SofaPlaneAPI.cs

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

namespace SofaUnityAPI
{
    /// <summary>
    /// Class used to handle bindings to the Sofa Plane object, using a Regular Grid topology in 2D.
    /// </summary>
    public class SofaPlaneAPI : 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 SofaPlaneAPI(IntPtr simu, string nameID, string parentName, bool isRigid)
            : base(simu, nameID, parentName, isRigid)
        {

        }

        /// Destructor
        ~SofaPlaneAPI()
        {
            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 plane
                int res = sofaPhysicsAPI_addPlane(m_simu, m_name, m_parentName, m_isRigid);
                m_name += "_node";

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

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

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

            return false;
        }


        /// Post processing method to recompute topology if needed.
        public override void recomputeTopology(Mesh mesh)
        {
            // recompute triangles to face up.
            int[] triangles = mesh.triangles;
            int nbrTri = triangles.Length / 3;

            for (int i = 0; i < nbrTri; i++)
            {
                int buff = triangles[i * 3 + 1];
                triangles[i * 3 + 1] = triangles[i * 3 + 2];
                triangles[i * 3 + 2] = buff;
            }

            mesh.triangles = triangles;

            // recompute normals to face up.
            Vector3[] norms = mesh.normals;
            for (int i = 0; i < norms.Length; i++)
                norms[i] = new Vector3(0.0f, 1.0f, 0.0f);

            mesh.normals = norms;
        }


        /// 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];

            this.computeBoundingBox(mesh);

            // assume plane has normal on the Y value. To be done more generic in the future.
            float rangeX = 1 / (m_max.x - m_min.x);
            float rangeZ = 1 / (m_max.z - m_min.z);

            for (int i = 0; i < verts.Length; i++)
            {
                uvs[i] = new Vector2((m_max.x - verts[i].x) * rangeX, (verts[i].z - m_min.z) * rangeZ);
            }

            mesh.uv = uvs;
        }



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

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

    }
}