private Node GetOrCreateAssembly(agx.Frame frame)
{
return(GetOrCreateNode(NodeType.Assembly,
frame.getUuid(),
true,
() => m_assemblies.Add(frame.getUuid(), frame)));
}
private void SynchronizeNativeFramesWithAttachmentPair()
{
// NOTE: It's not possible to update the constraint frames given the current
// transforms since the actual constraint direction will change with the
// violation.
//RigidBody rb1 = AttachmentPair.ReferenceObject.GetComponentInParent<RigidBody>();
//if ( rb1 == null )
// return;
//
//agx.Frame f1 = Native.getAttachment( 0 ).getFrame();
//f1.setLocalTranslate( AttachmentPair.ReferenceFrame.CalculateLocalPosition( rb1.gameObject ).ToHandedVec3() );
//f1.setLocalRotate( AttachmentPair.ReferenceFrame.CalculateLocalRotation( rb1.gameObject ).ToHandedQuat() );
if (ConnectedFrameNativeSyncEnabled)
{
RigidBody rb2 = AttachmentPair.ConnectedObject != null?AttachmentPair.ConnectedObject.GetComponentInParent <RigidBody>() : null;
agx.Frame f2 = Native.getAttachment(1).getFrame();
if (rb2 != null)
{
f2.setLocalTranslate(AttachmentPair.ConnectedFrame.CalculateLocalPosition(rb2.gameObject).ToHandedVec3());
f2.setLocalRotate(AttachmentPair.ConnectedFrame.CalculateLocalRotation(rb2.gameObject).ToHandedQuat());
}
else
{
f2.setLocalTranslate(AttachmentPair.ConnectedFrame.Position.ToHandedVec3());
f2.setLocalRotate(AttachmentPair.ConnectedFrame.Rotation.ToHandedQuat());
}
}
}
private Node TryGetOrCreateAssembly(agx.Frame child)
{
agx.Frame parent = child?.getParent();
// If parent has a rigid body 'child' is probably a geometry.
if (parent == null || parent.getRigidBody() != null)
{
return(null);
}
return(GetOrCreateAssembly(parent));
}
/// <summary>
/// Create native friction model given solve type and friction model type.
/// </summary>
/// <param name="type">Friction model type.</param>
/// <param name="solveType">Solve type.</param>
/// <returns>New native instance.</returns>
public agx.FrictionModel CreateNative(EType type,
ESolveType solveType)
{
agx.Frame referenceFrame = null;
if (m_orientedFrictionReferenceObject != null)
{
referenceFrame = m_orientedFrictionReferenceObject.GetComponent <RigidBody>() != null?
m_orientedFrictionReferenceObject.GetComponent <RigidBody>().Native.getFrame() :
m_orientedFrictionReferenceObject.GetComponent <Collide.Shape>() != null?
m_orientedFrictionReferenceObject.GetComponent <Collide.Shape>().NativeGeometry.getFrame() :
null;
}
agx.FrictionModel frictionModel = null;
if (type == EType.IterativeProjectedFriction)
{
frictionModel = referenceFrame != null ?
new agx.OrientedIterativeProjectedConeFrictionModel(referenceFrame,
Convert(m_orientedFrictionPrimaryDirection).ToHandedVec3(),
Convert(solveType)) :
new agx.IterativeProjectedConeFriction(Convert(solveType));
}
else if (type == EType.ScaleBoxFriction)
{
frictionModel = referenceFrame != null ?
new agx.OrientedScaleBoxFrictionModel(referenceFrame,
Convert(m_orientedFrictionPrimaryDirection).ToHandedVec3(),
Convert(solveType)) :
new agx.ScaleBoxFrictionModel(Convert(solveType));
}
else if (type == EType.BoxFriction)
{
frictionModel = referenceFrame != null ?
new agx.OrientedBoxFrictionModel(referenceFrame,
Convert(m_orientedFrictionPrimaryDirection).ToHandedVec3(),
Convert(solveType)) :
new agx.BoxFrictionModel(Convert(solveType));
}
else if (type == EType.ConstantNormalForceBoxFriction)
{
frictionModel = new agx.ConstantNormalForceOrientedBoxFrictionModel(NormalForceMagnitude,
referenceFrame,
Convert(m_orientedFrictionPrimaryDirection).ToHandedVec3(),
Convert(solveType),
ScaleNormalForceWithDepth);
}
return(frictionModel);
}
private void Gripper(bool grip)
{
if (GrippingBody == null || FollowBody == null || waitForKeyUp)
{
return;
}
if (grip)
{
GrippedBody.SyncNativeTransform();
GrippingBody.SyncNativeTransform(); // Is this needed...?
