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SurgSim::Physics Namespace Reference

Classes

class  BuildMlcp
 Build an mlcp from a list of constraints stored in a PhysicsManagerState. More...
 
class  Computation
 Encapsulates a calculation over a selection of objects, needs to be subclassed to be used. More...
 
class  Constraint
 Base class for all physics constraints. Contains data specific to the constraint and a pair of implementations. More...
 
class  ConstraintComponent
 Component class for inserting constraints between physics representations into the scene. More...
 
class  ConstraintData
 Base class for all CosntraintData Derived classes should be specific to a given constraint. More...
 
class  ConstraintImplementation
 Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constraint. More...
 
class  ConstraintImplementationFactory
 This class manages ConstraintImplementations, and can be used to look up the correct implementation by representation and constraint type. More...
 
class  ContactConstraintData
 Class for Frictionless contact (only needs a plane equation) More...
 
class  ContactConstraintGeneration
 Generate a constraint for every contact that was calculated. More...
 
class  DcdCollision
 Computation to determine the contacts between a list of CollisionPairs. More...
 
class  DeformableCollisionRepresentation
 A collision representation that can be attached to a deformable, when this contains a mesh with the same number of vertices as the deformable has nodes, the mesh vertices will move to match the positions of the nodes in the deformable. More...
 
class  DeformableRepresentation
 Base class for all deformable representations MassSprings, Finite Element Models,... More...
 
class  DivisbleCubeRepresentation
 
class  Fem1DElementBeam
 1D FemElement based on a beam volume discretization with a fixed cross section More...
 
class  Fem1DPlyReaderDelegate
 Implementation of PlyReaderDelegate for Fem1DRepresentation. More...
 
class  Fem1DRepresentation
 Finite Element Model 1D is a fem built with 1D FemElement. More...
 
class  Fem1DRepresentationLocalization
 Implementation of Localization for Fem1DRepresentation. More...
 
class  Fem2DElementTriangle
 2D FemElement based on a triangle with a constant thickness More...
 
class  Fem2DPlyReaderDelegate
 Implementation of PlyReaderDelegate for Fem2DRepresentation. More...
 
class  Fem2DRepresentation
 Finite Element Model 2D is a fem built with 2D FemElement. More...
 
class  Fem2DRepresentationLocalization
 Implementation of Localization for Fem2DRepresentation. More...
 
class  Fem3DElementCorotationalTetrahedron
 Fem Element 3D co-rotational based on a tetrahedron volume discretization. More...
 
class  Fem3DElementCube
 Class for Fem Element 3D based on a cube volume discretization. More...
 
class  Fem3DElementTetrahedron
 Class for Fem Element 3D based on a tetrahedron volume discretization. More...
 
class  Fem3DPerformanceTestBase
 
class  Fem3DPlyReaderDelegate
 Implementation of PlyReaderDelegate for Fem3DRepresentation. More...
 
class  Fem3DRepresentation
 Finite Element Model 3D is a fem built with 3D FemElement. More...
 
class  Fem3DRepresentationBilateral3D
 Fem3DRepresentation bilateral 3d constraint implementation. More...
 
class  Fem3DRepresentationContact
 Fem3DRepresentation frictionless contact implementation. More...
 
class  Fem3DRepresentationLocalization
 Implementation of Localization for Fem3DRepresentation. More...
 
struct  Fem3DVSTruthCubeRenderTests
 
class  FemElement
 Base class for all Fem Element (1D, 2D, 3D) It handles the node ids to which it is connected and requires all derived classes to compute the element mass matrix and the force vector along with the derivatives (the stiffness and damping matrices). More...
 
class  FemPlyReaderDelegate
 Common part of implementation of PlyReaderDelegate for FemRepresentations. More...
 
class  FemRepresentation
 Finite Element Model (a.k.a. More...
 
class  FemRepresentationParameters
 The FemRepresentationParameters class defines the physical parameters for all Finite Element Model (1D, 2D, 3D) More...
 
class  FixedRepresentation
 The FixedRepresentation class represents a physics entity without any motion nor compliance against which others physics entities can interact. More...
 
class  FixedRepresentationBilateral3D
 FixedRepresentation bilateral 3d constraint implementation. More...
 
