public override void CreateScene(CreateSimpleTerrainScene sceneSettings)
{
int2 size = new int2(2, 2);
float3 scale = new float3(10, 1.0f, 10);
NativeArray <float> heights = new NativeArray <float>(size.x * size.y * UnsafeUtility.SizeOf <float>(), Allocator.Temp);
{
heights[0] = 0;
heights[1] = 0;
heights[2] = 0;
heights[3] = 0;
}
var collider = TerrainCollider.Create(heights, size, scale, TerrainCollider.CollisionMethod.VertexSamples);
CreatedColliders.Add(collider);
float3 position = new float3(15.0f, -1.0f, -5.0f);
CreateTerrainBody(position, collider);
// Mark this one CollisionResponse.None
collider = TerrainCollider.Create(heights, size, scale, TerrainCollider.CollisionMethod.VertexSamples);
collider.As <TerrainCollider>().Material.CollisionResponse = CollisionResponsePolicy.None;
CreatedColliders.Add(collider);
position = new float3(15.0f, -1.0f, 10.0f);
CreateTerrainBody(position, collider);
}
public override void CreateScene(CompoundDemoScene sceneSettings)
{
// // Floor
// {
// BlobAssetReference<Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new float3(0, -0.1f, 0), Quaternion.identity, new float3(10.0f, 0.1f, 10.0f), 0.05f);
// CreatedColliders.Add(collider);
// CreateStaticBody(float3.zero, quaternion.identity, collider);
// }
// Dynamic compound
{
var box = new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(1),
BevelRadius = 0.05f
};
var sphere = new SphereGeometry
{
Center = float3.zero,
Radius = 0.5f
};
var children = new NativeArray <CompoundCollider.ColliderBlobInstance>(3, Allocator.Temp)
{
[0] = new CompoundCollider.ColliderBlobInstance
{
CompoundFromChild = new RigidTransform(quaternion.identity, new float3(-1, 0, 0)),
Collider = Unity.Physics.BoxCollider.Create(box)
},
[1] = new CompoundCollider.ColliderBlobInstance
{
CompoundFromChild = RigidTransform.identity,
Collider = Unity.Physics.SphereCollider.Create(sphere)
},
[2] = new CompoundCollider.ColliderBlobInstance
{
CompoundFromChild = new RigidTransform(quaternion.identity, new float3(1, 0, 0)),
Collider = Unity.Physics.BoxCollider.Create(box)
}
};
foreach (var child in children)
{
CreatedColliders.Add(child.Collider);
}
BlobAssetReference <Unity.Physics.Collider> collider = CompoundCollider.Create(children);
CreatedColliders.Add(collider);
children.Dispose();
CreateDynamicBody(new float3(0, 1, 0), quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
}
}
public override void CreateScene(InvalidPhysicsJointExcludeDemoScene sceneSettings)
{
float colliderSize = 0.25f;
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(colliderSize),
BevelRadius = 0.0f
});
CreatedColliders.Add(collider);
float timeToSwap = sceneSettings.TimeToSwap;
var bodyAPos = new float3(2f, 5.0f, 2);
var bodyBPos = new float3(2f, 6.0f, 2);
// Add constrained dynamic/dynamic body pair that will have their bodies excluded
bool buildThisSection = true;
if (buildThisSection)
{
bodyAPos += new float3(1, 0, 0);
bodyBPos += new float3(1, 0, 0);
// Create a body
Entity bodyA = CreateDynamicBody(bodyAPos, quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
Entity bodyB = CreateDynamicBody(bodyBPos, quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
for (int i = 0; i < 2; i++)
{
// Create the joint
var joint = PhysicsJoint.CreateBallAndSocket(new float3(0, colliderSize, 0), new float3(0, -colliderSize, 0));
var jointEntity = CreateJoint(joint, bodyA, bodyB);
var pair = EntityManager.GetComponentData <PhysicsConstrainedBodyPair>(jointEntity);
pair.EnableCollision = 1;
EntityManager.SetComponentData(jointEntity, pair);
}
// add exclude components.
