//------------------------------------------------------------------------------
void vtkSlicerCollisionWarningLogic::RegisterNodes()
{
if( ! this->GetMRMLScene() )
{
vtkWarningMacro( "MRML scene not yet created" );
return;
}
this->GetMRMLScene()->RegisterNodeClass( vtkSmartPointer< vtkMRMLCollisionWarningNode >::New() );
}
void vtkOSMesaRenderWindow::MakeCurrent()
{
TraceBegin("vtkOSMesaRenderWindow::MakeCurrent");
if (this->Internal->OffScreenContextId)
{
if (OSMesaMakeCurrent(this->Internal->OffScreenContextId,
this->Internal->OffScreenWindow, GL_UNSIGNED_BYTE,
this->Size[0], this->Size[1]) != GL_TRUE)
{
vtkWarningMacro("failed call to OSMesaMakeCurrent");
}
}
TraceEnd("vtkOSMesaRenderWindow::MakeCurrent");
}
void vtkSlicerCollisionWarningLogic::SetSecondModelNode( vtkMRMLModelNode* newModel, vtkMRMLCollisionWarningNode* moduleNode )
{
if ( moduleNode == NULL )
{
vtkWarningMacro( "SetSecondModelNode: Module node is invalid" );
return;
}
// Get the original color of the old model node
vtkMRMLModelNode* previousModel=moduleNode->GetSecondModelNode();
if (previousModel==newModel)
{
// no change
return;
}
double previousOriginalColor[3]={0.5,0.5,0.5};
if(previousModel)
{
moduleNode->GetOriginalColor(previousOriginalColor);
}
// Save the original color of the new model node
if(newModel!=NULL)
{
double originalColor[3]={0.5,0.5,0.5};
if ( newModel->GetDisplayNode() != NULL )
{
newModel->GetDisplayNode()->GetColor(originalColor);
}
moduleNode->SetOriginalColor(originalColor);
}
// Switch to the new model node
moduleNode->SetAndObserveSecondModelNodeID( (newModel!=NULL) ? newModel->GetID() : NULL );
// Restore the color of the old model node
if(previousModel!=NULL && previousModel->GetDisplayNode()!=NULL)
{
previousModel->GetDisplayNode()->SetColor(previousOriginalColor[0],previousOriginalColor[1],previousOriginalColor[2]);
}
}
//------------------------------------------------------------------------------
void vtkSlicerCollisionWarningLogic::OnMRMLSceneNodeRemoved( vtkMRMLNode* node )
{
if ( node == NULL || this->GetMRMLScene() == NULL )
{
vtkWarningMacro( "OnMRMLSceneNodeRemoved: Invalid MRML scene or node" );
return;
}
if ( node->IsA( "vtkMRMLCollisionWarningNode" ) )
{
vtkDebugMacro( "OnMRMLSceneNodeRemoved" );
vtkUnObserveMRMLNodeMacro( node );
for (std::deque< vtkWeakPointer< vtkMRMLCollisionWarningNode > >::iterator it=this->WarningSoundPlayingNodes.begin(); it!=this->WarningSoundPlayingNodes.end(); ++it)
{
if (it->GetPointer()==node)
{
this->WarningSoundPlayingNodes.erase(it);
break;
}
}
this->SetWarningSoundPlaying(!this->WarningSoundPlayingNodes.empty());
}
}
//------------------------------------------------------------------------------
void vtkSlicerCollisionWarningLogic::OnMRMLSceneNodeAdded( vtkMRMLNode* node )
{
if ( node == NULL || this->GetMRMLScene() == NULL )
{
vtkWarningMacro( "OnMRMLSceneNodeAdded: Invalid MRML scene or node" );
return;
}
vtkMRMLCollisionWarningNode* bwNode = vtkMRMLCollisionWarningNode::SafeDownCast(node);
if ( bwNode )
{
vtkDebugMacro( "OnMRMLSceneNodeAdded: Module node added." );
vtkUnObserveMRMLNodeMacro( bwNode ); // Remove previous observers.
