SofaBaseObjectAPI.cs

using UnityEngine;
using System;
using System.Runtime.InteropServices;

namespace SofaUnityAPI
{
    /// <summary>
    /// Main class of the Sofa plugin. This is the base class representing Sofa 3D Object, handling all bindings to Sofa 3D Object.
    /// It will connect to the SofaPhysicsAPI. 
    /// </summary>
    public class SofaBaseObjectAPI : IDisposable
    {
        /// <summary> Default constructor, will call impl method: @see createObject() </summary>
        /// <param name="simu">Pointer to the SofaPhysicsAPI</param>
        /// <param name="nameID">Name of this Object</param>
        /// <param name="isRigid">Type rigid or deformable</param>
        public SofaBaseObjectAPI(IntPtr simu, string nameID, string parentName, bool isRigid)
        {
            m_simu = simu;
            m_name = nameID;
            m_isRigid = isRigid;
            m_parentName = parentName;

            m_isCreated = createObject();
        }

        /// Destructor
        ~SofaBaseObjectAPI()
        {
            Dispose(false);
        }


        /// Pointer to the SofaPhysicsAPI 
        protected IntPtr m_simu = IntPtr.Zero;
        /// Pointer to the Sofa 3D object. TODO: check why this pointer messed up in use.
        //protected IntPtr m_native = IntPtr.Zero;
        protected bool m_hasObject = false;

        // TODO: check if needed
        bool m_isDisposed;
        /// Parameter to activate internal logging
        public bool displayLog = false;

        /// Name of the Sofa 3D Object mapped to this Object.
        protected string m_name;
        /// Type of Sofa 3D Object mapped to this Object.
        protected string m_type;
        /// Sofa 3D Object parent name in Sofa simulation Tree.
        protected string m_parentName;
        /// Parameter to store the information if the object is rigid or deformable.
        protected bool m_isRigid = false;

        /// Parameter to store the info if creation succeed. Will store the value return by @sa createObject
        public bool m_isCreated = false;


        /// Memory free method
        public void Dispose()
        {
            Dispose(true);
            GC.SuppressFinalize(this);
        }

        /// Memory free method
        protected virtual void Dispose(bool disposing)
        {
            if (!m_isDisposed)
            {
                m_isDisposed = true;
            }
        }


        /// Implicit method to really create object and link to Sofa object. To be overwritten by child.
        protected virtual bool createObject()
        {
            return false;
        }


        /// Implicit method load the object from the Sofa side. TODO: check if still needed
        public virtual void loadObject()
        {

        }


        /// Getter of the sofa 3D Object parent name.
        public string parent
        {
            get { return m_parentName; }
        }


        /// BoundingBox min Value in 3D
        protected Vector3 m_min = new Vector3(100000, 100000, 100000);
        /// BoundingBox max Value in 3D
        protected Vector3 m_max = new Vector3(-100000, -100000, -100000);

        /// Method to compute the Mesh BoundingBox
        public virtual void computeBoundingBox(Mesh mesh)
        {
            Vector3[] verts = mesh.vertices;
            int nbrV = verts.Length;

            // Get min and max of the mesh
            for (int i = 0; i < nbrV; i++)
            {
                if (verts[i].x > m_max.x)
                    m_max.x = verts[i].x;
                if (verts[i].y > m_max.y)
                    m_max.y = verts[i].y;
                if (verts[i].z > m_max.z)
                    m_max.z = verts[i].z;

                if (verts[i].x < m_min.x)
                    m_min.x = verts[i].x;
                if (verts[i].y < m_min.y)
                    m_min.y = verts[i].y;
                if (verts[i].z < m_min.z)
                    m_min.z = verts[i].z;
            }
        }


        /// Booleen to warn mesh normals have to be inverted
        public bool m_invertNormals = false;

        public virtual int[] createTriangulation()
        {
            return new int[0];
        }

        public virtual void updateMesh(Mesh mesh)
        {

        }

        public virtual void recomputeTexCoords(Mesh mesh)
        {

        }

        public virtual void recomputeTopology(Mesh mesh)
        {

        }


        /// <summary> Generic method to get value of a Data<float> field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <returns> Float value of the Data field, return float.MinValue if field is not found. </returns>
        public float getFloatValue_deprecated(string dataName)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return float.MinValue;
        }


        /// <summary> Generic method to set value of a Data<float> field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <param name="value"> New float value of the Data. </param>
        public void setFloatValue_deprecated(string dataName, float value)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
        }


        /// <summary> Generic method to get value of a Data<int> field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <returns> Int value of the Data field, return int.MinValue if field is not found. </returns>
        public int getIntValue_deprecated(string dataName)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return int.MinValue;
        }


        /// <summary> Generic method to set value of a Data<int> field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <param name="value"> New int value of the Data. </param>
        public void setIntValue_deprecated(string dataName, int value)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
        }


        /// <summary> Generic method to get value of a Data<bool> field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <returns> Bool value of the Data field, return false if field is not found. </returns>
        public bool getBoolValue_deprecated(string dataName)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return false;
        }


        /// <summary> Generic method to set value of a Data<bool> field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <param name="value"> New bool value of the Data. </param>
        public void setBoolValue_deprecated(string dataName, bool value)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
        }


        /// <summary> Generic method to get value of a Data<string> field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <returns> String value of the Data field, return "None" if field is not found. </returns>
        public string getStringValue_deprecated(string dataName)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return "None";
        }


