protected void OnGUI()
{
if (m_simulation == null || m_statisticsWindowData == null)
{
return;
}
var simColor = Color.Lerp(Color.white, Color.blue, 0.2f);
var spaceColor = Color.Lerp(Color.white, Color.green, 0.2f);
var dynamicsColor = Color.Lerp(Color.white, Color.yellow, 0.2f);
var eventColor = Color.Lerp(Color.white, Color.cyan, 0.2f);
var dataColor = Color.Lerp(Color.white, Color.magenta, 0.2f);
var labelStyle = m_statisticsWindowData.LabelStyle;
var simTime = agx.Statistics.instance().getTimingInfo("Simulation", "Step forward time");
var spaceTime = agx.Statistics.instance().getTimingInfo("Simulation", "Collision-detection time");
var dynamicsSystemTime = agx.Statistics.instance().getTimingInfo("Simulation", "Dynamics-system time");
var preCollideTime = agx.Statistics.instance().getTimingInfo("Simulation", "Pre-collide event time");
var preTime = agx.Statistics.instance().getTimingInfo("Simulation", "Pre-step event time");
var postTime = agx.Statistics.instance().getTimingInfo("Simulation", "Post-step event time");
var lastTime = agx.Statistics.instance().getTimingInfo("Simulation", "Last-step event time");
var numBodies = m_simulation.getDynamicsSystem().getRigidBodies().Count;
var numShapes = m_simulation.getSpace().getGeometries().Count;
var numConstraints = m_simulation.getDynamicsSystem().getConstraints().Count +
m_simulation.getSpace().getGeometryContacts().Count;
GUILayout.Window(m_statisticsWindowData.Id,
m_statisticsWindowData.Rect,
id =>
{
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag("Total time: ", simColor) + simTime.current.ToString("0.00") + " ms", 14, true), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Pre-collide step: ", eventColor) + preCollideTime.current.ToString("0.00") + " ms"), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Collision detection: ", spaceColor) + spaceTime.current.ToString("0.00") + " ms"), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Pre step: ", eventColor) + preTime.current.ToString("0.00") + " ms"), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Dynamics solvers: ", dynamicsColor) + dynamicsSystemTime.current.ToString("0.00") + " ms"), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Post step: ", eventColor) + postTime.current.ToString("0.00") + " ms"), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Last step: ", eventColor) + lastTime.current.ToString("0.00") + " ms"), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag("Data: ", dataColor), 14, true), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Update frequency: ", dataColor) + (int)(1.0f / TimeStep + 0.5f) + " Hz"), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Number of bodies: ", dataColor) + numBodies), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Number of shapes: ", dataColor) + numShapes), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Number of constraints: ", dataColor) + numConstraints), labelStyle);
},
"AGX Dynamics statistics",
Utils.GUI.Skin.window);
}
private agxSDK.Simulation GetOrCreateSimulation()
{
if (m_simulation == null)
{
NativeHandler.Instance.MakeMainThread();
m_simulation = new agxSDK.Simulation();
m_space = m_simulation.getSpace();
m_system = m_simulation.getDynamicsSystem();
// Solver settings will assign number of threads.
if (m_solverSettings != null)
{
m_solverSettings.SetSimulation(m_simulation);
m_solverSettings.GetInitialized <SolverSettings>();
}
// No solver settings - set the default.
else
{
agx.agxSWIG.setNumThreads(Convert.ToUInt32(SolverSettings.DefaultNumberOfThreads));
}
}
return(m_simulation);
}
public static void Start(double dt)
{
agx.agxSWIG.init();
sim_Instance = new agxSDK.Simulation(); //Initialize the simulation
sim_Instance.setUniformGravity(new agx.Vec3(0, -9.80665f, 0)); //set gravity in Y direction
sim_Instance.getDynamicsSystem().getTimeGovernor().setTimeStep(dt); // set timestep
}
private agxSDK.Simulation GetOrCreateSimulation()
{
if (m_simulation == null)
{
NativeHandler.Instance.MakeMainThread();
m_simulation = new agxSDK.Simulation();
m_space = m_simulation.getSpace();
m_system = m_simulation.getDynamicsSystem();
// Since AGXUnity.Simulation is optional in the hierarchy
// we have to synchronize fixedDeltaTime here if SimulationTool
// never has been seen in the inspector.
