public TemporaryNative(Type nativeType, AttachmentPair attachmentPair = null)
{
m_rb1 = new agx.RigidBody();
m_f1 = new agx.Frame();
m_f2 = new agx.Frame();
if (attachmentPair != null)
{
// Some constraints, e.g., Distance Joints depends on the constraint angle during
// creation so we feed the frames with the world transform of the reference and
// connecting frame.
attachmentPair.Synchronize();
m_f1.setLocalTranslate(attachmentPair.ReferenceFrame.Position.ToHandedVec3());
m_f1.setLocalRotate(attachmentPair.ReferenceFrame.Rotation.ToHandedQuat());
m_f2.setLocalTranslate(attachmentPair.ConnectedFrame.Position.ToHandedVec3());
m_f2.setLocalRotate(attachmentPair.ConnectedFrame.Rotation.ToHandedQuat());
}
m_native = (agx.Constraint)Activator.CreateInstance(nativeType, new object[] { m_rb1, m_f1, null, m_f2 });
}
/// <summary>
/// Creates native instance and adds it to the simulation if this constraint
/// is properly configured.
/// </summary>
/// <returns>True if successful.</returns>
protected override bool Initialize()
{
if (AttachmentPair.ReferenceObject == null)
{
Debug.LogError("Unable to initialize constraint - reference object must be valid and contain a rigid body component.", this);
return(false);
}
// Synchronize frames to make sure connected frame is up to date.
AttachmentPair.Synchronize();
// TODO: Disabling rigid body game object (activeSelf == false) and will not be
// able to create native body (since State == Constructed and not Awake).
// Do: GetComponentInParent<RigidBody>( true <- include inactive ) and wait
// for the body to become active?
// E.g., rb.AwaitInitialize += ThisConstraintInitialize.
RigidBody rb1 = AttachmentPair.ReferenceObject.GetInitializedComponentInParent <RigidBody>();
if (rb1 == null)
{
Debug.LogError("Unable to initialize constraint - reference object must contain a rigid body component.", AttachmentPair.ReferenceObject);
return(false);
}
// Native constraint frames.
agx.Frame f1 = new agx.Frame();
agx.Frame f2 = new agx.Frame();
// Note that the native constraint want 'f1' given in rigid body frame, and that
// 'ReferenceFrame' may be relative to any object in the children of the body.
f1.setLocalTranslate(AttachmentPair.ReferenceFrame.CalculateLocalPosition(rb1.gameObject).ToHandedVec3());
f1.setLocalRotate(AttachmentPair.ReferenceFrame.CalculateLocalRotation(rb1.gameObject).ToHandedQuat());
RigidBody rb2 = AttachmentPair.ConnectedObject != null?AttachmentPair.ConnectedObject.GetInitializedComponentInParent <RigidBody>() : null;
if (rb1 == rb2)
{
Debug.LogError("Unable to initialize constraint - reference and connected rigid body is the same instance.", this);
return(false);
}
if (rb2 != null)
{
// Note that the native constraint want 'f2' given in rigid body frame, and that
// 'ReferenceFrame' may be relative to any object in the children of the body.
f2.setLocalTranslate(AttachmentPair.ConnectedFrame.CalculateLocalPosition(rb2.gameObject).ToHandedVec3());
f2.setLocalRotate(AttachmentPair.ConnectedFrame.CalculateLocalRotation(rb2.gameObject).ToHandedQuat());
}
else
{
f2.setLocalTranslate(AttachmentPair.ConnectedFrame.Position.ToHandedVec3());
f2.setLocalRotate(AttachmentPair.ConnectedFrame.Rotation.ToHandedQuat());
}
try {
Native = (agx.Constraint)Activator.CreateInstance(NativeType, new object[] { rb1.Native, f1, (rb2 != null ? rb2.Native : null), f2 });
// Assigning native elementary constraints to our elementary constraint instances.
foreach (ElementaryConstraint ec in ElementaryConstraints)
{
if (!ec.OnConstraintInitialize(this))
{
throw new Exception("Unable to initialize elementary constraint: " + ec.NativeName + " (not present in native constraint). ConstraintType: " + Type);
}
}
bool added = GetSimulation().add(Native);
Native.setEnable(IsEnabled);
// Not possible to handle collisions if connected frame parent is null/world.
if (CollisionsState != ECollisionsState.KeepExternalState && AttachmentPair.ConnectedObject != null)
{
string groupName = gameObject.name + "_" + gameObject.GetInstanceID().ToString();
GameObject go1 = null;
GameObject go2 = null;
bool propagateToChildren1 = false;
bool propagateToChildren2 = false;
if (CollisionsState == ECollisionsState.DisableReferenceVsConnected)
{
go1 = AttachmentPair.ReferenceObject;
go2 = AttachmentPair.ConnectedObject;
}
else
{
go1 = rb1.gameObject;
propagateToChildren1 = true;
go2 = rb2 != null ? rb2.gameObject : AttachmentPair.ConnectedObject;
propagateToChildren2 = true;
}
go1.GetOrCreateComponent <CollisionGroups>().GetInitialized <CollisionGroups>().AddGroup(groupName, propagateToChildren1);
go2.GetOrCreateComponent <CollisionGroups>().GetInitialized <CollisionGroups>().AddGroup(groupName, propagateToChildren2);
CollisionGroupsManager.Instance.GetInitialized <CollisionGroupsManager>().SetEnablePair(groupName, groupName, false);
}
Native.setName(name);
bool valid = added && Native.getValid();
Simulation.Instance.StepCallbacks.PreSynchronizeTransforms += OnPreStepForwardUpdate;
// It's not possible to check which properties an animator
// is controlling, for now we update all properties in the
// controllers if we have an animator.
m_isAnimated = GetComponent <Animator>() != null;
return(valid);
}
catch (System.Exception e) {
Debug.LogException(e, gameObject);
return(false);
}
}