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