protected void inititializeTire(string name)
{
var sim = GetSimulation();
Assert.IsNotNull(sim);
var searchName = name + "Tire";
var tire = sim.getRigidBody(searchName);
Assert.IsNotNull(tire, "Unable to find RigidBody: " + searchName);
searchName = name + "Rim";
var rim = sim.getRigidBody(searchName);
Assert.IsNotNull(rim, "Unable to find RigidBody: " + searchName);
// For each tire/rim there is a LockJoint that we added in Momentum just to keep the two together.
// We need to disable that constraint
searchName = "Lock" + name;
var lockJoint = sim.getLockJoint(searchName);
Assert.IsNotNull(lockJoint, "Unable to find LockJoint: " + searchName);
lockJoint.setEnable(false);
// Make sure orientation of the wheel is correct
var m = new agx.AffineMatrix4x4(new agx.Quat(new agx.Vec3(0, 0, 1),
new agx.Vec3(0, 1, 0)),
new agx.Vec3());
// Create a tire model that connects the Tire with the Rim
var tireModel = new agxModel.TwoBodyTire(tire, 1.0, rim, 0.5, m);
m_tireModels.Add(tireModel);
sim.add(tireModel);
}
protected void inititializeTire()
{
if (!agx.Runtime.instance().isValid() || !agx.Runtime.instance().isModuleEnabled("AgX-Tires"))
{
Debug.LogError("This Component requires a valid license for the AGX Dynamics module: AgX-Tires");
}
clearTireModel();
if (m_rimBody == null || m_tireBody == null || m_tireBody.GetInitialized <RigidBody>() == null || m_rimBody.GetInitialized <RigidBody>() == null)
{
return;
}
var tire = m_tireBody.GetInitialized <RigidBody>().Native;
var rim = m_rimBody.GetInitialized <RigidBody>().Native;
if (tire == null || rim == null)
{
Debug.LogWarning("Two Tire Model requires two bodies, one for the tire and one for the rim");
return;
}
// Make sure orientation of the wheel is correct
var m = new agx.AffineMatrix4x4(new agx.Quat(new agx.Vec3(0, 0, 1), new agx.Vec3(0, 1, 0)), new agx.Vec3());
// Create a tire model that connects the Tire with the Rim
m_tireModel = new agxModel.TwoBodyTire(tire, 1.0, rim, 0.5, m);
GetSimulation().add(m_tireModel);
}
/// <summary>
/// "Back" synchronize of transforms given the simulation has
/// updated the transforms.
/// </summary>
protected virtual void SyncUnityTransform()
{
if (transform.parent == null && m_geometry != null)
{
agx.AffineMatrix4x4 t = m_geometry.getTransform();
transform.position = t.getTranslate().ToHandedVector3();
transform.rotation = t.getRotate().ToHandedQuaternion();
}
}
/// <summary>
/// The relative transform used between a rigid body and this shape.
/// </summary>
/// <returns>Relative transform between rigid body (parent) and this shape, in native format.</returns>
public agx.AffineMatrix4x4 GetNativeRigidBodyOffset(RigidBody rb)
{
// If we're on the same level as the rigid body we have by
// definition no offset to the body.
if (rb == null || rb.gameObject == gameObject)
{
return(agx.AffineMatrix4x4.identity());
}
// Using the world position of the shape - which includes scaling etc.
agx.AffineMatrix4x4 shapeInWorld = new agx.AffineMatrix4x4(transform.rotation.ToHandedQuat(), transform.position.ToHandedVec3());
agx.AffineMatrix4x4 rbInWorld = new agx.AffineMatrix4x4(rb.transform.rotation.ToHandedQuat(), rb.transform.position.ToHandedVec3());
return(shapeInWorld * rbInWorld.inverse());
}
