private Node CreateNode(NodeType type, agx.Uuid uuid, bool isRoot)
{
Node node = new Node()
{
Type = type,
Uuid = uuid
};
if (isRoot)
{
if (type == NodeType.Constraint)
{
m_constraintRoot.AddChild(node);
}
else if (type == NodeType.Material)
{
m_materialRoot.AddChild(node);
}
else if (type == NodeType.ContactMaterial)
{
m_contactMaterialRoot.AddChild(node);
}
else if (type == NodeType.Wire)
{
m_wireRoot.AddChild(node);
}
else if (type == NodeType.Cable)
{
m_cableRoot.AddChild(node);
}
else if (type == NodeType.ObserverFrame)
{
m_observerFrameRoot.AddChild(node);
}
else if (m_roots.FindIndex(n => n.Uuid == uuid) >= 0)
{
Debug.LogError("Node already present as root.");
}
else
{
m_roots.Add(node);
}
}
m_nodeCache.Add(uuid, node);
return(node);
}
private T AddOrReplaceAsset <T>(T asset, Node node, AGXUnity.IO.AssetType type)
where T : UnityEngine.Object
{
var existingAsset = AssetDatabase.LoadAssetAtPath <T>(FileInfo.GetAssetPath(asset));
if (existingAsset == null)
{
FileInfo.AddAssetToDataDirectory(asset, type);
existingAsset = asset;
}
else
{
EditorUtility.CopySerialized(asset, existingAsset);
}
return(existingAsset);
}
private GameObject GetOrCreateGameObject(Node node)
{
if (node.GameObject != null)
{
return(node.GameObject);
}
node.GameObject = FileInfo.ObjectDb.GetGameObject(node.Uuid) ?? new GameObject();
node.GameObject.GetOrCreateComponent <AGXUnity.IO.Uuid>().Native = node.Uuid;
// Is it safe to exit if the node has a parent?
// I.e., the node has been read from an existing prefab.
if (FileInfo.PrefabInstance.HasChild(node.GameObject))
{
return(node.GameObject);
}
// Passing parents with null game objects - e.g., shapes
// has geometry as parent but we're not creating objects
// for geometries.
Node localParent = node.Parent;
while (localParent != null && localParent.GameObject == null)
{
localParent = localParent.Parent;
}
if (localParent != null)
{
localParent.GameObject.AddChild(node.GameObject);
}
else
{
FileInfo.PrefabInstance.AddChild(node.GameObject);
}
return(node.GameObject);
}
private void Parse(agxCollide.Geometry geometry, Node parent)
{
var geometryNode = GetOrCreateGeometry(geometry, parent == null);
if (parent != null)
{
parent.AddChild(geometryNode);
}
foreach (var shape in geometry.getShapes())
{
var shapeNode = GetOrCreateShape(shape.get());
geometryNode.AddChild(shapeNode);
}
if (geometry.getMaterial() != null)
{
var materialNode = GetOrCreateMaterial(geometry.getMaterial());
geometryNode.AddReference(materialNode);
}
var groupsCollection = geometry.findGroupIdCollection();
foreach (var name in groupsCollection.getNames())
{
geometryNode.AddReference(new Node()
{
Type = NodeType.GroupId, Object = name
});
}
foreach (var id in groupsCollection.getIds())
{
geometryNode.AddReference(new Node()
{
Type = NodeType.GroupId, Object = id.ToString()
});
}
}
private bool CreateCable(Node node)
{
var nativeCable = m_tree.GetCable(node.Uuid);
if (nativeCable == null)
{
Debug.LogWarning("Unable to find native instance of cable: " + node.GameObject.name +
" (UUID: " + node.Uuid.str() + ")");
return(false);
}
var cable = node.GameObject.GetOrCreateComponent <Cable>();
var route = cable.Route;
route.Clear();
cable.RestoreLocalDataFrom(nativeCable);
cable.RouteAlgorithm = Cable.RouteType.Identity;
var properties = CableProperties.Create <CableProperties>().RestoreLocalDataFrom(nativeCable.getCableProperties(),
nativeCable.getCablePlasticity());
properties.name = cable.name + "_properties";
cable.Properties = properties = AddOrReplaceAsset(properties, node, AGXUnity.IO.AssetType.CableProperties);
for (var it = nativeCable.getSegments().begin(); !it.EqualWith(nativeCable.getSegments().end()); it.inc())
{
var segment = it.get();
route.Add(segment, attachment =>
{
if (attachment == null || attachment.getRigidBody() == null)
{
return(FileInfo.PrefabInstance);
}
var rbNode = m_tree.GetNode(attachment.getRigidBody().getUuid());
if (rbNode == null)
{
Debug.LogWarning("Unable to find rigid body in cable attachment.");
return(FileInfo.PrefabInstance);
}
return(rbNode.GameObject);
});
}
var materials = node.GetReferences(Node.NodeType.Material);
if (materials.Length > 0)
{
cable.Material = materials[0].Asset as ShapeMaterial;
}
cable.GetComponent <CableRenderer>().InitializeRenderer();
cable.GetComponent <CableRenderer>().Material = null;
// Adding collision group from restored instance since the disabled pair
// will be read from Space (cable.setEnableCollisions( foo, false ) will
// work out of the box).
