Add Collision Detection

CMake/AutoscoperInstallQt.cmake

@@ -16,7 +16,7 @@ if(WIN32)
       ${_qt5Core_install_prefix}/bin/Qt5Guid.dll
       ${_qt5Core_install_prefix}/bin/Qt5Cored.dll
       ${_qt5Core_install_prefix}/bin/Qt5Networkd.dll
-    DESTINATION ${Autoscoper_BIN_DIR} CONFIGURATIONS Debug
+    DESTINATION ${Autoscoper_BIN_DIR} CONFIGURATIONS Release RelWithDebInfo MinSizeRel
     COMPONENT Runtime
   )
   install(

CMakeLists.txt

@@ -89,6 +89,10 @@ option(Autoscoper_SUPERBUILD "Build ${PROJECT_NAME} and the projects it depends
 mark_as_advanced(Autoscoper_SUPERBUILD)
 set(Autoscoper_BINARY_INNER_SUBDIR Autoscoper-build)
 
+option(Autoscoper_BUILD_VTK "Builds VTK alongside Autoscoper." OFF)
+mark_as_advanced(Autoscoper_BUILD_VTK)
+mark_as_superbuild(Autoscoper_BUILD_VTK)
+
 if(UNIX AND NOT APPLE)
   if(NOT DEFINED OpenGL_GL_PREFERENCE)
     set(OpenGL_GL_PREFERENCE "LEGACY")
@@ -154,6 +158,30 @@ if(NOT DEFINED Autoscoper_EXECUTABLE_LINK_FLAGS)
 endif()
 mark_as_superbuild(Autoscoper_EXECUTABLE_LINK_FLAGS:STRING)
 
+#-----------------------------------------------------------------------------
+# Collision Detection
+#-----------------------------------------------------------------------------
+if(Autoscoper_BUILD_VTK OR (DEFINED VTK_DIR AND EXISTS ${VTK_DIR}))
+  message(STATUS "Configuring with collision detection")
+  set(Autoscoper_COLLISION_DETECTION 1)
+else()
+  message(STATUS "Configuring without collision detection. If you want to enable collision detection, please set either Autoscoper_BUILD_VTK (if you want to build VTK as apart of the Superbuild) or VTK_DIR (If you want to use a pre-built version of VTK).")
+  set(Autoscoper_COLLISION_DETECTION 0)
+endif()
+mark_as_superbuild(Autoscoper_COLLISION_DETECTION)
+
+#-----------------------------------------------------------------------------
+# Collision Detection
+#-----------------------------------------------------------------------------
+if(Autoscoper_BUILD_VTK OR (DEFINED VTK_DIR AND EXISTS ${VTK_DIR}))
+  message(STATUS "Configuring with collision detection")
+  set(Autoscoper_COLLISION_DETECTION 1)
+else()
+  message(STATUS "Configuring without collision detection. If you want to enable collision detection, please set either Autoscoper_BUILD_VTK (if you want to build VTK as apart of the Superbuild) or VTK_DIR (If you want to use a pre-built version of VTK).")
+  set(Autoscoper_COLLISION_DETECTION 0)
+endif()
+mark_as_superbuild(Autoscoper_COLLISION_DETECTION)
+
 #-----------------------------------------------------------------------------
 # Dependencies
 #-----------------------------------------------------------------------------
@@ -227,6 +255,9 @@ if(Autoscoper_CONFIGURE_LAUCHER_SCRIPT)
       endif()
     endif()
   endforeach()
+  if(Autoscoper_COLLISION_DETECTION AND NOT VTK IN_LIST Autoscoper_DEPENDENCIES) # If collision is enabled but VTK was not built as part of the superbuild
+    list(APPEND _library_paths "${VTK_DIR}/bin/$<CONFIG>/")
+  endif()
 
   string(REPLACE ";" "${_pathsep}" PATHS_CONFIG "${_library_paths}")
 
