Add support for different terrain materials in with the pager

AGXUnity/Collide/Shape.cs

@@ -153,6 +153,30 @@ public ShapeMaterial Material
       }
     }
 
+    [SerializeField]
+    private bool m_isPulley = false;
+
+    /// <summary>
+    /// When enabled, Wires will snap onto this geometry to simulate a sheave or pulley geometry without having to rely on contacts
+    /// </summary>
+    [Tooltip( "When enabled, Wires will snap onto this geometry to simulate a sheave or pulley geometry without having to rely on contacts" )]
+    [InspectorGroupBegin( Name = "Extra Properties" )]
+    [InspectorGroupEnd]
+    public bool IsPulley
+    {
+      get => m_isPulley;
+      set
+      {
+        m_isPulley = value;
+        if ( NativeGeometry != null ) {
+          if ( m_isPulley )
+            NativeGeometry.getPropertyContainer().addPropertyBool( "Pulley", true );
+          else
+            NativeGeometry.getPropertyContainer().removePropertyBool( "Pulley" );
+        }
+      }
+    }
+
     /// <summary>
     /// Native geometry object, if initialized.
     /// </summary>

AGXUnity/Model/DeformableTerrain.cs

@@ -85,7 +85,7 @@ protected override bool Initialize()
       LicenseManager.LicenseInfo.HasModuleLogError( LicenseInfo.Module.AGXTerrain | LicenseInfo.Module.AGXGranular, this );
 
       m_initialHeights = TerrainData.GetHeights( 0, 0, TerrainDataResolution, TerrainDataResolution );
-
+      Terrain.terrainData = Instantiate( Terrain.terrainData );
       InitializeNative();
 
       Simulation.Instance.StepCallbacks.PostStepForward += OnPostStepForward;
@@ -144,13 +144,6 @@ private void ResetTerrainDataHeightsAndTransform()
 
       TerrainData.SetHeights( 0, 0, m_initialHeights );
       transform.position = transform.position + MaximumDepth * Vector3.up;
-
-#if UNITY_EDITOR
-      // If the editor is closed during play the modified height
-      // data isn't saved, this resolves corrupt heights in such case.
-      UnityEditor.EditorUtility.SetDirty( TerrainData );
-      UnityEditor.AssetDatabase.SaveAssets();
-#endif
     }
 
     private void OnPostStepForward()

AGXUnity/Model/DeformableTerrainConnector.cs

@@ -26,6 +26,8 @@ public Vector3 GetOffsetPosition()
       if ( InitialHeights != null )
         return needsReturnData ? Terrain.terrainData.GetHeights( 0, 0, resolution, resolution ) : null;
 
+      Terrain.terrainData = Instantiate( Terrain.terrainData );
+
       if ( float.IsNaN( MaximumDepth ) ) {
         Debug.LogError( "Writing terrain offset without first setting depth!" );
         MaximumDepth = 0;
@@ -41,12 +43,6 @@ internal void OnReset()
         transform.position += MaximumDepth * Vector3.up;
         Terrain.terrainData.SetHeights( 0, 0, InitialHeights );
 
-#if UNITY_EDITOR
-        // If the editor is closed during play the modified height
-        // data isn't saved, this resolves corrupt heights in such case.
-        UnityEditor.EditorUtility.SetDirty( Terrain.terrainData );
-        UnityEditor.AssetDatabase.SaveAssets();
-#endif
         InitialHeights = null;
       }
     }

AGXUnity/Model/DeformableTerrainPager.cs

@@ -411,8 +411,7 @@ private void InitializeNative()
       foreach ( var rb in m_rigidbodies )
         Native.add( rb.Body.GetInitialized<RigidBody>().Native, rb.requiredRadius, rb.preloadRadius );
 
-      if ( MaterialPatches.Length != 0 )
-        Debug.LogWarning( "Nonhomogenous terrain is not yet supported for DeformableTerrainPager.", this );
+      GetSimulation().add( Native );
     }
 
     protected override void OnDestroy()
@@ -444,7 +443,7 @@ private void UpdateHeights()
 
     private void UpdateTerrain( agxTerrain.TerrainPager.TileAttachments tile )
     {
-      var terrain = tile.m_terrainTile;
+      var terrain = tile.m_terrainTile.get();
       var modifications = terrain.getModifiedVertices();
       if ( modifications.Count == 0 )
         return;
@@ -456,12 +455,12 @@ private void UpdateTerrain( agxTerrain.TerrainPager.TileAttachments tile )
       var result = new float[,] { { 0.0f } };
 
       agx.Vec2i index = new agx.Vec2i(0,0);
-      Vector2Int tileIndex = GetTileIndex(terrain.get());
+      Vector2Int tileIndex = GetTileIndex(terrain);
 
