Initial Commit
This commit is contained in:
+52
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# Unity-specific files and folders
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/[Ll]ibrary/
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/[Tt]emp/
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/[Oo]bj/
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/[Bb]uild/
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/[Bb]uilds/
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/[Ll]ogs/
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/[Uu]ser[Ss]ettings/
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/[Mm]emoryCaptures/
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/[Rr]ecordings/
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||||
/[Aa]ssets/AssetStoreTools*
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# Autogenerated project files
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||||
.vs/
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||||
.vscode/
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||||
*.csproj
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*.unityproj
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||||
*.sln
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*.suo
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*.tmp
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||||
*.user
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*.userprefs
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||||
*.pidb
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*.booproj
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*.svd
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*.pdb
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*.mdb
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*.opendb
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*.VC.db
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# Build files
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*.apk
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*.aab
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*.app
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*.exe
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*.ipa
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*.unitypackage
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||||
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# Crash reports
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sysinfo.txt
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crash.dmp
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error.log
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output_log.txt
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# Mac specific
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.DS_Store
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.DS_Store?
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._*
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.Spotlight-V100
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.Trashes
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ehthumbs.db
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Thumbs.db
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@@ -0,0 +1,18 @@
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public class DSA : MonoBehaviour
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{
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// Start is called before the first frame update
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void Start()
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{
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}
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// Update is called once per frame
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void Update()
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{
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}
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}
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Usage
|
||||
=====
|
||||
|
||||
For minimal usage of iMSTK-Unity, two things must be added to a Unity Scene.
|
||||
|
||||
- A ``GameObject`` with a ``SimulationManager`` attached to it
|
||||
- A ``GameObject`` with a Model attached to it.
|
||||
|
||||
Commonly a PhysicsGeometry is also needed on the Model ``GameObject``.
|
||||
|
||||
|
||||
Component Structure
|
||||
==============================
|
||||
|
||||
While the C# wrapper supports almost all iMSTK classes, there is a subset that is made available as unity components, this can be assembled in the editor to create simulations using iMSTK inside of Unity.
|
||||
|
||||
Infrastructure
|
||||
------------------------------
|
||||
|
||||
``SimulationManager``
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
``SimulationManager`` is a component responsible for managing the simulation. There may only exist one. It also controls the construction, initialization, and destruction of ``iMSTKBehaviour`` to ensure execution ordering:
|
||||
- Simulation Manager created
|
||||
- iMSTK objects created and internally initialized
|
||||
- iMSTK objects externally initialized
|
||||
- ``SimulationManager`` Start
|
||||
- Updates
|
||||
- iMSTK objects cleaned up
|
||||
- ``SimulationManager`` cleaned up.
|
||||
|
||||
This component is required to be in the scene for simulations to run. It is created before any other iMSTK components on any ``GameObject``. It implements the start, stop, pause, and other global scene related tasks.
|
||||
|
||||
``iMSTKBehaviour``
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
An extension of MonoBehaviour to provide different callbacks for special construction, initialization, and destruction ordering.
|
||||
|
||||
``GeometryFilter``
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Similar to a MeshFilter in Unity. It provides an input and output geometry. It may take in any iMSTK geometry, as well as a Unity Mesh (one can also drag/drop a MeshFilter to it). These are instances of geometries used in all of iMSTK unity scripts.
|
||||
|
||||
``GeometryMap``
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Allows the use of separate meshes for the deformable, visual and collision representation. Will move the vertices of the target mesh according to matching points on the source mesh. The points do not have to completely coincide.
|
||||
|
||||
``RigidController``
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Object used between a device handled by the user and a ``RbdModel``. It utilizes a mass spring system to correct for latency in the system. It corrects for problems with haptics in simulation systems. By manipulating the spring parameters the haptic response can be tuned to the behavior of the computer and the simulated system.
|
||||
|
||||
``BoundaryCondition``
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Use this behavior to mark vertices on a deformable object as `fixed`. This means they won't move but are still part of the overall system. In general this will mean that the object will be attached to the points selected. As the shape assigned can be any mesh this is an easy way to fix an object in space.
|
||||
|
||||
Importers
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
iMSTK-Unity provides a custom Unity importer to import geometry using iMSTK. This can import point, line, surface, tetrahedral, & hexahedral meshes (vtk, vtu, stl, ply, veg, ...). If the mesh imported is a point, line, or surface mesh then it will be imported as a Unity Mesh object. Anything else not supported by Unity, is loaded as an iMSTKUnity Geometry Object. When a volumetric mesh (such as a tetrahedral mesh) is imported the accompanying surface is extracted and provided as an additional asset.
|
||||
|
||||
Editor Scripts
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
iMSTK-Unity provides extensions to the Unity editor. These extensions include:
|
||||
|
||||
- Custom inspectors for the models and geometry components.
|
||||
- A global settings menu.
|
||||
- Menu Items for quick creation of GameObject with iMSTK items already setup.
|
||||
- Editors/windows for various operations
|
||||
|
||||
|
||||
Models
|
||||
------------------------------
|
||||
|
||||
``PbdModel``
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Use this to represent deformable objects. Position Based Dynamics (PBD), is used to model the deformation. This model supports Lines (1D), Surface Meshes (2D) and, Tetrahedral Meshes (3D) dynamical models see the `iMSTK Documentation <https://imstk.readthedocs.io/en/latest/PbdModel.html>`__ for more information on constraints and models. Visual, physics and collision geometry can be assigned separately. If you do, a separate map will be necessary to update the various meshes.
|
||||
|
||||
The physics geometry determines the type of constraint that can be used, an invalid constraint may cause problems.
