Initial Commit

Assets/Imstk/Scripts/HighLevel/GraspingManager.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 System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace ImstkUnity
+{
+    /// <summary>
+    /// Set ups multiple grasping components, handles grasping and upgrasping
+    /// this set of components. This alleviates the burden to the user to set 
+    /// up multiple grasping components. Plays together with the Grasping Controller
+    /// that handles the User interaction side of making a tool that can grasp, but
+    /// can also be used on its own
+    /// </summary>
+    public class GraspingManager : MonoBehaviour
+    {
+        [Serializable]
+        public struct GraspingData
+        {
+            public bool enabled;
+            public DynamicalModel target;
+            public Grasping.GraspType type;
+        }
+
+        public Rigid rigid;
+        public GeometryFilter graspingGeometry;
+        public List<GraspingData> graspingData = new List<GraspingData>();
+
+        List<Grasping> _graspings = new List<Grasping>();
+        Coroutine _coroutine;
+        
+        public double deformableGraspingStiffness = 0.4;
+        public double rigidGraspingStiffness = 1 / 0.0001;
+        
+        public
+        void Awake()
+        {
+            // These will be created _before_ the simulation manager searches for 
+            // its component and therefor will participate in the norm imstk-unity
+            // discovery
+            foreach (var item in graspingData )
+            {
+                if (item.enabled)
+                {
+                    var grasping = gameObject.AddComponent<Grasping>();
+                    grasping.rigidModel = rigid;
+                    grasping.graspingGeometry = graspingGeometry;
+                    grasping.graspedObject = item.target;
+                    grasping.graspType = item.type;
+                    grasping.deformableGraspingStiffness = deformableGraspingStiffness;
+                    grasping.rigidGraspingStiffness = rigidGraspingStiffness;
+                    _graspings.Add(grasping);
+                }
+            }
+        }
+
+        /// <summary>
+        /// Sets off a corouting to go through all of the graspings that 
+        /// this component created, as it takes a frame to check wether
+        /// a grasp was successful
+        /// </summary>
+        public void StartGrasp()
+        {
+            _coroutine = StartCoroutine(CoroutineGrasp());
+        }
+
+        private IEnumerator CoroutineGrasp()
+        {
+            foreach (var grasp in _graspings)
+            {
+                if (!grasp.enabled) continue;
+
+                // It takes a frame for us to detect if the grasp
+                // has generated constraints, only then do we know
+                // that something has _actually_ been taken
+                grasp.StartGrasp();
+
+                yield return null;
+
+                if (grasp.HasConstraints())
+                {
+                    yield break;
+                }
+            }
+        }
+        public void EndGrasp()
+        {
+            if (_coroutine != null) {
+                StopCoroutine(_coroutine);
+                _coroutine = null;
+            }
+            foreach (var grasp in _graspings)
+            {
+                grasp.EndGrasp();
+            }
+        }
+
+    }
+
+}