class  FixedRepresentationContact
 FixedRepresentation frictionless contact implementation. More...
 
class  FixedRepresentationLocalization
 This class implement the localization on a FixedRepresentation, as a local position. More...
 
class  FreeMotion
 Apply the Freemotion calcluation to all physics representations. More...
 
class  IntegrationSchemeAndCountParamTest
 
class  IntegrationSchemeParamTest
 
class  LinearSpring
 Linear spring connecting 2 nodes with a viscous term. More...
 
class  Localization
 This class localize a point on a representation (representation specific) More...
 
class  Mass
 
class  MassSpringRepresentation
 MassSpring model is a deformable model (a set of masses connected by springs). More...
 
class  MassSpringRepresentationContact
 MassSpring frictionless contact implementation. More...
 
class  MassSpringRepresentationLocalization
 Implementation of Localization for MassSpringRepresentation. More...
 
class  MlcpMapping
 
struct  MlcpPhysicsProblem
 A description of a physical mixed LCP system to be solved. More...
 
struct  MlcpPhysicsSolution
 The description of a solution to a physical MLCP problem. More...
 
class  PhysicsManager
 PhyicsManager handles the physics and motion calculation, it uses Computations to separate the algorithmic steps into smaller pieces. More...
 
class  PhysicsManagerState
 
class  PostUpdate
 Post Update is called prior to anything else at the beginning of each time step. More...
 
class  PreUpdate
 Pre Update is called after everything else is done in the physics time step. More...
 
class  PushResults
 Propagates the Mlcp result to the representations. More...
 
struct  RenderTests
 
class  Representation
 The Representation class defines the base class for all physics objects. More...
 
class  RigidCollisionRepresentation
 Collision Representation class that wraps a RigidRepresentation, this can be used to strictly tie the Collision Representation to the Rigid, so even if the shape of the rigid changes, the collision representation will use the appropriate shape. More...
 
class  RigidRepresentation
 The RigidRepresentation class defines the dynamic rigid body representation Note that the rigid representation is velocity-based, therefore its degrees of freedom are the linear and angular velocities: 6 Dof. More...
 
class  RigidRepresentationBase
 The RigidRepresentationBase class defines the base class for all rigid motion based representations (fixed, rigid body, rigid body + vtc,...) More...
 
class  RigidRepresentationBilateral3D
 RigidRepresentation bilateral 3d constraint implementation. More...
 
class  RigidRepresentationContact
 RigidRepresentation frictionless contact implementation. More...
 
class  RigidRepresentationLocalization
 This class implement the localization on a RigidRepresentation, as a local position. More...
 
class  RigidRepresentationState
 The RigidRepresentationState class describes a state (position and velocity information). More...
 
class  SolveMlcp
 Solve the system Mixed Linear Complementarity Problem (Mlcp) More...
 
class  Spring
 Base class for all springs It handles the node ids to which it is connected and requires all derived classes to compute the force and its derivatives (the stiffness and damping matrices) A extra method also exist to compute all of them at once for performance purposes. More...
 
struct  TruthCubeData
 
class  TruthCubeRepresentation
 Truth cube representation (extension of a Fem3DRepresentation) Defines a subdivided initial cube with cube FemElements. More...
 
class  UpdateCollisionRepresentations
 Computation that calls the CollisionRepresentations update() function. More...
 
class  VirtualToolCoupler
 The VirtualToolCoupler couples a rigid object to an input/output device through a spring and damper. More...
 

Enumerations

enum  ConstraintSideSign { CONSTRAINT_POSITIVE_SIDE, CONSTRAINT_NEGATIVE_SIDE }
 Enum defining on which side of the constraint an implementation is (positive or negative side) More...
 
enum  ConstraintGroupType { CONSTRAINT_GROUP_TYPE_CONTACT = 0, CONSTRAINT_GROUP_TYPE_SCENE, CONSTRAINT_GROUP_TYPE_COUNT }
 
enum  RepresentationType {
  REPRESENTATION_TYPE_INVALID = -1, REPRESENTATION_TYPE_FIXED = 0, REPRESENTATION_TYPE_RIGID, REPRESENTATION_TYPE_VTC_RIGID,
  REPRESENTATION_TYPE_MASSSPRING, REPRESENTATION_TYPE_FEM1D, REPRESENTATION_TYPE_FEM2D, REPRESENTATION_TYPE_FEM3D,
  REPRESENTATION_TYPE_COUNT
}
 

