Merge pull request #10 from Algoryx/fix/NativePODTypes

Fix/native pod types

AGXUnity/CableRouteNode.cs

@@ -115,9 +115,9 @@ protected override bool Initialize()
                             Rotation.ToHandedQuat();
 
       if ( Type == Cable.NodeType.BodyFixedNode )
-        Native = new agxCable.BodyFixedNode( rb != null ? rb.Native : null, new agx.AffineMatrix4x4( rotation, position ) );
+        Native = new agxCable.CableBodyFixedNode( rb != null ? rb.Native : null, new agx.AffineMatrix4x4( rotation, position ) );
       else if ( Type == Cable.NodeType.FreeNode ) {
-        Native = new agxCable.FreeNode( position );
+        Native = new agxCable.CableFreeNode( position );
         Native.getRigidBody().setRotation( Rotation.ToHandedQuat() );
       }
       else

AGXUnity/Collide/HeightField.cs

@@ -29,8 +29,7 @@ public override UnityEngine.Vector3 GetScale()
     /// <returns>Shape transform to be used between native geometry and shape.</returns>
     public override agx.AffineMatrix4x4 GetNativeGeometryOffset()
     {
-      return agx.AffineMatrix4x4.rotate( agx.Vec3.Z_AXIS(), agx.Vec3.Y_AXIS() ).Multiply(
-             agx.AffineMatrix4x4.translate( transform.position.ToHandedVec3() + new Vector3( 0.5f * GetWidth(), 0, 0.5f * GetHeight() ).ToHandedVec3() ) );
+      return agx.AffineMatrix4x4.rotate( agx.Vec3.Z_AXIS(), agx.Vec3.Y_AXIS() ) * agx.AffineMatrix4x4.translate( transform.position.ToHandedVec3() + new Vector3( 0.5f * GetWidth(), 0, 0.5f * GetHeight() ).ToHandedVec3() );
     }
 
     /// <summary>

AGXUnity/Collide/Shape.cs

@@ -54,6 +54,29 @@ public bool CollisionsEnabled
       }
     }
 
+
+    /// <summary>
+    /// Is Shape a sensor?
+    /// </summary>
+    [SerializeField]
+    private bool m_isSensor = false;
+
+    /// <summary>
+    /// Specify if this shape is a sensor or not
+    /// </summary>
+    public bool IsSensor
+    {
+      get { return m_isSensor; }
+      set
+      {
+        m_isSensor = value;
+        if (NativeGeometry != null)
+          NativeGeometry.setSensor(m_isSensor);
+      }
+    }
+
+
+
     /// <summary>
     /// Shape material instance paired with property Material.
     /// </summary>
@@ -160,7 +183,7 @@ public virtual agxCollide.Shape CreateTemporaryNative()
     /// <returns>Relative transform geometry -> shape.</returns>
     public virtual agx.AffineMatrix4x4 GetNativeGeometryOffset()
     {
-      return new agx.AffineMatrix4x4();
+      return agx.AffineMatrix4x4.identity();
     }
 
     /// <summary>
@@ -172,12 +195,12 @@ public agx.AffineMatrix4x4 GetNativeRigidBodyOffset( RigidBody rb )
       // If we're on the same level as the rigid body we have by
       // definition no offset to the body.
       if ( rb == null || rb.gameObject == gameObject )
-        return new agx.AffineMatrix4x4();
+        return agx.AffineMatrix4x4.identity();
 
       // Using the world position of the shape - which includes scaling etc.
       agx.AffineMatrix4x4 shapeInWorld = new agx.AffineMatrix4x4( transform.rotation.ToHandedQuat(), transform.position.ToHandedVec3() );
       agx.AffineMatrix4x4 rbInWorld    = new agx.AffineMatrix4x4( rb.transform.rotation.ToHandedQuat(), rb.transform.position.ToHandedVec3() );
-      return shapeInWorld.Multiply( rbInWorld.inverse() );
+      return shapeInWorld * rbInWorld.inverse();
     }
 
     /// <summary>
@@ -344,8 +367,17 @@ private void OnPostSynchronizeTransformsCallback()
     {
       SyncUnityTransform();
 
+      // If DebugRenderManager is disabled, we should NOT try to update anything.
+      // the m_geometry.getRigidBody will allocate memory for a RigidBodyInstance, so we
+      // want to avoid that.
+      bool isInstanced = Rendering.DebugRenderManager.IsActiveForSynchronize;
+      bool enabled = false;
+
+      if (isInstanced)
+        enabled = Rendering.DebugRenderManager.Instance.isActiveAndEnabled;
+
       // If we have a body the debug rendering synchronization is made from that body.
-      if ( m_geometry != null && m_geometry.getRigidBody() == null )
+      if (enabled &&  m_geometry != null && m_geometry.getRigidBody() == null )
         Rendering.DebugRenderManager.OnPostSynchronizeTransforms( this );
     }
 

