128 lines
4.5 KiB
C#
128 lines
4.5 KiB
C#
/*=========================================================================
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Library: iMSTK-Unity
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Copyright (c) Kitware, Inc.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0.txt
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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=========================================================================*/
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using UnityEngine;
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namespace ImstkUnity
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{
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/// <summary>
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/// High Level interaction that implements suturing. Needs a needle, thread and tissue.
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/// It will deal with the needle and the tissue collision as well as the needle puncturing
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/// the tissue and the thread being pulled through the tissue.
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/// Notes: currently the constraints generated in imstk for the needle/tissue and thread/tissue
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/// punctures are only one way. This means that no forces will be exterted on the needle as
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/// it violates the constraint.
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/// Additionally there is an assumption in ismtk at the moment that the tip of the needle is
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/// that _back end_ of the needle mesh.
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/// </summary>
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public class Suturing : ImstkBehaviour
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{
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public Rigid needle;
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public Deformable thread;
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public Deformable tissue;
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public string activationKey = "s";
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private bool _activated = false;
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public float needleSurfaceStiffness = 0.5f;
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public float threadSurfaceStiffness = 0.5f;
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public float punctureDotThreshold = 0.8f;
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Imstk.NeedleInteraction _needleInteraction;
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protected override void OnImstkInit()
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{
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if (needle == null)
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{
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Debug.LogError("Needle is null");
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return;
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}
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if (thread == null)
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{
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Debug.LogError("Thread is null");
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return;
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}
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if (tissue == null)
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{
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Debug.LogError("Tissue is null");
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return;
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}
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// Disable if any of the objects are not active
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if (!needle.isActiveAndEnabled || !thread.isActiveAndEnabled || !tissue.isActiveAndEnabled)
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{
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enabled = false;
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return;
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}
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// Make sure everything is initialized
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needle.ImstkInit();
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thread.ImstkInit();
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tissue.ImstkInit();
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var needlePbd = Imstk.Utils.CastTo<Imstk.PbdObject>(needle.GetDynamicObject());
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var threadPbd = Imstk.Utils.CastTo<Imstk.PbdObject>(thread.GetDynamicObject());
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var tissuePbd = Imstk.Utils.CastTo<Imstk.PbdObject>(tissue.GetDynamicObject());
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if (needlePbd == null || threadPbd == null || tissuePbd == null)
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{
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Debug.LogError("Needle, Thread or Tissue do not have a dynamic Object");
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enabled = false;
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return;
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}
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_needleInteraction = new Imstk.NeedleInteraction(tissuePbd, needlePbd, threadPbd);
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var ch = Imstk.Utils.CastTo<Imstk.NeedlePbdCH>(_needleInteraction.getCollisionHandlingAB());
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if (ch == null)
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{
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Debug.LogError("Needle interaction does not have a NeedlePbdCH");
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enabled = false;
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return;
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} else
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{
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ch.setNeedleToSurfaceStiffness(needleSurfaceStiffness);
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ch.setSurfaceToNeedleStiffness(needleSurfaceStiffness);
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ch.setThreadToSurfaceStiffness(threadSurfaceStiffness);
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ch.setSurfaceToThreadStiffness(threadSurfaceStiffness);
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ch.setPunctureDotThreshold(punctureDotThreshold);
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}
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SimulationManager.sceneManager.getActiveScene().addInteraction(_needleInteraction);
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}
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public void Pull()
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{
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_needleInteraction.stitch();
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}
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public void Update()
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{
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if (!_activated && Input.GetKeyDown(activationKey))
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{
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Pull();
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}
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}
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public Imstk.NeedlePbdCH.PunctureData GetPunctureData()
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{
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return _needleInteraction.getPunctureData();
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}
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}
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}
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