/// <summary>
/// Create a new constraint given type and constraint frames.
/// </summary>
/// <param name="type">Constraint type.</param>
/// <param name="referenceFrame">Reference frame.</param>
/// <param name="connectedFrame">Connected frame.</param>
/// <returns>Constraint component, added to a new game object - null if unsuccessful.</returns>
public static Constraint Create(ConstraintType type,
ConstraintFrame referenceFrame,
ConstraintFrame connectedFrame)
{
GameObject constraintGameObject = new GameObject(Factory.CreateName("AGXUnity." + type));
try {
Constraint constraint = constraintGameObject.AddComponent <Constraint>();
constraint.Type = type;
constraint.AttachmentPair.ReferenceFrame = referenceFrame ?? new ConstraintFrame();
constraint.AttachmentPair.ConnectedFrame = connectedFrame ?? new ConstraintFrame();
// Creating a temporary native instance of the constraint, including a rigid body and frames.
// Given this native instance we copy the default configuration.
using (var tmpNative = new TemporaryNative(constraint.NativeType, constraint.AttachmentPair))
constraint.TryAddElementaryConstraints(tmpNative.Instance);
return(constraint);
}
catch (System.Exception e) {
Debug.LogException(e);
DestroyImmediate(constraintGameObject);
return(null);
}
}
/// <summary>
/// Change constraint type. Note that all values will be default
/// when the type has changed.
/// </summary>
/// <param name="type">New type of the constraint.</param>
/// <param name="onObjectCreated">Optional callback when an object has been created.</param>
/// <param name="destroyObject">
/// Optional callback to destroy an object - Object.DestroyImmediate
/// is used by default.
/// </param>
public void ChangeType(ConstraintType type,
Action <UnityEngine.Object> onObjectCreated = null,
Action <UnityEngine.Object> destroyObject = null)
{
if (Native != null)
{
Debug.LogWarning("Invalid to change type of an initialized constraint.", this);
return;
}
foreach (var elementaryConstraint in m_elementaryConstraints)
{
if (destroyObject != null)
{
destroyObject(elementaryConstraint);
}
else
{
DestroyImmediate(elementaryConstraint);
}
}
m_elementaryConstraints.Clear();
SetType(type, true);
if (type == ConstraintType.Unknown)
{
return;
}
using (var tempNative = new TemporaryNative(NativeType, AttachmentPair))
TryAddElementaryConstraints(tempNative.Instance, onObjectCreated);
}
/// <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>
/// Create a new constraint component given constraint type.
/// </summary>
/// <param name="type">Type of constraint.</param>
/// <param name="givenAttachmentPair">Optional initial attachment pair. When given, values and fields will be copied to this objects attachment pair.</param>
/// <returns>Constraint component, added to a new game object - null if unsuccessful.</returns>
public static Constraint Create(ConstraintType type, AttachmentPair givenAttachmentPair = null)
{
GameObject constraintGameObject = new GameObject(Factory.CreateName("AGXUnity." + type));
try {
Constraint constraint = constraintGameObject.AddComponent <Constraint>();
constraint.Type = type;
// Property AttachmentPair will create a new one if it doesn't exist.
constraint.AttachmentPair.CopyFrom(givenAttachmentPair);
// Creating a temporary native instance of the constraint, including a rigid body and frames.
// Given this native instance we copy the default configuration.
using (var tmpNative = new TemporaryNative(constraint.NativeType, constraint.AttachmentPair))
constraint.TryAddElementaryConstraints(tmpNative.Instance);
return(constraint);
}
catch (System.Exception e) {
Debug.LogException(e);
DestroyImmediate(constraintGameObject);
return(null);
}
}