@@ -258,8 +289,12 @@ if(Autoscoper_INSTALL_DEPENDENCIES)
   foreach(dependency IN LISTS Autoscoper_DEPENDENCIES)
     install(SCRIPT "${Autoscoper_SUPERBUILD_DIR}/${dependency}-build/cmake_install.cmake")
   endforeach()
+  if(Autoscoper_COLLISION_DETECTION AND NOT VTK IN_LIST Autoscoper_DEPENDENCIES) # If collision is enabled but VTK was not built as part of the superbuild
+    install(SCRIPT "${VTK_DIR}/cmake_install.cmake")
+  endif()
 endif()
 
+
 #-----------------------------------------------------------------------------
 # Sample Data
 #-----------------------------------------------------------------------------

SuperBuild.cmake

@@ -11,6 +11,18 @@ if(Autoscoper_RENDERING_BACKEND STREQUAL "OpenCL")
   endif()
 endif()
 
+if(Autoscoper_BUILD_VTK)
+  list(APPEND Autoscoper_DEPENDENCIES
+    VTK
+   )
+endif()
+
+if(Autoscoper_BUILD_VTK)
+  list(APPEND Autoscoper_DEPENDENCIES
+    VTK
+   )
+endif()
+
 set(proj ${SUPERBUILD_TOPLEVEL_PROJECT})
 
 ExternalProject_Include_Dependencies(${proj}
@@ -33,6 +45,7 @@ ExternalProject_Add(${proj}
     -DCMAKE_CXX_STANDARD:STRING=${CMAKE_CXX_STANDARD}
     -DCMAKE_CXX_STANDARD_REQUIRED:BOOL=${CMAKE_CXX_STANDARD_REQUIRED}
     -DQt5_DIR:PATH=${Qt5_DIR}
+    -DVTK_DIR:PATH=${VTK_DIR}
     # Options
     -DAutoscoper_SUPERBUILD:BOOL=OFF
     -DAutoscoper_SUPERBUILD_DIR:PATH=${CMAKE_BINARY_DIR}

Superbuild/External_VTK.cmake

@@ -0,0 +1,64 @@
+
+set(proj VTK)
+
+set(${proj}_DEPENDENCIES "")
+
+if(Autoscoper_USE_SYSTEM_${proj})
+  message(FATAL_ERROR "Enabling Autoscoper_USE_SYSTEM_${proj} is not supported !")
+endif()
+
+# Sanity checks
+if(DEFINED VTK_INCLUDE_DIR AND NOT EXISTS ${VTK_INCLUDE_DIR})
+  message(FATAL_ERROR "VTK_INCLUDE_DIR variable is defined but corresponds to nonexistent directory")
+endif()
+if(DEFINED VTK_LIBRARY AND NOT EXISTS ${VTK_LIBRARY})
+  message(FATAL_ERROR "VTK_LIBRARY variable is defined but corresponds to nonexistent file")
+endif()
+
+if((NOT DEFINED VTK_INCLUDE_DIR
+   OR NOT DEFINED VTK_LIBRARY) AND NOT Autoscoper_USE_SYSTEM_${proj})
+
+  set(EP_SOURCE_DIR ${CMAKE_BINARY_DIR}/${proj})
+  set(EP_BINARY_DIR ${CMAKE_BINARY_DIR}/${proj}-build)
+  set(EP_INSTALL_DIR ${CMAKE_BINARY_DIR}/${proj}-install)
+
+  set(EXTERNAL_PROJECT_OPTIONAL_CMAKE_CACHE_ARGS)
+
+  if(NOT CMAKE_CONFIGURATION_TYPES)
+    list(APPEND EXTERNAL_PROJECT_OPTIONAL_CMAKE_CACHE_ARGS
+      -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
+      )
+  endif()
+
+  ExternalProject_Add(${proj}
+    GIT_REPOSITORY https://gitlab.kitware.com/vtk/vtk.git
+    GIT_TAG f2c452c9c42005672a3f3ed9218dd9a7fecca79a # v9.2.6
+    SOURCE_DIR ${EP_SOURCE_DIR}
+    BINARY_DIR ${EP_BINARY_DIR}
+    INSTALL_DIR ${EP_INSTALL_DIR}
+    CMAKE_CACHE_ARGS
+      # Compiler settings
+      -DCMAKE_C_COMPILER:FILEPATH=${CMAKE_C_COMPILER}
+      -DCMAKE_CXX_COMPILER:FILEPATH=${CMAKE_CXX_COMPILER}
+      -DCMAKE_CXX_EXTENSIONS:BOOL=${CMAKE_CXX_EXTENSIONS}
+      -DCMAKE_CXX_STANDARD:STRING=${CMAKE_CXX_STANDARD}
+      -DCMAKE_CXX_STANDARD_REQUIRED:BOOL=${CMAKE_CXX_STANDARD_REQUIRED}
+      -DVTK_USE_CUDA:BOOL=${Autoscoper_BUILD_WITH_CUDA}
+      # Options
+      -DBUILD_SHARED_LIBS:BOOL=ON
+      # Install directories
+      -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
+      ${EXTERNAL_PROJECT_OPTIONAL_CMAKE_CACHE_ARGS}
+    DEPENDS
+      ${${proj}_DEPENDENCIES}
+    )
+    set(VTK_DIR ${EP_BINARY_DIR})
+    set(VTK_SOURCE_DIR ${EP_SOURCE_DIR})
+    ExternalProject_Message(${proj} "VTK_DIR:${VTK_DIR}")
+    ExternalProject_Message(${proj} "VTK_SOURCE_DIR:${VTK_SOURCE_DIR}")
+    mark_as_superbuild(VTK_SOURCE_DIR:PATH)
+    mark_as_superbuild(
+        VARS VTK_DIR:PATH
+        LABELS "FIND_PACKAGE"
+    )
+endif()

