private agxSDK.Simulation GetOrCreateSimulation()
{
if (m_simulation == null)
{
NativeHandler.Instance.MakeMainThread();
m_simulation = new agxSDK.Simulation();
m_space = m_simulation.getSpace();
m_system = m_simulation.getDynamicsSystem();
// Since AGXUnity.Simulation is optional in the hierarchy
// we have to synchronize fixedDeltaTime here if SimulationTool
// never has been seen in the inspector.
if (AutoSteppingMode == AutoSteppingModes.FixedUpdate)
{
TimeStep = Time.fixedDeltaTime;
}
// Solver settings will assign number of threads.
if (m_solverSettings != null)
{
m_solverSettings.SetSimulation(m_simulation);
m_solverSettings.GetInitialized <SolverSettings>();
}
// No solver settings - set the default.
else
{
agx.agxSWIG.setNumThreads(Convert.ToUInt32(SolverSettings.DefaultNumberOfThreads));
}
StepCallbacks.OnInitialize(m_simulation);
}
return(m_simulation);
}
/// <summary>
/// Construct given AGX file info.
/// </summary>
/// <param name="info">AGX file info.</param>
public InputAGXFile(AGXFileInfo info)
{
if (info == null)
{
throw new ArgumentNullException("info", "File info object is null.");
}
else
{
FileInfo = info;
}
if (!FileInfo.Exists)
{
throw new FileNotFoundException("File not found: " + FileInfo.FullName);
}
if (FileInfo.Type == AGXFileInfo.FileType.Unknown || FileInfo.Type == AGXFileInfo.FileType.AGXPrefab)
{
throw new AGXUnity.Exception("Unsupported file format: " + FileInfo.FullName);
}
Successful = false;
// Making sure AGX has been initialized before we create a simulation.
var nativeHandler = NativeHandler.Instance;
Simulation = new agxSDK.Simulation();
}
public static void Start(double dt)
{
agx.agxSWIG.init();
sim_Instance = new agxSDK.Simulation(); //Initialize the simulation
sim_Instance.setUniformGravity(new agx.Vec3(0, -9.80665f, 0)); //set gravity in Y direction
sim_Instance.getDynamicsSystem().getTimeGovernor().setTimeStep(dt); // set timestep
}
private agxSDK.Simulation GetOrCreateSimulation()
{
if (m_simulation == null)
{
NativeHandler.Instance.MakeMainThread();
m_simulation = new agxSDK.Simulation();
m_space = m_simulation.getSpace();
m_system = m_simulation.getDynamicsSystem();
// Solver settings will assign number of threads.
if (m_solverSettings != null)
{
m_solverSettings.SetSimulation(m_simulation);
m_solverSettings.GetInitialized <SolverSettings>();
}
// No solver settings - set the default.
else
{
agx.agxSWIG.setNumThreads(Convert.ToUInt32(SolverSettings.DefaultNumberOfThreads));
}
}
return(m_simulation);
}
private void OnSimulationPostStep(agxSDK.Simulation simulation)
{
if (simulation == null)
{
return;
}
var gcs = simulation.getSpace().getGeometryContacts();
m_contactList.Clear();
m_contactList.Capacity = 4 * gcs.Count;
for (int i = 0; i < gcs.Count; ++i)
{
var gc = gcs[i];
if (!gc.isEnabled())
{
continue;
}
for (uint j = 0; j < gc.points().size(); ++j)
{
var p = gc.points().at(j);
if (!p.enabled)
{
continue;
}
m_contactList.Add(new ContactData()
{
Point = p.point.ToHandedVector3(), Normal = p.normal.ToHandedVector3()
});
}
}
}
public static void RemoveSimObjects()
{
if (sim_Instance != null)
{
sim_Instance.removeAllObjects();
}
sim_Instance = null;
}
protected override void OnDestroy()
{
base.OnDestroy();
if (m_simulation != null)
{
m_simulation.cleanup();
}
m_simulation = null;
}
private agxSDK.Simulation GetOrCreateSimulation()
{
if (m_simulation == null)
{
m_simulation = new agxSDK.Simulation();
}
return(m_simulation);
}
/// <summary>
/// Callback from Simulation when a full update has been executed.
/// This method collects contact data if "render contacts" is enabled.
/// </summary>
/// <param name="simulation">Simulation instance.</param>
public static void OnActiveSimulationPostStep(agxSDK.Simulation simulation)
{
if (!IsActiveForSynchronize)
{
return;
}
Instance.OnSimulationPostStep(simulation);
}
private agxSDK.Simulation GetOrCreateSimulation()
{
if (m_simulation == null)
{
NativeHandler.Instance.MakeMainThread();
m_simulation = new agxSDK.Simulation();
}
return(m_simulation);
}
public void OnDestroy(agxSDK.Simulation simulation)
{
if (m_simulationStepEvents == null)
{
return;
}
simulation.remove(m_simulationStepEvents);
m_simulationStepEvents.Dispose();
m_simulationStepEvents = null;
}
protected override void OnDestroy()
{
base.OnDestroy();
if (m_simulation != null)
{
if (m_solverSettings != null)
{
m_solverSettings.SetSimulation(null);
}
m_simulation.cleanup();
}
m_simulation = null;
}
/// <summary>
/// Assigns default values to a native simulation instance.
