[src] Add Cutting performer

CMakeLists.txt

@@ -36,12 +36,12 @@ set(HEADER_FILES
 
     ## Carving tools sections
     ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/AdvancedCarvingManager.h
-    ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/BaseCarvingPerformer.h    
-    ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/SurfaceCarvingPerformer.h
-    ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/BurningPerformer.h
+    ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/BaseCarvingPerformer.h
     ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/SimpleCarvingPerformer.h
-
+    ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/BurningPerformer.h
+    ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/SurfaceCarvingPerformer.h
     ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/HapticCarvingManager.h
+
     ${INFINYTOOLKIT_SRC_DIR}/BruteForceFeedback.h
 )
 
@@ -57,11 +57,11 @@ set(SOURCE_FILES
     ## Carving tools sections
     ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/AdvancedCarvingManager.cpp
     ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/BaseCarvingPerformer.cpp
-    ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/SurfaceCarvingPerformer.cpp
-    ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/BurningPerformer.cpp
     ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/SimpleCarvingPerformer.cpp
-
+    ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/BurningPerformer.cpp
+    ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/SurfaceCarvingPerformer.cpp
     ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/HapticCarvingManager.cpp
+
     ${INFINYTOOLKIT_SRC_DIR}/BruteForceFeedback.cpp
 )
 
@@ -71,10 +71,12 @@ if (MeshRefinement_FOUND)
     message("MeshRefinement plugin found - Adding it to ${PROJECT_NAME}")
     list(APPEND HEADER_FILES 
         ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/RefineCarvingPerformer.h
+        ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/CuttingPerformer.h
     )
 
     list(APPEND SOURCE_FILES 
         ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/RefineCarvingPerformer.cpp
+        ${INFINYTOOLKIT_SRC_DIR}/CarvingTools/CuttingPerformer.cpp
     )
 
     add_definitions(-DHAS_MESHREFINEMENT_PLUGIN)

src/InfinyToolkit/CarvingTools/AdvancedCarvingManager.cpp

@@ -42,6 +42,7 @@
 
 #ifdef HAS_MESHREFINEMENT_PLUGIN
 #include <InfinyToolkit/CarvingTools/RefineCarvingPerformer.h>
+#include <InfinyToolkit/CarvingTools/CuttingPerformer.h>
 #endif
 
 #include <sofa/core/behavior/BaseMechanicalState.h>
@@ -65,6 +66,7 @@ AdvancedCarvingManager::AdvancedCarvingManager()
     , d_active( initData(&d_active, false, "active", "Activate this object.\nNote that this can be dynamically controlled by using a key") )
     , d_carvingWithBurning(initData(&d_carvingWithBurning, true, "carvingWithBurning", "Activate this object.\nNote that this can be dynamically controlled by using a key"))
     , d_carvingWithRefinement(initData(&d_carvingWithRefinement, false, "carvingWithRefinement", "Activate this object.\nNote that this can be dynamically controlled by using a key"))
+    , d_cuttingMode(initData(&d_cuttingMode, false, "cuttingMode", "Activate the option tetrahedral cutting."))
     , d_carvingDistance( initData(&d_carvingDistance, 0.0, "carvingDistance", "Collision distance at which cavring will start. Equal to contactDistance by default."))    
     , d_refineDistance(initData(&d_refineDistance, 0.0, "refineDistance", "Collision distance at which cavring will start. Equal to contactDistance by default."))    
     , d_refineCriteria( initData(&d_refineCriteria, 0.5, "refineCriteria", "Collision distance at which cavring will start. Equal to contactDistance by default."))
@@ -187,11 +189,20 @@ void AdvancedCarvingManager::bwdInit()
             m_carvingPerformer.push_back(new BurningPerformer(topo, this));
         }
 