EntityManager.AddComponentData(bodyA, new InvalidPhysicsJointExcludeBodies {
});
EntityManager.AddComponentData(bodyA, new InvalidPhysicsJointExcludeTimerEvent {
TimeLimit = timeToSwap, Timer = timeToSwap
});
EntityManager.AddComponentData(bodyB, new InvalidPhysicsJointExcludeBodies {
});
EntityManager.AddComponentData(bodyB, new InvalidPhysicsJointExcludeTimerEvent {
TimeLimit = timeToSwap, Timer = timeToSwap
});
}
}
public override void CreateScene(RagdollGridDemoScene sceneSettings)
{
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.2f, 1.0f, 0.2f),
BevelRadius = 0.0f
});
CreatedColliders.Add(collider);
// Make some ragdoll joints
for (int i = 0; i < 10; i++)
{
// Create a body
Entity body = CreateDynamicBody(
new float3((i - 4.5f) * 1.0f, 0, 0), quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
// Create the ragdoll joint
float3 pivotLocal = new float3(0, 0.5f, 0);
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
float3 axisLocal = new float3(0, 1, 0);
float3 perpendicularLocal = new float3(0, 0, 1);
quaternion worldFromLocal = Quaternion.AngleAxis((i - 4.5f) * 20.0f, new float3(0, 0, 1));
float3 axisWorld = math.mul(worldFromLocal, axisLocal);
float3 perpendicularWorld = math.mul(worldFromLocal, perpendicularLocal);
float maxConeAngle = (float)math.PI / 4.0f;
var perpendicularAngle = new FloatRange(-math.PI / 2f, math.PI / 2f);
var twistAngle = new FloatRange(-math.PI / 8f, math.PI / 8f);
var localFrame = new BodyFrame {
Axis = axisLocal, PerpendicularAxis = perpendicularLocal, Position = pivotLocal
};
var worldFrame = new BodyFrame {
Axis = axisWorld, PerpendicularAxis = perpendicularWorld, Position = pivotInWorld
};
PhysicsJoint.CreateRagdoll(localFrame, worldFrame, maxConeAngle, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1);
CreateJoint(ragdoll0, body, Entity.Null);
CreateJoint(ragdoll1, body, Entity.Null);
}
}
public override void CreateScene(InvalidPhysicsJointDemoScene sceneSettings)
{
float colliderSize = 0.25f;
BlobAssetReference <Collider> collider = BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(colliderSize),
BevelRadius = 0.0f
});
CreatedColliders.Add(collider);
// Add a dynamic body constrained to the world that will die
// Once the dynamic body is destroyed the joint will be invalid
{
// Create a dynamic body
float3 pivotWorld = new float3(-2f, 0, 0);
Entity body = CreateDynamicBody(pivotWorld, quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
// create extra dynamic body to trigger Havok sync after the first one is destroyed
CreateDynamicBody(pivotWorld * 2.0f, quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
// add timeout on dynamic body after 15 frames.
EntityManager.AddComponentData(body, new LifeTime {
Value = 15
});
// Create the joint
float3 pivotLocal = float3.zero;
var joint = PhysicsJoint.CreateBallAndSocket(pivotLocal, pivotWorld);
var jointEntity = CreateJoint(joint, body, Entity.Null);
// add timeout on joint entity after 30 frames.
EntityManager.AddComponentData(jointEntity, new LifeTime {
Value = 30
});
}
// Add two static bodies constrained together
// The joint is invalid immediately
{
// Create a body
Entity bodyA = CreateStaticBody(new float3(0, 0.0f, 0), quaternion.identity, collider);
Entity bodyB = CreateStaticBody(new float3(0, 1.0f, 0), quaternion.identity, collider);
// Create the joint
float3 pivotLocal = float3.zero;
var joint = PhysicsJoint.CreateBallAndSocket(pivotLocal, pivotLocal);
var jointEntity = CreateJoint(joint, bodyA, bodyB);
// add timeout on joint entity after 15 frames.
