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Add igtlink mouse interactor #5

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merged 4 commits into from
Apr 23, 2024
Merged

Add igtlink mouse interactor #5

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a263da6
First hollow class for mouse interaction using performer
bakpaul Mar 25, 2024
0b0af48
test with collision model
bakpaul Mar 27, 2024
9e8ef99
Everything working
bakpaul Apr 8, 2024
4d4fd08
Modifcation due to virtualization changes
bakpaul Apr 9, 2024
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105 changes: 105 additions & 0 deletions scenes/iGTLinkMouseInteractor_Lagrange.scn
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<?xml version="1.0"?>

<Node name="root" dt="0.01" gravity="0 0 0">

<RequiredPlugin pluginName='SofaPreconditioner'/> <!-- Needed to use components [ShewchukPCGLinearSolver, ]-->
<RequiredPlugin pluginName='SofaSparseSolver'/> <!-- Needed to use components [SparseLUSolver, ]-->
<RequiredPlugin pluginName='SofaOpenglVisual'/> <!-- Needed to use components [OglModel, ]-->
<RequiredPlugin name='SofaConstraint'/> <!-- Needed to use components [LinearSolverConstraintCorrection, ]-->
<RequiredPlugin name='SofaGeneralSimpleFem'/> <!-- Needed to use components [BeamFEMForceField, ]-->
<RequiredPlugin name='SofaImplicitOdeSolver'/> <!-- Needed to use components [EulerImplicitSolver, ]-->
<RequiredPlugin name='SofaMiscMapping'/> <!-- Needed to use components [BeamLinearMapping, TubularMapping, ]-->
<RequiredPlugin name='SofaTopologyMapping'/> <!-- Needed to use components [Edge2QuadTopologicalMapping, ]-->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetTopologyContainer,TetrahedronSetTopologyModifier,TriangleSetTopologyContainer,TriangleSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping,Tetra2TriangleTopologicalMapping] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<RequiredPlugin name="SofaIGTLink"/> <!-- Needed to use components [OglModel] -->


<VisualStyle displayFlags=" showForceFields "/>
<FreeMotionAnimationLoop name="FreeMotionAnimationLoop" parallelODESolving="true" parallelCollisionDetectionAndFreeMotion="true"/>-->
<GenericConstraintSolver maxIterations="10" multithreading='true' tolerance="1.0e-3"/>
<CollisionPipeline name="CollisionPipeline" />
<ParallelBruteForceBroadPhase/>
<ParallelBVHNarrowPhase/>
<CollisionResponse name="ContactManager" response="FrictionContactConstraint" responseParams="mu=0.5" />
<NewProximityIntersection name="Intersection" alarmDistance="0.2" contactDistance="0.02" />



<!-- $$$$$$$$$$$$$$$$$$$$$$ TOPOLOGY 1 $$$$$$$$$$$$$$$$$$$$$$ -->
<Node name="BEAMVOLUME">
<RegularGrid name="HexaTop" n="25 5 5" min="0 0 0" max="0.5 0.1 0.1"/>
<TetrahedronSetTopologyContainer name="Container" position="@HexaTop.position"/>
<TetrahedronSetTopologyModifier name="Modifier"/>
<Hexa2TetraTopologicalMapping input="@HexaTop" output="@Container" swapping="true"/>
</Node>



<Node name="FEM">
<EulerImplicitSolver firstOrder="false" rayleighMass="0.1" rayleighStiffness="0.1"/>
<SparseLDLSolver name="precond" template="CompressedRowSparseMatrixMat3x3" parallelInverseProduct="true" />

<TetrahedronSetTopologyContainer name="Container" position="@../BEAMVOLUME/HexaTop.position"
tetrahedra="@../BEAMVOLUME/Container.tetrahedra"/>
<TetrahedronSetTopologyModifier name="Modifier"/>

<MechanicalObject name="mstate" template="Vec3d" src="@Container"/>
<TetrahedronFEMForceField name="forceField" listening="true" youngModulus="6e4" poissonRatio="0.40" />


<BoxROI name="box" box="-0.01 -0.01 -0.01 0.01 0.11 0.11"/>
<FixedConstraint indices="@box.indices"/>

<UniformMass totalMass="1"/>

<Node name="Surface">
<TriangleSetTopologyContainer name="Container"/>
<TriangleSetTopologyModifier name="Modifier"/>
<Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" flipNormals="false"/>
<MechanicalObject name="dofs" rest_position="@../mstate.rest_position"/>
<TriangleCollisionModel name="Torus8CMT" proximity="0.001" contactStiffness="20" color="0.94117647058824 0.93725490196078 0.89411764705882" />
<Node name="Visual" activated="1">
<TriangleSetTopologyContainer name="Container" src="@../Container"/>
<OglModel color="1.0 0.1 0.2 1.0" name="visualModel"/>
<IdentityMapping name="VisualMapping"/>
</Node>
<IdentityMapping name="SurfaceMapping"/>
</Node>