if (Vector3.Distance(GrippedBody.transform.position, GrippingBody.transform.position) > MaxGripDistance)
{
Debug.Log("Couldn't reach to grip: " + (GrippedBody.transform.position - GrippingBody.transform.position).magnitude + ", pos1: " + GrippedBody.transform.position + ", pos2: " + GrippingBody.transform.position);
return;
}
if (lockJoint == null)
{
previouslyClose = false;
agx.Frame grippedFrame = new agx.Frame();
agx.Frame grippingFrame = new agx.Frame();
Vector3 offset = GrippingBody.transform.rotation * grippingPositionOffset;
grippedFrame.setLocalTranslate(GrippedBody.Native.getCmLocalTranslate());
grippingFrame.setLocalTranslate(new agx.Vec3(offset.x, offset.y, offset.z));
grippedFrame.setLocalRotate(new agx.EulerAngles(grippingRotationOffset.x * Mathf.Deg2Rad, grippingRotationOffset.y * Mathf.Deg2Rad, grippingRotationOffset.z * Mathf.Deg2Rad));
lockJoint = new agx.LockJoint(GrippedBody.Native, grippedFrame, GrippingBody.Native, grippingFrame);
lockJoint.setCompliance(0.00001f);
lockJoint.setForceRange(new agx.RangeReal(-200, 200));
lockJoint.setDamping(1);
GetSimulation().add(lockJoint);
}
}
else
{
if (lockJoint != null)
{
lockJoint.setEnable(false);
lockJoint = null;
VeryCloseEvent(false);
}
}
gripped = !gripped;
}
public TemporaryNative(Type nativeType, AttachmentPair attachmentPair = null)
{
m_rb1 = new agx.RigidBody();
m_f1 = new agx.Frame();
m_f2 = new agx.Frame();
if (attachmentPair != null)
{
// Some constraints, e.g., Distance Joints depends on the constraint angle during
// creation so we feed the frames with the world transform of the reference and
// connecting frame.
attachmentPair.Synchronize();
m_f1.setLocalTranslate(attachmentPair.ReferenceFrame.Position.ToHandedVec3());
m_f1.setLocalRotate(attachmentPair.ReferenceFrame.Rotation.ToHandedQuat());
m_f2.setLocalTranslate(attachmentPair.ConnectedFrame.Position.ToHandedVec3());
m_f2.setLocalRotate(attachmentPair.ConnectedFrame.Rotation.ToHandedQuat());
}
m_native = (agx.Constraint)Activator.CreateInstance(nativeType, new object[] { m_rb1, m_f1, null, m_f2 });
}
private void Generate(Node node)
{
if (node == null)
{
return;
}
// TODO: Skip if node.GameObject != null means "use Unity configuration".
switch (node.Type)
{
case Node.NodeType.Assembly:
agx.Frame frame = m_tree.GetAssembly(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName("", node.Type.ToString());
node.GameObject.transform.position = frame.getTranslate().ToHandedVector3();
node.GameObject.transform.rotation = frame.getRotate().ToHandedQuaternion();
node.GameObject.GetOrCreateComponent <Assembly>();
break;
case Node.NodeType.RigidBody:
agx.RigidBody nativeRb = m_tree.GetRigidBody(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeRb.getName(), node.Type.ToString());
node.GameObject.transform.position = nativeRb.getPosition().ToHandedVector3();
node.GameObject.transform.rotation = nativeRb.getRotation().ToHandedQuaternion();
node.GameObject.GetOrCreateComponent <RigidBody>().RestoreLocalDataFrom(nativeRb);
break;
case Node.NodeType.Geometry:
// Ignoring geometries - handling Shape == Geometry.
