SofaRayCasterAPI.cs

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

namespace SofaUnityAPI
{
    /// <summary>
    /// Class to create a ray caster in SofaAdvancePhysicsAPI and to comunicate with it.
    /// </summary>
    public class SofaRayCasterAPI : IDisposable
    {
        /// <summary> Default constuctor of the sofa ray caster. </summary>
        /// <param name="simu">Pointer to the implicit sofaAPI</param>
        /// <param name="type">type of tool to attach to this ray caster</param>
        /// <param name="nameID">unique name id of this ray caster</param>
        /// <param name="length">length of the ray</param>
        public SofaRayCasterAPI(IntPtr simu, int type, string nameID, float length)
        {
            m_simu = simu;
            m_name = nameID;

            if (length < 0.0f)
                length = 1.0f;

            int res = 0;
            if (m_simu != IntPtr.Zero)
            {
                if (type == 0)
                    res = sofaPhysicsAPI_createResectionTool(m_simu, m_name, length);
                else if (type == 1)
                    res = sofaPhysicsAPI_createAttachTool(m_simu, m_name, length);
                else
                    res = sofaPhysicsAPI_createFixConstraintTool(m_simu, m_name, length);

                if (res != 0)
                    Debug.LogError("SofaRayCasterAPI::Create Tool returns error: " + SofaDefines.msg_error[res]);
            }
        }

        // TODO: check if needed
        //bool m_isDisposed = false;

        /// Name of the Sofa object mapped to this Object.
        protected string m_name;

        /// Pointer to the SofaPhysicsAPI 
        protected IntPtr m_simu = IntPtr.Zero;

        /// Type of Sofa object mapped to this Object.
        protected string m_type;

        /// Memory free method
        public void Dispose()
        {
            activateTool(false);

            //m_isDisposed = true;
        }

        /// Method to activate or not the tool attached to the ray caster
        public int activateTool(bool value)
        {
            if (m_simu == IntPtr.Zero)
                return -10;

            int res = sofaPhysicsAPI_activateTool(m_simu, m_name, value);

            return res;
        }

        public int setToolAttribute(string attribute, float value)
        {
            if (m_simu == IntPtr.Zero)
                return -10;

            float[] val = new float[1];
            val[0] = value;
            int res = sofaPhysicsAPI_setToolAttribute(m_simu, m_name, attribute, val);
            val = null;

            if (res != 0)
                Debug.LogError("SofaRayCasterAPI::setToolAttribute return error: " + SofaDefines.msg_error[res]);

            return res;
        }

        /// Method to send a new ray. TODO: could be optimise here and send only if tool is activated
        public int castRay(Vector3 originInSofa, Vector3 directionInSofa)
        {
            if (m_simu == IntPtr.Zero)
                return -10;

            float[] ori = new float[3];
            float[] dir = new float[3];

            // left to right coordinate system conversion
            ori[0] = -originInSofa[0];
            ori[1] = originInSofa[1];
            ori[2] = originInSofa[2];

            dir[0] = -directionInSofa[0];
            dir[1] = directionInSofa[1];
            dir[2] = directionInSofa[2];

            int res = sofaPhysicsAPI_castRay(m_simu, m_name, ori, dir);

            ori = null;
            dir = null;
            return res;
        }

        public string getTouchedObjectName()
        {
            if (m_simu == IntPtr.Zero)
                return "Error";

            string res = sofaPhysicsAPI_getInteractObjectName(m_simu, m_name);
            return res;
        }



        /////////////////////////////////////////////////////////////////////////////////////////
        //////////      Communication API to SofaAdvancePhysicsAPI ray caster     ///////////////
        /////////////////////////////////////////////////////////////////////////////////////////

        /// API to create a specific ray caster tool.
        [DllImport("SofaVerseAPI", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
        public static extern int sofaPhysicsAPI_createResectionTool(IntPtr obj, string toolName, float length);

        [DllImport("SofaVerseAPI", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
        public static extern int sofaPhysicsAPI_createAttachTool(IntPtr obj, string toolName, float length);

        [DllImport("SofaVerseAPI", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
        public static extern int sofaPhysicsAPI_createFixConstraintTool(IntPtr obj, string toolName, float length);

        /// Binding to activate or desactivate the tool.
        [DllImport("SofaVerseAPI", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
        public static extern int sofaPhysicsAPI_activateTool(IntPtr obj, string toolName, bool value);

        /// Binding to propagate the ray position and direction.
        [DllImport("SofaVerseAPI", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
        public static extern int sofaPhysicsAPI_castRay(IntPtr obj, string toolName, float[] origin, float[] direction);

        /// Binding to propagate the ray position and direction.
        [DllImport("SofaVerseAPI", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
        public static extern int sofaPhysicsAPI_setToolAttribute(IntPtr obj, string toolName, string dataName, float[] value);

        /// Binding to get the name of the mesh touched by the ray.
        [DllImport("SofaVerseAPI", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
        public static extern string sofaPhysicsAPI_getInteractObjectName(IntPtr obj, string toolName);


    }
}