private bool CreateCable(Node node)
{
var nativeCable = m_tree.GetCable(node.Uuid);
if (nativeCable == null)
{
Debug.LogWarning("Unable to find native instance of cable: " + node.GameObject.name +
" (UUID: " + node.Uuid.str() + ")");
return(false);
}
var cable = node.GameObject.GetOrCreateComponent <Cable>();
var route = cable.Route;
route.Clear();
node.GameObject.GetOrCreateComponent <CableRenderer>();
cable.RestoreLocalDataFrom(nativeCable);
cable.RouteAlgorithm = Cable.RouteType.Identity;
var properties = CableProperties.Create <CableProperties>().RestoreLocalDataFrom(nativeCable.getCableProperties(),
nativeCable.getCablePlasticity());
properties.name = cable.name + "_properties";
cable.Properties = properties = FileInfo.AddOrUpdateExistingAsset(properties, AGXUnity.IO.AssetType.CableProperties);
for (var it = nativeCable.getSegments().begin(); !it.EqualWith(nativeCable.getSegments().end()); it.inc())
{
var segment = it.get();
route.Add(segment, attachment =>
{
if (attachment == null || attachment.getRigidBody() == null)
{
return(FileInfo.PrefabInstance);
}
var rbNode = m_tree.GetNode(attachment.getRigidBody().getUuid());
if (rbNode == null)
{
Debug.LogWarning("Unable to find rigid body in cable attachment.");
return(FileInfo.PrefabInstance);
}
return(rbNode.GameObject);
});
}
var materials = node.GetReferences(Node.NodeType.Material);
if (materials.Length > 0)
{
cable.Material = materials[0].Asset as ShapeMaterial;
}
cable.GetComponent <CableRenderer>().InitializeRenderer();
cable.GetComponent <CableRenderer>().Material = null;
// Adding collision group from restored instance since the disabled pair
// will be read from Space (cable.setEnableCollisions( foo, false ) will
// work out of the box).
var collisionGroups = cable.gameObject.GetOrCreateComponent <CollisionGroups>();
collisionGroups.AddGroup(nativeCable.getUniqueId().ToString(), false);
var referencedGroups = node.GetReferences(Node.NodeType.GroupId);
foreach (var group in referencedGroups)
{
if (group.Object is string)
{
collisionGroups.AddGroup(group.Object as string, false);
}
}
return(true);
}
private bool CreateRenderData(Node node)
{
var nativeShape = m_tree.GetShape(node.Uuid);
var renderData = nativeShape.getRenderData();
if (renderData == null || !renderData.getShouldRender())
{
return(false);
}
var nativeGeometry = m_tree.GetGeometry(node.Parent.Uuid);
var shape = node.GameObject.GetComponent <AGXUnity.Collide.Shape>();
var toWorld = nativeGeometry.getTransform();
var toLocal = shape.transform.worldToLocalMatrix;
var meshes = new Mesh[] { };
if (renderData.getVertexArray().Count > UInt16.MaxValue)
{
Debug.LogWarning("Render data contains more than " +
UInt16.MaxValue +
" vertices. Splitting it into smaller meshes.");
var splitter = MeshSplitter.Split(renderData.getVertexArray(),
renderData.getIndexArray(),
v => toLocal.MultiplyPoint3x4(toWorld.preMult(v).ToHandedVector3()));
meshes = splitter.Meshes;
for (int i = 0; i < meshes.Length; ++i)
{
meshes[i].name = shape.name + "_Visual_Mesh_" + i.ToString();
}
}
else
{
var mesh = new Mesh();
mesh.name = shape.name + "_Visual_Mesh";
// Assigning and converting vertices.
// Note: RenderData vertices assumed to be given in geometry coordinates.
mesh.SetVertices((from v
in renderData.getVertexArray()
select toLocal.MultiplyPoint3x4(toWorld.preMult(v).ToHandedVector3())).ToList());
// Assigning and converting colors.
mesh.SetColors((from c
in renderData.getColorArray()
select c.ToColor()).ToList());
// Unsure about this one.
mesh.SetUVs(0,
(from uv
in renderData.getTexCoordArray()
select uv.ToVector2()).ToList());
// Converting counter clockwise -> clockwise.
