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<a href="#" class="icon icon-home"> imstk-unity
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<div class="version">
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0.1.0
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<p class="caption" role="heading"><span class="caption-text">Introduction</span></p>
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<li class="toctree-l1"><a class="reference internal" href="index.html#setup-for-development">Setup for Development</a></li>
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<li class="toctree-l1"><a class="reference internal" href="index.html#devices">Devices</a></li>
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<p class="caption" role="heading"><span class="caption-text">User guide</span></p>
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<li class="toctree-l1"><a class="reference internal" href="index.html#component-structure">Component Structure</a></li>
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<strong><a class="reference internal" href="_images/imstk-logo.png"><img alt="image0" src="_images/imstk-logo.png" style="width: 3.5in; height: 1.28515625in;" /></a></strong></p><section id="welcome-to-imstk-unity">
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<h1>Welcome to iMSTK-Unity<a class="headerlink" href="#welcome-to-imstk-unity" title="Permalink to this heading"></a></h1>
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<p><a class="reference external" href="https://www.imstk.org/">iMSTK</a> is a free & open source C++ toolkit for 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.</p>
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<div class="toctree-wrapper compound">
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<span id="document-documentation"></span><p class="centered">
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<strong><strong>iMSTK-Unity</strong></strong></p><p class="centered">
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<strong><em>User Documentation</em></strong></p><section id="introduction">
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<h2>Introduction<a class="headerlink" href="#introduction" title="Permalink to this heading"></a></h2>
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<p>This document describes the iMSTK-Unity interface as well as how to build and develop it.</p>
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<section id="overview">
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<h3>Overview<a class="headerlink" href="#overview" title="Permalink to this heading"></a></h3>
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<p>iMSTK is a free & open source C++ toolkit for prototyping of 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.</p>
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<p>The iMSTK-Unity classes utilizes a C# interface of iMSTK that is generated by using the <a class="reference external" href="https://www.swig.org/">SWIG</a> tool. This interface in effect is wrapped around most C++ functions and forwards its call to the original C++ code. This allows you to use iMSTK in C# much the almost the same way as you would in C++.</p>
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<blockquote>
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<div><figure class="align-center">
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<a class="reference internal image-reference" href="_images/iMSTKUnityArchitecture1.png"><img alt="Alternative text" src="_images/iMSTKUnityArchitecture1.png" style="width: 600px;" /></a>
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</figure>
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</div></blockquote>
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</section>
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<section id="limitations">
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<h3>Limitations<a class="headerlink" href="#limitations" title="Permalink to this heading"></a></h3>
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<p>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. And please report issue in the iMSTK-Unity <a class="reference external" href="https://gitlab.kitware.com/iMSTK/imstk-unity/-/issues">issue tracker</a></p>
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<p>While there is an OpenHaptics asset available at the store, iMSTK-Unity does not support that currently, if you need support for the 3D-Touch series of devices you will have to build iMSTK with the appropriate settings.</p>
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</section>
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<section id="project-structure">
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<h3>Project Structure<a class="headerlink" href="#project-structure" title="Permalink to this heading"></a></h3>
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<p>The files of the asset are split in the following directories:</p>
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<blockquote>
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<div><ul class="simple">
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<li><p><strong>iMSTK/Scripts</strong>: This directory is for the runtime scripts of the plugin.</p></li>
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<li><p><strong>iMSTK/Scripts/Editor</strong>: 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</p></li>
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<li><p><strong>iMSTK/Resources</strong>: This directory contains resources required during runtime.</p></li>
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<li><p><strong>iMSTK/Editor/Resources</strong>: This directory contains resources required in the editor (such as style sheets or UI markup).</p></li>