EntityManager.AddComponentData(jointEntity, new LifeTime {
Value = 15
});
}
// Add two dynamic bodies constrained together with 0 dimension
{
// Create a body
Entity bodyA = CreateDynamicBody(new float3(0, 5.0f, 0), quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
Entity bodyB = CreateDynamicBody(new float3(0, 6.0f, 0), quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
// Create the joint
var joint = PhysicsJoint.CreateLimitedDOF(RigidTransform.identity, new bool3(false), new bool3(false));
CreateJoint(joint, bodyA, bodyB);
}
}
private void CreateRagdoll(Mesh torsoMesh, Mesh renderMesh,
float3 positionOffset, quaternion rotationOffset, float3 initialVelocity,
int ragdollIndex = 1, bool internalCollisions = false, float rangeGain = 1.0f)
{
var entities = new NativeList <Entity>(Allocator.Temp);
var rangeModifier = new float2(math.max(0, math.min(rangeGain, 1)));
// Head
float headRadius = 0.1f;
float3 headPosition = new float3(0, 1.8f, headRadius);
Entity head;
{
CollisionFilter filter = internalCollisions ? layerFilter(layer.Head, layer.Torso) : groupFilter(-ragdollIndex);
BlobAssetReference <Collider> headCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(0, 0, 0),
Vertex1 = new float3(0, 0, headRadius / 4),
Radius = headRadius
}, filter);
CreatedColliders.Add(headCollider);
head = CreateDynamicBody(headPosition, quaternion.identity, headCollider, float3.zero, float3.zero, 5.0f);
}
entities.Add(head);
// Torso
float3 torsoSize;
float3 torsoPosition;
Entity torso;
{
//UnityEngine.Mesh torsoMesh = (UnityEngine.Mesh)Resources.Load("torso", typeof(UnityEngine.Mesh));
torsoSize = torsoMesh.bounds.size;
torsoPosition = headPosition - new float3(0, headRadius * 3.0f / 4.0f + torsoSize.y, 0);
CollisionFilter filter = internalCollisions ? layerFilter(layer.Torso, layer.Thigh | layer.Head | layer.UpperArm | layer.Pelvis) : groupFilter(-ragdollIndex);
NativeArray <float3> points = new NativeArray <float3>(torsoMesh.vertices.Length, Allocator.TempJob);
for (int i = 0; i < torsoMesh.vertices.Length; i++)
{
points[i] = torsoMesh.vertices[i];
}
BlobAssetReference <Collider> collider = ConvexCollider.Create(
points, ConvexHullGenerationParameters.Default, CollisionFilter.Default
);
CreatedColliders.Add(collider);
points.Dispose();
collider.Value.Filter = filter;
torso = CreateDynamicBody(torsoPosition, quaternion.identity, collider, float3.zero, float3.zero, 20.0f);
}
entities.Add(torso);
// Neck
{
float3 pivotHead = new float3(0, -headRadius, 0);
float3 pivotTorso = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(head), pivotHead));
float3 axisHead = new float3(0, 0, 1);
float3 perpendicular = new float3(1, 0, 0);
FloatRange coneAngle = new FloatRange(math.radians(0), math.radians(45)) * rangeModifier;
FloatRange perpendicularAngle = new FloatRange(math.radians(-30), math.radians(+30)) * rangeModifier;
FloatRange twistAngle = new FloatRange(math.radians(-5), math.radians(5)) * rangeModifier;
var axisTorso = math.rotate(math.inverse(GetBodyTransform(torso).rot), math.rotate(GetBodyTransform(head).rot, axisHead));
axisTorso = math.rotate(quaternion.AxisAngle(perpendicular, math.radians(10)), axisTorso);
var headFrame = new BodyFrame {
Axis = axisHead, PerpendicularAxis = perpendicular, Position = pivotHead
};
var torsoFrame = new BodyFrame {
Axis = axisTorso, PerpendicularAxis = perpendicular, Position = pivotTorso
};
PhysicsJoint.CreateRagdoll(headFrame, torsoFrame, coneAngle.Max, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1);
CreateJoint(ragdoll0, head, torso);
CreateJoint(ragdoll1, head, torso);
}
// Arms
{
float armLength = 0.25f;
float armRadius = 0.05f;
