public override void Start()
{
auxref_to_cog = new ChFrameMoving <double>();
auxref_to_abs = new ChFrameMoving <double>();
switch (materialType)
{
case MaterialType.NSC:
matsurface = gameObject.AddComponent <ChMaterialSurfaceNSC>();
matsurface.GetComponent <ChMaterialSurfaceNSC>().static_friction = friction;
matsurface.GetComponent <ChMaterialSurfaceNSC>().sliding_friction = friction;
matsurface.GetComponent <ChMaterialSurfaceNSC>().rolling_friction = rolling_friction;
matsurface.GetComponent <ChMaterialSurfaceNSC>().spinning_friction = spinning_friction;
matsurface.GetComponent <ChMaterialSurfaceNSC>().restitution = restitution;
matsurface.GetComponent <ChMaterialSurfaceNSC>().cohesion = cohesion;
matsurface.GetComponent <ChMaterialSurfaceNSC>().dampingf = dampingf;
matsurface.GetComponent <ChMaterialSurfaceNSC>().compliance = compliance;
matsurface.GetComponent <ChMaterialSurfaceNSC>().complianceT = complianceT;
matsurface.GetComponent <ChMaterialSurfaceNSC>().complianceRoll = complianceRoll;
matsurface.GetComponent <ChMaterialSurfaceNSC>().complianceSpin = complianceSpin;
break;
case MaterialType.SMC:
matsurface = gameObject.AddComponent <ChMaterialSurfaceSMC>();
matsurface.GetComponent <ChMaterialSurfaceSMC>().static_friction = friction;
matsurface.GetComponent <ChMaterialSurfaceSMC>().sliding_friction = friction;
matsurface.GetComponent <ChMaterialSurfaceSMC>().restitution = restitution;
// matsurface.GetComponent<ChMaterialSurfaceSMC>().rolling_friction = rolling_friction;
// matsurface.GetComponent<ChMaterialSurfaceSMC>().spinning_friction = spinning_friction;
matsurface.GetComponent <ChMaterialSurfaceSMC>().young_modulus = young_modulus;
matsurface.GetComponent <ChMaterialSurfaceSMC>().poisson_ratio = poisson_ratio;
matsurface.GetComponent <ChMaterialSurfaceSMC>().constant_adhesion = constant_adhesion;
matsurface.GetComponent <ChMaterialSurfaceSMC>().adhesionMultDMT = adhesionMultDMT;
matsurface.GetComponent <ChMaterialSurfaceSMC>().kn = kn;
matsurface.GetComponent <ChMaterialSurfaceSMC>().kt = kt;
matsurface.GetComponent <ChMaterialSurfaceSMC>().gn = gn;
matsurface.GetComponent <ChMaterialSurfaceSMC>().gt = gt;
break;
}
// Switch
switch (type)
{
case CollisionType.Cube:
var size = transform.localScale * 1f;
if (automaticMass)
{
mass = density * (size.x * size.y * size.z);
this.SetDensity((float)density);
this.SetMass(mass);
inertiaMoments.x = (float)((1.0 / 12.0) * mass * (Math.Pow(size.y, 2) + Math.Pow(size.z, 2)));
inertiaMoments.y = (float)((1.0 / 12.0) * mass * (Math.Pow(size.x, 2) + Math.Pow(size.z, 2)));
inertiaMoments.z = (float)((1.0 / 12.0) * mass * (Math.Pow(size.x, 2) + Math.Pow(size.y, 2)));
}
if (collide)
{
GetCollisionModel().ClearModel();
GetCollisionModel().AddBox(size.x * 0.473f, size.y * 0.473f, size.z * 0.473f, new ChVector(0, 0, 0), new ChMatrix33 <double>(1)); // radius x, radius z, height on y
GetCollisionModel().BuildModel();
SetCollide(true);
}
this.SetDensity((float)density);
this.SetMass(mass);
SetFrame_COG_to_REF(new ChFrame <double>(Utils.ToChrono(COM), new ChQuaternion(1, 0, 0, 0)));
