public override void OnApplyForceAndTorque(float timestep)
{
if (Input.GetKey(KeyCode.UpArrow))
{
body.GetBody().AddForce(force.x * body.m_mass, force.y * body.m_mass, force.z * body.m_mass);
}
else if (Input.GetKey(KeyCode.DownArrow))
{
body.GetBody().AddForce(-force.x * body.m_mass, -force.y * body.m_mass, -force.z * body.m_mass);
}
}
public override void OnApplyForceAndTorque(float timestep)
{
if (timer > 0)
{
body.GetBody().AddForce(force.x, force.y, force.z);
}
}
public override void Create()
{
NewtonBody child = GetComponent <NewtonBody>();
dMatrix matrix = Utils.ToMatrix(m_posit, Quaternion.Euler(m_rotation));
IntPtr otherBody = (m_otherBody != null) ? m_otherBody.GetBody().GetBody() : new IntPtr(0);
m_joint = new dNewtonJointBallAndSocket(matrix, child.GetBody().GetBody(), otherBody);
Stiffness = m_stiffness;
}
public override void InitJoint()
{
NewtonBody child = GetComponent <NewtonBody>();
dMatrix matrix = Utils.ToMatrix(m_posit, Quaternion.Euler(m_rotation));
IntPtr otherBody = (m_otherBody != null) ? m_otherBody.GetBody().GetBody() : new IntPtr(0);
m_joint = new dNewtonJointDoubleHinge(matrix, child.GetBody().GetBody(), otherBody);
Stiffness = m_stiffness;
EnableLimits_0 = m_enableLimits_0;
}
public override void Create()
{
NewtonBody child = GetComponent <NewtonBody>();
dMatrix matrix = Utils.ToMatrix(m_posit, Quaternion.Euler(m_rotation));
IntPtr otherBody = (m_otherBody != null) ? m_otherBody.GetBody().GetBody() : new IntPtr(0);
m_joint = new dNewtonJointSlider(matrix, child.GetBody().GetBody(), otherBody);
Stiffness = m_stiffness;
EnableLimits = m_enableLimits;
SetSpringDamper = m_setSpringDamper;
}
public override void Create()
{
NewtonBody child = GetComponent <NewtonBody>();
dMatrix matrix = Utils.ToMatrix(m_posit, Quaternion.Euler(m_rotation));
IntPtr otherBody = (m_otherBody != null) ? m_otherBody.GetBody().GetBody() : new IntPtr(0);
m_joint = new dNewtonJointSliderActuator(matrix, child.GetBody().GetBody(), otherBody);
Speed = m_speed;
MaxForce = m_maxForce;
TargetPosition = m_targetPosition;
}
public override void Create()
{
NewtonBody child = GetComponent <NewtonBody>();
dMatrix matrix = Utils.ToMatrix(m_posit, Quaternion.Euler(m_rotation));
IntPtr otherBody = (m_otherBody != null) ? m_otherBody.GetBody().GetBody() : new IntPtr(0);
m_joint = new dNewtonJointHingeActuator(matrix, child.GetBody().GetBody(), otherBody);
TargetAngle = m_targetAngle;
AngularRate = m_angularRate;
MaxTorque = m_maxTorque;
}
public override void Create()
{
NewtonBody child = GetComponent <NewtonBody>();
Matrix4x4 localMatrix = Matrix4x4.identity;
localMatrix.SetTRS(m_posit, Quaternion.Euler(m_rotation), Vector3.one);
IntPtr otherBody = (m_otherBody != null) ? m_otherBody.GetBody().GetBody() : new IntPtr(0);
Vector3 pin = localMatrix.GetColumn(0);
dVector normal = new dVector(pin.x, pin.y, pin.z, 0.0f);
dVector posit = new dVector(m_posit.x, m_posit.y, m_posit.z, 1.0f);
m_joint = new dNewtonJointPlane3DOF(posit, normal, child.GetBody().GetBody(), otherBody);
Stiffness = m_stiffness;
}
public override void InitJoint()
{
if (initialized)
{
return;
}
NewtonBody child = GetComponent <NewtonBody>();
dMatrix matrix = Utils.ToMatrix(m_posit, Quaternion.Euler(m_rotation));
IntPtr otherBody = (m_otherBody != null) ? m_otherBody.GetBody().GetBody() : new IntPtr(0);
m_joint = new dNewtonJointHinge(matrix, child.GetBody().GetBody(), otherBody);
Stiffness = m_stiffness;
EnableLimits = m_enableLimits;
SetSpringDamper = m_setSpringDamper;
initialized = true;
}
public override void Create()
{
Matrix4x4 localMatrix0 = Matrix4x4.identity;
Matrix4x4 localMatrix1 = Matrix4x4.identity;
localMatrix0.SetTRS(Vector3.zero, Quaternion.Euler(m_rotation), Vector3.one);
localMatrix1.SetTRS(Vector3.zero, Quaternion.Euler(m_parentRotation), Vector3.one);
Vector4 childPin = localMatrix0.GetColumn(0);
Vector4 parentPin = localMatrix1.GetColumn(0);
NewtonBody child = GetComponent <NewtonBody>();
IntPtr otherBody = (m_otherBody != null) ? m_otherBody.GetBody().GetBody() : new IntPtr(0);
dVector childPin_ = new dVector(childPin.x, childPin.y, childPin.z, 0.0f);
dVector parentPin_ = new dVector(parentPin.x, parentPin.y, parentPin.z, 0.0f);
m_joint = new dNewtonJointGear(m_gearRatio, childPin_, parentPin_, child.GetBody().GetBody(), otherBody);
}
public override void InitJoint()
{
Matrix4x4 localMatrix0 = Matrix4x4.identity;
Matrix4x4 localMatrix1 = Matrix4x4.identity;
Matrix4x4 localMatrix2 = Matrix4x4.identity;
localMatrix0.SetTRS(Vector3.zero, Quaternion.Euler(m_rotation), Vector3.one);
localMatrix1.SetTRS(Vector3.zero, Quaternion.Euler(m_parentRotation), Vector3.one);
localMatrix2.SetTRS(Vector3.zero, Quaternion.Euler(m_referenceRotation), Vector3.one);
Vector4 childPin = localMatrix0.GetColumn(0);
Vector4 parentPin = localMatrix1.GetColumn(0);
Vector4 referencePin = localMatrix2.GetColumn(0);
NewtonBody child = GetComponent <NewtonBody>();
IntPtr otherBody = (m_otherBody != null) ? m_otherBody.GetBody().GetBody() : new IntPtr(0);
IntPtr referenceBody = (m_referenceBody != null) ? m_referenceBody.GetBody().GetBody() : new IntPtr(0);
dVector dChildPin = new dVector(childPin.x, childPin.y, childPin.z, 0.0f);
dVector dParentPin = new dVector(parentPin.x, parentPin.y, parentPin.z, 0.0f);
dVector dReferencePin = new dVector(referencePin.x, referencePin.y, referencePin.z, 0.0f);
m_joint = new dNewtonJointDifferentialGear(m_gearRatio, dChildPin, dParentPin, dReferencePin, child.GetBody().GetBody(), otherBody, referenceBody);
}