static void Activate()
{
if (!active)
{
active = true;
List <Rigidbody> filter = new List <Rigidbody>();
Rigidbody[] arrayOfAllRB = Object.FindObjectsOfType <Rigidbody>();
foreach (Rigidbody rb in arrayOfAllRB)
{
//first make sure it' a sim object
if (rb.GetComponentInParent <SimObjPhysics>())
{
//ok now make sure that the sim object is moveable or pickupable
SimObjPhysics sop = rb.GetComponentInParent <SimObjPhysics>();
if (sop.PrimaryProperty == SimObjPrimaryProperty.Moveable || sop.PrimaryProperty == SimObjPrimaryProperty.CanPickup)
{
if (!rb.GetComponent <DecalCollision>())
{
//don't add object if it's in an object specific receptacle-so things like towels and toilet paper that are mounted by default
if (sop.transform.parent.name != "AttachPoint")
{
filter.Add(rb);
}
}
}
IgnoreCollision[] ignoreCollisionObjects = sop.GetComponentsInChildren <IgnoreCollision>();
foreach (IgnoreCollision ic in ignoreCollisionObjects)
{
ic.SetupIgnoreCollision();
}
}
}
// Normally avoid Find functions, but this is editor time and only happens once
workList = filter.ToArray();//Object.FindObjectsOfType<Rigidbody>();
// we will need to ensure autoSimulation is off to manually tick physics
cachedAutoSimulation = Physics.autoSimulation;
activeTime = 0f;
// make sure that all rigidbodies are awake so they will actively settle against changed geometry.
foreach (Rigidbody body in workList)
{
body.isKinematic = false;
body.WakeUp();
}
}
}
public void DisableObjectCollisionWithAgent(string objectId)
{
var physicsSceneManager = FindObjectOfType <PhysicsSceneManager>();
if (!physicsSceneManager.ObjectIdToSimObjPhysics.ContainsKey(objectId))
{
return;
}
SimObjPhysics target = physicsSceneManager.ObjectIdToSimObjPhysics[objectId];
disableCollistionWithPickupObject = true;
foreach (Collider c0 in this.GetComponentsInChildren <Collider>())
{
foreach (Collider c1 in target.GetComponentsInChildren <Collider>())
{
Physics.IgnoreCollision(c0, c1);
}
}
}