Functions

 SURGSIM_REGISTER (SurgSim::Framework::Component, SurgSim::Physics::DeformableCollisionRepresentation, DeformableCollisionRepresentation)
 
 SURGSIM_STATIC_REGISTRATION (DeformableCollisionRepresentation)
 
 SURGSIM_REGISTER (SurgSim::Framework::Component, SurgSim::Physics::Fem1DRepresentation, Fem1DRepresentation)
 
 SURGSIM_STATIC_REGISTRATION (Fem1DRepresentation)
 
 SURGSIM_REGISTER (SurgSim::Framework::Component, SurgSim::Physics::Fem2DRepresentation, Fem2DRepresentation)
 
 SURGSIM_STATIC_REGISTRATION (Fem2DRepresentation)
 
 SURGSIM_REGISTER (SurgSim::Framework::Component, SurgSim::Physics::Fem3DRepresentation, Fem3DRepresentation)
 
 SURGSIM_STATIC_REGISTRATION (Fem3DRepresentation)
 
 SURGSIM_REGISTER (SurgSim::Framework::Component, SurgSim::Physics::FixedRepresentation, FixedRepresentation)
 
 SURGSIM_STATIC_REGISTRATION (FixedRepresentation)
 
 TEST_P (IntegrationSchemeParamTest, WoundTest)
 
 TEST_P (IntegrationSchemeAndCountParamTest, CubeTest)
 
 INSTANTIATE_TEST_CASE_P (Fem3DPerformanceTest, IntegrationSchemeParamTest,::testing::Values(SurgSim::Math::INTEGRATIONSCHEME_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_MODIFIED_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_MODIFIED_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_IMPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_IMPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_STATIC, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC, SurgSim::Math::INTEGRATIONSCHEME_RUNGE_KUTTA_4, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4))
 
 INSTANTIATE_TEST_CASE_P (Fem3DPerformanceTest, IntegrationSchemeAndCountParamTest,::testing::Combine(::testing::Values(SurgSim::Math::INTEGRATIONSCHEME_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_MODIFIED_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_MODIFIED_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_IMPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_IMPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_STATIC, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC, SurgSim::Math::INTEGRATIONSCHEME_RUNGE_KUTTA_4, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4),::testing::Values(2, 3, 4, 5, 6, 7, 8)))
 
 TEST_F (RenderTests, SimulatedWoundRenderTest)
 
bool parseTruthCubeData (std::shared_ptr< TruthCubeData > truthCubeData)
 Parsing Truth Cube data from an external file. More...
 
size_t searchForClosestNodeInState (std::shared_ptr< SurgSim::Math::OdeState > state, Vector3d p)
 Search the node in the state that is the closest to a given 3d point This is necessary because the structure of the nodes in the state and in the truth cube is not necessarily matching The state is built with a structure aligned on +X +Y +Z, while the truth cube data are defined along +X +Y -Z and rotated (PI/2 along X) to match Y up, so 3d indices don't match. More...
 
void buildConstrainedSystem (std::shared_ptr< TruthCubeRepresentation > truthCubeRepresentation, SurgSim::Math::Matrix &A, SurgSim::Math::Vector &B)
 Build the constrained system for a given truth cube representation. More...
 
SurgSim::Math::Vector staticSolver (std::shared_ptr< TruthCubeRepresentation > truthCubeRepresentation)
 Using static solver to find the displacement of truth cube. More...
 
void doSimulation (std::shared_ptr< TruthCubeData > truthCubeData, std::shared_ptr< TruthCubeRepresentation > truthCubeRepresentation, double displacement)
 Simulate the truth cube statically with the boundary conditions applied. More...
 
void copySimulationBeadsIntoPointCloud (std::shared_ptr< TruthCubeRepresentation > truthCubeRepresentation, std::shared_ptr< SurgSim::Graphics::OsgPointCloudRepresentation > representation)
 Copy simulation beads data into point cloud. More...
 
void copyExperimentalBeadsIntoPointCloud (std::vector< SurgSim::Math::Vector3d > truthCube, std::shared_ptr< SurgSim::Graphics::OsgPointCloudRepresentation > representation)
 
double analyzeError (std::vector< Vector3d > cubeData, std::shared_ptr< SurgSim::Math::OdeState > state)
 Simple error analysis. More...
 