SetInertiaXX(ToChrono(inertiaMoments));
SetInertiaXY(ToChrono(inertiaProducts));
SetBodyFixed(bodyfixed);
SetFrame_REF_to_abs(new ChFrame <double>(Utils.ToChrono(transform.position), Utils.ToChrono(transform.rotation)));
BodyFrame.SetPos_dt(ToChrono(linearVelocity));
BodyFrame.SetWvel_loc(ToChrono(angularVelocity));
ChSystem.system.AddBody(this);
break;
case CollisionType.Sphere:
var size2 = transform.localScale.y / 1.9;
if (automaticMass)
{
mass = density * ((4.0 / 3.0) * ChMaths.CH_C_PI * Math.Pow(size2, 3));
double inertia = (2.0 / 5.0) * mass * Math.Pow(size2, 2);
this.SetDensity((float)density);
this.SetMass(mass);
inertiaMoments.x = (float)inertia;
inertiaMoments.y = (float)inertia;
inertiaMoments.z = (float)inertia;
}
if (collide)
{
GetCollisionModel().ClearModel();
GetCollisionModel().AddSphere(size2, new ChVector(0, 0, 0)); // radius, radius, height on y
GetCollisionModel().BuildModel();
SetCollide(true);
}
this.SetDensity((float)density);
this.SetMass(mass);
SetFrame_COG_to_REF(new ChFrame <double>(Utils.ToChrono(COM), new ChQuaternion(1, 0, 0, 0)));
SetInertiaXX(ToChrono(inertiaMoments));
SetInertiaXY(ToChrono(inertiaProducts));
SetBodyFixed(bodyfixed);
SetFrame_REF_to_abs(new ChFrame <double>(Utils.ToChrono(transform.position), Utils.ToChrono(transform.rotation)));
BodyFrame.SetPos_dt(ToChrono(linearVelocity));
BodyFrame.SetWvel_loc(ToChrono(angularVelocity));
ChSystem.system.AddBody(this);
break;
case CollisionType.Cylinder:
var height = 2 * transform.localScale.y;
var radiusX = transform.localScale.x / 2.0;
var radiusZ = transform.localScale.z / 2.0;
radius = transform.localScale.x / 2.0;
if (automaticMass)
{
mass = density * (ChMaths.CH_C_PI * Math.Pow(radiusX, 2) * height);
this.SetDensity((float)density);
this.SetMass(mass);
inertiaMoments.x = (float)((1.0 / 12.0) * mass * (3 * Math.Pow(radiusX, 2) + Math.Pow(height, 2)));
inertiaMoments.y = (float)(0.5 * mass * Math.Pow(radiusX, 2));
inertiaMoments.z = (float)((1.0 / 12.0) * mass * (3 * Math.Pow(radiusX, 2) + Math.Pow(height, 2)));
}
if (collide)
{
GetCollisionModel().ClearModel();
GetCollisionModel().AddCylinder(radiusX, radiusZ, height * 0.5f, new ChVector(0, 0, 0), new ChMatrix33 <double>(1)); // radius, radius, height on y
GetCollisionModel().BuildModel();
SetCollide(true);
}
this.SetDensity((float)density);
this.SetMass(mass);
SetFrame_COG_to_REF(new ChFrame <double>(Utils.ToChrono(COM), new ChQuaternion(1, 0, 0, 0)));
SetInertiaXX(ToChrono(inertiaMoments));
SetInertiaXY(ToChrono(inertiaProducts));
SetBodyFixed(bodyfixed);
SetFrame_REF_to_abs(new ChFrame <double>(Utils.ToChrono(transform.position), Utils.ToChrono(transform.rotation)));
BodyFrame.SetPos_dt(ToChrono(linearVelocity));
BodyFrame.SetWvel_loc(ToChrono(angularVelocity));
ChSystem.system.AddBody(this);
break;
case CollisionType.Mesh:
Mesh mesh = GetComponent <MeshFilter>().sharedMesh;
double sweep_sphere_radius = 0.1;
// geometry.ChTriangleMeshConnected trimesh = new geometry.ChTriangleMeshConnected();
