iMSTK: imstk::SignedDistanceField Class Reference

Structured field of signed distances implemented with ImageData The SDF differs in that when you scale an image via its spacing the distance samples are then wrong. Here you can isotropically scale as you wish. More...

#include <imstkSignedDistanceField.h>

Inheritance diagram for imstk::SignedDistanceField:

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Collaboration diagram for imstk::SignedDistanceField:

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Public Member Functions
	SignedDistanceField (std::shared_ptr< ImageData > imageData)
	Constructor. More...

double	getFunctionValue (const Vec3d &pos) const
	Returns signed distance to surface at pos, returns clamped/nearest if out of bounds.

double	getFunctionValueCoord (const Vec3i &coord) const
	Returns signed distance to surface at coordinate inlined for performance.

const Vec6d &	getBounds () const
	Returns the bounds of the field.

void	setScale (const double scale)
	Set the isotropic scale that is used/multplied with samples.

double	getScale () const
	Get the isotropic scale.

std::shared_ptr< ImageData >	getImage () const
	Get the SDF as a float image.

void	computeBoundingBox (Vec3d &min, Vec3d &max, const double paddingPercent) override
	Compute the bounding box for the geometry. More...

std::unique_ptr< SignedDistanceField >	clone ()
	Polymorphic clone, hides the declaration in superclass return own type.

Public Member Functions inherited from imstk::Geometry
	Geometry (const Geometry &other)

void	operator= (const Geometry &other)

virtual const std::string	getTypeName () const =0
	Returns the string representing the type name of the geometry. More...

	SIGNAL (Geometry, modified)

virtual void	print () const
	Print.

virtual double	getVolume ()
	Returns the volume of the geometry (if valid)

virtual Vec3d	getCenter ()
	Returns the bounding box center.

void	transform (const Mat4d &T, TransformType type=TransformType::ConcatenateToTransform)
	Applies a rigid transform to the geometry.

std::unique_ptr< Geometry >	clone ()
	polymorphic clone function, utilize this to get a copy of the geometry without casting to the expected geometry type

const std::string &	getName () const
	Get the name of the geometry.

void	setName (const std::string &name)

size_t	getGlobalId () const
	Get the global (unique) index of the geometry.

virtual bool	isMesh () const
	Returns true if the geometry is a mesh, else returns false.

void	postModified ()
	Post modified event.

virtual void	updatePostTransformData () const

void	translate (const Vec3d &t, TransformType type=TransformType::ConcatenateToTransform)
	Translate the geometry in Cartesian space.

void	translate (double x, double y, double z, TransformType type=TransformType::ConcatenateToTransform)

void	rotate (const Quatd &q, TransformType type=TransformType::ConcatenateToTransform)
	Rotate the geometry in Cartesian space.

void	rotate (const Mat3d &m, TransformType type=TransformType::ConcatenateToTransform)

void	rotate (const Vec3d &axis, double radians, TransformType type=TransformType::ConcatenateToTransform)

void	scale (const Vec3d &scaling, TransformType type=TransformType::ConcatenateToTransform)
	Scale in Cartesian directions.

void	scale (const double scaling, TransformType type=TransformType::ConcatenateToTransform)

Vec3d	getTranslation () const
	Get/Set translation.

void	setTranslation (const Vec3d &t)

void	setTranslation (const double x, const double y, const double z)

Mat3d	getRotation () const
	Get/Set rotation.

void	setRotation (const Mat3d &m)

void	setRotation (const Quatd &q)

void	setRotation (const Vec3d &axis, const double angle)

Vec3d	getScaling () const
	Get/Set scaling.

void	setScaling (const Vec3d &s)

void	setScaling (const double s)

const Mat4d &	getTransform () const
	Get/Set the transform.

void	setTransform (const Mat4d &m)

Public Member Functions inherited from imstk::EventObject
template<typename T >
void	postEvent (const T &e)
	Emits the event Direct observers will be immediately called, in sync Queued observers will receive the Command in their queue for later execution, reciever must implement doEvent.

template<typename T >
void	queueEvent (const T &e)
	Queues event directly to this.

void	doEvent ()
	Do an event, if none exists return.

void	doAllEvents ()
	Do all the events in the event queue.

void	foreachEvent (std::function< void(Command cmd)> func)
	Thread safe loop over all event commands, one can implement a custom handler.

void	rforeachEvent (std::function< void(Command cmd)> func)
	thread safe reverse loop over all event commands, one can implement a custom handler

void	clearEvents ()
	Removes all events from queue cleans up copies of the event.

Protected Attributes
std::shared_ptr< ImageData >	m_imageDataSdf

Vec3d	m_invSpacing

Vec6d	m_bounds

Vec3d	m_shift

double	m_scale

std::shared_ptr< DataArray< double > >	m_scalars

Protected Attributes inherited from imstk::Geometry
bool	m_transformApplied = true

bool	m_boundsDirty = true

Mat4d	m_transform = Mat4d::Identity()
	Transformation matrix.

size_t	m_globalId
	Unique ID assigned to each geometry upon construction.

std::string	m_name = "unnamed"

Protected Attributes inherited from imstk::EventObject
ParallelUtils::SpinLock	eventQueueLock

std::deque< Command >	eventQueue

std::vector< std::pair< std::string, std::vector< Observer > > >	queuedObservers

std::vector< std::pair< std::string, std::vector< Observer > > >	directObservers

Additional Inherited Members
Public Types inherited from imstk::Geometry
enum	TransformType { ApplyToData, ConcatenateToTransform }
	Enumeration for the transformation to apply ApplyToTransform to apply the transformation to the data ConcatenateToTransform to apply the transformation to the transform matrix.

enum	DataType { PreTransform, PostTransform }
	Enumeration for the data to retrieve PreTransform for data where transform matrix is not applied PostTransform for data where transform matrix is applied.

Public Types inherited from imstk::EventObject
using	Observer = std::tuple< bool, std::weak_ptr< EventObject >, std::function< void(Event *)> >

Static Public Member Functions inherited from imstk::Geometry
static size_t	getNumGlobalIds ()
	Get number of ids/geometries.

Protected Member Functions inherited from imstk::Geometry
virtual void	applyTransform (const Mat4d &)
	Directly apply transform to data.

Static Protected Member Functions inherited from imstk::Geometry
static size_t	getUniqueId ()
	Get a unique ID for the new generated geometry object.

Static Protected Attributes inherited from imstk::Geometry
static std::atomic< size_t >	s_numGlobalIds = { 0 }
	Total number of geometries that have been created in this program.