CollisionFilter armUpperFilter = internalCollisions ? layerFilter(layer.UpperArm, layer.Torso | layer.Forearm) : groupFilter(-ragdollIndex);
CollisionFilter armLowerFilter = internalCollisions ? layerFilter(layer.Forearm, layer.UpperArm | layer.Hand) : groupFilter(-ragdollIndex);
BlobAssetReference <Collider> upperArmCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(-armLength / 2, 0, 0),
Vertex1 = new float3(armLength / 2, 0, 0),
Radius = armRadius
}, armUpperFilter);
BlobAssetReference <Collider> foreArmCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(-armLength / 2, 0, 0),
Vertex1 = new float3(armLength / 2, 0, 0),
Radius = armRadius
}, armLowerFilter);
float handLength = 0.025f;
float handRadius = 0.055f;
CollisionFilter handFilter = internalCollisions ? layerFilter(layer.Hand, layer.Forearm) : groupFilter(-ragdollIndex);
BlobAssetReference <Collider> handCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(-handLength / 2, 0, 0),
Vertex1 = new float3(handLength / 2, 0, 0),
Radius = handRadius
}, handFilter);
CreatedColliders.Add(upperArmCollider);
CreatedColliders.Add(foreArmCollider);
CreatedColliders.Add(handCollider);
for (int i = 0; i < 2; i++)
{
float s = i * 2 - 1.0f;
float3 upperArmPosition = torsoPosition + new float3(s * (torsoSize.x + armLength) / 2.0f, 0.9f * torsoSize.y - armRadius, 0.0f);
Entity upperArm = CreateDynamicBody(upperArmPosition, quaternion.identity, upperArmCollider, float3.zero, float3.zero, 10.0f);
float3 foreArmPosition = upperArmPosition + new float3(armLength * s, 0, 0);
Entity foreArm = CreateDynamicBody(foreArmPosition, quaternion.identity, foreArmCollider, float3.zero, float3.zero, 5.0f);
float3 handPosition = foreArmPosition + new float3((armLength + handLength) / 2.0f * s, 0, 0);
Entity hand = CreateDynamicBody(handPosition, quaternion.identity, handCollider, float3.zero, float3.zero, 2.0f);
entities.Add(upperArm);
entities.Add(foreArm);
entities.Add(hand);
// shoulder
{
float3 pivotArm = new float3(-s * armLength / 2.0f, 0, 0);
float3 pivotTorso = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(upperArm), pivotArm));
float3 axisArm = new float3(-s, 0, 0);
float3 perpendicularArm = new float3(0, 1, 0);
FloatRange coneAngle = new FloatRange(math.radians(0), math.radians(80)) * rangeModifier;
FloatRange perpendicularAngle = new FloatRange(math.radians(-70), math.radians(20)) * rangeModifier;
FloatRange twistAngle = new FloatRange(math.radians(-5), math.radians(5)) * rangeModifier;
var axisTorso = math.rotate(math.inverse(GetBodyTransform(torso).rot), math.rotate(GetBodyTransform(upperArm).rot, axisArm));
axisTorso = math.rotate(quaternion.AxisAngle(perpendicularArm, math.radians(-s * 45.0f)), axisTorso);
var armFrame = new BodyFrame {
Axis = axisArm, PerpendicularAxis = perpendicularArm, Position = pivotArm
};
var bodyFrame = new BodyFrame {
Axis = axisTorso, PerpendicularAxis = perpendicularArm, Position = pivotTorso
};
PhysicsJoint.CreateRagdoll(armFrame, bodyFrame, coneAngle.Max, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1);
CreateJoint(ragdoll0, upperArm, torso);
CreateJoint(ragdoll1, upperArm, torso);
}
// elbow
{
float3 pivotUpper = new float3(s * armLength / 2.0f, 0, 0);
float3 pivotFore = -pivotUpper;
float3 axis = new float3(0, -s, 0);
float3 perpendicular = new float3(-s, 0, 0);
var lowerArmFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFore
};
var upperArmFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotUpper
};
var hingeRange = new FloatRange(math.radians(0), math.radians(100));
hingeRange = (hingeRange - new float2(hingeRange.Mid)) * rangeModifier + hingeRange.Mid;
PhysicsJoint hinge = PhysicsJoint.CreateLimitedHinge(lowerArmFrame, upperArmFrame, hingeRange);
