/// <summary>
/// Construct given AGX file info.
/// </summary>
/// <param name="info">AGX file info.</param>
public InputAGXFile(AGXFileInfo info)
{
if (info == null)
{
throw new ArgumentNullException("info", "File info object is null.");
}
else
{
FileInfo = info;
}
if (!FileInfo.Exists)
{
throw new FileNotFoundException("File not found: " + FileInfo.FullName);
}
if (FileInfo.Type == AGXFileInfo.FileType.Unknown || FileInfo.Type == AGXFileInfo.FileType.AGXPrefab)
{
throw new AGXUnity.Exception("Unsupported file format: " + FileInfo.FullName);
}
Successful = false;
// Making sure AGX has been initialized before we create a simulation.
var nativeHandler = NativeHandler.Instance;
Simulation = new agxSDK.Simulation();
}
/// <summary>
/// Find asset path (in the data directory) given asset name.
/// If asset.name contains '\\', it will be replaced with '_'
/// </summary>
/// <param name="asset">Asset.</param>
/// <returns>Path (relative) including .asset extension.</returns>
private string GetAssetPath(Object asset)
{
// We cannot have \\ in the name
asset.name = asset.name.Replace("\\", "_");
return(m_dataDirectory + "/" +
(asset != null ? asset.name : "null") + AGXFileInfo.FindAssetExtension(asset.GetType()));
}
public ObjectDb(AGXFileInfo fileInfo)
{
m_dataDirectory = fileInfo.DataDirectory;
m_filename = fileInfo.Name;
if (fileInfo.PrefabInstance != null)
{
var uuidGameObjects = fileInfo.PrefabInstance.GetComponentsInChildren <Uuid>(true);
foreach (var uuidComponent in uuidGameObjects)
{
if (!m_gameObjects.ContainsKey(uuidComponent.Native))
{
m_gameObjects.Add(uuidComponent.Native,
new DbData()
{
GameObject = uuidComponent.gameObject
});
}
}
}
foreach (var fileAssetType in RestoredAssetsRoot.Types)
{
Initialize(fileAssetType);
}
}
private static void OnAGXPrefabAdddedToScene(GameObject instance, IO.AGXFileInfo fileInfo)
{
if (fileInfo.ExistingPrefab == null)
{
Debug.LogWarning("Unable to load parent prefab from file: " + fileInfo.NameWithExtension);
return;
}
Undo.SetCurrentGroupName("Adding: " + instance.name + " to scene.");
var grouId = Undo.GetCurrentGroup();
foreach (var cm in fileInfo.GetAssets <ContactMaterial>())
{
TopMenu.GetOrCreateUniqueGameObject <ContactMaterialManager>().Add(cm);
}
var fileData = fileInfo.ExistingPrefab.GetComponent <AGXUnity.IO.RestoredAGXFile>();
foreach (var disabledPair in fileData.DisabledGroups)
{
TopMenu.GetOrCreateUniqueGameObject <CollisionGroupsManager>().SetEnablePair(disabledPair.First, disabledPair.Second, false);
}
var renderDatas = instance.GetComponentsInChildren <AGXUnity.Rendering.ShapeVisual>();
foreach (var renderData in renderDatas)
{
renderData.hideFlags |= HideFlags.NotEditable;
renderData.transform.hideFlags |= HideFlags.NotEditable;
}
// TODO: Handle fileData.SolverSettings?
Undo.CollapseUndoOperations(grouId);
}
public static Object ReadAGXFile(IO.AGXFileInfo info)
{
if (info == null || !info.IsValid)
{
return(null);
}
try {
Object prefab = null;
using (var inputFile = new IO.InputAGXFile(info)) {
inputFile.TryLoad();
inputFile.TryParse();
inputFile.TryGenerate();
prefab = inputFile.TryCreatePrefab();
}
// Updating scene instances with e.g., shape visual size etc.
