public void Parse(agxSDK.Simulation simulation, AGXFileInfo fileInfo)
{
if (simulation == null)
{
throw new ArgumentNullException("simulation", "agxSDK.Simulation instance is null.");
}
if (m_roots.Count > 0)
{
throw new AgXUnity.Exception("Calling InputAGXFileTree::Parse multiple times is not supported.");
}
// Generating assets first.
m_roots.Add(m_materialRoot);
m_roots.Add(m_contactMaterialRoot);
// RigidBody nodes.
foreach (var nativeRb in simulation.getRigidBodies())
{
if (!IsValid(nativeRb.get()))
{
continue;
}
// TODO: Recursive assembly creation.
var assemblyNode = TryGetOrCreateAssembly(nativeRb.getFrame());
var rbNode = GetOrCreateRigidBody(nativeRb.get(), assemblyNode == null);
if (assemblyNode != null)
{
assemblyNode.AddChild(rbNode);
}
foreach (var nativeGeometry in nativeRb.getGeometries())
{
Parse(nativeGeometry.get(), rbNode);
}
}
// Free Geometry nodes.
foreach (var nativeGeometry in simulation.getGeometries())
{
if (!IsValid(nativeGeometry.get()))
{
continue;
}
// We already have a node for this from reading bodies.
if (nativeGeometry.getRigidBody() != null)
{
if (!m_nodeCache.ContainsKey(nativeGeometry.getUuid()))
{
Debug.LogWarning("Geometry with rigid body ignored but isn't in present in the tree. Name: " + nativeGeometry.getName());
}
continue;
}
// TODO: Recursive assembly creation.
Parse(nativeGeometry.get(), TryGetOrCreateAssembly(nativeGeometry.getFrame()));
}
// Constraint nodes.
foreach (var nativeConstraint in simulation.getConstraints())
{
if (!IsValid(nativeConstraint.get()))
{
continue;
}
var nativeRb1 = nativeConstraint.getBodyAt(0);
var nativeRb2 = nativeConstraint.getBodyAt(1);
if (!IsValid(nativeRb1))
{
continue;
}
if (nativeRb2 != null && !IsValid(nativeRb2))
{
continue;
}
var rb1Node = nativeRb1 != null?GetNode(nativeRb1.getUuid()) : null;
var rb2Node = nativeRb2 != null?GetNode(nativeRb2.getUuid()) : null;
// Could be ignored bodies due to Wire and Cable.
if (rb1Node == null && rb2Node == null)
{
continue;
}
var constraintNode = GetOrCreateConstraint(nativeConstraint.get());
if (rb1Node != null)
{
constraintNode.AddReference(rb1Node);
}
if (rb2Node != null)
{
constraintNode.AddReference(rb2Node);
}
}
var wires = agxWire.Wire.findAll(simulation);
foreach (var wire in wires)
{
// TODO: Handle wires in assemblies?
var wireNode = GetOrCreateWire(wire);
if (wire.getMaterial() != null)
{
var materialNode = GetOrCreateMaterial(wire.getMaterial());
wireNode.AddReference(materialNode);
}
}
var cables = agxCable.Cable.getAll(simulation);
foreach (var cable in cables)
{
var cableNode = GetOrCreateCable(cable);
if (cable.getMaterial() != null)
{
var materialNode = GetOrCreateMaterial(cable.getMaterial());
cableNode.AddReference(materialNode);
}
var groupsCollection = cable.findGroupIdCollection();
foreach (var name in groupsCollection.getNames())
{
cableNode.AddReference(new Node()
{
Type = NodeType.GroupId, Object = name
});
}
foreach (var id in groupsCollection.getIds())
{
cableNode.AddReference(new Node()
{
Type = NodeType.GroupId, Object = id.ToString()
});
}
agxCable.CableIterator it = cable.getSegments().begin();
while (!it.EqualWith(cable.getSegments().end()))
{
var constraint = it.getConstraint();
if (constraint != null && GetConstraint(constraint.getUuid()) != null)
{
Debug.LogWarning("Cable constraint has a constraint node in the simulation tree.");
}
foreach (var attachment in it.getAttachments())
{
if (attachment.getConstraint() != null && GetConstraint(attachment.getConstraint().getUuid()) != null)
{
Debug.LogWarning("Cable attachment has a constraint node in the simulation tree.");
}
}
it.inc();
}
}
var mm = simulation.getMaterialManager();
foreach (var m1 in m_materials.Values)
{
foreach (var m2 in m_materials.Values)
{
var cm = mm.getContactMaterial(m1, m2);
if (cm == null)
{
continue;
}
var cmNode = GetOrCreateContactMaterial(cm);
cmNode.AddReference(GetNode(m1.getUuid()));
cmNode.AddReference(GetNode(m2.getUuid()));
}
}
// Generating wires, cables and constraints last when all bodies has been generated.
m_roots.Add(m_wireRoot);
m_roots.Add(m_cableRoot);
m_roots.Add(m_constraintRoot);
}