Initial Commit

Assets/Imstk/Scripts/Utility/AccumulatingBuffer.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.
+
+=========================================================================*/
+
+namespace ImstkUnity
+{
+    /// <summary>
+    /// Class to maintain a simple ring buffer for accumulating data, the buffer 
+    /// maintains the sum of the data as well for fast average calculation.
+    /// The size can be determined at initialization.
+    /// Used to keep track of timing and performance data outside of the profiler
+    /// </summary>
+    public class AccumulatingBuffer
+    {
+        private float[] _data;
+        private int _length;
+        private int _current = 0;
+        private float _sum = 0;
+
+        public int Length
+        {
+            get { return _length; }
+        }
+
+        public float Average
+        {
+            get { return _sum / _length; }
+        }
+
+        public AccumulatingBuffer(int size)
+        {
+            _data = new float[size];
+            for (int i = 0; i < _length; ++i)
+            {
+                _data[i] = 0;
+            }
+            _length = size;
+        }
+
+        public void Push(float val)
+        {
+            _sum -= _data[_current];
+            _data[_current] = val;
+            _sum += _data[_current];
+            _current = (_current + 1) % _length;
+        }
+    }
+}

Assets/Imstk/Scripts/Utility/AccumulatingBuffer.cs.meta

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Assets/Imstk/Scripts/Utility/CollisionInteractions.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.Generic;
+using UnityEngine;
+
+namespace ImstkUnity
+{
+    /// <summary>
+    /// Class to handle a series of collision pairs and their data, maybe this could be 
+    /// refactored to hold actual instances of interactions ...
+    /// </summary>
+    [Serializable]
+    public class CollisionInteractions
+    {
+        [Serializable]
+        public class CollisionInteractionData
+        {
+            public DynamicalModel model1;
+            public DynamicalModel model2;
+
+            public double friction = 0.0;
+            public double restitution = 0.0;
+
+            public double deformableStiffness1 = 0.2;
+            public double deformableStiffness2 = 0.2;
+
+            public double rigidBodyCompliance = 0.0001;
+
+            public string collisionTypeName = "Auto";
+        }
+
+        [SerializeField]
+        public List<CollisionInteractionData> _collisions = new List<CollisionInteractionData>();
+
+        public CollisionInteractions() {}
+        public CollisionInteractions(CollisionInteractions other)
+        {
+            _collisions = new List<CollisionInteractionData>(other._collisions);
+        }
+
+        public CollisionInteractionData GetData(DynamicalModel a, DynamicalModel b)
+        {
+            var index = Index(a, b);
+            if (index >= 0) return _collisions[index];
+            else
+            {
+                throw new System.Exception("Could not find collision pair");
+            }
+        }
+
+        public CollisionInteractionData Add(DynamicalModel a, DynamicalModel b)
+        {
+            var index = Index(a, b);
+            if (index < 0)
+            {
+
+                var data = new CollisionInteractionData();
+                data.model1 = a;
+                data.model2 = b;
+                _collisions.Add(data);
+                return data;
+            }
+            else
+            {
+                throw new System.Exception("Add Called with pair that already exists");
+            }
+        }
+
+        public void SetData(CollisionInteractionData d)
+        {
+            var index = Index(d.model1, d.model2);
+            if (index >= 0)
+            {
+                _collisions[index] = d;
+            }
+            else
+            {
+                _collisions.Add(d);
+            }
+        }
+
+        public void Remove(CollisionInteractionData d)
+        {
+            var index = Index(d.model1, d.model2);
+            if (index > 0)
+            {
+                _collisions.RemoveAt(index);
+            }
+        }
+
+        public void Remove(DynamicalModel a, DynamicalModel b)
+        {
+            var index = Index(a, b);
+            if (index >= 0)
+            {
+                _collisions.RemoveAt(index);
+            }
+        }
+
+        public void Remove(DynamicalModel a)
+        {
+            _collisions.RemoveAll(x => x.model1 == a || x.model2 == a);
+        }
+
+        public void RemoveAllNull()
+        {
+            _collisions.RemoveAll(x => x.model1 == null || x.model2 == null);
+        }
+
+        public bool IsEnabled(DynamicalModel a, DynamicalModel b)
+        {
+            return Index(a, b) != -1;
+        }
+
+
+        private int Index(DynamicalModel a, DynamicalModel b)
+        {
+            return _collisions.FindIndex(x =>
+            {
+                return (a == x.model1 && b == x.model2) ||
+                       (a == x.model2 && b == x.model1);
+            });
+        }
+    }
+}