|
||||
|
||||
.. list-table:: Valid Constraint Combinations
|
||||
:header-rows: 1
|
||||
|
||||
* - Physics Geometry Type
|
||||
- Valid Constraints
|
||||
* - Line Mesh (Threads)
|
||||
- Distance Stiffness, Bend Stiffness
|
||||
* - Surface Mesh (Membranes, Bags)
|
||||
- Distance Stiffness, Dihedral Stiffness, Area Stiffness
|
||||
* - Volumentric Mesh (Tissue)
|
||||
- Distance Stiffness, Volume Stiffness, Fem (all models)
|
||||
|
||||
``RbdModel``
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Use this to represent moveable rigid objects like forceps or scalpels. Visual and collision geometry can be assigned separately, this behavior will update the transform of the GameObject with each update. For more information set the `iMSTK Documentation <https://imstk.readthedocs.io/en/latest/Dynamical_Models.html#rigid-body-2>`__
|
||||
|
||||
``StaticModel``
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Use this to represent un-moveable rigid objects like the ground plane or other obstacles.
|
||||
|
||||
Interactions
|
||||
------------------------------
|
||||
|
||||
``CollisionInteraction``
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Use this behavior to set up collisions between two objects, in general this behavior can detect what the type of the two objects is that are interacting (mode `Auto`). But you can also select the algorithm that should be used.
|
||||
|
||||
``PbdObjectInteraction``
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
A collision interaction specific to PBD models, it allows setting of values specific to interactions with PBDs.
|
||||
|
||||
``PbdRigidGraspingInteraction``
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
An interaction that allows the grasping of objects, when activated it will attach a point on the rigid to a point on the deformable object and will attempt to keep the two in the same place.
|
||||
|
||||
Devices
|
||||
------------------------------
|
||||
|
||||
``OpenHapticsDevice``
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
This device is only available with a custom build of iMSTK. It enable the use of the `3DSystems <https://www.3dsystems.com/haptics>`_ haptic device.
|
||||
|
||||
``VrpnDevice``
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
This device is only available with a custom build if iMSTK. It enables interactions with devices run by a `VRPN <https://github.com/vrpn/vrpn>`_ server.
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
.. centered:: **iMSTK-Unity**
|
||||
|
||||
.. centered:: *User Documentation*
|
||||
|
||||
Introduction
|
||||
============
|
||||
|
||||
This document describes the iMSTK-Unity interface as well as how to build and develop it.
|
||||
|
||||
Overview
|
||||
-----------------------
|
||||
|
||||
iMSTK is a free & open source C++ toolkit for prototyping interactive multi-modal surgical simulations. The iMSTK-Unity asset provides classes that allow the use of iMSTK features inside of unity, those are amongst others various rigid and deformable models, collision detection and response, geometric importers and filters.
|
||||
|
||||
The iMSTK-Unity classes utilizes a C# interface of iMSTK that is generated by using the `SWIG <https://www.swig.org/>`_ tool. This interface is wrapped around most C++ functions and forwards its calls to the original C++ code. This allows you to use iMSTK in C# almost the same way as you would in C++.
|
||||
|
||||
.. figure:: media/ImstkUnityArchitecture1.png
|
||||
:width: 600
|
||||
:alt: Alternative text
|
||||
:align: center
|
||||
|
||||
Limitations
|
||||
-----------------------
|
||||
|
||||
This is an early release, not all iMSTK classes are easily accessible through the unity layer. Additionally there may be some combinations that have not been tested. Some errors _may_ cause Unity to crash, save early and save often. Please report issues you encounter in the iMSTK-Unity `issue tracker <https://gitlab.kitware.com/iMSTK/imstk-unity/-/issues>`_
|
||||
|
||||
While there is an OpenHaptics asset available at the store. Currently iMSTK-Unity does not support that, if you need support for the 3D-Touch series of devices you will have to build iMSTK with the appropriate settings.
|
||||
|
||||
|
||||
Project Structure
|
||||
-----------------------
|
||||
The files of the asset are split in the following directories:
|
||||
|
||||
- **iMSTK/Scripts**: This directory is for the runtime scripts of the plugin.
|
||||
|
||||
- **iMSTK/Scripts/Editor**: This directory is for the editor scripts of the plugin. These scripts implement custom editor functionality. Editor scripts may use runtime scripts but won't be included in the player, which means you should not use functions from these in your own scripts
|
||||
|
||||
- **iMSTK/Resources**: This directory contains resources required during runtime.
|
||||
|
||||
- **iMSTK/Editor/Resources**: This directory contains resources required in the editor (such as style sheets or UI markup).
|
||||
|
||||
- **iMSTK/Plugins**: This directory is for libraries (dlls/so) that Unity needs to load.
|
||||
|
||||
Directories needed for the project but not relevant to the plugin:
|
||||
|
||||
- **iMSTK/Models, Materials, & Textures**: These directories are for various assets used by the Demo. They are not part of the plugin.
|
||||
|
||||
The asset on the store may not contain the latest version of iMSTK-Unity, if you want to be up to date you can check out the sources `from gitlab <https://gitlab.kitware.com/iMSTK/iMSTK-unity>`_. As the binary files for iMSTK aren't included in the repository, you will also have to build iMSTK yourself when you go this route.
|
||||
|
||||
.. _SetupForDevelopment:
|
||||
|
||||
Setup for Development
|
||||
=====================
|
||||
|
||||
When checking out iMSTK-Unity from gitlab you will first need to build iMSTK. iMSTK uses CMake for its build system. iMSTK is a superbuild meaning it builds, includes, and links to all of its dependencies. There is no need to go find them. To build iMSTK clone `the iMSTK repository <https://gitlab.kitware.com/iMSTK/iMSTK>`_ and build it using cmake. Turn on the ``IMSTK_BUILD_FOR_UNITY`` cmake switch. This will reduce the number of dependencies that are being built. It will also enable the generation of ".cs" files as well as ".dlls"/".so" files in your install directory that are needed by the ".cs" code. These will be used in Unity. Optionally enable ``iMSTK_USE_VRPN`` and/or ``iMSTK_USE_OpenHaptics`` for device support.