// The shapes are children to this node.
break;
case Node.NodeType.Shape:
var nativeGeometry = m_tree.GetGeometry(node.Parent.Uuid);
var nativeShape = m_tree.GetShape(node.Uuid);
var nativeShapeType = (agxCollide.Shape.Type)nativeShape.getType();
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeGeometry.getName() +
"_" +
nativeShapeType.ToString().ToLower().FirstCharToUpperCase(),
node.Type.ToString());
node.GameObject.transform.position = nativeShape.getTransform().getTranslate().ToHandedVector3();
node.GameObject.transform.rotation = nativeShape.getTransform().getRotate().ToHandedQuaternion();
if (!CreateShape(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
case Node.NodeType.Material:
var nativeMaterial = m_tree.GetMaterial(node.Uuid);
node.Asset = ScriptAsset.Create <ShapeMaterial>().RestoreLocalDataFrom(nativeMaterial);
node.Asset.name = FindName(nativeMaterial.getName(), node.Type.ToString());
node.Asset = AddOrReplaceAsset(node.Asset as ShapeMaterial, node, AGXUnity.IO.AssetType.ShapeMaterial);
break;
case Node.NodeType.ContactMaterial:
var nativeContactMaterial = m_tree.GetContactMaterial(node.Uuid);
var nativeFrictionModel = nativeContactMaterial.getFrictionModel();
var contactMaterial = ScriptAsset.Create <ContactMaterial>().RestoreLocalDataFrom(nativeContactMaterial);
contactMaterial.name = FindName("ContactMaterial_" +
nativeContactMaterial.getMaterial1().getName() +
"_" +
nativeContactMaterial.getMaterial2().getName(),
node.Type.ToString());
var materials = node.GetReferences(Node.NodeType.Material);
if (materials.Length == 0)
{
Debug.LogWarning("No materials referenced to ContactMaterial node.");
}
else if (materials.Length == 1)
{
contactMaterial.Material1 = contactMaterial.Material2 = materials[0].Asset as ShapeMaterial;
}
else if (materials.Length > 1)
{
contactMaterial.Material1 = materials[0].Asset as ShapeMaterial;
contactMaterial.Material2 = materials[1].Asset as ShapeMaterial;
if (materials.Length > 2)
{
Debug.LogWarning("More than two materials referenced to ContactMaterial (" + node.Asset.name + "). First two are used.");
}
}
if (nativeFrictionModel != null)
{
var frictionModelAsset = ScriptAsset.Create <FrictionModel>().RestoreLocalDataFrom(nativeFrictionModel);
frictionModelAsset.name = "FrictionModel_" + contactMaterial.name;
contactMaterial.FrictionModel = AddOrReplaceAsset(frictionModelAsset, node, AGXUnity.IO.AssetType.FrictionModel);
}
node.Asset = contactMaterial = AddOrReplaceAsset(contactMaterial, node, AGXUnity.IO.AssetType.ContactMaterial);
break;
case Node.NodeType.Constraint:
var nativeConstraint = m_tree.GetConstraint(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeConstraint.getName(),
"AGXUnity." + Constraint.FindType(nativeConstraint));
if (!CreateConstraint(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
case Node.NodeType.Wire:
var nativeWire = m_tree.GetWire(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeWire.getName(), "AGXUnity.Wire");
if (!CreateWire(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
case Node.NodeType.Cable:
var nativeCable = m_tree.GetCable(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeCable.getName(), "AGXUnity.Cable");
if (!CreateCable(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
}
foreach (var child in node.Children)
{
Generate(child);
}
}
private void handleKeyboard()
{
bool steering_key_down = false;
// Handle keyboard
if (Input.GetKey(KeyUp))
{
if (!m_motor_key_forward_down)
{
m_vehicle.forward();
}
m_motor_key_forward_down = true;
}
else
{
m_motor_key_forward_down = false;
}
if (Input.GetKey(KeyDown))
{
if (!m_motor_key_backward_down)
{
m_vehicle.reverse();
}
m_motor_key_backward_down = true;
}
else
{
m_motor_key_backward_down = false;
}
if (Input.GetKey(KeyLeft))
{
steering_key_down = true;
updateForceRange();
m_steeringHinge.getMotor1D().setSpeed(-SteeringSpeed);
}
if (Input.GetKey(KeyRight))
{
steering_key_down = true;
updateForceRange();
m_steeringHinge.getMotor1D().setSpeed(SteeringSpeed);
}
if (!steering_key_down)
{
m_steeringHinge.getMotor1D().setSpeed(0);
}
if (!m_motor_key_backward_down && !m_motor_key_forward_down)
{
m_vehicle.brake(true);
}
bool fast = Input.GetKey(KeyCode.LeftShift);
if (m_motor_key_forward_down && fast)
{
m_vehicle.Gearbox.setGear(3);
}
if (Input.GetKey(KeyReset) && !m_resetKeyDown)
{
m_resetKeyDown = true;
var pos = m_chassieRigidBody.getPosition();
m_moveBody = new agx.RigidBody();
GetSimulation().add(m_moveBody);
m_moveBody.setMotionControl(agx.RigidBody.MotionControl.KINEMATICS);
m_moveBody.setPosition(pos + new agx.Vec3(0, 2, 0));
m_moveBody.setVelocity(0, 2, 0);
var f1 = new agx.Frame();
var f2 = new agx.Frame();
agx.Constraint.calculateFramesFromWorld(pos, new agx.Vec3(0, 1, 0), m_moveBody, f1, m_chassieRigidBody, f2);
m_moveConstraint = new agx.BallJoint(m_moveBody, f1, m_chassieRigidBody, f2);
GetSimulation().add(m_moveConstraint);
}
else if (m_resetKeyDown)
{
GetSimulation().remove(m_moveBody);
GetSimulation().remove(m_moveConstraint);
m_resetKeyDown = false;
}
}
/// <summary>
/// Creates native instance and adds it to the simulation if this constraint
/// is properly configured.