vtkNew<vtkIntArray> events;
events->InsertNextValue( vtkCommand::ModifiedEvent );
events->InsertNextValue( vtkMRMLCollisionWarningNode::InputDataModifiedEvent );
vtkObserveMRMLNodeEventsMacro( bwNode, events.GetPointer() );
if(bwNode->GetPlayWarningSound() && bwNode->IsToolTipInsideModel())
{
// Add to list of playing nodes (if not there already)
std::deque< vtkWeakPointer< vtkMRMLCollisionWarningNode > >::iterator foundPlayingNodeIt = this->WarningSoundPlayingNodes.begin();
for (; foundPlayingNodeIt!=this->WarningSoundPlayingNodes.end(); ++foundPlayingNodeIt)
{
if (foundPlayingNodeIt->GetPointer()==bwNode)
{
// found, current bw node is already in the playing list
break;
}
}
if (foundPlayingNodeIt==this->WarningSoundPlayingNodes.end())
{
this->WarningSoundPlayingNodes.push_back(bwNode);
}
this->SetWarningSoundPlaying(true);
}
}
}
void StreamTracer::SetIntegratorType(int type)
{
vtkInitialValueProblemSolver* ivp=0;
switch (type)
{
case RUNGE_KUTTA2:
ivp = vtkRungeKutta2::New();
break;
case RUNGE_KUTTA4:
ivp = vtkRungeKutta4::New();
break;
case RUNGE_KUTTA45:
ivp = vtkRungeKutta45::New();
break;
default:
vtkWarningMacro("Unrecognized integrator type. Keeping old one.");
break;
}
if (ivp)
{
this->SetIntegrator(ivp);
ivp->Delete();
}
}
void vtkSlicerCollisionWarningLogic::UpdateToolState( vtkMRMLCollisionWarningNode* bwNode )
{
if ( bwNode == NULL )
{
return;
}
vtkMRMLModelNode* modelNode = bwNode->GetWatchedModelNode();
vtkMRMLTransformNode* toolToRasNode = bwNode->GetToolTransformNode();
vtkMRMLModelNode* secondModelNode = bwNode->GetSecondModelNode();
if ( modelNode == NULL || secondModelNode == NULL )
{
bwNode->SetClosestDistanceToModelFromToolTip(0);
return;
}
//vtkCollisionDetectionFilter only accepts triangles, hope it works this way
vtkSmartPointer<vtkTriangleFilter> triangleFilter0 = vtkSmartPointer<vtkTriangleFilter>::New();
vtkSmartPointer<vtkTriangleFilter> triangleFilter1 = vtkSmartPointer<vtkTriangleFilter>::New();
triangleFilter0->SetInputConnection(modelNode->GetPolyDataConnection());
triangleFilter1->SetInputConnection(secondModelNode->GetPolyDataConnection());
//triangleFilters are set
vtkPolyData* body = triangleFilter0->GetOutput();
if ( body == NULL )
{
vtkWarningMacro( "No surface model in first node" );
return;
}
vtkPolyData* secondBody = triangleFilter1->GetOutput();
if ( secondBody == NULL )
{
vtkWarningMacro( "No surface model in second node" );
return;
}
vtkSmartPointer< vtkCollisionDetectionFilter> collisionDetectionFilter = vtkSmartPointer< vtkCollisionDetectionFilter>::New();
collisionDetectionFilter->SetCollisionModeToFirstContact(); // should be faster
// start transform first model
// Transform the first body poly data if there is a parent transform.