libautoscoper/CMakeLists.txt

@@ -33,6 +33,15 @@ set(libautoscoper_SOURCES
   src/VolumeTransform.cpp
 )
 
+if(Autoscoper_COLLISION_DETECTION) # Add collision detection sources/headers
+  list(APPEND libautoscoper_SOURCES
+    src/Mesh.cpp
+  )
+  list(APPEND libautoscoper_HEADERS
+    src/Mesh.hpp
+  )
+endif()
+
 if(Autoscoper_RENDERING_BACKEND STREQUAL "CUDA")
   find_package(CUDA REQUIRED)
   include(${CMAKE_CURRENT_SOURCE_DIR}/src/gpu/cuda/CMakeLists.txt)
@@ -68,6 +77,27 @@ target_compile_definitions(libautoscoper PUBLIC
   Autoscoper_RENDERING_USE_${Autoscoper_RENDERING_BACKEND}_BACKEND
 )
 
+if (Autoscoper_COLLISION_DETECTION) # Add definitions for collision detection
+  target_compile_definitions(libautoscoper PUBLIC
+    Autoscoper_COLLISION_DETECTION
+  )
+  find_package(VTK COMPONENTS
+    CommonCore
+    CommonSystem
+    FiltersSources
+    FiltersModeling
+    IOGeometry
+  )
+  if(NOT VTK_FOUND)
+    message(FATAL_ERROR "VTK was not found")
+  endif()
+  target_link_libraries(libautoscoper PUBLIC ${VTK_LIBRARIES})
+  vtk_module_autoinit(
+    TARGETS libautoscoper
+    MODULES ${VTK_LIBRARIES}
+  )
+endif()
+
 set_target_properties(libautoscoper PROPERTIES
   RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${Autoscoper_BIN_DIR}"
   LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${Autoscoper_BIN_DIR}"