/// </summary>
/// <returns>True if successful.</returns>
protected override bool Initialize()
{
if (AttachmentPair.ReferenceObject == null)
{
Debug.LogError("Unable to initialize constraint - reference object must be valid and contain a rigid body component.", this);
return(false);
}
// Synchronize frames to make sure connected frame is up to date.
AttachmentPair.Synchronize();
// TODO: Disabling rigid body game object (activeSelf == false) and will not be
// able to create native body (since State == Constructed and not Awake).
// Do: GetComponentInParent<RigidBody>( true <- include inactive ) and wait
// for the body to become active?
// E.g., rb.AwaitInitialize += ThisConstraintInitialize.
RigidBody rb1 = AttachmentPair.ReferenceObject.GetInitializedComponentInParent <RigidBody>();
if (rb1 == null)
{
Debug.LogError("Unable to initialize constraint - reference object must contain a rigid body component.", AttachmentPair.ReferenceObject);
return(false);
}
// Native constraint frames.
agx.Frame f1 = new agx.Frame();
agx.Frame f2 = new agx.Frame();
// Note that the native constraint want 'f1' given in rigid body frame, and that
// 'ReferenceFrame' may be relative to any object in the children of the body.
f1.setLocalTranslate(AttachmentPair.ReferenceFrame.CalculateLocalPosition(rb1.gameObject).ToHandedVec3());
f1.setLocalRotate(AttachmentPair.ReferenceFrame.CalculateLocalRotation(rb1.gameObject).ToHandedQuat());
RigidBody rb2 = AttachmentPair.ConnectedObject != null?AttachmentPair.ConnectedObject.GetInitializedComponentInParent <RigidBody>() : null;
if (rb1 == rb2)
{
Debug.LogError("Unable to initialize constraint - reference and connected rigid body is the same instance.", this);
return(false);
}
if (rb2 != null)
{
// Note that the native constraint want 'f2' given in rigid body frame, and that
// 'ReferenceFrame' may be relative to any object in the children of the body.
f2.setLocalTranslate(AttachmentPair.ConnectedFrame.CalculateLocalPosition(rb2.gameObject).ToHandedVec3());
f2.setLocalRotate(AttachmentPair.ConnectedFrame.CalculateLocalRotation(rb2.gameObject).ToHandedQuat());
}
else
{
f2.setLocalTranslate(AttachmentPair.ConnectedFrame.Position.ToHandedVec3());
f2.setLocalRotate(AttachmentPair.ConnectedFrame.Rotation.ToHandedQuat());
}
try {
Native = (agx.Constraint)Activator.CreateInstance(NativeType, new object[] { rb1.Native, f1, (rb2 != null ? rb2.Native : null), f2 });
// Assigning native elementary constraints to our elementary constraint instances.
foreach (ElementaryConstraint ec in ElementaryConstraints)
{
if (!ec.OnConstraintInitialize(this))
{
throw new Exception("Unable to initialize elementary constraint: " + ec.NativeName + " (not present in native constraint). ConstraintType: " + Type);
}
}
bool added = GetSimulation().add(Native);
Native.setEnable(IsEnabled);
// Not possible to handle collisions if connected frame parent is null/world.