if (prefab != null)
{
var restoredFileInstances = Object.FindObjectsOfType <AGXUnity.IO.RestoredAGXFile>();
foreach (var restoredFileInstance in restoredFileInstances)
{
#if UNITY_2018_3_OR_NEWER
var isReadPrefabInstance = PrefabUtility.GetPrefabInstanceStatus(restoredFileInstance.gameObject) == PrefabInstanceStatus.Connected &&
PrefabUtility.GetCorrespondingObjectFromSource(restoredFileInstance.gameObject) == prefab;
#else
var isReadPrefabInstance = PrefabUtility.GetPrefabType(restoredFileInstance.gameObject) == PrefabType.PrefabInstance &&
PrefabUtility.GetCorrespondingObjectFromSource(restoredFileInstance.gameObject) == prefab;
#endif
if (!isReadPrefabInstance)
{
continue;
}
var shapes = restoredFileInstance.GetComponentsInChildren <AGXUnity.Collide.Shape>();
foreach (var shape in shapes)
{
var visual = AGXUnity.Rendering.ShapeVisual.Find(shape);
if (visual != null)
{
visual.OnSizeUpdated();
}
}
}
}
return(prefab);
}
catch (System.Exception e) {
Debug.LogException(e);
}
return(null);
}
public static void GenerateAGXFileAsPrefab()
{
foreach (var obj in Selection.objects)
{
var info = new IO.AGXFileInfo(AssetDatabase.GetAssetPath(obj));
if (info.Type != IO.AGXFileInfo.FileType.AGXBinary && info.Type != IO.AGXFileInfo.FileType.AGXAscii)
{
continue;
}
AssetPostprocessorHandler.ReadAGXFile(info);
}
}
/// <summary>
/// Callback when a prefab (likely) has been drag-dropped into a scene.
/// </summary>
/// <param name="instance">Prefab instance.</param>
public static void OnPrefabAddedToScene(GameObject instance)
{
if (AutoUpdateSceneHandler.VerifyPrefabInstance(instance))
{
AssetDatabase.SaveAssets();
AssetDatabase.Refresh();
}
OnSavedPrefabAddedToScene(instance, instance.GetComponent <AGXUnity.IO.SavedPrefabLocalData>());
var fileInfo = new IO.AGXFileInfo(instance);
if (fileInfo.IsValid && fileInfo.Type == IO.AGXFileInfo.FileType.AGXPrefab)
{
OnAGXPrefabAdddedToScene(instance, fileInfo);
}
}
public UuidObjectDb(AGXFileInfo fileInfo)
{
if (fileInfo.PrefabInstance == null)
{
return;
}
var uuidGameObjects = fileInfo.PrefabInstance.GetComponentsInChildren <AGXUnity.IO.Uuid>();
foreach (var uuidComponent in uuidGameObjects)
{
if (!m_gameObjects.ContainsKey(uuidComponent.Native))
{
m_gameObjects.Add(uuidComponent.Native, uuidComponent.gameObject);
}
}
}
public static void OnPrefabAddedToScene(GameObject instance)
{
var fileInfo = new IO.AGXFileInfo(instance);
if (!fileInfo.IsValid || fileInfo.Type != IO.AGXFileInfo.FileType.AGXPrefab)
{
return;
}
if (fileInfo.ExistingPrefab == null)
{
Debug.LogWarning("Unable to load parent prefab from file: " + fileInfo.NameWithExtension);
return;
}
Undo.SetCurrentGroupName("Adding: " + instance.name + " to scene.");
var grouId = Undo.GetCurrentGroup();
foreach (var cm in fileInfo.GetAssets <ContactMaterial>())
{
TopMenu.GetOrCreateUniqueGameObject <ContactMaterialManager>().Add(cm);
}
var fileData = fileInfo.ExistingPrefab.GetComponent <AGXUnity.IO.RestoredAGXFile>();
AddDisabledPairsToManager(fileData.DisabledGroups);
var renderDatas = instance.GetComponentsInChildren <AGXUnity.Rendering.ShapeVisual>();
foreach (var renderData in renderDatas)
{
renderData.hideFlags |= HideFlags.NotEditable;
renderData.transform.hideFlags |= HideFlags.NotEditable;
}
Undo.CollapseUndoOperations(grouId);
}
public static UnityEngine.Object ReadAGXFile(IO.AGXFileInfo info)
{
if (info == null || !info.IsValid)
{
return(null);
}
try {
UnityEngine.Object prefab = null;
using (var inputFile = new IO.InputAGXFile(info)) {
inputFile.TryLoad();
inputFile.TryParse();
inputFile.TryGenerate();
prefab = inputFile.TryCreatePrefab();
}
return(prefab);
}
catch (System.Exception e) {
Debug.LogException(e);
}
return(null);
}
public void Parse(agxSDK.Simulation simulation, AGXFileInfo fileInfo)
{
if (simulation == null)
{
throw new ArgumentNullException("simulation", "agxSDK.Simulation instance is null.");
}
if (m_roots.Count > 0)
{
throw new AGXUnity.Exception("Calling InputAGXFileTree::Parse multiple times is not supported.");
}
// RigidBody nodes.