-        if (d_carvingWithRefinement.getValue()) {
+        if (d_carvingWithRefinement.getValue()) 
+        {
 #ifdef HAS_MESHREFINEMENT_PLUGIN
             m_carvingPerformer.push_back(new RefineCarvingPerformer(topo, this));
 #else
             msg_warning() << "Option carvingWithRefinement require MeshRefienement plugin. Please check https://www.sofa-framework.org/applications/marketplace/cutting-mesh-refinement/ for more information.";
+#endif
+        }
+        else if (d_cuttingMode.getValue())
+        {
+#ifdef HAS_MESHREFINEMENT_PLUGIN
+            m_carvingPerformer.push_back(new CuttingPerformer(topo, this));
+#else
+            msg_warning() << "Option cutting require MeshRefienement plugin. Please check https://www.sofa-framework.org/applications/marketplace/cutting-mesh-refinement/ for more information.";
 #endif
         }
         else
@@ -338,11 +349,11 @@ void AdvancedCarvingManager::filterCollision()
         carvingPerformer->filterContacts();
     }
 
-    // process the collision
-    for (auto carvingPerformer : m_carvingPerformer)
-    {
-        carvingPerformer->runPerformer();
-    }
+    //// process the collision
+    //for (auto carvingPerformer : m_carvingPerformer)
+    //{
+    //    carvingPerformer->runPerformer();
+    //}
 }
 
 
@@ -367,7 +378,11 @@ void AdvancedCarvingManager::handleEvent(sofa::core::objectmodel::Event* event)
         if (ev->getKey() == 'C')
         {
             msg_warning() << "Burn, baby burn!";
-            d_active.setValue(true);
+            //d_active.setValue(true);
+            for (auto carvingPerformer : m_carvingPerformer)
+            {
+                carvingPerformer->runPerformer();
+            }
         }
     }
 }

src/InfinyToolkit/CarvingTools/AdvancedCarvingManager.h

@@ -96,6 +96,7 @@ class SOFA_INFINYTOOLKIT_API AdvancedCarvingManager : public core::behavior::Bas
     Data < bool > d_active;
     Data < bool > d_carvingWithBurning;
     Data < bool > d_carvingWithRefinement;
+    Data < bool > d_cuttingMode;
 
 
     /// Collision distance at which cavring will start. Equal to contactDistance by default.