AGXUnity/Constraint.cs

@@ -279,6 +279,8 @@ public ESolveType SolveType
     [SerializeField]
     private bool m_drawGizmosEnable = true;
 
+    private bool m_isAnimated = false;
+
     /// <summary>
     /// Enable/disable gizmos drawing of this constraint. Enabled by default.
     /// </summary>
@@ -745,18 +747,31 @@ protected override bool Initialize()
         bool valid = added && Native.getValid();
         Simulation.Instance.StepCallbacks.PreSynchronizeTransforms += OnPreStepForwardUpdate;
 
+        // It's not possible to check which properties an animator
+        // is controlling, for now we update all properties in the
+        // controllers if we have an animator.
+        m_isAnimated = GetComponent<Animator>() != null;
+
         return valid;
       }
       catch ( System.Exception e ) {
         Debug.LogException( e, gameObject );
         return false;
       }
+
+
     }
 
     protected override void OnEnable()
     {
       if ( Native != null && !Native.getEnable() )
         Native.setEnable( true );
+
+
+      // It's not possible to check which properties an animator
+      // is controlling, for now we update all properties in the
+      // controllers if we have an animator.
+      m_isAnimated = GetComponent<Animator>() != null;
     }
 
     protected override void OnDisable()
@@ -784,12 +799,8 @@ private void OnPreStepForwardUpdate()
 
       SynchronizeNativeFramesWithAttachmentPair();
 
-      // It's not possible to check which properties an animator
-      // is controlling, for now we update all properties in the
-      // controllers if we have an animator. This could probably
-      // be a flag (IsAnimated).
-      var isAnimated = GetComponent<Animator>() != null;
-      if ( isAnimated ) {
+
+      if (m_isAnimated) {
         var controllers = GetElementaryConstraintControllers();
         for ( int i = 0; i < controllers.Length; ++i )
           PropertySynchronizer.Synchronize( controllers[ i ] );

AGXUnity/Rendering/DebugRenderManager.cs

@@ -329,7 +329,7 @@ protected void Update()
     }
 
     private static bool m_isActiveForSynchronize = false;
-    private static bool IsActiveForSynchronize { get { return m_isActiveForSynchronize; } }
+    public static bool IsActiveForSynchronize { get { return m_isActiveForSynchronize; } }
 
     private bool UpdateIsActiveForSynchronize()
     {
@@ -371,20 +371,24 @@ 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 )
+      // Only collect data for contacts if they are enabled
+      if (m_renderContacts)
+      {
+        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;
 
-          m_contactList.Add( new ContactData() { Point = p.point.ToHandedVector3(), Normal = p.normal.ToHandedVector3() } );
+          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() } );
+          }
         }
       }
     }

AGXUnity/Rendering/SegmentSpawner.cs

@@ -27,6 +27,13 @@ public class SegmentSpawner
 
     [SerializeField]
     private Material m_material = null;
+
+    // Use this instead of new every time we need one
+    private static Vector3 s_y_vec = new Vector3( 0, 1, 0 );
+
+    // Set this and use = operator instead of new every timestep
+    private Vector3 m_vec = new Vector3(-20, -20, -20);
+
     public Material Material
     {
       get { return m_material ?? DefaultMaterial; }
@@ -129,21 +136,40 @@ public GameObject CreateSegment( Vector3 start, Vector3 end, float width, float
         Transform main   = instance.transform.GetChild( 1 );
         Transform bottom = instance.transform.GetChild( 2 );
 
-        main.localScale                    = new Vector3( width, length, height );
-        top.localScale = bottom.localScale = new Vector3( width, width, height );
+        //main.localScale                    = new Vector3( width, length, height );
+        m_vec.Set(width, length, height);
+        main.localScale = m_vec;
+
+        //top.localScale = bottom.localScale = new Vector3( width, width, height );
+        //top.localScale = bottom.localScale = m_vec;
+        top.localScale = m_vec;
+        m_vec.Set(width, length, height);
+        bottom.localScale = new Vector3(width, width, height);
+
+
         top.transform.localPosition        =  0.5f * length * Vector3.up;
         bottom.transform.localPosition     = -0.5f * length * Vector3.up;
       }
       else {
         Transform main = instance.transform.GetChild( 0 );
         Transform top  = instance.transform.GetChild( 1 );
 