|
||||
|
||||
You can install the binaries two different ways, for both methods you need to know the directory in which iMSTK was installed. If you didn't change anything that directory will be called `install` and resides inside the directory that you defined in cmake to build imstk, e.g. ``C:\Projects\imstk\build\install`` :
|
||||
|
||||
- Using ```InstallImstk.bat``` from the asset directory the format is
|
||||
``InstallImstk.bat <path to imstk/install>``
|
||||
|
||||
- Alternatively you can enable `Developer Mode` for iMSTK inside of Unity. This option ca be found in "Edit->Project Settings->iMSTK Settings". When turned on, you will be prompted to install iMSTK whenever you start Unity. After turning on this option, you may need to restart Unity. When it prompts you, select yes and provide your iMSTK install directory, located in ```<iMSTK build directory>/install```. All the necessary files will be copied. If you don't want to be asked to reinstall iMSTK toggle this option off again.
|
||||
|
||||
If you make changes in iMSTK you must reinstall it to Unity.
|
||||
|
||||
Note: There is a 'Force Install' button to install iMSTK into Unity at the instant it is clicked. This may not always work depending on if an iMSTK script (that utilizes a given dll) has run in the editor. In that case those dll's cannot be unloaded from Unity.
|
||||
|
||||
Note: Make sure Unity is not running, even though closed it may be running in the background and prevent any installation.
|
||||
|
||||
Devices
|
||||
=======
|
||||
|
||||
The asset available from the asset store does not have `OpenHaptics <https://support.3dsystems.com/s/article/OpenHaptics-for-Windows-Developer-Edition-v35?language=en_US>`_ or `VRPN <https://github.com/vrpn/vrpn>`_ enabled. To use external devices you will have to build iMSTK for yourself. When building enable
|
||||
``iMSTK_USE_VRPN`` or ``iMSTK_USE_OpenHaptics`` respectively. This will create a version of iMSTK with device support enabled. When the build is done install iMSTK into the Unity Asset as described above.
|
||||
|
||||
Debugging
|
||||
---------
|
||||
|
||||
Debugging may be done in visual studio, even on the native side. You must attach the debugger to Unity as you would to any external process. With iMSTK open in visual studio, click debug->attach to process. Select the Unity executable and make sure you're set on native debugging.
|
||||
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
Tutorial
|
||||
==============================
|
||||
|
||||
In this tutorial we are going to assemble a simple scene containing a deformable object colliding with static scenery. The completed tutorial is available as the *Tutorial* scene in the scene folder.
|
||||
|
||||
For the purpose of this guides component names will be written in a mono-spaced font e.g. ``SimulationManager``, whereas the names of GameObjects or EditorFields will be in italics e.g. `HeartModel`
|
||||
|
||||
- Create a new scene in Unity
|
||||
|
||||
- Set the `Main Camera` transform to the values as seen in the image below
|
||||
|
||||
.. image:: media/guide/camera.png
|
||||
:align: center
|
||||
:alt: Camera Parameters
|
||||
|
||||
- Create a new gameobject and add a ``SimulationManager`` component to it
|
||||
|
||||
The ``SimulationManager`` is a required component for all simulations using iMSTK-Unity, it controls initialization and updates and also lets you set a number of global variables. Set up the manager parameters as shown in the picture by checking the `Use Realtime` checkbox.
|
||||
|
||||
.. image:: media/guide/simulationmanager.png
|
||||
:align: center
|
||||
:alt: SimulationManager Component UI
|
||||
|
||||
- Create an empty GameObject, add a ``PBDModel`` component and name it `HeartModel`.
|
||||
|
||||
``PBDModel`` is one of the classes that iMSTK-Unity offers, it implements the PBD [#]_ and XPBD [#]_ methods for simulating deformable objects.
|
||||
|
||||
We will add geometry separately but you can also use the items under the menu `Imstk\\GameObject` to add very simple objects with algorithmically generated meshes.
|
||||
|
||||
The ``PBDModel`` has a large number of parameters but we will focus only on a few. This will eventually become a deformable object but there is still a lot of work to do. For more information look at the `Imstk Documentation <https://imstk.readthedocs.io/en/latest/PbdModel.html>`_
|
||||
|
||||
We will come back to this later.
|
||||
|
||||
- From the *Models* folder add model named `heart` under the `HeartModel` GameObject
|
||||
|
||||
This will serve as the visual representation of what the simulation is doing, to make it look better get the `flesh` material from the *Materials* folder and assign it as well.
|
||||
|
||||
With the `heart` GameObject selected add a ``GeometryFilter`` component to it and drag the `MeshFilter` component, the name will be `Heart_mesh_surface (Mesh Filter)` into the `Mesh` field of the ``GeometryFilter``. The dropdown should say `Unity Mesh`. This makes this mesh available to iMSTK-Unity.
|
||||
|
||||
For every kind of geometry you want to use in the PBD model, iMSTK-Unity needs a ``GeometryFilter``. This maps the Unity type to something that iMSTK can understand. It can also be used to define fixed shapes like Plane or Capsule. For meshes the source of a Geometry filter can either be a Unity mesh in the scene, a mesh asset, or (especially for tetrahedral meshes) an asset imported by the geometry importer of imstk-Unity.
|
||||
|
||||
You can use the check box named `Show Handles` to verify that the mesh is in the correct location
|
||||
|
||||
.. image:: media/guide/geomfilter_heart_surface_drag.png
|
||||
:align: center
|
||||
:alt: Drag Meshfilter into Geometryfilter
|
||||
|
||||
- Set up the parameters for our ``PBDModel``
|
||||
|
||||
First check the `Distance Stiffness`, `Volume Stiffness` and `Use Realtime` checkboxes and fill in the properties as you see in the image below. This sets the material properties of this object. Uncheck all other stiffness options
|
||||
|
||||
.. image:: media/guide/heartmodel.png
|
||||
:align: center
|
||||
:alt: PBModel overview
|
||||
|
||||
- Add a ``GeometryFilter`` to use in the simulation
|
||||
|
||||
We will need a mesh to use as the geometry for calculating the physical behavior of our object. Add a ``GeometryFilter`` to the `HeartModel` object. As we will use a tetrahedral mesh, the method to assign the mesh is slightly different than what we used before. First Select `Tetrahedral Mesh` in the dropdown box. Then click on the `o` icon to the right of the `Mesh` input field. This will bring up an input dialog. Select the "Assets" tab, and double click the item name `heart_mesh`.