 TEST_F (Fem3DVSTruthCubeRenderTests, rawDataTest)
 
 TEST_F (Fem3DVSTruthCubeRenderTests, Test5percentsStrain)
 Simulate truth cube with 5% strain (4mm of displacement). More...
 
 TEST_F (Fem3DVSTruthCubeRenderTests, Test12percentsAndHalfStrain)
 Simulate truth cube with 12.5% strain (10mm of displacement). More...
 
 TEST_F (Fem3DVSTruthCubeRenderTests, Test18percentsAndQuarterStrain)
 Simulate truth cube with 18.25% strain (14.6mm of displacement). More...
 
 TEST_F (RenderTests, VisualTestFem1D)
 
 TEST_F (RenderTests, VisualTestFem2D)
 
 TEST_F (RenderTests, VisualTestFem3D)
 
 TEST_F (RenderTests, VisualTestFem3DCorotatioal)
 
 TEST_F (RenderTests, VisualTestMassSprings)
 
 TEST_F (RenderTests, VisualTestFallingRigidBodies)
 
 TEST_F (RenderTests, VisualTestRigidBodiesSlidingOnPlanes)
 
 TEST_F (RenderTests, VisualTestRigidBodiesStacking)
 
 TEST_F (RenderTests, VisualTestRigidBodiesStackingReversed)
 
 SURGSIM_REGISTER (SurgSim::Framework::Component, SurgSim::Physics::RigidCollisionRepresentation, RigidCollisionRepresentation)
 
 SURGSIM_STATIC_REGISTRATION (RigidCollisionRepresentation)
 
 SURGSIM_REGISTER (SurgSim::Framework::Component, SurgSim::Physics::RigidRepresentation, RigidRepresentation)
 
 SURGSIM_STATIC_REGISTRATION (RigidRepresentation)
 
 SURGSIM_REGISTER (SurgSim::Framework::Component, SurgSim::Physics::VirtualToolCoupler, VirtualToolCoupler)
 
 SURGSIM_STATIC_REGISTRATION (VirtualToolCoupler)
 

Enumeration Type Documentation

Enumerator
CONSTRAINT_GROUP_TYPE_CONTACT 
CONSTRAINT_GROUP_TYPE_SCENE 
CONSTRAINT_GROUP_TYPE_COUNT 

Enum defining on which side of the constraint an implementation is (positive or negative side)

Note
A constraint can be seen as C: side0 = side1 <=> C: side0 - side1 = 0
Therefore 1 side will have a positive sign (+1), and 1 side a negative sign (-1)
Enumerator
CONSTRAINT_POSITIVE_SIDE 
CONSTRAINT_NEGATIVE_SIDE 
Enumerator
REPRESENTATION_TYPE_INVALID 
REPRESENTATION_TYPE_FIXED 
REPRESENTATION_TYPE_RIGID 
REPRESENTATION_TYPE_VTC_RIGID 
REPRESENTATION_TYPE_MASSSPRING 
REPRESENTATION_TYPE_FEM1D 
REPRESENTATION_TYPE_FEM2D 
REPRESENTATION_TYPE_FEM3D 
REPRESENTATION_TYPE_COUNT 

Function Documentation

double SurgSim::Physics::analyzeError ( std::vector< Vector3d >  cubeData,
std::shared_ptr< SurgSim::Math::OdeState state 
)

Simple error analysis.

Parameters
cubeDataThe vector of all experimental beads 3d position
stateThe state of the simulated truth cube
Returns
The maximum error measured on each bead (in meter)
void SurgSim::Physics::buildConstrainedSystem ( std::shared_ptr< TruthCubeRepresentation >  truthCubeRepresentation,
SurgSim::Math::Matrix A,
SurgSim::Math::Vector B 
)

Build the constrained system for a given truth cube representation.

