protected override void Construct(agx.ElementaryConstraint tmpEc)
{
base.Construct(tmpEc);
m_frictionCoefficient = Convert.ToSingle(agx.FrictionController.safeCast(tmpEc).getFrictionCoefficient());
m_nonLinearDirectSolveEnabled = agx.FrictionController.safeCast(tmpEc).getEnableNonLinearDirectSolveUpdate();
}
protected override void Construct(agx.ElementaryConstraint tmpEc)
{
base.Construct(tmpEc);
m_speed = Convert.ToSingle(agx.TargetSpeedController.safeCast(tmpEc).getSpeed());
m_lockAtZeroSpeed = agx.TargetSpeedController.safeCast(tmpEc).getLockedAtZeroSpeed();
}
/// <summary>
/// Callback from Constraint when it's being initialized.
/// </summary>
/// <param name="constraint">Constraint object this elementary constraint is part of.</param>
/// <returns>True if successful.</returns>
public virtual bool OnConstraintInitialize(Constraint constraint)
{
Native = constraint.Native.getElementaryConstraintGivenName(NativeName) ??
constraint.Native.getSecondaryConstraintGivenName(NativeName);
return(GetInitialized <ElementaryConstraint>() != null);
}
protected override void Construct(agx.ElementaryConstraint tmpEc)
{
base.Construct(tmpEc);
m_voltage = Convert.ToSingle(agx.ElectricMotorController.safeCast(tmpEc).getVoltage());
m_armatureResistance = Convert.ToSingle(agx.ElectricMotorController.safeCast(tmpEc).getArmatureResistance());
m_torqueConstant = Convert.ToSingle(agx.ElectricMotorController.safeCast(tmpEc).getTorqueConstant());
}
protected virtual void Construct(agx.ElementaryConstraint tmpEc)
{
m_nativeName = tmpEc.getName();
m_enable = tmpEc.getEnable();
m_rowData = new ElementaryConstraintRowData[tmpEc.getNumRows()];
for (uint i = 0; i < tmpEc.getNumRows(); ++i)
{
m_rowData[i] = new ElementaryConstraintRowData(this, Convert.ToInt32(i), tmpEc);
}
}
/// <summary>
/// Create instance given temporary native elementary constraint.
/// </summary>
/// <param name="tmpEc">Temporary elementary constraint.</param>
/// <returns>New instance, as similar as possible, to the given native elementary constraint.</returns>
public static ElementaryConstraint Create(GameObject gameObject, agx.ElementaryConstraint tmpEc)
{
if (tmpEc == null)
{
return(null);
}
ElementaryConstraint elementaryConstraint = null;
// It's possible to know the type of controllers. We're basically not
// interested in knowing the type of the ordinary ones.
Type controllerType = null;
if (agx.RangeController.safeCast(tmpEc) != null)
{
controllerType = agx.RangeController.safeCast(tmpEc).GetType();
}
else if (agx.TargetSpeedController.safeCast(tmpEc) != null)
{
controllerType = agx.TargetSpeedController.safeCast(tmpEc).GetType();
}
else if (agx.LockController.safeCast(tmpEc) != null)
{
controllerType = agx.LockController.safeCast(tmpEc).GetType();
}
else if (agx.ScrewController.safeCast(tmpEc) != null)
{
controllerType = agx.ScrewController.safeCast(tmpEc).GetType();
}
else if (agx.ElectricMotorController.safeCast(tmpEc) != null)
{
controllerType = agx.ElectricMotorController.safeCast(tmpEc).GetType();
}
else if (agx.FrictionController.safeCast(tmpEc) != null)
{
controllerType = agx.FrictionController.safeCast(tmpEc).GetType();
}
// This is a controller, instantiate the controller.
if (controllerType != null)
{
elementaryConstraint = gameObject.AddComponent(Type.GetType("AGXUnity." + controllerType.Name)) as ElementaryConstraint;
}
// This is an ordinary elementary constraint.
else
{
elementaryConstraint = gameObject.AddComponent <ElementaryConstraint>();
}
// Copies data from the native instance.
elementaryConstraint.Construct(tmpEc);
return(elementaryConstraint);
}
protected override void Construct(agx.ElementaryConstraint tmpEc)
{
base.Construct(tmpEc);
m_position = Convert.ToSingle(agx.LockController.safeCast(tmpEc).getPosition());
}
protected override void Construct(agx.ElementaryConstraint tmpEc)
{
base.Construct(tmpEc);
m_lead = Convert.ToSingle(agx.ScrewController.safeCast(tmpEc).getLead());
}
protected override void Construct(agx.ElementaryConstraint tmpEc)
{
base.Construct(tmpEc);
m_range = new RangeReal(agx.RangeController.safeCast(tmpEc).getRange());
}
protected override void OnDestroy()
{
Native = null;
base.OnDestroy();
}
/// <summary>
/// Construct given elementary constraint, row in the elementary constraint and (optional)
/// a native instance to copy default values from.
/// </summary>
/// <param name="elementaryConstraint">Elementary constraint this row data belongs to.</param>
/// <param name="row">Row index in the elementary constraint.</param>
/// <param name="tmpEc">Temporary native instance to copy default values from.</param>
public ElementaryConstraintRowData(ElementaryConstraint elementaryConstraint, int row, agx.ElementaryConstraint tmpEc = null)
{
m_elementaryConstraint = elementaryConstraint;
m_row = row;
if (tmpEc != null)
{
m_compliance = Convert.ToSingle(tmpEc.getCompliance(RowUInt));
// AGX Dynamics damping is optimized for 60 Hz simulations. Assuming
// a fixed update of 50 Hz in Unity we scale the damping by 60 / 50 = 1.2
// to transform the damping to 50 Hz.
m_damping = 1.2f * Convert.ToSingle(tmpEc.getDamping(RowUInt));
m_forceRange = new RangeReal(tmpEc.getForceRange(RowUInt));
}
}
/// <summary>
/// Construct given elementary constraint, row in the elementary constraint and (optional)
/// a native instance to copy default values from.
/// </summary>
/// <param name="elementaryConstraint">Elementary constraint this row data belongs to.</param>
/// <param name="row">Row index in the elementary constraint.</param>
/// <param name="tmpEc">Temporary native instance to copy default values from.</param>
public ElementaryConstraintRowData(ElementaryConstraint elementaryConstraint, int row, agx.ElementaryConstraint tmpEc = null)
{
m_elementaryConstraint = elementaryConstraint;
m_row = row;
if (tmpEc != null)
{
m_compliance = Convert.ToSingle(tmpEc.getCompliance(RowUInt));
m_damping = Convert.ToSingle(tmpEc.getDamping(RowUInt));
m_forceRange = new RangeReal(tmpEc.getForceRange(RowUInt));
}
}