|
||||
|
||||
As you can see the ``GeometryFilter`` component can be used for meshes in the scene or just assets of the project.
|
||||
|
||||
.. image:: media/guide/heart_mesh_tetrahedral.png
|
||||
:align: center
|
||||
:alt: Tetrahedral Mesh Geometry Filter
|
||||
|
||||
- Now we will set the shapes that are being used for simulation and visualization.
|
||||
|
||||
The ``PBDModel`` uses three different geometries
|
||||
|
||||
- `Visual Geometry` is the geometry that is being shown on the screen, this is usually some textured mesh
|
||||
- `Physics Geometry` is the geometry that is being used in the simulation
|
||||
- `Collision Geometry` is the geometry that is being used to determine collisions with other objects.
|
||||
|
||||
The tetrahedral mesh that was set up in the previous step will be used for the `Physics Geometry` the other mesh from earlier will be used for the two other geometries.
|
||||
|
||||
First Drag the ``Geometry Filter`` that you just created into the `Physics Geometry` of the ``PBDModel`` component. Then drag the `heart` GameObject from the hierarchy view to both the `Visual Geometry` and the `Collision Geometry` fields.
|
||||
|
||||
.. image:: media/guide/heart_gameobject_drag.png
|
||||
:align: center
|
||||
:alt: Assign Visual Geometry
|
||||
|
||||
As we used different geometries for visualization and simulation we need a way to keep those in the same state, this is the responsibility of the ``GeometryMap`` component. Add one and drag the `HeartModel` Gameobject into the `Parent Geom` slot. Then drag the `heart` GameObject into the `Child Geom` slot. Additionally make sure the `Force One One` is checked.
|
||||
|
||||
.. image:: media/guide/deformable_map.png
|
||||
:align: center
|
||||
:alt: Deformable Map
|
||||
|
||||
This concludes the setup for the ``PBDModel`` object.
|
||||
|
||||
You should be able to run the scene now but as there are no other objects to interact with the heart will just succumb to gravity and drop on the ground.
|
||||
|
||||
- Lets add a plane for collisions
|
||||
|
||||
Instead of meshes we will use a fixed shape for the other side of the collision. In the hierarchy view add a Plane and move it to a position of 0.0, -2.5, and 0.0. Add a ``Geometry Filter`` to the plane object and select `Plane` in the drop down menu. The default settings for the plane will work, its position and normal will be calculated from the transform. Even though the visual mesh of the plan is finite in the editor, with regards to iMSTK this plane is infinite.
|
||||
|
||||
To enable the plane to interact with other iMSTK objects we need to set up a model for it as well. Add a ``StaticModel`` component to the `Plane` object and drag the ``GeometryFilter`` component into the `Collision Geometry` field. A ``StaticModel`` represents an object that participates in collision but doesn't react.
|
||||
|
||||
.. image:: media/guide/plane-static-model.png
|
||||
:align: center
|
||||
:alt: Plane Object
|
||||
|
||||
- Add the interaction between the Heart and the Plane
|
||||
|
||||
Imstk needs to know about which objects can interact with each other, in this case we want the heart and the plane to collide with each other. Add a ``CollisionInteraction`` to the plane object. Drag the `HeartModel` into the slot named `Model 1` and drag the plane itself into the slot named `Model 2`. The dropdown named `Collision Type` can be left in the setting `Auto`. At the moment there is most likely no need to select the `Collision Type` yourself, the automatic mechanism should be sufficient.
|
||||
|
||||
.. image:: media/guide/collision_interaction.png
|
||||
:align: center
|
||||
:alt: Adding a collision interaction
|
||||
|
||||
- This concludes the tutorial scene setup, press play you should see the deformable object hit the plane and bounce slightly on it.
|
||||
|
||||
.. compound::
|
||||
|
||||
Please note that at the moment iMSTK-Unity is very sensitive to misconfigurations and may cause Unity to crash, we are working to improve the error handling and stability both on the Unity asset side and inside the iMSTK sources.
|
||||
|
||||
Example Scenes
|
||||
==============================
|
||||
|
||||
|
||||
PbdClothCollision
|
||||
------------------------------
|
||||
A scene with a freely moving deformable item (Cloth), shows how to set up a deformable (``PBDCloth``) with and various static obstacles.
|
||||
|
||||
PbdClothScene
|
||||
------------------------------
|
||||
A cloth constrained on the top, look at for how to set up boundary conditions on a ``PbdObject``
|
||||
|
||||
PbdThread
|
||||
------------------------------
|
||||
Sets up a line mesh that can be used as a thread
|
||||
|
||||
RbdScene
|
||||
------------------------------
|
||||
Simple example of two rigid spheres colliding with each other and the scenery. Uses geometric shapes rather than meshes, static colliders and collisions between dynamic objects
|
||||
|
||||
Tutorial
|
||||
------------------------------
|
||||
Scene that is used in the tutorial, uses a deformable model colliding with a plane
|
||||
|
||||
|
||||
Devices
|
||||
------------------------------
|
||||
|
||||
The scenes in the devices folder can only be used with VRPN or OpenHaptics built in. This means you have to build iMSTK and install it into the asset as described in :ref:`SetupForDevelopment`
|
||||
|
||||
RbdController
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Sets up a ``OpenHapticsDevice`` with a ``RbdModel`` and a ``RigidController`` to show how these pieces interactive
|
||||
|
||||
RbdControllerVRPN
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Uses the ``VRPNDevice`` in the same scene as the `RBDController`
|
||||
|
||||
TissueContact and PbdThinTissueContact
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Demonstrates the use of a rigid with haptics interacting with two kinds of simulated tissue
|
||||
|
||||
|
||||
.. [#] M. Müller, B. Heidelberger, M. Hennix, and J. Ratcliff, “Position based dynamics,” Journal of Visual Communication and Image Representation, vol. 18, no. 2, pp. 109–118, Apr. 2007, doi: 10.1016/j.jvcir.2007.01.005.
