove this include /// make sure that OsgUniform.h AND OsgTextureUniform.h are included at the same time. #include "SurgSim/Graphics/OsgTextureUniform.h" #include "SurgSim/Graphics/OsgTextureUniform-inl.h" #endif // SURGSIM_GRAPHICS_OSGUNIFORM_H opensurgsim-0.7.0/SurgSim/Graphics/OsgUniformBase.cpp000066400000000000000000000023231277777236100226340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgUniformBase.h" #include "SurgSim/Framework/Log.h" using SurgSim::Graphics::OsgUniformBase; OsgUniformBase::OsgUniformBase(const std::string& name) : UniformBase(), m_uniform(new osg::Uniform()) { m_uniform->setName(name); } void OsgUniformBase::addToStateSet(osg::StateSet* stateSet) { SURGSIM_LOG_DEBUG(Framework::Logger::getLogger("Graphics/OsgUniformBase")) << "Base Add To Texture StateSet called"; stateSet->addUniform(m_uniform); } void OsgUniformBase::removeFromStateSet(osg::StateSet* stateSet) { stateSet->removeUniform(m_uniform); } opensurgsim-0.7.0/SurgSim/Graphics/OsgUniformBase.h000066400000000000000000000043171277777236100223060ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGUNIFORMBASE_H #define SURGSIM_GRAPHICS_OSGUNIFORMBASE_H #include "SurgSim/Graphics/Uniform.h" #include #include namespace YAML { class Node; } namespace SurgSim { namespace Graphics { /// Base OSG implementation of graphics uniforms. /// /// Wraps an osg::Uniform. /// \note /// SurgSim::Graphics::OsgUniform is templated on the type of value, so this base class allows a pointer to any type of /// OSG Uniform. class OsgUniformBase : public virtual UniformBase { public: /// Returns the name used in shader code to access this uniform const std::string& getName() const { return m_uniform->getName(); } /// Sets the value of the uniform from a YAML Node, the uniform is responsible for converting the node to its own /// value /// \param node YAML node for setting the uniform value virtual void set(const YAML::Node& node) = 0; /// Adds this uniform to the OSG state set /// \param stateSet OSG state set virtual void addToStateSet(osg::StateSet* stateSet); /// Removes this uniform from the OSG state set /// \param stateSet OSG state set virtual void removeFromStateSet(osg::StateSet* stateSet); /// Returns the OSG uniform node osg::ref_ptr getOsgUniform() const { return m_uniform; } protected: /// Constructor /// \param name Name used in shader code to access this uniform explicit OsgUniformBase(const std::string& name); /// OSG uniform node osg::ref_ptr m_uniform; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGUNIFORMBASE_H opensurgsim-0.7.0/SurgSim/Graphics/OsgUniformFactory.cpp000066400000000000000000000045251277777236100233770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgUniformFactory.h" #include "SurgSim/Graphics/OsgTexture1d.h" #include "SurgSim/Graphics/OsgTexture2d.h" #include "SurgSim/Graphics/OsgTexture3d.h" #include "SurgSim/Graphics/OsgTextureCubeMap.h" #include "SurgSim/Graphics/OsgUniform.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Graphics { OsgUniformFactory::OsgUniformFactory() { // Scalar Types registerClass>("bool"); registerClass>("uint"); registerClass>("int"); registerClass>("float"); registerClass>("double"); // Vector Types registerClass>("vec2"); registerClass>("vec3"); registerClass>("vec4"); registerClass>("dvec2"); registerClass>("dvec3"); registerClass>("dvec4"); // Matrix Types registerClass>("mat2"); registerClass>("mat3"); registerClass>("mat4"); registerClass>("dmat2"); registerClass>("dmat3"); registerClass>("dmat4"); // Sampler Types registerClass>("sampler1D"); registerClass>("sampler2D"); registerClass>("sampler3D"); registerClass>("samplerCube"); } OsgUniformFactory::~OsgUniformFactory() { } } } opensurgsim-0.7.0/SurgSim/Graphics/OsgUniformFactory.h000066400000000000000000000023411277777236100230360ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGUNIFORMFACTORY_H #define SURGSIM_GRAPHICS_OSGUNIFORMFACTORY_H #include #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Graphics/UniformBase.h" namespace SurgSim { namespace Graphics { /// This class can create the appropriate OsgUniform from an OpenGl glsl type, use the appropriate name /// from glsl in the create() function to recieve the correctly typed uniform class OsgUniformFactory : public SurgSim::Framework::ObjectFactory1 { public: OsgUniformFactory(); virtual ~OsgUniformFactory(); }; } } #endif opensurgsim-0.7.0/SurgSim/Graphics/OsgUniformTypes.h000066400000000000000000000102001277777236100225240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Functions to get the OSG uniform type enum for a given type #ifndef SURGSIM_GRAPHICS_OSGUNIFORMTYPES_H #define SURGSIM_GRAPHICS_OSGUNIFORMTYPES_H #include #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Vector.h" #include namespace SurgSim { namespace Graphics { class OsgTexture1d; class OsgTexture2d; class OsgTexture3d; class OsgTextureCubeMap; class OsgTextureRectangle; /// Returns the OSG uniform type enum value for the template parameter type. /// This template function is specialized to match each type with an enum value. /// Any types for which the function is not specialized will return osg::Uniform::UNDEFINED. /// \tparam T Data type /// \return OSG uniform type enum value template inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::UNDEFINED; } template <> inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::FLOAT; } template <> inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::DOUBLE; } template <> inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::INT; } template <> inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::UNSIGNED_INT; } template <> inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::BOOL; } template <> inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::FLOAT_VEC2; } template <> inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::FLOAT_VEC3; } template <> inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::FLOAT_VEC4; } template <> inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::DOUBLE_VEC2; } template <> inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::DOUBLE_VEC3; } template <> inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::DOUBLE_VEC4; } template <> inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::FLOAT_MAT2; } template <> inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::FLOAT_MAT3; } template <> inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::FLOAT_MAT4; } template <> inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::DOUBLE_MAT2; } template <> inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::DOUBLE_MAT3; } template <> inline osg::Uniform::Type getOsgUniformType() { return osg::Uniform::DOUBLE_MAT4; } template <> inline osg::Uniform::Type getOsgUniformType>() { return osg::Uniform::SAMPLER_1D; } template <> inline osg::Uniform::Type getOsgUniformType>() { return osg::Uniform::SAMPLER_2D; } template <> inline osg::Uniform::Type getOsgUniformType>() { return osg::Uniform::SAMPLER_3D; } template <> inline osg::Uniform::Type getOsgUniformType>() { return osg::Uniform::SAMPLER_CUBE; } template <> inline osg::Uniform::Type getOsgUniformType>() { return osg::Uniform::SAMPLER_2D_RECT; } }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGUNIFORMTYPES_Hopensurgsim-0.7.0/SurgSim/Graphics/OsgUnitAxes.cpp000066400000000000000000000043461277777236100221710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgUnitAxes.h" namespace SurgSim { namespace Graphics { OsgUnitAxes::OsgUnitAxes() { m_geode = new osg::Geode(); const int numVertices = 6; osg::Geometry* geometry = new osg::Geometry(); osg::Vec3Array* vertices = new osg::Vec3Array(numVertices); (*vertices)[0] = osg::Vec3f(0.0f, 0.0f, 0.0f); (*vertices)[1] = osg::Vec3f(0.0f, 0.0f, 0.0f); (*vertices)[2] = osg::Vec3f(0.0f, 0.0f, 0.0f); (*vertices)[3] = osg::Vec3f(1.0f, 0.0f, 0.0f); (*vertices)[4] = osg::Vec3f(0.0f, 1.0f, 0.0f); (*vertices)[5] = osg::Vec3f(0.0f, 0.0f, 1.0f); geometry->setVertexArray(vertices); osg::Vec4Array* colors = new osg::Vec4Array(numVertices); (*colors)[0] = osg::Vec4f(0.8f, 0.0f, 0.0f, 1.0f); (*colors)[1] = osg::Vec4f(0.0f, 0.8f, 0.0f, 1.0f); (*colors)[2] = osg::Vec4f(0.0f, 0.0f, 0.8f, 1.0f); (*colors)[3] = osg::Vec4f(0.8f, 0.0f, 0.0f, 1.0f); (*colors)[4] = osg::Vec4f(0.0f, 0.8f, 0.0f, 1.0f); (*colors)[5] = osg::Vec4f(0.0f, 0.0f, 0.8f, 1.0f); geometry->setColorArray(colors, osg::Array::BIND_PER_VERTEX); // Copy triangles from mesh unsigned int lines[] = {0,3,1,4,2,5}; geometry->addPrimitiveSet(new osg::DrawElementsUInt(osg::PrimitiveSet::LINES,6,lines)); m_geode->addDrawable(geometry); osg::StateSet* state = m_geode->getOrCreateStateSet(); state->setAttribute(new osg::LineWidth(2.0)); // These lines should never be lit, always render full color state->setMode(GL_LIGHTING, osg::StateAttribute::OFF | osg::StateAttribute::PROTECTED); } OsgUnitAxes::~OsgUnitAxes() { } osg::ref_ptr OsgUnitAxes::getNode() { return m_geode; } }; // Graphics }; // SurgSim opensurgsim-0.7.0/SurgSim/Graphics/OsgUnitAxes.h000066400000000000000000000021531277777236100216300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGUNITAXES_H #define SURGSIM_GRAPHICS_OSGUNITAXES_H #include #include #include #include #include namespace SurgSim { namespace Graphics { class OsgUnitAxes { public: /// Constructor OsgUnitAxes(); ~OsgUnitAxes(); /// Gets the node. /// \return The node. osg::ref_ptr getNode(); private: osg::ref_ptr m_geode; }; }; // Graphics }; // SurgSim #endifopensurgsim-0.7.0/SurgSim/Graphics/OsgUnitBox.h000066400000000000000000000033041277777236100214570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGUNITBOX_H #define SURGSIM_GRAPHICS_OSGUNITBOX_H #include #include #include namespace SurgSim { namespace Graphics { /// OSG unit box geode to be used as a primitive shape /// The box is located at (0, 0, 0) and has a size of 1 on all three axes. /// Add the box geode to a transform node to position and scale it. class OsgUnitBox { public: /// Constructor OsgUnitBox() : m_geode(new osg::Geode()) { osg::ref_ptr unitBox = new osg::Box(osg::Vec3(0.0, 0.0, 0.0), 1.0); osg::ref_ptr drawable = new osg::ShapeDrawable(unitBox); m_geode->addDrawable(drawable); m_geode->getOrCreateStateSet()->setMode(GL_NORMALIZE, osg::StateAttribute::ON); } /// Returns the root OSG node for the plane to be inserted into the scene-graph osg::ref_ptr getNode() const { return m_geode; } private: /// Root OSG node of the box osg::ref_ptr m_geode; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGUNITBOX_H opensurgsim-0.7.0/SurgSim/Graphics/OsgUnitCylinder.h000066400000000000000000000034121277777236100225000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGUNITCYLINDER_H #define SURGSIM_GRAPHICS_OSGUNITCYLINDER_H #include #include #include namespace SurgSim { namespace Graphics { /// OSG unit cylinder geode to be used as a primitive shape /// The cylinder is located at (0, 0, 0) and has a radius of 1 and height of 1. /// Add the cylinder geode to a transform node to position and scale it. class OsgUnitCylinder { public: /// Constructor OsgUnitCylinder() : m_geode(new osg::Geode()) { osg::ref_ptr unitCylinder = new osg::Cylinder(osg::Vec3(0.0, 0.0, 0.0), 1.0, 1.0); osg::ref_ptr drawable = new osg::ShapeDrawable(unitCylinder); m_geode->addDrawable(drawable); m_geode->getOrCreateStateSet()->setMode(GL_NORMALIZE, osg::StateAttribute::ON); } /// Returns the root OSG node for the plane to be inserted into the scene-graph osg::ref_ptr getNode() const { return m_geode; } private: /// Root OSG node of the cylinder osg::ref_ptr m_geode; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGUNITCYLINDER_H opensurgsim-0.7.0/SurgSim/Graphics/OsgUnitSphere.h000066400000000000000000000040461277777236100221610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGUNITSPHERE_H #define SURGSIM_GRAPHICS_OSGUNITSPHERE_H #include #include #include #include #include namespace SurgSim { namespace Graphics { /// OSG unit sphere geode to be used as a primitive shape /// The sphere is located at (0, 0, 0) and has a radius of 1. /// Add the sphere geode to a transform node to position and scale it. class OsgUnitSphere { public: /// Constructor OsgUnitSphere() : m_transform(new osg::PositionAttitudeTransform()) { osg::ref_ptr unitSphere = new osg::Sphere(osg::Vec3(0.0, 0.0, 0.0), 1.0); osg::ref_ptr drawable = new osg::ShapeDrawable(unitSphere); osg::ref_ptr geode = new osg::Geode(); geode->addDrawable(drawable); geode->getOrCreateStateSet()->setMode(GL_NORMALIZE, osg::StateAttribute::ON); m_transform->addChild(geode); osg::Quat rotation; rotation.makeRotate(osg::Vec3d(0.0, 0.0, 1.0), osg::Vec3d(0.0, 1.0, 0.0)); m_transform->setAttitude(rotation); } /// Returns the root OSG node for the plane to be inserted into the scene-graph osg::ref_ptr getNode() const { return m_transform; } private: /// Root OSG node of the sphere osg::ref_ptr m_transform; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGUNITSPHERE_H opensurgsim-0.7.0/SurgSim/Graphics/OsgVectorConversions.h000066400000000000000000000064301277777236100235650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Conversions to and from OSG vector types #ifndef SURGSIM_GRAPHICS_OSGVECTORCONVERSIONS_H #define SURGSIM_GRAPHICS_OSGVECTORCONVERSIONS_H #include "SurgSim/Math/Vector.h" #include #include #include #include #include #include namespace SurgSim { namespace Graphics { /// Convert 2D vector of floats to OSG inline osg::Vec2f toOsg(const SurgSim::Math::Vector2f& vector) { osg::Vec2f osgVector; Eigen::Map(osgVector.ptr()) = vector; return osgVector; } /// Convert from OSG to 2D vector of floats inline SurgSim::Math::Vector2f fromOsg(const osg::Vec2f& vector) { return SurgSim::Math::Vector2f(vector.ptr()); } /// Convert 2D vector of doubles to OSG inline osg::Vec2d toOsg(const SurgSim::Math::Vector2d& vector) { osg::Vec2d osgVector; Eigen::Map(osgVector.ptr()) = vector; return osgVector; } /// Convert from OSG to 2D vector of doubles inline SurgSim::Math::Vector2d fromOsg(const osg::Vec2d& vector) { return SurgSim::Math::Vector2d(vector.ptr()); } /// Convert 3D vector of floats to OSG inline osg::Vec3f toOsg(const SurgSim::Math::Vector3f& vector) { osg::Vec3f osgVector; Eigen::Map(osgVector.ptr()) = vector; return osgVector; } /// Convert from OSG to 3D vector of floats inline SurgSim::Math::Vector3f fromOsg(const osg::Vec3f& vector) { return SurgSim::Math::Vector3f(vector.ptr()); } /// Convert 3D vector of doubles to OSG inline osg::Vec3d toOsg(SurgSim::Math::Vector3d vector) { osg::Vec3d osgVector; Eigen::Map(osgVector.ptr()) = vector; return osgVector; } /// Convert from OSG to 3D vector of doubles inline SurgSim::Math::Vector3d fromOsg(const osg::Vec3d& vector) { return SurgSim::Math::Vector3d(vector.ptr()); } /// Convert 4D vector of floats to OSG inline osg::Vec4f toOsg(const SurgSim::Math::Vector4f& vector) { osg::Vec4f osgVector; Eigen::Map(osgVector.ptr()) = vector; return osgVector; } /// Convert from OSG to 4D vector of floats inline SurgSim::Math::Vector4f fromOsg(const osg::Vec4f& vector) { return SurgSim::Math::Vector4f(vector.ptr()); } /// Convert 4D vector of doubles to OSG inline osg::Vec4d toOsg(const SurgSim::Math::Vector4d& vector) { osg::Vec4d osgVector; Eigen::Map(osgVector.ptr()) = vector; return osgVector; } /// Convert from OSG to 4D vector of doubles inline SurgSim::Math::Vector4d fromOsg(const osg::Vec4d& vector) { return SurgSim::Math::Vector4d(vector.ptr()); } }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGVECTORCONVERSIONS_H opensurgsim-0.7.0/SurgSim/Graphics/OsgVectorFieldRepresentation.cpp000066400000000000000000000136621277777236100255630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgVectorFieldRepresentation.h" #include #include #include #include #include "SurgSim/Graphics/OsgConversions.h" namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::OsgVectorFieldRepresentation, OsgVectorFieldRepresentation); using SurgSim::DataStructures::Vertex; OsgVectorFieldRepresentation::OsgVectorFieldRepresentation(const std::string& name) : Representation(name), VectorFieldRepresentation(name), OsgRepresentation(name), m_scale(0.1) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(OsgVectorFieldRepresentation, double, LineWidth, getLineWidth, setLineWidth); SURGSIM_ADD_SERIALIZABLE_PROPERTY(OsgVectorFieldRepresentation, double, Scale, getScale, setScale); SURGSIM_ADD_SERIALIZABLE_PROPERTY(OsgVectorFieldRepresentation, double, PointSize, getPointSize, setPointSize); m_vectorField = std::make_shared(); m_vertexData = new osg::Vec3Array; m_lineGeometry = new osg::Geometry; m_pointGeometry = new osg::Geometry; m_drawArrays = new osg::DrawArrays(osg::PrimitiveSet::LINES); m_drawPoints = new osg::DrawElementsUInt(osg::PrimitiveSet::POINTS); m_line = new osg::LineWidth(1.0f); m_point = new osg::Point(4.0f); m_colors = new osg::Vec4Array; m_lineGeometry->setVertexArray(m_vertexData); m_lineGeometry->addPrimitiveSet(m_drawArrays); m_lineGeometry->setUseDisplayList(false); m_lineGeometry->setDataVariance(osg::Object::DYNAMIC); m_lineGeometry->getOrCreateStateSet()->setAttribute(m_line, osg::StateAttribute::ON); m_lineGeometry->setColorArray(m_colors); m_pointGeometry->setVertexArray(m_vertexData); m_pointGeometry->setUseDisplayList(false); m_pointGeometry->setDataVariance(osg::Object::DYNAMIC); m_pointGeometry->getOrCreateStateSet()->setAttribute(m_point, osg::StateAttribute::ON); m_pointGeometry->setColorArray(m_colors); osg::ref_ptr geode = new osg::Geode(); geode->addDrawable(m_lineGeometry); geode->addDrawable(m_pointGeometry); geode->getOrCreateStateSet()->setMode(GL_LIGHTING, osg::StateAttribute::OFF | osg::StateAttribute::PROTECTED); m_transform->addChild(geode); } OsgVectorFieldRepresentation::~OsgVectorFieldRepresentation() { } void OsgVectorFieldRepresentation::doUpdate(double dt) { VectorField vectorField; if (m_writeBuffer.tryTakeChanged(&vectorField)) { privateUpdate(vectorField.getVertices()); } else { // #threadsafety This update is through the shared datastructure, not threadsafe privateUpdate(m_vectorField->getVertices()); } } void OsgVectorFieldRepresentation::privateUpdate(const std::vector>& vertices) { size_t count = vertices.size(); if (0 != count) { // osg::DrawElementsUInt can NOT work properly when there is no data in m_vertexData // Thus, only use osg::DrawElementsUInt when there is something in m_vertexData if (0 == m_pointGeometry->getNumPrimitiveSets()) { m_pointGeometry->addPrimitiveSet(m_drawPoints); } SURGSIM_ASSERT(2 * m_drawPoints->size() == static_cast(m_drawArrays->getCount())); SURGSIM_ASSERT(m_vertexData->size() == m_colors->size()); SURGSIM_ASSERT(2 * m_drawPoints->size() == m_colors->size()); // Check for size change in number of vertices if (count != m_drawPoints->size()) { m_drawArrays->setCount(count * 2); m_drawPoints->resize(count); m_vertexData->resize(count * 2); m_colors->resize(count * 2); m_drawArrays->dirty(); m_drawPoints->dirty(); } for (size_t i = 0; i < count; ++i) { // Starting location of vector (*m_vertexData)[2 * i] = toOsg(vertices[i].position); // Ending location of vector (*m_vertexData)[2 * i + 1] = toOsg(vertices[i].position) + toOsg(vertices[i].data.direction) * m_scale; m_drawPoints->at(i) = (2 * i); } // Update color information if (vertices[0].data.color.hasValue()) { for (size_t i = 0; i < count; ++i) { osg::Vec4d color = toOsg(vertices[i].data.color.getValue()); (*m_colors)[2 * i] = color; (*m_colors)[2 * i + 1] = color; } m_lineGeometry->setColorBinding(osg::Geometry::BIND_PER_VERTEX); m_pointGeometry->setColorBinding(osg::Geometry::BIND_PER_VERTEX); } else { (*m_colors)[0] = osg::Vec4(1.0f, 1.0f, 1.0f, 1.0f); m_lineGeometry->setColorBinding(osg::Geometry::BIND_OVERALL); m_pointGeometry->setColorBinding(osg::Geometry::BIND_OVERALL); } m_lineGeometry->dirtyBound(); m_pointGeometry->dirtyBound(); } } void OsgVectorFieldRepresentation::updateVectorField(const VectorField& vectorfield) { m_writeBuffer.set(vectorfield); } std::shared_ptr OsgVectorFieldRepresentation::getVectorField() const { return m_vectorField; } void OsgVectorFieldRepresentation::setLineWidth(double width) { m_line->setWidth(width); } double OsgVectorFieldRepresentation::getLineWidth() const { return static_cast(m_line->getWidth()); } void OsgVectorFieldRepresentation::setScale(double scale) { m_scale = scale; } double OsgVectorFieldRepresentation::getScale() const { return m_scale; } void OsgVectorFieldRepresentation::setPointSize(double size) { m_point->setSize(size); } double OsgVectorFieldRepresentation::getPointSize() const { return static_cast(m_point->getSize()); } }; // Graphics }; // SurgSimopensurgsim-0.7.0/SurgSim/Graphics/OsgVectorFieldRepresentation.h000066400000000000000000000071661277777236100252320ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGVECTORFIELDREPRESENTATION_H #define SURGSIM_GRAPHICS_OSGVECTORFIELDREPRESENTATION_H #include "SurgSim/Framework/LockedContainer.h" #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Graphics/VectorFieldRepresentation.h" #include "SurgSim/Graphics/VectorField.h" #include #include #include #include namespace SurgSim { namespace Graphics { SURGSIM_STATIC_REGISTRATION(OsgVectorFieldRepresentation); #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4250) #endif /// OSG vector field representation, implements a VectorFieldRepresenation using OSG. class OsgVectorFieldRepresentation : public VectorFieldRepresentation, public OsgRepresentation { public: /// Constructor /// \param name Name of OsgVectorFieldRepresentation explicit OsgVectorFieldRepresentation(const std::string& name); /// Destructor ~OsgVectorFieldRepresentation(); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgVectorFieldRepresentation); std::shared_ptr getVectorField() const override; void setLineWidth(double width) override; double getLineWidth() const override; void setScale(double scale) override; double getScale() const override; /// Sets the size of point indicating the starting of vector /// \param size Size of starting point of a vector virtual void setPointSize(double size); /// Gets the size of starting point of a vector /// \return The size of starting point of a vector virtual double getPointSize() const; void doUpdate(double dt) override; void updateVectorField(const VectorField& vectorfield) override; private: void privateUpdate(const std::vector>& vertices); /// Vector Field holds a list of vertices/points (X,Y,Z) in 3D space /// Each point is associated with a vector and an optional color std::shared_ptr m_vectorField; SurgSim::Framework::LockedContainer m_writeBuffer; /// OSG vertex data structure osg::ref_ptr m_vertexData; /// OSG::Geometry node holding OSG representation of vectors osg::ref_ptr m_lineGeometry; /// OSG::Geometry node holding OSG representation of vector starting points osg::ref_ptr m_pointGeometry; /// An OSG::DrawArrays object specifying how vectors will be drawn osg::ref_ptr m_drawArrays; /// An OSG::DrawElementUInt object specifying how vector starting points will be drawn osg::ref_ptr m_drawPoints; /// OSG::LineWidth for representing vector osg::ref_ptr m_line; /// OSG::Point for representing vector starting point osg::ref_ptr m_point; /// OSG::Vec4Array to hold color for each vector osg::ref_ptr m_colors; /// A scale to scale the length of vector double m_scale; }; #if defined(_MSC_VER) #pragma warning(pop) #endif }; // Graphics }; // SurgSim #endif // SURGSIM_GRAPHICS_OSGVECTORFIELDREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/OsgView.cpp000066400000000000000000000346341277777236100213460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgView.h" #include #include #include "SurgSim/Devices/Keyboard/KeyboardDevice.h" #include "SurgSim/Devices/Keyboard/OsgKeyboardHandler.h" #include "SurgSim/Devices/Mouse/MouseDevice.h" #include "SurgSim/Devices/Mouse/OsgMouseHandler.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgConversions.h" #include "SurgSim/Graphics/OsgTrackballZoomManipulator.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Framework/PoseComponent.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/RigidTransform.h" namespace { // Mapping from OSS values to OSG values, the order here needs to match the numerical value in // SurgSim::Graphics::View::StereoMode const osg::DisplaySettings::StereoMode StereoModeEnums[SurgSim::Graphics::View::STEREO_MODE_COUNT] = { osg::DisplaySettings::QUAD_BUFFER, osg::DisplaySettings::ANAGLYPHIC, osg::DisplaySettings::HORIZONTAL_SPLIT, osg::DisplaySettings::VERTICAL_SPLIT, osg::DisplaySettings::LEFT_EYE, osg::DisplaySettings::RIGHT_EYE, osg::DisplaySettings::HORIZONTAL_INTERLACE, osg::DisplaySettings::VERTICAL_INTERLACE, osg::DisplaySettings::CHECKERBOARD }; // Mapping from OSS values to OSG values, the order here needs to match the numerical value in // SurgSim::Graphics::View::DisplayType const osg::DisplaySettings::DisplayType DisplayTypeEnums[SurgSim::Graphics::View::DISPLAY_TYPE_COUNT] = { osg::DisplaySettings::MONITOR, osg::DisplaySettings::HEAD_MOUNTED_DISPLAY }; } namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::OsgView, OsgView); OsgView::OsgView(const std::string& name) : View(name), m_isWindowBorderEnabled(true), m_isFirstUpdate(true), m_areWindowSettingsDirty(false), m_view(new osgViewer::View()), m_osgMapUniforms(false), m_manipulatorPosition(Math::Vector3d(0.0, 0.0, -3.0)), m_manipulatorLookat(Math::Vector3d::Zero()), m_keyboardEnabled(false), m_mouseEnabled(false) { m_position[0] = 0; m_position[1] = 0; m_dimensions[0] = 1024; m_dimensions[1] = 768; /// Clear the OSG default camera, let that be handled at a higher level. m_view->setCamera(nullptr); SURGSIM_ADD_SERIALIZABLE_PROPERTY(OsgView, bool, CameraManipulatorEnabled, isManipulatorEnabled, enableManipulator); SURGSIM_ADD_SERIALIZABLE_PROPERTY(OsgView, Math::Vector3d, CameraPosition, getManipulatorPosition, setManipulatorPosition); SURGSIM_ADD_SERIALIZABLE_PROPERTY(OsgView, Math::Vector3d, CameraLookAt, getManipulatorLookAt, setManipulatorLookAt); SURGSIM_ADD_SERIALIZABLE_PROPERTY(OsgView, bool, OsgMapUniforms, getOsgMapsUniforms, setOsgMapsUniforms); SURGSIM_ADD_SERIALIZABLE_PROPERTY(OsgView, bool, KeyboardDeviceEnabled, isKeyboardDeviceEnabled, enableKeyboardDevice); SURGSIM_ADD_SERIALIZABLE_PROPERTY(OsgView, bool, MouseDeviceEnabled, isMouseDeviceEnabled, enableMouseDevice); doSetTargetScreen(getTargetScreen()); } OsgView::~OsgView() { // Clean up the handler callbacks enableKeyboardDevice(false); enableMouseDevice(false); } void OsgView::setPosition(const std::array& position) { if (position != m_position) { m_position = position; m_areWindowSettingsDirty = true; } } std::array OsgView::getPosition() const { return m_position; } void OsgView::setDimensions(const std::array& dimensions) { if (m_dimensions != dimensions) { m_areWindowSettingsDirty = true; m_dimensions = dimensions; } } std::array OsgView::getDimensions() const { if (isFullScreen()) { return m_screenDimensions; } else { return m_dimensions; } } void OsgView::setDimensionsDouble(const std::array& dimensions) { if (m_dimensions[0] != static_cast(dimensions[0]) && m_dimensions[1] != static_cast(dimensions[1])) { m_areWindowSettingsDirty = true; m_dimensions[0] = dimensions[0]; m_dimensions[1] = dimensions[1]; } } std::array OsgView::getDimensionsDouble() const { std::array m_d = getDimensions(); std::array dimensions = {static_cast(m_d[0]), static_cast(m_d[1])}; return dimensions; } void OsgView::setWindowBorderEnabled(bool enabled) { m_isWindowBorderEnabled = enabled; m_areWindowSettingsDirty = true; } bool OsgView::isWindowBorderEnabled() const { return m_isWindowBorderEnabled; } void OsgView::setCamera(std::shared_ptr camera) { auto osgCamera = Framework::checkAndConvert(camera, "SurgSim::Graphics::OsgCamera"); View::setCamera(camera); m_view->setCamera(osgCamera->getOsgCamera()); osgCamera->setViewport(0, 0, m_dimensions[0], m_dimensions[1]); } void OsgView::update(double dt) { if (isActive() && m_areWindowSettingsDirty) { osg::Camera* viewCamera = m_view->getCamera(); if (viewCamera) { osgViewer::GraphicsWindow* window = dynamic_cast(viewCamera->getGraphicsContext()); if (window && !isFullScreen()) { window->setWindowDecoration(m_isWindowBorderEnabled); window->setWindowRectangle(m_position[0], m_position[1], m_dimensions[0], m_dimensions[1]); m_areWindowSettingsDirty = false; } } } else if (isActive()) { if (!isStereo()) { m_dimensions[0] = m_view->getCamera()->getGraphicsContext()->getTraits()->width; m_dimensions[1] = m_view->getCamera()->getGraphicsContext()->getTraits()->height; } } if (isManipulatorEnabled()) { auto matrix = m_view->getCameraManipulator()->getMatrix(); auto pose = Math::RigidTransform3d(fromOsg(matrix)); auto element = getSceneElement(); if (element != nullptr) { element->setPose(pose); } else { SURGSIM_LOG_WARNING(Framework::Logger::getDefaultLogger()) << getFullName() << " is not in a SceneElement, unable to set the SceneElement pose with the camera manipulator."; } } } bool OsgView::doInitialize() { return true; } bool OsgView::doWakeUp() { m_view->setDisplaySettings(createDisplaySettings()); osg::ref_ptr viewConfig; // #refactor // HS-2014-may-14 Linux is stuck at OSG 3.2.0-rc1, this is not implemented there, they are waiting for // 3.2.1 to move forward, implement this once linux has caught up // if (isFullScreen()) // { // viewConfig = new osgViewer::SingleScreen(getTargetScreen()); // } // else // { // viewConfig = new osgViewer::SingleWindow(m_x, m_y, m_width, m_height, getTargetScreen()); // } // m_view->apply(viewConfig); if (isFullScreen()) { m_view->setUpViewOnSingleScreen(getTargetScreen()); m_isWindowBorderEnabled = false; } else { m_view->setUpViewInWindow(m_position[0], m_position[1], m_dimensions[0], m_dimensions[1], getTargetScreen()); } auto statsHandler = new osgViewer::StatsHandler; m_view->addEventHandler(statsHandler); if (m_osgMapUniforms) { fixupStatsHandler(statsHandler); m_view->getCamera()->getGraphicsContext()->getState()->setUseModelViewAndProjectionUniforms(true); m_view->getCamera()->getGraphicsContext()->getState()->setUseVertexAttributeAliasing(true); } return true; } osg::ref_ptr OsgView::createDisplaySettings() const { osg::ref_ptr displaySettings = new osg::DisplaySettings; displaySettings->setDefaults(); if (isStereo()) { displaySettings->setStereo(isStereo()); displaySettings->setStereoMode(StereoModeEnums[getStereoMode()]); displaySettings->setDisplayType(DisplayTypeEnums[getDisplayType()]); displaySettings->setEyeSeparation(static_cast(getEyeSeparation())); displaySettings->setScreenDistance(static_cast(getScreenDistance())); displaySettings->setScreenWidth(static_cast(getScreenWidth())); displaySettings->setScreenHeight(static_cast(getScreenHeight())); } return displaySettings; } void OsgView::fixupStatsHandler(osgViewer::StatsHandler* statsHandler) { // use ref_ptr in case loading fails we don't have to clean up osg::ref_ptr vertexShader = new osg::Shader(osg::Shader::VERTEX); osg::ref_ptr fragmentShader = new osg::Shader(osg::Shader::FRAGMENT); bool success = true; std::string fileName; if (getRuntime()->getApplicationData()->tryFindFile("Shaders/osg_statshandler.vert", &fileName)) { success = vertexShader->loadShaderSourceFromFile(fileName); } else { SURGSIM_LOG_WARNING(Framework::Logger::getDefaultLogger()) << "Could not find Shaders/osg_statshandler.vert, the osg stats " << "display will probably not work correctly."; success = false; } if (getRuntime()->getApplicationData()->tryFindFile("Shaders/osg_statshandler.frag", &fileName)) { success = fragmentShader->loadShaderSourceFromFile(fileName); } else { SURGSIM_LOG_WARNING(Framework::Logger::getDefaultLogger()) << "Could not find Shaders/osg_statshandler.frag, the osg stats " << "display will probably not work correctly."; success = false; } if (success) { osg::ref_ptr program = new osg::Program; program->addShader(fragmentShader); program->addShader(vertexShader); auto state = statsHandler->getCamera()->getOrCreateStateSet(); auto texture = new osg::Texture2D(); texture->setTextureSize(256, 256); state->setAttributeAndModes(program); state->setTextureAttributeAndModes(0, texture); state->addUniform(new osg::Uniform("osg_TextTexture", static_cast(0))); } } int OsgView::doSetTargetScreen(int val) { osg::GraphicsContext::WindowingSystemInterface* wsi = osg::GraphicsContext::getWindowingSystemInterface(); if (!wsi) { SURGSIM_FAILURE() << "Error, no WindowSystemInterface available, cannot create windows. "; } int numScreens = wsi->getNumScreens(); if (val >= numScreens) { val = numScreens - 1; } if (val < 0) { val = 0; } unsigned int width, height; wsi->getScreenResolution(osg::GraphicsContext::ScreenIdentifier(val), width, height); m_screenDimensions[0] = static_cast(width); m_screenDimensions[1] = static_cast(height); return val; } void SurgSim::Graphics::OsgView::setOsgMapsUniforms(bool val) { SURGSIM_ASSERT(!isAwake()) << "Can't change mapping mode after waking up."; m_osgMapUniforms = val; } bool SurgSim::Graphics::OsgView::getOsgMapsUniforms() { return m_osgMapUniforms; } osg::ref_ptr SurgSim::Graphics::OsgView::getOsgView() const { return m_view; } void SurgSim::Graphics::OsgView::enableManipulator(bool val) { if (m_manipulator == nullptr) { m_manipulator = new OsgTrackballZoomManipulator(); // Set a default position m_manipulator->setTransformation(toOsg(m_manipulatorPosition), toOsg(m_manipulatorLookat), osg::Vec3d(0.0f, 1.0f, 0.0f)); } if (val) { getOsgView()->setCameraManipulator(m_manipulator, false); } else { getOsgView()->setCameraManipulator(nullptr); } } bool SurgSim::Graphics::OsgView::isManipulatorEnabled() { return getOsgView()->getCameraManipulator() != nullptr; } void SurgSim::Graphics::OsgView::enableKeyboardDevice(bool val) { // Early return if device is already turned on/off. if (val == m_keyboardEnabled) { return; } std::shared_ptr keyboardDevice = getKeyboardDevice(); osg::ref_ptr keyboardHandle = std::static_pointer_cast(keyboardDevice)->getKeyboardHandler(); if (val) { getOsgView()->addEventHandler(keyboardHandle); m_keyboardEnabled = true; } else { getOsgView()->removeEventHandler(keyboardHandle); m_keyboardEnabled = false; } } bool SurgSim::Graphics::OsgView::isKeyboardDeviceEnabled() { return m_keyboardEnabled; } std::shared_ptr SurgSim::Graphics::OsgView::getKeyboardDevice() { if (m_keyboardDevice == nullptr) { m_keyboardDevice = std::make_shared("Keyboard"); if (!m_keyboardDevice->isInitialized()) { m_keyboardDevice->initialize(); } } return m_keyboardDevice; } void SurgSim::Graphics::OsgView::enableMouseDevice(bool val) { // Early return if device is already turned on/off. if (val == m_mouseEnabled) { return; } std::shared_ptr mouseDevice = getMouseDevice(); osg::ref_ptr mouseHandler = std::static_pointer_cast(mouseDevice)->getMouseHandler(); if (val) { getOsgView()->addEventHandler(mouseHandler); m_mouseEnabled = true; } else { getOsgView()->removeEventHandler(mouseHandler); m_mouseEnabled = false; } } bool SurgSim::Graphics::OsgView::isMouseDeviceEnabled() { return m_mouseEnabled; } std::shared_ptr SurgSim::Graphics::OsgView::getMouseDevice() { if (m_mouseDevice == nullptr) { m_mouseDevice = std::make_shared("Mouse"); if (!m_mouseDevice->isInitialized()) { m_mouseDevice->initialize(); } } return m_mouseDevice; } void SurgSim::Graphics::OsgView::setManipulatorParameters(const SurgSim::Math::Vector3d& position, const SurgSim::Math::Vector3d& lookat) { m_manipulatorPosition = position; m_manipulatorLookat = lookat; if (m_manipulator != nullptr) { m_manipulator->setTransformation(toOsg(m_manipulatorPosition), toOsg(m_manipulatorLookat), osg::Vec3d(0.0f, 1.0f, 0.0f)); } } void SurgSim::Graphics::OsgView::setManipulatorPosition(const SurgSim::Math::Vector3d& position) { setManipulatorParameters(position, m_manipulatorLookat); } SurgSim::Math::Vector3d SurgSim::Graphics::OsgView::getManipulatorPosition() { return m_manipulatorPosition; } void SurgSim::Graphics::OsgView::setManipulatorLookAt(const SurgSim::Math::Vector3d& lookAt) { setManipulatorParameters(m_manipulatorPosition, lookAt); } SurgSim::Math::Vector3d SurgSim::Graphics::OsgView::getManipulatorLookAt() { return m_manipulatorLookat; } } } opensurgsim-0.7.0/SurgSim/Graphics/OsgView.h000066400000000000000000000153421277777236100210060ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGVIEW_H #define SURGSIM_GRAPHICS_OSGVIEW_H #include #include "SurgSim/Graphics/View.h" namespace osgViewer { class StatsHandler; class DisplaySettings; } namespace SurgSim { namespace Input { class CommonDevice; } namespace Devices { class KeyboardDevice; class MouseDevice; } namespace Graphics { class OsgCamera; class OsgTrackballZoomManipulator; SURGSIM_STATIC_REGISTRATION(OsgView); /// OSG-based implementation of graphics view class. /// /// A Graphics::OsgView wraps a osgViewer::View to provide a visualization of the scene to the user. /// /// A Graphics::OsgCamera controls the viewpoint of this View. class OsgView : public View { public: /// Constructor /// \post The view has no camera. /// \post The position of the view is (0, 0). /// \post The dimensions of the view are 800 x 600. /// \post The window border is enabled. /// \param name Name of the view explicit OsgView(const std::string& name); /// Destructor ~OsgView(); SURGSIM_CLASSNAME(SurgSim::Graphics::OsgView); void setPosition(const std::array& position) override; std::array getPosition() const override; void setDimensions(const std::array& dimensions) override; std::array getDimensions() const override; void setDimensionsDouble(const std::array& dimensions) override; std::array getDimensionsDouble() const override; void setWindowBorderEnabled(bool enabled) override; bool isWindowBorderEnabled() const override; /// Sets the camera which provides the viewpoint in the scene /// Only allows OsgCamera components, any other will not be set and it will return false. /// \param camera Camera whose image will be shown in this view /// \return True if it succeeded, false if it failed void setCamera(std::shared_ptr camera) override; /// Enables a camera manipulator, implemented via a trackball, this is a temporary solution as it uses /// the OSG input events rather than reading from the OpenSurgSim input. /// \param val whether to enable the manipulator or not. void enableManipulator(bool val); /// \return whether the manipulator is enabled or not. bool isManipulatorEnabled(); /// As the camera is not accessible from here and as it cannot be controlled from the outside /// any more we let the user set the parameters from here. /// \param position The position of the camera. /// \param lookat The location the camera looks at. void setManipulatorParameters(const SurgSim::Math::Vector3d& position, const SurgSim::Math::Vector3d& lookat); /// Set the camera manipulator position. /// \param position The position of the camera. void setManipulatorPosition(const SurgSim::Math::Vector3d& position); /// \return The position of the camera. SurgSim::Math::Vector3d getManipulatorPosition(); /// Set the camera manipulator lookAt. /// \param lookAt The location the camera looks at. void setManipulatorLookAt(const SurgSim::Math::Vector3d& lookAt); /// \return The location the camera looks at. SurgSim::Math::Vector3d getManipulatorLookAt(); /// Enable osg modelview uniforms mapping, in this mode osg replaces the gl builtins with osg_* names, for /// uniforms and vertex attributes /// \param val Whether to enable osg uniform mapping, default false void setOsgMapsUniforms(bool val); /// \return the state of the osg modelview mapping mode. bool getOsgMapsUniforms(); /// Return the keyboard to be used with this view. /// \return A keyboard device std::shared_ptr getKeyboardDevice(); /// Turn on/off the keyboard device to be used. /// \param val Indicate whether or not to use keyboard device void enableKeyboardDevice(bool val); /// \return Whether the keyboard device is enabled. bool isKeyboardDeviceEnabled(); /// Return the mouse to be used with this view. /// \return A mouse device std::shared_ptr getMouseDevice(); /// Turn on/off the mouse device to be used. /// \param val Indicate whether or not to use mouse device void enableMouseDevice(bool val); /// \return Whether the mouse device is enabled. bool isMouseDeviceEnabled(); void update(double dt) override; /// \return the OSG view which performs the actual work involved in setting up and rendering to a window osg::ref_ptr getOsgView() const; protected: /// Initialize the view /// \post The view's window is setup. bool doInitialize() override; /// Wake up the view bool doWakeUp() override; /// Determine Screen Size int doSetTargetScreen(int val) override; /// \return The DisplaySettings to be used in this view virtual osg::ref_ptr createDisplaySettings() const; private: /// Patch the StatsHandler rendering /// \param statsHandler The statshandler that will be patched. void fixupStatsHandler(osgViewer::StatsHandler* statsHandler); /// Position of the view on the screen (in pixels) std::array m_position; /// Dimensions of the view on the screen (in pixels) std::array m_dimensions; std::array m_screenDimensions; /// Whether the view window has a border bool m_isWindowBorderEnabled; /// Whether the next update will be the first time the view has been updated /// On the first update, the view window is setup. bool m_isFirstUpdate; /// Whether the settings have been changed and the window needs to be updated bool m_areWindowSettingsDirty; /// OSG view which performs the actual work involved in setting up and rendering to a window osg::ref_ptr m_view; /// Wether to enable osg uniform mapping bool m_osgMapUniforms; osg::ref_ptr m_manipulator; SurgSim::Math::Vector3d m_manipulatorPosition; SurgSim::Math::Vector3d m_manipulatorLookat; /// Indicate if a keyboard device is enabled bool m_keyboardEnabled; std::shared_ptr m_keyboardDevice; /// Indicate if a mouse device is enabled bool m_mouseEnabled; std::shared_ptr m_mouseDevice; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGVIEW_H opensurgsim-0.7.0/SurgSim/Graphics/OsgViewElement.cpp000066400000000000000000000061711277777236100226530ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Devices/Keyboard/KeyboardDevice.h" #include "SurgSim/Devices/Keyboard/OsgKeyboardHandler.h" #include "SurgSim/Devices/Mouse/MouseDevice.h" #include "SurgSim/Devices/Mouse/OsgMouseHandler.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgConversions.h" #include "SurgSim/Graphics/OsgTrackballZoomManipulator.h" #include "SurgSim/Graphics/OsgView.h" using SurgSim::Graphics::OsgCamera; using SurgSim::Graphics::OsgView; using SurgSim::Graphics::OsgViewElement; OsgViewElement::OsgViewElement(const std::string& name) : SurgSim::Graphics::ViewElement(name), m_keyboardEnabled(false), m_mouseEnabled(false) { setView(std::make_shared("View")); setCamera(std::make_shared("Camera")); getCamera()->setRenderGroupReference(Representation::DefaultGroupName); } OsgViewElement::~OsgViewElement() { } bool OsgViewElement::setView(std::shared_ptr view) { bool result = false; if (getView() == view) { result = true; } else { std::shared_ptr osgView = std::dynamic_pointer_cast(view); if (osgView) { result = ViewElement::setView(view); } } return result; } void SurgSim::Graphics::OsgViewElement::enableManipulator(bool val) { std::shared_ptr osgView = std::static_pointer_cast(getView()); osgView->enableManipulator(val); } void SurgSim::Graphics::OsgViewElement::enableKeyboardDevice(bool val) { std::shared_ptr osgView = std::static_pointer_cast(getView()); osgView->enableKeyboardDevice(val); } std::shared_ptr SurgSim::Graphics::OsgViewElement::getKeyboardDevice() { std::shared_ptr osgView = std::static_pointer_cast(getView()); return osgView->getKeyboardDevice(); } void SurgSim::Graphics::OsgViewElement::enableMouseDevice(bool val) { std::shared_ptr osgView = std::static_pointer_cast(getView()); osgView->enableMouseDevice(val); } std::shared_ptr SurgSim::Graphics::OsgViewElement::getMouseDevice() { std::shared_ptr osgView = std::static_pointer_cast(getView()); return osgView->getMouseDevice(); } void SurgSim::Graphics::OsgViewElement::setManipulatorParameters(const SurgSim::Math::Vector3d& position, const SurgSim::Math::Vector3d& lookat) { std::shared_ptr osgView = std::static_pointer_cast(getView()); osgView->setManipulatorParameters(position, lookat); } opensurgsim-0.7.0/SurgSim/Graphics/OsgViewElement.h000066400000000000000000000063311277777236100223160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_OSGVIEWELEMENT_H #define SURGSIM_GRAPHICS_OSGVIEWELEMENT_H #include #include "SurgSim/Graphics/ViewElement.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Input { class CommonDevice; } namespace Graphics { /// OSG-based implementation of graphics view element. /// /// A Graphics::OsgViewElement creates and wraps a Graphics::OsgView so that it can be added to the Scene. /// /// A Scene needs at least one Graphics::View component for any visualization of Graphics:Representation objects /// to be shown. class OsgViewElement : public Graphics::ViewElement { public: /// Constructor /// \param name Name of the scene element explicit OsgViewElement(const std::string& name); /// Destructor virtual ~OsgViewElement(); /// Sets the view component that provides the visualization of the graphics representations /// Only allows OsgView components, any other will not be set and it will return false. /// \param view The view that should be used. /// \return True if it succeeds, false if it fails. bool setView(std::shared_ptr view) override; /// Enables a camera manipulator, implemented via a trackball, this is a temporary solution as it uses /// the OSG input events rather than reading from the OpenSurgSim input. /// \param val whether to enable the manipulator or not. void enableManipulator(bool val); /// As the camera is not accessible from here and as it cannot be controlled from the outside /// any more we let the user set the parameters from here. /// \param position The position of the camera. /// \param lookat The location the camera looks at. void setManipulatorParameters(const SurgSim::Math::Vector3d& position, const SurgSim::Math::Vector3d& lookat); /// Return the keyboard to be used with this view. /// \return A keyboard device std::shared_ptr getKeyboardDevice() override; /// Turn on/off the keyboard device to be used. /// \param val Indicate whether or not to use keyboard device void enableKeyboardDevice(bool val) override; /// Return the mouse to be used with this view. /// \return A mouse device std::shared_ptr getMouseDevice() override; /// Turn on/off the mouse device to be used. /// \param val Indicate whether or not to use mouse device void enableMouseDevice(bool val) override; private: /// Indicate if a keyboard device is enabled bool m_keyboardEnabled; /// Indicate if a mouse device is enabled bool m_mouseEnabled; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_OSGVIEWELEMENT_H opensurgsim-0.7.0/SurgSim/Graphics/PaintBehavior.cpp000066400000000000000000000210061277777236100225030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 #include "SurgSim/DataStructures/Image.h" #include "SurgSim/DataStructures/ImageMap.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/PaintBehavior.h" #include "SurgSim/Math/Scalar.h" namespace SurgSim { namespace Graphics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Graphics::PaintBehavior, PaintBehavior); PaintBehavior::PaintBehavior(const std::string& name) : Framework::Behavior(name), m_width(0), m_height(0), m_radius(0), m_antialias(false) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(PaintBehavior, std::shared_ptr, Representation, getRepresentation, setRepresentation); SURGSIM_ADD_SERIALIZABLE_PROPERTY(PaintBehavior, Math::Vector4d, Color, getColor, setColor); SURGSIM_ADD_SERIALIZABLE_PROPERTY(PaintBehavior, bool, AntiAlias, getAntiAlias, setAntiAlias); } void PaintBehavior::setRepresentation(std::shared_ptr representation) { m_representation = Framework::checkAndConvert(representation, "SurgSim::Graphics::Representation"); } std::shared_ptr PaintBehavior::getRepresentation() const { return m_representation; } void PaintBehavior::setColor(const Math::Vector4d& color) { m_color = color; } Math::Vector4d PaintBehavior::getColor() const { return m_color; } void PaintBehavior::setAntiAlias(bool antialias) { if (isInitialized()) { SURGSIM_LOG_WARNING(Framework::Logger::getDefaultLogger()) << "You cannot set anti-aliasing of " << getName() << " after it has already been initialized."; } else { m_antialias = antialias; } } bool PaintBehavior::getAntiAlias() const { return m_antialias; } void PaintBehavior::setCoordinates(const std::vector& coordinates) { boost::unique_lock lock(m_mutex); m_coordinates = coordinates; } void PaintBehavior::setTextureSize(int width, int height) { if (isInitialized()) { SURGSIM_LOG_WARNING(Framework::Logger::getDefaultLogger()) << "You cannot set texture size of " << getName() << " after it has already been initialized."; } else { m_width = width; m_height = height; } } bool PaintBehavior::doInitialize() { auto textureUniform = std::make_shared>("paintMap"); m_texture = std::make_shared(); m_texture->setSize(m_width, m_height); osg::Texture* osgTexture = m_texture->getOsgTexture(); osgTexture->setDataVariance(osg::Object::DYNAMIC); osgTexture->setFilter(osg::Texture::MIN_FILTER, osg::Texture::LINEAR); osgTexture->setFilter(osg::Texture::MAG_FILTER, osg::Texture::LINEAR); osgTexture->setWrap(osg::Texture::WRAP_S, osg::Texture::CLAMP_TO_EDGE); osgTexture->setWrap(osg::Texture::WRAP_T, osg::Texture::CLAMP_TO_EDGE); int textureSize = m_width * m_height * 4; auto data = new unsigned char[textureSize](); for (int i = 0; i < textureSize; i++) { data[i] = 0; } osg::ref_ptr image = new osg::Image(); image->setImage(m_width, m_height, 1, GL_RGBA32F_ARB, GL_RGBA, GL_UNSIGNED_BYTE, data, osg::Image::NO_DELETE); m_texture->getOsgTexture2d()->setImage(image); textureUniform->set(m_texture); m_representation->getMaterial()->addUniform(textureUniform); return true; } bool PaintBehavior::doWakeUp() { if (m_representation == nullptr) { SURGSIM_LOG_SEVERE(Framework::Logger::getDefaultLogger()) << getClassName() << " named " << getName() << " does not have a graphics representation to paint into"; return false; } if (m_texture == nullptr) { SURGSIM_LOG_SEVERE(Framework::Logger::getDefaultLogger()) << getClassName() << " named " << getName() << " does not have a texture to paint onto"; return false; } if (m_radius <= 0.0 || m_radius > 1.0) { SURGSIM_LOG_SEVERE(Framework::Logger::getDefaultLogger()) << getClassName() << " named " << getName() << " does not have a radius set"; return false; } if (m_antialias) { buildAntiAliasedBrush(getRadius()); } else { buildBrush(getRadius()); } return true; } void PaintBehavior::update(double dt) { std::vector uvCoordinates; { boost::unique_lock lock(m_mutex); auto mesh = m_representation->getMesh(); for (auto coordinate : m_coordinates) { if (coordinate.index < mesh->getNumTriangles()) { auto vertex1 = mesh->getVertex(mesh->getTriangle(coordinate.index).verticesId[0]); auto vertex2 = mesh->getVertex(mesh->getTriangle(coordinate.index).verticesId[1]); auto vertex3 = mesh->getVertex(mesh->getTriangle(coordinate.index).verticesId[2]); Math::Vector2d uv = vertex1.data.texture.getValue() * coordinate.coordinate[0] + vertex2.data.texture.getValue() * coordinate.coordinate[1] + vertex3.data.texture.getValue() * coordinate.coordinate[2]; uvCoordinates.push_back(uv); } } } for (auto& uv : uvCoordinates) { Math::Vector2d xy = toPixel(uv); paint(xy); m_texture->getOsgTexture2d()->dirtyTextureObject(); } } void PaintBehavior::setRadius(double radius) { m_radius = radius; } double PaintBehavior::getRadius() const { return m_radius; } void PaintBehavior::buildBrush(double radius) { int brushWidth = static_cast(ceil(2 * radius * m_width)); int brushHeight = static_cast(ceil(2 * radius * m_height)); int centerX = brushWidth / 2; int centerY = brushHeight / 2; m_brushOffsetX = -1 * centerX; m_brushOffsetY = -1 * centerY; m_brush.resize(brushWidth, brushHeight); for (int i = 0; i < m_brush.cols(); i++) { for (int j = 0; j < m_brush.rows(); j++) { double mag = ((i - centerX) * (i - centerX)) + ((j - centerY) * (j - centerY)); if (sqrt(mag) < m_brush.cols() / 2.0) { m_brush(i, j) = 1.0; } else { m_brush(i, j) = 0.0; } } } } void PaintBehavior::buildAntiAliasedBrush(double radius) { static const double sqrt2Half = 0.7071067811865475; double dist; int brushWidth = static_cast(ceil(2 * radius * m_width)); int brushHeight = static_cast(ceil(2 * radius * m_height)); int centerX = brushWidth / 2; int centerY = brushHeight / 2; m_brushOffsetX = -1 * centerX; m_brushOffsetY = -1 * centerY; m_brush.resize(brushWidth, brushHeight); for (int i = 0; i < m_brush.cols(); i++) { for (int j = 0; j < m_brush.rows(); j++) { double mag = (i - centerX) * (i - centerX) + (j - centerY) * (j - centerY); dist = (m_brush.cols() / 2) - sqrt(mag); dist /= m_brush.cols() / 2; if (dist > sqrt2Half) { m_brush(i, j) = 1.0; } else if (dist < 0.0) { m_brush(i, j) = 0.0; } else { m_brush(i, j) = sqrt(2) * dist; } } } } Math::Vector2d PaintBehavior::toPixel(const Math::Vector2d& uv) { double s = uv[0]; double t = uv[1]; s = Math::clamp(s, 0.0, 1.0, 0.0); t = Math::clamp(t, 0.0, 1.0, 0.0); Math::Vector2d xy; xy << floor(s * m_width + 0.5), floor(t * m_height + 0.5); return xy; } void PaintBehavior::paint(const Math::Vector2d& coordinates) { size_t numChannels = 4; DataStructures::ImageMap image(m_width, m_height, numChannels, m_texture->getOsgTexture2d()->getImage()->data()); size_t topLeftX = static_cast(std::max(0.0, coordinates[0] + m_brushOffsetX)); size_t topLeftY = static_cast(std::max(0.0, coordinates[1] + m_brushOffsetY)); size_t bottomRightX = std::min(m_width - topLeftX, static_cast(m_brush.cols())); size_t bottomRightY = std::min(m_height - topLeftY, static_cast(m_brush.rows())); for (size_t channel = 0; channel < numChannels; channel++) { auto imageBlock = image.getChannel(channel).block(topLeftX, topLeftY, bottomRightX, bottomRightY); auto brushBlock = m_brush.topLeftCorner(bottomRightX, bottomRightY); imageBlock = (brushBlock.array() > 0).select((brushBlock * m_color(channel)*255).template cast(), imageBlock); } } } // Graphics } // SurgSimopensurgsim-0.7.0/SurgSim/Graphics/PaintBehavior.h000066400000000000000000000103071277777236100221520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_PAINTBEHAVIOR_H #define SURGSIM_GRAPHICS_PAINTBEHAVIOR_H #include "SurgSim/Collision/Representation.h" #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/Logger.h" #include "SurgSim/Graphics/OsgMeshRepresentation.h" #include "SurgSim/Graphics/OsgTexture2d.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Graphics { SURGSIM_STATIC_REGISTRATION(PaintBehavior); /// Behavior class to allow a specified scene element to receive painting effects class PaintBehavior : public Framework::Behavior { public: explicit PaintBehavior(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Graphics::PaintBehavior); /// Sets graphics representation being painted on /// \param representation Graphics representation pointer void setRepresentation(std::shared_ptr representation); /// Gets graphics representation being painted on /// \return Shared pointer to a graphics representation std::shared_ptr getRepresentation() const; /// Sets the size of the texture layer to paint onto /// \param width texture width /// \param height texture height void setTextureSize(int width, int height); /// Sets color of the paint /// \param color RGBA color in [0-1] range void setColor(const Math::Vector4d& color); /// Gets color of the paint /// \return Vector4d representation of RGBA color in [0-1] range Math::Vector4d getColor() const; /// Sets radius of paint splat /// \param radius Radius in texture coordinate range [0-1] void setRadius(double radius); /// Gets radius of paint splat /// \return Radius in texture coordinate range [0-1] double getRadius() const; /// Sets whether to anti-alias the brush /// \param antialias True enables AA, False disables void setAntiAlias(bool antialias); /// Gets status of antialiased brush /// \return Boolean indicating if antialiasing is on bool getAntiAlias() const; /// Sets collection of local triangle coordinates to paint on during next update /// \param coordinate Standard vector of IndexedLocalCoordinates void setCoordinates(const std::vector& coordinate); bool doInitialize() override; bool doWakeUp() override; void update(double dt) override; private: /// Builds paint brush at the set radius size void buildBrush(double radius); /// Builds an antialiased brush at the set radius size void buildAntiAliasedBrush(double radius); /// Convert texture uv coordinates to pixel coordinates Math::Vector2d toPixel(const Math::Vector2d& uv); /// Apply paint brush to texture at specified texture coordinates void paint(const Math::Vector2d& coordinates); /// Graphics representation of the mesh to apply behavior to std::shared_ptr m_representation; /// Image data of the texture to be used as the decal layer std::shared_ptr m_texture; /// Color to use for decal painting Math::Vector4d m_color; /// Width of assigned texture int m_width; /// Height of assigned texture int m_height; /// Radius of brush double m_radius; /// Flag for antialiasing the brush bool m_antialias; /// Collection of UV texture coordinates to paint to on next update std::vector m_coordinates; int m_brushOffsetX; int m_brushOffsetY; Math::Matrix m_brush; boost::mutex m_mutex; }; } // Graphics } // SurgSim #endif // SURGSIM_GRAPHICS_PAINTBEHAVIOR_Hopensurgsim-0.7.0/SurgSim/Graphics/PlaneRepresentation.h000066400000000000000000000024501277777236100234010ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_PLANEREPRESENTATION_H #define SURGSIM_GRAPHICS_PLANEREPRESENTATION_H #include "SurgSim/Graphics/Representation.h" namespace SurgSim { namespace Graphics { /// Base graphics plane representation class, which defines the basic interface for a plane that can be visualized. /// The plane is the XZ plane, with normal +Y. class PlaneRepresentation : public virtual Representation { public: /// Constructor /// \param name Name of the representation explicit PlaneRepresentation(const std::string& name) : Representation(name) { } }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_PLANEREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/PointCloudRepresentation.cpp000066400000000000000000000034631277777236100247620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Graphics/PointCloudRepresentation.h" namespace SurgSim { namespace Graphics { PointCloudRepresentation::PointCloudRepresentation(const std::string& name) : Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(PointCloudRepresentation, double, PointSize, getPointSize, setPointSize); SURGSIM_ADD_SERIALIZABLE_PROPERTY(PointCloudRepresentation, SurgSim::Math::Vector4d, Color, getColor, setColor); // Provides a common entry point for representations taking DataStructure::VerticesPlain auto converter = std::bind(SurgSim::Framework::convert, std::placeholders::_1); auto functor = std::bind((void(PointCloudRepresentation::*)(const DataStructures::VerticesPlain&)) &PointCloudRepresentation::updateVertices, this, converter); setSetter("Vertices", functor); } PointCloudRepresentation::~PointCloudRepresentation() { } void PointCloudRepresentation::updateVertices(const DataStructures::VerticesPlain& vertices) { m_locker.set(vertices); } void PointCloudRepresentation::updateVertices(DataStructures::VerticesPlain&& vertices) { m_locker.set(std::move(vertices)); } }; // Graphics }; // SurgSim opensurgsim-0.7.0/SurgSim/Graphics/PointCloudRepresentation.h000066400000000000000000000047461277777236100244340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_POINTCLOUDREPRESENTATION_H #define SURGSIM_GRAPHICS_POINTCLOUDREPRESENTATION_H #include #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Framework/LockedContainer.h" #include "SurgSim/Graphics/Representation.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Graphics { typedef SurgSim::DataStructures::Vertices PointCloud; /// Graphic representation of a point cloud, hase a very basic interface and is intentionally kept generic. class PointCloudRepresentation : public virtual Representation { public: /// Constructor explicit PointCloudRepresentation(const std::string& name); virtual ~PointCloudRepresentation(); /// Pull the vertices. /// \return The mesh. virtual std::shared_ptr getVertices() const = 0; /// Sets point size for the point elements. /// The point size defines the the width and height of the drawn square, in window pixels. /// \param val The value. virtual void setPointSize(double val) = 0; /// Gets point size. /// The point size defines the the width and height of the drawn square, in window pixels. /// \return The point size. virtual double getPointSize() const = 0; /// Sets a color for all of the points together. /// \param color The color. virtual void setColor(const SurgSim::Math::Vector4d& color) = 0; /// Gets the color. /// \return The current color. virtual SurgSim::Math::Vector4d getColor() const = 0; void updateVertices(const DataStructures::VerticesPlain& vertices); void updateVertices(DataStructures::VerticesPlain&& vertices); protected: Framework::LockedContainer m_locker; }; }; // Graphics }; // SurgSim #endif // SURGSIM_GRAPHICS_POINTCLOUDREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/Program.h000066400000000000000000000111001277777236100210160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_PROGRAM_H #define SURGSIM_GRAPHICS_PROGRAM_H #include #include "SurgSim/Framework/Accessible.h" namespace SurgSim { namespace Framework { class Asset; } namespace Graphics { /// Base class that defines the interface for graphics programs. /// /// A program in OSS is a collection of 'shaders' that are usually executed in sequence (Geometry, /// Vertex and Fragment). Each shader itself is software that is executed on the GPU, shaders are usually introduced /// as source. The concept is similar to the use of program in /// OpenGL see https://www.opengl.org/sdk/docs/man4/html/glCreateProgram.xhtml class Program { public: /// Destructor virtual ~Program() = 0; /// \return true if the vertex shader has been set, otherwise false. virtual bool hasVertexShader() const = 0; /// Removes the vertex shader, returning that portion of the shader program to fixed-function. virtual void clearVertexShader() = 0; /// Loads the vertex shader source code from a file /// \param filePath Path to file containing shader source code /// \return True if the source is successfully loaded, otherwise false. virtual bool loadVertexShader(const std::string& filePath) = 0; /// Set the vertex shader source code /// \param source Shader source code virtual void setVertexShaderSource(const std::string& source) = 0; /// Gets the vertex shader source code /// \return Shader source code virtual bool getVertexShaderSource(std::string* source) const = 0; /// \return true if the geometry shader has been set, otherwise false. virtual bool hasGeometryShader() const = 0; /// Removes the geometry shader, returning that portion of the shader program to fixed-function. virtual void clearGeometryShader() = 0; /// Loads the geometry shader source code from a file /// \param filePath Path to file containing shader source code /// \return True if the source is successfully loaded, otherwise false. virtual bool loadGeometryShader(const std::string& filePath) = 0; /// Set the geometry shader source code /// \param source Shader source code virtual void setGeometryShaderSource(const std::string& source) = 0; /// Gets the geometry shader source code /// \return Shader source code virtual bool getGeometryShaderSource(std::string* source) const = 0; /// \return true if the fragment shader has been set, otherwise false. virtual bool hasFragmentShader() const = 0; /// \return the fragment shader, returning that portion of the shader program to fixed-function. virtual void clearFragmentShader() = 0; /// Loads the fragment shader source code from a file /// \param filePath Path to file containing shader source code /// \return True if the source is successfully loaded, otherwise false. virtual bool loadFragmentShader(const std::string& filePath) = 0; /// Set the fragment shader source code /// \param source Shader source code virtual void setFragmentShaderSource(const std::string& source) = 0; /// Gets the fragment shader source code /// \return Shader source code virtual bool getFragmentShaderSource(std::string* source) const = 0; /// Clears the entire shader, returning to fixed-function pipeline. virtual void clear() { clearVertexShader(); clearGeometryShader(); clearFragmentShader(); } /// When this is set to true, this shader should be used instead of other shaders that might apply, depending /// on the hierarchy that is set out. E.g if this shader is on a camera, the shaders that occur in a group /// attached to that camera will be overridden. /// This will usually be used in conjunction with \sa RenderPass. /// \param val If true the shader should override shaders in lower levels. virtual void setGlobalScope(bool val) = 0; /// Query if this shader is of global scope. /// \return true if global scope, false if not. virtual bool isGlobalScope() const = 0; }; inline Program::~Program() { } }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_PROGRAM_H opensurgsim-0.7.0/SurgSim/Graphics/RenderPass.cpp000066400000000000000000000070621277777236100220240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/RenderPass.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgGroup.h" #include "SurgSim/Graphics/OsgRenderTarget.h" #include "SurgSim/Graphics/OsgScreenSpaceQuadRepresentation.h" #include "SurgSim/Graphics/View.h" #include "SurgSim/Graphics/Texture.h" namespace SurgSim { namespace Graphics { RenderPass::RenderPass(const std::string& name) : SceneElement(name) { m_camera = std::make_shared(getName() + " camera"); m_camera->setRenderGroupReference(name); m_material = std::make_shared("material"); m_camera->setMaterial(m_material); } RenderPass::~RenderPass() { } bool RenderPass::doInitialize() { addComponent(m_camera); addComponent(m_material); return true; } std::shared_ptr RenderPass::getCamera() { return m_camera; } bool RenderPass::setRenderTarget(std::shared_ptr target) { bool result = m_camera->setRenderTarget(target); if (result) { m_renderTarget = target; } return result; } std::shared_ptr RenderPass::getRenderTarget() { return m_renderTarget; } bool RenderPass::setMaterial(std::shared_ptr material) { bool result = m_camera->setMaterial(material); if (result) { m_material = std::dynamic_pointer_cast(material); } return result; } std::shared_ptr RenderPass::getMaterial() { return m_material; } void RenderPass::setRenderOrder(SurgSim::Graphics::Camera::RenderOrder order, int value) { m_camera->setRenderOrder(order, value); } void RenderPass::showColorTarget(int x, int y, int width, int height) { if (m_debugColor == nullptr && m_renderTarget->getColorTargetCount() > 0) { auto texture = m_renderTarget->getColorTarget(0); m_debugColor = buildDebugQuad("debug color", texture); } if (m_debugColor != nullptr) { m_debugColor->setLocation(x, y); m_debugColor->setSize(width, height); m_debugColor->setLocalActive(true); } } void RenderPass::hideColorTarget() { if (m_debugColor != nullptr) { m_debugColor->setLocalActive(false); } } void RenderPass::showDepthTarget(int x, int y, int width, int height) { if (m_debugDepth == nullptr && m_renderTarget->doesUseDepthTarget()) { auto texture = m_renderTarget->getDepthTarget(); m_debugDepth = buildDebugQuad("debug depth", texture); } if (m_debugDepth != nullptr) { m_debugDepth->setLocation(x, y); m_debugDepth->setSize(width, height); m_debugDepth->setLocalActive(true); } } void RenderPass::hideDepthTarget() { if (m_debugDepth != nullptr) { m_debugDepth->setLocalActive(false); } } std::shared_ptr RenderPass::buildDebugQuad(const std::string& name, std::shared_ptr texture) { auto result = std::make_shared(name); result->setTexture(texture); addComponent(result); return result; } }; // Graphics }; // SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderPass.h000066400000000000000000000106111277777236100214630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_RENDERPASS_H #define SURGSIM_GRAPHICS_RENDERPASS_H #include #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Graphics/Camera.h" namespace SurgSim { namespace Framework { class Component; } namespace Graphics { class Group; class Material; class RenderTarget; class ScreenSpaceQuadRepresentation; class Texture; class View; /// Encapsulation of all the components necessary needed to implement a full renderpass, this SceneElement contains /// a Camera and Group, it can also take a Material (for shaders and uniforms) and a RenderTarget for textures that /// are used as the output for the camera. /// Other components do not need to be added to the pass explicitly, they only need to refer to the passes name in /// their respective groupReferences to be added to the render pass. The passes attributes should all be set up through /// uniforms in the material. class RenderPass : public SurgSim::Framework::SceneElement { public: /// Constructor /// \param name The name for this SceneElement explicit RenderPass(const std::string& name); ~RenderPass(); /// Executes the initialize operation. /// \return true if it succeeds, false if it fails. bool doInitialize() override; /// Sets render target for the camera, this abstracts the textures that are being used for rendering into. /// \param target The rendertarget structure. /// \return true if the target was successfully set bool setRenderTarget(std::shared_ptr target); /// Gets render target that is being used in this pass. /// \return The render target that should be used. std::shared_ptr getRenderTarget(); /// Sets render order. /// \param order The general render stage for this pass. /// \param value An order value for this pass, lower means earlier. virtual void setRenderOrder(SurgSim::Graphics::Camera::RenderOrder order, int value); /// Gets the camera. /// \return The camera. std::shared_ptr getCamera(); /// Sets the material used for rendering. /// \param material The material. /// \return true if it succeeds, false if it fails. bool setMaterial(std::shared_ptr material); /// Gets the current material. /// \return The material. std::shared_ptr getMaterial(); /// Shows a quad on the screen with the texture used as the color target for this pass. /// \param x,y The x and y coordinates on the screen. /// \param width,height The width and height on the scree. void showColorTarget(int x, int y, int width, int height); /// Hides the color target display. void hideColorTarget(); /// Shows a quad on the screen with the texture used as the depth target for this pass. /// \param x,y The x and y coordinates on the screen. /// \param width,height The width and height on the screen. void showDepthTarget(int x, int y, int width, int height); /// Hides the depth target display. void hideDepthTarget(); private: std::shared_ptr m_camera; ///< The camera used for the pass std::shared_ptr m_group; ///< The groupd used for the pass std::shared_ptr m_renderTarget; ///< The camera's rendertarget std::shared_ptr m_material; ///< The material, attached to the camera int m_renderOrder; ///< The renderorder that is being used for this pass std::shared_ptr m_debugColor; std::shared_ptr m_debugDepth; /// Utility function to build a debug quad. /// \param name The name for the component. /// \param texture The texture for redering. /// \return a constructed quads. std::shared_ptr buildDebugQuad( const std::string& name, std::shared_ptr texture); }; }; // Graphics }; // SurgSim #endif opensurgsim-0.7.0/SurgSim/Graphics/RenderTarget.h000066400000000000000000000044371277777236100220140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_RENDERTARGET_H #define SURGSIM_GRAPHICS_RENDERTARGET_H #include namespace SurgSim { namespace Graphics { class Texture; /// RenderTarget is an abstraction of the target buffers that a Camera should use to render it's scene /// valid targets are a given number of color buffers, and an optional depth buffer. The buffers need to be /// made available as textures so they can be reused in another rendering step. The type of texture is not /// determined at this point and will depend on the concrete RenderTarget that is instantiated. /// The RenderTarget is consider immutable after construction. class RenderTarget { public: /// Constructor RenderTarget() { }; virtual ~RenderTarget() { }; /// Gets a size. /// \param [out] width, height The width and height of the RenderTarget textures. virtual void getSize(int* width, int* height) const = 0; /// Returns the number of textures that this RenderTarget uses to draw into. /// \return The color target count. virtual int getColorTargetCount() const = 0; /// Gets the indicated texture that is used as a target. /// \param index Zero-based index of the texture to be used. /// \return The color target, nullptr if index exceeds getColorTargetCount(). virtual std::shared_ptr getColorTarget(int index) const = 0; /// Check wether this draws into a depth texture. /// \return true if yes, otherwise false. virtual bool doesUseDepthTarget() const = 0; /// Returns the texture that is used for the depth map drawing. /// \return The depth target. virtual std::shared_ptr getDepthTarget() const = 0; private: }; }; // Graphics }; // SurgSim #endifopensurgsim-0.7.0/SurgSim/Graphics/RenderTests/000077500000000000000000000000001277777236100215075ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/CMakeLists.txt000066400000000000000000000036611277777236100242550ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories ( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES ImplicitSurfaceRenderTests.cpp OsgBoxRepresentationRenderTests.cpp OsgCameraRenderTests.cpp OsgCapsuleRepresentationRenderTests.cpp OsgCurveRepresentationRenderTests.cpp OsgCylinderRepresentationRenderTests.cpp OsgManagerRenderTests.cpp OsgMeshRepresentationRenderTests.cpp OsgOctreeRepresentationRenderTests.cpp OsgPlaneRepresentationRenderTests.cpp OsgPointCloudRepresentationRenderTests.cpp OsgProgramRenderTests.cpp OsgRepresentationRenderTests.cpp OsgSceneryRepresentationRenderTests.cpp OsgScreenSpaceQuadRenderTests.cpp OsgSkeletonRepresentationRenderTests.cpp OsgSphereRepresentationRenderTests.cpp OsgTextRepresentationRenderTests.cpp OsgVectorFieldRepresentationRenderTests.cpp OsgViewElementRenderTests.cpp PaintBehaviorRenderTests.cpp RenderTest.cpp ) set(UNIT_TEST_HEADERS RenderTest.h ) file(COPY Data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) set(LIBS SurgSimFramework SurgSimGraphics SurgSimMath SurgSimTesting SurgSimBlocks ) surgsim_add_unit_tests(SurgSimGraphicsRenderTest) set_target_properties(SurgSimGraphicsRenderTest PROPERTIES FOLDER "Graphics") opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/Data/000077500000000000000000000000001277777236100223605ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/Data/OsgShaderRenderTests/000077500000000000000000000000001277777236100264225ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/Data/OsgShaderRenderTests/L_forcep.obj000066400000000000000000000044011277777236100306460ustar00rootroot00000000000000# Blender3D v249 OBJ File: forceps_collision._blocky_tip.blend # www.blender3d.org v 0.024467 0.001716 0.000824 v -0.020851 -0.000170 0.004465 v 0.015221 -0.004827 -0.000001 v -0.019522 0.003106 0.003026 v -0.082222 -0.002056 0.008415 v 0.015886 0.004555 0.000816 v -0.081055 -0.004124 0.007234 v -0.036645 0.004459 0.002150 v -0.036274 -0.004451 0.002135 v -0.080115 0.005198 0.005436 v 0.015357 -0.004223 0.000838 v -0.104150 0.003159 0.006363 v 0.024155 0.002336 0.000013 v 0.000061 -0.003838 0.001019 v -0.104285 -0.003012 0.006608 v 0.001048 0.004519 0.000157 v 0.024474 -0.000834 0.000810 v -0.082213 0.001829 0.008614 v -0.080297 0.004058 0.007428 v -0.019028 -0.003582 0.001435 v -0.019202 -0.003043 0.003002 v -0.018394 0.003543 0.001425 v 0.000090 -0.004398 0.000012 v 0.015714 0.004829 0.000008 v 0.024297 -0.001433 0.000006 v -0.081263 -0.005133 0.005527 v -0.057169 -0.002681 0.006440 v -0.055761 -0.005151 0.005118 v -0.037785 -0.001029 0.005453 v -0.036256 -0.003701 0.004060 v -0.057356 0.002278 0.006540 v -0.055734 0.005031 0.005227 v -0.037930 0.000571 0.005502 v -0.036454 0.003585 0.004126 v -0.130109 0.002182 0.007166 v -0.134452 0.001378 0.009129 v -0.130427 -0.002319 0.007300 v -0.134419 -0.001339 0.009097 v -0.130501 -0.000018 0.007319 v -0.134581 0.000047 0.009374 v -0.134454 -0.000680 0.005675 v -0.134470 0.000678 0.005691 v -0.132460 -0.000679 0.005686 v -0.132476 0.000680 0.005702 usemtl (null) s 1 f 26 15 12 f 21 20 23 f 20 22 16 f 26 7 15 f 4 21 14 f 40 38 5 f 23 20 16 f 14 16 4 f 5 15 7 f 12 35 36 f 5 38 15 f 3 25 11 f 26 12 10 f 6 1 13 f 14 23 11 f 14 21 23 f 38 37 15 f 1 17 13 f 4 2 21 f 4 16 22 f 23 3 11 f 24 6 13 f 24 16 6 f 11 25 17 f 13 17 25 f 2 33 29 f 7 26 28 f 9 28 26 f 9 30 28 f 8 10 32 f 8 32 34 f 10 19 32 f 10 12 19 f 3 24 25 f 24 13 25 f 3 23 16 f 3 16 24 f 11 6 16 f 11 16 14 f 1 6 17 f 6 11 17 f 20 21 9 f 21 30 9 f 8 22 20 f 8 20 9 f 4 22 8 f 4 8 34 f 8 9 10 f 9 26 10 f 5 27 31 f 5 31 18 f 27 29 33 f 27 33 31 f 34 32 33 f 32 31 33 f 4 34 2 f 34 33 2 f 32 19 31 f 19 18 31 f 29 27 28 f 29 28 30 f 2 29 30 f 2 30 21 f 27 5 7 f 27 7 28 f 12 36 18 f 12 18 19 f 5 18 40 f 36 40 18 f 35 12 39 f 39 12 15 f 39 15 37 f 41 38 40 f 36 42 40 f 38 43 37 f 43 39 37 f 39 44 35 f 44 36 35 f 43 38 41 f 36 44 42 f 40 42 41 f 39 43 44 f 41 42 44 f 41 44 43 opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/Data/OsgShaderRenderTests/shader.frag000066400000000000000000000001441277777236100305300ustar00rootroot00000000000000varying vec4 geomColor; /// Outputs the input color void main(void) { gl_FragColor = geomColor; };opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/Data/OsgShaderRenderTests/shader.vert000066400000000000000000000003201277777236100305650ustar00rootroot00000000000000varying vec4 vertColor; /// Outputs the local normal direction as the vertex color void main(void) { gl_Position = gl_ModelViewProjectionMatrix * gl_Vertex; vertColor.rgb = gl_Normal; vertColor.a = 1.0; }opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/Data/OsgShaderRenderTests/shader_axis_mirrored.geom000066400000000000000000000011511277777236100334660ustar00rootroot00000000000000#version 150 #extension GL_EXT_gpu_shader4 : enable #extension GL_EXT_geometry_shader4 : enable layout(triangles) in; layout(triangle_strip, max_vertices=6) out; in vec4 vertColor[3]; out vec4 geomColor; /// Outputs the input geometry plus it's mirror in the X-axis void main() { for (int i = 0; i < gl_VerticesIn; ++i) { gl_Position = gl_PositionIn[i]; geomColor = vertColor[i]; EmitVertex(); } EndPrimitive(); for (int i = 0; i < gl_VerticesIn; ++i) { vec4 vertex = gl_PositionIn[i]; vertex.x = - vertex.x; gl_Position = vertex; geomColor = vertColor[i]; EmitVertex(); } EndPrimitive(); }opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/Data/OsgSkeletonRepresentationRenderTests/000077500000000000000000000000001277777236100317235ustar00rootroot00000000000000rigged_cylinder.osgt000066400000000000000000017022051277777236100357030ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/Data/OsgSkeletonRepresentationRenderTests#Ascii Scene #Version 100 #Generator OpenSceneGraph 3.2.0 osg::Group { UniqueID 1 Name "Collada visual scene group" StateSet TRUE { osg::StateSet { UniqueID 2 DataVariance STATIC } } Children 1 { osg::MatrixTransform { UniqueID 3 Name "Armature" StateSet TRUE { osg::StateSet { UniqueID 4 DataVariance STATIC ModeList 1 { GL_RESCALE_NORMAL ON|OVERRIDE } } } Children 1 { osgAnimation::Skeleton { UniqueID 5 DataVariance DYNAMIC UpdateCallback TRUE { osgAnimation::UpdateSkeleton { UniqueID 6 } } Children 2 { osgAnimation::Bone { UniqueID 7 Name "Bone" DataVariance DYNAMIC UpdateCallback TRUE { osgAnimation::UpdateBone { UniqueID 8 Name "Bone" StackedTransforms 1 { osgAnimation::StackedMatrixElement { UniqueID 9 Name "transform" Matrix { 1 0 0 0 0 0 1 0 0 -1 0 0 0 0 0 1 } } } } } Children 1 { osgAnimation::Bone { UniqueID 10 Name "Bone_002" DataVariance DYNAMIC UpdateCallback TRUE { osgAnimation::UpdateBone { UniqueID 11 Name "Bone_002" StackedTransforms 1 { osgAnimation::StackedMatrixElement { UniqueID 12 Name "transform" Matrix { 1 0 0 0 0 1 0 0 0 0 1 0 0 0.25 0 1 } } } } } Children 1 { osgAnimation::Bone { UniqueID 13 Name "Bone_001" DataVariance DYNAMIC UpdateCallback TRUE { osgAnimation::UpdateBone { UniqueID 14 Name "Bone_001" StackedTransforms 1 { osgAnimation::StackedMatrixElement { UniqueID 15 Name "transform" Matrix { 1 0 0 0 0 1 0 0 0 0 1 0 0 0.25 0 1 } } } } } Children 1 { osgAnimation::Bone { UniqueID 16 Name "Bone_003" DataVariance DYNAMIC UpdateCallback TRUE { osgAnimation::UpdateBone { UniqueID 17 Name "Bone_003" StackedTransforms 1 { osgAnimation::StackedMatrixElement { UniqueID 18 Name "transform" Matrix { 1 0 0 0 0 1 0 0 0 0 1 0 0 0.25 0 1 } } } } } Matrix { 1 0 0 0 0 1 0 0 0 0 1 0 0 0.25 0 1 } InvBindMatrixInSkeletonSpace { 10 0 0 0 0 0 -10 0 0 10 0 0 0 -0.25 0 1 } } } Matrix { 1 0 0 0 0 1 0 0 0 0 1 0 0 0.25 0 1 } InvBindMatrixInSkeletonSpace { 10 0 0 0 0 0 -10 0 0 10 0 0 0 0 0 1 } } } Matrix { 1 0 0 0 0 1 0 0 0 0 1 0 0 0.25 0 1 } InvBindMatrixInSkeletonSpace { 10 0 0 0 0 0 -10 0 0 10 0 0 0 0.25 0 1 } } } Matrix { 1 0 0 0 0 0 1 0 0 -1 0 0 0 0 0 1 } InvBindMatrixInSkeletonSpace { 10 0 0 0 0 0 -10 0 0 10 0 0 0 0.5 0 1 } } osg::Geode { UniqueID 19 DataVariance DYNAMIC Drawables 1 { osgAnimation::RigGeometry { UniqueID 20 DataVariance DYNAMIC ComputeBoundingBoxCallback TRUE { osg::ComputeBoundingBoxCallback { UniqueID 21 } } SupportsDisplayList FALSE UseDisplayList FALSE UseVertexBufferObjects TRUE UpdateCallback TRUE { osg::UpdateCallback { UniqueID 22 } } PrimitiveSetList 1 { DrawElementsUInt GL_TRIANGLES 0 1428 { 1141 653 12 1147 676 20 1153 693 28 1159 710 36 1165 727 44 1171 744 52 1177 761 60 1183 779 68 1189 796 76 1195 813 84 762 246 268 1201 847 4 1207 830 92 303 168 259 1213 852 116 1219 858 371 1225 448 103 1231 876 141 1237 882 377 1243 471 132 1249 900 162 1255 906 383 1261 488 154 1267 924 186 1273 930 389 1279 506 178 1285 948 208 1291 954 395 1297 523 200 1303 972 232 1309 978 401 1315 540 222 1321 996 253 1327 1002 407 1333 557 247 1339 1020 277 1345 1026 413 1351 574 269 1357 1044 297 1363 1050 419 1369 591 290 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0.511063 1313 0.511063 1314 0.511063 1315 0.116543 1316 0.116543 1317 0.116543 1318 0.116543 1319 0.116543 1320 0.116543 1321 0.514116 1322 0.514116 1323 0.514116 1324 0.514116 1325 0.514116 1326 0.514116 1327 0.513524 1328 0.513524 1329 0.513524 1330 0.513524 1331 0.513524 1332 0.513524 1333 0.116773 1334 0.116773 1335 0.116773 1336 0.116773 1337 0.116773 1338 0.116773 1339 0.518506 1340 0.518506 1341 0.518506 1342 0.518506 1343 0.518506 1344 0.518506 1345 0.515716 1346 0.515716 1347 0.515716 1348 0.515716 1349 0.515716 1350 0.515716 1351 0.116662 1352 0.116662 1353 0.116662 1354 0.116662 1355 0.116662 1356 0.116662 1357 0.515539 1358 0.515539 1359 0.515539 1360 0.515539 1361 0.515539 1362 0.515539 1363 0.520186 1364 0.520186 1365 0.520186 1366 0.520186 1367 0.520186 1368 0.520186 1369 0.115923 1370 0.115923 1371 0.115923 1372 0.115923 1373 0.115923 1374 0.115923 1375 0.50603 1376 0.50603 1377 0.50603 1378 0.50603 1379 0.50603 1380 0.50603 1381 0.510017 1382 0.510017 1383 0.510017 1384 0.510017 1385 0.510017 1386 0.510017 1387 0.115599 1388 0.115599 1389 0.115599 1390 0.115599 1391 0.115599 1392 0.508396 1393 0.508396 1394 0.508396 1395 0.508396 1396 0.508396 1397 0.508396 1398 0.505024 1399 0.505024 1400 0.505024 1401 0.505024 1402 0.505024 1403 0.505024 1404 0.116323 1405 0.116323 1406 0.116323 1407 0.116323 1408 0.116323 1409 0.116323 1410 0.503336 1411 0.503336 1412 0.503336 1413 0.503336 1414 0.503336 1415 0.503336 1416 0.504887 1417 0.504887 1418 0.504887 1419 0.504887 1420 0.504887 1421 0.504887 1422 0.116081 1423 0.116081 1424 0.116081 1425 0.116081 1426 0.116081 1427 0.116081 } VertexInfluence "Bone_003" 1032 { 4 0.278159 5 0.278159 6 0.278159 7 0.278159 12 0.24515 13 0.24515 14 0.24515 15 0.24515 20 0.23507 21 0.23507 22 0.23507 23 0.23507 28 0.224104 29 0.224104 30 0.224104 31 0.224104 36 0.233595 37 0.233595 38 0.233595 39 0.233595 44 0.258175 45 0.258175 46 0.258175 47 0.258175 52 0.309799 53 0.309799 54 0.309799 55 0.309799 60 0.317662 61 0.317662 62 0.317662 63 0.317662 68 0.320206 69 0.320206 70 0.320206 71 0.320206 76 0.311216 77 0.311216 78 0.311216 79 0.311216 84 0.357141 85 0.357141 86 0.357141 87 0.357141 92 0.321442 93 0.321442 94 0.321442 95 0.321442 103 0.246048 104 0.246048 105 0.246048 106 0.246048 107 0.246048 108 0.246048 109 0.246048 110 0.090729 111 0.090729 112 0.090729 113 0.090729 114 0.090729 115 0.090729 116 0.0887967 117 0.0887967 118 0.0887967 119 0.0887967 120 0.0887967 121 0.0887967 132 0.243541 133 0.243541 134 0.243541 135 0.243541 136 0.243541 137 0.243541 138 0.243541 139 0.243541 140 0.243541 141 0.0878763 142 0.0878763 143 0.0878763 144 0.0878763 145 0.0878763 146 0.0878763 154 0.228804 155 0.228804 156 0.228804 157 0.228804 158 0.228804 159 0.228804 160 0.228804 161 0.228804 162 0.0875306 163 0.0875306 164 0.0875306 165 0.0875306 166 0.0875306 167 0.0875306 178 0.23533 179 0.23533 180 0.23533 181 0.23533 182 0.23533 183 0.23533 184 0.23533 185 0.23533 186 0.0880036 187 0.0880036 188 0.0880036 189 0.0880036 190 0.0880036 191 0.0880036 200 0.23241 201 0.23241 202 0.23241 203 0.23241 204 0.23241 205 0.23241 206 0.23241 207 0.23241 208 0.0895814 209 0.0895814 210 0.0895814 211 0.0895814 212 0.0895814 213 0.0895814 222 0.305104 223 0.305104 224 0.305104 225 0.305104 226 0.305104 227 0.305104 228 0.305104 229 0.305104 230 0.305104 231 0.305104 232 0.0917889 233 0.0917889 234 0.0917889 235 0.0917889 236 0.0917889 237 0.0917889 246 0.325085 247 0.325085 248 0.325085 249 0.325085 250 0.325085 251 0.325085 252 0.325085 253 0.0928968 254 0.0928968 255 0.0928968 256 0.0928968 257 0.0928968 258 0.0928968 268 0.336697 269 0.336697 270 0.336697 271 0.336697 272 0.336697 273 0.336697 274 0.336697 275 0.336697 276 0.336697 277 0.0932003 278 0.0932003 279 0.0932003 280 0.0932003 281 0.0932003 282 0.0932003 290 0.315012 291 0.315012 292 0.315012 293 0.315012 294 0.315012 295 0.315012 296 0.315012 297 0.0936636 298 0.0936636 299 0.0936636 300 0.0936636 301 0.0936636 302 0.0936636 314 0.325298 315 0.325298 316 0.325298 317 0.325298 318 0.325298 319 0.325298 320 0.325298 321 0.325298 322 0.0944848 323 0.0944848 324 0.0944848 325 0.0944848 326 0.0944848 327 0.0944848 336 0.322382 337 0.322382 338 0.322382 339 0.322382 340 0.322382 341 0.322382 342 0.322382 343 0.322382 344 0.322382 345 0.322382 346 0.322382 347 0.322382 348 0.0933232 349 0.0933232 350 0.0933232 351 0.0933232 352 0.0933232 353 0.0933232 363 0.298046 364 0.298046 365 0.298046 366 0.298046 367 0.298046 368 0.298046 369 0.298046 370 0.298046 371 0.0891931 372 0.0891931 373 0.0891931 374 0.0891931 375 0.0891931 376 0.0891931 377 0.0879207 378 0.0879207 379 0.0879207 380 0.0879207 381 0.0879207 382 0.0879207 383 0.0872476 384 0.0872476 385 0.0872476 386 0.0872476 387 0.0872476 388 0.0872476 389 0.0873352 390 0.0873352 391 0.0873352 392 0.0873352 393 0.0873352 394 0.0873352 395 0.0882251 396 0.0882251 397 0.0882251 398 0.0882251 399 0.0882251 400 0.0882251 401 0.0904285 402 0.0904285 403 0.0904285 404 0.0904285 405 0.0904285 406 0.0904285 407 0.092096 408 0.092096 409 0.092096 410 0.092096 411 0.092096 412 0.092096 413 0.0927711 414 0.0927711 415 0.0927711 416 0.0927711 417 0.0927711 418 0.0927711 419 0.0929004 420 0.0929004 421 0.0929004 422 0.0929004 423 0.0929004 424 0.0929004 425 0.0938426 426 0.0938426 427 0.0938426 428 0.0938426 429 0.0938426 430 0.0938426 431 0.0917399 432 0.0917399 433 0.0917399 434 0.0917399 435 0.0917399 436 0.0917399 437 0.0937478 438 0.0937478 439 0.0937478 440 0.0937478 441 0.0937478 442 0.0937478 448 0.235339 449 0.235339 450 0.235339 451 0.235339 452 0.235339 453 0.235339 454 0.351355 455 0.351355 456 0.351355 457 0.351355 458 0.351355 459 0.351355 471 0.240276 472 0.240276 473 0.240276 474 0.240276 475 0.240276 476 0.240276 488 0.229473 489 0.229473 490 0.229473 491 0.229473 492 0.229473 493 0.229473 506 0.22715 507 0.22715 508 0.22715 509 0.22715 510 0.22715 511 0.22715 523 0.230496 524 0.230496 525 0.230496 526 0.230496 527 0.230496 528 6.19344e-005 529 6.19344e-005 530 6.19344e-005 531 6.19344e-005 532 6.19344e-005 533 6.19344e-005 540 0.265018 541 0.265018 542 0.265018 543 0.265018 544 0.265018 545 0.265018 546 0.0012902 547 0.0012902 548 0.0012902 549 0.0012902 550 0.0012902 551 0.0012902 557 0.301875 558 0.301875 559 0.301875 560 0.301875 561 0.301875 562 0.00192118 563 0.00192118 564 0.00192118 565 0.00192118 566 0.00192118 567 0.00192118 574 0.311899 575 0.311899 576 0.311899 577 0.311899 578 0.311899 579 0.00180375 580 0.00180375 581 0.00180375 582 0.00180375 583 0.00180375 584 0.00180375 591 0.302006 592 0.302006 593 0.302006 594 0.302006 595 0.302006 596 0.00225085 597 0.00225085 598 0.00225085 599 0.00225085 600 0.00225085 601 0.00225085 608 0.342038 609 0.342038 610 0.342038 611 0.342038 612 0.342038 613 0.342038 614 0.0025655 615 0.0025655 616 0.0025655 617 0.0025655 618 0.0025655 619 0.0025655 625 0.361833 626 0.361833 627 0.361833 628 0.361833 629 0.361833 630 0.00196952 631 0.00196952 632 0.00196952 633 0.00196952 634 0.00196952 635 0.00196952 641 0.334119 642 0.334119 643 0.334119 644 0.334119 645 0.334119 646 0.334119 653 0.243288 654 0.243288 655 0.243288 656 0.243288 657 0.243288 658 0.000443954 659 0.000443954 660 0.000443954 661 0.000443954 662 0.000443954 663 0.000443954 664 0.343379 665 0.343379 666 0.343379 667 0.343379 668 0.343379 669 0.343379 676 0.23346 677 0.23346 678 0.23346 679 0.23346 680 0.23346 681 0.340088 682 0.340088 683 0.340088 684 0.340088 685 0.340088 686 0.340088 693 0.213244 694 0.213244 695 0.213244 696 0.213244 697 0.213244 698 0.338361 699 0.338361 700 0.338361 701 0.338361 702 0.338361 703 0.338361 710 0.229394 711 0.229394 712 0.229394 713 0.229394 714 0.229394 715 0.229394 716 0.340395 717 0.340395 718 0.340395 719 0.340395 720 0.340395 721 0.340395 727 0.219563 728 0.219563 729 0.219563 730 0.219563 731 0.219563 732 0.346827 733 0.346827 734 0.346827 735 0.346827 736 0.346827 737 0.346827 744 0.290454 745 0.290454 746 0.290454 747 0.290454 748 0.290454 749 0.290454 750 0.35751 751 0.35751 752 0.35751 753 0.35751 754 0.35751 755 0.35751 761 0.296729 762 0.296729 763 0.296729 764 0.296729 765 0.296729 766 0.296729 767 0.36131 768 0.36131 769 0.36131 770 0.36131 771 0.36131 772 0.36131 779 0.311946 780 0.311946 781 0.311946 782 0.311946 783 0.311946 784 0.311946 785 0.361974 786 0.361974 787 0.361974 788 0.361974 789 0.361974 790 0.361974 796 0.274672 797 0.274672 798 0.274672 799 0.274672 800 0.274672 801 0.274672 802 0.362919 803 0.362919 804 0.362919 805 0.362919 806 0.362919 807 0.362919 813 0.363146 814 0.363146 815 0.363146 816 0.363146 817 0.363146 818 0.363146 819 0.369134 820 0.369134 821 0.369134 822 0.369134 823 0.369134 824 0.369134 830 0.345435 831 0.345435 832 0.345435 833 0.345435 834 0.345435 835 0.363526 836 0.363526 837 0.363526 838 0.363526 839 0.363526 840 0.363526 847 0.290937 848 0.290937 849 0.290937 850 0.290937 851 0.290937 852 0.0889319 853 0.0889319 854 0.0889319 855 0.0889319 856 0.0889319 857 0.0889319 858 0.0898799 859 0.0898799 860 0.0898799 861 0.0898799 862 0.0898799 863 0.0898799 870 0.346496 871 0.346496 872 0.346496 873 0.346496 874 0.346496 875 0.346496 876 0.0878627 877 0.0878627 878 0.0878627 879 0.0878627 880 0.0878627 881 0.0878627 882 0.0883173 883 0.0883173 884 0.0883173 885 0.0883173 886 0.0883173 887 0.0883173 894 0.342477 895 0.342477 896 0.342477 897 0.342477 898 0.342477 899 0.342477 900 0.0873327 901 0.0873327 902 0.0873327 903 0.0873327 904 0.0873327 905 0.0873327 906 0.0875221 907 0.0875221 908 0.0875221 909 0.0875221 910 0.0875221 911 0.0875221 918 0.33948 919 0.33948 920 0.33948 921 0.33948 922 0.33948 923 0.33948 924 0.0876242 925 0.0876242 926 0.0876242 927 0.0876242 928 0.0876242 929 0.0876242 930 0.0873905 931 0.0873905 932 0.0873905 933 0.0873905 934 0.0873905 935 0.0873905 942 0.340208 943 0.340208 944 0.340208 945 0.340208 946 0.340208 947 0.340208 948 0.0888228 949 0.0888228 950 0.0888228 951 0.0888228 952 0.0888228 953 0.0888228 954 0.0880492 955 0.0880492 956 0.0880492 957 0.0880492 958 0.0880492 959 0.0880492 966 0.342818 967 0.342818 968 0.342818 969 0.342818 970 0.342818 971 0.342818 972 0.091122 973 0.091122 974 0.091122 975 0.091122 976 0.091122 977 0.091122 978 0.0899847 979 0.0899847 980 0.0899847 981 0.0899847 982 0.0899847 983 0.0899847 984 0.000533675 985 0.000533675 986 0.000533675 987 0.000533675 988 0.000533675 989 0.000533675 990 0.354177 991 0.354177 992 0.354177 993 0.354177 994 0.354177 995 0.354177 996 0.0924905 997 0.0924905 998 0.0924905 999 0.0924905 1000 0.0924905 1001 0.0924905 1002 0.091955 1003 0.091955 1004 0.091955 1005 0.091955 1006 0.091955 1007 0.091955 1008 0.00144082 1009 0.00144082 1010 0.00144082 1011 0.00144082 1012 0.00144082 1013 0.00144082 1014 0.360798 1015 0.360798 1016 0.360798 1017 0.360798 1018 0.360798 1019 0.360798 1020 0.0929747 1021 0.0929747 1022 0.0929747 1023 0.0929747 1024 0.0929747 1025 0.0929747 1026 0.0928345 1027 0.0928345 1028 0.0928345 1029 0.0928345 1030 0.0928345 1031 0.0928345 1032 0.00169879 1033 0.00169879 1034 0.00169879 1035 0.00169879 1036 0.00169879 1037 0.00169879 1038 0.363388 1039 0.363388 1040 0.363388 1041 0.363388 1042 0.363388 1043 0.363388 1044 0.0932003 1045 0.0932003 1046 0.0932003 1047 0.0932003 1048 0.0932003 1049 0.0932003 1050 0.093003 1051 0.093003 1052 0.093003 1053 0.093003 1054 0.093003 1055 0.093003 1056 0.00166017 1057 0.00166017 1058 0.00166017 1059 0.00166017 1060 0.00166017 1061 0.00166017 1062 0.361931 1063 0.361931 1064 0.361931 1065 0.361931 1066 0.361931 1067 0.361931 1068 0.0942117 1069 0.0942117 1070 0.0942117 1071 0.0942117 1072 0.0942117 1073 0.0942117 1074 0.0937487 1075 0.0937487 1076 0.0937487 1077 0.0937487 1078 0.0937487 1079 0.0937487 1080 0.00229049 1081 0.00229049 1082 0.00229049 1083 0.00229049 1084 0.00229049 1085 0.00229049 1086 0.36739 1087 0.36739 1088 0.36739 1089 0.36739 1090 0.36739 1091 0.36739 1092 0.36739 1093 0.0912135 1094 0.0912135 1095 0.0912135 1096 0.0912135 1097 0.0912135 1098 0.0912135 1099 0.0925583 1100 0.0925583 1101 0.0925583 1102 0.0925583 1103 0.0925583 1104 0.0925583 1105 0.00101537 1106 0.00101537 1107 0.00101537 1108 0.00101537 1109 0.00101537 1110 0.00101537 1111 0.358702 1112 0.358702 1113 0.358702 1114 0.358702 1115 0.358702 1116 0.358702 1117 0.0935701 1118 0.0935701 1119 0.0935701 1120 0.0935701 1121 0.0935701 1122 0.0935701 1123 0.0941694 1124 0.0941694 1125 0.0941694 1126 0.0941694 1127 0.0941694 1128 0.0941694 1129 0.00214052 1130 0.00214052 1131 0.00214052 1132 0.00214052 1133 0.00214052 1134 0.00214052 1135 0.367403 1136 0.367403 1137 0.367403 1138 0.367403 1139 0.367403 1140 0.367403 1141 0.344778 1142 0.344778 1143 0.344778 1144 0.344778 1145 0.344778 1146 0.344778 1147 0.341213 1148 0.341213 1149 0.341213 1150 0.341213 1151 0.341213 1152 0.341213 1153 0.338537 1154 0.338537 1155 0.338537 1156 0.338537 1157 0.338537 1158 0.338537 1159 0.340241 1160 0.340241 1161 0.340241 1162 0.340241 1163 0.340241 1164 0.340241 1165 0.344023 1166 0.344023 1167 0.344023 1168 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0 -0.05 1 } } } } opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/ImplicitSurfaceRenderTests.cpp000066400000000000000000000327351277777236100274730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/Blocks/ImplicitSurface.h" #include "SurgSim/Blocks/PoseInterpolator.h" #include "SurgSim/Blocks/ShadowMapping.h" #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Framework/BehaviorManager.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Graphics/OsgAxesRepresentation.h" #include "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Graphics/Camera.h" #include "SurgSim/Graphics/OsgLight.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgMeshRepresentation.h" #include "SurgSim/Graphics/OsgPlaneRepresentation.h" #include "SurgSim/Graphics/OsgPointCloudRepresentation.h" #include "SurgSim/Graphics/OsgSphereRepresentation.h" #include "SurgSim/Graphics/OsgView.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/RenderTests/RenderTest.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRigidTranslation; namespace SurgSim { namespace Graphics { class ImplicitSurfaceRenderTests : public RenderTest { }; TEST_F(ImplicitSurfaceRenderTests, PointSpriteFluid) { Math::Vector4f diffuseColor(0.83f, 0.0f, 0.0f, 1.0f); Math::Vector4f specularColor(0.8f, 0.8f, 0.8f, 1.0f); std::array dimensions = {1280, 720}; viewElement->getView()->setDimensions(dimensions); viewElement->getCamera()->setPerspectiveProjection(45, 1.7, 0.01, 10.0); viewElement->getCamera()->setAmbientColor(Math::Vector4d(0.2, 0.2, 0.2, 1.0)); auto interpolator = std::make_shared("Interpolator"); RigidTransform3d from = makeRigidTransform( Vector3d(0.5, 0.0, -0.5), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0)); RigidTransform3d to = makeRigidTransform( Vector3d(-0.5, 0.0, -0.5), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0)); interpolator->setTarget(viewElement); interpolator->setStartingPose(from); interpolator->setDuration(5.0); interpolator->setEndingPose(to); interpolator->setPingPong(true); viewElement->setPose(from); viewElement->addComponent(interpolator); auto light = std::make_shared("Light"); light->setDiffuseColor(Math::Vector4d(1.0, 1.0, 1.0, 1.0)); light->setSpecularColor(Math::Vector4d(0.8, 0.8, 0.8, 1.0)); light->setLightGroupReference(SurgSim::Graphics::Representation::DefaultGroupName); auto lightElement = std::make_shared("LightElement"); lightElement->setPose(makeRigidTransform( Math::Vector3d(-0.3 , 0.1, -0.5), Math::Vector3d(0.0 ,0.0, 0.0), Math::Vector3d(0.0, 1.0, 0.0))); lightElement->addComponent(light); scene->addSceneElement(lightElement); auto axes = std::make_shared("Axes"); lightElement->addComponent(axes); std::array lightProjection = { -1.0, 1.0, -1.0, 1.0, -1.0, 1.0 }; scene->addSceneElements(Blocks::createShadowMapping(viewElement->getCamera(), light, 4096, 1024, lightProjection, 0.002, 0.75, true, 4.0, false)); scene->addSceneElements(Blocks::createImplicitSurfaceEffect(viewElement->getView(), light, scene->getSceneElement(Blocks::GROUP_SHADOW_CASTER), 0.01f, 800.0f, 4.0, diffuseColor, specularColor, "Textures/CubeMap_reflection_diffuse.png", 0.9, "Textures/CubeMap_reflection_specular.png", 0.1, 100.0f, 0.0005f, 0.75f, false)); auto cube = std::make_shared("Graphics"); cube->setSizeXYZ(0.1, 0.1, 0.1); cube->addGroupReference(Blocks::GROUP_SHADOW_RECEIVER); auto material = Graphics::buildMaterial("Shaders/s_mapping_material.vert", "Shaders/s_mapping_material.frag"); material->addUniform("vec4", "diffuseColor"); material->setValue("diffuseColor", Math::Vector4f(0.2, 0.2, 0.2, 1.0)); material->addUniform("vec4", "specularColor"); material->setValue("specularColor", Math::Vector4f(1.0, 1.0, 1.0, 1.0)); material->addUniform("float", "shininess"); material->setValue("shininess", 10.0f); cube->setMaterial(material); auto element = std::make_shared("Cube"); element->setPose(makeRigidTranslation(Math::Vector3d(0.0, 0.0, 0.25))); element->addComponent(cube); element->addComponent(material); scene->addSceneElement(element); auto sphere = std::make_shared("Graphics"); sphere->setRadius(0.1); sphere->addGroupReference(Blocks::GROUP_SHADOW_CASTER); sphere->addGroupReference(Blocks::GROUP_SHADOW_RECEIVER); material = Graphics::buildMaterial("Shaders/s_mapping_material.vert", "Shaders/s_mapping_material.frag"); material->addUniform("vec4", "diffuseColor"); material->setValue("diffuseColor", diffuseColor); material->addUniform("vec4", "specularColor"); material->setValue("specularColor", specularColor); material->addUniform("float", "shininess"); material->setValue("shininess", 10.0f); sphere->setMaterial(material); element = std::make_shared("Sphere"); element->setPose(makeRigidTranslation(Math::Vector3d(-0.25, 0.0, -0.25))); element->addComponent(sphere); element->addComponent(material); scene->addSceneElement(element); auto plane = std::make_shared("Graphics"); plane->addGroupReference(Blocks::GROUP_SHADOW_RECEIVER); material = Graphics::buildMaterial("Shaders/s_mapping_material.vert", "Shaders/s_mapping_material.frag"); material->addUniform("vec4", "diffuseColor"); material->setValue("diffuseColor", Math::Vector4f(0.2, 0.2, 0.2, 1.0)); material->addUniform("vec4", "specularColor"); material->setValue("specularColor", Math::Vector4f(1.0, 1.0, 1.0, 1.0)); material->addUniform("float", "shininess"); material->setValue("shininess", 10.0f); plane->setMaterial(material); element = std::make_shared("Plane"); element->setPose(makeRigidTranslation(Math::Vector3d(0.0, -0.1, 0.0))); element->addComponent(plane); element->addComponent(material); scene->addSceneElement(element); // Create the point cloud auto mesh = std::make_shared("Mesh"); mesh->loadMesh("Geometry/sphere.ply"); auto graphics = std::make_shared("Cloud"); for (const auto& vertex : mesh->getMesh()->getVertices()) { graphics->getVertices()->addVertex(Graphics::PointCloud::VertexType(vertex)); } graphics->setGroupReference(Blocks::GROUP_IMPLICIT_SURFACE); auto sceneElement = std::make_shared("PointSprites"); sceneElement->addComponent(graphics); scene->addSceneElement(sceneElement); runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(5000)); runtime->stop(); } TEST_F(ImplicitSurfaceRenderTests, StereoFluid) { Math::Vector4f diffuseColor(0.83f, 0.0f, 0.0f, 1.0f); Math::Vector4f specularColor(0.8f, 0.8f, 0.8f, 1.0f); std::array dimensions = {1280, 720}; viewElement->getView()->setDimensions(dimensions); viewElement->getCamera()->setPerspectiveProjection(45, 1.7, 0.01, 10.0); viewElement->getCamera()->setAmbientColor(Math::Vector4d(0.2, 0.2, 0.2, 1.0)); auto osgView = std::static_pointer_cast(viewElement->getView()); osgView->setStereoMode(View::STEREO_MODE_HORIZONTAL_SPLIT); osgView->setDisplayType(View::DISPLAY_TYPE_MONITOR); osgView->setScreenWidth(0.0631); osgView->setScreenHeight(0.071); osgView->setEyeSeparation(0.06); osgView->setScreenDistance(0.10); auto interpolator = std::make_shared("Interpolator"); RigidTransform3d from = makeRigidTransform( Vector3d(2.0, 0.0, -2.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0)); RigidTransform3d to = makeRigidTransform( Vector3d(-2.0, 0.0, -2.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0)); interpolator->setTarget(viewElement); interpolator->setStartingPose(from); interpolator->setDuration(5.0); interpolator->setEndingPose(to); interpolator->setPingPong(true); viewElement->setPose(from); viewElement->addComponent(interpolator); auto light = std::make_shared("Light"); light->setDiffuseColor(Math::Vector4d(1.0, 1.0, 1.0, 1.0)); light->setSpecularColor(Math::Vector4d(0.8, 0.8, 0.8, 1.0)); light->setLightGroupReference(SurgSim::Graphics::Representation::DefaultGroupName); auto lightElement = std::make_shared("LightElement"); lightElement->setPose(makeRigidTransform( Math::Vector3d(-0.3 , 0.1, -0.5), Math::Vector3d(0.0 ,0.0, 0.0), Math::Vector3d(0.0, 1.0, 0.0))); lightElement->addComponent(light); scene->addSceneElement(lightElement); auto axes = std::make_shared("Axes"); lightElement->addComponent(axes); std::array lightProjection = { -1.0, 1.0, -1.0, 1.0, -1.0, 1.0 }; scene->addSceneElements(Blocks::createShadowMapping(viewElement->getCamera(), light, 4096, 1024, lightProjection, 0.002, 0.75, true, 4.0, false)); scene->addSceneElements(Blocks::createImplicitSurfaceEffect(viewElement->getView(), light, scene->getSceneElement(Blocks::GROUP_SHADOW_CASTER), 0.02f, 800.0f, 4.0, diffuseColor, specularColor, "Textures/CubeMap_reflection_diffuse.png", 0.9, "Textures/CubeMap_reflection_specular.png", 0.1, 100.0f, 0.0005f, 0.75f, false)); auto cube = std::make_shared("Graphics"); cube->setSizeXYZ(0.1, 0.1, 0.1); cube->addGroupReference(Blocks::GROUP_SHADOW_RECEIVER); auto material = Graphics::buildMaterial("Shaders/s_mapping_material.vert", "Shaders/s_mapping_material.frag"); material->addUniform("vec4", "diffuseColor"); material->setValue("diffuseColor", Math::Vector4f(0.2, 0.2, 0.2, 1.0)); material->addUniform("vec4", "specularColor"); material->setValue("specularColor", Math::Vector4f(1.0, 1.0, 1.0, 1.0)); material->addUniform("float", "shininess"); material->setValue("shininess", 10.0f); cube->setMaterial(material); auto element = std::make_shared("Cube"); element->setPose(makeRigidTranslation(Math::Vector3d(0.0, 0.0, 0.25))); element->addComponent(cube); element->addComponent(material); scene->addSceneElement(element); auto sphere = std::make_shared("Graphics"); sphere->setRadius(0.1); sphere->addGroupReference(Blocks::GROUP_SHADOW_CASTER); sphere->addGroupReference(Blocks::GROUP_SHADOW_RECEIVER); material = Graphics::buildMaterial("Shaders/s_mapping_material.vert", "Shaders/s_mapping_material.frag"); material->addUniform("vec4", "diffuseColor"); material->setValue("diffuseColor", diffuseColor); material->addUniform("vec4", "specularColor"); material->setValue("specularColor", specularColor); material->addUniform("float", "shininess"); material->setValue("shininess", 10.0f); sphere->setMaterial(material); element = std::make_shared("Sphere"); element->setPose(makeRigidTranslation(Math::Vector3d(-0.25, 0.0, -0.25))); element->addComponent(sphere); element->addComponent(material); scene->addSceneElement(element); auto plane = std::make_shared("Graphics"); plane->addGroupReference(Blocks::GROUP_SHADOW_RECEIVER); material = Graphics::buildMaterial("Shaders/s_mapping_material.vert", "Shaders/s_mapping_material.frag"); material->addUniform("vec4", "diffuseColor"); material->setValue("diffuseColor", Math::Vector4f(0.2, 0.2, 0.2, 1.0)); material->addUniform("vec4", "specularColor"); material->setValue("specularColor", Math::Vector4f(1.0, 1.0, 1.0, 1.0)); material->addUniform("float", "shininess"); material->setValue("shininess", 10.0f); plane->setMaterial(material); element = std::make_shared("Plane"); element->setPose(makeRigidTranslation(Math::Vector3d(0.0, -0.1, 0.0))); element->addComponent(plane); element->addComponent(material); scene->addSceneElement(element); // Create the point cloud auto mesh = std::make_shared("Mesh"); mesh->loadMesh("Geometry/sphere.ply"); auto graphics = std::make_shared("Cloud"); for (const auto& vertex : mesh->getMesh()->getVertices()) { graphics->getVertices()->addVertex(Graphics::PointCloud::VertexType(vertex)); } graphics->setGroupReference(Blocks::GROUP_IMPLICIT_SURFACE); auto sceneElement = std::make_shared("PointSprites"); sceneElement->addComponent(graphics); scene->addSceneElement(sceneElement); runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(5000)); runtime->stop(); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgBoxRepresentationRenderTests.cpp000066400000000000000000000141761277777236100305330ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Render Tests for the OsgBoxRepresentation class. #include "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgView.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/RenderTests/RenderTest.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Testing/MathUtilities.h" #include #include using SurgSim::Framework::Runtime; using SurgSim::Framework::Scene; using SurgSim::Framework::SceneElement; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; using SurgSim::Testing::interpolatePose; namespace SurgSim { namespace Graphics { struct OsgBoxRepresentationRenderTests : public RenderTest { }; TEST_F(OsgBoxRepresentationRenderTests, MovingBoxesTest) { /// Initial and final position (X, Y, Z) of box 1 Vector3d startPosition1(-0.1, 0.0, -0.2), finalPosition1(0.1, 0.0, -0.2); /// Initial angles (X, Y, Z) and final of the cylinder 1 Vector3d startAngles1(0.0, 0.0, 0.0), finalAngles1(-M_PI_4, -M_PI_4, -M_PI_4); /// Initial box 1 sizeX; double startSizeX1 = 0.001; /// Final box 1 sizeX; double endSizeX1 = 0.01; /// Initial box 1 sizeY; double startSizeY1 = 0.011; /// Final box 1 sizeY; double endSizeY1 = 0.02; /// Initial box 1 sizeZ; double startSizeZ1 = 0.021; /// Final box 1 sizeZ; double endSizeZ1 = 0.03; /// Initial and final position (X, Y, Z) box 2 Vector3d startPosition2(0.0, -0.1, -0.2), finalPosition2(0.0, 0.1, -0.2); /// Initial and final angles (X, Y, Z) of the box 2 Vector3d startAngles2(-M_PI_2, -M_PI_2, -M_PI_2), finalAngles2(M_PI, M_PI, M_PI); /// Initial box 2 sizeX; double startSizeX2 = 0.001; /// Final box 2 sizeX; double endSizeX2 = 0.01; /// Initial box 2 sizeX; double startSizeY2 = 0.011; /// Final box 2 sizeX; double endSizeY2 = 0.02; /// Initial box 2 sizeX; double startSizeZ2 = 0.021; /// Final box 2 sizeX; double endSizeZ2 = 0.03; /// Initial box 2 angleX; /// Number of times to step the box position and radius from start to end. /// This number of steps will be done in 1 second. int numSteps = 100; std::shared_ptr scene = runtime->getScene(); auto sceneElement = std::make_shared("Box 1"); auto boxRepresentation1 = std::make_shared("Graphics"); sceneElement->addComponent(boxRepresentation1); scene->addSceneElement(sceneElement); sceneElement = std::make_shared("Box 2"); auto boxRepresentation2 = std::make_shared("Graphics"); sceneElement->addComponent(boxRepresentation2); scene->addSceneElement(sceneElement); /// Run the thread runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); enum BoxSetterType {BoxSetterTypeIndividual, BoxSetterTypeTogether, BoxSetterTypeVector3d, // Add more setter types above this line. BoxSetterTypeCount }; int boxSetterType = 0; Vector3d box1Size, box2Size; for (int i = 0; i < numSteps; ++i) { /// Calculate t in [0.0, 1.0] double t = static_cast(i) / numSteps; /// Interpolate position and orientation boxRepresentation1->getSceneElement()->setPose( interpolatePose(startAngles1, finalAngles1, startPosition1, finalPosition1, t)); boxRepresentation2->getSceneElement()->setPose( interpolatePose(startAngles2, finalAngles2, startPosition1, finalPosition2, t)); if (boxSetterType == static_cast(BoxSetterTypeIndividual)) { boxRepresentation1->setSizeX((1 - t) * startSizeX1 + t * endSizeX1); boxRepresentation1->setSizeY((1 - t) * startSizeY1 + t * endSizeY1); boxRepresentation1->setSizeZ((1 - t) * startSizeZ1 + t * endSizeZ1); boxRepresentation2->setSizeX((1 - t) * startSizeX2 + t * endSizeX2); boxRepresentation2->setSizeY((1 - t) * startSizeY2 + t * endSizeY2); boxRepresentation2->setSizeZ((1 - t) * startSizeZ2 + t * endSizeZ2); } else if (boxSetterType == static_cast(BoxSetterTypeTogether)) { boxRepresentation1->setSizeXYZ((1 - t) * startSizeX1 + t * endSizeX1, (1 - t) * startSizeY1 + t * endSizeY1, (1 - t) * startSizeZ1 + t * endSizeZ1); boxRepresentation2->setSizeXYZ((1 - t) * startSizeX2 + t * endSizeX2, (1 - t) * startSizeY2 + t * endSizeY2, (1 - t) * startSizeZ2 + t * endSizeZ2); } else if (boxSetterType == static_cast(BoxSetterTypeVector3d)) { box1Size.x() = (1 - t) * startSizeX1 + t * endSizeX1; box1Size.y() = (1 - t) * startSizeY1 + t * endSizeY1; box1Size.z() = (1 - t) * startSizeZ1 + t * endSizeZ1; boxRepresentation1->setSize(box1Size); box2Size.x() = (1 - t) * startSizeX2 + t * endSizeX2; box2Size.y() = (1 - t) * startSizeY2 + t * endSizeY2; box2Size.z() = (1 - t) * startSizeZ2 + t * endSizeZ2; boxRepresentation2->setSize(box2Size); } boxSetterType = (boxSetterType + 1) % BoxSetterTypeCount; /// The total number of steps should complete in 1 second boost::this_thread::sleep(boost::posix_time::milliseconds(1000 / numSteps)); } runtime->stop(); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgCameraRenderTests.cpp000066400000000000000000000212361277777236100262430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Blocks/SphereElement.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/TransferPropertiesBehavior.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgScreenSpaceQuadRepresentation.h" #include "SurgSim/Graphics/OsgRenderTarget.h" #include "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Graphics/OsgGroup.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgProgram.h" #include "SurgSim/Graphics/OsgUniform.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Graphics/RenderTests/RenderTest.h" #include "SurgSim/Testing/MathUtilities.h" using SurgSim::Framework::BasicSceneElement; using SurgSim::Math::Quaterniond; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector3f; using SurgSim::Math::RigidTransform3d; std::string vertexShaderSource = "uniform vec3 ambientColor;\n" "uniform vec3 otherColor;\n" "varying vec4 color;\n" "void main(void)\n" "{\n" " vec3 lightVector = normalize(vec3(1.0,-1.0,1.0));\n" " gl_Position = gl_ModelViewProjectionMatrix * gl_Vertex;\n" // This is not a realy lighting calculation ... just faking something ... " color.rgb = otherColor * max(dot(gl_Normal, lightVector), 0.0) + ambientColor;\n" " color.a = 1.0;\n" "}"; std::string fragmentShaderSource = "varying vec4 color;\n" "void main(void)\n" "{\n" " gl_FragColor = color;\n" "}"; namespace SurgSim { namespace Graphics { struct OsgCameraRenderTests: public RenderTest { }; TEST_F(OsgCameraRenderTests, PassTest) { auto defaultCamera = viewElement->getCamera(); auto renderPass = std::make_shared("RenderPass"); renderPass->setProjectionMatrix(defaultCamera->getProjectionMatrix()); renderPass->setRenderGroupReference("RenderPass"); renderPass->setGroupReference(SurgSim::Graphics::Representation::DefaultGroupName); std::array dimensions = viewElement->getView()->getDimensions(); auto renderTargetOsg = std::make_shared(dimensions[0], dimensions[1], 1.0, 2, true); renderPass->setRenderTarget(renderTargetOsg); renderPass->setRenderOrder(Camera::RENDER_ORDER_PRE_RENDER, 0); auto program = std::make_shared(); program->setFragmentShaderSource(fragmentShaderSource); program->setVertexShaderSource(vertexShaderSource); auto material1 = std::make_shared("material1"); auto material2 = std::make_shared("material2"); material1->setProgram(program); material2->setProgram(program); viewElement->addComponent(material1); viewElement->addComponent(material2); renderPass->setMaterial(material2); auto uniform = std::make_shared>("ambientColor"); uniform->set(Vector3f(0.2, 0.2, 0.2)); material1->addUniform(uniform); uniform = std::make_shared>("otherColor"); uniform->set(Vector3f(1.0, 0.0, 0.0)); material1->addUniform(uniform); uniform = std::make_shared>("otherColor"); uniform->set(Vector3f(0.0, 1.0, 0.0)); material2->addUniform(uniform); viewElement->addComponent(renderPass); int screenWidth = dimensions[0]; int screenHeight = dimensions[1]; int width = dimensions[0] / 3; int height = dimensions[1] / 3; std::shared_ptr quad; quad = makeQuad("Color1", width, height, screenWidth - width, screenHeight - height); quad->setTexture(renderTargetOsg->getColorTargetOsg(0)); viewElement->addComponent(quad); quad = makeQuad("Color2", width, height, screenWidth - width, screenHeight - height * 2); quad->setTexture(renderTargetOsg->getColorTargetOsg(1)); viewElement->addComponent(quad); quad = makeQuad("Depth", width, height, 0.0, screenHeight - height); quad->setTexture(renderTargetOsg->getDepthTargetOsg()); viewElement->addComponent(quad); Quaterniond quat = Quaterniond::Identity(); RigidTransform3d startPose = SurgSim::Math::makeRigidTransform(quat, Vector3d(0.0, 0.0, -0.2)); quat = SurgSim::Math::makeRotationQuaternion(M_PI, Vector3d::UnitY().eval()); RigidTransform3d endPose = SurgSim::Math::makeRigidTransform(quat, Vector3d(0.0, 0.0, -0.2)); auto box = std::make_shared("Graphics"); box->setSizeXYZ(0.05, 0.05, 0.05); box->setGroupReference("RenderPass"); auto boxElement1 = std::make_shared("Box 1"); boxElement1->addComponent(box); boxElement1->setPose(startPose); scene->addSceneElement(boxElement1); box = std::make_shared("Graphics"); box->setSizeXYZ(0.05, 0.05, 0.05); box->setMaterial(material1); auto boxElement2 = std::make_shared("Box 2"); boxElement2->addComponent(box); boxElement2->setPose(startPose); scene->addSceneElement(boxElement2); /// Run the thread runtime->start(); int numSteps = 100; boost::this_thread::sleep(boost::posix_time::milliseconds(500)); for (int i = 0; i < numSteps; ++i) { double t = static_cast(i) / numSteps; boxElement1->setPose(SurgSim::Testing::interpolate(endPose, startPose, t)); boxElement2->setPose(SurgSim::Testing::interpolate(startPose, endPose, t)); boost::this_thread::sleep(boost::posix_time::milliseconds(1000 / 100)); } } TEST_F(OsgCameraRenderTests, Resize) { int width = 1024; int height = 768; auto copier = std::make_shared("Copier"); copier->connect(viewElement->getView(), "DimensionsDouble", viewElement->getCamera(), "ViewportSize"); auto graphics = std::make_shared("Graphics"); graphics->setSizeXYZ(0.1, 0.1, 0.1); auto element = std::make_shared("Cube"); element->addComponent(graphics); element->setPose(Math::makeRigidTranslation(Vector3d(0.0, 0.0, -0.3))); scene->addSceneElement(element); runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); std::array dimensions = {width + 500, height + 100}; viewElement->getView()->setDimensions(dimensions); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); std::array swapped = {dimensions[1], dimensions[0]}; viewElement->getView()->setDimensions(swapped); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); } TEST_F(OsgCameraRenderTests, MultipleRenderGroups) { std::array dimensions = { 400, 400 }; viewElement->getView()->setDimensions(dimensions); camera->setRenderGroupReference("Left"); std::array position = { 500, 100 }; auto rightElement = std::make_shared("RighViewElement"); rightElement->getView()->setDimensions(dimensions); rightElement->getView()->setPosition(position); rightElement->getCamera()->addRenderGroupReference("Right"); scene->addSceneElement(rightElement); // Left camera only auto graphics = std::make_shared("Graphics"); graphics->setSizeXYZ(0.1, 0.1, 0.1); graphics->setGroupReference("Left"); auto element = std::make_shared("CubeLeft"); element->addComponent(graphics); element->setPose(Math::makeRigidTranslation(Vector3d(-0.2, 0.0, -0.5))); scene->addSceneElement(element); // Right camera only graphics = std::make_shared("Graphics"); graphics->setSizeXYZ(0.1, 0.1, 0.1); graphics->setGroupReference("Right"); element = std::make_shared("CubeRight"); element->addComponent(graphics); element->setPose(Math::makeRigidTranslation(Vector3d(0.2, 0.0, -0.5))); scene->addSceneElement(element); // Both cameras graphics = std::make_shared("Graphics"); graphics->setSizeXYZ(0.1, 0.1, 0.1); element = std::make_shared("CubeBoth"); element->addComponent(graphics); element->setPose(Math::makeRigidTranslation(Vector3d(0.0, 0.0, -0.5))); scene->addSceneElement(element); runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(2000)); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgCapsuleRepresentationRenderTests.cpp000066400000000000000000000127001277777236100313660ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Render Tests for the OsgCapsuleRepresentation class. #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Graphics/OsgCapsuleRepresentation.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/RenderTests/RenderTest.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Testing/MathUtilities.h" #include using SurgSim::Framework::Runtime; using SurgSim::Framework::Scene; using SurgSim::Framework::SceneElement; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector2d; using SurgSim::Math::Vector3d; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; using SurgSim::Testing::interpolate; using SurgSim::Testing::interpolatePose; namespace SurgSim { namespace Graphics { struct OsgCapsuleRepresentationRenderTests : public RenderTest { }; TEST_F(OsgCapsuleRepresentationRenderTests, MovingCapsuleTest) { /// Add the two capsule representation to the view element std::shared_ptr capsuleRepresentation1 = std::make_shared("capsule representation 1"); viewElement->addComponent(capsuleRepresentation1); std::shared_ptr capsuleRepresentation2 = std::make_shared("capsule representation 2"); viewElement->addComponent(capsuleRepresentation2); /// Run the thread runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); enum SetterType {SetterTypeIndividual, SetterTypeTogether, SetterTypeVector2d, // Add more setter types above this line. BoxSetterTypeCount }; int setterType = 0; Vector2d capsule1Size, capsule2Size; /// Initial position of capsule 1 Vector3d startPosition1(-0.1, 0.0, -0.2); /// Final position of capsule 1 Vector3d endPosition1(0.1, 0.0, -0.2); /// Initial size (radius, height) of capsule 1 Vector2d startSize1(0.001, 0.011); /// Final size (radius, height) of capsule 1 Vector2d endSize1(0.01, 0.02); /// Initial angles (X, Y, Z) of the capsule 1 Vector3d startAngles1(0.0, 0.0, 0.0); /// Final angles (X, Y, Z) of the capsule 1 Vector3d endAngles1(-M_PI_4, -M_PI_4, -M_PI_4); /// Initial position capsule 2 Vector3d startPosition2(0.0, -0.1, -0.2); /// Final position capsule 2 Vector3d endPosition2(0.0, 0.1, -0.2); /// Initial size (radius, height) of capsule 2 Vector2d startSize2(0.001, 0.01); /// Final size (radius, height) of capsule 2 Vector2d endSize2(0.011, 0.02); /// Initial angles (X, Y, Z) of the capsule 2 Vector3d startAngles2(-M_PI_2, -M_PI_2, -M_PI_2); /// Final angles (X, Y, Z) of the capsule 2 Vector3d endAngles2(M_PI, M_PI, M_PI); /// Number of times to step the capsule position and radius from start to end. /// This number of steps will be done in 1 second. int numSteps = 100; for (int i = 0; i < numSteps; ++i) { /// Calculate t in [0.0, 1.0] double t = static_cast(i) / numSteps; /// Interpolate position and angle capsuleRepresentation1->setLocalPose( interpolatePose(startAngles1, endAngles1, startPosition1, endPosition1, t)); capsuleRepresentation2->setLocalPose( interpolatePose(startAngles2, endAngles2, startPosition2, endPosition2, t)); /// Test different ways to set the size of capsule if (setterType == static_cast(SetterTypeIndividual)) { capsuleRepresentation1->setRadius(interpolate(startSize1.x(), endSize1.x(), t)); capsuleRepresentation1->setHeight(interpolate(startSize1.y(), endSize1.y(), t)); capsuleRepresentation2->setRadius(interpolate(startSize2.x(), endSize2.x(), t)); capsuleRepresentation2->setHeight(interpolate(startSize2.y(), endSize2.y(), t)); } else if (setterType == static_cast(SetterTypeTogether)) { capsuleRepresentation1->setSize(interpolate(startSize1.x(), endSize1.x(), t), interpolate(startSize1.y(), endSize1.y(), t)); capsuleRepresentation2->setSize(interpolate(startSize2.x(), endSize2.x(), t), interpolate(startSize2.y(), endSize2.y(), t)); } else if (setterType == static_cast(SetterTypeVector2d)) { capsule1Size.x() = interpolate(startSize1.x(), endSize1.x(), t); capsule1Size.y() = interpolate(startSize1.y(), endSize1.y(), t); capsuleRepresentation1->setSize(capsule1Size); capsule2Size.x() = interpolate(startSize2.x(), endSize2.x(), t); capsule2Size.y() = interpolate(startSize2.y(), endSize2.y(), t); capsuleRepresentation2->setSize(capsule2Size); } setterType = (setterType + 1) % BoxSetterTypeCount; /// The total number of steps should complete in 1 second boost::this_thread::sleep(boost::posix_time::milliseconds(1000 / numSteps)); } } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgCurveRepresentationRenderTests.cpp000066400000000000000000000110731277777236100310600ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgLight.h" #include "SurgSim/Graphics/OsgCurveRepresentation.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/RenderTests/RenderTest.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Testing/MathUtilities.h" #include #include using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; using SurgSim::Math::Vector4f; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; using SurgSim::Testing::interpolate; using SurgSim::Testing::interpolatePose; namespace SurgSim { namespace Graphics { struct OsgCurveRepresentationRenderTests : public RenderTest { protected: DataStructures::VerticesPlain makeCube() { typedef DataStructures::VerticesPlain::VertexType Vertex; DataStructures::VerticesPlain result; result.addVertex(Vertex(Vector3d(0.1, -0.1, 0.1))); result.addVertex(Vertex(Vector3d(0.1, -0.1, 0.1))); result.addVertex(Vertex(Vector3d(-0.1, -0.1, 0.1))); result.addVertex(Vertex(Vector3d(-0.1, -0.1, -0.1))); result.addVertex(Vertex(Vector3d(0.1, -0.1, -0.1))); result.addVertex(Vertex(Vector3d(0.1, 0.1, 0.1))); result.addVertex(Vertex(Vector3d(-0.1, 0.1, 0.1))); result.addVertex(Vertex(Vector3d(-0.1, 0.1, -0.1))); result.addVertex(Vertex(Vector3d(0.1, 0.1, -0.1))); return result; } }; TEST_F(OsgCurveRepresentationRenderTests, DynamicRotate) { auto element = std::make_shared("Element"); auto vertices = makeCube(); auto representation = std::make_shared("Curve"); element->addComponent(representation); scene->addSceneElement(element); viewElement->enableManipulator(true); viewElement->setPose(makeRigidTransform( Math::Vector3d(0.0, 0.0, -2.0), Math::Vector3d(0.0, 0.0, 0.0), Math::Vector3d(0.0, 1.0, 0.0))); auto material = buildMaterial("Shaders/material_curve.vert", "Shaders/material.frag"); material->addUniform("vec4", "diffuseColor"); material->setValue("diffuseColor", Vector4f(0.2, 0.2, 0.9, 1.0)); material->addUniform("vec4", "specularColor"); material->setValue("specularColor", Vector4f(0.4, 0.4, 0.4, 1.0)); material->addUniform("float", "shininess"); material->setValue("shininess", 64.0f); representation->setMaterial(material); element->addComponent(material); auto light = std::make_shared("Light"); // light->setLocalPose(Math::makeRigidTranslation(Math::Vector3d(0.5, 0.5, 0.5))); viewElement->addComponent(light); /// Run the thread runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); EXPECT_TRUE(viewElement->isInitialized()); int numSteps = 10 * 60; auto widths = std::make_pair(0.1, 5.0); auto tensions = std::make_pair(0.1, 0.9); RigidTransform3d transform = makeRigidTransform(makeRotationQuaternion(0.02, Vector3d(0.0, 1.0, 1.0)), Vector3d(0.0, -0.0, 0.0)); for (int i = 0; i < numSteps; ++i) { double t = static_cast(i) / numSteps; for (size_t i = 0; i < vertices.getNumVertices(); ++i) { vertices.setVertexPosition(i, transform * vertices.getVertexPosition(i)); } representation->setWidth(interpolate(widths.first, widths.second, t)); representation->setTension(interpolate(tensions.first, tensions.second, t)); representation->updateControlPoints(vertices); boost::this_thread::sleep(boost::posix_time::milliseconds(1000.0 / 30.0)); } boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgCylinderRepresentationRenderTests.cpp000066400000000000000000000114201277777236100315410ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Render Tests for the OsgCylinderRepresentation class. #include "SurgSim/Graphics/OsgCylinderRepresentation.h" #include "SurgSim/Graphics/RenderTests/RenderTest.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Testing/MathUtilities.h" using SurgSim::Math::Vector2d; using SurgSim::Math::Vector3d; using SurgSim::Testing::interpolate; using SurgSim::Testing::interpolatePose; namespace SurgSim { namespace Graphics { struct OsgCylinderRepresentationRenderTests : public RenderTest { }; TEST_F(OsgCylinderRepresentationRenderTests, MovingCylinderTest) { /// Add the two cylinder representation to the view element std::shared_ptr cylinderRepresentation1 = std::make_shared("cylinder representation 1"); viewElement->addComponent(cylinderRepresentation1); std::shared_ptr cylinderRepresentation2 = std::make_shared("cylinder representation 2"); viewElement->addComponent(cylinderRepresentation2); /// Run the thread runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); enum SetterType {SetterTypeIndividual, SetterTypeTogether, SetterTypeVector2d, // Add more setter types above this line. BoxSetterTypeCount}; int setterType = 0; Vector2d cylinder1Size, cylinder2Size; /// Initial and final position (X, Y, Z) of cylinder 1 Vector3d startPosition1(-0.1, 0.0, -0.2), finalPosition1(0.1, 0.0, -0.2); /// Initial size (radius, height) and final size of cylinder 1 Vector2d startSize1(0.001, 0.011), finalSize1(0.01, 0.02); /// Initial angles (X, Y, Z) and final of the cylinder 1 Vector3d startAngles1(0.0, 0.0, 0.0), finalAngles1(-M_PI_4, -M_PI_4, -M_PI_4); /// Initial and final position (X, Y, Z) cylinder 2 Vector3d startPosition2(0.0, -0.1, -0.2), finalPosition2(0.0, 0.1, -0.2); /// Initial and final size (radius, height) of cylinder 2 Vector2d startSize2(0.001, 0.011), finalSize2(0.01, 0.02); /// Initial and final angles (X, Y, Z) of the cylinder 2 Vector3d startAngles2(-M_PI_2, -M_PI_2, -M_PI_2), finalAngles2(M_PI, M_PI, M_PI); /// Number of times to step the cylinder position and radius from start to end. /// This number of steps will be done in 1 second. int numSteps = 100; for (int i = 0; i < numSteps; ++i) { /// Calculate t in [0.0, 1.0] double t = static_cast(i) / numSteps; /// Interpolate position and radius cylinderRepresentation1->setLocalPose( interpolatePose(startAngles1, finalAngles1, startPosition1, finalPosition1, t)); cylinderRepresentation2->setLocalPose( interpolatePose(startAngles2, finalAngles2, startPosition1, finalPosition2, t)); if(setterType == static_cast(SetterTypeIndividual)) { cylinderRepresentation1->setRadius(interpolate(startSize1.x(), finalSize1.x(), t)); cylinderRepresentation1->setHeight(interpolate(startSize1.y(), finalSize1.y(), t)); cylinderRepresentation2->setRadius(interpolate(startSize2.x(), finalSize2.x(), t)); cylinderRepresentation2->setHeight(interpolate(startSize2.y(), finalSize2.y(), t)); } else if(setterType == static_cast(SetterTypeTogether)) { cylinderRepresentation1->setSize(interpolate(startSize1.x(), finalSize1.x(), t), interpolate(startSize1.y(), finalSize1.y(), t)); cylinderRepresentation2->setSize(interpolate(startSize2.x(), finalSize2.x(), t), interpolate(startSize2.y(), finalSize2.y(), t)); } else if(setterType == static_cast(SetterTypeVector2d)) { cylinder1Size.x() = interpolate(startSize1.x(), finalSize1.x(), t); cylinder1Size.y() = interpolate(startSize1.y(), finalSize1.y(), t); cylinderRepresentation1->setSize(cylinder1Size); cylinder2Size.x() = interpolate(startSize2.x(), finalSize2.x(), t); cylinder2Size.y() = interpolate(startSize2.y(), finalSize2.y(), t); cylinderRepresentation2->setSize(cylinder2Size); } setterType = (setterType + 1) % BoxSetterTypeCount; /// The total number of steps should complete in 1 second boost::this_thread::sleep(boost::posix_time::milliseconds(1000 / numSteps)); } } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgManagerRenderTests.cpp000066400000000000000000000033561277777236100264300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Render Tests for the OsgManager class. #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgViewElement.h" #include #include #include using SurgSim::Framework::Runtime; using SurgSim::Framework::Scene; namespace SurgSim { namespace Graphics { // This does not acutally display anything TEST(OsgManagerRenderTests, StartUpTest) { std::shared_ptr runtime = std::make_shared(); std::shared_ptr manager = std::make_shared(); runtime->addManager(manager); std::shared_ptr scene = runtime->getScene(); /// Add a graphics component to the scene std::shared_ptr viewElement = std::make_shared("test view element"); scene->addSceneElement(viewElement); /// Run the thread for a moment runtime->start(); EXPECT_TRUE(manager->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); runtime->stop(); } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgMeshRepresentationRenderTests.cpp000066400000000000000000000330511277777236100306700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Graphics/Camera.h" #include "SurgSim/Graphics/Mesh.h" #include "SurgSim/Graphics/MeshPlyReaderDelegate.h" #include "SurgSim/Graphics/OsgAxesRepresentation.h" #include "SurgSim/Graphics/OsgLight.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgMeshRepresentation.h" #include "SurgSim/Graphics/OsgProgram.h" #include "SurgSim/Graphics/OsgUniform.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/RenderTests/RenderTest.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Testing/MathUtilities.h" #include "SurgSim/Testing/TestCube.h" #include using SurgSim::Math::Vector2d; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; using SurgSim::Math::Vector4f; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; using SurgSim::Testing::interpolate; namespace SurgSim { namespace Graphics { struct OsgMeshRepresentationRenderTests : public RenderTest { protected: std::vector cubeVertices; std::vector cubeTriangles; std::vector cubeColors; std::vector cubeTextures; std::shared_ptr makeRepresentation(const std::string& name) { auto meshRepresentation = std::make_shared(name); meshRepresentation->setLocalPose(makeRigidTransform(Quaterniond::Identity(), Vector3d(0.0, 0.0, 0.0))); return meshRepresentation; } }; TEST_F(OsgMeshRepresentationRenderTests, BasicCubeTest) { auto element = std::make_shared("Scene"); scene->addSceneElement(element); // make an empty mesh auto meshRepresentation0 = makeRepresentation("emptymesh"); meshRepresentation0->getMesh()->initialize(cubeVertices, cubeColors, std::vector(), cubeTriangles); meshRepresentation0->setUpdateOptions(MeshRepresentation::UPDATE_OPTION_COLORS | MeshRepresentation::UPDATE_OPTION_VERTICES); SurgSim::Testing::Cube::makeCube(&cubeVertices, &cubeColors, &cubeTextures, &cubeTriangles); // make a colored cube auto meshRepresentation1 = makeRepresentation("colormesh"); meshRepresentation1->getMesh()->initialize(cubeVertices, cubeColors, std::vector(), cubeTriangles); meshRepresentation1->setUpdateOptions(MeshRepresentation::UPDATE_OPTION_COLORS | MeshRepresentation::UPDATE_OPTION_VERTICES); // make a textured cube auto meshRepresentation2 = makeRepresentation("textureMesh"); meshRepresentation2->getMesh()->initialize(cubeVertices, std::vector(), cubeTextures, cubeTriangles); auto material = std::make_shared("material"); auto texture = std::make_shared(); texture->loadImage(applicationData->findFile("Textures/CubeMap_rgb_rotate.png")); auto uniform2d = std::make_shared>>("oss_diffuseMap"); uniform2d->set(texture); material->addUniform(uniform2d); meshRepresentation2->setMaterial(material); element->addComponent(material); element->addComponent(meshRepresentation0); element->addComponent(meshRepresentation1); element->addComponent(meshRepresentation2); auto axes = std::make_shared("Origin"); viewElement->addComponent(axes); struct InterpolationData { public: std::pair transform; std::pair scale; }; std::vector interpolators; InterpolationData interpolator; interpolator.transform.first = makeRigidTransform(makeRotationQuaternion(0.0, Vector3d(1.0, 1.0, 1.0)), Vector3d(-0.1, 0.0, -0.2)); interpolator.scale.first = 0.001; interpolator.transform.second = makeRigidTransform(makeRotationQuaternion(M_PI_2, Vector3d(1.0, -1.0, 1.0)), Vector3d(0.1, 0.0, -0.2)); interpolator.scale.second = 0.03; interpolators.push_back(interpolator); interpolator.transform.first = makeRigidTransform(makeRotationQuaternion(-M_PI_2, Vector3d(-1.0, -1.0, 0.0)), Vector3d(0.0, -0.1, -0.2)); interpolator.scale.first = 0.001; interpolator.transform.second = makeRigidTransform(makeRotationQuaternion(-M_PI_2, Vector3d(-1.0, 1.0 , 0.0)), Vector3d(0.0, 0.1, -0.2)); interpolator.scale.second = 0.03; interpolators.push_back(interpolator); std::vector> meshes; meshes.push_back(meshRepresentation1->getMesh()); meshes.push_back(std::make_shared(*meshRepresentation2->getMesh())); /// Run the thread runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); EXPECT_TRUE(viewElement->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(500)); int numSteps = 1000; std::vector newVertices(cubeVertices.size()); for (int i = 0; i < numSteps; ++i) { double t = static_cast(i) / numSteps; for (size_t j = 0; j < interpolators.size(); ++j) { InterpolationData data = interpolators[j]; double scale = interpolate(data.scale, t); RigidTransform3d transform = interpolate(data.transform, t); for (size_t index = 0; index < cubeVertices.size(); ++index) { newVertices[index] = transform * (cubeVertices[index] * scale); } meshes[j]->setVertexPositions(newVertices, true); if (j == 0) { // Not threadsafe update meshes[0]->dirty(); } else { // threadsafe update meshRepresentation2->updateMesh(*meshes[1]); } } if (i == 500) { for (size_t v = 0; v < cubeColors.size(); ++v) { meshes[0]->getVertex(v).data.color.setValue(Vector4d(1.0, 0.0, 0.5, 1.0)); } } /// The total number of steps should complete in 4 seconds boost::this_thread::sleep(boost::posix_time::milliseconds(4000 / numSteps)); } } TEST_F(OsgMeshRepresentationRenderTests, TextureTest) { // Create a triangle mesh for visualizing the surface of the finite element model auto graphics = std::make_shared("Mesh"); graphics->loadMesh("Geometry/wound_deformable_with_texture.ply"); // Create material to transport the Textures auto material = std::make_shared("material"); auto texture = std::make_shared(); std::string textureFilename; ASSERT_TRUE(runtime->getApplicationData()->tryFindFile("Textures/checkered.png", &textureFilename)); texture->loadImage(textureFilename); auto diffuseMapUniform = std::make_shared>("diffuseMap"); diffuseMapUniform->set(texture); material->addUniform(diffuseMapUniform); graphics->setMaterial(material); auto sceneElement = std::make_shared("Wound"); sceneElement->addComponent(graphics); sceneElement->addComponent(material); scene->addSceneElement(sceneElement); viewElement->setPose(SurgSim::Math::makeRigidTransform( Vector3d(-0.1, 0.1, -0.1), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 1.0))); runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(500)); runtime->stop(); } TEST_F(OsgMeshRepresentationRenderTests, ShaderTest) { std::string textureFilename; ASSERT_TRUE(runtime->getApplicationData()->tryFindFile("Textures/wound_deformable.png", &textureFilename)); // Create a triangle mesh for visualizing the surface of the finite element model auto graphics = std::make_shared("Mesh"); graphics->loadMesh("Geometry/wound_deformable_with_texture.ply"); // Create material to transport the Textures auto material = std::make_shared("material"); auto program = SurgSim::Graphics::loadProgram(*runtime->getApplicationData(), "Shaders/ds_mapping_material"); ASSERT_TRUE(program != nullptr); material->setProgram(program); { auto uniform = std::make_shared>("diffuseColor"); material->addUniform(uniform); material->setValue("diffuseColor", SurgSim::Math::Vector4f(0.8, 0.8, 0.8, 1.0)); } { auto uniform = std::make_shared>("specularColor"); material->addUniform(uniform); material->setValue("specularColor", SurgSim::Math::Vector4f(0.01, 0.01, 0.01, 1.0)); } { auto uniform = std::make_shared>("shininess"); material->addUniform(uniform); material->setValue("shininess", 32.0f); } { auto texture = std::make_shared(); texture->loadImage(textureFilename); auto uniform = std::make_shared>("diffuseMap"); uniform->set(texture); material->addUniform(uniform); } { auto texture = std::make_shared(); std::string blackTexture; ASSERT_TRUE(applicationData->tryFindFile("Textures/black.png", &blackTexture)); texture->loadImage(blackTexture); auto uniform = std::make_shared>("shadowMap"); uniform->set(texture); uniform->setMinimumTextureUnit(8); material->addUniform(uniform); } auto sceneElement = std::make_shared("Wound"); sceneElement->addComponent(graphics); auto light = std::make_shared("Light"); light->setDiffuseColor(Vector4d(1.0, 1.0, 1.0, 1.0)); light->setSpecularColor(Vector4d(0.8, 0.8, 0.8, 1.0)); light->setLightGroupReference(SurgSim::Graphics::Representation::DefaultGroupName); scene->addSceneElement(sceneElement); viewElement->setPose(SurgSim::Math::makeRigidTransform( Vector3d(-0.1, 0.1, -0.1), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 1.0))); viewElement->getCamera()->setAmbientColor(Vector4d(0.2, 0.2, 0.2, 1.0)); viewElement->getCamera()->setMaterial(material); viewElement->addComponent(material); viewElement->addComponent(light); std::dynamic_pointer_cast(viewElement->getView())->setOsgMapsUniforms(true); runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(500)); runtime->stop(); } TEST_F(OsgMeshRepresentationRenderTests, TriangleDeletionTest) { auto element = std::make_shared("Scene"); scene->addSceneElement(element); SurgSim::Testing::Cube::makeCube(&cubeVertices, &cubeColors, &cubeTextures, &cubeTriangles); // make a colored cube auto meshRepresentation1 = makeRepresentation("colormesh"); meshRepresentation1->getMesh()->initialize(cubeVertices, cubeColors, std::vector(), cubeTriangles); meshRepresentation1->setUpdateOptions(MeshRepresentation::UPDATE_OPTION_COLORS | MeshRepresentation::UPDATE_OPTION_VERTICES | MeshRepresentation::UPDATE_OPTION_TRIANGLES); element->addComponent(meshRepresentation1); auto axes = std::make_shared("Origin"); viewElement->addComponent(axes); viewElement->setPose(SurgSim::Math::makeRigidTransform( Vector3d(-2.0, -2.0, -2.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 1.0))); // auto view = std::dynamic_pointer_cast(viewElement->getView()); // view->enableManipulator(true); struct InterpolationData { public: std::pair transform; std::pair scale; }; InterpolationData interpolator; interpolator.transform.first = makeRigidTransform(makeRotationQuaternion(0.0, Vector3d(1.0, 1.0, 1.0)), Vector3d(-0.1, 0.0, -0.2)); interpolator.scale.first = 0.03; interpolator.transform.second = makeRigidTransform(makeRotationQuaternion(M_PI_2 * 2, Vector3d(1.0, -1.0, 1.0)), Vector3d(0.1, 0.0, -0.2)); interpolator.scale.second = 0.03; /// Run the thread runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); EXPECT_TRUE(viewElement->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(2000)); int numSteps = 1000; std::vector newVertices(cubeVertices.size()); size_t triangleCount = meshRepresentation1->getMesh()->getNumTriangles(); for (int i = 0; i < numSteps; ++i) { double t = static_cast(i) / numSteps; if (i % (numSteps / triangleCount) == 0) { size_t triangle = meshRepresentation1->getMesh()->getNumTriangles() - 1; // Leave one triangle for the mesh if (triangle > 0) { meshRepresentation1->getMesh()->removeTriangle(triangle); meshRepresentation1->getMesh()->dirty(); } } RigidTransform3d transform = interpolate(interpolator.transform, t); element->setPose(transform); /// The total number of steps should complete in 1 second boost::this_thread::sleep(boost::posix_time::milliseconds(1000 / numSteps) * 4); } } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgOctreeRepresentationRenderTests.cpp000066400000000000000000000103201277777236100312070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// Render Tests for the OsgOctreeRepresentation class. #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/OctreeNode.h" #include "SurgSim/Graphics/RenderTests/RenderTest.h" #include "SurgSim/Graphics/OctreeRepresentation.h" #include "SurgSim/Graphics/OsgOctreeRepresentation.h" #include "SurgSim/Math/OctreeShape.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::Graphics::OsgOctreeRepresentation; using SurgSim::Graphics::OctreeRepresentation; using SurgSim::Math::OctreeShape; using SurgSim::Math::Vector3d; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; struct OsgOctreeRepresentationRenderTests : public SurgSim::Graphics::RenderTest { }; // An Octree(Node) is traversed in following order (the 2nd OctreeNode, i.e. OctreeNode with "1" is now shown): /* ________ /3 / 7/| /-------/ | /2__/_6_/| | | | | |/| |___|___|/|5| | | | |/ |0__|__4|/ */ TEST_F(OsgOctreeRepresentationRenderTests, OctreeSubdivide) { SurgSim::DataStructures::EmptyData emptyData; SurgSim::Math::OctreeShape::NodeType::AxisAlignedBoundingBox boundingBox; boundingBox.min() = Vector3d::Ones() * -0.2; boundingBox.max() = Vector3d::Ones() * 0.2; std::array secondLevelPositions = {{ Vector3d(-0.1, -0.1, -0.1), Vector3d(0.1, -0.1, -0.1), Vector3d(-0.1, 0.1, -0.1), Vector3d(0.1, 0.1, -0.1), Vector3d(-0.1, -0.1, 0.1), Vector3d(0.1, -0.1, 0.1), Vector3d(-0.1, 0.1, 0.1), Vector3d(0.1, 0.1, 0.1) } }; auto octree = std::make_shared(boundingBox); octree->addData(secondLevelPositions[0], 2, emptyData); octree->addData(secondLevelPositions[1], 2, emptyData); octree->addData(secondLevelPositions[3], 2, emptyData); octree->addData(secondLevelPositions[7], 2, emptyData); octree->addData(Vector3d(0.2, 0.2, 0.01), 3, emptyData); octree->addData(Vector3d(-0.2, -0.2, 0.2), 3, emptyData); octree->addData(Vector3d(0.01, 0.01, 0.11), 3, emptyData); octree->addData(Vector3d(0.01, 0.01, 0.11), 4, emptyData); auto octreeShape = std::make_shared(*octree); auto octreeRepresentation = std::make_shared("Octree Representation"); octreeRepresentation->setLocalPose(makeRigidTransform( makeRotationQuaternion(M_PI_4, Vector3d(1.0, 1.0, 1.0)), Vector3d(0.0, 0.0, -1.0)) ); viewElement->addComponent(octreeRepresentation); octreeRepresentation->setOctreeShape(octreeShape); // Path to a leaf node SurgSim::DataStructures::OctreePath path0; path0.push_back(2); // Path to a leaf node SurgSim::DataStructures::OctreePath path1; path1.push_back(7); path1.push_back(3); // Path to a internal OctreeNode SurgSim::DataStructures::OctreePath path2; path2.push_back(4); SurgSim::DataStructures::OctreePath invalidPath; invalidPath.push_back(0); invalidPath.push_back(1); /// Run the thread runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); EXPECT_TRUE(viewElement->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); octreeRepresentation->setNodeVisible(path0, true); boost::this_thread::sleep(boost::posix_time::milliseconds(500)); octreeRepresentation->setNodeVisible(path1, false); boost::this_thread::sleep(boost::posix_time::milliseconds(500)); octreeRepresentation->setNodeVisible(path2, false); boost::this_thread::sleep(boost::posix_time::milliseconds(500)); EXPECT_ANY_THROW(octreeRepresentation->setNodeVisible(invalidPath, true)); } opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgPlaneRepresentationRenderTests.cpp000066400000000000000000000075501277777236100310400ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Render Tests for the OsgPlaneRepresentation class. #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgPlaneRepresentation.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include #include using SurgSim::Framework::Runtime; using SurgSim::Framework::Scene; using SurgSim::Framework::SceneElement; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; namespace SurgSim { namespace Graphics { /// Pops up a window with two planes that are translating and rotating TEST(OsgPlaneRepresentationRenderTests, MovingPlanesTest) { /// Initial plane 1 position Vector3d startPosition1(0.0, -0.1, 0.0); /// Final plane 1 position Vector3d endPosition1(0.1, -0.2, 0.0); /// Initial plane 1 angle double startAngle1 = 0.0; /// Final plane 1 angle double endAngle1 = - M_PI / 4.0; /// Initial plane 2 position Vector3d startPosition2(-0.1, -0.2, 0.0); /// Final plane 2 position Vector3d endPosition2(0.1, -0.1, 0.1); /// Initial plane 2 angle double startAngle2 = -M_PI / 2.0; /// Final plane 2 angle double endAngle2 = M_PI; /// Number of times to step the sphere position and radius from start to end. /// This number of steps will be done in 1 second. int numSteps = 100; std::shared_ptr runtime = std::make_shared(); std::shared_ptr manager = std::make_shared(); runtime->addManager(manager); std::shared_ptr scene = runtime->getScene(); /// Add a graphics view element to the scene std::shared_ptr viewElement = std::make_shared("view element"); scene->addSceneElement(viewElement); /// Add the sphere representation to the view element, no need to make another scene element std::shared_ptr planeRepresentation1 = std::make_shared("plane representation 1"); viewElement->addComponent(planeRepresentation1); std::shared_ptr planeRepresentation2 = std::make_shared("plane representation 2"); viewElement->addComponent(planeRepresentation2); /// Run the thread runtime->start(); EXPECT_TRUE(manager->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); for (int i = 0; i < numSteps; ++i) { /// Calculate t in [0.0, 1.0] double t = static_cast(i) / numSteps; /// Interpolate pose planeRepresentation1->setLocalPose(makeRigidTransform( makeRotationQuaternion((1.0 - t) * startAngle1 + t * endAngle1, Vector3d(1.0, 0.0, 0.0)), (1.0 - t) * startPosition1 + t * endPosition1)); planeRepresentation2->setLocalPose(makeRigidTransform( makeRotationQuaternion((1.0 - t) * startAngle2 + t * endAngle2, Vector3d(0.0, 0.0, 1.0)), (1.0 - t) * startPosition2 + t * endPosition2)); boost::this_thread::sleep(boost::posix_time::milliseconds(1000 / numSteps)); } runtime->stop(); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgPointCloudRepresentationRenderTests.cpp000066400000000000000000000177471277777236100320720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgPointCloudRepresentation.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/PointCloudRepresentation.h" #include "SurgSim/Graphics/RenderTests/RenderTest.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Testing/MathUtilities.h" using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; using SurgSim::Testing::interpolate; using SurgSim::Testing::interpolatePose; namespace SurgSim { namespace Graphics { using SurgSim::Graphics::PointCloud; struct OsgPointCloudRepresentationRenderTests : public RenderTest { protected: std::vector makeCube() { std::vector result; result.push_back(Vector3d(0.01, -0.01, 0.01)); result.push_back(Vector3d(0.01, -0.01, 0.01)); result.push_back(Vector3d(-0.01, -0.01, 0.01)); result.push_back(Vector3d(-0.01, -0.01, -0.01)); result.push_back(Vector3d(0.01, -0.01, -0.01)); result.push_back(Vector3d(0.01, 0.01, 0.01)); result.push_back(Vector3d(-0.01, 0.01, 0.01)); result.push_back(Vector3d(-0.01, 0.01, -0.01)); result.push_back(Vector3d(0.01, 0.01, -0.01)); return result; } std::shared_ptr makeCloud(std::vector vertices) { std::shared_ptr representation = std::make_shared("cloud representation"); representation->setLocalPose(makeRigidTransform(Quaterniond::Identity(), Vector3d(0.0, 0.0, -0.2))); for (auto it = std::begin(vertices); it != std::end(vertices); ++it) { representation->getVertices()->addVertex(SurgSim::Graphics::PointCloud::VertexType(*it)); } viewElement->addComponent(representation); return representation; } }; TEST_F(OsgPointCloudRepresentationRenderTests, PointAdd) { std::vector vertices = makeCube(); auto representation = std::make_shared("pointcloud representation"); auto pointCloud = representation->getVertices(); representation->setPointSize(2.0); RigidTransform3d pose = makeRigidTransform(makeRotationQuaternion(0.2, Vector3d(1.0, 1.0, 1.0)), Vector3d(0.0, 0.0, -0.2)); representation->setLocalPose(pose); viewElement->addComponent(representation); /// Run the thread runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); EXPECT_TRUE(viewElement->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(500)); for (size_t i = 0; i < vertices.size(); ++i) { pointCloud->addVertex(PointCloud::VertexType(vertices[i])); boost::this_thread::sleep(boost::posix_time::milliseconds(250)); } } TEST_F(OsgPointCloudRepresentationRenderTests, StaticRotate) { std::shared_ptr representation = makeCloud(makeCube()); /// Run the thread runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); EXPECT_TRUE(viewElement->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(500)); int numSteps = 100; Vector3d startAngles(0.0, 0.0, 0.0); Vector3d endAngles(M_PI_4, M_PI_2, M_PI_2); Vector3d startPosition(-0.1, 0.0, -0.0); Vector3d endPosition(0.1, 0.0, -0.4); for (int i = 0; i < numSteps; ++i) { /// Calculate t in [0.0, 1.0] double t = static_cast(i) / numSteps; representation->setLocalPose(interpolatePose(startAngles, endAngles, startPosition, endPosition, t)); boost::this_thread::sleep(boost::posix_time::milliseconds(1000 / numSteps)); } } TEST_F(OsgPointCloudRepresentationRenderTests, DynamicRotate) { std::vector startVertices = makeCube(); std::shared_ptr representation = makeCloud(startVertices); std::shared_ptr pointCloud = representation->getVertices(); /// Run the thread runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); EXPECT_TRUE(viewElement->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(500)); int numSteps = 100; RigidTransform3d start = makeRigidTransform(makeRotationQuaternion(-M_PI_2, Vector3d(1.0, 1.0, 1.0)), Vector3d(-0.1, 0.0, 0.2)); RigidTransform3d end = makeRigidTransform(makeRotationQuaternion(M_PI_2, Vector3d(1.0, 1.0, 1.0)), Vector3d(0.1, 0.0, -0.2)); for (int i = 0; i < numSteps; ++i) { /// Calculate t in [0.0, 1.0] double t = static_cast(i) / numSteps; RigidTransform3d currentPose = interpolate(start, end, t); int id = 0; for (auto it = std::begin(startVertices); it != std::end(startVertices); ++it, ++id) { pointCloud->setVertexPosition(id, currentPose * (*it)); } boost::this_thread::sleep(boost::posix_time::milliseconds(1000 / numSteps)); } } TEST_F(OsgPointCloudRepresentationRenderTests, PointSizeAndColor) { std::shared_ptr representation = makeCloud(makeCube()); /// Run the thread runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); EXPECT_TRUE(viewElement->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(500)); int numSteps = 100; std::pair size = std::make_pair(0.0, 20.0); std::pair color = std::make_pair(Vector4d(0.0, 1.0, 0.0, 1.0), Vector4d(1.0, 0.0, 1.0, 1.0)); for (int i = 0; i < numSteps; ++i) { /// Calculate t in [0.0, 1.0] double t = static_cast(i) / numSteps; representation->setPointSize(interpolate(size, t)); representation->setColor(interpolate(color, t)); boost::this_thread::sleep(boost::posix_time::milliseconds(1000 / numSteps)); } } TEST_F(OsgPointCloudRepresentationRenderTests, PointSprite) { std::vector vertices = makeCube(); auto graphics = std::make_shared("Cloud"); graphics->setPointSize(10.0f); graphics->setLocalPose(makeRigidTransform(Quaterniond::Identity(), Vector3d(0.0, 0.0, -0.2))); for (auto vertex : vertices) { graphics->getVertices()->addVertex(SurgSim::Graphics::PointCloud::VertexType(vertex)); } // Create material to transport the Textures auto material = std::make_shared("material"); auto texture = std::make_shared(); texture->setIsPointSprite(true); std::string textureFilename; ASSERT_TRUE(runtime->getApplicationData()->tryFindFile("Textures/checkered.png", &textureFilename)); texture->loadImage(textureFilename); auto diffuseMapUniform = std::make_shared>("diffuseMap"); diffuseMapUniform->set(texture); material->addUniform(diffuseMapUniform); graphics->setMaterial(material); auto sceneElement = std::make_shared("Blood"); sceneElement->addComponent(graphics); sceneElement->addComponent(material); scene->addSceneElement(sceneElement); runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(500)); runtime->stop(); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgProgramRenderTests.cpp000066400000000000000000000415031277777236100264610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/GraphicsUtilities.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Graphics/OsgAxesRepresentation.h" #include "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgLight.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgMeshRepresentation.h" #include "SurgSim/Graphics/OsgProgram.h" #include "SurgSim/Graphics/OsgRenderTarget.h" #include "SurgSim/Graphics/OsgSceneryRepresentation.h" #include "SurgSim/Graphics/OsgSphereRepresentation.h" #include "SurgSim/Graphics/OsgUniform.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/Mesh.h" #include "SurgSim/Graphics/RenderTests/RenderTest.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include #include #include #include using SurgSim::Framework::Runtime; using SurgSim::Framework::Scene; using SurgSim::Framework::SceneElement; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Math::makeRigidTransform; namespace SurgSim { namespace Graphics { std::shared_ptr loadExampleProgram(const SurgSim::Framework::ApplicationData& data) { std::shared_ptr program = std::make_shared(); std::string vertexShaderPath = data.findFile("OsgShaderRenderTests/shader.vert"); std::string geometryShaderPath = data.findFile("OsgShaderRenderTests/shader_axis_mirrored.geom"); std::string fragmentShaderPath = data.findFile("OsgShaderRenderTests/shader.frag"); EXPECT_NE("", vertexShaderPath) << "Could not find vertex shader!"; EXPECT_NE("", geometryShaderPath) << "Could not find geometry shader!"; EXPECT_NE("", fragmentShaderPath) << "Could not find fragment shader!"; program->loadVertexShader(vertexShaderPath); program->loadGeometryShader(geometryShaderPath); program->loadFragmentShader(fragmentShaderPath); return program; } std::shared_ptr createShinyMaterial(const SurgSim::Framework::ApplicationData& data) { auto material = std::make_shared("material"); auto program = SurgSim::Graphics::loadProgram(data, "Shaders/material"); material->setProgram(program); std::shared_ptr uniform = std::make_shared>("diffuseColor"); material->addUniform(uniform); uniform = std::make_shared>("specularColor"); material->addUniform(uniform); uniform = std::make_shared>("shininess"); material->addUniform(uniform); return material; } std::shared_ptr loadAxisCubeMap( const SurgSim::Framework::ApplicationData& data, const std::string& prefix) { std::array filenames; bool success = data.tryFindFile(prefix + "NegativeX.png", &filenames[0]); success = data.tryFindFile(prefix + "PositiveX.png", &filenames[1]) && success; success = data.tryFindFile(prefix + "NegativeY.png", &filenames[2]) && success; success = data.tryFindFile(prefix + "PositiveY.png", &filenames[3]) && success; success = data.tryFindFile(prefix + "NegativeZ.png", &filenames[4]) && success; success = data.tryFindFile(prefix + "PositiveZ.png", &filenames[5]) && success; EXPECT_TRUE(success) << "One or more files are missing"; auto result = std::make_shared(); result->loadImageFaces(filenames[0], filenames[1], filenames[2], filenames[3], filenames[4], filenames[5]); return result; } void add2DTexture(std::shared_ptr material, const std::string& uniform, int unit, const std::string& filename) { std::string path; EXPECT_TRUE(Framework::Runtime::getApplicationData()->tryFindFile(filename, &path)); auto texture = std::make_shared(); texture->loadImage(path); auto textureUniform = std::make_shared>(uniform); textureUniform->set(texture); textureUniform->setMinimumTextureUnit(unit); material->addUniform(textureUniform); } struct OsgProgramRenderTests : public RenderTest { void SetUp() { RenderTest::SetUp(); // Light auto sceneElement = std::make_shared("Light"); auto light = std::make_shared("Light"); light->setDiffuseColor(SurgSim::Math::Vector4d(0.8, 0.8, 0.8, 1.0)); light->setSpecularColor(SurgSim::Math::Vector4d(0.8, 0.8, 0.8, 1.0)); light->setLightGroupReference(SurgSim::Graphics::Representation::DefaultGroupName); sceneElement->addComponent(light); sceneElement->addComponent(std::make_shared("axes")); sceneElement->setPose(makeRigidTransform(Quaterniond::Identity(), Vector3d(-2.0, -2.0, -4.0))); scene->addSceneElement(sceneElement); // Camera viewElement->getCamera()->setAmbientColor(SurgSim::Math::Vector4d(0.1, 0.1, 0.1, 1.0)); viewElement->setPose( makeRigidTransform(Vector3d(0.0, 0.0, -2.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0))); viewElement->enableManipulator(true); } void run(size_t time = 500) { // Action runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(time)); runtime->stop(); } }; /// Pops up a window with a sphere colored by its normals and its mirror along the x-axis is also drawn using the /// geometry shader TEST_F(OsgProgramRenderTests, SphereShaderTest) { /// Add the sphere representation to the view element, no need to make another scene element std::shared_ptr sphereRepresentation = std::make_shared("sphere representation"); sphereRepresentation->setRadius(0.25); sphereRepresentation->setLocalPose(makeRigidTransform(Quaterniond::Identity(), Vector3d(0.25, 0.0, -1.0))); /// Add a material to the sphere std::shared_ptr material = std::make_shared("material"); std::shared_ptr program = loadExampleProgram(*applicationData); material->setProgram(program); sphereRepresentation->setMaterial(material); viewElement->addComponent(sphereRepresentation); viewElement->addComponent(material); run(); } TEST_F(OsgProgramRenderTests, Shiny) { /// Add the sphere representation to the view element, no need to make another scene element auto sceneElement = std::make_shared("Sphere"); std::shared_ptr sphereRepresentation = std::make_shared("sphere representation"); sphereRepresentation->setRadius(0.25); auto material = createShinyMaterial(*runtime->getApplicationData()); material->setValue("diffuseColor", SurgSim::Math::Vector4f(0.8, 0.8, 0.1, 1.0)); material->setValue("specularColor", SurgSim::Math::Vector4f(1.0, 1.0, 0.4, 1.0)); material->setValue("shininess", 64.0f); sphereRepresentation->setMaterial(material); sceneElement->addComponent(material); sceneElement->addComponent(sphereRepresentation); sceneElement->addComponent(std::make_shared("axes")); scene->addSceneElement(sceneElement); run(); } TEST_F(OsgProgramRenderTests, TexturedShiny) { // The textured Sphere std::shared_ptr sphereRepresentation = std::make_shared("sphere representation"); sphereRepresentation->setRadius(0.25); auto material = std::make_shared("material"); auto program = SurgSim::Graphics::loadProgram(*runtime->getApplicationData(), "Shaders/ds_mapping_material"); ASSERT_TRUE(program != nullptr); material->setProgram(program); std::shared_ptr uniform = std::make_shared>("diffuseColor"); material->addUniform(uniform); uniform = std::make_shared>("specularColor"); material->addUniform(uniform); uniform = std::make_shared>("shininess"); material->addUniform(uniform); material->setValue("diffuseColor", SurgSim::Math::Vector4f(0.8, 0.8, 0.1, 1.0)); material->setValue("specularColor", SurgSim::Math::Vector4f(1.0, 1.0, 0.4, 1.0)); material->setValue("shininess", 1.0f); // Provide a texture for the diffuse color std::string filename; EXPECT_TRUE(runtime->getApplicationData()->tryFindFile("Textures/checkered.png", &filename)); auto texture = std::make_shared(); texture->loadImage(filename); auto textureUniform = std::make_shared>("diffuseMap"); textureUniform->set(texture); material->addUniform(textureUniform); // Provide a fake shadow map, it's all black so no shadow contribution EXPECT_TRUE(runtime->getApplicationData()->tryFindFile("Textures/black.png", &filename)); texture = std::make_shared(); texture->loadImage(filename); textureUniform = std::make_shared>("shadowMap"); textureUniform->set(texture); textureUniform->setMinimumTextureUnit(8); material->addUniform(textureUniform); sphereRepresentation->setMaterial(material); auto sceneElement = std::make_shared("Sphere"); sceneElement->addComponent(sphereRepresentation); sceneElement->addComponent(material); sceneElement->addComponent(std::make_shared("axes")); scene->addSceneElement(sceneElement); run(); } TEST_F(OsgProgramRenderTests, Metal) { // Multiple objects used for testing the shader, utilize if needed std::shared_ptr sphere = std::make_shared("sphere"); sphere->setRadius(0.25); std::shared_ptr cube = std::make_shared("box"); auto scenery = std::make_shared("scenery"); scenery->loadModel("OsgShaderRenderTests/L_forcep.obj"); // Assign the object used for testing to the representation auto representation = std::dynamic_pointer_cast(sphere); auto material = std::make_shared("material"); auto program = SurgSim::Graphics::loadProgram(*runtime->getApplicationData(), "Shaders/s_mapping_metal"); ASSERT_TRUE(program != nullptr); material->setProgram(program); material->addUniform("vec4", "specularColor"); material->setValue("specularColor", SurgSim::Math::Vector4f(1.0, 1.0, 1.0, 1.0)); material->addUniform("float", "shininess"); material->setValue("shininess", 1024.0f); material->addUniform("float", "specularPercent"); material->setValue("specularPercent", 1.0f); material->addUniform("float", "diffusePercent"); material->setValue("diffusePercent", 0.0f); std::string filename; // Provide a fake shadow map, it's all black so no shadow contribution { EXPECT_TRUE(runtime->getApplicationData()->tryFindFile("Textures/black.png", &filename)); auto texture = std::make_shared(); texture->loadImage(filename); auto textureUniform = std::make_shared>("shadowMap"); textureUniform->set(texture); textureUniform->setMinimumTextureUnit(8); material->addUniform(textureUniform); } { // Provide the Diffuse environment map // Axis map is used for testing mapping // auto texture = loadAxisCubeMap(*runtime->getApplicationData(), "Textures/"); EXPECT_TRUE(runtime->getApplicationData()->tryFindFile( "Textures/CubeMap_reflection_diffuse.png", &filename)); auto texture = std::make_shared(); texture->loadImage(filename); material->addUniform("samplerCube", "diffuseEnvMap"); material->setValue("diffuseEnvMap", texture); } { // Provide the Specular environment map // Axis map is used for testing mapping // auto texture = loadAxisCubeMap(*runtime->getApplicationData(), "Textures/"); EXPECT_TRUE(runtime->getApplicationData()->tryFindFile( "Textures/CubeMap_reflection_specular.png", &filename)); auto texture = std::make_shared(); texture->loadImage(filename); material->addUniform("samplerCube", "specularEnvMap"); material->setValue("specularEnvMap", texture); } representation->setMaterial(material); auto sceneElement = std::make_shared("Sphere"); sceneElement->addComponent(representation); sceneElement->addComponent(material); sceneElement->addComponent(std::make_shared("axes")); scene->addSceneElement(sceneElement); run(); } TEST_F(OsgProgramRenderTests, NormalMap) { // Assign the object used for testing to the representation auto graphics = std::make_shared("scenery"); graphics->loadModel("Geometry/cube.osgt"); auto representation = std::dynamic_pointer_cast(graphics); representation->setGenerateTangents(true); auto material = std::make_shared("material"); auto program = SurgSim::Graphics::loadProgram(*runtime->getApplicationData(), "Shaders/dns_mapping_material"); ASSERT_TRUE(program != nullptr); material->setProgram(program); material->addUniform("vec4", "specularColor"); material->setValue("specularColor", SurgSim::Math::Vector4f(1.0, 1.0, 1.0, 1.0)); material->addUniform("vec4", "diffuseColor"); material->setValue("diffuseColor", SurgSim::Math::Vector4f(1.0, 1.0, 1.0, 1.0)); material->addUniform("float", "shininess"); material->setValue("shininess", 1.0f); std::string filename; add2DTexture(material, "shadowMap", 8, "Textures/black.png"); add2DTexture(material, "diffuseMap", 0, "Textures/checkered.png"); add2DTexture(material, "normalMap", 1, "Textures/bricks.png"); representation->setMaterial(material); auto sceneElement = std::make_shared("Graphics"); sceneElement->addComponent(representation); sceneElement->addComponent(material); sceneElement->addComponent(std::make_shared("axes")); scene->addSceneElement(sceneElement); viewElement->setPose(makeRigidTransform(Vector3d(0.5, 0.5, -0.5), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0))); run(); } TEST_F(OsgProgramRenderTests, BlurShader) { auto element = std::make_shared("Graphics"); auto texture1 = std::make_shared(); std::string filename; ASSERT_TRUE(Runtime::getApplicationData()->tryFindFile("Textures/checkered.png", &filename)); texture1->loadImage(filename); auto texture2 = std::make_shared(); ASSERT_TRUE(Runtime::getApplicationData()->tryFindFile("Textures/checkered.png", &filename)); texture2->loadImage(filename); // Material auto material = Graphics::buildMaterial("Shaders/gauss_blur_horizontal.vert", "Shaders/gauss_blur.frag"); material->addUniform("float", "width"); material->setValue("width", 1024.0f); material->addUniform("float", "blurRadius"); material->setValue("blurRadius", 16.0f); material->getProgram()->setGlobalScope(true); auto graphics = std::make_shared("Quad"); graphics->setSize(1024, 1024); graphics->setLocation(0, 0); graphics->setTexture(texture1); graphics->setGroupReference("BlurrPass"); element->addComponent(graphics); auto passCamera = std::make_shared("BlurrPassCamera"); auto osgCamera = passCamera->getOsgCamera(); passCamera->setRenderGroupReference("BlurrPass"); passCamera->setGroupReference(Graphics::Representation::DefaultGroupName); osgCamera->setViewport(0, 0, 1024, 1024); osgCamera->setProjectionMatrixAsOrtho2D(0, 1024, 0, 1024); passCamera->setMaterial(material); auto renderTarget = std::make_shared(1024, 1024, 1.0, 1, false); passCamera->setRenderTarget(renderTarget); element->addComponent(passCamera); graphics = std::make_shared("DebugQuad"); graphics->setLocation(512, 512); graphics->setSize(256, 256); graphics->setTexture(passCamera->getRenderTarget()->getColorTarget(0)); element->addComponent(graphics); element->addComponent(material); scene->addSceneElement(element); run(); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgRepresentationRenderTests.cpp000066400000000000000000000215321277777236100300540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Render Tests for the OsgBoxRepresentation class. #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Graphics/OsgAxesRepresentation.h" #include "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Graphics/OsgCapsuleRepresentation.h" #include "SurgSim/Graphics/OsgCylinderRepresentation.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgSphereRepresentation.h" #include "SurgSim/Graphics/OsgSceneryRepresentation.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/RenderTests/RenderTest.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include #include #include using SurgSim::Framework::Runtime; using SurgSim::Framework::Scene; using SurgSim::Framework::SceneElement; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector2d; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; namespace SurgSim { namespace Graphics { struct OsgRepresentationRenderTests : public RenderTest { }; /// This test will put all shape one by one along the X-axis /// To make sure all shapes are aligned. /// X-axis points horizontally to the right /// Y-axis points vertically up /// Z-axis is perpendicular to the screen and points out TEST_F(OsgRepresentationRenderTests, RepresentationTest) { /// Box position Vector3d boxPosition(0.05, 0.0, -0.2); /// Capsule position Vector3d capsulePosition(-0.05, 0.0, -0.2); /// Cylinder position Vector3d cylinderPosition(-0.025, 0.0, -0.2); /// Sphere position Vector3d spherePosition(0.025, 0.0, -0.2); /// Size of the box Vector3d boxSize(0.01, 0.015, 0.01); /// Size of the capsule (radius, height) Vector2d capsuleSize(0.005, 0.015); /// Size of the cylinder Vector2d cylinderSize(0.005, 0.015); /// Radius of the sphere double sphereRadius = 0.005; /// Add representations to the view element so we don't need to make another concrete scene element std::shared_ptr boxRepresentation = std::make_shared("box representation"); viewElement->addComponent(boxRepresentation); std::shared_ptr capsuleRepresentation = std::make_shared("capsule representation"); viewElement->addComponent(capsuleRepresentation); std::shared_ptr cylinderRepresentation = std::make_shared("cylinder representation"); viewElement->addComponent(cylinderRepresentation); std::shared_ptr sphereRepresentation = std::make_shared("sphere representation"); viewElement->addComponent(sphereRepresentation); std::shared_ptr axesRepresentation = std::make_shared("axes"); viewElement->addComponent(axesRepresentation); /// Run the thread runtime->start(); boxRepresentation->setLocalPose(makeRigidTransform(Quaterniond::Identity(), boxPosition)); capsuleRepresentation->setLocalPose(makeRigidTransform(Quaterniond::Identity(), capsulePosition)); cylinderRepresentation->setLocalPose(makeRigidTransform(Quaterniond::Identity(), cylinderPosition)); sphereRepresentation->setLocalPose(makeRigidTransform(Quaterniond::Identity(), spherePosition)); axesRepresentation->setLocalPose(makeRigidTransform(Quaterniond::Identity(), Vector3d(0.0, 0.0, -0.2))); /// Set the size of box boxRepresentation->setSizeXYZ(boxSize.x(), boxSize.y(), boxSize.z()); /// Set the size of capsule /// Capsule should use Y-axis as its axis capsuleRepresentation->setSize(capsuleSize.x(), capsuleSize.y()); /// Set the size of cylinder /// Cylinder should use Y-axis as its axis cylinderRepresentation->setSize(cylinderSize.x(), cylinderSize.y()); /// Set the size of sphere sphereRepresentation->setRadius(sphereRadius); axesRepresentation->setSize(0.01); boost::this_thread::sleep(boost::posix_time::milliseconds(1500)); boxRepresentation->setDrawAsWireFrame(true); capsuleRepresentation->setDrawAsWireFrame(true); cylinderRepresentation->setDrawAsWireFrame(true); sphereRepresentation->setDrawAsWireFrame(true); boost::this_thread::sleep(boost::posix_time::milliseconds(1500)); } class LineGeometryVisitor : public osg::NodeVisitor { public : LineGeometryVisitor() : NodeVisitor(NodeVisitor::TRAVERSE_ALL_CHILDREN), m_normalsScale(0.1) { } virtual ~LineGeometryVisitor() {} void apply(osg::Node& node) // NOLINT { traverse(node); } void apply(osg::Geode& geode) // NOLINT { // Only deal with 1 geometry for now ... if (geode.getNumDrawables() > 0) { osg::Geometry* curGeom = geode.getDrawable(0)->asGeometry(); if (curGeom) { osg::Vec3Array* vertices = dynamic_cast(curGeom->getVertexArray()); auto normals = curGeom->getNormalArray(); geode.addDrawable(buildGeometry(vertices, normals, osg::Vec4(0.0, 0.0, 1.0, 1.0))); auto tangents = curGeom->getVertexAttribArray(TANGENT_VERTEX_ATTRIBUTE_ID); auto cast = dynamic_cast(tangents); ASSERT_NE(nullptr, cast); ASSERT_EQ(vertices->size(), cast->size()); geode.addDrawable(buildGeometry(vertices, tangents, osg::Vec4(1.0, 0.0, 0.0, 1.0))); auto bitangents = curGeom->getVertexAttribArray(BITANGENT_VERTEX_ATTRIBUTE_ID); cast = dynamic_cast(bitangents); ASSERT_NE(nullptr, cast); ASSERT_EQ(vertices->size(), cast->size()); geode.addDrawable(buildGeometry(vertices, bitangents, osg::Vec4(0.0, 1.0, 0.0, 1.0))); } } } osg::Geometry* buildGeometry(osg::Vec3Array* geomVertices, osg::Array* directions, osg::Vec4 color) { // create Geometry object to store all the vertices and lines primitive. osg::Geometry* linesGeom = new osg::Geometry(); osg::Vec3Array* vertices = new osg::Vec3Array(geomVertices->size() * 2); osg::Vec3 direction; for (size_t i = 0; i < geomVertices->size(); ++i) { (*vertices)[i * 2] = (*geomVertices)[i]; switch (directions->getType()) { case osg::Array::Vec3ArrayType: direction = static_cast(*directions)[i]; break; case osg::Array::Vec4ArrayType: for (int j = 0; j < 3; ++j) { direction[j] = static_cast(*directions)[i].ptr()[j]; } break; default: SURGSIM_FAILURE() << "Unhandled Array type."; } (*vertices)[i * 2 + 1] = (*geomVertices)[i] + direction * m_normalsScale; } // pass the created vertex array to the points geometry object. linesGeom->setVertexArray(vertices); // set the colors as before, plus using the above osg::Vec4Array* colors = new osg::Vec4Array; colors->push_back(color); linesGeom->setColorArray(colors, osg::Array::BIND_OVERALL); // set the normal in the same way color. osg::Vec3Array* normals = new osg::Vec3Array; normals->push_back(osg::Vec3(0.0f, -1.0f, 0.0f)); linesGeom->setNormalArray(normals, osg::Array::BIND_OVERALL); linesGeom->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, vertices->size())); osg::StateSet* state = linesGeom->getOrCreateStateSet(); state->setMode(GL_LIGHTING, osg::StateAttribute::PROTECTED | osg::StateAttribute::OFF); return linesGeom; } private: float m_normalsScale; }; TEST_F(OsgRepresentationRenderTests, TangentTest) { auto element = std::make_shared("sphere"); auto graphics = std::make_shared("sphere"); graphics->loadModel("Geometry/sphere0_5.obj"); //graphics->setDrawAsWireFrame(true); viewElement->enableManipulator(true); camera->setLocalPose(Math::makeRigidTransform( Vector3d(0.0, 0.0, -4.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0))); osg::ref_ptr node = graphics->getOsgNode(); // Generate normals osgUtil::SmoothingVisitor sv; node->accept(sv); graphics->setGenerateTangents(true); LineGeometryVisitor visitor; node->accept(visitor); element->addComponent(graphics); scene->addSceneElement(element); runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(500)); runtime->stop(); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgSceneryRepresentationRenderTests.cpp000066400000000000000000000064241277777236100314100ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Render Tests for OsgSceneryRepresentation class. #include "SurgSim/Graphics/OsgModel.h" #include "SurgSim/Graphics/OsgSceneryRepresentation.h" #include "SurgSim/Graphics/RenderTests/RenderTest.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Testing/MathUtilities.h" namespace SurgSim { namespace Graphics { using SurgSim::Math::Vector3d; using SurgSim::Testing::interpolatePose; struct OsgSceneryRepresentationRenderTests : public RenderTest { }; TEST_F(OsgSceneryRepresentationRenderTests, RenderTest) { /// Initial position of object 1 Vector3d startPosition1(-5.0, 0.0, -5.0); /// Final position of object 1 Vector3d endPosition1(5.0, 0.0, -5.0); /// Initial angles (X, Y, Z) of object 1 Vector3d startAngles1(0.0, 0.0, 0.0); /// Final angles (X, Y, Z) of object 1 Vector3d endAngles1(-M_PI_4, -M_PI_4, -M_PI_4); /// Initial position of object 2 Vector3d startPosition2(0.0, -5.0, -5.0); /// Final position of object 2 Vector3d endPosition2(0.0, 5.0, -5.0); /// Initial angles (X, Y, Z) of object 2 Vector3d startAngles2(-M_PI_2, -M_PI_2, -M_PI_2); /// Final angles (X, Y, Z) of object 2 Vector3d endAngles2(M_PI, M_PI, M_PI); /// Number of times to step the objects' position from start to end. /// This number of steps will be done in 1 second. int numSteps = 100; auto sceneryObject1 = std::make_shared("Torus1"); sceneryObject1->loadModel("Geometry/Torus.obj"); sceneryObject1->setLocalPose(SurgSim::Math::makeRigidTransform( SurgSim::Math::Quaterniond::Identity(), startPosition1)); viewElement->addComponent(sceneryObject1); auto sceneryObject2 = std::make_shared("Torus2"); auto torus = std::make_shared(); torus->load("Geometry/Torus.osgb"); sceneryObject2->setModel(torus); sceneryObject2->setLocalPose(SurgSim::Math::makeRigidTransform( SurgSim::Math::Quaterniond::Identity(), startPosition2)); viewElement->addComponent(sceneryObject2); runtime->start(); for (int i = 0; i < numSteps; ++i) { /// Calculate t in [0.0, 1.0] double t = static_cast(i) / numSteps; /// Interpolate position sceneryObject1->setLocalPose(interpolatePose(startAngles1, endAngles1, startPosition1, endPosition1, t)); sceneryObject2->setLocalPose(interpolatePose(startAngles2, endAngles2, startPosition2, endPosition2, t)); /// The total number of steps should complete in 1 second boost::this_thread::sleep(boost::posix_time::milliseconds(1000 / numSteps)); } std::cout << sceneryObject2->encode(); } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgScreenSpaceQuadRenderTests.cpp000066400000000000000000000173131277777236100300620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Graphics/Material.h" #include "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgGroup.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgRenderTarget.h" #include "SurgSim/Graphics/OsgScreenSpaceQuadRepresentation.h" #include "SurgSim/Graphics/OsgTexture.h" #include "SurgSim/Graphics/OsgTexture2d.h" #include "SurgSim/Graphics/OsgTextureRectangle.h" #include "SurgSim/Graphics/OsgUniform.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/RenderTests/RenderTest.h" #include "SurgSim/Graphics/View.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Testing/MathUtilities.h" using SurgSim::Framework::BasicSceneElement; using SurgSim::Math::Vector3d; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; namespace SurgSim { namespace Graphics { struct OsgScreenSpaceQuadRenderTests : public RenderTest { }; TEST_F(OsgScreenSpaceQuadRenderTests, InitTest) { std::shared_ptr quad = std::make_shared("Screen Quad"); viewElement->addComponent(quad); /// Run the thread runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); EXPECT_TRUE(viewElement->isInitialized()); quad->setSize(100, 100); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); auto dimensions = viewElement->getView()->getDimensions(); SurgSim::Math::Vector3d startPosition(0.0, 0.0, 0.0); SurgSim::Math::Vector3d endPosition(dimensions[0], dimensions[1], 0.0); SurgSim::Math::Vector2d startSize(0.0, 0.0); SurgSim::Math::Vector2d endSize(200, 200); int numSteps = 100; for (int i = 0; i < numSteps; ++i) { /// Calculate t in [0.0, 1.0] double t = static_cast(i) / numSteps; RigidTransform3d currentPose = SurgSim::Testing::interpolatePose( Vector3d::Identity(), Vector3d::Identity(), startPosition, endPosition, t); quad->setLocalPose(currentPose); SurgSim::Math::Vector2d size = SurgSim::Testing::interpolate(startSize, endSize, t); quad->setSize(size.x(), size.y()); boost::this_thread::sleep(boost::posix_time::milliseconds(1000 / numSteps)); } } TEST_F(OsgScreenSpaceQuadRenderTests, TextureTest) { std::string checkerTexturePath = applicationData->findFile("Textures/CheckerBoard.png"); std::string rectangleTexturePath = applicationData->findFile("Textures/Rectangle.png"); EXPECT_NE("", checkerTexturePath) << "Could not find checker texture shader!"; EXPECT_NE("", rectangleTexturePath) << "Could not find rectangle texture!"; std::shared_ptr checkerTexture = std::make_shared(); EXPECT_TRUE(checkerTexture->loadImage(checkerTexturePath)); std::shared_ptr rectTexture = std::make_shared(); EXPECT_TRUE(rectTexture->loadImage(rectangleTexturePath)); std::shared_ptr quad1 = std::make_shared("Screen Quad 1"); auto dimensions = viewElement->getView()->getDimensions(); quad1->setSize(256, 256); quad1->setLocalPose(SurgSim::Math::makeRigidTransform( Quaterniond::Identity(), Vector3d(dimensions[0] - 256, dimensions[1] - 256, -0.2))); EXPECT_TRUE(quad1->setTexture(checkerTexture)); viewElement->addComponent(quad1); std::shared_ptr quad2 = std::make_shared("Screen Quad 2"); int width, height; rectTexture->getSize(&width, &height); EXPECT_TRUE(quad2->setTexture(rectTexture)); quad2->setSize(width, height); viewElement->addComponent(quad2); /// Run the thread runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); EXPECT_TRUE(viewElement->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); } // Should show two rotating cubes, one in the middle of the screen being rendered normally, the // other one in the top right hand corner, being rendered onto a texture mapped on a quad TEST_F(OsgScreenSpaceQuadRenderTests, RenderTextureTest) { auto defaultCamera = viewElement->getCamera(); auto camera = std::make_shared("RenderPass"); camera->setProjectionMatrix(defaultCamera->getProjectionMatrix()); camera->setRenderGroupReference("RenderPass"); camera->setGroupReference(SurgSim::Graphics::Representation::DefaultGroupName); auto dimensions = viewElement->getView()->getDimensions(); std::shared_ptr renderTargetOsg = std::make_shared(dimensions[0], dimensions[1], 1.0, 2, true); camera->setRenderTarget(renderTargetOsg); viewElement->addComponent(camera); int screenWidth = dimensions[0]; int screenHeight = dimensions[1]; int width = dimensions[0] / 3; int height = dimensions[1] / 3; std::shared_ptr quad; quad = makeQuad("Color1", width, height, screenWidth - width, screenHeight - height); quad->setTexture(renderTargetOsg->getColorTargetOsg(0)); viewElement->addComponent(quad); quad = makeQuad("Color2", width, height, screenWidth - width, screenHeight - height * 2); quad->setTexture(renderTargetOsg->getColorTargetOsg(1)); viewElement->addComponent(quad); quad = makeQuad("Depth", width, height, 0.0, screenHeight - height); quad->setTexture(renderTargetOsg->getDepthTargetOsg()); viewElement->addComponent(quad); Quaterniond quat = Quaterniond::Identity(); RigidTransform3d startPose = SurgSim::Math::makeRigidTransform(quat, Vector3d(0.0, 0.0, -0.2)); quat = SurgSim::Math::makeRotationQuaternion(M_PI, Vector3d::UnitY().eval()); RigidTransform3d endPose = SurgSim::Math::makeRigidTransform(quat, Vector3d(0.0, 0.0, -0.2)); auto box = std::make_shared("Graphics"); box->setSizeXYZ(0.05, 0.05, 0.05); box->setGroupReference("RenderPass"); auto boxElement1 = std::make_shared("Box 1"); boxElement1->addComponent(box); boxElement1->setPose(startPose); scene->addSceneElement(boxElement1); box = std::make_shared("Graphics"); box->setSizeXYZ(0.05, 0.05, 0.05); auto boxElement2 = std::make_shared("Box 2"); boxElement2->addComponent(box); boxElement2->setPose(startPose); scene->addSceneElement(boxElement2); /// Run the thread runtime->start(); int numSteps = 100; boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); for (int i = 0; i < numSteps; ++i) { double t = static_cast(i) / numSteps; boxElement1->setPose(SurgSim::Testing::interpolate(startPose, endPose, t)); boxElement2->setPose(SurgSim::Testing::interpolate(endPose, startPose, t)); boost::this_thread::sleep(boost::posix_time::milliseconds(1000 / 100)); } graphicsManager->dumpDebugInfo(); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgSkeletonRepresentationRenderTests.cpp000066400000000000000000000154441277777236100315660ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Graphics/Camera.h" #include "SurgSim/Graphics/OsgAxesRepresentation.h" #include "SurgSim/Graphics/OsgLight.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgProgram.h" #include "SurgSim/Graphics/OsgSkeletonRepresentation.h" #include "SurgSim/Graphics/OsgUniform.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/RenderTests/RenderTest.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Testing/MathUtilities.h" #include "SurgSim/Testing/TestCube.h" #include using SurgSim::Math::Vector2d; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; using SurgSim::Math::Vector4f; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; using SurgSim::Testing::interpolate; namespace SurgSim { namespace Graphics { struct OsgSkeletonRepresentationRenderTests : public RenderTest { }; TEST_F(OsgSkeletonRepresentationRenderTests, BasicTest) { auto graphics = std::make_shared("Skeleton"); graphics->loadModel("OsgSkeletonRepresentationRenderTests/rigged_cylinder.osgt"); graphics->setSkinningShaderFileName("Shaders/skinning.vert"); auto sceneElement = std::make_shared("Rigged Cylinder"); sceneElement->addComponent(graphics); scene->addSceneElement(sceneElement); viewElement->setPose(SurgSim::Math::makeRigidTransform( Vector3d(-0.3, 0.3, -0.3), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 1.0))); runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(2000)); std::pair rootTransform; rootTransform.first = makeRigidTransform(makeRotationQuaternion(0.0, Vector3d(1.0, 1.0, 1.0)), Vector3d::Zero()); rootTransform.second = makeRigidTransform(makeRotationQuaternion(0.0, Vector3d(1.0, 1.0, 1.0)), Vector3d::Zero()); std::pair boneTransform; boneTransform.first = makeRigidTransform(makeRotationQuaternion(0.0, Vector3d(1.0, 0.0, 0.0)), Vector3d::Zero()); boneTransform.second = makeRigidTransform(makeRotationQuaternion(0.0, Vector3d(1.0, 0.0, 0.0)), Vector3d(0.0, 4.0, 0.0)); int numSteps = 1000; for (int i = 0; i < numSteps; ++i) { double t = static_cast(i) / numSteps; RigidTransform3d pose = interpolate(rootTransform, t); sceneElement->setPose(pose); pose = interpolate(boneTransform, t / 3.0); graphics->setBonePose("Bone", RigidTransform3d::Identity()); graphics->setBonePose("Bone_001", pose); graphics->setBonePose("Bone_002", pose); graphics->setBonePose("Bone_003", pose); /// The total number of steps should complete in 5 seconds boost::this_thread::sleep(boost::posix_time::milliseconds(5000 / numSteps)); } rootTransform.first = makeRigidTransform(makeRotationQuaternion(0.0, Vector3d(1.0, 1.0, 1.0)), Vector3d::Zero()); rootTransform.second = makeRigidTransform(makeRotationQuaternion(M_2_PI, Vector3d(1.0, 1.0, 1.0)), Vector3d::Zero()); boneTransform.first = makeRigidTransform(makeRotationQuaternion(0.0, Vector3d(1.0, 0.0, 0.0)), Vector3d::Zero()); boneTransform.second = makeRigidTransform(makeRotationQuaternion(M_PI, Vector3d(1.0, 0.0, 0.0)), Vector3d::Zero()); for (int i = 0; i < numSteps; ++i) { double t = static_cast(i) / numSteps; RigidTransform3d pose = interpolate(rootTransform, t); sceneElement->setPose(pose); pose = interpolate(boneTransform, t / 3.0); graphics->setBonePose("Bone", pose); graphics->setBonePose("Bone_001", pose); graphics->setBonePose("Bone_002", pose); graphics->setBonePose("Bone_003", pose); /// The total number of steps should complete in 5 seconds boost::this_thread::sleep(boost::posix_time::milliseconds(5000 / numSteps)); } runtime->stop(); } TEST_F(OsgSkeletonRepresentationRenderTests, WithNeutralPoseTest) { auto graphics = std::make_shared("Skeleton"); graphics->loadModel("OsgSkeletonRepresentationRenderTests/rigged_cylinder.osgt"); graphics->setSkinningShaderFileName("Shaders/skinning.vert"); graphics->setNeutralBonePose("Bone", makeRigidTransform(makeRotationQuaternion(M_PI_4, Vector3d(1.0, 1.0, 1.0)), Vector3d::Zero())); auto sceneElement = std::make_shared("Rigged Cylinder"); sceneElement->addComponent(graphics); scene->addSceneElement(sceneElement); viewElement->setPose(SurgSim::Math::makeRigidTransform( Vector3d(-0.3, 0.3, -0.3), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 1.0))); runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(2000)); std::pair rootTransform; rootTransform.first = makeRigidTransform(makeRotationQuaternion(0.0, Vector3d(1.0, 1.0, 1.0)), Vector3d::Zero()); rootTransform.second = makeRigidTransform(makeRotationQuaternion(0.0, Vector3d(1.0, 1.0, 1.0)), Vector3d::Zero()); std::pair boneTransform; boneTransform.first = makeRigidTransform(makeRotationQuaternion(0.0, Vector3d(1.0, 0.0, 0.0)), Vector3d::Zero()); boneTransform.second = makeRigidTransform(makeRotationQuaternion(0.0, Vector3d(1.0, 0.0, 0.0)), Vector3d(0.0, 4.0, 0.0)); int numSteps = 1000; for (int i = 0; i < numSteps; ++i) { double t = static_cast(i) / numSteps; RigidTransform3d pose = interpolate(rootTransform, t); sceneElement->setPose(pose); pose = interpolate(boneTransform, t / 3.0); graphics->setBonePose("Bone", RigidTransform3d::Identity()); graphics->setBonePose("Bone_001", pose); graphics->setBonePose("Bone_002", pose); graphics->setBonePose("Bone_003", pose); /// The total number of steps should complete in 5 seconds boost::this_thread::sleep(boost::posix_time::milliseconds(5000 / numSteps)); } runtime->stop(); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgSphereRepresentationRenderTests.cpp000066400000000000000000000072511277777236100312250ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Render Tests for the OsgSphereRepresentation class. #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgSphereRepresentation.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Graphics/RenderTests/RenderTest.h" #include #include using SurgSim::Framework::Runtime; using SurgSim::Framework::Scene; using SurgSim::Framework::SceneElement; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Math::makeRigidTransform; namespace SurgSim { namespace Graphics { struct OsgSphereRepresentationRenderTests : public RenderTest { }; /// Pops up a window with two spheres that are translating and changing radius TEST_F(OsgSphereRepresentationRenderTests, MovingSpheresTest) { /// Initial sphere 1 position Vector3d startPosition1(-0.1, 0.0, -0.2); /// Final sphere 1 position Vector3d endPosition1(0.1, 0.0, -0.2); /// Initial sphere 1 radius; double startRadius1 = 0.001; /// Final sphere 1 radius; double endRadius1 = 0.01; /// Initial sphere 2 position Vector3d startPosition2(0.0, -0.1, -0.2); /// Final sphere 2 position Vector3d endPosition2(0.0, 0.1, -0.2); /// Initial sphere 2 radius; double startRadius2 = 0.01; /// Final sphere 2 radius; double endRadius2 = 0.05; /// Number of times to step the sphere position and radius from start to end. /// This number of steps will be done in 1 second. int numSteps = 100; /// Add the sphere representation to the view element, no need to make another scene element std::shared_ptr sphereRepresentation1 = std::make_shared("sphere representation 1"); viewElement->addComponent(sphereRepresentation1); std::shared_ptr sphereRepresentation2 = std::make_shared("sphere representation 2"); viewElement->addComponent(sphereRepresentation2); /// Run the thread runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); for (int i = 0; i < numSteps; ++i) { /// Calculate t in [0.0, 1.0] double t = static_cast(i) / numSteps; /// Interpolate position and radius sphereRepresentation1->setLocalPose(makeRigidTransform(Quaterniond::Identity(), (1 - t) * startPosition1 + t * endPosition1)); sphereRepresentation1->setRadius((1 - t) * startRadius1 + t * endRadius1); sphereRepresentation2->setLocalPose(makeRigidTransform(Quaterniond::Identity(), (1 - t) * startPosition2 + t * endPosition2)); sphereRepresentation2->setRadius((1 - t) * startRadius2 + t * endRadius2); /// The total number of steps should complete in 1 second boost::this_thread::sleep(boost::posix_time::milliseconds(1000 / numSteps)); } runtime->stop(); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgTextRepresentationRenderTests.cpp000066400000000000000000000110121277777236100307110ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Blocks/PoseInterpolator.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/BehaviorManager.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgTextRepresentation.h" #include "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/OsgAxesRepresentation.h" #include "SurgSim/Graphics/View.h" #include namespace SurgSim { namespace Graphics { struct OsgTextRepresentationRenderTests : public ::testing::Test { public: void SetUp() { runtime = std::make_shared("config.txt"); graphicsManager = std::make_shared(); runtime->addManager(graphicsManager); runtime->addManager(std::make_shared()); scene = runtime->getScene(); viewElement = std::make_shared("view element"); std::array position = {100, 100}; viewElement->getView()->setPosition(position); viewElement->getView()->setWindowBorderEnabled(true); scene->addSceneElement(viewElement); } void TearDown() { runtime->stop(); } std::shared_ptr runtime; std::shared_ptr graphicsManager; std::shared_ptr scene; std::shared_ptr viewElement; }; TEST_F(OsgTextRepresentationRenderTests, Operation) { auto text = std::make_shared("HUD"); text->setText("HelloWorld"); viewElement->addComponent(text); runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); EXPECT_TRUE(viewElement->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(1500)); auto dimensions = viewElement->getView()->getDimensions(); text->setLocation(dimensions[0] / 2.0, dimensions[1] / 2.0); text->setText("Hello Again"); boost::this_thread::sleep(boost::posix_time::milliseconds(1500)); text->setColor(SurgSim::Math::Vector4d(1.0, 0.5, 0.5, 1.0)); text->setMaximumWidth(400.0); text->setFontSize(72.0); text->setText("This is a really long line that should be broken apart"); text->setDrawBackground(true); text->setBackgroundColor(Math::Vector4d(0.3, 0.3, 0.3, 1.0)); boost::this_thread::sleep(boost::posix_time::milliseconds(1500)); } TEST_F(OsgTextRepresentationRenderTests, WorldSpace) { auto element = std::make_shared("Box"); auto axis = std::make_shared("Axes"); axis->setSize(0.1); element->addComponent(axis); auto box = std::make_shared("Box"); box->setSize(Math::Vector3d(0.05, 0.05, 0.05)); element->addComponent(box); scene->addSceneElement(element); auto interpolator = std::make_shared("Interpolator"); interpolator->setTarget(viewElement); auto startingPose = Math::makeRigidTransform( Math::Vector3d(0.5, 0.5, 0.0), Math::Vector3d(0.0, 0.0, 0.0), Math::Vector3d(0.0, 1.0, 0.0)); interpolator->setStartingPose(startingPose); interpolator->setEndingPose(Math::makeRigidTransform( Math::Vector3d(-0.5, 0.5, 0.0), Math::Vector3d(0.0, 0.0, 0.0), Math::Vector3d(0.0, 1.0, 0.0))); interpolator->setPingPong(true); interpolator->setDuration(6.0); viewElement->addComponent(interpolator); auto text = std::make_shared("Text"); text->setText("This is a multiline text, it should be well readable and right in front of the camera"); text->setUseScreenSpace(false); text->setMaximumWidth(0.4); text->setFontSize(0.02); text->setLocalPose(Math::makeRigidTranslation(Math::Vector3d(0.0, 0.0, -1.0))); viewElement->addComponent(text); runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(1500)); runtime->stop(); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgVectorFieldRepresentationRenderTests.cpp000066400000000000000000000166621277777236100322130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// Render Tests for the OsgVectorFieldRepresentation class. #include "SurgSim/DataStructures/Vertex.h" #include "SurgSim/Graphics/RenderTests/RenderTest.h" #include "SurgSim/Graphics/VectorField.h" #include "SurgSim/Graphics/VectorFieldRepresentation.h" #include "SurgSim/Graphics/OsgVectorFieldRepresentation.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Testing/MathUtilities.h" using SurgSim::DataStructures::Vertex; using SurgSim::Graphics::OsgVectorFieldRepresentation; using SurgSim::Graphics::VectorFieldRepresentation; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; using SurgSim::Math::Quaterniond; using SurgSim::Math::makeRigidTransform; using SurgSim::Testing::interpolate; struct OsgVectorFieldRepresentationRenderTests : public SurgSim::Graphics::RenderTest { protected: // A point is a location (X,Y,Z) in 3D space std::vector makeStartingPoints() { std::vector points(8); points[0] = Vector3d(1.0, 0.0, 0.0); points[1] = Vector3d(0.0, 1.0, 0.0); points[2] = Vector3d(-1.0, 0.0, 0.0); points[3] = Vector3d(0.0, -1.0, 0.0); points[4] = Vector3d(2.0, 0.0, 0.0); points[5] = Vector3d(0.0, 2.0, 0.0); points[6] = Vector3d(-2.0, 0.0, 0.0); points[7] = Vector3d(0.0, -2.0, 0.0); return points; } std::vector makeEndingPoints() { std::vector points(8); points[0] = Vector3d(1.0, 1.0, 0.0); points[1] = Vector3d(-1.0, 1.0, 0.0); points[2] = Vector3d(-1.0, -1.0, 0.0); points[3] = Vector3d(1.0, -1.0, 0.0); points[4] = Vector3d(2.0, 2.0, 0.0); points[5] = Vector3d(-2.0, 2.0, 0.0); points[6] = Vector3d(-2.0, -2.0, 0.0); points[7] = Vector3d(2.0, -2.0, 0.0); return points; } // Color is represented as (R, G, B, alpha) std::vector makeStartingColors() { std::vector colors(8); colors[0] = Vector4d(1.0, 0.0, 0.0, 0.0); colors[1] = Vector4d(0.0, 1.0, 0.0, 0.0); colors[2] = Vector4d(0.0, 0.0, 1.0, 0.0); colors[3] = Vector4d(1.0, 1.0, 0.0, 0.0); colors[4] = Vector4d(1.0, 0.0, 1.0, 0.0); colors[5] = Vector4d(1.0, 1.0, 1.0, 0.0); colors[6] = Vector4d(1.0, 0.5, 0.8, 0.0); colors[7] = Vector4d(0.5, 1.0, 0.5, 0.0); return colors; } std::vector makeEndingColors() { std::vector colors(8); colors[0] = Vector4d(0.0, 1.0, 0.0, 0.0); colors[1] = Vector4d(0.0, 0.0, 1.0, 0.0); colors[2] = Vector4d(1.0, 0.0, 0.0, 0.0); colors[3] = Vector4d(0.0, 1.0, 1.0, 0.0); colors[4] = Vector4d(0.0, 1.0, 0.0, 0.0); colors[5] = Vector4d(0.0, 0.0, 1.0, 0.0); colors[6] = Vector4d(1.0, 1.0, 0.0, 0.0); colors[7] = Vector4d(1.0, 0.0, 1.0, 0.0); return colors; } std::vector makeVectors(const std::vector& points, const std::vector& colors) { std::vector vecs(8); for (auto i = 0; i < 8; ++i) { vecs[i].direction = points[i]; vecs[i].color.setValue(colors[i]); } return vecs; } std::shared_ptr makeVectorFieldRepresentation(const std::vector& points, const std::vector& vectors) { auto representation = std::make_shared("Vector Field Representation"); auto vertices = representation->getVectorField(); // Binding vectors to points auto it = std::begin(points); auto v = std::begin(vectors); for (; it != std::end(points); ++it, ++v) { vertices->addVertex(Vertex((*it), *v)); } return representation; } }; TEST_F(OsgVectorFieldRepresentationRenderTests, AddVectors) { auto vectorRepresentation = std::make_shared("VectorField"); auto points = makeStartingPoints(); auto colors = makeStartingColors(); auto vectors = makeVectors(points, colors); SurgSim::Graphics::VectorField vectorField; vectorRepresentation->setLocalPose(makeRigidTransform(Quaterniond::Identity(), Vector3d(0.0, 0.0, -8.0))); viewElement->addComponent(vectorRepresentation); /// Run the thread runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); EXPECT_TRUE(viewElement->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(500)); auto it = std::begin(points); auto v = std::begin(vectors); for (; it != std::end(points); ++it, ++v) { vectorField.addVertex(Vertex((*it), *v)); vectorRepresentation->updateVectorField(vectorField); boost::this_thread::sleep(boost::posix_time::milliseconds(250)); } } TEST_F(OsgVectorFieldRepresentationRenderTests, LineWidth) { auto points = makeStartingPoints(); auto colors = makeStartingColors(); auto vectors = makeVectors(points, colors); auto vectorRepresentation = makeVectorFieldRepresentation(points, vectors); vectorRepresentation->setLocalPose(makeRigidTransform(Quaterniond::Identity(), Vector3d(0.0, 0.0, -8.0))); viewElement->addComponent(vectorRepresentation); runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); EXPECT_TRUE(viewElement->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(500)); int numSteps = 100; double startWidth = 0.0; double endWidth = 10.0; // Vary line widths as time changes for (int i = 0; i < numSteps; ++i) { double t = static_cast(i) / numSteps; vectorRepresentation->setLineWidth(interpolate(startWidth, endWidth, t)); boost::this_thread::sleep(boost::posix_time::milliseconds(1000 / numSteps)); } } TEST_F(OsgVectorFieldRepresentationRenderTests, ChangingVectorField) { auto startPoints = makeStartingPoints(); auto endPoints = makeEndingPoints(); auto startColors = makeStartingColors(); auto endColors = makeStartingColors(); auto startVectors = makeVectors(startPoints, startColors); auto endVectors = makeVectors(endPoints, endColors); auto vectorRepresentation = makeVectorFieldRepresentation(startPoints, endVectors); vectorRepresentation->setLocalPose(makeRigidTransform(Quaterniond::Identity(), Vector3d(0.0, 0.0, -8.0))); viewElement->addComponent(vectorRepresentation); runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); EXPECT_TRUE(viewElement->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(250)); auto& vertexList = vectorRepresentation->getVectorField()->getVertices(); int numSteps = 100; for (int i = 0; i < numSteps; ++i) { double t = static_cast(i) / numSteps; for (int j = 0; j < 8; ++j) { vertexList[j].position = interpolate(startPoints[j], endPoints[j], t); vertexList[j].data.direction = interpolate(endVectors[j].direction, startVectors[j].direction, t); vertexList[j].data.color.setValue(interpolate(startColors[j], endColors[j], t)); } boost::this_thread::sleep(boost::posix_time::milliseconds(1000 / numSteps)); } }opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/OsgViewElementRenderTests.cpp000066400000000000000000000152751277777236100273050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Render Tests for the OsgViewElement class. #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgView.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Blocks/PoseInterpolator.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/BehaviorManager.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include using SurgSim::Framework::Runtime; using SurgSim::Framework::Scene; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Math::makeRigidTransform; namespace SurgSim { namespace Graphics { // Note: This tests the ViewElement, don't derive from RenderTest TEST(OsgViewElementRenderTests, MoveAndResizeWindowTest) { std::shared_ptr runtime = std::make_shared(); std::shared_ptr manager = std::make_shared(); runtime->addManager(manager); std::shared_ptr scene = runtime->getScene(); /// Add a graphics component to the scene std::shared_ptr viewElement = std::make_shared("test element"); scene->addSceneElement(viewElement); /// Set initial position to (50, 60), dimensions to 200 x 100 and disable the window border std::array position = {50, 60}; std::array dimensions = {200, 100}; viewElement->getView()->setPosition(position); viewElement->getView()->setDimensions(dimensions); viewElement->getView()->setWindowBorderEnabled(false); /// Run the thread runtime->start(); EXPECT_TRUE(manager->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); /// Move the window to (100, 200) position[0] = 100; position[1] = 200; viewElement->getView()->setPosition(position); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); /// Enable the window border and resize the window to 400 x 500 viewElement->getView()->setWindowBorderEnabled(true); dimensions[0] = 400; dimensions[1] = 500; viewElement->getView()->setDimensions(dimensions); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); runtime->stop(); } // Just an empty screen but it should be fullscreen TEST(OsgViewElementRenderTest, FullScreenView) { std::shared_ptr runtime = std::make_shared(); std::shared_ptr manager = std::make_shared(); runtime->addManager(manager); std::shared_ptr scene = runtime->getScene(); /// Add a graphics component to the scene std::shared_ptr viewElement = std::make_shared("test element"); scene->addSceneElement(viewElement); auto osgView = std::static_pointer_cast(viewElement->getView()); std::array dimensions = { 0, 0 }; osgView->setDimensions(dimensions); EXPECT_EQ(0, osgView->getDimensions()[0]); EXPECT_EQ(0, osgView->getDimensions()[1]); osgView->setFullScreen(true); // The actual value depends on the system, it's hard to test for it here EXPECT_NE(0, osgView->getDimensions()[0]); EXPECT_NE(0, osgView->getDimensions()[1]); runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); runtime->stop(); } TEST(OsgViewElementRenderTest, StereoView) { std::shared_ptr runtime = std::make_shared(); std::shared_ptr manager = std::make_shared(); runtime->addManager(manager); runtime->addManager(std::make_shared()); std::shared_ptr scene = runtime->getScene(); /// Add a graphics component to the scene std::shared_ptr viewElement = std::make_shared("view"); auto boxElement = std::make_shared("box"); RigidTransform3d pose = makeRigidTransform(Vector3d(1.0, 1.0, 1.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0)); viewElement->setPose(pose); scene->addSceneElement(viewElement); auto box = std::make_shared("box"); box->setSizeXYZ(0.1, 0.1, 0.2); boxElement->addComponent(box); RigidTransform3d from = makeRigidTransform(Vector3d(0.2, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0)); RigidTransform3d to = makeRigidTransform(Vector3d(-0.2, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0)); auto interpolator = std::make_shared("interpolator"); interpolator->setDuration(2.0); interpolator->setStartingPose(from); interpolator->setEndingPose(to); interpolator->setPingPong(true); interpolator->setTarget(boxElement); boxElement->addComponent(interpolator); scene->addSceneElement(boxElement); auto osgView = std::static_pointer_cast(viewElement->getView()); osgView->setStereoMode(View::STEREO_MODE_HORIZONTAL_SPLIT); osgView->setDisplayType(View::DISPLAY_TYPE_MONITOR); osgView->setEyeSeparation(0.06); osgView->setScreenWidth(0.486918); osgView->setScreenHeight(0.273812); osgView->setScreenDistance(1.0); runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); runtime->stop(); } // Verify a bug fix on the OsgView that had to do with the deallocation of the mouse and // keyboard handler. TEST(OsgViewElementRenderTest, KeyBoardMouseTest) { std::shared_ptr runtime = std::make_shared(); std::shared_ptr manager = std::make_shared(); runtime->addManager(manager); runtime->addManager(std::make_shared()); std::shared_ptr scene = runtime->getScene(); /// Add a graphics component to the scene std::shared_ptr viewElement = std::make_shared("view"); scene->addSceneElement(viewElement); auto osgView = std::static_pointer_cast(viewElement->getView()); osgView->enableKeyboardDevice(true); osgView->enableMouseDevice(true); runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); runtime->stop(); } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/PaintBehaviorRenderTests.cpp000066400000000000000000000154711277777236100271410ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 #include "SurgSim/Blocks/GraphicsUtilities.h" #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Graphics/OsgLight.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgMeshRepresentation.h" #include "SurgSim/Graphics/OsgTexture2d.h" #include "SurgSim/Graphics/PaintBehavior.h" #include "SurgSim/Graphics/RenderTests/RenderTest.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRigidTranslation; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Graphics { class PaintBehaviorRenderTests : public RenderTest { }; TEST_F(PaintBehaviorRenderTests, PaintTest) { viewElement->getCamera()->setLocalPose(makeRigidTransform(Math::Vector3d(0.0, 0.2, 0.0), Math::Vector3d(0.0, 0.0, 0.0), Math::Vector3d(0.0, 0.0, -1.0))); viewElement->getCamera()->setAmbientColor(Math::Vector4d(0.2, 0.2, 0.2, 1.0)); auto light = std::make_shared("Light"); light->setDiffuseColor(Math::Vector4d(1.0, 1.0, 1.0, 1.0)); light->setSpecularColor(Math::Vector4d(0.8, 0.8, 0.8, 1.0)); light->setLightGroupReference(Graphics::Representation::DefaultGroupName); auto lightElement = std::make_shared("LightElement"); lightElement->setPose(makeRigidTranslation(Math::Vector3d(2.0, 2.0, 2.0))); lightElement->addComponent(light); scene->addSceneElement(lightElement); auto element = std::make_shared("Cube"); auto graphics = std::make_shared("Graphics"); graphics->loadMesh("Geometry/wound_deformable_with_texture.ply"); auto material = Graphics::buildMaterial("Shaders/ds_mapping_material.vert", "Shaders/ds_mapping_multitexture.frag"); material->addUniform("vec4", "diffuseColor"); material->setValue("diffuseColor", Math::Vector4f(1.0, 1.0, 1.0, 1.0)); material->addUniform("vec4", "specularColor"); material->setValue("specularColor", Math::Vector4f(1.0, 1.0, 1.0, 1.0)); material->addUniform("float", "shininess"); material->setValue("shininess", 10.0f); auto texture = std::make_shared(); auto path = applicationData->findFile("Textures/wound_deformable.png"); texture->loadImage(path); material->addUniform("sampler2D", "diffuseMap"); material->setValue("diffuseMap", texture); Blocks::enable2DTexture(material, "shadowMap", Graphics::SHADOW_TEXTURE_UNIT, "Textures/black.png"); graphics->setMaterial(material); element->addComponent(graphics); element->addComponent(material); auto paintBehavior = std::make_shared("Decals"); paintBehavior->setRepresentation(graphics); paintBehavior->setTextureSize(2048, 2048); paintBehavior->setRadius(0.05); paintBehavior->setColor(Math::Vector4d(1.0, 0.0, 0.0, 0.75)); std::vector coords; for (size_t i = 0; i < 10; i++) { Math::Vector coord(3); coord << 0.5, 0.5, 0.5; DataStructures::IndexedLocalCoordinate localCoordinate(50 + i, coord); coords.push_back(localCoordinate); } paintBehavior->setCoordinates(coords); element->addComponent(paintBehavior); scene->addSceneElement(element); runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(5000)); runtime->stop(); } TEST_F(PaintBehaviorRenderTests, AntiAliasTest) { viewElement->getCamera()->setLocalPose(makeRigidTransform(Math::Vector3d(0.0, 0.2, 0.0), Math::Vector3d(0.0, 0.0, 0.0), Math::Vector3d(0.0, 0.0, -1.0))); viewElement->getCamera()->setAmbientColor(Math::Vector4d(0.2, 0.2, 0.2, 1.0)); auto light = std::make_shared("Light"); light->setDiffuseColor(Math::Vector4d(1.0, 1.0, 1.0, 1.0)); light->setSpecularColor(Math::Vector4d(0.8, 0.8, 0.8, 1.0)); light->setLightGroupReference(Graphics::Representation::DefaultGroupName); auto lightElement = std::make_shared("LightElement"); lightElement->setPose(makeRigidTranslation(Math::Vector3d(2.0, 2.0, 2.0))); lightElement->addComponent(light); scene->addSceneElement(lightElement); auto element = std::make_shared("Cube"); auto graphics = std::make_shared("Graphics"); graphics->loadMesh("Geometry/wound_deformable_with_texture.ply"); auto material = Graphics::buildMaterial("Shaders/ds_mapping_material.vert", "Shaders/ds_mapping_multitexture.frag"); material->addUniform("vec4", "diffuseColor"); material->setValue("diffuseColor", Math::Vector4f(1.0, 1.0, 1.0, 1.0)); material->addUniform("vec4", "specularColor"); material->setValue("specularColor", Math::Vector4f(1.0, 1.0, 1.0, 1.0)); material->addUniform("float", "shininess"); material->setValue("shininess", 10.0f); auto texture = std::make_shared(); auto path = applicationData->findFile("Textures/wound_deformable.png"); texture->loadImage(path); material->addUniform("sampler2D", "diffuseMap"); material->setValue("diffuseMap", texture); Blocks::enable2DTexture(material, "shadowMap", Graphics::SHADOW_TEXTURE_UNIT, "Textures/black.png"); graphics->setMaterial(material); element->addComponent(graphics); element->addComponent(material); auto paintBehavior = std::make_shared("Decals"); paintBehavior->setRepresentation(graphics); paintBehavior->setTextureSize(2048, 2048); paintBehavior->setRadius(0.05); paintBehavior->setColor(Math::Vector4d(1.0, 0.0, 0.0, 0.75)); paintBehavior->setAntiAlias(true); std::vector coords; for (size_t i = 0; i < 10; i++) { Math::Vector coord(3); coord << 0.5, 0.5, 0.5; DataStructures::IndexedLocalCoordinate localCoordinate(50 + i, coord); coords.push_back(localCoordinate); } paintBehavior->setCoordinates(coords); element->addComponent(paintBehavior); scene->addSceneElement(element); runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(5000)); runtime->stop(); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/RenderTest.cpp000066400000000000000000000047041277777236100242770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/RenderTests/RenderTest.h" #include "SurgSim/Framework/BehaviorManager.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgScreenSpaceQuadRepresentation.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/OsgView.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" using SurgSim::Math::Quaterniond; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Graphics { void RenderTest::SetUp() { runtime = std::make_shared("config.txt"); applicationData = runtime->getApplicationData(); graphicsManager = std::make_shared(); runtime->addManager(graphicsManager); runtime->addManager(std::make_shared()); scene = runtime->getScene(); viewElement = std::make_shared("view element"); std::array position = {100, 100}; viewElement->getView()->setPosition(position); viewElement->getView()->setWindowBorderEnabled(true); camera = std::dynamic_pointer_cast(viewElement->getCamera()); scene->addSceneElement(viewElement); } void RenderTest::TearDown() { runtime->stop(); } std::shared_ptr RenderTest::makeQuad( const std::string& name, int width, int height, int x, int y) { std::shared_ptr quad = std::make_shared(name); quad->setSize(width, height); Quaterniond quat; quat = SurgSim::Math::makeRotationQuaternion(0.0, Vector3d::UnitY().eval()); quad->setLocalPose(SurgSim::Math::makeRigidTransform(quat, Vector3d(x, y, -0.2))); return quad; } }; // Graphics }; // SurgSim opensurgsim-0.7.0/SurgSim/Graphics/RenderTests/RenderTest.h000066400000000000000000000034541277777236100237450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_RENDERTESTS_RENDERTEST_H #define SURGSIM_GRAPHICS_RENDERTESTS_RENDERTEST_H #include #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgView.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgScreenSpaceQuadRepresentation.h" namespace SurgSim { namespace Framework { class Runtime; class Scene; } namespace Graphics { struct RenderTest : public ::testing::Test { public: virtual void SetUp(); virtual void TearDown(); std::shared_ptr makeQuad( const std::string& name, int width, int height, int x, int y); std::shared_ptr runtime; std::shared_ptr graphicsManager; std::shared_ptr scene; std::shared_ptr viewElement; std::shared_ptr applicationData; std::shared_ptr camera; }; }; // Graphics }; // SurgSim #endifopensurgsim-0.7.0/SurgSim/Graphics/RenderTests/config.txt.in000066400000000000000000000001551277777236100241230ustar00rootroot00000000000000${PROJECT_BINARY_DIR}/Data/ ${CMAKE_CURRENT_BINARY_DIR}/Data/ ${PROJECT_BINARY_DIR}/SurgSim/Testing/Data/ opensurgsim-0.7.0/SurgSim/Graphics/Representation.cpp000066400000000000000000000064041277777236100227570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/Representation.h" #include "SurgSim/Graphics/Material.h" #include "SurgSim/Framework/Log.h" using SurgSim::Graphics::Material; namespace SurgSim { namespace Graphics { const std::string Representation::DefaultGroupName = "__OssDefault__"; const std::string Representation::DefaultHudGroupName = "__OssDefaulHud__"; Representation::Representation(const std::string& name) : SurgSim::Framework::Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(Representation, std::vector, GroupReferences, getGroupReferences, setGroupReferences); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Representation, bool, DrawAsWireFrame, getDrawAsWireFrame, setDrawAsWireFrame); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Representation, bool, GenerateTangents, isGeneratingTangents, setGenerateTangents); addGroupReference(DefaultGroupName); } bool Representation::addGroupReference(const std::string& name) { bool result = false; if (!checkAwake("addGroupReference")) { auto insertion = m_groups.insert(name); result = insertion.second; } return result; } void Representation::addGroupReferences(const std::vector& groups) { if (!checkAwake("addGroupReferences")) { for (auto it = groups.cbegin(); it != groups.cend(); ++it) { addGroupReference(*it); } } } void Representation::setGroupReferences(const std::vector& groups) { if (!checkAwake("setGroupReferences")) { m_groups.clear(); for (auto it = groups.cbegin(); it != groups.cend(); ++it) { addGroupReference(*it); } } } std::vector Representation::getGroupReferences() const { return std::vector(std::begin(m_groups), std::end(m_groups)); } void Representation::clearGroupReferences() { if (!checkAwake("clearGroupReference")) { m_groups.clear(); } } bool Representation::removeGroupReference(const std::string& name) { bool result = false; if (!checkAwake("removeGroupReference")) { result = (m_groups.erase(name) != 0u); } return result; } void Representation::setGroupReference(const std::string& group) { if (!checkAwake("setGroupReference")) { clearGroupReferences(); m_groups.insert(group); } } bool Representation::checkAwake(const std::string& functionName) { if (isAwake()) { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getLogger("Graphics")) << "Representation::" << functionName << "() was called while the component " << "was already awake for component " << getName() << " this has no effect and should be avoided."; } return isAwake(); } Representation::~Representation() { } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/Representation.h000066400000000000000000000111301277777236100224140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_REPRESENTATION_H #define SURGSIM_GRAPHICS_REPRESENTATION_H #include "SurgSim/Framework/Representation.h" #include "SurgSim/Math/RigidTransform.h" #include namespace SurgSim { namespace Graphics { class Manager; class Material; /// Base graphics representation class, which defines the interface that all graphics representations must implement. /// /// A Graphics::Representation is the visual Framework::Representation of a Framework::SceneElement in the /// Framework::Scene. Graphical representations can request to be assigned to groups, groups are used to select certain /// elements for rendering in various special effects. class Representation : public SurgSim::Framework::Representation { public: static const std::string DefaultGroupName; static const std::string DefaultHudGroupName; /// Constructor /// \param name Name of the representation explicit Representation(const std::string& name); /// Destructor virtual ~Representation(); /// Sets the material that defines the visual appearance of the representation /// \param material Graphics material /// \return True if set successfully, otherwise false virtual bool setMaterial(std::shared_ptr material) = 0; /// Gets the material that defines the visual appearance of the representation /// \return Graphics material virtual std::shared_ptr getMaterial() const = 0; /// Removes the material from the representation virtual void clearMaterial() = 0; /// Sets the representation to render as a wire frame. /// \param val true if this representation should be rendered as a wireframe. virtual void setDrawAsWireFrame(bool val) = 0; /// Return if the representation is rendered as a wire frame. /// \return True if this representation is rendered as a wireframe; false if not. virtual bool getDrawAsWireFrame() const = 0; /// Enable or disable the generation of tangents. /// \param value true enables tangent generation, false otherwise virtual void setGenerateTangents(bool value) = 0; /// \return whether tangent generation is on or off virtual bool isGeneratingTangents() const = 0; /// Updates the representation /// \param dt The time in seconds of the preceding timestep. virtual void update(double dt) = 0; /// Add a reference to a group, this will eventual add this representation to the group with the /// the same name. /// \param name The name of the group. /// \return true if it succeeds, false if the group reference already exists. virtual bool addGroupReference(const std::string& name); /// Adds a list of group references. /// \param groups The references. void addGroupReferences(const std::vector& groups); /// Sets the list of group references. Clearing all the old references /// \param groups The references. void setGroupReferences(const std::vector& groups); /// Helper functions, this clears all the references and sets, only the reference /// given in the parameter /// \param group The reference to be used for this representation void setGroupReference(const std::string& group); /// Gets group references. /// \return The group references. std::vector getGroupReferences() const; /// Function to remove an unwanted reference. /// \param group The name of the reference that should be removed /// \return true If the reference was found and removed bool removeGroupReference(const std::string& group); /// Clear all the Group references void clearGroupReferences(); private: /// List of groups that this representation would like to be added std::unordered_set m_groups; /// Check if the representation is awake and print a warning message if it is. /// \param functionName the name of the calling function to be used in the error message /// \return the value of isAwake() bool checkAwake(const std::string& functionName); }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_REPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/SceneryRepresentation.cpp000066400000000000000000000022601277777236100243040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/SceneryRepresentation.h" #include "SurgSim/Framework/Asset.h" #include "SurgSim/Graphics/Model.h" #include "SurgSim/Framework/FrameworkConvert.h" namespace SurgSim { namespace Graphics { SceneryRepresentation::SceneryRepresentation(const std::string& name) : Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(SceneryRepresentation, std::shared_ptr, Model , getModel, setModel); SURGSIM_ADD_SETTER(SceneryRepresentation, std::string, ModelFileName, loadModel); } } } opensurgsim-0.7.0/SurgSim/Graphics/SceneryRepresentation.h000066400000000000000000000034541277777236100237570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_SCENERYREPRESENTATION_H #define SURGSIM_GRAPHICS_SCENERYREPRESENTATION_H #include "SurgSim/Graphics/Representation.h" #include namespace SurgSim { namespace Framework { class Asset; } namespace Graphics { class Model; /// Base class defining the interface for a Graphics Scenery Object. class SceneryRepresentation : public virtual Representation { public: /// Constructor. /// \param name The name of the representation. explicit SceneryRepresentation(const std::string& name); /// Convenience function to trigger the load of the model with the given filename, if successful, this will /// replace the old model /// \param fileName Name of the file to be loaded virtual void loadModel(const std::string& fileName) = 0; /// Set the current model to the model passed /// \param model to be used for this scenery representation, this will replace the old model virtual void setModel(std::shared_ptr model) = 0; /// \return the current model. virtual std::shared_ptr getModel() const = 0; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_SCENERYREPRESENTATION_Hopensurgsim-0.7.0/SurgSim/Graphics/ScreenSpaceQuadRepresentation.h000066400000000000000000000056061277777236100253560ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_SCREENSPACEQUADREPRESENTATION_H #define SURGSIM_GRAPHICS_SCREENSPACEQUADREPRESENTATION_H #include "SurgSim/DataStructures/DataStructuresConvert.h" #include "SurgSim/Framework/Macros.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Graphics/Representation.h" #include namespace SurgSim { namespace Graphics { class View; class Texture; /// A quad to display on the screen in screen space coordinates, use setPose() to set the position but /// x,y are presumed to be in screen space with 0|0 being in the lower left corner class ScreenSpaceQuadRepresentation : public virtual Representation { public: /// Constructor. /// \param name The name. explicit ScreenSpaceQuadRepresentation(const std::string name) : Representation(name) { } ~ScreenSpaceQuadRepresentation() { } /// Sets the location in screen space. /// \param x,y The x and y coordinates. virtual void setLocation(double x, double y) = 0; /// Gets the location in screen space. /// \param [out] x,y If non-null the x and y coordinates, may throw if null is passed. virtual void getLocation(double* x, double* y) = 0; /// Sets the size for the quad in screen coordinates. /// \param width The width of the quad in screen coordinates. /// \param height The height of the quad in screen coordinates. virtual void setSize(double width, double height) = 0; /// Gets the size of the quad. /// \param [out] width If non-null, the width, may throw if null is passed. /// \param [out] height If non-null, the height, may throw if null is passed. virtual void getSize(double* width, double* height) const = 0; /// Sets a Texture for this quad, this should replace a current texture, this is a convenience function and /// this will use the uniform name "diffuseMap" for the uniform in this operation. This can be accomplished /// from the outside as well by using the material. /// \param texture The texture to be set on the quad. /// \return true if it succeeds, false if it fails. virtual bool setTexture(std::shared_ptr texture) = 0; /// \return the pose of the quad, this disregards the SceneElement pose SurgSim::Math::RigidTransform3d getPose() const override { return getLocalPose(); } }; }; // Graphics }; // SurgSim #endif opensurgsim-0.7.0/SurgSim/Graphics/SkeletonRepresentation.h000066400000000000000000000100371277777236100241260ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_SKELETONREPRESENTATION_H #define SURGSIM_GRAPHICS_SKELETONREPRESENTATION_H #include #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Graphics/Model.h" #include "SurgSim/Graphics/Representation.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/RigidTransform.h" namespace SurgSim { namespace Graphics { /// Skeleton representation is used to move a mesh based on the movements of /// pre-selected control points (bones). class SkeletonRepresentation : public virtual Representation { public: /// Constructor. /// \param name The name of the representation. explicit SkeletonRepresentation(const std::string& name): Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(SkeletonRepresentation, std::shared_ptr, Model, getModel, setModel); // Enables the alternative use of the model file instead of the actual mesh object DecoderType decoder = std::bind(&SkeletonRepresentation::loadModel, this, std::bind(&YAML::Node::as, std::placeholders::_1)); setDecoder("ModelFileName", decoder); SetterType setter = std::bind(&SkeletonRepresentation::loadModel, this, std::bind(SurgSim::Framework::convert, std::placeholders::_1)); setSetter("ModelFileName", setter); typedef std::map PoseMap; SURGSIM_ADD_SERIALIZABLE_PROPERTY(SkeletonRepresentation, PoseMap, NeutralPoses, getNeutralBonePoses, setNeutralBonePoses); } /// Convenience function to trigger the load of the model with the given filename, if successful, this will /// replace the old model /// \param fileName Name of the file to be loaded virtual void loadModel(const std::string& fileName) = 0; /// Set the current model to the model passed /// \param model to be used for this scenery representation, this will replace the old model virtual void setModel(std::shared_ptr model) = 0; /// \return the current model. virtual std::shared_ptr getModel() const = 0; /// Set the pose for a given bone. /// \param name The name of the bone. /// \param pose The pose of the bone. virtual void setBonePose(const std::string& name, const SurgSim::Math::RigidTransform3d& pose) = 0; /// Get the pose for a given bone. /// \param name The name of the bone. /// \return pose The pose of the bone. virtual SurgSim::Math::RigidTransform3d getBonePose(const std::string& name) const = 0; /// Set the neutral pose for a given bone. /// \param name The name of the bone. /// \param pose The neutral pose of the bone. virtual void setNeutralBonePose(const std::string& name, const SurgSim::Math::RigidTransform3d& pose) = 0; /// Get the neutral pose for a given bone. /// \param name The name of the bone. /// \return pose The neutral pose of the bone. virtual SurgSim::Math::RigidTransform3d getNeutralBonePose(const std::string& name) const = 0; protected: /// Set neutral poses for a set of bones. /// \param poses A map of bone names and neutral poses virtual void setNeutralBonePoses(const std::map& poses) = 0; /// Get all the neutral poses /// \return A map of bone names and neutral poses virtual std::map getNeutralBonePoses() const = 0; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_SKELETONREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/SphereRepresentation.h000066400000000000000000000031121277777236100235640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_SPHEREREPRESENTATION_H #define SURGSIM_GRAPHICS_SPHEREREPRESENTATION_H #include "SurgSim/Graphics/Representation.h" namespace SurgSim { namespace Graphics { /// Base graphics sphere representation class, which defines the basic interface for a sphere that can be visualized. /// The sphere center is at (0, 0, 0). class SphereRepresentation : public virtual Representation { public: /// Constructor /// \param name Name of the representation /// \post The sphere radius is 1.0. explicit SphereRepresentation(const std::string& name) : Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(SphereRepresentation, double, Radius, getRadius, setRadius); } /// Sets the radius of the sphere virtual void setRadius(double radius) = 0; /// Returns the radius of the sphere virtual double getRadius() const = 0; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_SPHEREREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/TangentSpaceGenerator.cpp000066400000000000000000000220701277777236100241750ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Log.h" #include "SurgSim/Graphics/TangentSpaceGenerator.h" #include #include #include namespace { void orthogonalize(const osg::Vec3& normal, osg::Vec4* tangent, osg::Vec4* bitangent, bool createOrthonormalBasis = false) { SURGSIM_ASSERT(tangent != nullptr) << "Tanget parameter can't be nullptr."; SURGSIM_ASSERT(bitangent != nullptr) << "BiTangent parameter can't be nullptr."; osg::Vec4 normal4(normal, 0.0); // Gram-Schmidt orthogonalize the tangent (*tangent) = (*tangent) - normal4 * (normal4 * (*tangent)); tangent->normalize(); if (createOrthonormalBasis) { osg::Vec3 tangent3 = osg::Vec3(tangent->x(), tangent->y(), tangent->z()); osg::Vec3 bitangent3 = osg::Vec3(bitangent->x(), bitangent->y(), bitangent->z()); osg::Vec3 cross = normal ^ tangent3; // Calculate handedness float handedness = 1.0f; if ((cross * bitangent3) < 0.0f) { handedness = -1.0f; } (*bitangent) = osg::Vec4(cross * handedness, 0.0f); } else { // Gram-Schmidt orthogonalize the bitangent (*bitangent) = (*bitangent) - normal4 * (normal4 * (*bitangent)); bitangent->normalize(); } } } namespace SurgSim { namespace Graphics { GenerateTangentSpaceTriangleIndexFunctor::GenerateTangentSpaceTriangleIndexFunctor() : m_vertexArray(nullptr), m_normalArray(nullptr), m_textureCoordArray(nullptr), m_tangentArray(nullptr), m_bitangentArray(nullptr), m_createOrthonormalBasis(false) { } void GenerateTangentSpaceTriangleIndexFunctor::setBasisOrthonormality(bool orthonormal) { m_createOrthonormalBasis = orthonormal; } bool GenerateTangentSpaceTriangleIndexFunctor::getBasisOrthonormality() { return m_createOrthonormalBasis; } void GenerateTangentSpaceTriangleIndexFunctor::set( const osg::Vec3Array* vertexArray, const osg::Vec3Array* normalArray, const osg::Vec2Array* textureCoordArray, osg::Vec4Array* tangentArray, osg::Vec4Array* bitangentArray) { SURGSIM_ASSERT(vertexArray != nullptr) << "Need vertex array to generate normals!"; size_t numVertices = vertexArray->size(); SURGSIM_ASSERT(normalArray != nullptr) << "Need normal array to store normals!"; SURGSIM_ASSERT(normalArray->size() == numVertices) << "Size of normal array must match the number of vertices to generate tangent space!"; SURGSIM_ASSERT(tangentArray != nullptr) << "Need tangent array to store tangent space!"; SURGSIM_ASSERT(tangentArray->size() == numVertices) << "Size of tangent array must match the number of vertices to generate tangent space!"; SURGSIM_ASSERT(bitangentArray != nullptr) << "Need bitangent array to store tangent space!"; SURGSIM_ASSERT(bitangentArray->size() == numVertices) << "Size of bitangent array must match the number of vertices to generate tangent space!"; m_vertexArray = vertexArray; m_normalArray = normalArray; m_textureCoordArray = textureCoordArray; m_tangentArray = tangentArray; m_bitangentArray = bitangentArray; } void GenerateTangentSpaceTriangleIndexFunctor::orthogonalize() { size_t numVertices = m_vertexArray->size(); for (size_t vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex) { ::orthogonalize((*m_normalArray)[vertexIndex], &(*m_tangentArray)[vertexIndex], &(*m_bitangentArray)[vertexIndex], m_createOrthonormalBasis); } } void GenerateTangentSpaceTriangleIndexFunctor::reset() { size_t numVertices = m_vertexArray->size(); for (size_t vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex) { (*m_tangentArray)[vertexIndex].set(0.0f, 0.0f, 0.0f, 0.0f); (*m_bitangentArray)[vertexIndex].set(0.0f, 0.0f, 0.0f, 0.0f); } } void GenerateTangentSpaceTriangleIndexFunctor::operator()(unsigned int vertexIndex1, unsigned int vertexIndex2, unsigned int vertexIndex3) { if (vertexIndex1 == vertexIndex2 || vertexIndex2 == vertexIndex3 || vertexIndex1 == vertexIndex3) { return; } const osg::Vec3& v1 = (*m_vertexArray)[vertexIndex1]; const osg::Vec3& v2 = (*m_vertexArray)[vertexIndex2]; const osg::Vec3& v3 = (*m_vertexArray)[vertexIndex3]; const osg::Vec2& w1 = (*m_textureCoordArray)[vertexIndex1]; const osg::Vec2& w2 = (*m_textureCoordArray)[vertexIndex2]; const osg::Vec2& w3 = (*m_textureCoordArray)[vertexIndex3]; float x1 = v2.x() - v1.x(); float x2 = v3.x() - v1.x(); float y1 = v2.y() - v1.y(); float y2 = v3.y() - v1.y(); float z1 = v2.z() - v1.z(); float z2 = v3.z() - v1.z(); float s1 = w2.x() - w1.x(); float s2 = w3.x() - w1.x(); float t1 = w2.y() - w1.y(); float t2 = w3.y() - w1.y(); float r = 1.0f / (s1 * t2 - s2 * t1); osg::Vec4 tangent((t2 * x1 - t1 * x2) * r, (t2 * y1 - t1 * y2) * r, (t2 * z1 - t1 * z2) * r, 0.0f); osg::Vec4 bitangent((s1 * x2 - s2 * x1) * r, (s1 * y2 - s2 * y1) * r, (s1 * z2 - s2 * z1) * r, 0.0f); (*m_tangentArray)[vertexIndex1] += tangent; (*m_bitangentArray)[vertexIndex1] += bitangent; (*m_tangentArray)[vertexIndex2] += tangent; (*m_bitangentArray)[vertexIndex2] += bitangent; (*m_tangentArray)[vertexIndex3] += tangent; (*m_bitangentArray)[vertexIndex3] += bitangent; } TangentSpaceGenerator::TangentSpaceGenerator(int textureCoordUnit, int tangentAttribIndex, int bitangentAttribIndex) : osg::NodeVisitor(), m_textureCoordUnit(textureCoordUnit), m_tangentAttribIndex(tangentAttribIndex), m_bitangentAttribIndex(bitangentAttribIndex) { setTraversalMode(osg::NodeVisitor::TRAVERSE_ALL_CHILDREN); } TangentSpaceGenerator::~TangentSpaceGenerator() { } void TangentSpaceGenerator::setBasisOrthonormality(bool orthonormal) { m_createOrthonormalBasis = orthonormal; } bool TangentSpaceGenerator::getBasisOrthonormality() { return m_createOrthonormalBasis; } void TangentSpaceGenerator::apply(osg::Geode& geode) { for (unsigned int i = 0; i < geode.getNumDrawables(); i++) { osg::Geometry* geometry = geode.getDrawable(i)->asGeometry(); if (geometry) { generateTangentSpace(geometry, m_textureCoordUnit, m_tangentAttribIndex, m_bitangentAttribIndex, m_createOrthonormalBasis); } } } void TangentSpaceGenerator::generateTangentSpace(osg::Geometry* geometry, int textureCoordUnit, int tangentAttribIndex, int bitangentAttribIndex, bool orthonormal) { auto logger = SurgSim::Framework::Logger::getLogger("Graphics/TangetSpaceGenerator"); osg::Vec3Array* vertexArray = dynamic_cast(geometry->getVertexArray()); if (vertexArray == nullptr) { SURGSIM_LOG_WARNING(logger) << "No Vertices found, could not produce tangents."; return; } osg::Vec3Array* normalArray = dynamic_cast(geometry->getNormalArray()); if (normalArray == nullptr || normalArray->size() != vertexArray->size()) { SURGSIM_LOG_WARNING(logger) << "No Normals found, or mismatch in array sizes, could not produce tangents."; return; } osg::Vec2Array* textureCoordArray = dynamic_cast(geometry->getTexCoordArray(textureCoordUnit)); if (textureCoordArray == nullptr || textureCoordArray->size() != vertexArray->size()) { SURGSIM_LOG_WARNING(logger) << "No Texture Coordinates found, or mismatch in array sizes could not produce tangents."; return; } bool didUpdateGeom = false; osg::Vec4Array* tangentArray = dynamic_cast(geometry->getVertexAttribArray(tangentAttribIndex)); if (tangentArray == nullptr || tangentArray->size() != vertexArray->size()) { tangentArray = new osg::Vec4Array(vertexArray->size()); geometry->setVertexAttribArray(tangentAttribIndex, tangentArray); geometry->setVertexAttribBinding(tangentAttribIndex, osg::Geometry::BIND_PER_VERTEX); didUpdateGeom = true; } osg::Vec4Array* bitangentArray = dynamic_cast(geometry->getVertexAttribArray(bitangentAttribIndex)); if (bitangentArray == nullptr || bitangentArray->size() != vertexArray->size()) { bitangentArray = new osg::Vec4Array(vertexArray->size()); geometry->setVertexAttribArray(bitangentAttribIndex, bitangentArray); geometry->setVertexAttribBinding(bitangentAttribIndex, osg::Geometry::BIND_PER_VERTEX); didUpdateGeom = true; } osg::TriangleIndexFunctor tangentSpaceGenerator; tangentSpaceGenerator.setBasisOrthonormality(orthonormal); tangentSpaceGenerator.set(vertexArray, normalArray, textureCoordArray, tangentArray, bitangentArray); tangentSpaceGenerator.reset(); geometry->accept(tangentSpaceGenerator); tangentSpaceGenerator.orthogonalize(); if (didUpdateGeom) { // geometry->dirtyDisplayList(); geometry->setUseDisplayList(false); geometry->dirtyBound(); geometry->setDataVariance(osg::Object::DYNAMIC); } } } } opensurgsim-0.7.0/SurgSim/Graphics/TangentSpaceGenerator.h000066400000000000000000000136111277777236100236430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_TANGENTSPACEGENERATOR_H #define SURGSIM_GRAPHICS_TANGENTSPACEGENERATOR_H #include #include #include namespace SurgSim { namespace Graphics { /// Triangle index functor which calculates the tangent space basis vectors for the vertices /// of a geometry from texture coordinates class GenerateTangentSpaceTriangleIndexFunctor { public: /// Constructor GenerateTangentSpaceTriangleIndexFunctor(); /// Sets whether the three tangent space basis vectors are made to be orthonormal; /// otherwise, each tangent is separately orthonormal to the normal, but not to each other /// \param orthonormal Whether or not to create a fully orthonormal basis void setBasisOrthonormality(bool orthonormal); /// \return Gets whether the three tangent space basis vectors are made to be orthonormal; otherwise, /// each tangent is separately orthonormal to the normal, but not to each other bool getBasisOrthonormality(); /// Sets the arrays required to generate tangent space basis vectors /// \param vertexArray Array containing vertex positions /// \param normalArray Array containing vertex normals /// \param textureCoordArray Array containing texture coordinates /// \param tangentArray Array to store calculated tangents /// \param bitangentArray Array to store calculated bitangents void set(const osg::Vec3Array* vertexArray, const osg::Vec3Array* normalArray, const osg::Vec2Array* textureCoordArray, osg::Vec4Array* tangentArray, osg::Vec4Array* bitangentArray); /// Orthogonalize and normalize the calculated tangent space basis vectors void orthogonalize(); /// Resets all calculated tangent space basis vectors to 0. void reset(); /// Calculates the triangle tangent space basis vectors and adds it to each adjacent vertex's tangent // space basis vectors. /// \param vertexIndex1 First triangle vertex index /// \param vertexIndex2 Second triangle vertex index /// \param vertexIndex3 Third triangle vertex index void operator()(unsigned int vertexIndex1, unsigned int vertexIndex2, unsigned int vertexIndex3); private: /// Array containing vertex positions const osg::Vec3Array* m_vertexArray; /// Array containing normals const osg::Vec3Array* m_normalArray; /// Array containing texture coordinates const osg::Vec2Array* m_textureCoordArray; /// Array storing calculated tangents osg::Vec4Array* m_tangentArray; /// Array storing calculated bitangents osg::Vec4Array* m_bitangentArray; /// Whether or not to create a fully orthonormal basis; otherwise, each tangent is separately orthonormal /// to the normal, but not to each other bool m_createOrthonormalBasis; }; /// Node visitor which calculates the tangent space basis vectors from the texture coordinates of any /// geometry it encounters class TangentSpaceGenerator : public osg::NodeVisitor { public: /// Constructor /// \param textureCoordUnit Texture unit of texture coordinates to use for calculating the tangent space /// \param tangentAttribIndex Index of the vertex attribute array to store the calculated tangents /// \param bitangentAttribIndex Index of the vertex attribute array to store the calculated bitangents TangentSpaceGenerator(int textureCoordUnit, int tangentAttribIndex, int bitangentAttribIndex); /// Destructor virtual ~TangentSpaceGenerator(); /// Sets whether the three tangent space basis vectors are made to be orthonormal; /// otherwise, each tangent is separately orthonormal to the normal, but not to each other /// \param orthonormal Whether or not to create a fully orthonormal basis void setBasisOrthonormality(bool orthonormal); /// Gets whether the three tangent space basis vectors are made to be orthonormal; otherwise, /// each tangent is separately orthonormal to the normal, but not to each other bool getBasisOrthonormality(); /// Generates tangent space vectors for all geometry in the geode /// \param geode Geode to generate tangent space vectors void apply(osg::Geode& geode) override; // NOLINT /// Generates tangent space basis vectors for the geometry /// \param geometry Geometry to generate normals /// \param textureCoordUnit Texture unit of texture coordinates to use for calculating the tangent space /// \param tangentAttribIndex Index of the vertex attribute array to store the calculated tangents /// \param bitangentAttribIndex Index of the vertex attribute array to store the calculated bi-tangents /// \param orthonormal Whether or not to create a fully orthonormal basis; otherwise, each tangent is separately /// orthonormal to the normal, but not to each other static void generateTangentSpace(osg::Geometry* geometry, int textureCoordUnit, int tangentAttribIndex, int bitangentAttribIndex, bool orthonormal); private: /// Texture unit of texture coordinates to use for calculating the tangent space int m_textureCoordUnit; /// Index of the vertex attribute array to store the calculated tangents int m_tangentAttribIndex; /// Index of the vertex attribute array to store the calculated bitangents int m_bitangentAttribIndex; /// Whether or not to create a fully orthonormal basis; otherwise, each tangent is separately orthonormal to /// the normal, but not to each other bool m_createOrthonormalBasis; }; } } #endif opensurgsim-0.7.0/SurgSim/Graphics/TextRepresentation.cpp000066400000000000000000000045351277777236100236270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/TextRepresentation.h" #include "SurgSim/Graphics/Font.h" #include "SurgSim/Framework/Asset.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/DataStructures/DataStructuresConvert.h" #include "SurgSim/Math/MathConvert.h" namespace SurgSim { namespace Graphics { TextRepresentation::TextRepresentation(const std::string name) : Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(TextRepresentation, std::shared_ptr, Font, getFont, setFont); SURGSIM_ADD_SETTER(TextRepresentation, std::string, FontFileName, loadFont); SURGSIM_ADD_SERIALIZABLE_PROPERTY(TextRepresentation, std::string, Text, getText, setText); SURGSIM_ADD_SERIALIZABLE_PROPERTY(TextRepresentation, double, FontSize, getFontSize, setFontSize); SURGSIM_ADD_SERIALIZABLE_PROPERTY(TextRepresentation, SurgSim::DataStructures::OptionalValue, MaximumWidth, getOptionalMaximumWidth, setOptionalMaximumWidth); SURGSIM_ADD_SERIALIZABLE_PROPERTY(SurgSim::Graphics::TextRepresentation, SurgSim::Math::Vector4d, Color, getColor, setColor); SURGSIM_ADD_SERIALIZABLE_PROPERTY(SurgSim::Graphics::TextRepresentation, bool, UseScreenSpace, isUsingScreenSpace, setUseScreenSpace); SURGSIM_ADD_SERIALIZABLE_PROPERTY(SurgSim::Graphics::TextRepresentation, bool, DrawBackground, isDrawingBackground, setDrawBackground); SURGSIM_ADD_SERIALIZABLE_PROPERTY(SurgSim::Graphics::TextRepresentation, Math::Vector4d, BackgroundColor, getBackgroundColor, setBackgroundColor); SURGSIM_ADD_SERIALIZABLE_PROPERTY(SurgSim::Graphics::TextRepresentation, double, BackgroundMargin, getBackgroundMargin, setBackgroundMargin); } } } opensurgsim-0.7.0/SurgSim/Graphics/TextRepresentation.h000066400000000000000000000126001277777236100232640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_TEXTREPRESENTATION_H #define SURGSIM_GRAPHICS_TEXTREPRESENTATION_H #include #include "SurgSim/Graphics/Representation.h" #include "SurgSim/DataStructures/OptionalValue.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Framework { class Asset; } namespace Graphics { class Font; /// A text to be displayed on the screen in screen space coordinates, use setPose() to set the position but /// x,y are presumed to be in screen space with 0|0 being in the lower left corner, has a default font but can also /// received a separate font. class TextRepresentation : public virtual Representation { public: /// Constructor. /// \param name The name. explicit TextRepresentation(const std::string name); /// Destructor virtual ~TextRepresentation() {} /// Load the font with the given file name, this will overwrite the current font /// \param fileName the file that should be used to load the font virtual void loadFont(const std::string& fileName) = 0; /// Replace the current font with the one passed /// \param font the new font to be used virtual void setFont(std::shared_ptr font) = 0; /// \return the current font virtual std::shared_ptr getFont() const = 0; /// Sets the location in screen space. /// \param x,y The x and y coordinates. virtual void setLocation(double x, double y) = 0; /// Gets the location in screen space. /// \param [out] x,y If non-null the x and y coordinates, may throw if null is passed. virtual void getLocation(double* x, double* y) const = 0; /// Sets the text to be shown on the screen. /// \param text the text to be used. virtual void setText(const std::string& text) = 0; /// \return the current text virtual std::string getText() const = 0; /// Sets a maximum width to the text display, the text should be broken up into /// multiple lines if the it is longer than width, if no value is given, or values <= 0 are used /// the width is assumed to be unlimited /// \param width the value to be used. virtual void setMaximumWidth(double width) = 0; /// \return the maximum width to be used if <=0 then the width is considered unlimited virtual double getMaximumWidth() = 0; /// Set the vertical size of the font /// \param size of the font virtual void setFontSize(double size) = 0; /// \return the current font size virtual double getFontSize() const = 0; /// Set the color for the text. /// \param color the color to be used. virtual void setColor(SurgSim::Math::Vector4d color) = 0; /// \return the current text color virtual SurgSim::Math::Vector4d getColor() const = 0; /// If set to true all the coordinate values are in screen-space coordinates (i.e. pixels), world spaces otherwise /// \note ScreeenSpace is default, when using world coordinates the font size has to be adjusted to an appropriately /// small value (e.g. 0.01m) /// \param value whether to use screen space or world space coordinates virtual void setUseScreenSpace(bool value) = 0; /// \return whether using screen space coordinates virtual bool isUsingScreenSpace() const = 0; /// Draw a filled background behind the text /// \param value whether to fill the background behind the text virtual void setDrawBackground(bool value) = 0; /// \return whether the background is being drawn or not virtual bool isDrawingBackground() const = 0; /// Set the color of the background (if drawn) /// \param color The color to use. virtual void setBackgroundColor(Math::Vector4d color) = 0; /// \return the color that the background uses virtual Math::Vector4d getBackgroundColor() = 0; /// Set the margin between background and text /// \note If world coordinates is being used, this is also world coordinates and should be appropriately small, /// if set too big, the background will filled the whole screen /// \param margin the margin between text and background. virtual void setBackgroundMargin(double margin) = 0; /// \return the margin between the background and the text virtual double getBackgroundMargin() const = 0; protected: /// Optionally sets a maximum width to the text display, the text should be broken up into /// multiple lines if the it is longer than width, if no value is given, or values <= 0 are used /// the width is assumed to be unlimited /// \param width The width to be used, if width has no value, the maximum width is assumed to be unlimited virtual void setOptionalMaximumWidth(SurgSim::DataStructures::OptionalValue width) = 0; /// Get the current status of the width /// \return the current maximum width, if there is no value the width is unlimited virtual SurgSim::DataStructures::OptionalValue getOptionalMaximumWidth() = 0; }; }; // Graphics }; // SurgSim #endif // SURGSIM_GRAPHICS_TEXTREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Graphics/Texture.cpp000066400000000000000000000017121277777236100214120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/Texture.h" namespace SurgSim { namespace Graphics { Texture::Texture() : m_isPointSprite(false) { } void Texture::setIsPointSprite(bool value) { m_isPointSprite = value; } bool Texture::isPointSprite() const { return m_isPointSprite; } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/Texture.h000066400000000000000000000027151277777236100210630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_TEXTURE_H #define SURGSIM_GRAPHICS_TEXTURE_H #include namespace SurgSim { namespace Graphics { /// Base class defining the interface for a Graphics Texture. class Texture { public: Texture(); /// Destructor virtual ~Texture() { } /// Loads an image into the texture from a file /// \param filePath Path to the image file /// \return True if the image is successfully loaded, otherwise false virtual bool loadImage(const std::string& filePath) = 0; /// Removes the image from the texture virtual void clearImage() = 0; /// Set point sprite flag on/off void setIsPointSprite(bool value); /// Get point sprite flag state bool isPointSprite() const; private: bool m_isPointSprite; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_TEXTURE_H opensurgsim-0.7.0/SurgSim/Graphics/Texture1d.h000066400000000000000000000026551277777236100213130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_TEXTURE1D_H #define SURGSIM_GRAPHICS_TEXTURE1D_H #include "SurgSim/Graphics/OsgTexture.h" namespace SurgSim { namespace Graphics { /// Base class defining the interface for a 1D Graphics Texture. /// A 1D Texture only has width. /// \note Normalized texture coordinates are used to access this texture. class Texture1d : public virtual Texture { public: /// Sets the size of the texture /// \param width Width of the texture /// \note Use this to setup a texture as a render target rather than loading from file. virtual void setSize(int width) = 0; /// Gets the size of the texture /// \return width Width of the texture virtual void getSize(int* width) const = 0; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_TEXTURE1D_H opensurgsim-0.7.0/SurgSim/Graphics/Texture2d.h000066400000000000000000000030441277777236100213050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_TEXTURE2D_H #define SURGSIM_GRAPHICS_TEXTURE2D_H #include "SurgSim/Graphics/Texture.h" namespace SurgSim { namespace Graphics { /// Base class defining the interface for a 2D Graphics Texture. /// A 2D Texture has width and height. /// \note Normalized texture coordinates are used to access this texture. class Texture2d : public virtual Texture { public: /// Sets the size of the texture /// \param width Width of the texture /// \param height Height of the texture /// \note Use this to setup a texture as a render target rather than loading from file. virtual void setSize(int width, int height) = 0; /// Gets the size of the texture /// \param[out] width Width of the texture /// \param[out] height Height of the texture virtual void getSize(int* width, int* height) const = 0; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_TEXTURE2D_H opensurgsim-0.7.0/SurgSim/Graphics/Texture3d.h000066400000000000000000000040051277777236100213040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_TEXTURE3D_H #define SURGSIM_GRAPHICS_TEXTURE3D_H #include "SurgSim/Graphics/Texture.h" #include namespace SurgSim { namespace Graphics { /// Base class defining the interface for a 3D Graphics Texture. /// A 3D Texture has width, height, and depth. /// \note Normalized texture coordinates are used to access this texture. class Texture3d : public virtual Texture { public: /// Sets the size of the texture /// \param width Width of the texture /// \param height Height of the texture /// \param depth Depth of the texture /// \note Use this to setup a texture as a render target rather than loading from file. virtual void setSize(int width, int height, int depth) = 0; /// Gets the size of the texture /// \param[out] width Width of the texture /// \param[out] height Height of the texture /// \param[out] depth Depth of the texture virtual void getSize(int* width, int* height, int* depth) const = 0; /// Loads images slices from files into the 3D texture /// \param filePaths Paths to the image files /// \return True if the image is successfully loaded, otherwise false /// \note The slices are stacked in the order provided to create the depth of the 3D texture. virtual bool loadImageSlices(const std::vector& filePaths) = 0; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_TEXTURE3D_H opensurgsim-0.7.0/SurgSim/Graphics/TextureCubeMap.h000066400000000000000000000044751277777236100223250ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_TEXTURECUBEMAP_H #define SURGSIM_GRAPHICS_TEXTURECUBEMAP_H #include "SurgSim/Graphics/Texture.h" namespace SurgSim { namespace Graphics { /// Base class defining the interface for a Cube Map Graphics Texture. /// A Cube Map Texture has a width and height, which is the same for each face of the cube. class TextureCubeMap : public virtual Texture { public: /// Sets the size of the texture, which is the same for each face of the cube /// \param width Width of the texture /// \param height Height of the texture /// \note Use this to setup a texture as a render target rather than loading from file. virtual void setSize(int width, int height) = 0; /// Gets the size of the texture, which is the same for each face of the cube /// \param[out] width Width of the texture /// \param[out] height Height of the texture virtual void getSize(int* width, int* height) const = 0; /// Loads images from files into the faces of the cube map /// \param negativeX Path to the image for the (-X) face /// \param positiveX Path to the image for the (+X) face /// \param negativeY Path to the image for the (-Y) face /// \param positiveY Path to the image for the (+Y) face /// \param negativeZ Path to the image for the (-Z) face /// \param positiveZ Path to the image for the (+Z) face /// \return True if the image is successfully loaded, otherwise false virtual bool loadImageFaces(const std::string& negativeX, const std::string& positiveX, const std::string& negativeY, const std::string& positiveY, const std::string& negativeZ, const std::string& positiveZ) = 0; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_TEXTURECUBEMAP_H opensurgsim-0.7.0/SurgSim/Graphics/TextureRectangle.h000066400000000000000000000031011277777236100226760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_TEXTURERECTANGLE_H #define SURGSIM_GRAPHICS_TEXTURERECTANGLE_H #include "SurgSim/Graphics/Texture.h" namespace SurgSim { namespace Graphics { /// Base class defining the interface for a Rectangle Graphics Texture. /// A Rectangle Texture has width and height. /// \note Texel coordinates are used to access this texture. class TextureRectangle : public virtual Texture { public: /// Sets the size of the texture /// \param width Width of the texture /// \param height Height of the texture /// \note Use this to setup a texture as a render target rather than loading from file. virtual void setSize(int width, int height) = 0; /// Gets the size of the texture /// \param[out] width Width of the texture /// \param[out] height Height of the texture virtual void getSize(int* width, int* height) const = 0; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_TEXTURERECTANGLE_H opensurgsim-0.7.0/SurgSim/Graphics/TriangleNormalGenerator.cpp000066400000000000000000000052411277777236100245400ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/TriangleNormalGenerator.h" #include "SurgSim/Framework/Log.h" #include #include #include namespace SurgSim { namespace Graphics { TriangleNormalGenerator::TriangleNormalGenerator() : m_vertexArray(nullptr), m_normalArray(nullptr) { } void TriangleNormalGenerator::set( osg::Vec3Array* vertexArray, osg::Vec3Array* normalArray) { SURGSIM_ASSERT(vertexArray != nullptr) << "Need vertex array to generate normals!"; SURGSIM_ASSERT(normalArray != nullptr) << "Need normal array to store normals!"; SURGSIM_ASSERT(normalArray->size() == vertexArray->size()) << "Vertex and normal array need to have same size"; m_vertexArray = vertexArray; m_normalArray = normalArray; m_size = vertexArray->size(); } void TriangleNormalGenerator::normalize() { for(osg::Vec3Array::iterator normalIt = m_normalArray->begin(); normalIt != m_normalArray->end(); ++normalIt) { (*normalIt).normalize(); } } void TriangleNormalGenerator::reset() { for(osg::Vec3Array::iterator normalIt = m_normalArray->begin(); normalIt != m_normalArray->end(); ++normalIt) { (*normalIt).set(0.0f, 0.0f, 0.0f); } } void TriangleNormalGenerator::operator() (size_t vertexIndex1, size_t vertexIndex2, size_t vertexIndex3) { if (vertexIndex1 == vertexIndex2 || vertexIndex2 == vertexIndex3 || vertexIndex1 == vertexIndex3) { return; } const osg::Vec3& v1 = (*m_vertexArray)[vertexIndex1]; const osg::Vec3& v2 = (*m_vertexArray)[vertexIndex2]; const osg::Vec3& v3 = (*m_vertexArray)[vertexIndex3]; osg::Vec3 normal = (v2-v1) ^ (v3-v1); normal.normalize(); (*m_normalArray)[vertexIndex1] += normal; (*m_normalArray)[vertexIndex2] += normal; (*m_normalArray)[vertexIndex3] += normal; } osg::TriangleIndexFunctor createNormalGenerator( osg::Vec3Array* vertexArray, osg::Vec3Array* normalArray) { osg::TriangleIndexFunctor result; result.set(vertexArray, normalArray); return result; } }; // Graphics }; // SurgSim opensurgsim-0.7.0/SurgSim/Graphics/TriangleNormalGenerator.h000066400000000000000000000047071277777236100242130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_TRIANGLENORMALGENERATOR_H #define SURGSIM_GRAPHICS_TRIANGLENORMALGENERATOR_H #include #include #include #include namespace SurgSim { namespace Graphics { /// Triangle index functor which calculates normals for the vertices of a geometry, use /// createNormalGenerator to instantiate this class TriangleNormalGenerator { public: /// Sets the arrays required to generate normals /// \pre vertexArray and normalArray, need to have the same number of entries and not be nullptr /// \param vertexArray Array containing vertex positions /// \param normalArray Array to store calculated normals void set(osg::Vec3Array* vertexArray, osg::Vec3Array* normalArray); /// Normalizes the calculated normals, this needs to be called after the pass to normalize all the normals /// Due to the osg way this object is called there is no real good way of having this called automatically void normalize(); /// Resets all calculated normals to 0. void reset(); /// Calculates the triangle normal and adds it to each adjacent vertex normal. /// \param vertexIndex1 First triangle vertex index /// \param vertexIndex2 Second triangle vertex index /// \param vertexIndex3 Third triangle vertex index void operator() (size_t vertexIndex1, size_t vertexIndex2, size_t vertexIndex3); protected: /// Constructor TriangleNormalGenerator(); private: /// Array containing vertex positions osg::ref_ptr m_vertexArray; /// Array storing calculated normals osg::ref_ptr m_normalArray; /// Size of vertex and normal array size_t m_size; }; osg::TriangleIndexFunctor createNormalGenerator( osg::Vec3Array* vertexArray, osg::Vec3Array* normalArray); }; // Graphics }; // SurgSim #endifopensurgsim-0.7.0/SurgSim/Graphics/Uniform.h000066400000000000000000000043011277777236100210330ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_UNIFORM_H #define SURGSIM_GRAPHICS_UNIFORM_H #include "SurgSim/Graphics/UniformBase.h" #include namespace SurgSim { namespace Graphics { /// Base class for a graphics uniform with a value of type T. /// \tparam Value type template class Uniform : public virtual UniformBase { public: Uniform() { SURGSIM_ADD_RW_PROPERTY(Uniform, T, Value, get, set); } /// Sets the value of the uniform virtual void set(const T& value) = 0; /// Returns the value of the uniform virtual const T& get() const = 0; }; /// Specialization of Uniform for vectors of values. /// \tparam Value type stored in the vector template class Uniform> : public virtual UniformBase { public: /// Returns the number of elements virtual size_t getNumElements() const = 0; /// Sets the value of one of the uniform's elements /// \param index Index of the element /// \param value Value to set virtual void setElement(size_t index, const T& value) = 0; /// Sets the value of all of the uniform's elements /// \param value Vector of values virtual void set(const std::vector& value) = 0; /// Gets the value of one of the uniform's elements /// \param index Index of the element /// \return Value of the element virtual typename std::vector::const_reference getElement(size_t index) const = 0; /// Gets the value of all of the uniform's elements /// \return Vector of values virtual const std::vector& get() const = 0; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_UNIFORM_Hopensurgsim-0.7.0/SurgSim/Graphics/UniformBase.h000066400000000000000000000024531277777236100216340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_UNIFORMBASE_H #define SURGSIM_GRAPHICS_UNIFORMBASE_H #include "SurgSim/Framework/Accessible.h" namespace SurgSim { namespace Graphics { /// Common base class for all graphics uniforms. /// /// Graphics uniforms act as parameters to shader programs. /// \note /// SurgSim::Graphics::Uniform is templated on the type of value, so this base class allows a pointer to any type /// of Uniform. class UniformBase : public SurgSim::Framework::Accessible { public: /// Destructor virtual ~UniformBase() = 0; }; inline UniformBase::~UniformBase() { } }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_UNIFORMBASE_H opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/000077500000000000000000000000001277777236100212075ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/CMakeLists.txt000066400000000000000000000046741277777236100237620ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories ( ${gtest_SOURCE_DIR}/include ${gmock_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES GroupTests.cpp ManagerTests.cpp MeshTests.cpp OsgAxesRepresentationTests.cpp OsgBoxRepresentationTests.cpp OsgCameraTests.cpp OsgCapsuleRepresentationTests.cpp OsgCurveRepresentationTests.cpp OsgCylinderRepresentationTests.cpp OsgGroupTests.cpp OsgLightTests.cpp OsgLogTests.cpp OsgManagerTests.cpp OsgMaterialTests.cpp OsgMatrixConversionsTests.cpp OsgMeshRepresentationTests.cpp OsgOctreeRepresentationTests.cpp OsgPlaneRepresentationTests.cpp OsgPlaneTests.cpp OsgPointCloudRepresentationTests.cpp OsgProgramTests.cpp OsgQuaternionConversionsTests.cpp OsgRenderTargetTests.cpp OsgRepresentationTests.cpp OsgRigidTransformConversionsTests.cpp OsgSceneryRepresentationTests.cpp OsgScreenSpaceQuadTests.cpp OsgSkeletonRepresentationTests.cpp OsgSphereRepresentationTests.cpp OsgTextRepresentationTests.cpp OsgTexture1dTests.cpp OsgTexture2dTests.cpp OsgTexture3dTests.cpp OsgTextureCubeMapTests.cpp OsgTextureRectangleTests.cpp OsgTextureTests.cpp OsgTextureUniformTests.cpp OsgUniformBaseTests.cpp OsgUniformTests.cpp OsgUniformTypesTests.cpp OsgUnitSphereTests.cpp OsgVectorConversionsTests.cpp OsgVectorFieldRepresentationTests.cpp OsgViewElementTests.cpp OsgViewTests.cpp PaintBehaviorTests.cpp RenderPassTests.cpp ViewElementTests.cpp ViewTests.cpp ) set(UNIT_TEST_HEADERS MockObjects.h MockOsgObjects.h ) # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) file(COPY Data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) set(LIBS SurgSimGraphics SurgSimMath SurgSimTesting ) surgsim_add_unit_tests(SurgSimGraphicsTest) set_target_properties(SurgSimGraphicsTest PROPERTIES FOLDER "Graphics") opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/Data/000077500000000000000000000000001277777236100220605ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/Data/OsgProgramTests/000077500000000000000000000000001277777236100251635ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/Data/OsgProgramTests/shader.frag000066400000000000000000000001441277777236100272710ustar00rootroot00000000000000varying vec4 geomColor; /// Outputs the input color void main(void) { gl_FragColor = geomColor; };opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/Data/OsgProgramTests/shader.geom000066400000000000000000000006321277777236100273030ustar00rootroot00000000000000#version 150 #extension GL_EXT_gpu_shader4 : enable #extension GL_EXT_geometry_shader4 : enable layout(triangles) in; layout(triangle_strip, max_vertices=3) out; in vec4 vertColor[3]; out vec4 geomColor; /// Outputs the same geometry as is input void main() { for (int i = 0; i < gl_VerticesIn; ++i) { gl_Position = gl_PositionIn[i]; geomColor = vertColor[i]; EmitVertex(); } EndPrimitive(); }opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/Data/OsgProgramTests/shader.vert000066400000000000000000000003201277777236100273260ustar00rootroot00000000000000varying vec4 vertColor; /// Outputs the local normal direction as the vertex color void main(void) { gl_Position = gl_ModelViewProjectionMatrix * gl_Vertex; vertColor.rgb = gl_Normal; vertColor.a = 1.0; }opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/Data/OsgSkeletonRepresentationTests/000077500000000000000000000000001277777236100302635ustar00rootroot00000000000000rigged_cylinder.osgt000066400000000000000000017022051277777236100342430ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/Data/OsgSkeletonRepresentationTests#Ascii Scene #Version 100 #Generator OpenSceneGraph 3.2.0 osg::Group { UniqueID 1 Name "Collada visual scene group" StateSet TRUE { osg::StateSet { UniqueID 2 DataVariance STATIC } } Children 1 { osg::MatrixTransform { UniqueID 3 Name "Armature" StateSet TRUE { osg::StateSet { UniqueID 4 DataVariance STATIC ModeList 1 { GL_RESCALE_NORMAL ON|OVERRIDE } } } Children 1 { osgAnimation::Skeleton { UniqueID 5 DataVariance DYNAMIC UpdateCallback TRUE { osgAnimation::UpdateSkeleton { UniqueID 6 } } Children 2 { osgAnimation::Bone { UniqueID 7 Name "Bone" DataVariance DYNAMIC UpdateCallback TRUE { osgAnimation::UpdateBone { UniqueID 8 Name "Bone" StackedTransforms 1 { osgAnimation::StackedMatrixElement { UniqueID 9 Name "transform" Matrix { 1 0 0 0 0 0 1 0 0 -1 0 0 0 0 0 1 } } } } } Children 1 { osgAnimation::Bone { UniqueID 10 Name "Bone_002" DataVariance DYNAMIC UpdateCallback TRUE { osgAnimation::UpdateBone { UniqueID 11 Name "Bone_002" StackedTransforms 1 { osgAnimation::StackedMatrixElement { UniqueID 12 Name "transform" Matrix { 1 0 0 0 0 1 0 0 0 0 1 0 0 0.25 0 1 } } } } } Children 1 { osgAnimation::Bone { UniqueID 13 Name "Bone_001" DataVariance DYNAMIC UpdateCallback TRUE { osgAnimation::UpdateBone { UniqueID 14 Name "Bone_001" StackedTransforms 1 { osgAnimation::StackedMatrixElement { UniqueID 15 Name "transform" Matrix { 1 0 0 0 0 1 0 0 0 0 1 0 0 0.25 0 1 } } } } } Children 1 { osgAnimation::Bone { UniqueID 16 Name "Bone_003" DataVariance DYNAMIC UpdateCallback TRUE { osgAnimation::UpdateBone { UniqueID 17 Name "Bone_003" StackedTransforms 1 { osgAnimation::StackedMatrixElement { UniqueID 18 Name "transform" Matrix { 1 0 0 0 0 1 0 0 0 0 1 0 0 0.25 0 1 } } } } } Matrix { 1 0 0 0 0 1 0 0 0 0 1 0 0 0.25 0 1 } InvBindMatrixInSkeletonSpace { 10 0 0 0 0 0 -10 0 0 10 0 0 0 -0.25 0 1 } } } Matrix { 1 0 0 0 0 1 0 0 0 0 1 0 0 0.25 0 1 } InvBindMatrixInSkeletonSpace { 10 0 0 0 0 0 -10 0 0 10 0 0 0 0 0 1 } } } Matrix { 1 0 0 0 0 1 0 0 0 0 1 0 0 0.25 0 1 } InvBindMatrixInSkeletonSpace { 10 0 0 0 0 0 -10 0 0 10 0 0 0 0.25 0 1 } } } Matrix { 1 0 0 0 0 0 1 0 0 -1 0 0 0 0 0 1 } InvBindMatrixInSkeletonSpace { 10 0 0 0 0 0 -10 0 0 10 0 0 0 0.5 0 1 } } osg::Geode { UniqueID 19 DataVariance DYNAMIC Drawables 1 { osgAnimation::RigGeometry { UniqueID 20 DataVariance DYNAMIC ComputeBoundingBoxCallback TRUE { osg::ComputeBoundingBoxCallback { UniqueID 21 } } SupportsDisplayList FALSE UseDisplayList FALSE UseVertexBufferObjects TRUE UpdateCallback TRUE { osg::UpdateCallback { UniqueID 22 } } PrimitiveSetList 1 { DrawElementsUInt GL_TRIANGLES 0 1428 { 1141 653 12 1147 676 20 1153 693 28 1159 710 36 1165 727 44 1171 744 52 1177 761 60 1183 779 68 1189 796 76 1195 813 84 762 246 268 1201 847 4 1207 830 92 303 168 259 1213 852 116 1219 858 371 1225 448 103 1231 876 141 1237 882 377 1243 471 132 1249 900 162 1255 906 383 1261 488 154 1267 924 186 1273 930 389 1279 506 178 1285 948 208 1291 954 395 1297 523 200 1303 972 232 1309 978 401 1315 540 222 1321 996 253 1327 1002 407 1333 557 247 1339 1020 277 1345 1026 413 1351 574 269 1357 1044 297 1363 1050 419 1369 591 290 1375 1068 322 1381 1074 425 608 314 1086 1392 1093 110 1398 1099 431 1404 641 363 1410 1117 348 1416 1123 437 1422 625 336 853 1142 664 372 870 1143 871 104 654 877 1148 681 378 894 1149 895 133 677 901 1154 698 384 918 1155 919 155 694 925 1160 716 390 942 1161 943 179 711 949 1166 732 396 966 1167 967 201 728 973 1172 750 402 990 1173 991 223 745 997 1178 767 408 1014 1179 1015 248 763 1021 1184 785 414 1038 1185 1039 270 780 1045 1190 802 420 1062 1191 1063 291 797 1069 1196 819 426 1087 1197 1088 315 814 1094 1202 454 432 1111 1203 1112 364 848 1118 1208 835 438 1135 1209 1136 337 831 443 1214 460 96 864 1215 865 373 854 647 1220 866 0 658 1221 659 111 859 860 1226 872 112 455 1227 456 5 449 466 1232 477 122 888 1233 889 379 878 670 1238 890 8 461 1239 462 117 883 884 1244 896 118 665 1245 666 13 472 483 1250 494 147 912 1251 913 385 902 687 1256 914 16 478 1257 479 142 907 908 1262 920 143 682 1263 683 21 489 500 1268 512 169 936 1269 937 391 926 704 1274 938 24 495 1275 496 163 931 932 1280 944 164 699 1281 700 29 507 518 1286 528 192 960 1287 961 397 950 722 1292 962 32 513 1293 514 187 955 956 1298 968 188 717 1299 718 37 524 534 1304 546 214 984 1305 985 403 974 738 1310 986 40 529 1311 530 209 979 980 1316 992 210 733 1317 734 45 541 552 1322 562 238 1008 1323 1009 409 998 756 1328 1010 48 547 1329 548 233 1003 1004 1334 1016 234 751 1335 752 53 558 568 1340 579 260 1032 1341 1033 415 1022 773 1346 1034 56 563 1347 564 254 1027 1028 1352 1040 255 768 1353 769 61 575 585 1358 596 283 1056 1359 1057 421 1046 791 1364 1058 64 580 1365 581 278 1051 1052 1370 1064 279 786 1371 787 69 592 602 1376 614 304 1080 1377 1081 427 1070 808 1382 1082 72 597 1383 598 298 1075 1076 1387 1089 299 803 1388 804 77 609 636 1393 660 354 1105 1394 1106 433 1095 841 1399 1107 88 630 1400 631 349 1100 1101 1405 1113 350 836 1406 837 93 642 620 1411 632 328 1129 1412 1130 439 1119 825 1417 1131 80 615 1418 616 323 1124 1125 1423 1137 324 820 1424 821 85 626 667 1144 14 684 1150 22 701 1156 30 719 1162 38 735 1168 46 753 1174 54 770 1180 62 788 1186 70 805 1192 78 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1105 0.116205 1106 0.116205 1107 0.116205 1108 0.116205 1109 0.116205 1110 0.116205 1111 0.521077 1112 0.521077 1113 0.521077 1114 0.521077 1115 0.521077 1116 0.521077 1117 0.406172 1118 0.406172 1119 0.406172 1120 0.406172 1121 0.406172 1122 0.406172 1123 0.405649 1124 0.405649 1125 0.405649 1126 0.405649 1127 0.405649 1128 0.405649 1129 0.116095 1130 0.116095 1131 0.116095 1132 0.116095 1133 0.116095 1134 0.116095 1135 0.512592 1136 0.512592 1137 0.512592 1138 0.512592 1139 0.512592 1140 0.512592 1141 0.532998 1142 0.532998 1143 0.532998 1144 0.532998 1145 0.532998 1146 0.532998 1147 0.534609 1148 0.534609 1149 0.534609 1150 0.534609 1151 0.534609 1152 0.534609 1153 0.537637 1154 0.537637 1155 0.537637 1156 0.537637 1157 0.537637 1158 0.537637 1159 0.536753 1160 0.536753 1161 0.536753 1162 0.536753 1163 0.536753 1164 0.536753 1165 0.535728 1166 0.535728 1167 0.535728 1168 0.535728 1169 0.535728 1170 0.535728 1171 0.523952 1172 0.523952 1173 0.523952 1174 0.523952 1175 0.523952 1176 0.523952 1177 0.51959 1178 0.51959 1179 0.51959 1180 0.51959 1181 0.51959 1182 0.51959 1183 0.518243 1184 0.518243 1185 0.518243 1186 0.518243 1187 0.518243 1188 0.518243 1189 0.520723 1190 0.520723 1191 0.520723 1192 0.520723 1193 0.520723 1194 0.520723 1195 0.511297 1196 0.511297 1197 0.511297 1198 0.511297 1199 0.511297 1200 0.511297 1201 0.524385 1202 0.524385 1203 0.524385 1204 0.524385 1205 0.524385 1206 0.524385 1207 0.513435 1208 0.513435 1209 0.513435 1210 0.513435 1211 0.513435 1212 0.513435 1213 0.116967 1214 0.116967 1215 0.116967 1216 0.116967 1217 0.116967 1218 0.116967 1219 0.116342 1220 0.116342 1221 0.116342 1222 0.116342 1223 0.116342 1224 0.116342 1225 0.531194 1226 0.531194 1227 0.531194 1228 0.531194 1229 0.531194 1230 0.531194 1231 0.117819 1232 0.117819 1233 0.117819 1234 0.117819 1235 0.117819 1236 0.117819 1237 0.117551 1238 0.117551 1239 0.117551 1240 0.117551 1241 0.117551 1242 0.117551 1243 0.533594 1244 0.533594 1245 0.533594 1246 0.533594 1247 0.533594 1248 0.533594 1249 0.117864 1250 0.117864 1251 0.117864 1252 0.117864 1253 0.117864 1254 0.117864 1255 0.117811 1256 0.117811 1257 0.117811 1258 0.117811 1259 0.117811 1260 0.117811 1261 0.535981 1262 0.535981 1263 0.535981 1264 0.535981 1265 0.535981 1266 0.535981 1267 0.117146 1268 0.117146 1269 0.117146 1270 0.117146 1271 0.117146 1272 0.117146 1273 0.11765 1274 0.11765 1275 0.11765 1276 0.11765 1277 0.11765 1278 0.11765 1279 0.537053 1280 0.537053 1281 0.537053 1282 0.537053 1283 0.537053 1284 0.537053 1285 0.117029 1286 0.117029 1287 0.117029 1288 0.117029 1289 0.117029 1290 0.117029 1291 0.11669 1292 0.11669 1293 0.11669 1294 0.11669 1295 0.11669 1296 0.11669 1297 0.536812 1298 0.536812 1299 0.536812 1300 0.536812 1301 0.536812 1302 0.536812 1303 0.117275 1304 0.117275 1305 0.117275 1306 0.117275 1307 0.117275 1308 0.117275 1309 0.117316 1310 0.117316 1311 0.117316 1312 0.117316 1313 0.117316 1314 0.117316 1315 0.52955 1316 0.52955 1317 0.52955 1318 0.52955 1319 0.52955 1320 0.52955 1321 0.116922 1322 0.116922 1323 0.116922 1324 0.116922 1325 0.116922 1326 0.116922 1327 0.117038 1328 0.117038 1329 0.117038 1330 0.117038 1331 0.117038 1332 0.117038 1333 0.520788 1334 0.520788 1335 0.520788 1336 0.520788 1337 0.520788 1338 0.520788 1339 0.11609 1340 0.11609 1341 0.11609 1342 0.11609 1343 0.11609 1344 0.11609 1345 0.116618 1346 0.116618 1347 0.116618 1348 0.116618 1349 0.116618 1350 0.116618 1351 0.518144 1352 0.518144 1353 0.518144 1354 0.518144 1355 0.518144 1356 0.518144 1357 0.115908 1358 0.115908 1359 0.115908 1360 0.115908 1361 0.115908 1362 0.115908 1363 0.115628 1364 0.115628 1365 0.115628 1366 0.115628 1367 0.115628 1368 0.115628 1369 0.51984 1370 0.51984 1371 0.51984 1372 0.51984 1373 0.51984 1374 0.51984 1375 0.116223 1376 0.116223 1377 0.116223 1378 0.116223 1379 0.116223 1380 0.116223 1381 0.116171 1382 0.116171 1383 0.116171 1384 0.116171 1385 0.116171 1386 0.116171 1387 0.515533 1388 0.515533 1389 0.515533 1390 0.515533 1391 0.515533 1392 0.116361 1393 0.116361 1394 0.116361 1395 0.116361 1396 0.116361 1397 0.116361 1398 0.116448 1399 0.116448 1400 0.116448 1401 0.116448 1402 0.116448 1403 0.116448 1404 0.517509 1405 0.517509 1406 0.517509 1407 0.517509 1408 0.517509 1409 0.517509 1410 0.116379 1411 0.116379 1412 0.116379 1413 0.116379 1414 0.116379 1415 0.116379 1416 0.116183 1417 0.116183 1418 0.116183 1419 0.116183 1420 0.116183 1421 0.116183 1422 0.510798 1423 0.510798 1424 0.510798 1425 0.510798 1426 0.510798 1427 0.510798 } VertexInfluence "Bone_002" 1428 { 0 0.598155 1 0.598155 2 0.598155 3 0.598155 4 0.0582628 5 0.0582628 6 0.0582628 7 0.0582628 8 0.574353 9 0.574353 10 0.574353 11 0.574353 12 0.0690805 13 0.0690805 14 0.0690805 15 0.0690805 16 0.576778 17 0.576778 18 0.576778 19 0.576778 20 0.0726471 21 0.0726471 22 0.0726471 23 0.0726471 24 0.56066 25 0.56066 26 0.56066 27 0.56066 28 0.0699223 29 0.0699223 30 0.0699223 31 0.0699223 32 0.604528 33 0.604528 34 0.604528 35 0.604528 36 0.0679579 37 0.0679579 38 0.0679579 39 0.0679579 40 0.586099 41 0.586099 42 0.586099 43 0.586099 44 0.0579427 45 0.0579427 46 0.0579427 47 0.0579427 48 0.59979 49 0.59979 50 0.59979 51 0.59979 52 0.0618867 53 0.0618867 54 0.0618867 55 0.0618867 56 0.602846 57 0.602846 58 0.602846 59 0.602846 60 0.0601907 61 0.0601907 62 0.0601907 63 0.0601907 64 0.640274 65 0.640274 66 0.640274 67 0.640274 68 0.0585797 69 0.0585797 70 0.0585797 71 0.0585797 72 0.597926 73 0.597926 74 0.597926 75 0.597926 76 0.0539 77 0.0539 78 0.0539 79 0.0539 80 0.56915 81 0.56915 82 0.56915 83 0.56915 84 0.0600049 85 0.0600049 86 0.0600049 87 0.0600049 88 0.554443 89 0.554443 90 0.554443 91 0.554443 92 0.0616531 93 0.0616531 94 0.0616531 95 0.0616531 96 0.587102 97 0.587102 98 0.587102 99 0.587102 100 0.587102 101 0.587102 102 0.587102 103 0.0637755 104 0.0637755 105 0.0637755 106 0.0637755 107 0.0637755 108 0.0637755 109 0.0637755 110 0.404264 111 0.404264 112 0.404264 113 0.404264 114 0.404264 115 0.404264 116 0.40436 117 0.40436 118 0.40436 119 0.40436 120 0.40436 121 0.40436 122 0.560407 123 0.560407 124 0.560407 125 0.560407 126 0.560407 127 0.560407 128 0.560407 129 0.560407 130 0.560407 131 0.560407 132 0.0732167 133 0.0732167 134 0.0732167 135 0.0732167 136 0.0732167 137 0.0732167 138 0.0732167 139 0.0732167 140 0.0732167 141 0.404198 142 0.404198 143 0.404198 144 0.404198 145 0.404198 146 0.404198 147 0.557395 148 0.557395 149 0.557395 150 0.557395 151 0.557395 152 0.557395 153 0.557395 154 0.0720451 155 0.0720451 156 0.0720451 157 0.0720451 158 0.0720451 159 0.0720451 160 0.0720451 161 0.0720451 162 0.404162 163 0.404162 164 0.404162 165 0.404162 166 0.404162 167 0.404162 168 0.56108 169 0.56108 170 0.56108 171 0.56108 172 0.56108 173 0.56108 174 0.56108 175 0.56108 176 0.56108 177 0.56108 178 0.0721328 179 0.0721328 180 0.0721328 181 0.0721328 182 0.0721328 183 0.0721328 184 0.0721328 185 0.0721328 186 0.404965 187 0.404965 188 0.404965 189 0.404965 190 0.404965 191 0.404965 192 0.595569 193 0.595569 194 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0.0612082 270 0.0612082 271 0.0612082 272 0.0612082 273 0.0612082 274 0.0612082 275 0.0612082 276 0.0612082 277 0.406295 278 0.406295 279 0.406295 280 0.406295 281 0.406295 282 0.406295 283 0.621235 284 0.621235 285 0.621235 286 0.621235 287 0.621235 288 0.621235 289 0.621235 290 0.0550011 291 0.0550011 292 0.0550011 293 0.0550011 294 0.0550011 295 0.0550011 296 0.0550011 297 0.405013 298 0.405013 299 0.405013 300 0.405013 301 0.405013 302 0.405013 303 0.561939 304 0.561939 305 0.561939 306 0.561939 307 0.561939 308 0.561939 309 0.561939 310 0.561939 311 0.561939 312 0.561939 313 0.561939 314 0.057139 315 0.057139 316 0.057139 317 0.057139 318 0.057139 319 0.057139 320 0.057139 321 0.057139 322 0.403626 323 0.403626 324 0.403626 325 0.403626 326 0.403626 327 0.403626 328 0.552706 329 0.552706 330 0.552706 331 0.552706 332 0.552706 333 0.552706 334 0.552706 335 0.552706 336 0.0588137 337 0.0588137 338 0.0588137 339 0.0588137 340 0.0588137 341 0.0588137 342 0.0588137 343 0.0588137 344 0.0588137 345 0.0588137 346 0.0588137 347 0.0588137 348 0.403396 349 0.403396 350 0.403396 351 0.403396 352 0.403396 353 0.403396 354 0.577441 355 0.577441 356 0.577441 357 0.577441 358 0.577441 359 0.577441 360 0.577441 361 0.577441 362 0.577441 363 0.0601323 364 0.0601323 365 0.0601323 366 0.0601323 367 0.0601323 368 0.0601323 369 0.0601323 370 0.0601323 371 0.404841 372 0.404841 373 0.404841 374 0.404841 375 0.404841 376 0.404841 377 0.404642 378 0.404642 379 0.404642 380 0.404642 381 0.404642 382 0.404642 383 0.404494 384 0.404494 385 0.404494 386 0.404494 387 0.404494 388 0.404494 389 0.404896 390 0.404896 391 0.404896 392 0.404896 393 0.404896 394 0.404896 395 0.405469 396 0.405469 397 0.405469 398 0.405469 399 0.405469 400 0.405469 401 0.405397 402 0.405397 403 0.405397 404 0.405397 405 0.405397 406 0.405397 407 0.405906 408 0.405906 409 0.405906 410 0.405906 411 0.405906 412 0.405906 413 0.406506 414 0.406506 415 0.406506 416 0.406506 417 0.406506 418 0.406506 419 0.40626 420 0.40626 421 0.40626 422 0.40626 423 0.40626 424 0.40626 425 0.404552 426 0.404552 427 0.404552 428 0.404552 429 0.404552 430 0.404552 431 0.404184 432 0.404184 433 0.404184 434 0.404184 435 0.404184 436 0.404184 437 0.403743 438 0.403743 439 0.403743 440 0.403743 441 0.403743 442 0.403743 443 0.589523 444 0.589523 445 0.589523 446 0.589523 447 0.589523 448 0.0552031 449 0.0552031 450 0.0552031 451 0.0552031 452 0.0552031 453 0.0552031 454 0.116564 455 0.116564 456 0.116564 457 0.116564 458 0.116564 459 0.116564 460 0.507737 461 0.507737 462 0.507737 463 0.507737 464 0.507737 465 0.507737 466 0.583154 467 0.583154 468 0.583154 469 0.583154 470 0.583154 471 0.0695297 472 0.0695297 473 0.0695297 474 0.0695297 475 0.0695297 476 0.0695297 477 0.506298 478 0.506298 479 0.506298 480 0.506298 481 0.506298 482 0.506298 483 0.567147 484 0.567147 485 0.567147 486 0.567147 487 0.567147 488 0.0712864 489 0.0712864 490 0.0712864 491 0.0712864 492 0.0712864 493 0.0712864 494 0.505047 495 0.505047 496 0.505047 497 0.505047 498 0.505047 499 0.505047 500 0.590716 501 0.590716 502 0.590716 503 0.590716 504 0.590716 505 0.590716 506 0.0699366 507 0.0699366 508 0.0699366 509 0.0699366 510 0.0699366 511 0.0699366 512 0.511597 513 0.511597 514 0.511597 515 0.511597 516 0.511597 517 0.511597 518 0.599921 519 0.599921 520 0.599921 521 0.599921 522 0.599921 523 0.0643527 524 0.0643527 525 0.0643527 526 0.0643527 527 0.0643527 528 0.511186 529 0.511186 530 0.511186 531 0.511186 532 0.511186 533 0.511186 534 0.603076 535 0.603076 536 0.603076 537 0.603076 538 0.603076 539 0.603076 540 0.059269 541 0.059269 542 0.059269 543 0.059269 544 0.059269 545 0.059269 546 0.512515 547 0.512515 548 0.512515 549 0.512515 550 0.512515 551 0.512515 552 0.613036 553 0.613036 554 0.613036 555 0.613036 556 0.613036 557 0.0611269 558 0.0611269 559 0.0611269 560 0.0611269 561 0.0611269 562 0.514589 563 0.514589 564 0.514589 565 0.514589 566 0.514589 567 0.514589 568 0.637212 569 0.637212 570 0.637212 571 0.637212 572 0.637212 573 0.637212 574 0.0601891 575 0.0601891 576 0.0601891 577 0.0601891 578 0.0601891 579 0.519667 580 0.519667 581 0.519667 582 0.519667 583 0.519667 584 0.519667 585 0.625354 586 0.625354 587 0.625354 588 0.625354 589 0.625354 590 0.625354 591 0.0561587 592 0.0561587 593 0.0561587 594 0.0561587 595 0.0561587 596 0.512534 597 0.512534 598 0.512534 599 0.512534 600 0.512534 601 0.512534 602 0.572912 603 0.572912 604 0.572912 605 0.572912 606 0.572912 607 0.572912 608 0.0574506 609 0.0574506 610 0.0574506 611 0.0574506 612 0.0574506 613 0.0574506 614 0.505162 615 0.505162 616 0.505162 617 0.505162 618 0.505162 619 0.505162 620 0.560628 621 0.560628 622 0.560628 623 0.560628 624 0.560628 625 0.0610238 626 0.0610238 627 0.0610238 628 0.0610238 629 0.0610238 630 0.503603 631 0.503603 632 0.503603 633 0.503603 634 0.503603 635 0.503603 636 0.585366 637 0.585366 638 0.585366 639 0.585366 640 0.585366 641 0.0623888 642 0.0623888 643 0.0623888 644 0.0623888 645 0.0623888 646 0.0623888 647 0.638203 648 0.638203 649 0.638203 650 0.638203 651 0.638203 652 0.638203 653 0.065283 654 0.065283 655 0.065283 656 0.065283 657 0.065283 658 0.510159 659 0.510159 660 0.510159 661 0.510159 662 0.510159 663 0.510159 664 0.118231 665 0.118231 666 0.118231 667 0.118231 668 0.118231 669 0.118231 670 0.583584 671 0.583584 672 0.583584 673 0.583584 674 0.583584 675 0.583584 676 0.0708357 677 0.0708357 678 0.0708357 679 0.0708357 680 0.0708357 681 0.119047 682 0.119047 683 0.119047 684 0.119047 685 0.119047 686 0.119047 687 0.595147 688 0.595147 689 0.595147 690 0.595147 691 0.595147 692 0.595147 693 0.0665772 694 0.0665772 695 0.0665772 696 0.0665772 697 0.0665772 698 0.118746 699 0.118746 700 0.118746 701 0.118746 702 0.118746 703 0.118746 704 0.577364 705 0.577364 706 0.577364 707 0.577364 708 0.577364 709 0.577364 710 0.0681478 711 0.0681478 712 0.0681478 713 0.0681478 714 0.0681478 715 0.0681478 716 0.118146 717 0.118146 718 0.118146 719 0.118146 720 0.118146 721 0.118146 722 0.646413 723 0.646413 724 0.646413 725 0.646413 726 0.646413 727 0.0546473 728 0.0546473 729 0.0546473 730 0.0546473 731 0.0546473 732 0.116752 733 0.116752 734 0.116752 735 0.116752 736 0.116752 737 0.116752 738 0.597644 739 0.597644 740 0.597644 741 0.597644 742 0.597644 743 0.597644 744 0.0610572 745 0.0610572 746 0.0610572 747 0.0610572 748 0.0610572 749 0.0610572 750 0.117041 751 0.117041 752 0.117041 753 0.117041 754 0.117041 755 0.117041 756 0.623138 757 0.623138 758 0.623138 759 0.623138 760 0.623138 761 0.058441 762 0.058441 763 0.058441 764 0.058441 765 0.058441 766 0.058441 767 0.116932 768 0.116932 769 0.116932 770 0.116932 771 0.116932 772 0.116932 773 0.619449 774 0.619449 775 0.619449 776 0.619449 777 0.619449 778 0.619449 779 0.0591191 780 0.0591191 781 0.0591191 782 0.0591191 783 0.0591191 784 0.0591191 785 0.116482 786 0.116482 787 0.116482 788 0.116482 789 0.116482 790 0.116482 791 0.674294 792 0.674294 793 0.674294 794 0.674294 795 0.674294 796 0.0487278 797 0.0487278 798 0.0487278 799 0.0487278 800 0.0487278 801 0.0487278 802 0.115685 803 0.115685 804 0.115685 805 0.115685 806 0.115685 807 0.115685 808 0.5969 809 0.5969 810 0.5969 811 0.5969 812 0.5969 813 0.0602494 814 0.0602494 815 0.0602494 816 0.0602494 817 0.0602494 818 0.0602494 819 0.116266 820 0.116266 821 0.116266 822 0.116266 823 0.116266 824 0.116266 825 0.589349 826 0.589349 827 0.589349 828 0.589349 829 0.589349 830 0.0617826 831 0.0617826 832 0.0617826 833 0.0617826 834 0.0617826 835 0.116548 836 0.116548 837 0.116548 838 0.116548 839 0.116548 840 0.116548 841 0.570853 842 0.570853 843 0.570853 844 0.570853 845 0.570853 846 0.570853 847 0.0593951 848 0.0593951 849 0.0593951 850 0.0593951 851 0.0593951 852 0.404638 853 0.404638 854 0.404638 855 0.404638 856 0.404638 857 0.404638 858 0.404639 859 0.404639 860 0.404639 861 0.404639 862 0.404639 863 0.404639 864 0.5101 865 0.5101 866 0.5101 867 0.5101 868 0.5101 869 0.5101 870 0.116803 871 0.116803 872 0.116803 873 0.116803 874 0.116803 875 0.116803 876 0.404444 877 0.404444 878 0.404444 879 0.404444 880 0.404444 881 0.404444 882 0.404521 883 0.404521 884 0.404521 885 0.404521 886 0.404521 887 0.404521 888 0.506148 889 0.506148 890 0.506148 891 0.506148 892 0.506148 893 0.506148 894 0.118404 895 0.118404 896 0.118404 897 0.118404 898 0.118404 899 0.118404 900 0.404315 901 0.404315 902 0.404315 903 0.404315 904 0.404315 905 0.404315 906 0.404378 907 0.404378 908 0.404378 909 0.404378 910 0.404378 911 0.404378 912 0.505019 913 0.505019 914 0.505019 915 0.505019 916 0.505019 917 0.505019 918 0.118446 919 0.118446 920 0.118446 921 0.118446 922 0.118446 923 0.118446 924 0.404965 925 0.404965 926 0.404965 927 0.404965 928 0.404965 929 0.404965 930 0.404526 931 0.404526 932 0.404526 933 0.404526 934 0.404526 935 0.404526 936 0.507029 937 0.507029 938 0.507029 939 0.507029 940 0.507029 941 0.507029 942 0.118214 943 0.118214 944 0.118214 945 0.118214 946 0.118214 947 0.118214 948 0.405236 949 0.405236 950 0.405236 951 0.405236 952 0.405236 953 0.405236 954 0.405311 955 0.405311 956 0.405311 957 0.405311 958 0.405311 959 0.405311 960 0.512392 961 0.512392 962 0.512392 963 0.512392 964 0.512392 965 0.512392 966 0.116842 967 0.116842 968 0.116842 969 0.116842 970 0.116842 971 0.116842 972 0.40534 973 0.40534 974 0.40534 975 0.40534 976 0.40534 977 0.40534 978 0.40518 979 0.40518 980 0.40518 981 0.40518 982 0.40518 983 0.40518 984 0.510807 985 0.510807 986 0.510807 987 0.510807 988 0.510807 989 0.510807 990 0.116457 991 0.116457 992 0.116457 993 0.116457 994 0.116457 995 0.116457 996 0.405873 997 0.405873 998 0.405873 999 0.405873 1000 0.405873 1001 0.405873 1002 0.405617 1003 0.405617 1004 0.405617 1005 0.405617 1006 0.405617 1007 0.405617 1008 0.513382 1009 0.513382 1010 0.513382 1011 0.513382 1012 0.513382 1013 0.513382 1014 0.116536 1015 0.116536 1016 0.116536 1017 0.116536 1018 0.116536 1019 0.116536 1020 0.406472 1021 0.406472 1022 0.406472 1023 0.406472 1024 0.406472 1025 0.406472 1026 0.406184 1027 0.406184 1028 0.406184 1029 0.406184 1030 0.406184 1031 0.406184 1032 0.516566 1033 0.516566 1034 0.516566 1035 0.516566 1036 0.516566 1037 0.516566 1038 0.11641 1039 0.11641 1040 0.11641 1041 0.11641 1042 0.11641 1043 0.11641 1044 0.405684 1045 0.405684 1046 0.405684 1047 0.405684 1048 0.405684 1049 0.405684 1050 0.406396 1051 0.406396 1052 0.406396 1053 0.406396 1054 0.406396 1055 0.406396 1056 0.517821 1057 0.517821 1058 0.517821 1059 0.517821 1060 0.517821 1061 0.517821 1062 0.115424 1063 0.115424 1064 0.115424 1065 0.115424 1066 0.115424 1067 0.115424 1068 0.404072 1069 0.404072 1070 0.404072 1071 0.404072 1072 0.404072 1073 0.404072 1074 0.404785 1075 0.404785 1076 0.404785 1077 0.404785 1078 0.404785 1079 0.404785 1080 0.507313 1081 0.507313 1082 0.507313 1083 0.507313 1084 0.507313 1085 0.507313 1086 0.115527 1087 0.115527 1088 0.115527 1089 0.115527 1090 0.115527 1091 0.115527 1092 0.115527 1093 0.404256 1094 0.404256 1095 0.404256 1096 0.404256 1097 0.404256 1098 0.404256 1099 0.403785 1100 0.403785 1101 0.403785 1102 0.403785 1103 0.403785 1104 0.403785 1105 0.50667 1106 0.50667 1107 0.50667 1108 0.50667 1109 0.50667 1110 0.50667 1111 0.116069 1112 0.116069 1113 0.116069 1114 0.116069 1115 0.116069 1116 0.116069 1117 0.403544 1118 0.403544 1119 0.403544 1120 0.403544 1121 0.403544 1122 0.403544 1123 0.403687 1124 0.403687 1125 0.403687 1126 0.403687 1127 0.403687 1128 0.403687 1129 0.503588 1130 0.503588 1131 0.503588 1132 0.503588 1133 0.503588 1134 0.503588 1135 0.115894 1136 0.115894 1137 0.115894 1138 0.115894 1139 0.115894 1140 0.115894 1141 0.117496 1142 0.117496 1143 0.117496 1144 0.117496 1145 0.117496 1146 0.117496 1147 0.118709 1148 0.118709 1149 0.118709 1150 0.118709 1151 0.118709 1152 0.118709 1153 0.11847 1154 0.11847 1155 0.11847 1156 0.11847 1157 0.11847 1158 0.11847 1159 0.118171 1160 0.118171 1161 0.118171 1162 0.118171 1163 0.118171 1164 0.118171 1165 0.116581 1166 0.116581 1167 0.116581 1168 0.116581 1169 0.116581 1170 0.116581 1171 0.116727 1172 0.116727 1173 0.116727 1174 0.116727 1175 0.116727 1176 0.116727 1177 0.116657 1178 0.116657 1179 0.116657 1180 0.116657 1181 0.116657 1182 0.116657 1183 0.116443 1184 0.116443 1185 0.116443 1186 0.116443 1187 0.116443 1188 0.116443 1189 0.115361 1190 0.115361 1191 0.115361 1192 0.115361 1193 0.115361 1194 0.115361 1195 0.115911 1196 0.115911 1197 0.115911 1198 0.115911 1199 0.115911 1200 0.115911 1201 0.11626 1202 0.11626 1203 0.11626 1204 0.11626 1205 0.11626 1206 0.11626 1207 0.116221 1208 0.116221 1209 0.116221 1210 0.116221 1211 0.116221 1212 0.116221 1213 0.508977 1214 0.508977 1215 0.508977 1216 0.508977 1217 0.508977 1218 0.508977 1219 0.511594 1220 0.511594 1221 0.511594 1222 0.511594 1223 0.511594 1224 0.511594 1225 0.116476 1226 0.116476 1227 0.116476 1228 0.116476 1229 0.116476 1230 0.116476 1231 0.506393 1232 0.506393 1233 0.506393 1234 0.506393 1235 0.506393 1236 0.506393 1237 0.507048 1238 0.507048 1239 0.507048 1240 0.507048 1241 0.507048 1242 0.507048 1243 0.118316 1244 0.118316 1245 0.118316 1246 0.118316 1247 0.118316 1248 0.118316 1249 0.504857 1250 0.504857 1251 0.504857 1252 0.504857 1253 0.504857 1254 0.504857 1255 0.506248 1256 0.506248 1257 0.506248 1258 0.506248 1259 0.506248 1260 0.506248 1261 0.118738 1262 0.118738 1263 0.118738 1264 0.118738 1265 0.118738 1266 0.118738 1267 0.50935 1268 0.50935 1269 0.50935 1270 0.50935 1271 0.50935 1272 0.50935 1273 0.506054 1274 0.506054 1275 0.506054 1276 0.506054 1277 0.506054 1278 0.506054 1279 0.11847 1280 0.11847 1281 0.11847 1282 0.11847 1283 0.11847 1284 0.11847 1285 0.511842 1286 0.511842 1287 0.511842 1288 0.511842 1289 0.511842 1290 0.511842 1291 0.513364 1292 0.513364 1293 0.513364 1294 0.513364 1295 0.513364 1296 0.513364 1297 0.117473 1298 0.117473 1299 0.117473 1300 0.117473 1301 0.117473 1302 0.117473 1303 0.511786 1304 0.511786 1305 0.511786 1306 0.511786 1307 0.511786 1308 0.511786 1309 0.511063 1310 0.511063 1311 0.511063 1312 0.511063 1313 0.511063 1314 0.511063 1315 0.116543 1316 0.116543 1317 0.116543 1318 0.116543 1319 0.116543 1320 0.116543 1321 0.514116 1322 0.514116 1323 0.514116 1324 0.514116 1325 0.514116 1326 0.514116 1327 0.513524 1328 0.513524 1329 0.513524 1330 0.513524 1331 0.513524 1332 0.513524 1333 0.116773 1334 0.116773 1335 0.116773 1336 0.116773 1337 0.116773 1338 0.116773 1339 0.518506 1340 0.518506 1341 0.518506 1342 0.518506 1343 0.518506 1344 0.518506 1345 0.515716 1346 0.515716 1347 0.515716 1348 0.515716 1349 0.515716 1350 0.515716 1351 0.116662 1352 0.116662 1353 0.116662 1354 0.116662 1355 0.116662 1356 0.116662 1357 0.515539 1358 0.515539 1359 0.515539 1360 0.515539 1361 0.515539 1362 0.515539 1363 0.520186 1364 0.520186 1365 0.520186 1366 0.520186 1367 0.520186 1368 0.520186 1369 0.115923 1370 0.115923 1371 0.115923 1372 0.115923 1373 0.115923 1374 0.115923 1375 0.50603 1376 0.50603 1377 0.50603 1378 0.50603 1379 0.50603 1380 0.50603 1381 0.510017 1382 0.510017 1383 0.510017 1384 0.510017 1385 0.510017 1386 0.510017 1387 0.115599 1388 0.115599 1389 0.115599 1390 0.115599 1391 0.115599 1392 0.508396 1393 0.508396 1394 0.508396 1395 0.508396 1396 0.508396 1397 0.508396 1398 0.505024 1399 0.505024 1400 0.505024 1401 0.505024 1402 0.505024 1403 0.505024 1404 0.116323 1405 0.116323 1406 0.116323 1407 0.116323 1408 0.116323 1409 0.116323 1410 0.503336 1411 0.503336 1412 0.503336 1413 0.503336 1414 0.503336 1415 0.503336 1416 0.504887 1417 0.504887 1418 0.504887 1419 0.504887 1420 0.504887 1421 0.504887 1422 0.116081 1423 0.116081 1424 0.116081 1425 0.116081 1426 0.116081 1427 0.116081 } VertexInfluence "Bone_003" 1032 { 4 0.278159 5 0.278159 6 0.278159 7 0.278159 12 0.24515 13 0.24515 14 0.24515 15 0.24515 20 0.23507 21 0.23507 22 0.23507 23 0.23507 28 0.224104 29 0.224104 30 0.224104 31 0.224104 36 0.233595 37 0.233595 38 0.233595 39 0.233595 44 0.258175 45 0.258175 46 0.258175 47 0.258175 52 0.309799 53 0.309799 54 0.309799 55 0.309799 60 0.317662 61 0.317662 62 0.317662 63 0.317662 68 0.320206 69 0.320206 70 0.320206 71 0.320206 76 0.311216 77 0.311216 78 0.311216 79 0.311216 84 0.357141 85 0.357141 86 0.357141 87 0.357141 92 0.321442 93 0.321442 94 0.321442 95 0.321442 103 0.246048 104 0.246048 105 0.246048 106 0.246048 107 0.246048 108 0.246048 109 0.246048 110 0.090729 111 0.090729 112 0.090729 113 0.090729 114 0.090729 115 0.090729 116 0.0887967 117 0.0887967 118 0.0887967 119 0.0887967 120 0.0887967 121 0.0887967 132 0.243541 133 0.243541 134 0.243541 135 0.243541 136 0.243541 137 0.243541 138 0.243541 139 0.243541 140 0.243541 141 0.0878763 142 0.0878763 143 0.0878763 144 0.0878763 145 0.0878763 146 0.0878763 154 0.228804 155 0.228804 156 0.228804 157 0.228804 158 0.228804 159 0.228804 160 0.228804 161 0.228804 162 0.0875306 163 0.0875306 164 0.0875306 165 0.0875306 166 0.0875306 167 0.0875306 178 0.23533 179 0.23533 180 0.23533 181 0.23533 182 0.23533 183 0.23533 184 0.23533 185 0.23533 186 0.0880036 187 0.0880036 188 0.0880036 189 0.0880036 190 0.0880036 191 0.0880036 200 0.23241 201 0.23241 202 0.23241 203 0.23241 204 0.23241 205 0.23241 206 0.23241 207 0.23241 208 0.0895814 209 0.0895814 210 0.0895814 211 0.0895814 212 0.0895814 213 0.0895814 222 0.305104 223 0.305104 224 0.305104 225 0.305104 226 0.305104 227 0.305104 228 0.305104 229 0.305104 230 0.305104 231 0.305104 232 0.0917889 233 0.0917889 234 0.0917889 235 0.0917889 236 0.0917889 237 0.0917889 246 0.325085 247 0.325085 248 0.325085 249 0.325085 250 0.325085 251 0.325085 252 0.325085 253 0.0928968 254 0.0928968 255 0.0928968 256 0.0928968 257 0.0928968 258 0.0928968 268 0.336697 269 0.336697 270 0.336697 271 0.336697 272 0.336697 273 0.336697 274 0.336697 275 0.336697 276 0.336697 277 0.0932003 278 0.0932003 279 0.0932003 280 0.0932003 281 0.0932003 282 0.0932003 290 0.315012 291 0.315012 292 0.315012 293 0.315012 294 0.315012 295 0.315012 296 0.315012 297 0.0936636 298 0.0936636 299 0.0936636 300 0.0936636 301 0.0936636 302 0.0936636 314 0.325298 315 0.325298 316 0.325298 317 0.325298 318 0.325298 319 0.325298 320 0.325298 321 0.325298 322 0.0944848 323 0.0944848 324 0.0944848 325 0.0944848 326 0.0944848 327 0.0944848 336 0.322382 337 0.322382 338 0.322382 339 0.322382 340 0.322382 341 0.322382 342 0.322382 343 0.322382 344 0.322382 345 0.322382 346 0.322382 347 0.322382 348 0.0933232 349 0.0933232 350 0.0933232 351 0.0933232 352 0.0933232 353 0.0933232 363 0.298046 364 0.298046 365 0.298046 366 0.298046 367 0.298046 368 0.298046 369 0.298046 370 0.298046 371 0.0891931 372 0.0891931 373 0.0891931 374 0.0891931 375 0.0891931 376 0.0891931 377 0.0879207 378 0.0879207 379 0.0879207 380 0.0879207 381 0.0879207 382 0.0879207 383 0.0872476 384 0.0872476 385 0.0872476 386 0.0872476 387 0.0872476 388 0.0872476 389 0.0873352 390 0.0873352 391 0.0873352 392 0.0873352 393 0.0873352 394 0.0873352 395 0.0882251 396 0.0882251 397 0.0882251 398 0.0882251 399 0.0882251 400 0.0882251 401 0.0904285 402 0.0904285 403 0.0904285 404 0.0904285 405 0.0904285 406 0.0904285 407 0.092096 408 0.092096 409 0.092096 410 0.092096 411 0.092096 412 0.092096 413 0.0927711 414 0.0927711 415 0.0927711 416 0.0927711 417 0.0927711 418 0.0927711 419 0.0929004 420 0.0929004 421 0.0929004 422 0.0929004 423 0.0929004 424 0.0929004 425 0.0938426 426 0.0938426 427 0.0938426 428 0.0938426 429 0.0938426 430 0.0938426 431 0.0917399 432 0.0917399 433 0.0917399 434 0.0917399 435 0.0917399 436 0.0917399 437 0.0937478 438 0.0937478 439 0.0937478 440 0.0937478 441 0.0937478 442 0.0937478 448 0.235339 449 0.235339 450 0.235339 451 0.235339 452 0.235339 453 0.235339 454 0.351355 455 0.351355 456 0.351355 457 0.351355 458 0.351355 459 0.351355 471 0.240276 472 0.240276 473 0.240276 474 0.240276 475 0.240276 476 0.240276 488 0.229473 489 0.229473 490 0.229473 491 0.229473 492 0.229473 493 0.229473 506 0.22715 507 0.22715 508 0.22715 509 0.22715 510 0.22715 511 0.22715 523 0.230496 524 0.230496 525 0.230496 526 0.230496 527 0.230496 528 6.19344e-005 529 6.19344e-005 530 6.19344e-005 531 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opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/GroupTests.cpp000066400000000000000000000133511277777236100240350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the Group class. #include "SurgSim/Graphics/UnitTests/MockObjects.h" #include namespace SurgSim { namespace Graphics { TEST(GroupTests, InitTest) { ASSERT_NO_THROW({std::shared_ptr group = std::make_shared("test name");}); } TEST(GroupTests, VisibilityTest) { std::shared_ptr group = std::make_shared("test name"); group->setVisible(true); EXPECT_TRUE(group->isVisible()); group->setVisible(false); EXPECT_FALSE(group->isVisible()); } TEST(GroupTests, AddRemoveTest) { std::shared_ptr group = std::make_shared("test name"); std::shared_ptr representation1 = std::make_shared("test representation 1"); std::shared_ptr representation2 = std::make_shared("test representation 2"); std::shared_ptr group1 = std::make_shared("test group 1"); std::shared_ptr group2 = std::make_shared("test group 2"); EXPECT_EQ(0u, group->getMembers().size()); /// Add an representation EXPECT_TRUE(group->add(representation1)); EXPECT_EQ(1u, group->getMembers().size()); EXPECT_NE(group->getMembers().end(), std::find(group->getMembers().begin(), group->getMembers().end(), representation1)); /// Add another representation EXPECT_TRUE(group->add(representation2)); EXPECT_EQ(2u, group->getMembers().size()); EXPECT_NE(group->getMembers().end(), std::find(group->getMembers().begin(), group->getMembers().end(), representation2)); /// Try to add a duplicate representation EXPECT_FALSE(group->add(representation1)); EXPECT_EQ(2u, group->getMembers().size()); /// Remove an representation EXPECT_TRUE(group->remove(representation1)); EXPECT_EQ(group->getMembers().end(), std::find(group->getMembers().begin(), group->getMembers().end(), representation1)); /// Try to remove an representation that is not in the group EXPECT_FALSE(group->remove(representation1)); EXPECT_EQ(group->getMembers().end(), std::find(group->getMembers().begin(), group->getMembers().end(), representation1)); } TEST(GroupTests, AppendTest) { std::shared_ptr group1 = std::make_shared("test group 1"); EXPECT_EQ(0u, group1->getMembers().size()); std::shared_ptr representation1 = std::make_shared("test representation 1"); std::shared_ptr representation2 = std::make_shared("test representation 2"); /// Add 2 representations to group 1 EXPECT_TRUE(group1->add(representation1)); EXPECT_TRUE(group1->add(representation2)); EXPECT_EQ(2u, group1->getMembers().size()); std::shared_ptr representation3 = std::make_shared("test representation 3"); std::shared_ptr group2 = std::make_shared("test group 2"); EXPECT_EQ(0u, group2->getMembers().size()); /// Add an representation to group 2 and append group 1 to group 2. EXPECT_TRUE(group2->add(representation3)); EXPECT_TRUE(group2->append(group1)); EXPECT_EQ(3u, group2->getMembers().size()); // Check that the representations from group 1 were added to group 2, and that it still has the representation // that was added directly to it. EXPECT_NE(group2->getMembers().end(), std::find(group2->getMembers().begin(), group2->getMembers().end(), representation1)); EXPECT_NE(group2->getMembers().end(), std::find(group2->getMembers().begin(), group2->getMembers().end(), representation2)); EXPECT_NE(group2->getMembers().end(), std::find(group2->getMembers().begin(), group2->getMembers().end(), representation3)); /// Try to append a group that has already been appended - this will try to add duplicate representations. EXPECT_FALSE(group2->append(group1)) << "Append should return false if any representation is a duplicate!"; EXPECT_EQ(3u, group2->getMembers().size()); /// Check that group 1 was not modified by appending it to group 2. EXPECT_EQ(2u, group1->getMembers().size()); EXPECT_NE(group1->getMembers().end(), std::find(group1->getMembers().begin(), group1->getMembers().end(), representation1)); EXPECT_NE(group1->getMembers().end(), std::find(group1->getMembers().begin(), group1->getMembers().end(), representation2)); } TEST(GroupTests, ClearTest) { std::shared_ptr group = std::make_shared("test name"); std::shared_ptr representation1 = std::make_shared("test representation 1"); std::shared_ptr representation2 = std::make_shared("test representation 2"); std::shared_ptr representation3 = std::make_shared("test representation 3"); EXPECT_EQ(0u, group->getMembers().size()); /// Add 3 representations EXPECT_TRUE(group->add(representation1)); EXPECT_TRUE(group->add(representation2)); EXPECT_TRUE(group->add(representation3)); EXPECT_EQ(3u, group->getMembers().size()); /// Remove all representations and make sure that they are removed correctly group->clear(); EXPECT_EQ(0u, group->getMembers().size()); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/ManagerTests.cpp000066400000000000000000000214351277777236100243150ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the Graphics Manager class. #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/ComponentManager.h" #include "SurgSim/Graphics/UnitTests/MockObjects.h" #include #include using SurgSim::Framework::BasicSceneElement; using SurgSim::Framework::ComponentManager; using SurgSim::Framework::Component; using SurgSim::Framework::Runtime; using SurgSim::Framework::Scene; class GraphicsManagerTest : public ::testing::Test { public: virtual void SetUp() { runtime = std::make_shared(); graphicsManager = std::make_shared(); runtime->addManager(graphicsManager); // runtime->start(); } virtual void TearDown() { runtime->stop(); } bool testDoAddComponent(const std::shared_ptr& component) { return graphicsManager->executeAdditions(component); } bool testDoRemoveComponent(const std::shared_ptr& component) { return graphicsManager->executeRemovals(component); } void doProcessComponents() { graphicsManager->processComponents(); } std::shared_ptr runtime; std::shared_ptr graphicsManager; }; namespace SurgSim { namespace Graphics { TEST_F(GraphicsManagerTest, InitTest) { ASSERT_NO_THROW({std::shared_ptr manager = std::make_shared();}); } TEST_F(GraphicsManagerTest, StartUpTest) { std::shared_ptr runtime = std::make_shared(); std::shared_ptr manager = std::make_shared(); runtime->addManager(manager); EXPECT_EQ(0, manager->getNumUpdates()); EXPECT_EQ(0.0, manager->getSumDt()); std::shared_ptr scene = runtime->getScene(); /// Run the thread for a moment runtime->start(); EXPECT_TRUE(manager->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); runtime->stop(); /// Check that the manager did update when the thread was running EXPECT_GT(manager->getNumUpdates(), 0); EXPECT_GT(manager->getSumDt(), 0.0); } TEST_F(GraphicsManagerTest, AddRemoveTest) { /// Perform add and remove from a pointer to a ComponentManager to check that the intended polymorphism is working. std::shared_ptr componentManager = graphicsManager; std::shared_ptr representation1 = std::make_shared("test representation 1"); std::shared_ptr representation2 = std::make_shared("test representation 2"); representation2->addGroupReference("other_group"); std::shared_ptr view1 = std::make_shared("test view 1"); std::shared_ptr view2 = std::make_shared("test view 2"); std::shared_ptr nonGraphicsComponent = std::make_shared("non-graphics component"); EXPECT_EQ(0u, graphicsManager->getRepresentations().size()); EXPECT_EQ(0u, graphicsManager->getGroups().size()); EXPECT_EQ(0u, graphicsManager->getViews().size()); /// Add an representation EXPECT_TRUE(testDoAddComponent(representation1)); EXPECT_EQ(1u, graphicsManager->getRepresentations().size()); EXPECT_NE(graphicsManager->getRepresentations().end(), std::find(graphicsManager->getRepresentations().begin(), graphicsManager->getRepresentations().end(), representation1)); // Should have added the default group EXPECT_EQ(1u, graphicsManager->getGroups().size()); EXPECT_NE(std::end(graphicsManager->getGroups()), graphicsManager->getGroups().find(Representation::DefaultGroupName)); /// Add a view EXPECT_TRUE(testDoAddComponent(view1)); EXPECT_EQ(1u, graphicsManager->getViews().size()); EXPECT_NE(graphicsManager->getViews().end(), std::find(graphicsManager->getViews().begin(), graphicsManager->getViews().end(), view1)); /// Add another view EXPECT_TRUE(testDoAddComponent(view2)); EXPECT_EQ(2u, graphicsManager->getViews().size()); EXPECT_NE(graphicsManager->getViews().end(), std::find(graphicsManager->getViews().begin(), graphicsManager->getViews().end(), view2)); /// Add another representation EXPECT_TRUE(testDoAddComponent(representation2)); EXPECT_EQ(2u, graphicsManager->getRepresentations().size()); EXPECT_NE(graphicsManager->getRepresentations().end(), std::find(graphicsManager->getRepresentations().begin(), graphicsManager->getRepresentations().end(), representation2)); /// There should be another group in there now EXPECT_EQ(2u, graphicsManager->getGroups().size()); /// Try to add a duplicate representation /// the public interface functions addComponent and removeComponent always return true when the allocation /// succeeded EXPECT_TRUE(componentManager->enqueueAddComponent(representation1)); doProcessComponents(); EXPECT_EQ(2u, graphicsManager->getRepresentations().size()); /// Try to add a duplicate view EXPECT_TRUE(componentManager->enqueueAddComponent(view1)); doProcessComponents(); EXPECT_EQ(2u, graphicsManager->getViews().size()); /// Try to add a component that is not graphics-related EXPECT_TRUE(componentManager->enqueueAddComponent(nonGraphicsComponent)) << "Adding a component that this manager is not concerned with should return false"; /// Remove a view EXPECT_TRUE(componentManager->enqueueRemoveComponent(view2)); doProcessComponents(); EXPECT_EQ(graphicsManager->getViews().end(), std::find(graphicsManager->getViews().begin(), graphicsManager->getViews().end(), view2)); /// Remove an representation EXPECT_TRUE(componentManager->enqueueRemoveComponent(representation1)); doProcessComponents(); EXPECT_EQ(graphicsManager->getRepresentations().end(), std::find(graphicsManager->getRepresentations().begin(), graphicsManager->getRepresentations().end(), representation1)); /// Try to remove an representation that is not in the manager EXPECT_TRUE(componentManager->enqueueRemoveComponent(representation1)); doProcessComponents(); EXPECT_EQ(graphicsManager->getRepresentations().end(), std::find(graphicsManager->getRepresentations().begin(), graphicsManager->getRepresentations().end(), representation1)); /// Try to remove a view that is not in the manager EXPECT_TRUE(componentManager->enqueueRemoveComponent(view2)); doProcessComponents(); EXPECT_EQ(graphicsManager->getViews().end(), std::find(graphicsManager->getViews().begin(), graphicsManager->getViews().end(), view2)); /// Try to remove a component that is not graphics-related EXPECT_TRUE(componentManager->enqueueRemoveComponent(nonGraphicsComponent)) << "Removing a component that this manager is not concerned with should return true"; } TEST_F(GraphicsManagerTest, UpdateTest) { auto mockRepresentation = std::make_shared("MockRepresentation"); auto sceneElement = std::make_shared("BasicSceneElement"); sceneElement->addComponent(mockRepresentation); runtime->getScene()->addSceneElement(sceneElement); EXPECT_TRUE(mockRepresentation->isActive()); // When a graphics representation is inactive, it will be set to invisible by Graphics Manager. // And it won't be updated by Graphics Manager. mockRepresentation->setLocalActive(false); runtime->start(); EXPECT_TRUE(graphicsManager->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); EXPECT_EQ(0, mockRepresentation->getNumUpdates()); EXPECT_FALSE(mockRepresentation->isActive()); // When a graphics representation is active, it will be set to visible by Graphics Manager. // And it will be updated by Graphics Manager. mockRepresentation->setLocalActive(true); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); EXPECT_GT(mockRepresentation->getNumUpdates(), 0); EXPECT_TRUE(mockRepresentation->isActive()); // Turn off an active graphics representation, the update of it will be stopped and it will be invisible. mockRepresentation->setLocalActive(false); auto updateCount = mockRepresentation->getNumUpdates(); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); EXPECT_EQ(updateCount, mockRepresentation->getNumUpdates()); EXPECT_FALSE(mockRepresentation->isActive()); runtime->stop(); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/MeshTests.cpp000066400000000000000000000072011277777236100236320ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Graphics/Mesh.h" #include "SurgSim/Testing/TestCube.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::Math::Vector2d; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; namespace SurgSim { namespace Graphics { struct MeshTests : public ::testing::Test { public: virtual void SetUp() { SurgSim::Testing::Cube::makeCube(&cubeVertices, &cubeColors, &cubeTextures, &cubeTriangles); } std::vector cubeVertices; std::vector cubeTriangles; std::vector cubeColors; std::vector cubeTextures; }; TEST_F(MeshTests, MakeMeshTestWorking) { std::shared_ptr mesh = std::make_shared(); ASSERT_NO_THROW({ mesh->initialize(cubeVertices, cubeColors, cubeTextures, cubeTriangles);} ); EXPECT_TRUE(mesh->isValid()); EXPECT_EQ(cubeVertices.size(), mesh->getNumVertices()); EXPECT_EQ(cubeTriangles.size()/3, mesh->getNumTriangles()); for (size_t i=0; i< cubeVertices.size(); ++i) { EXPECT_TRUE(cubeColors[i] == mesh->getVertex(i).data.color.getValue()); EXPECT_TRUE(cubeTextures[i] == mesh->getVertex(i).data.texture.getValue()); } } TEST_F(MeshTests, MakeMeshColors) { std::vector emptyCubeColors; std::vector tooFewCubeColors; std::vector tooManyCubeColors(cubeColors); tooFewCubeColors.push_back(Vector4d(0.0,0.0,0.0,0.0)); tooManyCubeColors.push_back(Vector4d(0.0,0.0,0.0,0.0)); std::shared_ptr mesh = std::make_shared(); ASSERT_NO_THROW({ mesh->initialize(cubeVertices, emptyCubeColors, cubeTextures, cubeTriangles);} ); for (size_t i=0; i< cubeVertices.size(); ++i) { EXPECT_FALSE(mesh->getVertex(i).data.color.hasValue()); } mesh = std::make_shared(); ASSERT_ANY_THROW({ mesh->initialize(cubeVertices, tooFewCubeColors, cubeTextures, cubeTriangles);} ); mesh = std::make_shared(); ASSERT_NO_THROW({ mesh->initialize(cubeVertices, tooManyCubeColors, cubeTextures, cubeTriangles);} ); } TEST_F(MeshTests, MakeMeshTextures) { std::vector emptyCubeTextures; std::vector tooFewCubeTextures; std::vector tooManyCubeTextures(cubeTextures); tooFewCubeTextures.push_back(Vector2d(0.0,0.0)); tooManyCubeTextures.push_back(Vector2d(0.0,0.0)); std::shared_ptr mesh = std::make_shared(); ASSERT_NO_THROW({ mesh->initialize(cubeVertices, cubeColors, emptyCubeTextures, cubeTriangles);} ); for (size_t i=0; i< cubeVertices.size(); ++i) { EXPECT_FALSE(mesh->getVertex(i).data.texture.hasValue()); } mesh = std::make_shared(); ASSERT_ANY_THROW({ mesh->initialize(cubeVertices, cubeColors, tooFewCubeTextures, cubeTriangles);} ); mesh = std::make_shared(); ASSERT_NO_THROW({ mesh->initialize(cubeVertices, cubeColors, tooManyCubeTextures, cubeTriangles);} ); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/MockObjects.h000066400000000000000000000373031277777236100235710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2016, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_UNITTESTS_MOCKOBJECTS_H #define SURGSIM_GRAPHICS_UNITTESTS_MOCKOBJECTS_H #include "SurgSim/Graphics/Camera.h" #include "SurgSim/Graphics/Group.h" #include "SurgSim/Graphics/Manager.h" #include "SurgSim/Graphics/Material.h" #include "SurgSim/Graphics/Program.h" #include "SurgSim/Graphics/RenderTarget.h" #include "SurgSim/Graphics/Representation.h" #include "SurgSim/Graphics/Texture.h" #include "SurgSim/Graphics/UniformBase.h" #include "SurgSim/Graphics/View.h" #include "SurgSim/Graphics/ViewElement.h" #include "SurgSim/Math/Vector.h" #include class MockGroup : public SurgSim::Graphics::Group { public: /// Constructor. The group is initially empty. /// \param name Name of the group explicit MockGroup(const std::string& name) : SurgSim::Graphics::Group(name) { } /// Sets whether the group is currently visible /// \param visible True for visible, false for invisible virtual void setVisible(bool visible) { m_isVisible = visible; } /// Gets whether the group is currently visible /// \return visible True for visible, false for invisible virtual bool isVisible() const { return m_isVisible; } private: /// Whether this group is currently visible or not bool m_isVisible; }; /// Manager class for testing class MockManager : public SurgSim::Graphics::Manager { public: friend class GraphicsManagerTest; /// Constructor /// \post m_numUpdates and m_sumDt are initialized to 0 MockManager() : SurgSim::Graphics::Manager(), m_numUpdates(0), m_sumDt(0.0) { } /// Returns the number of times the manager has been updated int getNumUpdates() const { return m_numUpdates; } /// Returns the sum of the dt that the manager has been updated with double getSumDt() const { return m_sumDt; } void dumpDebugInfo() const { return; } int getType() const override { return SurgSim::Framework::MANAGER_TYPE_NONE; } virtual std::shared_ptr getOrCreateGroup(const std::string& name) { if (getGroups().find(name) == std::end(getGroups())) { addGroup(std::make_shared(name)); } return getGroups().at(name); } private: /// Updates the manager. /// \param dt The time in seconds of the preceding timestep. /// \post m_numUpdates is incremented and dt is added to m_sumDt virtual bool doUpdate(double dt) { if (Manager::doUpdate(dt)) { ++m_numUpdates; m_sumDt += dt; return true; } else { return false; } } /// Number of times the manager has been updated int m_numUpdates; /// Sum of the dt that the manager has been updated with double m_sumDt; }; /// Representation class for testing class MockRepresentation : public SurgSim::Graphics::Representation { public: /// Constructor /// \param name Name of the representation /// \post m_numUpdates and m_sumDt are initialized to 0 /// \post m_transform is set to identity /// \post m_isInitialized and m_isAwoken are set to false explicit MockRepresentation(const std::string& name) : SurgSim::Graphics::Representation(name), m_numUpdates(0), m_sumDt(0.0), m_isInitialized(false), m_isAwoken(false), m_drawAsWireFrame(false) { m_transform.setIdentity(); } /// Returns the number of times the representation has been updated int getNumUpdates() const { return m_numUpdates; } /// Returns the sum of the dt that the representation has been updated with double getSumDt() const { return m_sumDt; } /// Updates the representation. /// \param dt The time in seconds of the preceding timestep. /// \post m_numUpdates is incremented and dt is added to m_sumDt virtual void update(double dt) { if (isActive()) { ++m_numUpdates; m_sumDt += dt; } } /// Gets whether the representation has been initialized bool isInitialized() const { return m_isInitialized; } /// Gets whether the representation has been awoken bool isAwoken() const { return m_isAwoken; } /// Sets the material that defines the visual appearance of the representation /// \param material Graphics material /// \return True if set successfully, otherwise false virtual bool setMaterial(std::shared_ptr material) { return false; } /// Gets the material that defines the visual appearance of the representation /// \return Graphics material virtual std::shared_ptr getMaterial() const { return nullptr; } /// Removes the material from the representation virtual void clearMaterial() { } virtual void setDrawAsWireFrame(bool val) { m_drawAsWireFrame = val; } virtual bool getDrawAsWireFrame() const { return m_drawAsWireFrame; } void setGenerateTangents(bool value) { } bool isGeneratingTangents() const { return false; } private: /// Initializes the representation /// \post m_isInitialized is set to true virtual bool doInitialize() { m_isInitialized = true; return true; } /// Wakes up the representation /// \post m_isAwoken is set to true virtual bool doWakeUp() { m_isAwoken = true; return true; } /// Number of times the representation has been updated int m_numUpdates; /// Sum of the dt that the representation has been updated with double m_sumDt; /// Whether the representation has been initialized bool m_isInitialized; /// Whether the representation has been awoken bool m_isAwoken; /// Indicates if the representation is rendered as a wireframe. bool m_drawAsWireFrame; /// Rigid transform describing pose of the representation SurgSim::Math::RigidTransform3d m_transform; }; /// Camera class for testing class MockCamera : public SurgSim::Graphics::Camera { public: /// Constructor /// \param name Name of the camera /// \post m_numUpdates and m_sumDt are initialized to 0 /// \post m_transform is set to identity, m_eye to (0,0,0), m_center to (0, 0, -1), and m_up to (0, 1, 0) /// \post m_isVisible is set to true explicit MockCamera(const std::string& name) : SurgSim::Graphics::Representation(name), SurgSim::Graphics::Camera(name), m_numUpdates(0), m_sumDt(0.0) { m_pose.setIdentity(); m_viewMatrix.setIdentity(); m_projectionMatrix.setIdentity(); } /// Returns the number of times the representation has been updated int getNumUpdates() const { return m_numUpdates; } /// Returns the sum of the dt that the representation has been updated with double getSumDt() const { return m_sumDt; } /// Sets the current pose of the camera /// \param transform Rigid transformation that describes the current pose of the camera virtual void setPose(const SurgSim::Math::RigidTransform3d& transform) { m_pose = transform; } /// Gets the pose of the camera /// \return Rigid transformation that describes the pose of the representation virtual SurgSim::Math::RigidTransform3d getPose() const { return m_pose; } /// Sets the view matrix of the camera /// \param matrix View matrix virtual void setViewMatrix(const SurgSim::Math::Matrix44d& matrix) { m_viewMatrix = matrix; } /// Gets the view matrix of the camera /// \return View matrix virtual SurgSim::Math::Matrix44d getViewMatrix() const { return m_viewMatrix; } /// Sets the projection matrix of the camera /// \param matrix Projection matrix virtual void setProjectionMatrix(const SurgSim::Math::Matrix44d& matrix) { m_projectionMatrix = matrix; } /// Gets the projection matrix of the camera /// \return Projection matrix virtual const SurgSim::Math::Matrix44d& getProjectionMatrix() const { return m_projectionMatrix; } virtual SurgSim::Math::Matrix44d getInverseProjectionMatrix() const { return m_projectionMatrix.inverse(); } /// Updates the camera. /// \param dt The time in seconds of the preceding timestep. /// \post m_numUpdates is incremented and dt is added to m_sumDt virtual void update(double dt) { ++m_numUpdates; m_sumDt += dt; } /// Sets the material that defines the visual appearance of the representation /// \param material Graphics material /// \return True if set successfully, otherwise false virtual bool setMaterial(std::shared_ptr material) { return false; } /// Gets the material that defines the visual appearance of the representation /// \return Graphics material virtual std::shared_ptr getMaterial() const { return nullptr; } /// Removes the material from the representation virtual void clearMaterial() { } virtual void setDrawAsWireFrame(bool val) { } virtual bool getDrawAsWireFrame() const { return false; } virtual bool setColorRenderTexture(std::shared_ptr texture) { return true; } virtual std::shared_ptr getColorRenderTexture() const { return nullptr; } virtual bool setRenderTarget(std::shared_ptr renderTarget) { return true; } virtual std::shared_ptr getRenderTarget() const { return nullptr; } void setRenderOrder(RenderOrder bin, int value) override { } void setMainCamera(bool val) override { } bool isMainCamera() override { return false; } virtual SurgSim::Math::Matrix44d getInverseViewMatrix() const { throw std::logic_error("The method or operation is not implemented."); } void setAmbientColor(const SurgSim::Math::Vector4d& color) { throw std::logic_error("The method or operation is not implemented."); } SurgSim::Math::Vector4d getAmbientColor() { throw std::logic_error("The method or operation is not implemented."); } void setGenerateTangents(bool value) { throw std::logic_error("The method or operation is not implemented."); } bool isGeneratingTangents() const { throw std::logic_error("The method or operation is not implemented."); } void setPerspectiveProjection(double fovy, double aspect, double near, double far) { throw std::logic_error("The method or operation is not implemented."); } void setOrthogonalProjection(double left, double right, double bottom, double top, double near, double far) { throw std::logic_error("The method or operation is not implemented."); } void setViewport(int x, int y, int width, int height) { throw std::logic_error("The method or operation is not implemented."); } std::array getViewport() const { throw std::logic_error("The method or operation is not implemented."); } void getViewport(int* x, int* y, int* width, int* height) const { throw std::logic_error("The method or operation is not implemented."); } void setViewportSize(std::array dimensions) { throw std::logic_error("The method or operation is not implemented."); } std::array getViewportSize() const { throw std::logic_error("The method or operation is not implemented."); } private: /// Number of times the camera has been updated int m_numUpdates; /// Sum of the dt that the camera has been updated with double m_sumDt; /// Rigid transform describing pose of the camera SurgSim::Math::RigidTransform3d m_pose; /// View matrix of the camera SurgSim::Math::Matrix44d m_viewMatrix; /// Projection matrix of the camera SurgSim::Math::Matrix44d m_projectionMatrix; }; /// View class for testing class MockView : public SurgSim::Graphics::View { public: /// Constructor /// \param name Name of the view /// \post m_x and m_y are initialized to 0 /// \post m_width is initialized to 800, m_height to 600 /// \post m_isWindowBorderEnabled is initialized to true /// \post m_numUpdates and m_sumDt are initialized to 0 /// \post m_transform is set to identity explicit MockView(const std::string& name) : SurgSim::Graphics::View(name), m_x(0), m_y(0), m_width(800), m_height(600), m_isWindowBorderEnabled(true), m_numUpdates(0), m_sumDt(0.0), m_isInitialized(false), m_isAwoken(false) { } /// Set the position of this view /// \param x,y Position on the screen (in pixels) void setPosition(const std::array& position) override { m_x = position[0]; m_y = position[1]; } /// Get the position of this view /// \param[out] x,y Position on the screen (in pixels) std::array getPosition() const override { std::array result = {m_x, m_y}; return result; } /// Set the dimensions of this view /// \param width,height Dimensions on the screen (in pixels) void setDimensions(const std::array& dimensions) override { m_width = dimensions[0]; m_height = dimensions[1]; } /// Set the dimensions of this view /// \param[out] width,height Dimensions on the screen (in pixels) std::array getDimensions() const override { std::array result = {m_width, m_height}; return result; } void setDimensionsDouble(const std::array& dimensions) { m_width = static_cast(dimensions[0]); m_height = static_cast(dimensions[1]); } std::array getDimensionsDouble() const { std::array result = {static_cast(m_width), static_cast(m_height)}; return std::move(result); } /// Sets whether the view window has a border /// \param enabled True to enable the border around the window; false for no border void setWindowBorderEnabled(bool enabled) override { m_isWindowBorderEnabled = enabled; } /// Returns whether the view window has a border /// \return True to enable the border around the window; false for no border bool isWindowBorderEnabled() const override { return m_isWindowBorderEnabled; } /// Returns the number of times the view has been updated int getNumUpdates() const { return m_numUpdates; } /// Returns the sum of the dt that the view has been updated with double getSumDt() const { return m_sumDt; } /// Updates the view. /// \param dt The time in seconds of the preceding timestep. /// \post m_numUpdates is incremented and dt is added to m_sumDt virtual void update(double dt) { ++m_numUpdates; m_sumDt += dt; } /// Gets whether the view has been initialized bool isInitialized() const { return m_isInitialized; } /// Gets whether the view has been awoken bool isAwoken() const { return m_isAwoken; } private: /// Initialize the view /// \post m_isInitialized is set to true virtual bool doInitialize() { m_isInitialized = true; return true; } /// Wake up the view /// \post m_isAwoken is set to true virtual bool doWakeUp() { m_isAwoken = true; return true; } int doSetTargetScreen(int val) { return 0; } /// Position of the view on the screen (in pixels) int m_x, m_y; /// Dimensions of the view on the screen (in pixels) int m_width, m_height; /// Whether the view window has a border bool m_isWindowBorderEnabled; /// Number of times the view has been updated int m_numUpdates; /// Sum of the dt that the view has been updated with double m_sumDt; /// Whether the view has been initialized bool m_isInitialized; /// Whether the view has been awoken bool m_isAwoken; }; /// Representation that does not subclass any graphics components class NonGraphicsRepresentation : public SurgSim::Framework::Representation { public: /// Constructor /// \param name Name of the representation explicit NonGraphicsRepresentation(const std::string& name) : SurgSim::Framework::Representation(name) { } }; #endif // SURGSIM_GRAPHICS_UNITTESTS_MOCKOBJECTS_H opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/MockOsgObjects.h000066400000000000000000000073171277777236100242440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_UNITTESTS_MOCKOSGOBJECTS_H #define SURGSIM_GRAPHICS_UNITTESTS_MOCKOSGOBJECTS_H #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Framework/Runtime.h" #include #include #include /// Representation class for testing class MockOsgRepresentation : public SurgSim::Graphics::OsgRepresentation { public: /// Constructor /// \param name Name of the representation /// \post m_numUpdates and m_sumDt are initialized to 0 /// \post m_transform is set to identity /// \post m_isInitialized and m_isAwoken are set to false /// \post m_isVisible is set to true explicit MockOsgRepresentation(const std::string& name) : SurgSim::Graphics::Representation(name), SurgSim::Graphics::OsgRepresentation(name), m_numUpdates(0), m_sumDt(0.0), m_isInitialized(false), m_isAwoken(false) { } /// Returns the number of times the representation has been updated int getNumUpdates() const { return m_numUpdates; } /// Returns the sum of the dt that the representation has been updated with double getSumDt() const { return m_sumDt; } /// Updates the representation. /// \param dt The time in seconds of the preceding timestep. /// \post m_numUpdates is incremented and dt is added to m_sumDt virtual void doUpdate(double dt) { ++m_numUpdates; m_sumDt += dt; } /// Gets whether the representation has been initialized bool isInitialized() const { return m_isInitialized; } /// Gets whether the representation has been awoken bool isAwoken() const { return m_isAwoken; } private: /// Initializes the representation /// \post m_isInitialized is set to true virtual bool doInitialize() { m_isInitialized = true; return true; } /// Wakes up the representation /// \post m_isAwoken is set to true virtual bool doWakeUp() { m_isAwoken = true; return true; } /// Number of times the representation has been updated int m_numUpdates; /// Sum of the dt that the representation has been updated with double m_sumDt; /// Whether the representation has been initialized bool m_isInitialized; /// Whether the representation has been awoken bool m_isAwoken; }; /// Enable Logging of OSG through SurgSim Logging System class MockOsgLog : public osg::NotifyHandler { public: MockOsgLog() { osg::setNotifyLevel(osg::DEBUG_FP); } void notify(osg::NotifySeverity severity, const char *message) override { reset(); if (severity <= osg::FATAL) { m_message << "CRITICAL " << message; } else if (osg::FATAL < severity && severity <= osg::WARN) { m_message << "WARNING " << message; } else if (osg::WARN < severity && severity <= osg::INFO) { m_message << "INFO " << message; } else if (osg::INFO < severity && severity <= osg::DEBUG_FP) { m_message << "DEBUG " << message; } else { m_message << "Unknown severity in OsgLog::notify()"; } } std::string getMessage() const { return m_message.str(); } void reset() { m_message.clear(); m_message.str(""); } std::stringstream m_message; }; #endif // SURGSIM_GRAPHICS_UNITTESTS_MOCKOSGOBJECTS_H opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgAxesRepresentationTests.cpp000066400000000000000000000026051277777236100272350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Graphics/OsgAxesRepresentation.h" #include "SurgSim/Framework/FrameworkConvert.h" namespace SurgSim { namespace Graphics { TEST(OsgAxesRepresentationTests, Serialization) { using SurgSim::Framework::Component; std::shared_ptr axes = std::make_shared("axes"); axes->setValue("Size", 12.0); YAML::Node node = YAML::convert::encode(*axes); std::shared_ptr component = node.as>(); ASSERT_NE(nullptr, component); std::shared_ptr newAxes = std::dynamic_pointer_cast(component); ASSERT_NE(nullptr, newAxes); EXPECT_DOUBLE_EQ(12.0, newAxes->getValue("Size")); } } } opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgBoxRepresentationTests.cpp000066400000000000000000000115031277777236100270620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgBoxRepresentation class. #include "SurgSim/Graphics/UnitTests/MockOsgObjects.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Framework/FrameworkConvert.h" #include #include using SurgSim::Framework::BasicSceneElement; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Math::makeRigidTransform; namespace SurgSim { namespace Graphics { TEST(OsgBoxRepresentationTests, InitTest) { ASSERT_NO_THROW({std::shared_ptr representation = std::make_shared("test name"); }); std::shared_ptr representation = std::make_shared("test name"); EXPECT_EQ("test name", representation->getName()); } TEST(OsgBoxRepresentationTests, AccessibleTest) { std::shared_ptr component; ASSERT_NO_THROW(component = SurgSim::Framework::Component::getFactory().create( "SurgSim::Graphics::OsgBoxRepresentation", "box")); EXPECT_EQ("SurgSim::Graphics::OsgBoxRepresentation", component->getClassName()); SurgSim::Math::Vector3d size(1.0, 2.0, 3.0); component->setValue("Size", size); YAML::Node node(YAML::convert::encode(*component)); auto decoded = std::dynamic_pointer_cast( node.as>()); EXPECT_NE(nullptr, decoded); EXPECT_TRUE(size.isApprox(decoded->getValue("Size"))); } TEST(OsgBoxRepresentationTests, SizeXTest) { std::shared_ptr boxRepresentation = std::make_shared("test name"); std::default_random_engine generator; std::uniform_real_distribution distribution(1.0, 10.0); double randomSize = distribution(generator); boxRepresentation->setSizeX(randomSize); EXPECT_EQ(randomSize, boxRepresentation->getSizeX()); } TEST(OsgBoxRepresentationTests, SizeYTest) { std::shared_ptr boxRepresentation = std::make_shared("test name"); std::default_random_engine generator; std::uniform_real_distribution distribution(1.0, 10.0); double randomSize = distribution(generator); boxRepresentation->setSizeY(randomSize); EXPECT_EQ(randomSize, boxRepresentation->getSizeY()); } TEST(OsgBoxRepresentationTests, SizeZTest) { std::shared_ptr boxRepresentation = std::make_shared("test name"); std::default_random_engine generator; std::uniform_real_distribution distribution(1.0, 10.0); double randomSize = distribution(generator); boxRepresentation->setSizeZ(randomSize); EXPECT_EQ(randomSize, boxRepresentation->getSizeZ()); } TEST(OsgBoxRepresentationTests, SizeTest) { std::shared_ptr boxRepresentation = std::make_shared("test name"); std::default_random_engine generator; std::uniform_real_distribution distribution(1.0, 10.0); double randomSizeX = distribution(generator); double randomSizeY = distribution(generator); double randomSizeZ = distribution(generator); boxRepresentation->setSizeXYZ(randomSizeX, randomSizeY, randomSizeZ); EXPECT_EQ(randomSizeX, boxRepresentation->getSizeX()); EXPECT_EQ(randomSizeY, boxRepresentation->getSizeY()); EXPECT_EQ(randomSizeZ, boxRepresentation->getSizeZ()); } TEST(OsgBoxRepresentationTests, SizeVector3dTest) { std::shared_ptr boxRepresentation = std::make_shared("test name"); std::default_random_engine generator; std::uniform_real_distribution distribution(1.0, 10.0); Vector3d randomSize(distribution(generator), distribution(generator), distribution(generator)); boxRepresentation->setSize(randomSize); EXPECT_EQ(randomSize.x(), boxRepresentation->getSizeX()); EXPECT_EQ(randomSize.y(), boxRepresentation->getSizeY()); EXPECT_EQ(randomSize.z(), boxRepresentation->getSizeZ()); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgCameraTests.cpp000066400000000000000000000323421277777236100246030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2016, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgCamera class. #include #include #include #include #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgGroup.h" #include "SurgSim/Graphics/OsgMatrixConversions.h" #include "SurgSim/Graphics/OsgRenderTarget.h" #include "SurgSim/Graphics/OsgTexture2d.h" #include "SurgSim/Graphics/UnitTests/MockObjects.h" #include "SurgSim/Graphics/UnitTests/MockOsgObjects.h" #include "SurgSim/Math/Quaternion.h" using SurgSim::Framework::BasicSceneElement; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::Matrix44d; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Graphics { TEST(OsgCameraTests, InitTest) { ASSERT_NO_THROW({std::shared_ptr camera = std::make_shared("test name");}); std::shared_ptr osgCamera = std::make_shared("test name"); std::shared_ptr camera = osgCamera; EXPECT_EQ("test name", camera->getName()); EXPECT_TRUE(camera->isActive()); EXPECT_TRUE(camera->getPose().matrix().isApprox( fromOsg(osgCamera->getOsgCamera()->getViewMatrix()).inverse())) << "Camera's pose should be initialized to the inverse of the osg::Camera's view matrix!"; EXPECT_TRUE(camera->getViewMatrix().isApprox(fromOsg(osgCamera->getOsgCamera()->getViewMatrix()))) << "Camera's view matrix should be initialized to the osg::Camera's view matrix!"; EXPECT_TRUE(camera->getProjectionMatrix().isApprox(fromOsg(osgCamera->getOsgCamera()->getProjectionMatrix()))) << "Camera's projection matrix should be initialized to the osg::Camera's projection matrix!"; EXPECT_EQ(0, camera->getRenderGroups().size()); } TEST(OsgCameraTests, OsgNodesTest) { std::shared_ptr osgCamera = std::make_shared("test name"); std::shared_ptr osgRepresentation = osgCamera; /// Check that the OSG nodes of the camera are built correctly osg::ref_ptr node = osgRepresentation->getOsgNode(); osg::ref_ptr switchNode = dynamic_cast(node.get()); EXPECT_TRUE(switchNode.valid()); EXPECT_EQ(1u, switchNode->getNumChildren()); osg::ref_ptr camera = osgCamera->getOsgCamera(); EXPECT_EQ(camera.get(), switchNode->getChild(0)); } TEST(OsgCameraTests, ActivenessTest) { std::shared_ptr osgCamera = std::make_shared("test name"); std::shared_ptr osgRepresentation = osgCamera; std::shared_ptr camera = osgCamera; // Get the osg::Switch from the OsgRepresentation so that we can make sure that the osg::Camera has the // correct visibility. osg::ref_ptr switchNode = dynamic_cast(osgRepresentation->getOsgNode().get()); EXPECT_TRUE(switchNode.valid()); EXPECT_TRUE(camera->isActive()); EXPECT_TRUE(switchNode->getChildValue(osgCamera->getOsgCamera())); camera->setLocalActive(false); EXPECT_FALSE(camera->isActive()); EXPECT_FALSE(switchNode->getChildValue(osgCamera->getOsgCamera())); camera->setLocalActive(true); EXPECT_TRUE(camera->isActive()); EXPECT_TRUE(switchNode->getChildValue(osgCamera->getOsgCamera())); } TEST(OsgCameraTests, GroupTest) { std::shared_ptr osgCamera = std::make_shared("test name"); std::shared_ptr camera = osgCamera; camera->addRenderGroupReference("test group"); EXPECT_EQ(0, camera->getRenderGroups().size()); /// Adding an OsgGroup should succeed std::shared_ptr osgGroup = std::make_shared(camera->getRenderGroupReferences().front()); std::shared_ptr group = osgGroup; EXPECT_TRUE(camera->setRenderGroup(group)); EXPECT_EQ(group, camera->getRenderGroups().front()); /// Check that the OSG node of the group is added to the OSG camera correctly EXPECT_EQ(osgGroup->getOsgGroup(), osgCamera->getOsgCamera()->getChild(0)->asGroup()->getChild(0)); /// Adding a group that does not derive from OsgGroup should fail std::shared_ptr mockGroup = std::make_shared(camera->getRenderGroupReferences().front()); EXPECT_FALSE(camera->setRenderGroup(mockGroup)); EXPECT_EQ(group, camera->getRenderGroups().front()); EXPECT_EQ(osgGroup->getOsgGroup(), osgCamera->getOsgCamera()->getChild(0)->asGroup()->getChild(0)); } TEST(OsgCameraTests, PoseTest) { auto runtime = std::make_shared(); auto scene = runtime->getScene(); std::shared_ptr osgCamera = std::make_shared("test name"); std::shared_ptr camera = osgCamera; camera->setRenderGroupReference("Test"); std::shared_ptr element = std::make_shared("element"); element->addComponent(camera); scene->addSceneElement(element); camera->wakeUp(); RigidTransform3d elementPose = SurgSim::Math::makeRigidTransform( Quaterniond(SurgSim::Math::Vector4d::Random()).normalized(), Vector3d::Random()); RigidTransform3d localPose = SurgSim::Math::makeRigidTransform( Quaterniond(SurgSim::Math::Vector4d::Random()).normalized(), Vector3d::Random()); RigidTransform3d pose = elementPose * localPose; { SCOPED_TRACE("Check Initial Pose"); EXPECT_TRUE(camera->getLocalPose().isApprox(RigidTransform3d::Identity())); EXPECT_TRUE(camera->getPose().isApprox(RigidTransform3d::Identity())); } { SCOPED_TRACE("Set Local Pose"); camera->setLocalPose(localPose); EXPECT_TRUE(camera->getLocalPose().isApprox(localPose)); EXPECT_TRUE(camera->getPose().isApprox(localPose)); EXPECT_TRUE(camera->getViewMatrix().isApprox(localPose.matrix().inverse())); EXPECT_TRUE(camera->getViewMatrix().inverse().isApprox(camera->getInverseViewMatrix())); camera->update(0.01); EXPECT_TRUE(fromOsg(osgCamera->getOsgCamera()->getViewMatrix()).isApprox(localPose.matrix().inverse())); } { SCOPED_TRACE("Set Element Pose"); element->setPose(elementPose); EXPECT_TRUE(camera->getLocalPose().isApprox(localPose)); EXPECT_TRUE(camera->getPose().isApprox(pose)); EXPECT_TRUE(camera->getViewMatrix().isApprox(pose.matrix().inverse())); EXPECT_TRUE(camera->getViewMatrix().inverse().isApprox(camera->getInverseViewMatrix())); camera->update(0.01); EXPECT_TRUE(fromOsg(osgCamera->getOsgCamera()->getViewMatrix()).isApprox(pose.matrix().inverse())); } } TEST(OsgCameraTests, MatricesTest) { std::shared_ptr osgCamera = std::make_shared("test name"); std::shared_ptr camera = osgCamera; Matrix44d projectionMatrix = Matrix44d::Random(); camera->setProjectionMatrix(projectionMatrix); EXPECT_TRUE(camera->getProjectionMatrix().isApprox(projectionMatrix)); EXPECT_TRUE(camera->getInverseProjectionMatrix().isApprox(projectionMatrix.inverse())); } TEST(OsgCameraTests, RenderTargetTest) { auto osgCamera = std::make_shared("test camera"); std::shared_ptr camera = osgCamera; std::shared_ptr renderTarget = std::make_shared(256, 256, 1.0, 2, true); EXPECT_NO_THROW(camera->setRenderTarget(renderTarget)); EXPECT_TRUE(osgCamera->getOsgCamera()->isRenderToTextureCamera()); } TEST(OsgCameraTests, CameraGroupTest) { std::shared_ptr camera = std::make_shared("TestRepresentation"); camera->clearGroupReferences(); camera->addGroupReference("test1"); camera->addGroupReference("test2"); EXPECT_EQ(2u, camera->getGroupReferences().size()); camera->setRenderGroupReference("otherTest"); EXPECT_EQ(2u, camera->getGroupReferences().size()); // Setting the render group of a camera to the group that it is in should remove the group // from the set camera->setRenderGroupReference("test1"); EXPECT_EQ(1u, camera->getGroupReferences().size()); // Should not be able to set group reference to the current render group EXPECT_FALSE(camera->addGroupReference("test1")); EXPECT_EQ(1u, camera->getGroupReferences().size()); } TEST(OsgCameraTests, Serialization) { std::shared_ptr camera = std::make_shared("TestOsgCamera"); // Set values. SurgSim::Math::Matrix44d projection = SurgSim::Math::Matrix44d::Random(); std::array viewport = { 1024, 768}; camera->setValue("ProjectionMatrix", projection); camera->setValue("ViewportSize", viewport); camera->setValue("AmbientColor", SurgSim::Math::Vector4d(0.1, 0.2, 0.3, 0.4)); camera->setViewport(10, 20, 30, 50); // Serialize. YAML::Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*camera);); // Deserialize. std::shared_ptr newCamera; newCamera = std::dynamic_pointer_cast(node.as>()); EXPECT_NE(nullptr, newCamera); // Verify. EXPECT_TRUE(boost::any_cast(camera->getValue("ProjectionMatrix")).isApprox( boost::any_cast(newCamera->getValue("ProjectionMatrix")))); typedef std::array ParamType; EXPECT_TRUE(boost::any_cast(camera->getValue("ViewportSize")) == boost::any_cast(newCamera->getValue("ViewportSize"))); EXPECT_TRUE(boost::any_cast(camera->getValue("AmbientColor")).isApprox( boost::any_cast(newCamera->getValue("AmbientColor")))); } TEST(OsgCameraTests, SetProjection) { std::shared_ptr camera = std::make_shared("TestOsgCamera"); Math::Matrix44d identity = Math::Matrix44d::Identity(); camera->setProjectionMatrix(identity); osg::ref_ptr osgCamera(new osg::Camera); // Windows does not support initializer lists ... std::array persp = {{90.0, 1.0, 0.01, 10.0}}; osgCamera->setProjectionMatrixAsPerspective(persp[0], persp[1], persp[2], persp[3]); auto expectedPerspective = Graphics::fromOsg(osgCamera->getProjectionMatrix()); camera->setPerspectiveProjection(persp[0], persp[1], persp[2], persp[3]); EXPECT_TRUE(expectedPerspective.isApprox(camera->getProjectionMatrix())); camera->setProjectionMatrix(identity); EXPECT_NO_THROW(camera->setValue("PerspectiveProjection", persp)); EXPECT_TRUE(expectedPerspective.isApprox(camera->getProjectionMatrix())); camera->setProjectionMatrix(identity); std::array ortho = {{ -1.0, 1.0, 2.0, -2.0, 3.0, -3.0}}; osgCamera->setProjectionMatrixAsOrtho(ortho[0], ortho[1], ortho[2], ortho[3], ortho[4], ortho[5]); auto expectedOrtho = Graphics::fromOsg(osgCamera->getProjectionMatrix()); camera->setOrthogonalProjection(ortho[0], ortho[1], ortho[2], ortho[3], ortho[4], ortho[5]); EXPECT_TRUE(expectedOrtho.isApprox(camera->getProjectionMatrix())); camera->setProjectionMatrix(identity); EXPECT_NO_THROW(camera->setValue("OrthogonalProjection", ortho)); EXPECT_TRUE(expectedOrtho.isApprox(camera->getProjectionMatrix())); } TEST(OsgCameraTests, Viewport) { std::shared_ptr camera = std::make_shared("TestOsgCamera"); std::array original = {10, 20, 30, 40}; std::array result = {0, 0, 0, 0}; camera->setViewport(original[0], original[1], original[2], original[3]); camera->getViewport(&result[0], &result[1], &result[2], &result[3]); EXPECT_EQ(original, result); camera->setViewport(0, 0, 0, 0); camera->setValue("Viewport", original); result = camera->getValue>("Viewport"); EXPECT_EQ(original, result); } TEST(OsgCameraTests, MultipleRenderGroups) { std::shared_ptr camera = std::make_shared("TestOsgCamera"); EXPECT_EQ(0, camera->getRenderGroupReferences().size()); camera->addRenderGroupReference("Group1"); camera->addRenderGroupReference("Group2"); EXPECT_EQ(2, camera->getRenderGroupReferences().size()); std::vector references; references.push_back("Group3"); references.push_back("Group4"); references.push_back("Group5"); camera->setRenderGroupReferences(references); EXPECT_EQ(3, camera->getRenderGroupReferences().size()); camera->addRenderGroup(std::make_shared("Group3")); camera->addRenderGroup(std::make_shared("Group4")); camera->addRenderGroup(std::make_shared("Group5")); std::vector> groups; camera->getOsgCamera()->removeChildren(0, 1); references.push_back("Group6"); references.push_back("Group7"); references.push_back("Group8"); for (auto reference : references) { camera->addRenderGroupReference(reference); groups.push_back(std::make_shared(reference)); } camera->setRenderGroups(groups); EXPECT_EQ(groups.size(), camera->getRenderGroups().size()); } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgCapsuleRepresentationTests.cpp000066400000000000000000000065111277777236100277310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgCapsuleRepresentation class. #include "SurgSim/Graphics/UnitTests/MockOsgObjects.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Graphics/OsgCapsuleRepresentation.h" #include "SurgSim/Math/Vector.h" #include using SurgSim::Math::Vector2d; namespace { const double epsilon = 1e-10; }; namespace SurgSim { namespace Graphics { TEST(OsgCapsuleRepresentationTests, AccessibleTest) { std::shared_ptr component; ASSERT_NO_THROW(component = SurgSim::Framework::Component::getFactory().create( "SurgSim::Graphics::OsgCapsuleRepresentation", "capsule")); EXPECT_EQ("SurgSim::Graphics::OsgCapsuleRepresentation", component->getClassName()); double radius = 4.321; double height = 1.234; component->setValue("Height", height); component->setValue("Radius", radius); YAML::Node node(YAML::convert::encode(*component)); auto decoded = std::dynamic_pointer_cast( node.as>()); EXPECT_NE(nullptr, decoded); EXPECT_DOUBLE_EQ(radius, decoded->getValue("Radius")); EXPECT_DOUBLE_EQ(height, decoded->getValue("Height")); } TEST(OsgCapsuleRepresentationTests, RadiusTest) { std::shared_ptr capsuleRepresentation = std::make_shared("test name"); double radius = 1.0; capsuleRepresentation->setRadius(radius); EXPECT_NEAR(capsuleRepresentation->getRadius(), radius, epsilon); } TEST(OsgCapsuleRepresentationTests, HeightTest) { std::shared_ptr capsuleRepresentation = std::make_shared("test name"); double height = 1.0; capsuleRepresentation->setHeight(height); EXPECT_NEAR(capsuleRepresentation->getHeight(), height, epsilon); } TEST(OsgCapsuleRepresentationTests, SizeTest) { std::shared_ptr capsuleRepresentation = std::make_shared("test name"); double radius = 1.0, height = 1.0; double retrievedRadius, retrievedHeight; capsuleRepresentation->setSize(radius, height); capsuleRepresentation->getSize(&retrievedRadius, &retrievedHeight); EXPECT_NEAR(radius, retrievedRadius, epsilon); EXPECT_NEAR(height, retrievedHeight, epsilon); } TEST(OsgCapsuleRepresentationTests, SizeVectordTest) { std::shared_ptr capsuleRepresentation = std::make_shared("test name"); Vector2d size(1.0, 1.0); capsuleRepresentation->setSize(size); EXPECT_TRUE(capsuleRepresentation->getSize().isApprox(size)); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgCurveRepresentationTests.cpp000066400000000000000000000053231277777236100274210ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgCurveRepresentation.h" #include "SurgSim/DataStructures/Vertices.h" #include namespace { const double epsilon = 1e-5; } namespace SurgSim { namespace Graphics { TEST(OsgCurveRepresentationTests, Init) { ASSERT_NO_THROW({std::shared_ptr representation = std::make_shared("Test"); }); } // Tests setters and getters through the properties, thereby also testing the properties TEST(OsgCurveRepresentationTests, SetterGettersProperties) { auto curve = std::make_shared("Test"); double width = 1234.0; curve->setValue("Width", width); EXPECT_NEAR(width, curve->getValue("Width"), epsilon); EXPECT_NEAR(width, curve->getWidth(), epsilon); double tension = 0.1234; curve->setValue("Tension", tension); EXPECT_NEAR(tension, curve->getValue("Tension"), epsilon); EXPECT_NEAR(tension, curve->getTension(), epsilon); bool val = curve->isAntiAliasing(); curve->setValue("AntiAliasing", !val); EXPECT_EQ(!val, curve->isAntiAliasing()); EXPECT_EQ(!val, curve->getValue("AntiAliasing")); size_t subdivisions = 4321; curve->setValue("Subdivisions", subdivisions); EXPECT_EQ(subdivisions, curve->getValue("Subdivisions")); EXPECT_EQ(subdivisions, curve->getSubdivisions()); Math::Vector4d color(4.0, 3.0, 2.0, 1.0); curve->setValue("Color", color); EXPECT_TRUE(color.isApprox(curve->getValue("Color"))); EXPECT_TRUE(color.isApprox(curve->getColor())); } TEST(OsgCurveRepresentationTests, ControlPoints) { typedef DataStructures::VerticesPlain::VertexType Vertex; DataStructures::VerticesPlain vertices; vertices.addVertex(Vertex(Math::Vector3d(1.0, 2.0, 3.0))); auto curve = std::make_shared("Test"); EXPECT_ANY_THROW(curve->updateControlPoints(vertices)); vertices.addVertex(Vertex(Math::Vector3d(1.0, 2.0, 3.0))); vertices.addVertex(Vertex(Math::Vector3d(1.0, 2.0, 3.0))); EXPECT_NO_THROW(curve->updateControlPoints(vertices)); EXPECT_NO_THROW(curve->setValue("Vertices", vertices)); } } }opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgCylinderRepresentationTests.cpp000066400000000000000000000065501277777236100301110ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgCylinderRepresentation class. #include "SurgSim/Graphics/UnitTests/MockOsgObjects.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgCylinderRepresentation.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Framework/FrameworkConvert.h" #include #include using SurgSim::Math::Vector2d; namespace { const double epsilon = 1e-10; }; namespace SurgSim { namespace Graphics { TEST(OsgCylinderRepresentationTests, AccessibleTest) { std::shared_ptr component; ASSERT_NO_THROW(component = SurgSim::Framework::Component::getFactory().create( "SurgSim::Graphics::OsgCylinderRepresentation", "sphere")); EXPECT_EQ("SurgSim::Graphics::OsgCylinderRepresentation", component->getClassName()); double radius = 4.321; double height = 1.234; component->setValue("Height", height); component->setValue("Radius", radius); YAML::Node node(YAML::convert::encode(*component)); auto decoded = std::dynamic_pointer_cast( node.as>()); EXPECT_NE(nullptr, decoded); EXPECT_DOUBLE_EQ(radius, decoded->getValue("Radius")); EXPECT_DOUBLE_EQ(height, decoded->getValue("Height")); } TEST(OsgCylinderRepresentationTests, RadiusTest) { std::shared_ptr cylinderRepresentation = std::make_shared("test name"); double radius = 1.0; cylinderRepresentation->setRadius(radius); EXPECT_NEAR(radius, cylinderRepresentation->getRadius(), epsilon); } TEST(OsgCylinderRepresentationTests, HeightTest) { std::shared_ptr cylinderRepresentation = std::make_shared("test name"); double height = 1.0; cylinderRepresentation->setHeight(height); EXPECT_NEAR(height, cylinderRepresentation->getHeight(), epsilon); } TEST(OsgCylinderRepresentationTests, SizeTest) { std::shared_ptr cylinderRepresentation = std::make_shared("test name"); double radius = 1.0, height = 1.0; cylinderRepresentation->setSize(radius, height); EXPECT_NEAR(radius, cylinderRepresentation->getRadius(), epsilon); EXPECT_NEAR(height, cylinderRepresentation->getHeight(), epsilon); } TEST(OsgCylinderRepresentationTests, SizeVector2dTest) { std::shared_ptr cylinderRepresentation = std::make_shared("test name"); Vector2d size(1.0, 1.0); cylinderRepresentation->setSize(size); EXPECT_TRUE(size.isApprox(cylinderRepresentation->getSize(), epsilon)); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgGroupTests.cpp000066400000000000000000000230411277777236100245030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the Group class. #include "SurgSim/Graphics/UnitTests/MockObjects.h" #include "SurgSim/Graphics/UnitTests/MockOsgObjects.h" #include "SurgSim/Graphics/OsgGroup.h" #include namespace SurgSim { namespace Graphics { TEST(OsgGroupTests, InitTest) { ASSERT_NO_THROW({std::shared_ptr group = std::make_shared("test name");}); std::shared_ptr osgGroup = std::make_shared("test group"); std::shared_ptr group = osgGroup; EXPECT_EQ("test group", group->getName()); EXPECT_TRUE(group->isVisible()); EXPECT_EQ(0u, group->getMembers().size()); EXPECT_EQ(0u, osgGroup->getOsgGroup()->getNumChildren()); } TEST(OsgGroupTests, OsgNodesTest) { std::shared_ptr osgGroup = std::make_shared("test group"); osg::ref_ptr osgSwitch = dynamic_cast(osgGroup->getOsgGroup().get()); ASSERT_TRUE(osgSwitch.valid()) << "Group's OSG node should be a switch!"; } TEST(OsgGroupTests, VisibilityTest) { std::shared_ptr osgGroup = std::make_shared("test group"); std::shared_ptr group = osgGroup; group->setVisible(false); EXPECT_FALSE(group->isVisible()); group->setVisible(true); EXPECT_TRUE(group->isVisible()); } TEST(OsgGroupTests, AddRemoveTest) { std::shared_ptr osgGroup = std::make_shared("test group"); std::shared_ptr group = osgGroup; EXPECT_EQ(0u, group->getMembers().size()); osg::ref_ptr osgSwitch = dynamic_cast(osgGroup->getOsgGroup().get()); ASSERT_TRUE(osgSwitch.valid()) << "Group's OSG node should be a switch!"; EXPECT_EQ(0u, osgSwitch->getNumChildren()); /// Add an representation and make sure the osg::Switch value for it is set correctly (should be true) std::shared_ptr representation1 = std::make_shared("test representation 1"); group->add(representation1); EXPECT_EQ(1u, group->getMembers().size()); EXPECT_EQ(1u, osgSwitch->getNumChildren()); EXPECT_EQ(0u, osgSwitch->getChildIndex(representation1->getOsgNode())); EXPECT_TRUE(osgSwitch->getChildValue(representation1->getOsgNode())) << "Representation 1 should be visible!"; /// Set group to not visible and check the osg::Switch values group->setVisible(false); EXPECT_FALSE(group->isVisible()); EXPECT_FALSE(osgSwitch->getChildValue(representation1->getOsgNode())) << "Representation 1 should not be visible!"; /// Add another representation and make sure the osg::Switch value for it is set correctly (should be false) std::shared_ptr representation2 = std::make_shared("test representation 2"); group->add(representation2); EXPECT_EQ(2u, group->getMembers().size()); EXPECT_EQ(2u, osgSwitch->getNumChildren()); EXPECT_EQ(1u, osgSwitch->getChildIndex(representation2->getOsgNode())); EXPECT_FALSE(osgSwitch->getChildValue(representation2->getOsgNode())) << "Representation 2 should not be visible!"; /// Set group to visible and check the osg::Switch values group->setVisible(true); EXPECT_TRUE(group->isVisible()); EXPECT_TRUE(osgSwitch->getChildValue(representation1->getOsgNode())) << "Representation 1 should be visible!"; EXPECT_TRUE(osgSwitch->getChildValue(representation2->getOsgNode())) << "Representation 2 should be visible!"; /// Set group to not visible and check the osg::Switch values group->setVisible(false); EXPECT_FALSE(group->isVisible()); EXPECT_FALSE(osgSwitch->getChildValue(representation1->getOsgNode())) << "Representation 1 should not be visible!"; EXPECT_FALSE(osgSwitch->getChildValue(representation2->getOsgNode())) << "Representation 1 should not be visible!"; /// Try to add a duplicate representation EXPECT_FALSE(group->add(representation1)); EXPECT_EQ(2u, group->getMembers().size()); EXPECT_EQ(2u, osgSwitch->getNumChildren()); /// Remove an representation EXPECT_TRUE(group->remove(representation1)); EXPECT_EQ(1u, osgSwitch->getNumChildren()); EXPECT_EQ(1u, osgSwitch->getChildIndex(representation1->getOsgNode())); /// Try to remove an representation that is not in the group EXPECT_FALSE(group->remove(representation1)); EXPECT_EQ(1u, osgSwitch->getChildIndex(representation1->getOsgNode())); /// Try to add a non-OSG representation std::shared_ptr nonOsgRepresentation = std::make_shared("non-osg representation"); EXPECT_FALSE(group->add(nonOsgRepresentation)) << "OsgGroup should only succeed on representations that derive from OsgRepresentation!"; EXPECT_EQ(1u, group->getMembers().size()); EXPECT_EQ(group->getMembers().end(), std::find(group->getMembers().begin(), group->getMembers().end(), nonOsgRepresentation)) << "Only subclasses of OsgRepresentation should be in an OsgGroup!"; EXPECT_EQ(1u, osgSwitch->getNumChildren()); } TEST(OsgGroupTests, AppendTest) { std::shared_ptr group1 = std::make_shared("test group 1"); EXPECT_EQ(0u, group1->getMembers().size()); std::shared_ptr representation1 = std::make_shared("test representation 1"); std::shared_ptr representation2 = std::make_shared("test representation 2"); /// Add 2 representations to group 1 EXPECT_TRUE(group1->add(representation1)); EXPECT_TRUE(group1->add(representation2)); EXPECT_EQ(2u, group1->getMembers().size()); std::shared_ptr representation3 = std::make_shared("test representation 3"); std::shared_ptr group2 = std::make_shared("test group 2"); EXPECT_EQ(0u, group2->getMembers().size()); /// Add an representation to group 2 and append group 1 to group 2. EXPECT_TRUE(group2->add(representation3)); EXPECT_TRUE(group2->append(group1)); EXPECT_EQ(3u, group2->getMembers().size()); // Check that the representations from group 1 were added to group 2, and that it still has the representation // that was added directly to it. EXPECT_NE(group2->getMembers().end(), std::find(group2->getMembers().begin(), group2->getMembers().end(), representation1)); EXPECT_NE(group2->getMembers().end(), std::find(group2->getMembers().begin(), group2->getMembers().end(), representation2)); EXPECT_NE(group2->getMembers().end(), std::find(group2->getMembers().begin(), group2->getMembers().end(), representation3)); /// Try to append a group that has already been appended - this will try to add duplicate representations. EXPECT_FALSE(group2->append(group1)) << "Append should return false if any representation is a duplicate!"; EXPECT_EQ(3u, group2->getMembers().size()); /// Check that group 1 was not modified by appending it to group 2. EXPECT_EQ(2u, group1->getMembers().size()); EXPECT_NE(group1->getMembers().end(), std::find(group1->getMembers().begin(), group1->getMembers().end(), representation1)); EXPECT_NE(group1->getMembers().end(), std::find(group1->getMembers().begin(), group1->getMembers().end(), representation2)); /// Try to append a group that is not a subclass of OsgGroup std::shared_ptr nonOsgGroup = std::make_shared("non-osg group"); std::shared_ptr nonOsgRepresentation = std::make_shared("non-osg representation"); /// Add an OSG and non-OSG representation to this group. EXPECT_TRUE(nonOsgGroup->add(representation3)); EXPECT_TRUE(nonOsgGroup->add(nonOsgRepresentation)); EXPECT_FALSE(group1->append(nonOsgGroup)); EXPECT_EQ(2u, group1->getMembers().size()) << "Nothing from the non-OSG group should have been added to the OsgGroup!"; EXPECT_EQ(group1->getMembers().end(), std::find(group1->getMembers().begin(), group1->getMembers().end(), representation3)); EXPECT_EQ(group1->getMembers().end(), std::find(group1->getMembers().begin(), group1->getMembers().end(), nonOsgRepresentation)); } TEST(OsgGroupTests, ClearTest) { std::shared_ptr osgGroup = std::make_shared("test name"); std::shared_ptr group = osgGroup; std::shared_ptr representation1 = std::make_shared("test representation 1"); std::shared_ptr representation2 = std::make_shared("test representation 2"); std::shared_ptr representation3 = std::make_shared("test representation 3"); osg::ref_ptr osgSwitch = dynamic_cast(osgGroup->getOsgGroup().get()); ASSERT_TRUE(osgSwitch.valid()) << "Group's OSG node should be a switch!"; EXPECT_EQ(0u, group->getMembers().size()); EXPECT_EQ(0u, osgSwitch->getNumChildren()); // Add 3 representations EXPECT_TRUE(group->add(representation1)); EXPECT_TRUE(group->add(representation2)); EXPECT_TRUE(group->add(representation3)); EXPECT_EQ(3u, group->getMembers().size()); EXPECT_EQ(3u, osgSwitch->getNumChildren()); // Remove all representations group->clear(); EXPECT_EQ(0u, group->getMembers().size()); EXPECT_EQ(0u, osgSwitch->getNumChildren()); } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgLightTests.cpp000066400000000000000000000160531277777236100244630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Basic logic tests for OsgLight #include #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Graphics/Light.h" #include "SurgSim/Graphics/OsgGroup.h" #include "SurgSim/Graphics/OsgLight.h" #include "SurgSim/Graphics/OsgConversions.h" #include "SurgSim/Graphics/UnitTests/MockObjects.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; namespace { const double epsilon = 1e-8; } namespace SurgSim { namespace Graphics { class OsgLightTests : public testing::Test { public: testing::AssertionResult hasUniforms( std::shared_ptr light, std::shared_ptr group, bool doesHave) { osg::ref_ptr osgGroup = group->getOsgGroup(); osg::ref_ptr stateSet = osgGroup->getStateSet(); for (auto it = std::begin(light->m_uniforms); it != std::end(light->m_uniforms); ++it) { osg::ref_ptr uniform = stateSet->getUniform(it->second->getName()); if (doesHave && uniform == nullptr) { return testing::AssertionFailure() << "Expected uniform " << it->second->getName() << " not found."; } else if (!doesHave && uniform != nullptr) { return testing::AssertionFailure() << "Did not expect uniform " << it->second->getName() << " but found it."; } } return testing::AssertionSuccess(); } osg::ref_ptr getUniform(std::shared_ptr light, int type) { return light->m_uniforms[type]; } }; TEST_F(OsgLightTests, InitTest) { ASSERT_NO_THROW({auto light = std::make_shared("TestLight");}); std::shared_ptr light = std::make_shared("TestLight"); ASSERT_EQ(nullptr, light->getGroup()); } TEST_F(OsgLightTests, GroupAccessorTest) { std::shared_ptr light = std::make_shared("TestLight"); std::shared_ptr group = std::make_shared("TestGroup"); std::shared_ptr mockGroup = std::make_shared("MockGroup"); // Light does not have a default group EXPECT_EQ(nullptr, light->getGroup()); // Assigning a light to a group EXPECT_TRUE(light->setGroup(group)); EXPECT_EQ(group, light->getGroup()); EXPECT_TRUE(hasUniforms(light, group, true)); // Light should not take a mock group as a group EXPECT_FALSE(light->setGroup(mockGroup)); EXPECT_EQ(group, light->getGroup()); // Assigning an empty group should clear the group EXPECT_TRUE(light->setGroup(nullptr)); EXPECT_EQ(nullptr, light->getGroup()); // Still should not accept a mock group EXPECT_FALSE(light->setGroup(mockGroup)); EXPECT_EQ(nullptr, light->getGroup()); // Setting the nullptr should also work EXPECT_TRUE(light->setGroup(nullptr)); EXPECT_EQ(nullptr, light->getGroup()); EXPECT_TRUE(hasUniforms(light, group, false)); } TEST_F(OsgLightTests, ColorAccessorTests) { std::shared_ptr light = std::make_shared("TestLight"); std::shared_ptr group = std::make_shared("TestGroup"); light->setGroup(group); // We are using the indices directly from the enum, in a white box way, there are not really // any good ways to do this better besides digging for the uniform by name ... // make sure all the values are different from each other so not to get false positives osg::Vec4f osgColor; Vector4d diffuse(1.0, 2.0, 3.0, 4.0); light->setDiffuseColor(diffuse); EXPECT_TRUE(diffuse.isApprox(light->getDiffuseColor())); getUniform(light, 1)->get(osgColor); EXPECT_TRUE(diffuse.isApprox(fromOsg(osgColor).cast())); Vector4d specular(2.0, 3.0, 4.0, 5.0); light->setSpecularColor(specular); EXPECT_TRUE(specular.isApprox(light->getSpecularColor())); getUniform(light, 2)->get(osgColor); EXPECT_TRUE(specular.isApprox(fromOsg(osgColor).cast())); } TEST_F(OsgLightTests, AttenuationAccessorTests) { std::shared_ptr light = std::make_shared("TestLight"); std::shared_ptr group = std::make_shared("TestGroup"); light->setGroup(group); float osgValue; double constantAttenuation = 3.0; light->setConstantAttenuation(constantAttenuation); EXPECT_NEAR(constantAttenuation, light->getConstantAttenuation(), epsilon); getUniform(light, 3)->get(osgValue); EXPECT_NEAR(constantAttenuation, static_cast(osgValue), epsilon); double linearAttenuation = 4.0; light->setLinearAttenuation(linearAttenuation); EXPECT_NEAR(linearAttenuation , light->getLinearAttenuation(), epsilon); getUniform(light, 4)->get(osgValue); EXPECT_NEAR(linearAttenuation, static_cast(osgValue), epsilon); double quadraticAttenuation = 5.0; light->setQuadraticAttenuation(quadraticAttenuation); EXPECT_NEAR(quadraticAttenuation, light->getQuadraticAttenuation(), epsilon); getUniform(light, 5)->get(osgValue); EXPECT_NEAR(quadraticAttenuation, static_cast(osgValue), epsilon); } TEST_F(OsgLightTests, Serialization) { std::shared_ptr component; ASSERT_NO_THROW(component = SurgSim::Framework::Component::getFactory().create( "SurgSim::Graphics::OsgLight", "light")); SurgSim::Math::Vector4d diffuse(0.1, 0.2, 0.3, 0.4); SurgSim::Math::Vector4d specular(0.4, 0.3, 0.2, 0.1); double constant = 0.1; double linear = 0.2; double quadratic = 0.3; std::string lightGroupRef = "test"; component->setValue("DiffuseColor", diffuse); component->setValue("SpecularColor", specular); component->setValue("ConstantAttenuation", constant); component->setValue("LinearAttenuation", linear); component->setValue("QuadraticAttenuation", quadratic); component->setValue("LightGroupReference", lightGroupRef); YAML::Node node(YAML::convert::encode(*component)); auto decode = std::dynamic_pointer_cast( node.as>()); EXPECT_NE(nullptr, decode); EXPECT_TRUE(diffuse.isApprox(decode->getValue("DiffuseColor"))); EXPECT_TRUE(specular.isApprox(decode->getValue("SpecularColor"))); EXPECT_NEAR(constant, decode->getValue("ConstantAttenuation"), 1e-9); EXPECT_NEAR(linear, decode->getValue("LinearAttenuation"), 1e-9); EXPECT_NEAR(quadratic, decode->getValue("QuadraticAttenuation"), 1e-9); EXPECT_EQ(lightGroupRef, decode->getValue("LightGroupReference")); } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgLogTests.cpp000066400000000000000000000042451277777236100241350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Graphics/OsgLog.h" #include "SurgSim/Graphics/UnitTests/MockOsgObjects.h" TEST(OsgLogTests, MessageTest) { osg::NotifyHandler* pOsgLog = new MockOsgLog; osg::setNotifyHandler(pOsgLog); EXPECT_EQ("", dynamic_cast(pOsgLog)->getMessage()); osg::notify(osg::ALWAYS) << "osg::ALWAYS Test" << std::endl; EXPECT_EQ("CRITICAL osg::ALWAYS Test\n", dynamic_cast(pOsgLog)->getMessage()); osg::notify(osg::FATAL) << "osg::FATAL Test" << std::endl; EXPECT_EQ("CRITICAL osg::FATAL Test\n", dynamic_cast(pOsgLog)->getMessage()); osg::notify(osg::WARN) << "osg::WARN Test" << std::endl; EXPECT_EQ("WARNING osg::WARN Test\n", dynamic_cast(pOsgLog)->getMessage()); osg::notify(osg::NOTICE) << "osg::NOTICE Test" << std::endl; EXPECT_EQ("INFO osg::NOTICE Test\n", dynamic_cast(pOsgLog)->getMessage()); osg::notify(osg::INFO) << "osg::INFO Test" << std::endl; EXPECT_EQ("INFO osg::INFO Test\n", dynamic_cast(pOsgLog)->getMessage()); osg::notify(osg::DEBUG_INFO) << "osg::DEBUG_INFO Test" << std::endl; EXPECT_EQ("DEBUG osg::DEBUG_INFO Test\n", dynamic_cast(pOsgLog)->getMessage()); osg::notify(osg::DEBUG_FP) << "osg::DEBUG_FP Test" << std::endl; EXPECT_EQ("DEBUG osg::DEBUG_FP Test\n", dynamic_cast(pOsgLog)->getMessage()); osg::notify(osg::DEBUG_FP) << "osg::DEBUG_FP Test" << std::endl; EXPECT_EQ("DEBUG osg::DEBUG_FP Test\n", dynamic_cast(pOsgLog)->getMessage()); } opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgManagerTests.cpp000066400000000000000000000231621277777236100247650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgManager class. #include "SurgSim/Graphics/UnitTests/MockObjects.h" #include "SurgSim/Graphics/UnitTests/MockOsgObjects.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgGroup.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgRepresentation.h" #include "SurgSim/Graphics/OsgView.h" #include "SurgSim/Graphics/OsgViewElement.h" #include #include #include #include using SurgSim::Framework::Runtime; using SurgSim::Framework::ComponentManager; using SurgSim::Framework::Representation; using SurgSim::Framework::Component; namespace SurgSim { namespace Graphics { class OsgManagerTest : public ::testing::Test { public: virtual void SetUp() { runtime = std::make_shared(); graphicsManager = std::make_shared(); runtime->addManager(graphicsManager); } virtual void TearDown() { runtime->stop(); } bool testDoAddComponent(const std::shared_ptr& component) { return graphicsManager->executeAdditions(component); } bool testDoRemoveComponent(const std::shared_ptr& component) { return graphicsManager->executeRemovals(component); } void doProcessComponents() { graphicsManager->processComponents(); } std::shared_ptr runtime; std::shared_ptr graphicsManager; }; TEST_F(OsgManagerTest, InitTest) { ASSERT_NO_THROW({std::shared_ptr manager = std::make_shared();}); } bool hasView(osgViewer::CompositeViewer* compositeViewer, osg::View* view) { bool foundView = false; for (unsigned int i = 0; i < compositeViewer->getNumViews(); ++i) { if (compositeViewer->getView(i) == view) { foundView = true; } } return foundView; } TEST_F(OsgManagerTest, AddRemoveTest) { osgViewer::CompositeViewer* compositeViewer = graphicsManager->getOsgCompositeViewer(); /// Perform add and remove from a pointer to a ComponentManager to check that the intended polymorphism is working. std::shared_ptr componentManager = graphicsManager; std::shared_ptr representation1 = std::make_shared("test representation 1"); std::shared_ptr representation2 = std::make_shared("test representation 2"); std::shared_ptr group1 = std::make_shared("test group 1"); std::shared_ptr group2 = std::make_shared("test group 2"); std::shared_ptr camera = std::make_shared("test camera"); std::shared_ptr view1 = std::make_shared("test view 1"); view1->setCamera(camera); std::shared_ptr view2 = std::make_shared("test view 2"); view2->setCamera(camera); std::shared_ptr nonOsgRepresentation = std::make_shared("non-osg representation"); std::shared_ptr nonOsgGroup = std::make_shared("non-osg group"); std::shared_ptr nonOsgView = std::make_shared("non-osg view"); using SurgSim::Framework::Representation; std::shared_ptr nonGraphicsComponent = std::make_shared( "non-graphics component"); EXPECT_EQ(0u, graphicsManager->getRepresentations().size()); EXPECT_EQ(0u, graphicsManager->getGroups().size()); EXPECT_EQ(0u, graphicsManager->getViews().size()); /// Add an representation EXPECT_TRUE(componentManager->enqueueAddComponent(representation1)); doProcessComponents(); EXPECT_EQ(1u, graphicsManager->getRepresentations().size()); EXPECT_EQ(1u, graphicsManager->getGroups().size()); EXPECT_NE(graphicsManager->getRepresentations().end(), std::find(graphicsManager->getRepresentations().begin(), graphicsManager->getRepresentations().end(), representation1)); /// Add a view EXPECT_TRUE(componentManager->enqueueAddComponent(view1)); doProcessComponents(); EXPECT_EQ(1u, graphicsManager->getViews().size()); EXPECT_NE(graphicsManager->getViews().end(), std::find(graphicsManager->getViews().begin(), graphicsManager->getViews().end(), view1)); EXPECT_TRUE(hasView(compositeViewer, view1->getOsgView())); /// Add another view EXPECT_TRUE(componentManager->enqueueAddComponent(view2)); doProcessComponents(); EXPECT_EQ(2u, graphicsManager->getViews().size()); EXPECT_NE(graphicsManager->getViews().end(), std::find(graphicsManager->getViews().begin(), graphicsManager->getViews().end(), view2)); /// Add another representation EXPECT_TRUE(componentManager->enqueueAddComponent(representation2)); doProcessComponents(); EXPECT_EQ(2u, graphicsManager->getRepresentations().size()); EXPECT_NE(graphicsManager->getRepresentations().end(), std::find(graphicsManager->getRepresentations().begin(), graphicsManager->getRepresentations().end(), representation2)); /// Try to add a duplicate representation EXPECT_TRUE(componentManager->enqueueAddComponent(representation1)); doProcessComponents(); EXPECT_EQ(2u, graphicsManager->getRepresentations().size()); /// Try to add a duplicate view EXPECT_TRUE(componentManager->enqueueAddComponent(view1)); doProcessComponents(); EXPECT_EQ(2u, graphicsManager->getViews().size()); /// Try to add an representation that is not a subclass of OsgRepresentation EXPECT_TRUE(componentManager->enqueueAddComponent(nonOsgRepresentation)) << "Adding an Representation that is not a subclass of OsgRepresentation should fail and return false"; doProcessComponents(); EXPECT_EQ(2u, graphicsManager->getRepresentations().size()); /// Try to add a view that is not a subclass of OsgView EXPECT_TRUE(componentManager->enqueueAddComponent(nonOsgView)) << "Adding a View that is not a subclass of OsgView should fail and return false"; doProcessComponents(); EXPECT_EQ(2u, graphicsManager->getViews().size()); /// Try to add a component that is not graphics-related EXPECT_TRUE(componentManager->enqueueAddComponent(nonGraphicsComponent)) << "Adding a component that this manager is not concerned with should return true"; /// Remove a view EXPECT_TRUE(componentManager->enqueueRemoveComponent(view2)); doProcessComponents(); EXPECT_EQ(graphicsManager->getViews().end(), std::find(graphicsManager->getViews().begin(), graphicsManager->getViews().end(), view2)); /// Remove an representation EXPECT_TRUE(componentManager->enqueueRemoveComponent(representation1)); doProcessComponents(); EXPECT_EQ(graphicsManager->getRepresentations().end(), std::find(graphicsManager->getRepresentations().begin(), graphicsManager->getRepresentations().end(), representation1)); /// Try to remove an representation that is not in the manager EXPECT_TRUE(componentManager->enqueueRemoveComponent(representation1)); doProcessComponents(); EXPECT_EQ(graphicsManager->getRepresentations().end(), std::find(graphicsManager->getRepresentations().begin(), graphicsManager->getRepresentations().end(), representation1)); /// Try to remove a view that is not in the manager EXPECT_TRUE(componentManager->enqueueRemoveComponent(view2)); doProcessComponents(); EXPECT_EQ(graphicsManager->getViews().end(), std::find(graphicsManager->getViews().begin(), graphicsManager->getViews().end(), view2)); /// Try to remove a component that is not graphics-related EXPECT_TRUE(componentManager->enqueueRemoveComponent(nonGraphicsComponent)) << "Removing a component that this manager is not concerned with should return true"; } TEST_F(OsgManagerTest, LazyGroupsTest) { std::shared_ptr representation1 = std::make_shared("TestRepresentation_1"); std::shared_ptr representation2 = std::make_shared("TestRepresentation_2"); std::shared_ptr representation3 = std::make_shared("TestRepresentation_3"); representation1->addGroupReference("TestGroup_1"); representation1->addGroupReference("TestGroup_2"); representation1->addGroupReference("TestGroup_3"); representation2->addGroupReference("TestGroup_2"); representation2->addGroupReference("TestGroup_3"); representation3->addGroupReference("TestGroup_3"); graphicsManager->enqueueAddComponent(representation1); graphicsManager->enqueueAddComponent(representation2); doProcessComponents(); auto defaultGroup = graphicsManager->getGroups().at(SurgSim::Graphics::Representation::DefaultGroupName); auto group1 = graphicsManager->getGroups().at("TestGroup_1"); auto group2 = graphicsManager->getGroups().at("TestGroup_2"); EXPECT_EQ(2U, defaultGroup->getMembers().size()); EXPECT_EQ(1U, group1->getMembers().size()); EXPECT_EQ(2U, group2->getMembers().size()); graphicsManager->enqueueAddComponent(representation3); doProcessComponents(); auto group3 = graphicsManager->getGroups().at("TestGroup_3"); EXPECT_EQ(3U, defaultGroup->getMembers().size()); EXPECT_EQ(1U, group1->getMembers().size()); EXPECT_EQ(2U, group2->getMembers().size()); EXPECT_EQ(3U, group3->getMembers().size()); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgMaterialTests.cpp000066400000000000000000000223341277777236100251510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2016, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgMaterial class. #include #include #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgProgram.h" #include "SurgSim/Graphics/OsgUniform.h" using SurgSim::Math::Vector2f; namespace SurgSim { namespace Graphics { /// Uniform that does not subclass OsgUniformBase class MockUniform : public UniformBase { public: /// Constructor MockUniform() : UniformBase() { } }; class MockProgram : public Program { public: MOCK_CONST_METHOD0(hasGeometryShader, bool()); MOCK_CONST_METHOD0(hasVertexShader, bool()); MOCK_CONST_METHOD0(hasFragmentShader, bool()); MOCK_METHOD1(setGeometryShaderSource, void(const std::string&)); MOCK_METHOD1(setVertexShaderSource, void(const std::string&)); MOCK_METHOD1(setFragmentShaderSource, void(const std::string&)); MOCK_METHOD1(loadGeometryShader, bool(const std::string&)); MOCK_METHOD1(loadVertexShader, bool(const std::string&)); MOCK_METHOD1(loadFragmentShader, bool(const std::string&)); MOCK_CONST_METHOD1(getGeometryShaderSource, bool(std::string*)); MOCK_CONST_METHOD1(getVertexShaderSource, bool(std::string*)); MOCK_CONST_METHOD1(getFragmentShaderSource, bool(std::string*)); MOCK_METHOD0(clearGeometryShader, void()); MOCK_METHOD0(clearVertexShader, void()); MOCK_METHOD0(clearFragmentShader, void()); MOCK_CONST_METHOD0(isGlobalScope, bool()); MOCK_METHOD1(setGlobalScope, void(bool)); //NOLINT }; TEST(OsgMaterialTests, InitTest) { auto material = std::make_shared("material"); EXPECT_EQ(0u, material->getNumUniforms()); EXPECT_EQ(nullptr, material->getProgram()); EXPECT_NE(nullptr, material->getOsgStateSet()); } TEST(OsgMaterialTests, AddUniformTest) { auto material = std::make_shared("material"); { float value = 2.0; ASSERT_NO_THROW(material->addUniform("float", "test_float_uniform", value)); EXPECT_EQ(value, material->getValue("test_float_uniform")); } { float value = 2.0; EXPECT_THROW(material->addUniform("invalid", "test_float_uniform", value), Framework::AssertionFailure); } { double value = 2.0; EXPECT_THROW(material->addUniform("float", "test_float_uniform", value), boost::bad_any_cast); } { Math::Vector4f vector(1.0, 2.0, 3.0, 4.0); ASSERT_NO_THROW(material->addUniform("vec4", "test_vector_uniform", vector)); EXPECT_TRUE(vector.isApprox(material->getValue("test_vector_uniform"))); } { Math::Vector4f vector(1.0, 2.0, 3.0, 4.0); EXPECT_THROW(material->addUniform("dvec4", "test_vector_uniform", vector), boost::bad_any_cast); } { auto texture = std::make_shared(); ASSERT_NO_THROW(material->addUniform("samplerCube", "test_texture_uniform", texture)); EXPECT_EQ(texture, material->getValue>("test_texture_uniform")); } } TEST(OsgMaterialTests, AddAndRemoveUniformsTest) { std::shared_ptr osgMaterial = std::make_shared("material"); std::shared_ptr material = osgMaterial; auto runtime = std::make_shared(); material->initialize(runtime); EXPECT_EQ(0u, material->getNumUniforms()); std::shared_ptr> osgUniform1 = std::make_shared>("float uniform"); std::shared_ptr> uniform1 = osgUniform1; std::shared_ptr> osgUniform2 = std::make_shared>("Vector2f uniform"); std::shared_ptr> uniform2 = osgUniform2; const osg::StateSet::UniformList& uniforms = osgMaterial->getOsgStateSet()->getUniformList(); // Add a uniform to the material EXPECT_NO_THROW(material->addUniform(uniform1)); EXPECT_EQ(1u, material->getNumUniforms()); EXPECT_EQ(uniform1, material->getUniform(0)); EXPECT_EQ(1u, uniforms.size()); EXPECT_EQ(osgUniform1->getOsgUniform(), uniforms.at("float uniform").first); /// Add another uniform to the material EXPECT_NO_THROW(material->addUniform(uniform2)); EXPECT_EQ(2u, material->getNumUniforms()); EXPECT_EQ(uniform2, material->getUniform(1)); EXPECT_EQ(2u, uniforms.size()); EXPECT_EQ(osgUniform1->getOsgUniform(), uniforms.at("float uniform").first); EXPECT_EQ(osgUniform2->getOsgUniform(), uniforms.at("Vector2f uniform").first); /// Remove the first uniform from the material EXPECT_TRUE(material->removeUniform(uniform1)); EXPECT_EQ(1u, material->getNumUniforms()); EXPECT_EQ(uniform2, material->getUniform(0)); EXPECT_EQ(1u, uniforms.size()); EXPECT_EQ(osgUniform2->getOsgUniform(), uniforms.at("Vector2f uniform").first); /// Try removing the same uniform again EXPECT_FALSE(material->removeUniform(uniform1)); EXPECT_EQ(1u, material->getNumUniforms()); /// Try adding a non-OSG Uniform std::shared_ptr nonOsgUniform = std::make_shared(); EXPECT_THROW(material->addUniform(nonOsgUniform), Framework::AssertionFailure) << "Should not be able to add a uniform that is not a subclass of OsgUniformBase!"; EXPECT_EQ(1u, material->getNumUniforms()); /// Try removing a non-OSG Uniform EXPECT_FALSE(material->removeUniform(nonOsgUniform)) << "Should not be able to remove a uniform that is not a subclass of OsgUniformBase!"; EXPECT_EQ(1u, material->getNumUniforms()); } TEST(OsgMaterialTests, SetAndClearShaderTest) { std::shared_ptr osgMaterial = std::make_shared("material"); std::shared_ptr material = osgMaterial; EXPECT_EQ(nullptr, material->getProgram()); std::shared_ptr osgProgram = std::make_shared(); std::shared_ptr program = osgProgram; const osg::StateSet::AttributeList& attributes = osgMaterial->getOsgStateSet()->getAttributeList(); // Set the material's program EXPECT_TRUE(material->setProgram(program)); EXPECT_EQ(program, material->getProgram()); EXPECT_EQ(1u, attributes.size()); EXPECT_EQ(osgProgram->getOsgProgram(), attributes.at(osg::StateAttribute::TypeMemberPair( osg::StateAttribute::PROGRAM, 0)).first) << "Program should have been added to the material's state attributes!"; /// Try setting a non-OSG Program std::shared_ptr nonOsgProgram = std::make_shared(); EXPECT_FALSE(material->setProgram(nonOsgProgram)) << "Should not be able to set a program that is not a subclass of OsgProgram!"; EXPECT_NE(nonOsgProgram, material->getProgram()); /// Clear the program material->clearProgram(); EXPECT_EQ(nullptr, material->getProgram()); EXPECT_EQ(0u, attributes.size()) << "Program should have been removed from the material's state attributes!"; } TEST(OsgMaterialTests, NamedAccessTest) { std::shared_ptr osgMaterial = std::make_shared("material"); std::shared_ptr material = osgMaterial; std::string uniform1Name = "float uniform"; std::shared_ptr> osgUniform1 = std::make_shared>(uniform1Name); std::shared_ptr> uniform1 = osgUniform1; std::string uniform2Name = "Vector2f uniform"; std::shared_ptr> osgUniform2 = std::make_shared>(uniform2Name); std::shared_ptr> uniform2 = osgUniform2; material->addUniform(uniform1); material->addUniform(uniform2); EXPECT_TRUE(material->hasUniform(uniform1Name)); EXPECT_EQ(uniform1.get(), material->getUniform(uniform1Name).get()); EXPECT_TRUE(material->hasUniform(uniform2Name)); EXPECT_EQ(uniform2.get(), material->getUniform(uniform2Name).get()); EXPECT_FALSE(material->hasUniform("xxx")); EXPECT_EQ(nullptr, material->getUniform("xxx")); EXPECT_TRUE(material->removeUniform(uniform1Name)); EXPECT_FALSE(material->hasUniform(uniform1Name)); } TEST(OsgMaterialTests, AccessibleUniformTest) { auto material = std::make_shared("material"); std::string uniform1Name = "ossFloatUniform"; auto uniform1 = std::make_shared>(uniform1Name); std::string uniform2Name = "ossVector2fUniform"; auto uniform2 = std::make_shared>(uniform2Name); material->addUniform(uniform1); material->addUniform(uniform2); material->setValue(uniform1Name, 2.0f); EXPECT_FLOAT_EQ(2.0, uniform1->get()); uniform1->set(4.0f); EXPECT_FLOAT_EQ(4.0f, material->getValue(uniform1Name)); Vector2f vector1(1.0f, 2.0f); Vector2f vector2(3.0f, 4.0f); material->setValue(uniform2Name, vector1); EXPECT_TRUE(vector1.isApprox(uniform2->get())); uniform2->set(vector2); EXPECT_TRUE(vector2.isApprox(material->getValue(uniform2Name))); material->removeUniform(uniform1); EXPECT_ANY_THROW(material->setValue(uniform1Name, 1.0f)); } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgMatrixConversionsTests.cpp000066400000000000000000000063361277777236100271140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for conversions to and from OSG matrix types #include "SurgSim/Graphics/OsgMatrixConversions.h" #include "SurgSim/Graphics/OsgVectorConversions.h" #include using SurgSim::Graphics::fromOsg; using SurgSim::Graphics::toOsg; using SurgSim::Math::Matrix22f; using SurgSim::Math::Matrix22d; using SurgSim::Math::Matrix33f; using SurgSim::Math::Matrix33d; using SurgSim::Math::Matrix44f; using SurgSim::Math::Matrix44d; using SurgSim::Math::Vector2f; using SurgSim::Math::Vector2d; using SurgSim::Math::Vector3f; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4f; using SurgSim::Math::Vector4d; TEST(OsgMatrixConversionsTests, Matrix22fTest) { Matrix22f matrix = Matrix22f::Random(); osg::Matrix2 osgMatrix = toOsg(matrix); EXPECT_TRUE(matrix.isApprox(fromOsg(osgMatrix))); } TEST(OsgMatrixConversionsTests, Matrix22dTest) { Matrix22d matrix = Matrix22d::Random(); osg::Matrix2d osgMatrix = toOsg(matrix); EXPECT_TRUE(matrix.isApprox(fromOsg(osgMatrix))); } TEST(OsgMatrixConversionsTests, Matrix33fTest) { Matrix33f matrix = Matrix33f::Random(); osg::Matrix3 osgMatrix = toOsg(matrix); EXPECT_TRUE(matrix.isApprox(fromOsg(osgMatrix))); } TEST(OsgMatrixConversionsTests, Matrix33dTest) { Matrix33d matrix = Matrix33d::Random(); osg::Matrix3d osgMatrix = toOsg(matrix); EXPECT_TRUE(matrix.isApprox(fromOsg(osgMatrix))); } TEST(OsgMatrixConversionsTests, Matrix44fConversionTest) { Matrix44f matrix = Matrix44f::Random(); osg::Matrixf osgMatrix = toOsg(matrix); EXPECT_TRUE(matrix.isApprox(fromOsg(osgMatrix))); } TEST(OsgMatrixConversionsTests, Matrix44fMultiplicationTest) { Matrix44f matrix = Matrix44f::Random(); Vector4f vector = Vector4f::Random(); osg::Matrixf osgMatrix = toOsg(matrix); osg::Vec4f osgVector = toOsg(vector); /// Multiply with Eigen Vector4f result = matrix * vector; /// Multiply with OSG osg::Vec4f osgResult = osgVector * osgMatrix; /// Compare the two results EXPECT_TRUE(result.isApprox(fromOsg(osgResult))); } TEST(OsgMatrixConversionsTests, Matrix44dTest) { Matrix44d matrix = Matrix44d::Random(); osg::Matrixd osgMatrix = toOsg(matrix); EXPECT_TRUE(matrix.isApprox(fromOsg(osgMatrix))); } TEST(OsgMatrixConversionsTests, Matrix44dMultiplicationTest) { Matrix44d matrix = Matrix44d::Random(); Vector4d vector = Vector4d::Random(); osg::Matrixd osgMatrix = toOsg(matrix); osg::Vec4d osgVector = toOsg(vector); /// Multiply with Eigen Vector4d result = matrix * vector; /// Multiply with OSG osg::Vec4d osgResult = osgVector * osgMatrix; /// Compare the two results EXPECT_TRUE(result.isApprox(fromOsg(osgResult))); }opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgMeshRepresentationTests.cpp000066400000000000000000000126111277777236100272270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include #include #include "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Graphics/Mesh.h" #include "SurgSim/Graphics/MeshPlyReaderDelegate.h" #include "SurgSim/Graphics/OsgMeshRepresentation.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Testing/TestCube.h" using SurgSim::Math::Vector2d; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; using SurgSim::Framework::Runtime; namespace { std::vector cubeVertices; std::vector cubeTriangles; std::vector cubeColors; std::vector cubeTextures; } namespace SurgSim { namespace Graphics { TEST(OsgMeshRepresentationTests, InitTest) { std::shared_ptr runtime = std::make_shared(); std::shared_ptr meshRepresentation; ASSERT_NO_THROW(meshRepresentation = std::make_shared("TestMesh")); SurgSim::Testing::Cube::makeCube(&cubeVertices, &cubeColors, &cubeTextures, &cubeTriangles); ASSERT_NE(nullptr, meshRepresentation->getMesh()); EXPECT_EQ(OsgMeshRepresentation::UPDATE_OPTION_VERTICES, meshRepresentation->getUpdateOptions()); }; TEST(OsgMeshRepresentationTests, InitialisationTest) { std::shared_ptr runtime = std::make_shared(); auto meshRepresentation = std::make_shared("TestMesh"); std::shared_ptr mesh = meshRepresentation->getMesh(); mesh->initialize(cubeVertices, cubeColors, cubeTextures, cubeTriangles); EXPECT_TRUE(meshRepresentation->initialize(runtime)); EXPECT_TRUE(meshRepresentation->wakeUp()); ASSERT_NO_THROW(meshRepresentation->update(0.1)); osg::ref_ptr geometry = meshRepresentation->getOsgGeometry(); EXPECT_NE(nullptr, geometry); osg::ref_ptr array = geometry->getVertexArray(); ASSERT_NE(nullptr, array); EXPECT_EQ(cubeVertices.size(), array->getNumElements()); array = geometry->getColorArray(); ASSERT_NE(nullptr, array); EXPECT_EQ(cubeColors.size(), array->getNumElements()); array = geometry->getTexCoordArray(0); ASSERT_NE(nullptr, array); EXPECT_EQ(cubeTextures.size(), array->getNumElements()); osg::ref_ptr primitiveSet = geometry->getPrimitiveSet(0); ASSERT_NE(nullptr, primitiveSet); EXPECT_EQ(cubeTriangles.size(), primitiveSet->getNumIndices()); } TEST(OsgMeshRepresentationTests, SerializationTest) { std::shared_ptr runtime = std::make_shared("config.txt"); std::shared_ptr osgMesh = std::make_shared("TestMesh"); std::string filename = "Geometry/Cube_with_texture.ply"; osgMesh->setValue("MeshFileName", filename); osgMesh->setValue("UpdateOptions", 2); osgMesh->setValue("DrawAsWireFrame", true); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*osgMesh)); EXPECT_EQ(1u, node.size()); YAML::Node data; data = node["SurgSim::Graphics::OsgMeshRepresentation"]; std::shared_ptr newOsgMesh; ASSERT_NO_THROW(newOsgMesh = std::dynamic_pointer_cast( node.as>())); EXPECT_EQ("SurgSim::Graphics::OsgMeshRepresentation", newOsgMesh->getClassName()); EXPECT_EQ(filename, newOsgMesh->getMesh()->getFileName()); EXPECT_EQ(2u, newOsgMesh->getValue("UpdateOptions")); EXPECT_TRUE(newOsgMesh->getValue("DrawAsWireFrame")); } TEST(OsgMeshRepresentationTests, MeshDelegateTest) { SurgSim::Framework::ApplicationData data("config.txt"); SurgSim::DataStructures::PlyReader reader(data.findFile("Geometry/Cube_with_texture.ply")); auto delegate = std::make_shared(); EXPECT_NO_THROW(EXPECT_TRUE(reader.parseWithDelegate(delegate))); auto mesh = delegate->getMesh(); EXPECT_EQ(26u, mesh->getNumVertices()); EXPECT_EQ(12u, mesh->getNumTriangles()); // The first and last vertices from the file Vector3d vertex0(1.0, 1.0, -1.0); Vector3d vertex25(-1.0, -1.0, 1.0); Vector2d texture0(0.00, 0.50); Vector2d texture25(0.25, 0.75); EXPECT_TRUE(vertex0.isApprox(mesh->getVertex(0).position)); EXPECT_TRUE(vertex25.isApprox(mesh->getVertex(25).position)); EXPECT_TRUE(texture0.isApprox(mesh->getVertex(0).data.texture.getValue())); EXPECT_TRUE(texture25.isApprox(mesh->getVertex(25).data.texture.getValue())); std::array triangle0 = {0, 1, 2}; std::array triangle11 = {10, 25, 11}; EXPECT_EQ(triangle0, mesh->getTriangle(0).verticesId); EXPECT_EQ(triangle11, mesh->getTriangle(11).verticesId); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgOctreeRepresentationTests.cpp000066400000000000000000000117131277777236100275560ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Unit Tests for the OsgOctreeRepresentation class. #include #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/Graphics/OsgOctreeRepresentation.h" #include "SurgSim/Math/OctreeShape.h" #include "SurgSim/Math/Vector.h" using SurgSim::Framework::Runtime; using SurgSim::DataStructures::EmptyData; using SurgSim::Graphics::OsgOctreeRepresentation; using SurgSim::Math::OctreeShape; using SurgSim::Math::Vector3d; TEST(OsgOctreeRepresentationTests, InitilizationTest) { ASSERT_NO_THROW(std::make_shared("Test Octree")); }; TEST(OsgOctreeRepresentationTests, GetSetUpdateTest) { OctreeShape::NodeType::AxisAlignedBoundingBox boundingBox(Vector3d::Zero(), Vector3d::Ones() * 4.0); auto octreeNode = std::make_shared(boundingBox); auto octreeShape = std::make_shared(*octreeNode); auto runtime = std::make_shared(); auto octreeRepresentation = std::make_shared("Test Octree"); octreeRepresentation->setOctreeShape(octreeShape); EXPECT_TRUE(octreeRepresentation->initialize(runtime)); EXPECT_TRUE(octreeRepresentation->wakeUp()); // Set the octree after wake up will cause a assertion failure. ASSERT_ANY_THROW({ octreeRepresentation->setOctreeShape(octreeShape); }); ASSERT_NO_THROW(octreeRepresentation->update(0.1)); } TEST(OsgOctreeRepresentationTests, SetNodeVisibilityTest) { SurgSim::DataStructures::EmptyData emptyData; OctreeShape::NodeType::AxisAlignedBoundingBox boundingBox(Vector3d::Zero(), Vector3d::Ones() * 4.0); auto octreeNode = std::make_shared(boundingBox); octreeNode->addData(Vector3d(0.0, 0.0, 0.0), 2, emptyData); octreeNode->addData(Vector3d(0.0, 0.0, 1.0), 3, emptyData); auto octreeShape = std::make_shared(*octreeNode); auto octreeRepresentation = std::make_shared("TestOctree"); // Path to leaf node SurgSim::DataStructures::OctreePath path; path.push_back(0); path.push_back(0); // Set node visibility when no octree is held by OsgOctreeRepresentation will throw. EXPECT_ANY_THROW(octreeRepresentation->setNodeVisible(path, true)); octreeRepresentation->setOctreeShape(octreeShape); EXPECT_NO_THROW(octreeRepresentation->setNodeVisible(path, false)); // Path to internal node SurgSim::DataStructures::OctreePath path2; path2.push_back(0); EXPECT_NO_THROW(octreeRepresentation->setNodeVisible(path2, true)); // Invalid path SurgSim::DataStructures::OctreePath invalidPath; invalidPath.push_back(4); invalidPath.push_back(1); EXPECT_ANY_THROW(octreeRepresentation->setNodeVisible(invalidPath, true)); } TEST(OsgOctreeRepresentationTests, SerializationTest) { Runtime runtime("config.txt"); std::shared_ptr octreeShape = std::make_shared(); std::string filename = "Geometry/staple.ply"; std::static_pointer_cast(octreeShape)->loadOctree(filename); std::shared_ptr osgOctree = std::make_shared("TestOctree"); osgOctree->setValue("OctreeShape", octreeShape); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*osgOctree)); EXPECT_EQ(1u, node.size()); YAML::Node data = node["SurgSim::Graphics::OsgOctreeRepresentation"]; std::shared_ptr newOsgOctree; ASSERT_NO_THROW(newOsgOctree = std::dynamic_pointer_cast( node.as>())); EXPECT_EQ("SurgSim::Graphics::OsgOctreeRepresentation", newOsgOctree->getClassName()); auto newOctree = newOsgOctree->getOctreeShape(); auto oldOctree = std::static_pointer_cast(octreeShape)->getOctree(); EXPECT_TRUE(newOctree->getOctree()->getBoundingBox().isApprox(oldOctree->getBoundingBox())); EXPECT_TRUE(newOsgOctree->getOctreeShape()->isValid()); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_OCTREE, newOctree->getType()); EXPECT_THROW(newOctree->getVolume(), SurgSim::Framework::AssertionFailure); EXPECT_TRUE((newOctree->getCenter() - Vector3d::Zero()).isZero()); EXPECT_THROW(newOctree->getSecondMomentOfVolume(), SurgSim::Framework::AssertionFailure); } opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgPlaneRepresentationTests.cpp000066400000000000000000000045441277777236100274000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgPlaneRepresentation class. #include "SurgSim/Graphics/UnitTests/MockOsgObjects.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgPlaneRepresentation.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Framework/FrameworkConvert.h" #include #include #include using SurgSim::Framework::BasicSceneElement; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; namespace SurgSim { namespace Graphics { TEST(OsgPlaneRepresentationTests, InitTest) { ASSERT_NO_THROW({std::shared_ptr representation = std::make_shared("test name"); }); std::shared_ptr representation = std::make_shared("test name"); EXPECT_EQ("test name", representation->getName()); } TEST(OsgPlaneRepresentationTests, AccessibleTest) { std::shared_ptr component; ASSERT_NO_THROW(component = SurgSim::Framework::Component::getFactory().create( "SurgSim::Graphics::OsgPlaneRepresentation", "plane")); EXPECT_EQ("SurgSim::Graphics::OsgPlaneRepresentation", component->getClassName()); YAML::Node node(YAML::convert::encode(*component)); auto decoded = std::dynamic_pointer_cast( node.as>()); EXPECT_NE(nullptr, decoded); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgPlaneTests.cpp000066400000000000000000000043071277777236100244520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgPlane class. #include "SurgSim/Graphics/OsgPlane.h" #include namespace SurgSim { namespace Graphics { TEST(OsgPlaneTests, InitTest) { ASSERT_NO_THROW({OsgPlane plane;}); ASSERT_NO_THROW({OsgPlane plane(100.0, 200.0);}); OsgPlane plane; osg::ref_ptr node = plane.getNode(); EXPECT_NE(nullptr, node.get()); osg::ref_ptr geode = dynamic_cast(node.get()); EXPECT_NE(nullptr, geode.get()); EXPECT_EQ(1u, geode->getNumDrawables()); osg::ref_ptr drawable = geode->getDrawable(0); EXPECT_NE(nullptr, drawable.get()); osg::ref_ptr geometry = dynamic_cast(drawable.get()); EXPECT_NE(nullptr, geometry.get()); osg::Vec3Array* vertices = dynamic_cast(geometry->getVertexArray()); ASSERT_EQ(4u, vertices->size()); osg::Vec3 u = vertices->at(1) - vertices->at(0); osg::Vec3 v = vertices->at(2) - vertices->at(0); osg::Vec3 normal = u ^ v; normal.normalize(); EXPECT_EQ(0.0, vertices->at(0).y()) << "The plane should be in the XZ plane (Y = 0)!"; EXPECT_NEAR(1.0, normal * osg::Vec3(0.0, 1.0, 0.0), 1.0e-10) << "The plane normal should be +Y!"; EXPECT_NEAR(0.0, vertices->at(3) * normal, 1.0e-10) << "All vertices should be co-planar!"; osg::Vec3 sum(0.0, 0.0, 0.0); for (size_t i = 0; i < vertices->size(); ++i) { sum += vertices->at(i); } sum /= vertices->size(); EXPECT_NEAR(0.0, sum.length(), 1e-10) << "The center of the plane should be (0, 0, 0)!"; } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgPointCloudRepresentationTests.cpp000066400000000000000000000074251277777236100304220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Graphics/OsgPointCloudRepresentation.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::EmptyData; using SurgSim::Graphics::PointCloudRepresentation; using SurgSim::Graphics::OsgPointCloudRepresentation; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; namespace { const double epsilon = 1e-5; } namespace SurgSim { namespace Graphics { TEST(OsgPointCloudRepresentationTests, InitTest) { ASSERT_NO_THROW(OsgPointCloudRepresentation("TestPointCloud")); }; TEST(OsgPointCloudRepresentationTests, PointSizeTest) { auto pointCloud = std::make_shared("TestPointCloud"); double pointSize = 1.234; pointCloud->setPointSize(pointSize); EXPECT_NEAR(pointSize, pointCloud->getPointSize(), epsilon); } TEST(OsgPointCloudRepresentationTests, ColorTest) { auto pointCloud = std::make_shared("TestPointCloud"); Vector4d color = Vector4d(1.0, 2.0, 3.0, 4.0); pointCloud->setColor(color); EXPECT_TRUE(color.isApprox(pointCloud->getColor())); } TEST(OsgPointCloudRepresentationTests, VertexTest) { auto pointCloud = std::make_shared("TestPointCloud"); auto vertices = pointCloud->getVertices(); EXPECT_EQ(0u, vertices->getNumVertices()); std::vector vertexList; vertexList.push_back(Vector3d(0.01, -0.01, 0.01)); vertexList.push_back(Vector3d(0.01, -0.01, 0.01)); vertexList.push_back(Vector3d(-0.01, -0.01, 0.01)); vertexList.push_back(Vector3d(-0.01, -0.01, -0.01)); vertexList.push_back(Vector3d(0.01, -0.01, -0.01)); for (auto it = std::begin(vertexList); it != std::end(vertexList); ++it) { vertices->addVertex(SurgSim::Graphics::PointCloud::VertexType(*it)); } auto updatedVertices = pointCloud->getVertices(); ASSERT_EQ(vertexList.size(), updatedVertices->getNumVertices()); for (size_t i = 0; i < vertexList.size(); ++i) { EXPECT_TRUE(vertexList[i].isApprox(updatedVertices->getVertexPosition(i))); } } TEST(OsgPointCloudRepresentationTests, SerializationTest) { auto pointCloud = std::make_shared("TestPointCloud"); double pointSize = 1.234; Vector4d color = Vector4d(1.0, 2.0, 3.0, 4.0); pointCloud->setValue("PointSize", pointSize); pointCloud->setValue("Color", color); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*pointCloud)); EXPECT_EQ(1u, node.size()); YAML::Node data; data = node["SurgSim::Graphics::OsgPointCloudRepresentation"]; std::shared_ptr newOsgPointCloud; ASSERT_NO_THROW(newOsgPointCloud = std::dynamic_pointer_cast (node.as>())); EXPECT_EQ("SurgSim::Graphics::OsgPointCloudRepresentation", newOsgPointCloud->getClassName()); EXPECT_NEAR(pointSize, newOsgPointCloud->getValue("PointSize"), epsilon); EXPECT_TRUE(color.isApprox(newOsgPointCloud->getValue("Color"))); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgProgramTests.cpp000066400000000000000000000211571277777236100250240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgProgram class. #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Graphics/OsgProgram.h" #include #include #include #include namespace { /// Sample vertex shader code const std::string vertexShader = "varying vec4 vertColor;\n" "void main(void)\n" "{\n" " gl_Position = gl_ModelViewProjectionMatrix * gl_Vertex;\n" " vertColor.rgb = gl_Normal;\n" " vertColor.a = 1.0;\n" "}\n"; /// Sample geometry shader code const std::string geometryShader = "#version 150\n" "#extension GL_EXT_gpu_shader4 : enable\n" "#extension GL_EXT_geometry_shader4 : enable\n" "layout(triangles) in;\n" "layout(triangle_strip, max_vertices=3) out;\n" "in vec4 vertColor[3];\n" "out vec4 geomColor;\n" "void main()\n" "{\n" " for (int i = 0; i < gl_VerticesIn; ++i)\n" " {\n" " gl_Position = gl_PositionIn[i];\n" " geomColor = vertColor[i];\n" " EmitVertex();\n" " }\n" " EndPrimitive();\n" "};"; /// Sample fragment shader code const std::string fragmentShader = "varying vec4 geomColor;\n" "void main(void)\n" "{\n" " gl_FragColor = geomColor;\n" "}"; } namespace SurgSim { namespace Graphics { TEST(OsgProgramTests, InitTest) { OsgProgram program; EXPECT_NE(nullptr, program.getOsgProgram()); EXPECT_EQ(0u, program.getOsgProgram()->getNumShaders()); } TEST(OsgProgramTests, StateSetTest) { OsgProgram program; // Create an OSG state set osg::ref_ptr stateSet = new osg::StateSet(); const osg::StateSet::AttributeList& attributes = stateSet->getAttributeList(); EXPECT_EQ(0u, attributes.size()); /// Add the program to the state set program.addToStateSet(stateSet.get()); EXPECT_EQ(1u, attributes.size()) << "State set has no attributes, one program should have been added!"; EXPECT_EQ(program.getOsgProgram(), attributes.at(osg::StateAttribute::TypeMemberPair(osg::StateAttribute::PROGRAM, 0)).first) << "First attribute in state set should be the added program!"; /// Remove the program from the state set program.removeFromStateSet(stateSet.get()); EXPECT_EQ(0u, attributes.size()) << "State set should no longer have any attributes, the program should have been removed!"; } TEST(OsgProgramTests, SetShaderSourceTest) { std::shared_ptr osgProgram = std::make_shared(); std::shared_ptr program = osgProgram; EXPECT_FALSE(program->hasVertexShader()); EXPECT_FALSE(program->hasGeometryShader()); EXPECT_FALSE(program->hasFragmentShader()); { SCOPED_TRACE("Set vertex shader source"); program->setVertexShaderSource(vertexShader); std::string resultVertexShader; EXPECT_TRUE(program->hasVertexShader()); EXPECT_TRUE(program->getVertexShaderSource(&resultVertexShader)); EXPECT_EQ(vertexShader, resultVertexShader); EXPECT_EQ(1u, osgProgram->getOsgProgram()->getNumShaders()); } { SCOPED_TRACE("Set geometry shader source"); program->setGeometryShaderSource(geometryShader); std::string resultGeometryShader; EXPECT_TRUE(program->hasGeometryShader()); EXPECT_TRUE(program->getGeometryShaderSource(&resultGeometryShader)); EXPECT_EQ(geometryShader, resultGeometryShader); EXPECT_EQ(2u, osgProgram->getOsgProgram()->getNumShaders()); } { SCOPED_TRACE("Set fragment shader source"); program->setFragmentShaderSource(fragmentShader); std::string resultFragmentShader; EXPECT_TRUE(program->hasFragmentShader()); EXPECT_TRUE(program->getFragmentShaderSource(&resultFragmentShader)); EXPECT_EQ(fragmentShader, resultFragmentShader); EXPECT_EQ(3u, osgProgram->getOsgProgram()->getNumShaders()); } } void expectFileContents(const std::string& filePath, const std::string& contents) { boost::filesystem::ifstream fileStream(filePath); std::stringstream resultStream(contents); ASSERT_FALSE(fileStream.bad()); std::string fileLine; std::string resultLine; while (!fileStream.eof() && !resultStream.eof()) { fileStream >> fileLine; resultStream >> resultLine; // Skip possible trailing newlines fileStream >> std::ws; resultStream >> std::ws; EXPECT_EQ(fileLine, resultLine); } EXPECT_TRUE(fileStream.eof()); EXPECT_TRUE(resultStream.eof()); fileStream.close(); } TEST(OsgProgramTests, LoadShaderSourceTest) { SurgSim::Framework::ApplicationData data("config.txt"); std::string vertexShaderPath = data.findFile("OsgProgramTests/shader.vert"); std::string geometryShaderPath = data.findFile("OsgProgramTests/shader.geom"); std::string fragmentShaderPath = data.findFile("OsgProgramTests/shader.frag"); ASSERT_NE("", vertexShaderPath) << "Could not find vertex shader!"; ASSERT_NE("", geometryShaderPath) << "Could not find geometry shader!"; ASSERT_NE("", fragmentShaderPath) << "Could not find fragment shader!"; std::shared_ptr osgProgram = std::make_shared(); std::shared_ptr program = osgProgram; { SCOPED_TRACE("Load vertex shader source from file"); EXPECT_TRUE(program->loadVertexShader(vertexShaderPath)); std::string resultVertexShader; EXPECT_TRUE(program->getVertexShaderSource(&resultVertexShader)); expectFileContents(vertexShaderPath, resultVertexShader); EXPECT_EQ(1u, osgProgram->getOsgProgram()->getNumShaders()); } { SCOPED_TRACE("Load geometry shader source from file"); EXPECT_TRUE(program->loadGeometryShader(geometryShaderPath)); std::string resultGeometryShader; EXPECT_TRUE(program->getGeometryShaderSource(&resultGeometryShader)); expectFileContents(geometryShaderPath, resultGeometryShader); EXPECT_EQ(2u, osgProgram->getOsgProgram()->getNumShaders()); } { SCOPED_TRACE("Load fragment shader source from file"); EXPECT_TRUE(program->loadFragmentShader(fragmentShaderPath)); std::string resultFragmentShader; EXPECT_TRUE(program->getFragmentShaderSource(&resultFragmentShader)); expectFileContents(fragmentShaderPath, resultFragmentShader); EXPECT_EQ(3u, osgProgram->getOsgProgram()->getNumShaders()); } } TEST(OsgProgramTests, ClearShaderTest) { std::shared_ptr osgProgram = std::make_shared(); std::shared_ptr program = osgProgram; // Set vertex, geometry, and fragment shaders EXPECT_FALSE(program->hasVertexShader()); program->setVertexShaderSource(vertexShader); EXPECT_TRUE(program->hasVertexShader()); EXPECT_FALSE(program->hasGeometryShader()); program->setGeometryShaderSource(geometryShader); EXPECT_TRUE(program->hasGeometryShader()); EXPECT_FALSE(program->hasFragmentShader()); program->setFragmentShaderSource(fragmentShader); EXPECT_TRUE(program->hasFragmentShader()); EXPECT_EQ(3u, osgProgram->getOsgProgram()->getNumShaders()); { SCOPED_TRACE("Clear vertex shader"); program->clearVertexShader(); EXPECT_FALSE(program->hasVertexShader()); EXPECT_TRUE(program->hasGeometryShader()); EXPECT_TRUE(program->hasFragmentShader()); EXPECT_EQ(2u, osgProgram->getOsgProgram()->getNumShaders()); } program->setVertexShaderSource(vertexShader); EXPECT_TRUE(program->hasVertexShader()); { SCOPED_TRACE("Clear geometry shader"); program->clearGeometryShader(); EXPECT_TRUE(program->hasVertexShader()); EXPECT_FALSE(program->hasGeometryShader()); EXPECT_TRUE(program->hasFragmentShader()); EXPECT_EQ(2u, osgProgram->getOsgProgram()->getNumShaders()); } program->setGeometryShaderSource(geometryShader); EXPECT_TRUE(program->hasGeometryShader()); { SCOPED_TRACE("Clear fragment shader"); program->clearFragmentShader(); EXPECT_TRUE(program->hasVertexShader()); EXPECT_TRUE(program->hasGeometryShader()); EXPECT_FALSE(program->hasFragmentShader()); EXPECT_EQ(2u, osgProgram->getOsgProgram()->getNumShaders()); } program->setFragmentShaderSource(fragmentShader); EXPECT_TRUE(program->hasFragmentShader()); { SCOPED_TRACE("Clear the entire shader"); program->clear(); EXPECT_FALSE(program->hasVertexShader()); EXPECT_FALSE(program->hasGeometryShader()); EXPECT_FALSE(program->hasFragmentShader()); EXPECT_EQ(0u, osgProgram->getOsgProgram()->getNumShaders()); } } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgQuaternionConversionsTests.cpp000066400000000000000000000027271277777236100277750ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for conversions to and from OSG quaternion types #include "SurgSim/Graphics/OsgQuaternionConversions.h" #include "SurgSim/Math/Vector.h" #include using SurgSim::Graphics::fromOsg; using SurgSim::Graphics::toOsg; using SurgSim::Math::Quaternionf; using SurgSim::Math::Quaterniond; using SurgSim::Math::Vector4f; using SurgSim::Math::Vector4d; TEST(OsgQuaternionConversionsTests, QuaternionfTest) { Quaternionf quaternion = Quaternionf(Vector4f::Random()); osg::Quat osgQuaternion = toOsg(quaternion); EXPECT_TRUE(quaternion.isApprox(fromOsg(osgQuaternion))); } TEST(OsgQuaternionConversionsTests, QuaterniondTest) { Quaterniond quaternion = Quaterniond(Vector4d::Random()); osg::Quat osgQuaternion = toOsg(quaternion); EXPECT_TRUE(quaternion.isApprox(fromOsg(osgQuaternion))); } opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgRenderTargetTests.cpp000066400000000000000000000046251277777236100260040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Graphics/OsgRenderTarget.h" #include "SurgSim/Graphics/OsgCamera.h" namespace SurgSim { namespace Graphics { TEST(OsgRenderTargetTests, DefaultConstructorTest) { EXPECT_NO_THROW({OsgRenderTarget2d target;}); EXPECT_NO_THROW({OsgRenderTargetRectangle target;}); } TEST(OsgRenderTargetTests, PotDefaultConstructorTest) { EXPECT_NO_THROW({OsgRenderTarget2d target;}); OsgRenderTarget2d target; int width, height; target.getSize(&width, &height); EXPECT_EQ(0.0, width); EXPECT_EQ(0.0, height); EXPECT_FALSE(target.doesUseDepthTarget()); EXPECT_TRUE(nullptr == target.getDepthTarget()); ASSERT_EQ(0, target.getColorTargetCount()); for(int i=0; i<16; ++i) { EXPECT_TRUE(nullptr == target.getColorTarget(i)) << "color target should be nullptr at index:" << i; } } TEST(OsgRenderTargetTests, PotSpecificConstructorTest) { ASSERT_NO_THROW({OsgRenderTarget2d target(256,256,1.0,16,true);}); OsgRenderTarget2d target(256,128,1.0,16,true); int width, height; target.getSize(&width, &height); EXPECT_EQ(256, width); EXPECT_EQ(128, height); EXPECT_TRUE(target.doesUseDepthTarget()); EXPECT_FALSE(nullptr == target.getDepthTarget()); EXPECT_EQ(16, target.getColorTargetCount()); for(int i=0; i<16; ++i) { EXPECT_FALSE(nullptr == target.getColorTarget(i)) << "color target is nullptr at index:" << i; } } TEST(OsgRenderTargetTests, CameraTest) { auto camera = std::make_shared("Camera1"); auto renderTarget1 = std::make_shared(256,256,1.0,8,true); auto renderTarget2 = std::make_shared(128,128,1.0,8,true); EXPECT_NO_THROW(camera->setRenderTarget(renderTarget1)); EXPECT_NO_THROW(camera->setRenderTarget(renderTarget2)); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgRepresentationTests.cpp000066400000000000000000000316701277777236100264200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2016, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgRepresentation class. #include #include #include #include #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgSceneryRepresentation.h" #include "SurgSim/Graphics/UnitTests/MockOsgObjects.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" using SurgSim::Framework::BasicSceneElement; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Math::makeRigidTransform; namespace SurgSim { namespace Graphics { TEST(OsgRepresentationTests, InitTest) { ASSERT_NO_THROW({std::shared_ptr representation = std::make_shared("test name"); }); std::shared_ptr representation = std::make_shared("test name"); EXPECT_EQ("test name", representation->getName()); EXPECT_TRUE(representation->isActive()); } TEST(OsgRepresentationsTests, ParameterTests) { auto representation = std::make_shared("name"); ASSERT_NO_THROW(representation->setValue("GroupReferences", std::vector())); ASSERT_NO_THROW(representation->getValue("GroupReferences")); ASSERT_NO_THROW(representation->setValue("DrawAsWireFrame", true)); ASSERT_NO_THROW(representation->getValue("DrawAsWireFrame")); ASSERT_NO_THROW(representation->setValue("GenerateTangents", true)); ASSERT_NO_THROW(representation->getValue("GenerateTangents")); } TEST(OsgRepresentationTests, OsgNodeTest) { std::shared_ptr representation = std::make_shared("test name"); EXPECT_NE(nullptr, representation->getOsgNode()); // Check that the OSG node is a group (MockOsgRepresentation passes a new group as the node into the // OsgRepresentation constructor) osg::ref_ptr osgGroup = dynamic_cast(representation->getOsgNode().get()); EXPECT_TRUE(osgGroup.valid()) << "Representation's OSG node should be a group!"; } TEST(OsgRepresentationTests, ActivityTest) { std::shared_ptr osgRepresentation = std::make_shared("test name"); std::shared_ptr representation = osgRepresentation; osg::Switch* switchNode = dynamic_cast(osgRepresentation->getOsgNode().get()); ASSERT_NE(nullptr, switchNode) << "Could not get OSG switch node!"; ASSERT_EQ(1u, switchNode->getNumChildren()) << "OSG switch node should have 1 child, the transform node!"; EXPECT_TRUE(representation->isActive()); representation->update(0.0); EXPECT_TRUE(switchNode->getChildValue(switchNode->getChild(0))); representation->setLocalActive(false); EXPECT_FALSE(representation->isActive()); representation->update(0.0); EXPECT_FALSE(switchNode->getChildValue(switchNode->getChild(0))); representation->setLocalActive(true); EXPECT_TRUE(representation->isActive()); representation->update(0.0); EXPECT_TRUE(switchNode->getChildValue(switchNode->getChild(0))); } TEST(OsgRepresentationTests, WireFrameTest) { std::shared_ptr representation = std::make_shared("test name"); EXPECT_FALSE(representation->getDrawAsWireFrame()); representation->setDrawAsWireFrame(true); EXPECT_TRUE(representation->getDrawAsWireFrame()); } TEST(OsgRepresentationTests, PoseTest) { auto runtime = std::make_shared(); auto scene = runtime->getScene(); std::shared_ptr representation = std::make_shared("test name"); std::shared_ptr element = std::make_shared("element"); element->addComponent(representation); scene->addSceneElement(element); representation->wakeUp(); { SCOPED_TRACE("Check Initial Pose"); EXPECT_TRUE(representation->getLocalPose().isApprox(RigidTransform3d::Identity())); EXPECT_TRUE(representation->getPose().isApprox(RigidTransform3d::Identity())); } RigidTransform3d localPose; { SCOPED_TRACE("Set Local Pose"); localPose = Math::makeRigidTransform(Quaterniond(Math::Vector4d::Random()).normalized(), Vector3d::Random()); representation->setLocalPose(localPose); EXPECT_TRUE(representation->getLocalPose().isApprox(localPose)); EXPECT_TRUE(representation->getPose().isApprox(localPose)); } RigidTransform3d elementPose; { SCOPED_TRACE("Set Element Pose"); elementPose = Math::makeRigidTransform(Quaterniond(Math::Vector4d::Random()).normalized(), Vector3d::Random()); element->setPose(elementPose); EXPECT_TRUE(representation->getLocalPose().isApprox(localPose)); EXPECT_TRUE(representation->getPose().isApprox(elementPose * localPose)); } { SCOPED_TRACE("Change Local Pose"); localPose = Math::makeRigidTransform(Quaterniond(Math::Vector4d::Random()).normalized(), Vector3d::Random()); representation->setLocalPose(localPose); EXPECT_TRUE(representation->getLocalPose().isApprox(localPose)); EXPECT_TRUE(representation->getPose().isApprox(elementPose * localPose)); } } TEST(OsgRepresentationTests, MaterialTest) { std::shared_ptr osgRepresentation = std::make_shared("test name"); std::shared_ptr representation = osgRepresentation; std::shared_ptr osgMaterial = std::make_shared("material"); std::shared_ptr material = osgMaterial; { SCOPED_TRACE("Set material"); EXPECT_TRUE(representation->setMaterial(material)); EXPECT_EQ(material, representation->getMaterial()); osg::Switch* switchNode = dynamic_cast(osgRepresentation->getOsgNode().get()); ASSERT_NE(nullptr, switchNode) << "Could not get OSG switch node!"; ASSERT_EQ(1u, switchNode->getNumChildren()) << "OSG switch node should have 1 child, the transform node!"; EXPECT_EQ(osgMaterial->getOsgStateSet(), switchNode->getChild(0)->getStateSet()) << "State set should be the material's state set!"; } { SCOPED_TRACE("Clear material"); representation->clearMaterial(); EXPECT_EQ(nullptr, representation->getMaterial()); osg::Switch* switchNode = dynamic_cast(osgRepresentation->getOsgNode().get()); ASSERT_NE(nullptr, switchNode) << "Could not get OSG switch node!"; ASSERT_EQ(1u, switchNode->getNumChildren()) << "OSG switch node should have 1 child, the transform node!"; EXPECT_NE(osgMaterial->getOsgStateSet(), switchNode->getChild(0)->getStateSet()) << "State set should have been cleared!"; } } TEST(OsgRepresentationTests, AddUniformTest) { std::shared_ptr representation = std::make_shared("test name"); { float value = 2.0; ASSERT_NO_THROW(representation->addUniform("float", "test_float_uniform", value)); } { float value = 2.0; EXPECT_THROW(representation->addUniform("invalid", "test_float_uniform", value), Framework::AssertionFailure); } { double value = 2.0; EXPECT_THROW(representation->addUniform("float", "test_float_uniform", value), boost::bad_any_cast); } { Math::Vector4f vector(1.0, 2.0, 3.0, 4.0); ASSERT_NO_THROW(representation->addUniform("vec4", "test_vector_uniform", vector)); } { Math::Vector4f vector(1.0, 2.0, 3.0, 4.0); EXPECT_THROW(representation->addUniform("dvec4", "test_vector_uniform", vector), boost::bad_any_cast); } { auto texture = std::make_shared(); ASSERT_NO_THROW(representation->addUniform("samplerCube", "test_texture_uniform", texture)); } } TEST(OsgRepresentationTests, UpdateTest) { std::shared_ptr mockRepresentation = std::make_shared("test name"); std::shared_ptr representation = mockRepresentation; EXPECT_EQ(0, mockRepresentation->getNumUpdates()); EXPECT_EQ(0.0, mockRepresentation->getSumDt()); double sumDt = 0.0; std::default_random_engine generator; std::uniform_real_distribution distribution(0.0, 1.0); /// Do 10 updates with random dt and check each time that the number of updates and sum of dt are correct. for (int i = 1; i <= 10; ++i) { double dt = distribution(generator); sumDt += dt; representation->update(dt); EXPECT_EQ(i, mockRepresentation->getNumUpdates()); EXPECT_LT(fabs(sumDt - mockRepresentation->getSumDt()), Eigen::NumTraits::dummy_precision()); } } TEST(OsgRepresentationTests, GroupTest) { std::shared_ptr rep = std::make_shared("TestRepresentation"); rep->clearGroupReferences(); EXPECT_TRUE(rep->addGroupReference("group1")); EXPECT_FALSE(rep->addGroupReference("group1")); EXPECT_TRUE(rep->addGroupReference("group2")); EXPECT_TRUE(rep->addGroupReference("group3")); std::vector groups = rep->getGroupReferences(); EXPECT_EQ(3U, groups.size()); EXPECT_NE(std::end(groups), std::find(std::begin(groups), std::end(groups), "group1")); EXPECT_NE(std::end(groups), std::find(std::begin(groups), std::end(groups), "group2")); EXPECT_NE(std::end(groups), std::find(std::begin(groups), std::end(groups), "group3")); } TEST(OsgRepresentationTests, GroupsTest) { std::shared_ptr rep = std::make_shared("TestRepresentation"); rep->clearGroupReferences(); std::vector newGroups; newGroups.push_back("group1"); newGroups.push_back("group1"); newGroups.push_back("group2"); newGroups.push_back("group3"); rep->addGroupReferences(newGroups); std::vector groups = rep->getGroupReferences(); EXPECT_EQ(3U, groups.size()); EXPECT_NE(std::end(groups), std::find(std::begin(groups), std::end(groups), "group1")); EXPECT_NE(std::end(groups), std::find(std::begin(groups), std::end(groups), "group2")); EXPECT_NE(std::end(groups), std::find(std::begin(groups), std::end(groups), "group3")); } TEST(OsgRepresentationTests, SetGroupsTests) { std::shared_ptr rep = std::make_shared("TestRepresentation"); std::vector newGroups; newGroups.push_back("group1"); newGroups.push_back("group1"); newGroups.push_back("group2"); newGroups.push_back("group3"); rep->addGroupReference("OtherGroup"); rep->setGroupReferences(newGroups); std::vector groups = rep->getGroupReferences(); EXPECT_EQ(3U, groups.size()); EXPECT_NE(std::end(groups), std::find(std::begin(groups), std::end(groups), "group1")); EXPECT_NE(std::end(groups), std::find(std::begin(groups), std::end(groups), "group2")); EXPECT_NE(std::end(groups), std::find(std::begin(groups), std::end(groups), "group3")); } class CheckTangentsVisitor : public osg::NodeVisitor { public : CheckTangentsVisitor() : NodeVisitor(NodeVisitor::TRAVERSE_ALL_CHILDREN) { } virtual ~CheckTangentsVisitor() { } void apply(osg::Node& node) // NOLINT { traverse(node); } void apply(osg::Geode& geode) // NOLINT { // Test object only has 1 geometry ... if (geode.getNumDrawables() > 0) { osg::Geometry* curGeom = geode.getDrawable(0)->asGeometry(); if (curGeom) { osg::Vec3Array* vertices = dynamic_cast(curGeom->getVertexArray()); auto tangents = dynamic_cast(curGeom->getVertexAttribArray(TANGENT_VERTEX_ATTRIBUTE_ID)); ASSERT_NE(nullptr, tangents) << "Looks like no tangents where produced, or they are not of type osg::Vec4Array"; ASSERT_EQ(vertices->size(), tangents->size()) << "Looks like number of tangents does not match number of vertices"; auto bitangents = dynamic_cast(curGeom->getVertexAttribArray(BITANGENT_VERTEX_ATTRIBUTE_ID)); ASSERT_NE(nullptr, bitangents) << "Looks like no bitangents tangents where produced, or they are not of type osg::Vec4Array"; ASSERT_EQ(vertices->size(), bitangents->size()) << "Looks like number of bitangents does not match number of vertices"; } } } }; TEST(OsgRepresentationTests, TangentGenerationTest) { auto runtime = std::make_shared("config.txt"); auto scenery = std::make_shared("scenery"); scenery->loadModel("Geometry/sphere0_5.obj"); EXPECT_FALSE(scenery->isGeneratingTangents()); scenery->setGenerateTangents(true); EXPECT_TRUE(scenery->isGeneratingTangents()); CheckTangentsVisitor visitor; scenery->getOsgNode()->accept(visitor); } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgRigidTransformConversionsTests.cpp000066400000000000000000000075541277777236100306050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for conversions to and from OSG rigid transform types #include "SurgSim/Graphics/OsgQuaternionConversions.h" #include "SurgSim/Graphics/OsgRigidTransformConversions.h" #include "SurgSim/Graphics/OsgVectorConversions.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include using SurgSim::Graphics::fromOsg; using SurgSim::Graphics::toOsg; using SurgSim::Math::Quaternionf; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform2f; using SurgSim::Math::RigidTransform2d; using SurgSim::Math::RigidTransform3f; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3f; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4f; using SurgSim::Math::Vector4d; using SurgSim::Math::makeRigidTransform; TEST(OsgRigidTransformConversionsTests, RigidTransform3fTest) { Quaternionf rotation = Quaternionf(Vector4f::Random()); rotation.normalize(); Vector3f translation = Vector3f::Random(); RigidTransform3f transform = makeRigidTransform(rotation, translation); /// Convert to OSG std::pair osgTransform = toOsg(transform); /// Convert back to Eigen and compare with original RigidTransform3f resultTransform = fromOsg(osgTransform); EXPECT_TRUE(transform.isApprox(resultTransform)); } TEST(OsgRigidTransformConversionsTests, RigidTransform3fMultiplyTest) { Quaternionf rotation = Quaternionf(Vector4f::Random()); rotation.normalize(); Vector3f translation = Vector3f::Random(); RigidTransform3f transform = makeRigidTransform(rotation, translation); Vector3f vector = Vector3f::Random(); osg::Vec3f osgVector = toOsg(vector); /// Transform the vector using Eigen Vector3f result = transform * vector; std::pair osgTransform = toOsg(transform); /// Transform the vector using OSG osg::Vec3f osgResult = osgTransform.first * osgVector + osgTransform.second; /// Compare the transformations EXPECT_TRUE(result.isApprox(fromOsg(osgResult))); } TEST(OsgRigidTransformConversionsTests, RigidTransform3dTest) { Quaterniond rotation = Quaterniond(Vector4d::Random()); rotation.normalize(); Vector3d translation = Vector3d::Random(); RigidTransform3d transform = makeRigidTransform(rotation, translation); /// Convert to OSG std::pair osgTransform = toOsg(transform); /// Convert back to Eigen and compare with original RigidTransform3d resultTransform = fromOsg(osgTransform); EXPECT_TRUE(transform.isApprox(resultTransform)); } TEST(OsgRigidTransformConversionsTests, RigidTransform3dMultiplyTest) { Quaterniond rotation = Quaterniond(Vector4d::Random()); rotation.normalize(); Vector3d translation = Vector3d::Random(); RigidTransform3d transform = makeRigidTransform(rotation, translation); Vector3d vector = Vector3d::Random(); osg::Vec3d osgVector = toOsg(vector); /// Transform the vector using Eigen Vector3d result = transform * vector; std::pair osgTransform = toOsg(transform); /// Transform the vector using OSG osg::Vec3d osgResult = osgTransform.first * osgVector + osgTransform.second; /// Compare the transformations EXPECT_TRUE(result.isApprox(fromOsg(osgResult))); } opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgSceneryRepresentationTests.cpp000066400000000000000000000131771277777236100277530ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Unit Tests for the OsgSceneryRepresentation class. #include #include #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgSceneryRepresentation.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/OsgModel.h" #include #include #include using SurgSim::Graphics::OsgSceneryRepresentation; using SurgSim::Graphics::OsgViewElement; using SurgSim::Graphics::SceneryRepresentation; class OsgSceneryRepresentationTest: public ::testing::Test { public: void SetUp() override { sceneryObject = std::make_shared("test"); sceneryObject2 = std::make_shared("test2"); runtime = std::make_shared("config.txt"); manager = std::make_shared(); scene = runtime->getScene(); viewElement = std::make_shared("view element"); scene->addSceneElement(viewElement); runtime->addManager(manager); } void TearDown() override { } std::shared_ptr sceneryObject; std::shared_ptr sceneryObject2; std::shared_ptr runtime; std::shared_ptr manager; std::shared_ptr scene; std::shared_ptr viewElement; }; TEST_F(OsgSceneryRepresentationTest, FileNameTest) { sceneryObject->loadModel("Geometry/Torus.obj"); EXPECT_EQ("Geometry/Torus.obj", sceneryObject->getModel()->getFileName()); } TEST_F(OsgSceneryRepresentationTest, InitTest) { EXPECT_EQ(nullptr, sceneryObject->getModelNode()); sceneryObject->loadModel("Geometry/Torus.obj"); EXPECT_NO_THROW(viewElement->addComponent(sceneryObject)); EXPECT_NE(nullptr, sceneryObject->getModelNode()); sceneryObject2->loadModel("Geometry/Torus.osgb"); EXPECT_NO_THROW(viewElement->addComponent(sceneryObject2)); } TEST_F(OsgSceneryRepresentationTest, AccessibleTest) { std::shared_ptr component; ASSERT_NO_THROW(component = SurgSim::Framework::Component::getFactory().create( "SurgSim::Graphics::OsgSceneryRepresentation", "scenery")); std::string fileName("Geometry/Torus.obj"); component->setValue("ModelFileName", fileName); auto asset = component->getValue>("Model"); EXPECT_EQ(fileName, asset->getFileName()); } TEST_F(OsgSceneryRepresentationTest, SerializationTests) { std::shared_ptr scenery = std::make_shared("OsgScenery"); std::string fileName("Geometry/Torus.obj"); scenery->loadModel(fileName); YAML::Node node; ASSERT_NO_THROW(node = scenery->encode()); EXPECT_TRUE(node.IsMap()); std::shared_ptr result = std::make_shared("OsgScenery"); ASSERT_NO_THROW(result->decode(node)); EXPECT_EQ("SurgSim::Graphics::OsgSceneryRepresentation", result->getClassName()); EXPECT_EQ(fileName, result->getModel()->getFileName()); } // This checks a fix for an intermittent bug where on deserialization setGenerateTangents would sometimes be called // before setModel, in which case no tangents where generated on scenery representations TEST_F(OsgSceneryRepresentationTest, GenerateTangents) { { SCOPED_TRACE("setGenerateTangents before loadModel"); auto object = std::make_shared("representation"); object->setGenerateTangents(true); object->loadModel("Geometry/cube.osgt"); // Structure from the osgt file, we need to get to the geometry to make sure the tangents where generated auto group = object->getModelNode()->asGroup(); ASSERT_NE(nullptr, group); auto geode = group->getChild(0)->asGeode(); ASSERT_NE(nullptr, geode); auto geometry = geode->getDrawable(0)->asGeometry(); ASSERT_NE(nullptr, geometry); ASSERT_NE(nullptr, geometry->getVertexAttribArray(SurgSim::Graphics::TANGENT_VERTEX_ATTRIBUTE_ID)); ASSERT_NE(nullptr, geometry->getVertexAttribArray(SurgSim::Graphics::BITANGENT_VERTEX_ATTRIBUTE_ID)); } { SCOPED_TRACE("setGenerateTangents after loadModel"); auto object = std::make_shared("representation"); object->loadModel("Geometry/cube.osgt"); object->setGenerateTangents(true); // Structure from the osgt file, we need to get to the geometry to make sure the tangents where generated auto group = object->getModelNode()->asGroup(); ASSERT_NE(nullptr, group); auto geode = group->getChild(0)->asGeode(); ASSERT_NE(nullptr, geode); auto geometry = geode->getDrawable(0)->asGeometry(); ASSERT_NE(nullptr, geometry); ASSERT_NE(nullptr, geometry->getVertexAttribArray(SurgSim::Graphics::TANGENT_VERTEX_ATTRIBUTE_ID)); ASSERT_NE(nullptr, geometry->getVertexAttribArray(SurgSim::Graphics::BITANGENT_VERTEX_ATTRIBUTE_ID)); } } opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgScreenSpaceQuadTests.cpp000066400000000000000000000102201277777236100264100ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgTexture class. #include #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgScreenSpaceQuadRepresentation.h" #include "SurgSim/Graphics/OsgTexture.h" #include "SurgSim/Graphics/OsgUniform.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" using SurgSim::Math::Vector3d; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; #include #include #include namespace SurgSim { namespace Graphics { TEST(OsgScreenSpaceQuadRepresentationTests, SetTexture2d) { auto texture = std::make_shared(); texture->setSize(256, 256); auto quad = std::make_shared("quad"); EXPECT_TRUE(quad->setTexture(texture)); osg::StateSet* stateSet = quad->getOsgNode()->getOrCreateStateSet(); EXPECT_EQ(1u, stateSet->getTextureAttributeList().size()); // Test Initialization auto runtime = std::make_shared("config.txt"); EXPECT_TRUE(quad->initialize(runtime)); } TEST(OsgScreenSpaceQuadRepresentationTests, SetTextureRectangle) { std::shared_ptr texture = std::make_shared(); texture->setSize(10, 100); std::shared_ptr quad = std::make_shared("quad"); EXPECT_TRUE(quad->setTexture(texture)); osg::StateSet* stateSet = quad->getOsgNode()->getOrCreateStateSet(); EXPECT_EQ(1u, stateSet->getTextureAttributeList().size()); // Test Initialization auto runtime = std::make_shared("config.txt"); EXPECT_TRUE(quad->initialize(runtime)); } TEST(OsgScreenSpaceQuadRepresentation, SetSize) { std::shared_ptr quad = std::make_shared("quad"); double width = 100.0; double height = 100.0; ASSERT_ANY_THROW(quad->getSize(nullptr, &height)); ASSERT_ANY_THROW(quad->getSize(&width, nullptr)); ASSERT_ANY_THROW(quad->getSize(nullptr, nullptr)); quad->getLocation(&width, &height); EXPECT_DOUBLE_EQ(0.0, width); EXPECT_DOUBLE_EQ(0.0, height); quad->setSize(100.0, 200.0); quad->getSize(&width, &height); EXPECT_DOUBLE_EQ(100.0, width); EXPECT_DOUBLE_EQ(200.0, height); } TEST(OsgScreenSpaceQuadRepresentationTests, SetLocation) { std::shared_ptr quad = std::make_shared("quad"); double x = 100.0; double y = 100.0; ASSERT_ANY_THROW(quad->getLocation(nullptr, &y)); ASSERT_ANY_THROW(quad->getLocation(&x, nullptr)); ASSERT_ANY_THROW(quad->getLocation(nullptr, nullptr)); quad->getLocation(&x, &y); EXPECT_DOUBLE_EQ(0.0, x); EXPECT_DOUBLE_EQ(0.0, y); quad->setLocation(100.0, 200.0); quad->getLocation(&x, &y); EXPECT_DOUBLE_EQ(100.0, x); EXPECT_DOUBLE_EQ(200.0, y); Vector3d position(300.0, 400.0, 0.0); quad->setLocalPose(SurgSim::Math::makeRigidTransform(Quaterniond::Identity(), position)); quad->getLocation(&x, &y); EXPECT_DOUBLE_EQ(300.0, x); EXPECT_DOUBLE_EQ(400.0, y); } TEST(OsgScreenSpaceQuadRepresentationTests, SetTransparent) { auto quad = std::make_shared("quad"); EXPECT_FALSE(quad->isTransparent()); quad->setTransparent(true); EXPECT_TRUE(quad->isTransparent()); } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgSkeletonRepresentationTests.cpp000066400000000000000000000214451277777236100301240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Unit Tests for the OsgSkeletonRepresentation class. #include #include #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgSkeletonRepresentation.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/OsgModel.h" using SurgSim::Graphics::OsgSkeletonRepresentation; using SurgSim::Graphics::OsgViewElement; using SurgSim::Graphics::SkeletonRepresentation; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Graphics { class OsgSkeletonRepresentationTest: public ::testing::Test { public: void SetUp() override { runtime = std::make_shared("config.txt"); } void TearDown() override { } std::shared_ptr runtime; }; TEST_F(OsgSkeletonRepresentationTest, CanConstruct) { EXPECT_NO_THROW({OsgSkeletonRepresentation skeleton("test");}); EXPECT_NO_THROW({auto skeleton = std::make_shared("test");}); } TEST_F(OsgSkeletonRepresentationTest, FileNameTest) { auto skeleton = std::make_shared("test"); skeleton->loadModel("OsgSkeletonRepresentationTests/rigged_cylinder.osgt"); EXPECT_EQ("OsgSkeletonRepresentationTests/rigged_cylinder.osgt", skeleton->getModel()->getFileName()); } TEST_F(OsgSkeletonRepresentationTest, SkinningShaderFileNameTest) { auto skeleton = std::make_shared("test"); skeleton->setSkinningShaderFileName("Shaders/skinning.vert"); EXPECT_EQ("Shaders/skinning.vert", skeleton->getSkinningShaderFileName()); } TEST_F(OsgSkeletonRepresentationTest, InitTest) { { auto skeleton = std::make_shared("test"); skeleton->loadModel("OsgSkeletonRepresentationTests/rigged_cylinder.osgt"); skeleton->setSkinningShaderFileName("Shaders/skinning.vert"); EXPECT_NO_THROW(skeleton->initialize(runtime)); EXPECT_TRUE(skeleton->isInitialized()) << "Should initialize with both model and shader."; } { auto skeleton = std::make_shared("test"); skeleton->setSkinningShaderFileName("Shaders/skinning.vert"); EXPECT_NO_THROW(skeleton->initialize(runtime)); EXPECT_FALSE(skeleton->isInitialized()) << "Should not be initialized, no model set"; } { auto skeleton = std::make_shared("test"); skeleton->loadModel("OsgSkeletonRepresentationTests/rigged_cylinder.osgt"); EXPECT_NO_THROW(skeleton->initialize(runtime)); EXPECT_FALSE(skeleton->isInitialized()) << "Should not be initialized, no shader set"; } } TEST_F(OsgSkeletonRepresentationTest, PosesTest) { RigidTransform3d pose = makeRigidTransform(makeRotationQuaternion(2.143, Vector3d::UnitZ().eval()), Vector3d(2.3, 4.5, 6.7)); { auto skeleton = std::make_shared("test"); skeleton->loadModel("OsgSkeletonRepresentationTests/rigged_cylinder.osgt"); skeleton->setSkinningShaderFileName("Shaders/skinning.vert"); EXPECT_NO_THROW(skeleton->initialize(runtime)); RigidTransform3d actualPose; EXPECT_NO_THROW({actualPose = skeleton->getBonePose("Bone");}); EXPECT_TRUE(RigidTransform3d::Identity().isApprox(actualPose)); EXPECT_THROW(skeleton->getBonePose("BadBoneName"), SurgSim::Framework::AssertionFailure); } { auto skeleton = std::make_shared("test"); skeleton->loadModel("OsgSkeletonRepresentationTests/rigged_cylinder.osgt"); skeleton->setSkinningShaderFileName("Shaders/skinning.vert"); EXPECT_NO_THROW(skeleton->setBonePose("Bone", pose)); RigidTransform3d actualPose; EXPECT_NO_THROW({actualPose = skeleton->getBonePose("Bone");}); EXPECT_TRUE(pose.isApprox(actualPose)); EXPECT_NO_THROW(skeleton->initialize(runtime)); EXPECT_NO_THROW({actualPose = skeleton->getBonePose("Bone");}); EXPECT_TRUE(pose.isApprox(actualPose)); } { auto skeleton = std::make_shared("test"); skeleton->loadModel("OsgSkeletonRepresentationTests/rigged_cylinder.osgt"); skeleton->setSkinningShaderFileName("Shaders/skinning.vert"); EXPECT_NO_THROW(skeleton->setBonePose("BadBoneName", pose)); RigidTransform3d actualPose; EXPECT_NO_THROW({actualPose = skeleton->getBonePose("BadBoneName");}); EXPECT_TRUE(pose.isApprox(actualPose)); EXPECT_THROW(skeleton->initialize(runtime), SurgSim::Framework::AssertionFailure); } } TEST_F(OsgSkeletonRepresentationTest, NeutralPosesTest) { RigidTransform3d pose = makeRigidTransform(makeRotationQuaternion(2.143, Vector3d::UnitZ().eval()), Vector3d(2.3, 4.5, 6.7)); { auto skeleton = std::make_shared("test"); skeleton->loadModel("OsgSkeletonRepresentationTests/rigged_cylinder.osgt"); skeleton->setSkinningShaderFileName("Shaders/skinning.vert"); EXPECT_NO_THROW(skeleton->initialize(runtime)); RigidTransform3d actualPose; EXPECT_NO_THROW({actualPose = skeleton->getNeutralBonePose("Bone");}); EXPECT_TRUE(RigidTransform3d::Identity().isApprox(actualPose)); EXPECT_THROW(skeleton->getNeutralBonePose("BadBoneName"), SurgSim::Framework::AssertionFailure); } { auto skeleton = std::make_shared("test"); skeleton->loadModel("OsgSkeletonRepresentationTests/rigged_cylinder.osgt"); skeleton->setSkinningShaderFileName("Shaders/skinning.vert"); EXPECT_NO_THROW(skeleton->setNeutralBonePose("Bone", pose)); RigidTransform3d actualPose; EXPECT_NO_THROW({actualPose = skeleton->getNeutralBonePose("Bone");}); EXPECT_TRUE(pose.isApprox(actualPose)); EXPECT_NO_THROW(skeleton->initialize(runtime)); EXPECT_NO_THROW({actualPose = skeleton->getNeutralBonePose("Bone");}); EXPECT_TRUE(pose.isApprox(actualPose)); } { auto skeleton = std::make_shared("test"); skeleton->loadModel("OsgSkeletonRepresentationTests/rigged_cylinder.osgt"); skeleton->setSkinningShaderFileName("Shaders/skinning.vert"); EXPECT_NO_THROW(skeleton->setNeutralBonePose("BadBoneName", pose)); RigidTransform3d actualPose; EXPECT_NO_THROW({actualPose = skeleton->getNeutralBonePose("BadBoneName");}); EXPECT_TRUE(pose.isApprox(actualPose)); EXPECT_THROW(skeleton->initialize(runtime), SurgSim::Framework::AssertionFailure); } } TEST_F(OsgSkeletonRepresentationTest, AccessibleTest) { std::shared_ptr component; ASSERT_NO_THROW(component = SurgSim::Framework::Component::getFactory().create( "SurgSim::Graphics::OsgSkeletonRepresentation", "skeleton")); std::string fileName("OsgSkeletonRepresentationTests/rigged_cylinder.osgt"); component->setValue("ModelFileName", fileName); std::string skinningShaderFileName("Shaders/skinning.vert"); component->setValue("SkinningShaderFileName", skinningShaderFileName); auto asset = component->getValue>("Model"); EXPECT_EQ(fileName, asset->getFileName()); auto shaderName = component->getValue("SkinningShaderFileName"); EXPECT_EQ(skinningShaderFileName, shaderName); } TEST_F(OsgSkeletonRepresentationTest, SerializationTests) { auto skeleton = std::make_shared("test"); std::string fileName("OsgSkeletonRepresentationTests/rigged_cylinder.osgt"); skeleton->loadModel(fileName); std::string skinningShaderFileName("Shaders/skinning.vert"); skeleton->setSkinningShaderFileName(skinningShaderFileName); RigidTransform3d pose = makeRigidTransform(makeRotationQuaternion(2.143, Vector3d(2.463, 6.346, 7.135).normalized()), Vector3d(2.3, 4.5, 6.7)); skeleton->setNeutralBonePose("Bone", pose); YAML::Node node; node = skeleton->encode(); ASSERT_NO_THROW(node = skeleton->encode()); EXPECT_TRUE(node.IsMap()); std::shared_ptr result = std::make_shared("Skeleton"); ASSERT_NO_THROW(result->decode(node)); EXPECT_EQ("SurgSim::Graphics::OsgSkeletonRepresentation", result->getClassName()); EXPECT_EQ(fileName, result->getModel()->getFileName()); EXPECT_EQ(skinningShaderFileName, result->getSkinningShaderFileName()); EXPECT_TRUE(pose.isApprox(result->getNeutralBonePose("Bone"))); } }; }; opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgSphereRepresentationTests.cpp000066400000000000000000000055641277777236100275720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgSphereRepresentation class. #include "SurgSim/Graphics/UnitTests/MockOsgObjects.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgSphereRepresentation.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Framework/FrameworkConvert.h" #include #include #include using SurgSim::Framework::BasicSceneElement; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Math::makeRigidTransform; namespace SurgSim { namespace Graphics { TEST(OsgSphereRepresentationTests, InitTest) { ASSERT_NO_THROW({std::shared_ptr representation = std::make_shared("test name"); }); std::shared_ptr representation = std::make_shared("test name"); EXPECT_EQ("test name", representation->getName()); } TEST(OsgSphereRepresentationTests, AccessibleTest) { std::shared_ptr component; ASSERT_NO_THROW(component = SurgSim::Framework::Component::getFactory().create( "SurgSim::Graphics::OsgSphereRepresentation", "sphere")); EXPECT_EQ("SurgSim::Graphics::OsgSphereRepresentation", component->getClassName()); double radius = 4.321; component->setValue("Radius", radius); YAML::Node node(YAML::convert::encode(*component)); auto decoded = std::dynamic_pointer_cast( node.as>()); EXPECT_NE(nullptr, decoded); EXPECT_DOUBLE_EQ(radius, decoded->getValue("Radius")); } TEST(OsgSphereRepresentationTests, RadiusTest) { std::shared_ptr sphereRepresentation = std::make_shared("test name"); std::default_random_engine generator; std::uniform_real_distribution distribution(1.0, 10.0); double randomRadius = distribution(generator); sphereRepresentation->setRadius(randomRadius); EXPECT_EQ(randomRadius, sphereRepresentation->getRadius()); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgTextRepresentationTests.cpp000066400000000000000000000111431277777236100272560ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for OsgInfo class. #include #include #include "SurgSim/Graphics/Graphics.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Graphics/OsgFont.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/DataStructures/DataStructuresConvert.h" using SurgSim::Math::Vector3d; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; namespace SurgSim { namespace Graphics { TEST(OsgTextRepresentationTests, SetLocation) { auto text = std::make_shared("text"); double x = 100.0; double y = 100.0; ASSERT_ANY_THROW(text->getLocation(nullptr, &y)); ASSERT_ANY_THROW(text->getLocation(&x, nullptr)); ASSERT_ANY_THROW(text->getLocation(nullptr, nullptr)); text->getLocation(&x, &y); EXPECT_DOUBLE_EQ(0.0, x); EXPECT_DOUBLE_EQ(0.0, y); text->setLocation(100.0, 200.0); text->getLocation(&x, &y); EXPECT_DOUBLE_EQ(100.0, x); EXPECT_DOUBLE_EQ(200.0, y); Vector3d position(300.0, 400.0, 0.0); text->setLocalPose(SurgSim::Math::makeRigidTransform(Quaterniond::Identity(), position)); text->getLocation(&x, &y); EXPECT_DOUBLE_EQ(300.0, x); EXPECT_DOUBLE_EQ(400.0, y); } TEST(OsgTextRepresentationTests, TextTest) { auto text = std::make_shared("text"); std::string testText("HelloWorld"); EXPECT_NO_THROW(text->setText(testText)); } TEST(OsgTextRepresentationTests, FontTests) { auto runtime = std::make_shared("config.txt"); auto text = std::make_shared("text"); std::shared_ptr font = std::make_shared(); font->load("Fonts/Vera.ttf"); // Should have default font EXPECT_NE(nullptr, text->getFont()); // Font setting should work EXPECT_NO_THROW(text->setFont(font)); EXPECT_EQ(font, text->getFont()); EXPECT_ANY_THROW(text->setFont(nullptr)); // Other ways to set the font EXPECT_NO_THROW(text->loadFont("Fonts/Vera.ttf")); EXPECT_NO_THROW(text->setValue("FontFileName", std::string("Fonts/Vera.ttf"))); } TEST(OsgTextRepresentationTests, MaximumWidth) { auto text = std::make_shared("text"); SurgSim::DataStructures::OptionalValue optional; EXPECT_DOUBLE_EQ(0.0, text->getMaximumWidth()); EXPECT_EQ(optional, text->getOptionalMaximumWidth()); text->setMaximumWidth(10.0); EXPECT_DOUBLE_EQ(10.0, text->getMaximumWidth()); optional.setValue(10.0); EXPECT_DOUBLE_EQ(*optional, *(text->getOptionalMaximumWidth())); optional.invalidate(); text->setOptionalMaximumWidth(optional); EXPECT_DOUBLE_EQ(0.0, text->getMaximumWidth()); EXPECT_FALSE(text->getOptionalMaximumWidth().hasValue()); optional.setValue(20.0); text->setOptionalMaximumWidth(optional); EXPECT_DOUBLE_EQ(20.0, text->getMaximumWidth()); EXPECT_DOUBLE_EQ(*optional, *(text->getOptionalMaximumWidth())); } TEST(OsgTextRepresentationTests, Serialization) { using SurgSim::Framework::Component; auto runtime = std::make_shared("config.txt"); std::shared_ptr text = std::make_shared("text"); text->setText("TestTest"); text->setFontSize(123.0); text->setColor(SurgSim::Math::Vector4d(1.0, 2.0, 3.0, 4.0)); text->setMaximumWidth(321.0); typedef YAML::convert Converter; YAML::Node node; ASSERT_NO_THROW(node = Converter::encode(*text)); std::shared_ptr result; ASSERT_NO_THROW(result = node.as>()); ASSERT_NE(nullptr, result); auto textResult = std::dynamic_pointer_cast(result); ASSERT_NE(nullptr, textResult); EXPECT_EQ("TestTest", textResult->getText()); EXPECT_DOUBLE_EQ(123.0, textResult->getFontSize()); EXPECT_DOUBLE_EQ(321.0, textResult->getMaximumWidth()); EXPECT_TRUE(SurgSim::Math::Vector4d(1.0, 2.0, 3.0, 4.0).isApprox(textResult->getColor())); } }; // Graphics }; // SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgTexture1dTests.cpp000066400000000000000000000050361277777236100253000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgTexture1d class. #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Graphics/OsgTexture1d.h" #include #include #include #include namespace SurgSim { namespace Graphics { TEST(OsgTexture1dTests, InitTest) { OsgTexture1d texture; EXPECT_NE(nullptr, texture.getOsgTexture()); EXPECT_EQ(nullptr, texture.getOsgTexture()->getImage(0u)); } TEST(OsgTexture1dTests, SetSizeTest) { OsgTexture1d texture; texture.setSize(256); int width; texture.getSize(&width); EXPECT_EQ(256, width); } TEST(OsgTexture1dTests, LoadAndClearImageTest) { SurgSim::Framework::ApplicationData data("config.txt"); std::string imagePath = data.findFile("Textures/Gradient.png"); ASSERT_NE("", imagePath) << "Could not find image file!"; // Load the image std::shared_ptr osgTexture = std::make_shared(); std::shared_ptr texture = osgTexture; EXPECT_TRUE(texture->loadImage(imagePath)) << "Failed to load image!"; EXPECT_EQ(1u, osgTexture->getOsgTexture()->getNumImages()); EXPECT_NE(nullptr, osgTexture->getOsgTexture()->getImage(0u)) << "Texture should have an image!"; // Make sure the image has the expected size int width; osgTexture->getSize(&width); EXPECT_EQ(256, width); osg::Image* image = osgTexture->getOsgTexture()->getImage(0u); EXPECT_EQ(256, image->s()); EXPECT_EQ(1, image->t()); EXPECT_EQ(1, image->r()); // Remove the image texture->clearImage(); EXPECT_EQ(nullptr, osgTexture->getOsgTexture()->getImage(0u)) << "Texture image should have been cleared!"; // Try to load an image that does not exist EXPECT_FALSE(texture->loadImage("NotHere.png")) << "Should not have been able to load image - it does not exist!"; EXPECT_EQ(nullptr, osgTexture->getOsgTexture()->getImage(0u)); } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgTexture2dTests.cpp000066400000000000000000000051011277777236100252720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgTexture2d class. #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Graphics/OsgTexture2d.h" #include #include namespace SurgSim { namespace Graphics { TEST(OsgTexture2dTests, InitTest) { OsgTexture2d texture; EXPECT_NE(nullptr, texture.getOsgTexture()); EXPECT_EQ(nullptr, texture.getOsgTexture()->getImage(0u)); } TEST(OsgTexture2dTests, SetSizeTest) { OsgTexture2d texture; texture.setSize(256, 512); int width, height; texture.getSize(&width, &height); EXPECT_EQ(256, width); EXPECT_EQ(512, height); } TEST(OsgTexture2dTests, LoadAndClearImageTest) { SurgSim::Framework::ApplicationData data("config.txt"); std::string imagePath = data.findFile("Textures/CheckerBoard.png"); ASSERT_NE("", imagePath) << "Could not find image file!"; // Load the image std::shared_ptr osgTexture = std::make_shared(); std::shared_ptr texture = osgTexture; EXPECT_TRUE(texture->loadImage(imagePath)) << "Failed to load image!"; EXPECT_EQ(1u, osgTexture->getOsgTexture()->getNumImages()); EXPECT_NE(nullptr, osgTexture->getOsgTexture()->getImage(0u)) << "Texture should have an image!"; // Make sure the image has the expected size int width, height; osgTexture->getSize(&width, &height); EXPECT_EQ(512, width); EXPECT_EQ(512, height); osg::Image* image = osgTexture->getOsgTexture()->getImage(0u); EXPECT_EQ(512, image->s()); EXPECT_EQ(512, image->t()); EXPECT_EQ(1, image->r()); // Remove the image texture->clearImage(); EXPECT_EQ(nullptr, osgTexture->getOsgTexture()->getImage(0u)) << "Texture image should have been cleared!"; // Try to load an image that does not exist EXPECT_FALSE(texture->loadImage("NotHere.png")) << "Should not have been able to load image - it does not exist!"; EXPECT_EQ(nullptr, osgTexture->getOsgTexture()->getImage(0u)); } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgTexture3dTests.cpp000066400000000000000000000104171277777236100253010ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgTextureCubeMap class. #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Graphics/OsgTexture3d.h" #include #include namespace SurgSim { namespace Graphics { TEST(OsgTexture3dTests, InitTest) { OsgTexture3d texture; EXPECT_NE(nullptr, texture.getOsgTexture()); EXPECT_EQ(nullptr, texture.getOsgTexture()->getImage(0u)); } TEST(OsgTexture3dTests, SetSizeTest) { OsgTexture3d texture; texture.setSize(256, 512, 1024); int width, height, depth; texture.getSize(&width, &height, &depth); EXPECT_EQ(256, width); EXPECT_EQ(512, height); EXPECT_EQ(1024, depth); } TEST(OsgTexture3dTests, LoadAndClearImageTest) { SurgSim::Framework::ApplicationData data("config.txt"); std::string imagePath = data.findFile("Textures/CheckerBoard.png"); ASSERT_NE("", imagePath) << "Could not find image file!"; // Load the image std::shared_ptr osgTexture = std::make_shared(); std::shared_ptr texture = osgTexture; EXPECT_TRUE(texture->loadImage(imagePath)) << "Failed to load image!"; EXPECT_EQ(1u, osgTexture->getOsgTexture()->getNumImages()); EXPECT_NE(nullptr, osgTexture->getOsgTexture()->getImage(0u)) << "Texture should have an image!"; // Make sure the image has the expected size int width, height, depth; osgTexture->getSize(&width, &height, &depth); EXPECT_EQ(512, width); EXPECT_EQ(512, height); EXPECT_EQ(1, depth); osg::Image* image = osgTexture->getOsgTexture()->getImage(0u); EXPECT_EQ(512, image->s()); EXPECT_EQ(512, image->t()); EXPECT_EQ(1, image->r()); // Remove the image texture->clearImage(); EXPECT_EQ(nullptr, osgTexture->getOsgTexture()->getImage(0u)) << "Texture image should have been cleared!"; // Try to load an image that does not exist EXPECT_FALSE(texture->loadImage("NotHere.png")) << "Should not have been able to load image - it does not exist!"; EXPECT_EQ(nullptr, osgTexture->getOsgTexture()->getImage(0u)); } TEST(OsgTexture3dTests, LoadImageSlicesTest) { SurgSim::Framework::ApplicationData data("config.txt"); std::string slice0Path = data.findFile("Textures/Brdf0.png"); ASSERT_NE("", slice0Path) << "Could not find image file for slice 0!"; std::string slice1Path = data.findFile("Textures/Brdf1.png"); ASSERT_NE("", slice1Path) << "Could not find image file for slice 1!"; std::vector slicePaths; slicePaths.push_back(slice0Path); slicePaths.push_back(slice1Path); // Load the images std::shared_ptr osgTexture = std::make_shared(); std::shared_ptr texture = osgTexture; EXPECT_TRUE(osgTexture->loadImageSlices(slicePaths)) << "Failed to load images!"; EXPECT_EQ(1u, osgTexture->getOsgTexture()->getNumImages()); EXPECT_NE(nullptr, osgTexture->getOsgTexture()->getImage(0u)) << "Texture should have an image!"; // Make sure the image has the expected size int width, height, depth; osgTexture->getSize(&width, &height, &depth); EXPECT_EQ(256, width); EXPECT_EQ(256, height); EXPECT_EQ(2, depth); osg::Image* image = osgTexture->getOsgTexture()->getImage(0u); EXPECT_EQ(256, image->s()); EXPECT_EQ(256, image->t()); EXPECT_EQ(2, image->r()); // Remove the image texture->clearImage(); EXPECT_EQ(nullptr, osgTexture->getOsgTexture()->getImage(0u)) << "Texture image should have been cleared!"; // Try to load an image that does not exist slicePaths.push_back("NotHere.png"); EXPECT_FALSE(osgTexture->loadImageSlices(slicePaths)) << "Should not have been able to load an image - it does not exist!"; EXPECT_EQ(nullptr, osgTexture->getOsgTexture()->getImage(0u)); } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgTextureCubeMapTests.cpp000066400000000000000000000116501277777236100263070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgTextureCubeMap class. #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Graphics/OsgTextureCubeMap.h" #include #include #include #include namespace SurgSim { namespace Graphics { TEST(OsgTextureCubeMapTests, InitTest) { OsgTextureCubeMap texture; EXPECT_NE(nullptr, texture.getOsgTexture()); EXPECT_EQ(nullptr, texture.getOsgTexture()->getImage(0u)); } TEST(OsgTextureCubeMapTests, SetSizeTest) { OsgTextureCubeMap texture; texture.setSize(256, 512); int width, height; texture.getSize(&width, &height); EXPECT_EQ(256, width); EXPECT_EQ(512, height); } TEST(OsgTextureCubeMapTests, LoadAndClearImageTest) { SurgSim::Framework::ApplicationData data("config.txt"); std::string imagePath = data.findFile("Textures/CubeMap_axes.png"); ASSERT_NE("", imagePath) << "Could not find image file!"; // Load the image std::shared_ptr osgTexture = std::make_shared(); std::shared_ptr texture = osgTexture; EXPECT_TRUE(texture->loadImage(imagePath)) << "Failed to load image!"; EXPECT_EQ(6u, osgTexture->getOsgTexture()->getNumImages()); // Make sure each face has the expected size int width, height; osgTexture->getSize(&width, &height); EXPECT_EQ(256, width); EXPECT_EQ(256, height); for (size_t i = 0; i < 6; ++i) { osg::Image* image = osgTexture->getOsgTexture()->getImage(i); ASSERT_NE(nullptr, image) << "The texture should have an image for each face!"; EXPECT_EQ(256, image->s()); EXPECT_EQ(256, image->t()); EXPECT_EQ(1, image->r()); } // Remove the image texture->clearImage(); EXPECT_EQ(nullptr, osgTexture->getOsgTexture()->getImage(0u)) << "Texture image should have been cleared!"; // Try to load an image that does not exist EXPECT_FALSE(texture->loadImage("NotHere.png")) << "Should not have been able to load image - it does not exist!"; EXPECT_EQ(nullptr, osgTexture->getOsgTexture()->getImage(0u)); } TEST(OsgTextureCubeMapTests, LoadImageFacesTest) { SurgSim::Framework::ApplicationData data("config.txt"); std::string negativeXPath = data.findFile("Textures/NegativeX.png"); ASSERT_NE("", negativeXPath) << "Could not find image file for (-X) face!"; std::string positiveXPath = data.findFile("Textures/PositiveX.png"); ASSERT_NE("", positiveXPath) << "Could not find image file for (+X) face!"; std::string negativeYPath = data.findFile("Textures/NegativeY.png"); ASSERT_NE("", negativeYPath) << "Could not find image file for (-Y) face!"; std::string positiveYPath = data.findFile("Textures/PositiveY.png"); ASSERT_NE("", positiveYPath) << "Could not find image file for (+Y) face!"; std::string negativeZPath = data.findFile("Textures/NegativeZ.png"); ASSERT_NE("", negativeZPath) << "Could not find image file for (-Z) face!"; std::string positiveZPath = data.findFile("Textures/PositiveZ.png"); ASSERT_NE("", positiveZPath) << "Could not find image file for (+Z) face!"; // Load the images std::shared_ptr osgTexture = std::make_shared(); std::shared_ptr texture = osgTexture; EXPECT_TRUE(osgTexture->loadImageFaces(negativeXPath, positiveXPath, negativeYPath, positiveYPath, negativeZPath, positiveZPath)) << "Failed to load images!"; EXPECT_EQ(6u, osgTexture->getOsgTexture()->getNumImages()); // Make sure each face has the expected size int width, height; osgTexture->getSize(&width, &height); EXPECT_EQ(256, width); EXPECT_EQ(256, height); for (size_t i = 0; i < 6; ++i) { osg::Image* image = osgTexture->getOsgTexture()->getImage(i); ASSERT_NE(nullptr, image) << "The texture should have an image for each face!"; EXPECT_EQ(256, image->s()); EXPECT_EQ(256, image->t()); EXPECT_EQ(1, image->r()); } // Remove the image texture->clearImage(); EXPECT_EQ(nullptr, osgTexture->getOsgTexture()->getImage(0u)) << "Texture image should have been cleared!"; // Try to load an image that does not exist EXPECT_FALSE(osgTexture->loadImageFaces(negativeXPath, positiveXPath, "NotHere.png", positiveYPath, negativeZPath, positiveZPath)) << "Should not have been able to load an image - it does not exist!"; EXPECT_EQ(nullptr, osgTexture->getOsgTexture()->getImage(0u)); } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgTextureRectangleTests.cpp000066400000000000000000000052001277777236100266710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgTextureRectangle class. #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Graphics/OsgTextureRectangle.h" #include #include namespace SurgSim { namespace Graphics { TEST(OsgTextureRectangleTests, InitTest) { OsgTextureRectangle texture; EXPECT_NE(nullptr, texture.getOsgTexture()); EXPECT_EQ(nullptr, texture.getOsgTexture()->getImage(0u)); } TEST(OsgTextureRectangleTests, SetSizeTest) { OsgTextureRectangle texture; texture.setSize(256, 512); int width, height; texture.getSize(&width, &height); EXPECT_EQ(256, width); EXPECT_EQ(512, height); } TEST(OsgTextureRectangleTests, LoadAndClearImageTest) { SurgSim::Framework::ApplicationData data("config.txt"); std::string imagePath = data.findFile("Textures/CheckerBoard.png"); ASSERT_NE("", imagePath) << "Could not find image file!"; // Load the image std::shared_ptr osgTexture = std::make_shared(); std::shared_ptr texture = osgTexture; EXPECT_TRUE(texture->loadImage(imagePath)) << "Failed to load image!"; EXPECT_EQ(1u, osgTexture->getOsgTexture()->getNumImages()); EXPECT_NE(nullptr, osgTexture->getOsgTexture()->getImage(0u)) << "Texture should have an image!"; // Make sure the image has the expected size int width, height; osgTexture->getSize(&width, &height); EXPECT_EQ(512, width); EXPECT_EQ(512, height); osg::Image* image = osgTexture->getOsgTexture()->getImage(0u); EXPECT_EQ(512, image->s()); EXPECT_EQ(512, image->t()); EXPECT_EQ(1, image->r()); // Remove the image texture->clearImage(); EXPECT_EQ(nullptr, osgTexture->getOsgTexture()->getImage(0u)) << "Texture image should have been cleared!"; // Try to load an image that does not exist EXPECT_FALSE(texture->loadImage("NotHere.png")) << "Should not have been able to load image - it does not exist!"; EXPECT_EQ(nullptr, osgTexture->getOsgTexture()->getImage(0u)); } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgTextureTests.cpp000066400000000000000000000040261277777236100250510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgTexture class. #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Graphics/OsgTexture.h" #include #include #include #include #include namespace SurgSim { namespace Graphics { /// Concrete OSG Texture for testing. /// Wraps an osg::Texture2D. class MockOsgTexture : public OsgTexture { public: /// Constructor MockOsgTexture() : OsgTexture(new osg::Texture2D()) { } }; TEST(OsgTextureTests, InitTest) { MockOsgTexture texture; EXPECT_NE(nullptr, texture.getOsgTexture()); EXPECT_EQ(nullptr, texture.getOsgTexture()->getImage(0u)); } TEST(OsgTextureTests, LoadAndClearImageTest) { SurgSim::Framework::ApplicationData data("config.txt"); std::string imagePath = data.findFile("Textures/CheckerBoard.png"); ASSERT_NE("", imagePath) << "Could not find image file!"; std::shared_ptr osgTexture = std::make_shared(); std::shared_ptr texture = osgTexture; EXPECT_TRUE(texture->loadImage(imagePath)) << "Failed to load image!"; EXPECT_NE(nullptr, osgTexture->getOsgTexture()->getImage(0u)) << "Texture should have an image!"; texture->clearImage(); EXPECT_EQ(nullptr, osgTexture->getOsgTexture()->getImage(0u)) << "Texture image should have been cleared!"; } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgTextureUniformTests.cpp000066400000000000000000000110221277777236100264030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Graphics/OsgMaterial.h" #include "SurgSim/Graphics/OsgUniform.h" #include "SurgSim/Graphics/OsgTexture1d.h" #include "SurgSim/Graphics/OsgTexture2d.h" #include "SurgSim/Graphics/OsgTexture3d.h" #include "SurgSim/Graphics/OsgTextureRectangle.h" #include namespace SurgSim { namespace Graphics { TEST(OsgTextureUniformTest, AddUniformTests) { auto uniform2d = std::make_shared>>("TextureUniform"); auto runtime = std::make_shared(); { // Material not initialized, should be able to add Uniform without Texture auto material = std::make_shared("material"); EXPECT_NO_THROW(material->addUniform(uniform2d)); } { // Material is initialized, should not be able to add Uniform without Texture auto material = std::make_shared("material"); material->initialize(runtime); EXPECT_ANY_THROW(material->addUniform(uniform2d)); } { // Material is initialized, should be able to add Uniform with Texture auto material = std::make_shared("material"); material->initialize(runtime); auto texture2d = std::make_shared(); texture2d->setSize(256, 256); uniform2d->set(texture2d); EXPECT_NO_THROW(material->addUniform(uniform2d)); } } // Check for correct assignment of uniforms to texture units TEST(OsgTextureUniformTests, TextureUnitAssignment) { auto material = std::make_shared("material"); auto runtime = std::make_shared(); material->initialize(runtime); auto uniform2d0 = std::make_shared>>("TextureUniform0"); auto uniform2d1 = std::make_shared>>("TextureUniform1"); auto uniform2d2 = std::make_shared>>("TextureUniform2"); uniform2d1->setMinimumTextureUnit(8); auto texture2d0 = std::make_shared(); uniform2d0->set(texture2d0); auto texture2d1 = std::make_shared(); uniform2d1->set(texture2d1); auto texture2d2 = std::make_shared(); uniform2d2->set(texture2d2); osg::StateSet* stateSet = material->getOsgStateSet(); EXPECT_EQ(0u, stateSet->getTextureAttributeList().size()); material->addUniform(uniform2d0); EXPECT_EQ(1u, stateSet->getTextureAttributeList().size()); EXPECT_FALSE(stateSet->getTextureAttributeList()[0].empty()); material->addUniform(uniform2d1); EXPECT_EQ(9u, stateSet->getTextureAttributeList().size()); EXPECT_FALSE(stateSet->getTextureAttributeList()[0].empty()); EXPECT_TRUE(stateSet->getTextureAttributeList()[1].empty()); EXPECT_FALSE(stateSet->getTextureAttributeList()[8].empty()); material->addUniform(uniform2d2); EXPECT_EQ(9u, stateSet->getTextureAttributeList().size()); EXPECT_FALSE(stateSet->getTextureAttributeList()[0].empty()); EXPECT_FALSE(stateSet->getTextureAttributeList()[1].empty()); EXPECT_TRUE(stateSet->getTextureAttributeList()[2].empty()); EXPECT_FALSE(stateSet->getTextureAttributeList()[8].empty()); } /// Expose a bug where a texture uniform could be created that is not really a correctly specialized /// uniform, if this fails then the uniform2d was not created correctly TEST(OsgTextureUniformTests, TextureUniformTemplateProblem) { auto material = std::make_shared("material"); auto runtime = std::make_shared(); material->initialize(runtime); auto uniform2d = std::make_shared>>("TextureUniform"); auto texture2d = std::make_shared(); texture2d->setSize(256, 256); uniform2d->set(texture2d); material->addUniform(uniform2d); osg::StateSet* stateSet = material->getOsgStateSet(); EXPECT_EQ(1u, stateSet->getTextureAttributeList().size()); } }; // namespace Graphics }; // namespace SurgSimopensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgUniformBaseTests.cpp000066400000000000000000000041521277777236100256230ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgUniformBase class. #include "SurgSim/Graphics/OsgUniformBase.h" #include namespace SurgSim { namespace Graphics { /// OsgUniformBase class for testing class MockOsgUniformBase : public OsgUniformBase { public: /// Constructor /// \param name Name used in shader code to access this uniform explicit MockOsgUniformBase(const std::string& name) : OsgUniformBase(name) { } void set(const YAML::Node&) { } }; TEST(OsgUniformBaseTests, InitTest) { MockOsgUniformBase uniform("test name"); EXPECT_EQ("test name", uniform.getName()); EXPECT_NE(nullptr, uniform.getOsgUniform()); } TEST(OsgUniformBaseTests, StateSetTest) { MockOsgUniformBase uniform("test name"); // Create an OSG state set osg::ref_ptr stateSet = new osg::StateSet(); const osg::StateSet::UniformList& uniforms = stateSet->getUniformList(); EXPECT_EQ(0u, uniforms.size()); /// Add the uniform to the state set uniform.addToStateSet(stateSet.get()); EXPECT_EQ(1u, uniforms.size()) << "State set has no uniforms, one should have been added!"; EXPECT_EQ(uniform.getOsgUniform(), uniforms.at("test name").first) << "First uniform in state set should be the added uniform!"; /// Remove the uniform from the state set uniform.removeFromStateSet(stateSet.get()); EXPECT_EQ(0u, uniforms.size()) << "State set should no longer have any uniforms, the uniform should have been removed!"; } } // namespace Graphics } // namespace SurgSimopensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgUniformTests.cpp000066400000000000000000000336131277777236100250340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgUniform class. #include "SurgSim/Graphics/OsgUniform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/MathConvert.h" #include #include using SurgSim::Math::Vector2f; using SurgSim::Math::Vector3f; using SurgSim::Math::Vector4f; using SurgSim::Math::Vector2d; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; using SurgSim::Math::Matrix22f; using SurgSim::Math::Matrix33f; using SurgSim::Math::Matrix44f; using SurgSim::Math::Matrix22d; using SurgSim::Math::Matrix33d; using SurgSim::Math::Matrix44d; namespace { /// Random number generator, used to generate random values for the tests. std::default_random_engine generator; } namespace SurgSim { namespace Graphics { /// Constructs an OsgUniform, sets it to the given value, and returns the result of Uniform::get() and the wrapped /// osg::Uniform::get(). /// \tparam Type Uniform's value type /// \tparam OsgType Type stored in the osg::Uniform template std::pair testUniformConstruction(const Type& value) { std::shared_ptr> osgUniform = std::make_shared>("test name"); std::shared_ptr osgUniformBase = osgUniform; std::shared_ptr> uniform = osgUniform; std::shared_ptr uniformBase = osgUniform; EXPECT_EQ("test name", osgUniformBase->getName()); uniform->set(value); OsgType osgValue; EXPECT_TRUE(osgUniformBase->getOsgUniform()->get(osgValue)) << "Failed to get osg::Uniform value. The Uniform type may be wrong!"; return std::make_pair(uniform->get(), osgValue); } template std::pair testAccessible(const Type& value) { auto osgUniform = std::make_shared>("test name"); osgUniform->setValue("Value", value); return std::make_pair(osgUniform->get(), osgUniform->getValue("Value")); } template Type testYamlSetter(const Type& value) { YAML::Node node = YAML::convert::encode(value); auto osgUniform = std::make_shared>("test name"); osgUniform->set(node); return osgUniform->get(); } /// Constructs an OsgUniform that stores a vector of values, sets it to the given vector values, and returns the result /// of Uniform::get() and the wrapped osg::Uniform::get(). /// \tparam Type Uniform's value type /// \tparam OsgType Type stored in the osg::Uniform template std::pair, std::vector> testUniformElementsConstruction( const std::vector& value, size_t numElements) { std::shared_ptr>> osgUniform = std::make_shared>>("test name", numElements); std::shared_ptr osgUniformBase = osgUniform; std::shared_ptr>> uniform = osgUniform; std::shared_ptr uniformBase = osgUniform; EXPECT_EQ("test name", osgUniformBase->getName()); uniform->set(value); std::vector osgValue; for (unsigned int i = 0; i < osgUniformBase->getOsgUniform()->getNumElements(); ++i) { OsgType element; EXPECT_TRUE(osgUniformBase->getOsgUniform()->getElement(i, element)) << "Failed to get osg::Uniform element value. The Uniform type may be wrong!"; osgValue.push_back(element); } return std::make_pair(uniform->get(), osgValue); } /// Tests OsgUniform with a random floating point type value. /// \tparam FloatType Floating point type (float, double, ...) /// \param min Minimum random value /// \param max Maximum random value template void testUniformFloat(FloatType min, FloatType max) { std::uniform_real_distribution distribution(min, max); FloatType value = distribution(generator); std::pair result = testUniformConstruction(value); EXPECT_NEAR(value, result.first, Eigen::NumTraits::dummy_precision()); EXPECT_NEAR(value, result.second, Eigen::NumTraits::dummy_precision()); auto accessibleResult = testAccessible(value); FloatType accessibleValue; ASSERT_NO_THROW({boost::any_cast(accessibleResult.second);}); accessibleValue = boost::any_cast(accessibleResult.second); EXPECT_NEAR(value, accessibleValue, Eigen::NumTraits::dummy_precision()); FloatType nodeValue = 0.0; ASSERT_NO_THROW(nodeValue = testYamlSetter(value)); EXPECT_NEAR(value, nodeValue, Eigen::NumTraits::dummy_precision()); } /// Tests OsgUniform with a vector of random floating point type values. /// \tparam FloatType Floating point type (float, double, ...) /// \param min Minimum random value /// \param max Maximum random value /// \param numElements Number of elements template void testUniformElementsFloat(FloatType min, FloatType max, size_t numElements) { std::uniform_real_distribution distribution(min, max); std::vector elements; for (size_t i = 0; i < numElements; ++i) { elements.push_back(distribution(generator)); } std::pair, std::vector> result = testUniformElementsConstruction(elements, numElements); EXPECT_EQ(elements.size(), result.first.size()) << "Number of resulting float-type elements does not match input"; EXPECT_EQ(elements.size(), result.second.size()) << "Number of resulting OSG-type elements does not match input"; for (size_t i = 0; i < elements.size(); ++i) { EXPECT_NEAR(elements[i], result.first[i], Eigen::NumTraits::dummy_precision()); EXPECT_NEAR(elements[i], result.second[i], Eigen::NumTraits::dummy_precision()); } } /// Tests OsgUniform with a random integer type value. /// \tparam IntType Integer type (int, unsigned int, ...) /// \param min Minimum random value /// \param max Maximum random value template void testUniformInt(IntType min, IntType max) { std::uniform_int_distribution distribution(min, max); IntType value = distribution(generator); std::pair result = testUniformConstruction(value); EXPECT_EQ(value, result.first); EXPECT_EQ(value, result.second); auto accessibleResult = testAccessible(value); IntType accessibleValue; ASSERT_NO_THROW({accessibleValue = boost::any_cast(accessibleResult.second);}); EXPECT_EQ(value, accessibleValue); IntType nodeValue; EXPECT_NO_THROW(nodeValue = testYamlSetter(value)); EXPECT_EQ(value, nodeValue); } /// Tests OsgUniform with a vector of random integer type values. /// \tparam IntType Integer type (int, unsigned int, ...) /// \param min Minimum random value /// \param max Maximum random value /// \param numElements Number of elements template void testUniformElementsInt(IntType min, IntType max, size_t numElements) { std::uniform_int_distribution distribution(min, max); std::vector elements; for (size_t i = 0; i < numElements; ++i) { elements.push_back(distribution(generator)); } std::pair, std::vector> result = testUniformElementsConstruction(elements, numElements); EXPECT_EQ(elements.size(), result.first.size()) << "Number of resulting int-type elements does not match input"; EXPECT_EQ(elements.size(), result.second.size()) << "Number of resulting OSG-type elements does not match input"; for (size_t i = 0; i < elements.size(); ++i) { EXPECT_EQ(elements[i], result.first[i]); EXPECT_EQ(elements[i], result.second[i]); } } /// Tests OsgUniform with a random Eigen type values. /// \tparam Type Eigen type (Vector2f, Matrix44d, ...) /// \tparam OsgType OSG type which corresponds with the Eigen type (must have a fromOsg() defined for this type) template void testUniformEigen() { Type value = Type::Random(); std::pair result = testUniformConstruction(value); EXPECT_TRUE(result.first.isApprox(value)); EXPECT_TRUE(fromOsg(result.second).isApprox(value)); auto accessibleResult = testAccessible(value); Type accessibleValue; ASSERT_NO_THROW({boost::any_cast(accessibleResult.second);}); accessibleValue = boost::any_cast(accessibleResult.second); EXPECT_TRUE(value.isApprox(accessibleValue)); Type nodeValue; EXPECT_NO_THROW(nodeValue = testYamlSetter(value)); EXPECT_TRUE(value.isApprox(nodeValue)); } /// Tests OsgUniform with a vector of random Eigen type values. /// \tparam Type Eigen type (Vector2f, Matrix44d, ...) /// \tparam OsgType OSG type which corresponds with the Eigen type (must have a fromOsg() defined for this type) template void testUniformElementsEigen(size_t numElements) { std::vector elements; for (size_t i = 0; i < numElements; ++i) { elements.push_back(Type::Random()); } std::pair, std::vector> result = testUniformElementsConstruction(elements, numElements); EXPECT_EQ(elements.size(), result.first.size()) << "Number of resulting Eigen-type elements does not match input"; EXPECT_EQ(elements.size(), result.second.size()) << "Number of resulting OSG-type elements does not match input"; for (size_t i = 0; i < elements.size(); ++i) { const Type& eigenInput = elements[i]; const Type& eigenOutput = result.first[i]; const OsgType& osgOutput = result.second[i]; EXPECT_TRUE(eigenOutput.isApprox(eigenInput)); EXPECT_TRUE(fromOsg(osgOutput).isApprox(eigenInput)); } } TEST(OsgUniformTests, FloatTest) { testUniformFloat(-10.0f, 10.0f); } TEST(OsgUniformTests, DoubleTest) { testUniformFloat(-10.0, 10.0); } TEST(OsgUniformTests, IntTest) { testUniformInt(-10, 10); } TEST(OsgUniformTests, UnsignedIntTest) { testUniformInt(0, 10); } TEST(OsgUniformTests, BoolTest) { { std::pair result = testUniformConstruction(true); EXPECT_TRUE(result.first); EXPECT_TRUE(result.second); } { std::pair result = testUniformConstruction(false); EXPECT_FALSE(result.first); EXPECT_FALSE(result.second); } } TEST(OsgUniformTests, Vector2fTest) { testUniformEigen(); } TEST(OsgUniformTests, Vector3fTest) { testUniformEigen(); } TEST(OsgUniformTests, Vector4fTest) { testUniformEigen(); } TEST(OsgUniformTests, Vector2dTest) { testUniformEigen(); } TEST(OsgUniformTests, Vector3dTest) { testUniformEigen(); } TEST(OsgUniformTests, Vector4dTest) { testUniformEigen(); } TEST(OsgUniformTests, Matrix22fTest) { testUniformEigen(); } TEST(OsgUniformTests, Matrix33fTest) { testUniformEigen(); } TEST(OsgUniformTests, Matrix44fTest) { testUniformEigen(); } TEST(OsgUniformTests, Matrix22dTest) { testUniformEigen(); } TEST(OsgUniformTests, Matrix33dTest) { testUniformEigen(); } TEST(OsgUniformTests, Matrix44dTest) { testUniformEigen(); } TEST(OsgUniformTests, FloatElementsTest) { testUniformElementsFloat(-10.0f, 10.0f, 10); } TEST(OsgUniformTests, DoubleElementsTest) { testUniformElementsFloat(-10.0, 10.0, 10); } TEST(OsgUniformTests, IntElementsTest) { testUniformElementsInt(-10, 10, 10); } TEST(OsgUniformTests, UnsignedIntElementsTest) { testUniformElementsInt(0, 10, 10); } TEST(OsgUniformTests, BoolElementsTest) { std::vector elements; for (size_t i = 0; i < 10; ++i) { elements.push_back(i % 2 == 0); } std::pair, std::vector> result = testUniformElementsConstruction(elements, 10); EXPECT_EQ(elements.size(), result.first.size()) << "Number of resulting bool-type elements does not match input"; EXPECT_EQ(elements.size(), result.second.size()) << "Number of resulting OSG-type elements does not match input"; for (size_t i = 0; i < elements.size(); ++i) { EXPECT_EQ(elements[i], result.first[i]); EXPECT_EQ(elements[i], result.second[i]); } } TEST(OsgUniformTests, Vector2fElementsTest) { testUniformElementsEigen(10); } TEST(OsgUniformTests, Vector3fElementsTest) { testUniformElementsEigen(10); } TEST(OsgUniformTests, Vector4fElementsTest) { testUniformElementsEigen(10); } TEST(OsgUniformTests, Vector2dElementsTest) { testUniformElementsEigen(10); } TEST(OsgUniformTests, Vector3dElementsTest) { testUniformElementsEigen(10); } TEST(OsgUniformTests, Vector4dElementsTest) { testUniformElementsEigen(10); } TEST(OsgUniformTests, Matrix22fElementsTest) { testUniformElementsEigen(10); } TEST(OsgUniformTests, Matrix33fElementsTest) { testUniformElementsEigen(10); } TEST(OsgUniformTests, Matrix44fElementsTest) { testUniformElementsEigen(10); } TEST(OsgUniformTests, Matrix22dElementsTest) { testUniformElementsEigen(10); } TEST(OsgUniformTests, Matrix33dElementsTest) { testUniformElementsEigen(10); } TEST(OsgUniformTests, Matrix44dElementsTest) { testUniformElementsEigen(10); } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgUniformTypesTests.cpp000066400000000000000000000057451277777236100260660ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgUniformTypes functions to make sure they return the correct enum values. #include "SurgSim/Graphics/OsgUniformTypes.h" #include #include namespace SurgSim { namespace Graphics { TEST(OsgUniformTypesTests, FloatTest) { EXPECT_EQ(osg::Uniform::FLOAT, getOsgUniformType()); } TEST(OsgUniformTypesTests, DoubleTest) { EXPECT_EQ(osg::Uniform::DOUBLE, getOsgUniformType()); } TEST(OsgUniformTypesTests, IntTest) { EXPECT_EQ(osg::Uniform::INT, getOsgUniformType()); } TEST(OsgUniformTypesTests, UnsignedIntTest) { EXPECT_EQ(osg::Uniform::UNSIGNED_INT, getOsgUniformType()); } TEST(OsgUniformTypesTests, BoolTest) { EXPECT_EQ(osg::Uniform::BOOL, getOsgUniformType()); } TEST(OsgUniformTypesTests, Vector2fTest) { EXPECT_EQ(osg::Uniform::FLOAT_VEC2, getOsgUniformType()); } TEST(OsgUniformTypesTests, Vector3fTest) { EXPECT_EQ(osg::Uniform::FLOAT_VEC3, getOsgUniformType()); } TEST(OsgUniformTypesTests, Vector4fTest) { EXPECT_EQ(osg::Uniform::FLOAT_VEC4, getOsgUniformType()); } TEST(OsgUniformTypesTests, Vector2dTest) { EXPECT_EQ(osg::Uniform::DOUBLE_VEC2, getOsgUniformType()); } TEST(OsgUniformTypesTests, Vector3dTest) { EXPECT_EQ(osg::Uniform::DOUBLE_VEC3, getOsgUniformType()); } TEST(OsgUniformTypesTests, Vector4dTest) { EXPECT_EQ(osg::Uniform::DOUBLE_VEC4, getOsgUniformType()); } TEST(OsgUniformTypesTests, Matrix22fTest) { EXPECT_EQ(osg::Uniform::FLOAT_MAT2, getOsgUniformType()); } TEST(OsgUniformTypesTests, Matrix33fTest) { EXPECT_EQ(osg::Uniform::FLOAT_MAT3, getOsgUniformType()); } TEST(OsgUniformTypesTests, Matrix44fTest) { EXPECT_EQ(osg::Uniform::FLOAT_MAT4, getOsgUniformType()); } TEST(OsgUniformTypesTests, Matrix22dTest) { EXPECT_EQ(osg::Uniform::DOUBLE_MAT2, getOsgUniformType()); } TEST(OsgUniformTypesTests, Matrix33dTest) { EXPECT_EQ(osg::Uniform::DOUBLE_MAT3, getOsgUniformType()); } TEST(OsgUniformTypesTests, Matrix44dTest) { EXPECT_EQ(osg::Uniform::DOUBLE_MAT4, getOsgUniformType()); } } // namespace Graphics } // namespace SurgSimopensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgUnitSphereTests.cpp000066400000000000000000000045501277777236100255010ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgUnitSphere class. #include "SurgSim/Graphics/OsgUnitSphere.h" #include namespace SurgSim { namespace Graphics { TEST(OsgUnitSphereTests, InitTest) { ASSERT_NO_THROW({OsgUnitSphere sphere;}); OsgUnitSphere sphere; osg::ref_ptr node = sphere.getNode(); EXPECT_NE(nullptr, node.get()); osg::ref_ptr transform = dynamic_cast(node.get()); EXPECT_NE(nullptr, transform.get()); osg::Quat rotation; rotation.makeRotate(osg::Vec3d(0.0, 0.0, 1.0), osg::Vec3d(0.0, 1.0, 0.0)); EXPECT_EQ(rotation, transform->getAttitude()); EXPECT_EQ(osg::Vec3(0.0, 0.0, 0.0), transform->getPosition()); EXPECT_EQ(osg::Vec3(1.0, 1.0, 1.0), transform->getScale()); EXPECT_EQ(1u, transform->getNumChildren()); osg::ref_ptr geode = dynamic_cast(transform->getChild(0u)); EXPECT_NE(nullptr, geode.get()); EXPECT_EQ(1u, geode->getNumDrawables()); osg::ref_ptr drawable = geode->getDrawable(0); EXPECT_NE(nullptr, drawable.get()); osg::ref_ptr shapeDrawable = dynamic_cast(drawable.get()); EXPECT_NE(nullptr, shapeDrawable.get()); osg::ref_ptr shape = shapeDrawable->getShape(); EXPECT_NE(nullptr, shape.get()); osg::ref_ptr sphereShape = dynamic_cast(shape.get()); EXPECT_NE(nullptr, sphereShape.get()); /// The sphere should be at (0, 0, 0) with radius 1 EXPECT_EQ(0.0f, sphereShape->getCenter().x()); EXPECT_EQ(0.0f, sphereShape->getCenter().y()); EXPECT_EQ(0.0f, sphereShape->getCenter().z()); EXPECT_EQ(1.0f, sphereShape->getRadius()); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgVectorConversionsTests.cpp000066400000000000000000000041211277777236100271000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for conversions to and from OSG vector types #include "SurgSim/Graphics/OsgVectorConversions.h" #include using SurgSim::Graphics::fromOsg; using SurgSim::Graphics::toOsg; using SurgSim::Math::Vector2f; using SurgSim::Math::Vector2d; using SurgSim::Math::Vector3f; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4f; using SurgSim::Math::Vector4d; TEST(OsgVectorConversionsTests, Vector2fTest) { Vector2f vector = Vector2f::Random(); osg::Vec2f osgVector = toOsg(vector); EXPECT_TRUE(vector.isApprox(fromOsg(osgVector))); } TEST(OsgVectorConversionsTests, Vector2dTest) { Vector2d vector = Vector2d::Random(); osg::Vec2d osgVector = toOsg(vector); EXPECT_TRUE(vector.isApprox(fromOsg(osgVector))); } TEST(OsgVectorConversionsTests, Vector3fTest) { Vector3f vector = Vector3f::Random(); osg::Vec3f osgVector = toOsg(vector); EXPECT_TRUE(vector.isApprox(fromOsg(osgVector))); } TEST(OsgVectorConversionsTests, Vector3dTest) { Vector3d vector = Vector3d::Random(); osg::Vec3d osgVector = toOsg(vector); EXPECT_TRUE(vector.isApprox(fromOsg(osgVector))); } TEST(OsgVectorConversionsTests, Vector4fTest) { Vector4f vector = Vector4f::Random(); osg::Vec4f osgVector = toOsg(vector); EXPECT_TRUE(vector.isApprox(fromOsg(osgVector))); } TEST(OsgVectorConversionsTests, Vector4dTest) { Vector4d vector = Vector4d::Random(); osg::Vec4d osgVector = toOsg(vector); EXPECT_TRUE(vector.isApprox(fromOsg(osgVector))); } opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgVectorFieldRepresentationTests.cpp000066400000000000000000000055501277777236100305450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Unit Tests for the OsgVectorFieldRepresentation class. #include "SurgSim/Graphics/VectorFieldRepresentation.h" #include "SurgSim/Graphics/OsgVectorFieldRepresentation.h" #include "SurgSim/Math/Vector.h" #include namespace { const double epsilon = 1e-6; }; using SurgSim::Graphics::OsgVectorFieldRepresentation; using SurgSim::Graphics::VectorFieldRepresentation; TEST(OsgVectorFieldRepresentationTests, VerticesTest) { std::shared_ptr vectorFieldRepresentation = std::make_shared("Vector Field"); EXPECT_EQ(0u, vectorFieldRepresentation->getVectorField()->getNumVertices()); } TEST(OsgVectorFieldRepresentationTests, LineWidthTest) { std::shared_ptr vectorFieldRepresentation = std::make_shared("Vector Field"); vectorFieldRepresentation->setLineWidth(1.25); EXPECT_NEAR(1.25, vectorFieldRepresentation->getLineWidth(), epsilon); } TEST(OsgVectorFieldRepresentationTests, ScaleTest) { std::shared_ptr vectorFieldRepresentation = std::make_shared("Vector Field"); vectorFieldRepresentation->setScale(1.25); EXPECT_NEAR(1.25, vectorFieldRepresentation->getScale(), epsilon); } TEST(OsgVectorFieldRepresentationTests, PointSizeTest) { std::shared_ptr vectorFieldRepresentation = std::make_shared("Vector Field"); vectorFieldRepresentation->setPointSize(1.25); EXPECT_NEAR(1.25, vectorFieldRepresentation->getPointSize(), epsilon); } TEST(OsgVectorFieldRepresentation, Properties) { auto representation = std::make_shared("Vector Field"); EXPECT_EQ("SurgSim::Graphics::OsgVectorFieldRepresentation", representation->getClassName()); EXPECT_NO_THROW(representation->setValue("Scale", 2.34)); EXPECT_NEAR(2.34, representation->getValue("Scale"), epsilon); EXPECT_NO_THROW(representation->setValue("LineWidth", 4.56)); EXPECT_NEAR(4.56, representation->getValue("LineWidth"), epsilon); EXPECT_NO_THROW(representation->setValue("PointSize", 7.89)); EXPECT_NEAR(7.89, representation->getValue("PointSize"), epsilon); }opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgViewElementTests.cpp000066400000000000000000000036461277777236100256440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgViewElement class. #include "SurgSim/Graphics/UnitTests/MockObjects.h" #include "SurgSim/Graphics/UnitTests/MockOsgObjects.h" #include "SurgSim/Graphics/OsgView.h" #include "SurgSim/Graphics/OsgViewElement.h" #include namespace SurgSim { namespace Graphics { TEST(OsgViewElementTests, InitTest) { ASSERT_NO_THROW({std::shared_ptr viewElement = std::make_shared("test name");}); std::shared_ptr viewElement = std::make_shared("test name"); std::shared_ptr osgView = std::dynamic_pointer_cast(viewElement->getView()); EXPECT_NE(nullptr, osgView); } TEST(OsgViewElementTests, ViewTest) { std::shared_ptr element = std::make_shared("test name"); /// Setting an OsgView should succeed std::shared_ptr osgView = std::make_shared("test osg view"); EXPECT_TRUE(element->setView(osgView)); EXPECT_EQ(osgView, element->getView()); /// Any other View should fail std::shared_ptr mockView = std::make_shared("test mock view"); EXPECT_FALSE(element->setView(mockView)); EXPECT_NE(mockView, element->getView()); EXPECT_EQ(osgView, element->getView()); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/OsgViewTests.cpp000066400000000000000000000232561277777236100243310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2016, SimQuest Solutions 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 // // 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. /// \file /// Tests for the OsgView class. #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Graphics/UnitTests/MockObjects.h" #include "SurgSim/Graphics/UnitTests/MockOsgObjects.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgView.h" #include #include #include "osg/GraphicsContext" namespace SurgSim { namespace Graphics { TEST(OsgViewTests, InitTest) { ASSERT_NO_THROW({std::shared_ptr view = std::make_shared("test name");}); std::shared_ptr view = std::make_shared("test name"); EXPECT_EQ("test name", view->getName()); EXPECT_EQ(nullptr, view->getCamera()); std::array position = view->getPosition(); EXPECT_EQ(0, position[0]); EXPECT_EQ(0, position[1]); std::array dimensions = view->getDimensions(); EXPECT_EQ(1024, dimensions[0]); EXPECT_EQ(768, dimensions[1]); EXPECT_TRUE(view->isWindowBorderEnabled()); } TEST(OsgViewTests, PositionAndDimensionsTest) { std::shared_ptr osgView = std::make_shared("test name"); std::shared_ptr view = osgView; std::default_random_engine generator; std::uniform_int_distribution distribution(0, 1000); std::array position = {distribution(generator), distribution(generator)}; std::array dimensions = {distribution(generator), distribution(generator)}; /// Set position and check that it set correctly view->setPosition(position); auto test = view->getPosition(); EXPECT_EQ(position, test); /// Set dimensions and check that it set correctly view->setDimensions(dimensions); test = view->getDimensions(); EXPECT_EQ(dimensions, test); /// The window border should be enabled initially EXPECT_TRUE(view->isWindowBorderEnabled()); /// Disable the window border view->setWindowBorderEnabled(false); EXPECT_FALSE(view->isWindowBorderEnabled()); } TEST(OsgViewTests, FullScreenSize) { std::shared_ptr osgView = std::make_shared("test name"); std::shared_ptr view = osgView; std::array dimensions = { 20, 30 }; view->setDimensions(dimensions); EXPECT_EQ(dimensions, view->getDimensions()); view->setFullScreen(true); osg::GraphicsContext::WindowingSystemInterface* wsi = osg::GraphicsContext::getWindowingSystemInterface(); ASSERT_NE(nullptr, wsi); unsigned int width, height; wsi->getScreenResolution(osg::GraphicsContext::ScreenIdentifier(view->getTargetScreen()), width, height); std::array screen = { static_cast(width), static_cast(height) }; EXPECT_EQ(screen, view->getDimensions()); view->setFullScreen(false); EXPECT_EQ(dimensions, view->getDimensions()); } TEST(OsgViewTests, CameraTest) { std::shared_ptr view = std::make_shared("test name"); std::shared_ptr camera = std::make_shared("test camera"); /// Set the camera and check that it set correctly EXPECT_NO_THROW(view->setCamera(camera)); EXPECT_EQ(camera, view->getCamera()); std::shared_ptr mockCamera = std::make_shared("non-osg camera"); /// Try to set a camera that does not derive from OsgCamera EXPECT_ANY_THROW(view->setCamera(mockCamera)); EXPECT_EQ(camera, view->getCamera()); } typedef std::array CoordinateType; using SurgSim::Math::Vector3d; void expectEqual(std::shared_ptr expected, std::shared_ptr actual) { if (expected->getCamera() == nullptr) { EXPECT_EQ(nullptr, actual->getCamera()); } else { EXPECT_NE(nullptr, actual->getCamera()); EXPECT_EQ(boost::any_cast>(expected->getValue("Camera"))->getName(), boost::any_cast>(actual->getValue("Camera"))->getName()); } EXPECT_EQ(boost::any_cast(expected->getValue("Position")), boost::any_cast(actual->getValue("Position"))); EXPECT_EQ(boost::any_cast(expected->getValue("Dimensions")), boost::any_cast(actual->getValue("Dimensions"))); EXPECT_EQ(boost::any_cast(expected->getValue("WindowBorder")), boost::any_cast(actual->getValue("WindowBorder"))); EXPECT_EQ(boost::any_cast(expected->getValue("StereoMode")), boost::any_cast(actual->getValue("StereoMode"))); EXPECT_EQ(boost::any_cast(expected->getValue("DisplayType")), boost::any_cast(actual->getValue("DisplayType"))); EXPECT_EQ(boost::any_cast(expected->getValue("FullScreen")), boost::any_cast(actual->getValue("FullScreen"))); EXPECT_EQ(boost::any_cast(expected->getValue("TargetScreen")), boost::any_cast(actual->getValue("TargetScreen"))); EXPECT_EQ(boost::any_cast(expected->getValue("EyeSeparation")), boost::any_cast(actual->getValue("EyeSeparation"))); EXPECT_EQ(boost::any_cast(expected->getValue("ScreenDistance")), boost::any_cast(actual->getValue("ScreenDistance"))); EXPECT_EQ(boost::any_cast(expected->getValue("ScreenWidth")), boost::any_cast(actual->getValue("ScreenWidth"))); EXPECT_EQ(boost::any_cast(expected->getValue("ScreenHeight")), boost::any_cast(actual->getValue("ScreenHeight"))); EXPECT_EQ(boost::any_cast(expected->getValue("CameraManipulatorEnabled")), boost::any_cast(actual->getValue("CameraManipulatorEnabled"))); EXPECT_TRUE(boost::any_cast(expected->getValue("CameraPosition")).isApprox( boost::any_cast(actual->getValue("CameraPosition")))); EXPECT_TRUE(boost::any_cast(expected->getValue("CameraLookAt")).isApprox( boost::any_cast(actual->getValue("CameraLookAt")))); EXPECT_EQ(boost::any_cast(expected->getValue("OsgMapUniforms")), boost::any_cast(actual->getValue("OsgMapUniforms"))); EXPECT_EQ(boost::any_cast(expected->getValue("KeyboardDeviceEnabled")), boost::any_cast(actual->getValue("KeyboardDeviceEnabled"))); EXPECT_EQ(boost::any_cast(expected->getValue("MouseDeviceEnabled")), boost::any_cast(actual->getValue("MouseDeviceEnabled"))); } TEST(OsgViewTests, Serialization) { { SCOPED_TRACE("Serialize with default values"); std::shared_ptr view = std::make_shared("test name"); /// Serialize YAML::Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*view);); /// Deserialize std::shared_ptr newView; EXPECT_NO_THROW(newView = std::dynamic_pointer_cast( node.as>())); EXPECT_NE(nullptr, newView); // Verify expectEqual(view, newView); } { SCOPED_TRACE("Serialize with user-defined values"); std::shared_ptr view = std::make_shared("test name"); std::shared_ptr camera = std::make_shared("test camera"); CoordinateType position; position[0] = 100; position[1] = 100; view->setValue("Position", position); CoordinateType dimensions; dimensions[0] = 200; dimensions[1] = 200; view->setValue("Dimensions", dimensions); view->setValue("WindowBorder", true); view->setValue("Camera", std::dynamic_pointer_cast(camera)); view->setValue("StereoMode", static_cast(SurgSim::Graphics::View::STEREO_MODE_QUAD_BUFFER)); view->setValue("DisplayType", static_cast(SurgSim::Graphics::View::DISPLAY_TYPE_HMD)); view->setValue("FullScreen", true); view->setValue("TargetScreen", 3); view->setValue("EyeSeparation", 0.123); view->setValue("ScreenDistance", 2.123); view->setValue("ScreenWidth", 1.1); view->setValue("ScreenHeight", 1.1); view->setValue("CameraManipulatorEnabled", true); view->setValue("CameraPosition", Vector3d(1.5, 1.5, 1.5)); view->setValue("CameraLookAt", Vector3d(10.5, 10.5, 10.5)); view->setValue("OsgMapUniforms", true); /// Serialize YAML::Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*view);); /// Deserialize std::shared_ptr newView; EXPECT_NO_THROW(newView = std::dynamic_pointer_cast( node.as>())); EXPECT_NE(nullptr, newView); // Verify expectEqual(view, newView); YAML::Node cameraNode; EXPECT_NO_THROW(cameraNode = YAML::convert::encode(*camera);); EXPECT_EQ(cameraNode[camera->getClassName()]["Id"].as(), node[view->getClassName()]["Camera"][camera->getClassName()]["Id"].as()); } } TEST(OsgViewTests, OnlyOneDevice) { std::shared_ptr view1 = std::make_shared("One"); std::shared_ptr view2 = std::make_shared("Two"); view1->enableKeyboardDevice(true); view1->enableMouseDevice(true); EXPECT_ANY_THROW(view2->enableKeyboardDevice(true)); EXPECT_ANY_THROW(view2->enableMouseDevice(true)); } TEST(OsgViewTest, TargetScreenTest) { std::shared_ptr view = std::make_shared("view"); EXPECT_NO_THROW(view->setTargetScreen(100)); EXPECT_NE(100, view->getTargetScreen()); // The actual number is dependent on the number of screens } } // namespace Graphics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/PaintBehaviorTests.cpp000066400000000000000000000033131277777236100254710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Graphics/OsgMeshRepresentation.h" #include "SurgSim/Graphics/PaintBehavior.h" namespace SurgSim { namespace Graphics { class PaintBehaviorTests : public testing::Test { }; TEST_F(PaintBehaviorTests, Serialization) { auto component = std::make_shared("Painter"); auto representation = std::make_shared("MeshRepresentation"); auto color = Math::Vector4d(1.0, 0.0, 0.0, 1.0); component->setRepresentation(representation); component->setColor(color); component->setAntiAlias(true); YAML::Node node(YAML::convert::encode(*component)); auto decode = std::dynamic_pointer_cast( node.as>()); EXPECT_NE(nullptr, decode); EXPECT_EQ(representation->getFullName(), decode->getRepresentation()->getFullName()); EXPECT_TRUE(color.isApprox(decode->getColor())); EXPECT_TRUE(decode->getAntiAlias()); } } // namespace Graphics } // namespace SurgSimopensurgsim-0.7.0/SurgSim/Graphics/UnitTests/RenderPassTests.cpp000066400000000000000000000036621277777236100250130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Graphics/RenderPass.h" #include "SurgSim/Graphics/Group.h" #include "SurgSim/Graphics/Camera.h" #include "SurgSim/Graphics/OsgRenderTarget.h" #include "SurgSim/Graphics/OsgMaterial.h" namespace SurgSim { namespace Graphics { TEST(RenderPassTests, InitTest) { std::shared_ptr renderPass; ASSERT_NO_THROW({renderPass = std::make_shared("testpass");}); EXPECT_NE(nullptr, renderPass->getCamera()); EXPECT_NE(nullptr, renderPass->getMaterial()); EXPECT_EQ(renderPass->getCamera()->getMaterial(), renderPass->getMaterial()); auto references = renderPass->getCamera()->getRenderGroupReferences(); EXPECT_TRUE(std::find(references.begin(), references.end(), renderPass->getName()) != references.end()); } TEST(RenderPassTests, SettersTest) { auto renderPass = std::make_shared("testpass"); auto renderTarget = std::make_shared(1024, 1024, 1.0, 1, true); ASSERT_NO_THROW({renderPass->setRenderTarget(renderTarget);}); EXPECT_EQ(renderTarget, renderPass->getCamera()->getRenderTarget()); auto material = std::make_shared("material"); ASSERT_NO_THROW({renderPass->setMaterial(material);}); EXPECT_EQ(material, renderPass->getMaterial()); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/ViewElementTests.cpp000066400000000000000000000074031277777236100251660ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the ViewElement class. #include "SurgSim/Graphics/ViewElement.h" #include "SurgSim/Graphics/UnitTests/MockObjects.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Input/CommonDevice.h" #include using SurgSim::Framework::Runtime; using SurgSim::Framework::Scene; namespace SurgSim { namespace Graphics { /// Concrete ViewElement subclass for testing class MockViewElement : public ViewElement { public: explicit MockViewElement(const std::string& name) : ViewElement(name), m_isInitialized(false) { setView(std::make_shared(name + " View")); setCamera(std::make_shared(name + " Camera")); getCamera()->setRenderGroupReference("Test"); } std::shared_ptr getKeyboardDevice() override { return nullptr; } void enableKeyboardDevice(bool val) override { return; } std::shared_ptr getMouseDevice() override { return nullptr; } void enableMouseDevice(bool val) override { return; } private: /// Initialize the view element /// \post m_isInitialized is set to true virtual bool doInitialize() { if (ViewElement::doInitialize()) { m_isInitialized = true; return true; } else { return false; } } /// Whether the view has been initialized bool m_isInitialized; }; /// View class for testing adding a non-MockView class NotMockView : public View { public: /// Constructor /// \param name Name of the view explicit NotMockView(const std::string& name) : View(name) { return; } }; TEST(ViewElementTests, InitTest) { ASSERT_NO_THROW({std::shared_ptr element = std::make_shared("test name");}); } TEST(ViewElementTests, StartUpTest) { auto runtime = std::make_shared(); auto manager = std::make_shared(); runtime->addManager(manager); EXPECT_EQ(0, manager->getNumUpdates()); EXPECT_EQ(0.0, manager->getSumDt()); std::shared_ptr scene = runtime->getScene(); /// Add a graphics component to the scene auto viewElement = std::make_shared("Testing MockViewElement"); scene->addSceneElement(viewElement); /// Run the thread for a moment runtime->start(); EXPECT_TRUE(manager->isInitialized()); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); /// Check that the view element was initialized and awoken EXPECT_TRUE(viewElement->getView()->isInitialized()); EXPECT_TRUE(viewElement->getView()->isAwake()); runtime->stop(); /// Check that the view element was initialized and retired again EXPECT_TRUE(viewElement->isInitialized()); EXPECT_TRUE(viewElement->getView()->isInitialized()); EXPECT_FALSE(viewElement->getView()->isAwake()); } TEST(ViewElementTests, ViewTest) { std::shared_ptr element = std::make_shared("Testing MockViewElement"); /// Setting a MockView should succeed std::shared_ptr mockView = std::make_shared("Testing MockView"); EXPECT_TRUE(element->setView(mockView)); EXPECT_EQ(mockView, element->getView()); } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/ViewTests.cpp000066400000000000000000000060631277777236100236550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the View class. #include "SurgSim/Graphics/UnitTests/MockObjects.h" #include "SurgSim/Graphics/OsgCamera.h" #include #include namespace SurgSim { namespace Graphics { TEST(ViewTests, InitTest) { ASSERT_NO_THROW({std::shared_ptr view = std::make_shared("test name");}); } TEST(ViewTests, NameTest) { std::shared_ptr view = std::make_shared("test name"); EXPECT_EQ("test name", view->getName()); } TEST(ViewTests, WindowSettingsTests) { std::shared_ptr view = std::make_shared("test name"); std::default_random_engine generator; std::uniform_int_distribution distribution(0, 1000); std::array position = {distribution(generator), distribution(generator)}; std::array dimensions = {distribution(generator), distribution(generator)}; /// Set position and check that it set correctly view->setPosition(position); auto test = view->getPosition(); EXPECT_EQ(position, test); /// Set dimensions and check that it set correctly view->setDimensions(dimensions); test = view->getDimensions(); EXPECT_EQ(dimensions, test); /// The window border should be enabled initially EXPECT_TRUE(view->isWindowBorderEnabled()); /// Disable the window border view->setWindowBorderEnabled(false); EXPECT_FALSE(view->isWindowBorderEnabled()); } TEST(ViewTests, CameraTest) { std::shared_ptr view = std::make_shared("test name"); std::shared_ptr camera = std::make_shared("test camera"); /// Set the camera and check that it set correctly EXPECT_NO_THROW(view->setCamera(camera)); EXPECT_EQ(camera, view->getCamera()); } TEST(ViewTests, UpdateTest) { std::shared_ptr mockView = std::make_shared("test name"); std::shared_ptr view = mockView; EXPECT_EQ(0, mockView->getNumUpdates()); EXPECT_EQ(0.0, mockView->getSumDt()); double sumDt = 0.0; std::default_random_engine generator; std::uniform_real_distribution distribution(0.0, 1.0); /// Do 10 updates with random dt and check each time that the number of updates and sum of dt are correct. for (int i = 1; i <= 10; ++i) { double dt = distribution(generator); sumDt += dt; view->update(dt); EXPECT_EQ(i, mockView->getNumUpdates()); EXPECT_LT(fabs(sumDt - mockView->getSumDt()), Eigen::NumTraits::dummy_precision()); } } }; // namespace Graphics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Graphics/UnitTests/config.txt.in000066400000000000000000000001551277777236100236230ustar00rootroot00000000000000${PROJECT_BINARY_DIR}/Data/ ${CMAKE_CURRENT_BINARY_DIR}/Data/ ${PROJECT_BINARY_DIR}/SurgSim/Testing/Data/ opensurgsim-0.7.0/SurgSim/Graphics/VectorField.h000066400000000000000000000037701277777236100216330ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_VECTORFIELD_H #define SURGSIM_GRAPHICS_VECTORFIELD_H #include "SurgSim/DataStructures/OptionalValue.h" #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Graphics { /// A (mathematical) vector is represented as (X,Y,Z) associated with an optional color (R,G,B,alpha) information struct VectorFieldData { /// Direction (X,Y,Z) of the vector SurgSim::Math::Vector3d direction; /// Color (R,G,B,alpha) of the vector (Optional) SurgSim::DataStructures::OptionalValue color; /// Compare the vectors and return true if equal; Othwise, false. /// \return True if vector1 and rhs have the same value; Otherwise, false. bool operator==(const VectorFieldData& rhs) const { if (color.hasValue() && rhs.color.hasValue()) { return direction == rhs.direction && color.getValue() == rhs.color.getValue(); } else { return direction == rhs.direction; } } /// Compare the vectors and return true if not equal, false if equal. /// \return True if vector1 and rhs have different values; Otherwise, false. bool operator!=(const VectorFieldData& rhs) const { return ! (*this == rhs); } }; typedef SurgSim::DataStructures::Vertices VectorField; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_VECTORFIELD_Hopensurgsim-0.7.0/SurgSim/Graphics/VectorFieldRepresentation.h000066400000000000000000000046601277777236100245550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_VECTORFIELDREPRESENTATION_H #define SURGSIM_GRAPHICS_VECTORFIELDREPRESENTATION_H #include "SurgSim/Graphics/Representation.h" #include "SurgSim/Graphics/VectorField.h" namespace SurgSim { namespace Graphics { /// Graphic representation of a vector field /// Each point/location, i.e. (X,Y,Z), in the vector field is associated with a vector and an optional color class VectorFieldRepresentation : public virtual Representation { public: /// Constructor /// \param name Name of VectorFieldRepresentation explicit VectorFieldRepresentation(const std::string& name) : Representation(name) { } /// Destructor virtual ~VectorFieldRepresentation() { } /// Gets the vector field /// \return The vector field virtual std::shared_ptr getVectorField() const = 0; /// Updates the vector field in a threadsafe manner /// \param vectorfield the new data virtual void updateVectorField(const SurgSim::Graphics::VectorField& vectorfield) = 0; /// Sets vector line width /// \param width Width of vector line virtual void setLineWidth(double width) = 0; /// Gets line width /// \return The line width virtual double getLineWidth() const = 0; /// Sets the scale to be applied to all vectors /// \param scale The scale virtual void setScale(double scale) = 0; /// Gets the scale applied to all vectors /// \return The scale virtual double getScale() const = 0; /// Sets the size of point indicating the starting of vector /// \param size Size of starting point of a vector virtual void setPointSize(double size) = 0; /// Gets the size of starting point of a vector /// \return The size of starting point of a vector virtual double getPointSize() const = 0; }; }; // Graphics }; // SurgSim #endif // SURGSIM_GRAPHICS_VECTORFIELDREPRESENTATION_Hopensurgsim-0.7.0/SurgSim/Graphics/View.cpp000066400000000000000000000122031277777236100206610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/View.h" #include "SurgSim/DataStructures/DataStructuresConvert.h" #include "SurgSim/Framework/Macros.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Graphics/Camera.h" using SurgSim::Framework::Component; using SurgSim::Framework::checkAndConvert; namespace SurgSim { namespace Graphics { View::View(const std::string& name) : SurgSim::Framework::Component(name), m_stereoMode(STEREO_MODE_NONE), m_displayType(DISPLAY_TYPE_MONITOR), m_targetScreen(0), m_isFullscreen(false), m_eyeSeparation(0.06), m_screenDistance(1.0), m_screenWidth(0.0), m_screenHeight(0.0) { typedef std::array CoordinateType; typedef std::array DoubleType; SURGSIM_ADD_SERIALIZABLE_PROPERTY(View, CoordinateType, Position, getPosition, setPosition); SURGSIM_ADD_SERIALIZABLE_PROPERTY(View, CoordinateType, Dimensions, getDimensions, setDimensions); SURGSIM_ADD_SERIALIZABLE_PROPERTY(View, DoubleType, DimensionsDouble, getDimensionsDouble, setDimensionsDouble); SURGSIM_ADD_SERIALIZABLE_PROPERTY(View, std::shared_ptr, Camera, getCamera, setCamera); SURGSIM_ADD_SERIALIZABLE_PROPERTY(View, bool, WindowBorder, isWindowBorderEnabled, setWindowBorderEnabled); SURGSIM_ADD_SERIALIZABLE_PROPERTY(View, int, StereoMode, getStereoMode, setStereoMode); SURGSIM_ADD_SERIALIZABLE_PROPERTY(View, int, DisplayType, getDisplayType, setDisplayType); SURGSIM_ADD_SERIALIZABLE_PROPERTY(View, bool, FullScreen, isFullScreen, setFullScreen); SURGSIM_ADD_SERIALIZABLE_PROPERTY(View, int, TargetScreen, getTargetScreen, setTargetScreen); SURGSIM_ADD_SERIALIZABLE_PROPERTY(View, double, EyeSeparation, getEyeSeparation, setEyeSeparation); SURGSIM_ADD_SERIALIZABLE_PROPERTY(View, double, ScreenDistance, getScreenDistance, setScreenDistance); SURGSIM_ADD_SERIALIZABLE_PROPERTY(View, double, ScreenWidth, getScreenWidth, setScreenWidth); SURGSIM_ADD_SERIALIZABLE_PROPERTY(View, double, ScreenHeight, getScreenHeight, setScreenHeight); } void View::setCamera(std::shared_ptr camera) { if (m_camera != nullptr) { m_camera->setMainCamera(false); } m_camera = checkAndConvert(camera, "SurgSim::Graphics::Camera"); m_camera->setMainCamera(true); } std::shared_ptr View::getCamera() const { return m_camera; } bool View::doInitialize() { SURGSIM_ASSERT(m_camera != nullptr) << "View cannot be created without a camera."; return true; } bool View::isStereo() const { return m_stereoMode != STEREO_MODE_NONE; } void View::setStereoMode(int mode) { SURGSIM_ASSERT(!isAwake()) << "Can't change the view settings once the view has been woken up."; SURGSIM_ASSERT(mode < STEREO_MODE_COUNT) << "Invalid StereoMode " << mode; m_stereoMode = static_cast(mode); } int View::getStereoMode() const { return m_stereoMode; } void View::setDisplayType(int type) { SURGSIM_ASSERT(!isAwake()) << "Can't change the view settings once the view has been woken up."; SURGSIM_ASSERT(type < DISPLAY_TYPE_COUNT) << "Invalid DisplayType " << type; m_displayType = type; } int View::getDisplayType() const { return m_displayType; } void View::setFullScreen(bool val) { SURGSIM_ASSERT(!isAwake()) << "Can't change the view settings once the view has been woken up."; m_isFullscreen = val; } bool View::isFullScreen() const { return m_isFullscreen; } void View::setTargetScreen(int val) { SURGSIM_ASSERT(!isAwake()) << "Can't change the view settings once the view has been woken up."; m_targetScreen = doSetTargetScreen(val); } int View::getTargetScreen() const { return m_targetScreen; } void View::setScreenDistance(double val) { SURGSIM_ASSERT(!isAwake()) << "Can't change the view settings once the view has been woken up."; m_screenDistance = val; } double View::getScreenDistance() const { return m_screenDistance; } void View::setEyeSeparation(double val) { SURGSIM_ASSERT(!isAwake()) << "Can't change the view settings once the view has been woken up."; m_eyeSeparation = val; } double View::getEyeSeparation() const { return m_eyeSeparation; } double View::getScreenWidth() const { return m_screenWidth; } void View::setScreenWidth(double val) { SURGSIM_ASSERT(!isAwake()) << "Can't change the view settings once the view has been woken up."; m_screenWidth = val; } double View::getScreenHeight() const { return m_screenHeight; } void View::setScreenHeight(double val) { SURGSIM_ASSERT(!isAwake()) << "Can't change the view settings once the view has been woken up."; m_screenHeight = val; } } } opensurgsim-0.7.0/SurgSim/Graphics/View.h000066400000000000000000000171031277777236100203320ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_VIEW_H #define SURGSIM_GRAPHICS_VIEW_H #include "SurgSim/Framework/Component.h" #include "SurgSim/Math/Vector.h" #include #include namespace SurgSim { namespace Graphics { class Camera; /// Base graphics view class, which defines the basic interface for all graphics views. /// /// A Graphics::View provides a visualization of the scene to the user. /// /// A Graphics::Camera controls the viewpoint of this View. class View : public SurgSim::Framework::Component { public: /// Constructor /// \param name Name of the view explicit View(const std::string& name); enum StereoMode { STEREO_MODE_NONE = -1, STEREO_MODE_QUAD_BUFFER, STEREO_MODE_ANAGLYPHIC, STEREO_MODE_HORIZONTAL_SPLIT, STEREO_MODE_VERTICAL_SPLIT, STEREO_MODE_LEFT_EYE, STEREO_MODE_RIGHT_EYE, STEREO_MODE_HORIZONTAL_INTERLACE, STEREO_MODE_VERTICAL_INTERLACE, STEREO_MODE_CHECKERBOARD, STEREO_MODE_COUNT }; enum DisplayType { DISPLAY_TYPE_MONITOR, DISPLAY_TYPE_HMD, DISPLAY_TYPE_COUNT }; /// Set the position of this view /// \param position Position on the screen (in pixels) /// \return True if it succeeded, false if it failed virtual void setPosition(const std::array& position) = 0; /// Get the position of this view /// \return Position on the screen (in pixels) virtual std::array getPosition() const = 0; /// Set the dimensions of this view /// \param dimensions Dimensions on the screen (in pixels) virtual void setDimensions(const std::array& dimensions) = 0; /// Get the dimensions of this view /// \return Dimensions on the screen (in pixels) virtual std::array getDimensions() const = 0; /// Set the dimensions of this view in doubles /// \param dimensions Dimensions on the screen (in pixels) virtual void setDimensionsDouble(const std::array& dimensions) = 0; /// Get the dimensions of this view in doubles /// \return Dimensions on the screen (in pixels) virtual std::array getDimensionsDouble() const = 0; /// Sets whether the view window has a border /// \param enabled True to enable the border around the window; false for no border virtual void setWindowBorderEnabled(bool enabled) = 0; /// Returns whether the view window has a border /// \return True to enable the border around the window; false for no border virtual bool isWindowBorderEnabled() const = 0; /// Sets the camera which provides the viewpoint in the scene /// \param camera Camera whose image will be shown in this view /// \return True if it succeeded, false if it failed virtual void setCamera(std::shared_ptr camera); /// Gets the camera which provides the viewpoint in the scene /// \return camera Camera whose image will be shown in this view std::shared_ptr getCamera() const; /// Updates the view /// \param dt The time in seconds of the preceding timestep. virtual void update(double dt) = 0; /// \return true if the display is set to render a stereo view, or is currently rendering in stereo. virtual bool isStereo() const; /// Set the mode that this view should use for stereo display, see StereMode for all the modes. /// \throws SurgSim::Framework::AssertionFailure if used after initialize has been called. /// \param val The actual mode. virtual void setStereoMode(int val); /// \return What kind of stereo rendering is being used for this view. int getStereoMode() const; /// Set the kind of display. /// \throws SurgSim::Framework::AssertionFailure if used after initialize has been called /// \param type The type of display void setDisplayType(int type); /// \return The type of display that the view is on int getDisplayType() const; /// Request the display to use the whole screen. /// \throws SurgSim::Framework::AssertionFailure if used after initialize has been called. /// \param val If true the display will use up the whole screen, ignoring the dimension and location settings void setFullScreen(bool val); /// \return true if the display is set to use the whole screen, or is currently using the whole screen. bool isFullScreen() const; /// Request a certain screen to be used for this view. /// \throws SurgSim::Framework::AssertionFailure if used after initialize has been called. /// \param val The number of the screen (base 0) that should be used for this view. void setTargetScreen(int val); /// \return The number of the screen that this view is on. int getTargetScreen() const; /// Set the distance between the users eyes, this is necessary to calculate the correct projection matrices /// for stereo rendering. /// \throws SurgSim::Framework::AssertionFailure if used after initialize has been called. /// \note this is only used when rendering stereo. /// \param val The distance between the eyes in m. void setEyeSeparation(double val); /// \return The current distance between the eye points in m. double getEyeSeparation() const; /// Set the distance of the user from the screen, this is necessary to calculate the correct projection matrices /// for stereo rendering. /// \throws SurgSim::Framework::AssertionFailure if used after initialize has been called. /// \note this is only used when rendering stereo. /// \param val The distance from the user to the screen in m. void setScreenDistance(double val); /// \return The current distance from user to screen in m. double getScreenDistance() const; /// Set the width of the screen, this is necessary to calculate the correct projection matrices /// for stereo rendering. /// \throws SurgSim::Framework::AssertionFailure if used after initialize has been called. /// \note this is only used when rendering stereo. /// \param val The width of the screen used, in m. void setScreenWidth(double val); /// \return The currently used width of the screen in m. double getScreenWidth() const; /// Set the height of the screen, this is necessary to calculate the correct projection matrices /// for stereo rendering. /// \throws SurgSim::Framework::AssertionFailure if used after initialize has been called. /// \note this is only used when rendering stereo. /// \param val The height of the screen used, in m. void setScreenHeight(double val); /// \return The currently used height of the screen in m. double getScreenHeight() const; private: bool doInitialize() override; virtual int doSetTargetScreen(int val) = 0; /// Camera whose image will be shown in this view std::shared_ptr m_camera; int m_stereoMode; ///< The stereo mode, that is being used. int m_displayType; ///< The requested display type. int m_targetScreen; ///< Index of the screen to be used bool m_isFullscreen; ///< Whether to go fullscreen double m_eyeSeparation; ///< Distance between eypoints in m. double m_screenDistance; ///< Distance from user to screen in m. double m_screenWidth; ///< Width of screen in m. double m_screenHeight; ///< Height of screen in m. }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_VIEW_H opensurgsim-0.7.0/SurgSim/Graphics/ViewElement.cpp000066400000000000000000000031501277777236100221740ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/ViewElement.h" #include "SurgSim/Graphics/Camera.h" #include "SurgSim/Graphics/View.h" namespace SurgSim { namespace Graphics { ViewElement::ViewElement(const std::string& name) : BasicSceneElement(name) { } ViewElement::~ViewElement() { } bool ViewElement::setView(std::shared_ptr view) { m_view = view; if (m_camera != nullptr) { m_view->setCamera(m_camera); } return true; } std::shared_ptr ViewElement::getView() { return m_view; } void ViewElement::setCamera(std::shared_ptr camera) { m_camera = camera; } std::shared_ptr ViewElement::getCamera() { return m_camera; } bool ViewElement::doInitialize() { SURGSIM_ASSERT(m_view != nullptr) << "ViewElements require a View"; SURGSIM_ASSERT(m_camera != nullptr) << "ViewElements require a Camera"; m_view->setCamera(m_camera); addComponent(m_view); addComponent(m_camera); return true; } }; // namespace Graphics }; // namespace SurgSimopensurgsim-0.7.0/SurgSim/Graphics/ViewElement.h000066400000000000000000000061751277777236100216530ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_GRAPHICS_VIEWELEMENT_H #define SURGSIM_GRAPHICS_VIEWELEMENT_H #include "SurgSim/Framework/BasicSceneElement.h" namespace SurgSim { namespace Input { class CommonDevice; } namespace Graphics { class Camera; class View; /// Basic SceneElement that wraps a View so that it can be added to the Scene. /// /// A Scene needs at least one Graphics::View component for any visualization of Graphics:Representation objects /// to be shown. A view needs a camera to do its' rendering, this component can connect all the pieces correctly. class ViewElement : public Framework::BasicSceneElement { public: /// Constructor /// \param name Name of the scene element explicit ViewElement(const std::string& name); /// Destructor virtual ~ViewElement(); /// Sets the view component that provides the visualization of the graphics representations /// \return True if setView() succeeds; Otherwise, false. virtual bool setView(std::shared_ptr view); /// Returns the view component that provides the visualization of the graphics representations /// \return A shared_ptr pointing to the View component std::shared_ptr getView(); /// Sets the camera for the view in this sceneelement /// \param camera The camera to be used with the view void setCamera(std::shared_ptr camera); /// Get the camera for the view in this sceneelement. /// \return The camera used in the view of this sceneelement. std::shared_ptr getCamera(); /// Return the keyboard to be used with this view. /// \return A keyboard device virtual std::shared_ptr getKeyboardDevice() = 0; /// Turn on/off the keyboard device to be used. /// \param val Indicate whether or not to use keyboard device virtual void enableKeyboardDevice(bool val) = 0; /// Return the mouse to be used with this view. /// \return A mouse device virtual std::shared_ptr getMouseDevice() = 0; /// Turn on/off the mouse device to be used. /// \param val Indicate whether or not to use mouse device virtual void enableMouseDevice(bool val) = 0; protected: /// Initializes the scene element /// \return True if it succeeds, false if it fails bool doInitialize() override; private: /// View component that provides the visualization of the graphics representations std::shared_ptr m_view; /// Camera component connected to the view std::shared_ptr m_camera; }; }; // namespace Graphics }; // namespace SurgSim #endif // SURGSIM_GRAPHICS_VIEWELEMENT_H opensurgsim-0.7.0/SurgSim/Input/000077500000000000000000000000001277777236100166045ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Input/CMakeLists.txt000066400000000000000000000025671277777236100213560ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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. set(SURGSIM_INPUT_SOURCES CombiningOutputComponent.cpp CommonDevice.cpp InputComponent.cpp InputManager.cpp OutputComponent.cpp ) set(SURGSIM_INPUT_HEADERS CombiningOutputComponent.h CommonDevice.h DeviceInterface.h InputComponent.h InputConsumerInterface.h InputManager.h OutputComponent.h OutputProducerInterface.h ) surgsim_create_library_header(Input.h "${SURGSIM_INPUT_HEADERS}") surgsim_add_library( SurgSimInput "${SURGSIM_INPUT_SOURCES}" "${SURGSIM_INPUT_HEADERS}" ) set(LIBS SurgSimFramework SurgSimDataStructures ) target_link_libraries(SurgSimInput ${LIBS} ) if(BUILD_TESTING) add_subdirectory(UnitTests) endif() # Put SurgSimInput into folder "Input" set_target_properties(SurgSimInput PROPERTIES FOLDER "Input") opensurgsim-0.7.0/SurgSim/Input/CombiningOutputComponent.cpp000066400000000000000000000115321277777236100243230ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Input/CombiningOutputComponent.h" #include #include #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Framework/FrameworkConvert.h" namespace { /// This functor accumulates the force and torque. No other data is passed along. /// This can be used to combine the forces and torques from multiple OutputComponents (e.g., from multiple /// VirtualToolCouplers) to drive a single haptic device. auto DEFAULT_FUNCTOR = [](const std::vector>& outputs, SurgSim::DataStructures::DataGroup *resultData) { bool result = false; SurgSim::Math::Vector3d cumulativeForce = SurgSim::Math::Vector3d::Zero(); SurgSim::Math::Vector3d cumulativeTorque = SurgSim::Math::Vector3d::Zero(); for (const auto& output : outputs) { if (output != nullptr) { SurgSim::DataStructures::DataGroup data; if (output->requestOutput("", &data)) { result = true; SurgSim::Math::Vector3d force; if (data.vectors().get(SurgSim::DataStructures::Names::FORCE, &force)) { cumulativeForce += force; } SurgSim::Math::Vector3d torque; if (data.vectors().get(SurgSim::DataStructures::Names::TORQUE, &torque)) { cumulativeTorque += torque; } } } } if (resultData->isEmpty()) { SurgSim::DataStructures::DataGroupBuilder builder; builder.addVector(SurgSim::DataStructures::Names::FORCE); builder.addVector(SurgSim::DataStructures::Names::TORQUE); *resultData = builder.createData(); } if (result && resultData->vectors().hasEntry(SurgSim::DataStructures::Names::FORCE)) { resultData->vectors().set(SurgSim::DataStructures::Names::FORCE, cumulativeForce); } if (result && resultData->vectors().hasEntry(SurgSim::DataStructures::Names::TORQUE)) { resultData->vectors().set(SurgSim::DataStructures::Names::TORQUE, cumulativeTorque); } return result; }; } namespace SurgSim { namespace Input { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Input::CombiningOutputComponent, CombiningOutputComponent); CombiningOutputComponent::CombiningOutputComponent(const std::string& name) : SurgSim::Input::OutputComponent(name), m_combiner(DEFAULT_FUNCTOR) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(CombiningOutputComponent, std::vector>, Outputs, getOutputs, setOutputs); } CombiningOutputComponent::~CombiningOutputComponent() { } void CombiningOutputComponent::setData(const SurgSim::DataStructures::DataGroup& dataGroup) { SURGSIM_FAILURE() << "Cannot setData on CombiningOutputComponent " << getFullName(); } std::vector> CombiningOutputComponent::getOutputs() const { std::vector> outputs; for (const auto& output : m_outputs) { auto shared = output.lock(); if (shared != nullptr) { outputs.push_back(shared); } } return outputs; } void CombiningOutputComponent::setOutputs(const std::vector>& outputs) { std::unordered_set> uniqueOutputs; m_outputs.clear(); for (const auto& component : outputs) { auto output = SurgSim::Framework::checkAndConvert(component, "SurgSim::Input::OutputComponent"); if (uniqueOutputs.insert(output).second) { m_outputs.push_back(output); } } } void CombiningOutputComponent::setCombiner(FunctorType combiner) { m_combiner = combiner; } bool CombiningOutputComponent::requestOutput(const std::string& device, SurgSim::DataStructures::DataGroup* outputData) { std::vector> shareds; { boost::lock_guard lock(m_mutex); std::vector>::const_iterator> stale; for (auto weak = m_outputs.cbegin(); weak != m_outputs.cend(); ++weak) { auto shared = weak->lock(); if (shared == nullptr) { stale.push_back(weak); } else { shareds.push_back(shared); } } std::reverse(stale.begin(), stale.end()); for (auto it : stale) { m_outputs.erase(it); } } return m_combiner(shareds, outputData); } }; // namespace Input }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Input/CombiningOutputComponent.h000066400000000000000000000061211277777236100237660ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_INPUT_COMBININGOUTPUTCOMPONENT_H #define SURGSIM_INPUT_COMBININGOUTPUTCOMPONENT_H #include #include #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Input/OutputComponent.h" namespace SurgSim { namespace Input { SURGSIM_STATIC_REGISTRATION(CombiningOutputComponent); /// CombiningOutputComponents is-a OutputComponent that takes one or more OutputComponents and combines their /// datagroups into a single output datagroup. /// The combining functor can be set, with the default functor accumulating all vectors named "force", and all vectors /// named "torque". The resulting DataGroup has only those two specific entries, and can be used to drive a haptic /// device from multiple OutputComponents. class CombiningOutputComponent : public SurgSim::Input::OutputComponent { public: typedef std::function>&, SurgSim::DataStructures::DataGroup*)> FunctorType; /// Constructor /// \param name Name of this output component explicit CombiningOutputComponent(const std::string& name); /// Destructor virtual ~CombiningOutputComponent(); SURGSIM_CLASSNAME(SurgSim::Input::CombiningOutputComponent); void setData(const SurgSim::DataStructures::DataGroup& dataGroup) override; /// \return The OutputComponents that will be combined. std::vector> getOutputs() const; /// \param outputs The OutputComponents that will be combined. They should have their device names set to the /// empty string. void setOutputs(const std::vector>& outputs); /// Set the function to do the combining. /// The parameter is a function that receives all the OutputComponents and returns a DataGroup and a bool /// indicating success. void setCombiner(FunctorType combiner); bool requestOutput(const std::string& device, SurgSim::DataStructures::DataGroup* outputData) override; private: /// The OutputComponents that will be combined. std::vector> m_outputs; /// The function that takes the OutputComponents and returns a DataGroup and a bool that specifies whether /// it was successful. FunctorType m_combiner; /// The mutex that protects the outputs. boost::mutex m_mutex; }; }; // namespace Input }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Input/CommonDevice.cpp000066400000000000000000000127221277777236100216640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Input/CommonDevice.h" #include #include #include "SurgSim/Framework/Log.h" #include "SurgSim/Input/InputConsumerInterface.h" #include "SurgSim/Input/OutputProducerInterface.h" namespace SurgSim { namespace Input { CommonDevice::CommonDevice(const std::string& name) : m_name(name), m_nameForCallback(name), m_inputData(DataStructures::DataGroup()) { } CommonDevice::CommonDevice(const std::string& name, const DataStructures::DataGroup& inputData) : m_name(name), m_nameForCallback(name), m_inputData(inputData) { } CommonDevice::CommonDevice(const std::string& name, DataStructures::DataGroup&& inputData) : m_name(name), m_nameForCallback(name), m_inputData(std::move(inputData)) { } CommonDevice::~CommonDevice() { clearInputConsumers(); clearOutputProducer(); } std::string CommonDevice::getName() const { return m_name; } std::string CommonDevice::getClassName() const { SURGSIM_LOG_WARNING(Framework::Logger::getDefaultLogger()) << "getClassName() called on CommonDevice base class, this is wrong in almost all cases," << " this means there is a class that does not have getClassName() defined."; return "SurgSim::Devices::CommonDevice"; } void CommonDevice::setNameForCallback(const std::string& name) { m_nameForCallback = name; } std::string CommonDevice::getNameForCallback() const { return m_nameForCallback; } bool CommonDevice::addInputConsumer(std::shared_ptr inputConsumer) { if (inputConsumer == nullptr) { return false; } boost::lock_guard lock(m_consumerProducerMutex); for (const auto& input : m_inputConsumerList) { if (input.lock() == inputConsumer) { return false; } } // NB: callbacks are called with the local m_nameForCallback. // This allows e.g. filters to call their callbacks with a name different from their "real" name. inputConsumer->initializeInput(m_nameForCallback, m_inputData); m_inputConsumerList.emplace_back(std::move(inputConsumer)); return true; } bool CommonDevice::removeInputConsumer(std::shared_ptr inputConsumer) { if (inputConsumer == nullptr) { return false; } boost::lock_guard lock(m_consumerProducerMutex); for (auto it = m_inputConsumerList.begin(); it != m_inputConsumerList.end(); ++it) { if (it->lock() == inputConsumer) { m_inputConsumerList.erase(it); // The iterator is now invalid. return true; } } return false; } void CommonDevice::clearInputConsumers() { boost::lock_guard lock(m_consumerProducerMutex); m_inputConsumerList.clear(); } bool CommonDevice::setOutputProducer(std::shared_ptr outputProducer) { if (outputProducer == nullptr) { return false; } boost::lock_guard lock(m_consumerProducerMutex); if (m_outputProducer.lock() == outputProducer) { return false; } m_outputProducer = std::move(outputProducer); return true; } bool CommonDevice::removeOutputProducer(std::shared_ptr outputProducer) { if (! outputProducer) { return false; } boost::lock_guard lock(m_consumerProducerMutex); if (m_outputProducer.lock() == outputProducer) { m_outputProducer.reset(); return true; } return false; } void CommonDevice::clearOutputProducer() { boost::lock_guard lock(m_consumerProducerMutex); m_outputProducer.reset(); } bool CommonDevice::hasOutputProducer() { return (m_outputProducer.lock() != nullptr); } void CommonDevice::pushInput() { boost::lock_guard lock(m_consumerProducerMutex); for (auto it = m_inputConsumerList.begin(); it != m_inputConsumerList.end(); ++it) { // NB: callbacks are called with the local m_nameForCallback. // This allows e.g. filters to call their callbacks with a name different from their "real" name. auto inputConsumer = it->lock(); if (inputConsumer != nullptr) { inputConsumer->handleInput(m_nameForCallback, m_inputData); } } } bool CommonDevice::pullOutput() { boost::lock_guard lock(m_consumerProducerMutex); auto outputProducer = m_outputProducer.lock(); if (outputProducer != nullptr) { // NB: callbacks are called with the local m_nameForCallback. // This allows e.g. filters to call their callbacks with a name different from their "real" name. bool gotOutput = outputProducer->requestOutput(m_nameForCallback, &m_outputData); if (gotOutput) { return true; } // If we're here, then the producer has refused to provide output. } // If we haven't received an update, the old data is meaningless. m_outputData.resetAll(); return false; } DataStructures::DataGroup& CommonDevice::getInputData() { return m_inputData; } const DataStructures::DataGroup& CommonDevice::getOutputData() const { return m_outputData; } }; // namespace Input }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Input/CommonDevice.h000066400000000000000000000121711277777236100213270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_INPUT_COMMONDEVICE_H #define SURGSIM_INPUT_COMMONDEVICE_H #include #include #include "SurgSim/Input/DeviceInterface.h" #include "SurgSim/DataStructures/DataGroup.h" namespace SurgSim { namespace Input { class InputConsumerInterface; class OutputProducerInterface; /// A class that implements some common management code on top of the DeviceInterface. /// Practically every class that implements DeviceInterface will likely want to inherit from CommonDevice. class CommonDevice : public DeviceInterface { public: /// Constructor. Sets the input data to an empty DataGroup. /// \param name The name associated with the input device. explicit CommonDevice(const std::string& name); /// Constructor. /// /// \param name The name associated with the input device. /// \param inputData An initial value for the application's input from the device (e.g. pose etc). /// The concrete device implementation should pass in a DataGroup whose contents has been set up, e.g. by /// using a DataGroupBuilder, to that device's supported values that it will push to the application. CommonDevice(const std::string& name, const DataStructures::DataGroup& inputData); /// Constructor. /// /// \param name The name associated with the input device. /// \param inputData An initial value for the application's input from the device (e.g. pose etc). /// The concrete device implementation should pass in a DataGroup whose contents has been set up, e.g. by /// using a DataGroupBuilder, to that device's supported values that it will push to the application. CommonDevice(const std::string& name, DataStructures::DataGroup&& inputData); /// Destructor. virtual ~CommonDevice(); std::string getName() const override; std::string getClassName() const override; /// Set the name used for calling the input consumers and output producer. /// By default, this will be the same as the name of the device that was passed to the constructor. /// \param name The name to be used. void setNameForCallback(const std::string& name); /// Get the name used for calling the input consumers and output producer. /// By default, this will be the same as the name of the device that was passed to the constructor. /// \return The name being used. std::string getNameForCallback() const; bool addInputConsumer(std::shared_ptr inputConsumer) override; bool removeInputConsumer(std::shared_ptr inputConsumer) override; void clearInputConsumers() override; bool setOutputProducer(std::shared_ptr outputProducer) override; bool removeOutputProducer(std::shared_ptr outputProducer) override; bool hasOutputProducer() override; void clearOutputProducer() override; protected: /// Push application input to consumers. virtual void pushInput(); /// Pull application output from a producer. virtual bool pullOutput(); /// Getter for the input data \ref SurgSim::DataStructures::DataGroup "DataGroup". This function is typically /// called by friend scaffolds, to get a DataGroup they can modify then set back to the device to send to the /// device's input consumers. /// \return A reference to the input data. DataStructures::DataGroup& getInputData(); /// Getter for the output data \ref SurgSim::DataStructures::DataGroup "DataGroup". This function is typically /// called by friend scaffolds, to get the data that the output producer wants to send to the device (and then send /// that data through the device's SDK). Note that a writable variant is not provided, an output producer registered /// via \ref setOutputProducer will set the output data. /// \return A reference to the output data. const DataStructures::DataGroup& getOutputData() const; private: struct State; const std::string m_name; /// The name used for the callbacks, defaults to the device name. std::string m_nameForCallback; /// The data the device is providing to its input consumers. DataStructures::DataGroup m_inputData; /// The data the output producer (if any) is providing to the device. DataStructures::DataGroup m_outputData; /// The list of input consumers. std::vector> m_inputConsumerList; /// The output producer, if any. std::weak_ptr m_outputProducer; /// The mutex that protects the consumers and the producer. boost::mutex m_consumerProducerMutex; }; }; // namespace Input }; // namespace SurgSim #endif // SURGSIM_INPUT_COMMONDEVICE_H opensurgsim-0.7.0/SurgSim/Input/DeviceInterface.h000066400000000000000000000076511277777236100220060ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_INPUT_DEVICEINTERFACE_H #define SURGSIM_INPUT_DEVICEINTERFACE_H #include #include #include "SurgSim/Input/InputConsumerInterface.h" #include "SurgSim/Input/OutputProducerInterface.h" #include "SurgSim/Framework/Accessible.h" #include "SurgSim/Framework/ObjectFactory.h" namespace SurgSim { namespace Input { /// Interface used to communicate with user-interface hardware devices. /// /// Classes that implement communication with a hardware device implement this interface. This includes /// input/output devices (haptic devices are the most obvious example, but many other devices can, for example, /// display visual indicators such as LEDs, etc.), as well as input-only and output-only devices. /// /// Derived classes will likely want to hide their constructor and only /// allow creation through a manager object for that type of device. class DeviceInterface : public Framework::Accessible, public Framework::FactoryBase1 { public: /// Virtual destructor (empty). virtual ~DeviceInterface() { } /// Return a (hopefully unique) device name. virtual std::string getName() const = 0; /// The class name for this class /// \note Use the SURGSIM_CLASSNAME macro in derived classes. /// \return The fully namespace qualified name of this class. virtual std::string getClassName() const = 0; /// Fully initialize the device. /// /// When the manager object creates the device, the internal state of the device usually isn't fully /// initialized yet. This method performs any needed initialization. virtual bool initialize() = 0; /// \return true if the device has been initialized and has not yet been finalized. virtual bool isInitialized() const = 0; /// Adds an input consumer that will be notified when the application input state is updated. /// /// \param inputConsumer The input consumer to be added. /// \return true on success, false on failure. virtual bool addInputConsumer(std::shared_ptr inputConsumer) = 0; /// Removes an input consumer previously added via \ref addInputConsumer. /// \param inputConsumer The input consumer to be removed. virtual bool removeInputConsumer(std::shared_ptr inputConsumer) = 0; /// Removes all InputConsumers. virtual void clearInputConsumers() = 0; /// Sets an output producer that will be asked for application output state when the device needs it. /// Any previously set output producer will be removed. /// /// \param outputProducer The output producer to be added. /// \return true on success, false on failure. virtual bool setOutputProducer(std::shared_ptr outputProducer) = 0; /// Removes an output producer previously added via \ref setOutputProducer. /// \param outputProducer The output producer to be removed. virtual bool removeOutputProducer(std::shared_ptr outputProducer) = 0; /// Query if this object has output producer. /// \return true if there is an output producer, false if not. virtual bool hasOutputProducer() = 0; /// Removes any OutputProducer virtual void clearOutputProducer() = 0; private: /// Finalize (de-initialize) the device. virtual bool finalize() = 0; }; }; // namespace Input }; // namespace SurgSim #endif // SURGSIM_INPUT_DEVICEINTERFACE_H opensurgsim-0.7.0/SurgSim/Input/InputComponent.cpp000066400000000000000000000036701277777236100223000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Input/InputComponent.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Input/DeviceInterface.h" namespace SurgSim { namespace Input { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Input::InputComponent, InputComponent); InputComponent::InputComponent(const std::string& name) : Representation(name), m_hasInput(false) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(InputComponent, std::string, DeviceName, getDeviceName, setDeviceName); } InputComponent::~InputComponent() { } void InputComponent::setDeviceName(const std::string& deviceName) { m_deviceName = deviceName; } std::string InputComponent::getDeviceName() const { return m_deviceName; } void InputComponent::getData(SurgSim::DataStructures::DataGroup* dataGroup) { if (m_hasInput) { m_lastInput.get(dataGroup); } } bool InputComponent::doInitialize() { return true; } bool InputComponent::doWakeUp() { return true; } void InputComponent::initializeInput(const std::string& device, const SurgSim::DataStructures::DataGroup& initialData) { m_hasInput = true; m_lastInput.set(initialData); } void InputComponent::handleInput(const std::string& device, const SurgSim::DataStructures::DataGroup& inputData) { m_hasInput = true; m_lastInput.set(inputData); } }; // namespace Input }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Input/InputComponent.h000066400000000000000000000052061277777236100217420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_INPUT_INPUTCOMPONENT_H #define SURGSIM_INPUT_INPUTCOMPONENT_H #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Framework/LockedContainer.h" #include "SurgSim/Framework/Representation.h" #include "SurgSim/Input/InputConsumerInterface.h" namespace SurgSim { namespace Input { class DeviceInterface; SURGSIM_STATIC_REGISTRATION(InputComponent); /// InputComponents connect devices to SceneElements, facilitating data transfer /// from a device to SceneElements and other Components. class InputComponent : public SurgSim::Framework::Representation, public InputConsumerInterface { public: /// Constructor /// \param name Name of this input component explicit InputComponent(const std::string& name); /// Destructor virtual ~InputComponent(); SURGSIM_CLASSNAME(SurgSim::Input::InputComponent); /// Set name of the device this input component connects to. /// \param deviceName Name of the device this input component connects void setDeviceName(const std::string& deviceName); /// Gets device name. /// \return The device name. std::string getDeviceName() const; /// Gets the input data. /// \param [out] dataGroup The location to write the data. The pointer must be non-null. /// \exception Asserts if the InputComponent is not connected to a device. void getData(SurgSim::DataStructures::DataGroup* dataGroup); bool doInitialize() override; bool doWakeUp() override; void initializeInput(const std::string& device, const SurgSim::DataStructures::DataGroup& initialData) override; void handleInput(const std::string& device, const SurgSim::DataStructures::DataGroup& inputData) override; private: /// Name of the device to which this input component connects std::string m_deviceName; /// Thread safe container of most recent input data SurgSim::Framework::LockedContainer m_lastInput; std::atomic m_hasInput; }; }; // namespace Input }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Input/InputConsumerInterface.h000066400000000000000000000067341277777236100234230ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_INPUT_INPUTCONSUMERINTERFACE_H #define SURGSIM_INPUT_INPUTCONSUMERINTERFACE_H #include namespace SurgSim { namespace DataStructures { class DataGroup; }; // namespace DataStructures namespace Input { /// Interface for a consumer that monitors device and signal state updates (pose, buttons, etc). class InputConsumerInterface { public: /// Virtual destructor (empty). virtual ~InputConsumerInterface() { } /// Notifies the consumer that the application input coming from the device has been updated. /// /// Typical input data contents (but note that individual devices may do things differently): /// | type | name | | /// | ---- | ---- | --- | /// | pose | "pose" | %Device pose (units are meters). | /// | bool | "button1" | State of the first device button. | /// | bool | "button2" | State of the second device button (and so on). | /// /// Other possible contents includes: /// | type | name | | /// | ---- | ---- | | /// | bool | "isHomed" | %Device homing status. | /// | bool | "isHomedX" | Individual homing status for the X axis (and so on). | /// | bool | "isHeld" | Safety sensor etc. status. | /// | string | "model" | %Device model description. | /// | string | "serial" | Serial number string. | /// | (any) | "debug:*" | Various debugging information | /// /// \param device The name of the device that is producing the input. This should only be used to identify /// the device (e.g. if the consumer is listening to several devices at once). /// \param inputData The application input state coming from the device. virtual void handleInput(const std::string& device, const SurgSim::DataStructures::DataGroup& inputData) = 0; /// Set the initial input data group. /// \param device The name of the device that is producing the input. This should only be used to identify /// the device (e.g. if the consumer is listening to several devices at once). /// \param inputData The application input state coming from the device. virtual void initializeInput(const std::string& device, const SurgSim::DataStructures::DataGroup& inputData) = 0; }; }; // namespace Input }; // namespace SurgSim #endif // SURGSIM_INPUT_INPUTCONSUMERINTERFACE_H opensurgsim-0.7.0/SurgSim/Input/InputManager.cpp000066400000000000000000000130531277777236100217040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Input/InputManager.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Input/DeviceInterface.h" #include "SurgSim/Input/InputComponent.h" #include "SurgSim/Input/OutputComponent.h" namespace SurgSim { namespace Input { InputManager::InputManager() : ComponentManager("Input Manager") { } InputManager::~InputManager() { } bool InputManager::doInitialize() { return true; } bool InputManager::doStartUp() { return true; } bool InputManager::doUpdate(double dt) { processBehaviors(dt); processComponents(); return true; } void InputManager::doBeforeStop() { retireComponents(m_inputs); retireComponents(m_outputs); ComponentManager::doBeforeStop(); } bool InputManager::executeAdditions(const std::shared_ptr& component) { auto input = tryAddComponent(component, &m_inputs); if (input != nullptr) { boost::lock_guard lock(m_mutex); addInputComponent(input); return true; } auto output = tryAddComponent(component, &m_outputs); if (output != nullptr) { boost::lock_guard lock(m_mutex); addOutputComponent(output); return true; } // If we got he the component was neither an Input nor and OutputComponent, no add was performed // return false return false; } bool InputManager::executeRemovals(const std::shared_ptr& component) { bool result = false; boost::lock_guard lock(m_mutex); if (tryRemoveComponent(component, &m_inputs)) { auto input = std::static_pointer_cast(component); DeviceInterface* device = nullptr; if (tryFindDevice(input->getDeviceName(), &device)) { device->removeInputConsumer(input); } result = true; } else if (tryRemoveComponent(component, &m_outputs)) { auto output = std::dynamic_pointer_cast(component); DeviceInterface* device = nullptr; if (tryFindDevice(output->getDeviceName(), &device)) { device->removeOutputProducer(output); } result = true; } return result; } bool InputManager::addInputComponent(const std::shared_ptr& input) { bool result = false; DeviceInterface* device = nullptr; if (tryFindDevice(input->getDeviceName(), &device)) { device->addInputConsumer(input); SURGSIM_LOG_INFO(m_logger) << "Added input component " << input->getFullName() << " connected to device " << input->getDeviceName(); result = true; } else { SURGSIM_LOG_CRITICAL(m_logger) << " Could not find Device named '" << input->getDeviceName() << "' when adding input component named '" << input->getFullName() << "'."; } return result; } bool InputManager::addOutputComponent(const std::shared_ptr& output) { bool result = false; const auto outputName = output->getFullName(); const auto deviceName = output->getDeviceName(); DeviceInterface* device = nullptr; if (tryFindDevice(deviceName, &device)) { if (device->hasOutputProducer()) { SURGSIM_LOG_WARNING(m_logger) << "Trying to add OutputProducer " << outputName << " to device " << deviceName << ", but the device already has an OutputProducer assigned, this add will be ignored!"; } else { device->setOutputProducer(output); SURGSIM_LOG_INFO(m_logger) << "Added output component " << outputName << " connected to device " << deviceName; result = true; } } else { SURGSIM_LOG_CRITICAL(m_logger) << "Could not find Device with name " << deviceName << " when adding output component " << outputName; } return result; } bool InputManager::addDevice(std::shared_ptr device) { bool result = false; boost::lock_guard lock(m_mutex); DeviceInterface* foundDevice = nullptr; const auto& deviceName = device->getName(); if (deviceName == "") { SURGSIM_LOG_WARNING(m_logger) << "Cannot add a device that has an empty name."; } else if (tryFindDevice(deviceName, &foundDevice)) { SURGSIM_LOG_WARNING(m_logger) << "Device " << deviceName << " is already available in Input Manager"; } else { m_devices[deviceName] = device; SURGSIM_LOG_INFO(m_logger) << "Added device " << deviceName; result = true; } return result; } bool InputManager::removeDevice(std::shared_ptr device) { bool result = false; boost::lock_guard lock(m_mutex); auto it = m_devices.find(device->getName()); if (it != m_devices.end()) { m_devices.erase(it); SURGSIM_LOG_DEBUG(m_logger) << "Removed device " << device->getName(); result = true; } else { SURGSIM_LOG_DEBUG(m_logger) << "Failed to find device to remove, " << device->getName(); } return result; } int InputManager::getType() const { return SurgSim::Framework::MANAGER_TYPE_INPUT; } bool InputManager::tryFindDevice(const std::string& name, DeviceInterface** device) { auto found = m_devices.find(name); if (found != m_devices.end()) { *device = found->second.get(); return true; } return false; } } // Input } // SurgSim opensurgsim-0.7.0/SurgSim/Input/InputManager.h000066400000000000000000000101311277777236100213430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_INPUT_INPUTMANAGER_H #define SURGSIM_INPUT_INPUTMANAGER_H #include #include #include #include #include "SurgSim/Framework/ComponentManager.h" namespace SurgSim { namespace Input { class DeviceInterface; class InputComponent; class OutputComponent; /// Manager to handle InputComponent and OutputComponent, SceneElement can add these to /// get input from devices, or even write output to devices. The devices have to be added /// to this class before components can be added to it. class InputManager : public SurgSim::Framework::ComponentManager { public: InputManager(); virtual ~InputManager(); friend class InputManagerTest; /// Adds a device to the manager. /// \param device The device. /// \return true if it succeeds, false if the device already exists in the manager. bool addDevice(std::shared_ptr device); /// Removes the device described by device. /// \param device The device. /// \return true if it succeeds, false if the device is not in. bool removeDevice(std::shared_ptr device); int getType() const override; private: bool doInitialize() override; bool doStartUp() override; bool doUpdate(double dt) override; void doBeforeStop() override; /// Adds a component, this can be either input or output, it will call the appropriate /// function in the device. For an InputComonent this will succeed if the device name /// inside the component is known to the InputManager and if the component has not /// been added as an input yet. For an OutputComponent the call will fail if the device /// does not exist or the device has already been assigned an output. /// \param component The component. /// \return true if it succeeds, it will fail if the device cannot be found to the component /// has already been added to the manager, and return false. bool executeAdditions(const std::shared_ptr& component) override; /// Removes the component described by component. /// \param component The component. /// \return true if it succeeds, it will fail if the component cannot be found and return false. bool executeRemovals(const std::shared_ptr& component) override; /// Specific call for input components. /// Link input consumer to input device /// Data produced by device will then be consumed by input consumer bool addInputComponent(const std::shared_ptr& input); /// Specific call for output components. bool addOutputComponent(const std::shared_ptr& output); /// Returns a device with the given name, if one is available. /// \param name The name of the device. /// \param device [out] The device. Unchanged if the return value is false. /// \return true if the device was found. bool tryFindDevice(const std::string& name, DeviceInterface** device); /// Collection of all input components. std::vector> m_inputs; /// Collection of all output components. std::vector> m_outputs; /// Collection of all devices that have been added to the input manager /// key is the name, no two devices with the same name can be added to the /// input manager std::unordered_map> m_devices; /// Protect critical sections boost::mutex m_mutex; }; }; //namespace Input }; //namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Input/OutputComponent.cpp000066400000000000000000000040631277777236100224760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Input/OutputComponent.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Input/DeviceInterface.h" namespace SurgSim { namespace Input { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Input::OutputComponent, OutputComponent); OutputComponent::OutputComponent(const std::string& name) : Representation(name), m_deviceName(), m_haveData(false) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(OutputComponent, std::string, DeviceName, getDeviceName, setDeviceName); } OutputComponent::~OutputComponent() { } void OutputComponent::setDeviceName(const std::string& deviceName) { SURGSIM_ASSERT(!isInitialized()) << "Cannot call OutputComponent::setDeviceName after initialization of " << getFullName(); m_deviceName = deviceName; } void OutputComponent::setData(const SurgSim::DataStructures::DataGroup& dataGroup) { m_lastOutput.set(dataGroup); m_haveData = true; } bool OutputComponent::doInitialize() { return true; } bool OutputComponent::doWakeUp() { return true; } std::string OutputComponent::getDeviceName() const { return m_deviceName; } bool OutputComponent::requestOutput(const std::string& device, SurgSim::DataStructures::DataGroup* outputData) { bool result = false; if (m_haveData && (outputData != nullptr)) { m_lastOutput.get(outputData); // cannot get() until after the first call to setData result = true; } return result; } }; // namespace Input }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Input/OutputComponent.h000066400000000000000000000047631277777236100221520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_INPUT_OUTPUTCOMPONENT_H #define SURGSIM_INPUT_OUTPUTCOMPONENT_H #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Framework/LockedContainer.h" #include "SurgSim/Framework/Representation.h" #include "SurgSim/Input/OutputProducerInterface.h" namespace SurgSim { namespace Input { class DeviceInterface; SURGSIM_STATIC_REGISTRATION(OutputComponent); /// OutputComponents connect SceneElements to devices, facilitating data /// transfer from a SceneElement to a device. class OutputComponent : public SurgSim::Framework::Representation, public OutputProducerInterface { public: /// Constructor /// \param name Name of this output component explicit OutputComponent(const std::string& name); /// Destructor virtual ~OutputComponent(); SURGSIM_CLASSNAME(SurgSim::Input::OutputComponent); /// Set name of the device of output component. /// \param deviceName The name of the device that will receive the output data. void setDeviceName(const std::string& deviceName); /// Gets device name. /// \return The device name. std::string getDeviceName() const; /// Sets the output data. /// \param dataGroup The data to output. virtual void setData(const SurgSim::DataStructures::DataGroup& dataGroup); /// Overridden from Component, do nothing virtual bool doInitialize(); /// Overridden from Component, do nothing virtual bool doWakeUp(); bool requestOutput(const std::string& device, SurgSim::DataStructures::DataGroup* outputData) override; private: /// Name of the device to which this output component connects std::string m_deviceName; /// Thread safe container of most recent output data SurgSim::Framework::LockedContainer m_lastOutput; /// True if there is data available bool m_haveData; }; }; // namespace Input }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Input/OutputProducerInterface.h000066400000000000000000000060471277777236100236110ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_INPUT_OUTPUTPRODUCERINTERFACE_H #define SURGSIM_INPUT_OUTPUTPRODUCERINTERFACE_H #include namespace SurgSim { namespace DataStructures { class DataGroup; }; // namespace DataStructures namespace Input { /// Interface for a producer that generates device output updates (forces, status LED state, etc). class OutputProducerInterface { public: /// Virtual destructor (empty). virtual ~OutputProducerInterface() { } /// Asks the producer to provide output state to the device. /// /// Note that devices may never call this method, e.g. because the device doesn't actually have any /// output capability. /// /// Typical output data contents (but note that individual devices may do things differently): /// | type | name | | /// | ---- | ---- | --- | /// | vector | "force" | Commanded force for the device (units are newtons). | /// | vector | "torque" | Commanded torque for the device (units are newton-meters). | /// | bool | "isEnabled" | Safety switch input. | /// /// Other possible contents includes: /// | type | name | | /// | ---- | ---- | --- | /// | bool | "led0" | Desired state for LED 0. | /// | bool | "led1" | Desired state for LED 1. | /// | string | "toolId" | Calibration ID to use, e.g. for camera devices. | /// /// \param device The name of the device that is requesting the output. This should only be used to identify /// the device (e.g. if the producer is listening to several devices at once). /// \param [out] outputData The application output state being fed into the device. /// /// \return true if the producer has provided some output, false if it refuses to do so. A producer /// that returns false should leave outputData unmodified. virtual bool requestOutput(const std::string& device, SurgSim::DataStructures::DataGroup* outputData) = 0; }; }; // namespace Input }; // namespace SurgSim #endif // SURGSIM_INPUT_OUTPUTPRODUCERINTERFACE_H opensurgsim-0.7.0/SurgSim/Input/UnitTests/000077500000000000000000000000001277777236100205465ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Input/UnitTests/CMakeLists.txt000066400000000000000000000023561277777236100233140ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2016, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES CombiningOutputComponentTest.cpp CommonDeviceTests.cpp InputComponentTest.cpp InputManagerTest.cpp OutputComponentTest.cpp TestDevice.cpp ) set(UNIT_TEST_HEADERS TestDevice.h ) set(LIBS IdentityPoseDevice SurgSimInput ) surgsim_add_unit_tests(SurgSimInputTest) set_target_properties(SurgSimInputTest PROPERTIES FOLDER "Input") file(COPY Data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) opensurgsim-0.7.0/SurgSim/Input/UnitTests/CombiningOutputComponentTest.cpp000066400000000000000000000263011277777236100271250ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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. /// \file /// Tests for the CombiningOutputComponent class. #include #include #include #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Input/CombiningOutputComponent.h" #include "SurgSim/Input/CommonDevice.h" #include "SurgSim/Input/InputManager.h" #include "SurgSim/Input/OutputComponent.h" #include "SurgSim/Math/Vector.h" namespace { const double ERROR_EPSILON = 1e-7; auto DO_NOTHING_FUNCTOR = [](const std::vector>&, SurgSim::DataStructures::DataGroup*) { return false; }; /// Device that exposes pullOutput and getOutputData. class MockDevice : public SurgSim::Input::CommonDevice { public: explicit MockDevice(const std::string& name) : SurgSim::Input::CommonDevice(name) { } ~MockDevice() { } using CommonDevice::pullOutput; using CommonDevice::getOutputData; bool initialize() override { return true; } bool isInitialized() const override { return true; } bool finalize() override { return true; } }; }; TEST(CombiningOutputComponentTest, NoOutputs) { auto combiningOutputComponent = std::make_shared("combiner"); auto mockDevice = std::make_shared("device"); mockDevice->setOutputProducer(combiningOutputComponent); EXPECT_FALSE(mockDevice->pullOutput()); } TEST(CombiningOutputComponentTest, DuplicateOutputs) { auto combiningOutputComponent = std::make_shared("combiner"); auto mockDevice = std::make_shared("device"); mockDevice->setOutputProducer(combiningOutputComponent); std::vector> outputs; auto output1 = std::make_shared("output1"); auto output2 = std::make_shared("output2"); outputs.push_back(output1); outputs.push_back(output2); outputs.push_back(output1); outputs.push_back(output2); outputs.push_back(output2); combiningOutputComponent->setOutputs(outputs); auto storedOutputs = combiningOutputComponent->getOutputs(); ASSERT_EQ(2, storedOutputs.size()); EXPECT_EQ(output1, storedOutputs[0]); EXPECT_EQ(output2, storedOutputs[1]); } TEST(CombiningOutputComponentTest, EmptyOutputs) { auto combiningOutputComponent = std::make_shared("combiner"); auto mockDevice = std::make_shared("device"); mockDevice->setOutputProducer(combiningOutputComponent); std::vector> outputs; outputs.push_back(std::make_shared("output1")); outputs.push_back(std::make_shared("output2")); combiningOutputComponent->setOutputs(outputs); ASSERT_EQ(outputs, combiningOutputComponent->getOutputs()); EXPECT_FALSE(mockDevice->pullOutput()); } TEST(CombiningOutputComponentTest, OneNonEmptyOutput) { auto combiningOutputComponent = std::make_shared("combiner"); auto mockDevice = std::make_shared("device"); mockDevice->setOutputProducer(combiningOutputComponent); std::vector> outputs; auto output = std::make_shared("output1"); outputs.push_back(output); combiningOutputComponent->setOutputs(outputs); SurgSim::DataStructures::DataGroupBuilder builder; builder.addVector(SurgSim::DataStructures::Names::FORCE); builder.addBoolean("extraData"); SurgSim::DataStructures::DataGroup data = builder.createData(); auto initialForce = SurgSim::Math::Vector3d(0.89, 0.0, -324.67); data.vectors().set(SurgSim::DataStructures::Names::FORCE, initialForce); data.booleans().set("extraData", true); output->setData(data); ASSERT_TRUE(mockDevice->pullOutput()); SurgSim::DataStructures::DataGroup actualData = mockDevice->getOutputData(); ASSERT_FALSE(actualData.isEmpty()); SurgSim::Math::Vector3d actualForce; ASSERT_TRUE(actualData.vectors().get(SurgSim::DataStructures::Names::FORCE, &actualForce)); EXPECT_TRUE(actualForce.isApprox(initialForce)); EXPECT_FALSE(actualData.booleans().hasEntry("extraData")); EXPECT_ANY_THROW(combiningOutputComponent->setData(data)); } TEST(CombiningOutputComponentTest, SetCombiner) { auto combiningOutputComponent = std::make_shared("combiner"); combiningOutputComponent->setCombiner(DO_NOTHING_FUNCTOR); auto mockDevice = std::make_shared("device"); mockDevice->setOutputProducer(combiningOutputComponent); std::vector> outputs; auto output1 = std::make_shared("output1"); outputs.push_back(output1); auto output2 = std::make_shared("output2"); outputs.push_back(output2); auto output3 = std::make_shared("output3"); outputs.push_back(output3); combiningOutputComponent->setOutputs(outputs); SurgSim::DataStructures::DataGroupBuilder builder; builder.addVector(SurgSim::DataStructures::Names::FORCE); SurgSim::DataStructures::DataGroup data = builder.createData(); auto initialForce = SurgSim::Math::Vector3d(0.89, 0.0, -324.67); data.vectors().set(SurgSim::DataStructures::Names::FORCE, initialForce); output1->setData(data); output3->setData(data); EXPECT_FALSE(mockDevice->pullOutput()); } TEST(CombiningOutputComponentTest, MultipleOutputs) { auto combiningOutputComponent = std::make_shared("combiner"); auto mockDevice = std::make_shared("device"); mockDevice->setOutputProducer(combiningOutputComponent); std::vector> outputs; auto output1 = std::make_shared("output1"); outputs.push_back(output1); auto output2 = std::make_shared("output2"); outputs.push_back(output2); auto output3 = std::make_shared("output3"); outputs.push_back(output3); combiningOutputComponent->setOutputs(outputs); SurgSim::DataStructures::DataGroupBuilder builder; builder.addVector(SurgSim::DataStructures::Names::FORCE); SurgSim::DataStructures::DataGroup data = builder.createData(); auto initialForce = SurgSim::Math::Vector3d(0.89, 0.0, -324.67); data.vectors().set(SurgSim::DataStructures::Names::FORCE, initialForce); output1->setData(data); output3->setData(data); ASSERT_TRUE(mockDevice->pullOutput()); SurgSim::DataStructures::DataGroup actualData = mockDevice->getOutputData(); ASSERT_FALSE(actualData.isEmpty()); SurgSim::Math::Vector3d actualForce; ASSERT_TRUE(actualData.vectors().get(SurgSim::DataStructures::Names::FORCE, &actualForce)); EXPECT_TRUE(actualForce.isApprox(2.0 * initialForce)); // Check subsequent calls to pullOutput will correctly handle non-asserting DataGroup assignment. EXPECT_NO_THROW(mockDevice->pullOutput()); // Check first OutputComponent going away. outputs.clear(); output1.reset(); EXPECT_TRUE(mockDevice->pullOutput()); EXPECT_EQ(2, combiningOutputComponent->getOutputs().size()); } TEST(CombiningOutputComponentTest, Serialization) { auto runtime = std::make_shared("config.txt"); auto inputManager = std::make_shared(); runtime->addManager(inputManager); runtime->addSceneElements("CombiningOutputComponent.yaml"); auto element = runtime->getScene()->getSceneElement("element"); ASSERT_NE(element, nullptr); auto outputs = element->getComponents(); ASSERT_EQ(outputs.size(), 4); std::shared_ptr combiningOutputComponent; for (size_t i = 0; i < outputs.size(); ++i) { combiningOutputComponent = std::dynamic_pointer_cast(outputs[i]); if (combiningOutputComponent != nullptr) { outputs.erase(outputs.begin() + i); break; } } ASSERT_NE(combiningOutputComponent, nullptr); std::set> componentsFromElement; componentsFromElement.insert(outputs.begin(), outputs.end()); std::set> componentsFromCombiner; auto actualOutputs = combiningOutputComponent->getOutputs(); componentsFromCombiner.insert(actualOutputs.begin(), actualOutputs.end()); ASSERT_EQ(componentsFromElement, componentsFromCombiner); EXPECT_EQ("output1", actualOutputs[0]->getName()); EXPECT_EQ("output2", actualOutputs[1]->getName()); EXPECT_EQ("output3", actualOutputs[2]->getName()); auto mockDevice = std::make_shared("device"); inputManager->addDevice(mockDevice); SurgSim::DataStructures::DataGroupBuilder builder; builder.addVector(SurgSim::DataStructures::Names::FORCE); SurgSim::DataStructures::DataGroup data = builder.createData(); auto initialForce = SurgSim::Math::Vector3d(0.89, 0.0, -324.67); data.vectors().set(SurgSim::DataStructures::Names::FORCE, initialForce); std::static_pointer_cast(actualOutputs[0])->setData(data); std::static_pointer_cast(actualOutputs[2])->setData(data); runtime->start(true); runtime->step(); runtime->step(); runtime->step(); boost::this_thread::sleep(boost::posix_time::milliseconds(50)); runtime->stop(); ASSERT_TRUE(mockDevice->pullOutput()); SurgSim::DataStructures::DataGroup actualData = mockDevice->getOutputData(); ASSERT_FALSE(actualData.isEmpty()); SurgSim::Math::Vector3d actualForce; ASSERT_TRUE(actualData.vectors().get(SurgSim::DataStructures::Names::FORCE, &actualForce)); EXPECT_TRUE(actualForce.isApprox(2.0 * initialForce)); YAML::Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*combiningOutputComponent)); EXPECT_TRUE(node.IsMap()); std::shared_ptr newComponent; EXPECT_NO_THROW(newComponent = std::dynamic_pointer_cast( node.as>())); ASSERT_NE(newComponent, nullptr); auto newOutputs = newComponent->getValue>>("Outputs"); for (auto newOutput : newOutputs) { EXPECT_NE(std::dynamic_pointer_cast(newOutput), nullptr); } } opensurgsim-0.7.0/SurgSim/Input/UnitTests/CommonDeviceTests.cpp000066400000000000000000000250451277777236100246530ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the CommonDevice class. #include #include #include #include "SurgSim/Input/CommonDevice.h" #include "SurgSim/Input/InputConsumerInterface.h" #include "SurgSim/Input/OutputProducerInterface.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Input/UnitTests/TestDevice.h" using SurgSim::Input::CommonDevice; using SurgSim::Input::InputConsumerInterface; using SurgSim::Input::OutputProducerInterface; using SurgSim::DataStructures::DataGroup; using SurgSim::DataStructures::DataGroupBuilder; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Matrix44d; TEST(CommonDeviceTests, CanConstruct) { EXPECT_NO_THROW({TestDevice device("MyTestDevice");}); } TEST(CommonDeviceTests, Name) { TestDevice device("MyTestDevice"); EXPECT_EQ("MyTestDevice", device.getName()); } TEST(CommonDeviceTests, AddInputConsumer) { TestDevice device("MyTestDevice"); std::shared_ptr consumer = std::make_shared(); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device.addInputConsumer(consumer)); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_FALSE(device.addInputConsumer(consumer)); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); std::shared_ptr consumer2 = std::make_shared(); EXPECT_EQ(0, consumer2->m_numTimesReceivedInput); EXPECT_TRUE(device.addInputConsumer(consumer2)); EXPECT_EQ(0, consumer2->m_numTimesReceivedInput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); } TEST(CommonDeviceTests, SetOutputProducer) { TestDevice device("MyTestDevice"); std::shared_ptr producer = std::make_shared(); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_TRUE(device.setOutputProducer(producer)); EXPECT_TRUE(device.hasOutputProducer()); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); EXPECT_FALSE(device.setOutputProducer(producer)); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); std::shared_ptr producer2 = std::make_shared(); EXPECT_EQ(0, producer2->m_numTimesRequestedOutput); EXPECT_TRUE(device.setOutputProducer(producer2)); EXPECT_TRUE(device.hasOutputProducer()); EXPECT_EQ(0, producer2->m_numTimesRequestedOutput); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); } TEST(CommonDeviceTests, PushInput) { TestDevice device("MyTestDevice"); std::shared_ptr consumer1 = std::make_shared(); std::shared_ptr consumer2 = std::make_shared(); std::shared_ptr producer = std::make_shared(); EXPECT_TRUE(device.addInputConsumer(consumer1)); EXPECT_TRUE(device.addInputConsumer(consumer2)); EXPECT_TRUE(device.setOutputProducer(producer)); EXPECT_EQ(0, consumer1->m_numTimesReceivedInput); EXPECT_EQ(0, consumer2->m_numTimesReceivedInput); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); device.pushInput(); EXPECT_EQ(1, consumer1->m_numTimesReceivedInput); EXPECT_EQ(1, consumer2->m_numTimesReceivedInput); EXPECT_TRUE(consumer1->m_lastReceivedInput.strings().hasData("helloWorld")); EXPECT_TRUE(consumer2->m_lastReceivedInput.strings().hasData("helloWorld")); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); // invalidate the state consumer1->m_lastReceivedInput.resetAll(); consumer2->m_lastReceivedInput.resetAll(); EXPECT_EQ(1, consumer1->m_numTimesReceivedInput); EXPECT_EQ(1, consumer2->m_numTimesReceivedInput); EXPECT_FALSE(consumer1->m_lastReceivedInput.strings().hasData("helloWorld")); EXPECT_FALSE(consumer2->m_lastReceivedInput.strings().hasData("helloWorld")); device.pushInput(); EXPECT_EQ(2, consumer1->m_numTimesReceivedInput); EXPECT_EQ(2, consumer2->m_numTimesReceivedInput); EXPECT_TRUE(consumer1->m_lastReceivedInput.strings().hasData("helloWorld")); EXPECT_TRUE(consumer2->m_lastReceivedInput.strings().hasData("helloWorld")); EXPECT_EQ(0, producer->m_numTimesRequestedOutput); } TEST(CommonDeviceTests, PullOutput) { TestDevice device("MyTestDevice"); std::shared_ptr producer1 = std::make_shared(); std::shared_ptr producer2 = std::make_shared(); std::shared_ptr consumer = std::make_shared(); EXPECT_TRUE(device.setOutputProducer(producer1)); EXPECT_TRUE(device.setOutputProducer(producer2)); EXPECT_TRUE(device.addInputConsumer(consumer)); EXPECT_EQ(0, producer1->m_numTimesRequestedOutput); EXPECT_EQ(0, producer2->m_numTimesRequestedOutput); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device.pullOutput()); EXPECT_EQ(0, producer1->m_numTimesRequestedOutput); EXPECT_EQ(1, producer2->m_numTimesRequestedOutput); EXPECT_TRUE(device.getOutputData().integers().hasData("value")); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); EXPECT_TRUE(device.pullOutput()); EXPECT_EQ(0, producer1->m_numTimesRequestedOutput); EXPECT_EQ(2, producer2->m_numTimesRequestedOutput); EXPECT_TRUE(device.getOutputData().integers().hasData("value")); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); // Test what happens when the producer returns false. producer2->m_refuseToProduce = true; EXPECT_FALSE(device.pullOutput()); EXPECT_EQ(0, producer1->m_numTimesRequestedOutput); EXPECT_EQ(3, producer2->m_numTimesRequestedOutput); EXPECT_FALSE(device.getOutputData().integers().hasData("value")); EXPECT_EQ(0, consumer->m_numTimesReceivedInput); } TEST(CommonDeviceTests, RemoveInputConsumer) { TestDevice device("MyTestDevice"); EXPECT_FALSE(device.removeInputConsumer(std::shared_ptr())); EXPECT_FALSE(device.removeInputConsumer(std::shared_ptr(nullptr))); std::shared_ptr consumer1 = std::make_shared(); std::shared_ptr consumer2 = std::make_shared(); EXPECT_FALSE(device.removeInputConsumer(consumer1)); EXPECT_TRUE(device.addInputConsumer(consumer1)); EXPECT_TRUE(device.addInputConsumer(consumer2)); EXPECT_EQ(0, consumer1->m_numTimesReceivedInput); EXPECT_EQ(0, consumer2->m_numTimesReceivedInput); EXPECT_FALSE(device.removeInputConsumer(std::shared_ptr())); EXPECT_FALSE(device.removeInputConsumer(std::shared_ptr(nullptr))); device.pushInput(); EXPECT_EQ(1, consumer1->m_numTimesReceivedInput); EXPECT_EQ(1, consumer2->m_numTimesReceivedInput); EXPECT_TRUE(consumer1->m_lastReceivedInput.strings().hasData("helloWorld")); EXPECT_TRUE(consumer2->m_lastReceivedInput.strings().hasData("helloWorld")); // invalidate the state consumer1->m_lastReceivedInput.resetAll(); consumer2->m_lastReceivedInput.resetAll(); EXPECT_EQ(1, consumer1->m_numTimesReceivedInput); EXPECT_EQ(1, consumer2->m_numTimesReceivedInput); EXPECT_FALSE(consumer1->m_lastReceivedInput.strings().hasData("helloWorld")); EXPECT_FALSE(consumer2->m_lastReceivedInput.strings().hasData("helloWorld")); EXPECT_TRUE(device.removeInputConsumer(consumer1)); device.pushInput(); EXPECT_EQ(1, consumer1->m_numTimesReceivedInput); EXPECT_EQ(2, consumer2->m_numTimesReceivedInput); EXPECT_FALSE(consumer1->m_lastReceivedInput.strings().hasData("helloWorld")); EXPECT_TRUE(consumer2->m_lastReceivedInput.strings().hasData("helloWorld")); EXPECT_FALSE(device.removeInputConsumer(consumer1)); device.pushInput(); EXPECT_EQ(1, consumer1->m_numTimesReceivedInput); EXPECT_EQ(3, consumer2->m_numTimesReceivedInput); EXPECT_FALSE(consumer1->m_lastReceivedInput.strings().hasData("helloWorld")); EXPECT_TRUE(consumer2->m_lastReceivedInput.strings().hasData("helloWorld")); device.clearInputConsumers(); device.pushInput(); EXPECT_EQ(1, consumer1->m_numTimesReceivedInput); EXPECT_EQ(3, consumer2->m_numTimesReceivedInput); EXPECT_FALSE(device.removeInputConsumer(consumer2)); } TEST(CommonDeviceTests, RemoveOutputProducer) { TestDevice device("MyTestDevice"); EXPECT_FALSE(device.removeOutputProducer(std::shared_ptr())); EXPECT_FALSE(device.removeOutputProducer(std::shared_ptr(nullptr))); std::shared_ptr producer1 = std::make_shared(); std::shared_ptr producer2 = std::make_shared(); EXPECT_FALSE(device.removeOutputProducer(producer1)); EXPECT_TRUE(device.setOutputProducer(producer1)); EXPECT_TRUE(device.setOutputProducer(producer2)); EXPECT_EQ(0, producer1->m_numTimesRequestedOutput); EXPECT_EQ(0, producer2->m_numTimesRequestedOutput); EXPECT_FALSE(device.removeOutputProducer(std::shared_ptr())); EXPECT_FALSE(device.removeOutputProducer(std::shared_ptr(nullptr))); EXPECT_TRUE(device.pullOutput()); EXPECT_EQ(0, producer1->m_numTimesRequestedOutput); EXPECT_EQ(1, producer2->m_numTimesRequestedOutput); EXPECT_TRUE(device.getOutputData().integers().hasData("value")); EXPECT_FALSE(device.removeOutputProducer(producer1)); EXPECT_TRUE(device.pullOutput()); EXPECT_EQ(0, producer1->m_numTimesRequestedOutput); EXPECT_EQ(2, producer2->m_numTimesRequestedOutput); EXPECT_TRUE(device.getOutputData().integers().hasData("value")); EXPECT_TRUE(device.removeOutputProducer(producer2)); EXPECT_FALSE(device.pullOutput()); EXPECT_EQ(0, producer1->m_numTimesRequestedOutput); EXPECT_EQ(2, producer2->m_numTimesRequestedOutput); EXPECT_FALSE(device.getOutputData().integers().hasData("value")); EXPECT_FALSE(device.removeOutputProducer(producer2)); EXPECT_FALSE(device.pullOutput()); EXPECT_EQ(0, producer1->m_numTimesRequestedOutput); EXPECT_EQ(2, producer2->m_numTimesRequestedOutput); EXPECT_FALSE(device.getOutputData().integers().hasData("value")); EXPECT_TRUE(device.setOutputProducer(producer1)); EXPECT_TRUE(device.hasOutputProducer()); device.clearOutputProducer(); EXPECT_FALSE(device.hasOutputProducer()); } opensurgsim-0.7.0/SurgSim/Input/UnitTests/Data/000077500000000000000000000000001277777236100214175ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Input/UnitTests/Data/CombiningOutputComponent.yaml000066400000000000000000000014361277777236100273200ustar00rootroot00000000000000- SurgSim::Framework::BasicSceneElement: Name: element Components: - SurgSim::Input::CombiningOutputComponent: Name: reducer DeviceName: device Outputs: - SurgSim::Input::OutputComponent: Name: output1 Id: output1 - SurgSim::Input::OutputComponent: Name: output2 Id: output2 - SurgSim::Input::OutputComponent: Name: output3 Id: output3 - SurgSim::Input::OutputComponent: Name: output1 Id: output1 - SurgSim::Input::OutputComponent: Name: output2 Id: output2 - SurgSim::Input::OutputComponent: Name: output3 Id: output3 opensurgsim-0.7.0/SurgSim/Input/UnitTests/InputComponentTest.cpp000066400000000000000000000045041277777236100250770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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. /** @file * Tests for the InputComponent class. */ #include #include #include #include "yaml-cpp/yaml.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Input/InputComponent.h" #include "SurgSim/Input/UnitTests/TestDevice.h" using SurgSim::Input::InputComponent; TEST(InputComponentTest, CanConstruct) { EXPECT_NO_THROW(InputComponent input("Input"); input.setDeviceName("InputDevice")); } TEST(InputComponentTest, Accessors) { InputComponent input("Input"); input.setDeviceName("InputDevice"); EXPECT_EQ("Input", input.getName()); EXPECT_EQ("InputDevice", input.getDeviceName()); } TEST(InputComponentTest, GetData) { auto input = std::make_shared("Input"); SurgSim::DataStructures::DataGroup data; ASSERT_NO_THROW(input->getData(&data)) << "Getting data from an unconnected InputComponent should not assert."; EXPECT_TRUE(data.isEmpty()) << "The data from an unconnected InputComponent should be empty."; TestDevice device("MyTestDevice"); device.addInputConsumer(input); ASSERT_NO_THROW(input->getData(&data)); EXPECT_FALSE(data.isEmpty()); } TEST(InputComponentTest, Serialization) { auto input = std::make_shared("Input"); input->setDeviceName("InputDevice"); // Encode YAML::Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*input);); // Decode std::shared_ptr newInput; EXPECT_NO_THROW(newInput = std::dynamic_pointer_cast( node.as>());); // Verify EXPECT_EQ(input->getDeviceName(), newInput->getDeviceName()); } opensurgsim-0.7.0/SurgSim/Input/UnitTests/InputManagerTest.cpp000066400000000000000000000165601277777236100245140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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. /// \file /// Tests for the InputManaget class. Note that InputManagerTest, the test fixture /// is declared as a friend class in InputManager to make it easier to test the /// add and removal of components, for this to work correctly PhysicsManagerTest is required /// to be in the SurgSim::Physics namespace. #include #include #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Input/CommonDevice.h" #include "SurgSim/Input/OutputProducerInterface.h" #include "SurgSim/Input/InputManager.h" #include "SurgSim/Input/InputComponent.h" #include "SurgSim/Input/OutputComponent.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Input/UnitTests/TestDevice.h" using SurgSim::Framework::Runtime; using SurgSim::Framework::Component; using SurgSim::Input::DeviceInterface; using SurgSim::Input::CommonDevice; using SurgSim::Input::OutputProducerInterface; using SurgSim::Input::InputManager; using SurgSim::Input::InputComponent; using SurgSim::Input::OutputComponent; using SurgSim::DataStructures::DataGroup; using SurgSim::DataStructures::DataGroupBuilder; class MockComponent : public SurgSim::Framework::Component { public: explicit MockComponent(const std::string& name = "MockComponent") : Component(name) {} virtual ~MockComponent() {} protected: virtual bool doInitialize() { return true; } virtual bool doWakeUp() { return true; } }; namespace SurgSim { namespace Input { class InputManagerTest : public ::testing::Test { public: virtual void SetUp() { testDevice1 = std::make_shared("TestDevice1"); testDevice2 = std::make_shared("TestDevice2"); runtime = std::make_shared(); inputManager = std::make_shared(); runtime->addManager(inputManager); runtime->start(); inputManager->addDevice(testDevice1); inputManager->addDevice(testDevice2); } virtual void TearDown() { runtime->stop(); } bool testDoAddComponent(const std::shared_ptr& component) { return inputManager->executeAdditions(component); } bool testDoRemoveComponent(const std::shared_ptr& component) { return inputManager->executeRemovals(component); } std::shared_ptr testDevice1; std::shared_ptr testDevice2; std::shared_ptr runtime; std::shared_ptr inputManager; }; TEST_F(InputManagerTest, DeviceAddRemove) { std::shared_ptr testDevice3 = std::make_shared("TestDevice3"); std::shared_ptr testDevice4 = std::make_shared("TestDevice4"); std::shared_ptr testDevice5 = std::make_shared(""); EXPECT_TRUE(inputManager->addDevice(testDevice3)); EXPECT_TRUE(inputManager->addDevice(testDevice4)); EXPECT_FALSE(inputManager->addDevice(testDevice5)); EXPECT_FALSE(inputManager->addDevice(testDevice3)); EXPECT_TRUE(inputManager->removeDevice(testDevice4)); EXPECT_FALSE(inputManager->removeDevice(testDevice4)); EXPECT_TRUE(inputManager->addDevice(testDevice4)); } TEST_F(InputManagerTest, InputAddRemove) { std::shared_ptr listener1 = std::make_shared("Component1"); std::shared_ptr listener2 = std::make_shared("Component2"); std::shared_ptr listener3 = std::make_shared("Component3"); std::shared_ptr notvalid = std::make_shared("Component4"); listener1->setDeviceName("TestDevice1"); listener2->setDeviceName("TestDevice1"); listener3->setDeviceName("TestDevice2"); notvalid->setDeviceName("NonExistantDevice"); // Add various listeners to the input manager EXPECT_TRUE(testDoAddComponent(listener1)); EXPECT_TRUE(testDoAddComponent(listener2)); EXPECT_TRUE(testDoAddComponent(listener3)); EXPECT_TRUE(testDoAddComponent(notvalid)); // InputManager will add InputComponents that don't connect to a device. // Excercise adds and removes // Duplicate false on duplicate will become deprecated EXPECT_FALSE(testDoAddComponent(listener1)); EXPECT_TRUE(testDoRemoveComponent(listener1)); EXPECT_FALSE(testDoRemoveComponent(listener1)); // Should not be able to add random components std::shared_ptr component = std::make_shared(); EXPECT_FALSE(testDoAddComponent(component)); } TEST_F(InputManagerTest, InputfromDevice) { std::string data; SurgSim::DataStructures::DataGroup dataGroup; std::shared_ptr listener1 = std::make_shared("Component1"); listener1->setDeviceName("TestDevice1"); testDoAddComponent(listener1); EXPECT_NO_THROW(listener1->getData(&dataGroup)); testDevice1->pushInput("avalue"); EXPECT_NO_THROW(listener1->getData(&dataGroup)); EXPECT_TRUE(dataGroup.strings().get("helloWorld", &data)); EXPECT_EQ("avalue", data); testDevice1->pushInput("bvalue"); EXPECT_NO_THROW(listener1->getData(&dataGroup)); EXPECT_TRUE(dataGroup.strings().get("helloWorld", &data)); EXPECT_EQ("bvalue", data); } TEST_F(InputManagerTest, OutputAddRemove) { std::shared_ptr output1 = std::make_shared("Component1"); std::shared_ptr output2 = std::make_shared("Component2"); std::shared_ptr output3 = std::make_shared("Component3"); std::shared_ptr invalid = std::make_shared("Component5"); output1->setDeviceName("TestDevice1"); output2->setDeviceName("TestDevice1"); output3->setDeviceName("TestDevice2"); invalid->setDeviceName("InvalidDevice"); EXPECT_TRUE(testDoAddComponent(output1)); EXPECT_TRUE(testDoAddComponent(output2)); // InputManager will add even if same device already connected. EXPECT_FALSE(testDoAddComponent(output2)); EXPECT_TRUE(testDoAddComponent(output3)); EXPECT_TRUE(testDoAddComponent(invalid)); // InputManager will add even if does not connect to a device. EXPECT_TRUE(testDoRemoveComponent(output1)); EXPECT_FALSE(testDoRemoveComponent(output1)); EXPECT_TRUE(testDoRemoveComponent(invalid)); } TEST_F(InputManagerTest, OutputPush) { std::shared_ptr output = std::make_shared("Component1"); output->setDeviceName("TestDevice1"); EXPECT_TRUE(testDoAddComponent(output)); DataGroupBuilder builder; builder.addString("data"); DataGroup data = builder.createData(); data.strings().set("data", "outputdata"); output->setData(data); EXPECT_TRUE(testDevice1->pullOutput()); EXPECT_EQ("outputdata", testDevice1->lastPulledData); } TEST_F(InputManagerTest, TypeTest) { EXPECT_EQ(SurgSim::Framework::MANAGER_TYPE_INPUT, inputManager->getType()); } }; // namespace Input }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Input/UnitTests/OutputComponentTest.cpp000066400000000000000000000046061277777236100253030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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. /** @file * Tests for the OutputComponent class. */ #include #include #include #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Input/OutputComponent.h" using SurgSim::Input::OutputComponent; using SurgSim::DataStructures::DataGroup; TEST(OutputComponentTest, CanConstruct) { EXPECT_NO_THROW(OutputComponent output("Output"); output.setDeviceName("OutputDevice")); } TEST(OutputComponentTest, Accessors) { OutputComponent output("Output"); output.setDeviceName("OutputDevice"); EXPECT_EQ("Output", output.getName()); EXPECT_EQ("OutputDevice", output.getDeviceName()); SurgSim::DataStructures::DataGroup actualData; ASSERT_FALSE(output.requestOutput("", &actualData)); SurgSim::DataStructures::DataGroupBuilder builder; std::string name = "aBool"; builder.addBoolean(name); DataGroup dataGroup = builder.createData(); dataGroup.booleans().set(name, true); output.setData(dataGroup); bool result = false; ASSERT_TRUE(output.requestOutput("", &actualData)); ASSERT_TRUE(actualData.booleans().get(name, &result)); EXPECT_TRUE(result); } TEST(OutputComponentTest, Serialization) { auto output = std::make_shared("Output"); output->setDeviceName("OutputDevice"); // Encode YAML::Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*output);); // Decode std::shared_ptr newOutput; EXPECT_NO_THROW(newOutput = std::dynamic_pointer_cast( node.as>());); // Verify EXPECT_EQ(output->getDeviceName(), newOutput->getDeviceName()); } opensurgsim-0.7.0/SurgSim/Input/UnitTests/TestDevice.cpp000066400000000000000000000047051277777236100233170ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Input/UnitTests/TestDevice.h" TestDevice::TestDevice(const std::string& uniqueName) : CommonDevice(uniqueName, buildInputData()), m_initialized(false) { } // required by the DeviceInterface API bool TestDevice::initialize() { SURGSIM_ASSERT(!isInitialized()) << getName() << " already initialized."; m_initialized = true; return true; } // required by the DeviceInterface API bool TestDevice::finalize() { SURGSIM_ASSERT(isInitialized()) << getName() << " is not initialized, cannot finalize."; m_initialized = false; return true; } bool TestDevice::isInitialized() const { return m_initialized; } // expose the pushInput method to the world void TestDevice::pushInput() { CommonDevice::pushInput(); } void TestDevice::pushInput(const std::string& data) { getInputData().strings().set("helloWorld", data); pushInput(); } // expose the pullOutput method to the world bool TestDevice::pullOutput() { bool result = CommonDevice::pullOutput(); getOutputData().strings().get("data", &lastPulledData); return result; } // expose the getOutputData method to the world const DataGroup& TestDevice::getOutputData() const { return CommonDevice::getOutputData(); } DataGroup TestDevice::buildInputData() { DataGroupBuilder builder; builder.addString("helloWorld"); DataGroup data = builder.createData(); data.strings().set("helloWorld", "data"); return data; } // Consumer Class Callback Function void TestInputConsumer::handleInput(const std::string& device, const DataGroup& inputData) { ++m_numTimesReceivedInput; m_lastReceivedInput = inputData; } // Producer class Hook bool TestOutputProducer::requestOutput(const std::string& device, DataGroup* outputData) { ++m_numTimesRequestedOutput; if (m_refuseToProduce) { return false; } else { *outputData = m_nextSentOutput; return true; } } opensurgsim-0.7.0/SurgSim/Input/UnitTests/TestDevice.h000066400000000000000000000053271277777236100227650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_INPUT_UNITTESTS_TESTDEVICE_H #define SURGSIM_INPUT_UNITTESTS_TESTDEVICE_H #include "SurgSim/Input/CommonDevice.h" #include "SurgSim/Input/InputConsumerInterface.h" #include "SurgSim/Input/OutputProducerInterface.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" using SurgSim::Input::CommonDevice; using SurgSim::DataStructures::DataGroup; using SurgSim::DataStructures::DataGroupBuilder; using SurgSim::Input::InputConsumerInterface; using SurgSim::Input::OutputProducerInterface; class TestDevice : public CommonDevice { public: explicit TestDevice(const std::string& uniqueName); bool initialize() override; bool isInitialized() const override; void pushInput() override; // Send some data down the stream void pushInput(const std::string& data); bool pullOutput() override; const DataGroup& getOutputData() const; /// Builds the data layout for the application input (i.e. device output). static DataGroup buildInputData(); DataGroup buildOutputData(); std::string lastPulledData; /// true if initialized and not finalized. bool m_initialized; private: bool finalize() override; }; struct TestInputConsumer : public InputConsumerInterface { public: TestInputConsumer() : m_numTimesReceivedInput(0) { } virtual void initializeInput(const std::string& device, const DataGroup& initialInput) { } virtual void handleInput(const std::string& device, const DataGroup& inputData); int m_numTimesReceivedInput; DataGroup m_lastReceivedInput; }; struct TestOutputProducer : public OutputProducerInterface { public: TestOutputProducer() : m_numTimesRequestedOutput(0), m_refuseToProduce(false) { DataGroupBuilder builder; builder.addInteger("value"); m_nextSentOutput = builder.createData(); m_nextSentOutput.integers().set("value", 123); } virtual bool requestOutput(const std::string& device, DataGroup* outputData); int m_numTimesRequestedOutput; bool m_refuseToProduce; DataGroup m_nextSentOutput; }; #endif // SURGSIM_INPUT_UNITTESTS_TESTDEVICE_H opensurgsim-0.7.0/SurgSim/Input/UnitTests/config.txt.in000066400000000000000000000000411277777236100231540ustar00rootroot00000000000000${CMAKE_CURRENT_BINARY_DIR}/Data/opensurgsim-0.7.0/SurgSim/Math/000077500000000000000000000000001277777236100163765ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Math/Aabb.h000066400000000000000000000104051277777236100173740ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_MATH_AABB_H #define SURGSIM_MATH_AABB_H #include namespace SurgSim { namespace Math { /// Wrapper around the Eigen type typedef Eigen::AlignedBox Aabbf; /// Wrapper around the Eigen type typedef Eigen::AlignedBox Aabbd; /// Determine whether two AABBs have an intersection with each other, for the calculation see /// http://www.gamasutra.com/view/feature/131790/simple_intersection_tests_for_games.php?page=3 /// \tparam Scalar numeric type /// \tparam Dim dimension of the space to be used /// \param aabb0 first axis aligned bounding box /// \param aabb1 second axis aligned bounding box /// \param tolerance the bounding boxes will be considered bigger by this amount /// \return true if there is an overlap between the two boxes template bool doAabbIntersect(const Eigen::AlignedBox& aabb0, const Eigen::AlignedBox& aabb1, double tolerance) { typedef typename Eigen::AlignedBox::VectorType VectorType; VectorType vector = (aabb1.center() - aabb0.center()).array().abs(); VectorType totalSizes = ((aabb0.sizes() + aabb1.sizes()) * 0.5).array() + tolerance; return (vector.array() <= totalSizes.array()).all(); } /// Determine whether two AABBs overlap, using a minimal set of eigen calls, does not take a tolerance /// \tparam Scalar numeric type /// \tparam Dim dimension of the space to be used /// \param a first axis aligned bounding box /// \param b second axis aligned bounding box /// \return true if there is an overlap between the two boxes template bool doAabbIntersect(const Eigen::AlignedBox& a, const Eigen::AlignedBox& b) { return !a.intersection(b).isEmpty(); } /// Convenience function for creating a bounding box from three vertices (e.g. the vertices of a triangle) /// \tparam Scalar numeric type /// \tparam Dim dimension of the space to be used /// \tparam MType the eigen type of the vectors /// \return an AABB containing all the points passed template Eigen::AlignedBox makeAabb( const Eigen::Matrix& vector0, const Eigen::Matrix& vector1, const Eigen::Matrix& vector2) { Eigen::AlignedBox result(vector0); result.extend(vector1); result.extend(vector2); return result; } /// Rotate the extrema of the aabb, note that that will extend the size of the box /// \tparam Scalar numeric type /// \tparam Dim dimension of the space to be used /// \param transform The Rigidtransform to use /// \param aabb the aabb to transform /// \return the transformed aabb template Eigen::AlignedBox transformAabb(const Eigen::Transform& transform, const Eigen::AlignedBox& aabb) { static std::array::CornerType, 8> corners = { Eigen::AlignedBox::BottomLeftFloor, Eigen::AlignedBox::BottomRightFloor, Eigen::AlignedBox::TopLeftFloor, Eigen::AlignedBox::TopRightFloor, Eigen::AlignedBox::BottomLeftCeil, Eigen::AlignedBox::BottomRightCeil, Eigen::AlignedBox::TopLeftCeil, Eigen::AlignedBox::TopRightCeil, }; if (aabb.isEmpty()) { return aabb; } Eigen::AlignedBox result; std::for_each(corners.cbegin(), corners.cend(), [&result, &aabb, &transform](typename Eigen::AlignedBox::CornerType c) { result.extend(transform * aabb.corner(c)); }); return result; } } } #endif opensurgsim-0.7.0/SurgSim/Math/BoxShape.cpp000066400000000000000000000061331277777236100206160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/BoxShape.h" namespace SurgSim { namespace Math { SURGSIM_REGISTER(SurgSim::Math::Shape, SurgSim::Math::BoxShape, BoxShape); BoxShape::BoxShape(double sizeX, double sizeY, double sizeZ) : m_size(Vector3d(sizeX, sizeY, sizeZ)) { calculateVertices(); updateAabb(); SURGSIM_ADD_SERIALIZABLE_PROPERTY(BoxShape, double, SizeX, getSizeX, setSizeX); SURGSIM_ADD_SERIALIZABLE_PROPERTY(BoxShape, double, SizeY, getSizeY, setSizeY); SURGSIM_ADD_SERIALIZABLE_PROPERTY(BoxShape, double, SizeZ, getSizeZ, setSizeZ); } int BoxShape::getType() const { return SHAPE_TYPE_BOX; } Vector3d BoxShape::getSize() const { return m_size; } double BoxShape::getSizeX() const { return m_size[0]; } double BoxShape::getSizeY() const { return m_size[1]; } double BoxShape::getSizeZ() const { return m_size[2]; } void BoxShape::setSizeX(double sizeX) { m_size[0] = sizeX; updateAabb(); } void BoxShape::setSizeY(double sizeY) { m_size[1] = sizeY; updateAabb(); } void BoxShape::setSizeZ(double sizeZ) { m_size[2] = sizeZ; updateAabb(); } double BoxShape::getVolume() const { return m_size[0] * m_size[1] * m_size[2]; } SurgSim::Math::Vector3d BoxShape::getCenter() const { return Vector3d(0.0, 0.0, 0.0); } SurgSim::Math::Matrix33d BoxShape::getSecondMomentOfVolume() const { const double volume = getVolume(); const Vector3d sizeSquared = m_size.array() * m_size.array(); const double coef = 1.0 / 12.0 * volume; Matrix33d inertia = Matrix33d::Zero(); inertia.diagonal() = coef * Vector3d(sizeSquared[1] + sizeSquared[2], sizeSquared[0] + sizeSquared[2], sizeSquared[0] + sizeSquared[1]); return inertia; } SurgSim::Math::Vector3d BoxShape::getVertex(const int i) const { return m_vertices[i]; } const std::array& BoxShape::getVertices() const { return m_vertices; } void BoxShape::calculateVertices() { static const std::array multiplier = {{ Vector3d(-0.5, -0.5, -0.5), Vector3d(-0.5, -0.5, 0.5), Vector3d(-0.5, 0.5, 0.5), Vector3d(-0.5, 0.5, -0.5), Vector3d(0.5, -0.5, -0.5), Vector3d(0.5, -0.5, 0.5), Vector3d(0.5, 0.5, 0.5), Vector3d(0.5, 0.5, -0.5) } }; for (int i = 0; i < 8; ++i) { m_vertices[i] = m_size.array() * multiplier[i].array(); } } void BoxShape::updateAabb() { m_aabb.setEmpty(); m_aabb.extend(-(m_size / 2.0)); m_aabb.extend(m_size / 2.0); } bool BoxShape::isValid() const { return (m_size.minCoeff() >= 0); } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/BoxShape.h000066400000000000000000000065151277777236100202670ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_BOXSHAPE_H #define SURGSIM_MATH_BOXSHAPE_H #include #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Math/Shape.h" namespace SurgSim { namespace Math { SURGSIM_STATIC_REGISTRATION(BoxShape); /// Box shape: box centered on (0 0 0), aligned with the axis /// with different sizes along X, Y and Z class BoxShape: public Shape { public: /// Constructor /// \param sizeX, sizeY, sizeZ the box sizes in all 3 directions (in m) explicit BoxShape(double sizeX = 0.0, double sizeY = 0.0, double sizeZ = 0.0); SURGSIM_CLASSNAME(SurgSim::Math::BoxShape); /// \return the type of the shape int getType() const override; /// Get size of the box /// \return the size of the box (in m) Vector3d getSize() const; /// Get size in X direction /// \return the size in the X direction (in m) double getSizeX() const; /// Get size in Y direction /// \return the size in the Y direction (in m) double getSizeY() const; /// Get size in Z direction /// \return the size in the Z direction (in m) double getSizeZ() const; /// Get the volume of the shape /// \return The volume of the shape (in m-3) double getVolume() const override; /// Get the volumetric center of the shape /// \return The center of the shape Vector3d getCenter() const override; /// Get the second central moment of the volume, commonly used /// to calculate the moment of inertia matrix /// \return The 3x3 symmetric second moment matrix Matrix33d getSecondMomentOfVolume() const override; /// Function that returns the local vertex location, given an index. /// \param i The vertex index. /// \return The local vertex position. Vector3d getVertex(const int i) const; /// Function that returns the local vertices' location /// \return All eight vertices of the box const std::array& getVertices() const; /// \return True if size along X, Y, Z are bigger than or equal to 0; Otherwise, false. bool isValid() const override; protected: // Setters in 'protected' sections are for serialization purpose only. /// Set size in X direction /// \param sizeX the size in the X direction (in m) void setSizeX(double sizeX); /// Set size in Y direction /// \param sizeY the size in the Y direction (in m) void setSizeY(double sizeY); /// Set size in Z direction /// \param sizeZ the size in the Z direction (in m) void setSizeZ(double sizeZ); private: /// Function that calculates the box vertices. void calculateVertices(); /// Update the local aabb for this box void updateAabb(); /// The box sizes along the 3 axis respectively {X,Y,Z} Vector3d m_size; /// The box vertices. std::array m_vertices; }; }; // Math }; // SurgSim #endif // SURGSIM_MATH_BOXSHAPE_H opensurgsim-0.7.0/SurgSim/Math/CMakeLists.txt000066400000000000000000000067521277777236100211500ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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. set(SURGSIM_MATH_SOURCES BoxShape.cpp CapsuleShape.cpp CardinalSplines.cpp CompoundShape.cpp CylinderShape.cpp DoubleSidedPlaneShape.cpp GaussLegendreQuadrature.cpp LinearSolveAndInverse.cpp LinearSparseSolveAndInverse.cpp MathConvert.cpp MeshShape.cpp MlcpGaussSeidelSolver.cpp MlcpProblem.cpp OctreeShape.cpp OdeEquation.cpp OdeSolver.cpp OdeSolverEulerExplicit.cpp OdeSolverEulerExplicitModified.cpp OdeSolverEulerImplicit.cpp OdeSolverLinearEulerExplicit.cpp OdeSolverLinearEulerExplicitModified.cpp OdeSolverLinearEulerImplicit.cpp OdeSolverLinearRungeKutta4.cpp OdeSolverLinearStatic.cpp OdeSolverRungeKutta4.cpp OdeSolverStatic.cpp OdeState.cpp ParticlesShape.cpp PlaneShape.cpp SegmentMeshShape.cpp SegmentMeshShapePlyReaderDelegate.cpp Shape.cpp SphereShape.cpp SurfaceMeshShape.cpp ) set(SURGSIM_MATH_HEADERS Aabb.h BoxShape.h CapsuleShape.h CardinalSplines.h CompoundShape.h CubicSolver.h CubicSolver-inl.h CylinderShape.h DoubleSidedPlaneShape.h GaussLegendreQuadrature.h Geometry.h IntervalArithmetic.h IntervalArithmetic-inl.h KalmanFilter.h KalmanFilter-inl.h LinearMotionArithmetic.h LinearMotionArithmetic-inl.h LinearSolveAndInverse.h LinearSolveAndInverse-inl.h LinearSparseSolveAndInverse.h MathConvert.h MathConvert-inl.h Matrix.h MeshShape.h MeshShape-inl.h MinMax.h MinMax-inl.h MlcpConstraintType.h MlcpConstraintTypeName.h MlcpGaussSeidelSolver.h MlcpProblem.h MlcpSolution.h MlcpSolver.h OctreeShape.h OctreeShape-inl.h OdeEquation.h OdeSolver.h OdeSolverEulerExplicit.h OdeSolverEulerExplicitModified.h OdeSolverEulerImplicit.h OdeSolverLinearEulerExplicit.h OdeSolverLinearEulerExplicitModified.h OdeSolverLinearEulerImplicit.h OdeSolverLinearRungeKutta4.h OdeSolverLinearStatic.h OdeSolverRungeKutta4.h OdeSolverStatic.h OdeState.h ParticlesShape.h ParticlesShape-inl.h PlaneShape.h PointTriangleCcdContactCalculation-inl.h Polynomial.h Polynomial-inl.h PolynomialRoots.h PolynomialRoots-inl.h PolynomialValues.h PolynomialValues-inl.h Quaternion.h RigidTransform.h Scalar.h Scalar-inl.h SegmentMeshShape.h SegmentMeshShape-inl.h SegmentMeshShapePlyReaderDelegate.h SegmentSegmentCcdContactCalculation-inl.h Shape.h Shapes.h SparseMatrix.h SphereShape.h SurfaceMeshShape.h SurfaceMeshShape-inl.h TriangleCapsuleContactCalculation-inl.h TriangleTriangleContactCalculation-inl.h TriangleTriangleIntersection-inl.h Valid.h Valid-inl.h Vector.h ) surgsim_create_library_header(Math.h "${SURGSIM_MATH_HEADERS}") surgsim_add_library( SurgSimMath "${SURGSIM_MATH_SOURCES}" "${SURGSIM_MATH_HEADERS}" ) set(LIBS SurgSimDataStructures SurgSimFramework ${YAML_CPP_LIBRARIES} ) target_link_libraries(SurgSimMath ${LIBS}) if(BUILD_TESTING) add_subdirectory(UnitTests) endif() # Put SurgSimMath into folder "Math" set_target_properties(SurgSimMath PROPERTIES FOLDER "Math") opensurgsim-0.7.0/SurgSim/Math/CapsuleShape.cpp000066400000000000000000000070751277777236100214700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/CapsuleShape.h" namespace SurgSim { namespace Math { SURGSIM_REGISTER(SurgSim::Math::Shape, SurgSim::Math::CapsuleShape, CapsuleShape); CapsuleShape::CapsuleShape(double length, double radius) : m_length(length), m_radius(radius) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(CapsuleShape, double, Radius, getRadius, setRadius); SURGSIM_ADD_SERIALIZABLE_PROPERTY(CapsuleShape, double, Length, getLength, setLength); updateAabb(); } int CapsuleShape::getType() const { return SHAPE_TYPE_CAPSULE; } double CapsuleShape::getLength() const { return m_length; } double CapsuleShape::getRadius() const { return m_radius; } void CapsuleShape::setLength(double length) { m_length = length; updateAabb(); } void CapsuleShape::setRadius(double radius) { m_radius = radius; updateAabb(); } double CapsuleShape::getVolume() const { const double r2 = m_radius * m_radius; const double localCylinderVolume = M_PI * (r2) * m_length; const double localSphereVolume = 4.0 / 3.0 * M_PI * r2 * m_radius; return localCylinderVolume + localSphereVolume; } SurgSim::Math::Vector3d CapsuleShape::getCenter() const { return Vector3d(0.0, 0.0, 0.0); } SurgSim::Math::Vector3d CapsuleShape::topCenter() const { return Vector3d(0.0, m_length / 2.0, 0.0); } SurgSim::Math::Vector3d CapsuleShape::bottomCenter() const { return Vector3d(0.0, -m_length / 2.0, 0.0); } SurgSim::Math::Matrix33d CapsuleShape::getSecondMomentOfVolume() const { const double& r = m_radius; const double& l = m_length; const double r2 = r * r; const double l2 = l * l; const double cylinderVolume = M_PI * (r2) * l; const double sphereVolume = 4.0 / 3.0 * M_PI * r2 * r; // The matrix is a combination of the cylinder and // the 2 hemispheres: // // Second central moment of cylinder along the Y axis // vc = PI.radius.radius.length (volume of the cylinder) // a = 1/2.vc.r^2 // b = 1/12.vc.(3.r^2 + h^2) // (b 0 0) // I(cylinder) = (0 a 0) // (0 0 b) // // Second central moment of the 2 hemispheres along the X axis (direction = 0) // vs = 4/3 pi.radius.radius.radius (volume of the entire sphere) // c = 2/5.vs.r^2 // d = 2/5.vs.r^2 + vs.h^2/4 + 3/8.vs.r.h // (d 0 0) // I(2 hemispheres) = (0 c 0) // (0 0 d) double a = 1.0 / 2.0 * cylinderVolume * r2; double b = 1.0 / 12.0 * cylinderVolume * (3.0 * r2 + l2); double c = 2.0 / 5.0 * sphereVolume * r2; double d = c + sphereVolume * l * (l / 4.0 + 3.0 / 8.0 * r); Matrix33d secondMoment; secondMoment.setZero(); secondMoment.diagonal().setConstant(b + d); secondMoment(1, 1) = a + c; return secondMoment; } bool CapsuleShape::isValid() const { return (m_length >= 0) && (m_radius >= 0); } void CapsuleShape::updateAabb() { m_aabb.setEmpty(); m_aabb.extend(Vector3d(-m_radius, -m_length / 2.0 - m_radius, -m_radius)); m_aabb.extend(Vector3d(m_radius, m_length / 2.0 + m_radius, m_radius)); } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/CapsuleShape.h000066400000000000000000000057101277777236100211270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_CAPSULESHAPE_H #define SURGSIM_MATH_CAPSULESHAPE_H #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Math/Shape.h" namespace SurgSim { namespace Math { SURGSIM_STATIC_REGISTRATION(CapsuleShape); /// Capsule shape: centered on (0, 0, 0), aligned along Y, /// with length and radius class CapsuleShape: public Shape { public: /// Constructor /// \param length The capsule length (i.e. of the cylinder) (in m) /// \param radius The capsule radius (i.e. of the cylinder/spheres) (in m) explicit CapsuleShape(double length = 0.0, double radius = 0.0); SURGSIM_CLASSNAME(SurgSim::Math::CapsuleShape); /// \return the type of the shape int getType() const override; /// Get the capsule length (i.e. cylinder length) /// \return The capsule length (in m) double getLength() const; /// Get the capsule radius (i.e. cylinder/spheres radius) /// \return The capsule radius (in m) double getRadius() const; /// Get the volume of the shape /// \return The volume of the shape (in m-3) double getVolume() const override; /// Get the volumetric center of the shape /// \return The center of the shape Vector3d getCenter() const override; /// Return the center of the top sphere of the internal cylinder /// \return The top center of the sphere of the capsule Vector3d topCenter() const; /// Return the center of the bottom sphere of the internal cylinder /// \return The bottom center of the sphere of the capsule Vector3d bottomCenter() const; /// Get the second central moment of the volume, commonly used /// to calculate the moment of inertia matrix /// \return The 3x3 symmetric second moment matrix Matrix33d getSecondMomentOfVolume() const override; /// \return True if length and radius are bigger than or equal to 0; Otherwise, false. bool isValid() const override; protected: // Setters in 'protected' sections are for serialization purpose only. /// Set the capsule length (i.e. cylinder length) /// \param length The capsule length (in m) void setLength(double length); /// Set the capsule radius (i.e. cylinder/spheres radius) /// \param radius The capsule radius (in m) void setRadius(double radius); void updateAabb(); private: /// Capsule length double m_length; /// Capsule radius double m_radius; }; }; // Math }; // SurgSim #endif // SURGSIM_MATH_CAPSULESHAPE_H opensurgsim-0.7.0/SurgSim/Math/CardinalSplines.cpp000066400000000000000000000071131277777236100221570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Assert.h" #include "SurgSim/Math/CardinalSplines.h" namespace SurgSim { namespace Math { namespace CardinalSplines { void extendControlPoints(const SurgSim::DataStructures::VerticesPlain& points, std::vector* result) { SURGSIM_ASSERT(points.getNumVertices() >= 2) << "Cannot extend control points less than 2."; SURGSIM_ASSERT(result != nullptr) << "'result' can not be nullptr."; result->clear(); result->reserve(points.getNumVertices() + 2); // Interpolate the 1st point (ghost) as the symmetric of P1 from P0: P-1 = P0 - (P1 - P0) result->push_back(2.0 * points.getVertexPosition(0) - points.getVertexPosition(1)); for (size_t i = 0; i < points.getNumVertices(); ++i) { result->push_back(points.getVertexPosition(i)); } // Interpolate the last point (ghost) as the symmetric of Pn-1 from Pn: Pn+1 = Pn - (Pn-1 - Pn) result->push_back(2.0 * points.getVertexPosition(points.getNumVertices() - 1) - points.getVertexPosition(points.getNumVertices() - 2)); } void interpolate(size_t subdivisions, const std::vector& controlPoints, std::vector* points, double tau) { SURGSIM_ASSERT(subdivisions >= 0) << "'subdivision' must be at least 0."; SURGSIM_ASSERT(controlPoints.size() >= 4) << "Cannot apply Cardinal Splines interpolation with less than 4 points"; SURGSIM_ASSERT(points != nullptr) << "'points' is nullptr"; SURGSIM_ASSERT(0 <= tau && tau <= 1) << "Tension parameter 'tau' must be in the range [0,1]."; size_t numPoints = controlPoints.size(); // Allow for no subdivisions for debug scenarios. if (subdivisions == 0) { for (size_t pointIndex = 0; pointIndex < numPoints; ++pointIndex) { points->push_back(controlPoints[pointIndex]); } return; } double stepsize = 1.0 / static_cast(subdivisions); for (size_t pointIndex = 0; pointIndex < numPoints - 3; ++pointIndex) { std::array p = { controlPoints[pointIndex], controlPoints[pointIndex + 1], controlPoints[pointIndex + 2], controlPoints[pointIndex + 3] }; double abscissa = 0.0; /* Note that 'controlPoints' are NOT included in the final result, 'points'. However, when 'abscissa' is 0.0, the interpolated point will happen to have the same value with one of the control points and thus being included in the result. */ for (size_t i = 0; i < subdivisions; ++i) { double abcissaSquared = abscissa * abscissa; double abcissaCubed = abcissaSquared * abscissa; SurgSim::Math::Vector3d result = p[1] + abscissa * (tau * (p[2] - p[0])) + abcissaSquared * (2.0 * tau * p[0] + (tau - 3.0) * p[1] + (3.0 - 2.0 * tau) * p[2] - tau * p[3]) + abcissaCubed * (-tau * p[0] + (2.0 - tau) * p[1] + (tau - 2.0) * p[2] + tau * p[3]); points->push_back(std::move(result)); abscissa += stepsize; } } } }; // namespace CardinalSplines }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/CardinalSplines.h000066400000000000000000000046141277777236100216270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_MATH_CARDINALSPLINES_H #define SURGSIM_MATH_CARDINALSPLINES_H #include #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Math/Vector.h" /// \file CardinalSplines.h collects the utilities to do Cardinal Splines interpolation. namespace SurgSim { namespace Math { namespace CardinalSplines { /// Function to add two 'ghost' points to 'points' at the beginning and the end, /// prepare 'points' for Cardinal Splines interpolation. /// \param points List of points to be interpolated. /// \param[out] result List of points with two ghost points added, /// one at the beginning and another at the end of 'points'. void extendControlPoints(const SurgSim::DataStructures::VerticesPlain& points, std::vector* result); /// Run Cardinal Splines interpolation on 'controlPoints'. /// See https://en.wikipedia.org/wiki/Centripetal_Catmull-Rom_spline /// https://en.wikipedia.org/wiki/Cubic_Hermite_spline /// https://people.cs.clemson.edu/~dhouse/courses/405/notes/splines.pdf /// https://www.cs.utexas.edu/~fussell/courses/cs384g/lectures/lecture16-Interpolating_curves.pdf for more details. /// \param subdivisions Number of interpolated points between each pair of control points. /// \param controlPoints List of points to be interpolated. /// \param[out] points List of interpolated points, not including the control points. /// \param tau Defines the tension, affects how sharply the curve bends at the control points. void interpolate(size_t subdivisions, const std::vector& controlPoints, std::vector* points, double tau = 0.4); }; // namespace CardinalSplines }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_CARDINALSPLINES_H opensurgsim-0.7.0/SurgSim/Math/CompoundShape.cpp000066400000000000000000000134131277777236100216510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Math/CompoundShape.h" #include "SurgSim/Math/MathConvert.h" namespace SurgSim { namespace Math { SURGSIM_REGISTER(SurgSim::Math::Shape, SurgSim::Math::CompoundShape, CompoundShape); CompoundShape::CompoundShape() { { typedef std::vector PropertyType; SURGSIM_ADD_SERIALIZABLE_PROPERTY(SurgSim::Math::CompoundShape, PropertyType, Shapes, getShapes, setShapes); } } CompoundShape::~CompoundShape() { } int CompoundShape::getType() const { return SHAPE_TYPE_COMPOUNDSHAPE; } double CompoundShape::getVolume() const { { ReadLock lock(m_mutex); if (m_volume.hasValue()) { return *m_volume; } } { WriteLock lock(m_mutex); if (!m_volume.hasValue()) { double volume = 0.0; for (const auto& shape : m_shapes) { volume += (shape.first)->getVolume(); } m_volume = volume; } return *m_volume; } } Vector3d CompoundShape::getCenter() const { { ReadLock lock(m_mutex); if (m_center.hasValue()) { return *m_center; } } { WriteLock lock(m_mutex); if (!m_center.hasValue()) { Vector3d result = Vector3d::Zero(); if (m_shapes.size() > 0) { double total = 0.0; for (const auto& shape : m_shapes) { double volume = shape.first->getVolume(); result += shape.second * (shape.first->getCenter()) * volume; total += volume; } result /= total; // We have it, write the total volume as well ... m_volume = total; } m_center = result; } return *m_center; } } Matrix33d CompoundShape::getSecondMomentOfVolume() const { // Calculate the compound values, this needs to be done outside of the ReadLock, otherwise // this might freeze up auto center = getCenter(); { ReadLock lock(m_mutex); if (m_secondMoment.hasValue()) { return *m_secondMoment; } } { WriteLock lock(m_mutex); if (!m_secondMoment.hasValue()) { Matrix33d result = Matrix33d::Zero(); if (m_shapes.size() > 0) { for (const auto& subShape : m_shapes) { const auto& shape = subShape.first; const auto& pose = subShape.second; const auto& r = pose.linear(); Matrix33d skew = makeSkewSymmetricMatrix((center - pose * shape->getCenter()).eval()); Matrix33d inertia = r * shape->getSecondMomentOfVolume() * r.transpose() - shape->getVolume() * skew * skew; result += inertia; } } m_secondMoment = result; } return *m_secondMoment; } } bool CompoundShape::isValid() const { return true; } const Math::Aabbd& CompoundShape::getBoundingBox() const { { ReadLock lock(m_mutex); if (m_localAabb.hasValue()) { return *m_localAabb; } } { WriteLock lock(m_mutex); if (!m_localAabb.hasValue()) { Math::Aabbd result; for (const auto& subShape : m_shapes) { result.extend(Math::transformAabb(subShape.second, subShape.first->getBoundingBox())); } m_localAabb.setValue(result); } return *m_localAabb; } } void CompoundShape::invalidateData() { m_volume.invalidate(); m_center.invalidate(); m_secondMoment.invalidate(); m_localAabb.invalidate(); } size_t CompoundShape::addShape(const std::shared_ptr& shape, const RigidTransform3d& pose) { WriteLock lock(m_mutex); m_shapes.emplace_back(shape, pose); invalidateData(); return m_shapes.size() - 1; } void CompoundShape::setShapes(const std::vector& shapes) { WriteLock lock(m_mutex); m_shapes = shapes; invalidateData(); } const std::vector& CompoundShape::getShapes() const { ReadLock lock(m_mutex); return m_shapes; } const std::shared_ptr& CompoundShape::getShape(size_t index) const { ReadLock lock(m_mutex); SURGSIM_ASSERT(index < m_shapes.size()) << "Shape index out of range."; return m_shapes[index].first; } RigidTransform3d CompoundShape::getPose(size_t index) const { ReadLock lock(m_mutex); SURGSIM_ASSERT(index < m_shapes.size()) << "Shape index out of range."; return m_shapes[index].second; } void CompoundShape::setPoses(const std::vector& poses) { WriteLock lock(m_mutex); SURGSIM_ASSERT(poses.size() == m_shapes.size()) << "New poses and number of shapes differ in size"; size_t i = 0; for (auto& shape : m_shapes) { shape.second = poses[i++]; } invalidateData(); } void CompoundShape::setPose(size_t index, const RigidTransform3d& pose) { WriteLock(m_mutex); SURGSIM_ASSERT(index < m_shapes.size()) << "Shape index out of range."; m_shapes[index].second = pose; invalidateData(); } size_t CompoundShape::getNumShapes() const { ReadLock lock(m_mutex); return m_shapes.size(); } void CompoundShape::clearShapes() { WriteLock lock(m_mutex); m_shapes.clear(); invalidateData(); } bool CompoundShape::isTransformable() const { return true; } std::shared_ptr CompoundShape::getTransformed(const RigidTransform3d& pose) const { auto transformed = std::make_shared(); for (const auto& shape : m_shapes) { std::shared_ptr newShape; RigidTransform3d newPose = pose * shape.second; if (shape.first->isTransformable()) { newShape = shape.first->getTransformed(newPose); } else { newShape = shape.first; } transformed->addShape(newShape, newPose); } return transformed; } } }opensurgsim-0.7.0/SurgSim/Math/CompoundShape.h000066400000000000000000000103521277777236100213150ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_MATH_COMPOUNDSHAPE_H #define SURGSIM_MATH_COMPOUNDSHAPE_H #include #include #include #include "SurgSim/Math/Shape.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/DataStructures/OptionalValue.h" namespace SurgSim { namespace Math { SURGSIM_STATIC_REGISTRATION(CompoundShape); class CompoundShape : public Shape { public: /// Constructor CompoundShape(); /// Destructor ~CompoundShape(); SURGSIM_CLASSNAME(SurgSim::Math::CompoundShape); typedef std::pair, RigidTransform3d> SubShape; /// Add a shape to this shape, you can optionally supply a pose for the added shape /// \param shape to be added /// \param pose for the newly added shape /// \return the index of the newly added shape size_t addShape(const std::shared_ptr& shape, const RigidTransform3d& pose = RigidTransform3d::Identity()); /// Sets the shapes for this object, the shapes should be a list of shapes together with their respective poses, /// this will clear all the previously contained shapes /// \param shapes list of shapes void setShapes(const std::vector& shapes); /// \return all the contained shapes and their respective poses const std::vector& getShapes() const; /// \return a specific shape /// \throws SurgSim::AssertionFailure if the index exceeds the current number of shapes const std::shared_ptr& getShape(size_t index) const; /// \return the pose of a specific shape /// \throws SurgSim::AssertionFailure if the index exceeds the current number of shapes RigidTransform3d getPose(size_t index) const; /// Sets the poses for all shapes /// \param poses array of poses to be copied to each shape /// \throws SurgSimm::AssertialFailure if the size of poses.size() != getNumShapes() void setPoses(const std::vector& poses); /// Set the pose for the specified shape /// \param index index of the target shape /// \param pose new pose for the indicated shape /// \throws SurgSim::AssertionFailure if the index exceeds the current number of shapes void setPose(size_t index, const RigidTransform3d& pose); /// \return the number of shapes in this shape size_t getNumShapes() const; /// clears all the enclosed shapes void clearShapes(); int getType() const override; /// \return the volume of the shape /// \note that currently this is a very simple sum of all the volumes of the enclosed shapes it will /// disregard any overlapping shapes. double getVolume() const override; Vector3d getCenter() const override; Matrix33d getSecondMomentOfVolume() const override; bool isValid() const override; const Math::Aabbd& getBoundingBox() const override; bool isTransformable() const override; std::shared_ptr getTransformed(const RigidTransform3d& pose) const override; private: /// Clears the data for the volume, center and secondMoment and aabb /// so it can be recalculated when needed again void invalidateData(); std::vector m_shapes; typedef boost::shared_lock ReadLock; typedef boost::unique_lock WriteLock; mutable boost::shared_mutex m_mutex; ///@{ /// Storage for the physical properties of this shape /// mutable so they can be recalculated inside the /// const functions getVolume(), getCenter(), getSecondMommentOfVolume() mutable DataStructures::OptionalValue m_center; mutable DataStructures::OptionalValue m_volume; mutable DataStructures::OptionalValue m_secondMoment; mutable DataStructures::OptionalValue m_localAabb; ///@} }; } } #endif opensurgsim-0.7.0/SurgSim/Math/CubicSolver-inl.h000066400000000000000000000071241277777236100215530ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 SURGSIM_MATH_CUBICSOLVER_INL_H #define SURGSIM_MATH_CUBICSOLVER_INL_H #include #include #include #include "SurgSim/Math/IntervalArithmetic.h" #include "SurgSim/Math/PolynomialRoots.h" using boost::math::tools::bisect; namespace SurgSim { namespace Math { template int findRootsInRange01(const Polynomial& p, std::array* roots) { int numberOfRoots = 0; boost::math::tools::eps_tolerance tolerance(std::numeric_limits::digits - 3); const T epsilon = 4 * std::numeric_limits::epsilon(); // Is degenerate? if (isNearZero(p.getCoefficient(3), epsilon)) { Polynomial quadratic(p.getCoefficient(0), p.getCoefficient(1), p.getCoefficient(2)); PolynomialRoots quadraticRoots(quadratic, std::numeric_limits::epsilon()); for (int i = 0; i < quadraticRoots.getNumRoots(); ++i) { if (quadraticRoots[i] >= 0.0 && quadraticRoots[i] <= 1.0) { (*roots)[numberOfRoots++] = quadraticRoots[i]; } } return numberOfRoots; } PolynomialRoots stationaryPoints(p.derivative(), std::numeric_limits::epsilon()); if (stationaryPoints.getNumRoots() < 2 || !Interval(0, 1).overlapsWith(Interval(stationaryPoints[0], stationaryPoints[1]))) { T p0 = p.getCoefficient(0); // p.evaluate(static_cast(0)); if (isNearZero(p0, epsilon)) { (*roots)[0] = 0.0; return 1; } T p1 = p.evaluate(static_cast(1)); if (isNearZero(p1, epsilon)) { (*roots)[0] = static_cast(1); return 1; } if (p0 * p1 < 0) { auto bracket = bisect(p, static_cast(0), static_cast(1), tolerance); (*roots)[0] = (bracket.first + bracket.second) * 0.5; return 1; } } else { // Build the monotonic intervals partitioning [0..1] to be analyzed one by one // #performance HS-2016-feb-17 Test with boost::static_vector as this gets used by the CCD std::vector> intervals; T lastValue = static_cast(0); if (stationaryPoints[0] > static_cast(0)) { intervals.emplace_back(lastValue, stationaryPoints[0]); lastValue = stationaryPoints[0]; } if (stationaryPoints[1] < static_cast(1)) { intervals.emplace_back(lastValue, stationaryPoints[1]); lastValue = stationaryPoints[1]; } intervals.emplace_back(lastValue, static_cast(1)); for (auto interval : intervals) { // On each interval, only 1 root can be found T pMin = p.evaluate(interval.getMin()); if (isNearZero(pMin, epsilon)) { (*roots)[numberOfRoots++] = interval.getMin(); } else { T pMax = p.evaluate(interval.getMax()); if (isNearZero(pMax, epsilon)) { (*roots)[numberOfRoots++] = interval.getMax(); } else if (pMin * pMax < 0) { auto bracket = bisect(p, interval.getMin(), interval.getMax(), tolerance); (*roots)[numberOfRoots++] = (bracket.first + bracket.second) * 0.5; } } } } return numberOfRoots; } }; // Math }; // SurgSim #endif // SURGSIM_MATH_CUBICSOLVER_INL_H opensurgsim-0.7.0/SurgSim/Math/CubicSolver.h000066400000000000000000000036501277777236100207730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 SURGSIM_MATH_CUBICSOLVER_H #define SURGSIM_MATH_CUBICSOLVER_H #include "SurgSim/Math/Polynomial.h" namespace SurgSim { namespace Math { /// Find all roots in range \f$[0 \ldotp\ldotp 1]\f$ of a cubic equation /// \tparam T The equation coefficient type /// \param polynomial The cubic polynomial \f$ax^3 + bx^2 + cx + d\f$ /// \param[out] roots All roots ordered ascendingly in \f$[0 \ldotp\ldotp 1]\f$ if any (3 max) /// \return The number of roots found in \f$[0 \ldotp\ldotp 1]\f$ and saved in roots. /// \f[ /// \begin{array}{lll} /// P(x) &=& ax^3 + bx^2 + cx + d \\ \text{} /// P'(x) &=& 3ax^2 + 2bx + c \Rightarrow \Delta = (2b)^2 - 4(3a)(c) = 4(b^2 - 3ac) /// \end{array} /// \\ \text{} /// \left\{ /// \begin{array}{ll} /// \Delta < 0 & \text{P is monotonic, P' is always the same sign, the sign of P'(0) = sign(c)} \\ \text{} /// \Delta = 0 & \text{P is monotonic with an inflection point, P' is always the same sign, except at P'(root) = 0} /// \\ \text{} /// \Delta > 0 & \text{P is monotonic on 3 separate intervals} /// \end{array} /// \right. /// \f] template int findRootsInRange01(const Polynomial& polynomial, std::array* roots); }; // Math }; // SurgSim #include "SurgSim/Math/CubicSolver-inl.h" #endif // SURGSIM_MATH_CUBICSOLVER_H opensurgsim-0.7.0/SurgSim/Math/CylinderShape.cpp000066400000000000000000000046541277777236100216450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/CylinderShape.h" namespace SurgSim { namespace Math { SURGSIM_REGISTER(SurgSim::Math::Shape, SurgSim::Math::CylinderShape, CylinderShape); CylinderShape::CylinderShape(double length, double radius) : m_length(length), m_radius(radius) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(CylinderShape, double, Radius, getRadius, setRadius); SURGSIM_ADD_SERIALIZABLE_PROPERTY(CylinderShape, double, Length, getLength, setLength); updateAabb(); } int CylinderShape::getType() const { return SHAPE_TYPE_CYLINDER; } double CylinderShape::getLength() const { return m_length; } double CylinderShape::getRadius() const { return m_radius; } void CylinderShape::setLength(double length) { m_length = length; updateAabb(); } void CylinderShape::setRadius(double radius) { m_radius = radius; updateAabb(); } void CylinderShape::updateAabb() { m_aabb.setEmpty(); m_aabb.extend(Vector3d(-m_radius, -m_length / 2.0, -m_radius)); m_aabb.extend(Vector3d(m_radius, m_length / 2.0, m_radius)); } double CylinderShape::getVolume() const { return M_PI * m_radius * m_radius * m_length; } SurgSim::Math::Vector3d CylinderShape::getCenter() const { return Vector3d(0.0, 0.0, 0.0); } SurgSim::Math::Matrix33d CylinderShape::getSecondMomentOfVolume() const { const double volume = getVolume(); const double coef = 1.0 / 12.0 * volume; const double coefDir = 1.0 / 2.0 * volume; const double squareL = m_length * m_length; const double squareRadius = m_radius * m_radius; Matrix33d secondMoment; secondMoment.setZero(); secondMoment.diagonal().setConstant(coef * (3.0 * squareRadius + squareL)); secondMoment(1, 1) = coefDir * (squareRadius); return secondMoment; } bool CylinderShape::isValid() const { return (m_length >= 0) && (m_radius >= 0); } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/CylinderShape.h000066400000000000000000000050261277777236100213040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_CYLINDERSHAPE_H #define SURGSIM_MATH_CYLINDERSHAPE_H #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Math/Shape.h" namespace SurgSim { namespace Math { SURGSIM_STATIC_REGISTRATION(CylinderShape); /// Cylinder shape: centered on (0 0 0), aligned along Y, /// defined with length and radius. class CylinderShape: public Shape { public: /// Constructor /// \param length The length of the cylinder (in m) /// \param radius The cylinder radius (in m) explicit CylinderShape(double length = 0.0, double radius = 0.0); SURGSIM_CLASSNAME(SurgSim::Math::CylinderShape); /// \return the type of the shape int getType() const override; /// Get the cylinder length /// \return The cylinder length (in m) double getLength() const; /// Get the cylinder radius /// \return The cylinder radius (in m) double getRadius() const; /// Get the volume of the shape /// \return The volume of the shape (in m-3) double getVolume() const override; /// Get the volumetric center of the shape /// \return The center of the shape Vector3d getCenter() const override; /// Get the second central moment of the volume, commonly used /// to calculate the moment of inertia matrix /// \return The 3x3 symmetric second moment matrix Matrix33d getSecondMomentOfVolume() const override; /// \return True if length and radius are bigger than or equal to 0; Otherwise, false. bool isValid() const override; protected: // Setters in 'protected' sections are for serialization purpose only. /// Set the cylinder length /// \param length The capsule length (in m) void setLength(double length); /// Set the cylinder radius /// \param radius The capsule radius (in m) void setRadius(double radius); private: void updateAabb(); /// The cylinder length double m_length; /// The cylinder radius double m_radius; }; }; // Math }; // SurgSim #endif // SURGSIM_MATH_CYLINDERSHAPE_H opensurgsim-0.7.0/SurgSim/Math/DoubleSidedPlaneShape.cpp000066400000000000000000000027731277777236100232370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/DoubleSidedPlaneShape.h" namespace SurgSim { namespace Math { SURGSIM_REGISTER(SurgSim::Math::Shape, SurgSim::Math::DoubleSidedPlaneShape, DoubleSidedPlaneShape); DoubleSidedPlaneShape::DoubleSidedPlaneShape() { } int DoubleSidedPlaneShape::getType() const { return SHAPE_TYPE_DOUBLESIDEDPLANE; } double DoubleSidedPlaneShape::getVolume() const { return 0.0; } SurgSim::Math::Vector3d DoubleSidedPlaneShape::getCenter() const { return Vector3d(0.0, 0.0, 0.0); } SurgSim::Math::Matrix33d DoubleSidedPlaneShape::getSecondMomentOfVolume() const { return Matrix33d::Zero(); } double DoubleSidedPlaneShape::getD() const { return 0.0; } SurgSim::Math::Vector3d DoubleSidedPlaneShape::getNormal() const { return Vector3d(0.0, 1.0, 0.0); } bool DoubleSidedPlaneShape::isValid() const { return true; } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/DoubleSidedPlaneShape.h000066400000000000000000000040501277777236100226720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_DOUBLESIDEDPLANESHAPE_H #define SURGSIM_MATH_DOUBLESIDEDPLANESHAPE_H #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Math/Shape.h" namespace SurgSim { namespace Math { SURGSIM_STATIC_REGISTRATION(DoubleSidedPlaneShape); /// DoubleSidedPlaneShape: The XZ plane (d = 0) with normal pointing along /// positive Y axis. class DoubleSidedPlaneShape: public Shape { public: /// Constructor DoubleSidedPlaneShape(); SURGSIM_CLASSNAME(SurgSim::Math::DoubleSidedPlaneShape); /// \return the type of the shape int getType() const override; /// Get the volume of the shape /// \return The volume of the shape (in m-3) double getVolume() const override; /// Get the volumetric center of the shape /// \return The center of the shape Vector3d getCenter() const override; /// Get the second central moment of the volume, commonly used /// to calculate the moment of inertia matrix /// \return The 3x3 symmetric second moment matrix Matrix33d getSecondMomentOfVolume() const override; /// Gets the d of the plane equation. /// \return The value of d (always 0). double getD() const; /// Gets the normal of the plane equation. /// \return The value of the normal (always Y axis). Vector3d getNormal() const; /// A DoubleSidedPlaneShape is always valid. /// \return True. bool isValid() const override; }; }; // Math }; // SurgSim #endif // SURGSIM_MATH_DOUBLESIDEDPLANESHAPE_H opensurgsim-0.7.0/SurgSim/Math/GaussLegendreQuadrature.cpp000066400000000000000000000304411277777236100236720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Math/GaussLegendreQuadrature.h" namespace SurgSim { namespace Math { const std::array gaussQuadrature1Point = {{ gaussQuadraturePoint(0.0, 2.0) }}; const std::array gaussQuadrature2Points = {{ gaussQuadraturePoint( 1.0 / sqrt(3.0), 1.0), gaussQuadraturePoint(-1.0 / sqrt(3.0), 1.0) }}; const std::array gaussQuadrature3Points = {{ gaussQuadraturePoint( 0.0, 8.0 / 9.0), gaussQuadraturePoint( sqrt(3.0 / 5.0), 5.0 / 9.0), gaussQuadraturePoint(-sqrt(3.0 / 5.0), 5.0 / 9.0) }}; const std::array gaussQuadrature4Points = {{ gaussQuadraturePoint( sqrt((3.0 - 2.0 * sqrt(6.0 / 5.0)) / 7.0), (18.0 + sqrt(30.0)) / 36.0), gaussQuadraturePoint(-sqrt((3.0 - 2.0 * sqrt(6.0 / 5.0)) / 7.0), (18.0 + sqrt(30.0)) / 36.0), gaussQuadraturePoint( sqrt((3.0 + 2.0 * sqrt(6.0 / 5.0)) / 7.0), (18.0 - sqrt(30.0)) / 36.0), gaussQuadraturePoint(-sqrt((3.0 + 2.0 * sqrt(6.0 / 5.0)) / 7.0), (18.0 - sqrt(30.0)) / 36.0) }}; const std::array gaussQuadrature5Points = {{ gaussQuadraturePoint( 0.0, 128.0 / 225.0), gaussQuadraturePoint( sqrt(5.0 - 2.0 * sqrt(10.0 / 7.0)) / 3.0, (322.0 + 13.0 * sqrt(70.0)) / 900.0), gaussQuadraturePoint(-sqrt(5.0 - 2.0 * sqrt(10.0 / 7.0)) / 3.0, (322.0 + 13.0 * sqrt(70.0)) / 900.0), gaussQuadraturePoint( sqrt(5.0 + 2.0 * sqrt(10.0 / 7.0)) / 3.0, (322.0 - 13.0 * sqrt(70.0)) / 900.0), gaussQuadraturePoint(-sqrt(5.0 + 2.0 * sqrt(10.0 / 7.0)) / 3.0, (322.0 - 13.0 * sqrt(70.0)) / 900.0) }}; const std::array gaussQuadrature100Points = {{ gaussQuadraturePoint( 0.0156289844215430828722167, 0.0312554234538633569476425), gaussQuadraturePoint(-0.0156289844215430828722167, 0.0312554234538633569476425), gaussQuadraturePoint( 0.0468716824215916316149239, 0.0312248842548493577323765), gaussQuadraturePoint(-0.0468716824215916316149239, 0.0312248842548493577323765), gaussQuadraturePoint( 0.0780685828134366366948174, 0.0311638356962099067838183), gaussQuadraturePoint(-0.0780685828134366366948174, 0.0311638356962099067838183), gaussQuadraturePoint( 0.1091892035800611150034260, 0.0310723374275665165878102), gaussQuadraturePoint(-0.1091892035800611150034260, 0.0310723374275665165878102), gaussQuadraturePoint( 0.1402031372361139732075146, 0.0309504788504909882340635), gaussQuadraturePoint(-0.1402031372361139732075146, 0.0309504788504909882340635), gaussQuadraturePoint( 0.1710800805386032748875324, 0.0307983790311525904277139), gaussQuadraturePoint(-0.1710800805386032748875324, 0.0307983790311525904277139), gaussQuadraturePoint( 0.2017898640957359972360489, 0.0306161865839804484964594), gaussQuadraturePoint(-0.2017898640957359972360489, 0.0306161865839804484964594), gaussQuadraturePoint( 0.2323024818449739696495100, 0.0304040795264548200165079), gaussQuadraturePoint(-0.2323024818449739696495100, 0.0304040795264548200165079), gaussQuadraturePoint( 0.2625881203715034791689293, 0.0301622651051691449190687), gaussQuadraturePoint(-0.2625881203715034791689293, 0.0301622651051691449190687), gaussQuadraturePoint( 0.2926171880384719647375559, 0.0298909795933328309168368), gaussQuadraturePoint(-0.2926171880384719647375559, 0.0298909795933328309168368), gaussQuadraturePoint( 0.3223603439005291517224766, 0.0295904880599126425117545), gaussQuadraturePoint(-0.3223603439005291517224766, 0.0295904880599126425117545), gaussQuadraturePoint( 0.3517885263724217209723438, 0.0292610841106382766201190), gaussQuadraturePoint(-0.3517885263724217209723438, 0.0292610841106382766201190), gaussQuadraturePoint( 0.3808729816246299567633625, 0.0289030896011252031348762), gaussQuadraturePoint(-0.3808729816246299567633625, 0.0289030896011252031348762), gaussQuadraturePoint( 0.4095852916783015425288684, 0.0285168543223950979909368), gaussQuadraturePoint(-0.4095852916783015425288684, 0.0285168543223950979909368), gaussQuadraturePoint( 0.4378974021720315131089780, 0.0281027556591011733176483), gaussQuadraturePoint(-0.4378974021720315131089780, 0.0281027556591011733176483), gaussQuadraturePoint( 0.4657816497733580422492166, 0.0276611982207923882942042), gaussQuadraturePoint(-0.4657816497733580422492166, 0.0276611982207923882942042), gaussQuadraturePoint( 0.4932107892081909335693088, 0.0271926134465768801364916), gaussQuadraturePoint(-0.4932107892081909335693088, 0.0271926134465768801364916), gaussQuadraturePoint( 0.5201580198817630566468157, 0.0266974591835709626603847), gaussQuadraturePoint(-0.5201580198817630566468157, 0.0266974591835709626603847), gaussQuadraturePoint( 0.5465970120650941674679943, 0.0261762192395456763423087), gaussQuadraturePoint(-0.5465970120650941674679943, 0.0261762192395456763423087), gaussQuadraturePoint( 0.5725019326213811913168704, 0.0256294029102081160756420), gaussQuadraturePoint(-0.5725019326213811913168704, 0.0256294029102081160756420), gaussQuadraturePoint( 0.5978474702471787212648065, 0.0250575444815795897037642), gaussQuadraturePoint(-0.5978474702471787212648065, 0.0250575444815795897037642), gaussQuadraturePoint( 0.6226088602037077716041908, 0.0244612027079570527199750), gaussQuadraturePoint(-0.6226088602037077716041908, 0.0244612027079570527199750), gaussQuadraturePoint( 0.6467619085141292798326303, 0.0238409602659682059625604), gaussQuadraturePoint(-0.6467619085141292798326303, 0.0238409602659682059625604), gaussQuadraturePoint( 0.6702830156031410158025870, 0.0231974231852541216224889), gaussQuadraturePoint(-0.6702830156031410158025870, 0.0231974231852541216224889), gaussQuadraturePoint( 0.6931491993558019659486479, 0.0225312202563362727017970), gaussQuadraturePoint(-0.6931491993558019659486479, 0.0225312202563362727017970), gaussQuadraturePoint( 0.7153381175730564464599671, 0.0218430024162473863139537), gaussQuadraturePoint(-0.7153381175730564464599671, 0.0218430024162473863139537), gaussQuadraturePoint( 0.7368280898020207055124277, 0.0211334421125276415426723), gaussQuadraturePoint(-0.7368280898020207055124277, 0.0211334421125276415426723), gaussQuadraturePoint( 0.7575981185197071760356680, 0.0204032326462094327668389), gaussQuadraturePoint(-0.7575981185197071760356680, 0.0204032326462094327668389), gaussQuadraturePoint( 0.7776279096494954756275514, 0.0196530874944353058653815), gaussQuadraturePoint(-0.7776279096494954756275514, 0.0196530874944353058653815), gaussQuadraturePoint( 0.7968978923903144763895729, 0.0188837396133749045529412), gaussQuadraturePoint(-0.7968978923903144763895729, 0.0188837396133749045529412), gaussQuadraturePoint( 0.8153892383391762543939888, 0.0180959407221281166643908), gaussQuadraturePoint(-0.8153892383391762543939888, 0.0180959407221281166643908), gaussQuadraturePoint( 0.8330838798884008235429158, 0.0172904605683235824393442), gaussQuadraturePoint(-0.8330838798884008235429158, 0.0172904605683235824393442), gaussQuadraturePoint( 0.8499645278795912842933626, 0.0164680861761452126431050), gaussQuadraturePoint(-0.8499645278795912842933626, 0.0164680861761452126431050), gaussQuadraturePoint( 0.8660146884971646234107400, 0.0156296210775460027239369), gaussQuadraturePoint(-0.8660146884971646234107400, 0.0156296210775460027239369), gaussQuadraturePoint( 0.8812186793850184155733168, 0.0147758845274413017688800), gaussQuadraturePoint(-0.8812186793850184155733168, 0.0147758845274413017688800), gaussQuadraturePoint( 0.8955616449707269866985210, 0.0139077107037187726879541), gaussQuadraturePoint(-0.8955616449707269866985210, 0.0139077107037187726879541), gaussQuadraturePoint( 0.9090295709825296904671263, 0.0130259478929715422855586), gaussQuadraturePoint(-0.9090295709825296904671263, 0.0130259478929715422855586), gaussQuadraturePoint( 0.9216092981453339526669513, 0.0121314576629794974077448), gaussQuadraturePoint(-0.9216092981453339526669513, 0.0121314576629794974077448), gaussQuadraturePoint( 0.9332885350430795459243337, 0.0112251140231859771172216), gaussQuadraturePoint(-0.9332885350430795459243337, 0.0112251140231859771172216), gaussQuadraturePoint( 0.9440558701362559779627747, 0.0103078025748689695857821), gaussQuadraturePoint(-0.9440558701362559779627747, 0.0103078025748689695857821), gaussQuadraturePoint( 0.9539007829254917428493369, 0.0093804196536944579514182), gaussQuadraturePoint(-0.9539007829254917428493369, 0.0093804196536944579514182), gaussQuadraturePoint( 0.9628136542558155272936593, 0.0084438714696689714026208), gaussQuadraturePoint(-0.9628136542558155272936593, 0.0084438714696689714026208), gaussQuadraturePoint( 0.9707857757637063319308979, 0.0074990732554647115788287), gaussQuadraturePoint(-0.9707857757637063319308979, 0.0074990732554647115788287), gaussQuadraturePoint( 0.9778093584869182885537811, 0.0065469484508453227641521), gaussQuadraturePoint(-0.9778093584869182885537811, 0.0065469484508453227641521), gaussQuadraturePoint( 0.9838775407060570154961002, 0.0055884280038655151572119), gaussQuadraturePoint(-0.9838775407060570154961002, 0.0055884280038655151572119), gaussQuadraturePoint( 0.9889843952429917480044187, 0.0046244500634221193510958), gaussQuadraturePoint(-0.9889843952429917480044187, 0.0046244500634221193510958), gaussQuadraturePoint( 0.9931249370374434596520099, 0.0036559612013263751823425), gaussQuadraturePoint(-0.9931249370374434596520099, 0.0036559612013263751823425), gaussQuadraturePoint( 0.9962951347331251491861317, 0.0026839253715534824194396), gaussQuadraturePoint(-0.9962951347331251491861317, 0.0026839253715534824194396), gaussQuadraturePoint( 0.9984919506395958184001634, 0.0017093926535181052395294), gaussQuadraturePoint(-0.9984919506395958184001634, 0.0017093926535181052395294), gaussQuadraturePoint( 0.9997137267734412336782285, 0.0007346344905056717304063), gaussQuadraturePoint(-0.9997137267734412336782285, 0.0007346344905056717304063) }}; const std::array gaussQuadrature2DTriangle3Points = {{ gaussQuadratureTrianglePoint(1.0 / 2.0, 1.0 / 2.0, 1.0 / 3.0), gaussQuadratureTrianglePoint(1.0 / 2.0, 0.0, 1.0 / 3.0), gaussQuadratureTrianglePoint(0.0 , 1.0 / 2.0, 1.0 / 3.0) }}; const std::array gaussQuadrature2DTriangle6Points = {{ gaussQuadratureTrianglePoint(0.44594849091597, 0.44594849091597, 0.22338158967801), gaussQuadratureTrianglePoint(0.44594849091597, 0.10810301816807, 0.22338158967801), gaussQuadratureTrianglePoint(0.10810301816807, 0.44594849091597, 0.22338158967801), gaussQuadratureTrianglePoint(0.09157621350977, 0.09157621350977, 0.10995174365532), gaussQuadratureTrianglePoint(0.09157621350977, 0.81684757298046, 0.10995174365532), gaussQuadratureTrianglePoint(0.81684757298046, 0.09157621350977, 0.10995174365532) }}; const std::array gaussQuadrature2DTriangle12Points = {{ gaussQuadratureTrianglePoint(0.24928674517091, 0.24928674517091, 0.11678627572638), gaussQuadratureTrianglePoint(0.24928674517091, 0.50142650965818, 0.11678627572638), gaussQuadratureTrianglePoint(0.50142650965818, 0.24928674517091, 0.11678627572638), gaussQuadratureTrianglePoint(0.06308901449150, 0.06308901449150, 0.05084490637021), gaussQuadratureTrianglePoint(0.06308901449150, 0.87382197101700, 0.05084490637021), gaussQuadratureTrianglePoint(0.87382197101700, 0.06308901449150, 0.05084490637021), gaussQuadratureTrianglePoint(0.31035245103378, 0.63650249912140, 0.08285107561837), gaussQuadratureTrianglePoint(0.63650249912140, 0.05314504984482, 0.08285107561837), gaussQuadratureTrianglePoint(0.05314504984482, 0.31035245103378, 0.08285107561837), gaussQuadratureTrianglePoint(0.63650249912140, 0.31035245103378, 0.08285107561837), gaussQuadratureTrianglePoint(0.31035245103378, 0.05314504984482, 0.08285107561837), gaussQuadratureTrianglePoint(0.05314504984482, 0.63650249912140, 0.08285107561837) }}; }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/GaussLegendreQuadrature.h000066400000000000000000000207041277777236100233400ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Definitions of a n-point Gaussian quadrature rule (a.k.a. Gauss-Legendre quadrature rule) /// http://en.wikipedia.org/wiki/Gaussian_quadrature #ifndef SURGSIM_MATH_GAUSSLEGENDREQUADRATURE_H #define SURGSIM_MATH_GAUSSLEGENDREQUADRATURE_H #include #include namespace SurgSim { namespace Math { /// 1D Gauss-Legendre quadrature struct gaussQuadraturePoint { gaussQuadraturePoint(double p, double w) : point(p), weight(w){} const double point; const double weight; }; /// 2D Gauss-Legendre quadrature on a triangle /// \note In a triangle ABC, a point \f$P\f$ is defined by its parametrized coordinate \f$(\xi, \eta)\f$ as /// \note \f$P = A + \xi.AB + \eta.AC\f$ struct gaussQuadratureTrianglePoint { gaussQuadratureTrianglePoint(double xi, double eta, double w) : coordinateXi(xi), coordinateEta(eta), weight(w){} const double coordinateXi; ///< \f$\xi \in [0, 1]\f$, must verify \f$\xi + \eta \leq 1.0\f$ const double coordinateEta; ///< \f$\eta \in [0, 1]\f$, must verify \f$\xi + \eta \leq 1.0\f$ const double weight; }; /// 1D 1-point Gauss-Legendre quadrature \f${}\f$ /// \note Gauss-Legendre quadrature numerically evaluates the integral of a function \f$f\f$ with a finite sum /// using some weights and specific points of evaluation of the function \f$f\f$: /// \note \f$\int_{-1}^{+1} f(x) dx = \sum_{i=1}^n w_i f(x_i)\f$ /// \note n is the number of points used to discretized the integral /// \note \f$x_i\f$ is the point to evaluate the function \f$f\f$ with /// \note \f$w_i\f$ is the weight to assign to the function evaluation at the given point \f$x_i\f$ extern const std::array gaussQuadrature1Point; /// 1D 2-points Gauss-Legendre quadrature \f${, }\f$ /// \note Gauss-Legendre quadrature numerically evaluates the integral of a function \f$f\f$ with a finite sum /// using some weights and specific points of evaluation of the function \f$f\f$: /// \note \f$\int_{-1}^{+1} f(x) dx = \sum_{i=1}^n w_i f(x_i)\f$ /// \note n is the number of points used to discretized the integral /// \note \f$x_i\f$ is the point to evaluate the function \f$f\f$ with /// \note \f$w_i\f$ is the weight to assign to the function evaluation at the given point \f$x_i\f$ extern const std::array gaussQuadrature2Points; /// 1D 3-points Gauss-Legendre quadrature \f${, , }\f$ /// \note Gauss-Legendre quadrature numerically evaluates the integral of a function \f$f\f$ with a finite sum /// using some weights and specific points of evaluation of the function \f$f\f$: /// \note \f$\int_{-1}^{+1} f(x) dx = \sum_{i=1}^n w_i f(x_i)\f$ /// \note n is the number of points used to discretized the integral /// \note \f$x_i\f$ is the point to evaluate the function \f$f\f$ with /// \note \f$w_i\f$ is the weight to assign to the function evaluation at the given point \f$x_i\f$ extern const std::array gaussQuadrature3Points; /// 1D 4-points Gauss-Legendre quadrature \f${, , , }\f$ /// \note Gauss-Legendre quadrature numerically evaluates the integral of a function \f$f\f$ with a finite sum /// using some weights and specific points of evaluation of the function \f$f\f$: /// \note \f$\int_{-1}^{+1} f(x) dx = \sum_{i=1}^n w_i f(x_i)\f$ /// \note n is the number of points used to discretized the integral /// \note \f$x_i\f$ is the point to evaluate the function \f$f\f$ with /// \note \f$w_i\f$ is the weight to assign to the function evaluation at the given point \f$x_i\f$ extern const std::array gaussQuadrature4Points; /// 1D 5-points Gauss-Legendre quadrature \f${, , , , }\f$ /// \note Gauss-Legendre quadrature numerically evaluates the integral of a function \f$f\f$ with a finite sum /// using some weights and specific points of evaluation of the function \f$f\f$: /// \note \f$\int_{-1}^{+1} f(x) dx = \sum_{i=1}^n w_i f(x_i)\f$ /// \note n is the number of points used to discretized the integral /// \note \f$x_i\f$ is the point to evaluate the function \f$f\f$ with /// \note \f$w_i\f$ is the weight to assign to the function evaluation at the given point \f$x_i\f$ extern const std::array gaussQuadrature5Points; /// 1D 100-points Gauss-Legendre quadrature \f${, , , ..., }\f$ /// \note Gauss-Legendre quadrature numerically evaluates the integral of a function \f$f\f$ with a finite sum /// using some weights and specific points of evaluation of the function \f$f\f$: /// \note \f$\int_{-1}^{+1} f(x) dx = \sum_{i=1}^n w_i f(x_i)\f$ /// \note n is the number of points used to discretized the integral /// \note \f$x_i\f$ is the point to evaluate the function \f$f\f$ with /// \note \f$w_i\f$ is the weight to assign to the function evaluation at the given point \f$x_i\f$ extern const std::array gaussQuadrature100Points; // http://math2.uncc.edu/~shaodeng/TEACHING/math5172/Lectures/Lect_15.PDF // "Quadrature Formulas in Two Dimensions" // \int_0^1 \int_0^{1-eta} f(xi, eta) dxi deta = 1/2 sum_i w[i] f(xi[i], eta[i]) /// 2D triangle Gauss-Legendre quadrature 3-points \f${<\xi_1, \eta_1, w_1>, ..., <\xi_3, \eta_3, w_3>}\f$ /// \note Gauss-Legendre quadrature numerically evaluates the integral of a function \f$f(\xi, \eta)\f$ with a /// finite sum using some weights and specific points on the triangle. /// \note \f$\int_{0}^{1} \int_{0}^{1-\eta} f(\xi, \eta) d\xi d\eta = \sum_{i=1}^n w_i f(\xi_i, \eta_i)\f$ /// \note n is the number of points used to discretized the integral /// \note \f$(\xi_i, \eta_i)\f$ is the parametrized location of the triangle point to evaluate the function with /// \note \f$w_i\f$ is the weight to assign to the function evaluation at the given point /// \note A 3-points Gauss-Legendre quadrature on the triangle is exact for polynomial functions of degree 2 or less. extern const std::array gaussQuadrature2DTriangle3Points; /// 2D triangle Gauss-Legendre quadrature 6-points \f${<\xi_1, \eta_1, w_1>, ..., <\xi_6, \eta_6, w_6>}\f$ /// \note Gauss-Legendre quadrature numerically evaluates the integral of a function \f$f(\xi, \eta)\f$ with a /// finite sum using some weights and specific points on the triangle. /// \note \f$\int_{0}^{1} \int_{0}^{1-\eta} f(\xi, \eta) d\xi d\eta = \sum_{i=1}^n w_i f(\xi_i, \eta_i)\f$ /// \note n is the number of points used to discretized the integral /// \note \f$(\xi_i, \eta_i)\f$ is the parametrized location of the triangle point to evaluate the function with /// \note \f$w_i\f$ is the weight to assign to the function evaluation at the given point /// \note A 6-points Gauss-Legendre quadrature on the triangle is exact for polynomial functions of degree 4 or less. extern const std::array gaussQuadrature2DTriangle6Points; /// 2D triangle Gauss-Legendre quadrature 12-points \f${<\xi_1, \eta_1, w_1>, ..., <\xi_{12}, \eta_{12}, w_{12}>}\f$ /// \note Gauss-Legendre quadrature numerically evaluates the integral of a function \f$f(\xi, \eta)\f$ with a /// finite sum using some weights and specific points on the triangle. /// \note \f$\int_{0}^{1} \int_{0}^{1-\eta} f(\xi, \eta) d\xi d\eta = \sum_{i=1}^n w_i f(\xi_i, \eta_i)\f$ /// \note n is the number of points used to discretized the integral /// \note \f$(\xi_i, \eta_i)\f$ is the parametrized location of the triangle point to evaluate the function with /// \note \f$w_i\f$ is the weight to assign to the function evaluation at the given point /// \note A 12-points Gauss-Legendre quadrature on the triangle is exact for polynomial functions of degree 6 or less. extern const std::array gaussQuadrature2DTriangle12Points; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_GAUSSLEGENDREQUADRATURE_H opensurgsim-0.7.0/SurgSim/Math/Geometry.h000066400000000000000000002031221277777236100203420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_MATH_GEOMETRY_H #define SURGSIM_MATH_GEOMETRY_H #include #include #include #include "SurgSim/Framework/Log.h" #include "SurgSim/Math/Polynomial.h" #include "SurgSim/Math/Vector.h" /// \file Geometry.h a collection of functions that calculation geometric properties of various basic geometric shapes. /// Point, LineSegment, Plane, Triangle. All functions are templated for the accuracy of the calculation /// (float/double). There are also three kinds of epsilon defined that are used on a case by case basis. /// In general all function here will return a floating point or boolean value and take a series of output /// parameters. When those outputs cannot be calculated their values will be set to NAN. /// This functions are meant as a basic layer that will be wrapped with calls from structures mainting more /// state information about the primitives they are handling. /// As a convention we are using a plane equation in the form nx + d = 0 /// \note HS-2013-may-07 Even though some of the names in this file do not agree with the coding standards in /// regard to the use of verbs for functions it was determined that other phrasing would not necessarily /// improve the readability or expressiveness of the function names. namespace SurgSim { namespace Math { namespace Geometry { /// Used as epsilon for general distance calculations static const double DistanceEpsilon = 1e-10; /// Used as epsilon for general distance calculations with squared distances static const double SquaredDistanceEpsilon = 1e-10; /// Epsilon used in angular comparisons static const double AngularEpsilon = 1e-10; /// Used as epsilon for scalar comparisons static const double ScalarEpsilon = 1e-10; } /// Calculate the barycentric coordinates of a point with respect to a line segment. /// \tparam T Floating point type of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param pt Vertex of the point. /// \param sv0, sv1 Vertices of the line segment. /// \param [out] coordinates Barycentric coordinates. /// \return bool true on success, false if two or more if the line segment is considered degenerate /// \note The point need not be on the line segment, in which case, the barycentric coordinate of the projection /// is calculated. template inline bool barycentricCoordinates(const Eigen::Matrix& pt, const Eigen::Matrix& sv0, const Eigen::Matrix& sv1, Eigen::Matrix* coordinates) { const Eigen::Matrix line = sv1 - sv0; const T length2 = line.squaredNorm(); if (length2 < Geometry::SquaredDistanceEpsilon) { coordinates->setConstant((std::numeric_limits::quiet_NaN())); return false; } (*coordinates)[1] = (pt - sv0).dot(line) / length2; (*coordinates)[0] = static_cast(1) - (*coordinates)[1]; return true; } /// Calculate the barycentric coordinates of a point with respect to a triangle. /// \pre The normal must be unit length /// \pre The triangle vertices must be in counter clockwise order in respect to the normal /// \tparam T Floating point type of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param pt Vertex of the point. /// \param tv0, tv1, tv2 Vertices of the triangle in counter clockwise order in respect to the normal. /// \param tn Normal of the triangle (yes must be of norm 1 and a,b,c CCW). /// \param [out] coordinates Barycentric coordinates. /// \return bool true on success, false if two or more if the triangle is considered degenerate template inline bool barycentricCoordinates(const Eigen::Matrix& pt, const Eigen::Matrix& tv0, const Eigen::Matrix& tv1, const Eigen::Matrix& tv2, const Eigen::Matrix& tn, Eigen::Matrix* coordinates) { const T signedTriAreaX2 = ((tv1 - tv0).cross(tv2 - tv0)).dot(tn); if (signedTriAreaX2 < Geometry::SquaredDistanceEpsilon) { // SQ_ASSERT_WARNING(false, "Cannot compute barycentric coords (degenetrate triangle), assigning center"); coordinates->setConstant((std::numeric_limits::quiet_NaN())); return false; } (*coordinates)[0] = ((tv1 - pt).cross(tv2 - pt)).dot(tn) / signedTriAreaX2; (*coordinates)[1] = ((tv2 - pt).cross(tv0 - pt)).dot(tn) / signedTriAreaX2; (*coordinates)[2] = 1 - (*coordinates)[0] - (*coordinates)[1]; return true; } /// Calculate the barycentric coordinates of a point with respect to a triangle. /// Please note that each time you use this call the normal of the triangle will be /// calculated, if you convert more than one coordinate against this triangle, precalculate /// the normal and use the other version of this function /// \tparam T Floating point type of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param pt Vertex of the point. /// \param tv0, tv1, tv2 Vertices of the triangle. /// \param [out] coordinates The Barycentric coordinates. /// \return bool true on success, false if the triangle is considered degenerate template inline bool barycentricCoordinates( const Eigen::Matrix& pt, const Eigen::Matrix& tv0, const Eigen::Matrix& tv1, const Eigen::Matrix& tv2, Eigen::Matrix* coordinates) { Eigen::Matrix tn = (tv1 - tv0).cross(tv2 - tv0); double norm = tn.norm(); if (norm < Geometry::DistanceEpsilon) { coordinates->setConstant((std::numeric_limits::quiet_NaN())); return false; } tn /= norm; return barycentricCoordinates(pt, tv0, tv1, tv2, tn, coordinates); } /// Check if a point is inside a triangle /// \note Use barycentricCoordinates() if you need the coordinates /// \pre The normal must be unit length /// \pre The triangle vertices must be in counter clockwise order in respect to the normal /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param pt Vertex of the point. /// \param tv0, tv1, tv2 Vertices of the triangle, must be in CCW. /// \param tn Normal of the triangle (yes must be of norm 1 and a,b,c CCW). /// \return true if pt lies inside the triangle tv0, tv1, tv2, false otherwise. template inline bool isPointInsideTriangle( const Eigen::Matrix& pt, const Eigen::Matrix& tv0, const Eigen::Matrix& tv1, const Eigen::Matrix& tv2, const Eigen::Matrix& tn) { Eigen::Matrix baryCoords; bool result = barycentricCoordinates(pt, tv0, tv1, tv2, tn, &baryCoords); return (result && baryCoords[0] >= -Geometry::ScalarEpsilon && baryCoords[1] >= -Geometry::ScalarEpsilon && baryCoords[2] >= -Geometry::ScalarEpsilon); } /// Check if a point is inside a triangle. /// \note Use barycentricCoordinates() if you need the coordinates. /// Please note that the normal will be calculated each time you use this call, if you are doing more than one /// test with the same triangle, precalculate the normal and pass it. Into the other version of this function /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param pt Vertex of the point. /// \param tv0, tv1, tv2 Vertices of the triangle, must be in CCW. /// \return true if pt lies inside the triangle tv0, tv1, tv2, false otherwise. template inline bool isPointInsideTriangle( const Eigen::Matrix& pt, const Eigen::Matrix& tv0, const Eigen::Matrix& tv1, const Eigen::Matrix& tv2) { Eigen::Matrix baryCoords; bool result = barycentricCoordinates(pt, tv0, tv1, tv2, &baryCoords); return (result && baryCoords[0] >= -Geometry::ScalarEpsilon && baryCoords[1] >= -Geometry::ScalarEpsilon && baryCoords[2] >= -Geometry::ScalarEpsilon); } /// Check if a point is on the edge of a triangle. /// \note Use barycentricCoordinates() if you need the coordinates. /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param pt Vertex of the point. /// \param tv0, tv1, tv2 Vertices of the triangle, must be in CCW. /// \param tn Normal of the triangle (must be of norm 1 and a,b,c CCW). /// \return true if pt lies on the edge of the triangle tv0, tv1, tv2, false otherwise. template inline bool isPointOnTriangleEdge( const Eigen::Matrix& pt, const Eigen::Matrix& tv0, const Eigen::Matrix& tv1, const Eigen::Matrix& tv2, const Eigen::Matrix& tn) { Eigen::Matrix baryCoords; bool result = barycentricCoordinates(pt, tv0, tv1, tv2, tn, &baryCoords); return (result && baryCoords[0] >= -Geometry::ScalarEpsilon && baryCoords[1] >= -Geometry::ScalarEpsilon && baryCoords[2] >= -Geometry::ScalarEpsilon && baryCoords.minCoeff() <= Geometry::ScalarEpsilon); } /// Check if a point is on the edge of a triangle. /// \note Use barycentricCoordinates() if you need the coordinates. /// Please note that the normal will be calculated each time you use this call, if you are doing more than one /// test with the same triangle, precalculate the normal and pass it. Into the other version of this function /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param pt Vertex of the point. /// \param tv0, tv1, tv2 Vertices of the triangle, must be in CCW. /// \return true if pt lies on the edge of the triangle tv0, tv1, tv2, false otherwise. template inline bool isPointOnTriangleEdge( const Eigen::Matrix& pt, const Eigen::Matrix& tv0, const Eigen::Matrix& tv1, const Eigen::Matrix& tv2) { Eigen::Matrix baryCoords; bool result = barycentricCoordinates(pt, tv0, tv1, tv2, &baryCoords); return (result && baryCoords[0] >= -Geometry::ScalarEpsilon && baryCoords[1] >= -Geometry::ScalarEpsilon && baryCoords[2] >= -Geometry::ScalarEpsilon && baryCoords.minCoeff() <= Geometry::ScalarEpsilon); } /// Check whether the points are coplanar. /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param a, b, c, d Points to check for coplanarity. /// \return true if the points are coplanar. template inline bool isCoplanar( const Eigen::Matrix& a, const Eigen::Matrix& b, const Eigen::Matrix& c, const Eigen::Matrix& d) { return std::abs((c - a).dot((b - a).cross(d - c))) < Geometry::ScalarEpsilon; } /// Calculate the normal distance between a point and a line. /// \param pt The input point. /// \param v0,v1 Two vertices on the line. /// \param [out] result The point projected onto the line. /// \return The normal distance between the point and the line template inline T distancePointLine( const Eigen::Matrix& pt, const Eigen::Matrix& v0, const Eigen::Matrix& v1, Eigen::Matrix* result) { // The lines is parametrized by: // q = v0 + lambda0 * (v1-v0) // and we solve for pq.v01 = 0; Eigen::Matrix v01 = v1 - v0; T v01_norm2 = v01.squaredNorm(); if (v01_norm2 <= Geometry::SquaredDistanceEpsilon) { *result = v0; // closest point is either T pv_norm2 = (pt - v0).squaredNorm(); return sqrt(pv_norm2); } T lambda = (v01).dot(pt - v0); *result = v0 + lambda * v01 / v01_norm2; return (*result - pt).norm(); } /// Point segment distance, if the projection of the closest point is not within the segments, the /// closest segment point is used for the distance calculation. /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param pt The input point /// \param sv0,sv1 The segment extremities. /// \param [out] result Either the projection onto the segment or one of the 2 vertices. /// \return The distance of the point from the segment. template inline T distancePointSegment( const Eigen::Matrix& pt, const Eigen::Matrix& sv0, const Eigen::Matrix& sv1, Eigen::Matrix* result) { Eigen::Matrix v01 = sv1 - sv0; T v01Norm2 = v01.squaredNorm(); if (v01Norm2 <= Geometry::SquaredDistanceEpsilon) { *result = sv0; // closest point is either return (pt - sv0).norm(); } T lambda = v01.dot(pt - sv0); if (lambda <= 0) { *result = sv0; } else if (lambda >= v01Norm2) { *result = sv1; } else { *result = sv0 + lambda * v01 / v01Norm2; } return (*result - pt).norm(); } /// Determine the distance between two lines /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param l0v0, l0v1 Points on Line 0. /// \param l1v0, l1v1 Points on Line 1. /// \param [out] pt0 The closest point on line 0. /// \param [out] pt1 The closest point on line 1. /// \return The normal distance between the two given lines i.e. (pt0 - pt1).norm() /// \note We are using distancePointSegment for the degenerate cases as opposed to /// distancePointLine, why is that ??? (HS-2013-apr-26) template inline T distanceLineLine( const Eigen::Matrix& l0v0, const Eigen::Matrix& l0v1, const Eigen::Matrix& l1v0, const Eigen::Matrix& l1v1, Eigen::Matrix* pt0, Eigen::Matrix* pt1) { // Based on the outline of http://www.geometrictools.com/Distance.html, also refer to // http://geomalgorithms.com/a07-_distance.html for a geometric interpretation // The lines are parametrized by: // p0 = l0v0 + lambda0 * (l0v1-l0v0) // p1 = l1v0 + lambda1 * (l1v1-l1v0) // and we solve for p0p1 perpendicular to both lines T lambda0, lambda1; Eigen::Matrix l0v01 = l0v1 - l0v0; T a = l0v01.squaredNorm(); if (a <= Geometry::SquaredDistanceEpsilon) { // Degenerate line 0 *pt0 = l0v0; return distancePointSegment(l0v0, l1v0, l1v1, pt1); } Eigen::Matrix l1v01 = l1v1 - l1v0; T b = -l0v01.dot(l1v01); T c = l1v01.squaredNorm(); if (c <= Geometry::SquaredDistanceEpsilon) { // Degenerate line 1 *pt1 = l1v0; return distancePointSegment(l1v0, l0v0, l0v1, pt0); } Eigen::Matrix l0v0_l1v0 = l0v0 - l1v0; T d = l0v01.dot(l0v0_l1v0); T e = -l1v01.dot(l0v0_l1v0); T ratio = a * c - b * b; if (std::abs(ratio) <= Geometry::ScalarEpsilon) { // parallel case lambda0 = 0; lambda1 = e / c; } else { // non-parallel case T inv_ratio = T(1) / ratio; lambda0 = (b * e - c * d) * inv_ratio; lambda1 = (b * d - a * e) * inv_ratio; } *pt0 = l0v0 + lambda0 * l0v01; *pt1 = l1v0 + lambda1 * l1v01; return ((*pt0) - (*pt1)).norm(); } /// Distance between two segments, if the project of the closest point is not on the opposing segment, /// the segment endpoints will be used for the distance calculation /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param s0v0, s0v1 Segment 0 Extremities. /// \param s1v0, s1v1 Segment 1 Extremities. /// \param [out] pt0 Closest point on segment 0 /// \param [out] pt1 Closest point on segment 1 /// \param [out] s0t Abscissa at the point of intersection on Segment 0 (s0v0 + t * (s0v1 - s0v0)). /// \param [out] s1t Abscissa at the point of intersection on Segment 0 (s1v0 + t * (s1v1 - s1v0)). /// \return Distance between the segments, i.e. (pt0 - pt1).norm() template T distanceSegmentSegment( const Eigen::Matrix& s0v0, const Eigen::Matrix& s0v1, const Eigen::Matrix& s1v0, const Eigen::Matrix& s1v1, Eigen::Matrix* pt0, Eigen::Matrix* pt1, T* s0t = nullptr, T* s1t = nullptr) { // Based on the outline of http://www.geometrictools.com/Documentation/DistanceLine3Line3.pdf, also refer to // http://geomalgorithms.com/a07-_distance.html for a geometric interpretation // The segments are parametrized by: // p0 = l0v0 + s * (l0v1-l0v0), with s between 0 and 1 // p1 = l1v0 + t * (l1v1-l1v0), with t between 0 and 1 // We are minimizing Q(s, t) = as*as + 2bst + ct*ct + 2ds + 2et + f, Eigen::Matrix s0v01 = s0v1 - s0v0; T a = s0v01.squaredNorm(); if (a <= Geometry::SquaredDistanceEpsilon) { // Degenerate segment 0 *pt0 = s0v0; return distancePointSegment(s0v0, s1v0, s1v1, pt1); } Eigen::Matrix s1v01 = s1v1 - s1v0; T b = -s0v01.dot(s1v01); T c = s1v01.squaredNorm(); if (c <= Geometry::SquaredDistanceEpsilon) { // Degenerate segment 1 *pt1 = s1v1; return distancePointSegment(s1v0, s0v0, s0v1, pt0); } Eigen::Matrix tempLine = s0v0 - s1v0; T d = s0v01.dot(tempLine); T e = -s1v01.dot(tempLine); T ratio = a * c - b * b; T s, t; // parametrization variables (do not initialize) int region = -1; T tmp; // Non-parallel case if (1.0 - std::abs(s0v01.normalized().dot(s1v01.normalized())) >= Geometry::SquaredDistanceEpsilon) { // Get the region of the global minimum in the s-t space based on the line-line solution // s=0 s=1 // ^ // | | // 4 | 3 | 2 // ----|-------|------- t=1 // | | // 5 | 0 | 1 // | | // ----|-------|-------> t=0 // | | // 6 | 7 | 8 // | | // s = b * e - c * d; t = b * d - a * e; if (s >= 0) { if (s <= ratio) { if (t >= 0) { if (t <= ratio) { region = 0; } else { region = 3; } } else { region = 7; } } else { if (t >= 0) { if (t <= ratio) { region = 1; } else { region = 2; } } else { region = 8; } } } else { if (t >= 0) { if (t <= ratio) { region = 5; } else { region = 4; } } else { region = 6; } } enum edge_type { s0, s1, t0, t1, edge_skip, edge_invalid }; edge_type edge = edge_invalid; switch (region) { case 0: // Global minimum inside [0,1] [0,1] s /= ratio; t /= ratio; edge = edge_skip; break; case 1: edge = s1; break; case 2: // Q_s(1,1)/2 = a+b+d if (a + b + d > 0) { edge = t1; } else { edge = s1; } break; case 3: edge = t1; break; case 4: // Q_s(0,1)/2 = b+d if (b + d > 0) { edge = s0; } else { edge = t1; } break; case 5: edge = s0; break; case 6: // Q_s(0,0)/2 = d if (d > 0) { edge = s0; } else { edge = t0; } break; case 7: edge = t0; break; case 8: // Q_s(1,0)/2 = a+d if (a + d > 0) { edge = t0; } else { edge = s1; } break; default: break; } switch (edge) { case s0: // F(t) = Q(0,t), F?(t) = 2*(e+c*t) // F?(T) = 0 when T = -e/c, then clamp between 0 and 1 (c always >= 0) s = 0; tmp = e; if (tmp > 0) { t = 0; } else if (-tmp > c) { t = 1; } else { t = -tmp / c; } break; case s1: // F(t) = Q(1,t), F?(t) = 2*((b+e)+c*t) // F?(T) = 0 when T = -(b+e)/c, then clamp between 0 and 1 (c always >= 0) s = 1; tmp = b + e; if (tmp > 0) { t = 0; } else if (-tmp > c) { t = 1; } else { t = -tmp / c; } break; case t0: // F(s) = Q(s,0), F?(s) = 2*(d+a*s) => // F?(S) = 0 when S = -d/a, then clamp between 0 and 1 (a always >= 0) t = 0; tmp = d; if (tmp > 0) { s = 0; } else if (-tmp > a) { s = 1; } else { s = -tmp / a; } break; case t1: // F(s) = Q(s,1), F?(s) = 2*(b+d+a*s) => // F?(S) = 0 when S = -(b+d)/a, then clamp between 0 and 1 (a always >= 0) t = 1; tmp = b + d; if (tmp > 0) { s = 0; } else if (-tmp > a) { s = 1; } else { s = -tmp / a; } break; case edge_skip: break; default: break; } } else // Parallel case { if (b > 0) { // Segments have different directions if (d >= 0) { // 0-0 end points since s-segment 0 less than t-segment 0 s = 0; t = 0; } else if (-d <= a) { // s-segment 0 end-point in the middle of the t 0-1 segment, get distance s = -d / a; t = 0; } else { // s-segment 1 is definitely closer s = 1; tmp = a + d; if (-tmp >= b) { t = 1; } else { t = -tmp / b; } } } else { // Both segments have the same dir if (-d >= a) { // 1-0 s = 1; t = 0; } else if (d <= 0) { // mid-0 s = -d / a; t = 0; } else { s = 0; // 1-mid if (d >= -b) { t = 1; } else { t = -d / b; } } } } *pt0 = s0v0 + s * (s0v01); *pt1 = s1v0 + t * (s1v01); if (s0t != nullptr && s1t != nullptr) { *s0t = s; *s1t = t; } return ((*pt1) - (*pt0)).norm(); } /// Calculate the normal distance of a point from a triangle, the resulting point will be on the edge of the triangle /// if the projection of the point is not inside the triangle. /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param pt The point that is being measured. /// \param tv0, tv1, tv2 The vertices of the triangle. /// \param [out] result The point on the triangle that is closest to pt, if the projection of pt onto the triangle. /// plane is not inside the triangle the closest point on the edge will be used. /// \return The distance between the point and the triangle, i.e (result - pt).norm() template inline T distancePointTriangle( const Eigen::Matrix& pt, const Eigen::Matrix& tv0, const Eigen::Matrix& tv1, const Eigen::Matrix& tv2, Eigen::Matrix* result) { // Based on the outline of http://www.geometrictools.com/Distance.html, also refer to // http://softsurfer.com/Archive/algorithm_0106 for a geometric interpretation // The triangle is parametrized by: // t: tv0 + s * (tv1-tv0) + t * (tv2-tv0) , with s and t between 0 and 1 // We are minimizing Q(s, t) = as*as + 2bst + ct*ct + 2ds + 2et + f, Eigen::Matrix tv01 = tv1 - tv0; Eigen::Matrix tv02 = tv2 - tv0; T a = tv01.squaredNorm(); if (a <= Geometry::SquaredDistanceEpsilon) { // Degenerate edge 1 return distancePointSegment(pt, tv0, tv2, result); } T b = tv01.dot(tv02); T tCross = tv01.cross(tv02).squaredNorm(); if (tCross <= Geometry::SquaredDistanceEpsilon) { // Degenerate edge 2 return distancePointSegment(pt, tv0, tv1, result); } T c = tv02.squaredNorm(); if (c <= Geometry::SquaredDistanceEpsilon) { // Degenerate edge 3 return distancePointSegment(pt, tv0, tv1, result); } Eigen::Matrix tv0pv0 = tv0 - pt; T d = tv01.dot(tv0pv0); T e = tv02.dot(tv0pv0); T ratio = a * c - b * b; T s = b * e - c * d; T t = b * d - a * e; // Determine region (inside-outside triangle) int region = -1; if (s + t <= ratio) { if (s < 0) { if (t < 0) { region = 4; } else { region = 3; } } else if (t < 0) { region = 5; } else { region = 0; } } else { if (s < 0) { region = 2; } else if (t < 0) { region = 6; } else { region = 1; } } // Regions: / // ^ t=0 / // \ 2| / // \ | / // \| / // \ / // |\ / // | \ 1 / // 3 | \ / // | 0 \ / // ----|----\-------> s=0 / // | \ / // 4 | 5 \ 6 / // | \ / // / T numer, denom, tmp0, tmp1; enum edge_type { s0, t0, s1t1, edge_skip, edge_invalid }; edge_type edge = edge_invalid; switch (region) { case 0: // Global minimum inside [0,1] [0,1] numer = T(1) / ratio; s *= numer; t *= numer; edge = edge_skip; break; case 1: edge = s1t1; break; case 2: // Grad(Q(0,1)).(0,-1)/2 = -c-e // Grad(Q(0,1)).(1,-1)/2 = b=d-c-e tmp0 = b + d; tmp1 = c + e; if (tmp1 > tmp0) { edge = s1t1; } else { edge = s0; } break; case 3: edge = s0; break; case 4: // Grad(Q(0,0)).(0,1)/2 = e // Grad(Q(0,0)).(1,0)/2 = d if (e >= d) { edge = t0; } else { edge = s0; } break; case 5: edge = t0; break; case 6: // Grad(Q(1,0)).(-1,0)/2 = -a-d // Grad(Q(1,0)).(-1,1)/2 = -a-d+b+e tmp0 = -a - d; tmp1 = -a - d + b + e; if (tmp1 > tmp0) { edge = t0; } else { edge = s1t1; } break; default: break; } switch (edge) { case s0: // F(t) = Q(0, t), F'(t)=0 when -e/c = 0 s = 0; if (e >= 0) { t = 0; } else { t = (-e >= c ? 1 : -e / c); } break; case t0: // F(s) = Q(s, 0), F'(s)=0 when -d/a = 0 t = 0; if (d >= 0) { s = 0; } else { s = (-d >= a ? 1 : -d / a); } break; case s1t1: // F(s) = Q(s, 1-s), F'(s) = 0 when (c+e-b-d)/(a-2b+c) = 0 (denom = || tv01-tv02 ||^2 always > 0) numer = c + e - b - d; if (numer <= 0) { s = 0; } else { denom = a - 2 * b + c; s = (numer >= denom ? 1 : numer / denom); } t = 1 - s; break; case edge_skip: break; default: break; } *result = tv0 + s * tv01 + t * tv02; return ((*result) - pt).norm(); } /// Calculate the intersection of a line segment with a triangle /// See http://geomalgorithms.com/a06-_intersect-2.html#intersect_RayTriangle for the algorithm /// \pre The normal must be unit length /// \pre The triangle vertices must be in counter clockwise order in respect to the normal /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param sv0,sv1 Extremities of the segment. /// \param tv0,tv1,tv2 The triangle vertices. CCW around the normal. /// \param tn The triangle normal, should be normalized. /// \param [out] result The point where the triangle and the line segment intersect, invalid if they don't intersect. /// \return true if the segment intersects with the triangle, false if it does not /// \note HS-2013-may-07 This is the only function that only checks for intersection rather than returning a distance /// if necessary this should be rewritten to do the distance calculation, doing so would necessitate to check /// against all the triangle edges in the non intersection cases. template inline bool doesCollideSegmentTriangle( const Eigen::Matrix& sv0, const Eigen::Matrix& sv1, const Eigen::Matrix& tv0, const Eigen::Matrix& tv1, const Eigen::Matrix& tv2, const Eigen::Matrix& tn, Eigen::Matrix* result) { // Triangle edges vectors Eigen::Matrix u = tv1 - tv0; Eigen::Matrix v = tv2 - tv0; // Ray direction vector Eigen::Matrix dir = sv1 - sv0; Eigen::Matrix w0 = sv0 - tv0; T a = -tn.dot(w0); T b = tn.dot(dir); result->setConstant((std::numeric_limits::quiet_NaN())); // Ray is parallel to triangle plane if (std::abs(b) <= Geometry::AngularEpsilon) { if (std::abs(a) <= Geometry::AngularEpsilon) { // Ray lies in triangle plane Eigen::Matrix baryCoords; for (int i = 0; i < 2; ++i) { barycentricCoordinates((i == 0 ? sv0 : sv1), tv0, tv1, tv2, tn, &baryCoords); if (baryCoords[0] >= 0 && baryCoords[1] >= 0 && baryCoords[2] >= 0) { *result = (i == 0) ? sv0 : sv1; return true; } } // All segment endpoints outside of triangle return false; } else { // Segment parallel to triangle but not in same plane return false; } } // Get intersect point of ray with triangle plane T r = a / b; // Ray goes away from triangle if (r < -Geometry::DistanceEpsilon) { return false; } //Ray comes toward triangle but isn't long enough to reach it if (r > 1 + Geometry::DistanceEpsilon) { return false; } // Intersect point of ray and plane Eigen::Matrix presumedIntersection = sv0 + r * dir; // Collision point inside T? T uu = u.dot(u); T uv = u.dot(v); T vv = v.dot(v); Eigen::Matrix w = presumedIntersection - tv0; T wu = w.dot(u); T wv = w.dot(v); T D = uv * uv - uu * vv; // Get and test parametric coords T s = (uv * wv - vv * wu) / D; // I is outside T if (s < -Geometry::DistanceEpsilon || s > 1 + Geometry::DistanceEpsilon) { return false; } T t = (uv * wu - uu * wv) / D; // I is outside T if (t < -Geometry::DistanceEpsilon || (s + t) > 1 + Geometry::DistanceEpsilon) { return false; } // I is in T *result = sv0 + r * dir; return true; } /// Calculate the distance of a point to a plane /// \pre n needs to the normalized /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param pt The point to check. /// \param n The normal of the plane n (normalized). /// \param d Constant d for the plane equation as in n.x + d = 0. /// \param [out] result Projection of point p into the plane. /// \return The distance to the plane (negative if on the backside of the plane). template inline T distancePointPlane( const Eigen::Matrix& pt, const Eigen::Matrix& n, T d, Eigen::Matrix* result) { T dist = n.dot(pt) + d; *result = pt - n * dist; return dist; } /// Calculate the distance between a segment and a plane. /// \pre n should be normalized /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param sv0,sv1 Endpoints of the segments. /// \param n Normal of the plane n (normalized). /// \param d Constant d in n.x + d = 0. /// \param [out] closestPointSegment Point closest to the plane, the midpoint of the segment (v0+v1)/2 /// is being used if the segment is parallel to the plane. If the segment actually /// intersects the plane segmentIntersectionPoint will be equal to planeIntersectionPoint. /// \param [out] planeIntersectionPoint the point on the plane where the line defined by the segment /// intersects the plane. /// \return the distance of closest point of the segment to the plane, 0 if the segment intersects the plane, /// negative if the closest point is on the other side of the plane. template inline T distanceSegmentPlane( const Eigen::Matrix& sv0, const Eigen::Matrix& sv1, const Eigen::Matrix& n, T d, Eigen::Matrix* closestPointSegment, Eigen::Matrix* planeIntersectionPoint) { T dist0 = n.dot(sv0) + d; T dist1 = n.dot(sv1) + d; // Parallel case Eigen::Matrix v01 = sv1 - sv0; if (std::abs(n.dot(v01)) <= Geometry::AngularEpsilon) { *closestPointSegment = (sv0 + sv1) * T(0.5); dist0 = n.dot(*closestPointSegment) + d; *planeIntersectionPoint = *closestPointSegment - dist0 * n; return (std::abs(dist0) < Geometry::DistanceEpsilon ? 0 : dist0); } // Both on the same side if ((dist0 > 0 && dist1 > 0) || (dist0 < 0 && dist1 < 0)) { if (std::abs(dist0) < std::abs(dist1)) { *closestPointSegment = sv0; *planeIntersectionPoint = sv0 - dist0 * n; return dist0; } else { *closestPointSegment = sv1; *planeIntersectionPoint = sv1 - dist1 * n; return dist1; } } // Segment cutting through else { Eigen::Matrix v01 = sv1 - sv0; T lambda = (-d - sv0.dot(n)) / v01.dot(n); *planeIntersectionPoint = sv0 + lambda * v01; *closestPointSegment = *planeIntersectionPoint; return 0; } } /// Calculate the distance of a triangle to a plane. /// \pre n should be normalized. /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param tv0,tv1,tv2 Points of the triangle. /// \param n Normal of the plane n (normalized). /// \param d Constant d in n.x + d = 0. /// \param closestPointTriangle Closest point on the triangle, when the triangle is coplanar to /// the plane (tv0+tv1+tv2)/3 is used, when the triangle intersects the plane the midpoint of /// the intersection segment is returned. /// \param planeProjectionPoint Projection of the closest point onto the plane, when the triangle intersects /// the plane the midpoint of the intersection segment is returned. /// \return The distance of the triangle to the plane. template inline T distanceTrianglePlane( const Eigen::Matrix& tv0, const Eigen::Matrix& tv1, const Eigen::Matrix& tv2, const Eigen::Matrix& n, T d, Eigen::Matrix* closestPointTriangle, Eigen::Matrix* planeProjectionPoint) { Eigen::Matrix distances(n.dot(tv0) + d, n.dot(tv1) + d, n.dot(tv2) + d); Eigen::Matrix t01 = tv1 - tv0; Eigen::Matrix t02 = tv2 - tv0; Eigen::Matrix t12 = tv2 - tv1; closestPointTriangle->setConstant((std::numeric_limits::quiet_NaN())); planeProjectionPoint->setConstant((std::numeric_limits::quiet_NaN())); // HS-2013-may-09 Could there be a case where we fall into the wrong tree because of the checks against // the various epsilon values all going against us ??? // Parallel case (including Coplanar) if (std::abs(n.dot(t01)) <= Geometry::AngularEpsilon && std::abs(n.dot(t02)) <= Geometry::AngularEpsilon) { *closestPointTriangle = (tv0 + tv1 + tv2) / T(3); *planeProjectionPoint = *closestPointTriangle - n * distances[0]; return distances[0]; } // Is there an intersection if ((distances.array() < -Geometry::DistanceEpsilon).any() && (distances.array() > Geometry::DistanceEpsilon).any()) { if (distances[0] * distances[1] < 0) { *closestPointTriangle = tv0 + (-d - n.dot(tv0)) / n.dot(t01) * t01; if (distances[0] * distances[2] < 0) { *planeProjectionPoint = tv0 + (-d - n.dot(tv0)) / n.dot(t02) * t02; } else { Eigen::Matrix t12 = tv2 - tv1; *planeProjectionPoint = tv1 + (-d - n.dot(tv1)) / n.dot(t12) * t12; } } else { *closestPointTriangle = tv0 + (-d - n.dot(tv0)) / n.dot(t02) * t02; *planeProjectionPoint = tv1 + (-d - n.dot(tv1)) / n.dot(t12) * t12; } // Find the midpoint, take this out to return the segment endpoints *closestPointTriangle = *planeProjectionPoint = (*closestPointTriangle + *planeProjectionPoint) * T(0.5); return 0; } int index; distances.cwiseAbs().minCoeff(&index); switch (index) { case 0: //distances[0] is closest *closestPointTriangle = tv0; *planeProjectionPoint = tv0 - n * distances[0]; return distances[0]; case 1: //distances[1] is closest *closestPointTriangle = tv1; *planeProjectionPoint = tv1 - n * distances[1]; return distances[1]; case 2: //distances[2] is closest *closestPointTriangle = tv2; *planeProjectionPoint = tv2 - n * distances[2]; return distances[2]; } return std::numeric_limits::quiet_NaN(); } /// Test if two planes are intersecting, if yes also calculate the intersection line. /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param pn0,pd0 Normal and constant of the first plane, nx + d = 0. /// \param pn1,pd1 Normal and constant of the second plane, nx + d = 0. /// \param [out] pt0,pt1 Two points on the intersection line, not valid if there is no intersection. /// \return true when a unique line exists, false for disjoint or coinciding. template inline bool doesIntersectPlanePlane( const Eigen::Matrix& pn0, T pd0, const Eigen::Matrix& pn1, T pd1, Eigen::Matrix* pt0, Eigen::Matrix* pt1) { // Algorithm from real time collision detection - optimized version page 210 (with extra checks) const Eigen::Matrix lineDir = pn0.cross(pn1); const T lineDirNorm2 = lineDir.squaredNorm(); pt0->setConstant((std::numeric_limits::quiet_NaN())); pt1->setConstant((std::numeric_limits::quiet_NaN())); // Test if the two planes are parallel if (lineDirNorm2 <= Geometry::SquaredDistanceEpsilon) { return false; // planes disjoint } // Compute common point *pt0 = (pd1 * pn0 - pd0 * pn1).cross(lineDir) / lineDirNorm2; *pt1 = *pt0 + lineDir; return true; } /// Calculate the distance of a line segment to a triangle. /// Note that this version will calculate the normal of the triangle, /// if the normal is known use the other version of this function. /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param sv0,sv1 Extremities of the line segment. /// \param tv0, tv1, tv2 Triangle points. /// \param [out] segmentPoint Closest point on the segment. /// \param [out] trianglePoint Closest point on the triangle. /// \return the the distance between the two closest points, i.e. (trianglePoint - segmentPoint).norm(). template inline T distanceSegmentTriangle( const Eigen::Matrix& sv0, const Eigen::Matrix& sv1, const Eigen::Matrix& tv0, const Eigen::Matrix& tv1, const Eigen::Matrix& tv2, Eigen::Matrix* segmentPoint, Eigen::Matrix* trianglePoint) { Eigen::Matrix n = (tv1 - tv0).cross(tv2 - tv1); n.normalize(); return distanceSegmentTriangle(sv0, sv1, tv0, tv1, tv2, n, segmentPoint, trianglePoint); } /// Calculate the distance of a line segment to a triangle. /// \pre n needs to be normalized. /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param sv0,sv1 Extremities of the line segment. /// \param tv0, tv1, tv2 Points of the triangle. /// \param normal Normal of the triangle (Expected to be normalized) /// \param [out] segmentPoint Closest point on the segment. /// \param [out] trianglePoint Closest point on the triangle. /// \return the distance between the two closest points. template inline T distanceSegmentTriangle( const Eigen::Matrix& sv0, const Eigen::Matrix& sv1, const Eigen::Matrix& tv0, const Eigen::Matrix& tv1, const Eigen::Matrix& tv2, const Eigen::Matrix& normal, Eigen::Matrix* segmentPoint, Eigen::Matrix* trianglePoint) { segmentPoint->setConstant((std::numeric_limits::quiet_NaN())); trianglePoint->setConstant((std::numeric_limits::quiet_NaN())); // Setting up the plane that the triangle is in const Eigen::Matrix& n = normal; T d = -n.dot(tv0); Eigen::Matrix baryCoords; // Degenerate case: Line and triangle plane parallel const Eigen::Matrix v01 = sv1 - sv0; const T v01DotTn = n.dot(v01); if (std::abs(v01DotTn) <= Geometry::AngularEpsilon) { // Check if any of the points project onto the tri // otherwise normal (non-parallel) processing will get the right result T dst = std::abs(distancePointPlane(sv0, n, d, trianglePoint)); Eigen::Matrix baryCoords; barycentricCoordinates(*trianglePoint, tv0, tv1, tv2, normal, &baryCoords); if (baryCoords[0] >= 0 && baryCoords[1] >= 0 && baryCoords[2] >= 0) { *segmentPoint = sv0; return dst; } dst = std::abs(distancePointPlane(sv1, n, d, trianglePoint)); barycentricCoordinates(*trianglePoint, tv0, tv1, tv2, normal, &baryCoords); if (baryCoords[0] >= 0 && baryCoords[1] >= 0 && baryCoords[2] >= 0) { *segmentPoint = sv1; return dst; } } // Line and triangle plane *not* parallel: check cut through case only, the rest will be check later else { T lambda = -n.dot(sv0 - tv0) / v01DotTn; if (lambda >= 0 && lambda <= 1) { *segmentPoint = *trianglePoint = sv0 + lambda * v01; barycentricCoordinates(*trianglePoint, tv0, tv1, tv2, normal, &baryCoords); if (baryCoords[0] >= 0 && baryCoords[1] >= 0 && baryCoords[2] >= 0) { // Segment goes through the triangle return 0; } } } // At this point the segment is nearest point to one of the triangle edges or one of the end points Eigen::Matrix segColPt01, segColPt02, segColPt12, triColPt01, triColPt02, triColPt12; T dst01 = distanceSegmentSegment(sv0, sv1, tv0, tv1, &segColPt01, &triColPt01); T dst02 = distanceSegmentSegment(sv0, sv1, tv0, tv2, &segColPt02, &triColPt02); T dst12 = distanceSegmentSegment(sv0, sv1, tv1, tv2, &segColPt12, &triColPt12); Eigen::Matrix ptTriCol0, ptTriCol1; T dstPtTri0 = std::abs(distancePointPlane(sv0, n, d, &ptTriCol0)); barycentricCoordinates(ptTriCol0, tv0, tv1, tv2, normal, &baryCoords); if (baryCoords[0] < 0 || baryCoords[1] < 0 || baryCoords[2] < 0) { dstPtTri0 = std::numeric_limits::max(); } T dstPtTri1 = std::abs(distancePointPlane(sv1, n, d, &ptTriCol1)); barycentricCoordinates(ptTriCol1, tv0, tv1, tv2, normal, &baryCoords); if (baryCoords[0] < 0 || baryCoords[1] < 0 || baryCoords[2] < 0) { dstPtTri1 = std::numeric_limits::max(); } int minIndex; Eigen::Matrix distances; (distances << dst01, dst02, dst12, dstPtTri0, dstPtTri1).finished().minCoeff(&minIndex); switch (minIndex) { case 0: *segmentPoint = segColPt01; *trianglePoint = triColPt01; return dst01; case 1: *segmentPoint = segColPt02; *trianglePoint = triColPt02; return dst02; case 2: *segmentPoint = segColPt12; *trianglePoint = triColPt12; return dst12; case 3: *segmentPoint = sv0; *trianglePoint = ptTriCol0; return dstPtTri0; case 4: *segmentPoint = sv1; *trianglePoint = ptTriCol1; return dstPtTri1; } // Invalid ... return std::numeric_limits::quiet_NaN(); } /// Calculate the distance between two triangles /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param t0v0,t0v1,t0v2 Points of the first triangle. /// \param t1v0,t1v1,t1v2 Points of the second triangle. /// \param [out] closestPoint0 Closest point on the first triangle, unless penetrating, /// in which case it is the point along the edge that allows min separation. /// \param [out] closestPoint1 Closest point on the second triangle, unless penetrating, /// in which case it is the point along the edge that allows min separation. /// \return the distance between the two triangles. template inline T distanceTriangleTriangle( const Eigen::Matrix& t0v0, const Eigen::Matrix& t0v1, const Eigen::Matrix& t0v2, const Eigen::Matrix& t1v0, const Eigen::Matrix& t1v1, const Eigen::Matrix& t1v2, Eigen::Matrix* closestPoint0, Eigen::Matrix* closestPoint1) { // Check the segments of t0 against t1 T minDst = std::numeric_limits::max(); T currDst = 0; Eigen::Matrix segPt, triPt; Eigen::Matrix n0 = (t0v1 - t0v0).cross(t0v2 - t0v0); n0.normalize(); Eigen::Matrix n1 = (t1v1 - t1v0).cross(t1v2 - t1v0); n1.normalize(); currDst = distanceSegmentTriangle(t0v0, t0v1, t1v0, t1v1, t1v2, n1, &segPt, &triPt); if (currDst < minDst) { minDst = currDst; *closestPoint0 = segPt; *closestPoint1 = triPt; } currDst = distanceSegmentTriangle(t0v1, t0v2, t1v0, t1v1, t1v2, n1, &segPt, &triPt); if (currDst < minDst) { minDst = currDst; *closestPoint0 = segPt; *closestPoint1 = triPt; } currDst = distanceSegmentTriangle(t0v2, t0v0, t1v0, t1v1, t1v2, n1, &segPt, &triPt); if (currDst < minDst) { minDst = currDst; *closestPoint0 = segPt; *closestPoint1 = triPt; } // Check the segments of t1 against t0 currDst = distanceSegmentTriangle(t1v0, t1v1, t0v0, t0v1, t0v2, n0, &segPt, &triPt); if (currDst < minDst) { minDst = currDst; *closestPoint1 = segPt; *closestPoint0 = triPt; } currDst = distanceSegmentTriangle(t1v1, t1v2, t0v0, t0v1, t0v2, n0, &segPt, &triPt); if (currDst < minDst) { minDst = currDst; *closestPoint1 = segPt; *closestPoint0 = triPt; } currDst = distanceSegmentTriangle(t1v2, t1v0, t0v0, t0v1, t0v2, n0, &segPt, &triPt); if (currDst < minDst) { minDst = currDst; *closestPoint1 = segPt; *closestPoint0 = triPt; } return (minDst); } /// Calculate the intersections between a line segment and an axis aligned box /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param sv0,sv1 Extremities of the line segment. /// \param box Axis aligned bounding box /// \param [out] intersections The points of intersection between the segment and the box template void intersectionsSegmentBox( const Eigen::Matrix& sv0, const Eigen::Matrix& sv1, const Eigen::AlignedBox& box, std::vector>* intersections) { Eigen::Array v01 = sv1 - sv0; Eigen::Array parallelToPlane = (v01.cwiseAbs().array() < Geometry::DistanceEpsilon); if (parallelToPlane.any()) { Eigen::Array beyondMinCorner = (sv0.array() < box.min().array()); Eigen::Array beyondMaxCorner = (sv0.array() > box.max().array()); if ((parallelToPlane && (beyondMinCorner || beyondMaxCorner)).any()) { return; } } // Calculate the intersection of the segment with each of the 6 box planes. // The intersection is calculated as the distance along the segment (abscissa) // scaled from 0 to 1. Eigen::Array planeIntersectionAbscissas; planeIntersectionAbscissas.col(0) = (box.min().array() - sv0.array()); planeIntersectionAbscissas.col(1) = (box.max().array() - sv0.array()); // While we could be dividing by zero here, INF values are // correctly handled by the rest of the function. planeIntersectionAbscissas.colwise() /= v01; T entranceAbscissa = planeIntersectionAbscissas.rowwise().minCoeff().maxCoeff(); T exitAbscissa = planeIntersectionAbscissas.rowwise().maxCoeff().minCoeff(); if (entranceAbscissa < exitAbscissa && exitAbscissa > T(0.0)) { if (entranceAbscissa >= T(0.0) && entranceAbscissa <= T(1.0)) { intersections->push_back(sv0 + v01.matrix() * entranceAbscissa); } if (exitAbscissa >= T(0.0) && exitAbscissa <= T(1.0)) { intersections->push_back(sv0 + v01.matrix() * exitAbscissa); } } } /// Test if an axis aligned box intersects with a capsule /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param capsuleBottom Position of the capsule bottom /// \param capsuleTop Position of the capsule top /// \param capsuleRadius The capsule radius /// \param box Axis aligned bounding box /// \return True, if intersection is detected. template bool doesIntersectBoxCapsule( const Eigen::Matrix& capsuleBottom, const Eigen::Matrix& capsuleTop, const T capsuleRadius, const Eigen::AlignedBox& box) { Eigen::AlignedBox dilatedBox(box.min().array() - capsuleRadius, box.max().array() + capsuleRadius); std::vector candidates; intersectionsSegmentBox(capsuleBottom, capsuleTop, dilatedBox, &candidates); if (dilatedBox.contains(capsuleBottom)) { candidates.push_back(capsuleBottom); } if (dilatedBox.contains(capsuleTop)) { candidates.push_back(capsuleTop); } bool doesIntersect = false; ptrdiff_t dimensionsOutsideBox; Vector3d clampedPosition, segmentPoint; for (auto candidate = candidates.cbegin(); candidate != candidates.cend(); ++candidate) { // Collisions between a capsule and a box are the same as a segment and a dilated // box with rounded corners. If the intersection occurs outside the original box // in two dimensions (collision with an edge of the dilated box) or three // dimensions (collision with the corner of the dilated box) dimensions, we need // to check if it is inside these rounded corners. dimensionsOutsideBox = (candidate->array() > box.max().array()).count(); dimensionsOutsideBox += (candidate->array() < box.min().array()).count(); if (dimensionsOutsideBox >= 2) { clampedPosition = (*candidate).array().min(box.max().array()).max(box.min().array()); if (distancePointSegment(clampedPosition, capsuleBottom, capsuleTop, &segmentPoint) > capsuleRadius) { // Doesn't intersect, try the next candidate. continue; } } doesIntersect = true; break; } return doesIntersect; } /// Helper method to determine the nearest point between a point and a line. /// \tparam T the numeric data type used for the vector argument. Can usually be deduced. /// \tparam VOpt the option flags (alignment etc.) used for the vector argument. Can be deduced. /// \param point is the point under consideration. /// \param segment0 one point on the line /// \param segment1 second point on the line /// \return the closest point on the line through the segment to the point under test template Eigen::Matrix nearestPointOnLine(const Eigen::Matrix& point, const Eigen::Matrix& segment0, const Eigen::Matrix& segment1) { auto pointToSegmentStart = segment0 - point; auto segmentDirection = segment1 - segment0; auto squaredNorm = segmentDirection.squaredNorm(); SURGSIM_ASSERT(squaredNorm != 0.0) << "Line is defined by two collocated points."; auto distance = -pointToSegmentStart.dot(segmentDirection) / squaredNorm; auto p0Proj = segment0 + distance * segmentDirection; return p0Proj; } /// Check if the two triangles intersect using separating axis test. /// Algorithm is implemented from http://fileadmin.cs.lth.se/cs/Personal/Tomas_Akenine-Moller/pubs/tritri.pdf /// /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param t0v0,t0v1,t0v2 Vertices of the first triangle. /// \param t1v0,t1v1,t1v2 Vertices of the second triangle. /// \param t0n Normal of the first triangle, should be normalized. /// \param t1n Normal of the second triangle, should be normalized. /// \return True, if intersection is detected. template inline bool doesIntersectTriangleTriangle( const Eigen::Matrix& t0v0, const Eigen::Matrix& t0v1, const Eigen::Matrix& t0v2, const Eigen::Matrix& t1v0, const Eigen::Matrix& t1v1, const Eigen::Matrix& t1v2, const Eigen::Matrix& t0n, const Eigen::Matrix& t1n); /// Check if the two triangles intersect using separating axis test. /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param t0v0,t0v1,t0v2 Vertices of the first triangle. /// \param t1v0,t1v1,t1v2 Vertices of the second triangle. /// \return True, if intersection is detected. template inline bool doesIntersectTriangleTriangle( const Eigen::Matrix& t0v0, const Eigen::Matrix& t0v1, const Eigen::Matrix& t0v2, const Eigen::Matrix& t1v0, const Eigen::Matrix& t1v1, const Eigen::Matrix& t1v2); /// Calculate the contact between two triangles. /// Algorithm presented in /// https://docs.google.com/a/simquest.com/document/d/11ajMD7QoTVelT2_szGPpeUEY0wHKKxW1TOgMe8k5Fsc/pub. /// If the triangle are known to intersect, the deepest penetration of the triangles into each other is calculated. /// The triangle which penetrates less into the other triangle is chosen as contact. /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param t0v0,t0v1,t0v2 Vertices of the first triangle. /// \param t1v0,t1v1,t1v2 Vertices of the second triangle. /// \param t0n Unit length normal of the first triangle, should be normalized. /// \param t1n Unit length normal of the second triangle, should be normalized. /// \param [out] penetrationDepth The depth of penetration. /// \param [out] penetrationPoint0 The contact point on triangle0 (t0v0,t0v1,t0v2). /// \param [out] penetrationPoint1 The contact point on triangle1 (t1v0,t1v1,t1v2). /// \param [out] contactNormal The contact normal that points from triangle1 to triangle0. /// \return True, if intersection is detected. /// \note The [out] params are not modified if there is no intersection. /// \note If penetrationPoint0 is moved by (contactNormal*penetrationDepth*0.5) and penetrationPoint1 /// is moved by -(contactNormal*penetrationDepth*0.5), the triangles will no longer be intersecting. template inline bool calculateContactTriangleTriangle( const Eigen::Matrix& t0v0, const Eigen::Matrix& t0v1, const Eigen::Matrix& t0v2, const Eigen::Matrix& t1v0, const Eigen::Matrix& t1v1, const Eigen::Matrix& t1v2, const Eigen::Matrix& t0n, const Eigen::Matrix& t1n, T* penetrationDepth, Eigen::Matrix* penetrationPoint0, Eigen::Matrix* penetrationPoint1, Eigen::Matrix* contactNormal); /// Calculate the contact between two triangles. /// Algorithm presented in /// https://docs.google.com/a/simquest.com/document/d/11ajMD7QoTVelT2_szGPpeUEY0wHKKxW1TOgMe8k5Fsc/pub. /// If the triangle are known to intersect, the deepest penetration of the triangles into each other is calculated. /// The triangle which penetrates less into the other triangle is chosen as contact. /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param t0v0,t0v1,t0v2 Vertices of the first triangle, should be normalized. /// \param t1v0,t1v1,t1v2 Vertices of the second triangle, should be normalized. /// \param [out] penetrationDepth The depth of penetration. /// \param [out] penetrationPoint0 The contact point on triangle0 (t0v0,t0v1,t0v2). /// \param [out] penetrationPoint1 The contact point on triangle1 (t1v0,t1v1,t1v2). /// \param [out] contactNormal The contact normal that points from triangle1 to triangle0. /// \return True, if intersection is detected. /// \note The [out] params are not modified if there is no intersection. /// \note If penetrationPoint0 is moved by (contactNormal*penetrationDepth*0.5) and penetrationPoint1 /// is moved by -(contactNormal*penetrationDepth*0.5), the triangles will no longer be intersecting. template inline bool calculateContactTriangleTriangle( const Eigen::Matrix& t0v0, const Eigen::Matrix& t0v1, const Eigen::Matrix& t0v2, const Eigen::Matrix& t1v0, const Eigen::Matrix& t1v1, const Eigen::Matrix& t1v2, T* penetrationDepth, Eigen::Matrix* penetrationPoint0, Eigen::Matrix* penetrationPoint1, Eigen::Matrix* contactNormal); /// Calculate the contact between two triangles. /// Algorithm is implemented from http://fileadmin.cs.lth.se/cs/Personal/Tomas_Akenine-Moller/pubs/tritri.pdf /// /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param t0v0,t0v1,t0v2 Vertices of the first triangle. /// \param t1v0,t1v1,t1v2 Vertices of the second triangle. /// \param t0n Normal of the first triangle, should be normalized. /// \param t1n Normal of the second triangle, should be normalized. /// \param [out] penetrationDepth The depth of penetration. /// \param [out] penetrationPoint0 The contact point on triangle0 (t0v0,t0v1,t0v2). /// \param [out] penetrationPoint1 The contact point on triangle1 (t1v0,t1v1,t1v2). /// \param [out] contactNormal The contact normal that points from triangle1 to triangle0. /// \return True, if intersection is detected. /// \note The [out] params are not modified if there is no intersection. /// \note If penetrationPoint0 is moved by (contactNormal*penetrationDepth*0.5) and penetrationPoint1 /// is moved by -(contactNormal*penetrationDepth*0.5), the triangles will no longer be intersecting. template inline bool calculateContactTriangleTriangleSeparatingAxis( const Eigen::Matrix& t0v0, const Eigen::Matrix& t0v1, const Eigen::Matrix& t0v2, const Eigen::Matrix& t1v0, const Eigen::Matrix& t1v1, const Eigen::Matrix& t1v2, const Eigen::Matrix& t0n, const Eigen::Matrix& t1n, T* penetrationDepth, Eigen::Matrix* penetrationPoint0, Eigen::Matrix* penetrationPoint1, Eigen::Matrix* contactNormal); /// Calculate the contact between two triangles. /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param t0v0,t0v1,t0v2 Vertices of the first triangle. /// \param t1v0,t1v1,t1v2 Vertices of the second triangle. /// \param [out] penetrationDepth The depth of penetration. /// \param [out] penetrationPoint0 The contact point on triangle0 (t0v0,t0v1,t0v2). /// \param [out] penetrationPoint1 The contact point on triangle1 (t1v0,t1v1,t1v2). /// \param [out] contactNormal The contact normal that points from triangle1 to triangle0. /// \return True, if intersection is detected. /// \note The [out] params are not modified if there is no intersection. /// \note If penetrationPoint0 is moved by (contactNormal*penetrationDepth*0.5) and penetrationPoint1 /// is moved by -(contactNormal*penetrationDepth*0.5), the triangles will no longer be intersecting. template inline bool calculateContactTriangleTriangleSeparatingAxis( const Eigen::Matrix& t0v0, const Eigen::Matrix& t0v1, const Eigen::Matrix& t0v2, const Eigen::Matrix& t1v0, const Eigen::Matrix& t1v1, const Eigen::Matrix& t1v2, T* penetrationDepth, Eigen::Matrix* penetrationPoint0, Eigen::Matrix* penetrationPoint1, Eigen::Matrix* contactNormal); /// Calculate the contact between a capsule and a triangle. /// If the shapes intersect, the deepest penetration of the capsule along the triangle normal is calculated. /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param tv0,tv1,tv2 Vertices of the triangle. /// \param tn Normal of the triangle, should be normalized. /// \param cv0,cv1 Ends of the capsule axis. /// \param cr Capsule radius. /// \param [out] penetrationDepth The depth of penetration. /// \param [out] penetrationPointTriangle The contact point on triangle. /// \param [out] penetrationPointCapsule The contact point on capsule. /// \param [out] contactNormal The contact normal that points from capsule to triangle. /// \param [out] penetrationPointCapsuleAxis The point on the capsule axis closest to the triangle. /// \return True, if intersection is detected. /// \note The [out] params are not modified if there is no intersection. /// \note If penetrationPointTriangle is moved by (contactNormal*penetrationDepth*0.5) and penetrationPointCapsule /// is moved by -(contactNormal*penetrationDepth*0.5), the shapes will no longer be intersecting. template inline bool calculateContactTriangleCapsule( const Eigen::Matrix& tv0, const Eigen::Matrix& tv1, const Eigen::Matrix& tv2, const Eigen::Matrix& tn, const Eigen::Matrix& cv0, const Eigen::Matrix& cv1, double cr, T* penetrationDepth, Eigen::Matrix* penetrationPointTriangle, Eigen::Matrix* penetrationPointCapsule, Eigen::Matrix* contactNormal, Eigen::Matrix* penetrationPointCapsuleAxis); /// Calculate the contact between a capsule and a triangle. /// If the shapes intersect, the deepest penetration of the capsule along the triangle normal is calculated. /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param tv0,tv1,tv2 Vertices of the triangle. /// \param cv0,cv1 Ends of the capsule axis. /// \param cr Capsule radius. /// \param [out] penetrationDepth The depth of penetration. /// \param [out] penetrationPointTriangle The contact point on triangle. /// \param [out] penetrationPointCapsule The contact point on capsule. /// \param [out] contactNormal The contact normal that points from capsule to triangle. /// \param [out] penetrationPointCapsuleAxis The point on the capsule axis closest to the triangle. /// \return True, if intersection is detected. /// \note The [out] params are not modified if there is no intersection. /// \note If penetrationPointTriangle is moved by (contactNormal*penetrationDepth*0.5) and penetrationPointCapsule /// is moved by -(contactNormal*penetrationDepth*0.5), the shapes will no longer be intersecting. template inline bool calculateContactTriangleCapsule( const Eigen::Matrix& tv0, const Eigen::Matrix& tv1, const Eigen::Matrix& tv2, const Eigen::Matrix& cv0, const Eigen::Matrix& cv1, double cr, T* penetrationDepth, Eigen::Matrix* penetrationPointTriangle, Eigen::Matrix* penetrationPointCapsule, Eigen::Matrix* contactNormal, Eigen::Matrix* penetrationPointCapsuleAxis); /// Test when 4 points are coplanar in the range [0..1] given their linear motion /// \tparam T The scalar type /// \tparam MOpt The matrix options /// \param A, B, C, D the 4 point' motion (each has a pair from -> to) /// \param[out] timesOfCoplanarity The normalized times (in [0..1]) at which the 4 points are coplanar /// \return The number of times the 4 points are coplanar throughout their motion in [0..1] template int timesOfCoplanarityInRange01( const std::pair, Eigen::Matrix>& A, const std::pair, Eigen::Matrix>& B, const std::pair, Eigen::Matrix>& C, const std::pair, Eigen::Matrix>& D, std::array* timesOfCoplanarity) { /// Let's define the following: /// A(t) = A0 + t * VA with VA = A1 - A0 /// Similarily for B(t), C(t) and D(t) /// Therefore we have AB(t) = B(t) - A(t) = B(0) + t * VB - A(0) - t * VA /// = AB(0) + t * [VB - VA] = AB(0) + t * VAB /// /// The 4 points ABCD are coplanar are time t if they verify: /// [AB(t).cross(CD(t))].AC(t) = 0 /// We develop this equation to clearly formulate the resulting cubic equation: /// /// [AB(0).cross(CD(0)) + t*AB(0).cross(VCD) + t*VAB.cross(CD(0)) + t^2*VAB.cross(VCD)] . [AC(0) + t * VAC] = 0 /// t^0 * [[AB(0).cross(CD(0))].AC(0)] + /// t^1 * [[AB(0).cross(CD(0))].VAC + [AB(0).cross(VCD)].AC(0) + [VAB.cross(CD(0))].AC(0)] + /// t^2 * [[AB(0).cross(VCD)].VAC + [VAB.cross(CD(0))].VAC + [VAB.cross(VCD)].AC(0)] + /// t^3 * [[VAB.cross(VCD)].VAC] = 0 Eigen::Matrix AB0 = B.first - A.first; Eigen::Matrix AC0 = C.first - A.first; Eigen::Matrix CD0 = D.first - C.first; Eigen::Matrix VA = (A.second - A.first); Eigen::Matrix VC = (C.second - C.first); Eigen::Matrix VAB = (B.second - B.first) - VA; Eigen::Matrix VAC = VC - VA; Eigen::Matrix VCD = (D.second - D.first) - VC; T a0 = AB0.cross(CD0).dot(AC0); T a1 = AB0.cross(CD0).dot(VAC) + (AB0.cross(VCD) + VAB.cross(CD0)).dot(AC0); T a2 = (AB0.cross(VCD) + VAB.cross(CD0)).dot(VAC) + VAB.cross(VCD).dot(AC0); T a3 = VAB.cross(VCD).dot(VAC); return findRootsInRange01(Polynomial(a0, a1, a2, a3), timesOfCoplanarity); } }; // namespace Math }; // namespace SurgSim #include "SurgSim/Math/PointTriangleCcdContactCalculation-inl.h" #include "SurgSim/Math/SegmentSegmentCcdContactCalculation-inl.h" #include "SurgSim/Math/TriangleCapsuleContactCalculation-inl.h" #include "SurgSim/Math/TriangleTriangleIntersection-inl.h" #include "SurgSim/Math/TriangleTriangleContactCalculation-inl.h" #endif opensurgsim-0.7.0/SurgSim/Math/IntervalArithmetic-inl.h000066400000000000000000000521151277777236100231310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_INTERVALARITHMETIC_INL_H #define SURGSIM_MATH_INTERVALARITHMETIC_INL_H #include "SurgSim/Math/MinMax.h" namespace SurgSim { namespace Math { template Interval::Interval(): m_min(static_cast(0)), m_max(static_cast(0)) {} template Interval::Interval(const T& min, const T& max): m_min(min), m_max(max) { SURGSIM_ASSERT(min <= max) << "Incorrect order of interval bounds"; } template Interval::Interval(const Interval& i): m_min(i.m_min), m_max(i.m_max) {} template Interval::Interval(Interval&& i): m_min(static_cast(0)), m_max(static_cast(0)) { m_min = i.m_min; m_max = i.m_max; } template Interval& Interval::operator=(const Interval& i) { m_min = i.m_min; m_max = i.m_max; return *this; } template Interval& Interval::operator=(Interval&& i) { m_min = i.m_min; m_max = i.m_max; return *this; } template Interval Interval::minToMax(const T& a1, const T& a2) { T min, max; minMax(a1, a2, &min, &max); return Interval(min, max); } template Interval Interval::minToMax(const T& a1, const T& a2, const T& a3) { T min, max; minMax(a1, a2, a3, &min, &max); return Interval(min, max); } template Interval Interval::minToMax(const T& a1, const T& a2, const T& a3, const T& a4) { T min, max; minMax(a1, a2, a3, a4, &min, &max); return Interval(min, max); } template bool Interval::overlapsWith(const Interval& i) const { return (m_min <= i.m_max && i.m_min <= m_max); } template bool Interval::contains(const T& val) const { return (m_min <= val && m_max >= val); } template bool Interval::containsZero() const { return contains(static_cast(0)); } template bool Interval::isApprox(const Interval& i, const T& epsilon) const { return (std::abs(m_min - i.m_min) <= epsilon) && (std::abs(m_max - i.m_max) <= epsilon); } template bool Interval::operator ==(const Interval& i) const { return (m_min == i.m_min && m_max == i.m_max); } template bool Interval::operator !=(const Interval& i) const { return !(this->operator==(i)); } template Interval& Interval::addThickness(const T& thickness) { m_min -= thickness; m_max += thickness; return *this; } template Interval& Interval::extendToInclude(const T& x) { if (x < m_min) { m_min = x; } else if (x > m_max) { m_max = x; } return *this; } template Interval& Interval::extendToInclude(const Interval& i) { if (i.m_min < m_min) { m_min = i.m_min; } if (i.m_max > m_max) { m_max = i.m_max; } return *this; } template Interval Interval::operator +(const Interval& i) const { return Interval(m_min + i.m_min, m_max + i.m_max); } template Interval Interval::operator +(const T& v) const { return Interval(m_min + v, m_max + v); } template Interval& Interval::operator +=(const Interval& i) { m_min += i.m_min; m_max += i.m_max; return *this; } template Interval& Interval::operator +=(const T& v) { m_min += v; m_max += v; return *this; } template Interval Interval::operator -() const { return Interval(-m_max, -m_min); } template Interval Interval::operator -(const Interval& i) const { return Interval(m_min - i.m_max, m_max - i.m_min); } template Interval Interval::operator -(const T& v) const { return Interval(m_min - v, m_max - v); } template Interval& Interval::operator -=(const Interval& i) { m_min -= i.m_max; m_max -= i.m_min; return *this; } template Interval& Interval::operator -=(const T& v) { m_min -= v; m_max -= v; return *this; } template Interval Interval::operator *(const Interval& i) const { return minToMax(m_min * i.m_min, m_min * i.m_max, m_max * i.m_min, m_max * i.m_max); } template Interval Interval::operator *(const T& v) const { if (v >= 0) { return Interval(m_min * v, m_max * v); } else { return Interval(m_max * v, m_min * v); } } template Interval& Interval::operator *=(const Interval& i) { *this = minToMax(m_min * i.m_min, m_min * i.m_max, m_max * i.m_min, m_max * i.m_max); return *this; } template Interval& Interval::operator *=(const T& v) { *this = minToMax(v * m_min, v * m_max); return *this; } template Interval Interval::inverse() const { SURGSIM_ASSERT(!containsZero()) << "Cannot invert or divide by an interval containing 0. Interval: [" << getMin() << ", " << getMax() << "]" << std::endl; return Interval(static_cast(1) / m_max, static_cast(1) / m_min); } template Interval Interval::operator /(const Interval& i) const { return (*this) * i.inverse(); } template Interval& Interval::operator /=(const Interval& i) { return (*this) = (*this) * i.inverse(); } template Interval Interval::square() const { T lowerBoundSquared = m_min * m_min; T upperBoundSquared = m_max * m_max; T minSquare, maxSquare; minMax(lowerBoundSquared, upperBoundSquared, &minSquare, &maxSquare); return Interval((m_min < 0 && m_max > 0) ? 0 : minSquare, maxSquare); } template T Interval::getMin() const { return m_min; } template T Interval::getMax() const { return m_max; } template Interval Interval::lowerHalf() const { return Interval(m_min, (m_min + m_max) * static_cast(0.5)); } template Interval Interval::upperHalf() const { return Interval((m_min + m_max) * static_cast(0.5), m_max); } // Class ND template IntervalND::IntervalND() { for (int i = 0; i < N; i++) { m_interval[i] = Interval(); } } template IntervalND::IntervalND(const std::array, N>& x) { for (int i = 0; i < N; i++) { m_interval[i] = x[i]; } } template IntervalND::IntervalND(const IntervalND& interval) { for (int i = 0; i < N; i++) { m_interval[i] = interval.m_interval[i]; } } template IntervalND::IntervalND(IntervalND&& i) { for (int j = 0; j < N; j++) { m_interval[j] = i.m_interval[j]; } } template IntervalND::IntervalND(const std::array& a, const std::array& b) { for (int i = 0; i < N; ++i) { m_interval[i] = Interval::minToMax(a[i], b[i]); } } template IntervalND& IntervalND::operator =(const IntervalND& interval) { for (int i = 0; i < N; i++) { m_interval[i] = interval.m_interval[i]; } return *this; } template IntervalND& IntervalND::operator=(IntervalND&& i) { if (this != &i) { for (int j = 0; j < N; j++) { m_interval[j] = i.m_interval[j]; } } return *this; } template bool IntervalND::overlapsWith(const IntervalND& interval) const { // For the rectangular [hyper]prisms to overlap, they must overlap in all axes. for (int i = 0; i < N; ++i) { if (!m_interval[i].overlapsWith(interval.m_interval[i])) { return false; } } return true; } template bool IntervalND::isApprox(const IntervalND& interval, const T& epsilon) const { for (int i = 0; i < N; i++) { if (!m_interval[i].isApprox(interval.m_interval[i], epsilon)) { return false; } } return true; } template bool IntervalND::operator ==(const IntervalND& interval) const { for (int i = 0; i < N; i++) { if (m_interval[i] != interval.m_interval[i]) { return false; } } return true; } template bool IntervalND::operator !=(const IntervalND& interval) const { return !(this->operator==(interval)); } template IntervalND& IntervalND::addThickness(const T& thickness) { for (int i = 0; i < N; i++) { m_interval[i].addThickness(thickness); } return *this; } template IntervalND IntervalND::operator +(const IntervalND& interval) const { IntervalND ret; for (int i = 0; i < N; i++) { ret.m_interval[i] = m_interval[i] + interval.m_interval[i]; } return ret; } template IntervalND& IntervalND::operator +=(const IntervalND& interval) { for (int i = 0; i < N; i++) { m_interval[i] += interval.m_interval[i]; } return *this; } template IntervalND IntervalND::operator -(const IntervalND& interval) const { IntervalND ret; for (int i = 0; i < N; i++) { ret.m_interval[i] = m_interval[i] - interval.m_interval[i]; } return ret; } template IntervalND& IntervalND::operator -=(const IntervalND& interval) { for (int i = 0; i < N; i++) { m_interval[i] -= interval.m_interval[i]; } return *this; } template IntervalND IntervalND::operator *(const IntervalND& interval) const { IntervalND ret; for (int i = 0; i < N; i++) { ret.m_interval[i] = m_interval[i] * interval.m_interval[i]; } return ret; } template IntervalND& IntervalND::operator *=(const IntervalND& interval) { for (int i = 0; i < N; i++) { m_interval[i] *= interval.m_interval[i]; } return *this; } template IntervalND IntervalND::inverse() const { IntervalND ret; for (int i = 0; i < N; i++) { ret.m_interval[i] = m_interval[i].inverse(); } return ret; } template IntervalND IntervalND::operator /(const IntervalND& interval) const { IntervalND ret; for (int i = 0; i < N; i++) { ret.m_interval[i] = m_interval[i] / interval.m_interval[i]; } return ret; } template IntervalND& IntervalND::operator /=(const IntervalND& interval) { for (int i = 0; i < N; i++) { m_interval[i] /= interval.m_interval[i]; } return *this; } template Interval IntervalND::dotProduct(const IntervalND& interval) const { Interval ret(static_cast(0), static_cast(0)); for (int i = 0; i < N; i++) { ret += m_interval[i] * interval.m_interval[i]; } return ret; } template Interval IntervalND::magnitudeSquared() const { Interval result = m_interval[0].square(); for (int i = 1; i < N; ++i) { result += m_interval[i].square(); } return result; } template Interval IntervalND::magnitude() const { Interval magnitudeSq = magnitudeSquared(); // Both minimum and maximum are guaranteed to be non-negative. return Interval(sqrt(magnitudeSq.getMin()), sqrt(magnitudeSq.getMax())); } template const Interval& IntervalND::getAxis(size_t i) const { return m_interval[i]; } template IntervalND::IntervalND() { m_interval[0] = Interval(); m_interval[1] = Interval(); m_interval[2] = Interval(); } template IntervalND::IntervalND(const std::array, 3>& x) { m_interval[0] = x[0]; m_interval[1] = x[1]; m_interval[2] = x[2]; } template IntervalND::IntervalND(const Interval& x, const Interval& y, const Interval& z) { m_interval[0] = x; m_interval[1] = y; m_interval[2] = z; } template IntervalND::IntervalND(const IntervalND& i) { m_interval[0] = i.m_interval[0]; m_interval[1] = i.m_interval[1]; m_interval[2] = i.m_interval[2]; } template IntervalND::IntervalND(IntervalND&& i) { m_interval[0] = i.m_interval[0]; m_interval[1] = i.m_interval[1]; m_interval[2] = i.m_interval[2]; } template IntervalND::IntervalND(const std::array& a, const std::array& b) { m_interval[0] = Interval::minToMax(a[0], b[0]); m_interval[1] = Interval::minToMax(a[1], b[1]); m_interval[2] = Interval::minToMax(a[2], b[2]); } template IntervalND& IntervalND::operator =(const IntervalND& i) { m_interval[0] = i.m_interval[0]; m_interval[1] = i.m_interval[1]; m_interval[2] = i.m_interval[2]; return *this; } template IntervalND& IntervalND::operator=(IntervalND&& i) { m_interval[0] = i.m_interval[0]; m_interval[1] = i.m_interval[1]; m_interval[2] = i.m_interval[2]; return *this; } template bool IntervalND::overlapsWith(const IntervalND& interval) const { // For the rectangular prisms to overlap, they must overlap in all axes. return (m_interval[0].overlapsWith(interval.m_interval[0]) && m_interval[1].overlapsWith(interval.m_interval[1]) && m_interval[2].overlapsWith(interval.m_interval[2])); } template bool IntervalND::isApprox(const IntervalND& i, const T& epsilon) const { return (m_interval[0].isApprox(i.m_interval[0], epsilon) && m_interval[1].isApprox(i.m_interval[1], epsilon) && m_interval[2].isApprox(i.m_interval[2], epsilon)); } template bool IntervalND::operator ==(const IntervalND& i) const { return (m_interval[0] == i.m_interval[0] && m_interval[1] == i.m_interval[1] && m_interval[2] == i.m_interval[2]); } template bool IntervalND::operator !=(const IntervalND& i) const { return !(this->operator==(i)); } template IntervalND& IntervalND::addThickness(const T& thickness) { m_interval[0].addThickness(thickness); m_interval[1].addThickness(thickness); m_interval[2].addThickness(thickness); return *this; } template IntervalND IntervalND::operator +(const IntervalND& i) const { return IntervalND(m_interval[0] + i.m_interval[0], m_interval[1] + i.m_interval[1], m_interval[2] + i.m_interval[2]); } template IntervalND& IntervalND::operator +=(const IntervalND& i) { m_interval[0] += i.m_interval[0]; m_interval[1] += i.m_interval[1]; m_interval[2] += i.m_interval[2]; return *this; } template IntervalND IntervalND::operator -(const IntervalND& i) const { return IntervalND(m_interval[0] - i.m_interval[0], m_interval[1] - i.m_interval[1], m_interval[2] - i.m_interval[2]); } template IntervalND& IntervalND::operator -=(const IntervalND& i) { m_interval[0] -= i.m_interval[0]; m_interval[1] -= i.m_interval[1]; m_interval[2] -= i.m_interval[2]; return *this; } template IntervalND IntervalND::operator *(const IntervalND& i) const { return IntervalND(m_interval[0] * i.m_interval[0], m_interval[1] * i.m_interval[1], m_interval[2] * i.m_interval[2]); } template IntervalND& IntervalND::operator *=(const IntervalND& i) { m_interval[0] *= i.m_interval[0]; m_interval[1] *= i.m_interval[1]; m_interval[2] *= i.m_interval[2]; return *this; } template IntervalND IntervalND::inverse() const { return IntervalND(m_interval[0].inverse(), m_interval[1].inverse(), m_interval[2].inverse()); } template IntervalND IntervalND::operator /(const IntervalND& i) const { return IntervalND(m_interval[0] / i.m_interval[0], m_interval[1] / i.m_interval[1], m_interval[2] / i.m_interval[2]); } template IntervalND& IntervalND::operator /=(const IntervalND& i) { m_interval[0] /= i.m_interval[0]; m_interval[1] /= i.m_interval[1]; m_interval[2] /= i.m_interval[2]; return *this; } template Interval IntervalND::dotProduct(const IntervalND& i) const { return (m_interval[0] * i.m_interval[0] + m_interval[1] * i.m_interval[1] + m_interval[2] * i.m_interval[2]); } template IntervalND IntervalND::crossProduct(const IntervalND& i) const { return IntervalND(m_interval[1] * i.m_interval[2] - m_interval[2] * i.m_interval[1], m_interval[2] * i.m_interval[0] - m_interval[0] * i.m_interval[2], m_interval[0] * i.m_interval[1] - m_interval[1] * i.m_interval[0]); } template Interval IntervalND::magnitudeSquared() const { return m_interval[0].square() + m_interval[1].square() + m_interval[2].square(); } template Interval IntervalND::magnitude() const { Interval magnitudeSq = magnitudeSquared(); // Both minimum and maximum are guaranteed to be non-negative. return Interval(sqrt(magnitudeSq.getMin()), sqrt(magnitudeSq.getMax())); } template const Interval& IntervalND::getAxis(size_t i) const { return m_interval[i]; } // Utility functions not part of any class template Interval operator+ (T v, const Interval& i) { return i + v; } template Interval operator* (T v, const Interval& i) { return i * v; } template void IntervalArithmetic_add(const Interval& a, const Interval& b, Interval* res) { res->m_min = a.m_min + b.m_min; res->m_max = a.m_max + b.m_max; } template void IntervalArithmetic_addadd(const Interval& a, const Interval& b, Interval* res) { res->m_min += a.m_min + b.m_min; res->m_max += a.m_max + b.m_max; } template void IntervalArithmetic_sub(const Interval& a, const Interval& b, Interval* res) { res->m_min = a.m_min - b.m_max; res->m_max = a.m_max - b.m_min; } template void IntervalArithmetic_addsub(const Interval& a, const Interval& b, Interval* res) { res->m_min += a.m_min - b.m_max; res->m_max += a.m_max - b.m_min; } template void IntervalArithmetic_mul(const Interval& a, const Interval& b, Interval* res) { T min, max; minMax(a.m_min * b.m_min, a.m_min * b.m_max, a.m_max * b.m_min, a.m_max * b.m_max, &min, &max); res->m_min = min; res->m_max = max; } template void IntervalArithmetic_addmul(const Interval& a, const Interval& b, Interval* res) { T min, max; minMax(a.m_min * b.m_min, a.m_min * b.m_max, a.m_max * b.m_min, a.m_max * b.m_max, &min, &max); res->m_min += min; res->m_max += max; } template void IntervalArithmetic_submul(const Interval& a, const Interval& b, Interval* res) { T min, max; minMax(a.m_min * b.m_min, a.m_min * b.m_max, a.m_max * b.m_min, a.m_max * b.m_max, &min, &max); res->m_min -= max; res->m_max -= min; } // Interval functions template std::ostream& operator<< (std::ostream& o, const Interval& interval) { o << "[" << interval.getMin() << "," << interval.getMax() << "]"; return o; } // Interval ND functions template std::ostream& operator<< (std::ostream& o, const IntervalND& interval) { o << "(" << interval.getAxis(0); for (int i = 1; i < N; ++i) { o << ";" << interval.getAxis(i); } o << ")"; return o; } // Interval 3D functions template void IntervalArithmetic_add(const IntervalND& a, const IntervalND& b, IntervalND* res) { IntervalArithmetic_add(a.m_interval[0], b.m_interval[0], &(res->m_interval[0])); IntervalArithmetic_add(a.m_interval[1], b.m_interval[1], &(res->m_interval[1])); IntervalArithmetic_add(a.m_interval[2], b.m_interval[2], &(res->m_interval[2])); } template void IntervalArithmetic_sub(const IntervalND& a, const IntervalND& b, IntervalND* res) { IntervalArithmetic_sub(a.m_interval[0], b.m_interval[0], &(res->m_interval[0])); IntervalArithmetic_sub(a.m_interval[1], b.m_interval[1], &(res->m_interval[1])); IntervalArithmetic_sub(a.m_interval[2], b.m_interval[2], &(res->m_interval[2])); } template void IntervalArithmetic_crossProduct(const IntervalND& a, const IntervalND& b, IntervalND* res) { IntervalArithmetic_mul(a.m_interval[1], b.m_interval[2], &(res->m_interval[0])); IntervalArithmetic_submul(a.m_interval[2], b.m_interval[1], &(res->m_interval[0])); IntervalArithmetic_mul(a.m_interval[2], b.m_interval[0], &(res->m_interval[1])); IntervalArithmetic_submul(a.m_interval[0], b.m_interval[2], &(res->m_interval[1])); IntervalArithmetic_mul(a.m_interval[0], b.m_interval[1], &(res->m_interval[2])); IntervalArithmetic_submul(a.m_interval[1], b.m_interval[0], &(res->m_interval[2])); } template void IntervalArithmetic_dotProduct(const IntervalND& a, const IntervalND& b, Interval* res) { IntervalArithmetic_mul(a.m_interval[0], b.m_interval[0], res); IntervalArithmetic_addmul(a.m_interval[1], b.m_interval[1], res); IntervalArithmetic_addmul(a.m_interval[2], b.m_interval[2], res); } }; // Math }; // SurgSim #endif // SURGSIM_MATH_INTERVALARITHMETIC_INL_H opensurgsim-0.7.0/SurgSim/Math/IntervalArithmetic.h000066400000000000000000000525711277777236100223570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_INTERVALARITHMETIC_H #define SURGSIM_MATH_INTERVALARITHMETIC_H #include #include namespace SurgSim { namespace Math { /// Interval defines the concept of a mathematical interval and provides operations on it /// including arithmetic operations, construction, and IO. /// /// \tparam T underlying data type over which the interval is defined. /// /// \sa IntervalND and IntervalND template class Interval { template friend void IntervalArithmetic_add(const Interval