        /// <summary> Generic method to set value of a Data<string> field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <param name="value"> New string value of the Data. </param>
        public void setStringValue_deprecated(string dataName, string value)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
        }


        /// <summary> Generic method to get value of a Data<Vec3f> field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <returns> Vector3 of the Data field, return Vector3 of float.MinValue if field is not found. </returns>
        public Vector3 getVector3fValue_deprecated(string dataName)
        {
            Vector3 values = new Vector3(float.MinValue, float.MinValue, float.MinValue);
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return values;
        }



        /// <summary> Generic method to set value of a Data<Vec3f> field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <param name="values"> New Vector3 values of the Data. </param>
        public void setVector3fValue_deprecated(string dataName, Vector3 values)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
        }



        /// <summary> Generic method to get size of a Data< vector<float> > field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <returns> size of the Data vector. Return negative value if field not found or error encountered. </returns>
        public int getVecfSize_deprecated(string dataName)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return -1;
        }


        /// <summary> Generic method to get values of a Data< vector<float> > field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <param name="size"> Size of the Data vector. </param>
        /// <param name="values"> Values of the Data vector field returned. </param>
        /// <returns> Int error code. Negative value if method failed, 0 otherwise. </returns>
        public int getVectorfValue_deprecated(string dataName, int size, float[] values)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return -1;
        }


        /// <summary> Generic method to set values of a Data< vector<float> > field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <param name="size"> Size of the Data vector. </param>
        /// <param name="values"> New values to set to the Data vector field. </param>
        /// <returns> Int error code. Negative value if method failed, 0 otherwise. </returns>
        public int setVectorfValue_deprecated(string dataName, int size, float[] values)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return -1;
        }



        /// <summary> Generic method to get size of a Data< vector<int> > field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <returns> size of the Data vector. Return negative value if field not found or error encountered. </returns>
        public int getVeciSize_deprecated(string dataName)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return -1;
        }

        /// <summary> Generic method to get values of a Data< vector<int> > field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <param name="size"> Size of the Data vector. </param>
        /// <param name="values"> Values of the Data vector field returned. </param>
        /// <returns> Int error code. Negative value if method failed, 0 otherwise. </returns>
        public int getVeciValue_deprecated(string dataName, int size, int[] values)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return -1;
        }


        /// <summary> Generic method to set values of a Data< vector<float> > field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <param name="size"> Size of the Data vector. </param>
        /// <param name="values"> New values to set to the Data vector field. </param>
        /// <returns> Int error code. Negative value if method failed, 0 otherwise. </returns>
        public int setVeciValue_deprecated(string dataName, int size, int[] values)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return -1;
        }



        /// <summary> Generic method to get size of a Data< vector<float> > field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <returns> size of the Data vector. Return negative value if field not found or error encountered. </returns>
        public int getVecofVec3fSize_deprecated(string dataName)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return -1;
        }


        /// <summary> Generic method to get values of a Data< vector<float> > field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <param name="size"> Size of the Data vector. </param>
        /// <param name="values"> Values of the Data vector field returned. </param>
        /// <returns> Int error code. Negative value if method failed, 0 otherwise. </returns>
        public int getVecofVec3fValue_deprecated(string dataName, int size, float[] values)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return -1;
        }


        /// <summary> Generic method to set values of a Data< vector<float> > field. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <param name="size"> Size of the Data vector. </param>
        /// <param name="values"> New values to set to the Data vector field. </param>
        /// <returns> Int error code. Negative value if method failed, 0 otherwise. </returns>
        public int setVecofVec3fValue_deprecated(string dataName, int size, float[] values)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return -1;
        }






        public int getVecfValue_deprecated(string dataName, string dataType, float[] values)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return -1;
        }

        public int setVecfValue_deprecated(string dataName, string dataType, float[] values)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return -1;
        }

        public int getRigidfValue_deprecated(string dataName, string dataType, float[] values)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return -1;
        }

        public int setRigidfValue_deprecated(string dataName, string dataType, float[] values)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return -1;
        }

        public int getRigiddValue_deprecated(string dataName, string dataType, double[] values)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return -1;
        }

        public int setRigiddValue_deprecated(string dataName, string dataType, double[] values)
        {
            Debug.LogError("Method is deprecated and should not be used anymore.");
            return -1;
        }



        /// <summary> Method to check pointer of the Sofa object. </summary>
        /// <param name="dataName"> Name of the Data field requested. </param>
        /// <returns> True if pointer is valid otherwise return false. </returns>
        protected bool checkNativePointerForGetData(string dataName)
        {
            if (!m_hasObject)
            {
                Debug.LogError("Error getting parameter: " + dataName + " of object: " + m_name + " . Can't access Object Pointer m_native.");
                return false;
            }
            else
                return true;
        }


        /// <summary> Method to check pointer of the Sofa object. </summary>
        /// <param name="dataName"> Name of the Data field to set. </param>
        /// <returns> True if pointer is valid otherwise return false. </returns>
        protected bool checkNativePointerForSetData(string dataName)
        {
            if (!m_hasObject)
            {
                Debug.LogError("Error setting parameter: " + dataName + " in object: " + m_name + " . Can't access Object Pointer m_native.");
                return false;
            }
            else
                return true;
        }



        /////////////////////////////////////////////////////////////////////////////////////////
        ///////////            API to Communication with Sofa objects            ////////////////
        /////////////////////////////////////////////////////////////////////////////////////////

    }
}