if (CollisionsState != ECollisionsState.KeepExternalState && AttachmentPair.ConnectedObject != null)
{
string groupName = gameObject.name + "_" + gameObject.GetInstanceID().ToString();
GameObject go1 = null;
GameObject go2 = null;
bool propagateToChildren1 = false;
bool propagateToChildren2 = false;
if (CollisionsState == ECollisionsState.DisableReferenceVsConnected)
{
go1 = AttachmentPair.ReferenceObject;
go2 = AttachmentPair.ConnectedObject;
}
else
{
go1 = rb1.gameObject;
propagateToChildren1 = true;
go2 = rb2 != null ? rb2.gameObject : AttachmentPair.ConnectedObject;
propagateToChildren2 = true;
}
go1.GetOrCreateComponent <CollisionGroups>().GetInitialized <CollisionGroups>().AddGroup(groupName, propagateToChildren1);
go2.GetOrCreateComponent <CollisionGroups>().GetInitialized <CollisionGroups>().AddGroup(groupName, propagateToChildren2);
CollisionGroupsManager.Instance.GetInitialized <CollisionGroupsManager>().SetEnablePair(groupName, groupName, false);
}
Native.setName(name);
bool valid = added && Native.getValid();
Simulation.Instance.StepCallbacks.PreSynchronizeTransforms += OnPreStepForwardUpdate;
// It's not possible to check which properties an animator
// is controlling, for now we update all properties in the
// controllers if we have an animator.
m_isAnimated = GetComponent <Animator>() != null;
return(valid);
}
catch (System.Exception e) {
Debug.LogException(e, gameObject);
return(false);
}
}
protected override bool Initialize()
{
if (!agx.Runtime.instance().isModuleEnabled("AgX-DriveTrain"))
{
Debug.LogWarning("WheelLoader requires a valid license for the AGX Dynamics module: AgX-DriveTrain", this);
}
PowerLine = new agxPowerLine.PowerLine();
PowerLine.setName(name);
Engine = new agxDriveTrain.CombustionEngine(InletVolume);
TorqueConverter = new agxDriveTrain.TorqueConverter();
GearBox = new agxDriveTrain.GearBox();
Differentials[(int)DifferentialLocation.Rear] = new agxDriveTrain.Differential();
Differentials[(int)DifferentialLocation.Center] = new agxDriveTrain.Differential();
Differentials[(int)DifferentialLocation.Front] = new agxDriveTrain.Differential();
m_actuators[(int)WheelLocation.LeftFront] = new agxPowerLine.RotationalActuator(LeftFrontHinge.GetInitialized <Constraint>().Native.asHinge());
m_actuators[(int)WheelLocation.RightFront] = new agxPowerLine.RotationalActuator(RightFrontHinge.GetInitialized <Constraint>().Native.asHinge());
m_actuators[(int)WheelLocation.LeftRear] = new agxPowerLine.RotationalActuator(LeftRearHinge.GetInitialized <Constraint>().Native.asHinge());
m_actuators[(int)WheelLocation.RightRear] = new agxPowerLine.RotationalActuator(RightRearHinge.GetInitialized <Constraint>().Native.asHinge());
foreach (var wheelHinge in WheelHinges)
{
wheelHinge.GetController <TargetSpeedController>().Enable = false;
}
var engineTorqueConverterShaft = new agxDriveTrain.Shaft();
var torqueConverterGearBoxShaft = new agxDriveTrain.Shaft();
var gearBoxCenterDiffShaft = new agxDriveTrain.Shaft();
var centerDiffRearDiffShaft = new agxDriveTrain.Shaft();
var centerDiffFrontDiffShaft = new agxDriveTrain.Shaft();
var frontDiffFrontLeftWheelShaft = new agxDriveTrain.Shaft();
var frontDiffFrontRightWheelShaft = new agxDriveTrain.Shaft();
var rearDiffRearLeftWheelShaft = new agxDriveTrain.Shaft();
var rearDiffRearRightWheelShaft = new agxDriveTrain.Shaft();
PowerLine.setSource(Engine);
Engine.connect(engineTorqueConverterShaft);
engineTorqueConverterShaft.connect(TorqueConverter);