var triangles = new List <int>();
var indexArray = renderData.getIndexArray();
for (int i = 0; i < indexArray.Count; i += 3)
{
triangles.Add(Convert.ToInt32(indexArray[i + 0]));
triangles.Add(Convert.ToInt32(indexArray[i + 2]));
triangles.Add(Convert.ToInt32(indexArray[i + 1]));
}
mesh.SetTriangles(triangles, 0, false);
mesh.RecalculateBounds();
mesh.RecalculateNormals();
mesh.RecalculateTangents();
meshes = new Mesh[] { mesh };
}
var shader = Shader.Find("Standard") ?? Shader.Find("Diffuse");
if (shader == null)
{
Debug.LogError("Unable to find standard shaders.");
}
var renderMaterial = renderData.getRenderMaterial();
var material = new Material(shader);
material.name = shape.name + "_Visual_Material";
if (renderMaterial.hasDiffuseColor())
{
var color = renderMaterial.getDiffuseColor().ToColor();
color.a = 1.0f - renderMaterial.getTransparency();
material.SetVector("_Color", color);
}
if (renderMaterial.hasEmissiveColor())
{
material.SetVector("_EmissionColor", renderMaterial.getEmissiveColor().ToColor());
}
material.SetFloat("_Metallic", 0.3f);
material.SetFloat("_Glossiness", 0.8f);
if (renderMaterial.getTransparency() > 0.0f)
{
material.SetBlendMode(BlendMode.Transparent);
}
material = FileInfo.AddOrUpdateExistingAsset(material, AGXUnity.IO.AssetType.Material);
foreach (var mesh in meshes)
{
FileInfo.AddOrUpdateExistingAsset(mesh, AGXUnity.IO.AssetType.RenderMesh);
}
var shapeVisual = ShapeVisual.Find(shape);
if (shapeVisual != null)
{
// Verify so that the meshes matches the current configuration?
}
else
{
ShapeVisual.CreateRenderData(shape, meshes, material);
}
return(true);
}
private void Generate(Node node)
{
if (node == null)
{
return;
}
// TODO: Skip if node.GameObject != null means "use Unity configuration".
switch (node.Type)
{
case Node.NodeType.Assembly:
agx.Frame frame = m_tree.GetAssembly(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName("", node.Type.ToString());
node.GameObject.transform.position = frame.getTranslate().ToHandedVector3();
node.GameObject.transform.rotation = frame.getRotate().ToHandedQuaternion();
node.GameObject.GetOrCreateComponent <Assembly>();
break;
case Node.NodeType.RigidBody:
agx.RigidBody nativeRb = m_tree.GetRigidBody(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeRb.getName(), node.Type.ToString());
node.GameObject.transform.position = nativeRb.getPosition().ToHandedVector3();
node.GameObject.transform.rotation = nativeRb.getRotation().ToHandedQuaternion();
node.GameObject.GetOrCreateComponent <RigidBody>().RestoreLocalDataFrom(nativeRb);
break;
case Node.NodeType.Geometry:
// Ignoring geometries - handling Shape == Geometry.
// The shapes are children to this node.
break;
case Node.NodeType.Shape:
var nativeGeometry = m_tree.GetGeometry(node.Parent.Uuid);
var nativeShape = m_tree.GetShape(node.Uuid);
var nativeShapeType = (agxCollide.Shape.Type)nativeShape.getType();
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeGeometry.getName() +
"_" +
nativeShapeType.ToString().ToLower().FirstCharToUpperCase(),
node.Type.ToString());
node.GameObject.transform.position = nativeShape.getTransform().getTranslate().ToHandedVector3();
node.GameObject.transform.rotation = nativeShape.getTransform().getRotate().ToHandedQuaternion();
if (!CreateShape(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
case Node.NodeType.Material:
var nativeMaterial = m_tree.GetMaterial(node.Uuid);
node.Asset = ScriptAsset.Create <ShapeMaterial>().RestoreLocalDataFrom(nativeMaterial);
node.Asset.name = FindName(nativeMaterial.getName(), node.Type.ToString());
node.Asset = FileInfo.AddOrUpdateExistingAsset(node.Asset as ShapeMaterial, AGXUnity.IO.AssetType.ShapeMaterial);
break;
case Node.NodeType.ContactMaterial:
var nativeContactMaterial = m_tree.GetContactMaterial(node.Uuid);
var nativeFrictionModel = nativeContactMaterial.getFrictionModel();
var contactMaterial = ScriptAsset.Create <ContactMaterial>().RestoreLocalDataFrom(nativeContactMaterial);
contactMaterial.name = FindName("ContactMaterial_" +
nativeContactMaterial.getMaterial1().getName() +
"_" +
nativeContactMaterial.getMaterial2().getName(),
node.Type.ToString());
var materials = node.GetReferences(Node.NodeType.Material);
if (materials.Length == 0)