vtkMRMLTransformNode* bodyParentTransform = modelNode->GetParentTransformNode();
if ( bodyParentTransform != NULL )
{
vtkSmartPointer< vtkGeneralTransform > bodyToRasTransform = vtkSmartPointer< vtkGeneralTransform >::New();
bodyParentTransform->GetTransformToWorld( bodyToRasTransform );
vtkSmartPointer< vtkTransformPolyDataFilter > bodyToRasFilter = vtkSmartPointer< vtkTransformPolyDataFilter >::New();
#if (VTK_MAJOR_VERSION <= 5)
bodyToRasFilter->SetInput( body );
#else
bodyToRasFilter->SetInputData( body );
#endif
bodyToRasFilter->SetTransform( bodyToRasTransform );
bodyToRasFilter->Update();
collisionDetectionFilter->SetInput(0, bodyToRasFilter->GetOutput() );
}
else
{
collisionDetectionFilter->SetInput(0, body ); // no idea how expensive
} // don't care about expensive now, jut want this to work
// second model ----------------------------------
vtkMRMLTransformNode* secondBodyParentTransform = secondModelNode->GetParentTransformNode();
if ( secondBodyParentTransform != NULL )
{
vtkSmartPointer< vtkGeneralTransform > secondBodyToRasTransform = vtkSmartPointer< vtkGeneralTransform >::New();
secondBodyParentTransform->GetTransformToWorld( secondBodyToRasTransform );
vtkSmartPointer< vtkTransformPolyDataFilter > secondBodyToRasFilter = vtkSmartPointer< vtkTransformPolyDataFilter >::New();
#if (VTK_MAJOR_VERSION <= 5)
secondBodyToRasFilter->SetInput( secondBody );
#else
secondBodyToRasFilter->SetInputData( secondBody );
#endif
secondBodyToRasFilter->SetTransform( secondBodyToRasTransform );
secondBodyToRasFilter->Update();
collisionDetectionFilter->SetInput(0, secondBodyToRasFilter->GetOutput() );
}
else
{
collisionDetectionFilter->SetInput(0, secondBody ); // no idea how expensive
}
// end transform second model
vtkSmartPointer<vtkMatrix4x4> matrix0 = vtkSmartPointer<vtkMatrix4x4>::New();
vtkSmartPointer<vtkMatrix4x4> matrix1 = vtkSmartPointer<vtkMatrix4x4>::New();
collisionDetectionFilter->SetMatrix(0, matrix0);
collisionDetectionFilter->SetMatrix(1, matrix1);
collisionDetectionFilter->GenerateScalarsOff();
if (collisionDetectionFilter->GetNumberOfContacts() > 0)
{
bwNode->SetCollision(true);
}
else
{
bwNode->SetCollision(false);
}
// Note: Performance could be improved by
// - keeping the filter in memory for all the observed nodes.
// - in case of linear transform of model and tooltip: transform only the tooltip (with the tooltip to model transform),
// and not transform the model at all
// --> not valid for collision detection
}
int vtkFractureTrace::RequestData(vtkInformation *request,
vtkInformationVector **inputVector, vtkInformationVector *outputVector)
{
// get the info objects
vtkInformation *inInfo = inputVector[0]->GetInformationObject(0);
vtkInformation *outInfo = outputVector->GetInformationObject(0);
// get the input and ouptut
this->input = vtkPolyData::SafeDownCast(
inInfo->Get(vtkDataObject::DATA_OBJECT()));
this->output = vtkPolyData::SafeDownCast(
outInfo->Get(vtkDataObject::DATA_OBJECT()));
vtkCellArray* inCells = this->input->GetPolys();
inCells->InitTraversal();
vtkIdType nCells = inCells->GetNumberOfCells();
inPoints = input->GetPoints();
vtkIdType nPoints = inPoints->GetNumberOfPoints();
this->append = vtkAppendPolyData::New();
vtkIntArray* isNormal = vtkIntArray::New();
isNormal->SetName("Normal(0)_Dip(1)_Intersection(2)");