CreateJoint(hinge, foreArm, upperArm);
}
// wrist
{
float3 pivotFore = new float3(s * armLength / 2.0f, 0, 0);
float3 pivotHand = new float3(-s * handLength / 2.0f, 0, 0);
float3 axis = new float3(0, 0, -s);
float3 perpendicular = new float3(0, 0, 1);
var handFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotHand
};
var forearmFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFore
};
var hingeRange = new FloatRange(math.radians(0), math.radians(135)) * rangeModifier;
PhysicsJoint hinge = PhysicsJoint.CreateLimitedHinge(handFrame, forearmFrame, hingeRange);
CreateJoint(hinge, hand, foreArm);
}
}
}
// Pelvis
float pelvisRadius = 0.08f;
float pelvisLength = 0.22f;
float3 pelvisPosition = torsoPosition - new float3(0, pelvisRadius * 0.75f, 0.0f);
Entity pelvis;
{
CollisionFilter filter = internalCollisions ? layerFilter(layer.Pelvis, layer.Torso | layer.Thigh) : groupFilter(-ragdollIndex);
BlobAssetReference <Collider> collider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(-pelvisLength / 2, 0, 0),
Vertex1 = new float3(pelvisLength / 2, 0, 0),
Radius = pelvisRadius
}, filter);
pelvis = CreateDynamicBody(pelvisPosition, quaternion.identity, collider, float3.zero, float3.zero, 15.0f);
CreatedColliders.Add(collider);
}
entities.Add(pelvis);
// Waist
{
float3 pivotTorso = float3.zero;
float3 pivotPelvis = math.transform(math.inverse(GetBodyTransform(pelvis)), math.transform(GetBodyTransform(torso), pivotTorso));
float3 axis = new float3(0, 1, 0);
float3 perpendicular = new float3(0, 0, 1);
FloatRange coneAngle = new FloatRange(math.radians(0), math.radians(5)) * rangeModifier;
FloatRange perpendicularAngle = new FloatRange(math.radians(-5), math.radians(90)) * rangeModifier;
FloatRange twistAngle = new FloatRange(-math.radians(-5), math.radians(5)) * rangeModifier;
var pelvisFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotPelvis
};
var torsoFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotTorso
};
PhysicsJoint.CreateRagdoll(pelvisFrame, torsoFrame, coneAngle.Max, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1);
CreateJoint(ragdoll0, pelvis, torso);
CreateJoint(ragdoll1, pelvis, torso);
}
// Legs
{
float thighLength = 0.32f;
float thighRadius = 0.08f;
CollisionFilter thighFilter = internalCollisions ? layerFilter(layer.Thigh, layer.Pelvis | layer.Calf) : groupFilter(-ragdollIndex);
BlobAssetReference <Collider> thighCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(0, -thighLength / 2, 0),
Vertex1 = new float3(0, thighLength / 2, 0),
Radius = thighRadius
}, thighFilter);
float calfLength = 0.32f;
float calfRadius = 0.06f;
CollisionFilter calfFilter = internalCollisions ? layerFilter(layer.Calf, layer.Thigh | layer.Foot) : groupFilter(-ragdollIndex);
BlobAssetReference <Collider> calfCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(0, -calfLength / 2, 0),
Vertex1 = new float3(0, calfLength / 2, 0),
Radius = calfRadius
}, calfFilter);
float footLength = 0.08f;
float footRadius = 0.06f;
CollisionFilter footFilter = internalCollisions ? layerFilter(layer.Foot, layer.Calf) : groupFilter(-ragdollIndex);
BlobAssetReference <Collider> footCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(0),
Vertex1 = new float3(0, 0, footLength),
Radius = footRadius
}, footFilter);
CreatedColliders.Add(thighCollider);
CreatedColliders.Add(calfCollider);
CreatedColliders.Add(footCollider);
for (int i = 0; i < 2; i++)
{
float s = i * 2 - 1.0f;
float3 thighPosition = pelvisPosition + new float3(s * pelvisLength / 2.0f, -thighLength / 2.0f, 0.0f);
Entity thigh = CreateDynamicBody(thighPosition, quaternion.identity, thighCollider, float3.zero, float3.zero, 10.0f);