src/InfinyToolkit/CarvingTools/CuttingPerformer.cpp

@@ -0,0 +1,163 @@
+/*****************************************************************************
+ *                 - Copyright (C) - 2020 - InfinyTech3D -                   *
+ *                                                                           *
+ * This file is part of the InfinyToolkit plugin for the SOFA framework      *
+ *                                                                           *
+ * Commercial License Usage:                                                 *
+ * Licensees holding valid commercial license from InfinyTech3D may use this *
+ * file in accordance with the commercial license agreement provided with    *
+ * the Software or, alternatively, in accordance with the terms contained in *
+ * a written agreement between you and InfinyTech3D. For further information *
+ * on the licensing terms and conditions, contact: contact@infinytech3d.com  *
+ *                                                                           *
+ * GNU General Public License Usage:                                         *
+ * Alternatively, this file may be used under the terms of the GNU General   *
+ * Public License version 3. The licenses are as published by the Free       *
+ * Software Foundation and appearing in the file LICENSE.GPL3 included in    *
+ * the packaging of this file. Please review the following information to    *
+ * ensure the GNU General Public License requirements will be met:           *
+ * https://www.gnu.org/licenses/gpl-3.0.html.                                *
+ *                                                                           *
+ * Authors: see Authors.txt                                                  *
+ * Further information: https://infinytech3d.com                             *
+ ****************************************************************************/
+
+#include <InfinyToolkit/CarvingTools/CuttingPerformer.h>
+#include <InfinyToolkit/CarvingTools/AdvancedCarvingManager.h>
+
+#include <sofa/component/statecontainer/MechanicalObject.h>
+
+namespace sofa::infinytoolkit
+{
+
+CuttingPerformer::CuttingPerformer(TetrahedronSetTopologyContainer::SPtr topo, AdvancedCarvingManager* _carvingMgr)
+    : BaseCarvingPerformer(topo, _carvingMgr)
+{
+
+}
+
+
+bool CuttingPerformer::initPerformer()
+{
+    m_topoModif = m_topologyCon->getContext()->get<TetrahedronSetTopologyModifier>();
+
+    if (m_topoModif == nullptr) {
+        msg_error("CuttingPerformer") << "InitPerformer failed, no TetrahedronSetTopologyModifier found in Node: " << m_topologyCon->getContext()->getName();
+        return false;
+    }
+
+    if (m_tetraCuttingMgr == nullptr)
+    {
+        m_tetraCuttingMgr = std::make_unique<sofa::meshrefinement::TetrahedronCuttingManager<sofa::defaulttype::Vec3Types> >();
+        m_tetraCuttingMgr->init(m_topologyCon->getContext());
+        m_tetraCuttingMgr->activateLogs(m_topologyCon->f_printLog.getValue());
+
+        //if (d_surfaceCut.getValue())
+        //{
+        //    const std::string& textName = d_textureName.getValue();
+        //    if (!textName.empty())
+        //        m_tetraCuttingMgr->setCutTextureName(textName);
+        //}
+    }
+
+    return true;
+}
+
+
+void CuttingPerformer::filterContacts()
+{
+    // Create Cut quad
+    fixed_array<Vec3, 4> m_planPositions;
+
+    // we use the cutting tool points to detect the direction and length of cut
+    const SReal& _carvingDistance = m_carvingMgr->d_carvingDistance.getValue();
+
+    // 1- get barycenter and cutting position
+    std::vector<Vec3> cutPositions;
+    Vec3 bary = Vec3(0, 0, 0);
+    Vec3 cutDir = Vec3(0, 0, 0);
+    for (const contactInfo* cInfo : m_triangleContacts)
+    {
+        cutPositions.push_back(cInfo->pointA);
+        bary += cInfo->pointA;
+        cutDir += cInfo->pointB - cInfo->pointA;
+    }
+
+    if (cutPositions.empty())
+        return;
+
+    bary /= cutPositions.size();
+    cutDir /= cutPositions.size();
+    cutDir.normalize();
+
+    // 2- get cut extremity
+    SReal maxLength = 0.0;
+    for (const contactInfo* cInfo : m_triangleContacts)
+    {
+        Vec3 toolDir = cInfo->pointA - bary;
+        SReal length2 = toolDir.norm2();
+        if (maxLength < length2)
+        {
+            maxLength = length2;
+            m_planPositions[0] = bary + toolDir;
+            m_planPositions[1] = bary - toolDir;
+        }
+    }
+
+    m_planPositions[2] = m_planPositions[1] + cutDir * _carvingDistance;
+    m_planPositions[3] = m_planPositions[0] + cutDir * _carvingDistance;
+    Vec3 m_planNormal = (m_planPositions[1] - m_planPositions[0]).cross(cutDir);
+
+    // Test all tetra
+    m_tetraCuttingMgr->createCutPlanPath(m_planPositions, m_planNormal, _carvingDistance * 10);
+}
+
+bool CuttingPerformer::runPerformer()
+{
+    m_tetraCuttingMgr->processCut(1);
+
+    m_triangleContacts.clear();
+    m_pointContacts.clear();
+    return true;
+}
+
+
+void CuttingPerformer::draw(const core::visual::VisualParams* vparams)
+{
+    if (!m_triangleContacts.empty())
+    {
+        const SReal& _carvingDistance = m_carvingMgr->d_carvingDistance.getValue();
+        const SReal& _refineDistance = m_carvingMgr->d_refineDistance.getValue();
+
+        for (const contactInfo* cInfo : m_triangleContacts)
+        {
+            std::vector<Vec3> pos;
+            sofa::core::behavior::BaseMechanicalState* mstate = m_topologyCon->getContext()->getMechanicalState();
+            sofa::core::topology::Topology::Triangle tri = m_topologyCon->getTriangle(cInfo->elemId);
+
+            for (unsigned int j = 0; j < 3; j++) {
+                pos.push_back(Vec3(mstate->getPX(tri[j]), mstate->getPY(tri[j]), mstate->getPZ(tri[j])));
+            }
+
+            sofa::type::RGBAColor color4(1.0f, 0.0, 0.0f, 1.0);
+            if (cInfo->dist < _carvingDistance)
+                color4 = sofa::type::RGBAColor(0.0f, 1.0, 0.0f, 1.0);
+            else if (cInfo->dist < _refineDistance)
+                color4 = sofa::type::RGBAColor(0.0f, 0.0, 1.0f, 1.0);
+
+            vparams->drawTool()->drawTriangle(pos[0], pos[1], pos[2], cInfo->normal, color4);
+
+            vparams->drawTool()->drawSphere(cInfo->pointB, float(_carvingDistance), sofa::type::RGBAColor(1.0f, 0.0f, 0.0f, 0.8f));
+            vparams->drawTool()->drawSphere(cInfo->pointA, float(_carvingDistance), sofa::type::RGBAColor(0.0f, 1.0f, 0.0f, 0.8f));
+        }
+
+        m_tetraCuttingMgr->drawCutPlan(vparams);
+        m_tetraCuttingMgr->drawDebugCut(vparams);
+
+    }
+
+
+
+}
+
+} // namespace sofa::infinytoolkit

