private static JointSpring GetJointSpring(Joint.Dynamics dynamics)
{
return(new JointSpring
{
damper = (float)dynamics.damping,
spring = (float)dynamics.friction,
targetPosition = 0
});
}
private static JointDrive GetJointDrive(Joint.Dynamics dynamics)
{
return(new JointDrive
{
maximumForce = float.MaxValue,
positionDamper = (float)dynamics.damping,
positionSpring = (float)dynamics.friction
});
}
protected void SetDynamics(Joint.Dynamics dynamics)
{
if (unityJoint == null)
{
unityJoint = GetComponent <ArticulationBody>();
}
if (dynamics != null)
{
float damping = (double.IsNaN(dynamics.damping)) ? defaultDamping : (float)dynamics.damping;
unityJoint.linearDamping = damping;
unityJoint.angularDamping = damping;
unityJoint.jointFriction = (double.IsNaN(dynamics.friction)) ? defaultFriction : (float)dynamics.friction;
}
else
{
unityJoint.linearDamping = defaultDamping;
unityJoint.angularDamping = defaultDamping;
unityJoint.jointFriction = defaultFriction;
}
}
/// <summary>
/// Compares dynamics information of two links
/// </summary>
/// <param name="source">First links's dynamics information to be compared</param>
/// <param name="exported">Second link's dynamics information to be compared</param>
/// <param name="indent">Indent level in the log file</param>
/// <returns></returns>
private bool CompareDynamics(Joint.Dynamics source, Joint.Dynamics exported, int indent)
{
linkLog.AppendLine(String.Format("{0}Dynamics Checks", Indent(indent)));
if (source == null && source == null)
{
linkLog.AppendLine(String.Format("{0}Origin Nullity Check: {1,6}", Indent(indent), "True"));
return(true);
}
else if (source != null && exported != null)
{
if (source.damping != double.NaN && exported.damping != double.NaN)
{
linkLog.AppendLine(String.Format("{0}Damping Nullity Check: {1,6}", Indent(indent), "True"));
bool dampingEqual = (source.damping != exported.damping);
linkLog.AppendLine(String.Format("{0}Damping:", Indent(indent)));
linkLog.AppendLine(String.Format("{0}Equal: {1,6}", Indent(indent), dampingEqual));
linkLog.AppendLine(String.Format("{0}Damping Value: Source: {1,12}", Indent(indent), source.damping));
linkLog.AppendLine(String.Format("{0}Damping Valye: Exported: {1,12}", Indent(indent), exported.damping));
if (dampingEqual)
{
return(false);
}
}
else if ((source.damping == double.NaN && exported.damping == 0) || (exported.damping == double.NaN && source.damping == 0) || (source.damping == double.NaN && exported.damping == double.NaN))
{
linkLog.AppendLine(String.Format("{0}Damping:", Indent(indent)));
linkLog.AppendLine(String.Format("{0}Equal: {1,6}", Indent(indent), "True"));
linkLog.AppendLine(String.Format("{0}Damping Value: 0", Indent(indent)));
}
else
{
linkLog.AppendLine(String.Format("{0}Damping Nullity Check: {1,6}", Indent(indent), "False"));
return(false);
}
if (source.friction != double.NaN && exported.friction != double.NaN)
{
linkLog.AppendLine(String.Format("{0}Friction Nullity Check: {1,6}", Indent(indent), "True"));
bool frictionEqual = source.friction != exported.friction;
linkLog.AppendLine(String.Format("{0}Friction:", Indent(indent)));
linkLog.AppendLine(String.Format("{0}Equal: {1,6}", Indent(indent), frictionEqual));
linkLog.AppendLine(String.Format("{0}Friction Value: Source: {1,12}", Indent(indent), source.friction));
linkLog.AppendLine(String.Format("{0}Friction Value: Exported: {1,12}", Indent(indent), exported.friction));
if (frictionEqual)
{
return(false);
}
}
else if ((source.friction == double.NaN && exported.friction == 0) || (exported.friction == double.NaN && source.friction == 0) || (source.friction == double.NaN && exported.friction == double.NaN))
{
linkLog.AppendLine(String.Format("{0}Friction:", Indent(indent)));
linkLog.AppendLine(String.Format("{0}Equal: {1,6}", Indent(indent), "True"));
linkLog.AppendLine(String.Format("{0}Friction Value: 0", Indent(indent)));
}
else
{
linkLog.AppendLine(String.Format("{0}Friction Nullity Check: {1,6}", Indent(indent), "False"));
return(false);
}
}
else if ((source == null && exported?.damping == 0 && exported?.friction == 0) || (exported == null && source?.damping == 0 && source?.friction == 0))
{
linkLog.AppendLine(String.Format("{0}Dynamics Equal: {1,6} ", Indent(indent), "True"));
}
else
{
linkLog.AppendLine(String.Format("{0}Dynamics Equal: {1,6} ", Indent(indent), "False"));
return(false);
}
return(true);
}