var collisionGroups = cable.gameObject.GetOrCreateComponent <CollisionGroups>();
collisionGroups.AddGroup(nativeCable.getUniqueId().ToString(), false);
var referencedGroups = node.GetReferences(Node.NodeType.GroupId);
foreach (var group in referencedGroups)
{
if (group.Object is string)
{
collisionGroups.AddGroup(group.Object as string, false);
}
}
return(true);
}
private bool CreateWire(Node node)
{
var nativeWire = m_tree.GetWire(node.Uuid);
if (nativeWire == null)
{
Debug.LogWarning("Unable to find native instance of wire: " + node.GameObject.name +
" (UUID: " + node.Uuid.str() + ")");
return(false);
}
Func <agx.RigidBody, GameObject> findRigidBody = (nativeRb) =>
{
if (nativeRb == null)
{
return(FileInfo.PrefabInstance);
}
// Do not reference lumped nodes!
if (agxWire.Wire.isLumpedNode(nativeRb))
{
return(FileInfo.PrefabInstance);
}
Node rbNode = m_tree.GetNode(nativeRb.getUuid());
if (rbNode == null)
{
Debug.LogWarning("Unable to find reference rigid body: " + nativeRb.getName() + " (UUID: " + nativeRb.getUuid().str() + ")");
return(FileInfo.PrefabInstance);
}
if (rbNode.GameObject == null)
{
Debug.LogWarning("Referenced native rigid body hasn't a game object: " + nativeRb.getName() + " (UUID: " + rbNode.Uuid.str() + ")");
return(FileInfo.PrefabInstance);
}
return(rbNode.GameObject);
};
var wire = node.GameObject.GetOrCreateComponent <Wire>();
var route = wire.Route;
route.Clear();
wire.RestoreLocalDataFrom(nativeWire);
var nativeIt = nativeWire.getRenderBeginIterator();
var nativeEndIt = nativeWire.getRenderEndIterator();
var nativeBeginWinch = nativeWire.getWinchController(0u);
var nativeEndWinch = nativeWire.getWinchController(1u);
if (nativeBeginWinch != null)
{
route.Add(nativeBeginWinch,
findRigidBody(nativeBeginWinch.getRigidBody()));
}
// Connecting nodes will show up in render iterators.
else if (nativeIt.get().getNodeType() != agxWire.WireNode.Type.CONNECTING && nativeWire.getFirstNode().getNodeType() == agxWire.WireNode.Type.BODY_FIXED)
{
route.Add(nativeWire.getFirstNode(), findRigidBody(nativeWire.getFirstNode().getRigidBody()));
}
while (!nativeIt.EqualWith(nativeEndIt))
{
var nativeNode = nativeIt.get();
// Handing ContactNode and ShapeContactNode parenting.
GameObject nodeParent = null;
if (nativeNode.getType() == agxWire.WireNode.Type.CONTACT)
{
var nativeGeometry = nativeNode.getAsContact().getGeometry();
var geometryNode = m_tree.GetNode(nativeGeometry.getUuid());
if (geometryNode != null && geometryNode.GetChildren(Node.NodeType.Shape).Length > 0)
{
nodeParent = geometryNode.GetChildren(Node.NodeType.Shape)[0].GameObject;
}
}
else if (nativeNode.getType() == agxWire.WireNode.Type.SHAPE_CONTACT)
{
var nativeShape = nativeNode.getAsShapeContact().getShape();
var shapeNode = m_tree.GetNode(nativeShape.getUuid());
if (shapeNode != null)
{
nodeParent = shapeNode.GameObject;
}
}
if (nodeParent == null)
{
nodeParent = findRigidBody(nativeNode.getRigidBody());
}
route.Add(nativeNode, nodeParent);
nativeIt.inc();
}
// Remove last node if we should have a winch or a body fixed node there.
if (route.Last().Type == Wire.NodeType.FreeNode && nativeWire.getLastNode().getNodeType() == agxWire.WireNode.Type.BODY_FIXED)
{
route.Remove(route.Last());
}
if (nativeEndWinch != null)
{
route.Add(nativeEndWinch,
findRigidBody(nativeEndWinch.getRigidBody()));
}
else if (nativeIt.prev().get().getNodeType() != agxWire.WireNode.Type.CONNECTING && nativeWire.getLastNode().getNodeType() == agxWire.WireNode.Type.BODY_FIXED)
{
route.Add(nativeWire.getLastNode(), findRigidBody(nativeWire.getLastNode().getRigidBody()));
}
var materials = node.GetReferences(Node.NodeType.Material);
if (materials.Length > 0)
{
wire.Material = materials[0].Asset as ShapeMaterial;
}
wire.GetComponent <WireRenderer>().InitializeRenderer();
// Reset to assign default material.
wire.GetComponent <WireRenderer>().Material = null;
// Adding collision group from restored instance since the disabled pair
// will be read from Space (wire.setEnableCollisions( foo, false ) will
// work out of the box).
var collisionGroups = wire.gameObject.GetOrCreateComponent <CollisionGroups>();
collisionGroups.AddGroup(nativeWire.getGeometryController().getDisabledCollisionsGroupId().ToString(), false);
foreach (var id in nativeWire.getGeometryController().getGroupIds())
{
collisionGroups.AddGroup(id.ToString(), false);
}
return(true);
}
private bool CreateConstraint(Node node)
{
var nativeConstraint = m_tree.GetConstraint(node.Uuid);
if (nativeConstraint == null)
{
Debug.LogWarning("Unable to find native constraint instance with name: " +
node.GameObject.name +
" (UUID: " + node.Uuid.str() + ")");
return(false);
}
var bodyNodes = node.GetReferences(Node.NodeType.RigidBody);
if (bodyNodes.Length < 1 || bodyNodes.Length > 2)
{
Debug.LogWarning("Unsupported number of body references to constraint with name: " +
node.GameObject.name +
" (#bodies: " + bodyNodes.Length + ")");
return(false);
}
var constraintType = Constraint.FindType(nativeConstraint);
if (constraintType == ConstraintType.Unknown)
{
Debug.LogWarning("Unknown/unsupported constraint type of constraint with name: " +
node.GameObject.name +
" (UUID: " + node.Uuid.str() + ")");
return(false);
}
Constraint constraint = node.GameObject.GetOrCreateComponent <Constraint>();
// Is the constraint enabled/active?