Assets/Imstk/Scripts/Utility/CollisionInteractions.cs.meta

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Assets/Imstk/Scripts/Utility/ImstkGizmos.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>
+    /// Handles drawing of meshes in the editor, can draw line or triangle meshes
+    /// </summary>
+    public static class ImstkGizmos
+    {
+        static public void DrawPointMesh(Mesh mesh, Vector3 position, Quaternion rotation, Vector3 localScale, Color? color = null)
+        {
+            var actualColor = color ?? Color.white;
+            for (int i = 0; i < mesh.vertices.Length - 1; ++i)
+            {
+                Vector3 v0 = mesh.vertices[i];
+                v0 = rotation * v0;
+                for (int j = 0; j < 3; ++j)
+                {
+                    v0[j] = v0[j] * localScale[j];
+                }
+                v0 = v0 + position;
+                Gizmos.color = actualColor;
+                Gizmos.DrawLine(v0, v0);
+            }
+        }
+        static public void DrawLineMesh(Mesh mesh, Vector3 position, Quaternion rotation, Vector3 localScale, Color? color = null)
+        {
+            var actualColor = color ?? Color.white;
+            for (int i = 0; i < mesh.vertices.Length - 1; ++i)
+            {
+                Vector3 v0 = mesh.vertices[i];
+                Vector3 v1 = mesh.vertices[i + 1];
+                v0 = rotation * v0;
+                v1 = rotation * v1;
+                for (int j = 0; j < 3; ++j)
+                {
+                    v0[j] = v0[j] * localScale[j];
+                    v1[j] = v1[j] * localScale[j];
+                }
+                v0 = v0 + position;
+                v1 = v1 + position;
+
+                Gizmos.color = actualColor;
+                Gizmos.DrawLine(v0, v1);
+            }
+        }
+
+        static public void DrawLineMesh(Mesh mesh, Color? color = null)
+        {
+            var actualColor = color ?? Color.white;
+            for (int i = 0; i < mesh.vertices.Length - 1; ++i)
+            {
+                Vector3 v0 = mesh.vertices[i];
+                Vector3 v1 = mesh.vertices[i + 1];
+                Gizmos.color = actualColor;
+                Gizmos.DrawLine(v0, v1);
+            }
+        }
+
+        static public void DrawMesh(Mesh mesh, Color? color = null)
+        {
+             DrawMesh(mesh, Vector3.zero, Quaternion.identity, Vector3.one, color);
+        }
+
+        static public void DrawMesh(Mesh mesh, Vector3 position, Quaternion rotation, Vector3 localScale, Color? color = null)
+        {
+            if (mesh)
+            {
+                // Only check for the first sub-mesh
+                switch (mesh.GetTopology(0))
+                {
+                    case MeshTopology.Quads:
+                    case MeshTopology.Triangles:
+                        Gizmos.color = color ?? Color.white;
+                        Gizmos.DrawWireMesh(mesh, position, rotation, localScale);
+                        break;
+                    case MeshTopology.Lines:
+                    case MeshTopology.LineStrip:
+                        DrawLineMesh(mesh, position, rotation, localScale, color);
+                        break;
+                    case MeshTopology.Points:
+                        DrawPointMesh(mesh, position, rotation, localScale, color);
+                        break;
+                }
+            }
+        }
+        static public void DrawMesh(Imstk.PointSet pointSet, Color? color = null)
+        {
+            var mesh = pointSet.ToMesh();
+            DrawMesh(mesh, color);
+        }
+    }
+}

Assets/Imstk/Scripts/Utility/ImstkGizmos.cs.meta

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Assets/Imstk/Scripts/Utility/PullOnKey.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
+{
+    public class PullOnKey : MonoBehaviour
+    {
+        public string key = "p";
+        public Suturing suturing;
+        // Start is called before the first frame update
+        void Start()
+        {
+            if (suturing == null)
+            {
+                suturing = GetComponent<Suturing>();
+                if (suturing == null)
+                {
+                    enabled = false;
+                }
+            }
+        }
+
+        // Update is called once per frame
+        void Update()
+        {
+            if (Input.GetKeyDown(key))
+            {
+                suturing.Pull();
+            }
+        }
+    }
+}

Assets/Imstk/Scripts/Utility/PullOnKey.cs.meta

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Assets/Imstk/Scripts/Utility/Singleton.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
+{
+    // Simple singleton class as per https://blog.yarsalabs.com/using-singletons-in-unity/
+    // More powerful version is https://gist.github.com/rickyah/271e3aa31ff8079365bc
+    public class Singleton<T> : MonoBehaviour where T : MonoBehaviour
+    {
+        private static T _instance;
+        public static T Instance()
+        {
+            if (_instance == null)
+            {
+                _instance = FindObjectOfType<T>();
+                if (_instance == null)
+                {
+                    _instance = new GameObject(typeof(T).Name).AddComponent<T>();
+                }
+            }
+            else if (_instance != FindObjectOfType<T>())
+            {
+                Destroy(FindObjectOfType<T>());
+            }
+            // Need to check if this is necessary
+            // DontDestroyOnLoad(_instance.gameObject);
+            return _instance;
+        }
+    }
+}

Assets/Imstk/Scripts/Utility/Singleton.cs.meta

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Assets/Imstk/Scripts/Utility/TimingBuffer.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.
+
+=========================================================================*/
+
+namespace ImstkUnity
+{
+    /// <summary>
+    /// Class to gather information about runtime behavior, mirrors the 
+    /// pattern of the Unity Profilermarker, but gives access to it's data
+    /// for in game display. Use Begin() and End() to mark a section of interes
+    /// after End() the timing value is automatically pushed to the buffer
+    /// </summary>
+    public class TimingBuffer
+    {
+        private AccumulatingBuffer _buffer;
+        private System.Diagnostics.Stopwatch _stopwatch = new System.Diagnostics.Stopwatch();
+
+        public float AverageTimeMs
+        {
+            get { return _buffer.Average * 1000; }
+        }
+
+        public float AverageTimeSeconds
+        {
+            get { return _buffer.Average; }
+        }
+
+        public float AverageRateSeconds
+        {
+            get { return 1.0f / AverageTimeSeconds; }
+        }
+
+        public TimingBuffer(int size)
+        {
+            _buffer = new AccumulatingBuffer(size);
+        }
+
+        public void Begin()
+        {
+            _stopwatch.Restart();
+        }
+
+        public void End()
+        {
+            _stopwatch.Stop();
+            _buffer.Push((float)_stopwatch.Elapsed.TotalSeconds);
+        }
+
+    }
+}

Assets/Imstk/Scripts/Utility/TimingBuffer.cs.meta

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