Openplx vehicle update

AGXUnity/IO/OpenPLX/Errors.cs

@@ -212,9 +212,9 @@ public FileDoesNotExistError( string path )
 
   public class InvalidWheelChassisError : BaseError
   {
-    private openplx.Vehicles.Suspensions.Interactions.Mate m_suspension;
+    private openplx.Vehicles.Suspensions.SingleMate.Base m_suspension;
 
-    public InvalidWheelChassisError( openplx.Vehicles.Suspensions.Interactions.Mate suspension )
+    public InvalidWheelChassisError( openplx.Vehicles.Suspensions.SingleMate.Base suspension )
       : base( suspension, AgxUnityOpenPLXErrors.InvalidWheelChassis )
     {
       m_suspension = suspension;
@@ -225,9 +225,9 @@ public InvalidWheelChassisError( openplx.Vehicles.Suspensions.Interactions.Mate
 
   public class MissingWheelBodyError : BaseError
   {
-    private openplx.Vehicles.Suspensions.Interactions.Mate m_suspension;
+    private openplx.Vehicles.Suspensions.SingleMate.Base m_suspension;
 
-    public MissingWheelBodyError( openplx.Vehicles.Suspensions.Interactions.Mate suspension )
+    public MissingWheelBodyError( openplx.Vehicles.Suspensions.SingleMate.Base suspension )
       : base( suspension, AgxUnityOpenPLXErrors.MissingWheelBody )
     {
       m_suspension = suspension;
@@ -238,9 +238,9 @@ public MissingWheelBodyError( openplx.Vehicles.Suspensions.Interactions.Mate sus
 
   public class UnmappedWheelError : BaseError
   {
-    private openplx.Vehicles.Suspensions.Suspension m_wheel;
+    private openplx.Vehicles.Suspensions.SingleMate.Base m_wheel;
 
-    public UnmappedWheelError( openplx.Vehicles.Suspensions.Suspension wheel )
+    public UnmappedWheelError( openplx.Vehicles.Suspensions.SingleMate.Base wheel )
       : base( wheel, AgxUnityOpenPLXErrors.UnmappedWheel )
     {
       m_wheel = wheel;

AGXUnity/IO/OpenPLX/InteractionMapper.cs

@@ -47,7 +47,9 @@ public void MapMateConnector( MateConnector mc )
 
       // Since redirected MCs can be placed in other places than the unique location derived by their
       // names, we need to add some unique identifier to avoid name collisions in the hierarchy.
-      var mcObject = Data.CreateOpenPLXObject( mc.getName() + (mc is RedirectedMateConnector ? $"_rd_#{mc.To32BitFnv1aHash()}" : "") );
+      var mcObject = Data.CreateOpenPLXObject( mc.getName() );
+      if ( mc is RedirectedMateConnector )
+        mcObject.name = mcObject.name + $"_rd_#{mc.To32BitFnv1aHash()}";
       mcObject.AddComponent<ObserverFrame>();
       openplx.Core.Object owner = mc.getOwner();
       if ( mc is RedirectedMateConnector redirected )

AGXUnity/IO/OpenPLX/MappingUtils.cs

@@ -67,6 +67,13 @@ public static bool IsDefault( this openplx.Math.Quat quat )
     }
 
     public static uint To32BitFnv1aHash( this openplx.Core.Object obj ) => obj.getName().To32BitFnv1aHash();
+
+    public static bool HasTrait<T>( this openplx.Core.Object obj )
+      where T : class
+    {
+      string traitName = typeof( T ).FullName.Substring( 8 );
+      return obj.hasTrait( traitName );
+    }
   }
   public static class Utils
   {

AGXUnity/IO/OpenPLX/OpenPLXObject.cs

@@ -39,32 +39,49 @@ bool NeedsNativeMapping( openplx.Core.Object obj )
       };
     }
 