& a, const Interval

& b, Interval

* res); // + template friend void IntervalArithmetic_addadd(const Interval

& a, const Interval

& b, Interval

* res); // +=( + ) template friend void IntervalArithmetic_sub(const Interval

& a, const Interval

& b, Interval

* res); // - template friend void IntervalArithmetic_addsub(const Interval

& a, const Interval

& b, Interval

* res); // +=( - ) template friend void IntervalArithmetic_mul(const Interval

& a, const Interval

& b, Interval

* res); // * template friend void IntervalArithmetic_addmul(const Interval

& a, const Interval

& b, Interval

* res); // += ( * ) template friend void IntervalArithmetic_submul(const Interval

& a, const Interval

& b, Interval

* res); // -= ( * ) public: /// Constructor Interval(); /// Constructor /// \param min Lower bound of the constructed interval /// \param max Upper bound of the constructed interval /// \exception if max is less than min Interval(const T& min, const T& max); /// Copy constructor /// \param i Interval to be copied Interval(const Interval& i); /// Move constructor /// \param i Interval to be copied Interval(Interval&& i); /// Assignment operator /// \param i Interval to be copied Interval& operator =(const Interval& i); /// Move assignment operator /// \param i Interval to be moved Interval& operator=(Interval&& i); /// Generate an interval from min to max based on the inputs /// \param a1 first input value /// \param a2 second input value /// \return an interval spanning the minimum input to the maximum input. static Interval minToMax(const T& a1, const T& a2); /// Generate an interval from min to max based on the inputs /// \param a1 first input value /// \param a2 second input value /// \param a3 third input value /// \return an interval spanning the minimum input to the maximum input. static Interval minToMax(const T& a1, const T& a2, const T& a3); /// Generate an interval from min to max based on the inputs /// \param a1 first input value /// \param a2 second input value /// \param a3 third input value /// \param a4 fourth input value /// \return an interval spanning the minimum input to the maximum input. static Interval minToMax(const T& a1, const T& a2, const T& a3, const T& a4); /// \param i the interval the current interval will be tested against /// \return true if the input interval overlaps the current interval bool overlapsWith(const Interval& i) const; /// \param val the value to test for inclusion in the interval /// \return true if the current interval contains val bool contains(const T& val) const; /// \return true if the current interval contains 0 bool containsZero() const; /// \param i the interval to be tested /// \param epsilon the nearness parameter /// \return true if the current interval is within epsilon of the input interval bool isApprox(const Interval& i, const T& epsilon) const; /// \param i the interval to be tested /// \return true if the current interval is identical to the input interval bool operator ==(const Interval& i) const; /// \param i the interval to be tested /// \return true if the current interval is not identical to the input interval bool operator !=(const Interval& i) const; /// Widens the current interval by thickness on both sides /// \param thickness the amount to widen the current interval on both sides /// \return the current interval after modification Interval& addThickness(const T& thickness); /// Widens the current interval on one end to include x /// \param x the value to be included in the interval /// \return the current interval extended to include x Interval& extendToInclude(const T& x); /// Widens the current interval on both ends to include i /// \param i the interval to be wholly contained in the current interval /// \return the current interval extended to include the entirety of i Interval& extendToInclude(const Interval& i); /// @{ /// Standard arithmetic operators extended to intervals Interval operator +(const Interval& i) const; Interval operator +(const T& v) const; Interval& operator +=(const Interval& i); Interval& operator +=(const T& v); Interval operator -() const; Interval operator -(const Interval& i) const; Interval operator -(const T& v) const; Interval& operator -=(const Interval& i); Interval& operator -=(const T& v); Interval operator *(const Interval& i) const; Interval operator *(const T& v) const; Interval& operator *=(const Interval& i); Interval& operator *=(const T& v); /// @} /// \return the inverse of the current interval /// \exception if the interval includes 0 Interval inverse() const; /// \param i the interval to be divided by /// \return the current interval multiplied by the inverse of i /// \exception if i includes 0 Interval operator /(const Interval& i) const; /// \param i the interval to be divided by /// \return the current interval multiplied by the inverse of i /// \exception if i includes 0 /// \note the current interval is modified by this operation Interval& operator /=(const Interval& i); /// \return the square of the current interval /// \note if the original interval contains 0, then the result will have the minimum identically set to 0 Interval square() const; /// \return the lower limit of the interval T getMin() const; /// \return the upper limit of the interval T getMax() const; /// \return the interval from the lower limit to the midpoint Interval lowerHalf() const; /// \return the interval from the midpoint to the upper limit Interval upperHalf() const; private: /// The lower (m_min) and upper (m_max) limits of the interval T m_min, m_max; }; /// IntervalND defines the concept of a group of mathematical intervals and provides operations on them /// including arithmetic operations, construction, and IO. /// /// \tparam T underlying data type over which the interval is defined. /// \tparam N number of intervals in the group. /// /// \sa Interval and IntervalND template class IntervalND { public: static_assert(N >= 1, "IntervalND cannot be instantiated with N<=0."); /// Constructor IntervalND(); /// Constructor /// \param x array of N intervals to be copied into the group explicit IntervalND(const std::array, N>& x); /// Copy constructor /// \param interval interval group to copied IntervalND(const IntervalND& interval); /// Move constructor /// \param i Interval to be copied IntervalND(IntervalND&& i); /// Constructor /// \param a array of N values to be used as the respective minimums for the interval entries. /// \param b array of N values to be used as the respective maximums for the interval entries. IntervalND(const std::array& a, const std::array& b); /// Assignment operator /// \param interval Interval group to be copied IntervalND& operator =(const IntervalND& interval); /// Move assignment operator /// \param i Interval to be moved IntervalND& operator=(IntervalND&& i); /// \param interval the interval group the current group will be tested against /// \return true if the input group interval overlaps the current group bool overlapsWith(const IntervalND& interval) const; /// \param interval the interval group to be tested /// \param epsilon the nearness parameter /// \return true if each interval in the input group is approximately equal to its correspondent /// element in interval. bool isApprox(const IntervalND& interval, const T& epsilon) const; /// \param interval the interval group to be tested /// \return true if the current interval group is identical to the input group bool operator ==(const IntervalND& interval) const; /// \param interval the interval group to be tested /// \return true if the current interval group is not identical to the input group bool operator !=(const IntervalND& interval) const; /// Widens every interval in the current interval group by thickness on both sides /// \param thickness the amount to widen on both sides /// \return the current interval group after modification IntervalND& addThickness(const T& thickness); /// @{ /// Standard arithmetic operators extended to interval groups IntervalND operator +(const IntervalND& interval) const; IntervalND& operator +=(const IntervalND& interval); IntervalND operator -(const IntervalND& interval) const; IntervalND& operator -=(const IntervalND& interval); IntervalND operator *(const IntervalND& interval) const; IntervalND& operator *=(const IntervalND& interval); /// @} /// \return the inverse of each interval in the interval group /// \exception if any interval includes 0 IntervalND inverse() const; /// \param interval the interval to be divided by /// \return the product of each interval in the group multiplied by the inverse of /// its correspondent in interval /// \exception if any component of interval includes 0 IntervalND operator /(const IntervalND& interval) const; /// \param interval the interval to be divided by /// \return the product of each interval in the group multiplied by the inverse of /// its correspondent in interval /// \note the current interval is modified by this operation IntervalND& operator /=(const IntervalND& interval); /// \param interval the input interval group /// \return the interval dot product of the current group and interval Interval dotProduct(const IntervalND& interval) const; /// \return the square of the interval magnitude for the current group Interval magnitudeSquared() const; /// \return the interval magnitude for the current group Interval magnitude() const; /// \param i the selector for the interval to be returned /// \return the ith interval in the current group const Interval& getAxis(size_t i) const; private: /// The N dimensional group of intervals std::array, N> m_interval; }; /// IntervalND defines the concept of a group of mathematical intervals specialized to 3 intervals and provides /// operations on them including arithmetic operations, construction, and IO. /// /// \tparam T underlying data type over which the interval is defined. /// /// \sa Interval and IntervalND template class IntervalND { template friend void IntervalArithmetic_add(const IntervalND& a, const IntervalND& b, IntervalND* res); template friend void IntervalArithmetic_sub(const IntervalND& a, const IntervalND& b, IntervalND* res); template friend void IntervalArithmetic_crossProduct(const IntervalND& a, const IntervalND& b, IntervalND* res); template friend void IntervalArithmetic_dotProduct(const IntervalND& a, const IntervalND& b, Interval

* res); public: /// Constructor IntervalND(); /// Constructor /// \param x array of 3 intervals to be copied into the group explicit IntervalND(const std::array, 3>& x); /// Constructor /// \param x first interval to be added to the 3 group /// \param y second interval to be added to the 3 group /// \param z third interval to be added to the 3 group IntervalND(const Interval& x, const Interval& y, const Interval& z); /// Copy constructor /// \param i interval 3 group to copied IntervalND(const IntervalND& i); /// Move constructor /// \param i Interval to be copied IntervalND(IntervalND&& i); /// Constructor /// \param a array of 3 values to be used as the respective minimums for the interval entries. /// \param b array of 3 values to be used as the respective maximums for the interval entries. IntervalND(const std::array& a, const std::array& b); /// Assignment operator /// \param i Interval 3 group to be copied IntervalND& operator =(const IntervalND& i); /// Move assignment operator /// \param i Interval to be moved IntervalND& operator=(IntervalND&& i); /// \param interval the interval group the current group will be tested against /// \return true if the input 3 group interval overlaps the current 3 group bool overlapsWith(const IntervalND& interval) const; /// \param interval the interval group to be tested /// \param epsilon the nearness parameter /// \return true if each interval in the input group is approximately equal to its correspondent /// element in interval. bool isApprox(const IntervalND& interval, const T& epsilon) const; /// \param i the interval group to be tested /// \return true if the current interval 3 group is identical to the input 3 group i bool operator ==(const IntervalND& i) const; /// \param i the interval group to be tested /// \return true if the current interval 3 group is not identical to the input 3 group i bool operator !=(const IntervalND& i) const; /// Widens every interval in the current interval group by thickness on both sides /// \param thickness the amount to widen on both sides /// \return the current interval group after modification IntervalND& addThickness(const T& thickness); /// @{ /// Standard arithmetic operators extended to 3 interval groups IntervalND operator +(const IntervalND& i) const; IntervalND& operator +=(const IntervalND& i); IntervalND operator -(const IntervalND& i) const; IntervalND& operator -=(const IntervalND& i); IntervalND operator *(const IntervalND& i) const; IntervalND& operator *=(const IntervalND& i); /// @} /// \return the inverse of each interval in the 3 interval group /// \exception if any interval includes 0 IntervalND inverse() const; /// \param i the interval to be divided by /// \return the product of each interval in the 3 group multiplied by the inverse of /// its correspondent in i /// \exception if any component of interval includes 0 IntervalND operator /(const IntervalND& i) const; /// \param i the interval to be divided by /// \return the product of each interval in the 3 group multiplied by the inverse of /// its correspondent in i /// \note the current interval is modified by this operation IntervalND& operator /=(const IntervalND& i); /// \param i the input interval group /// \return the interval dot product of the current 3 group and interval Interval dotProduct(const IntervalND& i) const; /// \param i the input interval group /// \return the interval cross product of the current 3 group and interval IntervalND crossProduct(const IntervalND& i) const; /// \return the square of the interval magnitude for the current 3 group Interval magnitudeSquared() const; /// \return the interval magnitude for the current 3 group Interval magnitude() const; /// \param i the selector for the interval to be returned /// \return the ith interval in the current 3 group const Interval& getAxis(size_t i) const; private: /// The 3 dimensional group of intervals std::array, 3> m_interval; }; // Interval utilities /// \tparam T underlying type of the interval /// \param v the scalar /// \param i the interval /// \return the sum of the scalar v and the interval i template Interval operator+ (T v, const Interval& i); /// \tparam T underlying type of the interval /// \param v the scalar /// \param i the interval /// \return the product of the scalar v and the interval i template Interval operator* (T v, const Interval& i); /// Write a textual version of the interval to an output stream /// \tparam T underlying type of the interval /// \param o the ostream to be written to /// \param interval the interval to write /// \return the active ostream template std::ostream& operator<< (std::ostream& o, const Interval& interval); /// Calculate the sum of two intervals /// \tparam P underlying type of the interval /// \param a the first interval /// \param b the second interval /// \param res [out] the result of a + b template void IntervalArithmetic_add(const Interval

& a, const Interval

& b, Interval

* res); // + /// Calculate the sum of three intervals res + a + b /// \tparam P underlying type of the interval /// \param a the first interval /// \param b the second interval /// \param res [in/out] the result of res + a + b template void IntervalArithmetic_addadd(const Interval

& a, const Interval

& b, Interval

* res); // +=( + ) /// Calculate the difference of two intervals /// \tparam P underlying type of the interval /// \param a the first interval /// \param b the second interval /// \param res [out] the result of a - b template void IntervalArithmetic_sub(const Interval

& a, const Interval

& b, Interval

* res); // - /// Add the difference of two intervals to an existing value /// \tparam P underlying type of the interval /// \param a the first interval /// \param b the second interval /// \param res [in/out] the result of res + (a - b) template void IntervalArithmetic_addsub(const Interval

& a, const Interval

& b, Interval

* res); // +=( - ) /// Calculate the product of two intervals /// \tparam P underlying type of the interval /// \param a the first interval /// \param b the second interval /// \param res [out] the result of a * b template void IntervalArithmetic_mul(const Interval

& a, const Interval

& b, Interval

* res); // * /// Add the product of two intervals to an existing value /// \tparam P underlying type of the interval /// \param a the first interval /// \param b the second interval /// \param res [in/out] the result of res + (a * b) template void IntervalArithmetic_addmul(const Interval

& a, const Interval

& b, Interval

* res); // += ( * ) /// Subtract the product of two intervals from an existing value /// \tparam P underlying type of the interval /// \param a the first interval /// \param b the second interval /// \param res [in/out] the result of res - (a * b) template void IntervalArithmetic_submul(const Interval

& a, const Interval

& b, Interval

* res); // -= ( * ) // Interval ND utilities /// Write a textual version of an interval group to an output stream /// \tparam T underlying type of the interval /// \tparam N number of intervals in the group /// \param o the ostream to be written to /// \param interval the interval group to write /// \return the active ostream template std::ostream& operator<< (std::ostream& o, const IntervalND& interval); // Interval 3D utilities /// Calculate the sum of two interval groups /// \tparam P underlying type of the interval /// \param a the first interval group /// \param b the second interval group /// \param res [out] the result of a + b template void IntervalArithmetic_add(const IntervalND& a, const IntervalND& b, IntervalND* res); /// Calculate the difference of two interval groups /// \tparam P underlying type of the interval /// \param a the first interval group /// \param b the second interval group /// \param res [out] the result of a - b template void IntervalArithmetic_sub(const IntervalND& a, const IntervalND& b, IntervalND* res); /// Calculate the dot product of two interval groups /// \tparam P underlying type of the interval /// \param a the first interval group /// \param b the second interval group /// \param res [out] the dot product of a and b template void IntervalArithmetic_dotProduct(const IntervalND& a, const IntervalND& b, Interval

