/// <summary>
/// Patches primary and secondary elementary constraints to the current version of AGX.
/// </summary>
/// <param name="native">If given, the native configuration may be used.</param>
/// <returns>True if modification were applied - otherwise false.</returns>
public bool VerifyImplementation()
{
if (Type == ConstraintType.Hinge)
{
var swing = m_elementaryConstraints.FirstOrDefault(ec => ec.NativeName == "SW");
// Already created with swing - hinge is up to date.
if (swing != null)
{
return(false);
}
var ecUn = m_elementaryConstraints.FirstOrDefault(ec => ec.NativeName == "D1_UN");
var ecVn = m_elementaryConstraints.FirstOrDefault(ec => ec.NativeName == "D1_VN");
// Not swing nor dot1's - this is an unknown configuration.
if (ecUn == null || ecVn == null)
{
Debug.LogWarning("Trying to patch hinge but the elementary constraint configuration is undefined.", this);
return(false);
}
using (var nativeHinge = new TemporaryNative(NativeType)) {
swing = ElementaryConstraint.Create(gameObject, nativeHinge.Instance.getElementaryConstraintGivenName("SW"));
}
if (swing == null)
{
Debug.LogWarning("Unable to find elementary constraint \"SW\" in native hinge implementation.", this);
return(false);
}
swing.Enable = ecUn.Enable || ecVn.Enable;
swing.RowData[0].CopyFrom(ecUn.RowData[0]);
swing.RowData[1].CopyFrom(ecVn.RowData[0]);
m_elementaryConstraints.Insert(m_elementaryConstraints.IndexOf(ecUn), swing);
m_elementaryConstraints.Remove(ecUn);
m_elementaryConstraints.Remove(ecVn);
DestroyImmediate(ecUn);
DestroyImmediate(ecVn);
return(true);
}
return(false);
}
/// <summary>
/// Internal method which constructs this constraint given elementary constraints
/// in the native instance. Throws if an elementary constraint fails to initialize.
/// </summary>
/// <param name="native">Native instance.</param>
/// <param name="onObjectCreated">Optional callback when elementary constraint has been created.</param>
public void TryAddElementaryConstraints(agx.Constraint native,
Action <UnityEngine.Object> onObjectCreated = null)
{
if (native == null)
{
throw new ArgumentNullException("native", "Native constraint is null.");
}
m_elementaryConstraints.Clear();
for (uint i = 0; i < native.getNumElementaryConstraints(); ++i)
{
if (native.getElementaryConstraint(i).getName() == "")
{
throw new Exception("Native elementary constraint doesn't have a name.");
}
var ec = ElementaryConstraint.Create(gameObject, native.getElementaryConstraint(i));
if (ec == null)
{
throw new Exception("Failed to configure elementary constraint with name: " + native.getElementaryConstraint(i).getName() + ".");
}
onObjectCreated?.Invoke(ec);
m_elementaryConstraints.Add(ec);
}
for (uint i = 0; i < native.getNumSecondaryConstraints(); ++i)
{
if (native.getSecondaryConstraint(i).getName() == "")
{
throw new Exception("Native secondary constraint doesn't have a name.");
}
var sc = ElementaryConstraint.Create(gameObject, native.getSecondaryConstraint(i));
if (sc == null)
{
throw new Exception("Failed to configure elementary controller constraint with name: " + native.getElementaryConstraint(i).getName() + ".");
}
onObjectCreated?.Invoke(sc);
m_elementaryConstraints.Add(sc);
}
}