Initial Commit

2025-07-04 20:33:06 +03:00
commit 8f09347ae0
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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
+{
+    // \todo: Deprecate this
+    [AddComponentMenu("iMSTK/PbdObjectInteraction")]
+    class PbdObjectInteraction : CollisionInteraction
+    {
+        public override Imstk.SceneObject GetImstkInteraction()
+        {
+            if (model1 == null || model2 == null) { 
+                Debug.LogError("Both models need to be set for interaction on " + gameObject.name);
+                return null;
+            }
+
+            string cdTypeName = collisionTypeName.ToString();
+            if (cdTypeName == StandardCollisionTypes.Auto.ToString())
+            {
+                cdTypeName = CollisionInteraction.GetCDType(model1, model2);
+                if (cdTypeName == "")
+                {
+                    return null;
+                }
+            }
+
+            Deformable pbdModel;
+            if (model1 as Deformable != null)
+            {
+                pbdModel = model1 as Deformable;
+            }
+            else
+            {
+                pbdModel = model2 as Deformable;
+                model2 = model1;
+            }
+
+            if (pbdModel == null)
+            {
+                Debug.LogError("One of the DynamicObjects has to be a PbdModel");
+                return null;
+            }
+
+            Imstk.PbdObjectCollision collision = null;
+            if (model2 is StaticModel)
+            {
+                collision =
+                   new Imstk.PbdObjectCollision(
+                       pbdModel.GetDynamicObject() as Imstk.PbdObject,
+                       model2.GetDynamicObject(),
+                       cdTypeName);
+                collision.setDeformableStiffnessA(deformableStiffness1);
+                collision.setDeformableStiffnessB(deformableStiffness2);
+                collision.setRigidBodyCompliance(rigidBodyCompliance);
+            }
+            else if (model2 is Deformable)
+            {
+                collision =
+                    new Imstk.PbdObjectCollision(
+                        pbdModel.GetDynamicObject() as Imstk.PbdObject,
+                        model2.GetDynamicObject() as Imstk.PbdObject,
+                        cdTypeName);
+                collision.setDeformableStiffnessA(deformableStiffness1);
+                collision.setDeformableStiffnessB(deformableStiffness2);
+                collision.setRigidBodyCompliance(rigidBodyCompliance);
+            }
+            else if (model2 is Rigid)
+            {
+                collision =
+                   new Imstk.PbdObjectCollision(
+                       pbdModel.GetDynamicObject() as Imstk.PbdObject,
+                       model2.GetDynamicObject(),
+                       cdTypeName);
+                collision.setDeformableStiffnessA(deformableStiffness1);
+                collision.setDeformableStiffnessB(deformableStiffness2);
+                collision.setRigidBodyCompliance(rigidBodyCompliance);
+            }
+            else
+            {
+                Debug.LogWarning("Could not find interaction for objects " + pbdModel.gameObject + " & " + model2.gameObject);
+                return null;
+            }
+
+            collision.setFriction(friction);
+            collision.setRestitution(restitution);
+            return collision;
+        }
+    }
+}