* res); /// Calculate the cross product of two interval groups /// \tparam P underlying type of the interval /// \param a the first interval group /// \param b the second interval group /// \param res [out] the cross product of a and b template void IntervalArithmetic_crossProduct(const IntervalND& a, const IntervalND& b, IntervalND* res); }; // Math }; // SurgSim #include "SurgSim/Math/IntervalArithmetic-inl.h" #endif // SURGSIM_MATH_INTERVALARITHMETIC_H opensurgsim-0.7.0/SurgSim/Math/KalmanFilter-inl.h000066400000000000000000000075071277777236100217110ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_KALMANFILTER_INL_H #define SURGSIM_MATH_KALMANFILTER_INL_H namespace SurgSim { namespace Math { template KalmanFilter::KalmanFilter() : m_stateTransition(Eigen::Matrix::Constant(std::numeric_limits::quiet_NaN())), m_observationMatrix(Eigen::Matrix::Constant( std::numeric_limits::quiet_NaN())), m_processNoiseCovariance(Eigen::Matrix::Constant( std::numeric_limits::quiet_NaN())), m_measurementNoiseCovariance(Eigen::Matrix::Constant( std::numeric_limits::quiet_NaN())), m_state(Eigen::Matrix::Constant(std::numeric_limits::quiet_NaN())), m_stateCovariance(Eigen::Matrix::Constant(std::numeric_limits::quiet_NaN())) { } template KalmanFilter::~KalmanFilter() { } template void KalmanFilter::setInitialState(const Eigen::Ref>& x) { m_state = x; } template void KalmanFilter::setInitialStateCovariance(const Eigen::Ref>& p) { m_stateCovariance = p; } template void KalmanFilter::setStateTransition(const Eigen::Ref>& a) { m_stateTransition = a; } template void KalmanFilter::setObservationMatrix(const Eigen::Ref>& h) { m_observationMatrix = h; } template void KalmanFilter::setProcessNoiseCovariance(const Eigen::Ref>& q) { m_processNoiseCovariance = q; } template void KalmanFilter::setMeasurementNoiseCovariance(const Eigen::Ref>& r) { m_measurementNoiseCovariance = r; } template const Eigen::Matrix& KalmanFilter::update() { updatePrediction(); return m_state; } template const Eigen::Matrix& KalmanFilter::update(const Eigen::Ref>& measurement) { updatePrediction(); updateMeasurement(measurement); return m_state; } template const Eigen::Matrix& KalmanFilter::getState() const { return m_state; } template void KalmanFilter::updatePrediction() { m_state = m_stateTransition * m_state; m_stateCovariance = m_stateTransition * m_stateCovariance * m_stateTransition.transpose() + m_processNoiseCovariance; } template void KalmanFilter::updateMeasurement(const Eigen::Ref>& measurement) { const Matrix gain = m_stateCovariance * m_observationMatrix.transpose() * (m_observationMatrix * m_stateCovariance * m_observationMatrix.transpose() + m_measurementNoiseCovariance).inverse(); m_state += gain * (measurement - m_observationMatrix * m_state); m_stateCovariance -= gain * m_observationMatrix * m_stateCovariance; } }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_KALMANFILTER_INL_Hopensurgsim-0.7.0/SurgSim/Math/KalmanFilter.h000066400000000000000000000076411277777236100211300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_KALMANFILTER_H #define SURGSIM_MATH_KALMANFILTER_H #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Math { /// Implements a linear Kalman filter, a recursive estimator. /// Does not support control inputs. /// \tparam M The length of the state vector. /// \tparam N The length of the measurement vector. template class KalmanFilter { public: /// Constructor. KalmanFilter(); /// Destructor. virtual ~KalmanFilter(); /// Set the initial state vector, x(0), length m. /// \param x The initial state. void setInitialState(const Eigen::Ref>& x); /// Set the initial covariance of the state, P(0), size m x m. /// \param p The initial covariance. void setInitialStateCovariance(const Eigen::Ref>& p); /// Set the state transition, A, such that x(t+1) = A.x(t), size m x m. /// \param a The state transition matrix. void setStateTransition(const Eigen::Ref>& a); /// Set the observation matrix, H, such that z(t) = H.x(t), size n x m. /// \param h The observation matrix. void setObservationMatrix(const Eigen::Ref>& h); /// Set the process noise covariance, size m x m. /// \param q The process noise covariance. void setProcessNoiseCovariance(const Eigen::Ref>& q); /// Set the measurement noise covariance, size n x n. /// \param r The measurement noise covariance. void setMeasurementNoiseCovariance(const Eigen::Ref>& r); /// Advance one step without a measurement. /// \return The estimate for the new state, x(t+1), length m. const Eigen::Matrix& update(); /// Advance one step with measurement. /// \param measurement The measurement, z(t), length n. /// \return The estimate for the new state, x(t+1), length m. const Eigen::Matrix& update(const Eigen::Ref>& measurement); /// Get the current state. Does not advance the state. /// \return The estimate for the current state, x(t), length m. const Eigen::Matrix& getState() const; private: /// Use the current estimated state, x(t), and matrices to predict the new state, x(t+1), and /// state covariance, P(t+1). void updatePrediction(); /// Correct the current estimated state, x(t), and state covariance, P(t), based on a measurement, z(t). /// \param measurement The measurement, length n. void updateMeasurement(const Eigen::Ref>& measurement); /// The state transition matrix. Eigen::Matrix m_stateTransition; /// The observation matrix. Eigen::Matrix m_observationMatrix; /// The process noise covariance. Eigen::Matrix m_processNoiseCovariance; /// The measurement noise covariance. Eigen::Matrix m_measurementNoiseCovariance; /// The state. Eigen::Matrix m_state; /// The covariance of the state. Eigen::Matrix m_stateCovariance; }; }; // Math }; // SurgSim #include "SurgSim/Math/KalmanFilter-inl.h" #endif // SURGSIM_MATH_KALMANFILTER_H opensurgsim-0.7.0/SurgSim/Math/LinearMotionArithmetic-inl.h000066400000000000000000000451001277777236100237410ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_LINEARMOTIONARITHMETIC_INL_H #define SURGSIM_MATH_LINEARMOTIONARITHMETIC_INL_H namespace SurgSim { namespace Math { template LinearMotion::LinearMotion() : m_start(static_cast(0)), m_end(static_cast(0)) {} template LinearMotion::LinearMotion(const T& start, const T& end) : m_start(start), m_end(end) {} template LinearMotion::LinearMotion(const LinearMotion& m) : m_start(m.m_start), m_end(m.m_end) {} template LinearMotion::LinearMotion(LinearMotion&& m) { *this = std::move(m); } template LinearMotion& LinearMotion::operator=(const LinearMotion& m) { m_start = m.m_start; m_end = m.m_end; return *this; } template LinearMotion& LinearMotion::operator=(LinearMotion&& m) { m_start = std::move(m.m_start); m_end = std::move(m.m_end); return *this; } template Interval LinearMotion::toInterval() const { return Interval::minToMax(m_start, m_end); } template Polynomial LinearMotion::toPolynomial() const { return Polynomial(m_start, m_end - m_start); } template bool LinearMotion::containsZero() const { return toInterval().containsZero(); } template bool LinearMotion::isApprox(const LinearMotion& m, const T& epsilon) const { return (std::abs(m_start - m.m_start) <= epsilon) && (std::abs(m_end - m.m_end) <= epsilon); } template bool LinearMotion::operator==(const LinearMotion& m) const { return ((m_start == m.m_start) && (m_end == m.m_end)); } template bool LinearMotion::operator!=(const LinearMotion& m) const { return !(*this == m); } template LinearMotion LinearMotion::operator+(const LinearMotion& m) const { return LinearMotion(m_start + m.m_start, m_end + m.m_end); } template LinearMotion& LinearMotion::operator+=(const LinearMotion& m) { m_start += m.m_start; m_end += m.m_end; return *this; } template LinearMotion LinearMotion::operator-(const LinearMotion& m) const { return LinearMotion(m_start - m.m_start, m_end - m.m_end); } template LinearMotion& LinearMotion::operator-=(const LinearMotion& m) { m_start -= m.m_start; m_end -= m.m_end; return *this; } template Interval LinearMotion::operator*(const LinearMotion& m) const { return this->toInterval() * m.toInterval(); } template Interval LinearMotion::operator/(const LinearMotion& m) const { return this->toInterval() / m.toInterval(); } template T LinearMotion::getStart() const { return m_start; } template T LinearMotion::getEnd() const { return m_end; } template T LinearMotion::atTime(const T& t) const { return ((static_cast(1) - t) * m_start + t * m_end); } template LinearMotion LinearMotion::firstHalf() const { return LinearMotion(m_start, (m_start + m_end) * static_cast(0.5)); } template LinearMotion LinearMotion::secondHalf() const { return LinearMotion((m_start + m_end) * static_cast(0.5), m_end); } // Class ND template LinearMotionND::LinearMotionND() { } template LinearMotionND::LinearMotionND(const std::array, N>& x) { m_motion = x; } template LinearMotionND::LinearMotionND(const LinearMotionND& motion) { m_motion = motion.m_motion; } template LinearMotionND::LinearMotionND(LinearMotionND&& motion) { *this = std::move(motion); } template LinearMotionND::LinearMotionND(const std::array& a, const std::array& b) { for (int i = 0; i < N; ++i) { m_motion[i] = LinearMotion(a[i], b[i]); } } template LinearMotionND& LinearMotionND::operator=(const LinearMotionND& motion) { m_motion = motion.m_motion; return *this; } template LinearMotionND& LinearMotionND::operator=(LinearMotionND&& motion) { if (this != &motion) { m_motion = std::move(motion.m_motion); } return *this; } template IntervalND LinearMotionND::toInterval() const { std::array, N> motions; for (int i = 0; i < N; ++i) { motions[i] = m_motion[i].toInterval(); } return IntervalND(motions); } template bool LinearMotionND::isApprox(const LinearMotionND& motion, const T& epsilon) const { for (int i = 0; i < N; i++) { if (!m_motion[i].isApprox(motion.m_interval[i], epsilon)) { return false; } } return true; } template bool LinearMotionND::operator==(const LinearMotionND& motion) const { return (m_motion == motion.m_motion); } template bool LinearMotionND::operator!=(const LinearMotionND& motion) const { return !(this->operator==(motion)); } template LinearMotionND LinearMotionND::operator+(const LinearMotionND& m) const { LinearMotionND ret(*this); ret += m; return ret; } template LinearMotionND& LinearMotionND::operator+=(const LinearMotionND& m) { for (int i = 0; i < N; ++i) { m_motion[i] += m.m_motion[i]; } return *this; } template LinearMotionND LinearMotionND::operator-(const LinearMotionND& m) const { LinearMotionND ret(*this); ret -= m; return ret; } template LinearMotionND& LinearMotionND::operator-=(const LinearMotionND& m) { for (int i = 0; i < N; ++i) { m_motion[i] -= m.m_motion[i]; } return *this; } template IntervalND LinearMotionND::operator*(const LinearMotionND& m) const { return this->toInterval() * m.toInterval(); } template IntervalND LinearMotionND::operator/(const LinearMotionND& m) const { return this->toInterval() / m.toInterval(); } template Interval LinearMotionND::dotProduct(const LinearMotionND& motion) const { Interval ret(static_cast(0), static_cast(0)); for (int i = 0 ; i < N ; i++) { ret += m_motion[i] * motion.m_motion[i]; } return ret; } template const LinearMotion& LinearMotionND::getAxis(int i) const { SURGSIM_ASSERT((i >= 0) && (i < N)) << "Asking for an axis greater than the dimensionality of the linear motion"; return m_motion[i]; } template void LinearMotionND::getStart(std::array* start) const { for (int i = 0; i < N; ++i) { (*start)[i] = m_motion[i].getStart(); } } template void LinearMotionND::getEnd(std::array* end) const { for (int i = 0; i < N; ++i) { (*end)[i] = m_motion[i].getEnd(); } } template LinearMotionND LinearMotionND::firstHalf() const { LinearMotionND ret; for (int i = 0; i < N; ++i) { ret.m_motion[i] = m_motion[i].firstHalf(); } return ret; } template LinearMotionND LinearMotionND::secondHalf() const { LinearMotionND ret; for (int i = 0; i < N; ++i) { ret.m_motion[i] = m_motion[i].secondHalf(); } return ret; } // Special case for dimension 3 template LinearMotionND::LinearMotionND() { } template LinearMotionND::LinearMotionND(const std::array, 3>& x) { m_motion[0] = x[0]; m_motion[1] = x[1]; m_motion[2] = x[2]; } template LinearMotionND::LinearMotionND(const LinearMotion& a, const LinearMotion& b, const LinearMotion& c) { m_motion[0] = a; m_motion[1] = b; m_motion[2] = c; } template LinearMotionND::LinearMotionND(const LinearMotionND& motion) { m_motion[0] = motion.m_motion[0]; m_motion[1] = motion.m_motion[1]; m_motion[2] = motion.m_motion[2]; } template LinearMotionND::LinearMotionND(LinearMotionND&& motion) { *this = std::move(motion); } template LinearMotionND::LinearMotionND(const std::array& start, const std::array& end) { m_motion[0] = LinearMotion(start[0], end[0]); m_motion[1] = LinearMotion(start[1], end[1]); m_motion[2] = LinearMotion(start[2], end[2]); } template LinearMotionND::LinearMotionND(const Vector3& start, const Vector3& end) { m_motion[0] = LinearMotion(start[0], end[0]); m_motion[1] = LinearMotion(start[1], end[1]); m_motion[2] = LinearMotion(start[2], end[2]); } template LinearMotionND& LinearMotionND::operator=(const LinearMotionND& motion) { m_motion[0] = motion.m_motion[0]; m_motion[1] = motion.m_motion[1]; m_motion[2] = motion.m_motion[2]; return *this; } template LinearMotionND& LinearMotionND::operator=(LinearMotionND&& motion) { m_motion[0] = std::move(motion.m_motion[0]); m_motion[1] = std::move(motion.m_motion[1]); m_motion[2] = std::move(motion.m_motion[2]); return *this; } template IntervalND LinearMotionND::toInterval() const { std::array, 3> intervals; intervals[0] = m_motion[0].toInterval(); intervals[1] = m_motion[1].toInterval(); intervals[2] = m_motion[2].toInterval(); return IntervalND(intervals); } template bool LinearMotionND::isApprox(const LinearMotionND& motion, const T& epsilon) const { return (m_motion[0].isApprox(motion.m_motion[0], epsilon) && m_motion[1].isApprox(motion.m_motion[1], epsilon) && m_motion[2].isApprox(motion.m_motion[2], epsilon)); } template bool LinearMotionND::operator==(const LinearMotionND& motion) const { return (m_motion[0] == motion.m_motion[0] && m_motion[1] == motion.m_motion[1] && m_motion[2] == motion.m_motion[2]); } template bool LinearMotionND::operator!=(const LinearMotionND& motion) const { return !(this->operator==(motion)); } template LinearMotionND LinearMotionND::operator+(const LinearMotionND& m) const { LinearMotionND ret(*this); ret += m; return ret; } template LinearMotionND& LinearMotionND::operator+=(const LinearMotionND& m) { m_motion[0] += m.m_motion[0]; m_motion[1] += m.m_motion[1]; m_motion[2] += m.m_motion[2]; return *this; } template LinearMotionND LinearMotionND::operator-(const LinearMotionND& m) const { LinearMotionND ret(*this); ret -= m; return ret; } template LinearMotionND& LinearMotionND::operator-=(const LinearMotionND& m) { m_motion[0] -= m.m_motion[0]; m_motion[1] -= m.m_motion[1]; m_motion[2] -= m.m_motion[2]; return *this; } template IntervalND LinearMotionND::operator*(const LinearMotionND& m) const { return this->toInterval() * m.toInterval(); } template IntervalND LinearMotionND::operator/(const LinearMotionND& m) const { return this->toInterval() / m.toInterval(); } template Interval LinearMotionND::dotProduct(const LinearMotionND& motion, const Interval& range) const { return valuesOverInterval(analyticDotProduct(*this, motion), range); } template IntervalND LinearMotionND::crossProduct(const LinearMotionND& motion, const Interval& range) const { // toInterval().crossProduct(motion.toInterval()) // results in intervals that are too broad. return IntervalND(valuesOverInterval(analyticCrossProductAxis(*this, motion), range), valuesOverInterval(analyticCrossProductAxis(*this, motion), range), valuesOverInterval(analyticCrossProductAxis(*this, motion), range)); } template Interval LinearMotionND::magnitudeSquared(const Interval& range) const { return valuesOverInterval(analyticMagnitudeSquared(*this), range); } template Interval LinearMotionND::magnitude(const Interval& range) const { Interval magnitudeSq = magnitudeSquared(range); // Both minimum and maximum are guaranteed to be non-negative. return Interval(sqrt(magnitudeSq.getMin()), sqrt(magnitudeSq.getMax())); } template const LinearMotion& LinearMotionND::getAxis(int i) const { SURGSIM_ASSERT((i >= 0) && (i < 3)) << "Asking for an axis greater than the dimensionality of the linear motion"; return m_motion[i]; } template void LinearMotionND::getStart(std::array* start) const { (*start)[0] = m_motion[0].getStart(); (*start)[1] = m_motion[1].getStart(); (*start)[2] = m_motion[2].getStart(); } template void LinearMotionND::getEnd(std::array* end) const { (*end)[0] = m_motion[0].getEnd(); (*end)[1] = m_motion[1].getEnd(); (*end)[2] = m_motion[2].getEnd(); } template typename LinearMotionND::Vector3 LinearMotionND::getStart() const { return LinearMotionND::Vector3(m_motion[0].getStart(), m_motion[1].getStart(), m_motion[2].getStart()); } template typename LinearMotionND::Vector3 LinearMotionND::getEnd() const { return Vector3(m_motion[0].getEnd(), m_motion[1].getEnd(), m_motion[2].getEnd()); } template typename LinearMotionND::Vector3 LinearMotionND::atTime(const T& t) const { return Vector3(m_motion[0].atTime(t), m_motion[1].atTime(t), m_motion[2].atTime(t)); } template LinearMotionND LinearMotionND::firstHalf() const { LinearMotionND ret; ret.m_motion[0] = m_motion[0].firstHalf(); ret.m_motion[1] = m_motion[1].firstHalf(); ret.m_motion[2] = m_motion[2].firstHalf(); return ret; } template LinearMotionND LinearMotionND::secondHalf() const { LinearMotionND ret; ret.m_motion[0] = m_motion[0].secondHalf(); ret.m_motion[1] = m_motion[1].secondHalf(); ret.m_motion[2] = m_motion[2].secondHalf(); return ret; } // Utility functions not part of any class // Interval functions template std::ostream& operator<<(std::ostream& o, const LinearMotion& motion) { o << "(" << motion.getStart() << " -> " << motion.getEnd() << ")"; return o; } // Interval ND functions template std::ostream& operator<<(std::ostream& o, const LinearMotionND& motion) { o << "([" << motion.getAxis(0).getStart(); for (int i = 1; i < N; ++i) { o << "," << motion.getAxis(i).getStart(); } o << "] -> [" << motion.getAxis(0).getEnd(); for (int i = 1; i < N; ++i) { o << "," << motion.getAxis(i).getEnd(); } o << "])"; return o; } // Interval 3D functions template Polynomial analyticDotProduct(const LinearMotionND& a, const LinearMotionND& b) { return a.getAxis(0).toPolynomial() * b.getAxis(0).toPolynomial() + a.getAxis(1).toPolynomial() * b.getAxis(1).toPolynomial() + a.getAxis(2).toPolynomial() * b.getAxis(2).toPolynomial(); } template Polynomial analyticCrossProductAxis(const LinearMotionND& a, const LinearMotionND& b) { // The labels here are probably a bit confusing for anyone else, but at least this makes sense. // For A == 0, the "Y" and "Z" mean what they say, and the output is the X component. // For A == 1, they get rotated "down" by one (so Y -> Z, Z -> X), and the output is the Y component. // For A == 2, they get rotated "down" by two (so Y -> X, Z -> Y), and the output is the Z component. const LinearMotion& aY = a.getAxis((A + 1) % 3); const LinearMotion& aZ = a.getAxis((A + 2) % 3); const LinearMotion& bY = b.getAxis((A + 1) % 3); const LinearMotion& bZ = b.getAxis((A + 2) % 3); return aY.toPolynomial() * bZ.toPolynomial() - aZ.toPolynomial() * bY.toPolynomial(); } template Polynomial analyticCrossProductXAxis(const LinearMotionND& a, const LinearMotionND& b) { return analyticCrossProductAxis(a, b); } template Polynomial analyticCrossProductYAxis(const LinearMotionND& a, const LinearMotionND& b) { return analyticCrossProductAxis(a, b); } template Polynomial analyticCrossProductZAxis(const LinearMotionND& a, const LinearMotionND& b) { return analyticCrossProductAxis(a, b); } template void analyticCrossProduct(const LinearMotionND& a, const LinearMotionND& b, Polynomial* resultXAxis, Polynomial* resultYAxis, Polynomial* resultZAxis) { (*resultXAxis) = analyticCrossProductXAxis(a, b); (*resultYAxis) = analyticCrossProductYAxis(a, b); (*resultZAxis) = analyticCrossProductZAxis(a, b); } template Polynomial analyticTripleProduct(const LinearMotionND& a, const LinearMotionND& b, const LinearMotionND& c) { const Polynomial aX = a.getAxis(0).toPolynomial(); const Polynomial aY = a.getAxis(1).toPolynomial(); const Polynomial aZ = a.getAxis(2).toPolynomial(); const Polynomial bX = b.getAxis(0).toPolynomial(); const Polynomial bY = b.getAxis(1).toPolynomial(); const Polynomial bZ = b.getAxis(2).toPolynomial(); const Polynomial cX = c.getAxis(0).toPolynomial(); const Polynomial cY = c.getAxis(1).toPolynomial(); const Polynomial cZ = c.getAxis(2).toPolynomial(); return ((bY * cZ - bZ * cY) * aX + (bZ * cX - bX * cZ) * aY + (bX * cY - bY * cX) * aZ); } template static Interval tripleProduct(const LinearMotionND& a, const LinearMotionND& b, const LinearMotionND& c, const Interval& range) { return valuesOverInterval(analyticTripleProduct(a, b, c), range); } template Polynomial analyticMagnitudeSquared(const LinearMotionND& motion) { return analyticDotProduct(motion, motion); } }; // Math }; // SurgSim #endif // SURGSIM_MATH_LINEARMOTIONARITHMETIC_INL_H opensurgsim-0.7.0/SurgSim/Math/LinearMotionArithmetic.h000066400000000000000000000477521277777236100232000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_LINEARMOTIONARITHMETIC_H #define SURGSIM_MATH_LINEARMOTIONARITHMETIC_H #include #include #include #include "SurgSim/Math/IntervalArithmetic.h" #include "SurgSim/Math/PolynomialValues.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Math { /// LinearMotion is (intentionally) a lot like Interval, but it deals with linear motion where /// all operands start and end their motion simultaneously. /// /// LinearMotion results in much tighter bounds compared to Interval, since Interval must consider /// *any* value of each operand, and LinearMotion only considers values that are synchronous with /// one another. /// /// The bounds of a LinearMotion are a start value and an end value; there's no requirement that /// start <= end (or vice versa). /// /// Many operations on LinearMotion arguments (*, /) return results that are not linear in time, /// so those operations will return Interval instead. /// /// \tparam T underlying data type over which the linear motion is defined. /// /// \sa Interval, and IntervalND template class LinearMotion { public: /// Constructor LinearMotion(); /// Constructor /// \param start initial value of the constructed linear motion /// \param end final value of the constructed linear motion /// \exception if max is less than min LinearMotion(const T& start, const T& end); /// Copy constructor /// \param m Interval to be copied LinearMotion(const LinearMotion& m); /// Move constructor /// \param m LinearMotion to be copied LinearMotion(LinearMotion&& m); /// Assignment operator /// \param m Interval to be copied LinearMotion& operator=(const LinearMotion& m); /// Move assignment operator /// \param m Interval to be moved LinearMotion& operator=(LinearMotion&& m); /// Convert from LinearMotion to an Interval /// \return the conversion of the LinearMotion to an Interval Interval toInterval() const; /// Returns a linear expression (degree-1 polynomial) whose value for t=0..1 /// progresses from `start' to `end'. /// \return the conversion of the LinearMotion to a polynomial Polynomial toPolynomial() const; /// \return true if the linear motion crosses through 0. bool containsZero() const; /// \param i the linear motion to be tested /// \param epsilon the nearness parameter /// \return true if the current linear motion is within epsilon of the input linear motion bool isApprox(const LinearMotion& i, const T& epsilon) const; /// \param m the linear motion to be tested /// \return true if the current linear motion is identical to the input linear motion bool operator==(const LinearMotion& m) const; /// \param m the linear motion to be tested /// \return true if the current linear motion is not identical to the input linear motion bool operator!=(const LinearMotion& m) const; /// @{ /// Standard arithmetic operators extended to linear motions LinearMotion operator+(const LinearMotion& m) const; LinearMotion& operator+=(const LinearMotion& m); LinearMotion operator-(const LinearMotion& m) const; LinearMotion& operator-=(const LinearMotion& m); /// @} /// Standard arithmetic operators extended to interval groups /// \note Multiplication and division operators by their nature do not /// preserve time ordering and so the return value is an IntervalND instead /// of a LinearMotionND Interval operator*(const LinearMotion& m) const; /// Standard arithmetic operators extended to interval groups /// \note Multiplication and division operators by their nature do not /// preserve time ordering and so the return value is an IntervalND instead /// of a LinearMotionND /// \exception if any component of interval includes 0 Interval operator/(const LinearMotion& m) const; /// \return the initial value of the linear motion T getStart() const; /// \return the end point of the linear motion T getEnd() const; /// \param t the parametric time at which to evaluate the linear motion /// \return the value of the linear motion at parametric time t T atTime(const T& t) const; /// \return the linear motion from the initial time to the midpoint LinearMotion firstHalf() const; /// \return the linear motion from the midpoint to the endpoint LinearMotion secondHalf() const; private: /// The start point of the linear motion T m_start; /// The end point of the linear motion T m_end; }; /// LinearMotionND defines the concept of a group of linear motions and provides /// operations on them including arithmetic operations, construction, and I/O. /// /// \tparam T underlying data type over which the linear motion is defined. /// \tparam N Dimensionality of the interval /// /// \sa LinearMotionND and IntervalArthmetic template class LinearMotionND { static_assert(N > 0, "LinearMotion must have dimensionality > 0."); public: /// Constructor LinearMotionND(); /// Constructor /// \param x array of N motions to be copied into the group explicit LinearMotionND(const std::array, N>& x); /// Copy constructor /// \param motion motion group to copied LinearMotionND(const LinearMotionND& motion); /// Move constructor /// \param motion motion to be copied LinearMotionND(LinearMotionND&& motion); /// Constructor /// \param a array of N values to be used as the respective starts for the linear motion entries. /// \param b array of N values to be used as the respective ends for the linear motion entries. LinearMotionND(const std::array& a, const std::array& b); /// Assignment operator /// \param motion Linear motion group to be copied LinearMotionND& operator=(const LinearMotionND& motion); /// Move assignment operator /// \param motion Linear motion group to be moved LinearMotionND& operator=(LinearMotionND&& motion); /// Convert from LinearMotion to an Interval /// \return the conversion of the ND LinearMotion to an ND Interval IntervalND toInterval() const; /// \param motion the linear motion group to be tested /// \param epsilon the nearness parameter /// \return true if each linear motion in the input group is approximately equal to its correspondent /// element in motion. bool isApprox(const LinearMotionND& motion, const T& epsilon) const; /// \param motion the linear motion group to be tested /// \return true if the current linear motion group is identical to the input group bool operator==(const LinearMotionND& motion) const; /// \param motion the linear motion group to be tested /// \return true if the current linear motion group is not identical to the input group bool operator!=(const LinearMotionND& motion) const; /// @{ /// Standard arithmetic operators extended to interval groups LinearMotionND operator+(const LinearMotionND& m) const; LinearMotionND& operator+=(const LinearMotionND& m); LinearMotionND operator-(const LinearMotionND& m) const; LinearMotionND& operator-=(const LinearMotionND& m); /// @} /// Standard arithmetic operators extended to interval groups /// \note Multiplication and division operators by their nature do not /// preserve time ordering and so the return value is an IntervalND instead /// of a LinearMotionND IntervalND operator*(const LinearMotionND& m) const; /// Standard arithmetic operators extended to interval groups /// \note Multiplication and division operators by their nature do not /// preserve time ordering and so the return value is an IntervalND instead /// of a LinearMotionND /// \exception if any component of interval includes 0 IntervalND operator/(const LinearMotionND& m) const; /// \param motion the input linear motion group /// \return the interval dot product of the current group and interval Interval dotProduct(const LinearMotionND& motion) const; /// \param i the selector for the linear motion to be returned /// \return the ith interval in the current group /// \exception thrown if the requested axis is < 0 or greater than N - 1 const LinearMotion& getAxis(int i) const; /// \param start [out] the starting points of the linear motion group as an N dimension array. void getStart(std::array* start) const; /// \param end [out] the ending points of the linear motion group as an N dimension array. void getEnd(std::array* end) const; /// \return the linear motion from the starting point to the midpoint LinearMotionND firstHalf() const; /// \return the linear motion from the midpoint to the ending point LinearMotionND secondHalf() const; private: /// The N dimensional group of linear motions std::array, N> m_motion; }; /// LinearMotionND specializes the LinearMotionND class for 3 dimensions /// /// \sa LinearMotion, LinearMotionND and IntervalArthmetic template class LinearMotionND { public: /// Typedef for a vector 3 return typedef Eigen::Matrix Vector3; /// Constructor LinearMotionND(); /// Constructor /// \param x array of 3 linear motions to be copied into the group explicit LinearMotionND(const std::array, 3>& x); /// Constructor /// \param a first linear motion to be added to the 3 group /// \param b second linear motion to be added to the 3 group /// \param c third linear motion to be added to the 3 group LinearMotionND(const LinearMotion& a, const LinearMotion& b, const LinearMotion& c); /// Copy constructor /// \param motion linear motion 3 group to be copied LinearMotionND(const LinearMotionND& motion); /// Move constructor /// \param motion Linear motion to be copied LinearMotionND(LinearMotionND&& motion); /// Constructor /// \param start array of 3 values to be used as the respective starts for the linear motion entries. /// \param end array of 3 values to be used as the respective ends for the linear motion entries. LinearMotionND(const std::array& start, const std::array& end); /// Constructor /// \param start array of 3 values to be used as the respective starts for the linear motion entries. /// \param end array of 3 values to be used as the respective ends for the linear motion entries. LinearMotionND(const Vector3& start, const Vector3& end); /// Assignment operator /// \param motion Linear motion 3 group to be copied LinearMotionND& operator=(const LinearMotionND& motion); /// Move assignment operator /// \param motion Linear motion 3 group to be moved LinearMotionND& operator=(LinearMotionND&& motion); /// Convert from LinearMotion to an Interval /// \return the conversion of the 3D LinearMotion to a 3D Interval IntervalND toInterval() const; /// \param motion the motion group to be tested /// \param epsilon the nearness parameter /// \return true if each linear motion in the input group is approximately equal to its correspondent /// element in motion. bool isApprox(const LinearMotionND& motion, const T& epsilon) const; /// \param motion the linear motion group to be tested /// \return true if the current linear motion 3 group is identical to the input 3 group motion bool operator==(const LinearMotionND& motion) const; /// \param motion the linear motion group to be tested /// \return true if the current linear motion 3 group is not identical to the input 3 group motion. bool operator!=(const LinearMotionND& motion) const; /// @{ /// Standard arithmetic operators extended to 3 interval groups LinearMotionND operator+(const LinearMotionND& m) const; LinearMotionND& operator+=(const LinearMotionND& m); LinearMotionND operator-(const LinearMotionND& m) const; LinearMotionND& operator-=(const LinearMotionND& m); /// @} /// Standard arithmetic operators extended to interval groups /// \note Multiplication and division operators by their nature do not /// preserve time ordering and so the return value is an IntervalND instead /// of a LinearMotionND IntervalND operator*(const LinearMotionND& m) const; /// Standard arithmetic operators extended to interval groups /// \note Multiplication and division operators by their nature do not /// preserve time ordering and so the return value is an IntervalND instead /// of a LinearMotionND /// \exception if any component of interval includes 0 IntervalND operator/(const LinearMotionND& m) const; /// \param motion the input linear motion 3 group /// \param range the range over which the dot product is to be evaluated. /// \return the interval dot product of the current 3 group and interval evaluated over the interval range. Interval dotProduct(const LinearMotionND& motion, const Interval& range) const; /// \param motion the input linear motion 3 group /// \param range the range over which the cross product is to be evaluated. /// \return the interval cross product of the current 3 group and interval evaluated over the interval range. IntervalND crossProduct(const LinearMotionND& motion, const Interval& range) const; /// \return the square of the linear motion magnitude for the current 3 group Interval magnitudeSquared(const Interval& range) const; /// \return the linear motion magnitude for the current 3 group Interval magnitude(const Interval& range) const; /// \param i the selector for the linear motion to be returned /// \return the ith linear motion in the current 3 group /// \exception thrown if the requested axis is < 0 or greater than 2 const LinearMotion& getAxis(int i) const; /// \param start [out] the start of the linear motion 3D as a 3 value array void getStart(std::array* start) const; /// \param end [out] the end of the linear motion 3D as a 3 value array void getEnd(std::array* end) const; /// \return the start of the linear motion 3D as a 3 Vector Vector3 getStart() const; /// \return the end of the linear motion 3D as a 3 Vector Vector3 getEnd() const; /// \param t the parametric value at which to evaluate the linear motion /// \return the value of the linear motion 3D at time t as a 3 Vector Vector3 atTime(const T& t) const; /// \return the linear motion 3D from the start to the midpoint LinearMotionND firstHalf() const; /// \return the linear motion 3D from the midpoint to the start LinearMotionND secondHalf() const; private: /// The 3 dimensional group of linear motions std::array, 3> m_motion; }; // Linear motion utilities /// Write a textual version of a linear motion to an output stream /// \tparam T underlying type of the linear motion /// \param o the ostream to be written to /// \param motion the motion to write /// \return the active ostream template std::ostream& operator<<(std::ostream& o, const LinearMotion& motion); // Linear motion ND utilities /// Write a textual version of a linear motion group to an output stream /// \tparam T underlying type of the linear motion /// \tparam N number of linear motions in the group /// \param o the ostream to be written to /// \param motion the motion group to write /// \return the active ostream template std::ostream& operator<<(std::ostream& o, const LinearMotionND& motion); // Linear motion 3D utilities /// Calculate an analytic dot product as a Polynomial /// \tparam T underlying type of the linear motion /// \param a the first linear motion 3 group /// \param b the second linear motion 3 group /// \return the dot product in a polynomial representation template Polynomial analyticDotProduct(const LinearMotionND& a, const LinearMotionND& b); /// Calculate a single axis of an analytic cross product as a Polynomial /// \tparam T underlying type of the linear motion /// \tparam A axis to generate: 0 = X, 1=Y, 2=Z /// \param a the first linear motion 3 group /// \param b the second linear motion 3 group /// \return the selected axis in a polynomial representation template Polynomial analyticCrossProductAxis(const LinearMotionND& a, const LinearMotionND& b); /// Calculate the X axis of an analytic cross product as a Polynomial /// \tparam T underlying type of the linear motion /// \param a the first linear motion 3 group /// \param b the second linear motion 3 group /// \return the X axis in a polynomial representation template Polynomial analyticCrossProductXAxis(const LinearMotionND& a, const LinearMotionND& b); /// Calculate the Y axis of an analytic cross product as a Polynomial /// \tparam T underlying type of the linear motion /// \param a the first linear motion 3 group /// \param b the second linear motion 3 group /// \return the Y axis in a polynomial representation template Polynomial analyticCrossProductYAxis(const LinearMotionND& a, const LinearMotionND& b); /// Calculate the Z axis of an analytic cross product as a Polynomial /// \tparam T underlying type of the linear motion /// \param a the first linear motion 3 group /// \param b the second linear motion 3 group /// \return the Z axis in a polynomial representation template Polynomial analyticCrossProductZAxis(const LinearMotionND& a, const LinearMotionND& b); /// Calculate an analytic cross product as a Polynomial /// \tparam T underlying type of the linear motion /// \param a the first linear motion 3 group /// \param b the second linear motion 3 group /// \param [out] resultXAxis the X axis in a polynomial representation /// \param [out] resultYAxis the Y axis in a polynomial representation /// \param [out] resultZAxis the Z axis in a polynomial representation template void analyticCrossProduct(const LinearMotionND& a, const LinearMotionND& b, Polynomial* resultXAxis, Polynomial* resultYAxis, Polynomial* resultZAxis); /// Calculate an analytic cross product as a Polynomial, as a polynomial whose value for t=0..1 is /// the value of the triple product. /// \tparam T underlying type of the linear motion /// \param a the first linear motion 3 group /// \param b the second linear motion 3 group /// \param c the third linear motion 3 group /// \return a 3rd order polynomial representation of the triple product template Polynomial analyticTripleProduct(const LinearMotionND& a, const LinearMotionND& b, const LinearMotionND& c); /// Calculate the triple product, as an interval. /// \tparam T underlying type of the linear motion /// \param a the first linear motion 3 group /// \param b the second linear motion 3 group /// \param c the third linear motion 3 group /// \param range the range over which the triple product is to be evaluated /// \return an interval representation of the triple product template Interval tripleProduct(const LinearMotionND& a, const LinearMotionND& b, const LinearMotionND& c, const Interval& range); /// Calculate the magnitude squared of a linear motion 3 group as a polynomial /// \tparam T underlying type of the linear motion /// \param motion the linear motion 3 group /// \return the magnitude squared of the linear motion as a polynomial template Polynomial analyticMagnitudeSquared(const LinearMotionND& motion); }; // Math }; // SurgSim #include "SurgSim/Math/LinearMotionArithmetic-inl.h" #endif // SURGSIM_MATH_LINEARMOTIONARITHMETIC_H opensurgsim-0.7.0/SurgSim/Math/LinearSolveAndInverse-inl.h000066400000000000000000000145361277777236100235420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_LINEARSOLVEANDINVERSE_INL_H #define SURGSIM_MATH_LINEARSOLVEANDINVERSE_INL_H #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace Math { template const Eigen::Block LinearSolveAndInverseTriDiagonalBlockMatrix::minusAi(const SurgSim::Math::Matrix& A, size_t i) const { return A.block(BlockSize * i, BlockSize * (i - 1)); } template const Eigen::Block LinearSolveAndInverseTriDiagonalBlockMatrix::Bi(const SurgSim::Math::Matrix& A, size_t i) const { return A.block(BlockSize * i, BlockSize * i); } template const Eigen::Block LinearSolveAndInverseTriDiagonalBlockMatrix::minusCi(const SurgSim::Math::Matrix& A, size_t i) const { return A.block(BlockSize * i, BlockSize * (i + 1)); } template void LinearSolveAndInverseTriDiagonalBlockMatrix::inverseTriDiagonalBlock(const SurgSim::Math::Matrix& A, SurgSim::Math::Matrix* inverse, bool isSymmetric) { SURGSIM_ASSERT(inverse != nullptr) << "Null inverse matrix pointer"; SURGSIM_ASSERT(A.cols() == A.rows()) << "Cannot inverse a non square tri-diagonal block matrix ("<< A.rows() <<" x "<< A.cols() <<")"; const size_t size = A.rows(); const size_t numBlocks = size / BlockSize; SURGSIM_ASSERT(numBlocks * BlockSize == size) << "Bad tri-diagonal block matrix structure, size = " << size << " block size = " << BlockSize << " and the number of blocks are " << numBlocks; // If the matrix size is less or equal to 4 (Eigen inverse use co-factor for those), or the matrix is // composed of an unique block, simply call the normal Eigen inverse method. if (size <= 4 || numBlocks == static_cast(1)) { *inverse = A.inverse(); return; } if (inverse->rows() < 0 || static_cast(inverse->rows()) != size || inverse->cols() < 0 || static_cast(inverse->cols()) != size) { inverse->resize(size, size); } m_Bi_AiDiminus1_inv.resize(numBlocks); m_Di.resize(numBlocks - 1); m_Ei.resize(numBlocks); // Should be of size m_numBlocks - 1 too, but index 0 is undefined and we // decided to not change the indexing to not introduce any confusion // Bi_AiDiminus1_inv[0] = (B0)^-1 // D [0] = (B0)^-1.C0 m_Bi_AiDiminus1_inv[0] = Bi(A, 0).inverse(); m_Di[0] = m_Bi_AiDiminus1_inv[0] * (-minusCi(A, 0)); // Bi_AiDiminus1_inv[i] = (Bi - Ai.D[i-1])^-1 // Di [i] = (Bi - Ai.D[i-1])^-1 . Ci for(size_t i = 1; i < numBlocks - 1; ++i) { m_Bi_AiDiminus1_inv[i] = (Bi(A, i) - (-minusAi(A, i)) * m_Di[i - 1]).inverse(); m_Di[i] = m_Bi_AiDiminus1_inv[i] * (-minusCi(A, i)); } // Bi_AiDiminus1_inv[nbBlock-1] = (B(nbBlock-1) - A(nbBlock-1).D(nbBlock-2))^-1 // D [nbBlock-1] = UNDEFINED because C(nbBlock-1) does not exist m_Bi_AiDiminus1_inv[numBlocks - 1] = (Bi(A, numBlocks - 1) - (-minusAi(A, numBlocks - 1)) * m_Di[numBlocks - 2]).inverse(); // E[nbBlock-1] = (B(nbBlock-1))^-1 . A(nbBlock-1) // Ei = (Bi - Ci.E(i+1))^-1 . Ai // E0 = UNDEFINED because A0 does not exist m_Ei[numBlocks - 1] = Bi(A, numBlocks - 1).inverse() * (-minusAi(A, numBlocks - 1)); for(size_t i = numBlocks - 2; i > 0; --i) { m_Ei[i] = (Bi(A, i) - (-minusCi(A, i)) * m_Ei[i + 1]).inverse() * (-minusAi(A, i)); } // Inverse diagonal blocks: // inv(i,i) = (I - Di.E(i+1))^-1.Bi_AiDiminus1_inv[i] for(size_t i = 0; i < numBlocks - 1; ++i) { inverse->block(BlockSize * i, BlockSize * i) = (Block::Identity() - m_Di[i] * m_Ei[i + 1]).inverse() * m_Bi_AiDiminus1_inv[i]; } // inv(nbBlock-1,nbBlock-1) = Bi_AiDiminus1_inv[nbBlock-1] inverse->block(BlockSize * (numBlocks - 1), BlockSize * (numBlocks - 1)) = m_Bi_AiDiminus1_inv[numBlocks - 1]; // Inverse off-diagonal blocks: // inv(i,j) = Di.inv(i+1,j) for ij if (isSymmetric) { for(size_t j = 1; j < numBlocks; ++j) { for(size_t i = j; i > 0; --i) { inverse->block(BlockSize * (i - 1), BlockSize * j) = m_Di[i - 1] * inverse->block(BlockSize * i, BlockSize * j); inverse->block(BlockSize * j, BlockSize * (i - 1)) = inverse->block(BlockSize * (i - 1), BlockSize * j).transpose(); } } } else { for(int j = 0; j < static_cast(numBlocks); ++j) { for(int i = j - 1; i >= 0; --i) { inverse->block(BlockSize * i, BlockSize * j) = m_Di[i] * inverse->block(BlockSize * (i + 1), BlockSize * j); } for(int i = j + 1; i < static_cast(numBlocks); ++i) { inverse->block(BlockSize * i, BlockSize * j) = m_Ei[i] * inverse->block(BlockSize * (i - 1), BlockSize * j); } } } } template void LinearSolveAndInverseTriDiagonalBlockMatrix::setMatrix(const Matrix& matrix) { inverseTriDiagonalBlock(matrix, &m_inverse); } template Vector LinearSolveAndInverseTriDiagonalBlockMatrix::solve(const Vector& b) { return m_inverse * b; } template Matrix LinearSolveAndInverseTriDiagonalBlockMatrix::getInverse() { return m_inverse; } template void LinearSolveAndInverseSymmetricTriDiagonalBlockMatrix::setMatrix(const Matrix& matrix) { inverseTriDiagonalBlock(matrix, &m_inverse, true); } }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_LINEARSOLVEANDINVERSE_INL_H opensurgsim-0.7.0/SurgSim/Math/LinearSolveAndInverse.cpp000066400000000000000000000031471277777236100233110ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/LinearSolveAndInverse.h" namespace SurgSim { namespace Math { void LinearSolveAndInverseDiagonalMatrix::setMatrix(const Matrix& matrix) { SURGSIM_ASSERT(matrix.cols() == matrix.rows()) << "Cannot inverse a non square matrix"; m_inverseDiagonal = matrix.diagonal().cwiseInverse(); } Vector LinearSolveAndInverseDiagonalMatrix::solve(const Vector& b) { return m_inverseDiagonal.cwiseProduct(b); } Matrix LinearSolveAndInverseDiagonalMatrix::getInverse() { return m_inverseDiagonal.asDiagonal(); } void LinearSolveAndInverseDenseMatrix::setMatrix(const Matrix& matrix) { SURGSIM_ASSERT(matrix.cols() == matrix.rows()) << "Cannot inverse a non square matrix"; m_luDecomposition = matrix.partialPivLu(); } Vector LinearSolveAndInverseDenseMatrix::solve(const Vector& b) { return m_luDecomposition.solve(b); } Matrix LinearSolveAndInverseDenseMatrix::getInverse() { return m_luDecomposition.inverse(); } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/LinearSolveAndInverse.h000066400000000000000000000130501277777236100227500ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_LINEARSOLVEANDINVERSE_H #define SURGSIM_MATH_LINEARSOLVEANDINVERSE_H #include #include "SurgSim/Framework/Assert.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Matrix.h" namespace SurgSim { namespace Math { /// LinearSolveAndInverse aims at performing an efficient linear system resolution and /// calculating its inverse matrix at the same time. /// This class is very useful in the OdeSolver resolution to improve performance. /// \sa SurgSim::Math::OdeSolver class LinearSolveAndInverse { public: virtual ~LinearSolveAndInverse(){} /// Set the linear solver matrix /// \param matrix the new matrix to solve/inverse for virtual void setMatrix(const Matrix& matrix) = 0; /// Solve the linear system (matrix.x=b) using the matrix provided by the latest setMatrix call /// \param b The rhs vector /// \return The solution vector virtual Vector solve(const Vector& b) = 0; /// \return The linear system's inverse matrix, i.e. the inverse of the matrix provided on the last setMatrix call virtual Matrix getInverse() = 0; }; /// Derivation for dense matrix type class LinearSolveAndInverseDenseMatrix : public LinearSolveAndInverse { public: void setMatrix(const Matrix& matrix) override; Vector solve(const Vector& b) override; Matrix getInverse() override; private: Eigen::PartialPivLU::PlainObject> m_luDecomposition; }; /// Derivation for diagonal matrix type class LinearSolveAndInverseDiagonalMatrix : public LinearSolveAndInverse { private: Vector m_inverseDiagonal; public: void setMatrix(const Matrix& matrix) override; Vector solve(const Vector& b) override; Matrix getInverse() override; }; /// Derivation for tri-diagonal block matrix type /// \tparam BlockSize Define the block size of the tri-diagonal block matrix template class LinearSolveAndInverseTriDiagonalBlockMatrix : public LinearSolveAndInverse { public: void setMatrix(const Matrix& matrix) override; Vector solve(const Vector& b) override; Matrix getInverse() override; protected: /// Computes the inverse matrix /// \param A The matrix to inverse /// \param[out] inv The inverse matrix /// \param isSymmetric True if the matrix is symmetric, False otherwise /// \note isSymmetric is only indicative and helps optimizing the computation when the matrix is symmetric. /// \note On the other side, if the flag is true and the matrix is not symmetric, the result will be wrong. /// \note Assert on inverse matrix pointer (inv), on the matrix being square and on /// \note proper size matching between the matrix size and the blockSize void inverseTriDiagonalBlock(const SurgSim::Math::Matrix& A, SurgSim::Math::Matrix* inv, bool isSymmetric = false); /// Member variable to hold the inverse matrix in case only the solving is requested Matrix m_inverse; private: typedef Eigen::Matrix Block; /// Gets a lower-diagonal block element (named -Ai in the algorithm) /// \param A The matrix on which to retrieve the lower-diagonal block element /// \param i The line index on which to retrieve the lower-diagonal block element /// \return The lower-diagonal block element requested (i.e. block (i, i-1)) const Eigen::Block minusAi(const SurgSim::Math::Matrix& A, size_t i) const; /// Gets a diagonal block element (named Bi in the algorithm) /// \param A The matrix on which to retrieve the diagonal block element /// \param i The line index on which to retrieve the diagonal block element /// \return The diagonal block element requested (i.e. block (i, i)) const Eigen::Block Bi(const SurgSim::Math::Matrix& A, size_t i) const; /// Gets a upper-diagonal block element (named -Ci in the algorithm) /// \param A The matrix on which to retrieve the upper-diagonal block element /// \param i The line index on which to retrieve the upper-diagonal block element /// \return The upper-diagonal block element requested (i.e. block (i, i+1)) const Eigen::Block minusCi(const SurgSim::Math::Matrix& A, size_t i) const; ///@{ /// Intermediate block matrices, helpful to construct the inverse matrix std::vector m_Di, m_Ei, m_Bi_AiDiminus1_inv; ///@} }; /// Derivation for symmetric tri-diagonal block matrix type /// \tparam BlockSize Define the block size of the tri-diagonal block matrix template class LinearSolveAndInverseSymmetricTriDiagonalBlockMatrix : public LinearSolveAndInverseTriDiagonalBlockMatrix { public: void setMatrix(const Matrix& matrix) override; using LinearSolveAndInverseTriDiagonalBlockMatrix::inverseTriDiagonalBlock; using LinearSolveAndInverseTriDiagonalBlockMatrix::m_inverse; }; }; // namespace Math }; // namespace SurgSim #include "SurgSim/Math/LinearSolveAndInverse-inl.h" #endif // SURGSIM_MATH_LINEARSOLVEANDINVERSE_H opensurgsim-0.7.0/SurgSim/Math/LinearSparseSolveAndInverse.cpp000066400000000000000000000040331277777236100244620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Assert.h" #include "SurgSim/Math/LinearSparseSolveAndInverse.h" namespace SurgSim { namespace Math { Matrix LinearSparseSolveAndInverse::getInverse() const { return m_matrix.toDense().inverse(); } void LinearSparseSolveAndInverseLU::setMatrix(const SparseMatrix& matrix) { SURGSIM_ASSERT(matrix.cols() == matrix.rows()) << "Cannot inverse a non square matrix"; m_solver.compute(matrix); SURGSIM_ASSERT(m_solver.info() == Eigen::Success) << m_solver.lastErrorMessage(); m_matrix = matrix; } Matrix LinearSparseSolveAndInverseLU::solve(const Matrix& b) const { return m_solver.solve(b); } void LinearSparseSolveAndInverseCG::setTolerance(double tolerance) { m_solver.setTolerance(tolerance); } double LinearSparseSolveAndInverseCG::getTolerance() { return m_solver.tolerance(); } void LinearSparseSolveAndInverseCG::setMaxIterations(SparseMatrix::Index iterations) { m_solver.setMaxIterations(iterations); } SparseMatrix::Index LinearSparseSolveAndInverseCG::getMaxIterations() { return m_solver.maxIterations(); } void LinearSparseSolveAndInverseCG::setMatrix(const SparseMatrix& matrix) { SURGSIM_ASSERT(matrix.cols() == matrix.rows()) << "Cannot inverse a non square matrix"; m_solver.compute(matrix); m_matrix = matrix; } Matrix LinearSparseSolveAndInverseCG::solve(const Matrix& b) const { return m_solver.solve(b); } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/LinearSparseSolveAndInverse.h000066400000000000000000000074201277777236100241320ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_LINEARSPARSESOLVEANDINVERSE_H #define SURGSIM_MATH_LINEARSPARSESOLVEANDINVERSE_H #if defined(_MSC_VER) #pragma warning(push) #pragma warning(disable:4244) #endif #include #include #include // for 'map_list_of()' #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Math { /// The linear numerical integration scheme supported /// Each Linear Solver should have its own entry in this enum enum LinearSolver { LINEARSOLVER_LU = 0, LINEARSOLVER_CONJUGATEGRADIENT, MAX_LINEARSOLVER }; const std::unordered_map> LinearSolverNames = boost::assign::map_list_of (LINEARSOLVER_LU, "LINEARSOLVER_LU") (LINEARSOLVER_CONJUGATEGRADIENT, "LINEARSOLVER_CONJUGATEGRADIENT"); /// LinearSparseSolveAndInverse aims at performing an efficient linear system resolution and /// calculating its inverse matrix at the same time. /// This class is very useful in the OdeSolver resolution to improve performance. /// \sa SurgSim::Math::OdeSolver class LinearSparseSolveAndInverse { public: virtual ~LinearSparseSolveAndInverse() {} /// Set the linear solver matrix /// \param matrix the new matrix to solve/inverse for virtual void setMatrix(const SparseMatrix& matrix) = 0; /// Solve the linear system (matrix.x=b) using the matrix provided by the latest setMatrix call /// for all columns of the rhs matrix b. /// \param b The rhs matrix /// \return The solution matrix virtual Matrix solve(const Matrix& b) const = 0; /// \return The linear system's inverse matrix, i.e. the inverse of the matrix provided on the last setMatrix call virtual Matrix getInverse() const; protected: /// A copy of the system matrix for use when an inverse is necessary. SparseMatrix m_matrix; }; /// Derivation for sparse LU solver class LinearSparseSolveAndInverseLU : public LinearSparseSolveAndInverse { public: void setMatrix(const SparseMatrix& matrix) override; Matrix solve(const Matrix& b) const override; private: Eigen::SparseLU m_solver; }; /// Derivation for sparse CG solver class LinearSparseSolveAndInverseCG : public LinearSparseSolveAndInverse { public: /// Set the conjugate gradient convergence tolerance /// \param tolerance the new convergence tolerance void setTolerance(double tolerance); /// Get the conjugate gradient convergence tolerance /// \return the convergence tolerance double getTolerance(); /// Set the maximum number of iterations for conjugate gradient /// \param iterations the new maximum number of iterations void setMaxIterations(SparseMatrix::Index iterations); /// Get the conjugate gradient maximum iterations /// \return the maximum number of iterations allowed SparseMatrix::Index getMaxIterations(); void setMatrix(const SparseMatrix& matrix) override; Matrix solve(const Matrix& b) const override; private: Eigen::ConjugateGradient m_solver; }; }; // namespace Math }; // namespace SurgSim #if defined(_MSC_VER) #pragma warning(pop) #endif #endif // SURGSIM_MATH_LINEARSPARSESOLVEANDINVERSE_H opensurgsim-0.7.0/SurgSim/Math/MathConvert-inl.h000066400000000000000000000145521277777236100215700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_MATHCONVERT_INL_H #define SURGSIM_MATH_MATHCONVERT_INL_H #include #include "SurgSim/Framework/Log.h" namespace { const std::string rotationPropertyName = "Quaternion"; const std::string translationPropertyName = "Translation"; const std::string serializeLogger = "Serialization"; }; SURGSIM_DOUBLE_SPECIALIZATION template YAML::Node YAML::convert>::encode( const typename Eigen::Matrix& rhs) { typedef typename Eigen::Matrix::Index Index; YAML::Node node; node.SetStyle(YAML::EmitterStyle::Flow); if (Cols == 1) { for (Index i = 0; i < rhs.size(); ++i) { node.push_back(rhs(i, 0)); } } else { for (size_t row = 0; row < Rows; ++row) { YAML::Node rowNode; for (size_t col = 0; col < Cols; ++col) { rowNode.push_back(rhs.row(row)[col]); } node.push_back(rowNode); } } return node; } SURGSIM_DOUBLE_SPECIALIZATION template bool YAML::convert>::decode( const Node& node, typename Eigen::Matrix& rhs) //NOLINT { if (! node.IsSequence() || node.size() != Rows) { return false; } if (Cols == 1) { for (size_t i = 0; i < node.size(); ++i) { try { rhs(i, 0) = node[i].as(); } catch (YAML::RepresentationException) { rhs(i, 0) = std::numeric_limits::quiet_NaN(); auto logger = SurgSim::Framework::Logger::getLogger(serializeLogger); SURGSIM_LOG(logger, WARNING) << "Bad conversion, using #NaN value. For node: " << node; } } } else { for (size_t row = 0; row < node.size(); ++row) { YAML::Node rowNode = node[row]; if (!rowNode.IsSequence() || node.size() != Cols) { return false; } for (size_t col = 0; col < rowNode.size(); ++col) { try { rhs.row(row)[col] = rowNode[col].as(); } catch (YAML::RepresentationException) { rhs.row(row)[col] = std::numeric_limits::quiet_NaN(); auto logger = SurgSim::Framework::Logger::getLogger(serializeLogger); SURGSIM_LOG(logger, WARNING) << "Bad conversion, using #NaN value. For node: " << node; } } } } return true; } SURGSIM_DOUBLE_SPECIALIZATION template YAML::Node YAML::convert>::encode( const typename Eigen::Quaternion& rhs) { return Node(convert>::encode(rhs.coeffs())); } SURGSIM_DOUBLE_SPECIALIZATION template bool YAML::convert>::decode( const Node& node, typename Eigen::Quaternion& rhs) //NOLINT { bool result = false; if (node.IsSequence() && node.size() == 4) { result = convert>::decode(node, rhs.coeffs()); } else { Eigen::AngleAxis angleAxis; result = convert>::decode(node, angleAxis); if (result) { rhs = angleAxis; } } return result; } SURGSIM_DOUBLE_SPECIALIZATION template YAML::Node YAML::convert>::encode( const typename Eigen::Transform& rhs) { typedef typename Eigen::Transform::LinearMatrixType LinearMatrixType; LinearMatrixType linear(rhs.linear()); Eigen::Quaternion quaternion(linear); Eigen::Matrix translation(rhs.translation()); Node node; node[rotationPropertyName] = quaternion; node[translationPropertyName] = translation; return node; } SURGSIM_DOUBLE_SPECIALIZATION template bool YAML::convert>::decode( const Node& node, typename Eigen::Transform& rhs) //NOLINT { bool result = false; if (node.IsMap()) { Eigen::Quaternion rotation(Eigen::Quaternion::Identity()); Eigen::Matrix translation(Eigen::Matrix::Zero()); if (node[rotationPropertyName].IsDefined()) { rotation = node[rotationPropertyName].as>(); result = true; } if (node[translationPropertyName].IsDefined()) { translation = node[translationPropertyName].as>(); result = true; } rhs.makeAffine(); rhs.linear() = rotation.matrix(); rhs.translation() = translation; } return result; } SURGSIM_DOUBLE_SPECIALIZATION template YAML::Node YAML::convert>::encode( const typename Eigen::AngleAxis& rhs) { Node node; node.SetStyle(EmitterStyle::Flow); node["Angle"] = rhs.angle(); node["Axis"] = convert>::encode(rhs.axis()); return node; } SURGSIM_DOUBLE_SPECIALIZATION template bool YAML::convert>::decode( const Node& node, typename Eigen::AngleAxis& rhs) //NOLINT { bool result = false; if (node.IsMap() && node["Angle"].IsDefined() && node["Axis"].IsDefined()) { try { rhs.angle() = node["Angle"].as(); } catch (RepresentationException) { rhs.angle() = std::numeric_limits::quiet_NaN(); auto logger = SurgSim::Framework::Logger::getLogger(serializeLogger); SURGSIM_LOG(logger, WARNING) << "Bad conversion, using #NaN value. For node: " << node; } result = convert>::decode(node["Axis"], rhs.axis()); } return result; } #endif // SURGSIM_MATH_MATHCONVERT_INL_H opensurgsim-0.7.0/SurgSim/Math/MathConvert.cpp000066400000000000000000000105151277777236100213360ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/MathConvert.h" #include #include "SurgSim/Math/Shape.h" namespace YAML { Node convert>::encode( const std::shared_ptr& rhs) { SURGSIM_ASSERT(nullptr != rhs) << "Trying to encode nullptr SurgSim::Math::Shape"; Node result; result[rhs->getClassName()] = rhs->encode(); return result; } bool convert>::decode( const Node& node, std::shared_ptr& rhs) //NOLINT { bool result = false; if (node.IsMap()) { if (nullptr == rhs) { std::string className = node.begin()->first.as(); SurgSim::Math::Shape::FactoryType& factory = SurgSim::Math::Shape::getFactory(); if (factory.isRegistered(className)) { rhs = factory.create(className); } else { SURGSIM_FAILURE() << "Class " << className << " is not registered in the factory."; } } Node data = node.begin()->second; if (data.IsMap()) { rhs->decode(data); } result = true; } return result; } Node convert::encode( const SurgSim::Math::IntegrationScheme& rhs) { Node result; auto it = SurgSim::Math::IntegrationSchemeNames.find(rhs); SURGSIM_ASSERT(it != std::end(SurgSim::Math::IntegrationSchemeNames)) << "Can not find the enum value in " << "SurgSim::Math::IntegrationSchemeNames. Is the enum value registered?"; result["SurgSim::Math::IntegrationScheme"] = it->second; return result; } bool convert::decode( const Node& node, SurgSim::Math::IntegrationScheme& rhs) //NOLINT { bool result = false; if (node.IsMap()) { std::string className = node.begin()->first.as(); SURGSIM_ASSERT("SurgSim::Math::IntegrationScheme" == className); std::string schemeName = node.begin()->second.as(); std::transform(schemeName.begin(), schemeName.end(), schemeName.begin(), ::toupper); auto it = std::find_if(std::begin(SurgSim::Math::IntegrationSchemeNames), std::end(SurgSim::Math::IntegrationSchemeNames), [&schemeName](const std::pair& pair) { return pair.second == schemeName; } ); SURGSIM_ASSERT(it != std::end(SurgSim::Math::IntegrationSchemeNames)) << "Unknown IntegrationScheme " << schemeName; rhs = it->first; result = true; } return result; } Node convert::encode( const SurgSim::Math::LinearSolver& rhs) { Node result; auto it = SurgSim::Math::LinearSolverNames.find(rhs); SURGSIM_ASSERT(it != std::end(SurgSim::Math::LinearSolverNames)) << "Can not find the enum value in " << "SurgSim::Math::LinearSolverNames. Is the enum value registered?"; result["SurgSim::Math::LinearSolver"] = it->second; return result; } bool convert::decode( const Node& node, SurgSim::Math::LinearSolver& rhs) //NOLINT { bool result = false; if (node.IsMap()) { std::string className = node.begin()->first.as(); SURGSIM_ASSERT("SurgSim::Math::LinearSolver" == className); std::string schemeName = node.begin()->second.as(); std::transform(schemeName.begin(), schemeName.end(), schemeName.begin(), ::toupper); auto it = std::find_if(std::begin(SurgSim::Math::LinearSolverNames), std::end(SurgSim::Math::LinearSolverNames), [&schemeName](const std::pair& pair) { return pair.second == schemeName; } ); SURGSIM_ASSERT(it != std::end(SurgSim::Math::LinearSolverNames)) << "Unknown LinearSolver " << schemeName; rhs = it->first; result = true; } return result; } }; // namespace YAML opensurgsim-0.7.0/SurgSim/Math/MathConvert.h000066400000000000000000000071401277777236100210030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_MATHCONVERT_H #define SURGSIM_MATH_MATHCONVERT_H #include #include #include #include "SurgSim/Framework/Macros.h" #include "SurgSim/Math/LinearSparseSolveAndInverse.h" #include "SurgSim/Math/OdeSolver.h" namespace SurgSim { namespace Math { class Shape; } } /// \file MathConvert.h /// This contains a series of functions to encode and decode Eigen data structures to /// and from YAML nodes. These conversion functions will extinguish Eigen options, these /// are not serialized, the output is determined by the type as it is declared in the /// appropriate conversion function, with Eigen::Transform, this could lead to problems /// If the mode that is used for reading is different than the mode that was used while /// writing. namespace YAML { /// Specialization of convert for fixed size Eigen::Matrix SURGSIM_DOUBLE_SPECIALIZATION template struct convert> { static Node encode(const typename Eigen::Matrix& rhs); static bool decode(const Node& node, typename Eigen::Matrix& rhs); //NOLINT }; /// Specialization of convert for Eigen::Quaternion SURGSIM_DOUBLE_SPECIALIZATION template struct convert> { static Node encode(const typename Eigen::Quaternion& rhs); static bool decode(const Node& node, typename Eigen::Quaternion& rhs); //NOLINT }; /// Specialization of convert for Eigen::RigidTransform SURGSIM_DOUBLE_SPECIALIZATION template struct convert> { static Node encode(const typename Eigen::Transform& rhs); static bool decode(const Node& node, typename Eigen::Transform& rhs); //NOLINT }; /// Specialization of convert for Eigen::AngleAxis SURGSIM_DOUBLE_SPECIALIZATION template struct convert> { static Node encode(const typename Eigen::AngleAxis& rhs); static bool decode(const Node& node, typename Eigen::AngleAxis& rhs); //NOLINT }; template <> struct convert> { static Node encode(const std::shared_ptr& rhs); static bool decode(const Node& node, std::shared_ptr& rhs); //NOLINT }; template <> struct convert { static Node encode(const SurgSim::Math::IntegrationScheme& rhs); static bool decode(const Node& node, SurgSim::Math::IntegrationScheme& rhs); //NOLINT }; template <> struct convert { static Node encode(const SurgSim::Math::LinearSolver& rhs); static bool decode(const Node& node, SurgSim::Math::LinearSolver& rhs); //NOLINT }; }; #include "SurgSim/Math/MathConvert-inl.h" #endif // SURGSIM_MATH_MATHCONVERT_H opensurgsim-0.7.0/SurgSim/Math/Matrix.h000066400000000000000000000242461277777236100200230ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Definitions of small fixed-size square matrix types. #ifndef SURGSIM_MATH_MATRIX_H #define SURGSIM_MATH_MATRIX_H #include #include #include #include // needed for determinant() and inverse() namespace SurgSim { namespace Math { /// A 2x2 matrix of floats. /// This type (and any structs that contain it) can be safely allocated via new. typedef Eigen::Matrix Matrix22f; /// A 3x3 matrix of floats. /// This type (and any structs that contain it) can be safely allocated via new. typedef Eigen::Matrix Matrix33f; /// A 4x4 matrix of floats. /// This type (and any structs that contain it) can be safely allocated via new. typedef Eigen::Matrix Matrix44f; /// A 2x2 matrix of doubles. /// This type (and any structs that contain it) can be safely allocated via new. typedef Eigen::Matrix Matrix22d; /// A 3x3 matrix of doubles. /// This type (and any structs that contain it) can be safely allocated via new. typedef Eigen::Matrix Matrix33d; /// A 4x4 matrix of doubles. /// This type (and any structs that contain it) can be safely allocated via new. typedef Eigen::Matrix Matrix44d; /// A 6x6 matrix of doubles. /// This type (and any structs that contain it) can be safely allocated via new. typedef Eigen::Matrix Matrix66d; /// A dynamic size diagonal matrix typedef Eigen::DiagonalMatrix DiagonalMatrix; /// A dynamic size matrix typedef Eigen::Matrix Matrix; /// Create a rotation matrix corresponding to the specified angle (in radians) and axis. /// \tparam T the numeric data type used for arguments and the return value. Can usually be deduced. /// \tparam VOpt the option flags (alignment etc.) used for the axis vector argument. Can be deduced. /// \param angle the angle of the rotation, in radians. /// \param axis the axis of the rotation. /// \returns the rotation matrix. template inline Eigen::Matrix makeRotationMatrix(const T& angle, const Eigen::Matrix& axis) { return Eigen::AngleAxis(angle, axis).toRotationMatrix(); } /// Create a skew-symmetric matrix corresponding to the specified vector. Skew-symmetric matrices are particularly /// useful for representing a portion of the vector cross-product. /// \tparam T the numeric data type used for arguments and the return value. Can usually be deduced. /// \tparam VOpt the option flags (alignment etc.) used for the vector argument. Can be deduced. /// \param vector the vector to be transformed. /// \returns the skew-symmetric matrix corresponding with the vector argument. template inline Eigen::Matrix makeSkewSymmetricMatrix(const Eigen::Matrix& vector) { Eigen::Matrix result; result(0, 0) = 0.0; result(0, 1) = -vector(2); result(0, 2) = vector(1); result(1, 0) = vector(2); result(1, 1) = 0.0; result(1, 2) = -vector(0); result(2, 0) = -vector(1); result(2, 1) = vector(0); result(2, 2) = 0.0; return result; } /// Extract the unique vector from the skew-symmetric part of a given matrix. /// \tparam T the numeric data type used for arguments and the return value. Can usually be deduced. /// \tparam MOpt the option flags (alignment etc.) used for the matrix argument. Can be deduced. /// \param matrix the matrix to compute the skew symmetric part from. /// \returns the unique vector defining the skew-symmetric part of the matrix. /// \note For any vector u, skew(makeSkewSymmetricMatrix(u)) = u /// \note In general, returns the vector of the skew symmetric part of matrix: (matrix - matrix^T)/2 template inline Eigen::Matrix skew(const Eigen::Matrix& matrix) { Eigen::Matrix skewSymmetricPart = (matrix - matrix.transpose()) / 2.0; return Eigen::Matrix(skewSymmetricPart(2, 1), skewSymmetricPart(0, 2), skewSymmetricPart(1, 0)); } /// Get the angle (in radians) and axis corresponding to a rotation matrix. /// \tparam T the numeric data type used for arguments and the return value. Can usually be deduced. /// \tparam MOpt the option flags (alignment etc.) used for the rotation matrix argument. Can be deduced. /// \tparam VOpt the option flags (alignment etc.) used for the axis vector argument. Can be deduced. /// \param matrix the rotation matrix to inspect. /// \param [out] angle the angle of the rotation, in radians. /// \param [out] axis the axis of the rotation. template inline void computeAngleAndAxis(const Eigen::Matrix& matrix, T* angle, Eigen::Matrix* axis) { Eigen::AngleAxis angleAxis(matrix); *angle = angleAxis.angle(); *axis = angleAxis.axis(); } /// Get the angle corresponding to a quaternion's rotation, in radians. /// If you don't care about the rotation axis, this is more efficient than computeAngleAndAxis(). /// \tparam T the numeric data type used for arguments and the return value. Can usually be deduced. /// \tparam MOpt the option flags (alignment etc.) used for the rotation matrix argument. Can be deduced. /// \param matrix the rotation matrix to inspect. /// \returns the angle of the rotation, in radians. template inline T computeAngle(const Eigen::Matrix& matrix) { // TODO(bert): there has to be a more efficient way... Eigen::AngleAxis angleAxis(matrix); return angleAxis.angle(); } /// Helper method to add a sub-matrix into a matrix, for the sake of clarity /// \tparam Matrix The matrix type /// \tparam SubMatrix The sub-matrix type /// \param subMatrix The sub-matrix /// \param blockIdRow, blockIdCol The block indices in matrix /// \param blockSizeRow, blockSizeCol The block size (size of the sub-matrix) /// \param[out] matrix The matrix to add the sub-matrix into template void addSubMatrix(const SubMatrix& subMatrix, size_t blockIdRow, size_t blockIdCol, size_t blockSizeRow, size_t blockSizeCol, Matrix* matrix) { matrix->block(blockSizeRow * blockIdRow, blockSizeCol * blockIdCol, blockSizeRow, blockSizeCol) += subMatrix; } /// Helper method to add a sub-matrix made of squared-blocks into a matrix, for the sake of clarity /// \tparam Matrix The matrix type /// \tparam SubMatrix The sub-matrix type /// \param subMatrix The sub-matrix (containing all the squared-blocks) /// \param blockIds Vector of block indices (for accessing matrix) corresponding to the blocks in sub-matrix /// \param blockSize The blocks size /// \param[out] matrix The matrix to add the sub-matrix blocks into template void addSubMatrix(const SubMatrix& subMatrix, const std::vector blockIds, size_t blockSize, Matrix* matrix) { const size_t numBlocks = blockIds.size(); for (size_t block0 = 0; block0 < numBlocks; block0++) { size_t blockId0 = blockIds[block0]; for (size_t block1 = 0; block1 < numBlocks; block1++) { size_t blockId1 = blockIds[block1]; matrix->block(blockSize * blockId0, blockSize * blockId1, blockSize, blockSize) += subMatrix.block(blockSize * block0, blockSize * block1, blockSize, blockSize); } } } /// Helper method to set a sub-matrix into a matrix, for the sake of clarity /// \tparam Matrix The matrix type /// \tparam SubMatrix The sub-matrix type /// \param subMatrix The sub-matrix /// \param blockIdRow, blockIdCol The block indices for row and column in matrix /// \param blockSizeRow, blockSizeCol The size of the sub-matrix /// \param[out] matrix The matrix to set the sub-matrix into template void setSubMatrix(const SubMatrix& subMatrix, size_t blockIdRow, size_t blockIdCol, size_t blockSizeRow, size_t blockSizeCol, Matrix* matrix) { matrix->block(blockSizeRow * blockIdRow, blockSizeCol * blockIdCol, blockSizeRow, blockSizeCol) = subMatrix; } /// Helper method to access a sub-matrix from a matrix, for the sake of clarity /// \tparam Matrix The matrix type to get the sub-matrix from /// \param matrix The matrix to get the sub-matrix from /// \param blockIdRow, blockIdCol The block indices /// \param blockSizeRow, blockSizeCol The block size /// \return The requested sub-matrix /// \note Disable cpplint warnings for use of non-const reference /// \note Eigen has a specific type for Block that we want to return with read/write access /// \note therefore the Matrix from which the Block is built from must not be const template Eigen::Block getSubMatrix(Matrix& matrix, size_t blockIdRow, size_t blockIdCol, // NOLINT size_t blockSizeRow, size_t blockSizeCol) { return matrix.block(blockSizeRow * blockIdRow, blockSizeCol * blockIdCol, blockSizeRow, blockSizeCol); } /// Helper method to zero a row of a matrix. /// \tparam Matrix The matrix type /// \param row The row to set to zero /// \param[in,out] matrix The matrix to set the zero row on. template void zeroRow(size_t row, Eigen::DenseBase* matrix) { matrix->middleRows(row, 1).setZero(); } /// Helper method to zero a column of a matrix. /// \tparam Matrix The matrix type /// \param column The column to set to zero /// \param[in,out] matrix The matrix to set the zero column on. template void zeroColumn(size_t column, Eigen::DenseBase* matrix) { (*matrix).middleCols(column, 1).setZero(); } }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_MATRIX_H opensurgsim-0.7.0/SurgSim/Math/MeshShape-inl.h000066400000000000000000000023261277777236100212070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_MESHSHAPE_INL_H #define SURGSIM_MATH_MESHSHAPE_INL_H namespace SurgSim { namespace Math { template MeshShape::MeshShape(const SurgSim::DataStructures::TriangleMesh& other) : SurgSim::DataStructures::TriangleMesh::TriangleMesh(other) { SURGSIM_ASSERT(other.isValid()) << "Invalid mesh"; updateAabbTree(); computeVolumeIntegrals(); calculateNormals(); } }; // namespace Math }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Math/MeshShape.cpp000066400000000000000000000173021277777236100207620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/MeshShape.h" #include "SurgSim/DataStructures/AabbTree.h" #include "SurgSim/DataStructures/AabbTreeData.h" #include "SurgSim/Framework/Assert.h" using SurgSim::DataStructures::EmptyData; using SurgSim::DataStructures::NormalData; template<> std::string SurgSim::DataStructures::TriangleMesh ::m_className = "SurgSim::Math::MeshShape"; namespace SurgSim { namespace Math { SURGSIM_REGISTER(SurgSim::Math::Shape, SurgSim::Math::MeshShape, MeshShape); MeshShape::MeshShape() : m_center(Vector3d::Constant(std::numeric_limits::quiet_NaN())), m_volume(std::numeric_limits::quiet_NaN()), m_secondMomentOfVolume(Matrix33d::Constant(std::numeric_limits::quiet_NaN())) { } MeshShape::MeshShape(const MeshShape& other) : DataStructures::TriangleMesh ::TriangleMesh(other), m_center(other.getCenter()), m_volume(other.getVolume()), m_secondMomentOfVolume(other.getSecondMomentOfVolume()) { updateAabbTree(); } const SurgSim::Math::Vector3d& MeshShape::getNormal(size_t triangleId) const { return getTriangle(triangleId).data.normal; } bool MeshShape::calculateNormals() { bool result = true; for (size_t i = 0; i < getNumTriangles(); ++i) { const SurgSim::Math::Vector3d& vertex0 = getVertexPosition(getTriangle(i).verticesId[0]); const SurgSim::Math::Vector3d& vertex1 = getVertexPosition(getTriangle(i).verticesId[1]); const SurgSim::Math::Vector3d& vertex2 = getVertexPosition(getTriangle(i).verticesId[2]); // Calculate normal vector SurgSim::Math::Vector3d normal = (vertex1 - vertex0).cross(vertex2 - vertex0); if (normal.isZero()) { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getLogger("Math/MeshShape")) << "MeshShape::calculateNormals unable to calculate normals. For example, for triangle #" << i << " with vertices:" << std::endl << "1: " << vertex0.transpose() << std::endl << "2: " << vertex1.transpose() << std::endl << "3: " << vertex2.transpose(); result = false; break; } normal.normalize(); getTriangle(i).data.normal = normal; } return result; } bool MeshShape::doUpdate() { updateAabbTree(); computeVolumeIntegrals(); return calculateNormals(); } bool MeshShape::doLoad(const std::string& fileName) { if (!SurgSim::DataStructures::TriangleMesh::doLoad(fileName)) { return false; } return update(); } int MeshShape::getType() const { return SHAPE_TYPE_MESH; } double MeshShape::getVolume() const { return m_volume; } bool MeshShape::isValid() const { return SurgSim::DataStructures::TriangleMesh::isValid(); } SurgSim::Math::Vector3d MeshShape::getCenter() const { return m_center; } SurgSim::Math::Matrix33d MeshShape::getSecondMomentOfVolume() const { return m_secondMomentOfVolume; } namespace { /// Compute various integral terms /// \note Please refer to http://www.geometrictools.com/Documentation/PolyhedralMassProperties.pdf /// \note for details about parameters void computeIntegralTerms(const double w0, const double w1, const double w2, double* f1, double* f2, double* f3, double* g0, double* g1, double* g2) { double temp0 = w0 + w1; double temp1 = w0 * w0; double temp2 = temp1 + w1 * temp0; *f1 = temp0 + w2; *f2 = temp2 + w2 * (*f1); *f3 = w0 * temp1 + w1 * temp2 + w2 * (*f2); *g0 = (*f2) + w0 * ((*f1) + w0); *g1 = (*f2) + w1 * ((*f1) + w1); *g2 = (*f2) + w2 * ((*f1) + w2); } }; void MeshShape::computeVolumeIntegrals() { Eigen::VectorXd multiplier(10); multiplier << 1.0 / 6.0, 1.0 / 24.0, 1.0 / 24.0, 1.0 / 24.0, 1.0 / 60.0, 1.0 / 60.0, 1.0 / 60.0, 1.0 / 120.0, 1.0 / 120.0, 1.0 / 120.0; Eigen::VectorXd integral(10); // integral order: 1, x, y, z, x^2, y^2, z^2, xy, yz, zx integral.setZero(); for (auto const& triangle : getTriangles()) { if (! triangle.isValid) { continue; } const Vector3d& v0 = getVertexPosition(triangle.verticesId[0]); const Vector3d& v1 = getVertexPosition(triangle.verticesId[1]); const Vector3d& v2 = getVertexPosition(triangle.verticesId[2]); // get edges and cross product of edges Vector3d normal = (v1 - v0).cross(v2 - v0); // compute integral terms double f1x, f1y, f1z, f2x, f2y, f2z, f3x, f3y, f3z; double g0x, g0y, g0z, g1x, g1y, g1z, g2x, g2y, g2z; computeIntegralTerms(v0.x(), v1.x(), v2.x(), &f1x, &f2x, &f3x, &g0x, &g1x, &g2x); computeIntegralTerms(v0.y(), v1.y(), v2.y(), &f1y, &f2y, &f3y, &g0y, &g1y, &g2y); computeIntegralTerms(v0.z(), v1.z(), v2.z(), &f1z, &f2z, &f3z, &g0z, &g1z, &g2z); // update integrals integral[0] += normal[0] * f1x; integral[1] += normal[0] * f2x; integral[2] += normal[1] * f2y; integral[3] += normal[2] * f2z; integral[4] += normal[0] * f3x; integral[5] += normal[1] * f3y; integral[6] += normal[2] * f3z; integral[7] += normal[0] * (v0.y() * g0x + v1.y() * g1x + v2.y() * g2x); integral[8] += normal[1] * (v0.z() * g0y + v1.z() * g1y + v2.z() * g2y); integral[9] += normal[2] * (v0.x() * g0z + v1.x() * g1z + v2.x() * g2z); } integral = integral.cwiseProduct(multiplier); // volume m_volume = integral[0]; // center of mass if (m_volume != 0.0) { m_center = integral.segment(1, 3) / m_volume; } else { m_center.setZero(); } // second moment of volume relative to center Vector3d centerSquared = m_center.cwiseProduct(m_center); m_secondMomentOfVolume(0, 0) = integral[5] + integral[6] - m_volume * (centerSquared.y() + centerSquared.z()); m_secondMomentOfVolume(1, 1) = integral[4] + integral[6] - m_volume * (centerSquared.z() + centerSquared.x()); m_secondMomentOfVolume(2, 2) = integral[4] + integral[5] - m_volume * (centerSquared.x() + centerSquared.y()); m_secondMomentOfVolume(0, 1) = -(integral[7] - m_volume * m_center.x() * m_center.y()); m_secondMomentOfVolume(1, 0) = m_secondMomentOfVolume(0, 1); m_secondMomentOfVolume(1, 2) = -(integral[8] - m_volume * m_center.y() * m_center.z()); m_secondMomentOfVolume(2, 1) = m_secondMomentOfVolume(1, 2); m_secondMomentOfVolume(0, 2) = -(integral[9] - m_volume * m_center.z() * m_center.x()); m_secondMomentOfVolume(2, 0) = m_secondMomentOfVolume(0, 2); } std::shared_ptr MeshShape::getTransformed(const RigidTransform3d& pose) const { auto transformed = std::make_shared(*this); transformed->transform(pose); transformed->update(); return transformed; } const std::shared_ptr MeshShape::getAabbTree() const { return m_aabbTree; } void MeshShape::updateAabbTree() { m_aabbTree = std::make_shared(); std::list items; auto const& triangles = getTriangles(); for (size_t id = 0, count = triangles.size(); id < count; ++id) { if (triangles[id].isValid) { auto vertices = getTrianglePositions(id); items.emplace_back(SurgSim::Math::makeAabb(vertices[0], vertices[1], vertices[2]), id); } } m_aabbTree->set(std::move(items)); m_aabb = m_aabbTree->getAabb(); } bool MeshShape::isTransformable() const { return true; } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/MeshShape.h000066400000000000000000000111611277777236100204240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_MESHSHAPE_H #define SURGSIM_MATH_MESHSHAPE_H #include #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/NormalData.h" #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Shape.h" namespace SurgSim { namespace DataStructures { class AabbTree; } namespace Math { SURGSIM_STATIC_REGISTRATION(MeshShape); /// Mesh shape: shape made of a triangle mesh /// The triangle mesh needs to be watertight to produce valid volume, center and second moment of /// volume. If it is not the case and you need valid geometric properties, use SurfaceMeshShape instead. /// Various geometrical properties (volume based) are computed from the triangle mesh using /// David Eberly's work (http://www.geometrictools.com/Documentation/PolyhedralMassProperties.pdf) /// which is improving Brian Mirtich previous work (http://www.cs.berkeley.edu/~jfc/mirtich/massProps.html) /// by making the assumption that the polyhedral mesh is composed of triangles. /// /// \note The internal mesh should not be modified, otherwise the geometric properties will be invalid. /// \note Practical use cases: /// \note * Fixed/Rigid object, the mesh will not change anyway. /// \note * Deformable object, the mesh will be updated, but the geometric properties will not be used. /// /// \sa SurfaceMeshShape class MeshShape : public Shape, public SurgSim::DataStructures::TriangleMesh { public: /// Constructor MeshShape(); /// Copy constructor /// \param other The MeshShape to be copied from explicit MeshShape(const MeshShape& other); /// Copy constructor when the template data is a different type /// \tparam VertexData Type of extra data stored in each vertex /// \tparam EdgeData Type of extra data stored in each edge /// \tparam TriangleData Type of extra data stored in each triangle /// \param other The mesh to be copied from. Vertex, edge and triangle data will not be copied template explicit MeshShape(const SurgSim::DataStructures::TriangleMesh& other); SURGSIM_CLASSNAME(SurgSim::Math::MeshShape); int getType() const override; /// Get normal for triangle. /// \param triangleId The triangle to get normal. /// \return The normal for the triangle with given ID. const SurgSim::Math::Vector3d& getNormal(size_t triangleId) const; double getVolume() const override; Vector3d getCenter() const override; Matrix33d getSecondMomentOfVolume() const override; std::shared_ptr getTransformed(const RigidTransform3d& pose) const override; /// Get the AabbTree /// \return The object's associated AabbTree const std::shared_ptr getAabbTree() const; bool isValid() const override; bool isTransformable() const override; protected: bool doUpdate() override; bool doLoad(const std::string& fileName) override; /// Calculate normals for all triangles. /// \note Normals will be normalized. /// \return true on success, or false if any triangle has an indeterminate normal. bool calculateNormals(); /// Update the AabbTree, which is an axis-aligned bounding box r-tree used to accelerate spatial searches void updateAabbTree(); /// Compute useful volume integrals based on the triangle mesh, which /// are used to get the volume , center and second moment of volume. virtual void computeVolumeIntegrals(); /// Center (considering a uniform distribution in the mesh volume) SurgSim::Math::Vector3d m_center; /// Volume (in m^-3) double m_volume; /// Second moment of volume SurgSim::Math::Matrix33d m_secondMomentOfVolume; private: /// The aabb tree used to accelerate collision detection against the mesh std::shared_ptr m_aabbTree; }; }; // Math }; // SurgSim #include "SurgSim/Math/MeshShape-inl.h" #endif // SURGSIM_MATH_MESHSHAPE_H opensurgsim-0.7.0/SurgSim/Math/MinMax-inl.h000066400000000000000000000050771277777236100205310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_MINMAX_INL_H #define SURGSIM_MATH_MINMAX_INL_H #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace Math { template void minMax(const T& a1, const T& a2, T* minVal, T* maxVal) { if (a1 < a2) { *minVal = a1; *maxVal = a2; } else { *minVal = a2; *maxVal = a1; } } template void minMax(const T& a1, const T& a2, const T& a3, T* minVal, T* maxVal) { T min = a1; T max = a1; if (a2 < min) { min = a2; } else if (a2 > max) { max = a2; } if (a3 < min) { min = a3; } else if (a3 > max) { max = a3; } *minVal = min; *maxVal = max; } template void minMax(const T& a1, const T& a2, const T& a3, const T& a4, T* minVal, T* maxVal) { T min = a1; T max = a1; if (a2 < min) { min = a2; } else if (a2 > max) { max = a2; } if (a3 < min) { min = a3; } else if (a3 > max) { max = a3; } if (a4 < min) { min = a4; } else if (a4 > max) { max = a4; } *minVal = min; *maxVal = max; } template void minMax(const T& a1, const T& a2, const T& a3, const T& a4, const T& a5, T* minVal, T* maxVal) { T min = a1; T max = a1; if (a2 < min) { min = a2; } else if (a2 > max) { max = a2; } if (a3 < min) { min = a3; } else if (a3 > max) { max = a3; } if (a4 < min) { min = a4; } else if (a4 > max) { max = a4; } if (a5 < min) { min = a5; } else if (a5 > max) { max = a5; } *minVal = min; *maxVal = max; } template void minMax(const T* values, int numValues, T* minVal, T* maxVal) { SURGSIM_ASSERT(numValues > 0) << "MinMax was called with a negative or null" << " number of values; the result is indeterminate."; T min = values[0]; T max = values[0]; for (int i = 1; i < numValues; ++i) { if (values[i] < min) { min = values[i]; } else if (values[i] > max) { max = values[i]; } } *minVal = min; *maxVal = max; } }; }; #endif // SURGSIM_MATH_MINMAX_INL_H opensurgsim-0.7.0/SurgSim/Math/MinMax.h000066400000000000000000000053711277777236100177460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_MINMAX_H #define SURGSIM_MATH_MINMAX_H namespace SurgSim { namespace Math { /// Calculate the minimum and maximum of two values /// \tparam T underlying type /// \param a1 the first value /// \param a2 the second value /// \param minVal [out] the minimum of a1 and a2 /// \param maxVal [out] the maximum of a1 and a2 template void minMax(const T& a1, const T& a2, T* minVal, T* maxVal); /// Calculate the minimum and maximum of three values /// \tparam T underlying type /// \param a1 the first value /// \param a2 the second value /// \param a3 the third value /// \param minVal [out] the minimum of a1, a2 and a3 /// \param maxVal [out] the maximum of a1, a2 and a3 template void minMax(const T& a1, const T& a2, const T& a3, T* minVal, T* maxVal); /// Calculate the minimum and maximum of four values /// \tparam T underlying type /// \param a1 the first value /// \param a2 the second value /// \param a3 the third value /// \param a4 the fourth value /// \param minVal [out] the minimum of a1, a2, a3 and a4 /// \param maxVal [out] the maximum of a1, a2, a3 and a4 template void minMax(const T& a1, const T& a2, const T& a3, const T& a4, T* minVal, T* maxVal); /// Calculate the minimum and maximum of five values /// \tparam T underlying type /// \param a1 the first value /// \param a2 the second value /// \param a3 the third value /// \param a4 the fourth value /// \param a5 the fifth value /// \param minVal [out] the minimum of a1, a2, a3, a4 and a5 /// \param maxVal [out] the maximum of a1, a2, a3, a4 and a5 template void minMax(const T& a1, const T& a2, const T& a3, const T& a4, const T& a5, T* minVal, T* maxVal); /// Calculate the minimum and maximum of numValues values /// \tparam T underlying type /// \param values a series of numValues values /// \param numValues the number of values in the series /// \param minVal [out] the minimum value in values /// \param maxVal [out] the maximum value in values template void minMax(const T* values, int numValues, T* minVal, T* maxVal); }; }; #include "SurgSim/Math/MinMax-inl.h" #endif // SURGSIM_MATH_MINMAX_H opensurgsim-0.7.0/SurgSim/Math/MlcpConstraintType.h000066400000000000000000000035731277777236100223610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_MLCPCONSTRAINTTYPE_H #define SURGSIM_MATH_MLCPCONSTRAINTTYPE_H namespace SurgSim { namespace Math { enum MlcpConstraintType { // Invalid value -- not used for any constraint type MLCP_INVALID_CONSTRAINT = -1, // Fixing 1 DOF MLCP_BILATERAL_1D_CONSTRAINT = 0, // Fixing 2 DOF MLCP_BILATERAL_2D_CONSTRAINT, // Fixing 3 DOF (could be a fixed point in 3D space for example) MLCP_BILATERAL_3D_CONSTRAINT, // Fixing 4 DOF (could be a fixed point with twist included for the MechanicalSpline for example) // MLCP_BILATERAL_4D_CONSTRAINT, // Frictionless contact (could be in 2D or 3D => only 1 atomic unilateral constraint) MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT, // Frictional contact in 3D, using Coulomb friction => 1 entry in the friction coefficient array ! MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT, // Frictionless suturing in 3D => 2 directional constraint = 2 bilateral constraints ! MLCP_BILATERAL_FRICTIONLESS_SLIDING_CONSTRAINT, // Frictional suturing in 3D => 2 directional constraint + 1 frictional tangent constraint linked by Coulomb's law MLCP_BILATERAL_FRICTIONAL_SLIDING_CONSTRAINT, MLCP_NUM_CONSTRAINT_TYPES }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_MLCPCONSTRAINTTYPE_H opensurgsim-0.7.0/SurgSim/Math/MlcpConstraintTypeName.h000066400000000000000000000061211277777236100231520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_MLCPCONSTRAINTTYPENAME_H #define SURGSIM_MATH_MLCPCONSTRAINTTYPENAME_H #include #include "SurgSim/Math/MlcpConstraintType.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace Math { inline std::string getMlcpConstraintTypeName(MlcpConstraintType constraintType) { switch (constraintType) { case MLCP_BILATERAL_1D_CONSTRAINT: return "MLCP_BILATERAL_1D_CONSTRAINT"; case MLCP_BILATERAL_2D_CONSTRAINT: return "MLCP_BILATERAL_2D_CONSTRAINT"; case MLCP_BILATERAL_3D_CONSTRAINT: return "MLCP_BILATERAL_3D_CONSTRAINT"; // case MLCP_BILATERAL_4D_CONSTRAINT: // return "MLCP_BILATERAL_4D_CONSTRAINT"; case MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT: return "MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT"; case MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT: return "MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT"; case MLCP_BILATERAL_FRICTIONLESS_SLIDING_CONSTRAINT: return "MLCP_BILATERAL_FRICTIONLESS_SLIDING_CONSTRAINT"; case MLCP_BILATERAL_FRICTIONAL_SLIDING_CONSTRAINT: return "MLCP_BILATERAL_FRICTIONAL_SLIDING_CONSTRAINT"; default: SURGSIM_LOG_SEVERE(SURGSIM_ASSERT_LOGGER) << "bad MLCP constraint type value: " << constraintType; return ""; } } inline MlcpConstraintType getMlcpConstraintTypeValue(const std::string& typeName) { if (typeName == "MLCP_BILATERAL_1D_CONSTRAINT") { return MLCP_BILATERAL_1D_CONSTRAINT; } else if (typeName == "MLCP_BILATERAL_2D_CONSTRAINT") { return MLCP_BILATERAL_2D_CONSTRAINT; } else if (typeName == "MLCP_BILATERAL_3D_CONSTRAINT") { return MLCP_BILATERAL_3D_CONSTRAINT; } // else if (typeName == "MLCP_BILATERAL_4D_CONSTRAINT") // { // return MLCP_BILATERAL_4D_CONSTRAINT; // } else if (typeName == "MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT") { return MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT; } else if (typeName == "MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT") { return MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT; } else if (typeName == "MLCP_BILATERAL_FRICTIONLESS_SLIDING_CONSTRAINT") { return MLCP_BILATERAL_FRICTIONLESS_SLIDING_CONSTRAINT; } else if (typeName == "MLCP_BILATERAL_FRICTIONAL_SLIDING_CONSTRAINT") { return MLCP_BILATERAL_FRICTIONAL_SLIDING_CONSTRAINT; } else { SURGSIM_LOG_WARNING(SURGSIM_ASSERT_LOGGER) << "bad MLCP constraint type name: '" << typeName << "'"; return MLCP_INVALID_CONSTRAINT; } } }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_MLCPCONSTRAINTTYPENAME_H opensurgsim-0.7.0/SurgSim/Math/MlcpGaussSeidelSolver.cpp000066400000000000000000000722151277777236100233300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/MlcpConstraintTypeName.h" #include "SurgSim/Math/MlcpGaussSeidelSolver.h" #include #include "SurgSim/Framework/Log.h" #include "SurgSim/Math/Valid.h" namespace SurgSim { namespace Math { MlcpGaussSeidelSolver::MlcpGaussSeidelSolver() : m_epsilonConvergence(1e-4), m_contactTolerance(2e-5), m_maxIterations(30), m_numEnforcedAtomicConstraints(0), m_logger(SurgSim::Framework::Logger::getLogger("Math/MlcpGaussSeidelSolver")) { } MlcpGaussSeidelSolver::MlcpGaussSeidelSolver(double epsilonConvergence, double contactTolerance, size_t maxIterations) : m_epsilonConvergence(epsilonConvergence), m_contactTolerance(contactTolerance), m_maxIterations(maxIterations), m_numEnforcedAtomicConstraints(0), m_logger(SurgSim::Framework::Logger::getLogger("Math/MlcpGaussSeidelSolver")) { } MlcpGaussSeidelSolver::~MlcpGaussSeidelSolver() { } double MlcpGaussSeidelSolver::getEpsilonConvergence() const { return m_epsilonConvergence; } void MlcpGaussSeidelSolver::setEpsilonConvergence(double precision) { m_epsilonConvergence = precision; } double MlcpGaussSeidelSolver::getContactTolerance() const { return m_contactTolerance; } void MlcpGaussSeidelSolver::setContactTolerance(double tolerance) { m_contactTolerance = tolerance; } size_t MlcpGaussSeidelSolver::getMaxIterations() const { return m_maxIterations; } void MlcpGaussSeidelSolver::setMaxIterations(size_t maxIterations) { m_maxIterations = maxIterations; } bool MlcpGaussSeidelSolver::solve(const MlcpProblem& problem, MlcpSolution* solution) { const size_t problemSize = problem.getSize(); const MlcpProblem::Matrix& A = problem.A; const MlcpProblem::Vector& b = problem.b; MlcpSolution::Vector& initialGuessAndSolution = solution->x; const std::vector& constraintsType = problem.constraintTypes; size_t* iteration = &solution->numIterations; bool* validConvergence = &solution->validConvergence; bool* validSignorini = &solution->validSignorini; double* convergenceCriteria = &solution->convergenceCriteria; double* initialConvergenceCriteria = &solution->initialConvergenceCriteria; double* constraintConvergenceCriteria = solution->constraintConvergenceCriteria; double* initialConstraintConvergenceCriteria = solution->initialConstraintConvergenceCriteria; // Loop until it converges or maxIterations are reached *iteration = 0; *validSignorini = true; calculateConvergenceCriteria(problemSize, A, b, initialGuessAndSolution, constraintsType, initialConstraintConvergenceCriteria, initialConvergenceCriteria, validSignorini); // If it is already converged, fill the output and return true. if (*initialConvergenceCriteria <= m_epsilonConvergence && *validSignorini) { *validConvergence = true; *convergenceCriteria = *initialConvergenceCriteria; return true; } do { doOneIteration(problemSize, A, b, &initialGuessAndSolution, problem.mu, constraintsType, constraintConvergenceCriteria, convergenceCriteria, validSignorini); calculateConvergenceCriteria(problemSize, A, b, initialGuessAndSolution, constraintsType, constraintConvergenceCriteria, convergenceCriteria, validSignorini); ++(*iteration); // If we have an incredibly high convergence criteria value, the displacements are going to be very large, // causing problems in the next iteration, so we should break out here. The convergence_criteria should // really only be a couple order of magnitudes higher than epsilon. if (!SurgSim::Math::isValid(*convergenceCriteria) || *convergenceCriteria > 1.0) { SURGSIM_LOG_WARNING(m_logger) << "Convergence (" << *convergenceCriteria << ") is NaN, infinite, or greater than 1.0! MLCP is exploding after " << *iteration << " Gauss Seidel iterations!!"; break; } } while ((!(*validSignorini) || (*convergenceCriteria > m_epsilonConvergence)) && *iteration < m_maxIterations); *validConvergence = SurgSim::Math::isValid(*convergenceCriteria) && *convergenceCriteria <= 1.0; SURGSIM_LOG_IF(*convergenceCriteria >= sqrt(m_epsilonConvergence), m_logger, WARNING) << "Convergence criteria (" << *convergenceCriteria << ") is greater than " << sqrt(m_epsilonConvergence) << " at end of " << *iteration << " Gauss Seidel iterations."; SURGSIM_LOG_IF(*convergenceCriteria > *initialConvergenceCriteria, m_logger, WARNING) << "Convergence criteria (" << *convergenceCriteria << ") is greater than before " << *iteration << " Gauss Seidel iterations (" << *initialConvergenceCriteria << ")."; SURGSIM_LOG_IF(!(*validSignorini), m_logger, WARNING) << "Signorini not verified after " << *iteration << " Gauss Seidel iterations."; return (SurgSim::Math::isValid(*convergenceCriteria) && *convergenceCriteria <= m_epsilonConvergence); } void MlcpGaussSeidelSolver::calculateConvergenceCriteria(size_t problemSize, const MlcpProblem::Matrix& A, const MlcpProblem::Vector& b, const MlcpSolution::Vector& initialGuessAndSolution, const std::vector& constraintsType, double constraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES], double* convergenceCriteria, bool* validSignorini) { // Calculate initial convergence criteria. for (size_t constraint = 0; constraint < MLCP_NUM_CONSTRAINT_TYPES; ++constraint) { constraintConvergenceCriteria[constraint] = 0.0; } *convergenceCriteria = 0.0; *validSignorini = true; size_t currentAtomicIndex = 0; const size_t nbConstraints = constraintsType.size(); size_t nbNonContactConstraints = 0; for (size_t constraint = 0; constraint < nbConstraints; ++constraint) { switch (constraintsType[constraint]) { case MLCP_BILATERAL_1D_CONSTRAINT: { const double criteria = (b.segment<1>(currentAtomicIndex) + A.row(currentAtomicIndex) * initialGuessAndSolution).norm(); *convergenceCriteria += criteria; constraintConvergenceCriteria[constraintsType[constraint]] += criteria; ++nbNonContactConstraints; currentAtomicIndex += 1; break; } case MLCP_BILATERAL_2D_CONSTRAINT: { const double criteria = (b.segment<2>(currentAtomicIndex) + A.block(currentAtomicIndex, 0, 2, problemSize) * initialGuessAndSolution).norm(); *convergenceCriteria += criteria; constraintConvergenceCriteria[constraintsType[constraint]] += criteria; ++nbNonContactConstraints; currentAtomicIndex += 2; break; } case MLCP_BILATERAL_3D_CONSTRAINT: { const double criteria = (b.segment<3>(currentAtomicIndex) + A.block(currentAtomicIndex, 0, 3, problemSize) * initialGuessAndSolution).norm(); *convergenceCriteria += criteria; constraintConvergenceCriteria[constraintsType[constraint]] += criteria; ++nbNonContactConstraints; currentAtomicIndex += 3; break; } case MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT: { const double violation = b[currentAtomicIndex] + A.row(currentAtomicIndex) * initialGuessAndSolution; // Enforce orthogonality condition if (!SurgSim::Math::isValid(violation) || violation < -m_contactTolerance || (initialGuessAndSolution[currentAtomicIndex] > m_epsilonConvergence && violation > m_contactTolerance)) { *validSignorini = false; } currentAtomicIndex += 1; break; } case MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT: { const double violation = b[currentAtomicIndex] + A.row(currentAtomicIndex) * initialGuessAndSolution; // Enforce orthogonality condition if (!SurgSim::Math::isValid(violation) || violation < -m_contactTolerance || (initialGuessAndSolution[currentAtomicIndex] > m_epsilonConvergence && violation > m_contactTolerance)) { *validSignorini = false; } currentAtomicIndex += 3; break; } case MLCP_BILATERAL_FRICTIONLESS_SLIDING_CONSTRAINT: { const double criteria = (b.segment<2>(currentAtomicIndex) + A.block(currentAtomicIndex, 0, 2, problemSize) * initialGuessAndSolution).norm(); *convergenceCriteria += criteria; constraintConvergenceCriteria[constraintsType[constraint]] += criteria; ++nbNonContactConstraints; currentAtomicIndex += 2; break; } case MLCP_BILATERAL_FRICTIONAL_SLIDING_CONSTRAINT: { // We verify that the sliding point is on the line...no matter what the friction violation is // (3rd component) const double criteria = (b.segment<2>(currentAtomicIndex) + A.block(currentAtomicIndex, 0, 2, problemSize) * initialGuessAndSolution).norm(); *convergenceCriteria += criteria; constraintConvergenceCriteria[constraintsType[constraint]] += criteria; ++nbNonContactConstraints; currentAtomicIndex += 3; break; } default: SURGSIM_FAILURE() << "unknown constraint type [" << constraintsType[constraint] << "]"; break; } } if (nbNonContactConstraints > 0) { *convergenceCriteria /= nbNonContactConstraints; // normalize if necessary } } void MlcpGaussSeidelSolver::computeEnforcementSystem( size_t problemSize, const MlcpProblem::Matrix& A, const MlcpProblem::Vector& b, const MlcpSolution::Vector& initialGuessAndSolution, const std::vector& constraintsType, size_t constraintID, size_t matrixEntryForConstraintID) { const size_t nbConstraints = constraintsType.size(); // Total size of the system (number of line and column in the final matrix) size_t systemSize = 0; // Total size of the system counting only the {1D,2D,3D} bilateral constraints size_t systemSizeWithoutConstraintID = 0; // 1st) compute the size of the final system // We suppose that the constraint to enforce are only 1D, 2D or 3D bilateral constraints // and all appearing first in the list ! { bool done = false; for (size_t i = 0; i < nbConstraints; ++i) { switch (constraintsType[i]) { case MLCP_BILATERAL_1D_CONSTRAINT: { systemSize += 1; systemSizeWithoutConstraintID += 1; break; } case MLCP_BILATERAL_2D_CONSTRAINT: { systemSize += 2; systemSizeWithoutConstraintID += 2; break; } case MLCP_BILATERAL_3D_CONSTRAINT: { systemSize += 3; systemSizeWithoutConstraintID += 3; break; } default: done = true; break; } if (done) { break; } } // We added all the constraints, now we need to add the constraintID (contact, sliding,...) to have the total // system size! switch (constraintsType[constraintID]) { case MLCP_BILATERAL_1D_CONSTRAINT: case MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT: // The system will solve the normal contact, not the frictional parts ! case MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT: { systemSize += 1; break; } case MLCP_BILATERAL_2D_CONSTRAINT: case MLCP_BILATERAL_FRICTIONLESS_SLIDING_CONSTRAINT: // The system will solve the sliding case, not the frictional part ! case MLCP_BILATERAL_FRICTIONAL_SLIDING_CONSTRAINT: { systemSize += 2; break; } case MLCP_BILATERAL_3D_CONSTRAINT: { systemSize += 3; break; } default: SURGSIM_LOG_SEVERE(m_logger) << "MlcpGaussSeidelSolver::computeEnforcementSystem Unknown constraint !?"; break; } } m_numEnforcedAtomicConstraints = systemSize; m_rhsEnforcedLocalSystem.resize(systemSize); m_lhsEnforcedLocalSystem.resize(systemSize, systemSize); // 2nd) Fill up the system // We suppose that the constraint to enforce are only 1D, 2D or 3D bilateral constraints { // Here we fill up the core part, compliance between all the constraints themselves ! m_rhsEnforcedLocalSystem.head(systemSizeWithoutConstraintID) = b.head(systemSizeWithoutConstraintID) + A.block(0, 0, systemSizeWithoutConstraintID, problemSize) * initialGuessAndSolution; m_lhsEnforcedLocalSystem.block(0, 0, systemSizeWithoutConstraintID, systemSizeWithoutConstraintID) = A.block(0, 0, systemSizeWithoutConstraintID, systemSizeWithoutConstraintID); // Now we complete the contact matrix by adding the coupling constraint/{contact|sliding} and the compliance // for {contact|sliding} switch (constraintsType[constraintID]) { case MLCP_BILATERAL_1D_CONSTRAINT: // In any case of contact, we only register the normal part...the friction part is computed afterward ! case MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT: case MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT: { // Coupling part (fill up LHS and RHS) m_rhsEnforcedLocalSystem[systemSizeWithoutConstraintID] = b[matrixEntryForConstraintID] + A.row(matrixEntryForConstraintID) * initialGuessAndSolution; m_lhsEnforcedLocalSystem.block(0, systemSizeWithoutConstraintID, systemSizeWithoutConstraintID, 1) = A.block(0, matrixEntryForConstraintID, systemSizeWithoutConstraintID, 1); m_lhsEnforcedLocalSystem.block(systemSizeWithoutConstraintID, 0, 1, systemSizeWithoutConstraintID) = A.block(matrixEntryForConstraintID, 0, 1, systemSizeWithoutConstraintID); // Compliance part for the {contact|sliding} m_lhsEnforcedLocalSystem(systemSizeWithoutConstraintID, systemSizeWithoutConstraintID) = A(matrixEntryForConstraintID, matrixEntryForConstraintID); break; } case MLCP_BILATERAL_2D_CONSTRAINT: // In any case of sliding, we only register the normals part...the friction part along the // tangent is computed afterward ! case MLCP_BILATERAL_FRICTIONLESS_SLIDING_CONSTRAINT: case MLCP_BILATERAL_FRICTIONAL_SLIDING_CONSTRAINT: { // Coupling part (fill up LHS and RHS) m_rhsEnforcedLocalSystem.segment<2>(systemSizeWithoutConstraintID) = b.segment<2>(matrixEntryForConstraintID) + A.block(matrixEntryForConstraintID, 0, 2, problemSize) * initialGuessAndSolution; m_lhsEnforcedLocalSystem.block(0, systemSizeWithoutConstraintID, systemSizeWithoutConstraintID, 2) = A.block(0, matrixEntryForConstraintID, systemSizeWithoutConstraintID, 2); m_lhsEnforcedLocalSystem.block(systemSizeWithoutConstraintID, 0, 2, systemSizeWithoutConstraintID) = A.block(matrixEntryForConstraintID, 0, 2, systemSizeWithoutConstraintID); // Compliance part for the {contact|sliding} m_lhsEnforcedLocalSystem.block(systemSizeWithoutConstraintID, systemSizeWithoutConstraintID, 2, 2) = A.block(matrixEntryForConstraintID, matrixEntryForConstraintID, 2, 2); break; } case MLCP_BILATERAL_3D_CONSTRAINT: { // Coupling part (fill up LHS and RHS) m_rhsEnforcedLocalSystem.segment<3>(systemSizeWithoutConstraintID) = b.segment<3>(matrixEntryForConstraintID) + A.block(matrixEntryForConstraintID, 0, 3, problemSize) * initialGuessAndSolution; m_lhsEnforcedLocalSystem.block(0, systemSizeWithoutConstraintID, systemSizeWithoutConstraintID, 3) = A.block(0, matrixEntryForConstraintID, systemSizeWithoutConstraintID, 3); m_lhsEnforcedLocalSystem.block(systemSizeWithoutConstraintID, 0, 3, systemSizeWithoutConstraintID) = A.block(matrixEntryForConstraintID, 0, 3, systemSizeWithoutConstraintID); // Compliance part for the {contact|sliding} m_lhsEnforcedLocalSystem.block(systemSizeWithoutConstraintID, systemSizeWithoutConstraintID, 3, 3) = A.block(matrixEntryForConstraintID, matrixEntryForConstraintID, 3, 3); break; } default: SURGSIM_LOG_SEVERE(m_logger) << "MlcpGaussSeidelSolver::computeEnforcementSystem Unknown constraint !?"; break; } } } // Solve the system A x = b for x, with the assumption that the size is "size" static inline void solveSystem(const MlcpProblem::Matrix& A, const MlcpProblem::Vector& b, size_t size, MlcpSolution::Vector* x) { MlcpProblem::Matrix AA = A.block(0, 0, size, size); MlcpProblem::Vector bb = b.head(size); MlcpSolution::Vector solution = AA.partialPivLu().solve(bb); //MlcpSolution::Vector solution = AA.colPivHouseholderQr().solve(bb); //MlcpSolution::Vector solution = AA.householderQr().solve(bb); *x = solution; } void MlcpGaussSeidelSolver::doOneIteration(size_t problemSize, const MlcpProblem::Matrix& A, const MlcpProblem::Vector& b, MlcpSolution::Vector* initialGuessAndSolution, const MlcpProblem::Vector& frictionCoefs, const std::vector& constraintsType, double constraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES], double* convergenceCriteria, bool* validSignorini) { for (size_t constraint = 0; constraint < MLCP_NUM_CONSTRAINT_TYPES; ++constraint) { constraintConvergenceCriteria[constraint] = 0.0; } *convergenceCriteria = 0.0; *validSignorini = true; size_t currentAtomicIndex = 0; size_t nbConstraints = constraintsType.size(); // For each constraint, we look if the constraint is violated or not ! for (size_t constraint = 0; constraint < nbConstraints; ++constraint) { switch (constraintsType[constraint]) { case MLCP_BILATERAL_1D_CONSTRAINT: { (*initialGuessAndSolution)[currentAtomicIndex] -= (b[currentAtomicIndex] + A.row(currentAtomicIndex) * (*initialGuessAndSolution)) / A(currentAtomicIndex, currentAtomicIndex); ++currentAtomicIndex; break; } case MLCP_BILATERAL_2D_CONSTRAINT: { (*initialGuessAndSolution).segment<2>(currentAtomicIndex) -= A.block<2, 2>(currentAtomicIndex, currentAtomicIndex).inverse() * (b.segment<2>(currentAtomicIndex) + A.block(currentAtomicIndex, 0, 2, problemSize) * (*initialGuessAndSolution)); currentAtomicIndex += 2; break; } case MLCP_BILATERAL_3D_CONSTRAINT: { (*initialGuessAndSolution).segment<3>(currentAtomicIndex) -= A.block<3, 3>(currentAtomicIndex, currentAtomicIndex).inverse() * (b.segment<3>(currentAtomicIndex) + A.block(currentAtomicIndex, 0, 3, problemSize) * (*initialGuessAndSolution)); currentAtomicIndex += 3; break; } case MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT: { // Form the local system computeEnforcementSystem(problemSize, A, b, *initialGuessAndSolution, constraintsType, constraint, currentAtomicIndex); // Solve A.f = violation solveSystem(m_lhsEnforcedLocalSystem, m_rhsEnforcedLocalSystem, m_numEnforcedAtomicConstraints, &m_rhsEnforcedLocalSystem); // Correct the forces accordingly (*initialGuessAndSolution).head(m_numEnforcedAtomicConstraints - 1) -= m_rhsEnforcedLocalSystem.head(m_numEnforcedAtomicConstraints - 1); double& Fn = (*initialGuessAndSolution)[currentAtomicIndex]; Fn -= m_rhsEnforcedLocalSystem[m_numEnforcedAtomicConstraints - 1]; if (Fn < 0.0) { Fn = 0; // inactive contact on normal } ++currentAtomicIndex; break; } case MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT: { // Form the local system computeEnforcementSystem(problemSize, A, b, *initialGuessAndSolution, constraintsType, constraint, currentAtomicIndex); // Solve A.f = violation solveSystem(m_lhsEnforcedLocalSystem, m_rhsEnforcedLocalSystem, m_numEnforcedAtomicConstraints, &m_rhsEnforcedLocalSystem); // Correct the forces accordingly (*initialGuessAndSolution).head(m_numEnforcedAtomicConstraints - 1) -= m_rhsEnforcedLocalSystem.head(m_numEnforcedAtomicConstraints - 1); double& Fn = (*initialGuessAndSolution)[currentAtomicIndex]; Eigen::VectorBlock Ft = (*initialGuessAndSolution).segment<2>(currentAtomicIndex + 1); Fn -= m_rhsEnforcedLocalSystem[m_numEnforcedAtomicConstraints - 1]; if (Fn > 0.0) { // Compute the frictions violation Ft -= 2.0 * (b.segment<2>(currentAtomicIndex + 1) + A.block(currentAtomicIndex + 1, 0, 2, problemSize) * (*initialGuessAndSolution)) / (A(currentAtomicIndex + 1, currentAtomicIndex + 1) + A(currentAtomicIndex + 2, currentAtomicIndex + 2)); const double maxFriction = frictionCoefs[currentAtomicIndex] * Fn; if (Ft.norm() > maxFriction) { // Here, the Friction is too strong, we keep the direction, but modulate its length // to verify the Coulomb's law: |Ft| = mu |Fn| Ft = Ft.normalized() * maxFriction; } } else { Fn = 0; // inactive contact on normal // inactive contact on tangent Ft.setZero(); } currentAtomicIndex += 3; break; } case MLCP_BILATERAL_FRICTIONLESS_SLIDING_CONSTRAINT: { // Form the local system computeEnforcementSystem(problemSize, A, b, *initialGuessAndSolution, constraintsType, constraint, currentAtomicIndex); // Solve A.f = violation solveSystem(m_lhsEnforcedLocalSystem, m_rhsEnforcedLocalSystem, m_numEnforcedAtomicConstraints, &m_rhsEnforcedLocalSystem); // Correct the forces accordingly (*initialGuessAndSolution).head(m_numEnforcedAtomicConstraints - 2) -= m_rhsEnforcedLocalSystem.head(m_numEnforcedAtomicConstraints - 2); (*initialGuessAndSolution).segment<2>(currentAtomicIndex) -= m_rhsEnforcedLocalSystem.segment<2>(m_numEnforcedAtomicConstraints - 2); currentAtomicIndex += 2; break; } case MLCP_BILATERAL_FRICTIONAL_SLIDING_CONSTRAINT: { // Form the local system computeEnforcementSystem(problemSize, A, b, *initialGuessAndSolution, constraintsType, constraint, currentAtomicIndex); // Solve A.f = violation solveSystem(m_lhsEnforcedLocalSystem, m_rhsEnforcedLocalSystem, m_numEnforcedAtomicConstraints, &m_rhsEnforcedLocalSystem); // Correct the forces accordingly (*initialGuessAndSolution).head(m_numEnforcedAtomicConstraints - 2) -= m_rhsEnforcedLocalSystem.head(m_numEnforcedAtomicConstraints - 2); Eigen::VectorBlock Fn = (*initialGuessAndSolution).segment<2>(currentAtomicIndex); Fn -= m_rhsEnforcedLocalSystem.segment<2>(m_numEnforcedAtomicConstraints - 2); // No Signorini to verify here, it is NOT a unilateral constraint, but bilateral { // Complete the violation of the friction along t, with the missing terms... double& Ft = (*initialGuessAndSolution)[currentAtomicIndex + 2]; Ft -= (b[currentAtomicIndex + 2] + A.row(currentAtomicIndex + 2) * (*initialGuessAndSolution)) / A(currentAtomicIndex + 2, currentAtomicIndex + 2); const double maxFriction = frictionCoefs[currentAtomicIndex] * Fn.norm(); const double ftNorm = fabs(Ft); if (ftNorm > maxFriction) { // Here, the Friction is too strong, we keep the direction, but modulate its length // to verify the Coulomb's law: |Ft| = mu |Fn| Ft *= maxFriction / ftNorm; } } currentAtomicIndex += 3; break; } default: SURGSIM_FAILURE() << "unknown constraint type [" << constraintsType[constraint] << "]"; break; } } } void MlcpGaussSeidelSolver::printViolationsAndConvergence(size_t problemSize, const MlcpProblem::Matrix& A, const MlcpProblem::Vector& b, const MlcpSolution::Vector& initialGuessAndSolution, const std::vector& constraintsType, double convergenceCriteria, bool validSignorini, size_t iterations) { SURGSIM_LOG_INFO(m_logger) << "MLCP at iteration " << iterations << " ="; size_t currentAtomicIndex = 0; size_t nbConstraints = constraintsType.size(); for (size_t constraint = 0; constraint < nbConstraints; ++constraint) { switch (constraintsType[constraint]) { case MLCP_BILATERAL_1D_CONSTRAINT: { double violation = b[currentAtomicIndex] + A.row(currentAtomicIndex) * initialGuessAndSolution; SURGSIM_LOG_INFO(m_logger) << "Constraint [" << constraint << "] of type " << getMlcpConstraintTypeName(constraintsType[constraint]) << std::endl << "\t with initial violation b=(" << b[currentAtomicIndex] << ")" << std::endl << "\t with final violation b-Ax=(" << violation << ")" << std::endl << "\t force=(" << initialGuessAndSolution[currentAtomicIndex] << ")"; currentAtomicIndex += 1; break; } case MLCP_BILATERAL_2D_CONSTRAINT: { Vector2d violation = b.segment<2>(currentAtomicIndex) + A.block(currentAtomicIndex, 0, 2, problemSize) * initialGuessAndSolution; SURGSIM_LOG_INFO(m_logger) << "Constraint [" << constraint << "] of type " << getMlcpConstraintTypeName(constraintsType[constraint]) << std::endl << "\t with initial violation b=(" << b.segment<2>(currentAtomicIndex).transpose() << ") " << std::endl << "\t with final violation b-Ax=(" << violation.transpose() << ")" << std::endl << "\t force=(" << initialGuessAndSolution.segment<2>(currentAtomicIndex).transpose() << ")"; currentAtomicIndex += 2; break; } case MLCP_BILATERAL_3D_CONSTRAINT: { Vector3d violation = b.segment<3>(currentAtomicIndex) + A.block(currentAtomicIndex, 0, 3, problemSize) * initialGuessAndSolution; SURGSIM_LOG_INFO(m_logger) << "Constraint [" << constraint << "] of type " << getMlcpConstraintTypeName(constraintsType[constraint]) << std::endl << "\t with initial violation b=(" << b.segment<3>(currentAtomicIndex).transpose() << ")" << std::endl << "\t with final violation b-Ax=(" << violation.transpose() << ") " << std::endl << "\t force=(" << initialGuessAndSolution.segment<3>(currentAtomicIndex).transpose() << ")"; currentAtomicIndex += 3; break; } case MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT: { double violation = b[currentAtomicIndex] + A.row(currentAtomicIndex) * initialGuessAndSolution; SURGSIM_LOG_INFO(m_logger) << "Constraint [" << constraint << "] of type " << getMlcpConstraintTypeName(constraintsType[constraint]) << std::endl << "\t with initial violation b=(" << b[currentAtomicIndex] << ") " << std::endl << "\t with final violation b-Ax=(" << violation << ") "; if (violation < -m_contactTolerance) { SURGSIM_LOG_INFO(m_logger) << "\t => normal violation = " << violation << " < -m_contactTolerance => Signorini not verified yet !"; } SURGSIM_LOG_INFO(m_logger) << "\t force=(" << initialGuessAndSolution[currentAtomicIndex] << ")"; currentAtomicIndex += 1; break; } case MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT: { Vector3d violation = b.segment<3>(currentAtomicIndex) + A.block(currentAtomicIndex, 0, 3, problemSize) * initialGuessAndSolution; SURGSIM_LOG_INFO(m_logger) << "Constraint [" << constraint << "] of type " << getMlcpConstraintTypeName(constraintsType[constraint]) << std::endl << "\t with initial violation b=(" << b.segment<3>(currentAtomicIndex).transpose() << ")" << std::endl << "\t with final violation b-Ax=(" << violation.transpose() << ")"; if (violation[0] < -m_contactTolerance) { SURGSIM_LOG_INFO(m_logger) << "\t => normal violation = " << violation[0] << " < -contactTolerance => Signorini not verified yet !"; } SURGSIM_LOG_INFO(m_logger) << "\t force=(" << initialGuessAndSolution.segment<3>(currentAtomicIndex).transpose() << ")"; currentAtomicIndex += 3; break; } case MLCP_BILATERAL_FRICTIONLESS_SLIDING_CONSTRAINT: { Vector2d violation = b.segment<2>(currentAtomicIndex) + A.block(currentAtomicIndex, 0, 2, problemSize) * initialGuessAndSolution; getMlcpConstraintTypeName(constraintsType[constraint]); SURGSIM_LOG_INFO(m_logger) << "Constraint [" << constraint << "] of type " << getMlcpConstraintTypeName(constraintsType[constraint]) << std::endl << "\t with initial violation b=(" << b.segment<2>(currentAtomicIndex).transpose() << ") " << std::endl << "\t with final violation b-Ax=(" << violation.transpose() << ") " << std::endl << "\t force=(" << initialGuessAndSolution.segment<2>(currentAtomicIndex).transpose() << ")"; currentAtomicIndex += 2; break; } case MLCP_BILATERAL_FRICTIONAL_SLIDING_CONSTRAINT: { Vector3d violation = b.segment<3>(currentAtomicIndex) + A.block(currentAtomicIndex, 0, 3, problemSize) * initialGuessAndSolution; SURGSIM_LOG_INFO(m_logger) << "Constraint [" << constraint << "] of type " << getMlcpConstraintTypeName(constraintsType[constraint]) << std::endl << "\t with initial violation b=(" << b.segment<3>(currentAtomicIndex).transpose() << ") " << std::endl << "\t with final violation b-Ax=(" << violation.transpose() << ")" << std::endl << "\t force=(" << initialGuessAndSolution.segment<3>(currentAtomicIndex).transpose() << ")"; currentAtomicIndex += 3; break; } default: break; } } SURGSIM_LOG_INFO(m_logger) << "convergence_criteria=" << convergenceCriteria << " Signorini verified=" << (validSignorini ? "yes" : "NO"); } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/MlcpGaussSeidelSolver.h000066400000000000000000000124731277777236100227750ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_MLCPGAUSSSEIDELSOLVER_H #define SURGSIM_MATH_MLCPGAUSSSEIDELSOLVER_H #include #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/MlcpProblem.h" #include "SurgSim/Math/MlcpSolver.h" #include "SurgSim/Math/MlcpSolution.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Framework { class Logger; } namespace Math { /// A solver for mixed LCP problems using the Gauss-Seidel iterative method. /// /// The problem can contain: /// - CONSTRAINT = Bilateral constraint (all atomic, a fixed 3D point=3 atomics independents constraints) /// - CONTACT = Unilateral constraint /// * frictionless => 1 atomic constraint per contact /// * frictional with Coulomb friction (1 mu parameter per contact) => 3 atomic dependent constraints per contact /// (1 directional + 2 tangentials) /// - SUTURING = Sliding constraint for suturing /// * Frictionless suturing constraint => 2 atomic constraints per sliding point /// * Frictional suturing constraint => 3 atomic constraints per sliding point (2 directional + 1 tangential with /// friction on it) => 1 mu parameter per frictional suturing /// /// See e.g.: Duriez, Christian; Dubois, F.; Kheddar, A.; Andriot, C., "Realistic haptic rendering of interacting /// deformable objects in virtual environments," IEEE Transactions on Visualization and Computer Graphics, /// vol.12, no.1, pp.36,47, Jan.-Feb. 2006. class MlcpGaussSeidelSolver : public MlcpSolver { public: /// Constructor. MlcpGaussSeidelSolver(); /// Constructor. /// \param epsilonConvergence The precision. /// \param contactTolerance The contact tolerance. /// \param maxIterations The max iterations. MlcpGaussSeidelSolver(double epsilonConvergence, double contactTolerance, size_t maxIterations); /// Destructor. virtual ~MlcpGaussSeidelSolver(); /// Resolution of a given MLCP (Gauss Seidel iterative solver) /// \param problem The mlcp problem /// \param [out] solution The mlcp solution /// \return true if successfully converged. bool solve(const MlcpProblem& problem, MlcpSolution* solution); /// \return The precision. double getEpsilonConvergence() const; /// Set the precision. /// \param precision The precision. void setEpsilonConvergence(double precision); /// \return The contact tolerance. double getContactTolerance() const; /// Set the contact tolerance. /// \param tolerance The contact tolerance. void setContactTolerance(double tolerance); /// \return The max number of iterations. size_t getMaxIterations() const; /// Set the max number of iterations. /// \param maxIterations The max number of iterations. void setMaxIterations(size_t maxIterations); private: void computeEnforcementSystem(size_t problemSize, const MlcpProblem::Matrix& A, const MlcpProblem::Vector& b, const MlcpSolution::Vector& initialGuessAndSolution, const std::vector& constraintsType, size_t constraintID, size_t matrixEntryForConstraintID); void calculateConvergenceCriteria(size_t problemSize, const MlcpProblem::Matrix& A, const MlcpProblem::Vector& b, const MlcpSolution::Vector& initialGuessAndSolution, const std::vector& constraintsType, double constraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES], double* convergenceCriteria, bool* validSignorini); void doOneIteration(size_t problemSize, const MlcpProblem::Matrix& A, const MlcpProblem::Vector& b, MlcpSolution::Vector* initialGuessAndSolution, const MlcpProblem::Vector& frictionCoefs, const std::vector& constraintsType, double constraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES], double* convergenceCriteria, bool* validSignorini); void printViolationsAndConvergence(size_t problemSize, const MlcpProblem::Matrix& A, const MlcpProblem::Vector& b, const MlcpSolution::Vector& initialGuessAndSolution, const std::vector& constraintsType, double convergenceCriteria, bool validSignorini, size_t iterations); /// The precision. double m_epsilonConvergence; /// The contact tolerance. double m_contactTolerance; /// The maximum number of iterations size_t m_maxIterations; /// The number of atomic constraints, aka the system size. size_t m_numEnforcedAtomicConstraints; /// The left-hand side matrix. Matrix m_lhsEnforcedLocalSystem; /// The right-hand side vector. Vector m_rhsEnforcedLocalSystem; /// The logger. std::shared_ptr m_logger; }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_MLCPGAUSSSEIDELSOLVER_H opensurgsim-0.7.0/SurgSim/Math/MlcpProblem.cpp000066400000000000000000000023201277777236100213130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/MlcpProblem.h" namespace SurgSim { namespace Math { MlcpProblem::~MlcpProblem() { } void MlcpProblem::setZero(size_t numDof, size_t numConstraintDof, size_t numConstraints) { A.setZero(numConstraintDof, numConstraintDof); b.setZero(numConstraintDof); mu.setZero(numConstraintDof); constraintTypes.clear(); } MlcpProblem MlcpProblem::Zero(size_t numDof, size_t numConstraintDof, size_t numConstraints) { MlcpProblem result; result.setZero(numDof, numConstraintDof, numConstraints); return result; } } // namespace SurgSim } // namespace Math opensurgsim-0.7.0/SurgSim/Math/MlcpProblem.h000066400000000000000000000132001277777236100207570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_MLCPPROBLEM_H #define SURGSIM_MATH_MLCPPROBLEM_H #include #include #include "SurgSim/Math/MlcpConstraintType.h" namespace SurgSim { namespace Math { /// A description of an MLCP (mixed linear complementarity problem, or mixed LCP) system to be solved. /// /// A traditional (not mixed!) LCP problem is expressed as \f$\mathbf{A}x + b = c\f$, where \f$x\f$ is the vector of /// variables of interest to be determined, \f$c\f$ is the vector of slack variables (transforming a system of /// inequalities into a system of equalities), and \f$x\f$ and \f$c\f$ are subject to the inequality conditions /// \f$x_i \ge 0\f$, \f$c_i \ge 0\f$, and \f$x \perp c\f$ (i.e., \f$x \cdot c = 0\f$). /// Thus for each row \f$i\f$, either /// * \f$(\mathbf{A}x+b)_i = \mathbf{A}_{i,*}\cdot x+b_i = c_i \ge 0\f$ and \f$x_i = 0\f$ /// (the constraint is non-binding, so the variable of interest enforcing the constraint is zero); /// or /// * \f$(\mathbf{A}x+b)_i = \mathbf{A}_{i,*}\cdot x+b_i = c_i = 0\f$ and \f$x_i > 0\f$ /// (the constraint is binding, so the variable of interest is nonzero to enforce the constraint). /// /// Solving the problem produces the vector \f$x\f$, from which \f$c\f$ can also be computed if needed. /// /// A mixed LCP problem is defined in the same way, except that for a certain subset of indices, the conditions are /// restricted further to require \f$c_i\f$ to be zero, \f$\mathbf{A}_{i,*}\cdot x+b_i = 0\f$. These are referred to as /// bilateral constraints, as opposed to the unilateral constraints in the LCP problem. /// /// Friction is integrated directly into the problem, using the general approach described e.g. in:
/// Duriez, Christian; Dubois, F.; Kheddar, A.; Andriot, C., "Realistic haptic rendering of interacting /// deformable objects in virtual environments," IEEE Transactions on Visualization and Computer %Graphics, /// vol.12, no.1, pp.36,47, Jan.-Feb. 2006. /// /// \sa SurgSim::Physics::MlcpPhysicsProblem, MlcpSolution, MlcpSolver // // TODO(advornik): Describe the approach to friction in more detail. // TODO(advornik): Get rid of the constraint types and encode necessary info in other ways. struct MlcpProblem { /// Destructor virtual ~MlcpProblem(); typedef Eigen::Matrix Matrix; typedef Eigen::Matrix Vector; /// Matrix \f$\mathbf{A}\f$ used to describe the mixed LCP problem. Matrix A; /// Vector \f$b\f$ used to describe the mixed LCP problem. Vector b; /// A vector of friction coefficients used to describe the mixed LCP problem. /// \todo This API will change in the future to something more independent of physics. Vector mu; /// A vector of constraint types used to describe the mixed LCP problem. /// \todo This API will change in the future to something more independent of physics. std::vector constraintTypes; // NB: We let the compiler generate the default code for the constructor, copy constructor and copy assignment, // because we currently sometimes need to copy the problem (although we ought to minimize this). // The C++11-ish way to indicate that explicitly would be to write code like this: // MlcpProblem() = default; // MlcpProblem(const MlcpProblem& other) = default; // MlcpProblem& operator= (const MlcpProblem& other) = default; // but I haven't yet tested that this works correctly on VS 2010, so I'm just putting in the comment. // We may also want to add move construction and move assignment. --advornik 2013-06-24 /// Gets the size of the system. /// \return the number of degrees of freedom of the system. size_t getSize() const { return (b.rows() >= 0) ? static_cast(b.rows()) : 0; } /// Checks if the sizes of various elements of the system are consistent with each other. /// \return true if consistent, false otherwise. bool isConsistent() const { size_t numConstraintTypes = constraintTypes.size(); return ((b.rows() >= 0) && (b.cols() == 1) && (A.rows() == b.rows()) && (A.cols() == A.rows()) && (numConstraintTypes <= static_cast(b.rows())) && (mu.size() >= 0)); } /// Resize an MlcpProblem and set to zero. /// \param numDof the total degrees of freedom. /// \param numConstraintDof the total constrained degrees of freedom. /// \param numConstraints the number of constraints. virtual void setZero(size_t numDof, size_t numConstraintDof, size_t numConstraints); /// Initialize an MlcpProblem with zero values. /// \param numDof the total degrees of freedom for the MlcpProblem to be constructed. /// \param numConstraintDof the total constrained degrees of freedom for the MlcpProblem to be constructed. /// \param numConstraints the number of constraints for the MlcpProblem to be constructed. /// \return An MlcpProblem appropriately sized and initialized to zero. static MlcpProblem Zero(size_t numDof, size_t numConstraintDof, size_t numConstraints); }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_MLCPPROBLEM_H opensurgsim-0.7.0/SurgSim/Math/MlcpSolution.h000066400000000000000000000054271277777236100212070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_MLCPSOLUTION_H #define SURGSIM_MATH_MLCPSOLUTION_H #include #include "SurgSim/Math/MlcpConstraintType.h" namespace SurgSim { namespace Math { /// The description of a solution to a \ref MlcpProblem "mixed linear complementarity problem". /// /// The solution consists of the vector \f$x\f$ and various diagnostic parameters. /// If \f$c = \mathbf{A}x + b\f$ is also needed, it can be computed by the caller. /// /// \sa SurgSim::Physics::MlcpPhysicsSolution, MlcpProblem, MlcpSolver struct MlcpSolution { typedef Eigen::Matrix Vector; /// Vector \f$x\f$ specifying a solution to the specified mixed LCP problem. Vector x; /// The number of iterations performed. size_t numIterations; /// True if the final value of the convergence criteria is valid. bool validConvergence; /// True if the final solution satisfies the Signorini conditions. bool validSignorini; /// The final value of the convergence criteria. double convergenceCriteria; /// The initial value of the convergence criteria, before the solver has done anything. double initialConvergenceCriteria; /// The final value of the convergence criteria for each of the constraint types. double constraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES]; /// The initial value of the convergence criteria for each of the constraint types. double initialConstraintConvergenceCriteria[MLCP_NUM_CONSTRAINT_TYPES]; // NB: We let the compiler generate the default code for the constructor, copy constructor and copy assignment, // because we currently sometimes need to copy the solution (although we ought to minimize this). // The C++11-ish way to indicate that explicitly would be to write code like this: // MlcpProblem() = default; // MlcpProblem(const MlcpProblem& other) = default; // MlcpProblem& operator= (const MlcpProblem& other) = default; // but I haven't yet tested that this works correctly on VS 2010, so I'm just putting in the comment. // We may also want to add move construction and move assignment. --advornik 2013-06-24 }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_MLCPSOLUTION_H opensurgsim-0.7.0/SurgSim/Math/MlcpSolver.h000066400000000000000000000030541277777236100206370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_MLCPSOLVER_H #define SURGSIM_MATH_MLCPSOLVER_H namespace SurgSim { namespace Math { struct MlcpProblem; struct MlcpSolution; /// This class provides a solver interface for mixed linear complementarity problems. /// /// \sa MlcpProblem class MlcpSolver { public: /// Constructor. MlcpSolver() { } // Destructor. virtual ~MlcpSolver() { } /// Attempts to solve the specified MLCP problem. /// \param problem the MLCP problem. /// \param [out] solution the solution to the problem, if available. /// \return true if solved (in which case solution will be set to the solution); false if failed. virtual bool solve(const MlcpProblem& problem, MlcpSolution* solution) = 0; private: /// Prevent copy construction and assignment. MlcpSolver(const MlcpSolver&); MlcpSolver& operator==(const MlcpSolver&); }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_MLCPSOLVER_H opensurgsim-0.7.0/SurgSim/Math/OctreeShape-inl.h000066400000000000000000000017751277777236100215430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_OCTREESHAPE_INL_H #define SURGSIM_MATH_OCTREESHAPE_INL_H namespace SurgSim { namespace Math { template OctreeShape::OctreeShape(const SurgSim::DataStructures::OctreeNode& node) : m_rootNode(std::make_shared(node)) { } }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_OCTREESHAPE_INL_H opensurgsim-0.7.0/SurgSim/Math/OctreeShape.cpp000066400000000000000000000056141277777236100213120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/OctreeShape.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Asset.h" #include "SurgSim/Framework/FrameworkConvert.h" namespace SurgSim { namespace Math { SURGSIM_REGISTER(SurgSim::Math::Shape, SurgSim::Math::OctreeShape, OctreeShape); OctreeShape::OctreeShape() : m_rootNode(std::make_shared()) { SURGSIM_ADD_SERIALIZABLE_PROPERTY( SurgSim::Math::OctreeShape, std::shared_ptr, Octree, getOctree, setOctree); SURGSIM_ADD_SETTER(OctreeShape, std::string, OctreeFileName, loadOctree); } OctreeShape::~OctreeShape() { } int OctreeShape::getType() const { return SHAPE_TYPE_OCTREE; } void OctreeShape::loadOctree(const std::string& filePath) { auto rootNode = std::make_shared(); rootNode->load(filePath); SURGSIM_ASSERT(isValid(rootNode)) << "Loading failed " << filePath << " contains an invalid octree."; setOctree(rootNode); } double OctreeShape::getVolume() const { SURGSIM_FAILURE() << "OctreeShape::getVolume not implemented"; return 0.0; } Vector3d OctreeShape::getCenter() const { return Vector3d::Zero(); } Matrix33d OctreeShape::getSecondMomentOfVolume() const { SURGSIM_FAILURE() << "OctreeShape::getSecondMomentOfVolume not implemented"; return Matrix33d::Zero(); } std::shared_ptr OctreeShape::getOctree() { return m_rootNode; } void OctreeShape::setOctree(std::shared_ptr node) { SURGSIM_ASSERT(node != nullptr) << "Tried to set the shape with a nullptr"; auto octreeNode = std::dynamic_pointer_cast(node); SURGSIM_ASSERT(octreeNode != nullptr) << "OctreeShape needs OctreeNode but received " << node->getClassName(); SURGSIM_ASSERT(isValid(octreeNode)) << "OctreeShape was passed an invalid Octree."; m_rootNode = octreeNode; } bool OctreeShape::isValid(std::shared_ptr node) const { return (nullptr != node) && (node->getBoundingBox().sizes().minCoeff() >= 0); } bool OctreeShape::isValid() const { return isValid(m_rootNode); } const Math::Aabbd& OctreeShape::getBoundingBox() const { if (m_rootNode != nullptr) { return m_rootNode->getBoundingBox(); } else { return m_aabb; } } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/OctreeShape.h000066400000000000000000000060321277777236100207520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_OCTREESHAPE_H #define SURGSIM_MATH_OCTREESHAPE_H #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/OctreeNode.h" #include "SurgSim/Framework/Asset.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Math/Shape.h" namespace SurgSim { namespace Math { SURGSIM_STATIC_REGISTRATION(OctreeShape); /// Octree Shape /// A defined by an octree data structure class OctreeShape : public Shape { public: typedef SurgSim::DataStructures::OctreeNode NodeType; /// Constructor OctreeShape(); SURGSIM_CLASSNAME(SurgSim::Math::OctreeShape); /// Construct an OctreeShape by copying data from an OctreeNode /// NOTE: The Data stored in the octree node will not be copied into the /// OctreeShape. /// \tparam T octree node data structure to build Octree Shape from /// \param node octree node data structure to build Octree Shape from template explicit OctreeShape(const SurgSim::DataStructures::OctreeNode& node); /// Destructor virtual ~OctreeShape(); /// \return the type of shape int getType() const override; /// Get the volume of the shape /// \return The volume of the shape (in m-3) double getVolume() const override; /// Get the volumetric center of the shape /// \return The center of the shape Vector3d getCenter() const override; /// Get the second central moment of the volume, commonly used /// to calculate the moment of inertia matrix /// \return The 3x3 symmetric second moment matrix Matrix33d getSecondMomentOfVolume() const override; /// Get the root node /// \return the octree root node of this shape std::shared_ptr getOctree(); /// Set the root node /// \param node the octree root node of this shape void setOctree(std::shared_ptr node); /// \return True if the bounding box is bigger than or equal to 0; Otherwise, false. bool isValid() const override; void loadOctree(const std::string& filePath); const Math::Aabbd& getBoundingBox() const override; private: /// \param node the OctreeNode to check /// \return True if the bounding box is bigger than or equal to 0; Otherwise, false. bool isValid(std::shared_ptr node) const; /// Root node of the octree datastructure std::shared_ptr m_rootNode; }; }; // Math }; // SurgSim #include "SurgSim/Math/OctreeShape-inl.h" #endif // SURGSIM_MATH_OCTREESHAPE_H opensurgsim-0.7.0/SurgSim/Math/OdeEquation.cpp000066400000000000000000000031101277777236100213120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/OdeEquation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Framework/Log.h" namespace SurgSim { namespace Math { const std::shared_ptr OdeEquation::getInitialState() const { return m_initialState; } const Vector& OdeEquation::getF() const { return m_f; } const SparseMatrix& OdeEquation::getM() const { return m_M; } const SparseMatrix& OdeEquation::getD() const { return m_D; } const SparseMatrix& OdeEquation::getK() const { return m_K; } void OdeEquation::updateFMDK(const OdeState& state, int options) { if (options == ODEEQUATIONUPDATE_FMDK) { computeFMDK(state); } else { if (options & ODEEQUATIONUPDATE_F) { computeF(state); } if (options & ODEEQUATIONUPDATE_M) { computeM(state); } if (options & ODEEQUATIONUPDATE_D) { computeD(state); } if (options & ODEEQUATIONUPDATE_K) { computeK(state); } } } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/OdeEquation.h000066400000000000000000000124371277777236100207730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_ODEEQUATION_H #define SURGSIM_MATH_ODEEQUATION_H #include #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Math { class OdeState; /// Enum to identify which of the data need to be updated by the OdeEquation::update() enum OdeEquationUpdate { ODEEQUATIONUPDATE_F = 1<<0, ODEEQUATIONUPDATE_M = 1<<1, ODEEQUATIONUPDATE_D = 1<<2, ODEEQUATIONUPDATE_K = 1<<3, ODEEQUATIONUPDATE_FMDK = ODEEQUATIONUPDATE_F | ODEEQUATIONUPDATE_M | ODEEQUATIONUPDATE_D | ODEEQUATIONUPDATE_K }; /// Ode equation of 2nd order of the form \f$M(x,v).a = F(x, v)\f$ with \f$(x0, v0)\f$ for initial conditions /// and a set of boundary conditions. The problem is called a Boundary Value Problem (BVP). /// This ode equation is solved as an ode of order 1 by defining the state vector /// \f$y = \left(\begin{array}{c}x\\v\end{array}\right)\f$: /// \f[ /// y' = \left(\begin{array}{c} x' \\ v' \end{array}\right) = /// \left(\begin{array}{c} v \\ M(x, v)^{-1}.f(t, x, v) \end{array}\right) /// \f] /// \note To allow the use of explicit and implicit solver, we need to be able to evaluate /// \note \f$M(x, v)\f$, \f$f(t, x, v)\f$ but also \f$K = -dF/dx(x, v)\f$ and \f$D = -dF/dv(x, v)\f$ /// \note Models wanting the use of implicit solvers will need to compute these Jacobian matrices. class OdeEquation { public: /// Virtual destructor virtual ~OdeEquation() {} /// Retrieves the ode initial conditions \f$(x0, v0)\f$ (i.e the initial state) /// \return The initial state const std::shared_ptr getInitialState() const; /// Calculate the product C.b where C is the compliance matrix with boundary conditions /// applied. Note that this can be rewritten as (Bt)(M^-1)(B.b) = (Bt)((M^-1)(B.b)) = x, /// where (M^-1)(B.b) = y is simply the solution to M.y = B.b and Bt.y = x. /// \param state \f$(x, v)\f$ the current position and velocity to evaluate the various terms with /// \param b The input matrix /// \return The matrix \f$C.b\f$ virtual Matrix applyCompliance(const OdeState& state, const Matrix& b) = 0; /// Update the OdeEquation (and support data) based on the given state. /// \param state \f$(x, v)\f$ the current position and velocity to evaluate the various terms with /// \param options Flag to specify which of F, M, D, K needs to be updated. virtual void updateFMDK(const OdeState& state, int options); /// \return The vector containing \f$f(x, v)\f$ const Vector& getF() const; /// \return The matrix \f$M(x,v)\f$ const SparseMatrix& getM() const; /// \return The matrix \f$D = -\frac{\partial f}{\partial v}(x,v)\f$ const SparseMatrix& getD() const; /// \return The matrix \f$K = -\frac{\partial f}{\partial x}(x,v)\f$ const SparseMatrix& getK() const; protected: /// Evaluation of the RHS function \f$f(x, v)\f$ for a given state /// \param state \f$(x, v)\f$ the current position and velocity to evaluate the function \f$f(x,v)\f$ with virtual void computeF(const OdeState& state) = 0; /// Evaluation of the LHS matrix \f$M(x,v)\f$ for a given state /// \param state \f$(x, v)\f$ the current position and velocity to evaluate the matrix \f$M(x,v)\f$ with virtual void computeM(const OdeState& state) = 0; /// Evaluation of \f$D = -\frac{\partial f}{\partial v}(x,v)\f$ for a given state /// \param state \f$(x, v)\f$ the current position and velocity to evaluate the Jacobian matrix with virtual void computeD(const OdeState& state) = 0; /// Evaluation of \f$K = -\frac{\partial f}{\partial x}(x,v)\f$ for a given state /// \param state \f$(x, v)\f$ the current position and velocity to evaluate the Jacobian matrix with virtual void computeK(const OdeState& state) = 0; /// Evaluation of \f$f(x,v)\f$, \f$M(x,v)\f$, \f$D = -\frac{\partial f}{\partial v}(x,v)\f$ and /// \f$K = -\frac{\partial f}{\partial x}(x,v)\f$. /// When all the terms are needed, this method can perform optimization in evaluating everything together /// \param state \f$(x, v)\f$ the current position and velocity to evaluate the various terms with /// \note computeF(), computeM(), computeD(), computeK() virtual void computeFMDK(const OdeState& state) = 0; /// The initial state (which defines the ODE initial conditions \f$(x0, v0)\f$) /// \note MUST be set by the derived classes std::shared_ptr m_initialState; /// The vector containing \f$f(x, v)\f$ Vector m_f; /// The matrix \f$M(x,v)\f$ SparseMatrix m_M; /// The The matrix \f$D = -\frac{\partial f}{\partial v}(x,v)\f$ SparseMatrix m_D; /// The The matrix \f$K = -\frac{\partial f}{\partial x}(x,v)\f$ SparseMatrix m_K; }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_ODEEQUATION_H opensurgsim-0.7.0/SurgSim/Math/OdeSolver.cpp000066400000000000000000000043331277777236100210070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/OdeSolver.h" #include "SurgSim/Math/OdeState.h" namespace SurgSim { namespace Math { OdeSolver::OdeSolver(OdeEquation* equation) : m_equation(*equation) { // Default linear solver setLinearSolver(std::make_shared()); } const std::string OdeSolver::getName() const { return m_name; } void OdeSolver::setLinearSolver(std::shared_ptr linearSolver) { m_linearSolver = linearSolver; } std::shared_ptr OdeSolver::getLinearSolver() const { return m_linearSolver; } const SparseMatrix& OdeSolver::getSystemMatrix() const { return m_systemMatrix; } const Matrix& OdeSolver::getComplianceMatrix() const { return m_complianceMatrix; } void OdeSolver::computeMatrices(double dt, const OdeState& state, bool computeCompliance) { /// Compute the system matrix (and discard the RHS calculation) assembleLinearSystem(dt, state, state, false); /// Compute the compliance matrix if (computeCompliance) { computeComplianceMatrixFromSystemMatrix(state); } } void OdeSolver::computeComplianceMatrixFromSystemMatrix(const OdeState& state) { // The compliance matrix is the inverse of the system matrix m_complianceMatrix = m_linearSolver->getInverse(); // The boundary conditions needs to be set on the compliance matrix and no compliance should be used for the nodes // Which means that the compliance matrix has entire rows and columns of zeros for the boundary conditions. state.applyBoundaryConditionsToMatrix(&m_complianceMatrix, false); } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/OdeSolver.h000066400000000000000000000163221277777236100204550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_ODESOLVER_H #define SURGSIM_MATH_ODESOLVER_H #include #include #include // for 'map_list_of()' #include "SurgSim/Math/LinearSparseSolveAndInverse.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/OdeEquation.h" namespace SurgSim { namespace Math { /// The diverse numerical integration scheme supported /// Each Ode Solver should have its own entry in this enum enum IntegrationScheme { INTEGRATIONSCHEME_STATIC = 0, INTEGRATIONSCHEME_LINEAR_STATIC, INTEGRATIONSCHEME_EULER_EXPLICIT, INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT, INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED, INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT_MODIFIED, INTEGRATIONSCHEME_EULER_IMPLICIT, INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT, INTEGRATIONSCHEME_RUNGE_KUTTA_4, INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4, MAX_INTEGRATIONSCHEMES }; const std::unordered_map> IntegrationSchemeNames = boost::assign::map_list_of (INTEGRATIONSCHEME_STATIC, "INTEGRATIONSCHEME_STATIC") (INTEGRATIONSCHEME_LINEAR_STATIC, "INTEGRATIONSCHEME_LINEAR_STATIC") (INTEGRATIONSCHEME_EULER_EXPLICIT, "INTEGRATIONSCHEME_EULER_EXPLICIT") (INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT, "INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT") (INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED, "INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED") (INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT_MODIFIED, "INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT_MODIFIED") (INTEGRATIONSCHEME_EULER_IMPLICIT, "INTEGRATIONSCHEME_EULER_IMPLICIT") (INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT, "INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT") (INTEGRATIONSCHEME_RUNGE_KUTTA_4, "INTEGRATIONSCHEME_RUNGE_KUTTA_4") (INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4, "INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4"); /// Base class for all solvers of ode equation of order 2 of the form \f$M(x(t), v(t)).a(t) = f(t, x(t), v(t))\f$.
/// This ode equation is solved as an ode of order 1 by defining the state vector /// \f$y = \left(\begin{array}{c}x\\v\end{array}\right)\f$: /// \f[ /// y' = \left(\begin{array}{c} x' \\ v' \end{array}\right) = /// \left(\begin{array}{c} v \\ M(x, v)^{-1}.f(t, x, v) \end{array}\right) /// \f] /// \note To allow the use of explicit and implicit solver, we need to be able to evaluate: /// \note \f$M(x(t), v(t))\f$ /// \note \f$f(t, x(t), v(t))\f$ but also /// \note \f$K = -\frac{\partial f}{\partial x}(x(t), v(t))\f$ /// \note \f$D = -\frac{\partial f}{\partial v}(x(t), v(t))\f$ /// \note Models wanting the use of implicit solvers will need to compute these Jacobian matrices. /// \note Matrices all have dense storage, but a specialized linear solver can be set per solver. class OdeSolver { public: /// Constructor /// \param equation The ode equation to be solved explicit OdeSolver(OdeEquation* equation); /// Virtual destructor virtual ~OdeSolver() {} /// Gets the solver's name /// \return The solver name const std::string getName() const; /// Sets the specialized linear solver to use with this Ode solver /// \param linearSolver the linear solver to use when solving the ode equation void setLinearSolver(std::shared_ptr linearSolver); /// Gets the specialized linear solver used with this Ode solver /// \return The linear solver used when solving the ode equation std::shared_ptr getLinearSolver() const; /// Solves the equation /// \param dt The time step /// \param currentState State at time t /// \param[out] newState State at time t+dt /// \param computeCompliance True to explicitly compute the compliance matrix, False otherwise virtual void solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance = true) = 0; /// Computes the system and compliance matrices for a given state /// \param dt The time step /// \param state The state to compute the system and compliance matrices for /// \param computeCompliance True to explicitly compute the compliance matrix, False otherwise void computeMatrices(double dt, const OdeState& state, bool computeCompliance = true); /// Queries the current system matrix /// \return The latest system matrix calculated const SparseMatrix& getSystemMatrix() const; /// \return The latest compliance matrix computed (either by calling solve or computeMatrices) const Matrix& getComplianceMatrix() const; protected: /// Assemble the linear system (A.x=b) to be solved for the state and new states (useful for certain ode solver). /// \param dt The time step used in the system /// \param state, newState The state and newState to be used to evaluate the system /// \param computeRHS True to compute the RHS vector, False otherwise /// \note The method should fill up the LHS matrix in m_systemMatrix and the RHS vector in m_b (if requested) /// \note The method should take care of the boundary conditions properly on both the matrix and the vector. /// \note The method should prepare the linear solver m_linearSolver to be used with the m_systemMatrix virtual void assembleLinearSystem(double dt, const OdeState& state, const OdeState& newState, bool computeRHS = true) = 0; /// Helper method computing the compliance matrix from the system matrix and setting the boundary conditions /// \param state The state describing the boundary conditions /// \note The full system is not re-evaluated from the state, the current m_systemMatrix is directly used. /// \note This method supposes that the linear solver has been updated with the current m_systemMatrix. void computeComplianceMatrixFromSystemMatrix(const OdeState& state); /// Name for this solver /// \note MUST be set by the derived classes std::string m_name; /// The ode equation (API providing the necessary evaluation methods and the initial state) OdeEquation& m_equation; /// The specialized linear solver to use when solving the ode equation std::shared_ptr m_linearSolver; /// Linear system matrix (can be M, K, combination of MDK depending on the solver), including boundary conditions /// \note A static solver will have K for system matrix /// \note A dynamic explicit solver will have M for system matrix /// \note A dynamic implicit solver will have a combination of M, D and K for system matrix SparseMatrix m_systemMatrix; /// Linear system solution and rhs vectors (including boundary conditions) Vector m_solution, m_rhs; /// Compliance matrix which is the inverse of the system matrix, including boundary conditions Matrix m_complianceMatrix; }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_ODESOLVER_H opensurgsim-0.7.0/SurgSim/Math/OdeSolverEulerExplicit.cpp000066400000000000000000000057361277777236100235160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/OdeSolverEulerExplicit.h" #include "SurgSim/Math/OdeState.h" namespace SurgSim { namespace Math { OdeSolverEulerExplicit::OdeSolverEulerExplicit(OdeEquation* equation) : OdeSolver(equation) { m_name = "Ode Solver Euler Explicit"; } void OdeSolverEulerExplicit::solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance) { // General equation to solve: // M.a(t) = f(t, x(t), v(t)) // Using Euler explicit { v(t+dt) = v(t) + dt.a(t) // { x(t+dt) = x(t) + dt.v(t) // The resulting linear system on the velocity level is: // (M/dt) . deltaV = f(t, x(t), v(t)) // systemMatrix . solution = rhs // Therefore, systemMatrix = M/dt, solution = deltaV and rhs = f // Assemble the linear system systemMatrix.solution = rhs assembleLinearSystem(dt, currentState, *newState); // Solve the linear system to find solution = deltaV m_solution = m_linearSolver->solve(m_rhs); // Compute the new state using the Euler Explicit scheme: newState->getPositions() = currentState.getPositions() + dt * currentState.getVelocities(); newState->getVelocities() = currentState.getVelocities() + m_solution; if (computeCompliance) { computeComplianceMatrixFromSystemMatrix(currentState); } } void OdeSolverEulerExplicit::assembleLinearSystem(double dt, const OdeState& state, const OdeState& newState, bool computeRHS) { // General equation to solve: // M.a(t) = f(t, x(t), v(t)) // Using Euler explicit { v(t+dt) = v(t) + dt.a(t) // { x(t+dt) = x(t) + dt.v(t) // The resulting linear system on the velocity level is: // (M/dt) . deltaV = f(t, x(t), v(t)) // systemMatrix . solution = rhs // Therefore, systemMatrix = M/dt, solution = deltaV and rhs = f // Update the stiffness matrix m_equation.updateFMDK(state, ODEEQUATIONUPDATE_F | ODEEQUATIONUPDATE_M); // Computes the LHS systemMatrix m_systemMatrix = m_equation.getM() / dt; state.applyBoundaryConditionsToMatrix(&m_systemMatrix); // Feed the systemMatrix to the linear solver, so it can be used after this call to solve or inverse the matrix m_linearSolver->setMatrix(m_systemMatrix); // Computes the RHS vector if (computeRHS) { m_rhs = m_equation.getF(); state.applyBoundaryConditionsToVector(&m_rhs); } } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/OdeSolverEulerExplicit.h000066400000000000000000000047331277777236100231570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_ODESOLVEREULEREXPLICIT_H #define SURGSIM_MATH_ODESOLVEREULEREXPLICIT_H #include "SurgSim/Math/OdeSolver.h" namespace SurgSim { namespace Math { /// Euler Explicit ode solver solves the following \f$2^{nd}\f$ order ode /// \f$M(x(t), v(t)).a(t) = f(t, x(t), v(t))\f$. /// This ode is solved as an ode of order 1 by defining the state vector /// \f$y = \left(\begin{array}{c}x\\v\end{array}\right)\f$: /// \f[ /// y' = \left(\begin{array}{c} x' \\ v' \end{array}\right) = /// \left(\begin{array}{c} v \\ M(x, v)^{-1}.f(t,x, v) \end{array}\right) = /// f(t, y) /// \f] /// After integrating this equation, we get: /// \f[ y(t+dt) - y(t) = \int_t^{t+dt} f(t,y) dt \f] /// \note Euler explicit uses a rectangular numerical integration on the left to evaluate this integral, leading to /// \f$ \int_t^{t+dt} f(t,y) dt \simeq dt.f(t, y(t))\f$, therefore: /// \f[ /// \begin{array}{ccc} /// y(t+dt) - y(t) = dt.f(t, y(t)) /// & /// \Leftrightarrow /// & /// \left\{ /// \begin{array}{ccccl} /// x(t+dt) &=& x(t) &+& dt.v(t) /// \\ v(t+dt) &=& v(t) &+& dt.a(t) /// \end{array} /// \right. /// \end{array} /// \f] /// \note Euler Explicit is also known as forward Euler as it uses a forward evaluation of the derivative /// \f$y' = (y(t+dt) - y(t)) / dt\f$ which leads to the same result. class OdeSolverEulerExplicit : public OdeSolver { public: /// Constructor /// \param equation The ode equation to be solved explicit OdeSolverEulerExplicit(OdeEquation* equation); void solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance = true) override; protected: void assembleLinearSystem(double dt, const OdeState& state, const OdeState& newState, bool computeRHS = true) override; }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_ODESOLVEREULEREXPLICIT_H opensurgsim-0.7.0/SurgSim/Math/OdeSolverEulerExplicitModified.cpp000066400000000000000000000057701277777236100251550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/OdeSolverEulerExplicitModified.h" #include "SurgSim/Math/OdeState.h" namespace SurgSim { namespace Math { OdeSolverEulerExplicitModified::OdeSolverEulerExplicitModified(OdeEquation* equation) : OdeSolver(equation) { m_name = "Ode Solver Euler Explicit Modified"; } void OdeSolverEulerExplicitModified::solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance) { // General equation to solve: // M.a(t) = f(t, x(t), v(t)) // Using Euler explicit { v(t+dt) = v(t) + dt.a(t) // { x(t+dt) = x(t) + dt.v(t+dt) // The resulting linear system on the velocity level is: // (M/dt) . deltaV = f(t, x(t), v(t)) // systemMatrix . solution = rhs // Therefore, systemMatrix = M/dt, solution = deltaV and rhs = f // Assemble the linear system systemMatrix.solution = rhs assembleLinearSystem(dt, currentState, *newState); // Solve the linear system to find solution = deltaV m_solution = m_linearSolver->solve(m_rhs); // Compute the new state using the Modified Euler Explicit scheme: newState->getVelocities() = currentState.getVelocities() + m_solution; newState->getPositions() = currentState.getPositions() + dt * newState->getVelocities(); if (computeCompliance) { computeComplianceMatrixFromSystemMatrix(currentState); } } void OdeSolverEulerExplicitModified::assembleLinearSystem(double dt, const OdeState& state, const OdeState& newState, bool computeRHS) { // General equation to solve: // M.a(t) = f(t, x(t), v(t)) // Using Euler explicit { v(t+dt) = v(t) + dt.a(t) // { x(t+dt) = x(t) + dt.v(t) // The resulting linear system on the velocity level is: // (M/dt) . deltaV = f(t, x(t), v(t)) // systemMatrix . x = b // Therefore, systemMatrix = M/dt, x = deltaV and b = f m_equation.updateFMDK(state, ODEEQUATIONUPDATE_F | ODEEQUATIONUPDATE_M); // Computes the LHS systemMatrix m_systemMatrix = m_equation.getM() / dt; state.applyBoundaryConditionsToMatrix(&m_systemMatrix); // Feed the systemMatrix to the linear solver, so it can be used after this call to solve or inverse the matrix m_linearSolver->setMatrix(m_systemMatrix); // Computes the RHS vector if (computeRHS) { m_rhs = m_equation.getF(); state.applyBoundaryConditionsToVector(&m_rhs); } } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/OdeSolverEulerExplicitModified.h000066400000000000000000000050271277777236100246150ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_ODESOLVEREULEREXPLICITMODIFIED_H #define SURGSIM_MATH_ODESOLVEREULEREXPLICITMODIFIED_H #include "SurgSim/Math/OdeSolver.h" namespace SurgSim { namespace Math { /// Modified Euler Explicit ode solver solves the following \f$2^{nd}\f$ order ode /// \f$M(x(t), v(t)).a(t) = f(t, x(t), v(t))\f$. /// This ode is solved as an ode of order 1 by defining the state vector /// \f$y = \left(\begin{array}{c}x\\v\end{array}\right)\f$: /// \f[ /// y' = \left(\begin{array}{c} x' \\ v' \end{array}\right) = /// \left(\begin{array}{c} v \\ M(x, v)^{-1}.f(t,x, v) \end{array}\right) = /// f(t, y) /// \f] /// After integrating this equation, we get: /// \f[ y(t+dt) - y(t) = \int_t^{t+dt} f(t,y) dt \f] /// \note The modified Euler explicit is the same as Euler explicit, but simply using the newly calculated velocity /// to update the position with instead of using the velocity from the previous time-step. /// \note This makes this solver explicit on the velocity and implicit on the position, it improves the stability /// of the method compare to the Euler explicit but is still an explicit method. /// \note The numerical integration scheme becomes: /// \f[ /// \left\{ /// \begin{array}{ccccl} /// x(t+dt) &=& x(t) &+& dt.v(t+dt) /// \\ v(t+dt) &=& v(t) &+& dt.a(t) /// \end{array} /// \right. /// \f] /// \sa OdeSolverEulerExplicit class OdeSolverEulerExplicitModified : public OdeSolver { public: /// Constructor /// \param equation The ode equation to be solved explicit OdeSolverEulerExplicitModified(OdeEquation* equation); void solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance = true) override; protected: void assembleLinearSystem(double dt, const OdeState& state, const OdeState& newState, bool computeRHS = true) override; }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_ODESOLVEREULEREXPLICITMODIFIED_H opensurgsim-0.7.0/SurgSim/Math/OdeSolverEulerImplicit.cpp000066400000000000000000000140701277777236100234760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/OdeSolverEulerImplicit.h" #include "SurgSim/Math/OdeState.h" namespace SurgSim { namespace Math { OdeSolverEulerImplicit::OdeSolverEulerImplicit(OdeEquation* equation) : OdeSolver(equation), m_maximumIteration(1), m_epsilonConvergence(1e-5) { m_name = "Ode Solver Euler Implicit"; } void OdeSolverEulerImplicit::setNewtonRaphsonMaximumIteration(size_t maximumIteration) { SURGSIM_ASSERT(maximumIteration >= 1) << "The maximum iteration needs to be at least 1"; m_maximumIteration = maximumIteration; } size_t OdeSolverEulerImplicit::getNewtonRaphsonMaximumIteration() const { return m_maximumIteration; } void OdeSolverEulerImplicit::setNewtonRaphsonEpsilonConvergence(double epsilonConvergence) { SURGSIM_ASSERT(epsilonConvergence >= 0.0) << "The epsilon convergence cannot be negative"; m_epsilonConvergence = epsilonConvergence; } double OdeSolverEulerImplicit::getNewtonRaphsonEpsilonConvergence() const { return m_epsilonConvergence; } void OdeSolverEulerImplicit::solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance) { // General equation to solve: // M.a(t+dt) = f(t+dt, x(t+dt), v(t+dt)) // Let's note K = -df/dx and D = -df/dv. // Using Euler implicit { v(t+dt) = v(t) + dt.a(t+dt) // { x(t+dt) = x(t) + dt.v(t+dt) // For a single linearization, we get the following linear system: // M/dt.deltaV = f(t, x(t), v(t)) - K.deltaX - D.deltaV // (M/dt + D + dt.K) . deltaV = f(t, x(t), v(t)) - dt.K.v(t) // systemMatrix . solution = rhs // Therefore systemMatrix = (M/dt + D + dt.K), solution = deltaV, rhs = f - dt.K.v(t) // More terms are coming from the Newton-Raphson iterations (see class OdeSolverEulerImplicit doxygen doc for // more details) // Note that the resulting system is non-linear as K and D are non-linear in absence of information on the nature // of the model. We use a Newton-Raphson algorithm (http://en.wikipedia.org/wiki/Newton%27s_method) to solve // this non-linear problem. Note that each iteration will re-evaluate the complete system (forces and matrices). // Also note that this method converges quadratically around the root. In our case, the solution is deltaV, which // should be close to 0. This makes our problem well suited for this method. if (m_maximumIteration > 1) { m_previousSolution = Vector::Zero(currentState.getNumDof()); } // Prepare the newState to be used in the loop, it starts as the current state. *newState = currentState; // See the class doxygen documentation (.dox) for explanation of the algorithm. // * currentState is y(t) = (x(t), v(t)). // * newState is the current estimate, y_n = (x_n, v_n) (with y_0 = y(t)) // * Each iteration search for the next estimate y_{n+1} = (x_{n+1}, v_{n+1}). size_t numIteration = 0; while (numIteration < m_maximumIteration) { // Assemble the linear system systemMatrix*solution = rhs assembleLinearSystem(dt, currentState, *newState); // Solve the linear system to find solution = deltaV m_solution = m_linearSolver->solve(m_rhs); // Compute the new state using the Euler Implicit scheme: newState->getVelocities() += m_solution; newState->getPositions() = currentState.getPositions() + dt * newState->getVelocities(); if (m_maximumIteration > 1) { // Use the infinity norm, to treat models with small or large number of dof the same way. double solutionVariation = (m_solution - m_previousSolution).lpNorm(); if (solutionVariation < m_epsilonConvergence) { break; } m_previousSolution = m_solution; } numIteration++; } // The compliance matrix (if requested) is computed w.r.t. the latest state. if (computeCompliance) { computeComplianceMatrixFromSystemMatrix(currentState); } } void OdeSolverEulerImplicit::assembleLinearSystem(double dt, const OdeState& state, const OdeState& newState, bool computeRHS) { // General equation to solve: // M.a(t+dt) = f(t+dt, x(t+dt), v(t+dt)) // Let's note K = -df/dx and D = -df/dv. // Using Euler implicit { v(t+dt) = v(t) + dt.a(t+dt) // { x(t+dt) = x(t) + dt.v(t+dt) // For a single linearization, we get the following linear system: // M/dt.deltaV = f(t, x(t), v(t)) - K.deltaX - D.deltaV // (M/dt + D + dt.K) . deltaV = f(t, x(t), v(t)) - dt.K.v(t) // systemMatrix . solution = rhs // Therefore systemMatrix = (M/dt + D + dt.K), solution = deltaV, rhs = f - dt.K.v(t) // More terms are coming from the Newton-Raphson iterations (see class OdeSolverEulerImplicit doxygen doc for // more details) m_equation.updateFMDK(newState, ODEEQUATIONUPDATE_FMDK); const SparseMatrix& M = m_equation.getM(); const SparseMatrix& D = m_equation.getD(); const SparseMatrix& K = m_equation.getK(); const Vector& f = m_equation.getF(); // Computes the LHS systemMatrix m_systemMatrix = M * (1.0 / dt); m_systemMatrix += D; m_systemMatrix += K * dt; state.applyBoundaryConditionsToMatrix(&m_systemMatrix); // Feed the systemMatrix to the linear solver, so it can be used after this call to solve or inverse the matrix m_linearSolver->setMatrix(m_systemMatrix); // Computes the RHS vector by adding the Euler Implicit/Newton-Raphson terms if (computeRHS) { m_rhs = f + K * (newState.getPositions() - state.getPositions() - newState.getVelocities() * dt); m_rhs -= (M * (newState.getVelocities() - state.getVelocities())) / dt; state.applyBoundaryConditionsToVector(&m_rhs); } } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/OdeSolverEulerImplicit.dox000066400000000000000000000111331277777236100235030ustar00rootroot00000000000000/*! \class SurgSim::Math::OdeSolverEulerImplicit The ODE to be solved is of the form: \f[ \displaystyle M.a(t) = f(t, x(t), v(t)) \f] \note \f$f\f$ is supposed to be continuous with partial derivatives \f$\displaystyle\frac{\partial f}{\partial x} = -K\f$ and \f$\displaystyle\frac{\partial f}{\partial v} = -D\f$.
\note Also, we define the system matrix \f$\displaystyle S = \frac{M}{dt} + D + dt.K\f$. ODE of order 1
This ODE is solved as an ODE of order 1 by defining the state vector \f$y = \left(\begin{array}{c} x \\ v \end{array}\right)\f$: \f[ \displaystyle y' = \left(\begin{array}{c} x' \\ v' \end{array}\right) = \left(\begin{array}{c} v \\ M^{-1}.f(t, x, v) \end{array}\right) = f(t, y) \f] Integrating this equation gives: \f[ \displaystyle y(t+dt) - y(t) = \int_{t}^{t+dt} f(t, y) dt \f] Backward Euler to numerically integrate the ODE
Euler Implicit uses a rectangular numerical integration evaluated on the right: \f$\int_{t}^{t+dt} f(t, y) dt \simeq dt. f(t+dt, y(t+dt))\f$. Unlike Explicit Euler (a.k.a. forward Euler) which uses a rectangular numerical integration evaluated on the left: \f$\int_{t}^{t+dt} f(t, y) dt \simeq dt. f(t, y(t))\f$.
Euler implicit is also called backward Euler because the tangent evaluation is numerically evaluated using a backward evaluation: \f$y'(t) = (y(t) - y(t-dt)) / dt\f$ which leads to the well known integration scheme (written using the state vector \f$y\f$ or the variables \f$x\f$ and \f$v\f$: \f[ \begin{array}{ccc} y(t+dt) = y(t) + dt. f(t+dt, y(t+dt)) & or & \left\{ \begin{array}{ccccl} x(t+dt) &=& x(t) &+& dt.v(t+dt) \\ v(t+dt) &=& v(t) &+& dt.M^{-1}.f(t+dt, x(t+dt), v(t+dt)) \end{array} \right. \end{array} \f] This system of equations is non-linear w.r.t. to the unknown \f$y(t+dt)\f$. Newton-Raphson to solve the non-linear resulting equations
We use Newton-Raphson to solve this non-liner problem http://en.wikipedia.org/wiki/Newton%27s_method. Let's pose the non-linear problem to solve as: \f[ F(y) = y - y(t) - dt.f(t+dt, y) = 0 \f] The solution to this non-linear equation is \f$y(t+dt)\f$. The Newton-Raphson algorithm iteratively calculates a series of state \f$y_n\f$ converging to the solution \f$y(t+dt)\f$ (if the problem has a solution and the initial solution is close enough).
Each iteration computes: \f[ y_{n+1} = y_{n} - \frac{\partial F}{\partial y}(y_{n})^{-1} F(y_{n}) \f] where \f$y_n = \left(\begin{array}{c}x_n\\v_n\end{array}\right)\f$ and \f$y_{n+1} = \left(\begin{array}{c}x_{n+1}\\v_{n+1}\end{array}\right)\f$ are 2 successive approximations of the solution. They are neither \f$y(t) = \left(\begin{array}{c}x(t)\\v(t)\end{array}\right)\f$ nor the solution \f$y(t+dt) = \left(\begin{array}{c}x(t+dt)\\v(t+dt)\end{array}\right)\f$. Except on the very first iteration where \f$y_0 = y(t)\f$. \note The initial solution \f$y_0\f$ is set to be \f$y(t)\f$ as it is the latest solution and should by nature be close to the solution \f$y(t+dt)\f$. \note Therefore, on the first iteration, \f$F(y_0)\f$ will evaluate to exactly \f$-dt.f(t+dt, y(t))\f$ which is the force evaluation from the previous time step. \f[ \frac{\partial F}{\partial y} = \left( I - dt.\frac{\partial f}{\partial y}\right) = \left( \begin{array}{cc} I & -dt.I \\ dt.M^{-1}K & I + dt.M^{-1}D \end{array} \right) \f] It can be easily shown using a Gauss pivot technique that the inverse is: \f[ \frac{\partial F}{\partial y}^{-1} = \left( \begin{array}{cc} I - dt.S^{-1}K & S^{-1}M \\ -S^{-1}K & \frac{S^{-1}M}{dt} \end{array} \right) \f] Therefore, we can formally develop the solution: \f[ y_{n+1} = \left\{ \begin{array}{ccccl} x_{n+1} &=& x_n &-& \left[\left(I - dt.S^{-1}K\right).\left(x_n - x(t) - dt.v_n\right) + S^{-1}M.\left(v_n - v(t) - dt.M^{-1}.f(x_n, v_n)\right)\right] \\ &=& x_n &-& x_n + x(t) + dt.v_n + dt.S^{-1}K\left(x_n - x(t) - dt.v_n\right) - S^{-1}M.\left(v_n - v(t) - dt.M^{-1}.f(x_n, v_n)\right) \\ &=& x(t) &+& dt.\left[v_n + S^{-1}\left(f(x_n, v_n) + K(x_n - x(t) - dt.v_n) - \frac{M}{dt}(v_n - v(t))\right)\right] \\ &=& x(t) &+& dt.v_{n+1} \\ v_{n+1} &=& v_n &-& \left[-S^{-1}K.\left(x_n - x(t) - dt.v_n\right) + \frac{S^{-1}M}{dt}.\left(v_n - v(t) - dt.M^{-1}.f(x_n, v_n)\right)\right] \\ &=& v_n &+& S^{-1}\left(f(x_n, v_n) + K(x_n - x(t) - dt.v_n) - \frac{M}{dt}(v_n - v(t)) \right) \end{array} \right. \f] We simply need to solve the system to find the velocity variation and we can deduct the new position from there. */ opensurgsim-0.7.0/SurgSim/Math/OdeSolverEulerImplicit.h000066400000000000000000000044511277777236100231450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_ODESOLVEREULERIMPLICIT_H #define SURGSIM_MATH_ODESOLVEREULERIMPLICIT_H #include "SurgSim/Math/OdeSolver.h" namespace SurgSim { namespace Math { /// Euler implicit (a.k.a backward Euler) ode solver (see %OdeSolverEulerImplicit.dox for more details). class OdeSolverEulerImplicit : public OdeSolver { public: /// Constructor /// \param equation The ode equation to be solved explicit OdeSolverEulerImplicit(OdeEquation* equation); /// \param maximumIteration The Newton-Raphson algorithm maximum number of iterations virtual void setNewtonRaphsonMaximumIteration(size_t maximumIteration); /// \return The Newton-Raphson algorithm maximum number of iterations size_t getNewtonRaphsonMaximumIteration() const; /// \param epsilonConvergence The Newton-Raphson algorithm epsilon convergence void setNewtonRaphsonEpsilonConvergence(double epsilonConvergence); /// \return The Newton-Raphson algorithm epsilon convergence double getNewtonRaphsonEpsilonConvergence() const; void solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance = true) override; protected: void assembleLinearSystem(double dt, const OdeState& state, const OdeState& newState, bool computeRHS = true) override; /// Newton-Raphson maximum number of iteration (1 => linearization) size_t m_maximumIteration; /// Newton-Raphson convergence criteria (variation of the solution over time) double m_epsilonConvergence; /// Newton-Raphson previous solution (we solve a problem to find deltaV, the variation in velocity) Vector m_previousSolution; }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_ODESOLVEREULERIMPLICIT_H opensurgsim-0.7.0/SurgSim/Math/OdeSolverLinearEulerExplicit.cpp000066400000000000000000000032751277777236100246450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/OdeSolverLinearEulerExplicit.h" #include "SurgSim/Math/OdeState.h" namespace SurgSim { namespace Math { OdeSolverLinearEulerExplicit::OdeSolverLinearEulerExplicit(OdeEquation* equation) : OdeSolverEulerExplicit(equation), m_initialized(false) { m_name = "Ode Solver Linear Euler Explicit"; } void OdeSolverLinearEulerExplicit::solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance) { if (!m_initialized) { // The compliance matrix is constant and used in all following calls, so we force its calculation on 1st pass. OdeSolverEulerExplicit::solve(dt, currentState, newState, true); m_initialized = true; } else { m_equation.updateFMDK(currentState, ODEEQUATIONUPDATE_F); const Vector& f = m_equation.getF(); Vector deltaV = m_equation.applyCompliance(currentState, f); newState->getPositions() = currentState.getPositions() + dt * currentState.getVelocities(); newState->getVelocities() = currentState.getVelocities() + deltaV; } } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/OdeSolverLinearEulerExplicit.h000066400000000000000000000033031277777236100243020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_ODESOLVERLINEAREULEREXPLICIT_H #define SURGSIM_MATH_ODESOLVERLINEAREULEREXPLICIT_H #include "SurgSim/Math/OdeSolverEulerExplicit.h" namespace SurgSim { namespace Math { /// Linear Version of the Euler Explicit ode solver /// This solver assumes that the system is linear, /// ie that Mass, Damping, and Stiffness matrices do not change. class OdeSolverLinearEulerExplicit : public OdeSolverEulerExplicit { public: /// Constructor /// \param equation The ode equation to be solved explicit OdeSolverLinearEulerExplicit(OdeEquation* equation); /// The parameter computeCompliance is irrelevant for any Linear solver as it is a constant matrix. /// It will be precomputed on the first call and use in the following calls, no matter what the parameter value is. void solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance = true) override; private: /// Has the solver been initialized bool m_initialized; }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_ODESOLVERLINEAREULEREXPLICIT_H opensurgsim-0.7.0/SurgSim/Math/OdeSolverLinearEulerExplicitModified.cpp000066400000000000000000000033631277777236100263040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/OdeSolverLinearEulerExplicitModified.h" #include "SurgSim/Math/OdeState.h" namespace SurgSim { namespace Math { OdeSolverLinearEulerExplicitModified::OdeSolverLinearEulerExplicitModified(OdeEquation* equation) : OdeSolverEulerExplicitModified(equation), m_initialized(false) { m_name = "Ode Solver Linear Euler Explicit Modified"; } void OdeSolverLinearEulerExplicitModified::solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance) { if (!m_initialized) { // The compliance matrix is constant and used in all following calls, so we force its calculation on 1st pass. OdeSolverEulerExplicitModified::solve(dt, currentState, newState, true); m_initialized = true; } else { m_equation.updateFMDK(currentState, ODEEQUATIONUPDATE_F); const Vector& f = m_equation.getF(); Vector deltaV = m_equation.applyCompliance(currentState, f); newState->getVelocities() = currentState.getVelocities() + deltaV; newState->getPositions() = currentState.getPositions() + dt * newState->getVelocities(); } } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/OdeSolverLinearEulerExplicitModified.h000066400000000000000000000034041277777236100257450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_ODESOLVERLINEAREULEREXPLICITMODIFIED_H #define SURGSIM_MATH_ODESOLVERLINEAREULEREXPLICITMODIFIED_H #include "SurgSim/Math/OdeSolverEulerExplicitModified.h" namespace SurgSim { namespace Math { /// Linear Version of the Modified Euler Explicit ode solver /// This solver assumes that the system is linear, /// ie that Mass, Damping, and Stiffness matrices do not change. class OdeSolverLinearEulerExplicitModified : public OdeSolverEulerExplicitModified { public: /// Constructor /// \param equation The ode equation to be solved explicit OdeSolverLinearEulerExplicitModified(OdeEquation* equation); /// The parameter computeCompliance is irrelevant for any Linear solver as it is a constant matrix. /// It will be precomputed on the first call and use in the following calls, no matter what the parameter value is. void solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance = true) override; private: /// Has the solver been initialized bool m_initialized; }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_ODESOLVERLINEAREULEREXPLICITMODIFIED_H opensurgsim-0.7.0/SurgSim/Math/OdeSolverLinearEulerImplicit.cpp000066400000000000000000000046241277777236100246350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Log.h" #include "SurgSim/Math/OdeSolverLinearEulerImplicit.h" #include "SurgSim/Math/OdeState.h" namespace SurgSim { namespace Math { OdeSolverLinearEulerImplicit::OdeSolverLinearEulerImplicit(OdeEquation* equation) : OdeSolverEulerImplicit(equation), m_initialized(false) { m_name = "Ode Solver Linear Euler Implicit"; // The system being linear, only 1 iteration is necessary to find the exact solution. setNewtonRaphsonMaximumIteration(1); } void OdeSolverLinearEulerImplicit::setNewtonRaphsonMaximumIteration(size_t maximumIteration) { OdeSolverEulerImplicit::setNewtonRaphsonMaximumIteration(maximumIteration); SURGSIM_LOG_IF(maximumIteration != 1, SurgSim::Framework::Logger::getLogger("OdeSolver"), WARNING) << "OdeSolverLinearEulerImplicit should have a maximum number of iteration of 1 for the Newton-Raphson. " << "As the model is (supposed to be) linear, a single iteration will find the exact solution."; } void OdeSolverLinearEulerImplicit::solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance) { if (!m_initialized) { // The compliance matrix is constant and used in all following calls, so we force its calculation on 1st pass. OdeSolverEulerImplicit::solve(dt, currentState, newState, true); m_constantK = m_equation.getK(); m_initialized = true; } else { m_equation.updateFMDK(currentState, ODEEQUATIONUPDATE_F); Vector f = m_equation.getF(); f -= m_constantK * (currentState.getVelocities() * dt); Vector deltaV = m_equation.applyCompliance(currentState, f); newState->getVelocities() = currentState.getVelocities() + deltaV; newState->getPositions() = currentState.getPositions() + dt * newState->getVelocities(); } } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/OdeSolverLinearEulerImplicit.h000066400000000000000000000041611277777236100242760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_ODESOLVERLINEAREULERIMPLICIT_H #define SURGSIM_MATH_ODESOLVERLINEAREULERIMPLICIT_H #include "SurgSim/Math/OdeSolverEulerImplicit.h" #include "SurgSim/Math/SparseMatrix.h" namespace SurgSim { namespace Math { /// Linear Version of the Euler Implicit ode solver /// This solver assumes that the system is linear, /// ie that Mass, Damping, and Stiffness matrices do not change. /// \note If the matrices are all constant, the problem to solve becomes linear, /// \note therefore the Newton-Raphson algorithm will be exact in only 1 iteration. /// \note Therefore this solver uses a number of maximum iteration of 1 unless overriden. class OdeSolverLinearEulerImplicit : public OdeSolverEulerImplicit { public: /// Constructor /// \param equation The ode equation to be solved explicit OdeSolverLinearEulerImplicit(OdeEquation* equation); void setNewtonRaphsonMaximumIteration(size_t maximumIteration) override; /// The parameter computeCompliance is irrelevant for any Linear solver as it is a constant matrix. /// It will be precomputed on the first call and use in the following calls, no matter what the parameter value is. void solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance = true) override; private: /// The constant stiffness matrix SparseMatrix m_constantK; /// Has the solver been initialized bool m_initialized; }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_ODESOLVERLINEAREULERIMPLICIT_H opensurgsim-0.7.0/SurgSim/Math/OdeSolverLinearRungeKutta4.cpp000066400000000000000000000075051277777236100242440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/OdeSolverLinearRungeKutta4.h" #include "SurgSim/Math/OdeState.h" namespace SurgSim { namespace Math { OdeSolverLinearRungeKutta4::OdeSolverLinearRungeKutta4(OdeEquation* equation) : OdeSolverRungeKutta4(equation), m_initialized(false) { m_name = "Ode Solver Linear Runge Kutta 4"; } void OdeSolverLinearRungeKutta4::solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance) { if (!m_initialized) { // The compliance matrix is constant and used in all following calls, so we force its calculation on 1st pass. OdeSolverRungeKutta4::solve(dt, currentState, newState, true); m_initialized = true; } else { // General equation to solve: // M.a(t) = F(t, x(t), v(t)), which is an ode of order 2 that can be reduced to an ode of order 1: // y' = (x)' = ( v ) = f(t, y) // (v) = (M^-1.F(t, x(t), v(t))) // In terms of (x), f(t, (x)) = (v ) // (v) (v) (M^-1.F(t, x(t), v(t))) // Runge Kutta 4 computes y(n+1) = y(n) + 1/6.dt.(k1 + 2 * k2 + 2 * k3 + k4) // with k1 = f(t(n) , y(n) ) // with k2 = f(t(n) + dt/2, y(n) + k1 * dt/2) // with k3 = f(t(n) + dt/2, y(n) + k2 * dt/2) // with k4 = f(t(n) + dt , y(n) + k3 * dt ) // 1st evaluate k1 (note that y(n) is currentState) m_k1.velocity = currentState.getVelocities(); // Reminder: m_complianceMatrix = dt.M^-1 (including 0 compliance for all boundary conditions) m_equation.updateFMDK(currentState, ODEEQUATIONUPDATE_F); m_k1.acceleration = m_equation.applyCompliance(currentState, m_equation.getF() / dt); // 2nd evaluate k2 newState->getPositions() = currentState.getPositions() + m_k1.velocity * dt / 2.0; newState->getVelocities() = currentState.getVelocities() + m_k1.acceleration * dt / 2.0; m_k2.velocity = newState->getVelocities(); m_equation.updateFMDK(*newState, ODEEQUATIONUPDATE_F); m_k2.acceleration = m_equation.applyCompliance(*newState, m_equation.getF() / dt); // 3rd evaluate k3 newState->getPositions() = currentState.getPositions() + m_k2.velocity * dt / 2.0; newState->getVelocities() = currentState.getVelocities() + m_k2.acceleration * dt / 2.0; m_k3.velocity = newState->getVelocities(); m_equation.updateFMDK(*newState, ODEEQUATIONUPDATE_F); m_k3.acceleration = m_equation.applyCompliance(*newState, m_equation.getF() / dt); // 4th evaluate k4 newState->getPositions() = currentState.getPositions() + m_k3.velocity * dt; newState->getVelocities() = currentState.getVelocities() + m_k3.acceleration * dt; m_k4.velocity = newState->getVelocities(); m_equation.updateFMDK(*newState, ODEEQUATIONUPDATE_F); m_k4.acceleration = m_equation.applyCompliance(*newState, m_equation.getF() / dt); // Compute the new state using Runge Kutta 4 integration scheme: newState->getPositions() = currentState.getPositions() + (m_k1.velocity + m_k4.velocity + 2.0 * (m_k2.velocity + m_k3.velocity)) * dt / 6.0; newState->getVelocities() = currentState.getVelocities() + (m_k1.acceleration + m_k4.acceleration + 2.0 * (m_k2.acceleration + m_k3.acceleration)) * dt / 6.0; } } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/OdeSolverLinearRungeKutta4.h000066400000000000000000000032141277777236100237020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_ODESOLVERLINEARRUNGEKUTTA4_H #define SURGSIM_MATH_ODESOLVERLINEARRUNGEKUTTA4_H #include "SurgSim/Math/OdeSolverRungeKutta4.h" namespace SurgSim { namespace Math { /// Linear Version of the Runge Kutta 4 ode solver /// This solver assumes that the system is linear /// ie that Mass, Damping, and Stiffness matrices do not change. class OdeSolverLinearRungeKutta4 : public OdeSolverRungeKutta4 { public: /// Constructor /// \param equation The ode equation to be solved explicit OdeSolverLinearRungeKutta4(OdeEquation* equation); /// The parameter computeCompliance is irrelevant for any Linear solver as it is a constant matrix. /// It will be precomputed on the first call and use in the following calls, no matter what the parameter value is. void solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance = true) override; private: bool m_initialized; }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_ODESOLVERLINEARRUNGEKUTTA4_H opensurgsim-0.7.0/SurgSim/Math/OdeSolverLinearStatic.cpp000066400000000000000000000031341277777236100233100ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/OdeSolverLinearStatic.h" #include "SurgSim/Math/OdeState.h" namespace SurgSim { namespace Math { OdeSolverLinearStatic::OdeSolverLinearStatic(OdeEquation* equation) : OdeSolverStatic(equation), m_initialized(false) { m_name = "Ode Solver Linear Static"; } void OdeSolverLinearStatic::solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance) { if (!m_initialized) { OdeSolverStatic::solve(dt, currentState, newState, computeCompliance); m_initialized = true; } else { m_equation.updateFMDK(currentState, ODEEQUATIONUPDATE_F); const Vector& f = m_equation.getF(); Vector deltaX = m_equation.applyCompliance(currentState, f); // Compute the new state using the static scheme: newState->getPositions() = currentState.getPositions() + deltaX; // Velocities are null in static mode (no time dependency) newState->getVelocities().setZero(); } } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/OdeSolverLinearStatic.h000066400000000000000000000031611277777236100227550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_ODESOLVERLINEARSTATIC_H #define SURGSIM_MATH_ODESOLVERLINEARSTATIC_H #include "SurgSim/Math/OdeSolverStatic.h" namespace SurgSim { namespace Math { /// Linear version of the static ode solver /// This solver assumes that the system is linear, ie that Stiffness matrix does not change. class OdeSolverLinearStatic : public OdeSolverStatic { public: /// Constructor /// \param equation The ode equation to be solved explicit OdeSolverLinearStatic(OdeEquation* equation); /// The parameter computeCompliance is irrelevant for any Linear solver as it is a constant matrix. /// It will be precomputed on the first call and use in the following calls, no matter what the parameter value is. void solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance = true) override; private: /// Has the solver been initialized bool m_initialized; }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_ODESOLVERLINEARSTATIC_H opensurgsim-0.7.0/SurgSim/Math/OdeSolverRungeKutta4.cpp000066400000000000000000000104711277777236100231050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/OdeSolverRungeKutta4.h" #include "SurgSim/Math/OdeState.h" namespace SurgSim { namespace Math { OdeSolverRungeKutta4::OdeSolverRungeKutta4(OdeEquation* equation) : OdeSolver(equation) { m_name = "Ode Solver Runge Kutta 4"; } void OdeSolverRungeKutta4::solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance) { // General equation to solve: // M.a(t) = F(t, x(t), v(t)), which is an ode of order 2 that can be reduced to an ode of order 1: // y' = (x)' = ( v ) = f(t, y) // (v) = (M^-1.F(t, x(t), v(t))) // In terms of (x), f(t, (x)) = (v ) // (v) (v) (M^-1.F(t, x(t), v(t))) // On the velocity level, we can write M/dt.deltaV = F // Therefore the system matrix is M/dt // Runge Kutta 4 computes y(n+1) = y(n) + 1/6.dt.(k1 + 2 * k2 + 2 * k3 + k4) // with k1 = f(t(n) , y(n) ) // with k2 = f(t(n) + dt/2, y(n) + k1 * dt/2) // with k3 = f(t(n) + dt/2, y(n) + k2 * dt/2) // with k4 = f(t(n) + dt , y(n) + k3 * dt ) // Assemble the linear system systemMatrix.solution = rhs assembleLinearSystem(dt, currentState, *newState); // 1st evaluate k1 (note that y(n) is currentState) m_k1.velocity = currentState.getVelocities(); m_k1.acceleration = m_linearSolver->solve(m_rhs / dt); // 2nd evaluate k2 newState->getPositions() = currentState.getPositions() + m_k1.velocity * dt / 2.0; newState->getVelocities() = currentState.getVelocities() + m_k1.acceleration * dt / 2.0; m_k2.velocity = newState->getVelocities(); m_equation.updateFMDK(*newState, ODEEQUATIONUPDATE_F); Vector f = m_equation.getF(); m_k2.acceleration = m_linearSolver->solve(*currentState.applyBoundaryConditionsToVector(&f) / dt); // 3rd evaluate k3 newState->getPositions() = currentState.getPositions() + m_k2.velocity * dt / 2.0; newState->getVelocities() = currentState.getVelocities() + m_k2.acceleration * dt / 2.0; m_k3.velocity = newState->getVelocities(); m_equation.updateFMDK(*newState, ODEEQUATIONUPDATE_F); f = m_equation.getF(); m_k3.acceleration = m_linearSolver->solve(*currentState.applyBoundaryConditionsToVector(&f) / dt); // 4th evaluate k4 newState->getPositions() = currentState.getPositions() + m_k3.velocity * dt; newState->getVelocities() = currentState.getVelocities() + m_k3.acceleration * dt; m_k4.velocity = newState->getVelocities(); m_equation.updateFMDK(*newState, ODEEQUATIONUPDATE_F); f = m_equation.getF(); m_k4.acceleration = m_linearSolver->solve(*currentState.applyBoundaryConditionsToVector(&f) / dt); // Compute the new state using Runge Kutta 4 integration scheme: newState->getPositions() = currentState.getPositions() + (m_k1.velocity + m_k4.velocity + 2.0 * (m_k2.velocity + m_k3.velocity)) * dt / 6.0; newState->getVelocities() = currentState.getVelocities() + (m_k1.acceleration + m_k4.acceleration + 2.0 * (m_k2.acceleration + m_k3.acceleration)) * dt / 6.0; if (computeCompliance) { computeComplianceMatrixFromSystemMatrix(currentState); } } void OdeSolverRungeKutta4::assembleLinearSystem(double dt, const OdeState& state, const OdeState& newState, bool computeRHS) { m_equation.updateFMDK(state, ODEEQUATIONUPDATE_F | ODEEQUATIONUPDATE_M); // Computes the LHS systemMatrix m_systemMatrix = m_equation.getM() / dt; state.applyBoundaryConditionsToMatrix(&m_systemMatrix); // Feed the systemMatrix to the linear solver, so it can be used after this call to solve or inverse the matrix m_linearSolver->setMatrix(m_systemMatrix); // Computes the RHS vector if (computeRHS) { m_rhs = m_equation.getF(); state.applyBoundaryConditionsToVector(&m_rhs); } } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/OdeSolverRungeKutta4.h000066400000000000000000000055771277777236100225650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_ODESOLVERRUNGEKUTTA4_H #define SURGSIM_MATH_ODESOLVERRUNGEKUTTA4_H #include #include "SurgSim/Math/OdeSolver.h" namespace SurgSim { namespace Math { /// Runge Kutta 4 ode solver (See http://en.wikipedia.org/wiki/Runge%E2%80%93Kutta_methods) /// solves the following \f$2^{nd}\f$ order ode /// \f$M(x(t), v(t)).a(t) = f(t, x(t), v(t))\f$. /// This ode is solved as an ode of order 1 by defining the state vector /// \f$y = \left(\begin{array}{c}x\\v\end{array}\right)\f$: /// \f[ /// y' = \left(\begin{array}{c} x' \\ v' \end{array}\right) = /// \left(\begin{array}{c} v \\ M(x, v)^{-1}.f(t,x, v) \end{array}\right) = /// f(t, y) /// \f] /// After integrating this equation, we get: /// \f[ y(t+dt) - y(t) = \int_t^{t+dt} f(t,y) dt \f] /// Runge Kutta 4 evaluates the integral term using 4 dependents evaluations of \f$f\f$ at different times and states: /// \f[ /// \begin{array}{l} /// y(t+dt) = y(t) + \frac{dt}{6} (k_1 + 2k_2 + 2k_3 + k_4) /// \\ \text{with:} /// \\ \quad /// \begin{array}{lllllll} /// k_1 &=& f(& t &,& y(t) &) /// \\ k_2 &=& f(& t+\frac{dt}{2} &,& y(t) + \frac{dt}{2} k_1 &) /// \\ k_3 &=& f(& t+\frac{dt}{2} &,& y(t) + \frac{dt}{2} k_2 &) /// \\ k_4 &=& f(& t+dt &,& y(t) + dt k_3 &) /// \end{array} /// \end{array} /// \f] class OdeSolverRungeKutta4 : public OdeSolver { public: /// Constructor /// \param equation The ode equation to be solved explicit OdeSolverRungeKutta4(OdeEquation* equation); void solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance = true) override; protected: void assembleLinearSystem(double dt, const OdeState& state, const OdeState& newState, bool computeRHS = true) override; /// Internal structure to hold the 4 temporary evaluations struct RungeKuttaDerivedState { RungeKuttaDerivedState(){} RungeKuttaDerivedState(const Vector& v, const Vector& a) : velocity(v), acceleration(a) {} Vector velocity; Vector acceleration; }; ///@{ /// Runge kutta 4 intermediate system evaluation RungeKuttaDerivedState m_k1, m_k2, m_k3, m_k4; ///@} }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_ODESOLVERRUNGEKUTTA4_H opensurgsim-0.7.0/SurgSim/Math/OdeSolverStatic.cpp000066400000000000000000000054261277777236100221630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/OdeSolverStatic.h" #include "SurgSim/Math/OdeState.h" namespace SurgSim { namespace Math { OdeSolverStatic::OdeSolverStatic(OdeEquation* equation) : OdeSolver(equation) { m_name = "Ode Solver Static"; } void OdeSolverStatic::solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance) { // General equation to solve: // K.deltaX = f(t) = Fext + Fint(t) // which in the case of a linear model will derive in the expected equation: // K.(x(t+dt) - x(t)) = Fext - K.(x(t) - x(0)) // K.(x(t+dt) - x(0)) = Fext // systemMatrix . solution = rhs // Therefore systemMatrix = K, solution = deltaX, rhs = f(t) // Assemble the linear system systemMatrix.solution = rhs assembleLinearSystem(dt, currentState, *newState); // Solve the linear system to find solution = deltaX m_solution = m_linearSolver->solve(m_rhs); // Compute the new state using the static scheme: newState->getPositions() = currentState.getPositions() + m_solution; // Velocities are null in static mode (no time dependency) newState->getVelocities().setZero(); if (computeCompliance) { computeComplianceMatrixFromSystemMatrix(currentState); } } void OdeSolverStatic::assembleLinearSystem(double dt, const OdeState& state, const OdeState& newState, bool computeRHS) { // General equation to solve: // K.deltaX = Fext + Fint(t) // which in the case of a linear model will derive in the expected equation: // K.(x(t+dt) - x(t)) = Fext - K.(x(t) - x(0)) // K.(x(t+dt) - x(0)) = Fext // systemMatrix . solution = rhs // Therefore systemMatrix = K, solution = deltaX, rhs = f(t) m_equation.updateFMDK(state, ODEEQUATIONUPDATE_F | ODEEQUATIONUPDATE_K); // Computes the LHS systemMatrix m_systemMatrix = m_equation.getK(); state.applyBoundaryConditionsToMatrix(&m_systemMatrix); // Feed the systemMatrix to the linear solver, so it can be used after this call to solve or inverse the matrix m_linearSolver->setMatrix(m_systemMatrix); // Computes the RHS vector if (computeRHS) { m_rhs = m_equation.getF(); state.applyBoundaryConditionsToVector(&m_rhs); } } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/OdeSolverStatic.h000066400000000000000000000034201277777236100216200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_ODESOLVERSTATIC_H #define SURGSIM_MATH_ODESOLVERSTATIC_H #include "SurgSim/Math/OdeSolver.h" namespace SurgSim { namespace Math { /// Static ode solver solves the following \f$2^{nd}\f$ order ode \f$M(x(t), v(t)).a(t) = f(t, x(t), v(t))\f$.
/// This ode equation is solved w.r.t. \f$x\f$, by discarding all time derived variables (i.e. \f$v\f$, \f$a\f$) /// reducing the equation to solve to: /// \f[ /// 0 = f(t, x(t)) = f_{ext} + f_{int}(t, x(t)) = f_{ext} - K(x).(x - x0) /// \f] /// \note This solver does not solve the resulting non-linear equations, but their linearization: /// \f$f_{ext} - K.(x - x0)=0\f$ class OdeSolverStatic : public OdeSolver { public: /// Constructor /// \param equation The ode equation to be solved explicit OdeSolverStatic(OdeEquation* equation); void solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance = true) override; protected: void assembleLinearSystem(double dt, const OdeState& state, const OdeState& newState, bool computeRHS = true) override; }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_ODESOLVERSTATIC_H opensurgsim-0.7.0/SurgSim/Math/OdeState.cpp000066400000000000000000000145161277777236100206210ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Math/OdeState.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Math/Valid.h" namespace SurgSim { namespace Math { OdeState::OdeState() : m_numDofPerNode(0u), m_numNodes(0u) { } OdeState::~OdeState() { } bool OdeState::operator ==(const OdeState& state) const { return m_x == state.m_x && m_v == state.m_v && m_boundaryConditionsPerDof == state.m_boundaryConditionsPerDof; } bool OdeState::operator !=(const OdeState& state) const { return !((*this) == state); } void OdeState::reset() { m_x.setZero(); m_v.setZero(); m_boundaryConditionsPerDof.setConstant(false); m_boundaryConditionsAsDofIds.clear(); } void OdeState::setNumDof(size_t numDofPerNode, size_t numNodes) { const size_t numDof = numDofPerNode * numNodes; m_numDofPerNode = numDofPerNode; m_numNodes = numNodes; m_x.resize(numDof); m_v.resize(numDof); m_boundaryConditionsPerDof.resize(numDof); // Zero-out everything reset(); } size_t OdeState::getNumDof() const { const size_t numDof = m_numDofPerNode * m_numNodes; SURGSIM_ASSERT(m_x.size() == m_v.size() && m_x.size() == m_boundaryConditionsPerDof.size() && m_x.size() >= 0 && static_cast(m_x.size()) == numDof); return numDof; } size_t OdeState::getNumNodes() const { return m_numNodes; } SurgSim::Math::Vector& OdeState::getPositions() { return m_x; } const SurgSim::Math::Vector& OdeState::getPositions() const { return m_x; } const SurgSim::Math::Vector3d OdeState::getPosition(size_t nodeId) const { return SurgSim::Math::getSubVector(m_x, nodeId, m_numDofPerNode).segment(0, 3); } SurgSim::Math::Vector& OdeState::getVelocities() { return m_v; } const SurgSim::Math::Vector& OdeState::getVelocities() const { return m_v; } const SurgSim::Math::Vector3d OdeState::getVelocity(size_t nodeId) const { return SurgSim::Math::getSubVector(m_v, nodeId, m_numDofPerNode).segment(0, 3); } void OdeState::addBoundaryCondition(size_t nodeId) { SURGSIM_ASSERT(m_numDofPerNode != 0u) << "Number of dof per node = 0. Make sure to call setNumDof() " << "prior to adding boundary conditions."; for (size_t nodeDofId = 0; nodeDofId < m_numDofPerNode; ++nodeDofId) { addBoundaryCondition(nodeId, nodeDofId); } } void OdeState::addBoundaryCondition(size_t nodeId, size_t nodeDofId) { SURGSIM_ASSERT(m_numDofPerNode != 0u) << "Number of dof per node = 0. Make sure to call setNumDof() " << "prior to adding boundary conditions."; SURGSIM_ASSERT(nodeId < m_numNodes) << "Invalid nodeId " << nodeId << " number of nodes is " << m_numNodes; SURGSIM_ASSERT(nodeDofId < m_numDofPerNode) << "Invalid nodeDofId " << nodeDofId << " number of dof per node is " << m_numDofPerNode; size_t globalDofId = nodeId * m_numDofPerNode + nodeDofId; if (! m_boundaryConditionsPerDof[globalDofId]) { m_boundaryConditionsPerDof[globalDofId] = true; m_boundaryConditionsAsDofIds.push_back(globalDofId); } } size_t OdeState::getNumBoundaryConditions() const { return m_boundaryConditionsAsDofIds.size(); } const std::vector& OdeState::getBoundaryConditions() const { return m_boundaryConditionsAsDofIds; } bool OdeState::isBoundaryCondition(size_t dof) const { return m_boundaryConditionsPerDof[dof]; } Vector* OdeState::applyBoundaryConditionsToVector(Vector* vector) const { SURGSIM_ASSERT(vector != nullptr && vector->size() >= 0 && static_cast(vector->size()) == getNumDof()) << "Invalid vector to apply boundary conditions on"; for (auto it = getBoundaryConditions().cbegin(); it != getBoundaryConditions().cend(); ++it) { (*vector)[*it] = 0.0; } return vector; } void OdeState::applyBoundaryConditionsToMatrix(Matrix* matrix, bool hasCompliance) const { SURGSIM_ASSERT(matrix != nullptr && static_cast(matrix->rows()) == getNumDof() && static_cast(matrix->cols()) == getNumDof()) << "Invalid matrix to apply boundary conditions on"; double complianceValue = 0.0; if (hasCompliance) { complianceValue = 1.0; } for (auto it = getBoundaryConditions().cbegin(); it != getBoundaryConditions().cend(); ++it) { (*matrix).middleRows(*it, 1).setZero(); (*matrix).middleCols(*it, 1).setZero(); (*matrix)(*it, *it) = complianceValue; } } void OdeState::applyBoundaryConditionsToMatrix(SparseMatrix* matrix, bool hasCompliance) const { SURGSIM_ASSERT(matrix != nullptr && static_cast(matrix->rows()) == getNumDof() && static_cast(matrix->cols()) == getNumDof()) << "Invalid matrix to apply boundary conditions on"; double complianceValue = 0.0; if (hasCompliance) { complianceValue = 1.0; } for (auto it = getBoundaryConditions().cbegin(); it != getBoundaryConditions().cend(); ++it) { Math::zeroRow((*it), matrix); Math::zeroColumn(static_cast((*it)), matrix); (*matrix).coeffRef(static_cast(*it), static_cast(*it)) = complianceValue; } } bool OdeState::isValid() const { using SurgSim::Math::isValid; /// http://steve.hollasch.net/cgindex/coding/ieeefloat.html /// We use the IEEE754 standard stipulating that any arithmetic operation with a NaN operand will produce NaN /// and any sum of +-INF with a finite number or +-INF will produce +-INF. /// Therefore, testing if a vector contains only finite numbers can be achieve easily by summing all the values /// and testing if the result is a finite number or not. return isValid(getPositions().sum()) && isValid(getVelocities().sum()); } OdeState OdeState::interpolate(const OdeState& other, double t) const { auto result = OdeState(*this); if (t != 0) { result.m_v += (other.m_v - m_v) * t; result.m_x += (other.m_x - m_x) * t; } return result; } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/OdeState.h000066400000000000000000000172471277777236100202720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_MATH_ODESTATE_H #define SURGSIM_MATH_ODESTATE_H #include #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Math { /// The state \f$y\f$ of an ode of 2nd order of the form \f$M(x,v).a = F(x, v)\f$ with boundary conditions. /// This ode equation is solved as an ode of order 1 by defining the state vector /// \f$y = \left(\begin{array}{c}x\\v\end{array}\right)\f$: /// \f[ /// y' = \left(\begin{array}{c} x' \\ v' \end{array}\right) = /// \left(\begin{array}{c} v \\ M(x, v)^{-1}.F(x, v) \end{array}\right) /// \f] class OdeState { public: /// Default constructor OdeState(); /// Destructor virtual ~OdeState(); /// Comparison operator (equality test) /// \param state The state to compare it to /// \return True if the 2 states are equal, False otherwise bool operator ==(const OdeState& state) const; /// Comparison operator (difference test) /// \param state The state to compare it to /// \return False if the 2 states are equal, True otherwise bool operator !=(const OdeState& state) const; /// Resets the state /// \note Simply set all positions/velocities to 0 and remove all boundary conditions virtual void reset(); /// Allocates the state for a given number of degrees of freedom /// \param numDofPerNode The number of degrees of freedom per node to account for /// \param numNodes The number of nodes to account for /// \note This method clears all the data structures and remove all existing boundary conditions virtual void setNumDof(size_t numDofPerNode, size_t numNodes); /// Retrieves the number of degrees of freedom /// \return The number of DOF for this representation size_t getNumDof() const; /// Retrieves the number of nodes /// \return The number of nodes for this representation size_t getNumNodes() const; /// Retrieves all degrees of freedom's position (non-const version) /// \return Vector of collected DOF's position SurgSim::Math::Vector& getPositions(); /// Retrieves all degrees of freedom's position (const version) /// \return Vector of collected DOF's position const SurgSim::Math::Vector& getPositions() const; /// Retrieves the position of a given node (const version) /// \param nodeId The desired node id for which the position is requested (must be a valid id) /// \return The position of the node nodeId /// \note Behavior undefined if the nodeId is not in the correct range [0 getNumNodes()-1] const SurgSim::Math::Vector3d getPosition(size_t nodeId) const; /// Retrieves all degrees of freedom's velocity (non-const version) /// \return Vector of collected DOF's velocity SurgSim::Math::Vector& getVelocities(); /// Retrieves all degrees of freedom's velocity (const version) /// \return Vector of collected DOF's velocity const SurgSim::Math::Vector& getVelocities() const; /// Retrieves the velocity of a given node (const version) /// \param nodeId The desired node id for which the velocity is requested (must be a valid id) /// \return The velocity of the node nodeId /// \note Behavior undefined if the nodeId is not in the correct range [0 getNumNodes()-1] const SurgSim::Math::Vector3d getVelocity(size_t nodeId) const; /// Adds boundary conditions for a given node (fixes all the dof for this node) /// \param nodeId The node to set the boundary conditions on void addBoundaryCondition(size_t nodeId); /// Adds a boundary condition on a given dof of a given node (only 1 dof is fixed) /// \param nodeId The node on which the boundary condition needs to be set /// \param nodeDofId The dof of the node to set as boundary condition void addBoundaryCondition(size_t nodeId, size_t nodeDofId); /// Retrieves the number of boundary conditions /// \return The number of boundary conditions size_t getNumBoundaryConditions() const; /// Retrieves all boundary conditions /// \return All boundary conditions as a vector of dof ids const std::vector& getBoundaryConditions() const; /// Queries if a specific dof is a boundary condition or not /// \param dof The requested dof /// \return True if dof is a boundary condition, False otherwise /// \note The behavior is undefined when dof is out of range [0 getNumBoundaryConditions()-1] bool isBoundaryCondition(size_t dof) const; /// Apply boundary conditions to a given vector /// \param vector The vector to apply the boundary conditions on /// \return The parameter vector. This enables chained use like /// \f$U = K^1 * \text{applyBoundaryConditionsToVector}(x)\f$ Vector* applyBoundaryConditionsToVector(Vector* vector) const; /// Apply boundary conditions to a given matrix /// \param matrix The dense matrix to apply the boundary conditions on /// \param hasCompliance True if the fixed dofs should have a compliance of 1 with themselves in the matrix or not. /// \note hasCompliance is practical to remove all compliance, which is helpful when the compliance matrix is used /// \note in an architecture of type LCP. It ensures that a separate constraint resolution will never violates the /// \note boundary conditions. void applyBoundaryConditionsToMatrix(Matrix* matrix, bool hasCompliance = true) const; /// Apply boundary conditions to a given matrix /// \param matrix The sparse matrix to apply the boundary conditions on /// \param hasCompliance True if the fixed dofs should have a compliance of 1 with themselves in the matrix or not. /// \note hasCompliance is practical to remove all compliance, which is helpful when the compliance matrix is used /// \note in an architecture of type LCP. It ensures that a separate constraint resolution will never violates the /// \note boundary conditions. void applyBoundaryConditionsToMatrix(SparseMatrix* matrix, bool hasCompliance = true) const; /// Check if this state is numerically valid /// \return True if all positions and velocities are valid numerical values, False otherwise virtual bool isValid() const; /// Returns the linear interpolated ODE state between this and other at parameter t /// \param other the end point for the linear interpolation /// \param t the interpolation time /// \return the interpolated state = this + (other - this) * t; /// \note All dof are independently linearly interpolated (This will not work correctly /// on rotation vectors where a slerp will be required.) OdeState interpolate(const OdeState& other, double t) const; private: /// Default public copy constructor and assignment operator are being used on purpose /// Keep track of the number of degrees of freedom per node and the number of nodes size_t m_numDofPerNode, m_numNodes; /// Degrees of freedom position SurgSim::Math::Vector m_x; /// Degrees of freedom velocity (m_x 1st derivative w.r.t. time) SurgSim::Math::Vector m_v; /// Boundary conditions stored as a list of dof ids std::vector m_boundaryConditionsAsDofIds; /// Boundary conditions stored per dof (True indicates a boundary condition, False does not) Eigen::Matrix m_boundaryConditionsPerDof; }; }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_ODESTATE_H opensurgsim-0.7.0/SurgSim/Math/ParticlesShape-inl.h000066400000000000000000000023401277777236100222350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_MATH_PARTICLESSHAPE_INL_H #define SURGSIM_MATH_PARTICLESSHAPE_INL_H namespace SurgSim { namespace Math { template ParticlesShape::ParticlesShape(const SurgSim::DataStructures::Vertices& other) : DataStructures::Vertices(other), m_radius(0.0) { update(); } template ParticlesShape& ParticlesShape::operator=(const SurgSim::DataStructures::Vertices& other) { DataStructures::Vertices::operator=(other); update(); return *this; } }; // namespace Math }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Math/ParticlesShape.cpp000066400000000000000000000071631277777236100220200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/ParticlesShape.h" #include "SurgSim/DataStructures/AabbTree.h" #include "SurgSim/DataStructures/AabbTreeData.h" namespace SurgSim { namespace Math { SURGSIM_REGISTER(SurgSim::Math::Shape, SurgSim::Math::ParticlesShape, ParticlesShape); ParticlesShape::ParticlesShape(double radius) : m_radius(radius) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(ParticlesShape, double, Radius, getRadius, setRadius); update(); } ParticlesShape::ParticlesShape(const ParticlesShape& other) : DataStructures::Vertices(other), m_aabbTree(other.m_aabbTree), m_radius(other.getRadius()), m_center(other.getCenter()), m_volume(other.getVolume()), m_secondMomentOfVolume(other.getSecondMomentOfVolume()) { } int ParticlesShape::getType() const { return SHAPE_TYPE_PARTICLES; } double ParticlesShape::getVolume() const { return m_volume; } Vector3d ParticlesShape::getCenter() const { return m_center; } Matrix33d ParticlesShape::getSecondMomentOfVolume() const { return m_secondMomentOfVolume; } bool ParticlesShape::isValid() const { return m_radius >= 0.0; } double ParticlesShape::getRadius() const { return m_radius; } void ParticlesShape::setRadius(double radius) { m_radius = radius; } bool ParticlesShape::doUpdate() { const double numParticles = static_cast(getVertices().size()); const Vector3d radius = Vector3d::Constant(m_radius); std::list items; Vector3d totalPosition = Vector3d::Zero(); Matrix33d totalDisplacementSkewSquared = Matrix33d::Zero(); size_t id = 0; for (auto const& vertex : getVertices()) { totalPosition += vertex.position; Matrix33d skewOfDisplacement = makeSkewSymmetricMatrix(vertex.position); totalDisplacementSkewSquared += skewOfDisplacement * skewOfDisplacement; SurgSim::Math::Aabbd aabb(vertex.position - radius, vertex.position + radius); items.emplace_back(std::make_pair(std::move(aabb), id)); id++; } m_center = totalPosition / numParticles; double sphereVolume = (4.0 / 3.0) * M_PI * m_radius * m_radius * m_radius; m_volume = sphereVolume * numParticles; // Parallel Axis Theorem m_secondMomentOfVolume = Matrix33d::Identity() * (2.0 / 5.0) * sphereVolume * m_radius * m_radius * numParticles; m_secondMomentOfVolume -= sphereVolume * totalDisplacementSkewSquared; m_aabbTree = std::make_shared(); m_aabbTree->set(std::move(items)); return true; } std::shared_ptr ParticlesShape::getTransformed(const RigidTransform3d& pose) const { auto transformed = std::make_shared(*this); transformed->transform(pose); transformed->update(); return transformed; } const std::shared_ptr ParticlesShape::getAabbTree() const { return m_aabbTree; } bool ParticlesShape::isTransformable() const { return true; } const Math::Aabbd& ParticlesShape::getBoundingBox() const { if (m_aabbTree != nullptr) { return m_aabbTree->getAabb(); } else { return m_aabb; } } }; }; opensurgsim-0.7.0/SurgSim/Math/ParticlesShape.h000066400000000000000000000064031277777236100214610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_PARTICLESSHAPE_H #define SURGSIM_MATH_PARTICLESSHAPE_H #include #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace DataStructures { class AabbTree; }; namespace Math { SURGSIM_STATIC_REGISTRATION(ParticlesShape); /// Particles Shape: A shape consisting of a group of particles of equal radius class ParticlesShape : public Shape, public SurgSim::DataStructures::Vertices { public: /// Constructor /// \param radius The particles' radius (in m) explicit ParticlesShape(double radius = 0.0); /// Copy constructor /// \param other The ParticleShape to be copied from explicit ParticlesShape(const ParticlesShape& other); /// Copy constructor from another Vertices type /// \tparam V type of data stored in the other vertices /// \param other The vertices to be copied from. Vertex data will not be copied template explicit ParticlesShape(const SurgSim::DataStructures::Vertices& other); /// Assignment when the template data is a different type /// \tparam V type of data stored in the other Vertices /// \param other the Vertices to copy from template ParticlesShape& operator=(const Vertices& other); SURGSIM_CLASSNAME(SurgSim::Math::ParticlesShape); /// Get the AabbTree /// \return The object's associated AabbTree const std::shared_ptr getAabbTree() const; /// Set the particles' radius /// \param radius the radius being set to all particles void setRadius(double radius); /// Get the radius of the particles /// \return The particles' radius double getRadius() const; int getType() const override; double getVolume() const override; Vector3d getCenter() const override; Matrix33d getSecondMomentOfVolume() const override; std::shared_ptr getTransformed(const RigidTransform3d& pose) const override; bool isValid() const override; bool isTransformable() const override; const Math::Aabbd& getBoundingBox() const override; private: bool doUpdate() override; /// The aabb tree of the ParticlesShape std::shared_ptr m_aabbTree; /// Particles' radius double m_radius; /// Volumetric center of particles Vector3d m_center; /// Total volume of particles double m_volume; /// Second moment of volume Matrix33d m_secondMomentOfVolume; }; }; }; #include "SurgSim/Math/ParticlesShape-inl.h" #endif // SURGSIM_MATH_PARTICLESSHAPE_H opensurgsim-0.7.0/SurgSim/Math/PlaneShape.cpp000066400000000000000000000025541277777236100211300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/PlaneShape.h" namespace SurgSim { namespace Math { SURGSIM_REGISTER(SurgSim::Math::Shape, SurgSim::Math::PlaneShape, PlaneShape); PlaneShape::PlaneShape() { } int PlaneShape::getType() const { return SHAPE_TYPE_PLANE; } double PlaneShape::getVolume() const { return 0.0; } SurgSim::Math::Vector3d PlaneShape::getCenter() const { return Vector3d(0.0, 0.0, 0.0); } SurgSim::Math::Matrix33d PlaneShape::getSecondMomentOfVolume() const { return Matrix33d::Zero(); } double PlaneShape::getD() const { return 0.0; } SurgSim::Math::Vector3d PlaneShape::getNormal() const { return Vector3d(0.0, 1.0, 0.0); } bool PlaneShape::isValid() const { return true; } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/PlaneShape.h000066400000000000000000000050411277777236100205670ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_PLANESHAPE_H #define SURGSIM_MATH_PLANESHAPE_H #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Math/Shape.h" namespace SurgSim { namespace Math { SURGSIM_STATIC_REGISTRATION(PlaneShape); /// The XZ plane (d = 0) with normal pointing along positive Y axis. /// The difference between PlaneShape and DoubleSidedPlane shape is in the way the Physics scene /// handles these in terms of collision detection. While the DoubleSidedPlane is handled as a thin /// solid of (essentially) zero thickness and space on either side it, the PlaneShape is considered /// to be a entirely solid on the side of the plane which is opposite to the normal. It is made of /// space only on the positive side of the plane normal. This results in having a robust collision /// object which does not let any objects through, and could be useful to define the scene floor. class PlaneShape: public Shape { public: /// Constructor: No members to initialize. PlaneShape(); SURGSIM_CLASSNAME(SurgSim::Math::PlaneShape); /// \return the type of the shape int getType() const override; /// Get the volume of the shape /// \return The volume of the shape (in m-3) double getVolume() const override; /// Get the volumetric center of the shape /// \return The center of the shape Vector3d getCenter() const override; /// Get the second central moment of the volume, commonly used /// to calculate the moment of inertia matrix /// \return The 3x3 symmetric second moment matrix Matrix33d getSecondMomentOfVolume() const override; /// Gets the d of the plane equation. /// \return The value of d (always 0). double getD() const; /// Gets the normal of the plane equation. /// \return The value of the normal (always Y axis). Vector3d getNormal() const; /// A PlaneShape is always valid. /// \return True. bool isValid() const override; }; }; // Math }; // SurgSim #endif // SURGSIM_MATH_PLANESHAPE_H opensurgsim-0.7.0/SurgSim/Math/PointTriangleCcdContactCalculation-inl.h000066400000000000000000000121131277777236100262110ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_MATH_POINTTRIANGLECCDCONTACTCALCULATION_INL_H #define SURGSIM_MATH_POINTTRIANGLECCDCONTACTCALCULATION_INL_H #include #include #include "SurgSim/Math/CubicSolver.h" namespace SurgSim { namespace Math { /// Check if a point belongs to a triangle at a given time of their motion /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param time The time of coplanarity of the 4 points (P(t), A(t), B(t), C(t) are expected to be coplanar) /// \param P the point motion (from first to second) /// \param A, B, C The triangle points motion (from first to second) /// \param[out] barycentricCoordinates The barycentric coordinates of P(t) in ABC(t) /// \return true if P(t) is inside the triangle ABC(t) template bool isPointInsideTriangle( T time, const std::pair, Eigen::Matrix>& P, const std::pair, Eigen::Matrix>& A, const std::pair, Eigen::Matrix>& B, const std::pair, Eigen::Matrix>& C, Eigen::Matrix* barycentricCoordinates) { Eigen::Matrix Pt = interpolate(P.first, P.second, time); Eigen::Matrix At = interpolate(A.first, A.second, time); Eigen::Matrix Bt = interpolate(B.first, B.second, time); Eigen::Matrix Ct = interpolate(C.first, C.second, time); bool result = Math::barycentricCoordinates(Pt, At, Bt, Ct, barycentricCoordinates); for (int i = 0; i < 3; i++) { if (std::abs((*barycentricCoordinates)[i]) < Math::Geometry::ScalarEpsilon) { (*barycentricCoordinates)[i] = 0.0; } if (std::abs(1.0 - (*barycentricCoordinates)[i]) < Math::Geometry::ScalarEpsilon) { (*barycentricCoordinates)[i] = 1.0; } } return (result && (*barycentricCoordinates)[0] >= 0.0 && (*barycentricCoordinates)[1] >= 0.0 && (*barycentricCoordinates)[2] >= 0.0); } /// Continuous collision detection between a point P and a triangle ABC /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param P the point motion (from first to second) to calculate the ccd with /// \param A, B, C The triangle points motion (from first to second) to calculate the ccd with /// \param[out] timeOfImpact The time of impact within [0..1] if a collision is found /// \param[out] tv01Param, tv02Param The barycentric coordinate of the contact point in the triangle /// i.e. ContactPoint(timeOfImpact) = A(timeOfImpact) + tv01Param.AB(timeOfImpact) + tv02Param.AC(timeOfImpact) /// \return True if the given point/triangle motions intersect, False otherwise /// \note Simple cubic-solver https://graphics.stanford.edu/courses/cs468-02-winter/Papers/Collisions_vetements.pdf /// \note Optimized method http://www.robotics.sei.ecnu.edu.cn/CCDLY/GMOD15.pdf /// \note Optimized method https://www.cs.ubc.ca/~rbridson/docs/brochu-siggraph2012-ccd.pdf template inline bool calculateCcdContactPointTriangle( const std::pair, Eigen::Matrix>& P, const std::pair, Eigen::Matrix>& A, const std::pair, Eigen::Matrix>& B, const std::pair, Eigen::Matrix>& C, T* timeOfImpact, T* tv01Param, T* tv02Param) { std::array roots; int numberOfRoots = timesOfCoplanarityInRange01(P, A, B, C, &roots); // The roots are all in [0..1] and ordered ascendingly for (int rootId = 0; rootId < numberOfRoots; ++rootId) { Eigen::Matrix baryCoords; if (isPointInsideTriangle(roots[rootId], P, A, B, C, &baryCoords)) { // The point P is in the triangle plane at time t, and is inside the triangle *timeOfImpact = roots[rootId]; *tv01Param = baryCoords[1]; *tv02Param = baryCoords[2]; // None of these assertion should be necessary, but just to double check SURGSIM_ASSERT(*timeOfImpact >= 0.0 && *timeOfImpact <= 1.0); SURGSIM_ASSERT(*tv01Param >= 0.0); SURGSIM_ASSERT(*tv02Param >= 0.0); SURGSIM_ASSERT(*tv01Param + *tv02Param <= 1.0 + Geometry::ScalarEpsilon); return true; } } return false; } }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_POINTTRIANGLECCDCONTACTCALCULATION_INL_H opensurgsim-0.7.0/SurgSim/Math/Polynomial-inl.h000066400000000000000000000330161277777236100214550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_MATH_POLYNOMIAL_INL_H #define SURGSIM_MATH_POLYNOMIAL_INL_H #include #include #include "SurgSim/Math/IntervalArithmetic.h" namespace SurgSim { namespace Math { template bool isNearZero(const T& value, const T& epsilon) { return (value + epsilon >= 0 && value - epsilon <= 0); } // Polynomial of degree 0 template Polynomial::Polynomial() : m_a0(static_cast(0)) { } template Polynomial::Polynomial(const T& a0) : m_a0(a0) { } template T Polynomial::evaluate(const T& x) const { return m_a0; } template T Polynomial::operator()(const T& x) const { return evaluate(x); } template T& Polynomial::operator[](const size_t i) { return const_cast(const_cast*>(this)->operator[](i)); } template const T& Polynomial::operator[](const size_t i) const { SURGSIM_ASSERT(i <= 0) << "Attempting to set a coefficient greater than the polynomial degree"; return m_a0; } template Polynomial Polynomial::operator- () const { return Polynomial(-m_a0); } template Polynomial Polynomial::operator+ (const Polynomial& rhs) const { return Polynomial(m_a0 + rhs.m_a0); } template Polynomial& Polynomial::operator+= (const Polynomial& rhs) { m_a0 += rhs.m_a0; return *this; } template Polynomial Polynomial::operator- (const Polynomial& rhs) const { return Polynomial(m_a0 - rhs.m_a0); } template Polynomial& Polynomial::operator-= (const Polynomial& rhs) { m_a0 -= rhs.m_a0; return *this; } template bool Polynomial::isNearZero(const T& epsilon) const { return SurgSim::Math::isNearZero(m_a0, epsilon); } template bool Polynomial::isApprox(const Polynomial& p, const T& epsilon) const { return ((*this) - p).isNearZero(epsilon); } template T Polynomial::getCoefficient(size_t i) const { switch (i) { case 0: return m_a0; default: return 0; } } template void Polynomial::setCoefficient(size_t i, const T& value) { SURGSIM_ASSERT(i <= 0) << "Attempting to set a coefficient greater than the polynomial degree"; m_a0 = value; } // Polynomial of degree 1 template Polynomial::Polynomial() : m_a0(static_cast(0)), m_a1(static_cast(0)) { } template Polynomial::Polynomial(const T& a0, const T& a1) : m_a0(a0), m_a1(a1) { } template T Polynomial::evaluate(const T& x) const { return m_a1 * x + m_a0; } template T Polynomial::operator()(const T& x) const { return evaluate(x); } template T& Polynomial::operator[](const size_t i) { return const_cast(const_cast*>(this)->operator[](i)); } template const T& Polynomial::operator[](const size_t i) const { SURGSIM_ASSERT(i <= 1) << "Attempting to set a coefficient greater than the polynomial degree"; switch (i) { case 0: { return m_a0; } default: { return m_a1; } } } template Polynomial Polynomial::operator- () const { return Polynomial(-m_a0, -m_a1); } template Polynomial Polynomial::operator+ (const Polynomial& rhs) const { return Polynomial(m_a0 + rhs.m_a0, m_a1 + rhs.m_a1); } template Polynomial& Polynomial::operator+= (const Polynomial& rhs) { m_a0 += rhs.m_a0; m_a1 += rhs.m_a1; return *this; } template Polynomial Polynomial::operator- (const Polynomial& rhs) const { return Polynomial(m_a0 - rhs.m_a0, m_a1 - rhs.m_a1); } template Polynomial& Polynomial::operator-= (const Polynomial& rhs) { m_a0 -= rhs.m_a0; m_a1 -= rhs.m_a1; return *this; } template Polynomial Polynomial::derivative() const { return Polynomial(m_a1); } template bool Polynomial::isNearZero(const T& epsilon) const { return SurgSim::Math::isNearZero(m_a0, epsilon) && SurgSim::Math::isNearZero(m_a1, epsilon); } template bool Polynomial::isApprox(const Polynomial& p, const T& epsilon) const { return ((*this) - p).isNearZero(epsilon); } template T Polynomial::getCoefficient(size_t i) const { switch (i) { case 0: { return m_a0; } case 1: { return m_a1; } default: { return 0; } } } template void Polynomial::setCoefficient(size_t i, const T& value) { SURGSIM_ASSERT(i <= 1) << "Attempting to set a coefficient greater than the polynomial degree"; switch (i) { case 0: { m_a0 = value; break; } case 1: { m_a1 = value; break; } } } // Polynomial of degree 2 template Polynomial::Polynomial() : m_a0(static_cast(0)), m_a1(static_cast(0)), m_a2(static_cast(0)) { } template Polynomial::Polynomial(const T& a0, const T& a1, const T& a2) : m_a0(a0), m_a1(a1), m_a2(a2) { } template T Polynomial::discriminant() const { return m_a1 * m_a1 - static_cast(4) * m_a0 * m_a2; } template T Polynomial::evaluate(const T& x) const { return (m_a2 * x + m_a1) * x + m_a0; } template T Polynomial::operator()(const T& x) const { return evaluate(x); } template T& Polynomial::operator[](const size_t i) { return const_cast(const_cast*>(this)->operator[](i)); } template const T& Polynomial::operator[](const size_t i) const { SURGSIM_ASSERT(i <= 2) << "Attempting to set a coefficient greater than the polynomial degree"; switch (i) { case 0: { return m_a0; } case 1: { return m_a1; } default: { return m_a2; } } } template Polynomial Polynomial::operator- () const { return Polynomial(-m_a0, -m_a1, -m_a2); } template Polynomial Polynomial::operator+ (const Polynomial& rhs) const { return Polynomial(m_a0 + rhs.m_a0, m_a1 + rhs.m_a1, m_a2 + rhs.m_a2); } template Polynomial& Polynomial::operator+= (const Polynomial& rhs) { m_a0 += rhs.m_a0; m_a1 += rhs.m_a1; m_a2 += rhs.m_a2; return *this; } template Polynomial Polynomial::operator- (const Polynomial& rhs) const { return Polynomial(m_a0 - rhs.m_a0, m_a1 - rhs.m_a1, m_a2 - rhs.m_a2); } template Polynomial& Polynomial::operator-= (const Polynomial& rhs) { m_a0 -= rhs.m_a0; m_a1 -= rhs.m_a1; m_a2 -= rhs.m_a2; return *this; } template Polynomial Polynomial::derivative() const { return Polynomial(m_a1, 2 * m_a2); } template bool Polynomial::isNearZero(const T& epsilon) const { return SurgSim::Math::isNearZero(m_a0, epsilon) && SurgSim::Math::isNearZero(m_a1, epsilon) && SurgSim::Math::isNearZero(m_a2, epsilon); } template bool Polynomial::isApprox(const Polynomial& p, const T& epsilon) const { return ((*this) - p).isNearZero(epsilon); } template T Polynomial::getCoefficient(size_t i) const { switch (i) { case 0: { return m_a0; } case 1: { return m_a1; } case 2: { return m_a2; } default: { return 0; } } } template void Polynomial::setCoefficient(size_t i, const T& value) { SURGSIM_ASSERT(i <= 2) << "Attempting to set a coefficient greater than the polynomial degree"; switch (i) { case 0: { m_a0 = value; break; } case 1: { m_a1 = value; break; } case 2: { m_a2 = value; break; } } } // Polynomial of degree 3 template Polynomial::Polynomial() : m_a0(static_cast(0)), m_a1(static_cast(0)), m_a2(static_cast(0)), m_a3(static_cast(0)) { } template Polynomial::Polynomial(const T& a0, const T& a1, const T& a2, const T& a3) : m_a0(a0), m_a1(a1), m_a2(a2), m_a3(a3) { } template T Polynomial::evaluate(const T& x) const { return ((m_a3 * x + m_a2) * x + m_a1) * x + m_a0; } template T Polynomial::operator()(const T& x) const { return evaluate(x); } template T& Polynomial::operator[](const size_t i) { return const_cast(const_cast*>(this)->operator[](i)); } template const T& Polynomial::operator[](const size_t i) const { SURGSIM_ASSERT(i <= 3) << "Attempting to set or access a coefficient greater than the polynomial degree"; switch (i) { case 0: { return m_a0; } case 1: { return m_a1; } case 2: { return m_a2; } default: { return m_a3; } } } template Polynomial Polynomial::operator- () const { return Polynomial(-m_a0, -m_a1, -m_a2, -m_a3); } template Polynomial Polynomial::operator+ (const Polynomial& rhs) const { return Polynomial(m_a0 + rhs.m_a0, m_a1 + rhs.m_a1, m_a2 + rhs.m_a2, m_a3 + rhs.m_a3); } template Polynomial& Polynomial::operator+= (const Polynomial& rhs) { m_a0 += rhs.m_a0; m_a1 += rhs.m_a1; m_a2 += rhs.m_a2; m_a3 += rhs.m_a3; return *this; } template Polynomial Polynomial::operator- (const Polynomial& rhs) const { return Polynomial(m_a0 - rhs.m_a0, m_a1 - rhs.m_a1, m_a2 - rhs.m_a2, m_a3 - rhs.m_a3); } template Polynomial& Polynomial::operator-= (const Polynomial& rhs) { m_a0 -= rhs.m_a0; m_a1 -= rhs.m_a1; m_a2 -= rhs.m_a2; m_a3 -= rhs.m_a3; return *this; } template Polynomial Polynomial::derivative() const { return Polynomial(m_a1, 2 * m_a2, 3 * m_a3); } template bool Polynomial::isNearZero(const T& epsilon) const { return SurgSim::Math::isNearZero(m_a0, epsilon) && SurgSim::Math::isNearZero(m_a1, epsilon) && SurgSim::Math::isNearZero(m_a2, epsilon) && SurgSim::Math::isNearZero(m_a3, epsilon); } template bool Polynomial::isApprox(const Polynomial& p, const T& epsilon) const { return ((*this) - p).isNearZero(epsilon); } template T Polynomial::getCoefficient(size_t i) const { switch (i) { case 0: { return m_a0; } case 1: { return m_a1; } case 2: { return m_a2; } case 3: { return m_a3; } default: { return 0; } } } template void Polynomial::setCoefficient(size_t i, const T& value) { SURGSIM_ASSERT(i <= 3) << "Attempting to set a coefficient greater than the polynomial degree"; switch (i) { case 0: { m_a0 = value; break; } case 1: { m_a1 = value; break; } case 2: { m_a2 = value; break; } case 3: { m_a3 = value; break; } } } // Operators template Polynomial < T, N + M > operator*(const Polynomial& p, const Polynomial& q) { Polynomial < T, N + M > result; for (int i = 0; i <= N + M; ++i) { T coeff = 0; int jMin = std::max(0, i - M); int jMax = std::min(i, N); for (int j = jMin; j <= jMax; ++j) { coeff += p.getCoefficient(j) * q.getCoefficient(i - j); } result.setCoefficient(i, coeff); } return result; } template Polynomial operator*(const Polynomial& p, const Polynomial& q) { const T p0 = p.getCoefficient(0); const T p1 = p.getCoefficient(1); const T q0 = q.getCoefficient(0); const T q1 = q.getCoefficient(1); return Polynomial(p0 * q0, p0 * q1 + p1 * q0, p1 * q1); } template Polynomial operator*(const Polynomial& p, const Polynomial& q) { const T p0 = p.getCoefficient(0); const T p1 = p.getCoefficient(1); const T p2 = p.getCoefficient(2); const T q0 = q.getCoefficient(0); const T q1 = q.getCoefficient(1); return Polynomial(p0 * q0, p0 * q1 + p1 * q0, p1 * q1 + p2 * q0, p2 * q1); } template Polynomial operator*(const Polynomial& p, const Polynomial& q) { const T p0 = p.getCoefficient(0); const T p1 = p.getCoefficient(1); const T q0 = q.getCoefficient(0); const T q1 = q.getCoefficient(1); const T q2 = q.getCoefficient(2); return Polynomial(p0 * q0, p0 * q1 + p1 * q0, p0 * q2 + p1 * q1, p1 * q2); } template Polynomial square(const Polynomial& p) { const T c = p.getCoefficient(0); return Polynomial(c * c); } template Polynomial square(const Polynomial& p) { const T p0 = p.getCoefficient(0); const T p1 = p.getCoefficient(1); return Polynomial(p0 * p0, 2 * p1 * p0, p1 * p1); } template inline std::ostream& operator<<(std::ostream& stream, const Polynomial& p) { stream << "("; for (int i = N; i > 1; --i) { stream << p.getCoefficient(i) << "*x^" << i << " + "; } if (N >= 1) { stream << p.getCoefficient(1) << "*x + "; } stream << p.getCoefficient(0) << ")"; return stream; } }; // Math }; // SurgSim #endif // SURGSIM_MATH_POLYNOMIAL_INL_H opensurgsim-0.7.0/SurgSim/Math/Polynomial.h000066400000000000000000000321671277777236100207030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_MATH_POLYNOMIAL_H #define SURGSIM_MATH_POLYNOMIAL_H #include namespace SurgSim { namespace Math { namespace { double polynomial_epsilon = 1.0e-09; } /// Define an utility function for comparing individual coefficients to 0. /// /// \tparam T underlying data type used as either the scalar or as the data type /// for the interval /// \param value the value to compare /// \param epsilon the tolerance /// \return true if the value is within epsilon of 0 template bool isNearZero(const T& value, const T& epsilon = static_cast(polynomial_epsilon)); /// Polynomial defines the concept of an N degree polynomial with type T /// coefficients and provides operations on them including arithmetic operations, /// construction, and IO. /// /// \tparam T underlying data type over which the interval is defined. /// \tparam N degree of the Polynomial template class Polynomial { static_assert(N >= 0, "Polynomials must have degree >= 0."); static_assert(N <= 3, "Polynomials of degree > 3 are not yet supported."); }; /// Polynomial specializes the Polynomial class for degree 0 (constant polynomials) /// \sa Polynomial template class Polynomial { public: /// Constructor Polynomial(); /// Constructor /// \param a0 coefficient of the 0 degree term explicit Polynomial(const T& a0); /// Evaluate the polynomial at a point /// \param x point at which to evaluate the polynomial /// \return the value of the polynomial at x T evaluate(const T& x) const; /// Evaluate the polynomial at a point /// \param x point at which to evaluate the polynomial /// \return the value of the polynomial at x T operator()(const T& x) const; /// @{ /// Standard arithmetic operators extended to intervals T& operator[](const size_t i); const T& operator[](const size_t i) const; Polynomial operator- () const; Polynomial operator+ (const Polynomial& rhs) const; Polynomial& operator+= (const Polynomial& rhs); Polynomial operator- (const Polynomial& rhs) const; Polynomial& operator-= (const Polynomial& rhs); /// @} /// \param epsilon the closeness parameter /// \return true if all coefficients of the polynomial are within an epsilon of 0 bool isNearZero(const T& epsilon = static_cast(polynomial_epsilon)) const; /// \param p the test polynomial /// \param epsilon the closeness parameter /// \return true if all the coefficients of the current polynomial are within an epsilon of /// the corresponding coefficient in p bool isApprox(const Polynomial& p, const T& epsilon) const; /// \param i index of the desired coefficient /// \return the value of coefficient i T getCoefficient(size_t i) const; /// Set a specified coefficient to a desired value /// \param i index of the desired coefficient /// \param value the value to be set in the coefficient /// \exception if i is greater than the polynomial degree void setCoefficient(size_t i, const T& value); private: /// @{ /// Coefficient of the polynomial T m_a0; /// @} }; /// Polynomial specializes the Polynomial class for degree 1 (linear polynomials) /// \sa Polynomial template class Polynomial { public: /// Constructor Polynomial(); /// Constructor /// \param a0 coefficient of the 0 degree term /// \param a1 coefficient of the 1 degree term Polynomial(const T& a0, const T& a1); /// Evaluate the polynomial at a point /// \param x point at which to evaluate the polynomial /// \return the value of the polynomial at x T evaluate(const T& x) const; /// Evaluate the polynomial at a point /// \param x point at which to evaluate the polynomial /// \return the value of the polynomial at x T operator()(const T& x) const; /// @{ /// Standard arithmetic operators extended to intervals T& operator[](const size_t i); const T& operator[](const size_t i) const; Polynomial operator- () const; Polynomial operator+ (const Polynomial& rhs) const; Polynomial& operator+= (const Polynomial& rhs); Polynomial operator- (const Polynomial& rhs) const; Polynomial& operator-= (const Polynomial& rhs); /// @} /// \return the derivative of the polynomial Polynomial derivative() const; /// \param epsilon the closeness parameter /// \return true if all coefficients of the polynomial are within an epsilon of 0 bool isNearZero(const T& epsilon = static_cast(polynomial_epsilon)) const; /// \param p the test polynomial /// \param epsilon the closeness parameter /// \return true if all the coefficients of the current polynomial are within an epsilon of /// the corresponding coefficient in p bool isApprox(const Polynomial& p, const T& epsilon) const; /// \param i index of the desired coefficient /// \return the value of coefficient i T getCoefficient(size_t i) const; /// Set a specified coefficient to a desired value /// \param i index of the desired coefficient /// \param value the value to be set in the coefficient /// \exception if i is greater than the polynomial degree void setCoefficient(size_t i, const T& value); private: /// @{ /// Coefficient of the polynomial T m_a0; T m_a1; /// @} }; /// Polynomial specializes the Polynomial class for degree 2 (quadratic polynomials) /// \sa Polynomial template class Polynomial { public: /// Constructor Polynomial(); /// Constructor /// \param a0 coefficient of the 0 degree term /// \param a1 coefficient of the 1 degree term /// \param a2 coefficient of the 2 degree term Polynomial(const T& a0, const T& a1, const T& a2); /// Evaluate the discriminant of a quadratic polynomial /// \return the discriminant (b^2 - a4c) T discriminant() const; /// Evaluate the polynomial at a point /// \param x point at which to evaluate the polynomial /// \return the value of the polynomial at x T evaluate(const T& x) const; /// Evaluate the polynomial at a point /// \param x point at which to evaluate the polynomial /// \return the value of the polynomial at x T operator()(const T& x) const; /// @{ /// Standard arithmetic operators extended to intervals T& operator[](const size_t i); const T& operator[](const size_t i) const; Polynomial operator- () const; Polynomial operator+ (const Polynomial& rhs) const; Polynomial& operator+= (const Polynomial& rhs); Polynomial operator- (const Polynomial& rhs) const; Polynomial& operator-= (const Polynomial& rhs); /// @} /// \return the derivative of the polynomial Polynomial derivative() const; /// \param epsilon the closeness parameter /// \return true if all coefficients of the polynomial are within an epsilon of 0 bool isNearZero(const T& epsilon = static_cast(polynomial_epsilon)) const; /// \param p the test polynomial /// \param epsilon the closeness parameter /// \return true if all the coefficients of the current polynomial are within an epsilon of /// the corresponding coefficient in p bool isApprox(const Polynomial& p, const T& epsilon) const; /// \param i index of the desired coefficient /// \return the value of coefficient i T getCoefficient(size_t i) const; /// Set a specified coefficient to a desired value /// \param i index of the desired coefficient /// \param value the value to be set in the coefficient /// \exception if i is greater than the polynomial degree void setCoefficient(size_t i, const T& value); private: /// @{ /// Coefficient of the polynomial T m_a0; T m_a1; T m_a2; /// @} }; /// Polynomial specializes the Polynomial class for degree 3 (cubic polynomials) /// \sa Polynomial template class Polynomial { public: /// Constructor Polynomial(); /// Constructor /// \param a0 coefficient of the 0 degree term /// \param a1 coefficient of the 1 degree term /// \param a2 coefficient of the 2 degree term /// \param a3 coefficient of the 3 degree term Polynomial(const T& a0, const T& a1, const T& a2, const T& a3); /// Evaluate the polynomial at a point /// \param x point at which to evaluate the polynomial /// \return the value of the polynomial at x T evaluate(const T& x) const; /// Evaluate the polynomial at a point /// \param x point at which to evaluate the polynomial /// \return the value of the polynomial at x T operator()(const T& x) const; /// @{ /// Standard arithmetic operators extended to intervals T& operator[](const size_t i); const T& operator[](const size_t i) const; Polynomial operator- () const; Polynomial operator+ (const Polynomial& rhs) const; Polynomial& operator+= (const Polynomial& rhs); Polynomial operator- (const Polynomial& rhs) const; Polynomial& operator-= (const Polynomial& rhs); /// @} /// \return the derivative of the polynomial Polynomial derivative() const; /// \param epsilon the closeness parameter /// \return true if all coefficients of the polynomial are within an epsilon of 0 bool isNearZero(const T& epsilon = static_cast(polynomial_epsilon)) const; /// \param p the test polynomial /// \param epsilon the closeness parameter /// \return true if all the coefficients of the current polynomial are within an epsilon of /// the corresponding coefficient in p bool isApprox(const Polynomial& p, const T& epsilon) const; /// \param i index of the desired coefficient /// \return the value of coefficient i T getCoefficient(size_t i) const; /// Set a specified coefficient to a desired value /// \param i index of the desired coefficient /// \param value the value to be set in the coefficient /// \exception if i is greater than the polynomial degree void setCoefficient(size_t i, const T& value); private: /// @{ /// Coefficient of the polynomial T m_a0; T m_a1; T m_a2; T m_a3; /// @} }; // Operators /// Multiply two polynomials of arbitrary degree. This current implementation is limited to /// a resulting polynomial of no more than degree 3 (i.e. N + M <= 3) because of limits in the /// underlying polynomial representations. /// \tparam N degree of the first polynomial /// \tparam M degree of the second polynomial /// \tparam T underlying data type over which the interval is defined. /// \param p first polynomial of degree N /// \param q second polynomial of degree M /// \return p * q as a polynomial of degree N + M template Polynomial < T, N + M > operator*(const Polynomial& p, const Polynomial& q); /// Multiply two polynomials of degree 1. /// \tparam T underlying data type over which the interval is defined. /// \param p first polynomial of degree 1 /// \param q second polynomial of degree 1 /// \return p * q as a polynomial of degree 2 template Polynomial operator*(const Polynomial& p, const Polynomial& q); /// Multiply two polynomials of degree 2 and 1 respectively. /// \tparam T underlying data type over which the interval is defined. /// \param p first polynomial of degree 2 /// \param q second polynomial of degree 1 /// \return p * q as a polynomial of degree 3 template Polynomial operator*(const Polynomial& p, const Polynomial& q); /// Multiply two polynomials of degree 1 and 2 respectively. /// \tparam T underlying data type over which the interval is defined. /// \param p first polynomial of degree 1 /// \param q second polynomial of degree 2 /// \return p * q as a polynomial of degree 3 template Polynomial operator*(const Polynomial& p, const Polynomial& q); /// Square a degree 0 polynomial /// \tparam T underlying data type over which the interval is defined. /// \param p polynomial of degree 0 /// \return p^2 as a polynomial of degree 0 template Polynomial square(const Polynomial& p); /// Square a degree 1 polynomial /// \tparam T underlying data type over which the interval is defined. /// \param p polynomial of degree 1 /// \return p^2 as a polynomial of degree 2 template Polynomial square(const Polynomial& p); /// Write a textual version of a Polynomial to an output stream /// \tparam T underlying type of the polynomial coefficients /// \tparam N degree of the polynomial /// \param stream the ostream to be written to /// \param p the polynomial to write /// \return the active stream template std::ostream& operator<<(std::ostream& stream, const Polynomial& p); }; // Math }; // SurgSim #include "SurgSim/Math/Polynomial-inl.h" #endif // SURGSIM_MATH_POLYNOMIAL_H opensurgsim-0.7.0/SurgSim/Math/PolynomialRoots-inl.h000066400000000000000000000070431277777236100225050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_POLYNOMIALROOTS_INL_H #define SURGSIM_MATH_POLYNOMIALROOTS_INL_H namespace SurgSim { namespace Math { // PolynomialRootsCommon template bool PolynomialRootsCommon::isDegenerate() const { return m_numRoots == DEGENERATE; } template int PolynomialRootsCommon::getNumRoots() const { return m_numRoots; } template T PolynomialRootsCommon::operator[](const int i) const { SURGSIM_ASSERT((m_numRoots > i) && (i >= 0)) << "Requesting a root beyond the number of roots available for this polynomial, " << "or a root with a negative index."; return m_roots[i]; } // roots of an degree-1 polynomial (linear) template PolynomialRoots::PolynomialRoots(const Polynomial& p, const T& epsilon) { solve(p.getCoefficient(1), p.getCoefficient(0), static_cast(epsilon), &(this->m_numRoots), &(this->m_roots)); } // roots of an degree-2 polynomial (quadratic) template PolynomialRoots::PolynomialRoots(const Polynomial& p, const T& epsilon) { solve(p.getCoefficient(2), p.getCoefficient(1), p.getCoefficient(0), static_cast(epsilon), &(this->m_numRoots), &(this->m_roots)); } // Utilities: Solve for roots of linear equation a * x + b = y template void solve(const T& a, const T& b, const T& epsilon, int* numRoots, std::array* roots) { static_assert(N >= 1, "Root array is not large enough to hold the roots of the polynomial"); if (isNearZero(a, epsilon)) { // The "1-st degree polynomial" is really close to a constant. // If the constant is zero, there are infinitely many solutions; otherwise there are zero. if (isNearZero(b, epsilon)) { *numRoots = PolynomialRootsCommon::DEGENERATE; // infinitely many solutions } else { *numRoots = 0; } } else { *numRoots = 1; (*roots)[0] = -b / a; } } // Utilities: Solve for roots of quadratic equation a * x^2 + b * x + c = y template void solve(const T& a, const T& b, const T& c, const T& epsilon, int* numRoots, std::array* roots) { static_assert(N >= 2, "Root array is not large enough to hold the roots of the polynomial"); if (isNearZero(a, epsilon)) { // The "2nd degree polynomial" is really (close to) 1st degree or less. // We can delegate the solution in this case. solve(b, c, epsilon, numRoots, roots); return; } T discriminant = b * b - 4.0 * a * c; if (discriminant > epsilon) { *numRoots = 2; T sqrtDiscriminant = sqrt(discriminant); (*roots)[0] = (-b - sqrtDiscriminant) / (2 * a); (*roots)[1] = (-b + sqrtDiscriminant) / (2 * a); if ((*roots)[0] > (*roots)[1]) { std::swap((*roots)[0], (*roots)[1]); } } else if (discriminant > -epsilon) { *numRoots = 1; (*roots)[0] = -b / (2 * a); } else { *numRoots = 0; } } }; // Math }; // SurgSim #endif // SURGSIM_MATH_POLYNOMIALROOTS_INL_H opensurgsim-0.7.0/SurgSim/Math/PolynomialRoots.h000066400000000000000000000123701277777236100217240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_POLYNOMIALROOTS_H #define SURGSIM_MATH_POLYNOMIALROOTS_H #include #include #include "SurgSim/Math/Polynomial.h" namespace SurgSim { namespace Math { /// The (algebraic) roots of a Polynomial. /// If all coefficients of a polynomial are 0, the roots are degenerate: the polynomial equals 0 for any x. /// Otherwise, there may be anywhere between 0 and N roots. /// /// \tparam T type of the coefficients and computations /// \tparam N degree of the polynomial for which roots are being calculated /// \sa PolynomialRootsCommon template class PolynomialRoots; /// The common base class for PolynomialRoots specializations for various N. /// /// \tparam T type of the coefficients and computations /// \tparam N degree of the polynomial for which roots are being calculated /// \sa PolynomialRoots template class PolynomialRootsCommon { public: /// Indicator for a degenerate polynomial (infinite number of roots). static const int DEGENERATE = -1; /// \return true in the polynomial is degenerate bool isDegenerate() const; /// \return the number of available roots or DEGENERATE if there are infinitely many int getNumRoots() const; /// Read only access to the roots of the polynomial /// \param i is the number of the root to return /// \return the value of the ith root /// \exception if there is no root of rank i /// \note The roots are ordered ascendingly, so PolynomialRootsCommon[0] < PolynomialRootsCommon[1] < ... T operator[](int i) const; private: /// @{ /// Prohibit copying and assignment. PolynomialRootsCommon(const PolynomialRootsCommon&); PolynomialRootsCommon& operator=(const PolynomialRootsCommon&); /// @} protected: /// Constructor. Since the constructor must define the roots, only allow construction from a derived class PolynomialRootsCommon() {} /// The number of roots available for the polynomial, or DEGENERATE if there are infinite roots int m_numRoots; /// An array of up to N roots for a degree N polynomial ordered ascendingly std::array m_roots; }; /// PolynomialRoots specializes the PolynomialRoots class for degree 1 (linear polynomials) /// \sa PolynomialRoots template class PolynomialRoots : public PolynomialRootsCommon { public: /// Constructor /// \param p the degree 1 polynomial for which the roots are to be calculated /// \param epsilon tolerance parameter for determining the number of valid, unique roots explicit PolynomialRoots(const Polynomial& p, const T& epsilon = 1.0e-09); }; /// PolynomialRoots specializes the PolynomialRoots class for degree 2 (quadratic polynomials) /// \sa PolynomialRoots template class PolynomialRoots : public PolynomialRootsCommon { public: /// Constructor /// \param p the degree 2 polynomial for which the roots are to be calculated /// \param epsilon tolerance parameter for determining the number of valid, unique roots explicit PolynomialRoots(const Polynomial& p, const T& epsilon = 1.0e-09); }; /// Specialized solve routine for linear polynomials (2 coefficients) /// \tparam N maximum number of roots that can be stored /// \tparam T type of the coefficients and computations /// \param a coefficient of the linear term /// \param b coefficient of the constant term /// \param epsilon tolerance parameter for determining the number of valid, unique roots /// \param numRoots [out] number of roots calculated, or DEGENERATE if there are infinitely many /// \param roots [out] array containing the calculated roots ordered ascendingly /// \exception if there are more than N roots template void solve(const T& a, const T& b, const T& epsilon, int* numRoots, std::array* roots); /// Specialized solve routine for quadratic polynomials (3 coefficients) /// \tparam N maximum number of roots that can be stored /// \tparam T type of the coefficients and computations /// \param a coefficient of the square term /// \param b coefficient of the linear term /// \param c coefficient of the constant term /// \param epsilon tolerance parameter for determining the number of valid, unique roots /// \param numRoots [out] number of roots calculated, or DEGENERATE if there are infinitely many /// \param roots [out] array containing the calculated roots ordered ascendingly /// \exception if there are more than N roots template void solve(const T& a, const T& b, const T& c, const T& epsilon, int* numRoots, std::array* roots); }; // Math }; // SurgSim #include "SurgSim/Math/PolynomialRoots-inl.h" #endif // SURGSIM_MATH_POLYNOMIALROOTS_H opensurgsim-0.7.0/SurgSim/Math/PolynomialValues-inl.h000066400000000000000000000104321277777236100226320ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_POLYNOMIALVALUES_INL_H #define SURGSIM_MATH_POLYNOMIALVALUES_INL_H namespace SurgSim { namespace Math { template PolynomialValues::PolynomialValues(const Polynomial& p) : m_polynomial(p) { } template const Polynomial& PolynomialValues::getPolynomial() const { return m_polynomial; } template Interval PolynomialValues::valuesOverInterval(const Interval&) const { return Interval(m_polynomial.evaluate(0), m_polynomial.evaluate(0)); } template PolynomialValues::PolynomialValues(const Polynomial& p) : m_polynomial(p) {} template const Polynomial& PolynomialValues::getPolynomial() const { return m_polynomial; } template Interval PolynomialValues::valuesOverInterval(const Interval& interval) const { return Interval::minToMax(m_polynomial.evaluate(interval.getMin()), m_polynomial.evaluate(interval.getMax())); } template PolynomialValues::PolynomialValues(const Polynomial& p) : m_polynomial(p), m_derivative(m_polynomial.derivative()), m_locationOfExtremum(m_derivative) { } template const Polynomial& PolynomialValues::getPolynomial() const { return m_polynomial; } template const Polynomial& PolynomialValues::getDerivative() const { return m_derivative; } template const PolynomialRoots& PolynomialValues::getLocationsOfExtrema() const { return m_locationOfExtremum; } template Interval PolynomialValues::valuesOverInterval(const Interval& interval) const { // Always consider the endpoints. Interval result = Interval::minToMax(m_polynomial.evaluate(interval.getMin()), m_polynomial.evaluate(interval.getMax())); if (m_locationOfExtremum.getNumRoots() > 0) { // There is an extremum (min or max)... if (interval.contains(m_locationOfExtremum[0])) { //...and it occurs somewhere in the middle of the interval. // The value at the extremum needs to be made a part of the result interval. result.extendToInclude(m_polynomial.evaluate(m_locationOfExtremum[0])); } } return result; } template PolynomialValues::PolynomialValues(const Polynomial& p) : m_polynomial(p), m_derivative(m_polynomial.derivative()), m_locationOfExtremum(m_derivative) { } template const Polynomial& PolynomialValues::getPolynomial() const { return m_polynomial; } template const Polynomial& PolynomialValues::getDerivative() const { return m_derivative; } template const PolynomialRoots& PolynomialValues::getLocationsOfExtrema() const { return m_locationOfExtremum; } template Interval PolynomialValues::valuesOverInterval(const Interval& interval) const { // Always consider the endpoints. Interval result = Interval::minToMax(m_polynomial.evaluate(interval.getMin()), m_polynomial.evaluate(interval.getMax())); for (int i = 0; i < m_locationOfExtremum.getNumRoots(); ++i) { // There is an extremum (min or max)... if (interval.contains(m_locationOfExtremum[i])) { //...and it occurs somewhere in the middle of the interval. // The value at the extremum needs to be made a part of the result interval. result.extendToInclude(m_polynomial.evaluate(m_locationOfExtremum[i])); } } return result; } template Interval valuesOverInterval(const Polynomial& p, const Interval& interval) { return PolynomialValues(p).valuesOverInterval(interval); } }; // Math }; // SurgSim #endif // SURGSIM_MATH_POLYNOMIALVALUES_INL_H opensurgsim-0.7.0/SurgSim/Math/PolynomialValues.h000066400000000000000000000135021277777236100220530ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_POLYNOMIALVALUES_H #define SURGSIM_MATH_POLYNOMIALVALUES_H #include "SurgSim/Math/Polynomial.h" #include "SurgSim/Math/PolynomialRoots.h" #include "SurgSim/Math/IntervalArithmetic.h" #include "SurgSim/Math/MinMax.h" namespace SurgSim { namespace Math { /// Class to manage polynomial based calculations of interval boundaries. /// /// \tparam T type of the coefficients and computations /// \tparam N degree of the polynomial being managed template class PolynomialValues; /// PolynomialValues specializes the PolynomialValues class for degree 0 (constant polynomials) /// \sa PolynomialValues template class PolynomialValues { public: /// Constructor. Initialize based on the polynomial p /// \param p polynomial on which the value calculations are based explicit PolynomialValues(const Polynomial& p); /// \return the polynomial basis of this calculation const Polynomial& getPolynomial() const; /// \param interval an interval on the independent variable over which the /// values are to be calculated /// \return the minimum and maximum polynomial values over interval Interval valuesOverInterval(const Interval& interval) const; private: /// The polynomial under consideration Polynomial m_polynomial; }; /// PolynomialValues specializes the PolynomialValues class for degree 1 (linear polynomials) /// \sa PolynomialValues template class PolynomialValues { public: /// Constructor. Initialize based on the polynomial p /// \param p polynomial on which the value calculations are based explicit PolynomialValues(const Polynomial& p); /// \return the polynomial basis of this calculation const Polynomial& getPolynomial() const; /// \param interval an interval on the independent variable over which the /// values are to be calculated /// \return the minimum and maximum polynomial values over interval Interval valuesOverInterval(const Interval& interval) const; private: /// The polynomial under consideration Polynomial m_polynomial; }; /// PolynomialValues specializes the PolynomialValues class for degree 2 (quadratic polynomials) /// \sa PolynomialValues template class PolynomialValues { public: /// Constructor. Initialize based on the polynomial p /// \param p polynomial on which the value calculations are based explicit PolynomialValues(const Polynomial& p); /// \return the polynomial basis of this calculation const Polynomial& getPolynomial() const; /// \return the derivative of the polynomial basis for this calculation const Polynomial& getDerivative() const; /// \return the locations of the extrema for the polynomial const PolynomialRoots& getLocationsOfExtrema() const; /// \param interval an interval on the independent variable over which the /// values are to be calculated /// \return the minimum and maximum polynomial values over interval Interval valuesOverInterval(const Interval& interval) const; private: /// The polynomial under consideration Polynomial m_polynomial; /// Cached version of the derivative of the polynomial Polynomial m_derivative; /// Cached version of the locations of the extrema PolynomialRoots m_locationOfExtremum; }; /// PolynomialValues specializes the PolynomialValues class for degree 3 (cubic polynomials) /// \sa PolynomialValues template class PolynomialValues { public: /// Constructor. Initialize based on the polynomial p /// \param p polynomial on which the value calculations are based explicit PolynomialValues(const Polynomial& p); /// \return the polynomial basis of this calculation const Polynomial& getPolynomial() const; /// \return the derivative of the polynomial basis for this calculation const Polynomial& getDerivative() const; /// \return the locations of the extrema for the polynomial const PolynomialRoots& getLocationsOfExtrema() const; /// \param interval an interval on the independent variable over which the /// values are to be calculated /// \return the minimum and maximum polynomial values over interval Interval valuesOverInterval(const Interval& interval) const; private: /// The polynomial under consideration Polynomial m_polynomial; /// Cached version of the derivative of the polynomial Polynomial m_derivative; /// Cached version of the locations of the extrema PolynomialRoots m_locationOfExtremum; }; /// Calculate the minimum and maximum values of the dependent variable over a specified /// range of the independent variable /// \tparam N degree of the polynomial being managed /// \tparam T type of the coefficients and computations /// \param p polynomial on which the value calculations are based /// \param interval an interval on the independent variable over which the /// values are to be calculated /// \return the minimum and maximum polynomial values over interval template Interval valuesOverInterval(const Polynomial& p, const Interval& interval); }; // Math }; // SurgSim #include "SurgSim/Math/PolynomialValues-inl.h" #endif // SURGSIM_MATH_POLYNOMIALVALUES_H opensurgsim-0.7.0/SurgSim/Math/Quaternion.h000066400000000000000000000146161277777236100207040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Definitions of quaternion types. #ifndef SURGSIM_MATH_QUATERNION_H #define SURGSIM_MATH_QUATERNION_H #include #include #include namespace SurgSim { namespace Math { /// A quaternion of floats. /// This type (and any structs that contain it) can be safely allocated via new. typedef Eigen::Quaternion Quaternionf; /// A quaternion of doubles. /// This type (and any structs that contain it) can be safely allocated via new. typedef Eigen::Quaternion Quaterniond; /// Create a quaternion rotation corresponding to the specified angle (in radians) and axis. /// \tparam T the numeric data type used for arguments and the return value. Can usually be deduced. /// \tparam VOpt the option flags (alignment etc.) used for the axis vector argument. Can be deduced. /// \param angle the angle of the rotation, in radians. /// \param axis the axis of the rotation. /// \returns the rotation quaternion. template inline Eigen::Quaternion makeRotationQuaternion(const T& angle, const Eigen::Matrix& axis) { return Eigen::Quaternion(Eigen::AngleAxis(angle, axis)); } /// Quaternion negation (i.e. unary operator -) /// \tparam T the numeric data type used for arguments and the return value. Can usually be deduced. /// \tparam QOpt the option flags (alignment etc.) used for the quaternion arguments. Can be deduced. /// \param q The quaternion to negate /// \returns the negation of q (i.e. -q) template inline Eigen::Quaternion negate(const Eigen::Quaternion& q) { return Eigen::Quaternion(q.coeffs() * -1.0); } /// Get the angle (in radians) and axis corresponding to a quaternion's rotation. /// \note Unit quaternions cover the unit sphere twice (q=-q). To make sure that the same rotation (q or -q) /// \note returns the same Axis/Angle, we need a pi range for the angle. /// \note We choose to enforce half the angle in the quadrant [0 +pi/2], which leads to an output angle in [0 +pi]. /// \tparam T the numeric data type used for arguments and the return value. Can usually be deduced. /// \tparam QOpt the option flags (alignment etc.) used for the quaternion argument. Can be deduced. /// \tparam VOpt the option flags (alignment etc.) used for the axis vector argument. Can be deduced. /// \param quaternion the rotation quaternion to inspect. /// \param [out] angle the angle of the rotation in [0 +pi], in radians. /// \param [out] axis the axis of the rotation. template inline void computeAngleAndAxis(const Eigen::Quaternion& quaternion, T* angle, Eigen::Matrix* axis) { using SurgSim::Math::negate; if (quaternion.w() >= T(0)) { Eigen::AngleAxis angleAxis(quaternion); *angle = angleAxis.angle(); *axis = angleAxis.axis(); } else { Eigen::AngleAxis angleAxis(negate(quaternion)); *angle = angleAxis.angle(); *axis = angleAxis.axis(); } } /// Get the angle corresponding to a quaternion's rotation, in radians. /// \tparam T the numeric data type used for arguments and the return value. Can usually be deduced. /// \tparam QOpt the option flags (alignment etc.) used for the quaternion argument. Can be deduced. /// \param quaternion the rotation quaternion to inspect. /// \returns the angle of the rotation within [0 +pi], in radians. template inline T computeAngle(const Eigen::Quaternion& quaternion) { using SurgSim::Math::negate; if (quaternion.w() >= T(0)) { Eigen::AngleAxis angleAxis(quaternion); return angleAxis.angle(); } else { Eigen::AngleAxis angleAxis(negate(quaternion)); return angleAxis.angle(); } } /// Get the vector corresponding to the rotation between transforms. /// \tparam T the numeric data type used for arguments and the return value. Can usually be deduced. /// \tparam TOpt the option flags (alignment etc.) used for the transform arguments. Can be deduced. /// \tparam VOpt the option flags (alignment etc.) used for the vector argument. Can be deduced. /// \param end the transform after the rotation. /// \param start the transform before the rotation. /// \param[out] rotationVector a vector describing the rotation. template void computeRotationVector(const Eigen::Transform& end, const Eigen::Transform& start, Eigen::Matrix* rotationVector) { Eigen::Quaternion q1(end.linear()); Eigen::Quaternion q2(start.linear()); double angle; Eigen::Matrix axis; computeAngleAndAxis((q1 * q2.inverse()).normalized(), &angle, &axis); *rotationVector = angle * axis; } /// Interpolate (slerp) between 2 quaternions /// \tparam T the numeric data type used for arguments and the return value. Can usually be deduced. /// \tparam QOpt the option flags (alignment etc.) used for the quaternion arguments. Can be deduced. /// \param q0 The start quaternion (at time 0.0). /// \param q1 The end quaternion (at time 1.0). /// \param t The interpolation time requested. Within [0..1]. /// \returns the quaternion resulting in the slerp interpolation at time t, between q0 and q1. /// \note t=0 => returns either q0 or -q0 /// \note t=1 => returns either q1 or -q1 /// \note 'Interpolate' has been created because slerp might not be enough in certain cases. /// This gives room for correction and special future treatment template inline Eigen::Quaternion interpolate(const Eigen::Quaternion& q0, const Eigen::Quaternion& q1, T t) { Eigen::Quaternion result; result = q0.slerp(t, q1); return result; } }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_QUATERNION_H opensurgsim-0.7.0/SurgSim/Math/RigidTransform.h000066400000000000000000000154601277777236100215070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Definitions of 2x2 and 3x3 rigid (isometric) transforms. #ifndef SURGSIM_MATH_RIGIDTRANSFORM_H #define SURGSIM_MATH_RIGIDTRANSFORM_H #include #include #include "SurgSim/Math/Quaternion.h" namespace SurgSim { namespace Math { /// A 2D rigid (isometric) transform, represented as floats. /// This type (and any struct that contain it) can be safely allocated via new. typedef Eigen::Transform RigidTransform2f; /// A 3D rigid (isometric) transform, represented as floats. /// This type (and any struct that contain it) can be safely allocated via new. typedef Eigen::Transform RigidTransform3f; /// A 2D rigid (isometric) transform, represented as doubles. /// This type (and any struct that contain it) can be safely allocated via new. typedef Eigen::Transform RigidTransform2d; /// A 3D rigid (isometric) transform, represented as doubles. /// This type (and any struct that contain it) can be safely allocated via new. typedef Eigen::Transform RigidTransform3d; /// Create a rigid transform using the specified rotation matrix and translation. /// \tparam M the type used to describe the rotation matrix. Can usually be deduced. /// \tparam V the type used to describe the translation vector. Can usually be deduced. /// \param rotation the rotation matrix. /// \param translation the translation vector. /// \returns the transform with the specified rotation and translation. template inline Eigen::Transform makeRigidTransform( const Eigen::MatrixBase& rotation, const Eigen::MatrixBase& translation) { Eigen::Transform rigid; rigid.makeAffine(); rigid.linear() = rotation; rigid.translation() = translation; return rigid; } /// Create a rigid transform using the specified rotation quaternion and translation. /// \tparam Q the type used to describe the rotation quaternion. Can usually be deduced. /// \tparam V the type used to describe the translation vector. Can usually be deduced. /// \param rotation the rotation quaternion. /// \param translation the translation vector. /// \returns the transform with the specified rotation and translation. template inline Eigen::Transform makeRigidTransform( const Eigen::QuaternionBase& rotation, const Eigen::MatrixBase& translation) { Eigen::Transform rigid; rigid.makeAffine(); rigid.linear() = rotation.matrix(); rigid.translation() = translation; return rigid; } /// Make a rigid transform from a eye point a center view point and an up direction, does not check whether up is /// colinear with eye-center /// The original formula can be found at /// http://www.opengl.org/sdk/docs/man2/xhtml/gluLookAt.xml /// \tparam typename T T the numeric data type used for arguments and the return value. Can usually be deduced. /// \tparam int VOpt VOpt the option flags (alignment etc.) used for the axis vector argument. Can be deduced. /// \param position The position of the object. /// \param center The point to which the object should point. /// \param up The up vector to be used for this calculation. /// \return a RigidTransform that locates the object at position rotated into the direction of center. template inline Eigen::Transform makeRigidTransform( const Eigen::Matrix& position, const Eigen::Matrix& center, const Eigen::Matrix& up) { Eigen::Transform rigid; rigid.makeAffine(); Eigen::Matrix forward = (center - position).normalized(); Eigen::Matrix side = (forward.cross(up)).normalized(); Eigen::Matrix actualUp = side.cross(forward).normalized(); typename Eigen::Transform::LinearMatrixType rotation; rotation << side[0], actualUp[0], -forward[0], side[1], actualUp[1], -forward[1], side[2], actualUp[2], -forward[2]; rigid.linear() = rotation; rigid.translation() = position; return rigid; } /// Create a rigid transform using the identity rotation and the specified translation. /// \tparam V the type used to describe the translation vector. Can usually be deduced. /// \param translation the translation vector. /// \returns the transform with the identity rotation and the specified translation. template inline Eigen::Transform makeRigidTranslation( const Eigen::MatrixBase& translation) { EIGEN_STATIC_ASSERT_VECTOR_ONLY(Eigen::MatrixBase); Eigen::Transform rigid; rigid.makeAffine(); rigid.linear().setIdentity(); rigid.translation() = translation; return rigid; } /// Interpolate (slerp) between 2 rigid transformations /// \tparam T the numeric data type used for arguments and the return value. Can usually be deduced. /// \tparam TOpt the option flags (alignment etc.) used for the Transform arguments. Can be deduced. /// \param t0 The start transform (at time 0.0). /// \param t1 The end transform (at time 1.0). /// \param t The interpolation time requested. Within [0..1]. /// \returns the transform resulting in the slerp interpolation at time t, between t0 and t1. /// \note t=0 => returns t0 /// \note t=1 => returns t1 template inline Eigen::Transform interpolate( const Eigen::Transform& t0, const Eigen::Transform& t1, T t) { Eigen::Transform transform; transform.makeAffine(); transform.translation() = t0.translation() * (static_cast(1.0) - t) + t1.translation() * t; { Eigen::Quaternion q0(t0.linear()); Eigen::Quaternion q1(t1.linear()); q0.normalize(); q1.normalize(); transform.linear() = interpolate(q0, q1, t).matrix(); } return transform; } }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_RIGIDTRANSFORM_H opensurgsim-0.7.0/SurgSim/Math/Scalar-inl.h000066400000000000000000000021401277777236100205310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_SCALAR_INL_H #define SURGSIM_MATH_SCALAR_INL_H #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace Math { template T clamp(T value, T min, T max, T epsilon) { return (value >= (max - epsilon) ? max : (value <= (min + epsilon) ? min : value)); } template const T clampOperator::operator()(const T& x) const { return clamp(x, m_min, m_max, m_epsilon); } }; }; #endif // SURGSIM_MATH_SCALAR_INL_H opensurgsim-0.7.0/SurgSim/Math/Scalar.h000066400000000000000000000052051277777236100177560ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_SCALAR_H #define SURGSIM_MATH_SCALAR_H namespace SurgSim { namespace Math { /// Clamp any values within an epsilon window to a maximum or minimum value. /// \note max is tested first, so if the value < min + epsilon and value > /// max - epsilon, value will be set to max. /// \tparam T underlying type /// \param value [in/out] the value to be clamped /// \param min the minimum value for the clamp /// \param max the maximum value for the clamp /// \param epsilon definition of the epsilon window. template T clamp(T value, T min, T max, T epsilon); /// define a custom template unary functor to execute the clamp operation /// over an Eigen matrix structure. The operation clamps based on an epsilon /// interval. For values outside the interval min to max, the clamp proceeds /// as expected. However, values within the interval that lie within epsilon /// of an endpoint are also clamped to th endpoint. /// /// \tparam T the type over which the operator is defined. template class clampOperator { public: /// Constructor. /// /// \param min minimum value for the clamp interval /// \param max maximum value for the clamp interval /// \param epsilon values within epsilon of an interval endpoint /// are clamped to the interval regardless of if they are within the interval or not clampOperator(const T& min, const T& max, const T& epsilon) : m_min(min), m_max(max), m_epsilon(epsilon) {} /// Execute the clamp operator /// \param x the value to clamp based /// \return the x clamped using the minimum, maximum and epsilon specified in he class constructor const T operator()(const T& x) const; private: /// The minimum value of the interval T m_min; /// The maximum value of the interval T m_max; /// The closeness parameter for the clamp. Values within epsilon of an interval endpoint /// are clamped to the interval regardless of if they are within the interval or not T m_epsilon; }; }; }; #include "SurgSim/Math/Scalar-inl.h" #endif // SURGSIM_MATH_SCALAR_H opensurgsim-0.7.0/SurgSim/Math/SegmentMeshShape-inl.h000066400000000000000000000021621277777236100225300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_SEGMENTMESHSHAPE_INL_H #define SURGSIM_MATH_SEGMENTMESHSHAPE_INL_H namespace SurgSim { namespace Math { template SegmentMeshShape::SegmentMeshShape( const SurgSim::DataStructures::SegmentMesh& mesh, double radius) : SurgSim::DataStructures::SegmentMeshPlain(mesh) { setRadius(radius); updateAabbTree(); } }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_SEGMENTMESHSHAPE_INL_H opensurgsim-0.7.0/SurgSim/Math/SegmentMeshShape.cpp000066400000000000000000000105261277777236100223060ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/SegmentMeshShape.h" #include "SurgSim/DataStructures/AabbTree.h" #include "SurgSim/DataStructures/AabbTreeData.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/SegmentMeshShapePlyReaderDelegate.h" namespace SurgSim { namespace Math { SURGSIM_REGISTER(SurgSim::Math::Shape, SurgSim::Math::SegmentMeshShape, SegmentMeshShape); SegmentMeshShape::SegmentMeshShape() { setRadius(0.001); updateAabbTree(); } SegmentMeshShape::SegmentMeshShape(const SegmentMeshShape& other) : DataStructures::SegmentMeshPlain(other) { setRadius(other.m_radius); updateAabbTree(); } int SegmentMeshShape::getType() const { return SHAPE_TYPE_SEGMENTMESH; } double SegmentMeshShape::getVolume() const { SURGSIM_ASSERT("SegmentMeshShape: Volume calculation not implemented."); return std::numeric_limits::quiet_NaN(); } Vector3d SegmentMeshShape::getCenter() const { SURGSIM_ASSERT("SegmentMeshShape: Center calculation not implemented."); return Vector3d::Constant(std::numeric_limits::quiet_NaN()); } Matrix33d SegmentMeshShape::getSecondMomentOfVolume() const { SURGSIM_ASSERT("SegmentMeshShape: Second Moment Of Volume calculation not implemented."); return Matrix33d::Constant(std::numeric_limits::quiet_NaN()); } bool SegmentMeshShape::isValid() const { // If the radius is less than DistanceEpsilon, the collision detection (which assumes the segments are capsules), /// will not work correctly. return (m_radius >= Geometry::DistanceEpsilon && m_segmentEndBoundingBoxHalfExtent.isApprox(Vector3d(m_radius, m_radius, m_radius))); } void SegmentMeshShape::setRadius(double radius) { m_radius = radius; m_segmentEndBoundingBoxHalfExtent = Vector3d(m_radius, m_radius, m_radius); } double SegmentMeshShape::getRadius() const { return m_radius; } bool SegmentMeshShape::doUpdate() { updateAabbTree(); return true; } bool SegmentMeshShape::doLoad(const std::string& fileName) { DataStructures::PlyReader reader(fileName); if (!reader.isValid()) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << "'" << fileName << "' is an invalid .ply file."; return false; } auto delegate = std::make_shared( std::dynamic_pointer_cast(this->shared_from_this())); if (!reader.parseWithDelegate(delegate)) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << "The input file '" << fileName << "' does not have the property required by segment mesh."; return false; } return true; } std::shared_ptr SegmentMeshShape::getAabbTree() const { return m_aabbTree; } std::shared_ptr SegmentMeshShape::getTransformed(const RigidTransform3d& pose) const { auto transformed = std::make_shared(*this); transformed->transform(pose); transformed->update(); return transformed; } void SegmentMeshShape::updateAabbTree() { m_aabbTree = std::make_shared(); std::list items; auto const& edges = getEdges(); for (size_t id = 0; id < edges.size(); ++id) { if (edges[id].isValid) { const auto& vertices = getEdgePositions(id); Aabbd aabb((vertices[0] - m_segmentEndBoundingBoxHalfExtent).eval()); aabb.extend((vertices[0] + m_segmentEndBoundingBoxHalfExtent).eval()); aabb.extend((vertices[1] - m_segmentEndBoundingBoxHalfExtent).eval()); aabb.extend((vertices[1] + m_segmentEndBoundingBoxHalfExtent).eval()); items.emplace_back(aabb, id); } } m_aabbTree->set(std::move(items)); m_aabb = m_aabbTree->getAabb(); } bool SegmentMeshShape::isTransformable() const { return true; } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/SegmentMeshShape.h000066400000000000000000000061621277777236100217540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_SEGMENTMESHSHAPE_H #define SURGSIM_MATH_SEGMENTMESHSHAPE_H #include "SurgSim/DataStructures/AabbTree.h" #include "SurgSim/DataStructures/SegmentMesh.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/Shape.h" namespace SurgSim { namespace Math { SURGSIM_STATIC_REGISTRATION(SegmentMeshShape); /// SegmentMeshShape defines a shape based on a mesh, like MeshShape. /// But, unlike MeshShape, the mesh does not have any triangle topology. It only consists of edges. /// /// \sa MeshShape class SegmentMeshShape : public Shape, public DataStructures::SegmentMeshPlain { public: /// Constructor SegmentMeshShape(); /// Copy constructor /// \param other The SegmentMeshShape to be copied from explicit SegmentMeshShape(const SegmentMeshShape& other); /// Constructor /// \param mesh The segment mesh to build the shape from /// \param radius The radius associated to this surface mesh /// \note The default radius is positive EPSILON to be relevant in collision detection calculations. template explicit SegmentMeshShape(const DataStructures::SegmentMesh& mesh, double radius = Geometry::DistanceEpsilon); SURGSIM_CLASSNAME(SurgSim::Math::SegmentMeshShape); int getType() const override; double getVolume() const override; Vector3d getCenter() const override; Matrix33d getSecondMomentOfVolume() const override; bool isValid() const override; /// \param radius The radius of the segments. void setRadius(double radius); /// \return The radius of the segments. double getRadius() const; /// \return The object's associated AabbTree std::shared_ptr getAabbTree() const; bool isTransformable() const override; std::shared_ptr getTransformed(const RigidTransform3d& pose) const override; protected: bool doUpdate() override; bool doLoad(const std::string& fileName) override; /// Update the AabbTree, which is an axis-aligned bounding box r-tree used to accelerate spatial searches void updateAabbTree(); private: /// Segment radius double m_radius; /// The aabb tree used to accelerate collision detection against the mesh std::shared_ptr m_aabbTree; /// Half extent of the AABB of the sphere at one of the segment end. Vector3d m_segmentEndBoundingBoxHalfExtent; }; } // Math } // SurgSim #include "SurgSim/Math/SegmentMeshShape-inl.h" #endif // SURGSIM_MATH_SEGMENTMESHSHAPE_H opensurgsim-0.7.0/SurgSim/Math/SegmentMeshShapePlyReaderDelegate.cpp000066400000000000000000000046521277777236100255540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Math/SegmentMeshShapePlyReaderDelegate.h" namespace SurgSim { namespace Math { SegmentMeshShapePlyReaderDelegate::SegmentMeshShapePlyReaderDelegate() : m_radius(0.0) { } SegmentMeshShapePlyReaderDelegate::SegmentMeshShapePlyReaderDelegate( const std::shared_ptr& shape) : TriangleMeshPlyReaderDelegate(shape), m_hasRadius(false), m_radius(0.0), m_shape(shape) { SURGSIM_ASSERT(m_shape != nullptr) << "Shape can't be nullptr."; } SegmentMeshShapePlyReaderDelegate::~SegmentMeshShapePlyReaderDelegate() { } void* SegmentMeshShapePlyReaderDelegate::beginRadius(const std::string&, size_t value) { SURGSIM_ASSERT(value <= 1) << "Can't process more than 1 radius"; return &m_radius; } void SegmentMeshShapePlyReaderDelegate::processRadius(const std::string&) { m_shape->setRadius(m_radius); } bool SegmentMeshShapePlyReaderDelegate::registerDelegate(DataStructures::PlyReader* reader) { bool result = TriangleMeshPlyReaderDelegate::registerDelegate(reader); if (m_hasRadius) { reader->requestElement("radius", std::bind(&SegmentMeshShapePlyReaderDelegate::beginRadius, this, std::placeholders::_1, std::placeholders::_2), std::bind(&SegmentMeshShapePlyReaderDelegate::processRadius, this, std::placeholders::_1), nullptr); reader->requestScalarProperty("radius", "value", DataStructures::PlyReader::TYPE_DOUBLE, 0); } return result; } bool SegmentMeshShapePlyReaderDelegate::fileIsAcceptable(const DataStructures::PlyReader& reader) { bool result = TriangleMeshPlyReaderDelegate::fileIsAcceptable(reader); m_hasRadius = reader.hasProperty("radius", "value") && reader.isScalar("radius", "value"); return result; } } }opensurgsim-0.7.0/SurgSim/Math/SegmentMeshShapePlyReaderDelegate.h000066400000000000000000000041241277777236100252130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_MATH_SEGMENTMESHSHAPEPLYREADERDELEGATE_H #define SURGSIM_MATH_SEGMENTMESHSHAPEPLYREADERDELEGATE_H #include "SurgSim/DataStructures/TriangleMeshPlyReaderDelegate.h" #include "SurgSim/Math/SegmentMeshShape.h" namespace SurgSim { namespace Math { /// Implementation of ply reader for segment meshes, enable to read the radius from the ply file class SegmentMeshShapePlyReaderDelegate : public DataStructures::TriangleMeshPlyReaderDelegate { public: /// Constructor SegmentMeshShapePlyReaderDelegate(); explicit SegmentMeshShapePlyReaderDelegate(const std::shared_ptr& shape); /// Destructor ~SegmentMeshShapePlyReaderDelegate(); /// Delegate function to begin radius processing /// \param element the name of the element being processed 'radius' in this case, it is ignored /// \param value the number of radius entries should be == 1 /// \return the address for ply to deposit the radius data void* beginRadius(const std::string& element, size_t value); /// Callback function to process the radius /// \param element the name of element being processed 'radius' in this case, it is ignored void processRadius(const std::string& element); bool registerDelegate(DataStructures::PlyReader* reader) override; bool fileIsAcceptable(const DataStructures::PlyReader& reader) override; private: bool m_hasRadius; double m_radius; std::shared_ptr m_shape; }; } } #endif opensurgsim-0.7.0/SurgSim/Math/SegmentSegmentCcdContactCalculation-inl.h000066400000000000000000000136201277777236100263630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_MATH_SEGMENTSEGMENTCCDCONTACTCALCULATION_INL_H #define SURGSIM_MATH_SEGMENTSEGMENTCCDCONTACTCALCULATION_INL_H #include #include #include "SurgSim/Math/CubicSolver.h" #include "SurgSim/Math/Scalar.h" namespace SurgSim { namespace Math { /// Check if 2 segments intersect at a given time of their motion /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param time The time of coplanarity of the 4 points (A(t), B(t), C(t), D(t) are expected to be coplanar) /// \param A, B The 1st segment motion (each point's motion is from first to second) /// \param C, D The 2nd segment motion (each point's motion is from first to second) /// \param[out] barycentricCoordinates The barycentric coordinates of the intersection in AB(t) and CD(t) /// i.e. P(t) = A + barycentricCoordinates[0].AB(t) = C + barycentricCoordinates[1].CD /// \return True if AB(t) is intersecting CD(t), False otherwise template bool areSegmentsIntersecting( T time, const std::pair, Eigen::Matrix>& A, const std::pair, Eigen::Matrix>& B, const std::pair, Eigen::Matrix>& C, const std::pair, Eigen::Matrix>& D, Eigen::Matrix* barycentricCoordinates) { Eigen::Matrix At = interpolate(A.first, A.second, time); Eigen::Matrix Bt = interpolate(B.first, B.second, time); Eigen::Matrix Ct = interpolate(C.first, C.second, time); Eigen::Matrix Dt = interpolate(D.first, D.second, time); // P = A + alpha.AB and P = C + beta.CD // A + alpha.AB = C + beta.CD // (AB -CD).(alpha) = (AC) which is a 3x2 linear system A.x = b // (beta ) // Let's solve it using (A^t.A)^-1.(A^t.A) = Id2x2 // (A^t.A)^-1.A^t.(A.x) = (A^t.A)^-1.A^t.b // x = (A^t.A)^-1.A^t.b Eigen::Matrix matrixA; matrixA.col(0) = Bt - At; matrixA.col(1) = -(Dt - Ct); Eigen::Matrix b = Ct - At; Eigen::Matrix inv; bool invertible; (matrixA.transpose() * matrixA).computeInverseWithCheck(inv, invertible); if (!invertible) { return false; } *barycentricCoordinates = inv * matrixA.transpose() * b; for (int i = 0; i < 2; i++) { if (std::abs((*barycentricCoordinates)[i]) < Math::Geometry::ScalarEpsilon) { (*barycentricCoordinates)[i] = 0.0; } if (std::abs(1.0 - (*barycentricCoordinates)[i]) < Math::Geometry::ScalarEpsilon) { (*barycentricCoordinates)[i] = 1.0; } } return (*barycentricCoordinates)[0] >= 0.0 && (*barycentricCoordinates)[0] <= 1.0 && (*barycentricCoordinates)[1] >= 0.0 && (*barycentricCoordinates)[1] <= 1.0; } /// Continuous collision detection between two segments AB and CD /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param A, B The 1st segment motion (each point's motion is from first to second) /// \param C, D The 2nd segment motion (each point's motion is from first to second) /// \param[out] timeOfImpact The time of impact within [0..1] if an collision is found /// \param[out] s0p1Factor, s1p1Factor The barycentric coordinate of the contact point on the 2 segments /// i.e. ContactPoint(timeOfImpact) = A(timeOfImpact) + s0p1Factor.AB(timeOfImpact) /// i.e. ContactPoint(timeOfImpact) = C(timeOfImpact) + s1p1Factor.CD(timeOfImpact) /// \return True if the given segment/segment motions intersect, False otherwise /// \note Simple cubic-solver https://graphics.stanford.edu/courses/cs468-02-winter/Papers/Collisions_vetements.pdf /// \note Optimized method http://www.robotics.sei.ecnu.edu.cn/CCDLY/GMOD15.pdf /// \note Optimized method https://www.cs.ubc.ca/~rbridson/docs/brochu-siggraph2012-ccd.pdf template inline bool calculateCcdContactSegmentSegment( const std::pair, Eigen::Matrix>& A, const std::pair, Eigen::Matrix>& B, const std::pair, Eigen::Matrix>& C, const std::pair, Eigen::Matrix>& D, T* timeOfImpact, T* s0p1Factor, T* s1p1Factor) { std::array roots; int numberOfRoots = timesOfCoplanarityInRange01(A, B, C, D, &roots); // The roots are all in [0..1] and ordered ascendingly for (int rootId = 0; rootId < numberOfRoots; ++rootId) { Eigen::Matrix barycentricCoordinates; if (areSegmentsIntersecting(roots[rootId], A, B, C, D, &barycentricCoordinates)) { // The segments AB and CD are coplanar at time t, and they intersect *timeOfImpact = roots[rootId]; *s0p1Factor = barycentricCoordinates[0]; *s1p1Factor = barycentricCoordinates[1]; // None of these assertion should be necessary, but just to double check SURGSIM_ASSERT(*timeOfImpact >= 0.0 && *timeOfImpact <= 1.0); SURGSIM_ASSERT(*s0p1Factor >= 0.0 && *s0p1Factor <= 1.0); SURGSIM_ASSERT(*s1p1Factor >= 0.0 && *s1p1Factor <= 1.0); return true; } } return false; } }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_SEGMENTSEGMENTCCDCONTACTCALCULATION_INL_H opensurgsim-0.7.0/SurgSim/Math/Shape.cpp000066400000000000000000000030231277777236100201400ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Log.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Math/Shape.h" namespace SurgSim { namespace Math { Shape::Shape() { m_aabb.setEmpty(); } Shape::~Shape() { } bool Shape::isTransformable() const { return false; } std::shared_ptr Shape::getTransformed(const RigidTransform3d& pose) const { SURGSIM_FAILURE() << "getTransformed not implemented for " << getClassName(); return nullptr; } /// Get class name std::string Shape::getClassName() const { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << "getClassName() called on Math::Shape base class, this is wrong" << " in almost all cases, this means there is a class that does not have getClassName() defined."; return "SurgSim::Math::Shape"; } const Math::Aabbd& Shape::getBoundingBox() const { return m_aabb; } } // namespace Math } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/Shape.h000066400000000000000000000105311277777236100176070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_MATH_SHAPE_H #define SURGSIM_MATH_SHAPE_H #include "SurgSim/Framework/Accessible.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Aabb.h" #include "SurgSim/DataStructures/OptionalValue.h" namespace SurgSim { namespace Math { /// Type defining the shape direction for certain templatized shape /// (i.e. CylinderShape and CapsuleShape) typedef enum { SHAPE_DIRECTION_AXIS_X = 0, SHAPE_DIRECTION_AXIS_Y = 1, SHAPE_DIRECTION_AXIS_Z = 2 } ShapeDirection; /// Fixed List of enums for the available Shape types, do not explicitly assign values, ShapeCount is /// used to determine the number of actual shape types typedef enum { SHAPE_TYPE_NONE = -1, SHAPE_TYPE_BOX, SHAPE_TYPE_CAPSULE, SHAPE_TYPE_CYLINDER, SHAPE_TYPE_DOUBLESIDEDPLANE, SHAPE_TYPE_MESH, SHAPE_TYPE_OCTREE, SHAPE_TYPE_PARTICLES, SHAPE_TYPE_PLANE, SHAPE_TYPE_SPHERE, SHAPE_TYPE_SURFACEMESH, SHAPE_TYPE_SEGMENTMESH, SHAPE_TYPE_COMPOUNDSHAPE, SHAPE_TYPE_COUNT } ShapeType; /// Generic rigid shape class defining a shape /// \note This class gives the ability to analyze the shape and compute /// \note physical information (volume, mass, mass center, inertia) class Shape : virtual public SurgSim::Framework::Accessible, public Framework::FactoryBase { public: typedef ::SurgSim::Math::Vector3d Vector3d; typedef ::SurgSim::Math::Matrix33d Matrix33d; /// Constructor Shape(); /// Destructor virtual ~Shape(); /// \return the type of shape virtual int getType() const = 0; /// Get the volume of the shape /// \return The volume of the shape (in m-3) virtual double getVolume() const = 0; /// Get the volumetric center of the shape /// \return The center of the shape virtual Vector3d getCenter() const = 0; /// Get the second central moment of the volume, commonly used /// to calculate the moment of inertia matrix /// \return The 3x3 symmetric second moment matrix virtual Matrix33d getSecondMomentOfVolume() const = 0; /// \return true if the the shape can be transformed virtual bool isTransformable() const; /// Get a copy of this shape with an applied rigid transform /// \param pose The pose to transform the shape by /// \return the posed shape virtual std::shared_ptr getTransformed(const RigidTransform3d& pose) const; /// Get class name virtual std::string getClassName() const; /// Check if the shape is valid /// \return True if shape is valid; Otherwise, false. virtual bool isValid() const = 0; /// \return the bounding box for the shape virtual const Math::Aabbd& getBoundingBox() const; protected: Math::Aabbd m_aabb; }; /// PosedShape is a transformed shape with a record of the pose used to transform it. template struct PosedShape { PosedShape() { pose = Math::RigidTransform3d::Identity(); } PosedShape(const T& shapeInput, const Math::RigidTransform3d& poseInput) : shape(shapeInput), pose(poseInput) {} void invalidate() { shape = nullptr; } const T& getShape() const { return shape; } const Math::RigidTransform3d& getPose() const { return pose; } protected: T shape; Math::RigidTransform3d pose; }; /// PosedShapeMotion is embedding the motion of a PosedShape, providing a posed shape at 2 different instant. template struct PosedShapeMotion : public std::pair, PosedShape> { PosedShapeMotion() {} PosedShapeMotion(const PosedShape& posedShapeFirst, const PosedShape& posedShapeSecond) { this->first = posedShapeFirst; this->second = posedShapeSecond; } void invalidate() { this->first.invalidate(); this->second.invalidate(); } }; }; // Math }; // SurgSim #endif // SURGSIM_MATH_SHAPE_H opensurgsim-0.7.0/SurgSim/Math/Shapes.h000066400000000000000000000023041277777236100177710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_SHAPES_H #define SURGSIM_MATH_SHAPES_H /// This file includes all the shapes #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/CapsuleShape.h" #include "SurgSim/Math/CompoundShape.h" #include "SurgSim/Math/CylinderShape.h" #include "SurgSim/Math/DoubleSidedPlaneShape.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/OctreeShape.h" #include "SurgSim/Math/ParticlesShape.h" #include "SurgSim/Math/PlaneShape.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/SurfaceMeshShape.h" #endif // SURGSIM_MATH_SHAPES_H opensurgsim-0.7.0/SurgSim/Math/SparseMatrix.h000066400000000000000000000442241277777236100211770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2015, SimQuest Solutions 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 // // 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. /// \file SparseMatrix.h /// Definitions of useful sparse matrix functions #ifndef SURGSIM_MATH_SPARSEMATRIX_H #define SURGSIM_MATH_SPARSEMATRIX_H #include #include "SurgSim/Framework/Assert.h" #include "SurgSim/Math/Matrix.h" namespace SurgSim { namespace Math { /// A sparse matrix typedef Eigen::SparseMatrix SparseMatrix; /// Helper class to run operation a column/row of a matrix to a chunk of memory where the size is dynamically defined /// \tparam DerivedSub The class of the matrix from which the data are copied /// \tparam SparseType The type of the SparseVector/SparseMatrix containing the chunk of memory /// \tparam StorageOrder The storage option of the SparseType template < class DerivedSub, class SparseType, int StorageOrder = ((SparseType::Flags & Eigen::RowMajorBit) == Eigen::RowMajorBit) ? Eigen::RowMajor : Eigen::ColMajor > class Operation { public : typedef typename SparseType::Scalar T; typedef typename SparseType::Index Index; /// Do the assignment of a row/column of a matrix to a chunk of memory /// \param ptr The chunk of memory /// \param start Where the assignment starts in the chunk of memory /// \param n, m The size of the block (n rows, m columns) /// \param subMatrix The matrix from which the row/column is copied /// \param colRowId The column or row id depending on the template parameter Opt void assign(T* ptr, size_t start, size_t n, Index m, const DerivedSub& subMatrix, size_t colRowId) {} /// Do the assignment of a single matrix element (operator =) /// \param ptr The matrix element to be assigned /// \param value The value to assign to void assign(T* ptr, const T& value) {} /// Do the addition of a row/column of a matrix to a chunk of memory /// \param ptr The chunk of memory /// \param start Where the addition starts in the chunk of memory /// \param n, m The size of the block (n rows, m columns) /// \param subMatrix The matrix from which the row/column is added /// \param colRowId The column or row id depending on the template parameter Opt void add(T* ptr, size_t start, size_t n, size_t m, const DerivedSub& subMatrix, size_t colRowId) {} /// Do the addition of a single matrix element (operator +=) /// \param ptr The matrix element to be increased /// \param value The value to add void add(T* ptr, const T& value) {} }; /// Specialization for column major storage template class Operation { public: typedef typename SparseType::Scalar T; typedef typename SparseType::Index Index; void assign(T* ptr, size_t start, size_t n, size_t m, const DerivedSub& subMatrix, size_t colId) { typedef Eigen::Matrix < T, Eigen::Dynamic, 1, Eigen::DontAlign | Eigen::ColMajor > ColVector; typedef typename Eigen::Matrix < T, Eigen::Dynamic, 1, Eigen::DontAlign | Eigen::ColMajor >::Index IndexVector; typedef typename DerivedSub::Index IndexSub; // ptr[start] is the 1st element in the column // The elements exists and are contiguous in memory, we use Eigen::Map functionality to optimize the operation Eigen::Map(&ptr[start], static_cast(n)).operator = ( subMatrix.col(static_cast(colId)).segment(0, static_cast(n))); } void assign(T* ptr, const T& value) { *ptr = value; } void add(T* ptr, size_t start, size_t n, size_t m, const DerivedSub& subMatrix, size_t colId) { typedef Eigen::Matrix < T, Eigen::Dynamic, 1, Eigen::DontAlign | Eigen::ColMajor > ColVector; typedef typename Eigen::Matrix < T, Eigen::Dynamic, 1, Eigen::DontAlign | Eigen::ColMajor >::Index IndexVector; typedef typename DerivedSub::Index IndexSub; // ptr[start] is the 1st element in the column // The elements exists and are contiguous in memory, we use Eigen::Map functionality to optimize the operation Eigen::Map(&ptr[start], static_cast(n)).operator += ( subMatrix.col(static_cast(colId)).segment(0, static_cast(n))); } void add(T* ptr, const T& value) { *ptr += value; } }; /// Specialization for row major storage template class Operation { public: typedef typename SparseType::Scalar T; typedef typename SparseType::Index Index; void assign(T* ptr, size_t start, size_t n, size_t m, const DerivedSub& subMatrix, size_t rowId) { typedef Eigen::Matrix < T, 1, Eigen::Dynamic, Eigen::DontAlign | Eigen::RowMajor > RowVector; typedef typename Eigen::Matrix < T, 1, Eigen::Dynamic, Eigen::DontAlign | Eigen::RowMajor >::Index IndexVector; typedef typename DerivedSub::Index IndexSub; // ptr[start] is the 1st element in the row // The elements exists and are contiguous in memory, we use Eigen::Map functionality to optimize the operation Eigen::Map(&ptr[start], static_cast(m)).operator = ( subMatrix.row(static_cast(rowId)).segment(0, static_cast(m))); } void assign(T* ptr, const T& value) { *ptr = value; } void add(T* ptr, size_t start, size_t n, size_t m, const DerivedSub& subMatrix, size_t rowId) { typedef Eigen::Matrix < T, 1, Eigen::Dynamic, Eigen::DontAlign | Eigen::RowMajor > RowVector; typedef typename Eigen::Matrix < T, 1, Eigen::Dynamic, Eigen::DontAlign | Eigen::RowMajor >::Index IndexVector; typedef typename DerivedSub::Index IndexSub; // ptr[start] is the 1st element in the row // The elements exists and are contiguous in memory, we use Eigen::Map functionality to optimize the operation Eigen::Map(&ptr[start], static_cast(m)).operator += ( subMatrix.row(static_cast(rowId)).segment(0, static_cast(m))); } void add(T* ptr, const T& value) { *ptr += value; } }; /// Runs a given operation on a SparseMatrix block(i, j, n, m) from a (n x m) 'subMatrix' with searching for the /// block 1st element.
/// It supposes:
/// + that the SparseMatrix already contains all the elements within the block (no insertion necessary)
/// + that both the SparseMatrix and the 'subMatrix' are using the same Scalar type, double.
/// This function will not change anything to the structure of the SparseMatrix, only change the values of the /// corresponding coefficients. /// \tparam Opt, Index Type parameters defining the output matrix type SparseMatrix /// \param subMatrix The sub matrix that will be copied into the SparseMatrix block /// \param rowStart, columnStart The row and column indices to indicate where the block in the SparseMatrix starts /// \param n, m The block size (Derived may be bigger but cannot be smaller in both dimension) /// \param[in,out] matrix The sparse matrix in which the block needs to be set by 'subMatrix' /// \param op The operation to run on the block /// \exception SurgSim::Framework::AssertionFailure If one of the following conditions is met:
/// * if 'subMatrix' is smaller than (n x m) in any dimension
/// * if 'matrix' is nullptr or smaller than (n x m) in any dimension
/// * if the requested block is out of range in 'matrix'.
/// * if 'matrix' does not fulfill the requirement (i.e. is missing elements within the block).
/// \note The receiving SparseMatrix must have a structure like the following:
/// (xx x0 x)
/// (xx 0x x)
/// (x0[xx]x) -> The block must already contain all the coefficients but these rows and columns may
/// (0x[xx]0) -> contains more coefficients before and after the block.
/// (xx 00 x)
template void blockWithSearch(const Eigen::Ref& subMatrix, size_t rowStart, size_t columnStart, size_t n, size_t m, Eigen::SparseMatrix* matrix, void (Operation>::*op) (double*, size_t, size_t, size_t, const Matrix&, size_t)) { static Operation> operation; SURGSIM_ASSERT(nullptr != matrix) << "Invalid recipient matrix, nullptr found"; SURGSIM_ASSERT(subMatrix.rows() >= static_cast(n)) << "subMatrix doesn't have enough rows"; SURGSIM_ASSERT(subMatrix.cols() >= static_cast(m)) << "subMatrix doesn't have enough columns"; SURGSIM_ASSERT(matrix->rows() >= static_cast(rowStart + n)) << "The block is out of range in matrix"; SURGSIM_ASSERT(matrix->cols() >= static_cast(columnStart + m)) << "The block is out of range in matrix"; SURGSIM_ASSERT(matrix->valuePtr() != nullptr) << "The matrix is not initialized correctly, null pointer to values"; double* ptr = matrix->valuePtr(); const Index* innerIndices = matrix->innerIndexPtr(); const Index* outerIndices = matrix->outerIndexPtr(); Index outerStart = static_cast(Opt == Eigen::ColMajor ? columnStart : rowStart); Index innerStart = static_cast(Opt == Eigen::ColMajor ? rowStart : columnStart); Index outerSize = static_cast(Opt == Eigen::ColMajor ? m : n); Index innerSize = static_cast(Opt == Eigen::ColMajor ? n : m); for (Index outerLoop = 0; outerLoop < outerSize; ++outerLoop) { // outerIndices[outerStart + outerLoop] is the index in ptr and innerIndices of the first non-zero element in // the outer element (outerStart + outerLoop) const Index innerStartIdInCurrentOuter = outerIndices[outerStart + outerLoop]; const Index innerStartIdInNextOuter = outerIndices[outerStart + outerLoop + 1]; // Look for the index of innerStart in this outer (the column/row may contain elements before) Index innerFirstElement; if (innerIndices[innerStartIdInCurrentOuter] == innerStart) { innerFirstElement = innerStartIdInCurrentOuter; } else { innerFirstElement = static_cast(matrix->data().searchLowerIndex( innerStartIdInCurrentOuter, innerStartIdInNextOuter - 1, innerStart)); } // Make sure we actually found the 1st element of the block in this outer SURGSIM_ASSERT(innerIndices[innerFirstElement] == innerStart) << "matrix is missing an element of the block (1st element on a row/column)"; // Make sure that we are not going to write out of the range... // i.e. The column/row (starting at the beginning of the block) has at least innerSize elements SURGSIM_ASSERT(static_cast(innerSize) <= innerStartIdInNextOuter - innerFirstElement) << "matrix is missing elements of the block (but not the 1st element on a row/column)"; // Make sure that the last element corresponding to the block size has the expected index SURGSIM_ASSERT(innerStart + static_cast(innerSize) - 1 == \ innerIndices[innerFirstElement + static_cast(innerSize) - 1]) << "The last element of the block does not have the expected index. " << "The matrix is missing elements of the block (but not the 1st element on a row/column)"; (operation.*op)(ptr, innerFirstElement, n, m, subMatrix, outerLoop); } } /// Runs a given operation on a SparseMatrix block(i, j, n, m) from a (n x m) 'subMatrix' with searching for the /// block 1st element.
/// It supposes:
/// + that both the SparseMatrix and the 'subMatrix' are using the same Scalar type, double.
/// This function can be used to initialize the form of a sparse matrix as it will add entries when appropriate /// entries do not exist. /// \tparam Opt, Index Type parameters defining the output matrix type SparseMatrix /// \param subMatrix The sub matrix that will be copied into the SparseMatrix block /// \param rowStart, columnStart The row and column indices to indicate where the block in the SparseMatrix starts /// \param[in,out] matrix The sparse matrix in which the block needs to be set by 'subMatrix' /// \param op The operation to run on the block /// \exception SurgSim::Framework::AssertionFailure If one of the following conditions is met:
/// * if 'subMatrix' is smaller than (n x m) in any dimension
/// * if 'matrix' is nullptr or smaller than (n x m) in any dimension
/// * if the requested block is out of range in 'matrix'.
/// * if 'matrix' does not fulfill the requirement (i.e. is missing elements within the block).
/// \note The receiving SparseMatrix must have a structure like the following:
/// (xx x0 x)
/// (xx 0x x)
/// (x0[xx]x) -> The block must already contain all the coefficients but these rows and columns may
/// (0x[xx]0) -> contains more coefficients before and after the block.
/// (xx 00 x)
template void blockOperation(const Eigen::Ref& subMatrix, size_t rowStart, size_t columnStart, Eigen::SparseMatrix* matrix, void (Operation>::*op)(double*, const double&)) { static Operation> operation; SURGSIM_ASSERT(nullptr != matrix) << "Invalid recipient matrix, nullptr found"; Index n = static_cast(subMatrix.rows()); Index m = static_cast(subMatrix.cols()); SURGSIM_ASSERT(matrix->rows() >= static_cast(rowStart) + n) << "The block is out of range in matrix"; SURGSIM_ASSERT(matrix->cols() >= static_cast(columnStart) + m) << "The block is out of range in matrix"; for (Index row = 0; row < n; ++row) { for (Index column = 0; column < m; ++column) { (operation.*op)( &matrix->coeffRef(static_cast(rowStart) + row, static_cast(columnStart) + column), subMatrix(row, column)); } } } /// Helper method to add a sub-matrix into a matrix, for the sake of clarity /// \tparam Opt, Index Type parameters defining the output matrix type SparseMatrix /// \param subMatrix The sub-matrix /// \param blockIdRow, blockIdCol The block indices in matrix /// \param[in,out] matrix The matrix to add the sub-matrix into /// \param initialize Option parameter, default=true. If true, the matrix form is assumed to be undefined /// and is initialized when necessary. If false, the matrix form is assumed to be previously defined. /// \note This is a specialization of addSubMatrix for sparse matrices. template void addSubMatrix(const Eigen::Ref& subMatrix, size_t blockIdRow, size_t blockIdCol, Eigen::SparseMatrix* matrix, bool initialize = true) { if (initialize) { blockOperation(subMatrix, static_cast(subMatrix.rows() * blockIdRow), static_cast(subMatrix.cols() * blockIdCol), matrix, &Operation>::add); } else { blockWithSearch(subMatrix, static_cast(subMatrix.rows() * blockIdRow), static_cast(subMatrix.cols() * blockIdCol), static_cast(subMatrix.rows()), static_cast(subMatrix.cols()), matrix, &Operation>::add); } } /// Helper method to assign a sub-matrix into a matrix, for the sake of clarity /// \tparam Opt, Index Type parameters defining the output matrix type SparseMatrix /// \param subMatrix The sub-matrix /// \param blockIdRow, blockIdCol The block indices in matrix /// \param[in,out] matrix The matrix to assign the sub-matrix into /// \param initialize Option parameter, default=true. If true, the matrix form is assumed to be undefined /// and is initialized when necessary. If false, the matrix form is assumed to be previously defined. template void assignSubMatrix(const Eigen::Ref& subMatrix, size_t blockIdRow, size_t blockIdCol, Eigen::SparseMatrix* matrix, bool initialize = true) { if (initialize) { blockOperation(subMatrix, (subMatrix.rows() * blockIdRow), (subMatrix.cols() * blockIdCol), matrix, &Operation>::assign); } else { blockWithSearch(subMatrix, (subMatrix.rows() * blockIdRow), (subMatrix.cols() * blockIdCol), subMatrix.rows(), subMatrix.cols(), matrix, &Operation>::assign); } } /// Helper method to zero a row of a matrix specialized for Sparse Matrices /// \param row The row to set to zero /// \param[in,out] matrix The matrix to set the zero row on. template void zeroRow(size_t row, Eigen::SparseMatrix* matrix) { for (Index column = 0; column < matrix->cols(); ++column) { if (matrix->coeff(static_cast(row), column)) { matrix->coeffRef(static_cast(row), column) = 0; } } } /// Helper method to zero a column of a matrix specialized for Sparse Matrices /// \param column The column to set to zero /// \param[in,out] matrix The matrix to set the zero column on. template inline void zeroColumn(size_t column, Eigen::SparseMatrix* matrix) { for (Index row = 0; row < matrix->rows(); ++row) { if (matrix->coeff(row, static_cast(column))) { matrix->coeffRef(row, static_cast(column)) = 0; } } } /// Helper method to zero all entries of a matrix specialized for Sparse Matrices. This /// allows the preservation of the the matrix form while still allowing the reset of /// the matrix entries to zero. /// \param[in,out] matrix The matrix to set to zero template inline void clearMatrix(Eigen::SparseMatrix* matrix) { SURGSIM_ASSERT(matrix->isCompressed()) << "Invalid matrix. Matrix must be in compressed form."; T* ptr = matrix->valuePtr(); for (Index value = 0; value < matrix->nonZeros(); ++value) { *ptr = 0; ++ptr; } } }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_SPARSEMATRIX_H opensurgsim-0.7.0/SurgSim/Math/SphereShape.cpp000066400000000000000000000036711277777236100213200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/SphereShape.h" namespace SurgSim { namespace Math { SURGSIM_REGISTER(SurgSim::Math::Shape, SurgSim::Math::SphereShape, SphereShape); SphereShape::SphereShape(double radius) : m_radius(radius) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(SphereShape, double, Radius, getRadius, setRadius); updateAabb(); } int SphereShape::getType() const { return SHAPE_TYPE_SPHERE; } double SphereShape::getRadius() const { return m_radius; } void SphereShape::setRadius(double radius) { m_radius = radius; updateAabb(); } void SphereShape::updateAabb() { m_aabb.setEmpty(); m_aabb.extend(Vector3d(-m_radius, -m_radius, -m_radius)); m_aabb.extend(Vector3d(m_radius, m_radius, m_radius)); } double SphereShape::getVolume() const { return 4.0 / 3.0 * M_PI * m_radius * m_radius * m_radius; } SurgSim::Math::Vector3d SphereShape::getCenter() const { return Vector3d(0.0, 0.0, 0.0); } SurgSim::Math::Matrix33d SphereShape::getSecondMomentOfVolume() const { const double volume = getVolume(); double diagonalCoefficient = 2.0 / 5.0 * volume * m_radius * m_radius; Matrix33d secondMoment; secondMoment.setZero(); secondMoment.diagonal().setConstant(diagonalCoefficient); return secondMoment; } bool SphereShape::isValid() const { return m_radius >= 0; } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/SphereShape.h000066400000000000000000000042001277777236100207520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_SPHERESHAPE_H #define SURGSIM_MATH_SPHERESHAPE_H #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Math/Shape.h" namespace SurgSim { namespace Math { SURGSIM_STATIC_REGISTRATION(SphereShape); /// Sphere shape: sphere centered on (0 0 0), defined with radius class SphereShape: public Shape { public: /// Constructor /// \param radius The sphere radius (in m) explicit SphereShape(double radius = 0.0); SURGSIM_CLASSNAME(SurgSim::Math::SphereShape); /// \return the type of the shape int getType() const override; /// Get the sphere radius /// \return The sphere radius double getRadius() const; /// Get the volume of the shape /// \return The volume of the shape (in m-3) double getVolume() const override; /// Get the volumetric center of the shape /// \return The center of the shape Vector3d getCenter() const override; /// Get the second central moment of the volume, commonly used /// to calculate the moment of inertia matrix /// \return The 3x3 symmetric second moment matrix Matrix33d getSecondMomentOfVolume() const override; /// \return True if radius is bigger than or equal to 0; Otherwise, false. bool isValid() const override; protected: // Setters in 'protected' sections are for serialization purpose only. /// Set the sphere radius /// \param radius The sphere radius void setRadius(double radius); void updateAabb(); private: /// Sphere radius double m_radius; }; }; // Math }; // SurgSim #endif // SURGSIM_MATH_SPHERESHAPE_H opensurgsim-0.7.0/SurgSim/Math/SurfaceMeshShape-inl.h000066400000000000000000000022041277777236100225130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_SURFACEMESHSHAPE_INL_H #define SURGSIM_MATH_SURFACEMESHSHAPE_INL_H namespace SurgSim { namespace Math { template SurfaceMeshShape::SurfaceMeshShape( const SurgSim::DataStructures::TriangleMesh& mesh, double thickness) : MeshShape(mesh), m_thickness(thickness) { computeVolumeIntegrals(); } }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_SURFACEMESHSHAPE_INL_H opensurgsim-0.7.0/SurgSim/Math/SurfaceMeshShape.cpp000066400000000000000000000135721277777236100223000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/SurfaceMeshShape.h" #include "SurgSim/Framework/Log.h" namespace { const double epsilon = 1e-10; }; namespace SurgSim { namespace Math { SURGSIM_REGISTER(SurgSim::Math::Shape, SurgSim::Math::SurfaceMeshShape, SurfaceMeshShape); SurfaceMeshShape::SurfaceMeshShape() : m_thickness(1e-2) { } int SurfaceMeshShape::getType() const { return SHAPE_TYPE_SURFACEMESH; } void SurfaceMeshShape::computeVolumeIntegrals() { // Considering a surface mesh with thickness, the goal is to compute the following properties: // 1) volume = integral(over volume) dx dy dz // 2) center = integral(over volume) (x y z)^T dx dy dz / volume // 3) the inertia matrix without the mass density: // I = (Ixx Ixy Ixz) = integral(over volume) (y^2+z^2 -xy -xz ) dx dy dz // (Iyx Iyy Iyz) ( -yx x^2+z^2 -yz ) // (Izx Izy Izz) ( -zx -zy x^2+y^2) // Each term of the matrix I can be evaluated independently and each monome can also be evaluated // independently and summed up after: integral(V) y^2+z^2 dV = integral(V) y^2 dV + integral(V) z^2 dV // // Therefore, we simply need to compute 10 different volume integral: // {1, x, y, z, x^2, y^2, z^2, xy, yz, zx} // // Example for the monome 'xy': // = integral(over volume) x.y dx dy dz = integral(over volume) x.y dV // = integral(over area) x.y dS * thickness // = [sum(over all triangles) integral(over triangle) x.y dS] * thickness // // Change the integration variables from cartesian coordinates to a parametrization of the // triangle ABC = {P | P = A + a.u + b.v} // with // { u=AB the 1st triangle edge supporting the parametrization // { v=AC the 2nd triangle edge supporting the parametrization // { 0<=a<=1 the triangle 1st coordinate in the new coordinate system (parametrized) // { 0<=b<=1-a the triangle 2nd coordinate in the new coordinate system (parametrized) // => dS = |dP/db x dP/da|.db.da = |vxu|.db.da = |uxv|.db.da // => x = Px // => y = Py // // integral(over volume) x.y dx dy dz = // [sum(over all triangles) integral(over triangle) x.y dS] * thickness = // [sum(over all triangles) integral(from 0 to 1) integral(from 0 to 1-a) Px.Py db.da |uxv|] * thickness // // From here, the various integral terms can be found related to A, u and v using any formal integration tool. // Order: 1, x, y, z, x^2, y^2, z^2, xy, yz, zx Eigen::VectorXd integral(10); integral.setZero(); for (auto const& triangle : getTriangles()) { if (!triangle.isValid) { continue; } auto A = getVertexPosition(triangle.verticesId[0]); auto B = getVertexPosition(triangle.verticesId[1]); auto C = getVertexPosition(triangle.verticesId[2]); // Triangle parametrization P(a, b) = A + u.a + v.b with u=AB and v=AC const Vector3d u = B - A; const Vector3d v = C - A; const double area = u.cross(v).norm() / 2.0; // Triangle area integral[0] += area; integral[1] += (A[0] + (u[0] + v[0]) / 3.0) * area; integral[2] += (A[1] + (u[1] + v[1]) / 3.0) * area; integral[3] += (A[2] + (u[2] + v[2]) / 3.0) * area; integral[4] += (A[0] * (A[0] + 2.0 * (u[0] + v[0]) / 3.0) + (u[0] * v[0] + v[0] * v[0] + u[0] * u[0]) / 6.0) * area; integral[5] += (A[1] * (A[1] + 2.0 * (u[1] + v[1]) / 3.0) + (u[1] * v[1] + v[1] * v[1] + u[1] * u[1]) / 6.0) * area; integral[6] += (A[2] * (A[2] + 2.0 * (u[2] + v[2]) / 3.0) + (u[2] * v[2] + v[2] * v[2] + u[2] * u[2]) / 6.0) * area; integral[7] += (A[0] * A[1] + (A[0] * (u[1] + v[1]) + A[1] * (u[0] + v[0])) / 3.0) * area; integral[7] += ((u[0] * u[1] + v[0] * v[1]) / 6.0 + (u[0] * v[1] + u[1] * v[0]) / 12.0) * area; integral[8] += (A[1] * A[2] + (A[1] * (u[2] + v[2]) + A[2] * (u[1] + v[1])) / 3.0) * area; integral[8] += ((u[1] * u[2] + v[1] * v[2]) / 6.0 + (u[1] * v[2] + u[2] * v[1]) / 12.0) * area; integral[9] += (A[2] * A[0] + (A[2] * (u[0] + v[0]) + A[0] * (u[2] + v[2])) / 3.0) * area; integral[9] += ((u[2] * u[0] + v[2] * v[0]) / 6.0 + (u[2] * v[0] + u[0] * v[2]) / 12.0) * area; } // integral[0] is the sum of all triangle's area double area = integral[0]; // Center of mass m_center = integral.segment(1, 3); if (area > epsilon) { m_center /= area; } // second moment of volume relative to center Vector3d centerSquared = m_center.cwiseProduct(m_center); m_secondMomentOfVolume(0, 0) = integral[5] + integral[6] - area * (centerSquared.y() + centerSquared.z()); m_secondMomentOfVolume(1, 1) = integral[4] + integral[6] - area * (centerSquared.z() + centerSquared.x()); m_secondMomentOfVolume(2, 2) = integral[4] + integral[5] - area * (centerSquared.x() + centerSquared.y()); m_secondMomentOfVolume(0, 1) = -(integral[7] - area * m_center.x() * m_center.y()); m_secondMomentOfVolume(1, 0) = m_secondMomentOfVolume(0, 1); m_secondMomentOfVolume(1, 2) = -(integral[8] - area * m_center.y() * m_center.z()); m_secondMomentOfVolume(2, 1) = m_secondMomentOfVolume(1, 2); m_secondMomentOfVolume(0, 2) = -(integral[9] - area * m_center.z() * m_center.x()); m_secondMomentOfVolume(2, 0) = m_secondMomentOfVolume(0, 2); m_secondMomentOfVolume *= m_thickness; m_volume = (area * m_thickness); } bool SurfaceMeshShape::isValid() const { return (m_thickness > 1e-5) && MeshShape::isValid(); } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/SurfaceMeshShape.h000066400000000000000000000072401277777236100217400ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_SURFACEMESHSHAPE_H #define SURGSIM_MATH_SURFACEMESHSHAPE_H #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/Shape.h" namespace SurgSim { namespace Math { SURGSIM_STATIC_REGISTRATION(SurfaceMeshShape); /// SurfaceMeshShape defines a shape based on a mesh, like MeshShape. /// But, unlike MeshShape, the mesh does not need to be watertight to produce valid volume, center and second moment of /// volume. In the MeshShape case, these quantities are based on the notion of volume and are therefore undefined /// if no volume if properly defined. In the SurfaceMeshShape case, these quantities are based on a surface /// mesh, with a thickness (which is considered constant over the surface and should be multiple orders of magnitude /// smaller than the two other dimesions, i.e. 1e-3 in practice). If the mesh is not closed or has holes, the class /// will still produce valid geometric properties. /// /// \note If not used in physics, there is no differences between using a SurfaceMeshShape or a MeshShape. /// /// \note Any change on the mesh will invalidate the geometric properties. /// \note Practical use cases: /// \note * Fixed/Rigid object, the mesh will not change anyway. /// \note * Deformable object, the mesh will be updated, but the geometric properties will not be used. /// /// \note The thickness should be multiple order of magnitude smaller than the other 2 dimensions of the mesh. /// \note It should also not be smaller than 1e-5 to avoid formal and numerical issues when getting close to 0. /// /// \note SurfaceMeshShape does not have any collision algorithm associated with it in SurgSim::Collision and /// \note SurgSim::Physics::DcdCollision so far. /// /// \sa MeshShape class SurfaceMeshShape : public MeshShape { public: /// Constructor SurfaceMeshShape(); /// Constructor /// \param mesh The triangle mesh to build the shape from /// \param thickness The thickness associated to this surface mesh /// \exception Raise an exception if the mesh is invalid template SurfaceMeshShape( const SurgSim::DataStructures::TriangleMesh& mesh, double thickness = 1e-2); SURGSIM_CLASSNAME(SurgSim::Math::SurfaceMeshShape); /// \return the type of the shape int getType() const override; /// Check if this shape contains a valid mesh and the thickness is at least 1e-5 (in meter, /// to avoid formal and numerical issues). /// \return True if this shape contains a valid mesh and thickness is at least 1e-5; Otherwise, false. bool isValid() const override; protected: /// Compute useful volume integrals based on the triangle mesh, which /// are used to get the volume , center and second moment of volume. void computeVolumeIntegrals() override; private: /// Surface mesh thickness double m_thickness; }; }; // Math }; // SurgSim #include "SurgSim/Math/SurfaceMeshShape-inl.h" #endif // SURGSIM_MATH_SURFACEMESHSHAPE_H opensurgsim-0.7.0/SurgSim/Math/TriangleCapsuleContactCalculation-inl.h000066400000000000000000000561271277777236100261170ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_TRIANGLECAPSULECONTACTCALCULATION_INL_H #define SURGSIM_MATH_TRIANGLECAPSULECONTACTCALCULATION_INL_H #include "SurgSim/Math/Valid.h" #include "SurgSim/DataStructures/OptionalValue.h" namespace SurgSim { namespace Math { namespace TriangleCapsuleContactCalculation { /// Find the point on (positive X side of) ellipse parallel to the given tangent. /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. /// \param tangent The given tangent to this ellipse, whose corresponding point is to be found /// \param center Center of the ellipse. /// \param majorAxis, minorAxis The major/minor axes of the ellipse, both of unit length /// \param majorRadius, minorRadius Major/minor radii of the ellipse /// \note majorAxis and minorAxis are assumed to be orthogonal to each other. /// \return The point on the ellipse (in positive x direction) which has the given tangent. template Eigen::Matrix pointWithTangentOnEllipse(const Eigen::Matrix& center, const Eigen::Matrix& majorAxis, const Eigen::Matrix& minorAxis, const double majorRadius, const double minorRadius, const Eigen::Matrix& tangent) { Eigen::Transform transform; transform.translation() = center; transform.linear().col(0) = majorAxis; transform.linear().col(1) = minorAxis; transform.linear().col(2) = majorAxis.cross(minorAxis); // tangent in local coordinates. Eigen::Matrix localTangent = transform.inverse().linear() * tangent; // Slope of this tangent T m = localTangent[1] / localTangent[0]; // Ellipse equation: x*x/a*a + y*y/b*b = 1 // Rewriting ellipse equation in the form, y = f(x): y = sqrt(a*a - x*x) * b / a // Slope of ellipse: y' = -x*b*b/a*a*y // This slope is equal to the slope of the localTangent. So, we can solve for x and y. T x = std::sqrt((m * m * majorRadius * majorRadius * majorRadius * majorRadius) / (minorRadius * minorRadius + m * m * majorRadius * majorRadius)); T y = (minorRadius / majorRadius) * std::sqrt(majorRadius * majorRadius - x * x) * ((m > 0.0) ? -1.0 : 1.0); // Transforming this point into world coordinates. return transform * Eigen::Matrix(x, y, static_cast(0)); } /// Class used to find the intersection between a triangle and a capsule. /// \tparam T Accuracy of the calculation, can usually be inferred. /// \tparam MOpt Eigen Matrix options, can usually be inferred. template class TriangleCapsuleContactCalculation { typedef Eigen::Matrix Vector3; typedef Eigen::Matrix Vector2; typedef Eigen::Transform RigidTransform3; public: /// Constructor. /// \param tv0,tv1,tv2 Vertices of the triangle. /// \param tn Normal of the triangle, should be normalized. /// \param cv0,cv1 Ends of the capsule axis. /// \param cr Capsule radius. TriangleCapsuleContactCalculation( const Vector3& tv0, const Vector3& tv1, const Vector3& tv2, const Vector3& tn, const Vector3& cv0, const Vector3& cv1, double cr) : m_tv0(tv0), m_tv1(tv1), m_tv2(tv2), m_tn(tn), m_cvTop(cv0), m_cvBottom(cv1), m_cr(cr) { m_epsilon = static_cast(Geometry::DistanceEpsilon); m_distance = distanceSegmentTriangle(cv0, cv1, m_tv0, m_tv1, m_tv2, m_tn, &m_penetrationPointCapsuleAxis, &m_penetrationPointTriangle); m_cAxis = m_cvBottom - m_cvTop; m_cLength = m_cAxis.norm(); m_cAxis = m_cAxis / m_cLength; if (m_cAxis.dot(tn) > 0.0) { m_cvTop = cv1; m_cvBottom = cv0; m_cAxis = -m_cAxis; } } /// \return Whether there is an intersection. bool isIntersecting() { return m_distance < (m_cr - m_epsilon); } /// Calculate the contact info. /// \param [out] penetrationDepth The depth of penetration. /// \param [out] penetrationPointTriangle The contact point on triangle. /// \param [out] penetrationPointCapsule The contact point on capsule. /// \param [out] contactNormal The contact normal that points from capsule to triangle. /// \param [out] penetrationPointCapsuleAxis The point on the capsule axis closest to the triangle. void calculateContact(T* penetrationDepth, Vector3* penetrationPointTriangle, Vector3* penetrationPointCapsule, Vector3* contactNormal, Vector3* penetrationPointCapsuleAxis) { if (isIntersecting()) { bool result = axisAwayFromTriangle() || axisPerpendicularToTriangle() || axisTouchingTriangle() || axisThroughTriangle(); SURGSIM_ASSERT(result) << "At this point, there has to be an intersection."; *penetrationDepth = m_penetrationDepth; *penetrationPointTriangle = m_penetrationPointTriangle; *penetrationPointCapsule = m_penetrationPointCapsule; *contactNormal = m_contactNormal; *penetrationPointCapsuleAxis = m_penetrationPointCapsuleAxis; } } private: /// This function handles the contact data calculation for the case where there is an intersection between the /// capsule and the triangle, but the capsule axis does not intersect the triangle. /// \return True, if the axis of the capsule is away from the triangle. /// \note This function presupposes that isIntersecting() returned true. bool axisAwayFromTriangle() { if (m_distance > m_epsilon) { m_contactNormal = m_penetrationPointTriangle - m_penetrationPointCapsuleAxis; m_contactNormal.normalize(); m_penetrationPointCapsule = m_penetrationPointCapsuleAxis + (m_contactNormal * m_cr); m_penetrationDepth = m_cr - m_distance; return true; } return false; } /// This function handles the contact data calculation for the case where there is an intersection between the /// capsule and the triangle, and the capsule axis is perpendicular to the triangle. /// \return True, if the axis of the capsule is perpendicular to the triangle. /// \note This function presupposes that isIntersecting() returned true and axisAwayFromTriangle() returned false. bool axisPerpendicularToTriangle() { if (std::abs(m_cAxis.dot(m_tn) + 1.0) < m_epsilon) { m_penetrationPointCapsule = m_cvBottom - m_tn * m_cr; m_penetrationPointCapsuleAxis = m_cvBottom; m_contactNormal = -m_tn; m_penetrationDepth = (m_tv0 - m_penetrationPointCapsule).dot(m_tn); return true; } return false; } /// This function handles the contact data calculation for the case where there is an intersection between the /// capsule and the triangle, and the capsule axis just touches the triangle. /// \return True, if the axis of the capsule is just touching triangle. /// \note This function presupposes that isIntersecting() returned true, axisAwayFromTriangle() returned false, /// and axisPerpendicularToTriangle() returned false. bool axisTouchingTriangle() { if (m_penetrationPointCapsuleAxis.isApprox(m_cvTop, m_epsilon) || m_penetrationPointCapsuleAxis.isApprox(m_cvBottom, m_epsilon) || isPointOnTriangleEdge(m_penetrationPointTriangle, m_tv0, m_tv1, m_tv2, m_tn)) { m_contactNormal = -m_tn; auto projectionCvBottom = (m_cvBottom + m_tn * (m_tv0 - m_cvBottom).dot(m_tn)).eval(); if (SurgSim::Math::isPointInsideTriangle(projectionCvBottom, m_tv0, m_tv1, m_tv2, m_tn)) { m_contactNormal = -m_tn; m_penetrationPointCapsule = m_cvBottom - m_tn * m_cr; m_penetrationPointCapsuleAxis = m_cvBottom; } else { farthestIntersectionLineCapsule(m_penetrationPointTriangle, -m_tn, &m_penetrationPointCapsule, &m_penetrationPointCapsuleAxis); } m_penetrationDepth = (m_tv0 - m_penetrationPointCapsule).dot(m_tn); return true; } return false; } /// This function handles the contact data calculation for the case where there is an intersection between the /// capsule and the triangle, and the capsule axis goes through the triangle. /// \return True, if the axis of the capsule goes through the triangle. Also calculates the contact info. /// \note This function presupposes that isIntersecting() returned true, axisAwayFromTriangle() returned false, /// axisPerpendicularToTriangle() returned false, and axisTouchingTriangle() returned false. bool axisThroughTriangle() { if (m_distance != 0.0) { return false; } // Extruding the triangle along the direction of -tn creates a volume. Clip off the capsule axis that is // outside of this volume. Vector3 v[3] = {m_tv0, m_tv1, m_tv2}; Vector3 planeN[4] = {m_tn, (-m_tn.cross(m_tv1 - m_tv0)).normalized(), (-m_tn.cross(m_tv2 - m_tv1)).normalized(), (-m_tn.cross(m_tv0 - m_tv2)).normalized()}; double planeD[4] = {-m_tv0.dot(planeN[0]), -m_tv0.dot(planeN[1]), -m_tv1.dot(planeN[2]), -m_tv2.dot(planeN[3])}; auto segmentStart = m_cvTop; auto segmentEnd = m_cvBottom; size_t j = clipSegmentAgainstTriangle(&segmentStart, &segmentEnd, v, planeN, planeD); if (j == 0) { m_contactNormal = -m_tn; m_penetrationPointCapsule = m_cvBottom - m_tn * m_cr; m_penetrationDepth = (m_tv0 - m_penetrationPointCapsule).dot(m_tn); m_penetrationPointCapsuleAxis = m_cvBottom; m_penetrationPointTriangle = m_penetrationPointCapsule + m_tn * m_penetrationDepth; return true; } Vector3 deepestPoint = ((segmentStart - segmentEnd).dot(planeN[0]) < 0.0) ? segmentStart : segmentEnd; Vector3 edgeVertices[2] = {v[(j - 1) % 3], v[j % 3]}; Vector3 triangleEdge = (edgeVertices[1] - edgeVertices[0]).normalized(); // The capsule axis intersects the plane (planeN[j], planeD[j]). First, the capsule is treated as a cylinder. // Its intersection with this plane is an ellipse. The deepest point on this ellipse along -tn and bounded // by vectors (edgeVertices[0] -> edgeVertices[0] - tn) and (edgeVertices[1] -> edgeVertices[1] - tn) is found. Vector3 center = deepestPoint; Vector3 majorAxis = (triangleEdge * (triangleEdge.dot(m_cAxis)) + m_tn * (m_tn.dot(m_cAxis))).normalized(); double majorRadius = farthestIntersectionLineCylinder(center, majorAxis, &deepestPoint); SURGSIM_ASSERT(isValid(majorRadius)) << "The major radius of the ellipse should be a valid number."; if (std::abs(majorAxis.dot(triangleEdge)) > m_epsilon) { // majorApex is not the deepest point because the ellipse is angled. The deepest point is between majorApex // and minorApex on the circumference of the ellipse, and the tangent at that point is parallel to the // triangleEdge. auto minorAxis = planeN[j].cross(majorAxis); double minorRadius = farthestIntersectionLineCylinder(center, minorAxis); SURGSIM_ASSERT(isValid(minorRadius)) << "The minor radius of the ellipse should be a valid number."; deepestPoint = pointWithTangentOnEllipse(center, majorAxis, minorAxis, majorRadius, minorRadius, triangleEdge); Vector3 result; if (std::abs(distancePointSegment(deepestPoint, m_cvTop, m_cvBottom, &result) - m_cr) > m_epsilon) { // The deepest point is not on the capsule, which means that the capsule end (the sphere) is // intersecting the triangle edge plane (planeN[j], planeD[j]). The intersection between them is a // circle. Define a 2D co-ordinate system with the origin at edgeVertices[0], the x-axis as // triangleEdge, and the y-axis as tn. Transforming the circle to this 2D co-ordinate system, creates a // circle of radius, r, with its center at x, y. Now the deepest point on this circle is (x, y - r). Vector3 origin = edgeVertices[0], xAxis = triangleEdge, yAxis = m_tn, zAxis = planeN[j]; double sphereCenterToXYPlane = (m_cvBottom - origin).dot(zAxis); SURGSIM_ASSERT(m_cr + m_epsilon >= sphereCenterToXYPlane) << "The sphere center is too far from the triangle edge plane."; double circleRadius = std::sqrt(m_cr * m_cr - sphereCenterToXYPlane * sphereCenterToXYPlane); SURGSIM_ASSERT(isValid(circleRadius)) << "The radius of the circle of intersection between the sphere and the plane is invalid."; Vector3 circleCenter = m_cvBottom - zAxis * sphereCenterToXYPlane; double x = (circleCenter - origin).dot(xAxis); double y = (circleCenter - origin).dot(yAxis) - circleRadius; deepestPoint = xAxis * x + yAxis * y + origin; } } // Project deepestPoint on the triangle edge to make sure it is within the edge. auto edgeLength = (edgeVertices[1] - edgeVertices[0]).norm(); double deepestPointDotEdge = triangleEdge.dot(deepestPoint - edgeVertices[0]); if (deepestPointDotEdge <= -m_epsilon || deepestPointDotEdge >= edgeLength + m_epsilon) { // In this case, the intersection of the cylinder with the triangle edge plane gives an ellipse // that is close to a triangle corner and the deepest penetration point on the ellipse is // actually outside the triangle. // Solution: find the deepest point on the ellipse which projection is still on the triangle. // For that: Find the corner edgeVertex of the triangle closest to deepestPointDotEdge // Find the deepest penetration point verifying P - tn*t and the cylinder equation. // The triangle point to consider is edgeVertices[0] or edgeVertices[1]. Vector3 edgeVertex = (deepestPointDotEdge < 0.0) ? edgeVertices[0] : edgeVertices[1]; double d = farthestIntersectionLineCapsule(edgeVertex, -m_tn, &deepestPoint, &m_penetrationPointCapsuleAxis); SURGSIM_ASSERT(isValid(d)) << "There must be a part of the ellipse between the triangle edge at this point"; } m_contactNormal = -m_tn; m_penetrationPointCapsule = deepestPoint; m_penetrationDepth = -m_tn.dot(deepestPoint - m_tv0); m_penetrationPointTriangle = deepestPoint + m_tn * (m_penetrationDepth); return true; } /// \param lineStart The origin of the line /// \param lineDir Unit directional vector of the line /// \param point [out] The point of intersection. /// \return The distance of the point of intersection from the lineStart. double farthestIntersectionLineCylinder(const Vector3& lineStart, const Vector3& lineDir, Vector3* point = nullptr) { if (!m_cInverseTransform.hasValue()) { Vector3 j, k; SurgSim::Math::buildOrthonormalBasis(&m_cAxis, &j, &k); m_cTransform.translation() = m_cvTop; m_cTransform.linear().col(0) = m_cAxis; m_cTransform.linear().col(1) = j; m_cTransform.linear().col(2) = k; m_cInverseTransform = m_cTransform.inverse(); } // Transform the problem in the cylinder space to solve the local cylinder equation y^2 + z^2 = r^2 // Point on ellipse should be on the line, P + t.(D) // => Py^2 + t^2.Dy^2 + 2.Py.t.Dy + Pz^2 + t^2.Dz^2 + 2.Pz.t.Dz = r^2 // => t^2.(Dy^2 + Dz^2) + t.(2.Py.Dy + 2.Pz.Dz) + (Py^2 + Pz^2 - r^2) = 0 // Let a = (Dy^2 + Dz^2), b = (2.Py.Dy + 2.Pz.Dz), c = (Py^2 + Pz^2 - r^2): // => t^2.a + t.b + c = 0, whose solution is: // (-b +/- sqrt(b^2 - 4*a*c))/2*a auto const P = (m_cInverseTransform.getValue() * lineStart).eval(); auto const D = (m_cInverseTransform.getValue().linear() * lineDir).eval(); T a = D[1] * D[1] + D[2] * D[2]; T b = static_cast(2) * (P[1] * D[1] + P[2] * D[2]); T c = (P[1] * P[1] + P[2] * P[2] - m_cr * m_cr); T discriminant = b * b - static_cast(4) * a * c; if (discriminant < 0.0) { // Cannot use a sqrt on a negative number. Push it to zero if it is small. if (discriminant >= -Geometry::ScalarEpsilon) { discriminant = 0.0; } else { return std::numeric_limits::quiet_NaN(); } } // We have two solutions. We want the larger value. double d = (-b / (static_cast(2) * a)) + std::abs(std::sqrt(discriminant) / (static_cast(2) * a)); SURGSIM_ASSERT(isValid(d)); if (point != nullptr) { *point = lineStart + lineDir * d; } return d; } /// \param lineStart The start of the line segment /// \param lineDir The direction of the line segment /// \param point [in,out] The point which is to be clipped. /// \param pointOnCapsuleAxis [out] The recalculated point on the capsule axis. /// \return The distance of the point of intersection from the lineStart. /// \note Asserts when there is no intersection. double farthestIntersectionLineCapsule(const Vector3& lineStart, const Vector& lineDir, Vector3* point, Vector3* pointOnCapsuleAxis) { // Transform the problem into the capsule space to solve the local capsule equation. The capsule coordinate // system has its origin on one the capsule ends (m_cvTop), the x axis is along the capsule axis (m_cAxis), and // the y and z axes are any orthogonal vectors to the capsule axis. The equation of the capsule can be written // as the following: // x^2 + y^2 + z^2 = r^2 | x < 0 ------ [1] // y^2 + z^2 = r^2 | 0 < x < length ------ [2] // (x - length)^2 + y^2 + z^2 = r^2 | x > length ------ [3] // Point should be on the line, P + t.(D) // First find the intersection with an infinite cylinder centered around the capsule axis. double d = farthestIntersectionLineCylinder(lineStart, lineDir, point); SURGSIM_ASSERT(isValid(d)); *point = lineStart + lineDir * d; // When x <0 or x > length, the equation of the capsule is that of the sphere (from equations [1] and [3]). So, // the intersection between the line (P + t.D) and the sphere is calculated as below. Here l is the length of // the capsule. // => ((P + t.D).x - l)^2 + (P + t.D).y^2 + (P + t.D).z^2 = r^2 // => Px^2 + t^2.Dx^2 + l^2 + 2.Px.t.Dx - 2.t.Dx.l - 2.Px.l + // Py^2 + t^2.Dy^2 + 2.Py.t.Dy + Pz^2 + t^2.Dz^2 + 2.Pz.t.Dz = r^2 // => t^2.(Dx^2 + Dy^2 + Dz^2) + t.(2.Px.Dx + 2.Py.Dy + 2.Pz.Dz - 2.Dx.l) + // (Px^2 + Py^2 + Pz^2 + l^2 - 2.Px.l - r^2) = 0 // Let a = (Dx^2 + Dy^2 + Dz^2), // b = (2.Px.Dx + 2.Py.Dy + 2.Pz.Dz - 2.Dx.l), // c = (Px^2 + Py^2 + Pz^2 + l^2 - 2.Px.l - r^2): double x = ((*point) - m_cvTop).dot(m_cAxis); if (x <= 0.0 || x >= m_cLength) { x = (x <= 0.0) ? 0.0 : m_cLength; auto const P = (m_cInverseTransform.getValue() * lineStart).eval(); auto const D = (m_cInverseTransform.getValue().linear() * lineDir).eval(); T a = D[0] * D[0] + D[1] * D[1] + D[2] * D[2]; T b = static_cast(2) * (P[0] * D[0] + P[1] * D[1] + P[2] * D[2] - D[0] * x); T c = (P[0] * P[0] + P[1] * P[1] + P[2] * P[2] + x * x - static_cast(2) * P[0] * x - m_cr * m_cr); // => t^2.a + t.b + c = 0, whose solution is: // (-b +/- sqrt(b^2 - 4*a*c))/2*a T discriminant = b * b - static_cast(4) * a * c; if (discriminant < 0.0 && discriminant >= -Geometry::ScalarEpsilon) { discriminant = 0.0; } // We have two solutions. We want the smaller value. d = (-b - std::abs(std::sqrt(discriminant))) / (static_cast(2) * a); SURGSIM_ASSERT(isValid(d)); *point = lineStart + lineDir * d; } *pointOnCapsuleAxis = m_cTransform * Vector3(x, 0.0, 0.0); return d; } /// \param segmentStart [in,out] The start of the line segment /// \param segmentEnd [in,out] The end of the line segment /// \param v The vertices of the triangle. /// \param planeN Normals of the triangle and each of the edge planes. /// \param planeD d from plane equation for the plane of the triangle and each of the edge planes. /// \return The index of the last plane which clips the segment passed in. size_t clipSegmentAgainstTriangle(Vector3* segmentStart, Vector3* segmentEnd, Vector3* v, Vector3* planeN, double* planeD) { double ratio, dStart, dEnd; size_t j = 4; for (size_t i = 0; i < 4; ++i) { dStart = segmentStart->dot(planeN[i]) + planeD[i]; dEnd = segmentEnd->dot(planeN[i]) + planeD[i]; if (dStart < -m_epsilon && dEnd > m_epsilon) { ratio = std::abs(dStart) / (std::abs(dStart) + dEnd); *segmentEnd = *segmentStart + (*segmentEnd - *segmentStart) * ratio; j = i; } else if (dStart > m_epsilon && dEnd < -m_epsilon) { ratio = dStart / (dStart + std::abs(dEnd)); *segmentStart = *segmentStart + (*segmentEnd - *segmentStart) * ratio; j = i; } else if (dStart < m_epsilon && dEnd > m_epsilon) { *segmentEnd = *segmentStart; j = i; } else if (dStart > m_epsilon && dEnd < m_epsilon) { *segmentStart = *segmentEnd; j = i; } } SURGSIM_ASSERT(j < 4) << "The clipping should have happened at least with the triangle plane."; return j; } ///@{ /// Triangle vertices and normal. Vector3 m_tv0; Vector3 m_tv1; Vector3 m_tv2; Vector3 m_tn; ///@} ///@{ /// Capsule ends, axis , radius and length. Vector3 m_cvTop; Vector3 m_cvBottom; Vector3 m_cAxis; double m_cr; double m_cLength; ///@} /// Distance between triangle and capsule double m_distance; ///@{ /// Contact info T m_penetrationDepth; Vector3 m_penetrationPointTriangle; Vector3 m_penetrationPointCapsule; Vector3 m_contactNormal; Vector3 m_penetrationPointCapsuleAxis; ///@} /// The transform of the capsule RigidTransform3 m_cTransform; /// The inverse transform of the capsule SurgSim::DataStructures::OptionalValue m_cInverseTransform; /// epsilon T m_epsilon; }; } template inline bool calculateContactTriangleCapsule( const Eigen::Matrix& tv0, const Eigen::Matrix& tv1, const Eigen::Matrix& tv2, const Eigen::Matrix& tn, const Eigen::Matrix& cv0, const Eigen::Matrix& cv1, double cr, T* penetrationDepth, Eigen::Matrix* penetrationPointTriangle, Eigen::Matrix* penetrationPointCapsule, Eigen::Matrix* contactNormal, Eigen::Matrix* penetrationPointCapsuleAxis) { TriangleCapsuleContactCalculation::TriangleCapsuleContactCalculation calc(tv0, tv1, tv2, tn, cv0, cv1, cr); if (calc.isIntersecting()) { calc.calculateContact(penetrationDepth, penetrationPointTriangle, penetrationPointCapsule, contactNormal, penetrationPointCapsuleAxis); return true; } return false; } template inline bool calculateContactTriangleCapsule( const Eigen::Matrix& tv0, const Eigen::Matrix& tv1, const Eigen::Matrix& tv2, const Eigen::Matrix& cv0, const Eigen::Matrix& cv1, double cr, T* penetrationDepth, Eigen::Matrix* penetrationPoint0, Eigen::Matrix* penetrationPoint1, Eigen::Matrix* contactNormal, Eigen::Matrix* penetrationPointCapsuleAxis) { Eigen::Matrix tn = (tv1 - tv0).cross(tv2 - tv0); Eigen::Matrix ca = cv1 - cv0; if (tn.isZero() || ca.isZero()) { // Degenerate triangle/capsule passed to calculateContactTriangleTriangle return false; } tn.normalize(); return calculateContactTriangleCapsule(tv0, tv1, tv2, tn, cv0, cv1, cr, penetrationDepth, penetrationPoint0, penetrationPoint1, contactNormal, penetrationPointCapsuleAxis); } } // namespace Math } // namespace SurgSim #endif // SURGSIM_MATH_TRIANGLECAPSULECONTACTCALCULATION_INL_H opensurgsim-0.7.0/SurgSim/Math/TriangleTriangleContactCalculation-inl.h000066400000000000000000000445621277777236100262700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_TRIANGLETRIANGLECONTACTCALCULATION_INL_H #define SURGSIM_MATH_TRIANGLETRIANGLECONTACTCALCULATION_INL_H namespace SurgSim { namespace Math { /// A helper class for a triangle, used for the following two purposes: /// - Clip against a given plane. /// - Find the deepest point given a plane. /// Created as a triangle and can become 4 or more sided polygon when clipped. /// \note The vertices are stored in order, so that the edges of the polygon run between adjacent vertices /// (and from the last vertex to the first). /// \tparam T Accuracy of the calculation. /// \tparam MOpt Eigen Matrix options. template class TriangleHelper { static const size_t CAPACITY = 10; typedef Eigen::Matrix Vector3; typedef boost::container::static_vector Vertices; public: /// Constructor using the triangle data to initialize. /// \param v0, v1, v2 The vertices of the triangle. /// \param n The normal of the triangle. TriangleHelper(const Vector3& v0, const Vector3& v1, const Vector3& v2, const Vector3& n) : m_normal(n), m_receiverBufferIndex(0) { m_vertices[0] = &v0; m_vertices[1] = &v1; m_vertices[2] = &v2; m_planeD = -m_vertices[0]->dot(m_normal); } /// Given a triangle, find the deepest vertex in the swept volume of that triangle. /// \param triangle The triangle against which the penetration is checked. /// \param [out] penetrationDepth The depth of the deepest point in this triangle to the triangle sent in. /// \param [out] penetrationPoint0 The penetration point on this triangle. /// \param [out] penetrationPoint1 The penetration point on the triangle sent in. void findDeepestPenetrationWithTriangle(const TriangleHelper& triangle, T* penetrationDepth, Vector3* penetrationPoint0, Vector3* penetrationPoint1) { m_clippedVerticesBuffer[0].push_back(*m_vertices[0]); m_clippedVerticesBuffer[0].push_back(*m_vertices[1]); m_clippedVerticesBuffer[0].push_back(*m_vertices[2]); m_receiverBufferIndex = 1; Vector3 clipPlaneNormal; T clipPlaneD; for (size_t i = 0; i < 3; ++i) { triangle.getPrismPlane(i, &clipPlaneNormal, &clipPlaneD); clipAgainstPlane(clipPlaneNormal, clipPlaneD); } findDeepestVertexUnderPlane(triangle.m_normal, triangle.m_planeD, penetrationDepth, penetrationPoint0); SURGSIM_ASSERT(*penetrationDepth <= T(0)) << "The distance from triangle is calculated as " << *penetrationDepth << ". At this point in the" << " algorithm, the depth is expected to be negative."; *penetrationPoint1 = *penetrationPoint0 - (triangle.m_normal * (*penetrationDepth)); *penetrationDepth = -(*penetrationDepth); } private: /// Get the bounding plane of the swept volume of this triangle. /// The swept volume of a triangle is an infinitely long prism. /// \param index There are three prism sides, the index indicates which one is to be calculated. /// \param planeNormal The outward facing normal of the prism plane. /// \param planeD d from the plane equation (n.x + d = 0) of the prism plane. void getPrismPlane(size_t index, Vector3* planeNormal, T* planeD) const { *planeNormal = *m_vertices[(index + 1) % 3] - *m_vertices[index]; *planeNormal = planeNormal->cross(m_normal); planeNormal->normalize(); *planeD = -m_vertices[index]->dot(*planeNormal); } /// Clip the polygon given a plane. Any part of the polygon above this plane is clipped. /// \note This may alter the number of vertices in this polygon. /// \param planeN The normal of the clipping plane. /// \param planeD The d from plane eqn (nx + d) of the clipping plane. void clipAgainstPlane(const Vector3& planeN, T planeD) { // Loop through the edges starting from (m_vertices[0]->m_vertices[1]) to // (m_vertices[m_numVertices - 1]->m_vertices[0]). // The start vertex and end vertex can be either under/on/over the clipping plane. // start | end | action // ---------------------------------------------- // under | under | add start to clipped vertices // under | on | add start to clipped vertices // under | over | add start to clipped vertices, clip the edge to the plane (creating a vertex) // on | under | add start to clipped vertices // on | on | add start to clipped vertices // on | over | add start to clipped vertices // over | under | clip the edge to the plane (creating a vertex) // over | on | none // over | over | none Vertices& clippedVertices = m_clippedVerticesBuffer[m_receiverBufferIndex]; m_receiverBufferIndex = (m_receiverBufferIndex + 1) % 2; Vertices& originalVertices = m_clippedVerticesBuffer[m_receiverBufferIndex]; clippedVertices.clear(); static const T EPSILON = T(Geometry::DistanceEpsilon); // Calculate the signed distance of the vertices from the clipping plane. boost::container::static_vector signedDistanceFromPlane; for (auto it = originalVertices.cbegin(); it != originalVertices.cend(); ++it) { signedDistanceFromPlane.push_back((*it).dot(planeN) + planeD); } // Temp variable. T ratio; // Iterators for the end vertices of an edge. typename boost::container::static_vector::iterator end; // Iterators for the signed distance from plane of the start and end vertices of an edge. auto startSignedDistance = signedDistanceFromPlane.begin(); typename boost::container::static_vector::iterator endSignedDistance; // Iterate over the edges of the current polygon. for (auto start = originalVertices.begin(); start != originalVertices.end(); ++start, ++startSignedDistance) { // If the end has reached the end of list, point it back to the front of list. end = start + 1; endSignedDistance = startSignedDistance + 1; if (end == originalVertices.end()) { end = originalVertices.begin(); endSignedDistance = signedDistanceFromPlane.begin(); } // If the vertex is under or on the plane, add to the clippedVertices. if (*startSignedDistance <= EPSILON) { clippedVertices.push_back(*start); } // If the edge runs from one side of the plane to another. Clip it. if ((*startSignedDistance < -EPSILON && *endSignedDistance > EPSILON) || (*startSignedDistance > EPSILON && *endSignedDistance < -EPSILON)) { ratio = *startSignedDistance / (*startSignedDistance - *endSignedDistance); clippedVertices.push_back(*start + (*end - *start) * ratio); } } } /// Find the deepest vertex of this polygon under the plane. /// \note Asserts if there are no vertices in the polygon. /// \param planeN The normal of the plane. /// \param planeD The distance from origin of the plane. /// \param [out] depth The depth of the deepest point in the polygon from the given plane. /// \param [out] point The deepest point in the polgon from the given plane. void findDeepestVertexUnderPlane(const Vector3& planeN, T planeD, T* depth, Vector3* point) const { const Vertices& originalVertices = m_clippedVerticesBuffer[(m_receiverBufferIndex + 1) % 2]; SURGSIM_ASSERT(originalVertices.size() > 0) << "There are no vertices under the plane. This scenario should not arise according to the" << " Triangle-Triangle Contact Calculation algorithm, because of the circumstances under which" << " this function is set to be called."; T signedDistanceFromPlane; *depth = T(0); for (auto it = originalVertices.cbegin(); it != originalVertices.cend(); ++it) { signedDistanceFromPlane = (*it).dot(planeN) + planeD; if (signedDistanceFromPlane < *depth) { *depth = signedDistanceFromPlane; *point = *it; } } } /// Original vertices of the triangle. const Vector3* m_vertices[3]; /// Normal of the triangle. const Vector3& m_normal; /// d from the plane equation (n.x + d = 0) for the plane of this triangle. T m_planeD; /// The buffers for the clipped vertices of the triangle. Vertices m_clippedVerticesBuffer[2]; size_t m_receiverBufferIndex; }; template inline bool calculateContactTriangleTriangle( const Eigen::Matrix& t0v0, const Eigen::Matrix& t0v1, const Eigen::Matrix& t0v2, const Eigen::Matrix& t1v0, const Eigen::Matrix& t1v1, const Eigen::Matrix& t1v2, const Eigen::Matrix& t0n, const Eigen::Matrix& t1n, T* penetrationDepth, Eigen::Matrix* penetrationPoint0, Eigen::Matrix* penetrationPoint1, Eigen::Matrix* contactNormal) { typedef Eigen::Matrix Vector3; // Check if the triangles intersect. if (!doesIntersectTriangleTriangle(t0v0, t0v1, t0v2, t1v0, t1v1, t1v2, t0n, t1n)) { return false; } // When control reaches here, the two triangles are definitely intersecting. // Calculate the deepest penetration along each of the triangle normals. TriangleHelper triangle1(t0v0, t0v1, t0v2, t0n); TriangleHelper triangle2(t1v0, t1v1, t1v2, t1n); // Penetration info to be calculated. T penetrationDepths[2] = {T(0), T(0)}; Vector3 penetrationPoints[2][2]; // Calculate deepest penetration for each of the triangle. triangle1.findDeepestPenetrationWithTriangle( triangle2, &penetrationDepths[0], &penetrationPoints[0][0], &penetrationPoints[0][1]); triangle2.findDeepestPenetrationWithTriangle( triangle1, &penetrationDepths[1], &penetrationPoints[1][1], &penetrationPoints[1][0]); // Choose the lower penetration of the two as the contact. if (penetrationDepths[0] < penetrationDepths[1]) { *penetrationDepth = penetrationDepths[0]; *contactNormal = t1n; *penetrationPoint0 = penetrationPoints[0][0]; *penetrationPoint1 = penetrationPoints[0][1]; } else { *penetrationDepth = penetrationDepths[1]; *contactNormal = -t0n; *penetrationPoint0 = penetrationPoints[1][0]; *penetrationPoint1 = penetrationPoints[1][1]; } return true; } template inline bool calculateContactTriangleTriangle( const Eigen::Matrix& t0v0, const Eigen::Matrix& t0v1, const Eigen::Matrix& t0v2, const Eigen::Matrix& t1v0, const Eigen::Matrix& t1v1, const Eigen::Matrix& t1v2, T* penetrationDepth, Eigen::Matrix* penetrationPoint0, Eigen::Matrix* penetrationPoint1, Eigen::Matrix* contactNormal) { Eigen::Matrix t0n = (t0v1 - t0v0).cross(t0v2 - t0v0); Eigen::Matrix t1n = (t1v1 - t1v0).cross(t1v2 - t1v0); if (t0n.isZero() || t1n.isZero()) { // Degenerate triangle(s) passed to calculateContactTriangleTriangle return false; } t0n.normalize(); t1n.normalize(); return calculateContactTriangleTriangle(t0v0, t0v1, t0v2, t1v0, t1v1, t1v2, t0n, t1n, penetrationDepth, penetrationPoint0, penetrationPoint1, contactNormal); } template inline bool calculateContactTriangleTriangleSeparatingAxis( const Eigen::Matrix& t0v0, const Eigen::Matrix& t0v1, const Eigen::Matrix& t0v2, const Eigen::Matrix& t1v0, const Eigen::Matrix& t1v1, const Eigen::Matrix& t1v2, const Eigen::Matrix& t0n, const Eigen::Matrix& t1n, T* penetrationDepth, Eigen::Matrix* penetrationPoint0, Eigen::Matrix* penetrationPoint1, Eigen::Matrix* contactNormal) { typedef Eigen::Matrix Vector3; using SurgSim::Math::Geometry::DistanceEpsilon; using SurgSim::Math::Geometry::ScalarEpsilon; SURGSIM_ASSERT(std::abs(t0n.norm() - 1.0) < ScalarEpsilon && std::abs(t1n.norm() - 1.0) < ScalarEpsilon) << "The normals sent in are not normalized! t0n{" << t0n.transpose() << "}, t1n{" << t1n.transpose() << "}."; // Early Rejection test: // If all the vertices of one triangle are on one side of the plane of the other triangle, // there is no intersection. std::array d = {Vector3(t1n.dot(t0v0 - t1v0), t1n.dot(t0v1 - t1v0), t1n.dot(t0v2 - t1v0)), Vector3(t0n.dot(t1v0 - t0v0), t0n.dot(t1v1 - t0v0), t0n.dot(t1v2 - t0v0))}; if ((d[0].array() < DistanceEpsilon).all() || (d[0].array() > -DistanceEpsilon).all() || (d[1].array() < DistanceEpsilon).all() || (d[1].array() > -DistanceEpsilon).all()) { return false; } const std::array, 2> tv = {{{t0v0, t0v1, t0v2}, {t1v0, t1v1, t1v2}}}; // Find the intersection between a triangle and the plane of the other triangle. These intersections would // lie on the separating axis (which is the cross product of the triangle normals). // The name tsa is to indicate that this is storing the intersection of the Triangle with the Separating Axis. std::array, 2> tsa; for (int i = 0; i < 2; ++i) { int index = 0; for (int j = 0; j < 3; ++j) { int k = (j + 1) % 3; // Intersect the edge tivj->tivk with the plane of t{(i+1)/2} if ((d[i][j] < 0.0 && d[i][k] >= 0.0) || (d[i][j] > 0.0 && d[i][k] <= 0.0)) { // The edge intersects the plane of t{(i+1)/2}. auto ratio = std::abs(d[i][j]) / (std::abs(d[i][j]) + std::abs(d[i][k])); tsa[i][index++] = tv[i][j] + ratio * (tv[i][k] - tv[i][j]); } } SURGSIM_ASSERT(index == 2) << "The intersection between the edges of triangle " << i << " and the plane of the other triangle" << " must result in two points exactly."; } // The separating axis. const Vector3 D = t0n.cross(t1n).normalized(); Vector3 result; SURGSIM_ASSERT(distancePointLine(tsa[0][1], tsa[0][0], (tsa[0][0] + D).eval(), &result) < DistanceEpsilon && distancePointLine(tsa[1][0], tsa[0][0], (tsa[0][0] + D).eval(), &result) < DistanceEpsilon && distancePointLine(tsa[1][1], tsa[0][0], (tsa[0][0] + D).eval(), &result) < DistanceEpsilon) << "The intersection points on the triangles do not lie on the separating axis"; static const int DISTANCE = 0; static const int TRIANGLE = 1; static const int VERTEX = 2; // Find the signed distance of the four points on D (from tsa[0][0]) // Store it in a tuple containing this signed distance, the corresponding triangle ID and vertex ID. std::array, 4> intervals = {std::tuple(0.0, 0, 0), std::tuple((tsa[0][1] - tsa[0][0]).dot(D), 0, 1), std::tuple((tsa[1][0] - tsa[0][0]).dot(D), 1, 0), std::tuple((tsa[1][1] - tsa[0][0]).dot(D), 1, 1)}; // Sort the signed distance std::sort(intervals.begin(), intervals.end(), [](const std::tuple& i, std::tuple& j) { return (std::get(i) < std::get(j)); }); // The intersections of the triangles on the separating axis (P, Q, R, S) are now sorted according to their distance // along the separating axis. // // *--------*--------*--------* // P Q R S // If P and Q belong to the same triangle, there is no intersection between the triangles. enum {P = 0, Q, R, S}; if (std::get(intervals[P]) == std::get(intervals[Q])) { return false; } // At this point, there is some overlap of the triangles along the separating axis. size_t indexLeft, indexRight; if (std::get(intervals[Q]) == std::get(intervals[R])) { // Q and R belong to the same triangle: Depending on whether PQ or RS is shorter, either PS is moved to the // right of QR or QR is moved to the right of PS. // // *--------*--------*--------* // P Q R S // *--------* // t1 // *--------------------------* // t2 if ((std::get(intervals[Q]) - std::get(intervals[P])) < (std::get(intervals[S]) - std::get(intervals[R]))) { indexLeft = P; indexRight = R; } else { indexLeft = Q; indexRight = S; } } else { // Q and R belong to different triangle: QS is moved to the right of PR. // // *--------*--------*--------* // P Q R S // *-----------------* // t1 // *-----------------* // t2 indexLeft = Q; indexRight = R; } *penetrationDepth = std::get(intervals[indexRight]) - std::get(intervals[indexLeft]); if (*penetrationDepth < DistanceEpsilon) { // Not enough overlap to be determined as an intersection. return false; } if (std::get(intervals[indexLeft]) == 0) { *penetrationPoint0 = tsa[0][std::get(intervals[indexLeft])]; *penetrationPoint1 = tsa[1][std::get(intervals[indexRight])]; } else { *penetrationPoint0 = tsa[0][std::get(intervals[indexRight])]; *penetrationPoint1 = tsa[1][std::get(intervals[indexLeft])]; } if ((*penetrationPoint0 - *penetrationPoint1).dot(D) > 0.0) { *contactNormal = -D; } else { *contactNormal = D; } return true; } template inline bool calculateContactTriangleTriangleSeparatingAxis( const Eigen::Matrix& t0v0, const Eigen::Matrix& t0v1, const Eigen::Matrix& t0v2, const Eigen::Matrix& t1v0, const Eigen::Matrix& t1v1, const Eigen::Matrix& t1v2, T* penetrationDepth, Eigen::Matrix* penetrationPoint0, Eigen::Matrix* penetrationPoint1, Eigen::Matrix* contactNormal) { Eigen::Matrix t0n = (t0v1 - t0v0).cross(t0v2 - t0v0); Eigen::Matrix t1n = (t1v1 - t1v0).cross(t1v2 - t1v0); if (t0n.isZero() || t1n.isZero()) { // Degenerate triangle(s) passed to calculateContactTriangleTriangle return false; } t0n.normalize(); t1n.normalize(); return calculateContactTriangleTriangleSeparatingAxis(t0v0, t0v1, t0v2, t1v0, t1v1, t1v2, t0n, t1n, penetrationDepth, penetrationPoint0, penetrationPoint1, contactNormal); } } // namespace Math } // namespace SurgSim #endif // SURGSIM_MATH_TRIANGLETRIANGLECONTACTCALCULATION_INL_H opensurgsim-0.7.0/SurgSim/Math/TriangleTriangleIntersection-inl.h000066400000000000000000000166171277777236100251640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_TRIANGLETRIANGLEINTERSECTION_INL_H #define SURGSIM_MATH_TRIANGLETRIANGLEINTERSECTION_INL_H namespace { static const double EPSILOND = 1e-12; } namespace SurgSim { namespace Math { /// Two ends of the triangle edge are given in terms of the following vertex properties. /// - Signed distance from the colliding triangle. /// - Projection on the separating axis. /// Get the intersection of this edge and the plane in terms of the projection on the separating axis. /// \tparam T Accuracy of the calculation, can usually be inferred. /// \param dStart Signed distance of the start of edge from the plane of the colliding triangle. /// \param dEnd Signed distance of the end of edge from the plane of the colliding triangle. /// \param pvStart Projection of the start of edge from the plane of the colliding triangle. /// \param pvEnd Projection of the end of edge from the plane of the colliding triangle. /// \param parametricIntersection Parametric representation of the intersection between the triangle edge /// and the plane in terms of the projection on the separating axis. /// \param parametricIntersectionIndex The array index of parametricIntersection. template void edgeIntersection(T dStart, T dEnd, T pvStart, T pvEnd, T* parametricIntersection, size_t* parametricIntersectionIndex) { // Epsilon used in this function. static const T EPSILON = static_cast(EPSILOND); bool edgeFromUnderToAbove = dStart < 0.0 && dEnd >= 0.0; bool edgeFromAboveToUnder = dStart > 0.0 && dEnd <= 0.0; if (edgeFromUnderToAbove || edgeFromAboveToUnder) { if (std::abs(dStart - dEnd) < EPSILON) { // Start and End are really close. Pick start. parametricIntersection[(*parametricIntersectionIndex)++] = pvStart; } else { // Clip to the point in the intersection of Start->End and plane of the colliding triangle. parametricIntersection[(*parametricIntersectionIndex)++] = pvStart + (pvEnd - pvStart) * (dStart / (dStart - dEnd)); } } } template inline bool doesIntersectTriangleTriangle( const Eigen::Matrix& t0v0, const Eigen::Matrix& t0v1, const Eigen::Matrix& t0v2, const Eigen::Matrix& t1v0, const Eigen::Matrix& t1v1, const Eigen::Matrix& t1v2, const Eigen::Matrix& t0n, const Eigen::Matrix& t1n) { typedef Eigen::Matrix Vector3; using SurgSim::Math::Geometry::DistanceEpsilon; if (t0n.isZero() || t1n.isZero()) { // Degenerate triangle(s) passed to checkTriangleTriangleIntersection. return false; } // Variable names mentioned here are the notations used in the paper: // T1 - Triangle with vertices (t0v0, t0v1, t0v2). // T2 - Triangle with vertices (t1v0, t1v1, t1v2). // d1[3] - Signed distances of the vertices of T1 from the plane of T2. // d2[3] - Signed distances of the vertices of T2 from the plane of T1. // D - Separating axis used for the test. This is calculated as the cross products of the triangle normals. // pv1[3] - Projection of the vertices of T1 onto the separating axis (D). // pv2[3] - Projection of the vertices of T2 onto the separating axis (D). // s1[2] - The intersection between T1 and D is a line segment. // s1[0] and s1[1] are the parametric representation of the ends of this line segment. // s2[2] - The intersection between T2 and D is a line segment. // s2[0] and s2[1] are the parametric representation of the ends of this line segment. // Early Rejection test: // If all the vertices of one triangle are on one side of the plane of the other triangle, // there is no intersection. // Check if all the vertices of T2 are on one side of p1. // Plane eqn of T1: DotProduct(t0n, X) + distanceFromOrigin = 0 // where distanceFromOrigin = -DotProduct(t0n, t0v0) // So, plane eqn of T1: DotProduct(t0n, X - t0v0) = 0 // Distance of first vertex of T2 from the plane of T1 is: DotProduct(t0n, t1v0 - t0v0) Vector3 d2(t0n.dot(t1v0 - t0v0), t0n.dot(t1v1 - t0v0), t0n.dot(t1v2 - t0v0)); if ((d2.array() < DistanceEpsilon).all() || (d2.array() > -DistanceEpsilon).all()) { return false; } // Check if all the vertices of T1 are on one side of p2. Vector3 d1(t1n.dot(t0v0 - t1v0), t1n.dot(t0v1 - t1v0), t1n.dot(t0v2 - t1v0)); if ((d1.array() < DistanceEpsilon).all() || (d1.array() > -DistanceEpsilon).all()) { return false; } // The separating axis. Vector3 D = t0n.cross(t1n).normalized(); // Projection of the triangle vertices on the separating axis. Vector3 pv1(D.dot(t0v0), D.dot(t0v1), D.dot(t0v2)); Vector3 pv2(D.dot(t1v0), D.dot(t1v1), D.dot(t1v2)); // The intersection of the triangles with the separating axis (D). T s1[3]; T s2[3]; size_t s1Index = 0; size_t s2Index = 0; // Loop through the edges of each triangle and find the intersection of these edges onto // the plane of the other triangle. for (int i = 0; i < 3; ++i) { int j = (i + 1) % 3; edgeIntersection(d1[i], d1[j], pv1[i], pv1[j], s1, &s1Index); edgeIntersection(d2[i], d2[j], pv2[i], pv2[j], s2, &s2Index); } SURGSIM_ASSERT(s1Index == 2 && s2Index == 2) << "The intersection between the triangle and the separating axis is not a line segment." << " This scenario cannot happen, at this point in the algorithm."; // s1[0], s1[1] are the (unordered) extents of the projection of T1 on D. // s2[0], s2[1] are the (unordered) extents of the projection of T2 on D. // If both these are line segments (i.e. the distance between them is > epsilon), // and if they overlap, then the two triangles intersect. return !(std::abs(s1[0] - s1[1]) <= DistanceEpsilon || std::abs(s2[0] - s2[1]) <= DistanceEpsilon) && !(s1[0] <= (s2[0] + DistanceEpsilon) && s1[0] <= (s2[1] + DistanceEpsilon) && s1[1] <= (s2[0] + DistanceEpsilon) && s1[1] <= (s2[1] + DistanceEpsilon)) && !(s1[0] >= (s2[0] - DistanceEpsilon) && s1[0] >= (s2[1] - DistanceEpsilon) && s1[1] >= (s2[0] - DistanceEpsilon) && s1[1] >= (s2[1] - DistanceEpsilon)); } template inline bool doesIntersectTriangleTriangle( const Eigen::Matrix& t0v0, const Eigen::Matrix& t0v1, const Eigen::Matrix& t0v2, const Eigen::Matrix& t1v0, const Eigen::Matrix& t1v1, const Eigen::Matrix& t1v2) { Eigen::Matrix t0n = (t0v1 - t0v0).cross(t0v2 - t0v0); Eigen::Matrix t1n = (t1v1 - t1v0).cross(t1v2 - t1v0); if (t0n.isZero() || t1n.isZero()) { // Degenerate triangle(s) passed to checkTriangleTriangleIntersection. return false; } t0n.normalize(); t1n.normalize(); return doesIntersectTriangleTriangle(t0v0, t0v1, t0v2, t1v0, t1v1, t1v2, t0n, t1n); } } // namespace Math } // namespace SurgSim #endif // SURGSIM_MATH_TRIANGLETRIANGLEINTERSECTION_INL_H opensurgsim-0.7.0/SurgSim/Math/UnitTests/000077500000000000000000000000001277777236100203405ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Math/UnitTests/AabbTests.cpp000066400000000000000000000057211277777236100227210ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include "SurgSim/Math/Aabb.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/RigidTransform.h" namespace SurgSim { namespace Math { TEST(AabbTests, DoIntersectTest) { Aabbd center(Vector3d(-1.0, -1.0, -1.0), Vector3d(1.0, 1.0, 1.0)); // Move the sampler around in all directions only when one of the factors is greater than 2 // Should the intersection fail for (double i = -3.0; i <= 3.0; i += 1) { for (double j = -3.0; j <= 3.0; j += 1) { for (double k = -3.0; k <= 3.0; k += 1) { Vector3d translation(i, j, k); /// Whenever all of the coordinates are <= 2.0 the result should be true bool expected = (translation.cwiseAbs().array().abs() <= Vector3d(2.0, 2.0, 2.0).array()).all(); Aabbd sampler = Aabbd(center).translate(translation); EXPECT_EQ(expected, doAabbIntersect(center, sampler)) << "Error For " << translation.transpose(); EXPECT_EQ(expected, doAabbIntersect(sampler, center)) << "Error For " << translation.transpose(); EXPECT_EQ(expected, doAabbIntersect(center, sampler, 0.0)) << "Error For " << translation.transpose(); EXPECT_EQ(expected, doAabbIntersect(sampler, center, 0.0)) << "Error For " << translation.transpose(); double tolerance = 0.01; expected = (translation.cwiseAbs().array().abs() <= Vector3d(2.0 + tolerance, 2.0 + tolerance, 2.0 + tolerance).array()).all(); EXPECT_EQ(expected, doAabbIntersect(center, sampler, tolerance)) << "Error For " << tolerance << " " << translation.transpose(); EXPECT_EQ(expected, doAabbIntersect(sampler, center, tolerance)) << "Error For " << tolerance << " " << translation.transpose(); } } } } TEST(AabbdTests, makeAabb) { Vector3d one(0.0, 0.0, 0.0); Vector3d two(-1.0, -1.0, -1.0); Vector3d three(1.0, 1.0, 1.0); Aabbd aabb(makeAabb(one, two, three)); Aabbd expected(Vector3d(-1.0, -1.0, -1.0), Vector3d(1.0, 1.0, 1.0)); EXPECT_TRUE(expected.isApprox(aabb)); } TEST(AabbdTest, rotateAabb) { Vector3d one(1.0, 2.0, 3.0); Vector3d two(-6.0, -4.0, -3.0); RigidTransform3d transform = makeRigidTransform(Quaterniond(0.0, 1.0, 0.0, 0.0), Vector3d(1.0, 2.0, 3.0)); Aabbd expected(transform * one); expected.extend(transform * two); Aabbd aabb(one); aabb.extend(two); aabb = transformAabb(transform, aabb); EXPECT_TRUE(expected.isApprox(aabb)); } } } opensurgsim-0.7.0/SurgSim/Math/UnitTests/AngleAxisTests.cpp000066400000000000000000000037651277777236100237550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests that exercise the functionality of our quaternion typedefs, which /// come straight from Eigen. #include #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/MathConvert.h" #include "gtest/gtest.h" // Define test fixture class templates. // We don't really need fixtures as such, but the templatization encodes type. template class AngleAxisTests : public testing::Test { public: typedef T AngleAxis; typedef typename T::Scalar Scalar; }; typedef ::testing::Types AngleAxisVariants; TYPED_TEST_CASE(AngleAxisTests, AngleAxisVariants); // Now we're ready to start testing... // Test conversion to and from yaml node TYPED_TEST(AngleAxisTests, YamlConvert) { typedef typename TestFixture::AngleAxis AngleAxis; typedef typename TestFixture::Scalar T; AngleAxis angleAxis; angleAxis.angle() = T(0.1); angleAxis.axis()[0] = T(1.2); angleAxis.axis()[1] = T(2.3); angleAxis.axis()[2] = T(3.4); YAML::Node node; ASSERT_NO_THROW(node = angleAxis); EXPECT_TRUE(node.IsMap()); YAML::Node angleNode = node["Angle"]; EXPECT_TRUE(angleNode.IsScalar()); YAML::Node axisNode = node["Axis"]; EXPECT_TRUE(axisNode.IsSequence()); EXPECT_EQ(3u, axisNode.size()); ASSERT_NO_THROW({ AngleAxis expected = node.as(); }); EXPECT_TRUE(angleAxis.isApprox(node.as())); } opensurgsim-0.7.0/SurgSim/Math/UnitTests/CMakeLists.txt000066400000000000000000000056441277777236100231110ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES AabbTests.cpp CardinalSplinesTests.cpp CompoundShapeTests.cpp CubicSolverTests.cpp GeometryTests.cpp IntervalArithmeticTests.cpp KalmanFilterTests.cpp LinearMotionArithmeticTests.cpp MakeRigidTransformTests.cpp MeshShapeTests.cpp MinMaxTests.cpp MlcpGaussSeidelSolverTests.cpp OdeEquationTests.cpp OdeSolverEulerExplicitModifiedTests.cpp OdeSolverEulerExplicitTests.cpp OdeSolverEulerImplicitTests.cpp OdeSolverRungeKutta4Tests.cpp OdeSolverStaticTests.cpp OdeSolverTests.cpp OdeStateTests.cpp ParticlesShapeTests.cpp PolynomialRootTests.cpp PolynomialTests.cpp PolynomialValuesTests.cpp ScalarTests.cpp SegmentMeshShapeTests.cpp ShapeTests.cpp SurfaceMeshShapeTests.cpp TriangleCapsuleContactCalculationTests.cpp TriangleTriangleContactCalculationTests.cpp TriangleTriangleIntersectionTests.cpp TriangleTriangleSeparatingAxisContactCalculationTests.cpp ValidTests.cpp ) set(UNIT_TEST_HEADERS MockCapsule.h MockObject.h MockTriangle.h TriangleTriangleTestParameters.h ) set(UNIT_TEST_EIGEN_TYPE_SOURCES AngleAxisTests.cpp LinearSolveAndInverseTests.cpp LinearSparseSolveAndInverseTests.cpp MatrixTests.cpp QuaternionTests.cpp RigidTransformTests.cpp SparseMatrixTests.cpp VectorTests.cpp ) set(UNIT_TEST_EIGEN_TYPE_HEADERS ) option(BUILD_TESTING_EIGEN "Include basic tests for Eigen math class typedefs, which build very slowly." OFF) if(BUILD_TESTING_EIGEN) set(UNIT_TEST_SOURCES ${UNIT_TEST_SOURCES} ${UNIT_TEST_EIGEN_TYPE_SOURCES}) set(UNIT_TEST_HEADERS ${UNIT_TEST_HEADERS} ${UNIT_TEST_EIGEN_TYPE_HEADERS}) # Fix a problem with 64-bit builds running out of sections. if(MSVC AND CMAKE_CL_64) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj") endif(MSVC AND CMAKE_CL_64) endif(BUILD_TESTING_EIGEN) set(LIBS SurgSimMath MlcpTestIO ) file(COPY ${SURGSIM_SOURCE_DIR}/SurgSim/Math/UnitTests/MlcpTestData DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) file(COPY ${SURGSIM_SOURCE_DIR}/SurgSim/Math/UnitTests/Data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) surgsim_add_unit_tests(SurgSimMathTest) set_target_properties(SurgSimMathTest PROPERTIES FOLDER "Math") opensurgsim-0.7.0/SurgSim/Math/UnitTests/CardinalSplinesTests.cpp000066400000000000000000000072421277777236100251470ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for Cardinal Splines interpolation utilities /// #include #include #include #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Math/CardinalSplines.h" TEST(CardinalSplinesTests, extension) { { SurgSim::DataStructures::VerticesPlain emptyPoints; std::vector result; EXPECT_ANY_THROW(SurgSim::Math::CardinalSplines::extendControlPoints(emptyPoints, &result)); } { SurgSim::DataStructures::VerticesPlain onePoints; onePoints.addVertex(SurgSim::DataStructures::VerticesPlain::VertexType(SurgSim::Math::Vector3d(0.0, 1.0, 2.0))); std::vector result; EXPECT_ANY_THROW(SurgSim::Math::CardinalSplines::extendControlPoints(onePoints, &result)); } { SurgSim::DataStructures::VerticesPlain twoPoints; twoPoints.addVertex(SurgSim::DataStructures::VerticesPlain::VertexType(SurgSim::Math::Vector3d(0.0, 0.0, 0.0))); twoPoints.addVertex(SurgSim::DataStructures::VerticesPlain::VertexType(SurgSim::Math::Vector3d(1.0, 2.0, 3.0))); EXPECT_ANY_THROW(SurgSim::Math::CardinalSplines::extendControlPoints(twoPoints, nullptr)); } { SurgSim::DataStructures::VerticesPlain twoPoints; twoPoints.addVertex(SurgSim::DataStructures::VerticesPlain::VertexType(SurgSim::Math::Vector3d(0.0, 0.0, 0.0))); twoPoints.addVertex(SurgSim::DataStructures::VerticesPlain::VertexType(SurgSim::Math::Vector3d(1.0, 2.0, 3.0))); std::vector result; EXPECT_NO_THROW(SurgSim::Math::CardinalSplines::extendControlPoints(twoPoints, &result)); EXPECT_EQ(4u, result.size()); EXPECT_TRUE(result[0].isApprox(SurgSim::Math::Vector3d(-1.0, -2.0, -3.0))); EXPECT_TRUE(result[3].isApprox(SurgSim::Math::Vector3d(2.0, 4.0, 6.0))); } } TEST(CardinalSplinesTests, interpolate) { std::vector controlPoints; std::vector points; controlPoints.push_back(SurgSim::Math::Vector3d(0.0, 1.0, 2.0)); controlPoints.push_back(SurgSim::Math::Vector3d(0.1, 1.1, 2.1)); controlPoints.push_back(SurgSim::Math::Vector3d(0.2, 1.2, 2.2)); // Less than 4 control points. EXPECT_ANY_THROW(SurgSim::Math::CardinalSplines::interpolate(1, controlPoints, &points, 0.5)); controlPoints.push_back(SurgSim::Math::Vector3d(0.3, 1.3, 2.3)); EXPECT_NO_THROW(SurgSim::Math::CardinalSplines::interpolate(0, controlPoints, &points, 0.5)); EXPECT_EQ(4u, points.size()); auto control = controlPoints.begin(); for (auto point : points) { EXPECT_DOUBLE_EQ(point[0], (*control)[0]); EXPECT_DOUBLE_EQ(point[1], (*control)[1]); EXPECT_DOUBLE_EQ(point[2], (*control)[2]); control++; } points.clear(); EXPECT_ANY_THROW(SurgSim::Math::CardinalSplines::interpolate(1, controlPoints, &points, -0.5)); EXPECT_ANY_THROW(SurgSim::Math::CardinalSplines::interpolate(1, controlPoints, &points, 1.5)); EXPECT_ANY_THROW(SurgSim::Math::CardinalSplines::interpolate(1, controlPoints, nullptr, 0.5)); EXPECT_NO_THROW(SurgSim::Math::CardinalSplines::interpolate(10, controlPoints, &points, 0.5)); EXPECT_EQ(10u, points.size()); }opensurgsim-0.7.0/SurgSim/Math/UnitTests/CompoundShapeTests.cpp000066400000000000000000000163441277777236100246440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Math/CompoundShape.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/Shapes.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include namespace SurgSim { namespace Math { struct CompoundShapeTest : public ::testing::Test { public: virtual void SetUp() { compoundShape = std::make_shared(); shape1 = std::make_shared(1.0, 1.0, 1.0); shape2 = std::make_shared(1.0, 2.0, 1.0); transform1 = makeRigidTranslation(Vector3d(-1.0, 0.0, 0.0)); transform2 = makeRigidTranslation(Vector3d(1.0, 0.0, 0.0)); } std::shared_ptr compoundShape; std::shared_ptr shape1; std::shared_ptr shape2; RigidTransform3d transform1; RigidTransform3d transform2; }; TEST_F(CompoundShapeTest, SimpleShapes) { EXPECT_EQ(0u, compoundShape->getNumShapes()); auto index = compoundShape->addShape(shape1); EXPECT_EQ(0u, index); EXPECT_EQ(1u, compoundShape->getNumShapes()); index = compoundShape->addShape(shape2, transform2); EXPECT_EQ(1u, index); EXPECT_EQ(2u, compoundShape->getNumShapes()); EXPECT_EQ(shape1, compoundShape->getShape(0)); EXPECT_EQ(shape2, compoundShape->getShape(1)); EXPECT_ANY_THROW(compoundShape->getShape(3)); compoundShape->clearShapes(); EXPECT_EQ(0u, compoundShape->getNumShapes()); } TEST_F(CompoundShapeTest, Transforms) { compoundShape->addShape(shape1); EXPECT_TRUE(RigidTransform3d::Identity().isApprox(compoundShape->getPose(0))); compoundShape->addShape(shape2, transform2); EXPECT_TRUE(transform2.isApprox(compoundShape->getPose(1))); compoundShape->setPose(0, transform2); EXPECT_TRUE(transform2.isApprox(compoundShape->getPose(0))); compoundShape->setPose(1, transform1); std::vector poses; EXPECT_ANY_THROW(compoundShape->setPoses(poses)); poses.push_back(transform1); poses.push_back(transform2); EXPECT_NO_THROW(compoundShape->setPoses(poses)); EXPECT_TRUE(transform1.isApprox(compoundShape->getPose(0))); EXPECT_TRUE(transform2.isApprox(compoundShape->getPose(1))); } TEST_F(CompoundShapeTest, Volume) { EXPECT_DOUBLE_EQ(0.0, compoundShape->getVolume()); compoundShape->addShape(shape1); EXPECT_DOUBLE_EQ(1.0, compoundShape->getVolume()); compoundShape->addShape(shape2, transform2); EXPECT_DOUBLE_EQ(3.0, compoundShape->getVolume()); } TEST_F(CompoundShapeTest, Center) { Vector3d center = Vector3d::Zero(); EXPECT_TRUE(center.isApprox(compoundShape->getCenter())) << "Expected:" << center.transpose() << " Actual: " << compoundShape->getCenter().transpose(); center = transform1.translation(); compoundShape->addShape(shape1, transform1); EXPECT_TRUE(center.isApprox(compoundShape->getCenter())) << "Expected:" << center.transpose() << " Actual: " << compoundShape->getCenter().transpose(); EXPECT_DOUBLE_EQ(1.0, compoundShape->getVolume()); center = Vector3d(1.0 - 2.0 / 3.0, 0.0, 0.0); compoundShape->addShape(shape2, transform2); EXPECT_TRUE(center.isApprox(compoundShape->getCenter())) << "Expected:" << center.transpose() << " Actual: " << compoundShape->getCenter().transpose(); EXPECT_DOUBLE_EQ(3.0, compoundShape->getVolume()); } TEST_F(CompoundShapeTest, SecondMomentOfVolumeBasic) { auto zero = Math::Matrix33d::Zero(); EXPECT_TRUE(zero.isApprox(compoundShape->getSecondMomentOfVolume())); auto box1 = std::make_shared(1.0, 1.0, 1.0); auto box2 = std::make_shared(2.0, 1.0, 1.0); auto left = makeRigidTranslation(Vector3d(-0.5, 0.0, 0.0)); auto right = makeRigidTranslation(Vector3d(0.5, 0.0, 0.0)); compoundShape->addShape(box1); auto shapeInertia = box1->getSecondMomentOfVolume(); auto compoundInertia = compoundShape->getSecondMomentOfVolume(); EXPECT_TRUE(shapeInertia.isApprox(compoundInertia)); compoundShape->clearShapes(); compoundShape->addShape(box1, left); compoundShape->addShape(box1, right); shapeInertia = box2->getSecondMomentOfVolume(); compoundInertia = compoundShape->getSecondMomentOfVolume(); EXPECT_TRUE(shapeInertia.isApprox(compoundInertia)); } TEST_F(CompoundShapeTest, SecondMomentOfVolumeComplex) { // Organisation of shape // // tl Y-Axis // tl ^ // bl -> 0, Z-Axis // bl // bl auto base = std::make_shared(1.0, 5.0, 2.0); auto l = std::make_shared(1.0, 5.0, 1.0); compoundShape->addShape(l, makeRigidTranslation(Vector3d(0.0, 0.0, 0.5))); auto t = std::make_shared(2.0, 1.0, 1.0); Quaterniond quat = makeRotationQuaternion(M_PI_2, Vector3d::UnitZ().eval()); auto transform = makeRigidTransform(quat, Vector3d(0.0, 1.5, -0.5)); compoundShape->addShape(t, transform); auto b = std::make_shared(3.0, 1.0, 1.0); quat = makeRotationQuaternion(-M_PI_2, Vector3d::UnitZ().eval()); transform = makeRigidTransform(quat, Vector3d(0.0, -1.0, -0.5)); compoundShape->addShape(b, transform); auto shapeInertia = base->getSecondMomentOfVolume(); auto compoundInertia = compoundShape->getSecondMomentOfVolume(); EXPECT_TRUE(shapeInertia.isApprox(compoundInertia)); } TEST_F(CompoundShapeTest, Properties) { auto box = std::make_shared(1.0, 5.0, 2.0); std::vector shapes, result; shapes.emplace_back(shape1, transform1); shapes.emplace_back(box, transform2); ASSERT_NO_THROW(compoundShape->setValue("Shapes", shapes)); ASSERT_NO_THROW(result = compoundShape->getValue>("Shapes")); // Spot check content EXPECT_EQ(2u, result.size()); EXPECT_TRUE(transform2.isApprox(result[1].second)); } TEST_F(CompoundShapeTest, Serialization) { std::shared_ptr shape; ASSERT_NO_THROW(shape = Shape::getFactory().create("SurgSim::Math::CompoundShape")); std::vector shapes; shapes.emplace_back(shape1, transform1); shapes.emplace_back(shape2, transform2); shape->setValue("Shapes", shapes); EXPECT_TRUE(shape->isValid()); YAML::Node node; ASSERT_NO_THROW(node = shape); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); ASSERT_TRUE(node["SurgSim::Math::CompoundShape"].IsDefined()); auto data = node["SurgSim::Math::CompoundShape"]; EXPECT_EQ(1u, data.size()); std::shared_ptr compoundShape; ASSERT_NO_THROW(compoundShape = std::dynamic_pointer_cast(node.as>())); EXPECT_EQ("SurgSim::Math::CompoundShape", compoundShape->getClassName()); EXPECT_TRUE(compoundShape->isValid()); // Check de-serialized data std::vector result; ASSERT_NO_THROW(result = compoundShape->getValue>("Shapes")); EXPECT_EQ(2u, result.size()); EXPECT_TRUE(transform2.isApprox(result[1].second)); } } } opensurgsim-0.7.0/SurgSim/Math/UnitTests/CubicSolverTests.cpp000066400000000000000000000153571277777236100243220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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. /// \file CubicSolverTests.cpp /// Tests for the cubic solver function. #include #include "SurgSim/Math/CubicSolver.h" namespace SurgSim { namespace Math { typedef Polynomial CubicPolynomial; TEST(CubicSolverTests, DegenerateCases) { std::array roots; int numberOfRoots; { SCOPED_TRACE("0.x^3 + x^2 + x + 1 = 0 (no solution on R: none on [0..1])"); EXPECT_NO_THROW(numberOfRoots = findRootsInRange01(CubicPolynomial(1.0, 1.0, 1.0, 0.0), &roots)); EXPECT_EQ(0, numberOfRoots); } { SCOPED_TRACE("0.x^3 + 1x^2 + 4x - 12 = 0 (2 solutions on R: -6 and 2, none on [0..1])"); EXPECT_NO_THROW(numberOfRoots = findRootsInRange01(CubicPolynomial(-12.0, 4.0, 1.0, 0.0), &roots)); EXPECT_EQ(0, numberOfRoots); } { SCOPED_TRACE("0.x^3 + x^2 + 0x + 0 = 0 (1 solution on R: 0, 1 on [0..1])"); EXPECT_NO_THROW(numberOfRoots = findRootsInRange01(CubicPolynomial(0.0, 0.0, 1.0, 0.0), &roots)); EXPECT_EQ(1, numberOfRoots); EXPECT_DOUBLE_EQ(0.0, roots[0]); } { SCOPED_TRACE("0.x^3 + x^2 + x - 2 = 0 (2 solutions on R: -2 and 1, 1 on [0..1])"); EXPECT_NO_THROW(numberOfRoots = findRootsInRange01(CubicPolynomial(-2.0, 1.0, 1.0, 0.0), &roots)); EXPECT_EQ(1, numberOfRoots); EXPECT_DOUBLE_EQ(1.0, roots[0]); } { SCOPED_TRACE("0.x^3 + 2x^2 + x - 1 = 0 (2 solutions on R: -1 and 0.5, 1 on [0..1])"); EXPECT_NO_THROW(numberOfRoots = findRootsInRange01(CubicPolynomial(-1.0, 1.0, 2.0, 0.0), &roots)); EXPECT_EQ(1, numberOfRoots); EXPECT_DOUBLE_EQ(0.5, roots[0]); } }; TEST(CubicSolverTests, dNullCase) { std::array roots; int numberOfRoots; { SCOPED_TRACE("x^3 + x^2 + x + 0 = 0"); EXPECT_NO_THROW(numberOfRoots = findRootsInRange01(CubicPolynomial(0.0, 1.0, 1.0, 1.0), &roots)); EXPECT_EQ(1, numberOfRoots); EXPECT_DOUBLE_EQ(0.0, roots[0]); } } TEST(CubicSolverTests, DerivativeNullDeterminantCases) { std::array roots; int numberOfRoots; { SCOPED_TRACE("P(x) = -x^3 + 3x^2 - 3x + 1 = 0 => P'(x) = -3x^2 + 6x - 3 => discriminant = 36 - 4*(3)*(3) = 0"); EXPECT_NO_THROW(numberOfRoots = findRootsInRange01(CubicPolynomial(1.0, -3.0, 3.0, -1.0), &roots)); EXPECT_EQ(1, numberOfRoots); EXPECT_DOUBLE_EQ(1.0, roots[0]); } { SCOPED_TRACE("P(x) = -x^3 + 3x^2 - 3x - 2 = 0 => P'(x) = -3x^2 + 6x - 3 => discriminant = 36 - 4*(3)*(3) = 0"); EXPECT_NO_THROW(numberOfRoots = findRootsInRange01(CubicPolynomial(-2.0, -3.0, 3.0, -1.0), &roots)); EXPECT_EQ(0, numberOfRoots); } }; TEST(CubicSolverTests, DerivativeNegativeDeterminantCases) { std::array roots; int numberOfRoots; { SCOPED_TRACE("P(x) = x^3 + x^2 + x + 1 = 0 => P'(x) = 3x^2 + 2x + 1 => discriminant = 4 - 4*(3)*(1) = -8"); // P(0) = 1 // P(1) = 4 // P is monotonic and 0 is not in [P(0)..P(1)], so the unique solution is not within [0..1] EXPECT_NO_THROW(numberOfRoots = findRootsInRange01(CubicPolynomial(1.0, 1.0, 1.0, 1.0), &roots)); EXPECT_EQ(0, numberOfRoots); } { SCOPED_TRACE("P(x) = x^3 - x^2 + x - 0.5 = 0 => P'(x) = 3x^2 - 2x + 1 => discriminant = 4 - 4*(3)*(1) = -8"); // P(0) = -0.5 // P(1) = 0.5 // P is monotonic and 0 is in [P(0)..P(1)], so the unique solution is within [0..1] CubicPolynomial p(-0.5, 1.0, -1.0, 1.0); EXPECT_NO_THROW(numberOfRoots = findRootsInRange01(p, &roots)); EXPECT_EQ(1, numberOfRoots); EXPECT_TRUE(roots[0] >= 0.0 && roots[0] <= 1.0); double eval = p.evaluate(roots[0]); EXPECT_TRUE(isNearZero(eval)) << "P(" << roots[0] << ") = " << eval; } }; TEST(CubicSolverTests, DerivativePositiveDeterminantCases) { std::array roots; int numberOfRoots; { SCOPED_TRACE("P(x) = -x^3 + x^2 + x + 1 = 0 => P'(x) = -3x^2 + 2x + 1 => discriminant = 4 - 4*(-3)*(1) = 16"); // P' has 2 roots: -1/3 and 1 // P'(-1/3) = 0 P'(1) = 0 // P (-1/3) = 1 > -1/27 + 1/9 - 1/3 + 1 > 0 P(0) = 1 P (1) = 2 // P is monotonic in 3 intervals [-Inf -1/3[, [-1/3 1] and ]1 +Inf[ // Therefore P is monotonic in [0..1] and above 0 on this interval, so there is no root in [0..1] EXPECT_NO_THROW(numberOfRoots = findRootsInRange01(CubicPolynomial(1.0, 1.0, 1.0, -1.0), &roots)); EXPECT_EQ(0, numberOfRoots); } { SCOPED_TRACE("P(x) = -x^3 + x^2 + x - 0.5 = 0 => P'(x) = -3x^2 + 2x + 1 => discriminant = 4 - 4*(-3)*(1) = 16"); // P' has 2 roots: -1/3 and 1 // P'(-1/3) = 0 P'(1) = 0 // P (-1/3) = -1/27 + 1/9 - 1/3 -0.5 < 0 P(0) = -0.5 P (1) = 0.5 > 0 // P is monotonic in 3 intervals [-Inf -1/3[, [-1/3 1] and ]1 +Inf[ // Therefore P is monotonic in [0..1] and cross 0 on this interval, so there is 1 root in [0..1] CubicPolynomial p(-0.5, 1.0, 1.0, -1.0); EXPECT_NO_THROW(numberOfRoots = findRootsInRange01(p, &roots)); EXPECT_EQ(1, numberOfRoots); EXPECT_TRUE(roots[0] >= 0.0 && roots[0] <= 1.0); double eval = p.evaluate(roots[0]); EXPECT_TRUE(isNearZero(eval)) << "P(" << roots[0] << ") = " << eval; } { // From a real use case of point/triangle continuous collision detection SCOPED_TRACE("P(x) = 7.84x^3 - 37.08x^2 + 19.5x - 1.46 = 0 => P'(x) = 23.52x^2 - 74.16x + 19.5"); // P' has 2 roots: x1 = (74.16 - 60.540445984482142729500176673066) / 47.04 = 0.2895313353639000270089248156236 // and x2 = (74.16 + 60.540445984482142729500176673066) / 47.04 = 2.8635298891258958913584221231519 // P is monotonic in 3 intervals [-Inf x1[, [x1 x2] and ]x2 +Inf[ // P'(0) > 0 ; P'(x1) = 0 ; P'(1) = -31.14 ; P'(x2) = 0 // P(0) = -1.46 < 0 ; P (x1) = 1.26 > 0 ; P (1) = -11.2 < 0 ; P(x2) = -65.58 // Therefore P is monotonic and has a solution in [0..x1] and [x1 1] CubicPolynomial p(-1.46, 19.5, -37.08, 7.84); EXPECT_NO_THROW(numberOfRoots = findRootsInRange01(p, &roots)); EXPECT_EQ(2, numberOfRoots); EXPECT_TRUE(roots[0] >= 0.0 && roots[0] <= 1.0); EXPECT_TRUE(roots[1] >= 0.0 && roots[1] <= 1.0); EXPECT_TRUE(roots[1] > roots[0]); double eval = p.evaluate(roots[0]); EXPECT_TRUE(isNearZero(eval)) << "P(" << roots[0] << ") = " << eval; eval = p.evaluate(roots[1]); EXPECT_TRUE(isNearZero(eval)) << "P(" << roots[1] << ") = " << eval; } }; }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/Data/000077500000000000000000000000001277777236100212115ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Math/UnitTests/Data/segmentmesh.ply000066400000000000000000000004261277777236100242600ustar00rootroot00000000000000ply format ascii 1.0 comment Created by hand element vertex 4 property double x property double y property double z element 1d_element 3 property list uint uint vertex_indices element radius 1 property double value end_header 1 2 3 4 5 6 7 8 9 11 11 12 2 0 1 2 1 2 2 2 3 1.234 opensurgsim-0.7.0/SurgSim/Math/UnitTests/GeometryTests.cpp000066400000000000000000002367441277777236100237020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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. /// \file /// Tests for the Geometry.cpp functions. /// #include #include #include #include #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/UnitTests/MockTriangle.h" #include namespace SurgSim { namespace Math { typedef double SizeType; typedef Eigen::Matrix VectorType; ::std::ostream& operator <<(std::ostream& stream, const VectorType& vector) { stream << "(" << vector[0] << ", " << vector[1] << ", " << vector[2] << ")"; return stream; } bool near(double val1, double val2, double abs_error) { const double diff = std::abs(val1 - val2); if (diff <= abs_error) { return true; } else { return false; } } ::testing::AssertionResult eigenEqual(const VectorType& expected, const VectorType& actual) { double precision = 1e-4; if (expected.isApprox(actual, precision)) { return ::testing::AssertionSuccess(); } else { return ::testing::AssertionFailure() << "Eigen Matrices not the same " << std::endl << "expected: " << expected << std::endl << "actual: " << actual << std::endl; } } ::testing::AssertionResult eigenAllNan(const VectorType& actual) { if (boost::math::isnan(actual[0]) && boost::math::isnan(actual[1]) && boost::math::isnan(actual[2])) { return ::testing::AssertionSuccess(); } else { return ::testing::AssertionFailure() << "Not all elements are NAN"; } } class Segment { public: VectorType a; VectorType b; VectorType ab; Segment() {} Segment(const VectorType& pointA, const VectorType& pointB) : a(pointA), b(pointB), ab(pointB - pointA) {} ~Segment() {} /// Point on the line that the segment is on, s =< 1 and s >= 0 will give you a point on the segment VectorType pointOnLine(double s) const { return a + ab * s; } }; namespace { SizeType epsilon = 1e-10; } class GeometryTest : public ::testing::Test { protected: virtual void SetUp() { plainPoint = VectorType(45, 20, 10); plainSegment = Segment(VectorType(1.1, 2.2, 3.3), VectorType(6.6, 5.5, 4.4)); plainNormal = plainSegment.ab.cross(plainPoint); // Normal to segment plainNormal.normalize(); degenerateSegment.a = plainSegment.a; degenerateSegment.b = degenerateSegment.a + (plainSegment.ab) * 1e-9; degenerateSegment.ab = degenerateSegment.b - degenerateSegment.a; plainLine = Segment(VectorType(-10.0, 10, 10), VectorType(10.0, 10.0, 10.0)); parallelLine = Segment(VectorType(-100.0, 5.0, 5.0), VectorType(-90.0, 5.0, 5.0)); intersectingLine = Segment(VectorType(0, 0, 0), VectorType(20, 20, 20)); nonIntersectingLine = Segment(VectorType(5, 5, -5), VectorType(5, 5, 5)); tri = MockTriangle(VectorType(5, 0, 0), VectorType(0, -5, -5), VectorType(0, 5, 5)); } virtual void TearDown() { } VectorType plainPoint; Vector3d plainNormal; Segment plainSegment; Segment degenerateSegment; Segment plainLine; Segment parallelLine; Segment intersectingLine; Segment nonIntersectingLine; MockTriangle tri; }; TEST_F(GeometryTest, BaryCentricOfSegment) { typedef Eigen::Matrix Vector2; Vector2 outputPoint; EXPECT_TRUE(barycentricCoordinates(plainSegment.a, plainSegment.a, plainSegment.b, &outputPoint)); EXPECT_TRUE(Vector2(1.0, 0.0).isApprox(outputPoint)); EXPECT_TRUE(barycentricCoordinates(plainSegment.b, plainSegment.a, plainSegment.b, &outputPoint)); EXPECT_TRUE(Vector2(0.0, 1.0).isApprox(outputPoint)); // Halfway points EXPECT_TRUE(barycentricCoordinates(plainSegment.pointOnLine(0.5), plainSegment.a, plainSegment.b, &outputPoint)); EXPECT_TRUE(Vector2(0.5, 0.5).isApprox(outputPoint)); // Random point EXPECT_TRUE(barycentricCoordinates(plainSegment.pointOnLine(0.327), plainSegment.a, plainSegment.b, &outputPoint)); EXPECT_TRUE(Vector2(1.0 - 0.327, 0.327).isApprox(outputPoint)); // Point not on line VectorType orthogonal = plainSegment.ab.cross(VectorType(plainSegment.ab[0] * 0.5, plainSegment.ab[1] * 0.6, plainSegment.ab[2] * 0.7)); VectorType point = plainSegment.pointOnLine(0.486) + orthogonal; EXPECT_TRUE(barycentricCoordinates(point, plainSegment.a, plainSegment.b, &outputPoint)); EXPECT_TRUE(Vector2(1.0 - 0.486, 0.486).isApprox(outputPoint)); // Degenerate EXPECT_FALSE(barycentricCoordinates(degenerateSegment.a, degenerateSegment.a, degenerateSegment.b, &outputPoint)); EXPECT_TRUE(boost::math::isnan(outputPoint[0]) && boost::math::isnan(outputPoint[1])); } TEST_F(GeometryTest, BaryCentricWithNormal) { // Order of Points is v0,v1,v2 //Check Edges first VectorType outputPoint; EXPECT_TRUE(barycentricCoordinates(tri.v0, tri.v0, tri.v1, tri.v2, tri.n, &outputPoint)); EXPECT_TRUE(eigenEqual(VectorType(1, 0, 0), outputPoint)); EXPECT_TRUE(barycentricCoordinates(tri.v1, tri.v0, tri.v1, tri.v2, tri.n, &outputPoint)); EXPECT_TRUE(eigenEqual(VectorType(0, 1, 0), outputPoint)); EXPECT_TRUE(barycentricCoordinates(tri.v2, tri.v0, tri.v1, tri.v2, tri.n, &outputPoint)); EXPECT_TRUE(eigenEqual(VectorType(0, 0, 1), outputPoint)); // Halfway points EXPECT_TRUE(barycentricCoordinates(tri.pointInTriangle(0.5, 0), tri.v0, tri.v1, tri.v2, tri.n, &outputPoint)); EXPECT_TRUE(eigenEqual(VectorType(0.5, 0.5, 0), outputPoint)); EXPECT_TRUE(barycentricCoordinates(tri.pointInTriangle(0, 0.5), tri.v0, tri.v1, tri.v2, tri.n, &outputPoint)); EXPECT_TRUE(eigenEqual(VectorType(0.5, 0.0, 0.5), outputPoint)); // Center Point VectorType inputPoint; inputPoint = (tri.v0 + tri.v1 + tri.v2) / 3; EXPECT_TRUE(barycentricCoordinates(inputPoint, tri.v0, tri.v1, tri.v2, tri.n, &outputPoint)); EXPECT_TRUE(eigenEqual(VectorType(1.0 / 3.0, 1.0 / 3.0, 1.0 / 3.0), outputPoint)); // random Point inputPoint = tri.v0 * 0.2 + tri.v1 * 0.25 + tri.v2 * 0.55; EXPECT_TRUE(barycentricCoordinates(inputPoint, tri.v0, tri.v1, tri.v2, tri.n, &outputPoint)); EXPECT_TRUE(eigenEqual(VectorType(0.2, 0.25, 0.55), outputPoint)); // Degenerate EXPECT_FALSE(barycentricCoordinates(inputPoint, tri.v1, tri.v1, tri.v2, tri.n, &outputPoint)); EXPECT_TRUE(eigenAllNan(outputPoint)); EXPECT_FALSE(barycentricCoordinates(inputPoint, tri.v0, tri.v0, tri.v2, tri.n, &outputPoint)); EXPECT_TRUE(eigenAllNan(outputPoint)); EXPECT_FALSE(barycentricCoordinates(inputPoint, tri.v2, tri.v1, tri.v2, tri.n, &outputPoint)); EXPECT_TRUE(eigenAllNan(outputPoint)); } TEST_F(GeometryTest, BaryCentricWithoutNormal) { // Order of Points is v0,v1,v2 //Check Edges first VectorType outputPoint; EXPECT_TRUE(barycentricCoordinates(tri.v0, tri.v0, tri.v1, tri.v2, &outputPoint)); EXPECT_TRUE(eigenEqual(VectorType(1, 0, 0), outputPoint)); EXPECT_TRUE(barycentricCoordinates(tri.v1, tri.v0, tri.v1, tri.v2, &outputPoint)); EXPECT_TRUE(eigenEqual(VectorType(0, 1, 0), outputPoint)); EXPECT_TRUE(barycentricCoordinates(tri.v2, tri.v0, tri.v1, tri.v2, &outputPoint)); EXPECT_TRUE(eigenEqual(VectorType(0, 0, 1), outputPoint)); // Halfway points EXPECT_TRUE(barycentricCoordinates(tri.pointInTriangle(0.5, 0), tri.v0, tri.v1, tri.v2, tri.n, &outputPoint)); EXPECT_TRUE(eigenEqual(VectorType(0.5, 0.5, 0), outputPoint)); EXPECT_TRUE(barycentricCoordinates(tri.pointInTriangle(0, 0.5), tri.v0, tri.v1, tri.v2, tri.n, &outputPoint)); EXPECT_TRUE(eigenEqual(VectorType(0.5, 0.0, 0.5), outputPoint)); // Center Point VectorType inputPoint; inputPoint = (tri.v0 + tri.v1 + tri.v2) / 3; EXPECT_TRUE(barycentricCoordinates(inputPoint, tri.v0, tri.v1, tri.v2, &outputPoint)); EXPECT_TRUE(eigenEqual(VectorType(1.0 / 3.0, 1.0 / 3.0, 1.0 / 3.0), outputPoint)); // random Point inputPoint = tri.v0 * 0.2 + tri.v1 * 0.25 + tri.v2 * 0.55; EXPECT_TRUE(barycentricCoordinates(inputPoint, tri.v0, tri.v1, tri.v2, &outputPoint)); EXPECT_TRUE(eigenEqual(VectorType(0.2, 0.25, 0.55), outputPoint)); // Degenerate EXPECT_FALSE(barycentricCoordinates(inputPoint, tri.v0, tri.v0, tri.v2, &outputPoint)); EXPECT_TRUE(eigenAllNan(outputPoint)); EXPECT_FALSE(barycentricCoordinates(inputPoint, tri.v0, tri.v1, tri.v1, &outputPoint)); EXPECT_TRUE(eigenAllNan(outputPoint)); EXPECT_FALSE(barycentricCoordinates(inputPoint, tri.v2, tri.v1, tri.v2, &outputPoint)); EXPECT_TRUE(eigenAllNan(outputPoint)); } TEST_F(GeometryTest, DistancePointLine) { SizeType distance; Vector3d result; // Trivial point lies on the line distance = distancePointLine(plainSegment.pointOnLine(0.5), plainSegment.a, plainSegment.b, &result); EXPECT_NEAR(0.0, distance, epsilon); EXPECT_EQ(plainSegment.pointOnLine(0.5), result); // Point is away from the line Vector3d offLinePoint = plainSegment.a + (plainNormal * 1.5); distance = distancePointLine(offLinePoint, plainSegment.a, plainSegment.b, &result); EXPECT_NEAR(1.5, distance, epsilon); EXPECT_EQ(plainSegment.a, result); // Degenerate line, just do plain distance offLinePoint = plainSegment.a + plainNormal * 1.5; distance = distancePointLine(offLinePoint, plainSegment.a, plainSegment.a, &result); EXPECT_NEAR(1.5, distance, epsilon); EXPECT_EQ(plainSegment.a, result); } TEST_F(GeometryTest, DistancePointSegment) { SizeType distance; Vector3d result; // Trivial point lies on the line distance = distancePointSegment(plainSegment.pointOnLine(0.5), plainSegment.a, plainSegment.b, &result); EXPECT_NEAR(0.0, distance, epsilon); EXPECT_EQ(plainSegment.pointOnLine(0.5), result); // Point On the line but outside the segment VectorType point = plainSegment.pointOnLine(1.5); distance = distancePointSegment(point, plainSegment.a, plainSegment.b, &result); EXPECT_NEAR((plainSegment.ab.norm() * 0.5), distance, epsilon); EXPECT_TRUE(eigenEqual(plainSegment.b, result)); // Point projection is on the segment VectorType resultPoint = plainSegment.a + plainSegment.ab * 0.25; VectorType offLinePoint = resultPoint + (plainNormal * 1.5); distance = distancePointSegment(offLinePoint, plainSegment.a, plainSegment.b, &result); EXPECT_NEAR(1.5, distance, epsilon); EXPECT_TRUE(eigenEqual(resultPoint, result)); // Point projection is away from the segment, distance is to the closest segment point resultPoint = plainSegment.a; offLinePoint = plainSegment.a - plainSegment.ab + (plainNormal * 1.5); distance = distancePointSegment(offLinePoint, plainSegment.a, plainSegment.b, &result); EXPECT_NEAR((offLinePoint - resultPoint).norm(), distance, epsilon); EXPECT_TRUE(eigenEqual(resultPoint, result)); // Other Side of the above case resultPoint = plainSegment.b; offLinePoint = plainSegment.b + plainSegment.ab * 0.01 + plainNormal * 0.1; distance = distancePointSegment(offLinePoint, plainSegment.a, plainSegment.b, &result); EXPECT_NEAR((offLinePoint - resultPoint).norm(), distance, epsilon); EXPECT_TRUE(eigenEqual(resultPoint, result)); // Degenerated Segment distance = distancePointSegment(offLinePoint, plainSegment.a, plainSegment.a, &result); EXPECT_NEAR((offLinePoint - plainSegment.a).norm(), distance, epsilon); EXPECT_TRUE(eigenEqual(plainSegment.a, result)); } typedef std::tuple LineLineCheckData; void checkLineLineDistance(const LineLineCheckData& data) { Segment line0 = std::get<0>(data); Segment line1 = std::get<1>(data); VectorType expectedResult0 = std::get<2>(data); VectorType expectedResult1 = std::get<3>(data); VectorType result0, result1; double distance; { SCOPED_TRACE("Forward Case"); distance = distanceLineLine(line0.a, line0.b, line1.a, line1.b, &result0, &result1); EXPECT_NEAR((expectedResult1 - expectedResult0).norm(), distance, epsilon); EXPECT_TRUE(expectedResult0.isApprox(result0)); EXPECT_TRUE(expectedResult1.isApprox(result1)); } { SCOPED_TRACE("Backward Case"); distance = distanceLineLine(line1.a, line1.b, line0.a, line0.b, &result1, &result0); EXPECT_NEAR((expectedResult1 - expectedResult0).norm(), distance, epsilon); EXPECT_TRUE(expectedResult0.isApprox(result0)); EXPECT_TRUE(expectedResult1.isApprox(result1)); } { SCOPED_TRACE("Turn around the first line"); distance = distanceLineLine(line0.b, line0.a, line1.a, line1.b, &result0, &result1); EXPECT_NEAR((expectedResult1 - expectedResult0).norm(), distance, epsilon); EXPECT_TRUE(expectedResult0.isApprox(result0)); EXPECT_TRUE(expectedResult1.isApprox(result1)); } { SCOPED_TRACE("And switch lines again"); distance = distanceLineLine(line0.b, line0.a, line1.a, line1.b, &result0, &result1); EXPECT_NEAR((expectedResult1 - expectedResult0).norm(), distance, epsilon); EXPECT_TRUE(expectedResult0.isApprox(result0)); EXPECT_TRUE(expectedResult1.isApprox(result1)); } } TEST_F(GeometryTest, DistanceLineLine) { SizeType distance; VectorType p0, p1; // Trivial the same line compared against itself distance = distanceLineLine(plainSegment.a, plainSegment.b, plainSegment.a, plainSegment.b, &p0, &p1); EXPECT_NEAR(0.0, distance, epsilon); // Parallel Line Segment parallel = Segment(plainSegment.a + plainNormal * 2, plainSegment.b + plainNormal * 2); distance = distanceLineLine(plainSegment.a, plainSegment.b, parallel.a, parallel.b, &p0, &p1); EXPECT_NEAR(2.0, distance, epsilon); // Not quite parallel, trying to get below epsilon parallel = Segment(plainSegment.a + plainNormal * 2 , plainSegment.b + plainNormal * 2 - plainNormal * 1.0e-10); distance = distanceLineLine(plainSegment.a, plainSegment.b, parallel.a, parallel.b, &p0, &p1); EXPECT_NEAR(2.0, distance, epsilon); { SCOPED_TRACE("Intersecting Lines"); LineLineCheckData data(plainLine, intersectingLine, plainLine.b, plainLine.b); checkLineLineDistance(data); } { SCOPED_TRACE("Non-intersecting Lines"); // Non Intersecting Line, don't know a better way to design this case besides reimplementing line/line distance Segment line0(VectorType(0, -5, 0), VectorType(0, 5, 0)); Segment line1(VectorType(-5, 5, 5), VectorType(5, 5, 5)); checkLineLineDistance(LineLineCheckData(line0, line1, VectorType(0, 5, 0), VectorType(0, 5, 5))); } // Degenerate Cases { SCOPED_TRACE("Both lines degenerate"); Segment line0(VectorType(0, -5, 0), VectorType(0, -5, 0)); Segment line1(VectorType(5, 5, 5), VectorType(5, 5, 5)); checkLineLineDistance(LineLineCheckData(line0, line1, line0.a, line1.a)); } { SCOPED_TRACE("Only one line degenerate"); VectorType offLinePoint = plainSegment.a + plainSegment.ab * 0.5 + plainNormal * 1.5; LineLineCheckData data(plainSegment, Segment(offLinePoint, offLinePoint), plainSegment.pointOnLine(0.5), offLinePoint); checkLineLineDistance(data); } { SCOPED_TRACE("Orthogonal Lines intersecting"); Segment line0(VectorType(0, -5, 0), VectorType(0, 5, 0)); VectorType v(3, 4, 5); VectorType n = line0.ab.cross(v); n.normalize(); Segment line1(line0.a + n, line0.a - n); checkLineLineDistance(LineLineCheckData(line0, line1, line0.a, line0.a)); } { SCOPED_TRACE("Orthogonal Lines non intersecting"); Segment line0(VectorType(0, -5, 0), VectorType(0, 5, 0)); VectorType v(3, 4, 5); VectorType n = line0.ab.cross(v); n.normalize(); VectorType n2 = line0.ab.cross(n); n2.normalize(); Segment line1(line0.a + n + n2, line0.a - n + n2); checkLineLineDistance(LineLineCheckData(line0, line1, line0.a, line0.a + n2)); } { SCOPED_TRACE("not quite orthogonal Lines non intersecting "); Segment line0(VectorType(0, -5, 0), VectorType(0, 5, 0)); VectorType v(3, 4, 5); VectorType n = line0.ab.cross(v); n.normalize(); VectorType n2 = line0.ab.cross(n); n2.normalize(); Segment line1(line0.a + n + n2 + line0.ab * 0.01, line0.a - n + n2 - line0.ab * 0.01); checkLineLineDistance(LineLineCheckData(line0, line1, line0.a, line0.a + n2)); } } struct SegmentData { Segment segment0; Segment segment1; VectorType p0; VectorType p1; SegmentData() {} SegmentData(Segment seg0, Segment seg1, VectorType vec0, VectorType vec1) : segment0(seg0), segment1(seg1), p0(vec0), p1(vec1) {} }; void testSegmentDistance(const SegmentData& segmentData, const std::string& info, size_t i) { SizeType distance; VectorType p0, p1; // The expected distance should be the distance between the two points that were // reported as being the closes ones SizeType expectedDistance = (segmentData.p1 - segmentData.p0).norm(); distance = distanceSegmentSegment(segmentData.segment0.a, segmentData.segment0.b, segmentData.segment1.a, segmentData.segment1.b, &p0, &p1); EXPECT_NEAR(expectedDistance, distance, 1e-8) << "for " << info << " at index " << i; EXPECT_TRUE(eigenEqual(segmentData.p0, p0)) << "for " << info << " at index " << i; EXPECT_TRUE(eigenEqual(segmentData.p1, p1)) << "for " << info << " at index " << i; distance = distanceSegmentSegment(segmentData.segment1.a, segmentData.segment1.b, segmentData.segment0.a, segmentData.segment0.b, &p0, &p1); EXPECT_NEAR(expectedDistance, distance, 1e-8) << "for " << info << " at index " << i; EXPECT_TRUE(eigenEqual(segmentData.p1, p0)) << "for " << info << " at index " << i; EXPECT_TRUE(eigenEqual(segmentData.p0, p1)) << "for " << info << " at index " << i; } TEST_F(GeometryTest, DistanceSegmentSegment) { SizeType distance; VectorType p0, p1; // Intersecting segments // Intersecting inside VectorType closestPoint = plainSegment.pointOnLine(0.5); Segment otherSegment(closestPoint + plainNormal, closestPoint - plainNormal); distance = distanceSegmentSegment(plainSegment.a, plainSegment.b, otherSegment.a, otherSegment.b, &p0, &p1); EXPECT_NEAR(0.0, distance, epsilon); EXPECT_TRUE(eigenEqual(closestPoint, p0)); EXPECT_TRUE(eigenEqual(closestPoint, p1)); // Explode the cases std::vector segments; // The following series test the segment to segment distance for // a) coplanar segments // b) non coplanar segments // for each of the groups multiple pairs of segments are testes in various configurations, where the // projections either intersect or don't, this should cover all the segments that are used in the // algorithm, inside testSegmentDistance the segments are also swapped around and tested against each other // <0> Intersecting outside past b with segment straddling the line closestPoint = plainSegment.pointOnLine(1.5); otherSegment = Segment(closestPoint + plainNormal, closestPoint - plainNormal); segments.push_back(SegmentData(plainSegment, otherSegment, plainSegment.b, closestPoint)); // <1> segment not straddling, the correct points on the edges of the segments should get picked otherSegment = Segment(closestPoint + plainNormal, closestPoint + plainNormal * 2); segments.push_back(SegmentData(plainSegment, otherSegment, plainSegment.b, otherSegment.a)); // <2> segment not straddling, reverse the order of the points, reverse the side where the other segments falls otherSegment = Segment(closestPoint - plainNormal * 2, closestPoint - plainNormal); segments.push_back(SegmentData(plainSegment, otherSegment, plainSegment.b, otherSegment.b)); // Go to the other side of the segment closestPoint = plainSegment.pointOnLine(-0.5); // <3> Straddling, there is actual an intersection otherSegment = Segment(closestPoint + plainNormal, closestPoint - plainNormal); segments.push_back(SegmentData(plainSegment, otherSegment, plainSegment.a, closestPoint)); // <4> segment not straddling, the correct points on the edges of the segments should get picked otherSegment = Segment(closestPoint + plainNormal, closestPoint + plainNormal * 2); segments.push_back(SegmentData(plainSegment, otherSegment, plainSegment.a, otherSegment.a)); // <5> segment not straddling, reverse the order of the points, reverse the side where the other segments falls otherSegment = Segment(closestPoint - plainNormal * 2, closestPoint - plainNormal); segments.push_back(SegmentData(plainSegment, otherSegment, plainSegment.a, otherSegment.b)); // Repeat the same sequence for the segments as they are not touching VectorType otherNormal = plainSegment.ab.cross(plainNormal); // <6> segment projections intersect closestPoint = plainSegment.pointOnLine(0.5) + plainNormal * 3; otherSegment = Segment(closestPoint + otherNormal, closestPoint - otherNormal); segments.push_back(SegmentData(plainSegment, otherSegment, plainSegment.pointOnLine(0.5), closestPoint)); // <7> go past the end of the segment but straddle the line (T intersection) closestPoint = plainSegment.pointOnLine(1.5) + plainNormal * 3; otherSegment = Segment(closestPoint + otherNormal, closestPoint - otherNormal); segments.push_back(SegmentData(plainSegment, otherSegment, plainSegment.b, closestPoint)); // <8> go past the end of the segment not straddling the line anymore otherSegment = Segment(closestPoint + otherNormal, closestPoint + otherNormal * 2); segments.push_back(SegmentData(plainSegment, otherSegment, plainSegment.b, otherSegment.a)); // <9> go past the end of the on the other side, switching up endpoints otherSegment = Segment(closestPoint - otherNormal * 2, closestPoint - otherNormal); segments.push_back(SegmentData(plainSegment, otherSegment, plainSegment.b, otherSegment.b)); // Repeat for the other end of the base segment // <10> go past the end of the segment but straddle the line (T intersection) closestPoint = plainSegment.pointOnLine(-2.0) + plainNormal * 3; otherSegment = Segment(closestPoint + otherNormal, closestPoint - otherNormal); segments.push_back(SegmentData(plainSegment, otherSegment, plainSegment.a, closestPoint)); // <11> go past the end of the segment not straddling the line anymore otherSegment = Segment(closestPoint + otherNormal, closestPoint + otherNormal * 2); segments.push_back(SegmentData(plainSegment, otherSegment, plainSegment.a, otherSegment.a)); // <12> go past the end of the on the other side, switching up endpoints otherSegment = Segment(closestPoint - otherNormal * 2, closestPoint - otherNormal); segments.push_back(SegmentData(plainSegment, otherSegment, plainSegment.a, otherSegment.b)); // <13> projections intersect, short segments const VectorType aPoint = VectorType(1, 0, 0); const SizeType shortLength = 0.0001; const Segment shortSegment = Segment(VectorType(0, -shortLength / 2, 0), VectorType(0, shortLength / 2, 0)); const VectorType shortSegmentNormal = shortSegment.ab.cross(aPoint).normalized(); const Segment otherShortSegment = Segment(aPoint, aPoint + shortLength * shortSegmentNormal); segments.push_back(SegmentData(shortSegment, otherShortSegment, shortSegment.pointOnLine(0.5), otherShortSegment.a)); for (size_t i = 0; i < segments.size(); ++i) { testSegmentDistance(segments[i], "basic cases", i); } // Parallel Segments otherSegment = Segment(plainSegment.a + plainNormal * 4, plainSegment.b + plainNormal * 4); distance = distanceSegmentSegment(plainSegment.a, plainSegment.b, otherSegment.a, otherSegment.b, &p0, &p1); EXPECT_NEAR(4.0, distance, epsilon); // What should the points be here ? segments.clear(); // <0> parallel, non-overlapping closestPoint = plainSegment.a; const Vector3d segmentDirection = plainSegment.a - plainSegment.b; otherSegment = Segment(closestPoint + plainNormal * 4 + 2 * segmentDirection, closestPoint + plainNormal * 4 + 4 * segmentDirection); distance = distanceSegmentSegment(plainSegment.a, plainSegment.b, otherSegment.a, otherSegment.b, &p0, &p1); segments.push_back(SegmentData(plainSegment, otherSegment, closestPoint, otherSegment.a)); // Anti-parallel Segments otherSegment = Segment(plainSegment.b + plainNormal * 4, plainSegment.a + plainNormal * 4); distance = distanceSegmentSegment(plainSegment.a, plainSegment.b, otherSegment.a, otherSegment.b, &p0, &p1); EXPECT_NEAR(4.0, distance, epsilon); // <1> anti-parallel, non-overlapping closestPoint = plainSegment.a; otherSegment = Segment(closestPoint + plainNormal * 4 + 4 * segmentDirection, closestPoint + plainNormal * 4 + 2 * segmentDirection); distance = distanceSegmentSegment(plainSegment.a, plainSegment.b, otherSegment.a, otherSegment.b, &p0, &p1); segments.push_back(SegmentData(plainSegment, otherSegment, closestPoint, otherSegment.b)); for (size_t i = 0; i < segments.size(); ++i) { testSegmentDistance(segments[i], "parallel cases", i); } segments.clear(); // The closest points are some assumptions, it looks like the algorithm is slanted towards // <0> the beginning points of the segments for this closestPoint = plainSegment.pointOnLine(0.5); otherSegment = Segment(closestPoint + plainNormal * 4, closestPoint + plainNormal * 8); segments.push_back(SegmentData(plainSegment, otherSegment, plainSegment.pointOnLine(0.5), otherSegment.a)); // <1> Move past the end of the segment on the far end closestPoint = plainSegment.pointOnLine(1.5); otherSegment = Segment(closestPoint + plainNormal * 4, closestPoint + plainNormal * 8); segments.push_back(SegmentData(plainSegment, otherSegment, plainSegment.b, otherSegment.a)); // <2> Move past the end of the segment on the near end closestPoint = plainSegment.pointOnLine(-2.0); otherSegment = Segment(closestPoint - plainNormal * 8, closestPoint - plainNormal * 4); segments.push_back(SegmentData(plainSegment, otherSegment, plainSegment.a, otherSegment.b)); // Degenerate cases delegate to PointSegDistance, just some spotChecks // <3> On the segment closestPoint = plainSegment.pointOnLine(0.5); otherSegment = Segment(closestPoint, closestPoint); segments.push_back(SegmentData(plainSegment, otherSegment, closestPoint, closestPoint)); // <4> off the segment closestPoint = plainSegment.pointOnLine(1.5) + plainNormal * 4 + otherNormal * 10; otherSegment = Segment(closestPoint, closestPoint); segments.push_back(SegmentData(plainSegment, otherSegment, plainSegment.b, closestPoint)); for (size_t i = 0; i < segments.size(); ++i) { testSegmentDistance(segments[i], "other cases", i); } } TEST_F(GeometryTest, DistancePointTriangle) { double distance; VectorType closestPoint; VectorType result; VectorType inputPoint; // Trivial, point on triangle inputPoint = VectorType(0, 0, 0); distance = distancePointTriangle(inputPoint, tri.v0, tri.v1, tri.v2, &result); EXPECT_NEAR(0.0, distance, epsilon); EXPECT_TRUE(eigenEqual(inputPoint, result)); distance = distancePointTriangle(tri.v1, tri.v0, tri.v1, tri.v2, &result); EXPECT_NEAR(0.0, distance, epsilon); EXPECT_TRUE(eigenEqual(tri.v1, result)); // Closest Point is inside Triangle closestPoint = tri.v0 + tri.v0v1 * 0.3 + tri.v0v2 * 0.7; inputPoint = closestPoint + tri.n * 2.5; distance = distancePointTriangle(inputPoint, tri.v0, tri.v1, tri.v2, &result); EXPECT_NEAR(2.5, distance, epsilon); EXPECT_TRUE(eigenEqual(closestPoint, result)); // other side inputPoint = closestPoint - tri.n * 3.5; distance = distancePointTriangle(inputPoint, tri.v0, tri.v1, tri.v2, &result); EXPECT_NEAR(3.5, distance, epsilon); EXPECT_TRUE(eigenEqual(closestPoint, result)); // Test the Point close to a triangle Edge cases // Point closest to edge v0v1 double expectedDistance; inputPoint = tri.v0 + tri.v0v1 * 0.5 - tri.v0v2 + tri.n; distance = distancePointTriangle(inputPoint, tri.v0, tri.v1, tri.v2, &result); expectedDistance = distancePointSegment(inputPoint, tri.v0, tri.v1, &closestPoint); EXPECT_NEAR(expectedDistance, distance, epsilon); EXPECT_TRUE(eigenEqual(closestPoint, result)); // Point closest to edge v0v2 inputPoint = tri.v0 + tri.v0v2 * 0.3 - tri.v0v1 + tri.n * 2; distance = distancePointTriangle(inputPoint, tri.v0, tri.v1, tri.v2, &result); expectedDistance = distancePointSegment(inputPoint, tri.v0, tri.v2, &closestPoint); EXPECT_NEAR(expectedDistance, distance, epsilon); EXPECT_TRUE(eigenEqual(closestPoint, result)); // Point closest to edge v1v2 inputPoint = tri.v1 + (tri.v2 - tri.v1) * .75 + tri.v0v1 * 0.2 + tri.n; distance = distancePointTriangle(inputPoint, tri.v0, tri.v1, tri.v2, &result); expectedDistance = distancePointSegment(inputPoint, tri.v1, tri.v2, &closestPoint); EXPECT_NEAR(expectedDistance, distance, epsilon); EXPECT_TRUE(eigenEqual(closestPoint, result)); // Point closest to point v0 inputPoint = tri.v0 - tri.v0v1 - tri.v0v2 * 0.5 - tri.n; distance = distancePointTriangle(inputPoint, tri.v0, tri.v1, tri.v2, &result); expectedDistance = (tri.v0 - inputPoint).norm(); EXPECT_NEAR(expectedDistance, distance, epsilon); EXPECT_TRUE(eigenEqual(tri.v0, result)); // Point closest to point v1 inputPoint = tri.v1 + tri.v0v1 + (tri.v1 - tri.v2) * 2.0 - tri.n * 2.0; distance = distancePointTriangle(inputPoint, tri.v0, tri.v1, tri.v2, &result); expectedDistance = (tri.v1 - inputPoint).norm(); EXPECT_NEAR(expectedDistance, distance, epsilon); EXPECT_TRUE(eigenEqual(tri.v1, result)); // Point closest to point v2 inputPoint = tri.v2 + tri.v0v2 + (tri.v2 - tri.v1) * 3.0 - tri.n * 1.5; distance = distancePointTriangle(inputPoint, tri.v0, tri.v1, tri.v2, &result); expectedDistance = (tri.v2 - inputPoint).norm(); EXPECT_NEAR(expectedDistance, distance, epsilon); EXPECT_TRUE(eigenEqual(tri.v2, result)); // Degenerate Edges // Edge v0v1 distance = distancePointTriangle(inputPoint, tri.v0, (tri.v0 + tri.v0v1 * epsilon * 0.01).eval(), tri.v2, &result); expectedDistance = distancePointSegment(inputPoint, tri.v0, tri.v2, &closestPoint); EXPECT_NEAR(expectedDistance, distance, epsilon); EXPECT_TRUE(eigenEqual(closestPoint, result)); // Edge v0v2 distance = distancePointTriangle(inputPoint, (tri.v2 - tri.v0v2 * epsilon * 0.01).eval(), tri.v1 , tri.v2, &result); expectedDistance = distancePointSegment(inputPoint, tri.v1, tri.v2, &closestPoint); EXPECT_NEAR(expectedDistance, distance, epsilon); EXPECT_TRUE(eigenEqual(closestPoint, result)); // Edge v1v2 distance = distancePointTriangle(inputPoint, tri.v0, tri.v1 , tri.v1, &result); expectedDistance = distancePointSegment(inputPoint, tri.v1, tri.v0, &closestPoint); EXPECT_NEAR(expectedDistance, distance, epsilon); EXPECT_TRUE(eigenEqual(closestPoint, result)); } TEST_F(GeometryTest, PointInsideTriangleWithNormal) { EXPECT_TRUE(isPointInsideTriangle(tri.v0, tri.v0, tri.v1, tri.v2, tri.n)); EXPECT_TRUE(isPointInsideTriangle(tri.v1, tri.v0, tri.v1, tri.v2, tri.n)); EXPECT_TRUE(isPointInsideTriangle(tri.v2, tri.v0, tri.v1, tri.v2, tri.n)); VectorType inputPoint = tri.v0 + tri.v0v1 * 0.2; EXPECT_TRUE(isPointInsideTriangle(inputPoint, tri.v0, tri.v1, tri.v2, tri.n)); inputPoint += tri.v0v2 * 0.5; EXPECT_TRUE(isPointInsideTriangle(inputPoint, tri.v0, tri.v1, tri.v2, tri.n)); inputPoint = tri.v0 + tri.v0v1 * 1.5; EXPECT_FALSE(isPointInsideTriangle(inputPoint, tri.v0, tri.v1, tri.v2, tri.n)); EXPECT_FALSE(isPointInsideTriangle(inputPoint, tri.v1, tri.v1, tri.v2, tri.n)); inputPoint = tri.v0 + tri.v0v2 * 2 + tri.v0v1 * 2; EXPECT_FALSE(isPointInsideTriangle(inputPoint, tri.v0, tri.v1, tri.v2, tri.n)); } TEST_F(GeometryTest, PointInsideTriangleWithoutNormal) { EXPECT_TRUE(isPointInsideTriangle(tri.v0, tri.v0, tri.v1, tri.v2)); EXPECT_TRUE(isPointInsideTriangle(tri.v1, tri.v0, tri.v1, tri.v2)); EXPECT_TRUE(isPointInsideTriangle(tri.v2, tri.v0, tri.v1, tri.v2)); VectorType inputPoint = tri.v0 + tri.v0v1 * 0.2; EXPECT_TRUE(isPointInsideTriangle(inputPoint, tri.v0, tri.v1, tri.v2)); inputPoint += tri.v0v2 * 0.5; EXPECT_TRUE(isPointInsideTriangle(inputPoint, tri.v0, tri.v1, tri.v2)); inputPoint = tri.v0 + tri.v0v1 * 1.5; EXPECT_FALSE(isPointInsideTriangle(inputPoint, tri.v0, tri.v1, tri.v2)); EXPECT_FALSE(isPointInsideTriangle(inputPoint, tri.v1, tri.v1, tri.v2)); inputPoint = tri.v0 + tri.v0v2 * 2 + tri.v0v1 * 2; EXPECT_FALSE(isPointInsideTriangle(inputPoint, tri.v0, tri.v1, tri.v2)); } TEST_F(GeometryTest, PointOnTriangleEdgeWithNormal) { EXPECT_TRUE(isPointOnTriangleEdge(tri.v0, tri.v0, tri.v1, tri.v2, tri.n)); EXPECT_TRUE(isPointOnTriangleEdge(tri.v1, tri.v0, tri.v1, tri.v2, tri.n)); EXPECT_TRUE(isPointOnTriangleEdge(tri.v2, tri.v0, tri.v1, tri.v2, tri.n)); VectorType inputPoint = tri.v0 + tri.v0v1 * 0.2; EXPECT_TRUE(isPointOnTriangleEdge(inputPoint, tri.v0, tri.v1, tri.v2, tri.n)); inputPoint = tri.v0 + tri.v0v2 * 0.2; EXPECT_TRUE(isPointOnTriangleEdge(inputPoint, tri.v0, tri.v1, tri.v2, tri.n)); inputPoint = tri.v1 + tri.v1v2 * 0.2; EXPECT_TRUE(isPointOnTriangleEdge(inputPoint, tri.v0, tri.v1, tri.v2, tri.n)); inputPoint = tri.v0 + tri.v0v1 * 1.5; EXPECT_FALSE(isPointOnTriangleEdge(inputPoint, tri.v0, tri.v1, tri.v2, tri.n)); EXPECT_FALSE(isPointOnTriangleEdge(inputPoint, tri.v1, tri.v1, tri.v2, tri.n)); inputPoint = tri.v0 + tri.v0v2 * 2 + tri.v0v1 * 2; EXPECT_FALSE(isPointOnTriangleEdge(inputPoint, tri.v0, tri.v1, tri.v2, tri.n)); } TEST_F(GeometryTest, PointOnTriangleEdgeWithoutNormal) { EXPECT_TRUE(isPointOnTriangleEdge(tri.v0, tri.v0, tri.v1, tri.v2)); EXPECT_TRUE(isPointOnTriangleEdge(tri.v1, tri.v0, tri.v1, tri.v2)); EXPECT_TRUE(isPointOnTriangleEdge(tri.v2, tri.v0, tri.v1, tri.v2)); VectorType inputPoint = tri.v0 + tri.v0v1 * 0.2; EXPECT_TRUE(isPointOnTriangleEdge(inputPoint, tri.v0, tri.v1, tri.v2)); inputPoint = tri.v0 + tri.v0v2 * 0.2; EXPECT_TRUE(isPointOnTriangleEdge(inputPoint, tri.v0, tri.v1, tri.v2)); inputPoint = tri.v1 + tri.v1v2 * 0.2; EXPECT_TRUE(isPointOnTriangleEdge(inputPoint, tri.v0, tri.v1, tri.v2)); inputPoint = tri.v0 + tri.v0v1 * 1.5; EXPECT_FALSE(isPointOnTriangleEdge(inputPoint, tri.v0, tri.v1, tri.v2)); EXPECT_FALSE(isPointOnTriangleEdge(inputPoint, tri.v1, tri.v1, tri.v2)); inputPoint = tri.v0 + tri.v0v2 * 2 + tri.v0v1 * 2; EXPECT_FALSE(isPointOnTriangleEdge(inputPoint, tri.v0, tri.v1, tri.v2)); } TEST_F(GeometryTest, Coplanarity) { struct CoplanarityTestCandidate { bool expected; std::array points; }; CoplanarityTestCandidate candidates[] = { {true, Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0)}, {true, Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0), Vector3d(3.7, 0.0, 0.0)}, {true, Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0), Vector3d(2.3, 0.0, 0.0), Vector3d(3.7, 0.0, 0.0)}, {true, Vector3d(0.0, 0.0, 0.0), Vector3d(1.1, 0.0, 0.0), Vector3d(2.3, 0.0, 0.0), Vector3d(3.7, 0.0, 0.0)}, {true, Vector3d(0.0, 0.0, 0.0), Vector3d(1.1, 1.5, 0.0), Vector3d(2.3, 0.0, 0.0), Vector3d(3.7, 0.0, 0.0)}, {true, Vector3d(0.0, 0.0, 0.0), Vector3d(1.1, 1.5, 0.0), Vector3d(2.3, 0.0, 0.0), Vector3d(3.7, 3.0, 0.0)}, {false, Vector3d(0.0, 0.0, 1.0), Vector3d(1.1, 1.5, 0.0), Vector3d(2.3, 0.0, 0.0), Vector3d(3.7, 3.0, 0.0)}, {false, Vector3d(0.0, 0.0, 0.0), Vector3d(1.1, 1.5, 1.1), Vector3d(2.3, 0.0, 0.0), Vector3d(3.7, 3.0, 0.0)}, {false, Vector3d(0.0, 0.0, 0.0), Vector3d(1.1, 1.5, 0.0), Vector3d(2.3, 0.0, 7.7), Vector3d(3.7, 3.0, 0.0)}, {false, Vector3d(0.0, 0.0, 0.0), Vector3d(1.1, 1.5, 0.0), Vector3d(2.3, 0.0, 0.0), Vector3d(3.7, 3.0, -9.6)}, {true, Vector3d(0.0, 0.0, 0.0), Vector3d(1.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0), Vector3d(12.3, -41.3, 0.0)}, {false, Vector3d(0.0, 0.0, 0.0), Vector3d(1.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0), Vector3d(12.3, -41.3, 4.0)}, { false, Vector3d(10932.645, 43.1987, -0.009874245), Vector3d(53432.4, -9.87243, 654.31), Vector3d(28.71, 0.005483927, 2.34515), Vector3d(5897.1, -5.432, 512152.7654) } }; for (auto candidate = std::begin(candidates); candidate != std::end(candidates); ++candidate) { EXPECT_EQ(candidate->expected, isCoplanar(candidate->points[0], candidate->points[1], candidate->points[2], candidate->points[3])) << "Candidate points were [" << candidate->points[0].transpose() << "], [" << candidate->points[1].transpose() << "], [" << candidate->points[2].transpose() << "], [" << candidate->points[3].transpose() << "]"; } } typedef std::tuple SegTriIntersectionData; ::testing::AssertionResult checkSegTriIntersection(const SegTriIntersectionData& data) { std::stringstream errorMessage; Segment segment = std::get<0>(data); MockTriangle tri = std::get<1>(data); VectorType expectedClosestPoint = std::get<2>(data); bool expectedResult = std::get<3>(data); VectorType closestPoint; bool result = doesCollideSegmentTriangle(segment.a, segment.b, tri.v0, tri.v1, tri.v2, tri.n, &closestPoint); if (result != expectedResult) { errorMessage << "Intersection result does not match should be: " << expectedResult << " but got " << result << std::endl; }; if (expectedResult) { if (! expectedClosestPoint.isApprox(closestPoint)) { errorMessage << "Closest Point was expected to be " << expectedClosestPoint << " but is " << closestPoint << std::endl; } } else { errorMessage << eigenAllNan(closestPoint).message(); } if (errorMessage.str() == "") { return ::testing::AssertionSuccess(); } else { return ::testing::AssertionFailure() << errorMessage.str(); } } TEST_F(GeometryTest, SegmentTriangleIntersection) { VectorType closestPoint; VectorType intersectionPoint = tri.pointInTriangle(0.2, 0.7); Segment intersecting(intersectionPoint - tri.n * 2, intersectionPoint + tri.n * 2); SegTriIntersectionData data; data = SegTriIntersectionData(intersecting, tri, intersectionPoint, true); EXPECT_TRUE(checkSegTriIntersection(data)); intersecting.a = intersectionPoint + tri.n * 4; data = SegTriIntersectionData(intersecting, tri, intersectionPoint, false); EXPECT_TRUE(checkSegTriIntersection(data)); // in the plane of the triangle intersecting = Segment(intersectionPoint, intersectionPoint + tri.v0v1 + tri.v1v2); data = SegTriIntersectionData(intersecting, tri, intersectionPoint, true); EXPECT_TRUE(checkSegTriIntersection(data)); intersecting = Segment(intersectionPoint + tri.v0v1 + tri.v1v2, intersectionPoint); data = SegTriIntersectionData(intersecting, tri, intersectionPoint, true); EXPECT_TRUE(checkSegTriIntersection(data)); intersecting = Segment(intersectionPoint + tri.v0v1 + tri.v1v2, intersectionPoint + 2 * tri.v0v1 + tri.v1v2); data = SegTriIntersectionData(intersecting, tri, intersectionPoint, false); EXPECT_TRUE(checkSegTriIntersection(data)); // Slanting but intersecting // Point On triangle intersecting = Segment(intersectionPoint, intersectionPoint + tri.n * 2 + tri.v0v1 * 2); data = SegTriIntersectionData(intersecting, tri, intersectionPoint, true); EXPECT_TRUE(checkSegTriIntersection(data)); // Intersection in Triangle intersecting = Segment(intersectionPoint - tri.n * 2 - tri.v1v2 * 2, intersectionPoint + 2 * tri.n + tri.v1v2 * 2); data = SegTriIntersectionData(intersecting, tri, intersectionPoint, true); EXPECT_TRUE(checkSegTriIntersection(data)); // Intersection not on Segment intersecting = Segment(intersectionPoint + tri.n * 4 + tri.v1v2 * 4, intersectionPoint + 2 * tri.n + tri.v1v2 * 2); data = SegTriIntersectionData(intersecting, tri, intersectionPoint, false); EXPECT_TRUE(checkSegTriIntersection(data)); // Normal segment through one edge VectorType pointOnEdge = tri.v0 + tri.v0v1 * 0.5; intersecting = Segment(pointOnEdge + tri.n, pointOnEdge - tri.n); data = SegTriIntersectionData(intersecting, tri, pointOnEdge, true); EXPECT_TRUE(checkSegTriIntersection(data)); intersecting = Segment(pointOnEdge + tri.n, pointOnEdge); data = SegTriIntersectionData(intersecting, tri, pointOnEdge, true); EXPECT_TRUE(checkSegTriIntersection(data)); intersecting = Segment(pointOnEdge + tri.n * 3, pointOnEdge + tri.n * 4); data = SegTriIntersectionData(intersecting, tri, pointOnEdge, false); EXPECT_TRUE(checkSegTriIntersection(data)); intersecting = Segment(pointOnEdge + tri.n + tri.v0v1 * 0.5, pointOnEdge); data = SegTriIntersectionData(intersecting, tri, pointOnEdge, true); EXPECT_TRUE(checkSegTriIntersection(data)); // Segment away from the triangle intersecting = Segment(tri.v0 - tri.v0v1 - tri.v1v2, tri.v0 - tri.n * 3.0 - tri.v0v1 - tri.v1v2); data = SegTriIntersectionData(intersecting, tri, pointOnEdge, false); EXPECT_TRUE(checkSegTriIntersection(data)); } TEST_F(GeometryTest, distancePointPlane) { MockTriangle triangle(VectorType(3, 4, 5), VectorType(5, 5, 5), VectorType(10, 5, 2)); VectorType pointInTriangle = triangle.v0 + triangle.v0v1 * 0.4; double d = -triangle.n.dot(triangle.v0); VectorType point = pointInTriangle; VectorType projectionPoint; double distance = distancePointPlane(point, triangle.n, d, &projectionPoint); EXPECT_NEAR(0.0, distance, epsilon); EXPECT_TRUE(pointInTriangle.isApprox(projectionPoint)); point = pointInTriangle + triangle.n * 2; distance = distancePointPlane(point, triangle.n, d, &projectionPoint); EXPECT_NEAR(2.0, distance, epsilon); EXPECT_TRUE(pointInTriangle.isApprox(projectionPoint)); point = pointInTriangle - triangle.n * 3; distance = distancePointPlane(point, triangle.n, d, &projectionPoint); EXPECT_NEAR(-3.0, distance, epsilon); EXPECT_TRUE(pointInTriangle.isApprox(projectionPoint)); } typedef std::tuple SegmentPlaneData; void checkSegmentPlanDistance(const SegmentPlaneData& data) { Segment seg = std::get<0>(data); VectorType n = std::get<1>(data); double d = std::get<2>(data); VectorType expectedSegmentPoint = std::get<3>(data); VectorType expectedPlanePoint = std::get<4>(data); // The sign of the expected distance [1|-1|0], you must use 0 for expected 0 int sign = std::get<5>(data); double distance; VectorType segResultPoint, planeResultPoint; distance = distanceSegmentPlane(seg. a, seg.b, n, d, &segResultPoint, &planeResultPoint); EXPECT_NEAR((planeResultPoint - segResultPoint).norm(), std::abs(distance), epsilon); EXPECT_TRUE(distance * sign > 0 || distance == static_cast(sign)); EXPECT_TRUE(expectedSegmentPoint.isApprox(segResultPoint)); EXPECT_TRUE(expectedPlanePoint.isApprox(planeResultPoint)); } TEST_F(GeometryTest, SegmentPlaneDistance) { MockTriangle triangle(VectorType(3, 4, 5), VectorType(5, 5, 5), VectorType(10, 5, 2)); double d = -triangle.n.dot(triangle.v0); VectorType intersectionPoint = triangle.pointInTriangle(0.2, 0.7); Segment seg(intersectionPoint - triangle.n * 2, intersectionPoint + triangle.n * 2); VectorType segResultPoint, planeResultPoint; { SCOPED_TRACE("Segment intersects Plane"); checkSegmentPlanDistance(SegmentPlaneData(seg, triangle.n, d, intersectionPoint, intersectionPoint, 0)); } { SCOPED_TRACE("Segment above plane, segment intersection should be point a"); seg = Segment(intersectionPoint + triangle.n * 2, intersectionPoint + triangle.n * 3); distanceSegmentPlane(seg.a, seg.b, triangle.n, d, &segResultPoint, &planeResultPoint); checkSegmentPlanDistance(SegmentPlaneData(seg, triangle.n, d, seg.a, intersectionPoint, 1)); } { SCOPED_TRACE("Segment below plane, segment intersection should be point a"); seg = Segment(intersectionPoint - triangle.n * 3, intersectionPoint - triangle.n * 2); distanceSegmentPlane(seg.a, seg.b, triangle.n, d, &segResultPoint, &planeResultPoint); checkSegmentPlanDistance(SegmentPlaneData(seg, triangle.n, d, seg.b, intersectionPoint, -1)); } { SCOPED_TRACE("Segment below plane, segment intersection should be point a, reverse case from above"); seg = Segment(intersectionPoint - triangle.n * 2, intersectionPoint - triangle.n * 3); checkSegmentPlanDistance(SegmentPlaneData(seg, triangle.n, d, seg.a, intersectionPoint, -1)); } { SCOPED_TRACE("Segment coplanar with plane"); seg = Segment(intersectionPoint - triangle.v0v1, intersectionPoint + triangle.v0v1); checkSegmentPlanDistance(SegmentPlaneData(seg, triangle.n, d, intersectionPoint, intersectionPoint, 0)); } { SCOPED_TRACE("Segment parallel with plane"); seg = Segment(intersectionPoint - triangle.v0v1 + triangle.n * 2.0, intersectionPoint + triangle.v0v1 + triangle.n * 2.0); checkSegmentPlanDistance(SegmentPlaneData(seg, triangle.n, d, seg.pointOnLine(0.5), intersectionPoint, 1)); } { SCOPED_TRACE("Segment parallel with plane but on the other side"); seg = Segment(intersectionPoint - triangle.v0v1 - triangle.n * 2.0, intersectionPoint + triangle.v0v1 - triangle.n * 2.0); checkSegmentPlanDistance(SegmentPlaneData(seg, triangle.n, d, seg.pointOnLine(0.5), intersectionPoint, -1)); } } template class GeometryVectorTestBase : public testing::Test { public: typedef T Scalar; }; template class GeometryVector3Tests : public GeometryVectorTestBase { public: typedef T Vector3; }; typedef ::testing::Types GeometryVector3Variants; TYPED_TEST_CASE(GeometryVector3Tests, GeometryVector3Variants); TYPED_TEST(GeometryVector3Tests, nearestPointOnLine) { typedef typename TestFixture::Vector3 Vector3; typedef typename Vector3::Scalar T; const int VOpt = Vector3::Options; Vector3 point(static_cast(2.0), static_cast(-4.0), static_cast(3.0)); Vector3 segmentEnd1(static_cast(-2.0), static_cast(2.0), static_cast(4.0)); Vector3 segmentEnd2(static_cast(-1.0), static_cast(1.0), static_cast(2.0)); T precision = Eigen::NumTraits::dummy_precision(); // Assert if segment is degenerate ASSERT_ANY_THROW((SurgSim::Math::nearestPointOnLine(point, segmentEnd1, segmentEnd1))); // Otherwise, calculate the correct value ASSERT_NO_THROW((SurgSim::Math::nearestPointOnLine(point, segmentEnd1, segmentEnd2))); auto result = SurgSim::Math::nearestPointOnLine(point, segmentEnd1, segmentEnd2); EXPECT_GT(precision, (std::abs((segmentEnd2 - segmentEnd1).dot(result - point)))); } typedef std::tuple TriPlaneData; void checkTriPlaneDistance(const TriPlaneData& data) { MockTriangle tri = std::get<0>(data); VectorType n = std::get<1>(data); double d = std::get<2>(data); VectorType expectedTrianglePoint = std::get<3>(data); VectorType expectedPlanePoint = std::get<4>(data); int sign = std::get<5>(data); VectorType triangleResultPoint, planeResultPoint; double distance; distance = distanceTrianglePlane(tri.v0, tri.v1, tri.v2, n, d, &triangleResultPoint, &planeResultPoint); EXPECT_NEAR((planeResultPoint - triangleResultPoint).norm(), std::abs(distance), epsilon); EXPECT_TRUE((sign == 0 && std::abs(distance) <= epsilon) || (distance * sign > 0)); EXPECT_TRUE(expectedTrianglePoint.isApprox(triangleResultPoint)); EXPECT_TRUE(expectedPlanePoint.isApprox(planeResultPoint)); } TEST_F(GeometryTest, TrianglePlaneTest) { MockTriangle triangle(VectorType(3, 4, 5), VectorType(5, 5, 5), VectorType(10, 5, 2)); // Start with the coplanar case double d = -triangle.n.dot(triangle.v0); double distance; VectorType intersectionPoint0; VectorType intersectionPoint1; // Coplanar VectorType third = (triangle.v0 + triangle.v1 + triangle.v2) / 3.0; distance = distanceTrianglePlane(triangle.v0, triangle.v1, triangle.v2, triangle.n, d, &intersectionPoint0, &intersectionPoint1); EXPECT_NEAR(0.0, distance, epsilon); EXPECT_TRUE(third.isApprox(intersectionPoint0)); EXPECT_TRUE(third.isApprox(intersectionPoint1)); VectorType pointOnPlane = (triangle.v0 + triangle.v1 + triangle.v2) / 3.0; { SCOPED_TRACE("Coplanar Case"); MockTriangle target(triangle.v0 , triangle.v1 , triangle.v2); checkTriPlaneDistance(TriPlaneData(target, triangle.n, d, pointOnPlane, pointOnPlane, 0)); } { SCOPED_TRACE("Parallel, below the plane"); MockTriangle target(triangle.v0 - triangle.n * 3, triangle.v1 - triangle.n * 3, triangle.v2 - triangle.n * 3); checkTriPlaneDistance(TriPlaneData(target, triangle.n, d, pointOnPlane - triangle.n * 3, pointOnPlane, -1)); } { SCOPED_TRACE("Parallel, above the plane"); MockTriangle target(triangle.v0 + triangle.n, triangle.v1 + triangle.n, triangle.v2 + triangle.n); checkTriPlaneDistance(TriPlaneData(target, triangle.n, d, pointOnPlane + triangle.n, pointOnPlane, 1)); } { SCOPED_TRACE("Not Intersecting, triangle.v0 is closest above the plane"); MockTriangle target(triangle.v0 + triangle.n * 2, triangle.v1 + triangle.n * 3, triangle.v2 + triangle.n * 3); checkTriPlaneDistance(TriPlaneData(target, triangle.n, d, target.v0, triangle.v0, 1)); } { SCOPED_TRACE("Not Intersecting, triangle.v1 is closest above the plane"); MockTriangle target(triangle.v0 + triangle.n * 3, triangle.v1 + triangle.n * 2, triangle.v2 + triangle.n * 3); checkTriPlaneDistance(TriPlaneData(target, triangle.n, d, target.v1, triangle.v1, 1)); } { SCOPED_TRACE("Not Intersecting, triangle.v2 is closest above the plane"); MockTriangle target(triangle.v0 + triangle.n * 4, triangle.v1 + triangle.n * 3, triangle.v2 + triangle.n * 2); checkTriPlaneDistance(TriPlaneData(target, triangle.n, d, target.v2, triangle.v2, 1)); } { SCOPED_TRACE("Not Intersecting, triangle.v0 is closest below the plane"); MockTriangle target(triangle.v0 - triangle.n * 2, triangle.v1 - triangle.n * 3, triangle.v2 - triangle.n * 3); checkTriPlaneDistance(TriPlaneData(target, triangle.n, d, target.v0, triangle.v0, -1)); } { SCOPED_TRACE("Not Intersecting, triangle.v1 is closest below the plane"); MockTriangle target(triangle.v0 - triangle.n * 4, triangle.v1 - triangle.n * 2, triangle.v2 - triangle.n * 3); checkTriPlaneDistance(TriPlaneData(target, triangle.n, d, target.v1, triangle.v1, -1)); } { SCOPED_TRACE("Not Intersecting, triangle.v2 is closest below the plane"); MockTriangle target(triangle.v0 - triangle.n * 4, triangle.v1 - triangle.n * 3, triangle.v2 - triangle.n * 2); checkTriPlaneDistance(TriPlaneData(target, triangle.n, d, target.v2, triangle.v2, -1)); } { SCOPED_TRACE("Triangle point on the plane"); // Need to change the order of points for this to work ... strange ... MockTriangle target(triangle.v0 + triangle.n * 3, triangle.v2 + triangle.n * 3, triangle.v1); checkTriPlaneDistance(TriPlaneData(target, triangle.n, d, target.v2, target.v2, 0)); } { SCOPED_TRACE("Triangle plane intersection with v0 being under the plane"); MockTriangle target(triangle.v0 - triangle.n * 2, triangle.v1 + triangle.n * 2, triangle.v2 + triangle.n * 2); distance = distanceTrianglePlane(target.v0, target.v1, target.v2, triangle.n, d, &intersectionPoint0, &intersectionPoint1); EXPECT_NEAR(0.0, distance, epsilon); EXPECT_TRUE(intersectionPoint0.isApprox(intersectionPoint1)); EXPECT_TRUE(isPointInsideTriangle(intersectionPoint0, target.v0, target.v1, target.v2, target.n)); EXPECT_TRUE(isPointInsideTriangle(intersectionPoint0, triangle.v0, triangle.v1, triangle.v2, triangle.n)); } { SCOPED_TRACE("Triangle plane intersection with v0 and v1 being under the plane"); MockTriangle target(triangle.v0 - triangle.n * 2, triangle.v1 - triangle.n * 2, triangle.v2 + triangle.n * 2); distance = distanceTrianglePlane(target.v0, target.v1, target.v2, triangle.n, d, &intersectionPoint0, &intersectionPoint1); EXPECT_NEAR(0.0, distance, epsilon); EXPECT_TRUE(intersectionPoint0.isApprox(intersectionPoint1)); EXPECT_TRUE(isPointInsideTriangle(intersectionPoint0, target.v0, target.v1, target.v2, target.n)); EXPECT_TRUE(isPointInsideTriangle(intersectionPoint0, triangle.v0, triangle.v1, triangle.v2, triangle.n)); } { SCOPED_TRACE("Triangle plane intersection with v2 being under the plane"); MockTriangle target(triangle.v0 + triangle.n * 2, triangle.v1 + triangle.n * 2, triangle.v2 - triangle.n * 2); distance = distanceTrianglePlane(target.v0, target.v1, target.v2, triangle.n, d, &intersectionPoint0, &intersectionPoint1); EXPECT_NEAR(0.0, distance, epsilon); EXPECT_TRUE(intersectionPoint0.isApprox(intersectionPoint1)); EXPECT_TRUE(isPointInsideTriangle(intersectionPoint0, target.v0, target.v1, target.v2, target.n)); EXPECT_TRUE(isPointInsideTriangle(intersectionPoint0, triangle.v0, triangle.v1, triangle.v2, triangle.n)); } } TEST_F(GeometryTest, PlanePlaneDistance) { // Simple test against same double d1 = -tri.n.dot(tri.v0); VectorType point0, point1; bool result = doesIntersectPlanePlane(tri.n, d1, tri.n, d1, &point0, &point1); EXPECT_FALSE(result); EXPECT_TRUE(eigenAllNan(point0)); EXPECT_TRUE(eigenAllNan(point1)); result = doesIntersectPlanePlane(tri.n, -2.0, tri.n, 8.8, &point0, &point1); EXPECT_FALSE(result); EXPECT_TRUE(eigenAllNan(point0)); EXPECT_TRUE(eigenAllNan(point1)); VectorType n2 = VectorType(5, 6, 7); n2.normalize(); double d2 = -2; result = doesIntersectPlanePlane(tri.n, d1, n2, d2, &point0, &point1); VectorType output; EXPECT_TRUE(result); EXPECT_FALSE(eigenAllNan(point0)); EXPECT_NEAR(0, distancePointPlane(point0, tri.n, d1, &output), epsilon); EXPECT_NEAR(0, distancePointPlane(point1, tri.n, d1, &output), epsilon); EXPECT_FALSE(eigenAllNan(point1)); EXPECT_NEAR(0, distancePointPlane(point0, n2, d2, &output), epsilon); EXPECT_NEAR(0, distancePointPlane(point1, n2, d2, &output), epsilon); } typedef std::tuple SegTriDistanceData; void checkSegTriDistance(const SegTriDistanceData& data) { std::stringstream errorMessage; Segment segment = std::get<0>(data); MockTriangle tri = std::get<1>(data); VectorType expectedSegmentPoint = std::get<2>(data); VectorType expectedTrianglePoint = std::get<3>(data); double expectedDistance = (expectedSegmentPoint - expectedTrianglePoint).norm(); double distance; VectorType segmentPoint, trianglePoint; distance = distanceSegmentTriangle(segment.a, segment.b, tri.v0, tri.v1, tri.v2, tri.n, &segmentPoint, &trianglePoint); EXPECT_NEAR(expectedDistance, distance, epsilon); EXPECT_TRUE(expectedSegmentPoint.isApprox(segmentPoint)); EXPECT_TRUE(expectedTrianglePoint.isApprox(trianglePoint)); // Repeat above with segment reversed distance = distanceSegmentTriangle(segment.b, segment.a, tri.v0, tri.v1, tri.v2, tri.n, &segmentPoint, &trianglePoint); EXPECT_NEAR(expectedDistance, distance, epsilon); EXPECT_TRUE(expectedSegmentPoint.isApprox(segmentPoint)); EXPECT_TRUE(expectedTrianglePoint.isApprox(trianglePoint)); } TEST_F(GeometryTest, SegmentTriangleDistance) { Segment segment; VectorType intersection; { SCOPED_TRACE("Segment endpoint equivalent to triangle point"); segment = Segment(tri.v0, tri.v1 + tri.n * 3); checkSegTriDistance(SegTriDistanceData(segment, tri, segment.a, tri.v0)); } { SCOPED_TRACE("Segment endpoint inside triangle on triangle plane"); segment = Segment(tri.pointInTriangle(0.5, 0.2), tri.pointInTriangle(2, 2) + tri.n * 4); checkSegTriDistance(SegTriDistanceData(segment, tri, segment.a, segment.a)); } { SCOPED_TRACE("Intersection inside triangle"); intersection = tri.pointInTriangle(0.5, 0.2); segment = Segment(intersection - tri.n * 4 - tri.v0v1, intersection + tri.n * 4 + tri.v0v1); checkSegTriDistance(SegTriDistanceData(segment, tri, intersection, intersection)); } { SCOPED_TRACE("Segment endpoint on triangle edge"); segment = Segment(tri.pointInTriangle(0.0, 0.2), tri.pointInTriangle(2, 2) + tri.n * 4); checkSegTriDistance(SegTriDistanceData(segment, tri, segment.a, segment.a)); } { SCOPED_TRACE("intersection on triangle edge"); intersection = tri.pointInTriangle(0, 0.2); segment = Segment(intersection - tri.n * 3 - tri.v1v2 * .5, intersection + tri.n * 3 + tri.v1v2 * .5); checkSegTriDistance(SegTriDistanceData(segment, tri, intersection, intersection)); } { SCOPED_TRACE("segment endpoint is close to point inside of triangle"); intersection = tri.pointInTriangle(0.5, 0.2); Segment seg(intersection, intersection + tri.n * 2 + tri.v0v1 * 3); segment = Segment(seg.a + tri.n * 0.1, seg.b + tri.n * 0.1); checkSegTriDistance(SegTriDistanceData(segment, tri, segment.a, intersection)); } { SCOPED_TRACE("segment endpoint is close to triangle point v0"); Segment seg(tri.v0, tri.v0 - tri.n * 2 - tri.v0v1 * 2); segment = Segment(seg.a - tri.n * 0.1, seg.b - tri.n * 0.1); checkSegTriDistance(SegTriDistanceData(segment, tri, segment.a, tri.v0)); } { SCOPED_TRACE("segment endpoint is close to triangle point v1"); Segment seg(tri.v1, tri.v1 - tri.n * 2 - tri.v0v1 * 2); segment = Segment(seg.a - tri.n * 0.1, seg.b - tri.n * 0.1); checkSegTriDistance(SegTriDistanceData(segment, tri, segment.a, tri.v1)); } { SCOPED_TRACE("segment endpoint is close to triangle point v2"); Segment seg(tri.v2, tri.v2 - tri.n * 2 - tri.v1v2 * 2); segment = Segment(seg.a - tri.n * 0.1, seg.b - tri.n * 0.1); checkSegTriDistance(SegTriDistanceData(segment, tri, segment.a, tri.v2)); } { SCOPED_TRACE("segment endpoint is close to edge v0v1"); intersection = tri.v0 + tri.v0v1 * 0.2; Segment seg(intersection, intersection + tri.n * 2); segment = Segment(seg.a + seg.ab * 0.01, seg.b + seg.ab * 0.01); checkSegTriDistance(SegTriDistanceData(segment, tri, segment.a, intersection)); } { SCOPED_TRACE("segment endpoint is close to edge v0v2"); intersection = tri.v0 + tri.v0v2 * 0.4; Segment seg(intersection, intersection + tri.n * 2); segment = Segment(seg.a + seg.ab * 0.01, seg.b + seg.ab * 0.01); checkSegTriDistance(SegTriDistanceData(segment, tri, segment.a , intersection)); } { SCOPED_TRACE("segment endpoint is close to edge v1v2"); intersection = tri.v1 + tri.v1v2 * 0.2; Segment seg(intersection, intersection + tri.n * 2); segment = Segment(seg.a + seg.ab * 0.01, seg.b + seg.ab * 0.01); checkSegTriDistance(SegTriDistanceData(segment, tri, segment.a, intersection)); } { SCOPED_TRACE("point on segment is close to triangle vertex v0"); segment = Segment(tri.v0 - tri.n * 3, tri.v0 + tri.n * 3); checkSegTriDistance(SegTriDistanceData(segment, tri, tri.v0, tri.v0)); } { SCOPED_TRACE("point on segment is close to triangle vertex v1"); segment = Segment(tri.v1 - tri.n * 3, tri.v1 + tri.n * 3); checkSegTriDistance(SegTriDistanceData(segment, tri, tri.v1, tri.v1)); } { SCOPED_TRACE("point on segment is close to triangle vertex v2"); segment = Segment(tri.v2 - tri.n * 3, tri.v2 + tri.n * 3); checkSegTriDistance(SegTriDistanceData(segment, tri, tri.v2, tri.v2)); } { SCOPED_TRACE("point on segment is close to edge v0v1"); intersection = tri.v0 + tri.v0v1 * 0.2; Segment seg(intersection - tri.n * 3, intersection + tri.n * 2); VectorType cross = tri.n.cross(tri.v0v1); segment = Segment(seg.a - cross * 0.01, seg.b - cross * 0.01); checkSegTriDistance(SegTriDistanceData(segment, tri, intersection - cross * 0.01, intersection)); } { SCOPED_TRACE("point on segment is close to edge v0v2"); intersection = tri.v0 + tri.v0v2 * 0.2; Segment seg(intersection - tri.n * 3, intersection + tri.n * 2); VectorType cross = tri.n.cross(tri.v0v2); segment = Segment(seg.a + cross * 0.01, seg.b + cross * 0.01); checkSegTriDistance(SegTriDistanceData(segment, tri, intersection + cross * 0.01, intersection)); } { SCOPED_TRACE("point on segment is close to edge v1v2"); intersection = tri.v1 + tri.v1v2 * 0.2; Segment seg(intersection - tri.n * 3, intersection + tri.n * 2); VectorType cross = tri.n.cross(tri.v1v2); segment = Segment(seg.a - cross * 0.01, seg.b - cross * 0.01); checkSegTriDistance(SegTriDistanceData(segment, tri, intersection - cross * 0.01, intersection)); } } typedef std::tuple TriTriDistanceData; void checkTriTriDistance(const TriTriDistanceData& data) { MockTriangle t0 = std::get<0>(data); MockTriangle t1 = std::get<1>(data); VectorType expectedT0Point = std::get<2>(data); VectorType expectedT1Point = std::get<3>(data); double expectedDistance = (expectedT1Point - expectedT0Point).norm(); double distance; VectorType t0Point, t1Point; { SCOPED_TRACE("Normal Test"); distance = distanceTriangleTriangle(t0.v0, t0.v1, t0.v2, t1.v0, t1.v1, t1.v2, &t0Point, &t1Point); EXPECT_NEAR(expectedDistance, distance, epsilon); EXPECT_TRUE(expectedT0Point.isApprox(t0Point)); EXPECT_TRUE(expectedT1Point.isApprox(t1Point)); } // { // SCOPED_TRACE("Reversed Triangles"); // distance = TriangleTriangleDistance(t1.v0, t1.v1, t1.v2, t0.v0, t0.v1, t0.v2, &t1Point, &t0Point); // EXPECT_NEAR(expectedDistance, distance,epsilon); // EXPECT_TRUE(expectedT0Point.isApprox(t0Point)); // EXPECT_TRUE(expectedT1Point.isApprox(t1Point)); // } { SCOPED_TRACE("Shift t0 edges once"); distance = distanceTriangleTriangle(t0.v1, t0.v2, t0.v0, t1.v0, t1.v1, t1.v2, &t0Point, &t1Point); EXPECT_NEAR(expectedDistance, distance, epsilon); EXPECT_TRUE(expectedT0Point.isApprox(t0Point)); EXPECT_TRUE(expectedT1Point.isApprox(t1Point)); } { SCOPED_TRACE("Shift t0 edges twice"); distance = distanceTriangleTriangle(t0.v2, t0.v0, t0.v1, t1.v0, t1.v1, t1.v2, &t0Point, &t1Point); EXPECT_NEAR(expectedDistance, distance, epsilon); EXPECT_TRUE(expectedT0Point.isApprox(t0Point)); EXPECT_TRUE(expectedT1Point.isApprox(t1Point)); } } TEST_F(GeometryTest, distanceTriangleTriangle) { MockTriangle t0(VectorType(5, 0, 0), VectorType(0, 2, 2), VectorType(0, -2, -2)); MockTriangle t1; { SCOPED_TRACE("vertex t1v0 equal to t0v0"); t1 = MockTriangle(t0.v0, t0.v1 + t0.n * 2, t0.v2 + t0.n * 2); checkTriTriDistance(TriTriDistanceData(t1, t0, t0.v0, t0.v0)); } { SCOPED_TRACE("vertex t1v0 inside of triangle t0"); VectorType intersection = t0.pointInTriangle(0.2, 0.2); t1 = MockTriangle(intersection, t0.v1 + t0.n * 2, t0.v2 + t0.n * 2); checkTriTriDistance(TriTriDistanceData(t1, t0, t1.v0, intersection)); } { SCOPED_TRACE("vertex t1v0 close to t0v0"); t1 = MockTriangle(t0.v0 + t0.n, t0.v1 + t0.n * 2, t0.v2 + t0.n * 2); checkTriTriDistance(TriTriDistanceData(t1, t0, t1.v0, t0.v0)); } { SCOPED_TRACE("vertex t1v0 close to the inside of triangle t0"); VectorType intersection = t0.pointInTriangle(0.2, 0.2); t1 = MockTriangle(intersection + t0.n , t0.v1 + t0.n * 2, t0.v2 + t0.n * 2); checkTriTriDistance(TriTriDistanceData(t1, t0, t1.v0, intersection)); } { SCOPED_TRACE("edge t1v0v1 through triangle t0"); VectorType intersection = t0.pointInTriangle(0.2, 0.2); t1 = MockTriangle(intersection + t0.n * 3, t0.v0 - t0.v0v2 * 4 + t0.n, intersection - t0.n * 4); checkTriTriDistance(TriTriDistanceData(t1, t0, intersection, intersection)); } { SCOPED_TRACE("Triangles parallel"); t1 = MockTriangle(t0.v0 + tri.n * 3, t0.v1 + tri.n * 3, t0.v2 + tri.n * 3); VectorType closest0, closest1; double distance = distanceTriangleTriangle(t0.v0, t0.v1, t0.v2, t1.v0, t1.v1, t1.v2, &closest0, &closest1); EXPECT_NEAR(3.0, distance, epsilon); } { SCOPED_TRACE("edge t0v0v1 close to t1v0v1"); VectorType closest0 = t0.v0 + t0.v0v1 * 0.2; VectorType shift = t0.n.cross(t0.v0v1.normalized()); shift.normalize(); VectorType closest1 = closest0 - shift * 2; t1 = MockTriangle(closest1 - tri.n * 2, closest1 + tri.n * 2, closest1 + tri.n - shift * 10); checkTriTriDistance(TriTriDistanceData(t1, t0, closest1, closest0)); } } TEST_F(GeometryTest, IntersectionsSegmentBox) { Eigen::AlignedBox box; { SCOPED_TRACE("No intersection, zero length segment"); VectorType point1(0.0, 0.0, 0.0); VectorType point2(0.0, 0.0, 0.0); box.min() = VectorType(1.0 , 1.0, 1.0); box.max() = VectorType(5.0 , 5.0, 5.0); std::vector intersections; intersectionsSegmentBox(point1, point2, box, &intersections); EXPECT_EQ(0, intersections.size()); } { SCOPED_TRACE("No intersection, zero size box"); VectorType point1(0.0, 0.0, 0.0); VectorType point2(0.0, 5.0, 0.0); box.min() = VectorType(1.0 , 1.0, 1.0); box.max() = VectorType(1.0 , 1.0, 1.0); std::vector intersections; intersectionsSegmentBox(point1, point2, box, &intersections); EXPECT_EQ(0, intersections.size()); } { SCOPED_TRACE("No Intersection, parallel and beyond corners"); VectorType point1(-0.0, 0.0, -0.0); VectorType point2(0.0, 5.0, -0.0); box.min() = VectorType(1.0 , 1.0, 1.0); box.max() = VectorType(5.0 , 5.0, 5.0); std::vector intersections; intersectionsSegmentBox(point1, point2, box, &intersections); EXPECT_EQ(0, intersections.size()); } { SCOPED_TRACE("Entering box, but not leaving"); VectorType point1(2.0, 2.0, 0.0); VectorType point2(3.0, 3.0, 2.0); box.min() = VectorType(1.0 , 1.0, 1.0); box.max() = VectorType(5.0 , 5.0, 5.0); std::vector intersections; intersectionsSegmentBox(point1, point2, box, &intersections); EXPECT_EQ(1, intersections.size()); EXPECT_TRUE(intersections[0].isApprox(VectorType(2.5, 2.5, 1.0))); } { SCOPED_TRACE("Entering and exiting box, through box corners"); VectorType point1(0.0, 0.0, 0.0); VectorType point2(6.0, 6.0, 6.0); box.min() = VectorType(1.0 , 1.0, 1.0); box.max() = VectorType(5.0 , 5.0, 5.0); std::vector intersections; intersectionsSegmentBox(point1, point2, box, &intersections); EXPECT_EQ(2, intersections.size()); EXPECT_TRUE(intersections[0].isApprox(box.min()) || intersections[0].isApprox(box.max())); EXPECT_TRUE(intersections[1].isApprox(box.min()) || intersections[1].isApprox(box.max())); } } TEST_F(GeometryTest, DoesIntersectBoxCapsule) { typedef Eigen::AlignedBox BoxType; { SCOPED_TRACE("No intersection"); VectorType bottom(-5.0, 5.0, 0.0); VectorType top(5.0, 5.0, 0.0); double radius = 1.0; BoxType box(VectorType(-1.0 , -1.0, -1.0), VectorType(1.0 , 1.0, 1.0)); EXPECT_FALSE(doesIntersectBoxCapsule(bottom, top, radius, box)); } { SCOPED_TRACE("Intersection, capsule in middle of box"); VectorType bottom(-5.0, -5.0, -5.0); VectorType top(5.0, 5.0, 5.0); double radius = 10.0; BoxType box(VectorType(-1.0 , -1.0, -1.0), VectorType(1.0 , 1.0, 1.0)); EXPECT_TRUE(doesIntersectBoxCapsule(bottom, top, radius, box)); } { SCOPED_TRACE("No Intersection, box not centered"); VectorType bottom(-5.0, -5.0, -5.0); VectorType top(5.0, 5.0, 5.0); double radius = 1.0; BoxType box(VectorType(1.0 , 1.0, -1.0), VectorType(2.0 , 2.0, -2.0)); EXPECT_FALSE(doesIntersectBoxCapsule(bottom, top, radius, box)); } { SCOPED_TRACE("Intersection, box not centered"); VectorType bottom(-5.0, -5.0, -5.0); VectorType top(5.0, 5.0, 5.0); double radius = 1.0; BoxType box(VectorType(0.0 , 0.0, 0.0), VectorType(1.0 , 1.0, 1.0)); EXPECT_TRUE(doesIntersectBoxCapsule(bottom, top, radius, box)); } { SCOPED_TRACE("No intersection, capsule along edge"); VectorType bottom(2.0, -2.0, 2.0); VectorType top(2.0, 2.0, 2.0); double radius = sqrt(2.0) - 1.0; BoxType box(VectorType(-1.0 , -1.0, -1.0), VectorType(1.0 , 1.0, 1.0)); EXPECT_FALSE(doesIntersectBoxCapsule(bottom, top, radius, box)); } { SCOPED_TRACE("Intersection, capsule along edge"); VectorType bottom(2.0, -2.0, 2.0); VectorType top(2.0, 2.0, 2.0); double radius = sqrt(2.0) + 0.1; BoxType box(VectorType(-1.0 , -1.0, -1.0), VectorType(1.0 , 1.0, 1.0)); EXPECT_TRUE(doesIntersectBoxCapsule(bottom, top, radius, box)); } { SCOPED_TRACE("No Intersection, capsule at corner"); VectorType bottom(2.0, 3.0, 1.0); VectorType top(2.0, 1.0, 3.0); double radius = sqrt(3.0) - 0.1; BoxType box(VectorType(-1.0 , -1.0, -1.0), VectorType(1.0 , 1.0, 1.0)); EXPECT_FALSE(doesIntersectBoxCapsule(bottom, top, radius, box)); } { SCOPED_TRACE("Intersection, capsule at corner"); VectorType bottom(2.0, 3.0, 1.0); VectorType top(2.0, 1.0, 3.0); double radius = sqrt(3.0) + 0.1; BoxType box(VectorType(-1.0 , -1.0, -1.0), VectorType(1.0 , 1.0, 1.0)); EXPECT_TRUE(doesIntersectBoxCapsule(bottom, top, radius, box)); } } TEST_F(GeometryTest, TimesOfCoplanarity) { std::array times; { SCOPED_TRACE("No coplanarity case in [0..1]"); std::pair A = std::make_pair(VectorType(0.0, 0.0, 0.0), VectorType(1.0, 0.0, 1.0)); std::pair B = std::make_pair(VectorType(1.0, 0.0, 2.0), VectorType(2.0, 0.0, 4.0)); std::pair C = std::make_pair(VectorType(0.0, 0.1, 10.0), VectorType(0.0, 1.1, 10.0)); std::pair D = std::make_pair(VectorType(0.0, 1.1, 10.0), VectorType(0.0, 2.1, 10.0)); EXPECT_EQ(0, (timesOfCoplanarityInRange01(A, B, C, D, ×))); } { SCOPED_TRACE("1 case of coplanarity at time 0"); std::pair A = std::make_pair(VectorType(0.0, 0.0, 0.0), VectorType(1.0, 0.0, 1.0)); std::pair B = std::make_pair(VectorType(1.0, 0.0, 2.0), VectorType(2.0, 0.0, 4.0)); std::pair C = std::make_pair(VectorType(0.0, 1.0, -2.0), VectorType(0.0, 2.0, -3.5)); std::pair D = std::make_pair(VectorType(0.0, 0.0, 0.0), VectorType(0.0, 1.0, -10.0)); EXPECT_EQ(1, (timesOfCoplanarityInRange01(A, B, C, D, ×))); EXPECT_DOUBLE_EQ(0.0, times[0]); } { SCOPED_TRACE("1 case of coplanarity at time 0.5"); std::pair A = std::make_pair(VectorType(0.1, 0.0, 1.0), VectorType(-0.1, 0.0, -1.0)); // A(0.5) = 0.0 0.0 0.0 std::pair B = std::make_pair(VectorType(1.0, 0.0, 2.0), VectorType(2.0, 3.0, -2.0)); // B(0.5) = 1.5 1.5 0.0 std::pair C = std::make_pair(VectorType(-0.3, 2.0, -2.0), VectorType(0.3, 1.0, 2.0)); // C(0.5) = 0.0 1.5 0.0 std::pair D = std::make_pair(VectorType(1.7, 1.0, -1.0), VectorType(1.3, -1.0, 1.0)); // D(0.5) = 1.5 0.0 0.0 EXPECT_EQ(1, (timesOfCoplanarityInRange01(A, B, C, D, ×))); EXPECT_NEAR(0.5, times[0], Math::Geometry::ScalarEpsilon); } { SCOPED_TRACE("2 cases of coplanarity at times 0.089971778657590915 and 0.5"); std::pair A = std::make_pair(VectorType(0.4, 0.8, 1.0), VectorType(0.8, 1.0, -1.0)); // A(0.5) = 0.6 0.9 0.0 std::pair B = std::make_pair(VectorType(1.0, 0.0, 2.0), VectorType(2.0, 3.0, -2.0)); // B(0.5) = 1.5 1.5 0.0 std::pair C = std::make_pair(VectorType(-0.3, 2.0, -2.0), VectorType(0.3, 1.0, 2.0)); // C(0.5) = 0.0 1.5 0.0 std::pair D = std::make_pair(VectorType(1.7, 1.0, -1.0), VectorType(1.3, -1.0, 1.0)); // D(0.5) = 1.5 0.0 0.0 EXPECT_EQ(2, (timesOfCoplanarityInRange01(A, B, C, D, ×))); EXPECT_NEAR(0.089971778657590915, times[0], Math::Geometry::ScalarEpsilon); EXPECT_NEAR(0.5, times[1], Math::Geometry::ScalarEpsilon); } { SCOPED_TRACE("1 case of coplanarity at time 1"); std::pair A = std::make_pair(VectorType(0.0, 0.0, 0.0), VectorType(1.0, 0.0, 1.0)); std::pair B = std::make_pair(VectorType(1.0, 0.0, 1.24), VectorType(2.0, 0.0, 3.0)); std::pair C = std::make_pair(VectorType(0.0, 1.0, -2.0), VectorType(2.0, 0.0, 3.0)); std::pair D = std::make_pair(VectorType(0.1, 1.0, 1.1), VectorType(0.0, 1.0, -1.54)); EXPECT_EQ(1, (timesOfCoplanarityInRange01(A, B, C, D, ×))); EXPECT_NEAR(1.0, times[0], Math::Geometry::ScalarEpsilon); } } TEST_F(GeometryTest, CcdIntersectionsSegmentSegment) { SizeType time, s0p1Factor, s1p1Factor; { SCOPED_TRACE("No intersection"); std::pair A = std::make_pair(VectorType(0.0, 0.0, 0.0), VectorType(1.0, 0.0, 1.0)); std::pair B = std::make_pair(VectorType(1.0, 0.0, 2.0), VectorType(2.0, 0.0, 4.0)); std::pair C = std::make_pair(VectorType(0.0, 0.1, 4.0), VectorType(0.0, 1.1, 8.0)); std::pair D = std::make_pair(VectorType(0.0, 1.1, 6.0), VectorType(0.0, 2.1, 54.0)); EXPECT_FALSE(calculateCcdContactSegmentSegment(A, B, C, D, &time, &s0p1Factor, &s1p1Factor)); } { SCOPED_TRACE("Intersection at t=0"); std::pair A = std::make_pair(VectorType(0.0, 0.0, 0.0), VectorType(1.0, 0.0, 1.0)); std::pair B = std::make_pair(VectorType(1.0, 0.0, 2.0), VectorType(2.0, 0.0, 4.0)); std::pair C = std::make_pair(VectorType(0.0, 1.0, -2.0), VectorType(0.0, 2.0, -3.5)); std::pair D = std::make_pair(VectorType(0.0, 0.0, 0.0), VectorType(0.0, 1.0, -10.0)); EXPECT_TRUE(calculateCcdContactSegmentSegment(A, B, C, D, &time, &s0p1Factor, &s1p1Factor)); EXPECT_DOUBLE_EQ(0.0, time); EXPECT_DOUBLE_EQ(0.0, s0p1Factor); EXPECT_DOUBLE_EQ(1.0, s1p1Factor); } { SCOPED_TRACE("Intersection at t=0.5"); std::pair A = std::make_pair(VectorType(0.1, 0.0, 1.0), VectorType(-0.1, 0.0, -1.0)); // A(0.5) = 0.0 0.0 0.0 std::pair B = std::make_pair(VectorType(1.0, 0.0, 2.0), VectorType(2.0, 3.0, -2.0)); // B(0.5) = 1.5 1.5 0.0 std::pair C = std::make_pair(VectorType(-0.3, 2.0, -2.0), VectorType(0.3, 1.0, 2.0)); // C(0.5) = 0.0 1.5 0.0 std::pair D = std::make_pair(VectorType(1.7, 1.0, -1.0), VectorType(1.3, -1.0, 1.0)); // D(0.5) = 1.5 0.0 0.0 // At time 0.5, the segments AB and CD are coplanar and intersect exactly in their middle EXPECT_TRUE(calculateCcdContactSegmentSegment(A, B, C, D, &time, &s0p1Factor, &s1p1Factor)); EXPECT_NEAR(0.5, time, Math::Geometry::ScalarEpsilon); EXPECT_NEAR(0.5, s0p1Factor, Math::Geometry::ScalarEpsilon); EXPECT_NEAR(0.5, s1p1Factor, Math::Geometry::ScalarEpsilon); } { SCOPED_TRACE("Intersection at t=0.5"); std::pair A = std::make_pair(VectorType(0.4, 0.0, 1.0), VectorType(0.6, 0.0, -1.0)); // A(0.5) = 0.5 0.0 0.0 std::pair B = std::make_pair(VectorType(1.0, 0.0, 2.0), VectorType(2.0, 3.0, -2.0)); // B(0.5) = 1.5 1.5 0.0 std::pair C = std::make_pair(VectorType(-0.3, 2.0, -2.0), VectorType(0.3, 1.0, 2.0)); // C(0.5) = 0.0 1.5 0.0 std::pair D = std::make_pair(VectorType(1.7, 1.0, -1.0), VectorType(1.3, -1.0, 1.0)); // D(0.5) = 1.5 0.0 0.0 // At time 0.5, the segments AB and CD are coplanar and intersect at P: // P = A + 0.4 AB = (0.5 0.0 0.0) + 0.4 (1.0 1.5 0.0) = (0.9 0.6 0.0) // P = C + 0.6 CD = (0.0 1.5 0.0) + 0.6 (1.5 -1.5 0.0) = (0.9 0.6 0.0) EXPECT_TRUE(calculateCcdContactSegmentSegment(A, B, C, D, &time, &s0p1Factor, &s1p1Factor)); EXPECT_NEAR(0.5, time, Math::Geometry::ScalarEpsilon); EXPECT_NEAR(0.4, s0p1Factor, Math::Geometry::ScalarEpsilon); EXPECT_NEAR(0.6, s1p1Factor, Math::Geometry::ScalarEpsilon); } { SCOPED_TRACE("Intersection at t=0.5 (2 cubic roots in [0..1]: 0.0899 (no collision) and 0.5 (collision))"); std::pair A = std::make_pair(VectorType(0.4, 0.8, 1.0), VectorType(0.8, 1.0, -1.0)); // A(0.5) = 0.6 0.9 0.0 std::pair B = std::make_pair(VectorType(1.0, 0.0, 2.0), VectorType(2.0, 3.0, -2.0)); // B(0.5) = 1.5 1.5 0.0 std::pair C = std::make_pair(VectorType(-0.3, 2.0, -2.0), VectorType(0.3, 1.0, 2.0)); // C(0.5) = 0.0 1.5 0.0 std::pair D = std::make_pair(VectorType(1.7, 1.0, -1.0), VectorType(1.3, -1.0, 1.0)); // D(0.5) = 1.5 0.0 0.0 // At time 0.5, all 4 points are coplanar and AB/CD intersect: // P = A + 0*AB = (0.6 0.9 0.0) // P = C + 0.4*CD = (0.0 1.5 0.0) + 0.4 (1.5 -1.5 0.0) = (0.6 0.9 0.0) EXPECT_TRUE(calculateCcdContactSegmentSegment(A, B, C, D, &time, &s0p1Factor, &s1p1Factor)); EXPECT_NEAR(0.5, time, Math::Geometry::ScalarEpsilon); EXPECT_NEAR(0.0, s0p1Factor, Math::Geometry::ScalarEpsilon); EXPECT_NEAR(0.4, s1p1Factor, Math::Geometry::ScalarEpsilon); } { SCOPED_TRACE("Intersection at t=1"); std::pair A = std::make_pair(VectorType(0.0, 0.0, 0.0), VectorType(1.0, 0.0, 1.0)); std::pair B = std::make_pair(VectorType(1.0, 0.0, 1.24), VectorType(2.0, 0.0, 3.0)); std::pair C = std::make_pair(VectorType(0.0, 1.0, -2.0), VectorType(2.0, 0.0, 3.0)); std::pair D = std::make_pair(VectorType(0.1, 1.0, 1.1), VectorType(0.0, 1.0, -1.54)); EXPECT_TRUE(calculateCcdContactSegmentSegment(A, B, C, D, &time, &s0p1Factor, &s1p1Factor)); EXPECT_DOUBLE_EQ(1.0, time); EXPECT_DOUBLE_EQ(1.0, s0p1Factor); EXPECT_DOUBLE_EQ(0.0, s1p1Factor); } } TEST_F(GeometryTest, CcdIntersectionsPointTriangle) { SizeType time, tv01Factor, tv02Factor; { SCOPED_TRACE("No intersection"); std::pair P = std::make_pair(VectorType(0.0, 0.0, 0.0), VectorType(1.0, 0.0, 1.0)); std::pair A = std::make_pair(VectorType(1.0, 0.0, 2.0), VectorType(2.0, 0.0, 4.0)); std::pair B = std::make_pair(VectorType(0.0, 0.1, 4.0), VectorType(0.0, 1.1, 8.0)); std::pair C = std::make_pair(VectorType(0.0, 1.1, 6.0), VectorType(0.0, 2.1, 54.0)); EXPECT_FALSE(calculateCcdContactPointTriangle(P, A, B, C, &time, &tv01Factor, &tv02Factor)); } { SCOPED_TRACE("Intersection at t=0"); std::pair P = std::make_pair(VectorType(0.0, 0.0, 0.0), VectorType(1.0, 0.0, 1.0)); std::pair A = std::make_pair(VectorType(1.0, 0.0, 2.0), VectorType(2.0, 0.0, 4.0)); std::pair B = std::make_pair(VectorType(0.0, 1.0, -2.0), VectorType(0.0, 2.0, -3.5)); std::pair C = std::make_pair(VectorType(0.0, 0.0, 0.0), VectorType(0.0, 1.0, -10.0)); EXPECT_TRUE(calculateCcdContactPointTriangle(P, A, B, C, &time, &tv01Factor, &tv02Factor)); EXPECT_DOUBLE_EQ(0.0, time); EXPECT_DOUBLE_EQ(0.0, tv01Factor); EXPECT_DOUBLE_EQ(1.0, tv02Factor); } { SCOPED_TRACE("Intersection at t=0.5"); std::pair P = std::make_pair(VectorType(1.1, 0.0, 1.0), VectorType(0.9, 2.0, -1.0)); // P(0.5) = 1.0 1.0 0.0 std::pair A = std::make_pair(VectorType(1.0, 0.0, 2.0), VectorType(2.0, 3.0, -2.0)); // A(0.5) = 1.5 1.5 0.0 std::pair B = std::make_pair(VectorType(-0.3, 2.0, -2.0), VectorType(0.3, 1.0, 2.0)); // B(0.5) = 0.0 1.5 0.0 std::pair C = std::make_pair(VectorType(1.7, 1.0, -1.0), VectorType(1.3, -1.0, 1.0)); // C(0.5) = 1.5 0.0 0.0 // At time 0.5, all 4 points are coplanar and P is inside ABC with the barycentric coordinates (1/3 1/3 1/3) EXPECT_TRUE(calculateCcdContactPointTriangle(P, A, B, C, &time, &tv01Factor, &tv02Factor)); EXPECT_NEAR(0.5, time, Math::Geometry::ScalarEpsilon); EXPECT_NEAR(1.0 / 3.0, tv01Factor, Math::Geometry::ScalarEpsilon); EXPECT_NEAR(1.0 / 3.0, tv01Factor, Math::Geometry::ScalarEpsilon); } { SCOPED_TRACE("Intersection at t=0.5 (2 cubic roots in [0..1]: 0.0899 (no collision) and 0.5 (collision))"); std::pair P = std::make_pair(VectorType(0.4, 0.8, 1.0), VectorType(0.8, 1.0, -1.0)); // P(0.5) = 0.6 0.9 0.0 std::pair A = std::make_pair(VectorType(1.0, 0.0, 2.0), VectorType(2.0, 3.0, -2.0)); // A(0.5) = 1.5 1.5 0.0 std::pair B = std::make_pair(VectorType(-0.3, 2.0, -2.0), VectorType(0.3, 1.0, 2.0)); // B(0.5) = 0.0 1.5 0.0 std::pair C = std::make_pair(VectorType(1.7, 1.0, -1.0), VectorType(1.3, -1.0, 1.0)); // C(0.5) = 1.5 0.0 0.0 // At time 0.5, all 4 points are coplanar and P is inside ABC with the barycentric coordinates (0 0.6 0.4) // P = A + 0.6 AB + 0.4 AC = (1.5 1.5 0.0) + 0.6 (-1.5 0.0 0.0) + 0.4 (0.0 -1.5 0.0) = (0.6 0.9 0.0) EXPECT_TRUE(calculateCcdContactPointTriangle(P, A, B, C, &time, &tv01Factor, &tv02Factor)); EXPECT_NEAR(0.5, time, Math::Geometry::ScalarEpsilon); EXPECT_NEAR(0.6, tv01Factor, Math::Geometry::ScalarEpsilon); EXPECT_NEAR(0.4, tv02Factor, Math::Geometry::ScalarEpsilon); } { SCOPED_TRACE("Intersection at t=1"); std::pair P = std::make_pair(VectorType(1.0, 0.0, 1.24), VectorType(2.0, 0.0, 3.0)); std::pair A = std::make_pair(VectorType(0.0, 0.0, 0.0), VectorType(1.0, 0.0, 1.0)); std::pair B = std::make_pair(VectorType(0.0, 1.0, -2.0), VectorType(2.0, 0.0, 3.0)); std::pair C = std::make_pair(VectorType(0.1, 1.0, 1.1), VectorType(0.0, 1.0, -1.54)); EXPECT_TRUE(calculateCcdContactPointTriangle(P, A, B, C, &time, &tv01Factor, &tv02Factor)); EXPECT_DOUBLE_EQ(1.0, time); EXPECT_DOUBLE_EQ(1.0, tv01Factor); EXPECT_DOUBLE_EQ(0.0, tv02Factor); } } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/IntervalArithmeticTests.cpp000066400000000000000000000651301277777236100256720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the IntervalArithmetic functions. #include #include #include "SurgSim/Math/IntervalArithmetic.h" namespace SurgSim { namespace Math { namespace { double epsilon = 1.0e-10; double delta = 1.0e-11; } class IntervalArithmeticTests : public ::testing::Test { public: typedef IntervalND IntervalDouble2; typedef IntervalND IntervalDouble3; Interval testIntervalMoveConstructor(Interval dummy) { Interval ret; ret = dummy; return ret; } IntervalND testIntervalNDMoveConstructor(IntervalND dummy) { IntervalND ret; ret = dummy; return ret; } IntervalND testInterval3DMoveConstructor(IntervalND dummy) { IntervalND ret; ret = dummy; return ret; } }; TEST_F(IntervalArithmeticTests, IntervalInitializationTests) { // Constructor tests EXPECT_NO_THROW(Interval a); EXPECT_THROW(Interval a(3.8, 3.7), SurgSim::Framework::AssertionFailure); EXPECT_NO_THROW(Interval a(3.7, 3.8)); Interval b(9.8, 100); EXPECT_NO_THROW(Interval a(b)); Interval a(b); EXPECT_TRUE(a == b); EXPECT_NO_THROW(testIntervalMoveConstructor(b)); Interval f = testIntervalMoveConstructor(b); EXPECT_TRUE(f == b); // Assignment and equal/not equal tests Interval c; EXPECT_TRUE(c != b); EXPECT_FALSE(c == b); c = a; EXPECT_FALSE(c != b); EXPECT_TRUE(c == b); Interval e; e = (b * 1); EXPECT_TRUE(e == b); Interval ePlusEpsilon = e + delta; Interval ePlus2Epsilon = e + (2 * epsilon); EXPECT_TRUE(e.isApprox(ePlusEpsilon, epsilon)); EXPECT_TRUE(ePlusEpsilon.isApprox(e, epsilon)); EXPECT_FALSE(e.isApprox(ePlus2Epsilon, epsilon)); EXPECT_FALSE(ePlus2Epsilon.isApprox(e, epsilon)); // Reordering initializers EXPECT_TRUE(b == SurgSim::Math::Interval::minToMax(100, 9.8)); EXPECT_TRUE(b == SurgSim::Math::Interval::minToMax(12, 100, 9.8)); EXPECT_TRUE(b == SurgSim::Math::Interval::minToMax(12, 100, 9.8, 99)); // Get upper and lower EXPECT_EQ(-5.0, Interval (-5.0, 37).getMin()); EXPECT_EQ(37.0, Interval (-5.0, 37).getMax()); }; TEST_F(IntervalArithmeticTests, RangeTests) { Interval middle(10.0, 20.0); Interval low(5.0, 10 - epsilon); Interval high(20 + epsilon, 40.0); Interval lowOverlap(5.0, 10.0); Interval highOverlap(20.0, 40.0); Interval contained(12.0, 15.0); Interval contains(9.0, 21.0); // Overlap EXPECT_FALSE(middle.overlapsWith(low)); EXPECT_FALSE(middle.overlapsWith(high)); EXPECT_TRUE(middle.overlapsWith(lowOverlap)); EXPECT_TRUE(middle.overlapsWith(highOverlap)); EXPECT_TRUE(middle.overlapsWith(contained)); EXPECT_TRUE(middle.overlapsWith(contains)); // Contains value ... EXPECT_FALSE(middle.contains(10 - epsilon)); EXPECT_FALSE(middle.contains(20 + epsilon)); EXPECT_TRUE(middle.contains(10.0)); EXPECT_TRUE(middle.contains(20.0)); EXPECT_TRUE(middle.contains(15.0)); Interval aroundZero(-5.0, 13.0); Interval zeroLow(-5.0, 0.0); Interval zeroHigh(0.0, 13.0); Interval almostZeroLow(-5.0, -epsilon); Interval almostZeroHigh(epsilon, 13.0); // Contains zero ... EXPECT_FALSE(middle.containsZero()); EXPECT_FALSE(almostZeroLow.containsZero()); EXPECT_FALSE(almostZeroHigh.containsZero()); EXPECT_TRUE(aroundZero.containsZero()); EXPECT_TRUE(zeroLow.containsZero()); EXPECT_TRUE(zeroHigh.containsZero()); // Subrange tests EXPECT_TRUE(middle.lowerHalf().isApprox(Interval (10.0, 15.0), epsilon)); EXPECT_TRUE(middle.upperHalf().isApprox(Interval (15.0, 20.0), epsilon)); }; TEST_F(IntervalArithmeticTests, ExtendRangeTests) { Interval middle(10.0, 20.0); Interval original(middle); EXPECT_TRUE(original == middle); // Add onto both ends EXPECT_FALSE(middle.contains(8.0)); EXPECT_FALSE(middle.contains(22.0)); Interval add(middle.addThickness(2.0)); EXPECT_TRUE(add == middle); EXPECT_FALSE(original == middle); EXPECT_TRUE(middle.contains(8.0)); EXPECT_TRUE(middle.contains(22.0)); EXPECT_FALSE(middle.contains(7.999999999)); EXPECT_FALSE(middle.contains(22.00000001)); // Extend the interval ... original = middle; Interval extend(middle.extendToInclude(12.0)); EXPECT_TRUE(original == middle); EXPECT_TRUE(extend == middle); EXPECT_TRUE(middle.contains(8.0)); EXPECT_TRUE(middle.contains(22.0)); EXPECT_FALSE(middle.contains(7.999999999)); EXPECT_FALSE(middle.contains(22.00000001)); extend = middle.extendToInclude(5.0); EXPECT_FALSE(original == middle); EXPECT_TRUE(extend == middle); EXPECT_TRUE(middle == Interval(5.0, 22)); extend = middle.extendToInclude(24.0); EXPECT_TRUE(extend == middle); EXPECT_TRUE(middle == Interval(5.0, 24.0)); original = middle; extend = middle.extendToInclude(Interval (5.0, 24.0)); EXPECT_TRUE(extend == middle); EXPECT_TRUE(middle == original); extend = middle.extendToInclude(Interval (4.0, 25.0)); EXPECT_TRUE(extend == middle); EXPECT_FALSE(middle == original); EXPECT_TRUE(middle == Interval(4.0, 25.0)); extend = middle.extendToInclude(Interval (3.0, 24.0)); EXPECT_TRUE(extend == middle); EXPECT_TRUE(middle == Interval(3.0, 25.0)); extend = middle.extendToInclude(Interval (7.0, 32.0)); EXPECT_TRUE(extend == middle); EXPECT_TRUE(middle == Interval(3.0, 32.0)); }; TEST_F(IntervalArithmeticTests, OperatorTests) { Interval initial(10.0, 20.0); // + EXPECT_TRUE(Interval(12, 30).isApprox((initial + Interval(2.0, 10.0)), epsilon)); EXPECT_TRUE(Interval(20, 30).isApprox((initial + 10), epsilon)); // += Interval dummy(initial); dummy += Interval(2.0, 10.0); EXPECT_TRUE(dummy.isApprox(Interval(12, 30), epsilon)); dummy = initial; dummy += 10.0; EXPECT_TRUE(dummy.isApprox(Interval(20, 30), epsilon)); // - EXPECT_TRUE(Interval(0.0, 18.0).isApprox((initial - Interval(2.0, 10.0)), epsilon)); EXPECT_TRUE(Interval(0, 10).isApprox((initial - 10), epsilon)); // -= dummy = initial; dummy -= Interval(2.0, 10.0); EXPECT_TRUE(Interval(0.0, 18.0).isApprox(dummy, epsilon)); dummy = initial; dummy -= 10.0; EXPECT_TRUE(Interval(0.0, 10.0).isApprox(dummy, epsilon)); // Negation EXPECT_TRUE(Interval(-20.0, -10.0).isApprox(-initial, epsilon)); // * EXPECT_TRUE(Interval(20.0, 200.0).isApprox((initial * Interval(2.0, 10.0)), epsilon)); EXPECT_TRUE(Interval(-200.0, 40.0).isApprox((-initial * Interval(-2.0, 10.0)), epsilon)); EXPECT_TRUE(Interval(100.0, 200.0).isApprox((initial * 10), epsilon)); EXPECT_TRUE(Interval(100.0, 200.0).isApprox((-initial * -10), epsilon)); // *= dummy = initial; dummy *= Interval(2.0, 10.0); EXPECT_TRUE(Interval(20.0, 200.0).isApprox(dummy, epsilon)); dummy = -initial; dummy *= Interval(-2.0, 10.0); EXPECT_TRUE(Interval(-200.0, 40.0).isApprox(dummy, epsilon)); dummy = initial; dummy *= 10.0; EXPECT_TRUE(Interval(100.0, 200.0).isApprox((initial * 10), epsilon)); dummy = -initial; dummy *= -10.0; EXPECT_TRUE(Interval(100.0, 200.0).isApprox((-initial * -10), epsilon)); // / Interval zeroInterval(-5.0, 5.0); EXPECT_THROW(initial / zeroInterval, SurgSim::Framework::AssertionFailure); EXPECT_TRUE(Interval(20.0, 200.0).isApprox((initial / Interval(0.1, 0.5)), epsilon)); // /= dummy = zeroInterval; EXPECT_THROW(dummy /= zeroInterval, SurgSim::Framework::AssertionFailure); dummy = initial; dummy /= Interval(0.1, 0.5); EXPECT_TRUE(Interval(20.0, 200.0).isApprox(dummy, epsilon)); // Inverse EXPECT_THROW(zeroInterval.inverse(), SurgSim::Framework::AssertionFailure); EXPECT_TRUE(Interval (2, 10).isApprox(Interval(0.1, 0.5).inverse(), epsilon)); // Square EXPECT_TRUE(Interval (0, 25).isApprox(zeroInterval.square(), epsilon)); EXPECT_TRUE(Interval (0, 25).isApprox((-zeroInterval).square(), epsilon)); EXPECT_TRUE(Interval (100, 400).isApprox(initial.square(), epsilon)); EXPECT_TRUE(Interval (100, 400).isApprox((-initial).square(), epsilon)); }; // Interval ND tests TEST_F(IntervalArithmeticTests, IntervalNDInitializationTests) { // Constructor tests Interval testInterval(3.7, 3.8); std::array minimums = {1.1, 4.4}; std::array maximums = {4.1, 3.2}; std::array minimumsPlusEpsilon = {1.1 + delta, 4.4 + delta}; std::array maximumsPlusEpsilon = {4.1 + delta, 3.2 + delta}; std::array maximumsPlus2Epsilon = {4.1 + (2 * epsilon), 3.2 + delta}; std::array, 2> testIntervalArray; testIntervalArray[0] = Interval (1.0, 2.0); testIntervalArray[1] = Interval (2.0, 3.0); EXPECT_NO_THROW(IntervalDouble2 a); EXPECT_NO_THROW(IntervalDouble2 a(testIntervalArray)); EXPECT_NO_THROW(IntervalDouble2 a(minimums, maximums)); EXPECT_NO_THROW(IntervalDouble2 a(IntervalDouble2(minimums, maximums))); IntervalDouble2 b(minimums, maximums); IntervalDouble2 a(b); EXPECT_TRUE(a == b); EXPECT_NO_THROW(testIntervalNDMoveConstructor(b)); IntervalDouble2 f = testIntervalNDMoveConstructor(b); EXPECT_TRUE(f == b); // Assignment and equal/not equal tests IntervalDouble2 c; EXPECT_TRUE(c != b); EXPECT_FALSE(c == b); c = a; EXPECT_FALSE(c != b); EXPECT_TRUE(c == b); IntervalDouble2 e; e = (b * c); EXPECT_TRUE(e == (b * c)); IntervalDouble2 bPlusEpsilon(minimumsPlusEpsilon, maximumsPlusEpsilon); IntervalDouble2 bPlus2Epsilon(minimumsPlusEpsilon, maximumsPlus2Epsilon); EXPECT_TRUE(b.isApprox(bPlusEpsilon, epsilon)); EXPECT_TRUE(bPlusEpsilon.isApprox(b, epsilon)); EXPECT_FALSE(b.isApprox(bPlus2Epsilon, epsilon)); EXPECT_FALSE(bPlus2Epsilon.isApprox(b, epsilon)); // Getting components and the reordering initializer Interval axis0(b.getAxis(0)); Interval axis1(b.getAxis(1)); EXPECT_TRUE(axis0 == Interval(1.1, 4.1)); EXPECT_TRUE(axis1 == Interval(3.2, 4.4)); }; TEST_F(IntervalArithmeticTests, IntervalNDRangeTests) { std::array minimumsShape = {1.1, 3.2}; std::array maximumsShape = {4.1, 4.4}; std::array noOverlapMin = {1.1, 4.5}; std::array noOverlapMax = {4.5, 4.8}; std::array overlapMin = {1.7, 2.0}; std::array overlapMax = {4.3, 4.7}; IntervalDouble2 shape(minimumsShape, maximumsShape); EXPECT_FALSE(shape.overlapsWith(IntervalDouble2(noOverlapMin, noOverlapMax))); EXPECT_TRUE(shape.overlapsWith(IntervalDouble2(overlapMin, overlapMax))); }; TEST_F(IntervalArithmeticTests, IntervalNDExtendRangeTests) { std::array minimumsShape = {1.1, 3.2}; std::array maximumsShape = {4.1, 4.4}; std::array finalMin = { -5.9, -3.8}; std::array finalMax = {11.1, 11.4}; IntervalDouble2 shape(minimumsShape, maximumsShape); shape.addThickness(7.0); EXPECT_EQ(IntervalDouble2(finalMin, finalMax), shape); }; TEST_F(IntervalArithmeticTests, IntervalNDOperatorTests) { std::array minimumsShape = {1.1, 3.2}; std::array maximumsShape = {4.1, 4.4}; std::array deltaMin = { -1.0, -2.0}; std::array deltaMax = {3.0, 4.0}; std::array nonZeroDeltaMin = { -3.0, 2.0}; std::array nonZeroDeltaMax = { -1.0, 4.0}; IntervalDouble2 initial(minimumsShape, maximumsShape); IntervalDouble2 deltaInterval(deltaMin, deltaMax); IntervalDouble2 nonZeroDelta(nonZeroDeltaMin, nonZeroDeltaMax); IntervalDouble2 dummy; // + EXPECT_TRUE((Interval(1.1, 4.1) + Interval(-1.0, 3.0)).isApprox( (initial + deltaInterval).getAxis(0), epsilon)); EXPECT_TRUE((Interval(3.2, 4.4) + Interval(-2.0, 4.0)).isApprox( (initial + deltaInterval).getAxis(1), epsilon)); // += dummy = initial; dummy += deltaInterval; EXPECT_TRUE((Interval(1.1, 4.1) + Interval(-1.0, 3.0)).isApprox(dummy.getAxis(0), epsilon)); EXPECT_TRUE((Interval(3.2, 4.4) + Interval(-2.0, 4.0)).isApprox(dummy.getAxis(1), epsilon)); // - EXPECT_TRUE((Interval(1.1, 4.1) - Interval(-1.0, 3.0)).isApprox( (initial - deltaInterval).getAxis(0), epsilon)); EXPECT_TRUE((Interval(3.2, 4.4) - Interval(-2.0, 4.0)).isApprox( (initial - deltaInterval).getAxis(1), epsilon)); // -= dummy = initial; dummy -= deltaInterval; EXPECT_TRUE((Interval(1.1, 4.1) - Interval(-1.0, 3.0)).isApprox(dummy.getAxis(0), epsilon)); EXPECT_TRUE((Interval(3.2, 4.4) - Interval(-2.0, 4.0)).isApprox(dummy.getAxis(1), epsilon)); // * EXPECT_TRUE((Interval(1.1, 4.1) * Interval(-1.0, 3.0)).isApprox( (initial * deltaInterval).getAxis(0), epsilon)); EXPECT_TRUE((Interval(3.2, 4.4) * Interval(-2.0, 4.0)).isApprox( (initial * deltaInterval).getAxis(1), epsilon)); // *= dummy = initial; dummy *= deltaInterval; EXPECT_TRUE((Interval(1.1, 4.1) * Interval(-1.0, 3.0)).isApprox(dummy.getAxis(0), epsilon)); EXPECT_TRUE((Interval(3.2, 4.4) * Interval(-2.0, 4.0)).isApprox(dummy.getAxis(1), epsilon)); // / EXPECT_TRUE((Interval(1.1, 4.1) / Interval(-3.0, -1.0)).isApprox( (initial / nonZeroDelta).getAxis(0), epsilon)); EXPECT_TRUE((Interval(3.2, 4.4) / Interval(2.0, 4.0)).isApprox( (initial / nonZeroDelta).getAxis(1), epsilon)); // /= dummy = initial; dummy /= nonZeroDelta; EXPECT_TRUE((Interval(1.1, 4.1) / Interval(-3.0, -1.0)).isApprox(dummy.getAxis(0), epsilon)); EXPECT_TRUE((Interval(3.2, 4.4) / Interval(2.0, 4.0)).isApprox(dummy.getAxis(1), epsilon)); // Inverse EXPECT_TRUE(Interval(1.1, 4.1).inverse().isApprox(initial.inverse().getAxis(0), epsilon)); EXPECT_TRUE(Interval(3.2, 4.4).inverse().isApprox(initial.inverse().getAxis(1), epsilon)); // Dot product Interval dotValue(initial.dotProduct(deltaInterval)); EXPECT_TRUE(dotValue.isApprox((initial.getAxis(0) * deltaInterval.getAxis(0)) + (initial.getAxis(1) * deltaInterval.getAxis(1)), epsilon)); // Magnitude and magnitude squared Interval magnitudeSquaredValue(initial.magnitudeSquared()); EXPECT_TRUE(magnitudeSquaredValue.isApprox((initial.getAxis(0).square() + initial.getAxis(1).square()), epsilon)); Interval magnitudeValue(initial.magnitude()); EXPECT_NEAR(std::sqrt(magnitudeSquaredValue.getMin()), magnitudeValue.getMin(), epsilon); EXPECT_NEAR(std::sqrt(magnitudeSquaredValue.getMax()), magnitudeValue.getMax(), epsilon); }; // Interval ND tests TEST_F(IntervalArithmeticTests, Interval3DInitializationTests) { // Constructor tests Interval testInterval(3.7, 3.8); std::array minimums = {1.1, 4.4, -7.2}; std::array maximums = {4.1, 3.2, -1.0}; std::array minimumsPlusEpsilon = {1.1 + delta, 4.4 + delta, -7.2 + delta}; std::array maximumsPlusEpsilon = {4.1 + delta, 3.2 + delta, -1.0 + delta}; std::array maximumsPlus2Epsilon = {4.1 + (2 * epsilon), 3.2 + delta, -1.0 + delta}; std::array, 3> testIntervalArray; testIntervalArray[0] = Interval (1.0, 2.0); testIntervalArray[1] = Interval (2.0, 3.0); testIntervalArray[2] = Interval (3.0, 4.0); EXPECT_NO_THROW(IntervalDouble3 a); EXPECT_NO_THROW(IntervalDouble3 a(testIntervalArray)); EXPECT_NO_THROW(IntervalDouble3 a(Interval (1.0, 2.0), Interval (2.0, 3.0), Interval (3.0, 4.0))); EXPECT_NO_THROW(IntervalDouble3 a(minimums, maximums)); EXPECT_NO_THROW(IntervalDouble3 a(IntervalDouble3(minimums, maximums))); IntervalDouble3 b(minimums, maximums); IntervalDouble3 a(b); EXPECT_TRUE(a == b); EXPECT_NO_THROW(testInterval3DMoveConstructor(b)); IntervalDouble3 f = testInterval3DMoveConstructor(b); EXPECT_TRUE(f == b); // Assignment and equal/not equal tests IntervalDouble3 c; EXPECT_TRUE(c != b); EXPECT_FALSE(c == b); c = a; EXPECT_FALSE(c != b); EXPECT_TRUE(c == b); IntervalDouble3 e; e = (b * c); EXPECT_TRUE(e == (b * c)); IntervalDouble3 bPlusEpsilon(minimumsPlusEpsilon, maximumsPlusEpsilon); IntervalDouble3 bPlus2Epsilon(minimumsPlusEpsilon, maximumsPlus2Epsilon); EXPECT_TRUE(b.isApprox(bPlusEpsilon, epsilon)); EXPECT_TRUE(bPlusEpsilon.isApprox(b, epsilon)); EXPECT_FALSE(b.isApprox(bPlus2Epsilon, epsilon)); EXPECT_FALSE(bPlus2Epsilon.isApprox(b, epsilon)); // Getting components and the reordering initializer Interval axis0 = b.getAxis(0); Interval axis1 = b.getAxis(1); Interval axis2 = b.getAxis(2); EXPECT_TRUE(axis0 == Interval(1.1, 4.1)); EXPECT_TRUE(axis1 == Interval(3.2, 4.4)); EXPECT_TRUE(axis2 == Interval(-7.2, -1.0)); }; TEST_F(IntervalArithmeticTests, Interval3DRangeTests) { std::array minimumsShape = {1.1, 3.2, -7.2}; std::array maximumsShape = {4.1, 4.4, -1.0}; std::array noOverlapMin = {1.1, 4.5, -8.0}; std::array noOverlapMax = {4.5, 4.8, -3.0}; std::array overlapMin = {1.7, 2.0, -8.0}; std::array overlapMax = {4.3, 4.7, -3.0}; IntervalDouble3 shape(minimumsShape, maximumsShape); EXPECT_FALSE(shape.overlapsWith(IntervalDouble3(noOverlapMin, noOverlapMax))); EXPECT_TRUE(shape.overlapsWith(IntervalDouble3(overlapMin, overlapMax))); }; TEST_F(IntervalArithmeticTests, Interval3DExtendRangeTests) { std::array minimumsShape = {1.1, 3.2, -7.2}; std::array maximumsShape = {4.1, 4.4, -1.0}; std::array finalMin = { -5.9, -3.8, -14.2}; std::array finalMax = {11.1, 11.4, 6.0}; IntervalDouble3 shape(minimumsShape, maximumsShape); shape.addThickness(7.0); EXPECT_EQ(IntervalDouble3(finalMin, finalMax), shape); }; TEST_F(IntervalArithmeticTests, Interval3DOperatorTests) { std::array minimumsShape = {1.1, 3.2, -7.2}; std::array maximumsShape = {4.1, 4.4, -1.0}; std::array deltaMin = { -1.0, -2.0, -3.0}; std::array deltaMax = {3.0, 4.0, 5.0}; std::array nonZeroDeltaMin = { -3.0, 2.0, 3.0}; std::array nonZeroDeltaMax = { -1.0, 4.0, 5.0}; IntervalDouble3 initial(minimumsShape, maximumsShape); IntervalDouble3 delta(deltaMin, deltaMax); IntervalDouble3 nonZeroDelta(nonZeroDeltaMin, nonZeroDeltaMax); IntervalDouble3 dummy; // + EXPECT_TRUE((Interval(1.1, 4.1) + Interval(-1.0, 3.0)).isApprox( (initial + delta).getAxis(0), epsilon)); EXPECT_TRUE((Interval(3.2, 4.4) + Interval(-2.0, 4.0)).isApprox( (initial + delta).getAxis(1), epsilon)); EXPECT_TRUE((Interval(-7.2, -1.0) + Interval(-3.0, 5.0)).isApprox( (initial + delta).getAxis(2), epsilon)); // += dummy = initial; dummy += delta; EXPECT_TRUE((Interval(1.1, 4.1) + Interval(-1.0, 3.0)).isApprox(dummy.getAxis(0), epsilon)); EXPECT_TRUE((Interval(3.2, 4.4) + Interval(-2.0, 4.0)).isApprox(dummy.getAxis(1), epsilon)); EXPECT_TRUE((Interval(-7.2, -1.0) + Interval(-3.0, 5.0)).isApprox(dummy.getAxis(2), epsilon)); // - EXPECT_TRUE((Interval(1.1, 4.1) - Interval(-1.0, 3.0)).isApprox( (initial - delta).getAxis(0), epsilon)); EXPECT_TRUE((Interval(3.2, 4.4) - Interval(-2.0, 4.0)).isApprox( (initial - delta).getAxis(1), epsilon)); EXPECT_TRUE((Interval(-7.2, -1.0) - Interval(-3.0, 5.0)).isApprox( (initial - delta).getAxis(2), epsilon)); // -= dummy = initial; dummy -= delta; EXPECT_TRUE((Interval(1.1, 4.1) - Interval(-1.0, 3.0)).isApprox(dummy.getAxis(0), epsilon)); EXPECT_TRUE((Interval(3.2, 4.4) - Interval(-2.0, 4.0)).isApprox(dummy.getAxis(1), epsilon)); EXPECT_TRUE((Interval(-7.2, -1.0) - Interval(-3.0, 5.0)).isApprox(dummy.getAxis(2), epsilon)); // * EXPECT_TRUE((Interval(1.1, 4.1) * Interval(-1.0, 3.0)).isApprox( (initial * delta).getAxis(0), epsilon)); EXPECT_TRUE((Interval(3.2, 4.4) * Interval(-2.0, 4.0)).isApprox( (initial * delta).getAxis(1), epsilon)); EXPECT_TRUE((Interval(-7.2, -1.0) * Interval(-3.0, 5.0)).isApprox( (initial * delta).getAxis(2), epsilon)); // *= dummy = initial; dummy *= delta; EXPECT_TRUE((Interval(1.1, 4.1) * Interval(-1.0, 3.0)).isApprox(dummy.getAxis(0), epsilon)); EXPECT_TRUE((Interval(3.2, 4.4) * Interval(-2.0, 4.0)).isApprox(dummy.getAxis(1), epsilon)); EXPECT_TRUE((Interval(-7.2, -1.0) * Interval(-3.0, 5.0)).isApprox(dummy.getAxis(2), epsilon)); // / EXPECT_TRUE((Interval(1.1, 4.1) / Interval(-3.0, -1.0)).isApprox( (initial / nonZeroDelta).getAxis(0), epsilon)); EXPECT_TRUE((Interval(3.2, 4.4) / Interval(2.0, 4.0)).isApprox( (initial / nonZeroDelta).getAxis(1), epsilon)); EXPECT_TRUE((Interval(-7.2, -1.0) / Interval(3.0, 5.0)).isApprox( (initial / nonZeroDelta).getAxis(2), epsilon)); // /= dummy = initial; dummy /= nonZeroDelta; EXPECT_TRUE((Interval(1.1, 4.1) / Interval(-3.0, -1.0)).isApprox(dummy.getAxis(0), epsilon)); EXPECT_TRUE((Interval(3.2, 4.4) / Interval(2.0, 4.0)).isApprox(dummy.getAxis(1), epsilon)); EXPECT_TRUE((Interval(-7.2, -1.0) / Interval(3.0, 5.0)).isApprox(dummy.getAxis(2), epsilon)); // Inverse EXPECT_TRUE(Interval(1.1, 4.1).inverse().isApprox(initial.inverse().getAxis(0), epsilon)); EXPECT_TRUE(Interval(3.2, 4.4).inverse().isApprox(initial.inverse().getAxis(1), epsilon)); EXPECT_TRUE(Interval(-7.2, -1.0).inverse().isApprox(initial.inverse().getAxis(2), epsilon)); // Dot product Interval dotValue = initial.dotProduct(delta); EXPECT_TRUE(dotValue.isApprox((initial.getAxis(0) * delta.getAxis(0)) + (initial.getAxis(1) * delta.getAxis(1)) + (initial.getAxis(2) * delta.getAxis(2)), epsilon)); // Cross product IntervalDouble3 crossValue = initial.crossProduct(delta); EXPECT_TRUE(crossValue.getAxis(0).isApprox((initial.getAxis(1) * delta.getAxis(2) - initial.getAxis(2) * delta.getAxis(1)), epsilon)); EXPECT_TRUE(crossValue.getAxis(1).isApprox((initial.getAxis(2) * delta.getAxis(0) - initial.getAxis(0) * delta.getAxis(2)), epsilon)); EXPECT_TRUE(crossValue.getAxis(2).isApprox((initial.getAxis(0) * delta.getAxis(1) - initial.getAxis(1) * delta.getAxis(0)), epsilon)); // Magnitude and magnitude squared Interval magnitudeSquaredValue = initial.magnitudeSquared(); EXPECT_TRUE(magnitudeSquaredValue.isApprox((initial.getAxis(0).square() + initial.getAxis(1).square() + initial.getAxis(2).square()), epsilon)); Interval magnitudeValue = initial.magnitude(); EXPECT_NEAR(std::sqrt(magnitudeSquaredValue.getMin()), magnitudeValue.getMin(), epsilon); EXPECT_NEAR(std::sqrt(magnitudeSquaredValue.getMax()), magnitudeValue.getMax(), epsilon); }; TEST_F(IntervalArithmeticTests, IntervalUtilityTests) { Interval initial(10.0, 20.0); Interval deltaInterval(3.0, 4.0); Interval resultLoad(-2.0, -1.0); Interval result; // Constant + interval EXPECT_TRUE((initial + 11.5).isApprox(11.5 + initial, epsilon)); // Constant * interval EXPECT_TRUE((initial * 11.5).isApprox(11.5 * initial, epsilon)); // Output std::ostringstream intervalOutput; intervalOutput << initial; EXPECT_EQ("[10,20]", intervalOutput.str()); // + IntervalArithmetic_add(initial, deltaInterval, &result); EXPECT_TRUE((initial + deltaInterval).isApprox(result, epsilon)); // +=( + ) result = resultLoad; IntervalArithmetic_addadd(initial, deltaInterval, &result); EXPECT_TRUE((resultLoad + initial + deltaInterval).isApprox(result, epsilon)); // - IntervalArithmetic_sub(initial, deltaInterval, &result); EXPECT_TRUE((initial - deltaInterval).isApprox(result, epsilon)); // +=( - ) result = resultLoad; IntervalArithmetic_addsub(initial, deltaInterval, &result); EXPECT_TRUE((resultLoad + (initial - deltaInterval)).isApprox(result, epsilon)); // * IntervalArithmetic_mul(initial, deltaInterval, &result); EXPECT_TRUE((initial * deltaInterval).isApprox(result, epsilon)); // += ( * ) result = resultLoad; IntervalArithmetic_addmul(initial, deltaInterval, &result); EXPECT_TRUE((resultLoad + (initial * deltaInterval)).isApprox(result, epsilon)); // -= ( * ) result = resultLoad; IntervalArithmetic_submul(initial, deltaInterval, &result); EXPECT_TRUE((resultLoad - (initial * deltaInterval)).isApprox(result, epsilon)); }; TEST_F(IntervalArithmeticTests, IntervalNDUtilityTests) { std::array minimumsShape = {1.1, 3.2}; std::array maximumsShape = {4.1, 4.4}; IntervalDouble2 shape(minimumsShape, maximumsShape); // Output std::ostringstream intervalOutput; intervalOutput << shape; EXPECT_EQ("([1.1,4.1];[3.2,4.4])", intervalOutput.str()); }; TEST_F(IntervalArithmeticTests, Interval3DUtilityTests) { std::array minimumsShape = {1.1, 3.2, -7.2}; std::array maximumsShape = {4.1, 4.4, -1.0}; std::array deltaMin = { -1.0, -2.0, -3.0}; std::array deltaMax = {3.0, 4.0, 5.0}; IntervalDouble3 initial(minimumsShape, maximumsShape); IntervalDouble3 deltaInterval(deltaMin, deltaMax); IntervalDouble3 result; Interval intervalResult; // + IntervalArithmetic_add(initial, deltaInterval, &result); EXPECT_TRUE((initial + deltaInterval).isApprox(result, epsilon)); // - IntervalArithmetic_sub(initial, deltaInterval, &result); EXPECT_TRUE((initial - deltaInterval).isApprox(result, epsilon)); // dot product IntervalArithmetic_dotProduct(initial, deltaInterval, &intervalResult); EXPECT_TRUE(initial.dotProduct(deltaInterval).isApprox(intervalResult, epsilon)); // Cross product IntervalArithmetic_crossProduct(initial, deltaInterval, &result); EXPECT_TRUE(initial.crossProduct(deltaInterval).isApprox(result, epsilon)); }; }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/KalmanFilterTests.cpp000066400000000000000000000106321277777236100244420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the KalmanFilter.cpp functions. #include #include #include "SurgSim/Math/KalmanFilter.