/// <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));
}
}
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>
/// 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>
/// Set force range to one or all rotational ordinary degrees of freedom
/// (not including controllers) of this constraint.
/// </summary>
/// <param name="forceRange">New force range.</param>
/// <param name="dof">Specific rotational degree of freedom or all.</param>
public void SetForceRange(RangeReal forceRange, RotationalDof dof)
{
TraverseRowData(data => data.ForceRange = forceRange, dof);
}
/// <summary>
/// Set force range to all ordinary degrees of freedom (not including controllers)
/// of this constraint.
/// </summary>
/// <param name="forceRange">New force range.</param>
public void SetForceRange(RangeReal forceRange)
{
TraverseRowData(data => data.ForceRange = forceRange, TranslationalDof.All);
TraverseRowData(data => data.ForceRange = forceRange, RotationalDof.All);
}
protected override void Construct(ElementaryConstraint source)
{
base.Construct(source);
m_range = new RangeReal((source as RangeController).m_range);
}
protected override void Construct(agx.ElementaryConstraint tmpEc)
{
base.Construct(tmpEc);
m_range = new RangeReal(agx.RangeController.safeCast(tmpEc).getRange());
}
public void CopyFrom(ElementaryConstraintRowData source)
{
m_compliance = source.m_compliance;
m_damping = source.m_damping;
m_forceRange = new RangeReal(source.m_forceRange);
}
