Initial Commit

Assets/Imstk/Scripts/Interactions/CollisionInteraction.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 UnityEngine;
+
+namespace ImstkUnity
+{
+    // Still need to manually maintain this list if users want to 
+    // Select an explicit 
+    public enum StandardCollisionTypes
+    {
+        Auto,
+        BidirectionalPlaneToSphereCD,
+        ImplicitGeometryToPointSetCCD,
+        ImplicitGeometryToPointSetCD,
+        MeshToMeshBruteForceCD,
+        PointSetToCapsuleCD,
+        PointSetToOrientedBoxCD,
+        PointSetToPlaneCD,
+        PointSetToSphereCD,
+        SphereToCylinderCD,
+        SphereToSphereCD,
+        SurfaceMeshToCapsuleCD,
+        SurfaceMeshToSphereCD,
+        SurfaceMeshToSurfaceMeshCD,
+        TetraToLineMeshCD,
+        TetraToPointSetCD,
+        UnidirectionalPlaneToSphereCD
+    };
+
+
+
+    /// <summary>
+    /// Convience collision interaction, uses a lot of defaults. If specifics needed
+    /// use the specific subclasses
+    /// </summary>
+    [AddComponentMenu("iMSTK/CollisionInteraction")]
+    public class CollisionInteraction : ImstkInteractionBehaviour
+    {
+        [Obsolete("The collisionType parameter should not be used anymore")]
+        public StandardCollisionTypes collisionType = StandardCollisionTypes.Auto;
+        
+        public string collisionTypeName = "Auto";
+        public DynamicalModel model1;
+        public DynamicalModel model2;
+
+        Imstk.CollisionInteraction interaction;
+
+        public double friction = 0.0;
+        public double restitution = 0.0;
+
+        [Tooltip("A good default value is 1/number of iterations from the simulation manager")]
+        public double deformableStiffness1 = 0.2;
+        [Tooltip("A good default value is 1/number of iterations from the simulation manager")]
+        public double deformableStiffness2 = 0.2;
+        public double rigidBodyCompliance = 0.0001;
+
+        /// <summary>
+        /// Start intentionally empty, including this enables the "enabled" check-box in the 
+        /// editor, allowing the activation/deactivation of this component in the GUI
+        /// </summary>
+        void Start()
+        {
+
+        }
+
+        // Create the Imstk interaction for this collision interaction
+        public override Imstk.SceneObject GetImstkInteraction()
+        {
+            if (interaction != null) return interaction;
+            if (model2 == null || model1 == null)
+            {
+                Debug.LogWarning("Interaction on object " + gameObject.name + " which does not have a DynamicalModel");
+                return null;
+            }
+
+            if (!model1.isActiveAndEnabled || !model2.isActiveAndEnabled || !isActiveAndEnabled)
+            {
+                return null;
+            }
+
+            if (collisionTypeName == "Auto" || collisionTypeName == "")
+            {
+                collisionTypeName = GetCDType(model1, model2);
+                if (collisionTypeName == "")
+                {
+                    return null;
+                }
+                Debug.Log("Using " + collisionTypeName + " for " + ImstkUnity.Utility.GetFullName(model1) + " and " +
+                    ImstkUnity.Utility.GetFullName(model2));
+            }
+
+            // Right now just check for Rigid and Deformable
+            if (model1 is Rigid || model1 is Deformable)
+            {
+                interaction = CreateInteraction(model1, model2);
+            }
+            else if (model2 is Rigid || model2 is Deformable)
+            {
+                interaction = CreateInteraction(model2, model1);
+            }
+
+            if (interaction == null)
+            {
+                Debug.LogWarning("Creating collision between two unsupported types, at least one needs to be a Rigd or Deformable");
+            }
+
+            return interaction;
+        }
+        /// <summary>
+        /// Look up the collision detection type in the iMSTK factory 
+        /// </summary>
+        /// <returns>A string with the deduced collision type, "" otherwise</returns>
+        public static string GetCDType(DynamicalModel model1, DynamicalModel model2)
+        {
+            string result = "";
+
+            if (model1 == null || model2 == null)
+            {
+                Debug.LogWarning("Can't determine collision one of the models is null");
+                return result;
+            }
+
+            Imstk.Geometry geom1 = model1.GetCollidingGeometry();
+            Imstk.Geometry geom2 = model2.GetCollidingGeometry();
+
+            if (geom1 == null)
+            {
+                Debug.LogError("Could not create collision interaction, " +
+                    model1.gameObject.name + "'s DynamicalModel does not contain a collision geometry");
+            }
+            if (geom2 == null)
+            {
+                Debug.LogError("Could not create collision interaction, " +
+                    model2.gameObject.name + "'s DynamicalModel does not contain a collision geometry");
+            }
+
+            result = Imstk.CDObjectFactory.getCDType(geom1, geom2);
+
+            return result;
+        }
+
+        private Imstk.CollisionInteraction CreateInteraction(DynamicalModel model1, DynamicalModel model2)
+        {
+            var pbd = Imstk.Utils.CastTo<Imstk.PbdObject>(model1.GetDynamicObject());
+            Debug.Assert(pbd != null);
+            // At the moment all colliding objects are PBD 
+            // PbdObjectCollision expects first parameter to be PBD, the second parameter
+            // may be any type of CollidingObj
+            Imstk.PbdObjectCollision collision =
+                new Imstk.PbdObjectCollision(
+                    pbd,
+                    model2.GetDynamicObject(),
+                    collisionTypeName);
+
+            // Just configure ALL the parameters
+            collision.setDeformableStiffnessA(deformableStiffness1);
+            collision.setDeformableStiffnessB(deformableStiffness2);
+            collision.setRigidBodyCompliance(rigidBodyCompliance);
+            collision.setFriction(friction);
+            collision.setRestitution(restitution);
+            collision.setUseCorrectVelocity(false);
+
+            Debug.Log("Created collision interaction of type: " + collision.GetType().Name + "for objects " +
+                model1.gameObject.name + " & " + model2.gameObject.name);
+
+            return collision;
+        }
+
+    }
+}