<Node name="AttachPoint">
<PointSetTopologyContainer name="Container" />
<PointSetTopologyModifier name="Modifier"/>
<MechanicalObject name="mstate" template="Vec3d" position="0.5 0.05 0.05" drawMode="1" showObjectScale="0.01" showColor="0 1 0" showObject="false"/>

<UserInteractionController name="UIC" inStiffness="10000" reactionTime="50" position="@../../AttachPointMessage.points" />
<RestShapeSpringsForceField stiffness='@UIC.outStiffness' external_rest_shape='@../../AttachPoint/mstate' points='0' external_points='0'/>

<BarycentricMapping />
</Node>

<LinearSolverConstraintCorrection linearSolver="@precond"/>
</Node>

<Node name="AttachPoint">
<PointSetTopologyContainer name="Container" />
<PointSetTopologyModifier name="Modifier"/>
<MechanicalObject name="mstate" template="Vec3d" position="0.5 0.05 0.05" drawMode="2" showObjectScale="0.01" showObject="false"/>
<iGTLinkMouseInteractor pickingType="constraint" position="0 0 0" reactionTime="20000" destCollisionModel="@../FEM/Surface/Torus8CMT"/>

</Node>

</Node>


101 changes: 101 additions & 0 deletions scenes/iGTLinkMouseInteractor_Spring.scn
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<?xml version="1.0"?>

<Node name="root" dt="0.01" gravity="0 0 0">

<RequiredPlugin pluginName='SofaPreconditioner'/> <!-- Needed to use components [ShewchukPCGLinearSolver, ]-->
<RequiredPlugin pluginName='SofaSparseSolver'/> <!-- Needed to use components [SparseLUSolver, ]-->
<RequiredPlugin pluginName='SofaOpenglVisual'/> <!-- Needed to use components [OglModel, ]-->
<RequiredPlugin name='SofaConstraint'/> <!-- Needed to use components [LinearSolverConstraintCorrection, ]-->
<RequiredPlugin name='SofaGeneralSimpleFem'/> <!-- Needed to use components [BeamFEMForceField, ]-->
<RequiredPlugin name='SofaImplicitOdeSolver'/> <!-- Needed to use components [EulerImplicitSolver, ]-->
<RequiredPlugin name='SofaMiscMapping'/> <!-- Needed to use components [BeamLinearMapping, TubularMapping, ]-->
<RequiredPlugin name='SofaTopologyMapping'/> <!-- Needed to use components [Edge2QuadTopologicalMapping, ]-->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetTopologyContainer,TetrahedronSetTopologyModifier,TriangleSetTopologyContainer,TriangleSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping,Tetra2TriangleTopologicalMapping] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<RequiredPlugin name="SofaIGTLink"/> <!-- Needed to use components [OglModel] -->


<VisualStyle displayFlags=" showForceFields "/>
<DefaultAnimationLoop />




<!-- $$$$$$$$$$$$$$$$$$$$$$ TOPOLOGY 1 $$$$$$$$$$$$$$$$$$$$$$ -->
<Node name="BEAMVOLUME">
<RegularGrid name="HexaTop" n="25 5 5" min="0 0 0" max="0.5 0.1 0.1"/>
<TetrahedronSetTopologyContainer name="Container" position="@HexaTop.position"/>
<TetrahedronSetTopologyModifier name="Modifier"/>
<Hexa2TetraTopologicalMapping input="@HexaTop" output="@Container" swapping="true"/>
</Node>



<Node name="FEM">
<EulerImplicitSolver firstOrder="false" rayleighMass="0.1" rayleighStiffness="0.1"/>
<PCGLinearSolver preconditioner="@precond"/>
<SparseLDLSolver name="precond" template="CompressedRowSparseMatrixMat3x3" parallelInverseProduct="true" />

<TetrahedronSetTopologyContainer name="Container" position="@../BEAMVOLUME/HexaTop.position"
tetrahedra="@../BEAMVOLUME/Container.tetrahedra"/>
<TetrahedronSetTopologyModifier name="Modifier"/>

<MechanicalObject name="mstate" template="Vec3d" src="@Container"/>
<TetrahedronFEMForceField name="forceField" listening="true" youngModulus="6e4" poissonRatio="0.40" />


<BoxROI name="box" box="-0.01 -0.01 -0.01 0.01 0.11 0.11"/>
<FixedConstraint indices="@box.indices"/>