// Somewhat strange though: Why is not only the Constraint component disabled?
// For RigidBody component, only that component is disabled, but the below code disables the whole constraint GameObject.
// Works for now
constraint.gameObject.SetActive(nativeConstraint.isEnabled());
constraint.SetType(constraintType, true);
try {
constraint.TryAddElementaryConstraints(nativeConstraint);
constraint.VerifyImplementation();
}
catch (System.Exception e) {
Debug.LogException(e);
return(false);
}
// Scaling damping to our (sigh) hard coded time step.
float fixedStepTime = AGXUnity.Simulation.DefaultTimeStep;
float readTimeStep = Convert.ToSingle(Simulation.getTimeStep());
float timeStepRatio = fixedStepTime / readTimeStep;
if (!Mathf.Approximately(timeStepRatio, 1.0f))
{
foreach (var ec in constraint.ElementaryConstraints)
{
foreach (var rowData in ec.RowData)
{
if (rowData.Compliance < -float.Epsilon)
{
Debug.LogWarning("Constraint: " + constraint.name +
" (ec name: " + rowData.ElementaryConstraint.NativeName + ")," +
" has too low compliance: " + rowData.Compliance + ". Setting to zero.");
rowData.Compliance = 0.0f;
}
else if (rowData.Compliance > float.MaxValue)
{
Debug.LogWarning("Constraint: " + constraint.name +
" (ec name: " + rowData.ElementaryConstraint.NativeName + ")," +
" has too high compliance: " + rowData.Compliance + ". Setting to a large value.");
rowData.Compliance = 0.5f * float.MaxValue;
}
rowData.Damping *= timeStepRatio;
}
}
}
constraint.AttachmentPair.ReferenceFrame.SetParent(bodyNodes[0].GameObject);
constraint.AttachmentPair.ReferenceFrame.LocalPosition = nativeConstraint.getAttachment(0ul).getFrame().getLocalTranslate().ToHandedVector3();
constraint.AttachmentPair.ReferenceFrame.LocalRotation = nativeConstraint.getAttachment(0ul).getFrame().getLocalRotate().ToHandedQuaternion();
if (bodyNodes.Length > 1)
{
constraint.AttachmentPair.ConnectedFrame.SetParent(bodyNodes[1].GameObject);
}
else
{
constraint.AttachmentPair.ConnectedFrame.SetParent(FileInfo.PrefabInstance);
}
constraint.AttachmentPair.ConnectedFrame.LocalPosition = nativeConstraint.getAttachment(1ul).getFrame().getLocalTranslate().ToHandedVector3();
constraint.AttachmentPair.ConnectedFrame.LocalRotation = nativeConstraint.getAttachment(1ul).getFrame().getLocalRotate().ToHandedQuaternion();
constraint.AttachmentPair.Synchronized = constraintType != ConstraintType.DistanceJoint;
return(true);
}
private bool CreateRenderData(Node node)
{
var nativeShape = m_tree.GetShape(node.Uuid);
var renderData = nativeShape.getRenderData();
if (renderData == null || !renderData.getShouldRender())
{
return(false);
}
var nativeGeometry = m_tree.GetGeometry(node.Parent.Uuid);
var shape = node.GameObject.GetComponent <AGXUnity.Collide.Shape>();
var toWorld = nativeGeometry.getTransform();
var toLocal = shape.transform.worldToLocalMatrix;
var meshes = new Mesh[] { };
if (renderData.getVertexArray().Count > UInt16.MaxValue)
{
Debug.LogWarning("Render data contains more than " +
UInt16.MaxValue +
" vertices. Splitting it into smaller meshes.");
var splitter = MeshSplitter.Split(renderData.getVertexArray(),
renderData.getIndexArray(),
v => toLocal.MultiplyPoint3x4(toWorld.preMult(v).ToHandedVector3()));
meshes = splitter.Meshes;
for (int i = 0; i < meshes.Length; ++i)
{
meshes[i].name = shape.name + "_Visual_Mesh_" + i.ToString();
}
}
else
{
var mesh = new Mesh();
mesh.name = shape.name + "_Visual_Mesh";
// Assigning and converting vertices.
