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