Skip to content

Commit 26bc912

Browse files
micahpearlmanmicahpearlman
committed
Merge branch 'feature/lidar3d_publisher' into develop
2 parents c507a9d + 89c79ec commit 26bc912

32 files changed

+1508
-1948
lines changed

Editor/ZOImportZeroSim.cs renamed to Editor/ZOImportZeroSim.cs~

File renamed without changes.

‎Runtime/Scripts/Document/ZOSimDocumentRoot.cs‎

Lines changed: 0 additions & 400 deletions
Large diffs are not rendered by default.

‎Runtime/Scripts/Document/ZOSimOccurrence.cs‎

Lines changed: 1 addition & 904 deletions
Large diffs are not rendered by default.

‎Runtime/Scripts/Document/ZOURDFSerializationInterface.cs‎

Lines changed: 0 additions & 42 deletions
This file was deleted.

‎Runtime/Scripts/Physics/ZOFixedJoint.cs‎

Lines changed: 1 addition & 74 deletions
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@ namespace ZO.Physics {
2121
/// constrains the joint angle.
2222
/// </summary>
2323
[ExecuteAlways]
24-
public class ZOFixedJoint : MonoBehaviour, ZOSerializationInterface, ZOJointInterface {
24+
public class ZOFixedJoint : MonoBehaviour, ZOJointInterface {
2525

2626
[SerializeField] public UnityEngine.FixedJoint _fixedJoint;
2727

@@ -155,79 +155,6 @@ public JObject JSON {
155155
}
156156

157157

158-
/// <summary>
159-
/// Serializes the ZOFixedJoint to ZOSim JSON.
160-
/// </summary>
161-
/// <param name="documentRoot"></param>
162-
/// <param name="parent"></param>
163-
/// <returns></returns>
164-
public JObject Serialize(ZOSimDocumentRoot documentRoot, UnityEngine.Object parent = null) {
165-
// calculate the world anchor positions relative to the document root transform
166-
// BUGBUG: maybe from the base of the joint chain which is not necessarily the document root?
167-
Vector3 worldAnchor = this.transform.TransformPoint(UnityFixedJoint.anchor);
168-
worldAnchor = documentRoot.transform.InverseTransformPoint(worldAnchor);
169-
170-
Vector3 worldConnectedAnchor = this.transform.TransformPoint(UnityFixedJoint.connectedAnchor);
171-
worldConnectedAnchor = documentRoot.transform.InverseTransformPoint(worldConnectedAnchor);
172-
173-
174-
JObject json = new JObject(
175-
new JProperty("name", Name),
176-
new JProperty("type", Type),
177-
new JProperty("anchor", ZOSimDocumentRoot.ToJSON(UnityFixedJoint.anchor)),
178-
new JProperty("world_anchor", ZOSimDocumentRoot.ToJSON(worldAnchor)),
179-
new JProperty("connected_anchor", ZOSimDocumentRoot.ToJSON(UnityFixedJoint.connectedAnchor)),
180-
new JProperty("world_connected_anchor", ZOSimDocumentRoot.ToJSON(worldConnectedAnchor))
181-
);
182-
183-
if (UnityFixedJoint.connectedBody) {
184-
ZOSimOccurrence connected_occurrence = UnityFixedJoint.connectedBody.gameObject.GetComponent<ZOSimOccurrence>();
185-
186-
if (connected_occurrence) {
187-
json["connected_occurrence"] = connected_occurrence.Name;
188-
} else {
189-
Debug.LogWarning("WARNING: Could not get connected occurrence for ZOFixedJoint: " + Name + "\nPerhaps there is a missing ZOSimOccurrence?");
190-
}
191-
} else {
192-
Debug.LogWarning("WARNING: Could not get connected occurrence for ZOFixedJoint: " + Name);
193-
}
194-
195-
ZOSimOccurrence parent_occurrence = GetComponent<ZOSimOccurrence>();
196-
if (parent_occurrence) {
197-
json["parent_occurrence"] = parent_occurrence.Name;
198-
}
199-
200-
_json = json;
201-
202-
return json;
203-
}
204-
205-
206-
public void Deserialize(ZOSimDocumentRoot documentRoot, JObject json) {
207-
// Assert.Equals(json["type"].Value<string>() == Type);
208-
209-
_json = json;
210-
Name = json.ValueOrDefault("name", Name);
211-
UnityFixedJoint.anchor = json.ToVector3OrDefault("anchor", UnityFixedJoint.anchor);
212-
UnityFixedJoint.connectedAnchor = json.ToVector3OrDefault("connected_anchor", UnityFixedJoint.connectedAnchor);
213-
214-
215-
216-
// find connected body. this likely will need to be done post LoadFromJSON as it may
217-
// not be created yet.
218-
documentRoot.OnPostDeserializationNotification((docRoot) => {
219-
if (JSON.ContainsKey("connected_occurrence")) {
220-
ZOSimOccurrence connectedOccurrence = docRoot.GetOccurrence(JSON["connected_occurrence"].Value<string>());
221-
if (connectedOccurrence) {
222-
UnityFixedJoint.connectedBody = connectedOccurrence.GetComponent<Rigidbody>();
223-
} else {
224-
Debug.LogWarning("WARNING: ZOFixedJoint failed to find connected occurrence: " + JSON["connected_occurrence"].Value<string>());
225-
}
226-
227-
}
228-
});
229-
230-
}
231158
#endregion
232159

