protected override bool Initialize()
{
if (Wire == null)
{
Debug.LogWarning("Wire not assigned to winch. Winch invalid and ignored.", this);
return(false);
}
WireRouteNode winchNode = Wire.Route.FirstOrDefault(node => node.Winch == this);
if (winchNode == null)
{
Debug.LogWarning("Unable to initialize winch - no winch node assigned.", this);
return(false);
}
RigidBody rb = winchNode.Parent != null?winchNode.Parent.GetInitializedComponentInParent <RigidBody>() : null;
if (rb == null)
{
Native = new agxWire.WireWinchController(null, winchNode.Position.ToHandedVec3(), (winchNode.Rotation * Vector3.forward).ToHandedVec3(), PulledInLength);
}
else
{
Native = new agxWire.WireWinchController(rb.Native, winchNode.CalculateLocalPosition(rb.gameObject).ToHandedVec3(), (winchNode.CalculateLocalRotation(rb.gameObject) * Vector3.forward).ToHandedVec3());
}
return(true);
}
// Start is called before the first frame update
protected override bool Initialize()
{
// Get the winch from the wire (set in the editor)
m_winch = mainWire.GetInitialized <Wire>().EndWinch.Native;
if (m_winch == null)
{
Debug.LogWarning("No EndWinch", this);
return(false);
}
// Get the native (AGX Dynamics Hinge) from the editor
var hinge = baseHinge.GetInitialized <AGXUnity.Constraint>().Native.asHinge();
if (hinge == null)
{
Debug.LogWarning("No hinge available", this);
return(false);
}
m_baseHingeMotor = hinge.getMotor1D();
// Get the native Prismatic constraint set in the editor
var prismatic = liftPrismatic.GetInitialized <AGXUnity.Constraint>().Native.asPrismatic();
if (prismatic == null)
{
Debug.LogWarning("No prismatic available", this);
return(false);
}
m_liftPrismaticMotor = prismatic.getMotor1D();
return(true);
}
public void RestoreLocalDataFrom(agxWire.WireWinchController native)
{
if (native == null)
{
return;
}
Speed = Convert.ToSingle(native.getSpeed());
PulledInLength = Convert.ToSingle(native.getPulledInWireLength());
ForceRange = new RangeReal(native.getForceRange());
BrakeForceRange = new RangeReal(native.getBrakeForceRange());
}
/// <summary>
/// Add route node given native winch instance. Data will be copied from
/// native to the created route node.
/// </summary>
/// <param name="nativeWinch">Native winch.</param>
/// <param name="parent">Parent game object as in nativeWinch.getRigidBody().</param>
/// <returns>Winch route node if added, otherwise null.</returns>
public WireRouteNode Add(agxWire.WireWinchController nativeWinch, GameObject parent)
{
if (nativeWinch == null)
{
return(null);
}
var node = WireRouteNode.Create(Wire.NodeType.WinchNode, parent);
if (!Add(node))
{
return(null);
}
node.LocalPosition = nativeWinch.getStopNode().getPosition().ToHandedVector3();
node.LocalRotation = Quaternion.LookRotation(nativeWinch.getNormal().ToHandedVector3(), Vector3.up);
node.Winch.RestoreLocalDataFrom(nativeWinch);
return(node);
}