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<li><p><strong>iMSTK/Plugins</strong>: This directory is for libraries (dlls/so) that Unity needs to load.</p></li>
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</ul>
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</div></blockquote>
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<p>Directories needed for the project but not relevant to the plugin:</p>
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<blockquote>
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<div><ul class="simple">
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<li><p><strong>iMSTK/Models, Materials, & Textures</strong>: These directories are for various assets used by the Demo. They are not part of the plugin.</p></li>
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</ul>
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</div></blockquote>
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<p>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 <a class="reference external" href="https://gitlab.kitware.com/iMSTK/iMSTK-unity">from gitlab</a>. 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.</p>
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</section>
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</section>
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<section id="setup-for-development">
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<span id="setupfordevelopment"></span><h2>Setup for Development<a class="headerlink" href="#setup-for-development" title="Permalink to this heading"></a></h2>
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<p>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 <a class="reference external" href="https://gitlab.kitware.com/iMSTK/iMSTK">the iMSTK repository</a> and build it using cmake. Turn on the <code class="docutils literal notranslate"><span class="pre">IMSTK_BUILD_FOR_UNITY</span></code> 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 <code class="docutils literal notranslate"><span class="pre">iMSTK_USE_VRPN</span></code> and/or <code class="docutils literal notranslate"><span class="pre">iMSTK_USE_OpenHaptics</span></code> for device support.</p>
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<p>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 <cite>install</cite> and resides inside the directory that you defined in cmake to build imstk, e.g. <cite>C:Projectsimstkbuildinstall</cite> :</p>
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<ul class="simple">
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<li><dl class="simple">
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<dt>Using <code class="docutils literal notranslate"><span class="pre">`InstallImstk.bat`</span></code> from the asset directory the format is</dt><dd><p><code class="docutils literal notranslate"><span class="pre">InstallImstk.bat</span> <span class="pre"><path</span> <span class="pre">to</span> <span class="pre">imstk/install></span></code></p>
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</dd>
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</dl>
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</li>
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<li><p>Alternatively you can enable <cite>Developer Mode</cite> for iMSTK inside of Unity. This option ca be found in “Edit->Project Settings->iMSTK Settings”. When turned on, you will prompted to install iMSTK whenever you start Unity. After turned on you may restart Unity, when it prompts you, select yes and provide it 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.</p></li>
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</ul>
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<p>If you make changes in iMSTK you must reinstall it to Unity.</p>
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<p>Note: There is a ‘Force Install’ button to install iMSTK into Unity at the instant it is clicked. This may no 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.</p>
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<p>Note: Make sure Unity is not running. Sometimes it can close but still be running in the background prevent installation.</p>
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</section>
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<section id="devices">
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<h2>Devices<a class="headerlink" href="#devices" title="Permalink to this heading"></a></h2>
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<p>The asset available from the asset store does not have <a class="reference external" href="https://support.3dsystems.com/s/article/OpenHaptics-for-Windows-Developer-Edition-v35?language=en_US">OpenHaptics</a> or <a class="reference external" href="https://github.com/vrpn/vrpn">VRPN</a> enabled, to use external devices you will have to build iMSTK for yourself. After enabling enable
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<code class="docutils literal notranslate"><span class="pre">iMSTK_USE_VRPN</span></code> or <code class="docutils literal notranslate"><span class="pre">iMSTK_USE_OpenHaptics</span></code> 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.</p>
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<section id="debugging">
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<h3>Debugging<a class="headerlink" href="#debugging" title="Permalink to this heading"></a></h3>
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<p>Debugging may be done in visual studios, even on the native side. You must attached the debugger as you would to an external process. With iMSTK open in visual studios, click debug->attach to process. Select the unity executable and make sure you’re set on native debugging.</p>