TorqueConverter.connect(torqueConverterGearBoxShaft);
torqueConverterGearBoxShaft.connect(GearBox);
GearBox.connect(gearBoxCenterDiffShaft);
gearBoxCenterDiffShaft.connect(Differentials[(int)DifferentialLocation.Center]);
Differentials[(int)DifferentialLocation.Center].connect(centerDiffFrontDiffShaft);
centerDiffFrontDiffShaft.connect(Differentials[(int)DifferentialLocation.Front]);
Differentials[(int)DifferentialLocation.Front].connect(frontDiffFrontLeftWheelShaft);
Differentials[(int)DifferentialLocation.Front].connect(frontDiffFrontRightWheelShaft);
frontDiffFrontLeftWheelShaft.connect(m_actuators[(int)WheelLocation.LeftFront]);
frontDiffFrontRightWheelShaft.connect(m_actuators[(int)WheelLocation.RightFront]);
Differentials[(int)DifferentialLocation.Center].connect(centerDiffRearDiffShaft);
centerDiffRearDiffShaft.connect(Differentials[(int)DifferentialLocation.Rear]);
Differentials[(int)DifferentialLocation.Rear].connect(rearDiffRearLeftWheelShaft);
Differentials[(int)DifferentialLocation.Rear].connect(rearDiffRearRightWheelShaft);
rearDiffRearLeftWheelShaft.connect(m_actuators[(int)WheelLocation.LeftRear]);
rearDiffRearRightWheelShaft.connect(m_actuators[(int)WheelLocation.RightRear]);
var munu = new agx.RealPairVector(new agx.RealPair[]
{
new agx.RealPair(-0.0001, 0.00),
new agx.RealPair(0.00001, 0.50),
new agx.RealPair(0.00011, 2.00),
new agx.RealPair(0.00100, 2.00),
new agx.RealPair(0.20000, 1.10),
new agx.RealPair(0.40000, 1.15),
new agx.RealPair(0.60000, 1.05),
new agx.RealPair(0.80000, 1.01),
new agx.RealPair(0.90000, 0.99),
new agx.RealPair(1.00000, 0.98),
new agx.RealPair(1.00100, 0.98)
});
TorqueConverter.setMuTable(munu);
TorqueConverter.setMaxMultiplication(2.0);
TorqueConverter.setPumpTorqueReferenceRPM(1000.0);
GearBox.setGearRatios(new agx.RealVector(new double[] { GearRatios.x, GearRatios.y }));
GearBox.gearUp();
GetSimulation().add(PowerLine);
var f1 = new agx.Frame();
var f2 = new agx.Frame();
agx.Constraint.calculateFramesFromBody(new agx.Vec3(),
agx.Vec3.X_AXIS(),
gearBoxCenterDiffShaft.getRotationalDimension().getOrReserveBody(),
f1,
null,
f2);
BrakeHinge = new agx.Hinge(gearBoxCenterDiffShaft.getRotationalDimension().getOrReserveBody(),
f1,
null,
f2);
GetSimulation().add(BrakeHinge);
try {
GetOrCreateTireModelProperties();
foreach (WheelLocation location in Enum.GetValues(typeof(WheelLocation)))
{
GetOrCreateTireModel(location)?.GetInitialized <TwoBodyTire>();
}
}
catch (Exception e) {
Debug.LogWarning("Unable to initialize tire models: " + e.Message);
}
return(true);
}
private void Generate(Node node)
{
if (node == null)
{
return;
}
switch (node.Type)
{
case Node.NodeType.Assembly:
agx.Frame frame = m_tree.GetAssembly(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName("", node.Type.ToString());
node.GameObject.transform.position = frame.getTranslate().ToHandedVector3();
node.GameObject.transform.rotation = frame.getRotate().ToHandedQuaternion();
node.GameObject.GetOrCreateComponent <Assembly>();
break;
case Node.NodeType.RigidBody:
agx.RigidBody nativeRb = m_tree.GetRigidBody(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeRb.getName(), node.Type.ToString());
node.GameObject.transform.position = nativeRb.getPosition().ToHandedVector3();
node.GameObject.transform.rotation = nativeRb.getRotation().ToHandedQuaternion();
node.GameObject.GetOrCreateComponent <RigidBody>().RestoreLocalDataFrom(nativeRb);
break;
case Node.NodeType.Geometry:
// Ignoring geometries - handling Shape == Geometry.