/// </summary>
/// <param name="simulation">Native simulation instance.</param>
public static void AssignDefault(agxSDK.Simulation simulation)
{
if (simulation == null)
{
return;
}
var tmp = Create <SolverSettings>();
tmp.SetSimulation(simulation);
Utils.PropertySynchronizer.Synchronize(tmp);
tmp.SetSimulation(null);
ScriptAsset.Destroy(tmp);
}
public SolverSettings RestoreLocalDataFrom(agxSDK.Simulation simulation)
{
var solver = simulation.getSolver();
var config = solver.getNlMcpConfig();
NumberOfThreads = System.Convert.ToInt32(agx.agxSWIG.getNumThreads());
WarmStartDirectContacts = simulation.getDynamicsSystem().getUpdateTask().getSubtask("MatchContactStates").isEnabled();
RestingIterations = System.Convert.ToInt32(solver.getNumRestingIterations());
DryFrictionIterations = System.Convert.ToInt32(solver.getNumDryFrictionIterations());
McpAlgorithm = Convert(config.mcpAlgorithmType);
McpInnerIterations = System.Convert.ToInt32(config.numMcpIterations);
McpInnerTolerance = System.Convert.ToSingle(config.mcpTolerance);
McpOuterIterations = System.Convert.ToInt32(config.numOuterIterations);
McpOuterTolerance = System.Convert.ToSingle(config.outerTolerance);
return(this);
}
private agxSDK.Simulation GetOrCreateSimulation()
{
if (m_simulation == null)
{
NativeHandler.Instance.MakeMainThread();
m_simulation = new agxSDK.Simulation();
m_defaultNumDryFrictionIterations = (int)m_simulation.getSolver().getNumDryFrictionIterations();
m_defaultNumRestingIterations = (int)m_simulation.getSolver().getNumRestingIterations();
m_space = m_simulation.getSpace();
m_system = m_simulation.getDynamicsSystem();
m_system.setEnableContactWarmstarting(m_warmStartingDirectContacts);
}
return(m_simulation);
}
public Vehicle(agxSDK.Simulation simulation, Dictionary <string, agx.Hinge> wheelHinges)
{
m_simulation = simulation;
m_wheelHinges = wheelHinges;
initVehicleParameters();
initializeDrivetrain();
Clutch.setEfficiency(1.0);
Gearbox.setGear(2);
m_brakes = new Brakes();
// Initialize the brakes on the wheel hinges
foreach (var h in m_wheelHinges)
{
h.Value.getLock1D().setEnable(false);
m_brakes.Add(new Brake(h.Value, m_brakeForceRange));
}
}
private void OnSimulationPostStep(agxSDK.Simulation simulation)
{
if (simulation == null)
{
return;
}
// Only collect data for contacts if they are enabled
if (m_renderContacts)
{
var gcs = simulation.getSpace().getGeometryContacts();
m_contactList.Clear();
m_contactList.Capacity = System.Math.Max(m_contactList.Capacity, 4 * gcs.Count);
for (int i = 0; i < gcs.Count; ++i)
{
var gc = gcs[i];
if (gc.isEnabled())
{
var contactPoints = gc.points();
for (uint j = 0; j < contactPoints.size(); ++j)
{
var contactPoint = contactPoints.at(j);
if (contactPoint.enabled)
{
m_contactList.Add(new ContactData()
{
Point = contactPoint.point.ToHandedVector3(),
Normal = contactPoint.normal.ToHandedVector3()
});
}
contactPoint.ReturnToPool();
}
contactPoints.ReturnToPool();
}
gc.ReturnToPool();
}
}
}
/// <summary>
/// Construct given AGX file info.
/// </summary>
/// <param name="info">AGX file info.</param>
public InputAGXFile(AGXFileInfo info)
{
if (info == null)
{
throw new ArgumentNullException("info", "File info object is null.");
}
else
{
FileInfo = info;
}
if (!FileInfo.Exists)
{
throw new FileNotFoundException("File not found: " + FileInfo.FullName);
}
if (FileInfo.Type == AGXFileInfo.FileType.Unknown || FileInfo.Type == AGXFileInfo.FileType.AGXPrefab)
{
throw new AgXUnity.Exception("Unsupported file format: " + FileInfo.FullName);
}
Successful = false;
Simulation = new agxSDK.Simulation();
}
public void Parse(agxSDK.Simulation simulation, AGXFileInfo fileInfo)
{
if (simulation == null)
{
throw new ArgumentNullException("simulation", "agxSDK.Simulation instance is null.");
}
if (m_roots.Count > 0)
{
throw new AgXUnity.Exception("Calling InputAGXFileTree::Parse multiple times is not supported.");
}
// Generating assets first.
