-
Notifications
You must be signed in to change notification settings - Fork 2
/
controllable_rigid_object.gd
256 lines (220 loc) · 11.8 KB
/
controllable_rigid_object.gd
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
tool
extends Spatial
##
## @author: Christoph Haas
##
## @desc: Encapsulates sofa_env.sofa_templates.rigid.ControllableRigidObject
##
#class_name SofaEnvControllableRigidObject
const PropertyWrapperRegistry = preload("res://addons/sofa_godot_plugin/property_wrappers/property_wrapper_registry.gd")
const PyStatementProperties = preload("res://addons/sofa_godot_plugin/sofa_python/properties/py_statement_properties.gd")
const PyProgram = preload("res://addons/sofa_godot_plugin/sofa_python/python/py_program.gd")
const PyCallableStatement = preload("res://addons/sofa_godot_plugin/sofa_python/python/py_callable_statement.gd")
func get_class() -> String:
return "SofaEnvControllableRigidObject"
func is_class(clazz: String) -> bool:
return .is_class(clazz) or (clazz == get_class())
func _get_property_list() -> Array:
return _registry.gen_property_list()
func _set(property: String, value) -> bool:
return _registry.handle_set(property, value)
func _get(property: String):
return _registry.handle_get(property)
const OBJECT_NAME = "controllable_rigid_object"
var _statement: PyCallableStatement
var _registry = PropertyWrapperRegistry.new(self)
var _py_props = PyStatementProperties.new(self, _registry)
func _init():
set_name(OBJECT_NAME)
_statement = PyCallableStatement.new(ControllableRigidObject.new(self, _registry))
_statement.add_plugin_list(ControllableRigidObject.MODULE, ControllableRigidObject.MODULE.plugin_list)
_py_props.register()
func _enter_tree():
_statement.get_callable().update()
func get_python_identifier() -> String:
return _py_props.get_identifier()
func process_python(program: PyProgram, parent_identifier: String, indent_depth: int):
assert(not parent_identifier.empty(), "No parent node specified for " + get_name())
#_statement.get_callable().update()
_py_props.update_statement(_statement)
_statement.get_argument("parent_node").set_value(parent_identifier)
_statement.write_to_program(program, indent_depth)
# retrieve identifier
var identifier = _statement.get_identifier(self, program)
identifier = identifier + ".node" if identifier == get_python_identifier() else identifier
for child in get_children():
if child.has_method("process_python"):
child.process_python(program, identifier, indent_depth)
class ControllableRigidObject:
extends "res://addons/sofa_godot_plugin/sofa_python/python/py_callable.gd"
const PropertyWrapperRegistry = preload("res://addons/sofa_godot_plugin/property_wrappers/property_wrapper_registry.gd")
const OptionalIntProperty = preload("res://addons/sofa_godot_plugin/property_wrappers/optional_property.gd").OptionalIntProperty
const OptionalFloatProperty = preload("res://addons/sofa_godot_plugin/property_wrappers/optional_property.gd").OptionalFloatProperty
const PyArgumentContainer = preload("res://addons/sofa_godot_plugin/sofa_python/python/arguments/py_argument_container.gd").PyArgumentContainer
const sofa_env = preload("res://addons/sofa_godot_plugin/sofa_python/sofa_env/sofa_env_modules.gd")
const SofaEnvObject = preload("res://addons/sofa_godot_plugin/sofa_python/sofa_env/sofa_env_object.gd")
const AddSolverFunc = preload("res://addons/sofa_godot_plugin/sofa_python/sofa_env/solver/add_solver_func.gd")
const AddCollisionModelFunc = preload("res://addons/sofa_godot_plugin/sofa_python/sofa_env/collision/add_collision_model_func.gd")
const AddVisualModelFunc = preload("res://addons/sofa_godot_plugin/sofa_python/sofa_env/visual/add_visual_model_func.gd")