// The shapes are children to this node.
break;
case Node.NodeType.Shape:
var nativeGeometry = m_tree.GetGeometry(node.Parent.Uuid);
var nativeShape = m_tree.GetShape(node.Uuid);
var nativeShapeType = (agxCollide.Shape.Type)nativeShape.getType();
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeGeometry.getName() +
"_" +
nativeShapeType.ToString().ToLower().FirstCharToUpperCase(),
node.Type.ToString());
node.GameObject.transform.position = nativeShape.getTransform().getTranslate().ToHandedVector3();
node.GameObject.transform.rotation = nativeShape.getTransform().getRotate().ToHandedQuaternion();
if (!CreateShape(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
case Node.NodeType.Material:
// Ignoring materials - the referenced materials should have been restored
// by now using RestoreShapeMaterial.
break;
case Node.NodeType.ContactMaterial:
var materialNodes = node.GetReferences(Node.NodeType.Material);
Func <string> contactMaterialMaterialNames = () =>
{
return(m_tree.GetMaterial(materialNodes[0].Uuid).getName() + " <-> " +
m_tree.GetMaterial(materialNodes[1].Uuid).getName());
};
if (materialNodes.Length == 0)
{
Debug.LogWarning("No materials referenced to ContactMaterial node - ignoring contact material.");
break;
}
else if (materialNodes.Length > 2)
{
Debug.LogWarning("More than two materials referenced to contact material - first two will be used: " +
contactMaterialMaterialNames());
}
var materials = new ShapeMaterial[2]
{
materialNodes[0].Asset as ShapeMaterial,
materialNodes.Length > 1 ?
materialNodes[1].Asset as ShapeMaterial :
materialNodes[0].Asset as ShapeMaterial
};
var nativeContactMaterial = m_tree.GetContactMaterial(node.Uuid);
var nativeFrictionModel = nativeContactMaterial.getFrictionModel();
if (materials[0] == null || materials[1] == null)
{
Debug.LogWarning($"Unreferenced ShapeMaterial(s) in ContactMaterial: {contactMaterialMaterialNames()} - ignoring contact material.");
break;
}
Predicate <ContactMaterial> materialsMatcher = cm => (cm.Material1 == materials[0] && cm.Material2 == materials[1]) ||
(cm.Material2 == materials[0] && cm.Material1 == materials[1]);
var contactMaterial = FileInfo.ObjectDb.GetOrCreateAsset(materialsMatcher,
FindName($"ContactMaterial_{materials[ 0 ].name}_{materials[ 1 ].name}",
node.Type.ToString()),
cm =>
{
cm.Material1 = materials[0];
cm.Material2 = materials[1];
cm.RestoreLocalDataFrom(nativeContactMaterial);
});
if (nativeFrictionModel != null)
{
contactMaterial.FrictionModel = FileInfo.ObjectDb.GetOrCreateAsset(contactMaterial.FrictionModel,
$"FrictionModel_{contactMaterial.name}",
fm => fm.RestoreLocalDataFrom(nativeFrictionModel));
}
node.Asset = contactMaterial;
break;
case Node.NodeType.Constraint:
var nativeConstraint = m_tree.GetConstraint(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeConstraint.getName(),
"AGXUnity." + Constraint.FindType(nativeConstraint));
if (!CreateConstraint(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
case Node.NodeType.Wire:
var nativeWire = m_tree.GetWire(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeWire.getName(), "AGXUnity.Wire");
if (!CreateWire(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
case Node.NodeType.Cable:
var nativeCable = m_tree.GetCable(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeCable.getName(), "AGXUnity.Cable");
if (!CreateCable(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
case Node.NodeType.ObserverFrame:
var nativeObserverFrame = m_tree.GetObserverFrame(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeObserverFrame.getName(), "AGXUnity.ObserverFrame");
var rbNode = node.GetReferences(Node.NodeType.RigidBody).FirstOrDefault();
node.GameObject.GetOrCreateComponent <ObserverFrame>().RestoreLocalDataFrom(nativeObserverFrame,
rbNode != null ? rbNode.GameObject : null);
break;
}
foreach (var child in node.Children)
{
Generate(child);
}
}
protected override bool Initialize()
{
RemoveInvalidRollers();
var tracks = FindTracks();
if (tracks.Length == 0)
{
Debug.LogWarning("Belt: No tracks found.", this);
return(false);
}
if (tracks.Any(track => track.GetInitialized <Track>() == null) ||
// Tracks has zero nodes when the license isn't loaded or
// doesn't include the tracks module.
