protected override bool Initialize()
{
m_transform = transform;
Shapes = GetShapes();
HasArticulatedRoot = GetArticulatedRoot() != null &&
GetArticulatedRoot().enabled;
VerifyConfiguration();
m_rb = new agx.RigidBody();
m_rb.setName(name);
m_rb.setEnable(IsEnabled);
m_rb.getMassProperties().setAutoGenerateMask(0u);
SyncNativeTransform(m_rb);
SyncShapes();
GetSimulation().add(m_rb);
UpdateMassProperties();
if (IsEnabled)
{
HandleUpdateCallbacks(true);
}
return(true);
}
public AgX_Primitive(Guid guid, string shape, Vector3 pos, Quaternion rot, Vector3 size, double mass, string materialName)
{
this.guid = guid;
this.shape = shape;
this.size = size;
this.materialName = materialName;
var dynamicRBGeometry = new agxCollide.Geometry();
switch (shape)
{
case "Box": dynamicRBGeometry.add(new agxCollide.Box(Operations.ToAgxVec3(this.size))); break;
case "Sphere": dynamicRBGeometry.add(new agxCollide.Sphere((this.size.x + this.size.y + this.size.z) / 3)); break;
}
dynamicRBGeometry.setMaterial(new agx.Material(materialName));
agx_Object = new agx.RigidBody();
agx_Object.add(dynamicRBGeometry);
agx_Object.setLocalPosition(Operations.ToAgxVec3(pos)); ///AgX
agx_Object.setLocalRotation(new agx.Quat(rot.x, rot.y, rot.z, rot.w)); ///AgX
agx_Object.getMassProperties().setMass(mass);
AddToSim();
}
private Node GetOrCreateRigidBody(agx.RigidBody rb, bool isRoot)
{
return(GetOrCreateNode(NodeType.RigidBody,
rb.getUuid(),
isRoot,
() => m_bodies.Add(rb.getUuid(), rb)));
}
protected override bool Initialize()
{
m_transform = transform;
VerifyConfiguration();
m_rb = new agx.RigidBody();
m_rb.setName(name);
m_rb.setEnable(IsEnabled);
SyncNativeTransform(m_rb);
SyncShapes();
GetSimulation().add(m_rb);
UpdateMassProperties();
if (IsEnabled)
{
HandleUpdateCallbacks(true);
}
return(base.Initialize());
}
private RigidBody CreateRigidBody(GameObject gameObject, Link link)
{
var rb = GetOrCreateComponent <RigidBody>(gameObject);
GetOrCreateComponent <ElementComponent>(gameObject).SetElement(link);
if (link.IsStatic)
{
rb.MotionControl = agx.RigidBody.MotionControl.STATIC;
return(rb);
}
// Note: When <inertial> isn't defined the collision shapes defines
// the mass properties.
// <inertial> defined with required <mass> and <inertia>. Create
// a native rigid body with the given properties and read the
// values back to our rigid body component.
if (link.Inertial != null)
{
var native = new agx.RigidBody();
native.getMassProperties().setMass(link.Inertial.Mass, false);
// Inertia tensor is given in the inertia frame. The rotation of the
// CM frame can't be applied to the CM frame so we transform the inertia
// CM frame and rotate the game object.
var rotationMatrix = link.Inertial.Rpy.RadEulerToRotationMatrix();
var inertia3x3 = (agx.Matrix3x3)link.Inertial.Inertia;
inertia3x3 = rotationMatrix.Multiply(inertia3x3).Multiply(rotationMatrix.transpose());
native.getMassProperties().setInertiaTensor(new agx.SPDMatrix3x3(inertia3x3));
native.getCmFrame().setLocalTranslate(link.Inertial.Xyz.ToVec3());
rb.RestoreLocalDataFrom(native);
}
return(rb);
}
/*--------------------------------------------------Creating terrain--------------------------------------------------*/
//public void Create_Terrain(Guid guid, string heightmap, Vector3 position, string materialName, double restitution, double friction, double height)
public AgX_Scene(Guid guid, List <Vector3> vertices, List <int> triangles, Vector3 position, string materialName)
{
this.guid = guid;
//AgX:
agx.Vec3Vector agx_vertices = new agx.Vec3Vector();
agx.UInt32Vector agx_indices = new agx.UInt32Vector();
for (int i = 0; i < vertices.Count; i++)
{
agx_vertices.Add(Operations.ToAgxVec3(vertices[i]));
}
for (int i = 0; i < triangles.Count; i++)
{
agx_indices.Add((uint)triangles[i]);
}
terrain = new agx.RigidBody();
//uint optionsMask = (uint)agxCollide.Trimesh.TrimeshOptionsFlags.TERRAIN;
var terrain_trimesh = new agxCollide.Trimesh(agx_vertices, agx_indices, "handmade terrain");//, optionsMask, height);
var geometry = new agxCollide.Geometry();
geometry.add(terrain_trimesh);
geometry.setMaterial(new agx.Material(materialName));
terrain.add(geometry);
terrain.setMotionControl(agx.RigidBody.MotionControl.STATIC);
//position.y -= height;
terrain.setLocalPosition(Operations.ToAgxVec3(position));//move right and -height for global 0
///Adds terrain to simulation
//simulation.add(terrain);
Agx_Simulation.sim_Instance.add(terrain);
}
public AgX_Frame(Guid guid, string shape, Vector3[] vertices, Vector2[] uvs, int[] triangles, double size, Vector3 pos, Quaternion rot, double mass, bool isStatic, string materialName)
{
this.guid = guid;
this.shape = shape;
this.size = size;
this.materialName = materialName;
//scale by 2, to fit unity.
