text: /*=========================================================================
  
     Library: iMSTK
  
     Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
     & Imaging in Medicine, Rensselaer Polytechnic Institute.
  
     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
     You may obtain a copy of the License at
  
        http://www.apache.org/licenses/LICENSE-2.0.txt
  
     Unless required by applicable law or agreed to in writing, software
     distributed under the License is distributed on an "AS IS" BASIS,
     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
     See the License for the specific language governing permissions and
     limitations under the License.
  
  =========================================================================*/
  
  #include "imstkCamera.h"
  #include "imstkCylinder.h"
  #include "imstkKeyboardSceneControl.h"
  #include "imstkDirectionalLight.h"
  #include "imstkLogger.h"
  #include "imstkMouseSceneControl.h"
  #include "imstkNew.h"
  #include "imstkOrientedBox.h"
  #include "imstkPlane.h"
  #include "imstkSurfaceMesh.h"
  #include "imstkMeshIO.h"
  #include "imstkRenderMaterial.h"
  #include "imstkScene.h"
  #include "imstkSceneManager.h"
  #include "imstkSceneObject.h"
  #include "imstkSimulationManager.h"
  #include "imstkVisualModel.h"
  #include "imstkVTKViewer.h"
  
  using namespace imstk;
  
  ///
  /// \brief This example demonstrates the geometry transforms in imstk
  ///
  int
  main()
  {
      // Setup logger (write to file and stdout)
      Logger::startLogger();
  
      imstkNew<Scene> scene("GeometryTransforms");
  
      // Create object and add to scene
      auto SurfaceMesh = std::dynamic_pointer_cast<imstk::SurfaceMesh>(MeshIO::read(iMSTK_DATA_ROOT "/asianDragon/asianDragon.obj"));
      auto sceneObj    = std::make_shared<SceneObject>("Dragon");
      sceneObj->setVisualGeometry(SurfaceMesh);
      scene->addSceneObject(sceneObj);
  
      auto surfaceMesh = sceneObj->getVisualGeometry();
      surfaceMesh->scale(5.0, Geometry::TransformType::ConcatenateToTransform);
  
      //  Plane
      imstkNew<Plane> planeGeom;
      planeGeom->scale(80.0, Geometry::TransformType::ConcatenateToTransform);
      planeGeom->translate(0.0, -20.0, 0.0, Geometry::TransformType::ConcatenateToTransform);
      planeGeom->rotate(Vec3d(0.0, 1.0, 0.0), PI_4, Geometry::TransformType::ConcatenateToTransform);
  
      imstkNew<RenderMaterial> planeMaterial;
      planeMaterial->setDisplayMode(RenderMaterial::DisplayMode::WireframeSurface);
      planeMaterial->setPointSize(6.0);
      planeMaterial->setLineWidth(4.0);
      imstkNew<VisualModel> planeVisualModel;
      planeVisualModel->setGeometry(planeGeom);
      planeVisualModel->setRenderMaterial(planeMaterial);
  
      imstkNew<SceneObject> planeObj("Plane");
      planeObj->addVisualModel(planeVisualModel);
      scene->addSceneObject(planeObj);
  
      //  Cube
      imstkNew<OrientedBox> cubeGeom;
      cubeGeom->setExtents(5.0, 5.0, 5.0);
      cubeGeom->scale(0.5, Geometry::TransformType::ConcatenateToTransform);
      cubeGeom->rotate(Vec3d(1.0, 1.0, 0.0), PI_4, Geometry::TransformType::ApplyToData);
      cubeGeom->translate(Vec3d(0.0, 0.0, 10.0));
  
      auto                     materialCube = std::make_shared<RenderMaterial>();
      imstkNew<RenderMaterial> redMaterial;
      redMaterial->setColor(Color::Red);
      redMaterial->setDisplayMode(RenderMaterial::DisplayMode::WireframeSurface);
      redMaterial->setPointSize(6.0);
      redMaterial->setLineWidth(4.0);
      imstkNew<VisualModel> cubeVisualModel;
      cubeVisualModel->setGeometry(cubeGeom);
      cubeVisualModel->setRenderMaterial(redMaterial);
  
      imstkNew<SceneObject> cubeObj("Cube");
      cubeObj->addVisualModel(cubeVisualModel);
      scene->addSceneObject(cubeObj);
  
      //  Cylinder
      imstkNew<Cylinder> cylinderGeom;
      cylinderGeom->setRadius(4.0);
      cylinderGeom->setLength(12.0);
      cylinderGeom->scale(0.4, Geometry::TransformType::ConcatenateToTransform);
      cylinderGeom->rotate(Vec3d(1.0, 1.0, 0), PI_2, Geometry::TransformType::ApplyToData);
      cylinderGeom->translate(Vec3d(0.0, 0.0, -10.0));
  
      imstkNew<VisualModel> cylVisualModel;
      cylVisualModel->setGeometry(cylinderGeom);
      cylVisualModel->setRenderMaterial(redMaterial);
  
      imstkNew<SceneObject> cylObj("Cylinder");
      cylObj->addVisualModel(cylVisualModel);
      scene->addSceneObject(cylObj);
  
      // Set Camera configuration
      scene->getActiveCamera()->setPosition(Vec3d(0.0, 30.0, 30.0));
  
      // Light
      imstkNew<DirectionalLight> light;
      light->setDirection(Vec3d(5.0, -8.0, -5.0));
      light->setIntensity(1.0);
      scene->addLight("light", light);
  
      // Run the simulation
      {
          // Setup a viewer to render in its own thread
          imstkNew<VTKViewer> viewer;
          viewer->setActiveScene(scene);
  
          // Setup a scene manager to advance the scene in its own thread
          imstkNew<SceneManager> sceneManager;
          sceneManager->setActiveScene(scene);
  
          imstkNew<SimulationManager> driver;
          driver->addModule(viewer);
          driver->addModule(sceneManager);
  
          // Rotate after every scene update
          connect<Event>(sceneManager, &SceneManager::postUpdate,
              [&](Event*)
              {
                  surfaceMesh->rotate(Vec3d(1.0, 0.0, 0.0), PI * sceneManager->getDt());
                  surfaceMesh->postModified();
          });
  
          // Add mouse and keyboard controls to the viewer
          {
              imstkNew<MouseSceneControl> mouseControl(viewer->getMouseDevice());
              mouseControl->setSceneManager(sceneManager);
              viewer->addControl(mouseControl);
  
              imstkNew<KeyboardSceneControl> keyControl(viewer->getKeyboardDevice());
              keyControl->setSceneManager(sceneManager);
              keyControl->setModuleDriver(driver);
              viewer->addControl(keyControl);
          }
  
          driver->start();
      }
  
      return 0;
  }
  