/// <summary>
/// Find if <paramref name="template"/> is part of this emitter.
/// </summary>
/// <param name="template">Template rigid body to check.</param>
/// <returns>True if <paramref name="template"/> is part of this emitter, otherwise false.</returns>
public bool ContainsTemplate(RigidBody template)
{
return(m_templates.Find(t => t.RigidBody == template) != null);
}
protected override bool Initialize()
{
RemoveInvalidTemplates();
if (m_templates.Count == 0)
{
Debug.LogWarning("Unable to initialize RigidBodyEmitter: 0 valid templates.", this);
return(false);
}
if (EmitterShape == null)
{
Debug.LogWarning("Unable to initialize RigidBodyEmitter: Emitter Shape is null.", this);
return(false);
}
if (EmitterShape.GetInitialized <Collide.Shape>() == null)
{
Debug.LogWarning($"Unable to initialize RigidBodyEmitter: Emitter Shape {EmitterShape.name} is invalid.", this);
return(false);
}
if (!EmitterShape.IsSensor)
{
Debug.LogWarning($"RigidBodyEmitter Emitter Shape isn't a sensor but will be set to sensor by AGX Dynamics.", this);
}
Native = new agx.RigidBodyEmitter();
Native.setEnable(isActiveAndEnabled);
m_event = new EmitEvent(this);
NativeDistributionTable = new agx.Emitter.DistributionTable();
Native.setDistributionTable(NativeDistributionTable);
m_distributionModels = new List <agx.RigidBodyEmitter.DistributionModel>();
var msProperties = GetComponent <MergeSplitProperties>()?.GetInitialized <MergeSplitProperties>();
foreach (var entry in TemplateEntries)
{
agx.RigidBody templateInstance = null;
if (!m_preInitializedTemplates.TryGetValue(entry.RigidBody, out templateInstance))
{
templateInstance = RigidBody.InstantiateTemplate(entry.RigidBody,
entry.RigidBody.GetComponentsInChildren <Collide.Shape>());
}
if (msProperties != null)
{
msProperties.RegisterNativeAndSynchronize(agxSDK.MergeSplitHandler.getOrCreateProperties(templateInstance));
}
var distributionModel = new agx.RigidBodyEmitter.DistributionModel(templateInstance,
entry.ProbabilityWeight);
NativeDistributionTable.addModel(distributionModel);
m_distributionModels.Add(distributionModel);
m_event.MapResource(entry.RigidBody.name,
entry.FindRenderResource());
// Handling collision group in the template hierarchy.
// These components aren't instantiated during emit.
// This enables collision filtering via the CollisionGroupsManager.
var collisionGroupComponents = entry.RigidBody.GetComponentsInChildren <CollisionGroups>();
foreach (var collisionGroupComponent in collisionGroupComponents)
{
foreach (var collisionGroupEntry in collisionGroupComponent.Groups)
{
Native.addCollisionGroup(collisionGroupEntry.Tag.To32BitFnv1aHash());
}
}
}
m_preInitializedTemplates.Clear();
Native.setGeometry(EmitterShape.NativeGeometry);
GetSimulation().add(Native);
Simulation.Instance.StepCallbacks.PostStepForward += SynchronizeVisuals;
Simulation.Instance.StepCallbacks.SimulationPreCollide += OnSimulationPreCollide;
return(true);
}
/// <summary>
/// Creates native instance and adds it to the simulation if this constraint
/// is properly configured.
/// </summary>
/// <returns>True if successful.</returns>
protected override bool Initialize()
{
if (AttachmentPair.ReferenceObject == null)
{
Debug.LogError("Unable to initialize constraint. Reference object must be valid and contain a rigid body component.", this);
return(false);
}
// Synchronize frames to make sure connected frame is up to date.
AttachmentPair.Synchronize();
// TODO: Disabling rigid body game object (activeSelf == false) and will not be
// able to create native body (since State == Constructed and not Awake).