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</section>
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</section>
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</div>
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<div class="toctree-wrapper compound">
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<span id="document-guide"></span><section id="tutorial">
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<h2>Tutorial<a class="headerlink" href="#tutorial" title="Permalink to this heading"></a></h2>
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<p>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 <em>Tutorial</em> scene in the scene folder.</p>
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<p>For the purpose of this guides component names will be written in a mono spaced font e.g. <code class="docutils literal notranslate"><span class="pre">SimulationManager</span></code>, whereas the names of GameObjects or EditorFields will be in italics e.g. <cite>HeartModel</cite></p>
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<ul>
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<li><p>Create a new scene in Unity</p></li>
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<li></li>
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<li><p>Create a new gameobject and add a <code class="docutils literal notranslate"><span class="pre">SimulationManager</span></code> component to it</p>
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<p>The <code class="docutils literal notranslate"><span class="pre">SimulationManager</span></code> 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</p>
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</li>
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</ul>
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<img alt="SimulationManager Component UI" class="align-center" src="_images/simulationmanager.PNG" />
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<ul>
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<li><p>Create an empty GameObject, add a <code class="docutils literal notranslate"><span class="pre">PBDModel</span></code> component and name it <cite>HeartModel</cite>.</p>
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<blockquote>
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<div><p><code class="docutils literal notranslate"><span class="pre">PBDModel</span></code> is one of the classes that iMSTK-Unity offers to you it implements the PBD <a class="footnote-reference brackets" href="#id4" id="id1">1</a> and XPBD <a class="footnote-reference brackets" href="#id5" id="id2">2</a> methods for simulating deformable objects.</p>
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<p>We will add geometry separately but you can also use the items under the menu <cite>Imstk\GameObject</cite> to add very simple objects with algorithmically generated meshes.</p>
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<p>The <code class="docutils literal notranslate"><span class="pre">PBDModel</span></code> 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 <a class="reference external" href="https://imstk.readthedocs.io/en/latest/PbdModel.html">Imstk Documentation</a></p>
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<p>We will come back to this later.</p>
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</div></blockquote>
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</li>
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<li><p>From the <em>Models</em> folder add model named <cite>heart</cite> under the <cite>HeartModel</cite> GameObject</p>
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<blockquote>
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<div><p>This will serve as the visual representation of what the simulation is doing, to make it look better get the <cite>flesh</cite> material from the <em>Materials</em> folder and assign it as well.</p>
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<p>With the <cite>heart</cite> GameObject selected add a <code class="docutils literal notranslate"><span class="pre">GeometryFilter</span></code> component to it and drag the <cite>MeshFilter</cite> component, the name will be <cite>Heart_mesh_surface (Mesh Filter)</cite> into the <cite>Mesh</cite> field of the <code class="docutils literal notranslate"><span class="pre">GeometryFilter</span></code>. The dropdown should say <cite>Unity Mesh</cite>. This makes this mesh available to iMSTK-Unity.</p>
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<p>For every kind of geometry you want to use in the PBD model, iMSTK-Unity needs a <code class="docutils literal notranslate"><span class="pre">GeometryFilter</span></code>. 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 an 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.</p>
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<p>You can use the check box named <cite>Show Handles</cite> to verify that the mesh is in the correct location</p>
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</div></blockquote>
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</li>
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</ul>
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<img alt="Drag Meshfilter into Geometryfilter" class="align-center" src="_images/geomfilter_heart_surface_drag.png" />
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<ul>
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<li><p>Lets look at <code class="docutils literal notranslate"><span class="pre">PBDModel</span></code> component again, and set up some parameters</p>
