Add CollisionDetectionVessel.cs

.gitignore

@@ -59,3 +59,4 @@ sysinfo.txt
 crashlytics-build.properties
 
 GuidewireSimulation/GuidewireSimulation/.vscode/launch.json
+GuidewireSimulation/GuidewireSimulation/UserSettings/EditorUserSettings.asset

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/CollisionDetectionPrimitive.cs

@@ -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"));
-
-
-            // if (!insideCollision)
+        // 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("pos" + this.transform.position);
-            //     Debug.Log("colpos" + this.transform.GetComponent<SphereCollider>().center);
-            //     Debug.Log("otherpos" + other.transform.position);
+        //     // 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

+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

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+guid: bb0903acb76666a4a9257caa76e71835
+MonoImporter:
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GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/CollisionHandler.cs

@@ -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

@@ -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

+fileFormatVersion: 2
+guid: cea302732c4b76f4ea21bc1b324d78a9
+DefaultImporter:
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+  userData: 
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GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/CollisionTestScene_2Spheres_PrimitiveMeshSphere_UnityVariant.unity

@@ -169,6 +169,7 @@ GameObject:
   - component: {fileID: 137101341}
   - component: {fileID: 137101339}
   - component: {fileID: 137101340}
+  - component: {fileID: 137101344}
   m_Layer: 6
   m_Name: Sphere_MeshCollider
   m_TagString: Untagged
@@ -269,6 +270,18 @@ Transform:
   m_Father: {fileID: 0}
   m_RootOrder: 5
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &137101344
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+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 137101338}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: bb0903acb76666a4a9257caa76e71835, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
 --- !u!1 &152071858 stripped
 GameObject:
   m_CorrespondingSourceObject: {fileID: 2996864074033366817, guid: 21245aa63eb67904188b68d3b66312df, type: 3}
@@ -286,6 +299,10 @@ PrefabInstance:
   m_Modification:
     m_TransformParent: {fileID: 49749013}
     m_Modifications:
+    - target: {fileID: 163888678, guid: 71f983e886cdf6b418bb6e5402e7361d, type: 3}
+      propertyPath: m_Enabled
+      value: 0
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     - 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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     m_Modifications:
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     - target: {fileID: 163888678, guid: 71f983e886cdf6b418bb6e5402e7361d, type: 3}
       propertyPath: insideCollision
       value: 0

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