// Note: RenderData vertices assumed to be given in geometry coordinates.
mesh.SetVertices((from v
in renderData.getVertexArray()
select toLocal.MultiplyPoint3x4(toWorld.preMult(v).ToHandedVector3())).ToList());
// Assigning and converting colors.
mesh.SetColors((from c
in renderData.getColorArray()
select c.ToColor()).ToList());
// Unsure about this one.
mesh.SetUVs(0,
(from uv
in renderData.getTexCoordArray()
select uv.ToVector2()).ToList());
// Converting counter clockwise -> clockwise.
var triangles = new List <int>();
var indexArray = renderData.getIndexArray();
for (int i = 0; i < indexArray.Count; i += 3)
{
triangles.Add(Convert.ToInt32(indexArray[i + 0]));
triangles.Add(Convert.ToInt32(indexArray[i + 2]));
triangles.Add(Convert.ToInt32(indexArray[i + 1]));
}
mesh.SetTriangles(triangles, 0, false);
mesh.RecalculateBounds();
mesh.RecalculateNormals();
mesh.RecalculateTangents();
meshes = new Mesh[] { mesh };
}
var shader = Shader.Find("Standard") ?? Shader.Find("Diffuse");
if (shader == null)
{
Debug.LogError("Unable to find standard shaders.");
}
var renderMaterial = renderData.getRenderMaterial();
var material = new Material(shader);
material.name = shape.name + "_Visual_Material";
if (renderMaterial.hasDiffuseColor())
{
var color = renderMaterial.getDiffuseColor().ToColor();
color.a = 1.0f - renderMaterial.getTransparency();
material.SetVector("_Color", color);
}
if (renderMaterial.hasEmissiveColor())
{
material.SetVector("_EmissionColor", renderMaterial.getEmissiveColor().ToColor());
}
material.SetFloat("_Metallic", 0.3f);
material.SetFloat("_Glossiness", 0.8f);
if (renderMaterial.getTransparency() > 0.0f)
{
material.SetBlendMode(BlendMode.Transparent);
}
material = AddOrReplaceAsset(material, node, AGXUnity.IO.AssetType.Material);
foreach (var mesh in meshes)
{
AddOrReplaceAsset(mesh, node, AGXUnity.IO.AssetType.RenderMesh);
}
var shapeVisual = ShapeVisual.Find(shape);
if (shapeVisual != null)
{
// Verify so that the meshes matches the current configuration?
}
else
{
ShapeVisual.CreateRenderData(shape, meshes, material);
}
return(true);
}
private bool CreateShape(Node node)
{
var nativeGeometry = m_tree.GetGeometry(node.Parent.Uuid);
var nativeShape = m_tree.GetShape(node.Uuid);
var nativeShapeType = (agxCollide.Shape.Type)nativeShape.getType();
if (nativeShapeType == agxCollide.Shape.Type.BOX)
{
node.GameObject.GetOrCreateComponent <AGXUnity.Collide.Box>().HalfExtents = nativeShape.asBox().getHalfExtents().ToVector3();
}
else if (nativeShapeType == agxCollide.Shape.Type.CYLINDER)
{
var cylinder = node.GameObject.GetOrCreateComponent <AGXUnity.Collide.Cylinder>();
cylinder.Radius = Convert.ToSingle(nativeShape.asCylinder().getRadius());
cylinder.Height = Convert.ToSingle(nativeShape.asCylinder().getHeight());
}
else if (nativeShapeType == agxCollide.Shape.Type.CAPSULE)
{
var capsule = node.GameObject.GetOrCreateComponent <AGXUnity.Collide.Capsule>();
capsule.Radius = Convert.ToSingle(nativeShape.asCapsule().getRadius());
capsule.Height = Convert.ToSingle(nativeShape.asCapsule().getHeight());
}
else if (nativeShapeType == agxCollide.Shape.Type.SPHERE)
{
var sphere = node.GameObject.GetOrCreateComponent <AGXUnity.Collide.Sphere>();
sphere.Radius = Convert.ToSingle(nativeShape.asSphere().getRadius());
}
else if (nativeShapeType == agxCollide.Shape.Type.CONVEX ||
nativeShapeType == agxCollide.Shape.Type.TRIMESH ||
nativeShapeType == agxCollide.Shape.Type.HEIGHT_FIELD)
{
var mesh = node.GameObject.GetOrCreateComponent <AGXUnity.Collide.Mesh>();
var collisionData = nativeShape.asMesh().getMeshData();
var nativeToWorld = nativeShape.getTransform();
var meshToLocal = mesh.transform.worldToLocalMatrix;
if (collisionData.getVertices().Count > UInt16.MaxValue)
{
var nativeVertices = collisionData.getVertices();
var nativeIndicies = collisionData.getIndices();
var splitter = MeshSplitter.Split(nativeVertices,
nativeIndicies,
v =>
meshToLocal.MultiplyPoint3x4(nativeToWorld.preMult(v).ToHandedVector3()));
var subMeshes = splitter.Meshes;
for (int i = 0; i < subMeshes.Length; ++i)
{
subMeshes[i].name = "Mesh_" + mesh.name + (i == 0 ? "" : "_Sub_" + i.ToString());
mesh.AddSourceObject(AddOrReplaceAsset(subMeshes[i], node, AGXUnity.IO.AssetType.CollisionMesh));
}
}
else
{
var source = new Mesh();
source.name = "Mesh_" + mesh.name;
source.SetVertices((from v
in collisionData.getVertices()
select meshToLocal.MultiplyPoint3x4(nativeToWorld.preMult(v).ToHandedVector3())).ToList());
// Converting counter clockwise -> clockwise.