{
Debug.LogWarning("No materials referenced to ContactMaterial node.");
}
else if (materials.Length == 1)
{
contactMaterial.Material1 = contactMaterial.Material2 = materials[0].Asset as ShapeMaterial;
}
else if (materials.Length > 1)
{
contactMaterial.Material1 = materials[0].Asset as ShapeMaterial;
contactMaterial.Material2 = materials[1].Asset as ShapeMaterial;
if (materials.Length > 2)
{
Debug.LogWarning("More than two materials referenced to ContactMaterial (" + node.Asset.name + "). First two are used.");
}
}
if (nativeFrictionModel != null)
{
var frictionModelAsset = ScriptAsset.Create <FrictionModel>().RestoreLocalDataFrom(nativeFrictionModel);
frictionModelAsset.name = "FrictionModel_" + contactMaterial.name;
contactMaterial.FrictionModel = frictionModelAsset = FileInfo.AddOrUpdateExistingAsset(frictionModelAsset, AGXUnity.IO.AssetType.FrictionModel);
}
node.Asset = contactMaterial = FileInfo.AddOrUpdateExistingAsset(contactMaterial, AGXUnity.IO.AssetType.ContactMaterial);
break;
case Node.NodeType.Constraint:
var nativeConstraint = m_tree.GetConstraint(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeConstraint.getName(),
"AGXUnity." + Constraint.FindType(nativeConstraint));
if (!CreateConstraint(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
case Node.NodeType.Wire:
var nativeWire = m_tree.GetWire(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeWire.getName(), "AGXUnity.Wire");
if (!CreateWire(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
case Node.NodeType.Cable:
var nativeCable = m_tree.GetCable(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeCable.getName(), "AGXUnity.Cable");
if (!CreateCable(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
}
foreach (var child in node.Children)
{
Generate(child);
}
}
private bool CreateShape(Node node)
{
var nativeGeometry = m_tree.GetGeometry(node.Parent.Uuid);
var nativeShape = m_tree.GetShape(node.Uuid);
var nativeShapeType = (agxCollide.Shape.Type)nativeShape.getType();
if (nativeShapeType == agxCollide.Shape.Type.BOX)
{
node.GameObject.GetOrCreateComponent <AGXUnity.Collide.Box>().HalfExtents = nativeShape.asBox().getHalfExtents().ToVector3();
}
else if (nativeShapeType == agxCollide.Shape.Type.CYLINDER)
{
var cylinder = node.GameObject.GetOrCreateComponent <AGXUnity.Collide.Cylinder>();
cylinder.Radius = Convert.ToSingle(nativeShape.asCylinder().getRadius());
cylinder.Height = Convert.ToSingle(nativeShape.asCylinder().getHeight());
}
else if (nativeShapeType == agxCollide.Shape.Type.CAPSULE)
{
var capsule = node.GameObject.GetOrCreateComponent <AGXUnity.Collide.Capsule>();
capsule.Radius = Convert.ToSingle(nativeShape.asCapsule().getRadius());
capsule.Height = Convert.ToSingle(nativeShape.asCapsule().getHeight());
}
else if (nativeShapeType == agxCollide.Shape.Type.SPHERE)
{
var sphere = node.GameObject.GetOrCreateComponent <AGXUnity.Collide.Sphere>();
sphere.Radius = Convert.ToSingle(nativeShape.asSphere().getRadius());
}
else if (nativeShapeType == agxCollide.Shape.Type.CONVEX ||
nativeShapeType == agxCollide.Shape.Type.TRIMESH ||
nativeShapeType == agxCollide.Shape.Type.HEIGHT_FIELD)
{
var mesh = node.GameObject.GetOrCreateComponent <AGXUnity.Collide.Mesh>();
var collisionData = nativeShape.asMesh().getMeshData();
var nativeToWorld = nativeShape.getTransform();
var meshToLocal = mesh.transform.worldToLocalMatrix;
if (collisionData.getVertices().Count > UInt16.MaxValue)
{
var nativeVertices = collisionData.getVertices();
var nativeIndicies = collisionData.getIndices();
var splitter = MeshSplitter.Split(nativeVertices,
nativeIndicies,
v =>
meshToLocal.MultiplyPoint3x4(nativeToWorld.preMult(v).ToHandedVector3()));
var subMeshes = splitter.Meshes;
for (int i = 0; i < subMeshes.Length; ++i)
{
subMeshes[i].name = "Mesh_" + mesh.name + (i == 0 ? "" : "_Sub_" + i.ToString());
mesh.AddSourceObject(FileInfo.AddOrUpdateExistingAsset(subMeshes[i], AGXUnity.IO.AssetType.CollisionMesh));
}
}
else
{
var source = new Mesh();
source.name = "Mesh_" + mesh.name;
source.SetVertices((from v
in collisionData.getVertices()
select meshToLocal.MultiplyPoint3x4(nativeToWorld.preMult(v).ToHandedVector3())).ToList());
// Converting counter clockwise -> clockwise.
