Initial Commit

Assets/Imstk/Scripts/StaticModel.cs

@@ -0,0 +1,86 @@
+/*=========================================================================
+
+   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
+{
+    [AddComponentMenu("iMSTK/StaticModel")]
+    /// <summary>
+    /// Use this to represent unmovable rigid objects like the ground plane or other obstacles.
+    /// </summary>
+    public class StaticModel : DynamicalModel
+    {
+        // These filters can accept either imstk or unity geometry input
+        // and output imstk geometry
+        public GeometryFilter visualGeomFilter = null;
+        public GeometryFilter physicsGeomFilter = null;
+        public GeometryFilter collisionGeomFilter = null;
+
+        protected override void OnImstkInit()
+        {
+            imstkObject = InitObject();
+            SimulationManager.sceneManager.getActiveScene().addSceneObject(imstkObject);
+            InitGeometry();
+            Configure();
+        }
+
+        protected override void Configure()
+        {
+            //throw new NotImplementedException();
+        }
+
+        protected override void InitGeometry()
+        {
+            // Setup the collision geometry in its already post transform configuration
+            // as it is a static geometry and will not be transformed
+            // CAVEAT DON'T "REUSE" GeometryFilters in two separate object
+            if (collisionGeomFilter != null)
+            {
+                Imstk.Geometry colGeom = GetCollidingGeometry();
+                Imstk.Mat4d m = transform.localToWorldMatrix.ToMat4d();
+                colGeom.transform(m, Imstk.Geometry.TransformType.ApplyToData);
+                imstkObject.setCollidingGeometry(colGeom);
+            }
+            else
+            {
+                Debug.LogError("No collision geometry provided to DynamicalModel on object " + gameObject.name);
+            }
+        }
+
+        protected override Imstk.CollidingObject InitObject()
+        {
+            return new Imstk.CollidingObject(GetFullName());
+        }
+
+        public override Imstk.Geometry GetVisualGeometry()
+        {
+            return visualGeomFilter.GetOutputGeometry();
+        }
+        public override Imstk.Geometry GetPhysicsGeometry()
+        {
+            return physicsGeomFilter.GetOutputGeometry();
+        }
+        public override Imstk.Geometry GetCollidingGeometry()
+        {
+            return collisionGeomFilter.GetOutputGeometry();
+        }
+    }
+}