SofaCollisionPipelineAPI.cs

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

namespace SofaUnityAPI
{
    /// <summary>
    /// Class used to handle bindings to the Sofa collision pipeline components: I.e:
    /// CollisionPipeline, BroadPhase, NarrowPhase and Collisionresponse
    /// </summary>
    public class SofaCollisionPipelineAPI : SofaBaseObjectAPI
    {
        public SofaCollisionPipelineAPI(IntPtr simu, string nameID)
             : base(simu, nameID, "root", false)
        {

        }

        /// Destructor
        ~SofaCollisionPipelineAPI()
        {
            Dispose(false);
        }

        /// Implicit method to really create object and link to Sofa object. Called by SofaBaseObject constructor
        protected override bool createObject()
        {
            if (m_hasObject == false) // first time create object only
            {
                // Create the cube
                int res = sofaPhysicsAPI_addCollisionPipeline(m_simu);

                if (res != 0)
                {
                    Debug.LogError("SofaCollisionPipelineAPI::createObject creation method return error: " + SofaDefines.msg_error[res] + " for object " + m_name);
                    return false;
                }

                if (displayLog)
                    Debug.Log("SofaCollisionPipeline Added! " + m_name);

                m_hasObject = true;
                return true;
            }

            return false;
        }


        /////////////////////////////////////////////////////////////////////////////////////////
        ////////////          Communication API to sofaPhysicsAdvanceAPI         ////////////////
        /////////////////////////////////////////////////////////////////////////////////////////

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

    }
}