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<p>First Check the <cite>Distance Stiffness</cite>, <cite>Volume Stiffness</cite> and <cite>Use Realtime</cite> checkboxes and fill in the properties as you see in the image below. This sets the material properties of this object.</p>
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</li>
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</ul>
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<img alt="PBModel overview" class="align-center" src="_images/heartmodel.png" />
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<ul>
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<li><p>Add a <code class="docutils literal notranslate"><span class="pre">GeometryFilter</span></code> to use in the simulation</p>
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<p>We will need a mesh to use as the geometry for calculating the physical behavior of our object. Add a <code class="docutils literal notranslate"><span class="pre">GeometryFilter</span></code> to the <cite>HeartModel</cite> object. As we will use a tetrahedral mesh the method to a assign the mesh is slightly different. First Select <cite>Tetrahedral Mesh</cite> in the dropdown box. Then click on the <cite>o</cite> icon to the right of the <cite>Mesh</cite> input field. This will bring up an input dialog. Select the “Assets” tab, and double click the item name <cite>heart_mesh</cite>.</p>
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<p>As you can see the <code class="docutils literal notranslate"><span class="pre">GeometryFilter</span></code> component can be used for meshes in the scene or just assets of the project.</p>
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</li>
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</ul>
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<img alt="Tetrahedral Mesh Geometry Filter" class="align-center" src="_images/heart_mesh_tetrahedral.png" />
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<ul>
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<li><p>Now we will set the shapes that are being used for simulation and visualization.</p>
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<p>The <code class="docutils literal notranslate"><span class="pre">PBDModel</span></code> uses three different geometries</p>
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<ul class="simple">
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<li><p><cite>Visual Geometry</cite> is the geometry that is being shown on the screen, this is usually some texture mesh</p></li>
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<li><p><cite>Physics Geometry</cite> is the geometry that is being used in the simulation</p></li>
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<li><p><cite>Collision Geometry</cite> is the geometry that is being used to determine collisions with other objects.</p></li>
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</ul>
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<p>The tetrahedral mesh that was set up in the previous step will be used for as the <cite>Physics Geometry</cite> the other mesh from earlier will be used for the two other geometries.</p>
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<p>First Drag the <code class="docutils literal notranslate"><span class="pre">Geometry</span> <span class="pre">Filter</span></code> that you just created into the <cite>Physics Geometry</cite> of the <code class="docutils literal notranslate"><span class="pre">PBDModel</span></code> component. The drag the <cite>heart</cite> GameObject from the hierarchy view to both the <cite>Visual Geometry</cite> and the <cite>Collision Geometry</cite> fields.</p>
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<img alt="Assign Visual Geometry" class="align-center" src="_images/heart_gameobject_drag.png" />
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<p>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 <code class="docutils literal notranslate"><span class="pre">GeometryMap</span></code> component. Drag the <cite>HeartModel</cite> Gameobject into the <cite>Parent Geom</cite> slot. Then drag the <cite>heart</cite> GameObject into the <cite>Child Geom</cite> slot. Additionally make sure the <cite>Force One One</cite> is checked.</p>
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<img alt="Deformable Map" class="align-center" src="_images/deformable_map.png" />
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</li>
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</ul>
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<p>This concludes the setup for the <code class="docutils literal notranslate"><span class="pre">PBDModel</span></code> object.</p>
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<p>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.</p>
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<ul>
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<li><p>Lets add a plane for collisions</p>
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<p>We will go an alternate route for this object. In the hierarchy view add a normal Unity Plane from and move the plane to a position of 0.0, -2.5, and 0.0. Add a <code class="docutils literal notranslate"><span class="pre">Geometry</span> <span class="pre">Filter</span></code> and select <cite>Plane</cite> in the drop down menu. The default settings for the plan will work, the 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.</p>
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<p>To enable the plane to interact with other imstk objects we need to set up a model for it as well. Add a <code class="docutils literal notranslate"><span class="pre">StaticModel</span></code> component to the <cite>Plane</cite> object and drag the <code class="docutils literal notranslate"><span class="pre">GeometryFilter</span></code> component into the <cite>Collision Geometry</cite> field. A <code class="docutils literal notranslate"><span class="pre">StaticModel</span></code> represents an object that participates in collision but doesn’t react.</p>
