/*--------------------------------------------------Creating terrain--------------------------------------------------*/
//public void Create_Terrain(Guid guid, string heightmap, Vector3 position, string materialName, double restitution, double friction, double height)
public AgX_Scene(Guid guid, List <Vector3> vertices, List <int> triangles, Vector3 position, string materialName)
{
this.guid = guid;
//AgX:
agx.Vec3Vector agx_vertices = new agx.Vec3Vector();
agx.UInt32Vector agx_indices = new agx.UInt32Vector();
for (int i = 0; i < vertices.Count; i++)
{
agx_vertices.Add(Operations.ToAgxVec3(vertices[i]));
}
for (int i = 0; i < triangles.Count; i++)
{
agx_indices.Add((uint)triangles[i]);
}
terrain = new agx.RigidBody();
//uint optionsMask = (uint)agxCollide.Trimesh.TrimeshOptionsFlags.TERRAIN;
var terrain_trimesh = new agxCollide.Trimesh(agx_vertices, agx_indices, "handmade terrain");//, optionsMask, height);
var geometry = new agxCollide.Geometry();
geometry.add(terrain_trimesh);
geometry.setMaterial(new agx.Material(materialName));
terrain.add(geometry);
terrain.setMotionControl(agx.RigidBody.MotionControl.STATIC);
//position.y -= height;
terrain.setLocalPosition(Operations.ToAgxVec3(position));//move right and -height for global 0
///Adds terrain to simulation
//simulation.add(terrain);
Agx_Simulation.sim_Instance.add(terrain);
}
public AgX_Frame(Guid guid, string shape, Vector3[] vertices, Vector2[] uvs, int[] triangles, double size, Vector3 pos, Quaternion rot, double mass, bool isStatic, string materialName)
{
this.guid = guid;
this.shape = shape;
this.size = size;
this.materialName = materialName;
var tri = new agxCollide.Trimesh(Operations.ToAgxVec3Vector(vertices), Operations.ToAgxIntVector(triangles), "stdFrame");
///Creates a geometry
var dynamicRBGeometry = new agxCollide.Geometry();
dynamicRBGeometry.add(tri);
dynamicRBGeometry.setMaterial(new agx.Material(materialName));
agx_Object = new agx.RigidBody();
///Adds selected geometry to the rigidbody
agx_Object.add(dynamicRBGeometry);
agx_Object.setLocalPosition(Operations.ToAgxVec3(pos)); ///AgX
agx_Object.setLocalRotation(new agx.Quat(rot.x, rot.y, rot.z, rot.w)); ///AgX
agx_Object.getMassProperties().setMass(mass);
if (isStatic)
{
agx_Object.setMotionControl(agx.RigidBody.MotionControl.STATIC);
}
AddToAssembly();
}
public AgX_Primitive(Guid guid, string shape, Vector3 pos, Quaternion rot, Vector3 size, double mass, string materialName)
{
this.guid = guid;
this.shape = shape;
this.size = size;
this.materialName = materialName;
var dynamicRBGeometry = new agxCollide.Geometry();
switch (shape)
{
case "Box": dynamicRBGeometry.add(new agxCollide.Box(Operations.ToAgxVec3(this.size))); break;
case "Sphere": dynamicRBGeometry.add(new agxCollide.Sphere((this.size.x + this.size.y + this.size.z) / 3)); break;
}
dynamicRBGeometry.setMaterial(new agx.Material(materialName));
agx_Object = new agx.RigidBody();
agx_Object.add(dynamicRBGeometry);
agx_Object.setLocalPosition(Operations.ToAgxVec3(pos)); ///AgX
agx_Object.setLocalRotation(new agx.Quat(rot.x, rot.y, rot.z, rot.w)); ///AgX
agx_Object.getMassProperties().setMass(mass);
AddToSim();
}
public AgX_Frame(Guid guid, string shape, Vector3[] vertices, Vector2[] uvs, int[] triangles, double size, Vector3 pos, Quaternion rot, double mass, bool isStatic, string materialName)
{
this.guid = guid;
this.shape = shape;
this.size = size;
this.materialName = materialName;
//scale by 2, to fit unity.
/* Vector3[] tmp_verts = vertices;
* for (int i = 0; i < tmp_verts.Length; i++)
* {
* tmp_verts[i].x *= 2;
* tmp_verts[i].y *= 2;
* tmp_verts[i].z *= 2;
* }*/
var tri = new agxCollide.Trimesh(Operations.ToAgxVec3Vector(vertices), Operations.ToAgxIntVector(triangles), "stdFrame");
///Creates a geometry
var dynamicRBGeometry = new agxCollide.Geometry();
dynamicRBGeometry.add(tri);
dynamicRBGeometry.setMaterial(new agx.Material(materialName));
///Creates the selected shape
/*switch (shape)
* {
* case "Box": dynamicRBGeometry.add(new agxCollide.Box(Operations.ToAgxVec3(size))); break;
* case "Sphere": dynamicRBGeometry.add(new agxCollide.Sphere((size.x + size.y + size.z) / 3)); break;
* }*/
agx_Object = new agx.RigidBody();
///Adds selected geometry to the rigidbody
agx_Object.add(dynamicRBGeometry);
agx_Object.setLocalPosition(Operations.ToAgxVec3(pos));///AgX
//var y = new agx.EulerAngles(Operations.ToAgxVec3(rot));
//UnityEngine.Debug.Log("x: " + y.x + ", y: " + y.y + ", z: " + y.z);
agx_Object.setLocalRotation(new agx.Quat(rot.x, rot.y, rot.z, rot.w));///AgX
//agx_Object.setLocalRotation(new agx.EulerAngles(Operations.ToAgxVec3(rot)));///AgX
//UnityEngine.Debug.Log("x: " +agx_Object.getLocalPosition().x + ", y: " + agx_Object.getLocalPosition().y + ", z: " + agx_Object.getLocalPosition().z);
agx_Object.getMassProperties().setMass(mass);
if (isStatic)
{
agx_Object.setMotionControl(agx.RigidBody.MotionControl.STATIC);
}
AddToSim();
}
/// <summary>
/// Peek at a temporary native instance or the current (if initialized).