float3 calfPosition = thighPosition + new float3(0, -(thighLength + calfLength) / 2.0f, 0);
Entity calf = CreateDynamicBody(calfPosition, quaternion.identity, calfCollider, float3.zero, float3.zero, 5.0f);
float3 footPosition = calfPosition + new float3(0, -calfLength / 2.0f, 0);
Entity foot = CreateDynamicBody(footPosition, quaternion.identity, footCollider, float3.zero, float3.zero, 2.0f);
entities.Add(thigh);
entities.Add(calf);
entities.Add(foot);
// hip
{
float3 pivotThigh = new float3(0, thighLength / 2.0f, 0);
float3 pivotPelvis = math.transform(math.inverse(GetBodyTransform(pelvis)), math.transform(GetBodyTransform(thigh), pivotThigh));
float3 axisLeg = new float3(0, -1, 0);
float3 perpendicularLeg = new float3(-s, 0, 0);
FloatRange coneAngle = new FloatRange(math.radians(0), math.radians(60)) * rangeModifier;
FloatRange perpendicularAngle = new FloatRange(math.radians(-10), math.radians(40)) * rangeModifier;
FloatRange twistAngle = new FloatRange(-math.radians(5), math.radians(5)) * rangeModifier;
var axisPelvis = math.rotate(math.inverse(GetBodyTransform(pelvis).rot), math.rotate(GetBodyTransform(thigh).rot, axisLeg));
axisPelvis = math.rotate(quaternion.AxisAngle(perpendicularLeg, math.radians(s * 45.0f)), axisPelvis);
var upperLegFrame = new BodyFrame {
Axis = axisLeg, PerpendicularAxis = perpendicularLeg, Position = pivotThigh
};
var pelvisFrame = new BodyFrame {
Axis = axisPelvis, PerpendicularAxis = perpendicularLeg, Position = pivotPelvis
};
PhysicsJoint.CreateRagdoll(upperLegFrame, pelvisFrame, coneAngle.Max, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1);
CreateJoint(ragdoll0, thigh, pelvis);
CreateJoint(ragdoll1, thigh, pelvis);
}
// knee
{
float3 pivotThigh = new float3(0, -thighLength / 2.0f, 0);
float3 pivotCalf = math.transform(math.inverse(GetBodyTransform(calf)), math.transform(GetBodyTransform(thigh), pivotThigh));
float3 axis = new float3(-1, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
var lowerLegFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotCalf
};
var upperLegFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotThigh
};
var hingeRange = new FloatRange(math.radians(-90), math.radians(0));
hingeRange = (hingeRange - new float2(hingeRange.Mid)) * rangeModifier + hingeRange.Mid;
PhysicsJoint hinge = PhysicsJoint.CreateLimitedHinge(lowerLegFrame, upperLegFrame, hingeRange);
CreateJoint(hinge, calf, thigh);
}
// ankle
{
float3 pivotCalf = new float3(0, -calfLength / 2.0f, 0);
float3 pivotFoot = float3.zero;
float3 axis = new float3(-1, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
var footFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFoot
};
var lowerLegFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotCalf
};
var hingeRange = new FloatRange(math.radians(-5), math.radians(5)) * rangeModifier;
PhysicsJoint hinge = PhysicsJoint.CreateLimitedHinge(footFrame, lowerLegFrame, hingeRange);
CreateJoint(hinge, foot, calf);
}
}
}
// reposition with offset information
if (entities.Length > 0)
{
for (int i = 0; i < entities.Length; i++)
{
var e = entities[i];
bool isTorso = (i == 1);
SwapRenderMesh(e, isTorso, torsoMesh, renderMesh);
Translation positionComponent = EntityManager.GetComponentData <Translation>(e);
Rotation rotationComponent = EntityManager.GetComponentData <Rotation>(e);
PhysicsVelocity velocityComponent = EntityManager.GetComponentData <PhysicsVelocity>(e);
float3 position = positionComponent.Value;
quaternion rotation = rotationComponent.Value;
float3 localPosition = position - pelvisPosition;
localPosition = math.rotate(rotationOffset, localPosition);
position = localPosition + pelvisPosition + positionOffset;
rotation = math.mul(rotation, rotationOffset);
positionComponent.Value = position;
