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[src] Start work on factorizing code in SofaSphereCollision and fix code #245

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[src] Start work on factorizing code in SofaSphereCollision and fix code #245

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97a20a1
[src] Add method to setNbrVertices to a mechanicalObject
epernod Apr 1, 2026
a13c36b
[src] Add Debug option to draw sofa positions as spheres
epernod Apr 1, 2026
4ca8bf1
[src] Start work on factorizing code in SofaSphereCollision and fix code
epernod Mar 31, 2026
362624d
fix map size
epernod Apr 1, 2026
b0cfa7d
backup last changes on sphereCollision refactoring
epernod Apr 1, 2026
c1ccd08
[src] Update SofaSphereCollision to use existing SOFA component as th…
epernod Apr 2, 2026
19ea507
[src] Update SofaSphereCollisionObject to match the change of SofaSph…
epernod Apr 2, 2026
3507ba1
Add demo scene
epernod Apr 2, 2026
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26 changes: 20 additions & 6 deletions Core/Plugins/SofaUnityAPI/BaseAPI/SofaBaseMeshAPI.cs
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -848,6 +848,20 @@ public virtual void UpdateTexCoords(Mesh mesh)
}


/// <summary> Method to set the number of vertices to this Mesh Object. </summary>
/// <param name="nbr"> Number of vertices </param>
public void SetNumberOfVertices(int nbr)
{
if (!m_isReady)
return;

int res = sofaMeshAPI_setNbVertices(m_simu, m_name, nbr);

if (res < 0)
Debug.LogError("SofaBaseMeshAPI SetNumberOfVertices: " + m_name + " " + SofaDefines.msg_error[res]);
}


/// Method to set new vertices position to this mesh
public void SetPositions(Vector3[] vertices, Transform sofaTransform)
{
Expand All @@ -867,7 +881,7 @@ public void SetPositions(Vector3[] vertices, Transform sofaTransform)

int resUpdate = sofaMeshAPI_setVertices(m_simu, m_name, val);
if (resUpdate < 0)
Debug.LogError("SofaBaseMeshAPI updateMesh: " + m_name + " return error: " + SofaDefines.msg_error[resUpdate]);
Debug.LogError("SofaBaseMeshAPI SetPositions: " + m_name + " return error: " + SofaDefines.msg_error[resUpdate]);

}

Expand All @@ -878,7 +892,7 @@ public void SetRawPositions(float[] vertices)

int resUpdate = sofaMeshAPI_setVertices(m_simu, m_name, vertices);
if (resUpdate < 0)
Debug.LogError("SofaBaseMeshAPI updateMesh: " + m_name + " return error: " + SofaDefines.msg_error[resUpdate]);
Debug.LogError("SofaBaseMeshAPI SetRawPositions: " + m_name + " return error: " + SofaDefines.msg_error[resUpdate]);

}

Expand All @@ -889,7 +903,7 @@ public void SetRawVelocities(float[] values)

int resUpdate = sofaMeshAPI_setVelocities(m_simu, m_name, values);
if (resUpdate < 0)
Debug.LogError("SofaBaseMeshAPI updateMesh: " + m_name + " return error: " + SofaDefines.msg_error[resUpdate]);
Debug.LogError("SofaBaseMeshAPI SetRawVelocities: " + m_name + " return error: " + SofaDefines.msg_error[resUpdate]);

}

Expand All @@ -912,7 +926,7 @@ public void SetRawRestPositions(float[] vertices)

int resUpdate = sofaMeshAPI_setRestPositions(m_simu, m_name, vertices);
if (resUpdate < 0)
Debug.LogError("SofaBaseMeshAPI updateMesh: " + m_name + " return error: " + SofaDefines.msg_error[resUpdate]);
Debug.LogError("SofaBaseMeshAPI SetRawRestPositions: " + m_name + " return error: " + SofaDefines.msg_error[resUpdate]);

}

Expand All @@ -935,7 +949,7 @@ public void SetVelocities(Vector3[] vels)

int resUpdate = sofaMeshAPI_setVelocities(m_simu, m_name, val);
if (resUpdate < 0)
Debug.LogError("SofaBaseMeshAPI updateMesh: " + m_name + " return error: " + SofaDefines.msg_error[resUpdate]);
Debug.LogError("SofaBaseMeshAPI SetVelocities: " + m_name + " return error: " + SofaDefines.msg_error[resUpdate]);

}

Expand All @@ -951,7 +965,7 @@ public void SetNewPosition(Vector3 value)
val[2] = value[2];
int resUpdate = sofaMeshAPI_setVertices(m_simu, m_name, val);
if (resUpdate < 0)
Debug.LogError("SofaBaseMeshAPI updateMesh: " + m_name + " return error: " + SofaDefines.msg_error[resUpdate]);
Debug.LogError("SofaBaseMeshAPI SetNewPosition: " + m_name + " return error: " + SofaDefines.msg_error[resUpdate]);

}

Expand Down
70 changes: 63 additions & 7 deletions Core/Scripts/Core/Components/SofaMesh.cs
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -133,6 +133,20 @@ public int GetTopologyRevision()
return m_sofaMeshAPI.GetTopologyRevision();
}

public void setNbrVertices(int _nbVertices)
{
if (m_sofaMeshAPI != null)
{
m_sofaMeshAPI.SetNumberOfVertices(_nbVertices);

// First check if topology has changed and handle it
HandleTopologyChange();

