Initial support for refactored shovels

Author: FilipAlg

Diff for: AGXUnity/Model/DeformableTerrain.cs

@@ -2,9 +2,7 @@
 using AGXUnity.Collide;
 using AGXUnity.Utils;
 using System;
-using System.Collections.Generic;
 using UnityEngine;
-using GUI = AGXUnity.Utils.GUI;
 
 namespace AGXUnity.Model
 {
@@ -42,37 +40,6 @@ public Terrain Terrain
     [HideInInspector]
     public int TerrainDataResolution { get { return TerrainUtils.TerrainDataResolution( TerrainData ); } }
 
-    [SerializeField]
-    private List<DeformableTerrainShovel> m_shovels = new List<DeformableTerrainShovel>();
-
-    [SerializeField]
-    private bool m_tempDisplayShovelForces = false;
-
-    [HideInInspector]
-    public bool TempDisplayShovelForces
-    {
-      get { return m_tempDisplayShovelForces; }
-      set
-      {
-        m_tempDisplayShovelForces = value;
-
-        if ( !Application.isPlaying )
-          return;
-
-        if ( m_tempDisplayShovelForces &&
-             Shovels.Length > 0 &&
-             GUIWindowHandler.Instance.GetWindowData( ShowForces ) == null ) {
-          var windowSize = new Vector2( 750, 125 );
-          GUIWindowHandler.Instance.Show( ShowForces,
-                                          windowSize,
-                                          new Vector2( Screen.width - windowSize.x - 20, 20 ),
-                                          "Shovel forces" );
-        }
-        else if ( !m_tempDisplayShovelForces && GUIWindowHandler.HasInstance )
-          GUIWindowHandler.Instance.Close( ShowForces );
-      }
-    }
-
     /// <summary>
     /// Resets heights of the Unity terrain and recreate native instance.
     /// </summary>
@@ -104,8 +71,6 @@ protected override bool Initialize()
       // Only printing the errors if something is wrong.
       LicenseManager.LicenseInfo.HasModuleLogError( LicenseInfo.Module.AGXTerrain | LicenseInfo.Module.AGXGranular, this );
 
-      RemoveInvalidShovels( true, true );
-
       m_initialHeights = TerrainData.GetHeights( 0, 0, TerrainDataResolution, TerrainDataResolution );
 
       InitializeNative();
@@ -135,9 +100,6 @@ protected override void OnDestroy()
       }
       Native = null;
 
-      if ( GUIWindowHandler.HasInstance )
-        GUIWindowHandler.Instance.Close( ShowForces );
-
       base.OnDestroy();
     }
 
@@ -156,10 +118,6 @@ private void InitializeNative()
 
       Native.setTransform( Utils.TerrainUtils.CalculateNativeOffset( transform, TerrainData ) );
 
-
-      foreach ( var shovel in Shovels )
-        Native.add( shovel.GetInitialized<DeformableTerrainShovel>()?.Native );
-
       GetSimulation().add( Native );
     }
 
@@ -209,108 +167,18 @@ private void UpdateHeights( agxTerrain.ModifiedVerticesVector modifiedVertices )
       TerrainData.SyncHeightmap();
     }
 