var triangles = new List <int>();
var indexArray = collisionData.getIndices();
triangles.Capacity = indexArray.Count;
for (int i = 0; i < indexArray.Count; i += 3)
{
triangles.Add(Convert.ToInt32(indexArray[i + 0]));
triangles.Add(Convert.ToInt32(indexArray[i + 2]));
triangles.Add(Convert.ToInt32(indexArray[i + 1]));
}
source.SetTriangles(triangles, 0, false);
source.RecalculateBounds();
source.RecalculateNormals();
source.RecalculateTangents();
source = AddOrReplaceAsset(source, node, AGXUnity.IO.AssetType.CollisionMesh);
mesh.SetSourceObject(source);
}
}
else
{
Debug.LogWarning("Unsupported shape type: " + nativeShapeType);
return(false);
}
var shape = node.GameObject.GetComponent <AGXUnity.Collide.Shape>();
// Is the geometry enabled?
shape.gameObject.SetActive(nativeGeometry.isEnabled());
if (nativeGeometry.getMaterial() != null)
{
var shapeMaterial = m_tree.GetNode(nativeGeometry.getMaterial().getUuid()).Asset as ShapeMaterial;
if (shapeMaterial == null)
{
Debug.LogWarning("Shape material from geometry: " + nativeGeometry.getName() + " isn't found in UUID database.");
}
shape.Material = shapeMaterial;
}
shape.CollisionsEnabled = nativeGeometry.getEnableCollisions();
// Groups referenced in geometry node.
var groups = node.Parent.GetReferences(Node.NodeType.GroupId);
if (groups.Length > 0)
{
var groupsComponent = shape.gameObject.GetOrCreateComponent <CollisionGroups>();
foreach (var group in groups)
{
if (group.Object is string)
{
groupsComponent.AddGroup(group.Object as string, false);
}
}
}
CreateRenderData(node);
return(true);
}
private void Generate(Node node)
{
if (node == null)
{
return;
}
// TODO: Skip if node.GameObject != null means "use Unity configuration".
switch (node.Type)
{
case Node.NodeType.Assembly:
agx.Frame frame = m_tree.GetAssembly(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName("", node.Type.ToString());
node.GameObject.transform.position = frame.getTranslate().ToHandedVector3();
node.GameObject.transform.rotation = frame.getRotate().ToHandedQuaternion();
node.GameObject.GetOrCreateComponent <Assembly>();
break;
case Node.NodeType.RigidBody:
agx.RigidBody nativeRb = m_tree.GetRigidBody(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeRb.getName(), node.Type.ToString());
node.GameObject.transform.position = nativeRb.getPosition().ToHandedVector3();
node.GameObject.transform.rotation = nativeRb.getRotation().ToHandedQuaternion();
node.GameObject.GetOrCreateComponent <RigidBody>().RestoreLocalDataFrom(nativeRb);
break;
case Node.NodeType.Geometry:
// Ignoring geometries - handling Shape == Geometry.
// The shapes are children to this node.
break;
case Node.NodeType.Shape:
var nativeGeometry = m_tree.GetGeometry(node.Parent.Uuid);
var nativeShape = m_tree.GetShape(node.Uuid);
var nativeShapeType = (agxCollide.Shape.Type)nativeShape.getType();
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeGeometry.getName() +
"_" +
nativeShapeType.ToString().ToLower().FirstCharToUpperCase(),
node.Type.ToString());
node.GameObject.transform.position = nativeShape.getTransform().getTranslate().ToHandedVector3();
node.GameObject.transform.rotation = nativeShape.getTransform().getRotate().ToHandedQuaternion();
if (!CreateShape(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
case Node.NodeType.Material:
var nativeMaterial = m_tree.GetMaterial(node.Uuid);
node.Asset = ScriptAsset.Create <ShapeMaterial>().RestoreLocalDataFrom(nativeMaterial);
node.Asset.name = FindName(nativeMaterial.getName(), node.Type.ToString());
node.Asset = AddOrReplaceAsset(node.Asset as ShapeMaterial, node, AGXUnity.IO.AssetType.ShapeMaterial);
break;
case Node.NodeType.ContactMaterial:
var nativeContactMaterial = m_tree.GetContactMaterial(node.Uuid);
var nativeFrictionModel = nativeContactMaterial.getFrictionModel();
var contactMaterial = ScriptAsset.Create <ContactMaterial>().RestoreLocalDataFrom(nativeContactMaterial);
contactMaterial.name = FindName("ContactMaterial_" +
nativeContactMaterial.getMaterial1().getName() +
"_" +
nativeContactMaterial.getMaterial2().getName(),
node.Type.ToString());
var materials = node.GetReferences(Node.NodeType.Material);
if (materials.Length == 0)
{
Debug.LogWarning("No materials referenced to ContactMaterial node.");
}
else if (materials.Length == 1)
{
contactMaterial.Material1 = contactMaterial.Material2 = materials[0].Asset as ShapeMaterial;
}
else if (materials.Length > 1)
{
contactMaterial.Material1 = materials[0].Asset as ShapeMaterial;
contactMaterial.Material2 = materials[1].Asset as ShapeMaterial;
if (materials.Length > 2)
{
Debug.LogWarning("More than two materials referenced to ContactMaterial (" + node.Asset.name + "). First two are used.");
}
}
if (nativeFrictionModel != null)
{
var frictionModelAsset = ScriptAsset.Create <FrictionModel>().RestoreLocalDataFrom(nativeFrictionModel);
frictionModelAsset.name = "FrictionModel_" + contactMaterial.name;
contactMaterial.FrictionModel = AddOrReplaceAsset(frictionModelAsset, node, AGXUnity.IO.AssetType.FrictionModel);
}
node.Asset = contactMaterial = AddOrReplaceAsset(contactMaterial, node, AGXUnity.IO.AssetType.ContactMaterial);
break;
case Node.NodeType.Constraint:
var nativeConstraint = m_tree.GetConstraint(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeConstraint.getName(),
"AGXUnity." + Constraint.FindType(nativeConstraint));
if (!CreateConstraint(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
case Node.NodeType.Wire:
var nativeWire = m_tree.GetWire(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeWire.getName(), "AGXUnity.Wire");
if (!CreateWire(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
case Node.NodeType.Cable:
var nativeCable = m_tree.GetCable(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeCable.getName(), "AGXUnity.Cable");
if (!CreateCable(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
}
foreach (var child in node.Children)
{
Generate(child);
}
}
private bool CreateRenderData(Node node, AGXUnity.Collide.Shape shape)
{
if (shape == null)
{
return(false);
}
var nativeShape = m_tree.GetShape(node.Uuid);
var nativeRenderData = nativeShape.getRenderData();
var shapeVisual = ShapeVisual.Find(shape);
if (nativeRenderData == null || !nativeRenderData.getShouldRender())
{
if (shapeVisual != null)
{
UnityEngine.Object.DestroyImmediate(shapeVisual.gameObject);
EditorUtility.SetDirty(FileInfo.PrefabInstance);
}
return(false);
}
var currentMeshes = shapeVisual == null ?