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Vector.h" typedef Eigen::Matrix Vector1d; typedef Eigen::Matrix Matrix11d; namespace SurgSim { namespace Math { TEST(KalmanFilterTests, 1DConstant) { auto kalman = std::make_shared>(); EXPECT_TRUE(boost::math::isnan(kalman->getState()[0])); const Vector1d initialState = Vector1d::Zero(); kalman->setInitialState(initialState); // the state is a scalar, and we have an initial guess for it EXPECT_DOUBLE_EQ(initialState[0], kalman->getState()[0]); kalman->setInitialStateCovariance(Matrix11d::Constant(1000.0)); // the uncertainty about initial guess is high kalman->setStateTransition(Matrix11d::Constant(1.0)); // we predict the true state will stay constant kalman->setObservationMatrix(Matrix11d::Constant(1.0)); // we observe the actual state plus measurement error kalman->setProcessNoiseCovariance(Matrix11d::Constant(0.0001)); // the noise in the prediction action is low kalman->setMeasurementNoiseCovariance(Matrix11d::Constant(0.1)); // the assumed measurement noise const double measurements[] = {0.9, 0.8, 1.1, 1, 0.95, 1.05, 1.2, 0.9, 0.85, 1.15}; for (double measurement : measurements) { kalman->update(Vector1d::Constant(measurement)); } const double result = 0.99046032523740679; EXPECT_NEAR(result , kalman->getState()[0], 1e-9); // The state doesn't change unless there's an update. EXPECT_NEAR(result, kalman->getState()[0], 1e-9); // Updating a constant model without a measurement shouldn't change the state. EXPECT_NEAR(result, kalman->update()[0], 1e-9); } TEST(KalmanFilterTests, 1DVelocity) { auto kalman = std::make_shared>(); // The state is the position and velocity, and here's our initial guess. const Vector2d initialState = Vector2d::Zero(); kalman->setInitialState(initialState); const Matrix22d initialStateCovariance = 1000.0 * Matrix22d::Identity(); kalman->setInitialStateCovariance(initialStateCovariance); // The new position is the old position plus velocity times dt. The velocity is constant. const double dt = 0.1; Matrix22d stateTransition; stateTransition << 1.0, dt, 0.0, 1.0; kalman->setStateTransition(stateTransition); // The measurements are of the position, plus measurement error. Eigen::Matrix observationMatrix; observationMatrix.setIdentity(); kalman->setObservationMatrix(observationMatrix); const double velocityNoise = 0.001; // Assume the noise is only in the velocity, so a continuous noise model of [0, 0; 0, velocityNoise], then // approximate that by a time-discrete process to get... Matrix22d processNoise; processNoise << dt * dt * dt * velocityNoise / 3.0, dt * dt * velocityNoise / 2.0, dt * dt * velocityNoise / 3.0, dt * velocityNoise; kalman->setProcessNoiseCovariance(processNoise); kalman->setMeasurementNoiseCovariance(Matrix11d::Constant(0.1)); const double measurements[] = {0.11, 0.29, 0.32, 0.5, 0.58, 0.54}; for (double measurement : measurements) { kalman->update(Vector1d::Constant(measurement)); } // check the state const double position = 0.61844193701221828; EXPECT_NEAR(position, kalman->getState()[0], 1e-9); const double velocity = 0.91376229444025137; EXPECT_NEAR(velocity, kalman->getState()[1], 1e-9); // The state doesn't change unless there's an update. EXPECT_NEAR(position, kalman->getState()[0], 1e-9); // Updating without a measurement will predict ahead. EXPECT_NEAR(position + velocity * dt, kalman->update()[0], 1e-9); EXPECT_NEAR(velocity, kalman->getState()[1], 1e-9); } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/LinearMotionArithmeticTests.cpp000066400000000000000000000346631277777236100265150ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the LinearMotionArithmetic functions. #include #include #include "SurgSim/Math/LinearMotionArithmetic.h" namespace SurgSim { namespace Math { namespace { double epsilon = 1.0e-10; } template class LinearMotionArithmeticTests : public ::testing::Test { public: typedef LinearMotionND LinearMotionDouble2; typedef LinearMotionND LinearMotionDouble3; LinearMotion testLinearMotionMoveConstructor(LinearMotion dummy) { LinearMotion ret; ret = dummy; return ret; } template LinearMotionND testLinearMotionNDMoveConstructor(LinearMotionND dummy) { LinearMotionND ret; ret = dummy; return ret; } void initializeConstructor(LinearMotion* motion) { // Constructor tests EXPECT_NO_THROW(LinearMotion a); EXPECT_NO_THROW(LinearMotion a(1.0, 2.0)); EXPECT_NO_THROW(LinearMotion a(2.0, 1.0)); LinearMotion a(2.0, 1.0); EXPECT_NO_THROW(LinearMotion b(a)); LinearMotion b(a); EXPECT_TRUE(b == a); EXPECT_NO_THROW(testLinearMotionMoveConstructor(b)); LinearMotion f = testLinearMotionMoveConstructor(b); EXPECT_TRUE(f == b); *motion = a; } template void initializeConstructor(LinearMotionND* motion) { typedef LinearMotionND LinearMotionDoubleType; // Constructor tests LinearMotion testLinearMotion(3.8, 3.7); std::array starts; std::array ends; std::array, dimension> testLinearMotionArray; for (int counter = 0; counter < dimension; ++counter) { starts[counter] = counter + 1.0; ends[counter] = counter + 2.0; testLinearMotionArray[counter] = LinearMotion (counter + 2.0, counter + 1.0); } EXPECT_NO_THROW(LinearMotionDoubleType a); EXPECT_NO_THROW(LinearMotionDoubleType a(testLinearMotionArray)); EXPECT_NO_THROW(LinearMotionDoubleType a(starts, ends)); EXPECT_NO_THROW(LinearMotionDoubleType a(LinearMotionDoubleType(starts, ends))); LinearMotionDoubleType b(testLinearMotionArray); LinearMotionDoubleType a(b); EXPECT_TRUE(a == b); EXPECT_NO_THROW(testLinearMotionNDMoveConstructor(b)); LinearMotionDoubleType f = testLinearMotionNDMoveConstructor(b); EXPECT_TRUE(f == b); *motion = a; } void checkLinearMotionConstructor(LinearMotion* motion) { EXPECT_DOUBLE_EQ(2.0, motion->getStart()); EXPECT_DOUBLE_EQ(1.0, motion->getEnd()); } template void checkLinearMotionConstructor(LinearMotionND* motion) { // Check get ... up to numb for (int counter = 0; counter < dimension; ++counter) { EXPECT_DOUBLE_EQ(counter + 2.0, motion->getAxis(counter).getStart()); EXPECT_DOUBLE_EQ(counter + 1.0, motion->getAxis(counter).getEnd()); } EXPECT_THROW(motion->getAxis(-1), SurgSim::Framework::AssertionFailure); EXPECT_THROW(motion->getAxis(dimension), SurgSim::Framework::AssertionFailure); } void setLinearMotionFromOffset(double offsetStart, double offsetEnd, LinearMotion* motion) { (*motion) = LinearMotion(offsetStart, offsetEnd); } template void setLinearMotionFromOffset(double offsetStart, double offsetEnd, LinearMotionND* motion) { std::array, dimension> values; for (size_t counter = 0; counter < dimension; ++counter) { values[counter] = LinearMotion(counter + offsetStart, counter + offsetEnd); } (*motion) = LinearMotionND(values); } void checkLinearMotionOperators(LinearMotion* motion1, LinearMotion* motion2) { // Assignment and equal/not equal tests LinearMotion c; c = *motion2; EXPECT_TRUE(c != *motion1); EXPECT_FALSE(c == *motion1); c = *motion1; EXPECT_FALSE(c != *motion1); EXPECT_TRUE(c == *motion1); // Move assignment LinearMotion e; LinearMotion zeros(0.0, 0.0); e = (*motion1 + zeros); EXPECT_TRUE(e == *motion1); // to interval and polynomial EXPECT_TRUE(motion1->toInterval().isApprox(Interval(1.0, 2.0), epsilon)); EXPECT_TRUE(motion1->toPolynomial().isApprox(Polynomial(2.0, -1.0), epsilon)); // Contains 0 and isApprox LinearMotion containsZero(-1.0, 1.0); EXPECT_TRUE(containsZero.containsZero()); EXPECT_FALSE(motion1->containsZero()); EXPECT_FALSE(motion2->containsZero()); LinearMotion closeStart(motion1->getStart() + epsilon, motion1->getEnd()); LinearMotion closeEnd(motion1->getStart(), motion1->getEnd() + epsilon); EXPECT_TRUE(motion1->isApprox(closeStart, 2 * epsilon)); EXPECT_TRUE(motion1->isApprox(closeEnd, 2 * epsilon)); EXPECT_FALSE(motion1->isApprox(closeStart, 0.5 * epsilon)); EXPECT_FALSE(motion1->isApprox(closeEnd, 0.5 * epsilon)); // +, +=, -, -=, *, / LinearMotion scratch; scratch = *motion1 + *motion2; EXPECT_TRUE(scratch.isApprox(LinearMotion(3.0, 3.0), epsilon)); scratch = *motion1; scratch += *motion2; EXPECT_TRUE(scratch.isApprox(LinearMotion(3.0, 3.0), epsilon)); scratch = *motion1 - *motion2; EXPECT_TRUE(scratch.isApprox(LinearMotion(1.0, -1.0), epsilon)); scratch = *motion1; scratch -= *motion2; EXPECT_TRUE(scratch.isApprox(LinearMotion(1.0, -1.0), epsilon)); EXPECT_TRUE((*motion1 * *motion2).isApprox(Interval(1.0, 4.0), epsilon)); EXPECT_TRUE((*motion1 / *motion2).isApprox(Interval(0.5, 2.0), epsilon)); // Range operators EXPECT_DOUBLE_EQ(1.75, motion1->atTime(0.25)); EXPECT_TRUE(motion1->firstHalf().isApprox(LinearMotion(2.0, 1.5), epsilon)); EXPECT_TRUE(motion1->secondHalf().isApprox(LinearMotion(1.5, 1.0), epsilon)); } template void checkLinearMotionOperators(LinearMotionND* motion1, LinearMotionND* motion2) { typedef LinearMotionND LinearMotionDoubleType; typedef IntervalND IntervalDoubleType; // Assignment and equal/not equal tests LinearMotionDoubleType c; c = *motion2; EXPECT_TRUE(c != *motion1); EXPECT_FALSE(c == *motion1); c = *motion1; EXPECT_FALSE(c != *motion1); EXPECT_TRUE(c == *motion1); // Move assignment LinearMotionDoubleType e; std::array zeroArray; for (int counter = 0; counter < dimension; ++counter) { zeroArray[counter] = 0.0; } LinearMotionDoubleType zeros(zeroArray, zeroArray); e = (*motion1 + zeros); EXPECT_TRUE(e == *motion1); // to interval std::array, dimension> motionArray; for (int counter = 0; counter < dimension; ++counter) { motionArray[counter] = motion1->getAxis(counter).toInterval(); } EXPECT_TRUE(motion1->toInterval().isApprox(IntervalDoubleType(motionArray), epsilon)); // is approx std::array, dimension> approxArray; for (int counter = 0; counter < dimension; ++counter) { approxArray[counter] = motion1->getAxis(counter).toInterval(); } for (int counter = 0; counter < dimension; ++counter) { approxArray[counter] = (motion1->getAxis(counter) + LinearMotion(epsilon, 0.0)).toInterval(); EXPECT_TRUE(motion1->toInterval().isApprox(IntervalDoubleType(approxArray), 2.0 * epsilon)); EXPECT_FALSE(motion1->toInterval().isApprox(IntervalDoubleType(approxArray), epsilon / 2.0)); approxArray[counter] = motion1->getAxis(counter).toInterval(); } // +, +=, -, -=, *, / LinearMotionDoubleType scratch; scratch = *motion1 + *motion2; for (int counter = 0; counter < dimension; ++counter) { EXPECT_TRUE(scratch.getAxis(counter).isApprox(LinearMotion((2.0 * counter) + 3.0, (2.0 * counter) + 3.0), epsilon)); } scratch = *motion1; scratch += *motion2; for (int counter = 0; counter < dimension; ++counter) { EXPECT_TRUE(scratch.getAxis(counter).isApprox(LinearMotion((2.0 * counter) + 3.0, (2.0 * counter) + 3.0), epsilon)); } scratch = *motion1 - *motion2; for (int counter = 0; counter < dimension; ++counter) { EXPECT_TRUE(scratch.getAxis(counter).isApprox(LinearMotion(1.0, -1.0), epsilon)); } scratch = *motion1; scratch -= *motion2; for (int counter = 0; counter < dimension; ++counter) { EXPECT_TRUE(scratch.getAxis(counter).isApprox(LinearMotion(1.0, -1.0), epsilon)); } IntervalDoubleType intervalScratch; intervalScratch = *motion1 * *motion2; for (int counter = 0; counter < dimension; ++counter) { EXPECT_TRUE(intervalScratch.getAxis(counter).isApprox(Interval((counter + 1) * (counter + 1), (counter + 2) * (counter + 2)), epsilon)); } intervalScratch = *motion1 / *motion2; for (int counter = 0; counter < dimension; ++counter) { EXPECT_TRUE(intervalScratch.getAxis(counter).isApprox( Interval((counter + 1.0) / (counter + 2.0), (counter + 2.0) / (counter + 1.0)), epsilon)); } // Range operators for (int counter = 0; counter < dimension; ++counter) { EXPECT_TRUE(motion1->firstHalf().getAxis(counter).isApprox( LinearMotion(counter + 2.0, counter + 1.5), epsilon)); EXPECT_TRUE(motion1->secondHalf().getAxis(counter).isApprox( LinearMotion(counter + 1.5, counter + 1.0), epsilon)); } } }; typedef ::testing::Types , LinearMotionND, LinearMotionND> LinearMotionArithmeticTypes; TYPED_TEST_CASE(LinearMotionArithmeticTests, LinearMotionArithmeticTypes); TYPED_TEST(LinearMotionArithmeticTests, LinearMotionInitializationTests) { // Constructor tests EXPECT_NO_THROW(TypeParam motion); TypeParam motion; this->initializeConstructor(&motion); this->checkLinearMotionConstructor(&motion); }; TYPED_TEST(LinearMotionArithmeticTests, LinearMotionOperatorTests) { TypeParam motion1; TypeParam motion2; this->setLinearMotionFromOffset(2, 1, &motion1); this->setLinearMotionFromOffset(1, 2, &motion2); this->checkLinearMotionOperators(&motion1, &motion2); }; TEST(LinearMotionSpecializations, LinearMotionNDExtras) { // Dot product std::array high; high[0] = 2.0; high[1] = 3.0; std::array low; low[0] = 1.0; low[1] = 2.0; LinearMotionND motion1(high, low); LinearMotionND motion2(low, high); double lower = 0; double upper = 0; for (int counter = 0; counter < 2; ++counter) { lower += (counter + 1) * (counter + 1); upper += (counter + 2) * (counter + 2); } EXPECT_TRUE(motion1.dotProduct(motion2).isApprox(Interval(lower, upper), epsilon)); } TEST(LinearMotionSpecializations, LinearMotion3DExtras) { // Dot product std::array high; high[0] = 2.0; high[1] = 3.0; high[2] = 4.0; std::array low; low[0] = 1.0; low[1] = 2.0; low[2] = 3.0; LinearMotionND motion1(high, low); LinearMotionND motion2(low, high); Interval range(0.0, 1.0); // Dot product // Dot product has an optimization using polynomials. Each linear motion is first converted to a linear // polynomial and then the 6 linear polynomials are multiplied against each other to give three quadratic // polynomials. The extrema of the sum of the quadratic polynomials limited to the interval under // evaluation form the minimum and maximum of the new interval. For this test, we end up with a parabola // opening downward. At 0 and 1 it has value 20. The maximum value occurs at 0.5 and has the value 20.75. EXPECT_TRUE(motion1.dotProduct(motion2, range).isApprox(Interval(20.0, 20.75), epsilon)); // Cross product IntervalND cross = motion1.crossProduct(motion2, range); EXPECT_TRUE(cross.getAxis(0).isApprox(Interval(-1.0, 1.0), epsilon)); EXPECT_TRUE(cross.getAxis(1).isApprox(Interval(-2.0, 2.0), epsilon)); EXPECT_TRUE(cross.getAxis(2).isApprox(Interval(-1.0, 1.0), epsilon)); // Analytic cross product (polynomials) Polynomial xPoly; Polynomial yPoly; Polynomial zPoly; analyticCrossProduct(motion1, motion2, &xPoly, &yPoly, &zPoly); EXPECT_TRUE(valuesOverInterval(xPoly, range).isApprox(Interval(-1.0, 1.0), epsilon)); EXPECT_TRUE(valuesOverInterval(yPoly, range).isApprox(Interval(-2.0, 2.0), epsilon)); EXPECT_TRUE(valuesOverInterval(zPoly, range).isApprox(Interval(-1.0, 1.0), epsilon)); /// Magnitudes EXPECT_TRUE(motion1.magnitudeSquared(range).isApprox(motion1.dotProduct(motion1, range), epsilon)); Interval magnitude = motion1.magnitude(range); Interval dot = motion1.dotProduct(motion1, range); EXPECT_DOUBLE_EQ(std::sqrt(dot.getMin()), magnitude.getMin()); EXPECT_DOUBLE_EQ(std::sqrt(dot.getMax()), magnitude.getMax()); // At Time for (int counter = 0; counter < 3; ++counter) { EXPECT_DOUBLE_EQ(counter + 1.75, motion1.atTime(0.25)[counter]); } } TEST(LinearMotionUtilities, LinearMotionUtilities) { LinearMotion motion(-12.1, 8.7); // Output std::ostringstream linearMotionOutput; linearMotionOutput << motion; EXPECT_EQ("(-12.1 -> 8.7)", linearMotionOutput.str()); } TEST(LinearMotionUtilities, LinearMotion3DUtilities) { Math::Vector3d high; high[0] = 3.0; high[1] = 4.0; high[2] = 5.0; Math::Vector3d low; low[0] = 1.0; low[1] = 2.0; low[2] = 3.0; Math::Vector3d medium; medium[0] = 2.0; medium[1] = 3.0; medium[2] = 4.0; LinearMotionND motion1(medium, low); LinearMotionND motion2(low, medium); LinearMotionND motion3(high, low); Interval range(0.0, 1.0); // Output std::ostringstream linearMotionOutput; linearMotionOutput << motion1; EXPECT_EQ("([2,3,4] -> [1,2,3])", linearMotionOutput.str()); // Triple Product a * (b X c) EXPECT_TRUE(tripleProduct(motion1, motion2, motion3, range).isApprox(Interval(0.0, 0.0), epsilon)); } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/LinearSolveAndInverseTests.cpp000066400000000000000000000177111277777236100263000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the LinearSolveAndInverse.cpp functions. #include #include "SurgSim/Math/LinearSolveAndInverse.h" namespace SurgSim { namespace Math { class LinearSolveAndInverseTests : public ::testing::Test { private: size_t size; void initializeVector(Vector* v) { v->resize(size); for (size_t row = 0; row < size; row++) { (*v)(row) = std::fmod(-4.1 * row * row + 3.46, 5.0); } } void initializeDenseMatrix(Matrix* m) { m->resize(size, size); for (size_t row = 0; row < size; row++) { for (size_t col = 0; col < size; col++) { (*m)(row, col) = std::fmod((10.3 * std::cos(static_cast(row * col)) + 3.24), 10.0); } } } void initializeDiagonalMatrix(Matrix* m) { m->resize(size, size); m->setZero(); for (size_t row = 0; row < size; row++) { (*m)(row, row) = std::fmod((10.3 * std::cos(static_cast(row * row)) + 3.24), 10.0); } } template void initializeTriDiagonalBlockMatrix(Matrix* m, bool isSymmetric) { size_t numBlocks = size / BlockSize; m->resize(size, size); m->setZero(); for (size_t rowBlockId = 0; rowBlockId < numBlocks; rowBlockId++) { for (int colBlockId = static_cast(rowBlockId) - 1; colBlockId <= static_cast(rowBlockId) + 1; colBlockId++) { if (colBlockId < 0 || colBlockId >= static_cast(numBlocks)) { continue; } for (size_t rowInBlockId = 0; rowInBlockId < BlockSize; ++rowInBlockId) { for (size_t colInBlockId = 0; colInBlockId < BlockSize; ++colInBlockId) { size_t row = rowBlockId * BlockSize + rowInBlockId; size_t col = colBlockId * BlockSize + colInBlockId; (*m)(row, col) = fmod((10.3 * std::cos(static_cast(row * col)) + 3.24), 10.0); } } } } if (isSymmetric) { // Force symmetry (lower triangular is copied from the upper triangular) for (size_t row = 0; row < size; ++row) { for (size_t col = row + 1; col < size; ++col) { (*m)(col, row) = (*m)(row, col); } } } } void setupTest() { initializeVector(&b); expectedInverse = matrix.inverse(); expectedX = expectedInverse * b; } public: void setupDenseMatrixTest() { size = 18; initializeDenseMatrix(&matrix); setupTest(); } void setupDiagonalMatrixTest() { size = 18; initializeDiagonalMatrix(&matrix); setupTest(); } template void setupTriDiagonalBlockMatrixTest(bool isSymmetric = false) { size = BlockSize * 6; initializeTriDiagonalBlockMatrix(&matrix, isSymmetric); setupTest(); } Matrix matrix; Matrix inverseMatrix, expectedInverse; Vector b; Vector x, expectedX; }; TEST_F(LinearSolveAndInverseTests, DenseMatrixTests) { setupDenseMatrixTest(); LinearSolveAndInverseDenseMatrix solveAndInverse; solveAndInverse.setMatrix(matrix); x = solveAndInverse.solve(b); inverseMatrix = solveAndInverse.getInverse(); EXPECT_TRUE(x.isApprox(expectedX)); EXPECT_TRUE(inverseMatrix.isApprox(expectedInverse)); }; TEST_F(LinearSolveAndInverseTests, DiagonalMatrixTests) { setupDiagonalMatrixTest(); LinearSolveAndInverseDiagonalMatrix solveAndInverse; solveAndInverse.setMatrix(matrix); x = solveAndInverse.solve(b); inverseMatrix = solveAndInverse.getInverse(); EXPECT_TRUE(x.isApprox(expectedX)); EXPECT_TRUE(inverseMatrix.isApprox(expectedInverse)); }; TEST_F(LinearSolveAndInverseTests, TriDiagonalBlockMatrixBlockSize2Tests) { setupTriDiagonalBlockMatrixTest<2>(); LinearSolveAndInverseTriDiagonalBlockMatrix<2> solveAndInverse; solveAndInverse.setMatrix(matrix); x = solveAndInverse.solve(b); inverseMatrix = solveAndInverse.getInverse(); EXPECT_TRUE(x.isApprox(expectedX)); EXPECT_TRUE(inverseMatrix.isApprox(expectedInverse)); }; TEST_F(LinearSolveAndInverseTests, TriDiagonalBlockMatrixBlockSize3Tests) { setupTriDiagonalBlockMatrixTest<3>(); LinearSolveAndInverseTriDiagonalBlockMatrix<3> solveAndInverse; solveAndInverse.setMatrix(matrix); x = solveAndInverse.solve(b); inverseMatrix = solveAndInverse.getInverse(); EXPECT_TRUE(x.isApprox(expectedX)); EXPECT_TRUE(inverseMatrix.isApprox(expectedInverse)); }; TEST_F(LinearSolveAndInverseTests, TriDiagonalBlockMatrixBlockSize4Tests) { setupTriDiagonalBlockMatrixTest<4>(); LinearSolveAndInverseTriDiagonalBlockMatrix<4> solveAndInverse; solveAndInverse.setMatrix(matrix); x = solveAndInverse.solve(b); inverseMatrix = solveAndInverse.getInverse(); EXPECT_TRUE(x.isApprox(expectedX)); EXPECT_TRUE(inverseMatrix.isApprox(expectedInverse)); }; TEST_F(LinearSolveAndInverseTests, TriDiagonalBlockMatrixBlockSize5Tests) { setupTriDiagonalBlockMatrixTest<5>(); LinearSolveAndInverseTriDiagonalBlockMatrix<5> solveAndInverse; solveAndInverse.setMatrix(matrix); x = solveAndInverse.solve(b); inverseMatrix = solveAndInverse.getInverse(); EXPECT_TRUE(x.isApprox(expectedX)); EXPECT_TRUE(inverseMatrix.isApprox(expectedInverse)); }; TEST_F(LinearSolveAndInverseTests, TriDiagonalBlockMatrixBlockSize6Tests) { setupTriDiagonalBlockMatrixTest<6>(); LinearSolveAndInverseTriDiagonalBlockMatrix<6> solveAndInverse; solveAndInverse.setMatrix(matrix); x = solveAndInverse.solve(b); inverseMatrix = solveAndInverse.getInverse(); EXPECT_TRUE(x.isApprox(expectedX)); EXPECT_TRUE(inverseMatrix.isApprox(expectedInverse)); }; TEST_F(LinearSolveAndInverseTests, SymmetricTriDiagonalBlockMatrixBlockSize2Tests) { setupTriDiagonalBlockMatrixTest<2>(true); LinearSolveAndInverseSymmetricTriDiagonalBlockMatrix<2> solveAndInverse; solveAndInverse.setMatrix(matrix); x = solveAndInverse.solve(b); inverseMatrix = solveAndInverse.getInverse(); EXPECT_TRUE(x.isApprox(expectedX)); EXPECT_TRUE(inverseMatrix.isApprox(expectedInverse)); }; TEST_F(LinearSolveAndInverseTests, SymmetricTriDiagonalBlockMatrixBlockSize3Tests) { setupTriDiagonalBlockMatrixTest<3>(true); LinearSolveAndInverseSymmetricTriDiagonalBlockMatrix<3> solveAndInverse; solveAndInverse.setMatrix(matrix); x = solveAndInverse.solve(b); inverseMatrix = solveAndInverse.getInverse(); EXPECT_TRUE(x.isApprox(expectedX)); EXPECT_TRUE(inverseMatrix.isApprox(expectedInverse)); }; TEST_F(LinearSolveAndInverseTests, SymmetricTriDiagonalBlockMatrixBlockSize4Tests) { setupTriDiagonalBlockMatrixTest<4>(true); LinearSolveAndInverseSymmetricTriDiagonalBlockMatrix<4> solveAndInverse; solveAndInverse.setMatrix(matrix); x = solveAndInverse.solve(b); inverseMatrix = solveAndInverse.getInverse(); EXPECT_TRUE(x.isApprox(expectedX)); EXPECT_TRUE(inverseMatrix.isApprox(expectedInverse)); }; TEST_F(LinearSolveAndInverseTests, SymmetricTriDiagonalBlockMatrixBlockSize5Tests) { setupTriDiagonalBlockMatrixTest<5>(true); LinearSolveAndInverseSymmetricTriDiagonalBlockMatrix<5> solveAndInverse; solveAndInverse.setMatrix(matrix); x = solveAndInverse.solve(b); inverseMatrix = solveAndInverse.getInverse(); EXPECT_TRUE(x.isApprox(expectedX)); EXPECT_TRUE(inverseMatrix.isApprox(expectedInverse)); }; TEST_F(LinearSolveAndInverseTests, SymmetricTriDiagonalBlockMatrixBlockSize6Tests) { setupTriDiagonalBlockMatrixTest<6>(true); LinearSolveAndInverseSymmetricTriDiagonalBlockMatrix<6> solveAndInverse; solveAndInverse.setMatrix(matrix); x = solveAndInverse.solve(b); inverseMatrix = solveAndInverse.getInverse(); EXPECT_TRUE(x.isApprox(expectedX)); EXPECT_TRUE(inverseMatrix.isApprox(expectedInverse)); }; }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/LinearSparseSolveAndInverseTests.cpp000066400000000000000000000131501277777236100274470ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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. /// \file /// Tests for the LinearSparseSolveAndInverse.cpp functions. #include #include "SurgSim/Math/LinearSparseSolveAndInverse.h" namespace SurgSim { namespace Math { class LinearSparseSolveAndInverseTests : public ::testing::Test { public: void setupSparseMatrixTest() { inverseMatrix.resize(size, size); initializeSparseMatrix(&matrix); } SparseMatrix matrix; Matrix denseMatrix, inverseMatrix, expectedInverse; Vector b; Vector x, expectedX; protected: void SetUp() override { size = 18; initializeVector(&b); initializeDenseMatrix(&denseMatrix); expectedInverse = denseMatrix.inverse(); expectedX = expectedInverse * b; } private: size_t size; void initializeVector(Vector* v) { v->resize(size); for (size_t row = 0; row < size; row++) { (*v)(row) = std::fmod(-4.1 * row * row + 3.46, 5.0); } } void initializeSparseMatrix(SparseMatrix* m) { m->resize(static_cast(size), static_cast(size)); for (SparseMatrix::Index row = 0; row < static_cast(size); row++) { for (SparseMatrix::Index col = 0; col < static_cast(size); col++) { (*m).insert(row, col) = std::fmod((10.3 * std::cos(static_cast(row * col)) + 3.24), 10.0); } } m->makeCompressed(); } void initializeDenseMatrix(Matrix* m) { m->resize(size, size); for (size_t row = 0; row < size; row++) { for (size_t col = 0; col < size; col++) { (*m)(row, col) = std::fmod((10.3 * std::cos(static_cast(row * col)) + 3.24), 10.0); } } } }; TEST_F(LinearSparseSolveAndInverseTests, SparseLUInitializationTests) { SparseMatrix nonSquare(9, 18); SparseMatrix square(18, 18); nonSquare.setZero(); for (SparseMatrix::Index counter = 0; counter < 18; ++counter) { square.insert(counter, counter) = 1.0; } square.makeCompressed(); LinearSparseSolveAndInverseLU solveAndInverse; EXPECT_THROW(solveAndInverse.setMatrix(nonSquare), SurgSim::Framework::AssertionFailure); EXPECT_NO_THROW(solveAndInverse.setMatrix(square)); clearMatrix(&square); EXPECT_THROW(solveAndInverse.setMatrix(square), SurgSim::Framework::AssertionFailure); }; TEST_F(LinearSparseSolveAndInverseTests, SparseLUMatrixComponentsTest) { setupSparseMatrixTest(); LinearSparseSolveAndInverseLU solveAndInverse; solveAndInverse.setMatrix(matrix); x = solveAndInverse.solve(b); inverseMatrix = solveAndInverse.getInverse(); EXPECT_TRUE(x.isApprox(expectedX)); EXPECT_TRUE(inverseMatrix.isApprox(expectedInverse)); inverseMatrix = solveAndInverse.solve(denseMatrix); EXPECT_TRUE(inverseMatrix.isApprox(Matrix::Identity(18, 18))); }; TEST_F(LinearSparseSolveAndInverseTests, SparseCGSetGetTests) { LinearSparseSolveAndInverseCG solveAndInverse; EXPECT_NE(100, solveAndInverse.getMaxIterations()); solveAndInverse.setMaxIterations(100); EXPECT_EQ(100, solveAndInverse.getMaxIterations()); EXPECT_NE(1.0e-03, solveAndInverse.getTolerance()); solveAndInverse.setTolerance(1.0e-03); EXPECT_EQ(1.0e-03, solveAndInverse.getTolerance()); }; TEST_F(LinearSparseSolveAndInverseTests, SparseCGInitializationTests) { SparseMatrix nonSquare(9, 18); SparseMatrix square(18, 18); nonSquare.setZero(); for (SparseMatrix::Index counter = 0; counter < 18; ++counter) { square.insert(counter, counter) = 1.0; } square.makeCompressed(); LinearSparseSolveAndInverseCG solveAndInverse; EXPECT_THROW(solveAndInverse.setMatrix(nonSquare), SurgSim::Framework::AssertionFailure); EXPECT_NO_THROW(solveAndInverse.setMatrix(square)); clearMatrix(&square); EXPECT_NO_THROW(solveAndInverse.setMatrix(square)); }; TEST_F(LinearSparseSolveAndInverseTests, SparseCGMatrixComponentsTest) { setupSparseMatrixTest(); double lowPrecision = 1.0e-05; double highPrecision = 1.0e-10; LinearSparseSolveAndInverseCG solveAndInverse; solveAndInverse.setMatrix(matrix); x = solveAndInverse.solve(b); inverseMatrix = solveAndInverse.getInverse(); EXPECT_TRUE(x.isApprox(expectedX, lowPrecision)) << std::endl << "x: " << x.transpose() << std::endl << "Expected: " << expectedX.transpose() << std::endl; inverseMatrix = solveAndInverse.solve(denseMatrix); EXPECT_TRUE(inverseMatrix.isApprox(Matrix::Identity(18, 18), lowPrecision)) << std::endl << "Identity: " << inverseMatrix << std::endl; solveAndInverse.setTolerance(highPrecision); solveAndInverse.setMaxIterations(18); x = solveAndInverse.solve(b); EXPECT_TRUE(x.isApprox(expectedX, lowPrecision)) << std::endl << "x: " << x.transpose() << std::endl << "Expected: " << expectedX.transpose() << std::endl; EXPECT_FALSE(x.isApprox(expectedX, highPrecision)) << std::endl << "x: " << x.transpose() << std::endl << "Expected: " << expectedX.transpose() << std::endl; solveAndInverse.setMaxIterations(50); x = solveAndInverse.solve(b); EXPECT_TRUE(x.isApprox(expectedX, highPrecision)) << std::endl << "x: " << x.transpose() << std::endl << "Expected: " << expectedX.transpose() << std::endl; }; }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/MakeRigidTransformTests.cpp000066400000000000000000000101471277777236100256220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /** @file * Tests that exercise the functionality of methods we define related to rigid transforms. */ #include #include #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Quaternion.h" #include "gtest/gtest.h" template class MakeRigidTransform3Tests : public testing::Test { public: typedef T RigidTransform; }; typedef ::testing::Types RigidTransform3Variants; TYPED_TEST_CASE(MakeRigidTransform3Tests, RigidTransform3Variants); template class MakeAllRigidTransformTests : public testing::Test { public: typedef T RigidTransform; }; typedef ::testing::Types AllRigidTransformVariants; TYPED_TEST_CASE(MakeAllRigidTransformTests, AllRigidTransformVariants); /// Test makeRigidTransform using a rotation matrix and a translation TYPED_TEST(MakeAllRigidTransformTests, MakeRigidTransformWithMatrix) { typedef typename TestFixture::RigidTransform RigidTransform; typedef typename RigidTransform::LinearMatrixType RotationMatrix; typedef typename RigidTransform::TranslationType::VectorType Translation; const int DIM = RigidTransform::Dim; RotationMatrix rotationMatrix = RotationMatrix::Identity(); rotationMatrix.row(0).swap(rotationMatrix.row(DIM-1)); Translation translation(Translation::Random()); RigidTransform transform = SurgSim::Math::makeRigidTransform(rotationMatrix, translation); typename RigidTransform::MatrixType matrix = transform.matrix(); EXPECT_TRUE(rotationMatrix.isApprox(matrix.block(0,0,DIM,DIM), 1e-6f)) << "Rotation part of transform is not properly set"; EXPECT_TRUE(translation.isApprox(matrix.block(0,DIM,DIM,1), 1e-6f)) << "Translation part of transform is not properly set"; EXPECT_NEAR(1.0, matrix(DIM,DIM), 1e-6) << "Transform matrix is not 1.0 in bottom right corner"; EXPECT_TRUE(matrix.block(DIM,0,1,DIM).isApproxToConstant(0.0, 1e-6f)) << "Bottom row of matrix is not all zeros (except for last column)."; } /// Test makeRigidTransform using a quaternion and a translation TYPED_TEST(MakeRigidTransform3Tests, MakeRigidTransformWithQuaternion) { typedef typename TestFixture::RigidTransform RigidTransform; typedef typename RigidTransform::TranslationType::VectorType Translation; typedef typename RigidTransform::Scalar Scalar; typedef typename Eigen::Quaternion Quaternion; typedef typename RigidTransform::LinearMatrixType RotationMatrix; const int DIM = RigidTransform::Dim; Translation translation = Translation::Random(); Quaternion quaternion(0.0, 1.0, 0.0, 0.0); RotationMatrix quaternionRotationMatrix; quaternionRotationMatrix << 1.0, 0.0, 0.0, 0.0,-1.0, 0.0, 0.0, 0.0,-1.0; RigidTransform transform = SurgSim::Math::makeRigidTransform(quaternion, translation); typename RigidTransform::MatrixType matrix = transform.matrix(); EXPECT_TRUE(quaternionRotationMatrix.isApprox(matrix.block(0,0,DIM,DIM), 1e-6f)) << "Rotation part of transform is not properly set"; EXPECT_TRUE(translation.isApprox(matrix.block(0,DIM,DIM,1), 1e-6f)) << "Translation part of transform is not properly set"; EXPECT_NEAR(1.0, matrix(DIM,DIM), 1e-6) << "Transform matrix is not 1.0 in bottom right corner"; EXPECT_TRUE(matrix.block(DIM,0,1,DIM).isApproxToConstant(0.0, 1e-6f)) << "Bottom row of matrix is not all zeros (except for last column)."; } opensurgsim-0.7.0/SurgSim/Math/UnitTests/MatrixTests.cpp000066400000000000000000001154221277777236100233400ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests that exercise the functionality of our matrix typedefs, which come /// straight from Eigen. #include #include // SurgSim/Math/Matrix.h by itself does not provide cross() #include #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/Matrix.h" // Define test fixture class templates. // We don't really need fixtures as such, but the templatization encodes type. template class MatrixTestBase : public testing::Test { public: typedef T Scalar; }; template class Matrix22Tests : public MatrixTestBase { public: typedef T Matrix22; }; // This used to contain aligned (via Eigen::AutoAlign) matrix type aliases, but we got rid of those. typedef ::testing::Types Matrix22Variants; TYPED_TEST_CASE(Matrix22Tests, Matrix22Variants); template class Matrix33Tests : public MatrixTestBase { public: typedef T Matrix33; }; // This used to contain aligned (via Eigen::AutoAlign) matrix type aliases, but we got rid of those. typedef ::testing::Types Matrix33Variants; TYPED_TEST_CASE(Matrix33Tests, Matrix33Variants); template class Matrix44Tests : public MatrixTestBase { public: typedef T Matrix44; }; // This used to contain aligned (via Eigen::AutoAlign) matrix type aliases, but we got rid of those. typedef ::testing::Types Matrix44Variants; TYPED_TEST_CASE(Matrix44Tests, Matrix44Variants); template class AllMatrixTests : public MatrixTestBase { public: typedef T Matrix; }; template class AllDynamicMatrixTests : public MatrixTestBase { public: typedef T Matrix; }; // This used to contain aligned (via Eigen::AutoAlign) matrix type aliases, but we got rid of those. typedef ::testing::Types AllMatrixVariants; TYPED_TEST_CASE(AllMatrixTests, AllMatrixVariants); typedef ::testing::Types AllDynamicMatrixVariants; TYPED_TEST_CASE(AllDynamicMatrixTests, AllDynamicMatrixVariants); template class UnalignedMatrixTests : public MatrixTestBase { public: typedef T Matrix; }; template class UnalignedDynamicMatrixTests : public MatrixTestBase { public: typedef T Matrix; }; typedef ::testing::Types UnalignedMatrixVariants; TYPED_TEST_CASE(UnalignedMatrixTests, UnalignedMatrixVariants); typedef ::testing::Types UnalignedDynamicMatrixVariants; TYPED_TEST_CASE(UnalignedDynamicMatrixTests, UnalignedDynamicMatrixVariants); // Now we're ready to start testing... // ==================== CONSTRUCTION & INITIALIZATION ==================== /// Test that matrices can be constructed. TYPED_TEST(Matrix22Tests, CanConstruct) { typedef typename TestFixture::Matrix22 Matrix22; // Warning: Eigen *does not* provide a 1-argument constructor that // initializes all elements to the same value! If you do something like // SurgSim::Math::Matrix22fu oneArg2fu(1.23f); // the argument is converted to an integral type, interpreted as a size, // and promptly ignored because the size is fixed. Oops. // To generate a constant matrix, use Matrix22f::Constant(val). Matrix22 default2; } /// Test that matrices can be constructed. TYPED_TEST(Matrix33Tests, CanConstruct) { typedef typename TestFixture::Matrix33 Matrix33; // Warning: Eigen *does not* provide a 1-argument constructor that // initializes all elements to the same value! If you do something like // SurgSim::Math::Matrix22fu oneArg2fu(1.23f); // the argument is converted to an integral type, interpreted as a size, // and promptly ignored because the size is fixed. Oops. // To generate a constant matrix, use Matrix22f::Constant(val). Matrix33 default3; } /// Test that matrices can be constructed. TYPED_TEST(Matrix44Tests, CanConstruct) { typedef typename TestFixture::Matrix44 Matrix44; // Warning: Eigen *does not* provide a 1-argument constructor that // initializes all elements to the same value! If you do something like // SurgSim::Math::Matrix22fu oneArg2fu(1.23f); // the argument is converted to an integral type, interpreted as a size, // and promptly ignored because the size is fixed. Oops. // To generate a constant matrix, use Matrix22f::Constant(val). Matrix44 default4; } /// Test that the default constructor DOESN'T initialize matrices. // // Only test the non-vectorized versions. Otherwise, we'd need to // allocate memory in a way that guarantees Eigen-compatible alignment. // // TODO(bert): There is some Eigen flag that causes matrices and matrices to be // initialized after all! We should check for that here. TYPED_TEST(UnalignedMatrixTests, DefaultConstructorInitialization) { typedef typename TestFixture::Matrix Matrix; const int SIZE = Matrix::RowsAtCompileTime; EXPECT_TRUE(SIZE >= 2 && SIZE <= 4); EXPECT_EQ(SIZE, Matrix::ColsAtCompileTime); // Allocate a buffer for the matrix type on stack, based on the size // of the object we're testing. The object will be allocated inside // the buffer using the placement syntax for the new() operator. // Eigen's new operatore will attempt to align returned value on word sized // boundaries, so add 64 bytes to guarantee enough size. unsigned char buffer[sizeof(Matrix) + 64]; { // Please don't write production (non-test) code that looks like this. =) memset(&buffer, 0xF0, sizeof(buffer)); Matrix* matrix = new(&buffer) Matrix; for (int row = 0; row < SIZE; ++row) { for (int col = 0; col < SIZE; ++col) { EXPECT_NE(0.0f, (*matrix)(row, col)) << row << "," << col << " was NOT supposed to be zeroed."; } } // Destroying the object is a good idea, even if unnecessary here: matrix->Matrix::~Matrix(); } } /// Test setting the matrix using the << syntax. TYPED_TEST(Matrix22Tests, ShiftCommaInitialization) { typedef typename TestFixture::Matrix22 Matrix22; Matrix22 matrix; // Initialize elements in order. Do NOT put parentheses around the list! matrix << 1.1f, 1.2f, 1.3f, 1.4f; for (int row = 0; row < 2; ++row) { for (int col = 0; col < 2; ++col) { EXPECT_NEAR(1.1 + 0.2*row + 0.1*col, matrix(row, col), 1e-6) << row << "," << col << " wasn't properly initialized."; } } } /// Test setting the matrix using the << syntax. TYPED_TEST(Matrix33Tests, ShiftCommaInitialization) { typedef typename TestFixture::Matrix33 Matrix33; Matrix33 matrix; // Initialize elements in order. Do NOT put parentheses around the list! matrix << 1.1f, 1.2f, 1.3f, 1.4f, 1.5f, 1.6f, 1.7f, 1.8f, 1.9f; for (int row = 0; row < 3; ++row) { for (int col = 0; col < 3; ++col) { EXPECT_NEAR(1.1 + 0.3*row + 0.1*col, matrix(row, col), 1e-6) << row << "," << col << " wasn't properly initialized."; } } } /// Test setting the matrix using the << syntax. TYPED_TEST(Matrix44Tests, ShiftCommaInitialization) { typedef typename TestFixture::Matrix44 Matrix44; Matrix44 matrix; // Initialize elements in order. Do NOT put parentheses around the list! matrix << 1.1f, 1.2f, 1.3f, 1.4f, 1.5f, 1.6f, 1.7f, 1.8f, 1.9f, 2.0f, 2.1f, 2.2f, 2.3f, 2.4f, 2.5f, 2.6f; for (int row = 0; row < 4; ++row) { for (int col = 0; col < 4; ++col) { EXPECT_NEAR(1.1 + 0.4*row + 0.1*col, matrix(row, col), 1e-6) << row << "," << col << " wasn't properly initialized."; } } } /// Test getting a zero value usable in expressions. TYPED_TEST(AllMatrixTests, ZeroValue) { typedef typename TestFixture::Matrix Matrix; const int SIZE = Matrix::RowsAtCompileTime; Matrix matrix = 1000 * Matrix::Zero(); for (int row = 0; row < SIZE; ++row) { for (int col = 0; col < SIZE; ++col) { EXPECT_NEAR(0.0, matrix(row, col), 1e-20) << row << "," << col << " wasn't properly initialized."; } } } /// Test setting matrices to 0. TYPED_TEST(AllMatrixTests, SetToZero) { typedef typename TestFixture::Matrix Matrix; const int SIZE = Matrix::RowsAtCompileTime; Matrix matrix; matrix.setZero(); for (int row = 0; row < SIZE; ++row) { for (int col = 0; col < SIZE; ++col) { EXPECT_NEAR(0.0, matrix(row, col), 1e-20) << row << "," << col << " wasn't properly cleared."; } } } /// Test getting a constant value usable in expressions. TYPED_TEST(AllMatrixTests, ConstantValue) { typedef typename TestFixture::Matrix Matrix; const int SIZE = Matrix::RowsAtCompileTime; Matrix matrix = 2 * Matrix::Constant(0.5f); for (int row = 0; row < SIZE; ++row) { for (int col = 0; col < SIZE; ++col) { EXPECT_NEAR(1.0, matrix(row, col), 1e-6) << row << "," << col << " wasn't properly initialized."; } } } /// Test setting matrices to a constant. TYPED_TEST(AllMatrixTests, SetToConstant) { typedef typename TestFixture::Matrix Matrix; const int SIZE = Matrix::RowsAtCompileTime; Matrix matrix; matrix.setConstant(7.2f); for (int row = 0; row < SIZE; ++row) { for (int col = 0; col < SIZE; ++col) { EXPECT_NEAR(7.2, matrix(row, col), 1e-6) << row << "," << col << " wasn't properly initialized."; } } } /// Test initializing a row-major Eigen matrix from a float array. TYPED_TEST(AllMatrixTests, InitializeRowMajorFromArray) { typedef typename TestFixture::Matrix Matrix; typedef typename TestFixture::Scalar T; const int SIZE = Matrix::RowsAtCompileTime; typedef Eigen::Matrix RMatrix; // This array has more elements than we will need. // The element type must match the matrix! const T inputArray[18] = { 0.01f, 1.02f, 2.03f, 3.04f, 4.05f, 5.06f, 6.07f, 7.08f, 8.09f, 9.10f, 10.11f, 11.12f, 12.13f, 13.14f, 14.15f, 15.16f, 16.17f, 17.18f }; RMatrix matrix(inputArray); for (int row = 0; row < SIZE; ++row) { for (int col = 0; col < SIZE; ++col) { EXPECT_NEAR(0.01 + (row*SIZE + col) * 1.01, matrix(row, col), 1e-6) << row << "," << col << " wasn't properly initialized."; } } } /// Test initializing a column-major Eigen matrix from a float array. TYPED_TEST(AllMatrixTests, InitializeColumnMajorFromArray) { typedef typename TestFixture::Matrix Matrix; typedef typename TestFixture::Scalar T; const int SIZE = Matrix::RowsAtCompileTime; typedef Eigen::Matrix CMatrix; // This array has more elements than we will need. // The element type must match the matrix! const T inputArray[18] = { 0.01f, 1.02f, 2.03f, 3.04f, 4.05f, 5.06f, 6.07f, 7.08f, 8.09f, 9.10f, 10.11f, 11.12f, 12.13f, 13.14f, 14.15f, 15.16f, 16.17f, 17.18f }; CMatrix matrix(inputArray); for (int row = 0; row < SIZE; ++row) { for (int col = 0; col < SIZE; ++col) { EXPECT_NEAR(0.01 + (col*SIZE + row) * 1.01, matrix(row, col), 1e-6) << row << "," << col << " wasn't properly initialized."; } } } /// Test initializing from a float array. /// Among other things, tests that our matrices are row-major. TYPED_TEST(AllMatrixTests, InitializeFromArray) { typedef typename TestFixture::Matrix Matrix; typedef typename TestFixture::Scalar T; const int SIZE = Matrix::RowsAtCompileTime; // This array has more elements than we will need. // The element type must match the matrix! const T inputArray[18] = { 0.01f, 1.02f, 2.03f, 3.04f, 4.05f, 5.06f, 6.07f, 7.08f, 8.09f, 9.10f, 10.11f, 11.12f, 12.13f, 13.14f, 14.15f, 15.16f, 16.17f, 17.18f }; Matrix matrix(inputArray); for (int row = 0; row < SIZE; ++row) { for (int col = 0; col < SIZE; ++col) { EXPECT_NEAR(0.01 + (row*SIZE + col) * 1.01, matrix(row, col), 1e-6) << row << "," << col << " wasn't properly initialized."; } } } // Test conversion to and from yaml node TYPED_TEST(AllMatrixTests, YamlConvert) { typedef typename TestFixture::Matrix Matrix; typedef typename TestFixture::Scalar T; // This array has more elements than we will need. // The element type must match the matrix! const T inputArray[18] = { 0.01f, 1.02f, 2.03f, 3.04f, 4.05f, 5.06f, 6.07f, 7.08f, 8.09f, 9.10f, 10.11f, 11.12f, 12.13f, 13.14f, 14.15f, 15.16f, 16.17f, 17.18f }; Matrix matrix(inputArray); YAML::Node node; ASSERT_NO_THROW(node = matrix); EXPECT_TRUE(node.IsSequence()); EXPECT_EQ(matrix.rows(), node.size()); ASSERT_NO_THROW({Matrix expected = node.as();}); EXPECT_TRUE(matrix.isApprox(node.as())); } /// Test assignment. TYPED_TEST(AllMatrixTests, Assign) { typedef typename TestFixture::Matrix Matrix; const int SIZE = Matrix::RowsAtCompileTime; Matrix a = Matrix::Constant(6.0f); EXPECT_NEAR(6.0f * SIZE * SIZE, a.sum(), 1e-6); const Matrix b = Matrix::Constant(7.0f); EXPECT_NEAR(7.0f * SIZE * SIZE, b.sum(), 1e-6); a = b; EXPECT_NEAR(7.0f * SIZE * SIZE, a.sum(), 1e-6); } // ==================== ACCESS ==================== /// Access by rows and columns. TYPED_TEST(AllMatrixTests, RowsAndColumns) { typedef typename TestFixture::Matrix Matrix; typedef typename TestFixture::Scalar T; const int SIZE = Matrix::RowsAtCompileTime; typedef Eigen::Matrix Vector; Matrix a = Matrix::Zero(); for (int i = 0; i < SIZE; ++i) { Vector rowVector = Vector::Constant(i + 1.f); a.row(i) = rowVector; } for (int i = 0; i < SIZE; ++i) { Vector rowVector = a.row(i); EXPECT_NEAR((i + 1.f) * SIZE, rowVector.sum(), 1e-6); Vector columnVector = a.col(i); EXPECT_NEAR(SIZE * (SIZE+1) / 2., columnVector.sum(), 1e-6); } for (int i = 0; i < SIZE; ++i) { Vector columnVector = Vector::Constant(i + 1.f); a.col(i) = columnVector; } for (int i = 0; i < SIZE; ++i) { Vector columnVector = a.col(i); EXPECT_NEAR((i + 1.f) * SIZE, columnVector.sum(), 1e-6); Vector rowVector = a.row(i); EXPECT_NEAR(SIZE * (SIZE+1) / 2., rowVector.sum(), 1e-6); } } /// Access to the diagonal. TYPED_TEST(AllMatrixTests, Diagonal) { typedef typename TestFixture::Matrix Matrix; typedef typename TestFixture::Scalar T; const int SIZE = Matrix::RowsAtCompileTime; typedef Eigen::Matrix Vector; Matrix a = Matrix::Zero(); { Vector diagonalVector = Vector::Constant(2.f); a.diagonal() = diagonalVector; } EXPECT_NEAR(2.f * SIZE, a.sum(), 1e-6); Matrix b = Matrix::Identity(); { EXPECT_NEAR(1.f * SIZE, b.diagonal().sum(), 1e-6); } } // ==================== REPRESENTATION CONVERSIONS ==================== /// Test setting quaternions from an angle/axis rotation. TYPED_TEST(Matrix33Tests, FromAngleAxis) { typedef typename TestFixture::Matrix33 Matrix33; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector3; T angle = 0.1f; Vector3 axis = Vector3::UnitZ(); Matrix33 expectedMatrix; T sinAngle = std::sin(angle); T cosAngle = std::cos(angle); expectedMatrix << cosAngle, -sinAngle, 0, sinAngle, cosAngle, 0, 0, 0, 1; using SurgSim::Math::makeRotationMatrix; Matrix33 matrix = makeRotationMatrix(angle, axis); EXPECT_NEAR(0, (matrix - expectedMatrix).norm(), 9e-6) << "The rotation matrix wasn't properly computed."; } /// Test extracting an angle/axis rotation from a quaternion. TYPED_TEST(Matrix33Tests, ToAngleAxis) { typedef typename TestFixture::Matrix33 Matrix33; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector3; T angle = -0.1f; Vector3 axis = Vector3::UnitZ(); Matrix33 matrix; T sinAngle = std::sin(angle); T cosAngle = std::cos(angle); matrix << cosAngle, -sinAngle, 0, sinAngle, cosAngle, 0, 0, 0, 1; using SurgSim::Math::computeAngleAndAxis; using SurgSim::Math::computeAngle; T angle2; Vector3 axis2; computeAngleAndAxis(matrix, &angle2, &axis2); EXPECT_NEAR(-angle, angle2, 1e-6) << "angle wasn't properly computed."; EXPECT_NEAR(-axis.x(), axis2.x(), 1e-6) << "X wasn't properly computed."; EXPECT_NEAR(-axis.y(), axis2.y(), 1e-6) << "Y wasn't properly computed."; EXPECT_NEAR(-axis.z(), axis2.z(), 1e-6) << "Y wasn't properly computed."; EXPECT_NEAR(-angle, computeAngle(matrix), 1e-6) << "angle wasn't properly computed by computeAngle()."; } /// Test building a skew symmetric matrix from a vector TYPED_TEST(Matrix33Tests, MakeSkewSymmetricMatrixTest) { typedef typename TestFixture::Matrix33 Matrix33; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector3; Vector3 v(static_cast(0.3), static_cast(-1.4), static_cast(8.3)); Matrix33 matrix = SurgSim::Math::makeSkewSymmetricMatrix(v); EXPECT_TRUE(matrix.diagonal().isZero()); EXPECT_NEAR(static_cast(0.3) , matrix(2, 1), std::numeric_limits::epsilon()); EXPECT_NEAR(static_cast(-0.3), matrix(1, 2), std::numeric_limits::epsilon()); EXPECT_NEAR(static_cast(-1.4), matrix(0, 2), std::numeric_limits::epsilon()); EXPECT_NEAR(static_cast(1.4) , matrix(2, 0), std::numeric_limits::epsilon()); EXPECT_NEAR(static_cast(8.3) , matrix(1, 0), std::numeric_limits::epsilon()); EXPECT_NEAR(static_cast(-8.3), matrix(0, 1), std::numeric_limits::epsilon()); } /// Test extracting a vector from a skew symmetric part of a matrix TYPED_TEST(Matrix33Tests, SkewTest) { typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector3; Vector3 vExpected(static_cast(0.3), static_cast(-1.4), static_cast(8.3)); Vector3 v = SurgSim::Math::skew(SurgSim::Math::makeSkewSymmetricMatrix(vExpected)); EXPECT_TRUE(v.isApprox(vExpected)); } // ==================== ARITHMETIC ==================== /// Negation (unary minus). TYPED_TEST(AllMatrixTests, Negate) { typedef typename TestFixture::Matrix Matrix; const int SIZE = Matrix::RowsAtCompileTime; Matrix a = Matrix::Constant(0.1f); EXPECT_NEAR(0.1 * SIZE * SIZE, a.sum(), 1e-6); Matrix b = -a; EXPECT_NEAR(-0.1 * SIZE * SIZE, b.sum(), 1e-6); } /// Addition. TYPED_TEST(AllMatrixTests, Add) { typedef typename TestFixture::Matrix Matrix; const int SIZE = Matrix::RowsAtCompileTime; Matrix a = Matrix::Constant(0.1f); EXPECT_NEAR(0.1 * SIZE * SIZE, a.sum(), 1e-6); Matrix b = a + Matrix::Ones() + a; EXPECT_NEAR(1.2 * SIZE * SIZE, b.sum(), 1e-6); } /// Subtraction. TYPED_TEST(AllMatrixTests, Subtract) { typedef typename TestFixture::Matrix Matrix; const int SIZE = Matrix::RowsAtCompileTime; Matrix a = Matrix::Constant(0.1f); EXPECT_NEAR(0.1 * SIZE * SIZE, a.sum(), 1e-6); Matrix b = Matrix::Ones() - a; EXPECT_NEAR(0.9 * SIZE * SIZE, b.sum(), 1e-6); } /// Incrementing by a value. TYPED_TEST(AllMatrixTests, AddTo) { typedef typename TestFixture::Matrix Matrix; const int SIZE = Matrix::RowsAtCompileTime; Matrix a = Matrix::Constant(0.1f); EXPECT_NEAR(0.1 * SIZE * SIZE, a.sum(), 1e-6); a += Matrix::Ones(); EXPECT_NEAR(1.1 * SIZE * SIZE, a.sum(), 1e-6); } /// Decrementing by a value. TYPED_TEST(AllMatrixTests, SubtractFrom) { typedef typename TestFixture::Matrix Matrix; const int SIZE = Matrix::RowsAtCompileTime; Matrix a = Matrix::Constant(1.1f); EXPECT_NEAR(1.1 * SIZE * SIZE, a.sum(), 1e-6); a -= Matrix::Ones(); EXPECT_NEAR(0.1 * SIZE * SIZE, a.sum(), 1e-6); } /// Matrix-scalar multiplication. TYPED_TEST(AllMatrixTests, MultiplyMatrixScalar) { typedef typename TestFixture::Matrix Matrix; Matrix a = Matrix::Random(); Matrix b = a * 1.23f; EXPECT_NEAR(1.23 * a.sum(), b.sum(), 1e-6); } /// Scalar-matrix multiplication. TYPED_TEST(AllMatrixTests, MultiplyScalarMatrix) { typedef typename TestFixture::Matrix Matrix; Matrix a = Matrix::Random(); Matrix b = 1.23f * a; EXPECT_NEAR(1.23 * a.sum(), b.sum(), 1e-6); } /// Division by scalar. TYPED_TEST(AllMatrixTests, DivideScalar) { typedef typename TestFixture::Matrix Matrix; Matrix a = Matrix::Random(); Matrix b = a / 1.23f; EXPECT_NEAR(a.sum() / 1.23, b.sum(), 1e-6); } /// Matrix-vector multiplication. TYPED_TEST(AllMatrixTests, MultiplyMatrixVector) { typedef typename TestFixture::Matrix Matrix; typedef typename TestFixture::Scalar T; const int SIZE = Matrix::RowsAtCompileTime; typedef Eigen::Matrix Vector; Matrix a = Matrix::Random(); Vector v = Vector::Zero(); v[0] = 1.f; Vector w = a * v; EXPECT_NEAR(a.col(0).sum(), w.sum(), 1e-6); } /// Matrix-matrix multiplication. TYPED_TEST(AllMatrixTests, MultiplyMatrixMatrix) { typedef typename TestFixture::Matrix Matrix; const int SIZE = Matrix::RowsAtCompileTime; Matrix a = Matrix::Random(); Matrix I = Matrix::Identity(); Matrix b = I * a * I; EXPECT_NEAR(0, (b - a).norm(), SIZE * SIZE * 1e-6); } /// Matrix inverse. TYPED_TEST(AllMatrixTests, Inverse) { typedef typename TestFixture::Matrix Matrix; const int SIZE = Matrix::RowsAtCompileTime; Matrix a = 2.0f * Matrix::Identity() + 0.5f * Matrix::Random(); // try to make an invertible matrix Matrix b = a.inverse(); Matrix ab = a * b; EXPECT_NEAR(0, (ab - Matrix::Identity()).norm(), SIZE * SIZE * 1e-6); Matrix ba = b * a; EXPECT_NEAR(0, (ba - Matrix::Identity()).norm(), SIZE * SIZE * 1e-6); } /// Matrix transpose. TYPED_TEST(AllMatrixTests, Transpose) { typedef typename TestFixture::Matrix Matrix; const int SIZE = Matrix::RowsAtCompileTime; Matrix a; for (int row = 0; row < SIZE; ++row) { for (int col = 0; col < SIZE; ++col) { a(row, col) = 2.f * row - 3.f * col; } } // Note: DO NOT do things like "a = a.transpose()"; aliasing will result in an error. // You can use transposeInPlace(), or "a = a.transpose().eval()". Matrix b = a.transpose(); for (int row = 0; row < SIZE; ++row) { for (int col = 0; col < SIZE; ++col) { EXPECT_NEAR(2.f * col - 3.f * row, b(row, col), 1e-6); } } } /// Component-wise multiplication. TYPED_TEST(AllMatrixTests, ComponentwiseMultiply) { typedef typename TestFixture::Matrix Matrix; Matrix a = Matrix::Random(); Matrix b = Matrix::Identity(); Matrix c = a.cwiseProduct(b); EXPECT_NEAR(0, c.sum() - c.diagonal().sum(), 1e-6); EXPECT_NEAR(0, (a - c).diagonal().sum(), 1e-6); } /// Component-wise division. TYPED_TEST(AllMatrixTests, ComponentwiseDivide) { typedef typename TestFixture::Matrix Matrix; Matrix a = Matrix::Random(); Matrix b = Matrix::Constant(0.5f); Matrix c = a.cwiseQuotient(b); EXPECT_NEAR(a.sum() * 2, c.sum(), 1e-6); } /// Frobenius norm and its square. TYPED_TEST(AllMatrixTests, FrobeniusNorm) { typedef typename TestFixture::Matrix Matrix; typedef typename TestFixture::Scalar T; const int SIZE = Matrix::RowsAtCompileTime; Matrix m; T sumSquares = 0; for (int row = 0; row < SIZE; ++row) { for (int col = 0; col < SIZE; ++col) { T value = row + col + 11.0f; m(row, col) = value; sumSquares += value * value; } } EXPECT_NEAR(sumSquares, m.squaredNorm(), 1e-4); EXPECT_NEAR(sqrt(sumSquares), m.norm(), 1e-4); } /// L1 (Manhattan) norm and L_Infinity (largest absolute value) norm. TYPED_TEST(AllMatrixTests, L1NormAndLInfNorm) { typedef typename TestFixture::Matrix Matrix; typedef typename TestFixture::Scalar T; const int SIZE = Matrix::RowsAtCompileTime; Matrix m; T sumAbsolute = 0; for (int row = 0; row < SIZE; ++row) { for (int col = 0; col < SIZE; ++col) { T value = row + col - (SIZE + 0.6f); m(row, col) = value; // NOTE: DON'T use plain abs(), it may truncate to int! sumAbsolute += std::abs(value); } } // the function is set up so that the (0,0) corner will always have the biggest absolute value T maxAbsolute = (SIZE + 0.6f); Matrix n = -m; // Ugh, "template" is required to get this to parse properly. This is // triggered because the test is a part of a template class; you don't // need to do this in a non-template context. EXPECT_NEAR(sumAbsolute, m.template lpNorm<1>(), 1e-4) << "m=" << m; EXPECT_NEAR(sumAbsolute, n.template lpNorm<1>(), 1e-4) << "n=" << n; EXPECT_NEAR(maxAbsolute, m.template lpNorm(), 1e-4) << "m=" << m; EXPECT_NEAR(maxAbsolute, n.template lpNorm(), 1e-4) << "n=" << m; } /// Minimum and maximum elements. TYPED_TEST(AllMatrixTests, MinAndMax) { typedef typename TestFixture::Matrix Matrix; typedef typename TestFixture::Scalar T; const int SIZE = Matrix::RowsAtCompileTime; const T inputArray[18] = { 0.01f, 1.02f, 2.03f, 3.04f, 4.05f, 5.06f, 6.07f, 7.08f, 8.09f, 9.10f, 10.11f, 11.12f, 12.13f, 13.14f, 14.15f, 15.16f, 16.17f, 17.18f }; Matrix m(inputArray); EXPECT_NEAR(inputArray[0], m.minCoeff(), 1e-6); EXPECT_NEAR(inputArray[SIZE*SIZE-1], m.maxCoeff(), 1e-6); } /// Trace. TYPED_TEST(AllMatrixTests, Trace) { typedef typename TestFixture::Matrix Matrix; typedef typename TestFixture::Scalar T; Matrix a = Matrix::Random(); T expectedTrace = a.diagonal().sum(); EXPECT_NEAR(expectedTrace, a.trace(), 1e-6); } /// Determinant. TYPED_TEST(AllMatrixTests, Determinant) { typedef typename TestFixture::Matrix Matrix; const int SIZE = Matrix::RowsAtCompileTime; Matrix m = exp(1.f) * Matrix::Identity(); EXPECT_NEAR(exp(1.*SIZE), m.determinant(), 1e-4); } /// Determinant (explicit 2x2 result). TYPED_TEST(Matrix22Tests, Determinant22) { typedef typename TestFixture::Matrix22 Matrix22; typedef typename TestFixture::Scalar T; Matrix22 m = Matrix22::Random(); T expectedDeterminant = m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0); EXPECT_NEAR(expectedDeterminant, m.determinant(), 1e-6); } /// Determinant (explicit 3x3 result). TYPED_TEST(Matrix33Tests, Determinant33) { typedef typename TestFixture::Matrix33 Matrix33; typedef typename TestFixture::Scalar T; Matrix33 m = Matrix33::Random(); T expectedDeterminant = m.row(0).cross(m.row(1)).dot(m.row(2)); EXPECT_NEAR(expectedDeterminant, m.determinant(), 1e-6); } // ==================== SUBMATRICES (EXTENDING/SHRINKING) ==================== /// Extending matrices using the block() syntax. TYPED_TEST(Matrix22Tests, Extend2to3) { typedef typename TestFixture::Matrix22 Matrix22; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Matrix33; Matrix22 matrix2; matrix2 << 1.1f, 1.2f, 1.3f, 1.4f; Matrix33 matrix3 = Matrix33::Identity(); // Ugh, this is efficient but "template" is required to get it to parse // properly. This is triggered because the test is a part of a template // class; you don't need to do this in a non-template context. matrix3.template block<2, 2>(0, 0) = matrix2; EXPECT_NEAR(6.0, matrix3.sum(), 1e-6) << "extending was incorrect: " << matrix3; } /// Extending matrices using the block(i,j,r,c) syntax. TYPED_TEST(Matrix22Tests, DynamicExtend2to3) { typedef typename TestFixture::Matrix22 Matrix22; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Matrix33; Matrix22 matrix2; matrix2 << 1.1f, 1.2f, 1.3f, 1.4f; Matrix33 matrix3 = Matrix33::Identity(); matrix3.block(0, 0, 2, 2) = matrix2; EXPECT_NEAR(6.0, matrix3.sum(), 1e-6) << "extending was incorrect: " << matrix3; } /// Shrinking matrices using the block() syntax. TYPED_TEST(Matrix22Tests, Shrink3to2) { typedef typename TestFixture::Matrix22 Matrix22; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Matrix33; Matrix33 matrix3; matrix3 << 1.1f, 1.2f, 1.3f, 1.4f, 1.5f, 1.6f, 1.7f, 1.8f, 1.9f; Matrix22 matrix2; // Ugh, this is efficient but "template" is required to get it to parse // properly. This is triggered because the test is a part of a template // class; you don't need to do this in a non-template context. matrix2 = matrix3.template block<2, 2>(0, 0); EXPECT_NEAR(5.2, matrix2.sum(), 1e-6) << "shrinking was incorrect: " << matrix2; } /// Extending matrices using the block() syntax. TYPED_TEST(Matrix33Tests, Extend2to3) { typedef typename TestFixture::Matrix33 Matrix33; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Matrix22; Matrix22 matrix2; matrix2 << 1.1f, 1.2f, 1.3f, 1.4f; Matrix33 matrix3 = Matrix33::Identity(); // Ugh, this is efficient but "template" is required to get it to parse // properly. This is triggered because the test is a part of a template // class; you don't need to do this in a non-template context. matrix3.template block<2, 2>(0, 0) = matrix2; EXPECT_NEAR(6.0, matrix3.sum(), 1e-6) << "extending was incorrect: " << matrix3; } /// Shrinking matrices using the block() syntax. TYPED_TEST(Matrix33Tests, Shrink3to2) { typedef typename TestFixture::Matrix33 Matrix33; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Matrix22; Matrix33 matrix3; matrix3 << 1.1f, 1.2f, 1.3f, 1.4f, 1.5f, 1.6f, 1.7f, 1.8f, 1.9f; Matrix22 matrix2; // Ugh, this is efficient but "template" is required to get it to parse // properly. This is triggered because the test is a part of a template // class; you don't need to do this in a non-template context. matrix2 = matrix3.template block<2, 2>(0, 0); EXPECT_NEAR(5.2, matrix2.sum(), 1e-6) << "shrinking was incorrect: " << matrix2; } /// Extending matrices using the block() syntax. TYPED_TEST(Matrix33Tests, Extend3to4) { typedef typename TestFixture::Matrix33 Matrix33; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Matrix44; Matrix33 matrix3; matrix3 << 1.1f, 1.2f, 1.3f, 1.4f, 1.5f, 1.6f, 1.7f, 1.8f, 1.9f; Matrix44 matrix4 = Matrix44::Identity(); // Ugh, this is efficient but "template" is required to get it to parse // properly. This is triggered because the test is a part of a template // class; you don't need to do this in a non-template context. matrix4.template block<3, 3>(0, 0) = matrix3; EXPECT_NEAR(14.5, matrix4.sum(), 1e-6) << "extending was incorrect: " << matrix4; } /// Shrinking matrices using the block() syntax. TYPED_TEST(Matrix33Tests, Shrink4to3) { typedef typename TestFixture::Matrix33 Matrix33; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Matrix44; Matrix44 matrix4; matrix4 << 1.1f, 1.2f, 1.3f, 1.4f, 1.5f, 1.6f, 1.7f, 1.8f, 1.9f, 2.0f, 2.1f, 2.2f, 2.3f, 2.4f, 2.5f, 2.6f; Matrix33 matrix3; // Ugh, this is efficient but "template" is required to get it to parse // properly. This is triggered because the test is a part of a template // class; you don't need to do this in a non-template context. matrix3 = matrix4.template block<3, 3>(0, 0); EXPECT_NEAR(14.4, matrix3.sum(), 1e-6) << "shrinking was incorrect: " << matrix3; } /// Extending matrices using the block() syntax. TYPED_TEST(Matrix44Tests, Extend3to4) { typedef typename TestFixture::Matrix44 Matrix44; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Matrix33; Matrix33 matrix3; matrix3 << 1.1f, 1.2f, 1.3f, 1.4f, 1.5f, 1.6f, 1.7f, 1.8f, 1.9f; Matrix44 matrix4 = Matrix44::Identity(); // Ugh, this is efficient but "template" is required to get it to parse // properly. This is triggered because the test is a part of a template // class; you don't need to do this in a non-template context. matrix4.template block<3, 3>(0, 0) = matrix3; EXPECT_NEAR(14.5, matrix4.sum(), 1e-6) << "extending was incorrect: " << matrix4; } /// Shrinking matrices using the block() syntax. TYPED_TEST(Matrix44Tests, Shrink4to3) { typedef typename TestFixture::Matrix44 Matrix44; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Matrix33; Matrix44 matrix4; matrix4 << 1.1f, 1.2f, 1.3f, 1.4f, 1.5f, 1.6f, 1.7f, 1.8f, 1.9f, 2.0f, 2.1f, 2.2f, 2.3f, 2.4f, 2.5f, 2.6f; Matrix33 matrix3; // Ugh, this is efficient but "template" is required to get it to parse // properly. This is triggered because the test is a part of a template // class; you don't need to do this in a non-template context. matrix3 = matrix4.template block<3, 3>(0, 0); EXPECT_NEAR(14.4, matrix3.sum(), 1e-6) << "shrinking was incorrect: " << matrix3; } // ==================== TYPE CONVERSION ==================== /// Typecasting matrices (double <-> float conversions). TYPED_TEST(AllMatrixTests, TypeCasting) { typedef typename TestFixture::Matrix Matrix; typedef typename TestFixture::Scalar T; const int SIZE = Matrix::RowsAtCompileTime; typedef Eigen::Matrix Matrixd; typedef Eigen::Matrix Matrixf; Matrix a = Matrix::Random(); T expectedSum = a.sum(); // Ugh, "template" is required to get this to parse properly. This is // triggered because the test is a part of a template class; you don't // need to do this in a non-template context. Matrixd d = a.template cast(); EXPECT_NEAR(expectedSum, d.sum(), 1e-6); Matrixf f = a.template cast(); EXPECT_NEAR(expectedSum, f.sum(), 1e-6); } // ==================== MISCELLANEOUS ==================== /// Reading from and writing to arrays or blocks of double/float in memory. TYPED_TEST(AllMatrixTests, ArrayReadWrite) { typedef typename TestFixture::Matrix Matrix; typedef typename TestFixture::Scalar T; const int NUM_ELEMENTS = Matrix::SizeAtCompileTime; const T inputArray[18] = { 0.01f, 1.02f, 2.03f, 3.04f, 4.05f, 5.06f, 6.07f, 7.08f, 8.09f, 9.10f, 10.11f, 11.12f, 12.13f, 13.14f, 14.15f, 15.16f, 16.17f, 17.18f }; T outputArray[18]; Eigen::Map inputMatrix(inputArray); Matrix a = inputMatrix; Eigen::Map outputMatrix(outputArray); outputMatrix = a; for (int i = 0; i < NUM_ELEMENTS; ++i) { EXPECT_NEAR(inputArray[i], outputArray[i], 1e-6); } } // TO DO: // non-checked access via coeff() // testing numerical validity // testing for denormalized numbers namespace { template void testScalar(T valueExpected, T value){} template <> void testScalar(double valueExpected, double value) { EXPECT_DOUBLE_EQ(valueExpected, value); } template <> void testScalar(float valueExpected, float value) { EXPECT_FLOAT_EQ(valueExpected, value); } }; TYPED_TEST(AllDynamicMatrixTests, addSubMatrix) { typedef typename TestFixture::Matrix Matrix; Matrix m, mInit, m2, m2Init; m.resize(18, 18); m.setRandom(); mInit = m; m2.resize(18, 18); m2.setRandom(); m2Init = m2; ASSERT_NO_THROW(SurgSim::Math::addSubMatrix(m2.block(3,3, 3,3), 2,2, 3,3, &m);); EXPECT_TRUE(m2.isApprox(m2Init)); EXPECT_FALSE(m.isApprox(mInit)); for (int rowId = 0; rowId < 6; rowId++) { EXPECT_TRUE(m.row(rowId).isApprox(mInit.row(rowId))); EXPECT_TRUE(m.col(rowId).isApprox(mInit.col(rowId))); } for (int rowId = 6; rowId < 9; rowId++) { for (int colId = 6; colId < 9; colId++) { testScalar(mInit(rowId, colId) + m2Init(3 + rowId-6, 3 + colId-6), m(rowId, colId)); } } for (int rowId = 9; rowId < 18; rowId++) { EXPECT_TRUE(m.row(rowId).isApprox(mInit.row(rowId))); EXPECT_TRUE(m.col(rowId).isApprox(mInit.col(rowId))); } } TYPED_TEST(AllDynamicMatrixTests, addSubMatrixBlocks) { typedef typename TestFixture::Matrix Matrix; Matrix m, mInit, m2, m2Init; std::vector nodeIds; m.resize(18, 18); m.setRandom(); mInit = m; m2.resize(18, 18); m2.setRandom(); m2Init = m2; nodeIds.push_back(1); nodeIds.push_back(3); nodeIds.push_back(5); ASSERT_NO_THROW(SurgSim::Math::addSubMatrix(m2.block(3,3, 9,9), nodeIds, 3, &m);); EXPECT_TRUE(m2.isApprox(m2Init)); EXPECT_FALSE(m.isApprox(mInit)); for (int rowId = 0; rowId < 3; rowId++) { EXPECT_TRUE(m.row(rowId).isApprox(mInit.row(rowId))); EXPECT_TRUE(m.col(rowId).isApprox(mInit.col(rowId))); } for (int rowId = 3; rowId < 6; rowId++) { for (int colId = 3; colId < 6; colId++) { testScalar(mInit(rowId, colId) + m2Init(3 + rowId-3, 3 + colId-3), m(rowId, colId)); } for (int colId = 9; colId < 12; colId++) { testScalar(mInit(rowId, colId) + m2Init(3 + rowId-3, 3 + colId-6), m(rowId, colId)); } for (int colId = 15; colId < 18; colId++) { testScalar(mInit(rowId, colId) + m2Init(3 + rowId-3, 3 + colId-9), m(rowId, colId)); } } for (int rowId = 6; rowId < 9; rowId++) { EXPECT_TRUE(m.row(rowId).isApprox(mInit.row(rowId))); EXPECT_TRUE(m.col(rowId).isApprox(mInit.col(rowId))); } for (int rowId = 9; rowId < 12; rowId++) { for (int colId = 3; colId < 6; colId++) { testScalar(mInit(rowId, colId) + m2Init(3 + rowId-6, 3 + colId-3), m(rowId, colId)); } for (int colId = 9; colId < 12; colId++) { testScalar(mInit(rowId, colId) + m2Init(3 + rowId-6, 3 + colId-6), m(rowId, colId)); } for (int colId = 15; colId < 18; colId++) { testScalar(mInit(rowId, colId) + m2Init(3 + rowId-6, 3 + colId-9), m(rowId, colId)); } } for (int rowId = 12; rowId < 15; rowId++) { EXPECT_TRUE(m.row(rowId).isApprox(mInit.row(rowId))); EXPECT_TRUE(m.col(rowId).isApprox(mInit.col(rowId))); } for (int rowId = 15; rowId < 18; rowId++) { for (int colId = 3; colId < 6; colId++) { testScalar(mInit(rowId, colId) + m2Init(3 + rowId-9, 3 + colId-3), m(rowId, colId)); } for (int colId = 9; colId < 12; colId++) { testScalar(mInit(rowId, colId) + m2Init(3 + rowId-9, 3 + colId-6), m(rowId, colId)); } for (int colId = 15; colId < 18; colId++) { testScalar(mInit(rowId, colId) + m2Init(3 + rowId-9, 3 + colId-9), m(rowId, colId)); } } } TYPED_TEST(AllDynamicMatrixTests, setSubMatrix) { typedef typename TestFixture::Matrix Matrix; Matrix m, mInit, m2, m2Init; m.resize(18, 18); m.setRandom(); mInit = m; m2.resize(18, 18); m2.setRandom(); m2Init = m2; ASSERT_NO_THROW(SurgSim::Math::setSubMatrix(m2.block(3,3, 3,3), 2,2, 3,3, &m);); EXPECT_TRUE(m2.isApprox(m2Init)); EXPECT_FALSE(m.isApprox(mInit)); for (int rowId = 0; rowId < 6; rowId++) { EXPECT_TRUE(m.row(rowId).isApprox(mInit.row(rowId))); EXPECT_TRUE(m.col(rowId).isApprox(mInit.col(rowId))); } for (int rowId = 6; rowId < 6+3; rowId++) { for (int colId = 6; colId < 6+3; colId++) { testScalar(m2Init(3 + rowId-6, 3 + colId-6), m(rowId, colId)); } } for (int rowId = 6+3; rowId < 18; rowId++) { EXPECT_TRUE(m.row(rowId).isApprox(mInit.row(rowId))); EXPECT_TRUE(m.col(rowId).isApprox(mInit.col(rowId))); } } TYPED_TEST(AllDynamicMatrixTests, getSubMatrix) { typedef typename TestFixture::Matrix Matrix; Matrix m, mInit; m.resize(18, 18); m.setRandom(); mInit = m; Eigen::Block subMatrix = SurgSim::Math::getSubMatrix(m, 2,2, 3,3); EXPECT_TRUE(m.isApprox(mInit)); for (int rowId = 0; rowId < 3; rowId++) { for (int colId = 0; colId < 3; colId++) { testScalar(m(2 * 3 + rowId, 2 * 3 + colId) , subMatrix(rowId, colId)); // Also test that the returned value are pointing to the correct data EXPECT_EQ(&subMatrix(rowId, colId), &m(2 * 3 + rowId, 2 * 3 + colId)); } } } opensurgsim-0.7.0/SurgSim/Math/UnitTests/MeshShapeTests.cpp000066400000000000000000000310621277777236100237460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/DataStructures/AabbTree.h" #include "SurgSim/DataStructures/AabbTreeNode.h" #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::EmptyData; using SurgSim::DataStructures::TriangleMeshPlain; namespace { const double epsilon = 1e-8; } namespace SurgSim { namespace Math { // CUBE // 3*----------*2 // / /| // 7*----------* | // | 6| | // | *0 | *1 // | |/ // 4*----------*5 static const int cubeNumPoints = 8; static const Vector3d cubePoints[8] = { Vector3d(-1.0 / 2.0, -1.0 / 2.0, -1.0 / 2.0), Vector3d(1.0 / 2.0, -1.0 / 2.0, -1.0 / 2.0), Vector3d(1.0 / 2.0, 1.0 / 2.0, -1.0 / 2.0), Vector3d(-1.0 / 2.0, 1.0 / 2.0, -1.0 / 2.0), Vector3d(-1.0 / 2.0, -1.0 / 2.0, 1.0 / 2.0), Vector3d(1.0 / 2.0, -1.0 / 2.0, 1.0 / 2.0), Vector3d(1.0 / 2.0, 1.0 / 2.0, 1.0 / 2.0), Vector3d(-1.0 / 2.0, 1.0 / 2.0, 1.0 / 2.0) }; static const int cubeNumEdges = 12; static const int cubeEdges[12][2] = { {0, 1}, {3, 2}, {4, 5}, {7, 6}, // +X {0, 3}, {1, 2}, {4, 7}, {5 , 6}, // +Y {0, 4}, {1, 5}, {2, 6}, {3, 7} // +Z }; static const int cubeNumTriangles = 12; static const int cubeTrianglesCCW[12][3] = { {6, 2, 3}, {6, 3, 7}, // Top ( 0 1 0) [6237] {0, 1, 5}, {0, 5, 4}, // Bottom ( 0 -1 0) [0154] {4, 5, 6}, {4, 6, 7}, // Front ( 0 0 1) [4567] {0, 3, 2}, {0, 2, 1}, // Back ( 0 0 -1) [0321] {1, 2, 6}, {1, 6, 5}, // Right ( 1 0 0) [1265] {0, 4, 7}, {0, 7, 3} // Left (-1 0 0) [0473] }; class MeshShapeTest : public ::testing::Test { public: void SetUp() { m_numIterations = 100; m_runtime = std::make_shared("config.txt"); srand((unsigned int)time(nullptr)); } /// Number of iterations to test int m_numIterations; std::shared_ptr m_runtime; }; TEST_F(MeshShapeTest, InvalidMeshCubeTest) { // Cube std::shared_ptr invalidTriMesh = std::make_shared(); for (int i = 0; i < cubeNumPoints; i++) { Vector3d p; p[0] = cubePoints[i][0]; p[1] = cubePoints[i][1]; p[2] = cubePoints[i][2]; TriangleMeshPlain::VertexType v(p); invalidTriMesh->addVertex(v); } for (int i = 0; i < cubeNumEdges; i++) { std::array edgePoints; for (int j = 0; j < 2; j++) { edgePoints[j] = cubeEdges[i][j]; } TriangleMeshPlain::EdgeType e(edgePoints); invalidTriMesh->addEdge(e); } for (int i = 0; i < cubeNumTriangles; i++) { std::array trianglePoints; for (int j = 0; j < 3; j++) { // Add an offset of 3 to the indices (=> some of them will be invalid) trianglePoints[j] = cubeTrianglesCCW[i][j] + 3; } TriangleMeshPlain::TriangleType t(trianglePoints); invalidTriMesh->addTriangle(t); } EXPECT_THROW(MeshShape invalidMeshShape(*invalidTriMesh), SurgSim::Framework::AssertionFailure); } TEST_F(MeshShapeTest, EmptyMeshTest) { std::shared_ptr emptyMesh = std::make_shared(); EXPECT_NO_THROW(MeshShape meshShape(*emptyMesh)); MeshShape meshShape(*emptyMesh); EXPECT_NEAR(0.0, meshShape.getVolume(), epsilon); EXPECT_TRUE(meshShape.getCenter().isZero()); EXPECT_TRUE(meshShape.getSecondMomentOfVolume().isZero()); EXPECT_TRUE(meshShape.isValid()); // An empty mesh is regarded as valid. MeshShape emptyMeshShape; EXPECT_TRUE(emptyMeshShape.isValid()); EXPECT_TRUE(emptyMeshShape.getBoundingBox().isEmpty()); } TEST_F(MeshShapeTest, ValidMeshTest) { { SCOPED_TRACE("Invalid Mesh"); auto emptyMesh = std::make_shared(); auto meshShape = std::make_shared(*emptyMesh); for (int i = 0; i < cubeNumEdges; ++i) { std::array edgePoints; for (int j = 0; j < 2; j++) { edgePoints[j] = cubeEdges[i][j]; } TriangleMeshPlain::EdgeType e(edgePoints); meshShape->addEdge(e); } EXPECT_FALSE(meshShape->isValid()); } { SCOPED_TRACE("Valid Mesh"); auto emptyMesh = std::make_shared(); auto meshShape = std::make_shared(*emptyMesh); std::shared_ptr invalidTriMesh = std::make_shared(); for (int i = 0; i < cubeNumPoints; i++) { Vector3d point(cubePoints[i][0], cubePoints[i][1], cubePoints[i][2]); TriangleMeshPlain::VertexType vertex(point); meshShape->addVertex(vertex); } EXPECT_TRUE(meshShape->isValid()); } } TEST_F(MeshShapeTest, MeshCubeVSBoxTest) { for (int iterationID = 0; iterationID < m_numIterations; iterationID++) { double lx = 10.0 * (1.0 / static_cast(iterationID + 1)); double ly = 10.0 * (2.0 / static_cast(iterationID + 1)); double lz = 10.0 * (static_cast(iterationID + 1) / 3.0); // Cube std::shared_ptr mesh = std::make_shared(); for (int i = 0; i < cubeNumPoints; i++) { Vector3d p; p[0] = cubePoints[i][0] * lx; p[1] = cubePoints[i][1] * ly; p[2] = cubePoints[i][2] * lz; TriangleMeshPlain::VertexType v(p); mesh->addVertex(v); } for (int i = 0; i < cubeNumEdges; i++) { std::array edgePoints; for (int j = 0; j < 2; j++) { edgePoints[j] = cubeEdges[i][j]; } TriangleMeshPlain::EdgeType e(edgePoints); mesh->addEdge(e); } for (int i = 0; i < cubeNumTriangles; i++) { std::array trianglePoints; for (int j = 0; j < 3; j++) { trianglePoints[j] = cubeTrianglesCCW[i][j]; } TriangleMeshPlain::TriangleType t(trianglePoints); mesh->addTriangle(t); } MeshShape boxMesh(*mesh); BoxShape boxShape(lx, ly, lz); EXPECT_NEAR(boxShape.getVolume(), boxMesh.getVolume(), epsilon); EXPECT_TRUE((boxShape.getCenter() - boxMesh.getCenter()).isZero()); EXPECT_TRUE(boxShape.getSecondMomentOfVolume().isApprox(boxMesh.getSecondMomentOfVolume(), epsilon)); } } TEST_F(MeshShapeTest, SerializationTest) { const std::string fileName = "Geometry/staple_collision.ply"; auto meshShape = std::make_shared(); EXPECT_NO_THROW(meshShape->load(fileName)); EXPECT_TRUE(meshShape->isValid()); // We chose to let YAML serialization only works with base class pointer. // i.e. We need to serialize 'meshShape' via a SurgSim::Math::Shape pointer. // The usage YAML::Node node = meshShape; will not compile. std::shared_ptr shape = meshShape; YAML::Node node; ASSERT_NO_THROW(node = shape); // YAML::convert> will be called. EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); std::shared_ptr newMeshShape; ASSERT_NO_THROW(newMeshShape = std::dynamic_pointer_cast(node.as>())); EXPECT_EQ("SurgSim::Math::MeshShape", newMeshShape->getClassName()); EXPECT_EQ(meshShape->getNumVertices(), newMeshShape->getNumVertices()); EXPECT_EQ(meshShape->getNumEdges(), newMeshShape->getNumEdges()); EXPECT_EQ(meshShape->getNumTriangles(), newMeshShape->getNumTriangles()); EXPECT_TRUE(newMeshShape->isValid()); } TEST_F(MeshShapeTest, CreateAabbTreeTest) { const std::string fileName = "Geometry/staple_collision.ply"; auto meshShape = std::make_shared(); EXPECT_NO_THROW(meshShape->load(fileName)); auto tree = meshShape->getAabbTree(); auto triangles = meshShape->getTriangles(); auto vertices = meshShape->getVertices(); EXPECT_EQ(224u, triangles.size()); EXPECT_EQ(504u, vertices.size()); for (auto it = triangles.begin(); it != triangles.end(); ++it) { auto ids = it->verticesId; EXPECT_TRUE(tree->getAabb().contains(makeAabb( vertices[ids[0]].position, vertices[ids[1]].position, vertices[ids[2]].position))); } EXPECT_TRUE(meshShape->getBoundingBox().isApprox(tree->getAabb())); } TEST_F(MeshShapeTest, TransformTest) { const std::string fileName = "Geometry/staple_collision.ply"; auto mesh = std::make_shared(); ASSERT_NO_THROW(mesh->load(fileName)); auto originalMesh = std::make_shared(*mesh); auto actualMesh = std::make_shared(*mesh); EXPECT_TRUE(originalMesh->isTransformable()); RigidTransform3d transform = makeRigidTransform(Vector3d(4.3, 2.1, 6.5), Vector3d(-1.5, 7.5, -2.5), Vector3d(8.7, -4.7, -3.1)); actualMesh->transform(transform); EXPECT_TRUE(actualMesh->update()); Vector3d expectedPosition; ASSERT_EQ(originalMesh->getNumVertices(), actualMesh->getNumVertices()); for (size_t i = 0; i < actualMesh->getNumVertices(); i++) { Vector3d expectedPosition = transform * originalMesh->getVertexPosition(i); ASSERT_TRUE(actualMesh->getVertexPosition(i).isApprox(expectedPosition, epsilon)) << "Vertex #" << i << " is not as expected, remaining vertices may also be incorrect."; } Vector3d expectedNormal; ASSERT_EQ(originalMesh->getNumTriangles(), actualMesh->getNumTriangles()); for (size_t i = 0; i < actualMesh->getNumTriangles(); i++) { expectedNormal = transform.linear() * originalMesh->getTriangle(i).data.normal; ASSERT_TRUE(expectedNormal.isApprox(actualMesh->getTriangle(i).data.normal, epsilon)) << "Normal #" << i << " is not as expected, remaining normals may also be incorrect."; } // Expect indeterminate normals due to numerical precision. actualMesh->transform(makeRigidTranslation(Vector3d(1e100, 1e100, 1e100))); EXPECT_FALSE(actualMesh->update()); } TEST_F(MeshShapeTest, NormalTest) { auto mesh = std::make_shared(); // Add vertex TriangleMeshPlain::VertexType v0(Vector3d(-1.0, -1.0, -1.0)); TriangleMeshPlain::VertexType v1(Vector3d(1.0, -1.0, -1.0)); TriangleMeshPlain::VertexType v2(Vector3d(-1.0, 1.0, -1.0)); mesh->addVertex(v0); mesh->addVertex(v1); mesh->addVertex(v2); // Add edges std::array edgePoints01 = {0, 1}; std::array edgePoints12 = {1, 2}; std::array edgePoints20 = {2, 0}; TriangleMeshPlain::EdgeType e01(edgePoints01); TriangleMeshPlain::EdgeType e12(edgePoints12); TriangleMeshPlain::EdgeType e20(edgePoints20); mesh->addEdge(e01); mesh->addEdge(e12); mesh->addEdge(e20); // Add triangle std::array trianglePoints = {0, 1, 2}; TriangleMeshPlain::TriangleType t(trianglePoints); mesh->addTriangle(t); std::shared_ptr meshWithNormal = std::make_shared(*mesh); Vector3d expectedZNormal(0.0, 0.0, 1.0); EXPECT_EQ(expectedZNormal, meshWithNormal->getNormal(0)); // Update new vertex location of v2 to v3 MeshShape::VertexType v3(Vector3d(-1.0, -1.0, 1.0)); SurgSim::DataStructures::Vertex& v2p = meshWithNormal->getVertex(2); v2p = v3; // Recompute normals for meshWithNormal EXPECT_TRUE(meshWithNormal->update()); Vector3d expectedXNormal(0.0, -1.0, 0.0); EXPECT_EQ(expectedXNormal, meshWithNormal->getNormal(0)); v2p = v1; EXPECT_FALSE(meshWithNormal->update()); } TEST_F(MeshShapeTest, DoLoadTest) { auto runtime = std::make_shared("config.txt"); { SCOPED_TRACE("Normal load should succeed"); auto meshShape = std::make_shared(); EXPECT_NO_THROW(meshShape->load("Geometry/staple_collision.ply")); EXPECT_TRUE(meshShape->isValid()); } { SCOPED_TRACE("Load through parameter should succeed"); auto fileName = std::string("Geometry/staple_collision.ply"); auto meshShape = std::make_shared(); EXPECT_NO_THROW(meshShape->setValue("FileName", fileName)); EXPECT_TRUE(meshShape->isValid()); } { SCOPED_TRACE("Load of invalid mesh should throw"); auto meshShape = std::make_shared(); EXPECT_THROW(meshShape->load("Geometry/InvalidMesh.ply"), SurgSim::Framework::AssertionFailure); } { SCOPED_TRACE("Load of non existant file should throw"); auto fileName = std::string("Nonexistent file"); auto meshShape = std::make_shared(); EXPECT_THROW(meshShape->load("Nonexistent file"), SurgSim::Framework::AssertionFailure); } } }; }; opensurgsim-0.7.0/SurgSim/Math/UnitTests/MinMaxTests.cpp000066400000000000000000000135441277777236100232670ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the MinMax functions. #include #include "SurgSim/Math/MinMax.h" namespace SurgSim { namespace Math { class MinMaxTests : public ::testing::Test {}; TEST_F(MinMaxTests, TwoEntriesTests) { const int numValues = 2; float floatValues[numValues] = { 7, 52}; float minFloatVal = 7; float maxFloatVal = 52; float floatMin; float floatMax; double doubleValues[numValues] = { -47, -2}; double minDoubleVal = -47; double maxDoubleVal = -2; double doubleMin; double doubleMax; std::sort(floatValues, floatValues + numValues); do { minMax(floatValues[0], floatValues[1], &floatMin, &floatMax); EXPECT_EQ(minFloatVal, floatMin); EXPECT_EQ(maxFloatVal, floatMax); } while (std::next_permutation(floatValues, floatValues + numValues)); std::sort(doubleValues, doubleValues + numValues); do { minMax(doubleValues[0], doubleValues[1], &doubleMin, &doubleMax); EXPECT_EQ(minDoubleVal, doubleMin); EXPECT_EQ(maxDoubleVal, doubleMax); } while (std::next_permutation(doubleValues, doubleValues + numValues)); }; TEST_F(MinMaxTests, ThreeEntriesTests) { const int numValues = 3; float floatValues[numValues] = { 22, 7, 52}; float minFloatVal = 7; float maxFloatVal = 52; float floatMin; float floatMax; double doubleValues[numValues] = { -47, -2, -7}; double minDoubleVal = -47; double maxDoubleVal = -2; double doubleMin; double doubleMax; std::sort(floatValues, floatValues + numValues); do { minMax(floatValues[0], floatValues[1], floatValues[2], &floatMin, &floatMax); EXPECT_EQ(minFloatVal, floatMin); EXPECT_EQ(maxFloatVal, floatMax); } while (std::next_permutation(floatValues, floatValues + numValues)); std::sort(doubleValues, doubleValues + numValues); do { minMax(doubleValues[0], doubleValues[1], doubleValues[2], &doubleMin, &doubleMax); EXPECT_EQ(minDoubleVal, doubleMin); EXPECT_EQ(maxDoubleVal, doubleMax); } while (std::next_permutation(doubleValues, doubleValues + numValues)); }; TEST_F(MinMaxTests, FourEntriesTests) { const int numValues = 4; float floatValues[numValues] = { 18, 7, 52, 12}; float minFloatVal = 7; float maxFloatVal = 52; float floatMin; float floatMax; double doubleValues[numValues] = { -23, -47, -2, -17}; double minDoubleVal = -47; double maxDoubleVal = -2; double doubleMin; double doubleMax; std::sort(floatValues, floatValues + numValues); do { minMax(floatValues[0], floatValues[1], floatValues[2], floatValues[3], &floatMin, &floatMax); EXPECT_EQ(minFloatVal, floatMin); EXPECT_EQ(maxFloatVal, floatMax); } while (std::next_permutation(floatValues, floatValues + numValues)); std::sort(doubleValues, doubleValues + numValues); do { minMax(doubleValues[0], doubleValues[1], doubleValues[2], doubleValues[3], &doubleMin, &doubleMax); EXPECT_EQ(minDoubleVal, doubleMin); EXPECT_EQ(maxDoubleVal, doubleMax); } while (std::next_permutation(doubleValues, doubleValues + numValues)); }; TEST_F(MinMaxTests, FiveEntriesTests) { const int numValues = 5; float floatValues[numValues] = { 18, 7, 52, 12, 12}; float minFloatVal = 7; float maxFloatVal = 52; float floatMin; float floatMax; double doubleValues[numValues] = { -23, -47, -2, -17, -17}; double minDoubleVal = -47; double maxDoubleVal = -2; double doubleMin; double doubleMax; std::sort(floatValues, floatValues + numValues); do { minMax(floatValues[0], floatValues[1], floatValues[2], floatValues[3], floatValues[4], &floatMin, &floatMax); EXPECT_EQ(minFloatVal, floatMin); EXPECT_EQ(maxFloatVal, floatMax); } while (std::next_permutation(floatValues, floatValues + numValues)); std::sort(doubleValues, doubleValues + numValues); do { minMax(doubleValues[0], doubleValues[1], doubleValues[2], doubleValues[3], doubleValues[4], &doubleMin, &doubleMax); EXPECT_EQ(minDoubleVal, doubleMin); EXPECT_EQ(maxDoubleVal, doubleMax); } while (std::next_permutation(doubleValues, doubleValues + numValues)); }; TEST_F(MinMaxTests, AribtraryEntriesTests) { const int numValues = 5; float floatValues[numValues] = { 18, 7, 52, 12, 12}; float minFloatVal = 7; float maxFloatVal = 52; float floatMin; float floatMax; double doubleValues[numValues] = { -23, -47, -2, -17, -17}; double minDoubleVal = -47; double maxDoubleVal = -2; double doubleMin; double doubleMax; ASSERT_THROW(minMax(floatValues, 0, &floatMin, &floatMax), SurgSim::Framework::AssertionFailure); ASSERT_THROW(minMax(floatValues, -1, &floatMin, &floatMax), SurgSim::Framework::AssertionFailure); std::sort(floatValues, floatValues + numValues); do { minMax(floatValues, numValues, &floatMin, &floatMax); EXPECT_EQ(minFloatVal, floatMin); EXPECT_EQ(maxFloatVal, floatMax); } while (std::next_permutation(floatValues, floatValues + numValues)); ASSERT_THROW(minMax(doubleValues, 0, &doubleMin, &doubleMax), SurgSim::Framework::AssertionFailure); ASSERT_THROW(minMax(doubleValues, -1, &doubleMin, &doubleMax), SurgSim::Framework::AssertionFailure); std::sort(doubleValues, doubleValues + numValues); do { minMax(doubleValues, numValues, &doubleMin, &doubleMax); EXPECT_EQ(minDoubleVal, doubleMin); EXPECT_EQ(maxDoubleVal, doubleMax); } while (std::next_permutation(doubleValues, doubleValues + numValues)); }; }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/MlcpGaussSeidelSolverTests.cpp000066400000000000000000000175421277777236100263170ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the Gauss-Seidel implementation of the MLCP solver. #include #include #include #include "gtest/gtest.h" #include #include "SurgSim/Math/Valid.h" #include "SurgSim/Math/MlcpGaussSeidelSolver.h" #include "SurgSim/Math/MlcpSolution.h" #include "SurgSim/Testing/MlcpIO/MlcpTestData.h" #include "SurgSim/Testing/MlcpIO/ReadText.h" using SurgSim::Math::isValid; using SurgSim::Math::MlcpGaussSeidelSolver; TEST(MlcpGaussSeidelSolverTests, CanConstruct) { //ASSERT_NO_THROW({ MlcpGaussSeidelSolver mlcpSolver(1.0, 1.0, 100); } static void solveAndCompareResult(const std::string& fileName, double gsSolverPrecision = 1e-9, double gsContactTolerance = 1e-9, int gsMaxIterations = 100) { SCOPED_TRACE("while running test " + fileName); const std::shared_ptr data = loadTestData(fileName); ASSERT_TRUE(data != nullptr) << "Failed to load " << fileName; // NB: need to make the solver calls const-correct. Eigen::MatrixXd A = data->problem.A; Eigen::VectorXd b = data->problem.b; Eigen::VectorXd mu = data->problem.mu; std::vector constraintTypes = data->problem.constraintTypes; const size_t size = data->getSize(); SurgSim::Math::MlcpSolution solution; solution.x.resize(size); //################################ // Gauss-Seidel solver MlcpGaussSeidelSolver mlcpSolver(gsSolverPrecision, gsContactTolerance, gsMaxIterations); solution.x.setZero(); // XXX set ratio to 1 mlcpSolver.solve(data->problem, &solution); ASSERT_EQ(size, solution.x.rows()); ASSERT_EQ(size, data->expectedLambda.rows()); if (size > 0) { ASSERT_TRUE(isValid(solution.x)) << solution.x; } // TODO(advornik): Because this is a mixed LCP problem *with friction*, we can't just easily check that // all x are positive (the frictional entries may not be), or that all Ax+b are positive(ditto). // We need to either (a) make the test aware of the meaning of the constraint types, or (b) get rid // of the constraint types and flag the frictional DOFs more directly. // // For now, we check if the MLCP is really a pure LCP (only unilaterals without friction), and we // perform some simple checks that apply to that case and that case only. bool isSimpleLcp = true; for (auto it = constraintTypes.cbegin(); it != constraintTypes.cend(); ++it) { if ((*it) != SurgSim::Math::MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT) { isSimpleLcp = false; } } if (isSimpleLcp && (size > 0)) { EXPECT_GE(solution.x.minCoeff(), 0.0) << "x contains negative coefficients:" << std::endl << solution.x; Eigen::VectorXd c = A * solution.x + b; EXPECT_GE(c.minCoeff(), -gsSolverPrecision) << "Ax+b contains negative coefficients:" << std::endl << c; // Orthogonality test should be taking into account the scaling factor double maxAbsForce = abs(solution.x.maxCoeff()); if (abs(solution.x.minCoeff()) > maxAbsForce) { maxAbsForce = abs(solution.x.minCoeff()); } const double epsilon = 1e-9 * maxAbsForce; EXPECT_NEAR(0.0, c.dot(solution.x), epsilon) << "Ax+b is not orthogonal to x!" << std::endl << "x:" << std::endl << solution.x << std::endl << "Ax+b:" << std::endl << c; } EXPECT_TRUE(solution.x.isApprox(data->expectedLambda)) << "lambda:" << std::endl << solution.x << std::endl << "expected:" << std::endl << data->expectedLambda; // double convergenceCriteria=0.0; // bool validSignorini=false; // int nbContactToSkip=0; // int currentAtomicIndex = calculateConvergenceCriteria(lambda, nbContactToSkip, convergenceCriteria, // validSignorini, 1.0); } TEST(MlcpGaussSeidelSolverTests, SolveOriginal) { const double gsSolverPrecision = 1e-4; const double gsContactTolerance = 2e-4; int gsMaxIterations = 30; solveAndCompareResult("mlcpOriginalTest.txt", gsSolverPrecision, gsContactTolerance, gsMaxIterations); } TEST(MlcpGaussSeidelSolverTests, SolveSequence) { for (int i = 0; i <= 9; ++i) { solveAndCompareResult(getTestFileName("mlcpTest", i, ".txt")); } } static void solveRepeatedly(const MlcpTestData& data, /*XXX const */ MlcpGaussSeidelSolver* mlcpSolver, const int repetitions) { // NB: need to make the solver calls const-correct. SurgSim::Math::MlcpProblem problem; SurgSim::Math::MlcpSolution solution; std::vector constraintTypes; const size_t size = data.getSize(); solution.x.resize(size); for (int i = repetitions; i > 0; --i) { problem = data.problem; if (mlcpSolver) { solution.x.setZero(); mlcpSolver->solve(problem, &solution); } } } static double measureExecutionTimeUsec(const std::string& fileName, double gsSolverPrecision = 1e-8, double gsContactTolerance = 1e-8, int gsMaxIterations = 20) { SCOPED_TRACE("while running test " + fileName); const std::shared_ptr data = loadTestData(fileName); EXPECT_TRUE(data != nullptr) << "Failed to load " << fileName; MlcpGaussSeidelSolver mlcpSolver(gsSolverPrecision, gsContactTolerance, gsMaxIterations); typedef boost::chrono::high_resolution_clock clock; clock::time_point calibrationStart = clock::now(); const int calibrationRepetitions = 1000; solveRepeatedly(*data, &mlcpSolver, calibrationRepetitions); boost::chrono::duration calibrationTime = clock::now() - calibrationStart; double desiredTestTimeSec = 1.0; double desiredRepetitions = desiredTestTimeSec * calibrationRepetitions / calibrationTime.count(); const int repetitions = std::max(10, std::min(1000000, static_cast(desiredRepetitions))); clock::time_point time0 = clock::now(); // Do not actually solve the problem; just copy the input data. solveRepeatedly(*data, nullptr, repetitions); clock::time_point time1 = clock::now(); // Actually solve the problem. solveRepeatedly(*data, &mlcpSolver, repetitions); clock::time_point time2 = clock::now(); boost::chrono::duration elapsedSolveTime = time2 - time1; //std::cout << "Elapsed: " << (elapsedSolveTime.count() * 1000.) << " ms" << std::endl; boost::chrono::duration elapsedBaseline = time1 - time0; //std::cout << "Baseline: " << (elapsedBaseline.count() * 1000.) << " ms" << std::endl; double solveTimeUsec = (elapsedSolveTime - elapsedBaseline).count() * 1e6 / repetitions; double copyTimeUsec = elapsedBaseline.count() * 1e6 / repetitions; std::cout << "Average solution time: " << solveTimeUsec << " microseconds (~" << (solveTimeUsec+copyTimeUsec) << "-" << copyTimeUsec << ") over " << repetitions << " loops" << std::endl; return solveTimeUsec; } TEST(MlcpGaussSeidelSolverTests, MeasureExecutionTimeOriginal) { const double gsSolverPrecision = 1e-4; const double gsContactTolerance = 2e-5; int gsMaxIterations = 30; double solveTimeUsec = measureExecutionTimeUsec("mlcpOriginalTest.txt", gsSolverPrecision, gsContactTolerance, gsMaxIterations); // When refactoring the MLCP code, it can be very useful to compare the execution time before and after making // changes. But you can't usefully compare execution times on different machines, or with different build // settings, so you'll need to manually uncomment the following line and adjust the time accordingly. // EXPECT_LE(solveTimeUsec, 14.0); EXPECT_LE(solveTimeUsec, 1e6); } opensurgsim-0.7.0/SurgSim/Math/UnitTests/MlcpTestData/000077500000000000000000000000001277777236100226655ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Math/UnitTests/MlcpTestData/mlcpOriginalTest.txt000066400000000000000000000117431277777236100267140ustar00rootroot00000000000000# Original MLCP test - some data from a live simulation flags = total degrees of freedom = -1 number of constraints = 6 number of constraint DOFs ("atomic constraints") = 16 constraint types = MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_2D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_2D_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT E = ( -1.078639261242742e-009 3.8628052700939719e-009 3.4365124678206738e-011 5.2439675317372814e-008 -1.0881681666852216e-010 -5.4598438617436962e-010 1.3895925000950715e-009 -8.0260487492211929e-010 3.182259790575348e-008 1.5418919745158188e-008 -0.0028349485130807293 -0.00024345752383292049 -6.8288003755851215e-005 -0.0024687155316284442 0.00044509381981076065 0.00036473635193496473) HCHt = ( ( 1.3345657526376539e-008 1.4762129451361012e-012 1.3021510888275589e-009 -3.1071425782284856e-008 -5.6308255099272961e-011 0 0 0 0 0 0 0 0 0 0 0) ( 1.4762129451361044e-012 1.4730637830740187e-008 -1.2917016738606647e-012 -7.1607792168177411e-016 -4.2296549471529904e-012 0 0 0 0 0 0 0 0 0 0 0) ( 1.3021510888275589e-009 -1.2917016738606573e-012 1.350942244549466e-008 -3.3089655917465503e-008 -5.993834037837092e-011 0 0 0 0 0 0 0 0 0 0 0) ( -3.1071425782284856e-008 -7.1607792168177411e-016 -3.3089655917465503e-008 7.9109243566832458e-007 -2.0914474411210304e-011 0 0 0 0 0 0 0 0 0 0 0) ( -5.6308255099272961e-011 -4.2296549471529904e-012 -5.993834037837092e-011 -2.0914474411210346e-011 7.9999738402362291e-007 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 1.5589983172147443e-008 2.4655681638273228e-010 -2.6547210557780089e-010 -4.0242767107961668e-010 2.9172027027174455e-008 -1.4626940755792081e-009 -8.3546545220688397e-009 -6.910879572780377e-012 1.0076117393553975e-009 8.6338319022767194e-009 -1.2342675099707964e-010) ( 0 0 0 0 0 2.4655681638273228e-010 1.2772429953165537e-008 -2.8455178752109829e-010 -7.9973379384833891e-011 5.8411815009243883e-009 -6.474323176106377e-009 -5.7283661469222675e-010 -1.0858340296547962e-009 6.2702667451699401e-009 -1.7749942115993248e-009 -4.3201426346668623e-010) ( 0 0 0 0 0 -2.6547210557780094e-010 -2.8455178752109829e-010 1.5781997723164011e-008 5.6863004741912405e-010 -4.1221084373918575e-008 6.434508335504067e-010 1.5299613175269497e-010 -8.7523797506238338e-009 -1.24204206311367e-009 -6.5906217261540902e-011 8.5224220548311002e-009) ( 0 0 0 0 0 -4.0242767107961668e-010 -7.9973379384833891e-011 5.6863004741912405e-010 7.9763312499397027e-007 1.1507401561300607e-010 3.3984526634410832e-009 8.0413593280745838e-009 -1.1262542833458448e-008 3.4590894897356843e-009 7.1961798751286384e-009 -1.0553214707732758e-008) ( 0 0 0 0 0 2.9172027027174455e-008 5.8411815009243883e-009 -4.1221084373918575e-008 1.1507401561300607e-010 7.8929265028778233e-007 -8.7525370098262112e-009 -2.0706484870371629e-008 2.8946431215678211e-008 9.6712597799773566e-009 2.016714890447026e-008 -2.951199226885018e-008) ( 0 0 0 0 0 -1.4626940755792081e-009 -6.474323176106377e-009 6.434508335504067e-010 3.3984526634410832e-009 -8.7525370098262112e-009 9.3508899127147559e-005 6.1061434208882659e-006 -1.0005996410361315e-005 2.3175132657846745e-005 -5.7725592020145953e-007 -2.6121568520215946e-006) ( 0 0 0 0 0 -8.3546545220688397e-009 -5.7283661469222675e-010 1.5299613175269497e-010 8.0413593280745838e-009 -2.0706484870371629e-008 6.1061434208882693e-006 9.9502091897911858e-005 7.7201461732487004e-006 6.37466867795377e-006 2.3794026441112229e-005 5.9700902633940878e-006) ( 0 0 0 0 0 -6.910879572780377e-012 -1.0858340296547962e-009 -8.7523797506238338e-009 -1.1262542833458448e-008 2.8946431215678211e-008 -1.0005996410361326e-005 7.7201461732486902e-006 0.00010300469354547019 2.0371361118566863e-006 1.2143141546752772e-005 1.9538302894163935e-005) ( 0 0 0 0 0 1.0076117393553975e-009 6.2702667451699401e-009 -1.24204206311367e-009 3.4590894897356843e-009 9.6712597799773566e-009 2.3175132657846745e-005 6.37466867795377e-006 2.0371361118566863e-006 7.024991409575548e-005 4.749834757924254e-006 -3.4246067483125659e-006) ( 0 0 0 0 0 8.6338319022767194e-009 -1.7749942115993248e-009 -6.5906217261540902e-011 7.1961798751286384e-009 2.016714890447026e-008 -5.7725592020145953e-007 2.3794026441112229e-005 1.2143141546752772e-005 4.7498347579242642e-006 6.0599243166315907e-005 7.4677104014104345e-006) ( 0 0 0 0 0 -1.2342675099707964e-010 -4.3201426346668623e-010 8.5224220548311002e-009 -1.0553214707732758e-008 -2.951199226885018e-008 -2.6121568520215946e-006 5.9700902633940878e-006 1.9538302894163935e-005 -3.4246067483125621e-006 7.4677104014104133e-006 5.4786811573213588e-005) ) friction = ( 2.8797662206765437e-216 0 0 0 0 0 0 0 0 0 0.40000000000000002 0 0 0.40000000000000002 0 0) lambda = ( -0.080836084913972622 -0.26223731104011477 -0.18374150677203246 -0.077148138493640786 0.00011316190840491921 6.5804169707683497 -2.1186332046610241 5.7403838888910892 -0.18883274186185561 -0.05530115251517391 24.309512511537893 1.4775577619944267 4.3566278655246844 27.275211987031248 -10.073699584423007 -4.1893349010069185) == END == opensurgsim-0.7.0/SurgSim/Math/UnitTests/MlcpTestData/mlcpTest000.txt000066400000000000000000000003261277777236100254420ustar00rootroot00000000000000# MLCP Test 000 - size 0 flags = total degrees of freedom = 0 number of constraints = 0 number of constraint DOFs ("atomic constraints") = 0 constraint types = E = () HCHt = ( ) friction = () lambda = () == END == opensurgsim-0.7.0/SurgSim/Math/UnitTests/MlcpTestData/mlcpTest001.txt000066400000000000000000000107631277777236100254510ustar00rootroot00000000000000# MLCP Test 001 - size 3N - All independent (N rigid bodies) bilateral 3D (diagonal block (3) matrix) flags = SOLVER_STATUS_METHOD total degrees of freedom = 60 number of constraints = 10 number of constraint DOFs ("atomic constraints") = 30 constraint types = MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT E = ( -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007) HCHt = ( ( 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0) ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009) ) friction = ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) lambda = ( 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994) == END == opensurgsim-0.7.0/SurgSim/Math/UnitTests/MlcpTestData/mlcpTest002.txt000066400000000000000000000113251277777236100254450ustar00rootroot00000000000000# MLCP Test 002 - size 3N - All dependent (1 rigid body) bilateral 3D (full matrix) - physically possible flags = SOLVER_GAUSS_SEIDEL total degrees of freedom = 6 number of constraints = 6 number of constraint DOFs ("atomic constraints") = 18 constraint types = MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT E = ( -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007) HCHt = ( ( 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0) ( 0 3.4999999999999999e-009 0 0 -1.5e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009 0 2.5000000000000001e-009 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0) ( 0 0 3.4999999999999999e-009 0 0 -1.5e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 -2.5000000000000001e-009 0 1.0000000000000001e-009 2.5000000000000001e-009 0 1.0000000000000001e-009) ( 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0) ( 0 -1.5e-009 0 0 3.4999999999999999e-009 0 2.5000000000000001e-009 1.0000000000000001e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0) ( 0 0 -1.5e-009 0 0 3.4999999999999999e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 2.5000000000000001e-009 0 1.0000000000000001e-009 -2.5000000000000001e-009 0 1.0000000000000001e-009) ( 1.0000000000000001e-009 -2.5000000000000001e-009 0 1.0000000000000001e-009 2.5000000000000001e-009 0 3.4999999999999999e-009 0 0 -1.5e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0) ( 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0) ( 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 3.4999999999999999e-009 0 0 -1.5e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009 0 2.5000000000000001e-009 1.0000000000000001e-009) ( 1.0000000000000001e-009 2.5000000000000001e-009 0 1.0000000000000001e-009 -2.5000000000000001e-009 0 -1.5e-009 0 0 3.4999999999999999e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0) ( 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0) ( 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 -1.5e-009 0 0 3.4999999999999999e-009 0 2.5000000000000001e-009 1.0000000000000001e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009) ( 1.0000000000000001e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009 0 2.5000000000000001e-009 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 3.4999999999999999e-009 0 0 -1.5e-009 0 0) ( 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 -2.5000000000000001e-009 0 1.0000000000000001e-009 2.5000000000000001e-009 0 3.4999999999999999e-009 0 0 -1.5e-009 0) ( 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009) ( 1.0000000000000001e-009 0 2.5000000000000001e-009 1.0000000000000001e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 -1.5e-009 0 0 3.4999999999999999e-009 0 0) ( 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 2.5000000000000001e-009 0 1.0000000000000001e-009 -2.5000000000000001e-009 0 -1.5e-009 0 0 3.4999999999999999e-009 0) ( 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009) ) friction = ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) lambda = ( 113.54027658543633 55.984447685184627 81.845635261303883 -3.3087224502121103e-015 84.261711722572898 124.6596369935406 -18.056081083408476 63.19628379192968 25.729224155848073 10.317760619090549 4.9630836753181653e-015 38.723144908175662 -24.501830651667866 -8.2978167660376485 29.042358681131724 18.422943494849036 4.7416095805929466 3.3087224502121107e-015) == END == opensurgsim-0.7.0/SurgSim/Math/UnitTests/MlcpTestData/mlcpTest003.txt000066400000000000000000000112151277777236100254440ustar00rootroot00000000000000# MLCP Test 003 - size 3N - All dependent (1 rigid body) bilateral 3D (full matrix) - physically impossible flags = SOLVER_GAUSS_SEIDEL total degrees of freedom = 6 number of constraints = 6 number of constraint DOFs ("atomic constraints") = 18 constraint types = MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT E = ( -0 -0 -0 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -2.0000000000000002e-007 -8.0000000000000007e-007 -2.3999999999999999e-006 -3.0000000000000004e-007 -1.8000000000000001e-006 -8.1000000000000004e-006 -4.0000000000000003e-007 -3.2000000000000003e-006 -1.9199999999999999e-005 -4.9999999999999998e-007 -5.0000000000000004e-006 -3.749999999999999e-005) HCHt = ( ( 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0) ( 0 3.4999999999999999e-009 0 0 -1.5e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009 0 2.5000000000000001e-009 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0) ( 0 0 3.4999999999999999e-009 0 0 -1.5e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 -2.5000000000000001e-009 0 1.0000000000000001e-009 2.5000000000000001e-009 0 1.0000000000000001e-009) ( 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0) ( 0 -1.5e-009 0 0 3.4999999999999999e-009 0 2.5000000000000001e-009 1.0000000000000001e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0) ( 0 0 -1.5e-009 0 0 3.4999999999999999e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 2.5000000000000001e-009 0 1.0000000000000001e-009 -2.5000000000000001e-009 0 1.0000000000000001e-009) ( 1.0000000000000001e-009 -2.5000000000000001e-009 0 1.0000000000000001e-009 2.5000000000000001e-009 0 3.4999999999999999e-009 0 0 -1.5e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0) ( 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0) ( 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 3.4999999999999999e-009 0 0 -1.5e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009 0 2.5000000000000001e-009 1.0000000000000001e-009) ( 1.0000000000000001e-009 2.5000000000000001e-009 0 1.0000000000000001e-009 -2.5000000000000001e-009 0 -1.5e-009 0 0 3.4999999999999999e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0) ( 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0) ( 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 -1.5e-009 0 0 3.4999999999999999e-009 0 2.5000000000000001e-009 1.0000000000000001e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009) ( 1.0000000000000001e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009 0 2.5000000000000001e-009 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 3.4999999999999999e-009 0 0 -1.5e-009 0 0) ( 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 -2.5000000000000001e-009 0 1.0000000000000001e-009 2.5000000000000001e-009 0 3.4999999999999999e-009 0 0 -1.5e-009 0) ( 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009) ( 1.0000000000000001e-009 0 2.5000000000000001e-009 1.0000000000000001e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 -1.5e-009 0 0 3.4999999999999999e-009 0 0) ( 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 2.5000000000000001e-009 0 1.0000000000000001e-009 -2.5000000000000001e-009 0 -1.5e-009 0 0 3.4999999999999999e-009 0) ( 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009) ) friction = ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) lambda = ( -176303.18958583617 -87925.632737205815 -1024484.8029754778 10000.000000000253 -119643.57244199516 -1527437.2554425916 25637.908380427547 -19732.679331495205 -316650.30202035437 -6078.8047888158735 100000.00000000031 -182244.36546376004 326005.38228295406 -2376.207400623372 1258316.7259021834 -177465.42049975123 132786.40422892763 1830000.0000000005) == END == opensurgsim-0.7.0/SurgSim/Math/UnitTests/MlcpTestData/mlcpTest004.txt000066400000000000000000000027511277777236100254520ustar00rootroot00000000000000# MLCP Test 004 - size N - All independent (N rigid bodies) unilateral frictionless (diagonal block (1) matrix = diagonal matrix) - positive violation (nothing to solve) flags = SOLVER_STATUS_METHOD total degrees of freedom = 60 number of constraints = 10 number of constraint DOFs ("atomic constraints") = 10 constraint types = MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT E = ( 0.9876159799998131 2.1304951684997055 3.2733743569995983 4.4162535454994911 5.5591327339993839 6.7020119224992767 7.8448911109991686 8.9877702994990614 10.130649487998955 11.273528676498847) HCHt = ( ( 1.0000000000000003e-009 0 0 0 0 0 0 0 0 0) ( 0 1.0000000000000003e-009 0 0 0 0 0 0 0 0) ( 0 0 1.0000000000000003e-009 0 0 0 0 0 0 0) ( 0 0 0 1.0000000000000003e-009 0 0 0 0 0 0) ( 0 0 0 0 1.0000000000000003e-009 0 0 0 0 0) ( 0 0 0 0 0 1.0000000000000003e-009 0 0 0 0) ( 0 0 0 0 0 0 1.0000000000000003e-009 0 0 0) ( 0 0 0 0 0 0 0 1.0000000000000003e-009 0 0) ( 0 0 0 0 0 0 0 0 1.0000000000000003e-009 0) ( 0 0 0 0 0 0 0 0 0 1.0000000000000003e-009) ) friction = ( 0 0 0 0 0 0 0 0 0 0) lambda = ( 0 0 0 0 0 0 0 0 0 0) == END == opensurgsim-0.7.0/SurgSim/Math/UnitTests/MlcpTestData/mlcpTest005.txt000066400000000000000000000032101277777236100254420ustar00rootroot00000000000000# MLCP Test 005 - size N - All dependent (1 rigid body) unilateral frictionless (full matrix) - positive violation (nothing to solve). 6 contacts per object, the 6 cardinal points. flags = SOLVER_GAUSS_SEIDEL total degrees of freedom = 6 number of constraints = 6 number of constraint DOFs ("atomic constraints") = 6 constraint types = MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT E = ( 1.8882351809998226 2.0869967789998038 0.9938079899999066 2.98142396999972 1.9379255804998179 2.0373063794998085) HCHt = ( ( 3.47530864197531e-009 -1.4753086419753095e-009 7.530864197530866e-010 1.2469135802469138e-009 9.8765432098765449e-010 1.0123456790123461e-009) ( -1.4753086419753095e-009 3.47530864197531e-009 1.2469135802469138e-009 7.530864197530866e-010 1.0123456790123461e-009 9.8765432098765449e-010) ( 7.530864197530866e-010 1.2469135802469138e-009 1.0308641975308644e-009 9.6913580246913612e-010 8.7654320987654348e-010 1.1234567901234571e-009) ( 1.2469135802469138e-009 7.530864197530866e-010 9.6913580246913612e-010 1.0308641975308644e-009 1.1234567901234571e-009 8.7654320987654348e-010) ( 9.8765432098765449e-010 1.0123456790123461e-009 8.7654320987654348e-010 1.1234567901234571e-009 3.4938271604938288e-009 -1.493827160493828e-009) ( 1.0123456790123461e-009 9.8765432098765449e-010 1.1234567901234571e-009 8.7654320987654348e-010 -1.493827160493828e-009 3.4938271604938288e-009) ) friction = ( 0 0 0 0 0 0) lambda = ( 0 0 0 0 0 0) == END == opensurgsim-0.7.0/SurgSim/Math/UnitTests/MlcpTestData/mlcpTest006.txt000066400000000000000000000033011277777236100254440ustar00rootroot00000000000000# MLCP Test 006 - size N - All independent (N rigid bodies) unilateral frictionless (diagonal block (1) matrix = diagonal matrix). 1 contact per object, the deepest point penetrated. flags = SOLVER_GAUSS_SEIDEL total degrees of freedom = 60 number of constraints = 10 number of constraint DOFs ("atomic constraints") = 10 constraint types = MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT E = ( -0.0020000000000000018 -0.0040000000000000036 -0.0060000000000000053 -0.0080000000000000071 -0.010000000000000009 -0.012000000000000011 -0.014000000000000012 -0.016000000000000014 -0.018000000000000016 -0.020000000000000018) HCHt = ( ( 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0) ( 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0) ( 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0) ( 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0) ( 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0) ( 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0) ( 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0) ( 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0) ( 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0) ( 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009) ) friction = ( 0 0 0 0 0 0 0 0 0 0) lambda = ( 2000000.0000000016 4000000.0000000033 6000000.0000000047 8000000.0000000065 10000000.000000007 12000000.000000009 14000000.000000011 16000000.000000013 18000000.000000015 20000000.000000015) == END == opensurgsim-0.7.0/SurgSim/Math/UnitTests/MlcpTestData/mlcpTest007.txt000066400000000000000000000032111277777236100254450ustar00rootroot00000000000000# MLCP Test 007 - size N - All dependent (1 rigid body) unilateral frictionless (full matrix). 6 contacts per object, the 6 cardinal points in local frame. flags = SOLVER_GAUSS_SEIDEL total degrees of freedom = 6 number of constraints = 6 number of constraint DOFs ("atomic constraints") = 6 constraint types = MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT E = ( 0.89061920100000957 1.0893807989999909 -0.0038079899999064557 1.9838079899999068 0.94030960050000489 1.0396903994999955) HCHt = ( ( 3.47530864197531e-009 -1.4753086419753095e-009 7.530864197530866e-010 1.2469135802469138e-009 9.8765432098765449e-010 1.0123456790123461e-009) ( -1.4753086419753095e-009 3.47530864197531e-009 1.2469135802469138e-009 7.530864197530866e-010 1.0123456790123461e-009 9.8765432098765449e-010) ( 7.530864197530866e-010 1.2469135802469138e-009 1.0308641975308644e-009 9.6913580246913612e-010 8.7654320987654348e-010 1.1234567901234571e-009) ( 1.2469135802469138e-009 7.530864197530866e-010 9.6913580246913612e-010 1.0308641975308644e-009 1.1234567901234571e-009 8.7654320987654348e-010) ( 9.8765432098765449e-010 1.0123456790123461e-009 8.7654320987654348e-010 1.1234567901234571e-009 3.4938271604938288e-009 -1.4938271604938272e-009) ( 1.0123456790123461e-009 9.8765432098765449e-010 1.1234567901234571e-009 8.7654320987654348e-010 -1.4938271604938272e-009 3.4938271604938267e-009) ) friction = ( 0 0 0 0 0 0) lambda = ( 0 0 3693978.323262549 0 0 0) == END == opensurgsim-0.7.0/SurgSim/Math/UnitTests/MlcpTestData/mlcpTest008.txt000066400000000000000000000112221277777236100254470ustar00rootroot00000000000000# MLCP Test 008 - size 2N - All dependent (1 rigid body) unilateral frictionless (full matrix). 2x6 contacts per object, the 6 cardinal points in local frame against 2 convex planes. flags = SOLVER_GAUSS_SEIDEL total degrees of freedom = 6 number of constraints = 12 number of constraint DOFs ("atomic constraints") = 12 constraint types = MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT E = ( 0.73543550676819003 1.127667777044558 -0.049029033784546046 1.9121323175972942 0.93155164190637407 0.93155164190637407 1.127667777044558 0.73543550676819003 -0.049029033784546046 1.9121323175972942 0.93155164190637407 0.93155164190637407) HCHt = ( ( 3.4004457081380151e-009 -1.4024437101360178e-009 5.1871205717359543e-010 1.4792899408284021e-009 9.9900099900099875e-010 9.9900099900099875e-010 3.3235994774456308e-009 -1.4792899408284023e-009 1.4024437101360176e-009 4.4186582648121088e-010 9.2215476830861419e-010 9.2215476830861419e-010) ( -1.4024437101360178e-009 3.4004457081380151e-009 1.4792899408284021e-009 5.1871205717359543e-010 9.9900099900099875e-010 9.9900099900099875e-010 -1.4792899408284023e-009 3.3235994774456308e-009 4.4186582648121088e-010 1.4024437101360176e-009 9.2215476830861419e-010 9.2215476830861419e-010) ( 5.1871205717359543e-010 1.4792899408284021e-009 1.0950587873664794e-009 9.0294321063551812e-010 9.9900099900099875e-010 9.9900099900099875e-010 4.4186582648121098e-010 1.4024437101360174e-009 8.2609697994313357e-010 1.0182125566740949e-009 9.2215476830861419e-010 9.2215476830861419e-010) ( 1.4792899408284021e-009 5.1871205717359543e-010 9.0294321063551812e-010 1.0950587873664794e-009 9.9900099900099875e-010 9.9900099900099875e-010 1.4024437101360174e-009 4.4186582648121098e-010 1.0182125566740949e-009 8.2609697994313357e-010 9.2215476830861419e-010 9.2215476830861419e-010) ( 9.9900099900099875e-010 9.9900099900099875e-010 9.9900099900099875e-010 9.9900099900099875e-010 3.4965034965034959e-009 -1.4985014985014984e-009 9.2215476830861419e-010 9.2215476830861419e-010 9.2215476830861419e-010 9.2215476830861419e-010 3.22754168908015e-009 -1.3832321524629216e-009) ( 9.9900099900099875e-010 9.9900099900099875e-010 9.9900099900099875e-010 9.9900099900099875e-010 -1.4985014985014984e-009 3.4965034965034959e-009 9.2215476830861419e-010 9.2215476830861419e-010 9.2215476830861419e-010 9.2215476830861419e-010 -1.3832321524629216e-009 3.22754168908015e-009) ( 3.3235994774456308e-009 -1.4792899408284023e-009 4.4186582648121098e-010 1.4024437101360174e-009 9.2215476830861419e-010 9.2215476830861419e-010 3.4004457081380151e-009 -1.4024437101360178e-009 1.4792899408284021e-009 5.1871205717359543e-010 9.9900099900099875e-010 9.9900099900099875e-010) ( -1.4792899408284023e-009 3.3235994774456308e-009 1.4024437101360174e-009 4.4186582648121098e-010 9.2215476830861419e-010 9.2215476830861419e-010 -1.4024437101360178e-009 3.4004457081380151e-009 5.1871205717359543e-010 1.4792899408284021e-009 9.9900099900099875e-010 9.9900099900099875e-010) ( 1.4024437101360176e-009 4.4186582648121088e-010 8.2609697994313357e-010 1.0182125566740949e-009 9.2215476830861419e-010 9.2215476830861419e-010 1.4792899408284021e-009 5.1871205717359543e-010 1.0950587873664794e-009 9.0294321063551812e-010 9.9900099900099875e-010 9.9900099900099875e-010) ( 4.4186582648121088e-010 1.4024437101360176e-009 1.0182125566740949e-009 8.2609697994313357e-010 9.2215476830861419e-010 9.2215476830861419e-010 5.1871205717359543e-010 1.4792899408284021e-009 9.0294321063551812e-010 1.0950587873664794e-009 9.9900099900099875e-010 9.9900099900099875e-010) ( 9.2215476830861419e-010 9.2215476830861419e-010 9.2215476830861419e-010 9.2215476830861419e-010 3.22754168908015e-009 -1.3832321524629216e-009 9.9900099900099875e-010 9.9900099900099875e-010 9.9900099900099875e-010 9.9900099900099875e-010 3.4965034965034959e-009 -1.4985014985014984e-009) ( 9.2215476830861419e-010 9.2215476830861419e-010 9.2215476830861419e-010 9.2215476830861419e-010 -1.3832321524629216e-009 3.22754168908015e-009 9.9900099900099875e-010 9.9900099900099875e-010 9.9900099900099875e-010 9.9900099900099875e-010 -1.4985014985014984e-009 3.4965034965034959e-009) ) friction = ( 0 0 0 0 0 0 0 0 0 0 0 0) lambda = ( 0 0 25520594.196313217 0 0 0 0 0 25520591.510731984 0 0 0) == END == opensurgsim-0.7.0/SurgSim/Math/UnitTests/MlcpTestData/mlcpTest009.txt000066400000000000000000000046141277777236100254570ustar00rootroot00000000000000# MLCP Test 009 - size N - dependent Bilateral3D + unilateral frictionless (full matrix) - 1 rigid body + 1 fem3d linked together, rigid body colliding with plane flags = SOLVER_GAUSS_SEIDEL SOLVER_GAUSS_SEIDEL total degrees of freedom = 654 number of constraints = 7 number of constraint DOFs ("atomic constraints") = 9 constraint types = MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT E = ( 0.90998999999999997 0.90998999999999997 -0.090009999999999923 1.9099900000000001 0.90998999999999997 0.90998999999999997 9.9999999999961231e-006 -9.9999999999961231e-006 1.0000000000010001e-005) HCHt = ( ( 1.0250000000000001e-007 9.7500000000000006e-008 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 0 1.0000000000000001e-007 0) ( 9.7500000000000006e-008 1.0250000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 0 1.0000000000000001e-007 0) ( 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 0 1.0000000000000001e-007 0) ( 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 0 1.0000000000000001e-007 0) ( 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 1.0250000000000001e-007 9.7500000000000006e-008 0 1.0000000000000001e-007 0) ( 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 9.7500000000000006e-008 1.0250000000000001e-007 0 1.0000000000000001e-007 0) ( 0 0 0 0 0 0 3.7980968564082065e-006 3.1102531565232793e-009 -1.0190003838823684e-008) ( 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 1.0000000000000001e-007 3.1102531565232789e-009 3.5138140462957323e-006 4.3038176725570532e-010) ( 0 0 0 0 0 0 -1.0190003838823735e-008 4.3038176725570671e-010 3.6670209077024139e-006) ) friction = ( 0 0 0 0 0 0 0 0 0) lambda = ( 0 0 926463.49146198574 0 0 0 18.957234335337965 -26363.491940144901 0.41983413283463433) == END == opensurgsim-0.7.0/SurgSim/Math/UnitTests/MockCapsule.h000066400000000000000000000044371277777236100227270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_UNITTESTS_MOCKCAPSULE_H #define SURGSIM_MATH_UNITTESTS_MOCKCAPSULE_H #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/RigidTransform.h" namespace SurgSim { namespace Math { /// MockCapsule class used in the unit tests. class MockCapsule { public: // Default constructor. MockCapsule() {} // Constructor. MockCapsule(const Vector3d& vertex0, const Vector3d& vertex1, double radius) : v0(vertex0), v1(vertex1), v0v1(vertex1 - vertex0), r(radius) {} // Move this capsule by the given vector. void translate(const Vector3d& v) { v0 += v; v1 += v; } // Rotate this capsule about the x-axis by the given angle. void rotateAboutXBy(double angle) { RigidTransform3d r(Eigen::AngleAxis(angle * (M_PI / 180.0), Vector3d(1, 0, 0))); v0 = r * v0; v1 = r * v1; } // Rotate this capsule about the y-axis by the given angle. void rotateAboutYBy(double angle) { SurgSim::Math::RigidTransform3d r(Eigen::AngleAxis(angle * (M_PI / 180.0), Vector3d(0, 1, 0))); v0 = r * v0; v1 = r * v1; } // Rotate this capsule about the z-axis by the given angle. void rotateAboutZBy(double angle) { SurgSim::Math::RigidTransform3d r(Eigen::AngleAxis(angle * (M_PI / 180.0), Vector3d(0, 0, 1))); v0 = r * v0; v1 = r * v1; } // Transform this capsule by the given matrix. void transform(SurgSim::Math::RigidTransform3d transform) { v0 = transform * v0; v1 = transform * v1; } // Vertices of this capsule. Vector3d v0; Vector3d v1; // Axis of this capsule. Vector3d v0v1; // Radius double r; }; } // namespace Math } // namespace SurgSim #endif // SURGSIM_MATH_UNITTESTS_MOCKCAPSULE_Hopensurgsim-0.7.0/SurgSim/Math/UnitTests/MockObject.h000066400000000000000000000200221277777236100225250ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_UNITTESTS_MOCKOBJECT_H #define SURGSIM_MATH_UNITTESTS_MOCKOBJECT_H #include #include "SurgSim/Math/OdeEquation.h" #include "SurgSim/Math/OdeSolver.h" #include "SurgSim/Math/OdeState.h" namespace SurgSim { namespace Math { class MassPointState : public OdeState { public: MassPointState() : OdeState() { setNumDof(3, 1); getPositions().setLinSpaced(1.0, 1.3); getVelocities().setLinSpaced(0.4, -0.3); } }; class MassPoint : public OdeEquation { public: /// Constructor /// \param viscosity The mass viscosity explicit MassPoint(double viscosity = 0.0) : m_mass(0.456), m_viscosity(viscosity), m_gravity(0.0, -9.81, 0.0) { m_f.resize(3); m_M.resize(3, 3); m_D.resize(3, 3); m_K.resize(3, 3); this->m_initialState = std::make_shared(); } void disableGravity() { m_gravity.setZero(); } Matrix applyCompliance(const OdeState& state, const Matrix& b) override { SURGSIM_ASSERT(m_odeSolver) << "Ode solver not initialized, it should have been initialized on wake-up"; Math::Matrix bTemp = b; for (auto condition : state.getBoundaryConditions()) { Math::zeroRow(condition, &bTemp); } auto solution = m_odeSolver->getLinearSolver()->solve(bTemp); for (auto condition : state.getBoundaryConditions()) { Math::zeroRow(condition, &solution); } return solution; } void setOdeSolver(std::shared_ptr solver) { m_odeSolver = solver; } /// Ode solver (its type depends on the numerical integration scheme) std::shared_ptr m_odeSolver; double m_mass, m_viscosity; Vector3d m_gravity; protected: void computeF(const OdeState& state) override { m_f = m_mass * m_gravity - m_viscosity * state.getVelocities(); } void computeM(const OdeState& state) override { m_M.setIdentity(); m_M *= m_mass; } void computeD(const OdeState& state) override { m_D.setIdentity(); m_D *= m_viscosity; } void computeK(const OdeState& state) override { m_K.setZero(); } void computeFMDK(const OdeState& state) override { m_M.setIdentity(); m_M *= m_mass; m_D.setIdentity(); m_D *= m_viscosity; m_K.setZero(); m_f = m_mass * m_gravity - m_viscosity * state.getVelocities(); } }; /// State class for static resolution /// It contains 3 nodes with 3 dofs each, with positions (0 0 0) (1 0 0) (2 0 0) and null velocities/accelerations class MassPointsStateForStatic : public OdeState { public: MassPointsStateForStatic() : OdeState() { setNumDof(3, 3); getPositions().segment<3>(3) = Vector3d(1.0, 0.0, 0.0); getPositions().segment<3>(6) = Vector3d(2.0, 0.0, 0.0); } }; // Model of 3 nodes connected by springs with the 1st node fixed (no mass, no damping, only deformations) class MassPointsForStatic : public SurgSim::Math::OdeEquation { public: /// Constructor MassPointsForStatic() : m_gravityForce(9) { m_f.resize(9); m_M.resize(9, 9); m_D.resize(9, 9); m_K.resize(9, 9); m_f.setZero(); m_K.setZero(); m_gravityForce.setZero(); m_gravityForce.segment<3>(3) = Vector3d(0.0, 0.01 * -9.81, 0.0); m_gravityForce.segment<3>(6) = Vector3d(0.0, 0.01 * -9.81, 0.0); this->m_initialState = std::make_shared(); } const Vector& getExternalForces() const { return m_gravityForce; } Matrix applyCompliance(const OdeState& state, const Matrix& b) override { SURGSIM_ASSERT(m_odeSolver) << "Ode solver not initialized, it should have been initialized on wake-up"; Math::Matrix bTemp = b; for (auto condition : state.getBoundaryConditions()) { Math::zeroRow(condition, &bTemp); } auto solution = m_odeSolver->getLinearSolver()->solve(bTemp); for (auto condition : state.getBoundaryConditions()) { Math::zeroRow(condition, &solution); } return solution; } void setOdeSolver(std::shared_ptr solver) { m_odeSolver = solver; } protected: void computeF(const OdeState& state) override { computeK(state); // Internal deformation forces m_f = -m_K * (state.getPositions() - m_initialState->getPositions()); // Gravity pulling on the free nodes m_f += m_gravityForce; } void computeM(const OdeState& state) override { m_M.setZero(); } void computeD(const OdeState& state) override { m_D.setZero(); } void computeK(const OdeState& state) override { // A fake but valid stiffness matrix (node 0 fixed) // Desired matrix is: // // 1 0 0 0 0 0 0 0 0 // 0 1 0 0 0 0 0 0 0 // 0 0 1 0 0 0 0 0 0 // 0 0 0 10 2 2 2 2 2 // 0 0 0 2 10 2 2 2 2 // 0 0 0 2 2 10 2 2 2 // 0 0 0 2 2 2 10 2 2 // 0 0 0 2 2 2 2 10 2 // 0 0 0 2 2 2 2 2 10 // // Generate it using sparse matrix notation. m_K.resize(9, 9); typedef Eigen::Triplet T; std::vector tripletList; tripletList.reserve(39); // Upper 3x3 identity block for (int counter = 0; counter < 3; ++counter) { tripletList.push_back(T(counter, counter, 1.0)); } for (int row = 3; row < 9; ++row) { // Diagonal is 8 more than the rest of the 6x6 block tripletList.push_back(T(row, row, 8.0)); // Now add in the 2's over the entire block for (int col = 3; col < 9; ++col) { tripletList.push_back(T(row, col, 2.0)); } } m_K.setFromTriplets(tripletList.begin(), tripletList.end()); } void computeFMDK(const OdeState& state) override { computeF(state); computeM(state); computeD(state); computeK(state); } private: /// Ode solver (its type depends on the numerical integration scheme) std::shared_ptr m_odeSolver; Vector m_gravityForce; }; /// Class for the complex non-linear ODE a = x.v^2 class OdeComplexNonLinear : public OdeEquation { public: /// Constructor OdeComplexNonLinear() { m_f.resize(3); m_M.resize(3, 3); m_D.resize(3, 3); m_K.resize(3, 3); this->m_initialState = std::make_shared(); } Matrix applyCompliance(const OdeState& state, const Matrix& b) override { SURGSIM_ASSERT(m_odeSolver) << "Ode solver not initialized, it should have been initialized on wake-up"; Math::Matrix bTemp = b; for (auto condition : state.getBoundaryConditions()) { Math::zeroRow(condition, &bTemp); } auto solution = m_odeSolver->getLinearSolver()->solve(bTemp); for (auto condition : state.getBoundaryConditions()) { Math::zeroRow(condition, &solution); } return solution; } void setOdeSolver(std::shared_ptr solver) { m_odeSolver = solver; } protected: void computeF(const OdeState& state) override { double v2 = state.getVelocities().dot(state.getVelocities()); m_f = v2 * state.getPositions(); } void computeM(const OdeState& state) override { m_M.setIdentity(); } void computeD(const OdeState& state) override { m_D = 2.0 * state.getPositions() * state.getVelocities().transpose().sparseView(); } void computeK(const OdeState& state) override { m_K.resize(static_cast(state.getNumDof()), static_cast(state.getNumDof())); m_K.setIdentity(); m_K *= state.getVelocities().squaredNorm(); } void computeFMDK(const OdeState& state) override { computeF(state); computeM(state); computeD(state); computeK(state); } private: /// Ode solver (its type depends on the numerical integration scheme) std::shared_ptr m_odeSolver; }; }; // Math }; // SurgSim #endif // SURGSIM_MATH_UNITTESTS_MOCKOBJECT_H opensurgsim-0.7.0/SurgSim/Math/UnitTests/MockTriangle.h000066400000000000000000000054661277777236100231030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_UNITTESTS_MOCKTRIANGLE_H #define SURGSIM_MATH_UNITTESTS_MOCKTRIANGLE_H #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/RigidTransform.h" namespace SurgSim { namespace Math { /// MockTriangle class used in the unit tests. class MockTriangle { public: // Default constructor. MockTriangle() {} // Constructor. MockTriangle(const Vector3d& vertex0, const Vector3d& vertex1, const Vector3d& vertex2) : v0(vertex0), v1(vertex1), v2(vertex2), v0v1(vertex1 - vertex0), v0v2(vertex2 - vertex0), v1v2(vertex2 - vertex1) { n = v0v1.cross(v0v2); n.normalize(); } // Find a point inside the triangle, given a pair of scaling factor for the edges (v0v1 and v0v2). Vector3d pointInTriangle(double a, double b) const { return v0 + a * v0v1 + b * v0v2; } // Move this triangle by the given vector. void translate(const Vector3d& v) { v0 += v; v1 += v; v2 += v; } // Rotate this triangle about the x-axis by the given angle. void rotateAboutXBy(double angle) { RigidTransform3d r(Eigen::AngleAxis(angle * (M_PI / 180.0), Vector3d(1, 0, 0))); v0 = r * v0; v1 = r * v1; v2 = r * v2; n = r * n; } // Rotate this triangle about the y-axis by the given angle. void rotateAboutYBy(double angle) { SurgSim::Math::RigidTransform3d r(Eigen::AngleAxis(angle * (M_PI / 180.0), Vector3d(0, 1, 0))); v0 = r * v0; v1 = r * v1; v2 = r * v2; n = r * n; } // Rotate this triangle about the z-axis by the given angle. void rotateAboutZBy(double angle) { SurgSim::Math::RigidTransform3d r(Eigen::AngleAxis(angle * (M_PI / 180.0), Vector3d(0, 0, 1))); v0 = r * v0; v1 = r * v1; v2 = r * v2; n = r * n; } // Transform this triangle by the given matrix. void transform(SurgSim::Math::RigidTransform3d transform) { v0 = transform * v0; v1 = transform * v1; v2 = transform * v2; n = transform.linear() * n; } // Vertices of this triangle. Vector3d v0; Vector3d v1; Vector3d v2; // Edges of this triangle. Vector3d v0v1; Vector3d v0v2; Vector3d v1v2; // Normal of the triangle. Vector3d n; }; } // namespace Math } // namespace SurgSim #endif // SURGSIM_MATH_UNITTESTS_MOCKTRIANGLE_Hopensurgsim-0.7.0/SurgSim/Math/UnitTests/OdeEquationTests.cpp000066400000000000000000000102461277777236100243070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the class OdeSolverEulerExplicitModified. /// #include #include #include "SurgSim/Math/OdeEquation.h" #include "SurgSim/Math/UnitTests/MockObject.h" using SurgSim::Math::MassPoint; using SurgSim::Math::MassPointState; TEST(OdeEquationTests, Constructor) { ASSERT_NO_THROW({MassPoint m;}); ASSERT_NO_THROW({MassPoint* m = new MassPoint; delete m;}); ASSERT_NO_THROW({MassPoint* m = new MassPoint[10]; delete [] m;}); ASSERT_NO_THROW({std::shared_ptr m = std::make_shared(); }); } TEST(OdeEquationTests, GetInitialStateTest) { MassPoint m; ASSERT_NE(nullptr, m.getInitialState()); EXPECT_EQ(3, m.getInitialState()->getPositions().size()); EXPECT_EQ(3, m.getInitialState()->getVelocities().size()); SurgSim::Math::Vector3d expectedX = SurgSim::Math::Vector3d::LinSpaced(1.0, 1.3); EXPECT_TRUE(m.getInitialState()->getPositions().isApprox(expectedX)); SurgSim::Math::Vector3d expectedV = SurgSim::Math::Vector3d::LinSpaced(0.4, -0.3); EXPECT_TRUE(m.getInitialState()->getVelocities().isApprox(expectedV)); } TEST(OdeEquationTests, ComputesTest) { { SCOPED_TRACE("OdeEquationTests computes tests with 0 viscosity"); MassPoint m; MassPointState state; state.getPositions() = SurgSim::Math::Vector3d(1.0, 1.0, 1.0); state.getVelocities() = SurgSim::Math::Vector3d(1.0, 1.0, 1.0); SurgSim::Math::Vector3d expectedF = m.m_gravity * m.m_mass; SurgSim::Math::Matrix33d expectedM = m.m_mass * SurgSim::Math::Matrix33d::Identity(); SurgSim::Math::Matrix33d expectedD = SurgSim::Math::Matrix33d::Zero(); SurgSim::Math::Matrix33d expectedK = SurgSim::Math::Matrix33d::Zero(); m.updateFMDK(state, SurgSim::Math::ODEEQUATIONUPDATE_F); EXPECT_TRUE(m.getF().isApprox(expectedF)); m.updateFMDK(state, SurgSim::Math::ODEEQUATIONUPDATE_M); EXPECT_TRUE(m.getM().isApprox(expectedM)); m.updateFMDK(state, SurgSim::Math::ODEEQUATIONUPDATE_D); EXPECT_TRUE(m.getD().isApprox(expectedD)); m.updateFMDK(state, SurgSim::Math::ODEEQUATIONUPDATE_K); EXPECT_TRUE(m.getK().isApprox(expectedK)); { m.updateFMDK(state, SurgSim::Math::ODEEQUATIONUPDATE_FMDK); EXPECT_TRUE(m.getF().isApprox(expectedF)); EXPECT_TRUE(m.getM().isApprox(expectedM)); EXPECT_TRUE(m.getD().isApprox(expectedD)); EXPECT_TRUE(m.getK().isApprox(expectedK)); } } { SCOPED_TRACE("OdeEquationTests computes tests with non 0 viscosity"); MassPoint m(0.1); MassPointState state; state.getPositions() = SurgSim::Math::Vector3d(1.0, 1.0, 1.0); state.getVelocities() = SurgSim::Math::Vector3d(1.0, 1.0, 1.0); SurgSim::Math::Vector3d expectedF = m.m_gravity * m.m_mass - 0.1 * state.getVelocities(); SurgSim::Math::Matrix33d expectedM = m.m_mass * SurgSim::Math::Matrix33d::Identity(); SurgSim::Math::Matrix33d expectedD = 0.1 * SurgSim::Math::Matrix33d::Identity(); SurgSim::Math::Matrix33d expectedK = SurgSim::Math::Matrix33d::Zero(); m.updateFMDK(state, SurgSim::Math::ODEEQUATIONUPDATE_F); EXPECT_TRUE(m.getF().isApprox(expectedF)); m.updateFMDK(state, SurgSim::Math::ODEEQUATIONUPDATE_M); EXPECT_TRUE(m.getM().isApprox(expectedM)); m.updateFMDK(state, SurgSim::Math::ODEEQUATIONUPDATE_D); EXPECT_TRUE(m.getD().isApprox(expectedD)); m.updateFMDK(state, SurgSim::Math::ODEEQUATIONUPDATE_K); EXPECT_TRUE(m.getK().isApprox(expectedK)); { m.updateFMDK(state, SurgSim::Math::ODEEQUATIONUPDATE_FMDK); EXPECT_TRUE(m.getF().isApprox(expectedF)); EXPECT_TRUE(m.getM().isApprox(expectedM)); EXPECT_TRUE(m.getD().isApprox(expectedD)); EXPECT_TRUE(m.getK().isApprox(expectedK)); } } } opensurgsim-0.7.0/SurgSim/Math/UnitTests/OdeSolverEulerExplicitModifiedTests.cpp000066400000000000000000000120041277777236100301260ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the class OdeSolverEulerExplicitModified. /// #include #include #include "SurgSim/Math/OdeSolverEulerExplicitModified.h" #include "SurgSim/Math/OdeSolverLinearEulerExplicitModified.h" #include "SurgSim/Math/UnitTests/MockObject.h" namespace SurgSim { namespace Math { namespace { template void doConstructorTest() { MassPoint m; ASSERT_NO_THROW({T solver(&m);}); } }; TEST(OdeSolverEulerExplicitModified, ConstructorTest) { { SCOPED_TRACE("EulerExplicitModified"); doConstructorTest(); } { SCOPED_TRACE("LinearEulerExplicitModified"); doConstructorTest(); } } namespace { template void doSolveTest(bool computeCompliance) { // Test 2 iterations because Linear solvers have a different algorithm on the 1st pass from the following passes. { MassPoint m; MassPointState defaultState, state0, state1, state2; auto solver = std::make_shared(&m); m.setOdeSolver(solver); // ma = mg <=> a = g // v(1) = g.dt + v(0) // x(1) = v(1).dt + x(0) ASSERT_NO_THROW({solver->solve(1e-3, state0, &state1, computeCompliance);}); EXPECT_EQ(defaultState, state0); EXPECT_NE(defaultState, state1); EXPECT_TRUE(state1.getVelocities().isApprox(m.m_gravity * 1e-3 + state0.getVelocities())); EXPECT_TRUE(state1.getPositions().isApprox(state1.getVelocities() * 1e-3 + state0.getPositions())); // v(2) = g.dt + v(1) // x(2) = v(2).dt + x(1) ASSERT_NO_THROW({solver->solve(1e-3, state1, &state2, computeCompliance);}); EXPECT_NE(defaultState, state1); EXPECT_NE(defaultState, state2); EXPECT_NE(state2, state1); EXPECT_TRUE(state2.getVelocities().isApprox(m.m_gravity * 1e-3 + state1.getVelocities())); EXPECT_TRUE(state2.getPositions().isApprox(state2.getVelocities() * 1e-3 + state1.getPositions())); } { MassPoint m(0.1); MassPointState defaultState, state0, state1, state2; auto solver = std::make_shared(&m); m.setOdeSolver(solver); // ma = mg - c.v <=> a = g - c/m.v // v(1) = (g - c/m.v).dt + v(0) // x(1) = v(1).dt + x(0) ASSERT_NO_THROW({solver->solve(1e-3, state0, &state1, computeCompliance);}); EXPECT_EQ(defaultState, state0); EXPECT_NE(defaultState, state1); Vector3d acceleration0 = m.m_gravity - 0.1 * state0.getVelocities() / m.m_mass; EXPECT_TRUE(state1.getVelocities().isApprox(acceleration0 * 1e-3 + state0.getVelocities())); EXPECT_TRUE(state1.getPositions().isApprox(state1.getVelocities() * 1e-3 + state0.getPositions())); // v(2) = (g - c/m.v).dt + v(1) // x(2) = v(2).dt + x(1) ASSERT_NO_THROW({solver->solve(1e-3, state1, &state2, computeCompliance);}); EXPECT_NE(defaultState, state1); EXPECT_NE(defaultState, state2); EXPECT_NE(state1, state2); Vector3d acceleration1 = m.m_gravity - 0.1 * state1.getVelocities() / m.m_mass; EXPECT_TRUE(state2.getVelocities().isApprox(acceleration1 * 1e-3 + state1.getVelocities())); EXPECT_TRUE(state2.getPositions().isApprox(state2.getVelocities() * 1e-3 + state1.getPositions())); } } }; TEST(OdeSolverEulerExplicitModified, SolveTest) { { SCOPED_TRACE("EulerExplicitModified computing the compliance matrix"); doSolveTest(true); } { SCOPED_TRACE("EulerExplicitModified not computing the compliance matrix"); doSolveTest(false); } { SCOPED_TRACE("LinearEulerExplicitModified computing the compliance matrix"); doSolveTest(true); } { SCOPED_TRACE("LinearEulerExplicitModified not computing the compliance matrix"); doSolveTest(false); } } namespace { template void doComputeMatricesTest() { MassPoint m; T solver(&m); MassPointState state; double dt = 1e-3; m.updateFMDK(state, SurgSim::Math::ODEEQUATIONUPDATE_M); Matrix expectedSystemMatrix = m.getM() / dt; EXPECT_NO_THROW(solver.computeMatrices(dt, state)); EXPECT_TRUE(solver.getSystemMatrix().isApprox(expectedSystemMatrix)); EXPECT_TRUE(solver.getComplianceMatrix().isApprox(expectedSystemMatrix.inverse())); } }; TEST(OdeSolverEulerExplicitModified, ComputeMatricesTest) { { SCOPED_TRACE("EulerExplicitModified"); doComputeMatricesTest(); } { SCOPED_TRACE("LinearEulerExplicitModified"); doComputeMatricesTest(); } } }; // Math }; // SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/OdeSolverEulerExplicitTests.cpp000066400000000000000000000115041277777236100264710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the class OdeSolverEulerExplicit. /// #include #include #include "SurgSim/Math/OdeSolverEulerExplicit.h" #include "SurgSim/Math/OdeSolverLinearEulerExplicit.h" #include "SurgSim/Math/UnitTests/MockObject.h" namespace SurgSim { namespace Math { namespace { template void doConstructorTest() { MassPoint m; ASSERT_NO_THROW({T solver(&m);}); } }; TEST(OdeSolverEulerExplicit, ConstructorTest) { { SCOPED_TRACE("EulerExplicit"); doConstructorTest(); } { SCOPED_TRACE("LinearEulerExplicit"); doConstructorTest(); } } namespace { template void doSolveTest(bool computeCompliance) { // Test 2 iterations because Linear solvers have a different algorithm on the 1st pass from the following passes. { MassPoint m; MassPointState defaultState, state0, state1, state2; auto solver = std::make_shared(&m); m.setOdeSolver(solver); // ma = mg <=> a = g // v(1) = g.dt + v(0) // x(1) = v(0).dt + x(0) ASSERT_NO_THROW({solver->solve(1e-3, state0, &state1, computeCompliance);}); EXPECT_EQ(defaultState, state0); EXPECT_NE(defaultState, state1); EXPECT_TRUE(state1.getVelocities().isApprox(m.m_gravity * 1e-3 + state0.getVelocities())); EXPECT_TRUE(state1.getPositions().isApprox(state0.getVelocities() * 1e-3 + state0.getPositions())); // v(2) = g.dt + v(1) // x(2) = v(1).dt + x(1) ASSERT_NO_THROW({solver->solve(1e-3, state1, &state2, computeCompliance);}); EXPECT_NE(defaultState, state1); EXPECT_NE(defaultState, state2); EXPECT_NE(state2, state1); EXPECT_TRUE(state2.getVelocities().isApprox(m.m_gravity * 1e-3 + state1.getVelocities())); EXPECT_TRUE(state2.getPositions().isApprox(state1.getVelocities() * 1e-3 + state1.getPositions())); } { MassPoint m(0.1); MassPointState defaultState, state0, state1, state2; auto solver = std::make_shared(&m); m.setOdeSolver(solver); // ma = mg - c.v <=> a = g - c/m.v // v(1) = (g - c/m.v).dt + v(0) // x(1) = v(0).dt + x(0) ASSERT_NO_THROW({solver->solve(1e-3, state0, &state1, computeCompliance);}); EXPECT_EQ(defaultState, state0); EXPECT_NE(defaultState, state1); Vector3d acceleration0 = m.m_gravity - 0.1 * state0.getVelocities() / m.m_mass; EXPECT_TRUE(state1.getVelocities().isApprox(acceleration0 * 1e-3 + state0.getVelocities())); EXPECT_TRUE(state1.getPositions().isApprox(state0.getVelocities() * 1e-3 + state0.getPositions())); // v(2) = (g - c/m.v).dt + v(1) // x(2) = v(1).dt + x(1) ASSERT_NO_THROW({solver->solve(1e-3, state1, &state2, computeCompliance);}); EXPECT_NE(defaultState, state1); EXPECT_NE(defaultState, state2); EXPECT_NE(state1, state2); Vector3d acceleration1 = m.m_gravity - 0.1 * state1.getVelocities() / m.m_mass; EXPECT_TRUE(state2.getVelocities().isApprox(acceleration1 * 1e-3 + state1.getVelocities())); EXPECT_TRUE(state2.getPositions().isApprox(state1.getVelocities() * 1e-3 + state1.getPositions())); } } }; TEST(OdeSolverEulerExplicit, SolveTest) { { SCOPED_TRACE("EulerExplicit computing the compliance matrix"); doSolveTest(true); } { SCOPED_TRACE("EulerExplicit not computing the compliance matrix"); doSolveTest(false); } { SCOPED_TRACE("LinearEulerExplicit computing the compliance matrix"); doSolveTest(true); } { SCOPED_TRACE("LinearEulerExplicit not computing the compliance matrix"); doSolveTest(false); } } namespace { template void doComputeMatricesTest() { MassPoint m; T solver(&m); MassPointState state; double dt = 1e-3; m.updateFMDK(state, ODEEQUATIONUPDATE_M); Matrix expectedSystemMatrix = m.getM() / dt; EXPECT_NO_THROW(solver.computeMatrices(dt, state)); EXPECT_TRUE(solver.getSystemMatrix().isApprox(expectedSystemMatrix)); EXPECT_TRUE(solver.getComplianceMatrix().isApprox(expectedSystemMatrix.inverse())); } }; TEST(OdeSolverEulerExplicit, ComputeMatricesTest) { { SCOPED_TRACE("EulerExplicit"); doComputeMatricesTest(); } { SCOPED_TRACE("LinearEulerExplicit"); doComputeMatricesTest(); } } }; // Math }; // SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/OdeSolverEulerImplicitTests.cpp000066400000000000000000000175561277777236100264770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the class OdeSolverEulerImplicit. /// #include #include #include "SurgSim/Math/OdeSolverEulerImplicit.h" #include "SurgSim/Math/OdeSolverLinearEulerImplicit.h" #include "SurgSim/Math/UnitTests/MockObject.h" namespace SurgSim { namespace Math { namespace { template void doConstructorTest() { MassPoint m; ASSERT_NO_THROW({T solver(&m);}); } }; TEST(OdeSolverEulerImplicit, ConstructorTest) { { SCOPED_TRACE("EulerImplicit"); doConstructorTest(); } { SCOPED_TRACE("LinearEulerImplicit"); doConstructorTest(); } } namespace { template void doSolveTest(bool computeCompliance) { // Test 2 iterations because Linear solvers have a different algorithm on the 1st pass from the following passes. { MassPoint m; MassPointState defaultState, state0, state1, state2; auto solver = std::make_shared(&m); m.setOdeSolver(solver); solver->setNewtonRaphsonMaximumIteration(1); // ma = mg <=> a = g // v(1) = g.dt + v(0) // x(1) = v(1).dt + x(0) ASSERT_NO_THROW({solver->solve(1e-3, state0, &state1, computeCompliance);}); EXPECT_EQ(defaultState, state0); EXPECT_NE(defaultState, state1); EXPECT_TRUE(state1.getVelocities().isApprox(m.m_gravity * 1e-3 + state0.getVelocities())); EXPECT_TRUE(state1.getPositions().isApprox(state1.getVelocities() * 1e-3 + state0.getPositions())); // v(2) = g.dt + v(1) // x(2) = v(2).dt + x(1) ASSERT_NO_THROW({solver->solve(1e-3, state1, &state2, computeCompliance);}); EXPECT_NE(defaultState, state1); EXPECT_NE(defaultState, state2); EXPECT_NE(state2, state1); EXPECT_TRUE(state2.getVelocities().isApprox(m.m_gravity * 1e-3 + state1.getVelocities())); EXPECT_TRUE(state2.getPositions().isApprox(state2.getVelocities() * 1e-3 + state1.getPositions())); } { MassPoint m(0.1); MassPointState defaultState, state0, state1, state2; auto solver = std::make_shared(&m); m.setOdeSolver(solver); solver->setNewtonRaphsonMaximumIteration(1); // ma = mg - c.v <=> a = g - c/m.v // v(1) = (g - c/m.v(1)).dt + v(0) <=> v(1) = I.(1.0 + dt.c/m)^-1.(g.dt + v(0)) // x(1) = v(1).dt + x(0) ASSERT_NO_THROW({solver->solve(1e-3, state0, &state1, computeCompliance);}); EXPECT_EQ(defaultState, state0); EXPECT_NE(defaultState, state1); Matrix33d systemInverse = Matrix33d::Identity() * 1.0 / (1.0 + 1e-3 * 0.1 / m.m_mass); EXPECT_TRUE(state1.getVelocities().isApprox(systemInverse * (m.m_gravity * 1e-3 + state0.getVelocities()))); EXPECT_TRUE(state1.getPositions().isApprox(state1.getVelocities() * 1e-3 + state0.getPositions())); // v(2) = (g - c/m.v(2)).dt + v(1) <=> v(2) = I.(1.0 + dt.c/m)^-1.(g.dt + v(1)) // x(2) = v(2).dt + x(1) ASSERT_NO_THROW({solver->solve(1e-3, state1, &state2, computeCompliance);}); EXPECT_NE(defaultState, state1); EXPECT_NE(defaultState, state2); EXPECT_NE(state1, state2); EXPECT_TRUE(state2.getVelocities().isApprox(systemInverse * (m.m_gravity * 1e-3 + state1.getVelocities()))); EXPECT_TRUE(state2.getPositions().isApprox(state2.getVelocities() * 1e-3 + state1.getPositions())); } } }; TEST(OdeSolverEulerImplicit, SolveTest) { { SCOPED_TRACE("EulerImplicit computing the compliance matrix"); doSolveTest(true); } { SCOPED_TRACE("EulerImplicit not computing the compliance matrix"); doSolveTest(false); } { SCOPED_TRACE("LinearEulerImplicit computing the compliance matrix"); doSolveTest(true); } { SCOPED_TRACE("LinearEulerImplicit not computing the compliance matrix"); doSolveTest(false); } } namespace { template void doComplexNonLinearOdeTest(size_t numNewtonRaphsonIteration, bool expectExactSolution) { OdeComplexNonLinear odeEquation; MassPointState state0, state1, state2; state0.getPositions().setLinSpaced(1.4, 5.67); state0.getVelocities().setLinSpaced(-0.4, -0.3); double dt = 1e-3; auto solver = std::make_shared(&odeEquation); odeEquation.setOdeSolver(solver); solver->setNewtonRaphsonMaximumIteration(numNewtonRaphsonIteration); solver->setNewtonRaphsonEpsilonConvergence(1e-13); ASSERT_NO_THROW({solver->solve(dt, state0, &state1);}); // We do 2 iterations as Linear ode solver will do the 1st iteration as a normal non-linear ode solver ASSERT_NO_THROW({solver->solve(dt, state1, &state2);}); EXPECT_NE(state0, state1); EXPECT_NE(state1, state2); // The new state should verify the following equation: // {x(t+dt) = x(t) + dt.v(t+dt) // {v(t+dt) = v(t) + dt.M^-1.f(x(t+dt), v(t+dt)) // with the notes that M = Id and f(x,v)=x.v^2 // BUT the function f is non-linear enough that a single iteration of the Newton-Raphson won't produce // a solution close enough to the real solution of the problem. More iterations would be required to // refine the solution. auto xt = state1.getPositions(); auto vt = state1.getVelocities(); auto xt_plus_dt = state2.getPositions(); auto vt_plus_dt = state2.getVelocities(); odeEquation.updateFMDK(state2, ODEEQUATIONUPDATE_F); auto ft_plus_dt = odeEquation.getF(); Vector expectedVelocity = vt + dt * ft_plus_dt; // This is always true by construction EXPECT_TRUE(xt_plus_dt.isApprox(xt + dt * vt_plus_dt)); if (!expectExactSolution) { EXPECT_FALSE(xt_plus_dt.isApprox(xt + dt * expectedVelocity)); EXPECT_FALSE(vt_plus_dt.isApprox(expectedVelocity)); } else { EXPECT_TRUE(xt_plus_dt.isApprox(xt + dt * expectedVelocity)); EXPECT_TRUE(vt_plus_dt.isApprox(expectedVelocity)); } } }; TEST(OdeSolverEulerImplicit, VerifyComplexNonLinearOdeTest) { // OdeSolverEulerImplicit should succeed with enough number of Newton-Raphson iterations. { SCOPED_TRACE("A single Newton-Raphson iteration, using OdeSolverEulerImplicit"); doComplexNonLinearOdeTest(1, false); } { SCOPED_TRACE("Multiple Newton-Raphson iterations, using OdeSolverEulerImplicit"); doComplexNonLinearOdeTest(10, true); } // OdeSolverLinearEulerImplicit should fail no matter the number of Newton-Raphson iterations // it just does not handle non-linear problems. { SCOPED_TRACE("A single Newton-Raphson iteration, using OdeSolverLinearEulerImplicit"); doComplexNonLinearOdeTest(1, false); } { SCOPED_TRACE("Multiple Newton-Raphson iterations, using OdeSolverLinearEulerImplicit"); doComplexNonLinearOdeTest(10, false); } } namespace { template void doComputeMatricesTest() { MassPoint m; auto solver = std::make_shared(&m); m.setOdeSolver(solver); MassPointState state; double dt = 1e-3; m.updateFMDK(state, ODEEQUATIONUPDATE_M | ODEEQUATIONUPDATE_D | ODEEQUATIONUPDATE_K); Matrix expectedSystemMatrix = m.getM() / dt + m.getD() + dt * m.getK(); EXPECT_NO_THROW(solver->computeMatrices(dt, state)); EXPECT_TRUE(solver->getSystemMatrix().isApprox(expectedSystemMatrix)); EXPECT_TRUE(solver->getComplianceMatrix().isApprox(expectedSystemMatrix.inverse())); } }; TEST(OdeSolverEulerImplicit, ComputeMatricesTest) { { SCOPED_TRACE("EulerImplicit"); doComputeMatricesTest(); } { SCOPED_TRACE("LinearEulerImplicit"); doComputeMatricesTest(); } } }; // Math }; // SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/OdeSolverRungeKutta4Tests.cpp000066400000000000000000000232611277777236100260730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file OdeSolverRungeKutta4Tests.cpp /// Tests for the class OdeSolverRungeKutta4. #include #include #include "SurgSim/Math/OdeSolverRungeKutta4.h" #include "SurgSim/Math/OdeSolverLinearRungeKutta4.h" #include "SurgSim/Math/UnitTests/MockObject.h" namespace SurgSim { namespace Math { namespace { template void doConstructorTest() { MassPoint m; ASSERT_NO_THROW({T solver(&m);}); } }; TEST(OdeSolverRungeKutta4, ConstructorTest) { { SCOPED_TRACE("OdeSolverRungeKutta4"); doConstructorTest(); } { SCOPED_TRACE("OdeSolverLinearRungeKutta4"); doConstructorTest(); } } namespace { struct RungeKuttaState { RungeKuttaState() {} RungeKuttaState(const Vector& p, const Vector& v) : position(p), velocity(v) {} Vector position; Vector velocity; }; struct RungeKuttaDerivedState { RungeKuttaDerivedState() {} RungeKuttaDerivedState(const Vector& v, const Vector& a) : velocity(v), acceleration(a) {} Vector velocity; Vector acceleration; }; void integrateRK4(double dt, const MassPoint& m, const RungeKuttaState& yn, RungeKuttaState* yn_plus_1) { RungeKuttaDerivedState k1, k2, k3, k4; // Problem to solve is // m.a = m.g - c.v which is an ode of order 2 that can be reduced to order 1 as following: // y' = (x)' = ( v ) = f(t, y) // (v) = (m.g/m - c.v/m) // In terms of (x), f(t, (x)) = (v) // (v) (v) (g - c.v/m) // Runge Kutta 4 computes y(n+1) = y(n) + 1/6.dt.(k1 + 2 * k2 + 2 * k3 + k4) // with k1 = f(t(n) , y(n) ) // with k2 = f(t(n) + dt/2, y(n) + k1 * dt/2) // with k3 = f(t(n) + dt/2, y(n) + k2 * dt/2) // with k4 = f(t(n) + dt , y(n) + k3 * dt ) // 1st evaluation k1 = f(t(n) , y(n) ) k1.velocity = yn.velocity; k1.acceleration = m.m_gravity - m.m_viscosity * yn.velocity / m.m_mass; // 2nd evaluation k2 = f(t(n) + dt/2, y(n) + k1 * dt/2) k2.velocity = yn.velocity + k1.acceleration * dt / 2.0; k2.acceleration = m.m_gravity - m.m_viscosity * (yn.velocity + k1.acceleration * dt / 2.0) / m.m_mass; // 3rd evaluation k3 = f(t(n) + dt/2, y(n) + k2 * dt/2) k3.velocity = yn.velocity + k2.acceleration * dt / 2.0; k3.acceleration = m.m_gravity - m.m_viscosity * (yn.velocity + k2.acceleration * dt / 2.0) / m.m_mass; // 4th evaluation k4 = f(t(n) + dt , y(n) + k3 * dt ) k4.velocity = yn.velocity + k3.acceleration * dt; k4.acceleration = m.m_gravity - m.m_viscosity * (yn.velocity + k3.acceleration * dt) / m.m_mass; yn_plus_1->position = yn.position + dt / 6.0 * (k1.velocity + k4.velocity + 2.0 * (k2.velocity + k3.velocity)); yn_plus_1->velocity = yn.velocity + dt / 6.0 * (k1.acceleration + k4.acceleration + 2.0 * (k2.acceleration + k3.acceleration)); } template void doSolveTest(bool computeCompliance) { Vector deltaWithoutViscosity; Vector deltaWithViscosity; double dt = 1e-3; // Test direction correctness of a moving point under gravity (no viscosity) { MassPoint m; MassPointState defaultState, currentState, newState; defaultState.getVelocities().setZero(); defaultState.getPositions().setZero(); currentState = defaultState; newState = defaultState; T solver(&m); ASSERT_NO_THROW({solver.solve(dt, currentState, &newState, computeCompliance);}); EXPECT_EQ(defaultState, currentState); EXPECT_NE(defaultState, newState); EXPECT_FALSE(newState.getVelocities().isZero()); EXPECT_DOUBLE_EQ(0.0, newState.getVelocities().dot(Vector3d::UnitX())); EXPECT_GT(0.0, newState.getVelocities().dot(Vector3d::UnitY())); EXPECT_DOUBLE_EQ(0.0, newState.getVelocities().dot(Vector3d::UnitZ())); EXPECT_FALSE(newState.getPositions().isZero()); deltaWithoutViscosity = (newState.getPositions() - currentState.getPositions()); EXPECT_DOUBLE_EQ(0.0, deltaWithoutViscosity.dot(Vector3d::UnitX())); EXPECT_GT(0.0, deltaWithoutViscosity.dot(Vector3d::UnitY())); EXPECT_DOUBLE_EQ(0.0, deltaWithoutViscosity.dot(Vector3d::UnitZ())); } // Test direction correctness of a moving point under gravity (viscosity) { MassPoint m(0.1); MassPointState defaultState, currentState, newState; defaultState.getVelocities().setZero(); defaultState.getPositions().setZero(); currentState = defaultState; newState = defaultState; T solver(&m); ASSERT_NO_THROW({solver.solve(dt, currentState, &newState, computeCompliance);}); EXPECT_EQ(defaultState, currentState); EXPECT_NE(defaultState, newState); EXPECT_FALSE(newState.getVelocities().isZero()); EXPECT_FALSE(newState.getVelocities().isApprox(currentState.getVelocities())); EXPECT_DOUBLE_EQ(currentState.getVelocities()[0], newState.getVelocities()[0]); EXPECT_NE(currentState.getVelocities()[1], newState.getVelocities()[1]); EXPECT_LT(newState.getVelocities()[1], currentState.getVelocities()[1]); EXPECT_DOUBLE_EQ(currentState.getVelocities()[2], newState.getVelocities()[2]); EXPECT_FALSE(newState.getPositions().isZero()); deltaWithViscosity = (newState.getPositions() - currentState.getPositions()); EXPECT_DOUBLE_EQ(0.0, deltaWithViscosity.dot(Vector3d::UnitX())); EXPECT_GT(0.0, deltaWithViscosity.dot(Vector3d::UnitY())); EXPECT_DOUBLE_EQ(0.0, deltaWithViscosity.dot(Vector3d::UnitZ())); } EXPECT_GT(deltaWithoutViscosity.norm(), deltaWithViscosity.norm()); // Test Runge Kutta 4 algorithm itself (without viscosity) // Test 2 iterations because Linear solvers have a different algorithm on the 1st pass from the following passes. { SCOPED_TRACE("RK4 without viscosity"); MassPoint m(0.0); MassPointState currentState, newState, newState2; currentState.getPositions().setLinSpaced(1.0, 3.0); currentState.getVelocities().setConstant(1.0); auto solver = std::make_shared(&m); m.setOdeSolver(solver); RungeKuttaState yn(currentState.getPositions(), currentState.getVelocities()); RungeKuttaState yn_plus_1, yn_plus_2; EXPECT_TRUE(currentState.getPositions().isApprox(yn.position)); EXPECT_TRUE(currentState.getVelocities().isApprox(yn.velocity)); // 1st time step integrateRK4(dt, m, yn, &yn_plus_1); ASSERT_NO_THROW({solver->solve(dt, currentState, &newState, computeCompliance);}); EXPECT_TRUE(newState.getPositions().isApprox(yn_plus_1.position)); EXPECT_TRUE(newState.getVelocities().isApprox(yn_plus_1.velocity)); // 2nd time step integrateRK4(dt, m, yn_plus_1, &yn_plus_2); ASSERT_NO_THROW({solver->solve(dt, newState, &newState2, computeCompliance);}); EXPECT_TRUE(newState2.getPositions().isApprox(yn_plus_2.position)); EXPECT_TRUE(newState2.getVelocities().isApprox(yn_plus_2.velocity)); } // Test Runge Kutta 4 algorithm itself (with viscosity) // Test 2 iterations because Linear solvers have a different algorithm on the 1st pass from the following passes. { SCOPED_TRACE("RK4 with viscosityof 0.1"); MassPoint m(0.1); MassPointState currentState, newState, newState2; currentState.getPositions().setLinSpaced(1.0, 3.0); currentState.getVelocities().setConstant(1.0); auto solver = std::make_shared(&m); m.setOdeSolver(solver); RungeKuttaState yn(currentState.getPositions(), currentState.getVelocities()); RungeKuttaState yn_plus_1, yn_plus_2; EXPECT_TRUE(currentState.getPositions().isApprox(yn.position)); EXPECT_TRUE(currentState.getVelocities().isApprox(yn.velocity)); // 1st time step integrateRK4(dt, m, yn, &yn_plus_1); ASSERT_NO_THROW({solver->solve(dt, currentState, &newState, computeCompliance);}); EXPECT_TRUE(newState.getPositions().isApprox(yn_plus_1.position)); EXPECT_TRUE(newState.getVelocities().isApprox(yn_plus_1.velocity)); // 2nd time step integrateRK4(dt, m, yn_plus_1, &yn_plus_2); ASSERT_NO_THROW({solver->solve(dt, newState, &newState2, computeCompliance);}); EXPECT_TRUE(newState2.getPositions().isApprox(yn_plus_2.position)); EXPECT_TRUE(newState2.getVelocities().isApprox(yn_plus_2.velocity)); } } }; TEST(OdeSolverRungeKutta4, SolveTest) { { SCOPED_TRACE("OdeSolverRungeKutta4 computing the compliance matrix"); doSolveTest(true); } { SCOPED_TRACE("OdeSolverRungeKutta4 not computing the compliance matrix"); doSolveTest(false); } { SCOPED_TRACE("OdeSolverLinearRungeKutta4 computing the compliance matrix"); doSolveTest(true); } { SCOPED_TRACE("OdeSolverLinearRungeKutta4 not computing the compliance matrix"); doSolveTest(false); } } namespace { template void doComputeMatricesTest() { MassPoint m; auto solver = std::make_shared(&m); m.setOdeSolver(solver); MassPointState state; double dt = 1e-3; m.updateFMDK(state, ODEEQUATIONUPDATE_M); Matrix expectedSystemMatrix = m.getM() / dt; EXPECT_NO_THROW(solver->computeMatrices(dt, state)); EXPECT_TRUE(solver->getSystemMatrix().isApprox(expectedSystemMatrix)); EXPECT_TRUE(solver->getComplianceMatrix().isApprox(expectedSystemMatrix.inverse())); } }; TEST(OdeSolverRungeKutta4, ComputeMatricesTest) { { SCOPED_TRACE("RungeKutta4"); doComputeMatricesTest(); } { SCOPED_TRACE("LinearRungeKutta4"); doComputeMatricesTest(); } } }; // Math }; // SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/OdeSolverStaticTests.cpp000066400000000000000000000064421277777236100251470ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the class OdeSolverStatic. /// #include #include #include "SurgSim/Math/OdeSolverStatic.h" #include "SurgSim/Math/OdeSolverLinearStatic.h" #include "SurgSim/Math/UnitTests/MockObject.h" namespace SurgSim { namespace Math { namespace { template void doConstructorTest() { MassPointsForStatic m; ASSERT_NO_THROW({T solver(&m);}); } }; TEST(OdeSolverStatic, ConstructorTest) { { SCOPED_TRACE("Static"); doConstructorTest(); } { SCOPED_TRACE("LinearStatic"); doConstructorTest(); } } namespace { template void doSolveTest(bool computeCompliance) { MassPointsForStatic m; MassPointsStateForStatic defaultState, currentState, newState; auto solver = std::make_shared(&m); EXPECT_NO_THROW(m.setOdeSolver(solver)); ASSERT_NO_THROW({solver->solve(1e-3, currentState, &newState, computeCompliance);}); EXPECT_EQ(defaultState, currentState); EXPECT_NE(defaultState, newState); // Solve manually K.(x - x0) = Fext Eigen::SparseLU eigenSolver; const Vector& Fext = m.getExternalForces(); m.updateFMDK(currentState, ODEEQUATIONUPDATE_K); eigenSolver.compute(m.getK()); Eigen::VectorXd expectedDeltaX = eigenSolver.solve(Fext); Vector expectedX = defaultState.getPositions() + expectedDeltaX; EXPECT_TRUE(newState.getPositions().isApprox(expectedX)); } }; TEST(OdeSolverStatic, SolveTest) { { SCOPED_TRACE("Static computing the compliance matrix"); doSolveTest(true); } { SCOPED_TRACE("Static not computing the compliance matrix"); doSolveTest(false); } { SCOPED_TRACE("LinearStatic computing the compliance matrix"); doSolveTest(true); } { SCOPED_TRACE("LinearStatic not computing the compliance matrix"); doSolveTest(false); } } namespace { template void doComputeMatricesTest() { MassPointsForStatic m; auto solver = std::make_shared(&m); EXPECT_NO_THROW(m.setOdeSolver(solver)); MassPointsStateForStatic state; double dt = 1e-3; m.updateFMDK(state, ODEEQUATIONUPDATE_K); Matrix expectedSystemMatrix = m.getK(); EXPECT_NO_THROW(solver->computeMatrices(dt, state)); EXPECT_TRUE(solver->getSystemMatrix().isApprox(expectedSystemMatrix)); EXPECT_TRUE(m.applyCompliance(state, Matrix::Identity(state.getNumDof(), state.getNumDof())).isApprox(expectedSystemMatrix.inverse())); } }; TEST(OdeSolverStatic, ComputeMatricesTest) { { SCOPED_TRACE("Static"); doComputeMatricesTest(); } { SCOPED_TRACE("LinearStatic"); doComputeMatricesTest(); } } }; // Math }; // SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/OdeSolverTests.cpp000066400000000000000000000045241277777236100237760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the class OdeSolver. /// #include #include #include "SurgSim/Math/OdeSolver.h" #include "SurgSim/Math/UnitTests/MockObject.h" namespace SurgSim { namespace Math { namespace { const std::string name = "MockOdeSolver"; }; class MockOdeSolver : public OdeSolver { public: /// Constructor /// \param equation The ode equation to be solved explicit MockOdeSolver(OdeEquation* equation) : OdeSolver(equation) { this->m_name = name; } /// Virtual destructor virtual ~MockOdeSolver() { } void solve(double dt, const OdeState& currentState, OdeState* newState, bool computeCompliance = true) override { } void assembleLinearSystem(double dt, const OdeState& state, const OdeState& newState, bool computeRHS) override { } }; TEST(OdeSolver, ConstructorTest) { // OdeEquation is tested separately and is considered valid to use here. MassPoint m; std::shared_ptr solver; ASSERT_NO_THROW({solver = std::make_shared(&m); }); EXPECT_NE(nullptr, solver->getLinearSolver()); EXPECT_NE(nullptr, std::dynamic_pointer_cast(solver->getLinearSolver())); } TEST(OdeSolver, GetTest) { MassPoint m; MockOdeSolver solver(&m); EXPECT_EQ(name, solver.getName()); EXPECT_NE(nullptr, solver.getLinearSolver()); EXPECT_NE(nullptr, std::dynamic_pointer_cast(solver.getLinearSolver())); EXPECT_NO_THROW(solver.setLinearSolver(std::make_shared())); EXPECT_NE(nullptr, solver.getLinearSolver()); EXPECT_NE(nullptr, std::dynamic_pointer_cast(solver.getLinearSolver())); } }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/OdeStateTests.cpp000066400000000000000000000373171277777236100236120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Math/OdeState.h" #include "SurgSim/Framework/Assert.h" using SurgSim::Math::OdeState; namespace { const double epsilon = 1e-10; }; TEST(OdeStateTest, ConstructorTest) { // Test the constructor normally ASSERT_NO_THROW({OdeState state;}); // Test the object creation through the operator new // Eigen needs special care with fixed-size matrix member variables of a class created dynamically via new. // We are using non fixed-size matrix, so it should be all fine...this is just to make sure. ASSERT_NO_THROW({OdeState* state = new OdeState; delete state; }); // Test the object creation through the operator new [] // Eigen needs special care with fixed-size matrix member variables of a class created dynamically via new []. // We are using non fixed-size matrix, so it should be all fine...this is just to make sure. ASSERT_NO_THROW({OdeState* state = new OdeState[10]; delete [] state; }); // Test the object creation through std::shared_ptr // Eigen needs special care with fixed-size matrix member variables of a class created dynamically via new. // We are using non fixed-size matrix, so it should be all fine...this is just to make sure. ASSERT_NO_THROW({std::shared_ptr state = std::make_shared();}); } TEST(OdeStateTest, AllocateTest) { OdeState state; EXPECT_EQ(0u, state.getNumDof()); EXPECT_EQ(0u, state.getNumNodes()); EXPECT_EQ(0u, state.getNumBoundaryConditions()); EXPECT_EQ(0, state.getBoundaryConditions().size()); EXPECT_EQ(0, state.getPositions().size()); EXPECT_EQ(0, state.getVelocities().size()); ASSERT_NO_THROW(state.setNumDof(3u, 3u)); EXPECT_EQ(9u, state.getNumDof()); EXPECT_EQ(3u, state.getNumNodes()); EXPECT_EQ(9, state.getPositions().size()); EXPECT_EQ(9, state.getVelocities().size()); EXPECT_EQ(0u , state.getNumBoundaryConditions()); EXPECT_EQ(0 , state.getBoundaryConditions().size()); } TEST(OdeStateTest, GetPositionsTest) { OdeState state1, state2; state1.setNumDof(3u, 3u); state2.setNumDof(3u, 3u); for (size_t i = 0; i < state1.getNumDof(); i++) { state1.getPositions()[i] = static_cast(i); state2.getPositions()[i] = 0.0; } // state1.m_x contains (0 1 2 3 4 5 6 7 8 9 10) & state2.m_x contains (0 0 0 0 0 0 0 0 0 0 0) EXPECT_NE(state2.getPositions(), state1.getPositions()); state2.getPositions() = state1.getPositions(); // state1.m_x contains (0 1 2 3 4 5 6 7 8 9 10) & state2.m_x contains (0 1 2 3 4 5 6 7 8 9 10) EXPECT_EQ(state2.getPositions(), state1.getPositions()); state1.reset(); // state1.m_x contains (0 0 0 0 0 0 0 0 0 0 0) & state2.m_x contains (0 1 2 3 4 5 6 7 8 9 10) for (size_t i = 0; i < state1.getNumDof(); i++) { EXPECT_EQ(0.0, state1.getPositions()[i]); EXPECT_EQ(static_cast(i), state2.getPositions()[i]); } state2.reset(); // state1.m_x contains (0 0 0 0 0 0 0 0 0 0 0) & state2.m_x contains (0 0 0 0 0 0 0 0 0 0 0) EXPECT_EQ(state2.getPositions(), state1.getPositions()); } TEST(OdeStateTest, GetVelocitiesTest) { OdeState state1, state2; state1.setNumDof(3u, 3u); state2.setNumDof(3u, 3u); for (size_t i = 0; i < state1.getNumDof(); i++) { state1.getVelocities()[i] = static_cast(i); state2.getVelocities()[i] = 0.0; } // state1.m_v contains (0 1 2 3 4 5 6 7 8 9 10) & state2.m_v contains (0 0 0 0 0 0 0 0 0 0 0) EXPECT_NE(state2.getVelocities(), state1.getVelocities()); state2.getVelocities() = state1.getVelocities(); // state1.m_v contains (0 1 2 3 4 5 6 7 8 9 10) & state2.m_v contains (0 1 2 3 4 5 6 7 8 9 10) EXPECT_EQ(state2.getVelocities(), state1.getVelocities()); state1.reset(); // state1.m_v contains (0 0 0 0 0 0 0 0 0 0 0) & state2.m_v contains (0 1 2 3 4 5 6 7 8 9 10) for (size_t i = 0; i < state1.getNumDof(); i++) { EXPECT_EQ(0.0, state1.getVelocities()[i]); EXPECT_EQ(static_cast(i), state2.getVelocities()[i]); } state2.reset(); // state1.m_v contains (0 0 0 0 0 0 0 0 0 0 0) & state2.m_v contains (0 0 0 0 0 0 0 0 0 0 0) EXPECT_EQ(state2.getVelocities(), state1.getVelocities()); } namespace { void testBoundaryConditions(const SurgSim::Math::OdeState& state, std::vector expectedDofIds) { EXPECT_EQ(6u, state.getNumDof()); EXPECT_EQ(expectedDofIds.size(), state.getNumBoundaryConditions()); ASSERT_EQ(expectedDofIds.size(), state.getBoundaryConditions().size()); for (size_t index = 0; index < expectedDofIds.size(); ++index) { EXPECT_EQ(expectedDofIds[index], state.getBoundaryConditions()[index]); } for (size_t dofId = 0; dofId < 6; dofId++) { if (std::find(expectedDofIds.begin(), expectedDofIds.end(), dofId) != expectedDofIds.end()) { EXPECT_TRUE(state.isBoundaryCondition(dofId)); } else { EXPECT_FALSE(state.isBoundaryCondition(dofId)); } } EXPECT_EQ(6, state.getPositions().size()); EXPECT_EQ(6, state.getVelocities().size()); EXPECT_TRUE(state.getPositions().isZero()); EXPECT_TRUE(state.getVelocities().isZero()); } }; // anonymous namespace TEST(OdeStateTest, AddGetIsBoundaryConditionsTest) { { OdeState state; std::vector expectedDofIdsBoundaryConditions; // Assert trying to add a boundary condition before setting the number of node and dof per node ASSERT_THROW(state.addBoundaryCondition(0u, 0u), SurgSim::Framework::AssertionFailure); state.setNumDof(3u, 2u); // Number of dof per node is 3 SCOPED_TRACE("Testing addBoundaryCondition(size_t nodeId, size_t dofId)"); state.addBoundaryCondition(0u, 0u); expectedDofIdsBoundaryConditions.push_back((0u * 3u + 0u)); // (node 0, dof 0) testBoundaryConditions(state, expectedDofIdsBoundaryConditions); state.addBoundaryCondition(1u, 2u); expectedDofIdsBoundaryConditions.push_back((1u * 3u + 2u)); // (node 1, dof 2) testBoundaryConditions(state, expectedDofIdsBoundaryConditions); state.addBoundaryCondition(0u, 2u); expectedDofIdsBoundaryConditions.push_back((0u * 3u + 2u)); // (node 0, dof 2) testBoundaryConditions(state, expectedDofIdsBoundaryConditions); // Assert on wrong nodeId ASSERT_THROW(state.addBoundaryCondition(3u, 0u), SurgSim::Framework::AssertionFailure); // Assert on wrong dofId ASSERT_THROW(state.addBoundaryCondition(0u, 4u), SurgSim::Framework::AssertionFailure); } { OdeState state; std::vector expectedDofIdsBoundaryConditions; // Assert trying to add a boundary condition before setting the number of node and dof per node ASSERT_THROW(state.addBoundaryCondition(0u), SurgSim::Framework::AssertionFailure); state.setNumDof(3u, 2u); // Number of dof per node is 3 SCOPED_TRACE("Testing addBoundaryCondition(size_t nodeId)"); state.addBoundaryCondition(0u); expectedDofIdsBoundaryConditions.push_back((0u * 3u + 0u)); // (node 0, dof 0) expectedDofIdsBoundaryConditions.push_back((0u * 3u + 1u)); // (node 0, dof 1) expectedDofIdsBoundaryConditions.push_back((0u * 3u + 2u)); // (node 0, dof 2) testBoundaryConditions(state, expectedDofIdsBoundaryConditions); // Assert on wrong nodeId ASSERT_THROW(state.addBoundaryCondition(3u), SurgSim::Framework::AssertionFailure); state.addBoundaryCondition(1u); expectedDofIdsBoundaryConditions.push_back((1u * 3u + 0u)); // (node 0, dof 0) expectedDofIdsBoundaryConditions.push_back((1u * 3u + 1u)); // (node 0, dof 1) expectedDofIdsBoundaryConditions.push_back((1u * 3u + 2u)); // (node 0, dof 2) testBoundaryConditions(state, expectedDofIdsBoundaryConditions); } } TEST(OdeStateTest, ResetTest) { OdeState state1, state2; state1.setNumDof(3u, 3u); state2.setNumDof(3u, 3u); for (size_t i = 0; i < state1.getNumDof(); i++) { state1.getPositions()[i] = static_cast(i); state1.getVelocities()[i] = 2.0 * static_cast(i); } state1.addBoundaryCondition(0u, 0u); state1.addBoundaryCondition(state1.getNumNodes() - 1u, 2u); EXPECT_NE(state2, state1); state1.reset(); EXPECT_EQ(state2, state1); EXPECT_EQ(9u, state1.getNumDof()); EXPECT_EQ(3u, state1.getNumNodes()); EXPECT_TRUE(state1.getPositions().isZero()); EXPECT_TRUE(state1.getVelocities().isZero()); EXPECT_EQ(0u, state1.getNumBoundaryConditions()); EXPECT_EQ(0, state1.getBoundaryConditions().size()); } TEST(OdeStateTest, CopyConstructorAndAssignmentTest) { OdeState state, stateAssigned; state.setNumDof(3u, 3u); for (size_t i = 0; i < state.getNumDof(); i++) { state.getPositions()[i] = static_cast(i); state.getVelocities()[i] = 2.0 * static_cast(i); } state.addBoundaryCondition(0u, 0u); state.addBoundaryCondition(state.getNumNodes() - 1u, 2u); { OdeState stateCopied(state); ASSERT_EQ(9u, stateCopied.getNumDof()); ASSERT_EQ(state.getNumDof(), stateCopied.getNumDof()); ASSERT_EQ(9, stateCopied.getPositions().size()); ASSERT_EQ(state.getPositions().size(), stateCopied.getPositions().size()); ASSERT_EQ(9, stateCopied.getVelocities().size()); ASSERT_EQ(state.getVelocities().size(), stateCopied.getVelocities().size()); for (size_t i = 0; i < stateCopied.getNumDof(); i++) { EXPECT_NEAR(state.getPositions()[i], stateCopied.getPositions()[i], epsilon); EXPECT_NEAR(static_cast(i), stateCopied.getPositions()[i], epsilon); EXPECT_NEAR(state.getVelocities()[i], stateCopied.getVelocities()[i], epsilon); EXPECT_NEAR(2.0 * static_cast(i), stateCopied.getVelocities()[i], epsilon); } ASSERT_EQ(2u, stateCopied.getNumBoundaryConditions()); ASSERT_EQ(state.getNumBoundaryConditions(), stateCopied.getNumBoundaryConditions()); ASSERT_EQ(2, stateCopied.getBoundaryConditions().size()); ASSERT_EQ(state.getBoundaryConditions().size(), stateCopied.getBoundaryConditions().size()); ASSERT_EQ(0u, stateCopied.getBoundaryConditions()[0]); ASSERT_EQ(state.getBoundaryConditions()[0], stateCopied.getBoundaryConditions()[0]); ASSERT_EQ(state.getNumDof() - 1, stateCopied.getBoundaryConditions()[1]); ASSERT_EQ(state.getBoundaryConditions()[1], stateCopied.getBoundaryConditions()[1]); } { stateAssigned = state; ASSERT_EQ(9u, stateAssigned.getNumDof()); ASSERT_EQ(state.getNumDof(), stateAssigned.getNumDof()); ASSERT_EQ(9, stateAssigned.getPositions().size()); ASSERT_EQ(state.getPositions().size(), stateAssigned.getPositions().size()); ASSERT_EQ(9, stateAssigned.getVelocities().size()); ASSERT_EQ(state.getVelocities().size(), stateAssigned.getVelocities().size()); for (size_t i = 0; i < stateAssigned.getNumDof(); i++) { EXPECT_NEAR(state.getPositions()[i], stateAssigned.getPositions()[i], epsilon); EXPECT_NEAR(static_cast(i), stateAssigned.getPositions()[i], epsilon); EXPECT_NEAR(state.getVelocities()[i], stateAssigned.getVelocities()[i], epsilon); EXPECT_NEAR(2.0 * static_cast(i), stateAssigned.getVelocities()[i], epsilon); } ASSERT_EQ(2u, stateAssigned.getNumBoundaryConditions()); ASSERT_EQ(state.getNumBoundaryConditions(), stateAssigned.getNumBoundaryConditions()); ASSERT_EQ(2, stateAssigned.getBoundaryConditions().size()); ASSERT_EQ(state.getBoundaryConditions().size(), stateAssigned.getBoundaryConditions().size()); ASSERT_EQ(0u, stateAssigned.getBoundaryConditions()[0]); ASSERT_EQ(state.getBoundaryConditions()[0], stateAssigned.getBoundaryConditions()[0]); ASSERT_EQ(state.getNumDof() - 1, stateAssigned.getBoundaryConditions()[1]); ASSERT_EQ(state.getBoundaryConditions()[1], stateAssigned.getBoundaryConditions()[1]); } } TEST(OdeStateTest, ApplyBoundaryConditionsToVectorTest) { OdeState state; state.setNumDof(3u, 3u); state.addBoundaryCondition(0u, 1u); state.addBoundaryCondition(state.getNumNodes() - 1u, 2u); SurgSim::Math::Vector F(state.getNumDof()); F.setLinSpaced(1.0, 2.0); SurgSim::Math::Vector initialF = F; state.applyBoundaryConditionsToVector(&F); EXPECT_FALSE(F.isApprox(initialF)); for (size_t dofId = 0; dofId < state.getNumDof(); ++dofId) { if (dofId == 1u || dofId == state.getNumDof() - 1u) { EXPECT_NE(initialF[dofId], F[dofId]); EXPECT_EQ(0u, F[dofId]); } else { EXPECT_EQ(initialF[dofId], F[dofId]); } } } TEST(OdeStateTest, ApplyBoundaryConditionsToMatrixTest) { OdeState state; state.setNumDof(3u, 3u); state.addBoundaryCondition(0u, 1u); state.addBoundaryCondition(state.getNumNodes() - 1u, 2u); size_t numDof = state.getNumDof(); SurgSim::Math::Matrix M = 2.0 * SurgSim::Math::Matrix::Ones(numDof, numDof); SurgSim::Math::Matrix initialM = M; SurgSim::Math::Matrix expectedM = M; for (int bcId = 0; bcId < 2; ++bcId) { size_t dofId = state.getBoundaryConditions()[bcId]; expectedM.block<1, 9>(dofId, 0).setZero(); expectedM.block<9, 1>(0, dofId).setZero(); expectedM(dofId, dofId) = 1.0; } state.applyBoundaryConditionsToMatrix(&M); EXPECT_FALSE(M.isApprox(initialM)); EXPECT_TRUE(M.isApprox(expectedM)); } namespace { void testOdeStateValidityWith(double number, bool isValid) { OdeState stateWithNumberOnPosition; stateWithNumberOnPosition.setNumDof(3u, 3u); stateWithNumberOnPosition.getPositions().setOnes(); stateWithNumberOnPosition.getPositions()[2] = number; if (isValid) { EXPECT_TRUE(stateWithNumberOnPosition.isValid()); } else { EXPECT_FALSE(stateWithNumberOnPosition.isValid()); } OdeState stateWithNumberOnVelocity; stateWithNumberOnVelocity.setNumDof(3u, 3u); stateWithNumberOnVelocity.getVelocities().setOnes(); stateWithNumberOnVelocity.getVelocities()[2] = number; if (isValid) { EXPECT_TRUE(stateWithNumberOnVelocity.isValid()); } else { EXPECT_FALSE(stateWithNumberOnVelocity.isValid()); } } }; // anonymous namespace TEST(OdeStateTest, IsValidTest) { { SCOPED_TRACE("Test with invalid number INF"); testOdeStateValidityWith(std::numeric_limits::infinity(), false); } { SCOPED_TRACE("Test with invalid number QuietNaN"); testOdeStateValidityWith(std::numeric_limits::quiet_NaN(), false); } { SCOPED_TRACE("Test with invalid number SignalingNaN"); testOdeStateValidityWith(std::numeric_limits::signaling_NaN(), false); } { SCOPED_TRACE("Test with valid numbers"); testOdeStateValidityWith(4.5e-34, true); } } TEST(OdeStateTest, Interpolation) { OdeState state1; OdeState state2; OdeState expected; state1.setNumDof(3u, 3u); state2.setNumDof(3u, 3u); expected.setNumDof(3u, 3u); double t = 0.25; for (size_t i = 0; i < state1.getNumDof(); i++) { double num = static_cast(i); state1.getVelocities()[i] = 1.0; state2.getVelocities()[i] = num; expected.getVelocities()[i] = 1.0 + (num - 1.0) * t; state1.getPositions()[i] = num * 2; state2.getPositions()[i] = 0.0; expected.getPositions()[i] = num * 2 + (0.0 - num * 2) * t; } auto result = state1.interpolate(state2, t); ASSERT_TRUE(result.isValid()); for (size_t i = 0; i < expected.getNumDof(); i++) { EXPECT_NEAR(expected.getPositions()[i], result.getPositions()[i], epsilon); EXPECT_NEAR(expected.getVelocities()[i], result.getVelocities()[i], epsilon); } result = state1.interpolate(state2, 0.0); for (size_t i = 0; i < expected.getNumDof(); i++) { EXPECT_NEAR(state1.getPositions()[i], result.getPositions()[i], epsilon); EXPECT_NEAR(state1.getVelocities()[i], result.getVelocities()[i], epsilon); } result = state1.interpolate(state2, 1.0); for (size_t i = 0; i < expected.getNumDof(); i++) { EXPECT_NEAR(state2.getPositions()[i], result.getPositions()[i], epsilon); EXPECT_NEAR(state2.getVelocities()[i], result.getVelocities()[i], epsilon); } } opensurgsim-0.7.0/SurgSim/Math/UnitTests/ParticlesShapeTests.cpp000066400000000000000000000117431277777236100250040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/NormalData.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/Shapes.h" #include "SurgSim/Math/Valid.h" namespace { const double epsilon = 1e-10; } namespace SurgSim { namespace Math { TEST(ParticlesShapeTests, CanConstruct) { ASSERT_NO_THROW({ ParticlesShape particles; }); ASSERT_NO_THROW({ ParticlesShape particles(0.01); }); } TEST(ParticlesShapeTests, CopyConstruct) { { DataStructures::Vertices otherVertices; otherVertices.addVertex(DataStructures::Vertex(Vector3d::Constant(3.0))); ParticlesShape particles(otherVertices); EXPECT_EQ(1, particles.getNumVertices()); EXPECT_TRUE(particles.getVertex(0).position.isApprox(Vector3d::Constant(3.0))); } { DataStructures::Vertices otherVertices; otherVertices.addVertex(DataStructures::Vertex(Vector3d::Constant(3.0))); ParticlesShape particles(otherVertices); EXPECT_EQ(1, particles.getNumVertices()); EXPECT_TRUE(particles.getVertex(0).position.isApprox(Vector3d::Constant(3.0))); } } TEST(ParticlesShapeTests, DefaultProperties) { ParticlesShape particles; EXPECT_NEAR(0.0, particles.getRadius(), epsilon); EXPECT_EQ(SHAPE_TYPE_PARTICLES, particles.getType()); EXPECT_NEAR(0.0, particles.getVolume(), epsilon); EXPECT_FALSE(isValid(particles.getCenter())); EXPECT_TRUE(particles.getSecondMomentOfVolume().isZero()); EXPECT_NE(nullptr, particles.getAabbTree()); EXPECT_TRUE(particles.isTransformable()); } TEST(ParticlesShapeTests, SetGetRadius) { ParticlesShape particles; particles.setRadius(0.1); EXPECT_NEAR(0.1, particles.getRadius(), epsilon); } TEST(ParticlesShapeTests, GeometricProperties) { SphereShape unitSphere(1.0); ParticlesShape particles(1.0); particles.addVertex(ParticlesShape::VertexType(Vector3d::Zero())); particles.update(); EXPECT_TRUE(particles.getCenter().isApprox(Vector3d::Zero())); EXPECT_NEAR(unitSphere.getVolume(), particles.getVolume(), epsilon); EXPECT_TRUE(particles.getSecondMomentOfVolume().isApprox(unitSphere.getSecondMomentOfVolume())) << unitSphere.getSecondMomentOfVolume() << std::endl << particles.getSecondMomentOfVolume(); particles.addVertex(ParticlesShape::VertexType(Vector3d::Ones())); particles.update(); EXPECT_TRUE(particles.getCenter().isApprox(Vector3d::Ones() * 0.5)); EXPECT_NEAR(2.0 * unitSphere.getVolume(), particles.getVolume(), epsilon); Matrix33d distanceSkew = makeSkewSymmetricMatrix(Vector3d::Ones().eval()); EXPECT_TRUE(particles.getSecondMomentOfVolume().isApprox(2.0 * unitSphere.getSecondMomentOfVolume() - unitSphere.getVolume() * distanceSkew * distanceSkew)); particles.addVertex(ParticlesShape::VertexType(-Vector3d::Ones())); particles.update(); EXPECT_TRUE(particles.getCenter().isApprox(Vector3d::Zero())); EXPECT_NEAR(3.0 * unitSphere.getVolume(), particles.getVolume(), epsilon); EXPECT_TRUE(particles.getSecondMomentOfVolume().isApprox(3 * unitSphere.getSecondMomentOfVolume() - 2.0 * unitSphere.getVolume() * distanceSkew * distanceSkew)); } TEST(ParticlesShapeTests, Serialization) { const double radius = 0.2; { YAML::Node node; node["SurgSim::Math::ParticlesShape"]["Radius"] = radius; std::shared_ptr shape; ASSERT_NO_THROW(shape = node.as>()); EXPECT_EQ("SurgSim::Math::ParticlesShape", shape->getClassName()); EXPECT_NEAR(radius, shape->getValue("Radius"), epsilon); EXPECT_TRUE(shape->isValid()); } { std::shared_ptr shape; ASSERT_NO_THROW(shape = Shape::getFactory().create("SurgSim::Math::ParticlesShape")); shape->setValue("Radius", radius); EXPECT_TRUE(shape->isValid()); YAML::Node node; ASSERT_NO_THROW(node = shape); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); ASSERT_TRUE(node["SurgSim::Math::ParticlesShape"].IsDefined()); auto data = node["SurgSim::Math::ParticlesShape"]; EXPECT_EQ(1u, data.size()); std::shared_ptr particlesShape; ASSERT_NO_THROW(particlesShape = std::dynamic_pointer_cast(node.as>())); EXPECT_EQ("SurgSim::Math::ParticlesShape", particlesShape->getClassName()); EXPECT_NEAR(radius, particlesShape->getValue("Radius"), epsilon); EXPECT_TRUE(particlesShape->isValid()); } } }; }; opensurgsim-0.7.0/SurgSim/Math/UnitTests/PolynomialRootTests.cpp000066400000000000000000000117431277777236100250640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the Polynomial functions. #include #include #include "SurgSim/Math/PolynomialRoots.h" namespace SurgSim { namespace Math { namespace { double epsilon = 1.0e-9; } TEST(PolynomialRootsTest, PolynomialDegree1Roots) { // Degenerate Linear, infinite roots SurgSim::Math::Polynomial degenerate(epsilon / 2.0, epsilon / 2.0); PolynomialRoots degenerateRoots(degenerate, 1.0e-09); EXPECT_TRUE(degenerateRoots.isDegenerate()); EXPECT_EQ(-1, degenerateRoots.getNumRoots()); EXPECT_THROW(degenerateRoots[0], SurgSim::Framework::AssertionFailure); // Semi-degenerate Linear, no roots SurgSim::Math::Polynomial constantPoly(2.0, epsilon / 2.0); PolynomialRootsconstantPolyRoots(constantPoly, 1.0e-09); EXPECT_FALSE(constantPolyRoots.isDegenerate()); EXPECT_EQ(0, constantPolyRoots.getNumRoots()); EXPECT_THROW(constantPolyRoots[0], SurgSim::Framework::AssertionFailure); // Linear, one root SurgSim::Math::Polynomial linearPoly(-24.0, 2.0); PolynomialRootslinearPolyRoots(linearPoly, 1.0e-09); EXPECT_FALSE(linearPolyRoots.isDegenerate()); EXPECT_EQ(1, linearPolyRoots.getNumRoots()); EXPECT_NEAR(12.0, linearPolyRoots[0], epsilon); EXPECT_THROW(linearPolyRoots[1], SurgSim::Framework::AssertionFailure); }; TEST(PolynomialRootsTest, PolynomialDegree2Roots) { // Degenerate Linear, infinite roots SurgSim::Math::Polynomial degenerate(epsilon / 2.0, epsilon / 2.0, epsilon / 2.0); PolynomialRootsdegenerateRoots(degenerate, 1.0e-09); EXPECT_TRUE(degenerateRoots.isDegenerate()); EXPECT_EQ(-1, degenerateRoots.getNumRoots()); EXPECT_THROW(degenerateRoots[0], SurgSim::Framework::AssertionFailure); // Semi-degenerate Linear, no roots SurgSim::Math::Polynomial constantPoly(2.0, epsilon / 2.0, epsilon / 2.0); PolynomialRootsconstantPolyRoots(constantPoly, 1.0e-09); EXPECT_FALSE(constantPolyRoots.isDegenerate()); EXPECT_EQ(0, constantPolyRoots.getNumRoots()); EXPECT_THROW(constantPolyRoots[0], SurgSim::Framework::AssertionFailure); // Linear, one root SurgSim::Math::Polynomial linearPoly(-24.0, 2.0, epsilon / 2.0); PolynomialRootslinearPolyRoots(linearPoly, 1.0e-09); EXPECT_FALSE(linearPolyRoots.isDegenerate()); EXPECT_EQ(1, linearPolyRoots.getNumRoots()); EXPECT_NEAR(12.0, linearPolyRoots[0], epsilon); EXPECT_THROW(linearPolyRoots[1], SurgSim::Framework::AssertionFailure); // Quadratic, two imaginary roots SurgSim::Math::Polynomial imaginaryPoly(1.0, epsilon / 8.0, 1.0); PolynomialRootsimaginaryPolyRoots(imaginaryPoly, 1.0e-09); EXPECT_FALSE(imaginaryPolyRoots.isDegenerate()); EXPECT_EQ(0, imaginaryPolyRoots.getNumRoots()); EXPECT_THROW(imaginaryPolyRoots[0], SurgSim::Framework::AssertionFailure); // Quadratic, one (duplicate) root SurgSim::Math::Polynomial oneRootPoly(288.0, -48.0, 2.0); PolynomialRootsoneRootPolyRoots(oneRootPoly, 1.0e-09); EXPECT_FALSE(oneRootPolyRoots.isDegenerate()); EXPECT_EQ(1, oneRootPolyRoots.getNumRoots()); EXPECT_NEAR(12.0, oneRootPolyRoots[0], epsilon); EXPECT_THROW(oneRootPolyRoots[1], SurgSim::Framework::AssertionFailure); // Quadratic SurgSim::Math::Polynomial quadraticPoly(-8.0, 6.0, 2.0); PolynomialRootsquadraticPolyRoots(quadraticPoly, 1.0e-09); EXPECT_FALSE(quadraticPolyRoots.isDegenerate()); EXPECT_EQ(2, quadraticPolyRoots.getNumRoots()); EXPECT_NEAR(-4.0, quadraticPolyRoots[0], epsilon); EXPECT_NEAR(1.0, quadraticPolyRoots[1], epsilon); EXPECT_THROW(quadraticPolyRoots[2], SurgSim::Framework::AssertionFailure); // Quadratic (ascending order => coefficient of higher order < 0) // Discriminant = 49 => 2 roots that should be ordered this way: // (-9 - 7) / -4 = 4 // (-9 + 7) / -4 = 1/2 // But will be reordered to be in ascending order SurgSim::Math::Polynomial quadraticPolyOrdered(-4.0, 9.0, -2.0); PolynomialRootsquadraticPolyOrderedRoots(quadraticPolyOrdered, 1.0e-09); EXPECT_FALSE(quadraticPolyOrderedRoots.isDegenerate()); EXPECT_EQ(2, quadraticPolyOrderedRoots.getNumRoots()); EXPECT_NEAR(0.5, quadraticPolyOrderedRoots[0], epsilon); EXPECT_NEAR(4.0, quadraticPolyOrderedRoots[1], epsilon); EXPECT_THROW(quadraticPolyOrderedRoots[2], SurgSim::Framework::AssertionFailure); }; }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/PolynomialTests.cpp000066400000000000000000000244031277777236100242150ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the Polynomial functions. #include #include #include "SurgSim/Math/Polynomial.h" namespace SurgSim { namespace Math { namespace { double epsilon = 1.0e-10; template void checkDiscriminant(Polynomial* poly, double expected) { } template <> void checkDiscriminant(Polynomial* poly, double expected) { EXPECT_DOUBLE_EQ(expected, poly->discriminant()); } } class PolynomialUtilityTests : public ::testing::Test { }; template class PolynomialTests : public ::testing::Test { public: void initializeConstructor(Polynomial* poly) { typedef Polynomial PolynomialType; EXPECT_NO_THROW(PolynomialType polyNew); EXPECT_NO_THROW(PolynomialType polyNew(7.0)); PolynomialType polyNew(1.0); *poly = polyNew; } void initializeConstructor(Polynomial* poly) { typedef Polynomial PolynomialType; EXPECT_NO_THROW(PolynomialType polyNew); EXPECT_NO_THROW(PolynomialType polyNew(7.0, 8)); PolynomialType polyNew(1.0, 2.0); *poly = polyNew; } void initializeConstructor(Polynomial* poly) { typedef Polynomial PolynomialType; EXPECT_NO_THROW(PolynomialType polyNew); EXPECT_NO_THROW(PolynomialType polyNew(7.0, 8.0, 9.0)); PolynomialType polyNew(1.0, 2.0, 3.0); *poly = polyNew; } void initializeConstructor(Polynomial* poly) { typedef Polynomial PolynomialType; EXPECT_NO_THROW(PolynomialType polyNew); EXPECT_NO_THROW(PolynomialType polyNew(7.0, 8.0, 9.0, 10.0)); PolynomialType polyNew(1.0, 2.0, 3.0, 4.0); *poly = polyNew; } template void setPolynomialFromOffset(int offset, Polynomial* poly) { for (size_t counter = 0; counter <= degree; ++counter) { (*poly)[counter] = static_cast(counter + offset); } } template void setPolynomialToSmallValue(Polynomial* poly) { for (size_t counter = 0; counter <= degree; ++counter) { (*poly)[counter] = epsilon / 2.0; } } template void checkPolynomialConstructor(Polynomial* poly) { // Check get ... up to degree for (size_t counter = 0; counter <= degree; ++counter) { EXPECT_DOUBLE_EQ(counter + 1.0, poly->getCoefficient(counter)); EXPECT_DOUBLE_EQ(counter + 1.0, (*poly)[counter]); } // Check get ... beyond degree for (size_t counter = degree + 1; counter < 5; ++counter) { EXPECT_DOUBLE_EQ(0.0, poly->getCoefficient(counter)); EXPECT_THROW((*poly)[counter], SurgSim::Framework::AssertionFailure); } // Check set up to degree for (size_t counter = 0; counter <= degree; ++counter) { poly->setCoefficient(counter, static_cast(counter)); EXPECT_DOUBLE_EQ(static_cast(counter), poly->getCoefficient(counter)); (*poly)[counter] = static_cast(counter + 1); EXPECT_DOUBLE_EQ(static_cast(counter + 1), poly->getCoefficient(counter)); } // Check set beyond degree EXPECT_THROW(poly->setCoefficient(degree + 1, 12.0), SurgSim::Framework::AssertionFailure); EXPECT_THROW((*poly)[degree + 1] = 12, SurgSim::Framework::AssertionFailure); } template void checkPolynomialArithmetic(const Polynomial& poly1, const Polynomial& poly2) { Polynomial scratch; // Check evaluate ... double evaluate = static_cast(degree + 1); for (int counter = degree - 1; counter >= 0; --counter) { evaluate = (0.5 * evaluate) + counter + 1; } EXPECT_NEAR(evaluate, poly1.evaluate(0.5), epsilon); // Check negation ... scratch = -poly1; for (size_t counter = 0; counter <= degree; ++counter) { EXPECT_DOUBLE_EQ(-1 * (static_cast(counter) + 1.0), scratch.getCoefficient(counter)); EXPECT_DOUBLE_EQ(-1 * (static_cast(counter) + 1.0), scratch[counter]); } // Check add ... scratch = poly1 + poly2; for (size_t counter = 0; counter <= degree; ++counter) { EXPECT_DOUBLE_EQ(2 * static_cast(counter) + 3.0, scratch.getCoefficient(counter)); EXPECT_DOUBLE_EQ(2 * static_cast(counter) + 3.0, scratch[counter]); } scratch = poly1; scratch += poly2; for (size_t counter = 0; counter <= degree; ++counter) { EXPECT_DOUBLE_EQ(2 * static_cast(counter) + 3.0, scratch.getCoefficient(counter)); EXPECT_DOUBLE_EQ(2 * static_cast(counter) + 3.0, scratch[counter]); } // Check subtract ... scratch = poly1 - poly2; for (size_t counter = 0; counter <= degree; ++counter) { EXPECT_DOUBLE_EQ(-1.0, scratch.getCoefficient(counter)); EXPECT_DOUBLE_EQ(-1.0, scratch[counter]); } scratch = poly1; scratch -= poly2; for (size_t counter = 0; counter <= degree; ++counter) { EXPECT_DOUBLE_EQ(-1.0, scratch.getCoefficient(counter)); EXPECT_DOUBLE_EQ(-1.0, scratch[counter]); } // Check isApprox ... scratch = poly1; for (size_t counter = 0; counter <= degree; ++counter) { scratch[counter] += epsilon / 2.0; } EXPECT_TRUE(scratch.isApprox(poly1, epsilon)); scratch[0] = poly1[0] + 2.0 * epsilon; for (size_t counter = 0; counter < degree; ++counter) { EXPECT_FALSE(scratch.isApprox(poly1, epsilon)); scratch[counter] = poly1[counter] + epsilon / 2.0; scratch[counter + 1] = poly1[counter + 1] + 2.0 * epsilon; } EXPECT_FALSE(scratch.isApprox(poly1, epsilon)); } template void checkPolynomialDerivative(const Polynomial& poly1) { if (degree != 0) { // Check derivative ... auto smallScratch = poly1.derivative(); for (size_t counter = 0; counter < degree; ++counter) { EXPECT_DOUBLE_EQ((counter + 2.0) * (counter + 1.0), smallScratch.getCoefficient(counter)); EXPECT_DOUBLE_EQ((counter + 2.0) * (counter + 1.0), smallScratch[counter]); } EXPECT_DOUBLE_EQ(0.0, smallScratch.getCoefficient(degree)); EXPECT_THROW(smallScratch[degree], SurgSim::Framework::AssertionFailure); } } template void checkIsNearZero(Polynomial* poly1) { EXPECT_TRUE(poly1->isNearZero(epsilon)); for (size_t counter = 0; counter <= degree; counter++) { poly1->setCoefficient(counter, 2 * epsilon); EXPECT_FALSE(poly1->isNearZero(epsilon)); poly1->setCoefficient(counter, epsilon / 2.0); EXPECT_TRUE(poly1->isNearZero(epsilon)); (*poly1)[counter] = 2 * epsilon; EXPECT_FALSE(poly1->isNearZero(epsilon)); (*poly1)[counter] = epsilon / 2.0; EXPECT_TRUE(poly1->isNearZero(epsilon)); } } }; template class PolynomialDerivativeTests : public PolynomialTests { }; typedef ::testing::Types, Polynomial, Polynomial, Polynomial> PolynomialTypes; typedef ::testing::Types < Polynomial, Polynomial, Polynomial> PolynomialDerivativeTypes; TYPED_TEST_CASE(PolynomialTests, PolynomialTypes); TYPED_TEST_CASE(PolynomialDerivativeTests, PolynomialDerivativeTypes); TYPED_TEST(PolynomialTests, InitializationTests) { EXPECT_NO_THROW(TypeParam poly); TypeParam poly; this->initializeConstructor(&poly); this->checkPolynomialConstructor(&poly); }; TYPED_TEST(PolynomialTests, ArithmeticTests) { TypeParam poly1; this->setPolynomialFromOffset(1, &poly1); TypeParam poly2; this->setPolynomialFromOffset(2, &poly2); this->checkPolynomialArithmetic(poly1, poly2); }; TYPED_TEST(PolynomialDerivativeTests, DerivativeTests) { TypeParam poly1; this->setPolynomialFromOffset(1, &poly1); this->checkPolynomialDerivative(poly1); }; TYPED_TEST(PolynomialTests, NearZeroTests) { TypeParam poly1; this->setPolynomialToSmallValue(&poly1); this->checkIsNearZero(&poly1); }; TYPED_TEST(PolynomialTests, DiscriminantTests) { TypeParam poly1; { SCOPED_TRACE("0 + 1x + 2x^2"); this->setPolynomialFromOffset(0, &poly1); // discriminant = 1 - 4*0 = 1 checkDiscriminant(&poly1, 1.0); } { SCOPED_TRACE("1 + 2x + 3x^2"); this->setPolynomialFromOffset(1, &poly1); // discriminant = 4 - 4*3 = -8 checkDiscriminant(&poly1, -8.0); } { SCOPED_TRACE("2 + 3x + 4x^2"); this->setPolynomialFromOffset(2, &poly1); // discriminant = 9 - 4*8 = -23 checkDiscriminant(&poly1, -23.0); } }; TEST_F(PolynomialUtilityTests, UtilityTests) { Polynomial p0_1(1.0); Polynomial p0_2(2.0); Polynomial p1_1(1.0, 2.0); Polynomial p1_2(2.0, 3.0); Polynomial p2_1(1.0, 2.0, 3.0); Polynomial p2_2(2.0, 3.0, 4.0); Polynomial p3_1(1.0, 2.0, 3.0, 4.0); Polynomial p3_2(2.0, 3.0, 4.0, 5.0); // degree n * degree m { auto result = p0_2 * p3_2; EXPECT_TRUE(result.isApprox(Polynomial(4.0, 6.0, 8.0, 10.0), epsilon)); } // degree 1 * degree 1 { auto result = p1_1 * p1_2; EXPECT_TRUE(result.isApprox(Polynomial(2.0, 7.0, 6.0), epsilon)); } // degree 2 * degree 1 { auto result = p2_1 * p1_2; EXPECT_TRUE(result.isApprox(Polynomial(2.0, 7.0, 12.0, 9.0), epsilon)); } // degree 1 * degree 2 { auto result = p1_1 * p2_2; EXPECT_TRUE(result.isApprox(Polynomial(2.0, 7.0, 10.0, 8.0), epsilon)); } // degree 0^2 { auto result_p0_1 = square(p0_1); EXPECT_TRUE(result_p0_1.isApprox(Polynomial(1.0), epsilon)); auto result_p0_2 = square(p0_2); EXPECT_TRUE(result_p0_2.isApprox(Polynomial(4.0), epsilon)); } // degree 1^2 { auto result = square(p1_2); EXPECT_TRUE(result.isApprox(Polynomial(4.0, 12.0, 9.0), epsilon)); } // Output { // Output std::ostringstream intervalOutput; intervalOutput << p3_1; EXPECT_EQ("(4*x^3 + 3*x^2 + 2*x + 1)", intervalOutput.str()); } }; }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/PolynomialValuesTests.cpp000066400000000000000000000120251277777236100253720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the Polynomial functions. #include #include #include "SurgSim/Math/PolynomialValues.h" namespace SurgSim { namespace Math { namespace { double epsilon = 1.0e-9; } TEST(PolynomialValuesTest, PolnomialDegree0Values) { SurgSim::Math::Polynomial constantPoly(-24.0); SurgSim::Math::Interval interval(-1.0, 10.0); PolynomialValues constantValues(constantPoly); EXPECT_DOUBLE_EQ(constantPoly.getCoefficient(0), constantValues.getPolynomial().getCoefficient(0)); EXPECT_TRUE(Interval(-24.0, -24.0).isApprox(constantValues.valuesOverInterval(interval), epsilon)); }; TEST(PolynomialValuesTest, PolnomialDegree1Values) { SurgSim::Math::Polynomial linearPoly(-24.0, 2.0); SurgSim::Math::Interval interval(-1.0, 10.0); PolynomialValues linearValues(linearPoly); EXPECT_DOUBLE_EQ(linearPoly.getCoefficient(0), linearValues.getPolynomial().getCoefficient(0)); EXPECT_DOUBLE_EQ(linearPoly.getCoefficient(1), linearValues.getPolynomial().getCoefficient(1)); EXPECT_TRUE(Interval(-26.0, -4.0).isApprox(linearValues.valuesOverInterval(interval), epsilon)); }; TEST(PolynomialValuesTest, PolnomialDegree2Values) { SurgSim::Math::Polynomial quadraticPoly(-8.0, 6.0, 2.0); SurgSim::Math::Interval interval1(-1.0, 10.0); SurgSim::Math::Interval interval2(-2.0, 10.0); PolynomialValues quadraticValues(quadraticPoly); EXPECT_DOUBLE_EQ(quadraticPoly.getCoefficient(0), quadraticValues.getPolynomial().getCoefficient(0)); EXPECT_DOUBLE_EQ(quadraticPoly.getCoefficient(1), quadraticValues.getPolynomial().getCoefficient(1)); EXPECT_DOUBLE_EQ(quadraticPoly.getCoefficient(2), quadraticValues.getPolynomial().getCoefficient(2)); EXPECT_NEAR(6.0, quadraticValues.getDerivative().getCoefficient(0), epsilon); EXPECT_NEAR(4.0, quadraticValues.getDerivative().getCoefficient(1), epsilon); EXPECT_EQ(1, quadraticValues.getLocationsOfExtrema().getNumRoots()); EXPECT_NEAR(-1.5, quadraticValues.getLocationsOfExtrema()[0], epsilon); EXPECT_TRUE(Interval(-12.0, 252.0).isApprox(quadraticValues.valuesOverInterval(interval1), epsilon)); EXPECT_TRUE(Interval(-12.5, 252.0).isApprox(quadraticValues.valuesOverInterval(interval2), epsilon)); }; TEST(PolynomialValuesTest, PolnomialDegree3Values) { SurgSim::Math::Polynomial cubicPoly(7.0, -63.0, -6.0, 1.0); SurgSim::Math::Interval interval1(-10.0, 20.0); SurgSim::Math::Interval interval2(-4.0, 10.0); PolynomialValues cubicValues(cubicPoly); EXPECT_DOUBLE_EQ(cubicPoly.getCoefficient(0), cubicValues.getPolynomial().getCoefficient(0)); EXPECT_DOUBLE_EQ(cubicPoly.getCoefficient(1), cubicValues.getPolynomial().getCoefficient(1)); EXPECT_DOUBLE_EQ(cubicPoly.getCoefficient(2), cubicValues.getPolynomial().getCoefficient(2)); EXPECT_DOUBLE_EQ(cubicPoly.getCoefficient(3), cubicValues.getPolynomial().getCoefficient(3)); EXPECT_NEAR(-63.0, cubicValues.getDerivative().getCoefficient(0), epsilon); EXPECT_NEAR(-12.0, cubicValues.getDerivative().getCoefficient(1), epsilon); EXPECT_NEAR(3.0, cubicValues.getDerivative().getCoefficient(2), epsilon); EXPECT_EQ(2, cubicValues.getLocationsOfExtrema().getNumRoots()); EXPECT_NEAR(-3.0, cubicValues.getLocationsOfExtrema()[0], epsilon); EXPECT_NEAR(7.0, cubicValues.getLocationsOfExtrema()[1], epsilon); EXPECT_TRUE(Interval(-963.0, 4347.0).isApprox(cubicValues.valuesOverInterval(interval1), epsilon)); EXPECT_TRUE(Interval(-385.0, 115.0).isApprox(cubicValues.valuesOverInterval(interval2), epsilon)); }; TEST(PolynomialValuesTest, ValuesOverIntervalTests) { SurgSim::Math::Polynomial constantPoly(-24.0); SurgSim::Math::Polynomial linearPoly(-24.0, 2.0); SurgSim::Math::Polynomial quadraticPoly(-8.0, 6.0, 2.0); SurgSim::Math::Polynomial cubicPoly(7.0, -63.0, -6.0, 1.0); SurgSim::Math::Interval interval(-1.0, 10.0); EXPECT_TRUE(Interval(-24.0, -24.0).isApprox(valuesOverInterval(constantPoly, interval), epsilon)); EXPECT_TRUE(Interval(-26.0, -4.0).isApprox(valuesOverInterval(linearPoly, interval), epsilon)); EXPECT_TRUE(Interval(-12.0, 252.0).isApprox(valuesOverInterval(quadraticPoly, interval), epsilon)); EXPECT_TRUE(Interval(-385.0, 63.0).isApprox(valuesOverInterval(cubicPoly, interval), epsilon)); }; }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/QuaternionTests.cpp000066400000000000000000000571271277777236100242300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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. /// \file /// Tests that exercise the functionality of our quaternion typedefs, which /// come straight from Eigen. #include #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/MathConvert.h" #include "gtest/gtest.h" // Define test fixture class templates. // We don't really need fixtures as such, but the templatization encodes type. template class QuaternionTests : public testing::Test { public: typedef T Quaternion; typedef typename T::AngleAxisType AngleAxis; typedef typename T::Scalar Scalar; }; // This used to contain aligned (via Eigen::AutoAlign) quaternion type aliases, but we got rid of those. typedef ::testing::Types QuaternionVariants; TYPED_TEST_CASE(QuaternionTests, QuaternionVariants); template class UnalignedQuaternionTests : public QuaternionTests { }; typedef ::testing::Types UnalignedQuaternionVariants; TYPED_TEST_CASE(UnalignedQuaternionTests, UnalignedQuaternionVariants); // Now we're ready to start testing... // ==================== CONSTRUCTION & INITIALIZATION ==================== /// Test that quaternions can be constructed. TYPED_TEST(QuaternionTests, CanConstruct) { typedef typename TestFixture::Quaternion Quaternion; typedef typename TestFixture::Scalar T; Quaternion defaultConstructed; Quaternion fourArg(static_cast(1.0), static_cast(2.0), static_cast(3.0), static_cast(4.0)); } /// Test that the constructor properly initializes quaternions in the WXYZ order. TYPED_TEST(QuaternionTests, ConstructorInitialization) { typedef typename TestFixture::Quaternion Quaternion; typedef typename TestFixture::Scalar T; Quaternion quaternion(static_cast(1.03), static_cast(1.04), static_cast(1.05), static_cast(1.06)); EXPECT_NEAR(1.03, quaternion.w(), 1e-6) << "W wasn't properly initialized."; EXPECT_NEAR(1.04, quaternion.x(), 1e-6) << "X wasn't properly initialized."; EXPECT_NEAR(1.05, quaternion.y(), 1e-6) << "Y wasn't properly initialized."; EXPECT_NEAR(1.06, quaternion.z(), 1e-6) << "Z wasn't properly initialized."; } /// Test setting the quaternion from a 4D vector. /// The order of components is XYZW (not WXYZ), which is why doing this may be confusing. TYPED_TEST(QuaternionTests, InitializeFromVector4) { typedef typename TestFixture::Quaternion Quaternion; typedef typename TestFixture::Scalar T; Eigen::Matrix vector4; vector4 << 1.1f, 1.2f, 1.3f, 1.4f; // Note: this initializes the quaternion from the vector in the **XYZW** order (not WXYZ!) Quaternion quaternion(vector4); EXPECT_NEAR(1.1, quaternion.x(), 1e-6) << "X wasn't properly initialized."; EXPECT_NEAR(1.2, quaternion.y(), 1e-6) << "Y wasn't properly initialized."; EXPECT_NEAR(1.3, quaternion.z(), 1e-6) << "Z wasn't properly initialized."; EXPECT_NEAR(1.4, quaternion.w(), 1e-6) << "W wasn't properly initialized."; } /// Test initializing from a float array. /// The order of components is XYZW (not WXYZ), which is why doing this may be confusing. TYPED_TEST(QuaternionTests, InitializeFromArray) { typedef typename TestFixture::Quaternion Quaternion; typedef typename TestFixture::Scalar T; Quaternion quaternion(T(3.4), T(0.1), T(1.2), T(2.3)); EXPECT_NEAR(0.1, quaternion.x(), 1e-6) << "X wasn't properly initialized."; EXPECT_NEAR(1.2, quaternion.y(), 1e-6) << "Y wasn't properly initialized."; EXPECT_NEAR(2.3, quaternion.z(), 1e-6) << "Z wasn't properly initialized."; EXPECT_NEAR(3.4, quaternion.w(), 1e-6) << "W wasn't properly initialized."; } /// Test getting an identity value usable in expressions. TYPED_TEST(QuaternionTests, IdentityValue) { typedef typename TestFixture::Quaternion Quaternion; Quaternion quaternion = Quaternion::Identity(); EXPECT_NEAR(1.0, quaternion.w(), 1e-6) << "W wasn't properly initialized."; EXPECT_NEAR(0.0, quaternion.x(), 1e-6) << "X wasn't properly initialized."; EXPECT_NEAR(0.0, quaternion.y(), 1e-6) << "Y wasn't properly initialized."; EXPECT_NEAR(0.0, quaternion.z(), 1e-6) << "Z wasn't properly initialized."; } /// Test setting quaternions to identity. TYPED_TEST(QuaternionTests, SetToIdentity) { typedef typename TestFixture::Quaternion Quaternion; Quaternion quaternion; quaternion.setIdentity(); EXPECT_NEAR(1.0, quaternion.w(), 1e-6) << "W wasn't properly initialized."; EXPECT_NEAR(0.0, quaternion.x(), 1e-6) << "X wasn't properly initialized."; EXPECT_NEAR(0.0, quaternion.y(), 1e-6) << "Y wasn't properly initialized."; EXPECT_NEAR(0.0, quaternion.z(), 1e-6) << "Z wasn't properly initialized."; } /// Test getting a zero value usable in expressions. /// Note: many "4D" operations are not defined on Eigen::Quaternion, but can be performed on quaternion.coeffs(). TYPED_TEST(QuaternionTests, ZeroValue) { typedef typename TestFixture::Quaternion Quaternion; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector4; // There is no Quaternion::Zero(), but you can do this: Quaternion quaternion = Quaternion(Vector4::Zero()); EXPECT_NEAR(0.0, quaternion.w(), 1e-6) << "W wasn't properly initialized."; EXPECT_NEAR(0.0, quaternion.x(), 1e-6) << "X wasn't properly initialized."; EXPECT_NEAR(0.0, quaternion.y(), 1e-6) << "Y wasn't properly initialized."; EXPECT_NEAR(0.0, quaternion.z(), 1e-6) << "Z wasn't properly initialized."; } /// Test setting quaternions to zero. /// Note: many "4D" operations are not defined on Eigen::Quaternion, but can be performed on quaternion.coeffs(). TYPED_TEST(QuaternionTests, SetToZero) { typedef typename TestFixture::Quaternion Quaternion; // There is no Quaternion::setZero(), but you can do this: Quaternion quaternion; quaternion.coeffs().setZero(); EXPECT_NEAR(0.0, quaternion.w(), 1e-6) << "W wasn't properly initialized."; EXPECT_NEAR(0.0, quaternion.x(), 1e-6) << "X wasn't properly initialized."; EXPECT_NEAR(0.0, quaternion.y(), 1e-6) << "Y wasn't properly initialized."; EXPECT_NEAR(0.0, quaternion.z(), 1e-6) << "Z wasn't properly initialized."; } // Test conversion to and from yaml node TYPED_TEST(QuaternionTests, YamlConvert) { typedef typename TestFixture::AngleAxis AngleAxis; typedef typename TestFixture::Quaternion Quaternion; typedef typename TestFixture::Scalar T; Quaternion quaternion(T(0.1), T(1.2), T(2.3), T(3.4)); YAML::Node node; ASSERT_NO_THROW(node = quaternion); EXPECT_TRUE(node.IsSequence()); EXPECT_EQ(4u, node.size()); ASSERT_NO_THROW({Quaternion expected = node.as();}); EXPECT_TRUE(quaternion.isApprox(node.as())); // test decoding from AngleAxis AngleAxis angleAxis; angleAxis.angle() = T(0.1); angleAxis.axis()[0] = T(0.1); angleAxis.axis()[1] = T(1.2); angleAxis.axis()[2] = T(2.3); YAML::Node angleAxisNode = YAML::convert::encode(angleAxis); EXPECT_TRUE(Quaternion(angleAxis).isApprox(angleAxisNode.as())); } // ==================== REPRESENTATION CONVERSIONS ==================== /// Test setting quaternions from an angle/axis rotation. TYPED_TEST(QuaternionTests, FromAngleAxis) { typedef typename TestFixture::Quaternion Quaternion; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector3; T angle = 1.6f; Vector3 axis = Vector3(1.f, 2.f, 3.f).normalized(); using SurgSim::Math::makeRotationQuaternion; Quaternion quaternion = makeRotationQuaternion(angle, axis); EXPECT_NEAR(std::cos(angle / 2.0f), quaternion.w(), 1e-6) << "W wasn't properly initialized."; EXPECT_NEAR(axis.x() * std::sin(angle / 2.0f), quaternion.x(), 1e-6) << "X wasn't properly initialized."; EXPECT_NEAR(axis.y() * std::sin(angle / 2.0f), quaternion.y(), 1e-6) << "X wasn't properly initialized."; EXPECT_NEAR(axis.z() * std::sin(angle / 2.0f), quaternion.z(), 1e-6) << "X wasn't properly initialized."; } template void testAngleAxis(const Eigen::Quaternion& q, const Eigen::AngleAxis& expectedAA, bool expectNegatedQuatOppositeAxis = false) { using SurgSim::Math::computeAngleAndAxis; using SurgSim::Math::computeAngle; Eigen::Matrix axis, axisNeg; T angle, angleNeg; computeAngleAndAxis(q, &angle, &axis); EXPECT_NEAR(expectedAA.angle(), angle, 1e-6) << "angle wasn't properly computed."; EXPECT_NEAR(expectedAA.axis()[0], axis.x(), 1e-6) << "X wasn't properly computed."; EXPECT_NEAR(expectedAA.axis()[1], axis.y(), 1e-6) << "Y wasn't properly computed."; EXPECT_NEAR(expectedAA.axis()[2], axis.z(), 1e-6) << "Y wasn't properly computed."; EXPECT_NEAR(expectedAA.angle(), computeAngle(q), 1e-6) << "angle wasn't properly computed by computeAngle()."; Eigen::Quaternion qNeg = SurgSim::Math::negate(q); computeAngleAndAxis(qNeg, &angleNeg, &axisNeg); EXPECT_NEAR(angle, angleNeg, 1e-6) << "angle wasn't properly computed."; if (expectNegatedQuatOppositeAxis) { EXPECT_NEAR(-axis.x(), axisNeg.x(), 1e-6) << "X wasn't properly computed."; EXPECT_NEAR(-axis.y(), axisNeg.y(), 1e-6) << "Y wasn't properly computed."; EXPECT_NEAR(-axis.z(), axisNeg.z(), 1e-6) << "Y wasn't properly computed."; } else { EXPECT_NEAR(axis.x(), axisNeg.x(), 1e-6) << "X wasn't properly computed."; EXPECT_NEAR(axis.y(), axisNeg.y(), 1e-6) << "Y wasn't properly computed."; EXPECT_NEAR(axis.z(), axisNeg.z(), 1e-6) << "Y wasn't properly computed."; } } /// Test extracting an angle/axis rotation from a quaternion. TYPED_TEST(QuaternionTests, ToAngleAxis) { using SurgSim::Math::makeRotationQuaternion; using SurgSim::Math::computeAngleAndAxis; using SurgSim::Math::computeAngle; typedef typename TestFixture::AngleAxis AngleAxis; typedef typename TestFixture::Quaternion Quaternion; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector3; Vector3 axis(T(1.0), T(2.0), T(3.0)); AngleAxis expectedAA; T angle; axis.normalize(); // Angle 0 in [0 pi] angle = T(0); // Expected result: 0 (to be in [0 pi]), same axis (same quaternion) { SCOPED_TRACE("Angle = 0"); Quaternion quaternion = makeRotationQuaternion(angle, axis); // q=(1 0 0 0) expectedAA.angle() = angle; expectedAA.axis() = Vector3(1, 0, 0); testAngleAxis(quaternion, expectedAA); } // Angle pi/2 in [0 pi] angle = T(M_PI_2); // Expected result: pi/2 (to be in [0 pi]), same axis (same quaternion) { SCOPED_TRACE("Angle = PI/2"); Quaternion quaternion = makeRotationQuaternion(angle, axis); expectedAA.angle() = angle; expectedAA.axis() = axis; testAngleAxis(quaternion, expectedAA); } // Angle pi-epsilon in [0 pi] // => cos(angle/2) = +epsilon' angle = T(2) * acos(std::numeric_limits::epsilon()); // Expected result: pi-epsilon (to be in [0 pi]), same axis (same quaternion) { SCOPED_TRACE("Angle = PI-epsilon"); Quaternion quaternion = makeRotationQuaternion(angle, axis); expectedAA.angle() = angle; expectedAA.axis() = axis; testAngleAxis(quaternion, expectedAA); } // Angle pi angle = T(M_PI); // Expected result: pi (to be in [0 pi]), same axis (same quaternion) // For negated quaternion, we expected angle=pi and opposite axis // Quaternion with w=0 are the only one for which q and -q will give different rotation axis { SCOPED_TRACE("Angle = PI"); // Calling makeRotationQuaternion(M_PI, axis) will not set w to 0 (=cos(PI/2)) because of numerical error // So we set it manually to force the test Quaternion quaternion; quaternion.w() = T(0); quaternion.x() = axis[0]; quaternion.y() = axis[1]; quaternion.z() = axis[2]; expectedAA.angle() = angle; expectedAA.axis() = axis; testAngleAxis(quaternion, expectedAA, true); } // Angle pi+epsilon in [pi 2pi] // => cos(angle/2) = -epsilon' angle = T(2) * acos(-std::numeric_limits::epsilon()); // Expected result: -(pi+epsilon-2pi) (to be in [0 pi]), opposite axis (modulo 2pi + opposite quaternion) { SCOPED_TRACE("Angle = PI+epsilon"); Quaternion quaternion = makeRotationQuaternion(angle, axis); expectedAA.angle() = T(2) * T(M_PI) - angle; expectedAA.axis() = -axis; testAngleAxis(quaternion, expectedAA); } // Angle in [-2pi -pi] angle = T(-3.56); // Expected result: angle+2PI (to be in [0 pi]), same axis (modulo 2pi + same quaternion) { SCOPED_TRACE("Angle in [-2PI -PI]"); Quaternion quaternion = makeRotationQuaternion(angle, axis); expectedAA.angle() = angle + (T)2.0 * T(M_PI); expectedAA.axis() = axis; testAngleAxis(quaternion, expectedAA); } // Angle in [-pi 0] angle = T(-2.12); // Expected result: Opposite angle (to be in [0 pi]), opposite axis (opposite quaternion) { SCOPED_TRACE("Angle in [-PI 0]"); Quaternion quaternion = makeRotationQuaternion(angle, axis); expectedAA.angle() = -angle; expectedAA.axis() = -axis; testAngleAxis(quaternion, expectedAA); } // Angle in [0 pi] angle = T(0.34); // Expected result: Same angle (already in [0 pi]), same axis (same quaternion) { SCOPED_TRACE("Angle in [0 PI]"); Quaternion quaternion = makeRotationQuaternion(angle, axis); expectedAA.angle() = angle; expectedAA.axis() = axis; testAngleAxis(quaternion, expectedAA); } // Angle in [pi, 2pi] angle = T(4.73); // Expected result: -(angle-2PI) to be in [0, pi], opposite axis (modulo 2pi + opposite quaternion) { SCOPED_TRACE("Angle in [PI 2PI]"); Quaternion quaternion = makeRotationQuaternion(angle, axis); expectedAA.angle() = -angle + T(2) * T(M_PI); expectedAA.axis() = -axis; testAngleAxis(quaternion, expectedAA); } } /// Test setting a quaternion from a matrix. TYPED_TEST(QuaternionTests, FromMatrix) { typedef typename TestFixture::Quaternion Quaternion; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Matrix33; T angle = 0.1f; T sinAngle = std::sin(angle); T cosAngle = std::cos(angle); Matrix33 matrix; matrix << cosAngle, -sinAngle, 0, sinAngle, cosAngle, 0, 0, 0, 1; Quaternion quaternion(matrix); EXPECT_NEAR(std::cos(angle / 2), quaternion.w(), 1e-6) << "W wasn't properly computed."; EXPECT_NEAR(0, quaternion.x(), 1e-6) << "X wasn't properly computed."; EXPECT_NEAR(0, quaternion.y(), 1e-6) << "Y wasn't properly computed."; EXPECT_NEAR(std::sin(angle / 2), quaternion.z(), 1e-6) << "Z wasn't properly computed."; } /// Test setting a matrix from a quaternion. TYPED_TEST(QuaternionTests, ToMatrix) { typedef typename TestFixture::Quaternion Quaternion; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Matrix33; T angle = 0.1f; Quaternion quaternion(std::cos(angle / 2), 0, 0, std::sin(angle / 2)); Matrix33 expectedMatrix; T sinAngle = std::sin(angle); T cosAngle = std::cos(angle); expectedMatrix << cosAngle, -sinAngle, 0, sinAngle, cosAngle, 0, 0, 0, 1; Matrix33 matrix1 = quaternion.matrix(); EXPECT_NEAR(0, (matrix1 - expectedMatrix).norm(), 9e-6) << "The rotation matrix wasn't properly computed" << " by matrix()."; Matrix33 matrix2 = quaternion.toRotationMatrix(); EXPECT_NEAR(0, (matrix2 - expectedMatrix).norm(), 9e-6) << "The rotation matrix wasn't properly computed" << " by toRotationMatrix()."; } // ==================== ARITHMETIC ==================== /// Test quaternion conjugate. TYPED_TEST(QuaternionTests, Conjugate) { typedef typename TestFixture::Quaternion Quaternion; Quaternion q(2.1f, 2.2f, 2.3f, 2.4f); Quaternion n = q.conjugate(); EXPECT_NEAR(2.1, n.w(), 1e-6) << "W wasn't properly initialized."; EXPECT_NEAR(-2.2, n.x(), 1e-6) << "X wasn't properly initialized."; EXPECT_NEAR(-2.3, n.y(), 1e-6) << "Y wasn't properly initialized."; EXPECT_NEAR(-2.4, n.z(), 1e-6) << "Z wasn't properly initialized."; } /// Test quaternion inverse. TYPED_TEST(QuaternionTests, Inverse) { typedef typename TestFixture::Quaternion Quaternion; typedef typename TestFixture::Scalar T; Quaternion q(2.1f, 2.2f, 2.3f, 2.4f); Quaternion n = q.inverse(); T scale = q.squaredNorm(); EXPECT_NEAR(2.1 / scale, n.w(), 1e-6) << "W wasn't properly initialized."; EXPECT_NEAR(-2.2 / scale, n.x(), 1e-6) << "X wasn't properly initialized."; EXPECT_NEAR(-2.3 / scale, n.y(), 1e-6) << "Y wasn't properly initialized."; EXPECT_NEAR(-2.4 / scale, n.z(), 1e-6) << "Z wasn't properly initialized."; Quaternion qn = q * n; EXPECT_NEAR(1.0, qn.w(), 1e-6) << "W of q * q^1 is messed up."; EXPECT_NEAR(0.0, qn.x(), 1e-6) << "X of q * q^1 is messed up."; EXPECT_NEAR(0.0, qn.y(), 1e-6) << "Y of q * q^1 is messed up."; EXPECT_NEAR(0.0, qn.z(), 1e-6) << "Z of q * q^1 is messed up."; Quaternion nq = n * q; EXPECT_NEAR(1.0, nq.w(), 1e-6) << "W of q^1 * q is messed up."; EXPECT_NEAR(0.0, nq.x(), 1e-6) << "X of q^1 * q is messed up."; EXPECT_NEAR(0.0, nq.y(), 1e-6) << "Y of q^1 * q is messed up."; EXPECT_NEAR(0.0, nq.z(), 1e-6) << "Z of q^1 * q is messed up."; } /// Test quaternion rotation of vectors. TYPED_TEST(QuaternionTests, ApplyToVector) { typedef typename TestFixture::Quaternion Quaternion; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector; using SurgSim::Math::makeRotationQuaternion; Quaternion q = makeRotationQuaternion(static_cast(M_PI_2), Vector(1, 0, 0)); // You can use this, which is actually more efficient if you can manage to apply the same matrix more than once: Vector qx = q.matrix() * Vector::UnitX(); EXPECT_TRUE(qx.isApprox(Vector::UnitX(), 1e-6f)) << qx; // ...or this, which clearly isn't very recommended by the API designers: Vector qx2 = q._transformVector(Vector::UnitX()); EXPECT_TRUE(qx2.isApprox(Vector::UnitX(), 1e-6f)) << qx2; Vector qy = q.matrix() * Vector::UnitY(); EXPECT_TRUE(qy.isApprox(Vector::UnitZ(), 1e-6f)) << qy; Vector qz = q.matrix() * Vector::UnitZ(); EXPECT_TRUE(qz.isApprox(-Vector::UnitY(), 1e-6f)) << qz; } /// Quaternion norm and its square. TYPED_TEST(QuaternionTests, NormAndSquared) { typedef typename TestFixture::Quaternion Quaternion; Quaternion q(3.1f, 3.4f, 3.7f, 4.0f); // sum of the squares of the components double expectedSumSquares = 50.86; EXPECT_NEAR(expectedSumSquares, q.squaredNorm(), 1e-6); EXPECT_NEAR(sqrt(expectedSumSquares), q.norm(), 1e-6); } /// Normalization of quaternions. TYPED_TEST(QuaternionTests, Normalize) { typedef typename TestFixture::Quaternion Quaternion; Quaternion q(3.1f, 3.4f, 3.7f, 4.0f); // sum of the squares of the components double expectedSumSquares = 50.86; EXPECT_NEAR(sqrt(expectedSumSquares), q.norm(), 1e-6); // normalized() RETURNS the normalized quaternion, leaving original unchanged. Quaternion qNorm = q.normalized(); EXPECT_NEAR(1, qNorm.norm(), 1e-6); EXPECT_NEAR(sqrt(expectedSumSquares), q.norm(), 1e-6); // normalize() NORMALIZES the quaternion, modifying it. q.normalize(); EXPECT_NEAR(1, q.norm(), 1e-6); EXPECT_NEAR(0, (qNorm.coeffs() - q.coeffs()).norm(), 1e-6); } // ==================== TYPE CONVERSION ==================== /// Typecasting quaternions (double <-> float conversions). TYPED_TEST(QuaternionTests, TypeCasting) { typedef typename TestFixture::Quaternion Quaternion; typedef Eigen::Quaternion Quaterniond; typedef Eigen::Quaternion Quaternionf; Quaternion q(12.1f, 12.2f, 12.3f, 12.4f); // Ugh, "template" is required to get this to parse properly. This is // triggered because the test is a part of a template class; you don't // need to do this in a non-template context. Quaterniond qd = q.template cast(); EXPECT_NEAR(q.norm(), qd.norm(), 1e-6); Quaternionf qf = q.template cast(); EXPECT_NEAR(q.norm(), qf.norm(), 1e-4); } // ==================== MISCELLANEOUS ==================== /// Reading from and writing to arrays or blocks of double/float in memory. TYPED_TEST(QuaternionTests, ArrayReadWrite) { typedef typename TestFixture::Quaternion Quaternion; typedef typename TestFixture::Scalar T; const T inputArray[5] = { 12.1f, 12.2f, 12.3f, 12.4f, 12.5f }; T outputArray[5]; // Note that with the current versions of Eigen, you CANNOT say this: // Eigen::Map q(array); // because you can't map Eigen::Quaternion with non-zero flags! // But mapping a default (AutoAlign) quaternion should be safe even if the buffer is not aligned. Eigen::Map > q_in(inputArray); Quaternion q1 = q_in; Eigen::Map > q_out(outputArray); q_out = q1; for (int i = 0; i < 4; ++i) { EXPECT_NEAR(inputArray[i], outputArray[i], 1e-6); } } /// Test quaternion negation. TYPED_TEST(QuaternionTests, Negate) { using SurgSim::Math::negate; typedef typename TestFixture::Scalar T; typedef Eigen::Quaternion Quaternion; // Test that 2 quaternions are opposite if they are not equal but give the same rotation for (size_t numLoop = 0; numLoop < 100; numLoop++) { Quaternion q(Eigen::Matrix::Random()); q.normalize(); Quaternion qNeg = negate(q); EXPECT_FALSE(q.isApprox(qNeg)); typename Quaternion::Matrix3 m = q.toRotationMatrix(); typename Quaternion::Matrix3 mNeg = qNeg.toRotationMatrix(); EXPECT_TRUE(m.isApprox(mNeg)); } } // ==================== SLERP ==================== /// Test quaternion interpolation. TYPED_TEST(QuaternionTests, SlerpInterpolation) { using SurgSim::Math::negate; typedef typename TestFixture::Scalar T; typedef Eigen::Quaternion Quaternion; for (size_t numLoop = 0; numLoop < 100; numLoop++) { Quaternion q; Quaternion q0(Eigen::Matrix::Random()); Quaternion q1(Eigen::Matrix::Random()); q0.normalize(); q1.normalize(); q = SurgSim::Math::interpolate(q0, q1, static_cast(0.0)); EXPECT_TRUE(q.isApprox(q0) || q.isApprox(negate(q0))); q = SurgSim::Math::interpolate(q0, q1, static_cast(1.0)); EXPECT_TRUE(q.isApprox(q1) || q.isApprox(negate(q1))); q = SurgSim::Math::interpolate(q0, q1, static_cast(0.234)); EXPECT_FALSE(q.isApprox(q0) || q.isApprox(negate(q0))); EXPECT_FALSE(q.isApprox(q1) || q.isApprox(negate(q1))); q = SurgSim::Math::interpolate(q0, q1, static_cast(0.5)); EXPECT_FALSE(q.isApprox(q0) || q.isApprox(negate(q0))); EXPECT_FALSE(q.isApprox(q1) || q.isApprox(negate(q1))); // At t=0.5, the interpolation should return (q0 + q1)/2 normalized // c.f. http://en.wikipedia.org/wiki/Slerp // If the quaternions are over PI angle, the slerp will interpolate between q0 and -q1 // in this case, the interpolation is (q0 - q1)/2 normalized // From our specification, both quaternions could be considered negative, so we extend // the tests to these possibilities as well: // (-q0 + q1) / 2 normalized // (-q0 - q1) / 2 normalized Quaternion qHalf0((q0.coeffs() + q1.coeffs()) * 0.5); Quaternion qHalf1((q0.coeffs() - q1.coeffs()) * 0.5); Quaternion qHalf2((-q0.coeffs() + q1.coeffs()) * 0.5); Quaternion qHalf3((-q0.coeffs() - q1.coeffs()) * 0.5); qHalf0.normalize(); qHalf1.normalize(); qHalf2.normalize(); qHalf3.normalize(); EXPECT_TRUE(q.isApprox(qHalf0) || q.isApprox(qHalf1) || q.isApprox(qHalf2) || q.isApprox(qHalf3)); q = SurgSim::Math::interpolate(q0, q1, static_cast(0.874)); EXPECT_FALSE(q.isApprox(q0) || q.isApprox(negate(q0))); EXPECT_FALSE(q.isApprox(q1) || q.isApprox(negate(q1))); } } // TO DO: // testing numerical validity // testing for denormalized numbers // testing degeneracy (norm near 0) // compute an orthonormal frame based on a given normal (z-axis) // Euler angles (various conventions) // power/slerp opensurgsim-0.7.0/SurgSim/Math/UnitTests/RigidTransformTests.cpp000066400000000000000000000145101277777236100250220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests that exercise the functionality of our rigid transform typedefs, which /// come straight from Eigen. #include #include #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/MathConvert.h" #include "gtest/gtest.h" template class RigidTransformTestBase : public testing::Test { public: typedef T RigidTransform; typedef typename T::Scalar Scalar; }; template class RigidTransform3Tests : public RigidTransformTestBase { }; typedef ::testing::Types RigidTransform3Variants; TYPED_TEST_CASE(RigidTransform3Tests, RigidTransform3Variants); template class AllRigidTransformTests : public RigidTransformTestBase { }; typedef ::testing::Types AllRigidTransformVariants; TYPED_TEST_CASE(AllRigidTransformTests, AllRigidTransformVariants); /// Test that rigid transforms can be constructed TYPED_TEST(AllRigidTransformTests, CanConstruct) { typename TestFixture::RigidTransform transform; } /// Test rigid transforms interpolation TYPED_TEST(AllRigidTransformTests, Interpolation) { using SurgSim::Math::makeRigidTransform; typedef typename TestFixture::Scalar T; typedef Eigen::Quaternion Quaternion; typedef Eigen::Transform Transform; typedef Eigen::Matrix Vector3; for (size_t numLoop = 0; numLoop < 100; numLoop++) { Quaternion q0(Eigen::Matrix::Random()); Quaternion q1(Eigen::Matrix::Random()); q0.normalize(); q1.normalize(); Vector3 t0(Vector3::Random()); Vector3 t1(Vector3::Random()); Transform transform0 = makeRigidTransform(q0, t0); Transform transform1 = makeRigidTransform(q1, t1); { Transform transform = SurgSim::Math::interpolate(transform0, transform1, static_cast(0.0)); EXPECT_TRUE(transform.isApprox(transform0)); } { Transform transform = SurgSim::Math::interpolate(transform0, transform1, static_cast(1.0)); EXPECT_TRUE(transform.isApprox(transform1)); } { Transform transform = SurgSim::Math::interpolate(transform0, transform1, static_cast(0.234)); EXPECT_FALSE(transform.isApprox(transform0)); EXPECT_FALSE(transform.isApprox(transform1)); } { Transform transform = SurgSim::Math::interpolate(transform0, transform1, static_cast(0.5)); EXPECT_FALSE(transform.isApprox(transform0)); EXPECT_FALSE(transform.isApprox(transform1)); // At t=0.5, the rotation interpolation should return (q0 + q1)/2 normalized // c.f. http://en.wikipedia.org/wiki/Slerp // If the quaternions are over PI angle, the slerp will interpolate between q0 and -q1 // in this case, the interpolation is (q0 - q1)/2 normalized // From our specification, both quaternions could be considered negative, so we extend // the tests to these possibilities as well: // (-q0 + q1) / 2 normalized // (-q0 - q1) / 2 normalized Quaternion qHalf0((q0.coeffs() + q1.coeffs()) * 0.5); Quaternion qHalf1((q0.coeffs() - q1.coeffs()) * 0.5); Quaternion qHalf2((-q0.coeffs() + q1.coeffs()) * 0.5); Quaternion qHalf3((-q0.coeffs() - q1.coeffs()) * 0.5); qHalf0.normalize(); qHalf1.normalize(); qHalf2.normalize(); qHalf3.normalize(); Vector3 tHalf = (t0 + t1) * 0.5; Transform transformHalf0 = makeRigidTransform(qHalf0, tHalf); Transform transformHalf1 = makeRigidTransform(qHalf1, tHalf); Transform transformHalf2 = makeRigidTransform(qHalf2, tHalf); Transform transformHalf3 = makeRigidTransform(qHalf3, tHalf); EXPECT_TRUE(transform.isApprox(transformHalf0) || transform.isApprox(transformHalf1) || transform.isApprox(transformHalf2) || transform.isApprox(transformHalf3)); } { Transform transform = SurgSim::Math::interpolate(transform0, transform1, static_cast(0.839)); EXPECT_FALSE(transform.isApprox(transform0)); EXPECT_FALSE(transform.isApprox(transform1)); } } } TYPED_TEST(AllRigidTransformTests, MakeLookAt) { typedef typename TestFixture::Scalar T; typedef Eigen::Transform Transform; typedef Eigen::Matrix Vector3; typedef Eigen::Matrix Vector4; Vector3 origin(0.0, 0.0, 0.0); Vector3 eye(10.0, 10.0, 10.0); Vector3 up(0.0, 1.0, 0.0); Vector4 center4(0.0, 0.0, 0.0, 1.0); // This follows the OpenGl convention for the camera view matrix transform, any axis would do see // the documentation for makeRigidTransform and gluLookAt() Vector4 direction4(0.0, 0.0, -1.0, 1.0); Vector4 eye4(10.0, 10.0, 10.0, 1.0); Transform transform = SurgSim::Math::makeRigidTransform(eye, origin, up); EXPECT_TRUE(eye4.isApprox(transform * center4)); Vector4 transformed = transform * direction4; Vector3 direction3(transformed[0], transformed[1], transformed[2]); EXPECT_TRUE(eye.normalized().isApprox(direction3.normalized())); } // Test conversion to and from yaml node TYPED_TEST(AllRigidTransformTests, YamlConvert) { using SurgSim::Math::makeRigidTransform; typedef typename TestFixture::Scalar T; typedef Eigen::Quaternion Quaternion; typedef Eigen::Transform Transform; typedef Eigen::Matrix Vector3; const T inputValues[4] = {1.1f, 2.2f, 3.3f, 4.4f}; Quaternion quaternion(inputValues); quaternion.normalize(); Vector3 translation(inputValues); Transform transform = makeRigidTransform(quaternion, translation); YAML::Node node; ASSERT_NO_THROW(node = transform); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(2, node.size()); Transform expected; ASSERT_NO_THROW(expected = node.as()); EXPECT_TRUE(transform.isApprox(expected)); }opensurgsim-0.7.0/SurgSim/Math/UnitTests/ScalarTests.cpp000066400000000000000000000117141277777236100233000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the Scalar functions. #include #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Scalar.h" namespace SurgSim { namespace Math { class ScalarTests : public ::testing::Test {}; TEST(ScalarTests, TwoEntriesTests) { int minInt = 7; int maxInt = 52; int valueInt; int epsilonInt = 5; float minFloat = 7.0; float maxFloat = 52.0; float valueFloat; float epsilonFloat = 5.0; double minDouble = 7.0; double maxDouble = 52.0; double valueDouble; double epsilonDouble = 5.0; { SCOPED_TRACE("Test < minimum"); valueInt = 6; EXPECT_EQ(minInt, Math::clamp(valueInt, minInt, maxInt, epsilonInt)); valueFloat = 6.0; EXPECT_FLOAT_EQ(minFloat, Math::clamp(valueFloat, minFloat, maxFloat, epsilonFloat)); valueDouble = 6.0; EXPECT_DOUBLE_EQ(minDouble, Math::clamp(valueDouble, minDouble, maxDouble, epsilonDouble)); } { SCOPED_TRACE("Test value = minimum + epsilon"); valueInt = 12; EXPECT_EQ(minInt, Math::clamp(valueInt, minInt, maxInt, epsilonInt)); valueFloat = 12.0; EXPECT_FLOAT_EQ(minFloat, Math::clamp(valueFloat, minFloat, maxFloat, epsilonFloat)); valueDouble = 12.0; EXPECT_DOUBLE_EQ(minDouble, Math::clamp(valueDouble, minDouble, maxDouble, epsilonDouble)); } { SCOPED_TRACE("Test value > minimum + epsilon"); valueInt = 13; EXPECT_EQ(13, Math::clamp(valueInt, minInt, maxInt, epsilonInt)); valueFloat = static_cast(12.0 + 1.0e-04); EXPECT_FLOAT_EQ(static_cast(12.0 + 1.0e-04), Math::clamp(valueFloat, minFloat, maxFloat, epsilonFloat)); valueDouble = 12.0 + 1.0e-12; EXPECT_DOUBLE_EQ(12.0 + 1.0e-12, Math::clamp(valueDouble, minDouble, maxDouble, epsilonDouble)); } { SCOPED_TRACE("Test > maximum"); valueInt = 54; EXPECT_EQ(maxInt, Math::clamp(valueInt, minInt, maxInt, epsilonInt)); valueFloat = 54.0; EXPECT_FLOAT_EQ(maxFloat, Math::clamp(valueFloat, minFloat, maxFloat, epsilonFloat)); valueDouble = 54.0; EXPECT_DOUBLE_EQ(maxDouble, Math::clamp(valueDouble, minDouble, maxDouble, epsilonDouble)); } { SCOPED_TRACE("Test value = maximum - epsilon"); valueInt = 47; EXPECT_EQ(maxInt, Math::clamp(valueInt, minInt, maxInt, epsilonInt)); valueFloat = 47.0; EXPECT_FLOAT_EQ(maxFloat, Math::clamp(valueFloat, minFloat, maxFloat, epsilonFloat)); valueDouble = 47.0; EXPECT_DOUBLE_EQ(maxDouble, Math::clamp(valueDouble, minDouble, maxDouble, epsilonDouble)); } { SCOPED_TRACE("Test value < maximum - epsilon"); valueInt = 46; EXPECT_EQ(46, Math::clamp(valueInt, minInt, maxInt, epsilonInt)); valueFloat = static_cast(47.0 - 1.0e-04); EXPECT_FLOAT_EQ(static_cast(47.0 - 1.0e-04), Math::clamp(valueFloat, minFloat, maxFloat, epsilonFloat)); valueDouble = 47.0 - 1.0e-12; EXPECT_DOUBLE_EQ(47.0 - 1.0e-12, Math::clamp(valueDouble, minDouble, maxDouble, epsilonDouble)); } { SCOPED_TRACE("Test maximum - epsilon < value > minimum + epsilon "); valueInt = 36; epsilonInt = 30; EXPECT_EQ(maxInt, Math::clamp(valueInt, minInt, maxInt, epsilonInt)); valueFloat = 36.0; epsilonFloat = 30; EXPECT_FLOAT_EQ(maxFloat, Math::clamp(valueFloat, minFloat, maxFloat, epsilonFloat)); valueDouble = 36.0; epsilonDouble = 30.0; EXPECT_DOUBLE_EQ(maxDouble, Math::clamp(valueDouble, minDouble, maxDouble, epsilonDouble)); } { SCOPED_TRACE("Test matrix implementation for all cases "); Math::Matrix33d m1 = Math::Matrix33d::Zero(); m1(0, 0) = 12.0; m1(0, 1) = 6.0; m1(0, 2) = 12.0 + 1.0e-12; m1(1, 0) = 54.0; m1(1, 1) = 47.0; m1(1, 2) = 47.0 - 1.0e-12; m1(2, 0) = 36.0; Math::Matrix33d backup = m1; double epsilonDouble = 5.0; Math::Matrix33d result = m1.unaryExpr(clampOperator(minDouble, maxDouble, epsilonDouble)); for (size_t row = 0; row < 3; ++row) { for (size_t column = 0; column < 3; ++column) { EXPECT_DOUBLE_EQ(Math::clamp(backup.coeffRef(row, column), minDouble, maxDouble, epsilonDouble), result.coeff(row, column)); } } epsilonDouble = 30.0; result = m1.unaryExpr(clampOperator(minDouble, maxDouble, epsilonDouble)); for (size_t row = 0; row < 3; ++row) { for (size_t column = 0; column < 3; ++column) { EXPECT_DOUBLE_EQ(Math::clamp(backup.coeffRef(row, column), minDouble, maxDouble, epsilonDouble), result.coeff(row, column)); } } } }; }; // namespace Math }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Math/UnitTests/SegmentMeshShapeTests.cpp000066400000000000000000000113721277777236100252730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/DataStructures/AabbTree.h" #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/Aabb.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/SegmentMeshShape.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::EmptyData; using SurgSim::DataStructures::SegmentMeshPlain; using SurgSim::Math::Matrix33d; using SurgSim::Math::SegmentMeshShape; using SurgSim::Math::Quaterniond; using SurgSim::Math::Vector3d; class SegmentMeshShapeTest : public ::testing::Test { public: std::shared_ptr build(const Vector3d& start, const Vector3d& direction, size_t numVertices = 10) const { auto mesh = std::make_shared(); // Add the vertices for (size_t i = 0; i < numVertices; ++i) { mesh->addVertex(SegmentMeshPlain::VertexType(start + direction * static_cast(i))); } // Define the edges for (size_t i = 0; i < numVertices - 1; ++i) { std::array indices = {{i, i + 1}}; mesh->addEdge(SegmentMeshPlain::EdgeType(indices)); } return mesh; } }; TEST_F(SegmentMeshShapeTest, EmptyMeshTest) { SegmentMeshPlain emptyMesh; EXPECT_NO_THROW(SurgSim::Math::SegmentMeshShape(emptyMesh, 1.0)); } TEST_F(SegmentMeshShapeTest, MeshTypeTest) { SegmentMeshPlain emptyMesh; SurgSim::Math::SegmentMeshShape segmentShape(emptyMesh, 1.0); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_SEGMENTMESH, segmentShape.getType()); } TEST_F(SegmentMeshShapeTest, ValidTest) { SegmentMeshPlain emptyMesh; SurgSim::Math::SegmentMeshShape shape(emptyMesh, 1.0); EXPECT_TRUE(shape.isValid()); shape.setRadius(SurgSim::Math::Geometry::DistanceEpsilon / 2.0); EXPECT_FALSE(shape.isValid()); EXPECT_TRUE(shape.isTransformable()); } TEST_F(SegmentMeshShapeTest, AabbTest) { std::shared_ptr mesh = build(Vector3d(-10.0, -10.0, -10.0), Vector3d(10.0, 10.0, 10.0), 3); std::shared_ptr shape = std::make_shared(*mesh, 3.0); SurgSim::Math::Aabbd expected(Vector3d(-13.0, -13.0, -13.0), Vector3d(13.0, 13.0, 13.0)); shape->update(); EXPECT_TRUE(expected.isApprox(shape->getAabbTree()->getAabb())); } TEST_F(SegmentMeshShapeTest, TransformTest) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; std::shared_ptr mesh = build(Vector3d(-10.0, -10.0, -10.0), Vector3d(10.0, 10.0, 10.0), 3); std::shared_ptr shape = std::make_shared(*mesh, 3.0); // Transform into a new mesh auto newShape = std::dynamic_pointer_cast(shape->getTransformed( makeRigidTransform(makeRotationQuaternion(M_PI_2, Vector3d(0.0, 1.0, 0.0)), Vector3d(0.0, 10.0, 0.0)))); EXPECT_TRUE(Vector3d(-10.0, 0.0, 10.0).isApprox(newShape->getVertex(0).position)); EXPECT_TRUE(Vector3d(0.0, 10.0, 0.0).isApprox(newShape->getVertex(1).position)); EXPECT_TRUE(Vector3d(10.0, 20.0, -10.0).isApprox(newShape->getVertex(2).position)); // Transform existing mesh mesh->transform( makeRigidTransform(makeRotationQuaternion(M_PI_2, Vector3d(0.0, 1.0, 0.0)), Vector3d(0.0, 10.0, 0.0))); // Verify EXPECT_TRUE(Vector3d(-10.0, 0.0, 10.0).isApprox(mesh->getVertex(0).position)); EXPECT_TRUE(Vector3d(0.0, 10.0, 0.0).isApprox(mesh->getVertex(1).position)); EXPECT_TRUE(Vector3d(10.0, 20.0, -10.0).isApprox(mesh->getVertex(2).position)); } TEST_F(SegmentMeshShapeTest, LoadShape) { auto mesh = std::make_shared(); SurgSim::Framework::ApplicationData data("config.txt"); mesh->load("segmentmesh.ply", data); ASSERT_EQ(4u, mesh->getNumVertices()); ASSERT_EQ(3u, mesh->getNumEdges()); auto edge = mesh->getEdge(0); ASSERT_EQ(0u, edge.verticesId[0]); ASSERT_EQ(1u, edge.verticesId[1]); edge = mesh->getEdge(1); ASSERT_EQ(1u, edge.verticesId[0]); ASSERT_EQ(2u, edge.verticesId[1]); edge = mesh->getEdge(2); ASSERT_EQ(2u, edge.verticesId[0]); ASSERT_EQ(3u, edge.verticesId[1]); EXPECT_DOUBLE_EQ(1.234, mesh->getRadius()); } opensurgsim-0.7.0/SurgSim/Math/UnitTests/ShapeTests.cpp000066400000000000000000000470221277777236100231340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Math/Shapes.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/DataStructures/OctreeNode.h" namespace { const double epsilon = 1e-10; } namespace SurgSim { namespace Math { class ShapeTest : public ::testing::Test { public: void SetUp() { m_rho = 9000.0; m_radius = 0.01; m_length = 0.1; m_size[0] = 0.1; m_size[1] = 0.2; m_size[2] = 0.3; } void TearDown() { } // Mass density double m_rho; // Radius (sphere/cylinder/capsule) double m_radius; // Length (cylinder/capsule) double m_length; // Size (box) double m_size[3]; }; TEST_F(ShapeTest, EncodeEmptyShapeTest) { std::shared_ptr shape; EXPECT_ANY_THROW(YAML::convert>::encode(shape)); } TEST_F(ShapeTest, SphereSerializationTest) { { YAML::Node node; node["SurgSim::Math::SphereShape"]["Radius"] = m_radius; std::shared_ptr shape; ASSERT_NO_THROW(shape = node.as>()); EXPECT_EQ("SurgSim::Math::SphereShape", shape->getClassName()); EXPECT_NEAR(m_radius, shape->getValue("Radius"), epsilon); EXPECT_TRUE(shape->isValid()); } { std::shared_ptr shape; ASSERT_NO_THROW(shape = Shape::getFactory().create("SurgSim::Math::SphereShape")); shape->setValue("Radius", m_radius); EXPECT_TRUE(shape->isValid()); YAML::Node node; ASSERT_NO_THROW(node = shape); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); ASSERT_TRUE(node["SurgSim::Math::SphereShape"].IsDefined()); auto data = node["SurgSim::Math::SphereShape"]; EXPECT_EQ(1u, data.size()); std::shared_ptr sphereShape; ASSERT_NO_THROW(sphereShape = std::dynamic_pointer_cast(node.as>())); EXPECT_EQ("SurgSim::Math::SphereShape", sphereShape->getClassName()); EXPECT_NEAR(m_radius, sphereShape->getValue("Radius"), epsilon); EXPECT_TRUE(sphereShape->isValid()); } } TEST_F(ShapeTest, Sphere) { ASSERT_NO_THROW(SphereShape sphere(m_radius)); { SphereShape invalidSphere(-0.1); EXPECT_FALSE(invalidSphere.isValid()); SphereShape sphere(0.1); EXPECT_TRUE(sphere.isValid()); } SphereShape sphere(m_radius); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_SPHERE, sphere.getType()); EXPECT_NEAR(m_radius, sphere.getRadius(), epsilon); const double& r = m_radius; const double r2 = r * r; double expectedVolume = 4.0 / 3.0 * M_PI * (r2 * r); double expectedMass = m_rho * expectedVolume; double coef = 2.0 / 5.0 * expectedMass * r2; Matrix33d expectedInertia; expectedInertia << coef, 0.0, 0.0, 0.0, coef, 0.0, 0.0, 0.0, coef; double volume = sphere.getVolume(); Vector3d center = sphere.getCenter(); Matrix33d inertia = sphere.getSecondMomentOfVolume() * m_rho; Math::Aabbd aabb(Vector3d(-m_radius, -m_radius, -m_radius)); aabb.extend(Vector3d(m_radius, m_radius, m_radius)); EXPECT_NEAR(expectedVolume, volume, epsilon); EXPECT_TRUE(center.isZero()); EXPECT_TRUE(expectedInertia.isApprox(inertia)); EXPECT_TRUE(sphere.isValid()); EXPECT_FALSE(sphere.isTransformable()); EXPECT_TRUE(aabb.isApprox(sphere.getBoundingBox())); } TEST_F(ShapeTest, BoxSerializationTest) { { YAML::Node node; node["SurgSim::Math::BoxShape"]["SizeX"] = m_size[0]; node["SurgSim::Math::BoxShape"]["SizeY"] = m_size[1]; node["SurgSim::Math::BoxShape"]["SizeZ"] = m_size[2]; std::shared_ptr shape; ASSERT_NO_THROW(shape = node.as>()); EXPECT_EQ("SurgSim::Math::BoxShape", shape->getClassName()); EXPECT_NEAR(m_size[0], shape->getValue("SizeX"), epsilon); EXPECT_NEAR(m_size[1], shape->getValue("SizeY"), epsilon); EXPECT_NEAR(m_size[2], shape->getValue("SizeZ"), epsilon); EXPECT_TRUE(shape->isValid()); } { std::shared_ptr shape; ASSERT_NO_THROW(shape = Shape::getFactory().create("SurgSim::Math::BoxShape")); EXPECT_TRUE(shape->isValid()); // BoxShape of size (0, 0, 0) is regarded as 'valid'. shape->setValue("SizeX", m_size[0]); shape->setValue("SizeY", m_size[1]); shape->setValue("SizeZ", m_size[2]); EXPECT_TRUE(shape->isValid()); YAML::Node node; ASSERT_NO_THROW(node = shape); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); ASSERT_TRUE(node["SurgSim::Math::BoxShape"].IsDefined()); auto data = node["SurgSim::Math::BoxShape"]; EXPECT_EQ(3u, data.size()); std::shared_ptr boxShape; ASSERT_NO_THROW(boxShape = std::dynamic_pointer_cast(node.as>())); EXPECT_EQ("SurgSim::Math::BoxShape", boxShape->getClassName()); EXPECT_NEAR(m_size[0], boxShape->getValue("SizeX"), epsilon); EXPECT_NEAR(m_size[1], boxShape->getValue("SizeY"), epsilon); EXPECT_NEAR(m_size[2], boxShape->getValue("SizeZ"), epsilon); EXPECT_TRUE(boxShape->isValid()); } } TEST_F(ShapeTest, Box) { ASSERT_NO_THROW(BoxShape box(m_size[0], m_size[1], m_size[2])); { BoxShape invalidBox(0.1, -0.1, 0.1); EXPECT_FALSE(invalidBox.isValid()); BoxShape box(0.1, 0.2, 0.3); EXPECT_TRUE(box.isValid()); } Vector3d size(m_size[0], m_size[1], m_size[2]); BoxShape box(m_size[0], m_size[1], m_size[2]); EXPECT_NEAR(m_size[0], box.getSizeX(), epsilon); EXPECT_NEAR(m_size[1], box.getSizeY(), epsilon); EXPECT_NEAR(m_size[2], box.getSizeZ(), epsilon); EXPECT_TRUE(box.getSize().isApprox(size)); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_BOX, box.getType()); EXPECT_TRUE(box.isValid()); double expectedVolume = m_size[0] * m_size[1] * m_size[2]; double expectedMass = m_rho * expectedVolume; double coef = 1.0 / 12.0 * expectedMass; double x2 = m_size[0] * m_size[0]; double y2 = m_size[1] * m_size[1]; double z2 = m_size[2] * m_size[2]; Matrix33d expectedInertia; expectedInertia << coef * (y2 + z2), 0.0, 0.0, 0.0, coef * (x2 + z2), 0.0, 0.0, 0.0, coef * (x2 + y2); double volume = box.getVolume(); Vector3d center = box.getCenter(); Matrix33d inertia = box.getSecondMomentOfVolume() * m_rho; Aabbd aabb(size / 2.0); aabb.extend(-(size / 2.0)); EXPECT_NEAR(expectedVolume, volume, epsilon); EXPECT_TRUE(center.isZero()); EXPECT_TRUE(expectedInertia.isApprox(inertia)); EXPECT_FALSE(box.isTransformable()); EXPECT_TRUE(aabb.isApprox(box.getBoundingBox())); } TEST_F(ShapeTest, CylinderSerializationTest) { { YAML::Node node; node["SurgSim::Math::CylinderShape"]["Length"] = m_length; node["SurgSim::Math::CylinderShape"]["Radius"] = m_length; std::shared_ptr shape; ASSERT_NO_THROW(shape = node.as>()); EXPECT_EQ("SurgSim::Math::CylinderShape", shape->getClassName()); EXPECT_NEAR(m_length, shape->getValue("Length"), epsilon); EXPECT_NEAR(m_length, shape->getValue("Radius"), epsilon); EXPECT_TRUE(shape->isValid()); } { std::shared_ptr shape; ASSERT_NO_THROW(shape = Shape::getFactory().create("SurgSim::Math::CylinderShape")); shape->setValue("Length", m_length); shape->setValue("Radius", m_radius); EXPECT_TRUE(shape->isValid()); YAML::Node node; ASSERT_NO_THROW(node = shape); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); ASSERT_TRUE(node["SurgSim::Math::CylinderShape"].IsDefined()); auto data = node["SurgSim::Math::CylinderShape"]; EXPECT_EQ(2u, data.size()); std::shared_ptr cylinderShape; ASSERT_NO_THROW(cylinderShape = std::dynamic_pointer_cast(node.as>())); EXPECT_EQ("SurgSim::Math::CylinderShape", cylinderShape->getClassName()); EXPECT_NEAR(m_length, cylinderShape->getValue("Length"), epsilon); EXPECT_NEAR(m_radius, cylinderShape->getValue("Radius"), epsilon); EXPECT_TRUE(shape->isValid()); } } TEST_F(ShapeTest, Cylinder) { ASSERT_NO_THROW(CylinderShape cyliner(m_length, m_radius)); { CylinderShape invalidCylinder(-0.1, 0.1); EXPECT_FALSE(invalidCylinder.isValid()); CylinderShape invalidCylinder2(0.1, -0.1); EXPECT_FALSE(invalidCylinder2.isValid()); CylinderShape validCylinder(0.1, 0.1); EXPECT_TRUE(validCylinder.isValid()); } CylinderShape cylinder(m_length, m_radius); EXPECT_NEAR(m_length, cylinder.getLength(), epsilon); EXPECT_NEAR(m_radius, cylinder.getRadius(), epsilon); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_CYLINDER, cylinder.getType()); double expectedVolume = M_PI * m_radius * m_radius * m_length; double expectedMass = m_rho * expectedVolume; double r1sq = m_radius * m_radius; double l2 = m_length * m_length; double coefDir = 1.0 / 2.0 * expectedMass * (r1sq); double coef = 1.0 / 12.0 * expectedMass * (3.0 * (r1sq) + l2); Matrix33d expectedInertia; expectedInertia << coef, 0.0, 0.0, 0.0, coefDir, 0.0, 0.0, 0.0, coef; double volume = cylinder.getVolume(); Vector3d center = cylinder.getCenter(); Matrix33d inertia = cylinder.getSecondMomentOfVolume() * m_rho; Aabbd aabb(Vector3d(-m_radius, -m_length / 2.0, -m_radius)); aabb.extend(Vector3d(m_radius, m_length / 2.0, m_radius)); EXPECT_NEAR(expectedVolume, volume, epsilon); EXPECT_TRUE(center.isZero()); EXPECT_TRUE(expectedInertia.isApprox(inertia)); EXPECT_TRUE(cylinder.isValid()); EXPECT_FALSE(cylinder.isTransformable()); EXPECT_TRUE(aabb.isApprox(cylinder.getBoundingBox())); } TEST_F(ShapeTest, CapsuleSerializationTest) { { YAML::Node node; node["SurgSim::Math::CapsuleShape"]["Length"] = m_length; node["SurgSim::Math::CapsuleShape"]["Radius"] = m_length; std::shared_ptr shape; ASSERT_NO_THROW(shape = node.as>()); EXPECT_EQ("SurgSim::Math::CapsuleShape", shape->getClassName()); EXPECT_NEAR(m_length, shape->getValue("Length"), epsilon); EXPECT_NEAR(m_length, shape->getValue("Radius"), epsilon); EXPECT_TRUE(shape->isValid()); } { std::shared_ptr shape; ASSERT_NO_THROW(shape = Shape::getFactory().create("SurgSim::Math::CapsuleShape")); shape->setValue("Length", m_length); shape->setValue("Radius", m_radius); EXPECT_TRUE(shape->isValid()); YAML::Node node; ASSERT_NO_THROW(node = shape); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); ASSERT_TRUE(node["SurgSim::Math::CapsuleShape"].IsDefined()); auto data = node["SurgSim::Math::CapsuleShape"]; EXPECT_EQ(2u, data.size()); std::shared_ptr capsuleShape; ASSERT_NO_THROW(capsuleShape = std::dynamic_pointer_cast(node.as>())); EXPECT_EQ("SurgSim::Math::CapsuleShape", capsuleShape->getClassName()); EXPECT_NEAR(m_length, capsuleShape->getValue("Length"), epsilon); EXPECT_NEAR(m_radius, capsuleShape->getValue("Radius"), epsilon); EXPECT_TRUE(capsuleShape->isValid()); } } TEST_F(ShapeTest, Capsule) { ASSERT_NO_THROW(CapsuleShape capsule(m_length, m_radius)); { CapsuleShape invalidCapsule(-0.1, 0.1); EXPECT_FALSE(invalidCapsule.isValid()); CapsuleShape invalidCapsule2(0.1, -0.1); EXPECT_FALSE(invalidCapsule2.isValid()); CapsuleShape validCapsule(0.1, 0.1); EXPECT_TRUE(validCapsule.isValid()); } CapsuleShape capsule(m_length, m_radius); EXPECT_NEAR(m_length, capsule.getLength(), epsilon); EXPECT_NEAR(m_radius, capsule.getRadius(), epsilon); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_CAPSULE, capsule.getType()); double r2 = m_radius * m_radius; double r3 = r2 * m_radius; double l2 = m_length * m_length; double volumeCylinder = M_PI * r2 * m_length; double massCylinder = m_rho * volumeCylinder; double volumeSphere = 4.0 / 3.0 * M_PI * r3; double massSphere = m_rho * volumeSphere; double expectedVolume = volumeCylinder + volumeSphere; double coefDir = 2.0 / 5.0 * massSphere * r2; double coef = coefDir; coefDir += 1.0 / 2.0 * massCylinder * r2; coef += massSphere * (1.0 / 4.0 * l2 + 3.0 / 8.0 * m_radius * m_length); coef += 1.0 / 12.0 * massCylinder * (3 * r2 + l2); Matrix33d expectedInertia; expectedInertia << coef, 0.0, 0.0, 0.0, coefDir, 0.0, 0.0, 0.0, coef; double volume = capsule.getVolume(); Vector3d center = capsule.getCenter(); Matrix33d inertia = capsule.getSecondMomentOfVolume() * m_rho; Aabbd aabb(Vector3d(-m_radius, -m_length / 2.0 - m_radius, -m_radius)); aabb.extend(Vector3d(m_radius, m_length / 2.0 + m_radius, m_radius)); EXPECT_NEAR(expectedVolume, volume, epsilon); EXPECT_TRUE(center.isZero()); EXPECT_TRUE(expectedInertia.isApprox(inertia)); EXPECT_TRUE(capsule.isValid()); EXPECT_FALSE(capsule.isTransformable()); EXPECT_TRUE(aabb.isApprox(capsule.getBoundingBox())); } TEST_F(ShapeTest, DoubleSidedPlaneShapeSerializationTest) { { YAML::Node node, empty; node["SurgSim::Math::DoubleSidedPlaneShape"] = empty; std::shared_ptr shape; ASSERT_NO_THROW(shape = node.as>()); EXPECT_EQ("SurgSim::Math::DoubleSidedPlaneShape", shape->getClassName()); EXPECT_TRUE(shape->isValid()); } { std::shared_ptr shape; ASSERT_NO_THROW(shape = Shape::getFactory().create("SurgSim::Math::DoubleSidedPlaneShape")); EXPECT_TRUE(shape->isValid()); YAML::Node node; ASSERT_NO_THROW(node = shape); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); ASSERT_TRUE(node["SurgSim::Math::DoubleSidedPlaneShape"].IsDefined()); auto data = node["SurgSim::Math::DoubleSidedPlaneShape"]; EXPECT_EQ(0u, data.size()); // DoubleSidedPlaneShape has no serialized property . std::shared_ptr doubleSidedPlaneShape; ASSERT_NO_THROW(doubleSidedPlaneShape = std::dynamic_pointer_cast(node.as>())); EXPECT_EQ("SurgSim::Math::DoubleSidedPlaneShape", doubleSidedPlaneShape->getClassName()); EXPECT_TRUE(doubleSidedPlaneShape->isValid()); } } TEST_F(ShapeTest, DoubleSidedPlaneShape) { EXPECT_NO_THROW(DoubleSidedPlaneShape doubleSidedPlaneShape); DoubleSidedPlaneShape doubleSidedPlaneShape; EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_DOUBLESIDEDPLANE, doubleSidedPlaneShape.getType()); EXPECT_NEAR(0.0, doubleSidedPlaneShape.getVolume(), epsilon); EXPECT_TRUE(doubleSidedPlaneShape.getCenter().isZero()); EXPECT_TRUE(doubleSidedPlaneShape.getSecondMomentOfVolume().isApprox(Matrix33d::Zero())); EXPECT_NEAR(0.0, doubleSidedPlaneShape.getD(), epsilon); EXPECT_TRUE(doubleSidedPlaneShape.getNormal().isApprox(Vector3d(0.0, 1.0, 0.0))); EXPECT_TRUE(doubleSidedPlaneShape.isValid()); EXPECT_FALSE(doubleSidedPlaneShape.isTransformable()); // There is no sense to trying to build the Bounding box here EXPECT_TRUE(doubleSidedPlaneShape.getBoundingBox().isEmpty()); } TEST_F(ShapeTest, OctreeShapeSerializationTest) { const std::string fileName = "Geometry/staple.ply"; SurgSim::Framework::Runtime runtime("config.txt"); auto shape = std::make_shared(); ASSERT_NO_THROW(shape->loadOctree(fileName)); YAML::Node node = YAML::convert>::encode(shape); EXPECT_TRUE(node[shape->getClassName()].IsMap()); EXPECT_TRUE(node[shape->getClassName()]["Octree"].IsMap()); std::shared_ptr decodedShape; ASSERT_NO_THROW(decodedShape = node.as>()); ASSERT_NE(nullptr, decodedShape); auto convertedShape = std::dynamic_pointer_cast(decodedShape); ASSERT_NE(nullptr, convertedShape); ASSERT_NE(nullptr, convertedShape->getOctree()); EXPECT_EQ(fileName, convertedShape->getOctree()->getFileName()); } TEST_F(ShapeTest, OctreeShape) { OctreeShape::NodeType::AxisAlignedBoundingBox boundingBox(Vector3d::Zero(), m_size); std::shared_ptr node = std::make_shared(boundingBox); SurgSim::Framework::Runtime runtime("config.txt"); { ASSERT_NO_THROW({OctreeShape shape; EXPECT_FALSE(shape.isValid());}); ASSERT_NO_THROW({OctreeShape shape(*node); EXPECT_TRUE(shape.isValid());}); } { OctreeShape shape; EXPECT_NE(nullptr, shape.getOctree()); shape.setOctree(node); EXPECT_EQ(node, shape.getOctree()); EXPECT_TRUE(shape.isValid()); } { SCOPED_TRACE("Normal Loading"); const std::string fileName = "Geometry/staple.ply"; OctreeShape shape; EXPECT_NO_THROW(shape.setOctree(node)); EXPECT_NO_THROW(shape.loadOctree(fileName)); EXPECT_EQ(fileName, shape.getOctree()->getFileName()); EXPECT_EQ(shape.getClassName(), "SurgSim::Math::OctreeShape"); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_OCTREE, shape.getType()); EXPECT_THROW(shape.getVolume(), SurgSim::Framework::AssertionFailure); EXPECT_TRUE(shape.getCenter().isApprox(Vector3d::Zero(), epsilon)); EXPECT_THROW(shape.getSecondMomentOfVolume(), SurgSim::Framework::AssertionFailure); EXPECT_EQ(fileName, shape.getOctree()->getFileName()); EXPECT_TRUE(shape.isValid()); EXPECT_TRUE(shape.getOctree()->getBoundingBox().isApprox(shape.getBoundingBox())); } { SCOPED_TRACE("Alternative load through property"); const std::string fileName = "Geometry/staple.ply"; OctreeShape shape; EXPECT_NO_THROW(shape.setValue("OctreeFileName", fileName)); EXPECT_EQ(fileName, shape.getOctree()->getFileName()); } { SCOPED_TRACE("Load nonexistent file will throw"); SurgSim::Framework::ApplicationData appData("config.txt"); const std::string fileName = "Nonexistent file"; OctreeShape shape; EXPECT_ANY_THROW(shape.loadOctree(fileName)); } { SCOPED_TRACE("Load existent file containing invalid Octree will throw"); SurgSim::Framework::ApplicationData appData("config.txt"); const std::string fileName = "Geometry/invalid-staple.ply"; OctreeShape shape; EXPECT_ANY_THROW(shape.loadOctree(fileName)); } } TEST_F(ShapeTest, PlaneShapeSerializationTest) { { YAML::Node node, empty; node["SurgSim::Math::PlaneShape"] = empty; std::shared_ptr shape; ASSERT_NO_THROW(shape = node.as>()); EXPECT_EQ("SurgSim::Math::PlaneShape", shape->getClassName()); EXPECT_TRUE(shape->isValid()); } { std::shared_ptr shape; ASSERT_NO_THROW(shape = Shape::getFactory().create("SurgSim::Math::PlaneShape")); YAML::Node node; ASSERT_NO_THROW(node = shape); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); ASSERT_TRUE(node["SurgSim::Math::PlaneShape"].IsDefined()); auto data = node["SurgSim::Math::PlaneShape"]; EXPECT_EQ(0u, data.size()); //PlaneShape has no serialized property. std::shared_ptr planeShape; ASSERT_NO_THROW(planeShape = std::dynamic_pointer_cast(node.as>())); EXPECT_EQ("SurgSim::Math::PlaneShape", planeShape->getClassName()); EXPECT_TRUE(planeShape->isValid()); } } TEST_F(ShapeTest, PlaneShape) { EXPECT_NO_THROW(PlaneShape planeShape); PlaneShape planeShape; EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_PLANE, planeShape.getType()); EXPECT_NEAR(0.0, planeShape.getVolume(), epsilon); EXPECT_TRUE(planeShape.getCenter().isZero()); EXPECT_TRUE(planeShape.getSecondMomentOfVolume().isApprox(Matrix33d::Zero())); EXPECT_NEAR(0.0, planeShape.getD(), epsilon); EXPECT_TRUE(planeShape.getNormal().isApprox(Vector3d(0.0, 1.0, 0.0))); EXPECT_TRUE(planeShape.isValid()); EXPECT_FALSE(planeShape.isTransformable()); EXPECT_TRUE(planeShape.getBoundingBox().isEmpty()); } } } opensurgsim-0.7.0/SurgSim/Math/UnitTests/SparseMatrixTests.cpp000066400000000000000000000325661277777236100245250ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2015, SimQuest Solutions 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 // // 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. /// \file SparseMatrixTests.cpp /// Tests that exercise the functionality of our sparse matrices, which come /// straight from Eigen. #include #include #include "SurgSim/Math/SparseMatrix.h" using std::tuple; using std::tuple_element; using SurgSim::Math::Matrix; template class TypeValue { public: static const size_t value = N; }; template const size_t TypeValue::value; template class SparseMatrices : public ::testing::Test { public: typedef typename tuple_element<0, Tuple>::type T; static const int Opt = tuple_element<1, Tuple>::type::value; typedef typename tuple_element<2, Tuple>::type I; void SetUp() override { m_columnId = 6; m_rowId = 11; m_matrixTooSmall.resize(m_n - 1, m_m - 1); m_matrixTooSmall.setZero(); m_matrixWithoutExtraCoefficients.resize(18, 18); m_matrixWithoutExtraCoefficients.setZero(); m_matrixMissingCoefficients.resize(18, 18); m_matrixMissingCoefficients.setZero(); m_matrixWithoutExtraCoefficientsExpected.resize(18, 18); m_matrixWithoutExtraCoefficientsExpected.setZero(); for (I i = 0; i < m_rowId; i++) { for (I j = 0; j < m_columnId; j++) { m_matrixWithoutExtraCoefficients.insert(i, j) = 1.0; m_matrixMissingCoefficients.insert(i, j) = 1.0; m_matrixWithoutExtraCoefficientsExpected.insert(i, j) = 1.0; } for (I j = m_columnId + m_m; j < 18; j++) { m_matrixWithoutExtraCoefficients.insert(i, j) = 1.0; m_matrixMissingCoefficients.insert(i, j) = 1.0; m_matrixWithoutExtraCoefficientsExpected.insert(i, j) = 1.0; } } for (I i = m_rowId; i < m_rowId + m_n; i++) { for (I j = m_columnId; j < m_columnId + m_m; j++) { m_matrixWithoutExtraCoefficients.insert(i , j) = 1.0; if (i % 2 == 0 || j % 2 == 0) { m_matrixMissingCoefficients.insert(i, j) = 1.0; } m_matrixWithoutExtraCoefficientsExpected.insert(i, j) = (i - m_rowId == 0 && j - m_columnId == 3 ? 2 : static_cast(i - m_rowId + 1) * static_cast(j - m_columnId + 1)); } } for (I i = m_rowId + m_n; i < 18; i++) { for (I j = 0; j < m_columnId; j++) { m_matrixWithoutExtraCoefficients.insert(i, j) = 1.0; m_matrixMissingCoefficients.insert(i, j) = 1.0; m_matrixWithoutExtraCoefficientsExpected.insert(i, j) = 1.0; } for (I j = m_columnId + m_m; j < 18; j++) { m_matrixWithoutExtraCoefficients.insert(i, j) = 1.0; m_matrixMissingCoefficients.insert(i, j) = 1.0; m_matrixWithoutExtraCoefficientsExpected.insert(i, j) = 1.0; } } m_matrixWithExtraCoefficients = m_matrixWithoutExtraCoefficients; m_matrixWithExtraCoefficientsExpected = m_matrixWithoutExtraCoefficientsExpected; addElementOnBlockRowsCols(&m_matrixWithExtraCoefficients); addElementOnBlockRowsCols(&m_matrixWithExtraCoefficientsExpected); m_matrixWithoutExtraCoefficients.makeCompressed(); m_matrixMissingCoefficients.makeCompressed(); m_matrixWithoutExtraCoefficientsExpected.makeCompressed(); } void addElementOnBlockRowsCols(Eigen::SparseMatrix* m) { m->insert(m_rowId, m_columnId - 3) = 1.0; m->insert(m_rowId, m_columnId - 1) = 1.0; m->insert(m_rowId - 4, m_columnId) = 1.0; m->insert(m_rowId - 2, m_columnId) = 1.0; m->insert(m_rowId - 3, m_columnId + 1) = 1.0; m->makeCompressed(); } void TestSetWithSearchDynamic(const Eigen::Ref& sub, bool subTooSmall = false, bool success = true) { using SurgSim::Math::blockWithSearch; using SurgSim::Math::Operation; SetUp(); if (subTooSmall) { EXPECT_THROW((blockWithSearch(sub, m_rowId, m_columnId, m_n, m_m,\ &m_matrixWithExtraCoefficients,\ &Operation>::assign)),\ SurgSim::Framework::AssertionFailure); } else { // No recipient specified EXPECT_THROW((blockWithSearch(sub, m_rowId, m_columnId, m_n, m_m,\ nullptr, &Operation>::assign)),\ SurgSim::Framework::AssertionFailure); // Recipient too small EXPECT_THROW((blockWithSearch(sub, m_rowId, m_columnId, m_n, m_m, &m_matrixTooSmall,\ &Operation>::assign)),\ SurgSim::Framework::AssertionFailure); // Recipient does not have all the block coefficients (missing coefficients in the block) EXPECT_THROW((blockWithSearch(sub, m_rowId, m_columnId, m_n, m_m, &m_matrixMissingCoefficients,\ &Operation>::assign)),\ SurgSim::Framework::AssertionFailure); // Recipient is correct and sub is correct EXPECT_NO_THROW((blockWithSearch(sub, m_rowId, m_columnId, m_n, m_m, &m_matrixWithExtraCoefficients,\ &Operation>::assign))); if (success) { EXPECT_TRUE(m_matrixWithExtraCoefficients.isApprox(m_matrixWithExtraCoefficientsExpected)); } else { EXPECT_FALSE(m_matrixWithExtraCoefficients.isApprox(m_matrixWithExtraCoefficientsExpected)); } } } void TestAddWithSearchDynamic(const Eigen::Ref& sub, bool subTooSmall = false, bool success = true) { using SurgSim::Math::blockWithSearch; using SurgSim::Math::Operation; SetUp(); if (subTooSmall) { EXPECT_THROW((blockWithSearch(sub, m_rowId, m_columnId, m_n, m_m, &m_matrixWithExtraCoefficients,\ &Operation>::add)),\ SurgSim::Framework::AssertionFailure); } else { // No recipient specified EXPECT_THROW((blockWithSearch(sub, m_rowId, m_columnId, m_n, m_m, nullptr,\ &Operation>::add)),\ SurgSim::Framework::AssertionFailure); // Recipient too small EXPECT_THROW((blockWithSearch(sub, m_rowId, m_columnId, m_n, m_m, &m_matrixTooSmall, &Operation>::add)),\ SurgSim::Framework::AssertionFailure); // Recipient does not have all the block coefficients (missing coefficients in the block) EXPECT_THROW((blockWithSearch(sub, m_rowId, m_columnId, m_n, m_m, &m_matrixMissingCoefficients, &Operation>::add)),\ SurgSim::Framework::AssertionFailure); // Recipient is correct and sub is correct EXPECT_NO_THROW((blockWithSearch(sub, m_rowId, m_columnId, m_n, m_m, &m_matrixWithExtraCoefficients, &Operation>::add))); Eigen::Matrix dense(m_matrixWithExtraCoefficients); Eigen::Matrix denseSub(sub); auto ones = Eigen::Matrix::Ones(m_n, m_m); auto expectedMatrix = denseSub.block(0, 0, m_n, m_m) + ones; if (success) { EXPECT_TRUE((dense.block(m_rowId, m_columnId, m_n, m_m).isApprox(expectedMatrix))); } else { EXPECT_FALSE((dense.block(m_rowId, m_columnId, m_n, m_m).isApprox(expectedMatrix))); } } } template Eigen::Matrix getStaticMatrix() { Eigen::Matrix vec1 = Eigen::Matrix::LinSpaced(1.0, n); Eigen::Matrix vec2 = Eigen::Matrix::LinSpaced(1.0, m); Eigen::Matrix result = vec1 * vec2; if (m >= 4) { result(0, 3) = 2; } return result; } template Eigen::Matrix getDynamicMatrix() { Eigen::Matrix vec1 = Eigen::Matrix::LinSpaced(n, 1.0, n); Eigen::Matrix vec2 = Eigen::Matrix::LinSpaced(m, 1.0, m); Eigen::Matrix result = vec1 * vec2; if (m >= 4) { result(0, 3) = 2; } return result; } template Eigen::SparseMatrix getSparseMatrix() { typedef typename Eigen::SparseVector::Index Index1; typedef typename Eigen::SparseVector::Index Index2; Eigen::SparseVector vec1(n); Eigen::SparseVector vec2(m); for (Index1 i = 0; i < n; i++) { vec1.insert(i) = static_cast(i + 1); } for (Index2 i = 0; i < m; i++) { vec2.insert(i) = static_cast(i + 1); } Eigen::SparseMatrix result(vec1 * vec2); if (m >= 4) { result.coeffRef(0, 3) = 2; } return result; } template Eigen::SparseVector getSparseVector() { typedef typename Eigen::SparseVector::Index Index; Eigen::SparseVector vec(n); for (Index i = 0; i < n; i++) { vec.insert(i) = static_cast(i + 1); } return vec; } protected: Eigen::SparseMatrix m_matrixWithoutExtraCoefficients; Eigen::SparseMatrix m_matrixWithoutExtraCoefficientsExpected; Eigen::SparseMatrix m_matrixWithExtraCoefficients; Eigen::SparseMatrix m_matrixWithExtraCoefficientsExpected; Eigen::SparseMatrix m_matrixTooSmall; Eigen::SparseMatrix m_matrixMissingCoefficients; I m_rowId, m_columnId; static const I m_n = 4; static const I m_m = 4; }; template const typename tuple_element<2, Tuple>::type SparseMatrices::m_n; template const typename tuple_element<2, Tuple>::type SparseMatrices::m_m; template const int SparseMatrices::Opt; typedef ::testing::Types < tuple, int>, tuple, int>, tuple, ptrdiff_t>, tuple, ptrdiff_t>> MyTypes; TYPED_TEST_CASE(SparseMatrices, MyTypes); TYPED_TEST(SparseMatrices, setSubMatrixWithSearchDynamicCall) { typedef typename tuple_element<0, TypeParam>::type T; const int Opt = tuple_element<1, TypeParam>::type::value; const int OtherOpt = (Opt == Eigen::ColMajor ? Eigen::RowMajor : Eigen::ColMajor); { SCOPED_TRACE("Test with static dense input sub-matrix"); this->TestSetWithSearchDynamic(this->template getStaticMatrix(), true); ///< Sub too small (1D) this->TestSetWithSearchDynamic(this->template getStaticMatrix(), true); ///< Sub too small (2D) this->TestSetWithSearchDynamic(this->template getStaticMatrix()); this->TestSetWithSearchDynamic(this->template getStaticMatrix()); this->TestSetWithSearchDynamic(this->template getStaticMatrix()); ///< Sub larger (1D) this->TestSetWithSearchDynamic(this->template getStaticMatrix()); ///< Sub larger (2D) } { SCOPED_TRACE("Test with dynamic dense input sub-matrix"); this->TestSetWithSearchDynamic(this->template getDynamicMatrix(), true); ///< Sub too small (1D) this->TestSetWithSearchDynamic(this->template getDynamicMatrix(), true); ///< Sub too small (2D) this->TestSetWithSearchDynamic(this->template getDynamicMatrix()); this->TestSetWithSearchDynamic(this->template getDynamicMatrix()); this->TestSetWithSearchDynamic(this->template getDynamicMatrix()); ///< Sub larger (1D) this->TestSetWithSearchDynamic(this->template getDynamicMatrix()); ///< Sub larger (2D) } } TYPED_TEST(SparseMatrices, addSubMatrixWithSearchDynamicCall) { typedef typename tuple_element<0, TypeParam>::type T; const int Opt = tuple_element<1, TypeParam>::type::value; const int OtherOpt = (Opt == Eigen::ColMajor ? Eigen::RowMajor : Eigen::ColMajor); { SCOPED_TRACE("Test with static dense input sub-matrix"); this->TestAddWithSearchDynamic(this->template getStaticMatrix(), true); ///< Sub too small (1D) this->TestAddWithSearchDynamic(this->template getStaticMatrix(), true); ///< Sub too small (2D) this->TestAddWithSearchDynamic(this->template getStaticMatrix()); this->TestAddWithSearchDynamic(this->template getStaticMatrix()); this->TestAddWithSearchDynamic(this->template getStaticMatrix()); ///< Sub larger (1D) this->TestAddWithSearchDynamic(this->template getStaticMatrix()); ///< Sub larger (2D) } { SCOPED_TRACE("Test with dynamic dense input sub-matrix"); this->TestAddWithSearchDynamic(this->template getDynamicMatrix(), true); ///< Sub too small (1D) this->TestAddWithSearchDynamic(this->template getDynamicMatrix(), true); ///< Sub too small (2D) this->TestAddWithSearchDynamic(this->template getDynamicMatrix()); this->TestAddWithSearchDynamic(this->template getDynamicMatrix()); this->TestAddWithSearchDynamic(this->template getDynamicMatrix()); ///< Sub larger (1D) this->TestAddWithSearchDynamic(this->template getDynamicMatrix()); ///< Sub larger (2D) } } opensurgsim-0.7.0/SurgSim/Math/UnitTests/SurfaceMeshShapeTests.cpp000066400000000000000000000126051277777236100252610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/SurfaceMeshShape.h" #include "SurgSim/Math/Vector.h" using SurgSim::DataStructures::EmptyData; using SurgSim::DataStructures::TriangleMeshPlain; using SurgSim::Math::Matrix33d; using SurgSim::Math::SurfaceMeshShape; using SurgSim::Math::Quaterniond; using SurgSim::Math::Vector3d; class SurfaceMeshShapeTest : public ::testing::Test { public: void SetUp() { m_radius = 2.34; m_thickness = 1e-2; m_center = Vector3d(1.3, 3.4, 5.6); m_expectedVolume = M_PI * m_radius * m_radius * m_thickness; m_expectedMatrix.setZero(); m_expectedMatrix(0, 0) = m_expectedVolume * m_radius * m_radius / 4.0; m_expectedMatrix(1, 1) = m_expectedVolume * m_radius * m_radius / 4.0; m_expectedMatrix(2, 2) = m_expectedVolume * m_radius * m_radius / 2.0; } void TearDown() { } double m_radius; double m_thickness; Vector3d m_center; double m_expectedVolume; Matrix33d m_expectedMatrix; std::shared_ptr buildDiskZ(const Quaterniond& q, const Vector3d& center, double radius) const { size_t totalNumNodes = 501; // 1 center + lots on perimeter double deltaAngle = 2.0 * M_PI / static_cast(totalNumNodes - 1); auto disk = std::make_shared(); // Add the center point disk->addVertex(TriangleMeshPlain::VertexType(center)); // Add the peripheral points for (size_t nodeId = 0; nodeId < totalNumNodes - 1; ++nodeId) { double angle = deltaAngle * nodeId; Vector3d p(m_radius * cos(angle), m_radius * sin(angle), 0.0); disk->addVertex(TriangleMeshPlain::VertexType(q._transformVector(p) + center)); } // Define the triangles for (size_t triId = 1; triId < totalNumNodes - 1; ++triId) { std::array indices = {{ 0, triId, triId + 1}}; disk->addTriangle(TriangleMeshPlain::TriangleType(indices)); } return disk; } }; TEST_F(SurfaceMeshShapeTest, EmptyMeshTest) { TriangleMeshPlain emptyMesh; std::shared_ptr diskShape = std::make_shared(emptyMesh, m_thickness); EXPECT_NEAR(0.0, diskShape->getVolume(), 1e-9); EXPECT_TRUE(diskShape->getCenter().isZero()); EXPECT_TRUE(diskShape->getSecondMomentOfVolume().isZero()); } TEST_F(SurfaceMeshShapeTest, DiskShapeTest) { std::shared_ptr diskMesh = buildDiskZ(Quaterniond::Identity(), m_center, m_radius); std::shared_ptr diskShape = std::make_shared(*diskMesh, m_thickness); EXPECT_NEAR(m_expectedVolume, diskShape->getVolume(), 1e-2); EXPECT_TRUE(diskShape->getCenter().isApprox(m_center, 1e-2)); EXPECT_TRUE(diskShape->getSecondMomentOfVolume().isApprox(m_expectedMatrix, 1e-2)); } TEST_F(SurfaceMeshShapeTest, NonAlignedDiskShapeTest) { Quaterniond q(1.3, 5.3, -8.2, 2.4); q.normalize(); std::shared_ptr diskMesh = buildDiskZ(q, m_center, m_radius); std::shared_ptr diskShape = std::make_shared(*diskMesh, m_thickness); Matrix33d rotatedExpectedMatrix = q.toRotationMatrix() * m_expectedMatrix * q.toRotationMatrix().transpose(); EXPECT_NEAR(m_expectedVolume, diskShape->getVolume(), 1e-2); EXPECT_TRUE(diskShape->getCenter().isApprox(m_center, 1e-2)); EXPECT_TRUE(diskShape->getSecondMomentOfVolume().isApprox(rotatedExpectedMatrix, 1e-2)); } TEST_F(SurfaceMeshShapeTest, SerializationTest) { auto runtime = std::make_shared("config.txt"); const std::string fileName = "Geometry/staple_collision.ply"; auto surfaceMeshShape = std::make_shared(); surfaceMeshShape->load(fileName); // We chose to let YAML serialization only works with base class pointer. // i.e. We need to serialize 'surfaceMeshShape' via a SurgSim::Math::Shape pointer. // The usage YAML::Node node = surfaceMeshShape; will not compile. std::shared_ptr shape = surfaceMeshShape; YAML::Node node; ASSERT_NO_THROW(node = shape); // YAML::convert> will be called. EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); std::shared_ptr newSurfaceMesh; ASSERT_NO_THROW(newSurfaceMesh = std::dynamic_pointer_cast( node.as>())); EXPECT_EQ("SurgSim::Math::SurfaceMeshShape", newSurfaceMesh->getClassName()); EXPECT_EQ(fileName, newSurfaceMesh->getFileName()); EXPECT_EQ(surfaceMeshShape->getNumVertices(), newSurfaceMesh->getNumVertices()); EXPECT_EQ(surfaceMeshShape->getNumEdges(), newSurfaceMesh->getNumEdges()); EXPECT_EQ(surfaceMeshShape->getNumTriangles(), newSurfaceMesh->getNumTriangles()); } opensurgsim-0.7.0/SurgSim/Math/UnitTests/TriangleCapsuleContactCalculationTests.cpp000066400000000000000000000454761277777236100306640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/UnitTests/MockCapsule.h" #include "SurgSim/Math/UnitTests/MockTriangle.h" namespace SurgSim { namespace Math { class TriangleCapsuleContactCalculationTest : public ::testing::Test { protected: typedef std::tuple // Expected penetration point in the capsule. TriangleCapsuleTestCase; SurgSim::Math::RigidTransform3d buildRigidTransform(double angle, double axisX, double axisY, double axisZ, double translationX, double translationY, double translationZ) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRotationQuaternion; return makeRigidTransform(makeRotationQuaternion(angle, Vector3d(axisX, axisY, axisZ).normalized()), Vector3d(translationX, translationY, translationZ)); } void SetUp() override { m_transforms.push_back(buildRigidTransform(0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0)); m_transforms.push_back(buildRigidTransform(1.234, 17.04, 2.047, 3.052, 23.34, 42.45, 83.68)); m_transforms.push_back(buildRigidTransform(-5.34, 41.03, -2.52, -3.84, -3.45, 66.47, 29.34)); m_transforms.push_back(buildRigidTransform(0.246, -9.42, -4.86, 2.469, 37.68, -34.6, -17.1)); m_transforms.push_back(buildRigidTransform(-0.85, 3.344, 8.329, -97.4, 9.465, 0.275, -95.9)); } void checkEqual(const Vector3d& v1, const Vector3d& v2) { if (v1.isZero(Geometry::DistanceEpsilon)) { EXPECT_TRUE(v2.isZero(Geometry::DistanceEpsilon)); } else { EXPECT_TRUE(v1.isApprox(v2, Geometry::DistanceEpsilon)); } } void testTriangleCapsuleContactCalculation(const TriangleCapsuleTestCase& data) { MockTriangle t = std::get<1>(data); MockCapsule c = std::get<2>(data); bool contactExpected = std::get<3>(data); bool checkForPenetrationPoints = std::get<4>(data); Vector3d expectedTPoint = std::get<5>(data); Vector3d expectedCPoint = std::get<6>(data); double expectedPenetrationDepth = (expectedCPoint - expectedTPoint).norm(); double penetrationDepth; Vector3d tPoint, cPoint, normal, cPointAxis; bool contactFound = false; std::string traceMessage[12] = {"Triangle vs Capsule", "Triangle (vertices shifted once) vs Capsule", "Triangle (vertices shifted twice) vs Capsule", "Triangle vs Capsule (vertices interchanged)", "Triangle (vertices shifted once) vs Capsule (vertices interchanged)", "Triangle (vertices shifted twice) vs Capsule (vertices interchanged)", "Reversed Triangle vs Capsule", "Reversed Triangle (vertices shifted once) vs Capsule", "Reversed Triangle (vertices shifted twice) vs Capsule", "Reversed Triangle vs Capsule (vertices interchanged)", "Reversed Triangle (vertices shifted once) vs Capsule (vertices interchanged)", "Reversed Triangle (vertices shifted twice) vs Capsule (vertices interchanged)" }; for (int count = 0; count < 12; ++count) { SCOPED_TRACE(std::get<0>(data) + ": " + traceMessage[count]); switch (count) { case 0: EXPECT_NO_THROW( contactFound = calculateContactTriangleCapsule(t.v0, t.v1, t.v2, t.n, c.v0, c.v1, c.r, &penetrationDepth, &tPoint, &cPoint, &normal, &cPointAxis)); break; case 1: EXPECT_NO_THROW( contactFound = calculateContactTriangleCapsule(t.v1, t.v2, t.v0, t.n, c.v0, c.v1, c.r, &penetrationDepth, &tPoint, &cPoint, &normal, &cPointAxis)); break; case 2: EXPECT_NO_THROW( contactFound = calculateContactTriangleCapsule(t.v2, t.v0, t.v1, t.n, c.v0, c.v1, c.r, &penetrationDepth, &tPoint, &cPoint, &normal, &cPointAxis)); break; case 3: EXPECT_NO_THROW( contactFound = calculateContactTriangleCapsule(t.v0, t.v1, t.v2, t.n, c.v1, c.v0, c.r, &penetrationDepth, &tPoint, &cPoint, &normal, &cPointAxis)); break; case 4: EXPECT_NO_THROW( contactFound = calculateContactTriangleCapsule(t.v1, t.v2, t.v0, t.n, c.v1, c.v0, c.r, &penetrationDepth, &tPoint, &cPoint, &normal, &cPointAxis)); break; case 5: EXPECT_NO_THROW( contactFound = calculateContactTriangleCapsule(t.v2, t.v0, t.v1, t.n, c.v1, c.v0, c.r, &penetrationDepth, &tPoint, &cPoint, &normal, &cPointAxis)); break; case 6: EXPECT_NO_THROW( contactFound = calculateContactTriangleCapsule(t.v2, t.v1, t.v0, c.v0, c.v1, c.r, &penetrationDepth, &tPoint, &cPoint, &normal, &cPointAxis)); break; case 7: EXPECT_NO_THROW( contactFound = calculateContactTriangleCapsule(t.v1, t.v0, t.v2, c.v0, c.v1, c.r, &penetrationDepth, &tPoint, &cPoint, &normal, &cPointAxis)); break; case 8: EXPECT_NO_THROW( contactFound = calculateContactTriangleCapsule(t.v0, t.v2, t.v1, c.v0, c.v1, c.r, &penetrationDepth, &tPoint, &cPoint, &normal, &cPointAxis)); break; case 9: EXPECT_NO_THROW( contactFound = calculateContactTriangleCapsule(t.v2, t.v1, t.v0, c.v1, c.v0, c.r, &penetrationDepth, &tPoint, &cPoint, &normal, &cPointAxis)); break; case 10: EXPECT_NO_THROW( contactFound = calculateContactTriangleCapsule(t.v1, t.v0, t.v2, c.v1, c.v0, c.r, &penetrationDepth, &tPoint, &cPoint, &normal, &cPointAxis)); break; case 11: EXPECT_NO_THROW( contactFound = calculateContactTriangleCapsule(t.v0, t.v2, t.v1, c.v1, c.v0, c.r, &penetrationDepth, &tPoint, &cPoint, &normal, &cPointAxis)); break; } EXPECT_EQ(contactExpected, contactFound); if (contactFound) { if (checkForPenetrationPoints && count < 6) { EXPECT_NEAR(expectedPenetrationDepth, penetrationDepth, Geometry::DistanceEpsilon); checkEqual(expectedTPoint, tPoint); checkEqual(expectedCPoint, cPoint); } // Check that tPoint is on the plane of t. double tSignedDistance = std::abs(tPoint.dot(t.n) - t.v0.dot(t.n)); EXPECT_NEAR(tSignedDistance, 0.0, Geometry::DistanceEpsilon); // Check that cPoint is on the surface of c. Vector3d result; double cDistance = SurgSim::Math::distancePointSegment(cPoint, c.v0, c.v1, &result) - c.r; EXPECT_LE(std::abs(cDistance), Geometry::DistanceEpsilon); // Check that tPoint is inside t. EXPECT_TRUE(SurgSim::Math::isPointInsideTriangle(tPoint, t.v0, t.v1, t.v2)); // Check if the penetration depth when applied as correction, separates the shapes. // First move the shapes apart by just short of the penetration depth, to make sure // the shapes are still colliding. { Vector3d tP, cP; Vector3d correction = normal * (0.5 * penetrationDepth - Geometry::DistanceEpsilon); MockTriangle correctedT(t); correctedT.translate(correction); MockCapsule correctedC(c); correctedC.translate(-correction); auto correctedDistance = distanceSegmentTriangle(correctedC.v0, correctedC.v1, correctedT.v0, correctedT.v1, correctedT.v2, correctedT.n, &cP, &tP) - c.r; EXPECT_TRUE(correctedDistance >= -4.0 * Geometry::DistanceEpsilon) << "correctedDistance = " << correctedDistance; EXPECT_TRUE(correctedDistance <= Geometry::DistanceEpsilon) << "correctedDistance = " << correctedDistance; } // Now move the shapes apart by just a little farther than the penetration depth, to establish // that the shapes are not colliding. { Vector3d tP, cP; Vector3d correction = normal * (0.5 * penetrationDepth + Geometry::DistanceEpsilon); MockTriangle correctedT(t); correctedT.translate(correction); MockCapsule correctedC(c); correctedC.translate(-correction); auto correctedDistance = distanceSegmentTriangle(correctedC.v0, correctedC.v1, correctedT.v0, correctedT.v1, correctedT.v2, correctedT.n, &cP, &tP) - c.r; EXPECT_TRUE(correctedDistance <= 4.0 * Geometry::DistanceEpsilon) << "correctedDistance = " << correctedDistance; EXPECT_TRUE(correctedDistance >= -Geometry::DistanceEpsilon) << "correctedDistance = " << correctedDistance; } } } } void testTriangleCapsuleContactCalculation(std::string scenario, Vector3d cv0, Vector3d cv1, bool contactFound, bool checkPenetrationPoints = false, Vector3d pointOnTriangle = Vector3d::Zero(), Vector3d pointOnCapsule = Vector3d::Zero()) { MockTriangle t(Vector3d(5, -5, 0), Vector3d(0, 5, 0), Vector3d(-5, -5, 0)); MockCapsule c(MockCapsule(cv0, cv1, 0.5)); for (const auto& transform : m_transforms) { MockTriangle transformedT(t); transformedT.transform(transform); MockCapsule transformedC(c); transformedC.transform(transform); testTriangleCapsuleContactCalculation(TriangleCapsuleTestCase(scenario, transformedT, transformedC, contactFound, checkPenetrationPoints, (transform * pointOnTriangle).eval(), (transform * pointOnCapsule).eval())); } } private: // List of random transformations. std::vector m_transforms; }; TEST_F(TriangleCapsuleContactCalculationTest, TestCase1) { testTriangleCapsuleContactCalculation("(Perpendicular) Capsule far away from triangle", Vector3d(0.0, 0.0, 10.0), Vector3d(0.0, 0.0, 5.0), false); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase2) { testTriangleCapsuleContactCalculation("(Perpendicular) Capsule far away from triangle", Vector3d(0.0, 0.0, 10.0), Vector3d(0.0, 0.0, 5.0), false); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase3) { testTriangleCapsuleContactCalculation("(Perpendicular) Capsule just away triangle", Vector3d(0.0, 0.0, 10.0), Vector3d(0.0, 0.0, 0.500001), false); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase4) { testTriangleCapsuleContactCalculation("(Perpendicular) Capsule just touching triangle", Vector3d(0.0, 0.0, 10.0), Vector3d(0.0, 0.0, 0.49999), true, true, Vector3d::Zero(), Vector3d(0, 0, -0.00001)); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase5) { testTriangleCapsuleContactCalculation("(Perpendicular) Capsule axis just away from triangle", Vector3d(0.0, 0.0, 10.0), Vector3d(0.0, 0.0, 0.0001), true, true, Vector3d::Zero(), Vector3d(0, 0, -0.4999)); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase6) { testTriangleCapsuleContactCalculation("(Perpendicular) Capsule axis just touching triangle", Vector3d(0.0, 0.0, 10.0), Vector3d(0.0, 0.0, -0.0001), true, true, Vector3d::Zero(), Vector3d(0, 0, -0.5001)); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase7) { testTriangleCapsuleContactCalculation("(Angled) Capsule far away from triangle", Vector3d(1.0, 1.0, 10.0), Vector3d(0.0, 0.0, 5.0), false); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase8) { testTriangleCapsuleContactCalculation("(Angled) Capsule just away triangle", Vector3d(1.0, 1.0, 10.0), Vector3d(0.0, 0.0, 0.500001), false); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase9) { testTriangleCapsuleContactCalculation("(Angled) Capsule just touching triangle", Vector3d(1.0, 1.0, 10.0), Vector3d(0.0, 0.0, 0.49999), true, true, Vector3d::Zero(), Vector3d(0, 0, -0.00001)); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase10) { testTriangleCapsuleContactCalculation("(Angled) Capsule axis just away from triangle", Vector3d(1.0, 1.0, 10.0), Vector3d(0.0, 0.0, 0.0001), true, true, Vector3d::Zero(), Vector3d(0, 0, -0.4999)); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase11) { testTriangleCapsuleContactCalculation("(Angled) Capsule axis just touching triangle", Vector3d(1.0, 1.0, 10.0), Vector3d(0.0, 0.0, -0.0001), true, true, Vector3d::Zero(), Vector3d(0, 0, -0.5001)); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase12) { testTriangleCapsuleContactCalculation("Capsule axis through triangle", Vector3d(0.0, 6.0, 1.0), Vector3d(0.0, -6.0, -1.0), true, false); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase13) { testTriangleCapsuleContactCalculation("(Angled, near edge 1) Capsule far away from triangle", Vector3d(4.0, 0.0, 5.0), Vector3d(2.4, 0.0, 2.0), false); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase14) { testTriangleCapsuleContactCalculation("(Angled, near edge 1) Capsule just away triangle", Vector3d(4.0, 0.0, 5.0), Vector3d(2.4, 0.0, 0.500001), false); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase15) { testTriangleCapsuleContactCalculation("(Angled, near edge 1) Capsule just touching triangle", Vector3d(4.0, 0.0, 5.0), Vector3d(2.4, 0.0, 0.49999), true, true, Vector3d(2.4, 0.0, 0.0), Vector3d(2.4, 0.0,-0.00001)); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase16) { testTriangleCapsuleContactCalculation("(Angled, near edge 1) Capsule axis just away from triangle", Vector3d(4.0, 0.0, 5.0), Vector3d(2.4, 0.0, 0.0001), true, true, Vector3d(2.4, 0.0, 0.0), Vector3d(2.4, 0.0, -0.4999)); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase17) { testTriangleCapsuleContactCalculation("(Angled, near edge 1) Capsule axis just touching triangle", Vector3d(4.0, 0.0, 5.0), Vector3d(2.4, 0.0, -0.0001), true, true, Vector3d(2.4, 0.0, 0.0), Vector3d(2.4, 0.0, -0.5001)); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase18) { testTriangleCapsuleContactCalculation("(Angled, near edge 1) Capsule axis inside triangle", Vector3d(4.0, 0.0, 5.0), Vector3d(2.4, 0.0, -0.5), true); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase19) { testTriangleCapsuleContactCalculation("(Angled, near edge 2) Capsule far away from triangle", Vector3d(-4.0, 0.0, 5.0), Vector3d(-2.4, 0.0, 2.0), false); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase20) { testTriangleCapsuleContactCalculation("(Angled, near edge 2) Capsule just away triangle", Vector3d(-4.0, 0.0, 5.0), Vector3d(-2.4, 0.0, 0.500001), false); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase21) { testTriangleCapsuleContactCalculation("(Angled, near edge 2) Capsule just touching triangle", Vector3d(-4.0, 0.0, 5.0), Vector3d(-2.4, 0.0, 0.49999), true, true, Vector3d(-2.4, 0.0, 0.0), Vector3d(-2.4, 0.0, -0.00001)); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase22) { testTriangleCapsuleContactCalculation("(Angled, near edge 2) Capsule axis just away from triangle", Vector3d(-4.0, 0.0, 5.0), Vector3d(-2.4, 0.0, 0.0001), true, true, Vector3d(-2.4, 0.0, 0.0), Vector3d(-2.4, 0.0, -0.4999)); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase23) { testTriangleCapsuleContactCalculation("(Angled, near edge 2) Capsule axis just touching triangle", Vector3d(-4.0, 0.0, 5.0), Vector3d(-2.4, 0.0, -0.0001), true, true, Vector3d(-2.4, 0.0, 0.0), Vector3d(-2.4, 0.0, -0.5001)); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase24) { testTriangleCapsuleContactCalculation("(Angled, near edge 2) Capsule axis inside triangle", Vector3d(-4.0, 0.0, 5.0), Vector3d(-2.4, 0.0, -0.5), true); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase25) { testTriangleCapsuleContactCalculation("(Angled, near edge 3) Capsule far away from triangle", Vector3d(0.0, -6.0, 5.0), Vector3d(0.0, -4.8, 2.0), false); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase26) { testTriangleCapsuleContactCalculation("(Angled, near edge 3) Capsule just away triangle", Vector3d(0.0, -6.0, 5.0), Vector3d(0.0, -4.8, 0.500001), false); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase27) { testTriangleCapsuleContactCalculation("(Angled, near edge 3) Capsule just touching triangle", Vector3d(0.0, -6.0, 5.0), Vector3d(0.0, -4.8, 0.49999), true, true, Vector3d(0,-4.8,0), Vector3d(0,-4.8,-0.00001)); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase28) { testTriangleCapsuleContactCalculation("(Angled, near edge 3) Capsule axis just away from triangle", Vector3d(0.0, -6.0, 5.0), Vector3d(0.0, -4.8, 0.0001), true, true, Vector3d(0.0, -4.8, 0.0), Vector3d(0.0, -4.8, -0.4999)); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase29) { testTriangleCapsuleContactCalculation("(Angled, near edge 3) Capsule axis just touching triangle", Vector3d(0.0, -6.0, 5.0), Vector3d(0.0, -4.8, -0.0001), true, true, Vector3d(0.0 ,-4.8, 0.0), Vector3d(0.0, -4.8, -0.5001)); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase30) { testTriangleCapsuleContactCalculation("(Angled, near edge 3) Capsule axis inside triangle", Vector3d(0.0, -6.0, 5.0), Vector3d(0.0, -4.8, -0.5), true); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase31) { testTriangleCapsuleContactCalculation("(Angled, at center) Capsule axis inside triangle", Vector3d(0.0, 0.0, -0.01), Vector3d(0.0, -0.1, 3.0), true); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase32) { MockTriangle t(Vector3d(0.0085640543450962274, -0.17216352338611343, 0.032793871473806267), Vector3d(0.17462358883922274, -0.16815838417660384, 0.13533384863957792), Vector3d(0.16119856859908893, -0.21686057517329485, 0.072690609592390418)); MockCapsule c(Vector3d(0.18735007841383616, -0.28690200129741239, 0.11717293620266563), Vector3d(0.10383485572751404, -0.17364876935318688, 0.046339120022104330), 1e-5); testTriangleCapsuleContactCalculation( TriangleCapsuleTestCase("Failing test 1", t, c, true, false, Vector3d(), Vector3d())); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase33) { MockTriangle t(Vector3d(5, -5, 0), Vector3d(0, 5, 0), Vector3d(-5, -5, 0)); MockCapsule c(Vector3d(0, -4, -1), Vector3d(0, -5 + 1e-9, 0), 1e-9); testTriangleCapsuleContactCalculation( TriangleCapsuleTestCase("Failing test 2", t, c, true, false, Vector3d(), Vector3d())); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase34) { MockTriangle t(Vector3d(0005.55605,0087.7003,-0047.2398), Vector3d(0000.110703,0113.919,-0039.387), Vector3d(-0005.57197,0087.8735,-0047.1883)); MockCapsule c(Vector3d(0,0115.5,-0045.), Vector3d(0,0110.,-0040.), 0000.1); testTriangleCapsuleContactCalculation( TriangleCapsuleTestCase("Failing test 3", t, c, true, false, Vector3d(), Vector3d())); } TEST_F(TriangleCapsuleContactCalculationTest, TestCase35) { MockTriangle t(Vector3d(0.013092,0.108735,-0.0290345), Vector3d(0.0077754,0.135282,-0.0222713), Vector3d(0.00196512,0.108977,-0.0290394)); MockCapsule c(Vector3d(0.00207912,0.109781,-0.0298305), Vector3d(0.00309017,0.109511,-0.0247458), 0.0001); testTriangleCapsuleContactCalculation( TriangleCapsuleTestCase("Failing test 4", t, c, true, false, Vector3d(), Vector3d())); } } } opensurgsim-0.7.0/SurgSim/Math/UnitTests/TriangleTriangleContactCalculationTests.cpp000066400000000000000000000150021277777236100310130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/UnitTests/TriangleTriangleTestParameters.h" namespace SurgSim { namespace Math { class TriangleTriangleContactCalculationTest : public ::testing::Test, public TriangleTriangleTestParameters { protected: void checkEqual(const Vector3d& v1, const Vector3d& v2) { if (v1.isZero(Geometry::DistanceEpsilon)) { EXPECT_TRUE(v2.isZero(Geometry::DistanceEpsilon)); } else { EXPECT_TRUE(v1.isApprox(v2, Geometry::DistanceEpsilon)); } } void testTriangleTriangleContactCalculation(const TriangleTriangleTestCase& data) { SCOPED_TRACE(std::get<0>(data)); MockTriangle t0 = std::get<1>(data); MockTriangle t1 = std::get<2>(data); bool contactExpected = std::get<3>(data); bool checkForPenetrationPoints = std::get<4>(data); Vector3d expectedT0Point = std::get<5>(data); Vector3d expectedT1Point = std::get<6>(data); double expectedPenetrationDepth = (expectedT1Point - expectedT0Point).norm(); double penetrationDepth; Vector3d t0Point, t1Point, normal; bool contactFound = false; std::string traceMessage[6] = {"Normal Test", "Shift t0 edges once", "Shift t0 edges twice", "Switched triangles: Normal Test", "Switched triangles: Shift t1 edges once", "Switched triangles: Shift t1 edges twise" }; for (int count = 0; count < 6; ++count) { SCOPED_TRACE(traceMessage[count]); switch (count) { case 0: EXPECT_NO_THROW( contactFound = calculateContactTriangleTriangle(t0.v0, t0.v1, t0.v2, t1.v0, t1.v1, t1.v2, &penetrationDepth, &t0Point, &t1Point, &normal);); break; case 1: EXPECT_NO_THROW( contactFound = calculateContactTriangleTriangle(t0.v1, t0.v2, t0.v0, t1.v0, t1.v1, t1.v2, &penetrationDepth, &t0Point, &t1Point, &normal);); break; case 2: EXPECT_NO_THROW( contactFound = calculateContactTriangleTriangle(t0.v2, t0.v0, t0.v1, t1.v0, t1.v1, t1.v2, &penetrationDepth, &t0Point, &t1Point, &normal);); break; case 3: EXPECT_NO_THROW( contactFound = calculateContactTriangleTriangle(t1.v0, t1.v1, t1.v2, t0.v0, t0.v1, t0.v2, &penetrationDepth, &t1Point, &t0Point, &normal);); break; case 4: EXPECT_NO_THROW( contactFound = calculateContactTriangleTriangle(t1.v1, t1.v2, t1.v0, t0.v0, t0.v1, t0.v2, &penetrationDepth, &t1Point, &t0Point, &normal);); break; case 5: EXPECT_NO_THROW( contactFound = calculateContactTriangleTriangle(t1.v2, t1.v0, t1.v1, t0.v0, t0.v1, t0.v2, &penetrationDepth, &t1Point, &t0Point, &normal);); break; } EXPECT_EQ(contactExpected, contactFound); if (contactFound) { if (checkForPenetrationPoints && count < 3) { EXPECT_NEAR(expectedPenetrationDepth, penetrationDepth, Geometry::DistanceEpsilon); checkEqual(expectedT0Point, t0Point); checkEqual(expectedT1Point, t1Point); } // Check that t0Point is on the plane of t0. double t0SignedDistance = std::abs(t0Point.dot(t0.n) - t0.v0.dot(t0.n)); EXPECT_NEAR(t0SignedDistance, 0.0, Geometry::DistanceEpsilon); // Check that t1Point is on the plane of t1. double t1SignedDistance = std::abs(t1Point.dot(t1.n) - t1.v0.dot(t1.n)); EXPECT_NEAR(t1SignedDistance, 0.0, Geometry::DistanceEpsilon); // Check that t0Point is inside t0. Vector3d bary0; barycentricCoordinates(t0Point, t0.v0, t0.v1, t0.v2, &bary0); bool isBary0WithinTriangle = bary0[0] >= -Geometry::DistanceEpsilon && bary0[0] <= (1.0 + Geometry::DistanceEpsilon) && bary0[1] >= -Geometry::DistanceEpsilon && bary0[1] <= (1.0 + Geometry::DistanceEpsilon) && bary0[2] >= -Geometry::DistanceEpsilon && bary0[2] <= (1.0 + Geometry::DistanceEpsilon); EXPECT_TRUE(isBary0WithinTriangle); // Check that t1Point is inside t1. Vector3d bary1; barycentricCoordinates(t1Point, t1.v0, t1.v1, t1.v2, &bary1); bool isBary1WithinTriangle = bary1[0] >= -Geometry::DistanceEpsilon && bary1[0] <= (1.0 + Geometry::DistanceEpsilon) && bary1[1] >= -Geometry::DistanceEpsilon && bary1[1] <= (1.0 + Geometry::DistanceEpsilon) && bary1[2] >= -Geometry::DistanceEpsilon && bary1[2] <= (1.0 + Geometry::DistanceEpsilon); EXPECT_TRUE(isBary1WithinTriangle); // Check if the penetration depth when applied as correction, separates the triangles. // First move the triangles apart by just short of the penetration depth, to make sure // the triangles are still colliding. { Vector3d correction = normal * (0.5 * penetrationDepth - Geometry::DistanceEpsilon); if (count > 2) { // Switched triangles. correction = -correction; } MockTriangle correctedT0(t0); correctedT0.translate(correction); MockTriangle correctedT1(t1); correctedT1.translate(-correction); EXPECT_TRUE(doesIntersectTriangleTriangle(correctedT0.v0, correctedT0.v1, correctedT0.v2, correctedT1.v0, correctedT1.v1, correctedT1.v2)); } // Now move the triangles apart by just a little farther than the penetration depth, to establish // that the triangles are not colliding. { Vector3d correction = normal * (0.5 * penetrationDepth + Geometry::DistanceEpsilon); if (count > 2) { // Switched triangles. correction = -correction; } MockTriangle correctedT0(t0); correctedT0.translate(correction); MockTriangle correctedT1(t1); correctedT1.translate(-correction); EXPECT_FALSE(doesIntersectTriangleTriangle(correctedT0.v0, correctedT0.v1, correctedT0.v2, correctedT1.v0, correctedT1.v1, correctedT1.v2)); } } } } }; TEST_F(TriangleTriangleContactCalculationTest, TestCases) { for (auto it = m_testCases.begin(); it != m_testCases.end(); ++it) { testTriangleTriangleContactCalculation(*it); } } } }opensurgsim-0.7.0/SurgSim/Math/UnitTests/TriangleTriangleIntersectionTests.cpp000066400000000000000000000035171277777236100277170ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/UnitTests/TriangleTriangleTestParameters.h" namespace SurgSim { namespace Math { class TriangleTriangleIntersectionTest : public ::testing::Test, public TriangleTriangleTestParameters { }; TEST_F(TriangleTriangleIntersectionTest, TestCases) { for (auto it = m_testCases.begin(); it != m_testCases.end(); ++it) { SCOPED_TRACE(std::get<0>(*it)); MockTriangle t0 = std::get<1>(*it); MockTriangle t1 = std::get<2>(*it); bool intersectionExpected = std::get<3>(*it); EXPECT_EQ(intersectionExpected, doesIntersectTriangleTriangle(t0.v0, t0.v1, t0.v2, t1.v0, t1.v1, t1.v2)); EXPECT_EQ(intersectionExpected, doesIntersectTriangleTriangle(t0.v1, t0.v2, t0.v0, t1.v0, t1.v1, t1.v2)); EXPECT_EQ(intersectionExpected, doesIntersectTriangleTriangle(t0.v2, t0.v0, t0.v1, t1.v0, t1.v1, t1.v2)); EXPECT_EQ(intersectionExpected, doesIntersectTriangleTriangle(t1.v0, t1.v1, t1.v2, t0.v0, t0.v1, t0.v2)); EXPECT_EQ(intersectionExpected, doesIntersectTriangleTriangle(t1.v1, t1.v2, t1.v0, t0.v0, t0.v1, t0.v2)); EXPECT_EQ(intersectionExpected, doesIntersectTriangleTriangle(t1.v2, t1.v0, t1.v1, t0.v0, t0.v1, t0.v2)); } } } }opensurgsim-0.7.0/SurgSim/Math/UnitTests/TriangleTriangleSeparatingAxisContactCalculationTests.cpp000066400000000000000000000140151277777236100336610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/UnitTests/TriangleTriangleTestParameters.h" namespace SurgSim { namespace Math { class TriangleTriangleSeparatingAxisContactCalculationTest : public ::testing::Test, public TriangleTriangleTestParameters { protected: void checkEqual(const Vector3d& v1, const Vector3d& v2) { if (v1.isZero(Geometry::DistanceEpsilon)) { EXPECT_TRUE(v2.isZero(Geometry::DistanceEpsilon)); } else { EXPECT_TRUE(v1.isApprox(v2, Geometry::DistanceEpsilon)); } } void testTriangleTriangleContactCalculation(const TriangleTriangleTestCase& data) { SCOPED_TRACE(std::get<0>(data)); MockTriangle t0 = std::get<1>(data); MockTriangle t1 = std::get<2>(data); bool contactExpected = std::get<3>(data); double penetrationDepth; Vector3d t0Point, t1Point, normal; bool contactFound = false; std::string traceMessage[6] = {"Normal Test", "Shift t0 edges once", "Shift t0 edges twice", "Switched triangles: Normal Test", "Switched triangles: Shift t1 edges once", "Switched triangles: Shift t1 edges twice" }; for (int count = 0; count < 6; ++count) { SCOPED_TRACE(traceMessage[count]); switch (count) { case 0: EXPECT_NO_THROW( contactFound = calculateContactTriangleTriangleSeparatingAxis(t0.v0, t0.v1, t0.v2, t1.v0, t1.v1, t1.v2, &penetrationDepth, &t0Point, &t1Point, &normal);); break; case 1: EXPECT_NO_THROW( contactFound = calculateContactTriangleTriangleSeparatingAxis(t0.v1, t0.v2, t0.v0, t1.v0, t1.v1, t1.v2, &penetrationDepth, &t0Point, &t1Point, &normal);); break; case 2: EXPECT_NO_THROW( contactFound = calculateContactTriangleTriangleSeparatingAxis(t0.v2, t0.v0, t0.v1, t1.v0, t1.v1, t1.v2, &penetrationDepth, &t0Point, &t1Point, &normal);); break; case 3: EXPECT_NO_THROW( contactFound = calculateContactTriangleTriangleSeparatingAxis(t1.v0, t1.v1, t1.v2, t0.v0, t0.v1, t0.v2, &penetrationDepth, &t1Point, &t0Point, &normal);); break; case 4: EXPECT_NO_THROW( contactFound = calculateContactTriangleTriangleSeparatingAxis(t1.v1, t1.v2, t1.v0, t0.v0, t0.v1, t0.v2, &penetrationDepth, &t1Point, &t0Point, &normal);); break; case 5: EXPECT_NO_THROW( contactFound = calculateContactTriangleTriangleSeparatingAxis(t1.v2, t1.v0, t1.v1, t0.v0, t0.v1, t0.v2, &penetrationDepth, &t1Point, &t0Point, &normal);); break; } EXPECT_EQ(contactExpected, contactFound); if (contactFound) { // Check that t0Point is on the plane of t0. double t0SignedDistance = std::abs(t0Point.dot(t0.n) - t0.v0.dot(t0.n)); EXPECT_NEAR(t0SignedDistance, 0.0, Geometry::DistanceEpsilon); // Check that t1Point is on the plane of t1. double t1SignedDistance = std::abs(t1Point.dot(t1.n) - t1.v0.dot(t1.n)); EXPECT_NEAR(t1SignedDistance, 0.0, Geometry::DistanceEpsilon); // Check that t0Point is inside t0. Vector3d bary0; barycentricCoordinates(t0Point, t0.v0, t0.v1, t0.v2, &bary0); bool isBary0WithinTriangle = bary0[0] >= -Geometry::DistanceEpsilon && bary0[0] <= (1.0 + Geometry::DistanceEpsilon) && bary0[1] >= -Geometry::DistanceEpsilon && bary0[1] <= (1.0 + Geometry::DistanceEpsilon) && bary0[2] >= -Geometry::DistanceEpsilon && bary0[2] <= (1.0 + Geometry::DistanceEpsilon); EXPECT_TRUE(isBary0WithinTriangle); // Check that t1Point is inside t1. Vector3d bary1; barycentricCoordinates(t1Point, t1.v0, t1.v1, t1.v2, &bary1); bool isBary1WithinTriangle = bary1[0] >= -Geometry::DistanceEpsilon && bary1[0] <= (1.0 + Geometry::DistanceEpsilon) && bary1[1] >= -Geometry::DistanceEpsilon && bary1[1] <= (1.0 + Geometry::DistanceEpsilon) && bary1[2] >= -Geometry::DistanceEpsilon && bary1[2] <= (1.0 + Geometry::DistanceEpsilon); EXPECT_TRUE(isBary1WithinTriangle); // Check if the penetration depth when applied as correction, separates the triangles. // First move the triangles apart by just short of the penetration depth, to make sure // the triangles are still colliding. { Vector3d correction = normal * (0.5 * penetrationDepth - Geometry::DistanceEpsilon); if (count > 2) { // Switched triangles. correction = -correction; } MockTriangle correctedT0(t0); correctedT0.translate(correction); MockTriangle correctedT1(t1); correctedT1.translate(-correction); EXPECT_TRUE(doesIntersectTriangleTriangle(correctedT0.v0, correctedT0.v1, correctedT0.v2, correctedT1.v0, correctedT1.v1, correctedT1.v2)); } // Now move the triangles apart by just a little farther than the penetration depth, to establish // that the triangles are not colliding. { Vector3d correction = normal * (0.5 * penetrationDepth + Geometry::DistanceEpsilon); if (count > 2) { // Switched triangles. correction = -correction; } MockTriangle correctedT0(t0); correctedT0.translate(correction); MockTriangle correctedT1(t1); correctedT1.translate(-correction); EXPECT_FALSE(doesIntersectTriangleTriangle(correctedT0.v0, correctedT0.v1, correctedT0.v2, correctedT1.v0, correctedT1.v1, correctedT1.v2)); } } } } }; TEST_F(TriangleTriangleSeparatingAxisContactCalculationTest, TestCases) { for (auto it = m_testCases.begin(); it != m_testCases.end(); ++it) { testTriangleTriangleContactCalculation(*it); } } } } opensurgsim-0.7.0/SurgSim/Math/UnitTests/TriangleTriangleTestParameters.h000066400000000000000000000242211277777236100266310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_MATH_UNITTESTS_TRIANGLETRIANGLETESTPARAMETERS_H #define SURGSIM_MATH_UNITTESTS_TRIANGLETRIANGLETESTPARAMETERS_H #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/UnitTests/MockTriangle.h" #include "SurgSim/Math/Geometry.h" namespace SurgSim { namespace Math { /// A base class for triangle-triangle tests, which has a preset list of test cases. class TriangleTriangleTestParameters { protected: typedef std::tuple // Expected penetration point in the second triangle. TriangleTriangleTestCase; /// A list of common test cases. std::vector m_testCases; /// Default constructor. TriangleTriangleTestParameters() { double d = 5.0 * Geometry::DistanceEpsilon; MockTriangle t0(Vector3d(-5, 0, 0), Vector3d(0, 10, 0), Vector3d(5, 0, 0)); MockTriangle t1; { std::string scenario = "vertex t1v0 inside t0v0"; t1 = MockTriangle(t0.v0 + Vector3d(0, 0, d), t0.v1 + t0.n * 2, t0.v2 + t0.n * 2); m_testCases.push_back(TriangleTriangleTestCase(scenario, t1, t0, true, true, t1.v0, t0.v0)); } { std::string scenario = "vertex t1v0 inside of triangle t0"; Vector3d t1v0 = t0.pointInTriangle(0.2, 0.2); t1 = MockTriangle(t1v0 + Vector3d(0, 0, d), t0.v1 + t0.n * 2, t0.v2 + t0.n * 2); m_testCases.push_back(TriangleTriangleTestCase(scenario, t1, t0, true, true, t1.v0, t1v0)); } { std::string scenario = "vertex t1v0, t1v1 inside of triangle t0, at same depth"; Vector3d t1v0 = t0.pointInTriangle(0.2, 0.2); Vector3d t1v1 = t0.pointInTriangle(0.4, 0.4); t1 = MockTriangle(t1v0 + Vector3d(0, 0, d), t1v1 + Vector3d(0, 0, d), t0.v2 + t0.n * 2); m_testCases.push_back(TriangleTriangleTestCase(scenario, t1, t0, true, false, t1.v1, t1v1)); } { std::string scenario = "vertex t1v0, t1v1 inside of triangle t0, depth of t1v0 < t1v1"; Vector3d t1v0 = t0.pointInTriangle(0.2, 0.2); Vector3d t1v1 = t0.pointInTriangle(0.4, 0.4); t1 = MockTriangle(t1v0 + Vector3d(0, 0, d), t1v1 + Vector3d(0, 0, d * 2.0), t0.v2 + t0.n * 2); m_testCases.push_back(TriangleTriangleTestCase(scenario, t1, t0, true, true, t1.v1, t1v1)); } { std::string scenario = "vertex t1v0, t1v1 inside of triangle t0, depth of t1v0 > t1v1"; Vector3d t1v0 = t0.pointInTriangle(0.2, 0.2); Vector3d t1v1 = t0.pointInTriangle(0.4, 0.4); t1 = MockTriangle(t1v0 + Vector3d(0, 0, d * 2.0), t1v1 + Vector3d(0, 0, d), t0.v2 + t0.n * 2); m_testCases.push_back(TriangleTriangleTestCase(scenario, t1, t0, true, true, t1.v0, t1v0)); } { std::string scenario = "vertex t1v0 close to t0v0"; t1 = MockTriangle(t0.v0 + t0.n, t0.v1 + t0.n * 2, t0.v2 + t0.n * 2); m_testCases.push_back(TriangleTriangleTestCase(scenario, t1, t0, false, false, t1.v0, t0.v0)); } { std::string scenario = "vertex t1v0 close to the inside of triangle t0"; Vector3d intersection = t0.pointInTriangle(0.2, 0.2); t1 = MockTriangle(intersection + t0.n , t0.v1 + t0.n * 2, t0.v2 + t0.n * 2); m_testCases.push_back(TriangleTriangleTestCase(scenario, t1, t0, false, false, t1.v0, intersection)); } { std::string scenario = "edge t1v0v1 through triangle t0"; Vector3d t1v0 = t0.pointInTriangle(0.2, 0.2); t1 = MockTriangle(t1v0 + t0.n * 3, t0.v0 - t0.v0v2 * 4 + t0.n, t1v0 - t0.n * 4); Vector3d t0p; Vector3d t1p; m_testCases.push_back(TriangleTriangleTestCase(scenario, t0, t1, true, false, t0p, t1p)); } { std::string scenario = "Triangles parallel"; t1 = MockTriangle(t0.v0 + t0.n * 3, t0.v1 + t0.n * 3, t0.v2 + t0.n * 3); m_testCases.push_back(TriangleTriangleTestCase(scenario, t1, t0, false, false, t1.v0, t1.v0)); } MockTriangle T0(Vector3d(-5.0, 0, 0), Vector3d(5, 0, 0), Vector3d(0, 10, 0)); T0.translate(Vector3d(0, -3.333333333, 0)); MockTriangle T1(Vector3d(-5.0, 0, 0), Vector3d(5, 0, 0), Vector3d(0, 10, 0)); T1.translate(Vector3d(0, -10, 0)); T1.rotateAboutXBy(-90.0); { std::string scenario = "vertex t1v0 inside t0 - 1"; MockTriangle t0(T0); Vector3d t0p(0, 0, 0); MockTriangle t1(T1); t1.translate(Vector3d(0.0, 0.0, -0.1)); Vector3d t1p(0, 0, -0.1); m_testCases.push_back(TriangleTriangleTestCase(scenario, t0, t1, true, true, t0p, t1p)); } { std::string scenario = "vertex t1v0 inside t0 - 2"; MockTriangle t0(T0); Vector3d t0p; MockTriangle t1(T1); t1.translate(Vector3d(0.0, -3.3, -0.1)); Vector3d t1p; m_testCases.push_back(TriangleTriangleTestCase(scenario, t0, t1, true, false, t0p, t1p)); } { std::string scenario = "vertex t1v0 inside t0 - 3"; MockTriangle t0(T0); Vector3d t0p(0, -3.22222222, 0); MockTriangle t1(T1); t1.translate(Vector3d(0.0, -3.22222222, -0.1)); Vector3d t1p(0, -3.22222222, -0.1); m_testCases.push_back(TriangleTriangleTestCase(scenario, t0, t1, true, true, t0p, t1p)); } { std::string scenario = "vertex t1v0 inside t0 - 4"; MockTriangle t0(T0); Vector3d t0p(0, 0, 0); MockTriangle t1(T1); t1.translate(Vector3d(0.0, 0.0, -0.6)); Vector3d t1p(0, 0, -0.6); m_testCases.push_back(TriangleTriangleTestCase(scenario, t0, t1, true, true, t0p, t1p)); } { std::string scenario = "vertex t1v0 inside t0 - 5"; MockTriangle t0(T0); Vector3d t0p(0, 0, 0); MockTriangle t1(T1); t1.rotateAboutZBy(180.0); t1.translate(Vector3d(0.0, 0.0, -6.6)); Vector3d t1p(0, 0, -6.6); m_testCases.push_back(TriangleTriangleTestCase(scenario, t0, t1, true, true, t0p, t1p)); } { std::string scenario = "vertex t1v0 inside t0 - 6"; MockTriangle t0(T0); Vector3d t0p(t0.v2); MockTriangle t1(T1); t1.rotateAboutZBy(180.0); t1.translate(Vector3d(0.0, 0.0, -6.7)); Vector3d t1p(0, 0, 0); m_testCases.push_back(TriangleTriangleTestCase(scenario, t0, t1, true, true, t0p, t1p)); } { std::string scenario = "edge (t1v0,t1v1) inside t0 - 1"; MockTriangle t0(T0); Vector3d t0p; MockTriangle t1(T1); t1.translate(Vector3d(-3.0, 0.0, -6.0)); Vector3d t1p; m_testCases.push_back(TriangleTriangleTestCase(scenario, t0, t1, true, false, t0p, t1p)); } { std::string scenario = "edge (t1v0,t1v1) inside t0 - 2"; MockTriangle t0(T0); Vector3d t0p; MockTriangle t1(T1); t1.rotateAboutZBy(90.0); t1.translate(Vector3d(0.0, -3.5, -9.0)); Vector3d t1p; m_testCases.push_back(TriangleTriangleTestCase(scenario, t0, t1, true, false, t0p, t1p)); } { std::string scenario = "edge (t1v0,t1v1) inside t0 - 3"; MockTriangle t0(T0); Vector3d t0p; MockTriangle t1(T1); t1.rotateAboutYBy(180.0); t1.rotateAboutZBy(90.0); t1.translate(Vector3d(0.0, -4.0, 6.0)); Vector3d t1p; m_testCases.push_back(TriangleTriangleTestCase(scenario, t0, t1, true, false, t0p, t1p)); } { std::string scenario = "edge (t1v0,t1v1) inside t0 - 4"; MockTriangle t0(T0); Vector3d t0p; MockTriangle t1(T1); t1.rotateAboutYBy(180.0); t1.rotateAboutZBy(90.0); t1.translate(Vector3d(4.0, -4.0, 6.0)); Vector3d t1p; m_testCases.push_back(TriangleTriangleTestCase(scenario, t0, t1, true, false, t0p, t1p)); } { std::string scenario = "Failed case in Stapler demo - 1"; MockTriangle t0(Vector3d(-0.0063320380397585046, 0.0028276973112210521, 0.014661107730129588), Vector3d(-0.012108385700376603, 0.0012180224983028599, 0.011926511653863735), Vector3d(-0.016994324947197881, -0.011073183474260971, 0.022191024814086323)); Vector3d t0p; MockTriangle t1(Vector3d(-0.031071999999999999, 0.0028570000000000002, 0.012547000000000001), Vector3d(-0.0016770000000000001, -0.0010070000000000001, 0.0048640000000000003), Vector3d(-0.0013829999999999999, -0.0010030000000000000, 0.012973000000000000)); Vector3d t1p; m_testCases.push_back(TriangleTriangleTestCase(scenario, t0, t1, true, false, t0p, t1p)); } { std::string scenario = "Failed case in Stapler demo - 2"; MockTriangle t0(Vector3d(3.4602053093157404, -1.1441614263267368, 37.870346680755349), Vector3d(3.3720821269094003, -0.20927613787449697, 118.95490947665477), Vector3d(3.2033802246727975, -36.106495941162471, 119.36861234419522)); Vector3d t0p; MockTriangle t1(Vector3d(0.50000000000000002, 3.8999999999999999, 53.099999999999996), Vector3d(0.50000000000000002, -3.8999999999999999, 53.099999999999996), Vector3d(21.299999999999999, 0.00000000000000000, 53.299999999999997)); Vector3d t1p; m_testCases.push_back(TriangleTriangleTestCase(scenario, t0, t1, true, false, t0p, t1p)); } { std::string scenario = "Failed case in Vascular"; MockTriangle t0(Vector3d(0.12419200000000000, -0.0027260000000000001, -0.039763000000000000), Vector3d(0.10276100000000001, -0.0020000000000000000, -0.034617000000000002), Vector3d(0.10060200000000000, -0.0026749999999999999, -0.036646999999999999)); Vector3d t0p; MockTriangle t1(Vector3d(0.13072899974405072, -0.0023620000000000000, -0.033049000000000002), Vector3d(0.12155499974405069, -0.0017220000000000000, -0.039350000000000003), Vector3d(0.12419199974405069, -0.0027260000000000001, -0.039763000000000000)); Vector3d t1p; m_testCases.push_back(TriangleTriangleTestCase(scenario, t0, t1, false, false, t0p, t1p)); } } }; } // namespace Math } // namespace SurgSim #endif // SURGSIM_MATH_UNITTESTS_TRIANGLETRIANGLETESTPARAMETERS_Hopensurgsim-0.7.0/SurgSim/Math/UnitTests/ValidTests.cpp000066400000000000000000000526711277777236100231410ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests that exercise the isValid() functions. #include #include #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Valid.h" #include #include "gtest/gtest.h" // Define test fixture class templates. // We don't really need fixtures as such, but the templatization encodes type. template class ValidTests : public testing::Test { public: typedef T Scalar; }; // This used to contain aligned (via Eigen::AutoAlign) matrix type aliases, but we got rid of those. typedef ::testing::Types FloatingPointVariants; TYPED_TEST_CASE(ValidTests, FloatingPointVariants); // Now we're ready to start testing... TYPED_TEST(ValidTests, ValidScalars) { typedef typename TestFixture::Scalar Scalar; using SurgSim::Math::isValid; EXPECT_TRUE(isValid(static_cast(0))); EXPECT_TRUE(isValid(static_cast(1))); EXPECT_TRUE(isValid(std::numeric_limits::denorm_min())); EXPECT_FALSE(isValid(std::numeric_limits::quiet_NaN())); EXPECT_FALSE(isValid(std::numeric_limits::signaling_NaN())); EXPECT_FALSE(isValid(std::numeric_limits::infinity())); } TYPED_TEST(ValidTests, SubnormalScalars) { typedef typename TestFixture::Scalar Scalar; using SurgSim::Math::isSubnormal; EXPECT_FALSE(isSubnormal(static_cast(0))); EXPECT_FALSE(isSubnormal(static_cast(1))); EXPECT_TRUE(isSubnormal(std::numeric_limits::denorm_min())); EXPECT_FALSE(isSubnormal(std::numeric_limits::quiet_NaN())); EXPECT_FALSE(isSubnormal(std::numeric_limits::signaling_NaN())); EXPECT_FALSE(isSubnormal(std::numeric_limits::infinity())); } TYPED_TEST(ValidTests, SubnormalArithmetic) { typedef typename TestFixture::Scalar Scalar; using SurgSim::Math::isSubnormal; Scalar x = 1; EXPECT_FALSE(isSubnormal(x)); int normalSteps; for (normalSteps = 0; normalSteps < 1000000; ++normalSteps) { if (isSubnormal(x) || (x == 0)) { break; } x /= 2; } EXPECT_GT(normalSteps, 0); int subnormalSteps; for (subnormalSteps = 0; subnormalSteps < 1000000; ++subnormalSteps) { if (!isSubnormal(x) || (x == 0)) { break; } x /= 2; } EXPECT_GT(subnormalSteps, 0); } template static void matrixCheckHelper(const T& validMatrix) { // Assumes T is a matrix, 2x2 or larger typedef T Matrix; typedef typename Matrix::Scalar Scalar; using SurgSim::Math::isValid; using SurgSim::Math::isSubnormal; { Matrix matrix = validMatrix; EXPECT_TRUE(isValid(matrix)); EXPECT_FALSE(isSubnormal(matrix)); matrix(0, 1) = std::numeric_limits::denorm_min(); EXPECT_TRUE(isValid(matrix)); EXPECT_TRUE(isSubnormal(matrix)); } { Matrix matrix = validMatrix; EXPECT_TRUE(isValid(matrix)); EXPECT_FALSE(isSubnormal(matrix)); matrix(0, 0) = std::numeric_limits::infinity(); EXPECT_FALSE(isValid(matrix)); EXPECT_FALSE(isSubnormal(matrix)); matrix(1, 1) = std::numeric_limits::denorm_min(); EXPECT_FALSE(isValid(matrix)); EXPECT_TRUE(isSubnormal(matrix)); } { Matrix matrix = validMatrix; EXPECT_TRUE(isValid(matrix)); EXPECT_FALSE(isSubnormal(matrix)); matrix(1, 0) = std::numeric_limits::quiet_NaN(); EXPECT_FALSE(isValid(matrix)); EXPECT_FALSE(isSubnormal(matrix)); } } TYPED_TEST(ValidTests, MatrixChecks) { typedef typename TestFixture::Scalar Scalar; { Eigen::Matrix matrix; matrix.setIdentity(); matrixCheckHelper(matrix); matrix.setZero(); matrixCheckHelper(matrix); } { Eigen::Matrix matrix; matrix.setIdentity(); matrixCheckHelper(matrix); } { Eigen::Matrix matrix; matrix.setIdentity(); matrixCheckHelper(matrix); } { Eigen::Matrix matrix; matrix.setIdentity(); matrixCheckHelper(matrix); } { Eigen::Matrix matrix; matrix.setIdentity(11, 11); matrixCheckHelper(matrix); } } template static void vectorCheckHelper(const T& validVector) { // Assumes T is a vector, size 2 or larger typedef T Vector; typedef typename Vector::Scalar Scalar; using SurgSim::Math::isValid; using SurgSim::Math::isSubnormal; { Vector vector = validVector; EXPECT_TRUE(isValid(vector)); EXPECT_FALSE(isSubnormal(vector)); vector[0] = static_cast(1); EXPECT_TRUE(isValid(vector)); EXPECT_FALSE(isSubnormal(vector)); } { Vector vector = validVector; EXPECT_TRUE(isValid(vector)); EXPECT_FALSE(isSubnormal(vector)); vector[1] = std::numeric_limits::denorm_min(); EXPECT_TRUE(isValid(vector)); EXPECT_TRUE(isSubnormal(vector)); } { Vector vector = validVector; EXPECT_TRUE(isValid(vector)); EXPECT_FALSE(isSubnormal(vector)); vector[0] = std::numeric_limits::infinity(); EXPECT_FALSE(isValid(vector)); EXPECT_FALSE(isSubnormal(vector)); vector[1] = std::numeric_limits::denorm_min(); EXPECT_FALSE(isValid(vector)); EXPECT_TRUE(isSubnormal(vector)); } { Vector vector = validVector; EXPECT_TRUE(isValid(vector)); EXPECT_FALSE(isSubnormal(vector)); vector[1] = std::numeric_limits::quiet_NaN(); EXPECT_FALSE(isValid(vector)); EXPECT_FALSE(isSubnormal(vector)); } } TYPED_TEST(ValidTests, VectorChecks) { typedef typename TestFixture::Scalar Scalar; { Eigen::Matrix vector; vector.setZero(); vectorCheckHelper(vector); vector.setZero(); vectorCheckHelper(vector); } { Eigen::Matrix vector; vector.setZero(); vectorCheckHelper(vector); } { Eigen::Matrix vector; vector.setZero(); vectorCheckHelper(vector); } { Eigen::Matrix vector; vector.setZero(); vectorCheckHelper(vector); } { Eigen::Matrix vector; vector.setZero(11); vectorCheckHelper(vector); } } TYPED_TEST(ValidTests, QuaternionChecks) { typedef typename TestFixture::Scalar Scalar; using SurgSim::Math::isValid; using SurgSim::Math::isSubnormal; Eigen::Quaternion quaternion(1, 0, 0, 0); EXPECT_TRUE(isValid(quaternion)); EXPECT_FALSE(isSubnormal(quaternion)); quaternion.x() = std::numeric_limits::denorm_min(); EXPECT_TRUE(isValid(quaternion)); EXPECT_TRUE(isSubnormal(quaternion)); quaternion = Eigen::Quaternion(std::numeric_limits::infinity(), 0, 0, 0); EXPECT_FALSE(isValid(quaternion)); EXPECT_FALSE(isSubnormal(quaternion)); quaternion.z() = std::numeric_limits::denorm_min(); EXPECT_FALSE(isValid(quaternion)); EXPECT_TRUE(isSubnormal(quaternion)); } TYPED_TEST(ValidTests, AngleAxisChecks) { typedef typename TestFixture::Scalar Scalar; using SurgSim::Math::isValid; using SurgSim::Math::isSubnormal; Eigen::AngleAxis rotation = Eigen::AngleAxis::Identity(); EXPECT_TRUE(isValid(rotation)); EXPECT_FALSE(isSubnormal(rotation)); rotation.angle() = std::numeric_limits::denorm_min(); EXPECT_TRUE(isValid(rotation)); EXPECT_TRUE(isSubnormal(rotation)); rotation = Eigen::AngleAxis::Identity(); rotation.axis()[2] = std::numeric_limits::denorm_min(); EXPECT_TRUE(isValid(rotation)); EXPECT_TRUE(isSubnormal(rotation)); rotation = Eigen::AngleAxis::Identity(); rotation.angle() = std::numeric_limits::infinity(); EXPECT_FALSE(isValid(rotation)); EXPECT_FALSE(isSubnormal(rotation)); rotation.axis()[1] = std::numeric_limits::denorm_min(); EXPECT_FALSE(isValid(rotation)); EXPECT_TRUE(isSubnormal(rotation)); rotation = Eigen::AngleAxis::Identity(); rotation.axis()[0] = std::numeric_limits::quiet_NaN(); EXPECT_FALSE(isValid(rotation)); EXPECT_FALSE(isSubnormal(rotation)); rotation.angle() = std::numeric_limits::denorm_min(); EXPECT_FALSE(isValid(rotation)); EXPECT_TRUE(isSubnormal(rotation)); } TYPED_TEST(ValidTests, Rotation2DChecks) { typedef typename TestFixture::Scalar Scalar; using SurgSim::Math::isValid; using SurgSim::Math::isSubnormal; Eigen::Rotation2D rotation(0); EXPECT_TRUE(isValid(rotation)); EXPECT_FALSE(isSubnormal(rotation)); rotation.angle() = static_cast(1); EXPECT_TRUE(isValid(rotation)); EXPECT_FALSE(isSubnormal(rotation)); rotation.angle() = std::numeric_limits::denorm_min(); EXPECT_TRUE(isValid(rotation)); EXPECT_TRUE(isSubnormal(rotation)); rotation = Eigen::Rotation2D(std::numeric_limits::infinity()); EXPECT_FALSE(isValid(rotation)); EXPECT_FALSE(isSubnormal(rotation)); } template static void transformCheckHelper() { // Assumes T is an Eigen::Transform type of some sort typedef T Transform; typedef typename Transform::Scalar Scalar; using SurgSim::Math::isValid; using SurgSim::Math::isSubnormal; Transform transform = Transform::Identity(); EXPECT_TRUE(isValid(transform)); EXPECT_FALSE(isSubnormal(transform)); transform(1, 1) = std::numeric_limits::denorm_min(); EXPECT_TRUE(isValid(transform)); EXPECT_TRUE(isSubnormal(transform)); transform = Transform::Identity(); transform(0, 0) = std::numeric_limits::quiet_NaN(); EXPECT_FALSE(isValid(transform)); EXPECT_FALSE(isSubnormal(transform)); transform(0, 1) = std::numeric_limits::denorm_min(); EXPECT_FALSE(isValid(transform)); EXPECT_TRUE(isSubnormal(transform)); } TYPED_TEST(ValidTests, TransformChecks) { typedef typename TestFixture::Scalar Scalar; using SurgSim::Math::isValid; using SurgSim::Math::isSubnormal; transformCheckHelper>(); transformCheckHelper>(); transformCheckHelper>(); transformCheckHelper>(); transformCheckHelper>(); transformCheckHelper>(); } TYPED_TEST(ValidTests, ClearSubnormalScalars) { typedef typename TestFixture::Scalar Scalar; using SurgSim::Math::setSubnormalToZero; using SurgSim::Math::isValid; Scalar x; x = 0; EXPECT_FALSE(setSubnormalToZero(&x)); EXPECT_EQ(0, x); x = -1; EXPECT_FALSE(setSubnormalToZero(&x)); EXPECT_EQ(-1, x); x = std::numeric_limits::infinity(); EXPECT_FALSE(setSubnormalToZero(&x)); EXPECT_FALSE(isValid(x)); x = std::numeric_limits::quiet_NaN(); EXPECT_FALSE(setSubnormalToZero(&x)); EXPECT_FALSE(isValid(x)); x = std::numeric_limits::signaling_NaN(); EXPECT_FALSE(setSubnormalToZero(&x)); EXPECT_FALSE(isValid(x)); x = std::numeric_limits::denorm_min(); EXPECT_TRUE(setSubnormalToZero(&x)); EXPECT_EQ(0, x); } template static void compareMatrices(const T& a, const T& b) { typedef T Matrix; typedef typename Matrix::Index Index; EXPECT_EQ(a.rows(), b.rows()); EXPECT_EQ(a.cols(), b.cols()); const Index numColumns = std::min(a.cols(), b.cols()); const Index numRows = std::min(a.rows(), b.rows()); for (Index j = 0; j < numColumns; ++j) { for (Index i = 0; i < numRows; ++i) { bool isValidAij = SurgSim::Math::isValid(a.coeff(i, j)); bool isValidBij = SurgSim::Math::isValid(b.coeff(i, j)); EXPECT_EQ(isValidAij, isValidBij) << "i = " << i << ", j = " << j << ", Aij = " << a.coeff(i, j) << ", Bij = " << b.coeff(i, j); if (isValidAij && isValidBij) { // In general, floating point equality checks are bad, but here they are needed. EXPECT_EQ(a.coeff(i, j), b.coeff(i, j)) << "i = " << i << ", j = " << j; } } } } template static void matrixSetSubnormalHelper(const T& validMatrix) { // Assumes T is a matrix, 2x2 or larger typedef T Matrix; typedef typename Matrix::Scalar Scalar; EXPECT_TRUE(SurgSim::Math::isValid(validMatrix)); EXPECT_FALSE(SurgSim::Math::isSubnormal(validMatrix)); using SurgSim::Math::setSubnormalToZero; { Matrix a = validMatrix; Matrix b = a; EXPECT_FALSE(setSubnormalToZero(&a)); EXPECT_FALSE(setSubnormalToZero(&b)); compareMatrices(a, b); } { Matrix a = validMatrix; a(0, 1) = 0; Matrix b = a; b(0, 1) = std::numeric_limits::denorm_min(); EXPECT_FALSE(setSubnormalToZero(&a)); EXPECT_TRUE(setSubnormalToZero(&b)); compareMatrices(a, b); } { Matrix a = validMatrix; a(0, 0) = std::numeric_limits::infinity(); Matrix b = a; EXPECT_FALSE(setSubnormalToZero(&a)); EXPECT_FALSE(setSubnormalToZero(&b)); compareMatrices(a, b); } { Matrix a = validMatrix; a(1, 0) = std::numeric_limits::quiet_NaN(); a(1, 1) = 0; Matrix b = a; b(1, 1) = std::numeric_limits::denorm_min(); EXPECT_FALSE(setSubnormalToZero(&a)); EXPECT_TRUE(setSubnormalToZero(&b)); compareMatrices(a, b); } } TYPED_TEST(ValidTests, ClearSubnormalMatrix) { typedef typename TestFixture::Scalar Scalar; { Eigen::Matrix matrix; matrix.setConstant(123); matrixSetSubnormalHelper(matrix); matrix.setZero(); matrixSetSubnormalHelper(matrix); } { Eigen::Matrix matrix; matrix.setConstant(123); matrixSetSubnormalHelper(matrix); } { Eigen::Matrix matrix; matrix.setConstant(123); matrixSetSubnormalHelper(matrix); } { Eigen::Matrix matrix; matrix.setConstant(123); matrixSetSubnormalHelper(matrix); } { Eigen::Matrix matrix; matrix.setConstant(11, 13, static_cast(123)); matrixSetSubnormalHelper(matrix); } } template static void vectorSetSubnormalHelper(const T& validVector) { // Assumes T is a vector, size 2 or larger typedef T Vector; typedef typename Vector::Scalar Scalar; using SurgSim::Math::setSubnormalToZero; { Vector a = validVector; Vector b = a; EXPECT_FALSE(setSubnormalToZero(&a)); EXPECT_FALSE(setSubnormalToZero(&b)); compareMatrices(a, b); } { Vector a = validVector; a[0] = 0; Vector b = a; b[0] = std::numeric_limits::denorm_min(); EXPECT_FALSE(setSubnormalToZero(&a)); EXPECT_TRUE(setSubnormalToZero(&b)); compareMatrices(a, b); } { Vector a = validVector; a[1] = std::numeric_limits::infinity(); Vector b = a; EXPECT_FALSE(setSubnormalToZero(&a)); EXPECT_FALSE(setSubnormalToZero(&b)); compareMatrices(a, b); } { Vector a = validVector; a[0] = std::numeric_limits::quiet_NaN(); a[1] = 0; Vector b = a; b[1] = std::numeric_limits::denorm_min(); EXPECT_FALSE(setSubnormalToZero(&a)); EXPECT_TRUE(setSubnormalToZero(&b)); compareMatrices(a, b); } } TYPED_TEST(ValidTests, ClearSubnormalVector) { typedef typename TestFixture::Scalar Scalar; { Eigen::Matrix vector; vector.setConstant(543); vectorSetSubnormalHelper(vector); vector.setZero(); vectorSetSubnormalHelper(vector); } { Eigen::Matrix vector; vector.setConstant(543); vectorSetSubnormalHelper(vector); } { Eigen::Matrix vector; vector.setConstant(543); vectorSetSubnormalHelper(vector); } { Eigen::Matrix vector; vector.setConstant(543); vectorSetSubnormalHelper(vector); } { Eigen::Matrix vector; vector.setConstant(21, static_cast(543)); vectorSetSubnormalHelper(vector); } } TYPED_TEST(ValidTests, ClearSubnormalQuaternion) { typedef typename TestFixture::Scalar Scalar; using SurgSim::Math::setSubnormalToZero; Eigen::Quaternion quaternion(1, 0, 0, 0); EXPECT_FALSE(setSubnormalToZero(&quaternion)); { Eigen::Quaternion q2 = quaternion; q2.x() = std::numeric_limits::denorm_min(); EXPECT_TRUE(setSubnormalToZero(&q2)); compareMatrices(quaternion.coeffs(), q2.coeffs()); } { Eigen::Quaternion q3 = quaternion; q3.y() = std::numeric_limits::infinity(); EXPECT_FALSE(setSubnormalToZero(&q3)); EXPECT_FALSE(SurgSim::Math::isValid(q3)); Eigen::Quaternion q4 = q3; q4.z() = std::numeric_limits::denorm_min(); EXPECT_TRUE(setSubnormalToZero(&q4)); compareMatrices(q3.coeffs(), q4.coeffs()); } } template static void compareAngleAxis(const T& a, const T& b) { bool isValidAngleA = SurgSim::Math::isValid(a.angle()); bool isValidAngleB = SurgSim::Math::isValid(b.angle()); EXPECT_EQ(isValidAngleA, isValidAngleB) << " angle A = " << a.angle() << ", B = " << b.angle(); if (isValidAngleA && isValidAngleB) { // In general, floating point equality checks are bad, but here they are needed. EXPECT_EQ(a.angle(), b.angle()); } compareMatrices(a.axis(), b.axis()); } TYPED_TEST(ValidTests, ClearSubnormalAngleAxis) { typedef typename TestFixture::Scalar Scalar; using SurgSim::Math::setSubnormalToZero; typedef Eigen::AngleAxis AngleAxis; typedef Eigen::Matrix Vector3; AngleAxis rotation; rotation = AngleAxis(-1, Vector3(1, 2, 3)); EXPECT_FALSE(setSubnormalToZero(&rotation)); compareAngleAxis(AngleAxis(-1, Vector3(1, 2, 3)), rotation); rotation = AngleAxis(std::numeric_limits::denorm_min(), Vector3(1, 2, 3)); EXPECT_TRUE(setSubnormalToZero(&rotation)); compareAngleAxis(AngleAxis(0, Vector3(1, 2, 3)), rotation); rotation = AngleAxis(-1, Vector3(std::numeric_limits::denorm_min(), 2, 3)); EXPECT_TRUE(setSubnormalToZero(&rotation)); compareAngleAxis(AngleAxis(-1, Vector3(0, 2, 3)), rotation); rotation = AngleAxis(-1, Vector3(1, std::numeric_limits::infinity(), 3)); EXPECT_FALSE(setSubnormalToZero(&rotation)); compareAngleAxis(AngleAxis(-1, Vector3(1, std::numeric_limits::infinity(), 3)), rotation); rotation = AngleAxis(std::numeric_limits::denorm_min(), Vector3(1, 2, std::numeric_limits::infinity())); EXPECT_TRUE(setSubnormalToZero(&rotation)); compareAngleAxis(AngleAxis(0, Vector3(1, 2, std::numeric_limits::infinity())), rotation); } TYPED_TEST(ValidTests, ClearSubnormalRotation2D) { typedef typename TestFixture::Scalar Scalar; using SurgSim::Math::setSubnormalToZero; Eigen::Rotation2D rotation(0); EXPECT_FALSE(setSubnormalToZero(&rotation)); EXPECT_EQ(0, rotation.angle()); rotation.angle() = static_cast(1); EXPECT_FALSE(setSubnormalToZero(&rotation)); EXPECT_EQ(1, rotation.angle()); rotation.angle() = std::numeric_limits::denorm_min(); EXPECT_TRUE(setSubnormalToZero(&rotation)); EXPECT_EQ(0, rotation.angle()); rotation = Eigen::Rotation2D(std::numeric_limits::infinity()); EXPECT_FALSE(setSubnormalToZero(&rotation)); EXPECT_FALSE(SurgSim::Math::isValid(rotation.angle())); } template static void transformSetSubnormalHelper() { // Assumes T is an Eigen::Transform type of some sort typedef T Transform; typedef typename Transform::Scalar Scalar; using SurgSim::Math::setSubnormalToZero; Transform transform = Transform::Identity(); EXPECT_FALSE(setSubnormalToZero(&transform)); compareMatrices(Transform::Identity().matrix(), transform.matrix()); { Transform t2 = transform; t2(0, 1) = std::numeric_limits::denorm_min(); EXPECT_TRUE(setSubnormalToZero(&t2)); compareMatrices(Transform::Identity().matrix(), transform.matrix()); } { Transform t3 = transform; t3(0, 1) = std::numeric_limits::quiet_NaN(); Transform t4 = t3; EXPECT_FALSE(setSubnormalToZero(&t4)); compareMatrices(t3.matrix(), t4.matrix()); } { Transform t5 = transform; t5(0, 1) = std::numeric_limits::quiet_NaN(); t5(1, 0) = 0; Transform t6 = t5; t6(1, 0) = std::numeric_limits::denorm_min(); EXPECT_TRUE(setSubnormalToZero(&t6)); compareMatrices(t5.matrix(), t6.matrix()); } } TYPED_TEST(ValidTests, ClearSubnormalTransform) { typedef typename TestFixture::Scalar Scalar; transformSetSubnormalHelper>(); transformSetSubnormalHelper>(); transformSetSubnormalHelper>(); transformSetSubnormalHelper>(); transformSetSubnormalHelper>(); transformSetSubnormalHelper>(); } TYPED_TEST(ValidTests, Blocks) { typedef typename TestFixture::Scalar Scalar; using SurgSim::Math::isValid; using SurgSim::Math::isSubnormal; using SurgSim::Math::setSubnormalToZero; { Eigen::Matrix matrix; matrix.setConstant(123); EXPECT_TRUE(isValid(matrix.template block<2, 2>(1, 1))); EXPECT_FALSE(isSubnormal(matrix.template block<2, 2>(1, 1))); { auto submatrix = matrix.template block<2, 2>(1, 1); EXPECT_FALSE(setSubnormalToZero(&submatrix)); } } { Eigen::Matrix matrix; matrix.setConstant(11, 13, static_cast(123)); EXPECT_TRUE(isValid(matrix.template block<6, 6>(3, 5))); EXPECT_FALSE(isSubnormal(matrix.template block<6, 6>(3, 5))); { auto submatrix = matrix.template block<6, 6>(3, 5); EXPECT_FALSE(setSubnormalToZero(&submatrix)); } } } opensurgsim-0.7.0/SurgSim/Math/UnitTests/VectorTests.cpp000066400000000000000000001414041277777236100233350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2016, SimQuest Solutions 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 // // 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. /// \file /// Tests that exercise the functionality of our vector typedefs, which come /// straight from Eigen. #include #include #include #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/Vector.h" // Define test fixture class templates. // We don't really need fixtures as such, but the templatization encodes type. template class VectorTestBase : public testing::Test { public: typedef T Scalar; }; template class Vector2Tests : public VectorTestBase { public: typedef T Vector2; }; // This used to contain aligned (via Eigen::AutoAlign) vector type aliases, but we got rid of those. typedef ::testing::Types Vector2Variants; TYPED_TEST_CASE(Vector2Tests, Vector2Variants); template class Vector3Tests : public VectorTestBase { public: typedef T Vector3; }; // This used to contain aligned (via Eigen::AutoAlign) vector type aliases, but we got rid of those. typedef ::testing::Types Vector3Variants; TYPED_TEST_CASE(Vector3Tests, Vector3Variants); template class Vector4Tests : public VectorTestBase { public: typedef T Vector4; }; // This used to contain aligned (via Eigen::AutoAlign) vector type aliases, but we got rid of those. typedef ::testing::Types Vector4Variants; TYPED_TEST_CASE(Vector4Tests, Vector4Variants); template class Vector6Tests : public VectorTestBase { public: typedef T Vector6; }; // This used to contain aligned (via Eigen::AutoAlign) vector type aliases, but we got rid of those. typedef ::testing::Types Vector6Variants; TYPED_TEST_CASE(Vector6Tests, Vector6Variants); template class AllVectorTests : public VectorTestBase { public: typedef T Vector; }; template class AllDynamicVectorTests : public VectorTestBase { public: typedef T Vector; }; // This used to contain aligned (via Eigen::AutoAlign) vector type aliases, but we got rid of those. typedef ::testing::Types AllVectorVariants; TYPED_TEST_CASE(AllVectorTests, AllVectorVariants); typedef ::testing::Types AllDynamicVectorVariants; TYPED_TEST_CASE(AllDynamicVectorTests, AllDynamicVectorVariants); template class UnalignedVectorTests : public VectorTestBase { public: typedef T Vector; }; template class UnalignedDynamicVectorTests : public VectorTestBase { public: typedef T Vector; }; typedef ::testing::Types UnalignedVectorVariants; TYPED_TEST_CASE(UnalignedVectorTests, UnalignedVectorVariants); typedef ::testing::Types UnalignedDynamicVectorVariants; TYPED_TEST_CASE(UnalignedDynamicVectorTests, UnalignedDynamicVectorVariants); // Now we're ready to start testing... // ==================== CONSTRUCTION & INITIALIZATION ==================== /// Test that vectors can be constructed. TYPED_TEST(Vector2Tests, CanConstruct) { typedef typename TestFixture::Vector2 Vector2; typedef typename TestFixture::Scalar T; // Warning: Eigen *does not* provide a 1-argument constructor that // initializes all elements to the same value! If you do something like // SurgSim::Math::Vector2f oneArg2f(1.23f); // the argument is converted to an integral type, interpreted as a size, // and promptly ignored because the size is fixed. Oops. // To generate a constant vector, use Vector2f::Constant(val). Vector2 default2; Vector2 twoArg2(static_cast(1.0), static_cast(2.0)); } /// Test that vectors can be constructed. TYPED_TEST(Vector3Tests, CanConstruct) { typedef typename TestFixture::Vector3 Vector3; typedef typename TestFixture::Scalar T; // Warning: Eigen *does not* provide a 1-argument constructor that // initializes all elements to the same value! If you do something like // SurgSim::Math::Vector2fu oneArg2fu(1.23f); // the argument is converted to an integral type, interpreted as a size, // and promptly ignored because the size is fixed. Oops. // To generate a constant vector, use Vector2f::Constant(val). Vector3 default3; Vector3 threeArg3(static_cast(1.0), static_cast(2.0), static_cast(3.0)); } /// Test that vectors can be constructed. TYPED_TEST(Vector4Tests, CanConstruct) { typedef typename TestFixture::Vector4 Vector4; typedef typename TestFixture::Scalar T; // Warning: Eigen *does not* provide a 1-argument constructor that // initializes all elements to the same value! If you do something like // SurgSim::Math::Vector2fu oneArg2fu(1.23f); // the argument is converted to an integral type, interpreted as a size, // and promptly ignored because the size is fixed. Oops. // To generate a constant vector, use Vector2f::Constant(val). Vector4 default4; Vector4 fourArg4(static_cast(1.0), static_cast(2.0), static_cast(3.0), static_cast(4.0)); } /// Test that the N-argument constructor properly initializes vectors. TYPED_TEST(Vector2Tests, NArgumentConstructorInitialization) { typedef typename TestFixture::Vector2 Vector2; typedef typename TestFixture::Scalar T; Vector2 vector(static_cast(1.01), static_cast(1.02)); EXPECT_NEAR(1.01, vector[0], 1e-6) << "X wasn't properly initialized."; EXPECT_NEAR(1.02, vector[1], 1e-6) << "Y wasn't properly initialized."; } /// Test that the N-argument constructor properly initializes vectors. TYPED_TEST(Vector3Tests, NArgumentConstructorInitialization) { typedef typename TestFixture::Vector3 Vector3; typedef typename TestFixture::Scalar T; Vector3 vector(static_cast(1.03), static_cast(1.04), static_cast(1.05)); EXPECT_NEAR(1.03, vector[0], 1e-6) << "X wasn't properly initialized."; EXPECT_NEAR(1.04, vector[1], 1e-6) << "Y wasn't properly initialized."; EXPECT_NEAR(1.05, vector[2], 1e-6) << "Z wasn't properly initialized."; } /// Test that the N-argument constructor properly initializes vectors. TYPED_TEST(Vector4Tests, NArgumentConstructorInitialization) { typedef typename TestFixture::Vector4 Vector4; typedef typename TestFixture::Scalar T; Vector4 vector(static_cast(1.06), static_cast(1.07), static_cast(1.08), static_cast(1.09)); EXPECT_NEAR(1.06, vector[0], 1e-6) << "X wasn't properly initialized."; EXPECT_NEAR(1.07, vector[1], 1e-6) << "Y wasn't properly initialized."; EXPECT_NEAR(1.08, vector[2], 1e-6) << "Z wasn't properly initialized."; EXPECT_NEAR(1.09, vector[3], 1e-6) << "W wasn't properly initialized."; } /// Test that the default constructor DOESN'T initialize vectors. // // Only test the non-vectorized versions. Otherwise, we'd need to // allocate memory in a way that guarantees Eigen-compatible alignment. // // TODO(bert): There is some Eigen flag that causes matrices and vectors to be // initialized after all! We should check for that here. TYPED_TEST(UnalignedVectorTests, DefaultConstructorInitialization) { typedef typename TestFixture::Vector Vector; const int SIZE = Vector::RowsAtCompileTime; EXPECT_TRUE(SIZE >= 2 && SIZE <= 6); EXPECT_EQ(1, Vector::ColsAtCompileTime); // Allocate a buffer for various vector types on stack, based on the size // of the largest object we're testing. Objects will be allocated inside // the buffer using the placement syntax for the new() operator. // Eigen's new operatore will attempt to align returned value on word sized // boundaries, so add 64 bytes to guarantee enough size. unsigned char buffer[sizeof(Vector) + 64]; { // Please don't write production (non-test) code that looks like this. =) memset(&buffer, 0xF0, sizeof(buffer)); Vector* vector = new(&buffer) Vector; for (int i = 0; i < SIZE; ++i) { EXPECT_NE(0.0f, (*vector)[i]) << i << " was NOT supposed to be zeroed."; } // Destroying the object is a good idea, even if unnecessary here: vector->Vector::~Vector(); } } /// Test setting the vector using the << syntax. TYPED_TEST(Vector2Tests, ShiftCommaInitialization) { typedef typename TestFixture::Vector2 Vector2; typedef typename Vector2::Scalar T; Vector2 vector; // Initialize elements in order. Do NOT put parentheses around the list! vector << static_cast(1.1), static_cast(1.2); EXPECT_NEAR(2.3, vector.sum(), 5e-6) << "initialization was incorrect: " << vector; } /// Test setting the vector using the << syntax. TYPED_TEST(Vector3Tests, ShiftCommaInitialization) { typedef typename TestFixture::Vector3 Vector3; typedef typename Vector3::Scalar T; Vector3 vector; // Initialize elements in order. Do NOT put parentheses around the list! vector << static_cast(1.1), static_cast(1.2), static_cast(1.3); EXPECT_NEAR(3.6, vector.sum(), 5e-6) << "initialization was incorrect: " << vector; } /// Test setting the vector using the << syntax. TYPED_TEST(Vector4Tests, ShiftCommaInitialization) { typedef typename TestFixture::Vector4 Vector4; typedef typename Vector4::Scalar T; Vector4 vector; // Initialize elements in order. Do NOT put parentheses around the list! vector << static_cast(1.1), static_cast(1.2), static_cast(1.3), static_cast(1.4); EXPECT_NEAR(5.0, vector.sum(), 5e-6) << "initialization was incorrect: " << vector; } /// Test setting the vector using the << syntax. TYPED_TEST(Vector6Tests, ShiftCommaInitialization) { typedef typename TestFixture::Vector6 Vector6; typedef typename Vector6::Scalar T; Vector6 vector; // Initialize elements in order. Do NOT put parentheses around the list! vector << static_cast(1.1), static_cast(1.2), static_cast(1.3), static_cast(1.4), static_cast(1.5), static_cast(1.6); EXPECT_NEAR(8.1, vector.sum(), 5e-6) << "initialization was incorrect: " << vector; } /// Test getting a zero value usable in expressions. TYPED_TEST(AllVectorTests, ZeroValue) { typedef typename TestFixture::Vector Vector; const int SIZE = Vector::RowsAtCompileTime; Vector vector = 1000 * Vector::Zero(); for (int i = 0; i < SIZE; ++i) { EXPECT_NEAR(0.0, vector[i], 1e-20) << i << " wasn't properly initialized."; } } /// Test setting vectors to 0. TYPED_TEST(AllVectorTests, SetToZero) { typedef typename TestFixture::Vector Vector; const int SIZE = Vector::RowsAtCompileTime; Vector vector; vector.setZero(); for (int i = 0; i < SIZE; ++i) { EXPECT_NEAR(0.0, vector[i], 1e-20) << i << " wasn't properly cleared."; } } /// Test getting a constant value usable in expressions. TYPED_TEST(AllVectorTests, ConstantValue) { typedef typename TestFixture::Vector Vector; typedef typename Vector::Scalar T; const int SIZE = Vector::RowsAtCompileTime; Vector vector = static_cast(2) * Vector::Constant(static_cast(0.5)); for (int i = 0; i < SIZE; ++i) { EXPECT_NEAR(static_cast(1.0), vector[i], 1e-6) << i << " wasn't properly initialized."; } } /// Test setting vectors to a constant. TYPED_TEST(AllVectorTests, SetToConstant) { typedef typename TestFixture::Vector Vector; typedef typename Vector::Scalar T; const int SIZE = Vector::RowsAtCompileTime; Vector vector; vector.setConstant(static_cast(7.2)); for (int i = 0; i < SIZE; ++i) { EXPECT_NEAR(static_cast(7.2), vector[i], 1e-6) << i << " wasn't properly initialized."; } } /// Test initializing from a float array. TYPED_TEST(AllVectorTests, SetFromArray) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; // This array has more elements than we will need. // The element type must match the vector! const T inputArray[6] = { static_cast(0.1), static_cast(1.2), static_cast(2.3), static_cast(3.4), static_cast(4.5), static_cast(5.6) }; Vector vector(inputArray); for (int i = 0; i < SIZE; ++i) { EXPECT_NEAR(static_cast(0.1 + i * 1.1), vector[i], 1e-6) << i << " wasn't properly initialized."; } } // Test conversion to and from yaml node TYPED_TEST(AllVectorTests, YamlConvert) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; T testData[6] = { static_cast(3.1), static_cast(3.4), static_cast(3.7), static_cast(4.0), static_cast(4.3), static_cast(4.6) }; Vector original(testData); YAML::Node node; ASSERT_NO_THROW(node = original); EXPECT_TRUE(node.IsSequence()); EXPECT_EQ(original.size(), node.size()); ASSERT_NO_THROW({Vector expected = node.as();}); EXPECT_TRUE(original.isApprox(node.as())); } /// Test assignment. TYPED_TEST(AllVectorTests, Assign) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; const T inputArrayA[6] = { static_cast(6.1), static_cast(6.2), static_cast(6.3), static_cast(6.4), static_cast(6.5), static_cast(6.6) }; const T inputArrayB[6] = { static_cast(7.1), static_cast(7.2), static_cast(7.3), static_cast(7.4), static_cast(7.5), static_cast(7.6) }; Vector a(inputArrayA); // sum of the first SIZE elements of inputArrayA double expectedSumA = SIZE * (SIZE * 0.05 + 6.05); EXPECT_NEAR(static_cast(expectedSumA), a.sum(), 5e-6); const Vector b(inputArrayB); // sum of the first SIZE elements of inputArrayB double expectedSumB = SIZE * (SIZE * 0.05 + 7.05); EXPECT_NEAR(static_cast(expectedSumB), b.sum(), 5e-6); a = b; EXPECT_NEAR(static_cast(expectedSumB), a.sum(), 5e-6); } // ==================== ARITHMETIC ==================== /// Negation (unary minus). TYPED_TEST(AllVectorTests, Negate) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; const T inputArray[6] = { static_cast(2.1), static_cast(2.2), static_cast(2.3), static_cast(2.4), static_cast(2.5), static_cast(2.6) }; // sum of the first SIZE elements of inputArray double expectedSum = SIZE * (SIZE * 0.05 + 2.05); Vector v(inputArray); Vector n = -v; EXPECT_NEAR(static_cast(-expectedSum), n.sum(), 5e-6); } /// Addition. TYPED_TEST(AllVectorTests, Add) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; const T inputArray[6] = { static_cast(2.1), static_cast(2.2), static_cast(2.3), static_cast(2.4), static_cast(2.5), static_cast(2.6) }; // sum of the first SIZE elements of inputArray double expectedSum = SIZE * (SIZE * 0.05 + 2.05); Vector v(inputArray); Vector w = v + Vector::Ones() + v; EXPECT_NEAR(static_cast(2 * expectedSum) + SIZE, w.sum(), 5e-6); } /// Subtraction. TYPED_TEST(AllVectorTests, Subtract) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; const T inputArray[6] = { static_cast(2.1), static_cast(2.2), static_cast(2.3), static_cast(2.4), static_cast(2.5), static_cast(2.6) }; // sum of the first SIZE elements of inputArray double expectedSum = SIZE * (SIZE * 0.05 + 2.05); Vector v(inputArray); Vector w = v - Vector::Ones(); EXPECT_NEAR(static_cast(expectedSum) - SIZE, w.sum(), 5e-6); } /// Incrementing by a value. TYPED_TEST(AllVectorTests, AddTo) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; const T inputArray[6] = { static_cast(2.1), static_cast(2.2), static_cast(2.3), static_cast(2.4), static_cast(2.5), static_cast(2.6) }; // sum of the first SIZE elements of inputArray double expectedSum = SIZE * (SIZE * 0.05 + 2.05); Vector v(inputArray); v += Vector::Ones(); EXPECT_NEAR(static_cast(expectedSum) + SIZE, v.sum(), 5e-6); } /// Decrementing by a value. TYPED_TEST(AllVectorTests, SubtractFrom) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; const T inputArray[6] = { static_cast(2.1), static_cast(2.2), static_cast(2.3), static_cast(2.4), static_cast(2.5), static_cast(2.6) }; // sum of the first SIZE elements of inputArray double expectedSum = SIZE * (SIZE * 0.05 + 2.05); Vector v(inputArray); v -= Vector::Ones(); EXPECT_NEAR(static_cast(expectedSum) - SIZE, v.sum(), 5e-6); } /// Vector-scalar multiplication. TYPED_TEST(AllVectorTests, MultiplyVectorScalar) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; const T inputArray[6] = { static_cast(2.1), static_cast(2.2), static_cast(2.3), static_cast(2.4), static_cast(2.5), static_cast(2.6) }; // sum of the first SIZE elements of inputArray double expectedSum = SIZE * (SIZE * 0.05 + 2.05); Vector v(inputArray); Vector w = v * static_cast(1.23); EXPECT_NEAR(static_cast(1.23 * expectedSum), w.sum(), 5e-6); } /// Scalar-vector multiplication. TYPED_TEST(AllVectorTests, MultiplyScalarVector) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; const T inputArray[6] = { static_cast(2.1), static_cast(2.2), static_cast(2.3), static_cast(2.4), static_cast(2.5), static_cast(2.6) }; // sum of the first SIZE elements of inputArray double expectedSum = SIZE * (SIZE * 0.05 + 2.05); Vector v(inputArray); Vector w = static_cast(1.23) * v; EXPECT_NEAR(static_cast(1.23 * expectedSum), w.sum(), 5e-6); } /// Division by scalar. TYPED_TEST(AllVectorTests, DivideScalar) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; const T inputArray[6] = { static_cast(2.1), static_cast(2.2), static_cast(2.3), static_cast(2.4), static_cast(2.5), static_cast(2.6) }; // sum of the first SIZE elements of inputArray double expectedSum = SIZE * (SIZE * 0.05 + 2.05); Vector v(inputArray); Vector w = v / static_cast(1.23); EXPECT_NEAR(static_cast(expectedSum / 1.23), w.sum(), 5e-6); } /// Component-wise multiplication. TYPED_TEST(AllVectorTests, ComponentwiseMultiply) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; const T inputArray[6] = { static_cast(3.1), static_cast(3.4), static_cast(3.7), static_cast(4.0), static_cast(4.3), static_cast(4.6) }; // sum of the squares of the first SIZE elements of inputArray double expectedSumSquares = SIZE * (SIZE * (SIZE * 0.03 + 0.885) + 8.695); Vector v(inputArray); // use the component-wise Eigen matrix operation: Vector w = v.cwiseProduct(v); EXPECT_NEAR(static_cast(expectedSumSquares), w.sum(), 5e-6); // OR, the same thing done via conversion to arrays: w = v.array() * v.array(); EXPECT_NEAR(static_cast(expectedSumSquares), w.sum(), 5e-6); } /// Component-wise division. TYPED_TEST(AllVectorTests, ComponentwiseDivide) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; const T inputArray[6] = { static_cast(3.1), static_cast(3.4), static_cast(3.7), static_cast(4.0), static_cast(4.3), static_cast(4.6) }; Vector v(inputArray); Vector u = static_cast(2) * v; // use the component-wise Eigen matrix operation: Vector w = u.cwiseQuotient(v); EXPECT_NEAR(static_cast(2 * SIZE), w.sum(), 5e-6); // OR, the same thing done via conversion to arrays: w = u.array() / v.array(); EXPECT_NEAR(static_cast(2 * SIZE), w.sum(), 5e-6); } /// Dot product. TYPED_TEST(AllVectorTests, DotProduct) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; const T inputArray[6] = { static_cast(3.1), static_cast(3.4), static_cast(3.7), static_cast(4.0), static_cast(4.3), static_cast(4.6) }; // sum of the squares of the first SIZE elements of inputArray double expectedSumSquares = SIZE * (SIZE * (SIZE * 0.03 + 0.885) + 8.695); Vector v(inputArray); EXPECT_NEAR(static_cast(expectedSumSquares), v.dot(v), 5e-6); } /// Cross product. TYPED_TEST(Vector3Tests, CrossProduct) { typedef typename TestFixture::Vector3 Vector3; typedef typename Vector3::Scalar T; Vector3 v; v << static_cast(3.4), static_cast(5.6), static_cast(7.8); Vector3 u = -v; u[0] = v[0]; Vector3 w = v.cross(u); std::cout << w << std::endl; EXPECT_NEAR(0, w[0], 1e-6); EXPECT_GT(abs(w[1]), 1); // nonzero EXPECT_GT(abs(w[2]), 1); // nonzero } /// Outer product. TYPED_TEST(AllVectorTests, OuterProduct) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; typedef Eigen::Matrix Matrix; const T inputArray[6] = { static_cast(3.1), static_cast(3.4), static_cast(3.7), static_cast(4.0), static_cast(4.3), static_cast(4.6) }; // sum of the squares of the first SIZE elements of inputArray double expectedSumSquares = SIZE * (SIZE * (SIZE * 0.03 + 0.885) + 8.695); Vector v(inputArray); // You have to write out the outer product, like this: Matrix m = v * v.transpose(); // TODO(bert): maybe needs better testing here? Vector u = v / v.squaredNorm(); EXPECT_NEAR(static_cast(expectedSumSquares), (m * u).squaredNorm(), 1e-3); } /// Euclidean norm and its square. TYPED_TEST(AllVectorTests, NormAndSquared) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; const T inputArray[6] = { static_cast(3.1), static_cast(3.4), static_cast(3.7), static_cast(4.0), static_cast(4.3), static_cast(4.6) }; // sum of the squares of the first SIZE elements of inputArray double expectedSumSquares = SIZE * (SIZE * (SIZE * 0.03 + 0.885) + 8.695); Vector v(inputArray); EXPECT_NEAR(static_cast(expectedSumSquares), v.squaredNorm(), 5e-6); EXPECT_NEAR(sqrt(static_cast(expectedSumSquares)), v.norm(), 5e-6); } /// L1 (Manhattan) norm and L_Infinity (largest absolute value) norm. TYPED_TEST(AllVectorTests, L1NormAndLInfNorm) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; const T inputArray[6] = { static_cast(2.1), static_cast(2.2), static_cast(2.3), static_cast(2.4), static_cast(2.5), static_cast(2.6) }; // sum of the first SIZE elements of inputArray double expectedSum = SIZE * (SIZE * 0.05 + 2.05); Vector v(inputArray); Vector w = -v; // Ugh, "template" is required to get this to parse properly. This is // triggered because the test is a part of a template class; you don't // need to do this in a non-template context. EXPECT_NEAR(static_cast(expectedSum), v.template lpNorm<1>(), 5e-6); EXPECT_NEAR(static_cast(expectedSum), w.template lpNorm<1>(), 5e-6); EXPECT_NEAR(inputArray[SIZE - 1], v.template lpNorm(), 1e-6); EXPECT_NEAR(inputArray[SIZE - 1], w.template lpNorm(), 1e-6); } /// Normalization of vectors. TYPED_TEST(AllVectorTests, Normalize) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; const T inputArray[6] = { static_cast(3.1), static_cast(3.4), static_cast(3.7), static_cast(4.0), static_cast(4.3), static_cast(4.6) }; // sum of the squares of the first SIZE elements of inputArray double expectedSumSquares = SIZE * (SIZE * (SIZE * 0.03 + 0.885) + 8.695); Vector v(inputArray); EXPECT_NEAR(sqrt(expectedSumSquares), v.norm(), 5e-6); // normalized() RETURNS the normalized vector, leaving original unchanged. Vector u = v.normalized(); EXPECT_NEAR(static_cast(1), u.norm(), 5e-6); EXPECT_NEAR(sqrt(static_cast(expectedSumSquares)), v.norm(), 5e-6); // normalize() NORMALIZES the vector, modifying it. v.normalize(); EXPECT_NEAR(static_cast(1), v.norm(), 5e-6); EXPECT_NEAR(static_cast(0), (u - v).norm(), 5e-6); } /// Minimum and maximum elements. TYPED_TEST(AllVectorTests, MinAndMax) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; const T inputArray[6] = { static_cast(3.1), static_cast(3.4), static_cast(3.7), static_cast(4.0), static_cast(4.3), static_cast(4.6) }; Vector v(inputArray); EXPECT_NEAR(inputArray[0], v.minCoeff(), 1e-6); EXPECT_NEAR(inputArray[SIZE - 1], v.maxCoeff(), 1e-6); } // ==================== SUBVECTORS (EXTENDING/SHRINKING) ==================== /// Extending vectors using the head() syntax. TYPED_TEST(Vector2Tests, Extend2to3) { typedef typename TestFixture::Vector2 Vector2; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector3; Vector2 vector2; vector2 << static_cast(1.1), static_cast(1.2); Vector3 vector3; // Ugh, this is efficient but "template" is required to get it to parse // properly. This is triggered because the test is a part of a template // class; you don't need to do this in a non-template context. vector3.template head<2>() = vector2; vector3[2] = static_cast(0); EXPECT_NEAR(2.3, vector3.sum(), 5e-6) << "extending was incorrect: " << vector3; } /// Extending vectors using the head(r) syntax. TYPED_TEST(Vector2Tests, DynamicExtend2to3) { typedef typename TestFixture::Vector2 Vector2; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector3; Vector2 vector2; vector2 << static_cast(1.1), static_cast(1.2); Vector3 vector3; vector3.head(2) = vector2; vector3[2] = static_cast(0); EXPECT_NEAR(2.3, vector3.sum(), 5e-6) << "extending was incorrect: " << vector3; } /// Extending vectors using the block() syntax. TYPED_TEST(Vector2Tests, BlockExtend2to3) { typedef typename TestFixture::Vector2 Vector2; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector3; Vector2 vector2; vector2 << static_cast(1.1), static_cast(1.2); Vector3 vector3; // Ugh, this is efficient but "template" is required to get it to parse // properly. This is triggered because the test is a part of a template // class; you don't need to do this in a non-template context. vector3.template block<2, 1>(0, 0) = vector2; vector3(2, 0) = static_cast(0); EXPECT_NEAR(2.3, vector3.sum(), 5e-6) << "extending was incorrect: " << vector3; } /// Extending vectors using the block(i,j,r,c) syntax. TYPED_TEST(Vector2Tests, DynamicBlockExtend2to3) { typedef typename TestFixture::Vector2 Vector2; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector3; Vector2 vector2; vector2 << static_cast(1.1), static_cast(1.2); Vector3 vector3; vector3.block(0, 0, 2, 1) = vector2; vector3(2, 0) = static_cast(0); EXPECT_NEAR(2.3, vector3.sum(), 5e-6) << "extending was incorrect: " << vector3; } /// Shrinking vectors using the head() syntax. TYPED_TEST(Vector2Tests, Shrink3to2) { typedef typename TestFixture::Vector2 Vector2; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector3; Vector3 vector3; vector3 << static_cast(1.1), static_cast(1.2), static_cast(1.3); Vector2 vector2; // Ugh, this is efficient but "template" is required to get it to parse // properly. This is triggered because the test is a part of a template // class; you don't need to do this in a non-template context. vector2 = vector3.template head<2>(); EXPECT_NEAR(2.3, vector2.sum(), 5e-6) << "shrinking was incorrect: " << vector2; } /// Extending vectors using the head() syntax. TYPED_TEST(Vector3Tests, Extend2to3) { typedef typename TestFixture::Vector3 Vector3; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector2; Vector2 vector2; vector2 << static_cast(1.1), static_cast(1.2); Vector3 vector3; // Ugh, this is efficient but "template" is required to get it to parse // properly. This is triggered because the test is a part of a template // class; you don't need to do this in a non-template context. vector3.template head<2>() = vector2; vector3[2] = static_cast(0); EXPECT_NEAR(2.3, vector3.sum(), 5e-6) << "extending was incorrect: " << vector3; } /// Shrinking vectors using the head() syntax. TYPED_TEST(Vector3Tests, Shrink3to2) { typedef typename TestFixture::Vector3 Vector3; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector2; Vector3 vector3; vector3 << static_cast(1.1), static_cast(1.2), static_cast(1.3); Vector2 vector2; // Ugh, this is efficient but "template" is required to get it to parse // properly. This is triggered because the test is a part of a template // class; you don't need to do this in a non-template context. vector2 = vector3.template head<2>(); EXPECT_NEAR(2.3, vector2.sum(), 5e-6) << "shrinking was incorrect" << vector2; } /// Extending vectors using the head() syntax. TYPED_TEST(Vector3Tests, Extend3to4) { typedef typename TestFixture::Vector3 Vector3; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector4; Vector3 vector3; vector3 << static_cast(1.1), static_cast(1.2), static_cast(1.3); Vector4 vector4; // Ugh, this is efficient but "template" is required to get it to parse // properly. This is triggered because the test is a part of a template // class; you don't need to do this in a non-template context. vector4.template head<3>() = vector3; vector4[3] = static_cast(0); EXPECT_NEAR(3.6, vector4.sum(), 5e-6) << "extending was incorrect" << vector4; } /// Shrinking vectors using the head() syntax. TYPED_TEST(Vector3Tests, Shrink4to3) { typedef typename TestFixture::Vector3 Vector3; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector4; Vector4 vector4; vector4 << static_cast(1.1), static_cast(1.2), static_cast(1.3), static_cast(1.4); Vector3 vector3; // Ugh, this is efficient but "template" is required to get it to parse // properly. This is triggered because the test is a part of a template // class; you don't need to do this in a non-template context. vector3 = vector4.template head<3>(); EXPECT_NEAR(3.6, vector3.sum(), 5e-6) << "shrinking was incorrect" << vector3; } /// Extending vectors using the head() syntax. TYPED_TEST(Vector4Tests, Extend3to4) { typedef typename TestFixture::Vector4 Vector4; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector3; Vector3 vector3; vector3 << static_cast(1.1), static_cast(1.2), static_cast(1.3); Vector4 vector4; // Ugh, this is efficient but "template" is required to get it to parse // properly. This is triggered because the test is a part of a template // class; you don't need to do this in a non-template context. vector4.template head<3>() = vector3; vector4[3] = static_cast(0); EXPECT_NEAR(3.6, vector4.sum(), 5e-6) << "extending was incorrect" << vector4; } /// Shrinking vectors using the head() syntax. TYPED_TEST(Vector4Tests, Shrink4to3) { typedef typename TestFixture::Vector4 Vector4; typedef typename TestFixture::Scalar T; typedef Eigen::Matrix Vector3; Vector4 vector4; vector4 << static_cast(1.1), static_cast(1.2), static_cast(1.3), static_cast(1.4); Vector3 vector3; // Ugh, this is efficient but "template" is required to get it to parse // properly. This is triggered because the test is a part of a template // class; you don't need to do this in a non-template context. vector3 = vector4.template head<3>(); EXPECT_NEAR(3.6, vector3.sum(), 5e-6) << "shrinking was incorrect" << vector3; } /// Extend Euclidean N-vector [a_i] to homogeneous (N+1)-vector [a_i 1]. TYPED_TEST(AllVectorTests, HomogeneousExtend) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; typedef Eigen::Matrix < T, SIZE + 1, 1 > HVector; const T inputArray[6] = { static_cast(10.1), static_cast(10.2), static_cast(10.3), static_cast(10.4), static_cast(10.5), static_cast(10.6) }; Vector v(inputArray); HVector h = v.homogeneous(); for (int i = 0; i < SIZE; ++i) { EXPECT_NEAR(inputArray[i], h[i], 1e-6) << "homogeneous form garbled."; } EXPECT_NEAR(1.0, h[SIZE], 1e-6) << "homogeneous form garbled."; } /// Shrink a homogeneous (N+1)-vector [a_i 1] to Euclidean N-vector [a_i]. /// /// Note that if the last element is not 1, the result will be divided by it, /// which is helpful in projective geometry but may not be what you wanted! TYPED_TEST(AllVectorTests, HomogeneousShrink) { typedef typename TestFixture::Vector HVector; typedef typename TestFixture::Scalar T; const int SIZE = HVector::RowsAtCompileTime - 1; typedef Eigen::Matrix Vector; const T inputArray[6] = { static_cast(10.1), static_cast(10.2), static_cast(10.3), static_cast(10.4), static_cast(10.5), static_cast(10.6) }; HVector h(inputArray); h[SIZE] = 2; // makes calculating expected values simpler =) Vector v = h.hnormalized(); for (int i = 0; i < SIZE; ++i) { EXPECT_NEAR(inputArray[i] / 2, v[i], 1e-6) << "Euclidean form from homogeneous garbled."; } } // ==================== TYPE CONVERSION ==================== /// Typecasting vectors (double <-> float conversions). TYPED_TEST(AllVectorTests, TypeCasting) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; typedef Eigen::Matrix Vectord; typedef Eigen::Matrix Vectorf; const T inputArray[6] = { static_cast(12.1), static_cast(12.2), static_cast(12.3), static_cast(12.4), static_cast(12.5), static_cast(12.6) }; // sum of the first SIZE elements of inputArray T expectedSum = SIZE * (SIZE * static_cast(0.05) + static_cast(12.05)); Vector v(inputArray); // Ugh, "template" is required to get this to parse properly. This is // triggered because the test is a part of a template class; you don't // need to do this in a non-template context. Vectord vd = v.template cast(); EXPECT_NEAR(static_cast(expectedSum), vd.sum(), 1e-5); Vectorf vf = v.template cast(); EXPECT_NEAR(static_cast(expectedSum), vf.sum(), 1e-5); } // ==================== MISCELLANEOUS ==================== /// Reading from and writing to arrays or blocks of double/float in memory. TYPED_TEST(AllVectorTests, ArrayReadWrite) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; const int SIZE = Vector::RowsAtCompileTime; const T inputArray[6] = { static_cast(12.1), static_cast(12.2), static_cast(12.3), static_cast(12.4), static_cast(12.5), static_cast(12.6) }; T outputArray[6]; Eigen::Map v_in(inputArray); Vector v1 = v_in; Eigen::Map v_out(outputArray); v_out = v1; for (int i = 0; i < SIZE; ++i) { EXPECT_NEAR(inputArray[i], outputArray[i], 1e-6); } } TYPED_TEST(AllVectorTests, Interpolate) { typedef typename TestFixture::Vector Vector; typedef typename TestFixture::Scalar T; T epsilon = static_cast(1e-6); T prevArray[6] = { static_cast(3.1), static_cast(3.4), static_cast(3.7), static_cast(4.0), static_cast(4.3), static_cast(4.6) }; T nextArray[6] = { static_cast(7.2), static_cast(0.6), static_cast(4.8), static_cast(5.1), static_cast(8.9), static_cast(1.5) }; T interpArray[6]; Vector prev(prevArray); Vector next(nextArray); Vector interp; // 0.0 interpArray[0] = static_cast(3.1) * static_cast(1.0) + static_cast(7.2) * static_cast(0.0); interpArray[1] = static_cast(3.4) * static_cast(1.0) + static_cast(0.6) * static_cast(0.0); interpArray[2] = static_cast(3.7) * static_cast(1.0) + static_cast(4.8) * static_cast(0.0); interpArray[3] = static_cast(4.0) * static_cast(1.0) + static_cast(5.1) * static_cast(0.0); interpArray[4] = static_cast(4.3) * static_cast(1.0) + static_cast(8.9) * static_cast(0.0); interpArray[5] = static_cast(4.6) * static_cast(1.0) + static_cast(1.5) * static_cast(0.0); interp = Vector(interpArray); EXPECT_TRUE(interp.isApprox(prev)); EXPECT_TRUE(interp.isApprox(SurgSim::Math::interpolate(prev, next, static_cast(0.0)), epsilon)); // 1.0 interpArray[0] = static_cast(3.1) * static_cast(0.0) + static_cast(7.2) * static_cast(1.0); interpArray[1] = static_cast(3.4) * static_cast(0.0) + static_cast(0.6) * static_cast(1.0); interpArray[2] = static_cast(3.7) * static_cast(0.0) + static_cast(4.8) * static_cast(1.0); interpArray[3] = static_cast(4.0) * static_cast(0.0) + static_cast(5.1) * static_cast(1.0); interpArray[4] = static_cast(4.3) * static_cast(0.0) + static_cast(8.9) * static_cast(1.0); interpArray[5] = static_cast(4.6) * static_cast(0.0) + static_cast(1.5) * static_cast(1.0); interp = Vector(interpArray); EXPECT_TRUE(interp.isApprox(next)); EXPECT_TRUE(interp.isApprox(SurgSim::Math::interpolate(prev, next, static_cast(1.0)), epsilon)); // 0.5 interpArray[0] = static_cast(3.1) * static_cast(0.5) + static_cast(7.2) * static_cast(0.5); interpArray[1] = static_cast(3.4) * static_cast(0.5) + static_cast(0.6) * static_cast(0.5); interpArray[2] = static_cast(3.7) * static_cast(0.5) + static_cast(4.8) * static_cast(0.5); interpArray[3] = static_cast(4.0) * static_cast(0.5) + static_cast(5.1) * static_cast(0.5); interpArray[4] = static_cast(4.3) * static_cast(0.5) + static_cast(8.9) * static_cast(0.5); interpArray[5] = static_cast(4.6) * static_cast(0.5) + static_cast(1.5) * static_cast(0.5); interp = Vector(interpArray); EXPECT_TRUE(interp.isApprox(SurgSim::Math::interpolate(prev, next, static_cast(0.5)), epsilon)); // 0.886 interpArray[0] = static_cast(3.1) * static_cast(0.114) + static_cast(7.2) * static_cast(0.886); interpArray[1] = static_cast(3.4) * static_cast(0.114) + static_cast(0.6) * static_cast(0.886); interpArray[2] = static_cast(3.7) * static_cast(0.114) + static_cast(4.8) * static_cast(0.886); interpArray[3] = static_cast(4.0) * static_cast(0.114) + static_cast(5.1) * static_cast(0.886); interpArray[4] = static_cast(4.3) * static_cast(0.114) + static_cast(8.9) * static_cast(0.886); interpArray[5] = static_cast(4.6) * static_cast(0.114) + static_cast(1.5) * static_cast(0.886); interp = Vector(interpArray); EXPECT_TRUE(interp.isApprox(SurgSim::Math::interpolate(prev, next, static_cast(0.886)), epsilon)); // 0.623 interpArray[0] = static_cast(3.1) * static_cast(0.377) + static_cast(7.2) * static_cast(0.623); interpArray[1] = static_cast(3.4) * static_cast(0.377) + static_cast(0.6) * static_cast(0.623); interpArray[2] = static_cast(3.7) * static_cast(0.377) + static_cast(4.8) * static_cast(0.623); interpArray[3] = static_cast(4.0) * static_cast(0.377) + static_cast(5.1) * static_cast(0.623); interpArray[4] = static_cast(4.3) * static_cast(0.377) + static_cast(8.9) * static_cast(0.623); interpArray[5] = static_cast(4.6) * static_cast(0.377) + static_cast(1.5) * static_cast(0.623); interp = Vector(interpArray); EXPECT_TRUE(interp.isApprox(SurgSim::Math::interpolate(prev, next, static_cast(0.623)), epsilon)); } // TO DO: // testing numerical validity // testing for denormalized numbers // testing degeneracy (norm near 0) // compute an orthonormal frame based on a given normal (z-axis) TYPED_TEST(AllDynamicVectorTests, CanResize) { typedef typename TestFixture::Vector Vector; ASSERT_NO_THROW({Vector a; a.resize(10);}); } namespace { template void testScalar(T valueExpected, T value) {} template <> void testScalar(double valueExpected, double value) { EXPECT_DOUBLE_EQ(valueExpected, value); } template <> void testScalar(float valueExpected, float value) { EXPECT_FLOAT_EQ(valueExpected, value); } }; TYPED_TEST(AllDynamicVectorTests, addSubVector) { typedef typename TestFixture::Vector Vector; Vector v, vInit, v2, v2Init; v.resize(18); v.setRandom(); vInit = v; v2.resize(18); v2.setRandom(); v2Init = v2; ASSERT_NO_THROW(SurgSim::Math::addSubVector(v2.segment(3, 3), 2, 3, &v);); EXPECT_TRUE(v2.isApprox(v2Init)); EXPECT_FALSE(v.isApprox(vInit)); for (int dofId = 0; dofId < 6; dofId++) { testScalar(vInit[dofId], v[dofId]); } for (int dofId = 6; dofId < 9; dofId++) { testScalar(vInit[dofId] + v2Init[3 + dofId - 6], v[dofId]); } for (int dofId = 9; dofId < 18; dofId++) { testScalar(vInit[dofId], v[dofId]); } } TYPED_TEST(AllDynamicVectorTests, addSubVectorBlocks) { typedef typename TestFixture::Vector Vector; Vector v, vInit, v2, v2Init; std::vector nodeIds; v.resize(18); v.setRandom(); vInit = v; v2.resize(18); v2.setRandom(); v2Init = v2; nodeIds.push_back(1); nodeIds.push_back(3); nodeIds.push_back(5); ASSERT_NO_THROW(SurgSim::Math::addSubVector(v2.segment(3, 15), nodeIds, 3, &v);); EXPECT_TRUE(v2.isApprox(v2Init)); EXPECT_FALSE(v.isApprox(vInit)); for (int dofId = 0; dofId < 3; dofId++) { testScalar(vInit[dofId], v[dofId]); } for (int dofId = 3; dofId < 6; dofId++) { testScalar(vInit[dofId] + v2Init[3 + (dofId - 3)], v[dofId]); } for (int dofId = 6; dofId < 9; dofId++) { testScalar(vInit[dofId], v[dofId]); } for (int dofId = 9; dofId < 12; dofId++) { testScalar(vInit[dofId] + v2Init[3 + (dofId - 6)], v[dofId]); } for (int dofId = 12; dofId < 15; dofId++) { testScalar(vInit[dofId], v[dofId]); } for (int dofId = 15; dofId < 18; dofId++) { testScalar(vInit[dofId] + v2Init[3 + (dofId - 9)], v[dofId]); } } TYPED_TEST(AllDynamicVectorTests, setSubVector) { typedef typename TestFixture::Vector Vector; Vector v, vInit, v2, v2Init; v.resize(18); v.setRandom(); vInit = v; v2.resize(18); v2.setRandom(); v2Init = v2; ASSERT_NO_THROW(SurgSim::Math::setSubVector(v2.segment(3, 3), 2, 3, &v);); EXPECT_TRUE(v2.isApprox(v2Init)); EXPECT_FALSE(v.isApprox(vInit)); for (int dofId = 0; dofId < 6; dofId++) { testScalar(vInit[dofId], v[dofId]); } for (int dofId = 6; dofId < 9; dofId++) { testScalar(v2Init[3 + dofId - 6], v[dofId]); } for (int dofId = 9; dofId < 18; dofId++) { testScalar(vInit[dofId], v[dofId]); } } TYPED_TEST(AllDynamicVectorTests, getSubVector) { typedef typename TestFixture::Vector Vector; Vector v, vInit; v.resize(18); v.setRandom(); vInit = v; Eigen::VectorBlock subVector = SurgSim::Math::getSubVector(v, 2, 3); EXPECT_TRUE(v.isApprox(vInit)); for (int dofId = 0; dofId < 3; dofId++) { testScalar(v[2 * 3 + dofId], subVector[dofId]); // Also test that the returned value are pointing to the correct data EXPECT_EQ(&subVector[dofId], &v[2 * 3 + dofId]); } } TYPED_TEST(AllDynamicVectorTests, getSubVectorBlocks) { typedef typename TestFixture::Vector Vector; Vector v, vInit, v2; std::vector nodeIds; v.resize(18); v.setRandom(); vInit = v; v2.resize(9); v2.setZero(); nodeIds.push_back(1); nodeIds.push_back(3); nodeIds.push_back(5); EXPECT_EQ(18, v.size()); EXPECT_TRUE(v.isApprox(vInit)); EXPECT_EQ(9, v2.size()); EXPECT_TRUE(v2.isZero()); ASSERT_NO_THROW(SurgSim::Math::getSubVector(v, nodeIds, 3, &v2);); EXPECT_EQ(18, v.size()); EXPECT_TRUE(v.isApprox(vInit)); EXPECT_EQ(9, v2.size()); EXPECT_FALSE(v2.isZero()); for (int dofId = 0; dofId < 3; dofId++) { testScalar(v[3 + dofId], v2[dofId]); } for (int dofId = 3; dofId < 6; dofId++) { testScalar(v[9 + (dofId - 3)], v2[dofId]); } for (int dofId = 6; dofId < 9; dofId++) { testScalar(v[15 + (dofId - 6)], v2[dofId]); } } template void testOrthonormalBasis(const Vector& i, const Vector& j, const Vector& k) { typedef typename Vector::Scalar T; T precision = Eigen::NumTraits::dummy_precision(); EXPECT_NEAR(i.dot(j), 0.0, precision); EXPECT_NEAR(i.dot(k), 0.0, precision); EXPECT_NEAR(j.dot(i), 0.0, precision); EXPECT_NEAR(j.dot(k), 0.0, precision); EXPECT_NEAR(k.dot(i), 0.0, precision); EXPECT_NEAR(k.dot(j), 0.0, precision); EXPECT_TRUE(i.cross(j).isApprox(k)); EXPECT_TRUE(j.cross(k).isApprox(i)); EXPECT_TRUE(k.cross(i).isApprox(j)); EXPECT_NEAR(i.norm(), 1.0, precision); EXPECT_NEAR(j.norm(), 1.0, precision); EXPECT_NEAR(k.norm(), 1.0, precision); } TYPED_TEST(Vector3Tests, buildOrthonormalBasis) { typedef typename TestFixture::Vector3 Vector3; typedef typename Vector3::Scalar T; const int VOpt = Vector3::Options; Vector3 i(static_cast(1.54), static_cast(-4.25), static_cast(0.983)); Vector3 j, k; T precision = Eigen::NumTraits::dummy_precision(); // Assert if 1 parameter is nullptr ASSERT_ANY_THROW((SurgSim::Math::buildOrthonormalBasis(nullptr, &j, &k))); ASSERT_ANY_THROW((SurgSim::Math::buildOrthonormalBasis(&i, nullptr, &k))); ASSERT_ANY_THROW((SurgSim::Math::buildOrthonormalBasis(&i, &j, nullptr))); // Assert if 2 parameters are nullptr ASSERT_ANY_THROW((SurgSim::Math::buildOrthonormalBasis(nullptr, nullptr, &k))); ASSERT_ANY_THROW((SurgSim::Math::buildOrthonormalBasis(nullptr, &j, nullptr))); ASSERT_ANY_THROW((SurgSim::Math::buildOrthonormalBasis(&i, nullptr, nullptr))); // Assert if 3 parameters are nullptr ASSERT_ANY_THROW((SurgSim::Math::buildOrthonormalBasis(nullptr, nullptr, nullptr))); // Input parameter 'i' = (0, 0, 0) Vector3 zero = Vector3::Zero(); ASSERT_NO_THROW(EXPECT_EQ(false, SurgSim::Math::buildOrthonormalBasis(&zero, &j, &k))); // Input parameter 'i' = (0, 0, 0) + (epsilon, epsilon, epsilon) Vector3 closeToZero = Vector3::Constant(precision); ASSERT_NO_THROW(EXPECT_EQ(false, SurgSim::Math::buildOrthonormalBasis(&closeToZero, &j, &k))); // Input parameter 'i' is already normalized { Vector3 i(static_cast(1.54), static_cast(-4.25), static_cast(0.983)); Vector3 j, k; i.normalize(); ASSERT_NO_THROW(EXPECT_EQ(true, SurgSim::Math::buildOrthonormalBasis(&i, &j, &k))); testOrthonormalBasis(i, j, k); } // Input parameter 'i' is not already normalized { Vector3 i(static_cast(1.54), static_cast(-4.25), static_cast(0.983)); Vector3 j, k; ASSERT_NO_THROW(EXPECT_EQ(true, SurgSim::Math::buildOrthonormalBasis(&i, &j, &k))); testOrthonormalBasis(i, j, k); } } TYPED_TEST(Vector3Tests, robustCrossProduct) { typedef typename TestFixture::Vector3 Vector3; typedef typename Vector3::Scalar T; T epsilon = static_cast(1.0e02 * Eigen::NumTraits::dummy_precision()); Vector3 p0(static_cast(0.0), static_cast(0.0), static_cast(0.2)); Vector3 p1(static_cast(0.0), static_cast(0.1), static_cast(0.2)); std::array p; p[0] = p0; p[1] = p1; { SCOPED_TRACE("Safe cross product, p1q0 works."); Vector3 q0(static_cast(0.1), static_cast(0.0), static_cast(0.2)); Vector3 q1(static_cast(0.0), static_cast(0.2), static_cast(0.2)); std::array q; q[0] = q0; q[1] = q1; EXPECT_TRUE(SurgSim::Math::robustCrossProduct(p, q, epsilon).isApprox(Vector3(static_cast(0.0), static_cast(0.0), static_cast(-1.0)), epsilon)); } { SCOPED_TRACE("Safe cross product, p1q0 doesn't work, but p1q1 works."); Vector3 q0(static_cast(0.0), static_cast(0.2), static_cast(0.2)); Vector3 q1(static_cast(0.1), static_cast(0.0), static_cast(0.2)); std::array q; q[0] = q0; q[1] = q1; EXPECT_TRUE(SurgSim::Math::robustCrossProduct(p, q, epsilon).isApprox(Vector3(static_cast(0.0), static_cast(0.0), static_cast(-1.0)), epsilon)); } } opensurgsim-0.7.0/SurgSim/Math/UnitTests/config.txt.in000066400000000000000000000001701277777236100227510ustar00rootroot00000000000000${CMAKE_CURRENT_BINARY_DIR}/MlcpTestData/ ${CMAKE_CURRENT_BINARY_DIR}/Data/ ${PROJECT_BINARY_DIR}/SurgSim/Testing/Data/ opensurgsim-0.7.0/SurgSim/Math/Valid-inl.h000066400000000000000000000152441277777236100203740ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Implementation of isValid(), isSubnormal() and setSubnormalToZero(). #ifndef SURGSIM_MATH_VALID_INL_H #define SURGSIM_MATH_VALID_INL_H #include namespace SurgSim { namespace Math { namespace internal { template class PredicateAlwaysTrueVisitor { public: typedef typename T::Index Index; typedef typename T::Scalar Scalar; PredicateAlwaysTrueVisitor() : m_result(true) { } inline bool getResult() const { return m_result; } inline void init(const Scalar& value, Index i, Index j) { if (! V::evaluate(value)) { m_result = false; } } inline void operator()(const Scalar& value, Index i, Index j) { if (! V::evaluate(value)) { m_result = false; } } private: bool m_result; }; template class ValidVisitor : public PredicateAlwaysTrueVisitor> { public: typedef typename PredicateAlwaysTrueVisitor>::Scalar Scalar; static bool evaluate(const Scalar& value) { // The extra parentheses protect from pain if isfinite() is also defined as a macro. return (boost::math::isfinite)(value); } }; template class NonSubnormalVisitor : public PredicateAlwaysTrueVisitor> { public: typedef typename PredicateAlwaysTrueVisitor>::Scalar Scalar; static bool evaluate(const Scalar& value) { // The extra parentheses protect from pain if fpclassify() is also defined as a macro. return ((boost::math::fpclassify)(value) != FP_SUBNORMAL); } }; }; // namespace internal inline bool isValid(float value) { // The extra parentheses protect from pain if isfinite() is also defined as a macro. return (boost::math::isfinite)(value); } inline bool isValid(double value) { // The extra parentheses protect from pain if isfinite() is also defined as a macro. return (boost::math::isfinite)(value); } template inline bool isValid(const Eigen::DenseBase& value) { internal::ValidVisitor visitor; value.visit(visitor); return visitor.getResult(); } template inline bool isValid(const Eigen::QuaternionBase& value) { return isValid(value.coeffs()); } template inline bool isValid(const Eigen::AngleAxis& value) { return isValid(value.angle()) && isValid(value.axis()); } template inline bool isValid(const Eigen::Rotation2D& value) { return isValid(value.angle()); } template inline bool isValid(const Eigen::Transform& value) { return isValid(value.matrix()); } inline bool isSubnormal(float value) { // The extra parentheses protect from pain if fpclassify() is also defined as a macro. return ((boost::math::fpclassify)(value) == FP_SUBNORMAL); } inline bool isSubnormal(double value) { // The extra parentheses protect from pain if fpclassify() is also defined as a macro. return ((boost::math::fpclassify)(value) == FP_SUBNORMAL); } template inline bool isSubnormal(const Eigen::DenseBase& value) { internal::NonSubnormalVisitor visitor; value.visit(visitor); // The visitor checks whether *all* entries are "non-subnormal", i.e. false means some are subnormal. // This is a consequence of deriving from PredicateAlwaysTrueVisitor. return ! visitor.getResult(); } template inline bool isSubnormal(const Eigen::QuaternionBase& value) { return isSubnormal(value.coeffs()); } template inline bool isSubnormal(const Eigen::AngleAxis& value) { return isSubnormal(value.angle()) || isSubnormal(value.axis()); } template inline bool isSubnormal(const Eigen::Rotation2D& value) { return isSubnormal(value.angle()); } template inline bool isSubnormal(const Eigen::Transform& value) { return isSubnormal(value.matrix()); } inline bool setSubnormalToZero(float* value) { // The extra parentheses protect from pain if fpclassify() is also defined as a macro. if ((boost::math::fpclassify)(*value) != FP_SUBNORMAL) { return false; } else { *value = 0.0f; return true; } } inline bool setSubnormalToZero(double* value) { // The extra parentheses protect from pain if fpclassify() is also defined as a macro. if ((boost::math::fpclassify)(*value) != FP_SUBNORMAL) { return false; } else { *value = 0.0; return true; } } template inline bool setSubnormalToZero(Eigen::DenseBase* value) { if (! isSubnormal(*value)) // optimize for the common case where nothing is subnormal { return false; } // TODO(bert): This is a simple implementation; it could be much more optimized by e.g. unrolling loops along // the lines of the implementation of Eigen::DenseBase::visit(). Unfortunately, we can't just *use* Eigen's // visitors here, because the visitor API doesn't allow modifying the values. typedef typename Eigen::DenseBase::Index Index; const Index numColumns = value->cols(); const Index numRows = value->rows(); for (Index j = 0; j < numColumns; ++j) { for (Index i = 0; i < numRows; ++i) { // The extra parentheses protect from pain if fpclassify() is also defined as a macro. if ((boost::math::fpclassify)(value->coeffRef(i, j)) == FP_SUBNORMAL) { value->coeffRef(i, j) = 0; } } } return true; } template inline bool setSubnormalToZero(Eigen::QuaternionBase* value) { return setSubnormalToZero(&(value->coeffs())); } template inline bool setSubnormalToZero(Eigen::AngleAxis* value) { bool angleChanged = setSubnormalToZero(&(value->angle())); bool axisChanged = setSubnormalToZero(&(value->axis())); return angleChanged || axisChanged; // careful about short-circuiting! } template inline bool setSubnormalToZero(Eigen::Rotation2D* value) { return setSubnormalToZero(&(value->angle())); } template inline bool setSubnormalToZero(Eigen::Transform* value) { return setSubnormalToZero(&(value->matrix())); } }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_VALID_INL_H opensurgsim-0.7.0/SurgSim/Math/Valid.h000066400000000000000000000303361277777236100176130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Declarations of isValid(), isSubnormal() and setSubnormalToZero(). #ifndef SURGSIM_MATH_VALID_H #define SURGSIM_MATH_VALID_H #include #include #include namespace SurgSim { namespace Math { /// Check if a float value is valid. /// Zero, subnormal and normal numbers are valid; infinities and NaNs are not. /// \param value the value to check. /// \returns true if valid, false if not. inline bool isValid(float value); /// Check if a double value is valid. /// Zero, subnormal and normal numbers are valid; infinities and NaNs are not. /// \param value the value to check. /// \returns true if valid, false if not. inline bool isValid(double value); /// Check if a matrix or a vector is valid. /// These quantities are valid if all of their elements are valid. /// Zero, subnormal and normal numbers are valid; infinities and NaNs are not. /// \tparam T the base type used to describe the matrix or vector. Can usually be deduced. /// \param value the matrix or vector value to check. /// \returns true if valid, false if not. template inline bool isValid(const Eigen::DenseBase& value); /// Check if a quaternion is valid. /// Quaternions are valid if all of their components are valid. /// Zero, subnormal and normal numbers are valid; infinities and NaNs are not. /// \tparam T the base type used to describe the quaternion. Can usually be deduced. /// \param value the quaternion value to check. /// \returns true if valid, false if not. template inline bool isValid(const Eigen::QuaternionBase& value); /// Check if an angle/axis 3D rotation is valid. /// Angle/axis rotations are valid if the angle and the axis components are valid. /// Zero, subnormal and normal numbers are valid; infinities and NaNs are not. /// \tparam T the scalar type used to describe the rotation. Can usually be deduced. /// \param value the rotation value to check. /// \returns true if valid, false if not. template inline bool isValid(const Eigen::AngleAxis& value); /// Check if a 2D rotation is valid. /// 2D rotations are valid if the rotation angle is valid. /// Zero, subnormal and normal numbers are valid; infinities and NaNs are not. /// \tparam T the scalar type used to describe the rotation. Can usually be deduced. /// \param value the rotation value to check. /// \returns true if valid, false if not. template inline bool isValid(const Eigen::Rotation2D& value); /// Check if a transform is valid. /// Transforms are valid if all of their components are valid. /// Zero, subnormal and normal numbers are valid; infinities and NaNs are not. /// \tparam T the scalar type used to describe the transform. Can usually be deduced. /// \tparam D the dimension used to describe the transform. Can usually be deduced. /// \tparam M the mode value used to describe the transform. Can usually be deduced. /// \tparam O the options value used to describe the transform. Can usually be deduced. /// \param value the transform value to check. /// \returns true if valid, false if not. template inline bool isValid(const Eigen::Transform& value); /// Check if a float value is subnormal. /// Subnormal values have absolute values in the range std::numeric_limits<float>::%denorm_min() <= /// x < std::numeric_limits<float>::%min(), and can result in very slow floating point calculations /// under some conditions. /// \param value the value to check. /// \returns true if subnormal; false if not (normal, zero, infinite or NaN). inline bool isSubnormal(float value); /// Check if a double value is subnormal. /// Subnormal values have absolute values in the range std::numeric_limits<double>::%denorm_min() <= /// x < std::numeric_limits<double>::%min(), and can result in very slow floating point /// calculations under some conditions. /// \param value the value to check. /// \returns true if subnormal; false if not (normal, zero, infinite or NaN). inline bool isSubnormal(double value); /// Check if a matrix or a vector contains any subnormal floating-point values. /// Subnormal values have absolute values in the range std::numeric_limits<T>::%denorm_min() <= x /// < std::numeric_limits<T>::%min(), and can result in very slow floating point calculations under /// some conditions. /// \tparam T the base type used to describe the matrix or vector. Can usually be deduced. /// \param value the matrix or vector value to check. /// \returns true if any value is subnormal; false if none are (i.e. each is normal, zero, infinite or NaN). template inline bool isSubnormal(const Eigen::DenseBase& value); /// Check if a quaternion contains any subnormal floating-point values. /// Subnormal values have absolute values in the range std::numeric_limits<T>::%denorm_min() <= x /// < std::numeric_limits<T>::%min(), and can result in very slow floating point calculations under /// some conditions. /// \tparam T the base type used to describe the quaternion. Can usually be deduced. /// \param value the quaternion value to check. /// \returns true if any value is subnormal; false if none are (i.e. each is normal, zero, infinite or NaN). template inline bool isSubnormal(const Eigen::QuaternionBase& value); /// Check if an angle/axis 3D rotation contains any subnormal floating-point values. /// Subnormal values have absolute values in the range std::numeric_limits<T>::%denorm_min() <= x /// < std::numeric_limits<T>::%min(), and can result in very slow floating point calculations under /// some conditions. /// \tparam T the scalar type used to describe the rotation. Can usually be deduced. /// \param value the rotation value to check. /// \returns true if any value is subnormal; false if none are (i.e. each is normal, zero, infinite or NaN). template inline bool isSubnormal(const Eigen::AngleAxis& value); /// Check if a 2D rotation is described by an angle that is subnormal. /// Subnormal values have absolute values in the range std::numeric_limits<T>::%denorm_min() <= x /// < std::numeric_limits<T>::%min(), and can result in very slow floating point calculations under /// some conditions. /// \tparam T the scalar type used to describe the rotation. Can usually be deduced. /// \param value the 2D rotation value to check. /// \returns true if the angle is subnormal; false if not (normal, zero, infinite or NaN). template inline bool isSubnormal(const Eigen::Rotation2D& value); /// Check if a transform contains any subnormal floating-point values. /// Subnormal values have absolute values in the range std::numeric_limits<T>::%denorm_min() <= x /// < std::numeric_limits<T>::%min(), and can result in very slow floating point calculations under /// some conditions. /// \tparam T the scalar type used to describe the transform. Can usually be deduced. /// \tparam D the dimension used to describe the transform. Can usually be deduced. /// \tparam M the mode value used to describe the transform. Can usually be deduced. /// \tparam O the options value used to describe the transform. Can usually be deduced. /// \param value the transform value to check. /// \returns true if any value is subnormal; false if none are (i.e. each is normal, zero, infinite or NaN). template inline bool isSubnormal(const Eigen::Transform& value); /// If the float value is subnormal, set it to zero. /// Subnormal values have absolute values in the range std::numeric_limits<float>::%denorm_min() <= /// x < std::numeric_limits<float>::%min(), and can result in very slow floating point calculations /// under some conditions. /// \param [in,out] value the value to check and possibly modify. /// \returns true if the value was modified. inline bool setSubnormalToZero(float* value); /// If the double value is subnormal, set it to zero. /// Subnormal values have absolute values in the range std::numeric_limits<double>::%denorm_min() <= /// x < std::numeric_limits<double>::%min(), and can result in very slow floating point calculations /// under some conditions. /// \param [in,out] value the value to check and possibly modify. /// \returns true if the value was modified. inline bool setSubnormalToZero(double* value); /// Set all subnormal values in a matrix or a vector to zero. /// Subnormal values have absolute values in the range std::numeric_limits<T>::%denorm_min() <= x /// < std::numeric_limits<T>::%min(), and can result in very slow floating point calculations under /// some conditions. /// \tparam T the base type used to describe the matrix or vector. Can usually be deduced. /// \param [in,out] value the matrix or vector value to check and possibly modify. /// \returns true if any value was modified. template inline bool setSubnormalToZero(Eigen::DenseBase* value); /// Set all subnormal values in a quaternion to zero. /// Subnormal values have absolute values in the range std::numeric_limits<T>::%denorm_min() <= x /// < std::numeric_limits<T>::%min(), and can result in very slow floating point calculations under /// some conditions. /// \tparam T the base type used to describe the quaternion. Can usually be deduced. /// \param [in,out] value the quaternion value to check and possibly modify. /// \returns true if any value was modified. template inline bool setSubnormalToZero(Eigen::QuaternionBase* value); /// Set all subnormal values in an angle/axis 3D rotation to zero. /// Subnormal values have absolute values in the range std::numeric_limits<T>::%denorm_min() <= x /// < std::numeric_limits<T>::%min(), and can result in very slow floating point calculations under /// some conditions. /// \tparam T the scalar type used to describe the rotation. Can usually be deduced. /// \param [in,out] value the rotation value to check and possibly modify. /// \returns true if any value was modified. template inline bool setSubnormalToZero(Eigen::AngleAxis* value); /// If the angle of a 2D rotation is subnormal, set it to zero. /// Subnormal values have absolute values in the range std::numeric_limits<T>::%denorm_min() <= x /// < std::numeric_limits<T>::%min(), and can result in very slow floating point calculations under /// some conditions. /// \tparam T the scalar type used to describe the rotation. Can usually be deduced. /// \param [in,out] value the rotation value to check and possibly modify. /// \returns true if the value was modified. template inline bool setSubnormalToZero(Eigen::Rotation2D* value); /// Set all subnormal values in a transform to zero. /// Subnormal values have absolute values in the range std::numeric_limits<T>::%denorm_min() <= x /// < std::numeric_limits<T>::%min(), and can result in very slow floating point calculations under /// some conditions. /// \tparam T the base type used to describe the transform. Can usually be deduced. /// \param [in,out] value the transform value to check and possibly modify. /// \returns true if any value was modified. template inline bool setSubnormalToZero(Eigen::Transform* value); }; // namespace Math }; // namespace SurgSim #include "SurgSim/Math/Valid-inl.h" #endif // SURGSIM_MATH_VALID_H opensurgsim-0.7.0/SurgSim/Math/Vector.h000066400000000000000000000214131277777236100200120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2015, SimQuest Solutions 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 // // 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. /// \file /// Definitions of small fixed-size vector types. #ifndef SURGSIM_MATH_VECTOR_H #define SURGSIM_MATH_VECTOR_H #include #include #include #include #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace Math { /// A 2D vector of floats. /// This type (and any structs that contain it) can be safely allocated via new. typedef Eigen::Matrix Vector2f; /// A 3D vector of floats. /// This type (and any structs that contain it) can be safely allocated via new. typedef Eigen::Matrix Vector3f; /// A 4D vector of floats. /// This type (and any structs that contain it) can be safely allocated via new. typedef Eigen::Matrix Vector4f; /// A 6D vector of floats. /// This type (and any structs that contain it) can be safely allocated via new. typedef Eigen::Matrix Vector6f; /// A 2D vector of doubles. /// This type (and any structs that contain it) can be safely allocated via new. typedef Eigen::Matrix Vector2d; /// A 3D vector of doubles. /// This type (and any structs that contain it) can be safely allocated via new. typedef Eigen::Matrix Vector3d; /// A 4D vector of doubles. /// This type (and any structs that contain it) can be safely allocated via new. typedef Eigen::Matrix Vector4d; /// A 6D matrix of doubles. /// This type (and any structs that contain it) can be safely allocated via new. typedef Eigen::Matrix Vector6d; /// A dynamic size column vector typedef Eigen::Matrix Vector; /// Helper method to add a sub-vector into a vector, for the sake of clarity /// \tparam Vector The vector type /// \tparam SubVector The sub-vector type /// \param subVector The sub-vector /// \param blockId The block index in vector /// \param blockSize The block size /// \param[out] vector The vector to add the sub-vector into template void addSubVector(const SubVector& subVector, size_t blockId, size_t blockSize, Vector* vector) { vector->segment(blockSize * blockId, blockSize) += subVector; } /// Helper method to add a sub-vector per block into a vector, for the sake of clarity /// \tparam Vector The vector type /// \tparam SubVector The sub-vector type /// \param subVector The sub-vector (containing all the blocks) /// \param blockIds Vector of block indices (for accessing vector) corresponding to the blocks in sub-vector /// \param blockSize The block size /// \param[out] vector The vector to add the sub-vector blocks into template void addSubVector(const SubVector& subVector, const std::vector blockIds, size_t blockSize, Vector* vector) { const size_t numBlocks = blockIds.size(); for (size_t block = 0; block < numBlocks; block++) { size_t blockId = blockIds[block]; vector->segment(blockSize * blockId, blockSize) += subVector.segment(blockSize * block, blockSize); } } /// Helper method to set a sub-vector into a vector, for the sake of clarity /// \tparam Vector The vector type /// \tparam SubVector The sub-vector type /// \param subVector The sub-vector /// \param blockId The block index in vector /// \param blockSize The size of the sub-vector /// \param[out] vector The vector to set the sub-vector into template void setSubVector(const SubVector& subVector, size_t blockId, size_t blockSize, Vector* vector) { vector->segment(blockSize * blockId, blockSize) = subVector; } /// Helper method to access a sub-vector from a vector, for the sake of clarity /// \tparam Vector The vector type to get the sub-vector from /// \param vector The vector to get the sub-vector from /// \param blockId The block index /// \param blockSize The block size /// \return The requested sub-vector /// \note Disable cpplint warnings for use of non-const reference /// \note Eigen has a specific type for VectorBlock that we want to return with read/write access /// \note therefore the Vector from which the VectorBlock is built from must not be const template Eigen::VectorBlock getSubVector(Vector& vector, size_t blockId, size_t blockSize) // NOLINT { return vector.segment(blockSize * blockId, blockSize); } /// Helper method to get a sub-vector per block from a vector, for the sake of clarity /// \tparam Vector The vector type /// \tparam SubVector The sub-vector type /// \param vector The vector (containing the blocks in a sparse manner) /// \param blockIds Vector of block indices (for accessing vector) corresponding to the blocks in vector /// \param blockSize The block size /// \param[out] subVector The sub-vector to store the requested blocks (blockIds) from vector into template void getSubVector(const Vector& vector, const std::vector blockIds, size_t blockSize, SubVector* subVector) { const size_t numBlocks = blockIds.size(); for (size_t block = 0; block < numBlocks; block++) { size_t blockId = blockIds[block]; subVector->segment(blockSize * block, blockSize) = vector.segment(blockSize * blockId, blockSize); } } /// Interpolate (slerp) between 2 vectors /// \tparam T the numeric data type used for arguments and the return value. Can usually be deduced. /// \tparam size the size of the vectors. Can be deduced. /// \tparam TOpt the option flags (alignment etc.) used for the Vector arguments. Can be deduced. /// \param previous The starting vector (at time 0.0). /// \param next The ending vector (at time 1.0). /// \param t The interpolation time requested. Within [0..1], although note bounds are not checked. /// \returns the transform resulting in the slerp interpolation at time t. /// \note t=0 => returns vector 'previous' /// \note t=1 => returns vector 'next' template Eigen::Matrix interpolate( const Eigen::Matrix& previous, const Eigen::Matrix& next, T t) { return previous + t * (next - previous); } /// Helper method to construct an orthonormal basis (i, j, k) given the 1st vector direction /// \tparam T the numeric data type used for the vector argument. Can usually be deduced. /// \tparam VOpt the option flags (alignment etc.) used for the vector argument. Can be deduced. /// \param[in, out] i Should provide the 1st direction on input. The 1st vector of the basis (i, j, k) on output. /// \param[out] j, k The 2nd and 3rd orthonormal vectors of the basis (i, j, k) /// \return True if (i, j, k) has been built successfully, False if 'i' is a (or close to a) null vector /// \note If any of the parameter is a nullptr, an exception will be raised template bool buildOrthonormalBasis(Eigen::Matrix* i, Eigen::Matrix* j, Eigen::Matrix* k) { SURGSIM_ASSERT(i != nullptr) << "Parameter [in, out] 'i' is a nullptr"; SURGSIM_ASSERT(j != nullptr) << "Parameter [out] 'j' is a nullptr"; SURGSIM_ASSERT(k != nullptr) << "Parameter [out] 'k' is a nullptr"; if (i->isZero()) { return false; } i->normalize(); *j = i->unitOrthogonal(); *k = i->cross(*j); return true; } /// Calculate the best unit normal we can find in the direction of pXq for one of the endpoints of q. /// Try multiple arrangements of the end points to reduce the artifacts when three of the vertices may /// be nearly collinear. /// \param p segment p /// \param q segment q /// \param epsilon when the norm of p x q is above epsilon, the cross product is assumed to be valid. /// return the normalized cross product of p x q template Eigen::Matrix robustCrossProduct(const std::array, 2>& p, const std::array, 2>& q, T epsilon) { auto p0p1 = p[1] - p[0]; auto p1q0 = q[0] - p[1]; auto p0q0 = q[0] - p[0]; auto p1q1 = q[1] - p[1]; auto pXq = p0p1.cross(p1q0); auto norm = pXq.norm(); if (norm < epsilon) { pXq = p0p1.cross(p0q0); norm = pXq.norm(); } if (norm < epsilon) { pXq = p0p1.cross(p1q1); norm = pXq.norm(); } pXq *= static_cast(1.0 / norm); return pXq; } }; // namespace Math }; // namespace SurgSim #endif // SURGSIM_MATH_VECTOR_H opensurgsim-0.7.0/SurgSim/Particles/000077500000000000000000000000001277777236100174335ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Particles/CMakeLists.txt000066400000000000000000000031071277777236100221740ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2015, SimQuest Solutions 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 # # 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. set(SURGSIM_PARTICLES_SOURCES DefaultPointGenerator.cpp Emitter.cpp ParticlesCollisionRepresentation.cpp PointGenerator.cpp RandomBoxPointGenerator.cpp RandomMeshPointGenerator.cpp RandomPointGenerator.cpp RandomSpherePointGenerator.cpp Representation.cpp Sink.cpp SphRepresentation.cpp ) set(SURGSIM_PARTICLES_HEADERS DefaultPointGenerator.h Emitter.h Particles.h ParticlesCollisionRepresentation.h PointGenerator.h RandomBoxPointGenerator.h RandomMeshPointGenerator.h RandomPointGenerator.h RandomSpherePointGenerator.h Representation.h Sink.h SphRepresentation.h ) surgsim_add_library( SurgSimParticles "${SURGSIM_PARTICLES_SOURCES}" "${SURGSIM_PARTICLES_HEADERS}" ) SET(LIBS SurgSimMath) target_link_libraries(SurgSimParticles ${LIBS}) if(BUILD_TESTING) add_subdirectory(UnitTests) if(BUILD_RENDER_TESTING) add_subdirectory(RenderTests) endif() endif() set_target_properties(SurgSimParticles PROPERTIES FOLDER "Particles") opensurgsim-0.7.0/SurgSim/Particles/DefaultPointGenerator.cpp000066400000000000000000000030021277777236100243770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Particles/DefaultPointGenerator.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Math/Shape.h" namespace SurgSim { namespace Particles { using SurgSim::Math::Vector3d; DefaultPointGenerator::~DefaultPointGenerator() { } Vector3d DefaultPointGenerator::pointInShape(std::shared_ptr shape) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << "PointGenerator does not support generating points in shape type: "<< shape->getType(); return Vector3d::Zero(); } Vector3d DefaultPointGenerator::pointOnShape(std::shared_ptr shape) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << "PointGenerator does not support generating points on the surface of shape type: "<< shape->getType(); return Vector3d::Zero(); } }; // namespace Particles }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Particles/DefaultPointGenerator.h000066400000000000000000000031371277777236100240550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PARTICLES_DEFAULTPOINTGENERATOR_H #define SURGSIM_PARTICLES_DEFAULTPOINTGENERATOR_H #include "SurgSim/Math/Vector.h" #include "SurgSim/Particles/PointGenerator.h" namespace SurgSim { namespace Math { class Shape; } namespace Particles { /// DefaultPointGenerator, methods of this class will always return (0.0, 0.0, 0.0) and output a severe logging message. /// They are served more like a place holder (concrete implementation) to be used in ShapesPointGenerator. /// One should develop an actual XXXPointGenerator to produce points in/on the shape. class DefaultPointGenerator: public PointGenerator { public: /// Destructor virtual ~DefaultPointGenerator(); SurgSim::Math::Vector3d pointInShape(std::shared_ptr shape) override; SurgSim::Math::Vector3d pointOnShape(std::shared_ptr shape) override; }; }; // namespace Particles }; // namespace SurgSim #endif // SURGSIM_PARTICLES_DEFAULTPOINTGENERATOR_H opensurgsim-0.7.0/SurgSim/Particles/Emitter.cpp000066400000000000000000000137411277777236100215560ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Particles/Emitter.h" #include #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Particles/Representation.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Particles { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Particles::Emitter, Emitter); Emitter::Emitter(const std::string& name) : SurgSim::Framework::Behavior(name), m_mode(EMIT_MODE_VOLUME), m_rate(0.0), m_lifetimeRange(std::make_pair(0.0, 0.0)), m_velocityRange(std::make_pair(Vector3d::Zero(), Vector3d::Zero())), m_particlesNotAdded(0.0), m_localPose(SurgSim::Math::RigidTransform3d::Identity()), m_logger(SurgSim::Framework::Logger::getLogger("Particles")) { typedef std::pair LifetimeRangeType; SURGSIM_ADD_SERIALIZABLE_PROPERTY(Emitter, LifetimeRangeType, LifetimeRange, getLifetimeRange, setLifetimeRange); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Emitter, int, Mode, getMode, setMode); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Emitter, double, Rate, getRate, setRate); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Emitter, std::shared_ptr, Shape, getShape, setShape); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Emitter, std::shared_ptr, Target, getTarget, setTarget); typedef std::pair VelocityRangeType; SURGSIM_ADD_SERIALIZABLE_PROPERTY(Emitter, VelocityRangeType, VelocityRange, getVelocityRange, setVelocityRange); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Emitter, SurgSim::Math::RigidTransform3d, LocalPose, getLocalPose, setLocalPose); SURGSIM_ADD_RO_PROPERTY(Emitter, SurgSim::Math::RigidTransform3d, Pose, getPose); std::random_device device; m_generator.seed(device()); m_zeroOneDistribution.param(std::uniform_real_distribution::param_type(0.0, 1.0)); } Emitter::~Emitter() { } bool Emitter::doInitialize() { return true; } bool Emitter::doWakeUp() { if (m_target == nullptr) { SURGSIM_LOG_SEVERE(m_logger) << "Emitters need a Representation to emit to."; return false; } if (m_shape == nullptr) { SURGSIM_LOG_SEVERE(m_logger) << "Emitters need a shape."; return false; } return true; } void Emitter::update(double dt) { Vector3d position, velocity; double lifetime; double particlesToAdd = m_rate * dt + m_particlesNotAdded; size_t particlesAdded = 0; for ( ; particlesAdded < std::floor(particlesToAdd); particlesAdded++) { if (m_mode == EMIT_MODE_VOLUME) { position = getPose() * m_pointGenerator.pointInShape(m_shape); } else { position = getPose() * m_pointGenerator.pointOnShape(m_shape); } velocity = Vector3d::NullaryExpr([this](int index){return m_zeroOneDistribution(m_generator);}); velocity = m_velocityRange.first + (m_velocityRange.second - m_velocityRange.first).cwiseProduct(velocity); lifetime = m_zeroOneDistribution(m_generator); lifetime = m_lifetimeRange.first + (m_lifetimeRange.second - m_lifetimeRange.first) * lifetime; if (!m_target->addParticle(position, velocity, lifetime)) { SURGSIM_LOG_DEBUG(m_logger) << "Unable to add particle to " << m_target->getName(); break; } } m_particlesNotAdded = particlesToAdd - particlesAdded; } int Emitter::getTargetManagerType() const { return SurgSim::Framework::MANAGER_TYPE_PHYSICS; } void Emitter::setShape(std::shared_ptr shape) { m_shape = shape; } std::shared_ptr Emitter::getShape() const { return m_shape; } void Emitter::setTarget(const std::shared_ptr target) { m_target = SurgSim::Framework::checkAndConvert(target, "SurgSim::Particles::Representation"); } const std::shared_ptr Emitter::getTarget() { return m_target; } void Emitter::setMode(int mode) { SURGSIM_ASSERT(0 <= mode && mode < EMIT_MODE_COUNT) << "Invalid emit mode"; m_mode = mode; } int Emitter::getMode() const { return m_mode; } void Emitter::setRate(double rate) { SURGSIM_ASSERT(rate >= 0.0) << "Emit rate must be non-negative"; m_rate = rate; } double Emitter::getRate() const { return m_rate; } void Emitter::setLifetimeRange(const std::pair& range) { SURGSIM_ASSERT(0.0 < range.first && range.first <= range.second) << "Lower bound of lifetime must be greater than 0 and not greater than the upper bound of lifetime."; m_lifetimeRange = range; } std::pair Emitter::getLifetimeRange() const { return m_lifetimeRange; } void Emitter::setVelocityRange(const std::pair& range) { SURGSIM_ASSERT((range.first.array() <= range.second.array()).all()) << "Minimum velocity must be less than maximum"; m_velocityRange = range; } const std::pair& Emitter::getVelocityRange() const { return m_velocityRange; } void Emitter::setLocalPose(const SurgSim::Math::RigidTransform3d& pose) { m_localPose = pose; } SurgSim::Math::RigidTransform3d Emitter::getPose() const { if (getSceneElement() != nullptr) { return getSceneElement()->getPose() * getLocalPose(); } else { return getLocalPose(); } } SurgSim::Math::RigidTransform3d Emitter::getLocalPose() const { return m_localPose; } }; // namespace Particles }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Particles/Emitter.h000066400000000000000000000124421277777236100212200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PARTICLES_EMITTER_H #define SURGSIM_PARTICLES_EMITTER_H #include #include #include #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Particles/RandomPointGenerator.h" namespace SurgSim { namespace Framework { class Logger; }; namespace Math { class Shape; }; namespace Particles { class Representation; /// Emitting modes of the Emitter enum EmitMode { /// Emit particles from within the shapes volume EMIT_MODE_VOLUME = 0, /// Emit particles only from the surface EMIT_MODE_SURFACE, /// The number of EmitModes EMIT_MODE_COUNT }; SURGSIM_STATIC_REGISTRATION(Emitter); /// Emitter emits particles into a ParticleSystem class Emitter : public SurgSim::Framework::Behavior { public: /// Constructor /// \param name The Emitter's name explicit Emitter(const std::string& name); /// Destructor virtual ~Emitter(); SURGSIM_CLASSNAME(SurgSim::Particles::Emitter); void update(double dt) override; int getTargetManagerType() const override; /// Set the target to emit to. /// \param target The ParticleSystem to emit to. void setTarget(const std::shared_ptr target); /// Get the target to emit to. /// \return The ParticleSystem to emit to. const std::shared_ptr getTarget(); /// Set the shape of this emitter. /// \param shape Shape of this emitter. void setShape(std::shared_ptr shape); /// Get the shape of this emitter. /// \return Shape of this emitter. std::shared_ptr getShape() const; /// Set the emit mode of this emitter. /// \param mode The emit mode. void setMode(int mode); /// Get the emit mode of this emitter. /// \return Emit mode of this emitter. int getMode() const; /// Set the emit rate of this emitter. /// \param rate The rate of emitting [particles/s]. void setRate(double rate); /// Get the emit rate of this emitter. /// \return Emitting rate [particles/s]. double getRate() const; /// Set the range of lifetimes of emitted particles. /// Each emitted particle will have a randomly chosen lifetime in the supplied range. /// \param range The shortest and longest lifetimes to produce. void setLifetimeRange(const std::pair& range); /// Get the range of lifetimes of emitted particles. /// \return The shortest and longest lifetimes. std::pair getLifetimeRange() const; /// Set the range of velocities of the emitted particles. /// Each produced particle will have a randomly chosen velocity in the supplied range. /// \param range The minimum and maximum velocity. void setVelocityRange(const std::pair& range); /// Get the range of velocities of the emitted particles. const std::pair& getVelocityRange() const; /// Set the pose of the Emitter with respect to the Scene Element /// \param pose The pose to set the Emitter to virtual void setLocalPose(const SurgSim::Math::RigidTransform3d& pose); /// Get the pose of the Emitter with respect to the Scene Element /// \return The pose of this Emitter virtual SurgSim::Math::RigidTransform3d getLocalPose() const; /// Get the pose of the Emitter in world coordinates /// \return The pose of this Emitter virtual SurgSim::Math::RigidTransform3d getPose() const; private: bool doInitialize() override; bool doWakeUp() override; /// PointGenerator for generating random points within or on the emitter shape. RandomPointGenerator m_pointGenerator; /// The emit mode of this emitter. int m_mode; /// The emit rate of this emitter. double m_rate; /// The range of lifetimes of emitted particles. std::pair m_lifetimeRange; /// The range of velocities of the emitted particles. std::pair m_velocityRange; /// Number of particles not added during last update. double m_particlesNotAdded; ///@{ /// Random number generator and distribution used to assign random lifetimes and velocities std::mt19937 m_generator; std::uniform_real_distribution m_zeroOneDistribution; ///@} /// Shape of emitter. std::shared_ptr m_shape; /// Representation to emit to. std::shared_ptr m_target; /// Local Pose of the Representation with respect to the SceneElement SurgSim::Math::RigidTransform3d m_localPose; /// Logger used by the Emitter std::shared_ptr m_logger; }; }; // namespace Particles }; // namespace SurgSim #endif // SURGSIM_PARTICLES_EMITTER_H opensurgsim-0.7.0/SurgSim/Particles/Particles.h000066400000000000000000000031121277777236100215270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PARTICLES_PARTICLES_H #define SURGSIM_PARTICLES_PARTICLES_H #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Particles { struct ParticleData { /// The lifetime of the particle [s] double lifetime; /// The velocity of the particle [m/s] Math::Vector3d velocity; /// Equality operator. /// \param rhs The right hand side. /// \return true if the parameters are considered equivalent. bool operator==(const ParticleData& rhs) const { return lifetime == rhs.lifetime && velocity.isApprox(rhs.velocity); } /// Inequality operator. /// \param rhs The right hand side. /// \return true if the parameters are not considered equivalent. bool operator!=(const ParticleData& rhs) const { return !((*this) == rhs); } }; typedef DataStructures::Vertices Particles; typedef Particles::VertexType Particle; }; }; #endif //SURGSIM_PARTICLES_PARTICLES_H opensurgsim-0.7.0/SurgSim/Particles/ParticlesCollisionRepresentation.cpp000066400000000000000000000060361277777236100266710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Particles/ParticlesCollisionRepresentation.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Math/ParticlesShape.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Particles/Representation.h" namespace SurgSim { namespace Particles { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Particles::ParticlesCollisionRepresentation, ParticlesCollisionRepresentation); ParticlesCollisionRepresentation::ParticlesCollisionRepresentation(const std::string& name) : SurgSim::Collision::Representation(name), m_shape(std::make_shared()) { m_shape->setRadius(0.01); } ParticlesCollisionRepresentation::~ParticlesCollisionRepresentation() { } bool ParticlesCollisionRepresentation::doInitialize() { return true; } bool ParticlesCollisionRepresentation::doWakeUp() { auto particleRepresentation = m_particleRepresentation.lock(); if (particleRepresentation == nullptr) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << getName() << ": does not have a Particle Representation."; return false; } m_shape->getVertices().reserve(particleRepresentation->getMaxParticles()); update(0.0); return true; } int ParticlesCollisionRepresentation::getShapeType() const { return m_shape->getType(); } const std::shared_ptr ParticlesCollisionRepresentation::getShape() const { return m_shape; } void ParticlesCollisionRepresentation::setParticleRepresentation( std::shared_ptr representation) { m_particleRepresentation = representation; } const std::shared_ptr ParticlesCollisionRepresentation::getParticleRepresentation() const { auto particleRepresentation = m_particleRepresentation.lock(); SURGSIM_ASSERT(particleRepresentation != nullptr) << "Failed to get the Particle Representation. The ParticlesCollisionRepresentation either was not " "attached to a Particle Representation or the Particle Representation has expired."; return particleRepresentation; } void ParticlesCollisionRepresentation::setParticleRadius(double radius) { m_shape->setRadius(radius); } double ParticlesCollisionRepresentation::getParticleRadius() const { return m_shape->getRadius(); } void ParticlesCollisionRepresentation::updateShapeData() { *m_shape = getParticleRepresentation()->getParticles().unsafeGet(); invalidatePosedShapeMotion(); } }; }; opensurgsim-0.7.0/SurgSim/Particles/ParticlesCollisionRepresentation.h000066400000000000000000000053431277777236100263360ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PARTICLES_PARTICLESCOLLISIONREPRESENTATION_H #define SURGSIM_PARTICLES_PARTICLESCOLLISIONREPRESENTATION_H #include #include #include "SurgSim/Collision/Representation.h" #include "SurgSim/Framework/ObjectFactory.h" namespace SurgSim { namespace Math { class Shape; class ParticlesShape; }; namespace Particles { class Representation; SURGSIM_STATIC_REGISTRATION(ParticlesCollisionRepresentation); /// A Collision Representation that can be attached to a Particle Representation class ParticlesCollisionRepresentation : public SurgSim::Collision::Representation { public: /// Constructor /// \param name Name of the Representation explicit ParticlesCollisionRepresentation(const std::string& name); /// Destructor virtual ~ParticlesCollisionRepresentation(); SURGSIM_CLASSNAME(SurgSim::Particles::ParticlesCollisionRepresentation); const std::shared_ptr getShape() const override; int getShapeType() const override; void updateShapeData() override; /// Sets the particle representation this collision representation is connected /// \param representation The paticle representation void setParticleRepresentation(std::shared_ptr representation); /// Gets the particle representation this collision representation is connected /// \return The particle representation const std::shared_ptr getParticleRepresentation() const; /// Set the particles' radius /// \param radius the radius being set to all particles void setParticleRadius(double radius); /// Get the radius of the particles /// \return The particles' radius double getParticleRadius() const; private: bool doInitialize() override; bool doWakeUp() override; /// Shape used for collision detection std::shared_ptr m_shape; /// Reference to the particle representation driving changes to this collision representation std::weak_ptr m_particleRepresentation; }; }; }; #endif // SURGSIM_PARTICLES_PARTICLESCOLLISIONREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Particles/PointGenerator.cpp000066400000000000000000000023541277777236100231030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Particles/PointGenerator.h" #include // For boost::math::float_next() namespace SurgSim { namespace Particles { PointGenerator::PointGenerator() : m_openOneOneDistribution(boost::math::float_next(-1.0), 1.0), m_closedOneOneDistribution(-1.0, boost::math::float_next(1.0)), m_closedZeroOneDistribution(0.0, boost::math::float_next(1.0)), m_closedZeroOpenOneDistribution(0.0, 1.0) { std::random_device randomDevice; m_generator.seed(randomDevice()); } PointGenerator::~PointGenerator() { } }; // namespace Particles }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Particles/PointGenerator.h000066400000000000000000000045311277777236100225470ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PARTICLES_POINTGENERATOR_H #define SURGSIM_PARTICLES_POINTGENERATOR_H #include #include #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Math { class Shape; } namespace Particles { /// PointGenerator is used to generate points inside or on the surface of a given shape. /// Derived classes need to implement pointInShape() and pointOnShape(). class PointGenerator { public: /// Constructor PointGenerator(); /// Destructor virtual ~PointGenerator(); /// Generates one point inside the given shape. /// \param shape The shape inside which a point will be generated. /// \return A point inside the shape, shape is assumed to be located at the origin. virtual SurgSim::Math::Vector3d pointInShape(std::shared_ptr shape) = 0; /// Generates one point on the surface of the given shape. /// \param shape The shape on which a point will be generated. /// \return A point on the surface of the shape, shape is assumed to be located at the origin. virtual SurgSim::Math::Vector3d pointOnShape(std::shared_ptr shape) = 0; protected: ///@{ /// Random number generator and some predefined distributions to be used by different shape point generators. std::mt19937 m_generator; std::uniform_real_distribution m_openOneOneDistribution; // <-- (-1.0, 1.0) std::uniform_real_distribution m_closedOneOneDistribution; // <-- [-1.0, 1.0] std::uniform_real_distribution m_closedZeroOneDistribution; // <-- [0.0, 1.0] std::uniform_real_distribution m_closedZeroOpenOneDistribution; // <-- [0.0, 1.0) ///@} }; }; // namespace Particles }; // namespace SurgSim #endif // SURGSIM_PARTICLES_POINTGENERATOR_H opensurgsim-0.7.0/SurgSim/Particles/RandomBoxPointGenerator.cpp000066400000000000000000000040561277777236100247160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Particles/RandomBoxPointGenerator.h" #include "SurgSim/Math/BoxShape.h" namespace SurgSim { namespace Particles { using SurgSim::Math::Vector3d; RandomBoxPointGenerator::~RandomBoxPointGenerator() { } Vector3d RandomBoxPointGenerator::pointInShape(std::shared_ptr shape) { auto box = std::static_pointer_cast(shape); auto halfSize = box->getSize() * 0.5; Vector3d random = Vector3d::NullaryExpr([&](int index){return m_openOneOneDistribution(m_generator);}); return random.array() * halfSize.array(); } Vector3d RandomBoxPointGenerator::pointOnShape(std::shared_ptr shape) { auto box = std::static_pointer_cast(shape); Vector3d halfSize = box->getSize() * 0.5; std::uniform_int_distribution axisDirectionSelector(0, 2); // 0: X-Axis, 1: Y-Axis, 2: Z-Axis. std::uniform_int_distribution valueSelector(0, 1); // 0: negative size value, 1: positive size value. Vector3d result; // Choose one axis to be fixed. int axis = axisDirectionSelector(m_generator); result[axis] = valueSelector(m_generator) == 0 ? -halfSize[axis] : halfSize[axis]; // Then generate coordinates for the other two axes. for (size_t t = 0; t < 2; ++t) { ++axis; axis %= 3; result[axis] = m_closedOneOneDistribution(m_generator) * halfSize[axis]; } return result; } }; // namespace Particles }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Particles/RandomBoxPointGenerator.h000066400000000000000000000025571277777236100243670ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PARTICLES_RANDOMBOXPOINTGENERATOR_H #define SURGSIM_PARTICLES_RANDOMBOXPOINTGENERATOR_H #include "SurgSim/Math/Vector.h" #include "SurgSim/Particles/PointGenerator.h" namespace SurgSim { namespace Math { class Shape; } namespace Particles { /// Class to generate points inside or on the surface of a box. class RandomBoxPointGenerator: public PointGenerator { public: /// Destructor virtual ~RandomBoxPointGenerator(); SurgSim::Math::Vector3d pointInShape(std::shared_ptr shape) override; SurgSim::Math::Vector3d pointOnShape(std::shared_ptr shape) override; }; }; // namespace Particles }; // namespace SurgSim #endif // SURGSIM_PARTICLES_RANDOMBOXPOINTGENERATOR_H opensurgsim-0.7.0/SurgSim/Particles/RandomMeshPointGenerator.cpp000066400000000000000000000047041277777236100250620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Particles/RandomMeshPointGenerator.h" #include "SurgSim/Math/MeshShape.h" using SurgSim::Math::Vector2d; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Particles { Math::Vector3d RandomMeshPointGenerator::pointInShape(std::shared_ptr shape) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << "PointGenerator does not support generating points in shape: "<< shape->getType(); return Vector3d::Zero(); } Math::Vector3d RandomMeshPointGenerator::pointOnShape(std::shared_ptr shape) { Vector3d point; auto mesh = std::static_pointer_cast(shape); if (mesh->getNumTriangles() > 0) { auto& triangles = mesh->getTriangles(); std::uniform_int_distribution triangleSelector(0, static_cast(triangles.size()) - 1); bool validTriangleFound = false; size_t index; while (!validTriangleFound) { index = triangleSelector(m_generator); validTriangleFound = triangles[index].isValid; } auto vertices = mesh->getTrianglePositions(index); // Find a random point on the triangle using algorithm developed by Osada et al. // R. Osada, T. Funkhouser, B. Chazelle, D. Dobkin, "Shape Distributions", // ACM Transactions on Graphics, vol. 21, no. 4, pp. 807–832, October 2002 Vector2d random = Vector2d::NullaryExpr([&](int index){return m_closedZeroOneDistribution(m_generator);}); random[0] = sqrt(random[0]); point = (1 - random[0]) * vertices[0]; point += random[0] * (1 - random[1]) * vertices[1]; point += random[0] * random[1] * vertices[2]; } else { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << "Mesh does not contain any triangles, cannot generate point."; point = Vector3d::Zero(); } return point; } }; // namespace Particles }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Particles/RandomMeshPointGenerator.h000066400000000000000000000027331277777236100245270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_PARTICLES_RANDOMMESHPOINTGENERATOR_H #define SURGSIM_PARTICLES_RANDOMMESHPOINTGENERATOR_H #include "SurgSim/Particles/PointGenerator.h" namespace SurgSim { namespace Math { class Shape; } namespace Particles { /// Class to generate points on the surface of a mesh /// \note Each triangle in the mesh has equal weight in the distribution of /// points. As a result, areas with higher triangle density have a higher /// likely hood of generating points than areas with a lower triangle density. class RandomMeshPointGenerator: public PointGenerator { public: Math::Vector3d pointInShape(std::shared_ptr shape) override; Math::Vector3d pointOnShape(std::shared_ptr shape) override; }; }; // namespace Particles }; // namespace SurgSim #endif // SURGSIM_PARTICLES_RANDOMMESHPOINTGENERATOR_H opensurgsim-0.7.0/SurgSim/Particles/RandomPointGenerator.cpp000066400000000000000000000043331277777236100242430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Particles/RandomPointGenerator.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Particles/DefaultPointGenerator.h" #include "SurgSim/Particles/RandomBoxPointGenerator.h" #include "SurgSim/Particles/RandomMeshPointGenerator.h" #include "SurgSim/Particles/RandomSpherePointGenerator.h" namespace SurgSim { namespace Particles { RandomPointGenerator::RandomPointGenerator() { for (size_t index = 0; index < static_cast(Math::SHAPE_TYPE_COUNT); ++index) { m_pointGenerators[index].reset(new DefaultPointGenerator()); } m_pointGenerators[Math::SHAPE_TYPE_BOX].reset(new RandomBoxPointGenerator()); m_pointGenerators[Math::SHAPE_TYPE_MESH].reset(new RandomMeshPointGenerator()); m_pointGenerators[Math::SHAPE_TYPE_SPHERE].reset(new RandomSpherePointGenerator()); } Math::Vector3d RandomPointGenerator::pointInShape(std::shared_ptr shape) { SURGSIM_ASSERT(shape != nullptr) << "Empty shape passed in."; auto shapeType = shape->getType(); SURGSIM_ASSERT(Math::SHAPE_TYPE_NONE < shapeType && shapeType < Math::SHAPE_TYPE_COUNT) << "Unknown shape type passed in."; return m_pointGenerators[shapeType]->pointInShape(shape); } Math::Vector3d RandomPointGenerator::pointOnShape(std::shared_ptr shape) { SURGSIM_ASSERT(shape != nullptr) << "Empty shape passed in."; auto shapeType = shape->getType(); SURGSIM_ASSERT(Math::SHAPE_TYPE_NONE < shapeType && shapeType < Math::SHAPE_TYPE_COUNT) << "Unknown shape type passed in."; return m_pointGenerators[shapeType]->pointOnShape(shape); } }; // namespace Particles }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Particles/RandomPointGenerator.h000066400000000000000000000033531277777236100237110ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PARTICLES_RANDOMPOINTGENERATOR_H #define SURGSIM_PARTICLES_RANDOMPOINTGENERATOR_H #include #include #include "SurgSim/Math/Shape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Particles/PointGenerator.h" namespace SurgSim { namespace Particles { /// RandomPointGenerator will generate points based on the shape passed. /// Internally, this class maintains a list of PointGenerators for each supported shape. /// The list gets populated when RandomPointGenerator is constructed. /// \sa PointGenerator class RandomPointGenerator : public PointGenerator { public: /// Constructor RandomPointGenerator(); SurgSim::Math::Vector3d pointInShape(std::shared_ptr shape) override; SurgSim::Math::Vector3d pointOnShape(std::shared_ptr shape) override; private: /// List of point generators. /// Will be populated by constructor. std::array, SurgSim::Math::SHAPE_TYPE_COUNT> m_pointGenerators; }; }; // namespace Particles }; // namespace SurgSim #endif // SURGSIM_PARTICLES_RANDOMPOINTGENERATOR_H opensurgsim-0.7.0/SurgSim/Particles/RandomSpherePointGenerator.cpp000066400000000000000000000044311277777236100254110ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Particles/RandomSpherePointGenerator.h" #include "SurgSim/Math/SphereShape.h" namespace SurgSim { namespace Particles { using SurgSim::Math::Vector3d; RandomSpherePointGenerator::~RandomSpherePointGenerator() { } Vector3d RandomSpherePointGenerator::pointInShape(std::shared_ptr shape) { auto sphere = std::static_pointer_cast(shape); // A point on the sphere, use it as direction and then multiple it by a number between [0,1) to move it inside. Vector3d result = pointOnShape(shape) * m_closedZeroOpenOneDistribution(m_generator); return result; } Vector3d RandomSpherePointGenerator::pointOnShape(std::shared_ptr shape) { auto sphere = std::static_pointer_cast(shape); double radius = sphere->getRadius(); // Spherical coordinate system can not produce an uniformly distributed points on the surface of the sphere. // ref: http://mathworld.wolfram.com/SpherePointPicking.html // Implementation was based on http://www.cs.cmu.edu/~mws/rpos.html double z = 0.0; double phi = 0.0; double theta = 0.0; double cosineTheta = 0.0; Vector3d result = Vector3d::Zero(); // If the origin (0.0, 0.0, 0.0) is produced, regenerate. while (result.isZero()) { z = m_closedOneOneDistribution(m_generator) * radius; phi = m_closedZeroOneDistribution(m_generator) * 2.0 * M_PI; theta = std::asin(z / radius); cosineTheta = std::cos(theta); result.x() = radius * cosineTheta * std::cos(phi); result.y() = radius * cosineTheta * std::sin(phi); result.z() = z; } return result; } }; // namespace Particles }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Particles/RandomSpherePointGenerator.h000066400000000000000000000026011277777236100250530ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PARTICLES_RANDOMSPHEREPOINTGENERATOR_H #define SURGSIM_PARTICLES_RANDOMSPHEREPOINTGENERATOR_H #include "SurgSim/Math/Vector.h" #include "SurgSim/Particles/PointGenerator.h" namespace SurgSim { namespace Math { class Shape; } namespace Particles { /// Class to generate points inside or on the surface of a sphere. class RandomSpherePointGenerator: public PointGenerator { public: /// Destructor virtual ~RandomSpherePointGenerator(); SurgSim::Math::Vector3d pointInShape(std::shared_ptr shape) override; SurgSim::Math::Vector3d pointOnShape(std::shared_ptr shape) override; }; }; // namespace Particles }; // namespace SurgSim #endif // SURGSIM_PARTICLES_RANDOMSPHEREPOINTGENERATOR_H opensurgsim-0.7.0/SurgSim/Particles/RenderTests/000077500000000000000000000000001277777236100216755ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Particles/RenderTests/CMakeLists.txt000066400000000000000000000024051277777236100244360ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ${OPENTHREADS_INCLUDE_DIR} ) set(UNIT_TEST_SOURCES RenderTest.cpp RenderTestSphRepresentation.cpp ) set(UNIT_TEST_HEADERS RenderTest.h ) configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) set(LIBS SurgSimBlocks SurgSimGraphics SurgSimParticles ) surgsim_add_unit_tests(SurgSimParticlesRenderTest) set_target_properties(SurgSimParticlesRenderTest PROPERTIES FOLDER "Particles") # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) opensurgsim-0.7.0/SurgSim/Particles/RenderTests/RenderTest.cpp000066400000000000000000000040441277777236100244620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgAxesRepresentation.h" #include "SurgSim/Particles/RenderTests/RenderTest.h" namespace SurgSim { namespace Particles { void RenderTests::SetUp() { runtime = std::make_shared("config.txt"); graphicsManager = std::make_shared(); runtime->addManager(graphicsManager); physicsManager = std::make_shared(); runtime->addManager(physicsManager); behaviorManager = std::make_shared(); runtime->addManager(behaviorManager); scene = runtime->getScene(); viewElement = std::make_shared("Physics Render Scene"); scene->addSceneElement(viewElement); } void RenderTests::TearDown() { runtime->stop(); } void RenderTests::runTest(const SurgSim::Math::Vector3d& cameraPosition, const SurgSim::Math::Vector3d& cameraLookAt, double miliseconds) { using SurgSim::Graphics::OsgAxesRepresentation; viewElement->enableManipulator(true); viewElement->setManipulatorParameters(cameraPosition, cameraLookAt); std::shared_ptr axes = std::make_shared("axes"); axes->setSize(1.0); viewElement->addComponent(axes); /// Run the thread runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(miliseconds)); } }; // namespace Particles }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Particles/RenderTests/RenderTest.h000066400000000000000000000034551277777236100241340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PARTICLES_RENDERTESTS_RENDERTEST_H #define SURGSIM_PARTICLES_RENDERTESTS_RENDERTEST_H #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/BehaviorManager.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/PhysicsManager.h" namespace SurgSim { namespace Particles { struct RenderTests : public ::testing::Test { public: virtual void SetUp(); virtual void TearDown(); virtual void runTest(const SurgSim::Math::Vector3d& cameraPosition, const SurgSim::Math::Vector3d& cameraLookAt, double miliseconds); std::shared_ptr runtime; std::shared_ptr graphicsManager; std::shared_ptr physicsManager; std::shared_ptr behaviorManager; std::shared_ptr scene; std::shared_ptr viewElement; }; }; // namespace Particles }; // namespace SurgSim #endif //SURGSIM_PARTICLES_RENDERTESTS_RENDERTEST_H opensurgsim-0.7.0/SurgSim/Particles/RenderTests/RenderTestSphRepresentation.cpp000066400000000000000000000133341277777236100300620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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. ///\file RenderTestSphRepresentation.cpp render test for SphRepresentation #include #include "SurgSim/Blocks/TransferParticlesToPointCloudBehavior.h" #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/Graphics/OsgMeshRepresentation.h" #include "SurgSim/Graphics/OsgPointCloudRepresentation.h" #include "SurgSim/Graphics/OsgSphereRepresentation.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Particles/Emitter.h" #include "SurgSim/Particles/ParticlesCollisionRepresentation.h" #include "SurgSim/Particles/RandomSpherePointGenerator.h" #include "SurgSim/Particles/RenderTests/RenderTest.h" #include "SurgSim/Particles/Sink.h" #include "SurgSim/Particles/SphRepresentation.h" namespace SurgSim { namespace Particles { std::shared_ptr createCube() { auto element = std::make_shared("cube"); auto mesh = std::make_shared(); mesh->load("Geometry/Cube.ply"); auto collision = std::make_shared("collision"); collision->setShape(mesh); element->addComponent(collision); auto graphics = std::make_shared("graphics"); graphics->setShape(mesh); graphics->setDrawAsWireFrame(true); element->addComponent(graphics); return element; } std::shared_ptr createSink(const std::shared_ptr& particles) { auto element = std::make_shared("cube sink"); auto mesh = std::make_shared(); mesh->load("Geometry/Cube.ply"); auto collision = std::make_shared("collision"); collision->setShape(mesh); element->addComponent(collision); auto graphics = std::make_shared("graphics"); graphics->setShape(mesh); graphics->setDrawAsWireFrame(true); element->addComponent(graphics); auto sink = std::make_shared("sink"); sink->setCollisionRepresentation(collision); sink->setTarget(particles->getComponent("physics")); element->addComponent(sink); return element; } std::shared_ptr createEmitter(const std::shared_ptr& particles) { auto element = std::make_shared("sphere emitter"); const double radius = 0.1; auto emitter = std::make_shared("emitter"); emitter->setTarget(particles->getComponent("physics")); emitter->setShape(std::make_shared(radius)); emitter->setMode(EMIT_MODE_SURFACE); emitter->setRate(2000.0); emitter->setLifetimeRange(std::make_pair(30000, 600000)); emitter->setVelocityRange(std::make_pair(Math::Vector3d::Zero(), Math::Vector3d::Zero())); element->addComponent(emitter); auto graphics = std::make_shared("graphics"); graphics->setRadius(radius); graphics->setDrawAsWireFrame(true); element->addComponent(graphics); return element; } std::shared_ptr createParticleSystem() { auto element = std::make_shared("particles"); // c.f. "Lagrangian Fluid Dynamics Using Smoothed Particle Hydrodynamics", Micky Kelager, January 9th 2006. // for input data to simulate water. auto particles = std::make_shared("physics"); particles->setMaxParticles(2000); particles->setMassPerParticle(0.02); particles->setDensity(998.29); particles->setGasStiffness(3.0); particles->setKernelSupport(0.0457); particles->setSurfaceTension(0.0728); particles->setViscosity(3.5); particles->setStiffness(1000.0); particles->setDamping(4.0); particles->setFriction(0.1); element->addComponent(particles); auto particleCollision = std::make_shared("collision"); particles->setCollisionRepresentation(particleCollision); element->addComponent(particleCollision); auto particleGraphics = std::make_shared("graphics"); particleGraphics->setColor(Math::Vector4d::Ones()); particleGraphics->setPointSize(3.0f); element->addComponent(particleGraphics); auto graphicsUpdater = std::make_shared("particles to graphics"); graphicsUpdater->setSource(particles); graphicsUpdater->setTarget(particleGraphics); element->addComponent(graphicsUpdater); return element; } TEST_F(RenderTests, SphRenderTest) { auto particles = createParticleSystem(); scene->addSceneElement(particles); auto cube = createCube(); cube->setPose(Math::makeRigidTranslation(Math::Vector3d(1.0, -1.5, 0.0))); scene->addSceneElement(cube); auto emitter = createEmitter(particles); emitter->setPose(Math::makeRigidTranslation(Math::Vector3d(0.0, 0.1, 0.0))); scene->addSceneElement(emitter); auto sink = createSink(particles); sink->setPose(Math::makeRigidTranslation(Math::Vector3d(-1.0, -1.5, 0.0))); scene->addSceneElement(sink); physicsManager->setRate(500.0); runTest(Math::Vector3d(0.0, 0.0, 8.5), Math::Vector3d::Zero(), 20000.0); } }; }; opensurgsim-0.7.0/SurgSim/Particles/RenderTests/config.txt.in000066400000000000000000000000551277777236100243100ustar00rootroot00000000000000${PROJECT_BINARY_DIR}/SurgSim/Testing/Data/ opensurgsim-0.7.0/SurgSim/Particles/Representation.cpp000066400000000000000000000102141277777236100231370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Particles/Representation.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Particles/ParticlesCollisionRepresentation.h" namespace SurgSim { namespace Particles { Representation::Representation(const std::string& name) : SurgSim::Framework::Representation(name), m_maxParticles(0u), m_logger(SurgSim::Framework::Logger::getLogger("Particles")) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(Representation, size_t, MaxParticles, getMaxParticles, setMaxParticles); } Representation::~Representation() { } bool Representation::doInitialize() { m_particles.publish(); return true; } void Representation::setMaxParticles(size_t maxParticles) { m_particles.unsafeGet().getVertices().reserve(maxParticles); m_maxParticles = maxParticles; } size_t Representation::getMaxParticles() const { return m_maxParticles; } SurgSim::DataStructures::BufferedValue& Representation::getParticles() { return m_particles; } bool Representation::addParticle(const Particle& particle) { bool result; auto& particles = m_particles.unsafeGet().getVertices(); if (particles.size() < m_maxParticles) { particles.push_back(particle); result = true; } else { SURGSIM_LOG_DEBUG(m_logger) << "Unable to add another particle, maximum has been reached (" << m_maxParticles << ")."; result = false; } return result; } bool Representation::addParticle(const Math::Vector3d& position, const Math::Vector3d& velocity, double lifetime) { ParticleData data = {lifetime, velocity}; return addParticle(Particle(position, data)); } void Representation::removeParticle(size_t index) { auto& particles = m_particles.unsafeGet().getVertices(); particles.at(index).data.lifetime = 0.0; } void Representation::update(double dt) { auto& particles = m_particles.unsafeGet().getVertices(); auto particle = particles.begin(); auto newEnd = particles.end(); while (particle != newEnd) { particle->data.lifetime -= dt; if (particle->data.lifetime <= 0.0) { --newEnd; std::swap(*particle, *newEnd); } else { ++particle; } } particles.erase(newEnd, particles.end()); if (!doUpdate(dt)) { SURGSIM_LOG_WARNING(m_logger) << "Particle System " << getName() << " failed to update."; } m_particles.publish(); } void Representation::handleCollisions(double dt) { auto collisionRepresentation = m_collisionRepresentation; if (collisionRepresentation != nullptr) { if (!doHandleCollisions(dt, collisionRepresentation->getCollisions().unsafeGet())) { SURGSIM_LOG_WARNING(m_logger) << "Particle System " << getName() << " failed to handle collisions."; } } } std::shared_ptr Representation::getCollisionRepresentation() const { return m_collisionRepresentation; } void Representation::setCollisionRepresentation(std::shared_ptr representation) { if (m_collisionRepresentation != representation) { auto oldCollisionRep = std::dynamic_pointer_cast(m_collisionRepresentation); if (oldCollisionRep != nullptr) { oldCollisionRep->setParticleRepresentation(nullptr); } m_collisionRepresentation = representation; auto newCollisionRep = std::dynamic_pointer_cast(representation); if (newCollisionRep != nullptr) { newCollisionRep->setParticleRepresentation( std::static_pointer_cast(getSharedPtr())); } } } }; // namespace Particles }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Particles/Representation.h000066400000000000000000000077761277777236100226270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_PARTICLES_REPRESENTATION_H #define SURGSIM_PARTICLES_REPRESENTATION_H #include #include #include "SurgSim/Collision/Representation.h" #include "SurgSim/Framework/Representation.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Particles/Particles.h" namespace SurgSim { namespace Framework { class Logger; }; namespace Particles { /// The Representation class defines the base class for all Particle System. class Representation : public SurgSim::Framework::Representation { public: /// Constructor /// \param name The representation's name explicit Representation(const std::string& name); /// Destructor virtual ~Representation(); /// Set the maximum number of particles of this system. /// \note Once initialized, it can't be changed. /// \param maxParticles The maximum number of particles in this system. void setMaxParticles(size_t maxParticles); /// \return The number of particles allowed in this system. size_t getMaxParticles() const; /// Add a particle /// \param particle The new particle /// \return True if the particle was successfully added, false otherwise bool addParticle(const Particle& particle); /// Add a particle /// \param position The position of the new particle /// \param velocity The velocity of the new particle /// \param lifetime The lenght of time the particle will exist /// \return True if the particle was successfully added, false otherwise bool addParticle(const Math::Vector3d& position, const Math::Vector3d& velocity, double lifetime); /// Remove a particle /// \note The particle will be removed during the next update /// \param index of the particle void removeParticle(size_t index); /// Get the particles /// \return The particles in a BufferedValue SurgSim::DataStructures::BufferedValue& getParticles(); /// Update the particle system /// \param dt The time step. void update(double dt); /// Handle collisions with particle system /// \param dt The time step. void handleCollisions(double dt); /// Set the collision representation for this Particle Representation /// \param representation The collision representation to be set void setCollisionRepresentation(std::shared_ptr representation); /// Get the collision representation for this Particle Representation /// \return the collision representation std::shared_ptr getCollisionRepresentation() const; protected: /// Implementation of the specific behavior of the particle system /// \return True if update succeeded, False otherwise. virtual bool doUpdate(double dt) = 0; /// Implementation of the specific collision handling of the particle system /// \return True if succeeded, False otherwise. virtual bool doHandleCollisions(double dt, const SurgSim::Collision::ContactMapType& collisions) = 0; bool doInitialize() override; /// Maximum amount of particles allowed in this particle system. size_t m_maxParticles; /// BufferedValue of particles. SurgSim::DataStructures::BufferedValue m_particles; /// Logger used by the particle system. std::shared_ptr m_logger; /// This entity's collision representation std::shared_ptr m_collisionRepresentation; }; }; // namespace Particles }; // namespace SurgSim #endif // SURGSIM_PARTICLES_REPRESENTATION_H opensurgsim-0.7.0/SurgSim/Particles/Sink.cpp000066400000000000000000000056441277777236100210540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 "SurgSim/Particles/Sink.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Particles/Representation.h" namespace SurgSim { namespace Particles { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Particles::Sink, Sink); Sink::Sink(const std::string& name) : Framework::Behavior(name), m_logger(Framework::Logger::getLogger("Particles")) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(Sink, std::shared_ptr, Target, getTarget, setTarget); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Sink, std::shared_ptr, CollisionRepresentation, getCollisionRepresentation, setCollisionRepresentation); } void Sink::setTarget(const std::shared_ptr& target) { m_target = Framework::checkAndConvert(target, "SurgSim::Particles::Representation"); } std::shared_ptr Sink::getTarget() { return m_target; } void Sink::setCollisionRepresentation(const std::shared_ptr& representation) { m_collisionRepresentation = Framework::checkAndConvert(representation, "SurgSim::Collision::Representation"); } std::shared_ptr Sink::getCollisionRepresentation() { return m_collisionRepresentation; } bool Sink::doInitialize() { return true; } bool Sink::doWakeUp() { if (m_collisionRepresentation == nullptr) { SURGSIM_LOG_SEVERE(m_logger) << "Sinks need a Collision Representation."; return false; } if (m_target == nullptr) { SURGSIM_LOG_SEVERE(m_logger) << "Sinks need a Particle Representation to remove from."; return false; } return true; } void Sink::update(double dt) { auto collisions = m_collisionRepresentation->getCollisions().safeGet(); auto found = collisions->find(m_target->getCollisionRepresentation()); if (found != collisions->end()) { for (auto& contact : found->second) { m_target->removeParticle(contact->penetrationPoints.second.index.getValue()); } } } int Sink::getTargetManagerType() const { return Framework::MANAGER_TYPE_PHYSICS; } }; }; opensurgsim-0.7.0/SurgSim/Particles/Sink.h000066400000000000000000000050101277777236100205040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_PARTICLES_SINK_H #define SURGSIM_PARTICLES_SINK_H #include #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Framework/ObjectFactory.h" namespace SurgSim { namespace Collision { class Representation; }; namespace Framework { class Component; class Logger; }; namespace Particles { class Representation; SURGSIM_STATIC_REGISTRATION(Sink); /// Sink removes particles from a ParticleSystem class Sink : public SurgSim::Framework::Behavior { public: /// Constructor /// \param name The Sink's name explicit Sink(const std::string& name); SURGSIM_CLASSNAME(SurgSim::Particles::Sink); /// Set the target to remove particles from /// \param target The ParticleSystem to remove from. void setTarget(const std::shared_ptr& target); /// Get the target removing particles from /// \return The ParticleSystem to remove from. std::shared_ptr getTarget(); /// Set the collision representation for this Sink /// Particles that collide with this collision representation will be removed /// \param representation The collision representation void setCollisionRepresentation(const std::shared_ptr& representation); /// Get the collision representation for this Sink /// Particles that collide with this collision representation will be removed /// \return the collision representation for this Sink std::shared_ptr getCollisionRepresentation(); void update(double dt) override; int getTargetManagerType() const override; private: bool doInitialize() override; bool doWakeUp() override; std::shared_ptr m_collisionRepresentation; std::shared_ptr m_target; std::shared_ptr m_logger; }; }; }; #endif // SURGSIM_PARTICLES_SINK_H opensurgsim-0.7.0/SurgSim/Particles/SphRepresentation.cpp000066400000000000000000000263031277777236100236200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Particles/SphRepresentation.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/DataStructures/Grid.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Particles { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Particles::SphRepresentation, SphRepresentation); SphRepresentation::SphRepresentation(const std::string& name) : Representation(name), m_mass(0.0), m_densityReference(0.0), m_gasStiffness(0.0), m_surfaceTension(0.0), m_stiffness(0.0), m_damping(0.0), m_friction(0.0), m_gravity(Math::Vector3d(0.0, -9.81, 0.0)), m_viscosity(0.0), m_h(0.0) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(SphRepresentation, double, MassPerParticle, getMassPerParticle, setMassPerParticle); SURGSIM_ADD_SERIALIZABLE_PROPERTY(SphRepresentation, double, Density, getDensity, setDensity); SURGSIM_ADD_SERIALIZABLE_PROPERTY(SphRepresentation, double, GasStiffness, getGasStiffness, setGasStiffness); SURGSIM_ADD_SERIALIZABLE_PROPERTY(SphRepresentation, double, SurfaceTension, getSurfaceTension, setSurfaceTension); SURGSIM_ADD_SERIALIZABLE_PROPERTY(SphRepresentation, double, Viscosity, getViscosity, setViscosity); SURGSIM_ADD_SERIALIZABLE_PROPERTY(SphRepresentation, double, Stiffness, getStiffness, setStiffness); SURGSIM_ADD_SERIALIZABLE_PROPERTY(SphRepresentation, double, Damping, getDamping, setDamping); SURGSIM_ADD_SERIALIZABLE_PROPERTY(SphRepresentation, double, Friction, getFriction, setFriction); SURGSIM_ADD_SERIALIZABLE_PROPERTY(SphRepresentation, double, KernelSupport, getKernelSupport, setKernelSupport); SURGSIM_ADD_SERIALIZABLE_PROPERTY(SphRepresentation, Math::Vector3d, Gravity, getGravity, setGravity); } SphRepresentation::~SphRepresentation() { } void SphRepresentation::setMassPerParticle(double particleMass) { SURGSIM_ASSERT(particleMass > 0.0) << "The mass per particle needs to be a valid positive non null value." << particleMass << " was provided."; m_mass = particleMass; } double SphRepresentation::getMassPerParticle() const { return m_mass; } void SphRepresentation::setDensity(double density) { SURGSIM_ASSERT(density > 0.0) << "The density needs to be a valid positive non null value." << density << " was provided."; m_densityReference = density; } double SphRepresentation::getDensity() const { return m_densityReference; } void SphRepresentation::setGasStiffness(double stiffness) { SURGSIM_ASSERT(stiffness > 0.0) << "The gas stiffness needs to be a valid positive non null value." << stiffness << " was provided."; m_gasStiffness = stiffness; } double SphRepresentation::getGasStiffness() const { return m_gasStiffness; } void SphRepresentation::setSurfaceTension(double surfaceTension) { SURGSIM_ASSERT(surfaceTension >= 0.0) << "The surface tension needs to be a valid positive or null value." << surfaceTension << " was provided."; m_surfaceTension = surfaceTension; } double SphRepresentation::getSurfaceTension() const { return m_surfaceTension; } void SphRepresentation::setGravity(const SurgSim::Math::Vector3d& gravity) { m_gravity = gravity; } SurgSim::Math::Vector3d SphRepresentation::getGravity() const { return m_gravity; } void SphRepresentation::setViscosity(double viscosity) { SURGSIM_ASSERT(viscosity >= 0.0) << "The viscosity needs to be a valid positive or null value." << viscosity << " was provided."; m_viscosity = viscosity; } double SphRepresentation::getViscosity() const { return m_viscosity; } void SphRepresentation::setKernelSupport(double support) { SURGSIM_ASSERT(support > 0.0) << "The kernel support needs to be a valid positive non-null value." << support << " was provided."; m_h = support; m_hSquared = m_h * m_h; m_kernelPoly6 = 315.0 / (64.0 * M_PI * std::pow(m_h, 9)); m_kernelPoly6Gradient = -945.0 / (32.0 * M_PI * std::pow(m_h, 9)); m_kernelSpikyGradient = -45.0 / (M_PI * std::pow(m_h, 6)); m_kernelViscosityLaplacian = 45.0 / (M_PI * std::pow(m_h, 5)); m_kernelPoly6Laplacian = 945.0 / (8.0 * M_PI * std::pow(m_h, 9)); } double SphRepresentation::getKernelSupport() const { return m_h; } void SphRepresentation::setStiffness(double stiffness) { m_stiffness = stiffness; } double SphRepresentation::getStiffness() const { return m_stiffness; } void SphRepresentation::setDamping(double damping) { m_damping = damping; } double SphRepresentation::getDamping() const { return m_damping; } void SphRepresentation::setFriction(double friction) { m_friction = friction; } double SphRepresentation::getFriction() const { return m_friction; } bool SphRepresentation::doInitialize() { if (!Representation::doInitialize()) { return false; } SURGSIM_ASSERT(m_mass > 0.0) << "The mass per particle needs to be set prior to adding the component in the SceneElement"; SURGSIM_ASSERT(m_densityReference > 0.0) << "The reference density needs to be set prior to adding the component in the SceneElement"; SURGSIM_ASSERT(m_gasStiffness > 0.0) << "The gas stiffness needs to be set prior to adding the component in the SceneElement"; SURGSIM_ASSERT(m_h > 0.0) << "The kernel support needs to be set prior to adding the component in the SceneElement"; m_normal.resize(m_maxParticles, 3); m_acceleration.resize(m_maxParticles, 3); m_density.resize(m_maxParticles); m_pressure.resize(m_maxParticles); // The 3d grid is composed of 2^10 cubic cells on each dimension of size m_h each. // This covers a volume of (m_h * 2^10)^3 cubic meter centered on the origin. Math::Vector3d aabbSize(1024 * m_h, 1024 * m_h, 1024 * m_h); Eigen::AlignedBox aabb; aabb.min() = -aabbSize / 2.0; aabb.max() = aabbSize / 2.0; Math::Vector3d cellSize = Math::Vector3d::Constant(m_h); m_grid = std::make_shared>(cellSize, aabb); return true; } bool SphRepresentation::doUpdate(double dt) { // Compute acceleration computeNeighbors(); computeDensityAndPressureField(); computeNormalField(); computeAccelerations(); // Integrate ODE to determine new velocity and position computeVelocityAndPosition(dt); return true; } void SphRepresentation::computeVelocityAndPosition(double dt) { auto& particles = m_particles.unsafeGet().getVertices(); for (size_t i = 0; i < particles.size(); i++) { particles[i].data.velocity += dt * m_acceleration.row(i); particles[i].position += dt * particles[i].data.velocity; } } void SphRepresentation::computeNeighbors() { m_grid->reset(); auto& particles = m_particles.unsafeGet().getVertices(); for (size_t i = 0; i < particles.size(); i++) { m_grid->addElement(i, particles[i].position); } } void SphRepresentation::computeDensityAndPressureField() { auto& particles = m_particles.unsafeGet().getVertices(); m_density.head(particles.size()).setZero(); for (size_t i = 0; i < particles.size(); i++) { for (auto j : m_grid->getNeighbors(i)) { const Math::Vector3d r = particles[i].position - particles[j].position; const double rSquaredNorm = r.squaredNorm(); if (rSquaredNorm < m_hSquared) { m_density[i] += (m_hSquared - rSquaredNorm) * (m_hSquared - rSquaredNorm) * (m_hSquared - rSquaredNorm); } } } m_density *= m_mass * m_kernelPoly6; m_pressure = m_gasStiffness * (m_density.array() - m_densityReference); } void SphRepresentation::computeNormalField() { auto& particles = m_particles.unsafeGet().getVertices(); m_normal.topRows(particles.size()).setZero(); for (size_t i = 0; i < particles.size(); i++) { for (auto j : m_grid->getNeighbors(i)) { const Math::Vector3d r = particles[i].position - particles[j].position; const double rSquaredNorm = r.squaredNorm(); if (rSquaredNorm < m_hSquared) { m_normal.row(i) += (m_hSquared - rSquaredNorm) * (m_hSquared - rSquaredNorm)/ m_density[j] * r; } } } m_normal *= m_kernelPoly6Gradient * m_mass; } void SphRepresentation::computeAccelerations() { auto& particles = m_particles.unsafeGet().getVertices(); m_acceleration.topRows(particles.size()).setZero(); for (size_t i = 0; i < particles.size(); i++) { for (auto j : m_grid->getNeighbors(i)) { // Consider symmetry here if (j <= i) { continue; } const Math::Vector3d r = particles[i].position - particles[j].position; const double rSquaredNorm = r.squaredNorm(); if (rSquaredNorm < m_hSquared) { // Pressure force const double rNorm = std::max(std::sqrt(rSquaredNorm), 0.0001); const Math::Vector3d gradient = r * m_kernelSpikyGradient * (m_h - rNorm) * (m_h -rNorm) / rNorm; Math::Vector3d f = (-(m_pressure[i] + m_pressure[j]) / (2.0 * m_density[i])) * gradient; // Viscosity force const Math::Vector3d v = particles[i].data.velocity - particles[j].data.velocity; const double laplacian = m_kernelViscosityLaplacian * (1.0 - rNorm / m_h); f += -(m_viscosity * v / m_density[j]) * laplacian; // Surface tension force const double normalNorm = m_normal.row(j).norm(); if (normalNorm > 20.0) { const Math::Vector3d unitNormal = m_normal.row(j) / normalNorm; double laplacianPoly6 = m_kernelPoly6Laplacian * (m_hSquared - rSquaredNorm); laplacianPoly6 *= (rSquaredNorm - 3.0 / 4.0 * (m_hSquared - rSquaredNorm)); f += -m_surfaceTension / m_density[j] * laplacianPoly6 * unitNormal; } // Action/reaction application on the pair of particles m_acceleration.row(i) += f; m_acceleration.row(j) -= f; } } } m_acceleration.array().colwise() *= m_mass / m_density.array(); const Math::Vector3d localGravity = getPose().linear().inverse() * m_gravity; m_acceleration.rowwise() += localGravity.transpose(); } bool SphRepresentation::doHandleCollisions(double dt, const SurgSim::Collision::ContactMapType& collisions) { const Math::RigidTransform3d inversePose = getPose().inverse(); auto& particles = m_particles.unsafeGet().getVertices(); for (auto& collision : collisions) { for (auto& contact : collision.second) { Math::Vector3d normal = inversePose.linear() * contact->normal; size_t index = contact->penetrationPoints.first.index.getValue(); auto& particle = particles[index]; double velocityAlongNormal = particle.data.velocity.dot(normal); double forceIntensity = m_stiffness * contact->depth - m_damping * velocityAlongNormal; Math::Vector3d tangentVelocity = particle.data.velocity - velocityAlongNormal * normal; Math::Vector3d forceDirection = normal - m_friction * tangentVelocity.normalized(); Math::Vector3d accelerationCorrection = (forceIntensity / m_mass) * forceDirection; particle.data.velocity += dt * accelerationCorrection; particle.position += dt * dt * accelerationCorrection; } } return true; } }; // namespace Particles }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Particles/SphRepresentation.h000066400000000000000000000171531277777236100232700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_PARTICLES_SPHREPRESENTATION_H #define SURGSIM_PARTICLES_SPHREPRESENTATION_H #include #include #include "SurgSim/Math/Vector.h" #include "SurgSim/Particles/Representation.h" namespace SurgSim { namespace DataStructures { template class Grid; }; // namespace DataStructures namespace Particles { SURGSIM_STATIC_REGISTRATION(SphRepresentation); /// SphRepresentation is a Representation dedicated to Smoothed-Particles Hydrodynamics (SPH). /// This class is mostly based on these papers: /// "Particle-Based Fluid Simulation for Interactive Applications", M. Muller, D. Charypar, M. Gross. /// In Proceedings of ACM SIGGRAPH Symposium on Computer Animation (SCA) 2003, pp 154-159. /// "Interactive Blood Simulation for Virtual Surgery Based on Smoothed Particle Hydrodynamics", M. Muller, /// S. Schirm, M. Teschner. Journal of Technology and Health Care, ISSN 0928-7329, IOS Press, Amsterdam. class SphRepresentation : public Representation { public: SURGSIM_CLASSNAME(SurgSim::Particles::SphRepresentation); /// Constructor /// \param name The representation's name explicit SphRepresentation(const std::string& name); /// Destructor virtual ~SphRepresentation(); /// Set the mass for each particle /// \param particleMass The mass that will be used for all particles [Kg] /// \throws An exception SurgSim::Framework::AssertionFailure if the value is negative or null /// \note In the SPH model, a particle has a constant mass, but its volume and density vary /// \note (mass = volume * density).
