Initial Commit

Assets/Imstk/Scripts/HighLevel/Suturing.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
+{
+    /// <summary>
+    /// High Level interaction that implements suturing. Needs a needle, thread and tissue.
+    /// It will deal with the needle and the tissue collision as well as the needle puncturing
+    /// the tissue and the thread being pulled through the tissue.
+    /// Notes: currently the constraints generated in imstk for the needle/tissue and thread/tissue
+    /// punctures are only one way. This means that no forces will be exterted on the needle as 
+    /// it violates the constraint.
+    /// Additionally there is an assumption in ismtk at the moment that the tip of the needle is
+    /// that _back end_ of the needle mesh.
+    /// </summary>
+    public class Suturing : ImstkBehaviour
+    {
+        public Rigid needle;
+        public Deformable thread;
+        public Deformable tissue;
+        public string activationKey = "s";
+        private bool _activated = false;
+
+        public float needleSurfaceStiffness = 0.5f;
+        public float threadSurfaceStiffness = 0.5f;
+        public float punctureDotThreshold = 0.8f;
+
+        Imstk.NeedleInteraction _needleInteraction;
+
+        protected override void OnImstkInit()
+        {
+            if (needle == null)
+            {
+                Debug.LogError("Needle is null");
+                return;
+            }
+            if (thread == null)
+            {
+                Debug.LogError("Thread is null");
+                return;
+            }
+            if (tissue == null)
+            {
+                Debug.LogError("Tissue is null");
+                return;
+            }
+
+            // Disable if any of the objects are not active
+            if (!needle.isActiveAndEnabled || !thread.isActiveAndEnabled || !tissue.isActiveAndEnabled)
+            {
+                enabled = false;
+                return;
+            }
+
+            // Make sure everything is initialized
+            needle.ImstkInit();
+            thread.ImstkInit();
+            tissue.ImstkInit();
+
+            var needlePbd = Imstk.Utils.CastTo<Imstk.PbdObject>(needle.GetDynamicObject());
+            var threadPbd = Imstk.Utils.CastTo<Imstk.PbdObject>(thread.GetDynamicObject());
+            var tissuePbd = Imstk.Utils.CastTo<Imstk.PbdObject>(tissue.GetDynamicObject());
+
+            if (needlePbd == null || threadPbd == null || tissuePbd == null)
+            {
+                Debug.LogError("Needle, Thread or Tissue do not have a dynamic Object");
+                enabled = false;
+                return;
+            }
+
+            _needleInteraction = new Imstk.NeedleInteraction(tissuePbd, needlePbd, threadPbd);
+
+            var ch = Imstk.Utils.CastTo<Imstk.NeedlePbdCH>(_needleInteraction.getCollisionHandlingAB());
+            if (ch == null)
+            {
+                Debug.LogError("Needle interaction does not have a NeedlePbdCH");
+                enabled = false;
+                return;
+            } else
+            {
+                ch.setNeedleToSurfaceStiffness(needleSurfaceStiffness);
+                ch.setSurfaceToNeedleStiffness(needleSurfaceStiffness);
+                ch.setThreadToSurfaceStiffness(threadSurfaceStiffness);
+                ch.setSurfaceToThreadStiffness(threadSurfaceStiffness);
+                ch.setPunctureDotThreshold(punctureDotThreshold);
+            }
+
+            SimulationManager.sceneManager.getActiveScene().addInteraction(_needleInteraction);
+        }
+
+        public void Pull()
+        {
+            _needleInteraction.stitch();
+        }
+
+        public void Update()
+        {
+            if (!_activated && Input.GetKeyDown(activationKey))
+            {
+                Pull();
+            }
+        }
+        public Imstk.NeedlePbdCH.PunctureData GetPunctureData()
+        {
+            return _needleInteraction.getPunctureData();
+        }
+    }
+}