|
||||
|
||||
.. [#] M. Macklin, M. Müller, and N. Chentanez, “XPBD: position-based simulation of compliant constrained dynamics,” in Proceedings of the 9th International Conference on Motion in Games, Burlingame California, Oct. 2016, pp. 49–54. doi: 10.1145/2994258.2994272.
|
||||
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|
||||
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|
||||
.. centered:: |image0|
|
||||
|
||||
Welcome to iMSTK-Unity
|
||||
======================
|
||||
|
||||
`iMSTK <https://www.imstk.org/>`_ is a free & open source C++ toolkit for the prototyping of interactive multi-modal surgical simulations. The iMSTK-Unity asset gives you access to its capabilities through the Unity authoring interface. While this asset is still under development you can already exercise a variety of parts of iMSTK inside of Unity. This guide will help you get acquainted with the architecture and workings of the plugin.
|
||||
|
||||
The latest version of this documentation can be found on `readthedocs <https://imstk-unity.readthedocs.io/en/latest/>`_
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
:caption: Introduction
|
||||
|
||||
documentation
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 1
|
||||
:caption: User guide
|
||||
|
||||
guide
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
:caption: Class List
|
||||
|
||||
classes
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 0
|
||||
:caption: Release Notes
|
||||
|
||||
releases
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 1
|
||||
:caption: Licensing
|
||||
|
||||
license
|
||||
|
||||
Other Resources
|
||||
----------------------
|
||||
- `iMSTK Discourse Forum <https://discourse.kitware.com/c/imstk/9>`_
|
||||
- `iMSTK-Unity Gitlab <https://gitlab.kitware.com/iMSTK/imstk-unity/>`_
|
||||
- `iMSTK Documentation <https://imstk.readthedocs.io/en/latest/>`_
|
||||
- `iMSTK Gitlab <https://gitlab.kitware.com/iMSTK/iMSTK>`_
|
||||
|
||||
.. centered:: |image1|
|
||||
|
||||
.. |image0| image:: media/imstk-logo.png
|
||||
:width: 3.5in
|
||||
:height: 1.28515625in
|
||||
|
||||
.. |image1| image:: media/kitware-logo.jpg
|
||||
:height: 1in
|
||||
@@ -0,0 +1,7 @@
|
||||
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||||
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|
||||
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|
||||
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|
||||
assetBundleVariant:
|
||||
@@ -0,0 +1,211 @@
|
||||
==============
|
||||
Apache License
|
||||
==============
|
||||
|
||||
:Version: 2.0
|
||||
:Date: January 2004
|
||||
:URL: http://www.apache.org/licenses/
|
||||
|
||||
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
||||
------------------------------------------------------------
|
||||
|
||||
1. Definitions.
|
||||
---------------
|
||||
|
||||
**"License"** shall mean the terms and conditions for use, reproduction, and
|
||||
distribution as defined by Sections 1 through 9 of this document.
|
||||
|
||||
**"Licensor"** shall mean the copyright owner or entity authorized by the
|
||||
copyright owner that is granting the License.
|
||||
|
||||
**"Legal Entity"** shall mean the union of the acting entity and all other
|
||||
entities that control, are controlled by, or are under common control with that
|
||||
entity. For the purposes of this definition, "control" means *(i)* the power,
|
||||
direct or indirect, to cause the direction or management of such entity,
|
||||
whether by contract or otherwise, or *(ii)* ownership of fifty percent (50%) or
|
||||
more of the outstanding shares, or *(iii)* beneficial ownership of such entity.
|
||||
|
||||
**"You"** (or **"Your"**) shall mean an individual or Legal Entity exercising
|
||||
permissions granted by this License.
|
||||
|
||||
**"Source"** form shall mean the preferred form for making modifications,
|
||||
including but not limited to software source code, documentation source, and
|
||||
configuration files.
|
||||
|
||||
**"Object"** form shall mean any form resulting from mechanical transformation
|
||||
or translation of a Source form, including but not limited to compiled object
|
||||
code, generated documentation, and conversions to other media types.
|
||||
|
||||
**"Work"** shall mean the work of authorship, whether in Source or Object form,
|
||||
made available under the License, as indicated by a copyright notice that is
|
||||
included in or attached to the work (an example is provided in the Appendix
|
||||
below).
|
||||
|
||||
**"Derivative Works"** shall mean any work, whether in Source or Object form,
|
||||
that is based on (or derived from) the Work and for which the editorial
|
||||
revisions, annotations, elaborations, or other modifications represent, as a
|
||||
whole, an original work of authorship. For the purposes of this License,
|
||||
Derivative Works shall not include works that remain separable from, or merely
|
||||
link (or bind by name) to the interfaces of, the Work and Derivative Works
|
||||
thereof.
|
||||
|
||||
**"Contribution"** shall mean any work of authorship, including the original
|
||||
version of the Work and any modifications or additions to that Work or
|
||||
Derivative Works thereof, that is intentionally submitted to Licensor for
|
||||
inclusion in the Work by the copyright owner or by an individual or Legal
|
||||
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||||
**END OF TERMS AND CONDITIONS**
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||||
|
||||
APPENDIX: How to apply the Apache License to your work
|
||||
------------------------------------------------------
|
||||
|
||||
To apply the Apache License to your work, attach the following boilerplate
|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
Copyright 2020 iMSTK-Unity
|
||||
|
||||
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|
||||
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|
||||
You may obtain a copy of the License at
|
||||
|
||||
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|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
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|
||||
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|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
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========
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|
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========
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2022-jul 1.0 Coincides with iMSTK 6.0, first release.