func get_class() -> String:
return "ControllableRigidObject"
func is_class(clazz: String) -> bool:
return .is_class(clazz) or (clazz == get_class())
const MODULE = sofa_env.sofa_templates.rigid
const CLASS_NAME = "ControllableRigidObject"
const cat_rigid = "Controllable Rigid Object"
var solver_node: AddSolverFunc
var visual_node: AddVisualModelFunc
var collision_node: AddCollisionModelFunc
var _node: Spatial
var _registry = PropertyWrapperRegistry.new(self)
var _optionals: Dictionary = {}
func _init(node: Spatial, registry: PropertyWrapperRegistry, partial: bool = false).(CLASS_NAME, partial):
_node = node
_registry = registry
_setup()
func _setup():
_setup_properties()
_setup_callable()
func update():
update_argument_nodes()
update_mesh()
toogle_properties()
func update_argument_nodes():
# add required child nodes if not already present
solver_node = PyContext.add_or_get_child(_node, AddSolverFunc, AddSolverFunc.ARGUMENT_NAME)
collision_node = PyContext.add_or_get_child(_node, AddCollisionModelFunc, AddCollisionModelFunc.ARGUMENT_NAME)
visual_node = PyContext.add_or_get_child(_node, AddVisualModelFunc, AddVisualModelFunc.ARGUMENT_NAME)
get_argument(AddSolverFunc.ARGUMENT_NAME ).set_callable(solver_node.get_callable())
get_argument(AddCollisionModelFunc.ARGUMENT_NAME).set_callable(collision_node.get_callable())
get_argument(AddVisualModelFunc.ARGUMENT_NAME ).set_callable(visual_node.get_callable())
func _setup_properties():
## whether to use a common mesh for visual model and collision model
_registry.make_bool(true, "use_common_mesh").category(cat_rigid).callback(self, "_on_toogle_properties")
## path of common mesh used for visual model and collision model
_registry.make_string(PyContext.PY_NONE, "common_mesh_path")\
.hint(PROPERTY_HINT_FILE)\
.hint_string("*.obj")\
.category(cat_rigid)\
.callback(self, "_on_update_mesh")
## Path to the visual surface mesh.
_registry.make_string(PyContext.PY_NONE, "visual_mesh_path")\
.hint(PROPERTY_HINT_FILE)\
.hint_string("*.obj")\
.category(cat_rigid)\
.callback(self, "_on_update_mesh")
## Path to the collision surface mesh.
_registry.make_string(PyContext.PY_NONE, "collision_mesh_path")\
.hint(PROPERTY_HINT_FILE)\
.hint_string("*.obj")\
.category(cat_rigid)\
.callback(self, "_on_update_mesh")
## Total mass of the rigid object.
_optionals["total_mass"] = OptionalFloatProperty.new(_registry, "total_mass").category(cat_rigid)
## The animation loop of the scene.
## Required to determine if objects for constraint correction should be added.
_registry.make_enum(sofa_env.sofa_templates.scene_header.AugmentedAnimationLoopType(), "animation_loop")\
.select_option_by_value("use_scene_header")\
.category(cat_rigid)
## If set to True, will add a [code]CarvingTool[/code] tag to the collision models.
## Requires the [code]SofaCarving[/code] plugin to be compiled.
_registry.make_bool(false, "is_carving_tool").category(cat_rigid)
## Whether to render the nodes.
_registry.make_bool(false, "show_object").category(cat_rigid).callback(self, "_on_toogle_properties")
## Render size of the node if show_object is True.
_registry.make_float(1.0, "show_object_scale").category(cat_rigid)
## Whether to use RestShapeSpringsForceField or AttachConstraint to
## combine controllable and non-controllable part of the object.
_registry.make_enum(MODULE.MechanicalBinding, "mechanical_binding")\
.select("ATTACH")\
.category(cat_rigid)\
.callback(self, "_on_toogle_properties")
## Spring stiffness of the RestShapeSpringsForceField.
_registry.make_float(2e10, "spring_stiffness").category(cat_rigid)