       UnityTerrainAdapter.UnityModificationCallback modCallbackFn = ( Terrain tile, Vector2Int unityIndex ) =>
       {
         tile.terrainData.SetHeightsDelayLOD( unityIndex.x, unityIndex.y, result );
-        OnModification?.Invoke( terrain.get(), index, tile, unityIndex );
+        OnModification?.Invoke( terrain, index, tile, unityIndex );
         m_updatedTerrains.Add( tile );
       };
 
@@ -845,17 +844,33 @@ public override void TriggerModifyAllCells()
 
     public override bool ReplaceTerrainMaterial( DeformableTerrainMaterial oldMat, DeformableTerrainMaterial newMat )
     {
-      throw new NotImplementedException( "Terrain pager does not yet support Inhomogeneous terrain" );
+      if ( Native == null )
+        return true;
+
+      if ( oldMat == null || newMat == null )
+        return false;
+
+      var success = m_terrainDataSource.exchangeTerrainMaterial(oldMat.GetInitialized().Native, newMat.GetInitialized().Native);
+      return success;
     }
 
     public override void SetAssociatedMaterial( DeformableTerrainMaterial terrMat, ShapeMaterial shapeMat )
     {
-      throw new NotImplementedException( "Terrain pager does not yet support Inhomogeneous terrain" );
+      if ( Native == null )
+        return;
+
+      m_terrainDataSource.setAssociatedMaterial( shapeMat.GetInitialized().Native, terrMat.GetInitialized().Native );
     }
 
     public override void AddTerrainMaterial( DeformableTerrainMaterial terrMat, Shape shape = null )
     {
-      throw new NotImplementedException( "Terrain pager does not yet support Inhomogeneous terrain" );
+      if ( Native == null )
+        return;
+
+      if ( shape != null )
+        m_terrainDataSource.addTerrainMaterial( terrMat.GetInitialized().Native, shape.GetInitialized().NativeGeometry );
+      else
+        m_terrainDataSource.addTerrainMaterial( terrMat.GetInitialized().Native );
     }
 
     protected override bool IsNativeNull() { return Native == null; }
@@ -867,8 +882,9 @@ protected override void SetShapeMaterial( agx.Material material, agxTerrain.Terr
 
     protected override void SetTerrainMaterial( agxTerrain.TerrainMaterial material )
     {
-      Native?.getTemplateTerrain().setTerrainMaterial( material );
-      OnPropertiesUpdated();
+      m_terrainDataSource.setDefaultTerrainMaterial( material );
+      if ( Material != null )
+        m_terrainDataSource.setAssociatedMaterial( Material.Native, material );
     }
 
     protected override void SetEnable( bool enable )

AGXUnity/Model/MovableTerrain.cs

@@ -450,6 +450,15 @@ public override void EditorUpdate()
 #endif
     }
 
+    protected override bool PerformMigration()
+    {
+      if ( m_serializationVersion < 2 ) {
+        PlacementMode = Placement.Manual;
+        return true;
+      }
+      return false;
+    }
+
     protected override bool Initialize()
     {
       // Only printing the errors if something is wrong.

AGXUnity/Model/TerrainMaterialPatch.cs

@@ -38,7 +38,11 @@ public DeformableTerrainMaterial TerrainMaterial
           return;
         }
 
-        if ( (bool)ParentTerrain?.ReplaceTerrainMaterial( m_terrainMaterial, value ) )
+        if ( m_terrainMaterial == null ) {
+          ParentTerrain?.AddTerrainMaterial( value );
+          m_terrainMaterial = value;
+        }
+        else if ( (bool)ParentTerrain?.ReplaceTerrainMaterial( m_terrainMaterial, value ) )
           m_terrainMaterial = value;
       }
     }
@@ -51,7 +55,8 @@ public DeformableTerrainMaterial TerrainMaterial
     public void AddShape( Shape shape )
     {
       shape.enabled &= !DisableShapes;
-      shape.Visual.GetComponent<MeshRenderer>().enabled &= !DisableVisuals;
+      if ( shape.Visual != null )
+        shape.Visual.GetComponent<MeshRenderer>().enabled &= !DisableVisuals;
       ParentTerrain?.AddTerrainMaterial( m_terrainMaterial, shape.GetInitialized<Shape>() );
     }
 

AGXUnity/Model/Track.cs

@@ -1,3 +1,4 @@
+using AGXUnity.Collide;
 using AGXUnity.Utils;
 using agxVehicle;
 using System.Collections.Generic;
@@ -266,19 +267,7 @@ public ShapeMaterial Material
     /// Registered track wheel instances.
     /// </summary>
     [HideInInspector]
-    public TrackWheel[] Wheels
-    {
-      get { return m_wheels.ToArray(); }
-    }
-
-    protected override bool PerformMigration()
-    {
-      if ( m_serializationVersion < 2 ) {
-        FullDoF = true;
-        return true;
-      }
-      return false;
-    }
+    public TrackWheel[] Wheels => m_wheels.ToArray();
 