/* Vector3[] tmp_verts = vertices;
* for (int i = 0; i < tmp_verts.Length; i++)
* {
* tmp_verts[i].x *= 2;
* tmp_verts[i].y *= 2;
* tmp_verts[i].z *= 2;
* }*/
var tri = new agxCollide.Trimesh(Operations.ToAgxVec3Vector(vertices), Operations.ToAgxIntVector(triangles), "stdFrame");
///Creates a geometry
var dynamicRBGeometry = new agxCollide.Geometry();
dynamicRBGeometry.add(tri);
dynamicRBGeometry.setMaterial(new agx.Material(materialName));
///Creates the selected shape
/*switch (shape)
* {
* case "Box": dynamicRBGeometry.add(new agxCollide.Box(Operations.ToAgxVec3(size))); break;
* case "Sphere": dynamicRBGeometry.add(new agxCollide.Sphere((size.x + size.y + size.z) / 3)); break;
* }*/
agx_Object = new agx.RigidBody();
///Adds selected geometry to the rigidbody
agx_Object.add(dynamicRBGeometry);
agx_Object.setLocalPosition(Operations.ToAgxVec3(pos));///AgX
//var y = new agx.EulerAngles(Operations.ToAgxVec3(rot));
//UnityEngine.Debug.Log("x: " + y.x + ", y: " + y.y + ", z: " + y.z);
agx_Object.setLocalRotation(new agx.Quat(rot.x, rot.y, rot.z, rot.w));///AgX
//agx_Object.setLocalRotation(new agx.EulerAngles(Operations.ToAgxVec3(rot)));///AgX
//UnityEngine.Debug.Log("x: " +agx_Object.getLocalPosition().x + ", y: " + agx_Object.getLocalPosition().y + ", z: " + agx_Object.getLocalPosition().z);
agx_Object.getMassProperties().setMass(mass);
if (isStatic)
{
agx_Object.setMotionControl(agx.RigidBody.MotionControl.STATIC);
}
AddToSim();
}
static agxSDK.Assembly robotAssembly;// = new agxSDK.Assembly();
public static void AddToAssembly(agx.RigidBody body)
{
if (robotAssembly == null)
{
robotAssembly = new agxSDK.Assembly();
}
robotAssembly.add(body);
}
/// <summary>
/// Destroys visual resources and removes the instance from
/// the simulation if the instance has been emitted from this
/// emitter (check return value).
/// </summary>
/// <param name="instance">Instance to destroy and remove from the simulation.</param>
/// <returns>True if destroyed and removed, otherwise false.</returns>
public bool TryDestroy(agx.RigidBody instance)
{
if (m_event == null)
{
return(false);
}
return(m_event.TryDestroy(instance));
}
public void SyncNativeTransform(agx.RigidBody nativeRb)
{
if (nativeRb == null)
{
return;
}
nativeRb.setPosition(transform.position.ToHandedVec3());
nativeRb.setRotation(transform.rotation.ToHandedQuat());
}
/// <summary>
/// Creates native instance given current properties.
/// </summary>
/// <returns>Native instance of this node.</returns>
protected override bool Initialize()
{
RigidBody rb = null;
Collide.Shape shape = null;
if (Parent != null)
{
rb = Parent.GetInitializedComponentInParent <RigidBody>();
shape = Parent.GetInitializedComponentInParent <Collide.Shape>();
}
// We don't know if the parent is the rigid body.
