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();
}
/// <summary>
/// Merges all source objects to one mesh and creates a native trimesh.
/// </summary>
/// <param name="meshes">Source meshes.</param>
/// <returns>Native trimesh.</returns>
private agxCollide.Geometry Create(UnityEngine.Mesh[] meshes)
{
var geometry = new agxCollide.Geometry();
if (m_precomputedCollisionMeshes.Count > 0)
{
// The vertices are assumed to be stored in local coordinates of the
// given transform. For the scale to be correct w
var toWorld = transform.localToWorldMatrix;
Func <Vector3, Vector3> transformer = v =>
{
return(transform.InverseTransformDirection(toWorld * v.ToLeftHanded()));
};
var mode = Options != null ? Options.Mode : CollisionMeshOptions.MeshMode.Trimesh;
for (int i = 0; i < m_precomputedCollisionMeshes.Count; ++i)
{
var collisionMesh = m_precomputedCollisionMeshes[i];
if (collisionMesh == null)
{
Debug.LogWarning($"AGXUnity.Collide.Mesh: Null precomputed collision mesh at index {i}.", this);
continue;
}
var shape = collisionMesh.CreateShape(transformer, mode);
if (shape == null)
{
Debug.LogWarning($"AGXUnity.Collide.Mesh: Precomputed collision mesh at index {i} resulted in an invalid shape.", this);
continue;
}
geometry.add(shape, GetNativeGeometryOffset());
}
}
else
{
if (m_precomputedCollisionMeshes.Count > 0)
{
Debug.LogWarning("AGXUnity.Mesh: Failed to create shapes from precomputed data - using Trimesh as fallback.", this);
}
var merger = MeshMerger.Merge(transform, meshes);
geometry.add(new agxCollide.Trimesh(merger.Vertices,
merger.Indices,
"AGXUnity.Mesh: Trimesh"),
GetNativeGeometryOffset());
}
if (geometry.getShapes().Count == 0)
{
geometry.Dispose();
geometry = null;
}
return(geometry);
}
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;
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));
agx_Object = new agx.RigidBody();
///Adds selected geometry to the 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);
}
AddToAssembly();
}
/*--------------------------------------------------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();
}
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);
}
