protected override void Construct(ElementaryConstraint source)
{
base.Construct(source);
m_speed = (source as TargetSpeedController).m_speed;
m_lockAtZeroSpeed = (source as TargetSpeedController).m_lockAtZeroSpeed;
}
protected override void Construct(ElementaryConstraint source)
{
base.Construct(source);
m_frictionCoefficient = (source as FrictionController).m_frictionCoefficient;
m_nonLinearDirectSolveEnabled = (source as FrictionController).m_nonLinearDirectSolveEnabled;
}
/// <summary>
/// Takes this legacy elementary constraint, creates a new instance (added to gameObject) and
/// copies all values/objects to the new instance.
/// </summary>
/// <param name="gameObject">Game object to add the new version of the elementary constraint to.</param>
/// <returns>New added elementary constraint instance.</returns>
public ElementaryConstraint FromLegacy(GameObject gameObject)
{
ElementaryConstraint target = gameObject.AddComponent(GetType()) as ElementaryConstraint;
target.Construct(this);
return(target);
}
protected override void Construct(ElementaryConstraint source)
{
base.Construct(source);
m_voltage = (source as ElectricMotorController).m_voltage;
m_armatureResistance = (source as ElectricMotorController).m_armatureResistance;
m_torqueConstant = (source as ElectricMotorController).m_torqueConstant;
}
protected virtual void Construct(ElementaryConstraint source)
{
m_nativeName = source.m_nativeName;
m_enable = source.m_enable;
m_rowData = new ElementaryConstraintRowData[source.NumRows];
for (int i = 0; i < source.NumRows; ++i)
{
m_rowData[i] = new ElementaryConstraintRowData(this, source.m_rowData[i]);
}
}
/// <summary>
/// Create instance given temporary native elementary constraint.
/// </summary>
/// <param name="tmpEc">Temporary elementary constraint.</param>
/// <returns>New instance, as similar as possible, to the given native elementary constraint.</returns>
public static ElementaryConstraint Create(GameObject gameObject, agx.ElementaryConstraint tmpEc)
{
if (tmpEc == null)
{
return(null);
}
ElementaryConstraint elementaryConstraint = null;
// It's possible to know the type of controllers. We're basically not
// interested in knowing the type of the ordinary ones.
Type controllerType = null;
if (agx.RangeController.safeCast(tmpEc) != null)
{
controllerType = agx.RangeController.safeCast(tmpEc).GetType();
}
else if (agx.TargetSpeedController.safeCast(tmpEc) != null)
{
controllerType = agx.TargetSpeedController.safeCast(tmpEc).GetType();
}
else if (agx.LockController.safeCast(tmpEc) != null)
{
controllerType = agx.LockController.safeCast(tmpEc).GetType();
}
else if (agx.ScrewController.safeCast(tmpEc) != null)
{
controllerType = agx.ScrewController.safeCast(tmpEc).GetType();
}
else if (agx.ElectricMotorController.safeCast(tmpEc) != null)
{
controllerType = agx.ElectricMotorController.safeCast(tmpEc).GetType();
}
else if (agx.FrictionController.safeCast(tmpEc) != null)
{
controllerType = agx.FrictionController.safeCast(tmpEc).GetType();
}
// This is a controller, instantiate the controller.
if (controllerType != null)
{
elementaryConstraint = gameObject.AddComponent(Type.GetType("AGXUnity." + controllerType.Name)) as ElementaryConstraint;
}
// This is an ordinary elementary constraint.
else
{
elementaryConstraint = gameObject.AddComponent <ElementaryConstraint>();
}
// Copies data from the native instance.
elementaryConstraint.Construct(tmpEc);
return(elementaryConstraint);
}
/// <summary>
/// Construct given elementary constraint, row in the elementary constraint and (optional)
/// a native instance to copy default values from.
/// </summary>
/// <param name="elementaryConstraint">Elementary constraint this row data belongs to.</param>
/// <param name="row">Row index in the elementary constraint.</param>
/// <param name="tmpEc">Temporary native instance to copy default values from.</param>
public ElementaryConstraintRowData(ElementaryConstraint elementaryConstraint, int row, agx.ElementaryConstraint tmpEc = null)
{
m_elementaryConstraint = elementaryConstraint;
m_row = row;
if (tmpEc != null)
{
m_compliance = Convert.ToSingle(tmpEc.getCompliance(RowUInt));
m_damping = Convert.ToSingle(tmpEc.getDamping(RowUInt));
m_forceRange = new RangeReal(tmpEc.getForceRange(RowUInt));
}
}
/// <summary>
/// Construct given elementary constraint, row in the elementary constraint and (optional)
/// a native instance to copy default values from.
