Initial Commit

Assets/Imstk/Scripts/Utility/CollisionInteractions.cs

@@ -0,0 +1,144 @@
+/*=========================================================================
+
+   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);
+            });
+        }
+    }
+}