// Do: GetComponentInParent<RigidBody>( true <- include inactive ) and wait
// for the body to become active?
// E.g., rb.AwaitInitialize += ThisConstraintInitialize.
RigidBody rb1 = AttachmentPair.ReferenceObject.GetInitializedComponentInParent <RigidBody>();
if (rb1 == null)
{
Debug.LogError("Unable to initialize constraint. Reference object must contain a rigid body component.", AttachmentPair.ReferenceObject);
return(false);
}
// Native constraint frames.
agx.Frame f1 = new agx.Frame();
agx.Frame f2 = new agx.Frame();
// Note that the native constraint want 'f1' given in rigid body frame, and that
// 'ReferenceFrame' may be relative to any object in the children of the body.
f1.setLocalTranslate(AttachmentPair.ReferenceFrame.CalculateLocalPosition(rb1.gameObject).ToHandedVec3());
f1.setLocalRotate(AttachmentPair.ReferenceFrame.CalculateLocalRotation(rb1.gameObject).ToHandedQuat());
RigidBody rb2 = AttachmentPair.ConnectedObject != null?AttachmentPair.ConnectedObject.GetInitializedComponentInParent <RigidBody>() : null;
if (rb2 != null)
{
// Note that the native constraint want 'f2' given in rigid body frame, and that
// 'ReferenceFrame' may be relative to any object in the children of the body.
f2.setLocalTranslate(AttachmentPair.ConnectedFrame.CalculateLocalPosition(rb2.gameObject).ToHandedVec3());
f2.setLocalRotate(AttachmentPair.ConnectedFrame.CalculateLocalRotation(rb2.gameObject).ToHandedQuat());
}
else
{
f2.setLocalTranslate(AttachmentPair.ConnectedFrame.Position.ToHandedVec3());
f2.setLocalRotate(AttachmentPair.ConnectedFrame.Rotation.ToHandedQuat());
}
try {
Native = (agx.Constraint)Activator.CreateInstance(NativeType, new object[] { rb1.Native, f1, (rb2 != null ? rb2.Native : null), f2 });
// Assigning native elementary constraints to our elementary constraint instances.
foreach (ElementaryConstraint ec in ElementaryConstraints)
{
if (!ec.OnConstraintInitialize(this))
{
throw new Exception("Unable to initialize elementary constraint: " + ec.NativeName + " (not present in native constraint). ConstraintType: " + Type);
}
}
bool added = GetSimulation().add(Native);
Native.setEnable(IsEnabled);
// Not possible to handle collisions if connected frame parent is null/world.
if (CollisionsState != ECollisionsState.KeepExternalState && AttachmentPair.ConnectedObject != null)
{
string groupName = gameObject.name + "_" + gameObject.GetInstanceID().ToString();
GameObject go1 = null;
GameObject go2 = null;
bool propagateToChildren1 = false;
bool propagateToChildren2 = false;
if (CollisionsState == ECollisionsState.DisableReferenceVsConnected)
{
go1 = AttachmentPair.ReferenceObject;
go2 = AttachmentPair.ConnectedObject;
}
else
{
go1 = rb1.gameObject;
propagateToChildren1 = true;
go2 = rb2 != null ? rb2.gameObject : AttachmentPair.ConnectedObject;
propagateToChildren2 = true;
}
go1.GetOrCreateComponent <CollisionGroups>().GetInitialized <CollisionGroups>().AddGroup(groupName, propagateToChildren1);
go2.GetOrCreateComponent <CollisionGroups>().GetInitialized <CollisionGroups>().AddGroup(groupName, propagateToChildren2);
CollisionGroupsManager.Instance.GetInitialized <CollisionGroupsManager>().SetEnablePair(groupName, groupName, false);
}
Native.setName(name);
bool valid = added && Native.getValid();
Simulation.Instance.StepCallbacks.PreSynchronizeTransforms += OnPreStepForwardUpdate;
return(valid);
}
catch (System.Exception e) {
Debug.LogException(e, gameObject);
return(false);
}
}