libautoscoper/src/Mesh.cpp

@@ -0,0 +1,96 @@
+#include "Mesh.hpp"
+#include <vtkSTLReader.h>
+#include <vtkSTLWriter.h>
+#include <vtkTransform.h>
+#include <vtkTransformPolyDataFilter.h>
+#include <vtkCenterOfMass.h>
+
+Mesh::Mesh(const std::string& filename) {
+
+	fileName = filename;
+
+	vtkSTLReader* reader = vtkSTLReader::New();
+	this->polyData = vtkPolyData::New();
+
+
+	reader->SetFileName(filename.c_str());
+	reader->Update();
+	this->polyData = reader->GetOutput();
+
+	// Create OBB Tree
+	this->meshOBB = vtkOBBTree::New();
+	// this->meshOBB->SetDataSet(this->polyData);
+	this->meshOBB->SetMaxLevel(1);
+
+	double corner[3];
+	double maxAxis[3];
+	double midAxis[3];
+	double minAxis[3];
+	double size[3];
+
+	this->meshOBB->ComputeOBB(this->polyData, corner, maxAxis, midAxis, minAxis, size);
+
+	/*std::cout << "corner = " << corner[0] << ", " << corner[1] << ", " << corner[2] << std::endl;
+	std::cout << "maxAxis = " << maxAxis[0] << ", " << maxAxis[1] << ", " << maxAxis[2] << std::endl;
+	std::cout << "midAxis = " << midAxis[0] << ", " << midAxis[1] << ", " << midAxis[2] << std::endl;
+	std::cout << "minAxis = " << minAxis[0] << ", " << minAxis[1] << ", " << minAxis[2] << std::endl;
+	std::cout << "size = " << size[0] << ", " << size[1] << ", " << size[2] << std::endl;*/
+
+
+	/*this->meshOBB->Update();
+	this->meshOBB->PrintSelf(std::cout, vtkIndent(2));*/
+
+	// Register so it exists after deleting the reader
+	this->polyData->Register(nullptr);
+
+	// Compute bounding radius
+	double centerA[3];
+	this->polyData->GetCenter(centerA);
+
+	double bounds[6];
+	this->polyData->GetBounds(bounds);
+
+	boundingRadius =
+		(bounds[1] - centerA[0]) * (bounds[1] - centerA[0]) +
+		(bounds[3] - centerA[1]) * (bounds[3] - centerA[1]) +
+		(bounds[5] - centerA[2]) * (bounds[5] - centerA[2]);
+
+	boundingRadius = sqrt(boundingRadius);
+
+	std::cout << "Mesh " << filename << ", has a bounding radius of: " << boundingRadius << std::endl;
+
+
+	reader->Delete();
+}
+
+// Helper function to transform mesh after reading it in.  Physically moves the mesh to the new transformed position.
+void Mesh::Transform(double xAngle, double yAngle, double zAngle, double shiftX, double shiftY, double shiftZ)
+{
+	vtkNew<vtkTransform> transform;
+	// Shift in Y to overlay tiff (double bounding box center
+	transform->Translate(shiftX, shiftY, shiftZ);
+	transform->RotateX(xAngle);
+	transform->RotateY(yAngle);
+	transform->RotateZ(zAngle);
+
+	vtkNew<vtkTransformPolyDataFilter> transformFilter;
+	transformFilter->SetInputData(this->polyData);
+	transformFilter->SetTransform(transform);
+	transformFilter->Update();
+
+	this->polyData = transformFilter->GetOutput();
+	this->polyData->Register(nullptr);
+}
+
+//Mesh::Mesh(const Mesh& other) {
+//	this->polyData = vtkPolyData::New();
+//	this->polyData->DeepCopy(other.polyData);
+//}
+
+void Mesh::Write(const std::string& filename) const {
+	vtkSTLWriter* writer = vtkSTLWriter::New();
+	writer->SetFileName(filename.c_str());
+	writer->SetInputData(this->polyData);
+	writer->Write();
+	writer->Delete();
+}

libautoscoper/src/Mesh.hpp

@@ -0,0 +1,31 @@
+#pragma once
+#include <string>
+#include <vtkPolyData.h>
+#include <vtkOBBTree.h>
+
+
+class Mesh {
+public:
+
+	Mesh(const std::string& filename);
+	//Mesh(const Mesh&);
+
+
+	vtkPolyData* GetPolyData() const { return this->polyData; }
+
+	void Write(const std::string& filename) const;
+
+  void Mesh::Transform(double xAngle, double yAngle, double zAngle, double shiftX, double shiftY, double shiftZ);
+
+  double getBoundingRadius() const { return boundingRadius; }
+
+  std::string fileName;
+
+private:
+
+    double boundingRadius = 0.0;
+
+    vtkPolyData* polyData;
+    vtkOBBTree* meshOBB;
+
+};