/// <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>
/// Converts ESolveType to agx.FrictionModel.SolveType.
/// </summary>
/// <param name="solveType">Input ESolveType.</param>
/// <returns>Output agx.FrictionModel.SolveType.</returns>
public static agx.FrictionModel.SolveType Convert(ESolveType solveType)
{
if (solveType == ESolveType.Direct)
{
return(agx.FrictionModel.SolveType.DIRECT);
}
else if (solveType == ESolveType.Iterative)
{
return(agx.FrictionModel.SolveType.ITERATIVE);
}
else if (solveType == ESolveType.Split)
{
return(agx.FrictionModel.SolveType.SPLIT);
}
else if (solveType == ESolveType.DirectAndIterative)
{
return(agx.FrictionModel.SolveType.DIRECT_AND_ITERATIVE);
}
return(agx.FrictionModel.SolveType.NOT_DEFINED);
}
/// <summary>
/// Converts constraint solve type to native version.
/// </summary>
/// <param name="solveType">Constraint solve type.</param>
/// <returns>Native solve type.</returns>
public static agx.Constraint.SolveType Convert(ESolveType solveType)
{
return(solveType == ESolveType.Direct ? agx.Constraint.SolveType.DIRECT :
solveType == ESolveType.Iterative ? agx.Constraint.SolveType.ITERATIVE :
agx.Constraint.SolveType.DIRECT_AND_ITERATIVE);
}
protected override void Construct()
{
m_type = EType.IterativeProjectedFriction;
m_solveType = ESolveType.Split;
}