// It could be a mesh, or some other object.
// Also - use world position if Type == FreeNode.
agx.Vec3 point = rb != null && Type != Wire.NodeType.FreeNode ?
CalculateLocalPosition(rb.gameObject).ToHandedVec3() :
Position.ToHandedVec3();
agx.RigidBody nativeRb = rb != null ? rb.Native : null;
if (Type == Wire.NodeType.BodyFixedNode)
{
Native = new agxWire.BodyFixedNode(nativeRb, point);
}
// Create a free node if type is contact and shape == null.
else if (Type == Wire.NodeType.FreeNode || (Type == Wire.NodeType.ContactNode && shape == null))
{
Native = new agxWire.FreeNode(point);
}
else if (Type == Wire.NodeType.ConnectingNode)
{
Native = new agxWire.ConnectingNode(nativeRb, point, double.PositiveInfinity);
}
else if (Type == Wire.NodeType.EyeNode)
{
Native = new agxWire.EyeNode(nativeRb, point);
}
else if (Type == Wire.NodeType.ContactNode)
{
Native = new agxWire.ContactNode(shape.NativeGeometry, CalculateLocalPosition(shape.gameObject).ToHandedVec3());
}
else if (Type == Wire.NodeType.WinchNode)
{
if (m_winch == null)
{
throw new AGXUnity.Exception("No reference to a wire winch component in the winch node.");
}
m_winch.GetInitialized <WireWinch>();
Native = m_winch.Native != null?m_winch.Native.getStopNode() : null;
}
return(Native != null);
}
protected override void OnDestroy()
{
if (GetSimulation() != null)
{
Simulation.Instance.StepCallbacks.PostSynchronizeTransforms -= OnPostSynchronizeTransformsCallback;
GetSimulation().remove(m_rb);
}
m_rb = null;
base.OnDestroy();
}
protected override void OnDestroy()
{
if (Simulation.HasInstance)
{
GetSimulation().remove(m_rb);
}
m_rb = null;
m_transform = null;
base.OnDestroy();
}
/// <summary>
/// Peek at a temporary native instance or the current (if initialized).
/// </summary>
/// <param name="callback">Callback with temporary or already initialized native instance. Callback signature ( nativeRb, isTemporary ).</param>
/// <remarks>
/// Always assume the native instance to be temporary. It's never safe to cache an instance to the native object.
/// </remarks>
public void PeekTemporaryNativeOrGetNative(Action <agx.RigidBody, bool> callback)
{
if (callback == null)
{
return;
}
if (m_rb != null)
{
callback(m_rb, false);
}
else
{
Shape[] shapes = GetComponentsInChildren <Shape>();
using (agx.RigidBody rb = new agx.RigidBody()) {
foreach (Shape shape in shapes)
{
agxCollide.Shape nativeShape = shape.CreateTemporaryNative();
if (nativeShape != null)
{
agxCollide.Geometry geometry = new agxCollide.Geometry(nativeShape);
geometry.setEnable(shape.IsEnabled);
if (shape.Material != null)
{
geometry.setMaterial(shape.Material.CreateTemporaryNative());
}
rb.add(geometry, shape.GetNativeRigidBodyOffset(this));
}
}
// For center of mass position/rotation to be correct we have to
// synchronize the native transform given current game object transform.
SyncNativeTransform(rb);
callback(rb, true);
// Hitting "Update" (mass or inertia in the Inspector) several times
// will crash agx if we don't remove the geometries and shapes.
while (rb.getGeometries().Count > 0)
{
agxCollide.Geometry geometry = rb.getGeometries()[0].get();
if (geometry.getShapes().Count > 0)
{
geometry.remove(geometry.getShapes()[0].get());
}
rb.remove(geometry);
}
}
}
}
/// <summary>
/// Initialize the whole vehicle
/// </summary>
private void initializeVehicle()
{
if (m_initialized)
{
return;
}
var sim = GetSimulation();
Assert.IsNotNull(sim);
// Access the hinge used for steering
m_steeringHinge = GetSimulation().getHinge("WaistHingeTurning");
Assert.IsNotNull(m_steeringHinge);
m_steeringHinge.getMotor1D().setEnable(true);
m_steeringHinge.getMotor1D().setSpeed(0.0f);
m_steeringHinge.getMotor1D().setLockedAtZeroSpeed(true);
/// Access all the hinges attached to all the rims
var hingeJointNames = new List <string> {
"RightRearHinge", "LeftRearHinge", "RightFrontHinge", "LeftFrontHinge"
};
foreach (var n in hingeJointNames)
{
var hinge = sim.getHinge(n);
Assert.IsNotNull(hinge, string.Format("Hinge {0} is missing in Simulation", n));
m_wheelHinges.Add(hinge.getName(), hinge);
}
if (m_chassieRigidBody == null)
{
m_chassieRigidBody = sim.getRigidBody("FrontBody");
Assert.IsNotNull(m_chassieRigidBody);
}
//Hinge.GetController<TargetSpeedController>().Enable = true;
// Make sure body exists before I start using it.