233160
}

‎Runtime/Scripts/Physics/ZOHingeJoint.cs‎

Lines changed: 1 addition & 131 deletions
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,7 @@ namespace ZO.Physics {
2222
/// constrains the joint angle.
2323
/// </summary>
2424
[ExecuteAlways]
25-
public class ZOHingeJoint : MonoBehaviour, ZOSerializationInterface, ZOJointInterface {
25+
public class ZOHingeJoint : MonoBehaviour, ZOJointInterface {
2626

2727
public Rigidbody _connectedBody;
2828
public Vector3 _anchor = Vector3.zero;
@@ -338,136 +338,6 @@ public JObject JSON {
338338
}
339339

340340

341-
/// <summary>
342-
/// Serializes the ZOHingeJoint to ZOSim JSON.
343-
/// </summary>
344-
/// <param name="documentRoot"></param>
345-
/// <param name="parent"></param>
346-
/// <returns></returns>
347-
public JObject Serialize(ZOSimDocumentRoot documentRoot, UnityEngine.Object parent = null) {
348-
// calculate the world anchor positions relative to the document root transform
349-
// BUGBUG: maybe from the base of the joint chain which is not necessarily the document root?
350-
Vector3 worldAnchor = this.transform.TransformPoint(UnityHingeJoint.anchor);
351-
worldAnchor = documentRoot.transform.InverseTransformPoint(worldAnchor);
352-
353-
Vector3 worldConnectedAnchor = this.transform.TransformPoint(UnityHingeJoint.connectedAnchor);
354-
worldConnectedAnchor = documentRoot.transform.InverseTransformPoint(worldConnectedAnchor);
355-
356-
Vector3 worldAxis = this.transform.rotation * UnityHingeJoint.axis;
357-
worldAxis = documentRoot.transform.InverseTransformDirection(worldAxis);
358-
359-
JObject json = new JObject(
360-
new JProperty("name", Name),
361-
new JProperty("type", Type),
362-
new JProperty("anchor", ZOSimDocumentRoot.ToJSON(UnityHingeJoint.anchor)),
363-
new JProperty("world_anchor", ZOSimDocumentRoot.ToJSON(worldAnchor)),
364-
new JProperty("axis", ZOSimDocumentRoot.ToJSON(UnityHingeJoint.axis)),
365-
new JProperty("world_axis", ZOSimDocumentRoot.ToJSON(worldAxis)),
366-
new JProperty("connected_anchor", ZOSimDocumentRoot.ToJSON(UnityHingeJoint.connectedAnchor)),
367-
new JProperty("world_connected_anchor", ZOSimDocumentRoot.ToJSON(worldConnectedAnchor)),
368-
new JProperty("use_spring", UnityHingeJoint.useSpring),
369-
new JProperty("spring", new JObject(
370-
new JProperty("spring", UnityHingeJoint.spring.spring),
371-
new JProperty("damper", UnityHingeJoint.spring.damper),
372-
new JProperty("target_position", UnityHingeJoint.spring.targetPosition)
373-
)),
374-
new JProperty("use_motor", UnityHingeJoint.useMotor),
375-
new JProperty("motor", new JObject(
376-
new JProperty("target_velocity", UnityHingeJoint.motor.targetVelocity),
377-
new JProperty("force", UnityHingeJoint.motor.force),
378-
new JProperty("free_spin", UnityHingeJoint.motor.freeSpin)
379-
)),
380-
new JProperty("use_limits", UnityHingeJoint.useLimits),
381-
new JProperty("limits", new JObject(
382-
new JProperty("min", UnityHingeJoint.limits.min),
383-
new JProperty("max", UnityHingeJoint.limits.max),
384-
new JProperty("bounciness", UnityHingeJoint.limits.bounciness),
385-
new JProperty("bounce_min_velocity", UnityHingeJoint.limits.bounceMinVelocity),
386-
new JProperty("contact_distance", UnityHingeJoint.limits.contactDistance)
387-
))
388-
);
389-
390-
if (UnityHingeJoint.connectedBody) {
391-
ZOSimOccurrence connected_occurrence = UnityHingeJoint.connectedBody.gameObject.GetComponent<ZOSimOccurrence>();
392-
393-
if (connected_occurrence) {
394-
json["connected_occurrence"] = connected_occurrence.Name;
395-
} else {
396-