-        main.localScale             = new Vector3( width, length, height );
-        top.localScale              = new Vector3( width, width, height );
-        top.transform.localPosition = new Vector3( 0, 0.5f * length, 0 );
+
+//         main.localScale             = new Vector3( width, length, height );
+//         top.localScale              = new Vector3( width, width, height );
+//         top.transform.localPosition = new Vector3( 0, 0.5f * length, 0 );
+
+        m_vec.Set(width, length, height);
+        top.localScale = main.localScale = m_vec;
+
+        //top.transform.localPosition = new Vector3(0, 0.5f * length, 0);
+
+        m_vec.Set(0, 0.5f * length, 0);
+        top.transform.localPosition = m_vec;
+
       }
 
-      instance.transform.rotation = Quaternion.FromToRotation( new Vector3( 0, 1, 0 ), startToEnd );
+      instance.transform.rotation = Quaternion.FromToRotation( s_y_vec, startToEnd );
       instance.transform.position = start + 0.5f * length * startToEnd;
 
       return instance;

AGXUnity/Rendering/WireRenderer.cs

@@ -20,6 +20,9 @@ public class WireRenderer : ScriptComponent
 
     [SerializeField]
     private Material m_material = null;
+
+    private List<Vector3> m_positions;
+
     public Material Material
     {
       get { return m_material ?? m_segmentSpawner.DefaultMaterial; }
@@ -107,36 +110,50 @@ private void Render( Wire wire )
         return;
       }
 
-      List<Vector3> positions      = new List<Vector3>();
-      positions.Capacity           = 256;
-      agxWire.RenderIterator it    = wire.Native.getRenderBeginIterator();
+      if (m_positions == null)
+      {
+        m_positions = new List<Vector3>();
+        m_positions.Capacity = 256;
+      }
+
+      //UnityEngine.Profiling.Profiler.BeginSample("CollectingWirePoints");
+      m_positions.Clear();
+
+      agxWire.RenderIterator it = wire.Native.getRenderBeginIterator();
       agxWire.RenderIterator endIt = wire.Native.getRenderEndIterator();
-      while ( !it.EqualWith( endIt ) ) {
-        positions.Add( it.get().getWorldPosition().ToHandedVector3() );
+      while (!it.EqualWith(endIt))
+      {
+        m_positions.Add(it.getWorldPosition().ToHandedVector3());
         it.inc();
       }
-
+      //UnityEngine.Profiling.Profiler.EndSample();
       m_segmentSpawner.Begin();
 
-      try {
-        for ( int i = 0; i < positions.Count - 1; ++i ) {
-          Vector3 curr       = positions[ i ];
-          Vector3 next       = positions[ i + 1 ];
+      try
+      {
+        //UnityEngine.Profiling.Profiler.BeginSample("GeneratingSegments");
+        for (int i = 0; i < m_positions.Count - 1; ++i)
+        {
+          Vector3 curr = m_positions[i];
+          Vector3 next = m_positions[i + 1];
           Vector3 currToNext = next - curr;
-          float distance     = currToNext.magnitude;
-          currToNext        /= distance;
-          int numSegments    = Convert.ToInt32( distance * NumberOfSegmentsPerMeter + 0.5f );
-          float dl           = distance / numSegments;
-          for ( int j = 0; j < numSegments; ++j ) {
+          float distance = currToNext.magnitude;
+          currToNext /= distance;
+          int numSegments = Convert.ToInt32(distance * NumberOfSegmentsPerMeter + 0.5f);
+          float dl = distance / numSegments;
+          for (int j = 0; j < numSegments; ++j)
+          {
             next = curr + dl * currToNext;
 
-            m_segmentSpawner.CreateSegment( curr, next, wire.Radius );
+            m_segmentSpawner.CreateSegment(curr, next, wire.Radius);
             curr = next;
           }
         }
+        //UnityEngine.Profiling.Profiler.EndSample();
       }
-      catch ( System.Exception e ) {
-        Debug.LogException( e );
+      catch (System.Exception e)
+      {
+        Debug.LogException(e);
       }
 
       m_segmentSpawner.End();

AGXUnity/RigidBody.cs

@@ -341,7 +341,14 @@ private void OnPostSynchronizeTransformsCallback()
       SyncUnityTransform();
       SyncProperties();
 
-      Rendering.DebugRenderManager.OnPostSynchronizeTransforms( this );
+      bool isInstanced = Rendering.DebugRenderManager.IsActiveForSynchronize;
+      bool enabled = false;
+
+      if (isInstanced)
+        enabled = Rendering.DebugRenderManager.Instance.isActiveAndEnabled;
+
+      if (enabled)
+        Rendering.DebugRenderManager.OnPostSynchronizeTransforms( this );
     }
     #endregion