Parameters
truthCubeRepresentationThe Fem3D representation of the truth cube
[out]Athe system matrix of size (numDof + numConstraint x numDof + numConstraint)
[out]Bthe system RHS vector of size (numDof + numConstraint)
Note
Each row of the matrix H aims at fixing a node as a boundary condition.
For example, the constraint equation to fix the dof id 1 is in place (no displacement) is:
H(0 1 0 0...0).U(u0 u1 u2 u3...un) = 0 (or desired displacement)
void SurgSim::Physics::copyExperimentalBeadsIntoPointCloud ( std::vector< SurgSim::Math::Vector3d truthCube,
std::shared_ptr< SurgSim::Graphics::OsgPointCloudRepresentation representation 
)
Parameters
truthCubeThe experimental data for the truth cube
representationThe representation of point cloud

Loading the Truth Cube data into point cloud

void SurgSim::Physics::copySimulationBeadsIntoPointCloud ( std::shared_ptr< TruthCubeRepresentation >  truthCubeRepresentation,
std::shared_ptr< SurgSim::Graphics::OsgPointCloudRepresentation representation 
)

Copy simulation beads data into point cloud.

Parameters
truthCubeRepresentationThe simulated truth cube
representationThe representation of point cloud
void SurgSim::Physics::doSimulation ( std::shared_ptr< TruthCubeData >  truthCubeData,
std::shared_ptr< TruthCubeRepresentation >  truthCubeRepresentation,
double  displacement 
)

Simulate the truth cube statically with the boundary conditions applied.

Parameters
truthCubeDataThe truth cube data (this is only useful to adjust the initial data)
truthCubeRepresentationThe truth cube representation
displacementThe displacement to apply along Y on the top layer (compression in meter)
SurgSim::Physics::INSTANTIATE_TEST_CASE_P ( Fem3DPerformanceTest  ,
IntegrationSchemeParamTest  ,
::testing::  ValuesSurgSim::Math::INTEGRATIONSCHEME_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_MODIFIED_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_MODIFIED_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_IMPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_IMPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_STATIC, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC, SurgSim::Math::INTEGRATIONSCHEME_RUNGE_KUTTA_4, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4 
)
SurgSim::Physics::INSTANTIATE_TEST_CASE_P ( Fem3DPerformanceTest  ,
IntegrationSchemeAndCountParamTest  ,
::testing::  Combine::testing::Values(SurgSim::Math::INTEGRATIONSCHEME_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_MODIFIED_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_MODIFIED_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_IMPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_IMPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_STATIC, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC, SurgSim::Math::INTEGRATIONSCHEME_RUNGE_KUTTA_4, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4),::testing::Values(2, 3, 4, 5, 6, 7, 8) 
)
bool SurgSim::Physics::parseTruthCubeData ( std::shared_ptr< TruthCubeData >  truthCubeData)

Parsing Truth Cube data from an external file.

Parameters
truthCubeDataa container of cube data for all strains
Returns
True if the Truth Cube Data is successful loaded, otherwise false
size_t SurgSim::Physics::searchForClosestNodeInState ( std::shared_ptr< SurgSim::Math::OdeState state,
Vector3d  p 
)

Search the node in the state that is the closest to a given 3d point This is necessary because the structure of the nodes in the state and in the truth cube is not necessarily matching The state is built with a structure aligned on +X +Y +Z, while the truth cube data are defined along +X +Y -Z and rotated (PI/2 along X) to match Y up, so 3d indices don't match.

SurgSim::Math::Vector SurgSim::Physics::staticSolver ( std::shared_ptr< TruthCubeRepresentation >  truthCubeRepresentation)

Using static solver to find the displacement of truth cube.