-    private GUIStyle m_textLabelStyle = null;
-    private void ShowForces( EventType eventType )
-    {
-      if ( m_textLabelStyle == null ) {
-        m_textLabelStyle = new GUIStyle( GUI.Skin.label );
-        m_textLabelStyle.alignment = TextAnchor.MiddleLeft;
-
-        var fonts = Font.GetOSInstalledFontNames();
-        foreach ( var font in fonts ) {
-          if ( font == "Consolas" ) {
-            m_textLabelStyle.font = Font.CreateDynamicFontFromOSFont( font, 24 );
-            break;
-          }
-        }
-      }
-
-      var textColor = Color.Lerp( Color.black, Color.white, 1.0f );
-      var valueColor = Color.Lerp( Color.green, Color.white, 0.45f );
-      Func<string, agx.Vec3, GUIContent> Vec3Content = ( name, v ) =>
-      {
-        return GUI.MakeLabel( string.Format( "{0} [{1}, {2}, {3}] kN",
-                                             GUI.AddColorTag( name, textColor ),
-                                             GUI.AddColorTag( v.x.ToString( "0.00" ).PadLeft( 7, ' ' ), valueColor ),
-                                             GUI.AddColorTag( v.y.ToString( "0.00" ).PadLeft( 7, ' ' ), valueColor ),
-                                             GUI.AddColorTag( v.z.ToString( "0.00" ).PadLeft( 7, ' ' ), valueColor ) ) );
-      };
-
-      var shovel = m_shovels[ 0 ].Native;
-      var penetrationForce = new agx.Vec3();
-      var penetrationTorque = new agx.Vec3();
-      Native.getPenetrationForce( shovel, ref penetrationForce, ref penetrationTorque );
-      var separationForce = -Native.getSeparationContactForce( shovel );
-      var deformerForce = -Native.getDeformationContactForce( shovel );
-      var contactForce = -Native.getContactForce( shovel );
-
-      GUILayout.Label( Vec3Content( "Penetration force:", 1.0E-3 * penetrationForce ), m_textLabelStyle );
-      GUILayout.Space( 4 );
-      GUILayout.Label( Vec3Content( "Separation force: ", 1.0E-3 * separationForce ), m_textLabelStyle );
-      GUILayout.Space( 4 );
-      GUILayout.Label( Vec3Content( "Deformer force:   ", 1.0E-3 * deformerForce ), m_textLabelStyle );
-      GUILayout.Space( 4 );
-      GUILayout.Label( Vec3Content( "Contact force:    ", 1.0E-3 * contactForce ), m_textLabelStyle );
-    }
-
     private Terrain m_terrain = null;
     private float[,] m_initialHeights = null;
 
     // -----------------------------------------------------------------------------------------------------------
     // ------------------------------- Implementation of DeformableTerrainBase -----------------------------------
     // -----------------------------------------------------------------------------------------------------------
     public override float ElementSize => TerrainData.size.x / ( TerrainDataResolution - 1 );
-    public override DeformableTerrainShovel[] Shovels => m_shovels.ToArray();
     public override agx.GranularBodyPtrArray GetParticles() { return Native?.getSoilSimulationInterface()?.getSoilParticles(); }
     public override Uuid GetParticleMaterialUuid() => Native?.getMaterial( agxTerrain.Terrain.MaterialType.PARTICLE ).getUuid();
     public override agxTerrain.SoilSimulationInterface GetSoilSimulationInterface() { return Native?.getSoilSimulationInterface(); }
     public override agxTerrain.TerrainProperties GetProperties() { return Native?.getProperties(); }
 
-    public override bool Add( DeformableTerrainShovel shovel )
-    {
-      if ( shovel == null || m_shovels.Contains( shovel ) )
-        return false;
-
-      m_shovels.Add( shovel );
-
-      // Initialize shovel if we're initialized.
-      if ( Native != null )
-        Native.add( shovel.GetInitialized<DeformableTerrainShovel>().Native );
-
-      return true;
-    }
-
-    public override bool Remove( DeformableTerrainShovel shovel )
-    {
-      if ( shovel == null || !m_shovels.Contains( shovel ) )
-        return false;
-
-      if ( Native != null )
-        Native.remove( shovel.Native );
-
-      return m_shovels.Remove( shovel );
-    }
-
-    public override bool Contains( DeformableTerrainShovel shovel )
-    {
-      return shovel != null && m_shovels.Contains( shovel );
-    }
-
-    public override void RemoveInvalidShovels( bool removeDisabled = false, bool warn = false )
-    {
-      m_shovels.RemoveAll( shovel => shovel == null );
-      if ( removeDisabled ) {
-        int removed = m_shovels.RemoveAll( shovel => !shovel.isActiveAndEnabled );
-        if ( removed > 0 ) {
-          if ( warn )
-            Debug.LogWarning( $"Removed {removed} disabled shovels from terrain {gameObject.name}." +
-                              " Disabled shovels should not be added to the terrain on play and should instead be added manually when enabled during runtime." +
-                              " To fix this warning, please remove any disabled shovels from the terrain." );
-          else
-            Debug.Log( $"Removed {removed} disabled shovels from terrain {gameObject.name}." );
-        }
-      }
-    }
     public override void ConvertToDynamicMassInShape( Shape failureVolume )
     {
       if ( !IsNativeNull() )