/// </summary>
/// <param name="elementaryConstraint">Elementary constraint this row data belongs to.</param>
/// <param name="row">Row index in the elementary constraint.</param>
/// <param name="tmpEc">Temporary native instance to copy default values from.</param>
public ElementaryConstraintRowData(ElementaryConstraint elementaryConstraint, int row, agx.ElementaryConstraint tmpEc = null)
{
m_elementaryConstraint = elementaryConstraint;
m_row = row;
if (tmpEc != null)
{
m_compliance = Convert.ToSingle(tmpEc.getCompliance(RowUInt));
// AGX Dynamics damping is optimized for 60 Hz simulations. Assuming
// a fixed update of 50 Hz in Unity we scale the damping by 60 / 50 = 1.2
// to transform the damping to 50 Hz.
m_damping = 1.2f * Convert.ToSingle(tmpEc.getDamping(RowUInt));
m_forceRange = new RangeReal(tmpEc.getForceRange(RowUInt));
}
}
/// <summary>
/// Patches primary and secondary elementary constraints to the current version of AGX.
/// </summary>
/// <param name="native">If given, the native configuration may be used.</param>
/// <returns>True if modification were applied - otherwise false.</returns>
public bool VerifyImplementation()
{
if (Type == ConstraintType.Hinge)
{
var swing = m_elementaryConstraints.FirstOrDefault(ec => ec.NativeName == "SW");
// Already created with swing - hinge is up to date.
if (swing != null)
{
return(false);
}
var ecUn = m_elementaryConstraints.FirstOrDefault(ec => ec.NativeName == "D1_UN");
var ecVn = m_elementaryConstraints.FirstOrDefault(ec => ec.NativeName == "D1_VN");
// Not swing nor dot1's - this is an unknown configuration.
if (ecUn == null || ecVn == null)
{
Debug.LogWarning("Trying to patch hinge but the elementary constraint configuration is undefined.", this);
return(false);
}
using (var nativeHinge = new TemporaryNative(NativeType)) {
swing = ElementaryConstraint.Create(gameObject, nativeHinge.Instance.getElementaryConstraintGivenName("SW"));
}
if (swing == null)
{
Debug.LogWarning("Unable to find elementary constraint \"SW\" in native hinge implementation.", this);
return(false);
}
swing.Enable = ecUn.Enable || ecVn.Enable;
swing.RowData[0].CopyFrom(ecUn.RowData[0]);
swing.RowData[1].CopyFrom(ecVn.RowData[0]);
m_elementaryConstraints.Insert(m_elementaryConstraints.IndexOf(ecUn), swing);
m_elementaryConstraints.Remove(ecUn);
m_elementaryConstraints.Remove(ecVn);
DestroyImmediate(ecUn);
DestroyImmediate(ecVn);
return(true);
}
return(false);
}
/// <summary>
/// Internal method which constructs this constraint given elementary constraints
/// in the native instance. Throws if an elementary constraint fails to initialize.
/// </summary>
/// <param name="native">Native instance.</param>
/// <param name="onObjectCreated">Optional callback when elementary constraint has been created.</param>
public void TryAddElementaryConstraints(agx.Constraint native,
Action <UnityEngine.Object> onObjectCreated = null)
{
if (native == null)
{
throw new ArgumentNullException("native", "Native constraint is null.");
}
m_elementaryConstraints.Clear();
for (uint i = 0; i < native.getNumElementaryConstraints(); ++i)
{
if (native.getElementaryConstraint(i).getName() == "")
{
throw new Exception("Native elementary constraint doesn't have a name.");
}
var ec = ElementaryConstraint.Create(gameObject, native.getElementaryConstraint(i));
if (ec == null)
{
throw new Exception("Failed to configure elementary constraint with name: " + native.getElementaryConstraint(i).getName() + ".");
}
onObjectCreated?.Invoke(ec);
m_elementaryConstraints.Add(ec);
}
for (uint i = 0; i < native.getNumSecondaryConstraints(); ++i)
{
if (native.getSecondaryConstraint(i).getName() == "")
{
throw new Exception("Native secondary constraint doesn't have a name.");
}
var sc = ElementaryConstraint.Create(gameObject, native.getSecondaryConstraint(i));
if (sc == null)
{
throw new Exception("Failed to configure elementary controller constraint with name: " + native.getElementaryConstraint(i).getName() + ".");
}
onObjectCreated?.Invoke(sc);
m_elementaryConstraints.Add(sc);
}
}
protected override void Construct(ElementaryConstraint source)
{
base.Construct(source);
m_position = (source as LockController).m_position;
}
public void CopyFrom(ElementaryConstraint source)
{
Construct(source);
}
protected override void Construct(ElementaryConstraint source)
{
base.Construct(source);
m_range = new RangeReal((source as RangeController).m_range);
}
/// <summary>
/// Construct given elementary constraint and source instance.
/// </summary>
/// <param name="elementaryConstraint"></param>
/// <param name="source"></param>
public ElementaryConstraintRowData(ElementaryConstraint elementaryConstraint, ElementaryConstraintRowData source)
{
m_elementaryConstraint = elementaryConstraint;
m_row = source.m_row;
CopyFrom(source);
}
protected override void Construct(ElementaryConstraint source)
{
base.Construct(source);
m_lead = (source as ScrewController).m_lead;
}