//Body.GetInitialized<RigidBody>().Native.setEnable(false);
initializeTires();
// Create the Vehicle class that initializes brakes etc.
m_vehicle = new Vehicle(GetSimulation(), m_wheelHinges);
m_initialized = true;
}
protected override void OnDestroy()
{
if (Simulation.HasInstance)
{
GetSimulation().remove(m_rb);
}
m_rb = null;
m_transform = null;
Shapes = null;
HasArticulatedRoot = false;
base.OnDestroy();
}
/// <summary>
/// Reads values from native instance.
/// </summary>
/// <param name="native">Source native instance.</param>
public void RestoreLocalDataFrom(agx.RigidBody native)
{
Mass.UserValue = Convert.ToSingle(native.getMassProperties().getMass());
var nativeInertia = native.getMassProperties().getInertiaTensor();
InertiaDiagonal.UserValue = nativeInertia.getDiagonal().ToVector3();
InertiaOffDiagonal.UserValue = GetNativeOffDiagonal(nativeInertia).ToVector3();
CenterOfMassOffset.UserValue = native.getCmFrame().getLocalTranslate().ToHandedVector3();
Mass.UseDefault = false;
InertiaDiagonal.UseDefault = false;
InertiaOffDiagonal.UseDefault = false;
CenterOfMassOffset.UseDefault = false;
}
public void RestoreLocalDataFrom(agx.RigidBody native)
{
if (native == null)
{
throw new ArgumentNullException("native", "Native object is null.");
}
MassProperties.RestoreLocalDataFrom(native.getMassProperties());
enabled = native.getEnable();
MotionControl = native.getMotionControl();
HandleAsParticle = native.getHandleAsParticle();
LinearVelocity = native.getVelocity().ToHandedVector3();
LinearVelocityDamping = native.getLinearVelocityDamping().ToHandedVector3();
AngularVelocity = native.getAngularVelocity().ToHandedVector3();
AngularVelocityDamping = native.getAngularVelocityDamping().ToHandedVector3();
}
public bool TryDestroy(agx.RigidBody instance)
{
if (!m_instanceDataTable.TryGetValue(instance, out var data))
{
return(false);
}
Destroy(data.Visual);
if (Simulation.HasInstance && Simulation.Instance.Native != null)
{
Simulation.Instance.Native.remove(instance);
}
m_instanceDataTable.Remove(instance);
return(true);
}
/// <summary>
/// Callback from RigidBody when mass properties has been calculated for a native instance.