vtkIdType npts;
vtkIdType* pts;
for(vtkIdType i=0; i<nCells; ++i)
{
inCells->GetNextCell(npts, pts);
if(npts < 3)
{
vtkWarningMacro("The cells should at least have three points");
continue;
}
double pt1[3], pt2[3], pt3[3];
inPoints->GetPoint(pts[0], pt1);
inPoints->GetPoint(pts[1], pt2);
inPoints->GetPoint(pts[2], pt3);
double v1[] = {pt2[0]-pt1[0], pt2[1]-pt1[1], pt2[2]-pt1[2]};
double v2[] = {pt3[0]-pt1[0], pt3[1]-pt1[1], pt3[2]-pt1[2]};
double N[3];
vtkMath::Cross(v1, v2, N);
vtkMath::Normalize(N);
double center[3];
this->computeFractureCenter(npts, pts, center);
double length = this->computeNormalLength(npts, pts);
// projection of [0,0,-1] on the plane with normal V
double dip[] = {N[0]*N[2], N[1]*N[2], -1.0 + N[2]*N[2]};
vtkMath::Normalize(dip);
int n = this->addArrow(center, N, length, 0);
//for(int count=0; count<n; ++count) isNormal->InsertNextValue(0);
n = this->addArrow(center, dip, length, 1);
//for(int count=0; count<n; ++count) isNormal->InsertNextValue(1);
vtkIdType traversal = inCells->GetTraversalLocation();
for(vtkIdType j=i+1; j<nCells; ++j)
{
vtkIdType npts2;
vtkIdType* pts2;
inCells->GetNextCell(npts2, pts2);
if(npts2 < 3)
continue;
double p1[3], p2[3], p3[3];
inPoints->GetPoint(pts2[0], p1);
inPoints->GetPoint(pts2[1], p2);
inPoints->GetPoint(pts2[2], p3);
double v1[] = {p2[0]-p1[0], p2[1]-p1[1], p2[2]-p1[2]};
double v2[] = {p3[0]-p1[0], p3[1]-p1[1], p3[2]-p1[2]};
double N2[3];
vtkMath::Cross(v1, v2, N2);
vtkMath::Normalize(N2);
double V[3];
vtkMath::Cross(N, N2, V); // the direction of the line
double norm = vtkMath::Normalize(V);
// check if the two fracture are parallel
if(norm == 0)
continue;
// perform bounding box intersection first
double s1, s2, a, b;
// ax + by + cz + s = 0
s1 = (N[0]*pt1[0] + N[1]*pt1[1] + N[2]*pt1[2]);
s2 = (N2[0]*p1[0] + N2[1]*p1[1] + N2[2]*p1[2]);
double n1n2dot = vtkMath::Dot(N, N2);
double n1normsqr = 1.;//vtkMath::Dot(N,N);
double n2normsqr = 1.;//vtkMath::Dot(N2, N2);
a = (s2 * n1n2dot - s1 * n2normsqr) / (n1n2dot*n1n2dot - n1normsqr * n2normsqr);
b = (s1 * n1n2dot - s2 * n2normsqr) / (n1n2dot*n1n2dot - n1normsqr * n2normsqr);
double lPoint[3]; // the point on the line
lPoint[0] = a*N[0] + b*N2[0];
lPoint[1] = a*N[1] + b*N2[1];
lPoint[2] = a*N[2] + b*N2[2];
double lPoint2[] = {lPoint[0]+V[0], lPoint[1]+V[1], lPoint[2]+V[2]};
double t1, t2, t3, t4;
if(!this->intersectWithCell(lPoint, V, npts, pts, t1, t2)) continue;
if(!this->intersectWithCell(lPoint, V, npts2, pts2, t3, t4)) continue;
double tLeft = std::max(t1, t3);
double tRight = std::min(t2, t4);
if(tLeft >= tRight)
continue;
p1[0] = lPoint[0] + V[0]*tLeft;
p1[1] = lPoint[1] + V[1]*tLeft;
p1[2] = lPoint[2] + V[2]*tLeft;
p2[0] = lPoint[0] + V[0]*tRight;
p2[1] = lPoint[1] + V[1]*tRight;
p2[2] = lPoint[2] + V[2]*tRight;
vtkLineSource *line = vtkLineSource::New();
line->SetPoint1(p1);
line->SetPoint2(p2);
line->SetResolution(2);
line->Update();
vtkIntArray* props = vtkIntArray::New();
props->SetName("Normal(0)_Dip(1)_Intersection(2)");
props->InsertNextValue(2);
line->GetOutput()->GetCellData()->AddArray(props);
append->AddInput(line->GetOutput());
line->Delete();
}
inCells->SetTraversalLocation(traversal);
}
this->append->Update();
this->output->DeepCopy(append->GetOutput());
this->append->Delete();
return 1;
}