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|
||||
margin-bottom: 0;
|
||||
list-style-type: none;
|
||||
}
|
||||
|
||||
table.indextable > tbody > tr > td > ul {
|
||||
padding-left: 0em;
|
||||
}
|
||||
|
||||
table.indextable tr.pcap {
|
||||
height: 10px;
|
||||
}
|
||||
|
||||
table.indextable tr.cap {
|
||||
margin-top: 10px;
|
||||
background-color: #f2f2f2;
|
||||
}
|
||||
|
||||
img.toggler {
|
||||
margin-right: 3px;
|
||||
margin-top: 3px;
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
div.modindex-jumpbox {
|
||||
border-top: 1px solid #ddd;
|
||||
border-bottom: 1px solid #ddd;
|
||||
margin: 1em 0 1em 0;
|
||||
padding: 0.4em;
|
||||
}
|
||||
|
||||
div.genindex-jumpbox {
|
||||
border-top: 1px solid #ddd;
|
||||
border-bottom: 1px solid #ddd;
|
||||
margin: 1em 0 1em 0;
|
||||
padding: 0.4em;
|
||||
}
|
||||
|
||||
/* -- domain module index --------------------------------------------------- */
|
||||
|
||||
table.modindextable td {
|
||||
padding: 2px;
|
||||
border-collapse: collapse;
|
||||
}
|
||||
|
||||
/* -- general body styles --------------------------------------------------- */
|
||||
|
||||
div.body {
|
||||
min-width: 360px;
|
||||
max-width: 800px;
|
||||
}
|
||||
|
||||
div.body p, div.body dd, div.body li, div.body blockquote {
|
||||
-moz-hyphens: auto;
|
||||
-ms-hyphens: auto;
|
||||
-webkit-hyphens: auto;
|
||||
hyphens: auto;
|
||||
}
|
||||
|
||||
a.headerlink {
|
||||
visibility: hidden;
|
||||
}
|
||||
|
||||
a.brackets:before,
|
||||
span.brackets > a:before{
|
||||
content: "[";
|
||||
}
|
||||
|
||||
a.brackets:after,
|
||||
span.brackets > a:after {
|
||||
content: "]";
|
||||
}
|
||||
|
||||
h1:hover > a.headerlink,
|
||||
h2:hover > a.headerlink,
|
||||
h3:hover > a.headerlink,
|
||||
h4:hover > a.headerlink,
|
||||
h5:hover > a.headerlink,
|
||||
h6:hover > a.headerlink,
|
||||
dt:hover > a.headerlink,
|
||||
caption:hover > a.headerlink,
|
||||
p.caption:hover > a.headerlink,
|
||||
div.code-block-caption:hover > a.headerlink {
|
||||
visibility: visible;
|
||||
}
|
||||
|
||||
div.body p.caption {
|
||||
text-align: inherit;
|
||||
}
|
||||
|
||||
div.body td {
|
||||
text-align: left;
|
||||
}
|
||||
|
||||
.first {
|
||||
margin-top: 0 !important;
|
||||
}
|
||||
|
||||
p.rubric {
|
||||
margin-top: 30px;
|
||||
font-weight: bold;
|
||||
}
|
||||
|
||||
img.align-left, figure.align-left, .figure.align-left, object.align-left {
|
||||
clear: left;
|
||||
float: left;
|
||||
margin-right: 1em;
|
||||
}
|
||||
|
||||
img.align-right, figure.align-right, .figure.align-right, object.align-right {
|
||||
clear: right;
|
||||
float: right;
|
||||
margin-left: 1em;
|
||||
}
|
||||
|
||||
img.align-center, figure.align-center, .figure.align-center, object.align-center {
|
||||
display: block;
|
||||
margin-left: auto;
|
||||
margin-right: auto;
|
||||
}
|
||||
|
||||
img.align-default, figure.align-default, .figure.align-default {
|
||||
display: block;
|
||||
margin-left: auto;
|
||||
margin-right: auto;
|
||||
}
|
||||
|
||||
.align-left {
|
||||
text-align: left;
|
||||
}
|
||||
|
||||
.align-center {
|
||||
text-align: center;
|
||||
}
|
||||
|
||||
.align-default {
|
||||
text-align: center;
|
||||
}
|
||||
|
||||
.align-right {
|
||||
text-align: right;
|
||||
}
|
||||
|
||||
/* -- sidebars -------------------------------------------------------------- */
|
||||
|
||||
div.sidebar,
|
||||
aside.sidebar {
|
||||
margin: 0 0 0.5em 1em;
|
||||
border: 1px solid #ddb;
|
||||
padding: 7px;
|
||||
background-color: #ffe;
|
||||
width: 40%;
|
||||
float: right;
|
||||
clear: right;
|
||||
overflow-x: auto;
|
||||
}
|
||||
|
||||
p.sidebar-title {
|
||||
font-weight: bold;
|
||||
}
|
||||
|
||||
div.admonition, div.topic, aside.topic, blockquote {
|
||||
clear: left;
|
||||
}
|
||||
|
||||
/* -- topics ---------------------------------------------------------------- */
|
||||
|
||||
div.topic, aside.topic {
|
||||
border: 1px solid #ccc;
|
||||
padding: 7px;
|
||||
margin: 10px 0 10px 0;
|
||||
}
|
||||
|
||||
p.topic-title {
|
||||
font-size: 1.1em;
|
||||
font-weight: bold;
|
||||
margin-top: 10px;
|
||||
}
|
||||
|
||||
/* -- admonitions ----------------------------------------------------------- */
|
||||
|
||||
div.admonition {
|
||||
margin-top: 10px;
|
||||
margin-bottom: 10px;
|
||||
padding: 7px;
|
||||
}
|
||||
|
||||
div.admonition dt {
|
||||
font-weight: bold;
|
||||
}
|
||||
|
||||
p.admonition-title {
|
||||
margin: 0px 10px 5px 0px;
|
||||
font-weight: bold;
|
||||
}
|