rotationComponent.Value = rotation;
velocityComponent.Linear = initialVelocity;
EntityManager.SetComponentData <PhysicsVelocity>(e, velocityComponent);
EntityManager.SetComponentData <Translation>(e, positionComponent);
EntityManager.SetComponentData <Rotation>(e, rotationComponent);
}
}
}
public override void CreateScene(TerrainDemoScene sceneSettings)
{
// Make heightfield data
NativeArray <float> heights;
int2 size;
float3 scale;
bool simple = false;
#if UNITY_ANDROID || UNITY_IOS
simple = true;
#endif
bool flat = false;
bool mountain = false;
if (simple)
{
size = new int2(2, 2);
scale = new float3(25, 0.1f, 25);
heights = new NativeArray <float>(size.x * size.y * UnsafeUtility.SizeOf <float>(), Allocator.Temp);
heights[0] = 1;
heights[1] = 0;
heights[2] = 0;
heights[3] = 1;
}
else
{
size = new int2(sceneSettings.SizeX, sceneSettings.SizeZ);
scale = new float3(sceneSettings.ScaleX, sceneSettings.ScaleY, sceneSettings.ScaleZ);
float period = 50.0f;
heights = new NativeArray <float>(size.x * size.y * UnsafeUtility.SizeOf <float>(), Allocator.Temp);
for (int j = 0; j < size.y; j++)
{
for (int i = 0; i < size.x; i++)
{
float a = (i + j) * 2.0f * (float)math.PI / period;
heights[i + j * size.x] = flat ? 0.0f : math.sin(a);
if (mountain)
{
float fractionFromCenter = 1.0f - math.min(math.length(new float2(i - size.x / 2, j - size.y / 2)) / (math.min(size.x, size.y) / 2), 1.0f);
float mountainHeight = math.smoothstep(0.0f, 1, fractionFromCenter) * 25.0f;
heights[i + j * size.x] += mountainHeight;
}
}
}
}
// static terrain
Entity staticEntity;
{
var collider = sceneSettings.BuildTerrainMesh
? CreateMeshTerrain(heights, new int2(sceneSettings.SizeX, sceneSettings.SizeZ), new float3(sceneSettings.ScaleX, sceneSettings.ScaleY, sceneSettings.ScaleZ))
: TerrainCollider.Create(heights, size, scale, sceneSettings.Method);
CreatedColliders.Add(collider);
if (sceneSettings.BuildCompoundTerrain)
{
var numChildren = sceneSettings.NumChildren;
var instances = new NativeArray <CompoundCollider.ColliderBlobInstance>(numChildren, Allocator.Temp);
for (int i = 0; i < numChildren; i++)
{
instances[i] = new CompoundCollider.ColliderBlobInstance
{
Collider = collider,
CompoundFromChild = new RigidTransform
{
pos = new float3((i % 2) * scale.x * (size.x - 1), 0.0f, (i / 2) * scale.z * (size.y - 1)),
rot = quaternion.identity
}
};
}
collider = Unity.Physics.CompoundCollider.Create(instances);
CreatedColliders.Add(collider);
instances.Dispose();
}
float3 position = new float3(size.x - 1, 0.0f, size.y - 1) * scale * -0.5f;
staticEntity = CreateStaticBody(position, quaternion.identity, collider);
}
}
public override void CreateScene(InvalidPhysicsJointSwapDemoScene sceneSettings)
{
float colliderSize = 0.25f;
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(colliderSize),
BevelRadius = 0.0f
});
CreatedColliders.Add(collider);
float timeToSwap = 0.25f;
// Add two constrained dynamic bodies that will have their bodies swapped
bool buildThisSection = true;
if (buildThisSection)
{
// Create a body
Entity bodyA = CreateDynamicBody(new float3(2f, 5.0f, 0), quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
Entity bodyB = CreateDynamicBody(new float3(2f, 6.0f, 0), quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
for (int i = 0; i < 2; i++)
{
// Create the joint
var joint = PhysicsJoint.CreateBallAndSocket(new float3(0, colliderSize, 0), new float3(0, -colliderSize, 0));
var jointEntity = CreateJoint(joint, bodyA, bodyB);
var pair = EntityManager.GetComponentData <PhysicsConstrainedBodyPair>(jointEntity);
pair.EnableCollision = 1;
EntityManager.SetComponentData(jointEntity, pair);
if (1 == i)
{
// add swap and timer components.