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</li>
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</ul>
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<img alt="Plane Object" class="align-center" src="_images/plane-static-model.png" />
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<ul>
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<li><p>Add the interaction between the Heart and the Plane</p>
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<p>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 <code class="docutils literal notranslate"><span class="pre">CollisionInteraction</span></code> to the plane object. Drag the <cite>HeartModel</cite> into the slot named <cite>Model 1</cite> and drag the plane itself into the slot named <cite>Model 2</cite>. The dropdown named <cite>Collision Type</cite> can be left in the setting <cite>Auto</cite>. At the moment there is most likely no need to select the <cite>Collision Type</cite> yourself, the automatic mechanism should be sufficient.</p>
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</li>
|
||
</ul>
|
||
<img alt="Adding a collision interaction" class="align-center" src="_images/collision_interaction.png" />
|
||
<ul class="simple">
|
||
<li><p>This concludes the tutorial scene setup, press play you should see the deformable object hit the plane and bounce slightly on it.</p></li>
|
||
</ul>
|
||
<div class="compound">
|
||
<p>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</p>
|
||
</div>
|
||
</section>
|
||
<section id="example-scenes">
|
||
<h2>Example Scenes<a class="headerlink" href="#example-scenes" title="Permalink to this heading"></a></h2>
|
||
<section id="pbdclothcollision">
|
||
<h3>PbdClothCollision<a class="headerlink" href="#pbdclothcollision" title="Permalink to this heading"></a></h3>
|
||
<p>A scene with a freely moving deformable item (Cloth), shows how to set up a deformable (<code class="docutils literal notranslate"><span class="pre">PBDCloth</span></code>) with and various static obstacles.</p>
|
||
</section>
|
||
<section id="pbdclothscene">
|
||
<h3>PbdClothScene<a class="headerlink" href="#pbdclothscene" title="Permalink to this heading"></a></h3>
|
||
<p>A cloth constrained on the top, look at for how to set up boundary conditions on a <code class="docutils literal notranslate"><span class="pre">PbdObject</span></code></p>
|
||
</section>
|
||
<section id="pbdthread">
|
||
<h3>PbdThread<a class="headerlink" href="#pbdthread" title="Permalink to this heading"></a></h3>
|
||
<p>Sets up a line mesh that can be used as a thread</p>
|
||
</section>
|
||
<section id="rbdscene">
|
||
<h3>RbdScene<a class="headerlink" href="#rbdscene" title="Permalink to this heading"></a></h3>
|
||
<p>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</p>
|
||
</section>
|
||
<section id="id3">
|
||
<h3>Tutorial<a class="headerlink" href="#id3" title="Permalink to this heading"></a></h3>
|
||
<p>Scene that is used in the tutorial, uses a deformable model colliding with a plane</p>
|
||
</section>
|
||
<section id="devices">
|
||
<h3>Devices<a class="headerlink" href="#devices" title="Permalink to this heading"></a></h3>
|
||
<p>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 <a class="reference internal" href="index.html#setupfordevelopment"><span class="std std-ref">Setup for Development</span></a></p>
|
||
<section id="rbdcontroller">
|
||
<h4>RbdController<a class="headerlink" href="#rbdcontroller" title="Permalink to this heading"></a></h4>
|
||
<p>Sets up a <code class="docutils literal notranslate"><span class="pre">OpenHapticsDevice</span></code> with a <code class="docutils literal notranslate"><span class="pre">RbdModel</span></code> and a <code class="docutils literal notranslate"><span class="pre">RigidController</span></code> to show how these pieces interactive</p>
|
||
</section>
|
||
<section id="rbdcontrollervrpn">
|
||
<h4>RbdControllerVRPN<a class="headerlink" href="#rbdcontrollervrpn" title="Permalink to this heading"></a></h4>
|
||
<p>Uses the <code class="docutils literal notranslate"><span class="pre">VRPNDevice</span></code> in the same scene as the <cite>RBDController</cite></p>
|
||
</section>
|
||
<section id="tissuecontact-and-pbdthintissuecontact">
|
||
<h4>TissueContact and PbdThinTissueContact<a class="headerlink" href="#tissuecontact-and-pbdthintissuecontact" title="Permalink to this heading"></a></h4>
|
||
<p>Demonstrates the use of a rigid with haptics interacting with two kinds of simulated tissue</p>
|
||
<dl class="footnote brackets">
|
||
<dt class="label" id="id4"><span class="brackets"><a class="fn-backref" href="#id1">1</a></span></dt>
|
||
<dd><ol class="upperalpha simple" start="13">
|
||
<li><p>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.</p></li>
|
||
</ol>
|
||
</dd>
|
||
<dt class="label" id="id5"><span class="brackets"><a class="fn-backref" href="#id2">2</a></span></dt>
|
||
<dd><ol class="upperalpha simple" start="13">
|
||
<li><p>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.</p></li>
|
||
</ol>
|
||
</dd>
|
||
</dl>
|
||
</section>
|
||
</section>
|
||
</section>
|
||
</div>
|
||
<div class="toctree-wrapper compound">
|
||
<span id="document-classes"></span><section id="usage">
|
||
<h2>Usage<a class="headerlink" href="#usage" title="Permalink to this heading"></a></h2>
|
||
<p>For minimal usage of iMSTK-Unity, two things must be added to a Unity Scene.</p>
|
||
<blockquote>
|
||
<div><ul class="simple">
|
||
<li><p>A <code class="docutils literal notranslate"><span class="pre">GameObject</span></code> with a <code class="docutils literal notranslate"><span class="pre">SimulationManager</span></code> attached to it</p></li>
