Initial Commit

Assets/Imstk/Scripts/Geometry/Capsule.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
+{
+    public class Capsule : Geometry
+    {
+        public Vector3 center = Vector3.zero;
+        public float radius = 0.5f;
+        public Quaternion orientation = Quaternion.identity;
+        public float length = 1.0f;
+
+        public Capsule()
+        {
+            geomType = GeometryType.Capsule;
+        }
+
+        public Vector3 GetTransformedCenter(Transform transform)
+        {
+            return transform.TransformPoint(center);
+        }
+
+        public Quaternion GetTransformedOrientation(Transform transform)
+        {
+            return orientation * transform.rotation;
+        }
+
+        public Mesh GetMesh()
+        {
+            Imstk.Capsule geom = this.ToImstkGeometry() as Imstk.Capsule;
+            Imstk.SurfaceMesh surfMesh = Imstk.Utils.toSurfaceMesh(geom);
+            return surfMesh.ToMesh();
+        }
+    }
+}