foreach (var nativeRb in simulation.getRigidBodies())
{
if (!IsValid(nativeRb.get()))
{
continue;
}
// TODO: Recursive assembly creation.
var assemblyNode = TryGetOrCreateAssembly(nativeRb.getFrame());
var rbNode = GetOrCreateRigidBody(nativeRb.get(), assemblyNode == null);
if (assemblyNode != null)
{
assemblyNode.AddChild(rbNode);
}
foreach (var nativeGeometry in nativeRb.getGeometries())
{
Parse(nativeGeometry.get(), rbNode);
}
}
// Free Geometry nodes.
foreach (var nativeGeometry in simulation.getGeometries())
{
if (!IsValid(nativeGeometry.get()))
{
continue;
}
// We already have a node for this from reading bodies.
if (nativeGeometry.getRigidBody() != null)
{
if (!m_nodeCache.ContainsKey(nativeGeometry.getUuid()))
{
Debug.LogWarning("Geometry with rigid body ignored but isn't in present in the tree. Name: " + nativeGeometry.getName());
}
continue;
}
// TODO: Recursive assembly creation.
Parse(nativeGeometry.get(), TryGetOrCreateAssembly(nativeGeometry.getFrame()));
}
// Constraint nodes.
foreach (var nativeConstraint in simulation.getConstraints())
{
if (!IsValid(nativeConstraint.get()))
{
continue;
}
var nativeRb1 = nativeConstraint.getBodyAt(0);
var nativeRb2 = nativeConstraint.getBodyAt(1);
if (!IsValid(nativeRb1))
{
continue;
}
if (nativeRb2 != null && !IsValid(nativeRb2))
{
continue;
}
var rb1Node = nativeRb1 != null?GetNode(nativeRb1.getUuid()) : null;
var rb2Node = nativeRb2 != null?GetNode(nativeRb2.getUuid()) : null;
// Could be ignored bodies due to Wire and Cable.
if (rb1Node == null && rb2Node == null)
{
continue;
}
var constraintNode = GetOrCreateConstraint(nativeConstraint.get());
if (rb1Node != null)
{
constraintNode.AddReference(rb1Node);
}
if (rb2Node != null)
{
constraintNode.AddReference(rb2Node);
}
}
var wires = agxWire.Wire.findAll(simulation);
foreach (var wire in wires)
{
// TODO: Handle wires in assemblies?