src/InfinyToolkit/CarvingTools/CuttingPerformer.h

@@ -0,0 +1,59 @@
+/*****************************************************************************
+ *                 - Copyright (C) - 2020 - InfinyTech3D -                   *
+ *                                                                           *
+ * This file is part of the InfinyToolkit plugin for the SOFA framework      *
+ *                                                                           *
+ * Commercial License Usage:                                                 *
+ * Licensees holding valid commercial license from InfinyTech3D may use this *
+ * file in accordance with the commercial license agreement provided with    *
+ * the Software or, alternatively, in accordance with the terms contained in *
+ * a written agreement between you and InfinyTech3D. For further information *
+ * on the licensing terms and conditions, contact: contact@infinytech3d.com  *
+ *                                                                           *
+ * GNU General Public License Usage:                                         *
+ * Alternatively, this file may be used under the terms of the GNU General   *
+ * Public License version 3. The licenses are as published by the Free       *
+ * Software Foundation and appearing in the file LICENSE.GPL3 included in    *
+ * the packaging of this file. Please review the following information to    *
+ * ensure the GNU General Public License requirements will be met:           *
+ * https://www.gnu.org/licenses/gpl-3.0.html.                                *
+ *                                                                           *
+ * Authors: see Authors.txt                                                  *
+ * Further information: https://infinytech3d.com                             *
+ ****************************************************************************/
+#pragma once
+
+#include <InfinyToolkit/CarvingTools/BaseCarvingPerformer.h>
+#include <MeshRefinement/TetrahedronCuttingManager.h>
+#include <sofa/component/topology/container/dynamic/TetrahedronSetTopologyModifier.h>
+
+namespace sofa::infinytoolkit
+{
+using namespace sofa::core::topology;
+using namespace sofa::component::topology::container::dynamic;
+
+class SOFA_INFINYTOOLKIT_API CuttingPerformer : public BaseCarvingPerformer
+{
+public:
+	CuttingPerformer(TetrahedronSetTopologyContainer::SPtr topo, AdvancedCarvingManager* _carvingMgr);
+
+	virtual ~CuttingPerformer() = default;
+
+	bool initPerformer() override;
+
+	void filterContacts() override;
+
+	bool runPerformer() override;
+
+	void draw(const core::visual::VisualParams* vparams) override;
+
+private:
+	TetrahedronSetTopologyModifier::SPtr m_topoModif = nullptr;
+
+	std::unique_ptr<sofa::meshrefinement::TetrahedronCuttingManager<sofa::defaulttype::Vec3Types> > m_tetraCuttingMgr = nullptr;
+
+	std::vector<Index> m_tetra2Remove;
+};
+
+} // namespace sofa::infinytoolkit
+