/// </summary>
/// <param name="callback">Callback with temporary or already initialized native instance. Callback signature ( nativeRb, isTemporary ).</param>
/// <remarks>
/// Always assume the native instance to be temporary. It's never safe to cache an instance to the native object.
/// </remarks>
public void PeekTemporaryNativeOrGetNative(Action <agx.RigidBody, bool> callback)
{
if (callback == null)
{
return;
}
if (m_rb != null)
{
callback(m_rb, false);
}
else
{
Shape[] shapes = GetComponentsInChildren <Shape>();
using (agx.RigidBody rb = new agx.RigidBody()) {
foreach (Shape shape in shapes)
{
agxCollide.Shape nativeShape = shape.CreateTemporaryNative();
if (nativeShape != null)
{
agxCollide.Geometry geometry = new agxCollide.Geometry(nativeShape);
geometry.setEnable(shape.IsEnabled);
if (shape.Material != null)
{
geometry.setMaterial(shape.Material.CreateTemporaryNative());
}
rb.add(geometry, shape.GetNativeRigidBodyOffset(this));
}
}
// For center of mass position/rotation to be correct we have to
// synchronize the native transform given current game object transform.
SyncNativeTransform(rb);
callback(rb, true);
// Hitting "Update" (mass or inertia in the Inspector) several times
// will crash agx if we don't remove the geometries and shapes.
while (rb.getGeometries().Count > 0)
{
agxCollide.Geometry geometry = rb.getGeometries()[0].get();
if (geometry.getShapes().Count > 0)
{
geometry.remove(geometry.getShapes()[0].get());
}
rb.remove(geometry);
}
}
}
}
public AgX_Primitive(Guid guid, string shape, Vector3 pos, Quaternion rot, Vector3 size, double mass, string materialName, bool isStatic, bool AddToRobot)
{
this.guid = guid;
this.shape = shape;
this.size = size;
this.materialName = materialName;
var dynamicRBGeometry = new agxCollide.Geometry();
switch (this.shape)
{
case "Box": dynamicRBGeometry.add(new agxCollide.Box(Operations.ToAgxVec3(this.size))); break;
case "Sphere": dynamicRBGeometry.add(new agxCollide.Sphere((this.size.x + this.size.y + this.size.z) / 3)); break;
default: dynamicRBGeometry.add(new agxCollide.Box(Operations.ToAgxVec3(this.size))); break;
}
dynamicRBGeometry.setMaterial(new agx.Material(this.materialName));
agx_Object = new agx.RigidBody();
agx_Object.add(dynamicRBGeometry);
agx_Object.setLocalPosition(Operations.ToAgxVec3(pos)); ///AgX
agx_Object.setLocalRotation(new agx.Quat(rot.x, rot.y, rot.z, rot.w)); ///AgX
agx_Object.getMassProperties().setMass(mass);
if (isStatic)
{
agx_Object.setMotionControl(agx.RigidBody.MotionControl.STATIC);
}
if (AddToRobot)
{
AddToAssembly();
}
else
{
Agx_Simulation.sim_Instance.add(agx_Object);
}
}
public static agx.RigidBody InstantiateTemplate(RigidBody template, Shape[] shapes)
{
if (template == null)
{
return(null);
}
var native = new agx.RigidBody(template.name);
foreach (var shape in shapes)
{
var geometry = shape.CreateTemporaryNative();
geometry.setEnable(shape.IsEnabled);
if (shape.Material != null)
{
geometry.setMaterial(shape.Material.GetInitialized <ShapeMaterial>().Native);
}
native.add(geometry, shape.GetNativeRigidBodyOffset(template));
}
template.SyncNativeTransform(native);
// MassProperties (synchronization below) wont write any data if UseDefault = true.
native.getMassProperties().setAutoGenerateMask((uint)agx.MassProperties.AutoGenerateFlags.AUTO_GENERATE_ALL);
native.updateMassProperties();
template.MassProperties.SetDefaultCalculated(native);
native.getMassProperties().setAutoGenerateMask(0u);
var prevNative = template.m_rb;
try {
template.m_rb = native;
PropertySynchronizer.Synchronize(template);
PropertySynchronizer.Synchronize(template.MassProperties);
}
finally {
template.m_rb = prevNative;
}
return(native);
}
public AgX_Sensor(Guid guid, string materialName, Vector3 pos, Vector3 scale, double mass)
{
this.guid = guid;
this.scale = scale;
var dynamicRBGeometry = new agxCollide.Geometry();///AgX
dynamicRBGeometry.add(new agxCollide.Box(Operations.ToAgxVec3(scale)));
dynamicRBGeometry.setMaterial(new agx.Material(materialName));
agx_Object = new agx.RigidBody();
agx_Object.add(dynamicRBGeometry);
agx_Object.setLocalPosition(Operations.ToAgxVec3(pos));
agx_Object.getMassProperties().setMass(mass);
Agx_Simulation.sim_Instance.add(agx_Object);
}
