/// <summary>
/// Construct a route node given parent game object, local position to parent and
/// local rotation to parent.
/// </summary>
/// <param name="parent">Parent game object - world if null.</param>
/// <param name="localPosition">Position in parent frame. If parent is null this is the position in world frame.</param>
/// <param name="localRotation">Rotation in parent frame. If parent is null this is the rotation in world frame.</param>
/// <returns>Route node instance.</returns>
public static CableRouteNode Create(Cable.NodeType nodeType,
GameObject parent = null,
Vector3 localPosition = default(Vector3),
Quaternion localRotation = default(Quaternion))
{
var node = Create <CableRouteNode>(parent, localPosition, localRotation);
node.Type = nodeType;
return(node);
}
/// <summary>
/// Add node to this route given type, parent, local position and local rotation.
/// </summary>
/// <param name="nodeType">Node type.</param>
/// <param name="parent">Node parent object.</param>
/// <param name="localPosition">Local position relative parent.</param>
/// <param name="localRotation">Local rotation relative parent.</param>
/// <returns></returns>
public CableRouteNode Add(Cable.NodeType nodeType,
GameObject parent = null,
Vector3 localPosition = default(Vector3),
Quaternion localRotation = default(Quaternion))
{
var node = CableRouteNode.Create(nodeType, parent, localPosition, localRotation);
if (!Add(node))
{
return(null);
}
return(node);
}
/// <summary>
/// Add route node given native cable segment instance.
/// </summary>
/// <param name="nativeSegment">Native cable segment.</param>
/// <param name="attachmentParentCallback">
/// Callback that maps native rigid body to game object, i.e., an rigid body game object
/// created given the attachment. When attachment == null the parent object should be returned - null if world.
/// </param>
/// <returns>Cable route node with attachments (if any). Null if not added.</returns>
public CableRouteNode Add(agxCable.CableSegment nativeSegment, Func <agxCable.SegmentAttachment, GameObject> attachmentParentCallback)
{
if (nativeSegment == null)
{
return(null);
}
// TODO: Use attachments instead of node type when we're reading from native?
Cable.NodeType nodeType = nativeSegment.asBodyFixedNode() != null ?
Cable.NodeType.BodyFixedNode :
Cable.NodeType.FreeNode;
CableRouteNode node = null;
if (nodeType == Cable.NodeType.BodyFixedNode)
{
if (nativeSegment.getAttachments().Count == 0)
{
throw new AGXUnity.Exception("Native cable body fixed node without attachments is undefined.");
}
var attachment = nativeSegment.getAttachments()[0].get();
node = CableRouteNode.Create(Cable.NodeType.BodyFixedNode,
attachmentParentCallback(attachment),
attachment.getFrame().getLocalTranslate().ToHandedVector3(),
attachment.getFrame().getLocalRotate().ToHandedQuaternion());
}
else
{
node = CableRouteNode.Create(Cable.NodeType.FreeNode,
attachmentParentCallback(null),
nativeSegment.getBeginPosition().ToHandedVector3(),
Quaternion.LookRotation(nativeSegment.getDirection().ToHandedVector3(), Vector3.up));
}
if (!Add(node))
{
return(null);
}
int attachmentStartIndex = nodeType == Cable.NodeType.BodyFixedNode ? 1 : 0;
for (int i = attachmentStartIndex; i < nativeSegment.getAttachments().Count; ++i)
{
var nativeAttachment = nativeSegment.getAttachments()[i].get();
var attachmentType = nativeAttachment.asPointSegmentAttachment() != null ?
CableAttachment.AttachmentType.Ball :
nativeAttachment.asRigidSegmentAttachment() != null ?
CableAttachment.AttachmentType.Rigid :
CableAttachment.AttachmentType.Unknown;
var attachment = node.Add(attachmentType,
attachmentParentCallback(nativeAttachment),
nativeAttachment.getFrame().getLocalTranslate().ToHandedVector3(),
nativeAttachment.getFrame().getLocalRotate().ToHandedQuaternion());
if (attachment == null)
{
Debug.LogWarning("Cable node attachment rejected by cable node.", attachmentParentCallback(nativeAttachment));
}
}
return(node);
}