|
||
<li><p>A <code class="docutils literal notranslate"><span class="pre">GameObject</span></code> with a Model attached to it.</p></li>
|
||
</ul>
|
||
</div></blockquote>
|
||
<p>Commonly a PhysicsGeometry is also needed on the Model <code class="docutils literal notranslate"><span class="pre">GameObject</span></code>.</p>
|
||
</section>
|
||
<section id="component-structure">
|
||
<h2>Component Structure<a class="headerlink" href="#component-structure" title="Permalink to this heading"></a></h2>
|
||
<p>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.</p>
|
||
<section id="infrastructure">
|
||
<h3>Infrastructure<a class="headerlink" href="#infrastructure" title="Permalink to this heading"></a></h3>
|
||
<section id="simulationmanager">
|
||
<h4><code class="docutils literal notranslate"><span class="pre">SimulationManager</span></code><a class="headerlink" href="#simulationmanager" title="Permalink to this heading"></a></h4>
|
||
<p><code class="docutils literal notranslate"><span class="pre">SimulationManager</span></code> is a component responsible for managing the simulation. There may only exist one. It also controls the construction, initialization, and destruction of <code class="docutils literal notranslate"><span class="pre">iMSTKBehaviour</span></code> to ensure execution ordering: Simulation Manager created -> iMSTK objects created and internally initialized -> iMSTK objects externally initialized -> <code class="docutils literal notranslate"><span class="pre">SimulationManager</span></code> Start -> Updates -> iMSTK objects cleaned up -> <code class="docutils literal notranslate"><span class="pre">SimulationManager</span></code> cleaned up.</p>
|
||
<p>This component is required to be in the scene for simulations to run. It is created before any other iMSTK components on any <code class="docutils literal notranslate"><span class="pre">GameObject</span></code>. It implements the start, stop, pause, and other global scene related tasks.</p>
|
||
</section>
|
||
<section id="imstkbehaviour">
|
||
<h4><code class="docutils literal notranslate"><span class="pre">iMSTKBehaviour</span></code><a class="headerlink" href="#imstkbehaviour" title="Permalink to this heading"></a></h4>
|
||
<p>An extension of MonoBehaviour to provide different callbacks for special construction, initialization, and destruction ordering.</p>
|
||
</section>
|
||
<section id="geometryfilter">
|
||
<h4><code class="docutils literal notranslate"><span class="pre">GeometryFilter</span></code><a class="headerlink" href="#geometryfilter" title="Permalink to this heading"></a></h4>
|
||
<p>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.</p>
|
||
</section>
|
||
<section id="geometrymap">
|
||
<h4><code class="docutils literal notranslate"><span class="pre">GeometryMap</span></code><a class="headerlink" href="#geometrymap" title="Permalink to this heading"></a></h4>
|
||
<p>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.</p>
|
||
</section>
|
||
<section id="rigidcontroller">
|
||
<h4><code class="docutils literal notranslate"><span class="pre">RigidController</span></code><a class="headerlink" href="#rigidcontroller" title="Permalink to this heading"></a></h4>
|
||
<p>Object used between a device handled by the user and a <code class="docutils literal notranslate"><span class="pre">RbdModel</span></code>. 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.</p>
|
||
</section>
|
||
<section id="boundarycondition">
|
||
<h4><code class="docutils literal notranslate"><span class="pre">BoundaryCondition</span></code><a class="headerlink" href="#boundarycondition" title="Permalink to this heading"></a></h4>
|
||
<p>Use this behavior to mark vertices on a deformable object as <cite>fixed</cite>. 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.</p>
|
||
</section>
|
||
<section id="importers">
|
||
<h4>Importers<a class="headerlink" href="#importers" title="Permalink to this heading"></a></h4>
|
||
<p>iMSTK-Unity provides a custom Unity importer to import geometry using iMSTK. This may 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.</p>
|
||
</section>
|
||
<section id="editor">
|
||
<h4>Editor<a class="headerlink" href="#editor" title="Permalink to this heading"></a></h4>
|
||
<p>iMSTK-Unity provides extensions to the Unity editor. These extensions include:</p>
|
||
<blockquote>
|
||
<div><ul class="simple">
|
||
<li><p>Custom inspectors for the models and geometry components.</p></li>
|
||
<li><p>A global settings menu.</p></li>
|
||
<li><p>Menu Items for quick creation of GameObject with iMSTK items already setup.</p></li>
|
||
<li><p>Editors/windows for various operations</p></li>
|
||
</ul>
|
||
</div></blockquote>
|
||
</section>
|
||
</section>
|
||
<section id="models">
|
||
<h3>Models<a class="headerlink" href="#models" title="Permalink to this heading"></a></h3>
|
||
<section id="pbdmodel">
|
||
<h4><code class="docutils literal notranslate"><span class="pre">PbdModel</span></code><a class="headerlink" href="#pbdmodel" title="Permalink to this heading"></a></h4>
|
||
<p>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 <a class="reference external" href="https://imstk.readthedocs.io/en/latest/PbdModel.html">iMSTK Documentation</a> 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.</p>
|
||
</section>
|
||
<section id="rbdmodel">
|
||
<h4><code class="docutils literal notranslate"><span class="pre">RbdModel</span></code><a class="headerlink" href="#rbdmodel" title="Permalink to this heading"></a></h4>
|
||
<p>Use this to represent moveable rigid object 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 <a class="reference external" href="https://imstk.readthedocs.io/en/latest/Dynamical_Models.html#rigid-body-2">iMSTK Documentation</a></p>
|
||
</section>
|
||
<section id="staticmodel">
|
||