/// </summary>
/// <param name="nativeRb">Native rigid body instance.</param>
public void SetDefaultCalculated(agx.RigidBody nativeRb)
{
if (nativeRb == null)
{
return;
}
Mass.DefaultValue = Convert.ToSingle(nativeRb.getMassProperties().getMass());
float inertiaScale = 1.0f;
if (!Mass.UseDefault)
{
inertiaScale = Mass.UserValue / Mass.DefaultValue;
}
InertiaDiagonal.DefaultValue = inertiaScale * nativeRb.getMassProperties().getPrincipalInertiae().ToVector3();
}
public AgX_Primitive(Guid guid, string shape, Vector3 pos, Quaternion rot, Vector3 size, double mass, string materialName, bool isStatic, bool AddToRobot)
{
this.guid = guid;
this.shape = shape;
this.size = size;
this.materialName = materialName;
var dynamicRBGeometry = new agxCollide.Geometry();
switch (this.shape)
{
case "Box": dynamicRBGeometry.add(new agxCollide.Box(Operations.ToAgxVec3(this.size))); break;
case "Sphere": dynamicRBGeometry.add(new agxCollide.Sphere((this.size.x + this.size.y + this.size.z) / 3)); break;
default: dynamicRBGeometry.add(new agxCollide.Box(Operations.ToAgxVec3(this.size))); break;
}
dynamicRBGeometry.setMaterial(new agx.Material(this.materialName));
agx_Object = new agx.RigidBody();
agx_Object.add(dynamicRBGeometry);
agx_Object.setLocalPosition(Operations.ToAgxVec3(pos)); ///AgX
agx_Object.setLocalRotation(new agx.Quat(rot.x, rot.y, rot.z, rot.w)); ///AgX
agx_Object.getMassProperties().setMass(mass);
if (isStatic)
{
agx_Object.setMotionControl(agx.RigidBody.MotionControl.STATIC);
}
if (AddToRobot)
{
AddToAssembly();
}
else
{
Agx_Simulation.sim_Instance.add(agx_Object);
}
}
public static agx.RigidBody InstantiateTemplate(RigidBody template, Shape[] shapes)
{
if (template == null)
{
return(null);
}
var native = new agx.RigidBody(template.name);
foreach (var shape in shapes)
{
var geometry = shape.CreateTemporaryNative();
geometry.setEnable(shape.IsEnabled);
if (shape.Material != null)
{
geometry.setMaterial(shape.Material.GetInitialized <ShapeMaterial>().Native);
}
native.add(geometry, shape.GetNativeRigidBodyOffset(template));
}
template.SyncNativeTransform(native);
// MassProperties (synchronization below) wont write any data if UseDefault = true.
native.getMassProperties().setAutoGenerateMask((uint)agx.MassProperties.AutoGenerateFlags.AUTO_GENERATE_ALL);
native.updateMassProperties();
template.MassProperties.SetDefaultCalculated(native);
native.getMassProperties().setAutoGenerateMask(0u);
var prevNative = template.m_rb;
try {
template.m_rb = native;
PropertySynchronizer.Synchronize(template);
PropertySynchronizer.Synchronize(template.MassProperties);
}
finally {
template.m_rb = prevNative;
}
return(native);
}
protected override bool Initialize()
{
VerifyConfiguration();
m_rb = new agx.RigidBody();
m_rb.setName(name);
m_rb.setEnable(IsEnabled);
SyncNativeTransform(m_rb);
SyncShapes();
GetSimulation().add(m_rb);
UpdateMassProperties();
Simulation.Instance.StepCallbacks.PostSynchronizeTransforms += OnPostSynchronizeTransformsCallback;
return(base.Initialize());
}
/// <summary>
/// Callback from RigidBody when mass properties has been calculated for a native instance.
/// </summary>
/// <param name="nativeRb">Native rigid body instance.</param>
public void SetDefaultCalculated(agx.RigidBody nativeRb)
{
if (nativeRb == null)
{
return;
}
Mass.DefaultValue = Convert.ToSingle(nativeRb.getMassProperties().getMass());
CenterOfMassOffset.DefaultValue = nativeRb.getCmFrame().getLocalTranslate().ToHandedVector3();
float inertiaScale = 1.0f;
if (!Mass.UseDefault)
{
inertiaScale = Mass.UserValue / Mass.DefaultValue;
}
InertiaDiagonal.DefaultValue = inertiaScale * nativeRb.getMassProperties().getPrincipalInertiae().ToVector3();
InertiaOffDiagonal.DefaultValue = inertiaScale * GetNativeOffDiagonal(nativeRb.getMassProperties().getInertiaTensor()).ToVector3();
}
public AgX_Sensor(Guid guid, string materialName, Vector3 pos, Vector3 scale, double mass)
{
this.guid = guid;
this.scale = scale;
var dynamicRBGeometry = new agxCollide.Geometry();///AgX
dynamicRBGeometry.add(new agxCollide.Box(Operations.ToAgxVec3(scale)));
dynamicRBGeometry.setMaterial(new agx.Material(materialName));
agx_Object = new agx.RigidBody();
agx_Object.add(dynamicRBGeometry);
agx_Object.setLocalPosition(Operations.ToAgxVec3(pos));
agx_Object.getMassProperties().setMass(mass);
Agx_Simulation.sim_Instance.add(agx_Object);
}
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);
}
}
public static bool IsValid(agx.RigidBody rb)
{
return(rb != null &&
!IsWireRigidBody(rb) &&
!IsCableRigidBody(rb));
}
public static bool IsWireRigidBody(agx.RigidBody rb)
{
return(agxWire.Wire.isLumpedNode(rb));
}
public static bool IsCableRigidBody(agx.RigidBody rb)
{
return(agxCable.Cable.getCableForBody(rb) != null);
}
