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Simulating Guidewires In Blood Vessels
Commit 10e0d319 authored by rv3Dcv's avatar rv3Dcv
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Add CollisionDetectionVessel.cs

parent 39af84d5
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Showing with 5631 additions and 48 deletions
.gitignore
View file @ 10e0d319
......@@ -58,4 +58,5 @@ sysinfo.txt
# Crashlytics generated file
crashlytics-build.properties
GuidewireSimulation/GuidewireSimulation/.vscode/launch.json
\ No newline at end of file
GuidewireSimulation/GuidewireSimulation/.vscode/launch.json
GuidewireSimulation/GuidewireSimulation/UserSettings/EditorUserSettings.asset
GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/CollisionDetectionPrimitive.cs
View file @ 10e0d319
......@@ -16,7 +16,6 @@ namespace GuidewireSim
* @note Should also match the position in @p spherePositions, @p sphereVelocities, @p sphereExternalForces,
* @p spherePositionPredictions in #SimulationLoop.
*/
[SerializeField] bool insideCollision = false; //!< Whether the guidewire collides from within the blood vessel or from the outside.
private void Awake()
{
......@@ -48,6 +47,29 @@ namespace GuidewireSim
Debug.LogWarning("No sphereID could be assigned.");
}
private void OnCollisionEnter(Collision other)
{
Debug.Log("trigger " + transform.name);
collisionHandler.RegisterCollision(this.transform, other, sphereID);
}
private void OnCollisionStay(Collision other)
{
Debug.Log("trigger " + transform.name);
collisionHandler.RegisterCollision(this.transform, other, sphereID);
}
// private void OnTriggerEnter(Collider other)
// {
// Debug.Log("trigger " + transform.name);
......@@ -88,45 +110,34 @@ namespace GuidewireSim
// }
// }
private void OnCollisionEnter(Collision other)
{
Debug.Log("trigger " + transform.name);
// needed to use ClosestPoint().
// other.collider.GetComponent<MeshCollider>().convex = true;
collisionHandler.RegisterCollision(this.transform, other, sphereID);
// Debug.Log(other.GetContact(0).normal.ToString("e2"));
// private void OnCollisionEnter(Collision other)
// {
// Debug.Log("trigger " + transform.name);
// // needed to use ClosestPoint().
// // other.collider.GetComponent<MeshCollider>().convex = true;
// if (!insideCollision)
// {
// collisionHandler.RegisterCollision(this.transform, other, sphereID);
// Debug.Log("pos" + this.transform.position);
// Debug.Log("colpos" + this.transform.GetComponent<SphereCollider>().center);
// Debug.Log("otherpos" + other.transform.position);
// collisionHandler.RegisterCollision(this.transform, other, sphereID);
// // Debug.Log(other.GetContact(0).normal.ToString("e2"));
// other.collider.GetComponent<MeshCollider>().convex = true;
// Vector3 otherClosestPoint = other.collider.ClosestPoint(this.transform.position);
// Debug.Log("otherclosestpoint" + otherClosestPoint.ToString("e4"));
// Debug.Log("thisclosestpoint" + this.transform.GetComponent<SphereCollider>().ClosestPoint(otherClosestPoint).ToString("e4"));
// Vector3 thisclosestpoint2 = this.transform.GetComponent<SphereCollider>().ClosestPoint(other.transform.position);
// Debug.Log("thisclosestpoint2" + thisclosestpoint2.ToString("e4"));
// Vector3 DiffCollisionPointToCenter = thisclosestpoint2 - (this.transform.position + this.transform.GetComponent<SphereCollider>().center);
// Debug.Log("DiffCollisionPointToCenter" + DiffCollisionPointToCenter.ToString("e4"));
// }
// // if (!insideCollision)
// // {
// // collisionHandler.RegisterCollision(this.transform, other, sphereID);
// // Debug.Log("pos" + this.transform.position);
// // Debug.Log("colpos" + this.transform.GetComponent<SphereCollider>().center);
// // Debug.Log("otherpos" + other.transform.position);
}
// // other.collider.GetComponent<MeshCollider>().convex = true;
// // Vector3 otherClosestPoint = other.collider.ClosestPoint(this.transform.position);
private void OnCollisionStay(Collision other)
{
Debug.Log("trigger " + transform.name);
// // Debug.Log("otherclosestpoint" + otherClosestPoint.ToString("e4"));
// // Debug.Log("thisclosestpoint" + this.transform.GetComponent<SphereCollider>().ClosestPoint(otherClosestPoint).ToString("e4"));
// // Vector3 thisclosestpoint2 = this.transform.GetComponent<SphereCollider>().ClosestPoint(other.transform.position);
// // Debug.Log("thisclosestpoint2" + thisclosestpoint2.ToString("e4"));
// // Vector3 DiffCollisionPointToCenter = thisclosestpoint2 - (this.transform.position + this.transform.GetComponent<SphereCollider>().center);
// // Debug.Log("DiffCollisionPointToCenter" + DiffCollisionPointToCenter.ToString("e4"));
// // }
if (!insideCollision)
{
collisionHandler.RegisterCollision(this.transform, other, sphereID);
}
}
// }
}
}
\ No newline at end of file
GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/CollisionDetectionVessel.cs 0 → 100644
View file @ 10e0d319
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.Assertions;
namespace GuidewireSim
{
public class CollisionDetectionVessel : MonoBehaviour
{
SimulationLoop simulationLoop; //!< The SimulationLoop component in the Simulation GameObject
CollisionHandler collisionHandler; //!< The CollisionHandler component in the Simulation GameObject
private void Awake()
{
simulationLoop = FindObjectOfType<SimulationLoop>();
Assert.IsNotNull(simulationLoop);
collisionHandler = FindObjectOfType<CollisionHandler>();
Assert.IsNotNull(collisionHandler);
}
// private void OnCollisionEnter(Collision other)
// {
// // ContactPoint contactPoint = other.GetContact(0);
// // DebugExtension.DrawPoint(contactPoint.point, Color.black);
// int sphereID = 1;
// collisionHandler.RegisterCollision(other.transform, other, sphereID);
// }
// private void OnCollisionStay(Collision other)
// {
// // ContactPoint contactPoint = other.GetContact(0);
// // DebugExtension.DrawPoint(contactPoint.point, Color.black);
// int sphereID = 1;
// collisionHandler.RegisterCollision(other.transform, other, sphereID);
// }
private int YieldSphereID(Transform sphereTransform)
{
GameObject sphereGO = sphereTransform.gameObject;
for (int sphereIndex = 0; sphereIndex < simulationLoop.SpheresCount; sphereIndex++)
{
if (sphereGO == simulationLoop.spheres[sphereIndex])
{
return sphereIndex;
}
}
Debug.LogWarning("No sphereID could be assigned.");
return 0;
}
}
}
\ No newline at end of file
GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/CollisionDetectionVessel.cs.meta 0 → 100644
View file @ 10e0d319
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MonoImporter:
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GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/CollisionHandler.cs
View file @ 10e0d319
......@@ -16,7 +16,7 @@ namespace GuidewireSim
* sphere GameObject that is referenced in the second element of @p spheres in SimulationLoop.
*/
float sphereRadius = 5f;
float sphereRadius = 5f; //!< The radius of the sphere elements of the guidewire.
private void Start()
{
......
GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/CollisionSolvingStep.cs
View file @ 10e0d319
......@@ -64,7 +64,7 @@ namespace GuidewireSim
protected virtual void SolveCollisionConstraint(Vector3 spherePositionPrediction, CollisionPair collisionPair, int solverStep,
out Vector3 deltaPosition)
{
int sphereID = collisionPair.sphereID;
// int sphereID = collisionPair.sphereID;
ContactPoint contactPoint = collisionPair.vesselCollider.GetContact(0);
Vector3 otherPosition = contactPoint.otherCollider.transform.position;
......
GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/CollisionTestScene_2Spheres_PrimitiveMeshSphere_UnityVariant 1.unity.meta 0 → 100644
View file @ 10e0d319
fileFormatVersion: 2
guid: cea302732c4b76f4ea21bc1b324d78a9
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View file @ 10e0d319
......@@ -169,6 +169,7 @@ GameObject:
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- component: {fileID: 137101339}
- component: {fileID: 137101340}
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m_Name: Sphere_MeshCollider
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......@@ -269,6 +270,18 @@ Transform:
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m_Script: {fileID: 11500000, guid: bb0903acb76666a4a9257caa76e71835, type: 3}
m_Name:
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--- !u!1 &152071858 stripped
GameObject:
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......@@ -286,6 +299,10 @@ PrefabInstance:
m_Modification:
m_TransformParent: {fileID: 49749013}
m_Modifications:
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propertyPath: m_Enabled
value: 0
objectReference: {fileID: 0}
- target: {fileID: 163888678, guid: 71f983e886cdf6b418bb6e5402e7361d, type: 3}
propertyPath: insideCollision
value: 0
......@@ -425,6 +442,10 @@ PrefabInstance:
propertyPath: fixedTimeStep
value: 0.02
objectReference: {fileID: 0}
- target: {fileID: 4233146888435007091, guid: 0e128b35dc3ea6746b6de609560d672d, type: 3}
propertyPath: constraintSolverSteps
value: 1000
objectReference: {fileID: 0}
- target: {fileID: 4233146888435007091, guid: 0e128b35dc3ea6746b6de609560d672d, type: 3}
propertyPath: spheres.Array.data[0]
value:
......@@ -5375,6 +5396,10 @@ PrefabInstance:
m_Modification:
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propertyPath: insideCollision
value: 0
......
GuidewireSimulation/GuidewireSimulation/UserSettings/EditorUserSettings.asset
View file @ 10e0d319
......@@ -6,34 +6,34 @@ EditorUserSettings:
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