// trimesh.LoadWavefrontMesh(mesh);
// Create the collision model
if (collide)
{
GetCollisionModel().ClearModel();
GetCollisionModel().AddTriangleMesh(mesh, true, false, ChVector.VNULL, new ChMatrix33 <double>(1));
GetCollisionModel().BuildModel();
SetCollide(true);
}
this.SetDensity((float)density);
this.SetMass(mass);
SetInertiaXX(ToChrono(inertiaMoments));
SetInertiaXY(ToChrono(inertiaProducts));
SetBodyFixed(bodyfixed);
BodyFrame.SetPos(new ChVector(transform.position.x, transform.position.y, transform.position.z));
BodyFrame.SetRot(new ChQuaternion(transform.rotation.w, transform.rotation.x, transform.rotation.y, transform.rotation.z));
// BodyFrame.SetPos_dt(ToChrono(linearVelocity));
// BodyFrame.SetWvel_loc(ToChrono(angularVelocity));
// ChSystem msystem3 = FindObjectOfType<ChSystem>();
// msystem3.AddBody(this);
ChSystem.system.AddBody(this);
break;
case CollisionType.Terrain:
//Texture2D hMap = Resources.Load("Heightmap") as Texture2D;
Terrain terrain = GetComponent <Terrain>();
Texture2D texture2D = new Texture2D(512, 512, TextureFormat.RGB24, false);
myRenderTexture = terrain.terrainData.heightmapTexture;
RenderTexture.active = myRenderTexture;
texture2D.ReadPixels(new Rect(0, 0, myRenderTexture.width, myRenderTexture.height), 0, 0);
texture2D.Apply();
texture = texture2D;
// List<Vector3> verts = new List<Vector3>();
//List<int> tris = new List<int>();
int dimensions = 65;
//Bottom left section of the map, other sections are similar
for (int i = 0; i < dimensions; i++)
{
for (int j = 0; j < dimensions; j++)
{
//Add each new vertex in the plane
verts.Add(new Vector3(i, texture.GetPixel(i, j).grayscale * 50, j));
//Skip if a new square on the plane hasn't been formed
if (i == 0 || j == 0)
{
continue;
}
//Adds the index of the three vertices in order to make up each of the two tris
tris.Add(dimensions * i + j); //Top right
tris.Add(dimensions * i + j - 1); //Bottom right
tris.Add(dimensions * (i - 1) + j - 1); //Bottom left - First triangle
tris.Add(dimensions * (i - 1) + j - 1); //Bottom left
tris.Add(dimensions * (i - 1) + j); //Top left
tris.Add(dimensions * i + j); //Top right - Second triangle
}
}
Mesh procMesh = new Mesh();
procMesh.vertices = verts.ToArray(); //Assign verts, uvs, and tris to the mesh
// procMesh.uv = uvs;
procMesh.triangles = tris.ToArray();
procMesh.RecalculateNormals(); //Determines which way the triangles are facing
if (collide)
{
GetCollisionModel().ClearModel();
GetCollisionModel().AddTriangleMesh(procMesh, true, false, new ChVector(0, 0, 0), new ChMatrix33 <double>(1));
GetCollisionModel().BuildModel();
SetCollide(true);
}
this.SetDensity((float)density);
this.SetMass(mass);
SetInertiaXX(ToChrono(inertiaMoments));
SetInertiaXY(ToChrono(inertiaProducts));
SetBodyFixed(bodyfixed);
BodyFrame.SetPos(new ChVector(transform.position.x, transform.position.y, transform.position.z));
BodyFrame.SetRot(new ChQuaternion(transform.rotation.w, transform.rotation.x, transform.rotation.y, transform.rotation.z));
ChSystem.system.AddBody(this);
break;
}
}
