Initial Commit

2025-07-04 20:33:06 +03:00
commit 8f09347ae0
9219 changed files with 2447903 additions and 0 deletions
@@ -0,0 +1,129 @@
+using ImstkUnity;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEditor;
+using UnityEngine;
+
+namespace ImstkEditor
+{
+    [CustomEditor(typeof(GraspingManager))]
+    public class GraspingManagerEditor : Editor
+    {
+        bool _folded = true;
+        Rigid _rigid;
+        GeometryFilter _graspingGeometry;
+        List<GraspingManager.GraspingData> _graspingData;
+
+        List<DynamicalModel> _allDeformables = new List<DynamicalModel>();
+
+        GUIContent _warning;
+
+        double _deformableGraspingStiffness;
+        double _rigidGraspingStiffness;
+
+        GraspingManagerEditor()
+        {
+            EditorApplication.hierarchyChanged += OnHierarchyChanged;
+        }
+
+        private void OnHierarchyChanged()
+        {
+            _allDeformables = (Resources.FindObjectsOfTypeAll(typeof(DynamicalModel)) as DynamicalModel[]).ToList<DynamicalModel>();
+        }
+
+        public override void OnInspectorGUI()
+        {
+            if (_allDeformables.Count == 0) OnHierarchyChanged();
+
+            var script = target as GraspingManager;
+            EditorGUI.BeginChangeCheck();
+            EditorGUILayout.BeginHorizontal();
+            _rigid = EditorGUILayout.ObjectField("Grasping Object", 
+                script.rigid, typeof(ImstkUnity.Rigid), true) as ImstkUnity.Rigid;
+            if (script.rigid == null)
+            {
+                _warning = EditorGUIUtility.IconContent("Error", "|Grasping Object Can't be null");
+                EditorGUILayout.LabelField(_warning, GUILayout.Width(_warning.image.width));
+            }
+            EditorGUILayout.EndHorizontal();
+            _graspingGeometry = EditorGUILayout.ObjectField("Grasping Geometry (Optional)", 
+                script.graspingGeometry, typeof(GeometryFilter), true) as GeometryFilter;
+
+            GUILayout.BeginVertical(EditorStyles.helpBox);
+
+            _deformableGraspingStiffness = EditorGUILayout.DoubleField("Deformable Grasping Stiffness", script.deformableGraspingStiffness);
+            _rigidGraspingStiffness = EditorGUILayout.DoubleField("Rigid Grasping Stiffness", script.rigidGraspingStiffness);
+
+            GUILayout.EndVertical();
+            // Maybe this is something we should do for all imstk components 
+            // as we can't edit them during runtime anyway
+            if (_rigid != null && !Application.isPlaying)
+            {
+                // Takes up a lot of resources when playing, just don't execute 
+                HandleGraspingData(script);
+                UpdateScript(script);
+            }
+            else
+            {
+                EditorGUI.EndChangeCheck();
+            }
+        }
+
+        private void UpdateScript(GraspingManager script)
+        {
+            if (EditorGUI.EndChangeCheck())
+            {
+                Undo.RegisterCompleteObjectUndo(script, "Change of Parameters");
+                script.rigid = _rigid;
+                script.graspingGeometry = _graspingGeometry;
+                script.graspingData = new List<GraspingManager.GraspingData>(_graspingData);
+                script.deformableGraspingStiffness = _deformableGraspingStiffness;
+                script.rigidGraspingStiffness = _rigidGraspingStiffness;
+            }
+        }
+
+        private void HandleGraspingData(GraspingManager script)
+        {
+            // if there aren't any items to grasp, make sure ...
+            if (_allDeformables.Count == 0) OnHierarchyChanged();
+
+            _graspingData = new List<GraspingManager.GraspingData>(script.graspingData);
+
+            foreach (var item in _allDeformables)
+            {
+                if (item is StaticModel || item == _rigid) continue;
+
+                if (_graspingData.FindIndex(x => x.target == item) < 0)
+                {
+                    GraspingManager.GraspingData graspingData = new GraspingManager.GraspingData();
+                    graspingData.enabled = false;
+                    graspingData.type = Grasping.GraspType.Cell;
+                    graspingData.target = item;
+                    _graspingData.Add(graspingData);
+                }
+            }
+
+            // Remove stale Objects
+            _graspingData.RemoveAll(x => !_allDeformables.Contains(x.target));
+
+            _folded = EditorGUILayout.Foldout(_folded, "Graspable Objects");
+            if (_folded)
+            {
+                EditorGUILayout.BeginVertical();
+                for (int i = 0; i < _graspingData.Count; ++i)
+                {
+                    var item = _graspingData[i];
+                    EditorGUILayout.BeginHorizontal();
+                    item.enabled = EditorGUILayout.Toggle(item.enabled, GUILayout.Width(20));
+                    EditorGUI.BeginDisabledGroup(!item.enabled);
+                    EditorGUILayout.LabelField(item.target.name);
+                    item.type = (Grasping.GraspType)EditorGUILayout.EnumPopup(item.type);
+                    EditorGUI.EndDisabledGroup();
+                    EditorGUILayout.EndHorizontal();
+                    _graspingData[i] = item;
+                }
+                EditorGUILayout.EndVertical();
+            }
+        }
+    }
+}