// Then update the topology and vertices positions
UpdateTopology();
}
}

/// Method to set new vertices position to this mesh
public void SetPositions(Vector3[] vertices)
{
Expand Down Expand Up @@ -508,20 +522,62 @@ public bool DrawForces
}
}


private bool drawDebugPositions = false;
public bool DrawDebugPositions
{
get { return drawDebugPositions; }
set
{
if (drawDebugPositions == value)
return;

drawDebugPositions = value;
if (drawDebugPositions)
{
m_listenerCounter++;
}
else
m_listenerCounter--;
}
}

void OnDrawGizmosSelected()
{
if (!drawForces)
return;
if (drawDebugPositions)
{
Gizmos.color = Color.green;
if (m_topology != null && m_topology.m_mesh != null)
{
for (int i = 0; i < m_topology.m_mesh.vertexCount; i++)
{
Vector3 pos = m_topology.m_mesh.vertices[i];
Gizmos.DrawSphere(pos, 0.5f);
}
}
else if (m_unityVertices != null)
{
for (int i = 0; i < m_unityVertices.Length; i++)
{
Vector3 pos = m_unityVertices[i];
Gizmos.DrawSphere(pos, 0.5f);
}
}
}


if (m_topology == null|| m_topology.m_mesh == null)
return;

Gizmos.color = Color.red;
for (int i=0; i< m_topology.m_mesh.vertexCount; i++)
if (drawForces && forces != null)
{
Vector3 startPos = m_topology.m_mesh.vertices[i];
Vector3 endPos = startPos + forces[i].normalized;
Gizmos.DrawLine(startPos, endPos);
Gizmos.color = Color.red;
for (int i = 0; i < m_topology.m_mesh.vertexCount; i++)
{
Vector3 startPos = m_topology.m_mesh.vertices[i];
Vector3 endPos = startPos + forces[i].normalized;
Gizmos.DrawLine(startPos, endPos);
}
}

}
Expand Down
15 changes: 6 additions & 9 deletions Core/Scripts/Editor/Components/SofaMeshEditor.cs
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -20,17 +20,12 @@ public override void OnInspectorGUI()

SofaMesh compo = (SofaMesh)this.target;

EditorGUILayout.IntField("Nb Points", compo.NbVertices());

if (!compo.HasTopology())
return;

EditorGUILayout.Separator();

EditorGUI.BeginDisabledGroup(true);
TopologyObjectType type = compo.TopologyType();
EditorGUILayout.EnumPopup("MeshTopology Type", type);

EditorGUILayout.IntField("Nb Points", compo.NbVertices());

if (type == TopologyObjectType.HEXAHEDRON)
{
EditorGUILayout.IntField("Nb Hexahedra", compo.NbHexahedra());
Expand All @@ -48,10 +43,12 @@ public override void OnInspectorGUI()
{
EditorGUILayout.IntField("Nb Edges", compo.NbEdges());
}
EditorGUI.EndDisabledGroup();

compo.DrawForces = EditorGUILayout.Toggle("DrawGizmoForces", compo.DrawForces);

EditorGUI.EndDisabledGroup();
EditorGUILayout.Separator();
compo.DrawForces = EditorGUILayout.Toggle("DrawGizmoForces", compo.DrawForces);
compo.DrawDebugPositions = EditorGUILayout.Toggle("DrawDebugPositions", compo.DrawDebugPositions);
}
}
}
21 changes: 13 additions & 8 deletions Core/Scripts/Editor/Objects/SofaSphereCollisionObjectEditor.cs
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -72,18 +72,23 @@ public class SofaSphereCollisionObjectEditor : SofaMeshObjectEditor

public override void OnInspectorGUI()
{
SofaSphereCollisionObject model = (SofaSphereCollisionObject)this.target;

model.m_sofaMesh = (SofaMesh)EditorGUILayout.ObjectField("Hand SOFA mesh",
model.m_sofaMesh, typeof(SofaMesh), true);

SofaSphereCollisionObject model = (SofaSphereCollisionObject)this.target;
model.parentT = (GameObject)EditorGUILayout.ObjectField("Parent Gameobject to mirror position", model.parentT, typeof(GameObject), true);
model.UsePositionOnly = EditorGUILayout.Toggle("Use Object Position Only (1 dof)", model.UsePositionOnly);
model.m_sphereModel = (SofaCollisionModel)EditorGUILayout.ObjectField("Hand SOFA collision spheres",
model.m_sphereModel, typeof(SofaCollisionModel), true);


model.SofaSphereCollision.ParentT = (GameObject)EditorGUILayout.ObjectField("Parent Gameobject to mirror position", model.SofaSphereCollision.ParentT, typeof(GameObject), true);
model.Factor = EditorGUILayout.Slider("Interpolation factor", model.Factor, 1, 100);
model.Radius = EditorGUILayout.Slider("Sphere radius", model.Radius, 0.001f, 10);
model.Activated = EditorGUILayout.Toggle("Activate collision", model.Activated);
model.Stiffness = EditorGUILayout.Slider("Contact stiffness", model.Stiffness, 1, 5000);
model.m_startOnPlay = EditorGUILayout.Toggle("Start on Play", model.m_startOnPlay);
model.SofaSphereCollision.Radius = EditorGUILayout.Slider("Sphere radius", model.SofaSphereCollision.Radius, 0.001f, 10);
model.SofaSphereCollision.Activated = EditorGUILayout.Toggle("Activate collision", model.SofaSphereCollision.Activated);
model.SofaSphereCollision.Stiffness = EditorGUILayout.Slider("Contact stiffness", model.SofaSphereCollision.Stiffness, 1, 5000);
model.SofaSphereCollision.StartOnPlay = EditorGUILayout.Toggle("Start on Play", model.SofaSphereCollision.StartOnPlay);

EditorGUILayout.LabelField("Number of spheres", model.NbrSpheres.ToString());
EditorGUILayout.LabelField("Number of spheres", model.SofaSphereCollision.NbrSpheres.ToString());
}
}
}
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