<h4><code class="docutils literal notranslate"><span class="pre">StaticModel</span></code><a class="headerlink" href="#staticmodel" title="Permalink to this heading"></a></h4>
|
||
<p>Use this to represent un-moveable rigid objects like the ground plane or other obstacles.</p>
|
||
</section>
|
||
</section>
|
||
<section id="interactions">
|
||
<h3>Interactions<a class="headerlink" href="#interactions" title="Permalink to this heading"></a></h3>
|
||
<section id="collisioninteraction">
|
||
<h4><code class="docutils literal notranslate"><span class="pre">CollisionInteraction</span></code><a class="headerlink" href="#collisioninteraction" title="Permalink to this heading"></a></h4>
|
||
<p>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 <cite>Auto</cite>). But you can also select the algorithm that should be used.</p>
|
||
</section>
|
||
<section id="pbdobjectinteraction">
|
||
<h4><code class="docutils literal notranslate"><span class="pre">PbdObjectInteraction</span></code><a class="headerlink" href="#pbdobjectinteraction" title="Permalink to this heading"></a></h4>
|
||
<p>A collision interaction specific to PBD models, it allows setting of values specific to interactions with PBDs.</p>
|
||
</section>
|
||
<section id="pbdrigidgraspinginteraction">
|
||
<h4><code class="docutils literal notranslate"><span class="pre">PbdRigidGraspingInteraction</span></code><a class="headerlink" href="#pbdrigidgraspinginteraction" title="Permalink to this heading"></a></h4>
|
||
<p>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.</p>
|
||
</section>
|
||
</section>
|
||
<section id="devices">
|
||
<h3>Devices<a class="headerlink" href="#devices" title="Permalink to this heading"></a></h3>
|
||
<section id="openhapticsdevice">
|
||
<h4><code class="docutils literal notranslate"><span class="pre">OpenHapticsDevice</span></code><a class="headerlink" href="#openhapticsdevice" title="Permalink to this heading"></a></h4>
|
||
<p>This device is only available with a custom build of iMSTK. It enable the use of the <a class="reference external" href="https://www.3dsystems.com/haptics">3DSystems</a> haptic device.</p>
|
||
</section>
|
||
<section id="vrpndevice">
|
||
<h4><code class="docutils literal notranslate"><span class="pre">VrpnDevice</span></code><a class="headerlink" href="#vrpndevice" title="Permalink to this heading"></a></h4>
|
||
<p>This device is only available with a custom build if iMSTK. It enables interactions with devices run by a <a class="reference external" href="https://github.com/vrpn/vrpn">VRPN</a> server.</p>
|
||
</section>
|
||
</section>
|
||
</section>
|
||
</div>
|
||
<div class="toctree-wrapper compound">
|
||
<span id="document-releases"></span><section id="releases">
|
||
<h2>Releases<a class="headerlink" href="#releases" title="Permalink to this heading"></a></h2>
|
||
<p>TBD</p>
|
||
</section>
|
||
</div>
|
||
<div class="toctree-wrapper compound">
|
||
<span id="document-license"></span><section id="apache-license">
|
||
<h2>Apache License<a class="headerlink" href="#apache-license" title="Permalink to this heading"></a></h2>
|
||
<dl class="field-list simple">
|
||
<dt class="field-odd">Version</dt>
|
||
<dd class="field-odd"><p>2.0</p>
|
||
</dd>
|
||
<dt class="field-even">Date</dt>
|
||
<dd class="field-even"><p>January 2004</p>
|
||
</dd>
|
||
<dt class="field-odd">URL</dt>
|
||
<dd class="field-odd"><p><a class="reference external" href="http://www.apache.org/licenses/">http://www.apache.org/licenses/</a></p>
|
||
</dd>
|
||
</dl>
|
||
<section id="terms-and-conditions-for-use-reproduction-and-distribution">
|
||
<h3>TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION<a class="headerlink" href="#terms-and-conditions-for-use-reproduction-and-distribution" title="Permalink to this heading"></a></h3>
|
||
</section>
|
||
<section id="definitions">
|
||
<h3>1. Definitions.<a class="headerlink" href="#definitions" title="Permalink to this heading"></a></h3>
|
||
<p><strong>“License”</strong> shall mean the terms and conditions for use, reproduction, and
|
||
distribution as defined by Sections 1 through 9 of this document.</p>
|
||
<p><strong>“Licensor”</strong> shall mean the copyright owner or entity authorized by the
|
||
copyright owner that is granting the License.</p>
|
||
<p><strong>“Legal Entity”</strong> 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 <em>(i)</em> the power,
|
||
direct or indirect, to cause the direction or management of such entity,
|
||
whether by contract or otherwise, or <em>(ii)</em> ownership of fifty percent (50%) or
|
||
more of the outstanding shares, or <em>(iii)</em> beneficial ownership of such entity.</p>
|
||
<p><strong>“You”</strong> (or <strong>“Your”</strong>) shall mean an individual or Legal Entity exercising
|
||
permissions granted by this License.</p>
|
||
<p><strong>“Source”</strong> form shall mean the preferred form for making modifications,
|
||
including but not limited to software source code, documentation source, and
|
||
configuration files.</p>
|
||
<p><strong>“Object”</strong> 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.</p>
|
||
<p><strong>“Work”</strong> 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
|
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included in or attached to the work (an example is provided in the Appendix
|
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|
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<p><strong>“Derivative Works”</strong> shall mean any work, whether in Source or Object form,
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|
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revisions, annotations, elaborations, or other modifications represent, as a
|
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|
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Derivative Works shall not include works that remain separable from, or merely