||||
|
||||
div.body p.centered {
|
||||
text-align: center;
|
||||
margin-top: 25px;
|
||||
}
|
||||
|
||||
/* -- content of sidebars/topics/admonitions -------------------------------- */
|
||||
|
||||
div.sidebar > :last-child,
|
||||
aside.sidebar > :last-child,
|
||||
div.topic > :last-child,
|
||||
aside.topic > :last-child,
|
||||
div.admonition > :last-child {
|
||||
margin-bottom: 0;
|
||||
}
|
||||
|
||||
div.sidebar::after,
|
||||
aside.sidebar::after,
|
||||
div.topic::after,
|
||||
aside.topic::after,
|
||||
div.admonition::after,
|
||||
blockquote::after {
|
||||
display: block;
|
||||
content: '';
|
||||
clear: both;
|
||||
}
|
||||
|
||||
/* -- tables ---------------------------------------------------------------- */
|
||||
|
||||
table.docutils {
|
||||
margin-top: 10px;
|
||||
margin-bottom: 10px;
|
||||
border: 0;
|
||||
border-collapse: collapse;
|
||||
}
|
||||
|
||||
table.align-center {
|
||||
margin-left: auto;
|
||||
margin-right: auto;
|
||||
}
|
||||
|
||||
table.align-default {
|
||||
margin-left: auto;
|
||||
margin-right: auto;
|
||||
}
|
||||
|
||||
table caption span.caption-number {
|
||||
font-style: italic;
|
||||
}
|
||||
|
||||
table caption span.caption-text {
|
||||
}
|
||||
|
||||
table.docutils td, table.docutils th {
|
||||
padding: 1px 8px 1px 5px;
|
||||
border-top: 0;
|
||||
border-left: 0;
|
||||
border-right: 0;
|
||||
border-bottom: 1px solid #aaa;
|
||||
}
|
||||
|
||||
th {
|
||||
text-align: left;
|
||||
padding-right: 5px;
|
||||
}
|
||||
|
||||
table.citation {
|
||||
border-left: solid 1px gray;
|
||||
margin-left: 1px;
|
||||
}
|
||||
|
||||
table.citation td {
|
||||
border-bottom: none;
|
||||
}
|
||||
|
||||
th > :first-child,
|
||||
td > :first-child {
|
||||
margin-top: 0px;
|
||||
}
|
||||
|
||||
th > :last-child,
|
||||
td > :last-child {
|
||||
margin-bottom: 0px;
|
||||
}
|
||||
|
||||
/* -- figures --------------------------------------------------------------- */
|
||||
|
||||
div.figure, figure {
|
||||
margin: 0.5em;
|
||||
padding: 0.5em;
|
||||
}
|
||||
|
||||
div.figure p.caption, figcaption {
|
||||
padding: 0.3em;
|
||||
}
|
||||
|
||||
div.figure p.caption span.caption-number,
|
||||
figcaption span.caption-number {
|
||||
font-style: italic;
|
||||
}
|
||||
|
||||
div.figure p.caption span.caption-text,
|
||||
figcaption span.caption-text {
|
||||
}
|
||||
|
||||
/* -- field list styles ----------------------------------------------------- */
|
||||
|
||||
table.field-list td, table.field-list th {
|
||||
border: 0 !important;
|
||||
}
|
||||
|
||||
.field-list ul {
|
||||
margin: 0;
|
||||
padding-left: 1em;
|
||||
}
|
||||
|
||||
.field-list p {
|
||||
margin: 0;
|
||||
}
|
||||
|
||||
.field-name {
|
||||
-moz-hyphens: manual;
|
||||
-ms-hyphens: manual;
|
||||
-webkit-hyphens: manual;
|
||||
hyphens: manual;
|
||||
}
|
||||
|
||||
/* -- hlist styles ---------------------------------------------------------- */
|
||||
|
||||
table.hlist {
|
||||
margin: 1em 0;
|
||||
}
|
||||
|
||||
table.hlist td {
|
||||
vertical-align: top;
|
||||
}
|
||||
|
||||
/* -- object description styles --------------------------------------------- */
|
||||
|
||||
.sig {
|
||||
font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace;
|
||||
}
|
||||
|
||||
.sig-name, code.descname {
|
||||
background-color: transparent;
|
||||
font-weight: bold;
|
||||
}
|
||||
|
||||
.sig-name {
|
||||
font-size: 1.1em;
|
||||
}
|
||||
|
||||
code.descname {
|
||||
font-size: 1.2em;
|
||||
}
|
||||
|
||||
.sig-prename, code.descclassname {
|
||||
background-color: transparent;
|
||||
}
|
||||
|
||||
.optional {
|
||||
font-size: 1.3em;
|
||||
}
|
||||
|
||||
.sig-paren {
|
||||
font-size: larger;
|
||||
}
|
||||
|
||||
.sig-param.n {
|
||||
font-style: italic;
|
||||
}
|
||||
|
||||
/* C++ specific styling */
|
||||
|
||||
.sig-inline.c-texpr,
|
||||
.sig-inline.cpp-texpr {
|
||||
font-family: unset;
|
||||
}
|
||||
|
||||
.sig.c .k, .sig.c .kt,
|
||||
.sig.cpp .k, .sig.cpp .kt {
|
||||
color: #0033B3;
|
||||
}
|
||||
|
||||
.sig.c .m,
|
||||
.sig.cpp .m {
|
||||
color: #1750EB;
|
||||
}
|
||||
|
||||
.sig.c .s, .sig.c .sc,
|
||||
.sig.cpp .s, .sig.cpp .sc {
|
||||
color: #067D17;
|
||||
}
|
||||
|
||||
|
||||
/* -- other body styles ----------------------------------------------------- */
|
||||
|
||||
ol.arabic {
|
||||
list-style: decimal;
|
||||
}
|
||||
|
||||
ol.loweralpha {
|
||||
list-style: lower-alpha;
|
||||
}
|
||||
|
||||
ol.upperalpha {
|
||||
list-style: upper-alpha;
|
||||
}
|
||||
|