var triangles = new List <int>();
var indexArray = collisionData.getIndices();
triangles.Capacity = indexArray.Count;
for (int i = 0; i < indexArray.Count; i += 3)
{
triangles.Add(Convert.ToInt32(indexArray[i + 0]));
triangles.Add(Convert.ToInt32(indexArray[i + 2]));
triangles.Add(Convert.ToInt32(indexArray[i + 1]));
}
source.SetTriangles(triangles, 0, false);
source.RecalculateBounds();
source.RecalculateNormals();
source.RecalculateTangents();
source = FileInfo.AddOrUpdateExistingAsset(source, AGXUnity.IO.AssetType.CollisionMesh);
mesh.SetSourceObject(source);
}
}
else
{
Debug.LogWarning("Unsupported shape type: " + nativeShapeType);
return(false);
}
var shape = node.GameObject.GetComponent <AGXUnity.Collide.Shape>();
shape.gameObject.SetActive(nativeGeometry.isEnabled());
shape.IsSensor = nativeGeometry.isSensor();
if (nativeGeometry.getMaterial() != null)
{
var shapeMaterial = m_tree.GetNode(nativeGeometry.getMaterial().getUuid()).Asset as ShapeMaterial;
if (shapeMaterial == null)
{
Debug.LogWarning("Shape material from geometry: " + nativeGeometry.getName() + " isn't found in UUID database.");
}
shape.Material = shapeMaterial;
}
shape.CollisionsEnabled = nativeGeometry.getEnableCollisions();
// Groups referenced in geometry node.
var groups = node.Parent.GetReferences(Node.NodeType.GroupId);
if (groups.Length > 0)
{
var groupsComponent = shape.gameObject.GetOrCreateComponent <CollisionGroups>();
foreach (var group in groups)
{
if (group.Object is string)
{
groupsComponent.AddGroup(group.Object as string, false);
}
}
}
CreateRenderData(node);
return(true);
}
/// <summary>
/// Trying to generate the objects given the simulation tree.
/// Throws if something goes wrong.
/// </summary>
public void TryGenerate()
{
FileInfo.GetOrCreateDataDirectory();
// Adding one for disabled collisions.
int numSubProgresses = m_tree.Roots.Length + 1;
using (var subProgress = m_progressBar.Progress("Generating: " + FileInfo.NameWithExtension, numSubProgresses)) {
FileInfo.PrefabInstance.transform.position = Vector3.zero;
FileInfo.PrefabInstance.transform.rotation = Quaternion.identity;
var fileData = FileInfo.PrefabInstance.GetOrCreateComponent <AGXUnity.IO.RestoredAGXFile>();
fileData.DataDirectoryId = FileInfo.DataDirectoryId;
fileData.SolverSettings = ScriptAsset.Create <SolverSettings>().RestoreLocalDataFrom(Simulation);
fileData.SolverSettings.name = FindName("SolverSettings_" + FileInfo.Name, "SolverSettings");
fileData.SolverSettings = FileInfo.AddOrUpdateExistingAsset(fileData.SolverSettings, AGXUnity.IO.AssetType.Unknown);
foreach (var root in m_tree.Roots)
{
subProgress.Tick(root.Name == string.Empty ? root.Type.ToString() : root.Name);
Generate(root);
subProgress.Tack();
}
subProgress.Tick("Disabled collisions");
var disabledCollisionsState = Simulation.getSpace().findDisabledCollisionsState();
foreach (var namePair in disabledCollisionsState.getDisabledNames())
{
fileData.AddDisabledPair(namePair.first, namePair.second);
}
foreach (var idPair in disabledCollisionsState.getDisabledIds())
{
fileData.AddDisabledPair(idPair.first.ToString(), idPair.second.ToString());
}
foreach (var geometryPair in disabledCollisionsState.getDisabledGeometyPairs())
{
if (!Tree.IsValid(geometryPair.first) || !Tree.IsValid(geometryPair.second))
{
continue;
}
var geometry1Node = m_tree.GetNode(geometryPair.first.getUuid());
var geometry2Node = m_tree.GetNode(geometryPair.second.getUuid());
if (geometry1Node == null || geometry2Node == null)
{
Debug.LogWarning("Unreferenced geometry in disabled collisions pair.");
continue;
}
var geometry1Id = geometry2Node.Uuid.str();
foreach (var shapeNode in geometry1Node.GetChildren(Node.NodeType.Shape))
{
shapeNode.GameObject.GetOrCreateComponent <CollisionGroups>().AddGroup(geometry1Id, false);
}
var geometry2Id = geometry1Node.Uuid.str();
foreach (var shapeNode in geometry2Node.GetChildren(Node.NodeType.Shape))
{
shapeNode.GameObject.GetOrCreateComponent <CollisionGroups>().AddGroup(geometry2Id, false);
}
fileData.AddDisabledPair(geometry1Id, geometry2Id);
}
subProgress.Tack();
}
}