## Angular spring stiffness of the RestShapeSpringsForceField.
_registry.make_float(2e10, "angular_spring_stiffness").category(cat_rigid)
_optionals["collision_group"] = OptionalIntProperty.new(_registry, "collision_group").category(cat_rigid)
# update properties
toogle_properties()
update_mesh()
func _on_update_mesh(source_path: String, old_value, new_value):
update_mesh()
func update_mesh():
if collision_node == null or visual_node == null:
return
if use_common_mesh():
var common_mesh_path = _registry.get_value("common_mesh_path")
visual_node.set_mesh_file_path(common_mesh_path)
collision_node.set_mesh_file_path(common_mesh_path)
else:
var visual_mesh_path = _registry.get_value("visual_mesh_path")
var collision_mesh_path = _registry.get_value("collision_mesh_path")
visual_node.set_mesh_file_path(visual_mesh_path)
collision_node.set_mesh_file_path(collision_mesh_path)
func _on_toogle_properties(source_path: String, old_value, new_value):
toogle_properties()
if source_path == "use_common_mesh":
update_mesh()
func toogle_properties():
var mechanical_binding = _registry._get_property_wrapper("mechanical_binding").get_selected_option_key()
_registry.toogle_path("common_mesh_path", use_common_mesh())
_registry.toogle_path("visual_mesh_path", not use_common_mesh())
_registry.toogle_path("collision_mesh_path", not use_common_mesh())
_registry.toogle_path("show_object_scale", _registry.get_value("show_object"))
_registry.toogle_path("spring_stiffness", mechanical_binding == "SPRING")
_registry.toogle_path("angular_spring_stiffness", mechanical_binding == "SPRING")
func _setup_callable():
add_import(MODULE, CLASS_NAME)
var args = PyArgumentContainer.new(self).with_registry(_registry)
## Parent node of the object.
args.add_plain("parent_node").required(true).position(0).as_identifier()
## Name of the object.
args.add_plain("name").required(true).position(1).bind(_node, "get_name")
## 6D pose of the object described as Cartesian position and quaternion.
args.add_plain("pose").required(true).position(2).bind(SofaEnvObject, "get_pose", [_node])
## Total mass of the rigid object.
args.add_plain("total_mass").bind(_optionals["total_mass"], "unwrap_or", [PyContext.PY_NONE]).as_identifier()
## Path to the visual surface mesh.
args.add_plain("visual_mesh_path")\
.bind(self, "get_visual_mesh_path")\
.transform(ProjectSettings, "globalize_path")
## Path to the collision surface mesh.
args.add_plain("collision_mesh_path")\
.bind(self, "get_collision_mesh_path")\
.transform(ProjectSettings, "globalize_path")
## Scale factor for loading the meshes.
args.add_plain("scale").default(Vector3.ONE).bind(_node, "get_scale")
## Function that adds the numeric solvers to the object.
args.add_partial_func(AddSolverFunc.ARGUMENT_NAME, "add_solver")
## Function that defines how the collision surface from collision_mesh_path is added to the object.
args.add_partial_func(AddCollisionModelFunc.ARGUMENT_NAME, "add_collision_model")
## Function that defines how the visual surface from visual_mesh_path is added to the object.
args.add_partial_func(AddVisualModelFunc.ARGUMENT_NAME, "add_visual_model")
## The animation loop of the scene.
## Required to determine if objects for constraint correction should be added.
args.add_plain("animation_loop_type")\
.import(sofa_env.sofa_templates.scene_header, "AnimationLoopType")\
.default("AnimationLoopType.DEFAULT")\
.bind(SofaEnvObject, "get_animation_loop_type", [_registry])\
.as_identifier()
## If set to True, will add a 'CarvingTool' tag to the collision models.
## Requires the SofaCarving plugin to be compiled.
args.add_property("is_carving_tool")
## Whether to render the nodes.
args.add_property("show_object")
## Render size of the node if show_object is True.
args.add_property("show_object_scale")
## Whether to use "RestShapeSpringsForceField" or "AttachConstraint"
## to combine controllable and non-controllable part of the object.
args.add_property("mechanical_binding").import(MODULE, "MechanicalBinding").as_identifier()
## stiffness of the "RestShapeSpringsForceField"
args.add_property("spring_stiffness")
## Angular spring stiffness of the "RestShapeSpringsForceField".
args.add_property("angular_spring_stiffness")
args.add_plain("collision_group").bind(_optionals["collision_group"], "unwrap_or", [PyContext.PY_NONE]).as_identifier()
func use_common_mesh() -> bool:
return _registry.get_value("use_common_mesh")
func get_collision_mesh_path() -> String:
return PyContext.NONE if collision_node == null else collision_node.get_mesh_file_path()
func get_visual_mesh_path() -> String:
return PyContext.NONE if visual_node == null else visual_node.get_mesh_file_path()