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 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 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 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);
}
}