public bool PlaceObject(GameObject obj, bool respectMaxRobotReachability)
{
Bounds planeBounds = plane.GetComponent <Renderer>().bounds;
if (obj.activeInHierarchy)
{
// try to sample a valid point
Bounds objBounds = obj.GetComponent <Renderer>().bounds;
float radius = objBounds.extents.magnitude;
float heightAbovePlane = objBounds.extents.y;
List <PlacementConstraint> constraints = GetAllConstraints(respectMaxRobotReachability);
Vector3?point = SampleValidGlobalPointOnPlane(radius, constraints, planeBounds, respectMaxRobotReachability);
if (point.HasValue)
{
// place object
Vector3 foundPoint = point ?? Vector3.zero;
obj.transform.position = new Vector3(foundPoint.x, foundPoint.y + heightAbovePlane, foundPoint.z);
// update constraints so subsequently placed object cannot collide with this one
CollisionConstraint newConstraint = new CollisionConstraint();
newConstraint.x = foundPoint.x;
newConstraint.z = foundPoint.z;
newConstraint.radius = radius;
collisionConstraints.Add(newConstraint);
}
else
{
return(false);
}
}
return(true);
}
///<summary>
/// Creates a new simulator that can handle up to the given
/// number of contacts per frame. You can also optionally give
/// a number of contact-resolution iterations to use. If you
/// don't give a number of iterations, then four times the
/// number of detected contacts will be used for each frame.
///<summary>
public RigidBodyEngine(int maxContacts)
{
Bodies = new List <RigidBody>();
ForceAreas = new List <RigidForceArea>();
Forces = new List <RigidForce>();
Constraints = new List <RigidConstraint>();
Resolver = new RigidContactResolver();
Collisions = new CollisionConstraint();
Constraints.Add(Collisions);
m_contacts = new RigidContact[maxContacts];
for (int i = 0; i < maxContacts; i++)
{
m_contacts[i] = new RigidContact();
}
}