Diff for: AGXUnity/Model/DeformableTerrainBase.cs

@@ -140,12 +140,6 @@ public float MaximumDepth
     /// </summary>
     abstract public float ElementSize { get; }
 
-    /// <summary>
-    /// Shovels associated to this terrain.
-    /// </summary>
-    [HideInInspector]
-    abstract public DeformableTerrainShovel[] Shovels { get; }
-
     protected override void OnEnable()
     {
       SetEnable( true );
@@ -183,33 +177,6 @@ protected override void OnDisable()
     /// </summary>
     virtual public void OnPropertiesUpdated() { }
 
-    /// <summary>
-    /// Associate shovel instance to this terrain.
-    /// </summary>
-    /// <param name="shovel">Shovel instance to add.</param>
-    /// <returns>True if added, false if null or already added.</returns>
-    abstract public bool Add( DeformableTerrainShovel shovel );
-
-    /// <summary>
-    /// Disassociate shovel instance to this terrain.
-    /// </summary>
-    /// <param name="shovel">Shovel instance to remove.</param>
-    /// <returns>True if removed, false if null or not associated to this terrain.</returns>
-    abstract public bool Remove( DeformableTerrainShovel shovel );
-
-    /// <summary>
-    /// Find if shovel has been associated to this terrain.
-    /// </summary>
-    /// <param name="shovel">Shovel instance to check.</param>
-    /// <returns>True if associated, otherwise false.</returns>
-    abstract public bool Contains( DeformableTerrainShovel shovel );
-
-    /// <summary>
-    /// Verifies so that all added shovels still exists. Shovels that
-    /// has been deleted are removed.
-    /// </summary>
-    abstract public void RemoveInvalidShovels( bool removeDisabled = false, bool warn = false );
-
     /// <summary>
     /// Converts any part of the terrain that overlaps the provided shape into dynamic mass
     /// </summary>

Diff for: AGXUnity/Model/DeformableTerrainPager.cs

@@ -38,6 +38,7 @@ public class DeformableTerrainPager : DeformableTerrainBase
     [SerializeField]
     private List<PagingBody<DeformableTerrainShovel>> m_shovels = new List<PagingBody<DeformableTerrainShovel>>();
 
+
     /// <summary>
     /// Shovels along with their respective load radii that are associated with this terrainPager
     /// </summary>
@@ -47,6 +48,12 @@ public class DeformableTerrainPager : DeformableTerrainBase
     [HideInInspector]
     public PagingBody<DeformableTerrainShovel>[] PagingShovels { get { return m_shovels.ToArray(); } }
 
+    /// <summary>
+    /// Rigidbodies associated to this terrain.
+    /// </summary>
+    [HideInInspector]
+    public DeformableTerrainShovel[] Shovels { get { return m_shovels.Select( rb => rb.Body ).ToArray(); } }
+
     [SerializeField]
     private List<PagingBody<RigidBody>> m_rigidbodies = new List<PagingBody<RigidBody>>();
 
@@ -178,6 +185,23 @@ public bool Add( DeformableTerrainShovel shovel, float requiredRadius = 5, float
       return true;
     }
 
+    /// <summary>
+    /// Disassociate shovel instance to this terrain.
+    /// </summary>
+    /// <param name="shovel">Shovel instance to remove.</param>
+    /// <returns>True if removed, false if null or not associated to this terrain.</returns>
+    public bool Remove( DeformableTerrainShovel shovel )
+    {
+      if ( shovel == null || m_shovels.Find( pagingRigidBody => pagingRigidBody.Body == shovel ) == null )
+        return false;
+
+      if ( Native != null )
+        Native.remove( shovel.Native );
+
+      m_shovels.RemoveAt( m_shovels.FindIndex( pagingRigidBody => pagingRigidBody.Body == shovel ) );
+      return true;
+    }
+
     /// <summary>
     /// Associates the given rigidbody instance to this terrain.
     /// </summary>
@@ -316,8 +340,6 @@ protected override bool Initialize()
       if ( AutoTileOnPlay )
         RecalculateParameters();
 