|
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|
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|
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<p><strong>“Contribution”</strong> shall mean any work of authorship, including the original
|
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|
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|
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|
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|
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|
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<p><strong>“Contributor”</strong> shall mean Licensor and any individual or Legal Entity on
|
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|
||
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|
||
</section>
|
||
<section id="grant-of-copyright-license">
|
||
<h3>2. Grant of Copyright License.<a class="headerlink" href="#grant-of-copyright-license" title="Permalink to this heading"></a></h3>
|
||
<p>Subject to the terms and conditions of this License, each Contributor hereby
|
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|
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|
||
<section id="grant-of-patent-license">
|
||
<h3>3. Grant of Patent License.<a class="headerlink" href="#grant-of-patent-license" title="Permalink to this heading"></a></h3>
|
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|
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|
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|
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|
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</section>
|
||
<section id="redistribution">
|
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<h3>4. Redistribution.<a class="headerlink" href="#redistribution" title="Permalink to this heading"></a></h3>
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|
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|
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<section id="appendix-how-to-apply-the-apache-license-to-your-work">
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<h3>APPENDIX: How to apply the Apache License to your work<a class="headerlink" href="#appendix-how-to-apply-the-apache-license-to-your-work" title="Permalink to this heading"></a></h3>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">Copyright</span> <span class="mi">2020</span> <span class="n">iMSTK</span><span class="o">-</span><span class="n">Unity</span>
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<span class="n">Licensed</span> <span class="n">under</span> <span class="n">the</span> <span class="n">Apache</span> <span class="n">License</span><span class="p">,</span> <span class="n">Version</span> <span class="mf">2.0</span> <span class="p">(</span><span class="n">the</span> <span class="s2">"License"</span><span class="p">);</span>
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<span class="n">you</span> <span class="n">may</span> <span class="ow">not</span> <span class="n">use</span> <span class="n">this</span> <span class="n">file</span> <span class="k">except</span> <span class="ow">in</span> <span class="n">compliance</span> <span class="k">with</span> <span class="n">the</span> <span class="n">License</span><span class="o">.</span>
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<span class="n">You</span> <span class="n">may</span> <span class="n">obtain</span> <span class="n">a</span> <span class="n">copy</span> <span class="n">of</span> <span class="n">the</span> <span class="n">License</span> <span class="n">at</span>
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<span class="n">http</span><span class="p">:</span><span class="o">//</span><span class="n">www</span><span class="o">.</span><span class="n">apache</span><span class="o">.</span><span class="n">org</span><span class="o">/</span><span class="n">licenses</span><span class="o">/</span><span class="n">LICENSE</span><span class="o">-</span><span class="mf">2.0</span>
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<span class="n">Unless</span> <span class="n">required</span> <span class="n">by</span> <span class="n">applicable</span> <span class="n">law</span> <span class="ow">or</span> <span class="n">agreed</span> <span class="n">to</span> <span class="ow">in</span> <span class="n">writing</span><span class="p">,</span> <span class="n">software</span>
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|
||
<span class="n">See</span> <span class="n">the</span> <span class="n">License</span> <span class="k">for</span> <span class="n">the</span> <span class="n">specific</span> <span class="n">language</span> <span class="n">governing</span> <span class="n">permissions</span> <span class="ow">and</span>
|
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</pre></div>
|
||
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|
||
</section>
|
||
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|
||
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|
||
<section id="other-resources">
|
||
<h2>Other Resources<a class="headerlink" href="#other-resources" title="Permalink to this heading"></a></h2>
|
||
<blockquote>
|
||
<div><ul class="simple">
|
||
<li><p><a class="reference external" href="https://discourse.kitware.com/c/imstk/9">iMSTK Discourse Forum</a></p></li>
|
||
<li><p><a class="reference external" href="https://gitlab.kitware.com/iMSTK/imstk-unity/">iMSTK-Unity Gitlab</a></p></li>
|
||
<li><p><a class="reference external" href="https://imstk.readthedocs.io/en/latest/">iMSTK Documentation</a></p></li>
|
||
<li><p><a class="reference external" href="https://gitlab.kitware.com/iMSTK/iMSTK">iMSTK Gitlab</a></p></li>
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