public override void Create(EntityManager entityManager, GameObjectConversionSystem conversionSystem)
{
UpdateAuto();
conversionSystem.World.GetOrCreateSystem <EndJointConversionSystem>().CreateJointEntity(
this,
GetConstrainedBodyPair(conversionSystem),
PhysicsJoint.CreatePrismatic(
new BodyFrame
{
Axis = AxisLocal,
PerpendicularAxis = PerpendicularAxisLocal,
Position = PositionLocal
},
new BodyFrame
{
Axis = AxisInConnectedEntity,
PerpendicularAxis = PerpendicularAxisInConnectedEntity,
Position = PositionInConnectedEntity
},
new FloatRange(MinDistanceOnAxis, MaxDistanceOnAxis)
)
);
}
public override void CreateScene(SoftJointDemoScene sceneSettings)
{
// Make soft ball and sockets
{
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.2f, 0.2f, 0.2f),
BevelRadius = 0.0f
});
CreatedColliders.Add(collider);
// Make joints with different spring frequency. The leftmost joint should oscillate at 0.5hz, the next at 1hz, the next at 1.5hz, etc.
for (int i = 0; i < 10; i++)
{
// Create a body
float3 position = new float3((i - 4.5f) * 1.0f, 0, 0);
float3 velocity = new float3(0, -10.0f, 0);
Entity body = CreateDynamicBody(
position, quaternion.identity, collider, velocity, float3.zero, 1.0f);
// Create the ball and socket joint
float3 pivotLocal = float3.zero;
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
var jointData = PhysicsJoint.CreateBallAndSocket(pivotLocal, pivotInWorld);
var constraints = jointData.GetConstraints();
var constraint = constraints[0];
// Choose a small damping value instead of 0 to improve stability of the joints
constraint.SpringDamping = 0.05f;
constraint.SpringFrequency = 0.5f * (float)(i + 1);
constraints[0] = constraint;
jointData.SetConstraints(constraints);
CreateJoint(jointData, body, Entity.Null);
}
}
//Make soft limited hinges
{
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.4f, 0.1f, 0.6f),
BevelRadius = 0.0f
});
CreatedColliders.Add(collider);
// First row has soft limit with hard hinge + pivot, second row has everything soft
for (int j = 0; j < 2; j++)
{
for (int i = 0; i < 10; i++)
{
// Create a body
float3 position = new float3((i - 4.5f) * 1.0f, 0, (j + 1) * 3.0f);
float3 velocity = new float3(0, -10.0f, 0);
float3 angularVelocity = new float3(0, 0, -10.0f);
Entity body = CreateDynamicBody(
position, quaternion.identity, collider, velocity, angularVelocity, 1.0f);
// Create the limited hinge joint
float3 pivotLocal = new float3(0, 0, 0);
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
float3 axisLocal = new float3(0, 0, 1);
float3 axisInWorld = axisLocal;
float3 perpendicularLocal = new float3(0, 1, 0);
float3 perpendicularInWorld = perpendicularLocal;
var frameLocal = new BodyFrame {
Axis = axisLocal, PerpendicularAxis = perpendicularLocal, Position = pivotLocal
};
var frameWorld = new BodyFrame {
Axis = axisInWorld, PerpendicularAxis = perpendicularInWorld, Position = pivotInWorld
};
var jointData = PhysicsJoint.CreateLimitedHinge(frameLocal, frameWorld, default);
// First constraint is the limit, next two are the hinge and pivot
var constraints = jointData.GetConstraints();
for (int k = 0; k < 1 + 2 * j; k++)
{
var constraint = constraints[k];
// Choose a small damping value instead of 0 to improve stability of the joints
constraint.SpringDamping = 0.05f;
constraint.SpringFrequency = 0.5f * (i + 1);
constraints[k] = constraint;
}
jointData.SetConstraints(constraints);
CreateJoint(jointData, body, Entity.Null);
}
}
}
// Make a soft prismatic
{
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.2f, 0.2f, 0.2f),
BevelRadius = 0.0f
});
CreatedColliders.Add(collider);
// Create a body
float3 position = new float3(0, 0, 9.0f);
float3 velocity = new float3(50.0f, 0, 0);
Entity body = CreateDynamicBody(
position, quaternion.identity, collider, velocity, float3.zero, 1.0f);
// Create the prismatic joint
float3 pivotLocal = float3.zero;
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
float3 axisLocal = new float3(1, 0, 0);
float3 axisInWorld = axisLocal;
float3 perpendicularLocal = new float3(0, 1, 0);
float3 perpendicularInWorld = perpendicularLocal;
var localFrame = new BodyFrame {
Axis = axisLocal, PerpendicularAxis = perpendicularLocal, Position = pivotLocal
};
var worldFrame = new BodyFrame {
Axis = axisInWorld, PerpendicularAxis = perpendicularInWorld, Position = pivotInWorld
};
var jointData = PhysicsJoint.CreatePrismatic(localFrame, worldFrame, new FloatRange(-2f, 2f));
var constraints = jointData.GetConstraints();
var constraint = constraints[0];
// Choose a small damping value instead of 0 to improve stability of the joints
constraint.SpringDamping = 0.05f;
constraint.SpringFrequency = 5.0f;
constraints[0] = constraint;
jointData.SetConstraints(constraints);
CreateJoint(jointData, body, Entity.Null);
}
}