protected override bool Initialize()
{
if (Native != null)
{
return(true);
}
RigidBody rb = Parent != null?Parent.GetInitializedComponentInParent <RigidBody>() : null;
agx.Vec3 position = rb != null && Type == Cable.NodeType.BodyFixedNode ?
CalculateLocalPosition(rb.gameObject).ToHandedVec3() :
Position.ToHandedVec3();
agx.Quat rotation = rb != null && Type == Cable.NodeType.BodyFixedNode ?
CalculateLocalRotation(rb.gameObject).ToHandedQuat() :
Rotation.ToHandedQuat();
if (Type == Cable.NodeType.BodyFixedNode)
{
Native = new agxCable.BodyFixedNode(rb != null ? rb.Native : null, new agx.AffineMatrix4x4(rotation, position));
}
else if (Type == Cable.NodeType.FreeNode)
{
Native = new agxCable.FreeNode(position);
Native.getRigidBody().setRotation(Rotation.ToHandedQuat());
}
else
{
return(false);
}
foreach (var attachment in m_attachments)
{
var attachmentRb = attachment.Parent?.GetInitializedComponentInParent <RigidBody>();
var attachmentPosition = attachmentRb != null?CalculateLocalPosition(attachmentRb.gameObject).ToHandedVec3() : attachment.Position.ToHandedVec3();
var attachmentRotation = attachmentRb != null?CalculateLocalRotation(attachmentRb.gameObject).ToHandedQuat() : attachment.Rotation.ToHandedQuat();
agxCable.SegmentAttachment nativeAttachment = null;
if (attachment.Type == CableAttachment.AttachmentType.Ball)
{
nativeAttachment = new agxCable.PointSegmentAttachment(attachmentRb?.Native, attachmentPosition);
}
else if (attachment.Type == CableAttachment.AttachmentType.Rigid)
{
nativeAttachment = new agxCable.RigidSegmentAttachment(attachmentRb?.Native, new agx.AffineMatrix4x4(attachmentRotation, attachmentPosition));
}
if (nativeAttachment == null)
{
Debug.LogWarning("Unknown cable node attachment type. Ignored attachment.");
}
else
{
Native.add(nativeAttachment);
}
}
return(true);
}
/**---------------------------------------From agx.Quat to UnityEngine.Quaternion-------------------------------------*/
public static Quaternion FromAgxQuat(agx.Quat quat)
{
return(new Quaternion((double)quat.x, (double)quat.y, (double)quat.z, (double)quat.w));
}