if (AutoSteppingMode == AutoSteppingModes.FixedUpdate)
{
TimeStep = Time.fixedDeltaTime;
}
// Solver settings will assign number of threads.
if (m_solverSettings != null)
{
m_solverSettings.SetSimulation(m_simulation);
m_solverSettings.GetInitialized <SolverSettings>();
}
// No solver settings - set the default.
else
{
agx.agxSWIG.setNumThreads(Convert.ToUInt32(SolverSettings.DefaultNumberOfThreads));
}
StepCallbacks.OnInitialize(m_simulation);
}
return(m_simulation);
}
public SolverSettings RestoreLocalDataFrom(agxSDK.Simulation simulation)
{
var solver = simulation.getSolver();
var config = solver.getNlMcpConfig();
NumberOfThreads = System.Convert.ToInt32(agx.agxSWIG.getNumThreads());
WarmStartDirectContacts = simulation.getDynamicsSystem().getUpdateTask().getSubtask("MatchContactStates").isEnabled();
RestingIterations = System.Convert.ToInt32(solver.getNumRestingIterations());
DryFrictionIterations = System.Convert.ToInt32(solver.getNumDryFrictionIterations());
McpAlgorithm = Convert(config.mcpAlgorithmType);
McpInnerIterations = System.Convert.ToInt32(config.numMcpIterations);
McpInnerTolerance = System.Convert.ToSingle(config.mcpTolerance);
McpOuterIterations = System.Convert.ToInt32(config.numOuterIterations);
McpOuterTolerance = System.Convert.ToSingle(config.outerTolerance);
return(this);
}
private agxSDK.Simulation GetOrCreateSimulation()
{
if (m_simulation == null)
{
NativeHandler.Instance.MakeMainThread();
m_simulation = new agxSDK.Simulation();
m_defaultNumDryFrictionIterations = (int)m_simulation.getSolver().getNumDryFrictionIterations();
m_defaultNumRestingIterations = (int)m_simulation.getSolver().getNumRestingIterations();
m_space = m_simulation.getSpace();
m_system = m_simulation.getDynamicsSystem();
m_system.setEnableContactWarmstarting(m_warmStartingDirectContacts);
}
return(m_simulation);
}
protected void OnGUI()
{
if (m_simulation == null)
{
return;
}
if (!NativeHandler.Instance.HasValidLicense)
{
GUILayout.Window(GUIUtility.GetControlID(FocusType.Passive),
new Rect(new Vector2(16,
0.5f * Screen.height),
new Vector2(Screen.width - 32, 32)),
id =>
{
// Invalid license if initialized.