/// \note Example: If we want to simulate 1 liter of water (0.001 m3 at 1000kg.m-3) /// \note with 50 particles, we need each particle to have a mass of 1.0/50 = 0.02kg void setMassPerParticle(double particleMass); /// Get the mass for each particle /// \return The mass that is used for all particle [Kg] double getMassPerParticle() const; /// Set the density of the fluid /// \param density of the fluid [Kg.m-3] /// \throws An exception SurgSim::Framework::AssertionFailure if the value is negative or null void setDensity(double density); /// Get the density of the fluid /// \return The density of the fluid [Kg.m-3] double getDensity() const; /// Set the gas stiffness coefficient /// \param stiffness coefficient of the gas [N.m.Kg-1] /// \throws An exception SurgSim::Framework::AssertionFailure if the value is negative or null void setGasStiffness(double stiffness); /// Get the gas stiffness coefficient /// \return The stiffness coefficient of the gas [N.m.Kg-1] double getGasStiffness() const; /// Set the surface tension /// \param surfaceTension The surface tension [N.m-1] /// \throws An exception SurgSim::Framework::AssertionFailure if the value is negative void setSurfaceTension(double surfaceTension); /// Get the surface tension /// \return The surface tension [N.m-1] double getSurfaceTension() const; /// Set the gravity vector /// \param gravity The 3d gravity vector [m] void setGravity(const SurgSim::Math::Vector3d& gravity); /// Get the gravity vector (default is (0 -9.81 0)) /// \return The 3d gravity vector [m] SurgSim::Math::Vector3d getGravity() const; /// Set the viscosity coefficient /// \param viscosity coefficient [N.s.m-2] /// \throws An exception SurgSim::Framework::AssertionFailure if the value is negative void setViscosity(double viscosity); /// Get the viscosity coefficient (default is 0.0) /// \return The viscosity coefficient [N.s.m-2] double getViscosity() const; /// Set the kernel function support /// \param support The length of the kernel support [m] /// \throws An exception SurgSim::Framework::AssertionFailure if the value is negative or null void setKernelSupport(double support); /// Get the kernel function support /// \return The length of the kernel support [m] double getKernelSupport() const; /// Set the particles stiffness when colliding /// \param stiffness The stiffness [N/m] void setStiffness(double stiffness); /// Get the particles stiffness when colliding /// \return The stiffness [N/m] double getStiffness() const; /// Set the particles damping when colliding /// \param damping The damping [Ns/m] void setDamping(double damping); /// Get the particles damping when colliding /// \return The damping [Ns/m] double getDamping() const; /// Set the sliding coefficient of friction for the particles during collisions /// \param friction The sliding coefficient of friction void setFriction(double friction); /// Get the sliding coefficient of friction for the particles during collisions /// \return The sliding coefficient of friction double getFriction() const; protected: bool doInitialize() override; bool doUpdate(double dt) override; bool doHandleCollisions(double dt, const SurgSim::Collision::ContactMapType& collisions) override; /// Compute the particles' velocity and position given a time step dt /// \param dt The time step to advance the simulation too /// \note This method integrates the ODE equation of the SPH, computing velocities and positions from the /// \note accelerations and storing them in the state. Therefore computeAcceleration(dt) should be called before. void computeVelocityAndPosition(double dt); Eigen::Matrix m_normal; ///< Particles' normal Eigen::Matrix m_acceleration; ///< Particles' acceleration Math::Vector m_density; ///< Particles' density Math::Vector m_pressure; ///< Particles' pressure double m_mass; ///< Mass per particle (determine the density of particle per m3) double m_densityReference; ///< Density of the reference gas double m_gasStiffness; ///< Stiffness of the gas considered double m_surfaceTension; ///< Surface tension double m_stiffness; ///< Collision stiffness double m_damping; ///< Collision damping double m_friction; ///< Collision sliding friction coefficient SurgSim::Math::Vector3d m_gravity; ///< 3D Gravity vector double m_viscosity; ///< Viscosity coefficient /// Kernels parameter (support length and its powers) double m_h; double m_hSquared; double m_kernelPoly6; double m_kernelPoly6Gradient; double m_kernelSpikyGradient; double m_kernelViscosityLaplacian; double m_kernelPoly6Laplacian; /// Grid acceleration to evaluate the kernels locally (storing the particles' index) std::shared_ptr> m_grid; private: /// Compute the neighbors void computeNeighbors(); /// Compute the density and pressure field void computeDensityAndPressureField(); /// Compute the normal field void computeNormalField(); /// Compute the Sph accelerations void computeAccelerations(); }; }; // namespace Particles }; // namespace SurgSim #endif // SURGSIM_PARTICLES_SPHREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Particles/UnitTests/000077500000000000000000000000001277777236100213755ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Particles/UnitTests/CMakeLists.txt000066400000000000000000000024051277777236100241360ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2015, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES EmitterTests.cpp MockObjects.cpp ParticlesCollisionRepresentationTests.cpp PointGeneratorTests.cpp RandomPointGeneratorTests.cpp RepresentationTests.cpp SinkTests.cpp SphRepresentationTests.cpp ) set(UNIT_TEST_HEADERS MockObjects.h ) configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) set(LIBS SurgSimCollision SurgSimFramework SurgSimMath SurgSimParticles SurgSimPhysics ) surgsim_add_unit_tests(SurgSimParticlesTest) set_target_properties(SurgSimParticlesTest PROPERTIES FOLDER "Particles") opensurgsim-0.7.0/SurgSim/Particles/UnitTests/EmitterTests.cpp000066400000000000000000000270211277777236100245370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include #include #include #include #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Particles/Emitter.h" #include "SurgSim/Particles/UnitTests/MockObjects.h" using SurgSim::Framework::Component; using SurgSim::Math::Shape; using SurgSim::Math::Vector3d; using SurgSim::Math::makeRigidTransform; namespace { SURGSIM_REGISTER(SurgSim::Framework::Component, MockParticleSystem, MockParticleSystem); } namespace SurgSim { namespace Particles { TEST(EmitterTest, Constructor) { std::shared_ptr emitter; ASSERT_NO_THROW(emitter = std::make_shared("Emitter")); EXPECT_EQ(EMIT_MODE_VOLUME, emitter->getMode()); EXPECT_EQ(0.0, emitter->getRate()); EXPECT_EQ(0.0, emitter->getLifetimeRange().first); EXPECT_EQ(0.0, emitter->getLifetimeRange().second); EXPECT_TRUE(emitter->getVelocityRange().first.isZero()); EXPECT_TRUE(emitter->getVelocityRange().second.isZero()); EXPECT_EQ(nullptr, emitter->getShape()); } TEST(EmitterTest, SetGetShape) { auto runtime = std::make_shared(); auto sphere = std::make_shared(0.1); auto particleSystem = std::make_shared("ParticleSystem"); { auto emitter = std::make_shared("Emitter"); emitter->setTarget(particleSystem); EXPECT_TRUE(emitter->initialize(runtime)); EXPECT_FALSE(emitter->wakeUp()) << "Without a shape, the emitter should not wakup"; } { auto emitter = std::make_shared("Emitter"); emitter->setTarget(particleSystem); emitter->setShape(sphere); EXPECT_EQ(sphere, emitter->getShape()); EXPECT_TRUE(emitter->initialize(runtime)); EXPECT_TRUE(emitter->wakeUp()) << "With a shape, the emitter should wakeup"; } } TEST(EmitterTest, SetGetTarget) { auto runtime = std::make_shared(); auto sphere = std::make_shared(0.1); auto particleSystem = std::make_shared("ParticleSystem"); { auto emitter = std::make_shared("Emitter"); auto notParticleSystem = std::make_shared("Not a ParticleSystem"); emitter->setShape(sphere); EXPECT_THROW(emitter->setTarget(notParticleSystem), SurgSim::Framework::AssertionFailure); EXPECT_TRUE(emitter->initialize(runtime)); EXPECT_FALSE(emitter->wakeUp()) << "Without a target, the emitter should not wakup"; } { auto emitter = std::make_shared("Emitter"); emitter->setShape(sphere); EXPECT_NO_THROW(emitter->setTarget(particleSystem)); EXPECT_EQ(particleSystem, emitter->getTarget()); EXPECT_TRUE(emitter->initialize(runtime)); EXPECT_TRUE(emitter->wakeUp()) << "With a target, the emitter should wakeup"; } } TEST(EmitterTest, SetGetMode) { auto emitter = std::make_shared("Emitter"); EXPECT_THROW(emitter->setMode(EMIT_MODE_COUNT), SurgSim::Framework::AssertionFailure); EXPECT_NO_THROW(emitter->setMode(EMIT_MODE_SURFACE)); EXPECT_EQ(EMIT_MODE_SURFACE, emitter->getMode()); } TEST(EmitterTest, GetSetRate) { auto emitter = std::make_shared("Emitter"); EXPECT_THROW(emitter->setRate(-10.0), SurgSim::Framework::AssertionFailure); EXPECT_NO_THROW(emitter->setRate(2.0)); EXPECT_EQ(2.0, emitter->getRate()); } TEST(EmitterTest, GetSetLifetimeRange) { auto emitter = std::make_shared("Emitter"); EXPECT_THROW(emitter->setLifetimeRange(std::make_pair(-1.0, 1.0)), SurgSim::Framework::AssertionFailure) << "Negative lifetimes should not be allowed"; EXPECT_THROW(emitter->setLifetimeRange(std::make_pair(10.0, 1.0)), SurgSim::Framework::AssertionFailure) << "Should not allow lower bound to be greater than upper bound"; EXPECT_NO_THROW(emitter->setLifetimeRange(std::make_pair(1.0, 10.0))); EXPECT_EQ(1.0, emitter->getLifetimeRange().first); EXPECT_EQ(10.0, emitter->getLifetimeRange().second); } TEST(EmitterTest, GetSetVelocityRange) { auto emitter = std::make_shared("Emitter"); EXPECT_THROW(emitter->setVelocityRange(std::make_pair(Vector3d::Constant(20.0), Vector3d::Ones())), SurgSim::Framework::AssertionFailure) << "Minimum velocity must be less than maximum"; EXPECT_NO_THROW(emitter->setVelocityRange(std::make_pair(Vector3d::Ones(), Vector3d::Constant(3.0)))); EXPECT_NO_THROW(emitter->setVelocityRange(std::make_pair(Vector3d::Constant(-2.0), Vector3d::Ones()))); EXPECT_TRUE(emitter->getVelocityRange().first.isApprox(Vector3d::Constant(-2.0))); EXPECT_TRUE(emitter->getVelocityRange().second.isApprox(Vector3d::Ones())); } TEST(EmitterTest, Update) { auto runtime = std::make_shared(); auto sphere = std::make_shared(0.1); auto particleSystem = std::make_shared("ParticleSystem"); particleSystem->setMaxParticles(10); particleSystem->initialize(runtime); auto emitter = std::make_shared("Emitter"); emitter->setShape(sphere); emitter->setTarget(particleSystem); emitter->setMode(EMIT_MODE_SURFACE); emitter->setRate(10.0); emitter->setLifetimeRange(std::make_pair(5.0, 10.0)); emitter->setVelocityRange(std::make_pair(Vector3d::Ones(), Vector3d::Constant(2.0))); emitter->initialize(runtime); ASSERT_TRUE(emitter->wakeUp()); ASSERT_TRUE(particleSystem->wakeUp()); emitter->update(0.1); EXPECT_EQ(1, particleSystem->getParticles().unsafeGet().getNumVertices()); emitter->update(0.05); EXPECT_EQ(1, particleSystem->getParticles().unsafeGet().getNumVertices()); emitter->update(0.05); EXPECT_EQ(2, particleSystem->getParticles().unsafeGet().getNumVertices()); emitter->update(0.9); EXPECT_EQ(10, particleSystem->getParticles().unsafeGet().getNumVertices()); emitter->update(0.2); EXPECT_EQ(10, particleSystem->getParticles().unsafeGet().getNumVertices()) << "Particles should not have been added, the particle system should have reached its maximum."; particleSystem->update(1.0); auto particles = particleSystem->getParticles().unsafeGet().getVertices(); ASSERT_EQ(10, particles.size()); for (auto particle : particles) { EXPECT_NEAR(sphere->getRadius(), particle.position.norm(), 1e-9); EXPECT_LT(4.0, particle.data.lifetime); EXPECT_GT(9.0, particle.data.lifetime); EXPECT_TRUE((Vector3d::Ones().array() <= particle.data.velocity.array()).all()); EXPECT_TRUE((Vector3d::Constant(2.0).array() >= particle.data.velocity.array()).all()); } } TEST(EmitterTest, PosedUpdate) { auto runtime = std::make_shared(); auto sphere = std::make_shared(0.1); auto particleSystem = std::make_shared("ParticleSystem"); particleSystem->setMaxParticles(10); auto emitter = std::make_shared("Emitter"); emitter->setShape(sphere); emitter->setTarget(particleSystem); emitter->setMode(EMIT_MODE_VOLUME); emitter->setRate(1.0); emitter->setLifetimeRange(std::make_pair(5.0, 10.0)); emitter->setVelocityRange(std::make_pair(Vector3d::Ones(), Vector3d::Constant(2.0))); auto element = std::make_shared("Element"); element->addComponent(particleSystem); element->addComponent(emitter); runtime->getScene()->addSceneElement(element); ASSERT_TRUE(emitter->wakeUp()); ASSERT_TRUE(particleSystem->wakeUp()); auto pose1 = makeRigidTransform(Eigen::AngleAxisd(0.25 * M_PI, Vector3d::UnitX()).matrix(), Vector3d(1.0, 2.0, 3.0)); auto pose2 = makeRigidTransform(Eigen::AngleAxisd(0.25 * M_PI, Vector3d::UnitZ()).matrix(), Vector3d(2.0, -2.0, 2.0)); emitter->update(1.0); EXPECT_TRUE(emitter->getPose().isApprox(Math::RigidTransform3d::Identity())); ASSERT_EQ(1, particleSystem->getParticles().unsafeGet().getNumVertices()); emitter->setLocalPose(pose1); emitter->update(1.0); EXPECT_TRUE(emitter->getPose().isApprox(pose1)); ASSERT_EQ(2, particleSystem->getParticles().unsafeGet().getNumVertices()); element->setPose(pose2); emitter->update(1.0); EXPECT_TRUE(emitter->getPose().isApprox(pose2 * pose1)); ASSERT_EQ(3, particleSystem->getParticles().unsafeGet().getNumVertices()); auto particles = particleSystem->getParticles().unsafeGet().getVertices(); EXPECT_GT(sphere->getRadius(), particles[0].position.norm()); EXPECT_GT(sphere->getRadius(), (pose1.inverse() * particles[1].position).norm()); EXPECT_GT(sphere->getRadius(), ((pose2 * pose1).inverse() * particles[2].position).norm()); } TEST(EmitterTest, Serialization) { auto emitter = std::make_shared("Emitter"); EXPECT_EQ("SurgSim::Particles::Emitter", emitter->getClassName()); const std::pair expectedLifetimeRange(1.0, 10.0); const int expectedMode = 1; const double expectedRate = 10.0; std::shared_ptr expectedShape = std::make_shared(0.1); std::shared_ptr expectedTarget = std::make_shared("ParticleSystem"); const std::pair expectedVelocityRange(Vector3d::Ones(), Vector3d::Constant(2.0)); Math::RigidTransform3d expectedPose = makeRigidTransform(Eigen::AngleAxisd(0.25 * M_PI, Vector3d::UnitX()).matrix(), Vector3d(1.0, 2.0, 3.0)); EXPECT_NO_THROW(emitter->setValue("LifetimeRange", expectedLifetimeRange)); EXPECT_NO_THROW(emitter->setValue("Mode", expectedMode)); EXPECT_NO_THROW(emitter->setValue("Rate", expectedRate)); EXPECT_NO_THROW(emitter->setValue("Shape", expectedShape)); EXPECT_NO_THROW(emitter->setValue("Target", expectedTarget)); EXPECT_NO_THROW(emitter->setValue("VelocityRange", expectedVelocityRange)); EXPECT_NO_THROW(emitter->setValue("LocalPose", expectedPose)); YAML::Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*emitter)); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(10, node[emitter->getClassName()].size()); std::shared_ptr decodedEmitter; ASSERT_NO_THROW(decodedEmitter = std::dynamic_pointer_cast( node.as>())); auto lifetimeRange = decodedEmitter->getValue>("LifetimeRange"); EXPECT_EQ(expectedLifetimeRange, lifetimeRange); EXPECT_EQ(expectedMode, decodedEmitter->getValue("Mode")); EXPECT_EQ(expectedRate, decodedEmitter->getValue("Rate")); EXPECT_EQ(expectedShape->getType(), decodedEmitter->getValue>("Shape")->getType()); EXPECT_EQ("ParticleSystem", decodedEmitter->getValue>("Target")->getName()); auto velocityRange = decodedEmitter->getValue>("VelocityRange"); EXPECT_TRUE(expectedVelocityRange.first.isApprox(velocityRange.first)); EXPECT_TRUE(expectedVelocityRange.second.isApprox(velocityRange.second)); EXPECT_TRUE(expectedPose.isApprox(decodedEmitter->getValue("LocalPose"))); } }; // namespace Particles }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Particles/UnitTests/MockObjects.cpp000066400000000000000000000023461277777236100243110ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Particles/UnitTests/MockObjects.h" MockParticleSystem::MockParticleSystem(const std::string& name) : SurgSim::Particles::Representation(name), updateCount(0) { } bool MockParticleSystem::doUpdate(double dt) { updateCount++; return true; } bool MockParticleSystem::doHandleCollisions(double dt, const SurgSim::Collision::ContactMapType& collisions) { return true; } MockEmitter::MockEmitter(const std::string& name) : SurgSim::Particles::Emitter(name), updateCount(0) { } void MockEmitter::update(double dt) { SurgSim::Particles::Emitter::update(dt); updateCount++; } opensurgsim-0.7.0/SurgSim/Particles/UnitTests/MockObjects.h000066400000000000000000000027221277777236100237540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PARTICLES_UNITTESTS_MOCKOBJECTS_H #define SURGSIM_PARTICLES_UNITTESTS_MOCKOBJECTS_H #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Particles/Emitter.h" #include "SurgSim/Particles/Representation.h" class MockParticleSystem : public SurgSim::Particles::Representation { public: explicit MockParticleSystem(const std::string& name); SURGSIM_CLASSNAME(MockParticleSystem); int updateCount; private: bool doUpdate(double dt) override; bool doHandleCollisions(double dt, const SurgSim::Collision::ContactMapType& collisions) override; }; class MockEmitter : public SurgSim::Particles::Emitter { public: explicit MockEmitter(const std::string& name); void update(double dt) override; int updateCount; }; #endif //SURGSIM_PARTICLES_UNITTESTS_MOCKOBJECTS_H opensurgsim-0.7.0/SurgSim/Particles/UnitTests/ParticlesCollisionRepresentationTests.cpp000066400000000000000000000102421277777236100316500ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/ParticlesShape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Particles/ParticlesCollisionRepresentation.h" #include "SurgSim/Particles/Representation.h" #include "SurgSim/Particles/UnitTests/MockObjects.h" namespace { const double epsilon = 1e-10; } namespace SurgSim { namespace Particles { struct ParticlesCollisionRepresentationTest : public ::testing::Test { void SetUp() { m_runtime = std::make_shared(); m_particleRepresentation = std::make_shared("ParticleRepresentation"); m_particleCollisionRepresentation = std::make_shared("ParticlesCollisionRepresentation"); } std::shared_ptr m_runtime; std::shared_ptr m_particleRepresentation; std::shared_ptr m_particleCollisionRepresentation; }; TEST_F(ParticlesCollisionRepresentationTest, InitTest) { EXPECT_NO_THROW(ParticlesCollisionRepresentation("TestParticlesCollisionRepresentation")); } TEST_F(ParticlesCollisionRepresentationTest, SetGetParticlesRepresentationTest) { EXPECT_THROW(m_particleCollisionRepresentation->getParticleRepresentation(), SurgSim::Framework::AssertionFailure); ASSERT_NO_THROW(m_particleCollisionRepresentation->setParticleRepresentation(m_particleRepresentation)); EXPECT_EQ(m_particleRepresentation, m_particleCollisionRepresentation->getParticleRepresentation()); } TEST_F(ParticlesCollisionRepresentationTest, SetGetParticleRadius) { ASSERT_NO_THROW(m_particleCollisionRepresentation->setParticleRadius(4.0)); EXPECT_EQ(4.0, m_particleCollisionRepresentation->getParticleRadius()); } TEST_F(ParticlesCollisionRepresentationTest, ShapeTypeTest) { EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_PARTICLES, m_particleCollisionRepresentation->getShapeType()); } TEST_F(ParticlesCollisionRepresentationTest, SerializationTest) { YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*m_particleCollisionRepresentation)); std::shared_ptr newParticlesCollisionRepresentation; ASSERT_NO_THROW(newParticlesCollisionRepresentation = std::dynamic_pointer_cast (node.as>())); } TEST_F(ParticlesCollisionRepresentationTest, UpdateAndInitializationTest) { m_particleRepresentation->setCollisionRepresentation(m_particleCollisionRepresentation); m_particleRepresentation->setMaxParticles(100); m_particleRepresentation->addParticle(Math::Vector3d::Zero(), Math::Vector3d::Zero(), 1.5); ASSERT_TRUE(m_particleRepresentation->initialize(m_runtime)); ASSERT_TRUE(m_particleRepresentation->wakeUp()); auto shape = std::dynamic_pointer_cast(m_particleCollisionRepresentation->getShape()); EXPECT_EQ(0u, shape->getNumVertices()); EXPECT_TRUE(m_particleCollisionRepresentation->initialize(m_runtime)); EXPECT_TRUE(m_particleCollisionRepresentation->wakeUp()); EXPECT_NO_THROW(m_particleRepresentation->update(1.0)); EXPECT_NO_THROW(m_particleCollisionRepresentation->updateShapeData()); EXPECT_EQ(1u, shape->getNumVertices()); EXPECT_NO_THROW(m_particleRepresentation->update(1.0)); EXPECT_NO_THROW(m_particleCollisionRepresentation->updateShapeData()); EXPECT_EQ(0u, shape->getNumVertices()); } }; }; opensurgsim-0.7.0/SurgSim/Particles/UnitTests/PointGeneratorTests.cpp000066400000000000000000000114531277777236100260700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Math/Aabb.h" #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Particles/RandomBoxPointGenerator.h" #include "SurgSim/Particles/RandomMeshPointGenerator.h" #include "SurgSim/Particles/RandomSpherePointGenerator.h" using SurgSim::Math::BoxShape; using SurgSim::Math::Geometry::DistanceEpsilon; using SurgSim::Math::MeshShape; using SurgSim::Math::SphereShape; using SurgSim::Math::Vector3d; using SurgSim::Particles::RandomBoxPointGenerator; using SurgSim::Particles::RandomMeshPointGenerator; using SurgSim::Particles::RandomSpherePointGenerator; TEST(PointGeneratorTest, ConstructorTest) { ASSERT_NO_THROW(RandomBoxPointGenerator()); ASSERT_NO_THROW(RandomMeshPointGenerator()); ASSERT_NO_THROW(RandomSpherePointGenerator()); } TEST(PointGeneratorTest, BoxPointGeneratorTest) { auto boxShape = std::make_shared(2.0, 4.0, 6.0); auto aabb = SurgSim::Math::Aabbd(Vector3d(-1.0, -2.0, -3.0), Vector3d(1.0, 2.0, 3.0)); auto boxPointGenerator = std::make_shared(); auto pointInsideBox = boxPointGenerator->pointInShape(boxShape); bool isInOrOnBox = ((pointInsideBox - aabb.min()).array() > -SurgSim::Math::Geometry::ScalarEpsilon).all() && ((pointInsideBox - aabb.max()).array() < SurgSim::Math::Geometry::ScalarEpsilon).all(); EXPECT_TRUE(isInOrOnBox) << "Point should be in or on the box " << pointInsideBox; bool intersection = ((aabb.min() - pointInsideBox).array().abs() < SurgSim::Math::Geometry::ScalarEpsilon).any() || ((aabb.max() - pointInsideBox).array().abs() < SurgSim::Math::Geometry::ScalarEpsilon).any(); EXPECT_FALSE(intersection) << "Point should not be on surface of box " << pointInsideBox; auto pointOnBox = boxPointGenerator->pointOnShape(boxShape); isInOrOnBox = ((pointOnBox - aabb.min()).array() >= -SurgSim::Math::Geometry::ScalarEpsilon).all() && ((pointOnBox - aabb.max()).array() <= SurgSim::Math::Geometry::ScalarEpsilon).all(); EXPECT_TRUE(isInOrOnBox) << "Point should be in or on the box " << pointOnBox; bool intersection2 = ((aabb.min() - pointOnBox).array().abs() < SurgSim::Math::Geometry::ScalarEpsilon).any() || ((aabb.max() - pointOnBox).array().abs() < SurgSim::Math::Geometry::ScalarEpsilon).any(); EXPECT_TRUE(intersection2) << "Point should be on surface of box " << pointOnBox; } TEST(PointGeneratorTest, MeshPointGeneratorTest) { auto meshShape = std::make_shared(); std::array triangleIds; triangleIds[0] = meshShape->addVertex(MeshShape::VertexType(Vector3d(-1.0, 1.0, 1.0))); triangleIds[1] = meshShape->addVertex(MeshShape::VertexType(Vector3d(-1.0, 5.0, 1.0))); triangleIds[2] = meshShape->addVertex(MeshShape::VertexType(Vector3d(-1.0, 1.0, 5.0))); meshShape->addTriangle(MeshShape::TriangleType(triangleIds)); triangleIds[0] = meshShape->addVertex(MeshShape::VertexType(Vector3d(1.0, 1.0, 1.0))); triangleIds[1] = meshShape->addVertex(MeshShape::VertexType(Vector3d(1.0, 5.0, 1.0))); triangleIds[2] = meshShape->addVertex(MeshShape::VertexType(Vector3d(1.0, 1.0, 5.0))); size_t triangleId = meshShape->addTriangle(MeshShape::TriangleType(triangleIds)); meshShape->getTriangle(triangleId).isValid = false; auto meshPointGenerator = std::make_shared(); auto pointOnMesh = meshPointGenerator->pointOnShape(meshShape); EXPECT_NEAR(-1.0, pointOnMesh[0], DistanceEpsilon) << "Point is not on a triangle, or was generated with an invalid triangle."; EXPECT_LE(1.0, pointOnMesh[1]); EXPECT_LE(1.0, pointOnMesh[2]); EXPECT_GE(6.0, pointOnMesh[1] + pointOnMesh[2]); } TEST(PointGeneratorTest, SpherePointGeneratorTest) { auto sphereShape = std::make_shared(2.0); auto spherePointGenerator = std::make_shared(); auto pointInsideSphere = spherePointGenerator->pointInShape(sphereShape); EXPECT_LT(pointInsideSphere.norm(), sphereShape->getRadius()); auto pointOnSphere = spherePointGenerator->pointOnShape(sphereShape); EXPECT_NEAR(sphereShape->getRadius(), pointOnSphere.norm(), DistanceEpsilon); } opensurgsim-0.7.0/SurgSim/Particles/UnitTests/RandomPointGeneratorTests.cpp000066400000000000000000000033661277777236100272350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Particles/RandomPointGenerator.h" using SurgSim::Math::BoxShape; using SurgSim::Math::MeshShape; using SurgSim::Math::Shape; using SurgSim::Math::SphereShape; using SurgSim::Math::Vector3d; using SurgSim::Particles::RandomPointGenerator; TEST(RandomPointGeneratorTest, ConstructorTest) { ASSERT_NO_THROW(RandomPointGenerator()); } TEST(RandomPointGeneratorTest, GenerationTest) { auto pointGenerator = std::make_shared(); auto boxShape = std::make_shared(1.0, 2.0, 3.0); EXPECT_NO_THROW(pointGenerator->pointInShape(boxShape)); auto sphereShape = std::make_shared(6.0); EXPECT_NO_THROW(pointGenerator->pointOnShape(sphereShape)); auto meshShape = std::make_shared(); EXPECT_NO_THROW(pointGenerator->pointOnShape(meshShape)); std::shared_ptr shape; EXPECT_THROW(pointGenerator->pointOnShape(shape), SurgSim::Framework::AssertionFailure); } opensurgsim-0.7.0/SurgSim/Particles/UnitTests/RepresentationTests.cpp000066400000000000000000000132511277777236100261300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Particles/Emitter.h" #include "SurgSim/Particles/Representation.h" #include "SurgSim/Particles/UnitTests/MockObjects.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Particles { TEST(RepresentationTest, ConstructorTest) { ASSERT_NO_THROW(MockParticleSystem representation("representation")); MockParticleSystem representation("representation"); EXPECT_EQ(0u, representation.getMaxParticles()); } TEST(RepresentationTest, SetGetMaxParticles) { auto representation = std::make_shared("representation"); auto runtime = std::make_shared(); EXPECT_NO_THROW(representation->setMaxParticles(1)); EXPECT_EQ(1u, representation->getMaxParticles()); } TEST(RepresentationTest, AddParticle) { auto representation = std::make_shared("representation"); auto runtime = std::make_shared(); representation->setMaxParticles(1); representation->initialize(runtime); ASSERT_TRUE(representation->addParticle(Vector3d::Ones(), Vector3d::Constant(3.0), 10)); ASSERT_EQ(1, representation->getParticles().unsafeGet().getNumVertices()); auto& particle = representation->getParticles().unsafeGet().getVertices()[0]; EXPECT_TRUE(particle.position.isApprox(Vector3d::Ones())); EXPECT_TRUE(particle.data.velocity.isApprox(Vector3d::Constant(3.0))); EXPECT_NEAR(10.0, particle.data.lifetime, 1e-9); } TEST(RepresentationTest, RemoveParticle) { auto representation = std::make_shared("representation"); auto runtime = std::make_shared(); representation->setMaxParticles(2); representation->initialize(runtime); ASSERT_TRUE(representation->addParticle(Vector3d::Ones(), Vector3d::Constant(3.0), 10)); ASSERT_TRUE(representation->addParticle(Vector3d(2.0, 3.0, 4.0), Vector3d::Zero(), 10)); ASSERT_EQ(2, representation->getParticles().unsafeGet().getNumVertices()); representation->update(1.0); ASSERT_EQ(2, representation->getParticles().safeGet()->getNumVertices()); representation->removeParticle(0); representation->update(1.0); auto& particleVertices = representation->getParticles().safeGet()->getVertices(); ASSERT_EQ(1, particleVertices.size()); EXPECT_TRUE(particleVertices[0].position.isApprox(Vector3d(2.0, 3.0, 4.0))); EXPECT_TRUE(particleVertices[0].data.velocity.isApprox(Vector3d::Zero())); representation->removeParticle(0); representation->update(1.0); ASSERT_EQ(0, representation->getParticles().safeGet()->getNumVertices()); } TEST(RepresentationTest, GetParticles) { auto representation = std::make_shared("representation"); representation->setMaxParticles(100); Vector3d expectedPosition = Vector3d(1.0, 2.0, 3.0); Vector3d expectedVelocity = Vector3d(-4.0, 5.0, -6.0); double expectedLifetime = 12.34; representation->addParticle(expectedPosition, expectedVelocity, expectedLifetime); ASSERT_EQ(1, representation->getParticles().unsafeGet().getNumVertices()); auto& particles = representation->getParticles().unsafeGet().getVertices(); EXPECT_TRUE(expectedPosition.isApprox(particles[0].position)); EXPECT_TRUE(expectedVelocity.isApprox(particles[0].data.velocity)); EXPECT_NEAR(expectedLifetime, particles[0].data.lifetime, 1e-9); } TEST(RepresentationTest, MaxParticles) { auto representation = std::make_shared("representation"); representation->setMaxParticles(1); EXPECT_TRUE(representation->addParticle(Vector3d::Constant(1.0), Vector3d::Zero(), 10)); EXPECT_FALSE(representation->addParticle(Vector3d::Constant(2.0), Vector3d::Zero(), 10)); } TEST(RepresentationTest, Aging) { auto representation = std::make_shared("representation"); auto runtime = std::make_shared(); representation->setMaxParticles(100); representation->initialize(runtime); representation->addParticle(Vector3d(1.0, 1.0, 1.0), Vector3d(0.0, 0.0, 0.0), 1); representation->addParticle(Vector3d(2.0, 2.0, 2.0), Vector3d(0.0, 0.0, 0.0), 2); representation->addParticle(Vector3d(3.0, 3.0, 3.0), Vector3d(0.0, 0.0, 0.0), 3); EXPECT_EQ(3, representation->getParticles().unsafeGet().getNumVertices()); representation->update(1.0); EXPECT_EQ(2, representation->getParticles().unsafeGet().getNumVertices()); EXPECT_EQ(2, representation->getParticles().safeGet()->getNumVertices()); representation->update(1.0); EXPECT_EQ(1, representation->getParticles().unsafeGet().getNumVertices()); EXPECT_EQ(1, representation->getParticles().safeGet()->getNumVertices()); representation->update(1.0); EXPECT_EQ(0, representation->getParticles().unsafeGet().getNumVertices()); EXPECT_EQ(0, representation->getParticles().safeGet()->getNumVertices()); representation->update(1.0); EXPECT_EQ(0, representation->getParticles().unsafeGet().getNumVertices()); EXPECT_EQ(0, representation->getParticles().safeGet()->getNumVertices()); } }; // namespace Particles }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Particles/UnitTests/SinkTests.cpp000066400000000000000000000141161277777236100240330ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015-2016, SimQuest Solutions 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 // // 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 #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Particles/ParticlesCollisionRepresentation.h" #include "SurgSim/Particles/Sink.h" #include "SurgSim/Particles/UnitTests/MockObjects.h" #include "SurgSim/Physics/PhysicsManager.h" namespace { SURGSIM_REGISTER(SurgSim::Framework::Component, MockParticleSystem, MockParticleSystem); } namespace SurgSim { namespace Particles { TEST(SinkTest, Constructor) { std::shared_ptr sink; ASSERT_NO_THROW(sink = std::make_shared("Sink")); EXPECT_EQ(Framework::MANAGER_TYPE_PHYSICS, sink->getTargetManagerType()); EXPECT_EQ(nullptr, sink->getTarget()); EXPECT_EQ(nullptr, sink->getCollisionRepresentation()); } TEST(SinkTest, SetGetCollisionRepresentation) { auto runtime = std::make_shared(); auto collision = std::make_shared("Collision"); auto notCollision = std::make_shared("Not a CollisionRepresentation"); auto particleSystem = std::make_shared("ParticleSystem"); { auto sink = std::make_shared("Sink"); sink->setTarget(particleSystem); EXPECT_THROW(sink->setCollisionRepresentation(notCollision), SurgSim::Framework::AssertionFailure); EXPECT_TRUE(sink->initialize(runtime)); EXPECT_FALSE(sink->wakeUp()) << "Without a CollisionRepresentation, the sink should not wakup"; } { auto sink = std::make_shared("Sink"); sink->setTarget(particleSystem); EXPECT_NO_THROW(sink->setCollisionRepresentation(collision)); EXPECT_EQ(collision, sink->getCollisionRepresentation()); EXPECT_TRUE(sink->initialize(runtime)); EXPECT_TRUE(sink->wakeUp()) << "With a CollisionRepresentation, the sink should wakeup"; } } TEST(SinkTest, SetGetTarget) { auto runtime = std::make_shared(); auto collision = std::make_shared("Collision"); auto particleSystem = std::make_shared("ParticleSystem"); auto notParticleSystem = std::make_shared("Not a ParticleSystem"); { auto sink = std::make_shared("Sink"); sink->setCollisionRepresentation(collision); EXPECT_THROW(sink->setTarget(notParticleSystem), SurgSim::Framework::AssertionFailure); EXPECT_TRUE(sink->initialize(runtime)); EXPECT_FALSE(sink->wakeUp()) << "Without a target, the sink should not wakup"; } { auto sink = std::make_shared("Sink"); sink->setCollisionRepresentation(collision); EXPECT_NO_THROW(sink->setTarget(particleSystem)); EXPECT_EQ(particleSystem, sink->getTarget()); EXPECT_TRUE(sink->initialize(runtime)); EXPECT_TRUE(sink->wakeUp()) << "With a target, the sink should wakeup"; } } TEST(SinkTest, Update) { auto runtime = std::make_shared("config.txt"); runtime->addManager(std::make_shared()); auto element = std::make_shared("Element"); auto particleCollision = std::make_shared("Particle Collision"); particleCollision->setParticleRadius(0.01); element->addComponent(particleCollision); auto particleSystem = std::make_shared("ParticleSystem"); particleSystem->setMaxParticles(10); particleSystem->setCollisionRepresentation(particleCollision); element->addComponent(particleSystem); auto mesh = std::make_shared(); mesh->load("Geometry/Cube.ply"); auto sinkCollision = std::make_shared("Sink Collision"); sinkCollision->setShape(mesh); element->addComponent(sinkCollision); auto sink = std::make_shared("Sink"); sink->setTarget(particleSystem); sink->setCollisionRepresentation(sinkCollision); element->addComponent(sink); particleSystem->addParticle(Math::Vector3d(0.0, 1.009, 0.0), Math::Vector3d::Zero(), 10); runtime->getScene()->addSceneElement(element); EXPECT_EQ(1, particleSystem->getParticles().safeGet()->getNumVertices()); runtime->start(true); runtime->step(); runtime->step(); boost::this_thread::sleep(boost::posix_time::milliseconds(50)); runtime->stop(); EXPECT_EQ(0, particleSystem->getParticles().safeGet()->getNumVertices()); } TEST(SinkTest, Serialization) { auto sink = std::make_shared("Sink"); EXPECT_EQ("SurgSim::Particles::Sink", sink->getClassName()); std::shared_ptr expectedTarget = std::make_shared("ParticleSystem"); std::shared_ptr expectedCollision = std::make_shared("Collision"); EXPECT_NO_THROW(sink->setValue("CollisionRepresentation", expectedCollision)); EXPECT_NO_THROW(sink->setValue("Target", expectedTarget)); YAML::Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*sink)); EXPECT_TRUE(node.IsMap()); std::shared_ptr decodedSink; ASSERT_NO_THROW(decodedSink = std::dynamic_pointer_cast(node.as>())); EXPECT_EQ("ParticleSystem", decodedSink->getValue>("Target")->getName()); EXPECT_EQ("Collision", decodedSink->getValue>("CollisionRepresentation")->getName()); } }; // namespace Particles }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Particles/UnitTests/SphRepresentationTests.cpp000066400000000000000000000311661277777236100266100ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Particles/SphRepresentation.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Particles { TEST(SphRepresentationTest, ConstructorTest) { ASSERT_NO_THROW(std::make_shared("representation")); } TEST(SphRepresentationTest, SetGetTest) { auto sph = std::make_shared("representation"); EXPECT_DOUBLE_EQ(0.0, sph->getMassPerParticle()); EXPECT_THROW(sph->setMassPerParticle(0.0), SurgSim::Framework::AssertionFailure); EXPECT_THROW(sph->setMassPerParticle(-1.0), SurgSim::Framework::AssertionFailure); sph->setMassPerParticle(0.02); EXPECT_DOUBLE_EQ(0.02, sph->getMassPerParticle()); EXPECT_DOUBLE_EQ(0.0, sph->getDensity()); EXPECT_THROW(sph->setDensity(0.0), SurgSim::Framework::AssertionFailure); EXPECT_THROW(sph->setDensity(-1.0), SurgSim::Framework::AssertionFailure); sph->setDensity(0.03); EXPECT_DOUBLE_EQ(0.03, sph->getDensity()); EXPECT_DOUBLE_EQ(0.0, sph->getGasStiffness()); EXPECT_THROW(sph->setGasStiffness(0.0), SurgSim::Framework::AssertionFailure); EXPECT_THROW(sph->setGasStiffness(-1.0), SurgSim::Framework::AssertionFailure); sph->setGasStiffness(0.04); EXPECT_DOUBLE_EQ(0.04, sph->getGasStiffness()); EXPECT_DOUBLE_EQ(0.0, sph->getSurfaceTension()); EXPECT_NO_THROW(sph->setSurfaceTension(0.0)); EXPECT_THROW(sph->setSurfaceTension(-1.0), SurgSim::Framework::AssertionFailure); sph->setSurfaceTension(0.04); EXPECT_DOUBLE_EQ(0.04, sph->getSurfaceTension()); EXPECT_TRUE(sph->getGravity().isApprox(SurgSim::Math::Vector3d(0.0, -9.81, 0.0))); sph->setGravity(SurgSim::Math::Vector3d::Ones() * 0.56); EXPECT_TRUE(sph->getGravity().isApprox(SurgSim::Math::Vector3d::Ones() * 0.56)); EXPECT_DOUBLE_EQ(0.0, sph->getViscosity()); EXPECT_NO_THROW(sph->setViscosity(0.0)); EXPECT_THROW(sph->setViscosity(-1.0), SurgSim::Framework::AssertionFailure); sph->setViscosity(0.04); EXPECT_DOUBLE_EQ(0.04, sph->getViscosity()); EXPECT_DOUBLE_EQ(0.0, sph->getStiffness()); EXPECT_NO_THROW(sph->setStiffness(0.0)); sph->setStiffness(0.04); EXPECT_DOUBLE_EQ(0.04, sph->getStiffness()); EXPECT_DOUBLE_EQ(0.0, sph->getDamping()); EXPECT_NO_THROW(sph->setDamping(0.0)); sph->setDamping(0.04); EXPECT_DOUBLE_EQ(0.04, sph->getDamping()); EXPECT_DOUBLE_EQ(0.0, sph->getFriction()); EXPECT_NO_THROW(sph->setFriction(0.0)); sph->setFriction(0.04); EXPECT_DOUBLE_EQ(0.04, sph->getFriction()); EXPECT_DOUBLE_EQ(0.0, sph->getKernelSupport()); EXPECT_THROW(sph->setKernelSupport(0.0), SurgSim::Framework::AssertionFailure); EXPECT_THROW(sph->setKernelSupport(-1.0), SurgSim::Framework::AssertionFailure); sph->setKernelSupport(0.04); EXPECT_DOUBLE_EQ(0.04, sph->getKernelSupport()); } TEST(SphRepresentationTest, DoInitializeTest) { { SCOPED_TRACE("Bad Mass Per Particle"); auto runtime = std::make_shared(); auto sph = std::make_shared("representation"); EXPECT_THROW(sph->initialize(runtime), SurgSim::Framework::AssertionFailure); } { SCOPED_TRACE("Bad density reference"); auto runtime = std::make_shared(); auto sph = std::make_shared("representation"); sph->setMassPerParticle(0.02); EXPECT_THROW(sph->initialize(runtime), SurgSim::Framework::AssertionFailure); } { SCOPED_TRACE("Bad gas stiffness"); auto runtime = std::make_shared(); auto sph = std::make_shared("representation"); sph->setMassPerParticle(0.02); sph->setDensity(0.02); EXPECT_THROW(sph->initialize(runtime), SurgSim::Framework::AssertionFailure); } { SCOPED_TRACE("Bad kernel support"); auto runtime = std::make_shared(); auto sph = std::make_shared("representation"); sph->setMassPerParticle(0.02); sph->setDensity(0.02); sph->setGasStiffness(0.02); EXPECT_THROW(sph->initialize(runtime), SurgSim::Framework::AssertionFailure); } { SCOPED_TRACE("All set"); auto runtime = std::make_shared(); auto sph = std::make_shared("representation"); sph->setMassPerParticle(0.02); sph->setDensity(0.02); sph->setGasStiffness(0.02); sph->setKernelSupport(0.02); EXPECT_NO_THROW(sph->initialize(runtime)); } } TEST(SphRepresentationTest, DoUpdate1ParticleTest) { auto runtime = std::make_shared(); auto sph = std::make_shared("representation"); double dt = 1e-3; // 1ms sph->setMaxParticles(1); sph->setMassPerParticle(0.02); sph->setDensity(1000.0); sph->setGasStiffness(3.0); sph->setKernelSupport(0.01); sph->setViscosity(0.01); sph->setSurfaceTension(0.0); sph->initialize(runtime); sph->addParticle(Math::Vector3d::Zero(), Math::Vector3d::Zero(), 10); EXPECT_EQ(1u, sph->getParticles().unsafeGet().getNumVertices()); EXPECT_NO_THROW(sph->update(dt)); auto particles = sph->getParticles().safeGet()->getVertices(); EXPECT_EQ(1u, particles.size()); EXPECT_DOUBLE_EQ(0.0, particles[0].position[0]); EXPECT_GT(0.0, particles[0].position[1]); EXPECT_DOUBLE_EQ(0.0, particles[0].position[2]); EXPECT_DOUBLE_EQ(0.0, particles[0].data.velocity[0]); EXPECT_GT(0.0, particles[0].data.velocity[1]); EXPECT_DOUBLE_EQ(0.0, particles[0].data.velocity[2]); } namespace { /// Set up a Unit Test where 2 particles interact with a radius R (h/2) of null interaction /// If they are closer than R, they repel each other /// If they are at distance R from each other, they are in equilibrium /// If they are further than R, the attract each other std::shared_ptr set2ParticlesInteracting(double h, double distance) { auto runtime = std::make_shared(); auto sph = std::make_shared("representation"); double dt = 1e-3; // 1ms sph->setMaxParticles(2); sph->setMassPerParticle(0.02); // 50 particles for 0.001 m3 at 1000Kg.m-3 // If you note R the radius of 1 particle, then (50 * 4/3.PI.R^3) = 0.001 => R = 0.01683890300960629672761734255721m sph->setDensity(1000.0); sph->setGasStiffness(3.0); sph->setKernelSupport(h); sph->setViscosity(0.01); sph->setSurfaceTension(0.0); sph->initialize(runtime); sph->addParticle(Math::Vector3d::Zero(), Math::Vector3d::Zero(), 10); sph->addParticle(Math::Vector3d(distance, 0.0, 0.0), Math::Vector3d::Zero(), 10); EXPECT_EQ(2u, sph->getParticles().unsafeGet().getNumVertices()); EXPECT_NO_THROW(sph->update(dt)); EXPECT_EQ(2u, sph->getParticles().unsafeGet().getNumVertices()); size_t index = 0; for (auto particle : sph->getParticles().unsafeGet().getVertices()) { std::string scope = "Particle "+boost::to_string(index); SCOPED_TRACE(scope); EXPECT_LT(particle.position[1], 0.0); EXPECT_DOUBLE_EQ(0.0, particle.position[2]); EXPECT_GT(0.0, particle.data.velocity[1]); EXPECT_DOUBLE_EQ(0.0, particle.data.velocity[2]); index++; } return sph; } }; // namespace anonymous TEST(SphRepresentationTest, DoUpdate2ParticlesNotInteractingTest) { // If you note R the radius of 1 particle, then a volume of 1l covered by 50 particles requires: // (50 * 4/3.PI.R^3) = 0.001 => R = 0.01683890300960629672761734255721m // Let's take a smooth kernel support of 2R, anything above that distance is not interacting double h = 2.0 * 0.01683890300960629672761734255721; double distance = 10.0 * h; // Far from their radius of influence auto sph = set2ParticlesInteracting(h, distance); auto& particles = sph->getParticles().unsafeGet().getVertices(); EXPECT_DOUBLE_EQ(particles[0].position[1], particles[1].position[1]); EXPECT_DOUBLE_EQ(particles[0].data.velocity[1], particles[1].data.velocity[1]); double finalDistance = (particles[0].position - particles[1].position).norm(); EXPECT_DOUBLE_EQ(distance, finalDistance); } TEST(SphRepresentationTest, DoUpdate2ParticlesAttractingTest) { // If you note R the radius of 1 particle, then a volume of 1l covered by 50 particles requires: // (50 * 4/3.PI.R^3) = 0.001 => R = 0.01683890300960629672761734255721m // Let's take a smooth kernel support of 2R, anything above that distance is not interacting double h = 2.0 * 0.01683890300960629672761734255721; double distance = h * 3.0 / 4.0; auto sph = set2ParticlesInteracting(h, distance); auto& particles = sph->getParticles().unsafeGet().getVertices(); EXPECT_DOUBLE_EQ(particles[0].position[1], particles[1].position[1]); EXPECT_DOUBLE_EQ(particles[0].data.velocity[1], particles[1].data.velocity[1]); double finalDistance = (particles[0].position - particles[1].position).norm(); EXPECT_GT(distance, finalDistance); } TEST(SphRepresentationTest, DoUpdate2ParticlesRetractingTest) { // If you note R the radius of 1 particle, then a volume of 1l covered by 50 particles requires: // (50 * 4/3.PI.R^3) = 0.001 => R = 0.01683890300960629672761734255721m // Let's take a smooth kernel support of 2R, anything above that distance is not interacting double h = 2.0 * 0.01683890300960629672761734255721; double distance = h * 1.0 / 4.0; auto sph = set2ParticlesInteracting(h, distance); auto& particles = sph->getParticles().unsafeGet().getVertices(); EXPECT_DOUBLE_EQ(particles[0].position[1], particles[1].position[1]); EXPECT_DOUBLE_EQ(particles[0].data.velocity[1], particles[1].data.velocity[1]); double finalDistance = (particles[0].position - particles[1].position).norm(); EXPECT_LT(distance, finalDistance); } TEST(SphRepresentationTest, DoUpdate2ParticlesInEquilibriumTest) { // If you note R the radius of 1 particle, then a volume of 1l covered by 50 particles requires: // (50 * 4/3.PI.R^3) = 0.001 => R = 0.01683890300960629672761734255721m // Let's take a smooth kernel support of 2R, anything above that distance is not interacting double h = 2.0 * 0.01683890300960629672761734255721; double distance = h / 2.0; auto sph = set2ParticlesInteracting(h, distance); auto& particles = sph->getParticles().unsafeGet().getVertices(); EXPECT_DOUBLE_EQ(particles[0].position[1], particles[1].position[1]); EXPECT_DOUBLE_EQ(particles[0].data.velocity[1], particles[1].data.velocity[1]); double finalDistance = (particles[0].position - particles[1].position).norm(); EXPECT_NEAR(distance, finalDistance, pow(h, 2)); } TEST(SphRepresentationTest, SerializationTest) { auto sph = std::make_shared("TestSphRepresentation"); sph->setDensity(1.1); sph->setGasStiffness(2.2); sph->setGravity(SurgSim::Math::Vector3d::Ones()); sph->setKernelSupport(3.3); sph->setMassPerParticle(4.4); sph->setMaxParticles(5); sph->setSurfaceTension(10.1); sph->setViscosity(11.11); sph->setStiffness(12.12); sph->setDamping(13.13); sph->setFriction(0.14); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*sph)); std::shared_ptr newRepresentation; EXPECT_NO_THROW(newRepresentation = std::dynamic_pointer_cast(node.as>())); EXPECT_DOUBLE_EQ(sph->getDensity(), newRepresentation->getValue("Density")); EXPECT_DOUBLE_EQ(sph->getGasStiffness(), newRepresentation->getValue("GasStiffness")); EXPECT_TRUE(sph->getGravity().isApprox(newRepresentation->getValue("Gravity"))); EXPECT_DOUBLE_EQ(sph->getKernelSupport(), newRepresentation->getValue("KernelSupport")); EXPECT_DOUBLE_EQ(sph->getMassPerParticle(), newRepresentation->getValue("MassPerParticle")); EXPECT_EQ(sph->getMaxParticles(), newRepresentation->getValue("MaxParticles")); EXPECT_DOUBLE_EQ(sph->getSurfaceTension(), newRepresentation->getValue("SurfaceTension")); EXPECT_DOUBLE_EQ(sph->getViscosity(), newRepresentation->getValue("Viscosity")); EXPECT_DOUBLE_EQ(sph->getStiffness(), newRepresentation->getValue("Stiffness")); EXPECT_DOUBLE_EQ(sph->getDamping(), newRepresentation->getValue("Damping")); EXPECT_DOUBLE_EQ(sph->getFriction(), newRepresentation->getValue("Friction")); } }; // namespace Particles }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Particles/UnitTests/config.txt.in000066400000000000000000000000551277777236100240100ustar00rootroot00000000000000${PROJECT_BINARY_DIR}/SurgSim/Testing/Data/ opensurgsim-0.7.0/SurgSim/Physics/000077500000000000000000000000001277777236100171275ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Physics/BuildMlcp.cpp000066400000000000000000000106301277777236100215060ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 using Eigen::MatrixXd; using Eigen::VectorXd; #include "SurgSim/Physics/BuildMlcp.h" #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ConstraintImplementation.h" #include "SurgSim/Physics/Localization.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/Representation.h" namespace SurgSim { namespace Physics { BuildMlcp::BuildMlcp(bool doCopyState) : Computation(doCopyState) {} BuildMlcp::~BuildMlcp() {} std::shared_ptr BuildMlcp::doUpdate(const double& dt, const std::shared_ptr& state) { // Copy state to new state std::shared_ptr result = state; MlcpMapping representationsMapping; MlcpMapping constraintsMapping; size_t numAtomicConstraint = 0; size_t numDof = 0; // Calculate numAtomicConstraint auto const activeConstraints = result->getActiveConstraints(); for (auto it = activeConstraints.cbegin(); it != activeConstraints.cend(); it++) { constraintsMapping.setValue((*it).get(), static_cast(numAtomicConstraint)); numAtomicConstraint += (*it)->getNumDof(); } result->setConstraintsMapping(constraintsMapping); // Calculate numDof size const auto& activeRepresentations = result->getActiveRepresentations(); for (auto it = activeRepresentations.cbegin(); it != activeRepresentations.cend(); it++) { representationsMapping.setValue((*it).get(), numDof); numDof += (*it)->getNumDof(); } result->setRepresentationsMapping(representationsMapping); // Resize the Mlcp problem result->getMlcpProblem().A.setZero(numAtomicConstraint, numAtomicConstraint); result->getMlcpProblem().b.setZero(numAtomicConstraint); result->getMlcpProblem().H.resize(numAtomicConstraint, numDof); result->getMlcpProblem().CHt.setZero(numDof, numAtomicConstraint); result->getMlcpProblem().mu.setZero(numAtomicConstraint); result->getMlcpProblem().constraintTypes.clear(); // Resize the Mlcp solution result->getMlcpSolution().dofCorrection.setZero(numDof); result->getMlcpSolution().x.setZero(numAtomicConstraint); // Fill up the Mlcp problem for (auto it = activeConstraints.begin(); it != activeConstraints.end(); it++) { ptrdiff_t indexConstraint = result->getConstraintsMapping().getValue((*it).get()); SURGSIM_ASSERT(indexConstraint >= 0) << "Index for constraint is invalid: " << indexConstraint << std::endl; std::shared_ptr side0 = (*it)->getImplementations().first; std::shared_ptr side1 = (*it)->getImplementations().second; SURGSIM_ASSERT(side0) << "Constraint does not have a side0" << std::endl; SURGSIM_ASSERT(side1) << "Constraint does not have a side1" << std::endl; std::shared_ptr localization0 = (*it)->getLocalizations().first; std::shared_ptr localization1 = (*it)->getLocalizations().second; SURGSIM_ASSERT(localization0) << "ConstraintImplementation does not have a localization on side0"; SURGSIM_ASSERT(localization1) << "ConstraintImplementation does not have a localization on side1"; const MlcpMapping& mapping = result->getRepresentationsMapping(); ptrdiff_t indexRepresentation0 = mapping.getValue(localization0->getRepresentation().get()); ptrdiff_t indexRepresentation1 = mapping.getValue(localization1->getRepresentation().get()); SURGSIM_ASSERT(indexRepresentation0 >= 0) << "Index for representation 0 is invalid: " << indexRepresentation0; SURGSIM_ASSERT(indexRepresentation1 >= 0) << "Index for representation 1 is invalid: " << indexRepresentation1; (*it)->build(dt, &result->getMlcpProblem(), indexRepresentation0, indexRepresentation1, indexConstraint); } return result; } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/BuildMlcp.h000066400000000000000000000027441277777236100211620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_BUILDMLCP_H #define SURGSIM_PHYSICS_BUILDMLCP_H #include "SurgSim/Framework/Macros.h" #include "SurgSim/Physics/Computation.h" namespace SurgSim { namespace Physics { /// Build an mlcp from a list of constraints stored in a PhysicsManagerState class BuildMlcp : public Computation { public: /// Constructor /// \param doCopyState Specify if the output state in Computation::Update() is a copy or not of the input state explicit BuildMlcp(bool doCopyState = false); SURGSIM_CLASSNAME(SurgSim::Physics::BuildMlcp); /// Destructor virtual ~BuildMlcp(); protected: /// Override doUpdate from superclass std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_BUILDMLCP_H opensurgsim-0.7.0/SurgSim/Physics/CMakeLists.txt000066400000000000000000000124751277777236100217000ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2016, SimQuest Solutions 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 # # 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. set(SURGSIM_PHYSICS_SOURCES BuildMlcp.cpp CcdCollision.cpp CcdCollisionLoop.cpp Computation.cpp ComputationGroup.cpp Constraint.cpp ConstraintComponent.cpp ConstraintData.cpp ConstraintImplementation.cpp ConstraintImplementationFactory.cpp ContactConstraintGeneration.cpp ContactFiltering.cpp DcdCollision.cpp DeformableCollisionRepresentation.cpp DeformableRepresentation.cpp Fem1D.cpp Fem1DElementBeam.cpp Fem1DLocalization.cpp Fem1DPlyReaderDelegate.cpp Fem1DRepresentation.cpp Fem2D.cpp Fem2DElementTriangle.cpp Fem2DLocalization.cpp Fem2DPlyReaderDelegate.cpp Fem2DRepresentation.cpp Fem3D.cpp Fem3DElementCorotationalTetrahedron.cpp Fem3DElementCube.cpp Fem3DElementTetrahedron.cpp Fem3DLocalization.cpp Fem3DPlyReaderDelegate.cpp Fem3DRepresentation.cpp FemConstraintFixedPoint.cpp FemConstraintFixedRotationVector.cpp FemConstraintFrictionalSliding.cpp FemConstraintFrictionlessContact.cpp FemConstraintFrictionlessSliding.cpp FemElement.cpp FemLocalization.cpp FemPlyReaderDelegate.cpp FemRepresentation.cpp FixedConstraintFixedPoint.cpp FixedConstraintFixedRotationVector.cpp FixedConstraintFrictionlessContact.cpp FixedRepresentation.cpp FreeMotion.cpp LinearSpring.cpp Localization.cpp MassSpringConstraintFixedPoint.cpp MassSpringConstraintFrictionlessContact.cpp MassSpringLocalization.cpp MassSpringRepresentation.cpp MlcpPhysicsProblem.cpp ParticleCollisionResponse.cpp PhysicsConvert.cpp PhysicsManager.cpp PhysicsManagerState.cpp PostUpdate.cpp PrepareCollisionPairs.cpp PreUpdate.cpp PushResults.cpp Representation.cpp RigidCollisionRepresentation.cpp RigidConstraintFixedPoint.cpp RigidConstraintFixedRotationVector.cpp RigidConstraintFrictionlessContact.cpp RigidLocalization.cpp RigidRepresentation.cpp RigidRepresentationBase.cpp RigidState.cpp RotationVectorConstraint.cpp SlidingConstraint.cpp SlidingConstraintData.cpp SolveMlcp.cpp Spring.cpp UpdateCcdData.cpp UpdateCollisionData.cpp UpdateCollisionRepresentations.cpp UpdateDcdData.cpp VirtualToolCoupler.cpp ) set(SURGSIM_PHYSICS_HEADERS BuildMlcp.h CcdCollision.h CcdCollisionLoop.h Computation.h ComputationGroup.h Constraint.h ConstraintComponent.h ConstraintData.h ConstraintImplementation.h ConstraintImplementationFactory.h ConstraintType.h ContactConstraintData.h ContactConstraintGeneration.h ContactFiltering.h DcdCollision.h DeformableCollisionRepresentation.h DeformableRepresentation.h Fem.h Fem-inl.h Fem1D.h Fem1DElementBeam.h Fem1DLocalization.h Fem1DPlyReaderDelegate.h Fem1DRepresentation.h Fem2D.h Fem2DElementTriangle.h Fem2DLocalization.h Fem2DPlyReaderDelegate.h Fem2DRepresentation.h Fem3D.h Fem3DElementCorotationalTetrahedron.h Fem3DElementCube.h Fem3DElementTetrahedron.h Fem3DLocalization.h Fem3DPlyReaderDelegate.h Fem3DRepresentation.h FemConstraintFixedPoint.h FemConstraintFixedRotationVector.h FemConstraintFrictionalSliding.h FemConstraintFrictionlessContact.h FemConstraintFrictionlessSliding.h FemElement.h FemElement-inl.h FemElementStructs.h FemLocalization.h FemPlyReaderDelegate.h FemRepresentation.h FixedConstraintFixedPoint.h FixedConstraintFixedRotationVector.h FixedConstraintFrictionlessContact.h FixedRepresentation.h FreeMotion.h LinearSpring.h Localization.h Mass.h MassSpringConstraintFixedPoint.h MassSpringConstraintFrictionlessContact.h MassSpringLocalization.h MassSpringRepresentation.h MlcpMapping.h MlcpPhysicsProblem.h MlcpPhysicsSolution.h ParticleCollisionResponse.h PhysicsConvert.h PhysicsManager.h PhysicsManagerState.h PostUpdate.h PrepareCollisionPairs.h PreUpdate.h PushResults.h Representation.h RigidCollisionRepresentation.h RigidConstraintFixedPoint.h RigidConstraintFixedRotationVector.h RigidConstraintFrictionlessContact.h RigidLocalization.h RigidRepresentation.h RigidRepresentationBase.h RigidRepresentationBase-inl.h RigidState.h RotationVectorConstraint.h RotationVectorConstraintData.h SlidingConstraint.h SlidingConstraintData.h SolveMlcp.h Spring.h UpdateCcdData.h UpdateCollisionData.h UpdateCollisionRepresentations.h UpdateDcdData.h VirtualToolCoupler.h ) surgsim_create_library_header(Physics.h "${SURGSIM_PHYSICS_HEADERS}") surgsim_add_library( SurgSimPhysics "${SURGSIM_PHYSICS_SOURCES}" "${SURGSIM_PHYSICS_HEADERS}" ) SET(LIBS SurgSimCollision SurgSimDataStructures SurgSimFramework SurgSimInput SurgSimMath SurgSimParticles ) target_link_libraries(SurgSimPhysics ${LIBS}) if(BUILD_TESTING) add_subdirectory(UnitTests) if(BUILD_RENDER_TESTING) add_subdirectory(RenderTests) endif() if(BUILD_PERFORMANCE_TESTING) add_subdirectory(PerformanceTests) endif() endif() set_target_properties(SurgSimPhysics PROPERTIES FOLDER "Physics") opensurgsim-0.7.0/SurgSim/Physics/CcdCollision.cpp000066400000000000000000000040401277777236100221760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/ContactCalculation.h" #include "SurgSim/Collision/CcdDcdCollision.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/ThreadPool.h" #include "SurgSim/Physics/CcdCollision.h" #include "SurgSim/Physics/PhysicsManagerState.h" using SurgSim::Collision::CollisionPair; using SurgSim::Collision::ContactCalculation; namespace SurgSim { namespace Physics { CcdCollision::CcdCollision(bool doCopyState) : Computation(doCopyState) { } CcdCollision::~CcdCollision() { } std::shared_ptr CcdCollision::doUpdate( const double& dt, const std::shared_ptr& state) { std::shared_ptr result = state; auto threadPool = Framework::Runtime::getThreadPool(); std::vector> tasks; const auto& calculations = ContactCalculation::getCcdContactTable(); for (auto& pair : result->getCollisionPairs()) { if (pair->getType() == Collision::COLLISION_DETECTION_TYPE_CONTINUOUS) { tasks.push_back(threadPool->enqueue([&]() { calculations[pair->getFirst()->getShapeType()] [pair->getSecond()->getShapeType()]->calculateContact(pair); })); } } std::for_each(tasks.begin(), tasks.end(), [](std::future& p){p.get();}); return result; } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/CcdCollision.h000066400000000000000000000044061277777236100216510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_CCDCOLLISION_H #define SURGSIM_PHYSICS_CCDCOLLISION_H #include #include "SurgSim/Math/Shape.h" #include "SurgSim/Physics/Computation.h" namespace SurgSim { namespace Collision { class ContactCalculation; } namespace Physics { class PhysicsManagerState; /// Computation to determine the contacts between a list of CollisionPairs. /// This Computation class takes a list of representations, it will generate a list of collision pairs /// from this list on every frame, for each CollisionPair, it uses a two dimensional table of /// function objects (ContactCalculation) to determine how to calculate a contact between the two /// members of each pair, if no specific function exists a default function will be used. /// will update the collision pairs accordingly. /// \note When a new ContactCalculation type gets implemented, the type needs to be registered with the table /// inside of ContactCalculation class CcdCollision : public Computation { public: /// Constructor /// \param doCopyState Specify if the output state in Computation::Update() is a copy or not of the input state explicit CcdCollision(bool doCopyState = false); SURGSIM_CLASSNAME(SurgSim::Physics::CcdCollision); /// Destructor virtual ~CcdCollision(); protected: /// Executes the update operation, overridden from Computation. /// \param dt The time passed. /// \param state The PhysicsManagerState from previous computation. std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; }; }; // Physics }; // SurgSim #endif // SURGSIM_PHYSICS_CCDCOLLISION_H opensurgsim-0.7.0/SurgSim/Physics/CcdCollisionLoop.cpp000066400000000000000000000155051277777236100230400ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Physics/BuildMlcp.h" #include "SurgSim/Physics/CcdCollision.h" #include "SurgSim/Physics/CcdCollisionLoop.h" #include "SurgSim/Physics/ContactConstraintGeneration.h" #include "SurgSim/Physics/ContactFiltering.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/PushResults.h" #include "SurgSim/Physics/SolveMlcp.h" #include "SurgSim/Physics/UpdateCcdData.h" #include #include namespace SurgSim { namespace Physics { CcdCollisionLoop::CcdCollisionLoop(bool copyState) : Computation(copyState), m_ccdCollision(new CcdCollision(copyState)), m_updateCcdData(new UpdateCcdData(copyState)), m_contactFilter(new ContactFiltering(copyState)), m_constraintGeneration(new ContactConstraintGeneration(copyState)), m_buildMlcp(new BuildMlcp(copyState)), m_solveMlcp(new SolveMlcp(copyState)), m_pushResults(new PushResults(copyState)), m_maxIterations(20), m_epsilonFactor(100), m_logger(SurgSim::Framework::Logger::getLogger("Physics/CCDCollisionLoop")) { } CcdCollisionLoop::~CcdCollisionLoop() { } std::shared_ptr CcdCollisionLoop::doUpdate(const double& dt, const std::shared_ptr& state) { auto ccdState = state; auto& collisionPairs = state->getCollisionPairs(); std::vector> ccdPairs; ccdPairs.reserve(collisionPairs.size()); std::copy_if(collisionPairs.cbegin(), collisionPairs.cend(), std::back_inserter(ccdPairs), [](const std::shared_ptr& p) { return p->getType() == Collision::COLLISION_DETECTION_TYPE_CONTINUOUS; }); double timeOfImpact = 0.0; double localTimeOfImpact = 0.0; std::vector>> oldContacts; bool executedOnce = false; size_t iterations = 0; for (; iterations < m_maxIterations; ++iterations) { double epsilon = 1.0 / ((1 - timeOfImpact) * m_epsilonFactor); ccdState = m_updateCcdData->update(localTimeOfImpact, ccdState); ccdState = m_ccdCollision->update(dt, ccdState); ccdState = m_contactFilter->update(dt, ccdState); if (m_logger->getThreshold() <= SurgSim::Framework::LOG_LEVEL_DEBUG) { printContacts(ccdPairs); } // Find the first impact and filter all contacts beyond a given epsilon if (!findEarliestContact(ccdPairs, &localTimeOfImpact)) { break; } filterLaterContacts(&ccdPairs, epsilon, localTimeOfImpact); restoreContacts(&ccdPairs, &oldContacts); ccdState = m_constraintGeneration->update(dt, ccdState); ccdState = m_buildMlcp->update(dt, ccdState); ccdState = m_solveMlcp->update(dt, ccdState); ccdState = m_pushResults->update(dt, ccdState); executedOnce = true; backupContacts(&ccdPairs, &oldContacts); timeOfImpact += (1.0 - timeOfImpact) * localTimeOfImpact; if (timeOfImpact > 1.0) { SURGSIM_LOG_SEVERE(m_logger) << "Calculated time of impact is greater " << "than the parametric upper bound of 1.0 (" << timeOfImpact << ")" << std::endl; break; } // Lambda == 0 means we are no longer generating corrections. Exit the loop. // We will take up the collision detection at the start of the next time step. if (ccdState->getMlcpSolution().x.isZero()) { break; } } SURGSIM_LOG_IF(iterations == m_maxIterations, m_logger, WARNING) << "Maxed out iterations (" << m_maxIterations << ")"; restoreContacts(&ccdPairs, &oldContacts); if (!executedOnce) { ccdState = m_constraintGeneration->update(dt, ccdState); ccdState = m_buildMlcp->update(dt, ccdState); ccdState = m_solveMlcp->update(dt, ccdState); ccdState = m_pushResults->update(dt, ccdState); } return ccdState; } bool CcdCollisionLoop::findEarliestContact( const std::vector>& ccdPairs, double* currentTimeOfImpact) { SURGSIM_ASSERT(currentTimeOfImpact != nullptr) << "Please provide a valid currentTimeOfImpact variable"; double timeOfImpact = std::numeric_limits::max(); // Find earliest time of impact for (auto& pair : ccdPairs) { std::for_each(pair->getContacts().begin(), pair->getContacts().end(), [&timeOfImpact](const std::shared_ptr& contact) { timeOfImpact = std::min(timeOfImpact, contact->time); }); } // Did not find any contacts return false if (!(timeOfImpact < std::numeric_limits::max())) { return false; } *currentTimeOfImpact = timeOfImpact; return true; } void CcdCollisionLoop::filterLaterContacts( std::vector>* ccdPairs, double epsilon, double timeOfImpact) { for (auto& pair : (*ccdPairs)) { pair->getContacts().remove_if([timeOfImpact, epsilon](const std::shared_ptr& contact) { return contact->time > timeOfImpact + epsilon; }); } } void CcdCollisionLoop::backupContacts(std::vector>* ccdPairs, std::vector>>* oldContacts) { SURGSIM_ASSERT(oldContacts != nullptr) << "Invalid container found."; for (auto& pair : (*ccdPairs)) { oldContacts->push_back(std::move(pair->getContacts())); pair->getContacts().clear(); } } void CcdCollisionLoop::restoreContacts(std::vector>* ccdPairs, std::vector>>* oldContacts) { SURGSIM_ASSERT(oldContacts != nullptr) << "Invalid container found."; if (oldContacts->size() == 0) { return; } SURGSIM_ASSERT(oldContacts->size() == ccdPairs->size()) << "Contact size exception detected"; for (size_t i = 0; i < oldContacts->size(); ++i) { auto& newContacts = ccdPairs->at(i)->getContacts(); newContacts.splice(newContacts.end(), std::move(oldContacts->at(i))); } oldContacts->clear(); } void CcdCollisionLoop::printContacts(const std::vector>& ccdPairs) { std::stringstream out; size_t contactCount = 0; for (const auto& pair : ccdPairs) { for (const auto& contact : pair->getContacts()) { out << *contact; contactCount++; } } SURGSIM_LOG_IF(contactCount != 0, m_logger, DEBUG) << "Number of Contacts: " << contactCount << std::endl << out.str(); } } } opensurgsim-0.7.0/SurgSim/Physics/CcdCollisionLoop.h000066400000000000000000000102461277777236100225020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_CCDCOLLISIONLOOP_H #define SURGSIM_PHYSICS_CCDCOLLISIONLOOP_H #include "SurgSim/Physics/ComputationGroup.h" namespace SurgSim { namespace Framework { class Logger; } namespace Collision { class CollisionPair; struct Contact; } namespace Physics { class CcdCollision; class ContactFiltering; class UpdateCcdData; class ContactConstraintGeneration; class BuildMlcp; class SolveMlcp; class PushResults; class PhysicsManager; class CcdCollisionLoop : public Computation { public: /// Constructor explicit CcdCollisionLoop(bool copyState); /// Destructor ~CcdCollisionLoop(); SURGSIM_CLASSNAME(SurgSim::Physics::CcdCollisionLoop); std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; ///@{ /// Test access friend class CcdCollisionLoopTest_FilterContacts_Test; friend class CcdCollisionLoopTest_FilterContactsWithEpsilon_Test; ///@} private: ///@{ /// Computations std::unique_ptr m_ccdCollision; std::unique_ptr m_updateCcdData; std::unique_ptr m_contactFilter; std::unique_ptr m_constraintGeneration; std::unique_ptr m_buildMlcp; std::unique_ptr m_solveMlcp; std::unique_ptr m_pushResults; ///@} size_t m_maxIterations; ///< maximum number of iterations to run /// epsilon as a fraction of dt, i.e. if this is 100, the epsilon will be dt/100 /// during the iteration epsilon will be scaled to remain dt/100 as it pertains to the ever shrinking interval /// that is the iterations intervall double m_epsilonFactor; /// Takes all the contacts from ccdPairs, finds the first contact wrt contact time /// \param ccdPairs the list of pairs that should be checked for contacts /// \param [out] currentTimeOfImpact the earliest contact time found in ccdPairs /// \return true if there were any contacts found in ccdPairs bool findEarliestContact(const std::vector>& ccdPairs, double* currentTimeOfImpact); /// Removes all contacts with contact time greater than the first contact time + epsilon /// \param ccdPairs the list of pairs that should be checked for contacts /// \param epsilon the epsilon to be added to the first contactTime for filtering /// \param contactTime times outside of epsilon from contactTime will be reomved from consideration void filterLaterContacts(std::vector>* ccdPairs, double epsilon, double contactTime); /// Backs up all current contacts into oldContacts and then clears the ccdPairs /// \param ccdPairs the list of current contact pairs /// \param oldContacts the backup of the contacts void backupContacts(std::vector>* ccdPairs, std::vector>>* oldContacts); /// Adds all of the backed up contacts back into the current contacts. Contacts already in 'ccdPairs' /// will be kept.. /// \param ccdPairs the list of current contact pairs /// \param oldContacts the backup of the contacts void restoreContacts(std::vector>* ccdPairs, std::vector>>* oldContacts); /// Logs all of the contacts /// \param ccdPairs the list of current contact pairs void printContacts(const std::vector>& ccdPairs); std::shared_ptr m_logger; }; } } #endif opensurgsim-0.7.0/SurgSim/Physics/Computation.cpp000066400000000000000000000070261277777236100221420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/Computation.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Physics/PhysicsManagerState.h" namespace SurgSim { namespace Physics { Computation::Computation(bool doCopyState) : m_copyState(doCopyState) { } Computation::~Computation() { } std::shared_ptr Computation::update(double dt, const std::shared_ptr& state) { m_timer.beginFrame(); auto newState = doUpdate(dt, preparePhysicsState(state)); m_timer.endFrame(); return newState; } void Computation::setDoCopyState(bool val) { m_copyState = val; } bool Computation::isCopyingState() { return m_copyState; } Framework::Timer& Computation::getTimer() { return m_timer; } std::shared_ptr Computation::preparePhysicsState(const std::shared_ptr& state) { auto isInactive = [](std::shared_ptr component) { return !component->isActive(); }; // Compile the list of active representations and set it on the state. auto representations = state->getRepresentations(); representations.erase(std::remove_if(representations.begin(), representations.end(), isInactive), representations.end()); state->setActiveRepresentations(representations); // Compile the list of active collision representations and set it on the state. auto collisionRepresentations = state->getCollisionRepresentations(); collisionRepresentations.erase( std::remove_if(collisionRepresentations.begin(), collisionRepresentations.end(), isInactive), collisionRepresentations.end()); state->setActiveCollisionRepresentations(collisionRepresentations); // Compile the list of active particle representations and set it on the state. auto particleRepresentations = state->getParticleRepresentations(); particleRepresentations.erase( std::remove_if(particleRepresentations.begin(), particleRepresentations.end(), isInactive), particleRepresentations.end()); state->setActiveParticleRepresentations(particleRepresentations); // Compile the list of active constraints and set it on the state. std::vector> activeConstraints; size_t size = 0; int constraintTypeEnd = static_cast(CONSTRAINT_GROUP_TYPE_COUNT); for (int constraintType = 0 ; constraintType < constraintTypeEnd ; constraintType++) { size += state->getConstraintGroup(constraintType).size(); } activeConstraints.reserve(size); for (int constraintType = 0 ; constraintType < constraintTypeEnd ; constraintType++) { auto constraints = state->getConstraintGroup(constraintType); for (auto it = constraints.begin(); it != constraints.end(); it++) { if ((*it)->isActive()) { activeConstraints.push_back(*it); } } } state->setActiveConstraints(activeConstraints); if (m_copyState) { return std::move(std::make_shared(*state)); } else { return std::move(state); } } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/Computation.h000066400000000000000000000055661277777236100216160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_COMPUTATION_H #define SURGSIM_PHYSICS_COMPUTATION_H #include #include #include "SurgSim/Framework/Timer.h" namespace SurgSim { namespace Physics { class PhysicsManagerState; /// Encapsulates a calculation over a selection of objects, needs to be subclassed to be used class Computation { public: /// Constructor /// \param doCopyState Specify if the output state in Computation::Update() is a copy or not of the input state explicit Computation(bool doCopyState); /// Destructor virtual ~Computation(); /// Public Interface execute this objects computations, dt is the time from the last update /// call in seconds. /// \param dt The time passed from the last update in seconds. /// \param state The physics state. /// \return The changed state of the, depending on the setting of doCopyState this is either the same instance /// or a copied instance of the physics state. std::shared_ptr update(double dt, const std::shared_ptr& state); /// Sets up whether the computation will copy the state of PhysicsManagerState before executing. /// \param val Whether to create a copy of the PhysicsState before running the update fuction. void setDoCopyState(bool val); /// Query if this object is copying the PhysicsManagerState. /// \return true if copying the state, false if not. bool isCopyingState(); /// The class name for this class /// \note Use the SURGSIM_CLASSNAME macro in derived classes. /// \return The fully namespace qualified name of this class. virtual std::string getClassName() const = 0; /// Provides access to the update timer. /// \return The timer. Framework::Timer& getTimer(); protected: /// Override this function to implement the computations specific behavior virtual std::shared_ptr doUpdate( const double& dt, const std::shared_ptr& state) = 0; private: bool m_copyState; /// Copy the PhysicsManagerState object when isCopyingState() is true std::shared_ptr preparePhysicsState(const std::shared_ptr& state); /// The update timer. Framework::Timer m_timer; }; }; // Physics }; // SurgSim #endif // SURGSIM_PHYSICS_COMPUTATION_H opensurgsim-0.7.0/SurgSim/Physics/ComputationGroup.cpp000066400000000000000000000042471277777236100231610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Physics/ComputationGroup.h" #include "SurgSim/Physics/PhysicsManagerState.h" namespace SurgSim { namespace Physics { ComputationGroup::ComputationGroup(bool copyState) : Computation(copyState) { } ComputationGroup::~ComputationGroup() { } std::shared_ptr ComputationGroup::doUpdate( const double& dt, const std::shared_ptr& state) { boost::unique_lock lock(m_computationsMutex); m_iterations = 0; bool keepRunning = true; auto lastState = state; while (keepRunning) { ++m_iterations; for (const auto& computation : m_computations) { lastState = computation->update(dt, lastState); if (lastState->shouldAbortGroup()) { lastState->setAbortGroup(false); keepRunning = false; break; } } keepRunning = keepRunning && !endIteration(); } return lastState; } void ComputationGroup::addComputation(const std::shared_ptr& computation) { boost::unique_lock lock(m_computationsMutex); m_computations.push_back(computation); } bool ComputationGroup::endIteration() { return true; } std::vector> ComputationGroup::getComputations() const { boost::unique_lock lock(m_computationsMutex); return m_computations; } void ComputationGroup::setComputations(const std::vector>& val) { boost::unique_lock lock(m_computationsMutex); m_computations = val; } size_t ComputationGroup::getIterations() { return m_iterations; } } }opensurgsim-0.7.0/SurgSim/Physics/ComputationGroup.h000066400000000000000000000050041277777236100226160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_COMPUTATIONGROUP_H #define SURGSIM_PHYSICS_COMPUTATIONGROUP_H #include "SurgSim/Physics/Computation.h" #include "SurgSim/Framework/Macros.h" #include namespace SurgSim { namespace Physics { /// Implements a mechanism to group and loop computations, the computations will be called in sequence repeatedly /// until one of the exit criteria is met. That is either the endIteration() call, or shouldAbortLoop() /// in the \sa PhysicsManagerState return true. class ComputationGroup : public Computation { public: /// Constructor explicit ComputationGroup(bool copyState); /// Destructor ~ComputationGroup(); SURGSIM_CLASSNAME(SurgSim::Physics::ComputationGroup); std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; /// Override this function to implement a custom criterion to exit this computation, when this returns true /// the computation will exit and return the last state /// \note the computation can also be stopped by calling setAbortLoop(true) on the physics state by any calculation /// \return true to stop calculating. virtual bool endIteration(); /// Adds a computation to this group, the computation will be appended at the end /// \param computation the computation to be added to this group void addComputation(const std::shared_ptr& computation); /// \return the computations used by this class std::vector> getComputations() const; /// \param val set the computations used by this class void setComputations(const std::vector>& val); /// \return the number of iterations that have passed size_t getIterations(); private: size_t m_iterations; mutable boost::mutex m_computationsMutex; std::vector> m_computations; }; } } #endif opensurgsim-0.7.0/SurgSim/Physics/Constraint.cpp000066400000000000000000000122541277777236100217630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/MlcpConstraintType.h" #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/Localization.h" #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace Physics { Constraint::Constraint(ConstraintType constraintType, std::shared_ptr data, std::shared_ptr representation0, const SurgSim::DataStructures::Location& location0, std::shared_ptr representation1, const SurgSim::DataStructures::Location& location1) : m_active(true) { m_mlcpMap[FIXED_3DPOINT] = Math::MLCP_BILATERAL_3D_CONSTRAINT; m_mlcpMap[FIXED_3DROTATION_VECTOR] = Math::MLCP_BILATERAL_3D_CONSTRAINT; m_mlcpMap[FRICTIONAL_3DCONTACT] = Math::MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT; m_mlcpMap[FRICTIONLESS_3DCONTACT] = Math::MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT; m_mlcpMap[FRICTIONAL_SLIDING] = Math::MLCP_BILATERAL_FRICTIONAL_SLIDING_CONSTRAINT; m_mlcpMap[FRICTIONLESS_SLIDING] = Math::MLCP_BILATERAL_FRICTIONLESS_SLIDING_CONSTRAINT; setInformation(constraintType, data, representation0, location0, representation1, location1); } Constraint::~Constraint() { } const std::pair, std::shared_ptr>& Constraint::getImplementations() const { return m_implementations; } const std::pair, std::shared_ptr>& Constraint::getLocalizations() const { return m_localizations; } std::shared_ptr Constraint::getData() const { return m_data; } size_t Constraint::getNumDof() const { return m_numDof; } ConstraintType Constraint::getType() { return m_constraintType; } void Constraint::build(double dt, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation0, size_t indexOfRepresentation1, size_t indexOfConstraint) { doBuild(dt, *m_data.get(), mlcp, indexOfRepresentation0, indexOfRepresentation1, indexOfConstraint); } bool Constraint::isActive() { return m_active && m_localizations.first->getRepresentation()->isActive() && m_localizations.second->getRepresentation()->isActive(); } void Constraint::setActive(bool flag) { m_active = flag; } void Constraint::doBuild(double dt, const ConstraintData& data, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation0, size_t indexOfRepresentation1, size_t indexOfConstraint) { m_implementations.first->build( dt, *m_data.get(), m_localizations.first, mlcp, indexOfRepresentation0, indexOfConstraint, CONSTRAINT_POSITIVE_SIDE); m_implementations.second->build( dt, *m_data.get(), m_localizations.second, mlcp, indexOfRepresentation1, indexOfConstraint, CONSTRAINT_NEGATIVE_SIDE); mlcp->constraintTypes.push_back( (m_constraintType != INVALID_CONSTRAINT) ? m_mlcpMap[m_constraintType] : Math::MLCP_INVALID_CONSTRAINT); } void Constraint::setInformation(ConstraintType constraintType, std::shared_ptr data, std::shared_ptr representation0, const SurgSim::DataStructures::Location& location0, std::shared_ptr representation1, const SurgSim::DataStructures::Location& location1) { m_constraintType = constraintType; SURGSIM_ASSERT(data != nullptr) << "ConstraintData can't be nullptr"; SURGSIM_ASSERT(representation0 != nullptr) << "First representation can't be nullptr"; SURGSIM_ASSERT(representation1 != nullptr) << "Second representation can't be nullptr"; auto localization0 = representation0->createLocalization(location0); SURGSIM_ASSERT(localization0 != nullptr) << "Could not create localization for " << representation0->getName(); auto localization1 = representation1->createLocalization(location1); SURGSIM_ASSERT(localization1 != nullptr) << "Could not create localization for " << representation1->getName(); auto implementation0 = representation0->getConstraintImplementation(m_constraintType); SURGSIM_ASSERT(implementation0 != nullptr) << "Could not get implementation for " << representation0->getName(); auto implementation1 = representation1->getConstraintImplementation(m_constraintType); SURGSIM_ASSERT(implementation1 != nullptr) << "Could not get implementation for " << representation1->getName(); SURGSIM_ASSERT(implementation0->getNumDof() == implementation1->getNumDof()) << "The number of DOFs does not match between the two implementations"; m_data = data; m_implementations = std::make_pair(implementation0, implementation1); m_localizations = std::make_pair(localization0, localization1); m_numDof = implementation0->getNumDof(); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Constraint.h000066400000000000000000000131551277777236100214310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_CONSTRAINT_H #define SURGSIM_PHYSICS_CONSTRAINT_H #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/ConstraintImplementation.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" #include #include namespace SurgSim { namespace Physics { /// Base class for all physics constraints. Contains data specific to the constraint and a pair of implementations. class Constraint { public: /// Sets all the values for this constraints, does validation on the parameters and will throw if something /// is wrong with the constraint. /// \param constraintType The constraint type. /// \param data The data for this constraint. /// \param representation0, representation1 Both representations in this constraint. /// \param location0, location1 Both locations of the representations involved in this constraint. Constraint( ConstraintType constraintType, std::shared_ptr data, std::shared_ptr representation0, const SurgSim::DataStructures::Location& location0, std::shared_ptr representation1, const SurgSim::DataStructures::Location& location1); /// Destructor virtual ~Constraint(); /// Sets all the values for this constraints, does validation on the parameters and will throw if something /// is wrong with the constraint. /// \param constraintType The constraint type. /// \param data The data for this constraint. /// \param representation0, representation1 Both representations in this constraint. /// \param location0, location1 Both locations of the representations involved in this constraint. void setInformation( ConstraintType constraintType, std::shared_ptr data, std::shared_ptr representation0, const SurgSim::DataStructures::Location& location0, std::shared_ptr representation1, const SurgSim::DataStructures::Location& location1); /// Gets both sides implementation as a pair. /// \return the pair of implementations forming this constraint. const std::pair, std::shared_ptr>& getImplementations() const; /// Gets both sides Localization as a pair. /// \return the pair of localizations forming this constraint. const std::pair, std::shared_ptr>& getLocalizations() const; /// Gets the data associated to this constraint. /// \return The data associated to this constraint. std::shared_ptr getData() const; /// Gets the number of degree of freedom for this constraint. /// \return The number of degree of freedom for this constraint. size_t getNumDof() const; /// Gets the ConstraintType /// \return The type ConstraintType getType(); /// Builds subset of an Mlcp physics problem associated to this constraint. /// \param dt The time step. /// \param [in,out] mlcpPhysicsProblem The Mlcp physics problem to be filled up. /// \param indexOfRepresentation0 The index of the 1st representation in the Mlcp. /// \param indexOfRepresentation1 The index of the 2nd representation in the Mlcp. /// \param indexOfConstraint The index of this constraint in the Mlcp. void build(double dt, MlcpPhysicsProblem* mlcpPhysicsProblem, size_t indexOfRepresentation0, size_t indexOfRepresentation1, size_t indexOfConstraint); /// \return Whether this constraint is active. bool isActive(); /// \param flag Whether this constraint is active. void setActive(bool flag); protected: /// Constraint-MLCP mapping std::array m_mlcpMap; /// Specific data associated to this constraint std::shared_ptr m_data; /// Pair of implementations defining the 2 sides of the constraint std::pair, std::shared_ptr> m_implementations; std::pair, std::shared_ptr> m_localizations; /// The degrees of freedom that this constraint has size_t m_numDof; /// The type of this constraint ConstraintType m_constraintType; /// Builds subset of an Mlcp physics problem associated to this constraint user-defined call for extra treatment /// \param dt The time step /// \param data The data specific to this constraint /// \param [in,out] mlcpPhysicsProblem The Mlcp physics problem to be filled up /// \param indexOfRepresentation0 The index of the 1st representation in the Mlcp /// \param indexOfRepresentation1 The index of the 2nd representation in the Mlcp /// \param indexOfConstraint The index of this constraint in the Mlcp virtual void doBuild(double dt, const ConstraintData& data, MlcpPhysicsProblem* mlcpPhysicsProblem, size_t indexOfRepresentation0, size_t indexOfRepresentation1, size_t indexOfConstraint); /// Flag to indicate whether this constraint is active or not. bool m_active; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_CONSTRAINT_H opensurgsim-0.7.0/SurgSim/Physics/ConstraintComponent.cpp000066400000000000000000000023751277777236100236510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/ConstraintComponent.h" namespace SurgSim { namespace Physics { ConstraintComponent::ConstraintComponent(const std::string& name) : Component(name) { } ConstraintComponent::~ConstraintComponent() { } void ConstraintComponent::setConstraint(std::shared_ptr constraint) { m_constraint = constraint; } std::shared_ptr ConstraintComponent::getConstraint() const { return m_constraint; } bool ConstraintComponent::doInitialize() { return m_constraint != nullptr; }; bool ConstraintComponent::doWakeUp() { return true; } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/ConstraintComponent.h000066400000000000000000000035431277777236100233140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_CONSTRAINTCOMPONENT_H #define SURGSIM_PHYSICS_CONSTRAINTCOMPONENT_H #include #include #include "SurgSim/Framework/Component.h" namespace SurgSim { namespace Physics { class Constraint; /// Component class for inserting constraints between physics representations into the scene. class ConstraintComponent : public SurgSim::Framework::Component { public: /// Constructor /// \param name Name of the component explicit ConstraintComponent(const std::string& name); /// Destructor virtual ~ConstraintComponent(); /// Set the constraint associated with this component /// \param constraint The constraint to be set void setConstraint(std::shared_ptr constraint); /// Get the constraint associated with this component /// \return The associated constraint std::shared_ptr getConstraint() const; protected: /// The stored constraint std::shared_ptr m_constraint; /// Initialize the component /// \return true if successful bool doInitialize() override; /// Wakeup the component /// \return true if successful bool doWakeUp() override; }; }; // namespace SurgSim }; // namespace Physics #endif // SURGSIM_PHYSICS_CONSTRAINTCOMPONENT_H opensurgsim-0.7.0/SurgSim/Physics/ConstraintData.cpp000066400000000000000000000015411277777236100225520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/ConstraintData.h" namespace SurgSim{ namespace Physics{ ConstraintData::ConstraintData() { } ConstraintData::~ConstraintData() { } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/ConstraintData.h000066400000000000000000000021101277777236100222100ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_CONSTRAINTDATA_H #define SURGSIM_PHYSICS_CONSTRAINTDATA_H namespace SurgSim { namespace Physics { /// Base class for all CosntraintData /// Derived classes should be specific to a given constraint class ConstraintData { public: /// Default Constructor ConstraintData(); /// Destructor virtual ~ConstraintData(); }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_CONSTRAINTDATA_H opensurgsim-0.7.0/SurgSim/Physics/ConstraintImplementation.cpp000066400000000000000000000030231277777236100246630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/ConstraintImplementation.h" namespace SurgSim { namespace Physics { ConstraintImplementation::ConstraintImplementation() { } ConstraintImplementation::~ConstraintImplementation() { } ConstraintImplementationFactory& ConstraintImplementation::getFactory() { static ConstraintImplementationFactory factory; return factory; } size_t ConstraintImplementation::getNumDof() const { return doGetNumDof(); } void ConstraintImplementation::build(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) { doBuild(dt, data, localization, mlcp, indexOfRepresentation, indexOfConstraint, sign); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/ConstraintImplementation.h000066400000000000000000000103451277777236100243350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_CONSTRAINTIMPLEMENTATION_H #define SURGSIM_PHYSICS_CONSTRAINTIMPLEMENTATION_H #include #include #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/ConstraintImplementationFactory.h" #include "SurgSim/Physics/ConstraintType.h" #include "SurgSim/Physics/Localization.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" namespace SurgSim { namespace Physics { /// Enum defining on which side of the constraint an implementation is (positive or negative side) /// \note A constraint can be seen as C: side0 = side1 <=> C: side0 - side1 = 0 /// \note Therefore 1 side will have a positive sign (+1), and 1 side a negative sign (-1) enum ConstraintSideSign {CONSTRAINT_POSITIVE_SIDE, CONSTRAINT_NEGATIVE_SIDE}; /// Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constraint. class ConstraintImplementation { public: /// Constructor ConstraintImplementation(); /// Destructor virtual ~ConstraintImplementation(); /// \return The static class factory that contains the implementations for a given Representation type. static ConstraintImplementationFactory& getFactory(); /// Gets the number of degree of freedom for this implementation /// \return The number of degree of freedom for this implementation size_t getNumDof() const; /// Gets the constraint type for this ConstraintImplementation /// \return The constraint type corresponding to this constraint implementation virtual SurgSim::Physics::ConstraintType getConstraintType() const = 0; /// Builds the subset of an Mlcp physics problem associated to this implementation /// \param dt The time step /// \param data The data associated to the constraint /// \param localization The localization for this implementation /// \param [in, out] mlcp The Mixed LCP physics problem to fill up /// \param indexOfRepresentation The index of the representation (associated to this implementation) in the mlcp /// \param indexOfConstraint The index of the constraint in the mlcp /// \param sign The sign of this implementation in the constraint (positive or negative side) void build(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign); protected: /// Preallocated variable for derived implementations of doBuild. Eigen::SparseVector m_newH; private: /// Does get number of degree of freedom /// \return The number of degree of freedom associated to this implementation virtual size_t doGetNumDof() const = 0; /// Builds the subset of an Mlcp physics problem associated to this implementation /// \param dt The time step /// \param data The data associated to the constraint /// \param localization The localization for the constraint /// \param [in, out] mlcp The Mixed LCP physics problem to fill up /// \param indexOfRepresentation The index of the representation (associated to this implementation) in the mlcp /// \param indexOfConstraint The index of the constraint in the mlcp /// \param sign The sign of this implementation in the constraint (positive or negative side) virtual void doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) = 0; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_CONSTRAINTIMPLEMENTATION_H opensurgsim-0.7.0/SurgSim/Physics/ConstraintImplementationFactory.cpp000066400000000000000000000136771277777236100262330ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Blocks/MassSpring1DRepresentation.h" #include "SurgSim/Blocks/MassSpring2DRepresentation.h" #include "SurgSim/Blocks/MassSpring3DRepresentation.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Physics/ConstraintImplementationFactory.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/Fem2DRepresentation.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/FemConstraintFixedPoint.h" #include "SurgSim/Physics/FemConstraintFixedRotationVector.h" #include "SurgSim/Physics/FemConstraintFrictionalSliding.h" #include "SurgSim/Physics/FemConstraintFrictionlessContact.h" #include "SurgSim/Physics/FemConstraintFrictionlessSliding.h" #include "SurgSim/Physics/FixedConstraintFixedPoint.h" #include "SurgSim/Physics/FixedConstraintFixedRotationVector.h" #include "SurgSim/Physics/FixedConstraintFrictionlessContact.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/MassSpringConstraintFixedPoint.h" #include "SurgSim/Physics/MassSpringConstraintFrictionlessContact.h" #include "SurgSim/Physics/MassSpringRepresentation.h" #include "SurgSim/Physics/RigidConstraintFixedPoint.h" #include "SurgSim/Physics/RigidConstraintFixedRotationVector.h" #include "SurgSim/Physics/RigidConstraintFrictionlessContact.h" #include "SurgSim/Physics/RigidRepresentation.h" namespace SurgSim { namespace Physics { ConstraintImplementationFactory::ConstraintImplementationFactory() { using SurgSim::Blocks::MassSpring1DRepresentation; using SurgSim::Blocks::MassSpring2DRepresentation; using SurgSim::Blocks::MassSpring3DRepresentation; addImplementation(typeid(FixedRepresentation), std::make_shared()); addImplementation(typeid(RigidRepresentation), std::make_shared()); addImplementation(typeid(Fem1DRepresentation), std::make_shared()); addImplementation(typeid(Fem2DRepresentation), std::make_shared()); addImplementation(typeid(Fem3DRepresentation), std::make_shared()); addImplementation(typeid(FixedRepresentation), std::make_shared()); addImplementation(typeid(RigidRepresentation), std::make_shared()); addImplementation(typeid(Fem1DRepresentation), std::make_shared()); addImplementation(typeid(Fem2DRepresentation), std::make_shared()); addImplementation(typeid(Fem3DRepresentation), std::make_shared()); addImplementation(typeid(Fem1DRepresentation), std::make_shared()); addImplementation(typeid(Fem2DRepresentation), std::make_shared()); addImplementation(typeid(Fem3DRepresentation), std::make_shared()); addImplementation(typeid(Fem1DRepresentation), std::make_shared()); addImplementation(typeid(Fem2DRepresentation), std::make_shared()); addImplementation(typeid(Fem3DRepresentation), std::make_shared()); addImplementation(typeid(FixedRepresentation), std::make_shared()); addImplementation(typeid(RigidRepresentation), std::make_shared()); addImplementation(typeid(Fem1DRepresentation), std::make_shared()); addImplementation(typeid(MassSpringRepresentation), std::make_shared()); addImplementation(typeid(MassSpringRepresentation), std::make_shared()); addImplementation(typeid(MassSpring1DRepresentation), std::make_shared()); addImplementation(typeid(MassSpring1DRepresentation), std::make_shared()); addImplementation(typeid(MassSpring2DRepresentation), std::make_shared()); addImplementation(typeid(MassSpring2DRepresentation), std::make_shared()); addImplementation(typeid(MassSpring3DRepresentation), std::make_shared()); addImplementation(typeid(MassSpring3DRepresentation), std::make_shared()); } ConstraintImplementationFactory::~ConstraintImplementationFactory() { } std::shared_ptr ConstraintImplementationFactory::getImplementation( std::type_index representationType, ConstraintType constraintType) { SURGSIM_ASSERT(constraintType >= 0 && constraintType < NUM_CONSTRAINT_TYPES) << "Invalid constraint type " << constraintType; auto implementation = m_implementations[representationType][constraintType]; SURGSIM_LOG_IF(implementation == nullptr, SurgSim::Framework::Logger::getDefaultLogger(), WARNING) << "No constraint implementation for representation type (" << representationType.name() << ") and constraint type (" << constraintType << ")"; return implementation; } void ConstraintImplementationFactory::addImplementation( std::type_index typeIndex, std::shared_ptr implementation) { m_implementations[typeIndex][implementation->getConstraintType()] = implementation; } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/ConstraintImplementationFactory.h000066400000000000000000000046531277777236100256720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_CONSTRAINTIMPLEMENTATIONFACTORY_H #define SURGSIM_PHYSICS_CONSTRAINTIMPLEMENTATIONFACTORY_H #include #include #include #include #include "SurgSim/Physics/ConstraintType.h" #include "SurgSim/Physics/Representation.h" namespace SurgSim { namespace Physics { class ConstraintImplementation; /// This class manages ConstraintImplementations, and can be used to look up the correct implementation /// by representation and constraint type. /// The only maintenance that needs to be done right now when a new /// ConstraintImplementation is added is to add a call into the constructor. class ConstraintImplementationFactory { public: /// Constructor ConstraintImplementationFactory(); /// Destructor ~ConstraintImplementationFactory(); /// Get the instance of a ConstraintImplementation for a specific representation and /// constraint type. /// \param representationType Type index of the representation. /// \param constraintType Type of the constraint. /// \return a pointer to an implementation if the implementation can be found, nullptr otherwise. std::shared_ptr getImplementation( std::type_index representationType, ConstraintType constraintType); /// Add an implementation to the internal directory. /// \param typeIndex The type of representation associated with the implementation. /// \param implementation The ConstraintImplementation to add. void addImplementation(std::type_index typeIndex, std::shared_ptr implementation); private: /// Lookup table for constraint implementations std::unordered_map, NUM_CONSTRAINT_TYPES>> m_implementations; }; }; // Physics }; // SurgSim #endif opensurgsim-0.7.0/SurgSim/Physics/ConstraintType.h000066400000000000000000000020671277777236100222730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_CONSTRAINTTYPE_H #define SURGSIM_PHYSICS_CONSTRAINTTYPE_H namespace SurgSim { namespace Physics { enum ConstraintType { INVALID_CONSTRAINT = -1, FIXED_3DPOINT = 0, FIXED_3DROTATION_VECTOR, FRICTIONLESS_3DCONTACT, FRICTIONAL_3DCONTACT, FRICTIONLESS_SLIDING, FRICTIONAL_SLIDING, NUM_CONSTRAINT_TYPES }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_CONSTRAINTTYPE_H opensurgsim-0.7.0/SurgSim/Physics/ContactConstraintData.h000066400000000000000000000052101277777236100235300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_CONTACTCONSTRAINTDATA_H #define SURGSIM_PHYSICS_CONTACTCONSTRAINTDATA_H #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Physics { /// Class for Frictionless contact (only needs a plane equation) class ContactConstraintData : public ConstraintData { public: /// Default constructor ContactConstraintData() : ConstraintData(), m_distance(0.0) { m_normal.setZero(); } /// Destructor virtual ~ContactConstraintData() { } /// Sets the plane equation of the frictionless contact /// \param n The plane normal (normalized vector) /// \param d The plane distance to the origin /// \note The plane is defined by { P | n.P + d = 0 } void setPlaneEquation(const SurgSim::Math::Vector3d& n, double d) { m_normal = n; m_distance = d; } /// Gets the plane normal vector /// \return The plane equation's normal vector (normalized vector) const SurgSim::Math::Vector3d& getNormal() const { return m_normal; } /// Gets the plane distance to the origin /// \return The plane equation's distance to the origin double getDistance() const { return m_distance; } /// Gets the time of contact for the collision /// \return The time of contact for the collision double getContactTime() const { return m_contact->time; } /// \return The contact that uses this constraint data. std::shared_ptr getContact() { return m_contact; } /// \param contacts The contacts that use this constraint data. void setContact(const std::shared_ptr& contacts) { m_contact = contacts; } private: /// Plane equation normal vector (normalized vector) SurgSim::Math::Vector3d m_normal; /// Plane equation distance to origin double m_distance; /// The contact that uses this constraint data. std::shared_ptr m_contact; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_CONTACTCONSTRAINTDATA_H opensurgsim-0.7.0/SurgSim/Physics/ContactConstraintGeneration.cpp000066400000000000000000000130071277777236100253100ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/ContactConstraintGeneration.h" #include #include #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ContactConstraintData.h" #include "SurgSim/Physics/ConstraintImplementation.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/Representation.h" namespace SurgSim { namespace Physics { ContactConstraintGeneration::ContactConstraintGeneration(bool doCopyState) : Computation(doCopyState) { m_logger = SurgSim::Framework::Logger::getLogger("ContactConstraintGeneration"); } ContactConstraintGeneration::~ContactConstraintGeneration() { } std::shared_ptr ContactConstraintGeneration::doUpdate( const double& dt, const std::shared_ptr& state) { using SurgSim::DataStructures::Location; auto result = state; auto& pairs = result->getCollisionPairs(); std::vector> constraints; // This will check all collision pairs for contacts, then iterate over all // the contacts and for each contact will create a constraint between the // sides of the collisionpair and the localizations created from the contact // point. The list of all the constraints will be added back into the // Physics state as a result of this computation for (auto& pair : pairs) { if (pair->hasContacts()) { auto collisionRepresentations = pair->getRepresentations(); auto collisionToPhysicsMap = state->getCollisionToPhysicsMap(); auto foundFirst = collisionToPhysicsMap.find(collisionRepresentations.first); auto foundSecond = collisionToPhysicsMap.find(collisionRepresentations.second); if (foundFirst == collisionToPhysicsMap.end() || foundSecond == collisionToPhysicsMap.end()) { SURGSIM_LOG_DEBUG(m_logger) << __FUNCTION__ << " Not creating a constraint. " << collisionRepresentations.first->getName() << " and/or " << collisionRepresentations.second->getName() << " does not have a physics representation"; continue; } std::pair, std::shared_ptr> physicsRepresentations; physicsRepresentations.first = foundFirst->second; physicsRepresentations.second = foundSecond->second; if (!(physicsRepresentations.first->isActive() && physicsRepresentations.second->isActive())) { SURGSIM_LOG_DEBUG(m_logger) << __FUNCTION__ << " Not creating a constraint. " << physicsRepresentations.first->getName() << " and/or " << physicsRepresentations.second->getName() << " is not an active physics representation"; continue; } const auto& contacts = pair->getContacts(); for (auto& contact : contacts) { std::pair, std::shared_ptr> locations; locations.first = makeLocation(physicsRepresentations.first, collisionRepresentations.first, contact->penetrationPoints.first); locations.second = makeLocation(physicsRepresentations.second, collisionRepresentations.second, contact->penetrationPoints.second); // HS-2013-jul-12 The type of constraint is fixed here right now, to get to a constraint // that we can change we probably will need to predefine collision pairs and their appropriate // contact constraints so we can look up which constraint to use here auto data = std::make_shared(); data->setPlaneEquation(contact->normal, contact->depth); data->setContact(contact); constraints.push_back(std::make_shared( SurgSim::Physics::FRICTIONLESS_3DCONTACT, data, physicsRepresentations.first, *locations.first, physicsRepresentations.second, *locations.second)); } } } result->setConstraintGroup(CONSTRAINT_GROUP_TYPE_CONTACT, constraints); return std::move(result); } std::shared_ptr ContactConstraintGeneration::makeLocation( std::shared_ptr physicsRepresentation, std::shared_ptr collisionRepresentation, const SurgSim::DataStructures::Location& location) { auto physicsLocation = std::make_shared(location); SURGSIM_ASSERT(physicsLocation != nullptr) << "Cannot create Location object."; if (location.rigidLocalPosition.hasValue()) { // Move the local position from the collision representation that created the location // to local coordinates of the physics representation that is creating a localization physicsLocation->rigidLocalPosition.setValue( physicsRepresentation->getLocalPose().inverse() * collisionRepresentation->getLocalPose() * location.rigidLocalPosition.getValue()); } return physicsLocation; } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/ContactConstraintGeneration.h000066400000000000000000000065741277777236100247700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_CONTACTCONSTRAINTGENERATION_H #define SURGSIM_PHYSICS_CONTACTCONSTRAINTGENERATION_H #include #include "SurgSim/Framework/Macros.h" #include "SurgSim/Physics/Computation.h" namespace SurgSim { namespace Framework { class Logger; } namespace DataStructures { struct Location; } namespace Collision { class Representation; } namespace Physics { class Localization; class PhysicsManagerState; class Representation; /// Generate a constraint for every contact that was calculated. /// The general algorithm is such, for each pair of Collision Representations that has Contacts /// For each contact: /// - Generate a localization for each side of the pair /// - Find the correct CollisionImplementation for the Representation and type of constraint, note that currently /// we use only one type of constraint for the collision /// - Create the ConstraintData for the contact with /// - Create a constraint from, the ContactImplmentation, Localization and ConstraintData /// - Add it to the list of Constraints /// At the end those constraints are added as contact constraints to the physics state class ContactConstraintGeneration : public Computation { public: /// Constructor /// \param doCopyState Specify if the output state in Computation::Update() is a copy or not of the input state explicit ContactConstraintGeneration(bool doCopyState = false); SURGSIM_CLASSNAME(SurgSim::Physics::ContactConstraintGeneration); /// Destructor ~ContactConstraintGeneration(); private: /// The logger for this class std::shared_ptr m_logger; /// Overridden function from Computation, the actual work is done here /// \param dt The time passed from the last update in seconds. /// \param state The physics state. /// \return The changed state of the, depending on the setting of doCopyState this is either the same instance /// or a copied instance of the physics state. std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; /// Generate a location from a Collision Representation. /// \param physicsRepresentation The physics representation. /// \param collisionRepresentation The collision representation. /// \param location The location generated by the contact calculation. /// \return The localization for the collision representations physics representation. /// \note Asserts if cannot Location create shared object. std::shared_ptr makeLocation( std::shared_ptr physicsRepresentation, std::shared_ptr collisionRepresentation, const SurgSim::DataStructures::Location& location); }; }; // Physics }; // SurgSim #endif opensurgsim-0.7.0/SurgSim/Physics/ContactFiltering.cpp000066400000000000000000000047441277777236100231030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include "SurgSim/Collision/ContactFilter.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/ThreadPool.h" #include "SurgSim/Physics/ContactFiltering.h" #include "SurgSim/Physics/PhysicsManagerState.h" namespace SurgSim { namespace Physics { ContactFiltering::ContactFiltering(bool doCopyState) : Computation(doCopyState) { } ContactFiltering::~ContactFiltering() { } std::shared_ptr ContactFiltering::doUpdate( const double& dt, const std::shared_ptr& state) { static auto isActive = [](std::shared_ptr f) { return f->isActive(); }; static auto hasContacts = [](std::shared_ptr p) { return p->hasContacts(); }; std::shared_ptr result = state; auto threadPool = Framework::Runtime::getThreadPool(); std::vector> tasks; const auto& stateFilters = state->getContactFilters(); std::vector> filters; filters.reserve(stateFilters.size()); std::copy_if(stateFilters.begin(), stateFilters.end(), std::back_inserter(filters), isActive); if (filters.size() == 0) { return result; } for (const auto& filter : filters) { filter->update(dt); } const auto& statePairs = state->getCollisionPairs(); std::vector > pairs; pairs.reserve(statePairs.size()); std::copy_if(statePairs.begin(), statePairs.end(), std::back_inserter(pairs), hasContacts); for (auto& pair : pairs) { tasks.push_back(threadPool->enqueue([&state, &filters, &pair]() { for (const auto& filter : filters) { filter->filterContacts(state, pair); } })); } std::for_each(tasks.begin(), tasks.end(), [](std::future& p) { p.get(); }); return result; } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/ContactFiltering.h000066400000000000000000000032051277777236100225370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_CONTACTFILTERING_H #define SURGSIM_PHYSICS_CONTACTFILTERING_H #include #include "SurgSim/Framework/Macros.h" #include "SurgSim/Physics/Computation.h" namespace SurgSim { namespace Physics { class PhysicsManagerState; /// Computation to determine filter the contacts on collisions pairs. /// This Computation class takes the list of collision pairs and the list of contact filters and will apply all /// the filters to the collision pairs' contacts. class ContactFiltering : public Computation { public: /// Constructor /// \param doCopyState Specify if the output state in Computation::Update() is a copy or not of the input state explicit ContactFiltering(bool doCopyState = false); SURGSIM_CLASSNAME(SurgSim::Physics::ContactFiltering); /// Destructor virtual ~ContactFiltering(); protected: std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; }; }; // Physics }; // SurgSim #endif opensurgsim-0.7.0/SurgSim/Physics/DcdCollision.cpp000066400000000000000000000040611277777236100222020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/ContactCalculation.h" #include "SurgSim/Collision/CcdDcdCollision.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/ThreadPool.h" #include "SurgSim/Physics/DcdCollision.h" #include "SurgSim/Physics/PhysicsManagerState.h" using SurgSim::Collision::CollisionPair; using SurgSim::Collision::ContactCalculation; namespace SurgSim { namespace Physics { DcdCollision::DcdCollision(bool doCopyState) : Computation(doCopyState) { } DcdCollision::~DcdCollision() { } std::shared_ptr DcdCollision::doUpdate( const double& dt, const std::shared_ptr& state) { std::shared_ptr result = state; auto threadPool = Framework::Runtime::getThreadPool(); std::vector> tasks; const auto& calculations = ContactCalculation::getDcdContactTable(); for (auto& pair : result->getCollisionPairs()) { if (pair->getType() == Collision::COLLISION_DETECTION_TYPE_DISCRETE) { tasks.push_back(threadPool->enqueue([&calculations, &pair]() { calculations[pair->getFirst()->getShapeType()] [pair->getSecond()->getShapeType()]->calculateContact(pair); })); } } std::for_each(tasks.begin(), tasks.end(), [](std::future& p){p.get();}); return result; } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/DcdCollision.h000066400000000000000000000044051277777236100216510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_DCDCOLLISION_H #define SURGSIM_PHYSICS_DCDCOLLISION_H #include #include "SurgSim/Framework/Macros.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Physics/Computation.h" namespace SurgSim { namespace Collision { class ContactCalculation; } namespace Physics { class PhysicsManagerState; /// Computation to determine the contacts between a list of CollisionPairs. /// This Computation class takes a list of representations, it will generate a list of collision pairs /// from this list on every frame, for each CollisionPair, it uses a two dimensional table of /// function objects (ContactCalculation) to determine how to calculate a contact between the two /// members of each pair, if no specific function exists a default function will be used. /// will update the collision pairs accordingly. /// \note When a new ContactCalculation type gets implemented, the type needs to be registered with the table /// inside of ContactCalculation class DcdCollision : public Computation { public: /// Constructor /// \param doCopyState Specify if the output state in Computation::Update() is a copy or not of the input state explicit DcdCollision(bool doCopyState = false); SURGSIM_CLASSNAME(SurgSim::Physics::DcdCollision); /// Destructor virtual ~DcdCollision(); protected: /// Executes the update operation, overridden from Computation. /// \param dt The time passed. /// \param state The PhysicsManagerState from previous computation. std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; }; }; // Physics }; // SurgSim #endif opensurgsim-0.7.0/SurgSim/Physics/DeformableCollisionRepresentation.cpp000066400000000000000000000207731277777236100265030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SegmentMeshShape.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Math/SurfaceMeshShape.h" #include "SurgSim/Physics/DeformableCollisionRepresentation.h" #include "SurgSim/Physics/DeformableRepresentation.h" namespace SurgSim { namespace Physics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Physics::DeformableCollisionRepresentation, DeformableCollisionRepresentation); DeformableCollisionRepresentation::DeformableCollisionRepresentation(const std::string& name) : SurgSim::Collision::Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(DeformableCollisionRepresentation, std::shared_ptr, Shape, getShape, setShape); } DeformableCollisionRepresentation::~DeformableCollisionRepresentation() { } namespace { bool updateShapeFromOdeState(const Math::OdeState& odeState, SurgSim::Math::Shape* shape) { bool result = false; const size_t numNodes = odeState.getNumNodes(); if (shape->getType() == SurgSim::Math::SHAPE_TYPE_MESH || shape->getType() == SurgSim::Math::SHAPE_TYPE_SURFACEMESH) { auto meshShape = dynamic_cast(shape); SURGSIM_ASSERT(meshShape != nullptr) << "The shape is neither a mesh nor a surface mesh"; SURGSIM_ASSERT(meshShape->getNumVertices() == numNodes) << "The number of nodes in the deformable does not match the number of vertices in the mesh."; for (size_t nodeId = 0; nodeId < numNodes; ++nodeId) { meshShape->setVertexPosition(nodeId, odeState.getPosition(nodeId)); } result = meshShape->update(); } else if (shape->getType() == SurgSim::Math::SHAPE_TYPE_SEGMENTMESH) { auto meshShape = dynamic_cast(shape); SURGSIM_ASSERT(meshShape != nullptr) << "The shape is of type mesh but is not a mesh"; SURGSIM_ASSERT(meshShape->getNumVertices() == numNodes) << "The number of nodes in the deformable does not match the number of vertices in the mesh."; for (size_t nodeId = 0; nodeId < numNodes; ++nodeId) { meshShape->setVertexPosition(nodeId, odeState.getPosition(nodeId)); } result = meshShape->update(); } return result; } } bool DeformableCollisionRepresentation::doInitialize() { bool result = false; if (nullptr != m_shape && m_shape->isValid()) { result = true; } return result; } bool DeformableCollisionRepresentation::doWakeUp() { auto physicsRepresentation = m_deformable.lock(); SURGSIM_ASSERT(nullptr != physicsRepresentation) << "The Physics::Representation referred by this DeformableCollisionRepresentation has expired."; auto state = physicsRepresentation->getCurrentState(); SURGSIM_ASSERT(nullptr != state) << "DeformableRepresentation " << physicsRepresentation->getName() << " holds an empty OdeState."; auto shape = std::dynamic_pointer_cast(m_shape); SURGSIM_ASSERT(shape != nullptr) << "The shape object is not inherited from DataStructures::VerticesPlain, but should be."; SURGSIM_ASSERT(shape->getNumVertices() == state->getNumNodes()) << "The number of nodes in the deformable does not match the number of vertices in the mesh."; update(0.0); return true; } int DeformableCollisionRepresentation::getShapeType() const { SURGSIM_ASSERT(nullptr != m_shape) << "No mesh/shape assigned to DeformableCollisionRepresentation " << getName(); return m_shape->getType(); } void DeformableCollisionRepresentation::setShape(std::shared_ptr shape) { SURGSIM_ASSERT(shape->getType() == SurgSim::Math::SHAPE_TYPE_MESH || shape->getType() == SurgSim::Math::SHAPE_TYPE_SEGMENTMESH || shape->getType() == SurgSim::Math::SHAPE_TYPE_SURFACEMESH) << "Deformable collision shape has to be a mesh. But what passed in is " << shape->getType(); m_shape = shape; } const std::shared_ptr DeformableCollisionRepresentation::getShape() const { return m_shape; } void DeformableCollisionRepresentation::setDeformableRepresentation( std::shared_ptrrepresentation) { m_deformable = representation; } const std::shared_ptr DeformableCollisionRepresentation::getDeformableRepresentation() const { auto physicsRepresentation = m_deformable.lock(); SURGSIM_ASSERT(physicsRepresentation != nullptr) << "Failed to get the deformable representation. The DeformableCollisionRepresentation either was not " "attached to a Physics::Representation or the Physics::Representation has expired."; return physicsRepresentation; } void DeformableCollisionRepresentation::updateShapeData() { auto physicsRepresentation = m_deformable.lock(); SURGSIM_ASSERT(nullptr != physicsRepresentation) << "Failed to update. The DeformableCollisionRepresentation either was not attached to a " "Physics::Representation or the Physics::Representation has expired."; // Write current shape if (!updateShapeFromOdeState(*physicsRepresentation->getCurrentState().get(), m_shape.get())) { setLocalActive(false); SURGSIM_LOG_SEVERE(Framework::Logger::getLogger("Collision/DeformableCollisionRepresentation")) << "CollisionRepresentation '" << getFullName() << "' went inactive because its shape failed to update."; } } void DeformableCollisionRepresentation::updateDcdData() { // HS-2-Mar-2016 // #todo should only have to build the AABB tree here } void DeformableCollisionRepresentation::updateCcdData(double interval) { auto physicsRepresentation = m_deformable.lock(); SURGSIM_ASSERT(nullptr != physicsRepresentation) << "Failed to update. The DeformableCollisionRepresentation either was not attached to a " "Physics::Representation or the Physics::Representation has expired."; if (m_previousShape == nullptr) { if (m_shape->getType() == SurgSim::Math::SHAPE_TYPE_MESH || m_shape->getType() == SurgSim::Math::SHAPE_TYPE_SEGMENTMESH || m_shape->getType() == SurgSim::Math::SHAPE_TYPE_SURFACEMESH) { m_previousShape = m_shape->getTransformed(Math::RigidTransform3d::Identity()); } else { SURGSIM_FAILURE() << "Invalid type, should be MeshShape(" << SurgSim::Math::SHAPE_TYPE_MESH << ") or SegmentMeshShape(" << SurgSim::Math::SHAPE_TYPE_SEGMENTMESH << ") or SurfaceMeshShape(" << SurgSim::Math::SHAPE_TYPE_SURFACEMESH <<"), but it is " << m_shape->getType(); } } if (!updateShapeFromOdeState(*physicsRepresentation->getPreviousState().get(), m_previousShape.get())) { setLocalActive(false); SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getLogger("Collision/DeformableCollisionRepresentation")) << "CollisionRepresentation '" << getFullName() << "' went inactive because its shape failed to update."; } // Write current shape if (!updateShapeFromOdeState(*physicsRepresentation->getCurrentState().get(), m_shape.get())) { setLocalActive(false); SURGSIM_LOG_SEVERE(Framework::Logger::getLogger("Collision/DeformableCollisionRepresentation")) << "CollisionRepresentation '" << getFullName() << "' went inactive because its shape failed to update."; } Math::PosedShape> posedShapeFirst(m_previousShape, Math::RigidTransform3d::Identity()); Math::PosedShape> posedShapeSecond(m_shape, Math::RigidTransform3d::Identity()); Math::PosedShapeMotion> posedShapeMotion(posedShapeFirst, posedShapeSecond); setPosedShapeMotion(posedShapeMotion); // HS-2-Mar-2016 // #todo Add AABB tree for the posedShapeMotion (i.e. that is the tree where each bounding box consists of the // corresponding elements from posedShape1 and posedShape2 } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/DeformableCollisionRepresentation.h000066400000000000000000000057531277777236100261510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_DEFORMABLECOLLISIONREPRESENTATION_H #define SURGSIM_PHYSICS_DEFORMABLECOLLISIONREPRESENTATION_H #include #include #include "SurgSim/Collision/Representation.h" #include "SurgSim/Framework/ObjectFactory.h" namespace SurgSim { namespace Math { class Shape; class MeshShape; } namespace Physics { class DeformableRepresentation; SURGSIM_STATIC_REGISTRATION(DeformableCollisionRepresentation); /// A collision representation that can be attached to a deformable, when this contains a mesh with the same number /// of vertices as the deformable has nodes, the mesh vertices will move to match the positions of the nodes in /// the deformable. class DeformableCollisionRepresentation : public SurgSim::Collision::Representation { public: /// Constructor /// \param name Name of the Representation explicit DeformableCollisionRepresentation(const std::string& name); /// Destructor virtual ~DeformableCollisionRepresentation(); SURGSIM_CLASSNAME(SurgSim::Physics::DeformableCollisionRepresentation); /// Set the shape for this collision representation, has to be a SurgSim::Math::MeshShape. /// The vertices in the mesh need to be the same number as the vertices in the deformable representation. /// \param shape The shape to be used. void setShape(std::shared_ptr shape); const std::shared_ptr getShape() const override; /// Sets the deformable to which this collision representation is connected /// \param representation The deformable that will be used to update the contained mesh void setDeformableRepresentation(std::shared_ptr representation); /// \return The deformable that is used to update the contained mesh const std::shared_ptr getDeformableRepresentation() const; int getShapeType() const override; void updateDcdData() override; void updateCcdData(double interval) override; void updateShapeData() override; private: bool doInitialize() override; bool doWakeUp() override; /// Shape used for collision detection std::shared_ptr m_shape, m_previousShape; /// Reference to the deformable driving changes to this mesh std::weak_ptr m_deformable; }; } // namespace Physics } // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Physics/DeformableRepresentation.cpp000066400000000000000000000343461277777236100246300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2012-2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Framework/PoseComponent.h" #include "SurgSim/Math/LinearSparseSolveAndInverse.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/OdeSolverEulerExplicit.h" #include "SurgSim/Math/OdeSolverEulerExplicitModified.h" #include "SurgSim/Math/OdeSolverEulerImplicit.h" #include "SurgSim/Math/OdeSolverRungeKutta4.h" #include "SurgSim/Math/OdeSolverLinearEulerExplicit.h" #include "SurgSim/Math/OdeSolverLinearEulerExplicitModified.h" #include "SurgSim/Math/OdeSolverLinearEulerImplicit.h" #include "SurgSim/Math/OdeSolverLinearRungeKutta4.h" #include "SurgSim/Math/OdeSolverLinearStatic.h" #include "SurgSim/Math/OdeSolverStatic.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Physics/DeformableRepresentation.h" #include "SurgSim/Physics/DeformableCollisionRepresentation.h" using SurgSim::Math::Matrix; using SurgSim::Math::OdeState; using SurgSim::Math::SparseMatrix; using SurgSim::Math::Vector; namespace SurgSim { namespace Physics { DeformableRepresentation::DeformableRepresentation(const std::string& name) : Representation(name), SurgSim::Math::OdeEquation(), m_numDofPerNode(0), m_integrationScheme(SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT), m_linearSolver(SurgSim::Math::LINEARSOLVER_LU) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(DeformableRepresentation, SurgSim::Math::IntegrationScheme, IntegrationScheme, getIntegrationScheme, setIntegrationScheme); SURGSIM_ADD_SERIALIZABLE_PROPERTY(DeformableRepresentation, SurgSim::Math::LinearSolver, LinearSolver, getLinearSolver, setLinearSolver); SURGSIM_ADD_SERIALIZABLE_PROPERTY(DeformableRepresentation, std::shared_ptr, CollisionRepresentation, getCollisionRepresentation, setCollisionRepresentation); } DeformableRepresentation::~DeformableRepresentation() { } void DeformableRepresentation::resetState() { Representation::resetState(); // Reminder: m_initialState is being held in OdeEquation *m_currentState = *m_initialState; *m_previousState = *m_initialState; // m_newState does not need to be reset, it is a temporary variable *m_finalState = *m_initialState; } void DeformableRepresentation::setLocalPose(const SurgSim::Math::RigidTransform3d& pose) { SURGSIM_ASSERT(!isInitialized()) << "Cannot set the local pose of a DeformableRepresentation after it has been initialized"; Representation::setLocalPose(pose); } void DeformableRepresentation::setInitialState( std::shared_ptr initialState) { // This initializes and allocates the m_initialState data member m_initialState = initialState; m_previousState = std::make_shared(*m_initialState); m_currentState = std::make_shared(*m_initialState); m_newState = std::make_shared(*m_initialState); m_finalState = std::make_shared(*m_initialState); // Set the representation number of degree of freedom setNumDof(m_initialState->getNumDof()); m_hasExternalGeneralizedForce = false; m_externalGeneralizedForce.setZero(getNumDof()); m_externalGeneralizedStiffness.resize(static_cast(getNumDof()), static_cast(getNumDof())); m_externalGeneralizedDamping.resize(static_cast(getNumDof()), static_cast(getNumDof())); m_previousHasExternalGeneralizedForce = m_hasExternalGeneralizedForce; m_previousExternalGeneralizedStiffness = m_externalGeneralizedStiffness; m_previousExternalGeneralizedDamping = m_externalGeneralizedDamping; } const std::shared_ptr DeformableRepresentation::getCurrentState() const { return m_currentState; } const std::shared_ptr DeformableRepresentation::getPreviousState() const { return m_previousState; } const std::shared_ptr DeformableRepresentation::getFinalState() const { return m_finalState; } size_t DeformableRepresentation::getNumDofPerNode() const { return m_numDofPerNode; } void DeformableRepresentation::setIntegrationScheme(SurgSim::Math::IntegrationScheme integrationScheme) { SURGSIM_ASSERT(!isInitialized()) << "You cannot set the integration scheme after the component has been initialized"; m_integrationScheme = integrationScheme; } SurgSim::Math::IntegrationScheme DeformableRepresentation::getIntegrationScheme() const { return m_integrationScheme; } std::shared_ptr DeformableRepresentation::getOdeSolver() const { return m_odeSolver; } void DeformableRepresentation::setLinearSolver(SurgSim::Math::LinearSolver linearSolver) { SURGSIM_ASSERT(!isInitialized()) << "You cannot set the linear solver after the component has been initialized"; m_linearSolver = linearSolver; } SurgSim::Math::LinearSolver DeformableRepresentation::getLinearSolver() const { return m_linearSolver; } const SurgSim::Math::Vector& DeformableRepresentation::getExternalGeneralizedForce() const { return m_externalGeneralizedForce; } const SurgSim::Math::SparseMatrix& DeformableRepresentation::getExternalGeneralizedStiffness() const { return m_externalGeneralizedStiffness; } const SurgSim::Math::SparseMatrix& DeformableRepresentation::getExternalGeneralizedDamping() const { return m_externalGeneralizedDamping; } Math::Matrix DeformableRepresentation::applyCompliance(const Math::OdeState& state, const Math::Matrix& b) { SURGSIM_ASSERT(m_odeSolver) << "Ode solver not initialized, it should have been initialized on wake-up"; Math::Matrix bTemp = b; for (auto condition : state.getBoundaryConditions()) { Math::zeroRow(condition, &bTemp); } auto solution = m_odeSolver->getLinearSolver()->solve(bTemp); for (auto condition : state.getBoundaryConditions()) { Math::zeroRow(condition, &solution); } return solution; } const SurgSim::Math::Matrix& DeformableRepresentation::getComplianceMatrix() const { SURGSIM_ASSERT(m_odeSolver) << "Ode solver not initialized, it should have been initialized on wake-up"; return m_odeSolver->getComplianceMatrix(); } void DeformableRepresentation::update(double dt) { if (! isActive()) { return; } SURGSIM_ASSERT(m_odeSolver != nullptr) << "Ode solver has not been set yet. Did you call beforeUpdate() ?"; SURGSIM_ASSERT(m_initialState != nullptr) << "Initial state has not been set yet. Did you call setInitialState() ?"; // Solve the ode m_odeSolver->solve(dt, *m_currentState, m_newState.get()); // Back up the current state into the previous state (by swapping) m_currentState.swap(m_previousState); // Make the new state, the current state (by swapping) m_currentState.swap(m_newState); if (!m_currentState->isValid()) { SURGSIM_LOG(SurgSim::Framework::Logger::getDefaultLogger(), DEBUG) << getName() << " deactivated :" << std::endl << "position=(" << m_currentState->getPositions().transpose() << ")" << std::endl << "velocity=(" << m_currentState->getVelocities().transpose() << ")" << std::endl; setLocalActive(false); } } void DeformableRepresentation::afterUpdate(double dt) { if (! isActive()) { return; } driveSceneElementPose(SurgSim::Math::RigidTransform3d::Identity()); // Back up the current state into the final state // #threadsafety *m_finalState = *m_currentState; // Reset the external generalized force, stiffness and damping m_previousHasExternalGeneralizedForce = m_hasExternalGeneralizedForce; if (m_hasExternalGeneralizedForce) { std::swap(m_previousExternalGeneralizedStiffness, m_externalGeneralizedStiffness); std::swap(m_previousExternalGeneralizedDamping, m_externalGeneralizedDamping); m_externalGeneralizedForce.setZero(); m_externalGeneralizedStiffness.setZero(); m_externalGeneralizedDamping.setZero(); m_hasExternalGeneralizedForce = false; } } void DeformableRepresentation::applyCorrection(double dt, const Eigen::VectorBlock& deltaVelocity) { if (!isActive()) { return; } m_currentState->getPositions() += deltaVelocity * dt; m_currentState->getVelocities() += deltaVelocity; if (!m_currentState->isValid()) { SURGSIM_LOG(SurgSim::Framework::Logger::getDefaultLogger(), DEBUG) << getName() << " deactivated :" << std::endl << "position=(" << m_currentState->getPositions() << ")" << std::endl << "velocity=(" << m_currentState->getVelocities() << ")" << std::endl; setLocalActive(false); } } void DeformableRepresentation::deactivateAndReset() { SURGSIM_LOG(SurgSim::Framework::Logger::getDefaultLogger(), DEBUG) << getName() << " deactivated and reset:" << std::endl << "position=(" << m_currentState->getPositions() << ")" << std::endl << "velocity=(" << m_currentState->getVelocities() << ")" << std::endl; resetState(); setLocalActive(false); } void DeformableRepresentation::setCollisionRepresentation( std::shared_ptr representation) { if (m_collisionRepresentation != representation) { // If we have an old collision representation clear the dependency if it was a deformable collision // representation auto oldCollisionRep = std::dynamic_pointer_cast(m_collisionRepresentation); if (oldCollisionRep != nullptr) { oldCollisionRep->setDeformableRepresentation(nullptr); } Representation::setCollisionRepresentation(representation); // If its a RigidCollisionRepresentation connect with this representation auto newCollisionRep = std::dynamic_pointer_cast(representation); if (newCollisionRep != nullptr) { newCollisionRep->setDeformableRepresentation( std::static_pointer_cast(getSharedPtr())); } } } bool DeformableRepresentation::doInitialize() { SURGSIM_ASSERT(m_initialState != nullptr) << "You must set the initial state before calling Initialize"; // Transform the state with the initial pose transformState(m_initialState, getPose()); *m_previousState = *m_initialState; *m_currentState = *m_initialState; *m_newState = *m_initialState; *m_finalState = *m_initialState; // Since the pose is now embedded in the state, reset element and local pose to identity. setLocalPose(SurgSim::Math::RigidTransform3d::Identity()); std::shared_ptr sceneElement = getSceneElement(); if (sceneElement != nullptr) { sceneElement->setPose(SurgSim::Math::RigidTransform3d::Identity()); } // Set the ode solver using the chosen integration scheme switch (m_integrationScheme) { case SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT: m_odeSolver = std::make_shared(this); break; case SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED: m_odeSolver = std::make_shared(this); break; case SurgSim::Math::INTEGRATIONSCHEME_EULER_IMPLICIT: m_odeSolver = std::make_shared(this); break; case SurgSim::Math::INTEGRATIONSCHEME_STATIC: m_odeSolver = std::make_shared(this); break; case SurgSim::Math::INTEGRATIONSCHEME_RUNGE_KUTTA_4: m_odeSolver = std::make_shared(this); break; case SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT: m_odeSolver = std::make_shared(this); break; case SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT_MODIFIED: m_odeSolver = std::make_shared(this); break; case SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT: m_odeSolver = std::make_shared(this); break; case SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC: m_odeSolver = std::make_shared(this); break; case SurgSim::Math::INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4: m_odeSolver = std::make_shared(this); break; default: SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << "Ode solver (integration scheme) not initialized, the integration scheme is invalid"; return false; } // Set the linear solver with initial settings on the ode solver switch (m_linearSolver) { case SurgSim::Math::LINEARSOLVER_LU: m_odeSolver->setLinearSolver(std::make_shared()); break; case SurgSim::Math::LINEARSOLVER_CONJUGATEGRADIENT: m_odeSolver->setLinearSolver(std::make_shared()); break; default: SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << "Linear solver not initialized, the linear solver is invalid"; return false; } return true; } bool DeformableRepresentation::doWakeUp() { std::shared_ptr sceneElement = getSceneElement(); if (sceneElement != nullptr) { bool isIdentity = sceneElement->getPose().isApprox(SurgSim::Math::RigidTransform3d::Identity()); auto logger = SurgSim::Framework::Logger::getLogger("Physics"); SURGSIM_LOG_IF(!isIdentity, logger, WARNING) << "SceneElement '" << sceneElement->getName() << "' pose has been changed in between initialize() " << "and wakeUp() which can produce unrealistic behavior for the DeformableRepresentation '" << getName() << "'"; } return true; } void DeformableRepresentation::interpolatePreviousState(double t) { m_previousState = std::make_shared(getPreviousState()->interpolate(*getCurrentState(), t)); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/DeformableRepresentation.h000066400000000000000000000217361277777236100242740ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file DeformableRepresentation.h /// Base class for all deformable representations (abstract class) #ifndef SURGSIM_PHYSICS_DEFORMABLEREPRESENTATION_H #define SURGSIM_PHYSICS_DEFORMABLEREPRESENTATION_H #include #include "SurgSim/Math/LinearSparseSolveAndInverse.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/OdeEquation.h" #include "SurgSim/Math/OdeSolver.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Representation.h" namespace SurgSim { namespace Physics { class Localization; /// Base class for all deformable representations MassSprings, Finite Element Models,... /// \note It is both a Physics::Representation and a Math::OdeEquation /// \note It holds the representation states (common to all deformable) except the initial state, /// \note which is being held by the OdeEquation (initial condition of the ode problem). /// \note It holds the initial pose, which should be set before setting the initial state so the states /// \note can be properly transformed. /// \note The current pose is always identity and therefore cannot be set. Calling setPose will raise an exception. /// \note It holds the force vector; the mass, damping and stiffness matrices /// \note Derived classes must implement the Representation API and the OdeEquation API, also set /// \note m_numDofPerNode and call Representation::setNumDof() class DeformableRepresentation : public Representation, public SurgSim::Math::OdeEquation { public: /// Constructor /// \param name The deformable representation's name explicit DeformableRepresentation(const std::string& name); /// Destructor virtual ~DeformableRepresentation(); void resetState() override; /// Initialize the state variables to initialState /// \param initialState is the state to be set as the starting state virtual void setInitialState(std::shared_ptr initialState); /// Return the current state of the deformable representation /// \return the current state virtual const std::shared_ptr getCurrentState() const; /// Return the previous state of the deformable representation /// \return the previous state virtual const std::shared_ptr getPreviousState() const; /// Return the final state of the deformable representation /// \return the final state virtual const std::shared_ptr getFinalState() const; /// Declare a new previous state by interpolating between the old previous /// state and the current state using parametric time variable t /// \param t parametric time at which to calculate the new state virtual void interpolatePreviousState(double t); /// Gets the number of degrees of freedom per node /// \return The number of degrees of freedom per node for this Deformable Representation size_t getNumDofPerNode() const; /// Sets the numerical integration scheme /// \param integrationScheme The integration scheme to use /// \exception SurgSim::Framework::AssertionFailure raised if called after the component has been initialized. void setIntegrationScheme(SurgSim::Math::IntegrationScheme integrationScheme); /// Gets the numerical integration scheme /// \return The integration scheme currently in use /// \note Default is SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT SurgSim::Math::IntegrationScheme getIntegrationScheme() const; /// \return The ode solver (dependent on the integration scheme) /// \note Will return nullptr if called before initialization. std::shared_ptr getOdeSolver() const; /// Sets the linear algebraic solver /// \param linearSolver The linear algebraic solver to use /// \exception SurgSim::Framework::AssertionFailure raised if called after the component has been initialized. void setLinearSolver(SurgSim::Math::LinearSolver linearSolver); /// Gets the linear algebraic solver /// \return The linear solver currently in use /// \note Default is SurgSim::Math::LINEARSOLVER_LU SurgSim::Math::LinearSolver getLinearSolver() const; /// Add an external generalized force applied on a specific localization /// \param localization where the generalized force is applied /// \param generalizedForce The force to apply (of dimension getNumDofPerNode()) /// \param K The stiffness matrix associated with the generalized force (Jacobian of the force w.r.t dof's position) /// \param D The damping matrix associated with the generalized force (Jacobian of the force w.r.t dof's velocity) virtual void addExternalGeneralizedForce(std::shared_ptr localization, const SurgSim::Math::Vector& generalizedForce, const SurgSim::Math::Matrix& K = SurgSim::Math::Matrix(), const SurgSim::Math::Matrix& D = SurgSim::Math::Matrix()) = 0; /// \return the external generalized force vector const SurgSim::Math::Vector& getExternalGeneralizedForce() const; /// \return the external generalized stiffness matrix const SurgSim::Math::SparseMatrix& getExternalGeneralizedStiffness() const; /// \return the external generalized damping matrix const SurgSim::Math::SparseMatrix& getExternalGeneralizedDamping() const; Math::Matrix applyCompliance(const Math::OdeState& state, const Math::Matrix& b) override; /// Gets the compliance matrix associated with motion virtual const SurgSim::Math::Matrix& getComplianceMatrix() const; void update(double dt) override; void afterUpdate(double dt) override; void applyCorrection(double dt, const Eigen::VectorBlock& deltaVelocity) override; /// Deactivate and call resetState void deactivateAndReset(); /// Set the collision representation for this physics representation, when the collision object /// is involved in a collision, the collision should be resolved inside the dynamics calculation. /// Specializes for discarding anything besides a rigid collision representation. /// \param representation The collision representation to be used. void setCollisionRepresentation(std::shared_ptr representation) override; void setLocalPose(const SurgSim::Math::RigidTransform3d& pose) override; protected: bool doInitialize() override; bool doWakeUp() override; /// Transform a state using a given transformation /// \param[in,out] state The state to be transformed /// \param transform The transformation to apply virtual void transformState(std::shared_ptr state, const SurgSim::Math::RigidTransform3d& transform) = 0; /// The previous state inside the calculation loop, this has no meaning outside of the loop std::shared_ptr m_previousState; /// The currently calculated state inside the physics loop, after the whole calculation is done this will /// become m_finalState std::shared_ptr m_currentState; /// New state is a temporary variable to store the newly computed state std::shared_ptr m_newState; /// Last valid state (a.k.a final state) /// \note Backup of the current state for thread-safety access while the current state is being recomputed. std::shared_ptr m_finalState; /// External generalized force, stiffness and damping applied on the deformable representation /// @{ bool m_hasExternalGeneralizedForce; SurgSim::Math::Vector m_externalGeneralizedForce; SurgSim::Math::SparseMatrix m_externalGeneralizedStiffness; SurgSim::Math::SparseMatrix m_externalGeneralizedDamping; bool m_previousHasExternalGeneralizedForce; SurgSim::Math::SparseMatrix m_previousExternalGeneralizedStiffness; SurgSim::Math::SparseMatrix m_previousExternalGeneralizedDamping; /// @} /// Number of degrees of freedom per node (varies per deformable model) /// \note MUST be set by the derived classes size_t m_numDofPerNode; /// Numerical Integration scheme (dynamic explicit/implicit solver) SurgSim::Math::IntegrationScheme m_integrationScheme; /// Linear algebraic solver used SurgSim::Math::LinearSolver m_linearSolver; /// Ode solver (its type depends on the numerical integration scheme) std::shared_ptr m_odeSolver; private: /// NO copy constructor DeformableRepresentation(const DeformableRepresentation&); /// NO assignment operator DeformableRepresentation& operator =(const DeformableRepresentation&); }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_DEFORMABLEREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Physics/Fem-inl.h000066400000000000000000000062721277777236100205760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM_INL_H #define SURGSIM_PHYSICS_FEM_INL_H #include "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/Framework/Log.h" using SurgSim::DataStructures::PlyReader; namespace SurgSim { namespace Physics { template Fem::Fem() { } template size_t Fem::addElement(std::shared_ptr element) { m_elements.push_back(element); return m_elements.size() - 1; } template size_t Fem::getNumElements() const { return m_elements.size(); } template const std::vector>& Fem::getElements() const { return m_elements; } template std::vector>& Fem::getElements() { return m_elements; } template std::shared_ptr Fem::getElement(size_t id) const { return m_elements[id]; } template size_t Fem::addBoundaryCondition(size_t boundaryCondition) { m_boundaryConditions.push_back(boundaryCondition); return m_boundaryConditions.size() - 1; } template const std::vector& Fem::getBoundaryConditions() const { return m_boundaryConditions; } template std::vector& Fem::getBoundaryConditions() { return m_boundaryConditions; } template size_t Fem::getBoundaryCondition(size_t id) const { return m_boundaryConditions[id]; } template template bool Fem::loadFemFile(const std::string& filename) { SurgSim::DataStructures::PlyReader reader(filename); if (!reader.isValid()) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << "'" << filename << "' is an invalid .ply file."; return false; } auto delegate = std::make_shared( std::dynamic_pointer_cast(this->shared_from_this())); if (!reader.parseWithDelegate(delegate)) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << "The input file '" << filename << "' does not have the property required by FEM element mesh."; return false; } return true; } } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM_INL_H opensurgsim-0.7.0/SurgSim/Physics/Fem.h000066400000000000000000000075061277777236100200170ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM_H #define SURGSIM_PHYSICS_FEM_H #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Framework/Asset.h" #include "SurgSim/Physics/FemElementStructs.h" namespace SurgSim { namespace Physics { /// Base class for a data structure for holding FEM mesh data of different dimensions /// /// Fem itself should not be used directly itself as it contains no override for doLoad since the implementation is /// dependent on the dimension of the FEM you are trying to load. Each dimension overrides the doLoad function present /// in Asset using its own version of an FemPlyReaderDelegate. Each dimension supports loading both linear and /// corotational models. /// /// \tparam VertexData Type of extra data stored in each vertex /// \tparam Element Type of FEM element the mesh will be storing /// \sa TriangleMesh template class Fem : public SurgSim::DataStructures::Vertices, public SurgSim::Framework::Asset, public std::enable_shared_from_this> { public: /// Default constructor Fem(); /// Adds FEM element to mesh of Element template type /// \param element A shared pointer of the Element template type /// \return The new size of the vector of elements size_t addElement(std::shared_ptr element); /// Gets number of FEM elements in the mesh /// \return The number of FEM elements stored size_t getNumElements() const; /// Gets entire FEM element vector /// \return A const vector of all FEM elements stored in the mesh const std::vector>& getElements() const; /// Gets entire FEM element vector (non-const) /// \return A vector of all FEM elements stored in the mesh std::vector>& getElements(); /// Retrieve a specific element from the mesh /// \param id The id in the element vector /// \return A shared pointer to the element std::shared_ptr getElement(size_t id) const; /// Add boundary condition to mesh /// \param boundaryCondition A vertex id that has a boundary condition /// \return The new size of the vector of boundary conditions size_t addBoundaryCondition(size_t boundaryCondition); /// Gets entire vector of boundary conditions /// \return A vector of boundary conditions const std::vector& getBoundaryConditions() const; /// Gets entire vector of boundary conditions (non-const) /// \return A vector of boundary conditions std::vector& getBoundaryConditions(); /// Retrieves a specific boundary condition /// \param id The id of the boundary condition in the vector /// \return The vertex id which has a boundary condition size_t getBoundaryCondition(size_t id) const; protected: /// Shared loading method for all 3 dimensions /// \note Assign template class to the proper dimension PlyReaderDelegate template bool loadFemFile(const std::string& filename); /// Vector of individual elements std::vector> m_elements; /// Vector of vertex ids that have boundary conditions std::vector m_boundaryConditions; }; } // namespace Physics } // namespace SurgSim #include "SurgSim/Physics/Fem-inl.h" #endif // SURGSIM_PHYSICS_FEM_H opensurgsim-0.7.0/SurgSim/Physics/Fem1D.cpp000066400000000000000000000020171277777236100205270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 "SurgSim/Physics/Fem1D.h" #include "SurgSim/Physics/Fem1DPlyReaderDelegate.h" namespace SurgSim { namespace Physics { SURGSIM_REGISTER(SurgSim::Framework::Asset, SurgSim::Physics::Fem1D, Fem1D) Fem1D::Fem1D() { } bool Fem1D::doLoad(const std::string& filePath) { return loadFemFile(filePath); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Fem1D.h000066400000000000000000000023451277777236100202000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM1D_H #define SURGSIM_PHYSICS_FEM1D_H #include "SurgSim/Physics/Fem.h" namespace SurgSim { namespace Physics { SURGSIM_STATIC_REGISTRATION(Fem1D); /// Fem class data structure implementation for 1-Dimensional FEMs /// \sa Fem class Fem1D : public Fem { public: Fem1D(); SURGSIM_CLASSNAME(SurgSim::Physics::Fem1D); protected: // Asset API override bool doLoad(const std::string& filePath) override; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM1D_H opensurgsim-0.7.0/SurgSim/Physics/Fem1DElementBeam.cpp000066400000000000000000000276511277777236100226410ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Log.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/OdeEquation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Physics/Fem1DElementBeam.h" using SurgSim::Math::addSubVector; using SurgSim::Math::getSubMatrix; using SurgSim::Math::getSubVector; using SurgSim::Math::setSubMatrix; using SurgSim::Math::Vector; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { SURGSIM_REGISTER(SurgSim::Physics::FemElement, SurgSim::Physics::Fem1DElementBeam, Fem1DElementBeam) Fem1DElementBeam::Fem1DElementBeam() { initializeMembers(); } Fem1DElementBeam::Fem1DElementBeam(std::array nodeIds) { initializeMembers(); m_nodeIds.assign(nodeIds.cbegin(), nodeIds.cend()); } Fem1DElementBeam::Fem1DElementBeam(std::shared_ptr elementData) { initializeMembers(); auto element1DData = std::dynamic_pointer_cast(elementData); SURGSIM_ASSERT(element1DData != nullptr) << "Incorrect struct type passed"; SURGSIM_ASSERT(element1DData->nodeIds.size() == 2) << "Incorrect number of nodes for a Fem1D Beam"; m_nodeIds.assign(element1DData->nodeIds.begin(), element1DData->nodeIds.end()); setShearingEnabled(element1DData->enableShear); setRadius(element1DData->radius); setMassDensity(element1DData->massDensity); setPoissonRatio(element1DData->poissonRatio); setYoungModulus(element1DData->youngModulus); } void Fem1DElementBeam::setRadius(double radius) { SURGSIM_ASSERT(radius != 0.0) << "The beam radius cannot be set to 0"; SURGSIM_ASSERT(radius > 0.0) << "The beam radius cannot be negative (trying to set it to " << radius << ")"; m_radius = radius; } double Fem1DElementBeam::getRadius() const { return m_radius; } bool Fem1DElementBeam::getShearingEnabled() const { return m_haveShear; } void Fem1DElementBeam::setShearingEnabled(bool enabled) { m_haveShear = enabled; } double Fem1DElementBeam::getVolume(const SurgSim::Math::OdeState& state) const { const Vector3d A = state.getPosition(m_nodeIds[0]); const Vector3d B = state.getPosition(m_nodeIds[1]); return m_A * (B - A).norm(); } void Fem1DElementBeam::initializeMembers() { m_G = 0.0; m_restLength = 0.0; m_radius = 0.0; m_A = 0.0; m_haveShear = true; m_shearFactor = (5.0 / 8.0); m_Asy = 0.0; m_Asz = 0.0; m_Phi_y = 0.0; m_Phi_z = 0.0; m_Iy = 0.0; m_Iz = 0.0; m_J = 0.0; // 6 dof per node (x, y, z, thetaX, thetaY, thetaZ) setNumDofPerNode(6); } void Fem1DElementBeam::initialize(const SurgSim::Math::OdeState& state) { // Test the validity of the physical parameters FemElement::initialize(state); SURGSIM_ASSERT(m_radius > 0) << "Fem1DElementBeam radius should be positive and non-zero. Did you call " "setCrossSectionCircular(radius) ?"; m_A = M_PI * (m_radius * m_radius); m_Iz = M_PI * (m_radius * m_radius * m_radius * m_radius) / 4.0; m_Iy = m_Iz; m_J = m_Iz + m_Iy; // Store the rest state for this beam in m_x0 getSubVector(state.getPositions(), m_nodeIds, 6, &m_x0); m_restLength = (m_x0.segment<3>(6) - m_x0.segment<3>(0)).norm(); SURGSIM_ASSERT(m_restLength > 0) << "Fem1DElementBeam rest length is zero (degenerate beam)"; computeInitialRotation(state); // Pre-compute the mass and stiffness matrix computeMass(state); computeStiffness(state); } SurgSim::Math::Matrix33d Fem1DElementBeam::getInitialRotation() const { return m_R0.block<3, 3>(0, 0); } void Fem1DElementBeam::computeMass(const SurgSim::Math::OdeState& state) { double& L = m_restLength; double L2 = L * L; double AL = m_A * L; double AL2 = AL * L; double m = AL * m_rho; m_MLocal.setZero(); // From pg 294 of "Theory of Matrix Structural Analysis" from J.S. Przemieniecki: // Mass matrix for node0 / node0 m_MLocal(0, 0) = 1.0 / 3.0; m_MLocal(1, 1) = 13.0 / 35.0 + 6.0 * m_Iz / (5.0 * AL2); m_MLocal(1, 5) = 11.0 * L / 210.0 + m_Iz / (10.0 * AL); m_MLocal(2, 2) = 13.0 / 35.0 + 6.0 * m_Iy / (5.0 * AL2); m_MLocal(2, 4) = -11.0 * L / 210.0 - m_Iy / (10.0 * AL); m_MLocal(3, 3) = m_J / (3.0 * m_A); m_MLocal(4, 2) = -11.0 * L / 210.0 - m_Iy / (10.0 * AL); m_MLocal(4, 4) = L2 / 105.0 + 2.0 * m_Iy / (15.0 * m_A); m_MLocal(5, 1) = 11.0 * L / 210.0 + m_Iz / (10.0 * AL); m_MLocal(5, 5) = L2 / 105.0 + 2.0 * m_Iz / (15.0 * m_A); // Mass matrix for node1 / node1 m_MLocal(6, 6) = 1.0 / 3.0; m_MLocal(7, 7) = 13.0 / 35.0 + 6.0 * m_Iz / (5.0 * AL2); m_MLocal(7, 11) = -11.0 * L / 210.0 - m_Iz / (10.0 * AL); m_MLocal(8, 8) = 13.0 / 35.0 + 6.0 * m_Iy / (5.0 * AL2); m_MLocal(8, 10) = 11.0 * L / 210.0 + m_Iy / (10.0 * AL); m_MLocal(9, 9) = m_J / (3.0 * m_A); m_MLocal(10, 8) = 11.0 * L / 210.0 + m_Iy / (10.0 * AL); m_MLocal(10, 10) = L2 / 105.0 + 2.0 * m_Iy / (15.0 * m_A); m_MLocal(11, 7) = -11.0 * L / 210.0 - m_Iz / (10.0 * AL); m_MLocal(11, 11) = L2 / 105.0 + 2.0 * m_Iz / (15.0 * m_A); // Mass matrix for node1 / node0 m_MLocal(6, 0) = 1.0 / 6.0; m_MLocal(7, 1) = 9.0 / 70.0 - 6.0 * m_Iz / (5.0 * AL2); m_MLocal(7, 5) = 13.0 * L / 420.0 - m_Iz / (10.0 * AL); m_MLocal(8, 2) = 9.0 / 70.0 - 6.0 * m_Iy / (5.0 * AL2); m_MLocal(8, 4) = -13.0 * L / 420.0 + m_Iy / (10.0 * AL); m_MLocal(9, 3) = m_J / (6.0 * m_A); m_MLocal(10, 2) = 13.0 * L / 420.0 - m_Iy / (10.0 * AL); m_MLocal(10, 4) = -L2 / 140.0 - m_Iy / (30.0 * m_A); m_MLocal(11, 1) = -13.0 * L / 420.0 + m_Iz / (10.0 * AL); m_MLocal(11, 5) = -L2 / 140.0 - m_Iz / (30.0 * m_A); // Mass matrix for node0 / node1 m_MLocal(0, 6) = 1.0 / 6.0; m_MLocal(1, 7) = 9.0 / 70.0 - 6.0 * m_Iz / (5.0 * AL2); m_MLocal(1, 11) = -13.0 * L / 420.0 + m_Iz / (10.0 * AL); m_MLocal(2, 8) = 9.0 / 70.0 - 6.0 * m_Iy / (5.0 * AL2); m_MLocal(2, 10) = 13.0 * L / 420.0 - m_Iy / (10.0 * AL); m_MLocal(3, 9) = m_J / (6.0 * m_A); m_MLocal(4, 8) = -13.0 * L / 420.0 + m_Iy / (10.0 * AL); m_MLocal(4, 10) = -L2 / 140.0 - m_Iy / (30.0 * m_A); m_MLocal(5, 7) = 13.0 * L / 420.0 - m_Iz / (10.0 * AL); m_MLocal(5, 11) = -L2 / 140.0 - m_Iz / (30.0 * m_A); m_MLocal *= m; // Transformation Local -> Global m_M = m_R0 * m_MLocal * m_R0.transpose(); } void Fem1DElementBeam::computeStiffness(const SurgSim::Math::OdeState& state) { double& L = m_restLength; double L2 = L * L; double L3 = L2 * L; // General expression for shear modulus in terms of Young's modulus and Poisson's ratio m_G = m_E / (2.0 * (1.0 + m_nu)); if (m_haveShear) { // Special values for solid cross sections. m_Asy = m_A * 5.0 / 6.0; m_Asz = m_A * 5.0 / 6.0; // From pg 80 of "Theory of Matrix Structural Analysis" from J.S. Przemieniecki: m_Phi_y = 12.0 * m_E * m_Iz / (m_G * m_Asy * L2); m_Phi_z = 12.0 * m_E * m_Iy / (m_G * m_Asz * L2); } else { m_Asy = 0.0; m_Asz = 0.0; m_Phi_y = 0.0; m_Phi_z = 0.0; } m_KLocal.setZero(); // From pg 79 of "Theory of Matrix Structural Analysis" from J.S. Przemieniecki: // Stiffness matrix node 1 / node 1 m_KLocal(0, 0) = m_E * m_A / L; m_KLocal(1, 1) = 12 * m_E * m_Iz / (L3 * (1 + m_Phi_y)); m_KLocal(2, 2) = 12 * m_E * m_Iy / (L3 * (1 + m_Phi_z)); m_KLocal(3, 3) = m_G * m_J / L; m_KLocal(4, 4) = (4 + m_Phi_z) * m_E * m_Iy / (L * (1 + m_Phi_z)); m_KLocal(4, 2) = -6 * m_E * m_Iy / (L2 * (1 + m_Phi_z)); // Symmetric m_KLocal(2, 4) = -6 * m_E * m_Iy / (L2 * (1 + m_Phi_z)); // Symmetric m_KLocal(5, 5) = (4 + m_Phi_y) * m_E * m_Iz / (L * (1 + m_Phi_y)); m_KLocal(5, 1) = 6 * m_E * m_Iz / (L2 * (1 + m_Phi_y)); // Symmetric m_KLocal(1, 5) = 6 * m_E * m_Iz / (L2 * (1 + m_Phi_y)); // Symmetric // Stiffness matrix node 2 / node 2 m_KLocal(6, 6) = m_E * m_A / L; m_KLocal(7, 7) = 12 * m_E * m_Iz / (L3 * (1 + m_Phi_y)); m_KLocal(8, 8) = 12 * m_E * m_Iy / (L3 * (1 + m_Phi_z)); m_KLocal(9, 9) = m_G * m_J / L; m_KLocal(10, 10) = (4 + m_Phi_z) * m_E * m_Iy / (L * (1 + m_Phi_z)); m_KLocal(10, 8) = 6 * m_E * m_Iy / (L2 * (1 + m_Phi_z)); // Symmetric m_KLocal(8, 10) = 6 * m_E * m_Iy / (L2 * (1 + m_Phi_z)); // Symmetric m_KLocal(11, 11) = (4 + m_Phi_y) * m_E * m_Iz / (L * (1 + m_Phi_y)); m_KLocal(11, 7) = -6 * m_E * m_Iz / (L2 * (1 + m_Phi_y)); // Symmetric m_KLocal(7, 11) = -6 * m_E * m_Iz / (L2 * (1 + m_Phi_y)); // Symmetric // Stiffness matrix node 2 / node 1 m_KLocal(6, 0) = -m_E * m_A / L; m_KLocal(7, 1) = -12 * m_E * m_Iz / (L3 * (1 + m_Phi_y)); m_KLocal(8, 2) = -12 * m_E * m_Iy / (L3 * (1 + m_Phi_z)); m_KLocal(9, 3) = -m_G * m_J / L; m_KLocal(10, 4) = (2 - m_Phi_z) * m_E * m_Iy / (L * (1 + m_Phi_z)); m_KLocal(10, 2) = -6 * m_E * m_Iy / (L2 * (1 + m_Phi_z)); // Anti-symmetric m_KLocal(8, 4) = -m_KLocal(10, 2); // Anti-symmetric m_KLocal(11, 5) = (2 - m_Phi_y) * m_E * m_Iz / (L * (1 + m_Phi_y)); m_KLocal(11, 1) = 6 * m_E * m_Iz / (L2 * (1 + m_Phi_y)); // Anti-symmetric m_KLocal(7, 5) = -m_KLocal(11, 1); // Anti-symmetric // Stiffness matrix node 1 / node 2 (symmetric of node 2 / node 1) m_KLocal(0, 6) = m_KLocal(6, 0); m_KLocal(1, 7) = m_KLocal(7, 1); m_KLocal(2, 8) = m_KLocal(8, 2); m_KLocal(3, 9) = m_KLocal(9, 3); m_KLocal(4, 10) = m_KLocal(10, 4); m_KLocal(2, 10) = m_KLocal(10, 2); m_KLocal(4, 8) = m_KLocal(8, 4); m_KLocal(5, 11) = m_KLocal(11, 5); m_KLocal(1, 11) = m_KLocal(11, 1); m_KLocal(5, 7) = m_KLocal(7, 5); // Transformation Local -> Global m_K = m_R0 * m_KLocal * m_R0.transpose(); } void Fem1DElementBeam::computeInitialRotation(const SurgSim::Math::OdeState& state) { // Build (i, j, k) an orthonormal frame const Vector3d A = state.getPosition(m_nodeIds[0]); const Vector3d B = state.getPosition(m_nodeIds[1]); Vector3d i = B - A; Vector3d j, k; SURGSIM_ASSERT(SurgSim::Math::buildOrthonormalBasis(&i, &j, &k)) << "Invalid beam formed by extremities A=(" << A.transpose() << ") B=(" << B.transpose() << ")"; // Set up a temporary 3x3 initial rotation matrix SurgSim::Math::Matrix33d rotation3x3; rotation3x3.col(0) = i; rotation3x3.col(1) = j; rotation3x3.col(2) = k; // Set up the 12x12 initial rotation matrix m_R0.setZero(); setSubMatrix(rotation3x3, 0, 0, 3, 3, &m_R0); setSubMatrix(rotation3x3, 1, 1, 3, 3, &m_R0); setSubMatrix(rotation3x3, 2, 2, 3, 3, &m_R0); setSubMatrix(rotation3x3, 3, 3, 3, 3, &m_R0); } SurgSim::Math::Vector Fem1DElementBeam::computeCartesianCoordinate( const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& naturalCoordinate) const { SURGSIM_ASSERT(isValidCoordinate(naturalCoordinate)) << "naturalCoordinate must be normalized and length 2."; Vector3d cartesianCoordinate(0.0, 0.0, 0.0); const Vector& positions = state.getPositions(); for (int i = 0; i < 2; i++) { cartesianCoordinate += naturalCoordinate(i) * getSubVector(positions, m_nodeIds[i], 6).segment<3>(0); } return cartesianCoordinate; } void Fem1DElementBeam::doUpdateFMDK(const Math::OdeState& state, int options) { if (options & SurgSim::Math::OdeEquationUpdate::ODEEQUATIONUPDATE_F) { Eigen::Matrix x; // K.U = F_ext // K.(x - x0) = F_ext // 0 = F_ext + F_int, with F_int = -K.(x - x0) getSubVector(state.getPositions(), m_nodeIds, 6, &x); m_f = -m_K * (x - m_x0); } } SurgSim::Math::Vector Fem1DElementBeam::computeNaturalCoordinate( const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& cartesianCoordinate) const { SURGSIM_FAILURE() << "Function " << __FUNCTION__ << " not yet implemented."; return SurgSim::Math::Vector3d::Zero(); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Fem1DElementBeam.h000066400000000000000000000121331277777236100222730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM1DELEMENTBEAM_H #define SURGSIM_PHYSICS_FEM1DELEMENTBEAM_H #include #include "SurgSim/Physics/FemElement.h" namespace SurgSim { namespace Physics { SURGSIM_STATIC_REGISTRATION(Fem1DElementBeam); /// 1D FemElement based on a beam volume discretization with a fixed cross section /// /// The inertia property (mass) and the stiffness matrices are derived from "Theory of Matrix Structural Analysis" from /// J.S. Przemieniecki. The deformation is based on linear elasticity theory and not on visco-elasticity theory; /// therefore, the element does not have any damping components. /// \note The element is considered to have a circular cross section. class Fem1DElementBeam : public FemElement { public: /// Constructor Fem1DElementBeam(); /// Constructor /// \param nodeIds An array of 2 node ids defining this beam element with respect to a /// DeformableRepresentationState which is passed to the initialize method. explicit Fem1DElementBeam(std::array nodeIds); /// Constructor for FemElement object factory /// \param elementData A FemElement struct defining this beam element with respect to a /// DeformableRepresentationState which is passed to the initialize method. /// \exception SurgSim::Framework::AssertionFailure if nodeIds has a size different than 2 explicit Fem1DElementBeam(std::shared_ptr elementData); SURGSIM_CLASSNAME(SurgSim::Physics::Fem1DElementBeam) /// Sets the beam's circular cross-section radius /// \param radius The radius of the beam void setRadius(double radius); /// Gets the beam's circular cross-section radius /// \return The radius of the beam double getRadius() const; void initialize(const SurgSim::Math::OdeState& state) override; double getVolume(const SurgSim::Math::OdeState& state) const override; /// Gets whether shearing is enabled for the element /// \return True if shearing is enabled bool getShearingEnabled() const; /// Enables or disables shearing for the element /// /// Shearing can only be meaningfully enabled or disabled before the element has had initialize called. /// \param enabled Boolean determining whether shearing is enabled void setShearingEnabled(bool enabled); SurgSim::Math::Vector computeCartesianCoordinate( const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& naturalCoordinate) const override; SurgSim::Math::Vector computeNaturalCoordinate( const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& cartesianCoordinate) const override; /// \return the initial beam rotation SurgSim::Math::Matrix33d getInitialRotation() const; protected: /// Initializes variables needed before Initialize() is called void initializeMembers(); /// Computes the beam element's initial rotation /// \param state The state to compute the rotation from /// \note This method stores the result in m_R0 void computeInitialRotation(const SurgSim::Math::OdeState& state); /// Computes the beam's stiffness matrix /// \param state The state to compute the stiffness matrix from void computeStiffness(const SurgSim::Math::OdeState& state); /// Computes the beam's mass matrix /// \param state The state to compute the stiffness matrix from void computeMass(const SurgSim::Math::OdeState& state); void doUpdateFMDK(const Math::OdeState& state, int options) override; /// The element's rest state Eigen::Matrix m_x0; /// Initial rotation matrix for the element Eigen::Matrix m_R0; /// Stiffness matrix (in local coordinate frame) Eigen::Matrix m_MLocal; /// Stiffness matrix (in local coordinate frame) Eigen::Matrix m_KLocal; /// Physical shear modulus G = E/( 2(1+mu) ) double m_G; /// Rest length double m_restLength; /// radius for a circular Beam double m_radius; /// Cross sectional area = PI.radius.radius if circular double m_A; /// Does this beam element have shear bool m_haveShear; /// Shear factor (usually 5/8) double m_shearFactor; /// The shear area in the y and z directions (=0 => no shear) http://en.wikipedia.org/wiki/Timoshenko_beam_theory double m_Asy, m_Asz; /// Shear deformation parameters /// Phi_y=12.E.Iz/(G.Asy.L^2) or 0 if As?=0 /// Phi_z=12.E.Iy/(G.Asz.L^2) or 0 if As?=0 double m_Phi_y, m_Phi_z; /// Cross sectional moment of inertia double m_Iy, m_Iz; /// Polar moment of inertia double m_J; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM1DELEMENTBEAM_H opensurgsim-0.7.0/SurgSim/Physics/Fem1DLocalization.cpp000066400000000000000000000066171277777236100231120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/Fem1DLocalization.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/FemElement.h" namespace SurgSim { namespace Physics { Fem1DLocalization::Fem1DLocalization( std::shared_ptr representation, const SurgSim::DataStructures::IndexedLocalCoordinate& localPosition) : FemLocalization(representation, localPosition) { } Fem1DLocalization::~Fem1DLocalization() { } bool Fem1DLocalization::isValidRepresentation(std::shared_ptr representation) { auto femRepresentation = std::dynamic_pointer_cast(representation); // Allows to reset the representation to nullptr ... return (femRepresentation != nullptr || representation == nullptr); } bool Fem1DLocalization::moveClosestTo(const Math::Vector3d& point, bool* hasReachedEnd) { if (hasReachedEnd != nullptr) { *hasReachedEnd = false; } auto femRepresentation = std::static_pointer_cast(getRepresentation()); auto& currentState = femRepresentation->getCurrentState(); double closestDistance = std::numeric_limits::max(), newDistance; Math::Vector3d closestPoint, newPoint; std::array closestNodePositions; size_t closestNodeIndex = std::numeric_limits::max(); auto numFemElements = femRepresentation->getNumFemElements(); for (size_t i = 0; i < numFemElements; ++i) { auto femElement = femRepresentation->getFemElement(i); const auto& nodeIds = femElement->getNodeIds(); std::array nodePositions = {currentState->getPosition(nodeIds[0]), currentState->getPosition(nodeIds[1]) }; Math::distancePointSegment(point, nodePositions[0], nodePositions[1], &newPoint); newDistance = (newPoint - point).norm(); if (newDistance < closestDistance) { closestNodeIndex = i; closestDistance = newDistance; closestPoint = newPoint; closestNodePositions[0] = nodePositions[0]; closestNodePositions[1] = nodePositions[1]; } } if (closestNodeIndex < numFemElements) { Math::Vector2d bary; Math::barycentricCoordinates(closestPoint, closestNodePositions[0], closestNodePositions[1], &bary); auto position = getLocalPosition(); position.index = closestNodeIndex; position.coordinate[0] = bary[0]; position.coordinate[1] = bary[1]; if (hasReachedEnd != nullptr) { *hasReachedEnd = (closestNodeIndex == 0 && std::abs(position.coordinate[0] - 1.0) < Math::Geometry::DistanceEpsilon) || (closestNodeIndex == numFemElements - 1 && std::abs(position.coordinate[1] - 1.0) < Math::Geometry::DistanceEpsilon); } setLocalPosition(position); return true; } return false; } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Fem1DLocalization.h000066400000000000000000000036621277777236100225540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM1DLOCALIZATION_H #define SURGSIM_PHYSICS_FEM1DLOCALIZATION_H #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/Physics/FemLocalization.h" namespace SurgSim { namespace Physics { /// Implementation of Localization for Fem1DRepresentation /// /// Fem1DLocalization tracks the global coordinates of an IndexedLocalCoordinate associated with an /// Fem1DRepresentation. The IndexedLocalCoordinate must be related to an FemElement (the index is an FemElement id and /// the local coordinates are the barycentric coordinates of the nodes in this FemElement). class Fem1DLocalization : public FemLocalization { public: /// Constructor /// \param representation The representation to assign to this localization. /// \param localCoordinate The indexed local coordinate relative to the representation. Fem1DLocalization(std::shared_ptr representation, const SurgSim::DataStructures::IndexedLocalCoordinate& localCoordinate); /// Destructor virtual ~Fem1DLocalization(); bool isValidRepresentation(std::shared_ptr representation) override; bool moveClosestTo(const Math::Vector3d& point, bool *hasReachedEnd) override; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM1DLOCALIZATION_H opensurgsim-0.7.0/SurgSim/Physics/Fem1DPlyReaderDelegate.cpp000066400000000000000000000074311277777236100237770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 "SurgSim/Math/Valid.h" #include "SurgSim/Physics/Fem1DPlyReaderDelegate.h" using SurgSim::DataStructures::PlyReader; namespace SurgSim { namespace Physics { Fem1DPlyReaderDelegate::Fem1DPlyReaderDelegate() { } Fem1DPlyReaderDelegate::Fem1DPlyReaderDelegate(std::shared_ptr mesh) : m_enableShear(false), m_mesh(mesh) { SURGSIM_ASSERT(mesh != nullptr) << "The mesh cannot be null."; mesh->clear(); } std::string Fem1DPlyReaderDelegate::getElementName() const { return "1d_element"; } bool Fem1DPlyReaderDelegate::registerDelegate(PlyReader* reader) { FemPlyReaderDelegate::registerDelegate(reader); // Radius Processing reader->requestElement( "radius", std::bind( &Fem1DPlyReaderDelegate::beginRadius, this, std::placeholders::_1, std::placeholders::_2), nullptr, std::bind(&Fem1DPlyReaderDelegate::endRadius, this, std::placeholders::_1)); reader->requestScalarProperty("radius", "value", PlyReader::TYPE_DOUBLE, 0); return true; } bool Fem1DPlyReaderDelegate::fileIsAcceptable(const PlyReader& reader) { bool result = FemPlyReaderDelegate::fileIsAcceptable(reader); result = result && reader.hasProperty("radius", "value"); return result; } void Fem1DPlyReaderDelegate::endParseFile() { for (auto element : m_mesh->getElements()) { element->radius = m_radius; element->enableShear = m_enableShear; if (!m_hasPerElementMaterial && m_hasMaterial) { element->massDensity = m_materialData.massDensity; element->poissonRatio = m_materialData.poissonRatio; element->youngModulus = m_materialData.youngModulus; } } m_mesh->update(); } void Fem1DPlyReaderDelegate::processVertex(const std::string& elementName) { FemElementStructs::RotationVectorData data; if (m_hasRotationDOF) { data.thetaX = m_vertexData.thetaX; data.thetaY = m_vertexData.thetaY; data.thetaZ = m_vertexData.thetaZ; } Fem1D::VertexType vertex(SurgSim::Math::Vector3d(m_vertexData.x, m_vertexData.y, m_vertexData.z), data); m_mesh->addVertex(vertex); } void Fem1DPlyReaderDelegate::processFemElement(const std::string& elementName) { SURGSIM_ASSERT(m_elementData.vertexCount == 2) << "Cannot process 1D Element with " << m_elementData.vertexCount << " vertices."; auto femElement = std::make_shared(); femElement->nodeIds.resize(m_elementData.vertexCount); std::copy(m_elementData.indices, m_elementData.indices + m_elementData.vertexCount, femElement->nodeIds.data()); if (m_hasPerElementMaterial) { femElement->massDensity = m_elementData.massDensity; femElement->poissonRatio = m_elementData.poissonRatio; femElement->youngModulus = m_elementData.youngModulus; } m_mesh->addElement(femElement); } void* Fem1DPlyReaderDelegate::beginRadius(const std::string& elementName, size_t radiusCount) { return &m_radius; } void Fem1DPlyReaderDelegate::endRadius(const std::string& elementName) { SURGSIM_ASSERT(SurgSim::Math::isValid(m_radius)) << "No radius information processed."; } void Fem1DPlyReaderDelegate::processBoundaryCondition(const std::string& elementName) { m_mesh->addBoundaryCondition(static_cast(m_boundaryConditionData)); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Fem1DPlyReaderDelegate.h000066400000000000000000000045631277777236100234470ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM1DPLYREADERDELEGATE_H #define SURGSIM_PHYSICS_FEM1DPLYREADERDELEGATE_H #include #include #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/Physics/Fem1D.h" #include "SurgSim/Physics/FemPlyReaderDelegate.h" namespace SurgSim { namespace Physics { class Fem1DPlyReaderDelegate : public FemPlyReaderDelegate { public: /// Default constructor. Fem1DPlyReaderDelegate(); /// Constructor. /// \param mesh The mesh to be used, it will be cleared by the constructor. explicit Fem1DPlyReaderDelegate(std::shared_ptr mesh); protected: std::string getElementName() const override; bool registerDelegate(PlyReader* reader) override; bool fileIsAcceptable(const PlyReader& reader) override; void endParseFile() override; void processVertex(const std::string& elementName) override; void processFemElement(const std::string& elementName) override; /// Callback function, begin the processing of radius. /// \param elementName Name of the element. /// \param radiusCount Number of radii. /// \return memory for radius data to the reader. void* beginRadius(const std::string& elementName, size_t radiusCount); /// Callback function, end the processing of radius. /// \param elementName Name of the element. void endRadius(const std::string& elementName); void processBoundaryCondition(const std::string& elementName) override; private: /// Element's radius information double m_radius; /// Element's shear information bool m_enableShear; /// Fem1D mesh asset to contain the ply file information std::shared_ptr m_mesh; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM1DPLYREADERDELEGATE_H opensurgsim-0.7.0/SurgSim/Physics/Fem1DRepresentation.cpp000066400000000000000000000217471277777236100234650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Asset.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Physics/Fem1DElementBeam.h" #include "SurgSim/Physics/Fem1DLocalization.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/FemElement.h" #include "SurgSim/Physics/Localization.h" namespace { void transformVectorByBlockOf3(const SurgSim::Math::RigidTransform3d& transform, SurgSim::Math::Vector* x, bool rotationOnly = false) { typedef SurgSim::Math::Vector::Index IndexType; IndexType numNodes = x->size() / 6; SURGSIM_ASSERT(numNodes * 6 == x->size()) << "Unexpected number of dof in a Fem1D state vector (not a multiple of 6)"; for (IndexType nodeId = 0; nodeId < numNodes; nodeId++) { // Only the translational dof are transformed, rotational dof remains unchanged SurgSim::Math::Vector3d xi = x->segment<3>(6 * nodeId); x->segment<3>(6 * nodeId) = (rotationOnly) ? transform.linear() * xi : transform * xi; } } } namespace SurgSim { namespace Physics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Physics::Fem1DRepresentation, Fem1DRepresentation); Fem1DRepresentation::Fem1DRepresentation(const std::string& name) : FemRepresentation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(Fem1DRepresentation, std::shared_ptr, Fem, getFem, setFem); SURGSIM_ADD_SETTER(Fem1DRepresentation, std::string, FemFileName, loadFem) // Reminder: m_numDofPerNode is held by DeformableRepresentation but needs to be set by all // concrete derived classes m_numDofPerNode = 6; m_fem = std::make_shared(); } Fem1DRepresentation::~Fem1DRepresentation() { } void Fem1DRepresentation::loadFem(const std::string& fileName) { auto mesh = std::make_shared(); mesh->load(fileName); setFem(mesh); } void Fem1DRepresentation::setFem(std::shared_ptr mesh) { SURGSIM_ASSERT(!isInitialized()) << "The Fem cannot be set after initialization"; SURGSIM_ASSERT(mesh != nullptr) << "Mesh for Fem1DRepresentation cannot be a nullptr"; auto femMesh = std::dynamic_pointer_cast(mesh); SURGSIM_ASSERT(femMesh != nullptr) << "Mesh for Fem1DRepresentation needs to be a SurgSim::Physics::Fem1D"; m_fem = femMesh; auto state = std::make_shared(); state->setNumDof(getNumDofPerNode(), m_fem->getNumVertices()); for (size_t i = 0; i < m_fem->getNumVertices(); i++) { state->getPositions().segment<3>(getNumDofPerNode() * i) = m_fem->getVertexPosition(i); } for (auto boundaryCondition : m_fem->getBoundaryConditions()) { state->addBoundaryCondition(boundaryCondition); } // If we have elements, ensure that they are all of the same nature if (femMesh->getNumElements() > 0) { const auto& e0 = femMesh->getElement(0); for (auto const& e : femMesh->getElements()) { SURGSIM_ASSERT(e->nodeIds.size() == e0->nodeIds.size()) << "Cannot mix and match elements of different nature." << " Found an element with " << e->nodeIds.size() << " nodes but was expecting " << e0->nodeIds.size(); } // If the FemElement types hasn't been registered yet, let's set a default one if (getFemElementType().empty()) { if (e0->nodeIds.size() == 2) { Fem1DElementBeam beam; setFemElementType(beam.getClassName()); } } } setInitialState(state); } std::shared_ptr Fem1DRepresentation::getFem() const { return m_fem; } void Fem1DRepresentation::addExternalGeneralizedForce(std::shared_ptr localization, const Math::Vector& generalizedForce, const Math::Matrix& K, const Math::Matrix& D) { using Math::SparseMatrix; const size_t dofPerNode = getNumDofPerNode(); const Math::Matrix::Index expectedSize = static_cast(dofPerNode); SURGSIM_ASSERT(localization != nullptr) << "Invalid localization (nullptr)"; SURGSIM_ASSERT(generalizedForce.size() == expectedSize) << "Generalized force has an invalid size of " << generalizedForce.size() << ". Expected " << dofPerNode; SURGSIM_ASSERT(K.size() == 0 || (K.rows() == expectedSize && K.cols() == expectedSize)) << "Stiffness matrix K has an invalid size (" << K.rows() << "," << K.cols() << ") was expecting a square matrix of size " << dofPerNode; SURGSIM_ASSERT(D.size() == 0 || (D.rows() == expectedSize && D.cols() == expectedSize)) << "Damping matrix D has an invalid size (" << D.rows() << "," << D.cols() << ") was expecting a square matrix of size " << dofPerNode; std::shared_ptr localization1D = std::dynamic_pointer_cast(localization); SURGSIM_ASSERT(localization1D != nullptr) << "Invalid localization type (not a Fem1DLocalization)"; const size_t elementId = localization1D->getLocalPosition().index; const Math::Vector& coordinate = localization1D->getLocalPosition().coordinate; std::shared_ptr element = getFemElement(elementId); size_t index = 0; for (auto nodeId : element->getNodeIds()) { m_externalGeneralizedForce.segment(dofPerNode * nodeId, dofPerNode) += generalizedForce * coordinate[index]; index++; } if (K.size() != 0 || D.size() != 0) { size_t index1 = 0; for (auto nodeId1 : element->getNodeIds()) { size_t index2 = 0; for (auto nodeId2 : element->getNodeIds()) { if (K.size() != 0) { Math::addSubMatrix(coordinate[index1] * coordinate[index2] * K, nodeId1, nodeId2, &m_externalGeneralizedStiffness, true); } if (D.size() != 0) { Math::addSubMatrix(coordinate[index1] * coordinate[index2] * D, nodeId1, nodeId2, &m_externalGeneralizedDamping, true); } index2++; } index1++; } } m_externalGeneralizedStiffness.makeCompressed(); m_externalGeneralizedDamping.makeCompressed(); m_hasExternalGeneralizedForce = true; } std::shared_ptr Fem1DRepresentation::createNodeLocalization(size_t nodeId) { DataStructures::IndexedLocalCoordinate coordinate; SURGSIM_ASSERT(nodeId >= 0 && nodeId < getCurrentState()->getNumNodes()) << "Invalid node id"; // Look for any element that contains this node bool foundNodeId = false; for (size_t elementId = 0; elementId < getNumFemElements(); elementId++) { auto element = getFemElement(elementId); auto found = std::find(element->getNodeIds().begin(), element->getNodeIds().end(), nodeId); if (found != element->getNodeIds().end()) { coordinate.index = elementId; coordinate.coordinate.setZero(element->getNumNodes()); coordinate.coordinate[found - element->getNodeIds().begin()] = 1.0; foundNodeId = true; break; } } SURGSIM_ASSERT(foundNodeId) << "Could not find any element containing the node " << nodeId; // Fem1DLocalization will verify the coordinate (2nd parameter) based on // the Fem1DRepresentation passed as 1st parameter. return std::make_shared( std::static_pointer_cast(getSharedPtr()), coordinate); } std::shared_ptr Fem1DRepresentation::createElementLocalization( const DataStructures::IndexedLocalCoordinate& location) { return std::make_shared( std::static_pointer_cast(getSharedPtr()), location); } std::shared_ptr Fem1DRepresentation::createLocalization(const DataStructures::Location& location) { if (location.index.hasValue()) { return createNodeLocalization(*location.index); } else if (location.elementMeshLocalCoordinate.hasValue()) { return createElementLocalization(*location.elementMeshLocalCoordinate); } SURGSIM_FAILURE() << "Fem1DRepresentation supports only node and element-based location (not triangle-based)"; return nullptr; } void Fem1DRepresentation::transformState(std::shared_ptr state, const Math::RigidTransform3d& transform) { transformVectorByBlockOf3(transform, &state->getPositions()); transformVectorByBlockOf3(transform, &state->getVelocities(), true); } bool Fem1DRepresentation::doInitialize() { for (auto& element : m_fem->getElements()) { std::shared_ptr femElement; femElement = FemElement::getFactory().create(getFemElementType(), element); m_femElements.push_back(femElement); } return FemRepresentation::doInitialize(); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Fem1DRepresentation.h000066400000000000000000000066411277777236100231260ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM1DREPRESENTATION_H #define SURGSIM_PHYSICS_FEM1DREPRESENTATION_H #include #include #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem1D.h" #include "SurgSim/Physics/FemRepresentation.h" namespace SurgSim { namespace DataStructures { struct IndexedLocalCoordinate; struct Location; } namespace Framework { class Asset; } namespace Math { class OdeState; } namespace Physics { class Localization; SURGSIM_STATIC_REGISTRATION(Fem1DRepresentation); /// Finite Element Model 1D is a fem built with 1D FemElement /// /// The structure of a 1D model derives into a matrix structure of tri-diagonal block. class Fem1DRepresentation : public FemRepresentation { public: /// Constructor /// \param name The name of the Fem1DRepresentation explicit Fem1DRepresentation(const std::string& name); /// Destructor virtual ~Fem1DRepresentation(); SURGSIM_CLASSNAME(SurgSim::Physics::Fem1DRepresentation); void loadFem(const std::string& fileName) override; /// Sets the fem mesh asset /// \param mesh The fem mesh to assign to this representation /// \exception SurgSim::Framework::AssertionFailure if mesh is nullptr or it's actual type is not Fem1D void setFem(std::shared_ptr mesh); /// \return The fem mesh asset as a Fem1D std::shared_ptr getFem() const; void addExternalGeneralizedForce(std::shared_ptr localization, const SurgSim::Math::Vector& generalizedForce, const SurgSim::Math::Matrix& K = SurgSim::Math::Matrix(), const SurgSim::Math::Matrix& D = SurgSim::Math::Matrix()) override; std::shared_ptr createLocalization(const SurgSim::DataStructures::Location& location) override; protected: void transformState(std::shared_ptr state, const SurgSim::Math::RigidTransform3d& transform) override; bool doInitialize() override; private: /// Helper method: create a localization for a node /// \param nodeId The node index /// \return Localization of the node for this representation std::shared_ptr createNodeLocalization(size_t nodeId); /// Helper method: create a localization for an element-based IndexedLocalCoordinate (beam) /// \param location The IndexedLocalCoordinate defining a point on the element mesh /// \return Localization of the point for this representation std::shared_ptr createElementLocalization( const SurgSim::DataStructures::IndexedLocalCoordinate& location); /// The Fem1DRepresentation's asset as a Fem1D std::shared_ptr m_fem; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM1DREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Physics/Fem2D.cpp000066400000000000000000000020301277777236100205230ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 "SurgSim/Physics/Fem2D.h" #include "SurgSim/Physics/Fem2DPlyReaderDelegate.h" namespace SurgSim { namespace Physics { SURGSIM_REGISTER(SurgSim::Framework::Asset, SurgSim::Physics::Fem2D, Fem2D) Fem2D::Fem2D() : Fem() { } bool Fem2D::doLoad(const std::string& filePath) { return loadFemFile(filePath); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Fem2D.h000066400000000000000000000023761277777236100202050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM2D_H #define SURGSIM_PHYSICS_FEM2D_H #include "SurgSim/Physics/Fem.h" namespace SurgSim { namespace Physics { SURGSIM_STATIC_REGISTRATION(Fem2D); /// Fem class data structure implementation for 2-Dimensional FEMs /// \sa Fem class Fem2D : public Fem { public: /// Default constructor Fem2D(); SURGSIM_CLASSNAME(SurgSim::Physics::Fem2D); protected: // Asset API override bool doLoad(const std::string& filePath) override; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM2D_H opensurgsim-0.7.0/SurgSim/Physics/Fem2DElementTriangle.cpp000066400000000000000000001271411277777236100235360ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Log.h" #include "SurgSim/Math/GaussLegendreQuadrature.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/OdeEquation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Physics/Fem2DElementTriangle.h" using SurgSim::Math::addSubVector; using SurgSim::Math::gaussQuadrature2DTriangle3Points; using SurgSim::Math::getSubMatrix; using SurgSim::Math::getSubVector; using SurgSim::Math::setSubMatrix; using SurgSim::Math::Vector; using SurgSim::Math::Vector3d; namespace { const double epsilon = 1e-8; const double epsilonArea = 1e-10; }; namespace SurgSim { namespace Physics { SURGSIM_REGISTER(SurgSim::Physics::FemElement, SurgSim::Physics::Fem2DElementTriangle, Fem2DElementTriangle) Fem2DElementTriangle::Fem2DElementTriangle() { initializeMembers(); } Fem2DElementTriangle::Fem2DElementTriangle(std::array nodeIds) { initializeMembers(); m_nodeIds.assign(nodeIds.cbegin(), nodeIds.cend()); } Fem2DElementTriangle::Fem2DElementTriangle(std::shared_ptr elementData) { initializeMembers(); auto element2DData = std::dynamic_pointer_cast(elementData); SURGSIM_ASSERT(element2DData != nullptr) << "Incorrect struct type passed"; SURGSIM_ASSERT(element2DData->nodeIds.size() == 3) << "Incorrect number of nodes for Fem2D Triangle"; m_nodeIds.assign(element2DData->nodeIds.begin(), element2DData->nodeIds.end()); setThickness(element2DData->thickness); setMassDensity(element2DData->massDensity); setPoissonRatio(element2DData->poissonRatio); setYoungModulus(element2DData->youngModulus); } void Fem2DElementTriangle::setThickness(double thickness) { SURGSIM_ASSERT(thickness != 0.0) << "The thickness cannot be set to 0"; SURGSIM_ASSERT(thickness > 0.0) << "The thickness cannot be negative (trying to set it to " << thickness << ")"; m_thickness = thickness; } double Fem2DElementTriangle::getThickness() const { return m_thickness; } double Fem2DElementTriangle::getVolume(const SurgSim::Math::OdeState& state) const { const Vector3d A = state.getPosition(m_nodeIds[0]); const Vector3d B = state.getPosition(m_nodeIds[1]); const Vector3d C = state.getPosition(m_nodeIds[2]); return m_thickness * (B - A).cross(C - A).norm() / 2.0; } void Fem2DElementTriangle::initializeMembers() { m_restArea = 0.0; m_thickness = 0.0; // 6 dof per node (x, y, z, thetaX, thetaY, thetaZ) setNumDofPerNode(6); } void Fem2DElementTriangle::initialize(const SurgSim::Math::OdeState& state) { // Test the validity of the physical parameters FemElement::initialize(state); SURGSIM_ASSERT(m_thickness > 0.0) << "Fem2DElementTriangle thickness should be positive and non-zero. " << "Did you call setThickness(thickness) ?"; // Store the rest state for this beam in m_x0 getSubVector(state.getPositions(), m_nodeIds, 6, &m_x0); // Store the rest rotation in m_initialRotation m_initialRotation = computeRotation(state); // computeShapeFunctionsParameters needs the initial rotation and // is required to compute the stiffness and mass matrices computeShapeFunctionsParameters(state); // Pre-compute the mass and stiffness matrix computeMass(state, &m_M); computeStiffness(state, &m_K); } void Fem2DElementTriangle::computeLocalMembraneMass(const SurgSim::Math::OdeState& state, Eigen::Matrix* localMassMatrix) { double mass = m_rho * m_restArea * m_thickness; for (size_t i = 0; i < 3; ++i) { size_t j = (i + 1) % 3; size_t k = (j + 1) % 3; localMassMatrix->block<2, 2>(i * 6, i * 6).diagonal().setConstant(mass / 6.0); localMassMatrix->block<2, 2>(i * 6, j * 6).diagonal().setConstant(mass / 12.0); localMassMatrix->block<2, 2>(i * 6, k * 6).diagonal().setConstant(mass / 12.0); } } void Fem2DElementTriangle::computeLocalPlateMass(const SurgSim::Math::OdeState& state, Eigen::Matrix* localMassMatrix) { double coefZ = 2.0 * m_restArea * m_rho * m_thickness; double coefTheta = m_restArea * m_rho * (m_thickness * m_thickness * m_thickness) / 6.0; for (size_t nodeId1 = 0; nodeId1 < 3; ++nodeId1) { for (size_t nodeId2 = 0; nodeId2 < 3; ++nodeId2) { localMassMatrix->block<3, 3>(6 * nodeId1 + 2, 6 * nodeId2 + 2) = coefZ * m_integral_dT_d.block<3, 3>(3 * nodeId1, 3 * nodeId2) + coefTheta * m_integralHxiHxj.block<3, 3>(3 * nodeId1, 3 * nodeId2) + coefTheta * m_integralHyiHyj.block<3, 3>(3 * nodeId1, 3 * nodeId2); } } } void Fem2DElementTriangle::computeLocalMass(const SurgSim::Math::OdeState& state, Eigen::Matrix* localMassMatrix) { localMassMatrix->setIdentity(); computeLocalMembraneMass(state, localMassMatrix); computeLocalPlateMass(state, localMassMatrix); } void Fem2DElementTriangle::computeMass(const SurgSim::Math::OdeState& state, SurgSim::Math::Matrix* massMatrix) { computeLocalMass(state, &m_MLocal); // Transformation Local -> Global const SurgSim::Math::Matrix33d& rotation = m_initialRotation; const SurgSim::Math::Matrix33d rotationTranspose = m_initialRotation.transpose(); for (size_t rowBlockId = 0; rowBlockId < 6; ++rowBlockId) { for (size_t colBlockId = 0; colBlockId < 6; ++colBlockId) { auto MLocal3x3block = getSubMatrix(m_MLocal, rowBlockId, colBlockId, 3, 3); setSubMatrix(rotation * MLocal3x3block * rotationTranspose, rowBlockId, colBlockId, 3, 3, massMatrix); } } } void Fem2DElementTriangle::computeLocalStiffness(const SurgSim::Math::OdeState& state, Eigen::Matrix* localStiffnessMatrix) { // Membrane part from "Theory of Matrix Structural Analysis" from J.S. Przemieniecki // Compute the membrane local strain-displacement matrix Matrix36Type membraneStrainDisplacement = Matrix36Type::Zero(); for (size_t i = 0; i < 3; ++i) { // Noting f(x,y) the membrane shape function, the displacement is: // u(x,y) = f0(x,y).u0 + f1(x,y).u1 + f2(x,y).u2 // The strain is E=(Exx , Eyy , Exy) // Exx = dux/dx = df0/dx.u0x + df1/dx.u1x + df2/dx.u2x // dfi/dx = bi membraneStrainDisplacement(0, 2 * i) = m_membraneShapeFunctionsParameters(i, 1); // Eyy = duy/dy = df0/dy.u0y + df1/dy.u1y + df2/dy.u2y // dfi/dy = ci membraneStrainDisplacement(1, 2 * i + 1) = m_membraneShapeFunctionsParameters(i, 2); // Exy = dux/dy + duy/dx = // (df0/dy.u0x + df0/dx.u0y) + (df1/dy.u1x + df1/dx.u1y) + (df2/dy.u2x + df2/dx.u2y) membraneStrainDisplacement(2, 2 * i) = m_membraneShapeFunctionsParameters(i, 2); membraneStrainDisplacement(2, 2 * i + 1) = m_membraneShapeFunctionsParameters(i, 1); } // Membrane material stiffness coming from Hooke Law (isotropic material) Matrix33Type membraneElasticMaterial; membraneElasticMaterial.setIdentity(); membraneElasticMaterial(2, 2) = 0.5 * (1.0 - m_nu); membraneElasticMaterial(0, 1) = m_nu; membraneElasticMaterial(1, 0) = m_nu; membraneElasticMaterial *= m_E / (1.0 - m_nu * m_nu); // Membrane local stiffness matrix = integral(strain:stress) Matrix66Type membraneKLocal = membraneStrainDisplacement.transpose() * membraneElasticMaterial * membraneStrainDisplacement; membraneKLocal *= m_thickness * m_restArea; // Thin-plate part from "A Study Of Three-Node Triangular Plate Bending Elements", Jean-Louis Batoz // Thin-plate material stiffness coming from Hooke Law (isotropic material) Matrix33Type plateElasticMaterial = membraneElasticMaterial; plateElasticMaterial *= m_thickness * m_thickness * m_thickness / 12.0; // Thin-Plate stiffness matrix evaluation using a 3 point Gauss quadrature for exact integration (quadratic terms) Matrix99Type plateKLocal = Matrix99Type::Zero(); for (size_t pointId = 0; pointId < 3; ++pointId) { const double xi = gaussQuadrature2DTriangle3Points[pointId].coordinateXi; const double eta = gaussQuadrature2DTriangle3Points[pointId].coordinateEta; const double weight = gaussQuadrature2DTriangle3Points[pointId].weight; Matrix39Type strainDisplacementAtGaussPoint = batozStrainDisplacement(xi , eta); plateKLocal += ((2.0 * m_restArea) * 0.5 * weight) * strainDisplacementAtGaussPoint.transpose() * plateElasticMaterial * strainDisplacementAtGaussPoint; } // Assemble shell stiffness as combination of membrane (Ux Uy) and plate stiffnesses (Uz ThetaX ThetaY) // In the Kirchhof theory of Thin-Plate, the drilling dof (ThetaZ) is not considered. // DOF are stored as follow (Ux Uy Uz ThetaX ThetaY ThetaZ) localStiffnessMatrix->setIdentity(); for (size_t row = 0; row < 3; ++row) { for (size_t column = 0; column < 3; ++column) { // Membrane part localStiffnessMatrix->block<2, 2>(6 * row, 6 * column) = membraneKLocal.block<2 , 2>(2 * row , 2 * column); // Thin-plate part localStiffnessMatrix->block<3, 3>(6 * row + 2, 6 * column + 2) = plateKLocal.block<3, 3>(3 * row, 3 * column); } } } void Fem2DElementTriangle::computeStiffness(const SurgSim::Math::OdeState& state, SurgSim::Math::Matrix* stiffnessMatrix) { computeLocalStiffness(state, &m_KLocal); // Transformation Local -> Global const SurgSim::Math::Matrix33d& rotation = m_initialRotation; const SurgSim::Math::Matrix33d rotationTranspose = m_initialRotation.transpose(); for (size_t rowBlockId = 0; rowBlockId < 6; ++rowBlockId) { for (size_t colBlockId = 0; colBlockId < 6; ++colBlockId) { auto KLocal3x3block = getSubMatrix(m_KLocal, rowBlockId, colBlockId, 3, 3); setSubMatrix(rotation * KLocal3x3block * rotationTranspose, rowBlockId, colBlockId, 3, 3, stiffnessMatrix); } } } SurgSim::Math::Matrix33d Fem2DElementTriangle::computeRotation(const SurgSim::Math::OdeState& state) { SurgSim::Math::Matrix33d rotation; // Build (A; i, j, k) an orthonormal frame // such that in the local frame, we have: // A(0, 0) // B(xb > 0, 0) // C(xc, yc > 0) const Vector3d A = state.getPosition(m_nodeIds[0]); const Vector3d B = state.getPosition(m_nodeIds[1]); const Vector3d C = state.getPosition(m_nodeIds[2]); Vector3d i = B - A; SURGSIM_ASSERT(!i.isZero()) << "Degenerate triangle A=B, A=(" << A.transpose() << ") B=(" << B.transpose() << ")"; i.normalize(); Vector3d j = C - A; SURGSIM_ASSERT(!j.isZero()) << "Degenerate triangle A=C, A=(" << A.transpose() << ") C=(" << C.transpose() << ")"; Vector3d k = i.cross(j); SURGSIM_ASSERT(!k.isZero()) << "Degenerate triangle ABC aligned or B=C, " << "A=(" << A.transpose() << ") " << "B=(" << B.transpose() << ") " << "C=(" << C.transpose() << ")"; k.normalize(); j = k.cross(i); j.normalize(); // Initialize the initial rotation matrix (transform vectors from local to global coordinates) rotation.col(0) = i; rotation.col(1) = j; rotation.col(2) = k; return rotation; } SurgSim::Math::Vector Fem2DElementTriangle::computeCartesianCoordinate( const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& naturalCoordinate) const { SURGSIM_ASSERT(isValidCoordinate(naturalCoordinate)) << "naturalCoordinate must be normalized and length 3."; Vector3d cartesianCoordinate(0.0, 0.0, 0.0); const Vector& positions = state.getPositions(); for (int i = 0; i < 3; i++) { cartesianCoordinate += naturalCoordinate(i) * getSubVector(positions, m_nodeIds[i], 6).segment<3>(0); } return cartesianCoordinate; } SurgSim::Math::Vector Fem2DElementTriangle::computeNaturalCoordinate( const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& cartesianCoordinate) const { SURGSIM_FAILURE() << "Function " << __FUNCTION__ << " not yet implemented."; return SurgSim::Math::Vector3d::Zero(); } void Fem2DElementTriangle::doUpdateFMDK(const Math::OdeState& state, int options) { if (options & Math::ODEEQUATIONUPDATE_F) { Eigen::Matrix x; // K.U = F_ext // K.(x - x0) = F_ext // 0 = F_ext + F_int, with F_int = -K.(x - x0) getSubVector(state.getPositions(), m_nodeIds, 6, &x); m_f = -m_K * (x - m_x0); } } void Fem2DElementTriangle::computeIntegral_dTd() { // Component of the plate mass matrix coming from the displacement w(x,y) = d.U = [d1 d2 d3 d4 d5 d6 d7 d8 d9].U // With d = [N1, N2.y10 + N3.y20, -N2.x10 - N3.x20, // N4, N5.y10 + N6.y20, -N5.x10 - N6.x20, // N7, N8.y10 + N9.y20, -N8.x10 - N9.x20] // Let's define lambda = 1 - xi - eta // N1(xi, eta) = 3.lambda^2 - 2.lambda^3 + 2.xi.eta.lambda // N2(xi, eta) = lambda^2.xi + xi.eta.lambda/2 // N3(xi, eta) = lambda^2.eta + xi.eta.lambda/2 // N4(xi, eta) = 3.xi^2 - 2.xi^3 + 2.xi.eta.lambda // N5(xi, eta) = xi^2.(xi - 1) - xi.eta.lambda // N6(xi, eta) = xi^2.eta + xi.eta.lambda/2 // N7(xi, eta) = 3.eta^2 - 2.eta^3 + 2.xi.eta.lambda // N8(xi, eta) = eta^2.xi + xi.eta.lambda/2 // N9(xi, eta) = eta^2.(eta - 1) - xi.eta.lambda // For more details, c.f. "Shell elements: modelizations DKT, DST, DKTG and Q4g", Code_Aster, 2013, Thomas De Soza. // w = N1.w1 + N2.dw1/dxi + N3.dw1/deta // + N4.w2 + N5.dw2/dxi + N6.dw2/deta // + N7.w3 + N8.dw3/dxi + N9.dw3/deta // // Note that J = (dx/dxi=x10 dy/dxi=y10 ) // (dx/deta=x20 dy/deta=y20) // And dw/dx = -thetay // And dw/dy = thetax // with dwi/dxi = dwi/dx.dx/dxi + dwi/dy.dy/dxi = -thetayi.x10 + thetaxi.y10 // with dwi/deta = dwi/dx.dx/deta + dwi/dy.dy/deta = -thetayi.x20 + thetaxi.y20 // m_integral_dT_d(i, j) = int_0^1 int_0^{1-eta} di.dj dxi deta m_integral_dT_d.resize(9, 9); // In the local space, the triangle point coordinates are A(x0=0, y0=0) B(x1, y1=0) C(x2, y2) const double x1 = -m_xij[2]; // -(x0 - x1) = x1 (as x0 = 0) const double x2 = m_xij[1]; // x2 - x0 = x2 (as x0 = 0) const double y2 = m_yij[1]; // y2 - y0) = y2 (as y1 = 0) const double x1x1 = x1 * x1; const double x2x2 = x2 * x2; const double y2y2 = y2 * y2; const double x1x2 = x1 * x2; m_integral_dT_d(0, 0) = 121.0 / 1260.0; m_integral_dT_d(0, 1) = 13.0 / 1260.0 * y2; m_integral_dT_d(0, 2) = 13.0 / 1260.0 * (-x1 - x2); m_integral_dT_d(0, 3) = 89.0 / 2520.0; m_integral_dT_d(0, 4) = 19.0 / 5040.0 * y2; m_integral_dT_d(0, 5) = (53.0 * x1 - 19.0 * x2) / 5040.0; m_integral_dT_d(0, 6) = 89.0 / 2520.0; m_integral_dT_d(0, 7) = 53.0 / 5040.0 * (-y2); m_integral_dT_d(0, 8) = (53.0 * x2 - 19.0 * x1) / 5040.0; m_integral_dT_d(1, 0) = m_integral_dT_d(0, 1); // symmetric part m_integral_dT_d(1, 1) = 31.0 / 20160.0 * y2y2; m_integral_dT_d(1, 2) = (-y2) / 20160.0 * (19.0 * x1 + 31.0 * x2); m_integral_dT_d(1, 3) = 19.0 / 5040.0 * y2; m_integral_dT_d(1, 4) = 11.0 / 20160.0 * y2y2; m_integral_dT_d(1, 5) = y2 / 20160.0 * (24.0 * x1 - 11.0 * x2); m_integral_dT_d(1, 6) = 17.0 / 2520.0 * y2; m_integral_dT_d(1, 7) = 19.0 / 10080.0 * (-y2y2); m_integral_dT_d(1, 8) = (-y2) / 20160.0 * (13.0 * x1 - 38.0 * x2); m_integral_dT_d(2, 0) = m_integral_dT_d(0, 2); // symmetric part m_integral_dT_d(2, 1) = m_integral_dT_d(1, 2); // symmetric part m_integral_dT_d(2, 2) = (31.0 * (x1x1 + x2x2) + 2.0 * 19.0 * x1x2) / 20160.0; m_integral_dT_d(2, 3) = (-19.0 * x2 - 2.0 * 17.0 * x1) / 5040.0; m_integral_dT_d(2, 4) = (-y2) / 20160.0 * (13.0 * x1 + 11.0 * x2); m_integral_dT_d(2, 5) = (11.0 * x2 * (x2 - x1) - 2.0 * 19.0 * x1x1) / 20160.0; m_integral_dT_d(2, 6) = (-19.0 * x1 - 2.0 * 17.0 * x2) / 5040.0; m_integral_dT_d(2, 7) = y2 / 10080.0 * (12.0 * x1 + 19.0 * x2); m_integral_dT_d(2, 8) = (11.0 * x1 * (x1 - x2) - 2.0 * 19.0 * x2x2) / 20160.0; m_integral_dT_d(3, 0) = m_integral_dT_d(0, 3); // symmetric part m_integral_dT_d(3, 1) = m_integral_dT_d(1, 3); // symmetric part m_integral_dT_d(3, 2) = m_integral_dT_d(2, 3); // symmetric part m_integral_dT_d(3, 3) = 121.0 / 1260.0; m_integral_dT_d(3, 4) = 13.0 / 1260.0 * y2; m_integral_dT_d(3, 5) = (-13.0 * x2 + 2.0 * 13.0 * x1) / 1260.0; m_integral_dT_d(3, 6) = 89.0 / 2520.0; m_integral_dT_d(3, 7) = 53.0 / 5040.0 * (-y2); m_integral_dT_d(3, 8) = (53.0 * x2 - 2.0 * 17.0 * x1) / 5040.0; m_integral_dT_d(4, 0) = m_integral_dT_d(0, 4); // symmetric part m_integral_dT_d(4, 1) = m_integral_dT_d(1, 4); // symmetric part m_integral_dT_d(4, 2) = m_integral_dT_d(2, 4); // symmetric part m_integral_dT_d(4, 3) = m_integral_dT_d(3, 4); // symmetric part m_integral_dT_d(4, 4) = 31.0 / 20160.0 * y2y2; m_integral_dT_d(4, 5) = y2 / 20160.0 * (50.0 * x1 - 31.0 * x2); m_integral_dT_d(4, 6) = 17.0 / 2520.0 * y2; m_integral_dT_d(4, 7) = 19.0 / 10080.0 * (-y2y2); m_integral_dT_d(4, 8) = (-y2) / 20160.0 * (25.0 * x1 - 38.0 * x2); m_integral_dT_d(5, 0) = m_integral_dT_d(0, 5); // symmetric part m_integral_dT_d(5, 1) = m_integral_dT_d(1, 5); // symmetric part m_integral_dT_d(5, 2) = m_integral_dT_d(2, 5); // symmetric part m_integral_dT_d(5, 3) = m_integral_dT_d(3, 5); // symmetric part m_integral_dT_d(5, 4) = m_integral_dT_d(4, 5); // symmetric part m_integral_dT_d(5, 5) = (20.0 * 5.0 * x1 * (x1 - x2) + 31.0 * x2x2) / 20160.0; m_integral_dT_d(5, 6) = (53.0 * x1 - 2.0 * 17.0 * x2) / 5040.0; m_integral_dT_d(5, 7) = (-y2) / 10080.0 * (31.0 * x1 - 19.0 * x2); m_integral_dT_d(5, 8) = 19.0 * (-x1x1 - x2x2) / 10080.0 + 29.0 / 6720.0 * x1x2; m_integral_dT_d(6, 0) = m_integral_dT_d(0, 6); // symmetric part m_integral_dT_d(6, 1) = m_integral_dT_d(1, 6); // symmetric part m_integral_dT_d(6, 2) = m_integral_dT_d(2, 6); // symmetric part m_integral_dT_d(6, 3) = m_integral_dT_d(3, 6); // symmetric part m_integral_dT_d(6, 4) = m_integral_dT_d(4, 6); // symmetric part m_integral_dT_d(6, 5) = m_integral_dT_d(5, 6); // symmetric part m_integral_dT_d(6, 6) = 121.0 / 1260.0; m_integral_dT_d(6, 7) = (-y2) * 13.0 / 630.0; m_integral_dT_d(6, 8) = (-13.0 * x1 + 2.0 * 13.0 * x2) / 1260.0; m_integral_dT_d(7, 0) = m_integral_dT_d(0, 7); // symmetric part m_integral_dT_d(7, 1) = m_integral_dT_d(1, 7); // symmetric part m_integral_dT_d(7, 2) = m_integral_dT_d(2, 7); // symmetric part m_integral_dT_d(7, 3) = m_integral_dT_d(3, 7); // symmetric part m_integral_dT_d(7, 4) = m_integral_dT_d(4, 7); // symmetric part m_integral_dT_d(7, 5) = m_integral_dT_d(5, 7); // symmetric part m_integral_dT_d(7, 6) = m_integral_dT_d(6, 7); // symmetric part m_integral_dT_d(7, 7) = 5.0 / 1008.0 * y2y2; m_integral_dT_d(7, 8) = 5.0 / 2016.0 * y2 * (x1 - 2.0 * x2); m_integral_dT_d(8, 0) = m_integral_dT_d(0, 8); // symmetric part m_integral_dT_d(8, 1) = m_integral_dT_d(1, 8); // symmetric part m_integral_dT_d(8, 2) = m_integral_dT_d(2, 8); // symmetric part m_integral_dT_d(8, 3) = m_integral_dT_d(3, 8); // symmetric part m_integral_dT_d(8, 4) = m_integral_dT_d(4, 8); // symmetric part m_integral_dT_d(8, 5) = m_integral_dT_d(5, 8); // symmetric part m_integral_dT_d(8, 6) = m_integral_dT_d(6, 8); // symmetric part m_integral_dT_d(8, 7) = m_integral_dT_d(7, 8); // symmetric part m_integral_dT_d(8, 8) = 5.0 / 1008.0 * x2 * (x2 - x1) + 31.0 / 20160.0 * x1x1; } void Fem2DElementTriangle::computeIntegral_HxHxT() { // Compute the integral terms of Batoz Hx product functions // m_integralHxiHxj(i, j) = int_0^1 int_0^{1-eta} Hxi.Hxj dxi deta const double& a4 = m_ak[0]; const double& a5 = m_ak[1]; const double& a6 = m_ak[2]; const double& b4 = m_bk[0]; const double& b5 = m_bk[1]; const double& b6 = m_bk[2]; const double& c4 = m_ck[0]; const double& c5 = m_ck[1]; const double& c6 = m_ck[2]; m_integralHxiHxj.resize(9, 9); m_integralHxiHxj(0, 0) = 1. / 5. * (a6 * a6 - a5 * a6 + a5 * a5); m_integralHxiHxj(0, 1) = 1. / 15. * (b6 * (2.0 * a6 - a5) + b5 * (a6 - 2.0 * a5)); m_integralHxiHxj(0, 2) = 1. / 15. * (c6 * (-2.0 * a6 + a5) + c5 * (-a6 + 2.0 * a5)); m_integralHxiHxj(0, 3) = 1. / 10. * (a6 * (-2.0 * a6 + a5) + a4 * (a6 - a5)); m_integralHxiHxj(0, 4) = 1. / 15. * (b6 * (2.0 * a6 - a5) + b4 * (a6 - a5)); m_integralHxiHxj(0, 5) = 1. / 60. * a5 + 1. / 15. * (c6 * (-2.0 * a6 + a5) + c4 * (-a6 + a5)); m_integralHxiHxj(0, 6) = 1. / 10. * (a5 * (a6 - 2.0 * a5) + a4 * (-a6 + a5)); m_integralHxiHxj(0, 7) = 1. / 15. * (b5 * (a6 - 2.0 * a5) + b4 * (a6 - a5)); m_integralHxiHxj(0, 8) = -1. / 60. * a6 + 1. / 15. * (c5 * (-a6 + 2.0 * a5) + c4 * (-a6 + a5)); m_integralHxiHxj(1, 0) = m_integralHxiHxj(0, 1); // symmetric part m_integralHxiHxj(1, 1) = 4. / 45. * (b5 * b5 + b5 * b6 + b6 * b6); m_integralHxiHxj(1, 2) = 2. / 45. * (c5 * (-2.0 * b5 - b6) + c6 * (-b5 - 2.0 * b6)); m_integralHxiHxj(1, 3) = 1. / 15. * (a6 * (-2.0 * b6 - b5) + a4 * (b6 + b5)); m_integralHxiHxj(1, 4) = 2. / 45. * (b6 * (b5 + 2.0 * b6) + b4 * (b6 + b5)); m_integralHxiHxj(1, 5) = -1. / 90. * b5 + 2. / 45. * (c6 * (-2.0 * b6 - b5) - c4 * (b6 + b5)); m_integralHxiHxj(1, 6) = 1. / 15. * (a5 * (b6 + 2.0 * b5) - a4 * (b6 + b5)); m_integralHxiHxj(1, 7) = 2. / 45. * (b5 * (b6 + 2.0 * b5) + b4 * (b6 + b5)); m_integralHxiHxj(1, 8) = -1. / 90. * b6 - 2. / 45. * (c5 * (2.0 * b5 + b6) + c4 * (b6 + b5)); m_integralHxiHxj(2, 0) = m_integralHxiHxj(0, 2); // symmetric part m_integralHxiHxj(2, 1) = m_integralHxiHxj(1, 2); // symmetric part m_integralHxiHxj(2, 2) = 1. / 60. + 4. / 45. * (c5 * c5 + c6 * c6 + c5 * c6); m_integralHxiHxj(2, 3) = -1. / 60. * a4 + 1. / 15. * (-a4 * (c6 + c5) + a6 * (2.0 * c6 + c5)); m_integralHxiHxj(2, 4) = -1. / 90. * b4 - 2. / 45. * (b6 * (c5 + 2.0 * c6) + b4 * (c6 + c5)); m_integralHxiHxj(2, 5) = -1. / 360. + 1. / 90. * (c5 + c4) + 2. / 45. * (c6 * (2.0 * c6 + c5) + c4 * (c6 + c5)); m_integralHxiHxj(2, 6) = 1. / 60. * a4 + 1. / 15. * (a4 * (c6 + c5) - a5 * (c6 + 2.0 * c5)); m_integralHxiHxj(2, 7) = -1. / 90. * b4 - 2. / 45. * (b5 * (2.0 * c5 + c6) + b4 * (c6 + c5)); m_integralHxiHxj(2, 8) = -1. / 360. + 1. / 90. * (c6 + c4) + 2. / 45. * (c5 * (2.0 * c5 + c6) + c4 * (c6 + c5)); m_integralHxiHxj(3, 0) = m_integralHxiHxj(0, 3); // symmetric part m_integralHxiHxj(3, 1) = m_integralHxiHxj(1, 3); // symmetric part m_integralHxiHxj(3, 2) = m_integralHxiHxj(2, 3); // symmetric part m_integralHxiHxj(3, 3) = 1. / 5. * (a6 * a6 - a6 * a4 + a4 * a4); m_integralHxiHxj(3, 4) = 1. / 15. * (b6 * (-2.0 * a6 + a4) + b4 * (-a6 + 2.0 * a4)); m_integralHxiHxj(3, 5) = 1. / 15. * (c6 * (-a4 + 2.0 * a6) + c4 * (-2.0 * a4 + a6)); m_integralHxiHxj(3, 6) = 1. / 10. * (a6 * (-a5 + a4) + a4 * (a5 - 2.0 * a4)); m_integralHxiHxj(3, 7) = 1. / 15. * (-a6 * (b4 + b5) + a4 * (2.0 * b4 + b5)); m_integralHxiHxj(3, 8) = 1. / 60. * a6 + 1. / 15. * (a6 * (c4 + c5) - a4 * (2.0 * c4 + c5)); m_integralHxiHxj(4, 0) = m_integralHxiHxj(0, 4); // symmetric part m_integralHxiHxj(4, 1) = m_integralHxiHxj(1, 4); // symmetric part m_integralHxiHxj(4, 2) = m_integralHxiHxj(2, 4); // symmetric part m_integralHxiHxj(4, 3) = m_integralHxiHxj(3, 4); // symmetric part m_integralHxiHxj(4, 4) = 4. / 45. * (b6 * b6 + b6 * b4 + b4 * b4); m_integralHxiHxj(4, 5) = -2. / 45. * (b6 * (2.0 * b6 + c4) + b4 * (c6 + 2.0 * c4)); m_integralHxiHxj(4, 6) = 1. / 15. * (b6 * (a5 - a4) + b4 * (a5 - 2.0 * a4)); m_integralHxiHxj(4, 7) = 2. / 45. * (b6 * (b4 + b5) + b4 * (2.0 * b4 + b5)); m_integralHxiHxj(4, 8) = -1. / 90. * b6 - 2. / 45. * (b6 * (c4 + c5) + b4 * (2.0 * c4 + c5)); m_integralHxiHxj(5, 0) = m_integralHxiHxj(0, 5); // symmetric part m_integralHxiHxj(5, 1) = m_integralHxiHxj(1, 5); // symmetric part m_integralHxiHxj(5, 2) = m_integralHxiHxj(2, 5); // symmetric part m_integralHxiHxj(5, 3) = m_integralHxiHxj(3, 5); // symmetric part m_integralHxiHxj(5, 4) = m_integralHxiHxj(4, 5); // symmetric part m_integralHxiHxj(5, 5) = 1. / 60. + 4. / 45. * (c6 * c6 + c6 * c4 + c4 * c4); m_integralHxiHxj(5, 6) = -1. / 60. * a5 + 1. / 15. * (-a5 * (c6 + c4) + a4 * (c6 + 2.0 * c4)); m_integralHxiHxj(5, 7) = -1. / 90. * b5 - 2. / 45. * (c6 * (b4 + b5) + c4 * (b5 + 2.0 * b4)); m_integralHxiHxj(5, 8) = -1. / 360. + 1. / 90. * (c5 + c6) + 2. / 45. * (c4 * (2.0 * c4 + c5) + c6 * (c5 + c4)); m_integralHxiHxj(6, 0) = m_integralHxiHxj(0, 6); // symmetric part m_integralHxiHxj(6, 1) = m_integralHxiHxj(1, 6); // symmetric part m_integralHxiHxj(6, 2) = m_integralHxiHxj(2, 6); // symmetric part m_integralHxiHxj(6, 3) = m_integralHxiHxj(3, 6); // symmetric part m_integralHxiHxj(6, 4) = m_integralHxiHxj(4, 6); // symmetric part m_integralHxiHxj(6, 5) = m_integralHxiHxj(5, 6); // symmetric part m_integralHxiHxj(6, 6) = 1. / 5. * (a4 * a4 - a4 * a5 + a5 * a5); m_integralHxiHxj(6, 7) = 1. / 15. * (a5 * (b4 + 2.0 * b5) - a4 * (2.0 * b4 + b5)); m_integralHxiHxj(6, 8) = 1. / 15. * (-a5 * (c4 + 2.0 * c5) + a4 * (2.0 * c4 + c5)); m_integralHxiHxj(7, 0) = m_integralHxiHxj(0, 7); // symmetric part m_integralHxiHxj(7, 1) = m_integralHxiHxj(1, 7); // symmetric part m_integralHxiHxj(7, 2) = m_integralHxiHxj(2, 7); // symmetric part m_integralHxiHxj(7, 3) = m_integralHxiHxj(3, 7); // symmetric part m_integralHxiHxj(7, 4) = m_integralHxiHxj(4, 7); // symmetric part m_integralHxiHxj(7, 5) = m_integralHxiHxj(5, 7); // symmetric part m_integralHxiHxj(7, 6) = m_integralHxiHxj(6, 7); // symmetric part m_integralHxiHxj(7, 7) = 4. / 45. * (b4 * b4 + b4 * b5 + b5 * b5); m_integralHxiHxj(7, 8) = -2. / 45. * (b4 * (2.0 * c4 + c5) + b5 * (c4 + 2.0 * c5)); m_integralHxiHxj(8, 0) = m_integralHxiHxj(0, 8); // symmetric part m_integralHxiHxj(8, 1) = m_integralHxiHxj(1, 8); // symmetric part m_integralHxiHxj(8, 2) = m_integralHxiHxj(2, 8); // symmetric part m_integralHxiHxj(8, 3) = m_integralHxiHxj(3, 8); // symmetric part m_integralHxiHxj(8, 4) = m_integralHxiHxj(4, 8); // symmetric part m_integralHxiHxj(8, 5) = m_integralHxiHxj(5, 8); // symmetric part m_integralHxiHxj(8, 6) = m_integralHxiHxj(6, 8); // symmetric part m_integralHxiHxj(8, 7) = m_integralHxiHxj(7, 8); // symmetric part m_integralHxiHxj(8, 8) = 1. / 60. + 4. / 45. * (c4 * c4 + c5 * c4 + c5 * c5); } void Fem2DElementTriangle::computeIntegral_HyHyT() { // Compute the integral terms of Batoz Hy product functions // m_integralHyiHyj(i, j) = int_0^1 int_0^{1-eta} Hyi.Hyj dxi deta const double& b4 = m_bk[0]; const double& b5 = m_bk[1]; const double& b6 = m_bk[2]; const double& d4 = m_dk[0]; const double& d5 = m_dk[1]; const double& d6 = m_dk[2]; const double& e4 = m_ek[0]; const double& e5 = m_ek[1]; const double& e6 = m_ek[2]; m_integralHyiHyj.resize(9, 9); m_integralHyiHyj(0, 0) = 1. / 5. * (d6 * d6 - d5 * d6 + d5 * d5); m_integralHyiHyj(0, 1) = 1. / 15. * (d6 * (2.0 * e6 + e5) - d5 * (e6 + 2.0 * e5)); m_integralHyiHyj(0, 2) = 1. / 15. * (b6 * (-2.0 * d6 + d5) + b5 * (-d6 + 2.0 * d5)); m_integralHyiHyj(0, 3) = 1. / 10. * (d6 * (d4 - 2.0 * d6) + d5 * (-d4 + d6)); m_integralHyiHyj(0, 4) = -1. / 60. * d5 + 1. / 15. * (d6 * (2.0 * e6 + e4) - d5 * (e6 + e4)); m_integralHyiHyj(0, 5) = 1. / 15. * (b6 * (-2.0 * d6 + d5) + b4 * (-d6 + d5)); m_integralHyiHyj(0, 6) = 1. / 10. * (d6 * (d5 - d4) + d5 * (-2.0 * d5 + d4)); m_integralHyiHyj(0, 7) = 1. / 60. * d6 + 1. / 15. * (d6 * (e4 + e5) - d5 * (e4 + 2.0 * e5)); m_integralHyiHyj(0, 8) = 1. / 15. * (b5 * (-d6 + 2.0 * d5) + b4 * (-d6 + d5)); m_integralHyiHyj(1, 0) = m_integralHyiHyj(0, 1); // symmetric part m_integralHyiHyj(1, 1) = 1. / 60. + 4. / 45. * (e6 * e6 + e5 * e6 + e5 * e5); m_integralHyiHyj(1, 2) = 2. / 45. * (-e5 * (b6 + 2.0 * b5) - e6 * (b5 + 2.0 * b6)); m_integralHyiHyj(1, 3) = 1. / 60. * d4 + 1. / 15. * (e6 * (d4 - 2.0 * d6) + e5 * (-d6 + d4)); m_integralHyiHyj(1, 4) = -1. / 360. + 1. / 90. * (e5 + e4) + 2. / 45. * (e6 * (2.0 * e6 + e5) + e4 * (e5 + e6)); m_integralHyiHyj(1, 5) = -1. / 90. * b4 - 2. / 45. * (e5 * (b6 + b4) + e6 * (2.0 * b6 + b4)); m_integralHyiHyj(1, 6) = -1. / 60. * d4 + 1. / 15. * (e6 * (-d4 + d5) + e5 * (-d4 + 2.0 * d5)); m_integralHyiHyj(1, 7) = -1. / 360. + 1. / 90. * (e4 + e6) + 2. / 45. * (e6 * (e5 + e4) + e5 * (e4 + 2.0 * e5)); m_integralHyiHyj(1, 8) = -1. / 90. * b4 - 2. / 45. * (e5 * (b4 + 2.0 * b5) + e6 * (b5 + b4)); m_integralHyiHyj(2, 0) = m_integralHyiHyj(0, 2); // symmetric part m_integralHyiHyj(2, 1) = m_integralHyiHyj(1, 2); // symmetric part m_integralHyiHyj(2, 2) = 4. / 45. * (b5 * b5 + b5 * b6 + b6 * b6); m_integralHyiHyj(2, 3) = 1. / 15. * (b6 * (2.0 * d6 - d4) + b5 * (d6 - d4)); m_integralHyiHyj(2, 4) = -1. / 90. * b5 - 2. / 45. * (b6 * (2.0 * e6 + e4) + b5 * (e6 + e4)); m_integralHyiHyj(2, 5) = 2. / 45. * (b6 * (2.0 * b6 + b4) + b5 * (b6 + b4)); m_integralHyiHyj(2, 6) = 1. / 15. * (b6 * (-d5 + d4) + b5 * (-2.0 * d5 + d4)); m_integralHyiHyj(2, 7) = -1. / 90. * b6 - 2. / 45. * (b6 * (e5 + e4) + b5 * (2.0 * e5 + e4)); m_integralHyiHyj(2, 8) = 2. / 45. * (b5 * (b4 + 2.0 * b5) + b6 * (b4 + b5)); m_integralHyiHyj(3, 0) = m_integralHyiHyj(0, 3); // symmetric part m_integralHyiHyj(3, 1) = m_integralHyiHyj(1, 3); // symmetric part m_integralHyiHyj(3, 2) = m_integralHyiHyj(2, 3); // symmetric part m_integralHyiHyj(3, 3) = 1. / 5. * (d6 * d6 - d6 * d4 + d4 * d4); m_integralHyiHyj(3, 4) = 1. / 15. * (d4 * (e6 + 2.0 * e4) - d6 * (2.0 * e6 + e4)); m_integralHyiHyj(3, 5) = 1. / 15. * (d6 * (2.0 * b6 + b4) - d4 * (b6 + 2.0 * b4)); m_integralHyiHyj(3, 6) = 1. / 10. * (d6 * (-d5 + d4) + d4 * (d5 - 2.0 * d4)); m_integralHyiHyj(3, 7) = -1. / 60. * d6 + 1. / 15. * (-d6 * (e4 + e5) + d4 * (2.0 * e4 + e5)); m_integralHyiHyj(3, 8) = 1. / 15. * (d6 * (b4 + b5) - d4 * (2.0 * b4 + b5)); m_integralHyiHyj(4, 0) = m_integralHyiHyj(0, 4); // symmetric part m_integralHyiHyj(4, 1) = m_integralHyiHyj(1, 4); // symmetric part m_integralHyiHyj(4, 2) = m_integralHyiHyj(2, 4); // symmetric part m_integralHyiHyj(4, 3) = m_integralHyiHyj(3, 4); // symmetric part m_integralHyiHyj(4, 4) = 1. / 60. + 4. / 45. * (e6 * e6 + e6 * e4 + e4 * e4); m_integralHyiHyj(4, 5) = -2. / 45. * (e6 * (2.0 * b6 + b4) + e4 * (b6 + 2.0 * b4)); m_integralHyiHyj(4, 6) = 1. / 60. * d5 + 1. / 15. * (e6 * (d5 - d4) + e4 * (d5 - 2.0 * d4)); m_integralHyiHyj(4, 7) = -1. / 360. + 1. / 90. * (e6 + e5) + 2. / 45. * (e6 * (e5 + e4) + e4 * (e5 + 2.0 * e4)); m_integralHyiHyj(4, 8) = -1. / 90. * b5 - 2. / 45. * (e6 * (b5 + b4) + e4 * (b5 + 2.0 * b4)); m_integralHyiHyj(5, 0) = m_integralHyiHyj(0, 5); // symmetric part m_integralHyiHyj(5, 1) = m_integralHyiHyj(1, 5); // symmetric part m_integralHyiHyj(5, 2) = m_integralHyiHyj(2, 5); // symmetric part m_integralHyiHyj(5, 3) = m_integralHyiHyj(3, 5); // symmetric part m_integralHyiHyj(5, 4) = m_integralHyiHyj(4, 5); // symmetric part m_integralHyiHyj(5, 5) = 4. / 45. * (b6 * b6 + b6 * b4 + b4 * b4); m_integralHyiHyj(5, 6) = 1. / 15. * (b6 * (-d5 + d4) + b4 * (-d5 + 2.0 * d4)); m_integralHyiHyj(5, 7) = -1. / 90. * b6 - 2. / 45. * (b6 * (e4 + e5) + b4 * (2.0 * e4 + e5)); m_integralHyiHyj(5, 8) = 2. / 45. * (b6 * (b4 + b5) + b4 * (2.0 * b4 + b5)); m_integralHyiHyj(6, 0) = m_integralHyiHyj(0, 6); // symmetric part m_integralHyiHyj(6, 1) = m_integralHyiHyj(1, 6); // symmetric part m_integralHyiHyj(6, 2) = m_integralHyiHyj(2, 6); // symmetric part m_integralHyiHyj(6, 3) = m_integralHyiHyj(3, 6); // symmetric part m_integralHyiHyj(6, 4) = m_integralHyiHyj(4, 6); // symmetric part m_integralHyiHyj(6, 5) = m_integralHyiHyj(5, 6); // symmetric part m_integralHyiHyj(6, 6) = 1. / 5. * (d4 * d4 - d5 * d4 + d5 * d5); m_integralHyiHyj(6, 7) = 1. / 15. * (d5 * (e4 + 2.0 * e5) - d4 * (2.0 * e4 + e5)); m_integralHyiHyj(6, 8) = 1. / 15. * (-d5 * (b4 + 2.0 * b5) + d4 * (2.0 * b4 + b5)); m_integralHyiHyj(7, 0) = m_integralHyiHyj(0, 7); // symmetric part m_integralHyiHyj(7, 1) = m_integralHyiHyj(1, 7); // symmetric part m_integralHyiHyj(7, 2) = m_integralHyiHyj(2, 7); // symmetric part m_integralHyiHyj(7, 3) = m_integralHyiHyj(3, 7); // symmetric part m_integralHyiHyj(7, 4) = m_integralHyiHyj(4, 7); // symmetric part m_integralHyiHyj(7, 5) = m_integralHyiHyj(5, 7); // symmetric part m_integralHyiHyj(7, 6) = m_integralHyiHyj(6, 7); // symmetric part m_integralHyiHyj(7, 7) = 1. / 60. + 4. / 45. * (e4 * e4 + e4 * e5 + e5 * e5); m_integralHyiHyj(7, 8) = -2. / 45. * (e4 * (2.0 * b4 + b5) + e5 * (b4 + 2.0 * b5)); m_integralHyiHyj(8, 0) = m_integralHyiHyj(0, 8); // symmetric part m_integralHyiHyj(8, 1) = m_integralHyiHyj(1, 8); // symmetric part m_integralHyiHyj(8, 2) = m_integralHyiHyj(2, 8); // symmetric part m_integralHyiHyj(8, 3) = m_integralHyiHyj(3, 8); // symmetric part m_integralHyiHyj(8, 4) = m_integralHyiHyj(4, 8); // symmetric part m_integralHyiHyj(8, 5) = m_integralHyiHyj(5, 8); // symmetric part m_integralHyiHyj(8, 6) = m_integralHyiHyj(6, 8); // symmetric part m_integralHyiHyj(8, 7) = m_integralHyiHyj(7, 8); // symmetric part m_integralHyiHyj(8, 8) = 4. / 45. * (b4 * b4 + b4 * b5 + b5 * b5); } void Fem2DElementTriangle::computeShapeFunctionsParameters(const SurgSim::Math::OdeState& restState) { SURGSIM_ASSERT(m_nodeIds[0] < restState.getNumNodes()) << "Invalid nodeId[0] = " << m_nodeIds[0] << ", the number of nodes is " << restState.getNumNodes(); SURGSIM_ASSERT(m_nodeIds[1] < restState.getNumNodes()) << "Invalid nodeId[1] = " << m_nodeIds[1] << ", the number of nodes is " << restState.getNumNodes(); SURGSIM_ASSERT(m_nodeIds[2] < restState.getNumNodes()) << "Invalid nodeId[2] = " << m_nodeIds[2] << ", the number of nodes is " << restState.getNumNodes(); const SurgSim::Math::Vector3d a = restState.getPosition(m_nodeIds[0]); const SurgSim::Math::Vector3d b = restState.getPosition(m_nodeIds[1]); const SurgSim::Math::Vector3d c = restState.getPosition(m_nodeIds[2]); // Transforms the 3 triangle points in 2D triangle cartesian coordinates SurgSim::Math::RigidTransform3d inverseTransform; inverseTransform = SurgSim::Math::makeRigidTransform(m_initialRotation, a).inverse(); SurgSim::Math::Vector2d a2D = (inverseTransform * a).segment(0, 2); SurgSim::Math::Vector2d b2D = (inverseTransform * b).segment(0, 2); SurgSim::Math::Vector2d c2D = (inverseTransform * c).segment(0, 2); // To avoid confusion, we base all our notation on a 0-based indexing // Note that Batoz paper has a 0-based indexing as well, but Przemieniecki has a 1-base indexing double x0 = a2D[0]; double y0 = a2D[1]; double x1 = b2D[0]; double y1 = b2D[1]; double x2 = c2D[0]; double y2 = c2D[1]; // Note that by construction, we should have x0=y0=0 and y1=0 SURGSIM_ASSERT(std::abs(x0) < epsilon && std::abs(y0) < epsilon && std::abs(y1) < epsilon) << "Membrane local transform problem. We should have x0=y0=y1=0, but we have x0=" << x0 << " y0=" << y0 << " y1=" << y1; x0 = y0 = y1 = 0.0; // Force it to exactly 0 for numerical purpose // Also note that x1>=0 and y2>=0 by construction SURGSIM_ASSERT(x1 >= 0 && y2 >= 0) << "Membrane local transform problem. We should have " << "x1>=0 and y2>=0, but we have x1=" << x1 << " y2=" << y2; // Note: 2Area(ABC) = 2A = (x0y1 + x1y2 + x2y0 - x0y2 - x1y0 - x2y1) = // (x1-x2)(y1-y0) - (x1-x0)(y1-y2) = x12y10 - x10y12 // In the local frame, we have x0=y0=y1=0 // 2A = x1y2 (with x1>=0 and y2>=0) m_restArea = x1 * y2 / 2.0; SURGSIM_ASSERT(m_restArea != 0.0) << "Triangle with null area, A=(" << a.transpose() << "), B=(" << b.transpose() << "), C=(" << c.transpose() << ")"; SURGSIM_ASSERT(m_restArea > 0.0) << "Triangle with negtive area, Area = " << m_restArea << ", A=(" << a.transpose() << "), B=(" << b.transpose() << "), C=(" << c.transpose() << ")"; // Membrane shape functions // Notation: yij = yi - yj (reminder Przemieniecki use 1-based indexing, while we use 0-based) // Notation: xij = xi - xj (reminder Przemieniecki use 1-based indexing, while we use 0-based) // // Shape functions fi(x, y) = ai + bi.x + ci.y // Let's note A the area of the triangle // // Identifying coefficient for f1: // (a0) 1 ( x1y2-x2y1 -(x0y2-x2y0) x0y1-x1y0 )(1) 1/2A (x1y2-x2y1) ( x1y2-x2y1) // (b0) = ---- ( y1-y2 -(y0-y2) y0-y1 )(0) = 1/2A y12 = 1/2A (-y21 ) // (c0) 2A (-(x1-x2) x0-x2 -(x0-x1) )(0) 1/2A x21 ( x21 ) // Similarly for f2: // (a1) 1 ( x1y2-x2y1 -(x0y2-x2y0) x0y1-x1y0 )(0) 1/2A (x2y0-x0y2) (-x0y2+x2y0) // (b1) = ---- ( y1-y2 -(y0-y2) y0-y1 )(1) = 1/2A y20 = 1/2A ( y20 ) // (c1) 2A (-(x1-x2) x0-x2 -(x0-x1) )(0) 1/2A x02 (-x20 ) // Similarly for f3: // (a2) 1 ( x1y2-x2y1 -(x0y2-x2y0) x0y1-x1y0 )(0) 1/2A (x0y1-x1y0) ( x0y1-x1y0) // (b2) = ---- ( y1-y2 -(y0-y2) y0-y1 )(0) = 1/2A y01 = 1/2A (-y10 ) // (c2) 2A (-(x1-x2) x0-x2 -(x0-x1) )(1) 1/2A x10 ( x10 ) // // The above equation has been simplified in the following assignment using x0=y0=y1=0 // and 2A = x1y2 (cf. above for more details) // f0(x, y) = a0 + b0.x + c0.y, store a0 b0 c0 m_membraneShapeFunctionsParameters(0, 0) = 1.0; // = (x1 * y2 - x2 * y1) / 2A m_membraneShapeFunctionsParameters(0, 1) = -1.0 / x1; // = (y1 - y2) / 2A m_membraneShapeFunctionsParameters(0, 2) = (x2 / x1 - 1.0) / y2; // = (x2 - x1) / 2A // f1(x, y) = a1 + b1.x + c1.y, store a1 b1 c1 m_membraneShapeFunctionsParameters(1, 0) = 0.0; // = (x2 * y0 - x0 * y2) / 2A m_membraneShapeFunctionsParameters(1, 1) = 1.0 / x1; // = (y2 - y0) / 2A m_membraneShapeFunctionsParameters(1, 2) = -x2 / (x1 * y2); // = (x0 - x2) / 2A // f2(x, y) = a2 + b2.x + c2.y, store a2 b2 c2 m_membraneShapeFunctionsParameters(2, 0) = 0.0; // = (x0 * y1 - x1 * y0) / 2A m_membraneShapeFunctionsParameters(2, 1) = 0.0; // = (y0 - y1) / 2A m_membraneShapeFunctionsParameters(2, 2) = 1.0 / y2; // = (x1 - x0) / 2A // Thin-Plate Batoz specific data m_xij[0] = x1 - x2; // xij[0] = x1 - x2 m_xij[1] = x2; // xij[1] = x2 - x0 but x0=0 m_xij[2] = -x1; // xij[2] = x0 - x1 but x0=0 m_yij[0] = -y2; // yij[0] = y1 - y2 but y1=0 m_yij[1] = y2; // yij[1] = y2 - y0 but y0=0 m_yij[2] = 0.0; // yij[2] = y0 - y1 but y0=y1=0 for (size_t k = 0; k < 3; ++k) { m_lij_sqr[k] = m_xij[k] * m_xij[k] + m_yij[k] * m_yij[k]; // lij_sqr = xij^2 + yij^2 m_ak[k] = -m_xij[k] / m_lij_sqr[k]; // ak = -xij/li^2 m_bk[k] = 0.75 * m_xij[k] * m_yij[k] / m_lij_sqr[k]; // bk = 3/4 xij yij/lij^2 m_ck[k] = (0.25 * m_xij[k] * m_xij[k] - 0.5 * m_yij[k] * m_yij[k]) / m_lij_sqr[k]; // ck = (1/4 xij^2 - 1/2 yij^2)/lij^2 m_dk[k] = -m_yij[k] / m_lij_sqr[k]; // dk = -yij/lij^2 m_ek[k] = (0.25 * m_yij[k] * m_yij[k] - 0.5 * m_xij[k] * m_xij[k]) / m_lij_sqr[k]; // ek = (1/4 yij^2 - 1/2 xij^2)/lij^2 //// ... and some more for the derivatives... m_Pk[k] = 6.0 * m_ak[k]; // Pk = -6xij/lij^2 = 6ak m_qk[k] = 4.0 * m_bk[k]; // qk = 3xijyij/lij^2 = 4bk m_tk[k] = 6.0 * m_dk[k]; // tk = -6yij/lij^2 = 6dk m_rk[k] = 3.0 * m_yij[k] * m_yij[k] / m_lij_sqr[k]; // rk = 3yij^2/lij^2 } // Pre-compute the 3 integral terms useful for the plate mass matrix computeIntegral_dTd(); // associated to the displacement along z (noted w) computeIntegral_HyHyT(); // associated to the displacement along thetax computeIntegral_HxHxT(); // associated to the displacement along thetay } std::array Fem2DElementTriangle::batozDhxDxi(double xi, double eta) const { std::array res; double a = 1.0 - 2.0 * xi; res[0] = m_Pk[2] * a + (m_Pk[1] - m_Pk[2]) * eta; // P6(1-2xi) + (P5-P6)eta res[1] = m_qk[2] * a - (m_qk[1] + m_qk[2]) * eta; // q6(1-2xi) - (q5-q6)eta res[2] = -4.0 + 6.0 * (xi + eta) + m_rk[2] * a - // -4 + 6(xi+eta) + r6(1-2xi) - eta(r5+r6) eta * (m_rk[1] + m_rk[2]); res[3] = -m_Pk[2] * a + eta * (m_Pk[0] + m_Pk[2]); // -P6(1-2xi) + eta(P4+P6) res[4] = m_qk[2] * a - eta * (m_qk[2] - m_qk[0]); // q6(1-2xi) - eta(q6-q4) res[5] = -2.0 + 6.0 * xi + m_rk[2] * a + eta * (m_rk[0] - m_rk[2]); // -2 + 6xi + r6(1-2xi) + eta(r4-r6) res[6] = -eta * (m_Pk[1] + m_Pk[0]); // -eta(P5+P4) res[7] = eta * (m_qk[0] - m_qk[1]); // eta(a4-a5) res[8] = -eta * (m_rk[1] - m_rk[0]); // -eta(r5-r4) return res; } std::array Fem2DElementTriangle::batozDhxDeta(double xi, double eta) const { std::array res; double a = 1.0 - 2.0 * eta; res[0] = -m_Pk[1] * a - xi * (m_Pk[2] - m_Pk[1]); // -P5(1-2eta) - xi(P6-P5) res[1] = m_qk[1] * a - xi * (m_qk[1] + m_qk[2]); // q5(1-2eta) - xi(q5+q6) res[2] = -4.0 + 6.0 * (xi + eta) + m_rk[1] * a - // -4 + 6(xi+eta) + r5(1-2eta) - xi(r5+r6) xi * (m_rk[1] + m_rk[2]); res[3] = xi * (m_Pk[0] + m_Pk[2]); // xi(P4+P6) res[4] = xi * (m_qk[0] - m_qk[2]); // xi(q4-q6) res[5] = -xi * (m_rk[2] - m_rk[0]); // -xi(r6-r4) res[6] = m_Pk[1] * a - xi * (m_Pk[0] + m_Pk[1]); // P5(1-2eta) - xi(P4+P5) res[7] = m_qk[1] * a + xi * (m_qk[0] - m_qk[1]); // q5(1-2eta) + xi(q4-q5) res[8] = -2.0 + 6.0 * eta + m_rk[1] * a + xi * (m_rk[0] - m_rk[1]); // -2 + 6eta + r5(1-2eta) + xi(r4-r5) return res; } std::array Fem2DElementTriangle::batozDhyDxi(double xi, double eta) const { std::array res; double a = 1.0 - 2.0 * xi; res[0] = m_tk[2] * a + eta * (m_tk[1] - m_tk[2]); // t6(1-2xi) + eta(t5-t6) res[1] = 1.0 + m_rk[2] * a - eta * (m_rk[1] + m_rk[2]); // 1+r6(1-2xi) - eta(r5+r6) res[2] = -m_qk[2] * a + eta * (m_qk[1] + m_qk[2]); // -q6(1-2xi) + eta(q5+q6) res[3] = -m_tk[2] * a + eta * (m_tk[0] + m_tk[2]); // -t6(1-2xi) + eta(t4+t6) res[4] = -1.0 + m_rk[2] * a + eta * (m_rk[0] - m_rk[2]); // -1 + r6(1-2xi) + eta(r4-r6) res[5] = -m_qk[2] * a - eta * (m_qk[0] - m_qk[2]); // -q6(1-2xi) - eta(q4-q6) res[6] = -eta * (m_tk[0] + m_tk[1]); // -eta(t4+t5) res[7] = eta * (m_rk[0] - m_rk[1]); // eta(r4-r5) res[8] = -eta * (m_qk[0] - m_qk[1]); // -eta(q4-q5) return res; } std::array Fem2DElementTriangle::batozDhyDeta(double xi, double eta) const { std::array res; double a = 1.0 - 2.0 * eta; res[0] = -m_tk[1] * a - xi * (m_tk[2] - m_tk[1]); // -t5(1-2eta) - xi(t6-t5) res[1] = 1.0 + m_rk[1] * a - xi * (m_rk[1] + m_rk[2]); // 1+r5(1-2eta) - xi(r5+r6) res[2] = -m_qk[1] * a + xi * (m_qk[1] + m_qk[2]); // -q5(1-2eta) + xi(q5+q6) res[3] = xi * (m_tk[0] + m_tk[2]); // xi(t4+t6) res[4] = xi * (m_rk[0] - m_rk[2]); // xi(r4-r6) res[5] = -xi * (m_qk[0] - m_qk[2]); // -xi(q4-q6) res[6] = m_tk[1] * a - xi * (m_tk[0] + m_tk[1]); // t5(1-2eta) - xi(t4+t5) res[7] = -1.0 + m_rk[1] * a + xi * (m_rk[0] - m_rk[1]); // -1 + r5(1-2eta) + xi (r4-r5) res[8] = -m_qk[1] * a - xi * (m_qk[0] - m_qk[1]); // -q5(1-2eta) - xi(q4-q5) return res; } Fem2DElementTriangle::Matrix39Type Fem2DElementTriangle::batozStrainDisplacement(double xi, double eta)const { Matrix39Type res; std::array dHx_dxi, dHx_deta, dHy_dxi, dHy_deta; double coefficient = 1.0 / (2.0 * m_restArea); dHx_dxi = batozDhxDxi(xi, eta); dHx_deta = batozDhxDeta(xi, eta); dHy_dxi = batozDhyDxi(xi, eta); dHy_deta = batozDhyDeta(xi, eta); for (size_t i = 0; i < 9; ++i) { // 4 -> mid-edge 12 // 5 -> mid-edge 20 // 6 -> mid-edge 01 res(0, i) = coefficient * (m_yij[1] * dHx_dxi[i] + m_yij[2] * dHx_deta[i]); res(1, i) = coefficient * (-m_xij[1] * dHy_dxi[i] - m_xij[2] * dHy_deta[i]); res(2, i) = coefficient * (-m_xij[1] * dHx_dxi[i] - m_xij[2] * dHx_deta[i] + m_yij[1] * dHy_dxi[i] + m_yij[2] * dHy_deta[i]); } return res; } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Fem2DElementTriangle.h000066400000000000000000000271101277777236100231760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM2DELEMENTTRIANGLE_H #define SURGSIM_PHYSICS_FEM2DELEMENTTRIANGLE_H #include #include "SurgSim/Physics/Fem.h" #include "SurgSim/Physics/FemElement.h" namespace SurgSim { namespace Physics { SURGSIM_STATIC_REGISTRATION(Fem2DElementTriangle); /// 2D FemElement based on a triangle with a constant thickness /// /// The triangle is modeled as a shell (6DOF) which is decomposed into a membrane (in-plane 2DOF \f$(x, y)\f$) and a /// plate (bending/twisting 3DOF \f$(z, \theta_x, \theta_y)\f$). The thin-plate assumption does not consider the /// drilling dof \f$\theta_z\f$. /// The system includes the drilling DOF for completeness but does not assign any mass or stiffness to it. /// /// The membrane (in-plane) equations (mass and stiffness) are following /// "Theory of Matrix Structural Analysis" from J.S. Przemieniecki. /// /// The thin-plate (bending) equations (mass and stiffness) are following /// "A Study Of Three-Node Triangular Plate Bending Elements", Jean-Louis Batoz /// Numerical Methods in Engineering, vol 15, 1771-1812 (1980).
/// The plate mass matrix is not detailed in the above paper, but the analytical equations /// have been derived from it. Moreover, to account for contribution of the displacement /// along z to the plate mass matrix, we used a cubic expression of this displacement given in: /// "Shell elements: modelizations DKT, DST, DKTG and Q4g", Code_Aster, 2013, Thomas De Soza. /// /// \note The element is considered to have a constant thickness. /// \note The element uses linear elasticity (not visco-elasticity), so it does not have any damping. class Fem2DElementTriangle : public FemElement { typedef Eigen::Matrix Matrix33Type; typedef Eigen::Matrix Matrix36Type; typedef Eigen::Matrix Matrix66Type; typedef Eigen::Matrix Matrix39Type; typedef Eigen::Matrix Matrix99Type; public: /// Constructor Fem2DElementTriangle(); /// Constructor /// \param nodeIds An array of 3 node ids defining this triangle element with respect to a /// DeformableRepresentationState which is passed to the initialize method. explicit Fem2DElementTriangle(std::array nodeIds); /// Constructor for FemElement object factory /// \param elementData A FemElement struct defining this triangle element with respect to a /// DeformableRepresentationState which is passed to the initialize method. /// \exception SurgSim::Framework::AssertionFailure if nodeIds has a size different than 3 explicit Fem2DElementTriangle(std::shared_ptr elementData); SURGSIM_CLASSNAME(SurgSim::Physics::Fem2DElementTriangle) /// Sets the triangle's thickness /// \param thickness The thickness of the triangle void setThickness(double thickness); /// Gets the triangle's thickness /// \return The thickness of the triangle double getThickness() const; void initialize(const SurgSim::Math::OdeState& state) override; double getVolume(const SurgSim::Math::OdeState& state) const override; SurgSim::Math::Vector computeCartesianCoordinate(const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& naturalCoordinate) const override; SurgSim::Math::Vector computeNaturalCoordinate(const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& cartesianCoordinate) const override; protected: /// Initializes variables needed before Initialize() is called void initializeMembers(); /// Computes the triangle element's rotation given a state /// \param state The state to compute the rotation from /// \return The rotation matrix of the element in the given state SurgSim::Math::Matrix33d computeRotation(const SurgSim::Math::OdeState& state); /// Computes the triangle's local stiffness matrix /// \param state The state to compute the local stiffness matrix from /// \param[out] localStiffnessMatrix The local stiffness matrix to store the result into virtual void computeLocalStiffness(const SurgSim::Math::OdeState& state, Eigen::Matrix* localStiffnessMatrix); /// Computes the triangle's stiffness matrix /// \param state The state to compute the stiffness matrix from /// \param[out] stiffnessMatrix The stiffness matrix to store the result into void computeStiffness(const SurgSim::Math::OdeState& state, SurgSim::Math::Matrix* stiffnessMatrix); /// Computes the triangle's local mass matrix /// \param state The state to compute the local mass matrix from /// \param[out] localMassMatrix The local mass matrix to store the result into virtual void computeLocalMass(const SurgSim::Math::OdeState& state, Eigen::Matrix* localMassMatrix); /// Computes the triangle's mass matrix /// \param state The state to compute the mass matrix from /// \param[out] massMatrix The mass matrix to store the result into void computeMass(const SurgSim::Math::OdeState& state, SurgSim::Math::Matrix* massMatrix); void doUpdateFMDK(const Math::OdeState& state, int options) override; /// The element's rest state Eigen::Matrix m_x0; /// Initial rotation matrix for the element SurgSim::Math::Matrix33d m_initialRotation; /// Stiffness matrix (in local coordinate frame) Eigen::Matrix m_MLocal; /// Stiffness matrix (in local coordinate frame) Eigen::Matrix m_KLocal; /// The triangle rest area double m_restArea; /// Thickness of the element double m_thickness; /// Compute the various shape functions (membrane and plate deformations) parameters /// \param restState the rest state to compute the shape functions parameters from void computeShapeFunctionsParameters(const SurgSim::Math::OdeState& restState); /// Membrane (in-plane) deformation. DOF simulated: (x, y). /// "Theory of Matrix Structural Analysis" from J.S. Przemieniecki. /// Shape functions are \f$f_i(x, y) = a_i + b_i.x + c_i.y\f$, here we store \f$(a_i, b_i, c_i)\f$ on each row. SurgSim::Math::Matrix33d m_membraneShapeFunctionsParameters; // Thin-plate (bending/twisting) specific data structure // DOF simulated: (z, thetaX, thetaY) // "A Study Of Three-Node Triangular Plate Bending Elements", Jean-Louis Batoz // Numerical Methods in Engineering, vol 15, 1771-1812 (1980) // Indices are as follow: // 0 1 2 denotes triangle's points ABC: // 4 (mid-edge 12) 5 (mid-edge 20) 6 (mid-edge 01) denotes mid-edge points // Data structures having only mid-edge information are 0 based (0->4 (mid-egde 12) ; 1->5 ; 2->6) //@{ SurgSim::Math::Vector3d m_xij; ///< Batoz variable \f$x_{ij} = x_i - x_j\f$ SurgSim::Math::Vector3d m_yij; ///< Batoz variable \f$y_{ij} = y_i - y_j\f$ SurgSim::Math::Vector3d m_lij_sqr; ///< Batoz variable \f$l_{ij}^2 = x_{ij}^2 + y_{ij}^2\f$ SurgSim::Math::Vector3d m_ak; ///< Batoz variable \f$a_{k} = -x_{ij}/l_i^2\f$ SurgSim::Math::Vector3d m_bk; ///< Batoz variable \f$b_{k} = 3/4 x_{ij} y_{ij}/l_{ij}2\f$ SurgSim::Math::Vector3d m_ck; ///< Batoz variable \f$c_{k} = (1/4 x_{ij}^2 - 1/2 y_{ij}^2)/l_{ij}^2\f$ SurgSim::Math::Vector3d m_dk; ///< Batoz variable \f$d_{k} = -y_{ij}/l_{ij}^2\f$ SurgSim::Math::Vector3d m_ek; ///< Batoz variable \f$e_{k} = (1/4 y_{ij}^2 - 1/2 x_{ij}^2)/l_{ij}^2\f$ //@} //@{ SurgSim::Math::Vector3d m_Pk; ///< Batoz variable \f$P_{k} = -6x_{ij}/l_{ij}^2 = 6.\textrm{m_a}_k\f$ SurgSim::Math::Vector3d m_qk; ///< Batoz variable \f$q_{k} = 3x_{ij}y_{ij}/l_{ij}^2 = 4.\textrm{m_b}_k\f$ SurgSim::Math::Vector3d m_tk; ///< Batoz variable \f$t_{k} = -6y_{ij}/l_{ij}^2 = 6.\textrm{m_d}_k\f$ SurgSim::Math::Vector3d m_rk; ///< Batoz variable \f$r_{k} = 3y_{ij}^2/l_{ij}^2\f$ //@} //@{ SurgSim::Math::Matrix m_integral_dT_d; ///< Plate mass matrix: integral terms related to the dof \f$(z)\f$ SurgSim::Math::Matrix m_integralHyiHyj; ///< Plate mass matrix: integral terms related to the dof \f$(\theta_x)\f$ SurgSim::Math::Matrix m_integralHxiHxj; ///< Plate mass matrix: integral terms related to the dof \f$(\theta_y)\f$ //@} /// Batoz derivative dHx/dxi /// \param xi, eta The parametric coordinate (in [0 1] and xi+eta<1.0) /// \return The vector dHx/dxi evaluated at (xi, eta) std::array batozDhxDxi(double xi, double eta) const; /// Batoz derivative dHx/deta /// \param xi, eta The parametric coordinate (in [0 1] and xi+eta<1.0) /// \return The vector dHx/deta evaluated at (xi, eta) std::array batozDhxDeta(double xi, double eta) const; /// Batoz derivative dHy/dxi /// \param xi, eta The parametric coordinate (in [0 1] and xi+eta<1.0) /// \return The vector dHy/dxi evaluated at (xi, eta) std::array batozDhyDxi(double xi, double eta) const; /// Batoz derivative dHy/deta /// \param xi, eta The parametric coordinate (in [0 1] and xi+eta<1.0) /// \return The vector dHy/deta evaluated at (xi, eta) std::array batozDhyDeta(double xi, double eta) const; /// Batoz strain displacement matrix evaluated at a given point /// \param xi, eta The parametric coordinate (in [0 1] and xi+eta<1.0) /// \return The 3x9 strain displacement matrix evaluated at (xi, eta) Matrix39Type batozStrainDisplacement(double xi, double eta) const; private: /// Computes the triangle's local membrane part mass matrix /// \param state The state to compute the local membrane part mass matrix from /// \param[out] localMassMatrix The local mass matrix to store the result into void computeLocalMembraneMass(const SurgSim::Math::OdeState& state, Eigen::Matrix* localMassMatrix); /// Computes the triangle's local plate part mass matrix /// \param state The state to compute the local plate part mass matrix from /// \param[out] localMassMatrix The local mass matrix to store the result into /// \note The plate mass matrix is composed of 3 matrices associated respectively to /// \note displacements in direction (z, thetax, thetay). void computeLocalPlateMass(const SurgSim::Math::OdeState& state, Eigen::Matrix* localMassMatrix); /// Computes the integral terms d^T.d over the parametrized triangle area. /// This integral is required in the plate mass matrix computation. /// The displacement along z is w(x, y) = [d1 d2 d3 d4 d5 d6 d7 d8 d9].U = d.U /// with di cubic shape functions and U nodal plate displacements. void computeIntegral_dTd(); /// Computes the integral terms Hy.Hy^T over the parametrized triangle area. /// This integral is required in the plate mass matrix computation. /// The displacement along thetay is Thetay(x, y) = -dw/dx = betax = Hx^T.U /// with Hxi quadratic shape functions and U nodal plate displacements. void computeIntegral_HxHxT(); /// Computes the integral terms Hx.Hx^T over the parametrized triangle area. /// This integral is required in the plate mass matrix computation. /// The displacement along thetax is Thetax(x, y) = dw/dy = -betay = -Hy^T.U /// with Hyi quadratic shape functions and U nodal plate displacements. void computeIntegral_HyHyT(); }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM2DELEMENTTRIANGLE_H opensurgsim-0.7.0/SurgSim/Physics/Fem2DElementTriangle_computeLocalMembraneMass.dox000066400000000000000000000104031277777236100305400ustar00rootroot00000000000000/*! \fn void SurgSim::Physics::Fem2DElementTriangle::computeLocalMembraneMass(const SurgSim::Math::OdeState& state, Eigen::Matrix* localMassMatrix)
The mass matrix is derived from the kinetic energy, which depends on the displacements \f$\mathbf{u}\f$.
In the case of triangle membrane, the displacements are a subset of the full shell displacements: \f[ \displaystyle \mathbf{u}(x, y) = \left( \begin{array}{c} u_x(x, y) \\ u_y(x, y) \end{array} \right) = \left( \begin{array}{c} \sum_{i=0}^2 N_i(x, y).u_x^i \\ \sum_{i=0}^2 N_i(x, y).u_y^i \end{array} \right) = \left( \begin{array}{cccccc} N_0(x, y) & 0 & N_1(x, y) & 0 & N_2(x, y) & 0 \\ 0 & N_0(x, y) & 0 & N_1(x, y) & 0 & N_2(x, y) \end{array} \right) \left( \begin{array}{c} u_x^0 \\ u_y^0 \\ u_x^1 \\ u_y^1 \\ u_x^2 \\ u_y^2 \end{array} \right) = a.\mathbf{U} \f] with \f$\mathbf{U}\f$ the triangle membrane nodal displacements vector (subset of the full shell nodal displacements) and \f$N_i(x, y) = a_i + b_i.x + c_i.y\f$ the triangle linear shape functions. Considering a constant mass density \f$\rho\f$ and a constant thickness \f$t\f$, the kinetic energy of the triangle membrane is \f$T = \int_V \frac{1}{2} \rho(x, y, z) \mathbf{\dot{u}}^T.\mathbf{\dot{u}} \, dV = \frac{1}{2}.\rho.t.\int_A \left(\dot{\mathbf{U}}^T.a^T\right).\left(a.\dot{\mathbf{U}}\right) \, dA\f$. The triangle membrane mass matrix can be derived from the kinetic energy using the Lagrange equation of motion: \f[ \displaystyle \frac{d \frac{\partial T}{\partial \dot{\mathbf{U}}}}{d t} = \frac{1}{2}.\rho.t.\frac{d \frac{\partial \displaystyle \int_A \left(\dot{\mathbf{U}}^T.a^T\right).\left(a.\dot{\mathbf{U}}\right) \, dA}{\partial \dot{\mathbf{U}}}}{d t} = \frac{1}{2}.\rho.t.\frac{d \displaystyle \int_A 2.a^T.a.\dot{\mathbf{U}} \, dA}{d t} = \left( \rho.t.\int_A a^T.a \, dA \right).\ddot{\mathbf{U}} \f] Therefore, the mass matrix is: \f[ M = \rho.t.\int_A a^T.a \, dA \f] To integrate over the triangle area, we operate the following variables change: \f[ \left\{ \begin{array}{ccc} x(\xi, \eta) & = & x_0 + \xi.(x_1 - x_0) + \eta.(x_2 - x_0) \\ y(\xi, \eta) & = & y_0 + \xi.(y_1 - y_0) + \eta.(y_2 - y_0) \end{array} \right. \f] Therefore, we have \f$ J = \left( \begin{array}{cc} \frac{\partial x}{\partial \xi} & \frac{\partial x}{\partial \eta} \\ \frac{\partial y}{\partial \xi} & \frac{\partial y}{\partial \eta} \end{array} \right) = \left( \begin{array}{cc} (x_1 - x_0) & (x_2 - x_0) \\ (y_1 - y_0) & (y_2 - y_0) \\ \end{array} \right) \f$ and \f$|J| = 2A\f$. Therefore the mass matrix becomes \f[ M = \rho.t.\int_0^1 \int_0^{1-\eta} a^T.a |J| \, d\xi \, d\eta = 2.A.\rho.t.\int_0^1 \int_0^{1-\eta} \left( \begin{array}{cccccc} N0.N0 & 0 & N0.N1 & 0 & N0.N2 & 0 \\ 0 & N0.N0 & 0 & N0.N1 & 0 & N0.N2 \\ N1.N0 & 0 & N1.N1 & 0 & N1.N2 & 0 \\ 0 & N1.N0 & 0 & N1.N1 & 0 & N1.N2 \\ N2.N0 & 0 & N2.N1 & 0 & N2.N2 & 0 \\ 0 & N2.N0 & 0 & N2.N1 & 0 & N2.N2 \end{array} \right) \, d\xi \, d\eta \f] Considering the triangle in its local space (i.e. \f$x_0=y_0=y_1=0\f$, \f$x_1>0\f$, \f$y_2>0\f$), we get: \f[ M = 2.A.\rho.t. \left( \begin{array}{cccccc} \frac{1.0}{12.0} & 0 & \frac{1.0}{24.0} & 0 & \frac{1.0}{24.0} & 0 \\ 0 & \frac{1.0}{12.0} & 0 & \frac{1.0}{24.0} & 0 & \frac{1.0}{24.0} \\ \frac{1.0}{24.0} & 0 & \frac{1.0}{12.0} & 0 & \frac{1.0}{24.0} & 0 \\ 0 & \frac{1.0}{24.0} & 0 & \frac{1.0}{12.0} & 0 & \frac{1.0}{24.0} \\ \frac{1.0}{24.0} & 0 & \frac{1.0}{24.0} & 0 & \frac{1.0}{12.0} & 0 \\ 0 & \frac{1.0}{24.0} & 0 & \frac{1.0}{24.0} & 0 & \frac{1.0}{12.0} \end{array} \right) = \rho.A.t. \left( \begin{array}{cccccc} \frac{1.0}{6.0} & 0 & \frac{1.0}{12.0} & 0 & \frac{1.0}{12.0} & 0 \\ 0 & \frac{1.0}{6.0} & 0 & \frac{1.0}{12.0} & 0 & \frac{1.0}{12.0} \\ \frac{1.0}{12.0} & 0 & \frac{1.0}{6.0} & 0 & \frac{1.0}{12.0} & 0 \\ 0 & \frac{1.0}{12.0} & 0 & \frac{1.0}{6.0} & 0 & \frac{1.0}{12.0} \\ \frac{1.0}{12.0} & 0 & \frac{1.0}{12.0} & 0 & \frac{1.0}{6.0} & 0 \\ 0 & \frac{1.0}{12.0} & 0 & \frac{1.0}{12.0} & 0 & \frac{1.0}{6.0} \end{array} \right) \f] which needs to be assembled properly in the full shell element mass matrix. */opensurgsim-0.7.0/SurgSim/Physics/Fem2DElementTriangle_computeLocalPlateMass.dox000066400000000000000000000141541277777236100300660ustar00rootroot00000000000000/*! \fn void SurgSim::Physics::Fem2DElementTriangle::computeLocalPlateMass(const SurgSim::Math::OdeState& state, Eigen::Matrix* localMassMatrix)
The mass matrix is derived from the kinetic energy, which depends on the displacements \f$\mathbf{u}\f$.
In the case of triangle plate, the displacements are a subset of the full shell displacements: \f[ \displaystyle \mathbf{u}(x, y, z) = \left( \begin{array}{c} u(x, y, z) = z.\beta_x(x, y) \\ v(x, y, z) = z.\beta_y(x, y) \\ w(x, y) \end{array} \right) \f] Note that we use the plate formulation DKT (Discrete Kirchhoff Theory) developped by Batoz in 1980. In this formulation, the displacement \f$w\f$ is never formaly expressed, we only know that it is a cubic polynomial function of \f$(x, y)\f$. To complete the plate mass matrix calculation, we tried to use the expression of \f$w\f$ from Przemieniecki book "Theory of Matrix Structural Analysis" Chapter 11.10, equation 11.57 (i.e. \f$w(x, y) = \mathbf{d}.C^{-1}.\mathbf{U}\f$). Unfortunately, it can occur that the matrix \f$C\f$ becomes singular (example of a right isoceles triangle, i.e. \f$x_0=y_0=y_1=x_2=0\f$ and \f$x_1=y_2=1\f$). To overcome this issue, we prefered the Code_Aster approach developped in "Shell elements: modelizations DKT, DST, DKTG and Q4g", Code_Aster, 2013, Thomas De Soza, where a cubic well defined expression of \f$w(x, y)\f$ is given as: \f$w(x, y) = \mathbf{d}.\mathbf{U}\f$ where \f$d_i\f$ are cubic shape functions. Therefore, it leads to the following plate displacements: \f[ \mathbf{u}(x, y, z) = \left( \begin{array}{c} u(x, y, z) = z.\beta_x(x, y) = z.\mathbf{H_x}^T(\xi, \eta).\mathbf{U} \\ v(x, y, z) = z.\beta_y(x, y) = z.\mathbf{H_y}^T(\xi, \eta).\mathbf{U} \\ w(x, y) = \mathbf{d}.\mathbf{U} \end{array} \right) = \left( \begin{array}{c} z.\mathbf{H_x}^T(\xi, \eta) \\ z.\mathbf{H_y}^T(\xi, \eta) \\ \mathbf{d} \end{array} \right) . \mathbf{U} = a.\mathbf{U} \f] with \f$\mathbf{U}\f$ the triangle plate nodal displacements vector (subset of the full shell nodal displacements) and \f$\mathbf{H_x}\f$ and \f$\mathbf{H_y}\f$ are the Batoz shape functions. Considering a constant mass density \f$\rho\f$ and a constant thickness \f$t\f$, the kinetic energy of the triangle plate is \f$T = \int_V \frac{1}{2} \rho(x, y, z) \mathbf{\dot{u}}^T.\mathbf{\dot{u}} \, dV = \frac{1}{2}.\rho.\int_{-t/2}^{+t/2} \int_A \left(\dot{\mathbf{U}}^T.a^T\right).\left(a.\dot{\mathbf{U}}\right) \, dA \, dz \f$. The triangle plate mass matrix can be derived from the kinetic energy using the Lagrange equation of motion: \f[ \displaystyle \frac{d \frac{\partial T}{\partial \dot{\mathbf{U}}}}{d t} = \frac{1}{2}.\rho.\frac{d \frac{\partial \displaystyle \int_{-t/2}^{+t/2} \int_A \left(\dot{\mathbf{U}}^T.a^T\right).\left(a.\dot{\mathbf{U}}\right) \, dA \, dz}{\partial \dot{\mathbf{U}}}}{d t} = \frac{1}{2}.\rho.\frac{d \displaystyle \int_{-t/2}^{+t/2} \int_A 2.a^T.a.\dot{\mathbf{U}} \, dA \, dz}{d t} \\ = \left( \rho.\int_{-t/2}^{+t/2} \int_A a^T.a \, dA \, dz \right).\ddot{\mathbf{U}} = \left( \rho.\int_{-t/2}^{+t/2} \int_A (z.\mathbf{H_x}).(z.\mathbf{H_x}^T) + (z.\mathbf{H_y}).(z.\mathbf{H_y}^T) + \mathbf{d}^T).\mathbf{d} \, dA \, dz \right).\ddot{\mathbf{U}} \f] Therefore, the mass matrix is: \f[ M = \rho.\int_{-t/2}^{+t/2} \int_A (z.\mathbf{H_x}).(z.\mathbf{H_x}^T) \, dA \, dz + \rho.\int_{-t/2}^{+t/2} \int_A (z.\mathbf{H_y}).(z.\mathbf{H_y}^T) \, dA \, dz + \rho.\int_{-t/2}^{+t/2} \int_A \mathbf{d}^T.\mathbf{d} \, dA \, dz \f] It clearly appears that the triangle plate mass matrix is composed of 3 matrices, each providing the contribution of a displacement (i.e. \f$(u, v, w)\f$) associated to a given degree of freedom (i.e. respectively \f$(\theta_y, \theta_x, z)\f$). Let's note these 3 matrices \f$M_u\f$, \f$M_v\f$ and \f$M_w\f$. To integrate over the triangle area, we operate the following variables change: \f[ \left\{ \begin{array}{ccc} x(\xi, \eta) & = & x_0 + \xi.(x_1 - x_0) + \eta.(x_2 - x_0) \\ y(\xi, \eta) & = & y_0 + \xi.(y_1 - y_0) + \eta.(y_2 - y_0) \end{array} \right. \f] Therefore, we have \f$ J = \left( \begin{array}{cc} \frac{\partial x}{\partial \xi} & \frac{\partial x}{\partial \eta} \\ \frac{\partial y}{\partial \xi} & \frac{\partial y}{\partial \eta} \end{array} \right) = \left( \begin{array}{cc} (x_1 - x_0) & (x_2 - x_0) \\ (y_1 - y_0) & (y_2 - y_0) \\ \end{array} \right) \f$ and \f$|J| = 2A\f$. Therefore the mass matrices become (noting that the shape functions \f$d_i\f$ do not depend on \f$z\f$): \f[ \begin{array}{ccc} M_u & = & \rho.\int_{-t/2}^{+t/2} \int_A (z.\mathbf{H_x}).(z.\mathbf{H_x}^T) \, dA \, dz = \rho.\int_{-t/2}^{+t/2} z^2 \, dz.\int_A \mathbf{H_x}.\mathbf{H_x}^T \, dA \\ & = & \rho.\frac{t^3}{12}.\int_0^1 \int_0^{1-\eta} \mathbf{H_x}.\mathbf{H_x}^T |J| \, d\xi d\eta = 2.A.\rho.\frac{t^3}{12}.\int_0^1 \int_0^{1-\eta} \mathbf{H_x}.\mathbf{H_x}^T \, d\xi d\eta \\ M_v & = & \rho.\int_{-t/2}^{+t/2} \int_A (z.\mathbf{H_y}).(z.\mathbf{H_y}^T) \, dA \, dz = \rho.\int_{-t/2}^{+t/2} z^2 \, dz.\int_A \mathbf{H_y}.\mathbf{H_y}^T \, dA \\ & = & \rho.\frac{t^3}{12}.\int_0^1 \int_0^{1-\eta} \mathbf{H_y}.\mathbf{H_y}^T |J| \, d\xi d\eta = 2.A.\rho.\frac{t^3}{12}.\int_0^1 \int_0^{1-\eta} \mathbf{H_y}.\mathbf{H_y}^T \, d\xi d\eta \\ M_w & = & \rho.\int_{-t/2}^{+t/2} \int_A \mathbf{d}^T.\mathbf{d} \, dA \, dz = 2.A.\rho.t.\int_0^1 \int_0^{1-\eta} \mathbf{d}^T.\mathbf{d} \, d\xi d\eta \end{array} \f] To evaluate the 3 integral terms \f[ \begin{array}{ccccc} \int_0^1 \int_0^{1-\eta} \mathbf{H_x}.\mathbf{H_x}^T \, d\xi d\eta & , & \int_0^1 \int_0^{1-\eta} \mathbf{H_y}.\mathbf{H_y}^T \, d\xi d\eta & , & \int_0^1 \int_0^{1-\eta} \mathbf{d}^T.\mathbf{d} \, d\xi d\eta \end{array} \f] we used a formal mathematical package and tested the corresponding code against a numerically exact evaluation using the appropriate Gauss quadrature on the triangle. The resulting triangle plate mass matrix needs to be assembled properly in the full shell element mass matrix. */opensurgsim-0.7.0/SurgSim/Physics/Fem2DLocalization.cpp000066400000000000000000000047211277777236100231050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/Fem2DLocalization.h" #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem2DRepresentation.h" #include "SurgSim/Physics/FemElement.h" namespace SurgSim { namespace Physics { Fem2DLocalization::Fem2DLocalization( std::shared_ptr representation, const SurgSim::DataStructures::IndexedLocalCoordinate& localPosition) : FemLocalization(representation, localPosition) { } Fem2DLocalization::~Fem2DLocalization() { } bool Fem2DLocalization::isValidRepresentation(std::shared_ptr representation) { auto femRepresentation = std::dynamic_pointer_cast(representation); // Allows to reset the representation to nullptr ... return (femRepresentation != nullptr || representation == nullptr); } Math::RigidTransform3d Fem2DLocalization::getElementPose() { auto femRepresentation = std::static_pointer_cast(getRepresentation()); auto position = getLocalPosition(); auto femElement = femRepresentation->getFemElement(getLocalPosition().index); const auto& nodeIds = femElement->getNodeIds(); std::array nodePositions = {femRepresentation->getCurrentState()->getPosition(nodeIds[0]), femRepresentation->getCurrentState()->getPosition(nodeIds[1]), femRepresentation->getCurrentState()->getPosition(nodeIds[2])}; Math::Vector3d edge, normal, binormal; edge = (nodePositions[1] - nodePositions[0]).normalized(); normal = (nodePositions[2] - nodePositions[0]).cross(edge).normalized(); binormal = edge.cross(normal); Math::Matrix33d rotation; rotation << edge, normal, binormal; return Math::makeRigidTransform(rotation, (nodePositions[0] + nodePositions[1] + nodePositions[2]) / 3.0); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Fem2DLocalization.h000066400000000000000000000040651277777236100225530ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM2DLOCALIZATION_H #define SURGSIM_PHYSICS_FEM2DLOCALIZATION_H #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/Physics/FemLocalization.h" namespace SurgSim { namespace Physics { /// Implementation of Localization for Fem2DRepresentation /// /// Fem2DLocalization tracks the global coordinates of an IndexedLocalCoordinate associated with an /// Fem2DRepresentation. The IndexedLocalCoordinate must be related to an FemElement (the index is an FemElement id and /// the local coordinates are the barycentric coordinates of the nodes in this FemElement). class Fem2DLocalization : public FemLocalization { public: /// Constructor /// \param representation The representation to assign to this localization. /// \param localCoordinate The indexed local coordinate relative to the representation. Fem2DLocalization(std::shared_ptr representation, const SurgSim::DataStructures::IndexedLocalCoordinate& localCoordinate); /// Destructor virtual ~Fem2DLocalization(); /// Query if 'representation' is valid representation. /// \param representation The representation. /// \return true if valid representation, false if not. bool isValidRepresentation(std::shared_ptr representation) override; Math::RigidTransform3d getElementPose() override; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM2DLOCALIZATION_H opensurgsim-0.7.0/SurgSim/Physics/Fem2DPlyReaderDelegate.cpp000066400000000000000000000074051277777236100240010ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 "SurgSim/Math/Valid.h" #include "SurgSim/Physics/Fem2DPlyReaderDelegate.h" using SurgSim::DataStructures::PlyReader; namespace SurgSim { namespace Physics { Fem2DPlyReaderDelegate::Fem2DPlyReaderDelegate() { } Fem2DPlyReaderDelegate::Fem2DPlyReaderDelegate(std::shared_ptr mesh) : m_mesh(mesh) { SURGSIM_ASSERT(mesh != nullptr) << "The mesh cannot be null."; mesh->clear(); } std::string Fem2DPlyReaderDelegate::getElementName() const { return "2d_element"; } bool Fem2DPlyReaderDelegate::registerDelegate(PlyReader* reader) { FemPlyReaderDelegate::registerDelegate(reader); // Thickness processing reader->requestElement( "thickness", std::bind( &Fem2DPlyReaderDelegate::beginThickness, this, std::placeholders::_1, std::placeholders::_2), nullptr, std::bind(&Fem2DPlyReaderDelegate::endThickness, this, std::placeholders::_1)); reader->requestScalarProperty("thickness", "value", PlyReader::TYPE_DOUBLE, 0); return true; } bool Fem2DPlyReaderDelegate::fileIsAcceptable(const PlyReader& reader) { bool result = FemPlyReaderDelegate::fileIsAcceptable(reader); result = result && reader.hasProperty("thickness", "value"); return result; } void Fem2DPlyReaderDelegate::endParseFile() { if (!m_hasPerElementMaterial && m_hasMaterial) { for (auto element : m_mesh->getElements()) { element->thickness = m_thickness; element->massDensity = m_materialData.massDensity; element->poissonRatio = m_materialData.poissonRatio; element->youngModulus = m_materialData.youngModulus; } } m_mesh->update(); } void Fem2DPlyReaderDelegate::processVertex(const std::string& elementName) { FemElementStructs::RotationVectorData data; if (m_hasRotationDOF) { data.thetaX = m_vertexData.thetaX; data.thetaY = m_vertexData.thetaY; data.thetaZ = m_vertexData.thetaZ; } Fem2D::VertexType vertex(SurgSim::Math::Vector3d(m_vertexData.x, m_vertexData.y, m_vertexData.z), data); m_mesh->addVertex(vertex); } void Fem2DPlyReaderDelegate::processFemElement(const std::string& elementName) { SURGSIM_ASSERT(m_elementData.vertexCount == 3) << "Cannot process 2D Element with " << m_elementData.vertexCount << " vertices."; auto femElement = std::make_shared(); femElement->nodeIds.resize(m_elementData.vertexCount); std::copy(m_elementData.indices, m_elementData.indices + m_elementData.vertexCount, femElement->nodeIds.data()); if (m_hasPerElementMaterial) { femElement->massDensity = m_elementData.massDensity; femElement->poissonRatio = m_elementData.poissonRatio; femElement->youngModulus = m_elementData.youngModulus; } m_mesh->addElement(femElement); } void* Fem2DPlyReaderDelegate::beginThickness(const std::string& elementName, size_t thicknessCount) { return &m_thickness; } void Fem2DPlyReaderDelegate::endThickness(const std::string& elementName) { SURGSIM_ASSERT(SurgSim::Math::isValid(m_thickness)) << "No radius information processed."; } void Fem2DPlyReaderDelegate::processBoundaryCondition(const std::string& elementName) { m_mesh->addBoundaryCondition(static_cast(m_boundaryConditionData)); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Fem2DPlyReaderDelegate.h000066400000000000000000000045331277777236100234450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM2DPLYREADERDELEGATE_H #define SURGSIM_PHYSICS_FEM2DPLYREADERDELEGATE_H #include #include #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/Physics/Fem2D.h" #include "SurgSim/Physics/FemPlyReaderDelegate.h" namespace SurgSim { namespace Physics { class Fem2DPlyReaderDelegate : public FemPlyReaderDelegate { public: /// Default constructor. Fem2DPlyReaderDelegate(); /// Constructor. /// \param mesh The mesh to be used, it will be cleared by the constructor. explicit Fem2DPlyReaderDelegate(std::shared_ptr mesh); protected: std::string getElementName() const override; bool registerDelegate(PlyReader* reader) override; bool fileIsAcceptable(const PlyReader& reader) override; void endParseFile() override; void processVertex(const std::string& elementName) override; void processFemElement(const std::string& elementName) override; /// Callback function, begin the processing of thickness. /// \param elementName Name of the element. /// \param thicknessCount Number of thicknesses. /// \return memory for thickness data to the reader. void* beginThickness(const std::string& elementName, size_t thicknessCount); /// Callback function, end the processing of radius. /// \param elementName Name of the element. void endThickness(const std::string& elementName); void processBoundaryCondition(const std::string& elementName) override; private: /// Element's thickness information double m_thickness; /// Fem2D mesh asset to contain the ply file information std::shared_ptr m_mesh; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM2DPLYREADERDELEGATE_H opensurgsim-0.7.0/SurgSim/Physics/Fem2DRepresentation.cpp000066400000000000000000000230571277777236100234620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Asset.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Physics/Fem2DElementTriangle.h" #include "SurgSim/Physics/Fem2DLocalization.h" #include "SurgSim/Physics/Fem2DRepresentation.h" #include "SurgSim/Physics/FemElement.h" #include "SurgSim/Physics/Localization.h" namespace { void transformVectorByBlockOf3(const SurgSim::Math::RigidTransform3d& transform, SurgSim::Math::Vector* x, bool rotationOnly = false) { typedef SurgSim::Math::Vector::Index IndexType; IndexType numNodes = x->size() / 6; SURGSIM_ASSERT(numNodes * 6 == x->size()) << "Unexpected number of dof in a Fem2D state vector (not a multiple of 6)"; for (IndexType nodeId = 0; nodeId < numNodes; nodeId++) { // Only the translational dof are transformed, rotational dof remains unchanged SurgSim::Math::Vector3d xi = x->segment<3>(6 * nodeId); x->segment<3>(6 * nodeId) = (rotationOnly) ? transform.linear() * xi : transform * xi; } } } namespace SurgSim { namespace Physics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Physics::Fem2DRepresentation, Fem2DRepresentation); Fem2DRepresentation::Fem2DRepresentation(const std::string& name) : FemRepresentation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(Fem2DRepresentation, std::shared_ptr, Fem, getFem, setFem); SURGSIM_ADD_SETTER(Fem2DRepresentation, std::string, FemFileName, loadFem) // Reminder: m_numDofPerNode is held by DeformableRepresentation but needs to be set by all // concrete derived classes m_numDofPerNode = 6; m_fem = std::make_shared(); } Fem2DRepresentation::~Fem2DRepresentation() { } void Fem2DRepresentation::loadFem(const std::string& fileName) { auto mesh = std::make_shared(); mesh->load(fileName); setFem(mesh); } void Fem2DRepresentation::setFem(std::shared_ptr mesh) { SURGSIM_ASSERT(!isInitialized()) << "The Fem cannot be set after initialization"; SURGSIM_ASSERT(mesh != nullptr) << "Mesh for Fem2DRepresentation cannot be a nullptr"; auto femMesh = std::dynamic_pointer_cast(mesh); SURGSIM_ASSERT(femMesh != nullptr) << "Mesh for Fem2DRepresentation needs to be a SurgSim::Physics::Fem2D"; m_fem = femMesh; auto state = std::make_shared(); state->setNumDof(getNumDofPerNode(), m_fem->getNumVertices()); for (size_t i = 0; i < m_fem->getNumVertices(); i++) { state->getPositions().segment<3>(getNumDofPerNode() * i) = m_fem->getVertexPosition(i); } for (auto boundaryCondition : m_fem->getBoundaryConditions()) { state->addBoundaryCondition(boundaryCondition); } // If we have elements, ensure that they are all of the same nature if (femMesh->getNumElements() > 0) { const auto& e0 = femMesh->getElement(0); for (auto const& e : femMesh->getElements()) { SURGSIM_ASSERT(e->nodeIds.size() == e0->nodeIds.size()) << "Cannot mix and match elements of different nature." << " Found an element with " << e->nodeIds.size() << " nodes but was expecting " << e0->nodeIds.size(); } // If the FemElement types hasn't been registered yet, let's set a default one if (getFemElementType().empty()) { if (e0->nodeIds.size() == 3) { Fem2DElementTriangle triangle; setFemElementType(triangle.getClassName()); } } } setInitialState(state); } std::shared_ptr Fem2DRepresentation::getFem() const { return m_fem; } void Fem2DRepresentation::addExternalGeneralizedForce(std::shared_ptr localization, const Math::Vector& generalizedForce, const Math::Matrix& K, const Math::Matrix& D) { using SurgSim::Math::SparseMatrix; const size_t dofPerNode = getNumDofPerNode(); const Math::Matrix::Index expectedSize = static_cast(dofPerNode); SURGSIM_ASSERT(localization != nullptr) << "Invalid localization (nullptr)"; SURGSIM_ASSERT(generalizedForce.size() == expectedSize) << "Generalized force has an invalid size of " << generalizedForce.size() << ". Expected " << dofPerNode; SURGSIM_ASSERT(K.size() == 0 || (K.rows() == expectedSize && K.cols() == expectedSize)) << "Stiffness matrix K has an invalid size (" << K.rows() << "," << K.cols() << ") was expecting a square matrix of size " << dofPerNode; SURGSIM_ASSERT(D.size() == 0 || (D.rows() == expectedSize && D.cols() == expectedSize)) << "Damping matrix D has an invalid size (" << D.rows() << "," << D.cols() << ") was expecting a square matrix of size " << dofPerNode; std::shared_ptr localization2D = std::dynamic_pointer_cast(localization); SURGSIM_ASSERT(localization2D != nullptr) << "Invalid localization type (not a Fem2DLocalization)"; const size_t elementId = localization2D->getLocalPosition().index; const Math::Vector& coordinate = localization2D->getLocalPosition().coordinate; std::shared_ptr element = getFemElement(elementId); size_t index = 0; for (auto nodeId : element->getNodeIds()) { m_externalGeneralizedForce.segment(dofPerNode * nodeId, dofPerNode) += generalizedForce * coordinate[index]; index++; } if (K.size() != 0 || D.size() != 0) { size_t index1 = 0; for (auto nodeId1 : element->getNodeIds()) { size_t index2 = 0; for (auto nodeId2 : element->getNodeIds()) { if (K.size() != 0) { Math::addSubMatrix(coordinate[index1] * coordinate[index2] * K, static_cast(nodeId1), static_cast(nodeId2), &m_externalGeneralizedStiffness, true); } if (D.size() != 0) { Math::addSubMatrix(coordinate[index1] * coordinate[index2] * D, static_cast(nodeId1), static_cast(nodeId2), &m_externalGeneralizedDamping, true); } index2++; } index1++; } } m_externalGeneralizedStiffness.makeCompressed(); m_externalGeneralizedDamping.makeCompressed(); m_hasExternalGeneralizedForce = true; } std::shared_ptr Fem2DRepresentation::createNodeLocalization(size_t nodeId) { DataStructures::IndexedLocalCoordinate coordinate; SURGSIM_ASSERT(nodeId >= 0 && nodeId < getCurrentState()->getNumNodes()) << "Invalid node id"; // Look for any element that contains this node bool foundNodeId = false; for (size_t elementId = 0; elementId < getNumFemElements(); elementId++) { auto element = getFemElement(elementId); auto found = std::find(element->getNodeIds().begin(), element->getNodeIds().end(), nodeId); if (found != element->getNodeIds().end()) { coordinate.index = elementId; coordinate.coordinate.setZero(element->getNumNodes()); coordinate.coordinate[found - element->getNodeIds().begin()] = 1.0; foundNodeId = true; break; } } SURGSIM_ASSERT(foundNodeId) << "Could not find any element containing the node " << nodeId; // Fem2DLocalization will verify the coordinate (2nd parameter) based on // the Fem2DRepresentation passed as 1st parameter. return std::make_shared( std::static_pointer_cast(getSharedPtr()), coordinate); } std::shared_ptr Fem2DRepresentation::createElementLocalization( const DataStructures::IndexedLocalCoordinate& location) { return std::make_shared( std::static_pointer_cast(getSharedPtr()), location); } std::shared_ptr Fem2DRepresentation::createLocalization(const DataStructures::Location& location) { if (location.index.hasValue()) { return createNodeLocalization(*location.index); } else if (location.triangleMeshLocalCoordinate.hasValue()) { // In the 2d case, elements are triangles, so Locations of type triangleMesh and elementMesh refer to the same // mesh. The distinction between an element and a triangle is mostly useful in the 3d case to separate the // surface from the volume. return createElementLocalization(*location.triangleMeshLocalCoordinate); } else if (location.elementMeshLocalCoordinate.hasValue()) { return createElementLocalization(*location.elementMeshLocalCoordinate); } SURGSIM_FAILURE() << "Localization cannot be created without a mesh-based location (node, triangle or element)."; return nullptr; } void Fem2DRepresentation::transformState(std::shared_ptr state, const Math::RigidTransform3d& transform) { transformVectorByBlockOf3(transform, &state->getPositions()); transformVectorByBlockOf3(transform, &state->getVelocities(), true); } bool Fem2DRepresentation::doInitialize() { for (auto& element : m_fem->getElements()) { std::shared_ptr femElement; femElement = FemElement::getFactory().create(getFemElementType(), element); m_femElements.push_back(femElement); } return FemRepresentation::doInitialize(); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Fem2DRepresentation.h000066400000000000000000000064571277777236100231340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM2DREPRESENTATION_H #define SURGSIM_PHYSICS_FEM2DREPRESENTATION_H #include #include #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem2D.h" #include "SurgSim/Physics/FemRepresentation.h" namespace SurgSim { namespace DataStructures { struct IndexedLocalCoordinate; struct Location; } namespace Framework { class Asset; } namespace Math { class OdeState; } namespace Physics { class Localization; SURGSIM_STATIC_REGISTRATION(Fem2DRepresentation); /// Finite Element Model 2D is a fem built with 2D FemElement class Fem2DRepresentation : public FemRepresentation { public: /// Constructor /// \param name The name of the Fem2DRepresentation explicit Fem2DRepresentation(const std::string& name); /// Destructor virtual ~Fem2DRepresentation(); SURGSIM_CLASSNAME(SurgSim::Physics::Fem2DRepresentation); void loadFem(const std::string& fileName) override; /// Sets the fem mesh asset /// \param mesh The fem mesh to assign to this representation /// \exception SurgSim::Framework::AssertionFailure if mesh is nullptr or it's actual type is not Fem2D void setFem(std::shared_ptr mesh); /// \return The fem mesh asset as a Fem2D std::shared_ptr getFem() const; void addExternalGeneralizedForce(std::shared_ptr localization, const SurgSim::Math::Vector& generalizedForce, const SurgSim::Math::Matrix& K = SurgSim::Math::Matrix(), const SurgSim::Math::Matrix& D = SurgSim::Math::Matrix()) override; std::shared_ptr createLocalization(const SurgSim::DataStructures::Location& location) override; protected: void transformState(std::shared_ptr state, const SurgSim::Math::RigidTransform3d& transform) override; bool doInitialize() override; private: /// Helper method: create a localization for a node /// \param nodeId The node index /// \return Localization of the node for this representation std::shared_ptr createNodeLocalization(size_t nodeId); /// Helper method: create a localization for an element-based IndexedLocalCoordinate (triangle) /// \param location The IndexedLocalCoordinate defining a point on the element mesh /// \return Localization of the point for this representation std::shared_ptr createElementLocalization( const SurgSim::DataStructures::IndexedLocalCoordinate& location); /// The Fem2DRepresentation's asset as a Fem2D std::shared_ptr m_fem; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM2DREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Physics/Fem3D.cpp000066400000000000000000000020211277777236100205240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 "SurgSim/Physics/Fem3D.h" #include "SurgSim/Physics/Fem3DPlyReaderDelegate.h" namespace SurgSim { namespace Physics { SURGSIM_REGISTER(SurgSim::Framework::Asset, SurgSim::Physics::Fem3D, Fem3D) Fem3D::Fem3D() { } bool Fem3D::doLoad(const std::string& filePath) { return loadFemFile(filePath); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Fem3D.h000066400000000000000000000024511277777236100202000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM3D_H #define SURGSIM_PHYSICS_FEM3D_H #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/Physics/Fem.h" namespace SurgSim { namespace Physics { SURGSIM_STATIC_REGISTRATION(Fem3D); /// Fem class data structure implementation for 3-Dimensional FEMs /// \sa Fem class Fem3D : public Fem { public: /// Default constructor Fem3D(); SURGSIM_CLASSNAME(SurgSim::Physics::Fem3D); protected: // Asset API override bool doLoad(const std::string& filePath) override; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM3D_H opensurgsim-0.7.0/SurgSim/Physics/Fem3DElementCorotationalTetrahedron.cpp000066400000000000000000000247031277777236100266300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Log.h" #include "SurgSim/Math/OdeEquation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Physics/Fem3DElementCorotationalTetrahedron.h" using SurgSim::Math::addSubVector; using SurgSim::Math::getSubMatrix; using SurgSim::Math::getSubVector; namespace SurgSim { namespace Physics { SURGSIM_REGISTER(SurgSim::Physics::FemElement, SurgSim::Physics::Fem3DElementCorotationalTetrahedron, Fem3DElementCorotationalTetrahedron) Fem3DElementCorotationalTetrahedron::Fem3DElementCorotationalTetrahedron() : Fem3DElementTetrahedron() { } Fem3DElementCorotationalTetrahedron::Fem3DElementCorotationalTetrahedron(std::array nodeIds) : Fem3DElementTetrahedron(nodeIds) { } Fem3DElementCorotationalTetrahedron::Fem3DElementCorotationalTetrahedron( std::shared_ptr elementData) : Fem3DElementTetrahedron(elementData) { } void Fem3DElementCorotationalTetrahedron::initialize(const SurgSim::Math::OdeState& state) { // Initialize the linear tetrahedron element (this computes the linear stiffness matrix) Fem3DElementTetrahedron::initialize(state); m_MLinear = m_M; m_KLinear = m_K; // Pre-compute the matrix V^-1 with V the matrix of the undeformed tetrahedron points in homogeneous coordinates SurgSim::Math::Matrix44d V; V.col(0).segment<3>(0) = state.getPosition(m_nodeIds[0]); V.col(1).segment<3>(0) = state.getPosition(m_nodeIds[1]); V.col(2).segment<3>(0) = state.getPosition(m_nodeIds[2]); V.col(3).segment<3>(0) = state.getPosition(m_nodeIds[3]); V.row(3).setOnes(); double determinant; bool invertible; V.computeInverseAndDetWithCheck(m_Vinverse, determinant, invertible); SURGSIM_ASSERT(invertible) << "Trying to initialize an invalid co-rotational tetrahedron." << " Matrix V not invertible." << std::endl << "More likely the tetrahedron is degenerated:" << std::endl << " A = (" << state.getPosition(m_nodeIds[0]).transpose() << ")" << std::endl << " B = (" << state.getPosition(m_nodeIds[1]).transpose() << ")" << std::endl << " C = (" << state.getPosition(m_nodeIds[2]).transpose() << ")" << std::endl << " D = (" << state.getPosition(m_nodeIds[3]).transpose() << ")" << std::endl; updateFMDK(state, Math::ODEEQUATIONUPDATE_FMDK); } void Fem3DElementCorotationalTetrahedron::doUpdateFMDK(const Math::OdeState& state, int options) { SurgSim::Math::Matrix33d* rotation = nullptr; Math::Matrix* M = nullptr; Math::Matrix* K = nullptr; if (options & Math::ODEEQUATIONUPDATE_F) { rotation = &m_R; K = &m_K; } if (options & Math::ODEEQUATIONUPDATE_M) { M = &m_M; } if (options & Math::ODEEQUATIONUPDATE_K) { K = &m_K; } computeRotationMassAndStiffness(state, rotation, M, K); if (options & Math::ODEEQUATIONUPDATE_F) { Eigen::Matrix x, R_x0; // R.K.(R^-1.x - x0) = Fext // 0 = Fext + Fint with Fint = -R.K.R^-1.(x - R.x0) getSubVector(state.getPositions(), m_nodeIds, 3, &x); for (size_t nodeId = 0; nodeId < 4; ++nodeId) { getSubVector(R_x0, nodeId, 3) = m_R * getSubVector(m_x0, nodeId, 3); } m_f = -m_K * (x - R_x0); } } void Fem3DElementCorotationalTetrahedron::computeRotationMassAndStiffness(const SurgSim::Math::OdeState& state, SurgSim::Math::Matrix33d* rotation, Math::Matrix* Me, Math::Matrix* Ke) const { using SurgSim::Math::makeSkewSymmetricMatrix; using SurgSim::Math::skew; using SurgSim::Math::Vector3d; SurgSim::Math::Matrix33d R; // This method does two things: // 1) Recompute the element's rotation R // 2) Update the element's stiffness matrix based on the new rotation // 1) Recompute the element's rotation R Eigen::Matrix x; getSubVector(state.getPositions(), m_nodeIds, 3, &x); // Matrix P is the matrix of the deformed tetrahedron points in homogenous coordinates. SurgSim::Math::Matrix44d P; P.col(0).segment<3>(0) = getSubVector(x, 0, 3); P.col(1).segment<3>(0) = getSubVector(x, 1, 3); P.col(2).segment<3>(0) = getSubVector(x, 2, 3); P.col(3).segment<3>(0) = getSubVector(x, 3, 3); P.row(3).setOnes(); // Matrix V is the matrix of the undeformed tetrahedron points in homogeneous coordinates. // F = P.V^1 is an affine transformation (deformation gradient) measuring the transformation // between the undeformed and deformed configurations. Eigen::Transform F(P * m_Vinverse); // F is of the form (B t) where t contains the translation part and B the rotation and stretching. // (0 1) // c.f. "Interactive Virtual Materials", Muller, Gross. Graphics Interface 2004 // http://en.wikipedia.org/wiki/Polar_decomposition // Compute the polar decomposition of F to extract the rotation and the scaling parts. SurgSim::Math::Matrix33d scaling; F.computeRotationScaling(&R, &scaling); if (rotation != nullptr) { *rotation = R; } if (std::abs(R.determinant() - 1.0) > 1e-8) { SURGSIM_LOG_SEVERE(SurgSim::Framework::Logger::getDefaultLogger()) << "Rotation has an invalid determinant of " << R.determinant(); return; } Eigen::Matrix R12x12; if (Me != nullptr || Ke != nullptr) { // Build a 12x12 rotation matrix, duplicating the 3x3 rotation on the diagonal blocks // This is useful only in the mass and stiffness matrices calculation. R12x12.setZero(); for (size_t nodeId = 0; nodeId < 4; ++nodeId) { getSubMatrix(R12x12, nodeId, nodeId, 3, 3) = R; } } // 2) Update the element's mass matrix based on the new rotation // M = R.Me.R^t if (Me != nullptr) { Eigen::Matrix RM = R12x12 * m_MLinear; *Me = RM * R12x12.transpose(); } // 3) Update the element's stiffness matrix based on the new rotation // F = -RKe(R^t.x - x0) with Ke the element linear stiffness matrix, R the 12x12 rotation matrix // K = -dF/dx // K = sum[dR/dxl.Ke.(R^t.x-x0)]_l + R.Ke.R^t + [R.Ke.(dR/dxl)^T.x]_l // c.f. "Exact Corotational Linear FEM Stiffness Matrix", Jernej Barbic. Technical Report USC 2012. // with // xl the l^th component of the dof vector x // [v(l)]_l is a 12x12 matrix whose l^th column is defined by the column vector v(l) // Each column of the 2 matrices [dR/dxl.Ke.(R^t.x-x0)]_l + [R.Ke.(dR/dxl)^T.x]_l // can be calculated independently by differentiating R with respect to x, so the entire matrices are defined // with a sum over the 12 degrees of freedom, to define each column one by one. if (Ke != nullptr) { // Here is the rotated element stiffness matrix part Eigen::Matrix RK = R12x12 * m_KLinear; *Ke = RK * R12x12.transpose(); // Now we compute some useful matrices for the next step double determinant; bool invertible; Math::Matrix33d G = (scaling.trace() * Math::Matrix33d::Identity() - scaling) * R.transpose(); Math::Matrix33d Ginv = Math::Matrix33d::Zero(); G.computeInverseAndDetWithCheck(Ginv, determinant, invertible); if (!invertible) { SURGSIM_LOG(SurgSim::Framework::Logger::getDefaultLogger(), WARNING) << "Corotational element has a singular G matrix"; return; } // dR/dx = dR/dF . dF/dx with dF/dx constant over time. // Here, we compute the various dR/d(F[i][j]). std::array, 3> dRdF; for (size_t i = 0; i < 3; ++i) { for (size_t j = 0; j < 3; ++j) { // Compute wij, the vector solution of G.wij = 2.skew(R^t.ei.ej^t) // wij is a rotation vector by nature Vector3d wij = Ginv * 2.0 * skew((R.transpose() * (Vector3d::Unit(i) * Vector3d::Unit(j).transpose())).eval()); // Compute dR/dFij = [wij].R dRdF[i][j] = makeSkewSymmetricMatrix(wij) * R; } } // dR/dx = dR/dF . dF/dx // dF/dx is block sparse and constant over time, so we develop the matrix multiplication to avoid unecessary // calculation. Nevertheless, to allow the user to follow this calculation, we relate it to the notation in // the paper: // A3x3 being a 3x3 matrix, asVector(A3x3) = (A00 A01 A02 A10 A11 A12 A20 A21 A22) // dR/dF becomes a single 9x9 matrix where the 3x3 matrix dR/dFij is stored asVector in the (3*i+j)th row // dF/dx becomes a single 9x12 matrix of the form (n1 0 0 n2 0 0 n3 0 0 n4 0 0) // (0 n1 0 0 n2 0 0 n3 0 0 n4 0) // (0 0 n1 0 0 n2 0 0 n3 0 0 n4) // ni being the first 3 entries of the i^th row of V^1 (m_Vinverse) // // dR/dx = (asVector(dRdF00)).(n1x 0 0 n2x 0 0 n3x 0 0 n4x 0 0) // (asVector(dRdF01)) (n1y 0 0 n2y 0 0 n3y 0 0 n4y 0 0) // ( ... ) ( ... ) // (asVector(dRdF22)) (0 0 n1z 0 0 n2z 0 0 n3z 0 0 n4z) // dR/dxl is a 3x3 matrix stored asVector in the l^th column of the above resulting matrix std::array dRdX; for (int nodeId = 0; nodeId < 4; ++nodeId) { Vector3d ni(m_Vinverse.row(nodeId).segment<3>(0)); for (int axis = 0; axis < 3; ++axis) { size_t dofId = 3 * nodeId + axis; // Let's define the 3x3 matrix dR/d(x[dofId]) for (int i = 0; i < 3; ++i) { for (int j = 0; j < 3; ++j) { dRdX[dofId](i, j) = dRdF[i][j].row(axis).dot(ni); } } } } // Now that we have dR/dx, we can add the 2 extra terms to the stiffness matrix: // K += [dR/dxl.Ke.(R^t.x-x0]_l + [R.Ke.(dR/dxl)^T.x]_l // with // xl the l^th component of the dof vector x // [v(l)]_l a 12x12 matrix whose l^th column is defined by the column vector v(l) Eigen::Matrix KTimesRx_x0 = m_K * (R12x12.transpose() * x - m_x0); Eigen::Matrix dRdxl12x12 = Eigen::Matrix::Zero(); for (size_t dofId = 0; dofId < 12; ++dofId) { for (size_t nodeId = 0; nodeId < 4; ++nodeId) { getSubMatrix(dRdxl12x12, nodeId, nodeId, 3, 3) = dRdX[dofId]; } Ke->col(dofId) += dRdxl12x12 * KTimesRx_x0 + (RK * dRdxl12x12.transpose()) * x; } } } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Fem3DElementCorotationalTetrahedron.h000066400000000000000000000115431277777236100262730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM3DELEMENTCOROTATIONALTETRAHEDRON_H #define SURGSIM_PHYSICS_FEM3DELEMENTCOROTATIONALTETRAHEDRON_H #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Physics/Fem3DElementTetrahedron.h" namespace SurgSim { namespace Physics { SURGSIM_STATIC_REGISTRATION(Fem3DElementCorotationalTetrahedron); /// Fem Element 3D co-rotational based on a tetrahedron volume discretization /// \note This class derives from the linear version of the FEM 3D element tetrahedron, adding a rigid frame /// \note attached to the tetrahedron element to follow its rigid motion. Therefore it computes deformation in the /// \note local coordinate system of the tetrahedron. This class is based on 2 papers: /// \note "Interactive Virtual Materials", Muller, Gross. Graphics Interface 2004 /// \note "Exact Corotational Linear FEM Stiffness Matrix", Jernej Barbic. Technical Report USC 2012. /// \note Only the force and stiffness calculation are different, involving some changes as well in addMatVec /// \note (it uses the updated stiffness matrix). /// \note The update method takes care of extracting the rigid motion of the element. /// \note This element is updating its stiffness matrix at each new time step, which means that it cannot /// \note be used with any OdeSolverLinearXXX, it needs an ode solver that recomputes the data at each iteration. class Fem3DElementCorotationalTetrahedron : public Fem3DElementTetrahedron { public: /// Constructor Fem3DElementCorotationalTetrahedron(); /// Constructor /// \param nodeIds A vector of node ids defining this tetrahedron element in a overall mesh /// \note It is required that the triangle ABC is CCW looking from D (i.e. dot(cross(AB, AC), AD) > 0) /// \note This is required from the signed volume calculation method getVolume() /// \note A warning will be logged when the initialize function is called if this condition is not met, but the /// simulation will keep running. Behavior will be undefined because of possible negative volume terms. explicit Fem3DElementCorotationalTetrahedron(std::array nodeIds); /// Constructor for FemElement object factory /// \param elementData A FemElement3D struct defining this tetrahedron element in a overall mesh /// \note It is required that the triangle ABC is CCW looking from D (i.e. dot(cross(AB, AC), AD) > 0) /// \note This is required from the signed volume calculation method getVolume() /// \note A warning will be logged when the initialize function is called if this condition is not met, but the /// simulation will keep running. Behavior will be undefined because of possible negative volume terms. /// \exception SurgSim::Framework::AssertionFailure if nodeIds has a size different than 4 explicit Fem3DElementCorotationalTetrahedron(std::shared_ptr elementData); SURGSIM_CLASSNAME(SurgSim::Physics::Fem3DElementCorotationalTetrahedron); void initialize(const SurgSim::Math::OdeState& state) override; protected: /// Compute the rotation, mass and stiffness matrices of the element from the given state /// \param state The state to compute the rotation and jacobians from /// \param [out] R rotation matrix of the element in the given state (can be nullptr if not needed) /// \param [out] Me, Ke Respectively the mass and stiffness matrices (Me and/or Ke be nullptr if not needed) /// \note The model is not viscoelastic but purely elastic, so there is no damping matrix here. void computeRotationMassAndStiffness(const SurgSim::Math::OdeState& state, SurgSim::Math::Matrix33d* R, Math::Matrix* Me, Math::Matrix* Ke) const; void doUpdateFMDK(const Math::OdeState& state, int options) override; /// The constant inverse matrix of the undeformed tetrahedron homogeneous 4 points coordinates. /// This is useful to compute the deformation gradient from which the element rotation is extracted. SurgSim::Math::Matrix44d m_Vinverse; // The mass matrix of the linear tetrahedron Eigen::Matrix m_MLinear; // The stiffness matrix of the linear tetrahedron Eigen::Matrix m_KLinear; // The rotation matrix SurgSim::Math::Matrix33d m_R; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM3DELEMENTCOROTATIONALTETRAHEDRON_H opensurgsim-0.7.0/SurgSim/Physics/Fem3DElementCube.cpp000066400000000000000000000354631277777236100226550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Log.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/OdeEquation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Physics/Fem3DElementCube.h" using SurgSim::Math::addSubVector; using SurgSim::Math::getSubVector; using SurgSim::Math::Vector; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { SURGSIM_REGISTER(SurgSim::Physics::FemElement, SurgSim::Physics::Fem3DElementCube, Fem3DElementCube) Fem3DElementCube::Fem3DElementCube() { initializeMembers(); } Fem3DElementCube::Fem3DElementCube(std::array nodeIds) { initializeMembers(); m_nodeIds.assign(nodeIds.cbegin(), nodeIds.cend()); } Fem3DElementCube::Fem3DElementCube(std::shared_ptr elementData) { initializeMembers(); auto element3DData = std::dynamic_pointer_cast(elementData); SURGSIM_ASSERT(element3DData != nullptr) << "Incorrect struct type passed"; SURGSIM_ASSERT(element3DData->nodeIds.size() == 8) << "Incorrect number of nodes for Fem3D cube"; m_nodeIds.assign(element3DData->nodeIds.begin(), element3DData->nodeIds.end()); setMassDensity(element3DData->massDensity); setPoissonRatio(element3DData->poissonRatio); setYoungModulus(element3DData->youngModulus); } void Fem3DElementCube::initializeMembers() { // Set the number of dof per node (3 in this case) setNumDofPerNode(3); } void Fem3DElementCube::initialize(const SurgSim::Math::OdeState& state) { // Test the validity of the physical parameters FemElement::initialize(state); // Set the shape functions coefficients // Ni(epsilon, eta, mu) = (1 + epsilon * sign(epsilon_i))(1 + eta * sign(eta_i))(1 + mu * sign(mu_i))/8 std::array tmpEpsilon = {{ -1.0, +1.0, +1.0, -1.0, -1.0, +1.0, +1.0, -1.0}}; std::array tmpEta = {{ -1.0, -1.0, +1.0, +1.0, -1.0, -1.0, +1.0, +1.0}}; std::array tmpMu = {{ -1.0, -1.0, -1.0, -1.0, +1.0, +1.0, +1.0, +1.0}}; m_shapeFunctionsEpsilonSign = tmpEpsilon; m_shapeFunctionsEtaSign = tmpEta; m_shapeFunctionsMuSign = tmpMu; // Store the 8 nodeIds in order for (auto nodeId = m_nodeIds.cbegin(); nodeId != m_nodeIds.cend(); ++nodeId) { SURGSIM_ASSERT(*nodeId >= 0 && *nodeId < state.getNumNodes()) << "Invalid nodeId " << *nodeId << " expected in range [0.." << state.getNumNodes() - 1 << "]"; } // Store the rest state for this cube in m_elementRestPosition getSubVector(state.getPositions(), m_nodeIds, 3, &m_elementRestPosition); // Compute the cube rest volume m_restVolume = getVolume(state); // Pre-compute the mass and stiffness matrix computeMass(state, &m_M); computeStiffness(state, &m_strain, &m_stress, &m_K); } void Fem3DElementCube::computeMass(const SurgSim::Math::OdeState& state, SurgSim::Math::Matrix* M) { using SurgSim::Math::gaussQuadrature2Points; // From the internal documentation on cube mass matrix calculation, we have: // M = rho * integration{over volume} {phi^T.phi} dV // with phi = (N0 0 0 N1 0 0...) // ( 0 N0 0 0 N1 0...) // ( 0 0 N0 0 0 N1...) // a 3x24 matrix filled with shape functions evaluation at a given point. // Using the Gauss-Legendre quadrature to evaluate this integral, we have: // M = sum{i=1..2} sum{j=1..2} sum{k=1..2}(w_i * w_j * _w_k * det(J) * rho * phi^T.phi) // Zero out the mass matrix M->setZero(); // Build up the mass matrix using a 2-points Gauss-Legendre quadrature for (int i = 0; i < 2; ++i) { for (int j = 0; j < 2; ++j) { for (int k = 0; k < 2; ++k) { addMassMatrixAtPoint(state, gaussQuadrature2Points[i], gaussQuadrature2Points[j], gaussQuadrature2Points[k], M); } } } } void Fem3DElementCube::doUpdateFMDK(const Math::OdeState& state, int options) { if (options & Math::ODEEQUATIONUPDATE_F) { Eigen::Matrix x; // K.U = Fext // K.(x - x0) = Fext // 0 = Fext + Fint with Fint = -K.(x - x0) getSubVector(state.getPositions(), m_nodeIds, 3, &x); m_f = -m_K * (x - m_elementRestPosition); } } void Fem3DElementCube::computeStiffness(const SurgSim::Math::OdeState& state, Eigen::Matrix* strain, Eigen::Matrix* stress, SurgSim::Math::Matrix* stiffness) { using SurgSim::Math::gaussQuadrature2Points; // Zero out the stiffness matrix stiffness->setZero(); // Build up the stiffness matrix using a 2-points Gauss-Legendre quadrature for (int i = 0; i < 2; ++i) { for (int j = 0; j < 2; ++j) { for (int k = 0; k < 2; ++k) { addStrainStressStiffnessAtPoint(state, gaussQuadrature2Points[i], gaussQuadrature2Points[j], gaussQuadrature2Points[k], strain, stress, stiffness); } } } } void Fem3DElementCube::evaluateJ(const SurgSim::Math::OdeState& state, double epsilon, double eta, double mu, SurgSim::Math::Matrix33d* J, SurgSim::Math::Matrix33d* Jinv, double* detJ) const { using SurgSim::Framework::Logger; SURGSIM_ASSERT(J != nullptr) << "Trying to evaluate J with a nullptr for matrix J"; Vector3d p[8]; for (size_t index = 0; index < 8; index++) { p[index] = state.getPosition(m_nodeIds[index]); } // Zero out the matrix J J->setZero(); // Compute J = d(x,y,z)/d(epsilon,eta,mu) // Note that (x,y,z) = for(i in {0..7}){ (x,y,z) += (xi,yi,zi).Ni(epsilon,eta,mu)} for (size_t index = 0; index < 8; ++index) { for (size_t axis = 0; axis < 3; ++axis) { (*J)(0, axis) += p[index][axis] * dShapeFunctiondepsilon(index, epsilon, eta, mu); (*J)(1, axis) += p[index][axis] * dShapeFunctiondeta(index, epsilon, eta, mu); (*J)(2, axis) += p[index][axis] * dShapeFunctiondmu(index, epsilon, eta, mu); } } if (Jinv != nullptr && detJ != nullptr) { bool invertible; J->computeInverseAndDetWithCheck(*Jinv, *detJ, invertible); SURGSIM_ASSERT(invertible) << "Found a non invertible matrix J\n" << *J << "\ndet(J)=" << *detJ << ") while computing Fem3DElementCube stiffness matrix\n"; SURGSIM_LOG_IF(*detJ <= 1e-8 && *detJ >= -1e-8, Logger::getLogger("Physics"), WARNING) << "Found an invalid matrix J\n" << *J << "\ninvertible, but det(J)=" << *detJ << ") while computing Fem3DElementCube stiffness matrix\n"; } } void Fem3DElementCube::evaluateStrainDisplacement(double epsilon, double eta, double mu, const SurgSim::Math::Matrix33d& Jinv, Eigen::Matrix* B) const { SURGSIM_ASSERT(B != nullptr) << "Trying to evaluate the strain-displacmenet with a nullptr"; // Zero out the strain-displacement B->setZero(); // Set non-zero entries of the strain-displacement for (size_t index = 0; index < 8; ++index) { // Compute dNi/d(x,y,z) = dNi/d(epsilon,eta,mu) d(epsilon,eta,mu)/d(x,y,z) // = J^{-1}.dNi/d(epsilon,eta,mu) Vector3d dNidEpsilonEtaMu( dShapeFunctiondepsilon(index, epsilon, eta, mu), dShapeFunctiondeta(index, epsilon, eta, mu), dShapeFunctiondmu(index, epsilon, eta, mu) ); Vector3d dNidxyz = Jinv * dNidEpsilonEtaMu; // B = (dNi/dx 0 0) // ( 0 dNi/dy 0) // ( 0 0 dNi/dz) // (dNi/dy dNi/dx 0) // ( 0 dNi/dz dNi/dy) // (dNi/dz 0 dNi/dx) // c.f. http://www.colorado.edu/engineering/CAS/courses.d/AFEM.d/AFEM.Ch11.d/AFEM.Ch11.pdf (*B)(0, getNumDofPerNode() * index) = dNidxyz[0]; (*B)(1, getNumDofPerNode() * index + 1) = dNidxyz[1]; (*B)(2, getNumDofPerNode() * index + 2) = dNidxyz[2]; (*B)(3, getNumDofPerNode() * index) = dNidxyz[1]; (*B)(3, getNumDofPerNode() * index + 1) = dNidxyz[0]; (*B)(4, getNumDofPerNode() * index + 1) = dNidxyz[2]; (*B)(4, getNumDofPerNode() * index + 2) = dNidxyz[1]; (*B)(5, getNumDofPerNode() * index) = dNidxyz[2]; (*B)(5, getNumDofPerNode() * index + 2) = dNidxyz[0]; } } void Fem3DElementCube::buildConstitutiveMaterialMatrix( Eigen::Matrix* constitutiveMatrix) { // Compute the elasticity material matrix // which is commonly based on the Lame coefficients (1st = lambda, 2nd = mu = shear modulus): double lambda = m_E * m_nu / ((1.0 + m_nu) * (1.0 - 2.0 * m_nu)); double mu = m_E / (2.0 * (1 + m_nu)); constitutiveMatrix->setZero(); (*constitutiveMatrix)(0, 0) = (*constitutiveMatrix)(1, 1) = (*constitutiveMatrix)(2, 2) = 2.0 * mu + lambda; (*constitutiveMatrix)(0, 1) = (*constitutiveMatrix)(0, 2) = (*constitutiveMatrix)(1, 0) = lambda; (*constitutiveMatrix)(1, 2) = (*constitutiveMatrix)(2, 0) = (*constitutiveMatrix)(2, 1) = lambda; (*constitutiveMatrix)(3, 3) = (*constitutiveMatrix)(4, 4) = (*constitutiveMatrix)(5, 5) = mu; } void Fem3DElementCube::addStrainStressStiffnessAtPoint(const SurgSim::Math::OdeState& state, const SurgSim::Math::gaussQuadraturePoint& epsilon, const SurgSim::Math::gaussQuadraturePoint& eta, const SurgSim::Math::gaussQuadraturePoint& mu, Eigen::Matrix* strain, Eigen::Matrix* stress, SurgSim::Math::Matrix* k) { SurgSim::Math::Matrix33d J, Jinv; double detJ; Eigen::Matrix B; evaluateJ(state, epsilon.point, eta.point, mu.point, &J, &Jinv, &detJ); evaluateStrainDisplacement(epsilon.point, eta.point, mu.point, Jinv, &B); buildConstitutiveMaterialMatrix(&m_constitutiveMaterial); *strain += (epsilon.weight * eta.weight * mu.weight * detJ) * B; *stress += (epsilon.weight * eta.weight * mu.weight * detJ) * m_constitutiveMaterial * B; *k += (epsilon.weight * eta.weight * mu.weight * detJ) * B.transpose() * m_constitutiveMaterial * B; } void Fem3DElementCube::addMassMatrixAtPoint(const SurgSim::Math::OdeState& state, const SurgSim::Math::gaussQuadraturePoint& epsilon, const SurgSim::Math::gaussQuadraturePoint& eta, const SurgSim::Math::gaussQuadraturePoint& mu, SurgSim::Math::Matrix* m) { // This helper method hels to compute: // M = rho * integration{over volume} {phi^T.phi} dV // = sum{i=1..2} sum{j=1..2} sum{k=1..2} (w_i * w_j * w_k * det(J) * rho * phi^T.phi) // with phi = (N0 0 0 N1 0 0...) a 3x24 matrix filled with shape functions // ( 0 N0 0 0 N1 0...) evaluation at a given point. // ( 0 0 N0 0 0 N1...) // by computing the term inside the sums: (w_i * w_j * w_k * det(J) * rho * phi^T.phi) SurgSim::Math::Matrix33d J, Jinv; SurgSim::Math::Matrix phi(3, 24); double detJ; evaluateJ(state, epsilon.point, eta.point, mu.point, &J, &Jinv, &detJ); phi.setZero(); for (size_t index = 0; index < 8; ++index) { double weightPerIndex = shapeFunction(index, epsilon.point, eta.point, mu.point); phi(0, getNumDofPerNode() * index) += weightPerIndex; phi(1, getNumDofPerNode() * index + 1) += weightPerIndex; phi(2, getNumDofPerNode() * index + 2) += weightPerIndex; } *m += (epsilon.weight * eta.weight * mu.weight * detJ * m_rho) * phi.transpose() * phi; } double Fem3DElementCube::getVolume(const SurgSim::Math::OdeState& state) const { using SurgSim::Math::gaussQuadrature2Points; double v = 0.0; // Compute the volume: // V = integration{over volume} dV // Using a 2-points Gauss-Legendre quadrature: // V = for{i in {0..1}} for{j in {0..1}} for{k in {0..1}} // V += weightEpsilon[i] * weightEta[j] * weightMu[k] * det(J(epsilon[i], eta[j], mu[k])) for (int i = 0; i < 2; ++i) { const double& epsilon = gaussQuadrature2Points[i].point; const double& weightEpsilon = gaussQuadrature2Points[i].weight; for (int j = 0; j < 2; ++j) { const double& eta = gaussQuadrature2Points[j].point; const double& weightEta = gaussQuadrature2Points[j].weight; for (int k = 0; k < 2; ++k) { const double& mu = gaussQuadrature2Points[k].point; const double& weightMu = gaussQuadrature2Points[k].weight; SurgSim::Math::Matrix33d J, Jinv; double detJ; evaluateJ(state, epsilon, eta, mu, &J, &Jinv, &detJ); v += weightEpsilon * weightEta * weightMu * detJ; } } } SURGSIM_ASSERT(v > 1e-12) << "Fem3DElementCube ill-defined, its volume is " << v << std::endl << "Please make sure the element is not degenerate and " << "check the node ordering of your element formed by node ids " << m_nodeIds[0] << " " << m_nodeIds[1] << " " << m_nodeIds[2] << " " << m_nodeIds[3] << " " << m_nodeIds[4] << " " << m_nodeIds[5] << " " << m_nodeIds[6] << " " << m_nodeIds[7] << std::endl; return v; } double Fem3DElementCube::shapeFunction(size_t i, double epsilon, double eta, double mu) const { return 1.0 / 8.0 * (1 + epsilon * m_shapeFunctionsEpsilonSign[i]) * (1 + eta * m_shapeFunctionsEtaSign[i]) * (1 + mu * m_shapeFunctionsMuSign[i]); } double Fem3DElementCube::dShapeFunctiondepsilon(size_t i, double epsilon, double eta, double mu) const { return 1.0 / 8.0 * m_shapeFunctionsEpsilonSign[i] * (1 + eta * m_shapeFunctionsEtaSign[i]) * (1 + mu * m_shapeFunctionsMuSign[i]); } double Fem3DElementCube::dShapeFunctiondeta(size_t i, double epsilon, double eta, double mu) const { return 1.0 / 8.0 * (1 + epsilon * m_shapeFunctionsEpsilonSign[i]) * m_shapeFunctionsEtaSign[i] * (1 + mu * m_shapeFunctionsMuSign[i]); } double Fem3DElementCube::dShapeFunctiondmu(size_t i, double epsilon, double eta, double mu) const { return 1.0 / 8.0 * (1 + epsilon * m_shapeFunctionsEpsilonSign[i]) * (1 + eta * m_shapeFunctionsEtaSign[i]) * m_shapeFunctionsMuSign[i]; } SurgSim::Math::Vector Fem3DElementCube::computeCartesianCoordinate( const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& naturalCoordinate) const { SURGSIM_ASSERT(isValidCoordinate(naturalCoordinate)) << "naturalCoordinate must be normalized and length 8 within [0 1]."; Vector3d cartesianCoordinate(0.0, 0.0, 0.0); const Vector& positions = state.getPositions(); for (int i = 0; i < 8; i++) { cartesianCoordinate += naturalCoordinate(i) * getSubVector(positions, m_nodeIds[i], 3); } return cartesianCoordinate; } SurgSim::Math::Vector Fem3DElementCube::computeNaturalCoordinate( const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& cartesianCoordinate) const { SURGSIM_FAILURE() << "Function " << __FUNCTION__ << " not yet implemented."; return SurgSim::Math::Vector3d::Zero(); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Fem3DElementCube.h000066400000000000000000000304461277777236100223160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM3DELEMENTCUBE_H #define SURGSIM_PHYSICS_FEM3DELEMENTCUBE_H #include #include "SurgSim/Physics/FemElement.h" #include "SurgSim/Math/GaussLegendreQuadrature.h" namespace SurgSim { namespace Physics { SURGSIM_STATIC_REGISTRATION(Fem3DElementCube); /// Class for Fem Element 3D based on a cube volume discretization /// \note The stiffness property of the cube is derived from /// \note http://www.colorado.edu/engineering/CAS/courses.d/AFEM.d/AFEM.Ch11.d/AFEM.Ch11.pdf /// \note The mass property of the cube is derived from the kinetic energy computed on the cube's volume /// \note (c.f. internal documentation on cube mass matrix computation for details). /// \note Integral terms over the volume are evaluated using the Gauss-Legendre 2-points quadrature. /// \note http://en.wikipedia.org/wiki/Gaussian_quadrature /// \note Note that this technique is accurate for any polynomial evaluation up to degree 3. /// \note In our case, the shape functions \f$N_i\f$ are linear (of degree 1). So for exmaple, /// \note in the mass matrix we have integral terms like \f$\int_V N_i.N_j dV\f$, which are of degree 2. /// \note Fem3DElementCube uses linear elasticity (not visco-elasticity), so it does not give any damping. class Fem3DElementCube : public FemElement { public: /// Constructor Fem3DElementCube(); /// Constructor /// \param nodeIds An array of 8 node ids defining this cube element in an overall mesh /// \note It is required that getVolume() is positive, to do so, it needs (looking at the cube from /// \note the exterior, face normal 'n' pointing outward): /// \note the 1st 4 nodeIds (ABCD) should define any face CW i.e. (AB^AC or AB^AD or AC^AD).n < 0 /// \note the last 4 nodeIds (EFGH) should define the opposite face CCW i.e. (EF^EG or EF^EH or EG^EH).n > 0 /// \note A warning will be logged when the initialize function is called if this condition is not met, but the /// \note simulation will keep running. Behavior will be undefined because of possible negative volume terms. explicit Fem3DElementCube(std::array nodeIds); /// Constructor for FemElement object factory /// \param elementData A FemElement3D struct defining this cube element in an overall mesh /// \note It is required that getVolume() is positive, to do so, it needs (looking at the cube from /// \note the exterior, face normal 'n' pointing outward): /// \note the 1st 4 nodeIds (ABCD) should define any face CW i.e. (AB^AC or AB^AD or AC^AD).n < 0 /// \note the last 4 nodeIds (EFGH) should define the opposite face CCW i.e. (EF^EG or EF^EH or EG^EH).n > 0 /// \note A warning will be logged when the initialize function is called if this condition is not met, but the /// \note simulation will keep running. Behavior will be undefined because of possible negative volume terms. /// \exception SurgSim::Framework::AssertionFailure if nodeIds has a size different than 8 explicit Fem3DElementCube(std::shared_ptr elementData); SURGSIM_CLASSNAME(SurgSim::Physics::Fem3DElementCube) /// Initializes the element once everything has been set /// \param state The state to initialize the FemElement with /// \note We use the theory of linear elasticity, so this method precomputes the stiffness and mass matrices /// \note The 8 node ids must be valid in the given state, if they aren't an ASSERT will be raised /// \note The 8 node ids must define a cube with positive volume, if they don't an ASSERT will be raised /// \note In order to do so (looking at the cube from the exterior, face normal 'n' pointing outward), /// \note the 1st 4 nodeIds (ABCD) should define any face CW i.e. (AB^AC or AB^AD or AC^AD).n < 0 /// \note the last 4 nodeIds (EFGH) should define the opposite face CCW i.e. (EF^EG or EF^EH or EG^EH).n > 0 /// \note A warning will be logged in if this condition is not met, but the simulation will keep running. /// \note Behavior will be undefined because of possible negative volume terms. void initialize(const SurgSim::Math::OdeState& state) override; double getVolume(const SurgSim::Math::OdeState& state) const override; SurgSim::Math::Vector computeCartesianCoordinate(const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& naturalCoordinate) const override; SurgSim::Math::Vector computeNaturalCoordinate(const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& cartesianCoordinate) const override; protected: /// Initializes variables needed before Initialize() is called void initializeMembers(); /// Build the constitutive material 6x6 matrix /// \param[out] constitutiveMatrix The 6x6 constitutive material matrix void buildConstitutiveMaterialMatrix(Eigen::Matrix* constitutiveMatrix); /// Computes the cube stiffness matrix along with the strain and stress matrices /// \param state The state to compute the stiffness matrix from /// \param[out] strain, stress, k The strain, stress and stiffness matrices to store the result into void computeStiffness(const SurgSim::Math::OdeState& state, Eigen::Matrix* strain, Eigen::Matrix* stress, SurgSim::Math::Matrix* k); /// Computes the cube mass matrix /// \param state The state to compute the mass matrix from /// \param[out] m The mass matrix to store the result into void computeMass(const SurgSim::Math::OdeState& state, SurgSim::Math::Matrix* m); void doUpdateFMDK(const Math::OdeState& state, int options) override; /// Helper method to evaluate strain-stress and stiffness integral terms with a discrete sum using /// a Gauss quadrature rule /// \param state The state to compute the evaluation with /// \param epsilon, eta, mu The Gauss quadrature points to evaluate the data at /// \param[out] strain, stress, k The matrices in which to add the evaluations void addStrainStressStiffnessAtPoint(const SurgSim::Math::OdeState& state, const SurgSim::Math::gaussQuadraturePoint& epsilon, const SurgSim::Math::gaussQuadraturePoint& eta, const SurgSim::Math::gaussQuadraturePoint& mu, Eigen::Matrix* strain, Eigen::Matrix* stress, SurgSim::Math::Matrix* k); /// Helper method to evaluate mass integral terms with a discrete sum using a Gauss quadrature rule /// \param state The state to compute the evaluation with /// \param epsilon, eta, mu The Gauss quadrature points to evaluate the data at /// \param[out] m The matrix in which to add the evaluations void addMassMatrixAtPoint(const SurgSim::Math::OdeState& state, const SurgSim::Math::gaussQuadraturePoint& epsilon, const SurgSim::Math::gaussQuadraturePoint& eta, const SurgSim::Math::gaussQuadraturePoint& mu, SurgSim::Math::Matrix* m); /// Helper method to evaluate matrix J = d(x,y,z)/d(epsilon,eta,mu) at a given 3D parametric location /// J expresses the 3D space coordinate frames variation w.r.t. parametric coordinates /// \param state The state to compute the evaluation with /// \param epsilon, eta, mu The 3D parametric coordinates to evaluate the data at (within \f$[-1 +1]\f$) /// \param[out] J, Jinv, detJ The J matrix with its inverse and determinant evaluated at (epsilon, eta, mu) void evaluateJ(const SurgSim::Math::OdeState& state, double epsilon, double eta, double mu, SurgSim::Math::Matrix33d* J, SurgSim::Math::Matrix33d* Jinv, double* detJ) const; /// Helper method to evaluate the strain-displacement matrix at a given 3D parametric location /// c.f. http://www.colorado.edu/engineering/CAS/courses.d/AFEM.d/AFEM.Ch11.d/AFEM.Ch11.pdf for more details /// \param epsilon, eta, mu The 3D parametric coordinates to evaluate the data at (within \f$[-1 +1]\f$) /// \param Jinv The inverse of matrix J (3D global coords to 3D parametric coords) /// \param[out] B The strain-displacement matrix void evaluateStrainDisplacement(double epsilon, double eta, double mu, const SurgSim::Math::Matrix33d& Jinv, Eigen::Matrix* B) const; /// Cube rest volume double m_restVolume; ///@{ /// Shape functions parameters /// \f$N_i(\epsilon, \eta, \mu) = (1\pm\epsilon)(1\pm\eta)(1\pm\mu)/8 /// = (1+\epsilon.sign(\epsilon_i))(1+\eta.sign(\eta_i))(1+\mu.sign(\mu_i))/8 /// \textbf{ with } (\epsilon, \eta, \mu) \in [-1 +1]^3\f$ /// /// We choose to only store the sign of epsilon, eta and mu for each shape functions. /// \sa N std::array m_shapeFunctionsEpsilonSign; std::array m_shapeFunctionsEtaSign; std::array m_shapeFunctionsMuSign; ///@} /// Shape functions \f$N_i(\epsilon, \eta, \mu) = (1\pm\epsilon)(1\pm\eta)(1\pm\mu)/8\f$ /// /*! \f$ * \begin{array}{r | r r r} * i & sign(\epsilon) & sign(\eta) & sign(\mu) \\ * \hline * 0 & -1 & -1 & -1 \\ * 1 & +1 & -1 & -1 \\ * 2 & +1 & +1 & -1 \\ * 3 & -1 & +1 & -1 \\ * 4 & -1 & -1 & +1 \\ * 5 & +1 & -1 & +1 \\ * 6 & +1 & +1 & +1 \\ * 7 & -1 & +1 & +1 * \end{array} * \f$ */ /// \param i The node id (w.r.t. local element) to evaluate at /// \param epsilon, eta, mu The 3D parametric coordinates each within \f$[-1 +1]\f$ /// \return Ni(epsilon, eta, mu) /// \note A check is performed on the nodeId i but not on the 3D parametric coordinates range /// \sa m_shapeFunctionsEpsilonSign, m_shapeFunctionsEtaSign, m_shapeFunctionsMuSign /// \sa dNdepsilon, dNdeta, dNdmu double shapeFunction(size_t i, double epsilon, double eta, double mu) const; /// Shape functions derivative \f$dN_i/d\epsilon(\epsilon, \eta, \mu) = \pm(1\pm\eta)(1\pm\mu)/8\f$ /// \param i The node id (w.r.t. local element) to evaluate at /// \param epsilon, eta, mu The 3D parametric coordinates each within \f$[-1 +1]\f$ /// \return dNi/depsilon(epsilon, eta, mu) /// \note A check is performed on the nodeId i but not on the 3D parametric coordinates range /// \sa N /// \sa m_shapeFunctionsEpsilonSign, m_shapeFunctionsEtaSign, m_shapeFunctionsMuSign double dShapeFunctiondepsilon(size_t i, double epsilon, double eta, double mu) const; /// Shape functions derivative \f$dN_i/d\eta(\epsilon, \eta, \mu) = \pm(1\pm\epsilon)(1\pm\mu)/8\f$ /// \param i The node id (w.r.t. local element) to evaluate at /// \param epsilon, eta, mu The 3D parametric coordinates each within \f$[-1 +1]\f$ /// \return dNi/depsilon(epsilon, eta, mu) /// \note A check is performed on the nodeId i but not on the 3D parametric coordinates range /// \sa N /// \sa m_shapeFunctionsEpsilonSign, m_shapeFunctionsEtaSign, m_shapeFunctionsMuSign double dShapeFunctiondeta(size_t i, double epsilon, double eta, double mu) const; /// Shape functions derivative \f$dN_i/d\mu(\epsilon, \eta, \mu) = \pm(1\pm\epsilon)(1\pm\eta)/8\f$ /// \param i The node id (w.r.t. local element) to evaluate at /// \param epsilon, eta, mu The 3D parametric coordinates each within \f$[-1 +1]\f$ /// \return dNi/depsilon(epsilon, eta, mu) /// \note A check is performed on the nodeId i but not on the 3D parametric coordinates range /// \sa N /// \sa m_shapeFunctionsEpsilonSign, m_shapeFunctionsEtaSign, m_shapeFunctionsMuSign double dShapeFunctiondmu(size_t i, double epsilon, double eta, double mu) const; /// The cube rest state (nodes ordered by m_nodeIds) Eigen::Matrix m_elementRestPosition; /// Strain matrix (usually noted \f$\epsilon\f$) Eigen::Matrix m_strain; /// Stress matrix (usually noted \f$\sigma\f$) Eigen::Matrix m_stress; /// Constitutive material matrix (Hooke's law in this case) defines the relationship between stress and strain Eigen::Matrix m_constitutiveMaterial; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM3DELEMENTCUBE_H opensurgsim-0.7.0/SurgSim/Physics/Fem3DElementTetrahedron.cpp000066400000000000000000000376711277777236100242610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Log.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/OdeEquation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Physics/Fem3DElementTetrahedron.h" using SurgSim::Math::getSubVector; using SurgSim::Math::getSubMatrix; using SurgSim::Math::addSubVector; using SurgSim::Math::Vector; using SurgSim::Math::Vector3d; namespace { /// Computes the determinant of 3 vectors /// \param a, b, c The 3 vectors to compute the determinant from /// \return |a b c|, The determinant of the 3 vectors a, b and c double det(const Vector3d& a, const Vector3d& b, const Vector3d& c) { return a[0] * b[1] * c[2] + a[2] * b[0] * c[1] + a[1] * b[2] * c[0] - a[2] * b[1] * c[0] - a[1] * b[0] * c[2] - a[0] * b[2] * c[1]; } }; namespace SurgSim { namespace Physics { SURGSIM_REGISTER(SurgSim::Physics::FemElement, SurgSim::Physics::Fem3DElementTetrahedron, Fem3DElementTetrahedron) Fem3DElementTetrahedron::Fem3DElementTetrahedron() { initializeMembers(); } Fem3DElementTetrahedron::Fem3DElementTetrahedron(std::array nodeIds) { initializeMembers(); m_nodeIds.assign(std::begin(nodeIds), std::end(nodeIds)); } Fem3DElementTetrahedron::Fem3DElementTetrahedron(std::shared_ptr elementData) { initializeMembers(); auto element3DData = std::dynamic_pointer_cast(elementData); SURGSIM_ASSERT(element3DData != nullptr) << "Incorrect struct type passed"; SURGSIM_ASSERT(element3DData->nodeIds.size() == 4) << "Incorrect number of nodes for Fem3D Tetrahedron"; m_nodeIds.assign(element3DData->nodeIds.begin(), element3DData->nodeIds.end()); setMassDensity(element3DData->massDensity); setPoissonRatio(element3DData->poissonRatio); setYoungModulus(element3DData->youngModulus); } void Fem3DElementTetrahedron::initializeMembers() { setNumDofPerNode(3); // 3 dof per node (x, y, z) } void Fem3DElementTetrahedron::doUpdateFMDK(const Math::OdeState& state, int options) { if (options & Math::ODEEQUATIONUPDATE_F) { Eigen::Matrix x; // K.U = Fext // K.(x - x0) = Fext // 0 = Fext + Fint with Fint = -K.(x - x0) getSubVector(state.getPositions(), m_nodeIds, 3, &x); m_f = -m_K * (x - m_x0); } } void Fem3DElementTetrahedron::initialize(const SurgSim::Math::OdeState& state) { // Test the validity of the physical parameters FemElement::initialize(state); for (auto nodeId = m_nodeIds.cbegin(); nodeId != m_nodeIds.cend(); nodeId++) { SURGSIM_ASSERT(*nodeId >= 0 && *nodeId < state.getNumNodes()) << "Invalid nodeId " << *nodeId << " expected in range [0.." << state.getNumNodes() - 1 << "]"; } // Compute the fem tetrahedron shape functions Ni(x,y,z) = 1/6V ( ai + x.bi + y.ci + z.di ) computeShapeFunctions(state, &m_restVolume, &m_ai, &m_bi, &m_ci, &m_di); // Store the rest state for this tetrahedron in m_x0 getSubVector(state.getPositions(), m_nodeIds, 3, &m_x0); // Verify the Counter clock-wise condition auto A = getSubVector(m_x0, 0, 3); auto B = getSubVector(m_x0, 1, 3); auto C = getSubVector(m_x0, 2, 3); auto D = getSubVector(m_x0, 3, 3); SurgSim::Math::Vector3d AB = B - A; SurgSim::Math::Vector3d AC = C - A; SurgSim::Math::Vector3d AD = D - A; SURGSIM_LOG_IF(AB.cross(AC).dot(AD) < 0, SurgSim::Framework::Logger::getDefaultLogger(), WARNING) << "Tetrahedron ill-defined (ABC defined counter clock viewed from D) with node ids[" << m_nodeIds[0] << ", " << m_nodeIds[1] << ", " << m_nodeIds[2] << ", " << m_nodeIds[3] << "]"; // Pre-compute the mass and stiffness matrix computeMass(state, &m_M); computeStiffness(state, &m_K); } void Fem3DElementTetrahedron::computeMass(const SurgSim::Math::OdeState& state, SurgSim::Math::Matrix* M) { // From Przemieniecki book // -> section 11 "Inertia properties of structural elements // -> subsection 8 "Solid Tetrahedron" // // On each axis (x, y, z), the mass matrix is // m = rho * volume / 20 * (2 1 1 1) // (1 2 1 1) // (1 1 2 1) // (1 1 1 2) // // x1 y1 z1 x2 y2 z2 x3 y3 z3 x4 y4 z4 // x1 ( 2 1 1 1 ) // y1 ( 2 1 1 1 ) // z1 ( 2 1 1 1 ) // x2 ( 1 2 1 1 ) // y2 ( 1 2 1 1 ) // M = z2 ( 1 2 1 1 ) * rho * volume / 20 // x3 ( 1 1 2 1 ) // y3 ( 1 1 2 1 ) // z3 ( 1 1 2 1 ) // x4 ( 1 1 1 2 ) // y4 ( 1 1 1 2 ) // z4 ( 1 1 1 2 ) double coef = getVolume(state) * m_rho / 20.0; for (size_t rowNodeId = 0; rowNodeId < 4; rowNodeId++) { for (size_t colNodeId = 0; colNodeId < 4; colNodeId++) { auto Mii = getSubMatrix(*M, rowNodeId, colNodeId, 3, 3); if (rowNodeId == colNodeId) { Mii = SurgSim::Math::Matrix33d::Identity() * (2.0 * coef); } else { Mii = SurgSim::Math::Matrix33d::Identity() * coef; } } } } void Fem3DElementTetrahedron::computeStiffness(const SurgSim::Math::OdeState& state, SurgSim::Math::Matrix* k) { m_Em.setZero(); m_strain.setZero(); // Compute the strain matrix double coef = 1.0 / (6.0 * m_restVolume); for (int i = 0; i < 4; i++) { m_strain(0, 3 * i) = coef * m_bi[i]; m_strain(1, 3 * i + 1) = coef * m_ci[i]; m_strain(2, 3 * i + 2) = coef * m_di[i]; m_strain(3, 3 * i) = coef * m_ci[i]; m_strain(3, 3 * i + 1) = coef * m_bi[i]; m_strain(4, 3 * i + 1) = coef * m_di[i]; m_strain(4, 3 * i + 2) = coef * m_ci[i]; m_strain(5, 3 * i) = coef * m_di[i]; m_strain(5, 3 * i + 2) = coef * m_bi[i]; } // Compute the elasticity material matrix // which is commonly based on the Lame coefficients (1st = lambda, 2nd = mu = shear modulus): double lambda = m_E * m_nu / ((1.0 + m_nu) * (1.0 - 2.0 * m_nu)); double mu = m_E / (2.0 * (1 + m_nu)); m_Em(0, 0) = m_Em(1, 1) = m_Em(2, 2) = 2.0 * mu + lambda; m_Em(0, 1) = m_Em(0, 2) = m_Em(1, 0) = m_Em(1, 2) = m_Em(2, 0) = m_Em(2, 1) = lambda; m_Em(3, 3) = m_Em(4, 4) = m_Em(5, 5) = mu; // Compute the stress matrix m_stress = m_Em * m_strain; // Compute the stiffness matrix *k = m_restVolume * m_strain.transpose() * m_stress; // Ke is symmetric but numerical computation might introduce epsilon, we force the symmetry here *k = ((*k) + (*k).transpose()) * 0.5; } double Fem3DElementTetrahedron::getVolume(const SurgSim::Math::OdeState& state) const { /// Computes the tetrahedron volume 1/6 * | 1 p0x p0y p0z | /// | 1 p1x p1y p1z | /// | 1 p2x p2y p2z | /// | 1 p3x p3y p3z | const Vector& x = state.getPositions(); auto p0 = getSubVector(x, m_nodeIds[0], 3); auto p1 = getSubVector(x, m_nodeIds[1], 3); auto p2 = getSubVector(x, m_nodeIds[2], 3); auto p3 = getSubVector(x, m_nodeIds[3], 3); // fabs is necessary if we don't pay attention to the indexing ! // If the tetrahedron verify ABC counter clock wise viewed from D, this determinant is always positive = 6V // i.e. dot( cross(AB, AC), AD ) > 0 // Otherwise, it can happen that this determinant is negative = -6V !! return (det(p1, p2, p3) - det(p0, p2, p3) + det(p0, p1, p3) - det(p0, p1, p2)) / 6.0; } void Fem3DElementTetrahedron::computeShapeFunctions(const SurgSim::Math::OdeState& state, double* volume, std::array* ai, std::array* bi, std::array* ci, std::array* di) const { // The tetrahedron nodes 3D position {a,b,c,d} Vector3d a = getSubVector(state.getPositions(), m_nodeIds[0], 3); Vector3d b = getSubVector(state.getPositions(), m_nodeIds[1], 3); Vector3d c = getSubVector(state.getPositions(), m_nodeIds[2], 3); Vector3d d = getSubVector(state.getPositions(), m_nodeIds[3], 3); *volume = getVolume(state); // See http://www.colorado.edu/engineering/CAS/courses.d/AFEM.d/AFEM.Ch09.d/AFEM.Ch09.pdf for more details. // Relationship between the notations in this source code and the document mentioned above: // a(x1 y1 z1) b(x2 y2 z2) c(x3 y3 z3) d(x4 y4 z4) // Shape functions link the 3D space (x, y, z) to the natural parametrization (sigmai) of the shape. // (i.e. sigmai are the barycentric coordinates for the respective 4 nodes of the tetrahedon) // (1) ( 1 1 1 1) (sigma1) // (x) = (x1 x2 x3 x4) (sigma2) // (y) (y1 y2 y3 y4) (sigma3) // (z) (z1 z2 z3 z4) (sigma4) // // The shape functions Ni(x, y, z) are given by the inverse relationship: // (sigma1) ( 1 1 1 1)^-1 (1) (a[0] b[0] c[0] d[0]) (1) | 1 1 1 1| // (sigma2) = (x1 x2 x3 x4) (x) = 1/6V (a[1] b[1] c[1] d[1]) (x) where |x1 x2 x3 x4| = 6V // (sigma3) (y1 y2 y3 y4) (y) (a[2] b[2] c[2] d[2]) (y) |y1 y2 y3 y4| // (sigma4) (z1 z2 z3 z4) (z) (a[3] b[3] c[3] d[3]) (z) |z1 z2 z3 z4| // Computes the shape functions parameters m_ai (noted 6V0i in the document mentioned above, eq 9.12) // m_ai[0] = 6V01 = 6V(origin,b,c,d) = x2(y3z4 - y4z3) + x3(y4z2 - y2z4) + x4(y2z3 - y3z2) = |b c d| // m_ai[1] = 6V02 = 6V(origin,c,d,a) = x1(y4z3 - y3z4) + x3(y1z4 - y4z1) + x4(y3z1 - y1z3) = -|a c d| // m_ai[2] = 6V03 = 6V(origin,d,a,b) = x1(y2z4 - y4z2) + x2(y4z1 - y1z4) + x4(y1z2 - y2z1) = |a b d| // m_ai[3] = 6V04 = 6V(origin,a,b,c) = x1(y3z2 - y2z3) + x2(y1z3 - y3z1) + x3(y2z1 - y1z2) = -|a b c| (*ai)[0] = det(b, c, d); (*ai)[1] = -det(a, c, d); (*ai)[2] = det(a, b, d); (*ai)[3] = -det(a, b, c); // Computes the shape function parameters m_bi (noted ai in the document mentioned above, eq 9.11) // m_bi[0] = y42z32 - y32z42 = (y4-y2)(z3-z2) - (y3-y2)(z4-z2) = |1 y2 z2| = |1 by bz| // -|1 y3 z3| -|1 cy cz| // |1 y4 z4| |1 dy dz| // // m_bi[1] = y31z43 - y34z13 = (y3-y1)(z4-z3) - (y3-y4)(z1-z3) = |1 y1 z1| = |1 ay az| // |1 y3 z3| |1 cy cz| // |1 y4 z4| |1 dy dz| // // m_bi[2] = y24z14 - y14z24 = (y2-y4)(z1-z4) - (y1-y4)(z2-z4) = |1 y1 z1| = |1 ay az| // -|1 y2 z2| -|1 by bz| // |1 y4 z4| |1 dy dz| // // m_bi[3] = y13z21 - y12z31 = (y1-y3)(z2-z1) - (y1-y2)(z3-z1) = |1 y1 z1| = |1 ay az| // |1 y2 z2| |1 by bz| // |1 y3 z3| |1 cy cz| { Vector3d atilde(1, a[1], a[2]); Vector3d btilde(1, b[1], b[2]); Vector3d ctilde(1, c[1], c[2]); Vector3d dtilde(1, d[1], d[2]); (*bi)[0] = -det(btilde, ctilde, dtilde); (*bi)[1] = det(atilde, ctilde, dtilde); (*bi)[2] = -det(atilde, btilde, dtilde); (*bi)[3] = det(atilde, btilde, ctilde); } // Computes the shape function parameters m_ci (noted bi in the document mentioned above, eq 9.11) // m_ci[0] = x32z42 - x42z32 = (x3-x2)(z4-z2) - (x4-x2)(z3-z2) = |1 x2 z2| = |1 bx bz| // |1 x3 z3| |1 cx cz| // |1 x4 z4| |1 dx dz| // // m_ci[1] = x43z31 - x13z34 = (x4-x3)(z3-z1) - (x1-x3)(z3-z4) = |1 x1 z1| = |1 ax az| // -|1 x3 z3| -|1 cx cz| // |1 x4 z4| |1 dx dz| // // m_ci[2] = x14z24 - x24z14 = (x1-x4)(z2-z4) - (x2-x4)(z1-z4) = |1 x1 z1| = |1 ax az| // |1 x2 z2| |1 bx bz| // |1 x4 z4| |1 dx dz| // // m_ci[3] = x21z13 - x31z12 = (x2-x1)(z1-z3) - (x3-x1)(z1-z2) = |1 x1 z1| = |1 ax az| // -|1 x2 z2| -|1 bx bz| // |1 x3 z3| |1 cx cz| { Vector3d atilde(1, a[0], a[2]); Vector3d btilde(1, b[0], b[2]); Vector3d ctilde(1, c[0], c[2]); Vector3d dtilde(1, d[0], d[2]); (*ci)[0] = det(btilde, ctilde, dtilde); (*ci)[1] = -det(atilde, ctilde, dtilde); (*ci)[2] = det(atilde, btilde, dtilde); (*ci)[3] = -det(atilde, btilde, ctilde); } // Computes the shape function parameters m_di (noted ci in the document mentioned above, eq 9.11) // m_di[0] = x42y32 - x32y42 = (x4-x2)(y3-y2) - (x3-x2)(y4-y2) = |1 x2 y2| = |1 bx by| // -|1 x3 y3| -|1 cx cy| // |1 x4 y4| |1 dx dy| // // m_di[1] = x31y43 - x34y13 = (x3-x1)(y4-y3) - (x3-x4)(y1-y3) = |1 x1 y1| = |1 ax ay| // |1 x3 y3| |1 cx cy| // |1 x4 y4| |1 dx dy| // // m_di[2] = x24y14 - x14y24 = (x2-x4)(y1-y4) - (x1-x4)(y2-y4) = |1 x1 y1| = |1 ax ay| // -|1 x2 y2| -|1 bx by| // |1 x4 y4| |1 dx dy| // // m_di[3] = x13y21 - x12y31 = (x1-x3)(y2-y1) - (x1-x2)(y3-y1) = |1 x1 y1| = |1 ax ay| // |1 x2 y2| |1 bx by| // |1 x3 y3| |1 cx cy| { Vector3d atilde(1, a[0], a[1]); Vector3d btilde(1, b[0], b[1]); Vector3d ctilde(1, c[0], c[1]); Vector3d dtilde(1, d[0], d[1]); (*di)[0] = -det(btilde, ctilde, dtilde); (*di)[1] = det(atilde, ctilde, dtilde); (*di)[2] = -det(atilde, btilde, dtilde); (*di)[3] = det(atilde, btilde, ctilde); } } SurgSim::Math::Vector Fem3DElementTetrahedron::computeCartesianCoordinate( const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& naturalCoordinate) const { SURGSIM_ASSERT(isValidCoordinate(naturalCoordinate)) << "naturalCoordinate must be normalized and length 4."; const Vector& x = state.getPositions(); Vector3d p0 = getSubVector(x, m_nodeIds[0], 3); Vector3d p1 = getSubVector(x, m_nodeIds[1], 3); Vector3d p2 = getSubVector(x, m_nodeIds[2], 3); Vector3d p3 = getSubVector(x, m_nodeIds[3], 3); return naturalCoordinate(0) * p0 + naturalCoordinate(1) * p1 + naturalCoordinate(2) * p2 + naturalCoordinate(3) * p3; } SurgSim::Math::Vector Fem3DElementTetrahedron::computeNaturalCoordinate( const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& cartesianCoordinate) const { SURGSIM_ASSERT(cartesianCoordinate.size() == 3) << "globalCoordinate must be length 3."; double volume; std::array ai; std::array bi; std::array ci; std::array di; computeShapeFunctions(state, &volume, &ai, &bi, &ci, &di); SurgSim::Math::Vector4d result; for (size_t i = 0; i < 4; ++i) { result[i] = ai[i] + bi[i] * cartesianCoordinate[0] + ci[i] * cartesianCoordinate[1] + di[i] * cartesianCoordinate[2]; } result /= 6.0 * volume; return result; } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Fem3DElementTetrahedron.h000066400000000000000000000132271277777236100237150ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM3DELEMENTTETRAHEDRON_H #define SURGSIM_PHYSICS_FEM3DELEMENTTETRAHEDRON_H #include #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem.h" #include "SurgSim/Physics/FemElement.h" namespace SurgSim { namespace Physics { SURGSIM_STATIC_REGISTRATION(Fem3DElementTetrahedron); /// Class for Fem Element 3D based on a tetrahedron volume discretization /// \note The inertia property (mass) of the tetrahedron is derived from /// \note "Theory of Matrix Structural Analysis" from J.S. Przemieniecki /// \note The force and stiffness matrix of the tetrahedron is derived from /// \note http://www.colorado.edu/engineering/CAS/courses.d/AFEM.d/AFEM.Ch09.d/AFEM.Ch09.pdf /// \note The deformation is based on the linear elasticity theory and not on the visco-elasticity theory. /// \note Therefore the element does not have any damping component. /// \note Fem3DElementTetrahedron uses linear elasticity (not visco-elasticity), so it does not give any damping. class Fem3DElementTetrahedron : public FemElement { public: /// Constructor Fem3DElementTetrahedron(); /// Constructor /// \param nodeIds An array of 4 node ids defining this tetrahedron element in a overall mesh /// \note It is required that the triangle ABC is CCW looking from D (i.e. dot(cross(AB, AC), AD) > 0) /// \note This is required from the signed volume calculation method getVolume() /// \note A warning will be logged when the initialize function is called if this condition is not met, but the /// \note simulation will keep running. Behavior will be undefined because of possible negative volume terms. explicit Fem3DElementTetrahedron(std::array nodeIds); /// Constructor for FemElement object factory /// \param elementData A FemElement3D struct defining this tetrahedron element in a overall mesh /// \note It is required that the triangle ABC is CCW looking from D (i.e. dot(cross(AB, AC), AD) > 0) /// \note This is required from the signed volume calculation method getVolume() /// \note A warning will be logged when the initialize function is called if this condition is not met, but the /// \note simulation will keep running. Behavior will be undefined because of possible negative volume terms. /// \exception SurgSim::Framework::AssertionFailure if nodeIds has a size different than 4 explicit Fem3DElementTetrahedron(std::shared_ptr elementData); SURGSIM_CLASSNAME(SurgSim::Physics::Fem3DElementTetrahedron) void initialize(const SurgSim::Math::OdeState& state) override; double getVolume(const SurgSim::Math::OdeState& state) const override; SurgSim::Math::Vector computeCartesianCoordinate(const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& naturalCoordinate) const override; SurgSim::Math::Vector computeNaturalCoordinate(const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& cartesianCoordinate) const override; protected: /// Initializes variables needed before Initialize() is called void initializeMembers(); void doUpdateFMDK(const Math::OdeState& state, int options) override; /// Computes the tetrahedron shape functions /// \param state The deformable rest state to compute the shape function from /// \param[out] volume the volume calculated with the given state /// \param[out] ai from the shape function, Ni(x, y, z) = 1/6*volume (ai + bi.x + ci.y + di.z) /// \param[out] bi from the shape function, Ni(x, y, z) = 1/6*volume (ai + bi.x + ci.y + di.z) /// \param[out] ci from the shape function, Ni(x, y, z) = 1/6*volume (ai + bi.x + ci.y + di.z) /// \param[out] di from the shape function, Ni(x, y, z) = 1/6*volume (ai + bi.x + ci.y + di.z) void computeShapeFunctions(const SurgSim::Math::OdeState& state, double* volume, std::array* ai, std::array* bi, std::array* ci, std::array* di) const; /// Computes the tetrahedron stiffness matrix /// \param state The state to compute the stiffness matrix from /// \param[out] k The stiffness matrix to store the result into void computeStiffness(const SurgSim::Math::OdeState& state, SurgSim::Math::Matrix* k); /// Computes the tetrahedron mass matrix /// \param state The state to compute the mass matrix from /// \param[out] m The mass matrix to store the result into void computeMass(const SurgSim::Math::OdeState& state, SurgSim::Math::Matrix* m); /// Shape functions: Tetrahedron rest volume double m_restVolume; /// Shape functions coefficients Ni(x,y,z) = 1/6V ( ai + x.bi + y.ci + z.di ) std::array m_ai, m_bi, m_ci, m_di; /// The tetrahedon rest state Eigen::Matrix m_x0; /// Elasticity material matrix (contains the elastic properties of the material) Eigen::Matrix m_Em; /// Strain matrix Eigen::Matrix m_strain; /// Stress matrix Eigen::Matrix m_stress; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM3DELEMENTTETRAHEDRON_H opensurgsim-0.7.0/SurgSim/Physics/Fem3DLocalization.cpp000066400000000000000000000027571277777236100231150ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/Fem3DLocalization.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/FemElement.h" namespace SurgSim { namespace Physics { Fem3DLocalization::Fem3DLocalization( std::shared_ptr representation, const SurgSim::DataStructures::IndexedLocalCoordinate& localPosition) : FemLocalization(representation, localPosition) { } Fem3DLocalization::~Fem3DLocalization() { } bool Fem3DLocalization::isValidRepresentation(std::shared_ptr representation) { auto femRepresentation = std::dynamic_pointer_cast(representation); // Allows to reset the representation to nullptr ... return (femRepresentation != nullptr || representation == nullptr); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Fem3DLocalization.h000066400000000000000000000042771277777236100225610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM3DLOCALIZATION_H #define SURGSIM_PHYSICS_FEM3DLOCALIZATION_H #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/Physics/FemLocalization.h" namespace SurgSim { namespace Physics { /// Implementation of Localization for Fem3DRepresentation /// /// Fem3DLocalization tracks the global coordinates of an IndexedLocalCoordinate associated with an /// Fem3DRepresentation. The IndexedLocalCoordinate must be related to an FemElement (the index is an FemElement id and /// the local coordinates are the barycentric coordinates of the nodes in this FemElement). /// It is used, for example, as a helper class for filling out the MlcpPhysicsProblem in /// Fem3DRepresentationContact::doBuild, which constrains the motion of Fem3DRepresentation at a frictionless contact. class Fem3DLocalization : public FemLocalization { public: /// Constructor /// \param representation The representation to assign to this localization. /// \param localPosition The local position to set the localization at. Fem3DLocalization(std::shared_ptr representation, const SurgSim::DataStructures::IndexedLocalCoordinate& localPosition); /// Destructor virtual ~Fem3DLocalization(); /// Query if 'representation' is valid representation. /// \param representation The representation. /// \return true if valid representation, false if not. bool isValidRepresentation(std::shared_ptr representation) override; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM3DLOCALIZATION_H opensurgsim-0.7.0/SurgSim/Physics/Fem3DPlyReaderDelegate.cpp000066400000000000000000000055601277777236100240020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 "SurgSim/Math/Valid.h" #include "SurgSim/Physics/Fem3DPlyReaderDelegate.h" using SurgSim::DataStructures::PlyReader; namespace SurgSim { namespace Physics { Fem3DPlyReaderDelegate::Fem3DPlyReaderDelegate() { } Fem3DPlyReaderDelegate::Fem3DPlyReaderDelegate(std::shared_ptr mesh) : m_mesh(mesh) { SURGSIM_ASSERT(mesh != nullptr) << "The mesh cannot be null."; mesh->clear(); } std::string Fem3DPlyReaderDelegate::getElementName() const { return "3d_element"; } bool Fem3DPlyReaderDelegate::fileIsAcceptable(const PlyReader& reader) { bool result = FemPlyReaderDelegate::fileIsAcceptable(reader); SURGSIM_ASSERT(!m_hasRotationDOF) << "Fem3DPlyReaderDelegate does not support rotational DOF, data will be ignored."; return result; } void Fem3DPlyReaderDelegate::endParseFile() { if (!m_hasPerElementMaterial && m_hasMaterial) { for (auto element : m_mesh->getElements()) { element->massDensity = m_materialData.massDensity; element->poissonRatio = m_materialData.poissonRatio; element->youngModulus = m_materialData.youngModulus; } } m_mesh->update(); } void Fem3DPlyReaderDelegate::processVertex(const std::string& elementName) { Fem3D::VertexType vertex(SurgSim::Math::Vector3d(m_vertexData.x, m_vertexData.y, m_vertexData.z)); m_mesh->addVertex(vertex); } void Fem3DPlyReaderDelegate::processFemElement(const std::string& elementName) { SURGSIM_ASSERT(m_elementData.vertexCount == 4 || m_elementData.vertexCount == 8) << "Cannot process 3D Element with " << m_elementData.vertexCount << " vertices."; auto femElement = std::make_shared(); femElement->nodeIds.resize(m_elementData.vertexCount); std::copy(m_elementData.indices, m_elementData.indices + m_elementData.vertexCount, femElement->nodeIds.data()); if (m_hasPerElementMaterial) { femElement->massDensity = m_elementData.massDensity; femElement->poissonRatio = m_elementData.poissonRatio; femElement->youngModulus = m_elementData.youngModulus; } m_mesh->addElement(femElement); } void Fem3DPlyReaderDelegate::processBoundaryCondition(const std::string& elementName) { m_mesh->addBoundaryCondition(static_cast(m_boundaryConditionData)); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Fem3DPlyReaderDelegate.h000066400000000000000000000035341277777236100234460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM3DPLYREADERDELEGATE_H #define SURGSIM_PHYSICS_FEM3DPLYREADERDELEGATE_H #include #include #include "SurgSim/DataStructures/EmptyData.h" #include "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/Physics/Fem3D.h" #include "SurgSim/Physics/FemPlyReaderDelegate.h" namespace SurgSim { namespace Physics { class Fem3DPlyReaderDelegate : public FemPlyReaderDelegate { public: /// Default constructor. Fem3DPlyReaderDelegate(); /// Constructor. /// \param mesh The mesh to be used, it will be cleared by the constructor. explicit Fem3DPlyReaderDelegate(std::shared_ptr mesh); protected: std::string getElementName() const override; bool fileIsAcceptable(const PlyReader& reader) override; void endParseFile() override; void processVertex(const std::string& elementName) override; void processFemElement(const std::string& elementName) override; void processBoundaryCondition(const std::string& elementName) override; /// End file callback void endFile(); private: /// Fem3D mesh asset to contain the ply file information std::shared_ptr m_mesh; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM3DPLYREADERDELEGATE_H opensurgsim-0.7.0/SurgSim/Physics/Fem3DRepresentation.cpp000066400000000000000000000344571277777236100234710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Asset.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Physics/DeformableCollisionRepresentation.h" #include "SurgSim/Physics/Fem3DElementCube.h" #include "SurgSim/Physics/Fem3DElementTetrahedron.h" #include "SurgSim/Physics/Fem3DLocalization.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/FemElement.h" #include "SurgSim/Physics/Localization.h" namespace { void transformVectorByBlockOf3(const SurgSim::Math::RigidTransform3d& transform, SurgSim::Math::Vector* x, bool rotationOnly = false) { typedef SurgSim::Math::Vector::Index IndexType; IndexType numNodes = x->size() / 3; SURGSIM_ASSERT(numNodes * 3 == x->size()) << "Unexpected number of dof in a Fem3D state vector (not a multiple of 3)"; for (IndexType nodeId = 0; nodeId < numNodes; nodeId++) { SurgSim::Math::Vector3d xi = x->segment<3>(3 * nodeId); x->segment<3>(3 * nodeId) = (rotationOnly) ? transform.linear() * xi : transform * xi; } } } namespace SurgSim { namespace Physics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Physics::Fem3DRepresentation, Fem3DRepresentation); Fem3DRepresentation::Fem3DRepresentation(const std::string& name) : FemRepresentation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(Fem3DRepresentation, std::shared_ptr, Fem, getFem, setFem); SURGSIM_ADD_SETTER(Fem3DRepresentation, std::string, FemFileName, loadFem) // Reminder: m_numDofPerNode is held by DeformableRepresentation // but needs to be set by all concrete derived classes m_numDofPerNode = 3; m_fem = std::make_shared(); } Fem3DRepresentation::~Fem3DRepresentation() { } void Fem3DRepresentation::loadFem(const std::string& fileName) { auto mesh = std::make_shared(); mesh->load(fileName); setFem(mesh); } void Fem3DRepresentation::setFem(std::shared_ptr mesh) { SURGSIM_ASSERT(!isInitialized()) << "The Fem cannot be set after initialization"; SURGSIM_ASSERT(mesh != nullptr) << "Mesh for Fem3DRepresentation cannot be a nullptr"; auto femMesh = std::dynamic_pointer_cast(mesh); SURGSIM_ASSERT(femMesh != nullptr) << "Mesh for Fem3DRepresentation needs to be a SurgSim::Physics::Fem3D"; m_fem = femMesh; auto state = std::make_shared(); state->setNumDof(getNumDofPerNode(), m_fem->getNumVertices()); for (size_t i = 0; i < m_fem->getNumVertices(); i++) { state->getPositions().segment<3>(getNumDofPerNode() * i) = m_fem->getVertexPosition(i); } for (auto boundaryCondition : m_fem->getBoundaryConditions()) { state->addBoundaryCondition(boundaryCondition); } // If we have elements, ensure that they are all of the same nature if (femMesh->getNumElements() > 0) { const auto& e0 = femMesh->getElement(0); for (auto const& e : femMesh->getElements()) { SURGSIM_ASSERT(e->nodeIds.size() == e0->nodeIds.size()) << "Cannot mix and match elements of different nature." << " Found an element with " << e->nodeIds.size() << " nodes but was expecting " << e0->nodeIds.size(); } // If the FemElement types hasn't been registered yet, let's set a default one if (getFemElementType().empty()) { if (e0->nodeIds.size() == 4) { Fem3DElementTetrahedron tetrahdron; setFemElementType(tetrahdron.getClassName()); } else if (e0->nodeIds.size() == 8) { Fem3DElementCube cube; setFemElementType(cube.getClassName()); } } } setInitialState(state); } std::shared_ptr Fem3DRepresentation::getFem() const { return m_fem; } void Fem3DRepresentation::addExternalGeneralizedForce(std::shared_ptr localization, const Math::Vector& generalizedForce, const Math::Matrix& K, const Math::Matrix& D) { using Math::SparseMatrix; const size_t dofPerNode = getNumDofPerNode(); const Math::Matrix::Index expectedSize = static_cast(dofPerNode); SURGSIM_ASSERT(localization != nullptr) << "Invalid localization (nullptr)"; SURGSIM_ASSERT(generalizedForce.size() == expectedSize) << "Generalized force has an invalid size of " << generalizedForce.size() << ". Expected " << dofPerNode; SURGSIM_ASSERT(K.size() == 0 || (K.rows() == expectedSize && K.cols() == expectedSize)) << "Stiffness matrix K has an invalid size (" << K.rows() << "," << K.cols() << ") was expecting a square matrix of size " << dofPerNode; SURGSIM_ASSERT(D.size() == 0 || (D.rows() == expectedSize && D.cols() == expectedSize)) << "Damping matrix D has an invalid size (" << D.rows() << "," << D.cols() << ") was expecting a square matrix of size " << dofPerNode; std::shared_ptr localization3D = std::dynamic_pointer_cast(localization); SURGSIM_ASSERT(localization3D != nullptr) << "Invalid localization type (not a Fem3DLocalization)"; const size_t elementId = localization3D->getLocalPosition().index; const Math::Vector& coordinate = localization3D->getLocalPosition().coordinate; std::shared_ptr element = getFemElement(elementId); size_t index = 0; for (auto nodeId : element->getNodeIds()) { m_externalGeneralizedForce.segment(dofPerNode * nodeId, dofPerNode) += generalizedForce * coordinate[index]; index++; } if (K.size() != 0 || D.size() != 0) { size_t index1 = 0; for (auto nodeId1 : element->getNodeIds()) { size_t index2 = 0; for (auto nodeId2 : element->getNodeIds()) { if (K.size() != 0) { Math::addSubMatrix(coordinate[index1] * coordinate[index2] * K, static_cast(nodeId1), static_cast(nodeId2), &m_externalGeneralizedStiffness, true); } if (D.size() != 0) { Math::addSubMatrix(coordinate[index1] * coordinate[index2] * D, static_cast(nodeId1), static_cast(nodeId2), &m_externalGeneralizedDamping, true); } index2++; } index1++; } } m_externalGeneralizedStiffness.makeCompressed(); m_externalGeneralizedDamping.makeCompressed(); m_hasExternalGeneralizedForce = true; } std::unordered_map Fem3DRepresentation::createTriangleIdToElementIdMap( std::shared_ptr mesh) { std::unordered_map result; // An Fem3DElementCube/Fem3DElementTetrahedron element has 8/4 nodes. // A triangle has 3 nodes. // If all the nodes of a triangle are present in a Fem3DElement*** node, then a row in the map is created. // The nodes are identified using their ids. // std::includes(...) is used to find whether a given list of triangle node ids are present in the supplied list // of femElement node ids. This function requires the lists of node ids to be sorted. // Get the list of fem elements with their node ids. std::vector> femElements; femElements.reserve(getNumFemElements()); for (size_t i = 0; i < getNumFemElements(); ++i) { auto elementNodeIds = getFemElement(i)->getNodeIds(); std::sort(elementNodeIds.begin(), elementNodeIds.end()); femElements.push_back(elementNodeIds); } std::array triangleSorted; auto doesIncludeTriangle = [&triangleSorted](const std::vector& femElementSorted) { return std::includes(femElementSorted.begin(), femElementSorted.end(), triangleSorted.begin(), triangleSorted.end()); }; auto& meshTriangles = mesh->getTriangles(); for (auto triangle = meshTriangles.cbegin(); triangle != meshTriangles.cend(); ++triangle) { if (! triangle->isValid) { continue; } triangleSorted = triangle->verticesId; std::sort(triangleSorted.begin(), triangleSorted.end()); // Find the femElement that contains all the node ids of this triangle. std::vector>::iterator foundFemElement = std::find_if(femElements.begin(), femElements.end(), doesIncludeTriangle); // Assert to make sure that a triangle doesn't end up not having a femElement mapped to it. SURGSIM_ASSERT(foundFemElement != femElements.end()) << "A triangle in the given mesh of an Fem3DRepresentation does not have a corresponding" << " femElement."; // Add a row to the mapping (triangleId, elementId). // std::distance gives the index of the iterator within the container (by finding the distance // from the beginning of the container). result[std::distance(meshTriangles.begin(), triangle)] = std::distance(femElements.begin(), foundFemElement); } return result; } bool Fem3DRepresentation::doWakeUp() { if (!FemRepresentation::doWakeUp()) { return false; } auto deformableCollision = std::dynamic_pointer_cast(m_collisionRepresentation); if (deformableCollision != nullptr) { auto mesh = std::dynamic_pointer_cast(deformableCollision->getShape()); m_triangleIdToElementIdMap = createTriangleIdToElementIdMap(mesh); } return true; } bool Fem3DRepresentation::doInitialize() { for (auto& element : m_fem->getElements()) { std::shared_ptr femElement; femElement = FemElement::getFactory().create(getFemElementType(), element); m_femElements.push_back(femElement); } return FemRepresentation::doInitialize(); } std::shared_ptr Fem3DRepresentation::createNodeLocalization(size_t nodeId) { DataStructures::IndexedLocalCoordinate coordinate; SURGSIM_ASSERT(nodeId >= 0 && nodeId < getCurrentState()->getNumNodes()) << "Invalid node id"; // Look for any element that contains this node bool foundNodeId = false; for (size_t elementId = 0; elementId < getNumFemElements(); elementId++) { auto element = getFemElement(elementId); auto found = std::find(element->getNodeIds().begin(), element->getNodeIds().end(), nodeId); if (found != element->getNodeIds().end()) { coordinate.index = elementId; coordinate.coordinate.setZero(element->getNumNodes()); coordinate.coordinate[found - element->getNodeIds().begin()] = 1.0; foundNodeId = true; break; } } SURGSIM_ASSERT(foundNodeId) << "Could not find any element containing the node " << nodeId; // Fem3DLocalization will verify the coordinate (2nd parameter) based on // the Fem3DRepresentation passed as 1st parameter. return std::make_shared( std::static_pointer_cast(getSharedPtr()), coordinate); } std::shared_ptr Fem3DRepresentation::createTriangleLocalization( const DataStructures::IndexedLocalCoordinate& location) { DataStructures::IndexedLocalCoordinate coordinate; size_t triangleId = location.index; const Math::Vector& triangleCoord = location.coordinate; auto deformableCollision = std::dynamic_pointer_cast(m_collisionRepresentation); SURGSIM_ASSERT(deformableCollision != nullptr) << "Triangle localization cannot be created if the DeformableCollisionRepresentation is not correctly set."; // Find the vertex ids of the triangle. auto mesh = std::dynamic_pointer_cast(deformableCollision->getShape()); auto triangleVertices = mesh->getTriangle(triangleId).verticesId; // Find the vertex ids of the corresponding FemNode. // Get FemElement id from the triangle id. SURGSIM_ASSERT(m_triangleIdToElementIdMap.count(triangleId) == 1) << "Triangle must be mapped to an fem element."; size_t elementId = m_triangleIdToElementIdMap[triangleId]; std::shared_ptr element = getFemElement(elementId); auto elementVertices = element->getNodeIds(); // Find the mapping between triangleVertices and elementVertices. std::vector indices; indices.reserve(elementVertices.size()); for (size_t i = 0; i < elementVertices.size(); ++i) { indices.push_back(3); for (int j = 0; j < 3; ++j) { if (triangleVertices[j] == elementVertices[i]) { indices[i] = j; break; } } } // Create the natural coordinate. Math::Vector4d barycentricCoordinate(triangleCoord[0], triangleCoord[1], triangleCoord[2], 0.0); coordinate.index = elementId; coordinate.coordinate.resize(elementVertices.size()); for (size_t i = 0; i < elementVertices.size(); ++i) { coordinate.coordinate[i] = barycentricCoordinate[indices[i]]; } // Fem3DLocalization will verify the coordinate (2nd parameter) based on // the Fem3DRepresentation passed as 1st parameter. return std::make_shared( std::static_pointer_cast(getSharedPtr()), coordinate); } std::shared_ptr Fem3DRepresentation::createElementLocalization( const DataStructures::IndexedLocalCoordinate& location) { return std::make_shared( std::static_pointer_cast(getSharedPtr()), location); } std::shared_ptr Fem3DRepresentation::createLocalization(const DataStructures::Location& location) { if (location.index.hasValue()) { return createNodeLocalization(*location.index); } else if (location.triangleMeshLocalCoordinate.hasValue()) { return createTriangleLocalization(*location.triangleMeshLocalCoordinate); } else if (location.elementMeshLocalCoordinate.hasValue()) { return createElementLocalization(*location.elementMeshLocalCoordinate); } SURGSIM_FAILURE() << "Localization cannot be created without a mesh-based location (node, triangle or element)."; return nullptr; } void Fem3DRepresentation::transformState(std::shared_ptr state, const Math::RigidTransform3d& transform) { transformVectorByBlockOf3(transform, &state->getPositions()); transformVectorByBlockOf3(transform, &state->getVelocities(), true); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Fem3DRepresentation.h000066400000000000000000000104401277777236100231200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEM3DREPRESENTATION_H #define SURGSIM_PHYSICS_FEM3DREPRESENTATION_H #include #include #include #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem3D.h" #include "SurgSim/Physics/FemRepresentation.h" namespace SurgSim { namespace DataStructures { struct IndexedLocalCoordinate; struct Location; } namespace Framework { class Asset; } namespace Math { class MeshShape; class OdeState; } namespace Physics { class Localization; SURGSIM_STATIC_REGISTRATION(Fem3DRepresentation); /// Finite Element Model 3D is a fem built with 3D FemElement class Fem3DRepresentation : public FemRepresentation { public: /// Constructor /// \param name The name of the Fem3DRepresentation explicit Fem3DRepresentation(const std::string& name); /// Destructor virtual ~Fem3DRepresentation(); SURGSIM_CLASSNAME(SurgSim::Physics::Fem3DRepresentation); void loadFem(const std::string& fileName) override; /// Sets the fem mesh asset /// \param mesh The fem mesh to assign to this representation /// \exception SurgSim::Framework::AssertionFailure if mesh is nullptr or it's actual type is not Fem3D void setFem(std::shared_ptr mesh); /// \return The fem mesh asset as a Fem3D std::shared_ptr getFem() const; void addExternalGeneralizedForce(std::shared_ptr localization, const SurgSim::Math::Vector& generalizedForce, const SurgSim::Math::Matrix& K = SurgSim::Math::Matrix(), const SurgSim::Math::Matrix& D = SurgSim::Math::Matrix()) override; std::shared_ptr createLocalization(const SurgSim::DataStructures::Location& location) override; protected: bool doWakeUp() override; void transformState(std::shared_ptr state, const SurgSim::Math::RigidTransform3d& transform) override; bool doInitialize() override; private: /// Produces a mapping from the provided mesh's triangle ids to this object's fem element ids. The mesh's vertices /// must be identical to this object's fem element nodes. /// \param mesh The mesh used to produce the mapping. /// \return A map from the mesh's triangle ids to this object's fem elements. std::unordered_map createTriangleIdToElementIdMap( std::shared_ptr mesh); /// Helper method: create a localization for a node /// \param nodeId The node index /// \return Localization of the node for this representation std::shared_ptr createNodeLocalization(size_t nodeId); /// Helper method: create a localization for an triangle-based IndexedLocalCoordinate /// \param location The IndexedLocalCoordinate defining a point on the triangle mesh /// \return Localization of the point for this representation std::shared_ptr createTriangleLocalization( const SurgSim::DataStructures::IndexedLocalCoordinate& location); /// Helper method: create a localization for an element-based IndexedLocalCoordinate (tetrahedron or cube) /// \param location The IndexedLocalCoordinate defining a point on the element mesh /// \return Localization of the point for this representation std::shared_ptr createElementLocalization( const SurgSim::DataStructures::IndexedLocalCoordinate& location); /// Mapping from collision triangle's id to fem element id. std::unordered_map m_triangleIdToElementIdMap; /// The Fem3DRepresentation's asset as a Fem3D std::shared_ptr m_fem; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEM3DREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Physics/FemConstraintFixedPoint.cpp000066400000000000000000000101611277777236100244000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/FemConstraintFixedPoint.h" #include "SurgSim/Physics/FemElement.h" #include "SurgSim/Physics/FemLocalization.h" #include "SurgSim/Physics/FemRepresentation.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { FemConstraintFixedPoint::FemConstraintFixedPoint() { } FemConstraintFixedPoint::~FemConstraintFixedPoint() { } void FemConstraintFixedPoint::doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) { std::shared_ptr fem = std::static_pointer_cast(localization->getRepresentation()); const size_t numDofPerNode = fem->getNumDofPerNode(); if (!fem->isActive()) { return; } const double scale = (sign == CONSTRAINT_POSITIVE_SIDE) ? 1.0 : -1.0; const SurgSim::DataStructures::IndexedLocalCoordinate& coord = std::static_pointer_cast(localization)->getLocalPosition(); Vector3d globalPosition = localization->calculatePosition(); // Fixed point constraint in MCLP // p(t) is defined as the point before motion // s is defined as position to be constrained to // u is defined as the displacement needed to enforce the constraint // // The equation is // u + (p(t) - s) = 0 // // Using backward-Euler integration, // u = dt.v(t + dt) // // The constraint (p(t) - s) exists in 3-space, but we must modify the velocity of coordinates in (n * 3) space. The // transform from (n * 3) velocity space -> 3 translational space is denoted by H, which we construct here. // // The constructing principal of FEM is that nodes must be placed close enough such that the value of a function // within an FEM can be linearly interpolated by the values at the nodes of the FEM. The interpolation weights are // given by barycentric coordinates which linearly transform the nodes from (n * 3) -> 3 space (and vice versa): // sum(n_i * b_i) = n_1 * b_1 + n_2 * b_i ... n_n * b_n // where v_i are in 3 space. // // So the transform from node-velocity to constraint space is // dt * sum(v_i * b_i) // // See RigidRepresentationFixedPoint for more implementation details. // Update b with new violation: P(free motion) mlcp->b.segment<3>(indexOfConstraint) += globalPosition * scale; // m_newH is a SparseVector, so resizing is cheap. The object's memory also gets cleared. m_newH.resize(fem->getNumDof()); // m_newH is a member variable, so 'reserve' only needs to allocate memory on the first run. size_t numNodeToConstrain = (coord.coordinate.array() != 0.0).count(); m_newH.reserve(3 * numNodeToConstrain); std::shared_ptr femElement = fem->getFemElement(coord.index); size_t numNodes = femElement->getNumNodes(); for (size_t axis = 0; axis < 3; axis++) { m_newH.setZero(); for (size_t index = 0; index < numNodes; index++) { if (coord.coordinate[index] != 0.0) { size_t nodeIndex = femElement->getNodeId(index); m_newH.insert(numDofPerNode * nodeIndex + axis) = coord.coordinate[index] * (dt * scale); } } mlcp->updateConstraint(m_newH, fem->getComplianceMatrix() * m_newH.transpose(), indexOfRepresentation, indexOfConstraint + axis); } } SurgSim::Physics::ConstraintType FemConstraintFixedPoint::getConstraintType() const { return SurgSim::Physics::FIXED_3DPOINT; } size_t FemConstraintFixedPoint::doGetNumDof() const { return 3; } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/FemConstraintFixedPoint.h000066400000000000000000000030331277777236100240450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEMCONSTRAINTFIXEDPOINT_H #define SURGSIM_PHYSICS_FEMCONSTRAINTFIXEDPOINT_H #include "SurgSim/Physics/ConstraintImplementation.h" namespace SurgSim { namespace Physics { /// Base class for all FemRepresentation fixed point constraint implementation. class FemConstraintFixedPoint : public ConstraintImplementation { public: /// Constructor FemConstraintFixedPoint(); /// Destructor virtual ~FemConstraintFixedPoint(); SurgSim::Physics::ConstraintType getConstraintType() const override; private: size_t doGetNumDof() const override; void doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_FEMCONSTRAINTFIXEDPOINT_H opensurgsim-0.7.0/SurgSim/Physics/FemConstraintFixedRotationVector.cpp000066400000000000000000000112211277777236100262670ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 "SurgSim/Physics/FemConstraintFixedRotationVector.h" #include "SurgSim/Physics/FemElement.h" #include "SurgSim/Physics/FemLocalization.h" #include "SurgSim/Physics/FemRepresentation.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { FemConstraintFixedRotationVector::FemConstraintFixedRotationVector() { } FemConstraintFixedRotationVector::~FemConstraintFixedRotationVector() { } void FemConstraintFixedRotationVector::doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) { std::shared_ptr fem = std::static_pointer_cast(localization->getRepresentation()); const size_t numDofPerNode = fem->getNumDofPerNode(); SURGSIM_ASSERT(numDofPerNode >= 6) << "The rotation vector constraint needs rotational dof (6DOF/node minimum)" << " but " << fem->getFullName() << " only has " << numDofPerNode << " DOF"; if (!fem->isActive()) { return; } const double scale = (sign == CONSTRAINT_POSITIVE_SIDE) ? 1.0 : -1.0; const SurgSim::DataStructures::IndexedLocalCoordinate& coord = std::static_pointer_cast(localization)->getLocalPosition(); auto nodeIds = fem->getFemElement(coord.index)->getNodeIds(); Vector3d currentRotationVector = Vector3d::Zero(); for (size_t i = 0; i < nodeIds.size(); i++) { currentRotationVector += fem->getCurrentState()->getPositions().segment<3>(6 * nodeIds[i] + 3) * coord.coordinate[i]; } // Fixed rotation vector constraint in MCLP // p(t) is defined as the rotation vector before motion // s is defined as the rotation vector to be constrained to // u is defined as the displacement needed to enforce the constraint // // The equation is // u + (p(t) - s) = 0 // // Using backward-Euler integration, // u = dt.v(t + dt) // // The constraint (p(t) - s) exists in 3-space, but we must modify the velocity of coordinates in (n * 3) space. The // transform from (n * 3) velocity space -> 3 translational space is denoted by H, which we construct here. // // The constructing principal of FEM is that nodes must be placed close enough such that the value of a function // within an FEM can be linearly interpolated by the values at the nodes of the FEM. The interpolation weights are // given by barycentric coordinates which linearly transform the nodes from (n * 3) -> 3 space (and vice versa): // sum(n_i * b_i) = n_1 * b_1 + n_2 * b_i ... n_n * b_n // where v_i are in 3 space. // // So the transform from node-velocity to constraint space is // dt * sum(v_i * b_i) // // See RigidRepresentationFixedPoint for more implementation details. // Update b with new violation: P(free motion) mlcp->b.segment<3>(indexOfConstraint) += currentRotationVector * scale; // m_newH is a SparseVector, so resizing is cheap. The object's memory also gets cleared. m_newH.resize(fem->getNumDof()); // m_newH is a member variable, so 'reserve' only needs to allocate memory on the first run. size_t numNodeToConstrain = (coord.coordinate.array() != 0.0).count(); m_newH.reserve(3 * numNodeToConstrain); std::shared_ptr femElement = fem->getFemElement(coord.index); size_t numNodes = femElement->getNumNodes(); for (size_t axis = 0; axis < 3; axis++) { m_newH.setZero(); for (size_t index = 0; index < numNodes; index++) { if (coord.coordinate[index] != 0.0) { size_t nodeIndex = femElement->getNodeId(index); m_newH.insert(numDofPerNode * nodeIndex + axis + 3) = coord.coordinate[index] * (dt * scale); } } mlcp->updateConstraint(m_newH, fem->getComplianceMatrix() * m_newH.transpose(), indexOfRepresentation, indexOfConstraint + axis); } } SurgSim::Physics::ConstraintType FemConstraintFixedRotationVector::getConstraintType() const { return SurgSim::Physics::FIXED_3DROTATION_VECTOR; } size_t FemConstraintFixedRotationVector::doGetNumDof() const { return 3; } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/FemConstraintFixedRotationVector.h000066400000000000000000000040301277777236100257340ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEMCONSTRAINTFIXEDROTATIONVECTOR_H #define SURGSIM_PHYSICS_FEMCONSTRAINTFIXEDROTATIONVECTOR_H #include "SurgSim/Physics/ConstraintImplementation.h" namespace SurgSim { namespace Physics { /// Base class for all FemRepresentation fixed rotation vector constraint implementation. class FemConstraintFixedRotationVector : public ConstraintImplementation { public: /// Constructor FemConstraintFixedRotationVector(); /// Destructor virtual ~FemConstraintFixedRotationVector(); SurgSim::Physics::ConstraintType getConstraintType() const override; private: size_t doGetNumDof() const override; /// \note The constraint violation being calculated based on a quaternion interpolation (slerp), and this /// type of interpolation being highly non-linear, the classical way of using the implementation one after the /// other one won't work. /// Therefore, the RotationVectorConstraint will use the vector mlcp->b to retrieve both representation's /// rotation vector, then calculate the proper slerp and set the violation back in mlcp->b void doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_FEMCONSTRAINTFIXEDROTATIONVECTOR_H opensurgsim-0.7.0/SurgSim/Physics/FemConstraintFrictionalSliding.cpp000066400000000000000000000065231277777236100257420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 "SurgSim/Physics/FemConstraintFrictionalSliding.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/SlidingConstraintData.h" #include "SurgSim/Physics/FemElement.h" #include "SurgSim/Physics/FemLocalization.h" #include "SurgSim/Physics/FemRepresentation.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { FemConstraintFrictionalSliding::FemConstraintFrictionalSliding() { } FemConstraintFrictionalSliding::~FemConstraintFrictionalSliding() { } void FemConstraintFrictionalSliding::doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) { auto fem = std::static_pointer_cast(localization->getRepresentation()); if (!fem->isActive()) { return; } const size_t numDofPerNode = fem->getNumDofPerNode(); const double scale = (sign == CONSTRAINT_POSITIVE_SIDE) ? 1.0 : -1.0; const SlidingConstraintData& constraintData = static_cast(data); std::array directions; directions[0] = constraintData.getNormals()[0]; directions[1] = constraintData.getNormals()[1]; directions[2] = constraintData.getTangent(); const DataStructures::IndexedLocalCoordinate& coord = std::static_pointer_cast(localization)->getLocalPosition(); Vector3d globalPosition = localization->calculatePosition(); m_newH.resize(fem->getNumDof()); auto femElement = fem->getFemElement(coord.index); auto numNodes = fem->getFemElement(coord.index)->getNumNodes(); m_newH.reserve(numNodes * 3); for (size_t i = 0; i < 3; ++i) { // Update b with new violation double violation = directions[i].dot(globalPosition); mlcp->b[indexOfConstraint + i] += violation * scale; // Fill the new H. m_newH.setZero(); for (size_t j = 0; j < numNodes; ++j) { auto nodeId = femElement->getNodeId(j); m_newH.insert(numDofPerNode * nodeId + 0) = coord.coordinate[j] * directions[i][0] * scale * dt; m_newH.insert(numDofPerNode * nodeId + 1) = coord.coordinate[j] * directions[i][1] * scale * dt; m_newH.insert(numDofPerNode * nodeId + 2) = coord.coordinate[j] * directions[i][2] * scale * dt; } mlcp->updateConstraint(m_newH, fem->getComplianceMatrix() * m_newH.transpose(), indexOfRepresentation, indexOfConstraint + i); } mlcp->mu[indexOfConstraint] = constraintData.getFrictionCoefficient(); } SurgSim::Physics::ConstraintType FemConstraintFrictionalSliding::getConstraintType() const { return SurgSim::Physics::FRICTIONAL_SLIDING; } size_t FemConstraintFrictionalSliding::doGetNumDof() const { return 3; } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/FemConstraintFrictionalSliding.h000066400000000000000000000031131277777236100253770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEMCONSTRAINTFRICTIONALSLIDING_H #define SURGSIM_PHYSICS_FEMCONSTRAINTFRICTIONALSLIDING_H #include "SurgSim/Physics/ConstraintImplementation.h" namespace SurgSim { namespace Physics { /// Base class for all FemRepresentation frictional sliding constraint implementation. class FemConstraintFrictionalSliding: public ConstraintImplementation { public: /// Constructor FemConstraintFrictionalSliding(); /// Destructor virtual ~FemConstraintFrictionalSliding(); SurgSim::Physics::ConstraintType getConstraintType() const override; private: size_t doGetNumDof() const override; void doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_FEMCONSTRAINTFRICTIONALSLIDING_H opensurgsim-0.7.0/SurgSim/Physics/FemConstraintFrictionlessContact.cpp000066400000000000000000000076161277777236100263220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/FemConstraintFrictionlessContact.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/SegmentMeshShape.h" #include "SurgSim/Physics/ContactConstraintData.h" #include "SurgSim/Physics/FemElement.h" #include "SurgSim/Physics/FemLocalization.h" #include "SurgSim/Physics/FemRepresentation.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { FemConstraintFrictionlessContact::FemConstraintFrictionlessContact(): m_mlcpNumericalPrecision(1.0e-04) { } FemConstraintFrictionlessContact::~FemConstraintFrictionlessContact() { } void FemConstraintFrictionlessContact::doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) { std::shared_ptr fem = std::static_pointer_cast(localization->getRepresentation()); const size_t numDofPerNode = fem->getNumDofPerNode(); if (!fem->isActive()) { return; } const double scale = (sign == CONSTRAINT_POSITIVE_SIDE) ? 1.0 : -1.0; const SurgSim::Math::Vector3d& n = static_cast(data).getNormal(); const SurgSim::DataStructures::IndexedLocalCoordinate& coord = std::static_pointer_cast(localization)->getLocalPosition(); Vector3d globalPosition = localization->calculatePosition(); double radius = 0.0; { auto rep = std::dynamic_pointer_cast(fem->getCollisionRepresentation()); if (rep != nullptr) { auto segmentShape = std::dynamic_pointer_cast(rep->getShape()); if (segmentShape != nullptr) { radius = segmentShape->getRadius(); } } } // Update b with new violation double violation = n.dot(globalPosition); mlcp->b[indexOfConstraint] += violation * scale - radius - m_mlcpNumericalPrecision; // m_newH is a SparseVector, so resizing is cheap. The object's memory also gets cleared. m_newH.resize(fem->getNumDof()); // m_newH is a member variable, so 'reserve' only needs to allocate memory on the first run. std::shared_ptr femElement = fem->getFemElement(coord.index); size_t numNodes = femElement->getNumNodes(); size_t numNodeToConstrain = 0; for (size_t index = 0; index < numNodes; index++) { if (coord.coordinate[index] != 0.0) { numNodeToConstrain++; } } m_newH.reserve(3 * numNodeToConstrain); for (size_t index = 0; index < numNodes; index++) { if (coord.coordinate[index] != 0.0) { size_t nodeIndex = femElement->getNodeId(index); m_newH.insert(numDofPerNode * nodeIndex + 0) = coord.coordinate[index] * n[0] * scale * dt; m_newH.insert(numDofPerNode * nodeIndex + 1) = coord.coordinate[index] * n[1] * scale * dt; m_newH.insert(numDofPerNode * nodeIndex + 2) = coord.coordinate[index] * n[2] * scale * dt; } } mlcp->updateConstraint(m_newH, fem->getComplianceMatrix() * m_newH.transpose(), indexOfRepresentation, indexOfConstraint); } SurgSim::Physics::ConstraintType FemConstraintFrictionlessContact::getConstraintType() const { return SurgSim::Physics::FRICTIONLESS_3DCONTACT; } size_t FemConstraintFrictionlessContact::doGetNumDof() const { return 1; } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/FemConstraintFrictionlessContact.h000066400000000000000000000036031277777236100257570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEMCONSTRAINTFRICTIONLESSCONTACT_H #define SURGSIM_PHYSICS_FEMCONSTRAINTFRICTIONLESSCONTACT_H #include "SurgSim/Physics/ConstraintImplementation.h" namespace SurgSim { namespace Physics { /// Base class for all FemRepresentation frictionless contact constraint implementation. class FemConstraintFrictionlessContact: public ConstraintImplementation { public: /// Constructor FemConstraintFrictionlessContact(); /// Destructor virtual ~FemConstraintFrictionlessContact(); SurgSim::Physics::ConstraintType getConstraintType() const override; private: size_t doGetNumDof() const override; void doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override; /// \note accounts for the mlcp precision, so that the contact point /// is not floating around the solution plane (with a precision of +-e due to the /// mlcp, but floating above this plane, so the contact is actually verified at the end) double m_mlcpNumericalPrecision; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_FEMCONSTRAINTFRICTIONLESSCONTACT_H opensurgsim-0.7.0/SurgSim/Physics/FemConstraintFrictionlessSliding.cpp000066400000000000000000000062071277777236100263130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/FemConstraintFrictionlessSliding.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/SlidingConstraintData.h" #include "SurgSim/Physics/FemElement.h" #include "SurgSim/Physics/FemLocalization.h" #include "SurgSim/Physics/FemRepresentation.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { FemConstraintFrictionlessSliding::FemConstraintFrictionlessSliding() { } FemConstraintFrictionlessSliding::~FemConstraintFrictionlessSliding() { } void FemConstraintFrictionlessSliding::doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) { auto fem = std::static_pointer_cast(localization->getRepresentation()); if (!fem->isActive()) { return; } const size_t numDofPerNode = fem->getNumDofPerNode(); const double scale = (sign == CONSTRAINT_POSITIVE_SIDE) ? 1.0 : -1.0; const SlidingConstraintData& constraintData = static_cast(data); const auto normals = constraintData.getNormals(); const DataStructures::IndexedLocalCoordinate& coord = std::static_pointer_cast(localization)->getLocalPosition(); Vector3d globalPosition = localization->calculatePosition(); m_newH.resize(fem->getNumDof()); auto femElement = fem->getFemElement(coord.index); auto numNodes = fem->getFemElement(coord.index)->getNumNodes(); m_newH.reserve(numNodes * 3); for (size_t i = 0; i < 2; ++i) { // Update b with new violation double violation = normals[i].dot(globalPosition); mlcp->b[indexOfConstraint + i] += violation * scale; // Fill the new H. m_newH.setZero(); for (size_t j = 0; j < numNodes; ++j) { auto nodeId = femElement->getNodeId(j); m_newH.insert(numDofPerNode * nodeId + 0) = coord.coordinate[j] * normals[i][0] * scale * dt; m_newH.insert(numDofPerNode * nodeId + 1) = coord.coordinate[j] * normals[i][1] * scale * dt; m_newH.insert(numDofPerNode * nodeId + 2) = coord.coordinate[j] * normals[i][2] * scale * dt; } mlcp->updateConstraint(m_newH, fem->getComplianceMatrix() * m_newH.transpose(), indexOfRepresentation, indexOfConstraint + i); } } SurgSim::Physics::ConstraintType FemConstraintFrictionlessSliding::getConstraintType() const { return SurgSim::Physics::FRICTIONLESS_SLIDING; } size_t FemConstraintFrictionlessSliding::doGetNumDof() const { return 2; } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/FemConstraintFrictionlessSliding.h000066400000000000000000000031311277777236100257510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEMCONSTRAINTFRICTIONLESSSLIDING_H #define SURGSIM_PHYSICS_FEMCONSTRAINTFRICTIONLESSSLIDING_H #include "SurgSim/Physics/ConstraintImplementation.h" namespace SurgSim { namespace Physics { /// Base class for all FemRepresentation frictionless sliding constraint implementation. class FemConstraintFrictionlessSliding: public ConstraintImplementation { public: /// Constructor FemConstraintFrictionlessSliding(); /// Destructor virtual ~FemConstraintFrictionlessSliding(); SurgSim::Physics::ConstraintType getConstraintType() const override; private: size_t doGetNumDof() const override; void doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_FEMCONSTRAINTFRICTIONLESSSLIDING_H opensurgsim-0.7.0/SurgSim/Physics/FemElement-inl.h000066400000000000000000000033521277777236100221040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEMELEMENT_INL_H #define SURGSIM_PHYSICS_FEMELEMENT_INL_H #include #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/SparseMatrix.h" namespace SurgSim { namespace Physics { template void FemElement::assembleMatrixBlocks(const DerivedSub& subMatrix, const std::vector blockIds, size_t blockSize, Eigen::SparseMatrix* matrix, bool initialize) const { using SurgSim::Math::addSubMatrix; const Index numBlocks = static_cast(blockIds.size()); for (Index block0 = 0; block0 < numBlocks; block0++) { Index subRow = static_cast(blockSize * block0); for (Index block1 = 0; block1 < numBlocks; block1++) { Index subCol = static_cast(blockSize * block1); addSubMatrix(subMatrix.block(subRow, subCol, blockSize, blockSize), static_cast(blockIds[block0]), static_cast(blockIds[block1]), matrix, initialize); } } } } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEMELEMENT_INL_H opensurgsim-0.7.0/SurgSim/Physics/FemElement.cpp000066400000000000000000000126241277777236100216610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Assert.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Physics/FemElement.h" namespace SurgSim { namespace Physics { FemElement::FemElement() : m_numDofPerNode(0), m_rho(0.0), m_E(0.0), m_nu(0.0), m_useDamping(false), m_initializedFMDK(false) {} FemElement::~FemElement() {} void FemElement::initialize(const SurgSim::Math::OdeState& state) { initializeFMDK(); SURGSIM_ASSERT(m_rho != 0.0) << "Mass density is not set. Did you call setMassDensity() ?"; SURGSIM_ASSERT(m_nu != 0.0) << "Poisson ratio is not set. Did you call setPoissonRatio() ?"; SURGSIM_ASSERT(m_E != 0.0) << "Young modulus is not set. Did you call setYoungModulus() ?"; SURGSIM_ASSERT(m_rho > 0.0) << "Mass density ("< 0.0 && m_nu < 0.5) << "Poisson ratio ("< 0.0) << "Young modulus ("<& FemElement::getNodeIds() const { return m_nodeIds; } void FemElement::setYoungModulus(double E) { m_E = E; } double FemElement::getYoungModulus() const { return m_E; } void FemElement::setPoissonRatio(double nu) { m_nu = nu; } double FemElement::getPoissonRatio() const { return m_nu; } void FemElement::setMassDensity(double rho) { m_rho = rho; } double FemElement::getMassDensity() const { return m_rho; } double FemElement::getMass(const SurgSim::Math::OdeState& state) const { return getVolume(state) * m_rho; } void FemElement::addForce(SurgSim::Math::Vector* F, double scale) const { Math::addSubVector(m_f * scale, m_nodeIds, m_numDofPerNode, F); } void FemElement::addMass(SurgSim::Math::SparseMatrix* M, double scale) const { assembleMatrixBlocks(m_M * scale, m_nodeIds, static_cast(m_numDofPerNode), M, false); } void FemElement::addDamping(SurgSim::Math::SparseMatrix* D, double scale) const { if (m_useDamping) { assembleMatrixBlocks(m_D * scale, m_nodeIds, static_cast(m_numDofPerNode), D, false); } } void FemElement::addStiffness(SurgSim::Math::SparseMatrix* K, double scale) const { assembleMatrixBlocks(m_K * scale, m_nodeIds, static_cast(m_numDofPerNode), K, false); } void FemElement::addFMDK(SurgSim::Math::Vector* F, SurgSim::Math::SparseMatrix* M, SurgSim::Math::SparseMatrix* D, SurgSim::Math::SparseMatrix* K) const { addForce(F); addMass(M); addDamping(D); addStiffness(K); } void FemElement::addMatVec(double alphaM, double alphaD, double alphaK, const SurgSim::Math::Vector& x, SurgSim::Math::Vector* F) const { using Math::addSubVector; using Math::getSubVector; if (alphaM == 0.0 && (!m_useDamping || alphaD == 0.0) && alphaK == 0.0) { return; } size_t size = getNumNodes() * getNumDofPerNode(); Math::Vector extractedX(size); getSubVector(x, m_nodeIds, getNumDofPerNode(), &extractedX); // Accumulate the mass/damping/stiffness contribution Math::Vector extractedResult; extractedResult.setZero(size); // Adds the mass contribution if (alphaM != 0.0) { extractedResult += alphaM * (m_M * extractedX); } // Adds the damping contribution if (m_useDamping && alphaD != 0.0) { extractedResult += alphaD * (m_D * extractedX); } // Adds the stiffness contribution if (alphaK != 0.0) { extractedResult += alphaK * (m_K * extractedX); } addSubVector(extractedResult, m_nodeIds, m_numDofPerNode, F); } bool FemElement::isValidCoordinate(const SurgSim::Math::Vector& naturalCoordinate) const { return (std::abs(naturalCoordinate.sum() - 1.0) < SurgSim::Math::Geometry::ScalarEpsilon) && (naturalCoordinate.size() >= 0) && (static_cast(naturalCoordinate.size()) == getNumNodes()) && (-SurgSim::Math::Geometry::ScalarEpsilon <= naturalCoordinate.minCoeff() && naturalCoordinate.maxCoeff() <= 1.0 + SurgSim::Math::Geometry::ScalarEpsilon); } void FemElement::updateFMDK(const Math::OdeState& state, int options) { doUpdateFMDK(state, options); } void FemElement::initializeFMDK() { if (!m_initializedFMDK) { m_initializedFMDK = true; doInitializeFMDK(); } } void FemElement::doInitializeFMDK() { size_t size = getNumNodes() * getNumDofPerNode(); m_f.setZero(size); m_M.setZero(size, size); if (m_useDamping) { m_D.setZero(size, size); } m_K.setZero(size, size); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/FemElement.h000066400000000000000000000273731277777236100213350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEMELEMENT_H #define SURGSIM_PHYSICS_FEMELEMENT_H #include #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem.h" namespace SurgSim { namespace Math { class OdeState; }; namespace Physics { /// Base class for all Fem Element (1D, 2D, 3D) /// It handles the node ids to which it is connected and requires all derived classes to compute the element /// mass matrix and the force vector along with the derivatives (the stiffness and damping matrices). /// A extra method also exist to compute all of them at once for performance purposes. /// It holds on to the actual computed values (m_f, m_M, m_D, m_K) as its size is not predefined from outside /// and would requires intensive (de)allocation or a temporary variable anyway. /// It contains the linear elasticity parameter (Young modulus and Poisson ratio) as well as mass density class FemElement { public: /// Constructor FemElement(); /// Virtual destructor virtual ~FemElement(); /// Initialize the FemElement once everything has been set /// \param state The state to initialize the FemElement with virtual void initialize(const SurgSim::Math::OdeState& state); typedef SurgSim::Framework::ObjectFactory1> FactoryType; static FactoryType& getFactory(); /// Gets the number of degree of freedom per node /// \return The number of dof per node size_t getNumDofPerNode() const; /// Gets the number of nodes connected by this element /// \return The number of nodes size_t getNumNodes() const; /// Gets the elementNodeId-th node id /// \return The requested node id size_t getNodeId(size_t elementNodeId) const; /// Gets the node ids for this element /// \return A vector containing the node ids on which the element is defined const std::vector& getNodeIds() const; /// Sets the Young modulus (in N.m-2) /// \param E The Young modulus void setYoungModulus(double E); /// Gets the Young modulus (in N.m-2) /// \return The Young modulus double getYoungModulus() const; /// Sets the Poisson ratio (unitless) /// \param nu The Poisson ratio void setPoissonRatio(double nu); /// Gets the Poisson ratio (unitless) /// \return The Poisson ratio double getPoissonRatio() const; /// Sets the mass density (in Kg.m-3) /// \param rho The mass density void setMassDensity(double rho); /// Gets the mass density (in Kg.m-3) /// \return The mass density double getMassDensity() const; /// Gets the element mass based on the input state (in Kg) /// \param state The state to compute the mass with /// \return The mass of this element (in Kg) double getMass(const SurgSim::Math::OdeState& state) const; /// Gets the element volume based on the input state (in m-3) /// \param state The state to compute the volume with /// \return The volume of this element (in m-3) virtual double getVolume(const SurgSim::Math::OdeState& state) const = 0; /// Adds the element force (computed for a given state) to a complete system force vector F (assembly) /// \param[in,out] F The complete system force vector to add the element force into /// \param scale A factor to scale the added force with /// \note The element force is of size (getNumDofPerNode() x getNumNodes()) /// \note This method supposes that the incoming state contains information with the same number of dof /// \note per node as getNumDofPerNode() virtual void addForce(SurgSim::Math::Vector* F, double scale = 1.0) const; /// Adds the element mass matrix M (computed for a given state) to a complete system mass matrix M (assembly) /// \param[in,out] M The complete system mass matrix to add the element mass-matrix into /// \param scale A factor to scale the added mass matrix with /// \note The element mass matrix is square of size getNumDofPerNode() x getNumNodes() /// \note This method supposes that the incoming state contains information with the same number of /// \note dof per node as getNumDofPerNode() virtual void addMass(SurgSim::Math::SparseMatrix* M, double scale = 1.0) const; /// Adds the element damping matrix D (= -df/dv) (comuted for a given state) /// to a complete system damping matrix D (assembly) /// \param[in,out] D The complete system damping matrix to add the element damping matrix into /// \param scale A factor to scale the added damping matrix with /// \note The element damping matrix is square of size getNumDofPerNode() x getNumNodes() /// \note This method supposes that the incoming state contains information with the same number of /// \note dof per node as getNumDofPerNode() virtual void addDamping(SurgSim::Math::SparseMatrix* D, double scale = 1.0) const; /// Adds the element stiffness matrix K (= -df/dx) (computed for a given state) /// to a complete system stiffness matrix K (assembly) /// \param[in,out] K The complete system stiffness matrix to add the element stiffness matrix into /// \param scale A factor to scale the added stiffness matrix with /// \note The element stiffness matrix is square of size getNumDofPerNode() x getNumNodes() /// \note This method supposes that the incoming state contains information with the same number of /// \note dof per node as getNumDofPerNode() virtual void addStiffness(SurgSim::Math::SparseMatrix* K, double scale = 1.0) const; /// Adds the element force vector, mass, stiffness and damping matrices (computed for a given state) /// into a complete system data structure F, M, D, K (assembly) /// \param[in,out] F The complete system force vector to add the element force into /// \param[in,out] M The complete system mass matrix to add the element mass matrix into /// \param[in,out] D The complete system damping matrix to add the element damping matrix into /// \param[in,out] K The complete system stiffness matrix to add the element stiffness matrix into /// \note This method supposes that the incoming state contains information with the same number of dof /// \note per node as getNumDofPerNode() virtual void addFMDK(SurgSim::Math::Vector* F, SurgSim::Math::SparseMatrix* M, SurgSim::Math::SparseMatrix* D, SurgSim::Math::SparseMatrix* K) const; /// Adds the element matrix-vector contribution F += (alphaM.M + alphaD.D + alphaK.K).x (computed for a given state) /// into a complete system data structure F (assembly) /// \param alphaM The scaling factor for the mass contribution /// \param alphaD The scaling factor for the damping contribution /// \param alphaK The scaling factor for the stiffness contribution /// \param x A complete system vector to be used as the vector in the matrix-vector multiplication /// \param[in,out] F The complete system force vector to add the element matrix-vector contribution into /// \note This method supposes that the incoming state contains information with the same number of dof /// \note per node as getNumDofPerNode() virtual void addMatVec(double alphaM, double alphaD, double alphaK, const SurgSim::Math::Vector& x, SurgSim::Math::Vector* F) const; /// Determines whether a given natural coordinate is valid /// \param naturalCoordinate Coordinate to check /// \return True if valid bool isValidCoordinate(const SurgSim::Math::Vector& naturalCoordinate) const; /// Computes a given natural coordinate in cartesian coordinates /// \param state The state at which to transform coordinates /// \param naturalCoordinate The coordinates to transform /// \return The resultant cartesian coordinates virtual SurgSim::Math::Vector computeCartesianCoordinate( const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& naturalCoordinate) const = 0; /// Computes a natural coordinate given a global coordinate /// \param state The state at which to transform coordinates /// \param cartesianCoordinate The coordinates to transform /// \return The resultant natural coordinates virtual SurgSim::Math::Vector computeNaturalCoordinate( const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& cartesianCoordinate) const = 0; /// Helper method to add a sub-matrix made of squared-blocks into a matrix, for the sake of clarity /// \tparam DerivedSub The type of the 'subMatrix' (can usually be inferred). Can be any type, but does not /// support Eigen expression. If it is a Sparse storage type the alignment must be the same /// as the SparseMatrix: Opt. /// Note that no assertion or verification is done on this type. /// \tparam T, Opt, Index Types and option defining the output matrix type SparseMatrix /// \param subMatrix The sub-matrix (containing all the squared-blocks) /// \param blockIds Vector of block indices (for accessing matrix) corresponding to the blocks in sub-matrix /// \param blockSize The blocks size /// \param[out] matrix The matrix to add the sub-matrix blocks into /// \param initialize Optional parameter, default true. If true, the matrix form is assumed to be undefined and is /// initialized when necessary. If false, the matrix form is assumed to be previously defined. template void assembleMatrixBlocks(const DerivedSub& subMatrix, const std::vector blockIds, size_t blockSize, Eigen::SparseMatrix* matrix, bool initialize = true) const; /// Update the FemElement based on the given state. /// \param state \f$(x, v)\f$ the current position and velocity to evaluate the various terms with /// \param options Flag to specify which of the F, M, D, K needs to be updated void updateFMDK(const Math::OdeState& state, int options); protected: /// Sets the number of degrees of freedom per node /// \param numDofPerNode The number of dof per node /// \note Protected to be accessible only to derived classes which should be the only /// \note ones able to set this parameter void setNumDofPerNode(size_t numDofPerNode); /// Update the FemElement based on the given state. /// \param state \f$(x, v)\f$ the current position and velocity to evaluate the various terms with /// \param options Flag to specify which of the F, M, D, K needs to be updated virtual void doUpdateFMDK(const Math::OdeState& state, int options) = 0; /// Initialize f, M, D, K variables. void initializeFMDK(); /// Function to be overridden by the derived classes to initialize the f, M, D, K variables. virtual void doInitializeFMDK(); /// Number of degree of freedom per node for this element size_t m_numDofPerNode; /// Node ids connected by this element std::vector m_nodeIds; /// Mass density (in Kg.m-3) double m_rho; /// Young modulus (in N.m-2) double m_E; /// Poisson ratio (unitless) double m_nu; /// The force vector. SurgSim::Math::Vector m_f; /// The mass matrix. SurgSim::Math::Matrix m_M; /// The damping matrix. SurgSim::Math::Matrix m_D; /// Flag to specify of the damping is used. bool m_useDamping; /// The stiffness matrix. SurgSim::Math::Matrix m_K; private: /// Flag to check in the f, M, D, K variables have been initialized. bool m_initializedFMDK; }; } // namespace Physics } // namespace SurgSim #include "SurgSim/Physics/FemElement-inl.h" #endif // SURGSIM_PHYSICS_FEMELEMENT_H opensurgsim-0.7.0/SurgSim/Physics/FemElementStructs.h000066400000000000000000000046751277777236100227250ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEMELEMENTSTRUCTS_H #define SURGSIM_PHYSICS_FEMELEMENTSTRUCTS_H namespace SurgSim { namespace Physics { namespace FemElementStructs { /// RotationVectorData is a structure containing the rotational dof per vertex /// The nature of the rotation depends on the underlying Representation, /// but right now all OSS's representations use rotation vector for rotational dof. struct RotationVectorData { RotationVectorData() : thetaX(0.0), thetaY(0.0), thetaZ(0.0) { } bool operator==(const RotationVectorData& rhs) const { return (thetaX == rhs.thetaX && thetaY == rhs.thetaY && thetaZ == rhs.thetaZ); } double thetaX; double thetaY; double thetaZ; }; /// FemElementParameter is a structure containing the parameters of an fem element following /// the Hooke's law of deformation (linear deformation). struct FemElementParameter { FemElementParameter() : youngModulus(0.0), poissonRatio(0.0), massDensity(0.0) { } virtual ~FemElementParameter(){} std::vector nodeIds; double youngModulus; double poissonRatio; double massDensity; }; /// FemElement1DParameter is a FemElementParameter structure specialized for 1D element. struct FemElement1DParameter : public FemElementParameter { FemElement1DParameter() : radius(0.0), enableShear(false) { } double radius; bool enableShear; }; /// FemElement2DParameter is a FemElementParameter structure specialized for 2D element. struct FemElement2DParameter : public FemElementParameter { FemElement2DParameter() : thickness(0.0) { } double thickness; }; /// FemElement3DParameter is a FemElementParameter structure specialized for 3D element. struct FemElement3DParameter : public FemElementParameter {}; } // namespace FemElementStructs } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEMELEMENTSTRUCTS_H opensurgsim-0.7.0/SurgSim/Physics/FemLocalization.cpp000066400000000000000000000103611277777236100227140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/FemLocalization.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/FemRepresentation.h" #include "SurgSim/Physics/FemElement.h" namespace SurgSim { namespace Physics { FemLocalization::FemLocalization( std::shared_ptr representation, const SurgSim::DataStructures::IndexedLocalCoordinate& localPosition) : Localization() { setRepresentation(representation); setLocalPosition(localPosition); } FemLocalization::~FemLocalization() { } void FemLocalization::setLocalPosition( const SurgSim::DataStructures::IndexedLocalCoordinate& localPosition) { auto femRepresentation = std::static_pointer_cast(getRepresentation()); SURGSIM_ASSERT(femRepresentation != nullptr) << "FemRepresentation is null, it was probably not" << " initialized"; SURGSIM_ASSERT(femRepresentation->isValidCoordinate(localPosition)) << "IndexedLocalCoordinate is invalid for Representation " << getRepresentation()->getName(); m_position = localPosition; } const SurgSim::DataStructures::IndexedLocalCoordinate& FemLocalization::getLocalPosition() const { return m_position; } SurgSim::Math::Vector3d FemLocalization::doCalculatePosition(double time) const { using SurgSim::Math::Vector3d; auto femRepresentation = std::static_pointer_cast(getRepresentation()); SURGSIM_ASSERT(femRepresentation != nullptr) << "FemRepresentation is null, it was probably not" << " initialized"; Vector3d currentPosition; Vector3d previousPosition; std::shared_ptr femElement = femRepresentation->getFemElement(m_position.index); currentPosition = femElement->computeCartesianCoordinate(*femRepresentation->getCurrentState(), m_position.coordinate); previousPosition = femElement->computeCartesianCoordinate(*femRepresentation->getPreviousState(), m_position.coordinate); if (time <= std::numeric_limits::epsilon()) { return previousPosition; } else if (time >= 1.0 - std::numeric_limits::epsilon()) { return currentPosition; } return Math::interpolate(previousPosition, currentPosition, time); } SurgSim::Math::Vector3d FemLocalization::doCalculateVelocity(double time) const { using SurgSim::Math::Vector3d; auto femRepresentation = std::static_pointer_cast(getRepresentation()); SURGSIM_ASSERT(femRepresentation != nullptr) << "FemRepresentation is null, it was probably not" << " initialized"; Vector3d currentVelocity(0.0, 0.0, 0.0); Vector3d previousVelocity(0.0, 0.0, 0.0); const SurgSim::Math::Vector& naturalCoordinate = m_position.coordinate; std::shared_ptr femElement = femRepresentation->getFemElement(m_position.index); SURGSIM_ASSERT(femElement->isValidCoordinate(naturalCoordinate)) << "Invalid naturalCoordinate (" << naturalCoordinate.transpose() << ")"; const Math::Vector& currentVelocities = femRepresentation->getCurrentState()->getVelocities(); const Math::Vector& previousVelocities = femRepresentation->getPreviousState()->getVelocities(); auto& nodeIds = femElement->getNodeIds(); for (int i = 0; i < 2; i++) { currentVelocity += naturalCoordinate(i) * Math::getSubVector(currentVelocities, nodeIds[i], 6).segment<3>(0); previousVelocity += naturalCoordinate(i) * Math::getSubVector(previousVelocities, nodeIds[i], 6).segment<3>(0); } if (time <= std::numeric_limits::epsilon()) { return previousVelocity; } else if (time >= 1.0 - std::numeric_limits::epsilon()) { return currentVelocity; } return Math::interpolate(previousVelocity, currentVelocity, time); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/FemLocalization.h000066400000000000000000000050511277777236100223610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEMLOCALIZATION_H #define SURGSIM_PHYSICS_FEMLOCALIZATION_H #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/Physics/Localization.h" namespace SurgSim { namespace Physics { /// Implementation of Localization for Fem3DRepresentation /// /// FemLocalization tracks the global coordinates of an IndexedLocalCoordinate associated with an /// FemRepresentation. The IndexedLocalCoordinate must be related to an FemElement (the index is an FemElement id and /// the local coordinates are the barycentric coordinates of the nodes in this FemElement). /// It is used, for example, as a helper class for filling out the MlcpPhysicsProblem in /// Fem3DRepresentationContact::doBuild, which constrains the motion of Fem3DRepresentation at a frictionless contact. class FemLocalization : public Localization { public: /// Constructor /// \param representation The representation to assign to this localization. /// \param localPosition The local position to set the localization at. FemLocalization(std::shared_ptr representation, const SurgSim::DataStructures::IndexedLocalCoordinate& localPosition); /// Destructor virtual ~FemLocalization(); /// Sets the local position. /// \param localPosition The local position to set the localization at. void setLocalPosition(const SurgSim::DataStructures::IndexedLocalCoordinate& localPosition); /// Gets the local position. /// \return The local position set for this localization. const SurgSim::DataStructures::IndexedLocalCoordinate& getLocalPosition() const; private: SurgSim::Math::Vector3d doCalculatePosition(double time) const override; SurgSim::Math::Vector3d doCalculateVelocity(double time) const override; /// Barycentric position in local coordinates SurgSim::DataStructures::IndexedLocalCoordinate m_position; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEMLOCALIZATION_H opensurgsim-0.7.0/SurgSim/Physics/FemPlyFormat.dox000066400000000000000000000125351277777236100222160ustar00rootroot00000000000000/*! \page femplyformat Fem Ply Format \relates FemPlyReaderDelegate The following documents the capabilities of the ply readers for reading fem structures, all subclasses of `FemPlyReaderDelegate`, i.e. `Fem1DPlyReaderDelegate`, `Fem2DPlyReaderDelegate` and `Fem3DPlyReaderDelgate`. When properties are denoted as "Optional" in the following examples it means that you may use or omit this property in the ply header. Whenever the property is used in the header all elements have to supply values for the property. ### Fem1D ply format ascii 1.0 comment Created by hand element vertex 7 (Verices of the Fem1d) property double x property double y property double z property double thetaX (Optional) property double thetaY (Optional) property double thetaZ (Optional) element 1d_element 7 (Element Definition of the Fem1d) property list uint uint vertex_indices (Each entry starts with the number of nodes in this element i.e. '2', followed by the nodes' indices) property double mass_density (Optional) property double poisson_ratio (Optional) property double young_modulus (Optional) element boundary_condition 3 (Boundary conditions of the Fem1D) property uint vertex_index (Each entry fixes all the degrees of freedom of the given node index) element radius 1 (Radius for all the elements) property double value element material 1 (Physical material properties for all the elements) property double mass_density property double poisson_ratio property double young_modulus end_header The ply file for an Fem1d is mostly marked by the `1d_element` element, the `radius` and `material` properties are applied to all of the `1d_elements`. Please note that the `vertex` element is compatible with the graphics file format and you should be able to load the fem1d file into a common graphics application. Optionally you can assign per element material properties at the `1d_element` level, in this case every element will need to carry material values and the `material` element will be ignored. ### Fem2D ply format ascii 1.0 comment Created by hand element vertex 6 property double x property double y property double z property double thetaX (Optional) property double thetaY (Optional) property double thetaZ (Optional) element 2d_element 3 (Element Definition of the Fem2d) property list uint uint vertex_indices (each entry starts with the number of nodes in this element i.e. '3', followed by the nodes' indices) property double mass_density (Optional) property double poisson_ratio (Optional) property double young_modulus (Optional) element boundary_condition 2 (Boundary conditions of the Fem2D) property uint vertex_index (Each entry fixes all the degrees of freedom of the given node index) element thickness 1 (Thickness for all the elements) property double value element material 1 (Physical material properties for all the elements) property double mass_density property double poisson_ratio property double young_modulus end_header The ply file for an Fem2d is indicated by the `2d_element` element, the `thickness` and `material` properties are applied to all of the `2d_elements`. Please note that the `vertex` element is compatible with the graphics file format and you should be able to load the fem1d file into a common graphics application. Additionally you can add `face` elements to this file to embed a graphics mesh with the fem mesh. Currently the format only supports triangles as elements, this means the 2d_element data must have 3 entries. Optionally you can assign per element material properties at the `2d_element` level, in this case every element will need to carry material values and the `material` element will be ignored. ### Fem3D ply format ascii 1.0 comment Created by hand element vertex 10 property double x property double y property double z element 3d_element 3 (Element Definition of the Fem3d) property list uint uint vertex_indices (Each entry starts with the number of nodes in this element i.e. '4' or '8', followed by the nodes' indices) property double mass_density (Optional) property double poisson_ratio (Optional) property double young_modulus (Optional) element boundary_condition 2 (Boundary conditions of the Fem3D) property uint vertex_index (Each entry fixes all the degrees of freedom of the given node index) element material 1 (Physical material properties for all the elements) property double mass_density property double poisson_ratio property double young_modulus end_header The ply file for an Fem3d is indicated by the `3d_element` element. Please note that the `vertex` element is compatible with the graphics file format and you should be able to load the fem3d file into a common graphics application. Additionally you can add `face` elements to this file to embed a graphics mesh with the fem mesh. Currently the reader supports tehtrahedral and hexahedral elements (4 and 8 nodes respectively), it will depend on the actual representation that is being used whether these elements can be mixed within one mesh. Optionally you can assign per element material properties at the `1d_element` level, in this case every element will need to carry material values and the `material` element will be ignored. */opensurgsim-0.7.0/SurgSim/Physics/FemPlyReaderDelegate.cpp000066400000000000000000000156671277777236100236240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2014-2015, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/Physics/FemElement.h" #include "SurgSim/Physics/FemPlyReaderDelegate.h" using SurgSim::DataStructures::PlyReader; namespace SurgSim { namespace Physics { FemPlyReaderDelegate::FemPlyReaderDelegate() { } bool FemPlyReaderDelegate::registerDelegate(PlyReader* reader) { // Element Processing reader->requestElement( getElementName(), std::bind(&FemPlyReaderDelegate::beginFemElements, this, std::placeholders::_1, std::placeholders::_2), std::bind(&FemPlyReaderDelegate::processFemElement, this, std::placeholders::_1), std::bind(&FemPlyReaderDelegate::endFemElements, this, std::placeholders::_1)); reader->requestListProperty(getElementName(), "vertex_indices", PlyReader::TYPE_UNSIGNED_INT, offsetof(ElementData, indices), PlyReader::TYPE_UNSIGNED_INT, offsetof(ElementData, vertexCount)); // Vertex processing reader->requestElement("vertex", std::bind(&FemPlyReaderDelegate::beginVertices, this, std::placeholders::_1, std::placeholders::_2), std::bind(&FemPlyReaderDelegate::processVertex, this, std::placeholders::_1), std::bind(&FemPlyReaderDelegate::endVertices, this, std::placeholders::_1)); reader->requestScalarProperty("vertex", "x", PlyReader::TYPE_DOUBLE, offsetof(Vertex6DData, x)); reader->requestScalarProperty("vertex", "y", PlyReader::TYPE_DOUBLE, offsetof(Vertex6DData, y)); reader->requestScalarProperty("vertex", "z", PlyReader::TYPE_DOUBLE, offsetof(Vertex6DData, z)); if (m_hasRotationDOF) { reader->requestScalarProperty("vertex", "thetaX", PlyReader::TYPE_DOUBLE, offsetof(Vertex6DData, thetaX)); reader->requestScalarProperty("vertex", "thetaY", PlyReader::TYPE_DOUBLE, offsetof(Vertex6DData, thetaY)); reader->requestScalarProperty("vertex", "thetaZ", PlyReader::TYPE_DOUBLE, offsetof(Vertex6DData, thetaZ)); } // Boundary Condition Processing if (m_hasBoundaryConditions) { reader->requestElement( "boundary_condition", std::bind(&FemPlyReaderDelegate::beginBoundaryConditions, this, std::placeholders::_1, std::placeholders::_2), std::bind(&FemPlyReaderDelegate::processBoundaryCondition, this, std::placeholders::_1), nullptr); reader->requestScalarProperty("boundary_condition", "vertex_index", PlyReader::TYPE_UNSIGNED_INT, 0); } if (m_hasMaterial) { reader->requestElement( "material", std::bind( &FemPlyReaderDelegate::beginMaterials, this, std::placeholders::_1, std::placeholders::_2), nullptr, std::bind(&FemPlyReaderDelegate::endMaterials, this, std::placeholders::_1)); reader->requestScalarProperty( "material", "mass_density", PlyReader::TYPE_DOUBLE, offsetof(MaterialData, massDensity)); reader->requestScalarProperty( "material", "poisson_ratio", PlyReader::TYPE_DOUBLE, offsetof(MaterialData, poissonRatio)); reader->requestScalarProperty( "material", "young_modulus", PlyReader::TYPE_DOUBLE, offsetof(MaterialData, youngModulus)); } else if (m_hasPerElementMaterial) { reader->requestScalarProperty( getElementName(), "mass_density", PlyReader::TYPE_DOUBLE, offsetof(ElementData, massDensity)); reader->requestScalarProperty( getElementName(), "poisson_ratio", PlyReader::TYPE_DOUBLE, offsetof(ElementData, poissonRatio)); reader->requestScalarProperty( getElementName(), "young_modulus", PlyReader::TYPE_DOUBLE, offsetof(ElementData, youngModulus)); } reader->setEndParseFileCallback(std::bind(&FemPlyReaderDelegate::endParseFile, this)); return true; } bool FemPlyReaderDelegate::fileIsAcceptable(const PlyReader& reader) { bool result = true; // Shortcut test if one fails ... result = result && reader.hasElement(getElementName()); result = result && reader.hasProperty("vertex", "x"); result = result && reader.hasProperty("vertex", "y"); result = result && reader.hasProperty("vertex", "z"); // 6DOF processing (this is not supported for all element types) m_hasRotationDOF = reader.hasProperty("vertex", "thetaX") && reader.hasProperty("vertex", "thetaY") && reader.hasProperty("vertex", "thetaZ"); result = result && reader.hasProperty(getElementName(), "vertex_indices"); result = result && !reader.isScalar(getElementName(), "vertex_indices"); // Material: either have a default material for all elements // or have per element material properties m_hasMaterial = reader.hasProperty("material", "mass_density") && reader.hasProperty("material", "poisson_ratio") && reader.hasProperty("material", "young_modulus"); m_hasPerElementMaterial = reader.hasProperty(getElementName(), "mass_density") && reader.hasProperty(getElementName(), "poisson_ratio") && reader.hasProperty(getElementName(), "young_modulus"); m_hasBoundaryConditions = reader.hasProperty("boundary_condition", "vertex_index"); return result; } void* FemPlyReaderDelegate::beginVertices(const std::string& elementName, size_t vertexCount) { m_vertexData.overrun1 = 0l; return &m_vertexData; } void FemPlyReaderDelegate::endVertices(const std::string& elementName) { SURGSIM_ASSERT(m_vertexData.overrun1 == 0l) << "There was an overrun while reading the vertex structures, it is likely that data " << "has become corrupted."; } void* FemPlyReaderDelegate::beginFemElements(const std::string& elementName, size_t elementCount) { m_elementData.overrun1 = 0l; m_elementData.overrun2 = 0l; return &m_elementData; } void FemPlyReaderDelegate::endFemElements(const std::string& elementName) { SURGSIM_ASSERT(m_elementData.overrun1 == 0 && m_elementData.overrun2 == 0) << "There was an overrun while reading the element structures, it is likely that data " << "has become corrupted."; m_elementData.indices = nullptr; } void* FemPlyReaderDelegate::beginMaterials(const std::string& elementName, size_t materialCount) { m_materialData.overrun = 0l; return &m_materialData; } void FemPlyReaderDelegate::endMaterials(const std::string& elementName) { SURGSIM_ASSERT(m_materialData.overrun == 0) << "There was an overrun while reading the material structures, it is likely that data " << "has become corrupted."; } void* FemPlyReaderDelegate::beginBoundaryConditions(const std::string& elementName, size_t boundaryConditionCount) { return &m_boundaryConditionData; } } // namespace SurgSim } // namespace DataStructures opensurgsim-0.7.0/SurgSim/Physics/FemPlyReaderDelegate.h000066400000000000000000000120331277777236100232510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2014-2015, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEMPLYREADERDELEGATE_H #define SURGSIM_PHYSICS_FEMPLYREADERDELEGATE_H #include #include #include "SurgSim/DataStructures/PlyReaderDelegate.h" #include "SurgSim/Physics/Fem.h" namespace SurgSim { namespace Physics { /// Common part of implementation of PlyReaderDelegate for FemRepresentations. /// This is an abstract class and needs to be inherited. /// Methods 'registerDelegate()' and 'fileIsAcceptable()' need to be overridden. class FemPlyReaderDelegate : public SurgSim::DataStructures::PlyReaderDelegate { public: /// Constructor FemPlyReaderDelegate(); protected: // \return Name of the element (1/2/3D), which this delegate processes. virtual std::string getElementName() const = 0; bool registerDelegate(SurgSim::DataStructures::PlyReader* reader) override; bool fileIsAcceptable(const SurgSim::DataStructures::PlyReader& reader) override; /// Callback for end of PlyReader::parseFile. virtual void endParseFile() = 0; /// Callback function, begin the processing of vertices. /// \param elementName Name of the element. /// \param vertexCount Number of vertices. /// \return memory for vertex data to the reader. virtual void* beginVertices(const std::string& elementName, size_t vertexCount); /// Callback function to process one vertex. /// \param elementName Name of the element. virtual void processVertex(const std::string& elementName) = 0; /// Callback function to finalize processing of vertices. /// \param elementName Name of the element. virtual void endVertices(const std::string& elementName); /// Callback function, begin the processing of FemElements. /// \param elementName Name of the element. /// \param elementCount Number of elements. /// \return memory for FemElement data to the reader. void* beginFemElements(const std::string& elementName, size_t elementCount); /// Callback function to process one FemElement. /// \param elementName Name of the element. virtual void processFemElement(const std::string& elementName) = 0; /// Callback function to finalize processing of FemElements. /// \param elementName Name of the element. void endFemElements(const std::string& elementName); /// Callback function, begin the processing of materials. /// \param elementName Name of the element. /// \param materialCount Number of materials. /// \return memory for material data to the reader. void* beginMaterials(const std::string& elementName, size_t materialCount); /// Callback function, end the processing of materials. /// \param elementName Name of the element. void endMaterials(const std::string& elementName); /// Callback function, begin the processing of boundary conditions. /// \param elementName Name of the element. /// \param boundaryConditionCount Number of boundary conditions. /// \return memory for boundary conditions data to the reader. void* beginBoundaryConditions(const std::string& elementName, size_t boundaryConditionCount); /// Callback function to process one boundary condition. /// \param elementName Name of the element. virtual void processBoundaryCondition(const std::string& elementName) = 0; protected: /// Vertex data containing 6 dofs (3 translational and 3 rotational) struct Vertex6DData { double x; double y; double z; int64_t overrun1; ///< Used to check for buffer overruns double thetaX; double thetaY; double thetaZ; int64_t overrun2; ///< Used to check for buffer overruns } m_vertexData; /// Flag indicating if the associated file has boundary conditions bool m_hasBoundaryConditions; /// Internal data to receive the "boundary_condition" element unsigned int m_boundaryConditionData; /// Internal data to receive the "material" data struct MaterialData { double massDensity; double poissonRatio; double youngModulus; int64_t overrun; ///< Used to check for buffer overruns } m_materialData; bool m_hasMaterial; bool m_hasPerElementMaterial; /// Internal data to receive the fem element struct ElementData { unsigned int type; // “LinearBeamâ€, “CorotationalTetrahedronâ€â€¦ int64_t overrun1; ///< Used to check for buffer overruns unsigned int* indices; unsigned int vertexCount; int64_t overrun2; ///< Used to check for buffer overruns double massDensity; double poissonRatio; double youngModulus; } m_elementData; bool m_hasRotationDOF; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEMPLYREADERDELEGATE_H opensurgsim-0.7.0/SurgSim/Physics/FemRepresentation.cpp000066400000000000000000000434631277777236100232770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Physics/FemElement.h" #include "SurgSim/Physics/FemPlyReaderDelegate.h" #include "SurgSim/Physics/FemRepresentation.h" using SurgSim::Math::Matrix; using SurgSim::Math::OdeState; using SurgSim::Math::SparseMatrix; namespace SurgSim { namespace Physics { FemRepresentation::FemRepresentation(const std::string& name) : DeformableRepresentation(name), m_useComplianceWarping(false), m_isInitialComplianceMatrixComputed(false) { m_rayleighDamping.massCoefficient = 0.0; m_rayleighDamping.stiffnessCoefficient = 0.0; SURGSIM_ADD_SERIALIZABLE_PROPERTY(FemRepresentation, bool, ComplianceWarping, getComplianceWarping, setComplianceWarping); SURGSIM_ADD_SERIALIZABLE_PROPERTY(FemRepresentation, std::string, FemElementType, getFemElementType, setFemElementType); SURGSIM_ADD_SERIALIZABLE_PROPERTY(FemRepresentation, double, RayleighDampingMass, getRayleighDampingMass, setRayleighDampingMass); SURGSIM_ADD_SERIALIZABLE_PROPERTY(FemRepresentation, double, RayleighDampingStiffness, getRayleighDampingStiffness, setRayleighDampingStiffness); } FemRepresentation::~FemRepresentation() { } void FemRepresentation::setFemElementType(const std::string& type) { SURGSIM_ASSERT(!isInitialized()) << "You must set the FemElement type before initializing"; m_femElementType = type; } const std::string& FemRepresentation::getFemElementType() const { return m_femElementType; } bool FemRepresentation::doInitialize() { // DeformableRepresentation::doInitialize will // 1) assert if initial state is not set // 2) transform m_initialState properly with the initial pose // => FemElement::initialize(m_initialState) is using the correct transformed state if (!DeformableRepresentation::doInitialize()) { return false; } // Initialize the FemElements for (auto element = std::begin(m_femElements); element != std::end(m_femElements); element++) { (*element)->initialize(*m_initialState); } // Allocate the vector m_massPerNode if (m_massPerNode.size() == 0 || m_massPerNode.size() < m_initialState->getNumNodes()) { m_massPerNode.resize(m_initialState->getNumNodes()); } // Compute the entries of m_massPerNode from the FemElements mass information for (auto element = std::begin(m_femElements); element != std::end(m_femElements); element++) { double mass = (*element)->getMass(*m_initialState); for (auto nodeId = std::begin((*element)->getNodeIds()); nodeId != std::end((*element)->getNodeIds()); nodeId++) { m_massPerNode[*nodeId] += mass / (*element)->getNumNodes(); } } typedef SparseMatrix::Index Index; // Precompute the sparsity pattern for the global arrays. m_M.resize(static_cast(getNumDof()), static_cast(getNumDof())); m_D.resize(static_cast(getNumDof()), static_cast(getNumDof())); m_K.resize(static_cast(getNumDof()), static_cast(getNumDof())); for (auto femElement = std::begin(m_femElements); femElement != std::end(m_femElements); femElement++) { Math::Matrix block = Math::Matrix::Zero(getNumDofPerNode() * (*femElement)->getNumNodes(), getNumDofPerNode() * (*femElement)->getNumNodes()); (*femElement)->assembleMatrixBlocks(block, (*femElement)->getNodeIds(), getNumDofPerNode(), &m_M, true); } m_M.makeCompressed(); m_D = m_K = m_M; // If we are using compliance warping for this representation, let's pre-allocate the rotation matrix // and pre-define its pattern, so we only access existing elements later on. if (m_useComplianceWarping) { Index numDofPerNode = static_cast(getNumDofPerNode()); Index numDof = static_cast(getNumDof()); // Rotation matrix allocation and creation of the sparse matrix pattern. m_complianceWarpingTransformation.resize(numDof, numDof); // n columns with numDofPerNode non-zero elements each m_complianceWarpingTransformation.reserve( Eigen::Matrix::Constant(numDof, numDofPerNode)); auto logger = SurgSim::Framework::Logger::getLogger("Physics/FemRepresentation"); SURGSIM_LOG_IF(numDofPerNode % 3 != 0, logger, SEVERE) << "Using compliance warping with representation " << getName() << " which has " << numDofPerNode << " dof per node (not a factor of 3)"; // Use a mask of 1 to setup the sparse matrix pattern for (Index nodeId = 0; nodeId < static_cast(m_initialState->getNumNodes()); ++nodeId) { for (Index i = 0; i < numDofPerNode; ++i) { for (Index j = 0; j < numDofPerNode; ++j) { m_complianceWarpingTransformation.insert(nodeId * numDofPerNode + i, nodeId * numDofPerNode + j) = 1.0; } } } m_complianceWarpingTransformation.makeCompressed(); } return true; } void FemRepresentation::addFemElement(const std::shared_ptr femElement) { m_femElements.push_back(femElement); } size_t FemRepresentation::getNumFemElements() const { return m_femElements.size(); } std::shared_ptr FemRepresentation::getFemElement(size_t femElementId) { SURGSIM_ASSERT(femElementId < getNumFemElements()) << "Invalid femElement id"; return m_femElements[femElementId]; } bool FemRepresentation::isValidCoordinate(const SurgSim::DataStructures::IndexedLocalCoordinate& coordinate) const { return (coordinate.index < m_femElements.size()) && m_femElements[coordinate.index]->isValidCoordinate(coordinate.coordinate); } double FemRepresentation::getTotalMass() const { double mass = 0.0; for (auto it = std::begin(m_femElements); it != std::end(m_femElements); it++) { mass += (*it)->getMass(*m_currentState); } return mass; } double FemRepresentation::getRayleighDampingStiffness() const { return m_rayleighDamping.stiffnessCoefficient; } double FemRepresentation::getRayleighDampingMass() const { return m_rayleighDamping.massCoefficient; } void FemRepresentation::setRayleighDampingStiffness(double stiffnessCoef) { m_rayleighDamping.stiffnessCoefficient = stiffnessCoef; } void FemRepresentation::setRayleighDampingMass(double massCoef) { m_rayleighDamping.massCoefficient = massCoef; } void FemRepresentation::beforeUpdate(double dt) { DeformableRepresentation::beforeUpdate(dt); SURGSIM_ASSERT(getNumFemElements()) << "No fem element specified yet, call addFemElement() prior to running the simulation"; SURGSIM_ASSERT(getNumDof()) << "State has not been initialized yet, call setInitialState() prior to running the simulation"; } void FemRepresentation::update(double dt) { if (!isActive()) { return; } SURGSIM_ASSERT(m_odeSolver != nullptr) << "Ode solver has not been set yet. Did you call beforeUpdate() ?"; SURGSIM_ASSERT(m_initialState != nullptr) << "Initial state has not been set yet. Did you call setInitialState() ?"; // Solve the ode and compute the requested compliance matrix if (getComplianceWarping()) { if (!isInitialComplianceMatrixComputed()) { m_odeSolver->computeMatrices(dt, *m_initialState, true); setIsInitialComplianceMatrixComputed(true); } m_odeSolver->solve(dt, *m_currentState, m_newState.get(), false); // Update the compliance matrix updateComplianceMatrix(*m_newState); } else { m_odeSolver->solve(dt, *m_currentState, m_newState.get()); } // Back up the current state into the previous state (by swapping) m_currentState.swap(m_previousState); // Make the new state, the current state (by swapping) m_currentState.swap(m_newState); if (!m_currentState->isValid()) { SURGSIM_LOG(SurgSim::Framework::Logger::getDefaultLogger(), DEBUG) << getName() << " deactivated :" << std::endl << "position=(" << m_currentState->getPositions().transpose() << ")" << std::endl << "velocity=(" << m_currentState->getVelocities().transpose() << ")" << std::endl; setLocalActive(false); } } void FemRepresentation::setComplianceWarping(bool useComplianceWarping) { SURGSIM_ASSERT(!isInitialized()) << "Compliance warping cannot be modified once the component is initialized"; m_useComplianceWarping = useComplianceWarping; } bool FemRepresentation::getComplianceWarping() const { return m_useComplianceWarping; } Math::Matrix FemRepresentation::applyCompliance(const Math::OdeState& state, const Math::Matrix& b) { SURGSIM_ASSERT(m_odeSolver) << "Ode solver not initialized, it should have been initialized on wake-up"; if (m_useComplianceWarping) { // Then, update the compliance matrix using compliance warping return (m_complianceWarpingTransformation * DeformableRepresentation::applyCompliance(state, m_complianceWarpingTransformation.transpose() * b)); } return DeformableRepresentation::applyCompliance(state, b); } const SurgSim::Math::Matrix& FemRepresentation::getComplianceMatrix() const { SURGSIM_ASSERT(m_odeSolver) << "Ode solver not initialized, it should have been initialized on wake-up"; if (m_useComplianceWarping) { return m_complianceWarpingMatrix; } return m_odeSolver->getComplianceMatrix(); } SurgSim::Math::Matrix FemRepresentation::getNodeTransformation(const SurgSim::Math::OdeState& state, size_t nodeId) { SURGSIM_FAILURE() << "Any representation using compliance warping should override this method to provide the " << "proper nodes transformation"; return SurgSim::Math::Matrix(); } void FemRepresentation::updateComplianceMatrix(const SurgSim::Math::OdeState& state) { using SurgSim::Math::assignSubMatrix; // Update the compliance warping transformation using all the nodes' transformation for (size_t nodeId = 0; nodeId < state.getNumNodes(); ++nodeId) { assignSubMatrix(getNodeTransformation(state, nodeId), nodeId, nodeId, &m_complianceWarpingTransformation, false); } // Then, transform the initial compliance matrix to get the current compliance warping matrix m_complianceWarpingMatrix = m_complianceWarpingTransformation * m_odeSolver->getComplianceMatrix() * m_complianceWarpingTransformation.transpose(); } void FemRepresentation::computeF(const SurgSim::Math::OdeState& state) { // Make sure the force vector has been properly allocated and zeroed out m_f.setZero(state.getNumDof()); addGravityForce(&m_f, state); addRayleighDampingForce(&m_f, state); addFemElementsForce(&m_f, state); // Add external generalized force if (m_hasExternalGeneralizedForce) { m_f += m_externalGeneralizedForce; } } void FemRepresentation::computeM(const SurgSim::Math::OdeState& state) { // Make sure the mass matrix has been properly allocated and zeroed out Math::clearMatrix(&m_M); for (auto femElement = std::begin(m_femElements); femElement != std::end(m_femElements); femElement++) { (*femElement)->addMass(&m_M); } } void FemRepresentation::computeD(const SurgSim::Math::OdeState& state) { const double& rayleighStiffness = m_rayleighDamping.stiffnessCoefficient; const double& rayleighMass = m_rayleighDamping.massCoefficient; // Make sure the damping matrix has been properly allocated and zeroed out Math::clearMatrix(&m_D); // D += rayleighMass.M if (rayleighMass != 0.0) { for (auto femElement = std::begin(m_femElements); femElement != std::end(m_femElements); femElement++) { (*femElement)->addMass(&m_D, rayleighMass); } } // D += rayleighStiffness.K if (rayleighStiffness != 0.0) { for (auto femElement = std::begin(m_femElements); femElement != std::end(m_femElements); femElement++) { (*femElement)->addStiffness(&m_D, rayleighStiffness); } } // D += FemElements damping matrix for (auto femElement = std::begin(m_femElements); femElement != std::end(m_femElements); femElement++) { (*femElement)->addDamping(&m_D); } // Add external generalized damping if (m_hasExternalGeneralizedForce) { m_D += m_externalGeneralizedDamping; } } void FemRepresentation::computeK(const SurgSim::Math::OdeState& state) { // Make sure the stiffness matrix has been properly allocated and zeroed out Math::clearMatrix(&m_K); for (auto femElement = std::begin(m_femElements); femElement != std::end(m_femElements); femElement++) { (*femElement)->addStiffness(&m_K); } // Add external generalized stiffness if (m_hasExternalGeneralizedForce) { m_K += m_externalGeneralizedStiffness; } } void FemRepresentation::computeFMDK(const SurgSim::Math::OdeState& state) { // Make sure the force vector has been properly allocated and zeroed out m_f.setZero(state.getNumDof()); // Make sure the mass matrix has been properly allocated and zeroed out Math::clearMatrix(&m_M); // Make sure the damping matrix has been properly allocated and zeroed out Math::clearMatrix(&m_D); // Make sure the stiffness matrix has been properly allocated and zeroed out Math::clearMatrix(&m_K); // Add all the FemElement contribution to f, M, D, K for (auto femElement = std::begin(m_femElements); femElement != std::end(m_femElements); femElement++) { (*femElement)->addFMDK(&m_f, &m_M, &m_D, &m_K); } // Add the Rayleigh damping matrix if (m_rayleighDamping.massCoefficient) { m_D += m_M * m_rayleighDamping.massCoefficient; } if (m_rayleighDamping.stiffnessCoefficient) { m_D += m_K * m_rayleighDamping.stiffnessCoefficient; } // Add the gravity to m_f addGravityForce(&m_f, state); // Add the Rayleigh damping force to m_f addRayleighDampingForce(&m_f, state, true, true); // Add external generalized force, stiffness and damping if (m_previousHasExternalGeneralizedForce != m_hasExternalGeneralizedForce) { setIsInitialComplianceMatrixComputed(false); } if (m_hasExternalGeneralizedForce) { m_f += m_externalGeneralizedForce; m_K += m_externalGeneralizedStiffness; m_D += m_externalGeneralizedDamping; if (!m_previousExternalGeneralizedStiffness.isApprox(m_externalGeneralizedStiffness) || !m_previousExternalGeneralizedDamping.isApprox(m_externalGeneralizedDamping)) { setIsInitialComplianceMatrixComputed(false); } } } void FemRepresentation::updateFMDK(const SurgSim::Math::OdeState& state, int options) { // This function updates the matrices needed to calculate F, M, D, K for each element. // Note that the relevant matrices are updated only for non-linear elements. for (auto femElement = std::begin(m_femElements); femElement != std::end(m_femElements); femElement++) { (*femElement)->updateFMDK(state, options); } OdeEquation::updateFMDK(state, options); } void FemRepresentation::addRayleighDampingForce( SurgSim::Math::Vector* force, const SurgSim::Math::OdeState& state, bool useGlobalStiffnessMatrix, bool useGlobalMassMatrix, double scale) { // Temporary variables for convenience double& rayleighMass = m_rayleighDamping.massCoefficient; double& rayleighStiffness = m_rayleighDamping.stiffnessCoefficient; const SurgSim::Math::Vector& v = state.getVelocities(); // Rayleigh damping mass: F = -rayleighMass.M.v(t) if (rayleighMass != 0.0) { // If we have the mass matrix, we can compute directly F = -rayleighMass.M.v(t) if (useGlobalMassMatrix) { Math::Vector tempForce = (scale * rayleighMass) * (m_M * v); *force -= tempForce; } else { // Otherwise, we loop through each fem element to compute its contribution for (auto femElement = std::begin(m_femElements); femElement != std::end(m_femElements); femElement++) { (*femElement)->addMatVec(- scale * rayleighMass, 0.0, 0.0, v, force); } } } // Rayleigh damping stiffness: F = - rayleighStiffness.K.v(t) // K is not diagonal and links all dof of the N connected nodes if (rayleighStiffness != 0.0) { if (useGlobalStiffnessMatrix) { Math::Vector tempForce = scale * rayleighStiffness * (m_K * v); *force -= tempForce; } else { // Otherwise, we loop through each fem element to compute its contribution for (auto femElement = std::begin(m_femElements); femElement != std::end(m_femElements); femElement++) { (*femElement)->addMatVec(0.0, 0.0, - scale * rayleighStiffness, v, force); } } } } void FemRepresentation::addFemElementsForce(SurgSim::Math::Vector* force, const SurgSim::Math::OdeState& state, double scale) { for (auto femElement = std::begin(m_femElements); femElement != std::end(m_femElements); femElement++) { (*femElement)->addForce(force, scale); } } void FemRepresentation::addGravityForce(SurgSim::Math::Vector* f, const SurgSim::Math::OdeState& state, double scale) { using SurgSim::Math::addSubVector; SURGSIM_ASSERT(m_massPerNode.size() == state.getNumNodes()) << "Mass per node has not been properly allocated. Did you call Initialize() ?"; // Prepare a gravity vector of the proper size SurgSim::Math::Vector gravitynD = SurgSim::Math::Vector::Zero(getNumDofPerNode()); gravitynD.segment(0, 3) = getGravity(); if (isGravityEnabled()) { for (size_t nodeId = 0; nodeId < state.getNumNodes(); nodeId++) { // F = mg addSubVector(gravitynD * (scale * m_massPerNode[nodeId]), nodeId, getNumDofPerNode(), f); } } } bool FemRepresentation::isInitialComplianceMatrixComputed() const { return m_isInitialComplianceMatrixComputed; } void FemRepresentation::setIsInitialComplianceMatrixComputed(bool flag) { m_isInitialComplianceMatrixComputed = flag; } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/FemRepresentation.h000066400000000000000000000240441277777236100227360ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FEMREPRESENTATION_H #define SURGSIM_PHYSICS_FEMREPRESENTATION_H #include #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/DeformableRepresentation.h" #include "SurgSim/Physics/Fem.h" namespace SurgSim { namespace Physics { class FemElement; class FemPlyReaderDelegate; /// Finite Element Model (a.k.a FEM) is a deformable model (a set of nodes connected by FemElement). /// \note A fem is a DeformableRepresentation (Physics::Representation and Math::OdeEquation), therefore it defines /// a dynamic system \f$M.a=F(x,v)\f$ /// \note + The model handles damping through the Rayleigh damping (it is a combination of mass and stiffness) /// \note + The model handles compliance warping (optional) from the paper: /// \note "Efficient Contact Modeling using Compliance Warping", G Saupin, C Duriez, S Cotin, L Grisoni; /// Computer %Graphics International (CGI), Istanbul, Turkey, june 2008. /// \note To use compliance warping, it needs to be turned on by calling setComplianceWarping(true) and the method /// updateNodesRotations() needs to be overloaded properly. class FemRepresentation : public DeformableRepresentation { public: /// Constructor /// \param name The name of the FemRepresentation explicit FemRepresentation(const std::string& name); /// Destructor virtual ~FemRepresentation(); /// Loads the FEM file into an Fem class data structure /// \param filename The file to load virtual void loadFem(const std::string& filename) = 0; /// Sets the FemElement type pulled from the object factory /// \param type A string of the full registered OSS class name in the factory virtual void setFemElementType(const std::string& type); /// Gets the FemElement type pulled from the object factory /// \return A string of the full registered OSS class name in the factory const std::string& getFemElementType() const; /// Adds a FemElement /// \param element The FemElement to add to the representation void addFemElement(const std::shared_ptr element); /// Gets the number of FemElement /// \return the number of FemElement size_t getNumFemElements() const; /// Retrieves a given FemElement from its id /// \param femElementId The FemElement id for which the FemElement is requested /// \return The FemElement for the given femElementId /// \note The FemElement is returned with read/write access /// \note Out of range femElementId will raise an exception std::shared_ptr getFemElement(size_t femElementId); /// Gets the total mass of the fem /// \return The total mass of the fem (in Kg) double getTotalMass() const; /// Gets the Rayleigh stiffness parameter /// \return The Rayleigh stiffness parameter double getRayleighDampingStiffness() const; /// Gets the Rayleigh mass parameter /// \return The Rayleigh mass parameter double getRayleighDampingMass() const; /// Sets the Rayleigh stiffness parameter /// \param stiffnessCoef The Rayleigh stiffness parameter void setRayleighDampingStiffness(double stiffnessCoef); /// Sets the Rayleigh mass parameter /// \param massCoef The Rayleigh mass parameter void setRayleighDampingMass(double massCoef); /// Determines whether the associated coordinate is valid /// \param coordinate Coordinate to check /// \return True if coordinate is valid bool isValidCoordinate(const SurgSim::DataStructures::IndexedLocalCoordinate& coordinate) const; /// Preprocessing done before the update call /// \param dt The time step (in seconds) void beforeUpdate(double dt) override; void update(double dt) override; /// Set the compliance warping flag /// \param useComplianceWarping True to use compliance warping, False otherwise /// \exception SurgSim::Framework::AssertionFailure If the call is done after initialization /// \note Compliance warping is currently disabled in this version. void setComplianceWarping(bool useComplianceWarping); /// Get the compliance warping flag (default = false) /// \return True if compliance warping is used, False otherwise bool getComplianceWarping() const; /// Calculate the product C.b where C is the compliance matrix with boundary conditions /// \param state \f$(x, v)\f$ the current position and velocity to evaluate the various terms with /// \param b The input matrix b /// \return Returns the matrix \f$C.b\f$ Math::Matrix applyCompliance(const Math::OdeState& state, const Math::Matrix& b) override; const SurgSim::Math::Matrix& getComplianceMatrix() const override; void updateFMDK(const SurgSim::Math::OdeState& state, int options) override; protected: /// Adds the Rayleigh damping forces /// \param[in,out] f The force vector to cumulate the Rayleigh damping force into /// \param state The state vector containing positions and velocities /// \param useGlobalMassMatrix, useGlobalStiffnessMatrix True indicates that the global mass and stiffness matrices /// should be used (F = -c.M.v - d.K.v) /// \param scale A scaling factor to apply on the damping force /// \note Damping matrix D = c.M + d.K (Rayleigh damping definition) /// \note F = - D.v = -c.M.v - d.K.v /// \note If {useGlobalMassMatrix | useGlobalStiffnessMatrix} is True, {M | K} will be used /// \note If {useGlobalMassMatrix | useGlobalStiffnessMatrix} is False /// \note the {mass|stiffness} component will be computed FemElement by FemElement void addRayleighDampingForce(SurgSim::Math::Vector* f, const SurgSim::Math::OdeState& state, bool useGlobalMassMatrix = false, bool useGlobalStiffnessMatrix = false, double scale = 1.0); /// Adds the FemElements forces to f (given a state) /// \param[in,out] f The force vector to cumulate the FemElements forces into /// \param state The state vector containing positions and velocities /// \param scale A scaling factor to scale the FemElements forces with void addFemElementsForce(SurgSim::Math::Vector* f, const SurgSim::Math::OdeState& state, double scale = 1.0); /// Adds the gravity force to f (given a state) /// \param[in,out] f The force vector to cumulate the gravity force into /// \param state The state vector containing positions and velocities /// \param scale A scaling factor to scale the gravity force with /// \note This method does not do anything if gravity is disabled void addGravityForce(SurgSim::Math::Vector* f, const SurgSim::Math::OdeState& state, double scale = 1.0); bool doInitialize() override; /// Updates the compliance matrix using nodes transformation (useful for compliance warping) /// \param state The state to compute the nodes transformation from /// \note This computes the diagonal block matrix m_complianceWarpingTransformation and /// transforms the initial compliance matrix with it. void updateComplianceMatrix(const SurgSim::Math::OdeState& state); /// Retrieves a specific node transformation (useful for compliance warping) /// \param state The state to extract the node transformation from /// \param nodeId The node to update the rotation for /// \return The node transformation. i.e. a numDofPerNode x numDofPerNode matrix virtual SurgSim::Math::Matrix getNodeTransformation(const SurgSim::Math::OdeState& state, size_t nodeId); /// Gets the flag keeping track of the initial compliance matrix calculation (compliance warping case) /// \return True if the initial compliance matrix has been computed, False otherwise bool isInitialComplianceMatrixComputed() const; /// Sets the flag keeping track of the initial compliance matrix calculation (compliance warping case) /// \param flag True if the initial compliance matrix is computed, False otherwise void setIsInitialComplianceMatrixComputed(bool flag); void computeF(const SurgSim::Math::OdeState& state) override; void computeM(const SurgSim::Math::OdeState& state) override; void computeD(const SurgSim::Math::OdeState& state) override; void computeK(const SurgSim::Math::OdeState& state) override; void computeFMDK(const SurgSim::Math::OdeState& state) override; /// Useful information per node std::vector m_massPerNode; ///< Useful in setting up the gravity force F=mg /// FemElements std::vector> m_femElements; /// The FemElement factory parameter invoked in doInitialize() when using a MeshAsset /// either with LoadFem(const std::stirng& filename) or setFem(std::shared_ptr mesh) /// This ensures that when using a mesh Asset, a single FemElement type is used. Therefore we do /// not need to define this type in the ply file, but rather is part of the Representation properties (YAML). std::string m_femElementType; private: /// Rayleigh damping parameters (massCoefficient and stiffnessCoefficient) /// D = massCoefficient.M + stiffnessCoefficient.K /// Matrices: D = damping, M = mass, K = stiffness struct { double massCoefficient; double stiffnessCoefficient; } m_rayleighDamping; bool m_useComplianceWarping; ///< Are we using Compliance Warping or not ? bool m_isInitialComplianceMatrixComputed; ///< For compliance warping: Is the initial compliance matrix computed ? SurgSim::Math::Matrix m_complianceWarpingMatrix; ///< The compliance warping matrix if compliance warping in use /// The system-size transformation matrix. It contains nodes transformation on the diagonal blocks. Eigen::SparseMatrix m_complianceWarpingTransformation; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_FEMREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Physics/FixedConstraintFixedPoint.cpp000066400000000000000000000036321277777236100247350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/FixedConstraintFixedPoint.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/Localization.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { FixedConstraintFixedPoint::FixedConstraintFixedPoint() { } FixedConstraintFixedPoint::~FixedConstraintFixedPoint() { } void FixedConstraintFixedPoint::doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) { std::shared_ptr representation = localization->getRepresentation(); if (!representation->isActive()) { return; } const double scale = (sign == CONSTRAINT_POSITIVE_SIDE) ? 1.0 : -1.0; Vector3d globalPosition = localization->calculatePosition(); // Fill up b with the constraint equation... mlcp->b.segment<3>(indexOfConstraint) += globalPosition * scale; } SurgSim::Physics::ConstraintType FixedConstraintFixedPoint::getConstraintType() const { return SurgSim::Physics::FIXED_3DPOINT; } size_t FixedConstraintFixedPoint::doGetNumDof() const { return 3; } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/FixedConstraintFixedPoint.h000066400000000000000000000050321277777236100243760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FIXEDCONSTRAINTFIXEDPOINT_H #define SURGSIM_PHYSICS_FIXEDCONSTRAINTFIXEDPOINT_H #include "SurgSim/Physics/ConstraintImplementation.h" namespace SurgSim { namespace Physics { /// FixedRepresentation bilateral 3d constraint implementation. /// /// The family of FixedPoint constraints enforce equality between two points. class FixedConstraintFixedPoint : public ConstraintImplementation { public: /// Constructor FixedConstraintFixedPoint(); /// Destructor virtual ~FixedConstraintFixedPoint(); /// Gets the constraint type for this ConstraintImplementation /// \return The constraint type corresponding to this constraint implementation SurgSim::Physics::ConstraintType getConstraintType() const override; private: /// Gets the number of degree of freedom. /// \return 3 A bilateral 3d constraint enforces equality in the x, y, and z dimensions between 2 points. size_t doGetNumDof() const override; /// Builds the subset of an Mlcp physics problem associated to this implementation. /// \param dt The time step. /// \param data The data associated to the constraint. /// \param localization The localization for the representation. /// \param [in, out] mlcp The Mixed LCP physics problem to fill up. /// \param indexOfRepresentation The index of the representation (associated to this implementation) in the mlcp. /// \param indexOfConstraint The index of the constraint in the mlcp. /// \param sign The sign of this implementation in the constraint (positive or negative side). /// \note Empty for a Fixed Representation void doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_FIXEDCONSTRAINTFIXEDPOINT_H opensurgsim-0.7.0/SurgSim/Physics/FixedConstraintFixedRotationVector.cpp000066400000000000000000000042361277777236100266270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 "SurgSim/Physics/FixedConstraintFixedRotationVector.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/Localization.h" #include "SurgSim/Physics/RotationVectorConstraintData.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { FixedConstraintFixedRotationVector::FixedConstraintFixedRotationVector() { } FixedConstraintFixedRotationVector::~FixedConstraintFixedRotationVector() { } void FixedConstraintFixedRotationVector::doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) { std::shared_ptr representation = localization->getRepresentation(); if (!representation->isActive()) { return; } const double scale = (sign == CONSTRAINT_POSITIVE_SIDE) ? 1.0 : -1.0; const auto& constRotVecData = static_cast(data); SurgSim::Math::Vector3d rotationVector = constRotVecData.getCurrentRotationVector(); // Fill up b with the constraint equation... mlcp->b.segment<3>(indexOfConstraint) += rotationVector * scale; } SurgSim::Physics::ConstraintType FixedConstraintFixedRotationVector::getConstraintType() const { return SurgSim::Physics::FIXED_3DROTATION_VECTOR; } size_t FixedConstraintFixedRotationVector::doGetNumDof() const { return 3; } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/FixedConstraintFixedRotationVector.h000066400000000000000000000046221277777236100262730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FIXEDCONSTRAINTFIXEDROTATIONVECTOR_H #define SURGSIM_PHYSICS_FIXEDCONSTRAINTFIXEDROTATIONVECTOR_H #include "SurgSim/Physics/ConstraintImplementation.h" namespace SurgSim { namespace Physics { /// FixedRepresentation fixed rotation vector constraint /// /// This implementation simply fixes the rotational dof of the constraint, effectively controlling the /// other representation orientation. class FixedConstraintFixedRotationVector : public ConstraintImplementation { public: /// Constructor FixedConstraintFixedRotationVector(); /// Destructor virtual ~FixedConstraintFixedRotationVector(); SurgSim::Physics::ConstraintType getConstraintType() const override; private: size_t doGetNumDof() const override; /// \note This is only setting the mlcp->b violation to the fixed representation rotation vector. /// It means that the fixed won't receive any forces back, it simply will control the other representation's /// orientation in this constraint. /// /// \note The constraint violation being calculated based on a quaternion interpolation (slerp), and this /// type of interpolation being highly non-linear, the classical way of using the implementation one after the /// other one won't work. /// Therefore, the RotationVectorConstraint will use the vector mlcp->b to retrieve both representation's /// rotation vector, then calculate the proper slerp and set the violation back in mlcp->b void doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_FIXEDCONSTRAINTFIXEDROTATIONVECTOR_H opensurgsim-0.7.0/SurgSim/Physics/FixedConstraintFrictionlessContact.cpp000066400000000000000000000051701277777236100266430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/ContactConstraintData.h" #include "SurgSim/Physics/FixedConstraintFrictionlessContact.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/Localization.h" #include "SurgSim/Physics/Representation.h" namespace SurgSim { namespace Physics { FixedConstraintFrictionlessContact::FixedConstraintFrictionlessContact() { } FixedConstraintFrictionlessContact::~FixedConstraintFrictionlessContact() { } void FixedConstraintFrictionlessContact::doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) { MlcpPhysicsProblem::Vector& b = mlcp->b; std::shared_ptr representation = localization->getRepresentation(); std::shared_ptr fixed = std::static_pointer_cast(representation); if (! fixed->isActive()) { return; } const double scale = (sign == CONSTRAINT_POSITIVE_SIDE ? 1.0 : -1.0); const ContactConstraintData& contactData = static_cast(data); const SurgSim::Math::Vector3d& n = contactData.getNormal(); // FRICTIONLESS CONTACT in a LCP // (n, d) defines the plane of contact // P(t) the point of contact // b = n.P(t) + d // Since the d term will be added to the constraint for one side of the contact and subtracted from the other, // and because it is not clear which distance should be used, we leave it out. SurgSim::Math::Vector3d globalPosition = localization->calculatePosition(); // Fill up b with the constraint equation... double violation = n.dot(globalPosition); b[indexOfConstraint] += violation * scale; } SurgSim::Physics::ConstraintType FixedConstraintFrictionlessContact::getConstraintType() const { return SurgSim::Physics::FRICTIONLESS_3DCONTACT; } size_t FixedConstraintFrictionlessContact::doGetNumDof() const { return 1; } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/FixedConstraintFrictionlessContact.h000066400000000000000000000050221277777236100263040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FIXEDCONSTRAINTFRICTIONLESSCONTACT_H #define SURGSIM_PHYSICS_FIXEDCONSTRAINTFRICTIONLESSCONTACT_H #include "SurgSim/Physics/ConstraintImplementation.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Physics { /// FixedRepresentation frictionless contact implementation. class FixedConstraintFrictionlessContact : public ConstraintImplementation { public: /// Constructor FixedConstraintFrictionlessContact(); /// Destructor virtual ~FixedConstraintFrictionlessContact(); /// Gets the constraint type for this ConstraintImplementation /// \return The constraint type corresponding to this constraint implementation SurgSim::Physics::ConstraintType getConstraintType() const override; private: /// Gets the number of degree of freedom. /// \return 1 as a frictionless contact is formed of 1 equation of constraint (along the normal direction). size_t doGetNumDof() const override; /// Builds the subset of an Mlcp physics problem associated to this implementation. /// \param dt The time step. /// \param data The data associated to the constraint. /// \param localization The localization for the representation. /// \param [in, out] mlcp The Mixed LCP physics problem to fill up. /// \param indexOfRepresentation The index of the representation (associated to this implementation) in the mlcp. /// \param indexOfConstraint The index of the constraint in the mlcp. /// \param sign The sign of this implementation in the constraint (positive or negative side). /// \note Empty for a Fixed Representation void doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_FIXEDCONSTRAINTFRICTIONLESSCONTACT_H opensurgsim-0.7.0/SurgSim/Physics/FixedRepresentation.cpp000066400000000000000000000023261277777236100236200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/FixedRepresentation.h" namespace SurgSim { namespace Physics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Physics::FixedRepresentation, FixedRepresentation); FixedRepresentation::FixedRepresentation(const std::string& name) : RigidRepresentationBase(name) { } FixedRepresentation::~FixedRepresentation() { } void FixedRepresentation::updateGlobalInertiaMatrices(const RigidState& state) { // Do Nothing it is a fixed object } void FixedRepresentation::update(double dt) { m_currentState.setPose(getPose()); } }; // Physics }; // SurgSimopensurgsim-0.7.0/SurgSim/Physics/FixedRepresentation.h000066400000000000000000000031511277777236100232620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FIXEDREPRESENTATION_H #define SURGSIM_PHYSICS_FIXEDREPRESENTATION_H #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Physics/RigidRepresentationBase.h" namespace SurgSim { namespace Physics { class RigidState; typedef RigidLocalization FixedLocalization; SURGSIM_STATIC_REGISTRATION(FixedRepresentation); /// The FixedRepresentation class represents a physics entity without any motion nor /// compliance against which others physics entities can interact class FixedRepresentation : public RigidRepresentationBase { public: /// Constructor /// \param name The fixed representation's name explicit FixedRepresentation(const std::string& name); /// Destructor virtual ~FixedRepresentation(); SURGSIM_CLASSNAME(SurgSim::Physics::FixedRepresentation); void updateGlobalInertiaMatrices(const RigidState& state) override; void update(double dt) override; }; }; // Physics }; // SurgSim #endif // SURGSIM_PHYSICS_FIXEDREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Physics/FreeMotion.cpp000066400000000000000000000035761277777236100217150ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/ThreadPool.h" #include "SurgSim/Physics/FreeMotion.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/Representation.h" namespace SurgSim { namespace Physics { FreeMotion::FreeMotion(bool doCopyState) : Computation(doCopyState) { } FreeMotion::~FreeMotion() { } std::shared_ptr FreeMotion::doUpdate(const double& dt, const std::shared_ptr& state) { // Copy state to new state std::shared_ptr result = state; auto threadPool = Framework::Runtime::getThreadPool(); std::vector> tasks; auto& representations = result->getActiveRepresentations(); for (auto& representation : representations) { tasks.push_back(threadPool->enqueue([dt, &representation]() { representation->update(dt); })); } auto& particleRepresentations = result->getActiveParticleRepresentations(); for (auto& representation : particleRepresentations) { tasks.push_back(threadPool->enqueue([dt, &representation]() { representation->update(dt); })); } for (auto& task : tasks) { task.get(); } return result; } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/FreeMotion.h000066400000000000000000000027441277777236100213560ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_FREEMOTION_H #define SURGSIM_PHYSICS_FREEMOTION_H #include #include #include "SurgSim/Framework/Macros.h" #include "SurgSim/Physics/Computation.h" namespace SurgSim { namespace Physics { class Representation; /// Apply the FreeMotion calculation to all physics representations class FreeMotion : public Computation { public: /// Constructor /// \param doCopyState Specify if the output state in Computation::Update() is a copy or not of the input state explicit FreeMotion(bool doCopyState = false); SURGSIM_CLASSNAME(SurgSim::Physics::FreeMotion); /// Destructor ~FreeMotion(); protected: /// Override doUpdate from superclass std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; }; }; // Physics }; // SurgSim #endif opensurgsim-0.7.0/SurgSim/Physics/LinearSpring.cpp000066400000000000000000000246331277777236100222400ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Log.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Physics/LinearSpring.h" using SurgSim::Math::Matrix; using SurgSim::Math::Matrix33d; using SurgSim::Math::OdeState; using SurgSim::Math::SparseMatrix; using SurgSim::Math::Vector; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { LinearSpring::LinearSpring(size_t nodeId0, size_t nodeId1) : Spring(), m_restLength(-1.0), m_stiffness(-1.0), m_damping(0.0) { m_nodeIds.push_back(nodeId0); m_nodeIds.push_back(nodeId1); } void LinearSpring::initialize(const OdeState& state) { Spring::initialize(state); SURGSIM_ASSERT(m_restLength >= 0.0) << "Spring rest length was not set, please call setRestLength()"; SURGSIM_ASSERT(m_stiffness >= 0.0) << "Spring stiffness was not set, please call setStiffness()"; } void LinearSpring::setStiffness(double stiffness) { SURGSIM_ASSERT(stiffness >= 0.0) << "Spring stiffness cannot be negative"; m_stiffness = stiffness; } double LinearSpring::getStiffness() const { return m_stiffness; } void LinearSpring::setDamping(double damping) { SURGSIM_ASSERT(damping >= 0.0) << "Spring damping cannot be negative"; m_damping = damping; } double LinearSpring::getDamping() const { return m_damping; } void LinearSpring::setRestLength(double restLength) { SURGSIM_ASSERT(restLength >= 0.0) << "Spring rest length cannot be negative"; m_restLength = restLength; } double LinearSpring::getRestLength() const { return m_restLength; } void LinearSpring::addForce(const OdeState& state, Vector* F, double scale) { const auto& x0 = state.getPositions().segment<3>(3 * m_nodeIds[0]); const auto& x1 = state.getPositions().segment<3>(3 * m_nodeIds[1]); const auto& v0 = state.getVelocities().segment<3>(3 * m_nodeIds[0]); const auto& v1 = state.getVelocities().segment<3>(3 * m_nodeIds[1]); Vector3d u = x1 - x0; double length = u.norm(); if (length < SurgSim::Math::Geometry::DistanceEpsilon) { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << "Spring (initial length = " << m_restLength << ") became degenerated " << "with 0 length => no force generated"; return; } u /= length; double elongationPosition = length - m_restLength; double elongationVelocity = (v1 - v0).dot(u); const Vector3d f = scale * (m_stiffness * elongationPosition + m_damping * elongationVelocity) * u; // Assembly stage in F F->segment<3>(3 * m_nodeIds[0]) += f; F->segment<3>(3 * m_nodeIds[1]) -= f; } void LinearSpring::addDamping(const OdeState& state, Math::SparseMatrix* D, double scale) { Matrix33d De; // The spring has 2 nodes with positions {x1, x2}, velocities {v1, v2} and force {F1, F2=-F1} // Also note from addForce that the positions and velocities play a symmetric role in the force calculation // i.e. dFi/dx1 = -dFi/dx2 and dFi/dv1 = -dFi/dv2 // The damping matrix is D = -dF/dv = (-dF1/dv1 -dF1/dv2) = (-dF1/dv1 dF1/dv1) // (-dF2/dv1 -dF2/dv2) ( dF1/dv1 -dF1/dv1) // Let's compute De = -dF1/dv1 if (!computeDampingAndStiffness(state, &De, nullptr)) { return; } De *= scale; // Assembly stage in D Math::addSubMatrix(De, static_cast(m_nodeIds[0]), static_cast(m_nodeIds[0]), D, false); Matrix33d negativeDe = -De; Math::addSubMatrix(negativeDe, static_cast(m_nodeIds[0]), static_cast(m_nodeIds[1]), D, false); Math::addSubMatrix(negativeDe, static_cast(m_nodeIds[1]), static_cast(m_nodeIds[0]), D, false); Math::addSubMatrix(De, static_cast(m_nodeIds[1]), static_cast(m_nodeIds[1]), D, false); } void LinearSpring::addStiffness(const OdeState& state, Math::SparseMatrix* K, double scale) { Matrix33d Ke; // The spring has 2 nodes with positions {x1, x2}, velocities {v1, v2} and force {F1, F2=-F1} // Also note from addForce that the positions and velocities play a symmetric role in the force calculation // i.e. dFi/dx1 = -dFi/dx2 and dFi/dv1 = -dFi/dv2 // The stiffness matrix is K = -dF/dx = (-dF1/dx1 -dF1/dx2) = (-dF1/dx1 dF1/dx1) // (-dF2/dx1 -dF2/dx2) ( dF1/dx1 -dF1/dx1) // Let's compute Ke = -dF1/dx1 if (!computeDampingAndStiffness(state, nullptr, &Ke)) { return; } Ke *= scale; // Assembly stage in K Math::addSubMatrix(Ke, static_cast(m_nodeIds[0]), static_cast(m_nodeIds[0]), K, false); Matrix33d negativeKe = -Ke; Math::addSubMatrix(negativeKe, static_cast(m_nodeIds[0]), static_cast(m_nodeIds[1]), K, false); Math::addSubMatrix(negativeKe, static_cast(m_nodeIds[1]), static_cast(m_nodeIds[0]), K, false); Math::addSubMatrix(Ke, static_cast(m_nodeIds[1]), static_cast(m_nodeIds[1]), K, false); } void LinearSpring::addFDK(const OdeState& state, Vector* F, Math::SparseMatrix* D, Math::SparseMatrix* K) { Matrix33d De, Ke; // Assembly stage in F. Note that the force calculation does not rely on any matrices. addForce(state, F); // The spring has 2 nodes with positions {x1, x2}, velocities {v1, v2} and force {F1, F2=-F1} // Also note from addForce that the positions and velocities play a symmetric role in the force calculation // i.e. dFi/dx1 = -dFi/dx2 and dFi/dv1 = -dFi/dv2 // The stiffness matrix is K = -dF/dx = (-dF1/dx1 -dF1/dx2) = (-dF1/dx1 dF1/dx1) // (-dF2/dx1 -dF2/dx2) ( dF1/dx1 -dF1/dx1) // The damping matrix is D = -dF/dv = (-dF1/dv1 -dF1/dv2) = (-dF1/dv1 dF1/dv1) // (-dF2/dv1 -dF2/dv2) ( dF1/dv1 -dF1/dv1) // Let's compute De = -dF1/dv1 and Ke = -dF1/dx1 if (!computeDampingAndStiffness(state, &De, &Ke)) { return; } // Assembly stage in K Math::addSubMatrix(Ke, static_cast(m_nodeIds[0]), static_cast(m_nodeIds[0]), K, false); Matrix33d negativeKe = -Ke; Math::addSubMatrix(negativeKe, static_cast(m_nodeIds[0]), static_cast(m_nodeIds[1]), K, false); Math::addSubMatrix(negativeKe, static_cast(m_nodeIds[1]), static_cast(m_nodeIds[0]), K, false); Math::addSubMatrix(Ke, static_cast(m_nodeIds[1]), static_cast(m_nodeIds[1]), K, false); // Assembly stage in D Math::addSubMatrix(De, static_cast(m_nodeIds[0]), static_cast(m_nodeIds[0]), D, false); Matrix33d negativeDe = -De; Math::addSubMatrix(negativeDe, static_cast(m_nodeIds[0]), static_cast(m_nodeIds[1]), D, false); Math::addSubMatrix(negativeDe, static_cast(m_nodeIds[1]), static_cast(m_nodeIds[0]), D, false); Math::addSubMatrix(De, static_cast(m_nodeIds[1]), static_cast(m_nodeIds[1]), D, false); } void LinearSpring::addMatVec(const OdeState& state, double alphaD, double alphaK, const Vector& vector, Vector* F) { // Premature return if both factors are zero if (alphaK == 0.0 && alphaD == 0.0) { return; } Matrix33d De, Ke; if (!computeDampingAndStiffness(state, (alphaD != 0 ? &De : nullptr), (alphaK != 0 ? &Ke : nullptr))) { return; } // Shared data: the 2x 3D vectors to multiply the matrices with const auto& vector1 = vector.segment<3>(3 * m_nodeIds[0]); const auto& vector2 = vector.segment<3>(3 * m_nodeIds[1]); if (alphaD != 0.0) { const Vector3d force = alphaD * (De * (vector1 - vector2)); F->segment<3>(3 * m_nodeIds[0]) += force; F->segment<3>(3 * m_nodeIds[1]) -= force; } if (alphaK != 0.0) { const Vector3d force = alphaK * (Ke * (vector1 - vector2)); F->segment<3>(3 * m_nodeIds[0]) += force; F->segment<3>(3 * m_nodeIds[1]) -= force; } } bool LinearSpring::computeDampingAndStiffness(const OdeState& state, Matrix33d* De, Matrix33d* Ke) { const auto& x0 = state.getPositions().segment<3>(3 * m_nodeIds[0]); const auto& x1 = state.getPositions().segment<3>(3 * m_nodeIds[1]); const auto& v0 = state.getVelocities().segment<3>(3 * m_nodeIds[0]); const auto& v1 = state.getVelocities().segment<3>(3 * m_nodeIds[1]); Vector3d u = x1 - x0; double length = u.norm(); if (length < SurgSim::Math::Geometry::DistanceEpsilon) { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << "Spring (initial length = " << m_restLength << ") became degenerated with 0 length => force derivative degenerated"; return false; } u /= length; double lRatio = (length - m_restLength) / length; double vRatio = (v1 - v0).dot(u) / length; Matrix33d uuT = u * u.transpose(); // Update the stiffness matrix if (Ke != nullptr) { *Ke = Matrix33d::Identity() * (m_stiffness * lRatio + m_damping * vRatio); *Ke -= uuT * (m_stiffness * (lRatio - 1.0) + 2.0 * m_damping * vRatio); *Ke += m_damping * (u * (v1 - v0).transpose()) / length; } // Update the damping matrix if (De != nullptr) { *De = m_damping * uuT; } return true; } bool LinearSpring::operator ==(const Spring& spring) const { const LinearSpring* ls = dynamic_cast(&spring); if (! ls) { return false; } return m_nodeIds == ls->m_nodeIds && m_restLength == ls->m_restLength && m_stiffness == ls->m_stiffness && m_damping == ls->m_damping; } bool LinearSpring::operator !=(const Spring& spring) const { return !((*this) == spring); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/LinearSpring.h000066400000000000000000000150131277777236100216750ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_LINEARSPRING_H #define SURGSIM_PHYSICS_LINEARSPRING_H #include "SurgSim/Physics/Spring.h" namespace SurgSim { namespace Physics { /// Linear spring connecting 2 nodes with a viscous term class LinearSpring : public Spring { public: /// Constructor /// \param nodeId0, nodeId1 The node ids on which the spring is attached LinearSpring(size_t nodeId0, size_t nodeId1); void initialize(const SurgSim::Math::OdeState& state) override; /// Sets the spring stiffness parameter /// \param stiffness The stiffness to assign to the spring (in N.m-1) /// \exception SurgSim::Framework::AssertionFailure stiffness cannot be negative void setStiffness(double stiffness); /// Gets the spring stiffness parameter /// \return The stiffness assigned to the spring (in N.m-1) double getStiffness() const; /// Sets the spring damping parameter /// \param damping The damping to assign to the spring (in N.s.m-1) /// \exception SurgSim::Framework::AssertionFailure damping cannot be negative void setDamping(double damping); /// Gets the spring damping parameter /// \return The damping assigned to the spring (in N.s.m-1) double getDamping() const; /// Sets the rest length of the spring /// \param restLength The rest length to assign to the spring (in m) /// \exception SurgSim::Framework::AssertionFailure rest length cannot be negative void setRestLength(double restLength); /// Gets the rest length of the spring /// \return The rest length assigned to the spring (in m) double getRestLength() const; /// Adds the spring force (computed for a given state) to a complete system force vector F (assembly) /// \param state The state to compute the force with /// \param[in,out] F The complete system force vector to add the spring force into /// \param scale A factor to scale the added force with void addForce(const SurgSim::Math::OdeState& state, SurgSim::Math::Vector* F, double scale = 1.0) override; /// Adds the spring damping matrix D (= -df/dv) (computed for a given state) to a complete system damping matrix /// D (assembly) /// \param state The state to compute the damping matrix with /// \param[in,out] D The complete system damping matrix to add the spring damping matrix into /// \param scale A factor to scale the added damping matrix with void addDamping(const SurgSim::Math::OdeState& state, SurgSim::Math::SparseMatrix* D, double scale = 1.0) override; /// Adds the spring stiffness matrix K (= -df/dx) (computed for a given state) to a complete system stiffness /// matrix K (assembly) /// \param state The state to compute the stiffness matrix with /// \param[in,out] K The complete system stiffness matrix to add the spring stiffness matrix into /// \param scale A factor to scale the added stiffness matrix with void addStiffness(const SurgSim::Math::OdeState& state, SurgSim::Math::SparseMatrix* K, double scale = 1.0) override; /// Adds the spring force vector, mass, stiffness and damping matrices (computed for a given state) into a /// complete system data structure F, D, K (assembly) /// \param state The state to compute everything with /// \param[in,out] F The complete system force vector to add the spring force into /// \param[in,out] D The complete system damping matrix to add the spring damping matrix into /// \param[in,out] K The complete system stiffness matrix to add the spring stiffness matrix into void addFDK(const SurgSim::Math::OdeState& state, SurgSim::Math::Vector* F, SurgSim::Math::SparseMatrix* D, SurgSim::Math::SparseMatrix* K) override; /// Adds the spring matrix-vector contribution F += (alphaD.D + alphaK.K).x (computed for a given /// state) into a complete system data structure F (assembly) /// \param state The state to compute everything with /// \param alphaD The scaling factor for the damping contribution /// \param alphaK The scaling factor for the stiffness contribution /// \param vector A complete system vector to use as the vector in the matrix-vector multiplication /// \param[in,out] F The complete system force vector to add the element matrix-vector contribution into void addMatVec(const SurgSim::Math::OdeState& state, double alphaD, double alphaK, const SurgSim::Math::Vector& vector, SurgSim::Math::Vector* F) override; /// Comparison operator (equality) /// \param spring Spring to compare it to /// \return True if the 2 springs contains the same information, false otherwise /// \note Comparison is based on spring type, rest length, stiffness and damping coefficients ONLY bool operator ==(const Spring& spring) const; /// Comparison operator (inequality) /// \param spring Spring to compare it to /// \return False if the 2 springs contains the same information, true otherwise /// \note Comparison is based on spring type, rest length, stiffness and damping coefficients ONLY bool operator !=(const Spring& spring) const; protected: /// Compute the stiffness matrix Ke = -dF1/dx1 and damping matrix De = -dF1/dv1 of this spring for a given state, /// where this spring is defined by its 2 nodes positions {x1, x2}, velocities {v1, v2} and forces {F1, F2=-F1}. /// \param state The state to compute the jacobians from /// \param [out] De, Ke Respectively the damping and stiffness matrices De and Ke /// \return True if the matrices could be computed, False otherwise (current length is null) /// \note This method calculates only the 3x3 parts related to the force applied on the first node, /// \note derived w.r.t. first node. By nature, we have dF2/dx2 = dF1/dx1 = -dF1/dx2 = -dF2/dx1. bool computeDampingAndStiffness(const SurgSim::Math::OdeState& state, SurgSim::Math::Matrix33d* De, SurgSim::Math::Matrix33d* Ke); private: /// Rest length (in m) double m_restLength; /// Stiffness parameters (in N.m-1) double m_stiffness; /// Damping parameters (in N.s.m-1) double m_damping; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_LINEARSPRING_H opensurgsim-0.7.0/SurgSim/Physics/Localization.cpp000066400000000000000000000045211277777236100222650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/Localization.h" #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Physics/Representation.h" namespace SurgSim { namespace Physics { Localization::Localization() { } Localization::Localization(std::shared_ptr representation) : m_representation(representation) { } Localization::~Localization() { } void Localization::setRepresentation(std::shared_ptr representation) { if (isValidRepresentation(representation)) { m_representation = representation; } else { SURGSIM_FAILURE() << "Unexpected representation type" << std::endl; } } std::shared_ptr Localization::getRepresentation() const { return m_representation; } Math::Vector3d Localization::calculatePosition(double time) const { SURGSIM_ASSERT(time >= 0.0 && time <= 1.0) << "Invalid time " << time << " out-of-range [0..1]"; return doCalculatePosition(time); } Math::Vector3d Localization::calculateVelocity(double time) const { SURGSIM_ASSERT(time >= 0.0 && time <= 1.0) << "Invalid time " << time << " out-of-range [0..1]"; return doCalculateVelocity(time); } bool Localization::isValidRepresentation(std::shared_ptr representation) { // Localization base class does not care about the type return true; } Math::RigidTransform3d Localization::getElementPose() { SURGSIM_FAILURE() << "Localization::getElementPose() is not implemented for " << getRepresentation()->getFullName(); return Math::RigidTransform3d(); } bool Localization::moveClosestTo(const Math::Vector3d& point, bool *hasReachedEnd) { SURGSIM_FAILURE() << "Localization::moveClosestTo() is not implemented for " << getRepresentation()->getFullName(); return false; } } } opensurgsim-0.7.0/SurgSim/Physics/Localization.h000066400000000000000000000102251277777236100217300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_LOCALIZATION_H #define SURGSIM_PHYSICS_LOCALIZATION_H #include #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace DataStructures { struct Location; } namespace Physics { class Representation; /// This class localize a point on a representation (representation specific) class Localization { public: /// Default constructor Localization(); /// Constructor /// \param representation The representation on which the localization is defined explicit Localization(std::shared_ptr representation); /// Destructor virtual ~Localization(); /// Sets the representation /// \param representation The representation on which the localization is defined void setRepresentation(std::shared_ptr representation); /// Gets the representation /// \return The representation on which the localization is defined, nullptr if none has been defined std::shared_ptr getRepresentation() const; /// Calculates the global position of this localization /// \param time The time in [0..1] at which the position should be calculated /// \return The global position of the localization at the requested time /// \note time can useful when dealing with CCD /// \exception SurgSim::Framework::AssertionFailure if time is out-of-range [0..1] SurgSim::Math::Vector3d calculatePosition(double time = 1.0) const; /// Calculates the global velocity of this localization /// \param time The time in [0..1] at which the velocity should be calculated /// \return The global velocity of the localization at the requested time /// \note time can useful when dealing with CCD /// \exception SurgSim::Framework::AssertionFailure if time is out-of-range [0..1] SurgSim::Math::Vector3d calculateVelocity(double time = 1.0) const; virtual bool isValidRepresentation(std::shared_ptr representation); /// Find a pose that the localization is represented with respect to. /// In the case of a rigid representation, the pose of the representation is the pose returned. In case of a fem /// representation, the pose is calculated from the fem element which this localization is a part of. /// \return The pose that the localization is represented with respect to. virtual Math::RigidTransform3d getElementPose(); /// \param point Move this localization closest to this point /// \param hasReachedEnd [out] Flag to set, when the localization reaches the end of the representation. /// \return Whether the localization was moved or not. virtual bool moveClosestTo(const Math::Vector3d& point, bool *hasReachedEnd); private: /// Calculates the global position of this localization /// \param time The time in [0..1] at which the position should be calculated /// \return The global position of the localization at the requested time /// \note time can useful when dealing with CCD virtual SurgSim::Math::Vector3d doCalculatePosition(double time) const = 0; /// Calculates the global velocity of this localization /// \param time The time in [0..1] at which the velocity should be calculated /// \return The global velocity of the localization at the requested time /// \note time can useful when dealing with CCD virtual SurgSim::Math::Vector3d doCalculateVelocity(double time) const = 0; /// The representation on which the localization is defined std::shared_ptr m_representation; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_LOCALIZATION_H opensurgsim-0.7.0/SurgSim/Physics/Mass.h000066400000000000000000000033351277777236100202070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_MASS_H #define SURGSIM_PHYSICS_MASS_H namespace SurgSim { namespace Physics { // Class to handle a mass of a MassSpring node class Mass { public: /// Constructor /// \param mass The mass (in Kg) default value is 0 explicit Mass(double mass = 0.0) : m_mass(mass) { } /// Sets the mass /// \param mass The mass to be stored (in Kg) void setMass(double mass) { m_mass = mass; } /// Gets the mass /// \return The mass stored (in Kg) double getMass() const { return m_mass; } /// Comparison operator (equality) /// \param m Mass to compare it to /// \return True if the 2 Mass contains the same information, false otherwise bool operator ==(const Mass& m) const { return (m_mass == m.m_mass); } /// Comparison operator (inequality) /// \param m Mass to compare it to /// \return False if the 2 Mass contains the same information, True otherwise bool operator !=(const Mass& m) const { return ! ((*this) == m); } protected: /// Mass (in kg) double m_mass; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_MASS_H opensurgsim-0.7.0/SurgSim/Physics/MassSpringConstraintFixedPoint.cpp000066400000000000000000000105531277777236100257640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/LinearSpring.h" #include "SurgSim/Physics/Localization.h" #include "SurgSim/Physics/MassSpringConstraintFixedPoint.h" #include "SurgSim/Physics/MassSpringLocalization.h" #include "SurgSim/Physics/MassSpringRepresentation.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { MassSpringConstraintFixedPoint::MassSpringConstraintFixedPoint() { } MassSpringConstraintFixedPoint::~MassSpringConstraintFixedPoint() { } void MassSpringConstraintFixedPoint::doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) { std::shared_ptr massSpring = std::static_pointer_cast(localization->getRepresentation()); if (!massSpring->isActive()) { return; } const double scale = (sign == CONSTRAINT_POSITIVE_SIDE) ? 1.0 : -1.0; size_t nodeId = std::static_pointer_cast(localization)->getLocalNode(); Vector3d globalPosition = localization->calculatePosition(); // Fixed point constraint in MCLP // n the number of dof in the Mass-Spring // p is the constrained point before free motion // pfree is the constrained point after free motion // vfree is the constrained point's velocity after free motion // v is the velocity in general // u is the position variation needed to enforce the constraint from the free motion // u' is the velocity variation needed to enforce the constraint from the free motion // target is defined as position to be constrained to (in this method, it corresponds to the other part of the // constraint that we don't have access to) // // The constraint equation is // C: pfree + u - target = 0 (note that the constraint is defined with 3 equations, each along an axis X-Y-Z) // // Using backward-Euler integration, the constraint can be expressed on the velocity level: // pfree = p + dt.vfree -> free motion // pfree + u = p + dt.[vfree + u'] -> free motion + constraint correction // => u = dt.u' // C: pfree - target + dt.u' = 0 // // Noting the system matrix S, the constraint matrix H = dC/dv is expressed on the velocity level as the // general system to solve is on the velocity level: // (S H^T) ( v ) = (Impulse) // (H 0 ) (-lambda) (initial constraint violation) // // H = dC/dv // The matrix H is of size 3xn (3 equations to fix each axis X-Y-Z relating to the n dof of the model) // The constraint only involves the velocity of a single node (the constrained node), so the matrix H // is full of zero except for a 3x3 part corresponding to the constrained node for which we have: // dC/du' = du/du' = dt.Id(3x3) // Update b with new violation: P(free motion) mlcp->b.segment<3>(indexOfConstraint) += globalPosition * scale; // m_newH is a SparseVector, so resizing is cheap. The object's memory also gets cleared. m_newH.resize(massSpring->getNumDof()); // m_newH is a member variable, so 'reserve' only needs to allocate memory on the first run. m_newH.reserve(3); for (size_t axis = 0; axis < 3; axis++) { m_newH.setZero(); m_newH.insert(3 * nodeId + axis) = dt * scale; mlcp->updateConstraint(m_newH, massSpring->getComplianceMatrix() * m_newH.transpose(), indexOfRepresentation, indexOfConstraint + axis); } } SurgSim::Physics::ConstraintType MassSpringConstraintFixedPoint::getConstraintType() const { return SurgSim::Physics::FIXED_3DPOINT; } size_t MassSpringConstraintFixedPoint::doGetNumDof() const { return 3; } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/MassSpringConstraintFixedPoint.h000066400000000000000000000032361277777236100254310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFIXEDPOINT_H #define SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFIXEDPOINT_H #include "SurgSim/Physics/ConstraintImplementation.h" namespace SurgSim { namespace Physics { /// MassSpringRepresentation bilateral 3d constraint implementation. /// /// The family of FixedPoint constraints enforce equality between two points. class MassSpringConstraintFixedPoint : public ConstraintImplementation { public: /// Constructor MassSpringConstraintFixedPoint(); /// Destructor virtual ~MassSpringConstraintFixedPoint(); SurgSim::Physics::ConstraintType getConstraintType() const override; private: size_t doGetNumDof() const override; void doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFIXEDPOINT_H opensurgsim-0.7.0/SurgSim/Physics/MassSpringConstraintFrictionlessContact.cpp000066400000000000000000000064341277777236100276760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Physics/MassSpringConstraintFrictionlessContact.h" #include "SurgSim/Physics/ContactConstraintData.h" #include "SurgSim/Physics/ConstraintImplementation.h" #include "SurgSim/Physics/Localization.h" #include "SurgSim/Physics/MassSpringLocalization.h" namespace SurgSim { namespace Physics { MassSpringConstraintFrictionlessContact::MassSpringConstraintFrictionlessContact() { } MassSpringConstraintFrictionlessContact::~MassSpringConstraintFrictionlessContact() { } void MassSpringConstraintFrictionlessContact::doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) { using SurgSim::Math::Vector3d; auto massSpring = std::static_pointer_cast(localization->getRepresentation()); if (!massSpring->isActive()) { return; } size_t nodeId = std::static_pointer_cast(localization)->getLocalNode(); const double scale = (sign == CONSTRAINT_POSITIVE_SIDE) ? 1.0 : -1.0; auto& contactData = static_cast(data); const Vector3d& n = contactData.getNormal(); // FRICTIONLESS CONTACT in a LCP // (n, d) defines the plane of contact // p(t) the point of contact (usually after free motion) // // The constraint equation for a plane is // U(t) = n^t.p(t) + d >= 0 // // dU/dt = H.dp/dt // => H = n^t // Since the d term will be added to the constraint for one side of the contact and subtracted from the other, // and because it is not clear which distance should be used, we leave it out. // Update b with new violation U Vector3d globalPosition = localization->calculatePosition(); double violation = n.dot(globalPosition); mlcp->b[indexOfConstraint] += violation * scale; // m_newH is a SparseVector, so resizing is cheap. The object's memory also gets cleared. m_newH.resize(massSpring->getNumDof()); // m_newH is a member variable, so 'reserve' only needs to allocate memory on the first run. m_newH.reserve(3); m_newH.insert(3 * nodeId + 0) = n[0] * scale; m_newH.insert(3 * nodeId + 1) = n[1] * scale; m_newH.insert(3 * nodeId + 2) = n[2] * scale; mlcp->updateConstraint(m_newH, massSpring->getComplianceMatrix() * m_newH.transpose(), indexOfRepresentation, indexOfConstraint); } SurgSim::Physics::ConstraintType MassSpringConstraintFrictionlessContact::getConstraintType() const { return SurgSim::Physics::FRICTIONLESS_3DCONTACT; } size_t MassSpringConstraintFrictionlessContact::doGetNumDof() const { return 1; } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/MassSpringConstraintFrictionlessContact.h000066400000000000000000000057001277777236100273360ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFRICTIONLESSCONTACT_H #define SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFRICTIONLESSCONTACT_H #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/ConstraintImplementation.h" #include "SurgSim/Physics/MassSpringRepresentation.h" #include "SurgSim/Physics/Localization.h" namespace SurgSim { namespace Physics { /// MassSpring frictionless contact implementation. /// /// MassSpringConstraintFrictionlessContact implements the frictionless contact constraint for the /// MassSpringRepresentation, which prevents nodes from passing through a surface. /// See MassSpringConstraintFrictionlessContact::doBuild for more information. class MassSpringConstraintFrictionlessContact : public ConstraintImplementation { public: /// Constructor MassSpringConstraintFrictionlessContact(); /// Destructor virtual ~MassSpringConstraintFrictionlessContact(); /// Gets the constraint type for this ConstraintImplementation /// \return The constraint type corresponding to this constraint implementation SurgSim::Physics::ConstraintType getConstraintType() const override; private: /// Gets the number of degrees of freedom for a frictionless contact. /// \return 1, as a frictionless contact only has 1 equation of constraint (along the normal direction). size_t doGetNumDof() const override; /// Adds a mass-spring frictionless contact constraint to an MlcpPhysicsProblem. /// \param dt The time step. /// \param data [ContactConstraintData] Plane defining the constraint. /// \param localization [MassSpringRepresentationLocalization] Location and Representation to be constrained. /// \param [in, out] mlcp The Mixed LCP physics problem to fill up. /// \param indexOfRepresentation The index of the representation (associated to this implementation) in the mlcp. /// \param indexOfConstraint The index of the constraint in the mlcp. /// \param sign The sign of this implementation in the constraint (positive or negative side). void doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFRICTIONLESSCONTACT_H opensurgsim-0.7.0/SurgSim/Physics/MassSpringLocalization.cpp000066400000000000000000000067671277777236100243120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/MassSpringLocalization.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Physics { MassSpringLocalization::MassSpringLocalization() { } MassSpringLocalization::MassSpringLocalization( std::shared_ptr representation) : Localization() { setRepresentation(representation); } MassSpringLocalization::~MassSpringLocalization() { } void MassSpringLocalization::setLocalNode(size_t nodeID) { m_nodeID = nodeID; } const size_t& MassSpringLocalization::getLocalNode() const { return m_nodeID; } SurgSim::Math::Vector3d MassSpringLocalization::doCalculatePosition(double time) const { std::shared_ptr massSpringRepresentation = std::static_pointer_cast(getRepresentation()); SURGSIM_ASSERT(massSpringRepresentation != nullptr) << "MassSpringRepresentation is null, it was probably not" << " initialized"; if (time <= std::numeric_limits::epsilon()) { return massSpringRepresentation->getPreviousState()->getPosition(m_nodeID); } else if (time >= 1.0 - std::numeric_limits::epsilon()) { return massSpringRepresentation->getCurrentState()->getPosition(m_nodeID); } const SurgSim::Math::Vector3d& currentPoint = massSpringRepresentation->getCurrentState()->getPosition(m_nodeID); const SurgSim::Math::Vector3d& previousPoint = massSpringRepresentation->getPreviousState()->getPosition(m_nodeID); return SurgSim::Math::interpolate(previousPoint, currentPoint, time); } SurgSim::Math::Vector3d MassSpringLocalization::doCalculateVelocity(double time) const { std::shared_ptr massSpringRepresentation = std::static_pointer_cast(getRepresentation()); SURGSIM_ASSERT(massSpringRepresentation != nullptr) << "MassSpringRepresentation is null, it was probably not" << " initialized"; if (time <= std::numeric_limits::epsilon()) { return massSpringRepresentation->getPreviousState()->getVelocity(m_nodeID); } else if (time >= 1.0 - std::numeric_limits::epsilon()) { return massSpringRepresentation->getCurrentState()->getVelocity(m_nodeID); } const SurgSim::Math::Vector3d& currentPoint = massSpringRepresentation->getCurrentState()->getVelocity(m_nodeID); const SurgSim::Math::Vector3d& previousPoint = massSpringRepresentation->getPreviousState()->getVelocity(m_nodeID); return SurgSim::Math::interpolate(previousPoint, currentPoint, time); } bool MassSpringLocalization::isValidRepresentation(std::shared_ptr representation) { std::shared_ptr massSpringRepresentation = std::dynamic_pointer_cast(representation); // Allows to reset the representation to nullptr ... return (massSpringRepresentation != nullptr || representation == nullptr); } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/MassSpringLocalization.h000066400000000000000000000062041277777236100237410ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_MASSSPRINGLOCALIZATION_H #define SURGSIM_PHYSICS_MASSSPRINGLOCALIZATION_H #include "SurgSim/Physics/Localization.h" #include "SurgSim/Physics/MassSpringRepresentation.h" namespace SurgSim { namespace Physics { /// Implementation of Localization for MassSpringRepresentation /// /// MassSpringLocalization tracks the global coordinates of a node contained in an associated /// MassSpringRepresentation. It is used, for example, as a helper class for filling out the MlcpPhysicsProblem in /// MassSpringRepresentationContact::doBuild, which constrains the motion of MassSpringRepresentation at a frictionless /// contact. /// /// MassSpringLocalization stores a pointer to a MassSpringRepresentation in an abstract Representation /// object. It tracks the ID of a node contained within the associated MassSpringRepresentation, and it provides a /// helper function MassSpringLocalization::calculatePosition to find the node's position in global /// coordinates in the current state. class MassSpringLocalization: public Localization { public: /// Default constructor MassSpringLocalization(); /// Constructor /// \param representation The representation to assign to this localization. explicit MassSpringLocalization(std::shared_ptr representation); /// Destructor virtual ~MassSpringLocalization(); /// Sets the local node. /// \param nodeID Node set for this localization. void setLocalNode(size_t nodeID); /// Gets the local node. /// \return Node set for this localization. const size_t& getLocalNode() const; /// Queries whether Representation can be assigned to this class. /// \param representation Representation to check. /// \return true if Representation is valid. bool isValidRepresentation(std::shared_ptr representation) override; private: /// Calculates the global position of this localization. /// \param time Interpolation parameter [0..1] for calcuting position between the previous state (0.0) and current /// state (1.0). /// \return The global position of the localization using an interpolation between the previous and current states. /// \note The time parameter can useful when dealing with Continuous Collision Detection. SurgSim::Math::Vector3d doCalculatePosition(double time) const override; SurgSim::Math::Vector3d doCalculateVelocity(double time) const override; /// Node defining the localization. size_t m_nodeID; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_MASSSPRINGLOCALIZATION_H opensurgsim-0.7.0/SurgSim/Physics/MassSpringRepresentation.cpp000066400000000000000000000341101277777236100246430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Assert.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Physics/MassSpringLocalization.h" #include "SurgSim/Physics/MassSpringRepresentation.h" using SurgSim::DataStructures::Location; using SurgSim::Math::Vector; using SurgSim::Math::Matrix; using SurgSim::Math::SparseMatrix; namespace SurgSim { namespace Physics { MassSpringRepresentation::MassSpringRepresentation(const std::string& name) : DeformableRepresentation(name) { m_rayleighDamping.massCoefficient = 0.0; m_rayleighDamping.stiffnessCoefficient = 0.0; // Reminder: m_numDofPerNode is held by DeformableRepresentation // but needs to be set by all concrete derived classes m_numDofPerNode = 3; } MassSpringRepresentation::~MassSpringRepresentation() { } bool MassSpringRepresentation::doInitialize() { // DeformableRepresentation::doInitialize will // 1) assert if initial state is not set // 2) transform m_initialState properly with the initial pose // => Spring::initialize(m_initialState) is using the correct transformed state if (!DeformableRepresentation::doInitialize()) { return false; } // Initialize the Springs for (auto spring : m_springs) { spring->initialize(*m_initialState); } // Precompute the sparsity pattern for the global arrays. M is diagonal, the // rest need to be calculated. m_M.resize(static_cast(getNumDof()), static_cast(getNumDof())); m_D.resize(static_cast(getNumDof()), static_cast(getNumDof())); m_K.resize(static_cast(getNumDof()), static_cast(getNumDof())); for (auto& spring : m_springs) { Math::Matrix block = Math::Matrix::Zero(getNumDofPerNode(), getNumDofPerNode()); for (auto nodeId1 : spring->getNodeIds()) { for (auto nodeId2 : spring->getNodeIds()) { Math::addSubMatrix(block, static_cast(nodeId1), static_cast(nodeId2), &m_D, true); Math::addSubMatrix(block, static_cast(nodeId1), static_cast(nodeId2), &m_K, true); } } } m_M.setIdentity(); m_M.makeCompressed(); Math::clearMatrix(&m_M); m_D.makeCompressed(); m_K.makeCompressed(); return true; } void MassSpringRepresentation::addMass(const std::shared_ptr mass) { m_masses.push_back(mass); } void MassSpringRepresentation::addSpring(const std::shared_ptr spring) { m_springs.push_back(spring); } size_t MassSpringRepresentation::getNumMasses() const { return m_masses.size(); } size_t MassSpringRepresentation::getNumSprings() const { return m_springs.size(); } std::shared_ptr MassSpringRepresentation::getMass(size_t nodeId) { SURGSIM_ASSERT(nodeId < getNumMasses()) << "Invalid node id to request a mass from"; return m_masses[nodeId]; } std::shared_ptr MassSpringRepresentation::getSpring(size_t springId) { SURGSIM_ASSERT(springId < getNumSprings()) << "Invalid spring id"; return m_springs[springId]; } double MassSpringRepresentation::getTotalMass() const { double mass = 0.0; for (auto it = std::begin(m_masses); it != std::end(m_masses); it++) { mass += (*it)->getMass(); } return mass; } double MassSpringRepresentation::getRayleighDampingStiffness() const { return m_rayleighDamping.stiffnessCoefficient; } double MassSpringRepresentation::getRayleighDampingMass() const { return m_rayleighDamping.massCoefficient; } void MassSpringRepresentation::setRayleighDampingStiffness(double stiffnessCoef) { m_rayleighDamping.stiffnessCoefficient = stiffnessCoef; } void MassSpringRepresentation::setRayleighDampingMass(double massCoef) { m_rayleighDamping.massCoefficient = massCoef; } void MassSpringRepresentation::addExternalGeneralizedForce(std::shared_ptr localization, const SurgSim::Math::Vector& generalizedForce, const SurgSim::Math::Matrix& K, const SurgSim::Math::Matrix& D) { std::shared_ptr localization3D = std::dynamic_pointer_cast(localization); SURGSIM_ASSERT(localization3D != nullptr) << "Invalid localization type (not a MassSpringLocalization)"; const size_t dofPerNode = getNumDofPerNode(); const size_t nodeId = localization3D->getLocalNode(); SURGSIM_ASSERT(nodeId >= 0 && nodeId < getNumMasses()) << "Invalid nodeId " << nodeId << ". Valid range is {0.." << getNumMasses() << "}"; m_externalGeneralizedForce.segment(dofPerNode * nodeId, dofPerNode) += generalizedForce; Math::addSubMatrix(K, static_cast(nodeId), static_cast(nodeId), &m_externalGeneralizedStiffness, true); Math::addSubMatrix(D, static_cast(nodeId), static_cast(nodeId), &m_externalGeneralizedDamping, true); m_hasExternalGeneralizedForce = true; } void MassSpringRepresentation::beforeUpdate(double dt) { // Call the DeformableRepresentation implementation DeformableRepresentation::beforeUpdate(dt); if (! isActive()) { return; } SURGSIM_ASSERT(3 * getNumMasses() == getNumDof()) << "Mismatch between the number of masses (" << getNumMasses() << ") and the number of dof (" << getNumDof() << ")"; SURGSIM_ASSERT(getNumMasses()) << "No masses specified yet, call addMass() prior to running the simulation"; SURGSIM_ASSERT(getNumSprings()) << "No springs specified yet, call addSpring() prior to running the simulation"; SURGSIM_ASSERT(getNumDof()) << "State has not been initialized yet, call setInitialState() " << "prior to running the simulation"; } void MassSpringRepresentation::computeF(const SurgSim::Math::OdeState& state) { // Make sure the force vector has been properly allocated and zeroed out m_f.setZero(state.getNumDof()); addGravityForce(&m_f, state); addRayleighDampingForce(&m_f, state); addSpringsForce(&m_f, state); // Add external generalized force if (m_hasExternalGeneralizedForce) { m_f += m_externalGeneralizedForce; } } void MassSpringRepresentation::computeM(const SurgSim::Math::OdeState& state) { using SurgSim::Math::Vector3d; using SurgSim::Math::setSubVector; // Make sure the mass matrix has been properly allocated Math::clearMatrix(&m_M); for (SparseMatrix::Index massId = 0; massId < static_cast(getNumMasses()); massId++) { m_M.coeffRef(3 * massId, 3 * massId) = getMass(massId)->getMass(); m_M.coeffRef(3 * massId + 1, 3 * massId + 1) = getMass(massId)->getMass(); m_M.coeffRef(3 * massId + 2, 3 * massId + 2) = getMass(massId)->getMass(); } } void MassSpringRepresentation::computeD(const SurgSim::Math::OdeState& state) { using SurgSim::Math::Vector3d; using SurgSim::Math::setSubVector; const double& rayleighStiffness = m_rayleighDamping.stiffnessCoefficient; const double& rayleighMass = m_rayleighDamping.massCoefficient; // Make sure the damping matrix has been properly allocated and zeroed out Math::clearMatrix(&m_D); // D += rayleighMass.M if (rayleighMass != 0.0) { for (SparseMatrix::Index massId = 0; massId < static_cast(getNumMasses()); massId++) { double coef = rayleighMass * getMass(massId)->getMass(); m_D.coeffRef(3 * massId, 3 * massId) = coef; m_D.coeffRef(3 * massId + 1, 3 * massId + 1) = coef; m_D.coeffRef(3 * massId + 2, 3 * massId + 2) = coef; } } // D += rayleighStiffness.K if (rayleighStiffness != 0.0) { for (auto spring = std::begin(m_springs); spring != std::end(m_springs); spring++) { (*spring)->addStiffness(state, &m_D, rayleighStiffness); } } // D += Springs damping matrix for (auto spring = std::begin(m_springs); spring != std::end(m_springs); spring++) { (*spring)->addDamping(state, &m_D); } // Add external generalized damping if (m_hasExternalGeneralizedForce) { m_D += m_externalGeneralizedDamping; } } void MassSpringRepresentation::computeK(const SurgSim::Math::OdeState& state) { // Make sure the stiffness matrix has been properly allocated and zeroed out Math::clearMatrix(&m_K); for (auto spring = std::begin(m_springs); spring != std::end(m_springs); spring++) { (*spring)->addStiffness(state, &m_K); } // Add external generalized stiffness if (m_hasExternalGeneralizedForce) { m_K += m_externalGeneralizedStiffness; } } void MassSpringRepresentation::computeFMDK(const SurgSim::Math::OdeState& state) { using SurgSim::Math::addSubVector; // Make sure the force vector has been properly allocated and zeroed out m_f.setZero(state.getNumDof()); // Make sure the mass matrix has been properly allocated Math::clearMatrix(&m_M); // Make sure the damping matrix has been properly allocated and zeroed out Math::clearMatrix(&m_D); // Make sure the stiffness matrix has been properly allocated and zeroed out Math::clearMatrix(&m_K); // Computes the mass matrix m_M computeM(state); // Computes the stiffness matrix m_K // Add the springs damping matrix to m_D // Add the springs force to m_f for (auto spring = std::begin(m_springs); spring != std::end(m_springs); spring++) { (*spring)->addFDK(state, &m_f, &m_D, &m_K); } // Add the Rayleigh damping matrix if (m_rayleighDamping.massCoefficient) { for (SparseMatrix::Index diagonal = 0; diagonal < static_cast(state.getNumDof()); ++diagonal) { m_D.coeffRef(diagonal, diagonal) += m_M.coeff(diagonal, diagonal) * m_rayleighDamping.massCoefficient; } } if (m_rayleighDamping.stiffnessCoefficient) { m_D += m_K * m_rayleighDamping.stiffnessCoefficient; } // Add the gravity to m_f addGravityForce(&m_f, state); // Add the Rayleigh damping force to m_f (using the damping matrix) addRayleighDampingForce(&m_f, state, true, true); // Add external generalized force, stiffness and damping if (m_hasExternalGeneralizedForce) { m_f += m_externalGeneralizedForce; m_K += m_externalGeneralizedStiffness; m_D += m_externalGeneralizedDamping; } } void MassSpringRepresentation::addRayleighDampingForce(Vector* force, const SurgSim::Math::OdeState& state, bool useGlobalStiffnessMatrix, bool useGlobalMassMatrix, double scale) { using SurgSim::Math::getSubVector; using SurgSim::Math::addSubVector; using SurgSim::Math::getSubMatrix; // Temporary variables for convenience double& rayleighMass = m_rayleighDamping.massCoefficient; double& rayleighStiffness = m_rayleighDamping.stiffnessCoefficient; const Vector& v = state.getVelocities(); // Rayleigh damping mass: F = - rayleighMass.M.v(t) if (rayleighMass != 0.0) { // If we have the mass matrix, we can compute directly F = -rayleighMass.M.v(t) if (useGlobalMassMatrix) { // M is diagonal, take advantage of it... *force -= (scale * rayleighMass) * (m_M.diagonal().cwiseProduct(v)); } else { for (size_t nodeID = 0; nodeID < getNumMasses(); nodeID++) { double mass = getMass(nodeID)->getMass(); SurgSim::Math::Vector3d f = - scale * rayleighMass * mass * getSubVector(v, nodeID, 3); addSubVector(f, nodeID, 3, force); } } } // Rayleigh damping stiffness: F = - rayleighStiffness.K.v(t) if (rayleighStiffness != 0.0) { if (useGlobalStiffnessMatrix) { Math::Vector tempVector = (scale * rayleighStiffness) * (m_K * v); *force -= tempVector; } else { // Otherwise, we loop through each fem element to compute its contribution for (auto spring = std::begin(m_springs); spring != std::end(m_springs); ++spring) { (*spring)->addMatVec(state, 0.0, - scale * rayleighStiffness, v, force); } } } } void MassSpringRepresentation::addSpringsForce(Vector* force, const SurgSim::Math::OdeState& state, double scale) { for (auto spring = std::begin(m_springs); spring != std::end(m_springs); spring++) { (*spring)->addForce(state, force, scale); } } void MassSpringRepresentation::addGravityForce(Vector* f, const SurgSim::Math::OdeState& state, double scale) { using SurgSim::Math::addSubVector; if (isGravityEnabled()) { for (size_t massId = 0; massId < getNumMasses(); massId++) { addSubVector(getGravity() * getMass(massId)->getMass(), massId, 3, f); } } } static void transformVectorByBlockOf3(const SurgSim::Math::RigidTransform3d& transform, Vector* x, bool rotationOnly = false) { size_t numNodes = x->size() / 3; SURGSIM_ASSERT(static_cast(numNodes * 3) == x->size()) << "Unexpected number of dof in a MassSpring state vector (not a multiple of 3)"; for (size_t nodeId = 0; nodeId < numNodes; nodeId++) { SurgSim::Math::Vector3d xi = SurgSim::Math::getSubVector(*x, nodeId, 3); SurgSim::Math::Vector3d xiTransformed; if (rotationOnly) { xiTransformed = transform.linear() * xi; } else { xiTransformed = transform * xi; } SurgSim::Math::setSubVector(xiTransformed, nodeId, 3, x); } } void MassSpringRepresentation::transformState(std::shared_ptr state, const SurgSim::Math::RigidTransform3d& transform) { transformVectorByBlockOf3(transform, &state->getPositions()); transformVectorByBlockOf3(transform, &state->getVelocities(), true); } std::shared_ptr MassSpringRepresentation::createLocalization( const SurgSim::DataStructures::Location& location) { auto result = std::make_shared( std::static_pointer_cast(getSharedPtr())); if (location.index.hasValue()) { result->setLocalNode(*location.index); } else { SURGSIM_FAILURE() << "Invalid location to create a MassSpringLocalization" << std::endl; } return result; } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/MassSpringRepresentation.h000066400000000000000000000155461277777236100243240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_MASSSPRINGREPRESENTATION_H #define SURGSIM_PHYSICS_MASSSPRINGREPRESENTATION_H #include #include "SurgSim/Physics/DeformableRepresentation.h" #include "SurgSim/Physics/Mass.h" #include "SurgSim/Physics/Spring.