-    internal agx.Referenced FindCorrespondingNative( OpenPLX.OpenPLXRoot root, openplx.Core.Object obj ) => obj switch
+    internal agx.Referenced FindCorrespondingNative( OpenPLX.OpenPLXRoot root, openplx.Core.Object obj )
     {
-      Interactions.Lock => GetNativeConstraint().asLockJoint(),
-      Interactions.Hinge => GetNativeConstraint().asHinge(),
-      Interactions.Prismatic => GetNativeConstraint().asPrismatic(),
-      Interactions.Cylindrical => GetNativeConstraint().asCylindricalJoint(),
-      Interactions.Ball => GetNativeConstraint().asBallJoint(),
-      Interactions.Distance => GetNativeConstraint().asDistanceJoint(),
-      Interactions.RotationalRange => GetGeneric1DOFNative().getRange1D(),
-      Interactions.TorsionSpring => GetGeneric1DOFNative().getLock1D(),
-      Interactions.RotationalVelocityMotor => GetGeneric1DOFNative().getMotor1D(),
-      Interactions.TorqueMotor => GetGeneric1DOFNative().getMotor1D(),
-      Interactions.LinearRange => GetGeneric1DOFNative().getRange1D(),
-      Interactions.LinearSpring => GetGeneric1DOFNative().getLock1D(),
-      Interactions.LinearVelocityMotor => GetGeneric1DOFNative().getMotor1D(),
-      Interactions.ForceMotor => GetGeneric1DOFNative().getMotor1D(),
-      openplx.Physics.Geometries.ContactGeometry => gameObject.GetInitializedComponent<Shape>().NativeGeometry,
-      Interactions.MateConnector => gameObject.GetInitializedComponent<ObserverFrame>().Native,
-      openplx.Physics3D.Bodies.RigidBody => gameObject.GetInitializedComponent<RigidBody>().Native,
-      openplx.Terrain.Terrain => gameObject.GetInitializedComponent<MovableTerrain>().Native,
-      openplx.Terrain.Shovel => gameObject.GetInitializedComponent<DeformableTerrainShovel>().Native,
-      openplx.Sensors.SensorLogic => gameObject.GetInitializedComponent<LidarSensor>().Native,
-      openplx.Vehicles.Steering.Interactions.DualSuspensionSteering => gameObject.GetInitializedComponent<Steering>().Native,
-      openplx.Vehicles.Suspensions.Interactions.LinearSpringDamperMate => gameObject.GetInitializedComponent<WheelJoint>().Native,
-      _ => DefaultHandling( obj )
-    };
+      if ( obj.getOwner() is openplx.Vehicles.Suspensions.SingleMate.Base wj ) {
+        if ( obj == wj.range() )
+          return gameObject.GetInitializedComponent<WheelJoint>().GetController<RangeController>( WheelJoint.WheelDimension.Suspension ).Native;
+        else if ( obj == wj.mate() )
+          return gameObject.GetInitializedComponent<WheelJoint>().Native;
+      }
+
+      if ( obj.getOwner() is openplx.Vehicles.Steering.Kinematic.Base steer ) {
+        if ( obj == steer.interaction() )
+          return gameObject.GetInitializedComponent<Steering>().Native;
+      }
+
+      return obj switch
+      {
+        Interactions.Lock => GetNativeConstraint().asLockJoint(),
+        Interactions.Hinge => GetNativeConstraint().asHinge(),
+        Interactions.Prismatic => GetNativeConstraint().asPrismatic(),
+        Interactions.Cylindrical => GetNativeConstraint().asCylindricalJoint(),
+        Interactions.Ball => GetNativeConstraint().asBallJoint(),
+        Interactions.Distance => GetNativeConstraint().asDistanceJoint(),
+        Interactions.RotationalRange => GetGeneric1DOFNative().getRange1D(),
+        Interactions.TorsionSpring => GetGeneric1DOFNative().getLock1D(),
+        Interactions.RotationalVelocityMotor => GetGeneric1DOFNative().getMotor1D(),
+        Interactions.TorqueMotor => GetGeneric1DOFNative().getMotor1D(),
+        Interactions.LinearRange => GetGeneric1DOFNative().getRange1D(),
+        Interactions.LinearSpring => GetGeneric1DOFNative().getLock1D(),
+        Interactions.LinearVelocityMotor => GetGeneric1DOFNative().getMotor1D(),
+        Interactions.ForceMotor => GetGeneric1DOFNative().getMotor1D(),
+        openplx.Physics.Geometries.ContactGeometry => gameObject.GetInitializedComponent<Shape>().NativeGeometry,
+        Interactions.MateConnector => gameObject.GetInitializedComponent<ObserverFrame>().Native,
+        openplx.Physics3D.Bodies.RigidBody => gameObject.GetInitializedComponent<RigidBody>().Native,
+        openplx.Terrain.Terrain => gameObject.GetInitializedComponent<MovableTerrain>().Native,
+        openplx.Terrain.Shovel => gameObject.GetInitializedComponent<DeformableTerrainShovel>().Native,
+        openplx.Sensors.SensorLogic => gameObject.GetInitializedComponent<LidarSensor>().Native,
+        openplx.Vehicles.Steering.Kinematic.Base => gameObject.GetInitializedComponent<Steering>().Native,
+        openplx.Vehicles.Steering.Kinematic.Interactions.Base => gameObject.GetInitializedComponent<Steering>().Native,
+        openplx.Vehicles.Suspensions.SingleMate.Base => gameObject.GetInitializedComponent<WheelJoint>().Native,
+        openplx.Vehicles.Suspensions.SingleMate.Interactions.Base => gameObject.GetInitializedComponent<WheelJoint>().Native,
+        _ => DefaultHandling( obj )
+      };
+    }
 
     [field: SerializeField]
     [DisableInRuntimeInspector]

