/// <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);
}
}
}
}
public SinkContactListener(agxCollide.Geometry sinkGeometry, List <string> templateGroupNames)
: base((int)(ActivationMask.IMPACT | ActivationMask.CONTACT))
{
m_sinkGeometry = sinkGeometry;
var filter = new agxSDK.CollisionGroupFilter(m_sinkGeometry);
foreach (var groupName in templateGroupNames)
{
filter.addGroup(groupName);
}
setFilter(filter);
}
protected override void OnEnable()
{
Simulation.Instance.StepCallbacks.PreStepForward += OnPreStepForwardCallback;
Simulation.Instance.StepCallbacks.SimulationPre += OnSimulationPre;
if (MainCamera != null)
{
m_camera = MainCamera.GetComponent <Camera>();
}
m_lineShape = new agxCollide.Line(new agx.Vec3(), new agx.Vec3(0, 0, 1));
m_lineGeometry = new agxCollide.Geometry(m_lineShape);
m_lineGeometry.setEnable(false);
m_lineGeometry.setSensor(true);
GetSimulation().add(m_lineGeometry);
}
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 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);
}
protected override void OnDisable()
{
if (Simulation.HasInstance)
{
Simulation.Instance.StepCallbacks.PreStepForward -= OnPreStepForwardCallback;
Simulation.Instance.StepCallbacks.SimulationPre -= OnSimulationPre;
GetSimulation().remove(m_lineGeometry);
}
if (ConstraintGameObject != null)
{
Destroy(ConstraintGameObject);
}
ConstraintGameObject = null;
m_distanceFromCamera = -1f;
m_camera = null;
m_lineShape = null;
m_lineGeometry = null;
}
/// <summary>
/// Removes the native geometry from the simulation.
/// </summary>
protected override void OnDestroy()
{
if (m_geometry != null && Simulation.HasInstance)
{
GetSimulation().remove(m_geometry);
}
if (Simulation.HasInstance)
{
Simulation.Instance.StepCallbacks.PostSynchronizeTransforms -= OnPostSynchronizeTransformsCallback;
}
if (m_geometry != null)
{
m_geometry.Dispose();
}
m_geometry = null;
m_transform = null;
base.OnDestroy();
}
private void Parse(agxCollide.Geometry geometry, Node parent)
{
var geometryNode = GetOrCreateGeometry(geometry, parent == null);
if (parent != null)
{
parent.AddChild(geometryNode);
}
foreach (var shape in geometry.getShapes())
{
var shapeNode = GetOrCreateShape(shape.get());
geometryNode.AddChild(shapeNode);
}
if (geometry.getMaterial() != null)
{
var materialNode = GetOrCreateMaterial(geometry.getMaterial());
geometryNode.AddReference(materialNode);
}
var groupsCollection = geometry.findGroupIdCollection();
foreach (var name in groupsCollection.getNames())
{
geometryNode.AddReference(new Node()
{
Type = NodeType.GroupId, Object = name
});
}
foreach (var id in groupsCollection.getIds())
{
geometryNode.AddReference(new Node()
{
Type = NodeType.GroupId, Object = id.ToString()
});
}
}
public static bool IsValid(agxCollide.Geometry geometry)
{
return(geometry != null &&
agxWire.Wire.getWire(geometry) == null &&
agxCable.Cable.getCableForGeometry(geometry) == null);
}