Parameters
truthCubeRepresentationThe Fem3D representation of truth cube
Returns
the vector of displacement for each dof (degree of freedom)
SurgSim::Physics::SURGSIM_REGISTER ( SurgSim::Framework::Component  ,
SurgSim::Physics::FixedRepresentation  ,
FixedRepresentation   
)
SurgSim::Physics::SURGSIM_REGISTER ( SurgSim::Framework::Component  ,
SurgSim::Physics::RigidCollisionRepresentation  ,
RigidCollisionRepresentation   
)
SurgSim::Physics::SURGSIM_REGISTER ( SurgSim::Framework::Component  ,
SurgSim::Physics::DeformableCollisionRepresentation  ,
DeformableCollisionRepresentation   
)
SurgSim::Physics::SURGSIM_REGISTER ( SurgSim::Framework::Component  ,
SurgSim::Physics::RigidRepresentation  ,
RigidRepresentation   
)
SurgSim::Physics::SURGSIM_REGISTER ( SurgSim::Framework::Component  ,
SurgSim::Physics::VirtualToolCoupler  ,
VirtualToolCoupler   
)
SurgSim::Physics::SURGSIM_REGISTER ( SurgSim::Framework::Component  ,
SurgSim::Physics::Fem2DRepresentation  ,
Fem2DRepresentation   
)
SurgSim::Physics::SURGSIM_REGISTER ( SurgSim::Framework::Component  ,
SurgSim::Physics::Fem1DRepresentation  ,
Fem1DRepresentation   
)
SurgSim::Physics::SURGSIM_REGISTER ( SurgSim::Framework::Component  ,
SurgSim::Physics::Fem3DRepresentation  ,
Fem3DRepresentation   
)
SurgSim::Physics::SURGSIM_STATIC_REGISTRATION ( FixedRepresentation  )
SurgSim::Physics::SURGSIM_STATIC_REGISTRATION ( RigidCollisionRepresentation  )
SurgSim::Physics::SURGSIM_STATIC_REGISTRATION ( Fem1DRepresentation  )
SurgSim::Physics::SURGSIM_STATIC_REGISTRATION ( Fem2DRepresentation  )
SurgSim::Physics::SURGSIM_STATIC_REGISTRATION ( RigidRepresentation  )
SurgSim::Physics::SURGSIM_STATIC_REGISTRATION ( Fem3DRepresentation  )
SurgSim::Physics::SURGSIM_STATIC_REGISTRATION ( VirtualToolCoupler  )
SurgSim::Physics::SURGSIM_STATIC_REGISTRATION ( DeformableCollisionRepresentation  )
SurgSim::Physics::TEST_F ( RenderTests  ,
SimulatedWoundRenderTest   
)
SurgSim::Physics::TEST_F ( RenderTests  ,
VisualTestFem1D   
)
SurgSim::Physics::TEST_F ( RenderTests  ,
VisualTestFem3DCorotatioal   
)
SurgSim::Physics::TEST_F ( RenderTests  ,
VisualTestFallingRigidBodies   
)
SurgSim::Physics::TEST_F ( RenderTests  ,
VisualTestFem3D   
)
SurgSim::Physics::TEST_F ( RenderTests  ,
VisualTestFem2D   
)
SurgSim::Physics::TEST_F ( RenderTests  ,
VisualTestRigidBodiesSlidingOnPlanes   
)
SurgSim::Physics::TEST_F ( RenderTests  ,
VisualTestMassSprings   
)
SurgSim::Physics::TEST_F ( RenderTests  ,
VisualTestRigidBodiesStacking   
)
SurgSim::Physics::TEST_F ( RenderTests  ,
VisualTestRigidBodiesStackingReversed   
)
SurgSim::Physics::TEST_F ( Fem3DVSTruthCubeRenderTests  ,
rawDataTest   
)
SurgSim::Physics::TEST_F ( Fem3DVSTruthCubeRenderTests  ,
Test5percentsStrain   
)

Simulate truth cube with 5% strain (4mm of displacement).

Displacement of the top layer for this setup

Run the thread

SurgSim::Physics::TEST_F ( Fem3DVSTruthCubeRenderTests  ,
Test12percentsAndHalfStrain   
)

Simulate truth cube with 12.5% strain (10mm of displacement).

Displacement of the top layer for this setup

Run the thread

SurgSim::Physics::TEST_F ( Fem3DVSTruthCubeRenderTests  ,
Test18percentsAndQuarterStrain   
)

Simulate truth cube with 18.25% strain (14.6mm of displacement).

Displacement of the top layer for this setup

Run the thread

SurgSim::Physics::TEST_P ( IntegrationSchemeParamTest  ,
WoundTest   
)
SurgSim::Physics::TEST_P ( IntegrationSchemeAndCountParamTest  ,
CubeTest   
)