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Matrix.h" namespace SurgSim { namespace Physics { /// MassSpring model is a deformable model (a set of masses connected by springs). /// \note A MassSpring is a DeformableRepresentation (Physics::Representation and Math::OdeEquation) /// \note Therefore, it defines a dynamic system M.a=F(x,v) with the particularity that M is diagonal /// \note The model handles damping through the Rayleigh damping (where damping is a combination of mass and stiffness) class MassSpringRepresentation : public DeformableRepresentation { public: /// Constructor /// \param name The name of the MassSpringRepresentation explicit MassSpringRepresentation(const std::string& name); /// Destructor virtual ~MassSpringRepresentation(); /// Adds a mass /// \param mass The mass to add to the representation /// \note Masses are kept in an ordered list, giving them an index /// \note This mass will be associated with the node of same index in any associated OdeState void addMass(const std::shared_ptr mass); /// Adds a spring /// \param spring The spring to add to the representation void addSpring(const std::shared_ptr spring); /// Gets the number of masses /// \return the number of masses size_t getNumMasses() const; /// Gets the number of springs /// \return the number of springs size_t getNumSprings() const; /// Retrieves the mass of a given node /// \param nodeId The node id for which the mass is requested /// \return the mass attribute of a node /// \note The mass is returned with read/write access /// \note Out of range nodeId will raise an exception std::shared_ptr getMass(size_t nodeId); /// Retrieves a given spring from its id /// \param springId The spring id for which the spring is requested /// \return the spring for the given springId /// \note The spring is returned with read/write access /// \note Out of range springId will raise an exception std::shared_ptr getSpring(size_t springId); /// Gets the total mass of the mass spring /// \return The total mass of the mass spring (in Kg) double getTotalMass() const; /// Gets the Rayleigh stiffness parameter /// \return The Rayleigh stiffness parameter double getRayleighDampingStiffness() const; /// Gets the Rayleigh mass parameter /// \return The Rayleigh mass parameter double getRayleighDampingMass() const; /// Sets the Rayleigh stiffness parameter /// \param stiffnessCoef The Rayleigh stiffness parameter void setRayleighDampingStiffness(double stiffnessCoef); /// Sets the Rayleigh mass parameter /// \param massCoef The Rayleigh mass parameter void setRayleighDampingMass(double massCoef); void addExternalGeneralizedForce(std::shared_ptr localization, const SurgSim::Math::Vector& generalizedForce, const SurgSim::Math::Matrix& K = SurgSim::Math::Matrix(), const SurgSim::Math::Matrix& D = SurgSim::Math::Matrix()) override; /// Preprocessing done before the update call /// \param dt The time step (in seconds) void beforeUpdate(double dt) override; std::shared_ptr createLocalization(const SurgSim::DataStructures::Location& location) override; protected: /// Add the Rayleigh damping forces /// \param[in,out] f The force vector to cumulate the Rayleigh damping force into /// \param state The state vector containing positions and velocities /// \param useGlobalMassMatrix, useGlobalStiffnessMatrix True indicates that the global mass and stiffness matrices /// should be used (F = -c.M.v - d.K.v) /// \param scale A scaling factor to apply on the damping force /// \note Damping matrix D = c.M + d.K (Rayleigh damping definition) /// \note F = - D.v = -c.M.v - d.K.v /// \note If {useGlobalMassMatrix | useGlobalStiffnessMatrix} is True, {M | K} will be used, otherwise /// \note the {mass|stiffness} component will be computed FemElement by FemElement void addRayleighDampingForce(SurgSim::Math::Vector* f, const SurgSim::Math::OdeState& state, bool useGlobalStiffnessMatrix = false, bool useGlobalMassMatrix = false, double scale = 1.0); /// Add the springs force to f (given a state) /// \param[in,out] f The force vector to cumulate the spring forces into /// \param state The state vector containing positions and velocities /// \param scale A scaling factor to scale the spring forces with void addSpringsForce(SurgSim::Math::Vector* f, const SurgSim::Math::OdeState& state, double scale = 1.0); /// Add the gravity force to f (given a state) /// \param[in,out] f The force vector to cumulate the gravity force into /// \param state The state vector containing positions and velocities /// \param scale A scaling factor to scale the gravity force with /// \note This method does not do anything if gravity is disabled void addGravityForce(SurgSim::Math::Vector* f, const SurgSim::Math::OdeState& state, double scale = 1.0); /// Transform a state using a given transformation /// \param[in,out] state The state to be transformed /// \param transform The transformation to apply void transformState(std::shared_ptr state, const SurgSim::Math::RigidTransform3d& transform); bool doInitialize() override; void computeF(const SurgSim::Math::OdeState& state) override; void computeM(const SurgSim::Math::OdeState& state) override; void computeD(const SurgSim::Math::OdeState& state) override; void computeK(const SurgSim::Math::OdeState& state) override; void computeFMDK(const SurgSim::Math::OdeState& state) override; private: /// Masses std::vector> m_masses; /// Springs std::vector> m_springs; /// Rayleigh damping parameters (massCoefficient and stiffnessCoefficient) /// D = massCoefficient.M + stiffnessCoefficient.K /// Matrices: D = damping, M = mass, K = stiffness struct { double massCoefficient; double stiffnessCoefficient; } m_rayleighDamping; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_MASSSPRINGREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Physics/MlcpMapping.h000066400000000000000000000033341277777236100215120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_MLCPMAPPING_H #define SURGSIM_PHYSICS_MLCPMAPPING_H #include namespace SurgSim { namespace Physics { template class MlcpMapping { public: MlcpMapping(){} /// Clear the mapping void clear() { m_indexMapping.clear(); } /// Sets the key/value (add an entry if the key is not found, change the value otherwise) void setValue(const T* key, size_t value) { typename std::unordered_map::iterator found = m_indexMapping.find(key); if (found == m_indexMapping.end()) { m_indexMapping.insert(std::make_pair(key, value)); } else { (*found).second = value; } } /// Gets the value from a given key ptrdiff_t getValue(const T* key) const { typename std::unordered_map::const_iterator returnValue = m_indexMapping.find(key); return (returnValue == m_indexMapping.end() ? -1 : (*returnValue).second); } private: /// The index mapping data structure std::unordered_map m_indexMapping; }; }; // Physics }; // SurgSim #endif // SURGSIM_PHYSICS_MLCPMAPPING_H opensurgsim-0.7.0/SurgSim/Physics/MlcpPhysicsProblem.cpp000066400000000000000000000044221277777236100234140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" namespace SurgSim { namespace Physics { MlcpPhysicsProblem::~MlcpPhysicsProblem() { } void MlcpPhysicsProblem::setZero(size_t numDof, size_t numConstraintDof, size_t numConstraints) { MlcpProblem::setZero(numDof, numConstraintDof, numConstraints); H.resize(numConstraintDof, numDof); CHt.setZero(numDof, numConstraintDof); } MlcpPhysicsProblem MlcpPhysicsProblem::Zero(size_t numDof, size_t numConstraintDof, size_t numConstraints) { MlcpPhysicsProblem result; result.setZero(numDof, numConstraintDof, numConstraints); return result; } void MlcpPhysicsProblem::updateConstraint( const Eigen::SparseVector& newSubH, const Vector& newCHt, size_t indexSubC, size_t indexNewSubH) { // Update H, CHt, and HCHt with newSubH, denoted H'. // // Note that updates are linear for H and CHt, but not for HCHt: // (H+H') = H+H' // => H += H'; // // C(H+H')t = CHt + CH't // => CHt += CH't; // // (H+H')C(H+H')t = HCHt + HCH't + H'C(H+H')t // => HCHt += H(CH't) + H'[C(H+H')t]; A.col(indexNewSubH) += H.middleCols(indexSubC, newCHt.rows()) * newCHt; // Calculate: H.block(indexNewSubH, indexSubC, 1, newCHt.rows()) += newSubH; for (Eigen::SparseVector::InnerIterator it(newSubH); it; ++it) { H.coeffRef(indexNewSubH, indexSubC + it.index()) += it.value(); } CHt.block(indexSubC, indexNewSubH, newCHt.rows(), 1) += newCHt; A.row(indexNewSubH) += newSubH * CHt.middleRows(indexSubC, newCHt.rows()); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/MlcpPhysicsProblem.h000066400000000000000000000105701277777236100230620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_MLCPPHYSICSPROBLEM_H #define SURGSIM_PHYSICS_MLCPPHYSICSPROBLEM_H #include "SurgSim/Math/MlcpProblem.h" #include "SurgSim/Math/SparseMatrix.h" namespace SurgSim { namespace Physics { /// A description of a physical mixed LCP system to be solved. /// /// This extends \ref SurgSim::Math::MlcpProblem "the pure mathematical MLCP problem" by storing the intermediate /// matrices \ref H and \ref CHt that are necessary to physically interpret the solution. /// /// Note that the matrix \f$\mathbf{A}\f$ used in the MlcpProblem is computed in the physical problem as /// \f$\mathbf{H\;C\;H^T}\f$, where \f$\mathbf{C}\f$ is the compliance matrix. For contact constraints, \f$b\f$ is /// the initial signed displacements between the colliding representations, \f$b_i \lt 0\f$ when the representations /// interpenetrate, \f$x\f$ is the forces to apply at each contact to prevent penetration, and \f$c\f$ is the signed /// displacements after the forces are applied. /// \note The solution to the MLCP will only address the constraints that were provided, and application of \f$x\f$ to /// the representations in the scene may cause new collisions for constraints that were not originally incorporated in /// the MLCP. /// /// \sa SurgSim::Math::MlcpProblem struct MlcpPhysicsProblem : public SurgSim::Math::MlcpProblem { /// Destructor ~MlcpPhysicsProblem() override; /// The matrix \f$\mathbf{H}\f$, which is a matrix of size \f$c\times n\f$ that converts from /// the \f$n\f$ degrees of freedom in the system (i.e., the sum of all the DOF over all the representations in the /// scene), to the /// \f$c\f$ degrees of freedom summed over all the constraints being applied to the system. /// It is used to convert the vector of \f$n\f$ displacements of each degree of freedom of the system to the vector /// of \f$c\f$ displacements of each degree of freedom of the constraints. /// Given a set of constraints \f$\mathbf{G}(t, \mathbf{x})\f$, then /// \f$\mathbf{H} = \frac{d \mathbf{G}}{d \mathbf{x}}\f$ (i.e., the constraints' tangential space). Eigen::SparseMatrix H; /// The matrix \f$\mathbf{C\;H^T}\f$, which is a matrix of size \f$n\times c\f$ that is used to convert the /// vector of \f$c\f$ constraint forces to the \f$n\f$ displacements of each degree of freedom of the system. Matrix CHt; /// Applies a new constraint to a specific Representation /// \param newSubH New constraint to be added to H /// \param newCHt Compliance matrix (system matrix inverse) times newSubH /// \param indexSubC Index of the Representation's compliance matrix /// \param indexNewSubH Index of the new constraint within H void updateConstraint( const Eigen::SparseVector& newSubH, const Vector& newCHt, size_t indexSubC, size_t indexNewSubH); /// Resize an MlcpPhysicsProblem and set to zero. /// \param numDof the total degrees of freedom. /// \param numConstraintDof the total constrained degrees of freedom. /// \param numConstraints the number of constraints. void setZero(size_t numDof, size_t numConstraintDof, size_t numConstraints) override; /// Initialize an MlcpPhysicsProblem with zero values. /// \param numDof the total degrees of freedom for the MlcpPhysicsProblem to be constructed. /// \param numConstraintDof the total constrained degrees of freedom for the MlcpPhysicsProblem to be constructed. /// \param numConstraints the number of constraints for the MlcpPhysicsProblem to be constructed. /// \return An MlcpPhysicsProblem appropriately sized and initialized to zero. static MlcpPhysicsProblem Zero(size_t numDof, size_t numConstraintDof, size_t numConstraints); }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_MLCPPHYSICSPROBLEM_H opensurgsim-0.7.0/SurgSim/Physics/MlcpPhysicsSolution.h000066400000000000000000000027651277777236100233050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_MLCPPHYSICSSOLUTION_H #define SURGSIM_PHYSICS_MLCPPHYSICSSOLUTION_H #include "SurgSim/Math/MlcpSolution.h" namespace SurgSim { namespace Physics { /// The description of a solution to a \ref MlcpPhysicsProblem "physical MLCP problem". /// /// The solution consists of a \ref SurgSim::Math::MlcpSolution "mathematical solution for the MLCP" and /// the vector \ref dofCorrection containing the displacements (corrections) for each degree of freedom /// present in the system. /// /// \sa SurgSim::Math::MlcpSolution, MlcpPhysicsProblem, SurgSim::Math::MlcpSolver struct MlcpPhysicsSolution: public SurgSim::Math::MlcpSolution { /// Corrections to all of the degrees of freedom needed to satisfy the system equations. Vector dofCorrection; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_MLCPPHYSICSSOLUTION_H opensurgsim-0.7.0/SurgSim/Physics/ParticleCollisionResponse.cpp000066400000000000000000000026071277777236100247760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Particles/Representation.h" #include "SurgSim/Physics/ParticleCollisionResponse.h" #include "SurgSim/Physics/PhysicsManagerState.h" namespace SurgSim { namespace Physics { ParticleCollisionResponse::ParticleCollisionResponse(bool doCopyState) : Computation(doCopyState) { } std::shared_ptr ParticleCollisionResponse::doUpdate(const double& dt, const std::shared_ptr& state) { std::shared_ptr result = state; auto& particleRepresentations = result->getActiveParticleRepresentations(); for (auto& representation : particleRepresentations) { representation->handleCollisions(dt); } return result; } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/ParticleCollisionResponse.h000066400000000000000000000027521277777236100244440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_PARTICLECOLLISIONRESPONSE_H #define SURGSIM_PHYSICS_PARTICLECOLLISIONRESPONSE_H #include #include "SurgSim/Framework/Macros.h" #include "SurgSim/Physics/Computation.h" namespace SurgSim { namespace Physics { /// Allows the Particle Representations to respond to collisions class ParticleCollisionResponse : public Computation { public: /// Constructor /// \param doCopyState Specify if the output state in Computation::Update() is a copy or not of the input state explicit ParticleCollisionResponse(bool doCopyState = false); SURGSIM_CLASSNAME(SurgSim::Physics::ParticleCollisionResponse); protected: std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; }; }; // Physics }; // SurgSim #endif //SURGSIM_PHYSICS_PARTICLECOLLISIONRESPONSE_H opensurgsim-0.7.0/SurgSim/Physics/PerformanceTests/000077500000000000000000000000001277777236100224135ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Physics/PerformanceTests/CMakeLists.txt000066400000000000000000000023071277777236100251550ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ${OPENTHREADS_INCLUDE_DIR} ) set(UNIT_TEST_SOURCES DivisibleCubeRepresentation.cpp Fem3DPerformanceTest.cpp Fem3DSolutionComponentsTest.cpp ) set(UNIT_TEST_HEADERS DivisibleCubeRepresentation.h ) set(LIBS SurgSimInput SurgSimPhysics ) # Configure the path for the data files configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) surgsim_add_unit_tests(SurgSimPhysicsPerformanceTest) set_target_properties(SurgSimPhysicsPerformanceTest PROPERTIES FOLDER "Physics") opensurgsim-0.7.0/SurgSim/Physics/PerformanceTests/DivisibleCubeRepresentation.cpp000066400000000000000000000145041277777236100305570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Assert.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem3DElementCube.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/PerformanceTests/DivisibleCubeRepresentation.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { DivisibleCubeRepresentation::DivisibleCubeRepresentation(const std::string& name, size_t nodesPerAxis) : Fem3DRepresentation(name), m_numNodesPerAxis(nodesPerAxis) { // Compute the center point of the cube SurgSim::Math::Vector3d center = SurgSim::Math::Vector3d::Zero(); // Compute the cube's corners for the Fem3d simulation double halfLength = static_cast(nodesPerAxis); Vector3d X = Vector3d::UnitX(); Vector3d Y = Vector3d::UnitY(); Vector3d Z = Vector3d::UnitZ(); m_cubeNodes[0] = center - halfLength * X - halfLength * Y - halfLength * Z; m_cubeNodes[1] = center + halfLength * X - halfLength * Y - halfLength * Z; m_cubeNodes[2] = center - halfLength * X + halfLength * Y - halfLength * Z; m_cubeNodes[3] = center + halfLength * X + halfLength * Y - halfLength * Z; m_cubeNodes[4] = center - halfLength * X - halfLength * Y + halfLength * Z; m_cubeNodes[5] = center + halfLength * X - halfLength * Y + halfLength * Z; m_cubeNodes[6] = center - halfLength * X + halfLength * Y + halfLength * Z; m_cubeNodes[7] = center + halfLength * X + halfLength * Y + halfLength * Z; auto initialState = std::make_shared(); fillUpDeformableState(initialState); setInitialState(initialState); addFemCubes(initialState); } bool DivisibleCubeRepresentation::initializeNoWakeUp() { return doInitialize(); } std::shared_ptr DivisibleCubeRepresentation::getOdeSolver() { return m_odeSolver; } /// Convert a node index from a 3d indexing to a 1d indexing /// \param i, j, k Indices along the X, Y and Z axis /// \return Unique index of the corresponding point (to access a linear array for example) size_t DivisibleCubeRepresentation::get1DIndexFrom3D(size_t i, size_t j, size_t k) { return m_numNodesPerAxis * m_numNodesPerAxis * i + m_numNodesPerAxis * j + k; } /// Fills up a given state with the cube's nodes, border nodes, and internal nodes /// \param[in,out] state The state to be filled up void DivisibleCubeRepresentation::fillUpDeformableState(std::shared_ptr state) { SURGSIM_ASSERT(state != nullptr); state->setNumDof(getNumDofPerNode(), m_numNodesPerAxis * m_numNodesPerAxis * m_numNodesPerAxis); SurgSim::Math::Vector& nodePositions = state->getPositions(); for (size_t i = 0; i < m_numNodesPerAxis; i++) { // For a given index i, we intersect the cube with a (Y Z) plane, which defines a square on a (Y Z) plane Vector3d extremitiesX0[4] = {m_cubeNodes[0], m_cubeNodes[2], m_cubeNodes[4], m_cubeNodes[6]}; Vector3d extremitiesX1[4] = {m_cubeNodes[1], m_cubeNodes[3], m_cubeNodes[5], m_cubeNodes[7]}; Vector3d extremitiesXi[4]; double coefI = static_cast(i) / (static_cast(m_numNodesPerAxis) - 1.0); for (size_t index = 0; index < 4; index++) { extremitiesXi[index] = extremitiesX0[index] * (1.0 - coefI) + extremitiesX1[index] * coefI; } for (size_t j = 0; j < m_numNodesPerAxis; j++) { // For a given index j, we intersect the square with a (X Z) plane, which defines a line along (Z) Vector3d extremitiesY0[2] = {extremitiesXi[0], extremitiesXi[2]}; Vector3d extremitiesY1[2] = {extremitiesXi[1], extremitiesXi[3]}; Vector3d extremitiesYi[2]; double coefJ = static_cast(j) / (static_cast(m_numNodesPerAxis) - 1.0); for (size_t index = 0; index < 2; index++) { extremitiesYi[index] = extremitiesY0[index] * (1.0 - coefJ) + extremitiesY1[index] * coefJ; } for (size_t k = 0; k < m_numNodesPerAxis; k++) { // For a given index k, we intersect the line with a (X Y) plane, which defines a 3d point double coefK = static_cast(k) / (static_cast(m_numNodesPerAxis) - 1.0); Vector3d position3d = extremitiesYi[0] * (1.0 - coefK) + extremitiesYi[1] * coefK; SurgSim::Math::setSubVector(position3d, get1DIndexFrom3D(i, j, k), 3, &nodePositions); } } } } /// Adds the Fem3D elements of small cubes /// \param state The state for initialization. void DivisibleCubeRepresentation::addFemCubes(std::shared_ptr state) { for (size_t i = 0; i < m_numNodesPerAxis - 1; i++) { for (size_t j = 0; j < m_numNodesPerAxis - 1; j++) { for (size_t k = 0; k < m_numNodesPerAxis - 1; k++) { std::array cubeNodeIds; cubeNodeIds[0] = get1DIndexFrom3D(i , j , k); cubeNodeIds[1] = get1DIndexFrom3D(i + 1, j , k); cubeNodeIds[2] = get1DIndexFrom3D(i , j + 1, k); cubeNodeIds[3] = get1DIndexFrom3D(i + 1, j + 1, k); cubeNodeIds[4] = get1DIndexFrom3D(i , j , k + 1); cubeNodeIds[5] = get1DIndexFrom3D(i + 1, j , k + 1); cubeNodeIds[6] = get1DIndexFrom3D(i , j + 1, k + 1); cubeNodeIds[7] = get1DIndexFrom3D(i + 1, j + 1, k + 1); std::array cube = {cubeNodeIds[0], cubeNodeIds[1], cubeNodeIds[3], cubeNodeIds[2], cubeNodeIds[4], cubeNodeIds[5], cubeNodeIds[7], cubeNodeIds[6] }; // Add Fem3DElementCube for each cube std::shared_ptr femElement = std::make_shared(cube); femElement->setMassDensity(980.0); // 0.98 g/cm^-3 (2-part silicone rubber a.k.a. RTV6166) femElement->setPoissonRatio(0.499); // From the paper (near 0.5) femElement->setYoungModulus(15.3e3); // 15.3 kPa (From the paper) femElement->initialize(*state); addFemElement(femElement); } } } } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/PerformanceTests/DivisibleCubeRepresentation.h000066400000000000000000000051001277777236100302140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_PERFORMANCETESTS_DIVISIBLECUBEREPRESENTATION_H #define SURGSIM_PHYSICS_PERFORMANCETESTS_DIVISIBLECUBEREPRESENTATION_H #include "SurgSim/Framework/Assert.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem3DElementCube.h" #include "SurgSim/Physics/Fem3DRepresentation.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { class DivisibleCubeRepresentation : public Fem3DRepresentation { public: /// Constructor /// \param name The name of the divisible cube representation. /// \param nodesPerAxis The number of nodes per axis DivisibleCubeRepresentation(const std::string& name, size_t nodesPerAxis); /// Initialize without setting up the complete system so that we can separately /// time the component algorithms. /// \return Initialization success or failure bool initializeNoWakeUp(); /// Return a pointer to the OdeSolver component /// \return The ODE solver std::shared_ptr getOdeSolver(); protected: /// Convert a node index from a 3d indexing to a 1d indexing /// \param i, j, k Indices along the X, Y and Z axis /// \return Unique index of the corresponding point (to access a linear array for example) size_t get1DIndexFrom3D(size_t i, size_t j, size_t k); /// Fills up a given state with the cube's nodes, border nodes, and internal nodes /// \param[in,out] state The state to be filled up void fillUpDeformableState(std::shared_ptr state); /// Adds the Fem3D elements of small cubes /// \param state The state for initialization. void addFemCubes(std::shared_ptr state); private: // Number of point per dimensions size_t m_numNodesPerAxis; // Corner nodes of the original cube std::array m_cubeNodes; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_PERFORMANCETESTS_DIVISIBLECUBEREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Physics/PerformanceTests/Fem3DPerformanceTest.cpp000066400000000000000000000224631277777236100270460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Timer.h" #include "SurgSim/Math/LinearSparseSolveAndInverse.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem3DPlyReaderDelegate.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/Fem3DElementCube.h" #include "SurgSim/Physics/PerformanceTests/DivisibleCubeRepresentation.h" #include "SurgSim/Testing/MockPhysicsManager.h" using SurgSim::Math::Vector3d; namespace { static const double dt = 0.001; static const double maxIterationConstant = 0.1; static const double tolerance = 1.0e-03; static const int frameCount = 10; static std::unordered_map> getIntegrationSchemeNames() { std::unordered_map> result; #define FEM3DPERFORMANCETEST_MAP_NAME(map, name) (map)[name] = #name FEM3DPERFORMANCETEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT); FEM3DPERFORMANCETEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT); FEM3DPERFORMANCETEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED); FEM3DPERFORMANCETEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT_MODIFIED); FEM3DPERFORMANCETEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_EULER_IMPLICIT); FEM3DPERFORMANCETEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT); FEM3DPERFORMANCETEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_STATIC); FEM3DPERFORMANCETEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC); FEM3DPERFORMANCETEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_RUNGE_KUTTA_4); FEM3DPERFORMANCETEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4); #undef FEM3DPERFORMANCETEST_MAP_NAME return result; } static std::unordered_map> getLinearSolverNames() { std::unordered_map> result; #define FEM3DPERFORMANCETEST_MAP_NAME(map, name) (map)[name] = #name FEM3DPERFORMANCETEST_MAP_NAME(result, SurgSim::Math::LINEARSOLVER_LU); FEM3DPERFORMANCETEST_MAP_NAME(result, SurgSim::Math::LINEARSOLVER_CONJUGATEGRADIENT); #undef FEM3DPERFORMANCETEST_MAP_NAME return result; } static std::unordered_map> IntegrationSchemeNames = getIntegrationSchemeNames(); static std::unordered_map> LinearSolverNames = getLinearSolverNames(); } namespace SurgSim { namespace Physics { class Fem3DPerformanceTestBase : public ::testing::Test { public: virtual void SetUp() { m_physicsManager = std::make_shared(); m_physicsManager->doInitialize(); m_physicsManager->doStartUp(); m_runtime = std::make_shared("config.txt"); } void initializeRepresentation(std::shared_ptr fem) { fem->initialize(m_runtime); fem->wakeUp(); std::shared_ptr solver = std::dynamic_pointer_cast( fem->getOdeSolver()->getLinearSolver()); if (solver != nullptr) { solver->setMaxIterations(static_cast( maxIterationConstant * fem->getNumDof())); solver->setTolerance(tolerance); } m_physicsManager->executeAdditions(fem); } void initializeRepresentation(std::shared_ptr fem) { fem->initialize(std::make_shared("config.txt")); fem->wakeUp(); std::shared_ptr solver = std::dynamic_pointer_cast( fem->getOdeSolver()->getLinearSolver()); if (solver != nullptr) { solver->setMaxIterations(static_cast( maxIterationConstant * fem->getNumDof())); solver->setTolerance(tolerance); } m_physicsManager->executeAdditions(fem); } void performTimingTest() { SurgSim::Framework::Timer totalTime; totalTime.beginFrame(); SurgSim::Framework::Timer timer; timer.setMaxNumberOfFrames(frameCount); for (int i = 0; i < frameCount; i++) { timer.beginFrame(); m_physicsManager->doUpdate(dt); timer.endFrame(); } totalTime.endFrame(); RecordProperty("Duration", boost::to_string(totalTime.getCumulativeTime())); RecordProperty("FrameRate", boost::to_string(timer.getAverageFrameRate())); } protected: std::shared_ptr m_physicsManager; std::shared_ptr m_runtime; }; class IntegrationSchemeParamTest : public Fem3DPerformanceTestBase, public ::testing::WithParamInterface> { }; class IntegrationSchemeAndCountParamTest : public Fem3DPerformanceTestBase, public ::testing::WithParamInterface> { }; TEST_P(IntegrationSchemeParamTest, WoundTest) { SurgSim::Math::IntegrationScheme integrationScheme; SurgSim::Math::LinearSolver linearSolver; std::tie(integrationScheme, linearSolver) = GetParam(); RecordProperty("IntegrationScheme", IntegrationSchemeNames[integrationScheme]); RecordProperty("LinearSolver", LinearSolverNames[linearSolver]); auto fem = std::make_shared("wound"); fem->loadFem("Geometry/wound_deformable.ply"); fem->setIntegrationScheme(integrationScheme); fem->setLinearSolver(linearSolver); initializeRepresentation(fem); performTimingTest(); } TEST_P(IntegrationSchemeAndCountParamTest, CubeTest) { int numCubes; SurgSim::Math::IntegrationScheme integrationScheme; SurgSim::Math::LinearSolver linearSolver; std::tie(integrationScheme, linearSolver, numCubes) = GetParam(); RecordProperty("IntegrationScheme", IntegrationSchemeNames[integrationScheme]); RecordProperty("CubeDivisions", boost::to_string(numCubes)); RecordProperty("LinearSolver", LinearSolverNames[linearSolver]); auto fem = std::make_shared("cube", numCubes); // We need to add some boundary conditions for the static solver to not run into a singular matrix std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(0); std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(1); std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(2); fem->setIntegrationScheme(integrationScheme); fem->setLinearSolver(linearSolver); initializeRepresentation(fem); performTimingTest(); } INSTANTIATE_TEST_CASE_P(Fem3DPerformanceTest, IntegrationSchemeParamTest, ::testing::Combine(::testing::Values(SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT, SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT_MODIFIED, SurgSim::Math::INTEGRATIONSCHEME_EULER_IMPLICIT, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT, SurgSim::Math::INTEGRATIONSCHEME_STATIC, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC, SurgSim::Math::INTEGRATIONSCHEME_RUNGE_KUTTA_4, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4), ::testing::Values(SurgSim::Math::LINEARSOLVER_LU, SurgSim::Math::LINEARSOLVER_CONJUGATEGRADIENT))); INSTANTIATE_TEST_CASE_P( Fem3DPerformanceTest, IntegrationSchemeAndCountParamTest, ::testing::Combine(::testing::Values(SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT, SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT_MODIFIED, SurgSim::Math::INTEGRATIONSCHEME_EULER_IMPLICIT, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT, SurgSim::Math::INTEGRATIONSCHEME_STATIC, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC, SurgSim::Math::INTEGRATIONSCHEME_RUNGE_KUTTA_4, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4), ::testing::Values(SurgSim::Math::LINEARSOLVER_LU, SurgSim::Math::LINEARSOLVER_CONJUGATEGRADIENT), ::testing::Values(2, 3, 4, 5, 6, 7, 8))); } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/PerformanceTests/Fem3DSolutionComponentsTest.cpp000066400000000000000000000331771277777236100304730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Timer.h" #include "SurgSim/Math/LinearSparseSolveAndInverse.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem3DPlyReaderDelegate.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/Fem3DElementCube.h" #include "SurgSim/Physics/PerformanceTests/DivisibleCubeRepresentation.h" #include "SurgSim/Testing/MockPhysicsManager.h" using SurgSim::Math::Vector3d; namespace { static const double dt = 0.001; static const double maxIterationConstant = 0.1; static const double tolerance = 1.0e-03; static const int frameCount = 10; static std::unordered_map> getIntegrationSchemeNames() { std::unordered_map> result; #define FEM3DSOLUTIONCOMPONEMENTSTEST_MAP_NAME(map, name) (map)[name] = #name FEM3DSOLUTIONCOMPONEMENTSTEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT); FEM3DSOLUTIONCOMPONEMENTSTEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT); FEM3DSOLUTIONCOMPONEMENTSTEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED); FEM3DSOLUTIONCOMPONEMENTSTEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT_MODIFIED); FEM3DSOLUTIONCOMPONEMENTSTEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_EULER_IMPLICIT); FEM3DSOLUTIONCOMPONEMENTSTEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT); FEM3DSOLUTIONCOMPONEMENTSTEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_STATIC); FEM3DSOLUTIONCOMPONEMENTSTEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC); FEM3DSOLUTIONCOMPONEMENTSTEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_RUNGE_KUTTA_4); FEM3DSOLUTIONCOMPONEMENTSTEST_MAP_NAME(result, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4); #undef FEM3DSOLUTIONCOMPONEMENTSTEST_MAP_NAME return result; } static std::unordered_map> getLinearSolverNames() { std::unordered_map> result; #define FEM3DSOLUTIONCOMPONENTSTEST_MAP_NAME(map, name) (map)[name] = #name FEM3DSOLUTIONCOMPONENTSTEST_MAP_NAME(result, SurgSim::Math::LINEARSOLVER_LU); FEM3DSOLUTIONCOMPONENTSTEST_MAP_NAME(result, SurgSim::Math::LINEARSOLVER_CONJUGATEGRADIENT); #undef FEM3DSOLUTIONCOMPONENTSTEST_MAP_NAME return result; } static std::unordered_map> IntegrationSchemeNames = getIntegrationSchemeNames(); static std::unordered_map> LinearSolverNames = getLinearSolverNames(); } namespace SurgSim { namespace Physics { class Fem3DSolutionComponentsTestBase : public ::testing::Test { public: virtual void SetUp() { m_physicsManager = std::make_shared(); m_physicsManager->doInitialize(); m_physicsManager->doStartUp(); } void timeInitializeRepresentation(std::shared_ptr fem) { SurgSim::Framework::Timer totalTime; totalTime.beginFrame(); for (int i = 0; i < frameCount; i++) { fem->initializeNoWakeUp(); } totalTime.endFrame(); RecordProperty("Duration", boost::to_string(totalTime.getCumulativeTime())); } void timeMatrixAssembly(std::shared_ptr fem) { SurgSim::Framework::Timer totalTime; totalTime.beginFrame(); for (int i = 0; i < frameCount; i++) { fem->getOdeSolver()->computeMatrices(dt, *(fem->getInitialState()), false); } totalTime.endFrame(); RecordProperty("Duration", boost::to_string(totalTime.getCumulativeTime())); } void timeComputeLinearSystem(std::shared_ptr fem) { fem->getOdeSolver()->computeMatrices(dt, *(fem->getInitialState()), false); SurgSim::Framework::Timer totalTime; totalTime.beginFrame(); for (int i = 0; i < frameCount; i++) { fem->getOdeSolver()->getLinearSolver()->setMatrix(fem->getOdeSolver()->getSystemMatrix()); } totalTime.endFrame(); RecordProperty("Duration", boost::to_string(totalTime.getCumulativeTime())); } void timeSolveSystem(std::shared_ptr fem) { fem->getOdeSolver()->computeMatrices(dt, *(fem->getInitialState()), false); fem->getOdeSolver()->getLinearSolver()->setMatrix(fem->getOdeSolver()->getSystemMatrix()); std::shared_ptr solver = std::dynamic_pointer_cast( fem->getOdeSolver()->getLinearSolver()); if (solver != nullptr) { solver->setMaxIterations(static_cast( maxIterationConstant * fem->getNumDof())); solver->setTolerance(tolerance); } SurgSim::Framework::Timer totalTime; totalTime.beginFrame(); for (int i = 0; i < frameCount; i++) { fem->getOdeSolver()->getLinearSolver()->solve(Math::Vector::Ones(fem->getInitialState()->getNumDof())); } totalTime.endFrame(); RecordProperty("Duration", boost::to_string(totalTime.getCumulativeTime())); } void timeInvertSystem(std::shared_ptr fem) { fem->getOdeSolver()->computeMatrices(dt, *(fem->getInitialState()), false); fem->getOdeSolver()->getLinearSolver()->setMatrix(fem->getOdeSolver()->getSystemMatrix()); std::shared_ptr solver = std::dynamic_pointer_cast( fem->getOdeSolver()->getLinearSolver()); if (solver != nullptr) { solver->setMaxIterations(static_cast( maxIterationConstant * fem->getNumDof())); solver->setTolerance(tolerance); } SurgSim::Framework::Timer totalTime; totalTime.beginFrame(); for (int i = 0; i < frameCount; i++) { fem->getOdeSolver()->getLinearSolver()->getInverse(); } totalTime.endFrame(); RecordProperty("Duration", boost::to_string(totalTime.getCumulativeTime())); } void initializeRepresentation(std::shared_ptr fem) { fem->initialize(std::make_shared()); fem->wakeUp(); m_physicsManager->executeAdditions(fem); } protected: std::shared_ptr m_physicsManager; }; class ComponentIntegrationSchemeAndCountParamTest : public Fem3DSolutionComponentsTestBase, public ::testing::WithParamInterface> { }; TEST_P(ComponentIntegrationSchemeAndCountParamTest, TimeMatrixInitialization) { int numCubes; SurgSim::Math::IntegrationScheme integrationScheme; SurgSim::Math::LinearSolver linearSolver; std::tie(integrationScheme, linearSolver, numCubes) = GetParam(); RecordProperty("IntegrationScheme", IntegrationSchemeNames[integrationScheme]); RecordProperty("LinearSolver", LinearSolverNames[linearSolver]); RecordProperty("CubeDivisions", boost::to_string(numCubes)); auto fem = std::make_shared("cube", numCubes); // We need to add some boundary conditions for the static solver to not run into a singular matrix std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(0); std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(1); std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(2); fem->setIntegrationScheme(integrationScheme); fem->setLinearSolver(linearSolver); timeInitializeRepresentation(fem); } TEST_P(ComponentIntegrationSchemeAndCountParamTest, TimeMatrixAssembly) { int numCubes; SurgSim::Math::IntegrationScheme integrationScheme; SurgSim::Math::LinearSolver linearSolver; std::tie(integrationScheme, linearSolver, numCubes) = GetParam(); RecordProperty("IntegrationScheme", IntegrationSchemeNames[integrationScheme]); RecordProperty("LinearSolver", LinearSolverNames[linearSolver]); RecordProperty("CubeDivisions", boost::to_string(numCubes)); auto fem = std::make_shared("cube", numCubes); fem->setIntegrationScheme(integrationScheme); fem->setLinearSolver(linearSolver); // We need to add some boundary conditions for the static solver to not run into a singular matrix std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(0); std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(1); std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(2); initializeRepresentation(fem); timeMatrixAssembly(fem); } TEST_P(ComponentIntegrationSchemeAndCountParamTest, TimeComputeLinearSystem) { int numCubes; SurgSim::Math::IntegrationScheme integrationScheme; SurgSim::Math::LinearSolver linearSolver; std::tie(integrationScheme, linearSolver, numCubes) = GetParam(); RecordProperty("IntegrationScheme", IntegrationSchemeNames[integrationScheme]); RecordProperty("LinearSolver", LinearSolverNames[linearSolver]); RecordProperty("CubeDivisions", boost::to_string(numCubes)); auto fem = std::make_shared("cube", numCubes); fem->setIntegrationScheme(integrationScheme); fem->setLinearSolver(linearSolver); // We need to add some boundary conditions for the static solver to not run into a singular matrix std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(0); std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(1); std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(2); initializeRepresentation(fem); timeComputeLinearSystem(fem); } TEST_P(ComponentIntegrationSchemeAndCountParamTest, TimeSolveSystem) { int numCubes; SurgSim::Math::IntegrationScheme integrationScheme; SurgSim::Math::LinearSolver linearSolver; std::tie(integrationScheme, linearSolver, numCubes) = GetParam(); RecordProperty("IntegrationScheme", IntegrationSchemeNames[integrationScheme]); RecordProperty("LinearSolver", LinearSolverNames[linearSolver]); RecordProperty("CubeDivisions", boost::to_string(numCubes)); auto fem = std::make_shared("cube", numCubes); fem->setIntegrationScheme(integrationScheme); fem->setLinearSolver(linearSolver); // We need to add some boundary conditions for the static solver to not run into a singular matrix std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(0); std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(1); std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(2); initializeRepresentation(fem); timeSolveSystem(fem); } TEST_P(ComponentIntegrationSchemeAndCountParamTest, TimeInvertSystem) { int numCubes; SurgSim::Math::IntegrationScheme integrationScheme; SurgSim::Math::LinearSolver linearSolver; std::tie(integrationScheme, linearSolver, numCubes) = GetParam(); RecordProperty("IntegrationScheme", IntegrationSchemeNames[integrationScheme]); RecordProperty("LinearSolver", LinearSolverNames[linearSolver]); RecordProperty("CubeDivisions", boost::to_string(numCubes)); auto fem = std::make_shared("cube", numCubes); fem->setIntegrationScheme(integrationScheme); fem->setLinearSolver(linearSolver); // We need to add some boundary conditions for the static solver to not run into a singular matrix std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(0); std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(1); std::const_pointer_cast(fem->getInitialState())->addBoundaryCondition(2); initializeRepresentation(fem); timeInvertSystem(fem); } INSTANTIATE_TEST_CASE_P( Fem3DSolutionComponentsTest, ComponentIntegrationSchemeAndCountParamTest, ::testing::Combine(::testing::Values(SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT, SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT_MODIFIED, SurgSim::Math::INTEGRATIONSCHEME_EULER_IMPLICIT, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT, SurgSim::Math::INTEGRATIONSCHEME_STATIC, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC, SurgSim::Math::INTEGRATIONSCHEME_RUNGE_KUTTA_4, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4), ::testing::Values(SurgSim::Math::LINEARSOLVER_LU, SurgSim::Math::LINEARSOLVER_CONJUGATEGRADIENT), ::testing::Values(2, 3, 4, 5, 6, 7, 8))); } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/PerformanceTests/config.txt.in000066400000000000000000000000541277777236100250250ustar00rootroot00000000000000${PROJECT_BINARY_DIR}/SurgSim/Testing/Data/ opensurgsim-0.7.0/SurgSim/Physics/PhysicsConvert.cpp000066400000000000000000000023771277777236100226270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/PhysicsConvert.h" #include "SurgSim/Physics/RigidState.h" namespace YAML { Node convert::encode(const SurgSim::Physics::RigidState& rhs) { YAML::Node data(rhs.encode()); YAML::Node result; result[rhs.getClassName()] = data; return result; } bool convert::decode( const Node& node, SurgSim::Physics::RigidState& rhs) //NOLINT { bool result = false; if (node[rhs.getClassName()].IsDefined()) { YAML::Node data; data = node[rhs.getClassName()]; rhs.decode(data); result = true; } return result; } } // namespace YAML opensurgsim-0.7.0/SurgSim/Physics/PhysicsConvert.h000066400000000000000000000021371277777236100222660ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_PHYSICSCONVERT_H #define SURGSIM_PHYSICS_PHYSICSCONVERT_H #include namespace SurgSim { namespace Physics { class RigidState; } } namespace YAML { template <> struct convert { static Node encode(const SurgSim::Physics::RigidState& rhs); static bool decode(const Node& node, SurgSim::Physics::RigidState& rhs); //NOLINT }; }; // namespace YAML #endif // SURGSIM_PHYSICS_PHYSICSCONVERT_H opensurgsim-0.7.0/SurgSim/Physics/PhysicsManager.cpp000066400000000000000000000171351277777236100225570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Physics/PhysicsManager.h" #include "SurgSim/Framework/Component.h" #include "SurgSim/Physics/BuildMlcp.h" #include "SurgSim/Physics/CcdCollision.h" #include "SurgSim/Physics/CcdCollisionLoop.h" #include "SurgSim/Physics/ConstraintComponent.h" #include "SurgSim/Physics/ContactConstraintGeneration.h" #include "SurgSim/Physics/ContactFiltering.h" #include "SurgSim/Physics/DcdCollision.h" #include "SurgSim/Physics/FreeMotion.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/ParticleCollisionResponse.h" #include "SurgSim/Physics/PostUpdate.h" #include "SurgSim/Physics/PrepareCollisionPairs.h" #include "SurgSim/Physics/PreUpdate.h" #include "SurgSim/Physics/PushResults.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/SolveMlcp.h" #include "SurgSim/Physics/UpdateCollisionData.h" #include "SurgSim/Physics/UpdateCollisionRepresentations.h" #include "SurgSim/Physics/UpdateDcdData.h" namespace SurgSim { namespace Physics { PhysicsManager::PhysicsManager() : ComponentManager("Physics Manager") { setRate(1000.0); } PhysicsManager::~PhysicsManager() { } int PhysicsManager::getType() const { return SurgSim::Framework::MANAGER_TYPE_PHYSICS; } bool PhysicsManager::doInitialize() { if (m_computations.size() == 0) { setComputations(createDcdPipeline(false)); } return true; } void PhysicsManager::addComputation(std::shared_ptr computation) { SURGSIM_ASSERT(!isInitialized()) << "Can't reconfigure the physics manager after it has been initialized"; m_computations.push_back(computation); } void PhysicsManager::setComputations(std::vector> computations) { SURGSIM_ASSERT(!isInitialized()) << "Can't reconfigure the physics manager after it has been initialized"; m_computations = computations; } bool PhysicsManager::doStartUp() { return true; } void PhysicsManager::getFinalState(SurgSim::Physics::PhysicsManagerState* s) const { m_finalState.get(s); } bool PhysicsManager::executeAdditions(const std::shared_ptr& component) { std::shared_ptr representation = tryAddComponent(component, &m_representations); std::shared_ptr collisionRep = tryAddComponent(component, &m_collisionRepresentations); std::shared_ptr contactFilter = tryAddComponent(component, &m_contactFilters); std::shared_ptr particles = tryAddComponent(component, &m_particleRepresentations); std::shared_ptr constraintComponent = tryAddComponent(component, &m_constraintComponents); return representation != nullptr || collisionRep != nullptr || contactFilter != nullptr || particles != nullptr || constraintComponent != nullptr; } bool PhysicsManager::executeRemovals(const std::shared_ptr& component) { return tryRemoveComponent(component, &m_representations) || tryRemoveComponent(component, &m_collisionRepresentations) || tryRemoveComponent(component, &m_contactFilters) || tryRemoveComponent(component, &m_constraintComponents) || tryRemoveComponent(component, &m_particleRepresentations); } bool PhysicsManager::doUpdate(double dt) { processBehaviors(dt); processComponents(); auto state = std::make_shared(); std::list> stateList(1, state); state->setRepresentations(m_representations); state->setCollisionRepresentations(m_collisionRepresentations); state->setContactFilters(m_contactFilters); state->setParticleRepresentations(m_particleRepresentations); state->setConstraintComponents(m_constraintComponents); for (const auto& computation : m_computations) { stateList.push_back(computation->update(dt, stateList.back())); } if (m_logger->getThreshold() <= SURGSIM_LOG_LEVEL(DEBUG)) { if (m_computations.front()->getTimer().isBufferFull()) { double totalTime = 0.0; for (const auto& computation : m_computations) { totalTime += computation->getTimer().getAverageFramePeriod(); } const size_t newFrames = static_cast(10.0 / std::max(totalTime, dt)); for (const auto& computation : m_computations) { auto& timer = computation->getTimer(); const double period = timer.getAverageFramePeriod(); SURGSIM_LOG_DEBUG(m_logger) << std::fixed << std::setprecision(0) << computation->getClassName() << " \taverage duration " << 1e6 * period << " us (max " << 1e6 * timer.getMaxFramePeriod() << " us), " << 100.0 * period / totalTime << "% of Physics."; timer.setMaxNumberOfFrames(newFrames); timer.start(); } } } m_finalState.set(*(stateList.back())); return true; } void PhysicsManager::doBeforeStop() { // Empty the physics manager state m_finalState.set(PhysicsManagerState()); // Give all known components a chance to untangle themselves retireComponents(m_representations); retireComponents(m_particleRepresentations); retireComponents(m_collisionRepresentations); retireComponents(m_constraintComponents); // Call up the class hierarchy ComponentManager::doBeforeStop(); } std::vector> createDcdPipeline(bool copyState) { // When updating this don't forget to update the documentation for this function std::vector> result; result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); return result; } std::vector> createCcdPipeline(bool copyState) { // When updating this don't forget to update the documentation for this function std::vector> result; result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); result.push_back(std::make_shared(copyState)); return result; } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/PhysicsManager.h000066400000000000000000000107341277777236100222220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_PHYSICSMANAGER_H #define SURGSIM_PHYSICS_PHYSICSMANAGER_H #include #include #include #include #include "SurgSim/Framework/ComponentManager.h" #include "SurgSim/Framework/LockedContainer.h" #include "SurgSim/Physics/PhysicsManagerState.h" namespace SurgSim { namespace Collision { class CollisionPair; class Representation; class ContactFilter; } namespace Framework { class Component; } namespace Particles { class Representation; } namespace Physics { class Computation; /// PhyicsManager handles the physics and motion calculation, it uses Computations to /// separate the algorithmic steps into smaller pieces. /// The PhysicsManager pipeline can be configured, using the /// addComputation/setComputaton method. class PhysicsManager : public SurgSim::Framework::ComponentManager { public: /// Constructor PhysicsManager(); virtual ~PhysicsManager(); /// Overrides ComponentManager::getType() int getType() const override; friend class PhysicsManagerTest; /// Get the last PhysicsManagerState from the previous PhysicsManager update. /// \param [out] s pointer to an allocated PhysicsManagerState object. /// \warning The state contains many pointers. The objects pointed to are not thread-safe. void getFinalState(SurgSim::Physics::PhysicsManagerState* s) const; /// Add a computation to the list of computations to perform each update /// \note The computations will be run in order they were added. This can't be done after initialization /// \param computation The Computation to add. void addComputation(std::shared_ptr computation); /// Set a group of computations, the computations will be run in the order in the vector /// \note this can't be done after initialization /// \param computations The computations that you want to set on the physics manager void setComputations(std::vector> computations); protected: bool executeAdditions(const std::shared_ptr& component) override; bool executeRemovals(const std::shared_ptr& component) override; /// Initialize the Physics Manager /// Derived class(es) should override this method to have a customized list of computations. /// \note Current default is to only use DCD contacts /// \sa SurgSim::Physics::Computation bool doInitialize() override; bool doStartUp() override; bool doUpdate(double dt) override; void doBeforeStop() override; std::vector> m_representations; std::vector> m_collisionRepresentations; std::vector> m_contactFilters; std::vector> m_particleRepresentations; std::vector> m_constraintComponents; /// A list of computations, to perform the physics update. std::vector> m_computations; /// A thread-safe copy of the last PhysicsManagerState in the previous update. SurgSim::Framework::LockedContainer m_finalState; }; /// Creates default DCD pipeline, this currently does basic DCD without regard to CCD /// \param copyState if true the physics manager will maintain a copy of the Physics manager state for each computation std::vector> createDcdPipeline(bool copyState = false); /// Create default CCD pipeline, this currently does basic CCD without regard to DCD /// \param copyState if true the physics manager will maintain a copy of the Physics manager state for each computation std::vector> createCcdPipeline(bool copyState = false); }; // namespace Physics }; // namespace SurgSim #endif opensurgsim-0.7.0/SurgSim/Physics/PhysicsManagerState.cpp000066400000000000000000000155261277777236100235620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ConstraintComponent.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" namespace SurgSim { namespace Physics { PhysicsManagerState::PhysicsManagerState() : m_abortGroup(false), m_timeOfImpact(0) { } PhysicsManagerState::~PhysicsManagerState() { } void PhysicsManagerState::setRepresentations(const std::vector>& val) { m_representations = val; m_collisionsToPhysicsMap.clear(); for (auto it = m_representations.begin(); it != m_representations.end(); it++) { if ((*it)->isActive()) { auto collision = (*it)->getCollisionRepresentation(); if (collision != nullptr) { m_collisionsToPhysicsMap[collision] = (*it); } } } } const std::vector>& PhysicsManagerState::getRepresentations() { return m_representations; } void PhysicsManagerState::setActiveRepresentations( const std::vector>& activeRepresentations) { m_activeRepresentations = activeRepresentations; } const std::vector>& PhysicsManagerState::getActiveRepresentations() const { return m_activeRepresentations; } const std::unordered_map < std::shared_ptr, std::shared_ptr>& PhysicsManagerState::getCollisionToPhysicsMap() const { return m_collisionsToPhysicsMap; } void PhysicsManagerState::setCollisionRepresentations( const std::vector>& val) { m_collisionRepresentations = val; } const std::vector>& PhysicsManagerState::getCollisionRepresentations() { return m_collisionRepresentations; } void PhysicsManagerState::setActiveCollisionRepresentations( const std::vector>& val) { m_activeCollisionRepresentations = val; } const std::vector>& PhysicsManagerState::getActiveCollisionRepresentations() { return m_activeCollisionRepresentations; } void PhysicsManagerState::setParticleRepresentations(const std::vector>& val) { m_particleRepresentations = val; } const std::vector>& PhysicsManagerState::getParticleRepresentations() { return m_particleRepresentations; } void PhysicsManagerState::setActiveParticleRepresentations( const std::vector>& val) { m_activeParticleRepresentations = val; } const std::vector>& PhysicsManagerState::getActiveParticleRepresentations() { return m_activeParticleRepresentations; } void PhysicsManagerState::setConstraintComponents(const std::vector>& val) { m_constraintComponents = val; std::vector>& constraints = m_constraints[CONSTRAINT_GROUP_TYPE_SCENE]; constraints.reserve(m_constraintComponents.size()); constraints.clear(); for (auto it = m_constraintComponents.cbegin(); it != m_constraintComponents.cend(); ++it) { if ((*it)->isActive() && (*it)->getConstraint()->isActive()) { constraints.push_back((*it)->getConstraint()); } } setConstraintGroup(CONSTRAINT_GROUP_TYPE_SCENE, constraints); } const std::vector>& PhysicsManagerState::getConstraintComponents() { return m_constraintComponents; } void PhysicsManagerState::setCollisionPairs(const std::vector>& val) { m_collisionPairs = val; } const std::vector>& PhysicsManagerState::getCollisionPairs() { return m_collisionPairs; } void PhysicsManagerState::setContactFilters(const std::vector>& val) { m_contactFilters = val; } std::vector> PhysicsManagerState::getContactFilters() const { return m_contactFilters; } void PhysicsManagerState::setConstraintGroup( ConstraintGroupType type, const std::vector>& constraints) { m_constraints[type] = constraints; } const std::vector>& PhysicsManagerState::getConstraintGroup(int type) const { if (m_constraints.count(type) > 0) { return m_constraints.at(type); } static std::vector> emptyVector; return emptyVector; } void PhysicsManagerState::setActiveConstraints( const std::vector>& activeConstraints) { m_activeConstraints = activeConstraints; } const std::vector>& PhysicsManagerState::getActiveConstraints() const { return m_activeConstraints; } MlcpPhysicsProblem& PhysicsManagerState::getMlcpProblem() { return m_mlcpPhysicsProblem; } const MlcpPhysicsProblem& PhysicsManagerState::getMlcpProblem() const { return m_mlcpPhysicsProblem; } MlcpPhysicsSolution& PhysicsManagerState::getMlcpSolution() { return m_mlcpPhysicsSolution; } const MlcpPhysicsSolution& PhysicsManagerState::getMlcpSolution() const { return m_mlcpPhysicsSolution; } const MlcpMapping& PhysicsManagerState::getRepresentationsMapping() const { return m_representationsIndexMapping; } void PhysicsManagerState::setRepresentationsMapping(const MlcpMapping& representationsMapping) { m_representationsIndexMapping = representationsMapping; } const MlcpMapping& PhysicsManagerState::getConstraintsMapping() const { return m_constraintsIndexMapping; } void PhysicsManagerState::setConstraintsMapping(const MlcpMapping& constraintsMapping) { m_constraintsIndexMapping = constraintsMapping; } void PhysicsManagerState::setTimeOfImpact(double timeOfImpact) { m_timeOfImpact = timeOfImpact; } double PhysicsManagerState::getTimeOfImpact() { return m_timeOfImpact; } bool PhysicsManagerState::shouldAbortGroup() const { return m_abortGroup; } void PhysicsManagerState::setAbortGroup(bool val) { m_abortGroup = val; } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/PhysicsManagerState.h000066400000000000000000000260711277777236100232240ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_PHYSICSMANAGERSTATE_H #define SURGSIM_PHYSICS_PHYSICSMANAGERSTATE_H #include #include #include #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/ContactFilter.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Particles/Representation.h" #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/MlcpMapping.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" #include "SurgSim/Physics/MlcpPhysicsSolution.h" #include "SurgSim/Physics/Representation.h" namespace SurgSim { namespace Physics { class ConstraintComponent; enum ConstraintGroupType { CONSTRAINT_GROUP_TYPE_CONTACT = 0, CONSTRAINT_GROUP_TYPE_SCENE, CONSTRAINT_GROUP_TYPE_COUNT }; class PhysicsManagerState { public: /// Constructor PhysicsManagerState(); /// Destructor ~PhysicsManagerState(); /// Sets the physics representations for the state, these are the basis for all the computations. /// \param val The list of representations. void setRepresentations(const std::vector>& val); /// Gets the physics representations. /// \return The physics representations that are known to the state. const std::vector>& getRepresentations(); /// Set the list of representations into the active representations list. /// \param activeRepresentations The active physics representations that are known to the state. void setActiveRepresentations(const std::vector>& activeRepresentations); /// Gets the active physics representations. /// \return The active physics representations that are known to the state. const std::vector>& getActiveRepresentations() const; /// Sets the collision representations for the state. /// \param val collection of all collision representations. void setCollisionRepresentations(const std::vector>& val); /// Gets the collision representations. /// \return The collision representations that are known to the state. const std::vector>& getCollisionRepresentations(); /// Sets the active collision representations for the state. /// \param val collection of all active collision representations. void setActiveCollisionRepresentations(const std::vector>& val); /// Gets the list of active collision representations. /// \return The active collision representations that are known to the state. const std::vector>& getActiveCollisionRepresentations(); /// Sets the particle representations for the state. /// \param val collection of all particle representations. void setParticleRepresentations(const std::vector>& val); /// Gets the particle representations. /// \return The particle representations that are known to the state. const std::vector>& getParticleRepresentations(); /// Sets the active particle representations for the state. /// \param val collection of all active particle representations. void setActiveParticleRepresentations(const std::vector>& val); /// Gets the list of active particle representations. /// \return The active particle representations that are known to the state. const std::vector>& getActiveParticleRepresentations(); /// Sets the list of constraint components /// \param val collection of all constraint components void setConstraintComponents(const std::vector>& val); /// Gets the constraint components /// \return The constraint components known to the state const std::vector>& getConstraintComponents(); /// \return A map that associates collision representations with physics representations where /// map[physicsRep->getCollisionRepresentation] = physicsRep const std::unordered_map, std::shared_ptr>& getCollisionToPhysicsMap() const; /// Sets collision pairs that should be considered, while this is not being verified the collision pairs /// should only be from the list of representations that are in this state. /// \param val The list of collision pairs. void setCollisionPairs(const std::vector>& val); /// Gets collision pairs. /// \return The collision pairs. const std::vector>& getCollisionPairs(); /// Set the list of contact filters /// \param val the list of contact filters void setContactFilters(const std::vector>& val); /// \return the list of contact filters std::vector> getContactFilters() const; /// Sets the group of constraints to a given value, the grouping indicates what type of constraint we are dealing /// with. /// \param type The type of constraint grouping e.g. Contact Constraints. /// \param constraints The constraints. void setConstraintGroup(ConstraintGroupType type, const std::vector>& constraints); /// Gets constraint group. /// \param type The type. /// \return The constraint group. const std::vector>& getConstraintGroup(int type) const; /// Filter the map of constraints into the active constraints list. /// \param activeConstraints The list of active constraints. void setActiveConstraints(const std::vector>& activeConstraints); /// \return The list of all active constraints. const std::vector>& getActiveConstraints() const; /// Gets the Mlcp problem /// \return The Mlcp problem for this physics manager state (read/write access). MlcpPhysicsProblem& getMlcpProblem(); /// Gets the Mlcp problem /// \return The Mlcp problem for this physics manager state (const). const MlcpPhysicsProblem& getMlcpProblem() const; /// Gets the Mlcp solution /// \return The Mlcp solution for this physics manager state (read/write access). MlcpPhysicsSolution& getMlcpSolution(); /// Gets the Mlcp solution /// \return The Mlcp solution for this physics manager state (const). const MlcpPhysicsSolution& getMlcpSolution() const; /// Gets the representations mapping /// \return The representations mapping (mapping between the representation and the mlcp) /// Each representation has an index in the mlcp. This mapping is about this index. const MlcpMapping& getRepresentationsMapping() const; /// Set the representations mapping /// \param representationsMapping The representations mapping (mapping between the representation and the mlcp) void setRepresentationsMapping(const MlcpMapping& representationsMapping); /// Gets the constraints mapping /// \return The constraints mapping (mapping between the constraints and the mlcp) /// Each constraint has an index in the mlcp. This mapping is about this index. const MlcpMapping& getConstraintsMapping() const; /// Set the constraints mapping /// \param constraintsMapping The constraints mapping (mapping between the constraints and the mlcp) void setConstraintsMapping(const MlcpMapping& constraintsMapping); /// Set the time of impact /// \param timeOfImpact the time of impact for CCD void setTimeOfImpact(double timeOfImpact); /// \return the last time of impact when a CCD calculation ran double getTimeOfImpact(); /// \return whether to abort a grouped computation by the calling group bool shouldAbortGroup() const; /// Set whether to abort the current grouped computation /// \param val set to true to signal to an above computation to abort void setAbortGroup(bool val); private: ///@{ /// Local state data structures, please note that the physics state may get copied, these data structures /// should copy their contents on copy. With the caveat that objects contained within those structures might /// not get copied themselves. /// The local list of representations std::vector> m_representations; /// The list of active representations. std::vector> m_activeRepresentations; /// List of all the collision representations known to the state std::vector> m_collisionRepresentations; /// List of all the active collision representations known to the state std::vector> m_activeCollisionRepresentations; /// List of all the collision filters known to the state std::vector > m_contactFilters; /// List of all the particle representations known to the state std::vector> m_particleRepresentations; /// List of all the active particle representations known to the state std::vector> m_activeParticleRepresentations; /// List of the constraint components std::vector> m_constraintComponents; /// Mapping of collision representations to their respective physics representation. std::unordered_map, std::shared_ptr> m_collisionsToPhysicsMap; /// The local list of collision pairs. std::vector> m_collisionPairs; /// The local map of constraints. std::unordered_map>> m_constraints; /// The list of active constraints. std::vector> m_activeConstraints; /// Representation mapping MlcpMapping m_representationsIndexMapping; /// Constraints mapping MlcpMapping m_constraintsIndexMapping; ///@} /// Mlcp problem for this Physics Manager State MlcpPhysicsProblem m_mlcpPhysicsProblem; /// Mlcp solution for this Physics Manager State MlcpPhysicsSolution m_mlcpPhysicsSolution; /// Flag for the abort group case bool m_abortGroup; /// last time of impact for a CCD calculation double m_timeOfImpact; }; }; // Physics }; // SurgSim #endif opensurgsim-0.7.0/SurgSim/Physics/PostUpdate.cpp000066400000000000000000000035351277777236100217310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Physics/PostUpdate.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/PhysicsManagerState.h" namespace SurgSim { namespace Physics { PostUpdate::PostUpdate(bool doCopyState) : Computation(doCopyState) { } PostUpdate::~PostUpdate() { } std::shared_ptr PostUpdate::doUpdate( const double& dt, const std::shared_ptr& state) { std::shared_ptr result = state; { const auto& representations = result->getActiveRepresentations(); for (auto& representation : representations) { representation->afterUpdate(dt); } } { // Clear the collisions auto const& representations = result->getCollisionRepresentations(); for (auto& representation : representations) { representation->getCollisions().unsafeGet().clear(); } // Update the representations with the contact data. auto& pairs = result->getCollisionPairs(); for (auto& pair : pairs) { pair->updateRepresentations(); } // Publish Results for (auto& representation : representations) { representation->getCollisions().publish(); } } return result; } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/PostUpdate.h000066400000000000000000000027631277777236100214000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_POSTUPDATE_H #define SURGSIM_PHYSICS_POSTUPDATE_H #include #include "SurgSim/Framework/Macros.h" #include "SurgSim/Physics/Computation.h" namespace SurgSim { namespace Physics { /// Post Update is called prior to anything else at the beginning of each time step class PostUpdate : public Computation { public: /// Constructor /// \param doCopyState Specify if the output state in Computation::Update() is a copy or not of the input state explicit PostUpdate(bool doCopyState = false); SURGSIM_CLASSNAME(SurgSim::Physics::PostUpdate); /// Destructor virtual ~PostUpdate(); protected: /// Override doUpdate from superclass std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; }; }; // Physics }; // SurgSim #endif // SURGSIM_PHYSICS_POSTUPDATE_H opensurgsim-0.7.0/SurgSim/Physics/PreUpdate.cpp000066400000000000000000000025051277777236100215260ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Physics/PreUpdate.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/PhysicsManagerState.h" namespace SurgSim { namespace Physics { PreUpdate::PreUpdate(bool doCopyState) : Computation(doCopyState) { } PreUpdate::~PreUpdate() { } std::shared_ptr PreUpdate::doUpdate( const double& dt, const std::shared_ptr& state) { std::shared_ptr result = state; auto& representations = result->getActiveRepresentations(); for (auto& representation : representations) { representation->beforeUpdate(dt); } return result; } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/PreUpdate.h000066400000000000000000000027461277777236100212020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_PREUPDATE_H #define SURGSIM_PHYSICS_PREUPDATE_H #include #include "SurgSim/Framework/Macros.h" #include "SurgSim/Physics/Computation.h" namespace SurgSim { namespace Physics { /// Pre Update is called after everything else is done in the physics time step class PreUpdate : public Computation { public: /// Constructor /// \param doCopyState Specify if the output state in Computation::Update() is a copy or not of the input state explicit PreUpdate(bool doCopyState = false); SURGSIM_CLASSNAME(SurgSim::Physics::PreUpdate); /// Destructor virtual ~PreUpdate(); protected: /// Override doUpdate from superclass std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; }; }; // Physics }; // SurgSim #endif // SURGSIM_PHYSICS_PREUPDATE_H opensurgsim-0.7.0/SurgSim/Physics/PrepareCollisionPairs.cpp000066400000000000000000000063551277777236100241150ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/PrepareCollisionPairs.h" #include "SurgSim/Math/Aabb.h" namespace SurgSim { namespace Physics { PrepareCollisionPairs::PrepareCollisionPairs(bool doCopyState) : Computation(doCopyState), m_timeSinceLog(0.0), m_logger(Framework::Logger::getLogger("Physics/PrepareCollisionPairs")) { } PrepareCollisionPairs::~PrepareCollisionPairs() { } std::shared_ptr PrepareCollisionPairs::doUpdate( const double& dt, const std::shared_ptr& state) { std::shared_ptr result = state; auto& representations = result->getActiveCollisionRepresentations(); std::vector> pairs; auto end = std::end(representations); for (auto first = std::begin(representations); first != end; ++first) { for (auto second = first; second != end; ++second) { if (!(*first)->isIgnoring(*second) && !(*second)->isIgnoring(*first)) { auto pair = std::make_shared(*first, *second); if (pair->getType() != Collision::COLLISION_DETECTION_TYPE_NONE && pair->mayIntersect()) { pairs.push_back(pair); } } } } result->setCollisionPairs(pairs); if (m_logger->getThreshold() <= SURGSIM_LOG_LEVEL(DEBUG)) { m_timeSinceLog += dt; if (m_timeSinceLog > 5.0) { m_timeSinceLog = 0.0; typedef std::tuple PairType; std::vector names; for (const auto& pair : pairs) { std::string first = pair->getFirst()->getFullName(); std::string second = pair->getSecond()->getFullName(); if (first < second) { names.emplace_back(first, second, pair->getType()); } else { names.emplace_back(second, first, pair->getType()); } } std::sort(names.begin(), names.end(), [](const PairType & i, const PairType & j) { return (std::get<0>(i) < std::get<0>(j)) || ((std::get<0>(i) == std::get<0>(j)) && (std::get<1>(i) < std::get<1>(j))); }); std::string message = "All collision pairs for testing:\n"; for (const auto& name : names) { message += "\t" + std::get<0>(name) + " : " + std::get<1>(name) + ( (std::get<2>(name) == SurgSim::Collision::COLLISION_DETECTION_TYPE_CONTINUOUS) ? " CCD" : " DCD" ) + "\n"; } SURGSIM_LOG_DEBUG(m_logger) << message; } } return result; } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/PrepareCollisionPairs.h000066400000000000000000000045421277777236100235560ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_PREPARECOLLISIONPAIRS_H #define SURGSIM_PHYSICS_PREPARECOLLISIONPAIRS_H #include #include "SurgSim/Framework/Macros.h" #include "SurgSim/Physics/Computation.h" namespace SurgSim { namespace Collision { class ContactCalculation; } namespace Framework { class Logger; } namespace Physics { class PhysicsManagerState; /// Computation to determine the contacts between a list of CollisionPairs. /// This Computation class takes a list of representations, it will generate a list of collision pairs /// from this list on every frame, for each CollisionPair, it uses a two dimensional table of /// function objects (ContactCalculation) to determine how to calculate a contact between the two /// members of each pair, if no specific function exists a default function will be used. /// will update the collision pairs accordingly. /// \note When a new ContactCalculation type gets implemented, the type needs to be registered with the table /// inside of ContactCalculation class PrepareCollisionPairs : public Computation { public: /// Constructor /// \param doCopyState Specify if the output state in Computation::Update() is a copy or not of the input state explicit PrepareCollisionPairs(bool doCopyState = false); SURGSIM_CLASSNAME(SurgSim::Physics::PrepareCollisionPairs); /// Destructor virtual ~PrepareCollisionPairs(); protected: std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; private: /// The time since the collision pairs were last logged. double m_timeSinceLog; /// The logger. std::shared_ptr m_logger; }; }; // Physics }; // SurgSim #endif // SURGSIM_PHYSICS_PREPARECOLLISIONPAIRS_H opensurgsim-0.7.0/SurgSim/Physics/PushResults.cpp000066400000000000000000000051631277777236100221410ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/MlcpPhysicsProblem.h" #include "SurgSim/Physics/MlcpPhysicsSolution.h" #include "SurgSim/Physics/PushResults.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/Representation.h" namespace SurgSim { namespace Physics { PushResults::PushResults(bool doCopyState) : Computation(doCopyState), m_logger(SurgSim::Framework::Logger::getLogger("Physics/PushResults")) { } PushResults::~PushResults() { } std::shared_ptr PushResults::doUpdate(const double& dt, const std::shared_ptr& state) { std::shared_ptr result = state; // 1st step // Compute the global dof displacement correction from the constraints forces (result of the MLCP) // correction = CHt . lambda const Eigen::VectorXd& lambda = result->getMlcpSolution().x; if (lambda.size() == 0) { return state; } const SurgSim::Math::MlcpProblem::Matrix& CHt = result->getMlcpProblem().CHt; SurgSim::Math::MlcpSolution::Vector& dofCorrection = result->getMlcpSolution().dofCorrection; dofCorrection = CHt * lambda; SURGSIM_LOG_DEBUG(m_logger) << "b:\t" << result->getMlcpProblem().b.transpose(); SURGSIM_LOG_DEBUG(m_logger) << "final:\t" << (result->getMlcpProblem().A * lambda + result->getMlcpProblem().b).transpose(); SURGSIM_LOG_DEBUG(m_logger) << "Lambda:\t" << lambda.transpose(); // 2nd step // Push the dof displacement correction to all representation, using their assigned index auto& representations = result->getActiveRepresentations(); for (auto& representation : representations) { if (representation->isActive()) { ptrdiff_t index = result->getRepresentationsMapping().getValue(representation.get()); SURGSIM_ASSERT(index >= 0) << "Bad index found for representation " << representation->getName() << std::endl; representation->applyCorrection(dt, dofCorrection.segment(index, representation->getNumDof())); } } return result; } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/PushResults.h000066400000000000000000000031211277777236100215760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_PUSHRESULTS_H #define SURGSIM_PHYSICS_PUSHRESULTS_H #include "SurgSim/Framework/Macros.h" #include "SurgSim/Physics/Computation.h" namespace SurgSim { namespace Framework { class Logger; } namespace Physics { class Representation; /// Propagates the Mlcp result to the representations class PushResults : public Computation { public: /// Constructor /// \param doCopyState Specify if the output state in Computation::Update() is a copy or not of the input state explicit PushResults(bool doCopyState = false); SURGSIM_CLASSNAME(SurgSim::Physics::PushResults); /// Destructor virtual ~PushResults(); protected: /// Override doUpdate from superclass std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; std::shared_ptr m_logger; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_PUSHRESULTS_H opensurgsim-0.7.0/SurgSim/Physics/RenderTests/000077500000000000000000000000001277777236100213715ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Physics/RenderTests/CMakeLists.txt000066400000000000000000000026141277777236100241340ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ${OPENTHREADS_INCLUDE_DIR} ) set(UNIT_TEST_SOURCES CompoundCollisionRenderTest.cpp Fem3DMeshRenderTest.cpp Fem3DvsTruthCubeRenderTest.cpp RenderTest.cpp RenderTestCcdSuture.cpp RenderTestFem1D.cpp RenderTestFem2D.cpp RenderTestFem3D.cpp RenderTestFem3DCorotational.cpp RenderTestMassSprings.cpp RenderTestRigidBodies.cpp ) set(UNIT_TEST_HEADERS RenderTest.h ) configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) set(LIBS SurgSimBlocks SurgSimGraphics SurgSimPhysics ) file(COPY Data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) surgsim_add_unit_tests(SurgSimPhysicsRenderTest) set_target_properties(SurgSimPhysicsRenderTest PROPERTIES FOLDER "Physics") opensurgsim-0.7.0/SurgSim/Physics/RenderTests/CompoundCollisionRenderTest.cpp000066400000000000000000000237531277777236100275470ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Graphics/OsgPlaneRepresentation.h" #include "SurgSim/Graphics/OsgSceneryRepresentation.h" #include "SurgSim/Graphics/OsgSphereRepresentation.h" #include "SurgSim/Graphics/View.h" #include "SurgSim/Graphics/ViewElement.h" #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/CompoundShape.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/PlaneShape.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/RenderTests/RenderTest.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" #include "SurgSim/Physics/RigidRepresentation.h" using SurgSim::Math::Vector3d; using SurgSim::Math::RigidTransform3d; namespace { std::shared_ptr createSphereObject() { auto result = std::make_shared("Object"); auto physics = std::make_shared("Physics"); physics->setDensity(700.0); // Wood physics->setLinearDamping(0.1); auto sphere = std::make_shared(0.01); // 1cm Sphere auto shape = std::make_shared(); physics->setShape(shape); result->addComponent(physics); std::array offsets = { Vector3d(0.1, 0.0, 0.0), Vector3d(-0.1, 0.0, 0.0), Vector3d(0.0, 0.1, 0.0), Vector3d(0.0, -0.1, 0.0), Vector3d(0.0, 0.0, 0.1), Vector3d(0.0, 0.0, -0.1) }; int i = 0; for (auto offset : offsets) { auto transform = SurgSim::Math::makeRigidTranslation(offset); shape->addShape(sphere, transform); auto graphics = std::make_shared("Graphics-" + std::to_string(i)); graphics->setRadius(sphere->getRadius()); graphics->setLocalPose(transform); result->addComponent(graphics); ++i; } auto rigidCollision = std::make_shared("Collision"); physics->setCollisionRepresentation(rigidCollision); result->addComponent(rigidCollision); auto transform = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(0.01, Vector3d(1.0, 1.0, 1.0)), Vector3d(0.0, 1.0, 0.0)); result->setPose(transform); return result; }; std::shared_ptr createMeshObject( std::shared_ptr* compoundShapeOut = nullptr, std::shared_ptr* leftGraphicsOut = nullptr, std::shared_ptr* rightGraphicsOut = nullptr) { SurgSim::Framework::ApplicationData data("config.txt"); auto result = std::make_shared("Object"); auto physics = std::make_shared("Physics"); physics->setDensity(700.0); // Wood physics->setLinearDamping(0.5); auto subShape = std::make_shared(); subShape->load("bar.ply", data); auto shape = std::make_shared(); if (compoundShapeOut != nullptr) { *compoundShapeOut = shape; } physics->setShape(shape); result->addComponent(physics); auto transform = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(0.2, Vector3d(1.0, 0.0, 0.0)), Vector3d(0.0, 0.0, 0.0)); shape->addShape(subShape, transform); auto graphics = std::make_shared("LeftGraphics"); graphics->setLocalPose(transform); graphics->loadModel("bar.ply"); result->addComponent(graphics); if (leftGraphicsOut != nullptr) { *leftGraphicsOut = graphics; } transform = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(-0.2, Vector3d(1.0, 0.0, 0.0)), Vector3d(0.0, 0.0, 0.0)); shape->addShape(subShape, transform); graphics = std::make_shared("RightGraphics"); graphics->setLocalPose(transform); graphics->loadModel("bar.ply"); result->addComponent(graphics); if (rightGraphicsOut != nullptr) { *rightGraphicsOut = graphics; } auto rigidCollision = std::make_shared("Collision"); physics->setCollisionRepresentation(rigidCollision); result->addComponent(rigidCollision); transform = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(0.3, Vector3d(1.0, 1.0, 1.0)), Vector3d(0.0, 1.0, 0.0)); result->setPose(transform); return result; }; std::vector > makeScenery() { std::vector > result; { // Plane auto shape = std::make_shared(); auto physics = std::make_shared("Physics"); physics->setShape(shape); auto graphics = std::make_shared("Graphics"); auto collision = std::make_shared("Collision"); physics->setCollisionRepresentation(collision); auto element = std::make_shared("Plane"); element->addComponent(physics); element->addComponent(collision); element->addComponent(graphics); result.push_back(element); } { // Sphere auto shape = std::make_shared(2.0); auto physics = std::make_shared("Physics"); physics->setShape(shape); auto graphics = std::make_shared("Graphics"); graphics->setRadius(2.0); auto collision = std::make_shared("Collision"); physics->setCollisionRepresentation(collision); auto element = std::make_shared("BigSphere"); element->addComponent(physics); element->addComponent(collision); element->addComponent(graphics); auto transform = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(0.01, Vector3d(1.0, 1.0, 1.0)), Vector3d(0.0, -2.0, 0.0)); element->setPose(transform); result.push_back(element); } { // Mesh Box auto shape = std::make_shared(); shape->load("collider.ply"); auto physics = std::make_shared("Physics"); physics->setDensity(700.0); // Wood physics->setLinearDamping(0.1); physics->setShape(shape); auto graphics = std::make_shared("Graphics"); graphics->loadModel("collider.ply"); auto collision = std::make_shared("Collision"); physics->setCollisionRepresentation(collision); auto element = std::make_shared("MeshBox"); element->addComponent(physics); element->addComponent(collision); element->addComponent(graphics); result.push_back(element); } return result; } } namespace SurgSim { namespace Physics { TEST_F(RenderTests, CompoundCollisionShapePlane) { scene->addSceneElement(createSphereObject()); scene->addSceneElement(makeScenery()[0]); runTest(Vector3d(0.8, 0.8, 0.8), Vector3d(0.0, 0.0, 0.0), 5000); } TEST_F(RenderTests, CompoundCollisionShapeSphere) { scene->addSceneElement(createSphereObject()); scene->addSceneElement(makeScenery()[1]); runTest(Vector3d(0.8, 0.8, 0.8), Vector3d(0.0, 0.0, 0.0), 5000); } TEST_F(RenderTests, CompoundCollsionMeshPlane) { scene->addSceneElement(createMeshObject()); scene->addSceneElement(makeScenery()[0]); runTest(Vector3d(0.8, 0.8, 0.8), Vector3d(0.0, 0.0, 0.0), 5000); } TEST_F(RenderTests, CompoundCollsionMeshBox) { scene->addSceneElement(createMeshObject()); scene->addSceneElement(makeScenery()[2]); runTest(Vector3d(0.8, 0.8, 0.8), Vector3d(0.0, 0.0, 0.0), 5000); } TEST_F(RenderTests, CompoundCollisionMoving) { std::shared_ptr shape; std::shared_ptr leftGraphics; std::shared_ptr rightGraphics; auto element = createMeshObject(&shape, &leftGraphics, &rightGraphics); auto transform = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(0.0, Vector3d(1.0, 0.0, 0.0)), Vector3d(0.0, 0.5, 0.0)); element->setPose(transform); scene->addSceneElement(element); scene->addSceneElement(makeScenery()[2]); viewElement->enableManipulator(true); viewElement->setManipulatorParameters(Vector3d(0.8, 0.8, 0.8), Vector3d(0.0, 0.0, 0.0)); runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(2000)); for (double angle = 0.2; angle < 0.4; angle += 0.0025) { transform = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(angle, Vector3d(1.0, 0.0, 0.0)), Vector3d(0.0, 0.0, 0.0)); shape->setPose(0, transform); leftGraphics->setLocalPose(transform); transform = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(-angle, Vector3d(1.0, 0.0, 0.0)), Vector3d(0.0, 0.0, 0.0)); shape->setPose(1, transform); rightGraphics->setLocalPose(transform); boost::this_thread::sleep(boost::posix_time::milliseconds(50)); } } } } opensurgsim-0.7.0/SurgSim/Physics/RenderTests/Data/000077500000000000000000000000001277777236100222425ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Physics/RenderTests/Data/bar.ply000066400000000000000000000033311277777236100235340ustar00rootroot00000000000000ply format ascii 1.0 comment Created by Blender 2.75 (sub 0) - www.blender.org, source file: '' element vertex 24 property float x property float y property float z property float nx property float ny property float nz element face 12 property list uchar uint vertex_indices end_header -0.025470 0.035060 0.234386 -1.000000 0.000000 0.000000 -0.025470 0.035060 -0.265614 -1.000000 0.000000 0.000000 -0.025470 -0.014940 -0.265614 -1.000000 0.000000 0.000000 0.024530 0.035060 0.234386 0.000000 1.000000 0.000000 0.024530 0.035060 -0.265614 0.000000 1.000000 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https://en.wikipedia.org/wiki/Surgical_suture comment Surgical suture sizes are often refered in USP unit comment This model is a 3.0 USP (0.2mm diameter) comment https://en.wikipedia.org/wiki/Young's_modulus comment Young modulus for polypropylene is between 1.5-2 GPa comment https://en.wikipedia.org/wiki/Polypropylene comment Mass density for polypropylene is between 855 and 946 Kg.m-3 comment http://www.vinidex.com.au/technical/material-properties/polypropylene-properties/ comment Poisson ratio for polypropylene is 0.45 element vertex 63 property double x property double y property double z element 1d_element 62 property list uint uint vertex_indices element radius 1 property double value element material 1 property double mass_density property double poisson_ratio property double young_modulus element boundary_condition 2 property uint vertex_index end_header -0.063988 0.035971 0.001502 -0.062314 0.035845 0.001502 -0.058927 0.035774 0.001502 -0.054140 0.034099 0.001500 -0.049371 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38opensurgsim-0.7.0/SurgSim/Physics/RenderTests/Data/prolene 3.0-fixedExtremity.ply000066400000000000000000000117741277777236100277370ustar00rootroot00000000000000ply format ascii 1.0 comment Prolene 3.0 comment https://en.wikipedia.org/wiki/Prolene comment Prolene is a synthetic, monofilament, nonabsorbable polypropylene suture comment https://en.wikipedia.org/wiki/Surgical_suture comment Surgical suture sizes are often refered in USP unit comment This model is a 3.0 USP (0.2mm diameter) comment https://en.wikipedia.org/wiki/Young's_modulus comment Young modulus for polypropylene is between 1.5-2 GPa comment https://en.wikipedia.org/wiki/Polypropylene comment Mass density for polypropylene is between 855 and 946 Kg.m-3 comment http://www.vinidex.com.au/technical/material-properties/polypropylene-properties/ comment Poisson ratio for polypropylene is 0.45 element vertex 65 property double x property double y property double z element 1d_element 64 property list uint uint vertex_indices property double mass_density property double poisson_ratio property double young_modulus element radius 1 property double value element boundary_condition 1 property uint vertex_index end_header 0 0.01 -0.175 0 0.0155 -0.17 0 0.019 -0.165 0 0.019 -0.16 0 0.0155 -0.155 0 0.01 -0.15 0.0010452846 0.009945219 -0.1449152542 0.0020791169 0.009781476 -0.1398305084 0.0030901699 0.0095105652 -0.1347457626 0.0040673664 0.0091354546 -0.1296610168 0.005 0.008660254 -0.124576271 0.0058778525 0.0080901699 -0.1194915252 0.0066913061 0.0074314483 -0.1144067794 0.0074314483 0.0066913061 -0.1093220336 0.0080901699 0.0058778525 -0.1042372878 0.008660254 0.005 -0.099152542 0.0091354546 0.0040673664 -0.0940677962 0.0095105652 0.0030901699 -0.0889830504 0.009781476 0.0020791169 -0.0838983046 0.009945219 0.0010452846 -0.0788135588 0.01 2.94896168765644E-012 -0.073728813 0.009945219 -0.0010452846 -0.0686440672 0.009781476 -0.0020791169 -0.0635593214 0.0095105652 -0.0030901699 -0.0584745756 0.0091354546 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0.45 1.75e9 2 56 57 900.0 0.45 1.75e9 2 57 58 900.0 0.45 1.75e9 2 58 59 900.0 0.45 1.75e9 2 59 60 900.0 0.45 1.75e9 2 60 61 900.0 0.45 1.75e9 2 61 62 900.0 0.45 1.75e9 2 62 63 900.0 0.45 1.75e9 2 63 64 900.0 0.45 1.75e9 0.0001 0opensurgsim-0.7.0/SurgSim/Physics/RenderTests/Data/uniaxial_positions.csv000066400000000000000000000665621277777236100267170ustar00rootroot00000000000000Truth Cube,,,,,,,,,,,,,, Uniaxial Compression Test displacment field data for all 4 strains,,,,,,,,,,,,,, All positions in mm,,,,,,,,,,,,,, 12-Oct-01,,,,,,,,,,,,,, ,,,,,,,,,,,,,, bead nominal location,,,no strain,,,5% strain,,,12.5% strain,,,18.25% strain,, i,j,k,x0,y0,z0,x1,y1,z1,x2,y2,z2,x3,y3,z3 1,1,1,-29.69,-28.86,12.62,-30.33,-29.38,12.96,-31.04,-30.09,13.65,-31.85,-31.08,14.38 1,1,2,-29.07,-27.43,3.33,-29.87,-28.12,4.27,-31.03,-29.37,5.9,-32.29,-30.62,7.05 1,1,3,-28.76,-26.88,-6.49,-29.66,-27.61,-5,-31.17,-29.37,-2.79,-32.62,-30.62,-0.6 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1,4,6,-29.13,3.13,-37.29,-30.22,4.38,-33.92,-31.36,4.38,-29.13,-32.84,4.38,-25.05 1,4,7,-28.87,3.13,-47.5,-29.85,4.38,-43.2,-30.62,4.38,-37.67,-31.73,4.38,-32.84 1,5,1,-30.27,12.52,12.08,-30.95,12.88,12.61,-32.02,13.13,13.1,-32.83,13.44,13.69 1,5,2,-29.74,13.13,3,-30.8,13.75,3.89,-32.14,14.37,5.23,-33.58,14.37,6.49 1,5,3,-29.35,13.13,-6.91,-30.56,13.93,-5.35,-32.13,14.37,-3.19,-33.91,15.05,-1.46 1,5,4,-30.62,13.13,-17.26,-31.73,14.37,-15.03,-33.4,15,-11.87,-35.18,15.62,-9.28 1,5,5,-29.14,13.13,-27.09,-30.24,14.37,-24.31,-31.73,14.87,-20.4,-33.58,15.62,-16.88 1,5,6,-29.08,12.43,-37.47,-30.06,13.82,-33.89,-31.33,14.37,-29.1,-32.84,15.62,-25.05 1,5,7,-28.82,12.57,-47.49,-29.87,14.37,-43.23,-30.56,14.9,-37.71,-31.58,15.62,-32.88 1,6,1,-30.69,23.83,12.29,-31.36,24.37,12.5,-32.3,24.98,13.15,-33.14,25.44,13.74 1,6,2,-30.11,23.12,3,-31.03,23.86,3.95,-32.49,24.81,5.34,-33.96,25.63,6.49 1,6,3,-30.08,22.49,-7.03,-31.17,23.62,-5.39,-32.84,24.37,-3.15,-34.51,25.63,-1.18 1,6,4,-30.24,23.12,-17.26,-31.36,24.37,-15.03,-33.03,25.63,-11.88,-34.74,26.88,-9.24 1,6,5,-29.32,22.63,-27.28,-30.24,24.37,-24.31,-31.84,25.63,-20.41,-33.36,26.88,-16.93 1,6,6,-29.13,23.12,-37.67,-30.24,24.37,-33.96,-31.39,25.63,-29.16,-32.84,26.88,-25.05 1,6,7,-28.72,22.67,-47.65,-29.53,24.37,-43.26,-30.57,25.63,-37.71,-31.73,26.88,-33.21 1,7,1,-30.71,34.08,12.22,-31.29,34.91,12.76,-32.33,35.9,13.3,-33.1,36.51,14.11 1,7,2,-29.89,33.63,3,-30.9,34.79,4.06,-32.25,36.27,5.6,-33.56,37.45,7.15 1,7,3,-29.99,33.13,-7.05,-31.01,34.38,-5.35,-32.66,36.12,-2.79,-34.05,37.56,-0.73 1,7,4,-29.53,33.13,-17.22,-30.68,34.93,-14.85,-32.28,36.87,-11.69,-33.92,38.12,-8.75 1,7,5,-29.5,33.13,-27.28,-30.43,35,-24.12,-31.73,36.87,-20.22,-33.24,38.12,-16.85 1,7,6,-29.5,33.13,-37.67,-30.48,35,-33.81,-31.73,36.87,-29.13,-33.17,38.12,-25.2 1,7,7,-29.32,33.13,-47.69,-30.11,35,-43.38,-31.36,36.87,-37.67,-32.47,38.12,-33.21 2,1,1,-19.25,-29.37,12.58,-19.48,-30.14,12.8,-19.96,-31.14,13.53,-20.28,-32.11,14.23 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7,6,1,31.88,23.12,12.47,32.74,23.86,12.79,33.54,24.37,13.39,34.61,24.81,14.06 7,6,2,30.96,23.12,3.19,31.98,24.37,4.08,33.21,25.63,5.75,34.72,26.88,6.9 7,6,3,31.91,23.62,-6.87,33.15,24.91,-5,34.88,26.25,-2.6,36.63,27.38,-0.59 7,6,4,31.36,23.12,-16.88,32.48,25.11,-14.5,34.44,26.88,-11.14,36.18,28.12,-8.35 7,6,5,31.32,23.57,-26.94,32.44,25.63,-23.9,34.33,26.88,-19.48,35.96,28.12,-16.18 7,6,6,31.36,23.12,-37.29,32.45,25.17,-33.53,34.33,26.88,-28.39,35.77,27.68,-24.28 7,6,7,31.34,22.66,-47.26,32.47,24.37,-42.86,34.27,26.08,-36.9,35.44,26.88,-32.1 7,7,1,32.1,34.38,12.25,32.84,35.2,12.79,33.65,36.35,13.62,34.6,37.29,14.44 7,7,2,30.8,33.13,3.15,31.73,34.38,4.27,33.03,36.32,6.05,34.33,37.63,7.43 7,7,3,31.73,34.38,-6.87,32.84,35.63,-5.01,34.36,37.68,-2.1,36,39.38,0 7,7,4,30.58,33.13,-16.92,31.73,35.63,-14.29,33.36,37.44,-10.9,34.88,39.38,-8.16 7,7,5,31.24,33.61,-27.17,32.29,35.63,-23.75,33.96,38.12,-19.48,35.47,39.38,-16.11 7,7,6,31.21,33.13,-37.34,32.29,35.63,-33.4,34.14,37.43,-28.32,35.41,38.83,-24.18 7,7,7,31.14,33.13,-47.36,32.36,35.63,-42.68,33.99,37.31,-36.95,35.1,38.12,-32.13 opensurgsim-0.7.0/SurgSim/Physics/RenderTests/Fem3DMeshRenderTest.cpp000066400000000000000000000151261277777236100256150ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Blocks/TransferPhysicsToGraphicsMeshBehavior.h" #include "SurgSim/Blocks/TransferPhysicsToPointCloudBehavior.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Graphics/Mesh.h" #include "SurgSim/Graphics/OsgAxesRepresentation.h" #include "SurgSim/Graphics/OsgMeshRepresentation.h" #include "SurgSim/Graphics/OsgPointCloudRepresentation.h" #include "SurgSim/Graphics/OsgSphereRepresentation.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/OdeSolver.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/DeformableCollisionRepresentation.h" #include "SurgSim/Physics/Fem3DPlyReaderDelegate.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/RenderTests/RenderTest.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" #include "SurgSim/Physics/RigidRepresentation.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { static std::shared_ptr createFemSceneElement( const std::string& name, const std::string& filename, SurgSim::Math::IntegrationScheme integrationScheme) { // Create a SceneElement that bundles the pieces associated with the finite element model auto sceneElement = std::make_shared(name); // Add the Fem3d component // Note that we only specify the filename that contains the full geometrical and physical description. auto fem = std::make_shared("fem3d"); fem->loadFem(filename); fem->setIntegrationScheme(integrationScheme); sceneElement->addComponent(fem); auto collision = std::make_shared("Collision"); auto shape = std::make_shared(); shape->load(filename); collision->setShape(shape); fem->setCollisionRepresentation(collision); sceneElement->addComponent(collision); // Add the graphics mesh used to display the Fem3d auto graphics = std::make_shared("fem graphics"); graphics->loadMesh(filename); graphics->setDrawAsWireFrame(true); sceneElement->addComponent(graphics); // Create a behavior which transfers the position of the vertices in the FEM to locations in the triangle mesh auto femToMesh = std::make_shared("physics to triangle mesh"); femToMesh->setSource(fem); femToMesh->setTarget(graphics); sceneElement->addComponent(femToMesh); // The point-cloud for visualizing the nodes of the finite element model auto pointCloud = std::make_shared("point cloud"); pointCloud->setColor(SurgSim::Math::Vector4d(0.2, 0.2, 1.0, 1.0)); pointCloud->setPointSize(3.0f); sceneElement->addComponent(pointCloud); // The behavior which transfers the position of the vertices in the FEM to locations in the point cloud auto femToCloud = std::make_shared("fem to point cloud"); femToCloud->setSource(fem); femToCloud->setTarget(pointCloud); sceneElement->addComponent(femToCloud); return sceneElement; } std::shared_ptr createMeshSphere() { SurgSim::Math::RigidTransform3d pose = SurgSim::Math::makeRigidTranslation(SurgSim::Math::Vector3d(0.0, 0.025, 0.0)); auto element = std::make_shared("RigidMesh"); element->setPose(pose); auto shape = std::make_shared(); shape->load("Geometry/sphere0_025.ply"); auto rigid = std::make_shared("Physics"); rigid->setIsGravityEnabled(true); // http://www.engineeringtoolbox.com/wood-density-d_40.html rigid->setDensity(5800.0); // Cedar of Lebanon wood density 5800.0 Kg/m-3 rigid->setShape(shape); element->addComponent(rigid); auto collision = std::make_shared("Collision"); rigid->setCollisionRepresentation(collision); collision->setShape(shape); element->addComponent(collision); std::shared_ptr osgRepresentation = std::make_shared("Graphics"); osgRepresentation->setShape(shape); element->addComponent(osgRepresentation); return element; } std::shared_ptr createShapeSphere() { SurgSim::Math::RigidTransform3d pose = SurgSim::Math::makeRigidTranslation(SurgSim::Math::Vector3d(0.0, 0.05, 0.0)); auto element = std::make_shared("Sphere"); element->setPose(pose); auto physics = std::make_shared("Physics"); physics->setDensity(5800.0); auto shape = std::make_shared(0.025); physics->setShape(shape); element->addComponent(physics); auto collision = std::make_shared("Collision"); physics->setCollisionRepresentation(collision); element->addComponent(collision); auto graphics = std::make_shared("Graphics"); graphics->setRadius(shape->getRadius()); element->addComponent(graphics); return element; } TEST_F(RenderTests, SimulatedWoundRenderTest) { runtime->getScene()->addSceneElement(createFemSceneElement("Fem", "Geometry/wound_deformable.ply", SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT)); runTest(Vector3d(0.0, 0.0, 0.2), Vector3d::Zero(), 5000.0); } TEST_F(RenderTests, Fem3dMeshCollision) { runtime->getScene()->addSceneElement(createMeshSphere()); runtime->getScene()->addSceneElement(createFemSceneElement("Fem", "Geometry/wound_deformable.ply", SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT)); runTest(Vector3d(0.0, 0.0, 0.2), Vector3d::Zero(), 5000.0); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/RenderTests/Fem3DvsTruthCubeRenderTest.cpp000066400000000000000000000701171277777236100272000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Graphics/OsgAxesRepresentation.h" #include "SurgSim/Graphics/OsgCamera.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgPointCloudRepresentation.h" #include "SurgSim/Graphics/OsgView.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Graphics/PointCloudRepresentation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/Fem3DElementCube.h" #include "SurgSim/Physics/PhysicsManager.h" #include "SurgSim/Physics/RenderTests/RenderTest.h" #include "SurgSim/Framework/Logger.h" using SurgSim::DataStructures::Vertices; using SurgSim::Framework::SceneElement; using SurgSim::Graphics::PointCloud; using SurgSim::Graphics::PointCloudRepresentation; using SurgSim::Graphics::OsgAxesRepresentation; using SurgSim::Graphics::OsgPointCloudRepresentation; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; using SurgSim::Physics::PhysicsManager; using SurgSim::Framework::Logger; namespace SurgSim { namespace Physics { struct TruthCubeData { // Beads positions in uncompressed material std::vector cubeData0; // Beads positions under 5% strain std::vector cubeData1; // Beads positions under 12.5% strain std::vector cubeData2; // Beads positions under 18.25% strain std::vector cubeData3; }; /// Parsing Truth Cube data from an external file /// \param truthCubeData a container of cube data for all strains /// \return True if the Truth Cube Data is successful loaded, otherwise false bool parseTruthCubeData(std::shared_ptr truthCubeData) { const double mm2m = 1000.0; // Conversion constant from millimeter to meter const int numCommentLine = 7; // Number of comment lines to skip before accessing the actual data // Position of uncompressed data, 5% strain, 12.5% strain, 18.25% strain std::array position; std::string line; char comma; int i, j, k; int numLine = 0; const SurgSim::Framework::ApplicationData data("config.txt"); std::string filename = data.findFile("uniaxial_positions.csv"); std::ifstream datafile(filename); if (! datafile.good()) { SURGSIM_LOG_WARNING(Logger::getDefaultLogger()) << "Could not get uniaxial_positions.csv data file"; return false; } while (std::getline(datafile, line)) { if (++numLine > numCommentLine) { std::stringstream strstream(line); strstream >> i >> comma >> j >> comma >> k >> comma >> position[0].x() >> comma >> position[0].y() >> comma >> position[0].z() >> comma >> position[1].x() >> comma >> position[1].y() >> comma >> position[1].z() >> comma >> position[2].x() >> comma >> position[2].y() >> comma >> position[2].z() >> comma >> position[3].x() >> comma >> position[3].y() >> comma >> position[3].z(); // Store strains separately, in meter unit and Y up (rotation 90 alond X) // Apparently, -Z seems to be up in the truth cube data set Quaterniond::AngleAxisType aa(M_PI / 2.0, Vector3d::UnitX()); RigidTransform3d pose(aa); truthCubeData->cubeData0.push_back(pose * (position[0] / mm2m)); truthCubeData->cubeData1.push_back(pose * (position[1] / mm2m)); truthCubeData->cubeData2.push_back(pose * (position[2] / mm2m)); truthCubeData->cubeData3.push_back(pose * (position[3] / mm2m)); } } return true; }; /// Search the node in the state that is the closest to a given 3d point /// This is necessary because the structure of the nodes in the state and in the truth cube is not necessarily matching /// The state is built with a structure aligned on +X +Y +Z, while the truth cube data are defined along +X +Y -Z and /// rotated (PI/2 along X) to match Y up, so 3d indices don't match. size_t searchForClosestNodeInState(std::shared_ptr state, Vector3d p) { size_t res = -1; double minDistance = std::numeric_limits::max(); SurgSim::Math::Vector& x = state->getPositions(); for (size_t nodeId = 0; nodeId < state->getNumNodes(); ++nodeId) { Vector3d diff(SurgSim::Math::getSubVector(x, nodeId, 3) - p); if (diff.norm() < minDistance) { minDistance = diff.norm(); res = nodeId; } } return res; } /// Truth cube representation (extension of a Fem3DRepresentation) /// Defines a subdivided initial cube with cube FemElements class TruthCubeRepresentation : public Fem3DRepresentation { public: /// Constructor /// \param name The name of the truth cube representation. /// \param corners The 8 corners of the truth cube TruthCubeRepresentation(const std::string& name, std::array corners) : Fem3DRepresentation(name) { m_numNodesPerAxis = 9; m_cubeNodes = corners; } /// Convert an node index from a 3d indexing to a 1d indexing /// \param i, j, k Indices along the X, Y and Z axis /// \return Unique index of the corresponding point (to access a linear array for example) size_t get1DIndexFrom3D(size_t i, size_t j, size_t k) { return m_numNodesPerAxis * m_numNodesPerAxis * i + m_numNodesPerAxis * j + k; } /// Convert a node index from a 1d indexing to a 3d indexing /// \param index of the node /// \param[in,out] i, j, k Corresponding indices along the X, Y and Z axis /// \param numNodesPerAxis the number of nodes per axis to be considered in the conversion void get3DIndexFrom1D(size_t index, size_t* i, size_t* j, size_t* k, size_t numNodesPerAxis) { size_t remainingIndex = index; (*i) = remainingIndex / (numNodesPerAxis * numNodesPerAxis); remainingIndex -= (*i) * (numNodesPerAxis * numNodesPerAxis); (*j) = remainingIndex / numNodesPerAxis; remainingIndex -= (*j) * numNodesPerAxis; (*k) = remainingIndex; } /// Gets the number of nodes per axis /// \return The number of nodes per axis. size_t getNumNodesPerAxis() { return m_numNodesPerAxis; } /// Gets the boundary conditions /// \return vector of dof (degrees of freedom) indices representing all boundary conditions std::vector getBoundaryConditions() { return m_boundaryConditions; } /// Gets the boundary conditions displacement values /// \return The vector of displacement for all boundary conditions std::vector getBoundaryConditionsDisplacement() { return m_boundaryConditionsDisplacement; } /// Fills up a given state with the truth cube nodes /// border nodes and internal nodes (i.e. the beads) /// \param[in,out] state The state to be filled up void fillUpDeformableState(std::shared_ptr state) { state->setNumDof(getNumDofPerNode(), m_numNodesPerAxis * m_numNodesPerAxis * m_numNodesPerAxis); SurgSim::Math::Vector& nodePositions = state->getPositions(); for (int i = 0; i < m_numNodesPerAxis; i++) { // For a given index i, we intersect the cube with a (Y Z) plane, which defines a square on a (Y Z) plane Vector3d extremitiesX0[4] = {m_cubeNodes[0], m_cubeNodes[2], m_cubeNodes[4], m_cubeNodes[6]}; Vector3d extremitiesX1[4] = {m_cubeNodes[1], m_cubeNodes[3], m_cubeNodes[5], m_cubeNodes[7]}; Vector3d extremitiesXi[4]; double coefI = static_cast(i) / (static_cast(m_numNodesPerAxis) - 1.0); for (int index = 0; index < 4; index++) { extremitiesXi[index] = extremitiesX0[index] * (1.0 - coefI) + extremitiesX1[index] * coefI; } for (int j = 0; j < m_numNodesPerAxis; j++) { // For a given index j, we intersect the square with a (X Z) plane, which defines a line along (Z) Vector3d extremitiesY0[2] = {extremitiesXi[0], extremitiesXi[2]}; Vector3d extremitiesY1[2] = {extremitiesXi[1], extremitiesXi[3]}; Vector3d extremitiesYi[2]; double coefJ = static_cast(j) / (static_cast(m_numNodesPerAxis) - 1.0); for (int index = 0; index < 2; index++) { extremitiesYi[index] = extremitiesY0[index] * (1.0 - coefJ) + extremitiesY1[index] * coefJ; } for (int k=0; k < m_numNodesPerAxis; k++) { // For a given index k, we intersect the line with a (X Y) plane, which defines a 3d point double coefK = static_cast(k) / (static_cast(m_numNodesPerAxis) - 1.0); Vector3d position3d = extremitiesYi[0] * (1.0 - coefK) + extremitiesYi[1] * coefK; SurgSim::Math::setSubVector(position3d, get1DIndexFrom3D(i, j, k), 3, &nodePositions); } } } } /// Adjust the internal nodes position of the state to match the beads initial position /// \param state The state to adjust /// \param beadsInitialPositions The vector of beads initial position /// \note The ordering between the state and the beads vector might be different /// \note The algorithm will not rely on a matching indexing void adjustInitialBeadsPosition(std::shared_ptr state, std::vector beadsInitialPositions) { SurgSim::Math::Vector& x = state->getPositions(); for (size_t index = 0; index < beadsInitialPositions.size(); ++index) { size_t nodeId = searchForClosestNodeInState(state, beadsInitialPositions[index]); SurgSim::Math::setSubVector(beadsInitialPositions[index], nodeId, 3, &x); } } /// Defines the boundary conditions for the truth cube /// \param displacementForTopLayer The displacement of the boundary conditions for the top layer /// \note The bottom layer is completely fixed (all nodes, all dof) /// \note The top layer is completely fixed and compressed along Y void defineBoundaryCondition(double displacementForTopLayer) { for (int i = 0; i < m_numNodesPerAxis; i++) { for (int k = 0; k < m_numNodesPerAxis; k++) { // Add boundary condition for bottom layer (j = 0) int nodeId = get1DIndexFrom3D(i, 0, k); m_boundaryConditions.push_back(nodeId * 3 + 0); m_boundaryConditions.push_back(nodeId * 3 + 1); m_boundaryConditions.push_back(nodeId * 3 + 2); m_boundaryConditionsDisplacement.push_back(0.0); m_boundaryConditionsDisplacement.push_back(0.0); m_boundaryConditionsDisplacement.push_back(0.0); // Add boundary condition for top layer (j = m_numNodesPerAxis - 1) nodeId = get1DIndexFrom3D(i, m_numNodesPerAxis - 1, k); m_boundaryConditions.push_back(nodeId * 3 + 0); m_boundaryConditions.push_back(nodeId * 3 + 1); m_boundaryConditions.push_back(nodeId * 3 + 2); m_boundaryConditionsDisplacement.push_back(0.0); m_boundaryConditionsDisplacement.push_back(displacementForTopLayer); m_boundaryConditionsDisplacement.push_back(0.0); } } } /// Adds the Fem3D elements of small cubes /// \param state The state for initialization. void addFemCubes(std::shared_ptr state) { for (size_t i = 0; i < static_cast(m_numNodesPerAxis - 1); i++) { for (size_t j = 0; j < static_cast(m_numNodesPerAxis - 1); j++) { for (size_t k = 0; k < static_cast(m_numNodesPerAxis - 1); k++) { std::array cubeNodeIds; cubeNodeIds[0] = get1DIndexFrom3D(i , j , k ); cubeNodeIds[1] = get1DIndexFrom3D(i+1, j , k ); cubeNodeIds[2] = get1DIndexFrom3D(i , j+1, k ); cubeNodeIds[3] = get1DIndexFrom3D(i+1, j+1, k ); cubeNodeIds[4] = get1DIndexFrom3D(i , j , k+1); cubeNodeIds[5] = get1DIndexFrom3D(i+1, j , k+1); cubeNodeIds[6] = get1DIndexFrom3D(i , j+1, k+1); cubeNodeIds[7] = get1DIndexFrom3D(i+1, j+1, k+1); std::array cube = {cubeNodeIds[0], cubeNodeIds[1], cubeNodeIds[3], cubeNodeIds[2], cubeNodeIds[4], cubeNodeIds[5], cubeNodeIds[7], cubeNodeIds[6]}; // Add Fem3DElementCube for each cube std::shared_ptr femElement = std::make_shared(cube); femElement->setMassDensity(980.0); // 0.98 g/cm^-3 (2-part silicone rubber a.k.a. RTV6166) femElement->setPoissonRatio(0.499); // From the paper (near 0.5) femElement->setYoungModulus(15.3e3); // 15.3 kPa (From the paper) femElement->initialize(*state); addFemElement(femElement); } } } } /// Update the current state based on some offset resulting from compressing the cube /// \param offset to apply. void applyDofCorrection(const SurgSim::Math::Vector& offset) { m_currentState->getPositions() += offset; } /// Get beads of the truth cube /// \return coordinate of beads /// \note The beads are all the internal nodes of the cube std::vector>> getBeadsLocation() { std::vector>> beadsLocation; auto positions = m_currentState->getPositions(); beadsLocation.resize(m_numNodesPerAxis - 2); for (int i = 1; i < m_numNodesPerAxis - 1; i++) { beadsLocation[i-1].resize(m_numNodesPerAxis - 2); for (int j = 1; j < m_numNodesPerAxis - 1; j++) { beadsLocation[i-1][j-1].resize(m_numNodesPerAxis - 2); for (int k = 1; k < m_numNodesPerAxis - 1; k++) { beadsLocation[i-1][j-1][k-1] = SurgSim::Math::getSubVector(positions, get1DIndexFrom3D(i, j, k), 3); } } } return beadsLocation; } private: typedef std::array CubeNodesType; // Number of point per dimensions int m_numNodesPerAxis; /// Boundary condition (list of degrees of freedom to be fixed) std::vector m_boundaryConditions; /// Boundary condition displacement (displacement to apply for each boundary condition) std::vector m_boundaryConditionsDisplacement; // Nodes of the original truth cube CubeNodesType m_cubeNodes; }; /// Build the constrained system for a given truth cube representation /// \param truthCubeRepresentation The Fem3D representation of the truth cube /// \param[out] A the system matrix of size (numDof + numConstraint x numDof + numConstraint) /// \param[out] B the system RHS vector of size (numDof + numConstraint) /// \note Each row of the matrix H aims at fixing a node as a boundary condition. /// \note For example, the constraint equation to fix the dof id 1 is in place (no displacement) is: /// \note H(0 1 0 0...0).U(u0 u1 u2 u3...un) = 0 (or desired displacement) void buildConstrainedSystem(std::shared_ptr truthCubeRepresentation, SurgSim::Math::Matrix* A, SurgSim::Math::Vector* B) { // The static system with constraints is defined as follow: // (K H^T).(U ) = (F) // (H 0) (-lambda) (E) size_t numConstraints = truthCubeRepresentation->getBoundaryConditions().size(); size_t numDof = truthCubeRepresentation->getNumDof(); A->resize(numDof + numConstraints, numDof + numConstraints); B->resize(numDof + numConstraints); SurgSim::Math::Matrix H(numConstraints, truthCubeRepresentation->getNumDof()); H.setZero(); B->setZero(); // Build the temporary constraint matrix H along with the RHS vector B for (size_t i = 0; i < numConstraints; i++) { H(i, truthCubeRepresentation->getBoundaryConditions()[i]) = 1.0; (*B)[numDof + i] = truthCubeRepresentation->getBoundaryConditionsDisplacement()[i]; } A->setZero(); // Copy K into A truthCubeRepresentation->updateFMDK(*truthCubeRepresentation->getInitialState(), Math::ODEEQUATIONUPDATE_K); A->block(0,0, numDof, numDof) = truthCubeRepresentation->getK(); // Copy H into A A->block(numDof, 0, numConstraints, numDof) = H; //Copy H^T into A A->block(0, numDof, numDof, numConstraints) = H.transpose(); } /// Using static solver to find the displacement of truth cube /// \param truthCubeRepresentation The Fem3D representation of truth cube /// \return the vector of displacement for each dof (degree of freedom) SurgSim::Math::Vector staticSolver(std::shared_ptr truthCubeRepresentation) { int numDof = truthCubeRepresentation->getNumDof(); // Build the constrained system A.X = B SurgSim::Math::Matrix A; SurgSim::Math::Vector B; buildConstrainedSystem(truthCubeRepresentation, &A, &B); // Solve the constrained system A.X = B SurgSim::Math::Vector X = A.partialPivLu().solve(B); // Extract the dof displacement vector from the solution X return X.segment(0, numDof); } /// Simulate the truth cube statically with the boundary conditions applied /// \param truthCubeData The truth cube data (this is only useful to adjust the initial data) /// \param truthCubeRepresentation The truth cube representation /// \param displacement The displacement to apply along Y on the top layer (compression in meter) void doSimulation(std::shared_ptr truthCubeData, std::shared_ptr truthCubeRepresentation, double displacement) { // Create initial state // Note that the boundary conditions are NOT defined in this test in the state itself // This would simply modify the global stiffness matrix, which is not sufficient for this test // We prefer to keep the boundary conditions in a separate structure // (internal to TruthCubeRepresentation and apply the Lagrange multiplier technique to solve them). std::shared_ptr initialState = std::make_shared(); truthCubeRepresentation->fillUpDeformableState(initialState); truthCubeRepresentation->adjustInitialBeadsPosition(initialState, truthCubeData->cubeData0); truthCubeRepresentation->setInitialState(initialState); // Create Fem3d cubes from the subdivision cubes truthCubeRepresentation->addFemCubes(initialState); // Setup boundary conditions and displacement truthCubeRepresentation->defineBoundaryCondition(displacement); // Wake Up the Representation truthCubeRepresentation->initialize(std::make_shared()); truthCubeRepresentation->wakeUp(); // Call staticSolver to find the offset values SurgSim::Math::Vector offset = staticSolver(truthCubeRepresentation); // Apply the correction to the simulated truth cube current state truthCubeRepresentation->applyDofCorrection(offset); } /// Copy simulation beads data into point cloud /// \param truthCubeRepresentation The simulated truth cube /// \param representation The representation of point cloud void copySimulationBeadsIntoPointCloud(std::shared_ptr truthCubeRepresentation, std::shared_ptr representation) { std::vector>> beads = truthCubeRepresentation->getBeadsLocation(); auto pointCloud = representation->getVertices(); // Add deform to pointCloud for (size_t i = 0; i < beads.size(); i++) { for (size_t j = 0; j < beads[i].size(); j++) { for (size_t k = 0; k < beads[i][j].size(); k++) { pointCloud->addVertex(PointCloud::VertexType(beads[i][j][k])); } } } } // Copy experimental beads data into point cloud /// \param truthCube The experimental data for the truth cube /// \param representation The representation of point cloud void copyExperimentalBeadsIntoPointCloud(std::vector truthCube, std::shared_ptr representation) { auto pointCloudCompressed = representation->getVertices(); /// Loading the Truth Cube data into point cloud for (size_t i = 0; i < truthCube.size(); ++i) { pointCloudCompressed->addVertex(PointCloud::VertexType(truthCube[i])); } } /// Simple error analysis /// \param cubeData The vector of all experimental beads 3d position /// \param state The state of the simulated truth cube /// \return The maximum error measured on each bead (in meter) double analyzeError(std::vector cubeData, std::shared_ptr state) { double maxError = 0.0; for (size_t cubeDataNodeId = 0; cubeDataNodeId < cubeData.size(); ++cubeDataNodeId) { size_t stateNodeId = searchForClosestNodeInState(state, cubeData[cubeDataNodeId]); auto diff = cubeData[cubeDataNodeId] - state->getPosition(stateNodeId); double error = diff.norm(); if (error > maxError) { maxError = error; } } return maxError; } struct Fem3DVSTruthCubeRenderTests : public RenderTests { void addComponent(std::shared_ptr component) { viewElement->addComponent(component); } void SetUp() override { RenderTests::SetUp(); // Load truth cube data truthCubeData = std::make_shared(); parseTruthCubeData(truthCubeData); // Compute the center point of the cube SurgSim::Math::Vector3d center = SurgSim::Math::Vector3d::Zero(); for (size_t nodeId = 0; nodeId < truthCubeData->cubeData0.size(); ++nodeId) { center += truthCubeData->cubeData0[nodeId]; } center /= truthCubeData->cubeData0.size(); // Compute the cube's corners for the Fem3d simulation double halfLength = 0.04; Vector3d X = Vector3d::UnitX(); Vector3d Y = Vector3d::UnitY(); Vector3d Z = Vector3d::UnitZ(); cubeCorners[0] = center - halfLength * X - halfLength * Y - halfLength * Z; cubeCorners[1] = center + halfLength * X - halfLength * Y - halfLength * Z; cubeCorners[2] = center - halfLength * X + halfLength * Y - halfLength * Z; cubeCorners[3] = center + halfLength * X + halfLength * Y - halfLength * Z; cubeCorners[4] = center - halfLength * X - halfLength * Y + halfLength * Z; cubeCorners[5] = center + halfLength * X - halfLength * Y + halfLength * Z; cubeCorners[6] = center - halfLength * X + halfLength * Y + halfLength * Z; cubeCorners[7] = center + halfLength * X + halfLength * Y + halfLength * Z; } /// The truth cube data set std::shared_ptr truthCubeData; /// The 8 corners of the cube defining the truth cube (useful to setup the Fem3D) std::array cubeCorners; }; TEST_F(Fem3DVSTruthCubeRenderTests, rawDataTest) { // Load the truth cube data std::shared_ptr truthCubeData = std::make_shared(); parseTruthCubeData(truthCubeData); auto points0 = std::make_shared("Data0"); points0->setPointSize(4.0); points0->setColor(Vector4d(1.0, 1.0, 1.0, 1.0)); copyExperimentalBeadsIntoPointCloud(truthCubeData->cubeData0, points0); addComponent(points0); auto points1 = std::make_shared("Data1"); points1->setPointSize(4.0); points1->setColor(Vector4d(1.0, 0.0, 0.0, 1.0)); copyExperimentalBeadsIntoPointCloud(truthCubeData->cubeData1, points1); addComponent(points1); auto points2 = std::make_shared("Data2"); points2->setPointSize(4.0); points2->setColor(Vector4d(0.0, 1.0, 0.0, 1.0)); copyExperimentalBeadsIntoPointCloud(truthCubeData->cubeData2, points2); addComponent(points2); auto points3 = std::make_shared("Data3"); points3->setPointSize(4.0); points3->setColor(Vector4d(0.0, 0.0, 1.0, 1.0)); copyExperimentalBeadsIntoPointCloud(truthCubeData->cubeData3, points3); addComponent(points3); runTest(Vector3d(0.0, 0.0, 0.2), Vector3d::Zero(), 3000.0); } /// Simulate truth cube with 5% strain (4mm of displacement). TEST_F(Fem3DVSTruthCubeRenderTests, Test5percentsStrain) { /// Displacement of the top layer for this setup double displacement = -0.004; // Run the simulation std::shared_ptr truthCubeRepresentation; truthCubeRepresentation = std::make_shared ("TruthCube", cubeCorners); doSimulation(truthCubeData, truthCubeRepresentation, displacement); std::shared_ptr simulatedPoints; simulatedPoints = std::make_shared("SimulatedPoints"); copySimulationBeadsIntoPointCloud(truthCubeRepresentation, simulatedPoints); simulatedPoints->setPointSize(4.0); simulatedPoints->setColor(Vector4d(1.0, 0.0, 0.0, 1.0)); addComponent(simulatedPoints); std::shared_ptr experimentalpoints; experimentalpoints = std::make_shared("ExperimentalPoints"); copyExperimentalBeadsIntoPointCloud(truthCubeData->cubeData1, experimentalpoints); experimentalpoints->setPointSize(4.0); experimentalpoints->setColor(Vector4d(1.0, 1.0, 1.0, 1.0)); addComponent(experimentalpoints); double maxError = analyzeError(truthCubeData->cubeData1, truthCubeRepresentation->getCurrentState()); std::cout << "The maximum error between simulated and experimental setup is " << maxError << " m" << std::endl; /// Run the thread runTest(Vector3d(0.0, 0.0, 0.2), Vector3d::Zero(), 3000.0); } /// Simulate truth cube with 12.5% strain (10mm of displacement). TEST_F(Fem3DVSTruthCubeRenderTests, Test12percentsAndHalfStrain) { /// Displacement of the top layer for this setup double displacement = -0.010; // Run the simulation std::shared_ptr truthCubeRepresentation; truthCubeRepresentation = std::make_shared ("TruthCube", cubeCorners); doSimulation(truthCubeData, truthCubeRepresentation, displacement); std::shared_ptr simulatedPoints; simulatedPoints = std::make_shared("SimulatedPoints"); copySimulationBeadsIntoPointCloud(truthCubeRepresentation, simulatedPoints); simulatedPoints->setPointSize(4.0); simulatedPoints->setColor(Vector4d(1.0, 0.0, 0.0, 1.0)); addComponent(simulatedPoints); std::shared_ptr experimentalpoints; experimentalpoints = std::make_shared("ExperimentalPoints"); copyExperimentalBeadsIntoPointCloud(truthCubeData->cubeData2, experimentalpoints); experimentalpoints->setPointSize(4.0); experimentalpoints->setColor(Vector4d(1.0, 1.0, 1.0, 1.0)); addComponent(experimentalpoints); double maxError = analyzeError(truthCubeData->cubeData2, truthCubeRepresentation->getCurrentState()); std::cout << "The maximum error between simulated and experimental setup is " << maxError << " m" << std::endl; /// Run the thread runTest(Vector3d(0.0, 0.0, 0.2), Vector3d::Zero(), 3000.0); } /// Simulate truth cube with 18.25% strain (14.6mm of displacement). TEST_F(Fem3DVSTruthCubeRenderTests, Test18percentsAndQuarterStrain) { /// Displacement of the top layer for this setup double displacement = -0.0146; // Run the simulation std::shared_ptr truthCubeRepresentation; truthCubeRepresentation = std::make_shared ("TruthCube", cubeCorners); doSimulation(truthCubeData, truthCubeRepresentation, displacement); std::shared_ptr simulatedPoints; simulatedPoints = std::make_shared("SimulatedPoints"); copySimulationBeadsIntoPointCloud(truthCubeRepresentation, simulatedPoints); simulatedPoints->setPointSize(4.0); simulatedPoints->setColor(Vector4d(1.0, 0.0, 0.0, 1.0)); addComponent(simulatedPoints); std::shared_ptr experimentalpoints; experimentalpoints = std::make_shared("ExperimentalPoints"); copyExperimentalBeadsIntoPointCloud(truthCubeData->cubeData3, experimentalpoints); experimentalpoints->setPointSize(4.0); experimentalpoints->setColor(Vector4d(1.0, 1.0, 1.0, 1.0)); addComponent(experimentalpoints); double maxError = analyzeError(truthCubeData->cubeData3, truthCubeRepresentation->getCurrentState()); std::cout << "The maximum error between simulated and experimental setup is " << maxError << " m" << std::endl; /// Run the thread runTest(Vector3d(0.0, 0.0, 0.2), Vector3d::Zero(), 3000.0); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/RenderTests/RenderTest.cpp000066400000000000000000000040361277777236100241570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Graphics/OsgAxesRepresentation.h" #include "SurgSim/Physics/RenderTests/RenderTest.h" namespace SurgSim { namespace Physics { void RenderTests::SetUp() { runtime = std::make_shared("config.txt"); graphicsManager = std::make_shared(); runtime->addManager(graphicsManager); physicsManager = std::make_shared(); runtime->addManager(physicsManager); behaviorManager = std::make_shared(); runtime->addManager(behaviorManager); scene = runtime->getScene(); viewElement = std::make_shared("Physics Render Scene"); scene->addSceneElement(viewElement); } void RenderTests::TearDown() { runtime->stop(); } void RenderTests::runTest(const SurgSim::Math::Vector3d& cameraPosition, const SurgSim::Math::Vector3d& cameraLookAt, double miliseconds) { using SurgSim::Graphics::OsgAxesRepresentation; viewElement->enableManipulator(true); viewElement->setManipulatorParameters(cameraPosition, cameraLookAt); std::shared_ptr axes = std::make_shared("axes"); axes->setSize(1.0); viewElement->addComponent(axes); /// Run the thread runtime->start(); boost::this_thread::sleep(boost::posix_time::milliseconds(miliseconds)); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/RenderTests/RenderTest.h000066400000000000000000000034431277777236100236250ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_RENDERTESTS_RENDERTEST_H #define SURGSIM_PHYSICS_RENDERTESTS_RENDERTEST_H #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/BehaviorManager.h" #include "SurgSim/Graphics/OsgManager.h" #include "SurgSim/Graphics/OsgViewElement.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/PhysicsManager.h" namespace SurgSim { namespace Physics { struct RenderTests : public ::testing::Test { public: virtual void SetUp(); virtual void TearDown(); virtual void runTest(const SurgSim::Math::Vector3d& cameraPosition, const SurgSim::Math::Vector3d& cameraLookAt, double miliseconds); std::shared_ptr runtime; std::shared_ptr graphicsManager; std::shared_ptr physicsManager; std::shared_ptr behaviorManager; std::shared_ptr scene; std::shared_ptr viewElement; }; }; // namespace Physics }; // namespace SurgSim #endif //SURGSIM_PHYSICS_RENDERTESTS_RENDERTEST_H opensurgsim-0.7.0/SurgSim/Physics/RenderTests/RenderTestCcdSuture.cpp000066400000000000000000000303031277777236100257750ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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. ///\file RenderTestCcdSuture.cpp render test for ccd with Fem1D #include #include "SurgSim/Blocks/CompoundShapeToGraphics.h" #include "SurgSim/Blocks/TransferPhysicsToVerticesBehavior.h" #include "SurgSim/Blocks/VisualizeConstraints.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Graphics/OsgAxesRepresentation.h" #include "SurgSim/Graphics/OsgCurveRepresentation.h" #include "SurgSim/Graphics/OsgMeshRepresentation.h" #include "SurgSim/Graphics/OsgSceneryRepresentation.h" #include "SurgSim/Math/CompoundShape.h" #include "SurgSim/Math/LinearSparseSolveAndInverse.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/OdeSolver.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SegmentMeshShape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/DeformableCollisionRepresentation.h" #include "SurgSim/Physics/Fem1DElementBeam.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/PhysicsManager.h" #include "SurgSim/Physics/RenderTests/RenderTest.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" #include "SurgSim/Physics/RigidRepresentation.h" namespace { std::shared_ptr makeSuture(const std::string& filename) { auto element = std::make_shared("Suture"); // Physics auto physics = std::make_shared("Physics"); physics->setFemElementType("SurgSim::Physics::Fem1DElementBeam"); physics->setLocalPose(SurgSim::Math::RigidTransform3d::Identity()); physics->loadFem(filename); physics->setIntegrationScheme(SurgSim::Math::INTEGRATIONSCHEME_EULER_IMPLICIT); physics->setLinearSolver(SurgSim::Math::LINEARSOLVER_LU); physics->setRayleighDampingMass(5.0); physics->setRayleighDampingStiffness(0.001); physics->setIsGravityEnabled(true); element->addComponent(physics); // Graphics auto gfx = std::make_shared("Graphics"); gfx->setColor(SurgSim::Math::Vector4d(0.0, 0.0, 1.0, 1.0)); gfx->setAntiAliasing(true); gfx->setWidth(0.9); element->addComponent(gfx); auto collision = std::make_shared("Collision"); auto shape = std::make_shared(); shape->load(filename); shape->setRadius(0.001); collision->setShape(shape); collision->setCollisionDetectionType(SurgSim::Collision::COLLISION_DETECTION_TYPE_CONTINUOUS); collision->setSelfCollisionDetectionType(SurgSim::Collision::COLLISION_DETECTION_TYPE_CONTINUOUS); physics->setCollisionRepresentation(collision); element->addComponent(collision); auto copier = std::make_shared("Copier"); copier->setSource(physics); copier->setTarget(gfx); element->addComponent(copier); return element; } std::shared_ptr makeRigid(const std::string& filename) { SurgSim::Math::RigidTransform3d pose = SurgSim::Math::makeRigidTranslation(SurgSim::Math::Vector3d(0.0, -0.1, 0.0)); auto element = std::make_shared("RigidMesh"); element->setPose(pose); auto shape = std::make_shared(); shape->load(filename); auto rigid = std::make_shared("Physics"); rigid->setIsGravityEnabled(false); // http://www.engineeringtoolbox.com/wood-density-d_40.html rigid->setDensity(5800.0); // Cedar of Lebanon wood density 5800.0 Kg/m-3 rigid->setShape(shape); element->addComponent(rigid); auto collision = std::make_shared("Collision"); collision->setCollisionDetectionType(SurgSim::Collision::COLLISION_DETECTION_TYPE_CONTINUOUS); rigid->setCollisionRepresentation(collision); collision->setShape(shape); element->addComponent(collision); auto osgRepresentation = std::make_shared("Graphics"); osgRepresentation->setShape(shape); element->addComponent(osgRepresentation); return element; } std::shared_ptr makeCompound() { auto element = std::make_shared("Compound"); using SurgSim::Math::Vector3d; auto physics = std::make_shared("Physics"); physics->setDensity(700.0); // Wood physics->setLinearDamping(0.5); physics->setIsGravityEnabled(false); auto subShape = std::make_shared(); subShape->load("bar.ply"); auto shape = std::make_shared(); physics->setShape(shape); element->addComponent(physics); auto transform = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(0.2, Vector3d(1.0, 0.0, 0.0)), Vector3d(0.0, 0.0, 0.0)); shape->addShape(subShape, transform); auto copier = std::make_shared("Copier"); copier->setSource(physics); element->addComponent(copier); auto graphics = std::make_shared("LeftGraphics"); graphics->setLocalPose(transform); graphics->loadModel("bar.ply"); element->addComponent(graphics); copier->addTarget(graphics); transform = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(-0.2, Vector3d(1.0, 0.0, 0.0)), Vector3d(0.0, 0.0, 0.0)); shape->addShape(subShape, transform); graphics = std::make_shared("RightGraphics"); graphics->setLocalPose(transform); graphics->loadModel("bar.ply"); element->addComponent(graphics); copier->addTarget(graphics); auto rigidCollision = std::make_shared("Collision"); physics->setCollisionRepresentation(rigidCollision); rigidCollision->setCollisionDetectionType(SurgSim::Collision::COLLISION_DETECTION_TYPE_CONTINUOUS); element->addComponent(rigidCollision); transform = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(M_PI_2, Vector3d(0.0, 1.0, 0.0)), Vector3d(0.0, -0.2, 0.0)); element->setPose(transform); return element; } } class CcdSutureTest : public SurgSim::Physics::RenderTests { public: void SetUp() override { SurgSim::Physics::RenderTests::SetUp(); scene->addSceneElement(std::make_shared()); SurgSim::Framework::Logger::getLoggerManager()->setThreshold(SurgSim::Framework::LOG_LEVEL_DEBUG); physicsManager->setComputations(SurgSim::Physics::createCcdPipeline()); physicsManager->setRate(150.0); } }; TEST_F(CcdSutureTest, SutureVsMeshedCylinder) { scene->addSceneElement(makeSuture("prolene 3.0-fixedExtremity.ply")); scene->addSceneElement(makeRigid("cylinder.ply")); SurgSim::Math::Vector3d cameraPosition(0.25, 0.0, 0.1); SurgSim::Math::Vector3d cameraLookAt(0.0, -0.1, 0.0); physicsManager->setRate(100.0); double milliseconds = 5000.0; runTest(cameraPosition, cameraLookAt, milliseconds); } TEST_F(CcdSutureTest, Fem1DHalfKnot) { scene->addSceneElement(makeSuture("half_knot.ply")); SurgSim::Math::Vector3d cameraPosition(1.0, 0.0, 1.0); SurgSim::Math::Vector3d cameraLookAt(0.0, 0.0, 0.0); physicsManager->setRate(150.0); double milliseconds = 5000.0; runTest(cameraPosition, cameraLookAt, milliseconds); } TEST_F(CcdSutureTest, Fem1DLoop) { scene->addSceneElement(makeSuture("loop.ply")); SurgSim::Math::Vector3d cameraPosition(0.25, 0.0, 0.25); SurgSim::Math::Vector3d cameraLookAt(0.0, 0.0, 0.0); physicsManager->setRate(50.0); double milliseconds = 5000.0; runTest(cameraPosition, cameraLookAt, milliseconds); } TEST_F(CcdSutureTest, Fem1DBlock) { std::shared_ptr element = std::make_shared("Axis"); element->addComponent(std::make_shared("Axis")); scene->addSceneElement(element); element = makeRigid("bar.ply"); auto transform = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(M_PI_2, SurgSim::Math::Vector3d(0.0, 1.0, 0.0)), SurgSim::Math::Vector3d(0.0, -0.2, 0.0)); element->setPose(transform); scene->addSceneElement(element); scene->addSceneElement(makeSuture("prolene 3.0-fixedExtremity.ply")); physicsManager->setRate(100.0); physicsManager->setComputations(SurgSim::Physics::createCcdPipeline()); scene->addSceneElement(std::make_shared()); SurgSim::Math::Vector3d cameraPosition(0.25, 0.0, 0.25); SurgSim::Math::Vector3d cameraLookAt(0.0, -0.1, 0.0); double miliseconds = 5000.0; runTest(cameraPosition, cameraLookAt, miliseconds); } TEST_F(CcdSutureTest, Fem1DCompound) { auto element = std::make_shared("Axis"); element->addComponent(std::make_shared("Axis")); scene->addSceneElement(element); scene->addSceneElement(makeCompound()); scene->addSceneElement(makeSuture("prolene 3.0-fixedExtremity.ply")); physicsManager->setRate(100.0); physicsManager->setComputations(SurgSim::Physics::createCcdPipeline()); scene->addSceneElement(std::make_shared()); SurgSim::Math::Vector3d cameraPosition(0.25, 0.0, 0.25); SurgSim::Math::Vector3d cameraLookAt(0.0, -0.1, 0.0); double miliseconds = 5000.0; runTest(cameraPosition, cameraLookAt, miliseconds); } TEST_F(CcdSutureTest, Fem1DMovingCompound) { using SurgSim::Math::Vector3d; std::shared_ptr element = std::make_shared("Axis"); element->addComponent(std::make_shared("Axis")); scene->addSceneElement(element); element = makeCompound(); auto leftGraphics = std::dynamic_pointer_cast(element->getComponent("LeftGraphics")); auto rightGraphics = std::dynamic_pointer_cast(element->getComponent("RightGraphics")); auto physics = std::dynamic_pointer_cast(element->getComponent("Physics")); ASSERT_NE(nullptr, leftGraphics); ASSERT_NE(nullptr, rightGraphics); ASSERT_NE(nullptr, physics); auto shape = std::dynamic_pointer_cast(physics->getShape()); scene->addSceneElement(element); scene->addSceneElement(makeSuture("prolene 3.0-fixedExtremity.ply")); physicsManager->setRate(300.0); physicsManager->setComputations(SurgSim::Physics::createCcdPipeline()); scene->addSceneElement(std::make_shared()); SurgSim::Math::Vector3d cameraPosition(0.25, 0.0, 0.25); SurgSim::Math::Vector3d cameraLookAt(0.0, -0.1, 0.0); runtime->start(); viewElement->enableManipulator(true); viewElement->setManipulatorParameters(cameraPosition, cameraLookAt); boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); for (double angle = 0.2, offset = -0.05; angle < 1.0; angle += 0.00125, offset += 0.0005) { auto transform = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(angle, Vector3d(1.0, 0.0, 0.0)), Vector3d(0.0, offset, 0.0)); shape->setPose(0, transform); leftGraphics->setLocalPose(transform); transform = SurgSim::Math::makeRigidTransform( SurgSim::Math::makeRotationQuaternion(-angle, Vector3d(1.0, 0.0, 0.0)), Vector3d(0.0, offset, 0.0)); shape->setPose(1, transform); rightGraphics->setLocalPose(transform); boost::this_thread::sleep(boost::posix_time::milliseconds(50)); } } opensurgsim-0.7.0/SurgSim/Physics/RenderTests/RenderTestFem1D.cpp000066400000000000000000000132451277777236100247760ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. ///\file RenderTestFem1D.cpp render test for Fem1D #include #include "SurgSim/Blocks/TransferPhysicsToVerticesBehavior.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Graphics/OsgCurveRepresentation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/Fem1DElementBeam.h" #include "SurgSim/Physics/RenderTests/RenderTest.h" using SurgSim::Blocks::TransferPhysicsToVerticesBehavior; using SurgSim::Framework::BasicSceneElement; using SurgSim::Graphics::OsgCurveRepresentation; using SurgSim::Math::Vector3d; using SurgSim::Physics::Fem1DRepresentation; using SurgSim::Physics::Fem1DElementBeam; namespace { void loadModelFem1D(std::shared_ptr physicsRepresentation, size_t numNodes) { std::shared_ptr restState = std::make_shared(); restState->setNumDof(physicsRepresentation->getNumDofPerNode(), numNodes); // Sets the initial state (node positions and boundary conditions) SurgSim::Math::Vector& x = restState->getPositions(); for (size_t nodeId = 0; nodeId < numNodes; nodeId++) { SurgSim::Math::getSubVector(x, nodeId, physicsRepresentation->getNumDofPerNode()).segment<3>(0) = Vector3d(static_cast(nodeId) / static_cast(numNodes - 1) - 0.5, 0.0, 0.0); } // Fix the start and end nodes restState->addBoundaryCondition(0, 0); restState->addBoundaryCondition(0, 1); restState->addBoundaryCondition(0, 2); restState->addBoundaryCondition(numNodes - 1, 0); restState->addBoundaryCondition(numNodes - 1, 1); restState->addBoundaryCondition(numNodes - 1, 2); physicsRepresentation->setInitialState(restState); // Adds all the FemElements for (size_t beamId = 0; beamId < numNodes - 1; beamId++) { std::array beamNodeIds = {{beamId, beamId + 1}}; std::shared_ptr beam = std::make_shared(beamNodeIds); beam->setRadius(0.10); beam->setMassDensity(3000.0); beam->setPoissonRatio(0.45); beam->setYoungModulus(1e6); physicsRepresentation->addFemElement(beam); } } // Generates a 1d fem comprised of adjacent elements along a straight line. The number of fem elements is determined // by loadModelFem1D. std::shared_ptr createFem1D(const std::string& name, const SurgSim::Math::RigidTransform3d& gfxPose, const SurgSim::Math::Vector4d& color, SurgSim::Math::IntegrationScheme integrationScheme) { auto physicsRepresentation = std::make_shared("Physics Representation: " + name); // In this test, the physics representations are not transformed, only the graphics will be transformed loadModelFem1D(physicsRepresentation, 10); physicsRepresentation->setIntegrationScheme(integrationScheme); physicsRepresentation->setRayleighDampingMass(5e-2); physicsRepresentation->setRayleighDampingStiffness(5e-3); auto femSceneElement = std::make_shared(name); femSceneElement->addComponent(physicsRepresentation); auto graphicsRepresentation = std::make_shared("Graphics Representation: " + name); graphicsRepresentation->setLocalPose(gfxPose); graphicsRepresentation->setColor(color); femSceneElement->addComponent(graphicsRepresentation); auto copier = std::make_shared("Copier"); copier->setSource(physicsRepresentation); copier->setTarget(graphicsRepresentation); femSceneElement->addComponent(copier); return femSceneElement; } }; // anonymous namespace namespace SurgSim { namespace Physics { TEST_F(RenderTests, VisualTestFem1D) { using SurgSim::Math::makeRigidTranslation; using SurgSim::Math::Vector4d; scene->addSceneElement( createFem1D("Euler Explicit", // name makeRigidTranslation(Vector3d(0.0, 0.5, 0.0)), // graphics pose Vector4d(1, 0, 0, 1), // color (r, g, b, a) SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT)); // technique to update object scene->addSceneElement( createFem1D("Modified Euler Explicit", makeRigidTranslation(Vector3d(0.0, 0.25, 0.0)), Vector4d(0.5, 0, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT)); scene->addSceneElement( createFem1D("Runge Kutta 4", makeRigidTranslation(Vector3d(0.0, 0.0, 0.0)), Vector4d(0, 1, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4)); scene->addSceneElement( createFem1D("Euler Implicit", makeRigidTranslation(Vector3d(0.0, -0.25, 0.0)), Vector4d(0, 0, 1, 1), SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT)); scene->addSceneElement( createFem1D("Static", makeRigidTranslation(Vector3d(0.0, -0.5, 0.0)), Vector4d(1, 1, 1, 1), SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC)); runTest(Vector3d(0.0, 0.0, 2.0), Vector3d::Zero(), 5000.0); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/RenderTests/RenderTestFem2D.cpp000066400000000000000000000245531277777236100250030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. ///\file RenderTestFem2D.cpp render test for Fem2D #include #include "SurgSim/Blocks/TransferPhysicsToGraphicsMeshBehavior.h" #include "SurgSim/Blocks/TransferPhysicsToPointCloudBehavior.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Graphics/Mesh.h" #include "SurgSim/Graphics/OsgMeshRepresentation.h" #include "SurgSim/Graphics/OsgPointCloudRepresentation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem2DRepresentation.h" #include "SurgSim/Physics/Fem2DElementTriangle.h" #include "SurgSim/Physics/RenderTests/RenderTest.h" using SurgSim::Blocks::TransferPhysicsToGraphicsMeshBehavior; using SurgSim::Blocks::TransferPhysicsToPointCloudBehavior; using SurgSim::Framework::BasicSceneElement; using SurgSim::Graphics::OsgPointCloudRepresentation; using SurgSim::Math::Vector3d; using SurgSim::Physics::Fem2DRepresentation; using SurgSim::Physics::Fem2DElementTriangle; namespace { /// Create a Fem2D with a cylinder shape /// \note This is defining a cylinder based on cylindrical coordinates M(length, angle) /// \note The cylinder is composed of cross-sections with nodes added radially to each cross-section. /// \note The nodes of 2 consecutives cross-sections are connected to form square-patches which in turn /// \note are decomposed into 2 Fem2DElementTriangle. void createFem2DCylinder(std::shared_ptr physicsRepresentation) { // Mechanical properties const double youngModulus = 1e6; const double poissonRatio = 0.35; const double massDensity = 5000.0; // Geometrical properties const double length = 1.0; const double radius = 8e-2; const double thickness = 3e-2; // Number of cross-sections and their discretization in nodes const size_t numSections = 7; const size_t numNodesOnSection = 8; const size_t numNodes = numSections * numNodesOnSection; // Distance between 2 consecutive cross-section const double deltaL = length / (numSections - 1); // Angle between 2 consecutive nodes on a cross-section const double deltaAngle = 2.0 * M_PI / numNodesOnSection; std::shared_ptr restState = std::make_shared(); restState->setNumDof(physicsRepresentation->getNumDofPerNode(), numNodes); // Sets the initial state (node positions and boundary conditions) SurgSim::Math::Vector& x = restState->getPositions(); size_t numDofPerNode = physicsRepresentation->getNumDofPerNode(); for (size_t sectionId = 0; sectionId < numSections; sectionId++) { for (size_t nodeIdOnSection = 0; nodeIdOnSection < numNodesOnSection; nodeIdOnSection++) { double angle = deltaAngle * nodeIdOnSection; x.segment<3>(numDofPerNode * (sectionId * numNodesOnSection + nodeIdOnSection)) = Vector3d(-length / 2.0 + sectionId * deltaL, radius * cos(angle), radius * sin(angle)); } } // We fix the nodes on the 1st and last cross-sections const size_t section0 = 0; const size_t section1 = numSections - 1; for (size_t nodeId = 0; nodeId < numNodesOnSection; nodeId++) { restState->addBoundaryCondition(nodeId + numNodesOnSection * section0); restState->addBoundaryCondition(nodeId + numNodesOnSection * section1); } physicsRepresentation->setInitialState(restState); // Adds all the FemElements for (size_t sectionId = 0; sectionId < numSections - 1; sectionId++) { // For each cross-section, we connect the nodes of this cross-section to the nodes of the next cross-section for (size_t nodeIdOnSection = 0; nodeIdOnSection < numNodesOnSection; nodeIdOnSection++) { // On a given cross-section, each node will be connected to the next node // The last node is connected to the 1st node via a modulo in the node index calculation std::array, 2> nodeIds = {{ {{ sectionId * numNodesOnSection + nodeIdOnSection, sectionId * numNodesOnSection + (nodeIdOnSection + 1) % numNodesOnSection }} , {{ (sectionId + 1) * numNodesOnSection + nodeIdOnSection, (sectionId + 1) * numNodesOnSection + (nodeIdOnSection + 1) % numNodesOnSection }} }}; std::array triangle1NodeIds = {{nodeIds[0][0], nodeIds[0][1], nodeIds[1][1]}}; std::shared_ptr triangle1 = std::make_shared(triangle1NodeIds); triangle1->setThickness(thickness); triangle1->setMassDensity(massDensity); triangle1->setPoissonRatio(poissonRatio); triangle1->setYoungModulus(youngModulus); physicsRepresentation->addFemElement(triangle1); std::array triangle2NodeIds = {{nodeIds[0][0], nodeIds[1][1], nodeIds[1][0]}}; std::shared_ptr triangle2 = std::make_shared(triangle2NodeIds); triangle2->setThickness(thickness); triangle2->setMassDensity(massDensity); triangle2->setPoissonRatio(poissonRatio); triangle2->setYoungModulus(youngModulus); physicsRepresentation->addFemElement(triangle2); } } } // Generates a 2d fem comprised of a cylinder. The number of fem elements is determined by createFem2DCylinder. std::shared_ptr createFem2D(const std::string& name, const SurgSim::Math::RigidTransform3d& gfxPose, const SurgSim::Math::Vector4d& color, SurgSim::Math::IntegrationScheme integrationScheme) { std::shared_ptr physicsRepresentation = std::make_shared("Physics Representation"); // In this test, the physics representations are not transformed, only the graphics will be transformed createFem2DCylinder(physicsRepresentation); physicsRepresentation->setIntegrationScheme(integrationScheme); physicsRepresentation->setRayleighDampingMass(1e0); physicsRepresentation->setRayleighDampingStiffness(1e-3); std::shared_ptr femSceneElement = std::make_shared(name); femSceneElement->addComponent(physicsRepresentation); // Create a triangle mesh for visualizing the surface of the finite element model std::shared_ptr graphicsTriangleMeshRepresentation = std::make_shared("TriangleMesh Representation"); graphicsTriangleMeshRepresentation->setLocalPose(gfxPose); auto mesh = graphicsTriangleMeshRepresentation->getMesh(); // Create vertices for (size_t vertexId = 0; vertexId < physicsRepresentation->getInitialState()->getNumNodes(); vertexId++) { SurgSim::Graphics::Mesh::VertexType v(physicsRepresentation->getInitialState()->getPosition(vertexId)); mesh->addVertex(v); } // Create triangles for (size_t triangleId = 0; triangleId < physicsRepresentation->getNumFemElements(); triangleId++) { auto nodeIdsVector = physicsRepresentation->getFemElement(triangleId)->getNodeIds(); std::array nodeIds = {{nodeIdsVector[0], nodeIdsVector[1], nodeIdsVector[2]}}; SurgSim::Graphics::Mesh::TriangleType t(nodeIds); mesh->addTriangle(t); } femSceneElement->addComponent(graphicsTriangleMeshRepresentation); // Create a behavior which transfers the position of the vertices in the FEM to locations in the triangle mesh auto physicsToMesh = std::make_shared("physics to triangle mesh"); physicsToMesh->setSource(physicsRepresentation); physicsToMesh->setTarget(graphicsTriangleMeshRepresentation); femSceneElement->addComponent(physicsToMesh); std::shared_ptr graphicsPointCloudRepresentation = std::make_shared("PointCloud Representation"); graphicsPointCloudRepresentation->setLocalPose(gfxPose); graphicsPointCloudRepresentation->setColor(color); graphicsPointCloudRepresentation->setPointSize(3.0f); graphicsPointCloudRepresentation->setLocalActive(true); femSceneElement->addComponent(graphicsPointCloudRepresentation); auto physicsToPointCloud = std::make_shared("Transfer from Physics to Graphics point cloud"); physicsToPointCloud->setSource(physicsRepresentation); physicsToPointCloud->setTarget(graphicsPointCloudRepresentation); femSceneElement->addComponent(physicsToPointCloud); return femSceneElement; } }; // anonymous namespace namespace SurgSim { namespace Physics { TEST_F(RenderTests, VisualTestFem2D) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::Vector4d; const SurgSim::Math::Quaterniond quaternion(Eigen::AngleAxisd(-M_PI / 6.0, Vector3d(0.0, 1.0, 0.0))); scene->addSceneElement( createFem2D("Euler Explicit", // name makeRigidTransform(quaternion, Vector3d(0.0, 0.6, 0.0)), // graphics pose (rot., trans.) Vector4d(1, 0, 0, 1), // color (r, g, b, a) SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT)); // technique to update object scene->addSceneElement( createFem2D("Modified Euler Explicit", makeRigidTransform(quaternion, Vector3d(0.0, 0.3, 0.0)), Vector4d(0.5, 0, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT_MODIFIED)); scene->addSceneElement( createFem2D("Runge Kutta 4", makeRigidTransform(quaternion, Vector3d(0.0, 0.0, 0.0)), Vector4d(0, 1, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4)); scene->addSceneElement( createFem2D("Euler Implicit", makeRigidTransform(quaternion, Vector3d(0.0, -0.3, 0.0)), Vector4d(0, 0, 1, 1), SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT)); scene->addSceneElement( createFem2D("Static", makeRigidTransform(quaternion, Vector3d(0.0, -0.6, 0.0)), Vector4d(1, 1, 1, 1), SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC)); runTest(Vector3d(0.0, 0.0, 2.0), Vector3d::Zero(), 5000.0); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/RenderTests/RenderTestFem3D.cpp000066400000000000000000000237311277777236100250010ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. ///\file RenderTestFem3D.cpp render test for Fem3D #include #include "SurgSim/Blocks/TransferPhysicsToPointCloudBehavior.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Graphics/OsgPointCloudRepresentation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/Fem3DElementCube.h" #include "SurgSim/Physics/Fem3DElementTetrahedron.h" #include "SurgSim/Physics/RenderTests/RenderTest.h" using SurgSim::Blocks::TransferPhysicsToPointCloudBehavior; using SurgSim::Framework::BasicSceneElement; using SurgSim::Graphics::OsgPointCloudRepresentation; using SurgSim::Physics::Fem3DRepresentation; using SurgSim::Physics::FemElement; using SurgSim::Physics::Fem3DElementCube; using SurgSim::Physics::Fem3DElementTetrahedron; using SurgSim::Math::Vector3d; namespace { std::shared_ptr createTetrahedronFem3D(const std::string& name, const SurgSim::Math::RigidTransform3d& pose, SurgSim::Math::Vector4d color, SurgSim::Math::IntegrationScheme integrationScheme) { // Physics Representation std::shared_ptr physicsRepresentation; physicsRepresentation = std::make_shared(name + " Physics"); physicsRepresentation->setIntegrationScheme(integrationScheme); physicsRepresentation->setRayleighDampingMass(5e-2); physicsRepresentation->setRayleighDampingStiffness(5e-3); std::array vertices = {{ Vector3d(-0.5, -0.5, -0.5), Vector3d(0.5, -0.5, -0.5), Vector3d(-0.5, 0.5, -0.5), Vector3d(0.5, 0.5, -0.5), Vector3d(-0.5, -0.5, 0.5), Vector3d(0.5, -0.5, 0.5), Vector3d(-0.5, 0.5, 0.5), Vector3d(0.5, 0.5, 0.5) } }; // Cube decomposition into 5 tetrahedrons // https://www.math.ucdavis.edu/~deloera/CURRENT_INTERESTS/cube.html std::array< std::array, 5> tetrahedrons = {{ {{4, 7, 1, 2}}, // CCW (47)cross(41) . (42) > 0 {{4, 1, 7, 5}}, // CCW (41)cross(47) . (45) > 0 {{4, 2, 1, 0}}, // CCW (42)cross(41) . (40) > 0 {{4, 7, 2, 6}}, // CCW (47)cross(42) . (46) > 0 {{1, 2, 7, 3}} // CCW (12)cross(17) . (13) > 0 } }; std::array boundaryConditionsNodeIdx = {{0, 1, 2, 3}}; std::shared_ptr initialState = std::make_shared(); initialState->setNumDof(physicsRepresentation->getNumDofPerNode(), 8); for (size_t i = 0; i != vertices.size(); i++) { initialState->getPositions().segment(i * 3, 3) = vertices[i]; } for (auto index = boundaryConditionsNodeIdx.cbegin(); index != boundaryConditionsNodeIdx.cend(); ++index) { initialState->addBoundaryCondition(*index); } physicsRepresentation->setInitialState(initialState); for (auto tetrahedron = tetrahedrons.cbegin(); tetrahedron != tetrahedrons.cend(); ++tetrahedron) { std::shared_ptr element = std::make_shared(*tetrahedron); element->setMassDensity(8000.0); element->setPoissonRatio(0.45); element->setYoungModulus(1.0e6); physicsRepresentation->addFemElement(element); } // Graphics Representation std::shared_ptr graphicsRepresentation; graphicsRepresentation = std::make_shared(name + " Graphics object "); graphicsRepresentation->setLocalPose(pose); graphicsRepresentation->setColor(color); graphicsRepresentation->setPointSize(3.0f); graphicsRepresentation->setLocalActive(true); // Scene Element std::shared_ptr femSceneElement = std::make_shared(name); femSceneElement->addComponent(physicsRepresentation); femSceneElement->addComponent(graphicsRepresentation); auto physicsToGraphics = std::make_shared("Physics to Graphics deformable points"); physicsToGraphics->setSource(physicsRepresentation); physicsToGraphics->setTarget(graphicsRepresentation); femSceneElement->addComponent(physicsToGraphics); return femSceneElement; } std::shared_ptr createCubeFem3D(const std::string& name, const SurgSim::Math::RigidTransform3d& pose, SurgSim::Math::Vector4d color, SurgSim::Math::IntegrationScheme integrationScheme) { // Physics Representation std::shared_ptr physicsRepresentation; physicsRepresentation = std::make_shared(name + " Physics"); physicsRepresentation->setIntegrationScheme(integrationScheme); physicsRepresentation->setRayleighDampingMass(5e-2); physicsRepresentation->setRayleighDampingStiffness(5e-3); std::array vertices = {{ Vector3d(-0.5, -0.5, -0.5), Vector3d(0.5, -0.5, -0.5), Vector3d(-0.5, 0.5, -0.5), Vector3d(0.5, 0.5, -0.5), Vector3d(-0.5, -0.5, 0.5), Vector3d(0.5, -0.5, 0.5), Vector3d(-0.5, 0.5, 0.5), Vector3d(0.5, 0.5, 0.5) } }; std::array cube = {{0, 1, 3, 2, 4, 5, 7, 6}}; std::array boundaryConditionsNodeIdx = {{0, 1, 2, 3}}; std::shared_ptr initialState = std::make_shared(); initialState->setNumDof(physicsRepresentation->getNumDofPerNode(), 8); for (size_t i = 0; i != vertices.size(); i++) { initialState->getPositions().segment(i * 3, 3) = vertices[i]; } for (auto index = boundaryConditionsNodeIdx.cbegin(); index != boundaryConditionsNodeIdx.cend(); ++index) { initialState->addBoundaryCondition(*index); } physicsRepresentation->setInitialState(initialState); std::shared_ptr element = std::make_shared(cube); element->setMassDensity(8000.0); element->setPoissonRatio(0.45); element->setYoungModulus(1.0e6); physicsRepresentation->addFemElement(element); // Graphics Representation std::shared_ptr graphicsRepresentation; graphicsRepresentation = std::make_shared(name + " Graphics object "); graphicsRepresentation->setLocalPose(pose); graphicsRepresentation->setColor(color); graphicsRepresentation->setPointSize(3.0f); graphicsRepresentation->setLocalActive(true); // Scene Element std::shared_ptr femSceneElement = std::make_shared(name); femSceneElement->addComponent(physicsRepresentation); femSceneElement->addComponent(graphicsRepresentation); auto physicsToGraphics = std::make_shared("Physics to Graphics deformable points"); physicsToGraphics->setSource(physicsRepresentation); physicsToGraphics->setTarget(graphicsRepresentation); femSceneElement->addComponent(physicsToGraphics); return femSceneElement; } }; // anonymous namespace namespace SurgSim { namespace Physics { TEST_F(RenderTests, VisualTestFem3D) { using SurgSim::Math::makeRigidTranslation; using SurgSim::Math::Vector4d; // Cube with cube FemElement scene->addSceneElement(createCubeFem3D("CubeElement Euler Explicit", makeRigidTranslation(Vector3d(-4.0, 2.0, -2.0)), Vector4d(1, 0, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT)); scene->addSceneElement(createCubeFem3D("CubeElement Modified Euler Explicit", makeRigidTranslation(Vector3d(-2.0, 2.0, -2.0)), Vector4d(0.5, 0, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT_MODIFIED)); scene->addSceneElement(createCubeFem3D("CubeElement Runge Kutta 4", makeRigidTranslation(Vector3d(0.0, 2.0, -2.0)), Vector4d(0, 1, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4)); scene->addSceneElement(createCubeFem3D("CubeElement Fem 3D Euler Implicit", makeRigidTranslation(Vector3d(2.0, 2.0, -2.0)), Vector4d(0, 0, 1, 1), SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT)); scene->addSceneElement(createCubeFem3D("CubeElement Static", makeRigidTranslation(Vector3d(4.0, 2.0, -2.0)), Vector4d(1, 1, 1, 1), SurgSim::Math::INTEGRATIONSCHEME_STATIC)); // Cube with tetrahedron FemElement scene->addSceneElement(createTetrahedronFem3D("TetrahedronElement Euler Explicit", makeRigidTranslation(Vector3d(-4.0, -2.0, -2.0)), Vector4d(1, 0, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT)); scene->addSceneElement(createTetrahedronFem3D("TetrahedronElement Modified Euler Explicit", makeRigidTranslation(Vector3d(-2.0, -2.0, -2.0)), Vector4d(0.5, 0, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_EXPLICIT_MODIFIED)); scene->addSceneElement(createTetrahedronFem3D("TetrahedronElement Runge Kutta 4", makeRigidTranslation(Vector3d(0.0, -2.0, -2.0)), Vector4d(0, 1, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4)); scene->addSceneElement(createTetrahedronFem3D("TetrahedronElement Fem 3D Euler Implicit", makeRigidTranslation(Vector3d(2.0, -2.0, -2.0)), Vector4d(0, 0, 1, 1), SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EULER_IMPLICIT)); scene->addSceneElement(createTetrahedronFem3D("TetrahedronElement Static", makeRigidTranslation(Vector3d(4.0, -2.0, -2.0)), Vector4d(1, 1, 1, 1), SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC)); runTest(Vector3d(0.0, 0.0, 7.0), Vector3d::Zero(), 5000.0); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/RenderTests/RenderTestFem3DCorotational.cpp000066400000000000000000000144031277777236100273540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. ///\file RenderTestFem3DCorotational.cpp render test for Fem3D with corotational elements #include #include "SurgSim/Blocks/TransferPhysicsToPointCloudBehavior.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Graphics/OsgPointCloudRepresentation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/Fem3DElementCorotationalTetrahedron.h" #include "SurgSim/Physics/RenderTests/RenderTest.h" using SurgSim::Blocks::TransferPhysicsToPointCloudBehavior; using SurgSim::Framework::BasicSceneElement; using SurgSim::Graphics::OsgPointCloudRepresentation; using SurgSim::Physics::Fem3DRepresentation; using SurgSim::Physics::FemElement; using SurgSim::Physics::Fem3DElementCorotationalTetrahedron; using SurgSim::Math::Vector3d; namespace { std::shared_ptr createTetrahedronFem3D(const std::string& name, const SurgSim::Math::RigidTransform3d& pose, SurgSim::Math::Vector4d color, SurgSim::Math::IntegrationScheme integrationScheme) { // Physics Representation std::shared_ptr physicsRepresentation; physicsRepresentation = std::make_shared(name + " Physics"); physicsRepresentation->setIntegrationScheme(integrationScheme); physicsRepresentation->setRayleighDampingMass(1e-2); physicsRepresentation->setRayleighDampingStiffness(1e-3); std::array vertices = {{ Vector3d(-0.5, -0.5, -0.5), Vector3d(0.5, -0.5, -0.5), Vector3d(-0.5, 0.5, -0.5), Vector3d(0.5, 0.5, -0.5), Vector3d(-0.5, -0.5, 0.5), Vector3d(0.5, -0.5, 0.5), Vector3d(-0.5, 0.5, 0.5), Vector3d(0.5, 0.5, 0.5) } }; // Cube decomposition into 5 tetrahedrons // https://www.math.ucdavis.edu/~deloera/CURRENT_INTERESTS/cube.html std::array< std::array, 5> tetrahedrons = {{ {{4, 7, 1, 2}}, // CCW (47)cross(41) . (42) > 0 {{4, 1, 7, 5}}, // CCW (41)cross(47) . (45) > 0 {{4, 2, 1, 0}}, // CCW (42)cross(41) . (40) > 0 {{4, 7, 2, 6}}, // CCW (47)cross(42) . (46) > 0 {{1, 2, 7, 3}} // CCW (12)cross(17) . (13) > 0 } }; std::array boundaryConditionsNodeIdx = {{0, 1}}; std::shared_ptr initialState = std::make_shared(); initialState->setNumDof(physicsRepresentation->getNumDofPerNode(), 8); for (size_t i = 0; i != vertices.size(); i++) { initialState->getPositions().segment(i * 3, 3) = vertices[i]; } for (auto index = boundaryConditionsNodeIdx.cbegin(); index != boundaryConditionsNodeIdx.cend(); ++index) { initialState->addBoundaryCondition(*index); } physicsRepresentation->setInitialState(initialState); for (auto tetrahedron = tetrahedrons.cbegin(); tetrahedron != tetrahedrons.cend(); ++tetrahedron) { std::shared_ptr element = std::make_shared(*tetrahedron); element->setMassDensity(8000.0); element->setPoissonRatio(0.45); element->setYoungModulus(1.0e6); physicsRepresentation->addFemElement(element); } // Graphics Representation std::shared_ptr graphicsRepresentation; graphicsRepresentation = std::make_shared(name + " Graphics object "); graphicsRepresentation->setLocalPose(pose); graphicsRepresentation->setColor(color); graphicsRepresentation->setPointSize(3.0f); graphicsRepresentation->setLocalActive(true); // Scene Element std::shared_ptr femSceneElement = std::make_shared(name); femSceneElement->addComponent(physicsRepresentation); femSceneElement->addComponent(graphicsRepresentation); auto physicsToGraphics = std::make_shared("Physics to Graphics deformable points"); physicsToGraphics->setSource(physicsRepresentation); physicsToGraphics->setTarget(graphicsRepresentation); femSceneElement->addComponent(physicsToGraphics); return femSceneElement; } }; // anonymous namespace namespace SurgSim { namespace Physics { TEST_F(RenderTests, VisualTestFem3DCorotational) { using SurgSim::Math::makeRigidTranslation; // Cube with corotational tetrahedron FemElement scene->addSceneElement(createTetrahedronFem3D("CorotationalTetrahedronElement Euler Explicit", makeRigidTranslation(Vector3d(-4.0, 1.0, -1.0)), SurgSim::Math::Vector4d(1, 0, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT)); scene->addSceneElement(createTetrahedronFem3D("CorotatinoalTetrahedronElement Modified Euler Explicit", makeRigidTranslation(Vector3d(-2.0, 1.0, -1.0)), SurgSim::Math::Vector4d(0.5, 0, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED)); scene->addSceneElement(createTetrahedronFem3D("CorotatinoalTetrahedronElement Runge Kutta 4", makeRigidTranslation(Vector3d(0.0, 1.0, -1.0)), SurgSim::Math::Vector4d(0, 1, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_RUNGE_KUTTA_4)); scene->addSceneElement(createTetrahedronFem3D("CorotatinoalTetrahedronElement Fem 3D Euler Implicit", makeRigidTranslation(Vector3d(2.0, 1.0, -1.0)), SurgSim::Math::Vector4d(0, 0, 1, 1), SurgSim::Math::INTEGRATIONSCHEME_EULER_IMPLICIT)); scene->addSceneElement(createTetrahedronFem3D("CorotatinoalTetrahedronElement Fem 3D Static", makeRigidTranslation(Vector3d(4.0, 1.0, -1.0)), SurgSim::Math::Vector4d(1, 1, 1, 1), SurgSim::Math::INTEGRATIONSCHEME_STATIC)); runTest(Vector3d(0.0, 0.0, 7.0), Vector3d::Zero(), 5000.0); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/RenderTests/RenderTestMassSprings.cpp000066400000000000000000000350561277777236100263570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. ///\file RenderTestMassSprings.cpp render test for MassSprings #include #include "SurgSim/Blocks/MassSpring1DRepresentation.h" #include "SurgSim/Blocks/MassSpring2DRepresentation.h" #include "SurgSim/Blocks/MassSpring3DRepresentation.h" #include "SurgSim/Blocks/TransferPhysicsToPointCloudBehavior.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Graphics/OsgPointCloudRepresentation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/RenderTests/RenderTest.h" using SurgSim::Blocks::MassSpring1DRepresentation; using SurgSim::Blocks::MassSpring2DRepresentation; using SurgSim::Blocks::MassSpring3DRepresentation; using SurgSim::Blocks::TransferPhysicsToPointCloudBehavior; using SurgSim::Framework::BasicSceneElement; using SurgSim::Graphics::OsgPointCloudRepresentation; using SurgSim::Math::Vector3d; namespace { std::shared_ptr createMassSpring1D(const std::string& name, const SurgSim::Math::RigidTransform3d& gfxPose, SurgSim::Math::Vector4d color, SurgSim::Math::IntegrationScheme integrationScheme) { std::shared_ptr physicsRepresentation = std::make_shared(name + " Physics"); // In this test, the physics representations are not transformed, // only the graphics one will apply a transform std::vector nodeBoundaryConditions; nodeBoundaryConditions.push_back(0); // Adding in this boundary condition is not necessary for the physics of the system, but it allows us // to better control the condition number for the linear system that the OdeStaticSolver // generates. This results in a more stable and more accurate test. nodeBoundaryConditions.push_back(1); // MassSpring1D with a straight line would define springs only along 1 direction, which would result in // stiffness matrix of rank n/3. The Z axis can be constrained entirely and the simulation // be done in exclusively in 2D (X,Y), but for the 2nd dimension to be defined properly in the stiffness matrix // we need a shape that does not have any straight lines anywhere. This will ensure that the problem is // well defined in 2D. This problem only arise in static resolution (OdeSolverStatic). std::vector nodes; nodes.push_back(Vector3d(-0.5, 0.0, 0)); nodes.push_back(Vector3d(-0.3, -0.5, 0)); nodes.push_back(Vector3d(-0.1, -0.4, 0)); nodes.push_back(Vector3d(0.1, -0.5, 0)); nodes.push_back(Vector3d(0.3, 0.0, 0)); physicsRepresentation->init1D(nodes, nodeBoundaryConditions, 0.1, // total mass (in Kg) 5.0, // Stiffness stretching 0.5, // Damping stretching 3.0, // Stiffness bending 0.5); // Damping bending // MassSpring1D defines springs only on the XY plane, so the stiffness matrix will contains // rows and columns of 0 for all Z axis. Therefore we need to constrain all Z dof to entirely // define the problem (stiffness matrix invertible in static resolution (OdeSolverStatic)). for (size_t nodeId = 1; nodeId < nodes.size(); ++nodeId) { SurgSim::Math::OdeState* state = const_cast(physicsRepresentation->getInitialState().get()); state->addBoundaryCondition(nodeId, 2); } physicsRepresentation->setIntegrationScheme(integrationScheme); physicsRepresentation->setRayleighDampingMass(1e0); physicsRepresentation->setRayleighDampingStiffness(3e-2); std::shared_ptr massSpringElement = std::make_shared(name); massSpringElement->addComponent(physicsRepresentation); std::shared_ptr graphicsRepresentation = std::make_shared("Graphics object"); graphicsRepresentation->setLocalPose(gfxPose); graphicsRepresentation->setColor(color); graphicsRepresentation->setPointSize(3.0f); graphicsRepresentation->setLocalActive(true); massSpringElement->addComponent(graphicsRepresentation); auto physicsToGraphics = std::make_shared("Physics to Graphics deformable points"); physicsToGraphics->setSource(physicsRepresentation); physicsToGraphics->setTarget(graphicsRepresentation); massSpringElement->addComponent(physicsToGraphics); return massSpringElement; } std::shared_ptr createMassSpring2D(const std::string& name, const SurgSim::Math::RigidTransform3d& gfxPose, SurgSim::Math::Vector4d color, SurgSim::Math::IntegrationScheme integrationScheme) { std::shared_ptr physicsRepresentation = std::make_shared(name + " Physics"); // In this test, the physics representations are not transformed, // only the graphics one will apply a transform // The regular structure of the MassSpring2D (in X,Y plane) makes the stiffness matrix close to singular // (Z axis aside) even with 1 fixed node. We run this test with 2 fixed nodes to ensure that a static resolution // will be stable (OdeSolverStatic). std::vector nodeBoundaryConditions; nodeBoundaryConditions.push_back(0); nodeBoundaryConditions.push_back(1); std::array, 2> extremities = { { {{ Vector3d(-0.5, 0.5, 0), Vector3d(0.5, 0.5, 0) }}, {{ Vector3d(-0.5, -0.5, 0), Vector3d(0.5, -0.5, 0) }} } }; size_t numNodesPerDim[2] = {3, 3}; physicsRepresentation->init2D(extremities, numNodesPerDim, nodeBoundaryConditions, 0.1, // total mass (in Kg) 5.0, // Stiffness stretching 0.5, // Damping stretching 1.0, // Stiffness bending 0.5, // Damping bending 1.0, // Stiffness face diagonal 0.5); // Damping face diagonal // MassSpring2D defines springs only on the XY plane, so the stiffness matrix will contains // rows and columns of 0 for all Z axis. Therefore we need to constrain all Z dof to entirely // define the problem (stiffness matrix invertible in static resolution (OdeSolverStatic)). for (size_t nodeId = 2; nodeId < numNodesPerDim[0] * numNodesPerDim[1]; ++nodeId) { SurgSim::Math::OdeState* state = const_cast(physicsRepresentation->getInitialState().get()); state->addBoundaryCondition(nodeId, 2); } physicsRepresentation->setIntegrationScheme(integrationScheme); physicsRepresentation->setRayleighDampingMass(1e0); physicsRepresentation->setRayleighDampingStiffness(3e-2); std::shared_ptr massSpringElement = std::make_shared(name); massSpringElement->addComponent(physicsRepresentation); std::shared_ptr graphicsRepresentation = std::make_shared("Graphics object"); graphicsRepresentation->setLocalPose(gfxPose); graphicsRepresentation->setColor(color); graphicsRepresentation->setPointSize(3.0f); graphicsRepresentation->setLocalActive(true); massSpringElement->addComponent(graphicsRepresentation); auto physicsToGraphics = std::make_shared("Physics to Graphics deformable points"); physicsToGraphics->setSource(physicsRepresentation); physicsToGraphics->setTarget(graphicsRepresentation); massSpringElement->addComponent(physicsToGraphics); return massSpringElement; } std::shared_ptr createMassSpring3D(const std::string& name, const SurgSim::Math::RigidTransform3d& gfxPose, SurgSim::Math::Vector4d color, SurgSim::Math::IntegrationScheme integrationScheme) { std::shared_ptr physicsRepresentation = std::make_shared(name + " Physics"); // In this test, the physics representations are not transformed, // only the graphics one will apply a transform std::vector nodeBoundaryConditions; nodeBoundaryConditions.push_back(0); nodeBoundaryConditions.push_back(1); // Adding in these two boundary conditions is not necessary for the physics of the system, but it allows us // to better control the condition number for the linear system that the OdeStaticSolver // generates. This results in a more stable and more accurate test. nodeBoundaryConditions.push_back(2); nodeBoundaryConditions.push_back(3); std::array, 2>, 2> extremities = { { {{ {{ Vector3d(-0.5, 0.5, 0.5), Vector3d(0.5, 0.5, 0.5) }} , {{ Vector3d(-0.5, -0.5, 0.5), Vector3d(0.5, -0.5, 0.5) }} } } , {{ {{ Vector3d(-0.5, 0.5, -0.5), Vector3d(0.5, 0.5, -0.5) }} , {{ Vector3d(-0.5, -0.5, -0.5), Vector3d(0.5, -0.5, -0.5) }} } }, } }; size_t numNodesPerDim[3] = {3, 3, 3}; physicsRepresentation->init3D(extremities, numNodesPerDim, nodeBoundaryConditions, 0.1, // total mass (in Kg) 5.0, // Stiffness stretching 0.5, // Damping stretching 1.0, // Stiffness bending 0.5, // Damping bending 1.0, // Stiffness face diagonal 0.5, // Damping face diagonal 1.0, // Stiffness volume diagonal 0.5); // Damping volume diagonal // MassSpring 3D defines springs in all directions (X, Y, Z, XY, XZ, YZ, XYZ) so the stiffness matrix // is entirely defined (no rows or columns of 0). // Therefore, setting up one node as boundary condition is sufficient to make the static problem invertible. physicsRepresentation->setIntegrationScheme(integrationScheme); physicsRepresentation->setRayleighDampingMass(1e0); physicsRepresentation->setRayleighDampingStiffness(3e-2); std::shared_ptr massSpringElement = std::make_shared(name); massSpringElement->addComponent(physicsRepresentation); std::shared_ptr graphicsRepresentation = std::make_shared("Graphics object"); graphicsRepresentation->setLocalPose(gfxPose); graphicsRepresentation->setColor(color); graphicsRepresentation->setPointSize(3.0f); graphicsRepresentation->setLocalActive(true); massSpringElement->addComponent(graphicsRepresentation); auto physicsToGraphics = std::make_shared("Physics to Graphics deformable points"); physicsToGraphics->setSource(physicsRepresentation); physicsToGraphics->setTarget(graphicsRepresentation); massSpringElement->addComponent(physicsToGraphics); return massSpringElement; } }; // anonymous namespace namespace SurgSim { namespace Physics { TEST_F(RenderTests, VisualTestMassSprings) { using SurgSim::Math::makeRigidTranslation; using SurgSim::Math::Vector4d; // MassSpring1D { scene->addSceneElement(createMassSpring1D("MassSpring 1D Euler Explicit", makeRigidTranslation(Vector3d(-3.0, 3.0, 0.0)), Vector4d(1, 0, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT)); scene->addSceneElement(createMassSpring1D("MassSpring 1D Modified Euler Explicit", makeRigidTranslation(Vector3d(-1.25, 3.0, 0.0)), Vector4d(0.5, 0, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED)); scene->addSceneElement(createMassSpring1D("MassSpring 1D Runge Kutta 4", makeRigidTranslation(Vector3d(0.5, 3.0, 0.0)), Vector4d(0, 1, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_RUNGE_KUTTA_4)); scene->addSceneElement(createMassSpring1D("MassSpring 1D Euler Implicit", makeRigidTranslation(Vector3d(2.25, 3.0, 0.0)), Vector4d(0, 0, 1, 1), SurgSim::Math::INTEGRATIONSCHEME_EULER_IMPLICIT)); scene->addSceneElement(createMassSpring1D("MassSpring 1D Static", makeRigidTranslation(Vector3d(4.0, 3.0, 0.0)), Vector4d(1, 1, 1, 1), SurgSim::Math::INTEGRATIONSCHEME_STATIC)); } // MassSpring2D { scene->addSceneElement(createMassSpring2D("MassSpring 2D Euler Explicit", makeRigidTranslation(Vector3d(-3.0, 0.5, 0.0)), Vector4d(1, 0, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT)); scene->addSceneElement(createMassSpring2D("MassSpring 2D Modified Euler Explicit", makeRigidTranslation(Vector3d(-1.25, 0.5, 0.0)), Vector4d(0.5, 0, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED)); scene->addSceneElement(createMassSpring2D("MassSpring 2D Runge Kutta 4", makeRigidTranslation(Vector3d(0.5, 0.5, 0.0)), Vector4d(0, 1, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_RUNGE_KUTTA_4)); scene->addSceneElement(createMassSpring2D("MassSpring 2D Euler Implicit", makeRigidTranslation(Vector3d(2.25, 0.5, 0.0)), Vector4d(0, 0, 1, 1), SurgSim::Math::INTEGRATIONSCHEME_EULER_IMPLICIT)); scene->addSceneElement(createMassSpring2D("MassSpring 2D Static", makeRigidTranslation(Vector3d(4.0, 0.5, 0.0)), Vector4d(1, 1, 1, 1), SurgSim::Math::INTEGRATIONSCHEME_STATIC)); } // MassSpring3D { scene->addSceneElement(createMassSpring3D("MassSpring 3D Euler Explicit", makeRigidTranslation(Vector3d(-3.0, -1.5, 0.0)), Vector4d(1, 0, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT)); scene->addSceneElement(createMassSpring3D("MassSpring 3D Modified Euler Explicit", makeRigidTranslation(Vector3d(-1.25, -1.5, 0.0)), Vector4d(0.5, 0, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED)); scene->addSceneElement(createMassSpring3D("MassSpring 3D Runge Kutta 4", makeRigidTranslation(Vector3d(0.5, -1.5, 0.0)), Vector4d(0, 1, 0, 1), SurgSim::Math::INTEGRATIONSCHEME_RUNGE_KUTTA_4)); scene->addSceneElement(createMassSpring3D("MassSpring 3D Euler Implicit", makeRigidTranslation(Vector3d(2.25, -1.5, 0.0)), Vector4d(0, 0, 1, 1), SurgSim::Math::INTEGRATIONSCHEME_EULER_IMPLICIT)); scene->addSceneElement(createMassSpring3D("MassSpring 3D Static", makeRigidTranslation(Vector3d(4.0, -1.5, 0.0)), Vector4d(1, 1, 1, 1), SurgSim::Math::INTEGRATIONSCHEME_STATIC)); } runTest(Vector3d(0.0, 0.0, 8.5), Vector3d::Zero(), 5000.0); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/RenderTests/RenderTestRigidBodies.cpp000066400000000000000000000461561277777236100262750ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. ///\file RenderTestRigidBodies.cpp render test for RigidRepresentation #include #include "SurgSim/DataStructures/TriangleMesh.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Graphics/Mesh.h" #include "SurgSim/Graphics/OsgBoxRepresentation.h" #include "SurgSim/Graphics/OsgMeshRepresentation.h" #include "SurgSim/Graphics/OsgPlaneRepresentation.h" #include "SurgSim/Graphics/OsgSphereRepresentation.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Shapes.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Physics/RenderTests/RenderTest.h" using SurgSim::Framework::BasicSceneElement; using SurgSim::Graphics::OsgBoxRepresentation; using SurgSim::Graphics::OsgMeshRepresentation; using SurgSim::Graphics::OsgPlaneRepresentation; using SurgSim::Graphics::OsgSphereRepresentation; using SurgSim::Math::BoxShape; using SurgSim::Math::MeshShape; using SurgSim::Math::PlaneShape; using SurgSim::Math::SphereShape; using SurgSim::Math::SurfaceMeshShape; using SurgSim::Math::Vector3d; using SurgSim::Physics::FixedRepresentation; using SurgSim::Physics::RigidCollisionRepresentation; using SurgSim::Physics::RigidRepresentation; namespace { std::shared_ptr createRigidSphereSceneElement(const std::string& name, double radius) { // Physics representation std::shared_ptr physicsRepresentation = std::make_shared("Physics"); std::shared_ptr shape = std::make_shared(radius); physicsRepresentation->setShape(shape); physicsRepresentation->setDensity(750.0); // Average mass density of Oak Wood physicsRepresentation->setLinearDamping(1e-2); physicsRepresentation->setAngularDamping(1e-4); // Collision representation std::shared_ptr collisionRepresentation = std::make_shared("Collision"); physicsRepresentation->setCollisionRepresentation(collisionRepresentation); // Graphic model std::shared_ptr osgRepresentation = std::make_shared("OsgRepresentation"); osgRepresentation->setRadius(radius); std::shared_ptr sceneElement = std::make_shared(name); sceneElement->addComponent(osgRepresentation); sceneElement->addComponent(collisionRepresentation); sceneElement->addComponent(physicsRepresentation); return sceneElement; } std::shared_ptr createRigidBoxSceneElement(const std::string& name, Vector3d size) { // Physics representation std::shared_ptr physicsRepresentation = std::make_shared("Physics"); std::shared_ptr shape = std::make_shared(size[0], size[1], size[2]); physicsRepresentation->setShape(shape); physicsRepresentation->setDensity(750.0); // Average mass density of oak wood physicsRepresentation->setLinearDamping(1e-2); physicsRepresentation->setAngularDamping(1e-4); // Collision representation std::shared_ptr collisionRepresentation = std::make_shared("Collision"); physicsRepresentation->setCollisionRepresentation(collisionRepresentation); // Graphic model std::shared_ptr osgRepresentation = std::make_shared("OsgRepresentation"); osgRepresentation->setSize(size); std::shared_ptr sceneElement = std::make_shared(name); sceneElement->addComponent(osgRepresentation); sceneElement->addComponent(collisionRepresentation); sceneElement->addComponent(physicsRepresentation); return sceneElement; } std::shared_ptr createFixedPlaneSceneElement(const std::string& name) { // Physics representation std::shared_ptr physicsRepresentation = std::make_shared("Physics"); std::shared_ptr shape = std::make_shared(); physicsRepresentation->setShape(shape); // Collision representation std::shared_ptr collisionRepresentation = std::make_shared("Collision"); physicsRepresentation->setCollisionRepresentation(collisionRepresentation); // Graphic model std::shared_ptr osgRepresentation = std::make_shared("OsgRepresentation"); std::shared_ptr sceneElement = std::make_shared(name); sceneElement->addComponent(osgRepresentation); sceneElement->addComponent(collisionRepresentation); sceneElement->addComponent(physicsRepresentation); return sceneElement; } std::shared_ptr createRigidMeshSceneElement( const std::string& name, std::string plyFilename, double scale = 1.0) { auto mesh = std::make_shared(); mesh->load(plyFilename); for (auto& vertex : mesh->getVertices()) { vertex.position *= scale; } // Physics representation std::shared_ptr physicsRepresentation = std::make_shared("Physics"); physicsRepresentation->setShape(mesh); physicsRepresentation->setDensity(750.0); // Average mass density of oak wood physicsRepresentation->setLinearDamping(1e-2); physicsRepresentation->setAngularDamping(1e-4); // Collision representation std::shared_ptr collisionRepresentation = std::make_shared("Collision"); physicsRepresentation->setCollisionRepresentation(collisionRepresentation); // Graphic representation of the physics model std::shared_ptr osgRepresentation = std::make_shared("OsgRepresentation"); osgRepresentation->setShape(mesh); osgRepresentation->setDrawAsWireFrame(true); std::shared_ptr sceneElement = std::make_shared(name); sceneElement->addComponent(osgRepresentation); sceneElement->addComponent(collisionRepresentation); sceneElement->addComponent(physicsRepresentation); return sceneElement; } std::shared_ptr createFixedSurfaceMeshSceneElement( const std::string& name, std::string plyFilename, double scale = 1.0) { auto mesh = std::make_shared(); mesh->load(plyFilename); for (auto& vertex : mesh->getVertices()) { vertex.position *= scale; } // Physics representation std::shared_ptr physicsRepresentation = std::make_shared("Physics"); physicsRepresentation->setShape(mesh); physicsRepresentation->setDensity(750.0); // Average mass density of oak wood // Collision representation std::shared_ptr collisionRepresentation = std::make_shared("Collision"); physicsRepresentation->setCollisionRepresentation(collisionRepresentation); // Graphic representation of the physics model std::shared_ptr osgRepresentation = std::make_shared("OsgRepresentation"); osgRepresentation->setShape(mesh); osgRepresentation->setDrawAsWireFrame(true); std::shared_ptr sceneElement = std::make_shared(name); sceneElement->addComponent(osgRepresentation); sceneElement->addComponent(collisionRepresentation); sceneElement->addComponent(physicsRepresentation); return sceneElement; } }; // anonymous namespace namespace SurgSim { namespace Physics { TEST_F(RenderTests, VisualTestFallingRigidBodies) { using SurgSim::Math::makeRigidTranslation; // Mesh-base objects std::shared_ptr boxMesh = createRigidMeshSceneElement("boxMesh1", "Geometry/box.ply", 1.0); scene->addSceneElement(boxMesh); boxMesh->setPose(makeRigidTranslation(Vector3d(-0.35, 0.3, 0.0))); boxMesh = createRigidMeshSceneElement("boxMesh2", "Geometry/box.ply", 0.5); scene->addSceneElement(boxMesh); boxMesh->setPose(makeRigidTranslation(Vector3d(-0.25, 0.3, 0.0))); std::shared_ptr sphereMesh = createRigidMeshSceneElement("sphereMesh1", "Geometry/sphere.ply", 1.0); scene->addSceneElement(sphereMesh); sphereMesh->setPose(makeRigidTranslation(Vector3d(-0.15, 0.3, 0.0))); sphereMesh = createRigidMeshSceneElement("sphereMesh2", "Geometry/sphere.ply", 0.5); scene->addSceneElement(sphereMesh); sphereMesh->setPose(makeRigidTranslation(Vector3d(-0.05, 0.3, 0.0))); // Shape-base objects std::shared_ptr sphereShape = createRigidSphereSceneElement("sphereShape1", 0.05 * 0.5); scene->addSceneElement(sphereShape); sphereShape->setPose(makeRigidTranslation(Vector3d(0.05, 0.3, 0.0))); sphereShape = createRigidSphereSceneElement("sphereShape2", 0.05 * 1.0); scene->addSceneElement(sphereShape); sphereShape->setPose(makeRigidTranslation(Vector3d(0.15, 0.3, 0.0))); std::shared_ptr boxShape = createRigidBoxSceneElement("boxShape1", Vector3d(0.1, 0.1, 0.1) * 0.5); scene->addSceneElement(boxShape); boxShape->setPose(makeRigidTranslation(Vector3d(0.25, 0.3, 0.0))); boxShape = createRigidBoxSceneElement("boxShape2", Vector3d(0.1, 0.1, 0.1) * 1.0); scene->addSceneElement(boxShape); boxShape->setPose(makeRigidTranslation(Vector3d(0.35, 0.3, 0.0))); runTest(Vector3d(0.0, 0.0, 1.0), Vector3d::Zero(), 2500.0); } TEST_F(RenderTests, VisualTestRigidBodiesSlidingOnPlanes) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRigidTranslation; Eigen::AngleAxisd aaTiltForward(0.15, Vector3d(1.0, 0.0, 0.0)); Eigen::AngleAxisd aaTiltBackward(-0.15, Vector3d(1.0, 0.0, 0.0)); // Mesh-base objects std::shared_ptr boxMesh = createRigidMeshSceneElement("boxMesh", "Geometry/box.ply"); scene->addSceneElement(boxMesh); boxMesh->setPose(makeRigidTranslation(Vector3d(-0.3, 0.3, 0.0))); std::shared_ptr sphereMesh = createRigidMeshSceneElement("sphereMesh", "Geometry/sphere.ply"); scene->addSceneElement(sphereMesh); sphereMesh->setPose(makeRigidTranslation(Vector3d(-0.15, 0.3, 0.0))); // Shape-base objects std::shared_ptr sphereShape = createRigidSphereSceneElement("sphereShape", 0.05); scene->addSceneElement(sphereShape); sphereShape->setPose(makeRigidTranslation(Vector3d(0.15, 0.3, 0.0))); std::shared_ptr boxShape = createRigidBoxSceneElement("boxShape", Vector3d(0.1, 0.1, 0.1)); scene->addSceneElement(boxShape); boxShape->setPose(makeRigidTranslation(Vector3d(0.3, 0.3, 0.0))); // Floors on which the objects are falling (both tilted) std::shared_ptr floor1 = createFixedPlaneSceneElement("floor1"); scene->addSceneElement(floor1); floor1->setPose(makeRigidTransform(SurgSim::Math::Quaterniond(aaTiltForward), Vector3d(0.0, -0.2, -0.1))); std::shared_ptr floor2 = createFixedPlaneSceneElement("floor2"); scene->addSceneElement(floor2); floor2->setPose(makeRigidTransform(SurgSim::Math::Quaterniond(aaTiltBackward), Vector3d(0.0, -0.2, -0.1))); runTest(Vector3d(0.0, 0.0, 1.0), Vector3d::Zero(), 13000.0); } TEST_F(RenderTests, VisualTestRigidBodiesStacking) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRigidTranslation; const size_t numBodiesStacked = 3; // Mesh-base objects for (size_t i = 0; i < numBodiesStacked; ++i) { std::stringstream ss; ss << "boxMesh" << i; double scale = 1.0 - static_cast(i) / static_cast(numBodiesStacked); std::shared_ptr boxMesh = createRigidMeshSceneElement(ss.str(), "Geometry/box.ply", scale); scene->addSceneElement(boxMesh); Eigen::AngleAxisd aa(0.15 * i, Vector3d(0.0, 1.0, 0.0)); boxMesh->setPose(makeRigidTransform(SurgSim::Math::Quaterniond(aa), Vector3d(-0.3, 0.3 + 0.15 * i, 0.0))); } for (size_t i = 0; i < numBodiesStacked; ++i) { std::stringstream ss; ss << "sphereMesh" << i; double scale = 1.0 - static_cast(i) / static_cast(numBodiesStacked); std::shared_ptr sphereMesh = createRigidMeshSceneElement(ss.str(), "Geometry/sphere.ply", scale); scene->addSceneElement(sphereMesh); sphereMesh->setPose(makeRigidTranslation(Vector3d(-0.15, 0.3 + 0.15 * i, 0.0))); } // Shape-base objects for (size_t i = 0; i < numBodiesStacked; ++i) { std::stringstream ss; ss << "sphereShape" << i; double scale = 1.0 - static_cast(i) / static_cast(numBodiesStacked); std::shared_ptr sphereShape = createRigidSphereSceneElement(ss.str(), 0.05 * scale); scene->addSceneElement(sphereShape); sphereShape->setPose(makeRigidTranslation(Vector3d(0.15, 0.3 + 0.15 * i, 0.0))); } for (size_t i = 0; i < numBodiesStacked; ++i) { std::stringstream ss; ss << "boxShape" << i; double scale = 1.0 - static_cast(i) / static_cast(numBodiesStacked); std::shared_ptr boxShape = createRigidBoxSceneElement(ss.str(), Vector3d::Ones() * 0.1 * scale); scene->addSceneElement(boxShape); boxShape->setPose(makeRigidTranslation(Vector3d(0.3, 0.3 + 0.15 * i, 0.0))); } // Floor on which the objects are falling std::shared_ptr floor = createFixedPlaneSceneElement("floor"); scene->addSceneElement(floor); floor->setPose(makeRigidTranslation(Vector3d(0.0, -0.2, 0.0))); runTest(Vector3d(0.0, 0.0, 1.0), Vector3d::Zero(), 10000.0); } TEST_F(RenderTests, VisualTestRigidBodiesStackingReversed) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRigidTranslation; const size_t numBodiesStacked = 3; // Mesh-base objects for (size_t i = 0; i < numBodiesStacked; ++i) { std::stringstream ss; ss << "boxMesh" << i; double scale = 1.0 / static_cast(numBodiesStacked) + static_cast(i) / static_cast(numBodiesStacked); std::shared_ptr boxMesh = createRigidMeshSceneElement(ss.str(), "Geometry/box.ply", scale); scene->addSceneElement(boxMesh); Eigen::AngleAxisd aa(0.15 * i, Vector3d(0.0, 1.0, 0.0)); boxMesh->setPose(makeRigidTransform(SurgSim::Math::Quaterniond(aa), Vector3d(-0.3, 0.3 + 0.15 * i, 0.0))); } for (size_t i = 0; i < numBodiesStacked; ++i) { std::stringstream ss; ss << "sphereMesh" << i; double scale = 1.0 / static_cast(numBodiesStacked) + static_cast(i) / static_cast(numBodiesStacked); std::shared_ptr sphereMesh = createRigidMeshSceneElement(ss.str(), "Geometry/sphere.ply", scale); scene->addSceneElement(sphereMesh); sphereMesh->setPose(makeRigidTranslation(Vector3d(-0.15, 0.3 + 0.15 * i, 0.0))); } // Shape-base objects for (size_t i = 0; i < numBodiesStacked; ++i) { std::stringstream ss; ss << "sphereShape" << i; double scale = 1.0 / static_cast(numBodiesStacked) + static_cast(i) / static_cast(numBodiesStacked); std::shared_ptr sphereShape = createRigidSphereSceneElement(ss.str(), 0.05 * scale); scene->addSceneElement(sphereShape); sphereShape->setPose(makeRigidTranslation(Vector3d(0.15, 0.3 + 0.15 * i, 0.0))); } for (size_t i = 0; i < numBodiesStacked; ++i) { std::stringstream ss; ss << "boxShape" << i; double scale = 1.0 / static_cast(numBodiesStacked) + static_cast(i) / static_cast(numBodiesStacked); std::shared_ptr boxShape = createRigidBoxSceneElement(ss.str(), Vector3d::Ones() * 0.1 * scale); scene->addSceneElement(boxShape); boxShape->setPose(makeRigidTranslation(Vector3d(0.3, 0.3 + 0.15 * i, 0.0))); } // Floor on which the objects are falling std::shared_ptr floor = createFixedPlaneSceneElement("floor"); scene->addSceneElement(floor); floor->setPose(makeRigidTranslation(Vector3d(0.0, -0.2, 0.0))); runTest(Vector3d(0.0, 0.0, 1.0), Vector3d::Zero(), 10000.0); } TEST_F(RenderTests, VisualTestFallingRigidShapesOnPlane) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRigidTranslation; const size_t numSphere = 10; const double radius = 0.05; const double distanceBetweenSphere = radius / 2.0; // Shape-base objects for (size_t sphere = 0; sphere < numSphere; ++sphere) { std::stringstream ss; ss << "sphereShape " << sphere; std::shared_ptr sphereShape = createRigidSphereSceneElement(ss.str(), radius); scene->addSceneElement(sphereShape); sphereShape->setPose(makeRigidTranslation(Vector3d(0.0, (2.0 * radius + distanceBetweenSphere) * sphere, 0.0))); } // Floor on which the objects are falling std::shared_ptr floor = createFixedPlaneSceneElement("floor"); scene->addSceneElement(floor); floor->setPose(makeRigidTranslation(Vector3d(0.0, -radius - distanceBetweenSphere, 0.0))); runTest(Vector3d(0.0, 0.0, 1.0), Vector3d::Zero(), 10000.0); } TEST_F(RenderTests, VisualTestFallingRigidMeshesOnPlane) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::makeRigidTranslation; const size_t numSphere = 10; const double radius = 0.05; const double distanceBetweenSphere = radius / 2.0; double xAxis[2] = {-0.26, 0.26}; double xAngle[2] = {-M_PI_2, M_PI_2}; for (int i = 0; i < 2; ++i) { // Mesh-base objects for (size_t sphere = 0; sphere < numSphere; ++sphere) { std::stringstream ss; ss << "sphereShape " << sphere; std::shared_ptr sphereShape = createRigidMeshSceneElement(ss.str(), "Geometry/sphere.ply", 10.0 * radius); scene->addSceneElement(sphereShape); sphereShape->setPose( makeRigidTranslation(Vector3d(xAxis[i], (2.0 * radius + distanceBetweenSphere) * sphere, 0.0))); } // Floor on which the objects are falling { std::shared_ptr planeMesh = createFixedSurfaceMeshSceneElement("floor", "Geometry/plane.ply", 0.25); scene->addSceneElement(planeMesh); Eigen::AngleAxisd aa(xAngle[i], Vector3d(1.0, 0.0, 0.0)); planeMesh->setPose( makeRigidTransform(SurgSim::Math::Quaterniond(aa), Vector3d(xAxis[i], -radius - distanceBetweenSphere, 0.0))); } } runTest(Vector3d(0.0, 0.0, 1.0), Vector3d::Zero(), 10000.0); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/RenderTests/config.txt.in000066400000000000000000000001201277777236100237750ustar00rootroot00000000000000${CMAKE_CURRENT_SOURCE_DIR}/Data/ ${PROJECT_BINARY_DIR}/SurgSim/Testing/Data/ opensurgsim-0.7.0/SurgSim/Physics/Representation.cpp000066400000000000000000000076021277777236100226420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Collision/Representation.h" #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/PoseComponent.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/ConstraintImplementation.h" #include "SurgSim/Physics/Localization.h" #include "SurgSim/Physics/Representation.h" namespace SurgSim { namespace Physics { Representation::Representation(const std::string& name) : SurgSim::Framework::Representation(name), m_collisionRepresentation(nullptr), m_gravity(0.0, -9.81, 0.0), m_numDof(0), m_isGravityEnabled(true), m_isDrivingSceneElementPose(true), m_logger(SurgSim::Framework::Logger::getLogger("Physics/Representation")) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(Representation, size_t, NumDof, getNumDof, setNumDof); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Representation, bool, IsGravityEnabled, isGravityEnabled, setIsGravityEnabled); SURGSIM_ADD_SERIALIZABLE_PROPERTY(Representation, bool, IsDrivingSceneElementPose, isDrivingSceneElementPose, setIsDrivingSceneElementPose); } Representation::~Representation() { } void Representation::resetState() { } size_t Representation::getNumDof() const { return m_numDof; } void Representation::setIsGravityEnabled(bool isGravityEnabled) { m_isGravityEnabled = isGravityEnabled; } bool Representation::isGravityEnabled() const { return m_isGravityEnabled; } void Representation::setIsDrivingSceneElementPose(bool isDrivingSceneElementPose) { m_isDrivingSceneElementPose = isDrivingSceneElementPose; } bool Representation::isDrivingSceneElementPose() { return m_isDrivingSceneElementPose; } void Representation::beforeUpdate(double dt) { } void Representation::update(double dt) { } void Representation::afterUpdate(double dt) { } std::shared_ptr Representation::createLocalization(const SurgSim::DataStructures::Location& location) { return nullptr; } void Representation::applyCorrection(double dt, const Eigen::VectorBlock& deltaVelocity) { } void Representation::setNumDof(size_t numDof) { m_numDof = numDof; } const SurgSim::Math::Vector3d& Representation::getGravity() const { return m_gravity; } std::shared_ptr Representation::getCollisionRepresentation() const { return m_collisionRepresentation; } void Representation::setCollisionRepresentation(std::shared_ptr val) { m_collisionRepresentation = val; } std::shared_ptr Representation::getConstraintImplementation( SurgSim::Physics::ConstraintType type) { auto implementation = ConstraintImplementation::getFactory().getImplementation(typeid(*this), type); if (implementation == nullptr) { SURGSIM_LOG_SEVERE(m_logger) << getClassName() << ": Does not support constraint type (" << type << ")."; } return implementation; } void Representation::driveSceneElementPose(const SurgSim::Math::RigidTransform3d& pose) { if (isDrivingSceneElementPose()) { std::shared_ptr sceneElement = getSceneElement(); if (sceneElement != nullptr) { sceneElement->setPose(pose); } } } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Representation.h000066400000000000000000000142031277777236100223020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_REPRESENTATION_H #define SURGSIM_PHYSICS_REPRESENTATION_H #include #include #include "SurgSim/Framework/Representation.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/ConstraintType.h" namespace SurgSim { namespace DataStructures { struct Location; } namespace Framework { class Logger; } namespace Collision { class Representation; } namespace Physics { class Constraint; class ConstraintData; class ConstraintImplementation; class Localization; /// The Representation class defines the base class for all physics objects class Representation : public SurgSim::Framework::Representation { public: /// Constructor /// \param name The representation's name explicit Representation(const std::string& name); /// Destructor virtual ~Representation(); /// Reset the representation to its initial/default state virtual void resetState(); /// Query the object number of degrees of freedom /// \return The number of degrees of freedom size_t getNumDof() const; /// Set the gravity enable flag /// \param isGravityEnabled True if gravity enabled, false if not. void setIsGravityEnabled(bool isGravityEnabled); /// Get the gravity enable flag /// \return true if gravity enabled, false if not. bool isGravityEnabled() const; /// Set whether this Representation is controlling the pose of the SceneElement /// that it is part of. /// \param isDrivingSceneElementPose true if this Representation is driving the pose of the SceneElement void setIsDrivingSceneElementPose(bool isDrivingSceneElementPose); /// Query if this Representation is controlling the pose of the SceneElement /// that it is part of. /// \return true if this Representation is controlling the pose of the SceneElement bool isDrivingSceneElementPose(); /// Preprocessing done before the update call /// This needs to be called from the outside usually from a Computation /// \param dt The time step (in seconds) virtual void beforeUpdate(double dt); /// Update the representation state to the current time step /// \param dt The time step (in seconds) virtual void update(double dt); /// Postprocessing done after the update call /// This needs to be called from the outside usually from a Computation /// \param dt The time step (in seconds) virtual void afterUpdate(double dt); /// Computes a localized coordinate w.r.t this representation, given a Location object. /// \param location A location in 3d space. /// \return A localization object for the given location. virtual std::shared_ptr createLocalization(const SurgSim::DataStructures::Location& location); /// Update the Representation's current position and velocity using a time interval, dt, and change in velocity, /// deltaVelocity. /// /// This function typically is called in the physics pipeline (PhysicsManager::doUpdate) after solving the equations /// that enforce constraints when collisions occur. Specifically it is called in the PushResults::doUpdate step. /// \param dt The time step /// \param deltaVelocity The block of a vector containing the correction to be applied to the velocity virtual void applyCorrection(double dt, const Eigen::VectorBlock& deltaVelocity); /// \return the collision representation for this physics representation. std::shared_ptr getCollisionRepresentation() const; /// Set the collision representation for this physics representation, when the collision object /// is involved in a collision, the collision should be resolved inside the dynamics calculation. /// \param representation The appropriate collision representation for this object. virtual void setCollisionRepresentation(std::shared_ptr representation); /// Get a constraint implementation of the given type for this representation. /// \param type The type of constraint. /// \return A contact constraint implementation or nullptr. std::shared_ptr getConstraintImplementation(SurgSim::Physics::ConstraintType type); protected: /// Set the number of degrees of freedom /// \param numDof The number of degrees of freedom /// \note protected so that nobody can change the number of DOF /// \note except daughter classes void setNumDof(size_t numDof); /// Get the gravity used by this Representation /// \return The gravity vector const SurgSim::Math::Vector3d& getGravity() const; /// This entity's collision representation, these are usually very specific to the physics representation std::shared_ptr m_collisionRepresentation; /// This conditionally updates that pose for the scenelement to the given pose /// The update gets exectuded if the representation actually has sceneelement and isDrivingScenElement() is true /// \param pose New pose for the SceneElement void driveSceneElementPose(const SurgSim::Math::RigidTransform3d& pose); private: /// NO copy constructor Representation(const Representation&); /// NO assignment operator Representation& operator =(const Representation&); /// Gravity vector const SurgSim::Math::Vector3d m_gravity; /// Number of degrees of freedom for this representation size_t m_numDof; /// Gravity enabled flag bool m_isGravityEnabled; /// Is this representation driving the sceneElement pose bool m_isDrivingSceneElementPose; /// Logger for this class. std::shared_ptr m_logger; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_REPRESENTATION_H opensurgsim-0.7.0/SurgSim/Physics/RigidCollisionRepresentation.cpp000066400000000000000000000113631277777236100254740ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/RigidCollisionRepresentation.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Physics/RigidRepresentationBase.h" namespace SurgSim { namespace Physics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Physics::RigidCollisionRepresentation, RigidCollisionRepresentation); RigidCollisionRepresentation::RigidCollisionRepresentation(const std::string& name): Representation(name) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(RigidCollisionRepresentation, std::shared_ptr, Shape, getShape, setShape); } RigidCollisionRepresentation::~RigidCollisionRepresentation() { } void RigidCollisionRepresentation::setRigidRepresentation( std::shared_ptr representation) { m_physicsRepresentation = representation; } std::shared_ptr RigidCollisionRepresentation::getRigidRepresentation() { return m_physicsRepresentation.lock(); } int RigidCollisionRepresentation::getShapeType() const { return getShape()->getType(); } const std::shared_ptr RigidCollisionRepresentation::getShape() const { if (m_shape != nullptr) { return m_shape; } else { auto physicsRepresentation = m_physicsRepresentation.lock(); SURGSIM_ASSERT(physicsRepresentation != nullptr) << "PhysicsRepresentation went out of scope for Collision Representation " << getName(); return physicsRepresentation->getShape(); } } void RigidCollisionRepresentation::setShape(std::shared_ptr shape) { m_shape = shape; } SurgSim::Math::RigidTransform3d RigidCollisionRepresentation::getPose() const { auto physicsRepresentation = m_physicsRepresentation.lock(); SURGSIM_ASSERT(physicsRepresentation != nullptr) << "PhysicsRepresentation went out of scope for Collision Representation " << getName(); const SurgSim::Math::RigidTransform3d& physicsPose = physicsRepresentation->getCurrentState().getPose(); return physicsPose * physicsRepresentation->getLocalPose().inverse() * getLocalPose(); } void RigidCollisionRepresentation::updateShapeData() { // All we want to do is to transform the shape into the current pose getPosedShape(); } void RigidCollisionRepresentation::updateDcdData() { // HS-2-Mar-2016 // #todo need to trigger the aabb tree build/update here } void RigidCollisionRepresentation::updateCcdData(double timeOfImpact) { using Math::PosedShape; using Math::PosedShapeMotion; using Math::Shape; Math::RigidTransform3d previousPose; Math::RigidTransform3d currentPose; { auto physicsRepresentation = m_physicsRepresentation.lock(); SURGSIM_ASSERT(physicsRepresentation != nullptr) << "PhysicsRepresentation went out of scope for Collision Representation " << getName(); const Math::RigidTransform3d& physicsCurrentPose = physicsRepresentation->getCurrentState().getPose(); const Math::RigidTransform3d& physicsPreviousPose = physicsRepresentation->getPreviousState().getPose(); Math::RigidTransform3d transform = physicsRepresentation->getLocalPose().inverse() * getLocalPose(); previousPose = physicsPreviousPose * transform; currentPose = physicsCurrentPose * transform; } std::shared_ptr previousShape = getShape(); std::shared_ptr currentShape = getShape(); if (getShape()->isTransformable()) { previousShape = getShape()->getTransformed(previousPose); currentShape = getShape()->getTransformed(currentPose); } PosedShape> posedShape1(previousShape, previousPose); PosedShape> posedShape2(currentShape, currentPose); PosedShapeMotion> posedShapeMotion(posedShape1, posedShape2); setPosedShapeMotion(posedShapeMotion); // HS-2-Mar-2016 // #todo Add AABB tree for the posedShapeMotion (i.e. that is the tree where each bounding box consists of the // corresponding elements from posedShape1 and posedShape2 } }; // namespace Collision }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/RigidCollisionRepresentation.h000066400000000000000000000060041277777236100251350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_RIGIDCOLLISIONREPRESENTATION_H #define SURGSIM_PHYSICS_RIGIDCOLLISIONREPRESENTATION_H #include #include "SurgSim/Collision/Representation.h" #include "SurgSim/Framework/ObjectFactory.h" namespace SurgSim { namespace Physics { class RigidRepresentationBase; SURGSIM_STATIC_REGISTRATION(RigidCollisionRepresentation); /// Collision Representation class that wraps a RigidRepresentation, this can be used to strictly tie the /// Collision Representation to the Rigid, so even if the shape of the rigid changes, the collision representation /// will use the appropriate shape. class RigidCollisionRepresentation : public SurgSim::Collision::Representation { public: /// Constructor /// \param name The name of rigid collision representation explicit RigidCollisionRepresentation(const std::string& name); /// Destructor virtual ~RigidCollisionRepresentation(); SURGSIM_CLASSNAME(SurgSim::Physics::RigidCollisionRepresentation); /// Get the pose of the representation /// \return The pose of this representation SurgSim::Math::RigidTransform3d getPose() const override; /// Get the shape type id /// \return The unique type of the shape, used to determine which calculation to use. int getShapeType() const override; /// Get the shape /// \return The actual shape used for collision. const std::shared_ptr getShape() const override; /// Set the shape /// The default is to use the shape of the Rigid Representation, this /// will override that shape. /// \param shape The actual shape used for collision, if nullptr the Rigid Representation shape will be used. void setShape(std::shared_ptr shape); /// Set rigid representation /// \param representation The rigid representation void setRigidRepresentation(std::shared_ptr representation); /// Gets physics representation. /// \return The physics representation. std::shared_ptr getRigidRepresentation(); void updateShapeData() override; void updateDcdData() override; void updateCcdData(double timeOfImpact) override; private: std::weak_ptr m_physicsRepresentation; std::shared_ptr m_shape; }; }; // namespace Collision }; // namespace SurgSim #endif // SURGSIM_PHYSICS_RIGIDCOLLISIONREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Physics/RigidConstraintFixedPoint.cpp000066400000000000000000000121251277777236100247310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/Localization.h" #include "SurgSim/Physics/RigidConstraintFixedPoint.h" #include "SurgSim/Physics/RigidRepresentation.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { RigidConstraintFixedPoint::RigidConstraintFixedPoint() { } RigidConstraintFixedPoint::~RigidConstraintFixedPoint() { } void RigidConstraintFixedPoint::doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) { std::shared_ptr rigid = std::static_pointer_cast(localization->getRepresentation()); if (!rigid->isActive()) { return; } const double scale = (sign == CONSTRAINT_POSITIVE_SIDE) ? 1.0 : -1.0; Vector3d globalPosition = localization->calculatePosition(); // Fixed point constraint in MCLP // p(t) is defined as the point before motion // s is defined as position to be constrained to [see note 1] // u is defined as the displacement needed to enforce the constraint // The equation is // u + (p(t) - s) = 0 // // Using backward-Euler integration, // u = dt.v(t + dt) // // In rigid body dynamics, the screw vectors are represented as (x, y, z, wx, wy, wz), where the G = (x, y, z) // represents the vector from the origin to the center of mass, and w = (wx, wy, wz) represents angular rotation // about the center of mass. The twist vector in Cartesian space is-- // // dt.v(t+dt) = dt.dG(t+dt) + dt.GP^w(t+dt), where G is the position of the center of mass, // dG is the velocity of the center of mass, // and GP is the vector from the center of mass to the point of interest // = dt.dG(t+dt) + dt.|i j k | // |GPx GPy GPz|, where i, j, k are unit vectors for the x, y, and z directions // |wx wy wz | // = dt.dG(t+dt) + dt.[ GPy.wz - GPz.wy] // [-GPx.wz + GPz.wx] // [ GPx.wy - GPy.wx] // = dt.dG(t+dt) + dt.[ 0 -GPz GPy].w // [ GPz 0 -GPx] // [-GPy GPx 0 ] // // We construct H to transform v(t + dt) into constrained space. Therefore we multiply the translational velocity // by dt, and we must multiply the angular velocity with the skew-symmetric matrix of GP times dt. // // [note 1]: In the physics pipeline, the constraint consists of two implementations and two localizations. The // implementation is processed once for each localization, with the first being processed with scale = 1 and the // second with scale = -1. When applied together in the Mlcp, this effectively takes the difference of the two // constraints. Therefore we can effectively calculate the bilateral constraint using only the position information // of the localization. // Fill up b with the constraint violation mlcp->b.segment<3>(indexOfConstraint) += globalPosition * scale; // Fill up H with the transform from rigid body velocity -> constraint space Vector3d GP = globalPosition - rigid->getCurrentState().getPose() * rigid->getMassCenter(); m_newH.resize(rigid->getNumDof()); m_newH.reserve(3); m_newH.insert(0) = dt * scale; m_newH.insert(3 + 1) = -dt * scale * GP.z(); m_newH.insert(3 + 2) = dt * scale * GP.y(); mlcp->updateConstraint(m_newH, rigid->getComplianceMatrix()*m_newH.transpose(), indexOfRepresentation, indexOfConstraint + 0); m_newH.setZero(); m_newH.insert(1) = dt * scale; m_newH.insert(3 + 0) = dt * scale * GP.z(); m_newH.insert(3 + 2) = -dt * scale * GP.x(); mlcp->updateConstraint(m_newH, rigid->getComplianceMatrix()*m_newH.transpose(), indexOfRepresentation, indexOfConstraint + 1); m_newH.setZero(); m_newH.insert(2) = dt * scale; m_newH.insert(3 + 0) = -dt * scale * GP.y(); m_newH.insert(3 + 1) = dt * scale * GP.x(); mlcp->updateConstraint(m_newH, rigid->getComplianceMatrix()*m_newH.transpose(), indexOfRepresentation, indexOfConstraint + 2); } SurgSim::Physics::ConstraintType RigidConstraintFixedPoint::getConstraintType() const { return SurgSim::Physics::FIXED_3DPOINT; } size_t RigidConstraintFixedPoint::doGetNumDof() const { return 3; } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/RigidConstraintFixedPoint.h000066400000000000000000000050321277777236100243750ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_RIGIDCONSTRAINTFIXEDPOINT_H #define SURGSIM_PHYSICS_RIGIDCONSTRAINTFIXEDPOINT_H #include "SurgSim/Physics/ConstraintImplementation.h" namespace SurgSim { namespace Physics { /// RigidRepresentation bilateral 3d constraint implementation. /// /// The family of FixedPoint constraints enforce equality between two points. class RigidConstraintFixedPoint : public ConstraintImplementation { public: /// Constructor RigidConstraintFixedPoint(); /// Destructor virtual ~RigidConstraintFixedPoint(); /// Gets the constraint type for this ConstraintImplementation /// \return The constraint type corresponding to this constraint implementation SurgSim::Physics::ConstraintType getConstraintType() const override; private: /// Gets the number of degree of freedom. /// \return 3 A bilateral 3d constraint enforces equality in the x, y, and z dimensions between 2 points. size_t doGetNumDof() const override; /// Builds the subset of an Mlcp physics problem associated to this implementation. /// \param dt The time step. /// \param data The data associated to the constraint. /// \param localization The localization for the representation. /// \param [in, out] mlcp The Mixed LCP physics problem to fill up. /// \param indexOfRepresentation The index of the representation (associated to this implementation) in the mlcp. /// \param indexOfConstraint The index of the constraint in the mlcp. /// \param sign The sign of this implementation in the constraint (positive or negative side). /// \note Empty for a Rigid Representation void doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_RIGIDCONSTRAINTFIXEDPOINT_H opensurgsim-0.7.0/SurgSim/Physics/RigidConstraintFixedRotationVector.cpp000066400000000000000000000042641277777236100266270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 "SurgSim/Physics/Localization.h" #include "SurgSim/Physics/RigidConstraintFixedRotationVector.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Physics/RotationVectorConstraintData.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { RigidConstraintFixedRotationVector::RigidConstraintFixedRotationVector() { } RigidConstraintFixedRotationVector::~RigidConstraintFixedRotationVector() { } void RigidConstraintFixedRotationVector::doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) { std::shared_ptr rigid = std::static_pointer_cast(localization->getRepresentation()); if (!rigid->isActive()) { return; } const double scale = (sign == CONSTRAINT_POSITIVE_SIDE) ? 1.0 : -1.0; const auto& constRotVecData = static_cast(data); SurgSim::Math::Vector3d rotationVector = constRotVecData.getCurrentRotationVector(); // Fill up b with the constraint violation mlcp->b.segment<3>(indexOfConstraint) += rotationVector * scale; } SurgSim::Physics::ConstraintType RigidConstraintFixedRotationVector::getConstraintType() const { return SurgSim::Physics::FIXED_3DROTATION_VECTOR; } size_t RigidConstraintFixedRotationVector::doGetNumDof() const { return 3; } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/RigidConstraintFixedRotationVector.h000066400000000000000000000046561277777236100263010ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_RIGIDCONSTRAINTFIXEDROTATIONVECTOR_H #define SURGSIM_PHYSICS_RIGIDCONSTRAINTFIXEDROTATIONVECTOR_H #include "SurgSim/Physics/ConstraintImplementation.h" namespace SurgSim { namespace Physics { /// RigidRepresentationBase fixed rotation vector constraint /// /// This implementation simply fixes the rotational dof of the constraint, effectively controlling the /// other representation orientation. class RigidConstraintFixedRotationVector : public ConstraintImplementation { public: /// Constructor RigidConstraintFixedRotationVector(); /// Destructor virtual ~RigidConstraintFixedRotationVector(); SurgSim::Physics::ConstraintType getConstraintType() const override; private: size_t doGetNumDof() const override; /// \note This is only setting the mlcp->b violation to the rigid representation current rotation vector. /// It means that the rigid won't receive any forces back, it simply will control the other representation's /// orientation in this constraint. /// /// \note The rotation vector constraint violation being calculated based on a quaternion interpolation (slerp), /// and this type of interpolation being highly non-linear, the classical way of using the implementation one after /// the other one won't work. /// Therefore, the RotationVectorConstraint will use the vector mlcp->b to retrieve both representation's /// rotation vector, then calculate the proper slerp and set the violation back in mlcp->b void doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_RIGIDCONSTRAINTFIXEDROTATIONVECTOR_H opensurgsim-0.7.0/SurgSim/Physics/RigidConstraintFrictionlessContact.cpp000066400000000000000000000073371277777236100266510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Physics/RigidConstraintFrictionlessContact.h" #include "SurgSim/Physics/ContactConstraintData.h" #include "SurgSim/Physics/ConstraintImplementation.h" #include "SurgSim/Physics/Localization.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { RigidConstraintFrictionlessContact::RigidConstraintFrictionlessContact() { } RigidConstraintFrictionlessContact::~RigidConstraintFrictionlessContact() { } void RigidConstraintFrictionlessContact::doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) { std::shared_ptr representation = localization->getRepresentation(); std::shared_ptr rigid = std::static_pointer_cast(representation); if (! rigid->isActive()) { return; } const double scale = (sign == CONSTRAINT_POSITIVE_SIDE ? 1.0 : -1.0); const Eigen::Matrix& C = rigid->getComplianceMatrix(); const ContactConstraintData& contactData = static_cast(data); const Vector3d& n = contactData.getNormal(); // FRICTIONLESS CONTACT in a LCP // (n, d) defines the plane of contact // P(t) the point of contact (usually after free motion) // The constraint equation is: n.P(t+dt) + d >= 0 // n.[ P(t) + dt.V(t+dt) ] + d >= 0 (using the numerical integration scheme Backward Euler) // n.dt.[dG(t+dt) + w(t+dt)^GP] + n.P(t) + d >= 0 // n.dt.[dGx(t+dt) + (wy(t+dt).GPz-wz(t+dt).GPy)] + n.P(t) + d >= 0 ] // [dGy(t+dt) + (wz(t+dt).GPx-wx(t+dt).GPz)] // [dGz(t+dt) + (wx(t+dt).GPy-wy(t+dt).GPx)] // H.v(t+dt) + b >= 0 // H = dt.[nx ny nz nz.GPy-ny.GPz nx.GPz-nz.GPx ny.GPx-nx.GPy] // b = n.P(t) + d -> P(t) evaluated after free motion // Since the d term will be added to the constraint for one side of the contact and subtracted from the other, // and because it is not clear which distance should be used, we leave it out. Vector3d globalPosition = localization->calculatePosition(); Vector3d GP = globalPosition - rigid->getCurrentState().getPose() * rigid->getMassCenter(); // Fill up b with the constraint equation... double violation = n.dot(globalPosition); mlcp->b[indexOfConstraint] += violation * scale; m_newH.resize(rigid->getNumDof()); m_newH.reserve(6); m_newH.insert(0) = dt * scale * n[0]; m_newH.insert(1) = dt * scale * n[1]; m_newH.insert(2) = dt * scale * n[2]; Eigen::Vector3d rotation = GP.cross(n); m_newH.insert(3) = dt * scale * rotation[0]; m_newH.insert(4) = dt * scale * rotation[1]; m_newH.insert(5) = dt * scale * rotation[2]; mlcp->updateConstraint(m_newH, C * m_newH.transpose(), indexOfRepresentation, indexOfConstraint); } SurgSim::Physics::ConstraintType RigidConstraintFrictionlessContact::getConstraintType() const { return SurgSim::Physics::FRICTIONLESS_3DCONTACT; } size_t RigidConstraintFrictionlessContact::doGetNumDof() const { return 1; } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/RigidConstraintFrictionlessContact.h000066400000000000000000000052101277777236100263020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_RIGIDCONSTRAINTFRICTIONLESSCONTACT_H #define SURGSIM_PHYSICS_RIGIDCONSTRAINTFRICTIONLESSCONTACT_H #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/ConstraintImplementation.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Physics/Localization.h" namespace SurgSim { namespace Physics { /// RigidRepresentation frictionless contact implementation. class RigidConstraintFrictionlessContact : public ConstraintImplementation { public: /// Constructor RigidConstraintFrictionlessContact(); /// Destructor virtual ~RigidConstraintFrictionlessContact(); /// Gets the constraint type for this ConstraintImplementation /// \return The constraint type corresponding to this constraint implementation SurgSim::Physics::ConstraintType getConstraintType() const override; private: /// Gets the number of degree of freedom for a frictionless contact. /// \return 1 as a frictionless contact only has 1 equation of constraint (along the normal direction). size_t doGetNumDof() const override; /// Builds the subset of an Mlcp physics problem associated to this implementation. /// \param dt The time step. /// \param data The data associated to the constraint. /// \param localization The localization for the representation. /// \param [in, out] mlcp The Mixed LCP physics problem to fill up. /// \param indexOfRepresentation The index of the representation (associated to this implementation) in the mlcp. /// \param indexOfConstraint The index of the constraint in the mlcp. /// \param sign The sign of this implementation in the constraint (positive or negative side). void doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_RIGIDCONSTRAINTFRICTIONLESSCONTACT_H opensurgsim-0.7.0/SurgSim/Physics/RigidLocalization.cpp000066400000000000000000000102071277777236100232420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/RigidLocalization.h" #include "SurgSim/Physics/RigidRepresentationBase.h" namespace SurgSim { namespace Physics { RigidLocalization::RigidLocalization() : Localization() { } RigidLocalization::RigidLocalization(std::shared_ptr representation) : Localization() { setRepresentation(representation); } RigidLocalization::~RigidLocalization() { } void RigidLocalization::setLocalPosition(const SurgSim::Math::Vector3d& p) { m_position = p; } const SurgSim::Math::Vector3d& RigidLocalization::getLocalPosition() const { return m_position; } SurgSim::Math::Vector3d RigidLocalization::doCalculatePosition(double time) const { std::shared_ptr rigidRepresentation = std::static_pointer_cast(getRepresentation()); SURGSIM_ASSERT(rigidRepresentation != nullptr) << "RigidRepresentation is null, it was probably not" << " initialized"; if (time <= std::numeric_limits::epsilon()) { return rigidRepresentation->getPreviousState().getPose() * m_position; } else if (time >= 1.0 - std::numeric_limits::epsilon()) { return rigidRepresentation->getCurrentState().getPose() * m_position; } else if (rigidRepresentation->getCurrentState().getPose(). isApprox(rigidRepresentation->getPreviousState().getPose())) { return rigidRepresentation->getCurrentState().getPose() * m_position; } const SurgSim::Math::RigidTransform3d& currentPose = rigidRepresentation->getCurrentState().getPose(); const SurgSim::Math::RigidTransform3d& previousPose = rigidRepresentation->getPreviousState().getPose(); SurgSim::Math::RigidTransform3d pose = SurgSim::Math::interpolate(previousPose, currentPose, time); return pose * m_position; } SurgSim::Math::Vector3d RigidLocalization::doCalculateVelocity(double time) const { std::shared_ptr rigidRepresentation = std::static_pointer_cast(getRepresentation()); SURGSIM_ASSERT(rigidRepresentation != nullptr) << "RigidRepresentation is null, it was probably not" << " initialized"; auto& previousR = rigidRepresentation->getPreviousState().getPose().linear(); auto& currentR = rigidRepresentation->getCurrentState().getPose().linear(); if (time <= std::numeric_limits::epsilon()) { return rigidRepresentation->getPreviousState().getLinearVelocity() + rigidRepresentation->getPreviousState().getAngularVelocity().cross(previousR * m_position); } else if (time >= 1.0 - std::numeric_limits::epsilon()) { return rigidRepresentation->getCurrentState().getLinearVelocity() + rigidRepresentation->getCurrentState().getAngularVelocity().cross(currentR * m_position); } Math::Vector3d currentVelocity = rigidRepresentation->getCurrentState().getLinearVelocity() + rigidRepresentation->getCurrentState().getAngularVelocity().cross(currentR * m_position); Math::Vector3d previousVelocity = rigidRepresentation->getPreviousState().getLinearVelocity() + rigidRepresentation->getPreviousState().getAngularVelocity().cross(previousR * m_position); return Math::interpolate(previousVelocity, currentVelocity, time); } bool RigidLocalization::isValidRepresentation(std::shared_ptr representation) { std::shared_ptr rigidRepresentation = std::dynamic_pointer_cast(representation); // Allows to reset the representation to nullptr ... return (rigidRepresentation != nullptr || representation == nullptr); } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/RigidLocalization.h000066400000000000000000000046211277777236100227120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_RIGIDLOCALIZATION_H #define SURGSIM_PHYSICS_RIGIDLOCALIZATION_H #include "SurgSim/Physics/Localization.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Physics { /// This class implements the localization on a RigidRepresentationBase, as a local position. class RigidLocalization: public Localization { public: /// Default constructor RigidLocalization(); /// Constructor /// \param representation The representation to assign to this localization. explicit RigidLocalization(std::shared_ptr representation); /// Destructor virtual ~RigidLocalization(); /// Sets the local position. /// \param p The local position to set the localization at. void setLocalPosition(const SurgSim::Math::Vector3d& p); /// Gets the local position. /// \return The local position set for this localization. const SurgSim::Math::Vector3d& getLocalPosition() const; /// Query if 'representation' is valid representation. /// \param representation The representation. /// \return true if valid representation, false if not. bool isValidRepresentation(std::shared_ptr representation) override; private: /// Calculates the global position of this localization. /// \param time The time in [0..1] at which the position should be calculated. /// \return The global position of the localization at the requested time. /// \note time can useful when dealing with CCD. SurgSim::Math::Vector3d doCalculatePosition(double time) const; SurgSim::Math::Vector3d doCalculateVelocity(double time) const; /// 3D position in local coordinates. SurgSim::Math::Vector3d m_position; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_RIGIDLOCALIZATION_H opensurgsim-0.7.0/SurgSim/Physics/RigidRepresentation.cpp000066400000000000000000000407141277777236100236220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/DataStructures/BufferedValue.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Math/Valid.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/RigidState.h" namespace { const double rotationVectorEpsilon = 1e-8; }; namespace SurgSim { namespace Physics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Physics::RigidRepresentation, RigidRepresentation); RigidRepresentation::RigidRepresentation(const std::string& name) : RigidRepresentationBase(name), m_globalInertia(SurgSim::Math::Matrix33d::Zero()), m_invGlobalInertia(SurgSim::Math::Matrix33d::Zero()), m_force(SurgSim::Math::Vector3d::Zero()), m_torque(SurgSim::Math::Vector3d::Zero()), m_C(SurgSim::Math::Matrix66d::Zero()), m_hasExternalGeneralizedForce(false), m_externalGeneralizedForce(SurgSim::Math::Vector6d::Zero()), m_externalGeneralizedStiffness(SurgSim::Math::Matrix66d::Zero()), m_externalGeneralizedDamping(SurgSim::Math::Matrix66d::Zero()) { // Initialize the number of degrees of freedom // 6 for a rigid body velocity-based (linear and angular velocities are the Dof) setNumDof(6); } RigidRepresentation::~RigidRepresentation() { } void RigidRepresentation::addExternalGeneralizedForce(const SurgSim::Math::Vector6d& generalizedForce, const SurgSim::Math::Matrix66d& K, const SurgSim::Math::Matrix66d& D) { m_externalGeneralizedForce.unsafeGet() += generalizedForce; m_externalGeneralizedStiffness += K; m_externalGeneralizedDamping += D; m_hasExternalGeneralizedForce = true; } void RigidRepresentation::addExternalGeneralizedForce(const SurgSim::DataStructures::Location& location, const SurgSim::Math::Vector6d& generalizedForce, const SurgSim::Math::Matrix66d& K, const SurgSim::Math::Matrix66d& D) { using SurgSim::Math::Matrix33d; using SurgSim::Math::Matrix66d; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector6d; SURGSIM_ASSERT(location.rigidLocalPosition.hasValue()) << "Invalid location (no rigid local position)"; RigidLocalization localization; localization.setRepresentation(std::static_pointer_cast(shared_from_this())); localization.setLocalPosition(location.rigidLocalPosition.getValue()); const Vector3d point = localization.calculatePosition(); const Vector3d massCenter = getCurrentState().getPose() * getMassCenter(); const Vector3d lever = point - massCenter; auto force = generalizedForce.segment<3>(0); const Vector3d torque = lever.cross(force); // add the generalized force m_externalGeneralizedForce.unsafeGet() += generalizedForce; // add the generalized stiffness matrix m_externalGeneralizedStiffness += K; // add the generalized damping matrix m_externalGeneralizedDamping += D; // add the extra torque produced by the lever m_externalGeneralizedForce.unsafeGet().segment<3>(3) += torque; // add the extra terms in the stiffness matrix const Vector3d leverInLocalSpace = getCurrentState().getPose().rotation().inverse() * lever; const Eigen::AngleAxisd angleAxis(getCurrentState().getPose().rotation()); double angle = angleAxis.angle(); const Vector3d axis = angleAxis.axis(); const Vector3d rotationVector = axis * angle; double rotationVectorNorm = rotationVector.norm(); double rotationVectorNormCubic = rotationVectorNorm * rotationVectorNorm * rotationVectorNorm; double sinAngle = sin(angle); double cosAngle = cos(angle); double oneMinusCos = 1.0 - cosAngle; const Matrix33d skewAxis = SurgSim::Math::makeSkewSymmetricMatrix(axis); Matrix33d dRdAxisX; Matrix33d dRdAxisY; Matrix33d dRdAxisZ; Matrix33d dRdAngle = -sinAngle * Matrix33d::Identity() + cosAngle * skewAxis + sinAngle * axis * axis.transpose(); dRdAxisX << oneMinusCos * 2.0 * axis[0], oneMinusCos * axis[1], oneMinusCos * axis[2], oneMinusCos * axis[1], 0.0, -sinAngle, oneMinusCos * axis[2], sinAngle, 0.0; dRdAxisY << 0.0, oneMinusCos * axis[0], sinAngle, oneMinusCos * axis[0], oneMinusCos * 2.0 * axis[1], oneMinusCos * axis[2], -sinAngle, oneMinusCos * axis[2], 0.0; dRdAxisZ << 0.0, -sinAngle, oneMinusCos * axis[0], sinAngle, 0.0, oneMinusCos * axis[1], oneMinusCos * axis[0], oneMinusCos * axis[1], oneMinusCos * 2.0 * axis[2]; Vector3d dAngledRotationVector, dAxisXdRotationVector, dAxisYdRotationVector, dAxisZdRotationVector; if (std::abs(rotationVectorNorm) > rotationVectorEpsilon) { const Vector3d tmp = rotationVector / rotationVectorNormCubic; dAngledRotationVector = rotationVector / rotationVectorNorm; dAxisXdRotationVector = Vector3d::UnitX() / rotationVectorNorm - rotationVector[0] * tmp; dAxisYdRotationVector = Vector3d::UnitY() / rotationVectorNorm - rotationVector[1] * tmp; dAxisZdRotationVector = Vector3d::UnitZ() / rotationVectorNorm - rotationVector[2] * tmp; } else { // Development around theta ~ 0 => sin(theta) ~ theta // We simplify by theta across the products dRdAxis[alpha].dAxis[alpha]dRotationVector[beta] dAngledRotationVector = Vector3d::Zero(); dAxisXdRotationVector = Vector3d::UnitX(); dAxisYdRotationVector = Vector3d::UnitY(); dAxisZdRotationVector = Vector3d::UnitZ(); dRdAxisX << 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0; dRdAxisY << 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0; dRdAxisZ << 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0; } // add the extra stiffness terms produced by the lever for (size_t column = 0; column < 6; ++column) { m_externalGeneralizedStiffness.block<3, 1>(3, column) += lever.cross(K.block<3, 1>(0, column)); } // add extra term - dCP/dW[alpha] ^ F = - dR.CP(local)/dW[alpha] ^ F = -dR/dW[alpha].CP(local) ^ F // = -[(dR/dangle.dangle/dW[alpha] + dR/daxisX.daxisX/dW[alpha] + // dR/daxisY.daxisY/dW[alpha] + dR/daxisZ.daxisZ/dW[alpha]) . CP(local)] ^ F for (size_t i = 0; i < 3; ++i) { m_externalGeneralizedStiffness.block<3, 1>(3, 3 + i) += -((dRdAngle * dAngledRotationVector[i] + dRdAxisX * dAxisXdRotationVector[i] + dRdAxisY * dAxisYdRotationVector[i] + dRdAxisZ * dAxisZdRotationVector[i]) * leverInLocalSpace).cross(force); } // add the extra damping terms produced by the lever for (size_t column = 0; column < 6; ++column) { m_externalGeneralizedDamping.block<3, 1>(3, column) += lever.cross(D.block<3, 1>(0, column)); } m_hasExternalGeneralizedForce = true; } SurgSim::DataStructures::BufferedValue& RigidRepresentation::getExternalGeneralizedForce() { return m_externalGeneralizedForce; } const SurgSim::Math::Matrix66d& RigidRepresentation::getExternalGeneralizedStiffness() const { return m_externalGeneralizedStiffness; } const SurgSim::Math::Matrix66d& RigidRepresentation::getExternalGeneralizedDamping() const { return m_externalGeneralizedDamping; } void RigidRepresentation::beforeUpdate(double dt) { RigidRepresentationBase::beforeUpdate(dt); SURGSIM_LOG_IF(!m_parametersValid, SurgSim::Framework::Logger::getDefaultLogger(), WARNING) << getFullName() << " deactivated in beforeUpdate because parameters are not valid." << std::endl; if (!m_parametersValid) { setLocalActive(false); return; } } void RigidRepresentation::update(double dt) { using SurgSim::Math::Vector3d; using SurgSim::Math::Matrix33d; using SurgSim::Math::Quaterniond; SURGSIM_LOG_IF(!m_parametersValid, SurgSim::Framework::Logger::getDefaultLogger(), WARNING) << getName() << " deactivated in update because parameters are not valid." << std::endl; if (!m_parametersValid) { setLocalActive(false); return; } // For convenience Vector3d G = m_currentState.getPose() * getMassCenter(); Vector3d dG = m_currentState.getLinearVelocity(); Matrix33d R = m_currentState.getPose().linear(); Quaterniond q = Quaterniond(R); Vector3d w = m_currentState.getAngularVelocity(); Quaterniond dq; double qNorm = q.norm(); // Norm of q before normalization // Rigid body dynamics (using backward Euler numerical integration scheme): // { Id33.m.(v(t+dt) - v(t))/dt = f // { I .(w(t+dt) - w(t))/dt = t - w(t)^(I.w(t)) // // Integrating the Rayleigh damping on the velocity level: // { Id33.m.(1/dt + alphaLinear ).v(t+dt) = Id33.m.v(t)/dt + f // { I .(1/dt + alphaAngular).w(t+dt) = I.w(t)/dt + t - w(t)^(I.w(t)) // Compute external forces/torques m_force.setZero(); m_torque.setZero(); if (m_hasExternalGeneralizedForce) { m_force += m_externalGeneralizedForce.unsafeGet().segment<3>(0); m_torque += m_externalGeneralizedForce.unsafeGet().segment<3>(3); } if (isGravityEnabled()) { m_force += getGravity() * getMass(); } m_torque -= w.cross(m_globalInertia * w); // Add Backward Euler RHS terms m_force += getMass() * dG / dt; m_torque += m_globalInertia * w / dt; // Solve the 6D system on the velocity level { // { Id33.m.(1/dt + alphaLinear ).v(t+dt) = Id33.m.v(t)/dt + f // { I .(1/dt + alphaAngular).w(t+dt) = I.w(t)/dt + t - w(t)^(I.w(t)) dG = (1.0 / getMass()) * m_force / (1.0 / dt + getLinearDamping()); w = m_invGlobalInertia * m_torque / (1.0 / dt + getAngularDamping()); // Compute the quaternion velocity as well: dq = 1/2.(0 w).q dq = Quaterniond(0.0, w[0], w[1], w[2]) * q; dq.coeffs() *= 0.5; } m_currentState.setLinearVelocity(dG); m_currentState.setAngularVelocity(w); // Integrate the velocities to get the rigid representation pose { // G(t+dt) = G(t) + dt. dG(t+dt) G += dG * dt; // q(t+dt) = q(t) + dt. dq(t+dt) Quaterniond dq_dt = dq; dq_dt.coeffs() *= dt; q.coeffs() += dq_dt.coeffs(); // Normalize the quaternion to make sure we do have a rotation q.normalize(); } R = q.matrix(); m_currentState.setPose(SurgSim::Math::makeRigidTransform(R, G - R * getMassCenter())); // Compute the global inertia matrix with the current state updateGlobalInertiaMatrices(m_currentState); // If something went wrong, we deactivate the representation bool condition = SurgSim::Math::isValid(G); condition &= SurgSim::Math::isValid(dG); condition &= SurgSim::Math::isValid(w); condition &= qNorm != 0.0; condition &= SurgSim::Math::isValid(q); condition &= fabs(1.0 - q.norm()) < 1e-3; SURGSIM_LOG_IF(!condition, SurgSim::Framework::Logger::getDefaultLogger(), WARNING) << getName() << " deactivated and reset because:" << std::endl << "G=(" << G[0] << "," << G[1] << "," << G[2] << "), " << "dG=(" << dG[0] << "," << dG[1] << "," << dG[2] << "), " << "w=(" << w[0] << "," << w[1] << "," << w[2] << "), " << "q=(" << q.x() << "," << q.y() << "," << q.z() << "," << q.w() << "), " << "|q| before normalization=" << qNorm << ", and " << "|q| after normalization=" << q.norm() << std::endl; if (!condition) { setLocalActive(false); } // Prepare the compliance matrix computeComplianceMatrix(dt); } void RigidRepresentation::afterUpdate(double dt) { m_externalGeneralizedForce.publish(); RigidRepresentationBase::afterUpdate(dt); SURGSIM_LOG_IF(!m_parametersValid, SurgSim::Framework::Logger::getDefaultLogger(), WARNING) << getName() << " deactivated in afterUpdate because parameters are not valid." << std::endl; if (!m_parametersValid) { setLocalActive(false); return; } if (m_hasExternalGeneralizedForce) { m_hasExternalGeneralizedForce = false; m_externalGeneralizedForce.unsafeGet().setZero(); m_externalGeneralizedStiffness.setZero(); m_externalGeneralizedDamping.setZero(); } } void RigidRepresentation::applyCorrection(double dt, const Eigen::VectorBlock& deltaVelocity) { using SurgSim::Math::Vector3d; using SurgSim::Math::Matrix33d; using SurgSim::Math::Quaterniond; SURGSIM_LOG_IF(!m_parametersValid, SurgSim::Framework::Logger::getDefaultLogger(), WARNING) << getName() << " deactivated in applyCorrection because parameters are not valid." << std::endl; if (!m_parametersValid) { setLocalActive(false); return; } Vector3d G = m_currentState.getPose() * getMassCenter(); Vector3d dG = m_currentState.getLinearVelocity(); Matrix33d R = m_currentState.getPose().linear(); Quaterniond q = Quaterniond(R); Vector3d w = m_currentState.getAngularVelocity(); const Vector3d& delta_dG = deltaVelocity.segment(0, 3); const Vector3d& delta_w = deltaVelocity.segment(3, 3); Quaterniond delta_dq = Quaterniond(0.0, delta_w[0], delta_w[1], delta_w[2]) * q; delta_dq.coeffs() *= 0.5; dG += delta_dG; w += delta_w; m_currentState.setLinearVelocity(dG); m_currentState.setAngularVelocity(w); // Integrate the velocities to get the rigid representation pose { // G(t+dt) = G(t) + dt. delta_dG(t+dt) G += delta_dG * dt; // q(t+dt) = q(t) + dt. delta_dq(t+dt) q.coeffs() += delta_dq.coeffs() * dt; // Normalize the quaternion to make sure we do have a rotation q.normalize(); } R = q.matrix(); m_currentState.setPose(SurgSim::Math::makeRigidTransform(R, G - R * getMassCenter())); // Compute the global inertia matrix with the current state updateGlobalInertiaMatrices(m_currentState); // If something went wrong, we deactivate the representation bool condition = SurgSim::Math::isValid(G); condition &= SurgSim::Math::isValid(q); condition &= fabs(1.0 - q.norm()) < 1e-3; SURGSIM_LOG_IF(!condition, SurgSim::Framework::Logger::getDefaultLogger(), WARNING) << getName() << " deactivated and reset in applyCorrection because:" << std::endl << "G=(" << G[0] << "," << G[1] << "," << G[2] << "), " << "q=(" << q.x() << "," << q.y() << "," << q.z() << "," << q.w() << "), " << "and |q| after normalization=" << q.norm() << std::endl; if (!condition) { setLocalActive(false); } // Prepare the compliance matrix computeComplianceMatrix(dt); } const Eigen::Matrix & SurgSim::Physics::RigidRepresentation::getComplianceMatrix() const { return m_C; } void RigidRepresentation::computeComplianceMatrix(double dt) { SURGSIM_LOG_IF(!m_parametersValid, SurgSim::Framework::Logger::getDefaultLogger(), WARNING) << getName() << " deactivated in computComplianceMatrix because parameters are not valid." << std::endl; if (!m_parametersValid) { setLocalActive(false); return; } SurgSim::Math::Matrix66d systemMatrix; const SurgSim::Math::Matrix33d identity3x3 = SurgSim::Math::Matrix33d::Identity(); systemMatrix.block<3, 3>(0, 0) = identity3x3 * (getMass() / dt + getLinearDamping()); systemMatrix.block<3, 3>(3, 3) = m_globalInertia / dt + getAngularDamping() * identity3x3; if (m_hasExternalGeneralizedForce) { systemMatrix += m_externalGeneralizedDamping + m_externalGeneralizedStiffness * dt; } m_C.setZero(); //Invert systemMatrix //We can use this shortcut because we know the linear and angular terms are independent m_C.block<3, 3>(0, 0) = systemMatrix.block<3, 3>(0, 0).inverse(); m_C.block<3, 3>(3, 3) = systemMatrix.block<3, 3>(3, 3).inverse(); } void RigidRepresentation::updateGlobalInertiaMatrices(const RigidState& state) { if (!m_parametersValid) { // do not setIsActive(false) due to invalid parameters because RigidRepresentationBase::setInitialParameters may // not have been called before RigidRepresentationBase::setInitialState (which calls this function), in which // case the parameters are invalid but we should not deactivate the representation. return; } const SurgSim::Math::Matrix33d& R = state.getPose().linear(); m_globalInertia = R * getLocalInertia() * R.transpose(); m_invGlobalInertia = m_globalInertia.inverse(); } bool RigidRepresentation::doInitialize() { bool result = RigidRepresentationBase::doInitialize(); if (result) { SURGSIM_ASSERT(getShape()->getVolume() > 0.0) << "Cannot use a shape with zero volume for RigidRepresentations"; } return result; } void RigidRepresentation::setLinearVelocity(const SurgSim::Math::Vector3d& linearVelocity) { m_currentState.setLinearVelocity(linearVelocity); } void RigidRepresentation::setAngularVelocity(const SurgSim::Math::Vector3d& angularVelocity) { m_currentState.setAngularVelocity(angularVelocity); } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/RigidRepresentation.h000066400000000000000000000141241277777236100232630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_RIGIDREPRESENTATION_H #define SURGSIM_PHYSICS_RIGIDREPRESENTATION_H #include "SurgSim/DataStructures/BufferedValue.h" #include "SurgSim/Framework/Macros.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Physics/RigidRepresentationBase.h" namespace SurgSim { namespace Physics { class RigidState; class Localization; typedef RigidLocalization RigidLocalization; SURGSIM_STATIC_REGISTRATION(RigidRepresentation); /// \class RigidRepresentation /// The RigidRepresentation class defines the dynamic rigid body representation /// Note that the rigid representation is velocity-based, therefore its degrees of /// freedom are the linear and angular velocities: 6 Dof class RigidRepresentation : public RigidRepresentationBase { public: /// Constructor /// \param name The rigid representation's name explicit RigidRepresentation(const std::string& name); /// Destructor virtual ~RigidRepresentation(); SURGSIM_CLASSNAME(SurgSim::Physics::RigidRepresentation); /// Set the current linear velocity of the rigid representation /// \param linearVelocity The linear velocity void setLinearVelocity(const SurgSim::Math::Vector3d& linearVelocity); /// Set the current angular velocity of the rigid representation /// \param angularVelocity The angular velocity void setAngularVelocity(const SurgSim::Math::Vector3d& angularVelocity); /// Add an external generalized force applied to the rigid representation's mass center. /// \note This force is generalized (i.e. it's a 6D vector, containing both 3D force and 3D torque). /// \note The stiffness and damping are 6x6 matrices with coupling between the translational and rotation dof. /// \note All external generalized forces will be zeroed every afterUpdate call of the rigid representation. /// \param generalizedForce The external generalized force to apply at the mass center /// \param K The stiffness matrix associated with the generalized force (jacobian of the force w.r.t position) /// \param D The damping matrix associated with the generalized force (jacobian of the force w.r.t velocity) void addExternalGeneralizedForce(const SurgSim::Math::Vector6d& generalizedForce, const SurgSim::Math::Matrix66d& K = SurgSim::Math::Matrix66d::Zero(), const SurgSim::Math::Matrix66d& D = SurgSim::Math::Matrix66d::Zero()); /// Add an external generalized force applied to the rigid representation (anywhere). /// \note This force is generalized (i.e. it's a 6D vector, containing both 3D force and 3D torque). /// \note The stiffness and damping are 6x6 matrices with coupling between the translational and rotation dof. /// \note All external generalized forces will be zeroed every afterUpdate call of the rigid representation. /// \param location The application point (must contain a rigid local position) /// \param generalizedForce The external generalized force /// \param K The stiffness matrix associated with generalizedForce (jacobian w.r.t position) /// \param D The damping matrix associated with generalizedForce (jacobian w.r.t velocity) void addExternalGeneralizedForce(const SurgSim::DataStructures::Location& location, const SurgSim::Math::Vector6d& generalizedForce, const SurgSim::Math::Matrix66d& K = SurgSim::Math::Matrix66d::Zero(), const SurgSim::Math::Matrix66d& D = SurgSim::Math::Matrix66d::Zero()); /// \return the current external generalized 6D force SurgSim::DataStructures::BufferedValue& getExternalGeneralizedForce(); /// \return the current external generalized stiffness 6x6 matrix const SurgSim::Math::Matrix66d& getExternalGeneralizedStiffness() const; /// \return the current external generalized damping 6x6 matrix const SurgSim::Math::Matrix66d& getExternalGeneralizedDamping() const; void beforeUpdate(double dt) override; void update(double dt) override; void afterUpdate(double dt) override; void applyCorrection(double dt, const Eigen::VectorBlock& deltaVelocity) override; /// Retrieve the rigid body 6x6 compliance matrix /// \return the 6x6 compliance matrix const SurgSim::Math::Matrix66d& getComplianceMatrix() const; protected: /// Inertia matrices in global coordinates SurgSim::Math::Matrix33d m_globalInertia; /// Inverse of inertia matrix in global coordinates SurgSim::Math::Matrix33d m_invGlobalInertia; /// Current force applied on the rigid representation (in N) SurgSim::Math::Vector3d m_force; /// Current torque applied on the rigid representation (in N.m) SurgSim::Math::Vector3d m_torque; /// Compliance matrix (size of the number of Dof = 6) SurgSim::Math::Matrix66d m_C; /// External generalized force, stiffness and damping applied on the rigid representation /// @{ bool m_hasExternalGeneralizedForce; SurgSim::DataStructures::BufferedValue m_externalGeneralizedForce; SurgSim::Math::Matrix66d m_externalGeneralizedStiffness; SurgSim::Math::Matrix66d m_externalGeneralizedDamping; /// @} private: bool doInitialize() override; /// Compute compliance matrix (internal data structure) /// \param dt The time step in use void computeComplianceMatrix(double dt); /// Update global inertia matrices (internal data structure) /// \param state The state of the rigid representation to use for the update void updateGlobalInertiaMatrices(const RigidState& state) override; }; }; // Physics }; // SurgSim #endif // SURGSIM_PHYSICS_RIGIDREPRESENTATION_H opensurgsim-0.7.0/SurgSim/Physics/RigidRepresentationBase-inl.h000066400000000000000000000026251277777236100246410ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_RIGIDREPRESENTATIONBASE_INL_H #define SURGSIM_PHYSICS_RIGIDREPRESENTATIONBASE_INL_H namespace SurgSim { namespace Physics { template std::shared_ptr RigidRepresentationBase::createTypedLocalization( const SurgSim::DataStructures::Location& location) { // Change when we deal with the meshes as shapes std::shared_ptr result = std::make_shared( std::static_pointer_cast(getSharedPtr())); SURGSIM_ASSERT(location.rigidLocalPosition.hasValue()) << "Tried to create a rigid localization without valid position information"; result->setLocalPosition(location.rigidLocalPosition.getValue()); return std::move(result); } }; // Physics }; // SurgSim #endif // SURGSIM_PHYSICS_RIGIDREPRESENTATIONBASE_INL_H opensurgsim-0.7.0/SurgSim/Physics/RigidRepresentationBase.cpp000066400000000000000000000150031277777236100244060ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Assert.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/PoseComponent.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/Valid.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" #include "SurgSim/Physics/RigidRepresentationBase.h" #include "SurgSim/Physics/PhysicsConvert.h" namespace SurgSim { namespace Physics { RigidRepresentationBase::RigidRepresentationBase(const std::string& name) : Representation(name), m_parametersValid(false), m_rho(0.0), m_mass(std::numeric_limits::quiet_NaN()), m_linearDamping(0.0), m_angularDamping(0.0) { m_localInertia.setConstant(std::numeric_limits::quiet_NaN()); m_massCenter.setConstant(std::numeric_limits::quiet_NaN()); SURGSIM_ADD_SERIALIZABLE_PROPERTY(RigidRepresentationBase, RigidState, RigidState, getInitialState, setInitialState); SURGSIM_ADD_SERIALIZABLE_PROPERTY(RigidRepresentationBase, std::shared_ptr, CollisionRepresentation, getCollisionRepresentation, setCollisionRepresentation); SURGSIM_ADD_SERIALIZABLE_PROPERTY(RigidRepresentationBase, double, Density, getDensity, setDensity); SURGSIM_ADD_SERIALIZABLE_PROPERTY(RigidRepresentationBase, double, LinearDamping, getLinearDamping, setLinearDamping); SURGSIM_ADD_SERIALIZABLE_PROPERTY(RigidRepresentationBase, double, AngularDamping, getAngularDamping, setAngularDamping); SURGSIM_ADD_SERIALIZABLE_PROPERTY(RigidRepresentationBase, std::shared_ptr, Shape, getShape, setShape); } RigidRepresentationBase::~RigidRepresentationBase() { } bool RigidRepresentationBase::doInitialize() { if (m_shape != nullptr) { SURGSIM_ASSERT(m_shape->isValid()) << "An invalid shape is used in this RigidRepresentationBase."; updateProperties(); } return true; } bool RigidRepresentationBase::doWakeUp() { m_initialState.setPose(getPose()); m_currentState = m_initialState; m_finalState = m_initialState; m_previousState = m_initialState; updateGlobalInertiaMatrices(m_currentState); return true; } void RigidRepresentationBase::setInitialState(const RigidState& state) { m_initialState = state; m_currentState = state; m_previousState = state; updateGlobalInertiaMatrices(m_currentState); } void RigidRepresentationBase::resetState() { Representation::resetState(); m_currentState = m_initialState; m_previousState = m_initialState; m_finalState = m_initialState; updateGlobalInertiaMatrices(m_currentState); } const RigidState& RigidRepresentationBase::getInitialState() const { return m_initialState; } const RigidState& RigidRepresentationBase::getCurrentState() const { return m_currentState; } const RigidState& RigidRepresentationBase::getPreviousState() const { return m_previousState; } std::shared_ptr RigidRepresentationBase::createLocalization( const SurgSim::DataStructures::Location& location) { return std::move(createTypedLocalization(location)); } void RigidRepresentationBase::setDensity(double rho) { m_rho = rho; updateProperties(); } double RigidRepresentationBase::getDensity() const { return m_rho; } double RigidRepresentationBase::getMass() const { return m_mass; } const SurgSim::Math::Vector3d& RigidRepresentationBase::getMassCenter() const { return m_massCenter; } const SurgSim::Math::Matrix33d& RigidRepresentationBase::getLocalInertia() const { return m_localInertia; } void RigidRepresentationBase::setLinearDamping(double linearDamping) { m_linearDamping = linearDamping; } double RigidRepresentationBase::getLinearDamping() const { return m_linearDamping; } void RigidRepresentationBase::setAngularDamping(double angularDamping) { m_angularDamping = angularDamping; } double RigidRepresentationBase::getAngularDamping() const { return m_angularDamping; } void RigidRepresentationBase::setShape(const std::shared_ptr shape) { m_shape = shape; if (shape != nullptr) { updateProperties(); } } const std::shared_ptr RigidRepresentationBase::getShape() const { return m_shape; } void RigidRepresentationBase::updateProperties() { if (m_shape != nullptr) { SURGSIM_ASSERT(m_shape->isValid()) << "Invalid shape."; m_massCenter = m_shape->getCenter(); if (m_rho > 0.0) { m_mass = m_rho * m_shape->getVolume(); m_localInertia = m_rho * m_shape->getSecondMomentOfVolume(); m_parametersValid = SurgSim::Math::isValid(m_localInertia) && !m_localInertia.isZero() && m_localInertia.diagonal().minCoeff() > 0.0 && SurgSim::Math::isValid(m_mass) && m_mass > 0.0; } } } void SurgSim::Physics::RigidRepresentationBase::beforeUpdate(double dt) { m_previousState = m_currentState; } void SurgSim::Physics::RigidRepresentationBase::afterUpdate(double dt) { m_finalState = m_currentState; driveSceneElementPose(m_finalState.getPose() * getLocalPose().inverse()); } void RigidRepresentationBase::setCollisionRepresentation( std::shared_ptr representation) { if (m_collisionRepresentation != representation) { // If we have an old collision representation clear the dependency auto oldCollisionRep = std::dynamic_pointer_cast(m_collisionRepresentation); if (oldCollisionRep != nullptr) { oldCollisionRep->setRigidRepresentation(nullptr); } Representation::setCollisionRepresentation(representation); // If its a RigidCollisionRepresentation connect with this representation auto newCollisionRep = std::dynamic_pointer_cast(representation); if (newCollisionRep != nullptr) { newCollisionRep->setRigidRepresentation(std::static_pointer_cast(getSharedPtr())); } } } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/RigidRepresentationBase.h000066400000000000000000000141721277777236100240610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_RIGIDREPRESENTATIONBASE_H #define SURGSIM_PHYSICS_RIGIDREPRESENTATIONBASE_H #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/RigidLocalization.h" #include "SurgSim/Physics/RigidState.h" namespace SurgSim { namespace Collision { class Representation; } namespace Physics { /// The RigidRepresentationBase class defines the base class for /// all rigid motion based representations (fixed, rigid body, rigid body + vtc,...) class RigidRepresentationBase : public Representation { public: /// Constructor /// \param name The rigid representation's name explicit RigidRepresentationBase(const std::string& name); /// Destructor virtual ~RigidRepresentationBase(); /// Set the initial state of the rigid representation /// \param state The initial state (pose + lin/ang velocities) /// This will also set the current/previous states to the initial state void setInitialState(const RigidState& state); void resetState() override; /// Get the initial state of the rigid representation /// \return The initial state (pose + lin/ang velocities) const RigidState& getInitialState() const; /// Get the current state of the rigid representation /// \return The current state (pose + lin/ang velocities) const RigidState& getCurrentState() const; /// Get the previous state of the rigid representation /// \return The previous state (pose + lin/ang velocities) const RigidState& getPreviousState() const; std::shared_ptr createLocalization(const SurgSim::DataStructures::Location& location) override; /// Set the mass density of the rigid representation /// \param rho The density (in Kg.m-3) void setDensity(double rho); /// Get the mass density of the rigid representation /// \return The density if it has been provided, 0 otherwise (in Kg.m-3) double getDensity() const; /// Get the mass of the rigid body /// \return The mass (in Kg) double getMass() const; /// Get the mass center of the rigid body /// \return The mass center (in local coordinate) const SurgSim::Math::Vector3d& getMassCenter() const; /// Get the local inertia 3x3 matrix of the rigid body /// \return The inertia 3x3 matrix of the object const SurgSim::Math::Matrix33d& getLocalInertia() const; /// Set the linear damping parameter /// \param linearDamping The linear damping parameter (in N.s.m-1) void setLinearDamping(double linearDamping); /// Get the linear damping parameter /// \return The linear damping parameter (in N.s.m-1) double getLinearDamping() const; /// Set the angular damping parameter /// \param angularDamping The angular damping parameter (in N.m.s.rad-1) void setAngularDamping(double angularDamping); /// Get the angular damping parameter /// \return The angular damping parameter (in N.m.s.rad-1) double getAngularDamping() const; /// Set the shape to use internally for physical parameters computation /// \param shape The shape to use for the mass/inertia calculation /// \note Also add the shape to the shape list if it has not been added yet void setShape(const std::shared_ptr shape); /// Get the shape used internally for physical parameters computation /// \return The shape used for calculation, nullptr if none exist const std::shared_ptr getShape() const; /// Set the collision representation for this physics representation, when the collision object /// is involved in a collision, the collision should be resolved inside the dynamics calculation. /// Specializes to register this representation in the collision representation if the collision representation /// is a RigidCollisionRepresentation. /// \param representation The collision representation to be used. void setCollisionRepresentation(std::shared_ptr representation) override; void beforeUpdate(double dt) override; void afterUpdate(double dt) override; protected: bool doInitialize() override; bool doWakeUp() override; /// Initial rigid representation state (useful for reset) RigidState m_initialState; /// Previous rigid representation state RigidState m_previousState; /// Current rigid representation state RigidState m_currentState; /// Last valid/final rigid representation state RigidState m_finalState; /// Validity of the parameters bool m_parametersValid; /// Density of the object (in Kg.m-3) double m_rho; /// Total mass of the object (in Kg) double m_mass; /// Linear damping parameter (in N.s.m-1 or Kg.s-1) double m_linearDamping; /// Angular damping parameter (in N.m.s.rad-1) double m_angularDamping; /// Mass-center of the object SurgSim::Math::Vector3d m_massCenter; /// Inertia matrix in local coordinates SurgSim::Math::Matrix33d m_localInertia; /// Shape to be used for the mass/inertia calculation std::shared_ptr m_shape; /// Creates typed localization. /// \tparam T Type of localization to create. /// \param location The location for the localization. /// \return The new Localization; template std::shared_ptr createTypedLocalization(const SurgSim::DataStructures::Location& location); private: /// Updates mass, mass center and inertia when density and/or shape used for mass inertia is updated. void updateProperties(); virtual void updateGlobalInertiaMatrices(const RigidState& state) = 0; }; }; // Physics }; // SurgSim #include "SurgSim/Physics/RigidRepresentationBase-inl.h" #endif // SURGSIM_PHYSICS_RIGIDREPRESENTATIONBASE_H opensurgsim-0.7.0/SurgSim/Physics/RigidRepresentation_addExternalGeneralizedForce.dox000066400000000000000000000120151277777236100312670ustar00rootroot00000000000000/*! \fn void SurgSim::Physics::RigidRepresentation::addExternalGeneralizedForce(const SurgSim::DataStructures::Location &location, const SurgSim::Math::Vector6d &generalizedForce, const SurgSim::Math::Matrix66d &K=SurgSim::Math::Matrix66d::Zero(), const SurgSim::Math::Matrix66d &D=SurgSim::Math::Matrix66d::Zero())
The location produces an extra torque and extra terms in the derivatives (stiffness/damping matrices) coming from this extra torque.
Let's note the position dof (\f$\mathbf{C}\f$,\f$\mathbf{W}\f$) and the velocity dof (\f$\mathbf{v}\f$, \f$\mathbf{w}\f$), and \f$R\f$ the 3x3 rotation matrix dependent on \f$\mathbf{W}\f$. The force (\f$\mathbf{F}\f$) applied on a point (\f$\mathbf{P}\f$) that is not the mass center (\f$\mathbf{C}\f$), produces a torque (\f$\mathbf{T}\f$) and also affect matrix derivatives (\f$K\f$ and \f$D\f$) as follow:
\f[ \mathbf{T} = \mathbf{CP} \wedge \mathbf{F} \f] Note that \f$\mathbf{CP}\f$ does not depend on the velocity (neither \f$\mathbf{v}\f$ nor \f$\mathbf{w}\f$, therefore the damping matrix is affected by the terms: \f[ \displaystyle -\frac{\partial \mathbf{T}}{\partial \mathbf{v}} = -\mathbf{CP} \wedge \frac{\partial \mathbf{F}}{\partial \mathbf{v}} = \mathbf{CP} \wedge D_{3 \times 3}^{(0, 0)} \f] \f[ \displaystyle -\frac{\partial \mathbf{T}}{\partial \mathbf{w}} = -\mathbf{CP} \wedge \frac{\partial \mathbf{F}}{\partial \mathbf{w}} = \mathbf{CP} \wedge D_{3 \times 3}^{(0, 3)} \f] Also note that \f$\mathbf{CP}\f$ does not change if the rigid translate (\f$\mathbf{C}\f$ changes), but it changes if the rotation of the rigid changes (\f$\mathbf{W}\f$ changes => \f$R\f$ changes).
Therefore \f$\mathbf{CP}\f$ is a constant vector in the rigid local space \f$ \mathbf{CP} = R.\mathbf{CP_{local}} \f$ and its derivative w.r.t. \f$\mathbf{C}\f$ is null and we get:
\f[ \displaystyle -\frac{\partial \mathbf{T}}{\partial \mathbf{C}} = -\mathbf{CP} \wedge \frac{\partial \mathbf{F}}{\partial \mathbf{C}} = \mathbf{CP} \wedge K_{3 \times 3}^{(0,0)} \f] \f[ \displaystyle -\frac{\partial \mathbf{T}}{\partial \mathbf{W}} = -\frac{\partial \mathbf{CP}}{\partial \mathbf{W}} \wedge \mathbf{F} - \mathbf{CP} \wedge \frac{\partial \mathbf{F}}{\partial \mathbf{W}} = -\frac{\partial \mathbf{CP}}{\partial \mathbf{W}} \wedge \mathbf{F} + \mathbf{CP} \wedge K_{3 \times 3}^{(0, 3)} \f] To compute \f$\frac{\partial \mathbf{CP}}{\partial \mathbf{W}} = \frac{\partial R}{\partial \mathbf{W}}.\mathbf{CP}_{local}\f$, we operate a variable change, from the rotation vector \f$\mathbf{W}\f$ to angle/axis (\f$\theta\f$, \f$\mathbf{u}\f$) representation (4 dof): \f[ \left\{ \begin{eqnarray*} \theta = |\mathbf{W}| \\ \mathbf{u} = \frac{\mathbf{W}}{|\mathbf{W}|} \end{eqnarray*} \right. \f] In this new coordinate system, we have (see reference http://en.wikipedia.org/wiki/Rotation_matrix): \f[ R(\theta, \mathbf{u}) = cos(\theta).I + sin(\theta).\left[\mathbf{u}\right] + (1-cos(\theta)).\mathbf{u} \otimes \mathbf{u} \f] where \f$\left[\mathbf{u}\right]\f$ denotes the skew symmetric matrix of the vector \f$\mathbf{u}\f$, \f$\left[\mathbf{u}\right] = \left( \begin{array}{ccc} 0 & -u^z & u^y \\ u^z & 0 & -u^x \\ -u^y & u^x & 0 \end{array} \right)\f$ and \f$\mathbf{u} \otimes \mathbf{u}\f$ the tensor product: \f$\left(\mathbf{u} \otimes \mathbf{u}^T\right)_{ij} = u^i * u^j\f$. Applying the chain derivation rule, we get: \f[ \frac{\partial R}{\partial W^{\alpha}} = \frac{\partial R}{\partial \theta}.\frac{\partial \theta}{\partial W^{\alpha}} + \frac{\partial R}{\partial u^x}.\frac{\partial u^x}{\partial W^{\alpha}} + \frac{\partial R}{\partial u^y}.\frac{\partial u^y}{\partial W^{\alpha}} + \frac{\partial R}{\partial u^z}.\frac{\partial u^z}{\partial W^{\alpha}} \f] with \f[ \frac{\partial R}{\partial \theta} = -sin(\theta).I + cos(\theta).\left[\mathbf{u}\right] + sin(\theta).\mathbf{u} \otimes \mathbf{u} \f] \f[ \frac{\partial R}{\partial u^x} = sin(\theta) \left( \begin{array}{ccc} 0 & 0 & 0 \\ 0 & 0 & -1 \\ 0 & 1 & 0 \end{array} \right) + (1 - cos(\theta)) \left( \begin{array}{ccc} 2u^x & u^y & u^z \\ u^y & 0 & 0 \\ u^z & 0 & 0 \end{array} \right) \f] \f[ \frac{\partial R}{\partial u^y} = sin(\theta) \left( \begin{array}{ccc} 0 & 0 & 1 \\ 0 & 0 & 0 \\ -1 & 0 & 0 \end{array} \right) + (1 - cos(\theta)) \left( \begin{array}{ccc} 0 & u^x & 0 \\ u^x & 2u^y & u^z \\ 0 & u^z & 0 \end{array} \right) \f] \f[ \frac{\partial R}{\partial u^z} = sin(\theta) \left( \begin{array}{ccc} 0 & -1 & 0 \\ 1 & 0 & 0 \\ 0 & 0 & 0 \end{array} \right) + (1 - cos(\theta)) \left( \begin{array}{ccc} 0 & 0 & u^x \\ 0 & 0 & u^y \\ u^x & u^y & 2u^z \end{array} \right) \f] and \f[ \frac{\partial \theta}{\partial W^{\alpha}} = \frac{W^{\alpha}}{|\mathbf{W}|} \f] \f[ \frac{\partial u}{\partial W^{\alpha}} = \frac{1}{|\mathbf{W}|} . \left( \left( \begin{array}{c} \delta^{x,\alpha} \\ \delta^{y,\alpha} \\ \delta^{z,\alpha} \end{array} \right) - \frac{W^{\alpha}}{|\mathbf{W}|} \frac{\mathbf{W}}{|\mathbf{W}|} \right) \f] */opensurgsim-0.7.0/SurgSim/Physics/RigidState.cpp000066400000000000000000000050051277777236100216720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Math/MathConvert.h" #include "SurgSim/Physics/RigidState.h" namespace SurgSim { namespace Physics { RigidState::RigidState() : m_v(SurgSim::Math::Vector3d::Zero()), m_w(SurgSim::Math::Vector3d::Zero()), m_pose(SurgSim::Math::RigidTransform3d::Identity()) { addSerializableProperty(); } RigidState::RigidState(const RigidState& rhs) : m_v(rhs.m_v), m_w(rhs.m_w), m_pose(rhs.m_pose) { addSerializableProperty(); } void RigidState::addSerializableProperty() { SURGSIM_ADD_SERIALIZABLE_PROPERTY(RigidState, SurgSim::Math::Vector3d, LinearVelocity, getLinearVelocity, setLinearVelocity); SURGSIM_ADD_SERIALIZABLE_PROPERTY(RigidState, SurgSim::Math::Vector3d, AngularVelocity, getAngularVelocity, setAngularVelocity); SURGSIM_ADD_SERIALIZABLE_PROPERTY(RigidState, SurgSim::Math::RigidTransform3d, Pose, getPose, setPose); } RigidState& RigidState::operator=(const RigidState& rhs) { m_v = rhs.m_v; m_w = rhs.m_w; m_pose = rhs.m_pose; return *this; } RigidState::~RigidState() { } bool RigidState::operator==(const RigidState& rhs) const { return (m_pose.isApprox(rhs.m_pose) && m_v == rhs.m_v && m_w == rhs.m_w); } bool RigidState::operator!=(const RigidState& rhs) const { return !((*this) == rhs); } void RigidState::reset() { m_v.setZero(); m_w.setZero(); m_pose.setIdentity(); } const SurgSim::Math::Vector3d& RigidState::getLinearVelocity() const { return m_v; } const SurgSim::Math::Vector3d& RigidState::getAngularVelocity() const { return m_w; } void RigidState::setLinearVelocity(const SurgSim::Math::Vector3d &v) { m_v = v; } void RigidState::setAngularVelocity(const SurgSim::Math::Vector3d &w) { m_w = w; } void RigidState::setPose(const SurgSim::Math::RigidTransform3d& pose) { m_pose = pose; } const SurgSim::Math::RigidTransform3d& RigidState::getPose() const { return m_pose; } }; // Physics }; // SurgSimopensurgsim-0.7.0/SurgSim/Physics/RigidState.h000066400000000000000000000063521277777236100213450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_RIGIDSTATE_H #define SURGSIM_PHYSICS_RIGIDSTATE_H #include "SurgSim/Framework/Accessible.h" #include "SurgSim/Framework/Macros.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Physics { /// The RigidState class describes a state (position and velocity information). class RigidState : public SurgSim::Framework::Accessible { public: /// Default constructor RigidState(); /// Default constructor RigidState(const RigidState& rhs); /// Copy assignment /// \param rhs Right hand side RigidState from which data are copied. /// \note 'm_functors' in base class Accessible is NOT copied. RigidState& operator=(const RigidState& rhs); /// Destructor virtual ~RigidState(); SURGSIM_CLASSNAME(SurgSim::Physics::RigidState); /// Comparison operator /// \param rhs A RigidState to compare it to /// \return True if the 2 states are equals, False otherwise bool operator==(const RigidState& rhs) const; /// Comparison operator /// \param rhs A RigidState to compare it to /// \return False if the 2 states are equals, True otherwise bool operator!=(const RigidState& rhs) const; /// Reset the state to default values /// Vectors will be filled with 0 /// Rotations will be set to identity (quaternion or matrix type) /// If you want to reset to initial values, you need to save them separately /// in another RigidState and assign it to this instance. void reset(); /// Get the linear velocity /// \return the linear velocity const SurgSim::Math::Vector3d& getLinearVelocity() const; /// Get the angular velocity /// \return the angular velocity const SurgSim::Math::Vector3d& getAngularVelocity() const; /// Set the linear velocity /// \param v The linear velocity void setLinearVelocity(const SurgSim::Math::Vector3d &v); /// Set the angular velocity /// \param w The angular velocity void setAngularVelocity(const SurgSim::Math::Vector3d &w); /// Set the rigid representation pose /// \param pose The pose to set the rigid representation to void setPose(const SurgSim::Math::RigidTransform3d& pose); /// Get the rigid representation pose /// \return A constant reference to the pose (read only) const SurgSim::Math::RigidTransform3d& getPose() const; private: /// Register accessors of serializable properties void addSerializableProperty(); /// Linear velocity SurgSim::Math::Vector3d m_v; /// Angular velocity SurgSim::Math::Vector3d m_w; /// Rigid representation pose (translation + rotation) SurgSim::Math::RigidTransform3d m_pose; }; }; // Physics }; // SurgSim #endif // SURGSIM_PHYSICS_RIGIDSTATE_Hopensurgsim-0.7.0/SurgSim/Physics/RotationVectorConstraint.cpp000066400000000000000000000065021277777236100246650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 "SurgSim/Physics/RotationVectorConstraint.h" #include "SurgSim/Framework/Assert.h" namespace SurgSim { namespace Physics { RotationVectorConstraint::RotationVectorConstraint(ConstraintType constraintType, std::shared_ptr data, std::shared_ptr representation0, const SurgSim::DataStructures::Location& location0, std::shared_ptr representation1, const SurgSim::DataStructures::Location& location1) : Constraint(constraintType, data, representation0, location0, representation1, location1) { SURGSIM_ASSERT(constraintType == SurgSim::Physics::ConstraintType::FIXED_3DROTATION_VECTOR) << "Invalid constraint type for a rotation vector constraint"; } RotationVectorConstraint::~RotationVectorConstraint() { } void RotationVectorConstraint::doBuild(double dt, const ConstraintData& data, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation0, size_t indexOfRepresentation1, size_t indexOfConstraint) { m_implementations.first->build( dt, *m_data.get(), m_localizations.first, mlcp, indexOfRepresentation0, indexOfConstraint, CONSTRAINT_POSITIVE_SIDE); // This uses the vector mlcp->b as a temporary vector to retrieve the 1st rotation vector // mlcp->b = rotationVector1 SurgSim::Math::Vector3d rotationVector1 = mlcp->b.segment<3>(indexOfConstraint); SurgSim::Math::Quaterniond q1 = SurgSim::Math::Quaterniond::Identity(); if (rotationVector1.norm() > 1e-8) { q1 = SurgSim::Math::makeRotationQuaternion(rotationVector1.norm(), rotationVector1.normalized()); } m_implementations.second->build( dt, *m_data.get(), m_localizations.second, mlcp, indexOfRepresentation1, indexOfConstraint, CONSTRAINT_NEGATIVE_SIDE); // This uses the vector mlcp->b as a temporary vector to retrieve the 2nd rotation vector // mlcp->b = rotationVector1 - rotationVector2 SurgSim::Math::Vector3d rotationVector2 = rotationVector1 - mlcp->b.segment<3>(indexOfConstraint); SurgSim::Math::Quaterniond q2 = SurgSim::Math::Quaterniond::Identity(); if (rotationVector2.norm() > 1e-8) { q2 = SurgSim::Math::makeRotationQuaternion(rotationVector2.norm(), rotationVector2.normalized()); } // Transform the data to have a rotation vector violation as a rotation vector double angle; SurgSim::Math::Vector3d axis; SurgSim::Math::computeAngleAndAxis((q1 * q2.inverse()).normalized(), &angle, &axis); // Set mlcp->b with the properly calculated rotation vector, using a quaternion interpolation. mlcp->b.segment<3>(indexOfConstraint) = angle * axis; mlcp->constraintTypes.push_back( (m_constraintType != INVALID_CONSTRAINT) ? m_mlcpMap[m_constraintType] : Math::MLCP_INVALID_CONSTRAINT); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/RotationVectorConstraint.h000066400000000000000000000042231277777236100243300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_ROTATIONVECTORCONSTRAINT_H #define SURGSIM_PHYSICS_ROTATIONVECTORCONSTRAINT_H #include "SurgSim/Physics/Constraint.h" namespace SurgSim { namespace Physics { /// Specific class for rotation vector constraints. /// It handles the specificity of the rotation vector in the constraint calculation. class RotationVectorConstraint: public Constraint { public: RotationVectorConstraint( ConstraintType constraintType, std::shared_ptr data, std::shared_ptr representation0, const SurgSim::DataStructures::Location& location0, std::shared_ptr representation1, const SurgSim::DataStructures::Location& location1); /// Destructor virtual ~RotationVectorConstraint(); protected: /// \note The rotation vector violation being calculated based on a quaternion interpolation (slerp), and this /// type of interpolation being highly non-linear, the classical way of using the implementation one after the /// other one won't work. /// Therefore, this method temporarily uses the vector mlcpPhysicsProblem->b to retrieve both representation's /// rotation vectors, then calculate the proper slerp and set the violation back in mlcpPhysicsProblem->b void doBuild(double dt, const ConstraintData& data, MlcpPhysicsProblem* mlcpPhysicsProblem, size_t indexOfRepresentation0, size_t indexOfRepresentation1, size_t indexOfConstraint) override; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_ROTATIONVECTORCONSTRAINT_H opensurgsim-0.7.0/SurgSim/Physics/RotationVectorConstraintData.h000066400000000000000000000122021277777236100251160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_ROTATIONVECTORCONSTRAINTDATA_H #define SURGSIM_PHYSICS_ROTATIONVECTORCONSTRAINTDATA_H #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/Fem1DElementBeam.h" #include "SurgSim/Physics/RigidRepresentationBase.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Physics { /// Class for rotation vector constraint data between a rigid/fixed representation and Fem1d beam being controlled. /// /// It considers the Fem1D rotational dof (beamRotationVector) to be the only variable to account for. /// The equation to verify is \f$ R_{rigid} * RAtGrasp_{rigid}^{-1} = R_{beam} * RAtGrasp_{beam}^{-1} \f$ /// where \f$R\f$ denotes the current prefixed object 3x3 rotation matrix /// \f$RAtGrasp\f$ is the 3x3 rotation matrix of the prefixed object at the time of the constraint creation /// and \f$R_{beam}\f$ is decomposed into the initial rotation \f$R0_{beam}\f$ and the current rotation given by the /// rotational dof /// \f$R_{rigid} * RAtGrasp_{rigid}^{-1} = R(beamRotationVector) * R0_{beam} * RAtGrasp_{beam}^{-1}\f$ /// \f$R_{rigid} * RAtGrasp_{rigid}^{-1} * RAtGrasp_{beam} * R0_{beam}^{-1} = R(beamRotationVector)\f$ /// \f$rotationVector(R_{rigid} * RAtGrasp_{rigid}^{-1} * RAtGrasp_{beam} * R0_{beam}^{-1}) = beamRotationVector\f$ class RotationVectorRigidFem1DConstraintData : public ConstraintData { public: /// Default constructor RotationVectorRigidFem1DConstraintData() : ConstraintData() { } /// Destructor virtual ~RotationVectorRigidFem1DConstraintData() { } /// Set the rigid/fixed object part that will control the fem1d /// \param rigid The rigid base representation (either a RigidRepresentation or FixedRepresentation) /// \param rigidRAtGrasp The rigid rotation at the time of the constraint creation void setRigidOrFixedRotation(std::shared_ptr rigid, const SurgSim::Math::Matrix33d& rigidRAtGrasp) { SURGSIM_ASSERT(nullptr != rigid) << "Need a valid rigid/fixed representation"; m_rigidRAtGrasp = rigidRAtGrasp; m_rigid = rigid; } /// Set the fem1d object part /// \param beams The Fem1DRepresentation to be controlled by the rigid/fixed representation orientation /// \param beamId The beam id that is going to be controlled by the rigid/fixed representation orientation void setFem1DRotation(std::shared_ptr beams, size_t beamId) { SURGSIM_ASSERT(nullptr != beams) << "Need a valid fem1D representation"; SURGSIM_ASSERT(beams->getNumFemElements() > beamId) << "The beam id " << beamId << " does not exists, the fem1d has " << beams->getNumFemElements() << " beams"; auto beam = std::dynamic_pointer_cast(beams->getFemElement(beamId)); m_beams = beams; m_beamR0 = beam->getInitialRotation(); const auto& rotVecBeamNode0 = beams->getCurrentState()->getPositions().segment<3>(6 * beam->getNodeId(0) + 3); SurgSim::Math::Matrix33d R = SurgSim::Math::Matrix33d::Identity(); if (!rotVecBeamNode0.isApprox(SurgSim::Math::Vector3d::Zero())) { R = SurgSim::Math::makeRotationMatrix(rotVecBeamNode0.norm(), rotVecBeamNode0.normalized()); } m_beamRAtGrasp = R * m_beamR0; } /// \return The current rotation vector that should correspond to the beam rotation vector /// i.e. \f$ rotationVector(R_{rigid} * RAtGrasp_{rigid}^{-1} * RAtGrasp_{beam} * R0_{beam}^{-1}) \f$ SurgSim::Math::Vector3d getCurrentRotationVector() const { SURGSIM_ASSERT(nullptr != m_rigid) << "Did you call setRigidOrFixedRotation prior to using this class ?"; SURGSIM_ASSERT(nullptr != m_beams) << "Did you call setFem1DRotation prior to using this class ?"; const auto& rigidR = m_rigid->getCurrentState().getPose().linear(); Eigen::AngleAxisd angleAxis(rigidR * m_rigidRAtGrasp.inverse() * m_beamRAtGrasp * m_beamR0.inverse()); return angleAxis.angle() * angleAxis.axis(); } private: /// Rigid/Fixed representation std::shared_ptr m_rigid; /// Rigid/Fixed rotation information at the time of the constraint creation SurgSim::Math::Matrix33d m_rigidRAtGrasp; /// Fem1D representation std::shared_ptr m_beams; /// The beam initial rotation and rotation at the time of the constraint creation SurgSim::Math::Matrix33d m_beamR0, m_beamRAtGrasp; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_ROTATIONVECTORCONSTRAINTDATA_H opensurgsim-0.7.0/SurgSim/Physics/SlidingConstraint.cpp000066400000000000000000000053711277777236100232770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/Math/Geometry.h" #include "SurgSim/Physics/Fem1DLocalization.h" #include "SurgSim/Physics/FemRepresentation.h" #include "SurgSim/Physics/SlidingConstraint.h" #include "SurgSim/Physics/SlidingConstraintData.h" namespace SurgSim { namespace Physics { SlidingConstraint::SlidingConstraint(ConstraintType constraintType, std::shared_ptr data, std::shared_ptr representation0, const DataStructures::Location& location0, std::shared_ptr representation1, const DataStructures::Location& location1, const Math::Vector3d& slidingDirection) : Constraint(constraintType, data, representation0, location0, representation1, location1) { m_slidingConstraintData = std::dynamic_pointer_cast(data); SURGSIM_ASSERT(m_slidingConstraintData != nullptr) << "The data sent in for the sliding constraint is not of type SlidingConstraintData."; Math::Vector3d directionEnd = m_localizations.second->calculatePosition() + slidingDirection; m_directionEnd = m_localizations.second->getElementPose().inverse() * directionEnd; } SlidingConstraint::~SlidingConstraint() { } void SlidingConstraint::doBuild(double dt, const ConstraintData& data, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation0, size_t indexOfRepresentation1, size_t indexOfConstraint) { // Update the SlidingConstraintData Math::Vector3d pointOfConstraint = m_localizations.second->calculatePosition(); Math::Vector3d slidingDirection = m_localizations.second->getElementPose() * m_directionEnd - pointOfConstraint; m_slidingConstraintData->setSlidingDirection(pointOfConstraint, slidingDirection); // Update the representation0's localization (representation1's remains the same). bool hasReachedEnd = false; m_localizations.first->moveClosestTo(pointOfConstraint, &hasReachedEnd); if (hasReachedEnd) { setActive(false); } Constraint::doBuild(dt, data, mlcp, indexOfRepresentation0, indexOfRepresentation1, indexOfConstraint); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/SlidingConstraint.h000066400000000000000000000055011277777236100227370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_SLIDINGCONSTRAINT_H #define SURGSIM_PHYSICS_SLIDINGCONSTRAINT_H #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/SlidingConstraintData.h" namespace SurgSim { namespace Physics { /// Sliding constraint between two physics representations. /// The sliding direction vector (direction + origin) needs to be updated each physics time step. This is done by /// transforming the direction and origin into the local coordinates of the physics representations and recalculating /// them every time step. /// representation0 is the one that can 'slide' against Representation1, for example Representation0 could be a suture /// Representation1 tissue. class SlidingConstraint : public Constraint { public: /// Sets all the values for this constraints, does validation on the parameters and will throw if something /// is wrong with the constraint. /// \param constraintType The constraint type. /// \param data The data for this constraint. /// \param representation0 The moving representation e.g. suture. /// \param representation1 The non-moving representation e.g. tissue. /// \param location0, location1 Both locations of the representations involved in this constraint. /// \param slidingDirection The direction of sliding. SlidingConstraint( ConstraintType constraintType, std::shared_ptr data, std::shared_ptr representation0, const SurgSim::DataStructures::Location& location0, std::shared_ptr representation1, const SurgSim::DataStructures::Location& location1, const Math::Vector3d& slidingDirection); /// Destructor virtual ~SlidingConstraint(); private: void doBuild(double dt, const ConstraintData& data, MlcpPhysicsProblem* mlcpPhysicsProblem, size_t indexOfRepresentation0, size_t indexOfRepresentation1, size_t indexOfConstraint) override; /// The sliding constraint data. std::shared_ptr m_slidingConstraintData; /// The end of the sliding direction, local to the representation1. Math::Vector3d m_directionEnd; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_SLIDINGCONSTRAINT_H opensurgsim-0.7.0/SurgSim/Physics/SlidingConstraintData.cpp000066400000000000000000000043311277777236100240640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/SlidingConstraintData.h" #include "SurgSim/Math/Matrix.h" namespace SurgSim { namespace Physics { SlidingConstraintData::SlidingConstraintData() : ConstraintData(), m_mu(0.5) { m_normals[0].setZero(); m_normals[1].setZero(); m_tangent.setZero(); } SlidingConstraintData::SlidingConstraintData(const SurgSim::Math::Vector3d& point, const SurgSim::Math::Vector3d& direction) : ConstraintData(), m_mu(0.5) { setSlidingDirection(point, direction); } SlidingConstraintData::~SlidingConstraintData() { } void SlidingConstraintData::setSlidingDirection(const SurgSim::Math::Vector3d& point, const SurgSim::Math::Vector3d& direction) { m_point = point; m_slidingDirection = direction; Math::buildOrthonormalBasis(&m_slidingDirection, &m_normals[0], &m_normals[1]); m_tangent = direction; m_distanceTangent = -point.dot(m_tangent); } void SlidingConstraintData::setFrictionCoefficient(double mu) { m_mu = mu; } double SlidingConstraintData::getFrictionCoefficient() const { return m_mu; } const Math::RigidTransform3d SlidingConstraintData::getPose() { SurgSim::Math::Matrix33d rotation; rotation << m_slidingDirection, m_normals[0], m_normals[1]; return SurgSim::Math::makeRigidTransform(rotation, m_point); } const std::array& SlidingConstraintData::getNormals() const { return m_normals; } const Math::Vector3d& SlidingConstraintData::getTangent() const { return m_tangent; } const double SlidingConstraintData::getDistanceTangent() const { return m_distanceTangent; } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/SlidingConstraintData.h000066400000000000000000000060541277777236100235350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_SLIDINGCONSTRAINTDATA_H #define SURGSIM_PHYSICS_SLIDINGCONSTRAINTDATA_H #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/RigidTransform.h" namespace SurgSim { namespace Physics { /// Class for Frictionless sliding constraint (stores two planes, the intersection of which, is the sliding direction) class SlidingConstraintData : public ConstraintData { public: /// Default constructor SlidingConstraintData(); /// Constructor /// \param point The point through which the sliding direction vector passes. /// \param direction The sliding direction vector. SlidingConstraintData(const SurgSim::Math::Vector3d& point, const SurgSim::Math::Vector3d& direction); /// Destructor virtual ~SlidingConstraintData(); /// Calculate the two plane equations based on the given sliding direction. /// \param point The point through which the sliding direction vector passes. /// \param direction The sliding direction vector. void setSlidingDirection(const SurgSim::Math::Vector3d& point, const SurgSim::Math::Vector3d& direction); /// Set the friction coefficient for a frictional sliding constraint /// \param mu The friction coefficient void setFrictionCoefficient(double mu); /// \return The friction coefficient (default is 0.5) /// \note The friction coefficient is only used for frictional constraint, it is discarded othersise. double getFrictionCoefficient() const; /// \return The normals of the two planes. const std::array& getNormals() const; /// /return The pose of constraint const Math::RigidTransform3d getPose(); /// \return The tangent (direction defined by the two planes). const Math::Vector3d& getTangent() const; /// \return The distance from origin of the planes direction (tangent). const double getDistanceTangent() const; private: /// The normals of the two planes. std::array m_normals; /// The point of constraint. Math::Vector3d m_point; /// The sliding direction (intersection of the two planes). Math::Vector3d m_slidingDirection; /// The tangent of the two planes. Math::Vector3d m_tangent; /// The distance from origin of the tangential plane. double m_distanceTangent; /// Friction coefficient for frictional constraint (unused for frictionless constraint). double m_mu; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_SLIDINGCONSTRAINTDATA_H opensurgsim-0.7.0/SurgSim/Physics/SolveMlcp.cpp000066400000000000000000000055211277777236100215420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/SolveMlcp.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ContactConstraintData.h" #include "SurgSim/Physics/PhysicsManagerState.h" namespace SurgSim { namespace Physics { SolveMlcp::SolveMlcp(bool doCopyState) : Computation(doCopyState) { } SolveMlcp::~SolveMlcp() {} std::shared_ptr SolveMlcp::doUpdate(const double& dt, const std::shared_ptr& state) { std::shared_ptr result = state; // Solve the Mlcp using a Gauss-Seidel solver m_gaussSeidelSolver.solve(result->getMlcpProblem(), &(result->getMlcpSolution())); // lambda const Eigen::VectorXd& lambda = result->getMlcpSolution().x; if (lambda.size() == 0) { return result; } // Copy constraintForces back to contact auto& constraintsMapping = result->getConstraintsMapping(); const auto& activeConstraints = result->getActiveConstraints(); for (auto& constraint : activeConstraints) { if (constraint->getType() != ConstraintType::FRICTIONLESS_3DCONTACT) { continue; } ptrdiff_t indexConstraint = constraintsMapping.getValue(constraint.get()); SURGSIM_ASSERT(indexConstraint >= 0) << "Index for constraint is invalid: " << indexConstraint << std::endl; auto contactConstraintData = std::dynamic_pointer_cast(constraint->getData()); SURGSIM_ASSERT(contactConstraintData != nullptr) << ""; auto contact = contactConstraintData->getContact(); contact->force = lambda[indexConstraint] * contact->normal; } return result; } void SolveMlcp::setMaxIterations(size_t maxIterations) { m_gaussSeidelSolver.setMaxIterations(maxIterations); } size_t SolveMlcp::getMaxIterations() const { return m_gaussSeidelSolver.getMaxIterations(); } void SolveMlcp::setPrecision(double epsilon) { m_gaussSeidelSolver.setEpsilonConvergence(epsilon); } double SolveMlcp::getPrecision() const { return m_gaussSeidelSolver.getEpsilonConvergence(); } void SolveMlcp::setContactTolerance(double epsilon) { m_gaussSeidelSolver.setContactTolerance(epsilon); } double SolveMlcp::getContactTolerance() const { return m_gaussSeidelSolver.getContactTolerance(); } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/SolveMlcp.h000066400000000000000000000050461277777236100212110ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_SOLVEMLCP_H #define SURGSIM_PHYSICS_SOLVEMLCP_H #include #include "SurgSim/Framework/Macros.h" #include "SurgSim/Math/MlcpGaussSeidelSolver.h" #include "SurgSim/Physics/Computation.h" namespace SurgSim { namespace Physics { /// Solve the system Mixed Linear Complementarity Problem (Mlcp) class SolveMlcp : public Computation { public: /// Constructor /// \param doCopyState Specify if the ouput state is a copy or not of the input state in Computation::Update() explicit SolveMlcp(bool doCopyState = false); SURGSIM_CLASSNAME(SurgSim::Physics::SolveMlcp); /// Destructor virtual ~SolveMlcp(); /// Set the maximum number of iterations for the MLCP solver. /// \param maxIterations The maximum number of iterations. void setMaxIterations(size_t maxIterations); /// Get the maximum number of iterations for the MLCP solver. /// \return The maximum number of iterations. size_t getMaxIterations() const; /// Set the precision of the MLCP solver. /// \param epsilon The precision. void setPrecision(double epsilon); /// Get the precision of the MLCP solver. /// \return The precision. double getPrecision() const; /// Set the contact tolerance for the MLCP solver. /// \param epsilon The contact tolerance. void setContactTolerance(double epsilon); /// Get the contact tolerance for the MLCP solver. /// \return The contact tolerance. double getContactTolerance() const; protected: /// Override doUpdate from superclass /// \param dt The time step /// \param state The Physics manager state /// \return The updated physics manager state (input updated or copied updated) std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; private: /// The Gauss-Seidel Mlcp solver SurgSim::Math::MlcpGaussSeidelSolver m_gaussSeidelSolver; }; }; // Physics }; // SurgSim #endif // SURGSIM_PHYSICS_SOLVEMLCP_H opensurgsim-0.7.0/SurgSim/Physics/Spring.cpp000066400000000000000000000021141277777236100210730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/Spring.h" namespace SurgSim { namespace Physics { Spring::~Spring() {} void Spring::initialize(const SurgSim::Math::OdeState& state) { } size_t Spring::getNumNodes() const { return m_nodeIds.size(); } size_t Spring::getNodeId(size_t springNodeId) const { return m_nodeIds[springNodeId]; } const std::vector& Spring::getNodeIds() const { return m_nodeIds; } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/Spring.h000066400000000000000000000116021277777236100205420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_SPRING_H #define SURGSIM_PHYSICS_SPRING_H #include #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Math { class OdeState; }; namespace Physics { /// Base class for all springs /// It handles the node ids to which it is connected and requires all derived classes /// to compute the force and its derivatives (the stiffness and damping matrices) /// A extra method also exist to compute all of them at once for performance purposes. /// It holds on to the actual computed values (m_f, m_K, m_D) as its size is not predefined from outside /// and would requires intensive (de)allocation or a temporary variable anyway class Spring { public: /// Virtual destructor virtual ~Spring(); /// Initialize the Spring once everything has been set /// \param state The state to initialize the Spring with virtual void initialize(const SurgSim::Math::OdeState& state); /// Gets the number of nodes the spring is connecting /// \return The number of nodes size_t getNumNodes() const; /// Gets the springNodeId-th node id /// \return The requested node id size_t getNodeId(size_t springNodeId) const; /// Gets the node ids for this spring /// \return A vector containing the node ids on which the spring is attached const std::vector& getNodeIds() const; /// Adds the spring force (computed for a given state) to a complete system force vector F (assembly) /// \param state The state to compute the force with /// \param[in,out] F The complete system force vector to add the spring force into /// \param scale A factor to scale the added force with virtual void addForce(const SurgSim::Math::OdeState& state, SurgSim::Math::Vector* F, double scale = 1.0) = 0; /// Adds the spring damping matrix D (= -df/dv) (computed for a given state) to a complete system damping matrix /// D (assembly) /// \param state The state to compute the damping matrix with /// \param[in,out] D The complete system damping matrix to add the spring damping matrix into /// \param scale A factor to scale the added damping matrix with virtual void addDamping(const SurgSim::Math::OdeState& state, SurgSim::Math::SparseMatrix* D, double scale = 1.0) = 0; /// Adds the spring stiffness matrix K (= -df/dx) (computed for a given state) to a complete system stiffness /// matrix K (assembly) /// \param state The state to compute the stiffness matrix with /// \param[in,out] K The complete system stiffness matrix to add the spring stiffness matrix into /// \param scale A factor to scale the added stiffness matrix with virtual void addStiffness(const SurgSim::Math::OdeState& state, SurgSim::Math::SparseMatrix* K, double scale = 1.0) = 0; /// Adds the spring force vector, mass, stiffness and damping matrices (computed for a given state) into a /// complete system data structure F, D, K (assembly) /// \param state The state to compute everything with /// \param[in,out] F The complete system force vector to add the spring force into /// \param[in,out] D The complete system damping matrix to add the spring damping matrix into /// \param[in,out] K The complete system stiffness matrix to add the spring stiffness matrix into virtual void addFDK(const SurgSim::Math::OdeState& state, SurgSim::Math::Vector* F, SurgSim::Math::SparseMatrix* D, SurgSim::Math::SparseMatrix* K) = 0; /// Adds the spring matrix-vector contribution F += (alphaD.D + alphaK.K).x (computed for a given /// state) into a complete system data structure F (assembly) /// \param state The state to compute everything with /// \param alphaD The scaling factor for the damping contribution /// \param alphaK The scaling factor for the stiffness contribution /// \param x A complete system vector to use as the vector in the matrix-vector multiplication /// \param[in,out] F The complete system force vector to add the element matrix-vector contribution into virtual void addMatVec(const SurgSim::Math::OdeState& state, double alphaD, double alphaK, const SurgSim::Math::Vector& x, SurgSim::Math::Vector* F) = 0; protected: /// Node ids connected by this spring std::vector m_nodeIds; }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_PHYSICS_SPRING_H opensurgsim-0.7.0/SurgSim/Physics/UnitTests/000077500000000000000000000000001277777236100210715ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Physics/UnitTests/BuildMlcpTests.cpp000066400000000000000000000425401277777236100245000ustar00rootroot00000000000000// Copyright 2013, SimQuest Solutions 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 // // 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. /// \file BuildMlcpTests.cpp /// Simple Test for BuildMlcp calculation #include #include #include #include "SurgSim/Physics/BuildMlcp.h" #include "SurgSim/Physics/UnitTests/CommonTests.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" namespace SurgSim { namespace Physics { /// Redefine class class BuildMlcpTests : public CommonTests { public: void SetUp() { CommonTests::SetUp(); // Create the BuildMlcp computation m_buildMlcpComputation = std::make_shared(); } protected: /// The Build Mlcp computation std::shared_ptr m_buildMlcpComputation; }; TEST_F(BuildMlcpTests, NoRepresentationNoConstraintTest) { // Run the BuildMlcp computation... ASSERT_NO_THROW(m_buildMlcpComputation->update(dt, m_physicsManagerState)); MlcpPhysicsProblem& mlcpProblem = m_physicsManagerState->getMlcpProblem(); MlcpPhysicsSolution& mlcpSolution = m_physicsManagerState->getMlcpSolution(); // Test that the Mlcp is as expected EXPECT_EQ(0, mlcpProblem.getSize()); EXPECT_EQ(0, mlcpProblem.A.rows()); EXPECT_EQ(0, mlcpProblem.A.cols()); EXPECT_EQ(0, mlcpProblem.b.rows()); EXPECT_EQ(0, mlcpProblem.CHt.rows()); EXPECT_EQ(0, mlcpProblem.CHt.cols()); EXPECT_EQ(0, mlcpProblem.H.rows()); EXPECT_EQ(0, mlcpProblem.H.cols()); EXPECT_EQ(0, mlcpProblem.mu.rows()); EXPECT_EQ(0u, mlcpProblem.constraintTypes.size()); EXPECT_TRUE(mlcpProblem.isConsistent()); EXPECT_EQ(0, mlcpSolution.x.rows()); EXPECT_EQ(0, mlcpSolution.dofCorrection.rows()); } TEST_F(BuildMlcpTests, OneRepresentationNoConstraintTest) { // Prep the list of representations: use only 1 representation m_usedRepresentations.push_back(m_allRepresentations[0]); // Set the representation list in the Physics Manager State m_physicsManagerState->setRepresentations(m_usedRepresentations); // Run the BuildMlcp computation... m_buildMlcpComputation->update(dt, m_physicsManagerState); MlcpPhysicsProblem& mlcpProblem = m_physicsManagerState->getMlcpProblem(); MlcpPhysicsSolution& mlcpSolution = m_physicsManagerState->getMlcpSolution(); // Test that the Mlcp is as expected EXPECT_EQ(0, mlcpProblem.getSize()); EXPECT_EQ(0, mlcpProblem.A.rows()); EXPECT_EQ(0, mlcpProblem.A.cols()); EXPECT_EQ(0, mlcpProblem.b.rows()); EXPECT_EQ(6, mlcpProblem.CHt.rows()); EXPECT_EQ(0, mlcpProblem.CHt.cols()); EXPECT_EQ(0, mlcpProblem.H.rows()); EXPECT_EQ(6, mlcpProblem.H.cols()); EXPECT_EQ(0, mlcpProblem.mu.rows()); EXPECT_EQ(0u, mlcpProblem.constraintTypes.size()); EXPECT_TRUE(mlcpProblem.isConsistent()); EXPECT_EQ(0, mlcpSolution.x.rows()); EXPECT_EQ(6, mlcpSolution.dofCorrection.rows()); EXPECT_EQ(0, m_physicsManagerState->getRepresentationsMapping().getValue(m_allRepresentations[0].get())); } TEST_F(BuildMlcpTests, TwoRepresentationsNoConstraintTest) { // Prep the list of representations: use 2 representations m_usedRepresentations.push_back(m_allRepresentations[0]); m_usedRepresentations.push_back(m_allRepresentations[1]); // Set the representation list in the Physics Manager State m_physicsManagerState->setRepresentations(m_usedRepresentations); // Run the BuildMlcp computation... m_buildMlcpComputation->update(dt, m_physicsManagerState); MlcpPhysicsProblem& mlcpProblem = m_physicsManagerState->getMlcpProblem(); MlcpPhysicsSolution& mlcpSolution = m_physicsManagerState->getMlcpSolution(); // Test that the Mlcp is as expected EXPECT_EQ(0, mlcpProblem.getSize()); EXPECT_EQ(0, mlcpProblem.A.rows()); EXPECT_EQ(0, mlcpProblem.A.cols()); EXPECT_EQ(0, mlcpProblem.b.rows()); EXPECT_EQ(12, mlcpProblem.CHt.rows()); EXPECT_EQ(0, mlcpProblem.CHt.cols()); EXPECT_EQ(0, mlcpProblem.H.rows()); EXPECT_EQ(12, mlcpProblem.H.cols()); EXPECT_EQ(0, mlcpProblem.mu.rows()); EXPECT_EQ(0u, mlcpProblem.constraintTypes.size()); EXPECT_TRUE(mlcpProblem.isConsistent()); EXPECT_EQ(0, mlcpSolution.x.rows()); EXPECT_EQ(12, mlcpSolution.dofCorrection.rows()); EXPECT_EQ(0, m_physicsManagerState->getRepresentationsMapping().getValue(m_allRepresentations[0].get())); EXPECT_EQ(m_allRepresentations[0]->getNumDof(), m_physicsManagerState->getRepresentationsMapping().getValue(m_allRepresentations[1].get())); } TEST_F(BuildMlcpTests, OneRepresentationOneConstraintTest) { // Prep the list of representations: use only 1 rigid representation + 1 fixed m_usedRepresentations.push_back(m_allRepresentations[0]); m_usedRepresentations.push_back(m_fixedWorldRepresentation); // Set the representation list in the Physics Manager State m_physicsManagerState->setRepresentations(m_usedRepresentations); // The type of constraint. auto constraintType = SurgSim::Physics::FRICTIONLESS_3DCONTACT; // Prep the list of constraints: use only 1 constraint { // Define the constraint specific data std::shared_ptr data = std::make_shared(); data->setPlaneEquation(SurgSim::Math::Vector3d(0.0, 1.0, 0.0), 0.0); // Set up the constraint std::shared_ptr constraint = std::make_shared(constraintType, data, m_usedRepresentations[0], SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero()), m_fixedWorldRepresentation, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero())); // Register the constraint in the list of used constraints for this test m_usedConstraints.push_back(constraint); } // Set the constraint list in the Physics Manager State m_physicsManagerState->setConstraintGroup(CONSTRAINT_GROUP_TYPE_CONTACT, m_usedConstraints); // Run the BuildMlcp computation... m_buildMlcpComputation->update(dt, m_physicsManagerState); MlcpPhysicsProblem& mlcpProblem = m_physicsManagerState->getMlcpProblem(); MlcpPhysicsSolution& mlcpSolution = m_physicsManagerState->getMlcpSolution(); // Test that the Mlcp is as expected EXPECT_EQ(1, mlcpProblem.getSize()); EXPECT_EQ(1, mlcpProblem.A.rows()); EXPECT_EQ(1, mlcpProblem.A.cols()); EXPECT_EQ(1, mlcpProblem.b.rows()); EXPECT_EQ(6, mlcpProblem.CHt.rows()); EXPECT_EQ(1, mlcpProblem.CHt.cols()); EXPECT_EQ(1, mlcpProblem.H.rows()); EXPECT_EQ(6, mlcpProblem.H.cols()); EXPECT_EQ(1, mlcpProblem.mu.rows()); EXPECT_EQ(1u, mlcpProblem.constraintTypes.size()); EXPECT_EQ(SurgSim::Math::MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT, mlcpProblem.constraintTypes[0]); EXPECT_TRUE(mlcpProblem.isConsistent()); EXPECT_EQ(1, mlcpSolution.x.rows()); EXPECT_EQ(6, mlcpSolution.dofCorrection.rows()); EXPECT_EQ(0, m_physicsManagerState->getRepresentationsMapping().getValue(m_allRepresentations[0].get())); EXPECT_EQ(m_allRepresentations[0]->getNumDof(), m_physicsManagerState->getRepresentationsMapping().getValue(m_fixedWorldRepresentation.get())); EXPECT_EQ(0, m_physicsManagerState->getConstraintsMapping().getValue(m_usedConstraints[0].get())); } TEST_F(BuildMlcpTests, TwoRepresentationsOneConstraintSize3Test) { // Prep the list of representations: use only 1 rigid representation + 1 fixed m_usedRepresentations.push_back(m_allRepresentations[0]); m_usedRepresentations.push_back(m_fixedWorldRepresentation); // Set the representation list in the Physics Manager State m_physicsManagerState->setRepresentations(m_usedRepresentations); // The type of constraint. auto constraintType = SurgSim::Physics::FIXED_3DPOINT; // Add constraint to factory. ConstraintImplementation::getFactory().addImplementation( typeid(RigidRepresentation), std::make_shared()); ConstraintImplementation::getFactory().addImplementation( typeid(FixedRepresentation), std::make_shared()); // Prep the list of constraints: use only 1 constraint { auto data = std::make_shared(); // Set up the constraint std::shared_ptr constraint = std::make_shared(constraintType, data, m_usedRepresentations[0], SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero()), m_fixedWorldRepresentation, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero())); // Register the constraint in the list of used constraints for this test m_usedConstraints.push_back(constraint); } // Set the constraint list in the Physics Manager State m_physicsManagerState->setConstraintGroup(CONSTRAINT_GROUP_TYPE_CONTACT, m_usedConstraints); // Run the BuildMlcp computation... m_buildMlcpComputation->update(dt, m_physicsManagerState); MlcpPhysicsProblem& mlcpProblem = m_physicsManagerState->getMlcpProblem(); MlcpPhysicsSolution& mlcpSolution = m_physicsManagerState->getMlcpSolution(); // Test that the Mlcp is as expected EXPECT_EQ(3, mlcpProblem.getSize()); EXPECT_EQ(3, mlcpProblem.A.rows()); EXPECT_EQ(3, mlcpProblem.A.cols()); EXPECT_EQ(3, mlcpProblem.b.rows()); EXPECT_EQ(6, mlcpProblem.CHt.rows()); EXPECT_EQ(3, mlcpProblem.CHt.cols()); EXPECT_EQ(3, mlcpProblem.H.rows()); EXPECT_EQ(6, mlcpProblem.H.cols()); EXPECT_EQ(3, mlcpProblem.mu.rows()); EXPECT_EQ(1u, mlcpProblem.constraintTypes.size()); EXPECT_EQ(SurgSim::Math::MLCP_BILATERAL_3D_CONSTRAINT, mlcpProblem.constraintTypes[0]); EXPECT_TRUE(mlcpProblem.isConsistent()); EXPECT_EQ(3, mlcpSolution.x.rows()); EXPECT_EQ(6, mlcpSolution.dofCorrection.rows()); EXPECT_EQ(0, m_physicsManagerState->getRepresentationsMapping().getValue(m_allRepresentations[0].get())); EXPECT_EQ(m_allRepresentations[0]->getNumDof(), m_physicsManagerState->getRepresentationsMapping().getValue(m_fixedWorldRepresentation.get())); EXPECT_EQ(0, m_physicsManagerState->getConstraintsMapping().getValue(m_usedConstraints[0].get())); } TEST_F(BuildMlcpTests, OneRepresentationTwoConstraintsTest) { // Prep the list of representations: use only 1 rigid representation + 1 fixed m_usedRepresentations.push_back(m_allRepresentations[0]); m_usedRepresentations.push_back(m_fixedWorldRepresentation); // Set the representation list in the Physics Manager State m_physicsManagerState->setRepresentations(m_usedRepresentations); // The type of constraint. auto constraintType = SurgSim::Physics::FRICTIONLESS_3DCONTACT; // Prep the list of constraints: use 2 constraints { // Define the constraint specific data std::shared_ptr data = std::make_shared(); data->setPlaneEquation(SurgSim::Math::Vector3d(0.0, 1.0, 0.0), 0.0); // Set up the constraint std::shared_ptr constraint = std::make_shared(constraintType, data, m_usedRepresentations[0], SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero()), m_fixedWorldRepresentation, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero())); // Register the constraint in the list of used constraints for this test m_usedConstraints.push_back(constraint); } { // Define the constraint specific data std::shared_ptr data = std::make_shared(); data->setPlaneEquation(SurgSim::Math::Vector3d(0.0, 1.0, 0.0), 0.0); // Set up the constraint std::shared_ptr constraint = std::make_shared(constraintType, data, m_usedRepresentations[0], SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Ones()), m_fixedWorldRepresentation, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Ones())); // Register the constraint in the list of used constraints for this test m_usedConstraints.push_back(constraint); } // Set the constraint list in the Physics Manager State m_physicsManagerState->setConstraintGroup(CONSTRAINT_GROUP_TYPE_CONTACT, m_usedConstraints); // Run the BuildMlcp computation... m_buildMlcpComputation->update(dt, m_physicsManagerState); MlcpPhysicsProblem& mlcpProblem = m_physicsManagerState->getMlcpProblem(); MlcpPhysicsSolution& mlcpSolution = m_physicsManagerState->getMlcpSolution(); // Test that the Mlcp is as expected EXPECT_EQ(2, mlcpProblem.getSize()); EXPECT_EQ(2, mlcpProblem.A.rows()); EXPECT_EQ(2, mlcpProblem.A.cols()); EXPECT_EQ(2, mlcpProblem.b.rows()); EXPECT_EQ(6, mlcpProblem.CHt.rows()); EXPECT_EQ(2, mlcpProblem.CHt.cols()); EXPECT_EQ(2, mlcpProblem.H.rows()); EXPECT_EQ(6, mlcpProblem.H.cols()); EXPECT_EQ(2, mlcpProblem.mu.rows()); EXPECT_EQ(2u, mlcpProblem.constraintTypes.size()); EXPECT_EQ(SurgSim::Math::MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT, mlcpProblem.constraintTypes[0]); EXPECT_EQ(SurgSim::Math::MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT, mlcpProblem.constraintTypes[1]); EXPECT_TRUE(mlcpProblem.isConsistent()); EXPECT_EQ(2, mlcpSolution.x.rows()); EXPECT_EQ(6, mlcpSolution.dofCorrection.rows()); EXPECT_EQ(0, m_physicsManagerState->getRepresentationsMapping().getValue(m_allRepresentations[0].get())); EXPECT_EQ(m_allRepresentations[0]->getNumDof(), m_physicsManagerState->getRepresentationsMapping().getValue(m_fixedWorldRepresentation.get())); EXPECT_EQ(0, m_physicsManagerState->getConstraintsMapping().getValue(m_usedConstraints[0].get())); EXPECT_EQ(m_usedConstraints[0]->getNumDof(), m_physicsManagerState->getConstraintsMapping().getValue(m_usedConstraints[1].get())); } TEST_F(BuildMlcpTests, TwoRepresentationsTwoConstraintsTest) { SurgSim::Math::Vector3d pointOrigin = SurgSim::Math::Vector3d::Zero(); SurgSim::Math::Vector3d planeDirection(0.0, 1.0, 0.0); double planeDistance = 0.0; SurgSim::Math::Vector3d pointOne = planeDirection * 1.0; // Prep the list of representations: use only 1 rigid representation + 1 fixed m_usedRepresentations.push_back(m_allRepresentations[0]); m_usedRepresentations.push_back(m_allRepresentations[1]); // Set the representation list in the Physics Manager State m_physicsManagerState->setRepresentations(m_usedRepresentations); // The type of constraint. auto constraintType = SurgSim::Physics::FRICTIONLESS_3DCONTACT; // Prep the list of constraints: use 2 constraints { // Define the constraint specific data std::shared_ptr data = std::make_shared(); data->setPlaneEquation(planeDirection, planeDistance); // Set up the constraint std::shared_ptr constraint = std::make_shared(constraintType, data, m_usedRepresentations[0], SurgSim::DataStructures::Location(pointOrigin), m_usedRepresentations[1], SurgSim::DataStructures::Location(pointOrigin)); // Register the constraint in the list of used constraints for this test m_usedConstraints.push_back(constraint); } { // Define the constraint specific data std::shared_ptr data = std::make_shared(); data->setPlaneEquation(planeDirection, planeDistance); // Set up the constraint std::shared_ptr constraint = std::make_shared(constraintType, data, m_usedRepresentations[0], SurgSim::DataStructures::Location(pointOrigin), m_usedRepresentations[1], SurgSim::DataStructures::Location(pointOne)); // Register the constraint in the list of used constraints for this test m_usedConstraints.push_back(constraint); } // Set the constraint list in the Physics Manager State m_physicsManagerState->setConstraintGroup(CONSTRAINT_GROUP_TYPE_CONTACT, m_usedConstraints); // Run the BuildMlcp computation... m_buildMlcpComputation->update(dt, m_physicsManagerState); MlcpPhysicsProblem& mlcpProblem = m_physicsManagerState->getMlcpProblem(); MlcpPhysicsSolution& mlcpSolution = m_physicsManagerState->getMlcpSolution(); // Test that the Mlcp is as expected EXPECT_EQ(2, mlcpProblem.getSize()); EXPECT_EQ(2, mlcpProblem.A.rows()); EXPECT_EQ(2, mlcpProblem.A.cols()); EXPECT_EQ(2, mlcpProblem.b.rows()); // One the 1st constraint, both location are the origin (0 0 0), so there is no resulting violation EXPECT_NEAR(0.0, mlcpProblem.b[0], epsilon); // One the 2nd constraint, the constraints points are (0 0 0) and (0 1 0), so the resulting // violation along the normal direction (0 1 0) should be -1.0 EXPECT_NEAR(planeDirection.dot(pointOrigin - pointOne), mlcpProblem.b[1], epsilon); EXPECT_EQ(12, mlcpProblem.CHt.rows()); EXPECT_EQ(2, mlcpProblem.CHt.cols()); EXPECT_EQ(2, mlcpProblem.H.rows()); EXPECT_EQ(12, mlcpProblem.H.cols()); EXPECT_EQ(2, mlcpProblem.mu.rows()); EXPECT_EQ(2u, mlcpProblem.constraintTypes.size()); EXPECT_EQ(SurgSim::Math::MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT, mlcpProblem.constraintTypes[0]); EXPECT_EQ(SurgSim::Math::MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT, mlcpProblem.constraintTypes[1]); EXPECT_TRUE(mlcpProblem.isConsistent()); EXPECT_EQ(2, mlcpSolution.x.rows()); EXPECT_EQ(12, mlcpSolution.dofCorrection.rows()); EXPECT_EQ(0, m_physicsManagerState->getRepresentationsMapping().getValue(m_allRepresentations[0].get())); EXPECT_EQ(m_allRepresentations[0]->getNumDof(), m_physicsManagerState->getRepresentationsMapping().getValue(m_allRepresentations[1].get())); EXPECT_EQ(0, m_physicsManagerState->getConstraintsMapping().getValue(m_usedConstraints[0].get())); EXPECT_EQ(m_usedConstraints[0]->getNumDof(), m_physicsManagerState->getConstraintsMapping().getValue(m_usedConstraints[1].get())); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/CMakeLists.txt000066400000000000000000000076601277777236100236420ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2016, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ${gmock_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES BuildMlcpTests.cpp CcdCollisionLoopTest.cpp ComputationGroupTest.cpp ComputationTests.cpp ConstraintComponentTests.cpp ConstraintImplementationFactoryTests.cpp ConstraintImplementationTests.cpp ConstraintTests.cpp ContactConstraintDataTests.cpp ContactConstraintGenerationTests.cpp ContactFilteringTest.cpp DcdCollisionTests.cpp DeformableCollisionRepresentationTest.cpp DeformableRepresentationTest.cpp EigenGtestAsserts.cpp Fem1DConstraintFixedPointTests.cpp Fem1DConstraintFixedRotationVectorTests.cpp Fem1DConstraintFrictionalSlidingTests.cpp Fem1DConstraintFrictionlessContactTests.cpp Fem1DConstraintFrictionlessSlidingTests.cpp Fem1DElementBeamTests.cpp Fem1DLocalizationTest.cpp Fem1DMechanicalValidationTests.cpp Fem1DPlyReaderDelegateTests.cpp Fem1DRepresentationTests.cpp Fem2DConstraintFixedPointTests.cpp Fem2DConstraintFrictionalSlidingTests.cpp Fem2DConstraintFrictionlessContactTests.cpp Fem2DConstraintFrictionlessSlidingTests.cpp Fem2DElementTriangleTests.cpp Fem2DLocalizationTest.cpp Fem2DMechanicalValidationTests.cpp Fem2DPlyReaderDelegateTests.cpp Fem2DRepresentationTests.cpp Fem3DConstraintFixedPointTests.cpp Fem3DConstraintFrictionalSlidingTests.cpp Fem3DConstraintFrictionlessContactTests.cpp Fem3DConstraintFrictionlessSlidingTests.cpp Fem3DElementCorotationalTetrahedronTests.cpp Fem3DElementCubeTests.cpp Fem3DElementTetrahedronTests.cpp Fem3DLocalizationTest.cpp Fem3DPlyReaderDelegateTests.cpp Fem3DRepresentationTests.cpp FemElementTests.cpp FemLocalizationTest.cpp FemRepresentationTests.cpp FixedConstraintFixedPointTests.cpp FixedConstraintFixedRotationVectorTests.cpp FixedConstraintFrictionlessContactTests.cpp FixedRepresentationTest.cpp FreeMotionTests.cpp LinearSpringTest.cpp MassSpringConstraintFixedPointTest.cpp MassSpringConstraintFrictionlessContactTest.cpp MassSpringLocalizationTest.cpp MassSpringMechanicalValidationTests.cpp MassSpringRepresentationTests.cpp MassTest.cpp MockObjects.cpp ParticleCollisionResponseTests.cpp PhysicsManagerStateTests.cpp PhysicsManagerTests.cpp PostUpdateTests.cpp PrepareCollisionPairsTests.cpp PreUpdateTests.cpp PushResultsTests.cpp RepresentationTest.cpp RigidCollisionRepresentationTest.cpp RigidConstraintFixedPointTests.cpp RigidConstraintFixedRotationVectorTests.cpp RigidConstraintFrictionlessContactTests.cpp RigidLocalizationTest.cpp RigidRepresentationTest.cpp RigidStateTest.cpp RotationVectorConstraintDataTests.cpp SlidingConstraintDataTests.cpp SolveMlcpTests.cpp UpdateCollisionRepresentationsTest.cpp VirtualToolCouplerTest.cpp ) set(UNIT_TEST_HEADERS CommonTests.h DeformableTestsUtility.h DeformableTestsUtility-inl.h EigenGtestAsserts.h MockObjects.h ) set(LIBS SurgSimBlocks SurgSimGraphics SurgSimInput SurgSimMath SurgSimParticles SurgSimPhysics MlcpTestIO IdentityPoseDevice ) file(COPY ${SURGSIM_SOURCE_DIR}/SurgSim/Math/UnitTests/MlcpTestData DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) file(COPY Data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/config.txt.in" "${CMAKE_CURRENT_BINARY_DIR}/config.txt" ) surgsim_add_unit_tests(SurgSimPhysicsTest) set_target_properties(SurgSimPhysicsTest PROPERTIES FOLDER "Physics") opensurgsim-0.7.0/SurgSim/Physics/UnitTests/CcdCollisionLoopTest.cpp000066400000000000000000000066271277777236100256470ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Physics/CcdCollisionLoop.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" #include #include "SurgSim/Math/Vector.h" #include "SurgSim/DataStructures/Location.h" namespace SurgSim { namespace Physics { TEST(CcdCollisionLoopTest, FilterContacts) { double toi; auto rep1 = std::make_shared("One"); rep1->setSelfCollisionDetectionType(Collision::COLLISION_DETECTION_TYPE_CONTINUOUS); auto pair = std::make_shared(rep1, rep1); auto computation = std::make_shared(false); DataStructures::Location location; std::vector> pairs(1, pair); EXPECT_FALSE(computation->findEarliestContact(pairs, &toi)); // Check that we find the toi correctly pair->addCcdContact(0.0, 0.1, Math::Vector3d::Zero(), Math::Vector3d::Zero(), std::make_pair(location, location)); EXPECT_TRUE(computation->findEarliestContact(pairs, &toi)); EXPECT_DOUBLE_EQ(0.1, toi); computation->filterLaterContacts(&pairs, 0.0, toi); EXPECT_EQ(1u, pair->getContacts().size()); pair->addCcdContact(0.0, 0.2, Math::Vector3d::Zero(), Math::Vector3d::Zero(), std::make_pair(location, location)); pair->addCcdContact(0.0, 0.3, Math::Vector3d::Zero(), Math::Vector3d::Zero(), std::make_pair(location, location)); // Check that we filter everything after the toi toi = 0.0; EXPECT_EQ(3u, pair->getContacts().size()); EXPECT_TRUE(computation->findEarliestContact(pairs, &toi)); computation->filterLaterContacts(&pairs, 0.0, toi); EXPECT_DOUBLE_EQ(0.1, toi); EXPECT_EQ(1u, pair->getContacts().size()); } TEST(CcdCollisionLoopTest, FilterContactsWithEpsilon) { double toi; auto rep1 = std::make_shared("One"); rep1->setSelfCollisionDetectionType(Collision::COLLISION_DETECTION_TYPE_CONTINUOUS); auto pair = std::make_shared(rep1, rep1); auto computation = std::make_shared(false); DataStructures::Location location; std::vector> pairs(1, pair); // Check that we find the toi correctly pair->addCcdContact(0.0, 0.1, Math::Vector3d::Zero(), Math::Vector3d::Zero(), std::make_pair(location, location)); pair->addCcdContact(0.0, 0.2, Math::Vector3d::Zero(), Math::Vector3d::Zero(), std::make_pair(location, location)); pair->addCcdContact(0.0, 0.3, Math::Vector3d::Zero(), Math::Vector3d::Zero(), std::make_pair(location, location)); EXPECT_TRUE(computation->findEarliestContact(pairs, &toi)); computation->filterLaterContacts(&pairs, 0.11, toi); // toi should be 0.1 + 0.11 i.e. toi + epsilon EXPECT_DOUBLE_EQ(0.1, toi); EXPECT_EQ(2u, pair->getContacts().size()); } } } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/CommonTests.h000066400000000000000000000117551277777236100235260ustar00rootroot00000000000000// Copyright 2013, SimQuest Solutions 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 // // 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. /// \file CommonTests.h /// Common data structure for physics tests #ifndef SURGSIM_PHYSICS_UNITTESTS_COMMONTESTS_H #define SURGSIM_PHYSICS_UNITTESTS_COMMONTESTS_H #include #include #include #include "SurgSim/Math/Shapes.h" #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ConstraintImplementation.h" #include "SurgSim/Physics/ContactConstraintData.h" #include "SurgSim/Physics/FixedConstraintFrictionlessContact.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" #include "SurgSim/Physics/MlcpPhysicsSolution.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/RigidConstraintFrictionlessContact.h" #include "SurgSim/Physics/RigidRepresentation.h" using SurgSim::Math::BoxShape; using SurgSim::Math::Shape; using SurgSim::Math::SphereShape; namespace { const double epsilon = 1e-10; }; namespace SurgSim { namespace Physics { class CommonTests : public ::testing::Test { public: /// Setup the test case by creating all object void SetUp() { // Set the time step dt = 1e-3; // Create a fixed world to define constraint against it m_fixedWorldRepresentation = std::make_shared("FixedPlane"); m_fixedWorldRepresentation->setIsGravityEnabled(false); { // Simply do 1 time step to make sure things are initialized (compliance matrix...) m_fixedWorldRepresentation->beforeUpdate(dt); m_fixedWorldRepresentation->update(dt); m_fixedWorldRepresentation->afterUpdate(dt); } // Create the physics manager state m_physicsManagerState = std::make_shared(); // Create a Rigid Sphere std::shared_ptr rigidSphereRepresentation; rigidSphereRepresentation = std::make_shared("RigidSphere"); { double radius = 1e-2; std::shared_ptr shape = std::make_shared(radius); rigidSphereRepresentation->setShape(shape); rigidSphereRepresentation->setDensity(1000); rigidSphereRepresentation->setIsGravityEnabled(false); { // Simply do 1 time step to make sure things are initialized (compliance matrix...) rigidSphereRepresentation->beforeUpdate(dt); rigidSphereRepresentation->update(dt); rigidSphereRepresentation->afterUpdate(dt); } m_allRepresentations.push_back(rigidSphereRepresentation); } // Create a Rigid Box std::shared_ptr rigidBoxRepresentation = std::make_shared("RigidBox"); { double size[3]={0.01, 0.02, 0.03}; rigidBoxRepresentation->setDensity(1000); std::shared_ptr shape = std::make_shared(size[0], size[1], size[2]); rigidBoxRepresentation->setShape(shape); rigidBoxRepresentation->setIsGravityEnabled(false); { // Simply do 1 time step to make sure things are initialized (compliance matrix...) rigidBoxRepresentation->beforeUpdate(dt); rigidBoxRepresentation->update(dt); rigidBoxRepresentation->afterUpdate(dt); } m_allRepresentations.push_back(rigidBoxRepresentation); } } void resetMlcpProblem(int nbDof, int nbConstraint) { if (m_physicsManagerState) { m_physicsManagerState->getMlcpProblem().A.setZero(nbConstraint, nbConstraint); m_physicsManagerState->getMlcpProblem().b.setZero(nbConstraint); m_physicsManagerState->getMlcpProblem().CHt.setZero(nbDof, nbConstraint); m_physicsManagerState->getMlcpProblem().H.resize(nbConstraint, nbDof); m_physicsManagerState->getMlcpProblem().mu.setZero(nbConstraint); m_physicsManagerState->getMlcpProblem().constraintTypes.clear(); m_physicsManagerState->getMlcpSolution().x.setZero(nbConstraint); m_physicsManagerState->getMlcpSolution().dofCorrection.setZero(nbDof); } } protected: /// Time step double dt; /// Fixed representation to define constraint in fixed space std::shared_ptr m_fixedWorldRepresentation; /// Vector of all representations std::vector> m_allRepresentations; /// Vector of representations useful for the current test std::vector> m_usedRepresentations; /// Vector of constraints useful for the current test std::vector> m_usedConstraints; /// The unique physics manager state std::shared_ptr m_physicsManagerState; }; }; // namespace Physics }; // namespace SurgSim #endif // SURGSIM_PHYSICS_UNITTESTS_COMMONTESTS_H opensurgsim-0.7.0/SurgSim/Physics/UnitTests/ComputationGroupTest.cpp000066400000000000000000000067461277777236100257710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Physics/ComputationGroup.h" #include "SurgSim/Physics/Computation.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include #include namespace { typedef std::shared_ptr State; class MockComputation : public SurgSim::Physics::Computation { public: explicit MockComputation(bool val) : Computation(val) { testing::DefaultValue::Set(std::make_shared()); }; SURGSIM_CLASSNAME(MockComputation); MOCK_METHOD2(doUpdate, State(const double&, const State&)); }; class MockGroup : public SurgSim::Physics::ComputationGroup { public: explicit MockGroup(bool val) : ComputationGroup(val) { testing::DefaultValue::Set(std::make_shared()); ON_CALL(*this, endIteration()).WillByDefault(testing::Return(true)); } MOCK_METHOD0(endIteration, bool(void)); }; } namespace SurgSim { namespace Physics { TEST(ComputationGroupTest, Empty) { auto state = std::make_shared(); auto computation = std::make_shared(false); EXPECT_NO_THROW(computation->update(0.0, state)); } TEST(ComputationGroupTest, RunOnce) { using ::testing::_; auto state = std::make_shared(); auto computation = std::make_shared(false); auto mock = std::make_shared(false); computation->addComputation(mock); EXPECT_CALL(*mock, doUpdate(0.0, _)); EXPECT_CALL(*computation, endIteration()); computation->update(0.0, state); } TEST(ComputationGroupTest, MultiplesRunMultiples) { using ::testing::_; using ::testing::Return; auto state = std::make_shared(); auto computation = std::make_shared(false); auto mock = std::make_shared(false); computation->addComputation(mock); computation->addComputation(mock); EXPECT_CALL(*mock, doUpdate(_, _)).Times(4); EXPECT_CALL(*computation, endIteration()).Times(2).WillOnce(Return(false)).WillOnce(Return(true)); computation->update(0.0, state); } TEST(ComputationGroupTest, AbortInTheMiddle) { using ::testing::_; using ::testing::Return; std::vector> computations; auto state = std::make_shared(); auto state2 = std::make_shared(); state2->setAbortGroup(true); auto computation = std::make_shared(false); auto mock = std::make_shared(false); computations.push_back(mock); computations.push_back(mock); computation->setComputations(computations); EXPECT_CALL(*mock, doUpdate(_, _)).Times(3) .WillOnce(Return(state)) .WillOnce(Return(state)) .WillOnce(Return(state2)); EXPECT_CALL(*computation, endIteration()).WillOnce(Return(false)); computation->update(0.0, state); ASSERT_FALSE(state2->shouldAbortGroup()); } } }opensurgsim-0.7.0/SurgSim/Physics/UnitTests/ComputationTests.cpp000066400000000000000000000116331277777236100251260ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Collision/Representation.h" #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ContactConstraintData.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" #include "SurgSim/Physics/RigidConstraintFrictionlessContact.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" namespace SurgSim { namespace Physics { TEST(ComputationTests, InitTest) { EXPECT_NO_THROW({MockComputation c;}); MockComputation c; EXPECT_FALSE(c.isCopyingState()); MockComputation d(true); EXPECT_TRUE(d.isCopyingState()); } TEST(ComputationTests, CopyStateTest) { std::shared_ptr state0 = std::make_shared(); MockComputation c; auto state1 = c.update(1.0, state0); EXPECT_EQ(state0.get(), state1.get()); c.setDoCopyState(true); EXPECT_TRUE(c.isCopyingState()); auto state2 = c.update(1.0, state0); EXPECT_NE(state0.get(), state2.get()); } TEST(ComputationTests, PreparePhysicsState) { auto physicsState = std::make_shared(); EXPECT_EQ(0, physicsState->getActiveConstraints().size()); // Setup the state. std::vector> expectedRepresentations; std::vector> expectedCollisionRepresentations; // Add a representation. auto rigid1 = std::make_shared("rigid1"); expectedRepresentations.push_back(rigid1); // Add a second representation. This one has a collision representation. auto rigid2 = std::make_shared("rigid2"); auto collisionRepresentation = std::make_shared("rigid2 collision"); rigid2->setCollisionRepresentation(collisionRepresentation); expectedRepresentations.push_back(rigid2); expectedCollisionRepresentations.push_back(collisionRepresentation); physicsState->setRepresentations(expectedRepresentations); // Add a constraint. std::vector> expectedConstraints; // Constraint type. auto constraintType = SurgSim::Physics::FRICTIONLESS_3DCONTACT; { // Create first representation. auto rigid1 = std::make_shared("rigid1"); // Create second representation. auto rigid2 = std::make_shared("rigid2"); // Create the constraint specific data. std::shared_ptr data = std::make_shared(); // Create the constraint. expectedConstraints.push_back(std::make_shared(constraintType, data, rigid1, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero()), rigid2, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero()))); physicsState->setConstraintGroup(SurgSim::Physics::CONSTRAINT_GROUP_TYPE_CONTACT, expectedConstraints); } // Add a collision representation. auto collisionRepresentation2 = std::make_shared("collision2"); collisionRepresentation2->setLocalActive(false); expectedCollisionRepresentations.push_back(collisionRepresentation2); physicsState->setCollisionRepresentations(expectedCollisionRepresentations); // Call update on Computation. MockComputation c; physicsState = c.update(0.0, physicsState); // Check the active representations list. std::vector> actualRepresentations; actualRepresentations = physicsState->getActiveRepresentations(); ASSERT_EQ(2, actualRepresentations.size()); EXPECT_EQ(rigid1, actualRepresentations.front()); EXPECT_EQ(rigid2, actualRepresentations.back()); // Check the active constraints list. std::vector> actualConstraints; actualConstraints = physicsState->getActiveConstraints(); ASSERT_EQ(1, actualConstraints.size()); EXPECT_EQ(expectedConstraints.front(), actualConstraints.front()); // Check the active collisions list. std::vector> actualCollisionRepresentations; actualCollisionRepresentations = physicsState->getActiveCollisionRepresentations(); ASSERT_EQ(1, actualCollisionRepresentations.size()); EXPECT_EQ(collisionRepresentation, actualCollisionRepresentations.front()); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/ConstraintComponentTests.cpp000066400000000000000000000030021277777236100266220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ConstraintComponent.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" namespace SurgSim { namespace Physics { TEST(ConstraintComponentTest, Constructor) { ASSERT_NO_THROW( { ConstraintComponent("component"); }); } TEST(ConstraintComponentTest, GetSetConstraint) { auto component = std::make_shared("component"); EXPECT_EQ(nullptr, component->getConstraint()); auto constraint = makeMockConstraint(std::make_shared(), std::make_shared()); ASSERT_NO_THROW( { component->setConstraint(constraint); }); EXPECT_EQ(constraint, component->getConstraint()); ASSERT_NO_THROW( { component->setConstraint(nullptr); }); EXPECT_EQ(nullptr, component->getConstraint()); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/ConstraintImplementationFactoryTests.cpp000066400000000000000000000105331277777236100312040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Physics/ConstraintImplementationFactory.h" #include "SurgSim/Blocks/MassSpring1DRepresentation.h" #include "SurgSim/Blocks/MassSpring2DRepresentation.h" #include "SurgSim/Blocks/MassSpring3DRepresentation.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/Fem2DRepresentation.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/FixedConstraintFrictionlessContact.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/MassSpringRepresentation.h" #include "SurgSim/Physics/RigidRepresentation.h" namespace SurgSim { namespace Physics { TEST(ConstraintImplementationFactoryTest, GetImplementationTest) { ConstraintImplementationFactory factory; EXPECT_TRUE(factory.getImplementation(typeid(FixedRepresentation), FRICTIONLESS_3DCONTACT) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(RigidRepresentation), FRICTIONLESS_3DCONTACT) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(Fem3DRepresentation), FRICTIONLESS_3DCONTACT) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(FixedRepresentation), FIXED_3DPOINT) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(RigidRepresentation), FIXED_3DPOINT) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(Fem1DRepresentation), FIXED_3DPOINT) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(Fem2DRepresentation), FIXED_3DPOINT) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(Fem3DRepresentation), FIXED_3DPOINT) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(Fem1DRepresentation), FRICTIONLESS_SLIDING) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(Fem2DRepresentation), FRICTIONLESS_SLIDING) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(Fem3DRepresentation), FRICTIONLESS_SLIDING) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(MassSpringRepresentation), FRICTIONLESS_3DCONTACT) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(SurgSim::Blocks::MassSpring1DRepresentation), FRICTIONLESS_3DCONTACT) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(SurgSim::Blocks::MassSpring2DRepresentation), FRICTIONLESS_3DCONTACT) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(SurgSim::Blocks::MassSpring3DRepresentation), FRICTIONLESS_3DCONTACT) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(MassSpringRepresentation), FIXED_3DPOINT) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(SurgSim::Blocks::MassSpring1DRepresentation), FIXED_3DPOINT) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(SurgSim::Blocks::MassSpring2DRepresentation), FIXED_3DPOINT) != nullptr); EXPECT_TRUE(factory.getImplementation(typeid(SurgSim::Blocks::MassSpring3DRepresentation), FIXED_3DPOINT) != nullptr); } TEST(ConstraintImplementationFactoryTest, AddImplementationTest) { class TestRepresentation {}; ConstraintImplementationFactory factory; EXPECT_TRUE(factory.getImplementation(typeid(TestRepresentation), FRICTIONLESS_3DCONTACT) == nullptr); // Add implementation for TestRepresentation. EXPECT_NO_THROW( factory.addImplementation(typeid(TestRepresentation), std::make_shared())); EXPECT_TRUE(factory.getImplementation(typeid(TestRepresentation), FRICTIONLESS_3DCONTACT) != nullptr); // Adding it again to make sure everything works, even if duplicate implementations are added. EXPECT_NO_THROW( factory.addImplementation(typeid(TestRepresentation), std::make_shared())); EXPECT_TRUE(factory.getImplementation(typeid(TestRepresentation), FRICTIONLESS_3DCONTACT) != nullptr); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/ConstraintImplementationTests.cpp000066400000000000000000000016451277777236100276600ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Physics/ConstraintImplementation.h" namespace SurgSim { namespace Physics { TEST(ConstraintImplementationTest, FactoryTest) { ASSERT_NO_THROW(ConstraintImplementation::getFactory();); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/ConstraintTests.cpp000066400000000000000000000275621277777236100247600ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/ContactConstraintData.h" #include "SurgSim/Physics/FixedConstraintFrictionlessContact.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" #include "SurgSim/Physics/RigidConstraintFrictionlessContact.h" #include "SurgSim/Physics/RigidRepresentation.h" using SurgSim::DataStructures::Location; using SurgSim::Math::SphereShape; using SurgSim::Math::Vector3d; namespace { const double epsilon = 1e-10; }; namespace SurgSim { namespace Physics { class ConstraintTests : public ::testing::Test { protected: /// Fixed plane pose SurgSim::Math::RigidTransform3d m_poseFixed; /// Rigid sphere pose SurgSim::Math::RigidTransform3d m_poseRigid; /// Contact normal direction Vector3d m_n; /// Distance to origin of the contact plane equation double m_d; /// Sphere radius double m_radius; /// Simulation time step double m_dt; /// Mlcp index of the sphere representation size_t m_indexSphereRepresentation; /// Mlcp index of the plane representation size_t m_indexPlaneRepresentation; /// Mlcp index of the constraint (frictionless contact) size_t m_indexConstraint; /// Contact location on the plane (point on the plane with the most penetration) Vector3d m_contactPositionPlane; /// Contact location on the sphere (point on the sphere with the most penetration) Vector3d m_contactPositionSphere; /// Rigid sphere std::shared_ptr m_rigid; /// Fixed plane std::shared_ptr m_fixed; /// Mlcp MlcpPhysicsProblem m_mlcpPhysicsProblem; /// Constraint std::shared_ptr m_constraint; /// Constraint data: frictionless contact std::shared_ptr m_constraintData; /// Location on the fixed plane Location m_locFixedPlane; /// Location on the rigid sphere Location m_locRigidSphere; /// Total number of degrees of freedom in the system (plane + sphere) size_t m_numDof; /// Total number of atomic constraint in the system (1 for a frictionless contact) size_t m_numConstraint; /// Setup the test case by creating all object void SetUp() { m_d = 0.0; m_radius = 0.01; m_dt = 1e-3; m_numDof = 0; m_indexSphereRepresentation = 0; m_indexConstraint = 0; m_numConstraint = 1; m_contactPositionPlane.setZero(); m_contactPositionSphere.setZero(); m_contactPositionSphere[1] = -m_radius; m_poseFixed.setIdentity(); m_poseRigid.setIdentity(); m_rigid = std::make_shared("Rigid"); m_rigid->setLocalActive(true); m_rigid->setIsGravityEnabled(false); m_rigid->setLocalPose(m_poseRigid); { m_rigid->setDensity(1000.0); std::shared_ptr shape = std::make_shared(m_radius); m_rigid->setShape(shape); } m_numDof += m_rigid->getNumDof(); m_indexPlaneRepresentation = m_indexSphereRepresentation + m_rigid->getNumDof(); m_fixed = std::make_shared("Fixed"); m_fixed->setLocalActive(true); m_fixed->setIsGravityEnabled(false); m_fixed->setLocalPose(m_poseFixed); m_numDof += m_fixed->getNumDof(); m_locFixedPlane.rigidLocalPosition = m_contactPositionPlane; m_locRigidSphere.rigidLocalPosition = m_contactPositionSphere; m_constraintData = std::make_shared(); clearMlcpPhysicsProblem(m_numDof, m_numConstraint); } /// Allocate and clear the Mlcp /// \param numDof The number of degrees of freedom in the system /// \param numConstraint The number of atomic constraints in the system void clearMlcpPhysicsProblem(size_t numDof, size_t numConstraint) { // Resize and zero all Eigen types m_mlcpPhysicsProblem.A.setZero(numConstraint, numConstraint); m_mlcpPhysicsProblem.b.setZero(numConstraint); m_mlcpPhysicsProblem.mu.setZero(numConstraint); m_mlcpPhysicsProblem.CHt.setZero(numDof, numConstraint); m_mlcpPhysicsProblem.H.resize(numConstraint, numDof); // Empty all std::vector types m_mlcpPhysicsProblem.constraintTypes.clear(); } }; TEST_F(ConstraintTests, TestConstructor) { auto fixedRep = std::make_shared("fixed"); auto rigidRep = std::make_shared("rigid"); Location fixedLoc(m_contactPositionPlane); Location rigidLoc(m_contactPositionSphere); auto type = SurgSim::Physics::FRICTIONLESS_3DCONTACT; ASSERT_NO_THROW({Constraint c(type, m_constraintData, fixedRep, fixedLoc, rigidRep, rigidLoc);}); EXPECT_THROW( { Constraint c(type, nullptr, nullptr, fixedLoc, nullptr, fixedLoc); }, SurgSim::Framework::AssertionFailure); EXPECT_THROW( { Constraint c(type, m_constraintData, nullptr, fixedLoc, nullptr, fixedLoc); }, SurgSim::Framework::AssertionFailure); EXPECT_THROW( { Constraint c(type, m_constraintData, fixedRep, fixedLoc, nullptr, fixedLoc); }, SurgSim::Framework::AssertionFailure); Constraint c(type, m_constraintData, fixedRep, fixedLoc, rigidRep, rigidLoc); EXPECT_EQ(m_constraintData, c.getData()); EXPECT_EQ(type, c.getImplementations().first->getConstraintType()); EXPECT_EQ(type, c.getImplementations().second->getConstraintType()); EXPECT_EQ(fixedRep, c.getLocalizations().first->getRepresentation()); EXPECT_EQ(rigidRep, c.getLocalizations().second->getRepresentation()); } TEST_F(ConstraintTests, TestGetNumDof) { auto fixedRep = std::make_shared("fixed"); auto rigidRep = std::make_shared("rigid"); Location fixedLoc(m_contactPositionPlane); Location rigidLoc(m_contactPositionSphere); auto type = SurgSim::Physics::FRICTIONLESS_3DCONTACT; { SCOPED_TRACE("1DOF for a frictionless contact"); Constraint c(type, m_constraintData, m_fixed, m_locFixedPlane, m_rigid, m_locRigidSphere); EXPECT_EQ(1u, c.getNumDof()); } { SCOPED_TRACE("1DOF for a frictionless contact between 2 fixed representations"); Constraint c(type, m_constraintData, fixedRep, fixedLoc, fixedRep, fixedLoc); EXPECT_EQ(1u, c.getNumDof()); } { SCOPED_TRACE("1DOF for a frictionless contact between 1 fixed representation and 1 rigid representation"); Constraint c(type, m_constraintData, fixedRep, fixedLoc, rigidRep, rigidLoc); EXPECT_EQ(1u, c.getNumDof()); } } TEST_F(ConstraintTests, SetActive) { auto type = SurgSim::Physics::FRICTIONLESS_3DCONTACT; m_n.setZero(); m_n[1] = -1.0; m_constraintData->setPlaneEquation(m_n, m_d); m_constraint = std::make_shared(type, m_constraintData, m_fixed, m_locFixedPlane, m_rigid, m_locRigidSphere); EXPECT_TRUE(m_constraint->isActive()); m_constraint->setActive(false); EXPECT_FALSE(m_constraint->isActive()); } // Test case: Rigid sphere at (0 0 0) with radius 0.01 colliding with Fixed plane Y=0 // Contact location on the rigid sphere is (0 -0.01 0) // Contact location on the fixed plane is (0 0 0) // Constraint: (Sphere - Plane).n >= 0 with n=(0 1 0) The normal should be the contact normal on the 2nd object TEST_F(ConstraintTests, TestBuildMlcpSpherePlane) { auto type =SurgSim::Physics::FRICTIONLESS_3DCONTACT; auto mlcptype = SurgSim::Math::MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT; m_n.setZero(); m_n[1] = 1.0; m_constraintData->setPlaneEquation(m_n, m_d); m_constraint = std::make_shared(type, m_constraintData, m_rigid, m_locRigidSphere, m_fixed, m_locFixedPlane); // Simulate 1 time step...to make sure all representation have a valid compliance matrix... { m_fixed->beforeUpdate(m_dt); m_rigid->beforeUpdate(m_dt); m_fixed->update(m_dt); m_rigid->update(m_dt); m_fixed->afterUpdate(m_dt); m_rigid->afterUpdate(m_dt); } // Fill up the Mlcp m_constraint->build(m_dt, &m_mlcpPhysicsProblem, m_indexSphereRepresentation, m_indexPlaneRepresentation, m_indexConstraint); // Violation b should be exactly -radius (the sphere center is on the plane) // This should not depend on the ordering of the object...the violation remains the same no matter what EXPECT_NEAR(-m_radius, m_mlcpPhysicsProblem.b[0], epsilon); // Constraint H should be // H = dt.[nx ny nz nz.GPy-ny.GPz nx.GPz-nz.GPx ny.GPx-nx.GPy] // The rigid sphere being the 1st representation in the pair, it has the positive sign in the constraint ! double sign = 1.0; Vector3d n_GP = m_n.cross(Vector3d(0.0, -m_radius, 0.0)); SurgSim::Math::Matrix H = m_mlcpPhysicsProblem.H; EXPECT_NEAR(sign * m_dt * m_n[0] , H(0, 0), epsilon); EXPECT_NEAR(sign * m_dt * m_n[1] , H(0, 1), epsilon); EXPECT_NEAR(sign * m_dt * m_n[2] , H(0, 2), epsilon); EXPECT_NEAR(sign * m_dt * n_GP[0], H(0, 3), epsilon); EXPECT_NEAR(sign * m_dt * n_GP[1], H(0, 4), epsilon); EXPECT_NEAR(sign * m_dt * n_GP[2], H(0, 5), epsilon); // ConstraintTypes should contain 1 entry SurgSim::Math::MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT ASSERT_EQ(1u, m_mlcpPhysicsProblem.constraintTypes.size()); EXPECT_EQ(mlcptype, m_mlcpPhysicsProblem.constraintTypes[0]); } // Test case: Rigid sphere at (0 0 0) with radius 0.01 colliding with Fixed plane Y=0 // Contact location on the rigid sphere is (0 -0.01 0) // Contact location on the fixed plane is (0 0 0) // Constraint: (Plane - Sphere).n >= 0 with n=(0 -1 0) The normal should be the contact normal on the 2nd object TEST_F(ConstraintTests, TestBuildMlcpPlaneSphere) { auto type = SurgSim::Physics::FRICTIONLESS_3DCONTACT; auto mlcptype = SurgSim::Math::MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT; m_n.setZero(); m_n[1] = -1.0; m_constraintData->setPlaneEquation(m_n, m_d); m_constraint = std::make_shared(type, m_constraintData, m_fixed, m_locFixedPlane, m_rigid, m_locRigidSphere); // Simulate 1 time step...to make sure all representation have a valid compliance matrix... { m_fixed->beforeUpdate(m_dt); m_rigid->beforeUpdate(m_dt); m_fixed->update(m_dt); m_rigid->update(m_dt); m_fixed->afterUpdate(m_dt); m_rigid->afterUpdate(m_dt); } // Fill up the Mlcp m_constraint->build(m_dt, &m_mlcpPhysicsProblem, m_indexPlaneRepresentation, m_indexSphereRepresentation, m_indexConstraint); // Violation b should be exactly -radius (the sphere center is on the plane) // This should not depend on the ordering of the object...the violation remains the same no matter what EXPECT_NEAR(-m_radius, m_mlcpPhysicsProblem.b[0], epsilon); // Constraint H should be // H = dt.[nx ny nz nz.GPy-ny.GPz nx.GPz-nz.GPx ny.GPx-nx.GPy] // The rigid sphere being the 2nd representation in the pair, it has the negative sign in the constraint ! double sign = -1.0; Vector3d n_GP = m_n.cross(Vector3d(0.0, -m_radius, 0.0)); SurgSim::Math::Matrix h = m_mlcpPhysicsProblem.H; EXPECT_NEAR(sign * m_dt * m_n[0] , h(0, 0), epsilon); EXPECT_NEAR(sign * m_dt * m_n[1] , h(0, 1), epsilon); EXPECT_NEAR(sign * m_dt * m_n[2] , h(0, 2), epsilon); EXPECT_NEAR(sign * m_dt * n_GP[0], h(0, 3), epsilon); EXPECT_NEAR(sign * m_dt * n_GP[1], h(0, 4), epsilon); EXPECT_NEAR(sign * m_dt * n_GP[2], h(0, 5), epsilon); // ConstraintTypes should contain 1 entry SurgSim::Math::MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT ASSERT_EQ(1u, m_mlcpPhysicsProblem.constraintTypes.size()); EXPECT_EQ(mlcptype, m_mlcpPhysicsProblem.constraintTypes[0]); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/ContactConstraintDataTests.cpp000066400000000000000000000035601277777236100270560ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/ContactConstraintData.h" using SurgSim::Physics::Constraint; using SurgSim::Physics::ConstraintData; using SurgSim::Physics::ContactConstraintData; #include "SurgSim/Math/Vector.h" using SurgSim::Math::Vector3d; namespace { const double epsilon = 1e-10; }; TEST (ContactConstraintDataTests, TestSetGet) { using SurgSim::Collision::Contact; using SurgSim::DataStructures::Location; ContactConstraintData contactConstraintData; Vector3d n(1.2, 4.5, 6.7); double d = 5.566; n.normalize(); EXPECT_NEAR(0.0 , contactConstraintData.getDistance(), epsilon); EXPECT_TRUE(contactConstraintData.getNormal().isZero()); contactConstraintData.setPlaneEquation(n, d); EXPECT_NEAR(d , contactConstraintData.getDistance(), epsilon); EXPECT_TRUE(contactConstraintData.getNormal().isApprox(n, epsilon)); auto contact0 = std::make_shared(SurgSim::Collision::COLLISION_DETECTION_TYPE_DISCRETE, 0.0, 0.0, Vector3d::Zero(), Vector3d::UnitX(), std::pair()); contactConstraintData.setContact(contact0); EXPECT_TRUE(contactConstraintData.getContact() == contact0); } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/ContactConstraintGenerationTests.cpp000066400000000000000000000160521277777236100303000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/CcdDcdCollision.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Math/DoubleSidedPlaneShape.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ContactConstraintGeneration.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" #include "SurgSim/Physics/RigidRepresentation.h" using SurgSim::Collision::CollisionPair; using SurgSim::Collision::ContactCalculation; using SurgSim::Math::DoubleSidedPlaneShape; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::Quaterniond; using SurgSim::Math::SphereShape; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { struct ContactConstraintGenerationTests: public ::testing::Test { virtual void SetUp() { rigid0 = std::make_shared("Physics Representation 0"); rigid0->setShape(std::make_shared(2.0)); collision0 = std::make_shared("Collision Representation 0"); rigid0->setCollisionRepresentation(collision0); representations.push_back(rigid0); rigid1 = std::make_shared("Physics Representation 1"); rigid1->setShape(std::make_shared()); collision1 = std::make_shared("Collision Representation 1"); rigid1->setCollisionRepresentation(collision1); representations.push_back(rigid1); state = std::make_shared(); state->setRepresentations(representations); collision0->update(0.0); collision1->update(0.0); } virtual void TearDown() { } std::shared_ptr collision0; std::shared_ptr rigid0; std::shared_ptr collision1; std::shared_ptr rigid1; std::shared_ptr state; std::vector> representations; std::vector> pairs; }; TEST_F(ContactConstraintGenerationTests, BasicTest) { std::shared_ptr pair = std::make_shared(collision0, collision1); // Test case setup, create a pair with a contact and set up the physics state with it SurgSim::Collision::SphereDoubleSidedPlaneContact contactCalculation; contactCalculation.calculateContact(pair); ASSERT_TRUE(pair->hasContacts()); pairs.push_back(pair); state->setCollisionPairs(pairs); ContactConstraintGeneration generator; generator.update(0.1, state); ASSERT_EQ(1u, state->getConstraintGroup(CONSTRAINT_GROUP_TYPE_CONTACT).size()); auto constraints = state->getConstraintGroup(CONSTRAINT_GROUP_TYPE_CONTACT); auto constraint = constraints[0]; auto localizations = constraint->getLocalizations(); auto implementations = constraint->getImplementations(); auto data = constraint->getData(); EXPECT_NE(nullptr, localizations.first); EXPECT_NE(nullptr, localizations.second); EXPECT_NE(nullptr, implementations.first); EXPECT_NE(nullptr, implementations.second); EXPECT_NE(nullptr, data); } TEST_F(ContactConstraintGenerationTests, CountTest) { std::shared_ptr pair; SurgSim::Collision::SphereDoubleSidedPlaneContact contactCalculation; pair = std::make_shared(collision0, collision1); contactCalculation.calculateContact(pair); contactCalculation.calculateContact(pair); pairs.push_back(pair); pair = std::make_shared(collision0, collision1); contactCalculation.calculateContact(pair); pairs.push_back(pair); pair = std::make_shared(collision0, collision1); pairs.push_back(pair); state->setCollisionPairs(pairs); ContactConstraintGeneration generator; generator.update(0.1, state); // 3 Contacts should generate 3 constraints ASSERT_EQ(3u, state->getConstraintGroup(CONSTRAINT_GROUP_TYPE_CONTACT).size()); } TEST_F(ContactConstraintGenerationTests, InactivePhysics) { std::shared_ptr pair = std::make_shared(collision0, collision1); SurgSim::Collision::SphereDoubleSidedPlaneContact contactCalculation; contactCalculation.calculateContact(pair); pairs.push_back(pair); state->setCollisionPairs(pairs); ContactConstraintGeneration generator; rigid0->setLocalActive(false); rigid1->setLocalActive(true); generator.update(0.1, state); ASSERT_EQ(0u, state->getConstraintGroup(CONSTRAINT_GROUP_TYPE_CONTACT).size()); rigid0->setLocalActive(true); rigid1->setLocalActive(false); generator.update(0.1, state); ASSERT_EQ(0u, state->getConstraintGroup(CONSTRAINT_GROUP_TYPE_CONTACT).size()); rigid0->setLocalActive(false); rigid1->setLocalActive(false); generator.update(0.1, state); ASSERT_EQ(0u, state->getConstraintGroup(CONSTRAINT_GROUP_TYPE_CONTACT).size()); rigid0->setLocalActive(true); rigid1->setLocalActive(true); generator.update(0.1, state); ASSERT_EQ(1u, state->getConstraintGroup(CONSTRAINT_GROUP_TYPE_CONTACT).size()); } TEST_F(ContactConstraintGenerationTests, LocalPoses) { //Move the collision representation away from the physics representation for the sphere collision0->setLocalPose(makeRigidTransform(Quaterniond::Identity(), Vector3d(5.0, 0.0, 0.0))); std::shared_ptr pair = std::make_shared(collision0, collision1); SurgSim::Collision::SphereDoubleSidedPlaneContact contactCalculation; contactCalculation.calculateContact(pair); ASSERT_EQ(1u, pair->getContacts().size()); pairs.push_back(pair); state->setCollisionPairs(pairs); ContactConstraintGeneration generator; generator.update(0.1, state); ASSERT_EQ(1u, state->getConstraintGroup(CONSTRAINT_GROUP_TYPE_CONTACT).size()); auto constraint = state->getConstraintGroup(CONSTRAINT_GROUP_TYPE_CONTACT)[0]; auto localization = constraint->getLocalizations().first; auto location = pair->getContacts().front()->penetrationPoints.first; Vector3d localizationGlobalPosition = localization->calculatePosition(); Vector3d locationGlobalPosition = collision0->getPose() * location.rigidLocalPosition.getValue(); EXPECT_TRUE(localizationGlobalPosition.isApprox(locationGlobalPosition)) << "The contact location is not in the same position as the localization produced by constraint generation"; } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/ContactFilteringTest.cpp000066400000000000000000000107141277777236100256770ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/ContactFilter.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Physics/ContactFiltering.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" using ::testing::_; namespace SurgSim { class MockContactFilter : public Collision::ContactFilter { public: explicit MockContactFilter(const std::string& name) : Collision::ContactFilter(name) {} MOCK_METHOD0(doWakeUp, bool()); MOCK_METHOD0(doInitialize, bool()); MOCK_METHOD1(doUpdate, void(double)); MOCK_METHOD2(doFilterContacts, void(const std::shared_ptr& state, const std::shared_ptr& pair)); }; void removeOne(const std::shared_ptr& state, const std::shared_ptr& pair) { pair->getContacts().pop_back(); } namespace Physics { struct ContactFilteringTest : public ::testing::Test { virtual void SetUp() { // Setup Framework runtime = std::make_shared(); state = std::make_shared(); contactFiltering = std::make_shared(false); std::vector> filters; filter = std::make_shared("Filter"); filters.push_back(filter); state->setContactFilters(filters); collision0 = std::make_shared("Collision0"); pairWithContacts = std::make_shared(collision0, collision0); auto contact = std::make_shared(Collision::COLLISION_DETECTION_TYPE_NONE, 0.0, 0.0, Math::Vector3d::Zero(), Math::Vector3d::Zero(), std::make_pair(DataStructures::Location(), DataStructures::Location())); pairWithContacts->addContact(contact); pairWithContacts->addContact(contact); pairWithoutContacts = std::make_shared(collision0, collision0); } std::shared_ptr state; std::shared_ptr contactFiltering; std::shared_ptr runtime; std::shared_ptr filter; std::shared_ptr collision0; std::shared_ptr pairWithContacts; std::shared_ptr pairWithoutContacts; std::vector> pairs; }; TEST_F(ContactFilteringTest, DontProcessWithoutPairs) { EXPECT_CALL(*filter, doFilterContacts(_, _)).Times(0); contactFiltering->update(1.0, state); } TEST_F(ContactFilteringTest, ProcessAllPairsWithContacts) { pairs.push_back(pairWithContacts); pairs.push_back(pairWithContacts); pairs.push_back(pairWithoutContacts); state->setCollisionPairs(pairs); EXPECT_CALL(*filter, doFilterContacts(_, _)).Times(2); contactFiltering->update(1.0, state); } TEST_F(ContactFilteringTest, ModifyContacts) { pairs.push_back(pairWithContacts); state->setCollisionPairs(pairs); EXPECT_CALL(*filter, doFilterContacts(_, _)).WillOnce(testing::Invoke(removeOne)); contactFiltering->update(1.0, state); EXPECT_EQ(1u, pairWithContacts->getContacts().size()); } TEST_F(ContactFilteringTest, ProcessAllFilters) { // Gmock is might not be threadsafe on windows, need separate instances std::vector> filters; auto filter1 = std::make_shared("Filter1"); filters.push_back(filter1); auto filter2 = std::make_shared("Filter2"); filters.push_back(filter2); state->setContactFilters(filters); pairs.push_back(pairWithContacts); state->setCollisionPairs(pairs); EXPECT_CALL(*filter1, doFilterContacts(_, _)).Times(1); EXPECT_CALL(*filter2, doFilterContacts(_, _)).Times(1); contactFiltering->update(1.0, state); } } }opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Data/000077500000000000000000000000001277777236100217425ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Data/PlyReaderTests/000077500000000000000000000000001277777236100246545ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Data/PlyReaderTests/Fem1D.ply000066400000000000000000000011751277777236100263020ustar00rootroot00000000000000ply format ascii 1.0 comment Created by hand element vertex 7 property double x property double y property double z element 1d_element 4 property list uint uint vertex_indices element boundary_condition 3 property uint vertex_index element radius 1 property double value element material 1 property double mass_density property double poisson_ratio property double young_modulus end_header 1.100000 1.200000 -1.300000 1.400000 -1.500000 -1.600000 -1.700000 -1.800000 -1.900000 2.000000 2.999999 3.000000 -4.000000 5.000000 6.000000 7.999999 -8.000001 9.000000 9.100000 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0.472opensurgsim-0.7.0/SurgSim/Physics/UnitTests/DcdCollisionTests.cpp000066400000000000000000000107021277777236100251660ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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. /// \file DcdCollisionTests.cpp /// Tests for the DcdCollision Class #include #include #include #include "SurgSim/Blocks/SphereElement.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Physics/DcdCollision.h" #include "SurgSim/Physics/PhysicsManager.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/PrepareCollisionPairs.h" using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { TEST(DcdCollisionTest, ConstructorTest) { ASSERT_NO_THROW(std::make_shared(false)); ASSERT_NO_THROW(std::make_shared(true)); } TEST(DcdCollisionTest, RigidRigidCollisionTest) { auto sphere1 = std::make_shared("Sphere1"); auto sphere2 = std::make_shared("Sphere2"); sphere2->setPose(Math::makeRigidTransform(Math::Quaterniond::Identity(), Vector3d(0.0, 0.0, 0.5))); auto runtime = std::make_shared(); auto scene = runtime->getScene(); scene->addSceneElement(sphere1); scene->addSceneElement(sphere2); std::vector> physicsRepresentations; physicsRepresentations.push_back(sphere1->getComponents()[0]); physicsRepresentations.push_back(sphere2->getComponents()[0]); auto sphere1Collision = sphere1->getComponents()[0]; auto sphere2Collision = sphere2->getComponents()[0]; sphere1Collision->update(0.0); sphere2Collision->update(0.0); std::vector> collisionRepresentations; collisionRepresentations.push_back(sphere1Collision); collisionRepresentations.push_back(sphere2Collision); auto prepareState = std::make_shared(false); auto stateTmp = std::make_shared(); stateTmp->setRepresentations(physicsRepresentations); stateTmp->setCollisionRepresentations(collisionRepresentations); auto state = prepareState->update(0.0, stateTmp); // This step prepares the collision pairs ASSERT_EQ(1u, state->getCollisionPairs().size()); auto dcdCollision = std::make_shared(false); std::shared_ptr newState = dcdCollision->update(1.0, state); EXPECT_TRUE(newState->getCollisionPairs().at(0)->hasContacts()); } TEST(DcdCollisionTest, Deactivate) { auto runtime = std::make_shared(); auto physicsManager = std::make_shared(); runtime->addManager(physicsManager); auto sphere1 = std::make_shared("Sphere1"); sphere1->setShape(std::make_shared(1.0)); auto sphere2 = std::make_shared("Sphere2"); sphere2->setShape(std::make_shared(1.0)); sphere2->setLocalPose(Math::makeRigidTransform(Math::Quaterniond::Identity(), Vector3d(0.0, 0.0, 0.5))); auto scene = runtime->getScene(); auto element = std::make_shared("Element"); element->addComponent(sphere2); element->addComponent(sphere1); scene->addSceneElement(element); runtime->start(true); runtime->step(); runtime->step(); EXPECT_TRUE(sphere1->collidedWith(sphere2)); EXPECT_TRUE(sphere2->collidedWith(sphere1)); sphere1->setLocalActive(false); runtime->step(); runtime->step(); EXPECT_FALSE(sphere1->collidedWith(sphere2)); EXPECT_FALSE(sphere2->collidedWith(sphere1)); boost::this_thread::sleep(boost::posix_time::milliseconds(100)); runtime->stop(); } }; }; opensurgsim-0.7.0/SurgSim/Physics/UnitTests/DeformableCollisionRepresentationTest.cpp000066400000000000000000000146541277777236100313060ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/OdeSolver.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/DeformableCollisionRepresentation.h" #include "SurgSim/Physics/DeformableRepresentation.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" namespace { const double epsilon = 1e-10; } namespace SurgSim { namespace Physics { struct DeformableCollisionRepresentationTest : public ::testing::Test { void SetUp() { m_runtime = std::make_shared("config.txt"); m_filename = std::string("Geometry/wound_deformable.ply"); m_meshShape = std::make_shared(); m_meshShape->load(m_filename); m_deformableRepresentation = std::make_shared("DeformableRepresentation"); m_deformableCollisionRepresentation = std::make_shared("DeformableCollisionRepresentation"); } std::shared_ptr m_runtime; std::string m_filename; std::shared_ptr m_meshShape; std::shared_ptr m_deformableRepresentation; std::shared_ptr m_deformableCollisionRepresentation; }; TEST_F(DeformableCollisionRepresentationTest, InitTest) { EXPECT_NO_THROW(DeformableCollisionRepresentation("TestDeformableCollisionRepresentation")); } TEST_F(DeformableCollisionRepresentationTest, SetGetDeformableRepresentationTest) { ASSERT_NO_THROW(m_deformableCollisionRepresentation->setDeformableRepresentation(m_deformableRepresentation)); EXPECT_EQ(m_deformableRepresentation, m_deformableCollisionRepresentation->getDeformableRepresentation()); } TEST_F(DeformableCollisionRepresentationTest, ShapeTest) { EXPECT_ANY_THROW(m_deformableCollisionRepresentation->getShapeType()); m_deformableCollisionRepresentation->setShape(m_meshShape); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_MESH, m_deformableCollisionRepresentation->getShapeType()); auto meshShape = std::dynamic_pointer_cast(m_deformableCollisionRepresentation->getShape()); EXPECT_NEAR(m_meshShape->getVolume(), meshShape->getVolume(), epsilon); EXPECT_TRUE(m_meshShape->getCenter().isApprox(meshShape->getCenter())); EXPECT_TRUE(m_meshShape->getSecondMomentOfVolume().isApprox(meshShape->getSecondMomentOfVolume())); } TEST_F(DeformableCollisionRepresentationTest, MeshTest) { m_deformableCollisionRepresentation->setShape(m_meshShape); auto actualShape = std::dynamic_pointer_cast( m_deformableCollisionRepresentation->getShape()); ASSERT_NE(nullptr, actualShape); EXPECT_EQ(m_meshShape->getNumVertices(), actualShape->getNumVertices()); EXPECT_EQ(m_meshShape->getNumEdges(), actualShape->getNumEdges()); EXPECT_EQ(m_meshShape->getNumTriangles(), actualShape->getNumTriangles()); } TEST_F(DeformableCollisionRepresentationTest, SerializationTest) { auto shape = std::dynamic_pointer_cast(m_meshShape); m_deformableCollisionRepresentation->setValue("Shape", shape); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*m_deformableCollisionRepresentation)); std::shared_ptr newDeformableCollisionRepresentation; ASSERT_NO_THROW(newDeformableCollisionRepresentation = std::dynamic_pointer_cast (node.as>()) ); auto fem3DRepresentation = std::make_shared("Fem3DRepresentation"); fem3DRepresentation->setCollisionRepresentation(newDeformableCollisionRepresentation); newDeformableCollisionRepresentation->initialize(m_runtime); auto mesh = std::dynamic_pointer_cast(newDeformableCollisionRepresentation->getShape()); EXPECT_NEAR(m_meshShape->getVolume(), mesh->getVolume(), epsilon); EXPECT_TRUE(m_meshShape->getCenter().isApprox(mesh->getCenter())); EXPECT_TRUE(m_meshShape->getSecondMomentOfVolume().isApprox(mesh->getSecondMomentOfVolume())); EXPECT_EQ(m_meshShape->getNumVertices(), mesh->getNumVertices()); EXPECT_EQ(m_meshShape->getNumEdges(), mesh->getNumEdges()); EXPECT_EQ(m_meshShape->getNumTriangles(), mesh->getNumTriangles()); } TEST_F(DeformableCollisionRepresentationTest, UpdateAndInitializationTest) { auto fem3DRepresentation = std::make_shared("Fem3DRepresentation"); fem3DRepresentation->loadFem(m_filename); // Member data 'odeState' will be created while loading. ASSERT_TRUE(fem3DRepresentation->initialize(m_runtime)); // Connect Physics representation with Collision representation. fem3DRepresentation->setCollisionRepresentation(m_deformableCollisionRepresentation); // Set the shape used by Collision representation. m_deformableCollisionRepresentation->setShape(m_meshShape); EXPECT_NO_THROW(m_deformableCollisionRepresentation->initialize(m_runtime)); EXPECT_NO_THROW(m_deformableCollisionRepresentation->wakeUp()); EXPECT_NO_THROW(m_deformableCollisionRepresentation->updateShapeData()); EXPECT_TRUE(m_deformableCollisionRepresentation->isActive()); // The MeshShape fails to update due to the normal calculation, making the collision rep inactive auto state = fem3DRepresentation->getCurrentState(); state->getPositions().setConstant(0.0); fem3DRepresentation->setInitialState(state); EXPECT_NO_THROW(m_deformableCollisionRepresentation->updateShapeData()); EXPECT_FALSE(m_deformableCollisionRepresentation->isActive()); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/DeformableRepresentationTest.cpp000066400000000000000000000556561277777236100274410ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Collision/Representation.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/OdeSolver.h" // Need access to the enum IntegrationScheme #include "SurgSim/Math/OdeSolverEulerExplicit.h" #include "SurgSim/Math/OdeSolverEulerExplicitModified.h" #include "SurgSim/Math/OdeSolverEulerImplicit.h" #include "SurgSim/Math/OdeSolverLinearEulerExplicit.h" #include "SurgSim/Math/OdeSolverLinearEulerExplicitModified.h" #include "SurgSim/Math/OdeSolverLinearEulerImplicit.h" #include "SurgSim/Math/OdeSolverLinearStatic.h" #include "SurgSim/Math/OdeSolverStatic.h" #include "SurgSim/Physics/DeformableCollisionRepresentation.h" #include "SurgSim/Physics/DeformableRepresentation.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" using SurgSim::Math::Matrix; using SurgSim::Math::SparseMatrix; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector; using SurgSim::Physics::DeformableCollisionRepresentation; using SurgSim::Physics::DeformableRepresentation; using SurgSim::Physics::MockDeformableRepresentation; namespace { const size_t numNodes = 1; const double epsilon = 1e-10; }; // anonymous namespace class DeformableRepresentationTest: public MockDeformableRepresentation, public ::testing::Test { public: DeformableRepresentationTest() : MockDeformableRepresentation() { } virtual ~DeformableRepresentationTest() { } /// Setup the test case void SetUp() override { m_localInitialState = std::make_shared(); m_localInitialState->setNumDof(getNumDofPerNode(), numNodes); m_localInitialState->getPositions().setLinSpaced(0.0, static_cast(getNumDofPerNode() * numNodes - 1)); m_localInitialState->getVelocities().setOnes(); SurgSim::Math::Quaterniond q(0.1, 0.4, 0.5, 0.2); q.normalize(); Vector3d t(1.45, 5.4, 2.42); m_nonIdentityTransform = SurgSim::Math::makeRigidTransform(q, t); m_identityTransform = SurgSim::Math::RigidTransform3d::Identity(); m_localization0 = std::make_shared(); m_localization0->setLocalNode(0); } protected: // Initial state std::shared_ptr m_localInitialState; // Identity and nonIdentity (but still valid) transforms SurgSim::Math::RigidTransform3d m_identityTransform; SurgSim::Math::RigidTransform3d m_nonIdentityTransform; // Localization of node 0, to apply external force std::shared_ptr m_localization0; }; TEST_F(DeformableRepresentationTest, ConstructorTest) { // Test the constructor normally ASSERT_NO_THROW({MockDeformableRepresentation deformable;}); // Test the object creation through the operator new ASSERT_NO_THROW({MockDeformableRepresentation* deformable = new MockDeformableRepresentation; delete deformable;}); // Test the object creation through the operator new [] ASSERT_NO_THROW({MockDeformableRepresentation* deformable = new MockDeformableRepresentation[10]; \ delete [] deformable; }); // Test the object creation through a shared_ptr ASSERT_NO_THROW({std::shared_ptr deformable = \ std::make_shared(); }); } TEST_F(DeformableRepresentationTest, SetGetTest) { // Test setLocalPose/getLocalPose setLocalPose(m_nonIdentityTransform); EXPECT_TRUE(getLocalPose().isApprox(m_nonIdentityTransform, epsilon)); EXPECT_FALSE(getLocalPose().isApprox(m_identityTransform, epsilon)); EXPECT_FALSE(getPose().isApprox(m_identityTransform, epsilon)); setLocalPose(m_identityTransform); EXPECT_FALSE(getLocalPose().isApprox(m_nonIdentityTransform, epsilon)); EXPECT_TRUE(getLocalPose().isApprox(m_identityTransform, epsilon)); EXPECT_TRUE(getPose().isApprox(m_identityTransform, epsilon)); // Test set/get states // Note that the initialState is in OdeEquation but is set in DeformableRepresentation // Its getter is actually in OdeEquation (considered tested here) EXPECT_EQ(0, getExternalGeneralizedForce().size()); EXPECT_EQ(0, getExternalGeneralizedStiffness().rows()); EXPECT_EQ(0, getExternalGeneralizedStiffness().cols()); EXPECT_EQ(0, getExternalGeneralizedDamping().rows()); EXPECT_EQ(0, getExternalGeneralizedDamping().cols()); setInitialState(m_localInitialState); SparseMatrix zeroMatrix(static_cast(getNumDof()), static_cast(getNumDof())); EXPECT_EQ(getNumDof(), getExternalGeneralizedForce().size()); EXPECT_EQ(getNumDof(), getExternalGeneralizedStiffness().rows()); EXPECT_EQ(getNumDof(), getExternalGeneralizedStiffness().cols()); EXPECT_EQ(getNumDof(), getExternalGeneralizedDamping().rows()); EXPECT_EQ(getNumDof(), getExternalGeneralizedDamping().cols()); EXPECT_TRUE(getExternalGeneralizedForce().isZero()); EXPECT_TRUE(getExternalGeneralizedStiffness().isApprox(zeroMatrix)); EXPECT_TRUE(getExternalGeneralizedDamping().isApprox(zeroMatrix)); /// Set/Get the numerical integration scheme for (int integerScheme = 0; integerScheme < SurgSim::Math::MAX_INTEGRATIONSCHEMES; integerScheme++) { auto integrationScheme = static_cast(integerScheme); EXPECT_NO_THROW(setIntegrationScheme(integrationScheme)); EXPECT_EQ(integrationScheme, getIntegrationScheme()); } setIntegrationScheme(SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT); EXPECT_EQ(nullptr, getOdeSolver()); /// Set/Get the linear solver for (int integerLinearSolver = 0; integerLinearSolver < SurgSim::Math::MAX_LINEARSOLVER; integerLinearSolver++) { auto linearSolver = static_cast(integerLinearSolver); EXPECT_NO_THROW(setLinearSolver(linearSolver)); EXPECT_EQ(linearSolver, getLinearSolver()); } setLinearSolver(SurgSim::Math::LINEARSOLVER_CONJUGATEGRADIENT); initialize(std::make_shared()); EXPECT_NE(nullptr, getOdeSolver()); EXPECT_NE(nullptr, std::dynamic_pointer_cast(getOdeSolver())); EXPECT_NE(nullptr, std::dynamic_pointer_cast(getOdeSolver()->getLinearSolver())); EXPECT_THROW(setIntegrationScheme(SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT), SurgSim::Framework::AssertionFailure); EXPECT_THROW(setLinearSolver(SurgSim::Math::LINEARSOLVER_LU), SurgSim::Framework::AssertionFailure); wakeUp(); EXPECT_TRUE(*m_initialState == *m_localInitialState); EXPECT_TRUE(*m_currentState == *m_localInitialState); EXPECT_TRUE(*m_previousState == *m_localInitialState); EXPECT_TRUE(*m_finalState == *m_localInitialState); EXPECT_TRUE(*getInitialState() == *m_localInitialState); EXPECT_TRUE(*getPreviousState() == *m_localInitialState); EXPECT_TRUE(*getCurrentState() == *m_localInitialState); EXPECT_TRUE(*getFinalState() == *m_localInitialState); // Test getNumDofPerNode EXPECT_EQ(3, getNumDofPerNode()); // Test getNumDof (needs to be tested after setInitialState has been called) EXPECT_EQ(getNumDofPerNode() * numNodes, getNumDof()); } TEST_F(DeformableRepresentationTest, GetComplianceMatrix) { double dt = 1e-3; EXPECT_NO_THROW(setInitialState(m_localInitialState)); EXPECT_NO_THROW(EXPECT_TRUE(initialize(std::make_shared()))); EXPECT_NO_THROW(EXPECT_TRUE(wakeUp())); // This call solves the Ode equation and computes the compliance matrix using the default ode solver // Explicit Euler => M.a(t+dt) = F(t) <=> M/dt.deltaV = F(t) // So the compliance matrix will be (M/dt)^-1 // In our case, M = Identity, so the compliance matrix will be Identity*dt EXPECT_NO_THROW(update(dt)); EXPECT_NO_THROW(EXPECT_TRUE(applyCompliance(*m_localInitialState, Matrix::Identity(3, 3)).isApprox(Matrix::Identity(3, 3) * dt))); } TEST_F(DeformableRepresentationTest, ResetStateTest) { // setInitialState sets all 4 states (tested in method above !) setInitialState(m_localInitialState); // Initialize and wake-up the deformable component EXPECT_NO_THROW(EXPECT_TRUE(initialize(std::make_shared()))); EXPECT_NO_THROW(EXPECT_TRUE(wakeUp())); // 1st time step beforeUpdate(1e-3); update(1e-3); afterUpdate(1e-3); // 2nd time step beforeUpdate(1e-3); update(1e-3); afterUpdate(1e-3); EXPECT_TRUE(*m_localInitialState == *m_initialState); EXPECT_FALSE(*m_localInitialState == *m_previousState); EXPECT_FALSE(*m_localInitialState == *m_currentState); EXPECT_FALSE(*m_localInitialState == *m_finalState); EXPECT_TRUE(*m_localInitialState == *getInitialState()); EXPECT_FALSE(*m_localInitialState == *getPreviousState()); EXPECT_FALSE(*m_localInitialState == *getCurrentState()); EXPECT_FALSE(*m_localInitialState == *getFinalState()); resetState(); // reset should re-initialized current, previous and final to initial EXPECT_TRUE(*m_localInitialState == *m_initialState); EXPECT_TRUE(*m_localInitialState == *m_previousState); EXPECT_TRUE(*m_localInitialState == *m_currentState); EXPECT_TRUE(*m_localInitialState == *m_finalState); EXPECT_TRUE(*m_localInitialState == *getInitialState()); EXPECT_TRUE(*m_localInitialState == *getPreviousState()); EXPECT_TRUE(*m_localInitialState == *getCurrentState()); EXPECT_TRUE(*m_localInitialState == *getFinalState()); } TEST_F(DeformableRepresentationTest, DeactivateAndResetTest) { // setInitialState sets all 4 states (tested in method above !) setInitialState(m_localInitialState); // Initialize and wake-up the deformable component EXPECT_NO_THROW(EXPECT_TRUE(initialize(std::make_shared()))); EXPECT_NO_THROW(EXPECT_TRUE(wakeUp())); // 1st time step ASSERT_TRUE(isActive()); beforeUpdate(1e-3); update(1e-3); afterUpdate(1e-3); ASSERT_TRUE(isActive()); deactivateAndReset(); ASSERT_FALSE(isActive()); EXPECT_TRUE(*m_localInitialState == *m_initialState); EXPECT_TRUE(*m_localInitialState == *m_previousState); EXPECT_TRUE(*m_localInitialState == *m_currentState); EXPECT_TRUE(*m_localInitialState == *m_finalState); EXPECT_TRUE(*m_localInitialState == *getInitialState()); EXPECT_TRUE(*m_localInitialState == *getPreviousState()); EXPECT_TRUE(*m_localInitialState == *getCurrentState()); EXPECT_TRUE(*m_localInitialState == *getFinalState()); } TEST_F(DeformableRepresentationTest, UpdateTest) { // update assert on m_odeSolver (wakeUp) and m_initialState (setInitialState) EXPECT_THROW(update(1e-3), SurgSim::Framework::AssertionFailure); // setInitialState sets all 4 states (tested in method above !) setInitialState(m_localInitialState); // update assert on m_odeSolver (wakeUp) and m_initialState (setInitialState) EXPECT_THROW(update(1e-3), SurgSim::Framework::AssertionFailure); // Initialize and wake-up the deformable component EXPECT_NO_THROW(EXPECT_TRUE(initialize(std::make_shared()))); EXPECT_NO_THROW(EXPECT_TRUE(wakeUp())); // update should backup current into previous and change current EXPECT_NO_THROW(update(1e-3)); EXPECT_TRUE(*m_localInitialState == *m_initialState); EXPECT_TRUE(*m_localInitialState == *m_previousState); EXPECT_FALSE(*m_localInitialState == *m_currentState); EXPECT_TRUE(*m_localInitialState == *m_finalState); EXPECT_TRUE(*m_localInitialState == *getInitialState()); EXPECT_TRUE(*m_localInitialState == *getPreviousState()); EXPECT_FALSE(*m_localInitialState == *getCurrentState()); EXPECT_TRUE(*m_localInitialState == *getFinalState()); EXPECT_FALSE(*m_previousState == *m_currentState); EXPECT_FALSE(*getCurrentState() == *getPreviousState()); } TEST_F(DeformableRepresentationTest, UpdateResetTest) { m_localInitialState->getVelocities()[0] = std::numeric_limits::infinity(); setInitialState(m_localInitialState); // Initialize and wake-up the deformable component EXPECT_NO_THROW(EXPECT_TRUE(initialize(std::make_shared()))); EXPECT_NO_THROW(EXPECT_TRUE(wakeUp())); // update should backup current into previous and change current EXPECT_TRUE(isActive()); EXPECT_NO_THROW(update(1e-3)); EXPECT_FALSE(isActive()); } TEST_F(DeformableRepresentationTest, AfterUpdateTest) { // setInitialState sets all 4 states (tested in method above !) setInitialState(m_localInitialState); SparseMatrix zeroMatrix(static_cast(getNumDof()), static_cast(getNumDof())); // Initialize and wake-up the deformable component EXPECT_NO_THROW(EXPECT_TRUE(initialize(std::make_shared()))); EXPECT_NO_THROW(EXPECT_TRUE(wakeUp())); // Set external generalized force/stiffness/damping EXPECT_TRUE(getExternalGeneralizedForce().isZero()); EXPECT_TRUE(getExternalGeneralizedStiffness().isApprox(zeroMatrix)); EXPECT_TRUE(getExternalGeneralizedDamping().isApprox(zeroMatrix)); SurgSim::Math::Vector F = SurgSim::Math::Vector::LinSpaced(getNumDofPerNode(), -2.34, 4.41); SurgSim::Math::Matrix K = SurgSim::Math::Matrix::Ones(getNumDofPerNode(), getNumDofPerNode()); SurgSim::Math::Matrix D = 2.3 * K; addExternalGeneralizedForce(m_localization0, F, K, D); EXPECT_FALSE(getExternalGeneralizedForce().isZero()); EXPECT_FALSE(getExternalGeneralizedStiffness().isApprox(zeroMatrix)); EXPECT_FALSE(getExternalGeneralizedDamping().isApprox(zeroMatrix)); EXPECT_TRUE(getExternalGeneralizedForce().isApprox(F)); EXPECT_TRUE(getExternalGeneralizedStiffness().isApprox(K)); EXPECT_TRUE(getExternalGeneralizedDamping().isApprox(D)); // update should backup current into previous and change current EXPECT_NO_THROW(update(1e-3)); // afterUpdate should backup current into final EXPECT_NO_THROW(afterUpdate(1e-3)); // External generalized force/stiffness/damping should have been reset EXPECT_TRUE(getExternalGeneralizedForce().isZero()); EXPECT_TRUE(getExternalGeneralizedStiffness().isApprox(zeroMatrix)); EXPECT_TRUE(getExternalGeneralizedDamping().isApprox(zeroMatrix)); EXPECT_TRUE(*m_localInitialState == *m_initialState); EXPECT_TRUE(*m_localInitialState == *m_previousState); EXPECT_FALSE(*m_localInitialState == *m_currentState); EXPECT_FALSE(*m_localInitialState == *m_finalState); EXPECT_TRUE(*m_localInitialState == *getInitialState()); EXPECT_TRUE(*m_localInitialState == *getPreviousState()); EXPECT_FALSE(*m_localInitialState == *getCurrentState()); EXPECT_FALSE(*m_localInitialState == *getFinalState()); EXPECT_FALSE(*m_currentState == *m_previousState); EXPECT_TRUE(*m_currentState == *m_finalState); EXPECT_FALSE(*getCurrentState() == *getPreviousState()); EXPECT_TRUE(*getCurrentState() == *getFinalState()); } TEST_F(DeformableRepresentationTest, ApplyCorrectionTest) { const double dt = 1e-3; MockDeformableRepresentation object; std::shared_ptr initialState = std::make_shared(); initialState->setNumDof(object.getNumDofPerNode(), 3); object.setInitialState(initialState); SurgSim::Math::Vector dv; dv.resize(object.getNumDof()); for (size_t i = 0; i < object.getNumDof(); i++) { dv(i) = static_cast(i); } Eigen::VectorXd previousX = object.getCurrentState()->getPositions(); Eigen::VectorXd previousV = object.getCurrentState()->getVelocities(); // Test with a valid state object.applyCorrection(dt, dv.segment(0, object.getNumDof())); Eigen::VectorXd nextX = object.getCurrentState()->getPositions(); Eigen::VectorXd nextV = object.getCurrentState()->getVelocities(); EXPECT_TRUE(nextX.isApprox(previousX + dv * dt, epsilon)); EXPECT_TRUE(nextV.isApprox(previousV + dv, epsilon)); // Test with an invalid state dv(0) = std::numeric_limits::infinity(); EXPECT_TRUE(object.isActive()); object.applyCorrection(dt, dv.segment(0, object.getNumDof())); EXPECT_FALSE(object.isActive()); } TEST_F(DeformableRepresentationTest, SetCollisionRepresentationTest) { // setCollisionRepresentation requires the object to be a shared_ptr (using getShared()) std::shared_ptr object = std::make_shared(); auto collisionRep = std::make_shared("DeformableCollisionRepresentation"); EXPECT_NE(nullptr, collisionRep); // Test default collision representation to be nullptr EXPECT_EQ(nullptr, object->getCollisionRepresentation()); // Test setting a valid non null collision rep EXPECT_NO_THROW(object->setCollisionRepresentation(collisionRep)); EXPECT_EQ(collisionRep, object->getCollisionRepresentation()); // Test setting a null collision rep EXPECT_NO_THROW(object->setCollisionRepresentation(nullptr)); EXPECT_EQ(nullptr, object->getCollisionRepresentation()); } TEST_F(DeformableRepresentationTest, DoInitializeFailTest) { // The initial state needs to be set prior to calling initialize EXPECT_THROW(initialize(std::make_shared()), SurgSim::Framework::AssertionFailure); } TEST_F(DeformableRepresentationTest, DoInitializeTest) { // setInitialState sets all 4 states (tested in method above !) EXPECT_NO_THROW(setLocalPose(m_nonIdentityTransform)); setInitialState(m_localInitialState); EXPECT_NO_THROW(EXPECT_TRUE(initialize(std::make_shared()))); EXPECT_THROW(setLocalPose(m_nonIdentityTransform), SurgSim::Framework::AssertionFailure); // Test the initial transformation applied to all the states for (size_t nodeId = 0; nodeId < numNodes; nodeId++) { Vector3d expectedPosition = m_nonIdentityTransform * Vector3d::LinSpaced(static_cast(nodeId) * 3, (static_cast(nodeId) + 1) * 3 - 1); Vector3d expectedVelocity = m_nonIdentityTransform.rotation() * Vector3d::Ones(); EXPECT_TRUE(getInitialState()->getPosition(nodeId).isApprox(expectedPosition)); EXPECT_TRUE(getInitialState()->getVelocity(nodeId).isApprox(expectedVelocity)); } EXPECT_EQ(*getPreviousState(), *getInitialState()); EXPECT_EQ(*getCurrentState(), *getInitialState()); EXPECT_EQ(*getFinalState(), *getInitialState()); } TEST_F(DeformableRepresentationTest, DoWakeUpTest) { using SurgSim::Math::OdeSolverEulerExplicit; using SurgSim::Math::OdeSolverEulerExplicitModified; using SurgSim::Math::OdeSolverEulerImplicit; using SurgSim::Math::OdeSolverStatic; using SurgSim::Math::OdeSolverLinearEulerExplicit; using SurgSim::Math::OdeSolverLinearEulerExplicitModified; using SurgSim::Math::OdeSolverLinearEulerImplicit; using SurgSim::Math::OdeSolverLinearStatic; using SurgSim::Math::LinearSparseSolveAndInverseLU; // setInitialState sets all 4 states (tested in method above !) setLocalPose(m_nonIdentityTransform); setInitialState(m_localInitialState); EXPECT_NO_THROW(EXPECT_TRUE(initialize(std::make_shared()))); EXPECT_NO_THROW(EXPECT_TRUE(wakeUp())); // Test the Ode Solver ASSERT_NE(nullptr, m_odeSolver); ASSERT_NE(nullptr, m_odeSolver->getLinearSolver()); std::shared_ptr expectedLinearSolverType; expectedLinearSolverType = std::dynamic_pointer_cast (m_odeSolver->getLinearSolver()); ASSERT_NE(nullptr, expectedLinearSolverType); typedef OdeSolverEulerExplicit EESolver; EESolver* explicitEuler; explicitEuler = dynamic_cast(m_odeSolver.get()); ASSERT_NE(nullptr, explicitEuler); typedef OdeSolverEulerExplicitModified MEESolver; MEESolver* modifiedExplicitEuler; modifiedExplicitEuler = dynamic_cast(m_odeSolver.get()); ASSERT_EQ(nullptr, modifiedExplicitEuler); typedef OdeSolverEulerImplicit IESolver; IESolver* implicitEuler; implicitEuler = dynamic_cast(m_odeSolver.get()); ASSERT_EQ(nullptr, implicitEuler); typedef OdeSolverStatic StaticSolver; StaticSolver* staticSolver; staticSolver = dynamic_cast(m_odeSolver.get()); ASSERT_EQ(nullptr, staticSolver); typedef OdeSolverLinearEulerExplicit EELinearSolver; EELinearSolver* explicitEulerLinear; explicitEulerLinear = dynamic_cast(m_odeSolver.get()); ASSERT_EQ(nullptr, explicitEulerLinear); typedef OdeSolverLinearEulerExplicitModified MEELinearSolver; MEELinearSolver* modifiedExplicitEulerLinear; modifiedExplicitEulerLinear = dynamic_cast(m_odeSolver.get()); ASSERT_EQ(nullptr, modifiedExplicitEulerLinear); typedef OdeSolverLinearEulerImplicit IELinearSolver; IELinearSolver* implicitEulerLinear; implicitEulerLinear = dynamic_cast(m_odeSolver.get()); ASSERT_EQ(nullptr, implicitEulerLinear); typedef OdeSolverLinearStatic StaticLinearSolver; StaticLinearSolver* staticLinearSolver; staticLinearSolver = dynamic_cast(m_odeSolver.get()); ASSERT_EQ(nullptr, staticLinearSolver); } TEST_F(DeformableRepresentationTest, SerializationTest) { { SCOPED_TRACE("Encode a DeformableRepresentation object with valid DeformableCollisionRepresentation, no throw"); auto deformableRepresentation = std::make_shared("TestRigidRepresentation"); deformableRepresentation->setValue("IntegrationScheme", SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC); std::shared_ptr deformableCollisionRepresentation = std::make_shared("DeformableCollisionRepresentation"); deformableRepresentation->setValue("CollisionRepresentation", deformableCollisionRepresentation); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*deformableRepresentation)); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); YAML::Node data = node["SurgSim::Physics::MockDeformableRepresentation"]; EXPECT_EQ(10u, data.size()); std::shared_ptr newRepresentation; newRepresentation = std::dynamic_pointer_cast (node.as>()); EXPECT_NE(nullptr, newRepresentation->getCollisionRepresentation()); auto collisionRepresentation = newRepresentation->getValue>("CollisionRepresentation"); auto newDeformableCollisionRepresentation = std::dynamic_pointer_cast(collisionRepresentation); EXPECT_NE(nullptr, newDeformableCollisionRepresentation); EXPECT_EQ("SurgSim::Physics::MockDeformableRepresentation", newRepresentation->getClassName()); EXPECT_EQ(newRepresentation, newDeformableCollisionRepresentation->getDeformableRepresentation()); EXPECT_EQ(SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC, newRepresentation->getValue("IntegrationScheme")); } } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/DeformableTestsUtility-inl.h000066400000000000000000000044131277777236100264730ustar00rootroot00000000000000// Copyright 2013, SimQuest Solutions 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 // // 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. /// \file DeformableTestsUtility.h /// Common functions for testing deformable compute/update functions. #ifndef SURGSIM_PHYSICS_UNITTESTS_DEFORMABLETESTSUTILITY_INL_H #define SURGSIM_PHYSICS_UNITTESTS_DEFORMABLETESTSUTILITY_INL_H template void SurgSim::Physics::testOdeEquationUpdate(std::shared_ptr rep, const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& expectedF, const SurgSim::Math::Matrix& expectedM, const SurgSim::Math::Matrix& expectedD, const SurgSim::Math::Matrix& expectedK) { using SurgSim::Math::OdeEquationUpdate; auto odeEquation = std::dynamic_pointer_cast(rep); odeEquation->updateFMDK(state, OdeEquationUpdate::ODEEQUATIONUPDATE_F); EXPECT_NO_THROW(EXPECT_TRUE(odeEquation->getF().isApprox(expectedF))); odeEquation->updateFMDK(state, OdeEquationUpdate::ODEEQUATIONUPDATE_M); EXPECT_NO_THROW(EXPECT_TRUE(odeEquation->getM().isApprox(expectedM))); odeEquation->updateFMDK(state, OdeEquationUpdate::ODEEQUATIONUPDATE_D); EXPECT_NO_THROW(EXPECT_TRUE(odeEquation->getD().isApprox(expectedD))); odeEquation->updateFMDK(state, OdeEquationUpdate::ODEEQUATIONUPDATE_K); EXPECT_NO_THROW(EXPECT_TRUE(odeEquation->getK().isApprox(expectedK))); // Test combo method computeFMDK rep->clearFMDK(); odeEquation->updateFMDK(state, OdeEquationUpdate::ODEEQUATIONUPDATE_FMDK); EXPECT_NO_THROW(EXPECT_TRUE(odeEquation->getF().isApprox(expectedF))); EXPECT_NO_THROW(EXPECT_TRUE(odeEquation->getM().isApprox(expectedM))); EXPECT_NO_THROW(EXPECT_TRUE(odeEquation->getD().isApprox(expectedD))); EXPECT_NO_THROW(EXPECT_TRUE(odeEquation->getK().isApprox(expectedK))); } #endif // SURGSIM_PHYSICS_UNITTESTS_DEFORMABLETESTSUTILITY_INL_H opensurgsim-0.7.0/SurgSim/Physics/UnitTests/DeformableTestsUtility.h000066400000000000000000000026311277777236100257130ustar00rootroot00000000000000// Copyright 2013, SimQuest Solutions 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 // // 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. /// \file DeformableTestsUtility.h /// Common functions for testing deformable compute/update functions. #ifndef SURGSIM_PHYSICS_UNITTESTS_DEFORMABLETESTSUTILITY_H #define SURGSIM_PHYSICS_UNITTESTS_DEFORMABLETESTSUTILITY_H #include #include "SurgSim/Math/OdeEquation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Vector.h" namespace SurgSim { namespace Physics { template void testOdeEquationUpdate(std::shared_ptr rep, const SurgSim::Math::OdeState& state, const SurgSim::Math::Vector& expectedF, const SurgSim::Math::Matrix& expectedM, const SurgSim::Math::Matrix& expectedD, const SurgSim::Math::Matrix& expectedK); } } #include "SurgSim/Physics/UnitTests/DeformableTestsUtility-inl.h" #endif // SURGSIM_PHYSICS_UNITTESTS_DEFORMABLETESTSUTILITY_H opensurgsim-0.7.0/SurgSim/Physics/UnitTests/EigenGtestAsserts.cpp000066400000000000000000000050571277777236100252070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" namespace SurgSim { namespace Physics { namespace Testing { ::testing::AssertionResult AssertMatricesEqual(const char *expected_expr, const char *actual_expr, const char *abs_err_expr, const Eigen::MatrixXd &expected, const Eigen::MatrixXd &actual, double abs_err) { if ((expected.rows() != actual.rows()) || (expected.cols() != actual.cols())) { return ::testing::AssertionFailure() << "Sizes do not match." << std::endl << "Actual: [" << actual.rows() << ", " << actual.cols() << "]" << std::endl << "Expected: [" << expected.rows() << ", " << expected.cols() << "]" << std::endl; } if (!expected.isApprox(actual, abs_err)) { ::testing::AssertionResult result = ::testing::AssertionFailure() << "Matrices are not within epsilon of each other." << std::endl << "Difference: " << (actual - expected).norm() << std::endl << "Epsilon: " << abs_err << std::endl; if (expected.cols() == 1 || expected.rows() == 1) { typedef std::tuple DifferenceTuple; std::vector differences; for (int index = 0; index < expected.size(); ++index) { if (std::abs(expected(index) - actual(index)) > abs_err) { differences.emplace_back(index, expected(index), actual(index)); } } result << "Total differing values: " << differences.size() << std::endl; for (std::vector::iterator it = std::begin(differences); it != std::end(differences); ++it) { result << "[Index, Expected, Actual]: " << std::get<0>(*it) << ", " << std::get<1>(*it) << ", " << std::get<2>(*it) << std::endl; } } return result; } return ::testing::AssertionSuccess(); } } // namespace Testing } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/EigenGtestAsserts.h000066400000000000000000000030641277777236100246500ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_UNITTESTS_EIGENGTESTASSERTS_H #define SURGSIM_PHYSICS_UNITTESTS_EIGENGTESTASSERTS_H #include #include namespace SurgSim { namespace Physics { namespace Testing { ::testing::AssertionResult AssertMatricesEqual(const char *expected_expr, const char *actual_expr, const char *abs_err_expr, const Eigen::MatrixXd &expected, const Eigen::MatrixXd &actual, double abs_err); } // namespace Testing } // namespace Physics } // namespace SurgSim #define EXPECT_NEAR_EIGEN(expected, actual, abs_err) \ EXPECT_PRED_FORMAT3(SurgSim::Physics::Testing::AssertMatricesEqual, (expected), (actual), (abs_err)) #define ASSERT_NEAR_EIGEN(expected, actual, abs_err) \ ASSERT_PRED_FORMAT3(SurgSim::Physics::Testing::AssertMatricesEqual, (expected), (actual), (abs_err)) #endif // SURGSIM_PHYSICS_UNITTESTS_EIGENGTESTASSERTS_H opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem1DConstraintFixedPointTests.cpp000066400000000000000000000211341277777236100275540ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/MlcpConstraintType.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/Fem1DElementBeam.h" #include "SurgSim/Physics/Fem1DLocalization.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/FemConstraintFixedPoint.h" #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" using SurgSim::Math::Vector2d; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; using SurgSim::Math::Vector6d; namespace { const double epsilon = 1e-10; const double dt = 1e-3; }; namespace SurgSim { namespace Physics { static std::shared_ptr getBeam(size_t node0, size_t node1, double radius, double massDensity, double poissonRatio, double youngModulus) { std::array nodeIds = {node0, node1}; auto element = std::make_shared(nodeIds); element->setMassDensity(massDensity); element->setPoissonRatio(poissonRatio); element->setYoungModulus(youngModulus); element->setRadius(radius); return element; } static std::shared_ptr getFem1d(const std::string &name, double radius = 0.01, double massDensity = 1.0, double poissonRatio = 0.1, double youngModulus = 1.0) { auto fem = std::make_shared(name); auto state = std::make_shared(); state->setNumDof(6, 4); std::array p0 = {{0.11, 0.22, 0.33, 0.44, 0.55, 0.66}}; std::array p1 = {{0.12, -0.23, 0.34, -0.45, 0.56, -0.67}}; std::array p2 = {{-0.10, 0.21, -0.32, 0.43, -0.54, 0.65}}; std::array p3 = {{0.2, 0.2, 0.2, 0.2, 0.2, 0.2}}; state->getPositions().segment<6>(0 * 6) = Vector6d(p0.data()); state->getPositions().segment<6>(1 * 6) = Vector6d(p1.data()); state->getPositions().segment<6>(2 * 6) = Vector6d(p2.data()); state->getPositions().segment<6>(3 * 6) = Vector6d(p3.data()); fem->addFemElement(getBeam(0, 1, radius, massDensity, poissonRatio, youngModulus)); fem->addFemElement(getBeam(1, 2, radius, massDensity, poissonRatio, youngModulus)); fem->addFemElement(getBeam(2, 3, radius, massDensity, poissonRatio, youngModulus)); fem->setInitialState(state); fem->initialize(std::make_shared()); fem->wakeUp(); fem->setIsGravityEnabled(false); fem->beforeUpdate(dt); fem->update(dt); return fem; } TEST(Fem1DConstraintFixedPointTests, Constructor) { ASSERT_NO_THROW({ FemConstraintFixedPoint constraint; }); } TEST(Fem1DConstraintFixedPointTests, Constants) { FemConstraintFixedPoint constraint; EXPECT_EQ(SurgSim::Physics::FIXED_3DPOINT, constraint.getConstraintType()); EXPECT_EQ(3u, constraint.getNumDof()); } TEST(Fem1DConstraintFixedPointTests, BuildMlcpBasic) { // Whitebox test which validates ConstraintImplementation::build's output parameter, MlcpPhysicsProblem. It assumes // CHt and HCHt can be correctly built given H, so it does not necessarily construct the physical parameters // necessary to supply a realistic C. It only checks H and b. FemConstraintFixedPoint constraint; Vector3d actual; // Setup parameters for FemConstraintFixedPoint::build auto localization = std::make_shared(getFem1d("representation"), SurgSim::DataStructures::IndexedLocalCoordinate(2u, Vector2d(1.0, 0.0))); actual = localization->calculatePosition(); MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(24, 3, 1); ConstraintData emptyConstraint; ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); // Compare results Eigen::Matrix violation = actual; EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); Eigen::Matrix identity = Eigen::Matrix::Identity(); SurgSim::Math::setSubMatrix(1.0 * dt * identity, 0, 4, 3, 3, &H); // This weight is on node 2 (beam 2, nodeId 0) EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST(Fem1DConstraintFixedPointTests, BuildMlcp) { // Whitebox test which validates ConstraintImplementation::build's output parameter, MlcpPhysicsProblem. It assumes // CHt and HCHt can be correctly built given H, so it does not necessarily construct the physical parameters // necessary to supply a realistic C. It only checks H and b. FemConstraintFixedPoint constraint; Vector3d actual; // Setup parameters for FemConstraintFixedPoint::build auto localization = std::make_shared(getFem1d("representation"), SurgSim::DataStructures::IndexedLocalCoordinate(2u, Vector2d(0.3, 0.7))); actual = localization->calculatePosition(); MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(24, 3, 1); ConstraintData emptyConstraint; ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); // Compare results Eigen::Matrix violation = actual; EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); Eigen::Matrix identity = Eigen::Matrix::Identity(); SurgSim::Math::setSubMatrix(0.3 * dt * identity, 0, 4, 3, 3, &H); // This weight is on node 2 (beam 2, nodeId 0) SurgSim::Math::setSubMatrix(0.7 * dt * identity, 0, 6, 3, 3, &H); // This weight is on node 3 (beam 2, nodeId 1) EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST(Fem1DConstraintFixedPointTests, BuildMlcpTwoStep) { // Whitebox test which validates ConstraintImplementation::build's output parameter, MlcpPhysicsProblem. It assumes // CHt and HCHt can be correctly built given H, so it does not necessarily construct the physical parameters // necessary to supply a realistic C. It only checks H and b. FemConstraintFixedPoint constraint; Vector3d actual; Vector3d desired; // Setup parameters for FemConstraintFixedPoint::build MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(24, 3, 1); ConstraintData emptyConstraint; auto localization = std::make_shared(getFem1d("representation"), SurgSim::DataStructures::IndexedLocalCoordinate(2u, Vector2d(0.11, 0.89))); actual = localization->calculatePosition(); ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); localization->setLocalPosition( SurgSim::DataStructures::IndexedLocalCoordinate(1u, Vector2d(0.32, 0.68))); desired = localization->calculatePosition(); ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_NEGATIVE_SIDE)); // Compare results Eigen::Matrix violation = actual - desired; EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); Eigen::Matrix identity = Eigen::Matrix::Identity(); SurgSim::Math::addSubMatrix( 0.11 * dt * identity, 0, 4, 3, 3, &H); // This weight is on node 2 (beam 2, nodeId 0) SurgSim::Math::addSubMatrix( 0.89 * dt * identity, 0, 6, 3, 3, &H); // This weight is on node 3 (beam 2, nodeId 1) SurgSim::Math::addSubMatrix(-0.32 * dt * identity, 0, 2, 3, 3, &H); // This weight is on node 1 (beam 1, nodeId 0) SurgSim::Math::addSubMatrix(-0.68 * dt * identity, 0, 4, 3, 3, &H); // This weight is on node 2 (beam 1, nodeId 0) EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem1DConstraintFixedRotationVectorTests.cpp000066400000000000000000000245061277777236100314530ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/MlcpConstraintType.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem1DElementBeam.h" #include "SurgSim/Physics/Fem1DLocalization.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/FemConstraintFixedRotationVector.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Physics/RotationVectorConstraintData.h" using SurgSim::Math::Vector2d; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; using SurgSim::Math::Vector6d; namespace { const double epsilon = 1e-10; const double dt = 1e-3; }; namespace SurgSim { namespace Physics { static std::shared_ptr getBeam(size_t node0, size_t node1, double radius, double massDensity, double poissonRatio, double youngModulus) { std::array nodeIds = {node0, node1}; auto element = std::make_shared(nodeIds); element->setMassDensity(massDensity); element->setPoissonRatio(poissonRatio); element->setYoungModulus(youngModulus); element->setRadius(radius); return element; } static std::shared_ptr getFem1d(const std::string &name, double radius = 0.01, double massDensity = 1.0, double poissonRatio = 0.1, double youngModulus = 1.0) { auto fem = std::make_shared(name); auto state = std::make_shared(); state->setNumDof(6, 4); std::array p0 = {{0.11, 0.22, 0.33, 0.44, 0.55, 0.66}}; std::array p1 = {{0.12, -0.23, 0.34, -0.45, 0.56, -0.67}}; std::array p2 = {{-0.10, 0.21, -0.32, 0.43, -0.54, 0.65}}; std::array p3 = {{0.2, 0.2, 0.2, 0.2, 0.2, 0.2}}; state->getPositions().segment<6>(0 * 6) = Vector6d(p0.data()); state->getPositions().segment<6>(1 * 6) = Vector6d(p1.data()); state->getPositions().segment<6>(2 * 6) = Vector6d(p2.data()); state->getPositions().segment<6>(3 * 6) = Vector6d(p3.data()); fem->addFemElement(getBeam(0, 1, radius, massDensity, poissonRatio, youngModulus)); fem->addFemElement(getBeam(1, 2, radius, massDensity, poissonRatio, youngModulus)); fem->addFemElement(getBeam(2, 3, radius, massDensity, poissonRatio, youngModulus)); fem->setInitialState(state); fem->initialize(std::make_shared()); fem->wakeUp(); fem->setIsGravityEnabled(false); fem->beforeUpdate(dt); fem->update(dt); return fem; } TEST(Fem1DConstraintFixedRotationVectorTests, Constructor) { ASSERT_NO_THROW({ FemConstraintFixedRotationVector constraint; }); } TEST(Fem1DConstraintFixedRotationVectorTests, Constants) { FemConstraintFixedRotationVector constraint; EXPECT_EQ(SurgSim::Physics::FIXED_3DROTATION_VECTOR, constraint.getConstraintType()); EXPECT_EQ(3u, constraint.getNumDof()); } TEST(Fem1DConstraintFixedRotationVectorTests, BuildMlcpBasic) { FemConstraintFixedRotationVector constraint; // Prepare the fem1d representation for this constraint type auto fem1d = getFem1d("representation"); auto localization = std::make_shared(fem1d, SurgSim::DataStructures::IndexedLocalCoordinate(2u, Vector2d(1.0, 0.0))); // Prepare the rigid representation for this constraint type auto rigid = std::make_shared("rigid"); // Prepare the specific constraint data RotationVectorRigidFem1DConstraintData emptyConstraint; emptyConstraint.setFem1DRotation(fem1d, localization->getLocalPosition().index); emptyConstraint.setRigidOrFixedRotation(rigid, rigid->getPose().linear()); MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(24, 3, 1); ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); // Compare results Vector3d actual = Vector3d::Zero(); auto nodeIds = fem1d->getFemElement(2u)->getNodeIds(); Vector3d rotationVector0 = fem1d->getInitialState()->getPositions().segment<3>(6 * nodeIds[0] + 3); Vector3d rotationVector1 = fem1d->getInitialState()->getPositions().segment<3>(6 * nodeIds[1] + 3); actual = SurgSim::Math::interpolate(rotationVector0, rotationVector1, 0.0); Eigen::Matrix violation = actual; EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); Eigen::Matrix identity = Eigen::Matrix::Identity(); SurgSim::Math::setSubMatrix(1.0 * dt * identity, 0, 5, 3, 3, &H); // This weight is on node 1 (beam 1, nodeId 0) EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST(Fem1DConstraintFixedRotationVectorTests, BuildMlcp) { FemConstraintFixedRotationVector constraint; // Prepare the fem1d representation for this constraint type auto fem1d = getFem1d("representation"); auto localization = std::make_shared(fem1d, SurgSim::DataStructures::IndexedLocalCoordinate(2u, Vector2d(0.3, 0.7))); // Prepare the rigid representation for this constraint type auto rigid = std::make_shared("rigid"); // Prepare the specific constraint data RotationVectorRigidFem1DConstraintData emptyConstraint; emptyConstraint.setFem1DRotation(fem1d, localization->getLocalPosition().index); emptyConstraint.setRigidOrFixedRotation(rigid, rigid->getPose().linear()); MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(24, 3, 1); ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); // Compare results Vector3d actual = Vector3d::Zero(); auto nodeIds = fem1d->getFemElement(2u)->getNodeIds(); Vector3d rotationVector0 = fem1d->getInitialState()->getPositions().segment<3>(6 * nodeIds[0] + 3); Vector3d rotationVector1 = fem1d->getInitialState()->getPositions().segment<3>(6 * nodeIds[1] + 3); actual = SurgSim::Math::interpolate(rotationVector0, rotationVector1, 0.7); Eigen::Matrix violation = actual; EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); Eigen::Matrix identity = Eigen::Matrix::Identity(); SurgSim::Math::setSubMatrix(0.3 * dt * identity, 0, 5, 3, 3, &H); // This weight is on node 2 (beam 2, nodeId 0) SurgSim::Math::setSubMatrix(0.7 * dt * identity, 0, 7, 3, 3, &H); // This weight is on node 3 (beam 2, nodeId 1) EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST(Fem1DConstraintFixedRotationVectorTests, BuildMlcpTwoStep) { FemConstraintFixedRotationVector constraint; // Prepare the fem1d representation for this constraint type auto fem1d = getFem1d("representation"); auto localization = std::make_shared(fem1d, SurgSim::DataStructures::IndexedLocalCoordinate(2u, Vector2d(0.11, 0.89))); // Prepare the rigid representation for this constraint type auto rigid = std::make_shared("rigid"); // Prepare the specific constraint data RotationVectorRigidFem1DConstraintData emptyConstraint; emptyConstraint.setFem1DRotation(fem1d, localization->getLocalPosition().index); emptyConstraint.setRigidOrFixedRotation(rigid, rigid->getPose().linear()); MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(24, 3, 1); ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); localization->setLocalPosition( SurgSim::DataStructures::IndexedLocalCoordinate(1u, Vector2d(0.32, 0.68))); Vector3d desired = Vector3d::Zero(); { auto nodeIds = fem1d->getFemElement(1u)->getNodeIds(); Vector3d rotationVector0 = fem1d->getInitialState()->getPositions().segment<3>(6 * nodeIds[0] + 3); Vector3d rotationVector1 = fem1d->getInitialState()->getPositions().segment<3>(6 * nodeIds[1] + 3); desired = SurgSim::Math::interpolate(rotationVector0, rotationVector1, 0.68); } ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_NEGATIVE_SIDE)); // Compare results Vector3d actual = Vector3d::Zero(); auto nodeIds = fem1d->getFemElement(2u)->getNodeIds(); Vector3d rotationVector0 = fem1d->getInitialState()->getPositions().segment<3>(6 * nodeIds[0] + 3); Vector3d rotationVector1 = fem1d->getInitialState()->getPositions().segment<3>(6 * nodeIds[1] + 3); actual = SurgSim::Math::interpolate(rotationVector0, rotationVector1, 0.89); Eigen::Matrix violation = actual - desired; EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); Eigen::Matrix identity = Eigen::Matrix::Identity(); SurgSim::Math::addSubMatrix( 0.11 * dt * identity, 0, 5, 3, 3, &H); // This weight is on node 2 (beam 2, nodeId 0) SurgSim::Math::addSubMatrix( 0.89 * dt * identity, 0, 7, 3, 3, &H); // This weight is on node 3 (beam 2, nodeId 1) SurgSim::Math::addSubMatrix(-0.32 * dt * identity, 0, 3, 3, 3, &H); // This weight is on node 1 (beam 1, nodeId 0) SurgSim::Math::addSubMatrix(-0.68 * dt * identity, 0, 5, 3, 3, &H); // This weight is on node 2 (beam 1, nodeId 0) EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem1DConstraintFrictionalSlidingTests.cpp000066400000000000000000000253701277777236100311150ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/LinearSparseSolveAndInverse.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem1DElementBeam.h" #include "SurgSim/Physics/Fem1DLocalization.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/FemConstraintFrictionalSliding.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" #include "SurgSim/Physics/SlidingConstraintData.h" #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" using SurgSim::DataStructures::IndexedLocalCoordinate; using SurgSim::Framework::Runtime; using SurgSim::Physics::Fem1DRepresentation; using SurgSim::Physics::FemConstraintFrictionalSliding; using SurgSim::Physics::Fem1DLocalization; using SurgSim::Physics::Fem1DElementBeam; using SurgSim::Physics::MlcpPhysicsProblem; using SurgSim::Physics::MockFem1DRepresentation; using SurgSim::Physics::SlidingConstraintData; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector2d; namespace { const double epsilon = 1e-10; const double dt = 1e-3; }; static void addBeam(Fem1DRepresentation* fem, size_t node0, size_t node1, double radius = 0.01, double massDensity = 1.0, double poissonRatio = 0.1, double youngModulus = 1.0) { std::array nodes = {node0, node1}; auto element = std::make_shared(nodes); element->setRadius(radius); element->setMassDensity(massDensity); element->setPoissonRatio(poissonRatio); element->setYoungModulus(youngModulus); fem->addFemElement(element); } class Fem1DConstraintFrictionalSlidingTests : public ::testing::Test { public: void SetUp() { // Define plane with normal 'n' pointing against gravity. m_slidingDirection = Vector3d(0.8539, 0.6289, -0.9978); m_slidingDirection.normalize(); // Create mock FEM m_fem = std::make_shared("Fem1dRepresentation"); auto state = std::make_shared(); state->setNumDof(6, 5); state->getPositions().segment<3>(0 * 6) = Vector3d(0.30, -0.57, 0.40); state->getPositions().segment<3>(1 * 6) = Vector3d(0.06, 0.63, -0.32); state->getPositions().segment<3>(2 * 6) = Vector3d(-0.91, 0.72, 0.72); state->getPositions().segment<3>(3 * 6) = Vector3d(0.35, 0.52, 0.50); state->getPositions().segment<3>(4 * 6) = Vector3d(1.14, 0.66, 0.71); addBeam(m_fem.get(), 0, 1); addBeam(m_fem.get(), 1, 2); addBeam(m_fem.get(), 2, 3); addBeam(m_fem.get(), 3, 4); m_fem->setInitialState(state); m_fem->setIntegrationScheme(SurgSim::Math::IntegrationScheme::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED); m_fem->setLocalActive(true); m_fem->initialize(std::make_shared()); m_fem->wakeUp(); // Update model by one timestep m_fem->beforeUpdate(dt); m_fem->update(dt); } void setSlidingConstraintAt(const IndexedLocalCoordinate& coord) { m_localization = std::make_shared(m_fem, coord); m_constraintData.setSlidingDirection(m_localization->calculatePosition(0.0), m_slidingDirection); } std::shared_ptr m_fem; std::shared_ptr m_localization; Vector3d m_slidingDirection; SlidingConstraintData m_constraintData; }; TEST_F(Fem1DConstraintFrictionalSlidingTests, ConstructorTest) { ASSERT_NO_THROW( { FemConstraintFrictionalSliding femContact; }); } TEST_F(Fem1DConstraintFrictionalSlidingTests, ConstraintConstantsTest) { auto implementation = std::make_shared(); EXPECT_EQ(SurgSim::Physics::FRICTIONAL_SLIDING, implementation->getConstraintType()); EXPECT_EQ(3u, implementation->getNumDof()); } TEST_F(Fem1DConstraintFrictionalSlidingTests, BuildMlcpTest) { // This test verifies the build mlcp function works for a simple case. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 3, 1); // Apply constraint purely to the first node of the 0th beam. IndexedLocalCoordinate coord(0, Vector2d(1.0, 0.0)); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 0) = (dt * m_slidingDirection).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); // C = dt * m^{-1} m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_DOUBLE_EQ(0.5, mlcpPhysicsProblem.mu[0]); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem1DConstraintFrictionalSlidingTests, BuildMlcpCoordinateTest) { // This test verifies the build mlcp function works for a more complicated case with different nodes. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 3, 1); // Apply constraint between the first two nodes of the 0th beam. const Vector2d barycentric = Vector2d(0.24, 0.76); IndexedLocalCoordinate coord(0, barycentric); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 0) = (barycentric[0] * dt * m_slidingDirection).eval(); H.block<1, 3>(0, 6) = (barycentric[1] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 6) = (barycentric[1] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 6) = (barycentric[1] * dt * m_slidingDirection).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); // C = dt * m^{-1} m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_DOUBLE_EQ(0.5, mlcpPhysicsProblem.mu[0]); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem1DConstraintFrictionalSlidingTests, BuildMlcpIndiciesTest) { // This test verifies the build mlcp function works given a hypothetical, preexisting mlcp problem. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof() + 5, 4, 2); // Suppose 5 dof and 1 constraint are defined elsewhere. Then H, CHt, HCHt, and b are prebuilt. Eigen::SparseVector localH; localH.resize(5); localH.reserve(5); localH.insert(0) = 0.9478; localH.insert(1) = -0.3807; localH.insert(2) = 0.5536; localH.insert(3) = -0.6944; localH.insert(4) = 0.1815; mlcpPhysicsProblem.H.coeffRef(0, 0) += localH.coeff(0); mlcpPhysicsProblem.H.coeffRef(0, 1) += localH.coeff(1); mlcpPhysicsProblem.H.coeffRef(0, 2) += localH.coeff(2); mlcpPhysicsProblem.H.coeffRef(0, 3) += localH.coeff(3); mlcpPhysicsProblem.H.coeffRef(0, 4) += localH.coeff(4); Eigen::Matrix localC; localC << -0.2294, 0.5160, 0.2520, 0.5941, -0.4854, 0.1233, -0.4433, 0.3679, 0.9307, 0.2600, 0.1988, 0.6637, -0.7591, 0.1475, 0.8517, -0.5495, -0.4305, 0.3162, -0.7862, 0.7627, -0.5754, 0.4108, 0.8445, -0.5565, 0.7150; localC = localC * localC.transpose(); // force to be symmetric Eigen::Matrix localCHt = localC * localH.transpose(); mlcpPhysicsProblem.CHt.block<5, 1>(0, 0) = localCHt; mlcpPhysicsProblem.A.block<1, 1>(0, 0) = localH * localCHt; mlcpPhysicsProblem.b.block<1, 1>(0, 0)[0] = 0.6991; // Place the Fem at 5th dof (1 or multiple representations exist before, covering a total of 5 dof) // and the constraint at the index 1 (1 atomic constraint exists before this one) size_t indexOfRepresentation = 5; size_t indexOfConstraint = 1; // Apply constraint between the first two nodes of the fem. const Vector2d barycentric = Vector2d(0.24, 0.76); IndexedLocalCoordinate coord(0, barycentric); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, indexOfRepresentation, indexOfConstraint, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 0) = (barycentric[0] * dt * m_slidingDirection).eval(); H.block<1, 3>(0, 6) = (barycentric[1] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 6) = (barycentric[1] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 6) = (barycentric[1] * dt * m_slidingDirection).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H.block(indexOfConstraint, indexOfRepresentation, 3, 30), epsilon); m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN( C * H.transpose(), mlcpPhysicsProblem.CHt.block(indexOfRepresentation, indexOfConstraint, 30, 3), epsilon); EXPECT_NEAR_EIGEN( H * C * H.transpose(), mlcpPhysicsProblem.A.block(indexOfConstraint, indexOfConstraint, 3, 3), epsilon); EXPECT_DOUBLE_EQ(0.5, mlcpPhysicsProblem.mu[1]); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem1DConstraintFrictionlessContactTests.cpp000066400000000000000000000267231277777236100314740ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/LinearSparseSolveAndInverse.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/ContactConstraintData.h" #include "SurgSim/Physics/Fem1DElementBeam.h" #include "SurgSim/Physics/Fem1DLocalization.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/FemConstraintFrictionlessContact.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" using SurgSim::DataStructures::IndexedLocalCoordinate; using SurgSim::Framework::Runtime; using SurgSim::Physics::ContactConstraintData; using SurgSim::Physics::Fem1DRepresentation; using SurgSim::Physics::FemConstraintFrictionlessContact; using SurgSim::Physics::Fem1DLocalization; using SurgSim::Physics::Fem1DElementBeam; using SurgSim::Physics::MlcpPhysicsProblem; using SurgSim::Physics::MockFem1DRepresentation; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector2d; namespace { const double epsilon = 1e-10; const double dt = 1e-3; const double mlcpPrecision = 1e-04; }; static void addBeam(Fem1DRepresentation* fem, size_t node0, size_t node1, double radius = 0.01, double massDensity = 1.0, double poissonRatio = 0.1, double youngModulus = 1.0) { std::array nodes = {node0, node1}; auto element = std::make_shared(nodes); element->setRadius(radius); element->setMassDensity(massDensity); element->setPoissonRatio(poissonRatio); element->setYoungModulus(youngModulus); fem->addFemElement(element); } class Fem1DConstraintFrictionlessContactTests : public ::testing::Test { public: void SetUp() { // Define plane with normal 'n' pointing against gravity. m_n = Vector3d(0.8539, 0.6289, -0.9978); m_n.normalize(); // Create mock FEM m_fem = std::make_shared("Fem1dRepresentation"); auto state = std::make_shared(); state->setNumDof(6, 5); state->getPositions().segment<3>(0 * 6) = Vector3d(0.30, -0.57, 0.40); state->getPositions().segment<3>(1 * 6) = Vector3d(0.06, 0.63, -0.32); state->getPositions().segment<3>(2 * 6) = Vector3d(-0.91, 0.72, 0.72); state->getPositions().segment<3>(3 * 6) = Vector3d(0.35, 0.52, 0.50); state->getPositions().segment<3>(4 * 6) = Vector3d(1.14, 0.66, 0.71); addBeam(m_fem.get(), 0, 1); addBeam(m_fem.get(), 1, 2); addBeam(m_fem.get(), 2, 3); addBeam(m_fem.get(), 3, 4); m_fem->setInitialState(state); m_fem->setIntegrationScheme(SurgSim::Math::IntegrationScheme::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED); m_fem->setLocalActive(true); m_fem->initialize(std::make_shared()); m_fem->wakeUp(); // Update model by one timestep m_fem->beforeUpdate(dt); m_fem->update(dt); } void setContactAt(const IndexedLocalCoordinate& coord) { m_localization = std::make_shared(m_fem, coord); // Calculate position at state before "m_fem->update(dt)" was called. double distance = -m_localization->calculatePosition(0.0).dot(m_n); m_constraintData.setPlaneEquation(m_n, distance); } Vector3d computeNewPosition(const IndexedLocalCoordinate& coord) const { // Solve the system M.a = f // The gravity force should be M.g, but we actually use a mass per node diagonal matrix Md // So the assumption that the violation should be oriented toward the gravity vector is false: // Ma = f = Mg => a = M^-1.f = M^-1.M.g = g // Instead, we have // Ma = f = Md.g => a = M^-1.f = M^-1.Md.g SurgSim::Math::Vector a = m_fem->getM().toDense().inverse() * m_fem->getF(); SurgSim::Math::Vector v = m_fem->getInitialState()->getVelocities() + a * dt; SurgSim::Math::Vector p = m_fem->getInitialState()->getPositions() + v * dt; Vector3d newPosition = Vector3d::Zero(); const auto& nodeIds = m_fem->getFemElement(coord.index)->getNodeIds(); for (size_t node = 0; node < 2; node++) { newPosition += p.segment<3>(6 * nodeIds[node]) * coord.coordinate[node]; } return newPosition; } std::shared_ptr m_fem; std::shared_ptr m_localization; Vector3d m_n; ContactConstraintData m_constraintData; }; TEST_F(Fem1DConstraintFrictionlessContactTests, ConstructorTest) { ASSERT_NO_THROW( { FemConstraintFrictionlessContact femContact; }); } TEST_F(Fem1DConstraintFrictionlessContactTests, ConstraintConstantsTest) { auto implementation = std::make_shared(); EXPECT_EQ(SurgSim::Physics::FRICTIONLESS_3DCONTACT, implementation->getConstraintType()); EXPECT_EQ(1u, implementation->getNumDof()); } TEST_F(Fem1DConstraintFrictionlessContactTests, BuildMlcpTest) { // This test verifies the build mlcp function works for a simple case. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 1, 1); // Apply constraint purely to the first node of the 0th beam. IndexedLocalCoordinate coord(0, Vector2d(1.0, 0.0)); setContactAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); const Vector3d newPosition = computeNewPosition(coord); EXPECT_NEAR(newPosition.dot(m_n), mlcpPhysicsProblem.b[0] + mlcpPrecision, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); H.segment<3>(6 * 0) = dt * m_n; EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); // C = dt * m^{-1} m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem1DConstraintFrictionlessContactTests, BuildMlcpCoordinateTest) { // This test verifies the build mlcp function works for a more complicated case with different nodes. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 1, 1); // Apply constraint to all nodes of an fem. const Vector2d barycentric = Vector2d(0.24, 0.76); IndexedLocalCoordinate coord(1, barycentric); setContactAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); const Vector3d newPosition = computeNewPosition(coord); EXPECT_NEAR(newPosition.dot(m_n), mlcpPhysicsProblem.b[0] + mlcpPrecision, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); H.segment<3>(6 * 1) = 0.24 * dt * m_n; H.segment<3>(6 * 2) = 0.76 * dt * m_n; EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon) << "H = " << H << std::endl << "mlcpH = " << mlcpPhysicsProblem.H << std::endl; // C = dt * m^{-1} SurgSim::Math::Matrix C; SurgSim::Math::SparseMatrix M(30, 30); m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); M = m_fem->getM(); SurgSim::Math::LinearSparseSolveAndInverseLU solver; SurgSim::Math::Vector b = SurgSim::Math::Vector::Zero(30); solver.setMatrix(M); C = solver.getInverse(); C *= dt; EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem1DConstraintFrictionlessContactTests, BuildMlcpIndiciesTest) { // This test verifies the build mlcp function works given a hypothetical, preexisting mlcp problem. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof() + 5, 2, 1); // Suppose 5 dof and 1 constraint are defined elsewhere. Then H, CHt, HCHt, and b are prebuilt. Eigen::SparseVector localH; localH.resize(5); localH.reserve(5); localH.insert(0) = 0.9478; localH.insert(1) = -0.3807; localH.insert(2) = 0.5536; localH.insert(3) = -0.6944; localH.insert(4) = 0.1815; mlcpPhysicsProblem.H.coeffRef(0, 0) += localH.coeff(0); mlcpPhysicsProblem.H.coeffRef(0, 1) += localH.coeff(1); mlcpPhysicsProblem.H.coeffRef(0, 2) += localH.coeff(2); mlcpPhysicsProblem.H.coeffRef(0, 3) += localH.coeff(3); mlcpPhysicsProblem.H.coeffRef(0, 4) += localH.coeff(4); Eigen::Matrix localC; localC << -0.2294, 0.5160, 0.2520, 0.5941, -0.4854, 0.1233, -0.4433, 0.3679, 0.9307, 0.2600, 0.1988, 0.6637, -0.7591, 0.1475, 0.8517, -0.5495, -0.4305, 0.3162, -0.7862, 0.7627, -0.5754, 0.4108, 0.8445, -0.5565, 0.7150; localC = localC * localC.transpose(); // force to be symmetric Eigen::Matrix localCHt = localC * localH.transpose(); mlcpPhysicsProblem.CHt.block<5, 1>(0, 0) = localCHt; mlcpPhysicsProblem.A.block<1, 1>(0, 0) = localH * localCHt; mlcpPhysicsProblem.b.block<1, 1>(0, 0)[0] = 0.6991; // Place the Fem at 5th dof (1 or multiple representations exist before, covering a total of 5 dof) // and the constraint at the index 1 (1 atomic constraint exists before this one) size_t indexOfRepresentation = 5; size_t indexOfConstraint = 1; // Apply constraint to all nodes of an fem. const Vector2d barycentric = Vector2d(0.24, 0.76); IndexedLocalCoordinate coord(1, barycentric); setContactAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, indexOfRepresentation, indexOfConstraint, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); const Vector3d newPosition = computeNewPosition(coord); EXPECT_NEAR(newPosition.dot(m_n), mlcpPhysicsProblem.b[indexOfConstraint] + mlcpPrecision, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); H.segment<3>(6 * 1) = 0.24 * dt * m_n; H.segment<3>(6 * 2) = 0.76 * dt * m_n; EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H.block(indexOfConstraint, indexOfRepresentation, 1, 30), epsilon); SurgSim::Math::Matrix C; SurgSim::Math::SparseMatrix M(30, 30); m_fem->updateFMDK(*m_fem->getPreviousState(), SurgSim::Math::ODEEQUATIONUPDATE_M); M = m_fem->getM(); SurgSim::Math::LinearSparseSolveAndInverseLU solver; SurgSim::Math::Vector b = SurgSim::Math::Vector::Zero(30); solver.setMatrix(M); C = solver.getInverse(); C *= dt; EXPECT_NEAR_EIGEN( C * H.transpose(), mlcpPhysicsProblem.CHt.block(indexOfRepresentation, indexOfConstraint, 30, 1), epsilon); EXPECT_NEAR_EIGEN( H * C * H.transpose(), mlcpPhysicsProblem.A.block(indexOfConstraint, indexOfConstraint, 1, 1), epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem1DConstraintFrictionlessSlidingTests.cpp000066400000000000000000000263401277777236100314650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/LinearSparseSolveAndInverse.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem1DElementBeam.h" #include "SurgSim/Physics/Fem1DLocalization.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/FemConstraintFrictionlessSliding.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" #include "SurgSim/Physics/SlidingConstraintData.h" #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" using SurgSim::DataStructures::IndexedLocalCoordinate; using SurgSim::Framework::Runtime; using SurgSim::Physics::Fem1DRepresentation; using SurgSim::Physics::FemConstraintFrictionlessSliding; using SurgSim::Physics::Fem1DLocalization; using SurgSim::Physics::Fem1DElementBeam; using SurgSim::Physics::MlcpPhysicsProblem; using SurgSim::Physics::MockFem1DRepresentation; using SurgSim::Physics::SlidingConstraintData; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector2d; namespace { const double epsilon = 1e-10; const double dt = 1e-3; }; static void addBeam(Fem1DRepresentation* fem, size_t node0, size_t node1, double radius = 0.01, double massDensity = 1.0, double poissonRatio = 0.1, double youngModulus = 1.0) { std::array nodes = {node0, node1}; auto element = std::make_shared(nodes); element->setRadius(radius); element->setMassDensity(massDensity); element->setPoissonRatio(poissonRatio); element->setYoungModulus(youngModulus); fem->addFemElement(element); } class Fem1DConstraintFrictionlessSlidingTests : public ::testing::Test { public: void SetUp() { // Define plane with normal 'n' pointing against gravity. m_slidingDirection = Vector3d(0.8539, 0.6289, -0.9978); m_slidingDirection.normalize(); // Create mock FEM m_fem = std::make_shared("Fem1dRepresentation"); auto state = std::make_shared(); state->setNumDof(6, 5); state->getPositions().segment<3>(0 * 6) = Vector3d(0.30, -0.57, 0.40); state->getPositions().segment<3>(1 * 6) = Vector3d(0.06, 0.63, -0.32); state->getPositions().segment<3>(2 * 6) = Vector3d(-0.91, 0.72, 0.72); state->getPositions().segment<3>(3 * 6) = Vector3d(0.35, 0.52, 0.50); state->getPositions().segment<3>(4 * 6) = Vector3d(1.14, 0.66, 0.71); addBeam(m_fem.get(), 0, 1); addBeam(m_fem.get(), 1, 2); addBeam(m_fem.get(), 2, 3); addBeam(m_fem.get(), 3, 4); m_fem->setInitialState(state); m_fem->setIntegrationScheme(SurgSim::Math::IntegrationScheme::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED); m_fem->setLocalActive(true); m_fem->initialize(std::make_shared()); m_fem->wakeUp(); // Update model by one timestep m_fem->beforeUpdate(dt); m_fem->update(dt); } void setSlidingConstraintAt(const IndexedLocalCoordinate& coord) { m_localization = std::make_shared(m_fem, coord); m_constraintData.setSlidingDirection(m_localization->calculatePosition(0.0), m_slidingDirection); } std::shared_ptr m_fem; std::shared_ptr m_localization; Vector3d m_slidingDirection; SlidingConstraintData m_constraintData; }; TEST_F(Fem1DConstraintFrictionlessSlidingTests, ConstructorTest) { ASSERT_NO_THROW( { FemConstraintFrictionlessSliding femContact; }); } TEST_F(Fem1DConstraintFrictionlessSlidingTests, ConstraintConstantsTest) { auto implementation = std::make_shared(); EXPECT_EQ(SurgSim::Physics::FRICTIONLESS_SLIDING, implementation->getConstraintType()); EXPECT_EQ(2u, implementation->getNumDof()); } TEST_F(Fem1DConstraintFrictionlessSlidingTests, BuildMlcpTest) { // This test verifies the build mlcp function works for a simple case. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 2, 1); // Apply constraint purely to the first node of the 0th beam. IndexedLocalCoordinate coord(0, Vector2d(1.0, 0.0)); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); auto pose = m_constraintData.getPose().inverse().rotation(); EXPECT_TRUE((pose * m_slidingDirection).isApprox(Vector3d(1.0, 0.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[0]).isApprox(Vector3d(0.0, 1.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[1]).isApprox(Vector3d(0.0, 0.0, 1.0))); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (dt * m_constraintData.getNormals()[1]).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); // C = dt * m^{-1} m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem1DConstraintFrictionlessSlidingTests, BuildMlcpCoordinateTest) { // This test verifies the build mlcp function works for a more complicated case with different nodes. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 2, 1); // Apply constraint between the first two nodes of the 0th beam. const Vector2d barycentric = Vector2d(0.24, 0.76); IndexedLocalCoordinate coord(0, barycentric); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); auto pose = m_constraintData.getPose().inverse().rotation(); EXPECT_TRUE((pose * m_slidingDirection).isApprox(Vector3d(1.0, 0.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[0]).isApprox(Vector3d(0.0, 1.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[1]).isApprox(Vector3d(0.0, 0.0, 1.0))); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(0, 6) = (barycentric[1] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 6) = (barycentric[1] * dt * m_constraintData.getNormals()[1]).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); // C = dt * m^{-1} m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem1DConstraintFrictionlessSlidingTests, BuildMlcpIndiciesTest) { // This test verifies the build mlcp function works given a hypothetical, preexisting mlcp problem. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof() + 5, 3, 2); // Suppose 5 dof and 1 constraint are defined elsewhere. Then H, CHt, HCHt, and b are prebuilt. Eigen::SparseVector localH; localH.resize(5); localH.reserve(5); localH.insert(0) = 0.9478; localH.insert(1) = -0.3807; localH.insert(2) = 0.5536; localH.insert(3) = -0.6944; localH.insert(4) = 0.1815; mlcpPhysicsProblem.H.coeffRef(0, 0) += localH.coeff(0); mlcpPhysicsProblem.H.coeffRef(0, 1) += localH.coeff(1); mlcpPhysicsProblem.H.coeffRef(0, 2) += localH.coeff(2); mlcpPhysicsProblem.H.coeffRef(0, 3) += localH.coeff(3); mlcpPhysicsProblem.H.coeffRef(0, 4) += localH.coeff(4); Eigen::Matrix localC; localC << -0.2294, 0.5160, 0.2520, 0.5941, -0.4854, 0.1233, -0.4433, 0.3679, 0.9307, 0.2600, 0.1988, 0.6637, -0.7591, 0.1475, 0.8517, -0.5495, -0.4305, 0.3162, -0.7862, 0.7627, -0.5754, 0.4108, 0.8445, -0.5565, 0.7150; localC = localC * localC.transpose(); // force to be symmetric Eigen::Matrix localCHt = localC * localH.transpose(); mlcpPhysicsProblem.CHt.block<5, 1>(0, 0) = localCHt; mlcpPhysicsProblem.A.block<1, 1>(0, 0) = localH * localCHt; mlcpPhysicsProblem.b.block<1, 1>(0, 0)[0] = 0.6991; // Place the Fem at 5th dof (1 or multiple representations exist before, covering a total of 5 dof) // and the constraint at the index 1 (1 atomic constraint exists before this one) size_t indexOfRepresentation = 5; size_t indexOfConstraint = 1; // Apply constraint between the first two nodes of the fem. const Vector2d barycentric = Vector2d(0.24, 0.76); IndexedLocalCoordinate coord(0, barycentric); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, indexOfRepresentation, indexOfConstraint, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); auto pose = m_constraintData.getPose().inverse().rotation(); EXPECT_TRUE((pose * m_slidingDirection).isApprox(Vector3d(1.0, 0.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[0]).isApprox(Vector3d(0.0, 1.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[1]).isApprox(Vector3d(0.0, 0.0, 1.0))); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(0, 6) = (barycentric[1] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 6) = (barycentric[1] * dt * m_constraintData.getNormals()[1]).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H.block(indexOfConstraint, indexOfRepresentation, 2, 30), epsilon); m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN( C * H.transpose(), mlcpPhysicsProblem.CHt.block(indexOfRepresentation, indexOfConstraint, 30, 2), epsilon); EXPECT_NEAR_EIGEN( H * C * H.transpose(), mlcpPhysicsProblem.A.block(indexOfConstraint, indexOfConstraint, 2, 2), epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem1DElementBeamTests.cpp000066400000000000000000000602101277777236100256120ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/Framework/Assert.h" #include "SurgSim/Math/GaussLegendreQuadrature.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/OdeEquation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem1DElementBeam.h" using SurgSim::Math::Matrix; using SurgSim::Math::Quaterniond; using SurgSim::Math::SparseMatrix; using SurgSim::Math::Vector; using SurgSim::Math::Vector3d; using SurgSim::Physics::Fem1DElementBeam; namespace { const double epsilon = 1e-9; }; class MockFem1DElement : public Fem1DElementBeam { public: explicit MockFem1DElement(std::array nodeIds) : Fem1DElementBeam(nodeIds) { } const Eigen::Matrix& getInitialRotation12x12() const { return m_R0; } double getRestLength() const { return m_restLength; } }; void computeShapeFunction(double xi, double eta, double zeta, double L, Eigen::Ref> N) { // Shape function for beam from "Theory of Matrix Structural Analysis", Przemieniecki. Eqns 11.30. // Note xi = x/l, eta = y/l, zeta = z/l double xi2 = xi * xi; double xi3 = xi2 * xi; // Node 1 N(0, 0) = 1.0 - xi; N(0, 1) = 6.0 * (xi - xi2) * eta; N(0, 2) = 6.0 * (xi - xi2) * zeta; N(0, 3) = 0.0; N(0, 4) = (1.0 - 4.0 * xi + 3.0 * xi2) * L * zeta; N(0, 5) = (-1.0 + 4.0 * xi - 3.0 * xi2) * L * eta; N(1, 0) = 0.0; N(1, 1) = 1.0 - 3.0 * xi2 + 2.0 * xi3; N(1, 2) = 0.0; N(1, 3) = -(1.0 - xi) * L * zeta; N(1, 4) = 0.0; N(1, 5) = (xi - 2.0 * xi2 + xi3) * L; N(2, 0) = 0.0; N(2, 1) = 0.0; N(2, 2) = 1.0 - 3.0 * xi2 + 2.0 * xi3; N(2, 3) = -(1.0 - xi) * L * eta; N(2, 4) = (-xi + 2.0 * xi2 - xi3) * L; N(2, 5) = 0.0; // Node 2 N(0, 6 + 0) = xi; N(0, 6 + 1) = 6.0 * (-xi + xi2) * eta; N(0, 6 + 2) = 6.0 * (-xi + xi2) * zeta; N(0, 6 + 3) = 0.0; N(0, 6 + 4) = (-2.0 * xi + 3.0 * xi2) * L * zeta; N(0, 6 + 5) = (2.0 * xi - 3.0 * xi2) * L * eta; N(1, 6 + 0) = 0.0; N(1, 6 + 1) = 3.0 * xi2 - 2.0 * xi3; N(1, 6 + 2) = 0.0; N(1, 6 + 3) = -L * xi * zeta; N(1, 6 + 4) = 0.0; N(1, 6 + 5) = (-xi2 + xi3) * L; N(2, 6 + 0) = 0.0; N(2, 6 + 1) = 0.0; N(2, 6 + 2) = 3.0 * xi2 - 2.0 * xi3; N(2, 6 + 3) = -L * xi * eta; N(2, 6 + 4) = (xi2 - xi3) * L; N(2, 6 + 5) = 0.0; } class Fem1DElementBeamTests : public ::testing::Test { public: static const int m_numberNodes = 5; std::array m_nodeIds; SurgSim::Math::OdeState m_restState; double m_expectedVolume; double m_rho, m_E, m_nu, m_L; double m_radius; Quaterniond m_orientation; Vector forceVector; SparseMatrix massMatrix; SparseMatrix dampingMatrix; SparseMatrix stiffnessMatrix; void SetUp() override { using SurgSim::Math::getSubVector; m_rho = 1000.0; m_E = 1e6; m_nu = 0.45; m_radius = 0.01; m_L = 1.0; m_expectedVolume = m_L * (M_PI * m_radius * m_radius); // Beam is made of node 3 and 1 in a bigger system containing m_numberNodes nodes (at least 4) m_nodeIds[0] = 3; m_nodeIds[1] = 1; m_restState.setNumDof(6, m_numberNodes); m_orientation.coeffs().setLinSpaced(2.0, 3.0); m_orientation.normalize(); Vector3d firstExtremity(0.1, 1.2, 2.3); Vector3d secondExtremity = firstExtremity + m_orientation._transformVector(Vector3d(m_L, 0.0, 0.0)); Vector& x = m_restState.getPositions(); getSubVector(x, m_nodeIds[0], 6).segment<3>(0) = firstExtremity; getSubVector(x, m_nodeIds[1], 6).segment<3>(0) = secondExtremity; // Initialize the global matrices for calculations. std::vector nodeIdsVectorForm(m_nodeIds.begin(), m_nodeIds.end()); forceVector = Vector::Zero(6 * m_numberNodes); Fem1DElementBeam beam(m_nodeIds); massMatrix.resize(6 * m_numberNodes, 6 * m_numberNodes); beam.assembleMatrixBlocks(SurgSim::Math::Matrix::Zero(12, 12), nodeIdsVectorForm, 6, &massMatrix, true); massMatrix.makeCompressed(); dampingMatrix.resize(6 * m_numberNodes, 6 * m_numberNodes); beam.assembleMatrixBlocks(SurgSim::Math::Matrix::Zero(12, 12), nodeIdsVectorForm, 6, &dampingMatrix, true); dampingMatrix.makeCompressed(); stiffnessMatrix.resize(6 * m_numberNodes, 6 * m_numberNodes); beam.assembleMatrixBlocks(SurgSim::Math::Matrix::Zero(12, 12), nodeIdsVectorForm, 6, &stiffnessMatrix, true); stiffnessMatrix.makeCompressed(); } void getExpectedMassMatrix(Eigen::Ref mass) { double& L = m_L; double L2 = L * L; double A = M_PI * m_radius * m_radius; double Iz = M_PI_4 * m_radius * m_radius * m_radius * m_radius; double Iy = M_PI_4 * m_radius * m_radius * m_radius * m_radius; double I = Iz + Iy; Eigen::Matrix untransformedMass; untransformedMass.col(0) << 1.0 / 3.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0 / 6.0, 0.0, 0.0, 0.0, 0.0, 0.0; untransformedMass.col(1) << 0.0, 13.0 / 35.0 + 6.0 * Iz / (5.0 * A * L2), 0.0, 0.0, 0.0, 11.0 * L / 210.0 + Iz / (10.0 * A * L), 0.0, 9.0 / 70.0 - 6.0 * Iz / (5.0 * A * L2), 0.0, 0.0, 0.0, -13.0 * L / 420.0 + Iz / (10.0 * A * L); untransformedMass.col(2) << 0.0, 0.0, 13.0 / 35.0 + 6.0 * Iy / (5.0 * A * L2), 0.0, -11.0 * L / 210.0 - Iy / (10.0 * A * L), 0.0, 0.0, 0.0, 9.0 / 70.0 - 6.0 * Iy / (5.0 * A * L2), 0.0, 13.0 * L / 420.0 - Iy / (10.0 * A * L), 0.0; untransformedMass.col(3) << 0.0, 0.0, 0.0, I / (3.0 * A), 0.0, 0.0, 0.0, 0.0, 0.0, I / (6.0 * A), 0.0, 0.0; untransformedMass.col(4) << 0.0, 0.0, -11.0 * L / 210.0 - Iy / (10.0 * A * L), 0.0, L2 / 105.0 + 2.0 * Iy / (15.0 * A), 0.0, 0.0, 0.0, -13.0 * L / 420.0 + Iy / (10.0 * A * L), 0.0, -L2 / 140.0 - Iy / (30.0 * A), 0.0; untransformedMass.col(5) << 0.0, 11.0 * L / 210.0 + Iz / (10.0 * A * L), 0.0, 0.0, 0.0, L2 / 105.0 + 2.0 * Iz / (15.0 * A), 0.0, 13.0 * L / 420.0 - Iz / (10.0 * A * L), 0.0, 0.0, 0.0, -L2 / 140.0 - Iz / (30.0 * A); untransformedMass.col(6) << 1.0 / 6.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0 / 3.0, 0.0, 0.0, 0.0, 0.0, 0.0; untransformedMass.col(7) << 0.0, 9.0 / 70.0 - 6.0 * Iz / (5.0 * A * L2), 0.0, 0.0, 0.0, 13.0 * L / 420.0 - Iz / (10.0 * A * L), 0.0, 13.0 / 35.0 + 6.0 * Iz / (5.0 * A * L2), 0.0, 0.0, 0.0, -11.0 * L / 210.0 - Iz / (10.0 * A * L); untransformedMass.col(8) << 0.0, 0.0, 9.0 / 70.0 - 6.0 * Iy / (5.0 * A * L2), 0.0, -13.0 * L / 420.0 + Iy / (10.0 * A * L), 0.0, 0.0, 0.0, 13.0 / 35.0 + 6.0 * Iy / (5.0 * A * L2), 0.0, 11.0 * L / 210.0 + Iy / (10.0 * A * L), 0.0; untransformedMass.col(9) << 0.0, 0.0, 0.0, I / (6.0 * A), 0.0, 0.0, 0.0, 0.0, 0.0, I / (3.0 * A), 0.0, 0.0; untransformedMass.col(10) << 0.0, 0.0, 13.0 * L / 420.0 - Iy / (10.0 * A * L), 0.0, -L2 / 140.0 - Iy / (30.0 * A), 0.0, 0.0, 0.0, 11.0 * L / 210.0 + Iy / (10.0 * A * L), 0.0, L2 / 105.0 + 2 * Iy / (15.0 * A), 0.0; untransformedMass.col(11) << 0.0, -13.0 * L / 420.0 + Iz / (10.0 * A * L), 0.0, 0.0, 0.0, -L2 / 140.0 - Iz / (30.0 * A), 0.0, -11.0 * L / 210.0 - Iz / (10.0 * A * L), 0.0, 0.0, 0.0, L2 / 105.0 + 2 * Iz / (15.0 * A); untransformedMass *= m_rho * m_expectedVolume; mass.setZero(); placeIntoAssembly(untransformedMass, mass); } void getExpectedMassMatrix2(Eigen::Ref mass) { // Kinetic Energy = K = \int_V 1/2 rho v^2 dV, with rho the density and v the velocity of a volume particle // The shape function N transforms local coordinates into global coordinates, x = N q, // N = (N_1^x 0 0 N_2^x 0 0) // ( 0 N_1^y 0 0 N_2^y 0) // ( 0 0 N_1^z 0 0 N_2^z) // // Using Lagrange's equation, we find // d\dt (dK/d\dot{q}_i) = d\dt( 1/2.rho \int_V d/d\dot(q}_i ( \dot{q}^T.N^T.N.\dot{q} ) dV ) // [Note d/dx(ax \cdot ax) = 2 (a \cdot ax)] // = rho d\dt( \int_V N^T.N.\dot{q} dV ) // = rho d\dt( \int_V N^T.N dV \dot{q}) // = rho \int_V N^T.N dV \ddot{q} // // Therefore the mass 'M' is // M = rho \int_V N^T(x,y,z).N(x,y,z) dV // = rho \int_V f(x,y,z) dV // // Integrate over the cylindrical volume of the beam // M = rho \int_0^L dx \int_{-R}^R dy \int_{-\sqrt{R^2-y^2}}^{\sqrt{R^2-y^2}} dz [f(x,y,z)] // // Let // x = l \xi // y = l \eta // z = l \zeta // Then // \int_0^L dx // => \int_0^1 l d\xi // \int_{-R}^R dy // => \int_{-R/l}^{R/l} l d\eta // \int_{-\sqrt{R^2-y^2}}^{\sqrt{R^2-y^2}} dz // => \int_{-\sqrt{(R/l)^2-\eta^2}}^{\sqrt{(R/l)^2-\eta^2}} l d\zeta // // We know 'f' in transformed coordinates, so we can directly calculate // M = \rho l^3 ... // \int_0^1 d\xi ... // \int_{-R/l}^{R/l} d\eta ... // \int_{-\sqrt{(R/l)^2-\eta^2}}^{\sqrt{(R/l)^2-\eta^2}} d\zeta ... // [f(\xi, \eta, \zeta)] using std::pow; using std::sqrt; Eigen::Matrix N; Eigen::Matrix untransformedMass = Eigen::Matrix::Zero(); for (int i = 0; i < 4; i++) { double xi = 0.5 * SurgSim::Math::gaussQuadrature4Points[i].point + 0.5; double hXi = 0.5 * SurgSim::Math::gaussQuadrature4Points[i].weight; for (int j = 0; j < 100; j++) { double eta = m_radius / m_L * SurgSim::Math::gaussQuadrature100Points[j].point; double hEta = m_radius / m_L * SurgSim::Math::gaussQuadrature100Points[j].weight; for (int k = 0; k < 2; k++) { double zeta = sqrt(pow(m_radius / m_L, 2.0) - pow(eta, 2.0)) * SurgSim::Math::gaussQuadrature2Points[k].point; double hZeta = sqrt(pow(m_radius / m_L, 2.0) - pow(eta, 2.0)) * SurgSim::Math::gaussQuadrature2Points[k].weight; computeShapeFunction(xi, eta, zeta, m_L, N); untransformedMass += N.transpose() * N * hZeta * hEta * hXi; } } } untransformedMass *= m_rho * pow(m_L, 3.0); mass.setZero(); placeIntoAssembly(untransformedMass, mass); } void getExpectedStiffnessMatrix(Eigen::Ref stiffness) { double& L = m_L; double L2 = L * L; double L3 = L2 * L; double A = (M_PI * m_radius * m_radius); double Iz = M_PI / 4.0 * (m_radius * m_radius * m_radius * m_radius); double Iy = M_PI / 4.0 * (m_radius * m_radius * m_radius * m_radius); double I = Iz + Iy; double G = m_E / (2.0 * (1.0 + m_nu)); double asy = A * 5. / 6.; double asz = asy; double phi_y = 12.0 * m_E * Iz / (G * asy * L2); double phi_z = 12.0 * m_E * Iy / (G * asz * L2); Eigen::Matrix untransformedStiffness; untransformedStiffness.col(0) << m_E* A / L, 0.0, 0.0, 0.0, 0.0, 0.0, -m_E* A / L, 0.0, 0.0, 0.0, 0.0, 0.0; untransformedStiffness.col(1) << 0.0, 12.0 * m_E* Iz / L3 / (1 + phi_y), 0.0, 0.0, 0.0, 6.0 * m_E* Iz / L2 / (1 + phi_y), 0.0, -12.0 * m_E* Iz / L3 / (1 + phi_y), 0.0, 0.0, 0.0, 6.0 * m_E* Iz / L2 / (1 + phi_y); untransformedStiffness.col(2) << 0.0, 0.0, 12.0 * m_E* Iy / L3 / (1 + phi_z), 0.0, -6.0 * m_E* Iy / L2 / (1 + phi_z), 0.0, 0.0, 0.0, -12.0 * m_E* Iy / L3 / (1 + phi_z), 0.0, -6.0 * m_E* Iy / L2 / (1 + phi_z), 0.0; untransformedStiffness.col(3) << 0.0, 0.0, 0.0, G* I / L, 0.0, 0.0, 0.0, 0.0, 0.0, -G* I / L, 0.0, 0.0; untransformedStiffness.col(4) << 0.0, 0.0, -6.0 * m_E* Iy / L2 / (1 + phi_z), 0.0, (4.0 + phi_z) * m_E* Iy / L / (1 + phi_z), 0.0, 0.0, 0.0, 6.0 * m_E* Iy / L2 / (1 + phi_z), 0.0, (2.0 - phi_z) * m_E* Iy / L / (1 + phi_z), 0.0; untransformedStiffness.col(5) << 0.0, 6.0 * m_E* Iz / L2 / (1 + phi_y), 0.0, 0.0, 0.0, (4.0 + phi_y) * m_E* Iz / L / (1 + phi_y), 0.0, -6.0 * m_E* Iz / L2 / (1 + phi_y), 0.0, 0.0, 0.0, (2.0 - phi_y) * m_E* Iz / L / (1 + phi_y); untransformedStiffness.col(6) << -m_E* A / L, 0.0, 0.0, 0.0, 0.0, 0.0, m_E* A / L, 0.0, 0.0, 0.0, 0.0, 0.0; untransformedStiffness.col(7) << 0.0, -12.0 * m_E* Iz / L3 / (1 + phi_y), 0.0, 0.0, 0.0, -6.0 * m_E* Iz / L2 / (1 + phi_y), 0.0, 12.0 * m_E* Iz / L3 / (1 + phi_y), 0.0, 0.0, 0.0, -6.0 * m_E* Iz / L2 / (1 + phi_y); untransformedStiffness.col(8) << 0.0, 0.0, -12.0 * m_E* Iy / L3 / (1 + phi_z), 0.0, 6.0 * m_E* Iy / L2 / (1 + phi_z), 0.0, 0.0, 0.0, 12.0 * m_E* Iy / L3 / (1 + phi_z), 0.0, 6.0 * m_E* Iy / L2 / (1 + phi_z), 0.0; untransformedStiffness.col(9) << 0.0, 0.0, 0.0, -G* I / L, 0.0, 0.0, 0.0, 0.0, 0.0, G* I / L, 0.0, 0.0; untransformedStiffness.col(10) << 0.0, 0.0, -6.0 * m_E* Iy / L2 / (1 + phi_z), 0.0, (2.0 - phi_z) * m_E* Iy / L / (1 + phi_z), 0.0, 0.0, 0.0, 6.0 * m_E* Iy / L2 / (1 + phi_z), 0.0, (4.0 + phi_z) * m_E* Iy / L / (1 + phi_z), 0.0; untransformedStiffness.col(11) << 0.0, 6.0 * m_E* Iz / L2 / (1 + phi_y), 0.0, 0.0, 0.0, (2.0 - phi_y) * m_E* Iz / L / (1 + phi_y), 0.0, -6.0 * m_E* Iz / L2 / (1 + phi_y), 0.0, 0.0, 0.0, (4.0 + phi_y) * m_E* Iz / L / (1 + phi_y); stiffness.setZero(); placeIntoAssembly(untransformedStiffness, stiffness); } void placeIntoAssembly(const Eigen::Ref& in, Eigen::Ref out) { std::vector nodeIdsVectorForm(m_nodeIds.begin(), m_nodeIds.end()); // Transform into correct coordinates and correct place in matrix std::shared_ptr beam = getBeam(); const Eigen::Matrix& r = beam->getInitialRotation12x12(); SurgSim::Math::addSubMatrix(r * in * r.transpose(), nodeIdsVectorForm, 6, &out); } std::shared_ptr getBeam() { auto beam = std::make_shared(m_nodeIds); beam->setRadius(m_radius); beam->setMassDensity(m_rho); beam->setPoissonRatio(m_nu); beam->setYoungModulus(m_E); beam->initialize(m_restState); return beam; } }; TEST_F(Fem1DElementBeamTests, ConstructorTest) { ASSERT_NO_THROW( { MockFem1DElement beam(m_nodeIds); }); } TEST_F(Fem1DElementBeamTests, NodeIdsTest) { Fem1DElementBeam beam(m_nodeIds); EXPECT_EQ(2u, beam.getNumNodes()); EXPECT_EQ(2u, beam.getNodeIds().size()); for (int i = 0; i < 2; i++) { EXPECT_EQ(m_nodeIds[i], beam.getNodeId(i)); EXPECT_EQ(m_nodeIds[i], beam.getNodeIds()[i]); } } TEST_F(Fem1DElementBeamTests, setGetRadiusTest) { Fem1DElementBeam beam(m_nodeIds); // Default radius = 0 EXPECT_DOUBLE_EQ(0.0, beam.getRadius()); // Set to a valid radius beam.setRadius(1.54); EXPECT_DOUBLE_EQ(1.54, beam.getRadius()); // Set to an invalid radius EXPECT_ANY_THROW(beam.setRadius(0.0)); EXPECT_ANY_THROW(beam.setRadius(-9.4)); } TEST_F(Fem1DElementBeamTests, MaterialParameterTest) { Fem1DElementBeam beam(m_nodeIds); beam.setRadius(m_radius); // Test the various mode of failure related to the physical parameters // This has been already tested in FemElementTests, but this is to make sure this method is called properly // So the same behavior should be expected { // Mass density not set ASSERT_ANY_THROW(beam.initialize(m_restState)); // Poisson Ratio not set beam.setMassDensity(-1234.56); ASSERT_ANY_THROW(beam.initialize(m_restState)); // Young modulus not set beam.setPoissonRatio(0.55); ASSERT_ANY_THROW(beam.initialize(m_restState)); // Invalid mass density beam.setYoungModulus(-4321.33); ASSERT_ANY_THROW(beam.initialize(m_restState)); // Invalid Poisson ratio beam.setMassDensity(m_rho); ASSERT_ANY_THROW(beam.initialize(m_restState)); // Invalid Young modulus beam.setPoissonRatio(m_nu); ASSERT_ANY_THROW(beam.initialize(m_restState)); beam.setYoungModulus(m_E); ASSERT_NO_THROW(beam.initialize(m_restState)); } } TEST_F(Fem1DElementBeamTests, VolumeTest) { std::shared_ptr beam = getBeam(); EXPECT_NEAR(beam->getVolume(m_restState), m_expectedVolume, 1e-10); } TEST_F(Fem1DElementBeamTests, RestLengthTest) { std::shared_ptr beam = getBeam(); EXPECT_NEAR(beam->getRestLength(), m_L, 1e-10); } TEST_F(Fem1DElementBeamTests, InitialRotationTest) { std::shared_ptr beam = getBeam(); // Use a mask to test the structure of the rotation matrix R0 (4 digonal block 3x3 matrix and 0 elsewhere) Eigen::Matrix mask; mask.setOnes(); mask.block<3, 3>(0, 0).setZero(); mask.block<3, 3>(3, 3).setZero(); mask.block<3, 3>(6, 6).setZero(); mask.block<3, 3>(9, 9).setZero(); EXPECT_TRUE(beam->getInitialRotation12x12().cwiseProduct(mask).isZero()); // Only the 1st direction of the frame can be compared as the 2 other ones are randomly // chosen (can be any 2 vectors forming an Orthonormal frame) Vector3d expected_i = m_orientation.matrix().col(0); Vector3d i_0 = beam->getInitialRotation12x12().block<3, 3>(0, 0).col(0); Vector3d i_1 = beam->getInitialRotation12x12().block<3, 3>(3, 3).col(0); Vector3d i_2 = beam->getInitialRotation12x12().block<3, 3>(6, 6).col(0); Vector3d i_3 = beam->getInitialRotation12x12().block<3, 3>(9, 9).col(0); EXPECT_TRUE(i_0.isApprox(expected_i)); EXPECT_TRUE(i_1.isApprox(expected_i)); EXPECT_TRUE(i_2.isApprox(expected_i)); EXPECT_TRUE(i_3.isApprox(expected_i)); EXPECT_TRUE(beam->getInitialRotation().col(0).isApprox(expected_i)); } TEST_F(Fem1DElementBeamTests, CoordinateTests) { Fem1DElementBeam element(m_nodeIds); Vector validNaturalCoordinate(2); Vector validNaturalCoordinate2(2); Vector invalidNaturalCoordinateSumNot1(2); Vector invalidNaturalCoordinateNegativeValue(2); Vector invalidNaturalCoordinateSize1(1), invalidNaturalCoordinateSize3(3); Vector3d expectedA(0.1, 1.2, 2.3); Vector3d expectedB = expectedA + m_orientation._transformVector(Vector3d(m_L, 0.0, 0.0)); validNaturalCoordinate << 0.4, 0.6; validNaturalCoordinate2 << -1e-11, 1 + 1e-11; invalidNaturalCoordinateSumNot1 << 0.5, 0.6; invalidNaturalCoordinateNegativeValue << 1.4, -0.4; invalidNaturalCoordinateSize1 << 1.0; invalidNaturalCoordinateSize3 << 0.2, 0.2, 0.6; EXPECT_TRUE(element.isValidCoordinate(validNaturalCoordinate)); EXPECT_TRUE(element.isValidCoordinate(validNaturalCoordinate2)); EXPECT_FALSE(element.isValidCoordinate(invalidNaturalCoordinateSumNot1)); EXPECT_FALSE(element.isValidCoordinate(invalidNaturalCoordinateNegativeValue)); EXPECT_FALSE(element.isValidCoordinate(invalidNaturalCoordinateSize1)); EXPECT_FALSE(element.isValidCoordinate(invalidNaturalCoordinateSize3)); Vector naturalCoordinateA(2), naturalCoordinateB(2), naturalCoordinateMiddle(2); Vector ptA, ptB, ptMiddle; naturalCoordinateA << 1.0, 0.0; naturalCoordinateB << 0.0, 1.0; naturalCoordinateMiddle << 1.0 / 2.0, 1.0 / 2.0; EXPECT_THROW(ptA = element.computeCartesianCoordinate(m_restState, invalidNaturalCoordinateNegativeValue), \ SurgSim::Framework::AssertionFailure); EXPECT_THROW(ptA = element.computeCartesianCoordinate(m_restState, invalidNaturalCoordinateSize1), \ SurgSim::Framework::AssertionFailure); EXPECT_THROW(ptA = element.computeCartesianCoordinate(m_restState, invalidNaturalCoordinateSize3), \ SurgSim::Framework::AssertionFailure); EXPECT_THROW(ptA = element.computeCartesianCoordinate(m_restState, invalidNaturalCoordinateSumNot1), \ SurgSim::Framework::AssertionFailure); EXPECT_NO_THROW(ptA = element.computeCartesianCoordinate(m_restState, naturalCoordinateA)); EXPECT_NO_THROW(ptB = element.computeCartesianCoordinate(m_restState, naturalCoordinateB)); EXPECT_NO_THROW(ptMiddle = element.computeCartesianCoordinate(m_restState, naturalCoordinateMiddle)); EXPECT_TRUE(ptA.isApprox(expectedA)); EXPECT_TRUE(ptB.isApprox(expectedB)); EXPECT_TRUE(ptMiddle.isApprox((expectedA + expectedB) * 0.5)); Vector3d cartesian(0.1, 1.2, 2.3); EXPECT_THROW(element.computeNaturalCoordinate(m_restState, cartesian), SurgSim::Framework::AssertionFailure); } TEST_F(Fem1DElementBeamTests, ForceAndMatricesTest) { using SurgSim::Math::Matrix; using SurgSim::Math::Vector; using SurgSim::Math::getSubVector; std::shared_ptr beam = getBeam(); Vector vectorOnes = Vector::Ones(6 * m_numberNodes); forceVector.setZero(); SurgSim::Math::clearMatrix(&massMatrix); SurgSim::Math::clearMatrix(&dampingMatrix); SurgSim::Math::clearMatrix(&stiffnessMatrix); Matrix expectedMass(6 * m_numberNodes, 6 * m_numberNodes); Matrix expectedMass2(6 * m_numberNodes, 6 * m_numberNodes); Matrix expectedDamping = Matrix(dampingMatrix); Matrix expectedStiffness(6 * m_numberNodes, 6 * m_numberNodes); getExpectedMassMatrix(expectedMass); getExpectedMassMatrix2(expectedMass2); getExpectedStiffnessMatrix(expectedStiffness); // Update the internal f, M, D, K variables. beam->updateFMDK(m_restState, SurgSim::Math::ODEEQUATIONUPDATE_FMDK); // No force should be produced when in rest state (x = x0) => F = K.(x-x0) = 0 beam->addForce(&forceVector); EXPECT_TRUE(forceVector.isZero()); beam->addMass(&massMatrix); EXPECT_TRUE(massMatrix.isApprox(expectedMass)) << "Expected Mass:" << std::endl << expectedMass << std::endl << "Mass Matrix:" << std::endl << massMatrix << std::endl; EXPECT_TRUE(massMatrix.isApprox(expectedMass2, 1e-6)) << "Expected Mass 2:" << std::endl << expectedMass << std::endl << "Mass Matrix:" << std::endl << massMatrix << std::endl; beam->addDamping(&dampingMatrix); EXPECT_TRUE(dampingMatrix.isApprox(expectedDamping)); beam->addStiffness(&stiffnessMatrix); EXPECT_TRUE(stiffnessMatrix.isApprox(expectedStiffness)); forceVector.setZero(); SurgSim::Math::clearMatrix(&massMatrix); SurgSim::Math::clearMatrix(&dampingMatrix); SurgSim::Math::clearMatrix(&stiffnessMatrix); beam->addFMDK(&forceVector, &massMatrix, &dampingMatrix, &stiffnessMatrix); EXPECT_TRUE(forceVector.isZero()); EXPECT_TRUE(massMatrix.isApprox(expectedMass)); EXPECT_TRUE(massMatrix.isApprox(expectedMass2, 1e-6)); EXPECT_TRUE(dampingMatrix.isApprox(expectedDamping)); EXPECT_TRUE(stiffnessMatrix.isApprox(expectedStiffness)); // Test addMatVec API with Mass component only forceVector.setZero(); beam->addMatVec(1.0, 0.0, 0.0, vectorOnes, &forceVector); for (int rowId = 0; rowId < 6 * m_numberNodes; rowId++) { EXPECT_NEAR(expectedMass.row(rowId).sum(), forceVector[rowId], epsilon); EXPECT_NEAR(expectedMass2.row(rowId).sum(), forceVector[rowId], 1e-6); } // Test addMatVec API with Damping component only forceVector.setZero(); beam->addMatVec(0.0, 1.0, 0.0, vectorOnes, &forceVector); for (int rowId = 0; rowId < 6 * m_numberNodes; rowId++) { EXPECT_NEAR(expectedDamping.row(rowId).sum(), forceVector[rowId], epsilon); } // Test addMatVec API with Stiffness component only forceVector.setZero(); beam->addMatVec(0.0, 0.0, 1.0, vectorOnes, &forceVector); for (int rowId = 0; rowId < 6 * m_numberNodes; rowId++) { EXPECT_NEAR(expectedStiffness.row(rowId).sum(), forceVector[rowId], epsilon); } // Test addMatVec API with mix Mass/Damping/Stiffness components forceVector.setZero(); beam->addMatVec(1.0, 2.0, 3.0, vectorOnes, &forceVector); for (int rowId = 0; rowId < 6 * m_numberNodes; rowId++) { double expectedCoef = 1.0 * expectedMass.row(rowId).sum() + 2.0 * expectedDamping.row(rowId).sum() + 3.0 * expectedStiffness.row(rowId).sum(); EXPECT_NEAR(expectedCoef, forceVector[rowId], epsilon); expectedCoef = 1.0 * expectedMass2.row(rowId).sum() + 2.0 * expectedDamping.row(rowId).sum() + 3.0 * expectedStiffness.row(rowId).sum(); EXPECT_NEAR(expectedCoef, forceVector[rowId], 1e-6); } } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem1DLocalizationTest.cpp000066400000000000000000000143741277777236100257130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem1DElementBeam.h" #include "SurgSim/Physics/Fem1DLocalization.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/Fem2DRepresentation.h" #include "SurgSim/Physics/Fem3DRepresentation.h" using SurgSim::DataStructures::IndexedLocalCoordinate; namespace { const double epsilon = 1e-10; }; namespace SurgSim { namespace Physics { void addBeam(Fem1DRepresentation *fem, std::array nodes, const SurgSim::Math::OdeState& state, double radius = 0.01, double massDensity = 1.0, double poissonRatio = 0.1, double youngModulus = 1.0) { auto element = std::make_shared(nodes); element->setRadius(radius); element->setMassDensity(massDensity); element->setPoissonRatio(poissonRatio); element->setYoungModulus(youngModulus); element->initialize(state); fem->addFemElement(element); } class Fem1DLocalizationTest : public ::testing::Test { public: void SetUp() { using SurgSim::Math::Vector3d; using SurgSim::Math::getSubVector; m_fem = std::make_shared("Fem1dRepresentation"); auto state = std::make_shared(); state->setNumDof(6, 3); auto& x = state->getPositions(); getSubVector(x, 0, 6).segment<3>(0) = Vector3d( 0.0, 0.0, 0.0); getSubVector(x, 1, 6).segment<3>(0) = Vector3d( 0.0, 1.0, -1.0); getSubVector(x, 2, 6).segment<3>(0) = Vector3d(-1.0, 1.0, 0.0); // Define Beams { std::array nodes = {{0, 1}}; addBeam(m_fem.get(), nodes, *state); } { std::array nodes = {{1, 2}}; addBeam(m_fem.get(), nodes, *state); } m_fem->setInitialState(state); m_fem->setLocalActive(true); m_validLocalPosition.index = 1; m_validLocalPosition.coordinate = SurgSim::Math::Vector::Zero(2); m_validLocalPosition.coordinate[0] = 0.4; m_validLocalPosition.coordinate[1] = 0.6; m_invalidIndexLocalPosition.index = 3; m_invalidIndexLocalPosition.coordinate = SurgSim::Math::Vector::Zero(2); m_invalidIndexLocalPosition.coordinate[0] = 0.4; m_invalidIndexLocalPosition.coordinate[1] = 0.6; m_invalidCoordinateLocalPosition.index = 1; m_invalidCoordinateLocalPosition.coordinate = SurgSim::Math::Vector::Zero(2); m_invalidCoordinateLocalPosition.coordinate[0] = 0.6; m_invalidCoordinateLocalPosition.coordinate[1] = 0.6; } void TearDown() { } std::shared_ptr m_fem; SurgSim::DataStructures::IndexedLocalCoordinate m_validLocalPosition; SurgSim::DataStructures::IndexedLocalCoordinate m_invalidIndexLocalPosition; SurgSim::DataStructures::IndexedLocalCoordinate m_invalidCoordinateLocalPosition; }; TEST_F(Fem1DLocalizationTest, ConstructorTest) { // IndexedLocalCoordinate pointing to a node (node index + empty coordinate) are invalid. It will failed, // either because the index is out of bound or because the coordinates are the wrong size (empty) // This is tested by m_invalidIndexLocalPosition and m_invalidCoordinateLocalPosition ASSERT_THROW( std::make_shared(m_fem, m_invalidIndexLocalPosition), SurgSim::Framework::AssertionFailure); ASSERT_THROW( std::make_shared(m_fem, m_invalidCoordinateLocalPosition), SurgSim::Framework::AssertionFailure); ASSERT_NO_THROW(std::make_shared(m_fem, m_validLocalPosition);); } TEST_F(Fem1DLocalizationTest, IsValidRepresentation) { Fem1DLocalization localization(m_fem, m_validLocalPosition); ASSERT_TRUE(localization.isValidRepresentation(m_fem)); // nullptr is valid ASSERT_TRUE(localization.isValidRepresentation(nullptr)); ASSERT_FALSE(localization.isValidRepresentation(std::make_shared("fem2d"))); ASSERT_FALSE(localization.isValidRepresentation(std::make_shared("fem3d"))); } TEST_F(Fem1DLocalizationTest, MoveClosestTo) { Fem1DLocalization localization(m_fem, m_validLocalPosition); { SurgSim::DataStructures::IndexedLocalCoordinate testPosition1; testPosition1.index = 1; testPosition1.coordinate = SurgSim::Math::Vector::Zero(2); testPosition1.coordinate[0] = 0.5; testPosition1.coordinate[1] = 0.5; Fem1DLocalization testLocalization1(m_fem, testPosition1); bool hasReachedEnd = false; EXPECT_TRUE(localization.moveClosestTo(testLocalization1.calculatePosition(), &hasReachedEnd)); EXPECT_FALSE(hasReachedEnd); EXPECT_TRUE(localization.calculatePosition().isApprox(testLocalization1.calculatePosition())); } { SurgSim::DataStructures::IndexedLocalCoordinate testPosition1; testPosition1.index = 0; testPosition1.coordinate = SurgSim::Math::Vector::Zero(2); testPosition1.coordinate[0] = 0.1; testPosition1.coordinate[1] = 0.9; Fem1DLocalization testLocalization1(m_fem, testPosition1); bool hasReachedEnd = false; EXPECT_TRUE(localization.moveClosestTo(testLocalization1.calculatePosition(), &hasReachedEnd)); EXPECT_FALSE(hasReachedEnd); EXPECT_TRUE(localization.calculatePosition().isApprox(testLocalization1.calculatePosition())); } { SurgSim::DataStructures::IndexedLocalCoordinate testPosition1; testPosition1.index = 0; testPosition1.coordinate = SurgSim::Math::Vector::Zero(2); testPosition1.coordinate[0] = 1.0; testPosition1.coordinate[1] = 0.0; Fem1DLocalization testLocalization1(m_fem, testPosition1); bool hasReachedEnd = false; EXPECT_TRUE(localization.moveClosestTo(testLocalization1.calculatePosition(), &hasReachedEnd)); EXPECT_TRUE(hasReachedEnd); EXPECT_TRUE(localization.calculatePosition().isApprox(testLocalization1.calculatePosition())); } } } // namespace SurgSim } // namespace Physics opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem1DMechanicalValidationTests.cpp000066400000000000000000000310731277777236100275000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file Fem1DMechanicalValidationTests.cpp /// This file tests the mechanical behavior of the class Fem1DRepresentation. #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/Fem1DElementBeam.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" using SurgSim::Math::Matrix; using SurgSim::Math::Vector; using SurgSim::Math::Vector3d; namespace { static const double dt = 1e-3; } namespace SurgSim { namespace Physics { class Fem1DBuilder { public: Fem1DBuilder() : massDensity(0.0), youngModulus(0.0), poissonRatio(0.0), radius(0.0), shearingEnabled(true), initializeElements(false) { } std::shared_ptr build(const std::string& name) { size_t& nodes = nodesPerDimension[0]; SURGSIM_ASSERT(nodes > 0) << "Number of nodes incorrect: " << nodes; auto fem = std::make_shared(name); auto state = std::make_shared(); state->setNumDof(fem->getNumDofPerNode(), nodes); Vector3d delta = (extremities[1] - extremities[0]) / static_cast(nodes - 1); for (size_t nodeId = 0; nodeId < nodes; nodeId++) { state->getPositions().segment<3>(6 * nodeId) = extremities[0] + static_cast(nodeId) * delta; } for (auto boundaryCondition = std::begin(boundaryConditions); boundaryCondition != std::end(boundaryConditions); ++boundaryCondition) { state->addBoundaryCondition(boundaryCondition->first, boundaryCondition->second); } std::array nodeEnds; for (size_t nodeId = 0; nodeId < nodes - 1; nodeId++) { nodeEnds[0] = nodeId; nodeEnds[1] = nodeId + 1; auto element = std::make_shared(nodeEnds); element->setMassDensity(massDensity); element->setYoungModulus(youngModulus); element->setPoissonRatio(poissonRatio); element->setRadius(radius); element->setShearingEnabled(shearingEnabled); if (initializeElements) { element->initialize(*state); } fem->addFemElement(element); } fem->setInitialState(state); fem->doInitialize(); return fem; } void addBoundaryCondition(size_t node, size_t dof) { for (size_t i = 0; i < dof; i++) { boundaryConditions.push_back(std::make_pair(node, i)); } } public: std::array extremities; std::vector> boundaryConditions; // std::array nodesPerDimension; double massDensity; double youngModulus; double poissonRatio; double radius; bool shearingEnabled; bool initializeElements; }; class Fem1DMechanicalValidationTests : public ::testing::Test { public: std::shared_ptr m_fem; SurgSim::Math::RigidTransform3d m_initialPose; std::shared_ptr m_initialState; // Physical properties double m_rho; double m_nu; double m_E; // Geometric properties double m_radius; double m_L; double m_Iz; Vector m_expectedTransformedPositions; Vector m_expectedTransformedVelocities; Fem1DBuilder m_fem1DBuilder; protected: void SetUp() override { using SurgSim::Math::getSubVector; // Physical properties m_rho = 2000.0; m_nu = 0.45; m_E = 1e6; // Geometric properties m_radius = 0.05; m_L = 0.734511; m_Iz = M_PI / 4.0 * (m_radius * m_radius * m_radius * m_radius); // Initial Pose SurgSim::Math::Quaterniond q(1.9, 4.2, 9.3, 2.1); q.normalize(); Vector3d t(0.1, 0.2, 0.3); m_initialPose = SurgSim::Math::makeRigidTransform(q, t); // Define fem m_fem = std::make_shared("name"); // Initial state m_initialState = std::make_shared(); m_initialState->setNumDof(m_fem->getNumDofPerNode(), 2); Vector& x = m_initialState->getPositions(); x << 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, m_L, 0.0, 0.0, 0.0, 0.0, 0.0; Vector& v = m_initialState->getVelocities(); v << 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0, 0.0, 0.0, 0.0, 0.0; // Expected transformed values m_expectedTransformedPositions.resize(m_initialState->getNumDof()); m_expectedTransformedVelocities.resize(m_initialState->getNumDof()); getSubVector(m_expectedTransformedPositions, 0, 3) = m_initialPose * Vector3d(getSubVector(x, 0, 3)); getSubVector(m_expectedTransformedPositions, 1, 3) = getSubVector(x, 1, 3); getSubVector(m_expectedTransformedPositions, 2, 3) = m_initialPose * Vector3d(getSubVector(x, 2, 3)); getSubVector(m_expectedTransformedPositions, 3, 3) = getSubVector(x, 3, 3); getSubVector(m_expectedTransformedVelocities, 0, 3) = m_initialPose.linear() * getSubVector(v, 0, 3); getSubVector(m_expectedTransformedVelocities, 1, 3) = getSubVector(v, 1, 3); getSubVector(m_expectedTransformedVelocities, 2, 3) = m_initialPose.linear() * getSubVector(v, 2, 3); getSubVector(m_expectedTransformedVelocities, 3, 3) = getSubVector(v, 3, 3); // Create Fem1DElementBeam std::array nodeIds = {0, 1}; auto element = std::make_shared(nodeIds); element->setMassDensity(m_rho); element->setYoungModulus(m_E); element->setPoissonRatio(m_nu); element->setRadius(m_radius); // Add element to fem m_fem->addFemElement(element); // Setup m_fem1DBuilder m_fem1DBuilder.extremities[0] = Vector3d(0.0, 0.0, 0.0); m_fem1DBuilder.extremities[1] = Vector3d(m_L, 0.0, 0.0); m_fem1DBuilder.massDensity = m_rho; m_fem1DBuilder.youngModulus = m_E; m_fem1DBuilder.poissonRatio = m_nu; m_fem1DBuilder.radius = m_radius; m_fem1DBuilder.shearingEnabled = false; m_fem1DBuilder.initializeElements = true; } }; // Beam tests TEST_F(Fem1DMechanicalValidationTests, CantileverEndLoadedTest) { // Setup FEM size_t nodesPerDim = 2; m_fem1DBuilder.nodesPerDimension[0] = nodesPerDim; m_fem1DBuilder.addBoundaryCondition(0, 6); std::shared_ptr fem = m_fem1DBuilder.build("CantileverEndLoadedTest"); // For last node, apply load to y-direction and calculate deflection double load = 0.7; size_t applyIndex = (nodesPerDim - 1) * 6 + 1; Vector applyForce = Vector::Zero(nodesPerDim * 6); applyForce[applyIndex] = load; fem->updateFMDK(*(m_fem->getInitialState()), Math::ODEEQUATIONUPDATE_K); Matrix stiffness = fem->getK(); // Apply boundary conditions fem->getInitialState()->applyBoundaryConditionsToVector(&applyForce); fem->getInitialState()->applyBoundaryConditionsToMatrix(&stiffness); Vector calculatedDeflection = stiffness.inverse() * applyForce; // Compare theoretical deflection with calculated deflection size_t lookIndex = applyIndex; double deflection = load * (m_L * m_L * m_L) / (3.0 * m_E * m_Iz); EXPECT_NEAR(deflection, calculatedDeflection[lookIndex], 1e-8); } TEST_F(Fem1DMechanicalValidationTests, CantileverPunctualLoadAnywhereTest) { // Setup FEM size_t nodesPerDim = 10; m_fem1DBuilder.nodesPerDimension[0] = nodesPerDim; m_fem1DBuilder.addBoundaryCondition(0, 6); std::shared_ptr fem = m_fem1DBuilder.build("CantileverPunctualLoadAnywhereTest"); for (size_t applyNode = 1; applyNode < nodesPerDim; applyNode++) { // For each node, apply load to y-direction and calculate deflection double load = 0.7; size_t applyIndex = applyNode * 6 + 1; Vector applyForce = Vector::Zero(nodesPerDim * 6); applyForce[applyIndex] = load; fem->updateFMDK(*(m_fem->getInitialState()), Math::ODEEQUATIONUPDATE_K); Matrix stiffness = fem->getK(); // Apply boundary conditions fem->getInitialState()->applyBoundaryConditionsToVector(&applyForce); fem->getInitialState()->applyBoundaryConditionsToMatrix(&stiffness); Vector calculatedDeflection = stiffness.inverse() * applyForce; for (size_t lookNode = 0; lookNode < nodesPerDim; lookNode++) { // For each node, compare theoretical deflection with calculated deflection size_t lookIndex = lookNode * 6 + 1; double a = m_L * applyNode / (nodesPerDim - 1); double x = m_L * lookNode / (nodesPerDim - 1); double deflection = (x < a) ? load * x * x * (3 * a - x) / (6 * m_E * m_Iz) : load * a * a * (3 * x - a) / (6 * m_E * m_Iz); EXPECT_NEAR(deflection, calculatedDeflection[lookIndex], 1e-8); } } } TEST_F(Fem1DMechanicalValidationTests, CantileverEndBentTest) { // Setup FEM size_t nodesPerDim = 5; m_fem1DBuilder.nodesPerDimension[0] = nodesPerDim; m_fem1DBuilder.addBoundaryCondition(0, 6); std::shared_ptr fem = m_fem1DBuilder.build("CantileverEndBentTest"); // For last node, apply moment to z-rotational direction and calculate deflection double moment = 0.7; size_t applyIndex = (nodesPerDim - 1) * 6 + 5; Vector applyForce = Vector::Zero(nodesPerDim * 6); applyForce[applyIndex] = moment; fem->updateFMDK(*(m_fem->getInitialState()), Math::ODEEQUATIONUPDATE_K); Matrix stiffness = fem->getK(); // Apply boundary conditions fem->getInitialState()->applyBoundaryConditionsToVector(&applyForce); fem->getInitialState()->applyBoundaryConditionsToMatrix(&stiffness); Vector calculatedDeflection = stiffness.inverse() * applyForce; for (size_t lookNode = 0; lookNode < nodesPerDim; lookNode++) { // For each node, compare theoretical deflection with calculated deflection size_t lookIndex = lookNode * 6 + 1; double x = m_L * lookNode / (nodesPerDim - 1); double deflection = moment * x * x / (2 * m_E * m_Iz); EXPECT_NEAR(deflection, calculatedDeflection[lookIndex], 1e-8); } } TEST_F(Fem1DMechanicalValidationTests, EndSupportedBeamCenterLoadedTest) { // Setup FEM size_t nodesPerDim = 5; m_fem1DBuilder.nodesPerDimension[0] = nodesPerDim; m_fem1DBuilder.addBoundaryCondition(0, 3); m_fem1DBuilder.addBoundaryCondition(nodesPerDim - 1, 3); std::shared_ptr fem = m_fem1DBuilder.build("EndSupportedBeamCenterLoadedTest"); // For middle node, apply load to y-direction and calculate deflection double load = 0.7; size_t applyIndex = (nodesPerDim / 2) * 6 + 1; Vector applyForce = Vector::Zero(nodesPerDim * 6); applyForce[applyIndex] = load; fem->updateFMDK(*(m_fem->getInitialState()), Math::ODEEQUATIONUPDATE_K); Matrix stiffness = fem->getK(); // Apply boundary conditions fem->getInitialState()->applyBoundaryConditionsToVector(&applyForce); fem->getInitialState()->applyBoundaryConditionsToMatrix(&stiffness); Vector calculatedDeflection = stiffness.inverse() * applyForce; // Compare theoretical deflection with calculated deflection size_t lookIndex = applyIndex; double deflection = load * (m_L * m_L * m_L) / (48.0 * m_E * m_Iz); EXPECT_NEAR(deflection, calculatedDeflection[lookIndex], 1e-8); } TEST_F(Fem1DMechanicalValidationTests, EndSupportedBeamIntermediatelyLoadedTest) { // Setup FEM size_t nodesPerDim = 5; m_fem1DBuilder.nodesPerDimension[0] = nodesPerDim; m_fem1DBuilder.addBoundaryCondition(0, 3); m_fem1DBuilder.addBoundaryCondition(nodesPerDim - 1, 3); std::shared_ptr fem = m_fem1DBuilder.build("EndSupportedBeamIntermediatelyLoadedTest"); for (size_t node = 0; node < nodesPerDim; node++) { // For each node, apply load to y-direction and calculate deflection double load = 0.7; size_t applyIndex = node * 6 + 1; Vector applyForce = Vector::Zero(nodesPerDim * 6); applyForce[applyIndex] = load; fem->updateFMDK(*(m_fem->getInitialState()), Math::ODEEQUATIONUPDATE_K); Matrix stiffness = fem->getK(); // Apply boundary conditions fem->getInitialState()->applyBoundaryConditionsToVector(&applyForce); fem->getInitialState()->applyBoundaryConditionsToMatrix(&stiffness); Vector calculatedDeflection = stiffness.inverse() * applyForce; // Compare theoretical deflection with calculated deflection size_t lookIndex = applyIndex; double a = static_cast(node) / static_cast(nodesPerDim - 1) * m_L; double b = m_L - a; double deflection = load * b * a / (6 * m_L * m_E * m_Iz) * (m_L * m_L - a * a - b * b); EXPECT_NEAR(deflection, calculatedDeflection[lookIndex], 1e-8); } } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem1DPlyReaderDelegateTests.cpp000066400000000000000000000062141277777236100267620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem.h" #include "SurgSim/Physics/Fem1DPlyReaderDelegate.h" namespace SurgSim { namespace Physics { using SurgSim::Math::Vector3d; using SurgSim::DataStructures::PlyReader; TEST(Fem1DRepresentationReaderTests, DelegateTest) { auto fem = std::make_shared(); auto runtime = std::make_shared("config.txt"); fem->load("PlyReaderTests/Fem1D.ply"); // Vertices Vector3d vertex0(1.1, 1.2, -1.3); Vector3d vertex6(9.100000, 9.200000, 9.300000); EXPECT_TRUE(vertex0.isApprox(fem->getVertex(0).position)); EXPECT_TRUE(vertex6.isApprox(fem->getVertex(6).position)); // Number of beams ASSERT_EQ(4u, fem->getNumElements()); std::array beam0 = {0, 1}; std::array beam2 = {3, 5}; EXPECT_TRUE(std::equal(std::begin(beam0), std::end(beam0), std::begin(fem->getElement(0)->nodeIds))); EXPECT_TRUE(std::equal(std::begin(beam2), std::end(beam2), std::begin(fem->getElement(2)->nodeIds))); // Boundary conditions ASSERT_EQ(3u, fem->getBoundaryConditions().size()); EXPECT_EQ(2, fem->getBoundaryCondition(0)); EXPECT_EQ(4, fem->getBoundaryCondition(1)); EXPECT_EQ(5, fem->getBoundaryCondition(2)); // Material for (size_t i = 0; i < fem->getNumElements(); ++i) { auto element = fem->getElement(i); EXPECT_DOUBLE_EQ(0.21, element->massDensity); EXPECT_DOUBLE_EQ(0.31, element->poissonRatio); EXPECT_DOUBLE_EQ(0.41, element->youngModulus); } } TEST(Fem1DRepresentationReaderTests, PerElementMaterial) { auto fem = std::make_shared(); auto runtime = std::make_shared("config.txt"); fem->load("PlyReaderTests/Fem1DMaterial.ply"); // Material double value = 1.0; for (size_t i = 0; i < fem->getNumElements(); ++i) { auto element = fem->getElement(i); EXPECT_DOUBLE_EQ(value++, element->massDensity); EXPECT_DOUBLE_EQ(value++, element->poissonRatio); EXPECT_DOUBLE_EQ(value++, element->youngModulus); } } TEST(Fem1DRepresentationReaderTests, NoMaterials) { auto fem = std::make_shared(); auto runtime = std::make_shared("config.txt"); ASSERT_NO_THROW(fem->load("PlyReaderTests/Fem1DNoMaterial.ply")); for (auto element : fem->getElements()) { EXPECT_DOUBLE_EQ(0.0, element->massDensity); EXPECT_DOUBLE_EQ(0.0, element->poissonRatio); EXPECT_DOUBLE_EQ(0.0, element->youngModulus); } } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem1DRepresentationTests.cpp000066400000000000000000000442451277777236100264500ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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. /// \file Fem1DRepresentationTests.cpp /// This file tests the functionalities of the class Fem1DRepresentation. #include #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/DeformableCollisionRepresentation.h" #include "SurgSim/Physics/Fem1DElementBeam.h" #include "SurgSim/Physics/Fem1DLocalization.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" namespace SurgSim { namespace Physics { TEST(Fem1DRepresentationTests, ConstructorTest) { ASSERT_NO_THROW({std::shared_ptr fem = std::make_shared("Fem1D");}); } TEST(Fem1DRepresentationTests, GetNumDofPerNodeTest) { std::shared_ptr fem = std::make_shared("Fem1D"); EXPECT_EQ(6u, fem->getNumDofPerNode()); } TEST(Fem1DRepresentationTests, TransformInitialStateTest) { using SurgSim::Math::Vector; std::shared_ptr fem = std::make_shared("Fem1D"); const size_t numNodes = 2; const size_t numDofPerNode = fem->getNumDofPerNode(); const size_t numDof = numDofPerNode * numNodes; SurgSim::Math::RigidTransform3d initialPose; SurgSim::Math::Quaterniond q(1.0, 2.0, 3.0, 4.0); SurgSim::Math::Vector3d t(1.0, 2.0, 3.0); q.normalize(); initialPose = SurgSim::Math::makeRigidTransform(q, t); fem->setLocalPose(initialPose); std::shared_ptr initialState = std::make_shared(); initialState->setNumDof(numDofPerNode, numNodes); Vector x = Vector::LinSpaced(numDof, 1.0, static_cast(numDof)); Vector v = Vector::Ones(numDof); Vector a = Vector::Ones(numDof) * 2.0; initialState->getPositions() = x; initialState->getVelocities() = v; fem->setInitialState(initialState); Vector expectedX = x, expectedV = v, expectedA = a; for (size_t nodeId = 0; nodeId < numNodes; nodeId++) { expectedX.segment<3>(numDofPerNode * nodeId) = initialPose * x.segment<3>(numDofPerNode * nodeId); expectedV.segment<3>(numDofPerNode * nodeId) = initialPose.linear() * v.segment<3>(numDofPerNode * nodeId); expectedA.segment<3>(numDofPerNode * nodeId) = initialPose.linear() * a.segment<3>(numDofPerNode * nodeId); } // Initialize the component ASSERT_TRUE(fem->initialize(std::make_shared())); // Wake-up the component => apply the pose to the initial state ASSERT_TRUE(fem->wakeUp()); EXPECT_TRUE(fem->getInitialState()->getPositions().isApprox(expectedX)); EXPECT_TRUE(fem->getInitialState()->getVelocities().isApprox(expectedV)); } TEST(Fem1DRepresentationTests, DoWakeUpTest) { using SurgSim::Math::LinearSparseSolveAndInverse; using SurgSim::Math::LinearSparseSolveAndInverseLU; std::shared_ptr fem = std::make_shared("Fem1D"); std::shared_ptr initialState = std::make_shared(); initialState->setNumDof(fem->getNumDofPerNode(), 2); fem->setInitialState(initialState); // Initialize the component ASSERT_TRUE(fem->initialize(std::make_shared())); // Wake-up the component => create the proper ode solver with the specialized linear solver ASSERT_TRUE(fem->wakeUp()); // Test that the OdeSolver has the proper linear solver type EXPECT_NE(nullptr, fem->getOdeSolver()); std::shared_ptr linearSolver = fem->getOdeSolver()->getLinearSolver(); EXPECT_NE(nullptr, linearSolver); std::shared_ptr expectedLinearSolverType; expectedLinearSolverType = std::dynamic_pointer_cast(linearSolver); EXPECT_NE(nullptr, expectedLinearSolverType); } TEST(Fem1DRepresentationTests, ExternalForceAPITest) { std::shared_ptr fem = std::make_shared("Fem"); std::shared_ptr initialState = std::make_shared(); initialState->setNumDof(6, 3); // External force vector not initialized until the initial state has been set (it contains the #dof...) EXPECT_EQ(0, fem->getExternalGeneralizedForce().size()); EXPECT_EQ(0, fem->getExternalGeneralizedStiffness().rows()); EXPECT_EQ(0, fem->getExternalGeneralizedStiffness().cols()); EXPECT_EQ(0, fem->getExternalGeneralizedDamping().rows()); EXPECT_EQ(0, fem->getExternalGeneralizedDamping().cols()); fem->setInitialState(initialState); Math::SparseMatrix zeroMat(static_cast(fem->getNumDof()), static_cast(fem->getNumDof())); zeroMat.setZero(); // Vector initialized (properly sized and zeroed) EXPECT_NE(0, fem->getExternalGeneralizedForce().size()); EXPECT_NE(0, fem->getExternalGeneralizedStiffness().rows()); EXPECT_NE(0, fem->getExternalGeneralizedStiffness().cols()); EXPECT_NE(0, fem->getExternalGeneralizedDamping().rows()); EXPECT_NE(0, fem->getExternalGeneralizedDamping().cols()); EXPECT_EQ(fem->getNumDof(), fem->getExternalGeneralizedForce().size()); EXPECT_EQ(fem->getNumDof(), fem->getExternalGeneralizedStiffness().cols()); EXPECT_EQ(fem->getNumDof(), fem->getExternalGeneralizedStiffness().rows()); EXPECT_EQ(fem->getNumDof(), fem->getExternalGeneralizedDamping().cols()); EXPECT_EQ(fem->getNumDof(), fem->getExternalGeneralizedDamping().rows()); EXPECT_TRUE(fem->getExternalGeneralizedForce().isZero()); EXPECT_TRUE(fem->getExternalGeneralizedStiffness().isApprox(zeroMat)); EXPECT_TRUE(fem->getExternalGeneralizedDamping().isApprox(zeroMat)); std::array element1NodeIds = {{0, 1}}; auto element1 = std::make_shared(element1NodeIds); fem->addFemElement(element1); std::array element2NodeIds = {{1, 2}}; auto element2 = std::make_shared(element2NodeIds); fem->addFemElement(element2); SurgSim::DataStructures::IndexedLocalCoordinate femRepCoordinate; femRepCoordinate.index = 0; femRepCoordinate.coordinate = SurgSim::Math::Vector::Zero(2); femRepCoordinate.coordinate[0] = 1.0; auto localization = std::make_shared(fem, femRepCoordinate); auto wrongLocalizationType = std::make_shared(); Vector FLocalWrongSize = Vector::Ones(2 * fem->getNumDofPerNode()); Matrix KLocalWrongSize = Matrix::Ones(3 * fem->getNumDofPerNode(), 3 * fem->getNumDofPerNode()); Matrix DLocalWrongSize = Matrix::Ones(4 * fem->getNumDofPerNode(), 4 * fem->getNumDofPerNode()); Vector Flocal = Vector::LinSpaced(fem->getNumDofPerNode(), -3.12, 4.09); Matrix Klocal = Matrix::Ones(fem->getNumDofPerNode(), fem->getNumDofPerNode()) * 0.34; Matrix Dlocal = Klocal + Matrix::Identity(fem->getNumDofPerNode(), fem->getNumDofPerNode()); Vector F = Vector::Zero(fem->getNumDof()); F.segment(0, fem->getNumDofPerNode()) = Flocal; SparseMatrix K(static_cast(fem->getNumDof()), static_cast(fem->getNumDof())); K.setZero(); Math::addSubMatrix(Klocal, 0, 0, &K, true); K.makeCompressed(); SparseMatrix D(static_cast(fem->getNumDof()), static_cast(fem->getNumDof())); D.setZero(); Math::addSubMatrix(Dlocal, 0, 0, &D, true); D.makeCompressed(); // Test invalid localization nullptr ASSERT_THROW(fem->addExternalGeneralizedForce(nullptr, Flocal), SurgSim::Framework::AssertionFailure); ASSERT_THROW(fem->addExternalGeneralizedForce(nullptr, Flocal, Klocal, Dlocal), SurgSim::Framework::AssertionFailure); // Test invalid localization type ASSERT_THROW(fem->addExternalGeneralizedForce(wrongLocalizationType, Flocal), SurgSim::Framework::AssertionFailure); ASSERT_THROW(fem->addExternalGeneralizedForce(wrongLocalizationType, Flocal, Klocal, Dlocal), SurgSim::Framework::AssertionFailure); // Test invalid force size ASSERT_THROW(fem->addExternalGeneralizedForce(localization, FLocalWrongSize), SurgSim::Framework::AssertionFailure); ASSERT_THROW(fem->addExternalGeneralizedForce(localization, FLocalWrongSize, Klocal, Dlocal), SurgSim::Framework::AssertionFailure); // Test invalid stiffness size ASSERT_THROW(fem->addExternalGeneralizedForce(localization, Flocal, KLocalWrongSize, Dlocal), SurgSim::Framework::AssertionFailure); // Test invalid damping size ASSERT_THROW(fem->addExternalGeneralizedForce(localization, Flocal, Klocal, DLocalWrongSize), SurgSim::Framework::AssertionFailure); // Test valid call to addExternalGeneralizedForce fem->addExternalGeneralizedForce(localization, Flocal, Klocal, Dlocal); SparseMatrix zeroMatrix(K.rows(), K.cols()); zeroMatrix.setZero(); EXPECT_FALSE(fem->getExternalGeneralizedForce().isZero()); EXPECT_FALSE(fem->getExternalGeneralizedStiffness().isApprox(zeroMatrix)); EXPECT_FALSE(fem->getExternalGeneralizedDamping().isApprox(zeroMatrix)); EXPECT_TRUE(fem->getExternalGeneralizedForce().isApprox(F)); EXPECT_TRUE(fem->getExternalGeneralizedStiffness().isApprox(K)); EXPECT_TRUE(fem->getExternalGeneralizedDamping().isApprox(D)); // Test valid call to addExternalGeneralizedForce to add things up fem->addExternalGeneralizedForce(localization, Flocal, Klocal, Dlocal); EXPECT_TRUE(fem->getExternalGeneralizedForce().isApprox(2.0 * F)); EXPECT_TRUE(fem->getExternalGeneralizedStiffness().isApprox(2.0 * K)); EXPECT_TRUE(fem->getExternalGeneralizedDamping().isApprox(2.0 * D)); } TEST(Fem1DRepresentationTests, LoadMeshTest) { auto femRepresentation = std::make_shared("Representation"); auto runtime = std::make_shared("config.txt"); femRepresentation->loadFem("PlyReaderTests/Fem1D.ply"); ASSERT_TRUE(femRepresentation->initialize(runtime)); // Vertices ASSERT_EQ(6u, femRepresentation->getNumDofPerNode()); ASSERT_EQ(6u * 7u, femRepresentation->getNumDof()); Vector3d vertex0(1.1, 1.2, -1.3); Vector3d vertex6(9.100000, 9.200000, 9.300000); EXPECT_TRUE(vertex0.isApprox(femRepresentation->getInitialState()->getPosition(0))); EXPECT_TRUE(vertex6.isApprox(femRepresentation->getInitialState()->getPosition(6))); // Number of beams ASSERT_EQ(4u, femRepresentation->getNumFemElements()); std::array beam0 = {0, 1}; std::array beam2 = {3, 5}; EXPECT_TRUE(std::equal(std::begin(beam0), std::end(beam0), std::begin(femRepresentation->getFemElement(0)->getNodeIds()))); EXPECT_TRUE(std::equal(std::begin(beam2), std::end(beam2), std::begin(femRepresentation->getFemElement(2)->getNodeIds()))); // Boundary conditions ASSERT_EQ(3u * 6u, femRepresentation->getInitialState()->getNumBoundaryConditions()); // Boundary condition 0 is on node 8 size_t boundaryNode0 = 2; size_t boundaryNode2 = 5; EXPECT_EQ(6 * boundaryNode0, femRepresentation->getInitialState()->getBoundaryConditions().at(0)); EXPECT_EQ(6 * boundaryNode0 + 1, femRepresentation->getInitialState()->getBoundaryConditions().at(1)); EXPECT_EQ(6 * boundaryNode0 + 2, femRepresentation->getInitialState()->getBoundaryConditions().at(2)); EXPECT_EQ(6 * boundaryNode2, femRepresentation->getInitialState()->getBoundaryConditions().at(12)); EXPECT_EQ(6 * boundaryNode2 + 1, femRepresentation->getInitialState()->getBoundaryConditions().at(13)); EXPECT_EQ(6 * boundaryNode2 + 2, femRepresentation->getInitialState()->getBoundaryConditions().at(14)); // Material for (size_t i = 0; i < femRepresentation->getNumFemElements(); ++i) { auto fem = femRepresentation->getFemElement(i); EXPECT_DOUBLE_EQ(0.21, fem->getMassDensity()); EXPECT_DOUBLE_EQ(0.31, fem->getPoissonRatio()); EXPECT_DOUBLE_EQ(0.41, fem->getYoungModulus()); auto fem1DBeam = std::dynamic_pointer_cast(fem); ASSERT_NE(nullptr, fem1DBeam); EXPECT_DOUBLE_EQ(0.11, fem1DBeam->getRadius()); } } TEST(Fem1DRepresentationTests, CreateLocalizationTest) { auto fem = std::make_shared("Representation"); auto runtime = std::make_shared("config.txt"); ASSERT_NO_THROW(fem->loadFem("PlyReaderTests/Fem1D.ply")); ASSERT_NO_THROW(ASSERT_TRUE(fem->initialize(runtime))); // Localization on an invalid node { SCOPED_TRACE("Invalid node"); SurgSim::DataStructures::Location location(1000); std::shared_ptr localization; EXPECT_THROW(localization = std::dynamic_pointer_cast( fem->createLocalization(location)), SurgSim::Framework::AssertionFailure); } // Localization on a valid node { SCOPED_TRACE("Valid node"); SurgSim::DataStructures::Location location(0); std::shared_ptr localization; EXPECT_NO_THROW(localization = std::dynamic_pointer_cast(fem->createLocalization(location));); EXPECT_TRUE(localization != nullptr); EXPECT_TRUE(localization->getRepresentation() == fem); SurgSim::Math::Vector3d globalPosition; SurgSim::DataStructures::IndexedLocalCoordinate coordinate = localization->getLocalPosition(); EXPECT_NO_THROW(globalPosition = fem->getCurrentState()->getPosition(coordinate.index);); EXPECT_TRUE(globalPosition.isApprox(localization->calculatePosition())); } // In the 1d case, location of type triangle do not make sense and should raise an exception // Localization on invalid triangle (no triangle exist, so any triangle id would be invalid) { SCOPED_TRACE("Triangle => all invalid"); Vector barycentricCoordinate = Vector::Zero(3); barycentricCoordinate[0] = 1.0; SurgSim::DataStructures::IndexedLocalCoordinate coord(0, barycentricCoordinate); SurgSim::DataStructures::Location location(coord, SurgSim::DataStructures::Location::TRIANGLE); std::shared_ptr localization; EXPECT_THROW(localization = fem->createLocalization(location), SurgSim::Framework::AssertionFailure); } // Localization on an invalid element { SCOPED_TRACE("Invalid element index"); Vector barycentricCoordinate = Vector::Zero(2); barycentricCoordinate[0] = 1.0; SurgSim::DataStructures::IndexedLocalCoordinate coord(10000, barycentricCoordinate); SurgSim::DataStructures::Location location(coord, SurgSim::DataStructures::Location::ELEMENT); std::shared_ptr localization; EXPECT_THROW(localization = fem->createLocalization(location), SurgSim::Framework::AssertionFailure); } // Localization on an valid element but invalid barycentric coordinate size { SCOPED_TRACE("Invalid element barycentric coordinate size"); Vector barycentricCoordinate = Vector::Zero(3); barycentricCoordinate[0] = 1.0; SurgSim::DataStructures::IndexedLocalCoordinate coord(0, barycentricCoordinate); SurgSim::DataStructures::Location location(coord, SurgSim::DataStructures::Location::ELEMENT); std::shared_ptr localization; EXPECT_THROW(localization = fem->createLocalization(location), SurgSim::Framework::AssertionFailure); } // Localization on an valid element but invalid barycentric coordinate { SCOPED_TRACE("Invalid element barycentric coordinate"); Vector barycentricCoordinate = Vector::Zero(2); SurgSim::DataStructures::IndexedLocalCoordinate coord(0, barycentricCoordinate); SurgSim::DataStructures::Location location(coord, SurgSim::DataStructures::Location::ELEMENT); std::shared_ptr localization; EXPECT_THROW(localization = fem->createLocalization(location), SurgSim::Framework::AssertionFailure); } // Localization on a valid element { SCOPED_TRACE("Valid element"); Vector barycentricCoordinate = Vector::Zero(2); barycentricCoordinate.setConstant(1.0 / 2.0); SurgSim::DataStructures::IndexedLocalCoordinate coord(0, barycentricCoordinate); SurgSim::DataStructures::Location location(coord, SurgSim::DataStructures::Location::ELEMENT); std::shared_ptr localization; EXPECT_NO_THROW(localization = std::dynamic_pointer_cast(fem->createLocalization(location))); EXPECT_TRUE(localization != nullptr); EXPECT_TRUE(localization->getRepresentation() == fem); SurgSim::DataStructures::IndexedLocalCoordinate coordinate = localization->getLocalPosition(); auto element = fem->getFemElement(coordinate.index); SurgSim::Math::Vector3d globalPosition = 1.0 / 2.0 * fem->getCurrentState()->getPosition(element->getNodeId(0)) + 1.0 / 2.0 * fem->getCurrentState()->getPosition(element->getNodeId(1)); EXPECT_TRUE(globalPosition.isApprox(localization->calculatePosition())); } } TEST(Fem1DRepresentationTests, SerializationTest) { auto fem1DRepresentation = std::make_shared("Test-Fem1D"); auto runtime = std::make_shared("config.txt"); const std::string filename = "PlyReaderTests/Fem1D.ply"; fem1DRepresentation->loadFem(filename); auto collisionRepresentation = std::make_shared("Collision"); fem1DRepresentation->setCollisionRepresentation(collisionRepresentation); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*fem1DRepresentation)); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); std::shared_ptr newRepresentation; ASSERT_NO_THROW(newRepresentation = std::dynamic_pointer_cast (node.as>())); ASSERT_NE(nullptr, newRepresentation); EXPECT_EQ("SurgSim::Physics::Fem1DRepresentation", newRepresentation->getClassName()); EXPECT_EQ(filename, newRepresentation->getFem()->getValue("FileName")); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem2DConstraintFixedPointTests.cpp000066400000000000000000000222411277777236100275550ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/MlcpConstraintType.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/Fem2DElementTriangle.h" #include "SurgSim/Physics/Fem2DLocalization.h" #include "SurgSim/Physics/Fem2DRepresentation.h" #include "SurgSim/Physics/FemConstraintFixedPoint.h" #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; using SurgSim::Math::Vector6d; namespace { const double epsilon = 1e-10; const double dt = 1e-3; }; namespace SurgSim { namespace Physics { static std::shared_ptr getTriangle(size_t nodeId0, size_t nodeId1, size_t nodeId2, double thickness, double massDensity, double poissonRatio, double youngModulus) { std::array nodeIds = {{nodeId0, nodeId1, nodeId2}}; auto element = std::make_shared(nodeIds); element->setMassDensity(massDensity); element->setPoissonRatio(poissonRatio); element->setYoungModulus(youngModulus); element->setThickness(thickness); return element; } static std::shared_ptr getFem2d(const std::string &name, double thickness = 0.01, double massDensity = 1.0, double poissonRatio = 0.1, double youngModulus = 1.0) { auto fem = std::make_shared(name); auto state = std::make_shared(); state->setNumDof(6, 5); std::array p0 = {{0.11, 0.22, 0.33, 0.44, 0.55, 0.66}}; std::array p1 = {{0.12, -0.23, 0.34, -0.45, 0.56, -0.67}}; std::array p2 = {{-0.10, 0.21, -0.32, 0.43, -0.54, 0.65}}; std::array p3 = {{0.2, 0.2, 0.2, 0.2, 0.2, 0.2}}; std::array p4 = {{-0.1, 0.1, -0.2, 0.2, -0.3, 0.3}}; state->getPositions().segment<6>(0 * 6) = Vector6d(p0.data()); state->getPositions().segment<6>(1 * 6) = Vector6d(p1.data()); state->getPositions().segment<6>(2 * 6) = Vector6d(p2.data()); state->getPositions().segment<6>(3 * 6) = Vector6d(p3.data()); state->getPositions().segment<6>(4 * 6) = Vector6d(p4.data()); fem->addFemElement(getTriangle(0, 1, 2, thickness, massDensity, poissonRatio, youngModulus)); fem->addFemElement(getTriangle(1, 2, 3, thickness, massDensity, poissonRatio, youngModulus)); fem->addFemElement(getTriangle(2, 3, 4, thickness, massDensity, poissonRatio, youngModulus)); fem->setInitialState(state); fem->initialize(std::make_shared()); fem->wakeUp(); fem->setIsGravityEnabled(false); fem->beforeUpdate(dt); fem->update(dt); return fem; } TEST(Fem2DConstraintFixedPointTests, Constructor) { ASSERT_NO_THROW({ FemConstraintFixedPoint constraint; }); } TEST(Fem2DConstraintFixedPointTests, Constants) { FemConstraintFixedPoint constraint; EXPECT_EQ(SurgSim::Physics::FIXED_3DPOINT, constraint.getConstraintType()); EXPECT_EQ(3u, constraint.getNumDof()); } TEST(Fem2DConstraintFixedPointTests, BuildMlcpBasic) { // Whitebox test which validates ConstraintImplementation::build's output parameter, MlcpPhysicsProblem. It assumes // CHt and HCHt can be correctly built given H, so it does not necessarily construct the physical parameters // necessary to supply a realistic C. It only checks H and b. FemConstraintFixedPoint constraint; Vector3d actual; // Setup parameters for FemConstraintFixedPoint::build auto localization = std::make_shared(getFem2d("representation"), SurgSim::DataStructures::IndexedLocalCoordinate(1u, Vector3d(0.0, 0.0, 1.0))); actual = localization->calculatePosition(); MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(30, 3, 1); ConstraintData emptyConstraint; ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); // Compare results Eigen::Matrix violation = actual; EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); Eigen::Matrix identity = Eigen::Matrix::Identity(); SurgSim::Math::setSubMatrix(1.0 * dt * identity, 0, 6, 3, 3, &H); // This weight is on node 3 (triId 1, nodeId 2) EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST(Fem2DConstraintFixedPointTests, BuildMlcp) { // Whitebox test which validates ConstraintImplementation::build's output parameter, MlcpPhysicsProblem. It assumes // CHt and HCHt can be correctly built given H, so it does not necessarily construct the physical parameters // necessary to supply a realistic C. It only checks H and b. FemConstraintFixedPoint constraint; Vector3d actual; // Setup parameters for FemConstraintFixedPoint::build auto localization = std::make_shared(getFem2d("representation"), SurgSim::DataStructures::IndexedLocalCoordinate(1u, Vector3d(0.11, 0.02, 0.87))); actual = localization->calculatePosition(); MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(30, 3, 1); ConstraintData emptyConstraint; ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); // Compare results Eigen::Matrix violation = actual; EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); Eigen::Matrix identity = Eigen::Matrix::Identity(); SurgSim::Math::setSubMatrix(0.11 * dt * identity, 0, 2, 3, 3, &H); // This weight is on node 1 (triId 1, nodeId 0) SurgSim::Math::setSubMatrix(0.02 * dt * identity, 0, 4, 3, 3, &H); // This weight is on node 2 (triId 1, nodeId 1) SurgSim::Math::setSubMatrix(0.87 * dt * identity, 0, 6, 3, 3, &H); // This weight is on node 3 (triId 1, nodeId 2) EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST(Fem2DConstraintFixedPointTests, BuildMlcpTwoStep) { // Whitebox test which validates ConstraintImplementation::build's output parameter, MlcpPhysicsProblem. It assumes // CHt and HCHt can be correctly built given H, so it does not necessarily construct the physical parameters // necessary to supply a realistic C. It only checks H and b. FemConstraintFixedPoint constraint; Vector3d actual; Vector3d desired; // Setup parameters for FemConstraintFixedPoint::build MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(30, 3, 1); ConstraintData emptyConstraint; auto localization = std::make_shared(getFem2d("representation"), SurgSim::DataStructures::IndexedLocalCoordinate(1u, Vector3d(0.11, 0.02, 0.87))); actual = localization->calculatePosition(); ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); localization->setLocalPosition( SurgSim::DataStructures::IndexedLocalCoordinate(2u, Vector3d(0.32, 0.5, 0.18))); desired = localization->calculatePosition(); ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_NEGATIVE_SIDE)); // Compare results Eigen::Matrix violation = actual - desired; EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); Eigen::Matrix identity = Eigen::Matrix::Identity(); SurgSim::Math::addSubMatrix( 0.11 * dt * identity, 0, 2, 3, 3, &H); // This weight is on node 1 (triId 1, nodeId 0) SurgSim::Math::addSubMatrix( 0.02 * dt * identity, 0, 4, 3, 3, &H); // This weight is on node 2 (triId 1, nodeId 1) SurgSim::Math::addSubMatrix( 0.87 * dt * identity, 0, 6, 3, 3, &H); // This weight is on node 3 (triId 1, nodeId 2) SurgSim::Math::addSubMatrix(-0.32 * dt * identity, 0, 4, 3, 3, &H); // This weight is on node 2 (triId 2, nodeId 0) SurgSim::Math::addSubMatrix(-0.50 * dt * identity, 0, 6, 3, 3, &H); // This weight is on node 3 (triId 2, nodeId 1) SurgSim::Math::addSubMatrix(-0.18 * dt * identity, 0, 8, 3, 3, &H); // This weight is on node 4 (triId 2, nodeId 2) EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem2DConstraintFrictionalSlidingTests.cpp000066400000000000000000000264231277777236100311160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/LinearSparseSolveAndInverse.