SofaSphereAPI.cs

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

namespace SofaUnityAPI
{
    /// <summary>
    /// Class used to handle bindings to the Sofa Sphere object, using a Sphere RegularGrid topology.
    /// </summary>
    public class SofaSphereAPI : SofaBaseObjectAPI
    {
        /// <summary>
        /// Default constructor
        /// </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 SofaSphereAPI(IntPtr simu, string nameID, string parentName, bool isRigid)
            : base(simu, nameID, parentName, isRigid)
        {

        }

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

        /// Implicit method to really create object and link to Sofa object. Called by SofaBaseObject constructor
        protected override bool createObject()
        {
            if (m_hasObject == false) // first time create object only
            {
                // Create the sphere
                int res = sofaPhysicsAPI_addSphere(m_simu, m_name, m_parentName, m_isRigid);
                m_name += "_node";

                if (res != 0)
                {
                    Debug.LogError("SofaSphereAPI::createObject sphere creation method return error: " + SofaDefines.msg_error[res] + " for object " + m_name);
                    return false;
                }

                if (displayLog)
                    Debug.Log("sphere Added! " + m_name);

                // Set created object to native pointer
                m_hasObject = true;
                return true;
            }

            return false;
        }


        /// Method to recompute triangulation if needed in Grid.
        public override void recomputeTopology(Mesh mesh)
        {
            int[] triangles = mesh.triangles;
            Vector3[] verts = mesh.vertices;
            Vector3[] norms = mesh.normals;

            int cpt = 0;
            while (cpt < triangles.Length)
            {
                Vector3 AB = verts[triangles[cpt + 1]] - verts[triangles[cpt]];
                Vector3 AC = verts[triangles[cpt + 2]] - verts[triangles[cpt]];

                Vector3 AD = Vector3.Cross(AB, AC);
                Vector3 norm = norms[triangles[cpt]];
                float dot = Vector3.Dot(AD, norm);

                if (dot < 0) // need to inverse triangle
                {
                    int tmp = triangles[cpt + 1];
                    triangles[cpt + 1] = triangles[cpt + 2];
                    triangles[cpt + 2] = tmp;
                }

                cpt = cpt + 3;
            }

            mesh.triangles = triangles;
        }

        /// Method to recompute the Tex coords according to mesh position and geometry.
        public override void recomputeTexCoords(Mesh mesh)
        {
            Vector3[] verts = mesh.vertices;
            Vector2[] uvs = new Vector2[verts.Length];

            for (int i = 0; i < verts.Length; i++)
                uvs[i] = new Vector2(verts[i].x + verts[i].y, verts[i].z + verts[i].y);

            mesh.uv = uvs;
        }



        /////////////////////////////////////////////////////////////////////////////////////////
        ////////////          Communication API to sofaPhysicsAdvanceAPI         ////////////////
        /////////////////////////////////////////////////////////////////////////////////////////

        [DllImport("SofaVerseAPI", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
        public static extern int sofaPhysicsAPI_addSphere(IntPtr obj, string name, string parentNodeName, bool isRigid);
    }
}