Initial Commit

Assets/Imstk/Scripts/Editor/RigidEditor.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 ImstkUnity;
+using UnityEngine;
+using UnityEditor;
+using Imstk;
+
+namespace ImstkEditor
+{
+    [CustomEditor(typeof(Rigid))]
+    class RigidEditor : DynamicalModelEditor
+    {
+        GeometryFilter _physicsGeometryFilter;
+        bool _drawPhysicsGeometry = false;
+
+        GeometryFilter _collisionGeometryFilter;
+        bool _drawCollisionGeometry = false;
+
+        bool _bodyDamping = false;
+        double _linearDampingCoeff = 0.0;
+        double _angularDampingCoeff = 0.0;
+
+        readonly GUIContent _debugContent = new GUIContent("","Draw debug mesh");
+        readonly GUILayoutOption _checkBoxWidth = GUILayout.Width(20);
+        public override void OnInspectorGUI()
+        {
+            Rigid script = target as Rigid;
+            EditorGUI.BeginChangeCheck();
+
+            EditorGUILayout.BeginHorizontal();
+            _physicsGeometryFilter = EditorUtils.GeomFilterField("Physics Geometry", script.physicsGeomFilter);
+            _drawPhysicsGeometry = EditorGUILayout.Toggle(_debugContent, script.drawPhysicsGeometry, _checkBoxWidth);
+            EditorGUILayout.EndHorizontal();
+
+            EditorGUILayout.BeginHorizontal();
+            _collisionGeometryFilter = EditorUtils.GeomFilterField("Collision Geometry", script.collisionGeomFilter);
+            _drawCollisionGeometry = EditorGUILayout.Toggle(_debugContent, script.drawCollisionGeometry, _checkBoxWidth);
+            EditorGUILayout.EndHorizontal();
+
+            GUILayout.BeginVertical(EditorStyles.helpBox);
+            double mass = EditorGUILayout.DoubleField("Mass", script.mass);
+            if (mass < 0.0)
+            {
+                Debug.LogWarning("Mass cannot be negative!");
+                mass = 0.0;
+            }
+            GUILayout.EndVertical();
+
+            GUILayout.BeginVertical(EditorStyles.helpBox);
+            GUILayout.Label("Inertia Tensor");
+            Vector3 inertiaRow1 = EditorGUILayout.Vector3Field("", script.inertia[0]);
+            Vector3 inertiaRow2 = EditorGUILayout.Vector3Field("", script.inertia[1]);
+            Vector3 inertiaRow3 = EditorGUILayout.Vector3Field("", script.inertia[2]);
+            GUILayout.EndVertical();
+
+            var ignoreGravity = EditorGUILayout.Toggle("Ignore Gravity", script.ignoreGravity);
+
+            GUILayout.BeginVertical(EditorStyles.helpBox);
+            _bodyDamping = EditorGUILayout.Toggle("Use Body Damping", script.useBodyDamping);
+            if (_bodyDamping)
+            {
+                _linearDampingCoeff = EditorGUILayout.Slider("Linear Damping Coeff", (float)script.linearDampingCoeff, 0, 1);
+                _angularDampingCoeff = EditorGUILayout.Slider("Angular Damping Coeff", (float)script.angularDampingCoeff, 0, 1);
+            }
+            GUILayout.EndVertical();
+
+            //          Need to update PbdBody class to better support this when accessing it through the wrapper
+            //             GUILayout.BeginVertical(EditorStyles.helpBox);
+            //             Vector3 initVel = EditorGUILayout.Vector3Field("Initial Linear Velocity", script.initVelocity);
+            //             Vector3 initAngularVel = EditorGUILayout.Vector3Field("Initial Angular Velocity", script.initAngularVelocity);
+            //             GUILayout.EndVertical();
+            // 
+            //             GUILayout.BeginVertical(EditorStyles.helpBox);
+            //             Vector3 initForce = EditorGUILayout.Vector3Field("Initial Force", script.initForce);
+            //             Vector3 initTorque = EditorGUILayout.Vector3Field("Initial Torque", script.initTorque);
+            //             GUILayout.EndVertical();
+
+            if (EditorGUI.EndChangeCheck())
+            {
+                Undo.RegisterCompleteObjectUndo(script, "Change of Parameters");
+                
+                script.physicsGeomFilter = _physicsGeometryFilter;
+                script.drawPhysicsGeometry = _drawPhysicsGeometry;
+
+                script.collisionGeomFilter = _collisionGeometryFilter;
+                script.drawCollisionGeometry = _drawCollisionGeometry;
+
+                script.mass = mass;
+                script.inertia[0] = inertiaRow1;
+                script.inertia[1] = inertiaRow2;
+                script.inertia[2] = inertiaRow3;
+
+                script.ignoreGravity = ignoreGravity;
+
+                script.useBodyDamping = _bodyDamping;
+                script.linearDampingCoeff = _linearDampingCoeff;
+                script.angularDampingCoeff = _angularDampingCoeff;
+
+
+                //                 script.initVelocity = initVel;
+                //                 script.initAngularVelocity = initAngularVel;
+                //                 script.initForce = initForce;
+                //                 script.initTorque = initTorque;
+            }
+
+            base.HandleColliders(script);
+
+        }
+
+        [DrawGizmo(GizmoType.Selected | GizmoType.Active)]
+        public static void DrawRigidGizmo(Rigid rigid, GizmoType gizmoType)
+        {
+            var dyn = rigid.GetDynamicObject();
+            var pbdObj = Imstk.Utils.CastTo<PbdObject>(dyn);
+            if (pbdObj != null)
+            {
+                if (rigid.drawCollisionGeometry)
+                {
+                    DrawGeometryGizmo(pbdObj.getCollidingGeometry());
+                }
+                if (rigid.drawPhysicsGeometry)
+                {
+                    DrawGeometryGizmo(pbdObj.getPhysicsGeometry());
+                }
+            }
+        }
+
+        public static void DrawGeometryGizmo(Imstk.Geometry geom)
+        {
+            var pointSet = Imstk.Utils.CastTo<PointSet>(geom);
+            if (pointSet != null)
+            {
+                ImstkGizmos.DrawMesh(pointSet, UnityEngine.Color.red);
+            }
+        }
+    }
+}