/// <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>
/// 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);
}
/// <summary>
/// Add shape to a rigid body instance.
/// NOTE: This method is used by the RigidBody object.
/// </summary>
/// <param name="rb"></param>
public void SetRigidBody(RigidBody rb)
{
if (m_geometry == null || m_geometry.getShapes().Count == 0 || m_geometry.getRigidBody() != null)
{
return;
}
// Search in our game object for rigid body and remove this?
if (!rb.gameObject.HasChild(gameObject))
{
throw new Exception("RigidBody not parent to Shape.");
}
m_geometry.setEnable(IsEnabled);
rb.Native.add(m_geometry, GetNativeRigidBodyOffset(rb));
}
/// <summary>
/// Add shape to a rigid body instance.
/// NOTE: This method is used by the RigidBody object.
/// </summary>
/// <param name="rb"></param>
public void SetRigidBody(RigidBody rb)
{
if (m_geometry == null || m_geometry.getShapes().Count == 0 || m_geometry.getRigidBody() != null)
{
return;
}
// Search in our game object for rigid body and remove this?
if (!rb.gameObject.HasChild(gameObject))
{
throw new Exception("RigidBody not parent to Shape.");
}
m_geometry.setEnable(IsEnabled);
rb.Native.add(m_geometry, GetNativeRigidBodyOffset(rb));
// Removing us from synchronization the transform since
// we're implicitly updated from the synchronization of
// the body.
Simulation.Instance.StepCallbacks.PostSynchronizeTransforms -= OnPostSynchronizeTransformsCallback;
}
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()
});
}
}