new Mesh[] {} :
(from proxy in shapeVisual.GetComponentsInChildren <OnSelectionProxy>()
where proxy.Component == shape &&
proxy.GetComponent <MeshFilter>() != null &&
proxy.GetComponent <MeshFilter>().sharedMesh != null
select proxy.GetComponent <MeshFilter>().sharedMesh).ToArray();
var currentMaterials = shapeVisual == null ?
new Material[] { } :
(from proxy in shapeVisual.GetComponentsInChildren <OnSelectionProxy>()
where proxy.Component == shape &&
proxy.GetComponent <MeshRenderer>() != null &&
proxy.GetComponent <MeshRenderer>().sharedMaterial != null
select proxy.GetComponent <MeshRenderer>().sharedMaterial).ToArray();
var nativeGeometry = m_tree.GetGeometry(node.Parent.Uuid);
var toWorld = nativeGeometry.getTransform();
var toLocal = shape.transform.worldToLocalMatrix;
Mesh[] meshes = MeshSplitter.Split(nativeRenderData.getVertexArray(),
nativeRenderData.getIndexArray(),
nativeRenderData.getTexCoordArray(),
v => toLocal.MultiplyPoint3x4(toWorld.preMult(v).ToHandedVector3())).Meshes;
// Initial import with currentMeshes.Length == 0 and shape mesh source
// matches render data - use shape mesh sources instead.
if (shape is AGXUnity.Collide.Mesh &&
currentMeshes.Length == 0 &&
meshes.Length == (shape as AGXUnity.Collide.Mesh).SourceObjects.Length)
{
var shapeMesh = shape as AGXUnity.Collide.Mesh;
var matching = true;
for (int i = 0; matching && i < meshes.Length; ++i)
{
matching = meshes[i].vertexCount == shapeMesh.SourceObjects[i].vertexCount;
if (!matching)
{
continue;
}
var v1 = meshes[i].vertices;
var v2 = shapeMesh.SourceObjects[i].vertices;
for (int j = 0; matching && j < v1.Length; ++j)
{
matching = AGXUnity.Utils.Math.Approximately(v1[j], v2[j], 1.0E-5f);
}
}
if (matching)
{
currentMeshes = new Mesh[meshes.Length];
for (int i = 0; i < meshes.Length; ++i)
{
shapeMesh.SourceObjects[i].SetUVs(0, meshes[i].uv.ToList());
currentMeshes[i] = meshes[i] = shapeMesh.SourceObjects[i];
}
}
}
// No structural changes from previous read visuals.
if (shapeVisual != null &&
currentMeshes.Length == meshes.Length &&
currentMaterials.Length == meshes.Length)
{
for (int i = 0; i < meshes.Length; ++i)
{
// Meshes and materials are already referenced so we don't have to
// assign them again to the ShapeVisuals.