if (NativeHandler.Instance.Initialized && agx.Runtime.instance().getStatus().Length > 0)
{
GUILayout.Label(Utils.GUI.MakeLabel("AGX Dynamics: " + agx.Runtime.instance().getStatus(),
Color.red,
18,
true),
Utils.GUI.Skin.label);
}
else
{
GUILayout.Label(Utils.GUI.MakeLabel("AGX Dynamics: Errors occurred during initialization of AGX Dynamics.",
Color.red,
18,
true),
Utils.GUI.Skin.label);
}
},
"AGX Dynamics not properly initialized",
Utils.GUI.Skin.window);
return;
}
if (m_statisticsWindowData == null)
{
return;
}
var simColor = Color.Lerp(Color.white, Color.blue, 0.2f);
var spaceColor = Color.Lerp(Color.white, Color.green, 0.2f);
var dynamicsColor = Color.Lerp(Color.white, Color.yellow, 0.2f);
var eventColor = Color.Lerp(Color.white, Color.cyan, 0.2f);
var dataColor = Color.Lerp(Color.white, Color.magenta, 0.2f);
var memoryColor = Color.Lerp(Color.white, Color.red, 0.2f);
var labelStyle = m_statisticsWindowData.LabelStyle;
var simTime = agx.Statistics.instance().getTimingInfo("Simulation", "Step forward time");
var spaceTime = agx.Statistics.instance().getTimingInfo("Simulation", "Collision-detection time");
var dynamicsSystemTime = agx.Statistics.instance().getTimingInfo("Simulation", "Dynamics-system time");
var preCollideTime = agx.Statistics.instance().getTimingInfo("Simulation", "Pre-collide event time");
var preTime = agx.Statistics.instance().getTimingInfo("Simulation", "Pre-step event time");
var postTime = agx.Statistics.instance().getTimingInfo("Simulation", "Post-step event time");
var lastTime = agx.Statistics.instance().getTimingInfo("Simulation", "Last-step event time");
var numBodies = m_simulation.getDynamicsSystem().getRigidBodies().Count;
var numShapes = m_simulation.getSpace().getGeometries().Count;
var numConstraints = m_simulation.getDynamicsSystem().getConstraints().Count +
m_simulation.getSpace().getGeometryContacts().Count;
GUILayout.Window(m_statisticsWindowData.Id,
m_statisticsWindowData.Rect,
id =>
{
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag("Total time: ", simColor) + simTime.current.ToString("0.00").PadLeft(5, ' ') + " ms", 14, true), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Pre-collide step: ", eventColor) + preCollideTime.current.ToString("0.00").PadLeft(5, ' ') + " ms"), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Collision detection: ", spaceColor) + spaceTime.current.ToString("0.00").PadLeft(5, ' ') + " ms"), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Pre step: ", eventColor) + preTime.current.ToString("0.00").PadLeft(5, ' ') + " ms"), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Dynamics solvers: ", dynamicsColor) + dynamicsSystemTime.current.ToString("0.00").PadLeft(5, ' ') + " ms"), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Post step: ", eventColor) + postTime.current.ToString("0.00").PadLeft(5, ' ') + " ms"), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Last step: ", eventColor) + lastTime.current.ToString("0.00").PadLeft(5, ' ') + " ms"), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag("Data: ", dataColor), 14, true), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Update frequency: ", dataColor) + (int)(1.0f / TimeStep + 0.5f) + " Hz"), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Number of bodies: ", dataColor) + numBodies), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Number of shapes: ", dataColor) + numShapes), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Number of constraints: ", dataColor) + numConstraints), labelStyle);
GUILayout.Label("");
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag("StepForward (managed):", memoryColor), 14, true), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Step forward: ", memoryColor) + m_statisticsWindowData.ManagedStepForward.ToString("0.00").PadLeft(5, ' ') + " ms"), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag("Allocations (managed):", memoryColor), 14, true), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Pre step callbacks: ", memoryColor) + MemoryAllocations.GetDeltaString(MemoryAllocations.Section.PreStepForward).PadLeft(6, ' ')), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Pre synchronize: ", memoryColor) + MemoryAllocations.GetDeltaString(MemoryAllocations.Section.PreSynchronizeTransforms).PadLeft(6, ' ')), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Step forward: ", memoryColor) + MemoryAllocations.GetDeltaString(MemoryAllocations.Section.StepForward).PadLeft(6, ' ')), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Post synchronize: ", memoryColor) + MemoryAllocations.GetDeltaString(MemoryAllocations.Section.PostSynchronizeTransforms).PadLeft(6, ' ')), labelStyle);
GUILayout.Label(Utils.GUI.MakeLabel(Utils.GUI.AddColorTag(" - Post step callbacks: ", memoryColor) + MemoryAllocations.GetDeltaString(MemoryAllocations.Section.PostStepForward).PadLeft(6, ' ')), labelStyle);
},
"AGX Dynamics statistics",
Utils.GUI.Skin.window);
}