||||
ol.lowerroman {
|
||||
list-style: lower-roman;
|
||||
}
|
||||
|
||||
ol.upperroman {
|
||||
list-style: upper-roman;
|
||||
}
|
||||
|
||||
:not(li) > ol > li:first-child > :first-child,
|
||||
:not(li) > ul > li:first-child > :first-child {
|
||||
margin-top: 0px;
|
||||
}
|
||||
|
||||
:not(li) > ol > li:last-child > :last-child,
|
||||
:not(li) > ul > li:last-child > :last-child {
|
||||
margin-bottom: 0px;
|
||||
}
|
||||
|
||||
ol.simple ol p,
|
||||
ol.simple ul p,
|
||||
ul.simple ol p,
|
||||
ul.simple ul p {
|
||||
margin-top: 0;
|
||||
}
|
||||
|
||||
ol.simple > li:not(:first-child) > p,
|
||||
ul.simple > li:not(:first-child) > p {
|
||||
margin-top: 0;
|
||||
}
|
||||
|
||||
ol.simple p,
|
||||
ul.simple p {
|
||||
margin-bottom: 0;
|
||||
}
|
||||
|
||||
/* Docutils 0.17 and older (footnotes & citations) */
|
||||
dl.footnote > dt,
|
||||
dl.citation > dt {
|
||||
float: left;
|
||||
margin-right: 0.5em;
|
||||
}
|
||||
|
||||
dl.footnote > dd,
|
||||
dl.citation > dd {
|
||||
margin-bottom: 0em;
|
||||
}
|
||||
|
||||
dl.footnote > dd:after,
|
||||
dl.citation > dd:after {
|
||||
content: "";
|
||||
clear: both;
|
||||
}
|
||||
|
||||
/* Docutils 0.18+ (footnotes & citations) */
|
||||
aside.footnote > span,
|
||||
div.citation > span {
|
||||
float: left;
|
||||
}
|
||||
aside.footnote > span:last-of-type,
|
||||
div.citation > span:last-of-type {
|
||||
padding-right: 0.5em;
|
||||
}
|
||||
aside.footnote > p {
|
||||
margin-left: 2em;
|
||||
}
|
||||
div.citation > p {
|
||||
margin-left: 4em;
|
||||
}
|
||||
aside.footnote > p:last-of-type,
|
||||
div.citation > p:last-of-type {
|
||||
margin-bottom: 0em;
|
||||
}
|
||||
aside.footnote > p:last-of-type:after,
|
||||
div.citation > p:last-of-type:after {
|
||||
content: "";
|
||||
clear: both;
|
||||
}
|
||||
|
||||
/* Footnotes & citations ends */
|
||||
|
||||
dl.field-list {
|
||||
display: grid;
|
||||
grid-template-columns: fit-content(30%) auto;
|
||||
}
|
||||
|
||||
dl.field-list > dt {
|
||||
font-weight: bold;
|
||||
word-break: break-word;
|
||||
padding-left: 0.5em;
|
||||
padding-right: 5px;
|
||||
}
|
||||
|
||||
dl.field-list > dt:after {
|
||||
content: ":";
|
||||
}
|
||||
|
||||
dl.field-list > dd {
|
||||
padding-left: 0.5em;
|
||||
margin-top: 0em;
|
||||
margin-left: 0em;
|
||||
margin-bottom: 0em;
|
||||
}
|
||||
|
||||
dl {
|
||||
margin-bottom: 15px;
|
||||
}
|
||||
|
||||
dd > :first-child {
|
||||
margin-top: 0px;
|
||||
}
|
||||
|
||||
dd ul, dd table {
|
||||
margin-bottom: 10px;
|
||||
}
|
||||
|
||||
dd {
|
||||
margin-top: 3px;
|
||||
margin-bottom: 10px;
|
||||
margin-left: 30px;
|
||||
}
|
||||
|
||||
dl > dd:last-child,
|
||||
dl > dd:last-child > :last-child {
|
||||
margin-bottom: 0;
|
||||
}
|
||||
|
||||
dt:target, span.highlighted {
|
||||
background-color: #fbe54e;
|
||||
}
|
||||
|
||||
rect.highlighted {
|
||||
fill: #fbe54e;
|
||||
}
|
||||
|
||||
dl.glossary dt {
|
||||
font-weight: bold;
|
||||
font-size: 1.1em;
|
||||
}
|
||||
|
||||
.versionmodified {
|
||||
font-style: italic;
|
||||
}
|
||||
|
||||
.system-message {
|
||||
background-color: #fda;
|
||||
padding: 5px;
|
||||
border: 3px solid red;
|
||||
}
|
||||
|
||||
.footnote:target {
|
||||
background-color: #ffa;
|
||||
}
|
||||
|
||||
.line-block {
|
||||
display: block;
|
||||
margin-top: 1em;
|
||||
margin-bottom: 1em;
|
||||
}
|
||||
|
||||
.line-block .line-block {
|
||||
margin-top: 0;
|
||||
margin-bottom: 0;
|
||||
margin-left: 1.5em;
|
||||
}
|
||||
|
||||
.guilabel, .menuselection {
|
||||
font-family: sans-serif;
|
||||
}
|
||||
|
||||
.accelerator {
|
||||
text-decoration: underline;
|
||||
}
|
||||
|
||||
.classifier {
|
||||
font-style: oblique;
|
||||
}
|
||||
|
||||
.classifier:before {
|
||||
font-style: normal;
|
||||
margin: 0 0.5em;
|
||||
content: ":";
|
||||
display: inline-block;
|
||||
}
|
||||
|
||||
abbr, acronym {
|
||||
border-bottom: dotted 1px;
|
||||
cursor: help;
|
||||
}
|
||||
|
||||
/* -- code displays --------------------------------------------------------- */
|
||||
|
||||
pre {
|
||||
overflow: auto;
|
||||
overflow-y: hidden; /* fixes display issues on Chrome browsers */
|
||||
}
|
||||
|
||||
pre, div[class*="highlight-"] {
|
||||
clear: both;
|
||||
}
|
||||
|
||||
span.pre {
|
||||
-moz-hyphens: none;
|
||||
-ms-hyphens: none;
|
||||
-webkit-hyphens: none;
|
||||
hyphens: none;
|
||||
white-space: nowrap;
|
||||
}
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Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user