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);
}
private void clearTireModel()
{
if (m_tireModel == null)
{
return;
}
m_tireModel.getSimulation().remove(m_tireModel);
m_tireModel = null;
}
protected override bool Initialize()
{
if (!agx.Runtime.instance().isModuleEnabled("AgX-Tires"))
{
Debug.LogError("TwoBodyTire requires a valid license for the AGX Dynamics module: AgX-Tires", this);
return(false);
}
if (TireRigidBody == null || RimRigidBody == null)
{
Debug.LogError("TwoBodyTire failed to initialize: Tire or Rim rigid body is null.", this);
return(false);
}
var nativeTireRigidBody = TireRigidBody.GetInitialized <RigidBody>()?.Native;
var nativeRimRigidBody = RimRigidBody.GetInitialized <RigidBody>()?.Native;
if (nativeTireRigidBody == null || nativeRimRigidBody == null)
{
Debug.LogError("TwoBodyTire failed to initialize: Tire or Rim rigid body failed to initialize.", this);
return(false);
}
Native = new agxModel.TwoBodyTire(nativeTireRigidBody,
TireRadius,
nativeRimRigidBody,
RimRadius,
FindNativeTransform(TireRigidBody));
GetSimulation().add(Native);
if (TireRimConstraint != null)
{
// Disable the tire rim constraint since agx.TwoBodyTire will
// create an additional constraint between the tire and the rim
// with tire properties applied.
if (TireRimConstraint.GetInitialized <Constraint>().IsEnabled)
{
m_tireRimConstraintInitialState = TireRimConstraint.enabled;
TireRimConstraint.enabled = false;
}
// The "hinge" is replacing the TireRimConstraint, take the
// solve type from disabled rim constraint.
Native.getHinge().setSolveType(Constraint.Convert(TireRimConstraint.SolveType));
}
if (Properties != null)
{
Properties.Register(this);
}
return(true);
}
protected override bool Initialize()
{
if (!agx.Runtime.instance().isModuleEnabled("AgX-Tires"))
{
Debug.LogError("TwoBodyTire requires a valid license for the AGX Dynamics module: AgX-Tires", this);
return(false);
}
if (TireRigidBody == null || RimRigidBody == null)
{
Debug.LogError("TwoBodyTire failed to initialize: Tire or Rim rigid body is null.", this);
return(false);
}
var nativeTireRigidBody = TireRigidBody.GetInitialized <RigidBody>()?.Native;
var nativeRimRigidBody = RimRigidBody.GetInitialized <RigidBody>()?.Native;
if (nativeTireRigidBody == null || nativeRimRigidBody == null)
{
Debug.LogError("TwoBodyTire failed to initialize: Tire or Rim rigid body failed to initialize.", this);
return(false);
}
Native = new agxModel.TwoBodyTire(nativeTireRigidBody,
TireRadius,
nativeRimRigidBody,
RimRadius,
FindNativeTransform(TireRigidBody));
GetSimulation().add(Native);
if (TireRimConstraint != null && TireRimConstraint.GetInitialized <Constraint>().IsEnabled)
{
m_tireRimConstraintInitialState = TireRimConstraint.enabled;
TireRimConstraint.enabled = false;
}
if (Properties != null)
{
Properties.Register(this);
}
return(true);
}