     /// <summary>
     /// Associate track wheel instance to this track.
@@ -313,18 +302,77 @@ public bool Remove( TrackWheel wheel )
     /// </summary>
     /// <param name="wheel">Track wheel instance.</param>
     /// <returns>True if <paramref name="wheel"/> is associated to this track.</returns>
-    public bool Contains( TrackWheel wheel )
+    public bool Contains( TrackWheel wheel ) => m_wheels.Contains( wheel );
+
+    /// <summary>
+    /// Verifies so that all added track wheels still exists. Wheels that
+    /// has been deleted are removed.
+    /// </summary>
+    public void RemoveInvalidWheels() => m_wheels.RemoveAll( wheel => wheel == null );
+
+    [SerializeField]
+    private List<Shape> m_supportGeometries = new List<Shape>();
+
+    /// <summary>
+    /// Registered support geometry instances.
+    /// </summary>
+    [HideInInspector]
+    public Shape[] SupportGeometries => m_supportGeometries.ToArray();
+
+    /// <summary>
+    /// Associate support geometry instance to this track.
+    /// </summary>
+    /// <param name="supportGeometry">support geometry instance to add.</param>
+    /// <returns>True if added, false if null or already added.</returns>
+    public bool Add( Shape supportGeometry )
     {
-      return m_wheels.Contains( wheel );
+      if ( supportGeometry == null || m_supportGeometries.Contains( supportGeometry ) )
+        return false;
+
+      m_supportGeometries.Add( supportGeometry );
+
+      if ( Native != null )
+        Native.addSupportGroupId( supportGeometry.GetInitialized().NativeGeometry );
+
+      return true;
     }
 
     /// <summary>
-    /// Verifies so that all added track wheels still exists. Wheels that
+    /// Disassociate support geometry instance from this track.
+    /// </summary>
+    /// <param name="supportGeometry">Support geometry instance to remove.</param>
+    /// <returns>True if removed, false if null or not associated to this track.</returns>
+    public bool Remove( Shape supportGeometry )
+    {
+      if ( supportGeometry == null )
+        return false;
+
+      if ( Native != null )
+        Native.removeSupportGroupId( supportGeometry.GetInitialized().NativeGeometry );
+
+      return m_supportGeometries.Remove( supportGeometry );
+    }
+
+    /// <summary>
+    /// True if <paramref name="supportGeometry"/> is associated to this track.
+    /// </summary>
+    /// <param name="supportGeometry">Support geometry instance.</param>
+    /// <returns>True if <paramref name="supportGeometry"/> is associated to this track.</returns>
+    public bool Contains( Shape supportGeometry ) => m_supportGeometries.Contains( supportGeometry );
+
+    /// <summary>
+    /// Verifies so that all added support geometries still exists. Geometries that
     /// has been deleted are removed.
     /// </summary>
-    public void RemoveInvalidWheels()
+    public void RemoveInvalidSupportGeometries() => m_supportGeometries.RemoveAll( geom => geom == null );
+
+    protected override bool PerformMigration()
     {
-      m_wheels.RemoveAll( wheel => wheel == null );
+      if ( m_serializationVersion < 2 ) {
+        FullDoF = true;
+        return true;
+      }
+      return false;
     }
 
     private class OnInitializeAdapter : TrackNodeOnInitializeCallback
@@ -354,6 +402,7 @@ protected override bool Initialize()
         return false;
 
       RemoveInvalidWheels();
+      RemoveInvalidSupportGeometries();
 
       if ( m_wheels.Count == 0 ) {
         Debug.LogError( "Component: Track requires at least one wheel to initialize.", this );
@@ -389,6 +438,9 @@ protected override bool Initialize()
       foreach ( var wheel in Wheels )
         Native.add( wheel.Native );
 
+      foreach ( var geom in SupportGeometries )
+        Native.addSupportGroupId( geom.GetInitialized().NativeGeometry );
+
       if ( WidthVariation != null || ThicknessVariation != null )
         Native.initialize( new OnInitializeAdapter( Width, Thickness, WidthVariation, ThicknessVariation ) );
       else

AGXUnity/Model/TrackProperties.cs

@@ -37,6 +37,8 @@ protected override bool PerformMigration()
         HingeStiffnessRotational = new Vector3( convertCompliance( m_hingeComplianceRotational.x ), convertCompliance( m_hingeComplianceRotational.y ), 100.0f );
         HingeAttenuationRotational = new Vector3( convertDamping( m_hingeDampingRotational.x ), convertDamping( m_hingeDampingRotational.y ), 2.0f );
 
+        FullDoF = true;
+
         return true;
       }