[src] Add BeamAdapterTracker script. First draft: working but not optimized at all (#259)

* [src] Add BeamAdapterTracker script. First draft: working but not optimized at all

* generalised script, update scene with it

---------

Co-authored-by: PierreFonda3D <pierre.fonda@infinytech3d.com>

Author: epernod

Core/Scripts/Modules/Tools/BeamAdapterTracker.cs

@@ -0,0 +1,75 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using SofaUnity;
+
+namespace SofaUnity
+{
+    [System.Serializable]
+    public class BeamToolEntry
+    {
+        public SofaComponent m_tool = null;
+        public GameObject m_slave = null;
+
+        // Runtime (not shown in inspector)
+        [HideInInspector] public SofaIntData d_tool_id = null;
+        public Vector3 m_position = Vector3.zero;
+    }
+
+    public class BeamAdapterTracker : MonoBehaviour
+    {
+        /// Pointer to the unique sofa mesh
+        public SofaMesh m_sofaMesh = null;
+
+        [SerializeField]
+        public List<BeamToolEntry> m_tools = new List<BeamToolEntry>();
+
+        private bool m_isReady = false;
+        private int m_nbrDofs = 0;
+
+        void Start()
+        {
+            // Connect wireTipIndex for each tool
+            foreach (BeamToolEntry entry in m_tools)
+            {
+                if (entry.m_tool != null)
+                {
+                    Debug.Log("BeamAdapterTracker: Tool found. Connecting wireTipIndex");
+                    entry.d_tool_id = (SofaIntData)entry.m_tool.m_dataArchiver.GetSofaIntData("wireTipIndex");
+                }
+            }
+
+            if (m_sofaMesh == null)
+            {
+                Debug.LogError("BeamAdapterTracker: SofaMesh not set. Can't track the wire tip positions.");
+                m_isReady = false;
+            }
+            else
+            {
+                m_sofaMesh.AddListener(); // TODO m_sofaMesh.RemoveListener(); when exit?
+                m_nbrDofs = m_sofaMesh.NbVertices();
+                m_isReady = true;
+            }
+        }
+
+        // TODO for later: track orientation in addition to the position.
+        private void Update()
+        {
+            if (!m_isReady) return;
+
+            foreach (BeamToolEntry entry in m_tools)
+            {
+                if (entry.d_tool_id == null) continue;
+
+                int id = entry.d_tool_id.Value;
+                if (id >= 0 && id < m_nbrDofs)
+                {
+                    // TODO: check why we need to do a transform point. The position should be world position already no?
+                    entry.m_position = m_sofaMesh.GetPosition(id);
+                    if (entry.m_slave != null)
+                        entry.m_slave.transform.position = m_sofaMesh.m_sofaContext.transform.TransformPoint(entry.m_position);
+                }
+            }
+        }
+    }
+} // namespace SofaUnity