tracks.Any(Track => Track.Native.getNumNodes() == 0))
{
Debug.LogError("Belt: One or more tracks failed to initialize.", this);
return(false);
}
m_tracks = tracks;
if (m_tracks.Length > 1)
{
ulong numNodes = m_tracks.First().Native.getNumNodes();
ulong stride = System.Math.Min(System.Math.Max((ulong)ConnectingConstraintStride, 1),
numNodes);
while (stride > 1 && (numNodes % stride) != 0)
{
--stride;
}
if ((int)stride != ConnectingConstraintStride)
{
Debug.Log($"Belt: Connecting constraint stride changed from {ConnectingConstraintStride} to {stride} " +
$"to match node count: {m_tracks.First().Native.getNumNodes()}.", this);
}
for (int i = 0; i < m_tracks.Length; ++i)
{
m_tracks[i].Native.addGroup(GetGroupName(i));
}
ConnectingConstraints = new agx.Constraint[m_tracks.Length - 1, (int)(numNodes / stride)];
for (int i = 1; i < m_tracks.Length; ++i)
{
var prev = m_tracks[i - 1];
var curr = m_tracks[i];
GetSimulation().getSpace().setEnablePair(GetGroupName(i - 1),
GetGroupName(i),
false);
var connectingConstraintIndex = 0;
for (ulong nodeIndex = 0; nodeIndex < prev.Native.getNumNodes(); ++nodeIndex)
{
if ((nodeIndex % stride) != 0)
{
continue;
}
var prevTrackNode = prev.Native.getNode(nodeIndex);
var currTrackNode = curr.Native.getNode(nodeIndex);
var constraintCenter = 0.5 * (prevTrackNode.getCenterPosition() +
currTrackNode.getCenterPosition());
var constraintAxis = prevTrackNode.getDirection().normal();
var otherAxis = (constraintCenter - prevTrackNode.getCenterPosition()).normal();
// Constraint frame we're about to create:
// x or TRANSLATIONAL_1: Along otherAxis, i.e., separation of the two nodes.
// y or TRANSLATIONAL_2: Up/down between the two nodes.
// z or TRANSLATIONAL_3: Along the track.
var prevTrackNodeFrame = new agx.Frame();
var currTrackNodeFrame = new agx.Frame();
agx.Constraint.calculateFramesFromWorld(constraintCenter,
constraintAxis,
otherAxis,
prevTrackNode.getRigidBody(),
prevTrackNodeFrame,
currTrackNode.getRigidBody(),
currTrackNodeFrame);
ConnectingConstraints[i - 1, connectingConstraintIndex++] = new agx.Hinge(prevTrackNode.getRigidBody(),
prevTrackNodeFrame,
currTrackNode.getRigidBody(),
currTrackNodeFrame);
}
}
foreach (var constraint in ConnectingConstraints)
{
if (constraint == null)
{
Debug.LogWarning("Unexpected null connecting constraint.", this);
continue;
}
constraint.setName("connecting");
// Properties will be applied during BeltProperties.Register
// when all properties are synchronized for this belt after
// Initialize is done.
GetSimulation().add(constraint);
}
}
return(true);
}
public void InitializeOrientedFriction(bool isOriented,
GameObject referenceObject,
FrictionModel.PrimaryDirection primaryDirection)
{
if (!isOriented || referenceObject == null || FrictionModel == null)
{
return;
}
if (!Application.isPlaying)
{
Debug.LogError("Oriented friction: Invalid to initialize oriented friction in edit mode.", this);
return;
}
if (GetInitialized <ContactMaterial>() == null)
{
return;
}
if (FrictionModel.GetInitialized <FrictionModel>() == null)
{
return;
}
var rb = referenceObject.GetComponent <RigidBody>();
var shape = rb == null?
referenceObject.GetComponent <Collide.Shape>() :
null;
var observer = rb == null && shape == null?
referenceObject.GetComponent <ObserverFrame>() :
null;
agx.Frame referenceFrame = null;
if (rb != null && rb.GetInitialized <RigidBody>() != null)
{
referenceFrame = rb.Native.getFrame();
}
else if (shape != null && shape.GetInitialized <Collide.Shape>() != null)
{
referenceFrame = shape.NativeGeometry.getFrame();
}
else if (observer != null && observer.GetInitialized <ObserverFrame>() != null)
{
referenceFrame = observer.Native.getFrame();
}
if (referenceFrame == null)
{
Debug.LogWarning($"Oriented friction: Unable to find reference frame from {referenceObject.name}.", referenceObject);
return;
}
if (rb != null)
{
FrictionModel.InitializeOriented(rb, primaryDirection);
}
else
{
FrictionModel.InitializeOriented(shape, primaryDirection);
}
}