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem2DElementTriangle.h" #include "SurgSim/Physics/Fem2DLocalization.h" #include "SurgSim/Physics/Fem2DRepresentation.h" #include "SurgSim/Physics/FemConstraintFrictionalSliding.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" #include "SurgSim/Physics/SlidingConstraintData.h" #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" using SurgSim::DataStructures::IndexedLocalCoordinate; using SurgSim::Framework::Runtime; using SurgSim::Physics::Fem2DRepresentation; using SurgSim::Physics::FemConstraintFrictionalSliding; using SurgSim::Physics::Fem2DLocalization; using SurgSim::Physics::Fem2DElementTriangle; using SurgSim::Physics::MlcpPhysicsProblem; using SurgSim::Physics::MockFem2DRepresentation; using SurgSim::Physics::SlidingConstraintData; using SurgSim::Math::Vector3d; namespace { const double epsilon = 1e-10; const double dt = 1e-3; }; static void addTriangle(Fem2DRepresentation* fem, size_t node0, size_t node1, size_t node2, double thickness = 0.01, double massDensity = 1.0, double poissonRatio = 0.1, double youngModulus = 1.0) { std::array nodes = {node0, node1, node2}; auto element = std::make_shared(nodes); element->setThickness(thickness); element->setMassDensity(massDensity); element->setPoissonRatio(poissonRatio); element->setYoungModulus(youngModulus); fem->addFemElement(element); } class Fem2DConstraintFrictionalSlidingTests : public ::testing::Test { public: void SetUp() { // Define plane with normal 'n' pointing against gravity. m_slidingDirection = Vector3d(0.8539, 0.6289, -0.9978); m_slidingDirection.normalize(); // Create mock FEM m_fem = std::make_shared("Fem2dRepresentation"); auto state = std::make_shared(); state->setNumDof(6, 5); state->getPositions().segment<3>(0 * 6) = Vector3d(0.30, -0.57, 0.40); state->getPositions().segment<3>(1 * 6) = Vector3d(0.06, 0.63, -0.32); state->getPositions().segment<3>(2 * 6) = Vector3d(-0.91, 0.72, 0.72); state->getPositions().segment<3>(3 * 6) = Vector3d(0.35, 0.52, 0.50); state->getPositions().segment<3>(4 * 6) = Vector3d(1.14, 0.66, 0.71); addTriangle(m_fem.get(), 0, 1, 2); addTriangle(m_fem.get(), 1, 2, 3); addTriangle(m_fem.get(), 2, 3, 4); m_fem->setInitialState(state); m_fem->setIntegrationScheme(SurgSim::Math::IntegrationScheme::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED); m_fem->setLocalActive(true); m_fem->initialize(std::make_shared()); m_fem->wakeUp(); // Update model by one timestep m_fem->beforeUpdate(dt); m_fem->update(dt); } void setSlidingConstraintAt(const IndexedLocalCoordinate& coord) { m_localization = std::make_shared(m_fem, coord); m_constraintData.setSlidingDirection(m_localization->calculatePosition(0.0), m_slidingDirection); } std::shared_ptr m_fem; std::shared_ptr m_localization; Vector3d m_slidingDirection; SlidingConstraintData m_constraintData; }; TEST_F(Fem2DConstraintFrictionalSlidingTests, ConstructorTest) { ASSERT_NO_THROW( { FemConstraintFrictionalSliding femContact; }); } TEST_F(Fem2DConstraintFrictionalSlidingTests, ConstraintConstantsTest) { auto implementation = std::make_shared(); EXPECT_EQ(SurgSim::Physics::FRICTIONAL_SLIDING, implementation->getConstraintType()); EXPECT_EQ(3u, implementation->getNumDof()); } TEST_F(Fem2DConstraintFrictionalSlidingTests, BuildMlcpTest) { // This test verifies the build mlcp function works for a simple case. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 3, 1); // Apply constraint purely to the first node of the 0th tetrahedron. IndexedLocalCoordinate coord(0, Vector3d(1.0, 0.0, 0.0)); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 0) = (dt * m_slidingDirection).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); // C = dt * m^{-1} m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_DOUBLE_EQ(0.5, mlcpPhysicsProblem.mu[0]); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem2DConstraintFrictionalSlidingTests, BuildMlcpCoordinateTest) { // This test verifies the build mlcp function works for a more complicated case with different nodes. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 3, 1); // Apply constraint to all nodes of an fem. const Vector3d barycentric = Vector3d(0.25, 0.33, 0.42); IndexedLocalCoordinate coord(0, barycentric); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 0) = (barycentric[0] * dt * m_slidingDirection).eval(); H.block<1, 3>(0, 6) = (barycentric[1] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 6) = (barycentric[1] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 6) = (barycentric[1] * dt * m_slidingDirection).eval(); H.block<1, 3>(0, 12) = (barycentric[2] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 12) = (barycentric[2] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 12) = (barycentric[2] * dt * m_slidingDirection).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); // C = dt * m^{-1} m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_DOUBLE_EQ(0.5, mlcpPhysicsProblem.mu[0]); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem2DConstraintFrictionalSlidingTests, BuildMlcpIndiciesTest) { // This test verifies the build mlcp function works given a hypothetical, preexisting mlcp problem. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof() + 5, 4, 2); // Suppose 5 dof and 1 constraint are defined elsewhere. Then H, CHt, HCHt, and b are prebuilt. Eigen::SparseVector localH; localH.resize(5); localH.reserve(5); localH.insert(0) = 0.9478; localH.insert(1) = -0.3807; localH.insert(2) = 0.5536; localH.insert(3) = -0.6944; localH.insert(4) = 0.1815; mlcpPhysicsProblem.H.coeffRef(0, 0) += localH.coeff(0); mlcpPhysicsProblem.H.coeffRef(0, 1) += localH.coeff(1); mlcpPhysicsProblem.H.coeffRef(0, 2) += localH.coeff(2); mlcpPhysicsProblem.H.coeffRef(0, 3) += localH.coeff(3); mlcpPhysicsProblem.H.coeffRef(0, 4) += localH.coeff(4); Eigen::Matrix localC; localC << -0.2294, 0.5160, 0.2520, 0.5941, -0.4854, 0.1233, -0.4433, 0.3679, 0.9307, 0.2600, 0.1988, 0.6637, -0.7591, 0.1475, 0.8517, -0.5495, -0.4305, 0.3162, -0.7862, 0.7627, -0.5754, 0.4108, 0.8445, -0.5565, 0.7150; localC = localC * localC.transpose(); // force to be symmetric Eigen::Matrix localCHt = localC * localH.transpose(); mlcpPhysicsProblem.CHt.block<5, 1>(0, 0) = localCHt; mlcpPhysicsProblem.A.block<1, 1>(0, 0) = localH * localCHt; mlcpPhysicsProblem.b.block<1, 1>(0, 0)[0] = 0.6991; // Place the Fem at 5th dof (1 or multiple representations exist before, covering a total of 5 dof) // and the constraint at the index 1 (1 atomic constraint exists before this one) size_t indexOfRepresentation = 5; size_t indexOfConstraint = 1; // Apply constraint to all nodes of an fem. Vector3d barycentric = Vector3d(0.25, 0.33, 0.42); IndexedLocalCoordinate coord(0, barycentric); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, indexOfRepresentation, indexOfConstraint, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 0) = (barycentric[0] * dt * m_slidingDirection).eval(); H.block<1, 3>(0, 6) = (barycentric[1] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 6) = (barycentric[1] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 6) = (barycentric[1] * dt * m_slidingDirection).eval(); H.block<1, 3>(0, 12) = (barycentric[2] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 12) = (barycentric[2] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 12) = (barycentric[2] * dt * m_slidingDirection).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H.block(indexOfConstraint, indexOfRepresentation, 3, 30), epsilon); m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN( C * H.transpose(), mlcpPhysicsProblem.CHt.block(indexOfRepresentation, indexOfConstraint, 30, 3), epsilon); EXPECT_NEAR_EIGEN( H * C * H.transpose(), mlcpPhysicsProblem.A.block(indexOfConstraint, indexOfConstraint, 3, 3), epsilon); EXPECT_DOUBLE_EQ(0.5, mlcpPhysicsProblem.mu[1]); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem2DConstraintFrictionlessContactTests.cpp000066400000000000000000000267561277777236100315030ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/LinearSparseSolveAndInverse.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/ContactConstraintData.h" #include "SurgSim/Physics/Fem2DElementTriangle.h" #include "SurgSim/Physics/Fem2DLocalization.h" #include "SurgSim/Physics/Fem2DRepresentation.h" #include "SurgSim/Physics/FemConstraintFrictionlessContact.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" using SurgSim::DataStructures::IndexedLocalCoordinate; using SurgSim::Framework::Runtime; using SurgSim::Physics::ContactConstraintData; using SurgSim::Physics::Fem2DRepresentation; using SurgSim::Physics::FemConstraintFrictionlessContact; using SurgSim::Physics::Fem2DLocalization; using SurgSim::Physics::Fem2DElementTriangle; using SurgSim::Physics::MlcpPhysicsProblem; using SurgSim::Physics::MockFem2DRepresentation; using SurgSim::Math::Vector3d; namespace { const double epsilon = 1e-10; const double dt = 1e-3; const double mlcpPrecision = 1e-04; }; static void addTriangle(Fem2DRepresentation* fem, size_t node0, size_t node1, size_t node2, double thickness = 0.01, double massDensity = 1.0, double poissonRatio = 0.1, double youngModulus = 1.0) { std::array nodes = {node0, node1, node2}; auto element = std::make_shared(nodes); element->setThickness(thickness); element->setMassDensity(massDensity); element->setPoissonRatio(poissonRatio); element->setYoungModulus(youngModulus); fem->addFemElement(element); } class Fem2DConstraintFrictionlessContactTests : public ::testing::Test { public: void SetUp() { // Define plane with normal 'n' pointing against gravity. m_n = Vector3d(0.8539, 0.6289, -0.9978); m_n.normalize(); // Create mock FEM m_fem = std::make_shared("Fem2dRepresentation"); auto state = std::make_shared(); state->setNumDof(6, 5); state->getPositions().segment<3>(0 * 6) = Vector3d(0.30, -0.57, 0.40); state->getPositions().segment<3>(1 * 6) = Vector3d(0.06, 0.63, -0.32); state->getPositions().segment<3>(2 * 6) = Vector3d(-0.91, 0.72, 0.72); state->getPositions().segment<3>(3 * 6) = Vector3d(0.35, 0.52, 0.50); state->getPositions().segment<3>(4 * 6) = Vector3d(1.14, 0.66, 0.71); addTriangle(m_fem.get(), 0, 1, 2); addTriangle(m_fem.get(), 1, 2, 3); addTriangle(m_fem.get(), 2, 3, 4); m_fem->setInitialState(state); m_fem->setIntegrationScheme(SurgSim::Math::IntegrationScheme::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED); m_fem->setLocalActive(true); m_fem->initialize(std::make_shared()); m_fem->wakeUp(); // Update model by one timestep m_fem->beforeUpdate(dt); m_fem->update(dt); } void setContactAt(const IndexedLocalCoordinate& coord) { m_localization = std::make_shared(m_fem, coord); // Calculate position at state before "m_fem->update(dt)" was called. double distance = -m_localization->calculatePosition(0.0).dot(m_n); m_constraintData.setPlaneEquation(m_n, distance); } Vector3d computeNewPosition(const IndexedLocalCoordinate& coord) const { // Solve the system M.a = f // The gravity force should be M.g, but we actually use a mass per node diagonal matrix Md // So the assumption that the violation should be oriented toward the gravity vector is false: // Ma = f = Mg => a = M^-1.f = M^-1.M.g = g // Instead, we have // Ma = f = Md.g => a = M^-1.f = M^-1.Md.g SurgSim::Math::Vector a = m_fem->getM().toDense().inverse() * m_fem->getF(); SurgSim::Math::Vector v = m_fem->getInitialState()->getVelocities() + a * dt; SurgSim::Math::Vector p = m_fem->getInitialState()->getPositions() + v * dt; Vector3d newPosition = Vector3d::Zero(); const auto& nodeIds = m_fem->getFemElement(coord.index)->getNodeIds(); for (size_t node = 0; node < 3; node++) { newPosition += p.segment<3>(6 * nodeIds[node]) * coord.coordinate[node]; } return newPosition; } std::shared_ptr m_fem; std::shared_ptr m_localization; Vector3d m_n; ContactConstraintData m_constraintData; }; TEST_F(Fem2DConstraintFrictionlessContactTests, ConstructorTest) { ASSERT_NO_THROW( { FemConstraintFrictionlessContact femContact; }); } TEST_F(Fem2DConstraintFrictionlessContactTests, ConstraintConstantsTest) { auto implementation = std::make_shared(); EXPECT_EQ(SurgSim::Physics::FRICTIONLESS_3DCONTACT, implementation->getConstraintType()); EXPECT_EQ(1u, implementation->getNumDof()); } TEST_F(Fem2DConstraintFrictionlessContactTests, BuildMlcpTest) { // This test verifies the build mlcp function works for a simple case. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 1, 1); // Apply constraint purely to the first node of the 0th tetrahedron. IndexedLocalCoordinate coord(0, Vector3d(1.0, 0.0, 0.0)); setContactAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); const Vector3d newPosition = computeNewPosition(coord); EXPECT_NEAR(newPosition.dot(m_n), mlcpPhysicsProblem.b[0] + mlcpPrecision, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); H.segment<3>(6 * 0) = dt * m_n; EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); // C = dt * m^{-1} m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem2DConstraintFrictionlessContactTests, BuildMlcpCoordinateTest) { // This test verifies the build mlcp function works for a more complicated case with different nodes. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 1, 1); // Apply constraint to all nodes of an fem. const Vector3d barycentric = Vector3d(0.25, 0.33, 0.42); IndexedLocalCoordinate coord(1, barycentric); setContactAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); const Vector3d newPosition = computeNewPosition(coord); EXPECT_NEAR(newPosition.dot(m_n), mlcpPhysicsProblem.b[0] + mlcpPrecision, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); H.segment<3>(6 * 1) = 0.25 * dt * m_n; H.segment<3>(6 * 2) = 0.33 * dt * m_n; H.segment<3>(6 * 3) = 0.42 * dt * m_n; EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); // C = dt * m^{-1} SurgSim::Math::Matrix C; SurgSim::Math::SparseMatrix M(30, 30); m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); M = m_fem->getM(); SurgSim::Math::LinearSparseSolveAndInverseLU solver; SurgSim::Math::Vector b = SurgSim::Math::Vector::Zero(30); solver.setMatrix(M); C = solver.getInverse(); C *= dt; EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem2DConstraintFrictionlessContactTests, BuildMlcpIndiciesTest) { // This test verifies the build mlcp function works given a hypothetical, preexisting mlcp problem. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof() + 5, 2, 1); // Suppose 5 dof and 1 constraint are defined elsewhere. Then H, CHt, HCHt, and b are prebuilt. Eigen::SparseVector localH; localH.resize(5); localH.reserve(5); localH.insert(0) = 0.9478; localH.insert(1) = -0.3807; localH.insert(2) = 0.5536; localH.insert(3) = -0.6944; localH.insert(4) = 0.1815; mlcpPhysicsProblem.H.coeffRef(0, 0) += localH.coeff(0); mlcpPhysicsProblem.H.coeffRef(0, 1) += localH.coeff(1); mlcpPhysicsProblem.H.coeffRef(0, 2) += localH.coeff(2); mlcpPhysicsProblem.H.coeffRef(0, 3) += localH.coeff(3); mlcpPhysicsProblem.H.coeffRef(0, 4) += localH.coeff(4); Eigen::Matrix localC; localC << -0.2294, 0.5160, 0.2520, 0.5941, -0.4854, 0.1233, -0.4433, 0.3679, 0.9307, 0.2600, 0.1988, 0.6637, -0.7591, 0.1475, 0.8517, -0.5495, -0.4305, 0.3162, -0.7862, 0.7627, -0.5754, 0.4108, 0.8445, -0.5565, 0.7150; localC = localC * localC.transpose(); // force to be symmetric Eigen::Matrix localCHt = localC * localH.transpose(); mlcpPhysicsProblem.CHt.block<5, 1>(0, 0) = localCHt; mlcpPhysicsProblem.A.block<1, 1>(0, 0) = localH * localCHt; mlcpPhysicsProblem.b.block<1, 1>(0, 0)[0] = 0.6991; // Place the Fem at 5th dof (1 or multiple representations exist before, covering a total of 5 dof) // and the constraint at the index 1 (1 atomic constraint exists before this one) size_t indexOfRepresentation = 5; size_t indexOfConstraint = 1; // Apply constraint to all nodes of an fem. Vector3d barycentric = Vector3d(0.25, 0.33, 0.42); IndexedLocalCoordinate coord(1, barycentric); setContactAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, indexOfRepresentation, indexOfConstraint, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); const Vector3d newPosition = computeNewPosition(coord); EXPECT_NEAR(newPosition.dot(m_n), mlcpPhysicsProblem.b[indexOfConstraint] + mlcpPrecision, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); H.segment<3>(6 * 1) = 0.25 * dt * m_n; H.segment<3>(6 * 2) = 0.33 * dt * m_n; H.segment<3>(6 * 3) = 0.42 * dt * m_n; EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H.block(indexOfConstraint, indexOfRepresentation, 1, 30), epsilon); SurgSim::Math::Matrix C; SurgSim::Math::SparseMatrix M(30, 30); m_fem->updateFMDK(*m_fem->getPreviousState(), SurgSim::Math::ODEEQUATIONUPDATE_M); M = m_fem->getM(); SurgSim::Math::LinearSparseSolveAndInverseLU solver; SurgSim::Math::Vector b = SurgSim::Math::Vector::Zero(30); solver.setMatrix(M); C = solver.getInverse(); C *= dt; EXPECT_NEAR_EIGEN( C * H.transpose(), mlcpPhysicsProblem.CHt.block(indexOfRepresentation, indexOfConstraint, 30, 1), epsilon); EXPECT_NEAR_EIGEN( H * C * H.transpose(), mlcpPhysicsProblem.A.block(indexOfConstraint, indexOfConstraint, 1, 1), epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem2DConstraintFrictionlessSlidingTests.cpp000066400000000000000000000271451277777236100314720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/LinearSparseSolveAndInverse.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem2DElementTriangle.h" #include "SurgSim/Physics/Fem2DLocalization.h" #include "SurgSim/Physics/Fem2DRepresentation.h" #include "SurgSim/Physics/FemConstraintFrictionlessSliding.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" #include "SurgSim/Physics/SlidingConstraintData.h" #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" using SurgSim::DataStructures::IndexedLocalCoordinate; using SurgSim::Framework::Runtime; using SurgSim::Physics::Fem2DRepresentation; using SurgSim::Physics::FemConstraintFrictionlessSliding; using SurgSim::Physics::Fem2DLocalization; using SurgSim::Physics::Fem2DElementTriangle; using SurgSim::Physics::MlcpPhysicsProblem; using SurgSim::Physics::MockFem2DRepresentation; using SurgSim::Physics::SlidingConstraintData; using SurgSim::Math::Vector3d; namespace { const double epsilon = 1e-10; const double dt = 1e-3; }; static void addTriangle(Fem2DRepresentation* fem, size_t node0, size_t node1, size_t node2, double thickness = 0.01, double massDensity = 1.0, double poissonRatio = 0.1, double youngModulus = 1.0) { std::array nodes = {node0, node1, node2}; auto element = std::make_shared(nodes); element->setThickness(thickness); element->setMassDensity(massDensity); element->setPoissonRatio(poissonRatio); element->setYoungModulus(youngModulus); fem->addFemElement(element); } class Fem2DConstraintFrictionlessSlidingTests : public ::testing::Test { public: void SetUp() { // Define plane with normal 'n' pointing against gravity. m_slidingDirection = Vector3d(0.8539, 0.6289, -0.9978); m_slidingDirection.normalize(); // Create mock FEM m_fem = std::make_shared("Fem2dRepresentation"); auto state = std::make_shared(); state->setNumDof(6, 5); state->getPositions().segment<3>(0 * 6) = Vector3d(0.30, -0.57, 0.40); state->getPositions().segment<3>(1 * 6) = Vector3d(0.06, 0.63, -0.32); state->getPositions().segment<3>(2 * 6) = Vector3d(-0.91, 0.72, 0.72); state->getPositions().segment<3>(3 * 6) = Vector3d(0.35, 0.52, 0.50); state->getPositions().segment<3>(4 * 6) = Vector3d(1.14, 0.66, 0.71); addTriangle(m_fem.get(), 0, 1, 2); addTriangle(m_fem.get(), 1, 2, 3); addTriangle(m_fem.get(), 2, 3, 4); m_fem->setInitialState(state); m_fem->setIntegrationScheme(SurgSim::Math::IntegrationScheme::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED); m_fem->setLocalActive(true); m_fem->initialize(std::make_shared()); m_fem->wakeUp(); // Update model by one timestep m_fem->beforeUpdate(dt); m_fem->update(dt); } void setSlidingConstraintAt(const IndexedLocalCoordinate& coord) { m_localization = std::make_shared(m_fem, coord); m_constraintData.setSlidingDirection(m_localization->calculatePosition(0.0), m_slidingDirection); } std::shared_ptr m_fem; std::shared_ptr m_localization; Vector3d m_slidingDirection; SlidingConstraintData m_constraintData; }; TEST_F(Fem2DConstraintFrictionlessSlidingTests, ConstructorTest) { ASSERT_NO_THROW( { FemConstraintFrictionlessSliding femContact; }); } TEST_F(Fem2DConstraintFrictionlessSlidingTests, ConstraintConstantsTest) { auto implementation = std::make_shared(); EXPECT_EQ(SurgSim::Physics::FRICTIONLESS_SLIDING, implementation->getConstraintType()); EXPECT_EQ(2u, implementation->getNumDof()); } TEST_F(Fem2DConstraintFrictionlessSlidingTests, BuildMlcpTest) { // This test verifies the build mlcp function works for a simple case. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 2, 1); // Apply constraint purely to the first node of the 0th tetrahedron. IndexedLocalCoordinate coord(0, Vector3d(1.0, 0.0, 0.0)); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); auto pose = m_constraintData.getPose().inverse().rotation(); EXPECT_TRUE((pose * m_slidingDirection).isApprox(Vector3d(1.0, 0.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[0]).isApprox(Vector3d(0.0, 1.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[1]).isApprox(Vector3d(0.0, 0.0, 1.0))); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (dt * m_constraintData.getNormals()[1]).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); // C = dt * m^{-1} m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem2DConstraintFrictionlessSlidingTests, BuildMlcpCoordinateTest) { // This test verifies the build mlcp function works for a more complicated case with different nodes. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 2, 1); // Apply constraint to all nodes of an fem. const Vector3d barycentric = Vector3d(0.25, 0.33, 0.42); IndexedLocalCoordinate coord(0, barycentric); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); auto pose = m_constraintData.getPose().inverse().rotation(); EXPECT_TRUE((pose * m_slidingDirection).isApprox(Vector3d(1.0, 0.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[0]).isApprox(Vector3d(0.0, 1.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[1]).isApprox(Vector3d(0.0, 0.0, 1.0))); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(0, 6) = (barycentric[1] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 6) = (barycentric[1] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(0, 12) = (barycentric[2] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 12) = (barycentric[2] * dt * m_constraintData.getNormals()[1]).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); // C = dt * m^{-1} m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem2DConstraintFrictionlessSlidingTests, BuildMlcpIndiciesTest) { // This test verifies the build mlcp function works given a hypothetical, preexisting mlcp problem. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof() + 5, 3, 2); // Suppose 5 dof and 1 constraint are defined elsewhere. Then H, CHt, HCHt, and b are prebuilt. Eigen::SparseVector localH; localH.resize(5); localH.reserve(5); localH.insert(0) = 0.9478; localH.insert(1) = -0.3807; localH.insert(2) = 0.5536; localH.insert(3) = -0.6944; localH.insert(4) = 0.1815; mlcpPhysicsProblem.H.coeffRef(0, 0) += localH.coeff(0); mlcpPhysicsProblem.H.coeffRef(0, 1) += localH.coeff(1); mlcpPhysicsProblem.H.coeffRef(0, 2) += localH.coeff(2); mlcpPhysicsProblem.H.coeffRef(0, 3) += localH.coeff(3); mlcpPhysicsProblem.H.coeffRef(0, 4) += localH.coeff(4); Eigen::Matrix localC; localC << -0.2294, 0.5160, 0.2520, 0.5941, -0.4854, 0.1233, -0.4433, 0.3679, 0.9307, 0.2600, 0.1988, 0.6637, -0.7591, 0.1475, 0.8517, -0.5495, -0.4305, 0.3162, -0.7862, 0.7627, -0.5754, 0.4108, 0.8445, -0.5565, 0.7150; localC = localC * localC.transpose(); // force to be symmetric Eigen::Matrix localCHt = localC * localH.transpose(); mlcpPhysicsProblem.CHt.block<5, 1>(0, 0) = localCHt; mlcpPhysicsProblem.A.block<1, 1>(0, 0) = localH * localCHt; mlcpPhysicsProblem.b.block<1, 1>(0, 0)[0] = 0.6991; // Place the Fem at 5th dof (1 or multiple representations exist before, covering a total of 5 dof) // and the constraint at the index 1 (1 atomic constraint exists before this one) size_t indexOfRepresentation = 5; size_t indexOfConstraint = 1; // Apply constraint to all nodes of an fem. Vector3d barycentric = Vector3d(0.25, 0.33, 0.42); IndexedLocalCoordinate coord(0, barycentric); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, indexOfRepresentation, indexOfConstraint, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); auto pose = m_constraintData.getPose().inverse().rotation(); EXPECT_TRUE((pose * m_slidingDirection).isApprox(Vector3d(1.0, 0.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[0]).isApprox(Vector3d(0.0, 1.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[1]).isApprox(Vector3d(0.0, 0.0, 1.0))); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(0, 6) = (barycentric[1] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 6) = (barycentric[1] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(0, 12) = (barycentric[2] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 12) = (barycentric[2] * dt * m_constraintData.getNormals()[1]).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H.block(indexOfConstraint, indexOfRepresentation, 2, 30), epsilon); m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN( C * H.transpose(), mlcpPhysicsProblem.CHt.block(indexOfRepresentation, indexOfConstraint, 30, 2), epsilon); EXPECT_NEAR_EIGEN( H * C * H.transpose(), mlcpPhysicsProblem.A.block(indexOfConstraint, indexOfConstraint, 2, 2), epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem2DElementTriangleTests.cpp000066400000000000000000001557141277777236100265320ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/Framework/Assert.h" #include "SurgSim/Math/GaussLegendreQuadrature.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/OdeEquation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem2DElementTriangle.h" using SurgSim::Math::gaussQuadrature2DTriangle6Points; using SurgSim::Math::gaussQuadrature2DTriangle12Points; using SurgSim::Math::clearMatrix; using SurgSim::Math::Matrix; using SurgSim::Math::Matrix33d; using SurgSim::Math::Quaterniond; using SurgSim::Math::SparseMatrix; using SurgSim::Math::Vector; using SurgSim::Math::Vector3d; using SurgSim::Physics::Fem2DElementTriangle; namespace { const double epsilon = 1e-8; }; class MockFem2DElement : public Fem2DElementTriangle { public: explicit MockFem2DElement(std::array nodeIds) : Fem2DElementTriangle(nodeIds) { } const Matrix33d& getInitialRotation() const { return m_initialRotation; } const Eigen::Matrix& getInitialRotationTimes6() { const Matrix33d& R0 = getInitialRotation(); m_initialRotationTimes6.setZero(); SurgSim::Math::setSubMatrix(R0, 0, 0, 3, 3, &m_initialRotationTimes6); SurgSim::Math::setSubMatrix(R0, 1, 1, 3, 3, &m_initialRotationTimes6); SurgSim::Math::setSubMatrix(R0, 2, 2, 3, 3, &m_initialRotationTimes6); SurgSim::Math::setSubMatrix(R0, 3, 3, 3, 3, &m_initialRotationTimes6); SurgSim::Math::setSubMatrix(R0, 4, 4, 3, 3, &m_initialRotationTimes6); SurgSim::Math::setSubMatrix(R0, 5, 5, 3, 3, &m_initialRotationTimes6); return m_initialRotationTimes6; } const double get_xij(size_t i) const { return m_xij[i]; } const double get_yij(size_t i) const { return m_yij[i]; } const Eigen::Matrix getBatozStrainDisplacement(double xi, double eta) const { return batozStrainDisplacement(xi, eta); } const Eigen::Matrix& getLocalStiffnessMatrix() const { return m_KLocal; } const SurgSim::Math::Matrix& getGlobalStiffnessMatrix() const { return m_K; } const Eigen::Matrix& getLocalMassMatrix() const { return m_MLocal; } const SurgSim::Math::Matrix& getGlobalMassMatrix() const { return m_M; } double getRestArea() const { return m_restArea; } const Eigen::Matrix& getInitialPosition() const { return m_x0; } /// Get the Membrane (in-plane) shape functions parameters /// \param i The ith shape function /// \param ai, bi, ci The ith shape function parameters /// \note fi(x,y) = ai + x.bi + y.ci void getMembraneShapeFunction(int i, double* ai, double* bi, double* ci) const { *ai = m_membraneShapeFunctionsParameters(i, 0); *bi = m_membraneShapeFunctionsParameters(i, 1); *ci = m_membraneShapeFunctionsParameters(i, 2); } // The Thin-Plate shape functions (Batoz shape functions) // N1(xi, eta) = 2(1-xi-eta)(0.5-xi-eta) double batozN1(double xi, double eta) const { return 2.0 * (1.0 - xi - eta) * (0.5 - xi - eta); } // N2(xi, eta) = xi(2 xi-1) double batozN2(double xi, double eta) const { return xi * (2.0 * xi - 1.0); } // N3(xi, eta) = eta(2 eta-1) double batozN3(double xi, double eta) const { return eta * (2.0 * eta - 1.0); } // N4(xi, eta) = 4 xi eta double batozN4(double xi, double eta) const { return 4.0 * xi * eta; } // N5(xi, eta) = 4 eta(1-xi-eta) double batozN5(double xi, double eta) const { return 4.0 * eta * (1.0 - xi - eta); } // N6(xi, eta) = 4 xi(1-xi-eta) double batozN6(double xi, double eta) const { return 4.0 * xi * (1.0 - xi - eta); } // dN1/dxi(xi, eta) = 2[(-0.5+xi+eta) + (-1+xi+eta)] = 2(-3/2+2(xi+eta)) = 4(xi+eta) - 3 double batozDN1Dxi(double xi, double eta) const { return 4.0 * (xi + eta) - 3.0; } // dN2/dxi(xi, eta) = (2xi-1) + 2xi = 4xi-1 double batozDN2Dxi(double xi, double eta) const { return 4.0 * xi - 1.0; } // dN3/dxi(xi, eta) = 0 double batozDN3Dxi(double xi, double eta) const { return 0.0; } // dN4/dxi(xi, eta) = 4 eta double batozDN4Dxi(double xi, double eta) const { return 4.0 * eta; } // dN5/dxi(xi,eta) = -4 eta double batozDN5Dxi(double xi, double eta) const { return -4.0 * eta; } // dN6/dxi(xi,eta) = 4(1-xi-eta) -4xi = 4(1-2xi-eta) double batozDN6Dxi(double xi, double eta) const { return 4.0 * (1.0 - 2.0 * xi - eta); } // dN1/deta(xi, eta) = 2[(-0.5+xi+eta) + (-1+xi+eta)] = 2(-3/2 + 2xi + 2eta) = 4(xi+eta) - 3 double batozDN1Deta(double xi, double eta) const { return 4.0 * (xi + eta) - 3.0; } // dN2/deta(xi, eta) = 0 double batozDN2Deta(double xi, double eta) const { return 0.0; } // dN3/deta(xi, eta) = 2eta-1 + 2eta = 4eta-1 double batozDN3Deta(double xi, double eta) const { return 4.0 * eta - 1.0; } // dN4/deta(xi, eta) = 4xi double batozDN4Deta(double xi, double eta) const { return 4.0 * xi; } // dN5/deta(xi, eta) = 4[(1-xi-eta) - eta] = 4(1-xi-2eta) double batozDN5Deta(double xi, double eta) const { return 4.0 * (1.0 - xi - 2.0 * eta); } // dN6/deta(xi, eta) = -4xi double batozDN6Deta(double xi, double eta) const { return -4.0 * xi; } std::array batozHx(double xi, double eta) const { std::array res; // 1.5 (a6N6-a5N5) res[0] = 1.5 * (m_ak[2] * batozN6(xi, eta) - m_ak[1] * batozN5(xi, eta)); // b5N5+b6N6 res[1] = m_bk[1] * batozN5(xi, eta) + m_bk[2] * batozN6(xi, eta); // N1 - c5N5 - c6N6 res[2] = batozN1(xi, eta) - m_ck[1] * batozN5(xi, eta) - m_ck[2] * batozN6(xi, eta); // 1.5 (a4N4-a6N6) res[3] = 1.5 * (m_ak[0] * batozN4(xi, eta) - m_ak[2] * batozN6(xi, eta)); // b6N6+b4N4 res[4] = m_bk[2] * batozN6(xi, eta) + m_bk[0] * batozN4(xi, eta); // N2 - c6N6 - c4N4 res[5] = batozN2(xi, eta) - m_ck[2] * batozN6(xi, eta) - m_ck[0] * batozN4(xi, eta); // 1.5 (a5N5-a4N4) res[6] = 1.5 * (m_ak[1] * batozN5(xi, eta) - m_ak[0] * batozN4(xi, eta)); // b4N4+b5N5 res[7] = m_bk[0] * batozN4(xi, eta) + m_bk[1] * batozN5(xi, eta); // N3 - c4N4 - c5N5 res[8] = batozN3(xi, eta) - m_ck[0] * batozN4(xi, eta) - m_ck[1] * batozN5(xi, eta); return res; } std::array batozDhxDxiAlternative(double xi, double eta) const { std::array res; // 1.5 (a6dN6-a5dN5) res[0] = 1.5 * (m_ak[2] * batozDN6Dxi(xi, eta) - m_ak[1] * batozDN5Dxi(xi, eta)); // b5dN5+b6dN6 res[1] = m_bk[1] * batozDN5Dxi(xi, eta) + m_bk[2] * batozDN6Dxi(xi, eta); // dN1 - c5dN5 - c6dN6 res[2] = batozDN1Dxi(xi, eta) - m_ck[1] * batozDN5Dxi(xi, eta) - m_ck[2] * batozDN6Dxi(xi, eta); // 1.5 (a4dN4-a6dN6) res[3] = 1.5 * (m_ak[0] * batozDN4Dxi(xi, eta) - m_ak[2] * batozDN6Dxi(xi, eta)); // b6dN6+b4dN4 res[4] = m_bk[2] * batozDN6Dxi(xi, eta) + m_bk[0] * batozDN4Dxi(xi, eta); // dN2 - c6dN6 - c4dN4 res[5] = batozDN2Dxi(xi, eta) - m_ck[2] * batozDN6Dxi(xi, eta) - m_ck[0] * batozDN4Dxi(xi, eta); // 1.5 (a5dN5-a4dN4) res[6] = 1.5 * (m_ak[1] * batozDN5Dxi(xi, eta) - m_ak[0] * batozDN4Dxi(xi, eta)); // b4dN4+b5dN5 res[7] = m_bk[0] * batozDN4Dxi(xi, eta) + m_bk[1] * batozDN5Dxi(xi, eta); // dN3 - c4dN4 - c5dN5 res[8] = batozDN3Dxi(xi, eta) - m_ck[0] * batozDN4Dxi(xi, eta) - m_ck[1] * batozDN5Dxi(xi, eta); return res; } std::array batozDhxDetaAlternative(double xi, double eta) const { std::array res; // 1.5 (a6dN6-a5dN5) res[0] = 1.5 * (m_ak[2] * batozDN6Deta(xi, eta) - m_ak[1] * batozDN5Deta(xi, eta)); // b5dN5+b6dN6 res[1] = m_bk[1] * batozDN5Deta(xi, eta) + m_bk[2] * batozDN6Deta(xi, eta); // dN1 - c5dN5 - c6dN6 res[2] = batozDN1Deta(xi, eta) - m_ck[1] * batozDN5Deta(xi, eta) - m_ck[2] * batozDN6Deta(xi, eta); // 1.5 (a4dN4-a6dN6) res[3] = 1.5 * (m_ak[0] * batozDN4Deta(xi, eta) - m_ak[2] * batozDN6Deta(xi, eta)); // b6dN6+b4dN4 res[4] = m_bk[2] * batozDN6Deta(xi, eta) + m_bk[0] * batozDN4Deta(xi, eta); // dN2 - c6dN6 - c4dN4 res[5] = batozDN2Deta(xi, eta) - m_ck[2] * batozDN6Deta(xi, eta) - m_ck[0] * batozDN4Deta(xi, eta); // 1.5 (a5dN5-a4dN4) res[6] = 1.5 * (m_ak[1] * batozDN5Deta(xi, eta) - m_ak[0] * batozDN4Deta(xi, eta)); // b4dN4+b5dN5 res[7] = m_bk[0] * batozDN4Deta(xi, eta) + m_bk[1] * batozDN5Deta(xi, eta); // dN3 - c4dN4 - c5dN5 res[8] = batozDN3Deta(xi, eta) - m_ck[0] * batozDN4Deta(xi, eta) - m_ck[1] * batozDN5Deta(xi, eta); return res; } std::array batozHy(double xi, double eta) const { std::array res; // 1.5 (d6N6-d5N5) res[0] = 1.5 * (m_dk[2] * batozN6(xi, eta) - m_dk[1] * batozN5(xi, eta)); // -N1 + e5N5 + e6N6 res[1] = -batozN1(xi, eta) + m_ek[1] * batozN5(xi, eta) + m_ek[2] * batozN6(xi, eta); // -b5N5-b6N6 res[2] = -m_bk[1] * batozN5(xi, eta) - m_bk[2] * batozN6(xi, eta); // 1.5 (d4N4-d6N6) res[3] = 1.5 * (m_dk[0] * batozN4(xi, eta) - m_dk[2] * batozN6(xi, eta)); // -N2 + e6N6 + e4N4 res[4] = -batozN2(xi, eta) + m_ek[2] * batozN6(xi, eta) + m_ek[0] * batozN4(xi, eta); // -b6N6-b4N4 res[5] = -m_bk[2] * batozN6(xi, eta) - m_bk[0] * batozN4(xi, eta); // 1.5 (d5N5-d4N4) res[6] = 1.5 * (m_dk[1] * batozN5(xi, eta) - m_dk[0] * batozN4(xi, eta)); // -N3 + e4N4 + e5N5 res[7] = -batozN3(xi, eta) + m_ek[0] * batozN4(xi, eta) + m_ek[1] * batozN5(xi, eta); // -b4N4-b5N5 res[8] = -m_bk[0] * batozN4(xi, eta) - m_bk[1] * batozN5(xi, eta); return res; } std::array batozDhyDxiAlternative(double xi, double eta) const { std::array res; // 1.5 (d6dN6-d5dN5) res[0] = 1.5 * (m_dk[2] * batozDN6Dxi(xi, eta) - m_dk[1] * batozDN5Dxi(xi, eta)); // -dN1 + e5dN5 + e6dN6 res[1] = -batozDN1Dxi(xi, eta) + m_ek[1] * batozDN5Dxi(xi, eta) + m_ek[2] * batozDN6Dxi(xi, eta); // -b5dN5-b6dN6 res[2] = -m_bk[1] * batozDN5Dxi(xi, eta) - m_bk[2] * batozDN6Dxi(xi, eta); // 1.5 (d4dN4-d6dN6) res[3] = 1.5 * (m_dk[0] * batozDN4Dxi(xi, eta) - m_dk[2] * batozDN6Dxi(xi, eta)); // -dN2 + e6dN6 + e4dN4 res[4] = -batozDN2Dxi(xi, eta) + m_ek[2] * batozDN6Dxi(xi, eta) + m_ek[0] * batozDN4Dxi(xi, eta); // -b6dN6-b4dN4 res[5] = -m_bk[2] * batozDN6Dxi(xi, eta) - m_bk[0] * batozDN4Dxi(xi, eta); // 1.5 (d5dN5-d4dN4) res[6] = 1.5 * (m_dk[1] * batozDN5Dxi(xi, eta) - m_dk[0] * batozDN4Dxi(xi, eta)); // -dN3 + e4dN4 + e5dN5 res[7] = -batozDN3Dxi(xi, eta) + m_ek[0] * batozDN4Dxi(xi, eta) + m_ek[1] * batozDN5Dxi(xi, eta); // -b4dN4-b5dN5 res[8] = -m_bk[0] * batozDN4Dxi(xi, eta) - m_bk[1] * batozDN5Dxi(xi, eta); return res; } std::array batozDhyDetaAlternative(double xi, double eta) const { std::array res; // 1.5 (d6dN6-d5dN5) res[0] = 1.5 * (m_dk[2] * batozDN6Deta(xi, eta) - m_dk[1] * batozDN5Deta(xi, eta)); // -dN1 + e5dN5 + e6dN6 res[1] = -batozDN1Deta(xi, eta) + m_ek[1] * batozDN5Deta(xi, eta) + m_ek[2] * batozDN6Deta(xi, eta); // -b5dN5-b6dN6 res[2] = -m_bk[1] * batozDN5Deta(xi, eta) - m_bk[2] * batozDN6Deta(xi, eta); // 1.5 (d4dN4-d6dN6) res[3] = 1.5 * (m_dk[0] * batozDN4Deta(xi, eta) - m_dk[2] * batozDN6Deta(xi, eta)); // -dN2 + e6dN6 + e4dN4 res[4] = -batozDN2Deta(xi, eta) + m_ek[2] * batozDN6Deta(xi, eta) + m_ek[0] * batozDN4Deta(xi, eta); // -b6dN6-b4dN4 res[5] = -m_bk[2] * batozDN6Deta(xi, eta) - m_bk[0] * batozDN4Deta(xi, eta); // -dN3 + e4dN4 + e5dN5 res[6] = 1.5 * (m_dk[1] * batozDN5Deta(xi, eta) - m_dk[0] * batozDN4Deta(xi, eta)); // -dN3 + e4dN4 + e5dN5 res[7] = -batozDN3Deta(xi, eta) + m_ek[0] * batozDN4Deta(xi, eta) + m_ek[1] * batozDN5Deta(xi, eta); // -b4dN4-b5dN5 res[8] = -m_bk[0] * batozDN4Deta(xi, eta) - m_bk[1] * batozDN5Deta(xi, eta); return res; } Eigen::Matrix batozStrainDisplacementAlternativeDerivative(double xi, double eta) const { Eigen::Matrix res; std::array dHx_dxi, dHx_deta, dHy_dxi, dHy_deta; double coefficient = 1.0 / (2.0 * m_restArea); dHx_dxi = batozDhxDxiAlternative(xi, eta); dHx_deta = batozDhxDetaAlternative(xi, eta); dHy_dxi = batozDhyDxiAlternative(xi, eta); dHy_deta = batozDhyDetaAlternative(xi, eta); for (size_t i = 0; i < 9; ++i) { // 4 -> mid-edge 12 // 5 -> mid-edge 20 // 6 -> mid-edge 01 res(0, i) = coefficient * (m_yij[1] * dHx_dxi[i] + m_yij[2] * dHx_deta[i]); res(1, i) = coefficient * (-m_xij[1] * dHy_dxi[i] - m_xij[2] * dHy_deta[i]); res(2, i) = coefficient * (-m_xij[1] * dHx_dxi[i] - m_xij[2] * dHx_deta[i] + m_yij[1] * dHy_dxi[i] + m_yij[2] * dHy_deta[i]); } return res; } std::array batozFx(double xi, double eta, double (MockFem2DElement::*f1)(double, double) const, double (MockFem2DElement::*f2)(double, double) const, double (MockFem2DElement::*f3)(double, double) const, double (MockFem2DElement::*f4)(double, double) const, double (MockFem2DElement::*f5)(double, double) const, double (MockFem2DElement::*f6)(double, double) const) const { std::array res; // 1.5 (a6N6-a5N5) res[0] = 1.5 * (m_ak[2] * (this->*f6)(xi, eta) - m_ak[1] * (this->*f5)(xi, eta)); // b5N5+b6N6 res[1] = m_bk[1] * (this->*f5)(xi, eta) + m_bk[2] * (this->*f6)(xi, eta); // N1 - c5N5 - c6N6 res[2] = (this->*f1)(xi, eta) - m_ck[1] * (this->*f5)(xi, eta) - m_ck[2] * (this->*f6)(xi, eta); // 1.5 (a4N4-a6N6) res[3] = 1.5 * (m_ak[0] * (this->*f4)(xi, eta) - m_ak[2] * (this->*f6)(xi, eta)); // b6N6+b4N4 res[4] = m_bk[2] * (this->*f6)(xi, eta) + m_bk[0] * (this->*f4)(xi, eta); // N2 - c6N6 - c4N4 res[5] = (this->*f2)(xi, eta) - m_ck[2] * (this->*f6)(xi, eta) - m_ck[0] * (this->*f4)(xi, eta); // 1.5 (a5N5-a4N4) res[6] = 1.5 * (m_ak[1] * (this->*f5)(xi, eta) - m_ak[0] * (this->*f4)(xi, eta)); // b4N4+b5N5 res[7] = m_bk[0] * (this->*f4)(xi, eta) + m_bk[1] * (this->*f5)(xi, eta); // N3 - c4N4 - c5N5 res[8] = (this->*f3)(xi, eta) - m_ck[0] * (this->*f4)(xi, eta) - m_ck[1] * (this->*f5)(xi, eta); return res; } std::array batozFy(double xi, double eta, double (MockFem2DElement::*f1)(double, double) const, double (MockFem2DElement::*f2)(double, double) const, double (MockFem2DElement::*f3)(double, double) const, double (MockFem2DElement::*f4)(double, double) const, double (MockFem2DElement::*f5)(double, double) const, double (MockFem2DElement::*f6)(double, double) const) const { std::array res; // 1.5 (d6N6-d5N5) res[0] = 1.5 * (m_dk[2] * (this->*f6)(xi, eta) - m_dk[1] * (this->*f5)(xi, eta)); // -N1 + e5N5 + e6N6 res[1] = -(this->*f1)(xi, eta) + m_ek[1] * (this->*f5)(xi, eta) + m_ek[2] * (this->*f6)(xi, eta); // -b5N5-b6N6 res[2] = -m_bk[1] * (this->*f5)(xi, eta) - m_bk[2] * (this->*f6)(xi, eta); // 1.5 (d4N4-d6N6) res[3] = 1.5 * (m_dk[0] * (this->*f4)(xi, eta) - m_dk[2] * (this->*f6)(xi, eta)); // -N2 + e6N6 + e4N4 res[4] = -(this->*f2)(xi, eta) + m_ek[2] * (this->*f6)(xi, eta) + m_ek[0] * (this->*f4)(xi, eta); // -b6N6-b4N4 res[5] = -m_bk[2] * (this->*f6)(xi, eta) - m_bk[0] * (this->*f4)(xi, eta); // 1.5 (d5N5-d4N4) res[6] = 1.5 * (m_dk[1] * (this->*f5)(xi, eta) - m_dk[0] * (this->*f4)(xi, eta)); // -N3 + e4N4 + e5N5 res[7] = -(this->*f3)(xi, eta) + m_ek[0] * (this->*f4)(xi, eta) + m_ek[1] * (this->*f5)(xi, eta); // -b4N4-b5N5 res[8] = -m_bk[0] * (this->*f4)(xi, eta) - m_bk[1] * (this->*f5)(xi, eta); return res; } Eigen::Matrix batozStrainDisplacementNumericalDerivation(double xi, double eta) const { Eigen::Matrix res; std::array dHx_dxi, dHx_deta, dHy_dxi, dHy_deta; double coefficient = 1.0 / (2.0 * m_restArea); dHx_dxi = batozFx(xi, eta, &MockFem2DElement::batozDN1Dxi , &MockFem2DElement::batozDN2Dxi , &MockFem2DElement::batozDN3Dxi , &MockFem2DElement::batozDN4Dxi , &MockFem2DElement::batozDN5Dxi , &MockFem2DElement::batozDN6Dxi); dHx_deta = batozFx(xi, eta, &MockFem2DElement::batozDN1Deta, &MockFem2DElement::batozDN2Deta, &MockFem2DElement::batozDN3Deta, &MockFem2DElement::batozDN4Deta, &MockFem2DElement::batozDN5Deta, &MockFem2DElement::batozDN6Deta); dHy_dxi = batozFy(xi, eta, &MockFem2DElement::batozDN1Dxi, &MockFem2DElement::batozDN2Dxi , &MockFem2DElement::batozDN3Dxi, &MockFem2DElement::batozDN4Dxi, &MockFem2DElement::batozDN5Dxi, &MockFem2DElement::batozDN6Dxi); dHy_deta = batozFy(xi, eta, &MockFem2DElement::batozDN1Deta, &MockFem2DElement::batozDN2Deta, &MockFem2DElement::batozDN3Deta, &MockFem2DElement::batozDN4Deta, &MockFem2DElement::batozDN5Deta, &MockFem2DElement::batozDN6Deta); for (size_t i = 0; i < 9; ++i) { // 4 -> mid-edge 12 // 5 -> mid-edge 20 // 6 -> mid-edge 01 res(0, i) = coefficient * (m_yij[1] * dHx_dxi[i] + m_yij[2] * dHx_deta[i]); res(1, i) = coefficient * (-m_xij[1] * dHy_dxi[i] - m_xij[2] * dHy_deta[i]); res(2, i) = coefficient * (-m_xij[1] * dHx_dxi[i] - m_xij[2] * dHx_deta[i] + m_yij[1] * dHy_dxi[i] + m_yij[2] * dHy_deta[i]); } return res; } private: Eigen::Matrix m_initialRotationTimes6; }; class Fem2DElementTriangleTests : public ::testing::Test { public: static const int m_numberNodes = 6; std::array m_nodeIds; SurgSim::Math::OdeState m_restState; double m_expectedVolume; double m_rho, m_E, m_nu; double m_A; // area double m_thickness; // thickness Quaterniond m_rotation, m_expectedRotation; Eigen::Matrix m_expectedX0; void SetUp() override { using SurgSim::Math::getSubVector; m_rho = 1000.0; m_E = 1e9; m_nu = 0.45; m_thickness = 1e-2; m_A = 1.0 / 2.0; m_expectedVolume = m_A * m_thickness; // Triangle is made of node 3, 1 and 5 in a bigger system containing m_numberNodes nodes (at least 6) m_nodeIds[0] = 3; m_nodeIds[1] = 1; m_nodeIds[2] = 5; m_restState.setNumDof(6, m_numberNodes); m_rotation.coeffs().setRandom(); m_rotation.normalize(); Vector3d A(0.0, 0.0, 0.0); Vector3d B(1.0, 0.0, 0.0); Vector3d C(0.0, 1.0, 0.0); Vector& x = m_restState.getPositions(); getSubVector(x, m_nodeIds[0], 6).segment<3>(0) = m_rotation._transformVector(A); getSubVector(x, m_nodeIds[1], 6).segment<3>(0) = m_rotation._transformVector(B); getSubVector(x, m_nodeIds[2], 6).segment<3>(0) = m_rotation._transformVector(C); for (size_t nodeId = 0; nodeId < 3; ++nodeId) { m_expectedX0.segment(6 * nodeId, 6) = getSubVector(x, m_nodeIds[nodeId], 6); } // The initial rotation of ABC is defined by (i=AB(1 0 0), j=AC(0 1 0), k=AB^AC(0 0 1)) = Identity // Therefore, by applying m_rotation to the triangle, the initial rotation of the element should be m_rotation m_expectedRotation = m_rotation; } // Useful method to numerically evaluate the 9x9 matrix d^T.d on a given point on the triangle Matrix evaluate_dTd_at(const MockFem2DElement& fem2DElement, double xi, double eta) { SurgSim::Math::Vector d(9); // column vector const double xi2 = xi * xi; const double xi3 = xi2 * xi; const double eta2 = eta * eta; const double eta3 = eta2 * eta; const double lambda = 1.0 - xi - eta; const double lambda2 = lambda * lambda; const double lambda3 = lambda2 * lambda; const double xiEtaLambda = xi * eta * lambda; const double N1 = 3.0 * lambda2 - 2.0 * lambda3 + 2.0 * xiEtaLambda; const double N2 = lambda2 * xi + xiEtaLambda / 2.0; const double N3 = lambda2 * eta + xiEtaLambda / 2.0; const double N4 = 3.0 * xi2 - 2.0 * xi3 + 2.0 * xiEtaLambda; const double N5 = xi2 * (xi - 1.0) - xiEtaLambda; const double N6 = xi2 * eta + xiEtaLambda / 2.0; const double N7 = 3.0 * eta2 - 2.0 * eta3 + 2.0 * xiEtaLambda; const double N8 = eta2 * xi + xiEtaLambda / 2.0; const double N9 = eta2 * (eta - 1.0) - xiEtaLambda; // x0 = y0 = y1 = 0.0 const double x1 = -fem2DElement.get_xij(2); // x0 - x1 = -x1 const double x2 = fem2DElement.get_xij(1); // x2 - x0 = x2 const double y2 = fem2DElement.get_yij(1); // y2 - y0 = y2 d << N1, N3* y2, -N2* x1 - N3* x2, N4, N6* y2, -N5* x1 - N6* x2, N7, N9* y2, -N8* x1 - N9* x2; return d * d.transpose(); } // Useful method to numerically evaluate the 9x9 matrix Hx.Hx^T on a given point on the triangle Matrix evaluate_HxHxT_at(const MockFem2DElement& fem2DElement, double xi, double eta) { auto Hx_array = fem2DElement.batozHx(xi, eta); SurgSim::Math::Vector Hx(9); // column vector Hx << Hx_array[0], Hx_array[1], Hx_array[2], Hx_array[3], Hx_array[4], Hx_array[5], Hx_array[6], Hx_array[7], Hx_array[8]; return Hx * Hx.transpose(); } // Useful method to numerically evaluate the 9x9 matrix Hy.Hy^T on a given point on the triangle Matrix evaluate_HyHyT_at(const MockFem2DElement& fem2DElement, double xi, double eta) { auto Hy_array = fem2DElement.batozHy(xi, eta); SurgSim::Math::Vector Hy(9); // column vector Hy << Hy_array[0], Hy_array[1], Hy_array[2], Hy_array[3], Hy_array[4], Hy_array[5], Hy_array[6], Hy_array[7], Hy_array[8]; return Hy * Hy.transpose(); } // Useful method to numerically evaluate the plate mass matrix of an element // This method uses a Gauss quadrature rules on the triangle to numerically evaluate the vaious integral terms. void numericallyEvaluatePlateMassMatrix(const MockFem2DElement& fem2DElement, Eigen::Ref mass) { // M = 2.A.rho.h \int_0^1 \int_0^{1-eta} d^T.d dxi deta // + 2.A.h^3/12.rho \int_0^1 \int_0^{1-eta} Hx.Hx^T dxi deta // + 2.A.h^3/12.rho \int_0^1 \int_0^{1-eta} Hy.Hy^T dxi deta const double A = fem2DElement.getRestArea(); const double rho = fem2DElement.getMassDensity(); const double h = fem2DElement.getThickness(); const double coefUz = 2.0 * A * rho * h; const double coefUtheta = coefUz * h * h / 12.0; // http://math2.uncc.edu/~shaodeng/TEACHING/math5172/Lectures/Lect_15.PDF // "Quadrature Formulas in Two Dimensions" // \int_0^1 \int_0^{1-eta} f(xi, eta) dxi deta = 1/2 sum_i w[i] f(xi[i], eta[i]) const double half = 1.0 / 2.0; // Note that matrix d contains monomial terms up to degree 3, // therefore dT.d contains monomial terms up to degree 6. // Exact integration of such functions over the triangle requires a Gauss-Legendre quadrature with 12 points: for (size_t pointId = 0; pointId < 12; ++pointId) { const double& weight = gaussQuadrature2DTriangle12Points[pointId].weight; const double& xi = gaussQuadrature2DTriangle12Points[pointId].coordinateXi; const double& eta = gaussQuadrature2DTriangle12Points[pointId].coordinateEta; mass += coefUz * (half * weight * evaluate_dTd_at(fem2DElement, xi, eta)); } // Note that Hx and Hy are of degree 2, therefore Hx.Hx^T and Hy.Hy^T are of degree 4. // Exact integration of such functions over the triangle requires a Gauss-Legendre quadrature with 6 points: for (size_t pointId = 0; pointId < 6; ++pointId) { const double& weight = gaussQuadrature2DTriangle6Points[pointId].weight; const double& xi = gaussQuadrature2DTriangle6Points[pointId].coordinateXi; const double& eta = gaussQuadrature2DTriangle6Points[pointId].coordinateEta; mass += coefUtheta * (half * weight * evaluate_HxHxT_at(fem2DElement, xi, eta)); mass += coefUtheta * (half * weight * evaluate_HyHyT_at(fem2DElement, xi, eta)); } } void getExpectedLocalMassMatrix(Eigen::Ref mass) { typedef Eigen::Matrix Matrix99Type; typedef Eigen::Matrix Matrix66Type; Matrix66Type membraneMass = getMembraneLocalMassMatrix(); Matrix99Type plateMass = getPlateLocalMassMatrix(); // Assemble the membrane and plane stiffness mass.setIdentity(); // The drilling dof will have an independent dof of mass 1kg. for (size_t row = 0; row < 3; ++row) { for (size_t column = 0; column < 3; ++column) { // Membrane part mass.block<2, 2>(6 * row, 6 * column) = membraneMass.block<2, 2>(2 * row, 2 * column); // Thin-plate part mass.block<3, 3>(6 * row + 2, 6 * column + 2) = plateMass.block<3, 3>(3 * row, 3 * column); } } } void getExpectedLocalStiffnessMatrix(Eigen::Ref stiffness) { typedef Eigen::Matrix Matrix99Type; typedef Eigen::Matrix Matrix66Type; Matrix66Type membraneStiffness = getMembraneLocalStiffnessMatrix(); Matrix99Type plateStiffness = getPlateLocalStiffnessMatrix(); // Assemble the membrane and plane stiffness stiffness.setIdentity(); for (size_t row = 0; row < 3; ++row) { for (size_t column = 0; column < 3; ++column) { // Membrane part stiffness.block<2, 2>(6 * row, 6 * column) = membraneStiffness.block<2, 2>(2 * row, 2 * column); // Thin-plate part stiffness.block<3, 3>(6 * row + 2, 6 * column + 2) = plateStiffness.block<3, 3>(3 * row, 3 * column); } } } Eigen::Matrix getMembraneLocalStiffnessMatrix() { typedef Eigen::Matrix Matrix36Type; std::shared_ptr element = getElement(); // Membrane theory (using "Theory of Matrix Structural Analysis" - Przemieniecki) // ux = c1.x + c2.y + c3 // uy = c4.x + c5.y + c6 // ux(x1, y1) = u1x = c1.x1 + c2.y1 + c3 (u1x) (x1 y1 1)(c1) // ux(x2, y2) = u2x = c1.x2 + c2.y2 + c3 <=> (u2x)=(x2 y2 1)(c2) // ux(x3, y3) = u3x = c1.x3 + c2.y3 + c3 (u3x) (x3 y3 1)(c3) // <=> (c1) = 1/det( y23 -y13 y12 )(u1x) // (c2) (-x23 x13 -x12 )(u2x) // (c3) ( x2y3-x3y2 -(x1y3-x3y1) x1y2-x2y1)(u3x) // det = (x1y2 + x2y3 + x3y1 - x3y2 - x2y1 - x1y3) // = x21(y3) - y21(x3) +x2(-y1) - y2(-x1) - x1(-y1) - (-y1)(-x1) = x21y31 - y21x31 = 2A > 0 // // and similarily for uy // <=> (c4) = 1/(2A)( y23 -y13 y12 )(u1y) // (c5) (-x23 x13 -x12 )(u2y) // (c6) ( x2y3-x3y2 -(x1y3-x3y1) x1y2-x2y1)(u3y) // // Therefore ux = 1/(2A) [x.(y23.u1x - y13.u2x + y12.u3x) + y.(-x23.u1x + x13.u2x - x12.u3x) + constant] // Exx = dux/dx = 1/(2A) (y23.u1x - y13.u2x + y12.u3x) = b.u // Therefore uy = 1/(2A) [x.(y23.u1y - y13.u2y + y12.u3y) + y.(-x23.u1y + x13.u2y - x12.u3y) + constant] // Eyy = duy/dy = 1/(2A) (-x23.u1y + x13.u2y - x12.u3y) = b.u // Exy = dux/dy + duy/dx = 1/(2A) (-x23.u1x + x13.u2x - x12.u3x + y23.u1y - y13.u2y + y12.u3y) = b.u Vector3d A2D = m_expectedRotation.inverse()._transformVector(m_expectedX0.segment(0, 3)); Vector3d B2D = m_expectedRotation.inverse()._transformVector(m_expectedX0.segment(6, 3)); Vector3d C2D = m_expectedRotation.inverse()._transformVector(m_expectedX0.segment(12, 3)); double x12 = A2D[0] - B2D[0]; double x13 = A2D[0] - C2D[0]; double x23 = B2D[0] - C2D[0]; double y12 = A2D[1] - B2D[1]; double y13 = A2D[1] - C2D[1]; double y23 = B2D[1] - C2D[1]; Matrix36Type b = Matrix36Type::Zero(); b(0, 0) = y23; b(0, 2) = -y13; b(0, 4) = y12; b(1, 1) = -x23; b(1, 3) = x13; b(1, 5) = -x12; b(2, 0) = -x23; b(2, 1) = y23; b(2, 2) = x13; b(2, 3) = -y13; b(2, 4) = -x12; b(2, 5) = y12; b *= 1.0 / (2.0 * m_A); Matrix33d Emembrane; Emembrane << 1.0, m_nu, 0.0, m_nu, 1.0, 0.0, 0.0, 0.0, (1.0 - m_nu) / 2.0; Emembrane *= m_E / (1.0 - m_nu * m_nu); return (m_thickness * m_A) * b.transpose() * Emembrane * b; } Eigen::Matrix getPlateLocalStiffnessMatrix() { typedef Eigen::Matrix Matrix39Type; Eigen::Matrix stiffness; std::shared_ptr element = getElement(); // Thin-plate theory (Batoz) Matrix39Type B0 = element->batozStrainDisplacementNumericalDerivation(0.5, 0.0); Matrix39Type B1 = element->batozStrainDisplacementNumericalDerivation(0.0, 0.5); Matrix39Type B2 = element->batozStrainDisplacementNumericalDerivation(0.5, 0.5); Matrix33d Eplate; Eplate << 1.0, m_nu, 0.0, m_nu, 1.0, 0.0, 0.0, 0.0, (1.0 - m_nu) / 2.0; Eplate *= m_E * m_thickness * m_thickness * m_thickness / (12.0 * (1.0 - m_nu * m_nu)); // Integration using 3 Gauss point on the mid-point of each triangle edge // weight = A/3 for all 3 (A is the area of the parametrized triangle = 0.5) stiffness = (1.0 / 6.0) * B0.transpose() * Eplate * B0; stiffness += (1.0 / 6.0) * B1.transpose() * Eplate * B1; stiffness += (1.0 / 6.0) * B2.transpose() * Eplate * B2; stiffness *= 2.0 * m_A; return stiffness; } Eigen::Matrix getMembraneLocalMassMatrix() { typedef Eigen::Matrix Matrix66Type; Matrix66Type membraneMassMatrix = Matrix66Type::Zero(); double m = m_rho * m_thickness * m_A; membraneMassMatrix.block<2, 2>(0, 0).diagonal().setConstant(m / 6.0); membraneMassMatrix.block<2, 2>(0, 2).diagonal().setConstant(m / 12.0); membraneMassMatrix.block<2, 2>(0, 4).diagonal().setConstant(m / 12.0); membraneMassMatrix.block<2, 2>(2, 0).diagonal().setConstant(m / 12.0); membraneMassMatrix.block<2, 2>(2, 2).diagonal().setConstant(m / 6.0); membraneMassMatrix.block<2, 2>(2, 4).diagonal().setConstant(m / 12.0); membraneMassMatrix.block<2, 2>(4, 0).diagonal().setConstant(m / 12.0); membraneMassMatrix.block<2, 2>(4, 2).diagonal().setConstant(m / 12.0); membraneMassMatrix.block<2, 2>(4, 4).diagonal().setConstant(m / 6.0); return membraneMassMatrix; } Eigen::Matrix getPlateLocalMassMatrix() { typedef Eigen::Matrix Matrix99Type; Matrix99Type plateMassMatrix = Matrix99Type::Zero(); std::shared_ptr element = getElement(); numericallyEvaluatePlateMassMatrix(*element, plateMassMatrix); return plateMassMatrix; } std::shared_ptr getElement() { auto element = std::make_shared(m_nodeIds); element->setThickness(m_thickness); element->setMassDensity(m_rho); element->setPoissonRatio(m_nu); element->setYoungModulus(m_E); element->initialize(m_restState); return element; } }; TEST_F(Fem2DElementTriangleTests, ConstructorTest) { ASSERT_NO_THROW({ MockFem2DElement triangle(m_nodeIds); }); } TEST_F(Fem2DElementTriangleTests, NodeIdsTest) { Fem2DElementTriangle element(m_nodeIds); EXPECT_EQ(3u, element.getNumNodes()); EXPECT_EQ(3u, element.getNodeIds().size()); for (int i = 0; i < 3; i++) { EXPECT_EQ(m_nodeIds[i], element.getNodeId(i)); EXPECT_EQ(m_nodeIds[i], element.getNodeIds()[i]); } } TEST_F(Fem2DElementTriangleTests, setGetThicknessTest) { Fem2DElementTriangle element(m_nodeIds); // Default thickness = 0.0 EXPECT_DOUBLE_EQ(0.0, element.getThickness()); // Set to a valid thickness element.setThickness(1.54); EXPECT_DOUBLE_EQ(1.54, element.getThickness()); // Set to an invalid thickness EXPECT_ANY_THROW(element.setThickness(0.0)); EXPECT_ANY_THROW(element.setThickness(-9.4)); } TEST_F(Fem2DElementTriangleTests, MaterialParameterTest) { Fem2DElementTriangle element(m_nodeIds); element.setThickness(m_thickness); // Test the various mode of failure related to the physical parameters // This has been already tested in FemElementTests, but this is to make sure this method is called properly // So the same behavior should be expected { // Mass density not set ASSERT_ANY_THROW(element.initialize(m_restState)); // Poisson Ratio not set element.setMassDensity(-1234.56); ASSERT_ANY_THROW(element.initialize(m_restState)); // Young modulus not set element.setPoissonRatio(0.55); ASSERT_ANY_THROW(element.initialize(m_restState)); // Invalid mass density element.setYoungModulus(-4321.33); ASSERT_ANY_THROW(element.initialize(m_restState)); // Invalid Poisson ratio element.setMassDensity(m_rho); ASSERT_ANY_THROW(element.initialize(m_restState)); // Invalid Young modulus element.setPoissonRatio(m_nu); ASSERT_ANY_THROW(element.initialize(m_restState)); element.setYoungModulus(m_E); ASSERT_NO_THROW(element.initialize(m_restState)); } } TEST_F(Fem2DElementTriangleTests, VolumeTest) { std::shared_ptr element = getElement(); EXPECT_NEAR(element->getVolume(m_restState), m_expectedVolume, 1e-10); } TEST_F(Fem2DElementTriangleTests, CoordinateTests) { Fem2DElementTriangle element(m_nodeIds); Vector validNaturalCoordinate(3); Vector validNaturalCoordinate2(3); Vector invalidNaturalCoordinateSumNot1(3); Vector invalidNaturalCoordinateNegativeValue(3); Vector invalidNaturalCoordinateBiggerThan1Value(3); Vector invalidNaturalCoordinateSize2(2), invalidNaturalCoordinateSize4(4); validNaturalCoordinate << 0.4, 0.5, 0.1; validNaturalCoordinate2 << -1e-11, 1.0 + 1e-11, 0.0; invalidNaturalCoordinateSumNot1 << 0.4, 0.5, 0.3; invalidNaturalCoordinateNegativeValue << 0.7, 0.7, -0.4; invalidNaturalCoordinateBiggerThan1Value << 1.4, 0.6, -1.0; invalidNaturalCoordinateSize2 << 0.4, 0.6; invalidNaturalCoordinateSize4 << 0.2, 0.2, 0.2, 0.4; EXPECT_TRUE(element.isValidCoordinate(validNaturalCoordinate)); EXPECT_TRUE(element.isValidCoordinate(validNaturalCoordinate2)); EXPECT_FALSE(element.isValidCoordinate(invalidNaturalCoordinateSumNot1)); EXPECT_FALSE(element.isValidCoordinate(invalidNaturalCoordinateNegativeValue)); EXPECT_FALSE(element.isValidCoordinate(invalidNaturalCoordinateBiggerThan1Value)); EXPECT_FALSE(element.isValidCoordinate(invalidNaturalCoordinateSize2)); EXPECT_FALSE(element.isValidCoordinate(invalidNaturalCoordinateSize4)); Vector naturalCoordinateA(3), naturalCoordinateB(3), naturalCoordinateC(3), naturalCoordinateMiddle(3); Vector ptA, ptB, ptC, ptMiddle; naturalCoordinateA << 1.0, 0.0, 0.0; naturalCoordinateB << 0.0, 1.0, 0.0; naturalCoordinateC << 0.0, 0.0, 1.0; naturalCoordinateMiddle << 1.0 / 3.0, 1.0 / 3.0, 1.0 / 3.0; EXPECT_THROW(ptA = element.computeCartesianCoordinate(m_restState, invalidNaturalCoordinateBiggerThan1Value), \ SurgSim::Framework::AssertionFailure); EXPECT_THROW(ptA = element.computeCartesianCoordinate(m_restState, invalidNaturalCoordinateNegativeValue), \ SurgSim::Framework::AssertionFailure); EXPECT_THROW(ptA = element.computeCartesianCoordinate(m_restState, invalidNaturalCoordinateSize2), \ SurgSim::Framework::AssertionFailure); EXPECT_THROW(ptA = element.computeCartesianCoordinate(m_restState, invalidNaturalCoordinateSize4), \ SurgSim::Framework::AssertionFailure); EXPECT_THROW(ptA = element.computeCartesianCoordinate(m_restState, invalidNaturalCoordinateSumNot1), \ SurgSim::Framework::AssertionFailure); EXPECT_NO_THROW(ptA = element.computeCartesianCoordinate(m_restState, naturalCoordinateA)); EXPECT_NO_THROW(ptB = element.computeCartesianCoordinate(m_restState, naturalCoordinateB)); EXPECT_NO_THROW(ptC = element.computeCartesianCoordinate(m_restState, naturalCoordinateC)); EXPECT_NO_THROW(ptMiddle = element.computeCartesianCoordinate(m_restState, naturalCoordinateMiddle)); EXPECT_TRUE(ptA.isApprox(m_rotation._transformVector(Vector3d(0.0, 0.0, 0.0)))); EXPECT_TRUE(ptB.isApprox(m_rotation._transformVector(Vector3d(1.0, 0.0, 0.0)))); EXPECT_TRUE(ptC.isApprox(m_rotation._transformVector(Vector3d(0.0, 1.0, 0.0)))); EXPECT_TRUE(ptMiddle.isApprox(m_rotation._transformVector(Vector3d(1.0 / 3.0, 1.0 / 3.0, 0.0)))); Vector3d cartesian = m_rotation._transformVector(Vector3d(0.0, 0.0, 0.0)); EXPECT_THROW(element.computeNaturalCoordinate(m_restState, cartesian), SurgSim::Framework::AssertionFailure); } TEST_F(Fem2DElementTriangleTests, RestAreaTest) { std::shared_ptr element = getElement(); EXPECT_NEAR(element->getRestArea(), m_A, 1e-10); } TEST_F(Fem2DElementTriangleTests, InitialRotationTest) { std::shared_ptr element = getElement(); // Use a mask to test the structure of the rotation matrix R0 (6 digonal block 3x3 matrix and 0 elsewhere) Eigen::Matrix mask; mask.setOnes(); mask.block<3, 3>(0, 0).setZero(); mask.block<3, 3>(3, 3).setZero(); mask.block<3, 3>(6, 6).setZero(); mask.block<3, 3>(9, 9).setZero(); mask.block<3, 3>(12, 12).setZero(); mask.block<3, 3>(15, 15).setZero(); EXPECT_TRUE(element->getInitialRotationTimes6().cwiseProduct(mask).isZero()); EXPECT_TRUE(element->getInitialRotationTimes6().block(0, 0, 3, 3).isApprox(m_expectedRotation.matrix())); EXPECT_TRUE(element->getInitialRotationTimes6().block(3, 3, 3, 3).isApprox(m_expectedRotation.matrix())); EXPECT_TRUE(element->getInitialRotationTimes6().block(6, 6, 3, 3).isApprox(m_expectedRotation.matrix())); EXPECT_TRUE(element->getInitialRotationTimes6().block(9, 9, 3, 3).isApprox(m_expectedRotation.matrix())); EXPECT_TRUE(element->getInitialRotationTimes6().block(12, 12, 3, 3).isApprox(m_expectedRotation.matrix())); EXPECT_TRUE(element->getInitialRotationTimes6().block(15, 15, 3, 3).isApprox(m_expectedRotation.matrix())); } TEST_F(Fem2DElementTriangleTests, StrainDisplacementPlateAtGaussPointTest) { std::shared_ptr element = getElement(); Eigen::Matrix strainDisplacement[3]; strainDisplacement[0] = element->getBatozStrainDisplacement(0.0, 0.5); strainDisplacement[1] = element->getBatozStrainDisplacement(0.5, 0.0); strainDisplacement[2] = element->getBatozStrainDisplacement(0.5, 0.5); Eigen::Matrix strainDisplacementExpected1[3]; strainDisplacementExpected1[0] = element->batozStrainDisplacementAlternativeDerivative(0.0, 0.5); strainDisplacementExpected1[1] = element->batozStrainDisplacementAlternativeDerivative(0.5, 0.0); strainDisplacementExpected1[2] = element->batozStrainDisplacementAlternativeDerivative(0.5, 0.5); Eigen::Matrix strainDisplacementExpected2[3]; strainDisplacementExpected2[0] = element->batozStrainDisplacementNumericalDerivation(0.0, 0.5); strainDisplacementExpected2[1] = element->batozStrainDisplacementNumericalDerivation(0.5, 0.0); strainDisplacementExpected2[2] = element->batozStrainDisplacementNumericalDerivation(0.5, 0.5); // Validate the alternative technique against the numerical evaluation EXPECT_TRUE(strainDisplacementExpected1[0].isApprox(strainDisplacementExpected2[0])) << strainDisplacementExpected1[0] << std::endl << strainDisplacementExpected2[0] << std::endl; EXPECT_TRUE(strainDisplacementExpected1[1].isApprox(strainDisplacementExpected2[1])) << strainDisplacementExpected1[1] << std::endl << strainDisplacementExpected2[1] << std::endl; EXPECT_TRUE(strainDisplacementExpected1[2].isApprox(strainDisplacementExpected2[2])) << strainDisplacementExpected1[2] << std::endl << strainDisplacementExpected2[2] << std::endl; // Validate the Fem2DElementTriangle internal calculation against both technique EXPECT_TRUE(strainDisplacement[0].isApprox(strainDisplacementExpected1[0])) << strainDisplacement[0] << std::endl << strainDisplacementExpected1[0] << std::endl; EXPECT_TRUE(strainDisplacement[0].isApprox(strainDisplacementExpected2[0])) << strainDisplacement[0] << std::endl << strainDisplacementExpected2[0] << std::endl; EXPECT_TRUE(strainDisplacement[1].isApprox(strainDisplacementExpected1[1])) << strainDisplacement[1] << std::endl << strainDisplacementExpected1[1] << std::endl; EXPECT_TRUE(strainDisplacement[1].isApprox(strainDisplacementExpected2[1])) << strainDisplacement[1] << std::endl << strainDisplacementExpected2[1] << std::endl; EXPECT_TRUE(strainDisplacement[2].isApprox(strainDisplacementExpected1[2])) << strainDisplacement[2] << std::endl << strainDisplacementExpected1[2] << std::endl; EXPECT_TRUE(strainDisplacement[2].isApprox(strainDisplacementExpected2[2])) << strainDisplacement[2] << std::endl << strainDisplacementExpected2[2] << std::endl; } namespace { /// Shape function evaluation Ni(x,y) = ai + bi.x + ci.y /// \param i Defines which shape function to evaluate /// \param ai, bi, ci The shape functions parameters /// \param p The 2D point (x, y) to evaluate the shape function at /// \return The shape function evaluation ai + bi.x + ci.y double N(size_t i, const std::array& ai, const std::array& bi, const std::array& ci, const SurgSim::Math::Vector2d& p) { return ai[i] + bi[i] * p[0] + ci[i] * p[1]; } }; TEST_F(Fem2DElementTriangleTests, MembraneShapeFunctionsTest) { using SurgSim::Math::getSubVector; std::shared_ptr tri = getElement(); EXPECT_TRUE(tri->getInitialPosition().isApprox(m_expectedX0)) << "x0 = " << tri->getInitialPosition().transpose() << std::endl << "x0 expected = " << m_expectedX0.transpose(); // Ni(x,y) = (ai + bi.x + ci.y) std::array ai, bi, ci; for (int i = 0; i < 3; ++i) { tri->getMembraneShapeFunction(i, &(ai[i]), &(bi[i]), &(ci[i])); } // We should (in local frame) have by construction: // { N0(p0) = 1 N1(p0)=N2(p0)=N3(p0)=0 // { N1(p1) = 1 N1(p1)=N2(p1)=N3(p1)=0 // { N2(p2) = 1 N1(p2)=N2(p2)=N3(p2)=0 // { N3(p3) = 1 N1(p3)=N2(p3)=N3(p3)=0 const Vector3d p0 = getSubVector(m_expectedX0, 0, 6).segment(0, 3); const Vector3d p1 = getSubVector(m_expectedX0, 1, 6).segment(0, 3); const Vector3d p2 = getSubVector(m_expectedX0, 2, 6).segment(0, 3); SurgSim::Math::Vector2d p02D = m_expectedRotation.inverse()._transformVector(p0).segment(0, 2); SurgSim::Math::Vector2d p12D = m_expectedRotation.inverse()._transformVector(p1).segment(0, 2); SurgSim::Math::Vector2d p22D = m_expectedRotation.inverse()._transformVector(p2).segment(0, 2); std::array Ni_p0, Ni_p1, Ni_p2; for (int i = 0; i < 3; i++) { Ni_p0[i] = N(i, ai, bi, ci, p02D); Ni_p1[i] = N(i, ai, bi, ci, p12D); Ni_p2[i] = N(i, ai, bi, ci, p22D); } EXPECT_NEAR(Ni_p0[0], 1.0, 1e-12); EXPECT_NEAR(Ni_p0[1], 0.0, 1e-12); EXPECT_NEAR(Ni_p0[2], 0.0, 1e-12); EXPECT_NEAR(Ni_p1[0], 0.0, 1e-12); EXPECT_NEAR(Ni_p1[1], 1.0, 1e-12); EXPECT_NEAR(Ni_p1[2], 0.0, 1e-12); EXPECT_NEAR(Ni_p2[0], 0.0, 1e-12); EXPECT_NEAR(Ni_p2[1], 0.0, 1e-12); EXPECT_NEAR(Ni_p2[2], 1.0, 1e-12); // We should have the relation sum(Ni(x,y) = 1) for all points in the triangle // We verify that relation by sampling the tetrahedron volume for (double sp0p1 = 0; sp0p1 <= 1.0; sp0p1 += 0.1) { for (double sp0p2 = 0; sp0p1 + sp0p2 <= 1.0; sp0p2 += 0.1) { Vector3d p = p0 + sp0p1 * (p1 - p0) + sp0p2 * (p2 - p0); SurgSim::Math::Vector2d p2D = m_expectedRotation.inverse()._transformVector(p).segment(0, 2); std::array Ni_p; for (size_t i = 0; i < 3; ++i) { Ni_p[i] = N(i, ai, bi, ci, p2D); } EXPECT_NEAR(Ni_p[0] + Ni_p[1] + Ni_p[2], 1.0, 1e-10) << " for sp0p1 = " << sp0p1 << ", sp0p2 = " << sp0p2 << std::endl << " N0(x,y,z) = " << Ni_p[0] << " N1(x,y,z) = " << Ni_p[1] << " N2(x,y,z) = " << Ni_p[2]; } } } TEST_F(Fem2DElementTriangleTests, PlateShapeFunctionsTest) { std::shared_ptr tri = getElement(); // Shape function N1 weigth point 0 (parametric coordinate 0 0) EXPECT_DOUBLE_EQ(1.0, tri->batozN1(0.0, 0.0)); EXPECT_DOUBLE_EQ(0.0, tri->batozN1(1.0, 0.0)); EXPECT_DOUBLE_EQ(0.0, tri->batozN1(0.0, 1.0)); EXPECT_DOUBLE_EQ(0.0, tri->batozN1(0.5, 0.5)); EXPECT_DOUBLE_EQ(0.0, tri->batozN1(0.0, 0.5)); EXPECT_DOUBLE_EQ(0.0, tri->batozN1(0.5, 0.0)); // Shape function N2 weigth point 1 (parametric coordinate 1 0) EXPECT_DOUBLE_EQ(0.0, tri->batozN2(0.0, 0.0)); EXPECT_DOUBLE_EQ(1.0, tri->batozN2(1.0, 0.0)); EXPECT_DOUBLE_EQ(0.0, tri->batozN2(0.0, 1.0)); EXPECT_DOUBLE_EQ(0.0, tri->batozN2(0.5, 0.5)); EXPECT_DOUBLE_EQ(0.0, tri->batozN2(0.0, 0.5)); EXPECT_DOUBLE_EQ(0.0, tri->batozN2(0.5, 0.0)); // Shape function N3 weigth point 2 (parametric coordinate 0 1) EXPECT_DOUBLE_EQ(0.0, tri->batozN3(0.0, 0.0)); EXPECT_DOUBLE_EQ(0.0, tri->batozN3(1.0, 0.0)); EXPECT_DOUBLE_EQ(1.0, tri->batozN3(0.0, 1.0)); EXPECT_DOUBLE_EQ(0.0, tri->batozN3(0.5, 0.5)); EXPECT_DOUBLE_EQ(0.0, tri->batozN3(0.0, 0.5)); EXPECT_DOUBLE_EQ(0.0, tri->batozN3(0.5, 0.0)); // Shape function N4 weigth point 4 (mid-point 12) (parametric coordinate 0.5 0.5) EXPECT_DOUBLE_EQ(0.0, tri->batozN4(0.0, 0.0)); EXPECT_DOUBLE_EQ(0.0, tri->batozN4(1.0, 0.0)); EXPECT_DOUBLE_EQ(0.0, tri->batozN4(0.0, 1.0)); EXPECT_DOUBLE_EQ(1.0, tri->batozN4(0.5, 0.5)); EXPECT_DOUBLE_EQ(0.0, tri->batozN4(0.0, 0.5)); EXPECT_DOUBLE_EQ(0.0, tri->batozN4(0.5, 0.0)); // Shape function N5 weigth point 5 (mid-point 20) (parametric coordinate 0.0 0.5) EXPECT_DOUBLE_EQ(0.0, tri->batozN5(0.0, 0.0)); EXPECT_DOUBLE_EQ(0.0, tri->batozN5(1.0, 0.0)); EXPECT_DOUBLE_EQ(0.0, tri->batozN5(0.0, 1.0)); EXPECT_DOUBLE_EQ(0.0, tri->batozN5(0.5, 0.5)); EXPECT_DOUBLE_EQ(1.0, tri->batozN5(0.0, 0.5)); EXPECT_DOUBLE_EQ(0.0, tri->batozN5(0.5, 0.0)); // Shape function N6 weigth point 6 (mid-point 01) (parametric coordinate 0.5 0.0) EXPECT_DOUBLE_EQ(0.0, tri->batozN6(0.0, 0.0)); EXPECT_DOUBLE_EQ(0.0, tri->batozN6(1.0, 0.0)); EXPECT_DOUBLE_EQ(0.0, tri->batozN6(0.0, 1.0)); EXPECT_DOUBLE_EQ(0.0, tri->batozN6(0.5, 0.5)); EXPECT_DOUBLE_EQ(0.0, tri->batozN6(0.0, 0.5)); EXPECT_DOUBLE_EQ(1.0, tri->batozN6(0.5, 0.0)); // We should have the relation sum(Ni(xi, eta) = 1) for all points in the triangle for (double xi = 0.0; xi <= 1.0; xi += 0.1) { for (double eta = 0.0; xi + eta <= 1.0; eta += 0.1) { EXPECT_DOUBLE_EQ(1.0, tri->batozN1(xi, eta) + tri->batozN2(xi, eta) + tri->batozN3(xi, eta) + \ tri->batozN4(xi, eta) + tri->batozN5(xi, eta) + tri->batozN6(xi, eta)) << "For (xi = " << xi << ", eta = " << eta << "), " << std::endl << " N1 = " << tri->batozN1(xi, eta) << std::endl << " N2 = " << tri->batozN2(xi, eta) << std::endl << " N3 = " << tri->batozN3(xi, eta) << std::endl << " N4 = " << tri->batozN4(xi, eta) << std::endl << " N5 = " << tri->batozN5(xi, eta) << std::endl << " N6 = " << tri->batozN6(xi, eta) << std::endl << " N1+N2+N3+N4+N5+N6 = " << tri->batozN1(xi, eta) + tri->batozN2(xi, eta) + tri->batozN3(xi, eta) + tri->batozN4(xi, eta) + tri->batozN5(xi, eta) + tri->batozN6(xi, eta); } } } TEST_F(Fem2DElementTriangleTests, StiffnessMatrixTest) { std::shared_ptr tri = getElement(); Eigen::Matrix expectedLocalStiffness; getExpectedLocalStiffnessMatrix(expectedLocalStiffness); EXPECT_TRUE(tri->getLocalStiffnessMatrix().isApprox(expectedLocalStiffness)) << "KLocal = " << std::endl << tri->getLocalStiffnessMatrix() << std::endl << "KLocal expected = " << std::endl << expectedLocalStiffness << std::endl; Eigen::Matrix R0 = tri->getInitialRotationTimes6(); EXPECT_TRUE(tri->getGlobalStiffnessMatrix().isApprox(R0 * expectedLocalStiffness * R0.transpose())) << "R0 = " << std::endl << R0 << std::endl << "KGlobal = " << std::endl << tri->getLocalStiffnessMatrix() << std::endl << "KGlobal expected = " << std::endl << expectedLocalStiffness << std::endl; } /// Evaluate a given polynomial at the given coordinates (x, y) /// \param degree The degree of the polynomial /// \param coefficients The vector of coefficients for all monomials in order /// [1, x, y,..., x^n, x^{n-1}y^1, ..., x^1y^{n-1}, x^0y^n] /// \param x,y The coordinates to evaluate the polynomial at /// \return the polynomial evaluation at the coordinates (x, y) static double evaluatePolynomial(size_t degree, const SurgSim::Math::Vector& coefficients, double x, double y) { SURGSIM_ASSERT((degree + 1) * (degree + 2) / 2 == static_cast(coefficients.size())) << "Invalid coefficients vector (of size " << coefficients.size() << ") provided for a polynomial of degree " << degree << ". Was expecting " << (degree + 1) * (degree + 2) / 2 << " coefficients"; SurgSim::Math::Vector monomials = SurgSim::Math::Vector::Zero(coefficients.size()); size_t monomialId = 0; for (size_t d = 0; d <= degree; d++) { for (size_t monomialOfDegreed = 0; monomialOfDegreed <= d; monomialOfDegreed++) { monomials[monomialId] = coefficients[monomialId] * pow(x, d - monomialOfDegreed) * pow(y, monomialOfDegreed); monomialId++; } } return monomials.sum(); } TEST_F(Fem2DElementTriangleTests, TriangleIntegrationPolynomialOrder4Test) { // Polynomial of order 4 on 2 variables: // {1, 2x, 3y, 4x^2, 5xy, 6y^2, 7x^3, 8x^2y, 9xy^2, 10y^3, 11x^4, 12x^3y, 13x^2y^2, 14xy^3, 15y^4} // \int_0^1 \int_0^{1-y} P(x, y) dx dy = 1679 / 360 SurgSim::Math::Vector polynomial(15); polynomial.setLinSpaced(1.0, 15.0); // http://math2.uncc.edu/~shaodeng/TEACHING/math5172/Lectures/Lect_15.PDF // "Quadrature Formulas in Two Dimensions" // \int_0^1 \int_0^{1-eta} f(xi, eta) dxi deta = 1/2 sum_i w[i] f(xi[i], eta[i]) const double half = 1.0 / 2.0; // Note that Hx and Hy are of degree 2, therefore Hx.Hx^T and Hy.Hy^T are of degree 4. // Exact integration of such functions over the triangle requires a Gauss-Legendre quadrature with 6 points: double integral = 0.0; for (size_t pointId = 0; pointId < 6; ++pointId) { const double& weight = gaussQuadrature2DTriangle6Points[pointId].weight; const double& xi = gaussQuadrature2DTriangle6Points[pointId].coordinateXi; const double& eta = gaussQuadrature2DTriangle6Points[pointId].coordinateEta; integral += half * weight * evaluatePolynomial(4, polynomial, xi, eta); } EXPECT_NEAR(1679.0 / 360.0, integral, 1e-8); } TEST_F(Fem2DElementTriangleTests, TriangleIntegrationPolynomialOrder6Test) { // Polynomial of order 6 on 2 variables: // {1, 2x, 3y, 4x^2, 5xy, 6y^2, 7x^3, 8x^2y, 9xy^2, 10y^3, 11x^4, 12x^3y, 13x^2y^2, 14xy^3, 15y^4, // 16x^5, 17x^4y, 18x^3y^2, 19x^2y^3, 20xy^4, 21y^5, // 22x^6, 23x^5y, 24x^4y^2, 25x^3y^3, 26x^2y^4, 27xy^5, 28y^6} // \int_0^1 \int_0^{1-y} P(x, y) dx dy = 9983 / 1440 SurgSim::Math::Vector polynomial(28); polynomial.setLinSpaced(1.0, 28.0); // http://math2.uncc.edu/~shaodeng/TEACHING/math5172/Lectures/Lect_15.PDF // "Quadrature Formulas in Two Dimensions" // \int_0^1 \int_0^{1-eta} f(xi, eta) dxi deta = 1/2 sum_i w[i] f(xi[i], eta[i]) const double half = 1.0 / 2.0; // Note that matrix d contains monomial terms up to degree 3, // therefore dT.d contains monomial terms up to degree 6. // Exact integration of such functions over the triangle requires a Gauss-Legendre quadrature with 12 points: double integral = 0.0; for (size_t pointId = 0; pointId < 12; ++pointId) { const double& weight = gaussQuadrature2DTriangle12Points[pointId].weight; const double& xi = gaussQuadrature2DTriangle12Points[pointId].coordinateXi; const double& eta = gaussQuadrature2DTriangle12Points[pointId].coordinateEta; integral += half * weight * evaluatePolynomial(6, polynomial, xi, eta); } EXPECT_NEAR(9983.0 / 1440.0, integral, 1e-6); } TEST_F(Fem2DElementTriangleTests, MassMatrixTest) { std::shared_ptr tri = getElement(); Eigen::Matrix expectedMassMatrix; getExpectedLocalMassMatrix(expectedMassMatrix); EXPECT_TRUE(tri->getLocalMassMatrix().isApprox(expectedMassMatrix)) << "Error = " << std::endl << tri->getLocalMassMatrix() - expectedMassMatrix << std::endl; Eigen::Matrix R0 = tri->getInitialRotationTimes6(); EXPECT_TRUE(tri->getGlobalMassMatrix().isApprox(R0 * expectedMassMatrix * R0.transpose())); } TEST_F(Fem2DElementTriangleTests, ForceAndMatricesAPITest) { using SurgSim::Math::addSubMatrix; std::shared_ptr tri = getElement(); const SparseMatrix::Index numDof = 6 * static_cast(m_restState.getNumNodes()); Vector forceVector(numDof); Vector ones(numDof); SparseMatrix massMatrix(numDof, numDof); SparseMatrix dampingMatrix(numDof, numDof); SparseMatrix stiffnessMatrix(numDof, numDof); SparseMatrix zeroMatrix(numDof, numDof); Matrix expectedMassMatrix(numDof, numDof); Matrix expectedDampingMatrix(numDof, numDof); Matrix expectedStiffnessMatrix(numDof, numDof); Matrix zeros18x18 = SurgSim::Math::Matrix::Zero(18, 18); // Assemble manually the expectedStiffnessMatrix Eigen::Matrix R0 = tri->getInitialRotationTimes6(); Eigen::Matrix expected18x18StiffnessMatrix; getExpectedLocalStiffnessMatrix(expected18x18StiffnessMatrix); expectedStiffnessMatrix.setZero(); addSubMatrix(R0 * expected18x18StiffnessMatrix * R0.transpose(), tri->getNodeIds(), 6, &expectedStiffnessMatrix); // Assemble manually the expectedMassMatrix Eigen::Matrix expected18x18MassMatrix; getExpectedLocalMassMatrix(expected18x18MassMatrix); expectedMassMatrix.setZero(); addSubMatrix(R0 * expected18x18MassMatrix * R0.transpose(), tri->getNodeIds(), 6, &expectedMassMatrix); forceVector.setZero(); massMatrix.setZero(); tri->assembleMatrixBlocks(zeros18x18, tri->getNodeIds(), 6, &massMatrix, true); massMatrix.makeCompressed(); dampingMatrix.setZero(); tri->assembleMatrixBlocks(zeros18x18, tri->getNodeIds(), 6, &dampingMatrix, true); dampingMatrix.makeCompressed(); stiffnessMatrix.setZero(); tri->assembleMatrixBlocks(zeros18x18, tri->getNodeIds(), 6, &stiffnessMatrix, true); stiffnessMatrix.makeCompressed(); zeroMatrix.setZero(); // Update the internal f, M, D, K variables. tri->updateFMDK(m_restState, SurgSim::Math::ODEEQUATIONUPDATE_FMDK); // No force should be produced when in rest state (x = x0) => F = K.(x-x0) = 0 tri->addForce(&forceVector); EXPECT_TRUE(forceVector.isZero()); tri->addMass(&massMatrix); EXPECT_TRUE(massMatrix.isApprox(expectedMassMatrix)) << "MassMatrix = " << std::endl << massMatrix << std::endl << "ExpectedMassMatrix = " << std::endl << expectedMassMatrix << std::endl; tri->addDamping(&dampingMatrix); EXPECT_TRUE(dampingMatrix.isApprox(zeroMatrix)); tri->addStiffness(&stiffnessMatrix); EXPECT_TRUE(stiffnessMatrix.isApprox(expectedStiffnessMatrix)); forceVector.setZero(); clearMatrix(&massMatrix); clearMatrix(&dampingMatrix); clearMatrix(&stiffnessMatrix); tri->addFMDK(&forceVector, &massMatrix, &dampingMatrix, &stiffnessMatrix); EXPECT_TRUE(forceVector.isZero()); EXPECT_TRUE(massMatrix.isApprox(expectedMassMatrix)) << "MassMatrix = " << std::endl << massMatrix << std::endl << "ExpectedMassMatrix = " << std::endl << expectedMassMatrix << std::endl; EXPECT_TRUE(dampingMatrix.isApprox(zeroMatrix)); EXPECT_TRUE(stiffnessMatrix.isApprox(expectedStiffnessMatrix)); // Test addMatVec API with Mass component only forceVector.setZero(); ones.setOnes(); tri->addMatVec(1.0, 0.0, 0.0, ones, &forceVector); for (SparseMatrix::Index rowId = 0; rowId < numDof; rowId++) { SCOPED_TRACE("Test addMatVec API with Mass component only"); EXPECT_NEAR(expectedMassMatrix.row(rowId).sum(), forceVector[rowId], epsilon); } // Test addMatVec API with Damping component only forceVector.setZero(); tri->addMatVec(0.0, 1.0, 0.0, ones, &forceVector); for (SparseMatrix::Index rowId = 0; rowId < numDof; rowId++) { SCOPED_TRACE("Test addMatVec API with Damping component only"); EXPECT_NEAR(0.0, forceVector[rowId], epsilon); } // Test addMatVec API with Stiffness component only forceVector.setZero(); tri->addMatVec(0.0, 0.0, 1.0, ones, &forceVector); for (SparseMatrix::Index rowId = 0; rowId < numDof; rowId++) { SCOPED_TRACE("Test addMatVec API with Stiffness component only"); EXPECT_NEAR(expectedStiffnessMatrix.row(rowId).sum(), forceVector[rowId], epsilon); } // Test addMatVec API with mix Mass/Damping/Stiffness components forceVector.setZero(); tri->addMatVec(1.0, 2.0, 3.0, ones, &forceVector); for (SparseMatrix::Index rowId = 0; rowId < numDof; rowId++) { SCOPED_TRACE("Test addMatVec API with mix Mass/Damping/Stiffness components"); double expectedCoef = 1.0 * expectedMassMatrix.row(rowId).sum() + 3.0 * expectedStiffnessMatrix.row(rowId).sum(); EXPECT_NEAR(expectedCoef, forceVector[rowId], epsilon * 10); } } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem2DLocalizationTest.cpp000066400000000000000000000140611277777236100257050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/Fem2DElementTriangle.h" #include "SurgSim/Physics/Fem2DLocalization.h" #include "SurgSim/Physics/Fem2DRepresentation.h" #include "SurgSim/Physics/Fem3DRepresentation.h" using SurgSim::DataStructures::IndexedLocalCoordinate; namespace { const double epsilon = 1e-10; }; namespace SurgSim { namespace Physics { void addTriangle(Fem2DRepresentation *fem, std::array nodes, const SurgSim::Math::OdeState& state, double thickness = 0.01, double massDensity = 1.0, double poissonRatio = 0.1, double youngModulus = 1.0) { auto element = std::make_shared(nodes); element->setThickness(thickness); element->setMassDensity(massDensity); element->setPoissonRatio(poissonRatio); element->setYoungModulus(youngModulus); element->initialize(state); fem->addFemElement(element); } class Fem2DLocalizationTest : public ::testing::Test { public: void SetUp() { using SurgSim::Math::Vector3d; using SurgSim::Math::getSubVector; m_fem = std::make_shared("Fem2dRepresentation"); auto state = std::make_shared(); state->setNumDof(6, 4); auto& x = state->getPositions(); getSubVector(x, 0, 6).segment<3>(0) = Vector3d(-1.0, 0.0, 0.0); getSubVector(x, 1, 6).segment<3>(0) = Vector3d( 0.0,-1.0, 0.0); getSubVector(x, 2, 6).segment<3>(0) = Vector3d( 1.0, 0.0, 0.0); getSubVector(x, 3, 6).segment<3>(0) = Vector3d( 0.0, 1.0, 0.0); // Define Triangles { std::array nodes = {{0, 2, 1}}; addTriangle(m_fem.get(), nodes, *state); } { std::array nodes = {{0, 3, 2}}; addTriangle(m_fem.get(), nodes, *state); } m_fem->setInitialState(state); m_fem->setLocalActive(true); m_validLocalPosition.index = 1; m_validLocalPosition.coordinate = SurgSim::Math::Vector::Zero(3); m_validLocalPosition.coordinate[0] = 0.4; m_validLocalPosition.coordinate[1] = 0.6; m_invalidIndexLocalPosition.index = 3; m_invalidIndexLocalPosition.coordinate = SurgSim::Math::Vector::Zero(3); m_invalidIndexLocalPosition.coordinate[0] = 0.4; m_invalidIndexLocalPosition.coordinate[1] = 0.6; m_invalidCoordinateLocalPosition.index = 1; m_invalidCoordinateLocalPosition.coordinate = SurgSim::Math::Vector::Zero(3); m_invalidCoordinateLocalPosition.coordinate[0] = 0.6; m_invalidCoordinateLocalPosition.coordinate[1] = 0.6; } void TearDown() { } std::shared_ptr m_fem; SurgSim::DataStructures::IndexedLocalCoordinate m_validLocalPosition; SurgSim::DataStructures::IndexedLocalCoordinate m_invalidIndexLocalPosition; SurgSim::DataStructures::IndexedLocalCoordinate m_invalidCoordinateLocalPosition; }; TEST_F(Fem2DLocalizationTest, ConstructorTest) { // IndexedLocalCoordinate pointing to a node (node index + empty coordinate) are invalid. It will failed, // either because the index is out of bound or because the coordinates are the wrong size (empty) // This is tested by m_invalidIndexLocalPosition and m_invalidCoordinateLocalPosition ASSERT_THROW(std::make_shared(m_fem, m_invalidIndexLocalPosition), SurgSim::Framework::AssertionFailure); ASSERT_THROW(std::make_shared(m_fem, m_invalidCoordinateLocalPosition), SurgSim::Framework::AssertionFailure); ASSERT_NO_THROW(std::make_shared(m_fem, m_validLocalPosition);); } TEST_F(Fem2DLocalizationTest, IsValidRepresentation) { Fem2DLocalization localization(m_fem, m_validLocalPosition); ASSERT_TRUE(localization.isValidRepresentation(m_fem)); // nullptr is valid ASSERT_TRUE(localization.isValidRepresentation(nullptr)); ASSERT_FALSE(localization.isValidRepresentation(std::make_shared("fem1d"))); ASSERT_FALSE(localization.isValidRepresentation(std::make_shared("fem3d"))); } TEST_F(Fem2DLocalizationTest, ElementPose) { SurgSim::Math::RigidTransform3d pose0, pose1; SurgSim::Math::Vector3d edge0(1.0, 0.0, 0.0); SurgSim::Math::Vector3d edge1 = SurgSim::Math::Vector3d(1.0, 1.0, 0.0).normalized(); SurgSim::Math::Vector3d normal(0.0, 0.0, 1.0); SurgSim::Math::Vector3d binormal0 = edge0.cross(normal); SurgSim::Math::Vector3d binormal1 = edge1.cross(normal); SurgSim::Math::Matrix33d rotation; rotation << edge0, normal, binormal0; pose0 = SurgSim::Math::makeRigidTransform(rotation, SurgSim::Math::Vector3d(0.0, -1.0 / 3.0, 0.0)); rotation << edge1, normal, binormal1; pose1 = SurgSim::Math::makeRigidTransform(rotation, SurgSim::Math::Vector3d(0.0, 1.0 / 3.0, 0.0)); { SurgSim::DataStructures::IndexedLocalCoordinate testPosition1; testPosition1.index = 0; testPosition1.coordinate = SurgSim::Math::Vector::Zero(3); testPosition1.coordinate[0] = 0.5; testPosition1.coordinate[1] = 0.5; Fem2DLocalization testLocalization1(m_fem, testPosition1); auto pose = testLocalization1.getElementPose(); EXPECT_TRUE(pose0.isApprox(pose)); } { SurgSim::DataStructures::IndexedLocalCoordinate testPosition1; testPosition1.index = 1; testPosition1.coordinate = SurgSim::Math::Vector::Zero(3); testPosition1.coordinate[0] = 0.5; testPosition1.coordinate[1] = 0.5; Fem2DLocalization testLocalization1(m_fem, testPosition1); auto pose = testLocalization1.getElementPose(); EXPECT_TRUE(pose1.isApprox(pose)); } } } // namespace SurgSim } // namespace Physics opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem2DMechanicalValidationTests.cpp000066400000000000000000000606721277777236100275100ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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. /// \file Fem2DMechanicalValidationTests.cpp /// This file tests the mechanical behaviors of the Fem2DRepresentation. #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem2DRepresentation.h" #include "SurgSim/Physics/Fem2DElementTriangle.h" using SurgSim::Math::Matrix; using SurgSim::Math::Vector; using SurgSim::Math::Vector3d; namespace { static const double inchToMeter = 0.0254; static const double ksiToPascal = 6894757.293; // Kip.in^-2 -> Pa = N.m^-2 static const double kipToNewton = 4448.221615; // Kip -> N const double epsilonCantilever1 = 1e-8; const double epsilonCantilever2 = 1e-8; const double epsilonPlateWithSemiCirculatHole = 5e-5; const double epsilonPlateBending = 2e-7; } namespace SurgSim { namespace Physics { /// Mechanical validation tests class /// Our validation tests are based on the following Thesis: /// "Development of Membrane, Plate and Flat Shell Elements in Java" /// Kaushalkumar Kansara, May 2004 /// In this thesis, the same formulation has been chosen to simulate the plate bending deformation, /// based on Batoz et al. work. Also, a large section of the thesis is dedicated to mechanical validation with /// all necessary details to reproduce the simulation and comparison have been done against a commercial finite /// element analysis program (SAP 2000). class Fem2DMechanicalValidationTests : public ::testing::Test { private: std::shared_ptr m_fem; // Physical properties double m_nu; double m_E; // Geometric properties double m_thickness; // Force and displacement vectors SurgSim::Math::Vector m_F, m_U; protected: void SetUp() override { m_fem = std::make_shared("Fem2D"); } void applyBoundaryConditions() { auto boundaryConditions = m_fem->getInitialState()->getBoundaryConditions(); for (auto bc = boundaryConditions.begin(); bc != boundaryConditions.end(); bc++) { m_F[*bc] = 0.0; } } public: void setNodePositions(const std::vector& nodes, const std::vector& fixedNodes) { const size_t numDofPerNode = m_fem->getNumDofPerNode(); std::shared_ptr state = std::make_shared(); state->setNumDof(numDofPerNode, nodes.size()); for (size_t nodeId = 0; nodeId < nodes.size(); nodeId++) { state->getPositions().segment<3>(numDofPerNode * nodeId) = nodes[nodeId]; } for (auto fixedNodeId = fixedNodes.begin(); fixedNodeId != fixedNodes.end(); fixedNodeId++) { state->addBoundaryCondition(*fixedNodeId); } m_fem->setInitialState(state); } void addTriangle(const std::array& t, double youngModulus, double poissonRatio, double thickness) { std::shared_ptr triangle = std::make_shared(t); triangle->setYoungModulus(youngModulus); triangle->setPoissonRatio(poissonRatio); triangle->setMassDensity(1.0); // In static mode, the mass density is not used, but it needs to be non null to // pass the initialize validation triangle->setThickness(thickness); m_fem->addFemElement(triangle); } // Make sure you call setNodePositions first to initialize the initialState void addPunctualLoad(size_t nodeId, const Vector3d& f) { // Apply load at extremity if (m_F.size() != static_cast(m_fem->getInitialState()->getNumDof())) { m_F.setZero(m_fem->getInitialState()->getNumDof()); } m_F.segment(m_fem->getNumDofPerNode() * nodeId, 3) = f; } // Make sure you call setNodePositions first to initialize the initialState void addUniformSurfaceLoad(const Vector3d& forceInNewtonPerSquareMeter) { std::vector forces; const size_t numNodes = m_fem->getInitialState()->getNumNodes(); forces.resize(numNodes); for (auto f = std::begin(forces); f != std::end(forces); f++) { (*f).setZero(); } for (size_t triangleId = 0; triangleId < m_fem->getNumFemElements(); triangleId++) { auto triangle = std::static_pointer_cast(m_fem->getFemElement(triangleId)); size_t nodeId0 = triangle->getNodeId(0); size_t nodeId1 = triangle->getNodeId(1); size_t nodeId2 = triangle->getNodeId(2); const Vector3d A = m_fem->getInitialState()->getPosition(nodeId0); const Vector3d B = m_fem->getInitialState()->getPosition(nodeId1); const Vector3d C = m_fem->getInitialState()->getPosition(nodeId2); const double Area = ((B - A).cross(C - A)).norm() / 2.0; Vector3d f = Area * forceInNewtonPerSquareMeter; // Uniform distribution, so the resulting force f is to be applied at the triangle center of mass: forces[nodeId0] += f / 3.0; forces[nodeId1] += f / 3.0; forces[nodeId2] += f / 3.0; } for (size_t nodeId = 0; nodeId < numNodes; nodeId++) { addPunctualLoad(nodeId, forces[nodeId]); } applyBoundaryConditions(); } void solve() { m_fem->initialize(std::make_shared()); m_fem->updateFMDK(*(m_fem->getCurrentState()), Math::ODEEQUATIONUPDATE_K); Matrix K = m_fem->getK(); m_fem->getCurrentState()->applyBoundaryConditionsToMatrix(&K); m_fem->getCurrentState()->applyBoundaryConditionsToVector(&m_F); m_U = K.partialPivLu().solve(m_F); } double getUx(size_t nodeId) const { return m_U[m_fem->getNumDofPerNode() * nodeId]; } double getUy(size_t nodeId) const { return m_U[m_fem->getNumDofPerNode() * nodeId + 1]; } double getUz(size_t nodeId) const { return m_U[m_fem->getNumDofPerNode() * nodeId + 2]; } }; TEST_F(Fem2DMechanicalValidationTests, MembraneCantileverTest1) { const double youngModulus = 30000 * ksiToPascal; const double poissonRatio = 0.25; const double thickness = 1.0 * inchToMeter; const double L = 48.0 * inchToMeter; const double h = 12.0 * inchToMeter; std::vector nodes; nodes.push_back(Vector3d(-L / 2.0, - h / 2.0, 0.0)); nodes.push_back(Vector3d(-L / 4.0, - h / 2.0, 0.0)); nodes.push_back(Vector3d( 0.0, - h / 2.0, 0.0)); nodes.push_back(Vector3d( L / 4.0, - h / 2.0, 0.0)); nodes.push_back(Vector3d( L / 2.0, - h / 2.0, 0.0)); nodes.push_back(Vector3d(-L / 2.0, h / 2.0, 0.0)); nodes.push_back(Vector3d(-L / 4.0, h / 2.0, 0.0)); nodes.push_back(Vector3d( 0.0, h / 2.0, 0.0)); nodes.push_back(Vector3d( L / 4.0, h / 2.0, 0.0)); nodes.push_back(Vector3d( L / 2.0, h / 2.0, 0.0)); std::vector fixedNodes; fixedNodes.push_back(0); fixedNodes.push_back(5); setNodePositions(nodes, fixedNodes); const int numTriangles = 8; const std::array, numTriangles> trianglesNodeIds = {{ {{0, 6, 5}}, {{0, 1, 6}}, {{1, 7, 6}}, {{1, 2, 7}}, {{2, 8, 7}}, {{2, 3, 8}}, {{3, 9, 8}}, {{3, 4, 9}} }}; for (size_t triangleId = 0; triangleId < numTriangles; triangleId++) { addTriangle(trianglesNodeIds[triangleId], youngModulus, poissonRatio, thickness); } addPunctualLoad(4, Vector3d(0, 20.0 * kipToNewton, 0)); addPunctualLoad(9, Vector3d(0, 20.0 * kipToNewton, 0)); solve(); EXPECT_NEAR(-0.014159 * inchToMeter, getUx(9), epsilonCantilever1); EXPECT_NEAR( 0.090347 * inchToMeter, getUy(9), epsilonCantilever1); EXPECT_NEAR(-0.010825 * inchToMeter, getUx(7), epsilonCantilever1); EXPECT_NEAR( 0.030403 * inchToMeter, getUy(7), epsilonCantilever1); } TEST_F(Fem2DMechanicalValidationTests, MembraneCantileverTest2) { const double youngModulus = 30000 * ksiToPascal; const double poissonRatio = 0.25; const double thickness = 1.0 * inchToMeter; const double L = 48.0 * inchToMeter; const double h = 12.0 * inchToMeter; std::vector nodes; nodes.push_back(Vector3d(-L / 2.0, - h / 2.0, 0.0)); // 0 nodes.push_back(Vector3d(-L / 4.0, - h / 2.0, 0.0)); // 1 nodes.push_back(Vector3d( 0.0, - h / 2.0, 0.0)); // 2 nodes.push_back(Vector3d( L / 4.0, - h / 2.0, 0.0)); // 3 nodes.push_back(Vector3d( L / 2.0, - h / 2.0, 0.0)); // 4 nodes.push_back(Vector3d(-L / 2.0, h / 2.0, 0.0)); // 5 nodes.push_back(Vector3d(-L / 4.0, h / 2.0, 0.0)); // 6 nodes.push_back(Vector3d( 0.0, h / 2.0, 0.0)); // 7 nodes.push_back(Vector3d( L / 4.0, h / 2.0, 0.0)); // 8 nodes.push_back(Vector3d( L / 2.0, h / 2.0, 0.0)); // 9 // Subdivision nodes.push_back((nodes[0] + nodes[1]) * 0.5); // 10 nodes.push_back((nodes[0] + nodes[6]) * 0.5); // 11 nodes.push_back((nodes[0] + nodes[5]) * 0.5); // 12 nodes.push_back((nodes[5] + nodes[6]) * 0.5); // 13 nodes.push_back((nodes[1] + nodes[6]) * 0.5); // 14 nodes.push_back((nodes[1] + nodes[2]) * 0.5); // 15 nodes.push_back((nodes[1] + nodes[7]) * 0.5); // 16 nodes.push_back((nodes[6] + nodes[7]) * 0.5); // 17 nodes.push_back(Vector3d::Zero()); // 18 nodes.push_back((nodes[2] + nodes[3]) * 0.5); // 19 nodes.push_back((nodes[2] + nodes[8]) * 0.5); // 20 nodes.push_back((nodes[7] + nodes[8]) * 0.5); // 21 nodes.push_back((nodes[3] + nodes[8]) * 0.5); // 22 nodes.push_back((nodes[3] + nodes[4]) * 0.5); // 23 nodes.push_back((nodes[3] + nodes[9]) * 0.5); // 24 nodes.push_back((nodes[8] + nodes[9]) * 0.5); // 25 nodes.push_back((nodes[4] + nodes[9]) * 0.5); // 26 std::vector fixedNodes; fixedNodes.push_back(0); fixedNodes.push_back(5); fixedNodes.push_back(12); setNodePositions(nodes, fixedNodes); const int numTriangles = 32; const std::array, numTriangles> trianglesNodeIds = {{ {{0, 10, 12}}, {{10, 11, 12}}, {{12, 11, 13}}, {{12, 13, 5}}, {{10, 1, 11}}, {{1, 14, 11}}, {{11, 14, 6}}, {{11, 6, 13}}, {{1, 15, 14}}, {{15, 16, 14}}, {{14, 16, 17}}, {{14, 17, 6}}, {{15, 2, 16}}, {{2, 18, 16}}, {{16, 18, 7}}, {{16, 7, 17}}, {{2, 19, 18}}, {{19, 20, 18}}, {{18, 20, 21}}, {{18, 21, 7}}, {{19, 3, 20}}, {{3, 22, 20}}, {{20, 22, 8}}, {{20, 8, 21}}, {{3, 23, 22}}, {{23, 24, 22}}, {{22, 24, 25}}, {{22, 25, 8}}, {{23, 4, 24}}, {{4, 26, 24}}, {{24, 26, 9}}, {{24, 9, 25}} }}; for (size_t triangleId = 0; triangleId < numTriangles; triangleId++) { addTriangle(trianglesNodeIds[triangleId], youngModulus, poissonRatio, thickness); } addPunctualLoad( 4, Vector3d(0, 6.67 * kipToNewton, 0)); addPunctualLoad( 9, Vector3d(0, 6.67 * kipToNewton, 0)); addPunctualLoad(26, Vector3d(0, 26.67 * kipToNewton, 0)); solve(); EXPECT_NEAR(-0.034271 * inchToMeter, getUx(9), epsilonCantilever2); EXPECT_NEAR( 0.194456 * inchToMeter, getUy(9), epsilonCantilever2); EXPECT_NEAR(-0.025605 * inchToMeter, getUx(7), epsilonCantilever2); EXPECT_NEAR( 0.062971 * inchToMeter, getUy(7), epsilonCantilever2); } /// Generic algorithm to define the triangles in between 2 arrays of consecutive node indices: /// beginIndex2 /// *---1---2---3---4 array2 /// | \ | \ | \ | \ | /// *---1---2---3---4 array1 /// beginIndex1 template void defineTriangleStrips(size_t beginIndex1, size_t beginIndex2, size_t number, std::array, M>* triangleLists, size_t* triangleId) { for (size_t i = 0; i < number - 1; i++) { std::array triangle1 = {{beginIndex1 + i, beginIndex1 + i + 1, beginIndex2 + i}}; std::array triangle2 = {{beginIndex1 + i + 1, beginIndex2 + i + 1, beginIndex2 + i}}; (*triangleLists)[(*triangleId)++] = triangle1; (*triangleLists)[(*triangleId)++] = triangle2; } } /// Helper function to define the nodes of the membrane plate with semi-circular hole test /// In this test, nodes are defined around concentric circles. This function adds the nodes that are along the same /// axis (going from the most interior circle to the most exterior circle) for a given angle. /// \param angle The angle for which the nodes will be computed and added /// \param numNodes The number of nodes to add along this axis (defined by the angle) /// \param L The length of the plate /// \param radius The radius of the most internal circle /// \param [in,out] nodes The list of nodes in which the new nodes will be added /// \note The spacing between 2 consecutive nodes is constant equal to (L / 2.0 - radius) / 5.0 void membranePlateWithSemiCircularHoleAddNodesForAngle(double angle, size_t numNodes, double L, double radius, std::vector* nodes) { for (size_t nodeId = 0; nodeId < numNodes; nodeId++) { double distance = radius + nodeId * (L / 2.0 - radius) / 5.0; (*nodes).push_back(Vector3d(distance * cos(angle), distance * sin(angle), 0.0)); } } TEST_F(Fem2DMechanicalValidationTests, MembranePlateWithSemiCircularHoleTest) { const double youngModulus = 30000 * ksiToPascal; const double poissonRatio = 0.3; const double thickness = 0.45 * inchToMeter; const double radius = 3.0 * inchToMeter; const double L = 16.0 * inchToMeter; const double h = 6.0 * inchToMeter; double startAngle = -M_PI / 2.0; double deltaAngle = M_PI / 12.0; std::vector nodes; double angle, distance; // Node 0..5 angle = startAngle + 0.0 * deltaAngle; membranePlateWithSemiCircularHoleAddNodesForAngle(angle, 6, L, radius, &nodes); // Node 6..10 angle = startAngle + 1.0 * deltaAngle; membranePlateWithSemiCircularHoleAddNodesForAngle(angle, 5, L, radius, &nodes); // Node 11 (we have distance.sin(angle) = -L/2) distance = - L / (2.0 * sin(angle)); nodes.push_back(Vector3d(distance * cos(angle), distance * sin(angle), 0.0)); // 11 // Node 12..17 angle = startAngle + 2.0 * deltaAngle; membranePlateWithSemiCircularHoleAddNodesForAngle(angle, 6, L, radius, &nodes); // Node 18 (we have distance.sin(angle) = -L/2) distance = - L / (2.0 * sin(angle)); nodes.push_back(Vector3d(distance * cos(angle), distance * sin(angle), 0.0)); // 18 // Node 19..23 angle = startAngle + 3.0 * deltaAngle; membranePlateWithSemiCircularHoleAddNodesForAngle(angle, 5, L, radius, &nodes); // Node 24 (we have distance.cos(angle) = h) distance = h / cos(angle); nodes.push_back(Vector3d(distance * cos(angle), distance * sin(angle), 0.0)); // 24 // Node 25 (corner) nodes.push_back(Vector3d(h, -L / 2.0, 0.0)); // 25 // Node 26..29 angle = startAngle + 4.0 * deltaAngle; membranePlateWithSemiCircularHoleAddNodesForAngle(angle, 4, L, radius, &nodes); // Node 30 (we have distance.cos(angle) = h) distance = h / cos(angle); nodes.push_back(Vector3d(distance * cos(angle), distance * sin(angle), 0.0)); // 30 // Node 31..33 angle = startAngle + 5.0 * deltaAngle; membranePlateWithSemiCircularHoleAddNodesForAngle(angle, 3, L, radius, &nodes); // Node 34 (we have distance.cos(angle) = h) distance = h / cos(angle); nodes.push_back(Vector3d(distance * cos(angle), distance * sin(angle), 0.0)); // 34 // Node 35..38 angle = startAngle + 6.0 * deltaAngle; // (=0) membranePlateWithSemiCircularHoleAddNodesForAngle(angle, 4, L, radius, &nodes); // Node 39..41 angle = startAngle + 7.0 * deltaAngle; membranePlateWithSemiCircularHoleAddNodesForAngle(angle, 3, L, radius, &nodes); // Node 42 (we have distance.cos(angle) = h) distance = h / cos(angle); nodes.push_back(Vector3d(distance * cos(angle), distance * sin(angle), 0.0)); // 42 // Node 43..46 angle = startAngle + 8.0 * deltaAngle; membranePlateWithSemiCircularHoleAddNodesForAngle(angle, 4, L, radius, &nodes); // Node 47 (we have distance.cos(angle) = h) distance = h / cos(angle); nodes.push_back(Vector3d(distance * cos(angle), distance * sin(angle), 0.0)); // 47 // Node 48..52 angle = startAngle + 9.0 * deltaAngle; membranePlateWithSemiCircularHoleAddNodesForAngle(angle, 5, L, radius, &nodes); // Node 53 (we have distance.cos(angle) = h) distance = h / cos(angle); nodes.push_back(Vector3d(distance * cos(angle), distance * sin(angle), 0.0)); // 53 // Node 54 (corner) nodes.push_back(Vector3d(h, L / 2.0, 0.0)); // 54 // Node 55..60 angle = startAngle + 10.0 * deltaAngle; membranePlateWithSemiCircularHoleAddNodesForAngle(angle, 6, L, radius, &nodes); // Node 61 (we have distance.sin(angle) = L / 2) distance = L / (2.0 * sin(angle)); nodes.push_back(Vector3d(distance * cos(angle), distance * sin(angle), 0.0)); // 61 // Node 62..66 angle = startAngle + 11.0 * deltaAngle; membranePlateWithSemiCircularHoleAddNodesForAngle(angle, 5, L, radius, &nodes); // Node 67 (we have distance.sin(angle) = L / 2) distance = L / (2.0 * sin(angle)); nodes.push_back(Vector3d(distance * cos(angle), distance * sin(angle), 0.0)); // 67 // Node 69..73 angle = startAngle + 12.0 * deltaAngle; // (= M_PI / 2) membranePlateWithSemiCircularHoleAddNodesForAngle(angle, 6, L, radius, &nodes); std::vector fixedNodes; fixedNodes.push_back(54); fixedNodes.push_back(61); fixedNodes.push_back(67); fixedNodes.push_back(73); setNodePositions(nodes, fixedNodes); const int numTriangles = 110; std::array, numTriangles> trianglesNodeIds; size_t triangleId = 0; defineTriangleStrips(0, 6, 6, &trianglesNodeIds, &triangleId); defineTriangleStrips(6, 12, 6, &trianglesNodeIds, &triangleId); { std::array triangle = {{11, 18, 17}}; trianglesNodeIds[triangleId++] = triangle; } defineTriangleStrips(12, 19, 7, &trianglesNodeIds, &triangleId); defineTriangleStrips(19, 26, 5, &trianglesNodeIds, &triangleId); { std::array triangle = {{23, 24, 30}}; trianglesNodeIds[triangleId++] = triangle; } defineTriangleStrips(26, 31, 4, &trianglesNodeIds, &triangleId); { std::array triangle = {{29, 30, 34}}; trianglesNodeIds[triangleId++] = triangle; } defineTriangleStrips(31, 35, 4, &trianglesNodeIds, &triangleId); defineTriangleStrips(35, 39, 4, &trianglesNodeIds, &triangleId); defineTriangleStrips(39, 43, 4, &trianglesNodeIds, &triangleId); { std::array triangle = {{42, 47, 46}}; trianglesNodeIds[triangleId++] = triangle; } defineTriangleStrips(43, 48, 5, &trianglesNodeIds, &triangleId); { std::array triangle = {{47, 53, 52}}; trianglesNodeIds[triangleId++] = triangle; } defineTriangleStrips(48, 55, 7, &trianglesNodeIds, &triangleId); defineTriangleStrips(55, 62, 6, &trianglesNodeIds, &triangleId); { std::array triangle = {{60, 61, 67}}; trianglesNodeIds[triangleId++] = triangle; } defineTriangleStrips(62, 68, 6, &trianglesNodeIds, &triangleId); for (size_t triangleId = 0; triangleId < numTriangles; triangleId++) { addTriangle(trianglesNodeIds[triangleId], youngModulus, poissonRatio, thickness); } addPunctualLoad( 5, Vector3d(0, -1.0 * kipToNewton, 0)); addPunctualLoad(11, Vector3d(0, -1.0 * kipToNewton, 0)); addPunctualLoad(18, Vector3d(0, -1.0 * kipToNewton, 0)); addPunctualLoad(25, Vector3d(0, -1.0 * kipToNewton, 0)); solve(); EXPECT_NEAR( 0.001545 * inchToMeter, getUx(0), epsilonPlateWithSemiCirculatHole); EXPECT_NEAR(-0.003132 * inchToMeter, getUy(0), epsilonPlateWithSemiCirculatHole); EXPECT_NEAR( 0.004213 * inchToMeter, getUx(5), epsilonPlateWithSemiCirculatHole); EXPECT_NEAR(-0.003355 * inchToMeter, getUy(5), epsilonPlateWithSemiCirculatHole); } TEST_F(Fem2DMechanicalValidationTests, PlateBendingSquarePlateMeshPatternATest) { const double youngModulus = 3600 * ksiToPascal; const double poissonRatio = 0.2; const double thickness = 6.0 * inchToMeter; const double L = 144.0 * inchToMeter; const double deltaL = L / 8.0; std::vector nodes; std::vector fixedNodes; for (size_t Y = 0; Y < 9; Y++) { for (size_t X = 0; X < 9; X++) { nodes.push_back(Vector3d(-L / 2.0 + deltaL * X, - L / 2.0 + deltaL * Y, 0.0)); } } for (size_t i = 0; i < 9; i++) { // 1st edge along X fixedNodes.push_back(i); // Nodes 0..8 // last edge along X fixedNodes.push_back(9 * 8 + i); // Nodes 72..80 } for (size_t i = 1; i < 8; i++) { // 1st edge along Y fixedNodes.push_back(9 * i); // Nodes 9, 18, 27, 36, 45, 54, 63 // last edge along Y fixedNodes.push_back(9 * i + 8); // Nodes 17, 26, 35, 44, 53, 62 } setNodePositions(nodes, fixedNodes); const int numTriangles = 128; std::array, numTriangles> trianglesNodeIds; size_t triangleId = 0; for(size_t Y = 0; Y < 8; Y++) { for(size_t X = 0; X < 8; X++) { std::array triangle1 = {{Y * 9 + X, Y * 9 + (X + 1), (Y + 1) * 9 + (X + 1)}}; trianglesNodeIds[triangleId++] = triangle1; std::array triangle2 = {{Y * 9 + X, (Y + 1) * 9 + (X + 1), (Y + 1) * 9 + X}}; trianglesNodeIds[triangleId++] = triangle2; } } for (size_t triangleId = 0; triangleId < numTriangles; triangleId++) { addTriangle(trianglesNodeIds[triangleId], youngModulus, poissonRatio, thickness); } addUniformSurfaceLoad(Vector3d(0.0, 0.0, -0.1) * ksiToPascal); solve(); EXPECT_NEAR(-0.82920 * inchToMeter, getUz(40), epsilonPlateBending); EXPECT_NEAR(-0.304909 * inchToMeter, getUz(20), epsilonPlateBending); } TEST_F(Fem2DMechanicalValidationTests, PlateBendingSquarePlateMeshPatternBTest) { const double youngModulus = 3600 * ksiToPascal; const double poissonRatio = 0.2; const double thickness = 6.0 * inchToMeter; const double L = 144.0 * inchToMeter; const double deltaL = L / 8.0; std::vector nodes; std::vector fixedNodes; for (size_t Y = 0; Y < 9; Y++) { for (size_t X = 0; X < 9; X++) { nodes.push_back(Vector3d(-L / 2.0 + deltaL * X, - L / 2.0 + deltaL * Y, 0.0)); } } for (size_t i = 0; i < 9; i++) { // 1st edge along X fixedNodes.push_back(i); // Nodes 0..8 // last edge along X fixedNodes.push_back(9 * 8 + i); // Nodes 72..80 } for (size_t i = 1; i < 8; i++) { // 1st edge along Y fixedNodes.push_back(9 * i); // Nodes 9, 18, 27, 36, 45, 54, 63 // last edge along Y fixedNodes.push_back(9 * i + 8); // Nodes 17, 26, 35, 44, 53, 62 } setNodePositions(nodes, fixedNodes); const int numTriangles = 128; std::array, numTriangles> trianglesNodeIds; size_t triangleId = 0; for(size_t Y = 0; Y < 8; Y++) { for(size_t X = 0; X < 8; X++) { std::array triangle1 = {{Y * 9 + X, Y * 9 + (X + 1), (Y + 1) * 9 + X}}; trianglesNodeIds[triangleId++] = triangle1; std::array triangle2 = {{Y * 9 + (X + 1), (Y + 1) * 9 + (X + 1), (Y + 1) * 9 + X}}; trianglesNodeIds[triangleId++] = triangle2; } } for (size_t triangleId = 0; triangleId < numTriangles; triangleId++) { addTriangle(trianglesNodeIds[triangleId], youngModulus, poissonRatio, thickness); } addUniformSurfaceLoad(Vector3d(0.0, 0.0, -0.1) * ksiToPascal); solve(); EXPECT_NEAR(-0.82920 * inchToMeter, getUz(40), epsilonPlateBending); EXPECT_NEAR(-0.30010 * inchToMeter, getUz(20), epsilonPlateBending); } TEST_F(Fem2DMechanicalValidationTests, CantileverPlateTest) { const double youngModulus = 3600 * ksiToPascal; const double poissonRatio = 0.2; const double thickness = 6.0 * inchToMeter; const double L = 96.0 * inchToMeter; const double deltaL = L / 8; std::vector nodes; std::vector fixedNodes; for (size_t Y = 0; Y < 9; Y++) { for (size_t X = 0; X < 9; X++) { nodes.push_back(Vector3d(-L / 2.0 + deltaL * X, - L / 2.0 + deltaL * Y, 0.0)); } } for (size_t i = 0; i < 9; i++) { // 1st edge along X fixedNodes.push_back(i); // Nodes 0..8 } setNodePositions(nodes, fixedNodes); const int numTriangles = 128; std::array, numTriangles> trianglesNodeIds; size_t triangleId = 0; for(size_t Y = 0; Y < 8; Y++) { for(size_t X = 0; X < 8; X++) { std::array triangle1 = {{Y * 9 + X, Y * 9 + (X + 1), (Y + 1) * 9 + X}}; trianglesNodeIds[triangleId++] = triangle1; std::array triangle2 = {{Y * 9 + (X + 1), (Y + 1) * 9 + (X + 1), (Y + 1) * 9 + X}}; trianglesNodeIds[triangleId++] = triangle2; } } for (size_t triangleId = 0; triangleId < numTriangles; triangleId++) { addTriangle(trianglesNodeIds[triangleId], youngModulus, poissonRatio, thickness); } addUniformSurfaceLoad(Vector3d(0.0, 0.0, -0.01) * ksiToPascal); solve(); // Expect 5% error max (in the Thesis, the author gets 4.96% error) const double epsilonNode76 = 1.68787 * inchToMeter * 0.05; EXPECT_NEAR(-1.68787 * inchToMeter, getUz(76), epsilonNode76); // Expect 5% error max (in the Thesis, the author gets 4.98% error) const double epsilonNode40 = 0.599412 * inchToMeter * 0.05; EXPECT_NEAR(-0.599412 * inchToMeter, getUz(40), epsilonNode40); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem2DPlyReaderDelegateTests.cpp000066400000000000000000000061721277777236100267660ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem.h" #include "SurgSim/Physics/Fem2DPlyReaderDelegate.h" namespace SurgSim { namespace Physics { using SurgSim::Math::Vector3d; using SurgSim::DataStructures::PlyReader; TEST(Fem2DRepresentationReaderTests, DelegateTest) { auto fem = std::make_shared(); auto runtime = std::make_shared("config.txt"); fem->load("PlyReaderTests/Fem2D.ply"); // Vertices Vector3d vertex0(1.0, 1.0, -1.0); Vector3d vertex5(0.999999, -1.000001, 1.0); EXPECT_TRUE(vertex0.isApprox(fem->getVertex(0).position)); EXPECT_TRUE(vertex5.isApprox(fem->getVertex(5).position)); // Number of triangles ASSERT_EQ(3u, fem->getNumElements()); std::array triangle0 = {0, 1, 2}; std::array triangle2 = {3, 4, 5}; EXPECT_TRUE(std::equal(std::begin(triangle0), std::end(triangle0), std::begin(fem->getElement(0)->nodeIds))); EXPECT_TRUE(std::equal(std::begin(triangle2), std::end(triangle2), std::begin(fem->getElement(2)->nodeIds))); // Boundary conditions ASSERT_EQ(2u, fem->getBoundaryConditions().size()); EXPECT_EQ(3, fem->getBoundaryCondition(0)); EXPECT_EQ(2, fem->getBoundaryCondition(1)); // Material for (size_t i = 0; i < fem->getNumElements(); ++i) { auto element = fem->getElement(i); EXPECT_DOUBLE_EQ(0.2, element->massDensity); EXPECT_DOUBLE_EQ(0.3, element->poissonRatio); EXPECT_DOUBLE_EQ(0.4, element->youngModulus); } } TEST(Fem2DRepresentationReaderTests, PerElementMaterial) { auto fem = std::make_shared(); auto runtime = std::make_shared("config.txt"); fem->load("PlyReaderTests/Fem2DMaterial.ply"); // Material double value = 1.0; for (size_t i = 0; i < fem->getNumElements(); ++i) { auto element = fem->getElement(i); EXPECT_DOUBLE_EQ(value++, element->massDensity); EXPECT_DOUBLE_EQ(value++, element->poissonRatio); EXPECT_DOUBLE_EQ(value++, element->youngModulus); } } TEST(Fem2DRepresentationReaderTests, NoMaterials) { auto fem = std::make_shared(); auto runtime = std::make_shared("config.txt"); ASSERT_NO_THROW(fem->load("PlyReaderTests/Fem2DNoMaterial.ply")); for (auto element : fem->getElements()) { EXPECT_DOUBLE_EQ(0.0, element->massDensity); EXPECT_DOUBLE_EQ(0.0, element->poissonRatio); EXPECT_DOUBLE_EQ(0.0, element->youngModulus); } } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem2DRepresentationTests.cpp000066400000000000000000000423711277777236100264470ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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. /// \file Fem2DRepresentationTests.cpp /// This file tests the functionalities of the class Fem2DRepresentation. #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/DeformableCollisionRepresentation.h" #include "SurgSim/Physics/Fem2DElementTriangle.h" #include "SurgSim/Physics/Fem2DLocalization.h" #include "SurgSim/Physics/Fem2DRepresentation.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" namespace SurgSim { namespace Physics { TEST(Fem2DRepresentationTests, ConstructorTest) { ASSERT_NO_THROW({std::shared_ptr fem = std::make_shared("Fem2D");}); } TEST(Fem2DRepresentationTests, GetNumDofPerNodeTest) { std::shared_ptr fem = std::make_shared("Fem2D"); EXPECT_EQ(6u, fem->getNumDofPerNode()); } TEST(Fem2DRepresentationTests, TransformInitialStateTest) { using SurgSim::Math::Vector; std::shared_ptr fem = std::make_shared("Fem2D"); const size_t numNodes = 3; const size_t numDofPerNode = fem->getNumDofPerNode(); const size_t numDof = numDofPerNode * numNodes; SurgSim::Math::RigidTransform3d initialPose; SurgSim::Math::Quaterniond q(1.0, 2.0, 3.0, 4.0); SurgSim::Math::Vector3d t(1.0, 2.0, 3.0); q.normalize(); initialPose = SurgSim::Math::makeRigidTransform(q, t); fem->setLocalPose(initialPose); std::shared_ptr initialState = std::make_shared(); initialState->setNumDof(numDofPerNode, numNodes); Vector x = Vector::LinSpaced(numDof, 1.0, static_cast(numDof)); Vector v = Vector::Ones(numDof); Vector a = Vector::Ones(numDof) * 2.0; initialState->getPositions() = x; initialState->getVelocities() = v; fem->setInitialState(initialState); Vector expectedX = x, expectedV = v, expectedA = a; for (size_t nodeId = 0; nodeId < numNodes; nodeId++) { expectedX.segment<3>(numDofPerNode * nodeId) = initialPose * x.segment<3>(numDofPerNode * nodeId); expectedV.segment<3>(numDofPerNode * nodeId) = initialPose.linear() * v.segment<3>(numDofPerNode * nodeId); expectedA.segment<3>(numDofPerNode * nodeId) = initialPose.linear() * a.segment<3>(numDofPerNode * nodeId); } // Initialize the component ASSERT_TRUE(fem->initialize(std::make_shared())); // Wake-up the component => apply the pose to the initial state ASSERT_TRUE(fem->wakeUp()); EXPECT_TRUE(fem->getInitialState()->getPositions().isApprox(expectedX)); EXPECT_TRUE(fem->getInitialState()->getVelocities().isApprox(expectedV)); } TEST(Fem2DRepresentationTests, ExternalForceAPITest) { std::shared_ptr fem = std::make_shared("Fem"); std::shared_ptr initialState = std::make_shared(); initialState->setNumDof(6, 4); // External force vector not initialized until the initial state has been set (it contains the #dof...) EXPECT_EQ(0, fem->getExternalGeneralizedForce().size()); EXPECT_EQ(0, fem->getExternalGeneralizedStiffness().rows()); EXPECT_EQ(0, fem->getExternalGeneralizedStiffness().cols()); EXPECT_EQ(0, fem->getExternalGeneralizedDamping().rows()); EXPECT_EQ(0, fem->getExternalGeneralizedDamping().cols()); fem->setInitialState(initialState); Math::SparseMatrix zeroMat(static_cast(fem->getNumDof()), static_cast(fem->getNumDof())); zeroMat.setZero(); // Vector initialized (properly sized and zeroed) EXPECT_NE(0, fem->getExternalGeneralizedForce().size()); EXPECT_NE(0, fem->getExternalGeneralizedStiffness().rows()); EXPECT_NE(0, fem->getExternalGeneralizedStiffness().cols()); EXPECT_NE(0, fem->getExternalGeneralizedDamping().rows()); EXPECT_NE(0, fem->getExternalGeneralizedDamping().cols()); EXPECT_EQ(fem->getNumDof(), fem->getExternalGeneralizedForce().size()); EXPECT_EQ(fem->getNumDof(), fem->getExternalGeneralizedStiffness().cols()); EXPECT_EQ(fem->getNumDof(), fem->getExternalGeneralizedStiffness().rows()); EXPECT_EQ(fem->getNumDof(), fem->getExternalGeneralizedDamping().cols()); EXPECT_EQ(fem->getNumDof(), fem->getExternalGeneralizedDamping().rows()); EXPECT_TRUE(fem->getExternalGeneralizedForce().isZero()); EXPECT_TRUE(fem->getExternalGeneralizedStiffness().isApprox(zeroMat)); EXPECT_TRUE(fem->getExternalGeneralizedDamping().isApprox(zeroMat)); std::array element1NodeIds = {{0, 1, 2}}; auto element1 = std::make_shared(element1NodeIds); fem->addFemElement(element1); std::array element2NodeIds = {{1, 2, 3}}; auto element2 = std::make_shared(element2NodeIds); fem->addFemElement(element2); SurgSim::DataStructures::IndexedLocalCoordinate femRepCoordinate; femRepCoordinate.index = 0; femRepCoordinate.coordinate = SurgSim::Math::Vector::Zero(3); femRepCoordinate.coordinate[0] = 1.0; auto localization = std::make_shared(fem, femRepCoordinate); auto wrongLocalizationType = std::make_shared(); Vector FLocalWrongSize = Vector::Ones(2 * fem->getNumDofPerNode()); Matrix KLocalWrongSize = Matrix::Ones(3 * fem->getNumDofPerNode(), 3 * fem->getNumDofPerNode()); Matrix DLocalWrongSize = Matrix::Ones(4 * fem->getNumDofPerNode(), 4 * fem->getNumDofPerNode()); Vector Flocal = Vector::LinSpaced(fem->getNumDofPerNode(), -3.12, 4.09); Matrix Klocal = Matrix::Ones(fem->getNumDofPerNode(), fem->getNumDofPerNode()) * 0.34; Matrix Dlocal = Klocal + Matrix::Identity(fem->getNumDofPerNode(), fem->getNumDofPerNode()); Vector F = Vector::Zero(fem->getNumDof()); F.segment(0, fem->getNumDofPerNode()) = Flocal; SparseMatrix K(static_cast(fem->getNumDof()), static_cast(fem->getNumDof())); K.setZero(); Math::addSubMatrix(Klocal, 0, 0, &K, true); K.makeCompressed(); SparseMatrix D(static_cast(fem->getNumDof()), static_cast(fem->getNumDof())); D.setZero(); Math::addSubMatrix(Dlocal, 0, 0, &D, true); D.makeCompressed(); // Test invalid localization nullptr ASSERT_THROW(fem->addExternalGeneralizedForce(nullptr, Flocal), SurgSim::Framework::AssertionFailure); ASSERT_THROW(fem->addExternalGeneralizedForce(nullptr, Flocal, Klocal, Dlocal), SurgSim::Framework::AssertionFailure); // Test invalid localization type ASSERT_THROW(fem->addExternalGeneralizedForce(wrongLocalizationType, Flocal), SurgSim::Framework::AssertionFailure); ASSERT_THROW(fem->addExternalGeneralizedForce(wrongLocalizationType, Flocal, Klocal, Dlocal), SurgSim::Framework::AssertionFailure); // Test invalid force size ASSERT_THROW(fem->addExternalGeneralizedForce(localization, FLocalWrongSize), SurgSim::Framework::AssertionFailure); ASSERT_THROW(fem->addExternalGeneralizedForce(localization, FLocalWrongSize, Klocal, Dlocal), SurgSim::Framework::AssertionFailure); // Test invalid stiffness size ASSERT_THROW(fem->addExternalGeneralizedForce(localization, Flocal, KLocalWrongSize, Dlocal), SurgSim::Framework::AssertionFailure); // Test invalid damping size ASSERT_THROW(fem->addExternalGeneralizedForce(localization, Flocal, Klocal, DLocalWrongSize), SurgSim::Framework::AssertionFailure); // Test valid call to addExternalGeneralizedForce Math::SparseMatrix zeroMatrix(static_cast(fem->getNumDof()), static_cast(fem->getNumDof())); zeroMatrix.setZero(); fem->addExternalGeneralizedForce(localization, Flocal, Klocal, Dlocal); EXPECT_FALSE(fem->getExternalGeneralizedForce().isZero()); EXPECT_FALSE(fem->getExternalGeneralizedStiffness().isApprox(zeroMatrix)); EXPECT_FALSE(fem->getExternalGeneralizedDamping().isApprox(zeroMatrix)); EXPECT_TRUE(fem->getExternalGeneralizedForce().isApprox(F)); EXPECT_TRUE(fem->getExternalGeneralizedStiffness().isApprox(K)); EXPECT_TRUE(fem->getExternalGeneralizedDamping().isApprox(D)); // Test valid call to addExternalGeneralizedForce to add things up fem->addExternalGeneralizedForce(localization, Flocal, Klocal, Dlocal); EXPECT_TRUE(fem->getExternalGeneralizedForce().isApprox(2.0 * F)); EXPECT_TRUE(fem->getExternalGeneralizedStiffness().isApprox(2.0 * K)); EXPECT_TRUE(fem->getExternalGeneralizedDamping().isApprox(2.0 * D)); } TEST(Fem2DRepresentationTests, LoadMeshTest) { auto femRepresentation = std::make_shared("Representation"); auto runtime = std::make_shared("config.txt"); femRepresentation->loadFem("PlyReaderTests/Fem2D.ply"); ASSERT_TRUE(femRepresentation->initialize(runtime)); // Vertices ASSERT_EQ(6u, femRepresentation->getNumDofPerNode()); ASSERT_EQ(6u * 6u, femRepresentation->getNumDof()); Vector3d vertex0(1.0, 1.0, -1.0); Vector3d vertex5(0.999999, -1.000001, 1.0); EXPECT_TRUE(vertex0.isApprox(femRepresentation->getInitialState()->getPosition(0))); EXPECT_TRUE(vertex5.isApprox(femRepresentation->getInitialState()->getPosition(5))); // Number of triangles ASSERT_EQ(3u, femRepresentation->getNumFemElements()); std::array triangle0 = {0, 1, 2}; std::array triangle2 = {3, 4, 5}; EXPECT_TRUE(std::equal(std::begin(triangle0), std::end(triangle0), std::begin(femRepresentation->getFemElement(0)->getNodeIds()))); EXPECT_TRUE(std::equal(std::begin(triangle2), std::end(triangle2), std::begin(femRepresentation->getFemElement(2)->getNodeIds()))); // Boundary conditions ASSERT_EQ(2u * 6u, femRepresentation->getInitialState()->getNumBoundaryConditions()); // Boundary condition 0 is on node 8 size_t boundaryNode0 = 3; size_t boundaryNode1 = 2; EXPECT_EQ(6 * boundaryNode0, femRepresentation->getInitialState()->getBoundaryConditions().at(0)); EXPECT_EQ(6 * boundaryNode0 + 1, femRepresentation->getInitialState()->getBoundaryConditions().at(1)); EXPECT_EQ(6 * boundaryNode0 + 2, femRepresentation->getInitialState()->getBoundaryConditions().at(2)); EXPECT_EQ(6 * boundaryNode1, femRepresentation->getInitialState()->getBoundaryConditions().at(6)); EXPECT_EQ(6 * boundaryNode1 + 1, femRepresentation->getInitialState()->getBoundaryConditions().at(7)); EXPECT_EQ(6 * boundaryNode1 + 2, femRepresentation->getInitialState()->getBoundaryConditions().at(8)); // Material for (size_t i = 0; i < femRepresentation->getNumFemElements(); ++i) { auto fem = femRepresentation->getFemElement(i); EXPECT_DOUBLE_EQ(0.2, fem->getMassDensity()); EXPECT_DOUBLE_EQ(0.3, fem->getPoissonRatio()); EXPECT_DOUBLE_EQ(0.4, fem->getYoungModulus()); auto fem2DTriganle = std::dynamic_pointer_cast(fem); ASSERT_NE(nullptr, fem2DTriganle); EXPECT_DOUBLE_EQ(0.1, fem2DTriganle->getThickness()); } } TEST(Fem2DRepresentationTests, CreateLocalizationTest) { auto fem = std::make_shared("Representation"); auto runtime = std::make_shared("config.txt"); ASSERT_NO_THROW(fem->loadFem("PlyReaderTests/Fem2D.ply")); ASSERT_NO_THROW(ASSERT_TRUE(fem->initialize(runtime))); // Localization on an invalid node { SCOPED_TRACE("Invalid node"); SurgSim::DataStructures::Location location(1000); std::shared_ptr localization; EXPECT_THROW(localization = fem->createLocalization(location), SurgSim::Framework::AssertionFailure); } // Localization on a valid node { SCOPED_TRACE("Valid node"); SurgSim::DataStructures::Location location(0); std::shared_ptr localization; EXPECT_NO_THROW(localization = std::dynamic_pointer_cast(fem->createLocalization(location));); EXPECT_TRUE(localization != nullptr); EXPECT_TRUE(localization->getRepresentation() == fem); SurgSim::Math::Vector3d globalPosition; SurgSim::DataStructures::IndexedLocalCoordinate coordinate = localization->getLocalPosition(); EXPECT_NO_THROW(globalPosition = fem->getCurrentState()->getPosition(coordinate.index);); EXPECT_TRUE(globalPosition.isApprox(localization->calculatePosition())); } // In the 2d case, location of type triangle and element are the same and should behave the same. // Hence, we are testing both but factorizing the code. std::vector> locationTypesToTest; locationTypesToTest.push_back(std::make_pair(SurgSim::DataStructures::Location::TRIANGLE, "triangle")); locationTypesToTest.push_back(std::make_pair(SurgSim::DataStructures::Location::ELEMENT, "element")); for (auto const& locationPairTypeString : locationTypesToTest) { auto const& locationType = locationPairTypeString.first; SCOPED_TRACE("Location of type " + locationPairTypeString.second); // Localization on an invalid triangle/element { SCOPED_TRACE("Invalid triangle/element index"); Vector barycentricCoordinates = Vector::Zero(3); barycentricCoordinates[0] = 1.0; SurgSim::DataStructures::IndexedLocalCoordinate coord(10000, barycentricCoordinates); SurgSim::DataStructures::Location location(coord, locationType); std::shared_ptr localization; EXPECT_THROW(localization = fem->createLocalization(location), SurgSim::Framework::AssertionFailure); } // Localization on an valid triangle/element but invalid barycentric coordinate size { SCOPED_TRACE("Invalid triangle/element barycentric coordinate size"); Vector barycentricCoordinates = Vector::Zero(4); barycentricCoordinates[0] = 1.0; SurgSim::DataStructures::IndexedLocalCoordinate coord(0, barycentricCoordinates); SurgSim::DataStructures::Location location(coord, locationType); std::shared_ptr localization; EXPECT_THROW(localization = fem->createLocalization(location), SurgSim::Framework::AssertionFailure); } // Localization on an valid triangle/element but invalid barycentric coordinate { SCOPED_TRACE("Invalid triangle/element barycentric coordinate"); Vector barycentricCoordinates = Vector::Ones(3); SurgSim::DataStructures::IndexedLocalCoordinate coord(0, barycentricCoordinates); SurgSim::DataStructures::Location location(coord, locationType); std::shared_ptr localization; EXPECT_THROW(localization = fem->createLocalization(location), SurgSim::Framework::AssertionFailure); } // Localization on a valid triangle/element { SCOPED_TRACE("Valid triangle/element"); Vector barycentricCoordinates = Vector::Zero(3); barycentricCoordinates.setConstant(1.0 / 3.0); SurgSim::DataStructures::IndexedLocalCoordinate coord(0, barycentricCoordinates); SurgSim::DataStructures::Location location(coord, locationType); std::shared_ptr localization; EXPECT_NO_THROW(localization = std::dynamic_pointer_cast( fem->createLocalization(location))); EXPECT_TRUE(localization != nullptr); EXPECT_TRUE(localization->getRepresentation() == fem); SurgSim::DataStructures::IndexedLocalCoordinate coordinate = localization->getLocalPosition(); auto element = fem->getFemElement(coordinate.index); SurgSim::Math::Vector3d globalPosition = 1.0 / 3.0 * fem->getCurrentState()->getPosition(element->getNodeId(0)) + 1.0 / 3.0 * fem->getCurrentState()->getPosition(element->getNodeId(1)) + 1.0 / 3.0 * fem->getCurrentState()->getPosition(element->getNodeId(2)); EXPECT_TRUE(globalPosition.isApprox(localization->calculatePosition())); } } } TEST(Fem2DRepresentationTests, SerializationTest) { auto fem2DRepresentation = std::make_shared("Test-Fem2D"); auto runtime = std::make_shared("config.txt"); const std::string filename = "PlyReaderTests/Fem2D.ply"; fem2DRepresentation->loadFem(filename); auto collisionRepresentation = std::make_shared("Collision"); fem2DRepresentation->setCollisionRepresentation(collisionRepresentation); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*fem2DRepresentation)); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); std::shared_ptr newRepresentation; ASSERT_NO_THROW(newRepresentation = std::dynamic_pointer_cast (node.as>())); ASSERT_NE(nullptr, newRepresentation); EXPECT_EQ("SurgSim::Physics::Fem2DRepresentation", newRepresentation->getClassName()); EXPECT_EQ(filename, newRepresentation->getFem()->getValue("FileName")); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem3DConstraintFixedPointTests.cpp000066400000000000000000000223531277777236100275620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/MlcpConstraintType.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/Fem3DElementTetrahedron.h" #include "SurgSim/Physics/Fem3DLocalization.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/FemConstraintFixedPoint.h" #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; namespace { const double epsilon = 1e-10; const double dt = 1e-3; }; namespace SurgSim { namespace Physics { static std::shared_ptr getTetrahedron(size_t nodeId0, size_t nodeId1, size_t nodeId2, size_t nodeId3, double massDensity, double poissonRatio, double youngModulus) { std::array nodeIds = {{nodeId0, nodeId1, nodeId2, nodeId3}}; auto element = std::make_shared(nodeIds); element->setMassDensity(massDensity); element->setPoissonRatio(poissonRatio); element->setYoungModulus(youngModulus); return element; } static std::shared_ptr getFem3d(const std::string &name, double massDensity = 1.0, double poissonRatio = 0.1, double youngModulus = 1.0) { auto fem = std::make_shared(name); auto state = std::make_shared(); state->setNumDof(3, 6); state->getPositions().segment<3>(0 * 3) = Vector3d( 0.30, -0.57, 0.40); state->getPositions().segment<3>(1 * 3) = Vector3d( 0.06, 0.63, -0.32); state->getPositions().segment<3>(2 * 3) = Vector3d(-0.91, 0.72, 0.72); state->getPositions().segment<3>(3 * 3) = Vector3d( 0.35, 0.52, 0.50); state->getPositions().segment<3>(4 * 3) = Vector3d( 1.14, 0.66, 0.71); state->getPositions().segment<3>(5 * 3) = Vector3d( 1.02, -0.31, -0.54); fem->addFemElement(getTetrahedron(0, 1, 2, 3, massDensity, poissonRatio, youngModulus)); fem->addFemElement(getTetrahedron(0, 1, 3, 4, massDensity, poissonRatio, youngModulus)); fem->addFemElement(getTetrahedron(0, 1, 4, 5, massDensity, poissonRatio, youngModulus)); fem->setInitialState(state); fem->initialize(std::make_shared()); fem->wakeUp(); fem->setIsGravityEnabled(false); fem->beforeUpdate(dt); fem->update(dt); return fem; } TEST(Fem3DConstraintFixedPointTests, Constructor) { ASSERT_NO_THROW( { FemConstraintFixedPoint constraint; }); } TEST(Fem3DConstraintFixedPointTests, Constants) { FemConstraintFixedPoint constraint; EXPECT_EQ(SurgSim::Physics::FIXED_3DPOINT, constraint.getConstraintType()); EXPECT_EQ(3u, constraint.getNumDof()); } TEST(Fem3DConstraintFixedPointTests, BuildMlcpBasic) { // Whitebox test which validates ConstraintImplementation::build's output parameter, MlcpPhysicsProblem. It assumes // CHt and HCHt can be correctly built given H, so it does not necessarily construct the physical parameters // necessary to supply a realistic C. It only checks H and b. FemConstraintFixedPoint constraint; Vector3d actual; // Setup parameters for FemConstraintFixedPoint::build auto localization = std::make_shared(getFem3d("representation"), SurgSim::DataStructures::IndexedLocalCoordinate(2u, Vector4d(0.0, 0.0, 1.0, 0.0))); actual = localization->calculatePosition(); MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(18, 3, 1); ConstraintData emptyConstraint; ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); // Compare results Eigen::Matrix violation = actual; EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); Eigen::Matrix identity = Eigen::Matrix::Identity(); SurgSim::Math::setSubMatrix(1.0 * dt * identity, 0, 4, 3, 3, &H); // This weight is on node 4 (tetId 2, nodeId 2) EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST(Fem3DConstraintFixedPointTests, BuildMlcp) { // Whitebox test which validates ConstraintImplementation::build's output parameter, MlcpPhysicsProblem. It assumes // CHt and HCHt can be correctly built given H, so it does not necessarily construct the physical parameters // necessary to supply a realistic C. It only checks H and b. FemConstraintFixedPoint constraint; Vector3d actual; // Setup parameters for FemConstraintFixedPoint::build auto localization = std::make_shared(getFem3d("representation"), SurgSim::DataStructures::IndexedLocalCoordinate(2u, Vector4d(0.11, 0.02, 0.33, 0.54))); actual = localization->calculatePosition(); MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(18, 3, 1); ConstraintData emptyConstraint; ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); // Compare results Eigen::Matrix violation = actual; EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); Eigen::Matrix identity = Eigen::Matrix::Identity(); SurgSim::Math::setSubMatrix(0.11 * dt * identity, 0, 0, 3, 3, &H); // This weight is on node 0 (tetId 2, nodeId 0) SurgSim::Math::setSubMatrix(0.02 * dt * identity, 0, 1, 3, 3, &H); // This weight is on node 1 (tetId 2, nodeId 1) SurgSim::Math::setSubMatrix(0.33 * dt * identity, 0, 4, 3, 3, &H); // This weight is on node 4 (tetId 2, nodeId 2) SurgSim::Math::setSubMatrix(0.54 * dt * identity, 0, 5, 3, 3, &H); // This weight is on node 5 (tetId 2, nodeId 3) EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST(Fem3DConstraintFixedPointTests, BuildMlcpTwoStep) { // Whitebox test which validates ConstraintImplementation::build's output parameter, MlcpPhysicsProblem. It assumes // CHt and HCHt can be correctly built given H, so it does not necessarily construct the physical parameters // necessary to supply a realistic C. It only checks H and b. FemConstraintFixedPoint constraint; Vector3d actual; Vector3d desired; // Setup parameters for FemConstraintFixedPoint::build MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(18, 3, 1); ConstraintData emptyConstraint; auto localization = std::make_shared(getFem3d("representation"), SurgSim::DataStructures::IndexedLocalCoordinate(2u, Vector4d(0.11, 0.02, 0.33, 0.54))); actual = localization->calculatePosition(); ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); localization->setLocalPosition( SurgSim::DataStructures::IndexedLocalCoordinate(1u, Vector4d(0.32, 0.05, 0.14, 0.49))); desired = localization->calculatePosition(); ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_NEGATIVE_SIDE)); // Compare results Eigen::Matrix violation = actual - desired; EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); Eigen::Matrix identity = Eigen::Matrix::Identity(); SurgSim::Math::addSubMatrix( 0.11 * dt * identity, 0, 0, 3, 3, &H); // This weight is on node 0 (tetId 2, nodeId 0) SurgSim::Math::addSubMatrix( 0.02 * dt * identity, 0, 1, 3, 3, &H); // This weight is on node 1 (tetId 2, nodeId 1) SurgSim::Math::addSubMatrix( 0.33 * dt * identity, 0, 4, 3, 3, &H); // This weight is on node 4 (tetId 2, nodeId 2) SurgSim::Math::addSubMatrix( 0.54 * dt * identity, 0, 5, 3, 3, &H); // This weight is on node 5 (tetId 2, nodeId 3) SurgSim::Math::addSubMatrix(-0.32 * dt * identity, 0, 0, 3, 3, &H); // This weight is on node 0 (tetId 1, nodeId 0) SurgSim::Math::addSubMatrix(-0.05 * dt * identity, 0, 1, 3, 3, &H); // This weight is on node 1 (tetId 1, nodeId 1) SurgSim::Math::addSubMatrix(-0.14 * dt * identity, 0, 3, 3, 3, &H); // This weight is on node 3 (tetId 1, nodeId 2) SurgSim::Math::addSubMatrix(-0.49 * dt * identity, 0, 4, 3, 3, &H); // This weight is on node 4 (tetId 1, nodeId 3) EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem3DConstraintFrictionalSlidingTests.cpp000066400000000000000000000305231277777236100311130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/LinearSparseSolveAndInverse.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem3DElementTetrahedron.h" #include "SurgSim/Physics/Fem3DLocalization.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/FemConstraintFrictionalSliding.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" #include "SurgSim/Physics/SlidingConstraintData.h" #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" using SurgSim::DataStructures::IndexedLocalCoordinate; using SurgSim::Framework::Runtime; using SurgSim::Physics::Fem3DRepresentation; using SurgSim::Physics::FemConstraintFrictionalSliding; using SurgSim::Physics::Fem3DLocalization; using SurgSim::Physics::Fem3DElementTetrahedron; using SurgSim::Physics::MlcpPhysicsProblem; using SurgSim::Physics::SlidingConstraintData; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; namespace { const double epsilon = 1e-10; const double dt = 1e-3; }; static void addTetrahedron(Fem3DRepresentation* fem, size_t node0, size_t node1, size_t node2, size_t node3, double massDensity = 1.0, double poissonRatio = 0.1, double youngModulus = 1.0) { std::array nodes = {node0, node1, node2, node3}; auto element = std::make_shared(nodes); element->setMassDensity(massDensity); element->setPoissonRatio(poissonRatio); element->setYoungModulus(youngModulus); fem->addFemElement(element); } class Fem3DConstraintFrictionalSlidingTests : public ::testing::Test { public: void SetUp() { // Define plane with normal 'n' pointing against gravity. m_slidingDirection = Vector3d(0.8539, 0.6289, -0.9978); m_slidingDirection.normalize(); // Create mock FEM m_fem = std::make_shared("Fem2dRepresentation"); auto state = std::make_shared(); state->setNumDof(3, 6); // Place coordinates at // ( 0.00, 0.00, 0.00) + (0.24, -0.43, 0.55) + ( 0.06, -0.14, -0.15) = ( 0.30, -0.57, 0.40) // ( 0.00, 1.00, -1.00) + (0.24, -0.43, 0.55) + (-0.18, 0.06, 0.13) = ( 0.06, 0.63, -0.32) // (-1.00, 1.00, 0.00) + (0.24, -0.43, 0.55) + (-0.15, 0.15, 0.17) = (-0.91, 0.72, 0.72) // ( 0.00, 1.00, 0.00) + (0.24, -0.43, 0.55) + ( 0.11, -0.05, -0.05) = ( 0.35, 0.52, 0.50) // ( 1.00, 1.00, 0.00) + (0.24, -0.43, 0.55) + (-0.10, 0.09, 0.16) = ( 1.14, 0.66, 0.71) // ( 1.00, 0.00, -1.00) + (0.24, -0.43, 0.55) + (-0.22, 0.12, -0.09) = ( 1.02, -0.31, -0.54) state->getPositions().segment<3>(0 * 3) = Vector3d(0.30, -0.57, 0.40); state->getPositions().segment<3>(1 * 3) = Vector3d(0.06, 0.63, -0.32); state->getPositions().segment<3>(2 * 3) = Vector3d(-0.91, 0.72, 0.72); state->getPositions().segment<3>(3 * 3) = Vector3d(0.35, 0.52, 0.50); state->getPositions().segment<3>(4 * 3) = Vector3d(1.14, 0.66, 0.71); state->getPositions().segment<3>(5 * 3) = Vector3d(1.02, -0.31, -0.54); addTetrahedron(m_fem.get(), 0, 1, 2, 3); addTetrahedron(m_fem.get(), 0, 1, 3, 4); addTetrahedron(m_fem.get(), 0, 1, 4, 5); m_fem->setInitialState(state); m_fem->setIntegrationScheme(SurgSim::Math::IntegrationScheme::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED); m_fem->setLocalActive(true); m_fem->initialize(std::make_shared()); m_fem->wakeUp(); // Update model by one timestep m_fem->beforeUpdate(dt); m_fem->update(dt); } void setSlidingConstraintAt(const IndexedLocalCoordinate& coord) { m_localization = std::make_shared(m_fem, coord); m_constraintData.setSlidingDirection(m_localization->calculatePosition(0.0), m_slidingDirection); } std::shared_ptr m_fem; std::shared_ptr m_localization; Vector3d m_slidingDirection; SlidingConstraintData m_constraintData; }; TEST_F(Fem3DConstraintFrictionalSlidingTests, ConstructorTest) { ASSERT_NO_THROW( { FemConstraintFrictionalSliding femContact; }); } TEST_F(Fem3DConstraintFrictionalSlidingTests, ConstraintConstantsTest) { auto implementation = std::make_shared(); EXPECT_EQ(SurgSim::Physics::FRICTIONAL_SLIDING, implementation->getConstraintType()); EXPECT_EQ(3u, implementation->getNumDof()); } TEST_F(Fem3DConstraintFrictionalSlidingTests, BuildMlcpTest) { // This test verifies the build mlcp function works for a simple case. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 3, 1); // Apply constraint purely to the first node of the 0th tetrahedron. IndexedLocalCoordinate coord(0, Vector4d(1.0, 0.0, 0.0, 0.0)); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 0) = (dt * m_slidingDirection).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); // C = dt * m^{-1} m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_DOUBLE_EQ(0.5, mlcpPhysicsProblem.mu[0]); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem3DConstraintFrictionalSlidingTests, BuildMlcpCoordinateTest) { // This test verifies the build mlcp function works for a more complicated case with different nodes. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 3, 1); // Apply constraint to the four nodes of the 0th tetrahedron. auto barycentric = Vector4d(0.25, 0.33, 0.28, 0.14); IndexedLocalCoordinate coord(0, barycentric); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 0) = (barycentric[0] * dt * m_slidingDirection).eval(); H.block<1, 3>(0, 3) = (barycentric[1] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 3) = (barycentric[1] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 3) = (barycentric[1] * dt * m_slidingDirection).eval(); H.block<1, 3>(0, 6) = (barycentric[2] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 6) = (barycentric[2] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 6) = (barycentric[2] * dt * m_slidingDirection).eval(); H.block<1, 3>(0, 9) = (barycentric[3] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 9) = (barycentric[3] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 9) = (barycentric[3] * dt * m_slidingDirection).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); // C = dt * m^{-1} m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_DOUBLE_EQ(0.5, mlcpPhysicsProblem.mu[0]); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem3DConstraintFrictionalSlidingTests, BuildMlcpIndiciesTest) { // This test verifies the build mlcp function works given a hypothetical, preexisting mlcp problem. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof() + 5, 4, 2); // Suppose 5 dof and 1 constraint are defined elsewhere. Then H, CHt, HCHt, and b are prebuilt. Eigen::SparseVector localH; localH.resize(5); localH.reserve(5); localH.insert(0) = 0.9478; localH.insert(1) = -0.3807; localH.insert(2) = 0.5536; localH.insert(3) = -0.6944; localH.insert(4) = 0.1815; mlcpPhysicsProblem.H.coeffRef(0, 0) += localH.coeff(0); mlcpPhysicsProblem.H.coeffRef(0, 1) += localH.coeff(1); mlcpPhysicsProblem.H.coeffRef(0, 2) += localH.coeff(2); mlcpPhysicsProblem.H.coeffRef(0, 3) += localH.coeff(3); mlcpPhysicsProblem.H.coeffRef(0, 4) += localH.coeff(4); Eigen::Matrix localC; localC << -0.2294, 0.5160, 0.2520, 0.5941, -0.4854, 0.1233, -0.4433, 0.3679, 0.9307, 0.2600, 0.1988, 0.6637, -0.7591, 0.1475, 0.8517, -0.5495, -0.4305, 0.3162, -0.7862, 0.7627, -0.5754, 0.4108, 0.8445, -0.5565, 0.7150; localC = localC * localC.transpose(); // force to be symmetric Eigen::Matrix localCHt = localC * localH.transpose(); mlcpPhysicsProblem.CHt.block<5, 1>(0, 0) = localCHt; mlcpPhysicsProblem.A.block<1, 1>(0, 0) = localH * localCHt; mlcpPhysicsProblem.b.block<1, 1>(0, 0)[0] = 0.6991; // Place the Fem at 5th dof (1 or multiple representations exist before, covering a total of 5 dof) // and the constraint at the index 1 (1 atomic constraint exists before this one) size_t indexOfRepresentation = 5; size_t indexOfConstraint = 1; // Apply constraint to the four nodes of the 0th tetrahedron auto barycentric = Vector4d(0.25, 0.33, 0.28, 0.14); IndexedLocalCoordinate coord(0, barycentric); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, indexOfRepresentation, indexOfConstraint, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 0) = (barycentric[0] * dt * m_slidingDirection).eval(); H.block<1, 3>(0, 3) = (barycentric[1] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 3) = (barycentric[1] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 3) = (barycentric[1] * dt * m_slidingDirection).eval(); H.block<1, 3>(0, 6) = (barycentric[2] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 6) = (barycentric[2] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 6) = (barycentric[2] * dt * m_slidingDirection).eval(); H.block<1, 3>(0, 9) = (barycentric[3] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 9) = (barycentric[3] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(2, 9) = (barycentric[3] * dt * m_slidingDirection).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H.block(indexOfConstraint, indexOfRepresentation, 3, 18), epsilon); m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN( C * H.transpose(), mlcpPhysicsProblem.CHt.block(indexOfRepresentation, indexOfConstraint, 18, 3), epsilon); EXPECT_NEAR_EIGEN( H * C * H.transpose(), mlcpPhysicsProblem.A.block(indexOfConstraint, indexOfConstraint, 3, 3), epsilon); EXPECT_DOUBLE_EQ(0.5, mlcpPhysicsProblem.mu[1]); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem3DConstraintFrictionlessContactTests.cpp000066400000000000000000000300521277777236100314640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/LinearSparseSolveAndInverse.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/ContactConstraintData.h" #include "SurgSim/Physics/Fem3DElementTetrahedron.h" #include "SurgSim/Physics/Fem3DLocalization.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/FemConstraintFrictionlessContact.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" using SurgSim::DataStructures::IndexedLocalCoordinate; using SurgSim::Framework::Runtime; using SurgSim::Physics::ContactConstraintData; using SurgSim::Physics::Fem3DRepresentation; using SurgSim::Physics::FemConstraintFrictionlessContact; using SurgSim::Physics::Fem3DLocalization; using SurgSim::Physics::Fem3DElementTetrahedron; using SurgSim::Physics::MlcpPhysicsProblem; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; namespace { const double epsilon = 1e-10; const double dt = 1e-3; const double mlcpPrecision = 1e-04; }; static void addTetraheadron(Fem3DRepresentation* fem, size_t node0, size_t node1, size_t node2, size_t node3, double massDensity = 1.0, double poissonRatio = 0.1, double youngModulus = 1.0) { std::array nodes = {node0, node1, node2, node3}; auto element = std::make_shared(nodes); element->setMassDensity(massDensity); element->setPoissonRatio(poissonRatio); element->setYoungModulus(youngModulus); fem->addFemElement(element); } class Fem3DConstraintFrictionlessContactTests : public ::testing::Test { public: void SetUp() { // Define plane with normal 'n' pointing against gravity. m_n = Vector3d(0.8539, 0.6289, -0.9978); m_n.normalize(); // Create mock FEM m_fem = std::make_shared("Fem3dRepresentation"); auto state = std::make_shared(); state->setNumDof(3, 6); // Place coordinates at // ( 0.00, 0.00, 0.00) + (0.24, -0.43, 0.55) + ( 0.06, -0.14, -0.15) = ( 0.30, -0.57, 0.40) // ( 0.00, 1.00, -1.00) + (0.24, -0.43, 0.55) + (-0.18, 0.06, 0.13) = ( 0.06, 0.63, -0.32) // (-1.00, 1.00, 0.00) + (0.24, -0.43, 0.55) + (-0.15, 0.15, 0.17) = (-0.91, 0.72, 0.72) // ( 0.00, 1.00, 0.00) + (0.24, -0.43, 0.55) + ( 0.11, -0.05, -0.05) = ( 0.35, 0.52, 0.50) // ( 1.00, 1.00, 0.00) + (0.24, -0.43, 0.55) + (-0.10, 0.09, 0.16) = ( 1.14, 0.66, 0.71) // ( 1.00, 0.00, -1.00) + (0.24, -0.43, 0.55) + (-0.22, 0.12, -0.09) = ( 1.02, -0.31, -0.54) state->getPositions().segment<3>(0 * 3) = Vector3d(0.30, -0.57, 0.40); state->getPositions().segment<3>(1 * 3) = Vector3d(0.06, 0.63, -0.32); state->getPositions().segment<3>(2 * 3) = Vector3d(-0.91, 0.72, 0.72); state->getPositions().segment<3>(3 * 3) = Vector3d(0.35, 0.52, 0.50); state->getPositions().segment<3>(4 * 3) = Vector3d(1.14, 0.66, 0.71); state->getPositions().segment<3>(5 * 3) = Vector3d(1.02, -0.31, -0.54); addTetraheadron(m_fem.get(), 0, 1, 2, 3); addTetraheadron(m_fem.get(), 0, 1, 3, 4); addTetraheadron(m_fem.get(), 0, 1, 4, 5); m_fem->setInitialState(state); m_fem->setIntegrationScheme(SurgSim::Math::IntegrationScheme::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED); m_fem->setLocalActive(true); m_fem->initialize(std::make_shared()); m_fem->wakeUp(); // Update model by one timestep m_fem->beforeUpdate(dt); m_fem->update(dt); } void setContactAt(const IndexedLocalCoordinate& coord) { m_coord = coord; m_localization = std::make_shared(m_fem, m_coord); // Calculate position at state before "m_fem->update(dt)" was called. double distance = -m_localization->calculatePosition(0.0).dot(m_n); m_constraintData.setPlaneEquation(m_n, distance); } std::shared_ptr m_fem; std::shared_ptr m_localization; IndexedLocalCoordinate m_coord; Vector3d m_n; ContactConstraintData m_constraintData; }; TEST_F(Fem3DConstraintFrictionlessContactTests, ConstructorTest) { ASSERT_NO_THROW( { FemConstraintFrictionlessContact femContact; }); } TEST_F(Fem3DConstraintFrictionlessContactTests, ConstraintConstantsTest) { auto implementation = std::make_shared(); EXPECT_EQ(SurgSim::Physics::FRICTIONLESS_3DCONTACT, implementation->getConstraintType()); EXPECT_EQ(1u, implementation->getNumDof()); } TEST_F(Fem3DConstraintFrictionlessContactTests, BuildMlcpTest) { // This test verifies the build mlcp function works for a simple case. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 1, 1); // Apply constraint purely to the first node of the 0th tetrahedron. IndexedLocalCoordinate coord(0, Vector4d(1.0, 0.0, 0.0, 0.0)); setContactAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); const Vector3d newPosition = Vector3d(0.30, -0.57, 0.40) - Vector3d::UnitY() * 9.81 * dt * dt; EXPECT_NEAR(newPosition.dot(m_n), mlcpPhysicsProblem.b[0] + mlcpPrecision, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); SurgSim::Math::setSubVector(dt * m_n, 0, 3, &H); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); // C = dt * m^{-1} m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix denseMat = m_fem->getM(); Eigen::Matrix C = dt * denseMat.inverse(); EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem3DConstraintFrictionlessContactTests, BuildMlcpCoordinateTest) { // This test verifies the build mlcp function works for a more complicated case with different nodes. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 1, 1); // Apply constraint to all nodes of an fem. const Vector4d barycentric = Vector4d(0.25, 0.33, 0.28, 0.14); IndexedLocalCoordinate coord(1, barycentric); setContactAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); const Vector3d newPosition = (Vector3d(0.30, -0.57, 0.40) * barycentric[0] + Vector3d(0.06, 0.63, -0.32) * barycentric[1] + Vector3d(0.35, 0.52, 0.50) * barycentric[2] + Vector3d(1.14, 0.66, 0.71) * barycentric[3]) - Vector3d::UnitY() * 9.81 * dt * dt; EXPECT_NEAR(newPosition.dot(m_n), mlcpPhysicsProblem.b[0] + mlcpPrecision, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); SurgSim::Math::setSubVector(0.25 * dt * m_n, 0, 3, &H); SurgSim::Math::setSubVector(0.33 * dt * m_n, 1, 3, &H); SurgSim::Math::setSubVector(0.28 * dt * m_n, 3, 3, &H); SurgSim::Math::setSubVector(0.14 * dt * m_n, 4, 3, &H); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); // C = dt * m^{-1} SurgSim::Math::Matrix C; SurgSim::Math::SparseMatrix M(18, 18); m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); M = m_fem->getM(); SurgSim::Math::LinearSparseSolveAndInverseLU solver; SurgSim::Math::Vector b = SurgSim::Math::Vector::Zero(18); solver.setMatrix(M); C = solver.getInverse(); C *= dt; EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem3DConstraintFrictionlessContactTests, BuildMlcpIndiciesTest) { // This test verifies the build mlcp function works given a hypothetical, preexisting mlcp problem. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof() + 5, 2, 1); // Suppose 5 dof and 1 constraint are defined elsewhere. Then H, CHt, HCHt, and b are prebuilt. Eigen::SparseVector localH; localH.resize(5); localH.reserve(5); localH.insert(0) = 0.9478; localH.insert(1) = -0.3807; localH.insert(2) = 0.5536; localH.insert(3) = -0.6944; localH.insert(4) = 0.1815; mlcpPhysicsProblem.H.coeffRef(0, 0) += localH.coeff(0); mlcpPhysicsProblem.H.coeffRef(0, 1) += localH.coeff(1); mlcpPhysicsProblem.H.coeffRef(0, 2) += localH.coeff(2); mlcpPhysicsProblem.H.coeffRef(0, 3) += localH.coeff(3); mlcpPhysicsProblem.H.coeffRef(0, 4) += localH.coeff(4); Eigen::Matrix localC; localC << -0.2294, 0.5160, 0.2520, 0.5941, -0.4854, 0.1233, -0.4433, 0.3679, 0.9307, 0.2600, 0.1988, 0.6637, -0.7591, 0.1475, 0.8517, -0.5495, -0.4305, 0.3162, -0.7862, 0.7627, -0.5754, 0.4108, 0.8445, -0.5565, 0.7150; localC = localC * localC.transpose(); // force to be symmetric Eigen::Matrix localCHt = localC * localH.transpose(); mlcpPhysicsProblem.CHt.block<5, 1>(0, 0) = localCHt; mlcpPhysicsProblem.A.block<1, 1>(0, 0) = localH * localCHt; mlcpPhysicsProblem.b.block<1, 1>(0, 0)[0] = 0.6991; // Place the Fem at 5th dof (1 or multiple representations exist before, covering a total of 5 dof) // and the constraint at the index 1 (1 atomic constraint exists before this one) size_t indexOfRepresentation = 5; size_t indexOfConstraint = 1; // Apply constraint to all nodes of an fem. const Vector4d barycentric = Vector4d(0.25, 0.33, 0.28, 0.14); IndexedLocalCoordinate coord(1, barycentric); setContactAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, indexOfRepresentation, indexOfConstraint, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); const Vector3d newPosition = (Vector3d(0.30, -0.57, 0.40) * barycentric[0] + Vector3d(0.06, 0.63, -0.32) * barycentric[1] + Vector3d(0.35, 0.52, 0.50) * barycentric[2] + Vector3d(1.14, 0.66, 0.71) * barycentric[3]) - Vector3d::UnitY() * 9.81 * dt * dt; EXPECT_NEAR(newPosition.dot(m_n), mlcpPhysicsProblem.b[indexOfConstraint] + mlcpPrecision, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); SurgSim::Math::setSubVector(0.25 * dt * m_n, 0, 3, &H); SurgSim::Math::setSubVector(0.33 * dt * m_n, 1, 3, &H); SurgSim::Math::setSubVector(0.28 * dt * m_n, 3, 3, &H); SurgSim::Math::setSubVector(0.14 * dt * m_n, 4, 3, &H); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H.block(indexOfConstraint, indexOfRepresentation, 1, 18), epsilon); SurgSim::Math::Matrix C; SurgSim::Math::SparseMatrix M(18, 18); m_fem->updateFMDK(*m_fem->getPreviousState(), SurgSim::Math::ODEEQUATIONUPDATE_M); M = m_fem->getM(); SurgSim::Math::LinearSparseSolveAndInverseLU solver; SurgSim::Math::Vector b = SurgSim::Math::Vector::Zero(18); solver.setMatrix(M); C = solver.getInverse(); C *= dt; EXPECT_NEAR_EIGEN( C * H.transpose(), mlcpPhysicsProblem.CHt.block(indexOfRepresentation, indexOfConstraint, 18, 1), epsilon); EXPECT_NEAR_EIGEN( H * C * H.transpose(), mlcpPhysicsProblem.A.block(indexOfConstraint, indexOfConstraint, 1, 1), epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem3DConstraintFrictionlessSlidingTests.cpp000066400000000000000000000310231277777236100314610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/LinearSparseSolveAndInverse.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem3DElementTetrahedron.h" #include "SurgSim/Physics/Fem3DLocalization.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/FemConstraintFrictionlessSliding.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" #include "SurgSim/Physics/SlidingConstraintData.h" #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" using SurgSim::DataStructures::IndexedLocalCoordinate; using SurgSim::Framework::Runtime; using SurgSim::Physics::Fem3DRepresentation; using SurgSim::Physics::FemConstraintFrictionlessSliding; using SurgSim::Physics::Fem3DLocalization; using SurgSim::Physics::Fem3DElementTetrahedron; using SurgSim::Physics::MlcpPhysicsProblem; using SurgSim::Physics::SlidingConstraintData; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; namespace { const double epsilon = 1e-10; const double dt = 1e-3; }; static void addTetrahedron(Fem3DRepresentation* fem, size_t node0, size_t node1, size_t node2, size_t node3, double massDensity = 1.0, double poissonRatio = 0.1, double youngModulus = 1.0) { std::array nodes = {node0, node1, node2, node3}; auto element = std::make_shared(nodes); element->setMassDensity(massDensity); element->setPoissonRatio(poissonRatio); element->setYoungModulus(youngModulus); fem->addFemElement(element); } class Fem3DConstraintFrictionlessSlidingTests : public ::testing::Test { public: void SetUp() { // Define plane with normal 'n' pointing against gravity. m_slidingDirection = Vector3d(0.8539, 0.6289, -0.9978); m_slidingDirection.normalize(); // Create mock FEM m_fem = std::make_shared("Fem2dRepresentation"); auto state = std::make_shared(); state->setNumDof(3, 6); // Place coordinates at // ( 0.00, 0.00, 0.00) + (0.24, -0.43, 0.55) + ( 0.06, -0.14, -0.15) = ( 0.30, -0.57, 0.40) // ( 0.00, 1.00, -1.00) + (0.24, -0.43, 0.55) + (-0.18, 0.06, 0.13) = ( 0.06, 0.63, -0.32) // (-1.00, 1.00, 0.00) + (0.24, -0.43, 0.55) + (-0.15, 0.15, 0.17) = (-0.91, 0.72, 0.72) // ( 0.00, 1.00, 0.00) + (0.24, -0.43, 0.55) + ( 0.11, -0.05, -0.05) = ( 0.35, 0.52, 0.50) // ( 1.00, 1.00, 0.00) + (0.24, -0.43, 0.55) + (-0.10, 0.09, 0.16) = ( 1.14, 0.66, 0.71) // ( 1.00, 0.00, -1.00) + (0.24, -0.43, 0.55) + (-0.22, 0.12, -0.09) = ( 1.02, -0.31, -0.54) state->getPositions().segment<3>(0 * 3) = Vector3d(0.30, -0.57, 0.40); state->getPositions().segment<3>(1 * 3) = Vector3d(0.06, 0.63, -0.32); state->getPositions().segment<3>(2 * 3) = Vector3d(-0.91, 0.72, 0.72); state->getPositions().segment<3>(3 * 3) = Vector3d(0.35, 0.52, 0.50); state->getPositions().segment<3>(4 * 3) = Vector3d(1.14, 0.66, 0.71); state->getPositions().segment<3>(5 * 3) = Vector3d(1.02, -0.31, -0.54); addTetrahedron(m_fem.get(), 0, 1, 2, 3); addTetrahedron(m_fem.get(), 0, 1, 3, 4); addTetrahedron(m_fem.get(), 0, 1, 4, 5); m_fem->setInitialState(state); m_fem->setIntegrationScheme(SurgSim::Math::IntegrationScheme::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED); m_fem->setLocalActive(true); m_fem->initialize(std::make_shared()); m_fem->wakeUp(); // Update model by one timestep m_fem->beforeUpdate(dt); m_fem->update(dt); } void setSlidingConstraintAt(const IndexedLocalCoordinate& coord) { m_localization = std::make_shared(m_fem, coord); m_constraintData.setSlidingDirection(m_localization->calculatePosition(0.0), m_slidingDirection); } std::shared_ptr m_fem; std::shared_ptr m_localization; Vector3d m_slidingDirection; SlidingConstraintData m_constraintData; }; TEST_F(Fem3DConstraintFrictionlessSlidingTests, ConstructorTest) { ASSERT_NO_THROW( { FemConstraintFrictionlessSliding femContact; }); } TEST_F(Fem3DConstraintFrictionlessSlidingTests, ConstraintConstantsTest) { auto implementation = std::make_shared(); EXPECT_EQ(SurgSim::Physics::FRICTIONLESS_SLIDING, implementation->getConstraintType()); EXPECT_EQ(2u, implementation->getNumDof()); } TEST_F(Fem3DConstraintFrictionlessSlidingTests, BuildMlcpTest) { // This test verifies the build mlcp function works for a simple case. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 2, 1); // Apply constraint purely to the first node of the 0th tetrahedron. IndexedLocalCoordinate coord(0, Vector4d(1.0, 0.0, 0.0, 0.0)); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); auto pose = m_constraintData.getPose().inverse().rotation(); EXPECT_TRUE((pose * m_slidingDirection).isApprox(Vector3d(1.0, 0.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[0]).isApprox(Vector3d(0.0, 1.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[1]).isApprox(Vector3d(0.0, 0.0, 1.0))); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (dt * m_constraintData.getNormals()[1]).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); // C = dt * m^{-1} m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem3DConstraintFrictionlessSlidingTests, BuildMlcpCoordinateTest) { // This test verifies the build mlcp function works for a more complicated case with different nodes. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof(), 2, 1); // Apply constraint to the four nodes of the 0th tetrahedron. auto barycentric = Vector4d(0.25, 0.33, 0.28, 0.14); IndexedLocalCoordinate coord(0, barycentric); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); auto pose = m_constraintData.getPose().inverse().rotation(); EXPECT_TRUE((pose * m_slidingDirection).isApprox(Vector3d(1.0, 0.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[0]).isApprox(Vector3d(0.0, 1.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[1]).isApprox(Vector3d(0.0, 0.0, 1.0))); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(0, 3) = (barycentric[1] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 3) = (barycentric[1] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(0, 6) = (barycentric[2] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 6) = (barycentric[2] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(0, 9) = (barycentric[3] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 9) = (barycentric[3] * dt * m_constraintData.getNormals()[1]).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); // C = dt * m^{-1} m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN(C * H.transpose(), mlcpPhysicsProblem.CHt, epsilon); EXPECT_NEAR_EIGEN(H * C * H.transpose(), mlcpPhysicsProblem.A, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(Fem3DConstraintFrictionlessSlidingTests, BuildMlcpIndiciesTest) { // This test verifies the build mlcp function works given a hypothetical, preexisting mlcp problem. auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_fem->getNumDof() + 5, 3, 2); // Suppose 5 dof and 1 constraint are defined elsewhere. Then H, CHt, HCHt, and b are prebuilt. Eigen::SparseVector localH; localH.resize(5); localH.reserve(5); localH.insert(0) = 0.9478; localH.insert(1) = -0.3807; localH.insert(2) = 0.5536; localH.insert(3) = -0.6944; localH.insert(4) = 0.1815; mlcpPhysicsProblem.H.coeffRef(0, 0) += localH.coeff(0); mlcpPhysicsProblem.H.coeffRef(0, 1) += localH.coeff(1); mlcpPhysicsProblem.H.coeffRef(0, 2) += localH.coeff(2); mlcpPhysicsProblem.H.coeffRef(0, 3) += localH.coeff(3); mlcpPhysicsProblem.H.coeffRef(0, 4) += localH.coeff(4); Eigen::Matrix localC; localC << -0.2294, 0.5160, 0.2520, 0.5941, -0.4854, 0.1233, -0.4433, 0.3679, 0.9307, 0.2600, 0.1988, 0.6637, -0.7591, 0.1475, 0.8517, -0.5495, -0.4305, 0.3162, -0.7862, 0.7627, -0.5754, 0.4108, 0.8445, -0.5565, 0.7150; localC = localC * localC.transpose(); // force to be symmetric Eigen::Matrix localCHt = localC * localH.transpose(); mlcpPhysicsProblem.CHt.block<5, 1>(0, 0) = localCHt; mlcpPhysicsProblem.A.block<1, 1>(0, 0) = localH * localCHt; mlcpPhysicsProblem.b.block<1, 1>(0, 0)[0] = 0.6991; // Place the Fem at 5th dof (1 or multiple representations exist before, covering a total of 5 dof) // and the constraint at the index 1 (1 atomic constraint exists before this one) size_t indexOfRepresentation = 5; size_t indexOfConstraint = 1; // Apply constraint to the four nodes of the 0th tetrahedron auto barycentric = Vector4d(0.25, 0.33, 0.28, 0.14); IndexedLocalCoordinate coord(0, barycentric); setSlidingConstraintAt(coord); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, indexOfRepresentation, indexOfConstraint, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); auto pose = m_constraintData.getPose().inverse().rotation(); EXPECT_TRUE((pose * m_slidingDirection).isApprox(Vector3d(1.0, 0.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[0]).isApprox(Vector3d(0.0, 1.0, 0.0))); EXPECT_TRUE((pose * m_constraintData.getNormals()[1]).isApprox(Vector3d(0.0, 0.0, 1.0))); Eigen::Matrix H = Eigen::Matrix::Zero(); H.block<1, 3>(0, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 0) = (barycentric[0] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(0, 3) = (barycentric[1] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 3) = (barycentric[1] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(0, 6) = (barycentric[2] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 6) = (barycentric[2] * dt * m_constraintData.getNormals()[1]).eval(); H.block<1, 3>(0, 9) = (barycentric[3] * dt * m_constraintData.getNormals()[0]).eval(); H.block<1, 3>(1, 9) = (barycentric[3] * dt * m_constraintData.getNormals()[1]).eval(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H.block(indexOfConstraint, indexOfRepresentation, 2, 18), epsilon); m_fem->updateFMDK(*(m_fem->getPreviousState()), SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix C = dt * m_fem->getM().toDense().inverse(); EXPECT_NEAR_EIGEN( C * H.transpose(), mlcpPhysicsProblem.CHt.block(indexOfRepresentation, indexOfConstraint, 18, 2), epsilon); EXPECT_NEAR_EIGEN( H * C * H.transpose(), mlcpPhysicsProblem.A.block(indexOfConstraint, indexOfConstraint, 2, 2), epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem3DElementCorotationalTetrahedronTests.cpp000066400000000000000000000601411277777236100316110ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/OdeEquation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem3DElementCorotationalTetrahedron.h" using SurgSim::Physics::Fem3DElementCorotationalTetrahedron; using SurgSim::Math::Vector; using SurgSim::Math::Vector3d; using SurgSim::Math::Matrix; using SurgSim::Math::Matrix33d; using SurgSim::Math::SparseMatrix; namespace { const double epsilonAddForce = 1e-8; const double epsilonAddMatVec = 1e-10; }; class MockFem3DElementCorotationalTet : public Fem3DElementCorotationalTetrahedron { public: explicit MockFem3DElementCorotationalTet(std::array nodeIds) : Fem3DElementCorotationalTetrahedron(nodeIds) { } const Eigen::Matrix& getInitialPosition() const { return m_x0; } const Eigen::Matrix& getNonRotatedMassMatrix() const { return m_MLinear; } const Eigen::Matrix& getNonRotatedStiffnessMatrix() const { return m_KLinear; } const SurgSim::Math::Matrix getRotatedStiffnessMatrix(const SurgSim::Math::OdeState& state) const { return m_K; } const SurgSim::Math::Matrix getRotatedMassMatrix(const SurgSim::Math::OdeState& state) const { return m_M; } /// Compute the rotation, mass and stiffness matrices of the element from the given state /// \param state The state to compute the rotation and jacobians from /// \param [out] R rotation matrix of the element in the given state (can be nullptr if not needed) /// \param [out] Me, Ke Respectively the mass and stiffness matrices (Me and/or Ke be nullptr if not needed) /// \note The model is not viscoelastic but purely elastic, so there is no damping matrix here. void computeRotationMassAndStiffness(const SurgSim::Math::OdeState& state, SurgSim::Math::Matrix33d* R, SurgSim::Math::Matrix* Me, SurgSim::Math::Matrix* Ke) const { Fem3DElementCorotationalTetrahedron::computeRotationMassAndStiffness(state, R, Me, Ke); } const SurgSim::Math::Matrix33d getRotation(const SurgSim::Math::OdeState& state) const { return m_R; } const SurgSim::Math::Matrix44d getVInverse() const { return m_Vinverse; } void setupInitialParams(const SurgSim::Math::OdeState& state, double massDensity, double poissonRatio, double youngModulus) { setMassDensity(massDensity); setPoissonRatio(poissonRatio); setYoungModulus(youngModulus); initialize(state); } }; class Fem3DElementCorotationalTetrahedronTests : public ::testing::Test { public: std::array m_nodeIds; std::vector m_nodeIdsAsVector; SurgSim::Math::OdeState m_restState, m_invalidState, m_state; double m_rho, m_E, m_nu; SurgSim::Math::Matrix33d m_rotation; Eigen::Matrix m_R12x12; Vector3d m_translation; void SetUp() override { m_nodeIds[0] = 3; m_nodeIds[1] = 1; m_nodeIds[2] = 14; m_nodeIds[3] = 9; m_nodeIdsAsVector.assign(m_nodeIds.cbegin(), m_nodeIds.cend()); m_restState.setNumDof(3, 15); m_invalidState.setNumDof(3, 15); Vector& x0 = m_restState.getPositions(); Vector& invalidx0 = m_invalidState.getPositions(); std::array points = {{ Vector3d(0.0, 0.0, 0.0), Vector3d(1.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0), Vector3d(0.0, 0.0, 1.0) } }; // Tet is aligned with the axis (X,Y,Z), centered on (0.0, 0.0, 0.0), embedded in a cube of size 1 for (size_t nodeId = 0; nodeId < 4; ++nodeId) { SurgSim::Math::getSubVector(x0, m_nodeIds[nodeId], 3) = points[nodeId]; SurgSim::Math::getSubVector(invalidx0, m_nodeIds[nodeId], 3) = points[nodeId]; } // In the invalid state, the tetrahedron is degenerated to a triangle (last 2 points are equal) SurgSim::Math::getSubVector(invalidx0, m_nodeIds[3], 3) = points[2]; m_rho = 1000.0; m_E = 1e6; m_nu = 0.45; Vector3d axis(1.0, 0.2, -0.3); axis.normalize(); m_rotation = SurgSim::Math::makeRotationMatrix(4.1415, axis); m_R12x12 = Eigen::Matrix::Zero(); for (size_t nodeId = 0; nodeId < 4; ++nodeId) { m_R12x12.block<3, 3>(3 * nodeId, 3 * nodeId) = m_rotation; } m_translation = Vector3d(1.2, 2.3, 3.4); } }; namespace { template void defineCurrentState(const SurgSim::Math::OdeState& x0, SurgSim::Math::OdeState* x, const Eigen::Transform& t, bool addSmallDeformation) { std::array delta = {{ Vector3d(0.01, -0.02, 0.005), Vector3d(-0.01, -0.01, -0.03), Vector3d(0.0, -0.015, 0.03) } }; *x = x0; for (size_t nodeId = 0; nodeId < x0.getNumNodes(); ++nodeId) { (*x).getPositions().segment<3>(3 * nodeId) = t * x0.getPositions().segment<3>(3 * nodeId); if (addSmallDeformation) { (*x).getPositions().segment<3>(3 * nodeId) += delta[nodeId % 3]; } } } // Duplicates 4 times a 3x3 matrix on the diagonal blocks Eigen::Matrix make12x12(const Eigen::Matrix& R) { Eigen::Matrix res = Eigen::Matrix::Zero(); for (size_t nodeId = 0; nodeId < 4; nodeId++) { res.block<3, 3>(3 * nodeId, 3 * nodeId) = R; } return res; } }; // anonymous namespace TEST_F(Fem3DElementCorotationalTetrahedronTests, ConstructorTest) { ASSERT_NO_THROW({MockFem3DElementCorotationalTet tet(m_nodeIds);}); ASSERT_NO_THROW({MockFem3DElementCorotationalTet* tet = new MockFem3DElementCorotationalTet(m_nodeIds); delete tet; }); ASSERT_NO_THROW({std::shared_ptr tet = std::make_shared(m_nodeIds); }); } TEST_F(Fem3DElementCorotationalTetrahedronTests, InitializeTest) { MockFem3DElementCorotationalTet tet(m_nodeIds); ASSERT_NO_THROW(tet.setupInitialParams(m_restState, m_rho, m_nu, m_E)); EXPECT_TRUE(tet.getRotation(m_restState).isIdentity()); EXPECT_TRUE(tet.getRotatedStiffnessMatrix(m_restState).isApprox(tet.getNonRotatedStiffnessMatrix())); EXPECT_TRUE(tet.getRotatedMassMatrix(m_restState).isApprox(tet.getNonRotatedMassMatrix())); // V^1 = (a b c d)^-1 // (1 1 1 1) SurgSim::Math::Matrix44d expectedV = SurgSim::Math::Matrix44d::Ones(); for (size_t axis = 0; axis < 3; ++axis) { expectedV(axis, 0) = m_restState.getPosition(m_nodeIds[0])(axis); expectedV(axis, 1) = m_restState.getPosition(m_nodeIds[1])(axis); expectedV(axis, 2) = m_restState.getPosition(m_nodeIds[2])(axis); expectedV(axis, 3) = m_restState.getPosition(m_nodeIds[3])(axis); } EXPECT_TRUE(tet.getVInverse().isApprox(expectedV.inverse())); MockFem3DElementCorotationalTet invalidTet(m_nodeIds); ASSERT_THROW(invalidTet.setupInitialParams(m_invalidState, m_rho, m_nu, m_E), SurgSim::Framework::AssertionFailure); } TEST_F(Fem3DElementCorotationalTetrahedronTests, ComputeRotationMassAndStiffnessTest) { using SurgSim::Math::skew; using SurgSim::Math::makeSkewSymmetricMatrix; Eigen::Transform transformation; SurgSim::Math::Matrix33d R; SurgSim::Math::Matrix M, K; { SCOPED_TRACE("No rotation, no translation"); transformation.linear().setIdentity(); transformation.translation().setZero(); defineCurrentState(m_restState, &m_state, transformation, false); MockFem3DElementCorotationalTet tet(m_nodeIds); tet.setupInitialParams(m_restState, m_rho, m_nu, m_E); ASSERT_NO_THROW(tet.computeRotationMassAndStiffness(m_state, &R, &M, &K)); EXPECT_TRUE(R.isIdentity()); EXPECT_TRUE(K.isApprox(tet.getNonRotatedStiffnessMatrix())) << std::endl << "K:" << std::endl << K << std::endl << "NonRotatedStiffnessMatrix:" << std::endl << tet.getNonRotatedStiffnessMatrix() << std::endl; EXPECT_TRUE(M.isApprox(tet.getNonRotatedMassMatrix())); } { SCOPED_TRACE("Pure translation"); transformation.linear().setIdentity(); transformation.translation() = m_translation; defineCurrentState(m_restState, &m_state, transformation, false); MockFem3DElementCorotationalTet tet(m_nodeIds); tet.setupInitialParams(m_restState, m_rho, m_nu, m_E); ASSERT_NO_THROW(tet.computeRotationMassAndStiffness(m_state, &R, &M, &K)); EXPECT_TRUE(R.isIdentity()); EXPECT_TRUE(K.isApprox(tet.getNonRotatedStiffnessMatrix())); EXPECT_TRUE(M.isApprox(tet.getNonRotatedMassMatrix())); } { SCOPED_TRACE("Pure rotation"); transformation.linear() = m_rotation; transformation.translation().setZero(); defineCurrentState(m_restState, &m_state, transformation, false); MockFem3DElementCorotationalTet tet(m_nodeIds); tet.setupInitialParams(m_restState, m_rho, m_nu, m_E); ASSERT_NO_THROW(tet.computeRotationMassAndStiffness(m_state, &R, &M, &K)); EXPECT_TRUE(R.isApprox(m_rotation)); // The corotational stiffness has more terms than R.K0.R^t // But, these terms are in the order of epsilon is no scaling is involved in the transformation. // They seem to account for the deformation part of the transformation and not the rigid transformation. // A pure transformation (rotation + translation) is fully taken into account by the term R.K0.R^t EXPECT_TRUE(K.isApprox(m_R12x12 * tet.getNonRotatedStiffnessMatrix() * m_R12x12.transpose())) << std::endl << "K:" << std::endl << K << std::endl << "NonRotatedStiffnessMatrix:" << std::endl << (m_R12x12 * tet.getNonRotatedStiffnessMatrix() * m_R12x12.transpose()) << std::endl; EXPECT_FALSE(K.isApprox(tet.getNonRotatedStiffnessMatrix())); EXPECT_TRUE(M.isApprox(m_R12x12 * tet.getNonRotatedMassMatrix() * m_R12x12.transpose())); } { SCOPED_TRACE("Translation + Pure Rotation"); transformation.linear() = m_rotation; transformation.translation() = m_translation; defineCurrentState(m_restState, &m_state, transformation, false); MockFem3DElementCorotationalTet tet(m_nodeIds); tet.setupInitialParams(m_restState, m_rho, m_nu, m_E); ASSERT_NO_THROW(tet.computeRotationMassAndStiffness(m_state, &R, &M, &K)); EXPECT_TRUE(R.isApprox(m_rotation)); // The corotational stiffness has more terms than R.K0.R^t // But, these terms are in the order of epsilon is no scaling is involved in the transformation. // They seem to account for the deformation part of the transformation and not the rigid transformation. // A pure transformation (rotation + translation) is fully taken into account by the term R.K0.R^t EXPECT_TRUE(K.isApprox(m_R12x12 * tet.getNonRotatedStiffnessMatrix() * m_R12x12.transpose())); EXPECT_FALSE(K.isApprox(tet.getNonRotatedStiffnessMatrix())); EXPECT_TRUE(M.isApprox(m_R12x12 * tet.getNonRotatedMassMatrix() * m_R12x12.transpose())); } { SCOPED_TRACE("Affine transform : Translation + rotation * scaling"); Eigen::UniformScaling S = Eigen::Scaling(45.3); transformation.linear() = m_rotation * S; transformation.translation() = m_translation; defineCurrentState(m_restState, &m_state, transformation, false); MockFem3DElementCorotationalTet tet(m_nodeIds); tet.setupInitialParams(m_restState, m_rho, m_nu, m_E); ASSERT_NO_THROW(tet.computeRotationMassAndStiffness(m_state, &R, &M, &K)); EXPECT_TRUE(R.isApprox(m_rotation)); // The corotational stiffness has more terms than R.K0.R^t // But, these terms are in the order of epsilon is no scaling is involved in the transformation. // They seem to account for the deformation part of the transformation and not the rigid transformation. // A pure transformation (rotation + translation) is fully taken into account by the term R.K0.R^t EXPECT_FALSE(K.isApprox(m_R12x12 * tet.getNonRotatedStiffnessMatrix() * m_R12x12.transpose())); EXPECT_FALSE(K.isApprox(tet.getNonRotatedStiffnessMatrix())); EXPECT_TRUE(M.isApprox(m_R12x12 * tet.getNonRotatedMassMatrix() * m_R12x12.transpose())); } } namespace { void testAddStiffness(MockFem3DElementCorotationalTet* tet, const SurgSim::Math::OdeState& state0, const SurgSim::Math::RigidTransform3d& t, double scale) { SurgSim::Math::OdeState state; defineCurrentState(state0, &state, t, false); tet->updateFMDK(state, SurgSim::Math::ODEEQUATIONUPDATE_K); Matrix expectedK = Matrix::Zero(state.getNumDof(), state.getNumDof()); SurgSim::Math::addSubMatrix(scale * tet->getRotatedStiffnessMatrix(state), tet->getNodeIds(), 3, &expectedK); SparseMatrix K(static_cast(state.getNumDof()), static_cast(state.getNumDof())); K.setZero(); Matrix zeroMatrix = Matrix::Zero(tet->getNumDofPerNode() * tet->getNumNodes(), tet->getNumDofPerNode() * tet->getNumNodes()); tet->assembleMatrixBlocks(zeroMatrix, tet->getNodeIds(), static_cast(tet->getNumDofPerNode()), &K, true); K.makeCompressed(); tet->addStiffness(&K, scale); EXPECT_TRUE(K.isApprox(expectedK)); } void testAddMass(MockFem3DElementCorotationalTet* tet, const SurgSim::Math::OdeState& state0, const SurgSim::Math::RigidTransform3d& t, double scale) { SurgSim::Math::OdeState state; defineCurrentState(state0, &state, t, false); tet->updateFMDK(state, SurgSim::Math::ODEEQUATIONUPDATE_M); Eigen::Matrix M0 = tet->getNonRotatedMassMatrix(); Matrix33d R = tet->getRotation(state); Eigen::Matrix R12x12 = make12x12(Eigen::Matrix(R)); Matrix expectedM = Matrix::Zero(state.getNumDof(), state.getNumDof()); SurgSim::Math::addSubMatrix(scale * R12x12 * M0 * R12x12.transpose(), tet->getNodeIds(), 3, &expectedM); SparseMatrix M(static_cast(state.getNumDof()), static_cast(state.getNumDof())); M.setZero(); Matrix zeroMatrix = Matrix::Zero(tet->getNumDofPerNode() * tet->getNumNodes(), tet->getNumDofPerNode() * tet->getNumNodes()); tet->assembleMatrixBlocks(zeroMatrix, tet->getNodeIds(), static_cast(tet->getNumDofPerNode()), &M, true); M.makeCompressed(); tet->addMass(&M, scale); EXPECT_TRUE(M.isApprox(expectedM)); } void testAddFMDK(MockFem3DElementCorotationalTet* tet, const SurgSim::Math::OdeState& state0, const SurgSim::Math::RigidTransform3d& t) { SurgSim::Math::OdeState state; defineCurrentState(state0, &state, t, false); tet->updateFMDK(state, SurgSim::Math::ODEEQUATIONUPDATE_FMDK); Eigen::Matrix K0 = tet->getNonRotatedStiffnessMatrix(); Eigen::Matrix M0 = tet->getNonRotatedMassMatrix(); Matrix33d R = tet->getRotation(state); Eigen::Matrix R12x12 = make12x12(Eigen::Matrix(R)); Vector expectedF = Vector::Zero(state.getNumDof()); Matrix expectedM = Matrix::Zero(state.getNumDof(), state.getNumDof()); Matrix expectedK = Matrix::Zero(state.getNumDof(), state.getNumDof()); SurgSim::Math::addSubMatrix(tet->getRotatedStiffnessMatrix(state), tet->getNodeIds(), 3, &expectedK); SurgSim::Math::addSubMatrix(R12x12 * M0 * R12x12.transpose(), tet->getNodeIds(), 3, &expectedM); Eigen::Matrix x; SurgSim::Math::getSubVector(state.getPositions(), tet->getNodeIds(), 3, &x); Eigen::Matrix f = - R12x12 * K0 * R12x12.transpose() * (x - (R12x12 * tet->getInitialPosition())); SurgSim::Math::addSubVector(f, tet->getNodeIds(), 3, &expectedF); Vector F = Vector::Zero(state.getNumDof()); SparseMatrix M(static_cast(state.getNumDof()), static_cast(state.getNumDof())); SparseMatrix D(static_cast(state.getNumDof()), static_cast(state.getNumDof())); SparseMatrix K(static_cast(state.getNumDof()), static_cast(state.getNumDof())); SparseMatrix zeroMatrix(static_cast(state.getNumDof()), static_cast(state.getNumDof())); Matrix zeroElementMatrix = Matrix::Zero(tet->getNumDofPerNode() * tet->getNumNodes(), tet->getNumDofPerNode() * tet->getNumNodes()); M.setZero(); tet->assembleMatrixBlocks(zeroElementMatrix, tet->getNodeIds(), static_cast(tet->getNumDofPerNode()), &M, true); M.makeCompressed(); D.setZero(); tet->assembleMatrixBlocks(zeroElementMatrix, tet->getNodeIds(), static_cast(tet->getNumDofPerNode()), &D, true); D.makeCompressed(); K.setZero(); tet->assembleMatrixBlocks(zeroElementMatrix, tet->getNodeIds(), static_cast(tet->getNumDofPerNode()), &K, true); K.makeCompressed(); zeroMatrix.setZero(); tet->addFMDK(&F, &M, &D, &K); EXPECT_TRUE(F.isApprox(expectedF)); EXPECT_TRUE(M.isApprox(expectedM)); EXPECT_TRUE(D.isApprox(zeroMatrix)); EXPECT_TRUE(K.isApprox(expectedK)); } }; // anonymous namespace TEST_F(Fem3DElementCorotationalTetrahedronTests, AddStiffnessTest) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::RigidTransform3d; MockFem3DElementCorotationalTet tet(m_nodeIds); tet.setupInitialParams(m_restState, m_rho, m_nu, m_E); { SCOPED_TRACE("Without rotation, scale 1.0"); testAddStiffness(&tet, m_restState, RigidTransform3d::Identity(), 1.0); } { SCOPED_TRACE("Without rotation, scale 0.4"); testAddStiffness(&tet, m_restState, RigidTransform3d::Identity(), 0.4); } { SCOPED_TRACE("With rotation, scale 1.0"); testAddStiffness(&tet, m_restState, makeRigidTransform(m_rotation, Vector3d::Zero()), 1.0); } { SCOPED_TRACE("With rotation, scale 0.4"); testAddStiffness(&tet, m_restState, makeRigidTransform(m_rotation, Vector3d::Zero()), 0.4); } } TEST_F(Fem3DElementCorotationalTetrahedronTests, AddMassTest) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::RigidTransform3d; MockFem3DElementCorotationalTet tet(m_nodeIds); tet.setupInitialParams(m_restState, m_rho, m_nu, m_E); { SCOPED_TRACE("Without rotation, scale 1.0"); testAddMass(&tet, m_restState, RigidTransform3d::Identity(), 1.0); } { SCOPED_TRACE("Without rotation, scale 0.4"); testAddMass(&tet, m_restState, RigidTransform3d::Identity(), 0.4); } { SCOPED_TRACE("With rotation, scale 1.0"); testAddMass(&tet, m_restState, makeRigidTransform(m_rotation, Vector3d::Zero()), 1.0); } { SCOPED_TRACE("With rotation, scale 0.4"); testAddMass(&tet, m_restState, makeRigidTransform(m_rotation, Vector3d::Zero()), 0.4); } } TEST_F(Fem3DElementCorotationalTetrahedronTests, AddFMDKTest) { using SurgSim::Math::makeRigidTransform; using SurgSim::Math::RigidTransform3d; MockFem3DElementCorotationalTet tet(m_nodeIds); tet.setupInitialParams(m_restState, m_rho, m_nu, m_E); { SCOPED_TRACE("Without rotation"); testAddFMDK(&tet, m_restState, RigidTransform3d::Identity()); } { SCOPED_TRACE("With rotation"); testAddFMDK(&tet, m_restState, makeRigidTransform(m_rotation, Vector3d::Zero())); } } namespace { void testAddForce(MockFem3DElementCorotationalTet* tet, const SurgSim::Math::OdeState& state0, const SurgSim::Math::RigidTransform3d& t, bool addLocalDeformation) { SurgSim::Math::OdeState statet; SurgSim::Math::Matrix K = tet->getNonRotatedStiffnessMatrix(); // F = -RK(R^t.x - x0) Eigen::Matrix x, x0; SurgSim::Math::getSubVector(state0.getPositions(), tet->getNodeIds(), 3, &x0); defineCurrentState(state0, &statet, t, addLocalDeformation); tet->updateFMDK(statet, SurgSim::Math::ODEEQUATIONUPDATE_F); SurgSim::Math::getSubVector(statet.getPositions(), tet->getNodeIds(), 3, &x); // Note that the element rotation is not necessarily the RigidTransform rotation // If addDeformation is true, it will add pseudo-random variation that will affect the rigid motion slightly SurgSim::Math::Matrix33d R = tet->getRotation(statet); Eigen::Matrix R12x12 = Eigen::Matrix::Zero(); for (size_t nodeId = 0; nodeId < 4; ++nodeId) { R12x12.block<3, 3>(3 * nodeId, 3 * nodeId) = R; } SurgSim::Math::Vector expectedF; expectedF.setZero(statet.getNumDof()); Eigen::Matrix f = - R12x12 * K * R12x12.transpose() * (x - (R12x12 * x0)); SurgSim::Math::addSubVector(f, tet->getNodeIds(), 3, &expectedF); EXPECT_TRUE(tet->getRotation(statet).isApprox(R)); EXPECT_TRUE(tet->getNonRotatedStiffnessMatrix().isApprox(K)); EXPECT_TRUE(tet->getInitialPosition().isApprox(x0)); { SCOPED_TRACE("Scale 1.0"); SurgSim::Math::Vector F; F.setZero(statet.getNumDof()); tet->addForce(&F); EXPECT_LT((F - expectedF).norm(), epsilonAddForce); if (!addLocalDeformation) { EXPECT_TRUE(F.isZero(epsilonAddForce)); } } { SCOPED_TRACE("Scale 0.4"); SurgSim::Math::Vector F; F.setZero(statet.getNumDof()); tet->addForce(&F, 0.4); EXPECT_LT((F - 0.4 * expectedF).norm(), epsilonAddForce); if (!addLocalDeformation) { EXPECT_TRUE(F.isZero(epsilonAddForce)); } } } }; // anonymous namespace TEST_F(Fem3DElementCorotationalTetrahedronTests, AddForceTest) { MockFem3DElementCorotationalTet tet(m_nodeIds); tet.setupInitialParams(m_restState, m_rho, m_nu, m_E); SurgSim::Math::RigidTransform3d transformation; transformation.linear() = m_rotation; transformation.translation() = m_translation; { SCOPED_TRACE("No deformation, no rigid transformation"); testAddForce(&tet, m_restState, SurgSim::Math::RigidTransform3d::Identity(), false); } { SCOPED_TRACE("No deformation, rigid transformation"); testAddForce(&tet, m_restState, transformation, false); } { SCOPED_TRACE("Deformation, no rigid transformation"); testAddForce(&tet, m_restState, SurgSim::Math::RigidTransform3d::Identity(), true); } { SCOPED_TRACE("Deformation, rigid transformation"); testAddForce(&tet, m_restState, transformation, true); } } TEST_F(Fem3DElementCorotationalTetrahedronTests, AddMatVecTest) { using SurgSim::Math::OdeEquationUpdate; MockFem3DElementCorotationalTet tet(m_nodeIds); tet.setupInitialParams(m_restState, m_rho, m_nu, m_E); SurgSim::Math::RigidTransform3d transformation; transformation.linear() = m_rotation; transformation.translation() = m_translation; SurgSim::Math::OdeState state; defineCurrentState(m_restState, &state, transformation, true); tet.updateFMDK(state, OdeEquationUpdate::ODEEQUATIONUPDATE_M | OdeEquationUpdate::ODEEQUATIONUPDATE_D | OdeEquationUpdate::ODEEQUATIONUPDATE_K); SurgSim::Math::Matrix M = tet.getRotatedMassMatrix(state); SurgSim::Math::Matrix K = tet.getRotatedStiffnessMatrix(state); SurgSim::Math::Vector ones = SurgSim::Math::Vector::Ones(state.getNumDof()); { SCOPED_TRACE("Mass only"); SurgSim::Math::Vector result = SurgSim::Math::Vector::Zero(state.getNumDof()); tet.addMatVec(1.4, 0.0, 0.0, ones, &result); SurgSim::Math::Vector expectedResult = SurgSim::Math::Vector::Zero(state.getNumDof()); Eigen::Matrix f = 1.4 * M * SurgSim::Math::Vector::Ones(12); SurgSim::Math::addSubVector(f, m_nodeIdsAsVector, 3, &expectedResult); EXPECT_TRUE(result.isApprox(expectedResult)); } { SCOPED_TRACE("Damping only"); SurgSim::Math::Vector result = SurgSim::Math::Vector::Zero(state.getNumDof()); tet.addMatVec(0.0, 1.5, 0.0, ones, &result); EXPECT_TRUE(result.isZero()); } { SCOPED_TRACE("Stiffness only"); SurgSim::Math::Vector result = SurgSim::Math::Vector::Zero(state.getNumDof()); tet.addMatVec(0.0, 0.0, 1.6, ones, &result); SurgSim::Math::Vector expectedResult = SurgSim::Math::Vector::Zero(state.getNumDof()); Eigen::Matrix f = 1.6 * K * SurgSim::Math::Vector::Ones(12); SurgSim::Math::addSubVector(f, m_nodeIdsAsVector, 3, &expectedResult); EXPECT_TRUE(result.isApprox(expectedResult)); } { SCOPED_TRACE("Mass/Damping/Stiffness"); SurgSim::Math::Vector result = SurgSim::Math::Vector::Zero(state.getNumDof()); tet.addMatVec(1.4, 1.5, 1.6, ones, &result); SurgSim::Math::Vector expectedResult = SurgSim::Math::Vector::Zero(state.getNumDof()); Eigen::Matrix f = (1.4 * M + 1.6 * K) * SurgSim::Math::Vector::Ones(12); SurgSim::Math::addSubVector(f, m_nodeIdsAsVector, 3, &expectedResult); EXPECT_TRUE(result.isApprox(expectedResult, epsilonAddMatVec)); } } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem3DElementCubeTests.cpp000066400000000000000000000774471277777236100256520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/Framework/Assert.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/OdeEquation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem3DElementCube.h" using SurgSim::Math::clearMatrix; using SurgSim::Math::Matrix; using SurgSim::Math::SparseMatrix; using SurgSim::Math::Vector; using SurgSim::Math::Vector3d; using SurgSim::Physics::Fem3DElementCube; namespace { /// Epsilon used in this unit test, resulting from a trial and error test. const double epsilon = 3.6e-9; }; class MockFem3DElementCube : public Fem3DElementCube { public: explicit MockFem3DElementCube(std::array nodeIds) : Fem3DElementCube(nodeIds) { } double getRestVolume() const { return m_restVolume; } double evaluateN(int i, double epsilon, double eta, double mu) const { return shapeFunction(i, epsilon, eta, mu); } double evaluatedNidEpsilon(int i, double epsilon, double eta, double mu) const { return dShapeFunctiondepsilon(i, epsilon, eta, mu); } double evaluatedNidEta(int i, double epsilon, double eta, double mu) const { return dShapeFunctiondeta(i, epsilon, eta, mu); } double evaluatedNidMu(int i, double epsilon, double eta, double mu) const { return dShapeFunctiondmu(i, epsilon, eta, mu); } const Eigen::Matrix& getInitialPosition() const { return m_elementRestPosition; } }; class Fem3DElementCubeTests : public ::testing::Test { public: std::array m_nodeIds; SurgSim::Math::OdeState m_restState; double m_expectedVolume; Eigen::Matrix m_expectedX0; double m_rho, m_E, m_nu; SurgSim::Math::Matrix m_expectedMassMatrix, m_expectedDampingMatrix, m_expectedStiffnessMatrix; SurgSim::Math::Vector m_vectorOnes; std::shared_ptr getCubeElement(const std::array& nodeIds) { std::shared_ptr element; element = std::make_shared(nodeIds); element->setYoungModulus(m_E); element->setPoissonRatio(m_nu); element->setMassDensity(m_rho); return element; } void computeExpectedStiffnessMatrix(std::vector nodeIdsVectorForm) { using SurgSim::Math::getSubMatrix; using SurgSim::Math::addSubMatrix; Eigen::Matrix K = Eigen::Matrix::Zero(); { // Expected stiffness matrix given in // "Physically-Based Simulation of Objects Represented by Surface Meshes" // Muller, Techner, Gross, CGI 2004 // NOTE a bug in the paper, the sub matrix K44 should have a diagonal of 'd' double h = 1.0; double a = h * m_E * (1.0 - m_nu) / ((1.0 + m_nu) * (1.0 - 2.0 * m_nu)); double b = h * m_E * (m_nu) / ((1.0 + m_nu) * (1.0 - 2.0 * m_nu)); double c = h * m_E / (2.0 * (1.0 + m_nu)); double d = (a + 2.0 * c) / 9.0; double e = (b + c) / 12.0; double n = -e; // Fill up the diagonal sub-matrices (3x3) getSubMatrix(K, 0, 0, 3, 3).setConstant(e); getSubMatrix(K, 0, 0, 3, 3).diagonal().setConstant(d); getSubMatrix(K, 1, 1, 3, 3).setConstant(n); getSubMatrix(K, 1, 1, 3, 3).diagonal().setConstant(d); getSubMatrix(K, 1, 1, 3, 3)(1, 2) = e; getSubMatrix(K, 1, 1, 3, 3)(2, 1) = e; getSubMatrix(K, 2, 2, 3, 3).setConstant(n); getSubMatrix(K, 2, 2, 3, 3).diagonal().setConstant(d); getSubMatrix(K, 2, 2, 3, 3)(0, 1) = e; getSubMatrix(K, 2, 2, 3, 3)(1, 0) = e; getSubMatrix(K, 3, 3, 3, 3).setConstant(n); getSubMatrix(K, 3, 3, 3, 3).diagonal().setConstant(d); getSubMatrix(K, 3, 3, 3, 3)(0, 2) = e; getSubMatrix(K, 3, 3, 3, 3)(2, 0) = e; getSubMatrix(K, 4, 4, 3, 3).setConstant(n); getSubMatrix(K, 4, 4, 3, 3).diagonal().setConstant(d); //getSubMatrix(K, 4, 4, 3, 3)(0,0) = e; // BUG IN THE PAPER !!! getSubMatrix(K, 4, 4, 3, 3)(0, 1) = e; getSubMatrix(K, 4, 4, 3, 3)(1, 0) = e; getSubMatrix(K, 5, 5, 3, 3).setConstant(n); getSubMatrix(K, 5, 5, 3, 3).diagonal().setConstant(d); getSubMatrix(K, 5, 5, 3, 3)(0, 2) = e; getSubMatrix(K, 5, 5, 3, 3)(2, 0) = e; getSubMatrix(K, 6, 6, 3, 3).setConstant(e); getSubMatrix(K, 6, 6, 3, 3).diagonal().setConstant(d); getSubMatrix(K, 7, 7, 3, 3).setConstant(n); getSubMatrix(K, 7, 7, 3, 3).diagonal().setConstant(d); getSubMatrix(K, 7, 7, 3, 3)(1, 2) = e; getSubMatrix(K, 7, 7, 3, 3)(2, 1) = e; // Edges { double d1 = (-a + c) / 9.0; double d2 = (a - c) / 18.0; double e1 = (b - c) / 12.0; double e2 = (b + c) / 24.0; double n1 = -e1; double n2 = -e2; // Edge in x-direction getSubMatrix(K, 0, 1, 3, 3)(0, 0) = d1; getSubMatrix(K, 0, 1, 3, 3)(0, 1) = e1; getSubMatrix(K, 0, 1, 3, 3)(0, 2) = e1; getSubMatrix(K, 0, 1, 3, 3)(1, 0) = n1; getSubMatrix(K, 0, 1, 3, 3)(1, 1) = d2; getSubMatrix(K, 0, 1, 3, 3)(1, 2) = e2; getSubMatrix(K, 0, 1, 3, 3)(2, 0) = n1; getSubMatrix(K, 0, 1, 3, 3)(2, 1) = e2; getSubMatrix(K, 0, 1, 3, 3)(2, 2) = d2; getSubMatrix(K, 2, 3, 3, 3) = getSubMatrix(K, 0, 1, 3, 3); getSubMatrix(K, 2, 3, 3, 3)(0, 2) = n1; getSubMatrix(K, 2, 3, 3, 3)(1, 2) = n2; getSubMatrix(K, 2, 3, 3, 3)(2, 0) = e1; getSubMatrix(K, 2, 3, 3, 3)(2, 1) = n2; getSubMatrix(K, 4, 5, 3, 3) = getSubMatrix(K, 2, 3, 3, 3); getSubMatrix(K, 6, 7, 3, 3) = getSubMatrix(K, 0, 1, 3, 3); // Edge in y-direction getSubMatrix(K, 0, 3, 3, 3)(0, 0) = d2; getSubMatrix(K, 0, 3, 3, 3)(0, 1) = n1; getSubMatrix(K, 0, 3, 3, 3)(0, 2) = e2; getSubMatrix(K, 0, 3, 3, 3)(1, 0) = e1; getSubMatrix(K, 0, 3, 3, 3)(1, 1) = d1; getSubMatrix(K, 0, 3, 3, 3)(1, 2) = e1; getSubMatrix(K, 0, 3, 3, 3)(2, 0) = e2; getSubMatrix(K, 0, 3, 3, 3)(2, 1) = n1; getSubMatrix(K, 0, 3, 3, 3)(2, 2) = d2; getSubMatrix(K, 1, 2, 3, 3) = getSubMatrix(K, 0, 3, 3, 3); getSubMatrix(K, 1, 2, 3, 3)(0, 1) = e1; getSubMatrix(K, 1, 2, 3, 3)(0, 2) = n2; getSubMatrix(K, 1, 2, 3, 3)(1, 0) = n1; getSubMatrix(K, 1, 2, 3, 3)(2, 0) = n2; getSubMatrix(K, 4, 7, 3, 3) = getSubMatrix(K, 1, 2, 3, 3); getSubMatrix(K, 4, 7, 3, 3)(0, 1) = n1; getSubMatrix(K, 4, 7, 3, 3)(1, 0) = e1; getSubMatrix(K, 4, 7, 3, 3)(1, 2) = n1; getSubMatrix(K, 4, 7, 3, 3)(2, 1) = e1; getSubMatrix(K, 5, 6, 3, 3) = getSubMatrix(K, 0, 3, 3, 3); getSubMatrix(K, 5, 6, 3, 3)(0, 1) = e1; getSubMatrix(K, 5, 6, 3, 3)(1, 0) = n1; getSubMatrix(K, 5, 6, 3, 3)(1, 2) = n1; getSubMatrix(K, 5, 6, 3, 3)(2, 1) = e1; // Edge in z-direction getSubMatrix(K, 0, 4, 3, 3)(0, 0) = d2; getSubMatrix(K, 0, 4, 3, 3)(0, 1) = e2; getSubMatrix(K, 0, 4, 3, 3)(0, 2) = n1; getSubMatrix(K, 0, 4, 3, 3)(1, 0) = e2; getSubMatrix(K, 0, 4, 3, 3)(1, 1) = d2; getSubMatrix(K, 0, 4, 3, 3)(1, 2) = n1; getSubMatrix(K, 0, 4, 3, 3)(2, 0) = e1; getSubMatrix(K, 0, 4, 3, 3)(2, 1) = e1; getSubMatrix(K, 0, 4, 3, 3)(2, 2) = d1; getSubMatrix(K, 1, 5, 3, 3) = getSubMatrix(K, 0, 4, 3, 3); getSubMatrix(K, 1, 5, 3, 3)(0, 1) = n2; getSubMatrix(K, 1, 5, 3, 3)(0, 2) = e1; getSubMatrix(K, 1, 5, 3, 3)(1, 0) = n2; getSubMatrix(K, 1, 5, 3, 3)(2, 0) = n1; getSubMatrix(K, 2, 6, 3, 3) = getSubMatrix(K, 0, 4, 3, 3); getSubMatrix(K, 2, 6, 3, 3)(0, 2) = e1; getSubMatrix(K, 2, 6, 3, 3)(1, 2) = e1; getSubMatrix(K, 2, 6, 3, 3)(2, 0) = n1; getSubMatrix(K, 2, 6, 3, 3)(2, 1) = n1; getSubMatrix(K, 3, 7, 3, 3) = getSubMatrix(K, 0, 4, 3, 3); getSubMatrix(K, 3, 7, 3, 3)(0, 1) = n2; getSubMatrix(K, 3, 7, 3, 3)(1, 0) = n2; getSubMatrix(K, 3, 7, 3, 3)(1, 2) = e1; getSubMatrix(K, 3, 7, 3, 3)(2, 1) = n1; } // Faces diagonals { double d1 = (-2.0 * a - c) / 36.0; double d2 = (a - 4.0 * c) / 36.0; double e1 = (b + c) / 12.0; double e2 = (b - c) / 24.0; double n1 = -e1; double n2 = -e2; getSubMatrix(K, 0, 5, 3, 3)(0, 0) = d1; getSubMatrix(K, 0, 5, 3, 3)(0, 1) = e2; getSubMatrix(K, 0, 5, 3, 3)(0, 2) = n1; getSubMatrix(K, 0, 5, 3, 3)(1, 0) = n2; getSubMatrix(K, 0, 5, 3, 3)(1, 1) = d2; getSubMatrix(K, 0, 5, 3, 3)(1, 2) = n2; getSubMatrix(K, 0, 5, 3, 3)(2, 0) = n1; getSubMatrix(K, 0, 5, 3, 3)(2, 1) = e2; getSubMatrix(K, 0, 5, 3, 3)(2, 2) = d1; getSubMatrix(K, 1, 4, 3, 3) = getSubMatrix(K, 0, 5, 3, 3); getSubMatrix(K, 1, 4, 3, 3)(0, 1) = n2; getSubMatrix(K, 1, 4, 3, 3)(0, 2) = e1; getSubMatrix(K, 1, 4, 3, 3)(1, 0) = e2; getSubMatrix(K, 1, 4, 3, 3)(2, 0) = e1; getSubMatrix(K, 2, 7, 3, 3) = getSubMatrix(K, 0, 5, 3, 3); getSubMatrix(K, 2, 7, 3, 3)(0, 2) = e1; getSubMatrix(K, 2, 7, 3, 3)(1, 2) = e2; getSubMatrix(K, 2, 7, 3, 3)(2, 0) = e1; getSubMatrix(K, 2, 7, 3, 3)(2, 1) = n2; getSubMatrix(K, 3, 6, 3, 3) = getSubMatrix(K, 0, 5, 3, 3); getSubMatrix(K, 3, 6, 3, 3)(0, 1) = n2; getSubMatrix(K, 3, 6, 3, 3)(1, 0) = e2; getSubMatrix(K, 3, 6, 3, 3)(1, 2) = e2; getSubMatrix(K, 3, 6, 3, 3)(2, 1) = n2; getSubMatrix(K, 1, 6, 3, 3)(0, 0) = d2; getSubMatrix(K, 1, 6, 3, 3)(0, 1) = e2; getSubMatrix(K, 1, 6, 3, 3)(0, 2) = e2; getSubMatrix(K, 1, 6, 3, 3)(1, 0) = n2; getSubMatrix(K, 1, 6, 3, 3)(1, 1) = d1; getSubMatrix(K, 1, 6, 3, 3)(1, 2) = n1; getSubMatrix(K, 1, 6, 3, 3)(2, 0) = n2; getSubMatrix(K, 1, 6, 3, 3)(2, 1) = n1; getSubMatrix(K, 1, 6, 3, 3)(2, 2) = d1; getSubMatrix(K, 2, 5, 3, 3) = getSubMatrix(K, 1, 6, 3, 3); getSubMatrix(K, 2, 5, 3, 3)(0, 1) = n2; getSubMatrix(K, 2, 5, 3, 3)(1, 0) = e2; getSubMatrix(K, 2, 5, 3, 3)(1, 2) = e1; getSubMatrix(K, 2, 5, 3, 3)(2, 1) = e1; getSubMatrix(K, 0, 7, 3, 3) = getSubMatrix(K, 1, 6, 3, 3); getSubMatrix(K, 0, 7, 3, 3)(0, 1) = n2; getSubMatrix(K, 0, 7, 3, 3)(0, 2) = n2; getSubMatrix(K, 0, 7, 3, 3)(1, 0) = e2; getSubMatrix(K, 0, 7, 3, 3)(2, 0) = e2; getSubMatrix(K, 3, 4, 3, 3) = getSubMatrix(K, 1, 6, 3, 3); getSubMatrix(K, 3, 4, 3, 3)(0, 2) = n2; getSubMatrix(K, 3, 4, 3, 3)(1, 2) = e1; getSubMatrix(K, 3, 4, 3, 3)(2, 0) = e2; getSubMatrix(K, 3, 4, 3, 3)(2, 1) = e1; getSubMatrix(K, 0, 2, 3, 3)(0, 0) = d1; getSubMatrix(K, 0, 2, 3, 3)(0, 1) = n1; getSubMatrix(K, 0, 2, 3, 3)(0, 2) = e2; getSubMatrix(K, 0, 2, 3, 3)(1, 0) = n1; getSubMatrix(K, 0, 2, 3, 3)(1, 1) = d1; getSubMatrix(K, 0, 2, 3, 3)(1, 2) = e2; getSubMatrix(K, 0, 2, 3, 3)(2, 0) = n2; getSubMatrix(K, 0, 2, 3, 3)(2, 1) = n2; getSubMatrix(K, 0, 2, 3, 3)(2, 2) = d2; getSubMatrix(K, 1, 3, 3, 3) = getSubMatrix(K, 0, 2, 3, 3); getSubMatrix(K, 1, 3, 3, 3)(0, 1) = e1; getSubMatrix(K, 1, 3, 3, 3)(0, 2) = n2; getSubMatrix(K, 1, 3, 3, 3)(1, 0) = e1; getSubMatrix(K, 1, 3, 3, 3)(2, 0) = e2; getSubMatrix(K, 4, 6, 3, 3) = getSubMatrix(K, 0, 2, 3, 3); getSubMatrix(K, 4, 6, 3, 3)(0, 2) = n2; getSubMatrix(K, 4, 6, 3, 3)(1, 2) = n2; getSubMatrix(K, 4, 6, 3, 3)(2, 0) = e2; getSubMatrix(K, 4, 6, 3, 3)(2, 1) = e2; getSubMatrix(K, 5, 7, 3, 3) = getSubMatrix(K, 0, 2, 3, 3); getSubMatrix(K, 5, 7, 3, 3)(0, 1) = e1; getSubMatrix(K, 5, 7, 3, 3)(1, 0) = e1; getSubMatrix(K, 5, 7, 3, 3)(1, 2) = n2; getSubMatrix(K, 5, 7, 3, 3)(2, 1) = e2; } // Cube diagonals { double d = (-a - 2.0 * c) / 36.0; double e = (b + c) / 24.0; double n = -e; getSubMatrix(K, 0, 6, 3, 3).setConstant(n); getSubMatrix(K, 0, 6, 3, 3).diagonal().setConstant(d); getSubMatrix(K, 1, 7, 3, 3).setConstant(e); getSubMatrix(K, 1, 7, 3, 3).diagonal().setConstant(d); getSubMatrix(K, 1, 7, 3, 3)(1, 2) = n; getSubMatrix(K, 1, 7, 3, 3)(2, 1) = n; getSubMatrix(K, 2, 4, 3, 3).setConstant(e); getSubMatrix(K, 2, 4, 3, 3).diagonal().setConstant(d); getSubMatrix(K, 2, 4, 3, 3)(0, 1) = n; getSubMatrix(K, 2, 4, 3, 3)(1, 0) = n; getSubMatrix(K, 3, 5, 3, 3).setConstant(e); getSubMatrix(K, 3, 5, 3, 3).diagonal().setConstant(d); getSubMatrix(K, 3, 5, 3, 3)(0, 2) = n; getSubMatrix(K, 3, 5, 3, 3)(2, 0) = n; } // Use symmetry to complete the triangular inferior part of K K.triangularView().setZero(); K += K.triangularView().adjoint(); } addSubMatrix(K, nodeIdsVectorForm, 3 , &m_expectedStiffnessMatrix); } void computeExpectedMassMatrix(std::vector nodeIdsVectorForm) { using SurgSim::Math::addSubMatrix; Eigen::Matrix M = Eigen::Matrix::Zero(); // "Physically-Based Simulation of Objects Represented by Surface Meshes" // Muller, Techner, Gross, CGI 2004 // Given the shape functions they defined on Appendix A for the cube we are testing // We can derive the mass matrix M = \int_V rho N^T.N dV // N being a matrix (3x24) of shape functions // cf documentation double a = 1.0 / 27.0; double b = a / 2.0; double c = a / 4.0; double d = a / 8.0; M.diagonal().setConstant(a); M.block(0, 3, 21, 21).diagonal().setConstant(b); M.block(3 * 3, 3 * 4, 3, 3).diagonal().setConstant(c); // block (3, 4) M.block(0, 6, 18, 18).diagonal().setConstant(c); M.block(3 * 2, 3 * 4, 6, 6).diagonal().setConstant(d); // block (2, 4) and block (3, 5) M.block(0, 9, 15, 15).diagonal().setConstant(c); M.block(3 * 0, 3 * 3, 3, 3).diagonal().setConstant(b); // block (0, 3) M.block(3 * 4, 3 * 7, 3, 3).diagonal().setConstant(b); // block (4, 7) M.block(0, 12, 12, 12).diagonal().setConstant(b); M.block(0, 15, 9, 9).diagonal().setConstant(c); M.block(0, 18, 6, 6).diagonal().setConstant(d); M.block(0, 21, 3, 3).diagonal().setConstant(c); // Symmetry for (size_t row = 0; row < 24; ++row) { for (size_t col = row + 1; col < 24; ++col) { M(col, row) = M(row, col); } } M *= m_rho; addSubMatrix(M, nodeIdsVectorForm, 3 , &m_expectedMassMatrix); } void SetUp() override { using SurgSim::Math::getSubVector; using SurgSim::Math::getSubMatrix; m_restState.setNumDof(3, 8); Vector& x0 = m_restState.getPositions(); // Cube is aligned with the axis (X,Y,Z), centered on (0.0, 0.0, 0.0), of size 1 // 2*-----------*3 // / /| // 6*-----------*7 | ^ y // | | | | // | 0 | *1 *->x // | | / / // 4*-----------*5 z getSubVector(x0, 0, 3) = Vector3d(-0.5, -0.5, -0.5); getSubVector(x0, 1, 3) = Vector3d(0.5, -0.5, -0.5); getSubVector(x0, 2, 3) = Vector3d(-0.5, 0.5, -0.5); getSubVector(x0, 3, 3) = Vector3d(0.5, 0.5, -0.5); getSubVector(x0, 4, 3) = Vector3d(-0.5, -0.5, 0.5); getSubVector(x0, 5, 3) = Vector3d(0.5, -0.5, 0.5); getSubVector(x0, 6, 3) = Vector3d(-0.5, 0.5, 0.5); getSubVector(x0, 7, 3) = Vector3d(0.5, 0.5, 0.5); // Ordering following the description in // "Physically-Based Simulation of Objects Represented by Surface Meshes" // Muller, Techner, Gross, CGI 2004 std::array tmpNodeIds = {{0, 1, 3, 2, 4, 5, 7, 6}}; m_nodeIds = tmpNodeIds; // Useful for assembly helper function std::vector nodeIdsVectorForm(tmpNodeIds.begin(), tmpNodeIds.end()); // Build the expected x0 vector for (size_t i = 0; i < 8; i++) { getSubVector(m_expectedX0, i, 3) = getSubVector(x0, m_nodeIds[i], 3); } // The cube has a size of 1, so its volume is 1m^3 m_expectedVolume = 1.0; m_rho = 1000.0; m_E = 1e6; m_nu = 0.45; m_expectedMassMatrix.setZero(3 * 8, 3 * 8); m_expectedDampingMatrix.setZero(3 * 8, 3 * 8); m_expectedStiffnessMatrix.setZero(3 * 8, 3 * 8); m_vectorOnes.setOnes(3 * 8); computeExpectedMassMatrix(nodeIdsVectorForm); computeExpectedStiffnessMatrix(nodeIdsVectorForm); } // This method tests all node permutations for both face definition (2 groups of 4 indices) // keeping their ordering intact (CW or CCW) void testNodeOrderingAllPermutations(const SurgSim::Math::OdeState& m_restState, size_t id0, size_t id1, size_t id2, size_t id3, size_t id4, size_t id5, size_t id6, size_t id7, bool expectThrow) { std::array face1 = {{id0, id1, id2, id3}}; std::array face2 = {{id4, id5, id6, id7}}; // Shuffle the faces to create all the possible permutations for (size_t face1Permutation = 0; face1Permutation < 4; face1Permutation++) { for (size_t face2Permutation = 0; face2Permutation < 4; face2Permutation++) { std::array ids; for (size_t index = 0; index < 4; index++) { ids[ index] = face1[(index + face1Permutation) % 4]; ids[4 + index] = face2[(index + face2Permutation) % 4]; } // Test this permutation if (expectThrow) { EXPECT_ANY_THROW({auto cube = getCubeElement(ids); cube->initialize(m_restState);}); } else { EXPECT_NO_THROW({auto cube = getCubeElement(ids); cube->initialize(m_restState);}); } } } } }; extern void testSize(const Vector& v, int expectedSize); extern void testSize(const Matrix& m, int expectedRows, int expectedCols); TEST_F(Fem3DElementCubeTests, ConstructorTest) { ASSERT_NO_THROW({MockFem3DElementCube cube(m_nodeIds);}); ASSERT_NO_THROW({MockFem3DElementCube* cube = new MockFem3DElementCube(m_nodeIds); delete cube;}); ASSERT_NO_THROW({std::shared_ptr cube = std::make_shared(m_nodeIds); }); } TEST_F(Fem3DElementCubeTests, InitializeTest) { { SCOPED_TRACE("Invalid node ids"); std::array invalidNodeIds = {{0, 1, 2, 3, 4, 10, 9, 8}}; ASSERT_NO_THROW({auto cube = getCubeElement(invalidNodeIds);}); auto cube = getCubeElement(invalidNodeIds); ASSERT_THROW(cube->initialize(m_restState), SurgSim::Framework::AssertionFailure); } { SCOPED_TRACE("Valid node ids"); ASSERT_NO_THROW({auto cube = getCubeElement(m_nodeIds);}); auto cube = getCubeElement(m_nodeIds); ASSERT_NO_THROW(cube->initialize(m_restState)); } } TEST_F(Fem3DElementCubeTests, NodeIdsTest) { Fem3DElementCube cube(m_nodeIds); EXPECT_EQ(8u, cube.getNumNodes()); EXPECT_EQ(8u, cube.getNodeIds().size()); for (int i = 0; i < 8; i++) { EXPECT_EQ(m_nodeIds[i], cube.getNodeId(i)); EXPECT_EQ(m_nodeIds[i], cube.getNodeIds()[i]); } } TEST_F(Fem3DElementCubeTests, VolumeTest) { { SCOPED_TRACE("Volume valid and positive"); auto cube = getCubeElement(m_nodeIds); cube->initialize(m_restState); // rest volume is computed by the initialize method EXPECT_NEAR(cube->getRestVolume(), m_expectedVolume, 1e-10); EXPECT_NEAR(cube->getVolume(m_restState), m_expectedVolume, 1e-10); } { SCOPED_TRACE("Volume valid but negative"); std::array nodeIds = {{0, 1, 3, 2, 4, 6, 7, 5}}; auto cube = getCubeElement(nodeIds); ASSERT_THROW(cube->initialize(m_restState), SurgSim::Framework::AssertionFailure); } { SCOPED_TRACE("Volume invalid, degenerated cube"); // Copy the 1st 4 points over the 4 following points, so the cube degenerate to a square m_restState.getPositions().segment<3 * 4>(12) = m_restState.getPositions().segment<3 * 4>(0); auto cube = getCubeElement(m_nodeIds); ASSERT_THROW(cube->initialize(m_restState), SurgSim::Framework::AssertionFailure); } } TEST_F(Fem3DElementCubeTests, NodeOrderingTest) { // Any definition starting with a 1st face defined CW // followed by the opposite face defined CCW is valid. // Front face CW, opposite face CCW testNodeOrderingAllPermutations(m_restState, 6, 7, 5, 4, 2, 3, 1, 0, false); // Front face CW, opposite face CW testNodeOrderingAllPermutations(m_restState, 6, 7, 5, 4, 2, 0, 1, 3, true); // Front face CCW, opposite face CCW testNodeOrderingAllPermutations(m_restState, 6, 4, 5, 7, 2, 3, 1, 0, true); // Front face CCW, opposite face CW testNodeOrderingAllPermutations(m_restState, 6, 4, 5, 7, 2, 0, 1, 3, true); // Back face CW, opposite face CCW testNodeOrderingAllPermutations(m_restState, 0, 1, 3, 2, 4, 5, 7, 6, false); // Back face CW, opposite face CW testNodeOrderingAllPermutations(m_restState, 0, 1, 3, 2, 4, 6, 7, 5, true); // Back face CCW, opposite face CCW testNodeOrderingAllPermutations(m_restState, 0, 2, 3, 1, 4, 5, 7, 6, true); // Back face CCW, opposite face CW testNodeOrderingAllPermutations(m_restState, 0, 2, 3, 1, 4, 6, 7, 5, true); // Top face CW, opposite face CCW testNodeOrderingAllPermutations(m_restState, 2, 3, 7, 6, 0, 1, 5, 4, false); // Top face CW, opposite face CW testNodeOrderingAllPermutations(m_restState, 2, 3, 7, 6, 0, 4, 5, 1, true); // Top face CCW, opposite face CCW testNodeOrderingAllPermutations(m_restState, 2, 6, 7, 3, 0, 1, 5, 4, true); // Top face CCW, opposite face CW testNodeOrderingAllPermutations(m_restState, 2, 6, 7, 3, 0, 4, 5, 1, true); // Bottom face CW, opposite face CCW testNodeOrderingAllPermutations(m_restState, 0, 4, 5, 1, 6, 7, 3, 2, false); // Bottom face CW, opposite face CW testNodeOrderingAllPermutations(m_restState, 0, 4, 5, 1, 6, 2, 3, 7, true); // Bottom face CCW, opposite face CCW testNodeOrderingAllPermutations(m_restState, 0, 1, 5, 4, 6, 7, 3, 2, true); // Bottom face CCW, opposite face CW testNodeOrderingAllPermutations(m_restState, 0, 1, 5, 4, 6, 2, 3, 7, true); // Right face CW, opposite face CCW testNodeOrderingAllPermutations(m_restState, 3, 1, 5, 7, 2, 0, 4, 6, false); // Right face CW, opposite face CW testNodeOrderingAllPermutations(m_restState, 3, 1, 5, 7, 2, 6, 4, 0, true); // Right face CCW, opposite face CCW testNodeOrderingAllPermutations(m_restState, 3, 7, 5, 1, 2, 0, 4, 6, true); // Right face CCW, opposite face CW testNodeOrderingAllPermutations(m_restState, 3, 7, 5, 1, 2, 6, 4, 0, true); // Left face CW, opposite face CCW testNodeOrderingAllPermutations(m_restState, 0, 2, 6, 4, 1, 3, 7, 5, false); // Left face CW, opposite face CW testNodeOrderingAllPermutations(m_restState, 0, 2, 6, 4, 1, 5, 7, 3, true); // Left face CCW, opposite face CCW testNodeOrderingAllPermutations(m_restState, 0, 4, 6, 2, 1, 3, 7, 5, true); // Left face CCW, opposite face CW testNodeOrderingAllPermutations(m_restState, 0, 4, 6, 2, 1, 5, 7, 3, true); } TEST_F(Fem3DElementCubeTests, ShapeFunctionsTest) { using SurgSim::Math::getSubVector; auto cube = getCubeElement(m_nodeIds); cube->initialize(m_restState); EXPECT_TRUE(cube->getInitialPosition().isApprox(m_expectedX0)) << "x0 = " << cube->getInitialPosition().transpose() << std::endl << "x0 expected = " << m_expectedX0.transpose(); // We should have by construction: // { N0(p0) = 1 N1(p0)=N2(p0)=N3(p0)=0 // { N1(p1) = 1 N1(p1)=N2(p1)=N3(p1)=0 // { N2(p2) = 1 N1(p2)=N2(p2)=N3(p2)=0 // { N3(p3) = 1 N1(p3)=N2(p3)=N3(p3)=0 Vector3d p[8]; for (size_t nodeId = 0; nodeId < 8; ++nodeId) { // retrieving the points from expectedX0 with indices 0..7 // which is equivalent to // retrieving the points from m_restState with indices m_nodeIds[0]..m_nodeIds[7] p[nodeId] = getSubVector(m_expectedX0, nodeId, 3); } double Ni_p0[8], Ni_p1[8], Ni_p2[8], Ni_p3[8], Ni_p4[8], Ni_p5[8], Ni_p6[8], Ni_p7[8]; for (int i = 0; i < 8; i++) { Ni_p0[i] = cube->evaluateN(i, -1.0, -1.0, -1.0); Ni_p1[i] = cube->evaluateN(i, +1.0, -1.0, -1.0); Ni_p2[i] = cube->evaluateN(i, +1.0, +1.0, -1.0); Ni_p3[i] = cube->evaluateN(i, -1.0, +1.0, -1.0); Ni_p4[i] = cube->evaluateN(i, -1.0, -1.0, +1.0); Ni_p5[i] = cube->evaluateN(i, +1.0, -1.0, +1.0); Ni_p6[i] = cube->evaluateN(i, +1.0, +1.0, +1.0); Ni_p7[i] = cube->evaluateN(i, -1.0, +1.0, +1.0); } EXPECT_NEAR(Ni_p0[0], 1.0, 1e-12); for (size_t i = 0; i < 8; ++i) { if (i == 0) { continue; } EXPECT_NEAR(Ni_p0[i], 0.0, 1e-12); } EXPECT_NEAR(Ni_p1[1], 1.0, 1e-12); for (size_t i = 0; i < 8; ++i) { if (i == 1) { continue; } EXPECT_NEAR(Ni_p1[i], 0.0, 1e-12); } EXPECT_NEAR(Ni_p2[2], 1.0, 1e-12); for (size_t i = 0; i < 8; ++i) { if (i == 2) { continue; } EXPECT_NEAR(Ni_p2[i], 0.0, 1e-12); } EXPECT_NEAR(Ni_p3[3], 1.0, 1e-12); for (size_t i = 0; i < 8; ++i) { if (i == 3) { continue; } EXPECT_NEAR(Ni_p3[i], 0.0, 1e-12); } EXPECT_NEAR(Ni_p4[4], 1.0, 1e-12); for (size_t i = 0; i < 8; ++i) { if (i == 4) { continue; } EXPECT_NEAR(Ni_p4[i], 0.0, 1e-12); } EXPECT_NEAR(Ni_p5[5], 1.0, 1e-12); for (size_t i = 0; i < 8; ++i) { if (i == 5) { continue; } EXPECT_NEAR(Ni_p5[i], 0.0, 1e-12); } EXPECT_NEAR(Ni_p6[6], 1.0, 1e-12); for (size_t i = 0; i < 8; ++i) { if (i == 6) { continue; } EXPECT_NEAR(Ni_p6[i], 0.0, 1e-12); } EXPECT_NEAR(Ni_p7[7], 1.0, 1e-12); for (size_t i = 0; i < 8; ++i) { if (i == 7) { continue; } EXPECT_NEAR(Ni_p7[i], 0.0, 1e-12); } // We should have the relation sum(Ni(x,y,z) = 1) for all points in the volume // We verify that relation by sampling the tetrahedron volume for (double epsilon = -1.0; epsilon <= 1.0; epsilon += 0.1) { for (double eta = -1.0; eta <= 1.0; eta += 0.1) { for (double mu = -1.0; mu <= 1.0; mu += 0.1) { double Ni_p[8]; double sum = 0.0; for (int i = 0; i < 8; i++) { Ni_p[i] = cube->evaluateN(i, epsilon, eta, mu); sum += Ni_p[i]; } EXPECT_NEAR(sum, 1.0, 1e-10) << " for epsilon = " << epsilon << ", eta = " << eta << ", mu = " << mu << std::endl << " N0(epsilon,eta,mu) = " << Ni_p[0] << " N1(epsilon,eta,mu) = " << Ni_p[1] << " N2(epsilon,eta,mu) = " << Ni_p[2] << " N3(epsilon,eta,mu) = " << Ni_p[3] << " N4(epsilon,eta,mu) = " << Ni_p[4] << " N5(epsilon,eta,mu) = " << Ni_p[5] << " N6(epsilon,eta,mu) = " << Ni_p[6] << " N7(epsilon,eta,mu) = " << Ni_p[7]; } } } } TEST_F(Fem3DElementCubeTests, CoordinateTests) { auto cube = getCubeElement(m_nodeIds); cube->initialize(m_restState); { // Non-normalize node SurgSim::Math::Vector nodePositions(8); nodePositions << 0.7, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; EXPECT_FALSE(cube->isValidCoordinate(nodePositions)); // Node with point which is outside of the cube nodePositions << 1.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; EXPECT_FALSE(cube->isValidCoordinate(nodePositions)); // Normal node nodePositions << 0.5, 0.25, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0; EXPECT_TRUE(cube->isValidCoordinate(nodePositions)); } { // Node with more than 8 coordinate points SurgSim::Math::Vector nodePositions(9); nodePositions << 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; EXPECT_FALSE(cube->isValidCoordinate(nodePositions)); } { // Node with some coordinates less than 0 but greater than epsilon and // some greater than 1 and less than (1 + epsilon). SurgSim::Math::Vector nodePositions(8); nodePositions << -1e-11, 1.0 + 1e-11, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0; EXPECT_TRUE(cube->isValidCoordinate(nodePositions)); } // Test computeCartesianCoordinate. { // Compute central point of the cube SurgSim::Math::Vector nodePositions(8); nodePositions << 0.125, 0.125, 0.125, 0.125, 0.125, 0.125, 0.125, 0.125; EXPECT_TRUE(cube->isValidCoordinate(nodePositions)); EXPECT_TRUE(SurgSim::Math::Vector3d(0.0, 0.0, 0.0).isApprox( cube->computeCartesianCoordinate(m_restState, nodePositions), epsilon)); } { SurgSim::Math::Vector nodePositions(8); nodePositions << 0.01, 0.07, 0.11, 0.05, 0.0, 0.23, 0.13, 0.4; EXPECT_TRUE(cube->isValidCoordinate(nodePositions)); EXPECT_TRUE(SurgSim::Math::Vector3d(0.04, 0.19, 0.26).isApprox( cube->computeCartesianCoordinate(m_restState, nodePositions), epsilon)); // 0.01 * (-0.5,-0.5,-0.5) => (-0.005, -0.005, -0.005) // 0.07 * ( 0.5,-0.5,-0.5) => ( 0.035, -0.035, -0.035) // 0.11 * ( 0.5, 0.5,-0.5) => ( 0.055, 0.055, -0.055) // 0.05 * (-0.5, 0.5,-0.5) => (-0.025, 0.025, -0.025) // 0.0 * (-0.5,-0.5, 0.5) => (-0.00, -0.00, 0.00) // 0.23 * ( 0.5,-0.5, 0.5) => ( 0.115, -0.115, 0.115) // 0.13 * ( 0.5, 0.5, 0.5) => ( 0.065, 0.065, 0.065) // 0.4 * (-0.5, 0.5, 0.5) => (-0.20, 0.20, 0.20) // = ( 0.04, 0.19, 0.26) } // Test computeNaturalCoordinate. EXPECT_THROW(cube->computeNaturalCoordinate(m_restState, SurgSim::Math::Vector3d(0.0, 0.0, 0.0)), SurgSim::Framework::AssertionFailure); } TEST_F(Fem3DElementCubeTests, ForceAndMatricesTest) { using SurgSim::Math::getSubVector; auto cube = getCubeElement(m_nodeIds); cube->initialize(m_restState); Vector forceVector = Vector::Zero(3 * 8); SparseMatrix massMatrix(3 * 8, 3 * 8); SparseMatrix dampingMatrix(3 * 8, 3 * 8); SparseMatrix stiffnessMatrix(3 * 8, 3 * 8); Matrix zeroMatrix = Matrix::Zero(cube->getNumDofPerNode() * cube->getNumNodes(), cube->getNumDofPerNode() * cube->getNumNodes()); massMatrix.setZero(); cube->assembleMatrixBlocks(zeroMatrix, cube->getNodeIds(), static_cast(cube->getNumDofPerNode()), &massMatrix, true); massMatrix.makeCompressed(); dampingMatrix.setZero(); cube->assembleMatrixBlocks(zeroMatrix, cube->getNodeIds(), static_cast(cube->getNumDofPerNode()), &dampingMatrix, true); dampingMatrix.makeCompressed(); stiffnessMatrix.setZero(); cube->assembleMatrixBlocks(zeroMatrix, cube->getNodeIds(), static_cast(cube->getNumDofPerNode()), &stiffnessMatrix, true); stiffnessMatrix.makeCompressed(); // Update the internal f, M, D, K variables. cube->updateFMDK(m_restState, SurgSim::Math::ODEEQUATIONUPDATE_FMDK); // No force should be produced when in rest state (x = x0) => F = K.(x-x0) = 0 cube->addForce(&forceVector); EXPECT_TRUE(forceVector.isZero()); cube->addMass(&massMatrix); EXPECT_TRUE(massMatrix.isApprox(m_expectedMassMatrix)) << "Expected mass matrix :" << std::endl << m_expectedMassMatrix << std::endl << std::endl << "Mass matrix :" << std::endl << massMatrix << std::endl; cube->addDamping(&dampingMatrix); EXPECT_TRUE(dampingMatrix.isApprox(m_expectedDampingMatrix)); cube->addStiffness(&stiffnessMatrix); EXPECT_TRUE(stiffnessMatrix.isApprox(m_expectedStiffnessMatrix)) << "Expected stiffness matrix :" << std::endl << m_expectedStiffnessMatrix << std::endl << std::endl << "Stiffness matrix :" << std::endl << stiffnessMatrix << std::endl; forceVector.setZero(); clearMatrix(&massMatrix); clearMatrix(&dampingMatrix); clearMatrix(&stiffnessMatrix); cube->addFMDK(&forceVector, &massMatrix, &dampingMatrix, &stiffnessMatrix); EXPECT_TRUE(forceVector.isZero()); EXPECT_TRUE(massMatrix.isApprox(m_expectedMassMatrix)); EXPECT_TRUE(dampingMatrix.isApprox(m_expectedDampingMatrix)); EXPECT_TRUE(stiffnessMatrix.isApprox(m_expectedStiffnessMatrix)); // Test addMatVec API with Mass component only forceVector.setZero(); cube->addMatVec(1.0, 0.0, 0.0, m_vectorOnes, &forceVector); for (int rowId = 0; rowId < 3 * 8; rowId++) { EXPECT_NEAR(m_expectedMassMatrix.row(rowId).sum(), forceVector[rowId], epsilon); } // Test addMatVec API with Damping component only forceVector.setZero(); cube->addMatVec(0.0, 1.0, 0.0, m_vectorOnes, &forceVector); for (int rowId = 0; rowId < 3 * 8; rowId++) { EXPECT_NEAR(m_expectedDampingMatrix.row(rowId).sum(), forceVector[rowId], epsilon); } // Test addMatVec API with Stiffness component only forceVector.setZero(); cube->addMatVec(0.0, 0.0, 1.0, m_vectorOnes, &forceVector); for (int rowId = 0; rowId < 3 * 8; rowId++) { EXPECT_NEAR(m_expectedStiffnessMatrix.row(rowId).sum(), forceVector[rowId], epsilon); } // Test addMatVec API with mix Mass/Damping/Stiffness components forceVector.setZero(); cube->addMatVec(1.0, 2.0, 3.0, m_vectorOnes, &forceVector); for (int rowId = 0; rowId < 3 * 8; rowId++) { double expectedCoef = 1.0 * m_expectedMassMatrix.row(rowId).sum() + 2.0 * m_expectedDampingMatrix.row(rowId).sum() + 3.0 * m_expectedStiffnessMatrix.row(rowId).sum(); EXPECT_NEAR(expectedCoef, forceVector[rowId], epsilon); } } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem3DElementTetrahedronTests.cpp000066400000000000000000000504661277777236100272430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/Framework/Assert.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/OdeEquation.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem3DElementTetrahedron.h" using SurgSim::Physics::Fem3DElementTetrahedron; using SurgSim::Math::clearMatrix; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector; using SurgSim::Math::Matrix; using SurgSim::Math::SparseMatrix; namespace { /// Useful function to compute a shape function /// \param i ith shape function /// \param ai, bi, ci, di The shape functions parameters /// \param p The point to evaluate the shape function at /// \return Ni(p) = 1/6V . (ai + bi.px + ci.py + di.pz) double N(size_t i, double V, double* ai, double* bi, double* ci, double* di, const Vector3d& p) { double inv6V = 1.0 / (6.0 * V); return inv6V * (ai[i] + bi[i] * p[0] + ci[i] * p[1] + di[i] * p[2]); } const double epsilon = 1e-8; }; class MockFem3DElementTet : public Fem3DElementTetrahedron { public: explicit MockFem3DElementTet(std::array nodeIds) : Fem3DElementTetrahedron(nodeIds) { } double getRestVolume() const { return m_restVolume; } void getShapeFunction(int i, double* ai, double* bi, double* ci, double* di) const { *ai = m_ai[i]; *bi = m_bi[i]; *ci = m_ci[i]; *di = m_di[i]; } const Eigen::Matrix& getInitialPosition() const { return m_x0; } void setupInitialParams(const SurgSim::Math::OdeState& state, double massDensity, double poissonRatio, double youngModulus) { setMassDensity(massDensity); setPoissonRatio(poissonRatio); setYoungModulus(youngModulus); initialize(state); } }; class Fem3DElementTetrahedronTests : public ::testing::Test { public: std::array m_nodeIds; SurgSim::Math::OdeState m_restState; double m_expectedVolume; Eigen::Matrix m_expectedX0; double m_rho, m_E, m_nu; SurgSim::Math::Matrix m_expectedMassMatrix, m_expectedDampingMatrix; SurgSim::Math::Matrix m_expectedStiffnessMatrix, m_expectedStiffnessMatrix2; SurgSim::Math::Vector m_vectorOnes; void SetUp() override { using SurgSim::Math::getSubVector; using SurgSim::Math::getSubMatrix; using SurgSim::Math::addSubMatrix; m_nodeIds[0] = 3; m_nodeIds[1] = 1; m_nodeIds[2] = 14; m_nodeIds[3] = 9; std::vector m_nodeIdsVectorForm; // Useful for assembly helper function m_nodeIdsVectorForm.push_back(m_nodeIds[0]); m_nodeIdsVectorForm.push_back(m_nodeIds[1]); m_nodeIdsVectorForm.push_back(m_nodeIds[2]); m_nodeIdsVectorForm.push_back(m_nodeIds[3]); m_restState.setNumDof(3, 15); Vector& x0 = m_restState.getPositions(); // Tet is aligned with the axis (X,Y,Z), centered on (0.1, 1.2, 2.3), embedded in a cube of size 1 getSubVector(m_expectedX0, 0, 3) = getSubVector(x0, m_nodeIds[0], 3) = Vector3d(0.1, 1.2, 2.3); getSubVector(m_expectedX0, 1, 3) = getSubVector(x0, m_nodeIds[1], 3) = Vector3d(1.1, 1.2, 2.3); getSubVector(m_expectedX0, 2, 3) = getSubVector(x0, m_nodeIds[2], 3) = Vector3d(0.1, 2.2, 2.3); getSubVector(m_expectedX0, 3, 3) = getSubVector(x0, m_nodeIds[3], 3) = Vector3d(0.1, 1.2, 3.3); // The tet is part of a cube of size 1x1x1 (it occupies 1/6 of the cube's volume) m_expectedVolume = 1.0 / 6.0; m_rho = 1000.0; m_E = 1e6; m_nu = 0.45; m_expectedMassMatrix.setZero(3 * 15, 3 * 15); m_expectedDampingMatrix.setZero(3 * 15, 3 * 15); m_expectedStiffnessMatrix.setZero(3 * 15, 3 * 15); m_expectedStiffnessMatrix2.setZero(3 * 15, 3 * 15); m_vectorOnes.setOnes(3 * 15); Eigen::Matrix M = Eigen::Matrix::Zero(); { M.diagonal().setConstant(2.0); M.block(0, 3, 9, 9).diagonal().setConstant(1.0); M.block(0, 6, 6, 6).diagonal().setConstant(1.0); M.block(0, 9, 3, 3).diagonal().setConstant(1.0); M.block(3, 0, 9, 9).diagonal().setConstant(1.0); M.block(6, 0, 6, 6).diagonal().setConstant(1.0); M.block(9, 0, 3, 3).diagonal().setConstant(1.0); } M *= m_rho * m_expectedVolume / 20.0; addSubMatrix(M, m_nodeIdsVectorForm, 3 , &m_expectedMassMatrix); Eigen::Matrix K = Eigen::Matrix::Zero(); { // Calculation done by hand from // http://www.colorado.edu/engineering/CAS/courses.d/AFEM.d/AFEM.Ch09.d/AFEM.Ch09.pdf // ai = {} // bi = {-1 1 0 0} // ci = {-1 0 1 0} // di = {-1 0 0 1} Eigen::Matrix B = Eigen::Matrix::Zero(); Eigen::Matrix E = Eigen::Matrix::Zero(); B(0, 0) = -1; B(0, 3) = 1; B(1, 1) = -1; B(1, 7) = 1; B(2, 2) = -1; B(2, 11) = 1; B(3, 0) = -1; B(3, 1) = -1; B(3, 4) = 1; B(3, 6) = 1; B(4, 1) = -1; B(4, 2) = -1; B(4, 8) = 1; B(4, 10) = 1; B(5, 0) = -1; B(5, 2) = -1; B(5, 5) = 1; B(5, 9) = 1; B *= 1.0 / (6.0 * m_expectedVolume); E.block(0, 0, 3, 3).setConstant(m_nu); E.block(0, 0, 3, 3).diagonal().setConstant(1.0 - m_nu); E.block(3, 3, 3, 3).diagonal().setConstant(0.5 - m_nu); E *= m_E / ((1.0 + m_nu) * (1.0 - 2.0 * m_nu)); K = m_expectedVolume * B.transpose() * E * B; } addSubMatrix(K, m_nodeIdsVectorForm, 3 , &m_expectedStiffnessMatrix); // Expecte stiffness matrix given for our case in: // http://www.colorado.edu/engineering/CAS/courses.d/AFEM.d/AFEM.Ch09.d/AFEM.Ch09.pdf double E = m_E / (12.0 * (1.0 - 2.0 * m_nu) * (1.0 + m_nu)); double n0 = 1.0 - 2.0 * m_nu; double n1 = 1.0 - m_nu; K.setZero(); // Fill up the upper triangle part first (without diagonal elements) K(0, 1) = K(0, 2) = K(1, 2) = 1.0; K(0, 3) = -2.0 * n1; K(0, 4) = -n0; K(0, 5) = -n0; K(1, 3) = -2.0 * m_nu; K(1, 4) = -n0; K(2, 3) = -2.0 * m_nu; K(2, 5) = -n0; K(0, 6) = - n0; K(0, 7) = -2.0 * m_nu; K(1, 6) = - n0; K(1, 7) = -2.0 * n1; K(1, 8) = - n0; K(2, 7) = - 2.0 * m_nu; K(2, 8) = -n0; K(0, 9) = - n0; K(0, 11) = -2.0 * m_nu; K(1, 10) = - n0; K(1, 11) = -2.0 * m_nu; K(2, 9) = - n0; K(2, 10) = - n0; K(2, 11) = -2.0 * n1; K(3, 7) = K(3, 11) = 2.0 * m_nu; K(4, 6) = n0; K(5, 9) = n0; K(7, 11) = 2.0 * m_nu; K(8, 10) = n0; K += K.transpose().eval(); // symmetric part (do not forget the .eval() !) K.block(0, 0, 3, 3).diagonal().setConstant(4.0 - 6.0 * m_nu); // diagonal elements K.block(3, 3, 9, 9).diagonal().setConstant(n0); // diagonal elements K(3, 3) = K(7, 7) = K(11, 11) = 2.0 * n1; // diagonal elements K *= E; addSubMatrix(K, m_nodeIdsVectorForm, 3 , &m_expectedStiffnessMatrix2); } }; extern void testSize(const Vector& v, int expectedSize); extern void testSize(const Matrix& m, int expectedRows, int expectedCols); TEST_F(Fem3DElementTetrahedronTests, ConstructorTest) { ASSERT_NO_THROW({MockFem3DElementTet tet(m_nodeIds);}); ASSERT_NO_THROW({MockFem3DElementTet* tet = new MockFem3DElementTet(m_nodeIds); delete tet;}); ASSERT_NO_THROW({std::shared_ptr tet = std::make_shared(m_nodeIds); }); } TEST_F(Fem3DElementTetrahedronTests, NodeIdsTest) { Fem3DElementTetrahedron tet(m_nodeIds); EXPECT_EQ(4u, tet.getNumNodes()); EXPECT_EQ(4u, tet.getNodeIds().size()); for (int i = 0; i < 4; i++) { EXPECT_EQ(m_nodeIds[i], tet.getNodeId(i)); EXPECT_EQ(m_nodeIds[i], tet.getNodeIds()[i]); } } TEST_F(Fem3DElementTetrahedronTests, VolumeTest) { MockFem3DElementTet tet(m_nodeIds); tet.setupInitialParams(m_restState, m_rho, m_nu, m_E); EXPECT_NEAR(tet.getRestVolume(), m_expectedVolume, 1e-10); EXPECT_NEAR(tet.getVolume(m_restState), m_expectedVolume, 1e-10); } TEST_F(Fem3DElementTetrahedronTests, CoordinateTests) { Fem3DElementTetrahedron element(m_nodeIds); Vector3d expectedA(0.1, 1.2, 2.3); Vector3d expectedB(1.1, 1.2, 2.3); Vector3d expectedC(0.1, 2.2, 2.3); Vector3d expectedD(0.1, 1.2, 3.3); Vector validNaturalCoordinate(4); Vector validNaturalCoordinate2(4); Vector invalidNaturalCoordinateSumNot1(4); Vector invalidNaturalCoordinateNegativeValue(4); Vector invalidNaturalCoordinateBiggerThan1Value(4); Vector invalidNaturalCoordinateSize3(3), invalidNaturalCoordinateSize5(5); validNaturalCoordinate << 0.4, 0.3, 0.2, 0.1; validNaturalCoordinate2 << -1e-11, 1.0 + 1e-11, 0.0, 0.0; invalidNaturalCoordinateSumNot1 << 0.1, 0.1, 0.1, 0.1; invalidNaturalCoordinateNegativeValue << 0.7, 0.7, -0.5, 0.1; invalidNaturalCoordinateBiggerThan1Value << 1.4, 0.6, -1.2, 0.2; invalidNaturalCoordinateSize3 << 0.4, 0.4, 0.2; invalidNaturalCoordinateSize5 << 0.2, 0.2, 0.2, 0.2, 0.2; EXPECT_TRUE(element.isValidCoordinate(validNaturalCoordinate)); EXPECT_TRUE(element.isValidCoordinate(validNaturalCoordinate2)); EXPECT_FALSE(element.isValidCoordinate(invalidNaturalCoordinateSumNot1)); EXPECT_FALSE(element.isValidCoordinate(invalidNaturalCoordinateNegativeValue)); EXPECT_FALSE(element.isValidCoordinate(invalidNaturalCoordinateBiggerThan1Value)); EXPECT_FALSE(element.isValidCoordinate(invalidNaturalCoordinateSize3)); EXPECT_FALSE(element.isValidCoordinate(invalidNaturalCoordinateSize5)); Vector naturalCoordinateA(4), naturalCoordinateB(4), naturalCoordinateC(4), naturalCoordinateD(4); Vector naturalCoordinateMiddle(4); Vector ptA, ptB, ptC, ptD, ptMiddle; naturalCoordinateA << 1.0, 0.0, 0.0, 0.0; naturalCoordinateB << 0.0, 1.0, 0.0, 0.0; naturalCoordinateC << 0.0, 0.0, 1.0, 0.0; naturalCoordinateD << 0.0, 0.0, 0.0, 1.0; naturalCoordinateMiddle << 1.0 / 4.0, 1.0 / 4.0, 1.0 / 4.0, 1 / 4.0; EXPECT_THROW(ptA = element.computeCartesianCoordinate(m_restState, invalidNaturalCoordinateBiggerThan1Value), \ SurgSim::Framework::AssertionFailure); EXPECT_THROW(ptA = element.computeCartesianCoordinate(m_restState, invalidNaturalCoordinateNegativeValue), \ SurgSim::Framework::AssertionFailure); EXPECT_THROW(ptA = element.computeCartesianCoordinate(m_restState, invalidNaturalCoordinateSize3), \ SurgSim::Framework::AssertionFailure); EXPECT_THROW(ptA = element.computeCartesianCoordinate(m_restState, invalidNaturalCoordinateSize5), \ SurgSim::Framework::AssertionFailure); EXPECT_THROW(ptA = element.computeCartesianCoordinate(m_restState, invalidNaturalCoordinateSumNot1), \ SurgSim::Framework::AssertionFailure); EXPECT_NO_THROW(ptA = element.computeCartesianCoordinate(m_restState, naturalCoordinateA)); EXPECT_NO_THROW(ptB = element.computeCartesianCoordinate(m_restState, naturalCoordinateB)); EXPECT_NO_THROW(ptC = element.computeCartesianCoordinate(m_restState, naturalCoordinateC)); EXPECT_NO_THROW(ptD = element.computeCartesianCoordinate(m_restState, naturalCoordinateD)); EXPECT_NO_THROW(ptMiddle = element.computeCartesianCoordinate(m_restState, naturalCoordinateMiddle)); EXPECT_TRUE(ptA.isApprox(expectedA)); EXPECT_TRUE(ptB.isApprox(expectedB)); EXPECT_TRUE(ptC.isApprox(expectedC)); EXPECT_TRUE(ptD.isApprox(expectedD)); EXPECT_TRUE(ptMiddle.isApprox((expectedA + expectedB + expectedC + expectedD) / 4.0)); // Test computeNaturalCoordinate. SurgSim::Math::Vector2d cartesian2d(1, 0); SurgSim::Math::Vector4d cartesian4d(1, 0, 0, 0); EXPECT_THROW(element.computeNaturalCoordinate(m_restState, cartesian2d), SurgSim::Framework::AssertionFailure); EXPECT_THROW(element.computeNaturalCoordinate(m_restState, cartesian4d), SurgSim::Framework::AssertionFailure); std::vector listOfNaturalCoordinates; listOfNaturalCoordinates.push_back(SurgSim::Math::Vector4d(1, 0, 0, 0)); listOfNaturalCoordinates.push_back(SurgSim::Math::Vector4d(0, 1, 0, 0)); listOfNaturalCoordinates.push_back(SurgSim::Math::Vector4d(0, 0, 1, 0)); listOfNaturalCoordinates.push_back(SurgSim::Math::Vector4d(0, 0, 0, 1)); listOfNaturalCoordinates.push_back(SurgSim::Math::Vector4d(0.354623, 0.768423, 0.12457, 0.327683)); listOfNaturalCoordinates.push_back(SurgSim::Math::Vector4d(1.354623, 2.768423, 3.12457, 4.327683)); listOfNaturalCoordinates.push_back(SurgSim::Math::Vector4d(0.546323, 2.435323, -69.3422, 345.423)); listOfNaturalCoordinates.push_back(SurgSim::Math::Vector4d(0.352346, 3.3424, 9.325324, 5.32432)); listOfNaturalCoordinates.push_back(SurgSim::Math::Vector4d(0.623543, 9.2345, 2.45346, 1.645745)); listOfNaturalCoordinates.push_back(SurgSim::Math::Vector4d(0.356234, 435.234, 32545.234, 9534.2123)); SurgSim::Math::Vector4d input, calculated(0, 0, 0, 0); Vector cartesian; for (auto testCase = listOfNaturalCoordinates.begin(); testCase != listOfNaturalCoordinates.end(); ++testCase) { input = (*testCase).cwiseAbs(); input /= input.sum(); EXPECT_NO_THROW(cartesian = element.computeCartesianCoordinate(m_restState, input)); EXPECT_NO_THROW(calculated = element.computeNaturalCoordinate(m_restState, cartesian);); EXPECT_TRUE(input.isApprox(calculated)); } } TEST_F(Fem3DElementTetrahedronTests, ShapeFunctionsTest) { using SurgSim::Math::getSubVector; MockFem3DElementTet tet(m_nodeIds); tet.setupInitialParams(m_restState, m_rho, m_nu, m_E); EXPECT_TRUE(tet.getInitialPosition().isApprox(m_expectedX0)) << "x0 = " << tet.getInitialPosition().transpose() << std::endl << "x0 expected = " << m_expectedX0.transpose(); double ai[4], bi[4], ci[4], di[4]; double sumAi = 0.0; for (int i = 0; i < 4; i++) { tet.getShapeFunction(i, &(ai[i]), &(bi[i]), &(ci[i]), &(di[i])); sumAi += ai[i]; } EXPECT_DOUBLE_EQ(6.0 * m_expectedVolume, sumAi); // Ni(x,y,z) = 1/6V . (ai + bi.x + ci.y + di.z) // We should have by construction: // { N0(p0) = 1 N1(p0)=N2(p0)=N3(p0)=0 // { N1(p1) = 1 N1(p1)=N2(p1)=N3(p1)=0 // { N2(p2) = 1 N1(p2)=N2(p2)=N3(p2)=0 // { N3(p3) = 1 N1(p3)=N2(p3)=N3(p3)=0 const Vector3d p0 = getSubVector(m_expectedX0, 0, 3); const Vector3d p1 = getSubVector(m_expectedX0, 1, 3); const Vector3d p2 = getSubVector(m_expectedX0, 2, 3); const Vector3d p3 = getSubVector(m_expectedX0, 3, 3); double Ni_p0[4], Ni_p1[4], Ni_p2[4], Ni_p3[4]; for (int i = 0; i < 4; i++) { Ni_p0[i] = N(i, m_expectedVolume, ai, bi, ci, di, p0); Ni_p1[i] = N(i, m_expectedVolume, ai, bi, ci, di, p1); Ni_p2[i] = N(i, m_expectedVolume, ai, bi, ci, di, p2); Ni_p3[i] = N(i, m_expectedVolume, ai, bi, ci, di, p3); } EXPECT_NEAR(Ni_p0[0], 1.0, 1e-12); EXPECT_NEAR(Ni_p0[1], 0.0, 1e-12); EXPECT_NEAR(Ni_p0[2], 0.0, 1e-12); EXPECT_NEAR(Ni_p0[3], 0.0, 1e-12); EXPECT_NEAR(Ni_p1[0], 0.0, 1e-12); EXPECT_NEAR(Ni_p1[1], 1.0, 1e-12); EXPECT_NEAR(Ni_p1[2], 0.0, 1e-12); EXPECT_NEAR(Ni_p1[3], 0.0, 1e-12); EXPECT_NEAR(Ni_p2[0], 0.0, 1e-12); EXPECT_NEAR(Ni_p2[1], 0.0, 1e-12); EXPECT_NEAR(Ni_p2[2], 1.0, 1e-12); EXPECT_NEAR(Ni_p2[3], 0.0, 1e-12); EXPECT_NEAR(Ni_p3[0], 0.0, 1e-12); EXPECT_NEAR(Ni_p3[1], 0.0, 1e-12); EXPECT_NEAR(Ni_p3[2], 0.0, 1e-12); EXPECT_NEAR(Ni_p3[3], 1.0, 1e-12); // We should have the relation sum(Ni(x,y,z) = 1) for all points in the volume // We verify that relation by sampling the tetrahedron volume for (double sp0p1 = 0; sp0p1 <= 1.0; sp0p1 += 0.1) { for (double sp0p2 = 0; sp0p1 + sp0p2 <= 1.0; sp0p2 += 0.1) { for (double sp0p3 = 0; sp0p1 + sp0p2 + sp0p3 <= 1.0; sp0p3 += 0.1) { Vector3d p = p0 + sp0p1 * (p1 - p0) + sp0p2 * (p2 - p0) + sp0p3 * (p3 - p0); double Ni_p[4]; for (int i = 0; i < 4; i++) { Ni_p[i] = N(i, m_expectedVolume, ai, bi, ci, di, p); } EXPECT_NEAR(Ni_p[0] + Ni_p[1] + Ni_p[2] + Ni_p[3], 1.0, 1e-10) << " for sp0p1 = " << sp0p1 << ", sp0p2 = " << sp0p2 << ", sp0p3 = " << sp0p3 << std::endl << " N0(x,y,z) = " << Ni_p[0] << " N1(x,y,z) = " << Ni_p[1] << " N2(x,y,z) = " << Ni_p[2] << " N3(x,y,z) = " << Ni_p[3]; } } } } TEST_F(Fem3DElementTetrahedronTests, ForceAndMatricesTest) { using SurgSim::Math::getSubVector; MockFem3DElementTet tet(m_nodeIds); // Test the various mode of failure related to the physical parameters // This has been already tested in FemElementTests, but this is to make sure this method is called properly // So the same behavior should be expected { // Mass density not set ASSERT_ANY_THROW(tet.initialize(m_restState)); // Poisson Ratio not set tet.setMassDensity(-1234.56); ASSERT_ANY_THROW(tet.initialize(m_restState)); // Young modulus not set tet.setPoissonRatio(0.55); ASSERT_ANY_THROW(tet.initialize(m_restState)); // Invalid mass density tet.setYoungModulus(-4321.33); ASSERT_ANY_THROW(tet.initialize(m_restState)); // Invalid Poisson ratio tet.setMassDensity(m_rho); ASSERT_ANY_THROW(tet.initialize(m_restState)); // Invalid Young modulus tet.setPoissonRatio(m_nu); ASSERT_ANY_THROW(tet.initialize(m_restState)); tet.setYoungModulus(m_E); ASSERT_NO_THROW(tet.initialize(m_restState)); } Vector forceVector = Vector::Zero(3 * 15); SparseMatrix massMatrix(3 * 15, 3 * 15); SparseMatrix dampingMatrix(3 * 15, 3 * 15); SparseMatrix stiffnessMatrix(3 * 15, 3 * 15); Matrix zeroMatrix = Matrix::Zero(tet.getNumDofPerNode() * tet.getNumNodes(), tet.getNumDofPerNode() * tet.getNumNodes()); massMatrix.setZero(); tet.assembleMatrixBlocks(zeroMatrix, tet.getNodeIds(), static_cast(tet.getNumDofPerNode()), &massMatrix, true); massMatrix.makeCompressed(); dampingMatrix.setZero(); tet.assembleMatrixBlocks(zeroMatrix, tet.getNodeIds(), static_cast(tet.getNumDofPerNode()), &dampingMatrix, true); dampingMatrix.makeCompressed(); stiffnessMatrix.setZero(); tet.assembleMatrixBlocks(zeroMatrix, tet.getNodeIds(), static_cast(tet.getNumDofPerNode()), &stiffnessMatrix, true); stiffnessMatrix.makeCompressed(); // Make sure that the 2 ways of computing the expected stiffness matrix gives the same result EXPECT_TRUE(m_expectedStiffnessMatrix.isApprox(m_expectedStiffnessMatrix2)); // Update the internal f, M, D, K variables. tet.updateFMDK(m_restState, SurgSim::Math::ODEEQUATIONUPDATE_FMDK); // No force should be produced when in rest state (x = x0) => F = K.(x-x0) = 0 tet.addForce(&forceVector); EXPECT_TRUE(forceVector.isZero()); tet.addMass(&massMatrix); EXPECT_TRUE(massMatrix.isApprox(m_expectedMassMatrix)); tet.addDamping(&dampingMatrix); EXPECT_TRUE(dampingMatrix.isApprox(m_expectedDampingMatrix)); tet.addStiffness(&stiffnessMatrix); EXPECT_TRUE(stiffnessMatrix.isApprox(m_expectedStiffnessMatrix)); EXPECT_TRUE(stiffnessMatrix.isApprox(m_expectedStiffnessMatrix2)); forceVector.setZero(); clearMatrix(&massMatrix); clearMatrix(&dampingMatrix); clearMatrix(&stiffnessMatrix); tet.addFMDK(&forceVector, &massMatrix, &dampingMatrix, &stiffnessMatrix); EXPECT_TRUE(forceVector.isZero()); EXPECT_TRUE(massMatrix.isApprox(m_expectedMassMatrix)); EXPECT_TRUE(dampingMatrix.isApprox(m_expectedDampingMatrix)); EXPECT_TRUE(stiffnessMatrix.isApprox(m_expectedStiffnessMatrix)); EXPECT_TRUE(stiffnessMatrix.isApprox(m_expectedStiffnessMatrix2)); // Test addMatVec API with Mass component only forceVector.setZero(); tet.addMatVec(1.0, 0.0, 0.0, m_vectorOnes, &forceVector); for (int rowId = 0; rowId < 3 * 15; rowId++) { EXPECT_NEAR(m_expectedMassMatrix.row(rowId).sum(), forceVector[rowId], epsilon); } // Test addMatVec API with Damping component only forceVector.setZero(); tet.addMatVec(0.0, 1.0, 0.0, m_vectorOnes, &forceVector); for (int rowId = 0; rowId < 3 * 15; rowId++) { EXPECT_NEAR(m_expectedDampingMatrix.row(rowId).sum(), forceVector[rowId], epsilon); } // Test addMatVec API with Stiffness component only forceVector.setZero(); tet.addMatVec(0.0, 0.0, 1.0, m_vectorOnes, &forceVector); for (int rowId = 0; rowId < 3 * 15; rowId++) { EXPECT_NEAR(m_expectedStiffnessMatrix.row(rowId).sum(), forceVector[rowId], epsilon); } // Test addMatVec API with mix Mass/Damping/Stiffness components forceVector.setZero(); tet.addMatVec(1.0, 2.0, 3.0, m_vectorOnes, &forceVector); for (int rowId = 0; rowId < 3 * 15; rowId++) { double expectedCoef = 1.0 * m_expectedMassMatrix.row(rowId).sum() + 2.0 * m_expectedDampingMatrix.row(rowId).sum() + 3.0 * m_expectedStiffnessMatrix.row(rowId).sum(); EXPECT_NEAR(expectedCoef, forceVector[rowId], epsilon); } } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem3DLocalizationTest.cpp000066400000000000000000000146421277777236100257130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/Fem2DRepresentation.h" #include "SurgSim/Physics/Fem3DElementCube.h" #include "SurgSim/Physics/Fem3DElementTetrahedron.h" #include "SurgSim/Physics/Fem3DLocalization.h" #include "SurgSim/Physics/Fem3DRepresentation.h" using SurgSim::DataStructures::IndexedLocalCoordinate; using SurgSim::Math::getSubVector; namespace { const double epsilon = 1e-10; }; namespace SurgSim { namespace Physics { void addTetraheadron(Fem3DRepresentation *fem, std::array nodes, const SurgSim::Math::OdeState& state, double massDensity = 1.0, double poissonRatio = 0.1, double youngModulus = 1.0) { auto element = std::make_shared(nodes); element->setMassDensity(massDensity); element->setPoissonRatio(poissonRatio); element->setYoungModulus(youngModulus); element->initialize(state); fem->addFemElement(element); } class Fem3DLocalizationTest : public ::testing::Test { public: void SetUp() { using SurgSim::Math::Vector3d; m_fem = std::make_shared("Fem3dRepresentation"); auto state = std::make_shared(); state->setNumDof(3, 6); auto& x = state->getPositions(); getSubVector(x, 0, 3) = Vector3d( 0.0, 0.0, 0.0); getSubVector(x, 1, 3) = Vector3d( 0.0, 1.0, -1.0); getSubVector(x, 2, 3) = Vector3d(-1.0, 1.0, 0.0); getSubVector(x, 3, 3) = Vector3d( 0.0, 1.0, 0.0); getSubVector(x, 4, 3) = Vector3d( 1.0, 1.0, 0.0); getSubVector(x, 5, 3) = Vector3d( 1.0, 0.0, -1.0); // Define Tetrahedrons { std::array nodes = {{0, 1, 2, 3}}; addTetraheadron(m_fem.get(), nodes, *state); } { std::array nodes = {{0, 1, 3, 4}}; addTetraheadron(m_fem.get(), nodes, *state); } { std::array nodes = {{0, 1, 4, 5}}; addTetraheadron(m_fem.get(), nodes, *state); } m_fem->setInitialState(state); m_fem->setLocalActive(true); // FEMRepresentation for Fem3DElementCube m_fem3DCube = std::make_shared("Fem3dCubeRepresentation"); auto restState = std::make_shared(); restState->setNumDof(3, 8); auto& x0 = restState->getPositions(); getSubVector(x0, 0, 3) = Vector3d(-1.0,-1.0,-1.0); getSubVector(x0, 1, 3) = Vector3d( 1.0,-1.0,-1.0); getSubVector(x0, 2, 3) = Vector3d(-1.0, 1.0,-1.0); getSubVector(x0, 3, 3) = Vector3d( 1.0, 1.0,-1.0); getSubVector(x0, 4, 3) = Vector3d(-1.0,-1.0, 1.0); getSubVector(x0, 5, 3) = Vector3d( 1.0,-1.0, 1.0); getSubVector(x0, 6, 3) = Vector3d(-1.0, 1.0, 1.0); getSubVector(x0, 7, 3) = Vector3d( 1.0, 1.0, 1.0); // Define Cube { std::array node0 = {{0, 1, 3, 2, 4, 5, 7, 6}}; std::shared_ptr femElement = std::make_shared(node0); femElement->setMassDensity(1.0); femElement->setPoissonRatio(0.1); femElement->setYoungModulus(1.0); m_fem3DCube->addFemElement(femElement); } m_fem3DCube->setInitialState(restState); m_fem3DCube->setLocalActive(true); m_validLocalPosition.index = 1; m_validLocalPosition.coordinate = SurgSim::Math::Vector::Zero(4); m_validLocalPosition.coordinate[0] = 0.4; m_validLocalPosition.coordinate[1] = 0.6; m_validLocalPositionForCube.index = 0; m_validLocalPositionForCube.coordinate = SurgSim::Math::Vector::Zero(8); m_validLocalPositionForCube.coordinate[0] = 0.4; m_validLocalPositionForCube.coordinate[1] = 0.6; m_invalidIndexLocalPosition.index = 3; m_invalidIndexLocalPosition.coordinate = SurgSim::Math::Vector::Zero(4); m_invalidIndexLocalPosition.coordinate[0] = 0.4; m_invalidIndexLocalPosition.coordinate[1] = 0.6; m_invalidCoordinateLocalPosition.index = 1; m_invalidCoordinateLocalPosition.coordinate = SurgSim::Math::Vector::Zero(4); m_invalidCoordinateLocalPosition.coordinate[0] = 0.6; m_invalidCoordinateLocalPosition.coordinate[1] = 0.6; } void TearDown() { } std::shared_ptr m_fem; std::shared_ptr m_fem3DCube; SurgSim::DataStructures::IndexedLocalCoordinate m_validLocalPosition; SurgSim::DataStructures::IndexedLocalCoordinate m_invalidIndexLocalPosition; SurgSim::DataStructures::IndexedLocalCoordinate m_invalidCoordinateLocalPosition; SurgSim::DataStructures::IndexedLocalCoordinate m_validLocalPositionForCube; }; TEST_F(Fem3DLocalizationTest, ConstructorTest) { // IndexedLocalCoordinate pointing to a node (node index + empty coordinate) or a triangle // (triangleID + coordinate of size 2) are invalid. Both will failed, either because the index is out of bound, // or because the coordinates are the wrong size (empty or of size 2 do not correspond to any valid 3d FemElements) // This is tested by m_invalidIndexLocalPosition and m_invalidCoordinateLocalPosition ASSERT_THROW(std::make_shared(m_fem, m_invalidIndexLocalPosition), SurgSim::Framework::AssertionFailure); ASSERT_THROW(std::make_shared(m_fem, m_invalidCoordinateLocalPosition), SurgSim::Framework::AssertionFailure); ASSERT_NO_THROW(std::make_shared(m_fem, m_validLocalPosition);); ASSERT_NO_THROW(std::make_shared(m_fem3DCube, m_validLocalPositionForCube);); } TEST_F(Fem3DLocalizationTest, IsValidRepresentation) { Fem3DLocalization localization(m_fem, m_validLocalPosition); ASSERT_TRUE(localization.isValidRepresentation(m_fem)); // nullptr is valid ASSERT_TRUE(localization.isValidRepresentation(nullptr)); ASSERT_FALSE(localization.isValidRepresentation(std::make_shared("fem1d"))); ASSERT_FALSE(localization.isValidRepresentation(std::make_shared("fem2d"))); } } // namespace SurgSim } // namespace Physics opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem3DPlyReaderDelegateTests.cpp000066400000000000000000000122421277777236100267620ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2015, SimQuest Solutions 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 // // 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 #include "SurgSim/DataStructures/PlyReader.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Fem.h" #include "SurgSim/Physics/Fem3DPlyReaderDelegate.h" using SurgSim::Math::Vector3d; using SurgSim::DataStructures::PlyReader; namespace SurgSim { namespace Physics { TEST(Fem3DRepresentationReaderTests, TetrahedronMeshDelegateTest) { auto fem = std::make_shared(); auto runtime = std::make_shared("config.txt"); fem->load("PlyReaderTests/Tetrahedron.ply"); // Vertices Vector3d vertex0(1.0, 1.0, -1.0); Vector3d vertex25(-1.0, -1.0, 1.0); EXPECT_TRUE(vertex0.isApprox(fem->getVertex(0).position)); EXPECT_TRUE(vertex25.isApprox(fem->getVertex(25).position)); // Tetrahedrons ASSERT_EQ(12u, fem->getNumElements()); std::array tetrahedron0 = {0, 1, 2, 3}; std::array tetrahedron2 = {10, 25, 11, 9}; EXPECT_TRUE(std::equal(std::begin(tetrahedron0), std::end(tetrahedron0), std::begin(fem->getElement(0)->nodeIds))); EXPECT_TRUE(std::equal(std::begin(tetrahedron2), std::end(tetrahedron2), std::begin(fem->getElement(11)->nodeIds))); // Boundary conditions ASSERT_EQ(8u, fem->getBoundaryConditions().size()); EXPECT_EQ(8, fem->getBoundaryCondition(0)); EXPECT_EQ(5, fem->getBoundaryCondition(1)); EXPECT_EQ(3, fem->getBoundaryCondition(2)); EXPECT_EQ(2, fem->getBoundaryCondition(3)); EXPECT_EQ(7, fem->getBoundaryCondition(4)); EXPECT_EQ(1, fem->getBoundaryCondition(5)); EXPECT_EQ(6, fem->getBoundaryCondition(6)); EXPECT_EQ(11, fem->getBoundaryCondition(7)); // Material auto fem2 = fem->getElement(2); EXPECT_DOUBLE_EQ(0.1432, fem2->massDensity); EXPECT_DOUBLE_EQ(0.224, fem2->poissonRatio); EXPECT_DOUBLE_EQ(0.472, fem2->youngModulus); auto fem8 = fem->getElement(8); EXPECT_DOUBLE_EQ(0.1432, fem8->massDensity); EXPECT_DOUBLE_EQ(0.224, fem8->poissonRatio); EXPECT_DOUBLE_EQ(0.472, fem8->youngModulus); } TEST(Fem3DRepresentationReaderTests, CubeMeshDelegateTest) { auto fem = std::make_shared(); auto runtime = std::make_shared("config.txt"); fem->load("PlyReaderTests/Fem3DCube.ply"); // Vertices Vector3d vertex0(1.0, 1.0, 1.0); Vector3d vertex5(2.0, 2.0, 2.0); EXPECT_TRUE(vertex0.isApprox(fem->getVertex(0).position)); EXPECT_TRUE(vertex5.isApprox(fem->getVertex(5).position)); // Cubes ASSERT_EQ(3u, fem->getNumElements()); std::array cube0 = {0, 1, 2, 3, 4, 5, 6, 7}; std::array cube2 = {3, 4, 5, 0, 2, 6, 8, 7}; EXPECT_TRUE(std::equal(std::begin(cube0), std::end(cube0), std::begin(fem->getElement(0)->nodeIds))); EXPECT_TRUE(std::equal(std::begin(cube2), std::end(cube2), std::begin(fem->getElement(2)->nodeIds))); // Boundary conditions ASSERT_EQ(2u, fem->getBoundaryConditions().size()); EXPECT_EQ(9, fem->getBoundaryCondition(0)); EXPECT_EQ(5, fem->getBoundaryCondition(1)); // Material auto fem2 = fem->getElement(2); EXPECT_DOUBLE_EQ(0.2, fem2->massDensity); EXPECT_DOUBLE_EQ(0.3, fem2->poissonRatio); EXPECT_DOUBLE_EQ(0.4, fem2->youngModulus); auto fem1 = fem->getElement(1); EXPECT_DOUBLE_EQ(0.2, fem1->massDensity); EXPECT_DOUBLE_EQ(0.3, fem1->poissonRatio); EXPECT_DOUBLE_EQ(0.4, fem1->youngModulus); } TEST(Fem3DRepresentationReaderTests, WrongPlyWithRotationDof) { auto fem = std::make_shared(); auto runtime = std::make_shared("config.txt"); ASSERT_NO_THROW(fem->load("PlyReaderTests/Wrong3DFileWithRotationData.ply")); } TEST(Fem3DRepresentationReaderTests, PerElementMaterial) { auto fem = std::make_shared(); auto runtime = std::make_shared("config.txt"); fem->load("PlyReaderTests/Fem3DCubeMaterial.ply"); // Material double value = 1.0; for (size_t i = 0; i < fem->getNumElements(); ++i) { auto element = fem->getElement(i); EXPECT_DOUBLE_EQ(value++, element->massDensity); EXPECT_DOUBLE_EQ(value++, element->poissonRatio); EXPECT_DOUBLE_EQ(value++, element->youngModulus); } } TEST(Fem3DRepresentationReaderTests, NoMaterials) { auto fem = std::make_shared(); auto runtime = std::make_shared("config.txt"); ASSERT_NO_THROW(fem->load("PlyReaderTests/Fem3DCubeNoMaterial.ply")); for (auto element : fem->getElements()) { EXPECT_DOUBLE_EQ(0.0, element->massDensity); EXPECT_DOUBLE_EQ(0.0, element->poissonRatio); EXPECT_DOUBLE_EQ(0.0, element->youngModulus); } } } // Physics } // SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/Fem3DRepresentationTests.cpp000066400000000000000000000505111277777236100264430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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. /// \file Fem3DRepresentationTests.cpp /// This file tests the non-abstract functionalities of the base class fem3DRepresentation #include #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/Runtime.h" ///< Used to initialize the Component Fem3DRepresentation #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/DeformableCollisionRepresentation.h" #include "SurgSim/Physics/Fem3DElementTetrahedron.h" #include "SurgSim/Physics/Fem3DLocalization.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" namespace SurgSim { namespace Physics { class Fem3DRepresentationTests : public ::testing::Test { public: void SetUp() override { m_numNodes = 10; } void createFem() { m_fem = std::make_shared("Fem3d"); m_initialState = std::make_shared(); m_initialState->setNumDof(m_fem->getNumDofPerNode(), m_numNodes); m_initialState->getPositions().setLinSpaced(1.23, 9.43); m_initialState->getVelocities().setLinSpaced(-0.94, 1.09); SurgSim::Math::Quaterniond q(1.0, 2.0, 3.0, 4.0); SurgSim::Math::Vector3d t(1.0, 2.0, 3.0); q.normalize(); m_initialPose = SurgSim::Math::makeRigidTransform(q, t); } void addFemElement() { std::array elementNodeIds = {{0, 1, 2, 3}}; std::shared_ptr element = std::make_shared(elementNodeIds); element->setYoungModulus(1e9); element->setPoissonRatio(0.45); element->setMassDensity(1000.0); m_fem->addFemElement(element); } void createLocalization() { SurgSim::DataStructures::IndexedLocalCoordinate femRepCoordinate; femRepCoordinate.index = 0; femRepCoordinate.coordinate = SurgSim::Math::Vector::Zero(4); femRepCoordinate.coordinate[0] = 1.0; m_localization = std::make_shared(m_fem, femRepCoordinate); m_wrongLocalizationType = std::make_shared(); m_wrongLocalizationType->setRepresentation(m_fem); } protected: size_t m_numNodes; std::shared_ptr m_fem; std::shared_ptr m_initialState; SurgSim::Math::RigidTransform3d m_initialPose; std::shared_ptr m_localization; std::shared_ptr m_wrongLocalizationType; }; TEST_F(Fem3DRepresentationTests, ConstructorTest) { ASSERT_NO_THROW(std::shared_ptr fem = std::make_shared("Fem3D")); } TEST_F(Fem3DRepresentationTests, GetNumDofPerNodeTest) { createFem(); EXPECT_EQ(3u, m_fem->getNumDofPerNode()); } TEST_F(Fem3DRepresentationTests, TransformInitialStateTest) { using SurgSim::Math::Vector; createFem(); m_fem->setLocalPose(m_initialPose); m_fem->setInitialState(m_initialState); Vector expectedX = Vector::Zero(m_fem->getNumDof()), expectedV = Vector::Zero(m_fem->getNumDof()); for (size_t nodeId = 0; nodeId < m_numNodes; nodeId++) { expectedX.segment<3>(m_fem->getNumDofPerNode() * nodeId) = m_initialPose * m_initialState->getPosition(nodeId); expectedV.segment<3>(m_fem->getNumDofPerNode() * nodeId) = m_initialPose.linear() * m_initialState->getVelocity(nodeId); } // Initialize the component ASSERT_TRUE(m_fem->initialize(std::make_shared())); // Wake-up the component => apply the pose to the initial state ASSERT_TRUE(m_fem->wakeUp()); EXPECT_TRUE(m_fem->getInitialState()->getPositions().isApprox(expectedX)); EXPECT_TRUE(m_fem->getInitialState()->getVelocities().isApprox(expectedV)); } TEST_F(Fem3DRepresentationTests, DoInitializeTest) { auto runtime = std::make_shared("config.txt"); { SCOPED_TRACE("Initialize with a valid file name"); createFem(); m_fem->loadFem("PlyReaderTests/Tetrahedron.ply"); // Fem3DRepresentation::initialize() will call Fem3DRepresentation::doInitialize(), which should load the file. ASSERT_NO_THROW(ASSERT_TRUE(m_fem->initialize(runtime))); EXPECT_EQ(3u, m_fem->getNumDofPerNode()); EXPECT_EQ(3u * 26u, m_fem->getNumDof()); EXPECT_EQ(24u, m_fem->getInitialState()->getNumBoundaryConditions()); } { SCOPED_TRACE("Initialize with an invalid file name"); createFem(); EXPECT_ANY_THROW(m_fem->loadFem("Non existent fake name")); } { SCOPED_TRACE("Initialize with file name not set"); createFem(); // Fem3DRepresentation will not try to load file, but fem3DRepresentation::doInitialize() will throw. EXPECT_ANY_THROW(m_fem->initialize(runtime)); } { SCOPED_TRACE("Loading file with incorrect PLY format"); createFem(); EXPECT_ANY_THROW(m_fem->loadFem("PlyReaderTests/WrongPlyTetrahedron.ply")); } { SCOPED_TRACE("Loading file with incorrect data"); createFem(); EXPECT_ANY_THROW(m_fem->loadFem("PlyReaderTests/WrongDataTetrahedron.ply");); } } TEST_F(Fem3DRepresentationTests, CreateLocalizationTest) { auto runtime = std::make_shared("config.txt"); ASSERT_NO_THROW(createFem()); ASSERT_NO_THROW(m_fem->loadFem("Geometry/wound_deformable.ply")); auto triangleMesh = std::make_shared(); triangleMesh->load("Geometry/wound_deformable.ply"); // Create the collision mesh for the surface of the finite element model auto collisionRepresentation = std::make_shared("Collision"); collisionRepresentation->setShape(triangleMesh); m_fem->setCollisionRepresentation(collisionRepresentation); bool wokeUp = false; ASSERT_TRUE(m_fem->initialize(runtime)); EXPECT_NO_THROW(wokeUp = m_fem->wakeUp();); EXPECT_TRUE(wokeUp); auto& meshTriangles = triangleMesh->getTriangles(); size_t triangleId = 0; SurgSim::Math::Vector3d centroid; for (auto triangle = meshTriangles.cbegin(); triangle != meshTriangles.cend(); ++triangle, ++triangleId) { std::array triangleNodeIds = triangle->verticesId; centroid = triangleMesh->getVertexPosition(triangleNodeIds[0]); centroid += triangleMesh->getVertexPosition(triangleNodeIds[1]); centroid += triangleMesh->getVertexPosition(triangleNodeIds[2]); centroid /= 3.0; // Test the localization with each of the triangle vertices and the triangle centroid. std::array points = {centroid, triangleMesh->getVertexPosition(triangleNodeIds[0]), triangleMesh->getVertexPosition(triangleNodeIds[1]), triangleMesh->getVertexPosition(triangleNodeIds[2]) }; std::array barycentricCoordinates = {SurgSim::Math::Vector3d::Ones() / 3.0, SurgSim::Math::Vector3d::UnitX(), SurgSim::Math::Vector3d::UnitY(), SurgSim::Math::Vector3d::UnitZ() }; auto barycentricCoordinate = barycentricCoordinates.cbegin(); for (auto point = points.cbegin(); point != points.cend(); ++point, ++barycentricCoordinate) { SurgSim::DataStructures::IndexedLocalCoordinate triangleLocalPosition(triangleId, *barycentricCoordinate); SurgSim::DataStructures::Location location(triangleLocalPosition, SurgSim::DataStructures::Location::TRIANGLE); std::shared_ptr localization; EXPECT_NO_THROW(localization = std::dynamic_pointer_cast(m_fem->createLocalization(location));); EXPECT_TRUE(localization != nullptr); EXPECT_TRUE(localization->getRepresentation() == m_fem); SurgSim::Math::Vector globalPosition; SurgSim::DataStructures::IndexedLocalCoordinate coordinate = localization->getLocalPosition(); EXPECT_NO_THROW(globalPosition = m_fem->getFemElement(coordinate.index)->computeCartesianCoordinate( *m_fem->getCurrentState(), coordinate.coordinate);); EXPECT_EQ(3, globalPosition.size()); EXPECT_TRUE(globalPosition.isApprox(*point)); } } // Localization on an invalid node { SCOPED_TRACE("Invalid node"); SurgSim::DataStructures::Location location(1000); std::shared_ptr localization; EXPECT_THROW(localization = m_fem->createLocalization(location), SurgSim::Framework::AssertionFailure); } // Localization on a valid node { SCOPED_TRACE("Valid node"); SurgSim::DataStructures::Location location(0); std::shared_ptr localization; EXPECT_NO_THROW(localization = std::dynamic_pointer_cast( m_fem->createLocalization(location));); EXPECT_TRUE(localization != nullptr); EXPECT_TRUE(localization->getRepresentation() == m_fem); SurgSim::Math::Vector3d globalPosition; SurgSim::DataStructures::IndexedLocalCoordinate coordinate = localization->getLocalPosition(); EXPECT_NO_THROW(globalPosition = m_fem->getCurrentState()->getPosition(coordinate.index);); EXPECT_TRUE(globalPosition.isApprox(localization->calculatePosition())); } // Localization on an invalid tetrahedron { SCOPED_TRACE("Invalid tetrahedron index"); Vector barycentricCoordinates = Vector::Zero(4); barycentricCoordinates[0] = 1.0; SurgSim::DataStructures::IndexedLocalCoordinate coord(10000, barycentricCoordinates); SurgSim::DataStructures::Location location(coord, SurgSim::DataStructures::Location::ELEMENT); std::shared_ptr localization; EXPECT_THROW(localization = m_fem->createLocalization(location), SurgSim::Framework::AssertionFailure); } // Localization on an valid tetrahedron but invalid barycentric coordinate size { SCOPED_TRACE("Invalid tetrahedron barycentric coordinate size"); Vector barycentricCoordinates = Vector::Zero(5); barycentricCoordinates[0] = 1.0; SurgSim::DataStructures::IndexedLocalCoordinate coord(0, barycentricCoordinates); SurgSim::DataStructures::Location location(coord, SurgSim::DataStructures::Location::ELEMENT); std::shared_ptr localization; EXPECT_THROW(localization = m_fem->createLocalization(location), SurgSim::Framework::AssertionFailure); } // Localization on an valid tetrahedron but invalid barycentric coordinate { SCOPED_TRACE("Invalid tetrahedron barycentric coordinate"); Vector barycentricCoordinates = Vector::Ones(4); SurgSim::DataStructures::IndexedLocalCoordinate coord(0, barycentricCoordinates); SurgSim::DataStructures::Location location(coord, SurgSim::DataStructures::Location::ELEMENT); std::shared_ptr localization; EXPECT_THROW(localization = m_fem->createLocalization(location), SurgSim::Framework::AssertionFailure); } // Localization on a valid tetrahedron { SCOPED_TRACE("Valid tetrahedron"); Vector barycentricCoordinates = Vector::Zero(4); barycentricCoordinates.setConstant(1.0 / 4.0); SurgSim::DataStructures::IndexedLocalCoordinate coord(0, barycentricCoordinates); SurgSim::DataStructures::Location location(coord, SurgSim::DataStructures::Location::ELEMENT); std::shared_ptr localization; EXPECT_NO_THROW(localization = std::dynamic_pointer_cast(m_fem->createLocalization(location))); EXPECT_TRUE(localization != nullptr); EXPECT_TRUE(localization->getRepresentation() == m_fem); SurgSim::DataStructures::IndexedLocalCoordinate coordinate = localization->getLocalPosition(); auto element = m_fem->getFemElement(coordinate.index); SurgSim::Math::Vector3d globalPosition = 1.0 / 4.0 * m_fem->getCurrentState()->getPosition(element->getNodeId(0)) + 1.0 / 4.0 * m_fem->getCurrentState()->getPosition(element->getNodeId(1)) + 1.0 / 4.0 * m_fem->getCurrentState()->getPosition(element->getNodeId(2)) + 1.0 / 4.0 * m_fem->getCurrentState()->getPosition(element->getNodeId(3)); EXPECT_TRUE(globalPosition.isApprox(localization->calculatePosition())); } } TEST_F(Fem3DRepresentationTests, ExternalForceAPITest) { createFem(); // External force vector not initialized until the initial state has been set (it contains the #dof...) EXPECT_EQ(0, m_fem->getExternalGeneralizedForce().size()); EXPECT_EQ(0, m_fem->getExternalGeneralizedStiffness().rows()); EXPECT_EQ(0, m_fem->getExternalGeneralizedStiffness().cols()); EXPECT_EQ(0, m_fem->getExternalGeneralizedDamping().rows()); EXPECT_EQ(0, m_fem->getExternalGeneralizedDamping().cols()); m_fem->setInitialState(m_initialState); // Vector initialized (properly sized and zeroed) Math::SparseMatrix zeroMatrix(static_cast(m_fem->getNumDof()), static_cast(m_fem->getNumDof())); zeroMatrix.setZero(); EXPECT_NE(0, m_fem->getExternalGeneralizedForce().size()); EXPECT_NE(0, m_fem->getExternalGeneralizedStiffness().rows()); EXPECT_NE(0, m_fem->getExternalGeneralizedStiffness().cols()); EXPECT_NE(0, m_fem->getExternalGeneralizedDamping().rows()); EXPECT_NE(0, m_fem->getExternalGeneralizedDamping().cols()); EXPECT_EQ(m_fem->getNumDof(), m_fem->getExternalGeneralizedForce().size()); EXPECT_EQ(m_fem->getNumDof(), m_fem->getExternalGeneralizedStiffness().cols()); EXPECT_EQ(m_fem->getNumDof(), m_fem->getExternalGeneralizedStiffness().rows()); EXPECT_EQ(m_fem->getNumDof(), m_fem->getExternalGeneralizedDamping().cols()); EXPECT_EQ(m_fem->getNumDof(), m_fem->getExternalGeneralizedDamping().rows()); EXPECT_TRUE(m_fem->getExternalGeneralizedForce().isZero()); EXPECT_TRUE(m_fem->getExternalGeneralizedStiffness().isApprox(zeroMatrix)); EXPECT_TRUE(m_fem->getExternalGeneralizedDamping().isApprox(zeroMatrix)); addFemElement(); createLocalization(); Vector FLocalWrongSize = Vector::Ones(2 * m_fem->getNumDofPerNode()); Matrix KLocalWrongSize = Matrix::Ones(3 * m_fem->getNumDofPerNode(), 3 * m_fem->getNumDofPerNode()); Matrix DLocalWrongSize = Matrix::Ones(4 * m_fem->getNumDofPerNode(), 4 * m_fem->getNumDofPerNode()); Vector Flocal = Vector::LinSpaced(m_fem->getNumDofPerNode(), -3.12, 4.09); Matrix Klocal = Matrix::Ones(m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()) * 0.34; Matrix Dlocal = Klocal + Matrix::Identity(m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()); Vector F = Vector::Zero(m_fem->getNumDof()); F.segment(0, m_fem->getNumDofPerNode()) = Flocal; Matrix K = Matrix::Zero(m_fem->getNumDof(), m_fem->getNumDof()); K.block(0, 0, m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()) = Klocal; Matrix D = Matrix::Zero(m_fem->getNumDof(), m_fem->getNumDof()); D.block(0, 0, m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()) = Dlocal; // Test invalid localization nullptr ASSERT_THROW(m_fem->addExternalGeneralizedForce(nullptr, Flocal), SurgSim::Framework::AssertionFailure); ASSERT_THROW(m_fem->addExternalGeneralizedForce(nullptr, Flocal, Klocal, Dlocal), SurgSim::Framework::AssertionFailure); // Test invalid localization type ASSERT_THROW(m_fem->addExternalGeneralizedForce(m_wrongLocalizationType, Flocal), SurgSim::Framework::AssertionFailure); ASSERT_THROW(m_fem->addExternalGeneralizedForce(m_wrongLocalizationType, Flocal, Klocal, Dlocal), SurgSim::Framework::AssertionFailure); // Test invalid force size ASSERT_THROW(m_fem->addExternalGeneralizedForce(m_localization, FLocalWrongSize), SurgSim::Framework::AssertionFailure); ASSERT_THROW(m_fem->addExternalGeneralizedForce(m_localization, FLocalWrongSize, Klocal, Dlocal), SurgSim::Framework::AssertionFailure); // Test invalid stiffness size ASSERT_THROW(m_fem->addExternalGeneralizedForce(m_localization, Flocal, KLocalWrongSize, Dlocal), SurgSim::Framework::AssertionFailure); // Test invalid damping size ASSERT_THROW(m_fem->addExternalGeneralizedForce(m_localization, Flocal, Klocal, DLocalWrongSize), SurgSim::Framework::AssertionFailure); // Test valid call to addExternalGeneralizedForce m_fem->addExternalGeneralizedForce(m_localization, Flocal, Klocal, Dlocal); EXPECT_FALSE(m_fem->getExternalGeneralizedForce().isZero()); EXPECT_FALSE(m_fem->getExternalGeneralizedStiffness().isApprox(zeroMatrix)); EXPECT_FALSE(m_fem->getExternalGeneralizedDamping().isApprox(zeroMatrix)); EXPECT_TRUE(m_fem->getExternalGeneralizedForce().isApprox(F)); EXPECT_TRUE(m_fem->getExternalGeneralizedStiffness().isApprox(K)); EXPECT_TRUE(m_fem->getExternalGeneralizedDamping().isApprox(D)); // Test valid call to addExternalGeneralizedForce to add things up m_fem->addExternalGeneralizedForce(m_localization, Flocal, Klocal, Dlocal); EXPECT_TRUE(m_fem->getExternalGeneralizedForce().isApprox(2.0 * F)); EXPECT_TRUE(m_fem->getExternalGeneralizedStiffness().isApprox(2.0 * K)); EXPECT_TRUE(m_fem->getExternalGeneralizedDamping().isApprox(2.0 * D)); } TEST_F(Fem3DRepresentationTests, LoadMeshTest) { auto fem = std::make_shared("Representation"); auto runtime = std::make_shared("config.txt"); fem->loadFem("PlyReaderTests/Tetrahedron.ply"); fem->initialize(runtime); // Vertices ASSERT_EQ(3u, fem->getNumDofPerNode()); ASSERT_EQ(3u * 26u, fem->getNumDof()); Vector3d vertex0(1.0, 1.0, -1.0); Vector3d vertex25(-1.0, -1.0, 1.0); EXPECT_TRUE(vertex0.isApprox(fem->getInitialState()->getPosition(0))); EXPECT_TRUE(vertex25.isApprox(fem->getInitialState()->getPosition(25))); // Tetrahedrons ASSERT_EQ(12u, fem->getNumFemElements()); std::array tetrahedron0 = {0, 1, 2, 3}; std::array tetrahedron2 = {10, 25, 11, 9}; EXPECT_TRUE(std::equal(std::begin(tetrahedron0), std::end(tetrahedron0), std::begin(fem->getFemElement(0)->getNodeIds()))); EXPECT_TRUE(std::equal(std::begin(tetrahedron2), std::end(tetrahedron2), std::begin(fem->getFemElement(11)->getNodeIds()))); // Boundary conditions ASSERT_EQ(24u, fem->getInitialState()->getNumBoundaryConditions()); // Boundary condition 0 is on node 8 size_t boundaryNode0 = 8; size_t boundaryNode7 = 11; EXPECT_EQ(3 * boundaryNode0, fem->getInitialState()->getBoundaryConditions().at(0)); EXPECT_EQ(3 * boundaryNode0 + 1, fem->getInitialState()->getBoundaryConditions().at(1)); EXPECT_EQ(3 * boundaryNode0 + 2, fem->getInitialState()->getBoundaryConditions().at(2)); EXPECT_EQ(3 * boundaryNode7, fem->getInitialState()->getBoundaryConditions().at(21)); EXPECT_EQ(3 * boundaryNode7 + 1, fem->getInitialState()->getBoundaryConditions().at(22)); EXPECT_EQ(3 * boundaryNode7 + 2, fem->getInitialState()->getBoundaryConditions().at(23)); // Material auto fem2 = fem->getFemElement(2); EXPECT_DOUBLE_EQ(0.1432, fem2->getMassDensity()); EXPECT_DOUBLE_EQ(0.224, fem2->getPoissonRatio()); EXPECT_DOUBLE_EQ(0.472, fem2->getYoungModulus()); auto fem8 = fem->getFemElement(8); EXPECT_DOUBLE_EQ(0.1432, fem8->getMassDensity()); EXPECT_DOUBLE_EQ(0.224, fem8->getPoissonRatio()); EXPECT_DOUBLE_EQ(0.472, fem8->getYoungModulus()); } TEST_F(Fem3DRepresentationTests, SerializationTest) { auto fem3DRepresentation = std::make_shared("Test-Fem3D"); auto runtime = std::make_shared("config.txt"); const std::string filename = "PlyReaderTests/Fem3DCube.ply"; fem3DRepresentation->loadFem(filename); auto collisionRepresentation = std::make_shared("Collision"); fem3DRepresentation->setCollisionRepresentation(collisionRepresentation); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*fem3DRepresentation)); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); std::shared_ptr newRepresentation; ASSERT_NO_THROW(newRepresentation = std::dynamic_pointer_cast( node.as>())); ASSERT_NE(nullptr, newRepresentation); EXPECT_EQ("SurgSim::Physics::Fem3DRepresentation", newRepresentation->getClassName()); EXPECT_EQ(filename, newRepresentation->getFem()->getValue("FileName")); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/FemElementTests.cpp000066400000000000000000000260371277777236100246510ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Physics/FemElement.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Physics/Fem1DElementBeam.h" #include "SurgSim/Physics/Fem2DElementTriangle.h" #include "SurgSim/Physics/Fem3DElementCorotationalTetrahedron.h" #include "SurgSim/Physics/Fem3DElementCube.h" #include "SurgSim/Physics/Fem3DElementTetrahedron.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" using SurgSim::Physics::FemElement; using SurgSim::Math::Vector; using SurgSim::Math::Matrix; void testSize(const Vector& v, size_t expectedSize) { EXPECT_EQ(expectedSize, v.size()); } void testSize(const Matrix& m, size_t expectedRows, size_t expectedCols) { EXPECT_EQ(expectedRows, m.rows()); EXPECT_EQ(expectedCols, m.cols()); } namespace SurgSim { namespace Physics { TEST(FemElementTests, GetSetAddMethods) { MockFemElement femElement; // Initial setup (numDofPerNode set), no nodes defined yet, density = 0 EXPECT_EQ(3u, femElement.getNumDofPerNode()); EXPECT_EQ(0u, femElement.getNumNodes()); EXPECT_EQ(0, femElement.getNodeIds().size()); EXPECT_DOUBLE_EQ(0.0, femElement.getMassDensity()); EXPECT_DOUBLE_EQ(0.0, femElement.getYoungModulus()); EXPECT_DOUBLE_EQ(0.0, femElement.getPoissonRatio()); // Test Set/Get Young modulus femElement.setYoungModulus(4455.33); EXPECT_DOUBLE_EQ(4455.33, femElement.getYoungModulus()); femElement.setYoungModulus(0.0); EXPECT_DOUBLE_EQ(0.0, femElement.getYoungModulus()); // Test Set/Get Poisson ratio femElement.setPoissonRatio(0.45); EXPECT_DOUBLE_EQ(0.45, femElement.getPoissonRatio()); femElement.setPoissonRatio(0.0); EXPECT_DOUBLE_EQ(0.0, femElement.getPoissonRatio()); // Test Set/Get mass density femElement.setMassDensity(2343.13); EXPECT_DOUBLE_EQ(2343.13, femElement.getMassDensity()); femElement.setMassDensity(0.0); EXPECT_DOUBLE_EQ(0.0, femElement.getMassDensity()); // Test GetMass SurgSim::Math::OdeState fakeState; femElement.setMassDensity(0.0); EXPECT_DOUBLE_EQ(0.0, femElement.getMass(fakeState)); femElement.setMassDensity(1.14); EXPECT_DOUBLE_EQ(1.14, femElement.getMass(fakeState)); femElement.setMassDensity(434.55); EXPECT_DOUBLE_EQ(434.55, femElement.getMass(fakeState)); // Add 1 node femElement.addNode(0); EXPECT_EQ(3u, femElement.getNumDofPerNode()); EXPECT_EQ(1u, femElement.getNumNodes()); EXPECT_EQ(1, femElement.getNodeIds().size()); EXPECT_EQ(0, femElement.getNodeIds()[0]); EXPECT_EQ(0, femElement.getNodeId(0)); // Add 1 more node femElement.addNode(9); EXPECT_EQ(3u, femElement.getNumDofPerNode()); EXPECT_EQ(2u, femElement.getNumNodes()); EXPECT_EQ(2, femElement.getNodeIds().size()); EXPECT_EQ(0, femElement.getNodeIds()[0]); EXPECT_EQ(0, femElement.getNodeId(0)); EXPECT_EQ(9, femElement.getNodeIds()[1]); EXPECT_EQ(9, femElement.getNodeId(1)); } TEST(FemElementTests, InitializeMethods) { MockFemElement femElement; SurgSim::Math::OdeState fakeState; // Mass density not set ASSERT_ANY_THROW(femElement.initialize(fakeState)); // Poisson Ratio not set femElement.setMassDensity(-1234.56); ASSERT_ANY_THROW(femElement.initialize(fakeState)); // Young modulus not set femElement.setPoissonRatio(0.55); ASSERT_ANY_THROW(femElement.initialize(fakeState)); // Invalid mass density femElement.setYoungModulus(-4321.33); ASSERT_ANY_THROW(femElement.initialize(fakeState)); // Invalid Poisson ratio femElement.setMassDensity(1234.56); ASSERT_ANY_THROW(femElement.initialize(fakeState)); // Invalid Young modulus femElement.setPoissonRatio(0.499); ASSERT_ANY_THROW(femElement.initialize(fakeState)); femElement.setYoungModulus(4321.33); ASSERT_NO_THROW(femElement.initialize(fakeState)); } void checkValidCoordinate(const MockFemElement& femElement, double v0, bool expected) { Vector naturalCoordinate(1); naturalCoordinate << v0; EXPECT_EQ(expected, femElement.isValidCoordinate(naturalCoordinate)); } void checkValidCoordinate(const MockFemElement& femElement, double v0, double v1, bool expected) { Vector naturalCoordinate(2); naturalCoordinate << v0, v1; EXPECT_EQ(expected, femElement.isValidCoordinate(naturalCoordinate)); } void checkValidCoordinate(const MockFemElement& femElement, double v0, double v1, double v2, bool expected) { Vector naturalCoordinate(3); naturalCoordinate << v0, v1, v2; EXPECT_EQ(expected, femElement.isValidCoordinate(naturalCoordinate)); } void checkValidCoordinate(const MockFemElement& femElement, double v0, double v1, double v2, double v3, bool expected) { Vector naturalCoordinate(4); naturalCoordinate << v0, v1, v2, v3; EXPECT_EQ(expected, femElement.isValidCoordinate(naturalCoordinate)); } TEST(FemElementTests, IsValidCoordinate) { MockFemElement femElement; femElement.addNode(0); double e = 1e-11; checkValidCoordinate(femElement, 1.0, true); checkValidCoordinate(femElement, 1.0 + e, true); checkValidCoordinate(femElement, 1.0 - e, true); checkValidCoordinate(femElement, 1.01, false); checkValidCoordinate(femElement, -1.01, false); checkValidCoordinate(femElement, 0.7, false); femElement.addNode(1); checkValidCoordinate(femElement, 1.0, 0.0, true); checkValidCoordinate(femElement, 1.0 + e, 0.0, true); checkValidCoordinate(femElement, 1.0 + e, 0.0 - e, true); checkValidCoordinate(femElement, 1.0 - e, 0.0 + e, true); checkValidCoordinate(femElement, 0.5, 0.5, true); checkValidCoordinate(femElement, 0.5 + e, 0.5 + e, true); checkValidCoordinate(femElement, 0.5, 0.51, false); checkValidCoordinate(femElement, 1.0, false); checkValidCoordinate(femElement, -0.01, 1.01, false); femElement.addNode(2); checkValidCoordinate(femElement, 1.0, 0.0, 0.0, true); checkValidCoordinate(femElement, 1.0 + e, 0.0, 0.0, true); checkValidCoordinate(femElement, 1.0 + e, 0.0 - e, 0.0, true); checkValidCoordinate(femElement, 1.0 - e, 0.0 + e, e, true); checkValidCoordinate(femElement, 0.5, 0.5, e, true); checkValidCoordinate(femElement, 0.5 + e, 0.5 + e, -e, true); checkValidCoordinate(femElement, 0.5, 0.41, 0.1, false); checkValidCoordinate(femElement, 1.0, 0.0, false); checkValidCoordinate(femElement, -0.01, 1.01, e, false); femElement.addNode(3); checkValidCoordinate(femElement, 1.0, 0.0, 0.0, 0.0, true); checkValidCoordinate(femElement, 1.0 + e, 0.0, 0.0, 0.0, true); checkValidCoordinate(femElement, 1.0 + e, 0.0 - e, 0.0, 0.0, true); checkValidCoordinate(femElement, 1.0 - e, 0.0 + e, e, 0.0, true); checkValidCoordinate(femElement, 0.5, 0.5, e, 0.0, true); checkValidCoordinate(femElement, 0.5 + e, 0.5 + e, 0.0, -e, true); checkValidCoordinate(femElement, 0.5, 0.0, 0.41, 0.1, false); checkValidCoordinate(femElement, 0.0, 1.0, 0.0, false); checkValidCoordinate(femElement, -0.01, 0.0, 1.01, e, false); } TEST(FemElementTests, FactoryTest) { auto mockElement = std::make_shared(); mockElement->nodeIds.push_back(2); FemElement::getFactory().registerClass("MockFemElement"); // Test with a mock FemElement auto mockFem = FemElement::getFactory().create("MockFemElement", mockElement); EXPECT_NE(nullptr, mockFem); EXPECT_NE(nullptr, std::dynamic_pointer_cast(mockFem)); // Test with a 1D beam auto beamElement = std::make_shared(); beamElement->nodeIds.push_back(1); beamElement->nodeIds.push_back(2); beamElement->radius = 0.4; beamElement->enableShear = false; beamElement->massDensity = 0.4; beamElement->poissonRatio = 0.4; beamElement->youngModulus = 0.4; static SurgSim::Physics::Fem1DElementBeam beam; auto beamFem = FemElement::getFactory().create(beam.getClassName(), beamElement); EXPECT_NE(nullptr, beamFem); EXPECT_NE(nullptr, std::dynamic_pointer_cast(beamFem)); ASSERT_ANY_THROW(FemElement::getFactory().create("SurgSim::Physics::Fem1DElementBeam", mockElement)); // Test with a 2D triangle auto triElement = std::make_shared(); triElement->nodeIds.push_back(1); triElement->nodeIds.push_back(2); triElement->nodeIds.push_back(3); triElement->thickness = 0.4; triElement->massDensity = 0.4; triElement->poissonRatio = 0.4; triElement->youngModulus = 0.4; static SurgSim::Physics::Fem2DElementTriangle triangle; auto triFem = FemElement::getFactory().create(triangle.getClassName(), triElement); EXPECT_NE(nullptr, triFem); EXPECT_NE(nullptr, std::dynamic_pointer_cast(triFem)); ASSERT_ANY_THROW(FemElement::getFactory().create("SurgSim::Physics::Fem2DElementTriangle", beamElement)); // Test with a 3D corotational tetrahedron auto tetElement = std::make_shared(); tetElement->nodeIds.push_back(1); tetElement->nodeIds.push_back(2); tetElement->nodeIds.push_back(3); tetElement->nodeIds.push_back(1); tetElement->massDensity = 0.4; tetElement->poissonRatio = 0.4; tetElement->youngModulus = 0.4; static SurgSim::Physics::Fem3DElementCorotationalTetrahedron corotationalTetrahedron; auto coTetFem = FemElement::getFactory().create( corotationalTetrahedron.getClassName(), tetElement); EXPECT_NE(nullptr, coTetFem); EXPECT_NE(nullptr, std::dynamic_pointer_cast(coTetFem)); ASSERT_ANY_THROW(FemElement::getFactory().create( "SurgSim::Physics::Fem3DElementCorotationalTetrahedron", triElement)); // Test with a 3D cube auto cubeElement = std::make_shared(); cubeElement->nodeIds.push_back(1); cubeElement->nodeIds.push_back(2); cubeElement->nodeIds.push_back(3); cubeElement->nodeIds.push_back(4); cubeElement->nodeIds.push_back(5); cubeElement->nodeIds.push_back(6); cubeElement->nodeIds.push_back(7); cubeElement->nodeIds.push_back(8); cubeElement->massDensity = 0.4; cubeElement->poissonRatio = 0.4; cubeElement->youngModulus = 0.4; static SurgSim::Physics::Fem3DElementCube cube; auto cubeFem = FemElement::getFactory().create(cube.getClassName(), cubeElement); EXPECT_NE(nullptr, cubeFem); EXPECT_NE(nullptr, std::dynamic_pointer_cast(cubeFem)); ASSERT_ANY_THROW(FemElement::getFactory().create(cube.getClassName(), tetElement)); // Test with a 3D tetrahedron static SurgSim::Physics::Fem3DElementTetrahedron tetrahedron; auto tetFem = FemElement::getFactory().create(tetrahedron.getClassName(), tetElement); EXPECT_NE(nullptr, tetFem); EXPECT_NE(nullptr, std::dynamic_pointer_cast(tetFem)); ASSERT_ANY_THROW(FemElement::getFactory().create(tetrahedron.getClassName(), cubeElement)); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/FemLocalizationTest.cpp000066400000000000000000000252431277777236100255230ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" #include "SurgSim/Physics/FemLocalization.h" #include "SurgSim/Physics/FemRepresentation.h" using SurgSim::DataStructures::IndexedLocalCoordinate; namespace { const double epsilon = 1e-10; }; namespace SurgSim { namespace Physics { std::shared_ptr createFemElement(std::array nodes) { auto element = std::make_shared(); for (const auto& node : nodes) element->addNode(node); element->setMassDensity(1000.0); element->setPoissonRatio(0.45); element->setYoungModulus(1e6); return element; } class FemLocalizationTest : public ::testing::Test { public: void SetUp() { using SurgSim::Math::Vector3d; using SurgSim::Math::getSubVector; m_fem = std::make_shared("MockFemRepresentation"); auto state = std::make_shared(); state->setNumDof(6, 3); auto& x = state->getPositions(); getSubVector(x, 0, 6).segment<3>(0) = Vector3d( 0.0, 0.0, 0.0); getSubVector(x, 1, 6).segment<3>(0) = Vector3d( 0.0, 1.0, -1.0); getSubVector(x, 2, 6).segment<3>(0) = Vector3d(-1.0, 1.0, 0.0); auto& v = state->getVelocities(); getSubVector(v, 0, 6).segment<3>(0) = Vector3d(0.0, 0.0, 0.0); getSubVector(v, 1, 6).segment<3>(0) = Vector3d(0.0, 1.0, -1.0); getSubVector(v, 2, 6).segment<3>(0) = Vector3d(-1.0, 1.0, 0.0); // Define Beams { std::array nodes = {{0, 1}}; m_fem->addFemElement(createFemElement(nodes)); } { std::array nodes = {{1, 2}}; m_fem->addFemElement(createFemElement(nodes)); } m_fem->setInitialState(state); m_fem->setLocalActive(true); m_validLocalPosition.index = 1; m_validLocalPosition.coordinate = SurgSim::Math::Vector::Zero(2); m_validLocalPosition.coordinate[0] = 0.4; m_validLocalPosition.coordinate[1] = 0.6; m_invalidIndexLocalPosition.index = 3; m_invalidIndexLocalPosition.coordinate = SurgSim::Math::Vector::Zero(2); m_invalidIndexLocalPosition.coordinate[0] = 0.4; m_invalidIndexLocalPosition.coordinate[1] = 0.6; m_invalidCoordinateLocalPosition.index = 1; m_invalidCoordinateLocalPosition.coordinate = SurgSim::Math::Vector::Zero(2); m_invalidCoordinateLocalPosition.coordinate[0] = 0.6; m_invalidCoordinateLocalPosition.coordinate[1] = 0.6; } void TearDown() { } std::shared_ptr m_fem; SurgSim::DataStructures::IndexedLocalCoordinate m_validLocalPosition; SurgSim::DataStructures::IndexedLocalCoordinate m_invalidIndexLocalPosition; SurgSim::DataStructures::IndexedLocalCoordinate m_invalidCoordinateLocalPosition; }; TEST_F(FemLocalizationTest, ConstructorTest) { // IndexedLocalCoordinate pointing to a node (node index + empty coordinate) are invalid. It will failed, // either because the index is out of bound or because the coordinates are the wrong size (empty) // This is tested by m_invalidIndexLocalPosition and m_invalidCoordinateLocalPosition ASSERT_THROW( std::make_shared(m_fem, m_invalidIndexLocalPosition), SurgSim::Framework::AssertionFailure); ASSERT_THROW( std::make_shared(m_fem, m_invalidCoordinateLocalPosition), SurgSim::Framework::AssertionFailure); ASSERT_NO_THROW(std::make_shared(m_fem, m_validLocalPosition);); } TEST_F(FemLocalizationTest, SetGetRepresentation) { FemLocalization localization(m_fem, m_validLocalPosition); EXPECT_NE(nullptr, localization.getRepresentation()); EXPECT_EQ(m_fem, localization.getRepresentation()); EXPECT_EQ(1u, localization.getLocalPosition().index); EXPECT_TRUE(localization.getLocalPosition().coordinate.isApprox(m_validLocalPosition.coordinate)); localization.setRepresentation(nullptr); EXPECT_EQ(nullptr, localization.getRepresentation()); localization.setRepresentation(m_fem); EXPECT_EQ(m_fem, localization.getRepresentation()); SurgSim::DataStructures::IndexedLocalCoordinate m_otherValidLocalPosition; m_otherValidLocalPosition.index = 0; m_otherValidLocalPosition.coordinate = SurgSim::Math::Vector::Zero(2); m_otherValidLocalPosition.coordinate[1] = 1.0; localization.setLocalPosition(m_otherValidLocalPosition); EXPECT_EQ(m_otherValidLocalPosition.index, localization.getLocalPosition().index); EXPECT_TRUE(localization.getLocalPosition().coordinate.isApprox(m_otherValidLocalPosition.coordinate)); } TEST_F(FemLocalizationTest, SetGetLocalization) { using SurgSim::Math::Vector2d; using SurgSim::Math::Vector3d; { SCOPED_TRACE("Uninitialized Representation"); // Uninitialized Representation EXPECT_THROW(std::make_shared(nullptr, m_validLocalPosition), SurgSim::Framework::AssertionFailure); } { SCOPED_TRACE("Incorrectly formed natural coordinate"); // Incorrectly formed natural coordinate auto localization = std::make_shared(m_fem, m_validLocalPosition); EXPECT_THROW(localization->setLocalPosition(IndexedLocalCoordinate(0u, Vector2d(0.89, 0.54))), SurgSim::Framework::AssertionFailure); EXPECT_THROW(localization->setLocalPosition(IndexedLocalCoordinate(0u, Vector3d(1.0, 0.0, 0.0))), SurgSim::Framework::AssertionFailure); } { SCOPED_TRACE("Out of bounds element Id"); // Out of bounds element Id auto localization = std::make_shared(m_fem, m_validLocalPosition); EXPECT_THROW(localization->setLocalPosition(IndexedLocalCoordinate(6u, Vector2d(1.0, 0.0))), SurgSim::Framework::AssertionFailure); } { SCOPED_TRACE("valid"); auto localization = std::make_shared(m_fem, m_validLocalPosition); EXPECT_NO_THROW(localization->setLocalPosition(IndexedLocalCoordinate(1u, Vector2d(0.2, 0.8)))); EXPECT_EQ(1u, localization->getLocalPosition().index); EXPECT_TRUE(Vector2d(0.2, 0.8).isApprox(localization->getLocalPosition().coordinate)); } } TEST_F(FemLocalizationTest, CalculatePositionTest) { using SurgSim::Math::Vector; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector2d; auto localization = std::make_shared(m_fem, m_validLocalPosition); // Test beam 1: nodes 0, 1 localization->setLocalPosition(IndexedLocalCoordinate(0u, Vector2d(1.0, 0.0))); EXPECT_TRUE(Vector3d(0.0, 0.0, 0.0).isApprox(localization->calculatePosition(), epsilon)); localization->setLocalPosition(IndexedLocalCoordinate(0u, Vector2d(0.0, 1.0))); EXPECT_TRUE(Vector3d(0.0, 1.0, -1.0).isApprox(localization->calculatePosition(), epsilon)); // Test beam 2: nodes 0, 1 localization->setLocalPosition(IndexedLocalCoordinate(1u, Vector2d(1.0, 0.0))); EXPECT_TRUE(Vector3d(0.0, 1.0, -1.0).isApprox(localization->calculatePosition(), epsilon)); localization->setLocalPosition(IndexedLocalCoordinate(1u, Vector2d(0.0, 1.0))); EXPECT_TRUE(Vector3d(-1.0, 1.0, 0.0).isApprox(localization->calculatePosition(), epsilon)); // Advanced tests localization->setLocalPosition(IndexedLocalCoordinate(0u, Vector2d(0.31, 0.69))); // 0.31 * ( 0.0, 0.0, 0.0) => ( 0.0, 0.0, 0.0 ) // + 0.69 * ( 0.0, 1.0,-1.0) => ( 0.0, 0.69,-0.69) // = ( 0.0, 0.69,-0.69) EXPECT_TRUE(Vector3d(0.0, 0.69, -0.69).isApprox(localization->calculatePosition(), epsilon)); localization->setLocalPosition(IndexedLocalCoordinate(1u, Vector2d(0.95, 0.05))); // 0.95 * ( 0.0, 1.0,-1.0) => ( 0.0, 0.95,-0.95) // + 0.05 * (-1.0, 1.0, 0.0) => (-0.05, 0.05, 0.0 ) // = (-0.05, 1.0, -0.95) EXPECT_TRUE(Vector3d(-0.05, 1.0, -0.95).isApprox(localization->calculatePosition(), epsilon)); // Out-Of-Range assertions EXPECT_THROW(localization->calculatePosition(-0.01), SurgSim::Framework::AssertionFailure); EXPECT_THROW(localization->calculatePosition(1.01), SurgSim::Framework::AssertionFailure); } TEST_F(FemLocalizationTest, CalculateVelocityTest) { using SurgSim::Math::Vector; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector2d; auto localization = std::make_shared(m_fem, m_validLocalPosition); // Test beam 1: nodes 0, 1 localization->setLocalPosition(IndexedLocalCoordinate(0u, Vector2d(1.0, 0.0))); EXPECT_TRUE(Vector3d(0.0, 0.0, 0.0).isApprox(localization->calculateVelocity(), epsilon)); localization->setLocalPosition(IndexedLocalCoordinate(0u, Vector2d(0.0, 1.0))); EXPECT_TRUE(Vector3d(0.0, 1.0, -1.0).isApprox(localization->calculateVelocity(), epsilon)); // Test beam 2: nodes 0, 1 localization->setLocalPosition(IndexedLocalCoordinate(1u, Vector2d(1.0, 0.0))); EXPECT_TRUE(Vector3d(0.0, 1.0, -1.0).isApprox(localization->calculateVelocity(), epsilon)); localization->setLocalPosition(IndexedLocalCoordinate(1u, Vector2d(0.0, 1.0))); EXPECT_TRUE(Vector3d(-1.0, 1.0, 0.0).isApprox(localization->calculateVelocity(), epsilon)); // Advanced tests localization->setLocalPosition(IndexedLocalCoordinate(0u, Vector2d(0.31, 0.69))); // 0.31 * ( 0.0, 0.0, 0.0) => ( 0.0, 0.0, 0.0 ) // + 0.69 * ( 0.0, 1.0,-1.0) => ( 0.0, 0.69,-0.69) // = ( 0.0, 0.69,-0.69) EXPECT_TRUE(Vector3d(0.0, 0.69, -0.69).isApprox(localization->calculateVelocity(), epsilon)); localization->setLocalPosition(IndexedLocalCoordinate(1u, Vector2d(0.95, 0.05))); // 0.95 * ( 0.0, 1.0,-1.0) => ( 0.0, 0.95,-0.95) // + 0.05 * (-1.0, 1.0, 0.0) => (-0.05, 0.05, 0.0 ) // = (-0.05, 1.0, -0.95) EXPECT_TRUE(Vector3d(-0.05, 1.0, -0.95).isApprox(localization->calculateVelocity(), epsilon)); // Out-Of-Range assertions EXPECT_THROW(localization->calculateVelocity(-0.01), SurgSim::Framework::AssertionFailure); EXPECT_THROW(localization->calculateVelocity(1.01), SurgSim::Framework::AssertionFailure); } TEST_F(FemLocalizationTest, ElementPose) { FemLocalization localization(m_fem, m_validLocalPosition); EXPECT_THROW(localization.getElementPose(), SurgSim::Framework::AssertionFailure); } TEST_F(FemLocalizationTest, MoveClosestTo) { FemLocalization localization(m_fem, m_validLocalPosition); bool flag = false; EXPECT_THROW(localization.moveClosestTo(SurgSim::Math::Vector3d::Zero(), &flag), SurgSim::Framework::AssertionFailure); } } // namespace SurgSim } // namespace Physics opensurgsim-0.7.0/SurgSim/Physics/UnitTests/FemRepresentationTests.cpp000066400000000000000000000517441277777236100262650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file FemRepresentationTests.cpp /// This file tests the non-abstract functionalities of the base class FemRepresentation #include #include "SurgSim/DataStructures/IndexedLocalCoordinate.h" #include "SurgSim/Framework/Runtime.h" ///< Used to initialize the Component Fem3DRepresentation #include "SurgSim/Physics/UnitTests/DeformableTestsUtility.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" using SurgSim::Math::OdeEquationUpdate; namespace SurgSim { namespace Physics { class FemRepresentationTests : public ::testing::Test { public: double m_rho; double m_nu; double m_E; double m_dt; double m_rayleighDampingMassParameter; double m_rayleighDampingStiffnessParameter; Vector m_expectedFemElementsForce; Vector m_expectedRayleighDampingForce; Vector m_expectedGravityForce; Matrix m_expectedMass; Matrix m_expectedDamping; Matrix m_expectedRayleighDamping; Matrix m_expectedStiffness; std::shared_ptr m_fem; std::shared_ptr m_initialState; protected: void SetUp() override { m_rho = 2000.0; m_nu = 0.45; m_E = 1e6; m_dt = 1e-3; m_rayleighDampingMassParameter = 0.452; m_rayleighDampingStiffnessParameter = 0.242; m_fem = std::make_shared("MockFem"); m_initialState = std::make_shared(); m_initialState->setNumDof(m_fem->getNumDofPerNode(), 3); m_initialState->getVelocities().setOnes(); // v = (1...1) to test damping m_fem->setInitialState(m_initialState); std::shared_ptr element01 = std::make_shared(); element01->setMassDensity(m_rho); element01->setPoissonRatio(m_nu); element01->setYoungModulus(m_E); element01->addNode(0); element01->addNode(1); m_fem->addFemElement(element01); std::shared_ptr element12 = std::make_shared(); element12->setMassDensity(m_rho); element12->setPoissonRatio(m_nu); element12->setYoungModulus(m_E); element12->addNode(1); element12->addNode(2); m_fem->addFemElement(element12); // Mass should be a diagonal matrix with diagonal (1 1 1 2 2 2 1 1 1) m_expectedMass = Matrix::Zero(9, 9); m_expectedMass.diagonal() << 1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 1.0, 1.0, 1.0; // Damping should be a diagonal matrix with diagonal (2 2 2 4 4 4 2 2 2) m_expectedDamping = Matrix::Zero(9, 9); m_expectedDamping.diagonal() << 2.0, 2.0, 2.0, 4.0, 4.0, 4.0, 2.0, 2.0, 2.0; // Stiffness should be a diagonal matrix with diagonal (3 3 3 6 6 6 3 3 3) m_expectedStiffness = Matrix::Zero(9, 9); m_expectedStiffness.diagonal() << 3.0, 3.0, 3.0, 6.0, 6.0, 6.0, 3.0, 3.0, 3.0; // Rayleigh damping = alpha.M + beta.K M and K are diagonals, so the resulting matrix is too m_expectedRayleighDamping = m_expectedMass * m_rayleighDampingMassParameter; m_expectedRayleighDamping += m_expectedStiffness * m_rayleighDampingStiffnessParameter; // FemElements force should be (1 2 3 4 5 6 0 0 0) + (0 0 0 1 2 3 4 5 6) = (1 2 3 5 7 9 4 5 6) m_expectedFemElementsForce.resize(9); m_expectedFemElementsForce << 1.0, 2.0, 3.0, 5.0, 7.0, 9.0, 4.0, 5.0, 6.0; // Gravity force should be m.gravity for each node of each element m_expectedGravityForce = Vector::Zero(9); SurgSim::Math::Vector3d g(0.0, -9.81, 0.0); m_expectedGravityForce.segment<3>(0) += g * element01->getMass(*m_initialState) / 2.0; m_expectedGravityForce.segment<3>(3) += g * element01->getMass(*m_initialState) / 2.0; m_expectedGravityForce.segment<3>(3) += g * element12->getMass(*m_initialState) / 2.0; m_expectedGravityForce.segment<3>(6) += g * element12->getMass(*m_initialState) / 2.0; // Rayleigh damping force should be -(alpha.M + beta.K).(1...1)^t // with (alpha.M + beta.K) a diagonal matrix m_expectedRayleighDampingForce = -m_expectedRayleighDamping.diagonal(); } }; TEST_F(FemRepresentationTests, ConstructorTest) { ASSERT_NO_THROW({MockFemRepresentation fem("name");}); ASSERT_NO_THROW({MockFemRepresentation* fem = new MockFemRepresentation("name"); delete fem;}); ASSERT_NO_THROW({std::shared_ptr fem = std::make_shared("name");}); } TEST_F(FemRepresentationTests, AddSetGetTest) { MockFemRepresentation fem("name"); /// Add/Get FemElement EXPECT_EQ(0u, fem.getNumFemElements()); ASSERT_ANY_THROW(fem.getFemElement(0)); ASSERT_ANY_THROW(fem.getFemElement(1)); std::shared_ptr element = std::make_shared(); element->setMassDensity(m_rho); element->setPoissonRatio(m_nu); element->setYoungModulus(m_E); ASSERT_NO_THROW(fem.addFemElement(element)); EXPECT_EQ(1u, fem.getNumFemElements()); EXPECT_NE(nullptr, fem.getFemElement(0)); ASSERT_ANY_THROW(fem.getFemElement(1)); element = std::make_shared(); element->setMassDensity(m_rho); element->setPoissonRatio(m_nu); element->setYoungModulus(m_E); ASSERT_NO_THROW(fem.addFemElement(element)); EXPECT_EQ(2u, fem.getNumFemElements()); EXPECT_NE(nullptr, fem.getFemElement(0)); EXPECT_NE(nullptr, fem.getFemElement(1)); /// Test gets the total mass of the fem (Each MockFemElement has a fixed volume of 1m^3) EXPECT_DOUBLE_EQ(2.0 * m_rho, fem.getTotalMass()); /// Test sets/gets the Rayleigh stiffness parameter EXPECT_DOUBLE_EQ(0.0, fem.getRayleighDampingStiffness()); fem.setRayleighDampingStiffness(13.45); EXPECT_DOUBLE_EQ(13.45, fem.getRayleighDampingStiffness()); /// Test sets/gets the Rayleigh mass parameter EXPECT_DOUBLE_EQ(0.0, fem.getRayleighDampingMass()); fem.setRayleighDampingMass(43.99); EXPECT_DOUBLE_EQ(43.99, fem.getRayleighDampingMass()); } TEST_F(FemRepresentationTests, IsValidCoordinateTest) { using SurgSim::DataStructures::IndexedLocalCoordinate; MockFemRepresentation fem("name"); std::shared_ptr element = std::make_shared(); element->setMassDensity(m_rho); element->setPoissonRatio(m_nu); element->setYoungModulus(m_E); ASSERT_NO_THROW(fem.addFemElement(element)); // Set up the fem element to have a valid natural coordinate. element->addNode(0); element->addNode(1); Vector validNaturalCoordinate(2); validNaturalCoordinate << 1.0, 0.0; // Only the elementId is tested (by passing a valid natural coordinate). // The validation of the natural coordinate is tested in the respective FemElement's UnitTest. IndexedLocalCoordinate invalidCoordinates(1, validNaturalCoordinate); EXPECT_FALSE(fem.isValidCoordinate(invalidCoordinates)); IndexedLocalCoordinate validCoordinates(0, validNaturalCoordinate); EXPECT_TRUE(fem.isValidCoordinate(validCoordinates)); } TEST_F(FemRepresentationTests, BeforeUpdateTest) { MockFemRepresentation fem("name"); // Throw exception (no FemElement) ASSERT_ANY_THROW(fem.beforeUpdate(m_dt)); std::shared_ptr element = std::make_shared(); element->setMassDensity(m_rho); element->setPoissonRatio(m_nu); element->setYoungModulus(m_E); fem.addFemElement(element); // Throw exception (no initialState setup yet) ASSERT_ANY_THROW(fem.beforeUpdate(m_dt)); std::shared_ptr initialState = std::make_shared(); initialState->setNumDof(fem.getNumDofPerNode(), 8); fem.setInitialState(initialState); ASSERT_NO_THROW(fem.beforeUpdate(m_dt)); } TEST_F(FemRepresentationTests, AfterUpdateTest) { m_fem->initialize(std::make_shared()); m_fem->wakeUp(); ASSERT_TRUE(m_fem->isActive()); ASSERT_NO_THROW(m_fem->beforeUpdate(m_dt)); ASSERT_TRUE(m_fem->isActive()); ASSERT_NO_THROW(m_fem->update(m_dt)); ASSERT_TRUE(m_fem->isActive()); // After update should backup the currentState into finalState and update all FemElement ASSERT_NO_THROW(m_fem->afterUpdate(m_dt)); ASSERT_FALSE(*m_fem->getFinalState() == *m_fem->getInitialState()); ASSERT_TRUE(*m_fem->getFinalState() == *m_fem->getCurrentState()); ASSERT_TRUE(m_fem->isActive()); } TEST_F(FemRepresentationTests, ComputesWithNoGravityAndNoDampingTest) { using SurgSim::Math::Vector3d; // No gravity, no Rayleigh damping // computeF tests addFemElementsForce m_fem->setIsGravityEnabled(false); m_fem->initialize(std::make_shared()); m_fem->wakeUp(); Vector expectedF = m_expectedFemElementsForce; { SCOPED_TRACE("Without external force"); testOdeEquationUpdate(m_fem, *m_initialState, expectedF, m_expectedMass, m_expectedDamping, m_expectedStiffness); } { SCOPED_TRACE("With external force"); std::shared_ptr localization = std::make_shared(); localization->setRepresentation(m_fem); localization->setLocalNode(0); Vector FextLocal = Vector::Ones(m_fem->getNumDofPerNode()); Matrix KextLocal = Matrix::Ones(m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()); Matrix DextLocal = KextLocal + Matrix::Identity(m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()); Vector Fext = Vector::Zero(m_fem->getNumDof()); Fext.segment(0, m_fem->getNumDofPerNode()) = FextLocal; Matrix Kext = Matrix::Zero(m_fem->getNumDof(), m_fem->getNumDof()); Kext.block(0, 0, m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()) = KextLocal; Matrix Dext = Matrix::Zero(m_fem->getNumDof(), m_fem->getNumDof()); Dext.block(0, 0, m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()) = DextLocal; m_fem->addExternalGeneralizedForce(localization, FextLocal, KextLocal, DextLocal); testOdeEquationUpdate(m_fem, *m_initialState, expectedF + Fext, m_expectedMass, m_expectedDamping + Dext, m_expectedStiffness + Kext); } } TEST_F(FemRepresentationTests, ComputesWithNoGravityAndDampingTest) { using SurgSim::Math::Vector3d; // No gravity, Rayleigh damping // computeF tests addFemElementsForce and addRayleighDampingForce m_fem->setIsGravityEnabled(false); m_fem->setRayleighDampingMass(m_rayleighDampingMassParameter); m_fem->setRayleighDampingStiffness(m_rayleighDampingStiffnessParameter); m_fem->initialize(std::make_shared()); m_fem->wakeUp(); SurgSim::Math::Vector expectedF = m_expectedFemElementsForce + m_expectedRayleighDampingForce; { SCOPED_TRACE("Without external force"); testOdeEquationUpdate(m_fem, *m_initialState, expectedF, m_expectedMass, m_expectedDamping + m_expectedRayleighDamping, m_expectedStiffness); } { SCOPED_TRACE("With external force"); std::shared_ptr localization = std::make_shared(); localization->setRepresentation(m_fem); localization->setLocalNode(0); Vector FextLocal = Vector::Ones(m_fem->getNumDofPerNode()); Matrix KextLocal = Matrix::Ones(m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()); Matrix DextLocal = KextLocal + Matrix::Identity(m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()); Vector Fext = Vector::Zero(m_fem->getNumDof()); Fext.segment(0, m_fem->getNumDofPerNode()) = FextLocal; Matrix Kext = Matrix::Zero(m_fem->getNumDof(), m_fem->getNumDof()); Kext.block(0, 0, m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()) = KextLocal; Matrix Dext = Matrix::Zero(m_fem->getNumDof(), m_fem->getNumDof()); Dext.block(0, 0, m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()) = DextLocal; m_fem->addExternalGeneralizedForce(localization, FextLocal, KextLocal, DextLocal); testOdeEquationUpdate(m_fem, *m_initialState, expectedF + Fext, m_expectedMass, m_expectedDamping + m_expectedRayleighDamping + Dext, m_expectedStiffness + Kext); } } TEST_F(FemRepresentationTests, ComputesWithGravityAndNoDampingTest) { using SurgSim::Math::Vector3d; using SurgSim::Math::SparseMatrix; // Gravity, no Rayleigh damping // computeF tests addFemElementsForce and addGravityForce m_fem->setIsGravityEnabled(true); m_fem->initialize(std::make_shared()); m_fem->wakeUp(); SurgSim::Math::Vector expectedF = m_expectedFemElementsForce + m_expectedGravityForce; { SCOPED_TRACE("Without external force"); testOdeEquationUpdate(m_fem, *m_initialState, expectedF, m_expectedMass, m_expectedDamping, m_expectedStiffness); } { SCOPED_TRACE("With external force"); std::shared_ptr localization = std::make_shared(); localization->setRepresentation(m_fem); localization->setLocalNode(0); Vector FextLocal = Vector::Ones(m_fem->getNumDofPerNode()); Matrix KextLocal = Matrix::Ones(m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()); Matrix DextLocal = KextLocal + Matrix::Identity(m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()); Vector Fext = Vector::Zero(m_fem->getNumDof()); Fext.segment(0, m_fem->getNumDofPerNode()) = FextLocal; Matrix Kext = Matrix::Zero(m_fem->getNumDof(), m_fem->getNumDof()); Kext.block(0, 0, m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()) = KextLocal; Matrix Dext = Matrix::Zero(m_fem->getNumDof(), m_fem->getNumDof()); Dext.block(0, 0, m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()) = DextLocal; m_fem->addExternalGeneralizedForce(localization, FextLocal, KextLocal, DextLocal); testOdeEquationUpdate(m_fem, *m_initialState, expectedF + Fext, m_expectedMass, m_expectedDamping + Dext, m_expectedStiffness + Kext); } } TEST_F(FemRepresentationTests, ComputesWithGravityAndDampingTest) { using SurgSim::Math::Vector3d; using SurgSim::Math::SparseMatrix; // Gravity, Rayleigh damping // computeF tests addFemElementsForce, addRayleighDampingForce and addGravityForce m_fem->setIsGravityEnabled(true); m_fem->setRayleighDampingMass(m_rayleighDampingMassParameter); m_fem->setRayleighDampingStiffness(m_rayleighDampingStiffnessParameter); m_fem->initialize(std::make_shared()); m_fem->wakeUp(); SurgSim::Math::Vector expectedF = m_expectedFemElementsForce + m_expectedRayleighDampingForce + m_expectedGravityForce; { SCOPED_TRACE("Without external force"); testOdeEquationUpdate(m_fem, *m_initialState, expectedF, m_expectedMass, m_expectedDamping + m_expectedRayleighDamping, m_expectedStiffness); } { SCOPED_TRACE("With external force"); std::shared_ptr localization = std::make_shared(); localization->setRepresentation(m_fem); localization->setLocalNode(0); Vector FextLocal = Vector::Ones(m_fem->getNumDofPerNode()); Matrix KextLocal = Matrix::Ones(m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()); Matrix DextLocal = KextLocal + Matrix::Identity(m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()); Vector Fext = Vector::Zero(m_fem->getNumDof()); Fext.segment(0, m_fem->getNumDofPerNode()) = FextLocal; Matrix Kext = Matrix::Zero(m_fem->getNumDof(), m_fem->getNumDof()); Kext.block(0, 0, m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()) = KextLocal; Matrix Dext = Matrix::Zero(m_fem->getNumDof(), m_fem->getNumDof()); Dext.block(0, 0, m_fem->getNumDofPerNode(), m_fem->getNumDofPerNode()) = DextLocal; m_fem->addExternalGeneralizedForce(localization, FextLocal, KextLocal, DextLocal); testOdeEquationUpdate(m_fem, *m_initialState, expectedF + Fext, m_expectedMass, m_expectedDamping + m_expectedRayleighDamping + Dext, m_expectedStiffness + Kext); } } TEST_F(FemRepresentationTests, DoInitializeTest) { using SurgSim::Framework::Runtime; MockFemRepresentation fem("name"); // Setup the initial state std::shared_ptr initialState = std::make_shared(); initialState->setNumDof(fem.getNumDofPerNode(), 8); fem.setInitialState(initialState); // Add one element std::shared_ptr element = std::make_shared(); element->setMassDensity(m_rho); element->setPoissonRatio(m_nu); element->setYoungModulus(m_E); element->addNode(0); element->addNode(1); element->addNode(2); fem.addFemElement(element); // Initialize the component, this will call FemRepresentation::doInitialize fem.initialize(std::make_shared()); // At this point, all FemElement and m_massPerNode should have been initialized // We have 8 nodes, 1 element connecting nodes (0 1 2) // The mass should be evenly distributed on the 3 first nodes, and 0 for all others. std::shared_ptr femElement; ASSERT_NO_THROW(femElement = std::static_pointer_cast(fem.getFemElement(0))); ASSERT_TRUE(femElement->isInitialized()); ASSERT_EQ(8u, fem.getMassPerNode().size()); ASSERT_EQ(m_rho, fem.getTotalMass()); for (size_t nodeId = 0; nodeId < 3; ++nodeId) { ASSERT_EQ(m_rho / 3.0, fem.getMassPerNode()[nodeId]); } for (size_t nodeId = 3; nodeId < 8; ++nodeId) { ASSERT_EQ(0u, fem.getMassPerNode()[nodeId]); } } TEST_F(FemRepresentationTests, ComplianceWarpingTest) { { SCOPED_TRACE("MockFemRepresentation incomplete for compliance warping"); auto fem = std::make_shared("fem"); EXPECT_NO_THROW(EXPECT_FALSE(fem->getComplianceWarping())); EXPECT_NO_THROW(fem->setComplianceWarping(true)); EXPECT_NO_THROW(EXPECT_TRUE(fem->getComplianceWarping())); // Setup the initial state auto initialState = std::make_shared(); initialState->setNumDof(fem->getNumDofPerNode(), 3); fem->setInitialState(initialState); // Add one element std::shared_ptr element = std::make_shared(); element->setMassDensity(m_rho); element->setPoissonRatio(m_nu); element->setYoungModulus(m_E); element->addNode(0); element->addNode(1); element->addNode(2); fem->addFemElement(element); fem->initialize(std::make_shared()); fem->wakeUp(); EXPECT_NO_THROW(EXPECT_TRUE(fem->getComplianceWarping())); EXPECT_THROW(fem->setComplianceWarping(false), SurgSim::Framework::AssertionFailure); EXPECT_THROW(fem->setComplianceWarping(true), SurgSim::Framework::AssertionFailure); // update() will call updateNodesRotations() which will raise an exception in this case. // This method has not been overridden. EXPECT_THROW(fem->update(1e-3), SurgSim::Framework::AssertionFailure); } { SCOPED_TRACE("MockFemRepresentation complete for compliance warping"); auto fem = std::make_shared("fem"); EXPECT_NO_THROW(EXPECT_FALSE(fem->getComplianceWarping())); EXPECT_NO_THROW(fem->setComplianceWarping(true)); EXPECT_NO_THROW(EXPECT_TRUE(fem->getComplianceWarping())); // Setup the initial state auto initialState = std::make_shared(); initialState->setNumDof(fem->getNumDofPerNode(), 3); fem->setInitialState(initialState); // Add one element std::shared_ptr element = std::make_shared(); element->setMassDensity(m_rho); element->setPoissonRatio(m_nu); element->setYoungModulus(m_E); element->addNode(0); element->addNode(1); element->addNode(2); fem->addFemElement(element); fem->initialize(std::make_shared()); fem->wakeUp(); EXPECT_NO_THROW(EXPECT_TRUE(fem->getComplianceWarping())); EXPECT_THROW(fem->setComplianceWarping(false), SurgSim::Framework::AssertionFailure); EXPECT_THROW(fem->setComplianceWarping(true), SurgSim::Framework::AssertionFailure); // update() will call updateNodesRotations() which will not raise an exception in this case. // This method has been overridden. EXPECT_NO_THROW(fem->update(1e-3)); EXPECT_NO_THROW(EXPECT_TRUE((fem->applyCompliance(*initialState, Matrix::Identity(initialState->getNumDof(), initialState->getNumDof())) / 1e-3).isIdentity())); } } TEST_F(FemRepresentationTests, SerializationTest) { auto fem = std::make_shared("Test-Fem"); EXPECT_NO_THROW(fem->setValue("ComplianceWarping", true)); EXPECT_TRUE(fem->getComplianceWarping()); EXPECT_TRUE(fem->getValue("ComplianceWarping")); EXPECT_NO_THROW(fem->setValue("ComplianceWarping", false)); EXPECT_FALSE(fem->getComplianceWarping()); EXPECT_FALSE(fem->getValue("ComplianceWarping")); EXPECT_NO_THROW(fem->setValue("RayleighDampingMass", 1.1)); EXPECT_NO_THROW(fem->getValue("RayleighDampingMass")); EXPECT_DOUBLE_EQ(1.1, fem->getValue("RayleighDampingMass")); EXPECT_NO_THROW(fem->setValue("RayleighDampingStiffness", 2.2)); EXPECT_NO_THROW(fem->getValue("RayleighDampingStiffness")); EXPECT_DOUBLE_EQ(2.2, fem->getValue("RayleighDampingStiffness")); } TEST_F(FemRepresentationTests, SetInitialStateTest) { auto fem = std::make_shared("Test-Fem"); EXPECT_FALSE(fem->hasSetInitialStateBeenCalled()); fem->setInitialState(m_initialState); EXPECT_TRUE(fem->hasSetInitialStateBeenCalled()); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/FixedConstraintFixedPointTests.cpp000066400000000000000000000075331277777236100277260ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Math/MlcpConstraintType.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/FixedConstraintFixedPoint.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" using SurgSim::Math::Vector3d; namespace { const double epsilon = 1e-10; const double dt = 1e-3; }; namespace SurgSim { namespace Physics { TEST(FixedConstraintFixedPointTests, Constructor) { ASSERT_NO_THROW( { FixedConstraintFixedPoint constraint; }); } TEST(FixedConstraintFixedPointTests, Constants) { FixedConstraintFixedPoint constraint; EXPECT_EQ(SurgSim::Physics::FIXED_3DPOINT, constraint.getConstraintType()); EXPECT_EQ(3u, constraint.getNumDof()); } TEST(FixedConstraintFixedPointTests, BuildMlcp) { // Whitebox test which validates ConstraintImplementation::build's output parameter, MlcpPhysicsProblem. It assumes // CHt and HCHt can be correctly built given H, so it does not necessarily construct the physical parameters // necessary to supply a realistic C. It only checks H and b. FixedConstraintFixedPoint constraint; Vector3d actual = Vector3d(8.0, 6.4, 3.5); // Setup parameters for FixedConstraintFixedPoint::build auto localization = std::make_shared( std::make_shared("representation")); localization->setLocalPosition(actual); MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(0, 3, 1); ConstraintData emptyConstraint; ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); // Compare results Eigen::Matrix violation = actual; EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST(FixedConstraintFixedPointTests, BuildMlcpTwoStep) { // Whitebox test which validates ConstraintImplementation::build's output parameter, MlcpPhysicsProblem. It assumes // CHt and HCHt can be correctly built given H, so it does not necessarily construct the physical parameters // necessary to supply a realistic C. It only checks H and b. FixedConstraintFixedPoint constraint; Vector3d actual = Vector3d(8.0, 6.4, 3.5); Vector3d desired = Vector3d(3.0, 7.7, 0.0); // Setup parameters for FixedConstraintFixedPoint::build MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(0, 3, 1); ConstraintData emptyConstraint; auto localization = std::make_shared( std::make_shared("representation")); localization->setLocalPosition(actual); ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); localization->setLocalPosition(desired); ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_NEGATIVE_SIDE)); // Compare results Eigen::Matrix violation = actual - desired; EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/FixedConstraintFixedRotationVectorTests.cpp000066400000000000000000000073431277777236100316160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/MlcpConstraintType.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/RotationVectorConstraintData.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/FixedConstraintFixedRotationVector.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" using SurgSim::Math::Vector3d; namespace { const double epsilon = 1e-10; const double dt = 1e-3; }; namespace SurgSim { namespace Physics { TEST(FixedConstraintFixedRotationVectorTests, Constructor) { ASSERT_NO_THROW( { FixedConstraintFixedRotationVector constraint; }); } TEST(FixedConstraintFixedRotationVectorTests, Constants) { FixedConstraintFixedRotationVector constraint; EXPECT_EQ(SurgSim::Physics::FIXED_3DROTATION_VECTOR, constraint.getConstraintType()); EXPECT_EQ(3u, constraint.getNumDof()); } TEST(FixedConstraintFixedRotationVectorTests, BuildMlcp) { using SurgSim::Framework::Runtime; FixedConstraintFixedRotationVector constraint; // Prepare the fem1d representation for this constraint type auto fem1d = std::make_shared("fem1d"); auto initialState = std::make_shared(); initialState->setNumDof(6, 2); initialState->getPositions().setZero(); initialState->getPositions().segment<3>(6) = SurgSim::Math::Vector3d(1.0, 0.0, 0.0); fem1d->setInitialState(initialState); std::array nodeIds = { {0, 1} }; auto beam = std::make_shared(nodeIds); beam->setMassDensity(900); beam->setPoissonRatio(0.4); beam->setRadius(0.1); beam->setShearingEnabled(false); beam->setYoungModulus(1e6); fem1d->addFemElement(beam); fem1d->initialize(std::make_shared()); // Initializes the beams initial rotation matrix // Prepare the fixed representation for this constraint type auto fixed = std::make_shared(); Vector3d centerOfMass = Vector3d(3.0, 2.42, 9.54); SurgSim::Math::Quaterniond objectRotation = SurgSim::Math::Quaterniond(0.1, 0.35, 4.2, 5.0).normalized(); SurgSim::Math::RigidTransform3d objectPose = SurgSim::Math::makeRigidTransform(objectRotation, centerOfMass); fixed->getCurrentState().setPose(objectPose); auto localization = std::make_shared(fixed); // Prepare the specific constraint data RotationVectorRigidFem1DConstraintData constraintData; constraintData.setFem1DRotation(fem1d, 0); constraintData.setRigidOrFixedRotation(fixed, fixed->getPose().linear()); MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(0, 3, 1); ASSERT_NO_THROW(constraint.build( dt, constraintData, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); // Compare results Eigen::AngleAxisd aa(objectPose.linear()); Eigen::Matrix violation = aa.angle() * aa.axis(); EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/FixedConstraintFrictionlessContactTests.cpp000066400000000000000000000057241277777236100316350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/ContactConstraintData.h" #include "SurgSim/Physics/FixedConstraintFrictionlessContact.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" #include "SurgSim/Physics/RigidConstraintFrictionlessContact.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" namespace { const double epsilon = 1e-10; }; namespace SurgSim { namespace Physics { TEST (FixedConstraintFrictionlessContactTests, SetGet_BuildMlcp_Test) { SurgSim::Math::Vector3d n(0.0, 1.0, 0.0); double d = 0.0; double violation = -0.01; SurgSim::Math::Vector3d contactPosition = -n * (d - violation); SurgSim::Math::RigidTransform3d poseFixed; poseFixed.setIdentity(); std::shared_ptr fixed = std::make_shared("Fixed"); fixed->setLocalActive(true); fixed->setIsGravityEnabled(false); fixed->setLocalPose(poseFixed); auto loc = std::make_shared(fixed); loc->setLocalPosition(contactPosition); std::shared_ptr implementation = std::make_shared(); EXPECT_EQ(SurgSim::Physics::FRICTIONLESS_3DCONTACT, implementation->getConstraintType()); EXPECT_EQ(1u, implementation->getNumDof()); ContactConstraintData constraintData; constraintData.setPlaneEquation(n, d); MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(fixed->getNumDof(), 1, 1); // Fill up the Mlcp double dt = 1e-3; implementation->build(dt, constraintData, loc, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); // b should be exactly the violation EXPECT_NEAR(violation, mlcpPhysicsProblem.b[0], epsilon); // Constraint H should be [] (a fixed representation has no dof !) // ConstraintTypes should contain 0 entry as it is setup by the constraint and not the ConstraintImplementation // This way, the constraint can verify that both ConstraintImplementation are the same type ASSERT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/FixedRepresentationTest.cpp000066400000000000000000000227121277777236100264230ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" #include "SurgSim/Physics/RigidState.h" using SurgSim::Framework::BasicSceneElement; using SurgSim::Math::Vector3d; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::SphereShape; using SurgSim::Physics::Representation; using SurgSim::Physics::FixedRepresentation; using SurgSim::Physics::RigidCollisionRepresentation; using SurgSim::Physics::RigidState; class FixedRepresentationTest : public ::testing::Test { public: void SetUp() { Quaterniond q; Vector3d t; q.coeffs().setRandom(); q.normalize(); t.setRandom(); m_initialTransformation = SurgSim::Math::makeRigidTransform(q, t); do { q.coeffs().setRandom(); q.normalize(); t.setRandom(); m_currentTransformation = SurgSim::Math::makeRigidTransform(q, t); } while (m_initialTransformation.isApprox(m_currentTransformation)); m_identityTransformation.setIdentity(); m_fixedRepresentation = std::make_shared("FixedRepresentation"); m_element = std::make_shared("element"); m_element->addComponent(m_fixedRepresentation); m_runtime = std::make_shared(); m_scene = m_runtime->getScene(); m_scene->addSceneElement(m_element); } std::shared_ptr m_runtime; std::shared_ptr m_scene; std::shared_ptr m_fixedRepresentation; std::shared_ptr m_element; // Fixed representation initialization pose RigidTransform3d m_initialTransformation; // Fixed representation current pose RigidTransform3d m_currentTransformation; // Identity pose (no translation/rotation) RigidTransform3d m_identityTransformation; }; TEST_F(FixedRepresentationTest, ConstructorTest) { ASSERT_NO_THROW(FixedRepresentation fixedRepresentation("FixedRepresentation")); } TEST_F(FixedRepresentationTest, ResetStateTest) { m_fixedRepresentation->setLocalActive(false); m_fixedRepresentation->setIsGravityEnabled(false); m_fixedRepresentation->setLocalPose(m_initialTransformation); m_fixedRepresentation->wakeUp(); // Initial = Current = Previous = m_initialTransformation EXPECT_TRUE(m_fixedRepresentation->getInitialState().getPose().isApprox(m_initialTransformation)); EXPECT_TRUE(m_fixedRepresentation->getCurrentState() == m_fixedRepresentation->getInitialState()); EXPECT_TRUE(m_fixedRepresentation->getPreviousState() == m_fixedRepresentation->getInitialState()); m_fixedRepresentation->setLocalPose(m_currentTransformation); m_fixedRepresentation->beforeUpdate(1.0); m_fixedRepresentation->update(1.0); m_fixedRepresentation->afterUpdate(1.0); // update is supposed to backup current in previous and set current // Therefore it should not affect initial // Initial = Previous = m_initialTransformation // Current = m_currentTransformation EXPECT_TRUE(m_fixedRepresentation->getCurrentState() != m_fixedRepresentation->getInitialState()); EXPECT_TRUE(m_fixedRepresentation->getPreviousState() == m_fixedRepresentation->getInitialState()); EXPECT_TRUE(m_fixedRepresentation->getPreviousState() != m_fixedRepresentation->getCurrentState()); EXPECT_TRUE(m_fixedRepresentation->getCurrentState().getPose().isApprox(m_currentTransformation)); m_fixedRepresentation->setLocalPose(m_currentTransformation); m_fixedRepresentation->beforeUpdate(1.0); m_fixedRepresentation->update(1.0); m_fixedRepresentation->afterUpdate(1.0); // update is supposed to backup current in previous and set current // Therefore it should not affect initial // Initial = m_initialTransformation // Previous = Current = m_currentTransformation EXPECT_TRUE(m_fixedRepresentation->getCurrentState() != m_fixedRepresentation->getInitialState()); EXPECT_TRUE(m_fixedRepresentation->getPreviousState() != m_fixedRepresentation->getInitialState()); EXPECT_TRUE(m_fixedRepresentation->getPreviousState() == m_fixedRepresentation->getCurrentState()); EXPECT_TRUE(m_fixedRepresentation->getCurrentState().getPose().isApprox(m_currentTransformation)); std::shared_ptr representation = m_fixedRepresentation; // reset the representation (NOT THE FIXED REPRESENTATION, test polymorphism) representation->resetState(); // isActive flag unchanged EXPECT_FALSE(m_fixedRepresentation->isActive()); // isGravityEnable flag unchanged EXPECT_FALSE(m_fixedRepresentation->isGravityEnabled()); // The current rigid state should be exactly the initial rigid state EXPECT_TRUE(m_fixedRepresentation->getCurrentState() == m_fixedRepresentation->getInitialState()); EXPECT_TRUE(m_fixedRepresentation->getCurrentState().getPose().isApprox(m_initialTransformation)); EXPECT_TRUE(m_fixedRepresentation->getInitialState().getPose().isApprox(m_initialTransformation)); // The previous rigid state should be exactly the initial rigid state EXPECT_TRUE(m_fixedRepresentation->getPreviousState() == m_fixedRepresentation->getInitialState()); } TEST_F(FixedRepresentationTest, SetGetAndDefaultValueTest) { // Get/Set active flag [default = true] EXPECT_TRUE(m_fixedRepresentation->isActive()); m_fixedRepresentation->setLocalActive(false); ASSERT_FALSE(m_fixedRepresentation->isActive()); m_fixedRepresentation->setLocalActive(true); ASSERT_TRUE(m_fixedRepresentation->isActive()); // Get numDof = 0 ASSERT_EQ(0u, m_fixedRepresentation->getNumDof()); // Set/Get isGravityEnabled [default = true] EXPECT_TRUE(m_fixedRepresentation->isGravityEnabled()); m_fixedRepresentation->setIsGravityEnabled(false); ASSERT_FALSE(m_fixedRepresentation->isGravityEnabled()); m_fixedRepresentation->setIsGravityEnabled(true); ASSERT_TRUE(m_fixedRepresentation->isGravityEnabled()); } TEST_F(FixedRepresentationTest, UpdateTest) { double dt = 1.0; m_fixedRepresentation->setLocalPose(m_initialTransformation); m_fixedRepresentation->wakeUp(); m_fixedRepresentation->setLocalPose(m_currentTransformation); m_fixedRepresentation->beforeUpdate(dt); m_fixedRepresentation->update(dt); m_fixedRepresentation->afterUpdate(dt); EXPECT_TRUE(m_fixedRepresentation->getCurrentState() != m_fixedRepresentation->getPreviousState()); EXPECT_TRUE(m_fixedRepresentation->getCurrentState() != m_fixedRepresentation->getInitialState()); EXPECT_TRUE(m_fixedRepresentation->getPreviousState() == m_fixedRepresentation->getInitialState()); } TEST_F(FixedRepresentationTest, SerializationTest) { { SCOPED_TRACE("Encode/Decode as shared_ptr<>, should be OK"); auto rigidRepresentation = std::make_shared("TestFixedRepresentation"); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert>::encode(rigidRepresentation)); std::shared_ptr newRepresentation; EXPECT_NO_THROW(newRepresentation = std::dynamic_pointer_cast(node.as>())); EXPECT_NE(nullptr, newRepresentation); } { SCOPED_TRACE("Encode a FixedRepresentation object without a shape, should throw."); auto rigidRepresentation = std::make_shared("TestFixedRepresentation"); auto rigidCollisionRepresentation = std::make_shared("RigidCollisionRepresentation"); rigidRepresentation->setCollisionRepresentation(rigidCollisionRepresentation); EXPECT_ANY_THROW(YAML::convert::encode(*rigidRepresentation)); } { SCOPED_TRACE("Encode a FixedRepresentation object with valid RigidCollisionRepresentation and shape, no throw"); auto rigidRepresentation = std::make_shared("TestFixedRepresentation"); auto rigidCollisionRepresentation = std::make_shared("RigidCollisionRepresentation"); rigidRepresentation->setCollisionRepresentation(rigidCollisionRepresentation); rigidRepresentation->setShape(std::make_shared(0.1)); YAML::Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*rigidRepresentation)); std::shared_ptr newRepresentation; newRepresentation = std::dynamic_pointer_cast(node.as>()); EXPECT_NE(nullptr, newRepresentation->getCollisionRepresentation()); auto newCollisionRepresentation = std::dynamic_pointer_cast(newRepresentation->getCollisionRepresentation()); EXPECT_EQ(newRepresentation, newCollisionRepresentation->getRigidRepresentation()); } } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/FreeMotionTests.cpp000066400000000000000000000046671277777236100247040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file FreeMotionTests.cpp /// Simple Test for FreeMotion calculation #include #include #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/PhysicsManager.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Physics/FreeMotion.h" #include "SurgSim/Physics/PhysicsManagerState.h" using SurgSim::Math::SphereShape; using SurgSim::Math::Vector3d; using SurgSim::Physics::Representation; using SurgSim::Physics::RigidRepresentation; using SurgSim::Physics::FreeMotion; using SurgSim::Physics::PhysicsManagerState; TEST(FreeMotionTest, RunTest) { std::vector> representations = std::vector>(); std::shared_ptr representation = std::make_shared("TestSphere"); representation->setDensity(700.0); // Wood std::shared_ptr shape = std::make_shared(0.01); // 1cm Sphere representation->setShape(shape); representations.push_back(representation); std::shared_ptr state = std::make_shared(); state->setRepresentations(representations); FreeMotion computation; representation->setIsGravityEnabled(false); EXPECT_TRUE(representation->getCurrentState().getPose().translation().isZero()); state = computation.update(1.0,state); EXPECT_TRUE(representation->getCurrentState().getPose().translation().isZero()); representation->setIsGravityEnabled(true); state = computation.update(1.0,state); EXPECT_FALSE(representation->getCurrentState().getPose().translation().isZero()); } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/LinearSpringTest.cpp000066400000000000000000000451721277777236100250430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/LinearSpring.h" using SurgSim::Math::Matrix; using SurgSim::Math::Matrix33d; using SurgSim::Math::Matrix66d; using SurgSim::Math::SparseMatrix; using SurgSim::Math::Vector; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector6d; using SurgSim::Physics::LinearSpring; namespace { const double epsilon = 1e-10; const double epsilonNumericalEvaluation = 1e-8; const double epsilonTestAgainstNumericalApproximation = 1e-7; Matrix66d KFormal(const Vector3d p0, const Vector3d p1, const Vector3d v0, const Vector3d v1, double l0, double stiffness, double damping) { Vector3d u = p1 - p0; double m_l = u.norm(); u /= m_l; double lRatio = (m_l - l0) / m_l; double vRatio = (v1 - v0).dot(u) / m_l; Matrix33d K00 = Matrix33d::Identity() * (stiffness * lRatio + damping * vRatio); K00 -= (u * u.transpose()) * (stiffness * (lRatio - 1.0) + 2.0 * damping * vRatio); K00 += damping * (u * (v1 - v0).transpose()) / m_l; Matrix66d K = Matrix66d::Zero(); // Assembly stage in K SurgSim::Math::addSubMatrix(K00, 0, 0, 3, 3, &K); SurgSim::Math::addSubMatrix(-K00, 0, 1, 3, 3, &K); SurgSim::Math::addSubMatrix(-K00, 1, 0, 3, 3, &K); SurgSim::Math::addSubMatrix(K00, 1, 1, 3, 3, &K); return K; } Matrix66d DFormal(const Vector3d p0, const Vector3d p1, const Vector3d v0, const Vector3d v1, double l0, double stiffness, double damping) { Vector3d u = p1 - p0; u.normalize(); Matrix33d D00 = damping * (u * u.transpose()); // Assembly stage in D Matrix66d D = Matrix66d::Zero(); SurgSim::Math::addSubMatrix(D00, 0, 0, 3, 3, &D); SurgSim::Math::addSubMatrix(-D00, 0, 1, 3, 3, &D); SurgSim::Math::addSubMatrix(-D00, 1, 0, 3, 3, &D); SurgSim::Math::addSubMatrix(D00, 1, 1, 3, 3, &D); return D; } double f(size_t axis, const Vector3d p0, const Vector3d p1, const Vector3d v0, const Vector3d v1, double l0, double stiffness, double damping) { Vector3d u = p1 - p0; double m_l = u.norm(); u /= m_l; double elongationPosition = m_l - l0; double elongationVelocity = (v1 - v0).dot(u); if (axis <= 2) { return (stiffness * elongationPosition + damping * elongationVelocity) * u[axis]; } else { return -(stiffness * elongationPosition + damping * elongationVelocity) * u[axis - 3]; } } Matrix66d KNumerical(const Vector3d p0, const Vector3d p1, const Vector3d v0, const Vector3d v1, double l0, double stiffness, double damping) { Matrix66d dfdx; for (size_t row = 0; row < 6; row++) { for (size_t col = 0; col < 6; col++) { // dfrow/dxcol // (1) f(x+delta) = f(x) + df/dx.delta + o(delta^2) // (2) f(x-delta) = f(x) - df/dx.delta + o(delta^2) // (1) - (2) f(x+delta) - f(x-delta) = 2df/dx.delta // df/dx = (f(x+delta) - f(x-delta)) / 2delta Vector6d delta6D = Vector6d::Zero(); delta6D[col] = epsilonNumericalEvaluation; double f_plus_delta = f(row, p0 + delta6D.segment(0, 3), p1 + delta6D.segment(3, 3), v0, v1, l0, stiffness, damping); double f_minus_delta = f(row, p0 - delta6D.segment(0, 3), p1 - delta6D.segment(3, 3), v0, v1, l0, stiffness, damping); dfdx(row, col) = (f_plus_delta - f_minus_delta) / (2.0 * epsilonNumericalEvaluation); } } return - dfdx; } Matrix66d DNumerical(const Vector3d p0, const Vector3d p1, const Vector3d v0, const Vector3d v1, double l0, double stiffness, double damping) { Matrix66d dfdv; for (size_t row = 0; row < 6; row++) { for (size_t col = 0; col < 6; col++) { // dfrow/dxcol // (1) f(x+delta) = f(x) + df/dx.delta + o(delta^2) // (2) f(x-delta) = f(x) - df/dx.delta + o(delta^2) // (1) - (2) f(x+delta) - f(x-delta) = 2df/dx.delta // df/dx = (f(x+delta) - f(x-delta)) / 2delta Vector6d delta6D = Vector6d::Zero(); delta6D[col] = epsilonNumericalEvaluation; double f_plus_delta = f(row, p0, p1, v0 + delta6D.segment(0, 3), v1 + delta6D.segment(3, 3), l0, stiffness, damping); double f_moins_delta = f(row, p0, p1, v0 - delta6D.segment(0, 3), v1 - delta6D.segment(3, 3), l0, stiffness, damping); dfdv(row, col) = (f_plus_delta - f_moins_delta) / (2.0 * epsilonNumericalEvaluation); } } return - dfdv; } }; TEST(LinearSpringTests, Constructor) { ASSERT_NO_THROW({LinearSpring ls(0, 1);}); ASSERT_NO_THROW({LinearSpring* ls = new LinearSpring(0, 1); delete ls;}); ASSERT_NO_THROW({std::shared_ptr ls = std::make_shared(0, 1);}); } TEST(LinearSpringTests, SetGetMethods) { LinearSpring ls(0, 1); // Stiffness getter/setter ASSERT_THROW(ls.setStiffness(-0.34), SurgSim::Framework::AssertionFailure); ASSERT_NO_THROW(ls.setStiffness(0.0)); ASSERT_DOUBLE_EQ(0.0, ls.getStiffness()); ASSERT_NO_THROW(ls.setStiffness(0.34)); ASSERT_DOUBLE_EQ(0.34, ls.getStiffness()); // Damping getter/setter ASSERT_THROW(ls.setDamping(-0.45), SurgSim::Framework::AssertionFailure); ASSERT_NO_THROW(ls.setDamping(0.0)); ASSERT_DOUBLE_EQ(0.0, ls.getDamping()); ASSERT_NO_THROW(ls.setDamping(0.45)); ASSERT_DOUBLE_EQ(0.45, ls.getDamping()); // Rest length getter/setter ASSERT_THROW(ls.setRestLength(-1.23), SurgSim::Framework::AssertionFailure); ASSERT_NO_THROW(ls.setRestLength(0.0)); ASSERT_DOUBLE_EQ(0.0, ls.getRestLength()); ASSERT_NO_THROW(ls.setRestLength(1.23)); ASSERT_DOUBLE_EQ(1.23, ls.getRestLength()); // Operator ==/!= (with same node Ids) LinearSpring ls2(0, 1); ASSERT_TRUE(ls != ls2); ls2.setStiffness(ls.getStiffness()); ASSERT_TRUE(ls != ls2); ls2.setDamping(ls.getDamping()); ASSERT_TRUE(ls != ls2); ls2.setRestLength(ls.getRestLength()); ASSERT_TRUE(ls == ls2); ls2.setDamping(ls.getDamping() + 0.55); ASSERT_TRUE(ls != ls2); ls2.setDamping(ls.getDamping()); ls2.setStiffness(ls.getStiffness() + 0.23); ASSERT_TRUE(ls != ls2); // Operator ==/!= (with different node Ids) LinearSpring ls3(0, 2); ASSERT_TRUE(ls != ls3); ls3.setStiffness(ls.getStiffness()); ASSERT_TRUE(ls != ls3); ls3.setDamping(ls.getDamping()); ASSERT_TRUE(ls != ls3); ls3.setRestLength(ls.getRestLength()); ASSERT_TRUE(ls != ls3); } namespace { void initializeTest(bool setStiffness, bool setDamping, bool setRestLength, bool expectException) { LinearSpring ls(0, 1); SurgSim::Math::OdeState state; std::string scopeTrace; state.setNumDof(3, 2); if (setStiffness) { ls.setStiffness(1.23); scopeTrace += "Stiffness set; "; } else { scopeTrace += "Stiffness unset; "; } if (setDamping) { ls.setDamping(1.23); scopeTrace += "Damping set; "; } else { scopeTrace += "Damping unset; "; } if (setRestLength) { ls.setRestLength(1.23); scopeTrace += "Rest length set; "; } else { scopeTrace += "Rest length unset; "; } SCOPED_TRACE(scopeTrace); if (expectException) { EXPECT_THROW(ls.initialize(state), SurgSim::Framework::AssertionFailure); } else { EXPECT_NO_THROW(ls.initialize(state)); } } }; TEST(LinearSpringTests, initializeTest) { // (stiff damp restL| expectException) initializeTest(false, false, false, true); initializeTest(true, false, false, true); initializeTest(false, true, false, true); initializeTest(false, false, true, true); initializeTest(true, true, false, true); initializeTest(true, false, true, false); initializeTest(false, true, true, true); initializeTest(true, true, true, false); } TEST(LinearSpringTests, computeMethods) { using SurgSim::Math::setSubVector; using SurgSim::Math::setSubMatrix; // Setup the spring LinearSpring ls(0, 1); ls.setStiffness(0.34); ls.setDamping(0.45); ls.setRestLength(1.23); // Setup the state SurgSim::Math::OdeState state; state.setNumDof(3u, 2u); setSubVector(Vector3d(0.0, 0.0, 0.0), 0, 3, &state.getPositions()); setSubVector(Vector3d(2.3, 4.1, 1.2), 1, 3, &state.getPositions()); setSubVector(Vector3d(0.1, 0.2, 0.5), 0, 3, &state.getVelocities()); setSubVector(Vector3d(-0.3, -0.14, 0.0), 1, 3, &state.getVelocities()); // Calculating spring force Vector3d expectedF3D(0.45563016177577925, 0.81221028838291076, 0.23772008440475439); Vector6d expectedF; setSubVector(expectedF3D, 0, 3, &expectedF); setSubVector(-expectedF3D, 1, 3, &expectedF); Vector f(6); f.setZero(); ls.addForce(state, &f); EXPECT_TRUE(f.isApprox(expectedF)) << " F = " << f.transpose() << std::endl << "expectedF = " << expectedF.transpose() << std::endl; // Calculate stiffness matrix Matrix33d expectedStiffness33; expectedStiffness33 << 0.224919570941728960, 0.064210544149390564, 0.0011847965179350647, 0.047808674990512064, 0.312562344690556770, 0.0021120285754494608, 0.013992782924052311, 0.033501153469247251, 0.1987182250423049600; Matrix66d expectedK; setSubMatrix(expectedStiffness33, 0, 0, 3, 3, &expectedK); setSubMatrix(-expectedStiffness33, 0, 1, 3, 3, &expectedK); setSubMatrix(-expectedStiffness33, 1, 0, 3, 3, &expectedK); setSubMatrix(expectedStiffness33, 1, 1, 3, 3, &expectedK); Matrix zeroBlock = Matrix::Zero(6, 6); SparseMatrix K(6, 6); K.setZero(); SurgSim::Math::addSubMatrix(zeroBlock, 0, 0, &K, true); K.makeCompressed(); ls.addStiffness(state, &K); EXPECT_TRUE(K.isApprox(expectedK)) << " K = " << std::endl << K << std::endl << "expectedK = " << std::endl << expectedK << std::endl; // Calculate damping matrix Matrix33d expectedDamping33; expectedDamping33 << 0.101125743415463040, 0.180267629566694950, 0.052761257434154628, 0.180267629566694950, 0.321346644010195360, 0.094052676295666937, 0.052761257434154628, 0.094052676295666937, 0.027527612574341543; Matrix66d expectedD; setSubMatrix(expectedDamping33, 0, 0, 3, 3, &expectedD); setSubMatrix(-expectedDamping33, 0, 1, 3, 3, &expectedD); setSubMatrix(-expectedDamping33, 1, 0, 3, 3, &expectedD); setSubMatrix(expectedDamping33, 1, 1, 3, 3, &expectedD); SparseMatrix D(6, 6); D.setZero(); SurgSim::Math::addSubMatrix(zeroBlock, 0, 0, &D, true); D.makeCompressed(); ls.addDamping(state, &D); EXPECT_TRUE(D.isApprox(expectedD)) << " D = " << std::endl << D << std::endl << "expectedD = " << std::endl << expectedD << std::endl; // Compute all together { SCOPED_TRACE("Testing addFDK method call"); Vector f = Vector::Zero(6); SurgSim::Math::clearMatrix(&K); SurgSim::Math::clearMatrix(&D); ls.addFDK(state, &f, &D, &K); EXPECT_TRUE(f.isApprox(expectedF)) << " F = " << f.transpose() << std::endl << "expectedF = " << expectedF.transpose() << std::endl; EXPECT_TRUE(K.isApprox(expectedK)) << " K = " << std::endl << K << std::endl << "expectedK = " << std::endl << expectedK << std::endl; EXPECT_TRUE(D.isApprox(expectedD)) << " D = " << std::endl << D << std::endl << "expectedD = " << std::endl << expectedD << std::endl; } // Test addMatVec method Vector ones = Vector::Ones(6); Vector oneToSix = Vector::LinSpaced(6, 1.0, 6.0); f.setZero(); ls.addMatVec(state, 1.0, 0.0, ones, &f); { SCOPED_TRACE("addMatVec(..., dampingFactor=1, stiffnessFactor=0, (1 1 1 1 1 1),...)"); for (size_t row = 0; row < 6; ++row) { EXPECT_NEAR(expectedD.row(row).sum(), f[row], epsilon) << "f[" << row << "] = " << f[row] << " expectedValue = " << expectedD.row(row).sum(); } } f.setZero(); ls.addMatVec(state, 1.0, 0.0, oneToSix, &f); { SCOPED_TRACE("addMatVec(..., dampingFactor=1, stiffnessFactor=0, (1 2 3 4 5 6),...)"); for (size_t row = 0; row < 6; ++row) { EXPECT_NEAR(expectedD.row(row).dot(oneToSix), f[row], epsilon) << "f[" << row << "] = " << f[row] << " expectedValue = " << expectedD.row(row).dot(oneToSix); } } f.setZero(); ls.addMatVec(state, 0.0, 1.0, ones, &f); { SCOPED_TRACE("addMatVec(..., dampingFactor=0, stiffnessFactor=1, (1 1 1 1 1 1),...)"); for (size_t row = 0; row < 6; ++row) { EXPECT_NEAR(expectedK.row(row).sum(), f[row], epsilon) << "f[" << row << "] = " << f[row] << " expectedValue = " << expectedK.row(row).sum(); } } f.setZero(); ls.addMatVec(state, 0.0, 1.0, oneToSix, &f); { SCOPED_TRACE("addMatVec(..., dampingFactor=0, stiffnessFactor=1, (1 2 3 4 5 6),...)"); for (size_t row = 0; row < 6; ++row) { EXPECT_NEAR(expectedK.row(row).dot(oneToSix), f[row], epsilon) << "f[" << row << "] = " << f[row] << " expectedValue = " << expectedK.row(row).dot(oneToSix); } } f.setZero(); ls.addMatVec(state, 1.4, 4.1, ones, &f); { SCOPED_TRACE("addMatVec(..., dampingFactor=1.4, stiffnessFactor=4.1, (1 1 1 1 1 1),...)"); for (size_t row = 0; row < 6; ++row) { EXPECT_NEAR(1.4 * expectedD.row(row).sum() + 4.1 * expectedK.row(row).sum(), f[row], epsilon) << "f[" << row << "] = " << f[row] << " expectedValue = " << 1.4 * expectedD.row(row).sum() + 4.1 * expectedK.row(row).sum(); } } f.setZero(); ls.addMatVec(state, 1.4, 4.1, oneToSix, &f); { SCOPED_TRACE("addMatVec(..., dampingFactor=1.4, stiffnessFactor=4.1, (1 2 3 4 5 6),...)"); for (size_t row = 0; row < 6; ++row) { EXPECT_NEAR(\ 1.4 * expectedD.row(row).dot(oneToSix) + 4.1 * expectedK.row(row).dot(oneToSix), f[row], epsilon) << "f[" << row << "] = " << f[row] << " expectedValue = " << 1.4 * expectedD.row(row).dot(oneToSix) + 4.1 * expectedK.row(row).dot(oneToSix); } } } TEST(LinearSpringTests, addStiffnessNumericalTest) { Vector3d x0(0.1, 0.2, 0.3), x1(1.3, 1.2, 1.45), v0(0.1, 0.2, 0.3), v1(-0.1, 0.12, -0.45); double restLength = 1.0, stiffness = 5.0, damping = 2.0; // Setup the spring LinearSpring ls(0, 1); ls.setStiffness(stiffness); ls.setDamping(damping); ls.setRestLength(restLength); // Setup the state SurgSim::Math::OdeState state; state.setNumDof(3, 2); // 2 nodes of 3DOF each state.getPositions().segment(0, 3) = x0; state.getPositions().segment(3, 3) = x1; state.getVelocities().segment(0, 3) = v0; state.getVelocities().segment(3, 3) = v1; Matrix zeroBlock = Matrix::Zero(6, 6); SparseMatrix K(6, 6); K.setZero(); SurgSim::Math::addSubMatrix(zeroBlock, 0, 0, &K, true); K.makeCompressed(); ls.addStiffness(state, &K); Eigen::Matrix Knumeric = KNumerical(x0, x1, v0, v1, restLength, stiffness, damping); Eigen::Matrix Kformal = KFormal(x0, x1, v0, v1, restLength, stiffness, damping); EXPECT_TRUE(Kformal.isApprox(Knumeric, epsilonTestAgainstNumericalApproximation)) << std::endl << "Kformal = " << std::endl << Kformal << std::endl << "Knumeric = " << std::endl << Knumeric << std::endl << "Kformal - Knumeric= " << std::endl << Kformal - Knumeric << std::endl; EXPECT_TRUE(K.isApprox(Kformal)) << std::endl << "K = " << std::endl << K << std::endl << "Knumeric = " << std::endl << Knumeric << std::endl; } TEST(LinearSpringTests, addDampingNumericalTest) { Vector3d x0(0.1, 0.2, 0.3), x1(1.3, 1.2, 1.45), v0(0.1, 0.2, 0.3), v1(-0.1, 0.12, -0.45); double restLength = 1.0, stiffness = 5.0, damping = 2.0; // Setup the spring LinearSpring ls(0, 1); ls.setStiffness(stiffness); ls.setDamping(damping); ls.setRestLength(restLength); // Setup the state SurgSim::Math::OdeState state; state.setNumDof(3, 2); // 2 nodes of 3DOF each state.getPositions().segment(0, 3) = x0; state.getPositions().segment(3, 3) = x1; state.getVelocities().segment(0, 3) = v0; state.getVelocities().segment(3, 3) = v1; Matrix zeroBlock = Matrix::Zero(6, 6); SparseMatrix D(6, 6); D.setZero(); SurgSim::Math::addSubMatrix(zeroBlock, 0, 0, &D, true); D.makeCompressed(); ls.addDamping(state, &D); Eigen::Matrix Dnumeric = DNumerical(x0, x1, v0, v1, restLength, stiffness, damping); Eigen::Matrix Dformal = DFormal(x0, x1, v0, v1, restLength, stiffness, damping); EXPECT_TRUE(Dformal.isApprox(Dnumeric, epsilonTestAgainstNumericalApproximation)) << std::endl << "Dformal = " << std::endl << Dformal << std::endl << "Dnumeric = " << std::endl << Dnumeric << std::endl; EXPECT_TRUE(D.isApprox(Dformal)) << std::endl << "D = " << std::endl << D << std::endl << "Dnumeric = " << std::endl << Dnumeric << std::endl; } TEST(LinearSpringTests, addFDKNumericalTest) { Vector3d x0(0.1, 0.2, 0.3), x1(1.3, 1.2, 1.45), v0(0.1, 0.2, 0.3), v1(-0.1, 0.12, -0.45); double restLength = 1.0, stiffness = 5.0, damping = 2.0; // Setup the spring LinearSpring ls(0, 1); ls.setStiffness(stiffness); ls.setDamping(damping); ls.setRestLength(restLength); // Setup the state SurgSim::Math::OdeState state; state.setNumDof(3, 2); // 2 nodes of 3DOF each state.getPositions().segment(0, 3) = x0; state.getPositions().segment(3, 3) = x1; state.getVelocities().segment(0, 3) = v0; state.getVelocities().segment(3, 3) = v1; Vector F = Vector::Zero(6); Matrix zeroBlock = Matrix::Zero(6, 6); SparseMatrix K(6, 6); K.setZero(); SurgSim::Math::addSubMatrix(zeroBlock, 0, 0, &K, true); K.makeCompressed(); SparseMatrix D(6, 6); D.setZero(); SurgSim::Math::addSubMatrix(zeroBlock, 0, 0, &D, true); D.makeCompressed(); ls.addFDK(state, &F, &D, &K); Eigen::Matrix Knumeric = KNumerical(x0, x1, v0, v1, restLength, stiffness, damping); Eigen::Matrix Kformal = KFormal(x0, x1, v0, v1, restLength, stiffness, damping); EXPECT_TRUE(Kformal.isApprox(Knumeric, epsilonTestAgainstNumericalApproximation)) << std::endl << "Kformal = " << std::endl << Kformal << std::endl << "Knumeric = " << std::endl << Knumeric << std::endl << "Kformal - Knumeric= " << std::endl << Kformal - Knumeric << std::endl; EXPECT_TRUE(K.isApprox(Kformal)) << std::endl << "K = " << std::endl << K << std::endl << "Knumeric = " << std::endl << Knumeric << std::endl; Eigen::Matrix Dnumeric = DNumerical(x0, x1, v0, v1, restLength, stiffness, damping); Eigen::Matrix Dformal = DFormal(x0, x1, v0, v1, restLength, stiffness, damping); EXPECT_TRUE(Dformal.isApprox(Dnumeric, epsilonTestAgainstNumericalApproximation)) << std::endl << "Dformal = " << std::endl << Dformal << std::endl << "Dnumeric = " << std::endl << Dnumeric << std::endl << "Dformal - Dnumeric= " << std::endl << Dformal - Dnumeric << std::endl; EXPECT_TRUE(D.isApprox(Dformal)) << std::endl << "D = " << std::endl << D << std::endl << "Dnumeric = " << std::endl << Dnumeric << std::endl; } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/MassSpringConstraintFixedPointTest.cpp000066400000000000000000000220501277777236100305610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Blocks/MassSpring1DRepresentation.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/MassSpringConstraintFixedPoint.h" #include "SurgSim/Physics/MassSpringLocalization.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" namespace { const double epsilon = 1e-10; const double dt = 1e-3; }; namespace SurgSim { namespace Physics { using SurgSim::Math::Vector3d; class MassSpringConstraintFixedPointTest : public ::testing::Test { public: void SetUp() { // Place spring at random location. m_extremities.push_back(Vector3d(0.8799, -0.0871, 0.7468)); m_extremities.push_back(Vector3d(0.9040, -0.7074, 0.6783)); // Define physics representation of mass-spring using 1d helper function. m_massSpring = std::make_shared("MassSpring"); size_t numNodesPerDim[1] = {2}; m_massPerNode = 0.137; std::vector boundaryConditions; m_massSpring->init1D( m_extremities, boundaryConditions, numNodesPerDim[0] * m_massPerNode, // total mass (in Kg) 100.0, // Stiffness stretching 0.0, // Damping stretching 10.0, // Stiffness bending 0.0); // Damping bending // Update position in only 1 timestep // Forward Euler for velocity, backward Euler for position m_massSpring->setIntegrationScheme(SurgSim::Math::IntegrationScheme::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED); m_massSpring->initialize(std::make_shared()); m_massSpring->wakeUp(); // Update model by one timestep m_massSpring->beforeUpdate(dt); m_massSpring->update(dt); // Create localization helper class m_localization = std::make_shared(m_massSpring); } void setConstraintAtNode(size_t nodeId) { m_nodeId = nodeId; m_localization->setLocalNode(nodeId); } ConstraintData m_constraintData; size_t m_nodeId; std::shared_ptr m_massSpring; double m_massPerNode; std::vector m_extremities; std::shared_ptr m_localization; }; TEST_F(MassSpringConstraintFixedPointTest, ConstructorTest) { ASSERT_NO_THROW({ MassSpringConstraintFixedPoint constraint; }); ASSERT_NE(nullptr, std::make_shared()); } TEST_F(MassSpringConstraintFixedPointTest, ConstraintConstantsTest) { auto implementation = std::make_shared(); EXPECT_EQ(SurgSim::Physics::FIXED_3DPOINT, implementation->getConstraintType()); EXPECT_EQ(3u, implementation->getNumDof()); } TEST_F(MassSpringConstraintFixedPointTest, BuildMlcpTest) { // Define constraint (frictionless non-penetration) auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_massSpring->getNumDof(), 3, 1); // Build MLCP for 0th node setConstraintAtNode(0); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); // Expected results. // At the initial time-step, the only force is gravity. // // F(0) = m * a(0) // => a(0) = 1/m * F(0) // = (0, -g, 0) // // Modified Explicit Euler: // v(1) = v(0) + dv/dt|(t=0)*dt // = v(0) + a(0)*dt // = (0, -g*dt, 0) // // p(1) = p(0) + dp/dt|(t=1)*dt // = p(0) + v(1)*dt // = p(0) + (0, -g*dt^2, 0) // // The constraint violation is the new position. The constraint is // U(t) = p(t) = 0 // U(1) = p(1) Vector3d expectedViolation = m_extremities[0] - Vector3d::UnitY() * 9.81 * dt * dt; EXPECT_TRUE(mlcpPhysicsProblem.b.isApprox(expectedViolation)) << "b = " << mlcpPhysicsProblem.b.transpose() << " expected = " << (-Vector3d::UnitY() * 9.81 * dt * dt).transpose(); // By definition, H = dU/dv. // U(t+dt) = p(t+dt) = p(t) + dt.v(t) [using Backward Euler integration scheme for approximation] // // dU/dv = dt.Id(3x3) // => H = dt.Id(3x3) for the constrained node and Zero(3x3) for all other nodes SurgSim::Math::Matrix H = mlcpPhysicsProblem.H; SurgSim::Math::Matrix expectedH = SurgSim::Math::Matrix::Zero(3, 6); expectedH.block<3, 3>(0, 0) = SurgSim::Math::Matrix33d::Identity() * dt; EXPECT_TRUE((H.isApprox(expectedH))); // We define C as the matrix which transforms F -> v (which differs from treatments which define it as F -> p) // v(1) = v(0) + a(0)*dt // = v(0) + 1/m*F(0)*dt // => (v(1) - v(0)) = [dt/m].Id(3x3) * F(0) // // Therefore C = dt/m.Id(6x6) for the entire system // and // CH^T = dt/m.(Id(3x3) 0 )* (dt.Id(3x3)) = dt^2/m (Id(3x3)) // ( 0 Id(3x3)) ( 0 ) ( 0 ) SurgSim::Math::Matrix expectedCHt = SurgSim::Math::Matrix::Zero(6, 3); expectedCHt.block<3, 3>(0, 0) = SurgSim::Math::Matrix33d::Identity() * dt * dt / m_massPerNode; EXPECT_TRUE(mlcpPhysicsProblem.CHt.isApprox(expectedCHt)); // And finally, // HCHt = H * (dt/m).Id(6x6) * H^T = (dt.Id(3x3) 0) (dt^2/m.Id(3x3)) = dt^3/m.Id(3x3) // ( 0 ) EXPECT_TRUE(mlcpPhysicsProblem.A.isApprox(dt * dt * dt / m_massPerNode * SurgSim::Math::Matrix33d::Identity())); // ConstraintTypes should contain 0 entry as it is setup by the constraint and not the ConstraintImplementation // This way, the constraint can verify that both ConstraintImplementation are the same type EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(MassSpringConstraintFixedPointTest, BuildMlcpIndiciesTest) { auto implementation = std::make_shared(); MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(11, 6, 3); // Suppose 5 dof and 1 constraint are defined elsewhere. Then H, CHt, HCHt, and b are prebuilt. Eigen::SparseVector localH; localH.resize(5); localH.reserve(5); localH.insert(0) = 0.9478; localH.insert(1) = -0.3807; localH.insert(2) = 0.5536; localH.insert(3) = -0.6944; localH.insert(4) = 0.1815; mlcpPhysicsProblem.H.coeffRef(0, 0) += localH.coeff(0); mlcpPhysicsProblem.H.coeffRef(0, 1) += localH.coeff(1); mlcpPhysicsProblem.H.coeffRef(0, 2) += localH.coeff(2); mlcpPhysicsProblem.H.coeffRef(0, 3) += localH.coeff(3); mlcpPhysicsProblem.H.coeffRef(0, 4) += localH.coeff(4); Eigen::Matrix localC; localC << -0.2294, 0.5160, 0.2520, 0.5941, -0.4854, 0.1233, -0.4433, 0.3679, 0.9307, 0.2600, 0.1988, 0.6637, -0.7591, 0.1475, 0.8517, -0.5495, -0.4305, 0.3162, -0.7862, 0.7627, -0.5754, 0.4108, 0.8445, -0.5565, 0.7150; localC = localC * localC.transpose(); // force to be symmetric Eigen::Matrix localCHt = localC * localH.transpose(); mlcpPhysicsProblem.CHt.block<5, 1>(0, 0) = localCHt; mlcpPhysicsProblem.A.block<1, 1>(0, 0) = localH * localCHt; mlcpPhysicsProblem.b.block<1, 1>(0, 0)[0] = 0.6991; // Place mass-spring at 5th dof and 1th constraint (0-based). size_t indexOfRepresentation = 5; size_t indexOfConstraint = 1; setConstraintAtNode(1); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, indexOfRepresentation, indexOfConstraint, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); // b -> E -> [#constraints, 1] const Vector3d newPosition = m_extremities[1] - Vector3d::UnitY() * 9.81 * dt * dt; EXPECT_TRUE(mlcpPhysicsProblem.b.segment<3>(indexOfConstraint).isApprox(newPosition)); // H -> [#constraints, #dof] SurgSim::Math::Matrix H = mlcpPhysicsProblem.H; SurgSim::Math::Matrix expectedH = SurgSim::Math::Matrix::Zero(3, 6); expectedH.block<3, 3>(0, 3) = SurgSim::Math::Matrix33d::Identity() * dt; EXPECT_TRUE((H.block<3, 6>(indexOfConstraint, indexOfRepresentation).isApprox(expectedH))) << H; // C -> [#dof, #dof] // CHt -> [#dof, #constraints] SurgSim::Math::Matrix CHt = mlcpPhysicsProblem.CHt; SurgSim::Math::Matrix expectedCHt = SurgSim::Math::Matrix::Zero(6, 3); expectedCHt.block<3, 3>(3, 0) = SurgSim::Math::Matrix33d::Identity() * dt * dt / m_massPerNode; EXPECT_TRUE((CHt.block(indexOfRepresentation, indexOfConstraint, 6, 3).isApprox(expectedCHt))) << CHt; // A -> HCHt -> [#constraints, #constraints] SurgSim::Math::Matrix expectedA = dt * dt * dt / m_massPerNode * SurgSim::Math::Matrix33d::Identity(); EXPECT_TRUE(mlcpPhysicsProblem.A.block(1, 1, 3, 3).isApprox(expectedA)); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/MassSpringConstraintFrictionlessContactTest.cpp000066400000000000000000000230071277777236100324730ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Blocks/MassSpring1DRepresentation.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SparseMatrix.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/ContactConstraintData.h" #include "SurgSim/Physics/MassSpringConstraintFrictionlessContact.h" #include "SurgSim/Physics/MassSpringLocalization.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" namespace { const double epsilon = 1e-10; const double dt = 1e-3; }; namespace SurgSim { namespace Physics { using SurgSim::Math::Vector3d; class MassSpringConstraintFrictionlessContactTest : public ::testing::Test { public: void SetUp() { // Define plane normal m_n = Vector3d(0.8539, 0.6289, -0.9978); m_n.normalize(); // Place spring at random location. m_extremities.push_back(Vector3d(0.8799, -0.0871, 0.7468)); m_extremities.push_back(Vector3d(0.9040, -0.7074, 0.6783)); // Define physics representation of mass-spring using 1d helper function. m_massSpring = std::make_shared("MassSpring"); size_t numNodesPerDim[1] = {2}; m_massPerNode = 0.137; std::vector boundaryConditions; m_massSpring->init1D( m_extremities, boundaryConditions, numNodesPerDim[0] * m_massPerNode, // total mass (in Kg) 100.0, // Stiffness stretching 0.0, // Damping stretching 10.0, // Stiffness bending 0.0); // Damping bending // Update position in only 1 timestep // Forward Euler for velocity, backward Euler for position m_massSpring->setIntegrationScheme(SurgSim::Math::IntegrationScheme::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED); m_massSpring->initialize(std::make_shared()); m_massSpring->wakeUp(); // Update model by one timestep m_massSpring->beforeUpdate(dt); m_massSpring->update(dt); // Create localization helper class m_localization = std::make_shared(m_massSpring); } void setContactAtNode(size_t nodeId) { m_nodeId = nodeId; m_localization->setLocalNode(nodeId); // Place plane at nodeId double distance = -m_extremities[nodeId].dot(m_n); m_constraintData.setPlaneEquation(m_n, distance); } Vector3d m_n; ContactConstraintData m_constraintData; size_t m_nodeId; std::shared_ptr m_massSpring; double m_massPerNode; std::vector m_extremities; std::shared_ptr m_localization; }; TEST_F(MassSpringConstraintFrictionlessContactTest, ConstructorTest) { ASSERT_NO_THROW({ MassSpringConstraintFrictionlessContact massSpring; }); ASSERT_NE(nullptr, std::make_shared()); } TEST_F(MassSpringConstraintFrictionlessContactTest, ConstraintConstantsTest) { auto implementation = std::make_shared(); EXPECT_EQ(SurgSim::Physics::FRICTIONLESS_3DCONTACT, implementation->getConstraintType()); EXPECT_EQ(1u, implementation->getNumDof()); } TEST_F(MassSpringConstraintFrictionlessContactTest, BuildMlcpTest) { // Define constraint (frictionless non-penetration) auto implementation = std::make_shared(); // Initialize MLCP MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(m_massSpring->getNumDof(), 1, 1); // Build MLCP for 0th node setContactAtNode(0); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); // Expected results. // At the initial time-step, the only force is gravity. // // F(0) = m * a(0) // => a(0) = 1/m * F(0) // = (0, -g, 0) // // Modified Explicit Euler: // v(1) = v(0) + dv/dt|(t=0)*dt // = v(0) + a(0)*dt // = (0, -g*dt, 0) // // p(1) = p(0) + dp/dt|(t=1)*dt // = p(0) + v(1)*dt // = p(0) + (0, -g*dt^2, 0) // // The constraint violation is the projection of the new position onto the constraint normal. Note, we have // defined the plane to intersect with p(0). The constraint is // U(t) = n^t.p(t) >= 0 // U(1) = n^t.p(1) const Vector3d newPosition = m_extremities[0] - Vector3d::UnitY() * 9.81 * dt * dt; EXPECT_NEAR(newPosition.dot(m_n), mlcpPhysicsProblem.b[0], epsilon); // By definition, H = dU/dp. // // dU/dt = (dU/dp).(dp/dt) // = H.(dp/dt) // // dp = p(1) - p(0) // => dp/dt = (p(1) - p(0)) / dt // // dU/dt = (U(1) - U(0)) / dt [Note U(0) = 0] // = n^t.(p(1) - p(0)) / dt // = n^t.(dp/dt) // => H = n^t SurgSim::Math::Matrix h = mlcpPhysicsProblem.H; EXPECT_NEAR(m_n[0], h(0, 0), epsilon); EXPECT_NEAR(m_n[1], h(0, 1), epsilon); EXPECT_NEAR(m_n[2], h(0, 2), epsilon); // We define C as the matrix which transforms F -> v (which differs from treatments which define it as F -> p) // v(1) = v(0) + a(0)*dt // = v(0) + 1/m*F(0)*dt // => (v(1) - v(0)) = [dt/m] * F(0) // // Therefore C = dt/m // // We can directly calculate // CHt = C * H^t // = (dt/m) * (nx, ny, nz) EXPECT_NEAR(dt / m_massPerNode * m_n[0], mlcpPhysicsProblem.CHt(0, 0), epsilon); EXPECT_NEAR(dt / m_massPerNode * m_n[1], mlcpPhysicsProblem.CHt(1, 0), epsilon); EXPECT_NEAR(dt / m_massPerNode * m_n[2], mlcpPhysicsProblem.CHt(2, 0), epsilon); // And finally, // HCHt = [nx ny nz] * (dt/m) * (nx, ny, nz) // = (dt/m) * (nx*nx + ny*ny + nz*nz) double calculatedA = mlcpPhysicsProblem.A.block<1, 1>(0, 0)[0]; // VS intellisense error workaround EXPECT_NEAR(dt / m_massPerNode * (m_n[0] * m_n[0] + m_n[1] * m_n[1] + m_n[2] * m_n[2]), calculatedA, epsilon); // ConstraintTypes should contain 0 entry as it is setup by the constraint and not the ConstraintImplementation // This way, the constraint can verify that both ConstraintImplementation are the same type EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST_F(MassSpringConstraintFrictionlessContactTest, BuildMlcpIndiciesTest) { auto implementation = std::make_shared(); MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(11, 2, 2); // Suppose 5 dof and 1 constraint are defined elsewhere. Then H, CHt, HCHt, and b are prebuilt. Eigen::SparseVector localH; localH.resize(5); localH.reserve(5); localH.insert(0) = 0.9478; localH.insert(1) = -0.3807; localH.insert(2) = 0.5536; localH.insert(3) = -0.6944; localH.insert(4) = 0.1815; mlcpPhysicsProblem.H.coeffRef(0, 0) += localH.coeff(0); mlcpPhysicsProblem.H.coeffRef(0, 1) += localH.coeff(1); mlcpPhysicsProblem.H.coeffRef(0, 2) += localH.coeff(2); mlcpPhysicsProblem.H.coeffRef(0, 3) += localH.coeff(3); mlcpPhysicsProblem.H.coeffRef(0, 4) += localH.coeff(4); Eigen::Matrix localC; localC << -0.2294, 0.5160, 0.2520, 0.5941, -0.4854, 0.1233, -0.4433, 0.3679, 0.9307, 0.2600, 0.1988, 0.6637, -0.7591, 0.1475, 0.8517, -0.5495, -0.4305, 0.3162, -0.7862, 0.7627, -0.5754, 0.4108, 0.8445, -0.5565, 0.7150; localC = localC * localC.transpose(); // force to be symmetric Eigen::Matrix localCHt = localC * localH.transpose(); mlcpPhysicsProblem.CHt.block<5, 1>(0, 0) = localCHt; mlcpPhysicsProblem.A.block<1, 1>(0, 0) = localH * localCHt; mlcpPhysicsProblem.b.block<1, 1>(0, 0)[0] = 0.6991; // Place mass-spring at 5th dof and 1th constraint. size_t indexOfRepresentation = 5; size_t indexOfConstraint = 1; setContactAtNode(1); implementation->build(dt, m_constraintData, m_localization, &mlcpPhysicsProblem, indexOfRepresentation, indexOfConstraint, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); // b -> E -> [#constraints, 1] const Vector3d newPosition = m_extremities[1] - Vector3d::UnitY() * 9.81 * dt * dt; EXPECT_NEAR(newPosition.dot(m_n), mlcpPhysicsProblem.b[indexOfConstraint], epsilon); // H -> [#constraints, #dof] SurgSim::Math::Matrix h = mlcpPhysicsProblem.H; EXPECT_NEAR(m_n[0], h(indexOfConstraint, indexOfRepresentation + 3 * m_nodeId + 0), epsilon); EXPECT_NEAR(m_n[1], h(indexOfConstraint, indexOfRepresentation + 3 * m_nodeId + 1), epsilon); EXPECT_NEAR(m_n[2], h(indexOfConstraint, indexOfRepresentation + 3 * m_nodeId + 2), epsilon); // C -> [#dof, #dof] // CHt -> [#dof, #constraints] EXPECT_NEAR(dt / m_massPerNode * m_n[0], mlcpPhysicsProblem.CHt(indexOfRepresentation + 3 * m_nodeId + 0, indexOfConstraint), epsilon); EXPECT_NEAR(dt / m_massPerNode * m_n[1], mlcpPhysicsProblem.CHt(indexOfRepresentation + 3 * m_nodeId + 1, indexOfConstraint), epsilon); EXPECT_NEAR(dt / m_massPerNode * m_n[2], mlcpPhysicsProblem.CHt(indexOfRepresentation + 3 * m_nodeId + 2, indexOfConstraint), epsilon); // A -> HCHt -> [#constraints, #constraints] double calculatedA = mlcpPhysicsProblem.A.block<1, 1>(indexOfConstraint, indexOfConstraint)[0]; EXPECT_NEAR(dt / m_massPerNode * (m_n[0] * m_n[0] + m_n[1] * m_n[1] + m_n[2] * m_n[2]), calculatedA, epsilon); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/MassSpringLocalizationTest.cpp000066400000000000000000000117411277777236100271000ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/Blocks/MassSpring1DRepresentation.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/MassSpringLocalization.h" #include "SurgSim/Physics/MassSpringRepresentation.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" namespace { const double epsilon = 1e-10; }; namespace SurgSim { namespace Physics { TEST (MassSpringLocalizationTest, ConstructorTest) { ASSERT_NO_THROW( {MassSpringLocalization localization;}); ASSERT_NO_THROW( { auto massSpring = std::make_shared("MassSpringRepresentation"); MassSpringLocalization localization(massSpring); }); } TEST (MassSpringLocalizationTest, SetGetRepresentationTest) { MassSpringLocalization localization; auto massSpring = std::make_shared("MassSpringRepresentation"); EXPECT_EQ(nullptr, localization.getRepresentation()); localization.setRepresentation(massSpring); EXPECT_EQ(massSpring, localization.getRepresentation()); localization.setRepresentation(nullptr); EXPECT_EQ(nullptr, localization.getRepresentation()); } TEST (MassSpringLocalizationTest, CalculatePositionTest) { using SurgSim::Math::Vector3d; // Create the mass spring auto massSpring = std::make_shared("MassSpring"); std::vector extremities; extremities.push_back(Vector3d(0,0,0)); extremities.push_back(Vector3d(1,0,0)); std::vector boundaryConditions; massSpring->init1D( extremities, boundaryConditions, 0.1, // total mass (in Kg) 100.0, // Stiffness stretching 0.0, // Damping stretching 10.0, // Stiffness bending 0.0); // Damping bending MassSpringLocalization localization = MassSpringLocalization(massSpring); localization.setLocalNode(0); ASSERT_EQ(0u, localization.getLocalNode()); ASSERT_TRUE(localization.calculatePosition().isZero(epsilon)); localization.setLocalNode(1); ASSERT_EQ(1u, localization.getLocalNode()); ASSERT_TRUE(localization.calculatePosition().isApprox(Vector3d(1.0, 0.0, 0.0), epsilon)); // Out-Of-Range assertions EXPECT_THROW(localization.calculatePosition(-0.01), SurgSim::Framework::AssertionFailure); EXPECT_THROW(localization.calculatePosition(1.01), SurgSim::Framework::AssertionFailure); } TEST(MassSpringLocalizationTest, CalculateVelocityTest) { using SurgSim::Math::Vector3d; // Create the mass spring auto massSpring = std::make_shared("MassSpring"); std::vector extremities; extremities.push_back(Vector3d(0, 0, 0)); extremities.push_back(Vector3d(1, 0, 0)); std::vector boundaryConditions; massSpring->init1D( extremities, boundaryConditions, 0.1, // total mass (in Kg) 100.0, // Stiffness stretching 0.0, // Damping stretching 10.0, // Stiffness bending 0.0); // Damping bending auto state = std::make_shared(*massSpring->getInitialState()); state->getVelocities().segment<3>(0) = Vector3d(0, 0, 0); state->getVelocities().segment<3>(3) = Vector3d(1, 0, 0); massSpring->setInitialState(state); MassSpringLocalization localization = MassSpringLocalization(massSpring); localization.setLocalNode(0); ASSERT_EQ(0u, localization.getLocalNode()); ASSERT_TRUE(localization.calculateVelocity().isZero(epsilon)); localization.setLocalNode(1); ASSERT_EQ(1u, localization.getLocalNode()); ASSERT_TRUE(localization.calculateVelocity().isApprox(Vector3d(1.0, 0.0, 0.0), epsilon)); // Out-Of-Range assertions EXPECT_THROW(localization.calculateVelocity(-0.01), SurgSim::Framework::AssertionFailure); EXPECT_THROW(localization.calculateVelocity(1.01), SurgSim::Framework::AssertionFailure); } TEST (MassSpringLocalizationTest, IsValidRepresentationTest) { MassSpringLocalization localization; EXPECT_TRUE(localization.isValidRepresentation(nullptr)); EXPECT_TRUE(localization.isValidRepresentation(std::make_shared("massSpring"))); EXPECT_TRUE(localization.isValidRepresentation( std::make_shared>("descendent"))); EXPECT_FALSE(localization.isValidRepresentation(std::make_shared())); EXPECT_FALSE(localization.isValidRepresentation(std::make_shared("rigidRepresentation"))); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/MassSpringMechanicalValidationTests.cpp000066400000000000000000000260711277777236100306740ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/LinearSpring.h" #include "SurgSim/Physics/MassSpringRepresentation.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector; using SurgSim::Math::Vector3d; using SurgSim::Physics::LinearSpring; using SurgSim::Physics::MassSpringRepresentation; using SurgSim::Physics::MockMassSpring; namespace { const double epsilon = 1e-10; }; class MassSpringMechanicalValidationTests : public ::testing::Test { public: void SetUp() override { // Initialization values for the simulation m_dt = 1e-3; m_numNodes = 10; m_totalMass = 0.1; m_springStiffness = 1.0; m_springDamping = 0.1; m_rayleighDampingMass = 1e0; m_rayleighDampingStiffness = 1e-3; m_nodeBoundaryConditions.push_back(0); // Poses m_poseIdentity.setIdentity(); Quaterniond q; q.coeffs().setRandom(); q.normalize(); Vector3d t; t.setRandom(); m_poseRandom = SurgSim::Math::makeRigidTransform(q, t); } /// Run the energy test on a spring /// \param scheme The numerical integration scheme to be used /// \param expectedBehavior -1 if the energy should decrease, 1 if it should increase, 0 if stable void runEnergyTest(SurgSim::Math::IntegrationScheme scheme, int expectedBehavior) { m_dt = 1e-3; // 2 nodes, the 1st node fixed, no Rayleigh damping and no spring damping // A spring oscillating, only subject to mass and stiffness m_numNodes = 2; m_totalMass = 0.1; m_springStiffness = 1.0; m_springDamping = 0.0; m_rayleighDampingMass = 0.0; m_rayleighDampingStiffness = 0.0; m_nodeBoundaryConditions.clear(); m_nodeBoundaryConditions.push_back(0); MockMassSpring m("MassSpring", m_poseRandom, m_numNodes, m_nodeBoundaryConditions, m_totalMass, m_rayleighDampingMass, m_rayleighDampingStiffness, m_springStiffness, m_springDamping, scheme); m.initialize(std::make_shared()); m.wakeUp(); // Pull on the free mass, by simply making the initial length shorter (creating an extension right away) std::static_pointer_cast(m.getSpring(0))->setRestLength(0.0); m.setIsGravityEnabled(false); Vector3d initialDelta = m.getCurrentState()->getPosition(1) - m.getCurrentState()->getPosition(0); double initialEk = 0.5 * (m_totalMass/2.0) * m.getCurrentState()->getVelocity(1).squaredNorm(); double initialEs = 0.5 * m_springStiffness * initialDelta.squaredNorm(); double initialEnergy = initialEk + initialEs; // Simulate 2 seconds of virtual time double time = 0.0; while(time < 2.0) { m.beforeUpdate(m_dt); m.update(m_dt); m.afterUpdate(m_dt); Vector3d previousDelta = m.getPreviousState()->getPosition(1) - m.getPreviousState()->getPosition(0); Vector3d currentDelta = m.getCurrentState()->getPosition(1) - m.getCurrentState()->getPosition(0); // Calculate previous/current system energy (kinetic energy + spring energy) double previousEk = 0.5 * (m_totalMass/2.0) * m.getPreviousState()->getVelocity(1).squaredNorm(); double previousEs = 0.5 * m_springStiffness * previousDelta.squaredNorm(); double previousEnergy = previousEk + previousEs; double currentEk = 0.5 * (m_totalMass/2.0) * m.getCurrentState()->getVelocity(1).squaredNorm(); double currentEs = 0.5 * m_springStiffness * currentDelta.squaredNorm(); double currentEnergy = currentEk + currentEs; if (expectedBehavior < 0) { EXPECT_LT(currentEnergy, previousEnergy); } else if (expectedBehavior > 0) { EXPECT_GT(currentEnergy, previousEnergy); } else { EXPECT_NEAR(currentEnergy, previousEnergy, 2.6e-6); EXPECT_NEAR(currentEnergy, initialEnergy, 3e-4); } time += m_dt; } } protected: /// Simulation parameters double m_dt; /// Number of nodes size_t m_numNodes; /// NodeIds boundary conditions std::vector m_nodeBoundaryConditions; /// Total mass (in Kg) double m_totalMass; /// Spring stiffness and damping double m_springStiffness, m_springDamping; /// Rayleigh damping (mass and stiffness coefs) double m_rayleighDampingMass, m_rayleighDampingStiffness; /// IdentityPose and random pose SurgSim::Math::RigidTransform3d m_poseIdentity, m_poseRandom; }; TEST_F(MassSpringMechanicalValidationTests, NoGravityTest) { // Note the use of identity pose to avoid small variation between the spring rest length and current length MockMassSpring m("MassSpring", m_poseIdentity, m_numNodes, m_nodeBoundaryConditions, m_totalMass, m_rayleighDampingMass, m_rayleighDampingStiffness, m_springStiffness, m_springDamping, SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT); m.setIsGravityEnabled(false); m.initialize(std::make_shared()); m.wakeUp(); m.beforeUpdate(m_dt); m.update(m_dt); m.afterUpdate(m_dt); EXPECT_EQ(*m.getInitialState(), *m.getFinalState()); EXPECT_EQ(*m.getInitialState(), *m.getCurrentState()); EXPECT_EQ(*m.getInitialState(), *m.getPreviousState()); } TEST_F(MassSpringMechanicalValidationTests, OneSpringFrequencyTest) { m_numNodes = 2; m_totalMass = 0.1; m_springStiffness = 1.0; m_springDamping = 0.0; m_rayleighDampingMass = 0.0; m_rayleighDampingStiffness = 0.0; m_nodeBoundaryConditions.clear(); m_nodeBoundaryConditions.push_back(0); // Only the Modified Euler Explicit integration conserves the energy exactly // (explicit adds energy to the system, implicit removes energy to the system) MockMassSpring m("MassSpring", m_poseRandom, m_numNodes, m_nodeBoundaryConditions, m_totalMass, m_rayleighDampingMass, m_rayleighDampingStiffness, m_springStiffness, m_springDamping, SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED); // Pull on the free mass, by simply making the initial length shorter (creating an extension right away) std::static_pointer_cast(m.getSpring(0))->setRestLength(0.0); m.setIsGravityEnabled(false); m.initialize(std::make_shared()); m.wakeUp(); // Frequency = 1/(2PI) sqrt(k / m) double f = 1.0/(2.0 * M_PI) * sqrt(m_springStiffness / (m_totalMass/2.0)); // Period = 1/f double period = 1.0 / f; // Let's look for a time step, factor of period, small enough for stability of Explicit Euler (~1Khz) m_dt = period; while(m_dt > 1e-3) m_dt *= 0.5; // Simulate a single mass connected to a spring at the same time for comparison purpose Vector3d x0 = SurgSim::Math::getSubVector(m.getInitialState()->getPositions(), 1, 3); Vector3d x = x0; Vector3d v = Vector3d::Zero(); double time = 0.0; // Let's do all iterations (except the last 2) testing that the mass is NOT back yet to its original position while(time < period - 2.0 * m_dt) { m.beforeUpdate(m_dt); m.update(m_dt); m.afterUpdate(m_dt); // Manually simulate a single mass connected to a spring Vector3d anchor = SurgSim::Math::getSubVector(m.getInitialState()->getPositions(), 0, 3); Vector3d f = (m_springStiffness * (anchor - x)) / (m_totalMass/2.0); v += f * m_dt; x += v * m_dt; const Vector3d& finalPosition = SurgSim::Math::getSubVector(m.getFinalState()->getPositions(), 1, 3); const Vector3d& finalVelocity = SurgSim::Math::getSubVector(m.getFinalState()->getVelocities(), 1, 3); const Vector3d& currentPosition = SurgSim::Math::getSubVector(m.getCurrentState()->getPositions(), 1, 3); EXPECT_TRUE(finalPosition.isApprox(currentPosition)); EXPECT_TRUE(finalPosition.isApprox(x, 1e-8)); EXPECT_TRUE(finalVelocity.isApprox(v, 1e-8)); Vector3d deltaCompare = finalPosition - x0; EXPECT_FALSE(deltaCompare.isZero(1e-11)) << "Error is " << deltaCompare.norm(); deltaCompare = currentPosition - x0; EXPECT_FALSE(deltaCompare.isZero(1e-11)) << "Error is " << deltaCompare.norm(); time += m_dt; } // Let's do the last 2 iterations without testing as we are getting close enough to the solution // that the test might become true before reaching the very last iteration while(time < period) { m.beforeUpdate(m_dt); m.update(m_dt); m.afterUpdate(m_dt); time += m_dt; } const Vector3d& finalPosition = SurgSim::Math::getSubVector(m.getFinalState()->getPositions(), 1, 3); const Vector3d& currentPosition = SurgSim::Math::getSubVector(m.getCurrentState()->getPositions(), 1, 3); Vector3d deltaCompare = finalPosition - x0; EXPECT_TRUE(deltaCompare.isZero(2e-9)) << "Error is " << deltaCompare.norm(); deltaCompare = currentPosition - x0; EXPECT_TRUE(deltaCompare.isZero(2e-9)) << "Error is " << deltaCompare.norm(); } TEST_F(MassSpringMechanicalValidationTests, FallingTest) { // No boundary conditions to let the model fall m_nodeBoundaryConditions.clear(); MockMassSpring m("MassSpring", m_poseRandom, m_numNodes, m_nodeBoundaryConditions, m_totalMass, m_rayleighDampingMass, m_rayleighDampingStiffness, m_springStiffness, m_springDamping, SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT); m.initialize(std::make_shared()); m.wakeUp(); // run few iterations of simulation... for (int i = 0; i< 5; i++) { m.beforeUpdate(m_dt); m.update(m_dt); m.afterUpdate(m_dt); const Vector& v = m.getFinalState()->getVelocities(); // Making sure that each mass has a velocity directed toward the gravity vector direction // with no orthogonal components for (size_t nodeId = 0; nodeId < m.getNumMasses(); nodeId++) { const Vector3d& vi = SurgSim::Math::getSubVector(v, nodeId, 3); double vi_dot_g = vi.dot(m.getGravityVector()); EXPECT_GE(vi_dot_g, 0.0) << "v = " << vi.transpose() << " ; g = " << m.getGravityVector().transpose(); const Vector3d vi_cross_g = vi.cross(m.getGravityVector()); EXPECT_TRUE(vi_cross_g.isZero()) << "v = " << vi.transpose() << " ; g = " << m.getGravityVector().transpose() << " vi^g = " << vi_cross_g.transpose(); } } } TEST_F(MassSpringMechanicalValidationTests, EnergyTest) { { SCOPED_TRACE("Testing energy increase for Euler explicit"); // For Euler explicit, the energy should increase runEnergyTest(SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT, 1); } { SCOPED_TRACE("Testing energy decrease for Euler implicit"); // For Euler implicit, the energy should decrease runEnergyTest(SurgSim::Math::INTEGRATIONSCHEME_EULER_IMPLICIT, -1); } { SCOPED_TRACE("Testing energy stability for Modified Euler explicit"); // For modified Euler explicit , the energy should be stable runEnergyTest(SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT_MODIFIED, 0); } } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/MassSpringRepresentationTests.cpp000066400000000000000000000516251277777236100276420ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/MassSpringLocalization.h" #include "SurgSim/Physics/MassSpringRepresentation.h" #include "SurgSim/Physics/UnitTests/DeformableTestsUtility.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" using SurgSim::Math::Vector; using SurgSim::Math::Matrix; using SurgSim::Physics::MassSpringLocalization; using SurgSim::Physics::MassSpringRepresentation; using SurgSim::Physics::MockLocalization; using SurgSim::Physics::MockMassSpring; using SurgSim::Physics::MockSpring; namespace { const double epsilon = 1e-10; }; class MassSpringRepresentationTests : public ::testing::Test { protected: double m_dt; double m_rayleighDampingMassParameter; double m_rayleighDampingStiffnessParameter; Vector m_expectedSpringsForce; Vector m_expectedRayleighDampingForce; Vector m_expectedGravityForce; Matrix m_expectedMass; Matrix m_expectedDamping; Matrix m_expectedRayleighDamping; Matrix m_expectedStiffness; std::shared_ptr m_massSpring; std::shared_ptr m_initialState; std::shared_ptr m_localization; void SetUp() override { m_massSpring = std::make_shared(); m_dt = 1e-3; m_rayleighDampingMassParameter = 0.452; m_rayleighDampingStiffnessParameter = 0.242; m_initialState = std::make_shared(); m_initialState->setNumDof(m_massSpring->getNumDofPerNode(), 3); m_initialState->getVelocities().setOnes(); // v = (1...1) to test damping m_massSpring->setInitialState(m_initialState); // Mass should be a identity matrix (all masses are 1) m_expectedMass = Matrix::Identity(9, 9); // Damping should be a diagonal matrix with diagonal (2 2 2 4 4 4 2 2 2) m_expectedDamping = Matrix::Zero(9, 9); m_expectedDamping.diagonal() << 2.0, 2.0, 2.0, 4.0, 4.0, 4.0, 2.0, 2.0, 2.0; // Stiffness should be a diagonal matrix with diagonal (3 3 3 6 6 6 3 3 3) m_expectedStiffness = Matrix::Zero(9, 9); m_expectedStiffness.diagonal() << 3.0, 3.0, 3.0, 6.0, 6.0, 6.0, 3.0, 3.0, 3.0; // Rayleigh damping = alpha.M + beta.K with M and K are diagonals, so the resulting matrix is too m_expectedRayleighDamping = m_expectedMass * m_rayleighDampingMassParameter; m_expectedRayleighDamping += m_expectedStiffness * m_rayleighDampingStiffnessParameter; // FemElements force should be (1 2 3 4 5 6 0 0 0) + (0 0 0 1 2 3 4 5 6) = (1 2 3 5 7 9 4 5 6) m_expectedSpringsForce.resize(9); m_expectedSpringsForce << 1.0, 2.0, 3.0, 5.0, 7.0, 9.0, 4.0, 5.0, 6.0; // Gravity force should be m.gravity for each node of each element m_expectedGravityForce = Vector::Zero(9); SurgSim::Math::Vector3d g(0.0, -9.81, 0.0); m_expectedGravityForce .segment<3>(0) += g; // Mass = 1 for each node m_expectedGravityForce .segment<3>(3) += g; // Mass = 1 for each node m_expectedGravityForce .segment<3>(6) += g; // Mass = 1 for each node // Rayleigh damping force should be -(alpha.M + beta.K).(1...1)^t // with (alpha.M + beta.K) a diagonal matrix m_expectedRayleighDampingForce = -m_expectedRayleighDamping.diagonal(); } void addSprings() { std::shared_ptr element01 = std::make_shared(); element01->addNode(0); element01->addNode(1); m_massSpring->addSpring(element01); std::shared_ptr element12 = std::make_shared(); element12->addNode(1); element12->addNode(2); m_massSpring->addSpring(element12); } void addMasses() { m_massSpring->addMass(std::make_shared(1.0)); m_massSpring->addMass(std::make_shared(1.0)); m_massSpring->addMass(std::make_shared(1.0)); } void createLocalization() { m_localization = std::make_shared(); m_localization->setRepresentation(m_massSpring); m_localization->setLocalNode(0); } }; TEST_F(MassSpringRepresentationTests, Constructor) { ASSERT_NO_THROW({MassSpringRepresentation m("MassSpring");}); ASSERT_NO_THROW({MassSpringRepresentation* m = new MassSpringRepresentation("MassSpring"); delete m;}); ASSERT_NO_THROW({std::shared_ptr m = std::make_shared("MassSpring"); }); } TEST_F(MassSpringRepresentationTests, SetGetMethods) { using SurgSim::Math::setSubVector; using SurgSim::Physics::Mass; using SurgSim::Physics::LinearSpring; std::shared_ptr massSpring = std::make_shared("MassSpring"); // set/get InitialPose SurgSim::Math::RigidTransform3d poseRandom; SurgSim::Math::Quaterniond q(1.0, 2.0, 3.0, 4.0); SurgSim::Math::Vector3d t(1.0, 2.0, 3.0); q.normalize(); poseRandom = SurgSim::Math::makeRigidTransform(q, t); massSpring->setLocalPose(poseRandom); EXPECT_TRUE(massSpring->getLocalPose().isApprox(poseRandom)); EXPECT_TRUE(massSpring->getPose().isApprox(poseRandom)); // get{NumDof | NumMasses | NumSprings} initial value is 0 EXPECT_EQ(0u, massSpring->getNumDof()); EXPECT_EQ(0u, massSpring->getNumMasses()); EXPECT_EQ(0u, massSpring->getNumSprings()); // setInitialState is part of DeformableRepresentation...already tested ! std::shared_ptr state = std::make_shared(); state->setNumDof(3, 2); state->getPositions().setRandom(); massSpring->setInitialState(state); // addMass/getNumMasses/getMass std::shared_ptr mass0 = std::make_shared(1.0); massSpring->addMass(mass0); std::shared_ptr mass1 = std::make_shared(1.1); massSpring->addMass(mass1); EXPECT_EQ(2u, massSpring->getNumMasses()); EXPECT_EQ(mass0, massSpring->getMass(0)); EXPECT_EQ(*mass0, *massSpring->getMass(0)); EXPECT_EQ(mass1, massSpring->getMass(1)); EXPECT_EQ(*mass1, *massSpring->getMass(1)); // addSpring/getNumSprings/getSpring std::shared_ptr spring0 = std::make_shared(0, 1); spring0->setStiffness(1.0); spring0->setDamping(1.0); spring0->setRestLength(1.0); massSpring->addSpring(spring0); EXPECT_EQ(1u, massSpring->getNumSprings()); EXPECT_EQ(spring0, massSpring->getSpring(0)); EXPECT_EQ(*spring0, *massSpring->getSpring(0)); // getTotalMass EXPECT_DOUBLE_EQ(1.0 + 1.1, massSpring->getTotalMass()); // set/get RayleighDamping{Mass|Stiffness} massSpring->setRayleighDampingMass(5.5); EXPECT_DOUBLE_EQ(5.5, massSpring->getRayleighDampingMass()); massSpring->setRayleighDampingStiffness(5.4); EXPECT_DOUBLE_EQ(5.4, massSpring->getRayleighDampingStiffness()); } TEST_F(MassSpringRepresentationTests, BeforeUpdateTest) { const double dt = 1e-3; std::shared_ptr massSpring = std::make_shared("MassSpring"); // Missing initial state, masses and springs EXPECT_THROW(massSpring->beforeUpdate(dt), SurgSim::Framework::AssertionFailure); std::shared_ptr initialState = std::make_shared(); initialState->setNumDof(massSpring->getNumDofPerNode(), 3); massSpring->setInitialState(initialState); // Missing springs and 2 masses EXPECT_THROW(massSpring->beforeUpdate(dt), SurgSim::Framework::AssertionFailure); massSpring->addSpring(std::make_shared(0, 1)); // Missing 3 masses EXPECT_THROW(massSpring->beforeUpdate(dt), SurgSim::Framework::AssertionFailure); massSpring->addMass(std::make_shared(1.2)); // Missing 2 masses EXPECT_THROW(massSpring->beforeUpdate(dt), SurgSim::Framework::AssertionFailure); massSpring->addMass(std::make_shared(1.2)); // Missing 1 mass EXPECT_THROW(massSpring->beforeUpdate(dt), SurgSim::Framework::AssertionFailure); massSpring->addMass(std::make_shared(1.2)); EXPECT_NO_THROW(massSpring->beforeUpdate(dt)); } TEST_F(MassSpringRepresentationTests, TransformInitialStateTest) { using SurgSim::Math::Vector; const size_t numNodes = 2; const size_t numDofPerNode = m_massSpring->getNumDofPerNode(); const size_t numDof = numDofPerNode * numNodes; SurgSim::Math::RigidTransform3d initialPose; SurgSim::Math::Quaterniond q(1.0, 2.0, 3.0, 4.0); SurgSim::Math::Vector3d t(1.0, 2.0, 3.0); q.normalize(); initialPose = SurgSim::Math::makeRigidTransform(q, t); m_massSpring->setLocalPose(initialPose); std::shared_ptr initialState = std::make_shared(); initialState->setNumDof(numDofPerNode, numNodes); Vector x = Vector::LinSpaced(numDof, 1.0, static_cast(numDof)); Vector v = Vector::Ones(numDof); initialState->getPositions() = x; initialState->getVelocities() = v; m_massSpring->setInitialState(initialState); Vector expectedX = x, expectedV = v; for (size_t nodeId = 0; nodeId < numNodes; nodeId++) { expectedX.segment<3>(numDofPerNode * nodeId) = initialPose * x.segment<3>(numDofPerNode * nodeId); expectedV.segment<3>(numDofPerNode * nodeId) = initialPose.linear() * v.segment<3>(numDofPerNode * nodeId); } // Initialize the component => apply the pose to the initial state ASSERT_TRUE(m_massSpring->initialize(std::make_shared())); EXPECT_TRUE(m_massSpring->getInitialState()->getPositions().isApprox(expectedX)); EXPECT_TRUE(m_massSpring->getInitialState()->getVelocities().isApprox(expectedV)); } TEST_F(MassSpringRepresentationTests, ExternalForceAPITest) { using SurgSim::Math::Vector; using SurgSim::Math::SparseMatrix; std::shared_ptr massSpring = std::make_shared(); std::shared_ptr localization = std::make_shared(); std::shared_ptr wrongLocalizationType = std::make_shared(); // External force vector not initialized until the initial state has been set (it contains the #dof...) EXPECT_EQ(0, massSpring->getExternalForce().size()); EXPECT_EQ(0, massSpring->getExternalStiffness().size()); EXPECT_EQ(0, massSpring->getExternalDamping().size()); massSpring->setInitialState(m_initialState); massSpring->addMass(std::make_shared(1.0)); massSpring->addMass(std::make_shared(1.0)); massSpring->addSpring(std::make_shared(0, 1)); // Vector initialized (properly sized and zeroed) SparseMatrix zeroMatrix(static_cast(massSpring->getNumDof()), static_cast(massSpring->getNumDof())); zeroMatrix.setZero(); EXPECT_NE(0, massSpring->getExternalForce().size()); EXPECT_NE(0, massSpring->getExternalStiffness().size()); EXPECT_NE(0, massSpring->getExternalDamping().size()); EXPECT_EQ(massSpring->getNumDof(), massSpring->getExternalForce().size()); EXPECT_EQ(massSpring->getNumDof(), massSpring->getExternalStiffness().cols()); EXPECT_EQ(massSpring->getNumDof(), massSpring->getExternalStiffness().rows()); EXPECT_EQ(massSpring->getNumDof(), massSpring->getExternalDamping().cols()); EXPECT_EQ(massSpring->getNumDof(), massSpring->getExternalDamping().rows()); EXPECT_TRUE(massSpring->getExternalForce().isZero()); EXPECT_TRUE(massSpring->getExternalStiffness().isApprox(zeroMatrix)); EXPECT_TRUE(massSpring->getExternalDamping().isApprox(zeroMatrix)); localization->setRepresentation(massSpring); localization->setLocalNode(0); wrongLocalizationType->setRepresentation(massSpring); Vector F = Vector::LinSpaced(massSpring->getNumDofPerNode(), -3.12, 4.09); Matrix K = Matrix::Ones(massSpring->getNumDofPerNode(), massSpring->getNumDofPerNode()) * 0.34; Matrix D = K + Matrix::Identity(massSpring->getNumDofPerNode(), massSpring->getNumDofPerNode()); Vector expectedF = Vector::Zero(massSpring->getNumDof()); expectedF.segment(0, massSpring->getNumDofPerNode()) = F; Matrix expectedK = Matrix::Zero(massSpring->getNumDof(), massSpring->getNumDof()); expectedK.block(0, 0, massSpring->getNumDofPerNode(), massSpring->getNumDofPerNode()) = K; Matrix expectedD = Matrix::Zero(massSpring->getNumDof(), massSpring->getNumDof()); expectedD.block(0, 0, massSpring->getNumDofPerNode(), massSpring->getNumDofPerNode()) = D; ASSERT_THROW(massSpring->addExternalGeneralizedForce(nullptr, F, K, D), SurgSim::Framework::AssertionFailure); ASSERT_THROW(massSpring->addExternalGeneralizedForce(wrongLocalizationType, F, K, D), SurgSim::Framework::AssertionFailure); massSpring->addExternalGeneralizedForce(localization, F, K, D); EXPECT_FALSE(massSpring->getExternalForce().isZero()); EXPECT_FALSE(massSpring->getExternalStiffness().isApprox(zeroMatrix)); EXPECT_FALSE(massSpring->getExternalDamping().isApprox(zeroMatrix)); EXPECT_TRUE(massSpring->getExternalForce().isApprox(expectedF)); EXPECT_TRUE(massSpring->getExternalStiffness().isApprox(expectedK)); EXPECT_TRUE(massSpring->getExternalDamping().isApprox(expectedD)); massSpring->addExternalGeneralizedForce(localization, F, K, D); EXPECT_TRUE(massSpring->getExternalForce().isApprox(2.0 * expectedF)); EXPECT_TRUE(massSpring->getExternalStiffness().isApprox(2.0 * expectedK)); EXPECT_TRUE(massSpring->getExternalDamping().isApprox(2.0 * expectedD)); } TEST_F(MassSpringRepresentationTests, ComputesWithNoGravityAndNoDampingTest) { using SurgSim::Math::Vector3d; using SurgSim::Math::SparseMatrix; addMasses(); addSprings(); createLocalization(); // No gravity, no Rayleigh damping // computeF tests addFemElementsForce m_massSpring->setIsGravityEnabled(false); m_massSpring->initialize(std::make_shared()); m_massSpring->wakeUp(); { SCOPED_TRACE("Without external force"); testOdeEquationUpdate(m_massSpring, *m_initialState, m_expectedSpringsForce, m_expectedMass, m_expectedDamping, m_expectedStiffness); } size_t numDofPerNode = m_massSpring->getNumDofPerNode(); size_t numDof = m_massSpring->getNumDof(); { SCOPED_TRACE("With external force"); Vector externalLocalForce = Vector::LinSpaced(numDofPerNode, 1.1, 4.56); Matrix externalLocalK = Matrix::Ones(numDofPerNode, numDofPerNode); Matrix externalLocalD = 3.1 * externalLocalK + Matrix::Identity(numDofPerNode, numDofPerNode); Vector externalForce = Vector::Zero(numDof); Matrix externalK = Matrix::Zero(numDof, numDof); Matrix externalD = Matrix::Zero(numDof, numDof); externalForce.segment(0, numDofPerNode) = externalLocalForce; externalK.block(0, 0, numDofPerNode, numDofPerNode) = externalLocalK; externalD.block(0, 0, numDofPerNode, numDofPerNode) = externalLocalD; m_massSpring->addExternalGeneralizedForce(m_localization, externalLocalForce, externalLocalK, externalLocalD); testOdeEquationUpdate(m_massSpring, *m_initialState, m_expectedSpringsForce + externalForce, m_expectedMass, m_expectedDamping + externalD, m_expectedStiffness + externalK); } } TEST_F(MassSpringRepresentationTests, ComputesWithNoGravityAndDampingTest) { using SurgSim::Math::Vector3d; using SurgSim::Math::SparseMatrix; addMasses(); addSprings(); createLocalization(); // No gravity, Rayleigh damping // computeF tests addFemElementsForce and addRayleighDampingForce m_massSpring->setIsGravityEnabled(false); m_massSpring->setRayleighDampingMass(m_rayleighDampingMassParameter); m_massSpring->setRayleighDampingStiffness(m_rayleighDampingStiffnessParameter); m_massSpring->initialize(std::make_shared()); m_massSpring->wakeUp(); SurgSim::Math::Vector expectedForce = m_expectedSpringsForce + m_expectedRayleighDampingForce; { SCOPED_TRACE("Without external force"); testOdeEquationUpdate(m_massSpring, *m_initialState, expectedForce, m_expectedMass, m_expectedDamping + m_expectedRayleighDamping, m_expectedStiffness); } size_t numDofPerNode = m_massSpring->getNumDofPerNode(); size_t numDof = m_massSpring->getNumDof(); { SCOPED_TRACE("With external force"); Vector externalLocalForce = Vector::LinSpaced(numDofPerNode, 1.1, 4.56); Matrix externalLocalK = Matrix::Ones(numDofPerNode, numDofPerNode); Matrix externalLocalD = 3.1 * externalLocalK + Matrix::Identity(numDofPerNode, numDofPerNode); Vector externalForce = Vector::Zero(numDof); Matrix externalK = Matrix::Zero(numDof, numDof); Matrix externalD = Matrix::Zero(numDof, numDof); externalForce.segment(0, numDofPerNode) = externalLocalForce; externalK.block(0, 0, numDofPerNode, numDofPerNode) = externalLocalK; externalD.block(0, 0, numDofPerNode, numDofPerNode) = externalLocalD; m_massSpring->addExternalGeneralizedForce(m_localization, externalLocalForce, externalLocalK, externalLocalD); testOdeEquationUpdate(m_massSpring, *m_initialState, expectedForce + externalForce, m_expectedMass, m_expectedDamping + m_expectedRayleighDamping + externalD, m_expectedStiffness + externalK); } } TEST_F(MassSpringRepresentationTests, ComputesWithGravityAndNoDampingTest) { using SurgSim::Math::Vector3d; using SurgSim::Math::SparseMatrix; addMasses(); addSprings(); createLocalization(); // Gravity, no Rayleigh damping // computeF tests addFemElementsForce and addGravityForce m_massSpring->setIsGravityEnabled(true); m_massSpring->initialize(std::make_shared()); m_massSpring->wakeUp(); SurgSim::Math::Vector expectedForce = m_expectedSpringsForce + m_expectedGravityForce; { SCOPED_TRACE("Without external force"); testOdeEquationUpdate(m_massSpring, *m_initialState, expectedForce, m_expectedMass, m_expectedDamping, m_expectedStiffness); } size_t numDofPerNode = m_massSpring->getNumDofPerNode(); size_t numDof = m_massSpring->getNumDof(); { SCOPED_TRACE("With external force"); Vector externalLocalForce = Vector::LinSpaced(numDofPerNode, 1.1, 4.56); Matrix externalLocalK = Matrix::Ones(numDofPerNode, numDofPerNode); Matrix externalLocalD = 3.1 * externalLocalK + Matrix::Identity(numDofPerNode, numDofPerNode); Vector externalForce = Vector::Zero(numDof); Matrix externalK = Matrix::Zero(numDof, numDof); Matrix externalD = Matrix::Zero(numDof, numDof); externalForce.segment(0, numDofPerNode) = externalLocalForce; externalK.block(0, 0, numDofPerNode, numDofPerNode) = externalLocalK; externalD.block(0, 0, numDofPerNode, numDofPerNode) = externalLocalD; m_massSpring->addExternalGeneralizedForce(m_localization, externalLocalForce, externalLocalK, externalLocalD); testOdeEquationUpdate(m_massSpring, *m_initialState, expectedForce + externalForce, m_expectedMass, m_expectedDamping + externalD, m_expectedStiffness + externalK); } } TEST_F(MassSpringRepresentationTests, ComputesWithGravityAndDampingTest) { using SurgSim::Math::Vector3d; using SurgSim::Math::SparseMatrix; addMasses(); addSprings(); createLocalization(); // Gravity, Rayleigh damping // computeF tests addFemElementsForce, addRayleighDampingForce and addGravityForce m_massSpring->setIsGravityEnabled(true); m_massSpring->setRayleighDampingMass(m_rayleighDampingMassParameter); m_massSpring->setRayleighDampingStiffness(m_rayleighDampingStiffnessParameter); m_massSpring->initialize(std::make_shared()); m_massSpring->wakeUp(); SurgSim::Math::Vector expectedForce = m_expectedSpringsForce + m_expectedRayleighDampingForce + m_expectedGravityForce; { SCOPED_TRACE("Without external force"); testOdeEquationUpdate(m_massSpring, *m_initialState, expectedForce, m_expectedMass, m_expectedDamping + m_expectedRayleighDamping, m_expectedStiffness); } size_t numDofPerNode = m_massSpring->getNumDofPerNode(); size_t numDof = m_massSpring->getNumDof(); { SCOPED_TRACE("With external force"); Vector externalLocalForce = Vector::LinSpaced(numDofPerNode, 1.1, 4.56); Matrix externalLocalK = Matrix::Ones(numDofPerNode, numDofPerNode); Matrix externalLocalD = 3.1 * externalLocalK + Matrix::Identity(numDofPerNode, numDofPerNode); Vector externalForce = Vector::Zero(numDof); Matrix externalK = Matrix::Zero(numDof, numDof); Matrix externalD = Matrix::Zero(numDof, numDof); externalForce.segment(0, numDofPerNode) = externalLocalForce; externalK.block(0, 0, numDofPerNode, numDofPerNode) = externalLocalK; externalD.block(0, 0, numDofPerNode, numDofPerNode) = externalLocalD; m_massSpring->addExternalGeneralizedForce(m_localization, externalLocalForce, externalLocalK, externalLocalD); testOdeEquationUpdate(m_massSpring, *m_initialState, expectedForce + externalForce, m_expectedMass, m_expectedDamping + m_expectedRayleighDamping + externalD, m_expectedStiffness + externalK); } } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/MassTest.cpp000066400000000000000000000031241277777236100233400ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Physics/Mass.h" #include "SurgSim/Math/Vector.h" using SurgSim::Physics::Mass; using SurgSim::Math::Vector3d; TEST(MassTests, Constructor) { ASSERT_NO_THROW({Mass m(1.3);}); ASSERT_NO_THROW({Mass* m = new Mass(1.3); delete m;}); ASSERT_NO_THROW({std::shared_ptr m = std::make_shared(0.3);}); } TEST(MassTests, SetGetMethodsTest) { Mass m(1.3); EXPECT_DOUBLE_EQ(1.3, m.getMass()); m.setMass(0.0); EXPECT_DOUBLE_EQ(0.0, m.getMass()); m.setMass(-1.1); EXPECT_DOUBLE_EQ(-1.1, m.getMass()); m.setMass(13.45); EXPECT_DOUBLE_EQ(13.45, m.getMass()); } TEST(MassTests, ComparisonTests) { Mass m1(1.3), m2, m3(1.3); EXPECT_FALSE(m1 == m2); EXPECT_TRUE(m1 == m3); EXPECT_FALSE(m2 == m3); m2 = m1; EXPECT_TRUE(m1 == m2); EXPECT_TRUE(m1 == m3); EXPECT_TRUE(m2 == m3); m3.setMass(m3.getMass() + 3.4); EXPECT_TRUE(m1 == m2); EXPECT_FALSE(m1 == m3); EXPECT_FALSE(m2 == m3); } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/MockObjects.cpp000066400000000000000000000434461277777236100240130ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Physics/UnitTests/MockObjects.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Physics/FemPlyReaderDelegate.h" namespace SurgSim { namespace Physics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Physics::MockRepresentation, MockRepresentation); SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Physics::MockDeformableRepresentation, MockDeformableRepresentation); MockRepresentation::MockRepresentation(const std::string& name) : Representation(name), m_preUpdateCount(0), m_updateCount(0), m_postUpdateCount(0) { } MockRepresentation::~MockRepresentation() { } void MockRepresentation::beforeUpdate(double dt) { m_preUpdateCount++; } void MockRepresentation::update(double dt) { m_updateCount++; } void MockRepresentation::afterUpdate(double dt) { m_postUpdateCount++; } int MockRepresentation::getPreUpdateCount() const { return m_preUpdateCount; } int MockRepresentation::getUpdateCount() const { return m_updateCount; } int MockRepresentation::getPostUpdateCount() const { return m_postUpdateCount; } std::shared_ptr MockRepresentation::createLocalization( const SurgSim::DataStructures::Location& location) { return std::make_shared(); } MockRigidRepresentation::MockRigidRepresentation() : RigidRepresentation("MockRigidRepresentation") { } RigidState& MockRigidRepresentation::getInitialState() { return m_initialState; } RigidState& MockRigidRepresentation::getCurrentState() { return m_currentState; } RigidState& MockRigidRepresentation::getPreviousState() { return m_previousState; } MockFixedRepresentation::MockFixedRepresentation() : FixedRepresentation("MockFixedRepresentation") { } RigidState& MockFixedRepresentation::getInitialState() { return m_initialState; } RigidState& MockFixedRepresentation::getCurrentState() { return m_currentState; } RigidState& MockFixedRepresentation::getPreviousState() { return m_previousState; } MockDeformableRepresentation::MockDeformableRepresentation(const std::string& name) : SurgSim::Physics::DeformableRepresentation(name) { this->m_numDofPerNode = 3; m_f = Vector::LinSpaced(3, 1.0, 3.0); m_M.resize(3, 3); m_M.setIdentity(); m_D.resize(3, 3); m_D.setIdentity(); m_K.resize(3, 3); m_K.setIdentity(); } void MockDeformableRepresentation::addExternalGeneralizedForce(std::shared_ptr localization, const Math::Vector& generalizedForce, const Math::Matrix& K, const Math::Matrix& D) { std::shared_ptr loc = std::dynamic_pointer_cast(localization); m_externalGeneralizedForce.segment<3>(3 * loc->getLocalNode()) += generalizedForce; Math::addSubMatrix(K, static_cast(loc->getLocalNode()), static_cast(loc->getLocalNode()), &m_externalGeneralizedStiffness, true); Math::addSubMatrix(D, static_cast(loc->getLocalNode()), static_cast(loc->getLocalNode()), &m_externalGeneralizedDamping, true); m_hasExternalGeneralizedForce = true; } void MockDeformableRepresentation::computeF(const OdeState& state) { } void MockDeformableRepresentation::computeM(const OdeState& state) { } void MockDeformableRepresentation::computeD(const OdeState& state) { } void MockDeformableRepresentation::computeK(const OdeState& state) { } void MockDeformableRepresentation::computeFMDK(const OdeState& state) { } void MockDeformableRepresentation::transformState(std::shared_ptr state, const RigidTransform3d& transform) { using SurgSim::Math::setSubVector; using SurgSim::Math::getSubVector; Vector& x = state->getPositions(); Vector& v = state->getVelocities(); for (size_t nodeId = 0; nodeId < state->getNumNodes(); nodeId++) { Vector3d xi = getSubVector(x, nodeId, 3); Vector3d xiTransformed = transform * xi; setSubVector(xiTransformed, nodeId, 3, &x); Vector3d vi = getSubVector(v, nodeId, 3); Vector3d viTransformed = transform.linear() * vi; setSubVector(viTransformed, nodeId, 3, &v); } } MockSpring::MockSpring() : SurgSim::Physics::Spring() { m_F = Vector::LinSpaced(6, 1.0, 6.0); m_D.resize(6, 6); m_D.setIdentity(); m_D *= 2.0; m_K.resize(6, 6); m_K.setIdentity(); m_K *= 3.0; } void MockSpring::addNode(size_t nodeId) { this->m_nodeIds.push_back(nodeId); } void MockSpring::addForce(const OdeState& state, Vector* F, double scale) { SurgSim::Math::addSubVector(scale * m_F, m_nodeIds, 3, F); } void MockSpring::addDamping(const OdeState& state, SparseMatrix* D, double scale) { Matrix scaledDense(m_D.rows(), m_D.cols()); scaledDense = scale * m_D; int index1 = 0; for (auto nodeId1 : m_nodeIds) { int index2 = 0; for (auto nodeId2 : m_nodeIds) { Math::addSubMatrix(scaledDense.block(3 * index1, 3 * index2, 3, 3), static_cast(nodeId1), static_cast(nodeId2), D, false); ++index2; } ++index1; } } void MockSpring::addStiffness(const SurgSim::Math::OdeState& state, SurgSim::Math::SparseMatrix* K, double scale) { Matrix scaledDense(m_K.rows(), m_K.cols()); scaledDense = scale * m_K; int index1 = 0; for (auto nodeId1 : m_nodeIds) { int index2 = 0; for (auto nodeId2 : m_nodeIds) { Math::addSubMatrix(scaledDense.block(3 * index1, 3 * index2, 3, 3), static_cast(nodeId1), static_cast(nodeId2), K, false); ++index2; } ++index1; } } void MockSpring::addFDK(const OdeState& state, Vector* f, SparseMatrix* D, SparseMatrix* K) { addForce(state, f); addDamping(state, D); addStiffness(state, K); } void MockSpring::addMatVec(const OdeState& state, double alphaD, double alphaK, const Vector& x, Vector* F) { Vector xLocal(3 * m_nodeIds.size()), fLocal; SurgSim::Math::getSubVector(x, m_nodeIds, 3, &xLocal); fLocal = (alphaD * m_D + alphaK * m_K) * xLocal; SurgSim::Math::addSubVector(fLocal, m_nodeIds, 3, F); } MockMassSpring::MockMassSpring(const std::string& name, const SurgSim::Math::RigidTransform3d& pose, size_t numNodes, std::vector nodeBoundaryConditions, double totalMass, double rayleighDampingMass, double rayleighDampingStiffness, double springStiffness, double springDamping, SurgSim::Math::IntegrationScheme integrationScheme) : SurgSim::Physics::MassSpringRepresentation(name) { using SurgSim::Math::getSubVector; using SurgSim::Math::setSubVector; using SurgSim::Physics::Mass; using SurgSim::Physics::LinearSpring; // Note: setLocalPose MUST be called before WakeUp to be effective ! setLocalPose(pose); std::shared_ptr state; state = std::make_shared(); state->setNumDof(3, numNodes); for (size_t i = 0; i < numNodes; i++) { Vector3d p(static_cast(i) / static_cast(numNodes), 0, 0); setSubVector(p, i, 3, &state->getPositions()); addMass(std::make_shared(totalMass / numNodes)); } for (auto bc = std::begin(nodeBoundaryConditions); bc != std::end(nodeBoundaryConditions); bc++) { state->addBoundaryCondition(*bc); } for (size_t i = 0; i < numNodes - 1; i++) { std::shared_ptr spring = std::make_shared(i, i + 1); spring->setDamping(springDamping); spring->setStiffness(springStiffness); const Vector3d& xi = getSubVector(state->getPositions(), i, 3); const Vector3d& xj = getSubVector(state->getPositions(), i + 1, 3); spring->setRestLength((xj - xi).norm()); addSpring(spring); } setInitialState(state); setIntegrationScheme(integrationScheme); setRayleighDampingMass(rayleighDampingMass); setRayleighDampingStiffness(rayleighDampingStiffness); } MockMassSpring::~MockMassSpring() { } const Vector3d& MockMassSpring::getGravityVector() const { return getGravity(); } void MockMassSpring::clearFMDK() { m_f.setZero(); SurgSim::Math::clearMatrix(&m_M); SurgSim::Math::clearMatrix(&m_D); SurgSim::Math::clearMatrix(&m_K); } MockFemElement::MockFemElement() : FemElement() { initializeMembers(); } MockFemElement::MockFemElement(std::shared_ptr elementData) : FemElement() { initializeMembers(); m_nodeIds.assign(elementData->nodeIds.begin(), elementData->nodeIds.end()); } void MockFemElement::addNode(size_t nodeId) { this->m_nodeIds.push_back(nodeId); } double MockFemElement::getVolume(const OdeState& state) const { return 1; } Vector MockFemElement::computeCartesianCoordinate(const OdeState& state, const Vector& barycentricCoordinate) const { SURGSIM_ASSERT(getNumNodes() == static_cast(barycentricCoordinate.size())); Vector result = Vector::Zero(3); for (size_t node = 0; node < getNumNodes(); node++) { result += state.getPosition(getNodeId(node)) * barycentricCoordinate[node]; } return result; } Vector MockFemElement::computeNaturalCoordinate(const OdeState& state, const Vector& globalCoordinate) const { return SurgSim::Math::Vector3d::Zero(); } void MockFemElement::initializeMembers() { m_isInitialized = false; m_useDamping = true; setNumDofPerNode(3); } void MockFemElement::doUpdateFMDK(const Math::OdeState& state, int options) { } void MockFemElement::initialize(const OdeState& state) { FemElement::initialize(state); const size_t numDof = 3 * m_nodeIds.size(); m_f = Vector::LinSpaced(numDof, 1.0, static_cast(numDof)); m_M.setIdentity(); m_D.setIdentity(); m_D *= 2.0; m_K.setIdentity(); m_K *= 3.0; m_isInitialized = true; } bool MockFemElement::isInitialized() const { return m_isInitialized; } MockFemRepresentation::MockFemRepresentation(const std::string& name) : FemRepresentation(name), m_setInitialStateCalled(false) { this->m_numDofPerNode = 3; } MockFemRepresentation::~MockFemRepresentation() { } void MockFemRepresentation::setInitialState(std::shared_ptr initialState) { FemRepresentation::setInitialState(initialState); m_setInitialStateCalled = true; } void MockFemRepresentation::loadFem(const std::string &filename) { } void MockFemRepresentation::addExternalGeneralizedForce(std::shared_ptr localization, const SurgSim::Math::Vector& generalizedForce, const SurgSim::Math::Matrix& K, const SurgSim::Math::Matrix& D) { std::shared_ptr loc = std::dynamic_pointer_cast(localization); size_t numDofPerNode = getNumDofPerNode(); m_externalGeneralizedForce.segment(numDofPerNode * loc->getLocalNode(), numDofPerNode) += generalizedForce; SurgSim::Math::addSubMatrix(K, static_cast(loc->getLocalNode()), static_cast(loc->getLocalNode()), &m_externalGeneralizedStiffness, true); SurgSim::Math::addSubMatrix(D, static_cast(loc->getLocalNode()), static_cast(loc->getLocalNode()), &m_externalGeneralizedDamping, true); m_hasExternalGeneralizedForce = true; } std::shared_ptr MockFemRepresentation::getDelegate() { return nullptr; } const std::vector& MockFemRepresentation::getMassPerNode() const { return m_massPerNode; } void MockFemRepresentation::clearFMDK() { m_f.setZero(); SurgSim::Math::clearMatrix(&m_M); SurgSim::Math::clearMatrix(&m_D); SurgSim::Math::clearMatrix(&m_K); } void MockFemRepresentation::transformState(std::shared_ptr state, const RigidTransform3d& transform) { } bool MockFemRepresentation::hasSetInitialStateBeenCalled() { return m_setInitialStateCalled; } SurgSim::Math::Matrix MockFemRepresentationValidComplianceWarping::getNodeTransformation(const SurgSim::Math::OdeState& state, size_t nodeId) { return SurgSim::Math::Matrix::Identity(getNumDofPerNode(), getNumDofPerNode()); } MockFem1DRepresentation::MockFem1DRepresentation(const std::string& name) : SurgSim::Physics::Fem1DRepresentation(name) { } bool MockFem1DRepresentation::doInitialize() { return Fem1DRepresentation::doInitialize(); } double MockFem1DRepresentation::getMassPerNode(size_t nodeId) { return m_massPerNode[nodeId]; } MockFem2DRepresentation::MockFem2DRepresentation(const std::string& name) : SurgSim::Physics::Fem2DRepresentation(name) { } double MockFem2DRepresentation::getMassPerNode(size_t nodeId) { return m_massPerNode[nodeId]; } MockFixedConstraintFixedPoint::MockFixedConstraintFixedPoint() : ConstraintImplementation() { } MockFixedConstraintFixedPoint::~MockFixedConstraintFixedPoint() { } SurgSim::Physics::ConstraintType MockFixedConstraintFixedPoint::getConstraintType() const { return SurgSim::Physics::FIXED_3DPOINT; } size_t MockFixedConstraintFixedPoint::doGetNumDof() const { return 3; } void MockFixedConstraintFixedPoint::doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) { } MockRigidConstraintFixedPoint::MockRigidConstraintFixedPoint() : ConstraintImplementation() { } MockRigidConstraintFixedPoint::~MockRigidConstraintFixedPoint() { } SurgSim::Physics::ConstraintType MockRigidConstraintFixedPoint::getConstraintType() const { return SurgSim::Physics::FIXED_3DPOINT; } size_t MockRigidConstraintFixedPoint::doGetNumDof() const { return 3; } void MockRigidConstraintFixedPoint::doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) { } MockLocalization::MockLocalization() : Localization() { } MockLocalization::MockLocalization(std::shared_ptr representation) : Localization(representation) { } Vector3d MockLocalization::doCalculatePosition(double time) const { return SurgSim::Math::Vector3d::Zero(); } Vector3d MockLocalization::doCalculateVelocity(double time) const { return SurgSim::Math::Vector3d::Zero(); } SurgSim::Physics::ConstraintType MockConstraintImplementation::getConstraintType() const { return SurgSim::Physics::FIXED_3DPOINT; } size_t MockConstraintImplementation::doGetNumDof() const { return 1; } void MockConstraintImplementation::doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) { } MockVirtualToolCoupler::MockVirtualToolCoupler() : VirtualToolCoupler("Mock Virtual Tool Coupler") { } const SurgSim::DataStructures::OptionalValue& MockVirtualToolCoupler::getOptionalLinearStiffness() const { return VirtualToolCoupler::getOptionalLinearStiffness(); } const SurgSim::DataStructures::OptionalValue& MockVirtualToolCoupler::getOptionalLinearDamping() const { return VirtualToolCoupler::getOptionalLinearDamping(); } const SurgSim::DataStructures::OptionalValue& MockVirtualToolCoupler::getOptionalAngularStiffness() const { return VirtualToolCoupler::getOptionalAngularStiffness(); } const SurgSim::DataStructures::OptionalValue& MockVirtualToolCoupler::getOptionalAngularDamping() const { return VirtualToolCoupler::getOptionalAngularDamping(); } const SurgSim::DataStructures::OptionalValue& MockVirtualToolCoupler::getOptionalAttachmentPoint() const { return VirtualToolCoupler::getOptionalAttachmentPoint(); } void MockVirtualToolCoupler::setOptionalLinearStiffness(const SurgSim::DataStructures::OptionalValue& val) { VirtualToolCoupler::setOptionalLinearStiffness(val); } void MockVirtualToolCoupler::setOptionalLinearDamping(const SurgSim::DataStructures::OptionalValue& val) { VirtualToolCoupler::setOptionalLinearDamping(val); } void MockVirtualToolCoupler::setOptionalAngularStiffness(const SurgSim::DataStructures::OptionalValue& val) { VirtualToolCoupler::setOptionalAngularStiffness(val); } void MockVirtualToolCoupler::setOptionalAngularDamping(const SurgSim::DataStructures::OptionalValue& val) { VirtualToolCoupler::setOptionalAngularDamping(val); } void MockVirtualToolCoupler::setOptionalAttachmentPoint( const SurgSim::DataStructures::OptionalValue& val) { VirtualToolCoupler::setOptionalAttachmentPoint(val); } const SurgSim::DataStructures::DataGroup& MockVirtualToolCoupler::getOutputData() const { return m_outputData; } MockCollisionRepresentation::MockCollisionRepresentation(const std::string& name) : SurgSim::Collision::Representation(name), m_numberOfTimesUpdateCalled(0) {} int MockCollisionRepresentation::getShapeType() const { return -1; } const std::shared_ptr MockCollisionRepresentation::getShape() const { return nullptr; } void MockCollisionRepresentation::update(const double& dt) { ++m_numberOfTimesUpdateCalled; } /// \return The number of times update method has been invoked. int MockCollisionRepresentation::getNumberOfTimesUpdateCalled() const { return m_numberOfTimesUpdateCalled; } MockComputation::MockComputation(bool doCopyState) : Computation(doCopyState) { } std::shared_ptr MockComputation::doUpdate(const double& dt, const std::shared_ptr& state) { return state; } }; // Physics }; // SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/MockObjects.h000066400000000000000000000373741277777236100234630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_UNITTESTS_MOCKOBJECTS_H #define SURGSIM_PHYSICS_UNITTESTS_MOCKOBJECTS_H #include "SurgSim/Collision/Representation.h" #include "SurgSim/Framework/ObjectFactory.h" #include "SurgSim/Framework/Macros.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/OdeSolver.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ConstraintImplementation.h" #include "SurgSim/Physics/Computation.h" #include "SurgSim/Physics/DeformableRepresentation.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/Fem2DRepresentation.h" #include "SurgSim/Physics/Fem3DRepresentation.h" #include "SurgSim/Physics/FemElement.h" #include "SurgSim/Physics/FemRepresentation.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/LinearSpring.h" #include "SurgSim/Physics/Localization.h" #include "SurgSim/Physics/Mass.h" #include "SurgSim/Physics/MassSpringLocalization.h" #include "SurgSim/Physics/MassSpringRepresentation.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Physics/VirtualToolCoupler.h" namespace SurgSim { namespace Physics { using SurgSim::Math::Matrix; using SurgSim::Math::OdeSolver; using SurgSim::Math::OdeState; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::SparseMatrix; using SurgSim::Math::Vector; using SurgSim::Math::Vector3d; class MockRepresentation : public Representation { protected: int m_preUpdateCount; int m_updateCount; int m_postUpdateCount; public: explicit MockRepresentation(const std::string& name = "MockRepresention"); virtual ~MockRepresentation(); SURGSIM_CLASSNAME(SurgSim::Physics::MockRepresentation); /// Preprocessing done before the update call /// \param dt The time step (in seconds) void beforeUpdate(double dt) override; /// Update the representation state to the current time step /// \param dt The time step (in seconds) void update(double dt) override; /// Postprocessing done after the update call /// \param dt The time step (in seconds) void afterUpdate(double dt) override; int getPreUpdateCount() const; int getUpdateCount() const; int getPostUpdateCount() const; std::shared_ptr createLocalization(const SurgSim::DataStructures::Location& location) override; }; class MockRigidRepresentation : public RigidRepresentation { public: MockRigidRepresentation(); // Non constant access to the states RigidState& getInitialState(); RigidState& getCurrentState(); RigidState& getPreviousState(); }; class MockFixedRepresentation : public FixedRepresentation { public: MockFixedRepresentation(); // Non constant access to the states RigidState& getInitialState(); RigidState& getCurrentState(); RigidState& getPreviousState(); }; class MockDeformableLocalization : public SurgSim::Physics::Localization { public: MockDeformableLocalization(){} explicit MockDeformableLocalization(std::shared_ptr representation) : Localization() { setRepresentation(representation); } virtual ~MockDeformableLocalization(){} void setLocalNode(size_t nodeID) { m_nodeID = nodeID; } const size_t& getLocalNode() const { return m_nodeID; } bool isValidRepresentation(std::shared_ptr representation) override { std::shared_ptr defRepresentation = std::dynamic_pointer_cast(representation); // Allows to reset the representation to nullptr ... return (defRepresentation != nullptr || representation == nullptr); } private: SurgSim::Math::Vector3d doCalculatePosition(double time) const override { std::shared_ptr defRepresentation = std::static_pointer_cast(getRepresentation()); SURGSIM_ASSERT(defRepresentation != nullptr) << "Deformable Representation is null, it was probably not" << " initialized"; SURGSIM_ASSERT((0.0 <= time) && (time <= 1.0)) << "Time must be between 0.0 and 1.0 inclusive"; const SurgSim::Math::Vector3d& currentPoint = defRepresentation->getCurrentState()->getPosition(m_nodeID); const SurgSim::Math::Vector3d& previousPoint = defRepresentation->getPreviousState()->getPosition(m_nodeID); return SurgSim::Math::interpolate(previousPoint, currentPoint, time); } SurgSim::Math::Vector3d doCalculateVelocity(double time) const override { std::shared_ptr defRepresentation = std::static_pointer_cast(getRepresentation()); SURGSIM_ASSERT(defRepresentation != nullptr) << "Deformable Representation is null, it was probably not" << " initialized"; SURGSIM_ASSERT((0.0 <= time) && (time <= 1.0)) << "Time must be between 0.0 and 1.0 inclusive"; const SurgSim::Math::Vector3d& currentVelocity = defRepresentation->getCurrentState()->getVelocity(m_nodeID); const SurgSim::Math::Vector3d& previousVelocity = defRepresentation->getPreviousState()->getVelocity(m_nodeID); return SurgSim::Math::interpolate(previousVelocity, currentVelocity, time); } size_t m_nodeID; }; class MockDeformableRepresentation : public SurgSim::Physics::DeformableRepresentation { public: explicit MockDeformableRepresentation(const std::string& name = "MockDeformableRepresentation"); SURGSIM_CLASSNAME(SurgSim::Physics::MockDeformableRepresentation); void addExternalGeneralizedForce(std::shared_ptr localization, const SurgSim::Math::Vector& generalizedForce, const SurgSim::Math::Matrix& K, const SurgSim::Math::Matrix& D) override; protected: void transformState(std::shared_ptr state, const SurgSim::Math::RigidTransform3d& transform) override; void computeF(const OdeState& state) override; void computeM(const OdeState& state) override; void computeD(const OdeState& state) override; void computeK(const OdeState& state) override; void computeFMDK(const OdeState& state) override; }; class MockSpring : public SurgSim::Physics::Spring { public: MockSpring(); void addNode(size_t nodeId); void addForce(const OdeState& state, Vector* F, double scale = 1.0) override; void addDamping(const OdeState& state, SparseMatrix* D, double scale = 1.0) override; void addStiffness(const SurgSim::Math::OdeState& state, SurgSim::Math::SparseMatrix* K, double scale = 1.0) override; void addFDK(const OdeState& state, Vector* f, SparseMatrix* D, SparseMatrix* K) override; void addMatVec(const OdeState& state, double alphaD, double alphaK, const Vector& x, Vector* F) override; private: Vector m_F; SparseMatrix m_D, m_K; }; class MockMassSpring : public SurgSim::Physics::MassSpringRepresentation { public: MockMassSpring() : MassSpringRepresentation("MassSpring") { } MockMassSpring(const std::string& name, const SurgSim::Math::RigidTransform3d& pose, size_t numNodes, std::vector nodeBoundaryConditions, double totalMass, double rayleighDampingMass, double rayleighDampingStiffness, double springStiffness, double springDamping, SurgSim::Math::IntegrationScheme integrationScheme); virtual ~MockMassSpring(); const Vector3d& getGravityVector() const; const SurgSim::Math::Vector& getExternalForce() const { return m_externalGeneralizedForce; } const SurgSim::Math::SparseMatrix& getExternalStiffness() const { return m_externalGeneralizedStiffness; } const SurgSim::Math::SparseMatrix& getExternalDamping() const { return m_externalGeneralizedDamping; } void clearFMDK(); }; class MockFemElement : public FemElement { public: MockFemElement(); explicit MockFemElement(std::shared_ptr elementData); void addNode(size_t nodeId); double getVolume(const OdeState& state) const override; Vector computeCartesianCoordinate(const OdeState& state, const Vector& barycentricCoordinate) const override; Vector computeNaturalCoordinate(const SurgSim::Math::OdeState& state, const Vector& globalCoordinate) const override; void initialize(const SurgSim::Math::OdeState& state) override; bool isInitialized() const; private: void initializeMembers(); void doUpdateFMDK(const Math::OdeState& state, int options) override; bool m_isInitialized; }; // Concrete class for testing class MockFemRepresentation : public FemRepresentation { public: /// Constructor /// \param name The name of the FemRepresentation explicit MockFemRepresentation(const std::string& name); /// Destructor virtual ~MockFemRepresentation(); void setInitialState(std::shared_ptr initialState) override; void loadFem(const std::string& filename) override; void addExternalGeneralizedForce(std::shared_ptr localization, const SurgSim::Math::Vector& generalizedForce, const SurgSim::Math::Matrix& K, const SurgSim::Math::Matrix& D) override; std::shared_ptr getDelegate(); const std::vector& getMassPerNode() const; void clearFMDK(); bool hasSetInitialStateBeenCalled(); protected: /// Transform a state using a given transformation /// \param[in,out] state The state to be transformed /// \param transform The transformation to apply void transformState(std::shared_ptr state, const RigidTransform3d& transform) override; // Flag to be set when setInitialState of this class is called. bool m_setInitialStateCalled; }; class MockFemRepresentationValidComplianceWarping : public MockFemRepresentation { public: explicit MockFemRepresentationValidComplianceWarping(const std::string& name) : MockFemRepresentation(name) {} protected: SurgSim::Math::Matrix getNodeTransformation(const SurgSim::Math::OdeState& state, size_t nodeId) override; }; class MockFem1DRepresentation : public SurgSim::Physics::Fem1DRepresentation { public: explicit MockFem1DRepresentation(const std::string& name); bool doInitialize() override; double getMassPerNode(size_t nodeId); }; class MockFem2DRepresentation : public SurgSim::Physics::Fem2DRepresentation { public: explicit MockFem2DRepresentation(const std::string& name); double getMassPerNode(size_t nodeId); }; class MockFixedConstraintFixedPoint : public ConstraintImplementation { public: MockFixedConstraintFixedPoint(); virtual ~MockFixedConstraintFixedPoint(); SurgSim::Physics::ConstraintType getConstraintType() const override; private: size_t doGetNumDof() const override; void doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override; }; class MockRigidConstraintFixedPoint : public ConstraintImplementation { public: MockRigidConstraintFixedPoint(); virtual ~MockRigidConstraintFixedPoint(); SurgSim::Physics::ConstraintType getConstraintType() const override; private: size_t doGetNumDof() const override; void doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override; }; template class MockDescendent : public Base { public: MockDescendent() : Base() {} explicit MockDescendent(const std::string& name) : Base(name) {} }; class MockLocalization : public Localization { public: MockLocalization(); explicit MockLocalization(std::shared_ptr representation); private: /// Calculates the global position of this localization /// \param time The time in [0..1] at which the position should be calculated /// \return The global position of the localization at the requested time /// \note time can useful when dealing with CCD SurgSim::Math::Vector3d doCalculatePosition(double time) const override; SurgSim::Math::Vector3d doCalculateVelocity(double time) const override; }; class MockConstraintImplementation : public ConstraintImplementation { public: SurgSim::Physics::ConstraintType getConstraintType() const override; private: size_t doGetNumDof() const override; virtual void doBuild(double dt, const ConstraintData& data, const std::shared_ptr& localization, MlcpPhysicsProblem* mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign); }; class MockVirtualToolCoupler : public VirtualToolCoupler { public: MockVirtualToolCoupler(); const SurgSim::DataStructures::OptionalValue& getOptionalLinearStiffness() const; const SurgSim::DataStructures::OptionalValue& getOptionalLinearDamping() const; const SurgSim::DataStructures::OptionalValue& getOptionalAngularStiffness() const; const SurgSim::DataStructures::OptionalValue& getOptionalAngularDamping() const; const SurgSim::DataStructures::OptionalValue& getOptionalAttachmentPoint() const; void setOptionalLinearStiffness(const SurgSim::DataStructures::OptionalValue& val); void setOptionalLinearDamping(const SurgSim::DataStructures::OptionalValue& val); void setOptionalAngularStiffness(const SurgSim::DataStructures::OptionalValue& val); void setOptionalAngularDamping(const SurgSim::DataStructures::OptionalValue& val); void setOptionalAttachmentPoint(const SurgSim::DataStructures::OptionalValue& val); const SurgSim::DataStructures::DataGroup& getOutputData() const; }; inline std::shared_ptr makeMockConstraint(std::shared_ptr firstRepresentation, std::shared_ptr secondRepresentation) { using SurgSim::DataStructures::Location; static auto type = MockConstraintImplementation().getConstraintType(); if (firstRepresentation->getConstraintImplementation(type) == nullptr) { ConstraintImplementation::getFactory().addImplementation(typeid(MockRepresentation), std::make_shared()); } return std::make_shared(type, std::make_shared(), firstRepresentation, Location(), secondRepresentation, Location()); } /// Class to represent a mock collision representation to test if update gets called from the Computation. class MockCollisionRepresentation : public SurgSim::Collision::Representation { public: /// Default constructor /// \param name The name of the collision representation. explicit MockCollisionRepresentation(const std::string& name); int getShapeType() const override; const std::shared_ptr getShape() const override; void update(const double& dt) override; /// \return The number of times update method has been invoked. int getNumberOfTimesUpdateCalled() const; private: /// Number of times update method has been invoked. int m_numberOfTimesUpdateCalled; }; class MockComputation : public Computation { public: explicit MockComputation(bool doCopyState = false); SURGSIM_CLASSNAME(SurgSim::Physics::MockComputation); protected: std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; }; }; // Physics }; // SurgSim #endif // SURGSIM_PHYSICS_UNITTESTS_MOCKOBJECTS_H opensurgsim-0.7.0/SurgSim/Physics/UnitTests/ParticleCollisionResponseTests.cpp000066400000000000000000000052271277777236100277640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Particles/ParticlesCollisionRepresentation.h" #include "SurgSim/Particles/Representation.h" #include "SurgSim/Physics/ParticleCollisionResponse.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/Representation.h" namespace SurgSim { namespace Physics { class MockParticleSystem : public SurgSim::Particles::Representation { public: explicit MockParticleSystem(const std::string& name) : SurgSim::Particles::Representation(name), handleCollisionsCount(0) { } int handleCollisionsCount; private: bool doUpdate(double dt) override { return true; } bool doHandleCollisions(double dt, const SurgSim::Collision::ContactMapType& collisions) override { handleCollisionsCount++; return true; } }; TEST(ParticleCollisionResponseTest, UpdateCallTest) { auto mockRepresentation = std::make_shared("particles"); auto physicsManagerState = std::make_shared(); std::vector> allRepresentations; allRepresentations.push_back(mockRepresentation); physicsManagerState->setParticleRepresentations(allRepresentations); double dt = 1e-3; auto computation = std::make_shared(); EXPECT_EQ(0, mockRepresentation->handleCollisionsCount); computation->update(dt, physicsManagerState); EXPECT_EQ(0, mockRepresentation->handleCollisionsCount) << "Particle Representation without a Collision Representation should not handle collisions."; auto collisionRepresentation = std::make_shared("collision"); mockRepresentation->setCollisionRepresentation(collisionRepresentation); computation->update(dt, physicsManagerState); EXPECT_EQ(1, mockRepresentation->handleCollisionsCount); computation->update(dt, physicsManagerState); EXPECT_EQ(2, mockRepresentation->handleCollisionsCount); computation->update(dt, physicsManagerState); EXPECT_EQ(3, mockRepresentation->handleCollisionsCount); } }; }; opensurgsim-0.7.0/SurgSim/Physics/UnitTests/PhysicsManagerStateTests.cpp000066400000000000000000000363551277777236100265520ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file /// Tests for the PhysicsManagerState class. #include #include #include #include #include #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ContactConstraintData.h" #include "SurgSim/Physics/MlcpMapping.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" #include "SurgSim/Physics/RigidConstraintFrictionlessContact.h" #include "SurgSim/Physics/RigidRepresentation.h" using SurgSim::Physics::Constraint; using SurgSim::Physics::ContactConstraintData; using SurgSim::Physics::Localization; using SurgSim::Physics::MlcpMapping; using SurgSim::Physics::PhysicsManagerState; using SurgSim::Physics::Representation; using SurgSim::Physics::RigidCollisionRepresentation; using SurgSim::Physics::RigidConstraintFrictionlessContact; using SurgSim::Physics::RigidLocalization; using SurgSim::Physics::RigidRepresentation; TEST(PhysicsManagerStateTest, SetGetRigidRepresentations) { auto physicsState = std::make_shared(); std::vector> expectedRepresentations; std::vector> actualRepresentations; std::unordered_map, std::shared_ptr> actualCollisionsToPhysicsMap; // Add a representation. auto rigid1 = std::make_shared("rigid1"); expectedRepresentations.push_back(rigid1); physicsState->setRepresentations(expectedRepresentations); actualRepresentations = physicsState->getRepresentations(); ASSERT_EQ(1, actualRepresentations.size()); EXPECT_EQ(rigid1, actualRepresentations.back()); actualCollisionsToPhysicsMap = physicsState->getCollisionToPhysicsMap(); EXPECT_EQ(0, actualCollisionsToPhysicsMap.size()); // Add a second representation. This one has a collision representation. auto rigid2 = std::make_shared("rigid2"); auto collisionRepresentation = std::make_shared("rigid2 collision"); rigid2->setCollisionRepresentation(collisionRepresentation); expectedRepresentations.push_back(rigid2); physicsState->setRepresentations(expectedRepresentations); actualRepresentations = physicsState->getRepresentations(); ASSERT_EQ(2, actualRepresentations.size()); EXPECT_EQ(rigid2, actualRepresentations.back()); // check the collisionsToPhysicsMap actualCollisionsToPhysicsMap = physicsState->getCollisionToPhysicsMap(); ASSERT_EQ(1, actualCollisionsToPhysicsMap.size()); EXPECT_EQ(rigid2, actualCollisionsToPhysicsMap[collisionRepresentation]); } TEST(PhysicsManagerStateTest, SetGetRepresentationsMapping) { auto physicsState = std::make_shared(); MlcpMapping expectedRepresentationsIndexMapping; MlcpMapping actualRepresentationsIndexMapping; // Add a representation. auto rigid1 = std::make_shared("rigid1"); expectedRepresentationsIndexMapping.setValue(rigid1.get(), 13); physicsState->setRepresentationsMapping(expectedRepresentationsIndexMapping); actualRepresentationsIndexMapping = physicsState->getRepresentationsMapping(); std::shared_ptr rigid1AsRepresentation = rigid1; EXPECT_EQ(13, actualRepresentationsIndexMapping.getValue(rigid1AsRepresentation.get())); // Add a second representation. This one has a collision representation. auto rigid2 = std::make_shared("rigid2"); auto collisionRepresentation = std::make_shared("rigid2 collision"); rigid2->setCollisionRepresentation(collisionRepresentation); expectedRepresentationsIndexMapping.setValue(rigid2.get(), 17); physicsState->setRepresentationsMapping(expectedRepresentationsIndexMapping); actualRepresentationsIndexMapping = physicsState->getRepresentationsMapping(); std::shared_ptr rigid2AsRepresentation = rigid2; EXPECT_EQ(17, actualRepresentationsIndexMapping.getValue(rigid2AsRepresentation.get())); } TEST(PhysicsManagerStateTest, SetGetActiveRepresentations) { auto physicsState = std::make_shared(); std::vector> expectedRepresentations; std::vector> actualRepresentations; // Add a representation. auto rigid1 = std::make_shared("rigid1"); expectedRepresentations.push_back(rigid1); physicsState->setActiveRepresentations(expectedRepresentations); // Filter the active representations and test. actualRepresentations = physicsState->getActiveRepresentations(); ASSERT_EQ(1, actualRepresentations.size()); EXPECT_EQ(rigid1, actualRepresentations.back()); // Add a second representation. This one has a collision representation. auto rigid2 = std::make_shared("rigid2"); auto collisionRepresentation = std::make_shared("rigid2 collision"); rigid2->setCollisionRepresentation(collisionRepresentation); expectedRepresentations.push_back(rigid2); physicsState->setActiveRepresentations(expectedRepresentations); // Filter the active representations and test. actualRepresentations = physicsState->getActiveRepresentations(); ASSERT_EQ(2, actualRepresentations.size()); EXPECT_EQ(rigid2, actualRepresentations.back()); } TEST(PhysicsManagerStateTest, SetGetCollisionRepresentations) { auto physicsState = std::make_shared(); std::vector> expectedRepresentations; std::vector> actualRepresentations; // Add a collision representation. std::shared_ptr collision1 = std::make_shared("collision1"); expectedRepresentations.push_back(collision1); physicsState->setCollisionRepresentations(expectedRepresentations); actualRepresentations = physicsState->getCollisionRepresentations(); ASSERT_EQ(1, actualRepresentations.size()); EXPECT_EQ(collision1, actualRepresentations.back()); // Add a second collision representation. std::shared_ptr collision2 = std::make_shared("collision2"); expectedRepresentations.push_back(collision2); physicsState->setCollisionRepresentations(expectedRepresentations); actualRepresentations = physicsState->getCollisionRepresentations(); ASSERT_EQ(2, actualRepresentations.size()); EXPECT_EQ(collision2, actualRepresentations.back()); } TEST(PhysicsManagerStateTest, SetGetActiveCollisionRepresentations) { auto physicsState = std::make_shared(); std::vector> expectedRepresentations; std::vector> actualRepresentations; // Add a collision representation. std::shared_ptr collision1 = std::make_shared("collision1"); expectedRepresentations.push_back(collision1); physicsState->setActiveCollisionRepresentations(expectedRepresentations); actualRepresentations = physicsState->getActiveCollisionRepresentations(); ASSERT_EQ(1, actualRepresentations.size()); EXPECT_EQ(collision1, actualRepresentations.back()); // Add a second collision representation. std::shared_ptr collision2 = std::make_shared("collision2"); expectedRepresentations.push_back(collision2); physicsState->setActiveCollisionRepresentations(expectedRepresentations); actualRepresentations = physicsState->getActiveCollisionRepresentations(); ASSERT_EQ(2, actualRepresentations.size()); EXPECT_EQ(collision2, actualRepresentations.back()); } TEST(PhysicsManagerStateTest, SetGetCollisionPairs) { auto physicsState = std::make_shared(); std::vector> expectedPairs; std::vector> actualPairs; // Add a collision pair. auto pair1 = std::make_shared(); expectedPairs.push_back(pair1); physicsState->setCollisionPairs(expectedPairs); actualPairs = physicsState->getCollisionPairs(); ASSERT_EQ(1, actualPairs.size()); EXPECT_EQ(pair1, actualPairs.back()); // Add a second collision representation. auto pair2 = std::make_shared(); expectedPairs.push_back(pair2); physicsState->setCollisionPairs(expectedPairs); actualPairs = physicsState->getCollisionPairs(); ASSERT_EQ(2, actualPairs.size()); EXPECT_EQ(pair2, actualPairs.back()); } TEST(PhysicsManagerStateTest, SetGetConstraintGroup) { auto physicsState = std::make_shared(); std::vector> expectedConstraints; std::vector> actualConstraints; auto constraintType = SurgSim::Physics::FRICTIONLESS_3DCONTACT; // We need a populated constraint to check the constraintsIndexMapping. // Create the representations for the constraint. auto rigid1 = std::make_shared("rigid1"); auto rigid2 = std::make_shared("rigid2"); // Create the constraint specific data. std::shared_ptr data = std::make_shared(); // Create the constraint. auto constraint1 = std::make_shared(constraintType, data, rigid1, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero()), rigid2, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero())); // Check the constraintGroup. expectedConstraints.push_back(constraint1); physicsState->setConstraintGroup(SurgSim::Physics::CONSTRAINT_GROUP_TYPE_CONTACT, expectedConstraints); actualConstraints = physicsState->getConstraintGroup(SurgSim::Physics::CONSTRAINT_GROUP_TYPE_CONTACT); ASSERT_EQ(1, actualConstraints.size()); EXPECT_EQ(constraint1, actualConstraints.back()); // Create a second constraint. auto constraint2 = std::make_shared(constraintType, data, rigid1, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero()), rigid2, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero())); // Check the constraintGroup. expectedConstraints.push_back(constraint2); physicsState->setConstraintGroup(SurgSim::Physics::CONSTRAINT_GROUP_TYPE_CONTACT, expectedConstraints); actualConstraints = physicsState->getConstraintGroup(SurgSim::Physics::CONSTRAINT_GROUP_TYPE_CONTACT); ASSERT_EQ(2, actualConstraints.size()); EXPECT_EQ(constraint2, actualConstraints.back()); } TEST(PhysicsManagerStateTest, SetGetConstraintsMapping) { auto physicsState = std::make_shared(); MlcpMapping expectedConstraintsIndexMapping; MlcpMapping actualConstraintsIndexMapping; auto constraintType = SurgSim::Physics::FRICTIONLESS_3DCONTACT; // We need a populated constraint to check the constraintsIndexMapping. // Create the representations for the constraint. auto rigid1 = std::make_shared("rigid1"); auto rigid2 = std::make_shared("rigid2"); // Create the constraint specific data. std::shared_ptr data = std::make_shared(); // Create the constraint. auto constraint1 = std::make_shared(constraintType, data, rigid1, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero()), rigid2, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero())); // Check the constraintGroup. expectedConstraintsIndexMapping.setValue(constraint1.get(), 5); physicsState->setConstraintsMapping(expectedConstraintsIndexMapping); actualConstraintsIndexMapping = physicsState->getConstraintsMapping(); std::shared_ptr constraint1AsConstraint = constraint1; ASSERT_EQ(5, actualConstraintsIndexMapping.getValue(constraint1AsConstraint.get())); } TEST(PhysicsManagerStateTest, SetGetActiveConstraints) { auto physicsState = std::make_shared(); std::vector> expectedConstraints; std::vector> actualConstraints; auto constraintType = SurgSim::Physics::FRICTIONLESS_3DCONTACT; // Create first side of a constraint. // Create the representations for the constraint. auto rigid1 = std::make_shared("rigid1"); auto rigid2 = std::make_shared("rigid2"); // Create the constraint specific data. std::shared_ptr data = std::make_shared(); // Create the constraint. auto constraint1 = std::make_shared(constraintType, data, rigid1, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero()), rigid2, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero())); // Check the active constraints. expectedConstraints.push_back(constraint1); physicsState->setActiveConstraints(expectedConstraints); actualConstraints = physicsState->getActiveConstraints(); ASSERT_EQ(1, actualConstraints.size()); EXPECT_EQ(constraint1, actualConstraints.back()); // Create a second constraint. auto constraint2 = std::make_shared(constraintType, data, rigid1, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero()), rigid2, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero())); // Check the active constraints. expectedConstraints.push_back(constraint2); physicsState->setActiveConstraints(expectedConstraints); actualConstraints = physicsState->getActiveConstraints(); ASSERT_EQ(2, actualConstraints.size()); EXPECT_EQ(constraint1, actualConstraints.front()); EXPECT_EQ(constraint2, actualConstraints.back()); } TEST(PhysicsManagerStateTest, GetMlcpProblem) { auto physicsState = std::make_shared(); // Check non-const getter. EXPECT_NO_THROW(physicsState->getMlcpProblem().A.resize(21, 8)); EXPECT_EQ(21, physicsState->getMlcpProblem().A.rows()); EXPECT_EQ(8, physicsState->getMlcpProblem().A.cols()); // Check const getter. std::shared_ptr constPhysicsState = std::make_shared(); EXPECT_NO_THROW(constPhysicsState->getMlcpProblem()); } TEST(PhysicsManagerStateTest, GetMlcpSolution) { auto physicsState = std::make_shared(); // Check non-const getter. EXPECT_NO_THROW(physicsState->getMlcpSolution().x.resize(23)); EXPECT_EQ(23, physicsState->getMlcpSolution().x.size()); // Check const getter. std::shared_ptr constPhysicsState = std::make_shared(); EXPECT_NO_THROW(constPhysicsState->getMlcpSolution()); } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/PhysicsManagerTests.cpp000066400000000000000000000153461277777236100255460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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. /// \file /// Tests for the PhysicsManager class. Note that PhysicsManagerTest, the test fixture /// is declared as a friend class in PhysicsManager to make it easier to test the /// add and removal of components, for this to work correctly PhysicsManagerTest is required /// to be in the SurgSim::Physics namespace. #include #include #include #include "SurgSim/Collision/ShapeCollisionRepresentation.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Particles/SphRepresentation.h" #include "SurgSim/Physics/ConstraintComponent.h" #include "SurgSim/Physics/DeformableCollisionRepresentation.h" #include "SurgSim/Physics/PhysicsManager.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" #include "SurgSim/Math/Vector.h" using SurgSim::Framework::Runtime; using SurgSim::Framework::Component; using SurgSim::Physics::FixedRepresentation; using SurgSim::Physics::PhysicsManager; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Collision { class MockContactFilter : public Collision::ContactFilter { public: explicit MockContactFilter(const std::string& name) : ContactFilter(name) {} MOCK_METHOD0(doWakeUp, bool()); MOCK_METHOD0(doInitialize, bool()); MOCK_METHOD1(doUpdate, void(double)); MOCK_METHOD2(doFilterContacts, void(const std::shared_ptr& state, const std::shared_ptr& pairs)); }; } namespace Physics { class PhysicsManagerTest : public ::testing::Test { public: virtual void SetUp() { physicsManager = std::make_shared(); } virtual void TearDown() { } bool testDoAddComponent(const std::shared_ptr& component) { return physicsManager->executeAdditions(component); } bool testDoRemoveComponent(const std::shared_ptr& component) { return physicsManager->executeRemovals(component); } std::shared_ptr physicsManager; }; TEST_F(PhysicsManagerTest, InitTest) { std::shared_ptr runtime = std::make_shared(); runtime->addManager(physicsManager); EXPECT_NO_THROW(runtime->start()); EXPECT_NO_THROW(runtime->stop()); } TEST_F(PhysicsManagerTest, AddRemoveRepresentation) { std::shared_ptr representation1 = std::make_shared("Rep1"); std::shared_ptr representation2 = std::make_shared("Rep2"); EXPECT_TRUE(testDoAddComponent(representation1)); EXPECT_TRUE(testDoAddComponent(representation2)); EXPECT_FALSE(testDoAddComponent(representation1)); EXPECT_TRUE(testDoRemoveComponent(representation1)); EXPECT_FALSE(testDoRemoveComponent(representation1)); EXPECT_TRUE(testDoRemoveComponent(representation2)); } TEST_F(PhysicsManagerTest, AddRemoveCollisionRepresentation) { auto representation1 = std::make_shared("Rep1"); auto representation2 = std::make_shared("Rep2"); EXPECT_TRUE(testDoAddComponent(representation1)); EXPECT_TRUE(testDoAddComponent(representation2)); EXPECT_FALSE(testDoAddComponent(representation1)); EXPECT_TRUE(testDoRemoveComponent(representation1)); EXPECT_FALSE(testDoRemoveComponent(representation1)); EXPECT_TRUE(testDoRemoveComponent(representation2)); } TEST_F(PhysicsManagerTest, AddRemoveContactFilter) { auto filter1 = std::make_shared("filter1"); auto filter2 = std::make_shared("filter2"); EXPECT_TRUE(testDoAddComponent(filter1)); EXPECT_TRUE(testDoAddComponent(filter2)); EXPECT_FALSE(testDoAddComponent(filter1)); EXPECT_TRUE(testDoRemoveComponent(filter1)); EXPECT_FALSE(testDoRemoveComponent(filter1)); EXPECT_TRUE(testDoRemoveComponent(filter2)); } TEST_F(PhysicsManagerTest, AddRemoveConstraintComponent) { auto constraintComponent1 = std::make_shared("component1"); auto constraintComponent2 = std::make_shared("component2"); constraintComponent1->setConstraint( makeMockConstraint(std::make_shared(), std::make_shared())); constraintComponent2->setConstraint( makeMockConstraint(std::make_shared(), std::make_shared())); EXPECT_TRUE(testDoAddComponent(constraintComponent1)); EXPECT_TRUE(testDoAddComponent(constraintComponent2)); EXPECT_FALSE(testDoAddComponent(constraintComponent1)); EXPECT_TRUE(testDoRemoveComponent(constraintComponent1)); EXPECT_FALSE(testDoRemoveComponent(constraintComponent1)); EXPECT_TRUE(testDoRemoveComponent(constraintComponent2)); } TEST_F(PhysicsManagerTest, AddRemoveParticleRepresentation) { auto representation1 = std::make_shared("Rep1"); auto representation2 = std::make_shared("Rep2"); EXPECT_TRUE(testDoAddComponent(representation1)); EXPECT_TRUE(testDoAddComponent(representation2)); EXPECT_FALSE(testDoAddComponent(representation1)); EXPECT_TRUE(testDoRemoveComponent(representation1)); EXPECT_FALSE(testDoRemoveComponent(representation1)); EXPECT_TRUE(testDoRemoveComponent(representation2)); } TEST_F(PhysicsManagerTest, SetComputations) { std::shared_ptr runtime = std::make_shared(); runtime->addManager(physicsManager); EXPECT_NO_THROW(physicsManager->setComputations(createDcdPipeline())); EXPECT_NO_THROW(runtime->start()); EXPECT_ANY_THROW(physicsManager->setComputations(createDcdPipeline())); } TEST_F(PhysicsManagerTest, RunCcd) { std::shared_ptr runtime = std::make_shared(); runtime->addManager(physicsManager); EXPECT_NO_THROW(physicsManager->setComputations(createCcdPipeline())); EXPECT_NO_THROW(runtime->start()); EXPECT_NO_THROW(runtime->stop()); } TEST_F(PhysicsManagerTest, RunDcd) { std::shared_ptr runtime = std::make_shared(); runtime->addManager(physicsManager); EXPECT_NO_THROW(physicsManager->setComputations(createDcdPipeline())); EXPECT_NO_THROW(runtime->start()); EXPECT_NO_THROW(runtime->stop()); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/PostUpdateTests.cpp000066400000000000000000000045741277777236100247220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file PostUpdateTests.cpp /// Simple Test for PostUpdate calculation #include #include #include #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/PostUpdate.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" namespace SurgSim { namespace Physics { TEST(PostUpdateTest, UpdateCallTest) { std::shared_ptr mockRepresentation = std::make_shared(); std::shared_ptr physicsManagerState = std::make_shared(); std::vector> allRepresentations; allRepresentations.push_back(mockRepresentation); physicsManagerState->setRepresentations(allRepresentations); double dt = 1e-3; std::shared_ptr postUpdateComputation = std::make_shared(); EXPECT_EQ(0, mockRepresentation->getPreUpdateCount()); EXPECT_EQ(0, mockRepresentation->getUpdateCount()); EXPECT_EQ(0, mockRepresentation->getPostUpdateCount()); postUpdateComputation->update(dt, physicsManagerState); EXPECT_EQ(0, mockRepresentation->getPreUpdateCount()); EXPECT_EQ(0, mockRepresentation->getUpdateCount()); EXPECT_EQ(1, mockRepresentation->getPostUpdateCount()); postUpdateComputation->update(dt, physicsManagerState); EXPECT_EQ(0, mockRepresentation->getPreUpdateCount()); EXPECT_EQ(0, mockRepresentation->getUpdateCount()); EXPECT_EQ(2, mockRepresentation->getPostUpdateCount()); postUpdateComputation->update(dt, physicsManagerState); EXPECT_EQ(0, mockRepresentation->getPreUpdateCount()); EXPECT_EQ(0, mockRepresentation->getUpdateCount()); EXPECT_EQ(3, mockRepresentation->getPostUpdateCount()); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/PreUpdateTests.cpp000066400000000000000000000045621277777236100245200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file PreUpdateTests.cpp /// Simple Test for PreUpdate calculation #include #include #include #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/PreUpdate.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" namespace SurgSim { namespace Physics { TEST(PreUpdateTest, UpdateCallTest) { std::shared_ptr mockRepresentation = std::make_shared(); std::shared_ptr physicsManagerState = std::make_shared(); std::vector> allRepresentations; allRepresentations.push_back(mockRepresentation); physicsManagerState->setRepresentations(allRepresentations); double dt = 1e-3; std::shared_ptr preUpdateComputation = std::make_shared(); EXPECT_EQ(0, mockRepresentation->getPreUpdateCount()); EXPECT_EQ(0, mockRepresentation->getUpdateCount()); EXPECT_EQ(0, mockRepresentation->getPostUpdateCount()); preUpdateComputation->update(dt, physicsManagerState); EXPECT_EQ(1, mockRepresentation->getPreUpdateCount()); EXPECT_EQ(0, mockRepresentation->getUpdateCount()); EXPECT_EQ(0, mockRepresentation->getPostUpdateCount()); preUpdateComputation->update(dt, physicsManagerState); EXPECT_EQ(2, mockRepresentation->getPreUpdateCount()); EXPECT_EQ(0, mockRepresentation->getUpdateCount()); EXPECT_EQ(0, mockRepresentation->getPostUpdateCount()); preUpdateComputation->update(dt, physicsManagerState); EXPECT_EQ(3, mockRepresentation->getPreUpdateCount()); EXPECT_EQ(0, mockRepresentation->getUpdateCount()); EXPECT_EQ(0, mockRepresentation->getPostUpdateCount()); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/PrepareCollisionPairsTests.cpp000066400000000000000000000171671277777236100271050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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. /// \file PrepareCollisionPairsTests.cpp /// Tests for the PrepareCollisionPairs Class #include #include #include #include "SurgSim/Blocks/SphereElement.h" #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/Scene.h" #include "SurgSim/Framework/SceneElement.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/PrepareCollisionPairs.h" using SurgSim::Math::Vector3d; class PrepareCollisionPairsTest : public ::testing::Test { public: virtual void SetUp() { sphere1 = std::make_shared("Sphere1"); sphere2 = std::make_shared("Sphere2"); runtime = std::make_shared(); auto scene = runtime->getScene(); scene->addSceneElement(sphere1); scene->addSceneElement(sphere2); physicsRepresentations.push_back(sphere1->getComponents()[0]); physicsRepresentations.push_back(sphere2->getComponents()[0]); sphere1Collision = sphere1->getComponents()[0]; sphere2Collision = sphere2->getComponents()[0]; sphere1Collision->update(0.0); sphere2Collision->update(0.0); collisionRepresentations.push_back(sphere1Collision); collisionRepresentations.push_back(sphere2Collision); computation = std::make_shared(false); } void prepareState() { auto stateTmp = std::make_shared(); stateTmp->setRepresentations(physicsRepresentations); stateTmp->setCollisionRepresentations(collisionRepresentations); state = computation->update(0.0, stateTmp); // This step prepares the collision pairs } virtual void TearDown() { } std::vector> physicsRepresentations; std::vector> collisionRepresentations; std::shared_ptr sphere1; std::shared_ptr sphere1Collision; std::shared_ptr sphere2; std::shared_ptr sphere2Collision; std::shared_ptr state; std::shared_ptr computation; std::shared_ptr runtime; }; namespace SurgSim { namespace Physics { TEST_F(PrepareCollisionPairsTest, RigidRigidCollisionTest) { sphere2->setPose(Math::makeRigidTransform(Math::Quaterniond::Identity(), Vector3d(0.0, 0.0, 0.5))); prepareState(); std::shared_ptr newState = computation->update(1.0, state); ASSERT_EQ(1u, newState->getCollisionPairs().size()); } TEST_F(PrepareCollisionPairsTest, InactiveTest1) { sphere1->setActive(false); sphere2->setPose(Math::makeRigidTransform(Math::Quaterniond::Identity(), Vector3d(0.0, 0.0, 0.5))); prepareState(); std::shared_ptr newState = computation->update(1.0, state); ASSERT_EQ(0u, newState->getCollisionPairs().size()); } TEST_F(PrepareCollisionPairsTest, InactiveTest2) { sphere2->setActive(false); sphere2->setPose(Math::makeRigidTransform(Math::Quaterniond::Identity(), Vector3d(0.0, 0.0, 0.5))); prepareState(); std::shared_ptr newState = computation->update(1.0, state); ASSERT_EQ(0u, newState->getCollisionPairs().size()); } TEST_F(PrepareCollisionPairsTest, InactiveTest3) { sphere1->setActive(false); sphere2->setActive(false); sphere2->setPose(Math::makeRigidTransform(Math::Quaterniond::Identity(), Vector3d(0.0, 0.0, 0.5))); prepareState(); std::shared_ptr newState = computation->update(1.0, state); ASSERT_EQ(0u, newState->getCollisionPairs().size()); } TEST_F(PrepareCollisionPairsTest, ExlcudeCollisionsTest1) { sphere1Collision->ignore("Sphere2/Sphere Collision Representation"); sphere2->setPose(Math::makeRigidTransform(Math::Quaterniond::Identity(), Vector3d(0.0, 0.0, 0.5))); prepareState(); std::shared_ptr newState = computation->update(1.0, state); ASSERT_EQ(0u, newState->getCollisionPairs().size()); } TEST_F(PrepareCollisionPairsTest, ExlcudeCollisionsTest2) { sphere2Collision->ignore("Sphere1/Sphere Collision Representation"); sphere2->setPose(Math::makeRigidTransform(Math::Quaterniond::Identity(), Vector3d(0.0, 0.0, 0.5))); prepareState(); std::shared_ptr newState = computation->update(1.0, state); ASSERT_EQ(0u, newState->getCollisionPairs().size()); } TEST_F(PrepareCollisionPairsTest, ExlcudeCollisionsTest3) { sphere1Collision->ignore("Sphere2/Sphere Collision Representation"); sphere2Collision->ignore("Sphere1/Sphere Collision Representation"); sphere2->setPose(Math::makeRigidTransform(Math::Quaterniond::Identity(), Vector3d(0.0, 0.0, 0.5))); prepareState(); std::shared_ptr newState = computation->update(1.0, state); ASSERT_EQ(0u, newState->getCollisionPairs().size()); } TEST_F(PrepareCollisionPairsTest, IgnoreContinuousTypeCollisions) { sphere1Collision->setCollisionDetectionType(Collision::COLLISION_DETECTION_TYPE_CONTINUOUS); sphere2Collision->setCollisionDetectionType(Collision::COLLISION_DETECTION_TYPE_CONTINUOUS); sphere2->setPose(Math::makeRigidTransform(Math::Quaterniond::Identity(), Vector3d(0.0, 0.0, 0.5))); prepareState(); std::shared_ptr newState = computation->update(1.0, state); ASSERT_EQ(1u, newState->getCollisionPairs().size()); } TEST_F(PrepareCollisionPairsTest, IgnoreNoneTypeCollisions) { sphere2Collision->setCollisionDetectionType(Collision::COLLISION_DETECTION_TYPE_NONE); sphere2->setPose(Math::makeRigidTransform(Math::Quaterniond::Identity(), Vector3d(0.0, 0.0, 0.5))); prepareState(); std::shared_ptr newState = computation->update(1.0, state); ASSERT_EQ(0u, newState->getCollisionPairs().size()); } TEST_F(PrepareCollisionPairsTest, SelfCollisionPair) { sphere2->setPose(Math::makeRigidTransform(Math::Quaterniond::Identity(), Vector3d(0.0, 0.0, 0.5))); sphere2Collision->setSelfCollisionDetectionType(Collision::COLLISION_DETECTION_TYPE_DISCRETE); prepareState(); std::shared_ptr newState = computation->update(1.0, state); ASSERT_EQ(2u, newState->getCollisionPairs().size()); } // Check for a bug fix in PrepareCollisionPairs where Scenes with 1 representation did not check for self collision TEST_F(PrepareCollisionPairsTest, SingleSelfCollisionPair) { physicsRepresentations.pop_back(); collisionRepresentations.pop_back(); sphere1->setPose(Math::makeRigidTransform(Math::Quaterniond::Identity(), Vector3d(0.0, 0.0, 0.5))); sphere1Collision->setSelfCollisionDetectionType(Collision::COLLISION_DETECTION_TYPE_DISCRETE); prepareState(); std::shared_ptr newState = computation->update(1.0, state); ASSERT_EQ(1u, newState->getCollisionPairs().size()); } }; }; opensurgsim-0.7.0/SurgSim/Physics/UnitTests/PushResultsTests.cpp000066400000000000000000000411261277777236100251250ustar00rootroot00000000000000// Copyright 2013, SimQuest Solutions 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 // // 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. /// \file PushResultsTests.cpp /// Simple Test for PushResults calculation #include #include #include #include "SurgSim/Physics/UnitTests/CommonTests.h" #include "SurgSim/Physics/BuildMlcp.h" #include "SurgSim/Physics/PushResults.h" namespace SurgSim { namespace Physics { class PushResultsTests : public CommonTests { public: void SetUp() { CommonTests::SetUp(); // Create the BuildMlcp computation m_pushResultsComputation = std::make_shared(); } protected: /// The Push Results computation std::shared_ptr m_pushResultsComputation; }; void updateRepresentationsMapping(std::shared_ptr state) { // The BuildMlcp computation build the representations mapping. So it is called. auto buildMlcpComputation = std::make_shared(); buildMlcpComputation->update(0.0, state); } TEST_F(PushResultsTests, NoRepresentationNoConstraint) { // Run the BuildMlcp computation... ASSERT_NO_THROW(m_pushResultsComputation->update(dt, m_physicsManagerState)); } TEST_F(PushResultsTests, OneRepresentationNoConstraintTest) { // Prep the list of representations: use only 1 representation m_usedRepresentations.push_back(m_allRepresentations[0]); // Set the representation list in the Physics Manager State m_physicsManagerState->setRepresentations(m_usedRepresentations); // Run the BuildMlcp computation... ASSERT_NO_THROW(m_pushResultsComputation->update(dt, m_physicsManagerState)); } TEST_F(PushResultsTests, TwoRepresentationsNoConstraintTest) { // Prep the list of representations: use 2 representations m_usedRepresentations.push_back(m_allRepresentations[0]); m_usedRepresentations.push_back(m_allRepresentations[1]); // Set the representation list in the Physics Manager State m_physicsManagerState->setRepresentations(m_usedRepresentations); // Run the BuildMlcp computation... ASSERT_NO_THROW(m_pushResultsComputation->update(dt, m_physicsManagerState)); } TEST_F(PushResultsTests, OneRepresentationOneConstraintTest) { // Prep the list of representations: use only 1 rigid representation + 1 fixed m_usedRepresentations.push_back(m_allRepresentations[0]); m_usedRepresentations.push_back(m_fixedWorldRepresentation); // Set the representation list in the Physics Manager State m_physicsManagerState->setRepresentations(m_usedRepresentations); // The type of constraint. auto constraintType = SurgSim::Physics::FRICTIONLESS_3DCONTACT; // Prep the list of constraints: use only 1 constraint { // Define the constraint specific data std::shared_ptr data = std::make_shared(); data->setPlaneEquation(SurgSim::Math::Vector3d(0.0, 1.0, 0.0), 0.0); // Set up the constraint std::shared_ptr constraint = std::make_shared(constraintType, data, m_usedRepresentations[0], SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero()), m_fixedWorldRepresentation, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero())); // Register the constraint in the list of used constraints for this test m_usedConstraints.push_back(constraint); } // Set the constraint list in the Physics Manager State m_physicsManagerState->setConstraintGroup(CONSTRAINT_GROUP_TYPE_CONTACT, m_usedConstraints); // Update the Representations mapping. updateRepresentationsMapping(m_physicsManagerState); // Fill up the Mlcp problem and clear up the Mlcp solution resetMlcpProblem(6, 1); MlcpPhysicsProblem& mlcpProblem = m_physicsManagerState->getMlcpProblem(); MlcpPhysicsSolution& mlcpSolution = m_physicsManagerState->getMlcpSolution(); { mlcpProblem.CHt(0, 0) = 0.0; mlcpProblem.CHt(1, 0) = 1.0; mlcpProblem.CHt(2, 0) = 2.0; mlcpProblem.CHt(3, 0) = 3.0; mlcpProblem.CHt(4, 0) = 4.0; mlcpProblem.CHt(5, 0) = 5.0; mlcpSolution.x(0) = 1.3; } // Run the BuildMlcp computation... ASSERT_NO_THROW(m_pushResultsComputation->update(dt, m_physicsManagerState)); // Test that the Mlcp is as expected EXPECT_EQ(1, mlcpSolution.x.rows()); EXPECT_NEAR(1.3, mlcpSolution.x(0), epsilon); EXPECT_EQ(6, mlcpSolution.dofCorrection.rows()); EXPECT_NEAR(1.3 * 0.0, mlcpSolution.dofCorrection(0), epsilon); EXPECT_NEAR(1.3 * 1.0, mlcpSolution.dofCorrection(1), epsilon); EXPECT_NEAR(1.3 * 2.0, mlcpSolution.dofCorrection(2), epsilon); EXPECT_NEAR(1.3 * 3.0, mlcpSolution.dofCorrection(3), epsilon); EXPECT_NEAR(1.3 * 4.0, mlcpSolution.dofCorrection(4), epsilon); EXPECT_NEAR(1.3 * 5.0, mlcpSolution.dofCorrection(5), epsilon); std::shared_ptr rigid; rigid = std::static_pointer_cast(m_usedRepresentations[0]); const SurgSim::Math::Vector3d& linVel = rigid->getCurrentState().getLinearVelocity(); const SurgSim::Math::Vector3d& angVel = rigid->getCurrentState().getAngularVelocity(); EXPECT_NEAR(1.3 * 0.0, linVel[0], epsilon); EXPECT_NEAR(1.3 * 1.0, linVel[1], epsilon); EXPECT_NEAR(1.3 * 2.0, linVel[2], epsilon); EXPECT_NEAR(1.3 * 3.0, angVel[0], epsilon); EXPECT_NEAR(1.3 * 4.0, angVel[1], epsilon); EXPECT_NEAR(1.3 * 5.0, angVel[2], epsilon); const SurgSim::Math::RigidTransform3d& pose = rigid->getCurrentState().getPose(); EXPECT_NEAR(1.3 * 0.0 * dt, pose.translation()[0], epsilon); EXPECT_NEAR(1.3 * 1.0 * dt, pose.translation()[1], epsilon); EXPECT_NEAR(1.3 * 2.0 * dt, pose.translation()[2], epsilon); } TEST_F(PushResultsTests, OneRepresentationTwoConstraintsTest) { // Prep the list of representations: use only 1 rigid representation + 1 fixed m_usedRepresentations.push_back(m_allRepresentations[0]); m_usedRepresentations.push_back(m_fixedWorldRepresentation); // Set the representation list in the Physics Manager State m_physicsManagerState->setRepresentations(m_usedRepresentations); // The type of constraint. auto constraintType = SurgSim::Physics::FRICTIONLESS_3DCONTACT; // Prep the list of constraints: use 2 constraints { // Define the constraint specific data std::shared_ptr data = std::make_shared(); data->setPlaneEquation(SurgSim::Math::Vector3d(0.0, 1.0, 0.0), 0.0); // Set up the constraint std::shared_ptr constraint = std::make_shared(constraintType, data, m_usedRepresentations[0], SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero()), m_fixedWorldRepresentation, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Zero())); // Register the constraint in the list of used constraints for this test m_usedConstraints.push_back(constraint); } { // Define the constraint specific data std::shared_ptr data = std::make_shared(); data->setPlaneEquation(SurgSim::Math::Vector3d(0.0, 1.0, 0.0), 0.0); // Set up the constraint std::shared_ptr constraint = std::make_shared(constraintType, data, m_usedRepresentations[0], SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Ones()), m_fixedWorldRepresentation, SurgSim::DataStructures::Location(SurgSim::Math::Vector3d::Ones())); // Register the constraint in the list of used constraints for this test m_usedConstraints.push_back(constraint); } // Set the constraint list in the Physics Manager State m_physicsManagerState->setConstraintGroup(CONSTRAINT_GROUP_TYPE_CONTACT, m_usedConstraints); // Update the Representations mapping. updateRepresentationsMapping(m_physicsManagerState); // Fill up the Mlcp problem and clear up the Mlcp solution resetMlcpProblem(6, 2); MlcpPhysicsProblem& mlcpProblem = m_physicsManagerState->getMlcpProblem(); MlcpPhysicsSolution& mlcpSolution = m_physicsManagerState->getMlcpSolution(); { for (int dofId = 0; dofId < 6; dofId++) { mlcpProblem.CHt(dofId, 0) = static_cast(dofId); mlcpProblem.CHt(dofId, 1) = static_cast(dofId + 1); } mlcpSolution.x(0) = 1.3; mlcpSolution.x(1) =-0.9; } // Run the BuildMlcp computation... ASSERT_NO_THROW(m_pushResultsComputation->update(dt, m_physicsManagerState)); // Test that the Mlcp is as expected EXPECT_EQ(2, mlcpSolution.x.rows()); EXPECT_NEAR( 1.3, mlcpSolution.x(0), epsilon); EXPECT_NEAR(-0.9, mlcpSolution.x(1), epsilon); // dofCorrection = CHt .x = (0 1) . ( 1.3) // (1 2) (-0.9) // (2 3) // (3 4) // (4 5) // (5 6) EXPECT_EQ(6, mlcpSolution.dofCorrection.rows()); EXPECT_NEAR(1.3 * 0.0 - 0.9 * 1.0, mlcpSolution.dofCorrection(0), epsilon); EXPECT_NEAR(1.3 * 1.0 - 0.9 * 2.0, mlcpSolution.dofCorrection(1), epsilon); EXPECT_NEAR(1.3 * 2.0 - 0.9 * 3.0, mlcpSolution.dofCorrection(2), epsilon); EXPECT_NEAR(1.3 * 3.0 - 0.9 * 4.0, mlcpSolution.dofCorrection(3), epsilon); EXPECT_NEAR(1.3 * 4.0 - 0.9 * 5.0, mlcpSolution.dofCorrection(4), epsilon); EXPECT_NEAR(1.3 * 5.0 - 0.9 * 6.0, mlcpSolution.dofCorrection(5), epsilon); std::shared_ptr rigid; rigid = std::static_pointer_cast(m_usedRepresentations[0]); const SurgSim::Math::Vector3d& linVel = rigid->getCurrentState().getLinearVelocity(); const SurgSim::Math::Vector3d& angVel = rigid->getCurrentState().getAngularVelocity(); EXPECT_NEAR(1.3 * 0.0 - 0.9 * 1.0, linVel[0], epsilon); EXPECT_NEAR(1.3 * 1.0 - 0.9 * 2.0, linVel[1], epsilon); EXPECT_NEAR(1.3 * 2.0 - 0.9 * 3.0, linVel[2], epsilon); EXPECT_NEAR(1.3 * 3.0 - 0.9 * 4.0, angVel[0], epsilon); EXPECT_NEAR(1.3 * 4.0 - 0.9 * 5.0, angVel[1], epsilon); EXPECT_NEAR(1.3 * 5.0 - 0.9 * 6.0, angVel[2], epsilon); const SurgSim::Math::RigidTransform3d& pose = rigid->getCurrentState().getPose(); EXPECT_NEAR((1.3 * 0.0 - 0.9 * 1.0) * dt, pose.translation()[0], epsilon); EXPECT_NEAR((1.3 * 1.0 - 0.9 * 2.0) * dt, pose.translation()[1], epsilon); EXPECT_NEAR((1.3 * 2.0 - 0.9 * 3.0) * dt, pose.translation()[2], epsilon); } TEST_F(PushResultsTests, TwoRepresentationsTwoConstraintsTest) { SurgSim::Math::Vector3d pointOrigin = SurgSim::Math::Vector3d::Zero(); SurgSim::Math::Vector3d planeDirection(0.0, 1.0, 0.0); double planeDistance = 0.0; SurgSim::Math::Vector3d pointOne = planeDirection * 1.0; // Prep the list of representations: use only 1 rigid representation + 1 fixed m_usedRepresentations.push_back(m_allRepresentations[0]); m_usedRepresentations.push_back(m_allRepresentations[1]); // Set the representation list in the Physics Manager State m_physicsManagerState->setRepresentations(m_usedRepresentations); // The type of constraint. auto constraintType = SurgSim::Physics::FRICTIONLESS_3DCONTACT; // Prep the list of constraints: use 2 constraints { // Define the constraint specific data std::shared_ptr data = std::make_shared(); data->setPlaneEquation(planeDirection, planeDistance); // Set up the constraint std::shared_ptr constraint = std::make_shared(constraintType, data, m_usedRepresentations[0], SurgSim::DataStructures::Location(pointOrigin), m_usedRepresentations[1], SurgSim::DataStructures::Location(pointOrigin)); // Register the constraint in the list of used constraints for this test m_usedConstraints.push_back(constraint); } { // Define the constraint specific data std::shared_ptr data = std::make_shared(); data->setPlaneEquation(planeDirection, planeDistance); // Set up the constraint std::shared_ptr constraint = std::make_shared(constraintType, data, m_usedRepresentations[0], SurgSim::DataStructures::Location(pointOrigin), m_usedRepresentations[1], SurgSim::DataStructures::Location(pointOne)); // Register the constraint in the list of used constraints for this test m_usedConstraints.push_back(constraint); } // Set the constraint list in the Physics Manager State m_physicsManagerState->setConstraintGroup(CONSTRAINT_GROUP_TYPE_CONTACT, m_usedConstraints); // Update the Representations mapping. updateRepresentationsMapping(m_physicsManagerState); // Fill up the Mlcp problem and clear up the Mlcp solution resetMlcpProblem(12, 2); MlcpPhysicsProblem& mlcpProblem = m_physicsManagerState->getMlcpProblem(); MlcpPhysicsSolution& mlcpSolution = m_physicsManagerState->getMlcpSolution(); { for (int dofId = 0; dofId < 12; dofId++) { mlcpProblem.CHt(dofId, 0) = static_cast(dofId); mlcpProblem.CHt(dofId, 1) = static_cast(dofId + 1); } mlcpSolution.x(0) = 1.3; mlcpSolution.x(1) =-0.9; } // Run the BuildMlcp computation... ASSERT_NO_THROW(m_pushResultsComputation->update(dt, m_physicsManagerState)); // Test that the Mlcp is as expected EXPECT_EQ(2, mlcpSolution.x.rows()); EXPECT_NEAR( 1.3, mlcpSolution.x(0), epsilon); EXPECT_NEAR(-0.9, mlcpSolution.x(1), epsilon); // dofCorrection = CHt .x = ( 0 1) . ( 1.3) // ( 1 2) (-0.9) // ( 2 3) // ( 3 4) // ( 4 5) // ( 5 6) // ( 6 7) // ( 7 8) // ( 8 9) // ( 9 10) // (10 11) // (11 12) EXPECT_EQ(12, mlcpSolution.dofCorrection.rows()); EXPECT_NEAR(1.3 * 0.0 - 0.9 * 1.0, mlcpSolution.dofCorrection(0), epsilon); EXPECT_NEAR(1.3 * 1.0 - 0.9 * 2.0, mlcpSolution.dofCorrection(1), epsilon); EXPECT_NEAR(1.3 * 2.0 - 0.9 * 3.0, mlcpSolution.dofCorrection(2), epsilon); EXPECT_NEAR(1.3 * 3.0 - 0.9 * 4.0, mlcpSolution.dofCorrection(3), epsilon); EXPECT_NEAR(1.3 * 4.0 - 0.9 * 5.0, mlcpSolution.dofCorrection(4), epsilon); EXPECT_NEAR(1.3 * 5.0 - 0.9 * 6.0, mlcpSolution.dofCorrection(5), epsilon); EXPECT_NEAR(1.3 * 6.0 - 0.9 * 7.0, mlcpSolution.dofCorrection(6), epsilon); EXPECT_NEAR(1.3 * 7.0 - 0.9 * 8.0, mlcpSolution.dofCorrection(7), epsilon); EXPECT_NEAR(1.3 * 8.0 - 0.9 * 9.0, mlcpSolution.dofCorrection(8), epsilon); EXPECT_NEAR(1.3 * 9.0 - 0.9 * 10.0, mlcpSolution.dofCorrection(9), epsilon); EXPECT_NEAR(1.3 * 10.0 - 0.9 * 11.0, mlcpSolution.dofCorrection(10), epsilon); EXPECT_NEAR(1.3 * 11.0 - 0.9 * 12.0, mlcpSolution.dofCorrection(11), epsilon); { std::shared_ptr rigid; rigid = std::static_pointer_cast(m_usedRepresentations[0]); const SurgSim::Math::Vector3d& linVel = rigid->getCurrentState().getLinearVelocity(); const SurgSim::Math::Vector3d& angVel = rigid->getCurrentState().getAngularVelocity(); EXPECT_NEAR(1.3 * 0.0 - 0.9 * 1.0, linVel[0], epsilon); EXPECT_NEAR(1.3 * 1.0 - 0.9 * 2.0, linVel[1], epsilon); EXPECT_NEAR(1.3 * 2.0 - 0.9 * 3.0, linVel[2], epsilon); EXPECT_NEAR(1.3 * 3.0 - 0.9 * 4.0, angVel[0], epsilon); EXPECT_NEAR(1.3 * 4.0 - 0.9 * 5.0, angVel[1], epsilon); EXPECT_NEAR(1.3 * 5.0 - 0.9 * 6.0, angVel[2], epsilon); const SurgSim::Math::RigidTransform3d& pose = rigid->getCurrentState().getPose(); EXPECT_NEAR((1.3 * 0.0 - 0.9 * 1.0) * dt, pose.translation()[0], epsilon); EXPECT_NEAR((1.3 * 1.0 - 0.9 * 2.0) * dt, pose.translation()[1], epsilon); EXPECT_NEAR((1.3 * 2.0 - 0.9 * 3.0) * dt, pose.translation()[2], epsilon); } { std::shared_ptr rigid; rigid = std::static_pointer_cast(m_usedRepresentations[1]); const SurgSim::Math::Vector3d& linVel = rigid->getCurrentState().getLinearVelocity(); const SurgSim::Math::Vector3d& angVel = rigid->getCurrentState().getAngularVelocity(); EXPECT_NEAR(1.3 * 6.0 - 0.9 * 7.0, linVel[0], epsilon); EXPECT_NEAR(1.3 * 7.0 - 0.9 * 8.0, linVel[1], epsilon); EXPECT_NEAR(1.3 * 8.0 - 0.9 * 9.0, linVel[2], epsilon); EXPECT_NEAR(1.3 * 9.0 - 0.9 * 10.0, angVel[0], epsilon); EXPECT_NEAR(1.3 * 10.0 - 0.9 * 11.0, angVel[1], epsilon); EXPECT_NEAR(1.3 * 11.0 - 0.9 * 12.0, angVel[2], epsilon); const SurgSim::Math::RigidTransform3d& pose = rigid->getCurrentState().getPose(); EXPECT_NEAR((1.3 * 6.0 - 0.9 * 7.0) * dt, pose.translation()[0], epsilon); EXPECT_NEAR((1.3 * 7.0 - 0.9 * 8.0) * dt, pose.translation()[1], epsilon); EXPECT_NEAR((1.3 * 8.0 - 0.9 * 9.0) * dt, pose.translation()[2], epsilon); } } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/RepresentationTest.cpp000066400000000000000000000224531277777236100254450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" using SurgSim::Physics::MockRepresentation; using SurgSim::Physics::Representation; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; using SurgSim::Physics::RigidCollisionRepresentation; using SurgSim::Physics::MockRepresentation; TEST(RepresentationTest, ConstructorTest) { ASSERT_NO_THROW({MockRepresentation representation;}); } TEST(RepresentationTest, SetGetAndDefaultValueTest) { /// Create the representation std::shared_ptr representation = std::make_shared(); /// Get/Set active flag [default = true] EXPECT_TRUE(representation->isActive()); representation->setLocalActive(false); ASSERT_FALSE(representation->isLocalActive()); ASSERT_FALSE(representation->isActive()); representation->setLocalActive(true); ASSERT_TRUE(representation->isLocalActive()); ASSERT_TRUE(representation->isActive()); /// Get numDof = 0 ASSERT_EQ(0u, representation->getNumDof()); /// Set/Get isGravityEnabled [default = true] EXPECT_TRUE(representation->isGravityEnabled()); representation->setIsGravityEnabled(false); ASSERT_FALSE(representation->isGravityEnabled()); representation->setIsGravityEnabled(true); ASSERT_TRUE(representation->isGravityEnabled()); /// Set/Get isDrivingSceneElementPose [default = true] EXPECT_TRUE(representation->isDrivingSceneElementPose()); representation->setIsDrivingSceneElementPose(false); ASSERT_FALSE(representation->isDrivingSceneElementPose()); representation->setIsDrivingSceneElementPose(true); ASSERT_TRUE(representation->isDrivingSceneElementPose()); } TEST(RepresentationTest, SetGetCollisionRepresentationTest) { std::shared_ptr physicsRepresentation = std::make_shared("MockRepresentation"); auto collisionRepresentation = std::make_shared("CollisionRepresentatoin"); EXPECT_NO_THROW(physicsRepresentation->setCollisionRepresentation(collisionRepresentation)); EXPECT_EQ(collisionRepresentation, physicsRepresentation->getCollisionRepresentation()); } TEST(RepresentationTest, SerializationTest) { { SCOPED_TRACE("Encode instance, decoded as shared_ptr<>"); std::shared_ptr representation = std::make_shared("MockRepresentation"); size_t numDof = 1; representation->setValue("NumDof", numDof); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*representation)); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); YAML::Node data = node["SurgSim::Physics::MockRepresentation"]; EXPECT_EQ(7u, data.size()); std::shared_ptr newRepresentation; ASSERT_NO_THROW(newRepresentation = std::dynamic_pointer_cast(node.as>())); EXPECT_EQ(representation->getName(), newRepresentation->getName()); EXPECT_EQ("SurgSim::Physics::MockRepresentation", newRepresentation->getClassName()); EXPECT_TRUE(newRepresentation->getValue("IsLocalActive")); EXPECT_TRUE(newRepresentation->getValue("IsGravityEnabled")); EXPECT_TRUE(newRepresentation->getValue("IsDrivingSceneElementPose")); EXPECT_EQ(1u, newRepresentation->getValue("NumDof")); } { SCOPED_TRACE("Encode shared_ptr<>, decoded as shared_ptr<>"); std::shared_ptr representation = std::make_shared("MockRepresentation"); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert>::encode(representation)); EXPECT_TRUE(node.IsMap()); EXPECT_EQ(1u, node.size()); YAML::Node data = node["SurgSim::Physics::MockRepresentation"]; EXPECT_EQ(2u, data.size()); std::shared_ptr newRepresentation; ASSERT_NO_THROW(newRepresentation = std::dynamic_pointer_cast(node.as>())); EXPECT_NE(nullptr, newRepresentation); } { SCOPED_TRACE("Test serialization for accesible boolean properties"); std::shared_ptr representation1 = std::make_shared("MockRepresentation1"); std::shared_ptr representation2 = std::make_shared("MockRepresentation2"); std::shared_ptr representation3 = std::make_shared("MockRepresentation3"); std::shared_ptr representation4 = std::make_shared("MockRepresentation4"); representation1->setValue("IsLocalActive", false); representation2->setValue("IsGravityEnabled", false); representation3->setValue("IsDrivingSceneElementPose", false); representation4->setValue("IsLocalActive", false); representation4->setValue("IsGravityEnabled", false); representation4->setValue("IsDrivingSceneElementPose", false); YAML::Node node; ASSERT_NO_THROW(node.push_back(YAML::convert::encode(*representation1))); ASSERT_NO_THROW(node.push_back(YAML::convert::encode(*representation2))); ASSERT_NO_THROW(node.push_back(YAML::convert::encode(*representation3))); ASSERT_NO_THROW(node.push_back(YAML::convert::encode(*representation4))); std::shared_ptr newRepresentation1; ASSERT_NO_THROW(newRepresentation1 = std::dynamic_pointer_cast(node[0].as>())); std::shared_ptr newRepresentation2; ASSERT_NO_THROW(newRepresentation2 = std::dynamic_pointer_cast(node[1].as>())); std::shared_ptr newRepresentation3; ASSERT_NO_THROW(newRepresentation3 = std::dynamic_pointer_cast(node[2].as>())); std::shared_ptr newRepresentation4; ASSERT_NO_THROW(newRepresentation4 = std::dynamic_pointer_cast(node[3].as>())); EXPECT_EQ(representation1->getName(), newRepresentation1->getName()); EXPECT_EQ(representation2->getName(), newRepresentation2->getName()); EXPECT_EQ(representation3->getName(), newRepresentation3->getName()); EXPECT_EQ(representation4->getName(), newRepresentation4->getName()); EXPECT_FALSE(newRepresentation1->getValue("IsLocalActive")); EXPECT_TRUE(newRepresentation1->getValue("IsGravityEnabled")); EXPECT_TRUE(newRepresentation1->getValue("IsDrivingSceneElementPose")); EXPECT_TRUE(newRepresentation2->getValue("IsLocalActive")); EXPECT_FALSE(newRepresentation2->getValue("IsGravityEnabled")); EXPECT_TRUE(newRepresentation2->getValue("IsDrivingSceneElementPose")); EXPECT_TRUE(newRepresentation3->getValue("IsLocalActive")); EXPECT_TRUE(newRepresentation3->getValue("IsGravityEnabled")); EXPECT_FALSE(newRepresentation3->getValue("IsDrivingSceneElementPose")); EXPECT_FALSE(newRepresentation4->getValue("IsLocalActive")); EXPECT_FALSE(newRepresentation4->getValue("IsGravityEnabled")); EXPECT_FALSE(newRepresentation4->getValue("IsDrivingSceneElementPose")); } } // Local class to test constraint registration. class MockRigidRepresentation : public SurgSim::Physics::RigidRepresentation { public: explicit MockRigidRepresentation(const std::string& name) : RigidRepresentation(name) {} std::shared_ptr getConstraintImplementation(SurgSim::Physics::ConstraintType type) { return RigidRepresentation::getConstraintImplementation(type); } }; TEST(RepresentationTest, ConstraintTest) { using SurgSim::Physics::ConstraintImplementation; using SurgSim::Physics::MockConstraintImplementation; auto implementation = std::make_shared(); auto representation = std::make_shared("rep"); // Test the getConstraintImplementation EXPECT_TRUE(representation->getConstraintImplementation(implementation->getConstraintType()) == nullptr); // Add the constraint implementation. ConstraintImplementation::getFactory().addImplementation(typeid(MockRigidRepresentation), implementation); // Test the getConstraintImplementation EXPECT_TRUE(representation->getConstraintImplementation(implementation->getConstraintType()) != nullptr); } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/RigidCollisionRepresentationTest.cpp000066400000000000000000000224411277777236100302750ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2015, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/ApplicationData.h" #include "SurgSim/Framework/BasicSceneElement.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Framework/Runtime.h" using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace { static const double dt = 0.001; const double epsilon = 1e-10; }; namespace SurgSim { namespace Physics { struct RigidCollisionRepresentationTest : public ::testing::Test { void SetUp() { m_sphereShape = std::make_shared(1.0); m_rigidRepresentation = std::make_shared("RigidRepresentation"); m_rigidRepresentation->setShape(m_sphereShape); } std::shared_ptr m_sphereShape; std::shared_ptr m_rigidCollisionRepresentation; std::shared_ptr m_rigidRepresentation; }; TEST_F(RigidCollisionRepresentationTest, InitTest) { EXPECT_NO_THROW(RigidCollisionRepresentation("TestRigidCollisionRepresentation")); EXPECT_NO_THROW(m_rigidCollisionRepresentation = std::make_shared("RigidCollisionRepresentation") ); } TEST_F(RigidCollisionRepresentationTest, SetGetRigidRepresentationTest) { m_rigidCollisionRepresentation = std::make_shared("RigidCollisionRepresentation"); ASSERT_NO_THROW(m_rigidCollisionRepresentation->setRigidRepresentation(m_rigidRepresentation)); EXPECT_EQ(m_rigidRepresentation, m_rigidCollisionRepresentation->getRigidRepresentation()); } TEST_F(RigidCollisionRepresentationTest, ShapeTest) { m_rigidCollisionRepresentation = std::make_shared("RigidCollisionRepresentation"); ASSERT_ANY_THROW(m_rigidCollisionRepresentation->getShape()); m_rigidCollisionRepresentation->setRigidRepresentation(m_rigidRepresentation); EXPECT_EQ(m_sphereShape, m_rigidCollisionRepresentation->getShape()); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_SPHERE, m_rigidCollisionRepresentation->getShapeType()); std::shared_ptr boxShape = std::make_shared(1.0, 1.0, 1.0); m_rigidCollisionRepresentation->setShape(boxShape); EXPECT_EQ(boxShape, m_rigidCollisionRepresentation->getShape()); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_BOX, m_rigidCollisionRepresentation->getShapeType()); } TEST_F(RigidCollisionRepresentationTest, PoseTest) { m_rigidCollisionRepresentation = std::make_shared("RigidCollisionRepresentation"); m_rigidCollisionRepresentation->setRigidRepresentation(m_rigidRepresentation); SurgSim::Math::Quaterniond rotation(1.0, 2.0, 3.0, 4.0); SurgSim::Math::Vector3d translation(11.0, 12.0, 13.0); SurgSim::Math::RigidTransform3d pose = SurgSim::Math::makeRigidTransform(rotation, translation); m_rigidCollisionRepresentation->setLocalPose(pose); EXPECT_TRUE(pose.isApprox(m_rigidCollisionRepresentation->getPose())); } TEST_F(RigidCollisionRepresentationTest, SerializationTest) { { SCOPED_TRACE("RigidCollisionRepresenation must have a shape."); auto rigidCollisionRepresentation = std::make_shared("CollisionRepresentation"); YAML::Node node; // Same as call YAML::convert::encode(rigidCollisionRepresentation); // Encode RigidCollisionRepresentation as reference has no problem. ASSERT_NO_THROW(node = rigidCollisionRepresentation); // Encode RigidCollisionRepresentation as concrete object will throw. // It's because RigidCollisionRepresentation::getShape() will throw // if no shape is assigned and no PhysicsRepresentation is connected. ASSERT_ANY_THROW(node = YAML::convert::encode(*rigidCollisionRepresentation)); } { SCOPED_TRACE("RigidCollisionRepresenation uses a shape directly."); auto rigidCollisionRepresentation = std::make_shared("CollisionRepresentation"); std::shared_ptr shape = std::make_shared(0.1, 0.1, 0.1); rigidCollisionRepresentation->setValue("Shape", shape); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*rigidCollisionRepresentation)); std::shared_ptr newRepresentation; ASSERT_NO_THROW(newRepresentation = std::dynamic_pointer_cast( node.as>()) ); EXPECT_EQ("SurgSim::Physics::RigidCollisionRepresentation", newRepresentation->getClassName()); auto boxShape = std::dynamic_pointer_cast(shape); auto newBoxShape = std::dynamic_pointer_cast( newRepresentation->getValue>("Shape")); ASSERT_NE(nullptr, newBoxShape); EXPECT_EQ(boxShape->getType(), newRepresentation->getShapeType()); EXPECT_TRUE(boxShape->getSize().isApprox(newBoxShape->getSize())); EXPECT_TRUE(boxShape->getCenter().isApprox(newBoxShape->getCenter())); EXPECT_TRUE(boxShape->getSecondMomentOfVolume().isApprox(newBoxShape->getSecondMomentOfVolume())); EXPECT_DOUBLE_EQ(boxShape->getVolume(), newBoxShape->getVolume()); } { SCOPED_TRACE("RigidCollisionRepresenation uses the shape in PhysicsRepresentation."); auto rigidCollisionRepresentation = std::make_shared("CollisionRepresentation"); m_rigidRepresentation->setCollisionRepresentation(rigidCollisionRepresentation); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(*rigidCollisionRepresentation)); std::shared_ptr newRepresentation; ASSERT_NO_THROW(newRepresentation = std::dynamic_pointer_cast( node.as>()) ); EXPECT_EQ("SurgSim::Physics::RigidCollisionRepresentation", newRepresentation->getClassName()); EXPECT_EQ(m_sphereShape->getType(), newRepresentation->getShapeType()); auto newShpereShape = std::dynamic_pointer_cast( newRepresentation->getValue>("Shape")); ASSERT_NE(nullptr, newShpereShape); EXPECT_TRUE(m_sphereShape->getCenter().isApprox(newShpereShape->getCenter())); EXPECT_TRUE(m_sphereShape->getSecondMomentOfVolume().isApprox(newShpereShape->getSecondMomentOfVolume())); EXPECT_DOUBLE_EQ(m_sphereShape->getVolume(), newShpereShape->getVolume()); EXPECT_DOUBLE_EQ(m_sphereShape->getRadius(), newShpereShape->getRadius()); } } TEST_F(RigidCollisionRepresentationTest, GetPosedShape) { auto runtime = std::make_shared("config.txt"); const std::string fileName = "Geometry/staple_collision.ply"; auto mesh = std::make_shared(); EXPECT_NO_THROW(mesh->load(fileName)); auto originalMesh = std::make_shared(*mesh); auto expectedMesh = std::make_shared(*mesh); auto collisionRepresentation = std::make_shared("Collision"); auto physicsRepresentation = std::make_shared("Physics"); physicsRepresentation->setDensity(8050); // Stainless steel (in Kg.m-3) physicsRepresentation->setShape(originalMesh); physicsRepresentation->setCollisionRepresentation(collisionRepresentation); collisionRepresentation->update(dt); auto actualMesh = std::static_pointer_cast(collisionRepresentation->getPosedShape()); EXPECT_EQ(expectedMesh->getVertices(), actualMesh->getVertices()); EXPECT_EQ(expectedMesh->getTriangles(), actualMesh->getTriangles()); RigidTransform3d transform = SurgSim::Math::makeRigidTransform(Vector3d(4.3, 2.1, 6.5), Vector3d(-1.5, 7.5, -2.5), Vector3d(8.7, -4.7, -3.1)); collisionRepresentation->setLocalPose(transform); collisionRepresentation->update(dt); actualMesh = std::static_pointer_cast(collisionRepresentation->getPosedShape()); expectedMesh->transform(transform); expectedMesh->update(); EXPECT_EQ(expectedMesh->getVertices(), actualMesh->getVertices()); EXPECT_EQ(expectedMesh->getTriangles(), actualMesh->getTriangles()); } } // namespace Physics } // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/RigidConstraintFixedPointTests.cpp000066400000000000000000000144671277777236100277310ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/MlcpConstraintType.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/RigidConstraintFixedPoint.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" using SurgSim::Math::makeSkewSymmetricMatrix; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace { const double epsilon = 1e-10; const double dt = 1e-3; }; namespace SurgSim { namespace Physics { TEST(RigidConstraintFixedPointTests, Constructor) { ASSERT_NO_THROW( { RigidConstraintFixedPoint constraint; }); } TEST(RigidConstraintFixedPointTests, Constants) { RigidConstraintFixedPoint constraint; EXPECT_EQ(SurgSim::Physics::FIXED_3DPOINT, constraint.getConstraintType()); EXPECT_EQ(3u, constraint.getNumDof()); } TEST(RigidConstraintFixedPointTests, BuildMlcp) { // Whitebox test which validates ConstraintImplementation::build's output parameter, MlcpPhysicsProblem. It assumes // CHt and HCHt can be correctly built given H, so it does not neccessarily construct the physical parameters // neccessary to supply a realistic C. It only checks H and b. RigidConstraintFixedPoint constraint; Vector3d centerOfMass = Vector3d(3.0, 2.42, 9.54); Quaterniond objectRotation = Quaterniond(0.1, 0.35, 4.2, 5.0).normalized(); RigidTransform3d objectPose = makeRigidTransform(objectRotation, centerOfMass); Vector3d constraintPoint = Vector3d(8.0, 6.4, 3.5); // Setup parameters for RigidConstraintFixedPoint::build auto representation = std::make_shared(); representation->setShape(std::make_shared(1.0)); auto localization = std::make_shared(representation); localization->setLocalPosition(objectPose.inverse() * constraintPoint); representation->getCurrentState().setPose(objectPose); MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(6, 3, 1); ConstraintData emptyConstraint; ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); // Compare results Eigen::Matrix violation = constraintPoint; EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); Eigen::Matrix identity = Eigen::Matrix::Identity(); SurgSim::Math::setSubMatrix(dt * identity, 0, 0, 3, 3, &H); SurgSim::Math::setSubMatrix(makeSkewSymmetricMatrix((dt * (constraintPoint - centerOfMass)).eval()), 0, 1, 3, 3, &H); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } TEST(RigidConstraintFixedPointTests, BuildMlcpTwoStep) { // Whitebox test which validates ConstraintImplementation::build's output parameter, MlcpPhysicsProblem. It assumes // CHt and HCHt can be correctly built given H, so it does not neccessarily construct the physical parameters // neccessary to supply a realistic C. It only checks H and b. RigidConstraintFixedPoint constraint; Vector3d centerOfMassLhs = Vector3d(3.0, 2.42, 9.54); Vector3d centerOfMassRhs = Vector3d(1.0, 24.52, 8.00); Quaterniond objectRotationLhs = Quaterniond(0.1, 0.35, 4.2, 5.0).normalized(); Quaterniond objectRotationRhs = Quaterniond(1.43, 6.21, 7.11, 0.55).normalized(); RigidTransform3d objectPoseLhs = makeRigidTransform(objectRotationLhs, centerOfMassLhs); RigidTransform3d objectPoseRhs = makeRigidTransform(objectRotationRhs, centerOfMassRhs); Vector3d constraintPointLhs = Vector3d(8.0, 6.4, 3.5); Vector3d constraintPointRhs = Vector3d(3.0, 7.7, 0.0); // Setup parameters for RigidConstraintFixedPoint::build MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(12, 3, 1); ConstraintData emptyConstraint; auto representation = std::make_shared(); representation->setShape(std::make_shared(1.0)); auto localization = std::make_shared(representation); localization->setLocalPosition(objectPoseLhs.inverse() * constraintPointLhs); representation->getCurrentState().setPose(objectPoseLhs); ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); localization->setLocalPosition(objectPoseRhs.inverse() * constraintPointRhs); representation->getCurrentState().setPose(objectPoseRhs); ASSERT_NO_THROW(constraint.build( dt, emptyConstraint, localization, &mlcpPhysicsProblem, 6, 0, SurgSim::Physics::CONSTRAINT_NEGATIVE_SIDE)); // Compare results Eigen::Matrix violation = constraintPointLhs - constraintPointRhs; EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); Eigen::Matrix identity = Eigen::Matrix::Identity(); SurgSim::Math::setSubMatrix(dt * identity, 0, 0, 3, 3, &H); SurgSim::Math::setSubMatrix(makeSkewSymmetricMatrix((dt * (constraintPointLhs - centerOfMassLhs)).eval()), 0, 1, 3, 3, &H); SurgSim::Math::setSubMatrix(-dt * identity, 0, 2, 3, 3, &H); SurgSim::Math::setSubMatrix(makeSkewSymmetricMatrix((-dt * (constraintPointRhs - centerOfMassRhs)).eval()), 0, 3, 3, 3, &H); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/RigidConstraintFixedRotationVectorTests.cpp000066400000000000000000000103251277777236100316070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/MlcpConstraintType.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/RotationVectorConstraintData.h" #include "SurgSim/Physics/Representation.h" #include "SurgSim/Physics/RigidConstraintFixedRotationVector.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Physics/UnitTests/EigenGtestAsserts.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" using SurgSim::Math::makeSkewSymmetricMatrix; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Vector3d; namespace { const double epsilon = 1e-10; const double dt = 1e-3; }; namespace SurgSim { namespace Physics { TEST(RigidConstraintFixedRotationVectorTests, Constructor) { ASSERT_NO_THROW( { RigidConstraintFixedRotationVector constraint; }); } TEST(RigidConstraintFixedRotationVectorTests, Constants) { RigidConstraintFixedRotationVector constraint; EXPECT_EQ(SurgSim::Physics::FIXED_3DROTATION_VECTOR, constraint.getConstraintType()); EXPECT_EQ(3u, constraint.getNumDof()); } TEST(RigidConstraintFixedRotationVectorTests, BuildMlcp) { using SurgSim::Framework::Runtime; RigidConstraintFixedRotationVector constraint; // Prepare the fem1d representation for this constraint type auto fem1d = std::make_shared("fem1d"); auto initialState = std::make_shared(); initialState->setNumDof(6, 2); initialState->getPositions().setZero(); initialState->getPositions().segment<3>(6) = SurgSim::Math::Vector3d(1.0, 0.0, 0.0); fem1d->setInitialState(initialState); std::array nodeIds = { { 0, 1 } }; auto beam = std::make_shared(nodeIds); beam->setMassDensity(900); beam->setPoissonRatio(0.4); beam->setRadius(0.1); beam->setShearingEnabled(false); beam->setYoungModulus(1e6); fem1d->addFemElement(beam); fem1d->initialize(std::make_shared()); // Initializes the beams initial rotation matrix // Prepare the rigid representation for this constraint type auto representation = std::make_shared(); representation->setShape(std::make_shared(1.0)); Vector3d centerOfMass = Vector3d(3.0, 2.42, 9.54); Quaterniond objectRotation = Quaterniond(0.1, 0.35, 4.2, 5.0).normalized(); RigidTransform3d objectPose = makeRigidTransform(objectRotation, centerOfMass); representation->getCurrentState().setPose(objectPose); auto localization = std::make_shared(representation); localization->setLocalPosition(objectPose.inverse() * Vector3d(8.0, 6.4, 3.5)); // Prepare the specific constraint data RotationVectorRigidFem1DConstraintData constraintData; constraintData.setFem1DRotation(fem1d, 0); constraintData.setRigidOrFixedRotation(representation, representation->getPose().linear()); MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(6, 3, 1); ASSERT_NO_THROW(constraint.build( dt, constraintData, localization, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE)); // Compare results Eigen::AngleAxisd aa(objectRotation); Eigen::Matrix violation = aa.axis() * aa.angle(); EXPECT_NEAR_EIGEN(violation, mlcpPhysicsProblem.b, epsilon); Eigen::Matrix H = Eigen::Matrix::Zero(); EXPECT_NEAR_EIGEN(H, mlcpPhysicsProblem.H, epsilon); EXPECT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/RigidConstraintFrictionlessContactTests.cpp000066400000000000000000000066701277777236100316350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/ContactConstraintData.h" #include "SurgSim/Physics/MlcpPhysicsProblem.h" #include "SurgSim/Physics/RigidConstraintFrictionlessContact.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" using SurgSim::Math::SphereShape; using SurgSim::Math::Vector3d; namespace { const double epsilon = 1e-10; }; namespace SurgSim { namespace Physics { TEST (RigidConstraintFrictionlessContactTests, SetGet_BuildMlcp_Test) { Vector3d n(0.0, 1.0, 0.0); double d = 0.0; double radius = 0.01; double violation = -radius; Vector3d contactPosition = -n * (d - violation); SurgSim::Math::RigidTransform3d poseRigid; poseRigid.setIdentity(); std::shared_ptr rigid = std::make_shared("Rigid"); rigid->setLocalActive(true); rigid->setIsGravityEnabled(false); rigid->setLocalPose(poseRigid); rigid->setDensity(1000.0); rigid->setShape(std::make_shared(radius)); auto loc = std::make_shared(rigid); loc->setLocalPosition(contactPosition); std::shared_ptr implementation = std::make_shared(); EXPECT_EQ(SurgSim::Physics::FRICTIONLESS_3DCONTACT, implementation->getConstraintType()); EXPECT_EQ(1u, implementation->getNumDof()); ContactConstraintData constraintData; constraintData.setPlaneEquation(n, d); MlcpPhysicsProblem mlcpPhysicsProblem = MlcpPhysicsProblem::Zero(rigid->getNumDof(), 1, 1); // Fill up the Mlcp double dt = 1e-3; implementation->build(dt, constraintData, loc, &mlcpPhysicsProblem, 0, 0, SurgSim::Physics::CONSTRAINT_POSITIVE_SIDE); // Violation b should be exactly violation = -radius (the sphere center is on the plane) EXPECT_NEAR(violation, mlcpPhysicsProblem.b[0], epsilon); // Constraint H should be // H = dt.