[src] Add option to use rigid dof in BeamModel

Author: epernod

Scripts/Editor/Components/SofaBeamModelEditor.cs

@@ -65,5 +65,6 @@ public override void OnInspectorGUI()
         model.m_sofaMesh = (SofaMesh)EditorGUILayout.ObjectField("Beam SofaMesh", model.m_sofaMesh, typeof(SofaMesh), true);
         model.BeamDiscretisation = EditorGUILayout.IntField("Beam Discretisation", model.BeamDiscretisation);
         model.BeamRadius = EditorGUILayout.Slider("Beam Radius", model.BeamRadius, 0.001f, 30);
+        model.isRigidMesh = EditorGUILayout.Toggle("use Rigid Dof", model.isRigidMesh);
     }
 }

Scripts/Modules/Components/SofaBeamModel.cs

@@ -20,6 +20,10 @@ public class SofaBeamModel : MonoBehaviour
         /// Member: Unity Mesh object of this GameObject
         protected Mesh m_mesh;
 
+        /// Parameter bool to store information if vec3 or rigid are parsed.
+        [SerializeField]
+        public bool isRigidMesh = false;
+
         /// Parameter of this beam, it determnines the discretisation of the circonference around each center point of the beam.
         [SerializeField]
         protected int m_beamDiscretisation = 4;
@@ -155,9 +159,14 @@ protected virtual void CreateBeamMesh()
             m_mesh.Clear();
             float[] sofaVertices = m_sofaMesh.SofaMeshTopology.m_vertexBuffer;
             m_vertCenter = new Vector3[nbrV];
+
+            int sizeDof = 3;
+            if (isRigidMesh)
+                sizeDof = 7;
+
             for (int i = 0; i < nbrV; i++)
             {
-                m_vertCenter[i] = new Vector3(sofaVertices[i * 3], sofaVertices[i * 3 + 1], sofaVertices[i * 3 + 2]);
+                m_vertCenter[i] = new Vector3(sofaVertices[i * sizeDof], sofaVertices[i * sizeDof + 1], sofaVertices[i * sizeDof + 2]);
             }
 
             int nbrPointPerCircle = 4 * m_beamDiscretisation + 1; // +1 to close cylinder UV
@@ -290,13 +299,17 @@ protected virtual void UpdateBeamMesh()
             if (nbrV < 2)
                 return;
 
-            //Debug.Log("BeamModel::UpdateLinearMesh");            
+            int sizeDof = 3;
+            if (isRigidMesh)
+                sizeDof = 7;
+
             float[] sofaVertices = m_sofaMesh.SofaMeshTopology.m_vertexBuffer;
             for (int i = 0; i < nbrV; i++)
             {
-                m_vertCenter[i] = new Vector3(sofaVertices[i * 3], sofaVertices[i * 3 + 1], sofaVertices[i * 3 + 2]);
+                m_vertCenter[i] = new Vector3(sofaVertices[i * sizeDof], sofaVertices[i * sizeDof + 1], sofaVertices[i * sizeDof + 2]);
             }
 
+
             // update borders first
             int idLast = m_vertices.Length - 1;
             m_vertices[0] = m_vertCenter[0];