public FrictionModel RestoreLocalDataFrom(agx.FrictionModel native)
{
SolveType = Convert(native.getSolveType());
Type = FindType(native);
return(this);
}
/// <summary>
/// Callback from AgXUnity.FrictionModel when the friction model type has been changed.
/// </summary>
/// <param name="frictionModel"></param>
private void OnFrictionModelNativeInstanceChanged(agx.FrictionModel frictionModel)
{
if (Native != null)
{
Native.setFrictionModel(frictionModel);
}
}
protected override bool Initialize()
{
if (m_frictionModel != null)
{
return(true);
}
m_frictionModel = CreateNative(Type, SolveType);
return(true);
}
/// <summary>
/// Finds friction model type given native instance.
/// </summary>
/// <param name="native">Native friction model.</param>
/// <returns>Native friction model type.</returns>
public static EType FindType(agx.FrictionModel native)
{
if (native == null || native.asIterativeProjectedConeFriction() != null)
{
return(EType.IterativeProjectedFriction);
}
else if (native.asBoxFrictionModel() != null)
{
return(EType.BoxFriction);
}
return(EType.ScaleBoxFriction);
}
public FrictionModel RestoreLocalDataFrom(agx.FrictionModel native)
{
SolveType = Convert(native.getSolveType());
Type = FindType(native);
// TODO: How do we handle oriented when restoring from file?
if (Type == EType.ConstantNormalForceBoxFriction)
{
NormalForceMagnitude = System.Convert.ToSingle(native.asConstantNormalForceOrientedBoxFrictionModel().getNormalForceMagnitude());
ScaleNormalForceWithDepth = native.asConstantNormalForceOrientedBoxFrictionModel().getEnableScaleWithDepth();
}
return(this);
}
/// <summary>
/// Create native friction model given solve type and friction model type.
/// </summary>
/// <param name="type">Friction model type.</param>
/// <param name="solveType">Solve type.</param>
/// <returns>New native instance.</returns>
public agx.FrictionModel CreateNative(EType type,
ESolveType solveType)
{
agx.Frame referenceFrame = null;
if (m_orientedFrictionReferenceObject != null)
{
referenceFrame = m_orientedFrictionReferenceObject.GetComponent <RigidBody>() != null?
m_orientedFrictionReferenceObject.GetComponent <RigidBody>().Native.getFrame() :
m_orientedFrictionReferenceObject.GetComponent <Collide.Shape>() != null?
m_orientedFrictionReferenceObject.GetComponent <Collide.Shape>().NativeGeometry.getFrame() :
null;
}
agx.FrictionModel frictionModel = null;
if (type == EType.IterativeProjectedFriction)
{
frictionModel = referenceFrame != null ?
new agx.OrientedIterativeProjectedConeFrictionModel(referenceFrame,
Convert(m_orientedFrictionPrimaryDirection).ToHandedVec3(),
Convert(solveType)) :
new agx.IterativeProjectedConeFriction(Convert(solveType));
}
else if (type == EType.ScaleBoxFriction)
{
frictionModel = referenceFrame != null ?
new agx.OrientedScaleBoxFrictionModel(referenceFrame,
Convert(m_orientedFrictionPrimaryDirection).ToHandedVec3(),
Convert(solveType)) :
new agx.ScaleBoxFrictionModel(Convert(solveType));
}
else if (type == EType.BoxFriction)
{
frictionModel = referenceFrame != null ?
new agx.OrientedBoxFrictionModel(referenceFrame,
Convert(m_orientedFrictionPrimaryDirection).ToHandedVec3(),
Convert(solveType)) :
new agx.BoxFrictionModel(Convert(solveType));
}
else if (type == EType.ConstantNormalForceBoxFriction)
{
frictionModel = new agx.ConstantNormalForceOrientedBoxFrictionModel(NormalForceMagnitude,
referenceFrame,
Convert(m_orientedFrictionPrimaryDirection).ToHandedVec3(),
Convert(solveType),
ScaleNormalForceWithDepth);
}
return(frictionModel);
}
/// <summary>
/// Create native friction model given solve type and friction model type.
/// </summary>
/// <param name="type">Friction model type.</param>
/// <param name="solveType">Solve type.</param>
/// <returns>New native instance.</returns>
public static agx.FrictionModel CreateNative(EType type, ESolveType solveType)
{
agx.FrictionModel frictionModel = null;
if (type == EType.IterativeProjectedFriction)
{
frictionModel = new agx.IterativeProjectedConeFriction(Convert(solveType));
}
else if (type == EType.ScaleBoxFriction)
{
frictionModel = new agx.ScaleBoxFrictionModel(Convert(solveType));
}
else if (type == EType.BoxFriction)
{
frictionModel = new agx.BoxFrictionModel(Convert(solveType));
}
return(frictionModel);
}
/// <summary>
/// Finds friction model type given native instance.
/// </summary>
/// <param name="native">Native friction model.</param>
/// <returns>Native friction model type.</returns>
public static EType FindType(agx.FrictionModel native)
{
if (native == null || native.asIterativeProjectedConeFriction() != null)
{
return(EType.IterativeProjectedFriction);
}
else if (native.asScaleBoxFrictionModel() != null)
{
return(EType.ScaleBoxFriction);
}
else if (native.asConstantNormalForceOrientedBoxFrictionModel() != null)
{
return(EType.ConstantNormalForceBoxFriction);
}
else if (native.asBoxFrictionModel() != null)
{
return(EType.BoxFriction);
}
Debug.LogWarning("Unknown native friction model type - returning default.");
return(EType.IterativeProjectedFriction);
}
public override void Destroy()
{
m_frictionModel = null;
}