Debug.LogWarning("WARNING: Could not get connected occurrence for ZOHingeJoint: " + Name + "\nPerhaps there is a missing ZOSimOccurrence?");
397-
}
398-
} else {
399-
Debug.LogWarning("WARNING: Could not get connected occurrence for ZOHingeJoint: " + Name);
400-
}
401-
402-
ZOSimOccurrence parent_occurrence = GetComponent<ZOSimOccurrence>();
403-
if (parent_occurrence) {
404-
json["parent_occurrence"] = parent_occurrence.Name;
405-
}
406-
407-
_json = json;
408-
409-
return json;
410-
}
411-
412-
413-
public void Deserialize(ZOSimDocumentRoot documentRoot, JObject json) {
414-
// Assert.Equals(json["type"].Value<string>() == Type);
415-
416-
_json = json;
417-
Name = json.ValueOrDefault("name", Name);
418-
UnityHingeJoint.anchor = json.ToVector3OrDefault("anchor", UnityHingeJoint.anchor);
419-
UnityHingeJoint.axis = json.ToVector3OrDefault("axis", UnityHingeJoint.axis);
420-
UnityHingeJoint.connectedAnchor = json.ToVector3OrDefault("connected_anchor", UnityHingeJoint.connectedAnchor);
421-
UnityHingeJoint.useSpring = json.ValueOrDefault<bool>("use_spring", UnityHingeJoint.useSpring);
422-
423-
424-
if (json.ContainsKey("spring")) {
425-
JObject springJSON = json["spring"].Value<JObject>();
426-
JointSpring spring = UnityHingeJoint.spring;
427-
spring.spring = springJSON.ValueOrDefault<float>("spring", spring.spring);
428-
spring.damper = springJSON.ValueOrDefault<float>("damper", spring.damper);
429-
spring.targetPosition = springJSON.ValueOrDefault<float>("target_position", spring.targetPosition);
430-
UnityHingeJoint.spring = spring;
431-
432-
}
433-
434-
UnityHingeJoint.useMotor = json.ValueOrDefault<bool>("use_motor", UnityHingeJoint.useMotor);
435-
if (json.ContainsKey("use_motor")) {
436-
JObject motorJSON = json["motor"].Value<JObject>();
437-
JointMotor motor = UnityHingeJoint.motor;
438-
motor.targetVelocity = motorJSON.ValueOrDefault<float>("target_velocity", motor.targetVelocity);
439-
motor.force = motorJSON.ValueOrDefault<float>("force", motor.force);
440-
motor.freeSpin = motorJSON.ValueOrDefault<bool>("free_spin", motor.freeSpin);
441-
UnityHingeJoint.motor = motor;
442-
}
443-
444-
UnityHingeJoint.useLimits = json.ValueOrDefault<bool>("use_limits", UnityHingeJoint.useLimits);
445-
if (json.ContainsKey("limits")) {
446-
JObject limitsJSON = json["limits"].Value<JObject>();
447-
JointLimits limits = UnityHingeJoint.limits;
448-
limits.min = limitsJSON.ValueOrDefault<float>("min", limits.min);
449-
limits.max = limitsJSON.ValueOrDefault<float>("max", limits.max);
450-
limits.bounciness = limitsJSON.ValueOrDefault<float>("bounciness", limits.bounciness);
451-
limits.bounceMinVelocity = limitsJSON.ValueOrDefault<float>("bounce_min_velocity", UnityHingeJoint.limits.bounceMinVelocity);
452-
limits.contactDistance = limitsJSON.ValueOrDefault<float>("contact_distance", limits.contactDistance);
453-
UnityHingeJoint.limits = limits;
454-
}
455-
456-
// find connected body. this likely will need to be done post LoadFromJSON as it may
457-
// not be created yet.
458-
documentRoot.OnPostDeserializationNotification((docRoot) => {
459-
if (JSON.ContainsKey("connected_occurrence")) {
460-
ZOSimOccurrence connectedOccurrence = docRoot.GetOccurrence(JSON["connected_occurrence"].Value<string>());
461-
if (connectedOccurrence) {
462-
UnityHingeJoint.connectedBody = connectedOccurrence.GetComponent<Rigidbody>();
463-
} else {
464-
Debug.LogWarning("WARNING: ZOHingeJoint failed to find connected occurrence: " + JSON["connected_occurrence"].Value<string>());
465-
}
466-
467-
}
468-
});
469-
470-
}
471341
#endregion
472342

473343
}

0 commit comments

Comments
 (0)