[nx ny nz nz.GPy-ny.GPz nx.GPz-nz.GPx ny.GPx-nx.GPy] Vector3d n_GP = n.cross(Vector3d(0.0, 0.0, 0.0)); SurgSim::Math::Matrix h = mlcpPhysicsProblem.H; EXPECT_NEAR(dt * n[0] , h(0, 0), epsilon); EXPECT_NEAR(dt * n[1] , h(0, 1), epsilon); EXPECT_NEAR(dt * n[2] , h(0, 2), epsilon); EXPECT_NEAR(dt * n_GP[0], h(0, 3), epsilon); EXPECT_NEAR(dt * n_GP[1], h(0, 4), epsilon); EXPECT_NEAR(dt * n_GP[2], h(0, 5), epsilon); // ConstraintTypes should contain 0 entry as it is setup by the constraint and not the ConstraintImplementation // This way, the constraint can verify that both ConstraintImplementation are the same type ASSERT_EQ(0u, mlcpPhysicsProblem.constraintTypes.size()); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/RigidLocalizationTest.cpp000066400000000000000000000146551277777236100260570ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Physics/FixedRepresentation.h" #include "SurgSim/Physics/RigidLocalization.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" using SurgSim::Physics::MockFixedRepresentation; using SurgSim::Physics::MockRigidRepresentation; using SurgSim::Physics::RigidRepresentation; using SurgSim::Physics::RigidLocalization; namespace { const double epsilon = 1e-10; }; class RigidLocalizationTest : public ::testing::Test { public: void SetUp() { SurgSim::Math::Quaterniond q; SurgSim::Math::Vector3d t; q.coeffs().setRandom(); q.normalize(); t.setRandom(); m_initialTransformation = SurgSim::Math::makeRigidTransform(q, t); do { q.coeffs().setRandom(); q.normalize(); t.setRandom(); m_currentTransformation = SurgSim::Math::makeRigidTransform(q, t); } while (m_initialTransformation.isApprox(m_currentTransformation)); m_identityTransformation.setIdentity(); } void TearDown() { } // Fixed representation initialization pose SurgSim::Math::RigidTransform3d m_initialTransformation; // Fixed representation current pose SurgSim::Math::RigidTransform3d m_currentTransformation; // Identity pose (no translation/rotation) SurgSim::Math::RigidTransform3d m_identityTransformation; }; TEST_F(RigidLocalizationTest, ConstructorTest) { ASSERT_NO_THROW( {RigidLocalization rigidRepresentationLoc;}); ASSERT_NO_THROW( { std::shared_ptr rigid = std::make_shared("RigidRepresentation"); RigidLocalization rigidRepresentationLoc(rigid); }); } TEST_F(RigidLocalizationTest, SetGetRepresentation) { RigidLocalization rigidRepresentationLoc; std::shared_ptr rigid = std::make_shared("RigidRepresentation"); EXPECT_EQ(nullptr, rigidRepresentationLoc.getRepresentation()); rigidRepresentationLoc.setRepresentation(rigid); EXPECT_EQ(rigid, rigidRepresentationLoc.getRepresentation()); rigidRepresentationLoc.setRepresentation(nullptr); EXPECT_EQ(nullptr, rigidRepresentationLoc.getRepresentation()); } TEST_F(RigidLocalizationTest, CalculatePosition) { // Create the rigid body std::shared_ptr rigidRepresentation = std::make_shared(); // Activate the rigid body and setup its initial pose rigidRepresentation->setLocalActive(true); rigidRepresentation->getCurrentState().setPose(m_initialTransformation); RigidLocalization localization = RigidLocalization(rigidRepresentation); ASSERT_EQ(rigidRepresentation, localization.getRepresentation()); SurgSim::Math::Vector3d origin = m_initialTransformation.translation(); SurgSim::Math::Vector3d zero = SurgSim::Math::Vector3d::Zero(); localization.setLocalPosition(zero); EXPECT_TRUE(localization.getLocalPosition().isZero(epsilon)); EXPECT_TRUE(localization.calculatePosition().isApprox(origin, epsilon)); SurgSim::Math::Vector3d position = SurgSim::Math::Vector3d::Random(); localization.setLocalPosition(position); EXPECT_TRUE(localization.getLocalPosition().isApprox(position, epsilon)); EXPECT_FALSE(localization.calculatePosition().isApprox(origin, epsilon)); // Out-Of-Range assertions EXPECT_THROW(localization.calculatePosition(-0.01), SurgSim::Framework::AssertionFailure); EXPECT_THROW(localization.calculatePosition(1.01), SurgSim::Framework::AssertionFailure); } TEST_F(RigidLocalizationTest, CalculateVelocity) { // Create the rigid body std::shared_ptr rigidRepresentation = std::make_shared(); // Activate the rigid body and setup its initial pose rigidRepresentation->setLocalActive(true); rigidRepresentation->getCurrentState().setPose(m_initialTransformation); RigidLocalization localization = RigidLocalization(rigidRepresentation); ASSERT_EQ(rigidRepresentation, localization.getRepresentation()); SurgSim::Math::Vector3d origin = m_initialTransformation.translation(); SurgSim::Math::Vector3d zero = SurgSim::Math::Vector3d::Zero(); localization.setLocalPosition(zero); EXPECT_TRUE(localization.getLocalPosition().isZero(epsilon)); EXPECT_TRUE(localization.calculatePosition().isApprox(origin, epsilon)); SurgSim::Math::Vector3d position = SurgSim::Math::Vector3d::Random(); localization.setLocalPosition(position); EXPECT_TRUE(localization.getLocalPosition().isApprox(position, epsilon)); EXPECT_FALSE(localization.calculatePosition().isApprox(origin, epsilon)); // Out-Of-Range assertions EXPECT_THROW(localization.calculateVelocity(-0.01), SurgSim::Framework::AssertionFailure); EXPECT_THROW(localization.calculateVelocity(1.01), SurgSim::Framework::AssertionFailure); } TEST_F(RigidLocalizationTest, FixedRepresentation) { // Create the rigid body auto fixedRepresentation = std::make_shared(); // Activate the rigid body and setup its initial pose fixedRepresentation->setLocalActive(true); fixedRepresentation->getCurrentState().setPose(m_initialTransformation); RigidLocalization localization = RigidLocalization(fixedRepresentation); ASSERT_EQ(fixedRepresentation, localization.getRepresentation()); SurgSim::Math::Vector3d origin = m_initialTransformation.translation(); SurgSim::Math::Vector3d zero = SurgSim::Math::Vector3d::Zero(); localization.setLocalPosition(zero); EXPECT_TRUE(localization.getLocalPosition().isZero(epsilon)); EXPECT_TRUE(localization.calculatePosition().isApprox(origin, epsilon)); SurgSim::Math::Vector3d position = SurgSim::Math::Vector3d::Random(); localization.setLocalPosition(position); EXPECT_TRUE(localization.getLocalPosition().isApprox(position, epsilon)); EXPECT_FALSE(localization.calculatePosition().isApprox(origin, epsilon)); } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/RigidRepresentationTest.cpp000066400000000000000000001235301277777236100264220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/DataStructures/Location.h" #include "SurgSim/DataStructures/BufferedValue.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/MeshShape.h" #include "SurgSim/Math/OdeState.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/PlaneShape.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Valid.h" #include "SurgSim/Physics/Localization.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" #include "SurgSim/Physics/RigidRepresentation.h" using SurgSim::DataStructures::Location; using SurgSim::Framework::Component; using SurgSim::Framework::Runtime; using SurgSim::Math::Matrix33d; using SurgSim::Math::Matrix66d; using SurgSim::Math::makeRigidTransform; using SurgSim::Math::Quaterniond; using SurgSim::Math::PlaneShape; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Shape; using SurgSim::Math::SphereShape; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector6d; namespace { const double epsilon = 1e-10; } namespace SurgSim { namespace Physics { class RigidRepresentationTest : public ::testing::Test { public: void SetUp() { m_dt = 1e-3; m_radius = 0.1; m_density = 9000.0; m_mass = 4.0 / 3.0 * M_PI * m_radius * m_radius * m_radius * m_density; double coef = 2.0 / 5.0 * m_mass * m_radius * m_radius; m_inertia << coef, 0.0, 0.0, 0.0, coef, 0.0, 0.0, 0.0, coef; m_id33.setIdentity(); m_zero33.setZero(); m_invalidInertia.setRandom(); m_invalidInertia = m_invalidInertia + m_invalidInertia.transpose().eval(); // make symmetric m_invalidInertia(0, 0) = -12.3; // Negative value on hte diagonal (invalid) m_sphere = std::make_shared(m_radius); Quaterniond q(0.5, 0.4, 0.3, 0.2); q.normalize(); Vector3d t(1.2, 2.1, 12.21); m_state.setAngularVelocity(Vector3d(1, 2, 3)); m_state.setLinearVelocity(Vector3d(3, 2, 1)); m_state.setPose(SurgSim::Math::makeRigidTransform(q, t)); m_maxNumSimulationStepTest = 100; } void TearDown() { } // Time step double m_dt; // Sphere radius (in m) double m_radius; // Sphere density (in Kg.m-3) double m_density; // Sphere mass (in Kg) double m_mass; // Sphere inertia matrix SurgSim::Math::Matrix33d m_inertia; // Identity matrix 3x3 (for convenience) SurgSim::Math::Matrix33d m_id33; // Zero matrix 3x3 (for convenience) SurgSim::Math::Matrix33d m_zero33; // Invalid inertia matrix SurgSim::Math::Matrix33d m_invalidInertia; // SphereShape std::shared_ptr m_sphere; // Rigid representation state RigidState m_state; // Rigid representation default state RigidState m_defaultState; // Max number of simulation step for testing int m_maxNumSimulationStepTest; }; TEST_F(RigidRepresentationTest, ConstructorTest) { ASSERT_NO_THROW(RigidRepresentation rigidBody("Rigid")); } TEST_F(RigidRepresentationTest, ResetTest) { // Create the rigid body std::shared_ptr rigidBody = std::make_shared("Rigid"); rigidBody->setInitialState(m_state); rigidBody->setLocalActive(false); rigidBody->setIsGravityEnabled(false); rigidBody->setLocalPose(RigidTransform3d::Identity()); // reset the representation state rigidBody->resetState(); // isActive unchanged EXPECT_FALSE(rigidBody->isActive()); // isGravityEnable flag unchanged EXPECT_FALSE(rigidBody->isGravityEnabled()); // current state = initial state EXPECT_TRUE(rigidBody->getInitialState() == rigidBody->getCurrentState()); // previous state = initial state EXPECT_TRUE(rigidBody->getInitialState() == rigidBody->getPreviousState()); } TEST_F(RigidRepresentationTest, SetGetAndDefaultValueTest) { // Create the rigid body std::shared_ptr rigidBody = std::make_shared("Rigid"); // Get state (current, initial) EXPECT_TRUE(m_defaultState == rigidBody->getCurrentState()); EXPECT_TRUE(m_defaultState == rigidBody->getPreviousState()); EXPECT_TRUE(m_defaultState == rigidBody->getInitialState()); rigidBody->setInitialState(m_state); EXPECT_TRUE(m_state == rigidBody->getInitialState()); EXPECT_TRUE(m_state == rigidBody->getCurrentState()); EXPECT_TRUE(m_state == rigidBody->getPreviousState()); // Mass density [default = 0] EXPECT_NEAR(0.0, rigidBody->getDensity(), epsilon); // Mass [default = qNaA] EXPECT_FALSE(SurgSim::Math::isValid(rigidBody->getMass())); // Inertia 3x3 symmetric matrix [default = qNaN values] EXPECT_FALSE(SurgSim::Math::isValid(rigidBody->getLocalInertia())); // Linear damping [default = 0] EXPECT_NEAR(0.0, rigidBody->getLinearDamping(), epsilon); // Angular damping [default = 0] EXPECT_NEAR(0.0, rigidBody->getAngularDamping(), epsilon); // Shape [default = nullptr] EXPECT_EQ(nullptr, rigidBody->getShape()); // Mass density rigidBody->setDensity(m_density); EXPECT_NEAR(m_density, rigidBody->getDensity(), epsilon); rigidBody->setDensity(0.0); EXPECT_NEAR(0.0, rigidBody->getDensity(), epsilon); // Linear damping rigidBody->setLinearDamping(5.5); EXPECT_NEAR(5.5, rigidBody->getLinearDamping(), epsilon); rigidBody->setLinearDamping(0.0); EXPECT_NEAR(0.0, rigidBody->getLinearDamping(), epsilon); // Angular damping rigidBody->setAngularDamping(5.5); EXPECT_NEAR(5.5, rigidBody->getAngularDamping(), epsilon); rigidBody->setAngularDamping(0.0); EXPECT_NEAR(0.0, rigidBody->getAngularDamping(), epsilon); // Shape rigidBody->setShape(m_sphere); EXPECT_EQ(m_sphere, rigidBody->getShape()); rigidBody->setShape(nullptr); EXPECT_EQ(nullptr, rigidBody->getShape()); // Get/Set active flag [default = true] EXPECT_TRUE(rigidBody->isActive()); EXPECT_TRUE(rigidBody->isLocalActive()); rigidBody->setLocalActive(false); ASSERT_FALSE(rigidBody->isActive()); ASSERT_FALSE(rigidBody->isLocalActive()); rigidBody->setLocalActive(true); ASSERT_TRUE(rigidBody->isActive()); ASSERT_TRUE(rigidBody->isLocalActive()); // Get numDof = 6 ASSERT_EQ(6u, rigidBody->getNumDof()); // Set/Get isGravityEnabled [default = true] EXPECT_TRUE(rigidBody->isGravityEnabled()); rigidBody->setIsGravityEnabled(false); ASSERT_FALSE(rigidBody->isGravityEnabled()); rigidBody->setIsGravityEnabled(true); ASSERT_TRUE(rigidBody->isGravityEnabled()); } TEST_F(RigidRepresentationTest, AddExternalGeneralizedForceOnMassCenterTest) { std::shared_ptr rigidBody = std::make_shared("Rigid"); rigidBody->setShape(m_sphere); Vector6d F = 6.4 * Vector6d::Ones(); Matrix66d K = 0.4 * Matrix66d::Ones() + 8.3 * Matrix66d::Identity(); Matrix66d D = -0.6 * Matrix66d::Ones() + 4.1 * Matrix66d::Identity(); rigidBody->addExternalGeneralizedForce(F, K, D); EXPECT_TRUE(rigidBody->getExternalGeneralizedForce().unsafeGet().isApprox(F)); EXPECT_TRUE(rigidBody->getExternalGeneralizedStiffness().isApprox(K)); EXPECT_TRUE(rigidBody->getExternalGeneralizedDamping().isApprox(D)); } namespace { // Extra force/torque that should be added Vector6d computeExtraTorque(const Vector6d& inputForce, const Vector3d& anchorLocalPoint, const Vector6d& dofPosition, const Vector6d& dofVelocity) { Vector6d f = inputForce; auto C = dofPosition.segment<3>(0); // Mass center auto rotVector = dofPosition.segment<3>(3); // Rotation vector double angle; Vector3d axis = rotVector; angle = axis.norm(); if (std::abs(angle) < 1e-8) { axis.setZero(); } else { axis.normalize(); } Matrix33d R = SurgSim::Math::makeRotationMatrix(angle, axis); Vector3d anchorPoint = C + R * anchorLocalPoint; Vector3d lever = anchorPoint - C; f.segment<3>(3) += lever.cross(f.segment<3>(0)); return f; } Matrix66d computeExtraStiffness(const Vector6d& inputForce, const Vector3d& anchorLocalPoint, const Vector6d& dofPosition, const Vector6d& dofVelocity) { Matrix66d K = Matrix66d::Zero(); const double epsilon = 1e-8; for (size_t column = 0; column < 6; ++column) { Vector6d dofX = dofPosition; dofX[column] += 2.0 * epsilon; Vector6d fXPlus2H = computeExtraTorque(inputForce, anchorLocalPoint, dofX, dofVelocity); dofX = dofPosition; dofX[column] += epsilon; Vector6d fXPlusH = computeExtraTorque(inputForce, anchorLocalPoint, dofX, dofVelocity); dofX = dofPosition; dofX[column] -= epsilon; Vector6d fXMinusH = computeExtraTorque(inputForce, anchorLocalPoint, dofX, dofVelocity); dofX = dofPosition; dofX[column] -= 2.0 * epsilon; Vector6d fXMinus2H = computeExtraTorque(inputForce, anchorLocalPoint, dofX, dofVelocity); K.col(column) = - (-fXPlus2H + 8.0 * fXPlusH - 8.0 * fXMinusH + fXMinus2H) / (12.0 * epsilon); } return K; } Matrix66d computeExtraDamping(const Vector6d& inputForce, const Vector3d& anchorLocalPoint, const Vector6d& dofPosition, const Vector6d& dofVelocity) { Matrix66d D = Matrix66d::Zero(); const double epsilon = 1e-8; for (size_t column = 0; column < 6; ++column) { Vector6d dofV = dofVelocity; dofV[column] += 2.0 * epsilon; Vector6d fXPlus2H = computeExtraTorque(inputForce, anchorLocalPoint, dofPosition, dofV); dofV = dofVelocity; dofV[column] += epsilon; Vector6d fXPlusH = computeExtraTorque(inputForce, anchorLocalPoint, dofPosition, dofV); dofV = dofVelocity; dofV[column] -= epsilon; Vector6d fXMinusH = computeExtraTorque(inputForce, anchorLocalPoint, dofPosition, dofV); dofV = dofVelocity; dofV[column] -= 2.0 * epsilon; Vector6d fXMinus2H = computeExtraTorque(inputForce, anchorLocalPoint, dofPosition, dofV); D.col(column) = - (-fXPlus2H + 8.0 * fXPlusH - 8.0 * fXMinusH + fXMinus2H) / (12.0 * epsilon); } return D; } }; // namespace anonymous TEST_F(RigidRepresentationTest, AddExternalGeneralizedForceExtraTermsTest) { { SCOPED_TRACE("Non identity pose"); Eigen::AngleAxisd angleAxis(0.34512, Vector3d(1.1, -1.4, 3.23).normalized()); Vector3d t(1.1, 2.2, 3.3); RigidTransform3d transform = makeRigidTransform(Quaterniond(angleAxis), t); Vector6d inputForce = Vector6d::LinSpaced(1.1, 6.6); Vector6d dofX = Vector6d::Zero(); dofX.segment<3>(0) = transform.translation(); Eigen::AngleAxisd angleAxis2(transform.rotation()); dofX.segment<3>(3) = angleAxis2.axis() * angleAxis2.angle(); Vector6d dofV = Vector6d::Zero(); Vector3d anchorLocalPoint = Vector3d::Ones(); std::shared_ptr rigidBody = std::make_shared("Rigid"); rigidBody->setShape(m_sphere); SurgSim::Physics::RigidState initialState; initialState.setPose(transform); rigidBody->setInitialState(initialState); SurgSim::DataStructures::Location location(anchorLocalPoint); Vector6d Fnumeric = computeExtraTorque(inputForce, anchorLocalPoint, dofX, dofV); Matrix66d Knumeric = computeExtraStiffness(inputForce, anchorLocalPoint, dofX, dofV); Matrix66d Dnumeric = computeExtraDamping(inputForce, anchorLocalPoint, dofX, dofV); Vector6d F = inputForce; Matrix66d K = Matrix66d::Zero(), D = Matrix66d::Zero(); rigidBody->addExternalGeneralizedForce(location, F, K, D); F = rigidBody->getExternalGeneralizedForce().unsafeGet(); K = rigidBody->getExternalGeneralizedStiffness(); D = rigidBody->getExternalGeneralizedDamping(); EXPECT_LE((F - Fnumeric).cwiseAbs().maxCoeff(), 2e-7); EXPECT_LE((K - Knumeric).cwiseAbs().maxCoeff(), 2e-7); EXPECT_LE((D - Dnumeric).cwiseAbs().maxCoeff(), 2e-7); } { SCOPED_TRACE("Exactly Identity pose"); Vector6d inputForce = Vector6d::LinSpaced(1.1, 6.6); Vector6d dofX = Vector6d::Zero(); Vector6d dofV = Vector6d::Zero(); Vector3d anchorLocalPoint = Vector3d::Ones(); std::shared_ptr rigidBody = std::make_shared("Rigid"); rigidBody->setShape(m_sphere); SurgSim::DataStructures::Location location(anchorLocalPoint); Vector6d Fnumeric = computeExtraTorque(inputForce, anchorLocalPoint, dofX, dofV); Matrix66d Knumeric = computeExtraStiffness(inputForce, anchorLocalPoint, dofX, dofV); Matrix66d Dnumeric = computeExtraDamping(inputForce, anchorLocalPoint, dofX, dofV); Vector6d F = inputForce; Matrix66d K = Matrix66d::Zero(), D = Matrix66d::Zero(); rigidBody->addExternalGeneralizedForce(location, F, K, D); F = rigidBody->getExternalGeneralizedForce().unsafeGet(); K = rigidBody->getExternalGeneralizedStiffness(); D = rigidBody->getExternalGeneralizedDamping(); EXPECT_LE((F - Fnumeric).cwiseAbs().maxCoeff(), 2e-7); EXPECT_LE((K - Knumeric).cwiseAbs().maxCoeff(), 2e-7); EXPECT_LE((D - Dnumeric).cwiseAbs().maxCoeff(), 2e-7); } { SCOPED_TRACE("Almost Identity pose, limitted development not used yet"); Eigen::AngleAxisd angleAxis(5e-8, Vector3d(1.1, -1.4, 3.23).normalized()); Vector3d t(1.1, 2.2, 3.3); RigidTransform3d transform = makeRigidTransform(Quaterniond(angleAxis), t); Vector6d inputForce = Vector6d::LinSpaced(1.1, 6.6); Vector6d dofX = Vector6d::Zero(); dofX.segment<3>(0) = transform.translation(); Eigen::AngleAxisd angleAxis2(transform.rotation()); dofX.segment<3>(3) = angleAxis2.angle() * angleAxis2.axis(); Vector6d dofV = Vector6d::Zero(); Vector3d anchorLocalPoint = Vector3d::Ones(); std::shared_ptr rigidBody = std::make_shared("Rigid"); rigidBody->setShape(m_sphere); SurgSim::Physics::RigidState initialState; initialState.setPose(transform); rigidBody->setInitialState(initialState); SurgSim::DataStructures::Location location(anchorLocalPoint); Vector6d Fnumeric = computeExtraTorque(inputForce, anchorLocalPoint, dofX, dofV); Matrix66d Knumeric = computeExtraStiffness(inputForce, anchorLocalPoint, dofX, dofV); Matrix66d Dnumeric = computeExtraDamping(inputForce, anchorLocalPoint, dofX, dofV); Vector6d F = inputForce; Matrix66d K = Matrix66d::Zero(), D = Matrix66d::Zero(); rigidBody->addExternalGeneralizedForce(location, F, K, D); F = rigidBody->getExternalGeneralizedForce().unsafeGet(); K = rigidBody->getExternalGeneralizedStiffness(); D = rigidBody->getExternalGeneralizedDamping(); EXPECT_LE((F - Fnumeric).cwiseAbs().maxCoeff(), 2e-7); EXPECT_LE((K - Knumeric).cwiseAbs().maxCoeff(), 2.2e-7); // Epsilon set by trial and error EXPECT_LE((D - Dnumeric).cwiseAbs().maxCoeff(), 2e-7); } { SCOPED_TRACE("Almost Identity pose, limitted development in use"); Eigen::AngleAxisd angleAxis(5e-8, Vector3d(1.1, -1.4, 3.23).normalized()); Vector3d t(1.1, 2.2, 3.3); RigidTransform3d transform = makeRigidTransform(Quaterniond(angleAxis), t); Vector6d inputForce = Vector6d::LinSpaced(1.1, 6.6); Vector6d dofX = Vector6d::Zero(); dofX.segment<3>(0) = transform.translation(); Eigen::AngleAxisd angleAxis2(transform.rotation()); dofX.segment<3>(3) = angleAxis2.angle() * angleAxis2.axis(); Vector6d dofV = Vector6d::Zero(); Vector3d anchorLocalPoint = Vector3d::Ones(); std::shared_ptr rigidBody = std::make_shared("Rigid"); rigidBody->setShape(m_sphere); SurgSim::Physics::RigidState initialState; initialState.setPose(transform); rigidBody->setInitialState(initialState); SurgSim::DataStructures::Location location(anchorLocalPoint); Vector6d Fnumeric = computeExtraTorque(inputForce, anchorLocalPoint, dofX, dofV); Matrix66d Knumeric = computeExtraStiffness(inputForce, anchorLocalPoint, dofX, dofV); Matrix66d Dnumeric = computeExtraDamping(inputForce, anchorLocalPoint, dofX, dofV); Vector6d F = inputForce; Matrix66d K = Matrix66d::Zero(), D = Matrix66d::Zero(); rigidBody->addExternalGeneralizedForce(location, F, K, D); F = rigidBody->getExternalGeneralizedForce().unsafeGet(); K = rigidBody->getExternalGeneralizedStiffness(); D = rigidBody->getExternalGeneralizedDamping(); EXPECT_LE((F - Fnumeric).cwiseAbs().maxCoeff(), 2e-7); EXPECT_LE((K - Knumeric).cwiseAbs().maxCoeff(), 2e-7); EXPECT_LE((D - Dnumeric).cwiseAbs().maxCoeff(), 2e-7); } } namespace { Vector6d computeSpringForce(double linearStiffness, double linearDamping, double angularStiffness, double angularDamping, Vector3d targetPosition, Vector3d targetLinearVelocity, Vector3d targetRotationVector, Vector3d targetAngularVelocity, Vector6d dofX, Vector6d dofV, bool doComputeExtraTorque = false, Vector3d localApplicationPoint = Vector3d::Zero()) { Vector6d f = Vector6d::Zero(); f.segment<3>(0) += linearStiffness * (targetPosition - dofX.segment<3>(0)); f.segment<3>(0) += linearDamping * (targetLinearVelocity - dofV.segment<3>(0)); f.segment<3>(3) += angularStiffness * (targetRotationVector - dofX.segment<3>(3)); f.segment<3>(3) += angularDamping * (targetAngularVelocity - dofV.segment<3>(3)); if (doComputeExtraTorque) { Vector3d rotationVector = dofX.segment<3>(3); Matrix33d R; double angle = rotationVector.norm(); if (std::abs(angle) < 1e-8) { R.setIdentity(); } else { Vector3d axis = rotationVector / angle; R = cos(angle) * Matrix33d::Identity() + sin(angle) * SurgSim::Math::makeSkewSymmetricMatrix(axis) + (1.0 - cos(angle)) * axis * axis.transpose(); } Vector3d applicationPoint = dofX.segment<3>(0) + R * localApplicationPoint; Vector3d lever = applicationPoint - dofX.segment<3>(0); f.segment<3>(3) += lever.cross(f.segment<3>(0)); } return f; } Matrix66d computeSpringStiffness(double linearStiffness, double linearDamping, double angularStiffness, double angularDamping, Vector3d targetPosition, Vector3d targetLinearVelocity, Vector3d targetRotationVector, Vector3d targetAngularVelocity, Vector6d dofPosition, Vector6d dofVelocity, bool doComputeExtraTorque = false, Vector3d localApplicationPoint = Vector3d::Zero()) { Matrix66d K = Matrix66d::Zero(); const double epsilon = 1e-8; for (size_t column = 0; column < 6; ++column) { Vector6d dofX = dofPosition; dofX[column] += 2.0 * epsilon; Vector6d fXPlus2H = computeSpringForce(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofX, dofVelocity, doComputeExtraTorque, localApplicationPoint); dofX = dofPosition; dofX[column] += epsilon; Vector6d fXPlusH = computeSpringForce(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofX, dofVelocity, doComputeExtraTorque, localApplicationPoint); dofX = dofPosition; dofX[column] -= epsilon; Vector6d fXMinusH = computeSpringForce(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofX, dofVelocity, doComputeExtraTorque, localApplicationPoint); dofX = dofPosition; dofX[column] -= 2.0 * epsilon; Vector6d fXMinus2H = computeSpringForce(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofX, dofVelocity, doComputeExtraTorque, localApplicationPoint); K.col(column) = - (-fXPlus2H + 8.0 * fXPlusH - 8.0 * fXMinusH + fXMinus2H) / (12.0 * epsilon); } return K; } Matrix66d computeSpringDamping(double linearStiffness, double linearDamping, double angularStiffness, double angularDamping, Vector3d targetPosition, Vector3d targetLinearVelocity, Vector3d targetRotationVector, Vector3d targetAngularVelocity, Vector6d dofPosition, Vector6d dofVelocity, bool doComputeExtraTorque = false, Vector3d localApplicationPoint = Vector3d::Zero()) { Matrix66d D = Matrix66d::Zero(); const double epsilon = 1e-8; for (size_t column = 0; column < 6; ++column) { Vector6d dofV = dofVelocity; dofV[column] += 2.0 * epsilon; Vector6d fXPlus2H = computeSpringForce(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofPosition, dofV, doComputeExtraTorque, localApplicationPoint); dofV = dofVelocity; dofV[column] += epsilon; Vector6d fXPlusH = computeSpringForce(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofPosition, dofV, doComputeExtraTorque, localApplicationPoint); dofV = dofVelocity; dofV[column] -= epsilon; Vector6d fXMinusH = computeSpringForce(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofPosition, dofV, doComputeExtraTorque, localApplicationPoint); dofV = dofVelocity; dofV[column] -= 2.0 * epsilon; Vector6d fXMinus2H = computeSpringForce(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofPosition, dofV, doComputeExtraTorque, localApplicationPoint); D.col(column) = - (-fXPlus2H + 8.0 * fXPlusH - 8.0 * fXMinusH + fXMinus2H) / (12.0 * epsilon); } return D; } }; // namespace anonymous TEST_F(RigidRepresentationTest, AddExternalGeneralizedForceTest) { double linearStiffness = 1.1; double linearDamping = 1.2; double angularStiffness = 1.3; double angularDamping = 1.4; Vector3d targetPosition = Vector3d::Ones(); Vector3d targetLinearVelocity = Vector3d::Ones() / 100.0; double angle = 1.2354; Vector3d axis = Vector3d(1.2, 0.4, 5.2).normalized(); Vector3d targetRotationVector = axis * angle; Vector3d targetAngularVelocity = Vector3d::Ones() / 200.0; Vector3d localAnchorPoint = Vector3d::Ones(); { SCOPED_TRACE("With stiffness, with damping"); Eigen::AngleAxisd angleAxis(0.34512, Vector3d(1.1, -1.4, 3.23).normalized()); Vector3d t(1.1, 0.9, 1.02); RigidTransform3d transform = makeRigidTransform(Quaterniond(angleAxis), t); Vector6d dofX = Vector6d::Zero(); dofX.segment<3>(0) = transform.translation(); Eigen::AngleAxisd angleAxis2(transform.rotation()); dofX.segment<3>(3) = angleAxis2.axis() * angleAxis2.angle(); Vector6d dofV = Vector6d::Zero(); Vector6d FWithoutExtraTorque = computeSpringForce(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofX, dofV); Matrix66d KWithoutExtraTorque = computeSpringStiffness(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofX, dofV); Matrix66d DWithoutExtraTorque = computeSpringDamping(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofX, dofV); Vector6d FWithExtraTorque = computeSpringForce(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofX, dofV, true, localAnchorPoint); Matrix66d KWithExtraTorque = computeSpringStiffness(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofX, dofV, true, localAnchorPoint); Matrix66d DWithExtraTorque = computeSpringDamping(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofX, dofV, true, localAnchorPoint); std::shared_ptr rigidBody = std::make_shared("Rigid"); rigidBody->setShape(m_sphere); SurgSim::Physics::RigidState initialState; initialState.setPose(transform); rigidBody->setInitialState(initialState); SurgSim::DataStructures::Location location(localAnchorPoint); Vector6d F = FWithoutExtraTorque; Matrix66d K = KWithoutExtraTorque, D = DWithoutExtraTorque; rigidBody->addExternalGeneralizedForce(location, F, K, D); F = rigidBody->getExternalGeneralizedForce().unsafeGet(); K = rigidBody->getExternalGeneralizedStiffness(); D = rigidBody->getExternalGeneralizedDamping(); EXPECT_LE((F - FWithExtraTorque).cwiseAbs().maxCoeff(), 1e-7); EXPECT_LE((K - KWithExtraTorque).cwiseAbs().maxCoeff(), 1e-7); EXPECT_LE((D - DWithExtraTorque).cwiseAbs().maxCoeff(), 1e-7); } { SCOPED_TRACE("With stiffness, without damping"); Eigen::AngleAxisd angleAxis(0.34512, Vector3d(1.1, -1.4, 3.23).normalized()); Vector3d t(1.1, 0.9, 1.02); RigidTransform3d transform = makeRigidTransform(Quaterniond(angleAxis), t); Vector6d dofX = Vector6d::Zero(); dofX.segment<3>(0) = transform.translation(); Eigen::AngleAxisd angleAxis2(transform.rotation()); dofX.segment<3>(3) = angleAxis2.axis() * angleAxis2.angle(); Vector6d dofV = Vector6d::Zero(); Vector6d FWithoutExtraTorque = computeSpringForce(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofX, dofV); Matrix66d KWithoutExtraTorque = computeSpringStiffness(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofX, dofV); Vector6d FWithExtraTorque = computeSpringForce(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofX, dofV, true, localAnchorPoint); Matrix66d KWithExtraTorque = computeSpringStiffness(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofX, dofV, true, localAnchorPoint); std::shared_ptr rigidBody = std::make_shared("Rigid"); rigidBody->setShape(m_sphere); SurgSim::Physics::RigidState initialState; initialState.setPose(transform); rigidBody->setInitialState(initialState); SurgSim::DataStructures::Location location(localAnchorPoint); Vector6d F = FWithoutExtraTorque; Matrix66d K = KWithoutExtraTorque; rigidBody->addExternalGeneralizedForce(location, F, K); F = rigidBody->getExternalGeneralizedForce().unsafeGet(); K = rigidBody->getExternalGeneralizedStiffness(); EXPECT_LE((F - FWithExtraTorque).cwiseAbs().maxCoeff(), 1e-7); EXPECT_LE((K - KWithExtraTorque).cwiseAbs().maxCoeff(), 1e-7); } { SCOPED_TRACE("Without stiffness, without damping"); Eigen::AngleAxisd angleAxis(0.34512, Vector3d(1.1, -1.4, 3.23).normalized()); Vector3d t(1.1, 0.9, 1.02); RigidTransform3d transform = makeRigidTransform(Quaterniond(angleAxis), t); Vector6d dofX = Vector6d::Zero(); dofX.segment<3>(0) = transform.translation(); Eigen::AngleAxisd angleAxis2(transform.rotation()); dofX.segment<3>(3) = angleAxis2.axis() * angleAxis2.angle(); Vector6d dofV = Vector6d::Zero(); Vector6d FWithoutExtraTorque = computeSpringForce(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofX, dofV); Vector6d FWithExtraTorque = computeSpringForce(linearStiffness, linearDamping, angularStiffness, angularDamping, targetPosition, targetLinearVelocity, targetRotationVector, targetAngularVelocity, dofX, dofV, true, localAnchorPoint); std::shared_ptr rigidBody = std::make_shared("Rigid"); rigidBody->setShape(m_sphere); SurgSim::Physics::RigidState initialState; initialState.setPose(transform); rigidBody->setInitialState(initialState); SurgSim::DataStructures::Location location(localAnchorPoint); Vector6d F = FWithoutExtraTorque; rigidBody->addExternalGeneralizedForce(location, F); F = rigidBody->getExternalGeneralizedForce().unsafeGet(); EXPECT_LE((F - FWithExtraTorque).cwiseAbs().maxCoeff(), 1e-7); } } TEST_F(RigidRepresentationTest, NoForceTorqueTest) { // Create the rigid body std::shared_ptr rigidBody = std::make_shared("Rigid"); // Setup phase rigidBody->setLocalActive(true); rigidBody->setIsGravityEnabled(false); rigidBody->setDensity(m_density); rigidBody->setShape(m_sphere); // Run few time steps for (int timeStep = 0; timeStep < m_maxNumSimulationStepTest; timeStep++) { rigidBody->beforeUpdate(m_dt); rigidBody->update(m_dt); rigidBody->afterUpdate(m_dt); } const Vector3d G = rigidBody->getCurrentState().getPose().translation(); const Matrix33d& R = rigidBody->getCurrentState().getPose().linear(); const Quaterniond q = Quaterniond(R); const Vector3d v = rigidBody->getCurrentState().getLinearVelocity(); const Vector3d w = rigidBody->getCurrentState().getAngularVelocity(); ASSERT_EQ(Vector3d::Zero(), G); ASSERT_TRUE(q.isApprox(Quaterniond::Identity())); ASSERT_EQ(Vector3d::Zero(), v); ASSERT_EQ(Vector3d::Zero(), w); } TEST_F(RigidRepresentationTest, GravityTest) { // Create the rigid body std::shared_ptr rigidBody = std::make_shared("Rigid"); Vector3d gravity(0.0, -9.81, 0.0); // Setup phase rigidBody->setLocalActive(true); rigidBody->setIsGravityEnabled(true); rigidBody->setDensity(m_density); rigidBody->setShape(m_sphere); // Run few time steps for (int timeStep = 0; timeStep < m_maxNumSimulationStepTest; timeStep++) { rigidBody->beforeUpdate(m_dt); rigidBody->update(m_dt); rigidBody->afterUpdate(m_dt); const Vector3d G = rigidBody->getCurrentState().getPose().translation(); const Matrix33d& R = rigidBody->getCurrentState().getPose().linear(); const Quaterniond q = Quaterniond(R); const Vector3d v = rigidBody->getCurrentState().getLinearVelocity(); const Vector3d w = rigidBody->getCurrentState().getAngularVelocity(); const Vector3d Gprev = rigidBody->getPreviousState().getPose().translation(); const Vector3d vprev = rigidBody->getPreviousState().getLinearVelocity(); // Implicit numerical integration gives v(t+dt) = v(t) + dt.a(t+dt) = v(t) + dt.g // p(t+dt) = p(t) + dt.v(t+dt) = p(t) + dt.v(t) + dt^2.g Vector3d tmpV = vprev + gravity * m_dt; double diffV = (v - tmpV).norm(); Vector3d tmpG = Gprev + tmpV * m_dt; double diffG = (G - tmpG).norm(); ASSERT_NEAR(0.0, diffG, epsilon); ASSERT_TRUE(q.isApprox(Quaterniond::Identity())); ASSERT_NEAR(0.0, diffV, epsilon); ASSERT_EQ(Vector3d::Zero(), w); } } TEST_F(RigidRepresentationTest, PreviousStateDifferentFromCurrentTest) { // Create the rigid body std::shared_ptr rigidBody = std::make_shared("Rigid"); Vector3d gravity(0.0, -9.81, 0.0); // Setup phase rigidBody->setLocalActive(true); rigidBody->setIsGravityEnabled(true); rigidBody->setDensity(m_density); rigidBody->setShape(m_sphere); // Run few time steps for (int timeStep = 0; timeStep < m_maxNumSimulationStepTest; timeStep++) { rigidBody->beforeUpdate(m_dt); rigidBody->update(m_dt); rigidBody->afterUpdate(m_dt); ASSERT_NE(rigidBody->getPreviousState(), rigidBody->getCurrentState()); } } void disableWhenDivergeTest(std::shared_ptr rigidBody, const RigidState& state, double dt) { // Setup phase rigidBody->setLocalActive(true); rigidBody->setIsGravityEnabled(true); rigidBody->setInitialState(state); // Run 1 time step and make sure that the rigid body has been disabled // The rotation explode under the angular velocity too strong ! { ASSERT_TRUE(rigidBody->isActive()); rigidBody->beforeUpdate(dt); rigidBody->update(dt); rigidBody->afterUpdate(dt); ASSERT_FALSE(rigidBody->isActive()); } } TEST_F(RigidRepresentationTest, DisableWhenDivergeTest) { Quaterniond q = Quaterniond::Identity(); Vector3d vZero = Vector3d::Zero(); Vector3d vMax = Vector3d::Constant(std::numeric_limits::max()); // Test linear failure (with Signaling Nan) { // Create the rigid body std::shared_ptr rigidBody = std::make_shared("Rigid"); rigidBody->setDensity(m_density); rigidBody->setShape(m_sphere); // Sets the state m_state.reset(); m_state.setPose(SurgSim::Math::makeRigidTransform(q, vMax)); m_state.setLinearVelocity(Vector3d::Constant(std::numeric_limits::signaling_NaN())); SCOPED_TRACE("Testing linear with Signaling Nan"); disableWhenDivergeTest(rigidBody, m_state, m_dt); } // Test linear failure (with quiet Nan) { // Create the rigid body std::shared_ptr rigidBody = std::make_shared("Rigid"); rigidBody->setDensity(m_density); rigidBody->setShape(m_sphere); // Sets the state m_state.reset(); m_state.setPose(makeRigidTransform(q, vMax)); m_state.setLinearVelocity(Vector3d::Constant(std::numeric_limits::quiet_NaN())); SCOPED_TRACE("Testing linear with Quiet Nan"); disableWhenDivergeTest(rigidBody, m_state, m_dt); } // Test linear failure (with numerical maximum value) { // Create the rigid body std::shared_ptr rigidBody = std::make_shared("Rigid"); rigidBody->setDensity(m_density); rigidBody->setShape(m_sphere); // Sets the state m_state.reset(); m_state.setPose(makeRigidTransform(q, vMax)); m_state.setLinearVelocity(Vector3d::Constant(std::numeric_limits::max())); SCOPED_TRACE("Testing linear with double max"); disableWhenDivergeTest(rigidBody, m_state, m_dt); } // Test angular failure (with Signaling Nan) { // Create the rigid body std::shared_ptr rigidBody = std::make_shared("Rigid"); rigidBody->setDensity(m_density); rigidBody->setShape(m_sphere); // Sets the state m_state.reset(); m_state.setPose(makeRigidTransform(q, vZero)); m_state.setAngularVelocity(Vector3d::Constant(std::numeric_limits::signaling_NaN())); SCOPED_TRACE("Testing angular with Signaling Nan"); disableWhenDivergeTest(rigidBody, m_state, m_dt); } // Test angular failure (with quiet Nan) { // Create the rigid body std::shared_ptr rigidBody = std::make_shared("Rigid"); rigidBody->setDensity(m_density); rigidBody->setShape(m_sphere); // Sets the state m_state.reset(); m_state.setPose(makeRigidTransform(q, vZero)); m_state.setAngularVelocity(Vector3d::Constant(std::numeric_limits::quiet_NaN())); SCOPED_TRACE("Testing angular with Quiet Nan"); disableWhenDivergeTest(rigidBody, m_state, m_dt); } // Test angular failure (with numerical maximum value) { // Create the rigid body std::shared_ptr rigidBody = std::make_shared("Rigid"); rigidBody->setDensity(m_density); rigidBody->setShape(m_sphere); // Sets the state m_state.reset(); m_state.setPose(makeRigidTransform(q, vZero)); m_state.setAngularVelocity(Vector3d::Constant(std::numeric_limits::max())); SCOPED_TRACE("Testing angular with double max"); disableWhenDivergeTest(rigidBody, m_state, m_dt); } } TEST_F(RigidRepresentationTest, LocalizationCreation) { std::shared_ptr rigidBody = std::make_shared("Rigid"); Location loc(Vector3d(3.0, 2.0, 1.0)); std::shared_ptr localization = rigidBody->createLocalization(loc); EXPECT_TRUE(localization->getRepresentation() == rigidBody); Vector3d globalPos = rigidBody->getCurrentState().getPose() * loc.rigidLocalPosition.getValue(); EXPECT_TRUE(globalPos.isApprox(localization->calculatePosition(0.0))); EXPECT_TRUE(globalPos.isApprox(localization->calculatePosition(1.0))); } TEST_F(RigidRepresentationTest, InvalidShapes) { std::shared_ptr shapeWithNoVolume = std::make_shared(); std::shared_ptr runtime = std::make_shared(); { std::shared_ptr rigidBody = std::make_shared("Rigid"); rigidBody->setShape(shapeWithNoVolume); std::shared_ptr component = rigidBody; EXPECT_THROW(component->initialize(runtime), SurgSim::Framework::AssertionFailure); } } TEST_F(RigidRepresentationTest, WithMeshShape) { std::shared_ptr runtime = std::make_shared("config.txt"); std::shared_ptr shape = std::make_shared(); shape->load("Geometry/staple_collision.ply"); EXPECT_TRUE(shape->isValid()); std::shared_ptr rigidBody = std::make_shared("Rigid"); rigidBody->setShape(shape); EXPECT_NO_THROW(rigidBody->initialize(runtime)); EXPECT_TRUE(shape->isValid()); std::shared_ptr rigidBody2 = std::make_shared("Rigid2"); rigidBody2->setShape(shape); EXPECT_NO_THROW(rigidBody2->initialize(runtime)); } TEST_F(RigidRepresentationTest, CollisionRepresentationTest) { auto rigidBody(std::make_shared("Rigid")); auto collision1(std::make_shared("collision1")); auto collision2(std::make_shared("collision2")); EXPECT_EQ(nullptr, rigidBody->getCollisionRepresentation()); EXPECT_NO_THROW(rigidBody->setCollisionRepresentation(collision1)); EXPECT_EQ(collision1, rigidBody->getCollisionRepresentation()); EXPECT_EQ(rigidBody, collision1->getRigidRepresentation()); // Change the collision object EXPECT_NO_THROW(rigidBody->setCollisionRepresentation(collision2)); EXPECT_EQ(collision2, rigidBody->getCollisionRepresentation()); EXPECT_EQ(rigidBody, collision2->getRigidRepresentation()); EXPECT_EQ(nullptr, collision1->getRigidRepresentation()); // Clear the collision representation EXPECT_NO_THROW(rigidBody->setCollisionRepresentation(nullptr)); EXPECT_EQ(nullptr, rigidBody->getCollisionRepresentation()); EXPECT_EQ(nullptr, collision1->getRigidRepresentation()); EXPECT_EQ(nullptr, collision2->getRigidRepresentation()); } TEST_F(RigidRepresentationTest, DensityWithSphereShapeTest) { std::shared_ptr rigidBody = std::make_shared("Rigid"); // Mass density rigidBody->setDensity(m_density); // Shape rigidBody->setShape(m_sphere); // Test inertia EXPECT_TRUE(rigidBody->getLocalInertia().isApprox(m_inertia)); // Test mass EXPECT_EQ(m_mass, rigidBody->getMass()); // Test mass center EXPECT_TRUE(rigidBody->getMassCenter().isZero()); } TEST_F(RigidRepresentationTest, SerializationTest) { { SCOPED_TRACE("Encode/Decode as shared_ptr<>, should be OK"); auto rigidRepresentation = std::make_shared("TestRigidRepresentation"); YAML::Node node; ASSERT_NO_THROW( node = YAML::convert>::encode(rigidRepresentation)); std::shared_ptr newRepresentation; EXPECT_NO_THROW(newRepresentation = std::dynamic_pointer_cast (node.as>())); } { SCOPED_TRACE("Encode a RigidRepresentation object without a shape, should throw."); auto rigidRepresentation = std::make_shared("TestRigidRepresentation"); auto rigidCollisionRepresentation = std::make_shared("RigidCollisionRepresentation"); rigidRepresentation->setCollisionRepresentation(rigidCollisionRepresentation); EXPECT_ANY_THROW(YAML::convert::encode(*rigidRepresentation)); } { SCOPED_TRACE("Encode a RigidRepresentation object with valid RigidCollisionRepresentation and shape, no throw"); auto rigidRepresentation = std::make_shared("TestRigidRepresentation"); auto rigidCollisionRepresentation = std::make_shared("RigidCollisionRepresentation"); rigidRepresentation->setCollisionRepresentation(rigidCollisionRepresentation); rigidRepresentation->setDensity(0.1); rigidRepresentation->setLinearDamping(0.2); rigidRepresentation->setAngularDamping(0.3); rigidRepresentation->setShape(m_sphere); YAML::Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*rigidRepresentation)); std::shared_ptr newRepresentation; newRepresentation = std::dynamic_pointer_cast(node.as>()); EXPECT_NE(nullptr, newRepresentation->getCollisionRepresentation()); EXPECT_NEAR(0.1, newRepresentation->getValue("Density"), epsilon); EXPECT_NEAR(0.2, newRepresentation->getValue("LinearDamping"), epsilon); EXPECT_NEAR(0.3, newRepresentation->getValue("AngularDamping"), epsilon); // Shape is encoded/decoded as concrete object instead of reference/shared_ptr<>. EXPECT_NE(m_sphere, newRepresentation->getValue>("Shape")); auto decodedShape = newRepresentation->getValue>("Shape"); EXPECT_EQ(m_sphere->getClassName(), decodedShape->getClassName()); EXPECT_NEAR(m_sphere->getVolume(), decodedShape->getVolume(), epsilon); auto newCollisionRepresentation = std::dynamic_pointer_cast(newRepresentation->getCollisionRepresentation()); EXPECT_EQ(newRepresentation, newCollisionRepresentation->getRigidRepresentation()); } } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/RigidStateTest.cpp000066400000000000000000000121571277777236100245020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/PhysicsConvert.h" #include "SurgSim/Physics/RigidState.h" struct RigidStateTest : public ::testing::Test { void SetUp() { quaterniond = SurgSim::Math::Quaterniond(0.5, 0.4, 0.3, 0.2); quaterniond.normalize(); translation = SurgSim::Math::Vector3d(5.2, -6.13, 4.12356); pose = SurgSim::Math::makeRigidTransform(quaterniond, translation); linearVelocity = SurgSim::Math::Vector3d(2, -3.1, -2.75); angularVelocity = SurgSim::Math::Vector3d (5, -10, 21.5); id4x4 = SurgSim::Math::RigidTransform3d::Identity(); } SurgSim::Math::Quaterniond quaterniond; SurgSim::Math::Vector3d translation; SurgSim::Math::RigidTransform3d pose; SurgSim::Math::Vector3d linearVelocity; SurgSim::Math::Vector3d angularVelocity; SurgSim::Math::RigidTransform3d id4x4; }; TEST_F(RigidStateTest, ConstructorTest) { ASSERT_NO_THROW(SurgSim::Physics::RigidState rigidRepresentationState); } TEST_F(RigidStateTest, DefaultValueTest) { // Create the base rigid representation state std::shared_ptr rigidRepresentationState; rigidRepresentationState = std::make_shared(); // Linear velocity [default = (0 0 0)] EXPECT_TRUE(rigidRepresentationState->getLinearVelocity().isZero()); // Angular velocity [default = (0 0 0)] EXPECT_TRUE(rigidRepresentationState->getAngularVelocity().isZero()); // Pose [default = Identity] EXPECT_TRUE(rigidRepresentationState->getPose().isApprox(id4x4)); } TEST_F(RigidStateTest, ResetTest) { // Create the base rigid representation state std::shared_ptr rigidRepresentationState; rigidRepresentationState = std::make_shared(); rigidRepresentationState->setLinearVelocity(linearVelocity); rigidRepresentationState->setAngularVelocity(angularVelocity); rigidRepresentationState->setPose(pose); // Reset the rigid representation state to default values rigidRepresentationState->reset(); // Test Linear velocity has been reset to (0 0 0) EXPECT_TRUE(rigidRepresentationState->getLinearVelocity().isZero()); // Test Angular velocity has been reset to (0 0 0) EXPECT_TRUE(rigidRepresentationState->getAngularVelocity().isZero()); // Test pose has been reset to Identity EXPECT_TRUE(rigidRepresentationState->getPose().isApprox(id4x4)); } TEST_F(RigidStateTest, SetGetTest) { // Create the base rigid representation state std::shared_ptr rigidRepresentationState; rigidRepresentationState = std::make_shared(); // Get/Set linear velocity rigidRepresentationState->setLinearVelocity(linearVelocity); EXPECT_TRUE(linearVelocity.isApprox(rigidRepresentationState->getLinearVelocity())); rigidRepresentationState->setLinearVelocity(SurgSim::Math::Vector3d::Zero()); EXPECT_TRUE(rigidRepresentationState->getLinearVelocity().isZero()); // Get/Set angular velocity rigidRepresentationState->setAngularVelocity(angularVelocity); EXPECT_TRUE(angularVelocity.isApprox(rigidRepresentationState->getAngularVelocity())); rigidRepresentationState->setAngularVelocity(SurgSim::Math::Vector3d::Zero()); EXPECT_TRUE(rigidRepresentationState->getAngularVelocity().isZero()); // Get/Set pose rigidRepresentationState->setPose(pose); EXPECT_TRUE(rigidRepresentationState->getPose().isApprox(pose)); rigidRepresentationState->setPose(id4x4); EXPECT_TRUE(rigidRepresentationState->getPose().isApprox(id4x4)); } TEST_F(RigidStateTest, SerializationTest) { SurgSim::Physics::RigidState rigidRepresentationState; rigidRepresentationState.setValue("Pose", pose); rigidRepresentationState.setValue("LinearVelocity", linearVelocity); rigidRepresentationState.setValue("AngularVelocity", angularVelocity); YAML::Node node; ASSERT_NO_THROW(node = YAML::convert::encode(rigidRepresentationState)); EXPECT_EQ(1u, node.size()); SurgSim::Physics::RigidState newRigidRepresentationState; ASSERT_NO_THROW(newRigidRepresentationState = node.as()); EXPECT_TRUE(pose.isApprox(newRigidRepresentationState.getValue("Pose"))); EXPECT_TRUE(linearVelocity.isApprox( newRigidRepresentationState.getValue("LinearVelocity"))); EXPECT_TRUE(angularVelocity.isApprox( newRigidRepresentationState.getValue("AngularVelocity"))); }opensurgsim-0.7.0/SurgSim/Physics/UnitTests/RotationVectorConstraintDataTests.cpp000066400000000000000000000057211277777236100304460ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Physics/RotationVectorConstraintData.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Physics/Fem1DElementBeam.h" #include "SurgSim/Physics/Fem1DRepresentation.h" #include "SurgSim/Physics/RigidRepresentation.h" using SurgSim::Physics::Fem1DElementBeam; using SurgSim::Physics::Fem1DRepresentation; using SurgSim::Physics::RigidRepresentation; using SurgSim::Physics::RotationVectorRigidFem1DConstraintData; TEST (RotationVectorConstraintDataTests, TestSetGet) { using SurgSim::Framework::AssertionFailure; RotationVectorRigidFem1DConstraintData rotationVectorConstraintData; auto Id = SurgSim::Math::Matrix33d::Identity(); EXPECT_THROW(rotationVectorConstraintData.getCurrentRotationVector(), AssertionFailure); auto rigid = std::make_shared("rigid"); auto rigidRAtGrasp = rigid->getPose().linear(); EXPECT_THROW(rotationVectorConstraintData.setRigidOrFixedRotation(nullptr, Id), AssertionFailure); rotationVectorConstraintData.setRigidOrFixedRotation(rigid, rigidRAtGrasp); EXPECT_THROW(rotationVectorConstraintData.getCurrentRotationVector(), AssertionFailure); EXPECT_THROW(rotationVectorConstraintData.setFem1DRotation(nullptr, 0), AssertionFailure); auto fem1d = std::make_shared("fem1d"); EXPECT_THROW(rotationVectorConstraintData.setFem1DRotation(fem1d, 0), AssertionFailure); auto initialState = std::make_shared(); initialState->setNumDof(6, 2); initialState->getPositions().setZero(); initialState->getPositions().segment<3>(6) = SurgSim::Math::Vector3d(1.0, 0.0, 0.0); fem1d->setInitialState(initialState); auto elementData = std::make_shared(); elementData->enableShear = false; elementData->massDensity = 950; elementData->nodeIds.push_back(0); elementData->nodeIds.push_back(1); elementData->poissonRatio = 0.35; elementData->radius = 0.01; elementData->youngModulus = 1e6; fem1d->addFemElement(std::make_shared(elementData)); fem1d->initialize(std::make_shared()); EXPECT_NO_THROW(rotationVectorConstraintData.setFem1DRotation(fem1d, 0)); EXPECT_NO_THROW(rotationVectorConstraintData.getCurrentRotationVector()); } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/SlidingConstraintDataTests.cpp000066400000000000000000000044621277777236100270560ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Physics/Constraint.h" #include "SurgSim/Physics/ConstraintData.h" #include "SurgSim/Physics/SlidingConstraintData.h" using SurgSim::Physics::Constraint; using SurgSim::Physics::ConstraintData; using SurgSim::Physics::SlidingConstraintData; #include "SurgSim/Math/Vector.h" using SurgSim::Math::Vector3d; namespace { const double epsilon = 1e-10; }; TEST(SlidingConstraintDataTests, TestSetGet) { using SurgSim::DataStructures::Location; Vector3d point(1.2, 3.4, 5.6), direction(7.8, 9.8, 7.6); direction.normalize(); SlidingConstraintData slidingConstraintData; slidingConstraintData.setSlidingDirection(point, direction); const auto normals = slidingConstraintData.getNormals(); EXPECT_TRUE(point.isApprox(slidingConstraintData.getPose().translation())); auto pose = slidingConstraintData.getPose().inverse().rotation(); EXPECT_TRUE((pose * direction).isApprox(Vector3d(1.0, 0.0, 0.0))); EXPECT_TRUE((pose * normals[0]).isApprox(Vector3d(0.0, 1.0, 0.0))); EXPECT_TRUE((pose * normals[1]).isApprox(Vector3d(0.0, 0.0, 1.0))); EXPECT_NEAR(0.0, direction.dot(normals[0]), epsilon); EXPECT_NEAR(0.0, direction.dot(normals[1]), epsilon); const auto tangent = slidingConstraintData.getTangent(); const auto distanceTangent = slidingConstraintData.getDistanceTangent(); EXPECT_NEAR(0.0, point.dot(tangent) + distanceTangent, epsilon); EXPECT_TRUE(direction.isApprox(tangent)); // Friction coefficient EXPECT_DOUBLE_EQ(0.5, slidingConstraintData.getFrictionCoefficient()); EXPECT_NO_THROW(slidingConstraintData.setFrictionCoefficient(0.1)); EXPECT_DOUBLE_EQ(0.1, slidingConstraintData.getFrictionCoefficient()); } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/SolveMlcpTests.cpp000066400000000000000000000065201277777236100245270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file SolveMlcpTests.cpp /// Simple Test for SolveMlcp computation #include #include #include #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/SolveMlcp.h" #include "SurgSim/Testing/MlcpIO/MlcpTestData.h" #include "SurgSim/Testing/MlcpIO/ReadText.h" using SurgSim::Physics::PhysicsManagerState; using SurgSim::Physics::SolveMlcp; namespace { const double epsilon = 1e-10; }; TEST(SolveMlcpTest, CanConstruct) { ASSERT_NO_THROW({std::shared_ptr solveMlcpComputation = std::make_shared();}); } static void testMlcp(const std::string& filename, double contactTolerance, double solverPrecision, size_t maxIteration) { std::shared_ptr data = loadTestData(filename); ASSERT_NE(nullptr, data) << "Could not load data file 'mlcpOriginalTest.txt'"; std::shared_ptr state = std::make_shared(); // default parameter explicitly marked just to be clear, we are working in 1 instance of the state, no copy. std::shared_ptr solveMlcpComputation = std::make_shared(false); double dt = 1e-3; solveMlcpComputation->setContactTolerance(contactTolerance); EXPECT_NEAR(contactTolerance, solveMlcpComputation->getContactTolerance(), 1e-10); solveMlcpComputation->setPrecision(solverPrecision); EXPECT_NEAR(solverPrecision, solveMlcpComputation->getPrecision(), 1e-10); solveMlcpComputation->setMaxIterations(maxIteration); EXPECT_EQ(maxIteration, solveMlcpComputation->getMaxIterations()); // Copy the MlcpProblem data over into the input state state->getMlcpProblem().A = data->problem.A; state->getMlcpProblem().b = data->problem.b; state->getMlcpProblem().constraintTypes = data->problem.constraintTypes; state->getMlcpProblem().mu = data->problem.mu; // Allocate the MlcpSolution to store the output state->getMlcpSolution().x.resize(state->getMlcpProblem().b.size()); state->getMlcpSolution().x.setZero(); // Solve the mlcp problem and store the solution in the output state state = solveMlcpComputation->update(dt, state); // Compare the mlcp solution with the expected one EXPECT_TRUE(state->getMlcpSolution().x.isApprox(data->expectedLambda, epsilon)) << "lambda:" << std::endl << state->getMlcpSolution().x.transpose() << std::endl << "expected:" << std::endl << data->expectedLambda.transpose() << std::endl; } TEST(SolveMlcpTest, TestOriginalMlcp) { testMlcp("mlcpOriginalTest.txt", 2e-4, 1e-4, 30); } TEST(SolveMlcpTest, TestSequenceMlcps) { for (int i = 0; i <= 9; ++i) { std::ostringstream scopeName; scopeName << "Testing Mlcp " << i; SCOPED_TRACE(scopeName.str()); testMlcp(getTestFileName("mlcpTest", i, ".txt"), 1e-9, 1e-9, 100); } } opensurgsim-0.7.0/SurgSim/Physics/UnitTests/UpdateCollisionRepresentationsTest.cpp000066400000000000000000000051061277777236100306430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. /// \file UpdateCollisionRepresentationsTest.cpp /// Tests for the UpdateCollisionRepresentations Class #include #include #include #include "SurgSim/Collision/Representation.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Physics/UpdateCollisionRepresentations.h" using SurgSim::Physics::MockCollisionRepresentation; using SurgSim::Physics::PhysicsManagerState; using SurgSim::Physics::UpdateCollisionRepresentations; TEST(UpdateCollisionRepresentationsTest, Construction) { EXPECT_NO_THROW(UpdateCollisionRepresentations computation(true);); EXPECT_NO_THROW(UpdateCollisionRepresentations computation(false);); } TEST(UpdateCollisionRepresentationsTest, Update) { std::shared_ptr state = std::make_shared(); // Create two collision representations. auto collision1 = std::make_shared("Collision1"); auto collision2 = std::make_shared("Collision2"); // Setup the state. std::vector> collisions; collisions.push_back(collision1); collisions.push_back(collision2); state->setCollisionRepresentations(collisions); // Test the m_numberOfTimesUpdateCalled before calling update(). EXPECT_EQ(0, collision1->getNumberOfTimesUpdateCalled()); EXPECT_EQ(0, collision2->getNumberOfTimesUpdateCalled()); // Set the local active flags. collision1->setLocalActive(true); collision2->setLocalActive(false); // Test compuation.update() SurgSim::Physics::UpdateCollisionRepresentations computation(false); std::shared_ptr newState = computation.update(1.0, state); // Test the m_numberOfTimesUpdateCalled before calling update(). EXPECT_EQ(1, collision1->getNumberOfTimesUpdateCalled()); EXPECT_EQ(0, collision2->getNumberOfTimesUpdateCalled()); }opensurgsim-0.7.0/SurgSim/Physics/UnitTests/VirtualToolCouplerTest.cpp000066400000000000000000000667131277777236100262700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 #include #include #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/DataStructures/Location.h" #include "SurgSim/Devices/IdentityPoseDevice/IdentityPoseDevice.h" #include "SurgSim/Input/InputComponent.h" #include "SurgSim/Input/OutputComponent.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/RigidCollisionRepresentation.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Physics/RigidState.h" #include "SurgSim/Physics/UnitTests/MockObjects.h" #include "SurgSim/Physics/VirtualToolCoupler.h" #include "SurgSim/Testing/MockInputComponent.h" using SurgSim::Devices::IdentityPoseDevice; using SurgSim::Input::InputComponent; using SurgSim::Framework::Runtime; using SurgSim::Math::makeRigidTranslation; using SurgSim::Math::Matrix33d; using SurgSim::Math::Quaterniond; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::SphereShape; using SurgSim::Math::Vector3d; namespace SurgSim { namespace Physics { const double epsilon = 1e-4; struct VirtualToolCouplerTest : public ::testing::Test { virtual void SetUp() { representationName = "Rigid Representation"; inputDeviceName = "Device"; rigidBody = std::make_shared(representationName); rigidBody->setDensity(700.0); rigidBody->setAngularDamping(0.0); rigidBody->setLinearDamping(0.0); rigidBody->setShape(std::make_shared(0.1)); RigidState state; state.setAngularVelocity(Vector3d::Zero()); state.setLinearVelocity(Vector3d::Zero()); state.setPose(RigidTransform3d::Identity()); rigidBody->setInitialState(state); input = std::make_shared("Input"); input->setDeviceName(inputDeviceName); device = std::make_shared(inputDeviceName); device->addInputConsumer(input); virtualToolCoupler = std::make_shared(); virtualToolCoupler->setInput(input); virtualToolCoupler->setRepresentation(rigidBody); } virtual void TearDown() { } std::shared_ptr rigidBody; std::shared_ptr virtualToolCoupler; std::shared_ptr input; std::shared_ptr device; protected: void runSystem(const int numSteps, const double dt = 0.001) { for (int step = 0; step < numSteps; step++) { virtualToolCoupler->update(dt); rigidBody->beforeUpdate(dt); rigidBody->update(dt); rigidBody->afterUpdate(dt); } } void checkLinearIsCriticallyDamped() { RigidTransform3d initialPose = RigidTransform3d::Identity(); initialPose.translation() = Vector3d(0.1, 0.0, 0.0); rigidBody->setLocalPose(initialPose); rigidBody->setIsGravityEnabled(false); std::shared_ptr runtime = std::make_shared(); virtualToolCoupler->initialize(runtime); rigidBody->initialize(runtime); virtualToolCoupler->wakeUp(); rigidBody->wakeUp(); // Critically damped mass-damper systems settle to within 5% of their // equilibrium when: // t = 4.744 * naturalFrequency; // we will run the system to this point, and then check that the // final position is 5.1% of its initial position double mass = rigidBody->getMass(); double stiffness = virtualToolCoupler->getLinearStiffness(); double naturalFrequency = sqrt(stiffness / mass); double expectedSettlingTime = 4.744 / naturalFrequency; const int NUM_STEPS = 1000; double dt = expectedSettlingTime / NUM_STEPS; Vector3d previousPosition = initialPose.translation(); Vector3d currentPosition; for (int step = 0; step < NUM_STEPS; step++) { virtualToolCoupler->update(dt); rigidBody->beforeUpdate(dt); rigidBody->update(dt); rigidBody->afterUpdate(dt); currentPosition = rigidBody->getCurrentState().getPose().translation(); // Check for exponential behavior. The position should monotonically decrease and not oscillate. ASSERT_TRUE((previousPosition.array() >= currentPosition.array()).all()); previousPosition = currentPosition; } Vector3d expectedPosition = 0.051 * initialPose.translation(); EXPECT_TRUE((expectedPosition.array() >= currentPosition.array()).all()); } void checkAngularIsCriticallyDamped() { double initialAngle = M_PI_4; RigidTransform3d initialPose = RigidTransform3d::Identity(); initialPose.linear() = Matrix33d(Eigen::AngleAxisd(initialAngle, Vector3d::UnitY())); rigidBody->setLocalPose(initialPose); rigidBody->setIsGravityEnabled(false); std::shared_ptr runtime = std::make_shared(); virtualToolCoupler->initialize(runtime); rigidBody->initialize(runtime); virtualToolCoupler->wakeUp(); rigidBody->wakeUp(); // Critically damped mass-damper systems settle to within 5% of their // equilibrium when: // t = 4.744 * naturalFrequency; // we will run the system to this point, and then check that the // final position is 5.1% of its initial position double inertia = rigidBody->getLocalInertia()(1, 1); double stiffness = virtualToolCoupler->getAngularStiffness(); double naturalFrequency = sqrt(stiffness / inertia); double expectedSettlingTime = 4.744 / naturalFrequency; const int NUM_STEPS = 500; double dt = expectedSettlingTime / NUM_STEPS; double previousAngle = initialAngle; double currentAngle; for (int step = 0; step < NUM_STEPS; step++) { virtualToolCoupler->update(dt); rigidBody->beforeUpdate(dt); rigidBody->update(dt); rigidBody->afterUpdate(dt); RigidTransform3d currentPose = rigidBody->getCurrentState().getPose(); currentAngle = atan2(-currentPose(2, 0), currentPose(0, 0)); // Check for exponential behavior. The angle should monotonically decrease and not oscillate. ASSERT_GT(previousAngle, currentAngle); previousAngle = currentAngle; } EXPECT_GT(0.051 * initialAngle, currentAngle); } std::string representationName; std::string inputDeviceName; }; TEST_F(VirtualToolCouplerTest, LinearDisplacement) { const double mass = rigidBody->getMass(); virtualToolCoupler->overrideAngularDamping(mass * 1.0); virtualToolCoupler->overrideAngularStiffness(mass * 200); virtualToolCoupler->overrideLinearDamping(mass * 50); virtualToolCoupler->overrideLinearStiffness(mass * 200); RigidTransform3d initialPose = RigidTransform3d::Identity(); initialPose.translation() = Vector3d(0.1, 0.0, 0.0); rigidBody->setLocalPose(initialPose); rigidBody->setIsGravityEnabled(false); std::shared_ptr runtime = std::make_shared(); virtualToolCoupler->initialize(runtime); rigidBody->initialize(runtime); virtualToolCoupler->wakeUp(); rigidBody->wakeUp(); EXPECT_FALSE(rigidBody->getCurrentState().getPose().translation().isZero(epsilon)); EXPECT_TRUE(rigidBody->isActive()); runSystem(2); EXPECT_TRUE(rigidBody->isActive()); EXPECT_FALSE(rigidBody->getCurrentState().getLinearVelocity().isZero(epsilon)); EXPECT_TRUE(rigidBody->getCurrentState().getAngularVelocity().isZero(epsilon)); runSystem(2000); EXPECT_TRUE(rigidBody->isActive()); RigidState state = rigidBody->getCurrentState(); EXPECT_TRUE(state.getLinearVelocity().isZero(epsilon)); EXPECT_TRUE(state.getAngularVelocity().isZero(epsilon)); EXPECT_TRUE(state.getPose().translation().isZero(epsilon)); Eigen::AngleAxisd angleAxis = Eigen::AngleAxisd(state.getPose().linear()); EXPECT_NEAR(0.0, angleAxis.angle(), epsilon); } TEST_F(VirtualToolCouplerTest, LinearDisplacementWithOffset) { const double mass = rigidBody->getMass(); virtualToolCoupler->overrideAngularDamping(mass * 1.0); virtualToolCoupler->overrideAngularStiffness(mass * 200); virtualToolCoupler->overrideLinearDamping(mass * 50); virtualToolCoupler->overrideLinearStiffness(mass * 200); rigidBody->setIsGravityEnabled(false); auto device = std::make_shared("IdentityPoseDevice"); auto inputComponent = std::make_shared("InputComponent"); device->addInputConsumer(inputComponent); virtualToolCoupler->setInput(inputComponent); RigidTransform3d inputOffset = makeRigidTranslation(Vector3d(0.1, 0.0, 0.0)); inputComponent->setLocalPose(inputOffset); std::shared_ptr runtime = std::make_shared(); virtualToolCoupler->initialize(runtime); rigidBody->initialize(runtime); virtualToolCoupler->wakeUp(); rigidBody->wakeUp(); runSystem(2500); EXPECT_TRUE(rigidBody->isActive()); RigidState state = rigidBody->getCurrentState(); EXPECT_TRUE(state.getLinearVelocity().isZero(epsilon)); EXPECT_TRUE(state.getAngularVelocity().isZero(epsilon)); EXPECT_TRUE(state.getPose().translation().isApprox(inputOffset.translation(), epsilon)) << "Rigid Body Position is incorrect" << std::endl << " Actual: " << state.getPose().translation().transpose() << std::endl << "Expected: " << inputOffset.translation().transpose() << std::endl; } TEST_F(VirtualToolCouplerTest, LinearDisplacementWithInertialTorques) { const double mass = rigidBody->getMass(); virtualToolCoupler->overrideAngularDamping(mass * 2); virtualToolCoupler->overrideAngularStiffness(mass * 20); virtualToolCoupler->overrideLinearDamping(mass * 5); virtualToolCoupler->overrideLinearStiffness(mass * 20); const Vector3d attachmentPoint = Vector3d::UnitY(); virtualToolCoupler->overrideAttachmentPoint(attachmentPoint); virtualToolCoupler->setCalculateInertialTorques(true); RigidTransform3d expectedFinalPose = RigidTransform3d::Identity(); expectedFinalPose.translation() = -attachmentPoint; RigidTransform3d initialPose = RigidTransform3d::Identity(); initialPose.translation() = Vector3d(0.01, 0.0, 0.0) + expectedFinalPose.translation(); rigidBody->setLocalPose(initialPose); rigidBody->setIsGravityEnabled(false); std::shared_ptr runtime = std::make_shared(); virtualToolCoupler->initialize(runtime); rigidBody->initialize(runtime); virtualToolCoupler->wakeUp(); rigidBody->wakeUp(); RigidState state = rigidBody->getCurrentState(); EXPECT_TRUE(state.getAngularVelocity().isZero(epsilon)); Eigen::AngleAxisd angleAxis = Eigen::AngleAxisd(state.getPose().linear()); EXPECT_NEAR(0.0, angleAxis.angle(), epsilon); EXPECT_TRUE(rigidBody->isActive()); runSystem(2); EXPECT_TRUE(rigidBody->isActive()); EXPECT_FALSE(rigidBody->getCurrentState().getAngularVelocity().isZero(epsilon)); runSystem(6000); EXPECT_TRUE(rigidBody->isActive()); state = rigidBody->getCurrentState(); EXPECT_TRUE(state.getLinearVelocity().isZero(epsilon)); EXPECT_TRUE(state.getAngularVelocity().isZero(epsilon)); EXPECT_TRUE(state.getPose().isApprox(expectedFinalPose, epsilon)); } TEST_F(VirtualToolCouplerTest, AngularDisplacement) { const double mass = rigidBody->getMass(); virtualToolCoupler->overrideAngularDamping(mass * 1.0); virtualToolCoupler->overrideAngularStiffness(mass * 200); virtualToolCoupler->overrideLinearDamping(mass * 50); virtualToolCoupler->overrideLinearStiffness(mass * 200); RigidTransform3d initialPose = RigidTransform3d::Identity(); initialPose.linear() = Matrix33d(Eigen::AngleAxisd(M_PI / 4.0, Vector3d::UnitY())); rigidBody->setLocalPose(initialPose); rigidBody->setIsGravityEnabled(false); std::shared_ptr runtime = std::make_shared(); virtualToolCoupler->initialize(runtime); rigidBody->initialize(runtime); virtualToolCoupler->wakeUp(); rigidBody->wakeUp(); Eigen::AngleAxisd angleAxis = Eigen::AngleAxisd(rigidBody->getCurrentState().getPose().linear()); EXPECT_NEAR(M_PI_4, angleAxis.angle(), epsilon); EXPECT_TRUE(rigidBody->isActive()); runSystem(2); EXPECT_TRUE(rigidBody->isActive()); EXPECT_FALSE(rigidBody->getCurrentState().getAngularVelocity().isZero(epsilon)); runSystem(2000); EXPECT_TRUE(rigidBody->isActive()); RigidState state = rigidBody->getCurrentState(); EXPECT_TRUE(state.getLinearVelocity().isZero(epsilon)); EXPECT_TRUE(state.getAngularVelocity().isZero(epsilon)); EXPECT_TRUE(state.getPose().translation().isZero(epsilon)); angleAxis = Eigen::AngleAxisd(state.getPose().linear()); EXPECT_NEAR(0.0, angleAxis.angle(), epsilon); } TEST_F(VirtualToolCouplerTest, WithGravity) { const double mass = rigidBody->getMass(); virtualToolCoupler->overrideAngularDamping(mass * 1.0); virtualToolCoupler->overrideAngularStiffness(mass * 200); virtualToolCoupler->overrideLinearDamping(mass * 50); virtualToolCoupler->overrideLinearStiffness(mass * 200); RigidTransform3d initialPose = RigidTransform3d::Identity(); initialPose.translation() = Vector3d(0.0, 0.0, 0.0); rigidBody->setLocalPose(initialPose); rigidBody->setIsGravityEnabled(true); const double stiffness = 1000; virtualToolCoupler->overrideLinearStiffness(stiffness); std::shared_ptr runtime = std::make_shared(); virtualToolCoupler->initialize(runtime); rigidBody->initialize(runtime); virtualToolCoupler->wakeUp(); rigidBody->wakeUp(); EXPECT_TRUE(rigidBody->getCurrentState().getPose().translation().isApprox(Vector3d::Zero(), epsilon)); EXPECT_TRUE(rigidBody->isActive()); runSystem(2000); EXPECT_TRUE(rigidBody->isActive()); RigidState state = rigidBody->getCurrentState(); EXPECT_TRUE(state.getLinearVelocity().isZero(epsilon)); EXPECT_TRUE(state.getAngularVelocity().isZero(epsilon)); Vector3d g = Vector3d(0.0, -9.81, 0.0); Vector3d expectedPosition = rigidBody->getMass() * g / stiffness; EXPECT_TRUE(state.getPose().translation().isApprox(expectedPosition, epsilon)); Eigen::AngleAxisd angleAxis = Eigen::AngleAxisd(state.getPose().linear()); EXPECT_NEAR(0.0, angleAxis.angle(), epsilon); } TEST_F(VirtualToolCouplerTest, DefaultLinearParameters) { SCOPED_TRACE("Default Linear Parameters"); checkLinearIsCriticallyDamped(); } TEST_F(VirtualToolCouplerTest, SetLinearStiffness) { SCOPED_TRACE("Set Linear Stiffness"); virtualToolCoupler->overrideLinearStiffness(1.234); checkLinearIsCriticallyDamped(); } TEST_F(VirtualToolCouplerTest, SetLinearDamping) { SCOPED_TRACE("Set Linear Damping"); virtualToolCoupler->overrideLinearDamping(500.2); checkLinearIsCriticallyDamped(); } TEST_F(VirtualToolCouplerTest, DefaultAngularParameters) { SCOPED_TRACE("Default Linear Parameters"); checkAngularIsCriticallyDamped(); } TEST_F(VirtualToolCouplerTest, SetAngularStiffness) { SCOPED_TRACE("Set Angular Stiffness"); virtualToolCoupler->overrideAngularStiffness(1234.6); checkAngularIsCriticallyDamped(); } TEST_F(VirtualToolCouplerTest, SetAngularDamping) { SCOPED_TRACE("Set Angular Damping"); virtualToolCoupler->overrideAngularDamping(0.1235); checkAngularIsCriticallyDamped(); } TEST_F(VirtualToolCouplerTest, SetHapticOutputOnlyWhenColliding) { RigidTransform3d initialPose = Math::makeRigidTransform(Math::makeRotationQuaternion(10.0, Vector3d::UnitX().eval()), Vector3d(0.1, 0.0, 0.0)); rigidBody->setLocalPose(initialPose); rigidBody->setIsGravityEnabled(false); auto input = std::make_shared("input"); DataStructures::DataGroupBuilder builder; builder.addPose(DataStructures::Names::POSE); // The VTC only provides the Jacobians if it gets input velocities. builder.addVector(DataStructures::Names::LINEAR_VELOCITY); builder.addVector(DataStructures::Names::ANGULAR_VELOCITY); DataStructures::DataGroup inputData = builder.createData(); inputData.poses().set(DataStructures::Names::POSE, RigidTransform3d::Identity()); inputData.vectors().set(DataStructures::Names::LINEAR_VELOCITY, Vector3d::Identity()); inputData.vectors().set(DataStructures::Names::ANGULAR_VELOCITY, Vector3d::Identity()); input->setData(inputData); virtualToolCoupler->setInput(input); auto output = std::make_shared("output"); std::shared_ptr runtime = std::make_shared(); virtualToolCoupler->initialize(runtime); rigidBody->initialize(runtime); input->initialize(runtime); output->initialize(runtime); virtualToolCoupler->wakeUp(); rigidBody->wakeUp(); input->wakeUp(); output->wakeUp(); EXPECT_FALSE(virtualToolCoupler->isHapticOutputOnlyWhenColliding()); virtualToolCoupler->setHapticOutputOnlyWhenColliding(true); EXPECT_TRUE(virtualToolCoupler->isHapticOutputOnlyWhenColliding()); // no OutputComponent virtualToolCoupler->update(0.1); DataStructures::DataGroup data = virtualToolCoupler->getOutputData(); ASSERT_TRUE(data.vectors().hasEntry(DataStructures::Names::FORCE)); EXPECT_FALSE(data.vectors().hasData(DataStructures::Names::FORCE)); ASSERT_TRUE(data.vectors().hasEntry(DataStructures::Names::TORQUE)); EXPECT_FALSE(data.vectors().hasData(DataStructures::Names::TORQUE)); ASSERT_TRUE(data.matrices().hasEntry(DataStructures::Names::DAMPER_JACOBIAN)); EXPECT_FALSE(data.matrices().hasData(DataStructures::Names::DAMPER_JACOBIAN)); ASSERT_TRUE(data.matrices().hasEntry(DataStructures::Names::SPRING_JACOBIAN)); EXPECT_FALSE(data.matrices().hasData(DataStructures::Names::SPRING_JACOBIAN)); // no collision representation virtualToolCoupler->setOutput(output); virtualToolCoupler->update(0.1); data = virtualToolCoupler->getOutputData(); Vector3d force; Vector3d torque; ASSERT_TRUE(data.vectors().get(DataStructures::Names::FORCE, &force)); EXPECT_GT(force.norm(), 0.0); ASSERT_TRUE(data.vectors().get(DataStructures::Names::TORQUE, &torque)); EXPECT_GT(torque.norm(), 0.0); EXPECT_TRUE(data.matrices().hasData(SurgSim::DataStructures::Names::DAMPER_JACOBIAN)); EXPECT_TRUE(data.matrices().hasData(SurgSim::DataStructures::Names::SPRING_JACOBIAN)); // forces disabled in free motion auto collision = std::make_shared("collision"); rigidBody->setCollisionRepresentation(collision); virtualToolCoupler->update(0.1); data = virtualToolCoupler->getOutputData(); ASSERT_TRUE(data.vectors().get(DataStructures::Names::FORCE, &force)); EXPECT_EQ(force, Vector3d::Zero()); ASSERT_TRUE(data.vectors().get(DataStructures::Names::TORQUE, &torque)); EXPECT_EQ(torque, Vector3d::Zero()); EXPECT_FALSE(data.matrices().hasData(DataStructures::Names::DAMPER_JACOBIAN)); EXPECT_FALSE(data.matrices().hasData(DataStructures::Names::SPRING_JACOBIAN)); // no flag virtualToolCoupler->setHapticOutputOnlyWhenColliding(false); virtualToolCoupler->update(0.1); data = virtualToolCoupler->getOutputData(); ASSERT_TRUE(data.vectors().get(DataStructures::Names::FORCE, &force)); EXPECT_GT(force.norm(), 0.0); ASSERT_TRUE(data.vectors().get(DataStructures::Names::TORQUE, &torque)); EXPECT_GT(torque.norm(), 0.0); EXPECT_TRUE(data.matrices().hasData(DataStructures::Names::DAMPER_JACOBIAN)); EXPECT_TRUE(data.matrices().hasData(DataStructures::Names::SPRING_JACOBIAN)); // forces enabled if any collisions virtualToolCoupler->setHapticOutputOnlyWhenColliding(true); auto& collisions = collision->getCollisions().unsafeGet(); collisions[std::make_shared("collision2")].push_back( std::make_shared( Collision::COLLISION_DETECTION_TYPE_DISCRETE, 0.1, 1.0, Vector3d::UnitX().eval(), Vector3d::UnitY().eval(), std::make_pair(DataStructures::Location(), DataStructures::Location()))); virtualToolCoupler->update(0.1); data = virtualToolCoupler->getOutputData(); ASSERT_TRUE(data.vectors().get(DataStructures::Names::FORCE, &force)); EXPECT_GT(force.norm(), 0.0); ASSERT_TRUE(data.vectors().get(DataStructures::Names::TORQUE, &torque)); EXPECT_GT(torque.norm(), 0.0); EXPECT_TRUE(data.matrices().hasData(DataStructures::Names::DAMPER_JACOBIAN)); EXPECT_TRUE(data.matrices().hasData(DataStructures::Names::SPRING_JACOBIAN)); } TEST_F(VirtualToolCouplerTest, GetInput) { EXPECT_EQ(input, virtualToolCoupler->getInput()); } TEST_F(VirtualToolCouplerTest, GetPoseName) { EXPECT_EQ(SurgSim::DataStructures::Names::POSE, virtualToolCoupler->getPoseName()); } TEST_F(VirtualToolCouplerTest, GetRigid) { EXPECT_EQ(rigidBody, virtualToolCoupler->getRepresentation()); } typedef SurgSim::DataStructures::OptionalValue OptionalValued; typedef SurgSim::DataStructures::OptionalValue OptionalValueVec3; TEST_F(VirtualToolCouplerTest, OptionalParams) { double num = 2.56527676; Vector3d vec(1.0, 2.0, 3.0); { SCOPED_TRACE("Getters"); EXPECT_FALSE(virtualToolCoupler->getOptionalLinearStiffness().hasValue()); virtualToolCoupler->overrideLinearStiffness(num); const OptionalValued& linearStiffness = virtualToolCoupler->getOptionalLinearStiffness(); EXPECT_TRUE(linearStiffness.hasValue()); EXPECT_EQ(num, linearStiffness.getValue()); EXPECT_FALSE(virtualToolCoupler->getOptionalLinearDamping().hasValue()); virtualToolCoupler->overrideLinearDamping(num); const OptionalValued& linearDamping = virtualToolCoupler->getOptionalLinearDamping(); EXPECT_TRUE(linearDamping.hasValue()); EXPECT_EQ(num, linearDamping.getValue()); EXPECT_FALSE(virtualToolCoupler->getOptionalAngularStiffness().hasValue()); virtualToolCoupler->overrideAngularStiffness(num); const OptionalValued& angularStiffness = virtualToolCoupler->getOptionalAngularStiffness(); EXPECT_TRUE(angularStiffness.hasValue()); EXPECT_EQ(num, angularStiffness.getValue()); EXPECT_FALSE(virtualToolCoupler->getOptionalAngularDamping().hasValue()); virtualToolCoupler->overrideAngularDamping(num); const OptionalValued& angularDamping = virtualToolCoupler->getOptionalAngularDamping(); EXPECT_TRUE(angularDamping.hasValue()); EXPECT_EQ(num, angularDamping.getValue()); EXPECT_FALSE(virtualToolCoupler->getOptionalAttachmentPoint().hasValue()); virtualToolCoupler->overrideAttachmentPoint(vec); const OptionalValueVec3& attachmentPoint = virtualToolCoupler->getOptionalAttachmentPoint(); EXPECT_TRUE(attachmentPoint.hasValue()); EXPECT_TRUE(vec.isApprox(attachmentPoint.getValue())); } { SCOPED_TRACE("Setters"); OptionalValued optionalNum; optionalNum.setValue(num); OptionalValueVec3 optionalVec; optionalVec.setValue(vec); virtualToolCoupler->overrideLinearStiffness(0.0); EXPECT_NEAR(0.0, virtualToolCoupler->getOptionalLinearStiffness().getValue(), 1e-9); virtualToolCoupler->setOptionalLinearStiffness(optionalNum); const OptionalValued& linearStiffness = virtualToolCoupler->getOptionalLinearStiffness(); EXPECT_EQ(num, linearStiffness.getValue()); virtualToolCoupler->overrideLinearDamping(0.0); EXPECT_NEAR(0.0, virtualToolCoupler->getOptionalLinearDamping().getValue(), 1e-9); virtualToolCoupler->setOptionalLinearDamping(optionalNum); const OptionalValued& linearDamping = virtualToolCoupler->getOptionalLinearDamping(); EXPECT_TRUE(linearDamping.hasValue()); EXPECT_EQ(num, linearDamping.getValue()); virtualToolCoupler->overrideAngularStiffness(0.0); EXPECT_NEAR(0.0, virtualToolCoupler->getOptionalAngularStiffness().getValue(), 1e-9); virtualToolCoupler->setOptionalAngularStiffness(optionalNum); const OptionalValued& angularStiffness = virtualToolCoupler->getOptionalAngularStiffness(); EXPECT_TRUE(angularStiffness.hasValue()); EXPECT_EQ(num, angularStiffness.getValue()); virtualToolCoupler->overrideAngularDamping(0.0); EXPECT_NEAR(0.0, virtualToolCoupler->getOptionalAngularDamping().getValue(), 1e-9); virtualToolCoupler->setOptionalAngularDamping(optionalNum); const OptionalValued& angularDamping = virtualToolCoupler->getOptionalAngularDamping(); EXPECT_TRUE(angularDamping.hasValue()); EXPECT_EQ(num, angularDamping.getValue()); virtualToolCoupler->overrideAttachmentPoint(Vector3d::Zero()); EXPECT_TRUE(virtualToolCoupler->getOptionalAttachmentPoint().getValue().isApprox(Vector3d::Zero())); virtualToolCoupler->setOptionalAttachmentPoint(optionalVec); const OptionalValueVec3& attachmentPoint = virtualToolCoupler->getOptionalAttachmentPoint(); EXPECT_TRUE(attachmentPoint.hasValue()); EXPECT_TRUE(vec.isApprox(attachmentPoint.getValue())); } } TEST_F(VirtualToolCouplerTest, Serialization) { double num = 3.6415; Vector3d vec(28.4, -37.2, 91.8); OptionalValued optionalNum; optionalNum.setValue(num); OptionalValueVec3 optionalVec; optionalVec.setValue(vec); virtualToolCoupler->setOptionalLinearStiffness(optionalNum); virtualToolCoupler->setOptionalLinearDamping(optionalNum); virtualToolCoupler->setOptionalAngularStiffness(optionalNum); virtualToolCoupler->setOptionalAngularDamping(optionalNum); virtualToolCoupler->setOptionalAttachmentPoint(optionalVec); virtualToolCoupler->setCalculateInertialTorques(true); virtualToolCoupler->setHapticOutputOnlyWhenColliding(true); // Encode YAML::Node node; EXPECT_NO_THROW(node = YAML::convert::encode(*virtualToolCoupler);); // Decode std::shared_ptr newVirtualToolCoupler; EXPECT_NO_THROW(newVirtualToolCoupler = std::dynamic_pointer_cast( node.as>())); // Verify newVirtualToolCoupler->initialize(std::make_shared()); newVirtualToolCoupler->wakeUp(); EXPECT_EQ(num, newVirtualToolCoupler->getLinearStiffness()); EXPECT_EQ(num, newVirtualToolCoupler->getLinearDamping()); EXPECT_EQ(num, newVirtualToolCoupler->getAngularStiffness()); EXPECT_EQ(num, newVirtualToolCoupler->getAngularDamping()); EXPECT_TRUE(vec.isApprox(newVirtualToolCoupler->getAttachmentPoint())); EXPECT_TRUE(newVirtualToolCoupler->getCalculateInertialTorques()); EXPECT_TRUE(virtualToolCoupler->isHapticOutputOnlyWhenColliding()); EXPECT_NE(nullptr, newVirtualToolCoupler->getInput()); EXPECT_NE(nullptr, newVirtualToolCoupler->getRepresentation()); EXPECT_EQ(nullptr, newVirtualToolCoupler->getOutput()); YAML::Node inputNode; EXPECT_NO_THROW(inputNode = YAML::convert::encode(*input);); YAML::Node representationNode; EXPECT_NO_THROW(representationNode = YAML::convert::encode(*rigidBody);); EXPECT_EQ(inputNode[input->getClassName()]["Id"].as(), node[virtualToolCoupler->getClassName()] [input->getName()][input->getClassName()]["Id"].as()); } TEST_F(VirtualToolCouplerTest, OutputDataEntries) { std::shared_ptr runtime = std::make_shared(); ASSERT_TRUE(virtualToolCoupler->initialize(runtime)); auto data = virtualToolCoupler->getOutputData(); EXPECT_EQ(1, data.poses().getNumEntries()); EXPECT_TRUE(data.poses().hasEntry(SurgSim::DataStructures::Names::INPUT_POSE)); EXPECT_EQ(4, data.vectors().getNumEntries()); EXPECT_TRUE(data.vectors().hasEntry(SurgSim::DataStructures::Names::FORCE)); EXPECT_TRUE(data.vectors().hasEntry(SurgSim::DataStructures::Names::TORQUE)); EXPECT_TRUE(data.vectors().hasEntry(SurgSim::DataStructures::Names::INPUT_LINEAR_VELOCITY)); EXPECT_TRUE(data.vectors().hasEntry(SurgSim::DataStructures::Names::INPUT_ANGULAR_VELOCITY)); EXPECT_EQ(2, data.matrices().getNumEntries()); EXPECT_TRUE(data.matrices().hasEntry(SurgSim::DataStructures::Names::SPRING_JACOBIAN)); EXPECT_TRUE(data.matrices().hasEntry(SurgSim::DataStructures::Names::DAMPER_JACOBIAN)); EXPECT_EQ(0, data.scalars().getNumEntries()); EXPECT_EQ(0, data.integers().getNumEntries()); EXPECT_EQ(0, data.booleans().getNumEntries()); EXPECT_EQ(0, data.strings().getNumEntries()); EXPECT_EQ(0, data.customData().getNumEntries()); } }; // namespace Physics }; // namespace SurgSim opensurgsim-0.7.0/SurgSim/Physics/UnitTests/config.txt.in000066400000000000000000000001201277777236100234750ustar00rootroot00000000000000${CMAKE_CURRENT_BINARY_DIR}/Data/ ${PROJECT_BINARY_DIR}/SurgSim/Testing/Data/ opensurgsim-0.7.0/SurgSim/Physics/UpdateCcdData.cpp000066400000000000000000000036411277777236100222650ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Physics/UpdateCcdData.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/ThreadPool.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Collision/Representation.h" #include namespace SurgSim { namespace Physics { UpdateCcdData::UpdateCcdData(bool copyState): Computation(copyState) { } UpdateCcdData::~UpdateCcdData() { } std::shared_ptr UpdateCcdData::doUpdate( const double& interval, const std::shared_ptr& state) { std::shared_ptr result = state; auto threadPool = Framework::Runtime::getThreadPool(); std::vector> tasks; const auto& pairs = result->getCollisionPairs(); std::unordered_set representations; for (const auto& pair : pairs) { if (pair->getType() == SurgSim::Collision::COLLISION_DETECTION_TYPE_CONTINUOUS) { representations.insert(pair->getFirst().get()); representations.insert(pair->getSecond().get()); } } for (auto& representation : representations) { tasks.push_back(threadPool->enqueue([interval, &representation]() { representation->updateCcdData(interval); })); } for (auto& task : tasks) { task.get(); } return result; } } }opensurgsim-0.7.0/SurgSim/Physics/UpdateCcdData.h000066400000000000000000000032721277777236100217320ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_UPDATECCDDATA_H #define SURGSIM_PHYSICS_UPDATECCDDATA_H #include "SurgSim/Framework/Macros.h" #include "SurgSim/Physics/Computation.h" namespace SurgSim { namespace Physics { class UpdateCcdData : public Computation { public: /// Constructor explicit UpdateCcdData(bool copyState); SURGSIM_CLASSNAME(SurgSim::Physics::UpdateCcdData); /// Destructor ~UpdateCcdData(); /// Change of behavior, the value transported is not the complete 'interval' but is the percentage /// of the last interval where the previous impact was found, this is to trigger the /// correct interpolation of the state from the previous state to the interpolated state. This /// value is relative to the last interval to match the behavior of the rest of the system /// \param interval Parameter to be used to interpolate the previousPhysicsState /// \param state normal PhysicsManagerState std::shared_ptr doUpdate(const double& interval, const std::shared_ptr& state) override; private: }; } } #endif opensurgsim-0.7.0/SurgSim/Physics/UpdateCollisionData.cpp000066400000000000000000000032021277777236100235200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Physics/UpdateCollisionData.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/ThreadPool.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Collision/Representation.h" namespace SurgSim { namespace Physics { UpdateCollisionData::UpdateCollisionData(bool copyState) : Computation(copyState) { } UpdateCollisionData::~UpdateCollisionData() { } std::shared_ptr UpdateCollisionData::doUpdate( const double& dt, const std::shared_ptr& state) { std::shared_ptr result = state; auto threadPool = Framework::Runtime::getThreadPool(); std::vector> tasks; auto& representations = result->getActiveCollisionRepresentations(); for (auto& representation : representations) { tasks.push_back(threadPool->enqueue([dt, &representation]() { representation->updateShapeData(); })); } for (auto& task : tasks) { task.get(); } return result; } } }opensurgsim-0.7.0/SurgSim/Physics/UpdateCollisionData.h000066400000000000000000000023431277777236100231720ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_UPDATECOLLISIONDATA_H #define SURGSIM_PHYSICS_UPDATECOLLISIONDATA_H #include "SurgSim/Framework/Macros.h" #include "SurgSim/Physics/Computation.h" namespace SurgSim { namespace Physics { class UpdateCollisionData : public Computation { public: /// Constructor explicit UpdateCollisionData(bool copyState); SURGSIM_CLASSNAME(SurgSim::Physics::UpdateCollisionData); /// Destructor ~UpdateCollisionData(); std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; private: }; } } #endif opensurgsim-0.7.0/SurgSim/Physics/UpdateCollisionRepresentations.cpp000066400000000000000000000033041277777236100260370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/ThreadPool.h" #include "SurgSim/Physics/UpdateCollisionRepresentations.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Collision/Representation.h" namespace SurgSim { namespace Physics { UpdateCollisionRepresentations::UpdateCollisionRepresentations(bool doCopyState) : Computation(doCopyState) { } UpdateCollisionRepresentations::~UpdateCollisionRepresentations() { } std::shared_ptr SurgSim::Physics::UpdateCollisionRepresentations::doUpdate(const double& dt, const std::shared_ptr& state) { std::shared_ptr result = state; auto threadPool = Framework::Runtime::getThreadPool(); std::vector> tasks; auto& representations = result->getActiveCollisionRepresentations(); for (auto& representation : representations) { tasks.push_back(threadPool->enqueue([dt, &representation]() { representation->update(dt); })); } for (auto& task : tasks) { task.get(); } return result; } } } opensurgsim-0.7.0/SurgSim/Physics/UpdateCollisionRepresentations.h000066400000000000000000000026641277777236100255140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_UPDATECOLLISIONREPRESENTATIONS_H #define SURGSIM_PHYSICS_UPDATECOLLISIONREPRESENTATIONS_H #include "SurgSim/Framework/Macros.h" #include "SurgSim/Physics/Computation.h" namespace SurgSim { namespace Physics { /// Computation that calls the CollisionRepresentations update() function class UpdateCollisionRepresentations : public Computation { public: /// Constructor /// \param doCopyState whether to copy the PhysicsManagerState on update explicit UpdateCollisionRepresentations(bool doCopyState); SURGSIM_CLASSNAME(SurgSim::Physics::UpdateCollisionRepresentations); /// Destructor virtual ~UpdateCollisionRepresentations(); std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; }; } } #endif opensurgsim-0.7.0/SurgSim/Physics/UpdateDcdData.cpp000066400000000000000000000036111277777236100222630ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Physics/UpdateDcdData.h" #include "SurgSim/Framework/Runtime.h" #include "SurgSim/Framework/ThreadPool.h" #include "SurgSim/Physics/PhysicsManagerState.h" #include "SurgSim/Collision/Representation.h" #include namespace SurgSim { namespace Physics { UpdateDcdData::UpdateDcdData(bool copyState): Computation(copyState) { } UpdateDcdData::~UpdateDcdData() { } std::shared_ptr UpdateDcdData::doUpdate( const double& dt, const std::shared_ptr& state) { std::shared_ptr result = state; auto threadPool = Framework::Runtime::getThreadPool(); std::vector> tasks; const auto& pairs = result->getCollisionPairs(); std::unordered_set representations; for (const auto& pair : pairs) { if (pair->getType() == SurgSim::Collision::COLLISION_DETECTION_TYPE_DISCRETE) { representations.insert(pair->getFirst().get()); representations.insert(pair->getSecond().get()); } } for (auto representation : representations) { tasks.push_back(threadPool->enqueue([dt, representation]() { representation->updateDcdData(); })); } for (auto& task : tasks) { task.get(); } return result; } } }opensurgsim-0.7.0/SurgSim/Physics/UpdateDcdData.h000066400000000000000000000022771277777236100217370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_UPDATEDCDDATA_H #define SURGSIM_PHYSICS_UPDATEDCDDATA_H #include "SurgSim/Framework/Macros.h" #include "SurgSim/Physics/Computation.h" namespace SurgSim { namespace Physics { class UpdateDcdData : public Computation { public: /// Constructor explicit UpdateDcdData(bool copyState); SURGSIM_CLASSNAME(SurgSim::Physics::UpdateDcdData); /// Destructor ~UpdateDcdData(); std::shared_ptr doUpdate(const double& dt, const std::shared_ptr& state) override; private: }; } } #endif opensurgsim-0.7.0/SurgSim/Physics/VirtualToolCoupler.cpp000066400000000000000000000473221277777236100234610ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Collision/CollisionPair.h" #include "SurgSim/Collision/Representation.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/DataStructures/DataStructuresConvert.h" #include "SurgSim/Framework/FrameworkConvert.h" #include "SurgSim/Input/InputComponent.h" #include "SurgSim/Input/OutputComponent.h" #include "SurgSim/Math/MathConvert.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Physics/RigidRepresentation.h" #include "SurgSim/Physics/VirtualToolCoupler.h" using SurgSim::Math::makeSkewSymmetricMatrix; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector6d; using SurgSim::Math::Matrix33d; using SurgSim::Math::Matrix66d; using SurgSim::Math::RigidTransform3d; using SurgSim::Math::Quaterniond; using SurgSim::Framework::checkAndConvert; namespace SurgSim { namespace Physics { SURGSIM_REGISTER(SurgSim::Framework::Component, SurgSim::Physics::VirtualToolCoupler, VirtualToolCoupler); VirtualToolCoupler::VirtualToolCoupler(const std::string& name) : SurgSim::Framework::Behavior(name), m_poseName(SurgSim::DataStructures::Names::POSE), m_linearStiffness(std::numeric_limits::quiet_NaN()), m_linearDamping(std::numeric_limits::quiet_NaN()), m_angularStiffness(std::numeric_limits::quiet_NaN()), m_angularDamping(std::numeric_limits::quiet_NaN()), m_localAttachmentPoint(Vector3d(std::numeric_limits::quiet_NaN(), std::numeric_limits::quiet_NaN(), std::numeric_limits::quiet_NaN())), m_calculateInertialTorques(false), m_logger(SurgSim::Framework::Logger::getLogger("Physics/VirtualToolCoupler")), m_hapticOutputOnlyWhenColliding(false), m_previousInputPose(Math::RigidTransform3d::Identity()), m_poseIndex(-1), m_linearVelocityIndex(-1), m_angularVelocityIndex(-1), m_forceIndex(-1), m_torqueIndex(-1), m_inputLinearVelocityIndex(-1), m_inputAngularVelocityIndex(-1), m_inputPoseIndex(-1), m_springJacobianIndex(-1), m_damperJacobianIndex(-1) { SURGSIM_ADD_SERIALIZABLE_PROPERTY(VirtualToolCoupler, SurgSim::DataStructures::OptionalValue, LinearStiffness, getOptionalLinearStiffness, setOptionalLinearStiffness); SURGSIM_ADD_SERIALIZABLE_PROPERTY(VirtualToolCoupler, SurgSim::DataStructures::OptionalValue, LinearDamping, getOptionalLinearDamping, setOptionalLinearDamping); SURGSIM_ADD_SERIALIZABLE_PROPERTY(VirtualToolCoupler, SurgSim::DataStructures::OptionalValue, AngularStiffness, getOptionalAngularStiffness, setOptionalAngularStiffness); SURGSIM_ADD_SERIALIZABLE_PROPERTY(VirtualToolCoupler, SurgSim::DataStructures::OptionalValue, AngularDamping, getOptionalAngularDamping, setOptionalAngularDamping); SURGSIM_ADD_SERIALIZABLE_PROPERTY(VirtualToolCoupler, SurgSim::DataStructures::OptionalValue, AttachmentPoint, getOptionalAttachmentPoint, setOptionalAttachmentPoint); SURGSIM_ADD_SERIALIZABLE_PROPERTY(VirtualToolCoupler, bool, CalculateInertialTorques, getCalculateInertialTorques, setCalculateInertialTorques); SURGSIM_ADD_SERIALIZABLE_PROPERTY(VirtualToolCoupler, bool, HapticOutputOnlyWhenColliding, isHapticOutputOnlyWhenColliding, setHapticOutputOnlyWhenColliding); SURGSIM_ADD_SERIALIZABLE_PROPERTY(VirtualToolCoupler, std::shared_ptr, Input, getInput, setInput); SURGSIM_ADD_SERIALIZABLE_PROPERTY(VirtualToolCoupler, std::shared_ptr, Output, getOutput, setOutput); SURGSIM_ADD_SERIALIZABLE_PROPERTY(VirtualToolCoupler, std::shared_ptr, Representation, getRepresentation, setRepresentation); } VirtualToolCoupler::~VirtualToolCoupler() { } const std::shared_ptr VirtualToolCoupler::getInput() { return m_input; } void VirtualToolCoupler::setInput(const std::shared_ptr input) { m_input = checkAndConvert(input, "SurgSim::Input::InputComponent"); } const std::shared_ptr VirtualToolCoupler::getOutput() { return m_output; } void VirtualToolCoupler::setOutput(const std::shared_ptr output) { m_output = checkAndConvert(output, "SurgSim::Input::OutputComponent"); } const std::shared_ptr VirtualToolCoupler::getRepresentation() { return m_rigid; } void VirtualToolCoupler::setRepresentation(const std::shared_ptr rigid) { m_rigid = std::dynamic_pointer_cast(rigid); } const std::string& VirtualToolCoupler::getPoseName() { return m_poseName; } void VirtualToolCoupler::setPoseName(const std::string& poseName) { m_poseName = poseName; } void VirtualToolCoupler::update(double dt) { DataStructures::DataGroup inputData; m_input->getData(&inputData); inputData.poses().cacheIndex(m_poseName, &m_poseIndex); inputData.vectors().cacheIndex(DataStructures::Names::LINEAR_VELOCITY, &m_linearVelocityIndex); if (m_linearVelocityIndex < 0) { SURGSIM_LOG_ONCE(m_logger, WARNING) << getFullName() << " is receiving an input DataGroup that does not " << "contain a linear velocity vector named " << DataStructures::Names::LINEAR_VELOCITY << ", so it will be estimated."; } inputData.vectors().cacheIndex(DataStructures::Names::ANGULAR_VELOCITY, &m_angularVelocityIndex); if (m_angularVelocityIndex < 0) { SURGSIM_LOG_ONCE(m_logger, WARNING) << getFullName() << " is receiving an input DataGroup that does not " << "contain an angular velocity vector named " << DataStructures::Names::ANGULAR_VELOCITY << ") so it will be estimated."; } RigidTransform3d inputPose; if (inputData.poses().get(m_poseIndex, &inputPose)) { Vector3d inputLinearVelocity(Vector3d::Zero()); const bool gotInputLinearVelocity = inputData.vectors().get(m_linearVelocityIndex, &inputLinearVelocity); if (!gotInputLinearVelocity) { inputLinearVelocity = (inputPose.translation() - m_previousInputPose.translation()) / dt; } Vector3d inputAngularVelocity(Vector3d::Zero()); const bool gotInputAngularVelocity = inputData.vectors().get(m_angularVelocityIndex, &inputAngularVelocity); if (!gotInputAngularVelocity) { Math::computeRotationVector(inputPose, m_previousInputPose, &inputAngularVelocity); inputAngularVelocity /= dt; } m_previousInputPose = inputPose; RigidTransform3d inputAlignment = m_input->getLocalPose(); inputPose = inputAlignment * inputPose; inputLinearVelocity = inputAlignment.linear() * inputLinearVelocity; inputAngularVelocity = inputAlignment.rotation() * inputAngularVelocity; RigidState objectState(m_rigid->getCurrentState()); RigidTransform3d objectPose(objectState.getPose()); Vector3d objectPosition = objectPose * m_rigid->getMassCenter(); Vector3d attachmentPoint = objectPose * m_localAttachmentPoint; Vector3d leverArm = attachmentPoint - objectPosition; Vector3d attachmentPointVelocity = objectState.getLinearVelocity(); attachmentPointVelocity += objectState.getAngularVelocity().cross(leverArm); Vector3d force = m_linearStiffness * (inputPose.translation() - attachmentPoint); force += m_linearDamping * (inputLinearVelocity - attachmentPointVelocity); Vector3d rotationVector; SurgSim::Math::computeRotationVector(inputPose, objectPose, &rotationVector); Vector3d torque = m_angularStiffness * rotationVector; torque += m_angularDamping * (inputAngularVelocity - objectState.getAngularVelocity()); Vector6d generalizedForce; generalizedForce << force, torque; const Matrix33d identity3x3 = Matrix33d::Identity(); const Matrix33d zero3x3 = Matrix33d::Zero(); Matrix66d generalizedStiffness; generalizedStiffness << m_linearStiffness * identity3x3, zero3x3, zero3x3 , m_angularStiffness * identity3x3; Matrix66d generalizedDamping; generalizedDamping << m_linearDamping * identity3x3, zero3x3, zero3x3 , m_angularDamping * identity3x3; if (m_calculateInertialTorques) { SurgSim::DataStructures::Location location; location.rigidLocalPosition.setValue(m_localAttachmentPoint); m_rigid->addExternalGeneralizedForce(location, generalizedForce, generalizedStiffness, generalizedDamping); } else { m_rigid->addExternalGeneralizedForce(generalizedForce, generalizedStiffness, generalizedDamping); } if (m_output != nullptr) { RigidTransform3d outputAlignment = m_output->getLocalPose().inverse(); Matrix33d outputAlignmentUnScaled = outputAlignment.rotation(); bool output = true; if (m_hapticOutputOnlyWhenColliding) { auto collision = m_rigid->getCollisionRepresentation(); output = (collision == nullptr) || (collision->getCollisions().unsafeGet().size() > 0); } if (output) { m_outputData.vectors().set(m_forceIndex, outputAlignmentUnScaled * (-force)); m_outputData.vectors().set(m_torqueIndex, outputAlignmentUnScaled * (-torque)); if (gotInputLinearVelocity && gotInputAngularVelocity) { m_outputData.matrices().set(m_springJacobianIndex, -generalizedStiffness); m_outputData.matrices().set(m_damperJacobianIndex, -generalizedDamping); } else { m_outputData.matrices().reset(m_springJacobianIndex); m_outputData.matrices().reset(m_damperJacobianIndex); } } else { m_outputData.vectors().set(m_forceIndex, Vector3d::Zero()); m_outputData.vectors().set(m_torqueIndex, Vector3d::Zero()); m_outputData.matrices().reset(m_springJacobianIndex); m_outputData.matrices().reset(m_damperJacobianIndex); } if (gotInputLinearVelocity) { m_outputData.vectors().set(m_inputLinearVelocityIndex, outputAlignment.linear() * inputLinearVelocity); } else { m_outputData.vectors().reset(m_inputLinearVelocityIndex); } if (gotInputAngularVelocity) { m_outputData.vectors().set(m_inputAngularVelocityIndex, outputAlignmentUnScaled * inputAngularVelocity); } else { m_outputData.vectors().reset(m_inputAngularVelocityIndex); } m_outputData.poses().set(m_inputPoseIndex, outputAlignment * inputPose); m_output->setData(m_outputData); } } } bool VirtualToolCoupler::doInitialize() { m_outputData = buildOutputData(); m_forceIndex = m_outputData.vectors().getIndex(SurgSim::DataStructures::Names::FORCE); m_torqueIndex = m_outputData.vectors().getIndex(SurgSim::DataStructures::Names::TORQUE); m_inputLinearVelocityIndex = m_outputData.vectors().getIndex(SurgSim::DataStructures::Names::INPUT_LINEAR_VELOCITY); m_inputAngularVelocityIndex = m_outputData.vectors().getIndex(SurgSim::DataStructures::Names::INPUT_ANGULAR_VELOCITY); m_inputPoseIndex = m_outputData.poses().getIndex(SurgSim::DataStructures::Names::INPUT_POSE); m_springJacobianIndex = m_outputData.matrices().getIndex(SurgSim::DataStructures::Names::SPRING_JACOBIAN); m_damperJacobianIndex = m_outputData.matrices().getIndex(SurgSim::DataStructures::Names::DAMPER_JACOBIAN); return true; } SurgSim::DataStructures::DataGroup VirtualToolCoupler::buildOutputData() { SurgSim::DataStructures::DataGroupBuilder builder; builder.addVector(SurgSim::DataStructures::Names::FORCE); builder.addVector(SurgSim::DataStructures::Names::TORQUE); builder.addMatrix(SurgSim::DataStructures::Names::SPRING_JACOBIAN); builder.addPose(SurgSim::DataStructures::Names::INPUT_POSE); builder.addMatrix(SurgSim::DataStructures::Names::DAMPER_JACOBIAN); builder.addVector(SurgSim::DataStructures::Names::INPUT_LINEAR_VELOCITY); builder.addVector(SurgSim::DataStructures::Names::INPUT_ANGULAR_VELOCITY); return builder.createData(); } bool VirtualToolCoupler::doWakeUp() { if (m_input == nullptr) { SURGSIM_LOG_SEVERE(m_logger) << "VirtualToolCoupler named " << getName() << " does not have an Input Component."; return false; } if (m_rigid == nullptr) { SURGSIM_LOG_SEVERE(m_logger) << "VirtualToolCoupler named " << getName() << " does not have a Representation."; return false; } if (m_optionalAttachmentPoint.hasValue()) { m_localAttachmentPoint = m_optionalAttachmentPoint.getValue(); } else { m_localAttachmentPoint = m_rigid->getMassCenter(); } // Provide sensible defaults based on the rigid representation. // If one or both of the stiffness and damping are not provided, they are // calculated to provide a critically damped system (dampingRatio-1.0). // For a mass-spring system, the damping ratio is defined as: // // dampingRatio = (damping) / (2 * sqrt(mass * stiffness)) // double dampingRatio = 1.0; double mass = m_rigid->getMass(); if (!m_optionalLinearDamping.hasValue()) { if (m_optionalLinearStiffness.hasValue()) { m_linearStiffness = m_optionalLinearStiffness.getValue(); } else { m_linearStiffness = mass * 100.0; } m_linearDamping = 2.0 * dampingRatio * sqrt(mass * m_linearStiffness); } else { m_linearDamping = m_optionalLinearDamping.getValue(); if (m_optionalLinearStiffness.hasValue()) { m_linearStiffness = m_optionalLinearStiffness.getValue(); } else { m_linearStiffness = pow(m_linearDamping / dampingRatio, 2) / (4.0 * mass); } } Matrix33d leverArmMatrix = makeSkewSymmetricMatrix((m_localAttachmentPoint - m_rigid->getMassCenter()).eval()); const Matrix33d& inertia = m_rigid->getLocalInertia() + mass * leverArmMatrix * leverArmMatrix; double maxInertia = inertia.eigenvalues().real().maxCoeff(); if (!m_optionalAngularDamping.hasValue()) { if (m_optionalAngularStiffness.hasValue()) { m_angularStiffness = m_optionalAngularStiffness.getValue(); } else { m_angularStiffness = maxInertia * 1000.0; } m_angularDamping = 2.0 * dampingRatio * sqrt(maxInertia * m_angularStiffness); } else { m_angularDamping = m_optionalAngularDamping.getValue(); if (m_optionalAngularStiffness.hasValue()) { m_angularStiffness = m_optionalAngularStiffness.getValue(); } else { m_angularStiffness = pow(m_angularDamping / dampingRatio, 2) / (4.0 * maxInertia); } } SURGSIM_LOG_INFO(m_logger) << "VirtualToolCoupler named '" << getName() << "' has linear stiffness " << m_linearStiffness << ", linear damping " << m_linearDamping << ", angular stiffness " << m_angularStiffness << ", and angular damping " << m_angularDamping << ". Its Physics Representation has mass " << m_rigid->getMass(); return true; } int VirtualToolCoupler::getTargetManagerType() const { return SurgSim::Framework::MANAGER_TYPE_PHYSICS; } void VirtualToolCoupler::overrideLinearStiffness(double linearStiffness) { SURGSIM_ASSERT(!isInitialized()) << "Cannot override vtc parameter after it has initialized"; m_optionalLinearStiffness.setValue(linearStiffness); m_linearStiffness = linearStiffness; } double VirtualToolCoupler::getLinearStiffness() { SURGSIM_ASSERT(isAwake() || m_optionalLinearStiffness.hasValue()) << "Vtc parameter has not been initialized"; return m_linearStiffness; } void VirtualToolCoupler::overrideLinearDamping(double linearDamping) { SURGSIM_ASSERT(!isInitialized()) << "Cannot override vtc parameter after it has initialized"; m_optionalLinearDamping.setValue(linearDamping); m_linearDamping = linearDamping; } double VirtualToolCoupler::getLinearDamping() { SURGSIM_ASSERT(isAwake() || m_optionalLinearDamping.hasValue()) << "Vtc parameter has not been initialized"; return m_linearDamping; } void VirtualToolCoupler::overrideAngularStiffness(double angularStiffness) { SURGSIM_ASSERT(!isInitialized()) << "Cannot override vtc parameter after it has initialized"; m_optionalAngularStiffness.setValue(angularStiffness); m_angularStiffness = angularStiffness; } double VirtualToolCoupler::getAngularStiffness() { SURGSIM_ASSERT(isAwake() || m_optionalAngularStiffness.hasValue()) << "Vtc parameter has not been initialized"; return m_angularStiffness; } void VirtualToolCoupler::overrideAngularDamping(double angularDamping) { SURGSIM_ASSERT(!isInitialized()) << "Cannot override vtc parameter after it has initialized"; m_optionalAngularDamping.setValue(angularDamping); m_angularDamping = angularDamping; } double VirtualToolCoupler::getAngularDamping() { SURGSIM_ASSERT(isAwake() || m_optionalAngularDamping.hasValue()) << "Vtc parameter has not been initialized"; return m_angularDamping; } void VirtualToolCoupler::overrideAttachmentPoint(const SurgSim::Math::Vector3d& attachment) { SURGSIM_ASSERT(!isInitialized()) << "Cannot override vtc parameter after it has initialized"; m_optionalAttachmentPoint.setValue(attachment); m_localAttachmentPoint = attachment; } const SurgSim::Math::Vector3d& VirtualToolCoupler::getAttachmentPoint() { SURGSIM_ASSERT(isAwake() || m_optionalAttachmentPoint.hasValue()) << "Vtc parameter has not been initialized"; return m_localAttachmentPoint; } void VirtualToolCoupler::setOptionalLinearStiffness( const SurgSim::DataStructures::OptionalValue& linearStiffness) { m_optionalLinearStiffness = linearStiffness; } const SurgSim::DataStructures::OptionalValue& VirtualToolCoupler::getOptionalLinearStiffness() const { return m_optionalLinearStiffness; } void VirtualToolCoupler::setOptionalLinearDamping(const SurgSim::DataStructures::OptionalValue& linearDamping) { m_optionalLinearDamping = linearDamping; } const SurgSim::DataStructures::OptionalValue& VirtualToolCoupler::getOptionalLinearDamping() const { return m_optionalLinearDamping; } void VirtualToolCoupler::setOptionalAngularStiffness( const SurgSim::DataStructures::OptionalValue& angularStiffness) { m_optionalAngularStiffness = angularStiffness; } const SurgSim::DataStructures::OptionalValue& VirtualToolCoupler::getOptionalAngularStiffness() const { return m_optionalAngularStiffness; } void VirtualToolCoupler::setOptionalAngularDamping( const SurgSim::DataStructures::OptionalValue& angularDamping) { m_optionalAngularDamping = angularDamping; } const SurgSim::DataStructures::OptionalValue& VirtualToolCoupler::getOptionalAngularDamping() const { return m_optionalAngularDamping; } void VirtualToolCoupler::setOptionalAttachmentPoint( const SurgSim::DataStructures::OptionalValue& attachmentPoint) { m_optionalAttachmentPoint = attachmentPoint; } const SurgSim::DataStructures::OptionalValue& VirtualToolCoupler::getOptionalAttachmentPoint() const { return m_optionalAttachmentPoint; } void VirtualToolCoupler::setCalculateInertialTorques(bool calculateInertialTorques) { m_calculateInertialTorques = calculateInertialTorques; } bool VirtualToolCoupler::getCalculateInertialTorques() const { return m_calculateInertialTorques; } void VirtualToolCoupler::doRetire() { m_outputData.resetAll(); Behavior::doRetire(); } void VirtualToolCoupler::setLocalActive(bool val) { m_outputData.resetAll(); Behavior::setLocalActive(val); } bool VirtualToolCoupler::isHapticOutputOnlyWhenColliding() const { return m_hapticOutputOnlyWhenColliding; } void VirtualToolCoupler::setHapticOutputOnlyWhenColliding(bool hapticOutputOnlyWhenColliding) { m_hapticOutputOnlyWhenColliding = hapticOutputOnlyWhenColliding; } }; /// Physics }; /// SurgSim opensurgsim-0.7.0/SurgSim/Physics/VirtualToolCoupler.h000066400000000000000000000310351277777236100231200ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_PHYSICS_VIRTUALTOOLCOUPLER_H #define SURGSIM_PHYSICS_VIRTUALTOOLCOUPLER_H #include #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" #include "SurgSim/DataStructures/OptionalValue.h" #include "SurgSim/Framework/Behavior.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Framework/ObjectFactory.h" namespace SurgSim { namespace Input { class InputComponent; class OutputComponent; } namespace Physics { class RigidRepresentation; SURGSIM_STATIC_REGISTRATION(VirtualToolCoupler); /// The VirtualToolCoupler couples a rigid object to an input/output device through a spring and damper. /// The object will follow the pose provided by the device. If an Output is connected, it is provided /// forces and torques that will push the device towards matching the object's pose and velocity. /// This "virtual coupling" or "god-object" paradigm is common for haptic applications utilizing a device that /// may update significantly faster than the physics computation thread. /// /// For an overview of haptics see: /// Salisbury, Kenneth, Francois Conti, and Federico Barbagli. "Haptic rendering: introductory concepts." /// Computer Graphics and Applications, IEEE 24.2 (2004): 24-32. /// /// For an introduction to virtual coupling see: /// Colgate, J. Edward, Michael C. Stanley, and J. Michael Brown. "Issues in the haptic display of tool use." /// Intelligent Robots and Systems 95.'Human Robot Interaction and Cooperative Robots', /// Proceedings. 1995 IEEE/RSJ International Conference on. Vol. 3. IEEE, 1995. class VirtualToolCoupler : public Framework::Behavior { public: /// Constructor /// \param name Name of the behavior explicit VirtualToolCoupler(const std::string& name); ~VirtualToolCoupler(); SURGSIM_CLASSNAME(SurgSim::Physics::VirtualToolCoupler); /// \return Input Component to get the pose from const std::shared_ptr getInput(); /// Set the Input Component. /// The force calculations rely upon pose and velocity. If the input DataGroup does not contain a pose, no forces /// will be calculated. If the input DataGroup does not contain linear velocity or angular velocity, they will /// be estimated. /// \param input Input Component to get the pose from void setInput(const std::shared_ptr input); /// \return Output Component to send forces and torques const std::shared_ptr getOutput(); /// Set the Output Component (if any) /// \param output Output Component to send forces and torques void setOutput(const std::shared_ptr output); /// \return Rigid Representation that provides state and receives external forces and torques const std::shared_ptr getRepresentation(); /// Set the Physics Representation which follows the input /// \param rigid Rigid Representation that provides state and receives external forces and torques void setRepresentation(const std::shared_ptr rigid); /// Get whether or not the haptic forces should be provided only during collisions. /// \return false if the VTC forces and torques are sent to the output device (if any) at all times. true if /// zeros are sent for the forces and torques unless the tool is colliding. bool isHapticOutputOnlyWhenColliding() const; /// Set whether or not the haptic forces should be provided only during collisions. /// \param haptic false to send the VTC forces and torques to the output device (if any) at all times. true to /// send zeros for the forces and torques unless the tool is colliding. void setHapticOutputOnlyWhenColliding(bool haptic); /// \return Name of the pose data in the input to transfer const std::string& getPoseName(); /// Set the name of the pose entry in the input DataGroup /// \param poseName Name of the pose data in the input to transfer void setPoseName(const std::string& poseName = DataStructures::Names::POSE); void update(double dt) override; /// Override the linear stiffness connecting the input device and the physics representation /// If this value is not provided, the stiffness will be automatically tuned using /// the properties of the Representation /// \param linearStiffness The stiffness of the vtc in linear mode (in N·m-1) void overrideLinearStiffness(double linearStiffness); /// \return The stiffness of the vtc in linear mode (in N·m-1) double getLinearStiffness(); /// Override the linear damping connecting the input device and the physics representation /// If this value is not provided, the damping will be automatically tuned using /// the properties of the Representation /// \param linearDamping The damping of the vtc in linear mode (in N·s·m-1 or Kg·s-1) void overrideLinearDamping(double linearDamping); /// \return The damping of the vtc in linear mode (in N·s·m-1 or Kg·s-1) double getLinearDamping(); /// Override the angular stiffness connecting the input device and the physics representation /// If this value is not provided, the stiffness will be automatically tuned using /// the properties of the Representation /// \param angularStiffness The stiffness of the vtc in angular mode (in N·m rad-1) void overrideAngularStiffness(double angularStiffness); /// \return The stiffness of the vtc in angular mode (in N·m rad-1) double getAngularStiffness(); /// Override the angular damping connecting the input device and the physics representation /// If this value is not provided, the damping will be automatically tuned using /// the properties of the Representation /// \param angularDamping The damping of the vtc in angular mode (in N·m·s·rad-1) void overrideAngularDamping(double angularDamping); /// \return The damping of the vtc in angular mode (in N·m·s·rad-1) double getAngularDamping(); /// Override the point of attachment to the Representation /// If this value is not provided, the point of attachment will be automatically /// set to the Representation's center of mass. /// \param attachment The attachment point in the Representations local coordinate frame void overrideAttachmentPoint(const Math::Vector3d& attachment); /// Get the point of attachment on the Representation /// \return The attachment point in the Representations local coordinate frame const Math::Vector3d& getAttachmentPoint(); /// Enable/disable torques that simulate inertia. This setting only has an effect if the attachment point is not /// the mass center. /// \sa overrideAttachmentPoint /// \param calculateInertialTorques true to simulate inertia. void setCalculateInertialTorques(bool calculateInertialTorques); /// Get whether the calculated torques will simulate inertia. This setting only has an effect if the attachment /// point is not the mass center. /// \sa overrideAttachmentPoint /// \return true if inertia is being simulated. bool getCalculateInertialTorques() const; void doRetire() override; void setLocalActive(bool val) override; protected: bool doInitialize() override; bool doWakeUp() override; int getTargetManagerType() const override; /// \return The DataGroup to be sent to the device via the OutputComponent. virtual DataStructures::DataGroup buildOutputData(); /// Used for Serialization. /// \param linearStiffness The OptionalValue object containing the stiffness of the vtc in linear mode (in N·m-1) void setOptionalLinearStiffness(const DataStructures::OptionalValue& linearStiffness); /// Used for Serialization. /// \return The OptionalValue object containing the stiffness of the vtc in linear mode (in N·m-1) const DataStructures::OptionalValue& getOptionalLinearStiffness() const; /// Used for Serialization. /// \param linearDamping The OptionalValue object containing the damping of the vtc in linear /// mode (in N·s·m-1 or Kg·s-1) void setOptionalLinearDamping(const DataStructures::OptionalValue& linearDamping); /// Used for Serialization. /// \return The OptionalValue object containing the damping of the vtc in linear mode (in N·s·m-1 or Kg·s-1) const DataStructures::OptionalValue& getOptionalLinearDamping() const; /// Used for Serialization. /// \param angularStiffness The OptionalValue object containing the stiffness of the vtc in angular /// mode (in N·m rad-1) void setOptionalAngularStiffness(const DataStructures::OptionalValue& angularStiffness); /// Used for Serialization. /// \return The OptionalValue object containing the stiffness of the vtc in angular mode (in N·m rad-1) const DataStructures::OptionalValue& getOptionalAngularStiffness() const; /// Used for Serialization. /// \param angularDamping The OptionalValue object containing the damping of the vtc in angular /// mode (in N·m·s·rad-1) void setOptionalAngularDamping(const DataStructures::OptionalValue& angularDamping); /// Used for Serialization. /// \return The OptionalValue object containing the damping of the vtc in angular mode (in N·m·s·rad-1) const DataStructures::OptionalValue& getOptionalAngularDamping() const; /// Used for Serialization. /// \param attachmentPoint The OptionalValue object containing the attachment point. void setOptionalAttachmentPoint(const DataStructures::OptionalValue& attachmentPoint); /// Used for Serialization. /// \return The OptionalValue object containing the attachment point. const DataStructures::OptionalValue& getOptionalAttachmentPoint() const; /// User supplied Vtc stiffness parameter in linear mode (in N·m-1) DataStructures::OptionalValue m_optionalLinearStiffness; /// User supplied Vtc damping parameter in linear mode (in N·s·m-1 or Kg·s-1) DataStructures::OptionalValue m_optionalLinearDamping; /// User supplied Vtc stiffness parameter in angular mode (in N·m rad-1) DataStructures::OptionalValue m_optionalAngularStiffness; /// User supplied Vtc damping parameter in angular mode (in N·m·s·rad-1) DataStructures::OptionalValue m_optionalAngularDamping; /// User supplied attachment point DataStructures::OptionalValue m_optionalAttachmentPoint; /// The DataGroup to output DataStructures::DataGroup m_outputData; /// The input component. std::shared_ptr m_input; /// The output component. std::shared_ptr m_output; private: std::shared_ptr m_rigid; std::string m_poseName; /// Used Vtc stiffness parameter in linear mode (in N·m-1) double m_linearStiffness; /// Used Vtc damping parameter in linear mode (in N·s·m-1 or Kg·s-1) double m_linearDamping; /// Used Vtc stiffness parameter in angular mode (in N·m rad-1) double m_angularStiffness; /// Used Vtc damping parameter in angular mode (in N·m·s·rad-1) double m_angularDamping; /// Scaling factor for the forces sent to the OutputComponent double m_outputForceScaling; /// Scaling factor for the torques sent to the OutputComponent double m_outputTorqueScaling; /// The input's point of attachment in the local frame, i.e., the same frame in which the mass center is defined. Math::Vector3d m_localAttachmentPoint; /// Whether or not the calculated torques will simulate inertia. This setting only has an effect if the device /// input point is not the mass center. bool m_calculateInertialTorques; /// The logger. std::shared_ptr m_logger; /// Whether or not the VTC sends forces and torques to the output device (if any) only when the tool is colliding. bool m_hapticOutputOnlyWhenColliding; /// The previous input pose. Math::RigidTransform3d m_previousInputPose; ///@{ /// Cached DataGroup indices. int m_poseIndex; int m_linearVelocityIndex; int m_angularVelocityIndex; int m_forceIndex; int m_torqueIndex; int m_inputLinearVelocityIndex; int m_inputAngularVelocityIndex; int m_inputPoseIndex; int m_springJacobianIndex; int m_damperJacobianIndex; ///@} }; }; // Physics }; // SurgSim #endif // SURGSIM_PHYSICS_VIRTUALTOOLCOUPLER_H opensurgsim-0.7.0/SurgSim/Serialize/000077500000000000000000000000001277777236100174345ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Serialize/CMakeLists.txt000066400000000000000000000023411277777236100221740ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ) set(SURGSIM_SERIALIZE_SOURCES GraphicsConvert.cpp ShapesFactory.cpp ) set(SURGSIM_SERIALIZE_HEADERS GraphicsConvert.h ShapesFactory.h ShapesFactory-inl.h ) surgsim_create_library_header(Serialize.h "${SURGSIM_SERIALIZE_HEADERS}") surgsim_add_library( SurgSimSerialize "${SURGSIM_SERIALIZE_SOURCES}" "${SURGSIM_SERIALIZE_HEADERS}" ) set(LIBS ) target_link_libraries(SurgSimSerialize ${LIBS} ) if(BUILD_TESTING) add_subdirectory(UnitTests) endif() # Put SurgSimSerialize into folder "Serialize" set_target_properties(SurgSimSerialize PROPERTIES FOLDER "Serialize") opensurgsim-0.7.0/SurgSim/Serialize/GraphicsConvert.cpp000066400000000000000000000041701277777236100232430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Serialize/GraphicsConvert.h" namespace YAML { /// Specialize of YAML::convert<> template Presensation class. Node convert::encode(const SurgSim::Graphics::Representation& rhs) { Node node; node = convert::encode(rhs); node["initialPose"] = rhs.getInitialPose(); node["pose"] = rhs.getPose(); return node; } bool convert::decode(const Node& node, std::shared_ptr rhs) { if (! node.IsMap()) { return false; } convert::decode(node, rhs); rhs->setInitialPose(node["initialPose"].as()); rhs->setPose(node["pose"].as()); return true; } /// Specialize of YAML::convert<> template SpherePresensation class. Node convert::encode(const SurgSim::Graphics::SphereRepresentation& rhs) { Node node; node = convert::encode(rhs); node["class"] = "SphereRepresentation"; node["radius"] = rhs.getRadius(); return node; } bool convert::decode(const Node& node, std::shared_ptr rhs) { if (! node.IsMap()) { return false; } convert::decode(node, rhs); rhs->setRadius(node["radius"].as()); return true; } }opensurgsim-0.7.0/SurgSim/Serialize/GraphicsConvert.h000066400000000000000000000031671277777236100227150ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_SERIALIZE_GRAPHICSCONVERT_H #define SURGSIM_SERIALIZE_GRAPHICSCONVERT_H #include "SurgSim/Serialize/Convert.h" #include "SurgSim/Serialize/FrameworkConvert.h" #include "SurgSim/Serialize/MathConvert.h" #include "SurgSim/Graphics/Representation.h" #include "SurgSim/Graphics/SphereRepresentation.h" namespace YAML { /// Specialize of YAML::convert<> template Represensation class. template <> struct convert { static Node encode(const SurgSim::Graphics::Representation& rhs); static bool decode(const Node& node, std::shared_ptr rhs); }; /// Specialize of YAML::convert<> template SphereRepresensation class. template <> struct convert { static Node encode(const SurgSim::Graphics::SphereRepresentation& rhs); static bool decode(const Node& node, std::shared_ptr rhs); }; }; #endif // SURGSIM_SERIALIZE_GRAPHICSCONVERT_H opensurgsim-0.7.0/SurgSim/Serialize/ShapesFactory-inl.h000066400000000000000000000021341277777236100231400ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_SERIALIZE_SHAPESFACTORY_INL_H #define SURGSIM_SERIALIZE_SHAPESFACTORY_INL_H namespace SurgSim { namespace Serialize { template void SurgSim::Serialize::ShapesFactory::registerShape(const std::string& className) { if (m_registerDirectory.find(className) == m_registerDirectory.end()) { m_registerDirectory[className] = boost::factory>(); }; }; }; }; #endif // SURGSIM_SERIALIZE_SHAPESFACTORY_INL_Hopensurgsim-0.7.0/SurgSim/Serialize/ShapesFactory.cpp000066400000000000000000000023541277777236100227170ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Serialize/ShapesFactory.h" namespace SurgSim { namespace Serialize { /// Constructor SurgSim::Serialize::ShapesFactory::ShapesFactory() { } /// Destructor SurgSim::Serialize::ShapesFactory::~ShapesFactory() { } std::shared_ptr SurgSim::Serialize::ShapesFactory:: createShape(const std::string& className) { auto it = m_registerDirectory.find(className); /// Return a nullptr if the class name has not been registered before. if (it == m_registerDirectory.end()) { return nullptr; } return (it->second)(); }; }; };opensurgsim-0.7.0/SurgSim/Serialize/ShapesFactory.h000066400000000000000000000036321277777236100223640ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_SERIALIZE_SHAPESFACTORY_H #define SURGSIM_SERIALIZE_SHAPESFACTORY_H #include "SurgSim/Math/Shape.h" #include #include namespace SurgSim { namespace Serialize { /// A factory implementation for shapes class ShapesFactory { public: /// Constructor ShapesFactory(); /// Destructor virtual ~ShapesFactory(); /// Template version to register a shape into the internal directory. /// \tparam T The specific type of the shape to be registered. /// \param className The identifier name to be used. template void registerShape(const std::string& className); /// Create an instance of derived rigid shape based on the specific class name. /// \param className The identifier name to be used. /// \return a pointer to the object of derived rigid shape, or nullptr otherwise. std::shared_ptr createShape(const std::string& className); private: /// A wrapper of function object typedef boost::function ()> ShapesFactoryFunction; /// Look up table for shapes factory. std::map m_registerDirectory; }; } } #include "SurgSim/Serialize/ShapesFactory-inl.h" #endif // SURGSIM_SERIALIZE_SHAPESFACTORY_Hopensurgsim-0.7.0/SurgSim/Serialize/UnitTests/000077500000000000000000000000001277777236100213765ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Serialize/UnitTests/CMakeLists.txt000066400000000000000000000021661277777236100241430ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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_directories( ${gtest_SOURCE_DIR}/include ) set(UNIT_TEST_SOURCES GraphicsConvertTest.cpp ShapesConvertTest.cpp ShapesFactoryTest.cpp ) set(UNIT_TEST_HEADERS ) set(LIBS SurgSimSerialize SurgSimPhysics SurgSimMath SurgSimFramework SurgSimGraphics gmock gtest ${YAML_CPP_LIBRARIES}} ${Boost_LIBRARIES} ) surgsim_add_unit_tests(SurgSimSerializeTest) # Put SurgSimSerializeTest into folder "Serialize" set_target_properties(SurgSimSerializeTest PROPERTIES FOLDER "Serialize") opensurgsim-0.7.0/SurgSim/Serialize/UnitTests/GraphicsConvertTest.cpp000066400000000000000000000050011277777236100260370ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Serialize/GraphicsConvert.h" #include "SurgSim/Graphics/SphereRepresentation.h" #include "SurgSim/Graphics/OsgSphereRepresentation.h" class GraphicsConvertTest : public ::testing::Test { protected: // Setup out stream file void SetUp() { datafile = "convertertest.yaml"; fout.open(datafile); } // Remove the config testing file void TearDown() { remove(datafile.c_str()); } // Stream file std::ofstream fout; // Datafile name std::string datafile; }; TEST_F(GraphicsConvertTest, ConvertSphereRepresentationTest) { YAML::Node node; YAML::Emitter outnode(fout); std::shared_ptr sphereRepresentation = std::make_shared("Sphere_Obj"); double sphereRadius = 5.0; sphereRepresentation->setRadius(sphereRadius); SurgSim::Math::RigidTransform3d spherePose = SurgSim::Math::makeRigidTransform( SurgSim::Math::Quaterniond(SurgSim::Math::Vector4d::Identity()).normalized(), SurgSim::Math::Vector3d::Identity()); sphereRepresentation->setPose(spherePose); /// Encoding sphere representation node = YAML::convert::encode(*sphereRepresentation); outnode << node; fout.close(); /// Decoding sphere representation YAML::Node innode = YAML::LoadFile(datafile); std::shared_ptr actualSphere = std::make_shared("ImageSphere"); YAML::convert::decode(innode, actualSphere); EXPECT_EQ(sphereRepresentation->getRadius(), actualSphere->getRadius()); EXPECT_TRUE(actualSphere->getInitialPose().matrix().isApprox(sphereRepresentation->getInitialPose().matrix())); EXPECT_TRUE(actualSphere->getPose().matrix().isApprox(sphereRepresentation->getPose().matrix())); }opensurgsim-0.7.0/SurgSim/Serialize/UnitTests/ShapesConvertTest.cpp000066400000000000000000000172701277777236100255350ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/CapsuleShape.h" #include "SurgSim/Math/CylinderShape.h" #include "SurgSim/Math/DoubleSidedPlaneShape.h" #include "SurgSim/Math/PlaneShape.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Framework/Convert.h" #include "SurgSim/Serialize/ShapesFactory.h" class ShapesConvertTest : public ::testing::Test { protected: // Setup out stream file void SetUp() { datafile = "ShapesConvertTest.yaml"; fout.open(datafile); } // Remove the config testing file void TearDown() { remove(datafile.c_str()); } // Stream file std::ofstream fout; // Datafile name std::string datafile; }; TEST_F(ShapesConvertTest, BoxConvertTest) { YAML::Node node; YAML::Emitter emitter(fout); std::shared_ptr shape = std::make_shared(1.0, 2.0, 3.0); /// Registering classes std::shared_ptr rigidShapesFactory= std::make_shared(); rigidShapesFactory->registerShape(shape->getClassName()); /// Encoding box shape node = shape->encode(); emitter << node; fout.close(); /// Decoding box shape YAML::Node innode = YAML::LoadFile(datafile); std::string className = innode["ClassName"].as(); /// Instantiate derived objected from class name. std::shared_ptr actualShape = rigidShapesFactory->createShape(className); actualShape->decode(innode); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_BOX, actualShape->getType()); EXPECT_EQ(shape->getSizeX(), std::static_pointer_cast(actualShape)->getSizeX()); EXPECT_EQ(shape->getSizeY(), std::static_pointer_cast(actualShape)->getSizeY()); EXPECT_EQ(shape->getSizeZ(), std::static_pointer_cast(actualShape)->getSizeZ()); } TEST_F(ShapesConvertTest, CapsuleConvertTest) { YAML::Node node; YAML::Emitter emitter(fout); std::shared_ptr shape = std::make_shared(1.0, 0.5); /// Registering classes std::shared_ptr rigidShapesFactory= std::make_shared(); rigidShapesFactory->registerShape(shape->getClassName()); /// Encoding box shape node = shape->encode(); emitter << node; fout.close(); /// Decoding box shape YAML::Node innode = YAML::LoadFile(datafile); std::string className = innode["ClassName"].as(); /// Instantiate derived objected from class name. std::shared_ptr actualShape = rigidShapesFactory->createShape(className); actualShape->decode(innode); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_CAPSULE, actualShape->getType()); EXPECT_EQ(shape->getLength(), std::static_pointer_cast(actualShape)->getLength()); EXPECT_EQ(shape->getRadius(), std::static_pointer_cast(actualShape)->getRadius()); } TEST_F(ShapesConvertTest, CylinderConvertTest) { YAML::Node node; YAML::Emitter emitter(fout); std::shared_ptr shape = std::make_shared(1.0, 0.5); /// Registering classes std::shared_ptr rigidShapesFactory= std::make_shared(); rigidShapesFactory->registerShape(shape->getClassName()); /// Encoding box shape node = shape->encode(); emitter << node; fout.close(); /// Decoding box shape YAML::Node innode = YAML::LoadFile(datafile); std::string className = innode["ClassName"].as(); /// Instantiate derived objected from class name. std::shared_ptr actualShape = rigidShapesFactory->createShape(className); actualShape->decode(innode); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_CYLINDER, actualShape->getType()); EXPECT_EQ(shape->getLength(), std::static_pointer_cast(actualShape)->getLength()); EXPECT_EQ(shape->getRadius(), std::static_pointer_cast(actualShape)->getRadius()); } TEST_F(ShapesConvertTest, SphereConvertTest) { YAML::Node node; YAML::Emitter emitter(fout); std::shared_ptr shape = std::make_shared(2.0); /// Registering classes std::shared_ptr rigidShapesFactory= std::make_shared(); rigidShapesFactory->registerShape(shape->getClassName()); /// Encoding box shape node = shape->encode(); emitter << node; fout.close(); /// Decoding box shape YAML::Node innode = YAML::LoadFile(datafile); std::string className = innode["ClassName"].as(); /// Instantiate derived objected from class name. std::shared_ptr actualShape = rigidShapesFactory->createShape(className); actualShape->decode(innode); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_SPHERE, actualShape->getType()); EXPECT_EQ(shape->getRadius(), std::static_pointer_cast(actualShape)->getRadius()); } TEST_F(ShapesConvertTest, DoubleSidedPlaneShapeTest) { YAML::Node node; YAML::Emitter emitter(fout); std::shared_ptr shape = std::make_shared(); /// Registering classes std::shared_ptr rigidShapesFactory= std::make_shared(); rigidShapesFactory->registerShape(shape->getClassName()); /// Encoding box shape node = shape->encode(); emitter << node; fout.close(); /// Decoding box shape YAML::Node innode = YAML::LoadFile(datafile); std::string className = innode["ClassName"].as(); /// Instantiate derived objected from class name. std::shared_ptr actualShape = rigidShapesFactory->createShape(className); actualShape->decode(innode); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_DOUBLESIDEDPLANE, actualShape->getType()); } TEST_F(ShapesConvertTest, PlaneConvertTest) { YAML::Node node; YAML::Emitter emitter(fout); std::shared_ptr shape = std::make_shared(); /// Registering classes std::shared_ptr rigidShapesFactory= std::make_shared(); rigidShapesFactory->registerShape(shape->getClassName()); /// Encoding box shape node = shape->encode(); emitter << node; fout.close(); /// Decoding box shape YAML::Node innode = YAML::LoadFile(datafile); std::string className = innode["ClassName"].as(); /// Instantiate derived objected from class name. std::shared_ptr actualShape = rigidShapesFactory->createShape(className); actualShape->decode(innode); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_PLANE, actualShape->getType()); }opensurgsim-0.7.0/SurgSim/Serialize/UnitTests/ShapesFactoryTest.cpp000066400000000000000000000140731277777236100255220ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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. // This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Math/BoxShape.h" #include "SurgSim/Math/CapsuleShape.h" #include "SurgSim/Math/CylinderShape.h" #include "SurgSim/Math/DoubleSidedPlaneShape.h" #include "SurgSim/Math/PlaneShape.h" #include "SurgSim/Math/SphereShape.h" #include "SurgSim/Math/Shape.h" #include "SurgSim/Serialize/ShapesFactory.h" TEST(ShapesFactoryTest, InitTest) { ASSERT_NO_THROW({std::shared_ptr rigidShapesFactory = std::make_shared();}); } TEST(ShapesFactoryTest, CreateShapeInstancesTest) { std::shared_ptr rigidShapesFactory = std::make_shared(); std::string boxName = "SurgSim::Physics::BoxShape"; /// Register derived object classes rigidShapesFactory->registerShape(boxName); /// Instantiate derived objects from class name. std::shared_ptr boxShape1 = rigidShapesFactory->createShape(boxName); std::shared_ptr boxShape2 = rigidShapesFactory->createShape(boxName); // Expect all derived objects from the same class are not the same! EXPECT_NE(boxShape1, boxShape2); } TEST(ShapesFactoryTest, CreateShapesTest) { std::shared_ptr rigidShapesFactory = std::make_shared(); std::string boxName = "SurgSim::Physics::BoxShape"; std::string capsuleName = "SurgSim::Physics::CapsuleShape"; std::string cylinderName = "SurgSim::Physics::CylinderShape"; std::string doublesideplaneName = "SurgSim::Physics::DoubleSidedPlaneShape"; std::string planeName = "SurgSim::Physics::PlaneShape"; std::string sphereName = "SurgSim::Physics::SphereShape"; /// Register derived object classes rigidShapesFactory->registerShape(boxName); rigidShapesFactory->registerShape(capsuleName); rigidShapesFactory->registerShape(cylinderName); rigidShapesFactory->registerShape(doublesideplaneName); rigidShapesFactory->registerShape(planeName); rigidShapesFactory->registerShape(sphereName); /// Instantiate derived objected from class name. std::shared_ptr boxShape = rigidShapesFactory->createShape(boxName); std::shared_ptr capsuleShape = rigidShapesFactory->createShape(capsuleName); std::shared_ptr cylinderShape = rigidShapesFactory->createShape(cylinderName); std::shared_ptr doublesidedplaneShape = rigidShapesFactory->createShape(doublesideplaneName); std::shared_ptr planeShape = rigidShapesFactory->createShape(planeName); std::shared_ptr sphereShape = rigidShapesFactory->createShape(sphereName); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_BOX, boxShape->getType()); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_CAPSULE, capsuleShape->getType()); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_CYLINDER, cylinderShape->getType()); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_DOUBLESIDEDPLANE, doublesidedplaneShape->getType()); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_PLANE, planeShape->getType()); EXPECT_EQ(SurgSim::Math::SHAPE_TYPE_SPHERE, sphereShape->getType()); } TEST(ShapesFactoryTest, NonRegisterTest) { std::shared_ptr rigidShapesFactory = std::make_shared(); std::string boxName = "SurgSim::Physics::BoxShape"; std::string capsuleName = "SurgSim::Physics::CapsuleShape"; std::string cylinderName = "SurgSim::Physics::CylinderShape"; std::string doublesideplaneName = "SurgSim::Physics::DoubleSidedPlaneShape"; std::string planeName = "SurgSim::Physics::PlaneShape"; std::string sphereName = "SurgSim::Physics::SphereShape"; /// Not register any derived object classes /// Instantiate derived objected from class name. std::shared_ptr boxShape = rigidShapesFactory->createShape(boxName); std::shared_ptr capsuleShape = rigidShapesFactory->createShape(capsuleName); std::shared_ptr cylinderShape = rigidShapesFactory->createShape(cylinderName); std::shared_ptr doublesidedplaneShape = rigidShapesFactory->createShape(doublesideplaneName); std::shared_ptr planeShape = rigidShapesFactory->createShape(planeName); std::shared_ptr sphereShape = rigidShapesFactory->createShape(sphereName); /// Expect a null pointer form the Shape objects EXPECT_EQ(nullptr, boxShape); EXPECT_EQ(nullptr, capsuleShape); EXPECT_EQ(nullptr, cylinderShape); EXPECT_EQ(nullptr, doublesidedplaneShape); EXPECT_EQ(nullptr, planeShape); EXPECT_EQ(nullptr, sphereShape); } opensurgsim-0.7.0/SurgSim/Testing/000077500000000000000000000000001277777236100171225ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Testing/CMakeLists.txt000066400000000000000000000031531277777236100216640ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013-2015, SimQuest Solutions 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 # # 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_directories( ${gmock_SOURCE_DIR}/include ${gtest_SOURCE_DIR}/include ) set(SURGSIM_TESTING_SOURCES MathUtilities.cpp MockInputComponent.cpp MockInputOutput.cpp SerializationMockComponent.cpp TestCube.cpp TestingMain.cpp ) set(SURGSIM_TESTING_HEADERS MathUtilities.h MockInputComponent.h MockInputOutput.h MockPhysicsManager.h SerializationMockComponent.h TestCube.h Utilities.h ) surgsim_create_library_header(Testing.h "${SURGSIM_TESTING_HEADERS}") add_library( SurgSimTesting ${SURGSIM_TESTING_SOURCES} ${SURGSIM_TESTING_HEADERS} ) set(LIBS SurgSimDataStructures SurgSimFramework SurgSimInput SurgSimMath SurgSimPhysics ) target_link_libraries(SurgSimTesting ${LIBS}) add_subdirectory(MlcpIO) if(GLUT_FOUND) add_subdirectory(VisualTestCommon) endif(GLUT_FOUND) # Copy all shared data which can be used by other component's unit tests file(COPY Data DESTINATION ${CMAKE_CURRENT_BINARY_DIR}) set_target_properties(SurgSimTesting PROPERTIES FOLDER "Testing") opensurgsim-0.7.0/SurgSim/Testing/Data/000077500000000000000000000000001277777236100177735ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Testing/Data/Geometry/000077500000000000000000000000001277777236100215665ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Testing/Data/Geometry/Cube.ply000066400000000000000000000035321277777236100231750ustar00rootroot00000000000000ply format ascii 1.0 comment Created by Blender 2.69 (sub 0) - www.blender.org, source file: '' element vertex 26 property float x property float y property float z property float nx property float ny property float nz element face 12 property list uchar uint vertex_indices end_header 1.000000 1.000000 -1.000000 0.000000 0.000000 -1.000000 1.000000 -1.000000 -1.000000 0.000000 0.000000 -1.000000 -1.000000 -1.000000 -1.000000 0.000000 0.000000 -1.000000 1.000000 0.999999 1.000000 -0.000000 -0.000000 1.000000 -1.000000 1.000000 1.000000 -0.000000 -0.000000 1.000000 0.999999 -1.000001 1.000000 -0.000000 -0.000000 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0.336427 0.262792 vt 0.297391 0.085108 vt 0.316260 0.141070 vt 0.761907 0.106663 vt 0.728005 0.089770 vt 0.937774 0.740876 vt 0.903871 0.774266 vt 0.991877 0.676127 vt 0.967490 0.707738 vt 0.282103 0.559315 vt 0.308199 0.609448 vt 0.281809 0.631199 vt 0.257244 0.579804 vt 0.336951 0.323875 vt 0.273559 0.035332 vt 0.867084 0.806625 vt 0.798694 0.128863 vt 0.251541 0.516380 vt 0.229168 0.534820 vt 0.328827 0.664852 vt 0.301920 0.687030 vt 0.316805 0.745150 vt 0.325890 0.803326 vt 0.296202 0.825931 vt 0.285288 0.769147 vt 0.314987 0.075562 vt 0.336951 0.129845 vt 0.755524 0.128044 vt 0.718737 0.120811 vt 0.947041 0.771916 vt 0.910254 0.795646 vt 0.198662 0.497974 vt 0.202450 0.555164 vt 0.175940 0.515275 vt 0.250293 0.655197 vt 0.227556 0.602409 vt 0.269787 0.711497 vt 0.328827 0.859323 vt 0.302109 0.879667 vt 0.698289 0.078835 vt 0.686494 0.118342 vt 0.870339 0.817525 vt 0.795440 0.139763 vt 0.979285 0.747245 vt 0.262826 0.849783 vt 0.249857 0.794468 vt 0.302782 0.928290 vt 0.277237 0.946545 vt 0.272071 0.901133 vt 0.752270 0.150742 vt 0.714013 0.153763 vt 0.951765 0.804868 vt 0.913509 0.818344 vt 0.172413 0.576629 vt 0.150395 0.533530 vt 0.214861 0.680517 vt 0.194180 0.626261 vt 0.233661 0.737314 vt 0.680481 0.160282 vt 0.871998 0.829096 vt 0.793781 0.151334 vt 0.985298 0.789185 vt 0.227045 0.873965 vt 0.211871 0.820139 vt 0.249851 0.965053 vt 0.239869 0.922896 vt 0.752270 0.173884 vt 0.714013 0.187360 vt 0.951765 0.838466 vt 0.913509 0.841487 vt 0.140210 0.598393 vt 0.123009 0.552038 vt 0.176876 0.706189 vt 0.158399 0.650443 vt 0.194931 0.763488 vt 0.680481 0.203043 vt 0.871998 0.840894 vt 0.793781 0.163132 vt 0.985298 0.831947 vt 0.190233 0.897548 vt 0.172792 0.845175 vt 0.221676 0.983103 vt 0.206739 0.944120 vt 0.755524 0.196582 vt 0.718737 0.220312 vt 0.947041 0.871418 vt 0.910254 0.864185 vt 0.107080 0.619617 vt 0.094834 0.570088 vt 0.137796 0.731224 vt 0.121587 0.674026 vt 0.155086 0.789014 vt 0.686494 0.244983 vt 0.870339 0.852465 vt 0.795440 0.174704 vt 0.107457 0.513162 vt 0.085320 0.527343 vt 0.153805 0.919625 vt 0.134120 0.868612 vt 0.193795 1.000000 vt 0.173955 0.963989 vt 0.761907 0.217963 vt 0.728005 0.251353 vt 0.937774 0.902458 vt 0.903871 0.885565 vt 0.074296 0.639486 vt 0.066954 0.586985 vt 0.099125 0.754661 vt 0.085159 0.696103 vt 0.115657 0.812911 vt 0.698289 0.284490 vt 0.867084 0.863365 vt 0.798694 0.185603 vt 0.063414 0.540619 vt 0.119161 0.939349 vt 0.097343 0.889550 vt 0.673902 0.316101 vt 0.715413 0.320045 vt 0.694037 0.357910 vt 0.771175 0.237205 vt 0.741459 0.279288 vt 0.924320 0.930393 vt 0.894604 0.904808 vt 0.043117 0.657236 vt 0.040439 0.602081 vt 0.062347 0.775600 vt 0.050515 0.715827 vt 0.078159 0.834259 vt 0.142776 0.981740 vt 0.862360 0.873175 vt 0.803418 0.195413 vt 0.042581 0.552480 vt 0.087633 0.955960 vt 0.063872 0.907185 vt 0.737207 0.350282 vt 0.719665 0.393465 vt 0.782970 0.253569 vt 0.758582 0.303045 vt 0.907196 0.954151 vt 0.882809 0.921172 vt 0.014743 0.672187 vt 0.016308 0.614795 vt 0.028877 0.793235 vt 0.018987 0.732438 vt 0.044033 0.852240 vt 0.114402 0.996690 vt 0.856347 0.881517 vt 0.809431 0.203755 vt 0.950366 0.948949 vt 0.928571 0.979186 vt 0.060432 0.968822 vt 0.034995 0.920839 vt 0.762834 0.374039 vt 0.749799 0.421400 vt 0.796839 0.266426 vt 0.778718 0.321711 vt 0.887060 0.972816 vt 0.868939 0.934029 vt 0.391791 0.435945 vt 0.368001 0.384043 vt 0.393064 0.370438 vt 0.413105 0.424375 vt 0.349484 0.327063 vt 0.336951 0.267195 vt 0.366514 0.251146 vt 0.377332 0.311945 vt 0.014590 0.866161 vt 0.706629 0.430933 vt 0.740113 0.461974 vt 0.849276 0.888072 vt 0.816502 0.210310 vt 0.419939 0.480776 vt 0.436685 0.471685 vt 0.000000 0.806889 vt 0.361078 0.131971 vt 0.366668 0.078175 vt 0.399635 0.065243 vt 0.396075 0.118242 vt 0.791310 0.390403 vt 0.783283 0.440642 vt 0.812250 0.275283 vt 0.801091 0.334568 vt 0.864687 0.985674 vt 0.853528 0.942885 vt 0.422733 0.358799 vt 0.438336 0.414477 vt 0.401511 0.237417 vt 0.410298 0.299013 vt 0.361026 0.190376 vt 0.396708 0.176378 vt 0.777318 0.483354 vt 0.841420 0.892587 vt 0.824359 0.214825 vt 0.456509 0.463908 vt 0.436453 0.054992 vt 0.435161 0.107360 vt 0.821540 0.398746 vt 0.818829 0.450452 vt 0.828610 0.279797 vt 0.824842 0.341123 vt 0.840936 0.992228 vt 0.837168 0.947400 vt 0.455868 0.349573 vt 0.466516 0.406631 vt 0.440597 0.226535 vt 0.447117 0.288762 vt 0.436560 0.165282 vt 0.816815 0.494254 vt 0.833079 0.894888 vt 0.832699 0.217127 vt 0.478650 0.457744 vt 0.475708 0.047817 vt 0.476834 0.099743 vt 0.852362 0.398746 vt 0.855072 0.450452 vt 0.845291 0.279797 vt 0.849059 0.341123 vt 0.816719 0.992228 vt 0.820487 0.947400 vt 0.491197 0.343116 vt 0.496560 0.401140 vt 0.482270 0.218917 vt 0.486372 0.281587 vt 0.479050 0.157516 vt 0.857086 0.494254 vt 0.824576 0.894888 vt 0.841203 0.217127 vt 0.502255 0.453429 vt 0.515892 0.043993 vt 0.519493 0.095683 vt 0.882591 0.390403 vt 0.890619 0.440642 vt 0.861651 0.275283 vt 0.872810 0.334568 vt 0.508064 0.497974 vt 0.526420 0.451130 vt 0.524708 0.496390 vt 0.527362 0.339674 vt 0.527316 0.398213 vt 0.524929 0.214858 vt 0.526556 0.277763 vt 0.522544 0.153377 vt 0.475716 0.003734 vt 0.511880 0.000293 vt 0.804127 0.942885 vt 0.816235 0.892587 vt 0.849543 0.214825 vt 0.555460 0.043668 vt 0.561498 0.095338 vt 0.911067 0.374039 vt 0.924102 0.421400 vt 0.877062 0.266426 vt 0.895184 0.321711 vt 0.792968 0.985674 vt 0.770595 0.972816 vt 0.788716 0.934029 vt 0.562972 0.339382 vt 0.557599 0.397964 vt 0.566934 0.214513 vt 0.566123 0.277438 vt 0.565372 0.153025 vt 0.547490 0.000000 vt 0.808379 0.888072 vt 0.857399 0.210310 vt 0.550214 0.450934 vt 0.592891 0.046853 vt 0.601235 0.098720 vt 0.936695 0.350282 vt 0.954237 0.393464 vt 0.890932 0.253569 vt 0.915319 0.303045 vt 0.750459 0.954151 vt 0.774847 0.921172 vt 0.596659 0.342249 vt 0.586248 0.400402 vt 0.606671 0.217895 vt 0.603555 0.280623 vt 0.605888 0.156473 vt 0.933789 0.461973 vt 0.967272 0.430933 vt 0.801308 0.881517 vt 0.864470 0.203755 vt 0.572723 0.452850 vt 0.626747 0.053427 vt 0.637176 0.105699 vt 0.958489 0.320045 vt 0.979865 0.357909 vt 0.902727 0.237205 vt 0.932443 0.279288 vt 0.733336 0.930394 vt 0.763052 0.904808 vt 0.627129 0.348165 vt 0.612161 0.405434 vt 0.642613 0.224874 vt 0.637411 0.287197 vt 0.642533 0.163589 vt 0.995748 0.391427 vt 0.795295 0.873175 vt 0.870483 0.195413 vt 0.593082 0.456803 vt 0.645150 0.888526 vt 0.619054 0.938659 vt 0.594195 0.918170 vt 0.618760 0.866775 vt 0.975613 0.284490 vt 1.000000 0.316101 vt 0.911994 0.217963 vt 0.945897 0.251353 vt 0.719882 0.902458 vt 0.753784 0.885566 vt 0.653211 0.356904 vt 0.634341 0.412865 vt 0.673378 0.235182 vt 0.666392 0.296907 vt 0.665778 0.833122 vt 0.638871 0.810944 vt 0.588492 0.981594 vt 0.566119 0.963154 vt 0.790571 0.863365 vt 0.875208 0.185603 vt 0.610509 0.462642 vt 0.673902 0.174099 vt 0.564507 0.895565 vt 0.587244 0.842777 vt 0.535613 1.000000 vt 0.512891 0.982699 vt 0.539401 0.942810 vt 0.918378 0.196582 vt 0.955164 0.220312 vt 0.710614 0.871418 vt 0.747401 0.864185 vt 0.673902 0.368129 vt 0.651938 0.422412 vt 0.662841 0.694648 vt 0.653755 0.752824 vt 0.622239 0.728827 vt 0.633153 0.672043 vt 0.606737 0.786477 vt 0.987408 0.244983 vt 0.787317 0.852465 vt 0.878462 0.174703 vt 0.690166 0.913394 vt 0.678371 0.873887 vt 0.665778 0.638651 vt 0.639060 0.618307 vt 0.531131 0.871713 vt 0.551812 0.817457 vt 0.487346 0.964444 vt 0.509364 0.921345 vt 0.921632 0.173884 vt 0.959888 0.187360 vt 0.705890 0.838466 vt 0.744147 0.841487 vt 0.639733 0.569684 vt 0.609022 0.596841 vt 0.614188 0.551429 vt 0.586807 0.703506 vt 0.599777 0.648191 vt 0.570612 0.760660 vt 0.993421 0.203043 vt 0.785658 0.840894 vt 0.880121 0.163132 vt 0.672357 0.831947 vt 0.836951 0.155518 vt 0.828828 0.836710 vt 0.993421 0.160281 usemtl None s off f 12/1 11/2 26/3 27/4 f 10/5 9/6 24/7 25/8 f 8/9 7/10 22/11 23/12 f 6/13 5/14 20/15 21/16 f 4/17 3/18 18/19 19/20 f 15/21 14/22 29/23 30/24 f 2/25 1/26 16/27 17/28 f 13/29 12/30 27/31 28/32 f 11/2 10/5 25/8 26/3 f 9/6 8/9 23/12 24/7 f 7/10 6/13 21/16 22/11 f 5/14 4/17 19/20 20/15 f 3/33 2/25 17/28 18/34 f 14/22 13/29 28/32 29/23 f 22/11 21/16 36/35 37/36 f 20/15 19/20 34/37 35/38 f 18/34 17/28 32/39 33/40 f 29/23 28/32 43/41 44/42 f 27/4 26/3 41/43 42/44 f 25/8 24/7 39/45 40/46 f 23/12 22/11 37/36 38/47 f 21/16 20/15 35/38 36/35 f 19/20 18/19 33/48 34/37 f 30/24 29/23 44/42 45/49 f 17/28 16/27 31/50 32/39 f 28/32 27/31 42/51 43/41 f 26/3 25/8 40/46 41/43 f 24/7 23/12 38/47 39/45 f 37/36 36/35 51/52 52/53 f 35/38 34/37 49/54 50/55 f 33/40 32/39 47/56 48/57 f 44/42 43/41 58/58 59/59 f 42/51 41/60 56/61 57/62 f 40/46 39/45 54/63 55/64 f 38/47 37/36 52/53 53/65 f 36/35 35/38 50/55 51/52 f 34/37 33/48 48/66 49/54 f 45/49 44/42 59/59 60/67 f 32/39 31/50 46/68 47/56 f 43/41 42/51 57/62 58/58 f 41/43 40/46 55/64 56/69 f 39/45 38/47 53/65 54/63 f 52/53 51/52 66/70 67/71 f 50/55 49/54 64/72 65/73 f 48/57 47/56 62/74 63/75 f 59/59 58/58 73/76 74/77 f 57/62 56/61 71/78 72/79 f 55/64 54/63 69/80 70/81 f 53/65 52/53 67/71 68/82 f 51/52 50/55 65/73 66/70 f 49/83 48/57 63/75 64/84 f 60/67 59/59 74/77 75/85 f 47/56 46/68 61/86 62/74 f 58/58 57/62 72/79 73/76 f 56/69 55/64 70/81 71/87 f 54/63 53/65 68/82 69/80 f 67/88 66/89 81/90 82/91 f 65/92 64/93 79/94 80/95 f 63/75 62/74 77/96 78/97 f 74/77 73/76 88/98 89/99 f 72/79 71/78 86/100 87/101 f 70/81 69/80 84/102 85/103 f 68/82 67/71 82/104 83/105 f 66/89 65/92 80/95 81/90 f 64/93 63/106 78/107 79/94 f 75/85 74/77 89/99 90/108 f 62/74 61/86 76/109 77/96 f 73/76 72/79 87/101 88/98 f 71/78 70/110 85/111 86/100 f 69/80 68/82 83/105 84/102 f 82/91 81/90 96/112 97/113 f 80/95 79/94 94/114 95/115 f 78/97 77/96 92/116 93/117 f 89/99 88/98 103/118 104/119 f 87/101 86/100 101/120 102/121 f 85/122 84/123 99/124 100/125 f 83/126 82/91 97/113 98/127 f 81/90 80/95 95/115 96/112 f 79/94 78/107 93/128 94/114 f 90/108 89/99 104/119 105/129 f 77/96 76/109 91/130 92/116 f 88/98 87/101 102/121 103/118 f 86/100 85/111 100/131 101/120 f 84/123 83/126 98/127 99/124 f 97/113 96/112 111/132 112/133 f 95/115 94/114 109/134 110/135 f 93/117 92/116 107/136 108/137 f 104/119 103/118 118/138 119/139 f 102/121 101/120 116/140 117/141 f 100/125 99/124 114/142 115/143 f 98/127 97/113 112/133 113/144 f 96/112 95/115 110/135 111/132 f 94/114 93/128 108/145 109/134 f 105/129 104/119 119/139 120/146 f 92/116 91/130 106/147 107/136 f 103/118 102/121 117/141 118/138 f 101/120 100/131 115/148 116/140 f 99/124 98/127 113/144 114/142 f 112/133 111/132 126/149 127/150 f 110/135 109/134 124/151 125/152 f 108/137 107/136 122/153 123/154 f 119/139 118/138 133/155 134/156 f 117/141 116/140 131/157 132/158 f 115/143 114/142 129/159 130/160 f 113/144 112/133 127/150 128/161 f 111/132 110/135 125/152 126/149 f 109/134 108/145 123/162 124/151 f 120/146 119/139 134/156 135/163 f 107/136 106/147 121/164 122/153 f 118/138 117/141 132/158 133/155 f 116/140 115/148 130/165 131/157 f 114/142 113/144 128/161 129/159 f 127/150 126/149 141/166 142/167 f 125/152 124/151 139/168 140/169 f 123/162 122/170 137/171 138/172 f 134/156 133/155 148/173 149/174 f 132/158 131/157 146/175 147/176 f 130/160 129/159 144/177 145/178 f 128/161 127/150 142/167 143/179 f 126/149 125/152 140/169 141/166 f 124/151 123/162 138/172 139/168 f 135/163 134/156 149/174 150/180 f 122/153 121/164 136/181 137/182 f 133/155 132/158 147/176 148/173 f 131/183 130/160 145/178 146/184 f 129/159 128/161 143/179 144/177 f 142/167 141/166 156/185 157/186 f 140/169 139/168 154/187 155/188 f 138/189 137/182 152/190 153/191 f 149/174 148/173 163/192 164/193 f 147/176 146/175 161/194 162/195 f 145/178 144/177 159/196 160/197 f 143/179 142/167 157/186 158/198 f 141/166 140/169 155/188 156/185 f 139/168 138/172 153/199 154/187 f 150/180 149/174 164/193 165/200 f 137/182 136/181 151/201 152/190 f 148/173 147/176 162/195 163/192 f 146/184 145/178 160/197 161/202 f 144/177 143/179 158/198 159/196 f 157/186 156/185 171/203 172/204 f 155/188 154/187 169/205 170/206 f 153/191 152/190 167/207 168/208 f 164/193 163/192 178/209 179/210 f 162/195 161/194 176/211 177/212 f 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3 484 485 486 3 487 488 489 opensurgsim-0.7.0/SurgSim/Testing/Data/Geometry/wound_deformable.ply000066400000000000000000001232461277777236100256400ustar00rootroot00000000000000ply format ascii 1.0 comment This file is a part of the OpenSurgSim project. comment Copyright 2013, SimQuest Solutions Inc. comment comment Licensed under the Apache License, Version 2.0 (the "License"); comment you may not use this file except in compliance with the License. comment You may obtain a copy of the License at comment comment http://www.apache.org/licenses/LICENSE-2.0 comment comment Unless required by applicable law or agreed to in writing, software comment distributed under the License is distributed on an "AS IS" BASIS, comment WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. comment See the License for the specific language governing permissions and comment limitations under the License. comment comment This file provides the geometry which describes a tetrahedral volume 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opensurgsim-0.7.0/SurgSim/Testing/Data/Geometry/wound_deformable_with_texture.ply000066400000000000000000001356701277777236100304570ustar00rootroot00000000000000ply format ascii 1.0 comment This file is a part of the OpenSurgSim project. comment Copyright 2013, SimQuest Solutions Inc. comment comment Licensed under the Apache License, Version 2.0 (the "License"); comment you may not use this file except in compliance with the License. comment You may obtain a copy of the License at comment comment http://www.apache.org/licenses/LICENSE-2.0 comment comment Unless required by applicable law or agreed to in writing, software comment distributed under the License is distributed on an "AS IS" BASIS, comment WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. comment See the License for the specific language governing permissions and comment limitations under the License. comment comment This file provides the geometry which describes a tetrahedral volume comment mesh 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"åè«\´Qõ¿#fâcN$¤êwª˜æØyÂé'ÿ\ó>˜Ð”)ÞyºÔz⋬ ¹‘0Ö4ƒ£<¸.0±÷¢I¦×h&¤‡ÑЪÀ´&/£ðׯ›”§´köÛ¶‹2’@²ý2üêÙ›?ߨ ²‘ù_ÕXE0Jâ^ŒÙ ÛwM¶wX¾½ªÒ=„mOï,X é«ïª×û€R Ȫs® Zù:mÖ|Ù¢ŒM“[H¾ò8Ýôº0bÞju6‰³$¯áÇZ3›LevȈ6¸“ÙêC[¬éd0uH-¼iõ¿‚¢¬d³AY–êQä®HÓ€Š›ØlgI~C|Êqð±ËÆ.XUº‡ ôБsv/ĸ@~*ü€Ï´éàø®Ñs1uQV¨n¥Á´ºÌFG8Z¡È†¢´«0 ”âð‡kuÝ-Áæ~\WjO >AY\À6 “6`p?%ÀêzfBdjJ);!Û¥#JâH 8#­·c®uì=v§¨ZÍo A J îsY0Ïló•'T"”›“ƒ1‚LpÍ~îÙ.§æ¦;-Ê>/g2¥²¸Í,jØIÓ HQí"j_ëaë§z„]«®Hµã°€Çq”ã(¥´Ž1©Ú½PZ°åˆ)”®ˆUú9”`ÏÜÒ BºÌ­ö‘RZ7dteáyT`Ùüâéi3ðwþ×kÓ6™f…Q¡Š^(у‚>m0Ba><¨çHjs5«ÏtöA)Gÿ³”‚8€Îþs;[9zJ9ú&@g5ï}Kíðñû:JžaVè*Âìïho® ›° °FËñ$ÖSD×uP{†9Æ G“­n9Swº  W]˜Ä=jzÑ…¿½û7𮾪r”¶¹~—±hG-™­ð1Òùˆ)\õ|\pbeô2­ôWË ¾fS@ô¼6TëyB¥Ûû;ÔÑ+ø "þ°ÿÿÿ„Ùà°:–Ð&IEND®B`‚opensurgsim-0.7.0/SurgSim/Testing/MathUtilities.cpp000066400000000000000000000036671277777236100224270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Testing/MathUtilities.h" #include "SurgSim/Math/Quaternion.h" using SurgSim::Math::Vector3d; using SurgSim::Math::Quaterniond; using SurgSim::Math::makeRotationQuaternion; using SurgSim::Math::makeRigidTransform; namespace SurgSim { namespace Testing { SurgSim::Math::RigidTransform3d interpolatePose( const Vector3d& startAngles, const Vector3d& endAngles, const Vector3d& startPosition, const Vector3d& endPosition, const double& t) { Vector3d angles = interpolate(startAngles, endAngles, t); Vector3d position = interpolate(startPosition, endPosition, t); return makeRigidTransform( Quaterniond(makeRotationQuaternion(angles.x(), Vector3d::UnitX().eval()) * makeRotationQuaternion(angles.y(), Vector3d::UnitY().eval()) * makeRotationQuaternion(angles.z(), Vector3d::UnitZ().eval())), position); } template <> SurgSim::Math::Quaterniond interpolate( const SurgSim::Math::Quaterniond& start, const SurgSim::Math::Quaterniond& end, const double& t) { return SurgSim::Math::interpolate(start, end, t); } template <> SurgSim::Math::RigidTransform3d interpolate( const SurgSim::Math::RigidTransform3d& start, const SurgSim::Math::RigidTransform3d& end, const double& t) { return SurgSim::Math::interpolate(start, end, t); } }; // Testing }; // SurgSim opensurgsim-0.7.0/SurgSim/Testing/MathUtilities.h000066400000000000000000000070731277777236100220670ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_TESTING_MATHUTILITIES_H #define SURGSIM_TESTING_MATHUTILITIES_H #include #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Quaternion.h" #include namespace SurgSim { namespace Testing { /// Does a linear interpolation between the start and the end dependent on t. /// \tparam T The type of value to be interpolated. /// \param start The start value. /// \param end The end value. /// \param t The percentage for the interpolation. /// \return the interpolated value. template T interpolate(const T& start, const T& end, const double& t) { return (1 - t) * start + t * end; } template T interpolate(const std::pair& values, const double& t) { return interpolate(values.first, values.second, t); } /// Specialized template to call the correct function for Quaterniond, might be superfluous, /// delegates to the eigen interpolation function for Quaterniond /// \param start The start quaternion. /// \param end The end quaternion. /// \param t The percentage for the interpolation. /// \return the interpolated quaternion. template <> SurgSim::Math::Quaterniond interpolate( const SurgSim::Math::Quaterniond& start, const SurgSim::Math::Quaterniond& end, const double& t); /// Specialized template to call the correct function for RigidTransform3d, might be superfluous, /// delegates to the eigen interpolation function for RigidTransform3d /// \param start The start quaternion. /// \param end The end quaternion. /// \param t The percentage for the interpolation. /// \return the interpolated RigidTransform3d. template <> SurgSim::Math::RigidTransform3d interpolate( const SurgSim::Math::RigidTransform3d& start, const SurgSim::Math::RigidTransform3d& end, const double& t); /// Does a linear interpolation on a pose, given Vector3d for angles and positions. The angles around the X, Y /// and Z axis are being passed in a Vector3d for a terser expression. /// \param startAngles The start angles in the order X/Y/Z angle axis value in radians. /// \param endAngles The end angles in the order X/Y/Z angle axis value in radians. /// \param startPosition The start position. /// \param endPosition The end position. /// \param t The percentage for the interpolation. /// \return The transform gained by interpolating and /// assembling the rotation and position values. SurgSim::Math::RigidTransform3d interpolatePose( const SurgSim::Math::Vector3d& startAngles, const SurgSim::Math::Vector3d& endAngles, const SurgSim::Math::Vector3d& startPosition, const SurgSim::Math::Vector3d& endPosition, const double& t); } } namespace Eigen { template ::std::ostream& operator<<(::std::ostream& os, const Eigen::AlignedBox& box) { os << "[" << box.min().transpose() << ", " << box.max().transpose() << "]"; return os; } } #endif opensurgsim-0.7.0/SurgSim/Testing/MlcpIO/000077500000000000000000000000001277777236100202455ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Testing/MlcpIO/CMakeLists.txt000066400000000000000000000023721277777236100230110ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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_directories( "${CMAKE_CURRENT_SOURCE_DIR}" ) set(MLCP_IO_SOURCES MlcpTestData.cpp ReadText.cpp TextLabels.cpp WriteText.cpp ) set(MLCP_IO_HEADERS MlcpTestData.h ReadText.h TextLabels.h WriteText.h ) # The headers etc. for this do not need to be shipped, so do NOT use # surgsim_add_library here. add_library(MlcpTestIO ${MLCP_IO_SOURCES} ${MLCP_IO_HEADERS} ) surgsim_show_ide_folders("${MLCP_IO_SOURCES}" "${MLCP_IO_HEADERS}") SET(LIBS SurgSimMath SurgSimTesting ) target_link_libraries(MlcpTestIO ${LIBS}) # Put MlcpTestIO into folder "Testing" set_target_properties(MlcpTestIO PROPERTIES FOLDER "Testing") opensurgsim-0.7.0/SurgSim/Testing/MlcpIO/MlcpTestData.cpp000066400000000000000000000023361277777236100233020ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Testing/MlcpIO/MlcpTestData.h" #include "SurgSim/Testing/MlcpIO/ReadText.h" std::shared_ptr loadTestData(const std::string& fileName) { std::shared_ptr data = std::make_shared(); if (! readMlcpTestDataAsText("MlcpTestData/" + fileName, data.get())) { data.reset(); } return data; } std::string getTestFileName(const std::string& prefix, int index, const std::string& suffix) { std::ostringstream stream; stream << prefix << std::setfill('0') << std::setw(3) << index << suffix; return stream.str(); } opensurgsim-0.7.0/SurgSim/Testing/MlcpIO/MlcpTestData.h000066400000000000000000000041141277777236100227430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_TESTING_MLCPIO_MLCPTESTDATA_H #define SURGSIM_TESTING_MLCPIO_MLCPTESTDATA_H #include #include #include #include #include "SurgSim/Math/MlcpProblem.h" #include "SurgSim/Math/MlcpConstraintType.h" struct MlcpTestData { public: // Description of an MLCP problem. SurgSim::Math::MlcpProblem problem; // Expected output for the solver (as recorded from old Gauss-Seidel code). Eigen::VectorXd expectedLambda; // Other metadata std::string description; std::vector flags; int numDegreesOfFreedom; MlcpTestData() : numDegreesOfFreedom(-1) { } MlcpTestData(const MlcpTestData& other) : problem(other.problem), expectedLambda(other.expectedLambda), description(other.description), flags(other.flags), numDegreesOfFreedom(other.numDegreesOfFreedom) { } MlcpTestData& operator= (const MlcpTestData& other) { problem = other.problem; expectedLambda = other.expectedLambda; description = other.description; flags = other.flags; numDegreesOfFreedom = other.numDegreesOfFreedom; return *this; } size_t getSize() const { return (problem.b.rows() >= 0) ? static_cast(problem.b.rows()) : 0; } }; const MlcpTestData* getTestProblem1(); std::shared_ptr loadTestData(const std::string& fileName); std::string getTestFileName(const std::string& prefix, int index, const std::string& suffix); #endif // SURGSIM_TESTING_MLCPIO_MLCPTESTDATA_H opensurgsim-0.7.0/SurgSim/Testing/MlcpIO/ReadText.cpp000066400000000000000000000335471277777236100225050ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Testing/MlcpIO/ReadText.h" #include #include #include #include #include "SurgSim/Math/MlcpConstraintType.h" #include "SurgSim/Math/MlcpConstraintTypeName.h" #include "SurgSim/Testing/MlcpIO/MlcpTestData.h" #include "SurgSim/Testing/MlcpIO/TextLabels.h" // input helpers static std::string getRawLine(FILE* in) { char buffer[1024]; if (! fgets(buffer, sizeof(buffer), in)) { return ""; } std::string line(buffer); if ((line.length() > 0) && (line[line.length()-1] == '\n')) { line.resize(line.length()-1); // remove the last character } if ((line.length() > 0) && (line[line.length()-1] == '\r')) { line.resize(line.length()-1); // remove the last character } return line; } static bool getLine(const std::string& fileName, FILE* in, std::string* line, bool skipEmptyLines = true) { if (ferror(in) || feof(in)) { fprintf(stderr, "Unexpected error or EOF in file '%s'\n", fileName.c_str()); return false; } *line = getRawLine(in); while (skipEmptyLines && (line->length() == 0)) { if (ferror(in) || feof(in)) { fprintf(stderr, "Unexpected error or EOF in file '%s'\n", fileName.c_str()); return false; } *line = getRawLine(in); } if (ferror(in)) { fprintf(stderr, "Unexpected error in file '%s'\n", fileName.c_str()); return false; } return true; } static bool readInt(const std::string& fileName, FILE* in, const char* label, int* value) { if (ferror(in) || feof(in)) { fprintf(stderr, "Unexpected error or EOF in file '%s'\n", fileName.c_str()); return false; } std::string format = std::string(" ") + label + " %d"; if (fscanf(in, format.c_str(), value) != 1) { fprintf(stderr, "Bad integer input in '%s'\n near text '%s'\n", fileName.c_str(), getRawLine(in).c_str()); return false; } if (ferror(in)) { fprintf(stderr, "Unexpected error in file '%s'\n", fileName.c_str()); return false; } return true; } static bool readEigenRowVector(const std::string& fileName, FILE* in, const char* label, Eigen::RowVectorXd* vector) { // Read the label. { if (ferror(in) || feof(in)) { fprintf(stderr, "Unexpected error or EOF in file '%s'\n", fileName.c_str()); return false; } if (std::string(label) == "") { if (fscanf(in, " (") != 0) { fprintf(stderr, "Unable to read label for Eigen input in '%s'\n near text '%s'\n", fileName.c_str(), getRawLine(in).c_str()); return false; } } else { char readLabel[100]; if (fscanf(in, " %[^(](", readLabel) != 1) { fprintf(stderr, "Unable to read label for Eigen input in '%s'\n near text '%s'\n", fileName.c_str(), getRawLine(in).c_str()); return false; } if (std::string(label) + " " != std::string(readLabel)) { fprintf(stderr, "Bad label for Eigen input in '%s'\n near text '%s'\n", fileName.c_str(), getRawLine(in).c_str()); return false; } } } // Read elements until ')' is found. std::vector values; while (true) { // Scan for a non-whitespace character and check it. while (true) { if (ferror(in) || feof(in)) { fprintf(stderr, "Unexpected error or EOF in file '%s'\n", fileName.c_str()); return false; } int nextCharacter = getc(in); if (nextCharacter == EOF) // either EOF or read error { fprintf(stderr, "Unexpected error or EOF in file '%s'\n", fileName.c_str()); return false; } else if (nextCharacter == ')') { // We're done reading input. if (ferror(in)) { fprintf(stderr, "Unexpected error in file '%s'\n", fileName.c_str()); return false; } vector->resize(values.size()); for (size_t i = 0; i < values.size(); i++) { (*vector)[i] = values[i]; } return true; } else if (! isspace(nextCharacter)) { // The next character isn't ')'. Pretend we never read it, and go on reading data. ungetc(nextCharacter, in); break; } } if (ferror(in) || feof(in)) { fprintf(stderr, "Unexpected error or EOF in file '%s'\n", fileName.c_str()); return false; } // Ready to read the next element. double nextValue = 0; if (fscanf(in, " %lg", &nextValue) != 1) { fprintf(stderr, "Bad data for Eigen input in '%s'\n near text '%s'\n", fileName.c_str(), getRawLine(in).c_str()); return false; } values.push_back(nextValue); } } static bool readEigenVector(const std::string& fileName, FILE* in, const char* label, Eigen::VectorXd* vector) { Eigen::RowVectorXd rowVector; if (! readEigenRowVector(fileName, in, label, &rowVector)) { return false; } *vector = rowVector.transpose(); return true; } static bool readEigenMatrix(const std::string& fileName, FILE* in, const char* label, Eigen::MatrixXd* matrix) { // Read the label. { if (ferror(in) || feof(in)) { fprintf(stderr, "Unexpected error or EOF in file '%s'\n", fileName.c_str()); return false; } char readLabel[100]; if (fscanf(in, " %[^(](", readLabel) != 1) { fprintf(stderr, "Unable to read label for Eigen input in '%s'\n near text '%s'\n", fileName.c_str(), getRawLine(in).c_str()); return false; } if (std::string(label) + " " != std::string(readLabel)) { fprintf(stderr, "Bad label for Eigen input in '%s'\n near text '%s'\n", fileName.c_str(), getRawLine(in).c_str()); return false; } } // Read rows until ')' is found. bool firstRow = true; matrix->resize(0, 0); while (true) { // Scan for a non-whitespace character and check it. while (true) { if (ferror(in) || feof(in)) { fprintf(stderr, "Unexpected error or EOF in file '%s'\n", fileName.c_str()); return false; } int nextCharacter = getc(in); if (nextCharacter == EOF) // either EOF or read error { fprintf(stderr, "Unexpected error or EOF in file '%s'\n", fileName.c_str()); return false; } else if (nextCharacter == ')') { // We're done reading input. if (ferror(in)) { fprintf(stderr, "Unexpected error in file '%s'\n", fileName.c_str()); return false; } return true; } else if (! isspace(nextCharacter)) { // The next character isn't ')'. Pretend we never read it, and go on reading data. ungetc(nextCharacter, in); break; } } if (ferror(in) || feof(in)) { fprintf(stderr, "Unexpected error or EOF in file '%s'\n", fileName.c_str()); return false; } // Ready to read the next row. Eigen::RowVectorXd rowVector; if (! readEigenRowVector(fileName, in, "", &rowVector)) { return false; } if (firstRow) { *matrix = rowVector; firstRow = false; } else { ptrdiff_t numCols = matrix->cols(); ptrdiff_t newNumRows = matrix->rows() + 1; if (rowVector.cols() != numCols) { fprintf(stderr, "Inconsistent number of columns for Eigen matrix (%lld vs %lld)\n in file '%s'\n", static_cast(numCols), static_cast(rowVector.cols()), // NOLINT fileName.c_str()); return false; } matrix->conservativeResize(newNumRows, numCols); matrix->row(newNumRows-1) = rowVector; } } } static bool extractWordList(const std::string& fileName, const std::string& line, const char* label, std::vector* words) { std::string labelString(label); if (line.substr(0, labelString.length()) != labelString) { fprintf(stderr, "Unexpected input line: '%s'\n" " expected: '%s'...\n" " in file '%s'\n", line.c_str(), label, fileName.c_str()); return false; } words->clear(); size_t start = line.find_first_not_of(" \t", labelString.length()); while (start != std::string::npos) { size_t end = line.find_first_of(" \t", start+1); if (end == std::string::npos) { words->push_back(line.substr(start)); break; } words->push_back(line.substr(start, end - start)); start = line.find_first_not_of(" \t", end+1); } return true; } static bool readWordList(const std::string& fileName, FILE* in, const char* label, std::vector* words) { std::string line; if (! getLine(fileName, in, &line)) { return false; } return extractWordList(fileName, line, label, words); } static bool checkInputLine(const std::string& fileName, const std::string& expected, const std::string& line) { if (line != expected) { fprintf(stderr, "Unexpected input line: '%s'\n" " expected: '%s'\n" " in file '%s'\n", line.c_str(), expected.c_str(), fileName.c_str()); return false; } return true; } // actually write the data bool readMlcpTestDataAsText(const std::string& fileName, MlcpTestData* testData) { FILE* in = fopen(fileName.c_str(), "rt"); if (! in) { fprintf(stderr, "File '%s' could not be opened to read the current MLCP for GTest\n", fileName.c_str()); return false; } testData->description.clear(); std::string line; if (! getLine(fileName, in, &line)) { fprintf(stderr, "Failed to read first line from the file.\n"); return false; } while ((line.length() > 0) && (line[0] == '#')) { if (testData->description.length() > 0) { testData->description += "\n"; } if ((line.length() > 1) && (line[1] == ' ')) { testData->description += line.substr(2); } else { testData->description += line.substr(1); } if (! getLine(fileName, in, &line)) { fprintf(stderr, "Failed to read header comment block from the file.\n"); return false; } } // We have already read the next line, so we just need to parse it. if (! extractWordList(fileName, line, TEXT_LABEL_FLAGS_LIST, &(testData->flags))) { return false; } if (! readInt(fileName, in, TEXT_LABEL_NUM_DEGREES_OF_FREEDOM, &(testData->numDegreesOfFreedom))) { return false; } int numConstraints; if (! readInt(fileName, in, TEXT_LABEL_NUM_CONSTRAINTS, &numConstraints)) { return false; } int numAtomicConstraints; if (! readInt(fileName, in, TEXT_LABEL_NUM_ATOMIC_CONSTRAINTS, &numAtomicConstraints)) { return false; } std::vector constraintTypeNames; if (! readWordList(fileName, in, TEXT_LABEL_CONSTRAINT_TYPES_LIST, &constraintTypeNames)) { return false; } if (static_cast(constraintTypeNames.size()) != numConstraints) { fprintf(stderr, "Expected %d constraint types, saw %u\n in file '%s'\n", numConstraints, static_cast(constraintTypeNames.size()), fileName.c_str()); return false; } testData->problem.constraintTypes.resize(numConstraints); for (size_t i = 0; i < testData->problem.constraintTypes.size(); ++i) { SurgSim::Math::MlcpConstraintType currentType = SurgSim::Math::getMlcpConstraintTypeValue(constraintTypeNames[i]); if (currentType == SurgSim::Math::MLCP_INVALID_CONSTRAINT) { fprintf(stderr, "Unexpected constraint type string: '%s'\n in file '%s'\n", constraintTypeNames[i].c_str(), fileName.c_str()); return false; } testData->problem.constraintTypes[i] = currentType; } { Eigen::VectorXd b; Eigen::MatrixXd A; Eigen::VectorXd mu; Eigen::VectorXd expectedLambda; if (! readEigenVector(fileName, in, TEXT_LABEL_E_VIOLATIONS_VECTOR, &b)) { return false; } if (! readEigenMatrix(fileName, in, TEXT_LABEL_HCHt_MLCP_MATRIX, &A)) { return false; } if (! readEigenVector(fileName, in, TEXT_LABEL_MU_FRICTION_VECTOR, &mu)) { return false; } if (! readEigenVector(fileName, in, TEXT_LABEL_LAMBDA_VECTOR, &expectedLambda)) { return false; } testData->problem.b = b; testData->problem.A = A; testData->problem.mu = mu; testData->expectedLambda = expectedLambda; } if ((testData->problem.b.rows() != numAtomicConstraints) || (testData->problem.b.cols() != 1)) { fprintf(stderr, "Expected %dx%d vector E, saw %dx%d\n in file '%s'\n", numAtomicConstraints, 1, static_cast(testData->problem.b.rows()), static_cast(testData->problem.b.cols()), fileName.c_str()); return false; } if ((testData->problem.A.rows() != numAtomicConstraints) || (testData->problem.A.cols() != numAtomicConstraints)) { fprintf(stderr, "Expected %dx%d matrix A, saw %dx%d\n in file '%s'\n", numAtomicConstraints, numAtomicConstraints, static_cast(testData->problem.A.rows()), static_cast(testData->problem.A.cols()), fileName.c_str()); return false; } if ((testData->problem.mu.rows() != numAtomicConstraints) || (testData->problem.mu.cols() != 1)) { fprintf(stderr, "Expected %dx%d vector mu, saw %dx%d\n in file '%s'\n", numAtomicConstraints, 1, static_cast(testData->problem.mu.rows()), static_cast(testData->problem.mu.cols()), fileName.c_str()); return false; } if ((testData->expectedLambda.rows() != numAtomicConstraints) || (testData->expectedLambda.cols() != 1)) { fprintf(stderr, "Expected %dx%d vector lambda, saw %dx%d\n in file '%s'\n", numAtomicConstraints, 1, static_cast(testData->expectedLambda.rows()), static_cast(testData->expectedLambda.cols()), fileName.c_str()); return false; } if (! getLine(fileName, in, &line) || ! checkInputLine(fileName, TEXT_LABEL_END_OF_FILE, line)) { fprintf(stderr, "Expected %d constraint types, saw %u\n", numConstraints, static_cast(constraintTypeNames.size())); return false; } if (ferror(in)) { fprintf(stderr, "Unexpected error near the end of file '%s'\n", fileName.c_str()); return false; } if (fclose(in)) { fprintf(stderr, "Error closing file '%s' for reading.\n", fileName.c_str()); return false; } return true; } opensurgsim-0.7.0/SurgSim/Testing/MlcpIO/ReadText.h000066400000000000000000000016451277777236100221440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_TESTING_MLCPIO_READTEXT_H #define SURGSIM_TESTING_MLCPIO_READTEXT_H #include #include "SurgSim/Testing/MlcpIO/MlcpTestData.h" bool readMlcpTestDataAsText(const std::string& fileName, MlcpTestData* testData); #endif // SURGSIM_TESTING_MLCPIO_READTEXT_H opensurgsim-0.7.0/SurgSim/Testing/MlcpIO/TextLabels.cpp000066400000000000000000000025551277777236100230270ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Testing/MlcpIO/TextLabels.h" const char* const TEXT_LABEL_FLAGS_LIST = "flags ="; const char* const TEXT_LABEL_NUM_DEGREES_OF_FREEDOM = "total degrees of freedom ="; const char* const TEXT_LABEL_NUM_CONSTRAINTS = "number of constraints ="; const char* const TEXT_LABEL_NUM_ATOMIC_CONSTRAINTS = "number of constraint DOFs (\"atomic constraints\") ="; const char* const TEXT_LABEL_CONSTRAINT_TYPES_LIST = "constraint types ="; const char* const TEXT_LABEL_E_VIOLATIONS_VECTOR = "E ="; const char* const TEXT_LABEL_HCHt_MLCP_MATRIX = "HCHt ="; const char* const TEXT_LABEL_MU_FRICTION_VECTOR = "friction ="; const char* const TEXT_LABEL_LAMBDA_VECTOR = "lambda ="; const char* const TEXT_LABEL_END_OF_FILE = "== END ==";opensurgsim-0.7.0/SurgSim/Testing/MlcpIO/TextLabels.h000066400000000000000000000024701277777236100224700ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_TESTING_MLCPIO_TEXTLABELS_H #define SURGSIM_TESTING_MLCPIO_TEXTLABELS_H extern const char* const TEXT_LABEL_FLAGS_LIST; extern const char* const TEXT_LABEL_NUM_DEGREES_OF_FREEDOM; extern const char* const TEXT_LABEL_NUM_CONSTRAINTS; extern const char* const TEXT_LABEL_NUM_ATOMIC_CONSTRAINTS; extern const char* const TEXT_LABEL_CONSTRAINT_TYPES_LIST; extern const char* const TEXT_LABEL_E_VIOLATIONS_VECTOR; extern const char* const TEXT_LABEL_HCHt_MLCP_MATRIX; extern const char* const TEXT_LABEL_MU_FRICTION_VECTOR; extern const char* const TEXT_LABEL_LAMBDA_VECTOR; extern const char* const TEXT_LABEL_END_OF_FILE; #endif // SURGSIM_TESTING_MLCPIO_TEXTLABELS_H opensurgsim-0.7.0/SurgSim/Testing/MlcpIO/WriteText.cpp000066400000000000000000000105001277777236100227040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Testing/MlcpIO/WriteText.h" #include #include #include #include #include "SurgSim/Math/MlcpConstraintType.h" #include "SurgSim/Math/MlcpConstraintTypeName.h" #include "SurgSim/Testing/MlcpIO/MlcpTestData.h" #include "SurgSim/Testing/MlcpIO/TextLabels.h" // output helpers static void writeCommentBlock(FILE* out, const std::string& text) { const std::string prefix = "# "; const std::string suffix = ""; size_t start = 0; while (start < text.length()) { size_t next = text.find_first_of('\n', start); if (next == std::string::npos) { break; } fprintf(out, "%s%s%s\n", prefix.c_str(), text.substr(start, next - start).c_str(), suffix.c_str()); start = next+1; } if (start >= text.length()) { fprintf(out, "%s%s\n", prefix.c_str(), suffix.c_str()); } else { fprintf(out, "%s%s%s\n", prefix.c_str(), text.substr(start).c_str(), suffix.c_str()); } } static void writeEigenRowVector(FILE* out, const char* label, const Eigen::RowVectorXd& vector) { fprintf(out, "%s (", label); for (int i = 0; i < vector.cols(); i++) { fprintf(out, " %.20g", vector[i]); } fprintf(out, ")\n"); } static void writeEigenVector(FILE* out, const char* label, const Eigen::VectorXd& vector) { writeEigenRowVector(out, label, vector.transpose()); } static void writeEigenMatrix(FILE* out, const char* label, const Eigen::MatrixXd& matrix) { fprintf(out, "%s (\n", label); for (int i = 0; i < matrix.rows(); ++i) { writeEigenRowVector(out, " ", matrix.row(i)); } fprintf(out, ")\n"); } bool writeMlcpTestDataAsText(const std::string& fileName, const MlcpTestData& testData) { FILE* out = fopen(fileName.c_str(), "wt"); if (! out) { fprintf(stderr, "File '%s' could not be created to export the current MLCP for GTest\n", fileName.c_str()); return false; } size_t numConstraints = testData.problem.constraintTypes.size(); ptrdiff_t numAtomicConstraints = testData.problem.b.rows(); if (testData.problem.b.rows() != numAtomicConstraints || testData.problem.A.rows() != numAtomicConstraints || testData.problem.A.cols() != numAtomicConstraints || testData.expectedLambda.rows() != numAtomicConstraints) { fprintf(stderr, "Inconsistent dimensions in file '%s'!\n", fileName.c_str()); fclose(out); return false; } writeCommentBlock(out, testData.description); fprintf(out, "%s", TEXT_LABEL_FLAGS_LIST); for (auto it = testData.flags.begin(); it != testData.flags.end(); ++it) { fprintf(out, " %s", it->c_str()); } fprintf(out, "\n"); fprintf(out, "%s %d\n", TEXT_LABEL_NUM_DEGREES_OF_FREEDOM, testData.numDegreesOfFreedom); fprintf(out, "%s %llu\n", TEXT_LABEL_NUM_CONSTRAINTS, static_cast(numConstraints)); // NOLINT fprintf(out, "%s %lld\n", TEXT_LABEL_NUM_ATOMIC_CONSTRAINTS, static_cast(numAtomicConstraints)); // NOLINT fprintf(out, "%s", TEXT_LABEL_CONSTRAINT_TYPES_LIST); for (auto it = testData.problem.constraintTypes.begin(); it != testData.problem.constraintTypes.end(); ++it) { fprintf(out, " %s", getMlcpConstraintTypeName(*it).c_str()); } fprintf(out, "\n"); writeEigenVector(out, TEXT_LABEL_E_VIOLATIONS_VECTOR, testData.problem.b); writeEigenMatrix(out, TEXT_LABEL_HCHt_MLCP_MATRIX, testData.problem.A); writeEigenVector(out, TEXT_LABEL_MU_FRICTION_VECTOR, testData.problem.mu); writeEigenVector(out, TEXT_LABEL_LAMBDA_VECTOR, testData.expectedLambda); fprintf(out, "%s\n", TEXT_LABEL_END_OF_FILE); if (ferror(out)) { fprintf(stderr, "Unexpected error writing file '%s'\n", fileName.c_str()); return false; } if (fclose(out)) { fprintf(stderr, "Error closing file '%s' for writing.\n", fileName.c_str()); return false; } return true; } opensurgsim-0.7.0/SurgSim/Testing/MlcpIO/WriteText.h000066400000000000000000000016571277777236100223660ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_TESTING_MLCPIO_WRITETEXT_H #define SURGSIM_TESTING_MLCPIO_WRITETEXT_H #include #include "SurgSim/Testing/MlcpIO/MlcpTestData.h" bool writeMlcpTestDataAsText(const std::string& fileName, const MlcpTestData& testData); #endif // SURGSIM_TESTING_MLCPIO_WRITETEXT_H opensurgsim-0.7.0/SurgSim/Testing/MockInputComponent.cpp000066400000000000000000000020401277777236100234160ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013-2016, SimQuest Solutions 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 // // 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 "SurgSim/Testing/MockInputComponent.h" #include "SurgSim/Input/InputConsumerInterface.h" namespace SurgSim { namespace Testing { MockInputComponent::MockInputComponent(const std::string& name) : SurgSim::Input::InputComponent(name) { } void MockInputComponent::setData(const SurgSim::DataStructures::DataGroup& data) { handleInput("fake device", data); } }; // Testing }; // SurgSim opensurgsim-0.7.0/SurgSim/Testing/MockInputComponent.h000066400000000000000000000027331277777236100230740ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_TESTING_MOCKINPUTCOMPONENT_H #define SURGSIM_TESTING_MOCKINPUTCOMPONENT_H #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Input/InputComponent.h" namespace SurgSim { namespace Testing { /// A MockInputComponent allows Components to test connections with devices without using an /// instance of DeviceInterface (and then an InputManager to connect the device with the InputComponent, etc). class MockInputComponent : public SurgSim::Input::InputComponent { public: /// Constructor /// \param name The name. explicit MockInputComponent(const std::string& name); /// Set the data that this mock InputComponent will provide via getData. /// \param data The datagroup as if from a device. void setData(const SurgSim::DataStructures::DataGroup& data); }; }; }; #endif // SURGSIM_TESTING_MOCKINPUTCOMPONENT_H opensurgsim-0.7.0/SurgSim/Testing/MockInputOutput.cpp000066400000000000000000000027441277777236100227670ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Testing/MockInputOutput.h" using SurgSim::DataStructures::DataGroup; namespace SurgSim { namespace Testing { MockInputOutput::MockInputOutput() : m_numTimesInitializedInput(0), m_numTimesReceivedInput(0), m_numTimesRequestedOutput(0) { } bool MockInputOutput::requestOutput(const std::string& device, DataGroup* outputData) { ++m_numTimesRequestedOutput; bool result = false; if (m_output.hasValue()) { *outputData = m_output.getValue(); result = true; } return result; } void MockInputOutput::handleInput(const std::string& device, const DataGroup& inputData) { ++m_numTimesReceivedInput; m_lastReceivedInput = inputData; } void MockInputOutput::initializeInput(const std::string& device, const DataGroup& inputData) { ++m_numTimesInitializedInput; m_lastReceivedInput = inputData; } }; // Testing }; // SurgSim opensurgsim-0.7.0/SurgSim/Testing/MockInputOutput.h000066400000000000000000000033161277777236100224300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_TESTING_MOCKINPUTOUTPUT_H #define SURGSIM_TESTING_MOCKINPUTOUTPUT_H #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/DataStructures/OptionalValue.h" #include "SurgSim/Input/InputConsumerInterface.h" #include "SurgSim/Input/OutputProducerInterface.h" namespace SurgSim { namespace Testing { struct MockInputOutput : public SurgSim::Input::InputConsumerInterface, public SurgSim::Input::OutputProducerInterface { public: MockInputOutput(); virtual void initializeInput(const std::string& device, const SurgSim::DataStructures::DataGroup& inputData); virtual void handleInput(const std::string& device, const SurgSim::DataStructures::DataGroup& inputData); virtual bool requestOutput(const std::string& device, SurgSim::DataStructures::DataGroup* outputData); int m_numTimesInitializedInput; int m_numTimesReceivedInput; int m_numTimesRequestedOutput; SurgSim::DataStructures::DataGroup m_lastReceivedInput; SurgSim::DataStructures::OptionalValue m_output; }; }; }; #endif // SURGSIM_TESTING_MOCKINPUTOUTPUT_H opensurgsim-0.7.0/SurgSim/Testing/MockPhysicsManager.h000066400000000000000000000032741277777236100230300ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_TESTING_MOCKPHYSICSMANAGER_H #define SURGSIM_TESTING_MOCKPHYSICSMANAGER_H #include "SurgSim/Physics/PhysicsManager.h" namespace SurgSim { namespace Testing { /// Testing class used to publicly expose PhysicsManager's protected member functions class MockPhysicsManager : public SurgSim::Physics::PhysicsManager { public: bool executeAdditions(const std::shared_ptr& component) override { return SurgSim::Physics::PhysicsManager::executeAdditions(component); } bool executeRemovals(const std::shared_ptr& component) override { return SurgSim::Physics::PhysicsManager::executeRemovals(component); } bool doInitialize() override { return SurgSim::Physics::PhysicsManager::doInitialize(); } bool doStartUp() override { return SurgSim::Physics::PhysicsManager::doStartUp(); } virtual bool doUpdate(double dt) { return SurgSim::Physics::PhysicsManager::doUpdate(dt); } }; } // namespace Physics } // namespace SurgSim #endif // SURGSIM_TESTING_MOCKPHYSICSMANAGER_H opensurgsim-0.7.0/SurgSim/Testing/SerializationMockComponent.cpp000066400000000000000000000036411277777236100251440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Testing/SerializationMockComponent.h" SURGSIM_REGISTER(SurgSim::Framework::Component, SerializationMockComponent, SerializationMockComponent); SerializationMockComponent::SerializationMockComponent( const std::string& name, bool succeedInit, bool succeedWakeUp) : Component(name), succeedWithInit(succeedInit), succeedWithWakeUp(succeedWakeUp), didWakeUp(false), didInit(false) { SURGSIM_ADD_SERIALIZABLE_PROPERTY( SerializationMockComponent, bool, SucceedWithInit, getSucceedWithInit, setSucceedWithInit); SURGSIM_ADD_SERIALIZABLE_PROPERTY( SerializationMockComponent, bool, SucceedWithWakeUp, getSucceedWithWakeUp, setSucceedWithWakeUp); } SerializationMockComponent::~SerializationMockComponent() { } bool SerializationMockComponent::doInitialize() { didInit = true; return succeedWithInit; } bool SerializationMockComponent::doWakeUp() { didWakeUp = true; return succeedWithWakeUp; } bool SerializationMockComponent::getSucceedWithInit() const { return succeedWithInit; } void SerializationMockComponent::setSucceedWithInit(bool val) { succeedWithInit = val; } bool SerializationMockComponent::getSucceedWithWakeUp() const { return succeedWithWakeUp; } void SerializationMockComponent::setSucceedWithWakeUp(bool val) { succeedWithWakeUp = val; } opensurgsim-0.7.0/SurgSim/Testing/SerializationMockComponent.h000066400000000000000000000033151277777236100246070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_TESTING_SERIALIZATIONMOCKCOMPONENT_H #define SURGSIM_TESTING_SERIALIZATIONMOCKCOMPONENT_H #include "SurgSim/Framework/Component.h" #include "SurgSim/Framework/ObjectFactory.h" SURGSIM_STATIC_REGISTRATION(SerializationMockComponent); /// This class is for testing the linker and checking if the definition stays in the /// executable even if there is not direct reference to it, DO NOT define a member /// of this class explicitly anywhere. class SerializationMockComponent : public SurgSim::Framework::Component { public: explicit SerializationMockComponent(const std::string& name, bool succeedInit = true, bool succeedWakeUp = true); virtual ~SerializationMockComponent(); SURGSIM_CLASSNAME(SerializationMockComponent); virtual bool doInitialize(); virtual bool doWakeUp(); bool getSucceedWithInit() const; void setSucceedWithInit(bool val); bool getSucceedWithWakeUp() const; void setSucceedWithWakeUp(bool val); bool succeedWithInit; bool succeedWithWakeUp; bool didWakeUp; bool didInit; }; #endif // SURGSIM_TESTING_SERIALIZATIONMOCKCOMPONENT_Hopensurgsim-0.7.0/SurgSim/Testing/TestCube.cpp000066400000000000000000000055011277777236100213450ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Testing/TestCube.h" namespace SurgSim { namespace Testing { namespace Cube { int numVertices = 24; double vertexData[] = { -0.5,-0.5,-0.5, -0.5,-0.5, 0.5, 0.5,-0.5, 0.5, 0.5,-0.5,-0.5, -0.5, 0.5,-0.5, -0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5,-0.5, -0.5,-0.5,-0.5, -0.5,-0.5, 0.5, 0.5,-0.5, 0.5, 0.5,-0.5,-0.5, -0.5, 0.5,-0.5, -0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5,-0.5, -0.5,-0.5,-0.5, -0.5,-0.5, 0.5, 0.5,-0.5, 0.5, 0.5,-0.5,-0.5, -0.5, 0.5,-0.5, -0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5,-0.5 }; double colorData[] = { 0.9,0.0,0.0,1.0, 0.9,0.0,0.0,1.0, 0.9,0.0,0.0,1.0, 0.9,0.0,0.0,1.0, 0.9,0.5,0.5,1.0, 0.9,0.5,0.5,1.0, 0.9,0.5,0.5,1.0, 0.9,0.5,0.5,1.0, 0.0,0.9,0.0,1.0, 0.0,0.9,0.0,1.0, 0.5,0.9,0.5,1.0, 0.5,0.9,0.5,1.0, 0.0,0.9,0.0,1.0, 0.0,0.9,0.0,1.0, 0.5,0.9,0.5,1.0, 0.5,0.9,0.5,1.0, 0.0,0.0,0.9,1.0, 0.5,0.5,0.9,1.0, 0.5,0.5,0.9,1.0, 0.0,0.0,0.9,1.0, 0.0,0.0,0.9,1.0, 0.5,0.5,0.9,1.0, 0.5,0.5,0.9,1.0, 0.0,0.0,0.9,1.0 }; double textureData[] = { 0.25,0.25, 0.25,0.50, 0.0, 0.50, 0.0, 0.25, 0.50,0.25, 0.50,0.50, 0.50,0.50, 0.50,0.25, 0.25,0.25, 0.25,0.50, 1.0, 0.50, 1.0, 0.25, 0.50,0.25, 0.50,0.50, 0.75,0.50, 0.75,0.25, 0.50,0.0 , 0.50,0.75, 0.75,0.75, 0.75,0.0, 0.50,0.25, 0.50,0.50, 0.75,0.50, 0.75,0.25 }; unsigned int numTriangles = 12; unsigned int triangleData[] = { 0, 3, 2, 0, 2, 1, 4, 6, 7, 4, 5, 6, 8, 9,13, 8,13,12, 10,15,14, 10,11,15, 16,20,23, 16,23,19, 17,18,22, 17,22,21 }; void makeCube(std::vector* vertices, std::vector* colors, std::vector* textures, std::vector* triangles) { vertices->resize(numVertices); colors->resize(numVertices); textures->resize(numVertices); double scale = 1.0; for (int i=0; iresize(numTriangles*3); std::copy(triangleData, triangleData+12*3,std::begin(*triangles)); } }; // Cube }; // Testing }; // SurgSim opensurgsim-0.7.0/SurgSim/Testing/TestCube.h000066400000000000000000000027611277777236100210170ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_TESTING_TESTCUBE_H #define SURGSIM_TESTING_TESTCUBE_H #include #include "SurgSim/Math/Vector.h" using SurgSim::Math::Vector2d; using SurgSim::Math::Vector3d; using SurgSim::Math::Vector4d; /// \file /// Data for a cube, vertices, color, textures and triangles /// This cube is for using as a mesh. OpenGl does not support per face attributes, therefore /// to implement sharp edges vertices are duplicated over different faces, for a cube all /// vertices need to exist as three copies #include namespace SurgSim { namespace Testing { namespace Cube { /// Fill our standard structures with the correct data types from the cube data void makeCube(std::vector* vertices, std::vector* colors, std::vector* textures, std::vector* triangles); }; // Cube }; // Testing }; // SurgSim #endifopensurgsim-0.7.0/SurgSim/Testing/TestingMain.cpp000066400000000000000000000021251277777236100220500ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #include "SurgSim/Framework/Logger.h" #include "SurgSim/Framework/LogOutput.h" int main(int argc, char** argv) { //Disable logging during tests std::shared_ptr loggerManager; loggerManager = SurgSim::Framework::Logger::getLoggerManager(); loggerManager->setDefaultOutput(std::make_shared()); testing::InitGoogleMock(&argc, argv); return RUN_ALL_TESTS(); } opensurgsim-0.7.0/SurgSim/Testing/Utilities.h000066400000000000000000000024541277777236100212530ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_TESTING_UTILITIES_H #define SURGSIM_TESTING_UTILITIES_H namespace SurgSim { namespace Testing { /// Predicate to use to test whether a container contains a certain element /// \tparam Container type, can usually be deduced /// \param container the container to be tested /// \param value the value to check for /// \return true when the container contains the given value /// \note for maps the value type is std::pair template bool doesContain(const Container& container, const typename Container::value_type& value) { return std::find(container.begin(), container.end(), value) != container.end(); } } } #endif opensurgsim-0.7.0/SurgSim/Testing/VisualTestCommon/000077500000000000000000000000001277777236100223765ustar00rootroot00000000000000opensurgsim-0.7.0/SurgSim/Testing/VisualTestCommon/CMakeLists.txt000066400000000000000000000025341277777236100251420ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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_directories( "${GLUT_INCLUDE_DIR}" ) set(VISUAL_TEST_COMMON_SOURCES GlutRenderer.cpp MovingSquareForce.cpp MovingSquareGlutWindow.cpp ToolSquareTest.cpp ) set(VISUAL_TEST_COMMON_HEADERS GlutRenderer.h MovingSquareForce.h MovingSquareGlutWindow.h ToolSquareTest.h ) set(LIBS SurgSimDataStructures SurgSimFramework SurgSimInput SurgSimMath ${Boost_LIBRARIES} ${GLUT_LIBRARIES} ${OPENGL_LIBRARIES} ) # The headers etc. for this do not need to be shipped, so do NOT use # surgsim_add_library here. add_library(VisualTestCommon ${VISUAL_TEST_COMMON_SOURCES} ${VISUAL_TEST_COMMON_HEADERS}) target_link_libraries(VisualTestCommon ${LIBS}) set_target_properties(VisualTestCommon PROPERTIES FOLDER "Testing") opensurgsim-0.7.0/SurgSim/Testing/VisualTestCommon/GlutRenderer.cpp000066400000000000000000000171131277777236100255070ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Testing/VisualTestCommon/GlutRenderer.h" #include using SurgSim::Math::Vector3d; using SurgSim::Math::RigidTransform3d; int GlutRenderer::m_width = 1024; int GlutRenderer::m_height = 768; std::shared_ptr GlutRenderer::m_camera = nullptr; std::vector< std::shared_ptr > GlutRenderer::m_objects = std::vector< std::shared_ptr >(); GlutRenderObject::~GlutRenderObject() { } void GlutSquare::draw() { glEnable(GL_LIGHTING); glPushMatrix(); glTranslated(pose.translation().x(), pose.translation().y(), pose.translation().z()); Eigen::AngleAxisd angleAxis = Eigen::AngleAxisd(pose.rotation()); glRotated(angleAxis.angle() * 180.0 / M_PI, angleAxis.axis().x(), angleAxis.axis().y(), angleAxis.axis().z()); Vector3d squarePoints[4]; squarePoints[0] = - (halfSize * planeDirectionX) + (halfSize * planeDirectionY); squarePoints[1] = (halfSize * planeDirectionX) + (halfSize * planeDirectionY); squarePoints[2] = (halfSize * planeDirectionX) - (halfSize * planeDirectionY); squarePoints[3] = - (halfSize * planeDirectionX) - (halfSize * planeDirectionY); Vector3d normal = (squarePoints[1] - squarePoints[0]).cross(squarePoints[2] - squarePoints[0]); normal.normalize(); glColor3d(color.x(), color.y(), color.z()); glBegin(GL_QUADS); // Front side glNormal3d(normal.x(), normal.y(), normal.z()); for (int i = 0; i < 4; ++i) { glVertex3d(squarePoints[i].x(), squarePoints[i].y(), squarePoints[i].z()); } // Back side glNormal3d(- normal.x(), - normal.y(), - normal.z()); for (int i = 0; i < 4; ++i) { glVertex3d(squarePoints[3 - i].x(), squarePoints[3 - i].y(), squarePoints[3 - i].z()); } glEnd(); glPopMatrix(); } void GlutAxes::draw() { glDisable(GL_LIGHTING); glPushMatrix(); glTranslated(pose.translation().x(), pose.translation().y(), pose.translation().z()); Eigen::AngleAxisd angleAxis = Eigen::AngleAxisd(pose.rotation()); glRotated(angleAxis.angle() * 180.0 / M_PI, angleAxis.axis().x(), angleAxis.axis().y(), angleAxis.axis().z()); Vector3d axesPoints[4]; axesPoints[0] = Vector3d(0.0, 0.0, 0.0); axesPoints[1] = (length * Vector3d(1.0, 0.0, 0.0)); axesPoints[2] = (length * Vector3d(0.0, 1.0, 0.0)); axesPoints[3] = (length * Vector3d(0.0, 0.0, 1.0)); glLineWidth(width); glBegin(GL_LINES); glColor3d(1.0, 0.0, 0.0); glVertex3d(axesPoints[0].x(), axesPoints[0].y(), axesPoints[0].z()); glVertex3d(axesPoints[1].x(), axesPoints[1].y(), axesPoints[1].z()); glColor3d(0.0, 1.0, 0.0); glVertex3d(axesPoints[0].x(), axesPoints[0].y(), axesPoints[0].z()); glVertex3d(axesPoints[2].x(), axesPoints[2].y(), axesPoints[2].z()); glColor3d(0.0, 0.0, 1.0); glVertex3d(axesPoints[0].x(), axesPoints[0].y(), axesPoints[0].z()); glVertex3d(axesPoints[3].x(), axesPoints[3].y(), axesPoints[3].z()); glEnd(); glPopMatrix(); } void GlutSphere::draw() { glEnable(GL_LIGHTING); glPushMatrix(); glTranslated(pose.translation().x(), pose.translation().y(), pose.translation().z()); Eigen::AngleAxisd angleAxis = Eigen::AngleAxisd(pose.rotation()); glRotated(angleAxis.angle() * 180.0 / M_PI, angleAxis.axis().x(), angleAxis.axis().y(), angleAxis.axis().z()); glColor3d(color.x(), color.y(), color.z()); gluQuadricOrientation(quadratic, GLU_OUTSIDE); gluSphere(quadratic, radius, 32, 32); glPopMatrix(); } void GlutImage::draw() { if (m_firstRun) { glGenTextures(1, &m_texture); m_firstRun = false; } glDisable(GL_LIGHTING); glMatrixMode(GL_PROJECTION); glPushMatrix(); glLoadIdentity(); glOrtho(-1.0, 1.0, -1.0, 1.0, -1.0, 1.0); glMatrixMode(GL_MODELVIEW); glPushMatrix(); glLoadIdentity(); glEnable(GL_TEXTURE_2D); glEnable(GL_BLEND); glBindTexture(GL_TEXTURE_2D, m_texture); ImageType imageData; if(image.tryTakeChanged(&imageData)) { float maxPixel = imageData.getAsVector().maxCoeff(); if (maxPixel > 1.0) { float scaleFactor = 1.0 / maxPixel; glPixelTransferf(GL_RED_SCALE, scaleFactor); glPixelTransferf(GL_BLUE_SCALE, scaleFactor); glPixelTransferf(GL_GREEN_SCALE, scaleFactor); } else { glPixelTransferf(GL_RED_SCALE, 1.0); glPixelTransferf(GL_BLUE_SCALE, 1.0); glPixelTransferf(GL_GREEN_SCALE, 1.0); } switch (imageData.getNumChannels()) { case 1: glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, static_cast(imageData.getWidth()), static_cast(imageData.getHeight()), 0, GL_LUMINANCE, GL_FLOAT, imageData.getData()); break; case 3: glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, static_cast(imageData.getWidth()), static_cast(imageData.getHeight()), 0, GL_RGB, GL_FLOAT, imageData.getData()); break; } glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); } glColor3d(1, 1, 1); glBegin(GL_QUADS); glTexCoord2f(1, 1); glVertex2f(m_bounds.min()(0), m_bounds.min()(1)); glTexCoord2f(0, 1); glVertex2f(m_bounds.max()(0), m_bounds.min()(1)); glTexCoord2f(0, 0); glVertex2f(m_bounds.max()(0), m_bounds.max()(1)); glTexCoord2f(1, 0); glVertex2f(m_bounds.min()(0), m_bounds.max()(1)); glEnd(); glDisable(GL_TEXTURE_2D); glDisable(GL_BLEND); glPopMatrix(); glMatrixMode(GL_PROJECTION); glPopMatrix(); glMatrixMode(GL_MODELVIEW); } void GlutGroup::draw() { glPushMatrix(); glTranslated(pose.translation().x(), pose.translation().y(), pose.translation().z()); Eigen::AngleAxisd angleAxis = Eigen::AngleAxisd(pose.rotation()); glRotated(angleAxis.angle() * 180.0 / M_PI, angleAxis.axis().x(), angleAxis.axis().y(), angleAxis.axis().z()); for (auto it = children.cbegin(); it != children.cend(); ++it) { (*it)->draw(); } glPopMatrix(); } void GlutRenderer::initialize() { char* argv[1]; int argc = 1; std::string title = "GlutWindow"; std::vector charString(title.size() + 1); std::copy(title.begin(), title.end(), charString.begin()); argv[0] = &charString[0]; glutInit(&argc, argv); glutInitDisplayMode(GLUT_DEPTH | GLUT_DOUBLE | GLUT_RGBA); glutInitWindowPosition(100, 100); glutInitWindowSize(m_width, m_height); glutCreateWindow("Simple GLUT display"); glEnable(GL_COLOR_MATERIAL); glEnable(GL_CULL_FACE); glCullFace(GL_BACK); glEnable(GL_DEPTH_TEST); glShadeModel(GL_SMOOTH); glClearColor(0.1f, 0.1f, 0.1f, 1.0f); glutDisplayFunc(display); glutReshapeFunc(reshape); } void GlutRenderer::display() { glViewport(0, 0, static_cast(m_width), static_cast(m_height)); glMatrixMode(GL_PROJECTION); glLoadIdentity(); if (m_camera) { gluPerspective(m_camera->fovY, static_cast(m_width) / m_height, m_camera->zNear, m_camera->zFar); } glMatrixMode(GL_MODELVIEW); glLoadIdentity(); if (m_camera) { gluLookAt(m_camera->eye.x(), m_camera->eye.y(), m_camera->eye.z(), m_camera->center.x(), m_camera->center.y(), m_camera->center.z(), m_camera->up.x(), m_camera->up.y(), m_camera->up.z()); } glEnable(GL_LIGHT0); glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); drawObjects(); glutSwapBuffers(); glutPostRedisplay(); } opensurgsim-0.7.0/SurgSim/Testing/VisualTestCommon/GlutRenderer.h000066400000000000000000000167751277777236100251710ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_TESTING_VISUALTESTCOMMON_GLUTRENDERER_H #define SURGSIM_TESTING_VISUALTESTCOMMON_GLUTRENDERER_H #include #include #include #ifdef __APPLE__ #include #else #define GLUT_NO_LIB_PRAGMA 1 #include #endif #include "SurgSim/DataStructures/Image.h" #include "SurgSim/Framework/LockedContainer.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/RigidTransform.h" /// Abstract definition of an object that can render itself with Glut. struct GlutRenderObject { /// Pose (rotation and translation) of the object. SurgSim::Math::RigidTransform3d pose; /// Constructor initializes pose as identity (no rotation or translation) GlutRenderObject() : pose(SurgSim::Math::RigidTransform3d::Identity()) { } virtual ~GlutRenderObject(); /// Pure virtual draw method for subclasses to define how to draw themselves with Glut. virtual void draw() = 0; }; /// Square with center at local origin. struct GlutSquare : public GlutRenderObject { /// The unit direction along one of the pairs edges of the square. SurgSim::Math::Vector3d planeDirectionX; /// The unit direction along the other pair of edges of the square. SurgSim::Math::Vector3d planeDirectionY; /// One half of the edge length of the square, in meters. double halfSize; /// Color of the square. SurgSim::Math::Vector3d color; /// Constructor /// \param halfSize One half of the edge length of the square, in meters. /// \param color Color of the square. /// \param planeDirectionX The unit direction along one of the pairs edges of the square, default is X-axis. /// \param planeDirectionY The unit direction along the other pair of edges of the square, default is Y-axis. GlutSquare(double halfSize, const SurgSim::Math::Vector3d& color, const SurgSim::Math::Vector3d& planeDirectionX = SurgSim::Math::Vector3d(1.0, 0.0, 0.0), const SurgSim::Math::Vector3d& planeDirectionY = SurgSim::Math::Vector3d(0.0, 1.0, 0.0)) : GlutRenderObject(), planeDirectionX(planeDirectionX), planeDirectionY(planeDirectionY), halfSize(halfSize), color(color) { } /// Draws the square with Glut. virtual void draw(); }; /// Axes with center at local origin, red axis along the local X-axis, green axis along the local Y-axis, and blue axis /// along the local Z-axis. struct GlutAxes : GlutRenderObject { /// Length of each axis, in meters. double length; /// Width of each axis, in pixels. float width; /// Constructor /// \param length Length of each axis, in meters. /// \param width Width of each axis, in pixels. GlutAxes(double length, float width) : GlutRenderObject(), length(length), width(width) { } /// Draws the axes with Glut. virtual void draw(); }; /// Sphere with center at local origin. struct GlutSphere : GlutRenderObject { /// Radius of the sphere, in meters. double radius; /// Color of the sphere. SurgSim::Math::Vector3d color; /// Constructor /// \param radius Radius of the sphere, in meters. /// \param color Color of the sphere. GlutSphere(double radius, const SurgSim::Math::Vector3d& color) : radius(radius), color(color), quadratic(gluNewQuadric()) { } /// Draws the sphere with Glut. virtual void draw(); private: /// GLU quadric object for the quadric operations required to build the sphere. GLUquadric* quadratic; }; /// An Image drawn to the screen struct GlutImage : GlutRenderObject { typedef SurgSim::DataStructures::Image ImageType; /// The image to draw SurgSim::Framework::LockedContainer image; /// Constuctor /// \param bounds The bounds, in window coordinates ([-1..1], [-1..1]), to draw the image. explicit GlutImage(const Eigen::AlignedBox& bounds) : m_bounds(bounds), m_firstRun(true) { } /// Draws the image with Glut virtual void draw(); private: /// Window coordinates to draw the image Eigen::AlignedBox m_bounds; /// Texture used for holding the image unsigned int m_texture; /// Is this the fist run of draw bool m_firstRun; }; /// Group of objects which provides a transform hierarchy. struct GlutGroup : public GlutRenderObject { /// Children of this group. std::vector< std::shared_ptr > children; /// Constructor. The group is initialized with no children. GlutGroup() : GlutRenderObject() { } /// Draws the group with Glut and iterates through its children to draw them. virtual void draw(); }; /// Camera which controls the view of the scene. struct GlutCamera { /// Eye position. SurgSim::Math::Vector3d eye; /// Center (look at) position. SurgSim::Math::Vector3d center; /// Up direction. SurgSim::Math::Vector3d up; /// Field of view angle (in degrees) in the vertical direction. double fovY; /// Near clipping plane distance from camera, in meters. double zNear; /// Far clipping plane distance from camera, in meters. double zFar; /// Constructor /// \param eye_ Eye position. /// \param center_ Center (look at) position. /// \param up_ Up direction. /// \param fovY_ Field of view angle (in degrees) in the vertical direction. /// \param zNear_ Near clipping plane distance from camera, in meters. /// \param zFar_ Far clipping plane distance from camera, in meters. GlutCamera(const SurgSim::Math::Vector3d& eye_, const SurgSim::Math::Vector3d& center_, const SurgSim::Math::Vector3d& up_, const double fovY_, double zNear_, double zFar_) : eye(eye_), center(center_), up(up_), fovY(fovY_), zNear(zNear_), zFar(zFar_) { } }; /// Simple static class renderer built on Glut. class GlutRenderer { public: /// Initializes and runs the Glut main loop. This function will block until the Glut graphics window is closed. static void run() { initialize(); glutMainLoop(); } /// Sets the camera used to control the view of the scene. /// \param camera View camera. static void setCamera(std::shared_ptr camera) { m_camera = camera; } /// Adds an object to the scene. /// \param object Scene object. static void addObject(std::shared_ptr object) { m_objects.push_back(object); } private: /// Width of the window. static int m_width; /// Height of the window. static int m_height; /// Camera which controls the view of the scene. static std::shared_ptr m_camera; /// Objects in the scene. static std::vector< std::shared_ptr > m_objects; /// Initializes the Glut window. static void initialize(); /// Glut reshape function which handles the resizing of the window. static void reshape(GLint width, GLint height) { m_width = width; m_height = height; glViewport(0, 0, m_width, m_height); } /// Glut display function which handles the drawing of the scene. static void display(); /// Iterates through the scene objects to draw them. static void drawObjects() { for (auto it = m_objects.cbegin(); it != m_objects.cend(); ++it) { (*it)->draw(); } } }; #endif // SURGSIM_TESTING_VISUALTESTCOMMON_GLUTRENDERER_H opensurgsim-0.7.0/SurgSim/Testing/VisualTestCommon/MovingSquareForce.cpp000066400000000000000000000105701277777236100265040ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Testing/VisualTestCommon/MovingSquareForce.h" #include "SurgSim/Math/Vector.h" #include "SurgSim/Math/Matrix.h" #include "SurgSim/Math/Quaternion.h" #include "SurgSim/Math/RigidTransform.h" #include "SurgSim/Framework/Assert.h" #include "SurgSim/DataStructures/DataGroupBuilder.h" using SurgSim::DataStructures::DataGroup; using SurgSim::DataStructures::DataGroupBuilder; using SurgSim::Math::Vector3d; using SurgSim::Math::RigidTransform3d; MovingSquareForce::SquarePoseVectors::SquarePoseVectors() : normal(0, -1, 0), edgeDirectionX(1, 0, 0), edgeDirectionY(0, 0, 1), center(0, 0, 0) { } MovingSquareForce::MovingSquareForce(const std::string& toolDeviceName, const std::string& squareDeviceName) : m_toolDeviceName(toolDeviceName), m_squareDeviceName(squareDeviceName), m_squareHalfSize(0.050), m_surfaceStiffness(250.0), m_forceLimit(5.0), m_squareNormalDirection(+1), m_tipPoint(0, 0, 0) { DataGroupBuilder builder; builder.addVector(SurgSim::DataStructures::Names::FORCE); builder.addVector(SurgSim::DataStructures::Names::TORQUE); m_outputData = std::move(builder.createData()); m_outputData.vectors().set(SurgSim::DataStructures::Names::FORCE, Vector3d(0, 0, 0)); m_outputData.vectors().set(SurgSim::DataStructures::Names::TORQUE, Vector3d(0, 0, 0)); } void MovingSquareForce::initializeInput(const std::string& device, const DataGroup& inputData) { } void MovingSquareForce::handleInput(const std::string& device, const DataGroup& inputData) { if (device == m_toolDeviceName) { updateTool(inputData); } else if (device == m_squareDeviceName) { updateSquare(inputData); } else { SURGSIM_FAILURE() << "Unknown device name '" << device << "'"; } } void MovingSquareForce::updateTool(const DataGroup& inputData) { m_outputData.resetAll(); RigidTransform3d devicePose; if (! inputData.poses().get(SurgSim::DataStructures::Names::POSE, &devicePose)) { m_outputData.vectors().set(SurgSim::DataStructures::Names::FORCE, Vector3d(0, 0, 0)); m_outputData.vectors().set(SurgSim::DataStructures::Names::TORQUE, Vector3d(0, 0, 0)); return; } Vector3d tipPosition = devicePose * m_tipPoint; m_outputData.vectors().set(SurgSim::DataStructures::Names::FORCE, computeForce(tipPosition)); m_outputData.vectors().set(SurgSim::DataStructures::Names::TORQUE, Vector3d(0, 0, 0)); } void MovingSquareForce::updateSquare(const DataGroup& inputData) { RigidTransform3d devicePose; if (! inputData.poses().get(SurgSim::DataStructures::Names::POSE, &devicePose)) { return; } SquarePoseVectors square; square.normal = devicePose.linear() * Vector3d(0, -1, 0); square.edgeDirectionX = devicePose.linear() * Vector3d(1, 0, 0); square.edgeDirectionY = devicePose.linear() * Vector3d(0, 0, 1); square.center = devicePose * Vector3d(0, 0, 0); // Push into thread-safe storage so the other device can safely access it m_square.set(square); } bool MovingSquareForce::requestOutput(const std::string& device, DataGroup* outputData) { *outputData = m_outputData; return true; } Vector3d MovingSquareForce::computeForce(const Vector3d& position) { Vector3d force(0, 0, 0); SquarePoseVectors square; m_square.get(&square); Vector3d offset = position - square.center; double orthogonalDistance = offset.dot(square.normal); if ((orthogonalDistance * m_squareNormalDirection) > 0) { double planeDistanceX = offset.dot(square.edgeDirectionX); double planeDistanceY = offset.dot(square.edgeDirectionY); bool insideSquare = (fabs(planeDistanceX) < m_squareHalfSize) && (fabs(planeDistanceY) < m_squareHalfSize); force = -m_surfaceStiffness * orthogonalDistance * square.normal; if ((force.norm() > m_forceLimit) || ! insideSquare) { force.setZero(); m_squareNormalDirection = -m_squareNormalDirection; } } return force; } opensurgsim-0.7.0/SurgSim/Testing/VisualTestCommon/MovingSquareForce.h000066400000000000000000000100771277777236100261530ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_TESTING_VISUALTESTCOMMON_MOVINGSQUAREFORCE_H #define SURGSIM_TESTING_VISUALTESTCOMMON_MOVINGSQUAREFORCE_H #include #include "SurgSim/Input/InputConsumerInterface.h" #include "SurgSim/Input/OutputProducerInterface.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Framework/LockedContainer.h" /// A simple listener to calculate collision force against a square area for the example application. /// Includes support for the square being moved by a second tool. /// \sa SurgSim::Input::InputConsumerInterface, SurgSim::Input::OutputProducerInterface class MovingSquareForce : public SurgSim::Input::InputConsumerInterface, public SurgSim::Input::OutputProducerInterface { public: /// Constructor. MovingSquareForce(const std::string& toolDeviceName, const std::string& squareDeviceName); void initializeInput(const std::string& device, const SurgSim::DataStructures::DataGroup& inputData) override; void handleInput(const std::string& device, const SurgSim::DataStructures::DataGroup& inputData) override; bool requestOutput(const std::string& device, SurgSim::DataStructures::DataGroup* outputData) override; protected: /// Updates the state of the tool as described by toolInputData. /// \param toolInputData The state of the device controlling the tool. void updateTool(const SurgSim::DataStructures::DataGroup& toolInputData); /// Updates the state of the square as described by squareInputData. /// \param squareInputData The state of the device controlling the colliding square. void updateSquare(const SurgSim::DataStructures::DataGroup& squareInputData); /// Calculates the force as a function of device tip position. /// The calculation is very simple, for a simple demo of the device input/output functionality. /// /// \param position The device tip position. /// \return The computed force. SurgSim::Math::Vector3d computeForce(const SurgSim::Math::Vector3d& position); private: /// State defined by the pose of the square. struct SquarePoseVectors { /// Constructor. SquarePoseVectors(); /// The unit normal vector of the square. SurgSim::Math::Vector3d normal; /// The unit direction along one of the pairs edges of the square. SurgSim::Math::Vector3d edgeDirectionX; /// The unit direction along the other pair of edges of the square. SurgSim::Math::Vector3d edgeDirectionY; /// The location of the center of the square in world coordinates. SurgSim::Math::Vector3d center; }; /// Name of the device used as the tool. const std::string m_toolDeviceName; /// Name of the device used to move the square. const std::string m_squareDeviceName; /// Internally stored output data (force and torque). SurgSim::DataStructures::DataGroup m_outputData; /// One half of the edge length of the square we're colliding against, in meters. double m_squareHalfSize; /// The surface stiffness, in newtons per meter. double m_surfaceStiffness; /// The maximum force before the application allows the tool to pop through. double m_forceLimit; /// Points and directions defined by the pose of the square. SurgSim::Framework::LockedContainer m_square; /// The current sign of the direction of the normal vector of the square. double m_squareNormalDirection; /// The location of the "tip" (i.e. interacting point) of the tool, in the local frame relative to the tool pose. SurgSim::Math::Vector3d m_tipPoint; }; #endif // SURGSIM_TESTING_VISUALTESTCOMMON_MOVINGSQUAREFORCE_H opensurgsim-0.7.0/SurgSim/Testing/VisualTestCommon/MovingSquareGlutWindow.cpp000066400000000000000000000101501277777236100275430ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 "SurgSim/Testing/VisualTestCommon/MovingSquareGlutWindow.h" using SurgSim::DataStructures::DataGroup; using SurgSim::Math::Vector3d; using SurgSim::Math::RigidTransform3d; MovingSquareGlutWindow::MovingSquareGlutWindow(const std::string& toolDeviceName, const std::string& squareDeviceName) : m_toolDeviceName(toolDeviceName), m_squareDeviceName(squareDeviceName), m_tool(std::make_shared()) { m_camera = std::make_shared(Vector3d(-0.15, 0.15, 0.3), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0), 45.0, 0.001, 1.0); GlutRenderer::setCamera(m_camera); m_square = std::make_shared(0.050, Vector3d(1.0, 1.0, 1.0), Vector3d(1.0, 0.0, 0.0), Vector3d(0.0, 0.0, 1.0)); GlutRenderer::addObject(m_square); m_toolSphere = std::make_shared(0.010, Vector3d(1.0, 1.0, 1.0)); std::shared_ptr toolAxes = std::make_shared(0.025, 5.0f); m_tool->children.push_back(m_toolSphere); m_tool->children.push_back(toolAxes); GlutRenderer::addObject(m_tool); m_renderThread = boost::thread(boost::ref(GlutRenderer::run)); } MovingSquareGlutWindow::~MovingSquareGlutWindow() { if (m_renderThread.joinable()) { m_renderThread.join(); } } void MovingSquareGlutWindow::initializeInput(const std::string& device, const DataGroup& inputData) { } void MovingSquareGlutWindow::handleInput(const std::string& device, const DataGroup& inputData) { if (device == m_toolDeviceName) { updateTool(inputData); } else if (device == m_squareDeviceName) { updateSquare(inputData); } else { SURGSIM_FAILURE() << "Unknown device name '" << device << "'"; } } void MovingSquareGlutWindow::updateTool(const DataGroup& inputData) { RigidTransform3d devicePose; bool button1, button2, button3, button4, isHomed; if (! inputData.poses().get(SurgSim::DataStructures::Names::POSE, &devicePose)) { return; // not much we can do without a pose... } if (! inputData.booleans().get(SurgSim::DataStructures::Names::BUTTON_1, &button1)) { button1 = false; } if (! inputData.booleans().get(SurgSim::DataStructures::Names::BUTTON_2, &button2)) { button2 = false; } if (! inputData.booleans().get(SurgSim::DataStructures::Names::BUTTON_3, &button3)) { button3 = false; } if (! inputData.booleans().get(SurgSim::DataStructures::Names::BUTTON_4, &button4)) { button4 = false; } if (! inputData.booleans().get(SurgSim::DataStructures::Names::IS_HOMED, &isHomed)) { isHomed = true; // if device has no homing indication, never show as un-homed } m_tool->pose = devicePose; // We generate the color as a linear combination from various states and buttons. We start from plain white. Vector3d unscaledColor(1.0, 1.0, 1.0); double colorScale = 1; if (! isHomed) { unscaledColor += Vector3d(1.0, 0.0, 0.0); // if un-homed, show the device as red colorScale += 1; } if (button1) { unscaledColor += 1.5 * Vector3d(0.0, 1.0, 1.0); colorScale += 1.5; } if (button2) { unscaledColor += 1.5 * Vector3d(1.0, 0.0, 1.0); colorScale += 1.5; } if (button3) { unscaledColor += 1.5 * Vector3d(1.0, 1.0, 0.0); colorScale += 1.5; } if (button4) { unscaledColor += 1.5 * Vector3d(0.7, 0.7, 0.7); colorScale += 1.5; } m_toolSphere->color = unscaledColor * (1.0 / colorScale); } void MovingSquareGlutWindow::updateSquare(const DataGroup& inputData) { RigidTransform3d devicePose; if (! inputData.poses().get(SurgSim::DataStructures::Names::POSE, &devicePose)) { return; } m_square->pose = devicePose; } opensurgsim-0.7.0/SurgSim/Testing/VisualTestCommon/MovingSquareGlutWindow.h000066400000000000000000000054161277777236100272210ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_TESTING_VISUALTESTCOMMON_MOVINGSQUAREGLUTWINDOW_H #define SURGSIM_TESTING_VISUALTESTCOMMON_MOVINGSQUAREGLUTWINDOW_H #include #include "SurgSim/Input/InputConsumerInterface.h" #include "SurgSim/Input/OutputProducerInterface.h" #include "SurgSim/DataStructures/DataGroup.h" #include "SurgSim/Testing/VisualTestCommon/GlutRenderer.h" /// A simple listener to display the simple scene composed of a square and tool for the example application. /// Includes support for the square being moved by a second tool. /// \sa SurgSim::Input::InputConsumerInterface class MovingSquareGlutWindow : public SurgSim::Input::InputConsumerInterface { public: /// Constructor. MovingSquareGlutWindow(const std::string& toolDeviceName, const std::string& squareDeviceName); /// Destructor. ~MovingSquareGlutWindow(); void initializeInput(const std::string& device, const SurgSim::DataStructures::DataGroup& inputData) override; void handleInput(const std::string& device, const SurgSim::DataStructures::DataGroup& inputData) override; protected: private: /// Render thread which runs the Glut main loop. boost::thread m_renderThread; /// Name of the tool device. const std::string m_toolDeviceName; /// Name of the square device. const std::string m_squareDeviceName; /// Camera which controls the view of the scene. std::shared_ptr m_camera; /// Tool composed of a sphere and axes that are moved with device input. std::shared_ptr m_tool; /// Sphere of the tool. Pointer is kept here so that the color can easily be changed based on the device's button /// state. std::shared_ptr m_toolSphere; /// Square that is moved with device input. std::shared_ptr m_square; /// Updates the tool based on the device input. /// \param inputData Input data from the device. void updateTool(const SurgSim::DataStructures::DataGroup& inputData); /// Updates the square based on the device input. /// \param inputData Input data from the device. void updateSquare(const SurgSim::DataStructures::DataGroup& inputData); }; #endif // SURGSIM_TESTING_VISUALTESTCOMMON_MOVINGSQUAREGLUTWINDOW_H opensurgsim-0.7.0/SurgSim/Testing/VisualTestCommon/ToolSquareTest.cpp000066400000000000000000000061431277777236100260440ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 #ifdef __APPLE__ #include #else #define GLUT_NO_LIB_PRAGMA 1 #include #endif #include "SurgSim/Input/DeviceInterface.h" #include "SurgSim/Framework/Assert.h" using SurgSim::Input::DeviceInterface; #include "SurgSim/Testing/VisualTestCommon/MovingSquareForce.h" #include "SurgSim/Testing/VisualTestCommon/MovingSquareGlutWindow.h" void runToolSquareTest(std::shared_ptr toolDevice, std::shared_ptr squareDevice, const char* testDescriptionMessage) { SURGSIM_ASSERT(toolDevice && squareDevice); if (! toolDevice->initialize()) { std::cout << std::endl << "Could not initialize device named '" << toolDevice->getName() << "' for the tool." << std::endl << "--- Press Enter to quit the application! ---" << std::endl; getc(stdin); return; } if (! squareDevice->initialize()) { std::cout << std::endl << "Could not initialize device named '" << squareDevice->getName() << "' for the square." << std::endl << "--- Press Enter to quit the application! ---" << std::endl; getc(stdin); return; } std::shared_ptr squareForce = std::make_shared(toolDevice->getName(), squareDevice->getName()); toolDevice->addInputConsumer(squareForce); toolDevice->setOutputProducer(squareForce); squareDevice->addInputConsumer(squareForce); // NB: the code does not currently support exerting the reaction force on the square. std::shared_ptr squareGlutWindow = std::make_shared(toolDevice->getName(), squareDevice->getName()); toolDevice->addInputConsumer(squareGlutWindow); squareDevice->addInputConsumer(squareGlutWindow); std::cout << std::endl << "**********************************************************************" << std::endl << testDescriptionMessage << std::endl << std::endl << "When done, press Enter to quit the application." << std::endl << "**********************************************************************" << std::endl; // Wait for a key; the display, force generation, etc. all happen in separate threads. getc(stdin); toolDevice->removeInputConsumer(squareForce); toolDevice->removeOutputProducer(squareForce); squareDevice->removeInputConsumer(squareForce); toolDevice->removeInputConsumer(squareGlutWindow); squareDevice->removeInputConsumer(squareGlutWindow); // Right now you can't just tear down the MovingSquareGlutWindow, so we exit with prejudice instead. exit(0); } opensurgsim-0.7.0/SurgSim/Testing/VisualTestCommon/ToolSquareTest.h000066400000000000000000000031761277777236100255140ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2013, SimQuest Solutions 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 // // 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 SURGSIM_TESTING_VISUALTESTCOMMON_TOOLSQUARETEST_H #define SURGSIM_TESTING_VISUALTESTCOMMON_TOOLSQUARETEST_H #include namespace SurgSim { namespace Input { class DeviceInterface; }; }; /// Creates a GLUT window containing a sphere and a square each controlled by a device, with interaction forces. /// \warning Does not return, instead calls exit(0). Therefore, will not destruct the device or its scaffold. /// \sa MovingSquareForce, MovingSquareGlutWindow /// \param toolDevice The device providing an input pose to control the sphere. /// \param squareDevice The device providing an input pose to control the square. /// \param testDescriptionMessage A message to be printed to the screen, e.g., instructions for operation. void runToolSquareTest(std::shared_ptr toolDevice, std::shared_ptr squareDevice, const char* testDescriptionMessage); #endif // SURGSIM_TESTING_VISUALTESTCOMMON_TOOLSQUARETEST_H opensurgsim-0.7.0/ThirdParty/000077500000000000000000000000001277777236100162065ustar00rootroot00000000000000opensurgsim-0.7.0/ThirdParty/README_THIRD_PARTY000066400000000000000000000001721277777236100207770ustar00rootroot00000000000000This directory contains third-party software that is not a part of OpenSurgSim, but is packaged with it for convenience. opensurgsim-0.7.0/ThirdParty/google-style-lint/000077500000000000000000000000001277777236100215645ustar00rootroot00000000000000opensurgsim-0.7.0/ThirdParty/google-style-lint/cpplint.py000066400000000000000000007303471277777236100236250ustar00rootroot00000000000000#!/usr/bin/env python # # Copyright (c) 2009 Google Inc. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are # met: # # * Redistributions of source code must retain the above copyright # notice, this list of conditions and the following disclaimer. # * Redistributions in binary form must reproduce the above # copyright notice, this list of conditions and the following disclaimer # in the documentation and/or other materials provided with the # distribution. # * Neither the name of Google Inc. nor the names of its # contributors may be used to endorse or promote products derived from # this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR # A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT # OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, # SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT # LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, # DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY # THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT # (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. """Does google-lint on c++ files. The goal of this script is to identify places in the code that *may* be in non-compliance with google style. It does not attempt to fix up these problems -- the point is to educate. It does also not attempt to find all problems, or to ensure that everything it does find is legitimately a problem. In particular, we can get very confused by /* and // inside strings! We do a small hack, which is to ignore //'s with "'s after them on the same line, but it is far from perfect (in either direction). """ import codecs import copy import getopt import math # for log import os import re import sre_compile import string import sys import unicodedata _USAGE = """ Syntax: cpplint.py [--verbose=#] [--output=vs7] [--filter=-x,+y,...] [--counting=total|toplevel|detailed] [--root=subdir] [--linelength=digits] [file] ... The style guidelines this tries to follow are those in http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml Every problem is given a confidence score from 1-5, with 5 meaning we are certain of the problem, and 1 meaning it could be a legitimate construct. This will miss some errors, and is not a substitute for a code review. To suppress false-positive errors of a certain category, add a 'NOLINT(category)' comment to the line. NOLINT or NOLINT(*) suppresses errors of all categories on that line. The files passed in will be linted; at least one file must be provided. Default linted extensions are .cc, .cpp, .cu, .cuh and .h. Change the extensions with the --extensions flag. Flags: output=vs7 By default, the output is formatted to ease emacs parsing. Visual Studio compatible output (vs7) may also be used. Other formats are unsupported. verbose=# Specify a number 0-5 to restrict errors to certain verbosity levels. filter=-x,+y,... Specify a comma-separated list of category-filters to apply: only error messages whose category names pass the filters will be printed. (Category names are printed with the message and look like "[whitespace/indent]".) Filters are evaluated left to right. "-FOO" and "FOO" means "do not print categories that start with FOO". "+FOO" means "do print categories that start with FOO". Examples: --filter=-whitespace,+whitespace/braces --filter=whitespace,runtime/printf,+runtime/printf_format --filter=-,+build/include_what_you_use To see a list of all the categories used in cpplint, pass no arg: --filter= counting=total|toplevel|detailed The total number of errors found is always printed. If 'toplevel' is provided, then the count of errors in each of the top-level categories like 'build' and 'whitespace' will also be printed. If 'detailed' is provided, then a count is provided for each category like 'build/class'. root=subdir The root directory used for deriving header guard CPP variable. By default, the header guard CPP variable is calculated as the relative path to the directory that contains .git, .hg, or .svn. When this flag is specified, the relative path is calculated from the specified directory. If the specified directory does not exist, this flag is ignored. Examples: Assuming that src/.git exists, the header guard CPP variables for src/chrome/browser/ui/browser.h are: No flag => CHROME_BROWSER_UI_BROWSER_H_ --root=chrome => BROWSER_UI_BROWSER_H_ --root=chrome/browser => UI_BROWSER_H_ linelength=digits This is the allowed line length for the project. The default value is 80 characters. Examples: --linelength=120 extensions=extension,extension,... The allowed file extensions that cpplint will check Examples: --extensions=hpp,cpp cpplint.py supports per-directory configurations specified in CPPLINT.cfg files. CPPLINT.cfg file can contain a number of key=value pairs. Currently the following options are supported: set noparent filter=+filter1,-filter2,... exclude_files=regex linelength=80 "set noparent" option prevents cpplint from traversing directory tree upwards looking for more .cfg files in parent directories. This option is usually placed in the top-level project directory. The "filter" option is similar in function to --filter flag. It specifies message filters in addition to the |_DEFAULT_FILTERS| and those specified through --filter command-line flag. "exclude_files" allows to specify a regular expression to be matched against a file name. If the expression matches, the file is skipped and not run through liner. "linelength" allows to specify the allowed line length for the project. CPPLINT.cfg has an effect on files in the same directory and all sub-directories, unless overridden by a nested configuration file. Example file: filter=-build/include_order,+build/include_alpha exclude_files=.*\.cc The above example disables build/include_order warning and enables build/include_alpha as well as excludes all .cc from being processed by linter, in the current directory (where the .cfg file is located) and all sub-directories. """ # We categorize each error message we print. Here are the categories. # We want an explicit list so we can list them all in cpplint --filter=. # If you add a new error message with a new category, add it to the list # here! cpplint_unittest.py should tell you if you forget to do this. _ERROR_CATEGORIES = [ 'build/class', 'build/c++11', 'build/deprecated', 'build/endif_comment', 'build/explicit_make_pair', 'build/forward_decl', 'build/header_guard', 'build/include', 'build/include_alpha', 'build/include_order', 'build/include_what_you_use', 'build/namespaces', 'build/printf_format', 'build/storage_class', 'legal/copyright', 'readability/alt_tokens', 'readability/braces', 'readability/casting', 'readability/check', 'readability/constructors', 'readability/fn_size', 'readability/function', 'readability/inheritance', 'readability/multiline_comment', 'readability/multiline_string', 'readability/namespace', 'readability/nolint', 'readability/nul', 'readability/strings', 'readability/todo', 'readability/utf8', 'runtime/arrays', 'runtime/casting', 'runtime/explicit', 'runtime/int', 'runtime/init', 'runtime/invalid_increment', 'runtime/member_string_references', 'runtime/memset', 'runtime/indentation_namespace', 'runtime/operator', 'runtime/printf', 'runtime/printf_format', 'runtime/references', 'runtime/string', 'runtime/threadsafe_fn', 'runtime/vlog', 'whitespace/blank_line', 'whitespace/braces', 'whitespace/comma', 'whitespace/comments', 'whitespace/empty_conditional_body', 'whitespace/empty_loop_body', 'whitespace/end_of_line', 'whitespace/ending_newline', 'whitespace/forcolon', 'whitespace/indent', 'whitespace/line_length', 'whitespace/newline', 'whitespace/operators', 'whitespace/parens', 'whitespace/semicolon', 'whitespace/tab', 'whitespace/todo', ] # These error categories are no longer enforced by cpplint, but for backwards- # compatibility they may still appear in NOLINT comments. _LEGACY_ERROR_CATEGORIES = [ 'readability/streams', ] # The default state of the category filter. This is overridden by the --filter= # flag. By default all errors are on, so only add here categories that should be # off by default (i.e., categories that must be enabled by the --filter= flags). # All entries here should start with a '-' or '+', as in the --filter= flag. _DEFAULT_FILTERS = ['-build/include_alpha'] # We used to check for high-bit characters, but after much discussion we # decided those were OK, as long as they were in UTF-8 and didn't represent # hard-coded international strings, which belong in a separate i18n file. # C++ headers _CPP_HEADERS = frozenset([ # Legacy 'algobase.h', 'algo.h', 'alloc.h', 'builtinbuf.h', 'bvector.h', 'complex.h', 'defalloc.h', 'deque.h', 'editbuf.h', 'fstream.h', 'function.h', 'hash_map', 'hash_map.h', 'hash_set', 'hash_set.h', 'hashtable.h', 'heap.h', 'indstream.h', 'iomanip.h', 'iostream.h', 'istream.h', 'iterator.h', 'list.h', 'map.h', 'multimap.h', 'multiset.h', 'ostream.h', 'pair.h', 'parsestream.h', 'pfstream.h', 'procbuf.h', 'pthread_alloc', 'pthread_alloc.h', 'rope', 'rope.h', 'ropeimpl.h', 'set.h', 'slist', 'slist.h', 'stack.h', 'stdiostream.h', 'stl_alloc.h', 'stl_relops.h', 'streambuf.h', 'stream.h', 'strfile.h', 'strstream.h', 'tempbuf.h', 'tree.h', 'type_traits.h', 'vector.h', # 17.6.1.2 C++ library headers 'algorithm', 'array', 'atomic', 'bitset', 'chrono', 'codecvt', 'complex', 'condition_variable', 'deque', 'exception', 'forward_list', 'fstream', 'functional', 'future', 'initializer_list', 'iomanip', 'ios', 'iosfwd', 'iostream', 'istream', 'iterator', 'limits', 'list', 'locale', 'map', 'memory', 'mutex', 'new', 'numeric', 'ostream', 'queue', 'random', 'ratio', 'regex', 'set', 'sstream', 'stack', 'stdexcept', 'streambuf', 'string', 'strstream', 'system_error', 'thread', 'tuple', 'typeindex', 'typeinfo', 'type_traits', 'unordered_map', 'unordered_set', 'utility', 'valarray', 'vector', # 17.6.1.2 C++ headers for C library facilities 'cassert', 'ccomplex', 'cctype', 'cerrno', 'cfenv', 'cfloat', 'cinttypes', 'ciso646', 'climits', 'clocale', 'cmath', 'csetjmp', 'csignal', 'cstdalign', 'cstdarg', 'cstdbool', 'cstddef', 'cstdint', 'cstdio', 'cstdlib', 'cstring', 'ctgmath', 'ctime', 'cuchar', 'cwchar', 'cwctype', ]) # These headers are excluded from [build/include] and [build/include_order] # checks: # - Anything not following google file name conventions (containing an # uppercase character, such as Python.h or nsStringAPI.h, for example). # - Lua headers. _THIRD_PARTY_HEADERS_PATTERN = re.compile( r'^(?:[^/]*[A-Z][^/]*\.h|lua\.h|lauxlib\.h|lualib\.h)$') # Assertion macros. These are defined in base/logging.h and # testing/base/gunit.h. Note that the _M versions need to come first # for substring matching to work. _CHECK_MACROS = [ 'DCHECK', 'CHECK', 'EXPECT_TRUE_M', 'EXPECT_TRUE', 'ASSERT_TRUE_M', 'ASSERT_TRUE', 'EXPECT_FALSE_M', 'EXPECT_FALSE', 'ASSERT_FALSE_M', 'ASSERT_FALSE', ] # Replacement macros for CHECK/DCHECK/EXPECT_TRUE/EXPECT_FALSE _CHECK_REPLACEMENT = dict([(m, {}) for m in _CHECK_MACROS]) for op, replacement in [('==', 'EQ'), ('!=', 'NE'), ('>=', 'GE'), ('>', 'GT'), ('<=', 'LE'), ('<', 'LT')]: _CHECK_REPLACEMENT['DCHECK'][op] = 'DCHECK_%s' % replacement _CHECK_REPLACEMENT['CHECK'][op] = 'CHECK_%s' % replacement _CHECK_REPLACEMENT['EXPECT_TRUE'][op] = 'EXPECT_%s' % replacement _CHECK_REPLACEMENT['ASSERT_TRUE'][op] = 'ASSERT_%s' % replacement _CHECK_REPLACEMENT['EXPECT_TRUE_M'][op] = 'EXPECT_%s_M' % replacement _CHECK_REPLACEMENT['ASSERT_TRUE_M'][op] = 'ASSERT_%s_M' % replacement for op, inv_replacement in [('==', 'NE'), ('!=', 'EQ'), ('>=', 'LT'), ('>', 'LE'), ('<=', 'GT'), ('<', 'GE')]: _CHECK_REPLACEMENT['EXPECT_FALSE'][op] = 'EXPECT_%s' % inv_replacement _CHECK_REPLACEMENT['ASSERT_FALSE'][op] = 'ASSERT_%s' % inv_replacement _CHECK_REPLACEMENT['EXPECT_FALSE_M'][op] = 'EXPECT_%s_M' % inv_replacement _CHECK_REPLACEMENT['ASSERT_FALSE_M'][op] = 'ASSERT_%s_M' % inv_replacement # Alternative tokens and their replacements. For full list, see section 2.5 # Alternative tokens [lex.digraph] in the C++ standard. # # Digraphs (such as '%:') are not included here since it's a mess to # match those on a word boundary. _ALT_TOKEN_REPLACEMENT = { 'and': '&&', 'bitor': '|', 'or': '||', 'xor': '^', 'compl': '~', 'bitand': '&', 'and_eq': '&=', 'or_eq': '|=', 'xor_eq': '^=', 'not': '!', 'not_eq': '!=' } # Compile regular expression that matches all the above keywords. The "[ =()]" # bit is meant to avoid matching these keywords outside of boolean expressions. # # False positives include C-style multi-line comments and multi-line strings # but those have always been troublesome for cpplint. _ALT_TOKEN_REPLACEMENT_PATTERN = re.compile( r'[ =()](' + ('|'.join(_ALT_TOKEN_REPLACEMENT.keys())) + r')(?=[ (]|$)') # These constants define types of headers for use with # _IncludeState.CheckNextIncludeOrder(). _C_SYS_HEADER = 1 _CPP_SYS_HEADER = 2 _LIKELY_MY_HEADER = 3 _POSSIBLE_MY_HEADER = 4 _OTHER_HEADER = 5 # These constants define the current inline assembly state _NO_ASM = 0 # Outside of inline assembly block _INSIDE_ASM = 1 # Inside inline assembly block _END_ASM = 2 # Last line of inline assembly block _BLOCK_ASM = 3 # The whole block is an inline assembly block # Match start of assembly blocks _MATCH_ASM = re.compile(r'^\s*(?:asm|_asm|__asm|__asm__)' r'(?:\s+(volatile|__volatile__))?' r'\s*[{(]') _regexp_compile_cache = {} # {str, set(int)}: a map from error categories to sets of linenumbers # on which those errors are expected and should be suppressed. _error_suppressions = {} # The root directory used for deriving header guard CPP variable. # This is set by --root flag. _root = None # The allowed line length of files. # This is set by --linelength flag. _line_length = 80 # The allowed extensions for file names # This is set by --extensions flag. _valid_extensions = set(['cc', 'h', 'cpp', 'cu', 'cuh']) def ParseNolintSuppressions(filename, raw_line, linenum, error): """Updates the global list of error-suppressions. Parses any NOLINT comments on the current line, updating the global error_suppressions store. Reports an error if the NOLINT comment was malformed. Args: filename: str, the name of the input file. raw_line: str, the line of input text, with comments. linenum: int, the number of the current line. error: function, an error handler. """ matched = Search(r'\bNOLINT(NEXTLINE)?\b(\([^)]+\))?', raw_line) if matched: if matched.group(1): suppressed_line = linenum + 1 else: suppressed_line = linenum category = matched.group(2) if category in (None, '(*)'): # => "suppress all" _error_suppressions.setdefault(None, set()).add(suppressed_line) else: if category.startswith('(') and category.endswith(')'): category = category[1:-1] if category in _ERROR_CATEGORIES: _error_suppressions.setdefault(category, set()).add(suppressed_line) elif category not in _LEGACY_ERROR_CATEGORIES: error(filename, linenum, 'readability/nolint', 5, 'Unknown NOLINT error category: %s' % category) def ResetNolintSuppressions(): """Resets the set of NOLINT suppressions to empty.""" _error_suppressions.clear() def IsErrorSuppressedByNolint(category, linenum): """Returns true if the specified error category is suppressed on this line. Consults the global error_suppressions map populated by ParseNolintSuppressions/ResetNolintSuppressions. Args: category: str, the category of the error. linenum: int, the current line number. Returns: bool, True iff the error should be suppressed due to a NOLINT comment. """ return (linenum in _error_suppressions.get(category, set()) or linenum in _error_suppressions.get(None, set())) def Match(pattern, s): """Matches the string with the pattern, caching the compiled regexp.""" # The regexp compilation caching is inlined in both Match and Search for # performance reasons; factoring it out into a separate function turns out # to be noticeably expensive. if pattern not in _regexp_compile_cache: _regexp_compile_cache[pattern] = sre_compile.compile(pattern) return _regexp_compile_cache[pattern].match(s) def ReplaceAll(pattern, rep, s): """Replaces instances of pattern in a string with a replacement. The compiled regex is kept in a cache shared by Match and Search. Args: pattern: regex pattern rep: replacement text s: search string Returns: string with replacements made (or original string if no replacements) """ if pattern not in _regexp_compile_cache: _regexp_compile_cache[pattern] = sre_compile.compile(pattern) return _regexp_compile_cache[pattern].sub(rep, s) def Search(pattern, s): """Searches the string for the pattern, caching the compiled regexp.""" if pattern not in _regexp_compile_cache: _regexp_compile_cache[pattern] = sre_compile.compile(pattern) return _regexp_compile_cache[pattern].search(s) class _IncludeState(object): """Tracks line numbers for includes, and the order in which includes appear. include_list contains list of lists of (header, line number) pairs. It's a lists of lists rather than just one flat list to make it easier to update across preprocessor boundaries. Call CheckNextIncludeOrder() once for each header in the file, passing in the type constants defined above. Calls in an illegal order will raise an _IncludeError with an appropriate error message. """ # self._section will move monotonically through this set. If it ever # needs to move backwards, CheckNextIncludeOrder will raise an error. _INITIAL_SECTION = 0 _MY_H_SECTION = 1 _C_SECTION = 2 _CPP_SECTION = 3 _OTHER_H_SECTION = 4 _TYPE_NAMES = { _C_SYS_HEADER: 'C system header', _CPP_SYS_HEADER: 'C++ system header', _LIKELY_MY_HEADER: 'header this file implements', _POSSIBLE_MY_HEADER: 'header this file may implement', _OTHER_HEADER: 'other header', } _SECTION_NAMES = { _INITIAL_SECTION: "... nothing. (This can't be an error.)", _MY_H_SECTION: 'a header this file implements', _C_SECTION: 'C system header', _CPP_SECTION: 'C++ system header', _OTHER_H_SECTION: 'other header', } def __init__(self): self.include_list = [[]] self.ResetSection('') def FindHeader(self, header): """Check if a header has already been included. Args: header: header to check. Returns: Line number of previous occurrence, or -1 if the header has not been seen before. """ for section_list in self.include_list: for f in section_list: if f[0] == header: return f[1] return -1 def ResetSection(self, directive): """Reset section checking for preprocessor directive. Args: directive: preprocessor directive (e.g. "if", "else"). """ # The name of the current section. self._section = self._INITIAL_SECTION # The path of last found header. self._last_header = '' # Update list of includes. Note that we never pop from the # include list. if directive in ('if', 'ifdef', 'ifndef'): self.include_list.append([]) elif directive in ('else', 'elif'): self.include_list[-1] = [] def SetLastHeader(self, header_path): self._last_header = header_path def CanonicalizeAlphabeticalOrder(self, header_path): """Returns a path canonicalized for alphabetical comparison. - replaces "-" with "_" so they both cmp the same. - removes '-inl' since we don't require them to be after the main header. - lowercase everything, just in case. Args: header_path: Path to be canonicalized. Returns: Canonicalized path. """ return header_path.replace('-inl.h', '.h').replace('-', '_').lower() def IsInAlphabeticalOrder(self, clean_lines, linenum, header_path): """Check if a header is in alphabetical order with the previous header. Args: clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. header_path: Canonicalized header to be checked. Returns: Returns true if the header is in alphabetical order. """ # If previous section is different from current section, _last_header will # be reset to empty string, so it's always less than current header. # # If previous line was a blank line, assume that the headers are # intentionally sorted the way they are. if (self._last_header > header_path and Match(r'^\s*#\s*include\b', clean_lines.elided[linenum - 1])): return False return True def CheckNextIncludeOrder(self, header_type): """Returns a non-empty error message if the next header is out of order. This function also updates the internal state to be ready to check the next include. Args: header_type: One of the _XXX_HEADER constants defined above. Returns: The empty string if the header is in the right order, or an error message describing what's wrong. """ error_message = ('Found %s after %s' % (self._TYPE_NAMES[header_type], self._SECTION_NAMES[self._section])) last_section = self._section if header_type == _C_SYS_HEADER: if self._section <= self._C_SECTION: self._section = self._C_SECTION else: self._last_header = '' return error_message elif header_type == _CPP_SYS_HEADER: if self._section <= self._CPP_SECTION: self._section = self._CPP_SECTION else: self._last_header = '' return error_message elif header_type == _LIKELY_MY_HEADER: if self._section <= self._MY_H_SECTION: self._section = self._MY_H_SECTION else: self._section = self._OTHER_H_SECTION elif header_type == _POSSIBLE_MY_HEADER: if self._section <= self._MY_H_SECTION: self._section = self._MY_H_SECTION else: # This will always be the fallback because we're not sure # enough that the header is associated with this file. self._section = self._OTHER_H_SECTION else: assert header_type == _OTHER_HEADER self._section = self._OTHER_H_SECTION if last_section != self._section: self._last_header = '' return '' class _CppLintState(object): """Maintains module-wide state..""" def __init__(self): self.verbose_level = 1 # global setting. self.error_count = 0 # global count of reported errors # filters to apply when emitting error messages self.filters = _DEFAULT_FILTERS[:] # backup of filter list. Used to restore the state after each file. self._filters_backup = self.filters[:] self.counting = 'total' # In what way are we counting errors? self.errors_by_category = {} # string to int dict storing error counts # output format: # "emacs" - format that emacs can parse (default) # "vs7" - format that Microsoft Visual Studio 7 can parse self.output_format = 'emacs' def SetOutputFormat(self, output_format): """Sets the output format for errors.""" self.output_format = output_format def SetVerboseLevel(self, level): """Sets the module's verbosity, and returns the previous setting.""" last_verbose_level = self.verbose_level self.verbose_level = level return last_verbose_level def SetCountingStyle(self, counting_style): """Sets the module's counting options.""" self.counting = counting_style def SetFilters(self, filters): """Sets the error-message filters. These filters are applied when deciding whether to emit a given error message. Args: filters: A string of comma-separated filters (eg "+whitespace/indent"). Each filter should start with + or -; else we die. Raises: ValueError: The comma-separated filters did not all start with '+' or '-'. E.g. "-,+whitespace,-whitespace/indent,whitespace/badfilter" """ # Default filters always have less priority than the flag ones. self.filters = _DEFAULT_FILTERS[:] self.AddFilters(filters) def AddFilters(self, filters): """ Adds more filters to the existing list of error-message filters. """ for filt in filters.split(','): clean_filt = filt.strip() if clean_filt: self.filters.append(clean_filt) for filt in self.filters: if not (filt.startswith('+') or filt.startswith('-')): raise ValueError('Every filter in --filters must start with + or -' ' (%s does not)' % filt) def BackupFilters(self): """ Saves the current filter list to backup storage.""" self._filters_backup = self.filters[:] def RestoreFilters(self): """ Restores filters previously backed up.""" self.filters = self._filters_backup[:] def ResetErrorCounts(self): """Sets the module's error statistic back to zero.""" self.error_count = 0 self.errors_by_category = {} def IncrementErrorCount(self, category): """Bumps the module's error statistic.""" self.error_count += 1 if self.counting in ('toplevel', 'detailed'): if self.counting != 'detailed': category = category.split('/')[0] if category not in self.errors_by_category: self.errors_by_category[category] = 0 self.errors_by_category[category] += 1 def PrintErrorCounts(self): """Print a summary of errors by category, and the total.""" for category, count in self.errors_by_category.iteritems(): sys.stderr.write('Category \'%s\' errors found: %d\n' % (category, count)) sys.stderr.write('Total errors found: %d\n' % self.error_count) _cpplint_state = _CppLintState() def _OutputFormat(): """Gets the module's output format.""" return _cpplint_state.output_format def _SetOutputFormat(output_format): """Sets the module's output format.""" _cpplint_state.SetOutputFormat(output_format) def _VerboseLevel(): """Returns the module's verbosity setting.""" return _cpplint_state.verbose_level def _SetVerboseLevel(level): """Sets the module's verbosity, and returns the previous setting.""" return _cpplint_state.SetVerboseLevel(level) def _SetCountingStyle(level): """Sets the module's counting options.""" _cpplint_state.SetCountingStyle(level) def _Filters(): """Returns the module's list of output filters, as a list.""" return _cpplint_state.filters def _SetFilters(filters): """Sets the module's error-message filters. These filters are applied when deciding whether to emit a given error message. Args: filters: A string of comma-separated filters (eg "whitespace/indent"). Each filter should start with + or -; else we die. """ _cpplint_state.SetFilters(filters) def _AddFilters(filters): """Adds more filter overrides. Unlike _SetFilters, this function does not reset the current list of filters available. Args: filters: A string of comma-separated filters (eg "whitespace/indent"). Each filter should start with + or -; else we die. """ _cpplint_state.AddFilters(filters) def _BackupFilters(): """ Saves the current filter list to backup storage.""" _cpplint_state.BackupFilters() def _RestoreFilters(): """ Restores filters previously backed up.""" _cpplint_state.RestoreFilters() class _FunctionState(object): """Tracks current function name and the number of lines in its body.""" _NORMAL_TRIGGER = 250 # for --v=0, 500 for --v=1, etc. _TEST_TRIGGER = 400 # about 50% more than _NORMAL_TRIGGER. def __init__(self): self.in_a_function = False self.lines_in_function = 0 self.current_function = '' def Begin(self, function_name): """Start analyzing function body. Args: function_name: The name of the function being tracked. """ self.in_a_function = True self.lines_in_function = 0 self.current_function = function_name def Count(self): """Count line in current function body.""" if self.in_a_function: self.lines_in_function += 1 def Check(self, error, filename, linenum): """Report if too many lines in function body. Args: error: The function to call with any errors found. filename: The name of the current file. linenum: The number of the line to check. """ if Match(r'T(EST|est)', self.current_function): base_trigger = self._TEST_TRIGGER else: base_trigger = self._NORMAL_TRIGGER trigger = base_trigger * 2**_VerboseLevel() if self.lines_in_function > trigger: error_level = int(math.log(self.lines_in_function / base_trigger, 2)) # 50 => 0, 100 => 1, 200 => 2, 400 => 3, 800 => 4, 1600 => 5, ... if error_level > 5: error_level = 5 error(filename, linenum, 'readability/fn_size', error_level, 'Small and focused functions are preferred:' ' %s has %d non-comment lines' ' (error triggered by exceeding %d lines).' % ( self.current_function, self.lines_in_function, trigger)) def End(self): """Stop analyzing function body.""" self.in_a_function = False class _IncludeError(Exception): """Indicates a problem with the include order in a file.""" pass class FileInfo(object): """Provides utility functions for filenames. FileInfo provides easy access to the components of a file's path relative to the project root. """ def __init__(self, filename): self._filename = filename def FullName(self): """Make Windows paths like Unix.""" return os.path.abspath(self._filename).replace('\\', '/') def RepositoryName(self): """FullName after removing the local path to the repository. If we have a real absolute path name here we can try to do something smart: detecting the root of the checkout and truncating /path/to/checkout from the name so that we get header guards that don't include things like "C:\Documents and Settings\..." or "/home/username/..." in them and thus people on different computers who have checked the source out to different locations won't see bogus errors. """ fullname = self.FullName() if os.path.exists(fullname): project_dir = os.path.dirname(fullname) if os.path.exists(os.path.join(project_dir, ".svn")): # If there's a .svn file in the current directory, we recursively look # up the directory tree for the top of the SVN checkout root_dir = project_dir one_up_dir = os.path.dirname(root_dir) while os.path.exists(os.path.join(one_up_dir, ".svn")): root_dir = os.path.dirname(root_dir) one_up_dir = os.path.dirname(one_up_dir) prefix = os.path.commonprefix([root_dir, project_dir]) return fullname[len(prefix) + 1:] # Not SVN <= 1.6? Try to find a git, hg, or svn top level directory by # searching up from the current path. root_dir = os.path.dirname(fullname) while (root_dir != os.path.dirname(root_dir) and not os.path.exists(os.path.join(root_dir, ".git")) and not os.path.exists(os.path.join(root_dir, ".hg")) and not os.path.exists(os.path.join(root_dir, ".svn"))): root_dir = os.path.dirname(root_dir) if (os.path.exists(os.path.join(root_dir, ".git")) or os.path.exists(os.path.join(root_dir, ".hg")) or os.path.exists(os.path.join(root_dir, ".svn"))): prefix = os.path.commonprefix([root_dir, project_dir]) return fullname[len(prefix) + 1:] # Don't know what to do; header guard warnings may be wrong... return fullname def Split(self): """Splits the file into the directory, basename, and extension. For 'chrome/browser/browser.cc', Split() would return ('chrome/browser', 'browser', '.cc') Returns: A tuple of (directory, basename, extension). """ googlename = self.RepositoryName() project, rest = os.path.split(googlename) return (project,) + os.path.splitext(rest) def BaseName(self): """File base name - text after the final slash, before the final period.""" return self.Split()[1] def Extension(self): """File extension - text following the final period.""" return self.Split()[2] def NoExtension(self): """File has no source file extension.""" return '/'.join(self.Split()[0:2]) def IsSource(self): """File has a source file extension.""" return self.Extension()[1:] in ('c', 'cc', 'cpp', 'cxx') def _ShouldPrintError(category, confidence, linenum): """If confidence >= verbose, category passes filter and is not suppressed.""" # There are three ways we might decide not to print an error message: # a "NOLINT(category)" comment appears in the source, # the verbosity level isn't high enough, or the filters filter it out. if IsErrorSuppressedByNolint(category, linenum): return False if confidence < _cpplint_state.verbose_level: return False is_filtered = False for one_filter in _Filters(): if one_filter.startswith('-'): if category.startswith(one_filter[1:]): is_filtered = True elif one_filter.startswith('+'): if category.startswith(one_filter[1:]): is_filtered = False else: assert False # should have been checked for in SetFilter. if is_filtered: return False return True def Error(filename, linenum, category, confidence, message): """Logs the fact we've found a lint error. We log where the error was found, and also our confidence in the error, that is, how certain we are this is a legitimate style regression, and not a misidentification or a use that's sometimes justified. False positives can be suppressed by the use of "cpplint(category)" comments on the offending line. These are parsed into _error_suppressions. Args: filename: The name of the file containing the error. linenum: The number of the line containing the error. category: A string used to describe the "category" this bug falls under: "whitespace", say, or "runtime". Categories may have a hierarchy separated by slashes: "whitespace/indent". confidence: A number from 1-5 representing a confidence score for the error, with 5 meaning that we are certain of the problem, and 1 meaning that it could be a legitimate construct. message: The error message. """ if _ShouldPrintError(category, confidence, linenum): _cpplint_state.IncrementErrorCount(category) if _cpplint_state.output_format == 'vs7': sys.stderr.write('%s(%s): %s [%s] [%d]\n' % ( filename, linenum, message, category, confidence)) elif _cpplint_state.output_format == 'eclipse': sys.stderr.write('%s:%s: warning: %s [%s] [%d]\n' % ( filename, linenum, message, category, confidence)) else: sys.stderr.write('%s:%s: %s [%s] [%d]\n' % ( filename, linenum, message, category, confidence)) # Matches standard C++ escape sequences per 2.13.2.3 of the C++ standard. _RE_PATTERN_CLEANSE_LINE_ESCAPES = re.compile( r'\\([abfnrtv?"\\\']|\d+|x[0-9a-fA-F]+)') # Match a single C style comment on the same line. _RE_PATTERN_C_COMMENTS = r'/\*(?:[^*]|\*(?!/))*\*/' # Matches multi-line C style comments. # This RE is a little bit more complicated than one might expect, because we # have to take care of space removals tools so we can handle comments inside # statements better. # The current rule is: We only clear spaces from both sides when we're at the # end of the line. Otherwise, we try to remove spaces from the right side, # if this doesn't work we try on left side but only if there's a non-character # on the right. _RE_PATTERN_CLEANSE_LINE_C_COMMENTS = re.compile( r'(\s*' + _RE_PATTERN_C_COMMENTS + r'\s*$|' + _RE_PATTERN_C_COMMENTS + r'\s+|' + r'\s+' + _RE_PATTERN_C_COMMENTS + r'(?=\W)|' + _RE_PATTERN_C_COMMENTS + r')') def IsCppString(line): """Does line terminate so, that the next symbol is in string constant. This function does not consider single-line nor multi-line comments. Args: line: is a partial line of code starting from the 0..n. Returns: True, if next character appended to 'line' is inside a string constant. """ line = line.replace(r'\\', 'XX') # after this, \\" does not match to \" return ((line.count('"') - line.count(r'\"') - line.count("'\"'")) & 1) == 1 def CleanseRawStrings(raw_lines): """Removes C++11 raw strings from lines. Before: static const char kData[] = R"( multi-line string )"; After: static const char kData[] = "" (replaced by blank line) ""; Args: raw_lines: list of raw lines. Returns: list of lines with C++11 raw strings replaced by empty strings. """ delimiter = None lines_without_raw_strings = [] for line in raw_lines: if delimiter: # Inside a raw string, look for the end end = line.find(delimiter) if end >= 0: # Found the end of the string, match leading space for this # line and resume copying the original lines, and also insert # a "" on the last line. leading_space = Match(r'^(\s*)\S', line) line = leading_space.group(1) + '""' + line[end + len(delimiter):] delimiter = None else: # Haven't found the end yet, append a blank line. line = '""' # Look for beginning of a raw string, and replace them with # empty strings. This is done in a loop to handle multiple raw # strings on the same line. while delimiter is None: # Look for beginning of a raw string. # See 2.14.15 [lex.string] for syntax. matched = Match(r'^(.*)\b(?:R|u8R|uR|UR|LR)"([^\s\\()]*)\((.*)$', line) if matched: delimiter = ')' + matched.group(2) + '"' end = matched.group(3).find(delimiter) if end >= 0: # Raw string ended on same line line = (matched.group(1) + '""' + matched.group(3)[end + len(delimiter):]) delimiter = None else: # Start of a multi-line raw string line = matched.group(1) + '""' else: break lines_without_raw_strings.append(line) # TODO(unknown): if delimiter is not None here, we might want to # emit a warning for unterminated string. return lines_without_raw_strings def FindNextMultiLineCommentStart(lines, lineix): """Find the beginning marker for a multiline comment.""" while lineix < len(lines): if lines[lineix].strip().startswith('/*'): # Only return this marker if the comment goes beyond this line if lines[lineix].strip().find('*/', 2) < 0: return lineix lineix += 1 return len(lines) def FindNextMultiLineCommentEnd(lines, lineix): """We are inside a comment, find the end marker.""" while lineix < len(lines): if lines[lineix].strip().endswith('*/'): return lineix lineix += 1 return len(lines) def RemoveMultiLineCommentsFromRange(lines, begin, end): """Clears a range of lines for multi-line comments.""" # Having // dummy comments makes the lines non-empty, so we will not get # unnecessary blank line warnings later in the code. for i in range(begin, end): lines[i] = '/**/' def RemoveMultiLineComments(filename, lines, error): """Removes multiline (c-style) comments from lines.""" lineix = 0 while lineix < len(lines): lineix_begin = FindNextMultiLineCommentStart(lines, lineix) if lineix_begin >= len(lines): return lineix_end = FindNextMultiLineCommentEnd(lines, lineix_begin) if lineix_end >= len(lines): error(filename, lineix_begin + 1, 'readability/multiline_comment', 5, 'Could not find end of multi-line comment') return RemoveMultiLineCommentsFromRange(lines, lineix_begin, lineix_end + 1) lineix = lineix_end + 1 def CleanseComments(line): """Removes //-comments and single-line C-style /* */ comments. Args: line: A line of C++ source. Returns: The line with single-line comments removed. """ commentpos = line.find('//') if commentpos != -1 and not IsCppString(line[:commentpos]): line = line[:commentpos].rstrip() # get rid of /* ... */ return _RE_PATTERN_CLEANSE_LINE_C_COMMENTS.sub('', line) class CleansedLines(object): """Holds 4 copies of all lines with different preprocessing applied to them. 1) elided member contains lines without strings and comments. 2) lines member contains lines without comments. 3) raw_lines member contains all the lines without processing. 4) lines_without_raw_strings member is same as raw_lines, but with C++11 raw strings removed. All these members are of , and of the same length. """ def __init__(self, lines): self.elided = [] self.lines = [] self.raw_lines = lines self.num_lines = len(lines) self.lines_without_raw_strings = CleanseRawStrings(lines) for linenum in range(len(self.lines_without_raw_strings)): self.lines.append(CleanseComments( self.lines_without_raw_strings[linenum])) elided = self._CollapseStrings(self.lines_without_raw_strings[linenum]) self.elided.append(CleanseComments(elided)) def NumLines(self): """Returns the number of lines represented.""" return self.num_lines @staticmethod def _CollapseStrings(elided): """Collapses strings and chars on a line to simple "" or '' blocks. We nix strings first so we're not fooled by text like '"http://"' Args: elided: The line being processed. Returns: The line with collapsed strings. """ if _RE_PATTERN_INCLUDE.match(elided): return elided # Remove escaped characters first to make quote/single quote collapsing # basic. Things that look like escaped characters shouldn't occur # outside of strings and chars. elided = _RE_PATTERN_CLEANSE_LINE_ESCAPES.sub('', elided) # Replace quoted strings and digit separators. Both single quotes # and double quotes are processed in the same loop, otherwise # nested quotes wouldn't work. collapsed = '' while True: # Find the first quote character match = Match(r'^([^\'"]*)([\'"])(.*)$', elided) if not match: collapsed += elided break head, quote, tail = match.groups() if quote == '"': # Collapse double quoted strings second_quote = tail.find('"') if second_quote >= 0: collapsed += head + '""' elided = tail[second_quote + 1:] else: # Unmatched double quote, don't bother processing the rest # of the line since this is probably a multiline string. collapsed += elided break else: # Found single quote, check nearby text to eliminate digit separators. # # There is no special handling for floating point here, because # the integer/fractional/exponent parts would all be parsed # correctly as long as there are digits on both sides of the # separator. So we are fine as long as we don't see something # like "0.'3" (gcc 4.9.0 will not allow this literal). if Search(r'\b(?:0[bBxX]?|[1-9])[0-9a-fA-F]*$', head): match_literal = Match(r'^((?:\'?[0-9a-zA-Z_])*)(.*)$', "'" + tail) collapsed += head + match_literal.group(1).replace("'", '') elided = match_literal.group(2) else: second_quote = tail.find('\'') if second_quote >= 0: collapsed += head + "''" elided = tail[second_quote + 1:] else: # Unmatched single quote collapsed += elided break return collapsed def FindEndOfExpressionInLine(line, startpos, stack): """Find the position just after the end of current parenthesized expression. Args: line: a CleansedLines line. startpos: start searching at this position. stack: nesting stack at startpos. Returns: On finding matching end: (index just after matching end, None) On finding an unclosed expression: (-1, None) Otherwise: (-1, new stack at end of this line) """ for i in xrange(startpos, len(line)): char = line[i] if char in '([{': # Found start of parenthesized expression, push to expression stack stack.append(char) elif char == '<': # Found potential start of template argument list if i > 0 and line[i - 1] == '<': # Left shift operator if stack and stack[-1] == '<': stack.pop() if not stack: return (-1, None) elif i > 0 and Search(r'\boperator\s*$', line[0:i]): # operator<, don't add to stack continue else: # Tentative start of template argument list stack.append('<') elif char in ')]}': # Found end of parenthesized expression. # # If we are currently expecting a matching '>', the pending '<' # must have been an operator. Remove them from expression stack. while stack and stack[-1] == '<': stack.pop() if not stack: return (-1, None) if ((stack[-1] == '(' and char == ')') or (stack[-1] == '[' and char == ']') or (stack[-1] == '{' and char == '}')): stack.pop() if not stack: return (i + 1, None) else: # Mismatched parentheses return (-1, None) elif char == '>': # Found potential end of template argument list. # Ignore "->" and operator functions if (i > 0 and (line[i - 1] == '-' or Search(r'\boperator\s*$', line[0:i - 1]))): continue # Pop the stack if there is a matching '<'. Otherwise, ignore # this '>' since it must be an operator. if stack: if stack[-1] == '<': stack.pop() if not stack: return (i + 1, None) elif char == ';': # Found something that look like end of statements. If we are currently # expecting a '>', the matching '<' must have been an operator, since # template argument list should not contain statements. while stack and stack[-1] == '<': stack.pop() if not stack: return (-1, None) # Did not find end of expression or unbalanced parentheses on this line return (-1, stack) def CloseExpression(clean_lines, linenum, pos): """If input points to ( or { or [ or <, finds the position that closes it. If lines[linenum][pos] points to a '(' or '{' or '[' or '<', finds the linenum/pos that correspond to the closing of the expression. TODO(unknown): cpplint spends a fair bit of time matching parentheses. Ideally we would want to index all opening and closing parentheses once and have CloseExpression be just a simple lookup, but due to preprocessor tricks, this is not so easy. Args: clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. pos: A position on the line. Returns: A tuple (line, linenum, pos) pointer *past* the closing brace, or (line, len(lines), -1) if we never find a close. Note we ignore strings and comments when matching; and the line we return is the 'cleansed' line at linenum. """ line = clean_lines.elided[linenum] if (line[pos] not in '({[<') or Match(r'<[<=]', line[pos:]): return (line, clean_lines.NumLines(), -1) # Check first line (end_pos, stack) = FindEndOfExpressionInLine(line, pos, []) if end_pos > -1: return (line, linenum, end_pos) # Continue scanning forward while stack and linenum < clean_lines.NumLines() - 1: linenum += 1 line = clean_lines.elided[linenum] (end_pos, stack) = FindEndOfExpressionInLine(line, 0, stack) if end_pos > -1: return (line, linenum, end_pos) # Did not find end of expression before end of file, give up return (line, clean_lines.NumLines(), -1) def FindStartOfExpressionInLine(line, endpos, stack): """Find position at the matching start of current expression. This is almost the reverse of FindEndOfExpressionInLine, but note that the input position and returned position differs by 1. Args: line: a CleansedLines line. endpos: start searching at this position. stack: nesting stack at endpos. Returns: On finding matching start: (index at matching start, None) On finding an unclosed expression: (-1, None) Otherwise: (-1, new stack at beginning of this line) """ i = endpos while i >= 0: char = line[i] if char in ')]}': # Found end of expression, push to expression stack stack.append(char) elif char == '>': # Found potential end of template argument list. # # Ignore it if it's a "->" or ">=" or "operator>" if (i > 0 and (line[i - 1] == '-' or Match(r'\s>=\s', line[i - 1:]) or Search(r'\boperator\s*$', line[0:i]))): i -= 1 else: stack.append('>') elif char == '<': # Found potential start of template argument list if i > 0 and line[i - 1] == '<': # Left shift operator i -= 1 else: # If there is a matching '>', we can pop the expression stack. # Otherwise, ignore this '<' since it must be an operator. if stack and stack[-1] == '>': stack.pop() if not stack: return (i, None) elif char in '([{': # Found start of expression. # # If there are any unmatched '>' on the stack, they must be # operators. Remove those. while stack and stack[-1] == '>': stack.pop() if not stack: return (-1, None) if ((char == '(' and stack[-1] == ')') or (char == '[' and stack[-1] == ']') or (char == '{' and stack[-1] == '}')): stack.pop() if not stack: return (i, None) else: # Mismatched parentheses return (-1, None) elif char == ';': # Found something that look like end of statements. If we are currently # expecting a '<', the matching '>' must have been an operator, since # template argument list should not contain statements. while stack and stack[-1] == '>': stack.pop() if not stack: return (-1, None) i -= 1 return (-1, stack) def ReverseCloseExpression(clean_lines, linenum, pos): """If input points to ) or } or ] or >, finds the position that opens it. If lines[linenum][pos] points to a ')' or '}' or ']' or '>', finds the linenum/pos that correspond to the opening of the expression. Args: clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. pos: A position on the line. Returns: A tuple (line, linenum, pos) pointer *at* the opening brace, or (line, 0, -1) if we never find the matching opening brace. Note we ignore strings and comments when matching; and the line we return is the 'cleansed' line at linenum. """ line = clean_lines.elided[linenum] if line[pos] not in ')}]>': return (line, 0, -1) # Check last line (start_pos, stack) = FindStartOfExpressionInLine(line, pos, []) if start_pos > -1: return (line, linenum, start_pos) # Continue scanning backward while stack and linenum > 0: linenum -= 1 line = clean_lines.elided[linenum] (start_pos, stack) = FindStartOfExpressionInLine(line, len(line) - 1, stack) if start_pos > -1: return (line, linenum, start_pos) # Did not find start of expression before beginning of file, give up return (line, 0, -1) def CheckForCopyright(filename, lines, error): """Logs an error if no Copyright message appears at the top of the file.""" # We'll say it should occur by line 10. Don't forget there's a # dummy line at the front. for line in xrange(1, min(len(lines), 11)): if re.search(r'Copyright', lines[line], re.I): break else: # means no copyright line was found error(filename, 0, 'legal/copyright', 5, 'No copyright message found. ' 'You should have a line: "Copyright [year] "') def GetIndentLevel(line): """Return the number of leading spaces in line. Args: line: A string to check. Returns: An integer count of leading spaces, possibly zero. """ indent = Match(r'^( *)\S', line) if indent: return len(indent.group(1)) else: return 0 def GetHeaderGuardCPPVariable(filename): """Returns the CPP variable that should be used as a header guard. Args: filename: The name of a C++ header file. Returns: The CPP variable that should be used as a header guard in the named file. """ # Restores original filename in case that cpplint is invoked from Emacs's # flymake. filename = re.sub(r'_flymake\.h$', '.h', filename) filename = re.sub(r'/\.flymake/([^/]*)$', r'/\1', filename) # Replace 'c++' with 'cpp'. filename = filename.replace('C++', 'cpp').replace('c++', 'cpp') fileinfo = FileInfo(filename) file_path_from_root = fileinfo.RepositoryName() if _root: file_path_from_root = re.sub('^' + _root + os.sep, '', file_path_from_root) return re.sub(r'[^a-zA-Z0-9]', '_', file_path_from_root).upper() + '_' def CheckForHeaderGuard(filename, clean_lines, error): """Checks that the file contains a header guard. Logs an error if no #ifndef header guard is present. For other headers, checks that the full pathname is used. Args: filename: The name of the C++ header file. clean_lines: A CleansedLines instance containing the file. error: The function to call with any errors found. """ # Don't check for header guards if there are error suppression # comments somewhere in this file. # # Because this is silencing a warning for a nonexistent line, we # only support the very specific NOLINT(build/header_guard) syntax, # and not the general NOLINT or NOLINT(*) syntax. raw_lines = clean_lines.lines_without_raw_strings for i in raw_lines: if Search(r'//\s*NOLINT\(build/header_guard\)', i): return cppvar = GetHeaderGuardCPPVariable(filename) ifndef = '' ifndef_linenum = 0 define = '' endif = '' endif_linenum = 0 for linenum, line in enumerate(raw_lines): linesplit = line.split() if len(linesplit) >= 2: # find the first occurrence of #ifndef and #define, save arg if not ifndef and linesplit[0] == '#ifndef': # set ifndef to the header guard presented on the #ifndef line. ifndef = linesplit[1] ifndef_linenum = linenum if not define and linesplit[0] == '#define': define = linesplit[1] # find the last occurrence of #endif, save entire line if line.startswith('#endif'): endif = line endif_linenum = linenum if not ifndef or not define or ifndef != define: error(filename, 0, 'build/header_guard', 5, 'No #ifndef header guard found, suggested CPP variable is: %s' % cppvar) return # The guard should be PATH_FILE_H_, but we also allow PATH_FILE_H__ # for backward compatibility. if ifndef != cppvar: error_level = 0 if ifndef != cppvar + '_': error_level = 5 ParseNolintSuppressions(filename, raw_lines[ifndef_linenum], ifndef_linenum, error) error(filename, ifndef_linenum, 'build/header_guard', error_level, '#ifndef header guard has wrong style, please use: %s' % cppvar) # Check for "//" comments on endif line. ParseNolintSuppressions(filename, raw_lines[endif_linenum], endif_linenum, error) match = Match(r'#endif\s*//\s*' + cppvar + r'(_)?\b', endif) if match: if match.group(1) == '_': # Issue low severity warning for deprecated double trailing underscore error(filename, endif_linenum, 'build/header_guard', 0, '#endif line should be "#endif // %s"' % cppvar) return # Didn't find the corresponding "//" comment. If this file does not # contain any "//" comments at all, it could be that the compiler # only wants "/**/" comments, look for those instead. no_single_line_comments = True for i in xrange(1, len(raw_lines) - 1): line = raw_lines[i] if Match(r'^(?:(?:\'(?:\.|[^\'])*\')|(?:"(?:\.|[^"])*")|[^\'"])*//', line): no_single_line_comments = False break if no_single_line_comments: match = Match(r'#endif\s*/\*\s*' + cppvar + r'(_)?\s*\*/', endif) if match: if match.group(1) == '_': # Low severity warning for double trailing underscore error(filename, endif_linenum, 'build/header_guard', 0, '#endif line should be "#endif /* %s */"' % cppvar) return # Didn't find anything error(filename, endif_linenum, 'build/header_guard', 5, '#endif line should be "#endif // %s"' % cppvar) def CheckHeaderFileIncluded(filename, include_state, error): """Logs an error if a .cc file does not include its header.""" # Do not check test files if filename.endswith('_test.cc') or filename.endswith('_unittest.cc'): return fileinfo = FileInfo(filename) headerfile = filename[0:len(filename) - 2] + 'h' if not os.path.exists(headerfile): return headername = FileInfo(headerfile).RepositoryName() first_include = 0 for section_list in include_state.include_list: for f in section_list: if headername in f[0] or f[0] in headername: return if not first_include: first_include = f[1] error(filename, first_include, 'build/include', 5, '%s should include its header file %s' % (fileinfo.RepositoryName(), headername)) def CheckForBadCharacters(filename, lines, error): """Logs an error for each line containing bad characters. Two kinds of bad characters: 1. Unicode replacement characters: These indicate that either the file contained invalid UTF-8 (likely) or Unicode replacement characters (which it shouldn't). Note that it's possible for this to throw off line numbering if the invalid UTF-8 occurred adjacent to a newline. 2. NUL bytes. These are problematic for some tools. Args: filename: The name of the current file. lines: An array of strings, each representing a line of the file. error: The function to call with any errors found. """ for linenum, line in enumerate(lines): if u'\ufffd' in line: error(filename, linenum, 'readability/utf8', 5, 'Line contains invalid UTF-8 (or Unicode replacement character).') if '\0' in line: error(filename, linenum, 'readability/nul', 5, 'Line contains NUL byte.') def CheckForNewlineAtEOF(filename, lines, error): """Logs an error if there is no newline char at the end of the file. Args: filename: The name of the current file. lines: An array of strings, each representing a line of the file. error: The function to call with any errors found. """ # The array lines() was created by adding two newlines to the # original file (go figure), then splitting on \n. # To verify that the file ends in \n, we just have to make sure the # last-but-two element of lines() exists and is empty. if len(lines) < 3 or lines[-2]: error(filename, len(lines) - 2, 'whitespace/ending_newline', 5, 'Could not find a newline character at the end of the file.') def CheckForMultilineCommentsAndStrings(filename, clean_lines, linenum, error): """Logs an error if we see /* ... */ or "..." that extend past one line. /* ... */ comments are legit inside macros, for one line. Otherwise, we prefer // comments, so it's ok to warn about the other. Likewise, it's ok for strings to extend across multiple lines, as long as a line continuation character (backslash) terminates each line. Although not currently prohibited by the C++ style guide, it's ugly and unnecessary. We don't do well with either in this lint program, so we warn about both. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] # Remove all \\ (escaped backslashes) from the line. They are OK, and the # second (escaped) slash may trigger later \" detection erroneously. line = line.replace('\\\\', '') if line.count('/*') > line.count('*/'): error(filename, linenum, 'readability/multiline_comment', 5, 'Complex multi-line /*...*/-style comment found. ' 'Lint may give bogus warnings. ' 'Consider replacing these with //-style comments, ' 'with #if 0...#endif, ' 'or with more clearly structured multi-line comments.') if (line.count('"') - line.count('\\"')) % 2: error(filename, linenum, 'readability/multiline_string', 5, 'Multi-line string ("...") found. This lint script doesn\'t ' 'do well with such strings, and may give bogus warnings. ' 'Use C++11 raw strings or concatenation instead.') # (non-threadsafe name, thread-safe alternative, validation pattern) # # The validation pattern is used to eliminate false positives such as: # _rand(); // false positive due to substring match. # ->rand(); // some member function rand(). # ACMRandom rand(seed); // some variable named rand. # ISAACRandom rand(); // another variable named rand. # # Basically we require the return value of these functions to be used # in some expression context on the same line by matching on some # operator before the function name. This eliminates constructors and # member function calls. _UNSAFE_FUNC_PREFIX = r'(?:[-+*/=%^&|(<]\s*|>\s+)' _THREADING_LIST = ( ('asctime(', 'asctime_r(', _UNSAFE_FUNC_PREFIX + r'asctime\([^)]+\)'), ('ctime(', 'ctime_r(', _UNSAFE_FUNC_PREFIX + r'ctime\([^)]+\)'), ('getgrgid(', 'getgrgid_r(', _UNSAFE_FUNC_PREFIX + r'getgrgid\([^)]+\)'), ('getgrnam(', 'getgrnam_r(', _UNSAFE_FUNC_PREFIX + r'getgrnam\([^)]+\)'), ('getlogin(', 'getlogin_r(', _UNSAFE_FUNC_PREFIX + r'getlogin\(\)'), ('getpwnam(', 'getpwnam_r(', _UNSAFE_FUNC_PREFIX + r'getpwnam\([^)]+\)'), ('getpwuid(', 'getpwuid_r(', _UNSAFE_FUNC_PREFIX + r'getpwuid\([^)]+\)'), ('gmtime(', 'gmtime_r(', _UNSAFE_FUNC_PREFIX + r'gmtime\([^)]+\)'), ('localtime(', 'localtime_r(', _UNSAFE_FUNC_PREFIX + r'localtime\([^)]+\)'), ('rand(', 'rand_r(', _UNSAFE_FUNC_PREFIX + r'rand\(\)'), ('strtok(', 'strtok_r(', _UNSAFE_FUNC_PREFIX + r'strtok\([^)]+\)'), ('ttyname(', 'ttyname_r(', _UNSAFE_FUNC_PREFIX + r'ttyname\([^)]+\)'), ) def CheckPosixThreading(filename, clean_lines, linenum, error): """Checks for calls to thread-unsafe functions. Much code has been originally written without consideration of multi-threading. Also, engineers are relying on their old experience; they have learned posix before threading extensions were added. These tests guide the engineers to use thread-safe functions (when using posix directly). Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] for single_thread_func, multithread_safe_func, pattern in _THREADING_LIST: # Additional pattern matching check to confirm that this is the # function we are looking for if Search(pattern, line): error(filename, linenum, 'runtime/threadsafe_fn', 2, 'Consider using ' + multithread_safe_func + '...) instead of ' + single_thread_func + '...) for improved thread safety.') def CheckVlogArguments(filename, clean_lines, linenum, error): """Checks that VLOG() is only used for defining a logging level. For example, VLOG(2) is correct. VLOG(INFO), VLOG(WARNING), VLOG(ERROR), and VLOG(FATAL) are not. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] if Search(r'\bVLOG\((INFO|ERROR|WARNING|DFATAL|FATAL)\)', line): error(filename, linenum, 'runtime/vlog', 5, 'VLOG() should be used with numeric verbosity level. ' 'Use LOG() if you want symbolic severity levels.') # Matches invalid increment: *count++, which moves pointer instead of # incrementing a value. _RE_PATTERN_INVALID_INCREMENT = re.compile( r'^\s*\*\w+(\+\+|--);') def CheckInvalidIncrement(filename, clean_lines, linenum, error): """Checks for invalid increment *count++. For example following function: void increment_counter(int* count) { *count++; } is invalid, because it effectively does count++, moving pointer, and should be replaced with ++*count, (*count)++ or *count += 1. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] if _RE_PATTERN_INVALID_INCREMENT.match(line): error(filename, linenum, 'runtime/invalid_increment', 5, 'Changing pointer instead of value (or unused value of operator*).') def IsMacroDefinition(clean_lines, linenum): if Search(r'^#define', clean_lines[linenum]): return True if linenum > 0 and Search(r'\\$', clean_lines[linenum - 1]): return True return False def IsForwardClassDeclaration(clean_lines, linenum): return Match(r'^\s*(\btemplate\b)*.*class\s+\w+;\s*$', clean_lines[linenum]) class _BlockInfo(object): """Stores information about a generic block of code.""" def __init__(self, seen_open_brace): self.seen_open_brace = seen_open_brace self.open_parentheses = 0 self.inline_asm = _NO_ASM self.check_namespace_indentation = False def CheckBegin(self, filename, clean_lines, linenum, error): """Run checks that applies to text up to the opening brace. This is mostly for checking the text after the class identifier and the "{", usually where the base class is specified. For other blocks, there isn't much to check, so we always pass. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ pass def CheckEnd(self, filename, clean_lines, linenum, error): """Run checks that applies to text after the closing brace. This is mostly used for checking end of namespace comments. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ pass def IsBlockInfo(self): """Returns true if this block is a _BlockInfo. This is convenient for verifying that an object is an instance of a _BlockInfo, but not an instance of any of the derived classes. Returns: True for this class, False for derived classes. """ return self.__class__ == _BlockInfo class _ExternCInfo(_BlockInfo): """Stores information about an 'extern "C"' block.""" def __init__(self): _BlockInfo.__init__(self, True) class _ClassInfo(_BlockInfo): """Stores information about a class.""" def __init__(self, name, class_or_struct, clean_lines, linenum): _BlockInfo.__init__(self, False) self.name = name self.starting_linenum = linenum self.is_derived = False self.check_namespace_indentation = True if class_or_struct == 'struct': self.access = 'public' self.is_struct = True else: self.access = 'private' self.is_struct = False # Remember initial indentation level for this class. Using raw_lines here # instead of elided to account for leading comments. self.class_indent = GetIndentLevel(clean_lines.raw_lines[linenum]) # Try to find the end of the class. This will be confused by things like: # class A { # } *x = { ... # # But it's still good enough for CheckSectionSpacing. self.last_line = 0 depth = 0 for i in range(linenum, clean_lines.NumLines()): line = clean_lines.elided[i] depth += line.count('{') - line.count('}') if not depth: self.last_line = i break def CheckBegin(self, filename, clean_lines, linenum, error): # Look for a bare ':' if Search('(^|[^:]):($|[^:])', clean_lines.elided[linenum]): self.is_derived = True def CheckEnd(self, filename, clean_lines, linenum, error): # If there is a DISALLOW macro, it should appear near the end of # the class. seen_last_thing_in_class = False for i in xrange(linenum - 1, self.starting_linenum, -1): match = Search( r'\b(DISALLOW_COPY_AND_ASSIGN|DISALLOW_IMPLICIT_CONSTRUCTORS)\(' + self.name + r'\)', clean_lines.elided[i]) if match: if seen_last_thing_in_class: error(filename, i, 'readability/constructors', 3, match.group(1) + ' should be the last thing in the class') break if not Match(r'^\s*$', clean_lines.elided[i]): seen_last_thing_in_class = True # Check that closing brace is aligned with beginning of the class. # Only do this if the closing brace is indented by only whitespaces. # This means we will not check single-line class definitions. indent = Match(r'^( *)\}', clean_lines.elided[linenum]) if indent and len(indent.group(1)) != self.class_indent: if self.is_struct: parent = 'struct ' + self.name else: parent = 'class ' + self.name error(filename, linenum, 'whitespace/indent', 3, 'Closing brace should be aligned with beginning of %s' % parent) class _NamespaceInfo(_BlockInfo): """Stores information about a namespace.""" def __init__(self, name, linenum): _BlockInfo.__init__(self, False) self.name = name or '' self.starting_linenum = linenum self.check_namespace_indentation = True def CheckEnd(self, filename, clean_lines, linenum, error): """Check end of namespace comments.""" line = clean_lines.raw_lines[linenum] # Check how many lines is enclosed in this namespace. Don't issue # warning for missing namespace comments if there aren't enough # lines. However, do apply checks if there is already an end of # namespace comment and it's incorrect. # # TODO(unknown): We always want to check end of namespace comments # if a namespace is large, but sometimes we also want to apply the # check if a short namespace contained nontrivial things (something # other than forward declarations). There is currently no logic on # deciding what these nontrivial things are, so this check is # triggered by namespace size only, which works most of the time. if (linenum - self.starting_linenum < 10 and not Match(r'};*\s*(//|/\*).*\bnamespace\b', line)): return # Look for matching comment at end of namespace. # # Note that we accept C style "/* */" comments for terminating # namespaces, so that code that terminate namespaces inside # preprocessor macros can be cpplint clean. # # We also accept stuff like "// end of namespace ." with the # period at the end. # # Besides these, we don't accept anything else, otherwise we might # get false negatives when existing comment is a substring of the # expected namespace. if self.name: # Named namespace if not Match((r'};*\s*(//|/\*).*\bnamespace\s+' + re.escape(self.name) + r'[\*/\.\\\s]*$'), line): error(filename, linenum, 'readability/namespace', 5, 'Namespace should be terminated with "// namespace %s"' % self.name) else: # Anonymous namespace if not Match(r'};*\s*(//|/\*).*\bnamespace[\*/\.\\\s]*$', line): # If "// namespace anonymous" or "// anonymous namespace (more text)", # mention "// anonymous namespace" as an acceptable form if Match(r'}.*\b(namespace anonymous|anonymous namespace)\b', line): error(filename, linenum, 'readability/namespace', 5, 'Anonymous namespace should be terminated with "// namespace"' ' or "// anonymous namespace"') else: error(filename, linenum, 'readability/namespace', 5, 'Anonymous namespace should be terminated with "// namespace"') class _PreprocessorInfo(object): """Stores checkpoints of nesting stacks when #if/#else is seen.""" def __init__(self, stack_before_if): # The entire nesting stack before #if self.stack_before_if = stack_before_if # The entire nesting stack up to #else self.stack_before_else = [] # Whether we have already seen #else or #elif self.seen_else = False class NestingState(object): """Holds states related to parsing braces.""" def __init__(self): # Stack for tracking all braces. An object is pushed whenever we # see a "{", and popped when we see a "}". Only 3 types of # objects are possible: # - _ClassInfo: a class or struct. # - _NamespaceInfo: a namespace. # - _BlockInfo: some other type of block. self.stack = [] # Top of the previous stack before each Update(). # # Because the nesting_stack is updated at the end of each line, we # had to do some convoluted checks to find out what is the current # scope at the beginning of the line. This check is simplified by # saving the previous top of nesting stack. # # We could save the full stack, but we only need the top. Copying # the full nesting stack would slow down cpplint by ~10%. self.previous_stack_top = [] # Stack of _PreprocessorInfo objects. self.pp_stack = [] def SeenOpenBrace(self): """Check if we have seen the opening brace for the innermost block. Returns: True if we have seen the opening brace, False if the innermost block is still expecting an opening brace. """ return (not self.stack) or self.stack[-1].seen_open_brace def InNamespaceBody(self): """Check if we are currently one level inside a namespace body. Returns: True if top of the stack is a namespace block, False otherwise. """ return self.stack and isinstance(self.stack[-1], _NamespaceInfo) def InExternC(self): """Check if we are currently one level inside an 'extern "C"' block. Returns: True if top of the stack is an extern block, False otherwise. """ return self.stack and isinstance(self.stack[-1], _ExternCInfo) def InClassDeclaration(self): """Check if we are currently one level inside a class or struct declaration. Returns: True if top of the stack is a class/struct, False otherwise. """ return self.stack and isinstance(self.stack[-1], _ClassInfo) def InAsmBlock(self): """Check if we are currently one level inside an inline ASM block. Returns: True if the top of the stack is a block containing inline ASM. """ return self.stack and self.stack[-1].inline_asm != _NO_ASM def InTemplateArgumentList(self, clean_lines, linenum, pos): """Check if current position is inside template argument list. Args: clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. pos: position just after the suspected template argument. Returns: True if (linenum, pos) is inside template arguments. """ while linenum < clean_lines.NumLines(): # Find the earliest character that might indicate a template argument line = clean_lines.elided[linenum] match = Match(r'^[^{};=\[\]\.<>]*(.)', line[pos:]) if not match: linenum += 1 pos = 0 continue token = match.group(1) pos += len(match.group(0)) # These things do not look like template argument list: # class Suspect { # class Suspect x; } if token in ('{', '}', ';'): return False # These things look like template argument list: # template # template # template # template if token in ('>', '=', '[', ']', '.'): return True # Check if token is an unmatched '<'. # If not, move on to the next character. if token != '<': pos += 1 if pos >= len(line): linenum += 1 pos = 0 continue # We can't be sure if we just find a single '<', and need to # find the matching '>'. (_, end_line, end_pos) = CloseExpression(clean_lines, linenum, pos - 1) if end_pos < 0: # Not sure if template argument list or syntax error in file return False linenum = end_line pos = end_pos return False def UpdatePreprocessor(self, line): """Update preprocessor stack. We need to handle preprocessors due to classes like this: #ifdef SWIG struct ResultDetailsPageElementExtensionPoint { #else struct ResultDetailsPageElementExtensionPoint : public Extension { #endif We make the following assumptions (good enough for most files): - Preprocessor condition evaluates to true from #if up to first #else/#elif/#endif. - Preprocessor condition evaluates to false from #else/#elif up to #endif. We still perform lint checks on these lines, but these do not affect nesting stack. Args: line: current line to check. """ if Match(r'^\s*#\s*(if|ifdef|ifndef)\b', line): # Beginning of #if block, save the nesting stack here. The saved # stack will allow us to restore the parsing state in the #else case. self.pp_stack.append(_PreprocessorInfo(copy.deepcopy(self.stack))) elif Match(r'^\s*#\s*(else|elif)\b', line): # Beginning of #else block if self.pp_stack: if not self.pp_stack[-1].seen_else: # This is the first #else or #elif block. Remember the # whole nesting stack up to this point. This is what we # keep after the #endif. self.pp_stack[-1].seen_else = True self.pp_stack[-1].stack_before_else = copy.deepcopy(self.stack) # Restore the stack to how it was before the #if self.stack = copy.deepcopy(self.pp_stack[-1].stack_before_if) else: # TODO(unknown): unexpected #else, issue warning? pass elif Match(r'^\s*#\s*endif\b', line): # End of #if or #else blocks. if self.pp_stack: # If we saw an #else, we will need to restore the nesting # stack to its former state before the #else, otherwise we # will just continue from where we left off. if self.pp_stack[-1].seen_else: # Here we can just use a shallow copy since we are the last # reference to it. self.stack = self.pp_stack[-1].stack_before_else # Drop the corresponding #if self.pp_stack.pop() else: # TODO(unknown): unexpected #endif, issue warning? pass # TODO(unknown): Update() is too long, but we will refactor later. def Update(self, filename, clean_lines, linenum, error): """Update nesting state with current line. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] # Remember top of the previous nesting stack. # # The stack is always pushed/popped and not modified in place, so # we can just do a shallow copy instead of copy.deepcopy. Using # deepcopy would slow down cpplint by ~28%. if self.stack: self.previous_stack_top = self.stack[-1] else: self.previous_stack_top = None # Update pp_stack self.UpdatePreprocessor(line) # Count parentheses. This is to avoid adding struct arguments to # the nesting stack. if self.stack: inner_block = self.stack[-1] depth_change = line.count('(') - line.count(')') inner_block.open_parentheses += depth_change # Also check if we are starting or ending an inline assembly block. if inner_block.inline_asm in (_NO_ASM, _END_ASM): if (depth_change != 0 and inner_block.open_parentheses == 1 and _MATCH_ASM.match(line)): # Enter assembly block inner_block.inline_asm = _INSIDE_ASM else: # Not entering assembly block. If previous line was _END_ASM, # we will now shift to _NO_ASM state. inner_block.inline_asm = _NO_ASM elif (inner_block.inline_asm == _INSIDE_ASM and inner_block.open_parentheses == 0): # Exit assembly block inner_block.inline_asm = _END_ASM # Consume namespace declaration at the beginning of the line. Do # this in a loop so that we catch same line declarations like this: # namespace proto2 { namespace bridge { class MessageSet; } } while True: # Match start of namespace. The "\b\s*" below catches namespace # declarations even if it weren't followed by a whitespace, this # is so that we don't confuse our namespace checker. The # missing spaces will be flagged by CheckSpacing. namespace_decl_match = Match(r'^\s*namespace\b\s*([:\w]+)?(.*)$', line) if not namespace_decl_match: break new_namespace = _NamespaceInfo(namespace_decl_match.group(1), linenum) self.stack.append(new_namespace) line = namespace_decl_match.group(2) if line.find('{') != -1: new_namespace.seen_open_brace = True line = line[line.find('{') + 1:] # Look for a class declaration in whatever is left of the line # after parsing namespaces. The regexp accounts for decorated classes # such as in: # class LOCKABLE API Object { # }; class_decl_match = Match( r'^(\s*(?:template\s*<[\w\s<>,:]*>\s*)?' r'(class|struct)\s+(?:[A-Z_]+\s+)*(\w+(?:::\w+)*))' r'(.*)$', line) if (class_decl_match and (not self.stack or self.stack[-1].open_parentheses == 0)): # We do not want to accept classes that are actually template arguments: # template , # template class Ignore3> # void Function() {}; # # To avoid template argument cases, we scan forward and look for # an unmatched '>'. If we see one, assume we are inside a # template argument list. end_declaration = len(class_decl_match.group(1)) if not self.InTemplateArgumentList(clean_lines, linenum, end_declaration): self.stack.append(_ClassInfo( class_decl_match.group(3), class_decl_match.group(2), clean_lines, linenum)) line = class_decl_match.group(4) # If we have not yet seen the opening brace for the innermost block, # run checks here. if not self.SeenOpenBrace(): self.stack[-1].CheckBegin(filename, clean_lines, linenum, error) # Update access control if we are inside a class/struct if self.stack and isinstance(self.stack[-1], _ClassInfo): classinfo = self.stack[-1] access_match = Match( r'^(.*)\b(public|private|protected|signals)(\s+(?:slots\s*)?)?' r':(?:[^:]|$)', line) if access_match: classinfo.access = access_match.group(2) # Check that access keywords are indented +1 space. Skip this # check if the keywords are not preceded by whitespaces. indent = access_match.group(1) if (len(indent) != classinfo.class_indent + 1 and Match(r'^\s*$', indent)): if classinfo.is_struct: parent = 'struct ' + classinfo.name else: parent = 'class ' + classinfo.name slots = '' if access_match.group(3): slots = access_match.group(3) error(filename, linenum, 'whitespace/indent', 3, '%s%s: should be indented +1 space inside %s' % ( access_match.group(2), slots, parent)) # Consume braces or semicolons from what's left of the line while True: # Match first brace, semicolon, or closed parenthesis. matched = Match(r'^[^{;)}]*([{;)}])(.*)$', line) if not matched: break token = matched.group(1) if token == '{': # If namespace or class hasn't seen a opening brace yet, mark # namespace/class head as complete. Push a new block onto the # stack otherwise. if not self.SeenOpenBrace(): self.stack[-1].seen_open_brace = True elif Match(r'^extern\s*"[^"]*"\s*\{', line): self.stack.append(_ExternCInfo()) else: self.stack.append(_BlockInfo(True)) if _MATCH_ASM.match(line): self.stack[-1].inline_asm = _BLOCK_ASM elif token == ';' or token == ')': # If we haven't seen an opening brace yet, but we already saw # a semicolon, this is probably a forward declaration. Pop # the stack for these. # # Similarly, if we haven't seen an opening brace yet, but we # already saw a closing parenthesis, then these are probably # function arguments with extra "class" or "struct" keywords. # Also pop these stack for these. if not self.SeenOpenBrace(): self.stack.pop() else: # token == '}' # Perform end of block checks and pop the stack. if self.stack: self.stack[-1].CheckEnd(filename, clean_lines, linenum, error) self.stack.pop() line = matched.group(2) def InnermostClass(self): """Get class info on the top of the stack. Returns: A _ClassInfo object if we are inside a class, or None otherwise. """ for i in range(len(self.stack), 0, -1): classinfo = self.stack[i - 1] if isinstance(classinfo, _ClassInfo): return classinfo return None def CheckCompletedBlocks(self, filename, error): """Checks that all classes and namespaces have been completely parsed. Call this when all lines in a file have been processed. Args: filename: The name of the current file. error: The function to call with any errors found. """ # Note: This test can result in false positives if #ifdef constructs # get in the way of brace matching. See the testBuildClass test in # cpplint_unittest.py for an example of this. for obj in self.stack: if isinstance(obj, _ClassInfo): error(filename, obj.starting_linenum, 'build/class', 5, 'Failed to find complete declaration of class %s' % obj.name) elif isinstance(obj, _NamespaceInfo): error(filename, obj.starting_linenum, 'build/namespaces', 5, 'Failed to find complete declaration of namespace %s' % obj.name) def CheckForNonStandardConstructs(filename, clean_lines, linenum, nesting_state, error): r"""Logs an error if we see certain non-ANSI constructs ignored by gcc-2. Complain about several constructs which gcc-2 accepts, but which are not standard C++. Warning about these in lint is one way to ease the transition to new compilers. - put storage class first (e.g. "static const" instead of "const static"). - "%lld" instead of %qd" in printf-type functions. - "%1$d" is non-standard in printf-type functions. - "\%" is an undefined character escape sequence. - text after #endif is not allowed. - invalid inner-style forward declaration. - >? and ?= and )\?=?\s*(\w+|[+-]?\d+)(\.\d*)?', line): error(filename, linenum, 'build/deprecated', 3, '>? and ))?' # r'\s*const\s*' + type_name + '\s*&\s*\w+\s*;' error(filename, linenum, 'runtime/member_string_references', 2, 'const string& members are dangerous. It is much better to use ' 'alternatives, such as pointers or simple constants.') # Everything else in this function operates on class declarations. # Return early if the top of the nesting stack is not a class, or if # the class head is not completed yet. classinfo = nesting_state.InnermostClass() if not classinfo or not classinfo.seen_open_brace: return # The class may have been declared with namespace or classname qualifiers. # The constructor and destructor will not have those qualifiers. base_classname = classinfo.name.split('::')[-1] # Look for single-argument constructors that aren't marked explicit. # Technically a valid construct, but against style. Also look for # non-single-argument constructors which are also technically valid, but # strongly suggest something is wrong. explicit_constructor_match = Match( r'\s+(?:inline\s+)?(explicit\s+)?(?:inline\s+)?%s\s*' r'\(((?:[^()]|\([^()]*\))*)\)' % re.escape(base_classname), line) if explicit_constructor_match: is_marked_explicit = explicit_constructor_match.group(1) if not explicit_constructor_match.group(2): constructor_args = [] else: constructor_args = explicit_constructor_match.group(2).split(',') # collapse arguments so that commas in template parameter lists and function # argument parameter lists don't split arguments in two i = 0 while i < len(constructor_args): constructor_arg = constructor_args[i] while (constructor_arg.count('<') > constructor_arg.count('>') or constructor_arg.count('(') > constructor_arg.count(')')): constructor_arg += ',' + constructor_args[i + 1] del constructor_args[i + 1] constructor_args[i] = constructor_arg i += 1 defaulted_args = [arg for arg in constructor_args if '=' in arg] noarg_constructor = (not constructor_args or # empty arg list # 'void' arg specifier (len(constructor_args) == 1 and constructor_args[0].strip() == 'void')) onearg_constructor = ((len(constructor_args) == 1 and # exactly one arg not noarg_constructor) or # all but at most one arg defaulted (len(constructor_args) >= 1 and not noarg_constructor and len(defaulted_args) >= len(constructor_args) - 1)) initializer_list_constructor = bool( onearg_constructor and Search(r'\bstd\s*::\s*initializer_list\b', constructor_args[0])) copy_constructor = bool( onearg_constructor and Match(r'(const\s+)?%s(\s*<[^>]*>)?(\s+const)?\s*(?:<\w+>\s*)?&' % re.escape(base_classname), constructor_args[0].strip())) if (not is_marked_explicit and onearg_constructor and not initializer_list_constructor and not copy_constructor): if defaulted_args: error(filename, linenum, 'runtime/explicit', 5, 'Constructors callable with one argument ' 'should be marked explicit.') else: error(filename, linenum, 'runtime/explicit', 5, 'Single-parameter constructors should be marked explicit.') elif is_marked_explicit and not onearg_constructor: if noarg_constructor: error(filename, linenum, 'runtime/explicit', 5, 'Zero-parameter constructors should not be marked explicit.') else: error(filename, linenum, 'runtime/explicit', 0, 'Constructors that require multiple arguments ' 'should not be marked explicit.') def CheckSpacingForFunctionCall(filename, clean_lines, linenum, error): """Checks for the correctness of various spacing around function calls. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] # Since function calls often occur inside if/for/while/switch # expressions - which have their own, more liberal conventions - we # first see if we should be looking inside such an expression for a # function call, to which we can apply more strict standards. fncall = line # if there's no control flow construct, look at whole line for pattern in (r'\bif\s*\((.*)\)\s*{', r'\bfor\s*\((.*)\)\s*{', r'\bwhile\s*\((.*)\)\s*[{;]', r'\bswitch\s*\((.*)\)\s*{'): match = Search(pattern, line) if match: fncall = match.group(1) # look inside the parens for function calls break # Except in if/for/while/switch, there should never be space # immediately inside parens (eg "f( 3, 4 )"). We make an exception # for nested parens ( (a+b) + c ). Likewise, there should never be # a space before a ( when it's a function argument. I assume it's a # function argument when the char before the whitespace is legal in # a function name (alnum + _) and we're not starting a macro. Also ignore # pointers and references to arrays and functions coz they're too tricky: # we use a very simple way to recognize these: # " (something)(maybe-something)" or # " (something)(maybe-something," or # " (something)[something]" # Note that we assume the contents of [] to be short enough that # they'll never need to wrap. if ( # Ignore control structures. not Search(r'\b(if|for|while|switch|return|new|delete|catch|sizeof)\b', fncall) and # Ignore pointers/references to functions. not Search(r' \([^)]+\)\([^)]*(\)|,$)', fncall) and # Ignore pointers/references to arrays. not Search(r' \([^)]+\)\[[^\]]+\]', fncall)): if Search(r'\w\s*\(\s(?!\s*\\$)', fncall): # a ( used for a fn call error(filename, linenum, 'whitespace/parens', 4, 'Extra space after ( in function call') elif Search(r'\(\s+(?!(\s*\\)|\()', fncall): error(filename, linenum, 'whitespace/parens', 2, 'Extra space after (') if (Search(r'\w\s+\(', fncall) and not Search(r'#\s*define|typedef|using\s+\w+\s*=', fncall) and not Search(r'\w\s+\((\w+::)*\*\w+\)\(', fncall) and not Search(r'\bcase\s+\(', fncall)): # TODO(unknown): Space after an operator function seem to be a common # error, silence those for now by restricting them to highest verbosity. if Search(r'\boperator_*\b', line): error(filename, linenum, 'whitespace/parens', 0, 'Extra space before ( in function call') else: error(filename, linenum, 'whitespace/parens', 4, 'Extra space before ( in function call') # If the ) is followed only by a newline or a { + newline, assume it's # part of a control statement (if/while/etc), and don't complain if Search(r'[^)]\s+\)\s*[^{\s]', fncall): # If the closing parenthesis is preceded by only whitespaces, # try to give a more descriptive error message. if Search(r'^\s+\)', fncall): error(filename, linenum, 'whitespace/parens', 2, 'Closing ) should be moved to the previous line') else: error(filename, linenum, 'whitespace/parens', 2, 'Extra space before )') def IsBlankLine(line): """Returns true if the given line is blank. We consider a line to be blank if the line is empty or consists of only white spaces. Args: line: A line of a string. Returns: True, if the given line is blank. """ return not line or line.isspace() def CheckForNamespaceIndentation(filename, nesting_state, clean_lines, line, error): is_namespace_indent_item = ( len(nesting_state.stack) > 1 and nesting_state.stack[-1].check_namespace_indentation and isinstance(nesting_state.previous_stack_top, _NamespaceInfo) and nesting_state.previous_stack_top == nesting_state.stack[-2]) if ShouldCheckNamespaceIndentation(nesting_state, is_namespace_indent_item, clean_lines.elided, line): CheckItemIndentationInNamespace(filename, clean_lines.elided, line, error) def CheckForFunctionLengths(filename, clean_lines, linenum, function_state, error): """Reports for long function bodies. For an overview why this is done, see: http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml#Write_Short_Functions Uses a simplistic algorithm assuming other style guidelines (especially spacing) are followed. Only checks unindented functions, so class members are unchecked. Trivial bodies are unchecked, so constructors with huge initializer lists may be missed. Blank/comment lines are not counted so as to avoid encouraging the removal of vertical space and comments just to get through a lint check. NOLINT *on the last line of a function* disables this check. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. function_state: Current function name and lines in body so far. error: The function to call with any errors found. """ lines = clean_lines.lines line = lines[linenum] joined_line = '' starting_func = False regexp = r'(\w(\w|::|\*|\&|\s)*)\(' # decls * & space::name( ... match_result = Match(regexp, line) if match_result: # If the name is all caps and underscores, figure it's a macro and # ignore it, unless it's TEST or TEST_F. function_name = match_result.group(1).split()[-1] if function_name == 'TEST' or function_name == 'TEST_F' or ( not Match(r'[A-Z_]+$', function_name)): starting_func = True if starting_func: body_found = False for start_linenum in xrange(linenum, clean_lines.NumLines()): start_line = lines[start_linenum] joined_line += ' ' + start_line.lstrip() if Search(r'(;|})', start_line): # Declarations and trivial functions body_found = True break # ... ignore elif Search(r'{', start_line): body_found = True function = Search(r'((\w|:)*)\(', line).group(1) if Match(r'TEST', function): # Handle TEST... macros parameter_regexp = Search(r'(\(.*\))', joined_line) if parameter_regexp: # Ignore bad syntax function += parameter_regexp.group(1) else: function += '()' function_state.Begin(function) break if not body_found: # No body for the function (or evidence of a non-function) was found. error(filename, linenum, 'readability/fn_size', 5, 'Lint failed to find start of function body.') elif Match(r'^\}\s*$', line): # function end function_state.Check(error, filename, linenum) function_state.End() elif not Match(r'^\s*$', line): function_state.Count() # Count non-blank/non-comment lines. _RE_PATTERN_TODO = re.compile(r'^//(\s*)TODO(\(.+?\))?:?(\s|$)?') def CheckComment(line, filename, linenum, next_line_start, error): """Checks for common mistakes in comments. Args: line: The line in question. filename: The name of the current file. linenum: The number of the line to check. next_line_start: The first non-whitespace column of the next line. error: The function to call with any errors found. """ commentpos = line.find('//') if commentpos != -1: # Check if the // may be in quotes. If so, ignore it # Comparisons made explicit for clarity -- pylint: disable=g-explicit-bool-comparison if (line.count('"', 0, commentpos) - line.count('\\"', 0, commentpos)) % 2 == 0: # not in quotes # Allow one space for new scopes, two spaces otherwise: if (not (Match(r'^.*{ *//', line) and next_line_start == commentpos) and ((commentpos >= 1 and line[commentpos-1] not in string.whitespace) or (commentpos >= 2 and line[commentpos-2] not in string.whitespace))): error(filename, linenum, 'whitespace/comments', 2, 'At least two spaces is best between code and comments') # Checks for common mistakes in TODO comments. comment = line[commentpos:] match = _RE_PATTERN_TODO.match(comment) if match: # One whitespace is correct; zero whitespace is handled elsewhere. leading_whitespace = match.group(1) if len(leading_whitespace) > 1: error(filename, linenum, 'whitespace/todo', 2, 'Too many spaces before TODO') username = match.group(2) if not username: error(filename, linenum, 'readability/todo', 2, 'Missing username in TODO; it should look like ' '"// TODO(my_username): Stuff."') middle_whitespace = match.group(3) # Comparisons made explicit for correctness -- pylint: disable=g-explicit-bool-comparison if middle_whitespace != ' ' and middle_whitespace != '': error(filename, linenum, 'whitespace/todo', 2, 'TODO(my_username) should be followed by a space') # If the comment contains an alphanumeric character, there # should be a space somewhere between it and the // unless # it's a /// or //! Doxygen comment. if (Match(r'//[^ ]*\w', comment) and not Match(r'(///|//\!)(\s+|$)', comment)): error(filename, linenum, 'whitespace/comments', 4, 'Should have a space between // and comment') def CheckAccess(filename, clean_lines, linenum, nesting_state, error): """Checks for improper use of DISALLOW* macros. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. nesting_state: A NestingState instance which maintains information about the current stack of nested blocks being parsed. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] # get rid of comments and strings matched = Match((r'\s*(DISALLOW_COPY_AND_ASSIGN|' r'DISALLOW_IMPLICIT_CONSTRUCTORS)'), line) if not matched: return if nesting_state.stack and isinstance(nesting_state.stack[-1], _ClassInfo): if nesting_state.stack[-1].access != 'private': error(filename, linenum, 'readability/constructors', 3, '%s must be in the private: section' % matched.group(1)) else: # Found DISALLOW* macro outside a class declaration, or perhaps it # was used inside a function when it should have been part of the # class declaration. We could issue a warning here, but it # probably resulted in a compiler error already. pass def CheckSpacing(filename, clean_lines, linenum, nesting_state, error): """Checks for the correctness of various spacing issues in the code. Things we check for: spaces around operators, spaces after if/for/while/switch, no spaces around parens in function calls, two spaces between code and comment, don't start a block with a blank line, don't end a function with a blank line, don't add a blank line after public/protected/private, don't have too many blank lines in a row. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. nesting_state: A NestingState instance which maintains information about the current stack of nested blocks being parsed. error: The function to call with any errors found. """ # Don't use "elided" lines here, otherwise we can't check commented lines. # Don't want to use "raw" either, because we don't want to check inside C++11 # raw strings, raw = clean_lines.lines_without_raw_strings line = raw[linenum] # Before nixing comments, check if the line is blank for no good # reason. This includes the first line after a block is opened, and # blank lines at the end of a function (ie, right before a line like '}' # # Skip all the blank line checks if we are immediately inside a # namespace body. In other words, don't issue blank line warnings # for this block: # namespace { # # } # # A warning about missing end of namespace comments will be issued instead. # # Also skip blank line checks for 'extern "C"' blocks, which are formatted # like namespaces. if (IsBlankLine(line) and not nesting_state.InNamespaceBody() and not nesting_state.InExternC()): elided = clean_lines.elided prev_line = elided[linenum - 1] prevbrace = prev_line.rfind('{') # TODO(unknown): Don't complain if line before blank line, and line after, # both start with alnums and are indented the same amount. # This ignores whitespace at the start of a namespace block # because those are not usually indented. if prevbrace != -1 and prev_line[prevbrace:].find('}') == -1: # OK, we have a blank line at the start of a code block. Before we # complain, we check if it is an exception to the rule: The previous # non-empty line has the parameters of a function header that are indented # 4 spaces (because they did not fit in a 80 column line when placed on # the same line as the function name). We also check for the case where # the previous line is indented 6 spaces, which may happen when the # initializers of a constructor do not fit into a 80 column line. exception = False if Match(r' {6}\w', prev_line): # Initializer list? # We are looking for the opening column of initializer list, which # should be indented 4 spaces to cause 6 space indentation afterwards. search_position = linenum-2 while (search_position >= 0 and Match(r' {6}\w', elided[search_position])): search_position -= 1 exception = (search_position >= 0 and elided[search_position][:5] == ' :') else: # Search for the function arguments or an initializer list. We use a # simple heuristic here: If the line is indented 4 spaces; and we have a # closing paren, without the opening paren, followed by an opening brace # or colon (for initializer lists) we assume that it is the last line of # a function header. If we have a colon indented 4 spaces, it is an # initializer list. exception = (Match(r' {4}\w[^\(]*\)\s*(const\s*)?(\{\s*$|:)', prev_line) or Match(r' {4}:', prev_line)) if not exception: error(filename, linenum, 'whitespace/blank_line', 2, 'Redundant blank line at the start of a code block ' 'should be deleted.') # Ignore blank lines at the end of a block in a long if-else # chain, like this: # if (condition1) { # // Something followed by a blank line # # } else if (condition2) { # // Something else # } if linenum + 1 < clean_lines.NumLines(): next_line = raw[linenum + 1] if (next_line and Match(r'\s*}', next_line) and next_line.find('} else ') == -1): error(filename, linenum, 'whitespace/blank_line', 3, 'Redundant blank line at the end of a code block ' 'should be deleted.') matched = Match(r'\s*(public|protected|private):', prev_line) if matched: error(filename, linenum, 'whitespace/blank_line', 3, 'Do not leave a blank line after "%s:"' % matched.group(1)) # Next, check comments next_line_start = 0 if linenum + 1 < clean_lines.NumLines(): next_line = raw[linenum + 1] next_line_start = len(next_line) - len(next_line.lstrip()) CheckComment(line, filename, linenum, next_line_start, error) # get rid of comments and strings line = clean_lines.elided[linenum] # You shouldn't have spaces before your brackets, except maybe after # 'delete []' or 'return []() {};' if Search(r'\w\s+\[', line) and not Search(r'(?:delete|return)\s+\[', line): error(filename, linenum, 'whitespace/braces', 5, 'Extra space before [') # In range-based for, we wanted spaces before and after the colon, but # not around "::" tokens that might appear. if (Search(r'for *\(.*[^:]:[^: ]', line) or Search(r'for *\(.*[^: ]:[^:]', line)): error(filename, linenum, 'whitespace/forcolon', 2, 'Missing space around colon in range-based for loop') def CheckOperatorSpacing(filename, clean_lines, linenum, error): """Checks for horizontal spacing around operators. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] # Don't try to do spacing checks for operator methods. Do this by # replacing the troublesome characters with something else, # preserving column position for all other characters. # # The replacement is done repeatedly to avoid false positives from # operators that call operators. while True: match = Match(r'^(.*\boperator\b)(\S+)(\s*\(.*)$', line) if match: line = match.group(1) + ('_' * len(match.group(2))) + match.group(3) else: break # We allow no-spaces around = within an if: "if ( (a=Foo()) == 0 )". # Otherwise not. Note we only check for non-spaces on *both* sides; # sometimes people put non-spaces on one side when aligning ='s among # many lines (not that this is behavior that I approve of...) if ((Search(r'[\w.]=', line) or Search(r'=[\w.]', line)) and not Search(r'\b(if|while|for) ', line) # Operators taken from [lex.operators] in C++11 standard. and not Search(r'(>=|<=|==|!=|&=|\^=|\|=|\+=|\*=|\/=|\%=)', line) and not Search(r'operator=', line)): error(filename, linenum, 'whitespace/operators', 4, 'Missing spaces around =') # It's ok not to have spaces around binary operators like + - * /, but if # there's too little whitespace, we get concerned. It's hard to tell, # though, so we punt on this one for now. TODO. # You should always have whitespace around binary operators. # # Check <= and >= first to avoid false positives with < and >, then # check non-include lines for spacing around < and >. # # If the operator is followed by a comma, assume it's be used in a # macro context and don't do any checks. This avoids false # positives. # # Note that && is not included here. Those are checked separately # in CheckRValueReference match = Search(r'[^<>=!\s](==|!=|<=|>=|\|\|)[^<>=!\s,;\)]', line) if match: error(filename, linenum, 'whitespace/operators', 3, 'Missing spaces around %s' % match.group(1)) elif not Match(r'#.*include', line): # Look for < that is not surrounded by spaces. This is only # triggered if both sides are missing spaces, even though # technically should should flag if at least one side is missing a # space. This is done to avoid some false positives with shifts. match = Match(r'^(.*[^\s<])<[^\s=<,]', line) if match: (_, _, end_pos) = CloseExpression( clean_lines, linenum, len(match.group(1))) if end_pos <= -1: error(filename, linenum, 'whitespace/operators', 3, 'Missing spaces around <') # Look for > that is not surrounded by spaces. Similar to the # above, we only trigger if both sides are missing spaces to avoid # false positives with shifts. match = Match(r'^(.*[^-\s>])>[^\s=>,]', line) if match: (_, _, start_pos) = ReverseCloseExpression( clean_lines, linenum, len(match.group(1))) if start_pos <= -1: error(filename, linenum, 'whitespace/operators', 3, 'Missing spaces around >') # We allow no-spaces around << when used like this: 10<<20, but # not otherwise (particularly, not when used as streams) # # We also allow operators following an opening parenthesis, since # those tend to be macros that deal with operators. match = Search(r'(operator|[^\s(<])(?:L|UL|ULL|l|ul|ull)?<<([^\s,=<])', line) if (match and not (match.group(1).isdigit() and match.group(2).isdigit()) and not (match.group(1) == 'operator' and match.group(2) == ';')): error(filename, linenum, 'whitespace/operators', 3, 'Missing spaces around <<') # We allow no-spaces around >> for almost anything. This is because # C++11 allows ">>" to close nested templates, which accounts for # most cases when ">>" is not followed by a space. # # We still warn on ">>" followed by alpha character, because that is # likely due to ">>" being used for right shifts, e.g.: # value >> alpha # # When ">>" is used to close templates, the alphanumeric letter that # follows would be part of an identifier, and there should still be # a space separating the template type and the identifier. # type> alpha match = Search(r'>>[a-zA-Z_]', line) if match: error(filename, linenum, 'whitespace/operators', 3, 'Missing spaces around >>') # There shouldn't be space around unary operators match = Search(r'(!\s|~\s|[\s]--[\s;]|[\s]\+\+[\s;])', line) if match: error(filename, linenum, 'whitespace/operators', 4, 'Extra space for operator %s' % match.group(1)) def CheckParenthesisSpacing(filename, clean_lines, linenum, error): """Checks for horizontal spacing around parentheses. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] # No spaces after an if, while, switch, or for match = Search(r' (if\(|for\(|while\(|switch\()', line) if match: error(filename, linenum, 'whitespace/parens', 5, 'Missing space before ( in %s' % match.group(1)) # For if/for/while/switch, the left and right parens should be # consistent about how many spaces are inside the parens, and # there should either be zero or one spaces inside the parens. # We don't want: "if ( foo)" or "if ( foo )". # Exception: "for ( ; foo; bar)" and "for (foo; bar; )" are allowed. match = Search(r'\b(if|for|while|switch)\s*' r'\(([ ]*)(.).*[^ ]+([ ]*)\)\s*{\s*$', line) if match: if len(match.group(2)) != len(match.group(4)): if not (match.group(3) == ';' and len(match.group(2)) == 1 + len(match.group(4)) or not match.group(2) and Search(r'\bfor\s*\(.*; \)', line)): error(filename, linenum, 'whitespace/parens', 5, 'Mismatching spaces inside () in %s' % match.group(1)) if len(match.group(2)) not in [0, 1]: error(filename, linenum, 'whitespace/parens', 5, 'Should have zero or one spaces inside ( and ) in %s' % match.group(1)) def CheckCommaSpacing(filename, clean_lines, linenum, error): """Checks for horizontal spacing near commas and semicolons. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ raw = clean_lines.lines_without_raw_strings line = clean_lines.elided[linenum] # You should always have a space after a comma (either as fn arg or operator) # # This does not apply when the non-space character following the # comma is another comma, since the only time when that happens is # for empty macro arguments. # # We run this check in two passes: first pass on elided lines to # verify that lines contain missing whitespaces, second pass on raw # lines to confirm that those missing whitespaces are not due to # elided comments. if (Search(r',[^,\s]', ReplaceAll(r'\boperator\s*,\s*\(', 'F(', line)) and Search(r',[^,\s]', raw[linenum])): error(filename, linenum, 'whitespace/comma', 3, 'Missing space after ,') # You should always have a space after a semicolon # except for few corner cases # TODO(unknown): clarify if 'if (1) { return 1;}' is requires one more # space after ; if Search(r';[^\s};\\)/]', line): error(filename, linenum, 'whitespace/semicolon', 3, 'Missing space after ;') def CheckBracesSpacing(filename, clean_lines, linenum, error): """Checks for horizontal spacing near commas. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] # Except after an opening paren, or after another opening brace (in case of # an initializer list, for instance), you should have spaces before your # braces. And since you should never have braces at the beginning of a line, # this is an easy test. match = Match(r'^(.*[^ ({>]){', line) if match: # Try a bit harder to check for brace initialization. This # happens in one of the following forms: # Constructor() : initializer_list_{} { ... } # Constructor{}.MemberFunction() # Type variable{}; # FunctionCall(type{}, ...); # LastArgument(..., type{}); # LOG(INFO) << type{} << " ..."; # map_of_type[{...}] = ...; # ternary = expr ? new type{} : nullptr; # OuterTemplate{}> # # We check for the character following the closing brace, and # silence the warning if it's one of those listed above, i.e. # "{.;,)<>]:". # # To account for nested initializer list, we allow any number of # closing braces up to "{;,)<". We can't simply silence the # warning on first sight of closing brace, because that would # cause false negatives for things that are not initializer lists. # Silence this: But not this: # Outer{ if (...) { # Inner{...} if (...){ // Missing space before { # }; } # # There is a false negative with this approach if people inserted # spurious semicolons, e.g. "if (cond){};", but we will catch the # spurious semicolon with a separate check. (endline, endlinenum, endpos) = CloseExpression( clean_lines, linenum, len(match.group(1))) trailing_text = '' if endpos > -1: trailing_text = endline[endpos:] for offset in xrange(endlinenum + 1, min(endlinenum + 3, clean_lines.NumLines() - 1)): trailing_text += clean_lines.elided[offset] if not Match(r'^[\s}]*[{.;,)<>\]:]', trailing_text): error(filename, linenum, 'whitespace/braces', 5, 'Missing space before {') # Make sure '} else {' has spaces. if Search(r'}else', line): error(filename, linenum, 'whitespace/braces', 5, 'Missing space before else') # You shouldn't have a space before a semicolon at the end of the line. # There's a special case for "for" since the style guide allows space before # the semicolon there. if Search(r':\s*;\s*$', line): error(filename, linenum, 'whitespace/semicolon', 5, 'Semicolon defining empty statement. Use {} instead.') elif Search(r'^\s*;\s*$', line): error(filename, linenum, 'whitespace/semicolon', 5, 'Line contains only semicolon. If this should be an empty statement, ' 'use {} instead.') elif (Search(r'\s+;\s*$', line) and not Search(r'\bfor\b', line)): error(filename, linenum, 'whitespace/semicolon', 5, 'Extra space before last semicolon. If this should be an empty ' 'statement, use {} instead.') def IsDecltype(clean_lines, linenum, column): """Check if the token ending on (linenum, column) is decltype(). Args: clean_lines: A CleansedLines instance containing the file. linenum: the number of the line to check. column: end column of the token to check. Returns: True if this token is decltype() expression, False otherwise. """ (text, _, start_col) = ReverseCloseExpression(clean_lines, linenum, column) if start_col < 0: return False if Search(r'\bdecltype\s*$', text[0:start_col]): return True return False def IsTemplateParameterList(clean_lines, linenum, column): """Check if the token ending on (linenum, column) is the end of template<>. Args: clean_lines: A CleansedLines instance containing the file. linenum: the number of the line to check. column: end column of the token to check. Returns: True if this token is end of a template parameter list, False otherwise. """ (_, startline, startpos) = ReverseCloseExpression( clean_lines, linenum, column) if (startpos > -1 and Search(r'\btemplate\s*$', clean_lines.elided[startline][0:startpos])): return True return False def IsRValueType(typenames, clean_lines, nesting_state, linenum, column): """Check if the token ending on (linenum, column) is a type. Assumes that text to the right of the column is "&&" or a function name. Args: typenames: set of type names from template-argument-list. clean_lines: A CleansedLines instance containing the file. nesting_state: A NestingState instance which maintains information about the current stack of nested blocks being parsed. linenum: the number of the line to check. column: end column of the token to check. Returns: True if this token is a type, False if we are not sure. """ prefix = clean_lines.elided[linenum][0:column] # Get one word to the left. If we failed to do so, this is most # likely not a type, since it's unlikely that the type name and "&&" # would be split across multiple lines. match = Match(r'^(.*)(\b\w+|[>*)&])\s*$', prefix) if not match: return False # Check text following the token. If it's "&&>" or "&&," or "&&...", it's # most likely a rvalue reference used inside a template. suffix = clean_lines.elided[linenum][column:] if Match(r'&&\s*(?:[>,]|\.\.\.)', suffix): return True # Check for known types and end of templates: # int&& variable # vector&& variable # # Because this function is called recursively, we also need to # recognize pointer and reference types: # int* Function() # int& Function() if (match.group(2) in typenames or match.group(2) in ['char', 'char16_t', 'char32_t', 'wchar_t', 'bool', 'short', 'int', 'long', 'signed', 'unsigned', 'float', 'double', 'void', 'auto', '>', '*', '&']): return True # If we see a close parenthesis, look for decltype on the other side. # decltype would unambiguously identify a type, anything else is # probably a parenthesized expression and not a type. if match.group(2) == ')': return IsDecltype( clean_lines, linenum, len(match.group(1)) + len(match.group(2)) - 1) # Check for casts and cv-qualifiers. # match.group(1) remainder # -------------- --------- # const_cast< type&& # const type&& # type const&& if Search(r'\b(?:const_cast\s*<|static_cast\s*<|dynamic_cast\s*<|' r'reinterpret_cast\s*<|\w+\s)\s*$', match.group(1)): return True # Look for a preceding symbol that might help differentiate the context. # These are the cases that would be ambiguous: # match.group(1) remainder # -------------- --------- # Call ( expression && # Declaration ( type&& # sizeof ( type&& # if ( expression && # while ( expression && # for ( type&& # for( ; expression && # statement ; type&& # block { type&& # constructor { expression && start = linenum line = match.group(1) match_symbol = None while start >= 0: # We want to skip over identifiers and commas to get to a symbol. # Commas are skipped so that we can find the opening parenthesis # for function parameter lists. match_symbol = Match(r'^(.*)([^\w\s,])[\w\s,]*$', line) if match_symbol: break start -= 1 line = clean_lines.elided[start] if not match_symbol: # Probably the first statement in the file is an rvalue reference return True if match_symbol.group(2) == '}': # Found closing brace, probably an indicate of this: # block{} type&& return True if match_symbol.group(2) == ';': # Found semicolon, probably one of these: # for(; expression && # statement; type&& # Look for the previous 'for(' in the previous lines. before_text = match_symbol.group(1) for i in xrange(start - 1, max(start - 6, 0), -1): before_text = clean_lines.elided[i] + before_text if Search(r'for\s*\([^{};]*$', before_text): # This is the condition inside a for-loop return False # Did not find a for-init-statement before this semicolon, so this # is probably a new statement and not a condition. return True if match_symbol.group(2) == '{': # Found opening brace, probably one of these: # block{ type&& = ... ; } # constructor{ expression && expression } # Look for a closing brace or a semicolon. If we see a semicolon # first, this is probably a rvalue reference. line = clean_lines.elided[start][0:len(match_symbol.group(1)) + 1] end = start depth = 1 while True: for ch in line: if ch == ';': return True elif ch == '{': depth += 1 elif ch == '}': depth -= 1 if depth == 0: return False end += 1 if end >= clean_lines.NumLines(): break line = clean_lines.elided[end] # Incomplete program? return False if match_symbol.group(2) == '(': # Opening parenthesis. Need to check what's to the left of the # parenthesis. Look back one extra line for additional context. before_text = match_symbol.group(1) if linenum > 1: before_text = clean_lines.elided[linenum - 1] + before_text before_text = match_symbol.group(1) # Patterns that are likely to be types: # [](type&& # for (type&& # sizeof(type&& # operator=(type&& # if Search(r'(?:\]|\bfor|\bsizeof|\boperator\s*\S+\s*)\s*$', before_text): return True # Patterns that are likely to be expressions: # if (expression && # while (expression && # : initializer(expression && # , initializer(expression && # ( FunctionCall(expression && # + FunctionCall(expression && # + (expression && # # The last '+' represents operators such as '+' and '-'. if Search(r'(?:\bif|\bwhile|[-+=%^(]*>)?\s*$', match_symbol.group(1)) if match_func: # Check for constructors, which don't have return types. if Search(r'\b(?:explicit|inline)$', match_func.group(1)): return True implicit_constructor = Match(r'\s*(\w+)\((?:const\s+)?(\w+)', prefix) if (implicit_constructor and implicit_constructor.group(1) == implicit_constructor.group(2)): return True return IsRValueType(typenames, clean_lines, nesting_state, linenum, len(match_func.group(1))) # Nothing before the function name. If this is inside a block scope, # this is probably a function call. return not (nesting_state.previous_stack_top and nesting_state.previous_stack_top.IsBlockInfo()) if match_symbol.group(2) == '>': # Possibly a closing bracket, check that what's on the other side # looks like the start of a template. return IsTemplateParameterList( clean_lines, start, len(match_symbol.group(1))) # Some other symbol, usually something like "a=b&&c". This is most # likely not a type. return False def IsDeletedOrDefault(clean_lines, linenum): """Check if current constructor or operator is deleted or default. Args: clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. Returns: True if this is a deleted or default constructor. """ open_paren = clean_lines.elided[linenum].find('(') if open_paren < 0: return False (close_line, _, close_paren) = CloseExpression( clean_lines, linenum, open_paren) if close_paren < 0: return False return Match(r'\s*=\s*(?:delete|default)\b', close_line[close_paren:]) def IsRValueAllowed(clean_lines, linenum, typenames): """Check if RValue reference is allowed on a particular line. Args: clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. typenames: set of type names from template-argument-list. Returns: True if line is within the region where RValue references are allowed. """ # Allow region marked by PUSH/POP macros for i in xrange(linenum, 0, -1): line = clean_lines.elided[i] if Match(r'GOOGLE_ALLOW_RVALUE_REFERENCES_(?:PUSH|POP)', line): if not line.endswith('PUSH'): return False for j in xrange(linenum, clean_lines.NumLines(), 1): line = clean_lines.elided[j] if Match(r'GOOGLE_ALLOW_RVALUE_REFERENCES_(?:PUSH|POP)', line): return line.endswith('POP') # Allow operator= line = clean_lines.elided[linenum] if Search(r'\boperator\s*=\s*\(', line): return IsDeletedOrDefault(clean_lines, linenum) # Allow constructors match = Match(r'\s*(?:[\w<>]+::)*([\w<>]+)\s*::\s*([\w<>]+)\s*\(', line) if match and match.group(1) == match.group(2): return IsDeletedOrDefault(clean_lines, linenum) if Search(r'\b(?:explicit|inline)\s+[\w<>]+\s*\(', line): return IsDeletedOrDefault(clean_lines, linenum) if Match(r'\s*[\w<>]+\s*\(', line): previous_line = 'ReturnType' if linenum > 0: previous_line = clean_lines.elided[linenum - 1] if Match(r'^\s*$', previous_line) or Search(r'[{}:;]\s*$', previous_line): return IsDeletedOrDefault(clean_lines, linenum) # Reject types not mentioned in template-argument-list while line: match = Match(r'^.*?(\w+)\s*&&(.*)$', line) if not match: break if match.group(1) not in typenames: return False line = match.group(2) # All RValue types that were in template-argument-list should have # been removed by now. Those were allowed, assuming that they will # be forwarded. # # If there are no remaining RValue types left (i.e. types that were # not found in template-argument-list), flag those as not allowed. return line.find('&&') < 0 def GetTemplateArgs(clean_lines, linenum): """Find list of template arguments associated with this function declaration. Args: clean_lines: A CleansedLines instance containing the file. linenum: Line number containing the start of the function declaration, usually one line after the end of the template-argument-list. Returns: Set of type names, or empty set if this does not appear to have any template parameters. """ # Find start of function func_line = linenum while func_line > 0: line = clean_lines.elided[func_line] if Match(r'^\s*$', line): return set() if line.find('(') >= 0: break func_line -= 1 if func_line == 0: return set() # Collapse template-argument-list into a single string argument_list = '' match = Match(r'^(\s*template\s*)<', clean_lines.elided[func_line]) if match: # template-argument-list on the same line as function name start_col = len(match.group(1)) _, end_line, end_col = CloseExpression(clean_lines, func_line, start_col) if end_col > -1 and end_line == func_line: start_col += 1 # Skip the opening bracket argument_list = clean_lines.elided[func_line][start_col:end_col] elif func_line > 1: # template-argument-list one line before function name match = Match(r'^(.*)>\s*$', clean_lines.elided[func_line - 1]) if match: end_col = len(match.group(1)) _, start_line, start_col = ReverseCloseExpression( clean_lines, func_line - 1, end_col) if start_col > -1: start_col += 1 # Skip the opening bracket while start_line < func_line - 1: argument_list += clean_lines.elided[start_line][start_col:] start_col = 0 start_line += 1 argument_list += clean_lines.elided[func_line - 1][start_col:end_col] if not argument_list: return set() # Extract type names typenames = set() while True: match = Match(r'^[,\s]*(?:typename|class)(?:\.\.\.)?\s+(\w+)(.*)$', argument_list) if not match: break typenames.add(match.group(1)) argument_list = match.group(2) return typenames def CheckRValueReference(filename, clean_lines, linenum, nesting_state, error): """Check for rvalue references. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. nesting_state: A NestingState instance which maintains information about the current stack of nested blocks being parsed. error: The function to call with any errors found. """ # Find lines missing spaces around &&. # TODO(unknown): currently we don't check for rvalue references # with spaces surrounding the && to avoid false positives with # boolean expressions. line = clean_lines.elided[linenum] match = Match(r'^(.*\S)&&', line) if not match: match = Match(r'(.*)&&\S', line) if (not match) or '(&&)' in line or Search(r'\boperator\s*$', match.group(1)): return # Either poorly formed && or an rvalue reference, check the context # to get a more accurate error message. Mostly we want to determine # if what's to the left of "&&" is a type or not. typenames = GetTemplateArgs(clean_lines, linenum) and_pos = len(match.group(1)) if IsRValueType(typenames, clean_lines, nesting_state, linenum, and_pos): if not IsRValueAllowed(clean_lines, linenum, typenames): error(filename, linenum, 'build/c++11', 3, 'RValue references are an unapproved C++ feature.') else: error(filename, linenum, 'whitespace/operators', 3, 'Missing spaces around &&') def CheckSectionSpacing(filename, clean_lines, class_info, linenum, error): """Checks for additional blank line issues related to sections. Currently the only thing checked here is blank line before protected/private. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. class_info: A _ClassInfo objects. linenum: The number of the line to check. error: The function to call with any errors found. """ # Skip checks if the class is small, where small means 25 lines or less. # 25 lines seems like a good cutoff since that's the usual height of # terminals, and any class that can't fit in one screen can't really # be considered "small". # # Also skip checks if we are on the first line. This accounts for # classes that look like # class Foo { public: ... }; # # If we didn't find the end of the class, last_line would be zero, # and the check will be skipped by the first condition. if (class_info.last_line - class_info.starting_linenum <= 24 or linenum <= class_info.starting_linenum): return matched = Match(r'\s*(public|protected|private):', clean_lines.lines[linenum]) if matched: # Issue warning if the line before public/protected/private was # not a blank line, but don't do this if the previous line contains # "class" or "struct". This can happen two ways: # - We are at the beginning of the class. # - We are forward-declaring an inner class that is semantically # private, but needed to be public for implementation reasons. # Also ignores cases where the previous line ends with a backslash as can be # common when defining classes in C macros. prev_line = clean_lines.lines[linenum - 1] if (not IsBlankLine(prev_line) and not Search(r'\b(class|struct)\b', prev_line) and not Search(r'\\$', prev_line)): # Try a bit harder to find the beginning of the class. This is to # account for multi-line base-specifier lists, e.g.: # class Derived # : public Base { end_class_head = class_info.starting_linenum for i in range(class_info.starting_linenum, linenum): if Search(r'\{\s*$', clean_lines.lines[i]): end_class_head = i break if end_class_head < linenum - 1: error(filename, linenum, 'whitespace/blank_line', 3, '"%s:" should be preceded by a blank line' % matched.group(1)) def GetPreviousNonBlankLine(clean_lines, linenum): """Return the most recent non-blank line and its line number. Args: clean_lines: A CleansedLines instance containing the file contents. linenum: The number of the line to check. Returns: A tuple with two elements. The first element is the contents of the last non-blank line before the current line, or the empty string if this is the first non-blank line. The second is the line number of that line, or -1 if this is the first non-blank line. """ prevlinenum = linenum - 1 while prevlinenum >= 0: prevline = clean_lines.elided[prevlinenum] if not IsBlankLine(prevline): # if not a blank line... return (prevline, prevlinenum) prevlinenum -= 1 return ('', -1) def CheckBraces(filename, clean_lines, linenum, error): """Looks for misplaced braces (e.g. at the end of line). Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] # get rid of comments and strings if Match(r'\s*{\s*$', line): # We allow an open brace to start a line in the case where someone is using # braces in a block to explicitly create a new scope, which is commonly used # to control the lifetime of stack-allocated variables. Braces are also # used for brace initializers inside function calls. We don't detect this # perfectly: we just don't complain if the last non-whitespace character on # the previous non-blank line is ',', ';', ':', '(', '{', or '}', or if the # previous line starts a preprocessor block. prevline = GetPreviousNonBlankLine(clean_lines, linenum)[0] if (not Search(r'[,;:}{(]\s*$', prevline) and not Match(r'\s*#', prevline)): error(filename, linenum, 'whitespace/braces', 4, '{ should almost always be at the end of the previous line') # An else clause should be on the same line as the preceding closing brace. if Match(r'\s*else\b\s*(?:if\b|\{|$)', line): prevline = GetPreviousNonBlankLine(clean_lines, linenum)[0] if Match(r'\s*}\s*$', prevline): error(filename, linenum, 'whitespace/newline', 4, 'An else should appear on the same line as the preceding }') # If braces come on one side of an else, they should be on both. # However, we have to worry about "else if" that spans multiple lines! if Search(r'else if\s*\(', line): # could be multi-line if brace_on_left = bool(Search(r'}\s*else if\s*\(', line)) # find the ( after the if pos = line.find('else if') pos = line.find('(', pos) if pos > 0: (endline, _, endpos) = CloseExpression(clean_lines, linenum, pos) brace_on_right = endline[endpos:].find('{') != -1 if brace_on_left != brace_on_right: # must be brace after if error(filename, linenum, 'readability/braces', 5, 'If an else has a brace on one side, it should have it on both') elif Search(r'}\s*else[^{]*$', line) or Match(r'[^}]*else\s*{', line): error(filename, linenum, 'readability/braces', 5, 'If an else has a brace on one side, it should have it on both') # Likewise, an else should never have the else clause on the same line if Search(r'\belse [^\s{]', line) and not Search(r'\belse if\b', line): error(filename, linenum, 'whitespace/newline', 4, 'Else clause should never be on same line as else (use 2 lines)') # In the same way, a do/while should never be on one line if Match(r'\s*do [^\s{]', line): error(filename, linenum, 'whitespace/newline', 4, 'do/while clauses should not be on a single line') # Check single-line if/else bodies. The style guide says 'curly braces are not # required for single-line statements'. We additionally allow multi-line, # single statements, but we reject anything with more than one semicolon in # it. This means that the first semicolon after the if should be at the end of # its line, and the line after that should have an indent level equal to or # lower than the if. We also check for ambiguous if/else nesting without # braces. if_else_match = Search(r'\b(if\s*\(|else\b)', line) if if_else_match and not Match(r'\s*#', line): if_indent = GetIndentLevel(line) endline, endlinenum, endpos = line, linenum, if_else_match.end() if_match = Search(r'\bif\s*\(', line) if if_match: # This could be a multiline if condition, so find the end first. pos = if_match.end() - 1 (endline, endlinenum, endpos) = CloseExpression(clean_lines, linenum, pos) # Check for an opening brace, either directly after the if or on the next # line. If found, this isn't a single-statement conditional. if (not Match(r'\s*{', endline[endpos:]) and not (Match(r'\s*$', endline[endpos:]) and endlinenum < (len(clean_lines.elided) - 1) and Match(r'\s*{', clean_lines.elided[endlinenum + 1]))): while (endlinenum < len(clean_lines.elided) and ';' not in clean_lines.elided[endlinenum][endpos:]): endlinenum += 1 endpos = 0 if endlinenum < len(clean_lines.elided): endline = clean_lines.elided[endlinenum] # We allow a mix of whitespace and closing braces (e.g. for one-liner # methods) and a single \ after the semicolon (for macros) endpos = endline.find(';') if not Match(r';[\s}]*(\\?)$', endline[endpos:]): # Semicolon isn't the last character, there's something trailing. # Output a warning if the semicolon is not contained inside # a lambda expression. if not Match(r'^[^{};]*\[[^\[\]]*\][^{}]*\{[^{}]*\}\s*\)*[;,]\s*$', endline): error(filename, linenum, 'readability/braces', 4, 'If/else bodies with multiple statements require braces') elif endlinenum < len(clean_lines.elided) - 1: # Make sure the next line is dedented next_line = clean_lines.elided[endlinenum + 1] next_indent = GetIndentLevel(next_line) # With ambiguous nested if statements, this will error out on the # if that *doesn't* match the else, regardless of whether it's the # inner one or outer one. if (if_match and Match(r'\s*else\b', next_line) and next_indent != if_indent): error(filename, linenum, 'readability/braces', 4, 'Else clause should be indented at the same level as if. ' 'Ambiguous nested if/else chains require braces.') elif next_indent > if_indent: error(filename, linenum, 'readability/braces', 4, 'If/else bodies with multiple statements require braces') def CheckTrailingSemicolon(filename, clean_lines, linenum, error): """Looks for redundant trailing semicolon. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] # Block bodies should not be followed by a semicolon. Due to C++11 # brace initialization, there are more places where semicolons are # required than not, so we use a whitelist approach to check these # rather than a blacklist. These are the places where "};" should # be replaced by just "}": # 1. Some flavor of block following closing parenthesis: # for (;;) {}; # while (...) {}; # switch (...) {}; # Function(...) {}; # if (...) {}; # if (...) else if (...) {}; # # 2. else block: # if (...) else {}; # # 3. const member function: # Function(...) const {}; # # 4. Block following some statement: # x = 42; # {}; # # 5. Block at the beginning of a function: # Function(...) { # {}; # } # # Note that naively checking for the preceding "{" will also match # braces inside multi-dimensional arrays, but this is fine since # that expression will not contain semicolons. # # 6. Block following another block: # while (true) {} # {}; # # 7. End of namespaces: # namespace {}; # # These semicolons seems far more common than other kinds of # redundant semicolons, possibly due to people converting classes # to namespaces. For now we do not warn for this case. # # Try matching case 1 first. match = Match(r'^(.*\)\s*)\{', line) if match: # Matched closing parenthesis (case 1). Check the token before the # matching opening parenthesis, and don't warn if it looks like a # macro. This avoids these false positives: # - macro that defines a base class # - multi-line macro that defines a base class # - macro that defines the whole class-head # # But we still issue warnings for macros that we know are safe to # warn, specifically: # - TEST, TEST_F, TEST_P, MATCHER, MATCHER_P # - TYPED_TEST # - INTERFACE_DEF # - EXCLUSIVE_LOCKS_REQUIRED, SHARED_LOCKS_REQUIRED, LOCKS_EXCLUDED: # # We implement a whitelist of safe macros instead of a blacklist of # unsafe macros, even though the latter appears less frequently in # google code and would have been easier to implement. This is because # the downside for getting the whitelist wrong means some extra # semicolons, while the downside for getting the blacklist wrong # would result in compile errors. # # In addition to macros, we also don't want to warn on # - Compound literals # - Lambdas # - alignas specifier with anonymous structs: closing_brace_pos = match.group(1).rfind(')') opening_parenthesis = ReverseCloseExpression( clean_lines, linenum, closing_brace_pos) if opening_parenthesis[2] > -1: line_prefix = opening_parenthesis[0][0:opening_parenthesis[2]] macro = Search(r'\b([A-Z_]+)\s*$', line_prefix) func = Match(r'^(.*\])\s*$', line_prefix) if ((macro and macro.group(1) not in ( 'TEST', 'TEST_F', 'MATCHER', 'MATCHER_P', 'TYPED_TEST', 'EXCLUSIVE_LOCKS_REQUIRED', 'SHARED_LOCKS_REQUIRED', 'LOCKS_EXCLUDED', 'INTERFACE_DEF')) or (func and not Search(r'\boperator\s*\[\s*\]', func.group(1))) or Search(r'\b(?:struct|union)\s+alignas\s*$', line_prefix) or Search(r'\s+=\s*$', line_prefix)): match = None if (match and opening_parenthesis[1] > 1 and Search(r'\]\s*$', clean_lines.elided[opening_parenthesis[1] - 1])): # Multi-line lambda-expression match = None else: # Try matching cases 2-3. match = Match(r'^(.*(?:else|\)\s*const)\s*)\{', line) if not match: # Try matching cases 4-6. These are always matched on separate lines. # # Note that we can't simply concatenate the previous line to the # current line and do a single match, otherwise we may output # duplicate warnings for the blank line case: # if (cond) { # // blank line # } prevline = GetPreviousNonBlankLine(clean_lines, linenum)[0] if prevline and Search(r'[;{}]\s*$', prevline): match = Match(r'^(\s*)\{', line) # Check matching closing brace if match: (endline, endlinenum, endpos) = CloseExpression( clean_lines, linenum, len(match.group(1))) if endpos > -1 and Match(r'^\s*;', endline[endpos:]): # Current {} pair is eligible for semicolon check, and we have found # the redundant semicolon, output warning here. # # Note: because we are scanning forward for opening braces, and # outputting warnings for the matching closing brace, if there are # nested blocks with trailing semicolons, we will get the error # messages in reversed order. error(filename, endlinenum, 'readability/braces', 4, "You don't need a ; after a }") def CheckEmptyBlockBody(filename, clean_lines, linenum, error): """Look for empty loop/conditional body with only a single semicolon. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ # Search for loop keywords at the beginning of the line. Because only # whitespaces are allowed before the keywords, this will also ignore most # do-while-loops, since those lines should start with closing brace. # # We also check "if" blocks here, since an empty conditional block # is likely an error. line = clean_lines.elided[linenum] matched = Match(r'\s*(for|while|if)\s*\(', line) if matched: # Find the end of the conditional expression (end_line, end_linenum, end_pos) = CloseExpression( clean_lines, linenum, line.find('(')) # Output warning if what follows the condition expression is a semicolon. # No warning for all other cases, including whitespace or newline, since we # have a separate check for semicolons preceded by whitespace. if end_pos >= 0 and Match(r';', end_line[end_pos:]): if matched.group(1) == 'if': error(filename, end_linenum, 'whitespace/empty_conditional_body', 5, 'Empty conditional bodies should use {}') else: error(filename, end_linenum, 'whitespace/empty_loop_body', 5, 'Empty loop bodies should use {} or continue') def FindCheckMacro(line): """Find a replaceable CHECK-like macro. Args: line: line to search on. Returns: (macro name, start position), or (None, -1) if no replaceable macro is found. """ for macro in _CHECK_MACROS: i = line.find(macro) if i >= 0: # Find opening parenthesis. Do a regular expression match here # to make sure that we are matching the expected CHECK macro, as # opposed to some other macro that happens to contain the CHECK # substring. matched = Match(r'^(.*\b' + macro + r'\s*)\(', line) if not matched: continue return (macro, len(matched.group(1))) return (None, -1) def CheckCheck(filename, clean_lines, linenum, error): """Checks the use of CHECK and EXPECT macros. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ # Decide the set of replacement macros that should be suggested lines = clean_lines.elided (check_macro, start_pos) = FindCheckMacro(lines[linenum]) if not check_macro: return # Find end of the boolean expression by matching parentheses (last_line, end_line, end_pos) = CloseExpression( clean_lines, linenum, start_pos) if end_pos < 0: return # If the check macro is followed by something other than a # semicolon, assume users will log their own custom error messages # and don't suggest any replacements. if not Match(r'\s*;', last_line[end_pos:]): return if linenum == end_line: expression = lines[linenum][start_pos + 1:end_pos - 1] else: expression = lines[linenum][start_pos + 1:] for i in xrange(linenum + 1, end_line): expression += lines[i] expression += last_line[0:end_pos - 1] # Parse expression so that we can take parentheses into account. # This avoids false positives for inputs like "CHECK((a < 4) == b)", # which is not replaceable by CHECK_LE. lhs = '' rhs = '' operator = None while expression: matched = Match(r'^\s*(<<|<<=|>>|>>=|->\*|->|&&|\|\||' r'==|!=|>=|>|<=|<|\()(.*)$', expression) if matched: token = matched.group(1) if token == '(': # Parenthesized operand expression = matched.group(2) (end, _) = FindEndOfExpressionInLine(expression, 0, ['(']) if end < 0: return # Unmatched parenthesis lhs += '(' + expression[0:end] expression = expression[end:] elif token in ('&&', '||'): # Logical and/or operators. This means the expression # contains more than one term, for example: # CHECK(42 < a && a < b); # # These are not replaceable with CHECK_LE, so bail out early. return elif token in ('<<', '<<=', '>>', '>>=', '->*', '->'): # Non-relational operator lhs += token expression = matched.group(2) else: # Relational operator operator = token rhs = matched.group(2) break else: # Unparenthesized operand. Instead of appending to lhs one character # at a time, we do another regular expression match to consume several # characters at once if possible. Trivial benchmark shows that this # is more efficient when the operands are longer than a single # character, which is generally the case. matched = Match(r'^([^-=!<>()&|]+)(.*)$', expression) if not matched: matched = Match(r'^(\s*\S)(.*)$', expression) if not matched: break lhs += matched.group(1) expression = matched.group(2) # Only apply checks if we got all parts of the boolean expression if not (lhs and operator and rhs): return # Check that rhs do not contain logical operators. We already know # that lhs is fine since the loop above parses out && and ||. if rhs.find('&&') > -1 or rhs.find('||') > -1: return # At least one of the operands must be a constant literal. This is # to avoid suggesting replacements for unprintable things like # CHECK(variable != iterator) # # The following pattern matches decimal, hex integers, strings, and # characters (in that order). lhs = lhs.strip() rhs = rhs.strip() match_constant = r'^([-+]?(\d+|0[xX][0-9a-fA-F]+)[lLuU]{0,3}|".*"|\'.*\')$' if Match(match_constant, lhs) or Match(match_constant, rhs): # Note: since we know both lhs and rhs, we can provide a more # descriptive error message like: # Consider using CHECK_EQ(x, 42) instead of CHECK(x == 42) # Instead of: # Consider using CHECK_EQ instead of CHECK(a == b) # # We are still keeping the less descriptive message because if lhs # or rhs gets long, the error message might become unreadable. error(filename, linenum, 'readability/check', 2, 'Consider using %s instead of %s(a %s b)' % ( _CHECK_REPLACEMENT[check_macro][operator], check_macro, operator)) def CheckAltTokens(filename, clean_lines, linenum, error): """Check alternative keywords being used in boolean expressions. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] # Avoid preprocessor lines if Match(r'^\s*#', line): return # Last ditch effort to avoid multi-line comments. This will not help # if the comment started before the current line or ended after the # current line, but it catches most of the false positives. At least, # it provides a way to workaround this warning for people who use # multi-line comments in preprocessor macros. # # TODO(unknown): remove this once cpplint has better support for # multi-line comments. if line.find('/*') >= 0 or line.find('*/') >= 0: return for match in _ALT_TOKEN_REPLACEMENT_PATTERN.finditer(line): error(filename, linenum, 'readability/alt_tokens', 2, 'Use operator %s instead of %s' % ( _ALT_TOKEN_REPLACEMENT[match.group(1)], match.group(1))) def GetLineWidth(line): """Determines the width of the line in column positions. Args: line: A string, which may be a Unicode string. Returns: The width of the line in column positions, accounting for Unicode combining characters and wide characters. """ if isinstance(line, unicode): width = 0 for uc in unicodedata.normalize('NFC', line): if unicodedata.east_asian_width(uc) in ('W', 'F'): width += 2 elif not unicodedata.combining(uc): width += 1 return width else: return len(line) def CheckStyle(filename, clean_lines, linenum, file_extension, nesting_state, error): """Checks rules from the 'C++ style rules' section of cppguide.html. Most of these rules are hard to test (naming, comment style), but we do what we can. In particular we check for 2-space indents, line lengths, tab usage, spaces inside code, etc. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. file_extension: The extension (without the dot) of the filename. nesting_state: A NestingState instance which maintains information about the current stack of nested blocks being parsed. error: The function to call with any errors found. """ # Don't use "elided" lines here, otherwise we can't check commented lines. # Don't want to use "raw" either, because we don't want to check inside C++11 # raw strings, raw_lines = clean_lines.lines_without_raw_strings line = raw_lines[linenum] if line.find('\t') != -1: error(filename, linenum, 'whitespace/tab', 1, 'Tab found; better to use spaces') # One or three blank spaces at the beginning of the line is weird; it's # hard to reconcile that with 2-space indents. # NOTE: here are the conditions rob pike used for his tests. Mine aren't # as sophisticated, but it may be worth becoming so: RLENGTH==initial_spaces # if(RLENGTH > 20) complain = 0; # if(match($0, " +(error|private|public|protected):")) complain = 0; # if(match(prev, "&& *$")) complain = 0; # if(match(prev, "\\|\\| *$")) complain = 0; # if(match(prev, "[\",=><] *$")) complain = 0; # if(match($0, " <<")) complain = 0; # if(match(prev, " +for \\(")) complain = 0; # if(prevodd && match(prevprev, " +for \\(")) complain = 0; scope_or_label_pattern = r'\s*\w+\s*:\s*\\?$' classinfo = nesting_state.InnermostClass() initial_spaces = 0 cleansed_line = clean_lines.elided[linenum] while initial_spaces < len(line) and line[initial_spaces] == ' ': initial_spaces += 1 if line and line[-1].isspace(): error(filename, linenum, 'whitespace/end_of_line', 4, 'Line ends in whitespace. Consider deleting these extra spaces.') # There are certain situations we allow one space, notably for # section labels, and also lines containing multi-line raw strings. elif ((initial_spaces == 1 or initial_spaces == 3) and not Match(scope_or_label_pattern, cleansed_line) and not (clean_lines.raw_lines[linenum] != line and Match(r'^\s*""', line))): error(filename, linenum, 'whitespace/indent', 3, 'Weird number of spaces at line-start. ' 'Are you using a 2-space indent?') # Check if the line is a header guard. is_header_guard = False if file_extension == 'h': cppvar = GetHeaderGuardCPPVariable(filename) if (line.startswith('#ifndef %s' % cppvar) or line.startswith('#define %s' % cppvar) or line.startswith('#endif // %s' % cppvar)): is_header_guard = True # #include lines and header guards can be long, since there's no clean way to # split them. # # URLs can be long too. It's possible to split these, but it makes them # harder to cut&paste. # # The "$Id:...$" comment may also get very long without it being the # developers fault. if (not line.startswith('#include') and not is_header_guard and not Match(r'^\s*//.*http(s?)://\S*$', line) and not Match(r'^// \$Id:.*#[0-9]+ \$$', line)): line_width = GetLineWidth(line) extended_length = int((_line_length * 1.25)) if line_width > extended_length: error(filename, linenum, 'whitespace/line_length', 4, 'Lines should very rarely be longer than %i characters' % extended_length) elif line_width > _line_length: error(filename, linenum, 'whitespace/line_length', 2, 'Lines should be <= %i characters long' % _line_length) if (cleansed_line.count(';') > 1 and # for loops are allowed two ;'s (and may run over two lines). cleansed_line.find('for') == -1 and (GetPreviousNonBlankLine(clean_lines, linenum)[0].find('for') == -1 or GetPreviousNonBlankLine(clean_lines, linenum)[0].find(';') != -1) and # It's ok to have many commands in a switch case that fits in 1 line not ((cleansed_line.find('case ') != -1 or cleansed_line.find('default:') != -1) and cleansed_line.find('break;') != -1)): error(filename, linenum, 'whitespace/newline', 0, 'More than one command on the same line') # Some more style checks CheckBraces(filename, clean_lines, linenum, error) CheckTrailingSemicolon(filename, clean_lines, linenum, error) CheckEmptyBlockBody(filename, clean_lines, linenum, error) CheckAccess(filename, clean_lines, linenum, nesting_state, error) CheckSpacing(filename, clean_lines, linenum, nesting_state, error) CheckOperatorSpacing(filename, clean_lines, linenum, error) CheckParenthesisSpacing(filename, clean_lines, linenum, error) CheckCommaSpacing(filename, clean_lines, linenum, error) CheckBracesSpacing(filename, clean_lines, linenum, error) CheckSpacingForFunctionCall(filename, clean_lines, linenum, error) CheckRValueReference(filename, clean_lines, linenum, nesting_state, error) CheckCheck(filename, clean_lines, linenum, error) CheckAltTokens(filename, clean_lines, linenum, error) classinfo = nesting_state.InnermostClass() if classinfo: CheckSectionSpacing(filename, clean_lines, classinfo, linenum, error) _RE_PATTERN_INCLUDE = re.compile(r'^\s*#\s*include\s*([<"])([^>"]*)[>"].*$') # Matches the first component of a filename delimited by -s and _s. That is: # _RE_FIRST_COMPONENT.match('foo').group(0) == 'foo' # _RE_FIRST_COMPONENT.match('foo.cc').group(0) == 'foo' # _RE_FIRST_COMPONENT.match('foo-bar_baz.cc').group(0) == 'foo' # _RE_FIRST_COMPONENT.match('foo_bar-baz.cc').group(0) == 'foo' _RE_FIRST_COMPONENT = re.compile(r'^[^-_.]+') def _DropCommonSuffixes(filename): """Drops common suffixes like _test.cc or -inl.h from filename. For example: >>> _DropCommonSuffixes('foo/foo-inl.h') 'foo/foo' >>> _DropCommonSuffixes('foo/bar/foo.cc') 'foo/bar/foo' >>> _DropCommonSuffixes('foo/foo_internal.h') 'foo/foo' >>> _DropCommonSuffixes('foo/foo_unusualinternal.h') 'foo/foo_unusualinternal' Args: filename: The input filename. Returns: The filename with the common suffix removed. """ for suffix in ('test.cc', 'regtest.cc', 'unittest.cc', 'inl.h', 'impl.h', 'internal.h'): if (filename.endswith(suffix) and len(filename) > len(suffix) and filename[-len(suffix) - 1] in ('-', '_')): return filename[:-len(suffix) - 1] return os.path.splitext(filename)[0] def _IsTestFilename(filename): """Determines if the given filename has a suffix that identifies it as a test. Args: filename: The input filename. Returns: True if 'filename' looks like a test, False otherwise. """ if (filename.endswith('_test.cc') or filename.endswith('_unittest.cc') or filename.endswith('_regtest.cc')): return True else: return False def _ClassifyInclude(fileinfo, include, is_system): """Figures out what kind of header 'include' is. Args: fileinfo: The current file cpplint is running over. A FileInfo instance. include: The path to a #included file. is_system: True if the #include used <> rather than "". Returns: One of the _XXX_HEADER constants. For example: >>> _ClassifyInclude(FileInfo('foo/foo.cc'), 'stdio.h', True) _C_SYS_HEADER >>> _ClassifyInclude(FileInfo('foo/foo.cc'), 'string', True) _CPP_SYS_HEADER >>> _ClassifyInclude(FileInfo('foo/foo.cc'), 'foo/foo.h', False) _LIKELY_MY_HEADER >>> _ClassifyInclude(FileInfo('foo/foo_unknown_extension.cc'), ... 'bar/foo_other_ext.h', False) _POSSIBLE_MY_HEADER >>> _ClassifyInclude(FileInfo('foo/foo.cc'), 'foo/bar.h', False) _OTHER_HEADER """ # This is a list of all standard c++ header files, except # those already checked for above. is_cpp_h = include in _CPP_HEADERS if is_system: if is_cpp_h: return _CPP_SYS_HEADER else: return _C_SYS_HEADER # If the target file and the include we're checking share a # basename when we drop common extensions, and the include # lives in . , then it's likely to be owned by the target file. target_dir, target_base = ( os.path.split(_DropCommonSuffixes(fileinfo.RepositoryName()))) include_dir, include_base = os.path.split(_DropCommonSuffixes(include)) if target_base == include_base and ( include_dir == target_dir or include_dir == os.path.normpath(target_dir + '/../public')): return _LIKELY_MY_HEADER # If the target and include share some initial basename # component, it's possible the target is implementing the # include, so it's allowed to be first, but we'll never # complain if it's not there. target_first_component = _RE_FIRST_COMPONENT.match(target_base) include_first_component = _RE_FIRST_COMPONENT.match(include_base) if (target_first_component and include_first_component and target_first_component.group(0) == include_first_component.group(0)): return _POSSIBLE_MY_HEADER return _OTHER_HEADER def CheckIncludeLine(filename, clean_lines, linenum, include_state, error): """Check rules that are applicable to #include lines. Strings on #include lines are NOT removed from elided line, to make certain tasks easier. However, to prevent false positives, checks applicable to #include lines in CheckLanguage must be put here. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. include_state: An _IncludeState instance in which the headers are inserted. error: The function to call with any errors found. """ fileinfo = FileInfo(filename) line = clean_lines.lines[linenum] # "include" should use the new style "foo/bar.h" instead of just "bar.h" # Only do this check if the included header follows google naming # conventions. If not, assume that it's a 3rd party API that # requires special include conventions. # # We also make an exception for Lua headers, which follow google # naming convention but not the include convention. match = Match(r'#include\s*"([^/]+\.h)"', line) if match and not _THIRD_PARTY_HEADERS_PATTERN.match(match.group(1)): error(filename, linenum, 'build/include', 4, 'Include the directory when naming .h files') # we shouldn't include a file more than once. actually, there are a # handful of instances where doing so is okay, but in general it's # not. match = _RE_PATTERN_INCLUDE.search(line) if match: include = match.group(2) is_system = (match.group(1) == '<') duplicate_line = include_state.FindHeader(include) if duplicate_line >= 0: error(filename, linenum, 'build/include', 4, '"%s" already included at %s:%s' % (include, filename, duplicate_line)) elif (include.endswith('.cc') and os.path.dirname(fileinfo.RepositoryName()) != os.path.dirname(include)): error(filename, linenum, 'build/include', 4, 'Do not include .cc files from other packages') elif not _THIRD_PARTY_HEADERS_PATTERN.match(include): include_state.include_list[-1].append((include, linenum)) # We want to ensure that headers appear in the right order: # 1) for foo.cc, foo.h (preferred location) # 2) c system files # 3) cpp system files # 4) for foo.cc, foo.h (deprecated location) # 5) other google headers # # We classify each include statement as one of those 5 types # using a number of techniques. The include_state object keeps # track of the highest type seen, and complains if we see a # lower type after that. error_message = include_state.CheckNextIncludeOrder( _ClassifyInclude(fileinfo, include, is_system)) if error_message: error(filename, linenum, 'build/include_order', 4, '%s. Should be: %s.h, c system, c++ system, other.' % (error_message, fileinfo.BaseName())) canonical_include = include_state.CanonicalizeAlphabeticalOrder(include) if not include_state.IsInAlphabeticalOrder( clean_lines, linenum, canonical_include): error(filename, linenum, 'build/include_alpha', 4, 'Include "%s" not in alphabetical order' % include) include_state.SetLastHeader(canonical_include) def _GetTextInside(text, start_pattern): r"""Retrieves all the text between matching open and close parentheses. Given a string of lines and a regular expression string, retrieve all the text following the expression and between opening punctuation symbols like (, [, or {, and the matching close-punctuation symbol. This properly nested occurrences of the punctuations, so for the text like printf(a(), b(c())); a call to _GetTextInside(text, r'printf\(') will return 'a(), b(c())'. start_pattern must match string having an open punctuation symbol at the end. Args: text: The lines to extract text. Its comments and strings must be elided. It can be single line and can span multiple lines. start_pattern: The regexp string indicating where to start extracting the text. Returns: The extracted text. None if either the opening string or ending punctuation could not be found. """ # TODO(unknown): Audit cpplint.py to see what places could be profitably # rewritten to use _GetTextInside (and use inferior regexp matching today). # Give opening punctuations to get the matching close-punctuations. matching_punctuation = {'(': ')', '{': '}', '[': ']'} closing_punctuation = set(matching_punctuation.itervalues()) # Find the position to start extracting text. match = re.search(start_pattern, text, re.M) if not match: # start_pattern not found in text. return None start_position = match.end(0) assert start_position > 0, ( 'start_pattern must ends with an opening punctuation.') assert text[start_position - 1] in matching_punctuation, ( 'start_pattern must ends with an opening punctuation.') # Stack of closing punctuations we expect to have in text after position. punctuation_stack = [matching_punctuation[text[start_position - 1]]] position = start_position while punctuation_stack and position < len(text): if text[position] == punctuation_stack[-1]: punctuation_stack.pop() elif text[position] in closing_punctuation: # A closing punctuation without matching opening punctuations. return None elif text[position] in matching_punctuation: punctuation_stack.append(matching_punctuation[text[position]]) position += 1 if punctuation_stack: # Opening punctuations left without matching close-punctuations. return None # punctuations match. return text[start_position:position - 1] # Patterns for matching call-by-reference parameters. # # Supports nested templates up to 2 levels deep using this messy pattern: # < (?: < (?: < [^<>]* # > # | [^<>] )* # > # | [^<>] )* # > _RE_PATTERN_IDENT = r'[_a-zA-Z]\w*' # =~ [[:alpha:]][[:alnum:]]* _RE_PATTERN_TYPE = ( r'(?:const\s+)?(?:typename\s+|class\s+|struct\s+|union\s+|enum\s+)?' r'(?:\w|' r'\s*<(?:<(?:<[^<>]*>|[^<>])*>|[^<>])*>|' r'::)+') # A call-by-reference parameter ends with '& identifier'. _RE_PATTERN_REF_PARAM = re.compile( r'(' + _RE_PATTERN_TYPE + r'(?:\s*(?:\bconst\b|[*]))*\s*' r'&\s*' + _RE_PATTERN_IDENT + r')\s*(?:=[^,()]+)?[,)]') # A call-by-const-reference parameter either ends with 'const& identifier' # or looks like 'const type& identifier' when 'type' is atomic. _RE_PATTERN_CONST_REF_PARAM = ( r'(?:.*\s*\bconst\s*&\s*' + _RE_PATTERN_IDENT + r'|const\s+' + _RE_PATTERN_TYPE + r'\s*&\s*' + _RE_PATTERN_IDENT + r')') def CheckLanguage(filename, clean_lines, linenum, file_extension, include_state, nesting_state, error): """Checks rules from the 'C++ language rules' section of cppguide.html. Some of these rules are hard to test (function overloading, using uint32 inappropriately), but we do the best we can. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. file_extension: The extension (without the dot) of the filename. include_state: An _IncludeState instance in which the headers are inserted. nesting_state: A NestingState instance which maintains information about the current stack of nested blocks being parsed. error: The function to call with any errors found. """ # If the line is empty or consists of entirely a comment, no need to # check it. line = clean_lines.elided[linenum] if not line: return match = _RE_PATTERN_INCLUDE.search(line) if match: CheckIncludeLine(filename, clean_lines, linenum, include_state, error) return # Reset include state across preprocessor directives. This is meant # to silence warnings for conditional includes. match = Match(r'^\s*#\s*(if|ifdef|ifndef|elif|else|endif)\b', line) if match: include_state.ResetSection(match.group(1)) # Make Windows paths like Unix. fullname = os.path.abspath(filename).replace('\\', '/') # Perform other checks now that we are sure that this is not an include line CheckCasts(filename, clean_lines, linenum, error) CheckGlobalStatic(filename, clean_lines, linenum, error) CheckPrintf(filename, clean_lines, linenum, error) if file_extension == 'h': # TODO(unknown): check that 1-arg constructors are explicit. # How to tell it's a constructor? # (handled in CheckForNonStandardConstructs for now) # TODO(unknown): check that classes declare or disable copy/assign # (level 1 error) pass # Check if people are using the verboten C basic types. The only exception # we regularly allow is "unsigned short port" for port. if Search(r'\bshort port\b', line): if not Search(r'\bunsigned short port\b', line): error(filename, linenum, 'runtime/int', 4, 'Use "unsigned short" for ports, not "short"') else: match = Search(r'\b(short|long(?! +double)|long long)\b', line) if match: error(filename, linenum, 'runtime/int', 4, 'Use int16/int64/etc, rather than the C type %s' % match.group(1)) # Check if some verboten operator overloading is going on # TODO(unknown): catch out-of-line unary operator&: # class X {}; # int operator&(const X& x) { return 42; } // unary operator& # The trick is it's hard to tell apart from binary operator&: # class Y { int operator&(const Y& x) { return 23; } }; // binary operator& if Search(r'\boperator\s*&\s*\(\s*\)', line): error(filename, linenum, 'runtime/operator', 4, 'Unary operator& is dangerous. Do not use it.') # Check for suspicious usage of "if" like # } if (a == b) { if Search(r'\}\s*if\s*\(', line): error(filename, linenum, 'readability/braces', 4, 'Did you mean "else if"? If not, start a new line for "if".') # Check for potential format string bugs like printf(foo). # We constrain the pattern not to pick things like DocidForPrintf(foo). # Not perfect but it can catch printf(foo.c_str()) and printf(foo->c_str()) # TODO(unknown): Catch the following case. Need to change the calling # convention of the whole function to process multiple line to handle it. # printf( # boy_this_is_a_really_long_variable_that_cannot_fit_on_the_prev_line); printf_args = _GetTextInside(line, r'(?i)\b(string)?printf\s*\(') if printf_args: match = Match(r'([\w.\->()]+)$', printf_args) if match and match.group(1) != '__VA_ARGS__': function_name = re.search(r'\b((?:string)?printf)\s*\(', line, re.I).group(1) error(filename, linenum, 'runtime/printf', 4, 'Potential format string bug. Do %s("%%s", %s) instead.' % (function_name, match.group(1))) # Check for potential memset bugs like memset(buf, sizeof(buf), 0). match = Search(r'memset\s*\(([^,]*),\s*([^,]*),\s*0\s*\)', line) if match and not Match(r"^''|-?[0-9]+|0x[0-9A-Fa-f]$", match.group(2)): error(filename, linenum, 'runtime/memset', 4, 'Did you mean "memset(%s, 0, %s)"?' % (match.group(1), match.group(2))) if Search(r'\busing namespace\b', line): error(filename, linenum, 'build/namespaces', 5, 'Do not use namespace using-directives. ' 'Use using-declarations instead.') # Detect variable-length arrays. match = Match(r'\s*(.+::)?(\w+) [a-z]\w*\[(.+)];', line) if (match and match.group(2) != 'return' and match.group(2) != 'delete' and match.group(3).find(']') == -1): # Split the size using space and arithmetic operators as delimiters. # If any of the resulting tokens are not compile time constants then # report the error. tokens = re.split(r'\s|\+|\-|\*|\/|<<|>>]', match.group(3)) is_const = True skip_next = False for tok in tokens: if skip_next: skip_next = False continue if Search(r'sizeof\(.+\)', tok): continue if Search(r'arraysize\(\w+\)', tok): continue tok = tok.lstrip('(') tok = tok.rstrip(')') if not tok: continue if Match(r'\d+', tok): continue if Match(r'0[xX][0-9a-fA-F]+', tok): continue if Match(r'k[A-Z0-9]\w*', tok): continue if Match(r'(.+::)?k[A-Z0-9]\w*', tok): continue if Match(r'(.+::)?[A-Z][A-Z0-9_]*', tok): continue # A catch all for tricky sizeof cases, including 'sizeof expression', # 'sizeof(*type)', 'sizeof(const type)', 'sizeof(struct StructName)' # requires skipping the next token because we split on ' ' and '*'. if tok.startswith('sizeof'): skip_next = True continue is_const = False break if not is_const: error(filename, linenum, 'runtime/arrays', 1, 'Do not use variable-length arrays. Use an appropriately named ' "('k' followed by CamelCase) compile-time constant for the size.") # Check for use of unnamed namespaces in header files. Registration # macros are typically OK, so we allow use of "namespace {" on lines # that end with backslashes. if (file_extension == 'h' and Search(r'\bnamespace\s*{', line) and line[-1] != '\\'): error(filename, linenum, 'build/namespaces', 4, 'Do not use unnamed namespaces in header files. See ' 'http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml#Namespaces' ' for more information.') def CheckGlobalStatic(filename, clean_lines, linenum, error): """Check for unsafe global or static objects. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] # Match two lines at a time to support multiline declarations if linenum + 1 < clean_lines.NumLines() and not Search(r'[;({]', line): line += clean_lines.elided[linenum + 1].strip() # Check for people declaring static/global STL strings at the top level. # This is dangerous because the C++ language does not guarantee that # globals with constructors are initialized before the first access. match = Match( r'((?:|static +)(?:|const +))string +([a-zA-Z0-9_:]+)\b(.*)', line) # Remove false positives: # - String pointers (as opposed to values). # string *pointer # const string *pointer # string const *pointer # string *const pointer # # - Functions and template specializations. # string Function(... # string Class::Method(... # # - Operators. These are matched separately because operator names # cross non-word boundaries, and trying to match both operators # and functions at the same time would decrease accuracy of # matching identifiers. # string Class::operator*() if (match and not Search(r'\bstring\b(\s+const)?\s*\*\s*(const\s+)?\w', line) and not Search(r'\boperator\W', line) and not Match(r'\s*(<.*>)?(::[a-zA-Z0-9_]+)*\s*\(([^"]|$)', match.group(3))): error(filename, linenum, 'runtime/string', 4, 'For a static/global string constant, use a C style string instead: ' '"%schar %s[]".' % (match.group(1), match.group(2))) if Search(r'\b([A-Za-z0-9_]*_)\(\1\)', line): error(filename, linenum, 'runtime/init', 4, 'You seem to be initializing a member variable with itself.') def CheckPrintf(filename, clean_lines, linenum, error): """Check for printf related issues. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] # When snprintf is used, the second argument shouldn't be a literal. match = Search(r'snprintf\s*\(([^,]*),\s*([0-9]*)\s*,', line) if match and match.group(2) != '0': # If 2nd arg is zero, snprintf is used to calculate size. error(filename, linenum, 'runtime/printf', 3, 'If you can, use sizeof(%s) instead of %s as the 2nd arg ' 'to snprintf.' % (match.group(1), match.group(2))) # Check if some verboten C functions are being used. if Search(r'\bsprintf\s*\(', line): error(filename, linenum, 'runtime/printf', 5, 'Never use sprintf. Use snprintf instead.') match = Search(r'\b(strcpy|strcat)\s*\(', line) if match: error(filename, linenum, 'runtime/printf', 4, 'Almost always, snprintf is better than %s' % match.group(1)) def IsDerivedFunction(clean_lines, linenum): """Check if current line contains an inherited function. Args: clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. Returns: True if current line contains a function with "override" virt-specifier. """ # Scan back a few lines for start of current function for i in xrange(linenum, max(-1, linenum - 10), -1): match = Match(r'^([^()]*\w+)\(', clean_lines.elided[i]) if match: # Look for "override" after the matching closing parenthesis line, _, closing_paren = CloseExpression( clean_lines, i, len(match.group(1))) return (closing_paren >= 0 and Search(r'\boverride\b', line[closing_paren:])) return False def IsOutOfLineMethodDefinition(clean_lines, linenum): """Check if current line contains an out-of-line method definition. Args: clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. Returns: True if current line contains an out-of-line method definition. """ # Scan back a few lines for start of current function for i in xrange(linenum, max(-1, linenum - 10), -1): if Match(r'^([^()]*\w+)\(', clean_lines.elided[i]): return Match(r'^[^()]*\w+::\w+\(', clean_lines.elided[i]) is not None return False def IsInitializerList(clean_lines, linenum): """Check if current line is inside constructor initializer list. Args: clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. Returns: True if current line appears to be inside constructor initializer list, False otherwise. """ for i in xrange(linenum, 1, -1): line = clean_lines.elided[i] if i == linenum: remove_function_body = Match(r'^(.*)\{\s*$', line) if remove_function_body: line = remove_function_body.group(1) if Search(r'\s:\s*\w+[({]', line): # A lone colon tend to indicate the start of a constructor # initializer list. It could also be a ternary operator, which # also tend to appear in constructor initializer lists as # opposed to parameter lists. return True if Search(r'\}\s*,\s*$', line): # A closing brace followed by a comma is probably the end of a # brace-initialized member in constructor initializer list. return True if Search(r'[{};]\s*$', line): # Found one of the following: # - A closing brace or semicolon, probably the end of the previous # function. # - An opening brace, probably the start of current class or namespace. # # Current line is probably not inside an initializer list since # we saw one of those things without seeing the starting colon. return False # Got to the beginning of the file without seeing the start of # constructor initializer list. return False def CheckForNonConstReference(filename, clean_lines, linenum, nesting_state, error): """Check for non-const references. Separate from CheckLanguage since it scans backwards from current line, instead of scanning forward. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. nesting_state: A NestingState instance which maintains information about the current stack of nested blocks being parsed. error: The function to call with any errors found. """ # Do nothing if there is no '&' on current line. line = clean_lines.elided[linenum] if '&' not in line: return # If a function is inherited, current function doesn't have much of # a choice, so any non-const references should not be blamed on # derived function. if IsDerivedFunction(clean_lines, linenum): return # Don't warn on out-of-line method definitions, as we would warn on the # in-line declaration, if it isn't marked with 'override'. if IsOutOfLineMethodDefinition(clean_lines, linenum): return # Long type names may be broken across multiple lines, usually in one # of these forms: # LongType # ::LongTypeContinued &identifier # LongType:: # LongTypeContinued &identifier # LongType< # ...>::LongTypeContinued &identifier # # If we detected a type split across two lines, join the previous # line to current line so that we can match const references # accordingly. # # Note that this only scans back one line, since scanning back # arbitrary number of lines would be expensive. If you have a type # that spans more than 2 lines, please use a typedef. if linenum > 1: previous = None if Match(r'\s*::(?:[\w<>]|::)+\s*&\s*\S', line): # previous_line\n + ::current_line previous = Search(r'\b((?:const\s*)?(?:[\w<>]|::)+[\w<>])\s*$', clean_lines.elided[linenum - 1]) elif Match(r'\s*[a-zA-Z_]([\w<>]|::)+\s*&\s*\S', line): # previous_line::\n + current_line previous = Search(r'\b((?:const\s*)?(?:[\w<>]|::)+::)\s*$', clean_lines.elided[linenum - 1]) if previous: line = previous.group(1) + line.lstrip() else: # Check for templated parameter that is split across multiple lines endpos = line.rfind('>') if endpos > -1: (_, startline, startpos) = ReverseCloseExpression( clean_lines, linenum, endpos) if startpos > -1 and startline < linenum: # Found the matching < on an earlier line, collect all # pieces up to current line. line = '' for i in xrange(startline, linenum + 1): line += clean_lines.elided[i].strip() # Check for non-const references in function parameters. A single '&' may # found in the following places: # inside expression: binary & for bitwise AND # inside expression: unary & for taking the address of something # inside declarators: reference parameter # We will exclude the first two cases by checking that we are not inside a # function body, including one that was just introduced by a trailing '{'. # TODO(unknown): Doesn't account for 'catch(Exception& e)' [rare]. if (nesting_state.previous_stack_top and not (isinstance(nesting_state.previous_stack_top, _ClassInfo) or isinstance(nesting_state.previous_stack_top, _NamespaceInfo))): # Not at toplevel, not within a class, and not within a namespace return # Avoid initializer lists. We only need to scan back from the # current line for something that starts with ':'. # # We don't need to check the current line, since the '&' would # appear inside the second set of parentheses on the current line as # opposed to the first set. if linenum > 0: for i in xrange(linenum - 1, max(0, linenum - 10), -1): previous_line = clean_lines.elided[i] if not Search(r'[),]\s*$', previous_line): break if Match(r'^\s*:\s+\S', previous_line): return # Avoid preprocessors if Search(r'\\\s*$', line): return # Avoid constructor initializer lists if IsInitializerList(clean_lines, linenum): return # We allow non-const references in a few standard places, like functions # called "swap()" or iostream operators like "<<" or ">>". Do not check # those function parameters. # # We also accept & in static_assert, which looks like a function but # it's actually a declaration expression. whitelisted_functions = (r'(?:[sS]wap(?:<\w:+>)?|' r'operator\s*[<>][<>]|' r'static_assert|COMPILE_ASSERT' r')\s*\(') if Search(whitelisted_functions, line): return elif not Search(r'\S+\([^)]*$', line): # Don't see a whitelisted function on this line. Actually we # didn't see any function name on this line, so this is likely a # multi-line parameter list. Try a bit harder to catch this case. for i in xrange(2): if (linenum > i and Search(whitelisted_functions, clean_lines.elided[linenum - i - 1])): return decls = ReplaceAll(r'{[^}]*}', ' ', line) # exclude function body for parameter in re.findall(_RE_PATTERN_REF_PARAM, decls): if not Match(_RE_PATTERN_CONST_REF_PARAM, parameter): error(filename, linenum, 'runtime/references', 2, 'Is this a non-const reference? ' 'If so, make const or use a pointer: ' + ReplaceAll(' *<', '<', parameter)) def CheckCasts(filename, clean_lines, linenum, error): """Various cast related checks. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] # Check to see if they're using an conversion function cast. # I just try to capture the most common basic types, though there are more. # Parameterless conversion functions, such as bool(), are allowed as they are # probably a member operator declaration or default constructor. match = Search( r'(\bnew\s+|\S<\s*(?:const\s+)?)?\b' r'(int|float|double|bool|char|int32|uint32|int64|uint64)' r'(\([^)].*)', line) expecting_function = ExpectingFunctionArgs(clean_lines, linenum) if match and not expecting_function: matched_type = match.group(2) # matched_new_or_template is used to silence two false positives: # - New operators # - Template arguments with function types # # For template arguments, we match on types immediately following # an opening bracket without any spaces. This is a fast way to # silence the common case where the function type is the first # template argument. False negative with less-than comparison is # avoided because those operators are usually followed by a space. # # function // bracket + no space = false positive # value < double(42) // bracket + space = true positive matched_new_or_template = match.group(1) # Avoid arrays by looking for brackets that come after the closing # parenthesis. if Match(r'\([^()]+\)\s*\[', match.group(3)): return # Other things to ignore: # - Function pointers # - Casts to pointer types # - Placement new # - Alias declarations matched_funcptr = match.group(3) if (matched_new_or_template is None and not (matched_funcptr and (Match(r'\((?:[^() ]+::\s*\*\s*)?[^() ]+\)\s*\(', matched_funcptr) or matched_funcptr.startswith('(*)'))) and not Match(r'\s*using\s+\S+\s*=\s*' + matched_type, line) and not Search(r'new\(\S+\)\s*' + matched_type, line)): error(filename, linenum, 'readability/casting', 4, 'Using deprecated casting style. ' 'Use static_cast<%s>(...) instead' % matched_type) if not expecting_function: CheckCStyleCast(filename, clean_lines, linenum, 'static_cast', r'\((int|float|double|bool|char|u?int(16|32|64))\)', error) # This doesn't catch all cases. Consider (const char * const)"hello". # # (char *) "foo" should always be a const_cast (reinterpret_cast won't # compile). if CheckCStyleCast(filename, clean_lines, linenum, 'const_cast', r'\((char\s?\*+\s?)\)\s*"', error): pass else: # Check pointer casts for other than string constants CheckCStyleCast(filename, clean_lines, linenum, 'reinterpret_cast', r'\((\w+\s?\*+\s?)\)', error) # In addition, we look for people taking the address of a cast. This # is dangerous -- casts can assign to temporaries, so the pointer doesn't # point where you think. # # Some non-identifier character is required before the '&' for the # expression to be recognized as a cast. These are casts: # expression = &static_cast(temporary()); # function(&(int*)(temporary())); # # This is not a cast: # reference_type&(int* function_param); match = Search( r'(?:[^\w]&\(([^)*][^)]*)\)[\w(])|' r'(?:[^\w]&(static|dynamic|down|reinterpret)_cast\b)', line) if match: # Try a better error message when the & is bound to something # dereferenced by the casted pointer, as opposed to the casted # pointer itself. parenthesis_error = False match = Match(r'^(.*&(?:static|dynamic|down|reinterpret)_cast\b)<', line) if match: _, y1, x1 = CloseExpression(clean_lines, linenum, len(match.group(1))) if x1 >= 0 and clean_lines.elided[y1][x1] == '(': _, y2, x2 = CloseExpression(clean_lines, y1, x1) if x2 >= 0: extended_line = clean_lines.elided[y2][x2:] if y2 < clean_lines.NumLines() - 1: extended_line += clean_lines.elided[y2 + 1] if Match(r'\s*(?:->|\[)', extended_line): parenthesis_error = True if parenthesis_error: error(filename, linenum, 'readability/casting', 4, ('Are you taking an address of something dereferenced ' 'from a cast? Wrapping the dereferenced expression in ' 'parentheses will make the binding more obvious')) else: error(filename, linenum, 'runtime/casting', 4, ('Are you taking an address of a cast? ' 'This is dangerous: could be a temp var. ' 'Take the address before doing the cast, rather than after')) def CheckCStyleCast(filename, clean_lines, linenum, cast_type, pattern, error): """Checks for a C-style cast by looking for the pattern. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. cast_type: The string for the C++ cast to recommend. This is either reinterpret_cast, static_cast, or const_cast, depending. pattern: The regular expression used to find C-style casts. error: The function to call with any errors found. Returns: True if an error was emitted. False otherwise. """ line = clean_lines.elided[linenum] match = Search(pattern, line) if not match: return False # Exclude lines with keywords that tend to look like casts context = line[0:match.start(1) - 1] if Match(r'.*\b(?:sizeof|alignof|alignas|[_A-Z][_A-Z0-9]*)\s*$', context): return False # Try expanding current context to see if we one level of # parentheses inside a macro. if linenum > 0: for i in xrange(linenum - 1, max(0, linenum - 5), -1): context = clean_lines.elided[i] + context if Match(r'.*\b[_A-Z][_A-Z0-9]*\s*\((?:\([^()]*\)|[^()])*$', context): return False # operator++(int) and operator--(int) if context.endswith(' operator++') or context.endswith(' operator--'): return False # A single unnamed argument for a function tends to look like old # style cast. If we see those, don't issue warnings for deprecated # casts, instead issue warnings for unnamed arguments where # appropriate. # # These are things that we want warnings for, since the style guide # explicitly require all parameters to be named: # Function(int); # Function(int) { # ConstMember(int) const; # ConstMember(int) const { # ExceptionMember(int) throw (...); # ExceptionMember(int) throw (...) { # PureVirtual(int) = 0; # [](int) -> bool { # # These are functions of some sort, where the compiler would be fine # if they had named parameters, but people often omit those # identifiers to reduce clutter: # (FunctionPointer)(int); # (FunctionPointer)(int) = value; # Function((function_pointer_arg)(int)) # Function((function_pointer_arg)(int), int param) # ; # <(FunctionPointerTemplateArgument)(int)>; remainder = line[match.end(0):] if Match(r'^\s*(?:;|const\b|throw\b|final\b|override\b|[=>{),]|->)', remainder): # Looks like an unnamed parameter. # Don't warn on any kind of template arguments. if Match(r'^\s*>', remainder): return False # Don't warn on assignments to function pointers, but keep warnings for # unnamed parameters to pure virtual functions. Note that this pattern # will also pass on assignments of "0" to function pointers, but the # preferred values for those would be "nullptr" or "NULL". matched_zero = Match(r'^\s=\s*(\S+)\s*;', remainder) if matched_zero and matched_zero.group(1) != '0': return False # Don't warn on function pointer declarations. For this we need # to check what came before the "(type)" string. if Match(r'.*\)\s*$', line[0:match.start(0)]): return False # Don't warn if the parameter is named with block comments, e.g.: # Function(int /*unused_param*/); raw_line = clean_lines.raw_lines[linenum] if '/*' in raw_line: return False # Passed all filters, issue warning here. error(filename, linenum, 'readability/function', 3, 'All parameters should be named in a function') return True # At this point, all that should be left is actual casts. error(filename, linenum, 'readability/casting', 4, 'Using C-style cast. Use %s<%s>(...) instead' % (cast_type, match.group(1))) return True def ExpectingFunctionArgs(clean_lines, linenum): """Checks whether where function type arguments are expected. Args: clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. Returns: True if the line at 'linenum' is inside something that expects arguments of function types. """ line = clean_lines.elided[linenum] return (Match(r'^\s*MOCK_(CONST_)?METHOD\d+(_T)?\(', line) or (linenum >= 2 and (Match(r'^\s*MOCK_(?:CONST_)?METHOD\d+(?:_T)?\((?:\S+,)?\s*$', clean_lines.elided[linenum - 1]) or Match(r'^\s*MOCK_(?:CONST_)?METHOD\d+(?:_T)?\(\s*$', clean_lines.elided[linenum - 2]) or Search(r'\bstd::m?function\s*\<\s*$', clean_lines.elided[linenum - 1])))) _HEADERS_CONTAINING_TEMPLATES = ( ('', ('deque',)), ('', ('unary_function', 'binary_function', 'plus', 'minus', 'multiplies', 'divides', 'modulus', 'negate', 'equal_to', 'not_equal_to', 'greater', 'less', 'greater_equal', 'less_equal', 'logical_and', 'logical_or', 'logical_not', 'unary_negate', 'not1', 'binary_negate', 'not2', 'bind1st', 'bind2nd', 'pointer_to_unary_function', 'pointer_to_binary_function', 'ptr_fun', 'mem_fun_t', 'mem_fun', 'mem_fun1_t', 'mem_fun1_ref_t', 'mem_fun_ref_t', 'const_mem_fun_t', 'const_mem_fun1_t', 'const_mem_fun_ref_t', 'const_mem_fun1_ref_t', 'mem_fun_ref', )), ('', ('numeric_limits',)), ('', ('list',)), ('', ('map', 'multimap',)), ('', ('allocator',)), ('', ('queue', 'priority_queue',)), ('', ('set', 'multiset',)), ('', ('stack',)), ('', ('char_traits', 'basic_string',)), ('', ('tuple',)), ('', ('pair',)), ('', ('vector',)), # gcc extensions. # Note: std::hash is their hash, ::hash is our hash ('', ('hash_map', 'hash_multimap',)), ('', ('hash_set', 'hash_multiset',)), ('', ('slist',)), ) _RE_PATTERN_STRING = re.compile(r'\bstring\b') _re_pattern_algorithm_header = [] for _template in ('copy', 'max', 'min', 'min_element', 'sort', 'swap', 'transform'): # Match max(..., ...), max(..., ...), but not foo->max, foo.max or # type::max(). _re_pattern_algorithm_header.append( (re.compile(r'[^>.]\b' + _template + r'(<.*?>)?\([^\)]'), _template, '')) _re_pattern_templates = [] for _header, _templates in _HEADERS_CONTAINING_TEMPLATES: for _template in _templates: _re_pattern_templates.append( (re.compile(r'(\<|\b)' + _template + r'\s*\<'), _template + '<>', _header)) def FilesBelongToSameModule(filename_cc, filename_h): """Check if these two filenames belong to the same module. The concept of a 'module' here is a as follows: foo.h, foo-inl.h, foo.cc, foo_test.cc and foo_unittest.cc belong to the same 'module' if they are in the same directory. some/path/public/xyzzy and some/path/internal/xyzzy are also considered to belong to the same module here. If the filename_cc contains a longer path than the filename_h, for example, '/absolute/path/to/base/sysinfo.cc', and this file would include 'base/sysinfo.h', this function also produces the prefix needed to open the header. This is used by the caller of this function to more robustly open the header file. We don't have access to the real include paths in this context, so we need this guesswork here. Known bugs: tools/base/bar.cc and base/bar.h belong to the same module according to this implementation. Because of this, this function gives some false positives. This should be sufficiently rare in practice. Args: filename_cc: is the path for the .cc file filename_h: is the path for the header path Returns: Tuple with a bool and a string: bool: True if filename_cc and filename_h belong to the same module. string: the additional prefix needed to open the header file. """ if not filename_cc.endswith('.cc'): return (False, '') filename_cc = filename_cc[:-len('.cc')] if filename_cc.endswith('_unittest'): filename_cc = filename_cc[:-len('_unittest')] elif filename_cc.endswith('_test'): filename_cc = filename_cc[:-len('_test')] filename_cc = filename_cc.replace('/public/', '/') filename_cc = filename_cc.replace('/internal/', '/') if not filename_h.endswith('.h'): return (False, '') filename_h = filename_h[:-len('.h')] if filename_h.endswith('-inl'): filename_h = filename_h[:-len('-inl')] filename_h = filename_h.replace('/public/', '/') filename_h = filename_h.replace('/internal/', '/') files_belong_to_same_module = filename_cc.endswith(filename_h) common_path = '' if files_belong_to_same_module: common_path = filename_cc[:-len(filename_h)] return files_belong_to_same_module, common_path def UpdateIncludeState(filename, include_dict, io=codecs): """Fill up the include_dict with new includes found from the file. Args: filename: the name of the header to read. include_dict: a dictionary in which the headers are inserted. io: The io factory to use to read the file. Provided for testability. Returns: True if a header was successfully added. False otherwise. """ headerfile = None try: headerfile = io.open(filename, 'r', 'utf8', 'replace') except IOError: return False linenum = 0 for line in headerfile: linenum += 1 clean_line = CleanseComments(line) match = _RE_PATTERN_INCLUDE.search(clean_line) if match: include = match.group(2) include_dict.setdefault(include, linenum) return True def CheckForIncludeWhatYouUse(filename, clean_lines, include_state, error, io=codecs): """Reports for missing stl includes. This function will output warnings to make sure you are including the headers necessary for the stl containers and functions that you use. We only give one reason to include a header. For example, if you use both equal_to<> and less<> in a .h file, only one (the latter in the file) of these will be reported as a reason to include the . Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. include_state: An _IncludeState instance. error: The function to call with any errors found. io: The IO factory to use to read the header file. Provided for unittest injection. """ required = {} # A map of header name to linenumber and the template entity. # Example of required: { '': (1219, 'less<>') } for linenum in xrange(clean_lines.NumLines()): line = clean_lines.elided[linenum] if not line or line[0] == '#': continue # String is special -- it is a non-templatized type in STL. matched = _RE_PATTERN_STRING.search(line) if matched: # Don't warn about strings in non-STL namespaces: # (We check only the first match per line; good enough.) prefix = line[:matched.start()] if prefix.endswith('std::') or not prefix.endswith('::'): required[''] = (linenum, 'string') for pattern, template, header in _re_pattern_algorithm_header: if pattern.search(line): required[header] = (linenum, template) # The following function is just a speed up, no semantics are changed. if not '<' in line: # Reduces the cpu time usage by skipping lines. continue for pattern, template, header in _re_pattern_templates: if pattern.search(line): required[header] = (linenum, template) # The policy is that if you #include something in foo.h you don't need to # include it again in foo.cc. Here, we will look at possible includes. # Let's flatten the include_state include_list and copy it into a dictionary. include_dict = dict([item for sublist in include_state.include_list for item in sublist]) # Did we find the header for this file (if any) and successfully load it? header_found = False # Use the absolute path so that matching works properly. abs_filename = FileInfo(filename).FullName() # For Emacs's flymake. # If cpplint is invoked from Emacs's flymake, a temporary file is generated # by flymake and that file name might end with '_flymake.cc'. In that case, # restore original file name here so that the corresponding header file can be # found. # e.g. If the file name is 'foo_flymake.cc', we should search for 'foo.h' # instead of 'foo_flymake.h' abs_filename = re.sub(r'_flymake\.cc$', '.cc', abs_filename) # include_dict is modified during iteration, so we iterate over a copy of # the keys. header_keys = include_dict.keys() for header in header_keys: (same_module, common_path) = FilesBelongToSameModule(abs_filename, header) fullpath = common_path + header if same_module and UpdateIncludeState(fullpath, include_dict, io): header_found = True # If we can't find the header file for a .cc, assume it's because we don't # know where to look. In that case we'll give up as we're not sure they # didn't include it in the .h file. # TODO(unknown): Do a better job of finding .h files so we are confident that # not having the .h file means there isn't one. if filename.endswith('.cc') and not header_found: return # All the lines have been processed, report the errors found. for required_header_unstripped in required: template = required[required_header_unstripped][1] if required_header_unstripped.strip('<>"') not in include_dict: error(filename, required[required_header_unstripped][0], 'build/include_what_you_use', 4, 'Add #include ' + required_header_unstripped + ' for ' + template) _RE_PATTERN_EXPLICIT_MAKEPAIR = re.compile(r'\bmake_pair\s*<') def CheckMakePairUsesDeduction(filename, clean_lines, linenum, error): """Check that make_pair's template arguments are deduced. G++ 4.6 in C++11 mode fails badly if make_pair's template arguments are specified explicitly, and such use isn't intended in any case. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] match = _RE_PATTERN_EXPLICIT_MAKEPAIR.search(line) if match: error(filename, linenum, 'build/explicit_make_pair', 4, # 4 = high confidence 'For C++11-compatibility, omit template arguments from make_pair' ' OR use pair directly OR if appropriate, construct a pair directly') def CheckDefaultLambdaCaptures(filename, clean_lines, linenum, error): """Check that default lambda captures are not used. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] # A lambda introducer specifies a default capture if it starts with "[=" # or if it starts with "[&" _not_ followed by an identifier. match = Match(r'^(.*)\[\s*(?:=|&[^\w])', line) if match: # Found a potential error, check what comes after the lambda-introducer. # If it's not open parenthesis (for lambda-declarator) or open brace # (for compound-statement), it's not a lambda. line, _, pos = CloseExpression(clean_lines, linenum, len(match.group(1))) if pos >= 0 and Match(r'^\s*[{(]', line[pos:]): error(filename, linenum, 'build/c++11', 4, # 4 = high confidence 'Default lambda captures are an unapproved C++ feature.') def CheckRedundantVirtual(filename, clean_lines, linenum, error): """Check if line contains a redundant "virtual" function-specifier. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ # Look for "virtual" on current line. line = clean_lines.elided[linenum] virtual = Match(r'^(.*)(\bvirtual\b)(.*)$', line) if not virtual: return # Ignore "virtual" keywords that are near access-specifiers. These # are only used in class base-specifier and do not apply to member # functions. if (Search(r'\b(public|protected|private)\s+$', virtual.group(1)) or Match(r'^\s+(public|protected|private)\b', virtual.group(3))): return # Ignore the "virtual" keyword from virtual base classes. Usually # there is a column on the same line in these cases (virtual base # classes are rare in google3 because multiple inheritance is rare). if Match(r'^.*[^:]:[^:].*$', line): return # Look for the next opening parenthesis. This is the start of the # parameter list (possibly on the next line shortly after virtual). # TODO(unknown): doesn't work if there are virtual functions with # decltype() or other things that use parentheses, but csearch suggests # that this is rare. end_col = -1 end_line = -1 start_col = len(virtual.group(2)) for start_line in xrange(linenum, min(linenum + 3, clean_lines.NumLines())): line = clean_lines.elided[start_line][start_col:] parameter_list = Match(r'^([^(]*)\(', line) if parameter_list: # Match parentheses to find the end of the parameter list (_, end_line, end_col) = CloseExpression( clean_lines, start_line, start_col + len(parameter_list.group(1))) break start_col = 0 if end_col < 0: return # Couldn't find end of parameter list, give up # Look for "override" or "final" after the parameter list # (possibly on the next few lines). for i in xrange(end_line, min(end_line + 3, clean_lines.NumLines())): line = clean_lines.elided[i][end_col:] match = Search(r'\b(override|final)\b', line) if match: error(filename, linenum, 'readability/inheritance', 4, ('"virtual" is redundant since function is ' 'already declared as "%s"' % match.group(1))) # Set end_col to check whole lines after we are done with the # first line. end_col = 0 if Search(r'[^\w]\s*$', line): break def CheckRedundantOverrideOrFinal(filename, clean_lines, linenum, error): """Check if line contains a redundant "override" or "final" virt-specifier. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ # Look for closing parenthesis nearby. We need one to confirm where # the declarator ends and where the virt-specifier starts to avoid # false positives. line = clean_lines.elided[linenum] declarator_end = line.rfind(')') if declarator_end >= 0: fragment = line[declarator_end:] else: if linenum > 1 and clean_lines.elided[linenum - 1].rfind(')') >= 0: fragment = line else: return # Check that at most one of "override" or "final" is present, not both if Search(r'\boverride\b', fragment) and Search(r'\bfinal\b', fragment): error(filename, linenum, 'readability/inheritance', 4, ('"override" is redundant since function is ' 'already declared as "final"')) # Returns true if we are at a new block, and it is directly # inside of a namespace. def IsBlockInNameSpace(nesting_state, is_forward_declaration): """Checks that the new block is directly in a namespace. Args: nesting_state: The _NestingState object that contains info about our state. is_forward_declaration: If the class is a forward declared class. Returns: Whether or not the new block is directly in a namespace. """ if is_forward_declaration: if len(nesting_state.stack) >= 1 and ( isinstance(nesting_state.stack[-1], _NamespaceInfo)): return True else: return False return (len(nesting_state.stack) > 1 and nesting_state.stack[-1].check_namespace_indentation and isinstance(nesting_state.stack[-2], _NamespaceInfo)) def ShouldCheckNamespaceIndentation(nesting_state, is_namespace_indent_item, raw_lines_no_comments, linenum): """This method determines if we should apply our namespace indentation check. Args: nesting_state: The current nesting state. is_namespace_indent_item: If we just put a new class on the stack, True. If the top of the stack is not a class, or we did not recently add the class, False. raw_lines_no_comments: The lines without the comments. linenum: The current line number we are processing. Returns: True if we should apply our namespace indentation check. Currently, it only works for classes and namespaces inside of a namespace. """ is_forward_declaration = IsForwardClassDeclaration(raw_lines_no_comments, linenum) if not (is_namespace_indent_item or is_forward_declaration): return False # If we are in a macro, we do not want to check the namespace indentation. if IsMacroDefinition(raw_lines_no_comments, linenum): return False return IsBlockInNameSpace(nesting_state, is_forward_declaration) # Call this method if the line is directly inside of a namespace. # If the line above is blank (excluding comments) or the start of # an inner namespace, it cannot be indented. def CheckItemIndentationInNamespace(filename, raw_lines_no_comments, linenum, error): line = raw_lines_no_comments[linenum] if Match(r'^\s+', line): error(filename, linenum, 'runtime/indentation_namespace', 4, 'Do not indent within a namespace') def ProcessLine(filename, file_extension, clean_lines, line, include_state, function_state, nesting_state, error, extra_check_functions=[]): """Processes a single line in the file. Args: filename: Filename of the file that is being processed. file_extension: The extension (dot not included) of the file. clean_lines: An array of strings, each representing a line of the file, with comments stripped. line: Number of line being processed. include_state: An _IncludeState instance in which the headers are inserted. function_state: A _FunctionState instance which counts function lines, etc. nesting_state: A NestingState instance which maintains information about the current stack of nested blocks being parsed. error: A callable to which errors are reported, which takes 4 arguments: filename, line number, error level, and message extra_check_functions: An array of additional check functions that will be run on each source line. Each function takes 4 arguments: filename, clean_lines, line, error """ raw_lines = clean_lines.raw_lines ParseNolintSuppressions(filename, raw_lines[line], line, error) nesting_state.Update(filename, clean_lines, line, error) CheckForNamespaceIndentation(filename, nesting_state, clean_lines, line, error) if nesting_state.InAsmBlock(): return CheckForFunctionLengths(filename, clean_lines, line, function_state, error) CheckForMultilineCommentsAndStrings(filename, clean_lines, line, error) CheckStyle(filename, clean_lines, line, file_extension, nesting_state, error) CheckLanguage(filename, clean_lines, line, file_extension, include_state, nesting_state, error) CheckForNonConstReference(filename, clean_lines, line, nesting_state, error) CheckForNonStandardConstructs(filename, clean_lines, line, nesting_state, error) CheckVlogArguments(filename, clean_lines, line, error) CheckPosixThreading(filename, clean_lines, line, error) CheckInvalidIncrement(filename, clean_lines, line, error) CheckMakePairUsesDeduction(filename, clean_lines, line, error) CheckDefaultLambdaCaptures(filename, clean_lines, line, error) CheckRedundantVirtual(filename, clean_lines, line, error) CheckRedundantOverrideOrFinal(filename, clean_lines, line, error) for check_fn in extra_check_functions: check_fn(filename, clean_lines, line, error) def FlagCxx11Features(filename, clean_lines, linenum, error): """Flag those c++11 features that we only allow in certain places. Args: filename: The name of the current file. clean_lines: A CleansedLines instance containing the file. linenum: The number of the line to check. error: The function to call with any errors found. """ line = clean_lines.elided[linenum] # Flag unapproved C++11 headers. include = Match(r'\s*#\s*include\s+[<"]([^<"]+)[">]', line) if include and include.group(1) in ('cfenv', 'condition_variable', 'fenv.h', 'future', 'mutex', 'thread', 'chrono', 'ratio', 'regex', 'system_error', ): error(filename, linenum, 'build/c++11', 5, ('<%s> is an unapproved C++11 header.') % include.group(1)) # The only place where we need to worry about C++11 keywords and library # features in preprocessor directives is in macro definitions. if Match(r'\s*#', line) and not Match(r'\s*#\s*define\b', line): return # These are classes and free functions. The classes are always # mentioned as std::*, but we only catch the free functions if # they're not found by ADL. They're alphabetical by header. for top_name in ( # type_traits 'alignment_of', 'aligned_union', ): if Search(r'\bstd::%s\b' % top_name, line): error(filename, linenum, 'build/c++11', 5, ('std::%s is an unapproved C++11 class or function. Send c-style ' 'an example of where it would make your code more readable, and ' 'they may let you use it.') % top_name) def ProcessFileData(filename, file_extension, lines, error, extra_check_functions=[]): """Performs lint checks and reports any errors to the given error function. Args: filename: Filename of the file that is being processed. file_extension: The extension (dot not included) of the file. lines: An array of strings, each representing a line of the file, with the last element being empty if the file is terminated with a newline. error: A callable to which errors are reported, which takes 4 arguments: filename, line number, error level, and message extra_check_functions: An array of additional check functions that will be run on each source line. Each function takes 4 arguments: filename, clean_lines, line, error """ lines = (['// marker so line numbers and indices both start at 1'] + lines + ['// marker so line numbers end in a known way']) include_state = _IncludeState() function_state = _FunctionState() nesting_state = NestingState() ResetNolintSuppressions() CheckForCopyright(filename, lines, error) RemoveMultiLineComments(filename, lines, error) clean_lines = CleansedLines(lines) if file_extension == 'h': CheckForHeaderGuard(filename, clean_lines, error) for line in xrange(clean_lines.NumLines()): ProcessLine(filename, file_extension, clean_lines, line, include_state, function_state, nesting_state, error, extra_check_functions) FlagCxx11Features(filename, clean_lines, line, error) nesting_state.CheckCompletedBlocks(filename, error) CheckForIncludeWhatYouUse(filename, clean_lines, include_state, error) # Check that the .cc file has included its header if it exists. if file_extension == 'cc': CheckHeaderFileIncluded(filename, include_state, error) # We check here rather than inside ProcessLine so that we see raw # lines rather than "cleaned" lines. CheckForBadCharacters(filename, lines, error) CheckForNewlineAtEOF(filename, lines, error) def ProcessConfigOverrides(filename): """ Loads the configuration files and processes the config overrides. Args: filename: The name of the file being processed by the linter. Returns: False if the current |filename| should not be processed further. """ abs_filename = os.path.abspath(filename) cfg_filters = [] keep_looking = True while keep_looking: abs_path, base_name = os.path.split(abs_filename) if not base_name: break # Reached the root directory. cfg_file = os.path.join(abs_path, "CPPLINT.cfg") abs_filename = abs_path if not os.path.isfile(cfg_file): continue try: with open(cfg_file) as file_handle: for line in file_handle: line, _, _ = line.partition('#') # Remove comments. if not line.strip(): continue name, _, val = line.partition('=') name = name.strip() val = val.strip() if name == 'set noparent': keep_looking = False elif name == 'filter': cfg_filters.append(val) elif name == 'exclude_files': # When matching exclude_files pattern, use the base_name of # the current file name or the directory name we are processing. # For example, if we are checking for lint errors in /foo/bar/baz.cc # and we found the .cfg file at /foo/CPPLINT.cfg, then the config # file's "exclude_files" filter is meant to be checked against "bar" # and not "baz" nor "bar/baz.cc". if base_name: pattern = re.compile(val) if pattern.match(base_name): sys.stderr.write('Ignoring "%s": file excluded by "%s". ' 'File path component "%s" matches ' 'pattern "%s"\n' % (filename, cfg_file, base_name, val)) return False elif name == 'linelength': global _line_length try: _line_length = int(val) except ValueError: sys.stderr.write('Line length must be numeric.') else: sys.stderr.write( 'Invalid configuration option (%s) in file %s\n' % (name, cfg_file)) except IOError: sys.stderr.write( "Skipping config file '%s': Can't open for reading\n" % cfg_file) keep_looking = False # Apply all the accumulated filters in reverse order (top-level directory # config options having the least priority). for filter in reversed(cfg_filters): _AddFilters(filter) return True def ProcessFile(filename, vlevel, extra_check_functions=[]): """Does google-lint on a single file. Args: filename: The name of the file to parse. vlevel: The level of errors to report. Every error of confidence >= verbose_level will be reported. 0 is a good default. extra_check_functions: An array of additional check functions that will be run on each source line. Each function takes 4 arguments: filename, clean_lines, line, error """ _SetVerboseLevel(vlevel) _BackupFilters() if not ProcessConfigOverrides(filename): _RestoreFilters() return lf_lines = [] crlf_lines = [] try: # Support the UNIX convention of using "-" for stdin. Note that # we are not opening the file with universal newline support # (which codecs doesn't support anyway), so the resulting lines do # contain trailing '\r' characters if we are reading a file that # has CRLF endings. # If after the split a trailing '\r' is present, it is removed # below. if filename == '-': lines = codecs.StreamReaderWriter(sys.stdin, codecs.getreader('utf8'), codecs.getwriter('utf8'), 'replace').read().split('\n') else: lines = codecs.open(filename, 'r', 'utf8', 'replace').read().split('\n') # Remove trailing '\r'. # The -1 accounts for the extra trailing blank line we get from split() for linenum in range(len(lines) - 1): if lines[linenum].endswith('\r'): lines[linenum] = lines[linenum].rstrip('\r') crlf_lines.append(linenum + 1) else: lf_lines.append(linenum + 1) except IOError: sys.stderr.write( "Skipping input '%s': Can't open for reading\n" % filename) _RestoreFilters() return # Note, if no dot is found, this will give the entire filename as the ext. file_extension = filename[filename.rfind('.') + 1:] # When reading from stdin, the extension is unknown, so no cpplint tests # should rely on the extension. if filename != '-' and file_extension not in _valid_extensions: sys.stderr.write('Ignoring %s; not a valid file name ' '(%s)\n' % (filename, ', '.join(_valid_extensions))) else: ProcessFileData(filename, file_extension, lines, Error, extra_check_functions) # If end-of-line sequences are a mix of LF and CR-LF, issue # warnings on the lines with CR. # # Don't issue any warnings if all lines are uniformly LF or CR-LF, # since critique can handle these just fine, and the style guide # doesn't dictate a particular end of line sequence. # # We can't depend on os.linesep to determine what the desired # end-of-line sequence should be, since that will return the # server-side end-of-line sequence. if lf_lines and crlf_lines: # Warn on every line with CR. An alternative approach might be to # check whether the file is mostly CRLF or just LF, and warn on the # minority, we bias toward LF here since most tools prefer LF. for linenum in crlf_lines: Error(filename, linenum, 'whitespace/newline', 1, 'Unexpected \\r (^M) found; better to use only \\n') sys.stderr.write('Done processing %s\n' % filename) _RestoreFilters() def PrintUsage(message): """Prints a brief usage string and exits, optionally with an error message. Args: message: The optional error message. """ sys.stderr.write(_USAGE) if message: sys.exit('\nFATAL ERROR: ' + message) else: sys.exit(1) def PrintCategories(): """Prints a list of all the error-categories used by error messages. These are the categories used to filter messages via --filter. """ sys.stderr.write(''.join(' %s\n' % cat for cat in _ERROR_CATEGORIES)) sys.exit(0) def ParseArguments(args): """Parses the command line arguments. This may set the output format and verbosity level as side-effects. Args: args: The command line arguments: Returns: The list of filenames to lint. """ try: (opts, filenames) = getopt.getopt(args, '', ['help', 'output=', 'verbose=', 'counting=', 'filter=', 'root=', 'linelength=', 'extensions=']) except getopt.GetoptError: PrintUsage('Invalid arguments.') verbosity = _VerboseLevel() output_format = _OutputFormat() filters = '' counting_style = '' for (opt, val) in opts: if opt == '--help': PrintUsage(None) elif opt == '--output': if val not in ('emacs', 'vs7', 'eclipse'): PrintUsage('The only allowed output formats are emacs, vs7 and eclipse.') output_format = val elif opt == '--verbose': verbosity = int(val) elif opt == '--filter': filters = val if not filters: PrintCategories() elif opt == '--counting': if val not in ('total', 'toplevel', 'detailed'): PrintUsage('Valid counting options are total, toplevel, and detailed') counting_style = val elif opt == '--root': global _root _root = val elif opt == '--linelength': global _line_length try: _line_length = int(val) except ValueError: PrintUsage('Line length must be digits.') elif opt == '--extensions': global _valid_extensions try: _valid_extensions = set(val.split(',')) except ValueError: PrintUsage('Extensions must be comma seperated list.') if not filenames: PrintUsage('No files were specified.') _SetOutputFormat(output_format) _SetVerboseLevel(verbosity) _SetFilters(filters) _SetCountingStyle(counting_style) return filenames def main(): filenames = ParseArguments(sys.argv[1:]) # Change stderr to write with replacement characters so we don't die # if we try to print something containing non-ASCII characters. sys.stderr = codecs.StreamReaderWriter(sys.stderr, codecs.getreader('utf8'), codecs.getwriter('utf8'), 'replace') _cpplint_state.ResetErrorCounts() for filename in filenames: ProcessFile(filename, _cpplint_state.verbose_level) _cpplint_state.PrintErrorCounts() sys.exit(_cpplint_state.error_count > 0) if __name__ == '__main__': main() opensurgsim-0.7.0/Tools/000077500000000000000000000000001277777236100152145ustar00rootroot00000000000000opensurgsim-0.7.0/Tools/CMakeLists.txt000066400000000000000000000016471277777236100177640ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. find_package(Boost 1.54 COMPONENTS program_options) if(BUILD_TOOLS AND Boost_PROGRAM_OPTIONS_FOUND) add_subdirectory(NeedleSutureGeneration) else() message("Can't build example NeedleSutureGeneration, missing library boost_program_options.") endif(BUILD_TOOLS AND Boost_PROGRAM_OPTIONS_FOUND) opensurgsim-0.7.0/Tools/Converters/000077500000000000000000000000001277777236100173465ustar00rootroot00000000000000opensurgsim-0.7.0/Tools/Converters/tetgen2ply.py000066400000000000000000000160711277777236100220220ustar00rootroot00000000000000#!/usr/bin/python # This file is a part of the OpenSurgSim project. # Copyright 2012-2015, SimQuest Solutions 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 # # 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. """Convert a TetGen set of files .node/.ele into a PLY file readable by OSS Typical usage: TetGen_to_PLY.py input.node input.ele [input.face] [input.fixedNodes] output.ply """ import csv import argparse if __name__ == '__main__': parser = argparse.ArgumentParser( description="Convert a TetGen set of filename into a PLY file readable by OSS.") parser.add_argument('nodes', help='Filename for the nodes input.') parser.add_argument('elements', help='Filename for the tetrahedrons input.') parser.add_argument('--faces', help='Filename for the faces input.') parser.add_argument('--fixedNodes', help='Filename for the fixed node indices.') parser.add_argument('--massDensity', help='Mass density.', default='2000.0') parser.add_argument('--youngModulus', help='Young modulus.', default='1e7') parser.add_argument('--poissonRatio', help='Poisson ratio.', default='0.45') parser.add_argument('output', help='Filename for the PLY output.') args = parser.parse_args() numNodes = 0 # Number of nodes, will be read from the header of the .node file numElements = 0 # Number of elements, will be read from the header of the .ele file (support triangle (3) and tetrahedron(4) elements) elementSize = 0 # Element size 3 for triangle, 4 for tetrahedron, will be read from the header of the .ele file numFaces = 0 # Number of triangulated faces (if a .face is provided, number of entries in this file) numFixedNodes = 0 # Number of fixed nodes (if a .fixedNode is provided, number of entries in this file) with open(args.output, 'wb') as csvOutputFile: writer = csv.writer(csvOutputFile, delimiter = ' ', quoting=csv.QUOTE_NONE) writer.writerow(['ply']) writer.writerow(['format', 'ascii', '1.0']) writer.writerow(['comment', 'Created', 'by', 'tetgen2ply']) with open(args.nodes, 'rb') as csvNodeFile: reader = csv.reader(csvNodeFile, delimiter = ' ', skipinitialspace = True) row = reader.next() numNodes = row[0] # Enforcing the need for 3 pieces of information per node (x, y, z) if not row[1] == '3': raise Exception('Invalid node information in ' + args.node + '. Node dimension (expecting 3) was ' + row[1]) writer.writerow(['element', 'vertex', numNodes]) writer.writerow(['property', 'double', 'x']) writer.writerow(['property', 'double', 'y']) writer.writerow(['property', 'double', 'z']) with open(args.elements, 'rb') as csvElementFile: reader = csv.reader(csvElementFile, delimiter = ' ', skipinitialspace = True) row = reader.next() numElements = row[0] if row[1] == '4': writer.writerow(['element', '3d_element', numElements]) elementSize = 4 elif row[1] == '3': writer.writerow(['element', '2d_element', numElements]) elementSize = 3 else : raise Exception('Invalid triangle/tetrahedron information in ' + args.ele + '. Element dimension (expecting 3 or 4) was ' + row[1]) writer.writerow(['property', 'list', 'uint', 'uint', 'vertex_indices']) if args.faces: with open(args.faces, 'rb') as csvFaceFile: reader = csv.reader(csvFaceFile, delimiter = ' ', skipinitialspace = True) row = reader.next() numFaces = row[0] writer.writerow(['element', 'face', numFaces]) writer.writerow(['property', 'list', 'uint', 'uint', 'vertex_indices']) if args.fixedNodes: with open(args.fixedNodes, 'rb') as csvFixedNodeFile: readerFixedNodes = csv.reader(csvFixedNodeFile) for row in readerFixedNodes: numFixedNodes = numFixedNodes + 1 writer.writerow(['element', 'boundary_condition', numFixedNodes]) writer.writerow(['property', 'uint', 'vertex_index']) # Extra parameter (thickness) if the element is a triangle if elementSize == 3: writer.writerow(['element', 'thickness', 1]) writer.writerow(['property', 'double', 'value']) writer.writerow(['element', 'material', 1]) writer.writerow(['property', 'double', 'mass_density']) writer.writerow(['property', 'double', 'poisson_ratio']) writer.writerow(['property', 'double', 'young_modulus']) writer.writerow(['end_header']) # Parse the .node file to format the nodes (x,y,z) with open(args.nodes, 'rb') as csvNodeFile: reader = csv.reader(csvNodeFile, delimiter = ' ', skipinitialspace = True) rowId = 0 # Write all nodes for row in reader: # Skip the commented lines (especially the last line of the .node generated by TetGen) if row[0][0] == '#': continue # Skip the first line (header information), detected by the number of nodes being different than the expected node index if not int(row[0]) == rowId: continue writer.writerow(row[1:]) rowId = rowId + 1 # Parse the .ele file to format the tetrahedrons with open(args.elements, 'rb') as csvElementFile: reader = csv.reader(csvElementFile, delimiter = ' ', skipinitialspace = True) rowId = 0 # Write all tetrahedrons for row in reader: # Skip the commented lines (especially the last line of the .ele generated by TetGen) if row[0][0] == '#': continue # Skip the first line (header information), detected by the number of elements being different than the expected element index if not int(row[0]) == rowId: continue row[0] = elementSize writer.writerow(row) rowId = rowId + 1 # Parse the .face file to format the triangulated faces (if a file is specified) if args.faces: with open(args.faces, 'rb') as csvFaceFile: reader = csv.reader(csvFaceFile, delimiter = ' ', skipinitialspace = True) rowId = 0 # Write all faces for row in reader: # Skip the commented lines (especially the last line of the .face generated by TetGen) if row[0][0] == '#': continue # Skip the first line (header information), detected by the number of faces being different than the expected face index if not int(row[0]) == rowId: continue row[0] = 3 writer.writerow(row[:4]) rowId = rowId + 1 # Write the fixed nodes (boundary conditions) if any if args.fixedNodes: with open(args.fixedNodes, 'rb') as csvFixedNodeFile: readerFixedNodes = csv.reader(csvFixedNodeFile, delimiter = ' ', skipinitialspace = True) for row in readerFixedNodes: writer.writerow(row) # Write a default thickness if the element is a triangle # We should have something closer to 1/100th of the mesh size if we wanted to have a more automated tool if elementSize == 3: writer.writerow(['0.01']) # Write the material (default parameters) writer.writerow([args.massDensity, args.poissonRatio, args.youngModulus]) opensurgsim-0.7.0/Tools/Fragments/000077500000000000000000000000001277777236100171425ustar00rootroot00000000000000opensurgsim-0.7.0/Tools/Fragments/README.txt000066400000000000000000000007411277777236100206420ustar00rootroot00000000000000Scripts in here might have a very specific use case or application, or there might be a need to preprocess or postprocess to utilize them these could be refactored into something more general. merge.py: Merge can take a reference list of vertices from a .ply file and add texture coordinates from a .obj file without changing the order of the vertices in the .ply description. It does not implement a full .ply/.obj parser. See the documentation in the file for more informationopensurgsim-0.7.0/Tools/Fragments/merge-testdata/000077500000000000000000000000001277777236100220505ustar00rootroot00000000000000opensurgsim-0.7.0/Tools/Fragments/merge-testdata/expected-testout.txt000066400000000000000000000003741277777236100261230ustar00rootroot00000000000000This should be the result of doing either python ../merge.py testvertices.txt testobj.txt testout.txt python ../merge.py testvertices.txt testobj-indices.txt testout.txt 4.1 4.2 4.3 4.4 4.5 1.1 1.2 1.3 1.4 1.5 2.1 2.2 2.3 0.0 0.0 3.1 3.2 3.3 3.4 3.5 opensurgsim-0.7.0/Tools/Fragments/merge-testdata/testobj-indices.txt000066400000000000000000000001471277777236100257010ustar00rootroot00000000000000v 1.1 1.3 -1.2 v 3.1 3.3 -3.2 v 4.1 4.3 -4.2 vt 4.4 4.5 vt 3.4 3.5 vt 1.4 1.5 vt 0.1 0.2 f 1/3 2/2 3/1 opensurgsim-0.7.0/Tools/Fragments/merge-testdata/testobj.txt000066400000000000000000000001301277777236100242550ustar00rootroot00000000000000v 1.1 1.3 -1.2 v 3.1 3.3 -3.2 v 4.1 4.3 -4.2 vt 1.4 1.5 vt 3.4 3.5 vt 4.4 4.5 vt 0.1 0.2opensurgsim-0.7.0/Tools/Fragments/merge-testdata/testvertices.txt000066400000000000000000000000571277777236100253370ustar00rootroot000000000000004.1 4.2 4.3 1.1 1.2 1.3 2.1 2.2 2.3 3.1 3.2 3.3opensurgsim-0.7.0/Tools/Fragments/merge.py000066400000000000000000000073401277777236100206170ustar00rootroot00000000000000#!/usr/bin/python # This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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. """Merge a list of input vertices and information from an .obj file Give a file with a list of input vertices, look through the obj file and find corresponding vertices, add texture information to the input vertices and store the resulting list in an output file. The order in the vertex file is maintained and vertices that cannot be found in the obj file will receive default information This can be used to add information to a .ply file where the order of the vertices is already established E.g. vertex file (fragment from .ply file) 1.0 1.0 1.0 2.0 2.0 2.0 3.0 3.0 3.0 obj file (fragment from .obj file) v 1.0 1.0 -1.0 v 2.0 2.0 -2.0 vt 1.0 1.0 vt 0.5 0.5 output (fragment, paste this into the vertex section of the .ply file) 1.0 1.0 1.0 1.0 1.0 2.0 2.0 2.0 0.5 0.5 3.0 3.0 3.0 0.0 0.0 Typical usage: merge.py input.txt object.obj output.txt """ import csv import argparse def find(item, vertices) : index = 0 for vertex in vertices: if (item == vertex) : return index index += 1 return -1 vertices = [] uvs = [] uvIndices = [] if __name__ == '__main__': parser = argparse.ArgumentParser( description="Merge a list of input vertices and information from an .obj file.") parser.add_argument('vertices', help='Filename for input vertices.') parser.add_argument('obj', help='The .obj file to use.' ) parser.add_argument('output', help='Filename for output.') args = parser.parse_args() # this can be a basic obj file, we are only looking at 'v' and 'vt' for now with open(args.obj, 'rb') as csvfile: reader = csv.reader(csvfile, delimiter = ' ') vertexIndex = 0 for row in reader: if (row[0] == 'v') : #Go from obj to ply coordinate system, change the sign on the z coord if (row[3][0] == '-'): row[3] = row[3][1:] else: row[3] = '-'+row[3] #swap y and z tmp = row[3] row[3] = row[2] row[2] = tmp vertices.append(row[1:]) elif (row[0] == 'vt') : uvs.append(row[1:]) uvIndices.append(vertexIndex) vertexIndex += 1 elif (row[0] == 'f') : # These are either # f v v v # f v/vt v/vt v/vt # f v/vt/vn v/vt/vn v/vt/vn for item in row[1:]: indices = item.split("/") if (len(indices) > 1) : # .obj indices start with 1 # put the index of the texture coordinate into the indices map uvIndices[int(indices[0])-1] = int(indices[1])-1 result = [] # Reference is just a list of vertices x,y,z separated by ' ' # The comparison is done via the strings of the numbers, no accuracy needed, this relies # on the fact that the output format is the same and no transformation was done on the # vertices with open(args.vertices, 'rb') as csvfile: reader = csv.reader(csvfile, delimiter = ' ') count = 0 for row in reader: texCoord = ["0.0","0.0"] index = find(row, vertices) if (index != -1) : texCoord = uvs[uvIndices[index]] row.append(texCoord[0]) row.append(texCoord[1]) result.append(row) with open(args.output, 'wb') as outfile: writer = csv.writer(outfile, delimiter = ' ', quoting=csv.QUOTE_NONE) for row in result: writer.writerow(row)opensurgsim-0.7.0/Tools/NeedleSutureGeneration/000077500000000000000000000000001277777236100216345ustar00rootroot00000000000000opensurgsim-0.7.0/Tools/NeedleSutureGeneration/CMakeLists.txt000066400000000000000000000021561277777236100244000ustar00rootroot00000000000000# This file is a part of the OpenSurgSim project. # Copyright 2013, SimQuest Solutions 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 # # 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. link_directories( ${Boost_LIBRARY_DIRS} ) include_directories( "${CMAKE_CURRENT_SOURCE_DIR}" ) set(SOURCES NeedleSutureGeneration.cpp ) set(HEADERS ) surgsim_add_executable(NeedleSutureGeneration "${SOURCES}" "${HEADERS}") SET(LIBS SurgSimBlocks SurgSimGraphics ${Boost_LIBRARIES} ${YAML_CPP_LIBRARIES} ) target_link_libraries(NeedleSutureGeneration ${LIBS}) # Put NeedleSutureGeneration into folder "Tools" set_target_properties(NeedleSutureGeneration PROPERTIES FOLDER "Tools") opensurgsim-0.7.0/Tools/NeedleSutureGeneration/Data/000077500000000000000000000000001277777236100225055ustar00rootroot00000000000000opensurgsim-0.7.0/Tools/NeedleSutureGeneration/Data/properties.ini000066400000000000000000000003701277777236100254020ustar00rootroot00000000000000[PhysicsProperty] #Mass density has unit Kg.m-3 #Young Modulus has unit Pa needleMassDensity = 7500 needlePoissonRatio = 0.305 needleYoungModulus = 1.8e11 sutureMassDensity = 900 suturePoissonRatio = 0.45 sutureYoungModulus = 1.75e9 opensurgsim-0.7.0/Tools/NeedleSutureGeneration/NeedleSutureGeneration.cpp000066400000000000000000000320051277777236100267600ustar00rootroot00000000000000// This file is a part of the OpenSurgSim project. // Copyright 2016, SimQuest Solutions 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 // // 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 #include #include #include #include #include #include #include #include #include #include "SurgSim/DataStructures/Vertices.h" #include "SurgSim/Framework/Log.h" #include "SurgSim/Math/CardinalSplines.h" #include "SurgSim/Math/Vector.h" /// Function to generate points on a circle with radius 'radius'. /// \note The points always start from the origin and go on the circle to 'angle'. /// \param subdivisions Number of interpolated points on the circle. /// \param radius Radius of the circle on which points are generated. /// \param angle How much (of the circle) should points occupy, in radian. /// \return A list of points on the circle. std::vector generateNeedle(size_t subdivisions, double radius, double angle) { SURGSIM_ASSERT(0 < angle && angle < 2.0 * M_PI) << __FUNCTION__ << " 'angle' must be in the range (0, 2PI)"; SURGSIM_ASSERT(2 <= subdivisions) << __FUNCTION__ << " 'subdivisions' must be at least 2"; double increment = angle / static_cast(subdivisions); double controlAngle = 0.0; std::vector vertices(subdivisions+1); for (size_t i = 0; i < subdivisions; ++i) { vertices[i] = radius * SurgSim::Math::Vector3d(std::cos(controlAngle) - 1.0, std::sin(controlAngle), 0.0); controlAngle += increment; } vertices[subdivisions] = radius * SurgSim::Math::Vector3d(std::cos(controlAngle) - 1.0, std::sin(controlAngle), 0.0); return vertices; } /// Function to generate a suture, starting from the origin and wraps around 'axis' in circles. /// A circle (formed by the suture when wraps 'axis') is defined by four markers. /// Each marker is rotated 45 degrees along 'axis' from previous one. /// 'subdivisions' controls how many points to interpolate between each pair of markers. /// In the returned list, the origin will always be the first point. /// \param subdivisions Number of points between makers. /// \param radius Radius of the circle the suture forms. /// \param length Length of the suture. /// \param circles Number of circles the suture forms wrapping around 'axis'. /// \param axis The axis around which the suture wraps. /// \return A list of points representing the suture. std::vector generateSuture(size_t subdivisions, double radius, double length, size_t circles, const SurgSim::Math::Vector3d& axis = SurgSim::Math::Vector3d(1.0, 0.0, 0.0)) { // Increment on X-axis. double increment = length / circles / 4.0; SurgSim::Math::Vector3d direction = axis; direction.normalize(); auto rotateXToAxis = SurgSim::Math::makeRotationQuaternion( -std::acos(direction.dot(SurgSim::Math::Vector3d(1.0, 0.0, 0.0))), direction.cross(SurgSim::Math::Vector3d(1.0, 0.0, 0.0))); std::vector controlPoints; controlPoints.push_back(SurgSim::Math::Vector3d(0.0, 0.0, 0.0) - increment * direction); controlPoints.push_back(SurgSim::Math::Vector3d(0.0, 0.0, 0.0)); // Used to control the rotation between markers. SurgSim::Math::Quaterniond rotation = SurgSim::Math::makeRotationQuaternion(M_PI_2, SurgSim::Math::Vector3d(1.0, 0.0, 0.0)); auto point = SurgSim::Math::Vector3d(increment, radius, 0.0); for (size_t i = 0; i < circles * 4; ++i) { controlPoints.push_back(rotateXToAxis * point); point = rotation * point; point.x() += increment; } std::vector result; SurgSim::Math::CardinalSplines::interpolate(subdivisions, controlPoints, &result); return result; } /// Save a list of needle and a list of suture as one ply file. /// Points in 'needle' will be output first, as the order they appear in 'needle' and /// points in 'suture' will be output second, as the order they appear in 'suture'. /// The caller of this function needs to make sure /// the needle and the suture connects (smoothly) at needle[last] and suture[begin]. /// \param fileName Name of the ply file. /// \param needle List of points representing the needle. /// \param suture List of points representing the suture. /// \param asPhysics Boolean to decide whether or not to save physics properties. /// \param needleMassDensity Mass density of needle. /// \param needlepoissonRatio Poisson ratio of needle. /// \param needleYoungModulus Young modulus of needle. /// \param sutureMassDensity Mass density of suture. /// \param suturepoissonRatio Poisson ratio of suture. /// \param sutureYoungModulus Young modulus of suture. /// \param radius Radius used for fem1d beam. void saveNeedleSuturePly(const std::string& fileName, const std::vector& needle, const std::vector& suture, bool asPhysics, double needleMassDensity, double needlePoissonRatio, double needleYoungModulus, double sutureMassDensity, double suturePoissonRatio, double sutureYoungModulus, double radius = 0.0001) { std::ofstream out(fileName); size_t numOfPoints = needle.size() + suture.size(); if (out.is_open()) { out << "ply" << std::endl; out << "format ascii 1.0" << std::endl; out << "comment Created by OpenSurgSim, www.opensurgsim.org" << std::endl; out << "element vertex " << numOfPoints << std::endl; out << "property float x\nproperty float y\nproperty float z" << std::endl; if (asPhysics) { out << "element 1d_element " << numOfPoints - 1 << std::endl; out << "property list uint uint vertex_indices" << std::endl; out << "property double mass_density" << std::endl; out << "property double poisson_ratio" << std::endl; out << "property double young_modulus" << std::endl; } out << "element radius 1" << std::endl; out << "property double value" << std::endl; out << "element boundary_condition 0" << std::endl; out << "property uint vertex_index" << std::endl; out << "end_header" << std::endl; for (const auto& vertex : needle) { out << vertex[0] << " " << vertex[1] << " " << vertex[2] << std::endl; } for (const auto& vertex : suture) { out << vertex[0] << " " << vertex[1] << " " << vertex[2] << std::endl; } if (asPhysics) { int index = 0; for (const auto& vertex : needle) { out << "2 " << index << " " << index + 1 << " " << needleMassDensity << " " << needlePoissonRatio << " " << needleYoungModulus << std::endl; ++index; } for (const auto& vertex : suture) { out << "2 " << index << " " << index + 1 << " " << sutureMassDensity << " " << suturePoissonRatio << " " << sutureYoungModulus << std::endl; ++index; } } out << radius << std::endl; if (out.bad()) { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << __FUNCTION__ << "There was a problem writing " << fileName; } out.close(); } else { SURGSIM_LOG_WARNING(SurgSim::Framework::Logger::getDefaultLogger()) << __FUNCTION__ << "Could not open " << fileName << " for writing."; } }; // Utility to generate a ply file for needle suture. // Command line input are supported. int main(int argc, char* argv[]) { namespace po = boost::program_options; po::options_description commandLine("Allowed options"); commandLine.add_options()("help", "produce help message") ("filename", po::value()->default_value("needlesuture.ply"), "File name to save the generated needle suture.") ("needleSubdivisions", po::value()->default_value(10), "Number of interpolated points for the needle (default 10)") ("needleRadius", po::value()->default_value(0.019), "Radius of the needle (in m) (default 0.019)") ("needleAngle", po::value()->default_value(135), "How big is the arc (common values: 90, 135, 180, 225) in degrees (default 135)") ("sutureSubdivisions", po::value()->default_value(20), "Number of interpolated points for each pair of markers on the suture (default 20)") ("sutureRadius", po::value()->default_value(0.01), "Radius of the suture (default 0.01") ("sutureLength", po::value()->default_value(0.45), "Length of th suture (in m) (default 0.45)") ("sutureCircles", po::value()->default_value(2), "Number of circles formed by suture going around the axis") ("savePhysicsProperty", po::value()->default_value(true), "Output physics properties for the needle and suture in ply file") ("physicsProperty", po::value(), "File name for physics properties. Note that command line values have priority: " "program will use value(s) from command line if specified.") ("needleMassDensity", po::value(), "Mass density for the needle (default 7500 Kg.m-3)") ("needlePoissonRatio", po::value(), "Poisson ratio for the needle (default 0.305)") ("needleYoungModulus", po::value(), "Young Modulus for the needle (default (1.8e11 Pa)") ("sutureMassDensity", po::value(), "Mass density for the suture (default 900 Kg.m-3)") ("suturePoissonRatio", po::value(), "Poisson ratio for the suture (default 0.45)") ("sutureYoungModulus", po::value(), "Young Modulus for the suture (default 1.75e9 Pa)"); po::variables_map variables; try { po::store(po::parse_command_line(argc, argv, commandLine), variables); } catch (po::error& e) { std::cerr << "ERROR: " << e.what() << std::endl << std::endl; std::cerr << commandLine << std::endl; return 1; } if (variables.count("help")) { std::cout << commandLine << "\n"; return 1; } double needleMassDensity = 7500, needlePoissonRatio = 0.305, needleYoungModulus = 180 * 1e9; double sutureMassDensity = 900, suturePoissonRatio = 0.45, sutureYoungModulus = 1.75 * 1e9; if (variables.count("physicsProperty")) { boost::filesystem::path fileName("Data/" + variables["physicsProperty"].as()); boost::filesystem::path filePath = boost::filesystem::complete(fileName); std::cout << "File path: " << filePath << std::endl; if (!boost::filesystem::exists(filePath)) { std::cout << "Can't find my file!" << std::endl; return -1; } boost::property_tree::ptree parameters; boost::property_tree::ini_parser::read_ini(filePath.string(), parameters); needleMassDensity = parameters.get("PhysicsProperty.needleMassDensity"); needlePoissonRatio = parameters.get("PhysicsProperty.needlePoissonRatio"); needleYoungModulus = parameters.get("PhysicsProperty.needleYoungModulus"); sutureMassDensity = parameters.get("PhysicsProperty.sutureMassDensity"); suturePoissonRatio = parameters.get("PhysicsProperty.suturePoissonRatio"); sutureYoungModulus = parameters.get("PhysicsProperty.sutureYoungModulus"); } // Command line values for physics properties will take precedence if specified. if (variables.count("needleMassDensity")) needleMassDensity = variables["needleMassDensity"].as(); if (variables.count("needlePoissonRatio")) needlePoissonRatio = variables["needlePoissonRatio"].as(); if (variables.count("needleYoungModulus")) needleYoungModulus = variables["needleYoungModulus"].as(); if (variables.count("sutureMassDensity")) sutureMassDensity = variables["sutureMassDensity"].as(); if (variables.count("suturePoissonRatio")) suturePoissonRatio = variables["suturePoissonRatio"].as(); if (variables.count("sutureYoungModulus")) sutureYoungModulus = variables["sutureYoungModulus"].as(); auto needlePoints = generateNeedle(variables["needleSubdivisions"].as(), variables["needleRadius"].as(), variables["needleAngle"].as() / 180 * M_PI); auto suturePoints = generateSuture(variables["sutureSubdivisions"].as(), variables["sutureRadius"].as(), variables["sutureLength"].as(), variables["sutureCircles"].as(), needlePoints[0] - needlePoints[1]); // Points generated are starting from the origin, when constructing the needle suture, // the list of needle points need to be reversed and the origin is removed to avoid duplication. std::vector needlePointsReversed(needlePoints.rbegin(), needlePoints.rend()-1); saveNeedleSuturePly(variables["filename"].as(), needlePointsReversed, suturePoints, variables["savePhysicsProperty"].as(), needleMassDensity, needlePoissonRatio, needleYoungModulus, sutureMassDensity, suturePoissonRatio, sutureYoungModulus); return 0; } opensurgsim-0.7.0/Tools/alphabetize_cmakelists.py000066400000000000000000000067051277777236100223050ustar00rootroot00000000000000#!/usr/bin/python # This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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. """Alphabetize the CMake lists of headers and sources. Typical usage: Tools/alphabetize-cmakelists.py SurgSim/CMakeLists.py or: find . -name 'build*' -prune -o -name CMakeLists.txt -print \ | xargs python Tools/alphabetize-cmakelists.py """ import argparse import sys import re def slurp_lines(file): try: with open(file, 'r') as f: return f.read().splitlines() except IOError as e: print >> sys.stderr, e return None def spew_lines(file, lines): try: with open(file, 'wb') as f: for line in lines: f.write(line + "\n") return True except IOError as e: print >> sys.stderr, e return False def filename_sort_filter(file): # return re.sub(r'Tests?$', '', re.sub(r'\.(?:h|cpp)$', '', file)).lower() # Taking out the string 'Tests' screws up the file ordering test return re.sub(r'\.(?:h|cpp)$', '', file).lower() def alphabetize(file, lines): if lines is None: return None (result, indent, var_name, content) = ([], '', None, None) for line in lines: if content is not None: (xline, had_closing_paren) = re.subn(r'\)\s*$', '', line) if re.search(r'[(){}]', xline): print >> sys.stderr, file + ": Bad line '" + line + "'" # put the content lines back unmodified result.extend(content) result.append(line) continue content.append(xline) if had_closing_paren: content = content[1:] # strip the original set(... line content = filter(lambda x: len(x), map(lambda x: x.strip(), content)) #print var_name + ":", content content = sorted(content, key=filename_sort_filter) result.append(indent + "set(" + var_name) result.extend(map(lambda x: indent + "\t" + x, content)) result.append(indent + ")") content = None else: match = re.search( r'^(\s*)[Ss][Ee][Tt]\s*\(\s*(\w+(?:HEADERS|SOURCES))\s*$', line) if match: indent = match.group(1) var_name = match.group(2) content = [ line ] # include original line, will be removed later else: result.append(line) if result == lines: return None return result if __name__ == '__main__': parser = argparse.ArgumentParser( description='Alphabetize CMake lists of headers and sources.') parser.add_argument('files', metavar='FILE', nargs='*', help='The file names to reformat.') args = parser.parse_args() touched = False for file in args.files: if not re.search(r'\.(?:txt|cmake)$', file): print >> sys.stderr, file + ": not a CMake input file!" else: lines = alphabetize(file, slurp_lines(file)) if lines is not None: spew_lines(file, lines) print "Updated", file touched = True if not touched: print "{}: Nothing to update!".format(sys.argv[0]) opensurgsim-0.7.0/Tools/fix-style.py000066400000000000000000000046321277777236100175170ustar00rootroot00000000000000#!/usr/bin/python # This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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. """Runs AStyle to reformat the specified source files.""" import argparse import sys import os import subprocess ASTYLE_FLAGS = ('--indent=force-tab=4', '--style=allman', '--add-brackets', '--unpad-paren', '--pad-header', '--align-pointer=type', '--indent-preprocessor', '--min-conditional-indent=0', '--max-instatement-indent=60', # The following flags require AStyle 2.03 or later: '--max-code-length=120', '--break-after-logical', ) def adjust_environment(): """Adjust the environment with some likely AStyle locations.""" if 'SYSTEMDRIVE' in os.environ: for prefix in [os.environ['SYSTEMDRIVE'], 'c:', 'd:', 's:']: for location in 'SimQuest', 'simquest', 'tools': path = prefix + '/' + location + "/AStyle/bin" if os.path.isdir(path): os.environ['PATH'] += os.pathsep + path def run_astyle(files): command = ['astyle'] command.extend(ASTYLE_FLAGS) command.extend(files) try: retcode = subprocess.call(command) if retcode < 0: print sys.argv[0] + ": AStyle terminated by signal", -retcode sys.exit(1) elif retcode > 0: print sys.argv[0] + ": AStyle returned status ", retcode sys.exit(1) except OSError as e: print sys.argv[0] + ": AStyle execution failed:", e sys.exit(1) if __name__ == '__main__': parser = argparse.ArgumentParser( description='Reformat source files using AStyle with our options.') parser.add_argument('files', metavar='FILE', nargs='*', help='The file names to reformat.') args = parser.parse_args() adjust_environment() if len(args.files) == 0: print "{}: Nothing to reformat!".format(sys.argv[0]) else: run_astyle(args.files) opensurgsim-0.7.0/Tools/fix_header_guards.py000066400000000000000000000113141277777236100212310ustar00rootroot00000000000000#!/usr/bin/python # This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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. """Fix the header include guards in files.""" import argparse import sys import subprocess import re import os def slurp_numbered_lines(file): try: with open(file, 'r') as f: lines = list(enumerate(f.read().splitlines(), start=0)) if not lines: print >> sys.stderr, file + ": warning, file is empty." return lines except IOError as e: print >> sys.stderr, e return None def spew_raw_lines(file, lines): try: with open(file, 'wb') as f: for line in lines: f.write(line) return True except IOError as e: print >> sys.stderr, e return False HEADER_GUARD_DIRECTORY_PREFIX_CACHE = {} def get_header_guard_directory_prefix(dir_path): if dir_path not in HEADER_GUARD_DIRECTORY_PREFIX_CACHE: prefix = "" path = dir_path while not (os.path.exists(os.path.join(path, 'LICENSE')) or os.path.exists(os.path.join(path, '.git'))): (parent, dirname) = os.path.split(path) assert parent != path prefix = re.sub(r'\W+', '', dirname).upper() + '_' + prefix path = parent HEADER_GUARD_DIRECTORY_PREFIX_CACHE[dir_path] = prefix return HEADER_GUARD_DIRECTORY_PREFIX_CACHE[dir_path] def get_expected_header_guard(file): (dir_path, filename) = os.path.split(os.path.abspath(file)) guard = re.sub(r'\W+', '_', filename).upper() while not (os.path.exists(os.path.join(dir_path, 'LICENSE')) or os.path.exists(os.path.join(dir_path, '.git'))): (parent, dirname) = os.path.split(dir_path) assert parent != dir_path guard = re.sub(r'\W+', '', dirname).upper() + '_' + guard dir_path = parent return guard def fix_header_guards(flags, file, lines): ifndef = filter(lambda x: re.search(r'^\s*#\s*ifndef\b', x[1]), lines) if not ifndef: print >> sys.stderr, file + ": no #ifndef lines!" return None guard_expected = get_expected_header_guard(file) lines[ifndef[0][0]] = (ifndef[0][0], re.sub(r'^(\s*#\s*ifndef)\s+\w+((?:\s.*)?)$', r'\1 ' + guard_expected + r'\2', ifndef[0][1])) define = filter(lambda x: re.search(r'^\s*#\s*define\b', x[1]), lines) if not define: print >> sys.stderr, file + ": no #define lines!" return None lines[define[0][0]] = (define[0][0], re.sub(r'^(\s*#\s*define)\s+\w+((?:\s.*)?)$', r'\1 ' + guard_expected + r'\2', define[0][1])) endif = filter(lambda x: re.search(r'^\s*#\s*endif\b', x[1]), lines) if not endif: print >> sys.stderr, file + ": no #endif lines!" return None update_endif = False if not args.lenient_endif: update_endif = True if (re.search(r'^\s*#\s*endif\s*//', endif[-1][1]) and not re.search(r'^\s*#\s*endif\s+//\s+' + guard_expected + r'\s*$', endif[-1][1])): update_endif = True # The comment exists but isn't right. if update_endif: lines[endif[-1][0]] = (endif[-1][0], re.sub(r'^(\s*#\s*endif)\b.*$', r'\1 // ' + guard_expected, endif[-1][1])) return lines if __name__ == '__main__': parser = argparse.ArgumentParser( description='Fix the header include guards in files.') parser.add_argument('--lenient-endif', action='store_true', help='Fix #endif comments only if present and wrong.') parser.add_argument('files', metavar='FILE', nargs='*', help='The file names to check.') args = parser.parse_args() for file in args.files: if not re.search(r'\.h$', file): print >> sys.stderr, file + ": Ignored." continue lines = slurp_numbered_lines(file) if not lines: continue updated = fix_header_guards(args, file, map(lambda x: (x[0], x[1]), lines)) if not updated: continue if updated == lines: continue output = map(lambda x: x[1] + "\n", updated) spew_raw_lines(file, output) print >> sys.stderr, file + ": Updated." opensurgsim-0.7.0/Tools/memcheck.supp000066400000000000000000000001311277777236100176740ustar00rootroot00000000000000{ wcscmp/.../~locale Memcheck:Addr8 fun:wcscmp ... fun:_ZNSt6localeD*Ev } opensurgsim-0.7.0/Tools/remove-trailing-whitespace.py000066400000000000000000000043501277777236100230260ustar00rootroot00000000000000#!/usr/bin/python # This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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. """Remove all trailing whitespace from a file. Typical usage: Tools/remove-trailing-whitespace.py Foo.h or: find SurgSim \( -name '*.h' -o -name '*.cpp' \) -print \ | xargs python Tools/remove-trailing-whitespace.py """ import argparse import sys import re def slurp_raw_lines(file): try: with open(file, 'rb') as f: return f.readlines() except IOError as e: print >> sys.stderr, e return None def spew_raw_lines(file, lines): try: with open(file, 'wb') as f: for line in lines: f.write(line) return True except IOError as e: print >> sys.stderr, e return False def update(file, lines): if lines is None: return None eol = "\n" if len(lines) and re.search(r'\r\n$', lines[0]): eol = "\r\n" result = map(lambda x: x.rstrip() + eol, lines) # If the trailing newline was missing, but there's no other trailing # whitespace, leave well enough alone. if len(lines) and lines[-1] == lines[-1].rstrip(): result[-1] = lines[-1] if result == lines: return None return result if __name__ == '__main__': parser = argparse.ArgumentParser( description="Remove all trailing whitespace from a file.") parser.add_argument('files', metavar='FILE', nargs='*', help='The file names to modify.') args = parser.parse_args() touched = False for file in args.files: lines = update(file, slurp_raw_lines(file)) if lines is not None: spew_raw_lines(file, lines) print "Updated", file touched = True if not touched: print "{}: Nothing to update!".format(sys.argv[0]) opensurgsim-0.7.0/Tools/run-lint.py000066400000000000000000000476171277777236100173550ustar00rootroot00000000000000#!/usr/bin/python # This file is a part of the OpenSurgSim project. # Copyright 2012-2013, SimQuest Solutions 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 # # 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. """Runs Google's cpplint.py and some other checks on C++ files. This script tries to flag violations of the OpenSurgSim coding standards in C++ code. This is certainly not a substitute for looking at the code by hand: many violations will not be caught by the script, and some amount of flagged code will turn out to be correct. But it does make it easier to notice certain common errors. """ # TODO(bert): add some more checks. import argparse import sys import subprocess import re import os from fix_header_guards import get_expected_header_guard from alphabetize_cmakelists import filename_sort_filter STANDARD_WARNING_FORMAT = \ "{file}:{line}:{col}: {text} [{category}] [{level}]" VISUAL_STUDIO_WARNING_FORMAT = \ "{file}({line},{col}): {warning} {vscategory}[{level}]: {text}" WARNING_FORMAT = STANDARD_WARNING_FORMAT def emit_warning(fields): fields = dict(fields) fmt = WARNING_FORMAT # add a "vscategory" field which is like "category" but never empty if 'category' in fields and fields['category'] is not None: fields['vscategory'] = fields['category'] else: fmt = re.sub(r'\s*\[\{category[^\}]*\}\]', '', fmt) fmt = re.sub(r'\s*\{category[^\}]*\}', '', fmt) fields['category'] = '???' # panic button fields['vscategory'] = 'RL' if 'level' not in fields: fmt = re.sub(r'\s*\[\{level[^\}]*\}\]', '', fmt) fmt = re.sub(r'\s*\{level[^\}]*\}', '', fmt) fields['level'] = '???' # panic button if 'col' not in fields: fmt = re.sub(r'\s*\{col[^\}]*\}:', '', fmt) fmt = re.sub(r'\s*,\{col[^\}]*\}\)', ')', fmt) fmt = re.sub(r'\s*\{col[^\}]*\}', '', fmt) fields['col'] = '???' # panic button if 'line' not in fields: fmt = re.sub(r'\s*\{line[^\}]*\}:', '', fmt) fmt = re.sub(r'\s*\(\{line[^\}]*\}\)', '', fmt) fmt = re.sub(r'\s*\{line[^\}]*\}', '', fmt) fields['line'] = '???' # panic button if 'warning' not in fields: fields['warning'] = 'warning' print fmt.format(**fields) def emit_error(fields): fields = dict(fields) fields['warning'] = 'error' emit_warning(fields) def slurp_numbered_lines(file): try: with open(file, 'r') as f: lines = list(enumerate(f.read().splitlines(), start=1)) if not lines: emit_warning({'file': file, 'category': "opensurgsim/no_lines", 'text': "file is empty."}) return lines except IOError as e: print >> sys.stderr, e emit_error({'file': file, 'category': "opensurgsim/no_file", 'text': "file is missing or could not be opened."}) return None def run_cpplint(script, filter, files): if not files: return False argv = [sys.executable, script] if filter is not None: argv.extend(['--filter', filter]) argv.extend(files) try: cmd = subprocess.Popen(argv, stdout=subprocess.PIPE, stderr=subprocess.STDOUT) except OSError as e: print "Failed to run '" + script + "':\n\t", e return False saw_output = False for line in cmd.stdout: saw_output = True line = line.rstrip() match = re.search(r'^(.*?):(\d+):\s+(.*?)\s+\[(\S+)\]\s+\[(\d+)\]\s*$', line) if match: fields = dict(zip(['file', 'line', 'text', 'category', 'level'], match.groups())) emit_warning(fields) elif re.search(r'\[(\S+)\]\s+\[(\d+)\]\s*$', line): emit_error({'file': "run-lint", 'text': ("failed to parse likely warning line: '" + line + "'")}) elif re.search(r':\d+:', line): emit_error({'file': "run-lint", 'text': ("failed to parse line with likely line number: '" + line + "'")}) else: print line # The output is done, so the command should be finished. assert cmd.wait() is not None if not saw_output: emit_error({'file': "run-lint", 'text': "cpplint produced no output!"}) return False return cmd.returncode == 0 def check_header_guard(flags, file, lines): ifndef = filter(lambda x: re.search(r'^\s*#\s*ifndef\b', x[1]), lines) if not ifndef: emit_warning({'file': file, 'category': "opensurgsim/no_ifndef", 'text': "no #ifndef lines!"}) return False # elif len(ifndef) > 1: # emit_warning({'file': file, 'line': ifndef[1][0], # 'category': "opensurgsim/several_ifndef", # 'text': "multiple #ifndef lines; using first."}) guard = ifndef[0][1] guard = re.sub(r'//.*', '', guard) guard = re.sub(r'/\*.*?\*/', '', guard) guard_match = re.search(r'^\s*#\s*ifndef\s+(\w+)\s*$', guard) if not guard_match: emit_error({'file': file, 'line': ifndef[0][0], 'category': "opensurgsim/internal", 'text': "script error: failed to parse #ifndef line!"}) return False guard = guard_match.group(1) guard_expected = get_expected_header_guard(file) if guard != guard_expected: emit_warning({'file': file, 'line': ifndef[0][0], 'category': "opensurgsim/header_guard", 'text': ("unexpected guard '{}'! expected '{}'." .format(guard, guard_expected)) }) define = filter(lambda x: re.search(r'^\s*#\s*define\b', x[1]), lines) if not define: emit_warning({'file': file, 'category': "opensurgsim/no_define", 'text': "no #define lines!"}) else: def_match = re.match(r'^\s*#\s*define\s+(\w+)\s*$', re.sub(r'/\*.*?\*/', '', re.sub(r'//.*', '', define[0][1]))) if not def_match: emit_error({'file': file, 'line': define[0][0], 'category': "opensurgsim/internal", 'text': "script error: failed to parse #define line!"}) elif def_match.group(1) != guard: emit_warning({'file': file, 'line': define[0][0], 'category': "opensurgsim/guard_mismatch", 'text': "#define doesn't match #ifndef!"}) endif = filter(lambda x: re.search(r'^\s*#\s*endif\b', x[1]), lines) if not endif: emit_warning({'file': file, 'category': "opensurgsim/no_endif", 'text': "no #endif lines!"}) elif re.search(r'^\s*#\s*endif\s*$', endif[-1][1]): if flags.missing_endif_comments: emit_warning({'file': file, 'line': endif[-1][0], 'category': "opensurgsim/endif_no_comment", 'text': "#endif with no comment."}) else: if re.search(r'^\s*#\s*endif\s*///', endif[-1][1]): emit_warning({'file': file, 'line': endif[-1][0], 'category': "opensurgsim/endif_doxygen", 'text': "#endif with a Doxygen style /// comment."}) endif_match = re.search(r'^\s*#\s*endif\s*//+\s*(.*?)\s*$', endif[-1][1]) if not endif_match: emit_error({'file': file, 'line': endif[-1][0], 'category': "opensurgsim/internal", 'text': "script error: failed to parse #endif comment."}) elif endif_match.group(1) != guard: emit_warning({'file': file, 'line': endif[-1][0], 'category': "opensurgsim/endif_mismatch", 'text': ("#endif comment doesn't match #ifndef! (" + \ endif_match.group(1) + ")")}) def find_column_char(text, column, tab_width=4): """Find the character that corresponds to the specified column. In the absence of tabs in the text, the return value will be equal to the column. When tabs are present, it will be smaller. """ text = text[:column] while len(text.expandtabs(tab_width)) > column: text = text[:(len(text)-1)] return len(text) def get_column(flags, text, column): if flags.visual_studio: return find_column_char(text, column) else: return column def check_length(flags, file, lines): xlines = map(lambda x: (x[0], re.sub(r'\r?\n$', '', x[1].expandtabs(4))), lines) for bad in filter(lambda x: len(x[1]) > flags.max_line_length, xlines): col = get_column(flags, lines[bad[0]-1][1], flags.max_line_length) emit_warning({'file': file, 'line': bad[0], 'col': col, 'category': "opensurgsim/too_long", 'text': ("the line is {} characters long, which is longer" " than {}!" .format(len(bad[1]), flags.max_line_length)) }) def check_tab_indentation(flags, file, lines): for line_number, line in lines: # Not a blank line if len(line) > 0: # Check that lines start with 0 or more tab characters. # 0 to 3 spaces is allowed for alignment, but anymore and a tab is expected. if re.search(r'^\t* {0,3}\S' , line) is None: emit_warning({'file': file, 'line': line_number, 'category': "opensurgsim/tab_indention", 'text': "the line does not correctly indent using tabs."}) def check_oss_include(flags, file, lines): for line_number, line in lines: # Not a blank line if len(line) > 0: # Check that lines does not start with "#include second and not saw_out_of_order: emit_warning({'file': file, 'line': files[i][0], 'category': "opensurgsim/cmake_file_order", 'text': "file list is not correctly ordered." }) saw_out_of_order = False def decorate_listed_files(flags, file, files): prefix = os.path.dirname(file) paths = map(lambda x: (x[0], os.path.normpath(os.path.join(prefix, x[1]))), files) for p in paths: if not os.path.exists(p[1]): emit_warning({'file': file, 'line': p[0], 'category': "opensurgsim/cmake_file_missing", 'text': ("file " + p[1] + " does not exist but is listed in CMakeLists!") }) return paths def get_listed_file_paths(flags, file, lines): files = get_listed_files(flags, file, lines) check_file_order(flags, file, files) paths = decorate_listed_files(flags, file, files) return map(lambda x: x[1], paths) def find_responsible_cmakelists(file): dir_path = os.path.dirname(file) while True: guess = os.path.join(dir_path, 'CMakeLists.txt') if os.path.exists(guess): return guess parent = os.path.dirname(dir_path) if parent == dir_path: # uh-oh, we didn't find ANY CMakeLists.txt file?!? return file dir_path = parent def check_file_lists(cmakelists_files, found_files): while cmakelists_files or found_files: if (cmakelists_files and found_files and cmakelists_files[0] == found_files[0]): # lists match. remove matching elements and keep going. del cmakelists_files[0] del found_files[0] elif not found_files or cmakelists_files[0] < found_files[0]: # in CMakeLists but not on disk. should already have been handled. del cmakelists_files[0] elif not cmakelists_files or found_files[0] < cmakelists_files[0]: # in the list but not in CMakeLists. emit_warning({'file': find_responsible_cmakelists(found_files[0]), 'category': "opensurgsim/cmake_file_not_listed", 'text': ("file " + found_files[0] + " not present in CMakeLists.txt!") }) del found_files[0] else: assert False, "should not have reached here" if __name__ == '__main__': parser = argparse.ArgumentParser( description='Check source files for coding standard violations.') parser.add_argument('--traverse', metavar='DIR', action='append', help='Find all applicable files in DIR and its subdirs.') parser.add_argument('--cpplint-script', metavar='PATH_TO_SCRIPT', help='The path to Google\'s cpplint.py script.', default='cpplint.py') parser.add_argument('--cpplint-filter', '--filter', metavar='FILTER', help='The --filter argument to pass to cpplint.') parser.add_argument('--no-cpplint', action='store_false', dest='do_cpplint', help='Do not run the cpplint.py script.') parser.add_argument('--missing-endif-comments', action='store_true', help='Flag missing include guard #endif comments, too.') parser.add_argument('--ignore-guards', action='store_false', dest='do_check_guards', help='Do not check the header file include guards.') parser.add_argument('--ignore-tab-indentation', action='store_false', dest='do_check_tab_indentation', help='Do not check that lines are indented with tabs.') parser.add_argument('--ignore-oss-include', action='store_false', dest='do_check_oss_include', help='Do not check that OSS related include use #include "".') parser.add_argument('--max-line-length', type=int, default=120, help='Maximum allowed line length for C++ code.') parser.add_argument('--ignore-length', action='store_false', dest='do_check_length', help='Do not check the line length.') parser.add_argument('--ignore-file-lists', action='store_false', dest='do_check_file_lists', help='Do not check the files in CMakeLists.txt.') parser.add_argument('--ignore-ext', action='store_false', dest='do_check_extension', help='Do not check the file extensions.') parser.add_argument('--format', help='The format string for warnings and errors.') parser.add_argument('--visual-studio', '--vs', action='store_true', help='Use defaults tailored for Visual Studio.') parser.add_argument('files', metavar='FILE', nargs='*', help='The file names to check.') args = parser.parse_args() if args.format is not None: WARNING_FORMAT = args.format elif args.visual_studio: WARNING_FORMAT = VISUAL_STUDIO_WARNING_FORMAT else: WARNING_FORMAT = STANDARD_WARNING_FORMAT if args.traverse is not None: for traverse_dir in args.traverse: for current_dir, subdirs, files in os.walk(traverse_dir): args.files.extend(map(lambda x: os.path.join(current_dir, x), filter(lambda x: re.search(r'\.(?:h|cpp)$', x), files))) if 'CMakeLists.txt' in files: args.files.append(os.path.join(current_dir, 'CMakeLists.txt')) # always skip .git, build directories, ThirdParty... for bad in filter(lambda x: re.search(r'^(?:\.git|build.*|ThirdParty|Modules)$', x, re.IGNORECASE), subdirs): subdirs.remove(bad) ok = True if args.do_check_extension: bad_ext = filter(lambda x: not re.search(r'\.(?:h|cpp)$|CMakeLists\.txt$', x), args.files) for file in bad_ext: emit_warning({'file': file, 'text': "unknown extension (expected .h or .cpp)"}) ok = False if args.do_cpplint: # Batch the files through cpplint, 100 at a time so we don't exceed OS limits on # command size or amount of parameters index = 0 ok = True while index < len(args.files) : if not run_cpplint(args.cpplint_script, args.cpplint_filter, filter(lambda x: re.search(r'\.(?:h|cpp)$', x), args.files[index:index+100])): ok = False index += 100 cmakelists_files = None for file in args.files: lines = None if args.do_check_guards and re.search(r'\.h$', file): if lines is None: lines = slurp_numbered_lines(file) if not lines: continue if not check_header_guard(args, file, lines): ok = False if args.do_check_length and re.search(r'\.(h|cpp)$', file): if lines is None: lines = slurp_numbered_lines(file) if not lines: continue if not check_length(args, file, lines): ok = False if args.do_check_file_lists and re.search(r'CMakeLists\.txt$', file): if lines is None: lines = slurp_numbered_lines(file) if not lines: continue if cmakelists_files is None: cmakelists_files = [] cmakelists_files.extend(get_listed_file_paths(args, file, lines)) # cmakelists_files will be checked later... if args.do_check_tab_indentation and re.search(r'(\.h|\.cpp|CMakeLists\.txt$)', file): if lines is None: lines = slurp_numbered_lines(file) if not lines: continue if not check_tab_indentation(args, file, lines): ok = False if args.do_check_oss_include and re.search(r'(\.h|\.cpp$)', file): if lines is None: lines = slurp_numbered_lines(file) if not lines: continue if not check_oss_include(args, file, lines): ok = False if args.do_check_file_lists and cmakelists_files is not None: cmakelists_files = sorted(cmakelists_files) found_files = sorted(map(lambda x: os.path.normpath(x), filter(lambda x: re.search(r'\.(?:h|cpp)$', x), args.files))) check_file_lists(cmakelists_files, found_files) # if not ok: # sys.exit(1)

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