-      RemoveInvalidShovels( true );
-
       // Create a new adapter using the terrain attached to this gameobject as the root
       // This attaches DeformableTerrainConnector components to each connected Unity terrain which must be done before InitializeNative is called
       m_terrainDataSource = new UnityTerrainAdapter( Terrain, MaximumDepth );
@@ -370,6 +392,8 @@ private void InitializeNative()
       Native.setTerrainDataSource( m_terrainDataSource );
       Native.setShouldStoreCompaction( m_compactionStoreDepth.UseOverride, (uint)m_compactionStoreDepth.OverrideValue );
 
+      GetSimulation().add( Native );
+
       // Add Rigidbodies and shovels to pager
       foreach ( var shovel in m_shovels )
         Native.add( shovel.Body.GetInitialized<DeformableTerrainShovel>().Native, shovel.requiredRadius, shovel.preloadRadius );
@@ -378,9 +402,6 @@ private void InitializeNative()
 
       if ( MaterialPatches.Length != 0 )
         Debug.LogWarning( "Nonhomogenous terrain is not yet supported for DeformableTerrainPager.", this );
-
-
-      GetSimulation().add( Native );
     }
 
     protected override void OnDestroy()
@@ -590,50 +611,11 @@ public static bool IsInteger( float v )
     // -----------------------------------------------------------------------------------------------------------
 
     public override float ElementSize => TerrainData.size.x / ( TerrainDataResolution - 1 );
-    public override DeformableTerrainShovel[] Shovels => m_shovels.Select( shovel => shovel.Body ).ToArray();
     public override agx.GranularBodyPtrArray GetParticles() { return Native?.getSoilSimulationInterface()?.getSoilParticles(); }
     public override agx.Uuid GetParticleMaterialUuid() => Native?.getTemplateTerrain()?.getMaterial( agxTerrain.Terrain.MaterialType.PARTICLE ).getUuid();
     public override agxTerrain.TerrainProperties GetProperties() { return Native?.getTemplateTerrain()?.getProperties(); }
     public override agxTerrain.SoilSimulationInterface GetSoilSimulationInterface() { return Native?.getSoilSimulationInterface(); }
     public override void OnPropertiesUpdated() { Native?.applyChangesToTemplateTerrain(); }
-    public override bool Add( DeformableTerrainShovel shovel )
-    {
-      return Add( shovel, requiredRadius: default, preloadRadius: default );
-    }
-    public override bool Remove( DeformableTerrainShovel shovel )
-    {
-      if ( shovel == null || m_shovels.Find( pagingShovel => pagingShovel.Body == shovel ) == null )
-        return false;
-
-      if ( Native != null )
-        Native.remove( shovel.Native );
-
-      m_shovels.RemoveAt( m_shovels.FindIndex( pagingShovel => pagingShovel.Body == shovel ) );
-      return true;
-    }
-    public override bool Contains( DeformableTerrainShovel shovel )
-    {
-      return m_shovels.Find( s => s.Body == shovel ) != null;
-    }
-    public override void RemoveInvalidShovels( bool removeDisabled = false, bool warn = false )
-    {
-      m_shovels.RemoveAll( shovel => shovel.Body == null );
-      m_rigidbodies.RemoveAll( rb => rb.Body == null );
-
-      if ( removeDisabled ) {
-        int remShovels = m_shovels.RemoveAll( shovel => !shovel.Body.isActiveAndEnabled );
-        int remRBs = m_rigidbodies.RemoveAll( rb => !rb.Body.isActiveAndEnabled );
-        if ( remShovels + remRBs > 0 ) {
-          if ( warn )
-            Debug.LogWarning( $"Removed {remShovels} disabled shovels and {remRBs} disabled rigid bodies from terrain {gameObject.name}." +
-                              " Disabled objects should not be added to the terrain on play and should instead be added manually when enabled during runtime." +
-                              " To fix this warning, please remove any disabled objects from the terrain." );
-          else
-            Debug.Log( $"Removed {remShovels} disabled shovels and {remRBs} disabled rigid bodies from terrain {gameObject.name}." );
-
-        }
-      }
-    }
     public override void ConvertToDynamicMassInShape( Shape failureVolume )
     {
       if ( Native != null ) {