m_roots.Add(m_materialRoot);
m_roots.Add(m_contactMaterialRoot);
// RigidBody nodes.
foreach (var nativeRb in simulation.getRigidBodies())
{
if (!IsValid(nativeRb.get()))
{
continue;
}
// TODO: Recursive assembly creation.
var assemblyNode = TryGetOrCreateAssembly(nativeRb.getFrame());
var rbNode = GetOrCreateRigidBody(nativeRb.get(), assemblyNode == null);
if (assemblyNode != null)
{
assemblyNode.AddChild(rbNode);
}
foreach (var nativeGeometry in nativeRb.getGeometries())
{
Parse(nativeGeometry.get(), rbNode);
}
}
// Free Geometry nodes.
foreach (var nativeGeometry in simulation.getGeometries())
{
if (!IsValid(nativeGeometry.get()))
{
continue;
}
// We already have a node for this from reading bodies.
if (nativeGeometry.getRigidBody() != null)
{
if (!m_nodeCache.ContainsKey(nativeGeometry.getUuid()))
{
Debug.LogWarning("Geometry with rigid body ignored but isn't in present in the tree. Name: " + nativeGeometry.getName());
}
continue;
}
// TODO: Recursive assembly creation.
Parse(nativeGeometry.get(), TryGetOrCreateAssembly(nativeGeometry.getFrame()));
}
// Constraint nodes.
foreach (var nativeConstraint in simulation.getConstraints())
{
if (!IsValid(nativeConstraint.get()))
{
continue;
}
var nativeRb1 = nativeConstraint.getBodyAt(0);
var nativeRb2 = nativeConstraint.getBodyAt(1);
if (!IsValid(nativeRb1))
{
continue;
}
if (nativeRb2 != null && !IsValid(nativeRb2))
{
continue;
}
var rb1Node = nativeRb1 != null?GetNode(nativeRb1.getUuid()) : null;
var rb2Node = nativeRb2 != null?GetNode(nativeRb2.getUuid()) : null;
// Could be ignored bodies due to Wire and Cable.
if (rb1Node == null && rb2Node == null)
{
continue;
}
var constraintNode = GetOrCreateConstraint(nativeConstraint.get());
if (rb1Node != null)
{
constraintNode.AddReference(rb1Node);
}
if (rb2Node != null)
{
constraintNode.AddReference(rb2Node);
}
}
var wires = agxWire.Wire.findAll(simulation);
foreach (var wire in wires)
{
// TODO: Handle wires in assemblies?
var wireNode = GetOrCreateWire(wire);
if (wire.getMaterial() != null)
{
var materialNode = GetOrCreateMaterial(wire.getMaterial());
wireNode.AddReference(materialNode);
}
}
var cables = agxCable.Cable.getAll(simulation);
foreach (var cable in cables)
{
var cableNode = GetOrCreateCable(cable);
if (cable.getMaterial() != null)
{
var materialNode = GetOrCreateMaterial(cable.getMaterial());
cableNode.AddReference(materialNode);
}
var groupsCollection = cable.findGroupIdCollection();
foreach (var name in groupsCollection.getNames())
{
cableNode.AddReference(new Node()
{
Type = NodeType.GroupId, Object = name
});
}
foreach (var id in groupsCollection.getIds())
{
cableNode.AddReference(new Node()
{
Type = NodeType.GroupId, Object = id.ToString()
});
}
agxCable.CableIterator it = cable.getSegments().begin();
while (!it.EqualWith(cable.getSegments().end()))
{
var constraint = it.getConstraint();
if (constraint != null && GetConstraint(constraint.getUuid()) != null)
{
Debug.LogWarning("Cable constraint has a constraint node in the simulation tree.");
}
foreach (var attachment in it.getAttachments())
{
if (attachment.getConstraint() != null && GetConstraint(attachment.getConstraint().getUuid()) != null)
{
Debug.LogWarning("Cable attachment has a constraint node in the simulation tree.");
}
}
it.inc();
}
}
var mm = simulation.getMaterialManager();
foreach (var m1 in m_materials.Values)
{
foreach (var m2 in m_materials.Values)
{
var cm = mm.getContactMaterial(m1, m2);
if (cm == null)
{
continue;
}
var cmNode = GetOrCreateContactMaterial(cm);
cmNode.AddReference(GetNode(m1.getUuid()));
cmNode.AddReference(GetNode(m2.getUuid()));
}
}
// Generating wires, cables and constraints last when all bodies has been generated.
m_roots.Add(m_wireRoot);
m_roots.Add(m_cableRoot);
m_roots.Add(m_constraintRoot);
}
public static void Stop()
{
RemoveSimObjects();
sim_Instance = null;
agx.agxSWIG.shutdown();
}
/// <summary>
/// Internal.
/// </summary>
public void SetSimulation(agxSDK.Simulation simulation)
{
SimulationInstance = simulation;
}
public void OnInitialize(agxSDK.Simulation simulation)
{
m_simulationStepEvents = new SimulationStepEvents(this);
simulation.add(m_simulationStepEvents);
}
