SofaDAGNodeAPI.cs

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

namespace SofaUnityAPI
{
    public class SofaDAGNodeAPI : SofaBaseAPI
    {
        protected string m_componentListS = "";
        protected string m_parentName = "root";

        /// <summary>
        /// Default constructor inherite from SofaBaseAPI. Will be in charge to synchrosize info with a DAG node in sofa context
        /// </summary>
        /// <param name="simu"></param>
        /// <param name="nameID"></param>
        /// <param name="parentName"></param>
        /// <param name="isCustom"></param>
        public SofaDAGNodeAPI(IntPtr simu, string nameID, string parentName, bool isCustom)
            : base(simu, nameID, isCustom)
        {
            m_parentName = parentName;
        }


        /// Main method to create get access or create (if custom) the DAG Node on the sofa context
        override protected bool Init()
        {
            if (m_isCustom)
            {
                int res = sofaPhysicsAPI_addDAGNode(m_simu, m_parentName, m_name);
                if (res != 1)
                {
                    Debug.LogError("Error while creating DAGNode: " + m_name + " under " + m_parentName + " Code error return: " + res);
                    return false;
                }
            }
            else
            {
                m_componentListS = sofaPhysicsAPI_getDAGNodeComponentsName(m_simu, m_name);
            }
            //Debug.Log("SofaDAGNodeAPI::Init(): " + m_name);
            //Debug.Log("SofaDAGNodeAPI::Init() Found: " + m_componentListS);
            return true;
        }

        /// Method to get the list of component own by this DAGnode. The list is static and need to be asked again for refresh @sa RecomputeDAGNodeComponents
        public string GetDAGNodeComponents()
        {
            return m_componentListS;
        }


        /// Method to update the list of components own by this DAGNode
        public string RecomputeDAGNodeComponents()
        {
            if (m_isReady)
            {
                m_componentListS = sofaPhysicsAPI_getDAGNodeComponentsName(m_simu, m_name);
                return m_componentListS;
            }
            else
                return "Error";
        }


        /// Get the Base component of a given component identified by its name.
        public string GetBaseComponentType(string componentName)
        {
            if (m_isReady)
            {
                string type = sofaComponentAPI_getBaseComponentType(m_simu, componentName);
                return type;
            }
            else
                return "Error";
        }

        /// Get the name of the DAGNode parent of this one.
        public string GetParentNodeName()
        {
            if (m_isReady)
            {
                string type = sofaPhysicsAPI_getDAGNodeParentAPIName(m_simu, m_name);
                return type;
            }
            else
                return "Error";
        }

        /// Method to check if transformation is possible
        public bool GetTransformationTest(string transfoType)
        {
            float[] val = new float[3];
            int res = sofaPhysicsAPI_getDAGNodeTransform(m_simu, m_name, transfoType, val);
            if (res == 0)
                return true;
            else
                return false;
        }


        /// <summary>
        /// Method to get the current transformation of type @param transfoType of the full node in the SOFA context.
        /// </summary>
        /// <param name="transfoType">type of transformation targeted, 'translation', 'rotation' or 'scale3d'</param>
        /// <returns></returns>
        public Vector3 GetTransformation(string transfoType)
        {
            Vector3 result;
            if (transfoType == "scale3d")
                result = Vector3.one;
            else
                result = Vector3.zero;

            if (!m_isReady)
                return result;

            float[] val = new float[3];
            int res = sofaPhysicsAPI_getDAGNodeTransform(m_simu, m_name, transfoType, val);

            if (res == 0)
            {
                for (int i = 0; i < 3; ++i)
                    result[i] = val[i];
            }
            else
                Debug.LogError("Method GetTransformation of type: " + transfoType + " of DAGNode: " + m_name + " returns error: " + SofaDefines.msg_error[res]);

            return result;
        }


        /// <summary>
        /// Method to set a new transformation of type @param transfoType to the full node in the SOFA context
        /// </summary>
        /// <param name="transfoType">type of transformation targeted, 'translation', 'rotation' or 'scale3d'</param>
        /// <param name="values">xyz values to set</param>
        public void SetTransformation(string transfoType, Vector3 values)
        {
            if (!m_isReady)
                return;

            float[] val = new float[3];
            for (int i = 0; i < 3; ++i)
                val[i] = values[i];

            int res = sofaPhysicsAPI_setDAGNodeTransform(m_simu, m_name, transfoType, val);
            if (res != 0)
                Debug.LogError("Method SetTransformation of type: " + transfoType + " of DAGNode: " + m_name + " returns error: " + SofaDefines.msg_error[res]);
        }



        /////////////////////////////////////////////////////////////////////////////////////////
        //////////            API to Communication with Sofa DAGNODE              ///////////////
        /////////////////////////////////////////////////////////////////////////////////////////


        [DllImport("SofaVerseAPI", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
        public static extern string sofaPhysicsAPI_getDAGNodeComponentsName(IntPtr obj, string nodeName);

        [DllImport("SofaVerseAPI", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
        public static extern string sofaPhysicsAPI_getDAGNodeParentAPIName(IntPtr obj, string nodeName);


        [DllImport("SofaVerseAPI", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
        public static extern string sofaComponentAPI_getBaseComponentType(IntPtr obj, string componentName);

        [DllImport("SofaVerseAPI", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
        public static extern int sofaPhysicsAPI_addDAGNode(IntPtr obj, string parentNodeName, string nodeName);

        [DllImport("SofaVerseAPI", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
        public static extern int sofaPhysicsAPI_changeDAGNodeAPIName(IntPtr obj, string oldNodeName, string newNodeName);

        [DllImport("SofaVerseAPI", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
        public static extern int sofaPhysicsAPI_getDAGNodeTransform(IntPtr obj, string nodeName, string transformType, float[] values);

        [DllImport("SofaVerseAPI", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
        public static extern int sofaPhysicsAPI_setDAGNodeTransform(IntPtr obj, string nodeName, string transformType, float[] values);

    }
}