Initial Commit

Assets/Imstk/Scripts/DynamicalModel.cs

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+/*=========================================================================
+
+   Library: iMSTK-Unity
+
+   Copyright (c) Kitware, Inc. 
+
+   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.
+
+=========================================================================*/
+
+using UnityEngine;
+
+namespace ImstkUnity
+{
+    [RequireComponent(typeof(Transform))]
+    public abstract class DynamicalModel : ImstkBehaviour
+    {
+        // HS 20221220 Need to figure out what we need at this level
+        // - What is common setup, what can just move into Deformable/Rigid
+        // - What distinguishes an object that can collied to one that doesn't (this is 
+        //   needed for setting up the collision handling object)
+
+        // Components
+        protected MeshFilter meshFilter = null;
+
+        protected Imstk.CollidingObject imstkObject;
+
+        // Indicates that geometry changes may happen as opposed to just
+        // position changes
+        // If true update needs to refresh vertex and triangle indices rather
+        // than just copying positions
+        public bool dynamicGeometry = false;
+
+        // Tells the object to ignore the global gravity parameter
+        public bool ignoreGravity = false;
+
+        /// <summary>
+        /// Get the pointer to the object in c (not available until after initialize)
+        /// </summary>
+        /// <returns></returns>
+        public Imstk.CollidingObject GetDynamicObject() { return imstkObject; }
+
+        // NOTE HS 20221220 Refactor readonly properties, initialize in each object 
+        public abstract Imstk.Geometry GetVisualGeometry();
+        public abstract Imstk.Geometry GetPhysicsGeometry();
+        public abstract Imstk.Geometry GetCollidingGeometry();
+
+        protected abstract Imstk.CollidingObject InitObject();
+
+        protected abstract void Configure();
+
+        /// <summary>
+        /// Each subclassed model may *apply* boundary conditions differently
+        /// </summary>
+        /// <param name="conditions">All the conditions to be processed</param>
+        protected virtual void ProcessBoundaryConditions(BoundaryCondition[] conditions) { }
+
+        protected abstract void InitGeometry();
+    };
+}