var wireNode = GetOrCreateWire(wire);
if (wire.getMaterial() != null)
{
var materialNode = GetOrCreateMaterial(wire.getMaterial());
wireNode.AddReference(materialNode);
}
}
var cables = agxCable.Cable.getAll(simulation);
foreach (var cable in cables)
{
var cableNode = GetOrCreateCable(cable);
if (cable.getMaterial() != null)
{
var materialNode = GetOrCreateMaterial(cable.getMaterial());
cableNode.AddReference(materialNode);
}
var groupsCollection = cable.findGroupIdCollection();
foreach (var name in groupsCollection.getNames())
{
cableNode.AddReference(new Node()
{
Type = NodeType.GroupId, Object = name
});
}
foreach (var id in groupsCollection.getIds())
{
cableNode.AddReference(new Node()
{
Type = NodeType.GroupId, Object = id.ToString()
});
}
var it = cable.getSegments().begin();
while (!it.EqualWith(cable.getSegments().end()))
{
var constraint = it.getConstraint();
if (constraint != null && GetConstraint(constraint.getUuid()) != null)
{
Debug.LogWarning("Cable constraint has a constraint node in the simulation tree.");
}
foreach (var attachment in it.getAttachments())
{
if (attachment.getConstraint() != null && GetConstraint(attachment.getConstraint().getUuid()) != null)
{
Debug.LogWarning("Cable attachment has a constraint node in the simulation tree.");
}
}
it.inc();
}
}
var mm = simulation.getMaterialManager();
foreach (var m1 in m_materials.Values)
{
foreach (var m2 in m_materials.Values)
{
var cm = mm.getContactMaterial(m1, m2);
if (cm == null)
{
continue;
}
var cmNode = GetOrCreateContactMaterial(cm);
cmNode.AddReference(GetNode(m1.getUuid()));
cmNode.AddReference(GetNode(m2.getUuid()));
}
}
foreach (var observerFrame in simulation.getObserverFrames())
{
if (observerFrame.getRigidBody() == null)
{
continue;
}
var rbNode = GetNode(observerFrame.getRigidBody().getUuid());
if (rbNode == null)
{
continue;
}
var observerFrameNode = GetOrCreateObserverFrame(observerFrame.get());
observerFrameNode.AddReference(rbNode);
}
// Generating wires, cables and constraints last when all bodies has been generated.
m_roots.Add(m_wireRoot);
m_roots.Add(m_cableRoot);
m_roots.Add(m_constraintRoot);
m_roots.Add(m_observerFrameRoot);
// Generating assets last since we have to know the references.
// Materials aren't parsed, they are generated on the fly when
// objects references them.
m_roots.Add(m_materialRoot);
m_roots.Add(m_contactMaterialRoot);
}
public static GameObject Import(string file)
{
GameObject prefab = null;
bool renameRoots = false;
var dataDirectory = string.Empty;
try {
int iteration = 0;
while (++iteration < 4)
{
var fileInfo = new AGXFileInfo(file);
using (var inputFile = new InputAGXFile(fileInfo)) {
inputFile.TryLoad();
inputFile.TryParse();
var statistics = inputFile.TryGenerate();
renameRoots = renameRoots || (iteration == 1 && statistics.RootsAddedToExistingAssets);
prefab = inputFile.TryCreatePrefab();
dataDirectory = fileInfo.DataDirectory;
if (!statistics.HasAddedOrRemoved)
{
break;
}
}
}
}
catch (System.Exception e) {
Debug.LogException(e);
return(null);
}
PropagateChanges(prefab);
if (prefab != null && renameRoots && !string.IsNullOrEmpty(dataDirectory))
{
Debug.Log($"{prefab.name.Color( Color.green )}: Updating main assets and names in " +
dataDirectory.Color(Color.gray) + ".");
var roots = Utils.FindAssetsOfType <AGXUnity.IO.RestoredAssetsRoot>(dataDirectory);
foreach (var root in roots)
{
var assets = ObjectDb.GetAssets(dataDirectory, root.Type);
var mainAsset = System.Array.Find(assets,
asset => AssetDatabase.IsMainAsset(asset));
if (mainAsset == null)
{
continue;
}
else if (!(mainAsset is AGXUnity.IO.RestoredAssetsRoot))
{
AssetDatabase.SetMainObject(root, AssetDatabase.GetAssetPath(mainAsset));
mainAsset = root;
}
AssetDatabase.RenameAsset(AssetDatabase.GetAssetPath(root),
AGXUnity.IO.RestoredAssetsRoot.FindName(prefab.name, root.Type));
}
AssetDatabase.SaveAssets();
AssetDatabase.Refresh();
}
return(prefab);
}
