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);
}
/// <summary>
/// Creates native instance given current properties.
/// </summary>
/// <returns>Native instance of this node.</returns>
protected override bool Initialize()
{
RigidBody rb = null;
Collide.Shape shape = null;
if (Parent != null)
{
rb = Parent.GetInitializedComponentInParent <RigidBody>();
shape = Parent.GetInitializedComponentInParent <Collide.Shape>();
}
// We don't know if the parent is the rigid body.
// It could be a mesh, or some other object.
// Also - use world position if Type == FreeNode.
agx.Vec3 point = rb != null && Type != Wire.NodeType.FreeNode ?
CalculateLocalPosition(rb.gameObject).ToHandedVec3() :
Position.ToHandedVec3();
agx.RigidBody nativeRb = rb != null ? rb.Native : null;
if (Type == Wire.NodeType.BodyFixedNode)
{
Native = new agxWire.BodyFixedNode(nativeRb, point);
}
// Create a free node if type is contact and shape == null.
else if (Type == Wire.NodeType.FreeNode || (Type == Wire.NodeType.ContactNode && shape == null))
{
Native = new agxWire.FreeNode(point);
}
else if (Type == Wire.NodeType.ConnectingNode)
{
Native = new agxWire.ConnectingNode(nativeRb, point, double.PositiveInfinity);
}
else if (Type == Wire.NodeType.EyeNode)
{
Native = new agxWire.EyeNode(nativeRb, point);
}
else if (Type == Wire.NodeType.ContactNode)
{
Native = new agxWire.ContactNode(shape.NativeGeometry, CalculateLocalPosition(shape.gameObject).ToHandedVec3());
}
else if (Type == Wire.NodeType.WinchNode)
{
if (m_winch == null)
{
throw new AGXUnity.Exception("No reference to a wire winch component in the winch node.");
}
m_winch.GetInitialized <WireWinch>();
Native = m_winch.Native != null?m_winch.Native.getStopNode() : null;
}
return(Native != null);
}
private void ShowForces(EventType eventType)
{
if (m_textLabelStyle == null)
{
m_textLabelStyle = new GUIStyle(GUI.Skin.label);
m_textLabelStyle.alignment = TextAnchor.MiddleLeft;
var fonts = Font.GetOSInstalledFontNames();
foreach (var font in fonts)
{
if (font == "Consolas")
{
m_textLabelStyle.font = Font.CreateDynamicFontFromOSFont(font, 24);
break;
}
}
}
var textColor = Color.Lerp(Color.black, Color.white, 1.0f);
var valueColor = Color.Lerp(Color.green, Color.white, 0.45f);
Func <string, agx.Vec3, GUIContent> Vec3Content = (name, v) =>
{
return(GUI.MakeLabel(string.Format("{0} [{1}, {2}, {3}] kN",
GUI.AddColorTag(name, textColor),
GUI.AddColorTag(v.x.ToString("0.00").PadLeft(7, ' '), valueColor),
GUI.AddColorTag(v.y.ToString("0.00").PadLeft(7, ' '), valueColor),
GUI.AddColorTag(v.z.ToString("0.00").PadLeft(7, ' '), valueColor))));
};
var shovel = m_shovels[0].Native;
var penetrationForce = new agx.Vec3();
var penetrationTorque = new agx.Vec3();
Native.getPenetrationForce(shovel, ref penetrationForce, ref penetrationTorque);
var separationForce = -Native.getSeparationContactForce(shovel);
var deformerForce = -Native.getDeformationContactForce(shovel);
var contactForce = -Native.getContactForce(shovel);
GUILayout.Label(Vec3Content("Penetration force:", 1.0E-3 * penetrationForce), m_textLabelStyle);
GUILayout.Space(4);
GUILayout.Label(Vec3Content("Separation force: ", 1.0E-3 * separationForce), m_textLabelStyle);
GUILayout.Space(4);
GUILayout.Label(Vec3Content("Deformer force: ", 1.0E-3 * deformerForce), m_textLabelStyle);
GUILayout.Space(4);
GUILayout.Label(Vec3Content("Contact force: ", 1.0E-3 * contactForce), m_textLabelStyle);
}
/*-----------------------------------------------Mathematical operations----------------------------------------------*/
/**----------------------------------------From agx.Vec3 to UnityEngine.Vector3---------------------------------------*/
public static Vector3 FromAgxVec3(agx.Vec3 vec3)
{
return(new Vector3((double)vec3.x, (double)vec3.y, (double)vec3.z));
}