FileInfo.ObjectDb.GetOrCreateAsset(currentMeshes[i],
$"{shape.name}_Visual_Mesh_{i}",
m =>
{
m.Clear();
EditorUtility.CopySerialized(meshes[i], m);
});
RestoreRenderMaterial(currentMaterials[i],
$"{shape.name}_Visual_Material",
nativeRenderData.getRenderMaterial());
EditorUtility.SetDirty(shapeVisual);
}
}
else
{
if (shapeVisual != null)
{
UnityEngine.Object.DestroyImmediate(shapeVisual.gameObject, true);
EditorUtility.SetDirty(FileInfo.PrefabInstance);
shapeVisual = null;
}
var material = RestoreRenderMaterial(currentMaterials.Length > 0 ? currentMaterials[0] : null,
$"{shape.name}_Visual_Material",
nativeRenderData.getRenderMaterial());
for (int i = 0; i < meshes.Length; ++i)
{
meshes[i] = FileInfo.ObjectDb.GetOrCreateAsset(i < currentMeshes.Length ? currentMeshes[i] : null,
$"{shape.name}_Visual_Mesh_{i}",
m =>
{
m.Clear();
EditorUtility.CopySerialized(meshes[i], m);
});
}
ShapeVisual.CreateRenderData(shape, meshes, material);
}
return(true);
}
private bool CreateShape(Node node)
{
var nativeGeometry = m_tree.GetGeometry(node.Parent.Uuid);
var nativeShape = m_tree.GetShape(node.Uuid);
var nativeShapeType = (agxCollide.Shape.Type)nativeShape.getType();
if (nativeShapeType == agxCollide.Shape.Type.BOX)
{
node.GameObject.GetOrCreateComponent <AGXUnity.Collide.Box>().HalfExtents = nativeShape.asBox().getHalfExtents().ToVector3();
}
else if (nativeShapeType == agxCollide.Shape.Type.CYLINDER)
{
var cylinder = node.GameObject.GetOrCreateComponent <AGXUnity.Collide.Cylinder>();
cylinder.Radius = Convert.ToSingle(nativeShape.asCylinder().getRadius());
cylinder.Height = Convert.ToSingle(nativeShape.asCylinder().getHeight());
}
else if (nativeShapeType == agxCollide.Shape.Type.HOLLOW_CYLINDER)
{
var hollowCylinder = node.GameObject.GetOrCreateComponent <AGXUnity.Collide.HollowCylinder>();
hollowCylinder.Thickness = Convert.ToSingle(nativeShape.asHollowCylinder().getThickness());
hollowCylinder.Radius = Convert.ToSingle(nativeShape.asHollowCylinder().getOuterRadius());
hollowCylinder.Height = Convert.ToSingle(nativeShape.asHollowCylinder().getHeight());
}
else if (nativeShapeType == agxCollide.Shape.Type.CONE)
{
var cone = node.GameObject.GetOrCreateComponent <AGXUnity.Collide.Cone>();
cone.BottomRadius = Convert.ToSingle(nativeShape.asCone().getBottomRadius());
cone.TopRadius = Convert.ToSingle(nativeShape.asCone().getTopRadius());
cone.Height = Convert.ToSingle(nativeShape.asCone().getHeight());
}
else if (nativeShapeType == agxCollide.Shape.Type.HOLLOW_CONE)
{
var hollowCone = node.GameObject.GetOrCreateComponent <AGXUnity.Collide.HollowCone>();
hollowCone.Thickness = Convert.ToSingle(nativeShape.asHollowCone().getThickness());
hollowCone.BottomRadius = Convert.ToSingle(nativeShape.asHollowCone().getBottomOuterRadius());
hollowCone.TopRadius = Convert.ToSingle(nativeShape.asHollowCone().getTopOuterRadius());
hollowCone.Height = Convert.ToSingle(nativeShape.asHollowCone().getHeight());
}
else if (nativeShapeType == agxCollide.Shape.Type.CAPSULE)
{
var capsule = node.GameObject.GetOrCreateComponent <AGXUnity.Collide.Capsule>();
capsule.Radius = Convert.ToSingle(nativeShape.asCapsule().getRadius());
capsule.Height = Convert.ToSingle(nativeShape.asCapsule().getHeight());
}
else if (nativeShapeType == agxCollide.Shape.Type.SPHERE)
{
var sphere = node.GameObject.GetOrCreateComponent <AGXUnity.Collide.Sphere>();
sphere.Radius = Convert.ToSingle(nativeShape.asSphere().getRadius());
}
else if (nativeShapeType == agxCollide.Shape.Type.CONVEX ||
nativeShapeType == agxCollide.Shape.Type.TRIMESH ||
nativeShapeType == agxCollide.Shape.Type.HEIGHT_FIELD)
{
var mesh = node.GameObject.GetOrCreateComponent <AGXUnity.Collide.Mesh>();
var collisionData = nativeShape.asMesh().getMeshData();
var nativeToWorld = nativeShape.getTransform();
var meshToLocal = mesh.transform.worldToLocalMatrix;
var sourceObjects = mesh.SourceObjects;
var meshes = MeshSplitter.Split(collisionData.getVertices(),
collisionData.getIndices(),
v => meshToLocal.MultiplyPoint3x4(nativeToWorld.preMult(v).ToHandedVector3()),
UInt16.MaxValue).Meshes;
// Clearing previous sources.
mesh.SetSourceObject(null);
for (int i = 0; i < meshes.Length; ++i)
{
var source = FileInfo.ObjectDb.GetOrCreateAsset(i < sourceObjects.Length ? sourceObjects[i] : null,
$"Mesh_{mesh.name}{(meshes.Length > 1 ? $"_{i}" : "")}",
m =>
{
m.Clear();
EditorUtility.CopySerialized(meshes[i], m);
});
mesh.AddSourceObject(source);
}
}
else
{
Debug.LogWarning("Unsupported shape type: " + nativeShapeType);
return(false);
}
var shape = node.GameObject.GetComponent <AGXUnity.Collide.Shape>();
shape.gameObject.SetActive(nativeGeometry.isEnabled());
shape.IsSensor = nativeGeometry.isSensor();
shape.Material = RestoreShapeMaterial(shape.Material, nativeGeometry.getMaterial());
shape.CollisionsEnabled = nativeGeometry.getEnableCollisions();
// Groups referenced in geometry node.