<UniformMass totalMass="1"/>

<Node name="Surface">
<TriangleSetTopologyContainer name="Container"/>
<TriangleSetTopologyModifier name="Modifier"/>
<Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" flipNormals="false"/>
<MechanicalObject name="dofs" rest_position="@../mstate.rest_position"/>
<TriangleCollisionModel name="Torus8CMT" proximity="0.001" contactStiffness="20" color="0.94117647058824 0.93725490196078 0.89411764705882" />
<Node name="Visual" activated="1">
<TriangleSetTopologyContainer name="Container" src="@../Container"/>
<OglModel color="1.0 0.1 0.2 1.0" name="visualModel"/>
<IdentityMapping name="VisualMapping"/>
</Node>
<IdentityMapping name="SurfaceMapping"/>
</Node>

<Node name="AttachPoint">
<PointSetTopologyContainer name="Container" />
<PointSetTopologyModifier name="Modifier"/>
<MechanicalObject name="mstate" template="Vec3d" position="0.5 0.05 0.05" drawMode="1" showObjectScale="0.01" showColor="0 1 0" showObject="false"/>

<UserInteractionController name="UIC" inStiffness="10000" reactionTime="50" position="@../../AttachPointMessage.points" />
<RestShapeSpringsForceField stiffness='@UIC.outStiffness' external_rest_shape='@../../AttachPoint/mstate' points='0' external_points='0'/>

<BarycentricMapping />
</Node>


</Node>

<Node name="AttachPoint">
<PointSetTopologyContainer name="Container" />
<PointSetTopologyModifier name="Modifier"/>
<MechanicalObject name="mstate" template="Vec3d" drawMode="2" showObjectScale="0.01" showObject="false"/>
<iGTLinkMouseInteractor pickingType="spring" reactionTime="20000" destCollisionModel="@../FEM/Surface/Torus8CMT"/>

</Node>

</Node>


11 changes: 11 additions & 0 deletions src/sofa/igtlink/utils/iGTLinkMouseInteractor.cpp
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#include <sofa/igtlink/utils/iGTLinkMouseInteractor.inl>
#include <sofa/core/ObjectFactory.h>

namespace sofa::openigtlink {

SOFA_DECL_CLASS(iGTLinkMouseInteractor)

int iGTLinkMouseInteractorClass = core::RegisterObject("")
.add<iGTLinkMouseInteractor<defaulttype::Vec3Types>>(true);

}
62 changes: 62 additions & 0 deletions src/sofa/igtlink/utils/iGTLinkMouseInteractor.h
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#pragma once
#include <sofa/gui/component/config.h>

#include <sofa/gui/component/performer/InteractionPerformer.h>
#include <sofa/gui/component/performer/BaseAttachBodyPerformer.h>
#include <sofa/component/collision/geometry/RayModel.h>
#include <sofa/component/statecontainer/MechanicalObject.h>

#include <sofa/core/collision/DetectionOutput.h>
#include <sofa/core/BehaviorModel.h>
#include <sofa/gui/component/performer/MouseInteractor.h>
#include <sofa/gui/component/AttachBodyButtonSetting.h>
#include <sofa/helper/OptionsGroup.h>
#include <sofa/core/objectmodel/DataCallback.h>
#include <sofa/core/CollisionModel.h>
#include <chrono>


namespace sofa::openigtlink {

template<class DataTypes>
class iGTLinkMouseInteractor : public sofa::gui::component::performer::MouseInteractor<DataTypes> {
public:
SOFA_CLASS(SOFA_TEMPLATE(iGTLinkMouseInteractor,DataTypes), SOFA_TEMPLATE(sofa::gui::component::performer::MouseInteractor,DataTypes));

typedef typename DataTypes::Coord Coord;
typedef typename DataTypes::VecCoord VecCoord;


Data<sofa::type::vector<Coord> > d_positions;
Data< sofa::helper::OptionsGroup > d_pickingType;
Data< double > d_springStiffness;
Data< unsigned > d_reactionTime;

SingleLink<iGTLinkMouseInteractor, core::CollisionModel, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_destCollisionModel;


iGTLinkMouseInteractor();

virtual void updatePosition( SReal dt) override;

void positionChanged();
void attachmentChanged();
void startPerformer();
void stopPerformer();
void handleEvent(sofa::core::objectmodel::Event *event);
sofa::Index findCollidingElem(const type::Vec3& pos) const;


private:
sofa::core::objectmodel::DataCallback c_positions;
sofa::core::objectmodel::DataCallback c_attachmentType;
std::chrono::high_resolution_clock::time_point m_lastChange;
std::unique_ptr<sofa::gui::component::performer::BaseAttachBodyPerformer<DataTypes>> m_performer;

bool m_performerStarted;



};

}
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