void ConvertSpringJoint(LegacySpring joint)
{
var distanceRange = new FloatRange(joint.minDistance, joint.maxDistance).Sorted();
var constraint = new Constraint {
ConstrainedAxes = new bool3(true),
Type = ConstraintType.Linear,
Min = distanceRange.Min,
Max = distanceRange.Max,
SpringFrequency = 1f, // ?
SpringDamping = 0.1f // ?
};
var jointFrameA = BodyFrame.Identity;
jointFrameA.Position = joint.anchor;
var connectedEntity = GetPrimaryEntity(joint.connectedBody);
var isConnectedBodyConverted =
joint.connectedBody == null || connectedEntity != Entity.Null;
RigidTransform bFromBSource =
isConnectedBodyConverted ? RigidTransform.identity : Math.DecomposeRigidBodyTransform(joint.connectedBody.transform.localToWorldMatrix);
var jointFrameB = BodyFrame.Identity;
jointFrameB.Position = math.mul(bFromBSource, new float4(joint.connectedAnchor, 1f)).xyz;
var jointData = new PhysicsJoint
{
BodyAFromJoint = jointFrameA,
BodyBFromJoint = jointFrameB
};
jointData.SetConstraints(new FixedList128 <Constraint>
{
Length = 1,
[0] = constraint
});
m_EndJointConversionSystem.CreateJointEntity(joint, GetConstrainedBodyPair(joint), jointData);
}
PhysicsJoint CreateConfigurableJoint(
quaternion jointFrameOrientation,
LegacyJoint joint, bool3 linearLocks, bool3 linearLimited, SoftJointLimit linearLimit, SoftJointLimitSpring linearSpring, bool3 angularFree, bool3 angularLocks,
bool3 angularLimited, SoftJointLimit lowAngularXLimit, SoftJointLimit highAngularXLimit, SoftJointLimitSpring angularXLimitSpring, SoftJointLimit angularYLimit,
SoftJointLimit angularZLimit, SoftJointLimitSpring angularYZLimitSpring)
{
var constraints = new FixedList128 <Constraint>();
// TODO: investigate mapping PhysX spring and damping to Unity Physics SpringFrequency and SpringDamping
var springFrequency = Constraint.DefaultSpringFrequency;
var springDamping = Constraint.DefaultSpringDamping;
if (angularLimited[0])
{
constraints.Add(Constraint.Twist(0, math.radians(new FloatRange(-highAngularXLimit.limit, -lowAngularXLimit.limit).Sorted()), springFrequency, springDamping));
}
if (angularLimited[1])
{
constraints.Add(Constraint.Twist(1, math.radians(new FloatRange(-angularYLimit.limit, angularYLimit.limit).Sorted()), springFrequency, springDamping));
}
if (angularLimited[2])
{
constraints.Add(Constraint.Twist(2, math.radians(new FloatRange(-angularZLimit.limit, angularZLimit.limit).Sorted()), springFrequency, springDamping));
}
if (math.any(linearLimited))
{
var distanceRange = new FloatRange(-linearLimit.limit, linearLimit.limit).Sorted();
constraints.Add(new Constraint
{
ConstrainedAxes = linearLimited,
Type = ConstraintType.Linear,
Min = math.csum((int3)linearLimited) == 1 ? distanceRange.Min : 0f,
Max = distanceRange.Max,
SpringFrequency = springFrequency,
SpringDamping = springDamping
});
}
if (math.any(linearLocks))
{
constraints.Add(new Constraint
{
ConstrainedAxes = linearLocks,
Type = ConstraintType.Linear,
Min = 0,
Max = 0,
SpringFrequency = springFrequency,
SpringDamping = springDamping
});
}
if (math.any(angularLocks))
{
constraints.Add(new Constraint
{
ConstrainedAxes = angularLocks,
Type = ConstraintType.Angular,
Min = 0,
Max = 0,
SpringFrequency = springFrequency,
SpringDamping = springDamping
});
}
RigidTransform worldFromBodyA = Math.DecomposeRigidBodyTransform(joint.transform.localToWorldMatrix);
RigidTransform worldFromBodyB = joint.connectedBody == null
? RigidTransform.identity
: Math.DecomposeRigidBodyTransform(joint.connectedBody.transform.localToWorldMatrix);
var legacyWorldFromJointA = math.mul(
new RigidTransform(joint.transform.rotation, joint.transform.position),
new RigidTransform(jointFrameOrientation, joint.anchor)
);
var bodyAFromJoint = new BodyFrame(math.mul(math.inverse(worldFromBodyA), legacyWorldFromJointA));
var connectedEntity = GetPrimaryEntity(joint.connectedBody);
var isConnectedBodyConverted =
joint.connectedBody == null || connectedEntity != Entity.Null;
RigidTransform bFromA = isConnectedBodyConverted ? math.mul(math.inverse(worldFromBodyB), worldFromBodyA) : worldFromBodyA;
RigidTransform bFromBSource =
isConnectedBodyConverted ? RigidTransform.identity : worldFromBodyB;
var bodyBFromJoint = new BodyFrame
{
Axis = math.mul(bFromA.rot, bodyAFromJoint.Axis),
PerpendicularAxis = math.mul(bFromA.rot, bodyAFromJoint.PerpendicularAxis),
Position = math.mul(bFromBSource, new float4(joint.connectedAnchor, 1f)).xyz
};
var jointData = new PhysicsJoint
{
BodyAFromJoint = bodyAFromJoint,
BodyBFromJoint = bodyBFromJoint
};
jointData.SetConstraints(constraints);
return(jointData);
}