AGXUnity/IO/OpenPLX/OpenPLXRoot.cs

@@ -31,7 +31,7 @@ public string PrunedNativeName
           throw new System.NullReferenceException( "Cannot get the pruned name before the OpenPLX root has been initialized" );
         var prunedNativeName = Native.getName();
         if ( prunedNativeName.Contains( "." ) )
-          prunedNativeName = prunedNativeName[ ( prunedNativeName.IndexOf( "." ) + 1 ).. ];
+          prunedNativeName = prunedNativeName[ ( prunedNativeName.LastIndexOf( "." ) + 1 ).. ];
         return prunedNativeName;
       }
     }
@@ -107,7 +107,7 @@ protected override bool Initialize()
             continue;
           var native = openPLXObj.FindCorrespondingNative( this, obj );
           if ( native != null )
-            m_nativeMap.Add( new( decl, native ) );
+            m_nativeMap.Add( new( obj.getName(), native ) );
         }
       }
 

AGXUnity/IO/OpenPLX/OpenPLXUnityMapper.cs

@@ -127,10 +127,10 @@ private void MapSignals( Object obj, OpenPLXSignals signals, string prefix = ""
         sigInt.Enabled = sigInterface.enable();
         sigInt.Inputs = new List<InputTarget>();
         foreach ( var (inpName, input) in sigInterface.getEntries<openplx.Physics.Signals.Input>() )
-          sigInt.Inputs.Add( new InputTarget( sigInterface.getName() + "." + inpName, input ) );
+          sigInt.Inputs.Add( new InputTarget( prefix + "." + name + "." + inpName, input ) );
         sigInt.Outputs = new List<OutputSource>();
         foreach ( var (outName, output) in sigInterface.getEntries<openplx.Physics.Signals.Output>() )
-          sigInt.Outputs.Add( new OutputSource( sigInterface.getName() + "." + outName, output ) );
+          sigInt.Outputs.Add( new OutputSource( prefix + "." + name + "." + outName, output ) );
 
         signals.RegisterInterface( sigInt );
       }
@@ -946,20 +946,18 @@ void MapSystemPass4( openplx.Physics3D.System system )
       foreach ( var subSystem in system.getNonReferenceValues<openplx.Physics3D.System>() )
         MapSystemPass4( subSystem );
 
+      if ( system is openplx.Vehicles.Suspensions.SingleMate.Base suspension )
+        VehicleMapper.MapSingleMateSuspensionOnto( suspension, s );
+
       foreach ( var lidar in system.getNonReferenceValues<openplx.Sensors.LidarLogic>() )
         Utils.AddChild( s, SensorMapper.MapLidar( lidar ), Data.ErrorReporter, lidar );
 
       foreach ( var kinematicLock in system.getNonReferenceValues<openplx.Physics.KinematicLock>() )
         Utils.AddChild( s, MapKinematicLock( kinematicLock ), Data.ErrorReporter, kinematicLock );
 
-      foreach ( var interaction in system.getNonReferenceValues<openplx.Physics.Interactions.Interaction>() ) {
-        if ( !Utils.IsRuntimeMapped( interaction ) && interaction is not openplx.Vehicles.Steering.Interactions.DualSuspensionSteering ) {
-          if ( interaction is openplx.Vehicles.Suspensions.Interactions.Mate suspension )
-            Utils.AddChild( s, VehicleMapper.MapSuspension( suspension ), Data.ErrorReporter, suspension );
-          else
-            Utils.AddChild( s, InteractionMapper.MapInteraction( interaction, system ), Data.ErrorReporter, interaction );
-        }
-      }
+      foreach ( var interaction in system.getNonReferenceValues<openplx.Physics.Interactions.Interaction>() )
+        if ( !Utils.IsRuntimeMapped( interaction ) && !VehicleMapper.HandledInteraction( interaction ) )
+          Utils.AddChild( s, InteractionMapper.MapInteraction( interaction, system ), Data.ErrorReporter, interaction );
 
       foreach ( var contactModel in system.getNonReferenceValues<openplx.Physics.Interactions.SurfaceContact.Model>() )
         InteractionMapper.MapContactModel( contactModel );
@@ -987,8 +985,8 @@ void MapSystemPass5( openplx.Physics3D.System system )
       foreach ( var subSystem in system.getNonReferenceValues<openplx.Physics3D.System>() )
         MapSystemPass5( subSystem );
 
-      foreach ( var steering in system.getNonReferenceValues<openplx.Vehicles.Steering.Interactions.DualSuspensionSteering>() )
-        Utils.AddChild( s, VehicleMapper.MapSteering( steering ), Data.ErrorReporter, steering );
+      if ( system is openplx.Vehicles.Steering.Kinematic.Base steering )
+        VehicleMapper.MapSteeringOnto( steering, s );
 
       foreach ( var wheel in system.getNonReferenceValues<openplx.Vehicles.Wheels.ElasticWheel>() )
         VehicleMapper.MapElasticWheel( wheel );