var groups = node.Parent.GetReferences(Node.NodeType.GroupId);
if (groups.Length > 0)
{
var groupsComponent = shape.gameObject.GetOrCreateComponent <CollisionGroups>();
foreach (var group in groups)
{
if (group.Object is string)
{
groupsComponent.AddGroup(group.Object as string, false);
}
}
}
CreateRenderData(node, shape);
return(true);
}
private void Generate(Node node)
{
if (node == null)
{
return;
}
switch (node.Type)
{
case Node.NodeType.Assembly:
agx.Frame frame = m_tree.GetAssembly(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName("", node.Type.ToString());
node.GameObject.transform.position = frame.getTranslate().ToHandedVector3();
node.GameObject.transform.rotation = frame.getRotate().ToHandedQuaternion();
node.GameObject.GetOrCreateComponent <Assembly>();
break;
case Node.NodeType.RigidBody:
agx.RigidBody nativeRb = m_tree.GetRigidBody(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeRb.getName(), node.Type.ToString());
node.GameObject.transform.position = nativeRb.getPosition().ToHandedVector3();
node.GameObject.transform.rotation = nativeRb.getRotation().ToHandedQuaternion();
node.GameObject.GetOrCreateComponent <RigidBody>().RestoreLocalDataFrom(nativeRb);
break;
case Node.NodeType.Geometry:
// Ignoring geometries - handling Shape == Geometry.
// The shapes are children to this node.
break;
case Node.NodeType.Shape:
var nativeGeometry = m_tree.GetGeometry(node.Parent.Uuid);
var nativeShape = m_tree.GetShape(node.Uuid);
var nativeShapeType = (agxCollide.Shape.Type)nativeShape.getType();
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeGeometry.getName() +
"_" +
nativeShapeType.ToString().ToLower().FirstCharToUpperCase(),
node.Type.ToString());
node.GameObject.transform.position = nativeShape.getTransform().getTranslate().ToHandedVector3();
node.GameObject.transform.rotation = nativeShape.getTransform().getRotate().ToHandedQuaternion();
if (!CreateShape(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
case Node.NodeType.Material:
// Ignoring materials - the referenced materials should have been restored
// by now using RestoreShapeMaterial.
break;
case Node.NodeType.ContactMaterial:
var materialNodes = node.GetReferences(Node.NodeType.Material);
Func <string> contactMaterialMaterialNames = () =>
{
return(m_tree.GetMaterial(materialNodes[0].Uuid).getName() + " <-> " +
m_tree.GetMaterial(materialNodes[1].Uuid).getName());
};
if (materialNodes.Length == 0)
{
Debug.LogWarning("No materials referenced to ContactMaterial node - ignoring contact material.");
break;
}
else if (materialNodes.Length > 2)
{
Debug.LogWarning("More than two materials referenced to contact material - first two will be used: " +
contactMaterialMaterialNames());
}
var materials = new ShapeMaterial[2]
{
materialNodes[0].Asset as ShapeMaterial,
materialNodes.Length > 1 ?
materialNodes[1].Asset as ShapeMaterial :
materialNodes[0].Asset as ShapeMaterial
};
var nativeContactMaterial = m_tree.GetContactMaterial(node.Uuid);
var nativeFrictionModel = nativeContactMaterial.getFrictionModel();
if (materials[0] == null || materials[1] == null)
{
Debug.LogWarning($"Unreferenced ShapeMaterial(s) in ContactMaterial: {contactMaterialMaterialNames()} - ignoring contact material.");
break;
}
Predicate <ContactMaterial> materialsMatcher = cm => (cm.Material1 == materials[0] && cm.Material2 == materials[1]) ||
(cm.Material2 == materials[0] && cm.Material1 == materials[1]);
var contactMaterial = FileInfo.ObjectDb.GetOrCreateAsset(materialsMatcher,
FindName($"ContactMaterial_{materials[ 0 ].name}_{materials[ 1 ].name}",
node.Type.ToString()),
cm =>
{
cm.Material1 = materials[0];
cm.Material2 = materials[1];
cm.RestoreLocalDataFrom(nativeContactMaterial);
});
if (nativeFrictionModel != null)
{
contactMaterial.FrictionModel = FileInfo.ObjectDb.GetOrCreateAsset(contactMaterial.FrictionModel,
$"FrictionModel_{contactMaterial.name}",
fm => fm.RestoreLocalDataFrom(nativeFrictionModel));
}
node.Asset = contactMaterial;
break;
case Node.NodeType.Constraint:
var nativeConstraint = m_tree.GetConstraint(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeConstraint.getName(),
"AGXUnity." + Constraint.FindType(nativeConstraint));
if (!CreateConstraint(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
case Node.NodeType.Wire:
var nativeWire = m_tree.GetWire(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeWire.getName(), "AGXUnity.Wire");
if (!CreateWire(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
case Node.NodeType.Cable:
var nativeCable = m_tree.GetCable(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeCable.getName(), "AGXUnity.Cable");
if (!CreateCable(node))
{
GameObject.DestroyImmediate(node.GameObject);
}
break;
case Node.NodeType.ObserverFrame:
var nativeObserverFrame = m_tree.GetObserverFrame(node.Uuid);
node.GameObject = GetOrCreateGameObject(node);
node.GameObject.name = FindName(nativeObserverFrame.getName(), "AGXUnity.ObserverFrame");
var rbNode = node.GetReferences(Node.NodeType.RigidBody).FirstOrDefault();
node.GameObject.GetOrCreateComponent <ObserverFrame>().RestoreLocalDataFrom(nativeObserverFrame,
rbNode != null ? rbNode.GameObject : null);
break;
}
foreach (var child in node.Children)
{
Generate(child);
}
}