EntityManager.AddComponentData(jointEntity, new InvalidPhysicsJointSwapBodies {
});
EntityManager.AddComponentData(jointEntity, new InvalidPhysicsJointSwapTimerEvent {
TimeLimit = timeToSwap, Timer = timeToSwap
});
}
}
EntityManager.AddComponentData(bodyA, new InvalidPhysicsJointKillBodies {
});
EntityManager.AddComponentData(bodyA, new InvalidPhysicsJointSwapTimerEvent {
TimeLimit = timeToSwap * 2.0f, Timer = timeToSwap * 2.0f
});
}
// Add constrained static/dynamic body pair that will have their bodies swapped
buildThisSection = true;
if (buildThisSection)
{
// Create a body
var staticTransform = new RigidTransform(quaternion.identity, new float3(3f, 5.0f, 0));
Entity bodyS = CreateStaticBody(staticTransform.pos, staticTransform.rot, collider);
Entity bodyD = CreateDynamicBody(new float3(3f, 6.0f, 0), quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
for (int i = 0; i < 2; i++)
{
// Create the joint
var joint = PhysicsJoint.CreateBallAndSocket(new float3(0, colliderSize, 0), new float3(0, -colliderSize, 0));
var jointEntity = CreateJoint(joint, bodyS, bodyD);
var pair = EntityManager.GetComponentData <PhysicsConstrainedBodyPair>(jointEntity);
pair.EnableCollision = 1;
EntityManager.SetComponentData(jointEntity, pair);
}
// add swap and timer components.
EntityManager.AddComponentData(bodyS, new InvalidPhysicsJointSwapMotionType {
OriginalTransform = staticTransform
});
EntityManager.AddComponentData(bodyS, new InvalidPhysicsJointSwapTimerEvent {
TimeLimit = timeToSwap, Timer = timeToSwap
});
}
}
public override void CreateScene(FixedAngleGridScene sceneSettings)
{
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.25f),
BevelRadius = 0.0f
});
CreatedColliders.Add(collider);
quaternion orientationA = quaternion.identity;
bool identityA = true;
if (!identityA)
{
orientationA = quaternion.AxisAngle(new float3(0, 1, 0), (float)math.PI * 3.0f / 2.0f);
}
quaternion orientationB = quaternion.identity;
bool identityB = true;
if (!identityB)
{
orientationB = quaternion.AxisAngle(math.normalize(new float3(1)), (float)math.PI / 4.0f);
}
// Make some joints with fixed position, limited 3D angle
for (int i = 0; i < 10; i++)
{
// Create a body
Entity body = CreateDynamicBody(
new float3((i - 4.5f) * 1.0f, 0, 0), quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
// Create the ragdoll joint
float3 pivotLocal = float3.zero;
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
var jointData = new PhysicsJoint
{
BodyAFromJoint = new RigidTransform(orientationA, pivotLocal),
BodyBFromJoint = new RigidTransform(orientationB, pivotInWorld)
};
jointData.SetConstraints(new FixedList128Bytes <Constraint>
{
Length = 2,
[0] = Constraint.BallAndSocket(),
[1] = new Constraint
{
ConstrainedAxes = new bool3(true, true, true),
Type = ConstraintType.Angular,
Min = math.max(i - 5, 0) * 0.1f,
Max = i * 0.1f,
SpringDamping = Constraint.DefaultSpringDamping,
SpringFrequency = Constraint.DefaultSpringFrequency
}
});
CreateJoint(jointData, body, Entity.Null);
}
}
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);
}
}
public override void CreateScene(ChangeCompoundFilterScene sceneSettings)
{
// Common params
float3 groundSize = new float3(5.0f, 1.0f, 5.0f);
float3 boxSize = new float3(1.0f, 1.0f, 1.0f);
float mass = 1.0f;
// Compound ground which will have child 0 change filter
{
var compoundCollider = CreateGroundCompoundWith2Children(groundSize);
CreateStaticBody(new float3(-20.0f, 0.0f, 0.0f), quaternion.identity, compoundCollider);
var boxCollider = BoxCollider.Create(new BoxGeometry {
Orientation = quaternion.identity, Size = boxSize
});
CreateDynamicBody(new float3(-20.0f, 1.0f, 0.0f), quaternion.identity, boxCollider, float3.zero, float3.zero, mass);
CreatedColliders.Add(compoundCollider);
CreatedColliders.Add(boxCollider);
}
// Compound ground which will have child 1 change filter
{
var compoundCollider = CreateGroundCompoundWith2Children(groundSize);
CreateStaticBody(new float3(-10.0f, 0.0f, 0.0f), quaternion.identity, compoundCollider);
var boxCollider = BoxCollider.Create(new BoxGeometry {
Orientation = quaternion.identity, Size = boxSize
});
CreateDynamicBody(new float3(-10.0f, 1.0f, 0.0f), quaternion.identity, boxCollider, float3.zero, float3.zero, mass);
CreatedColliders.Add(compoundCollider);
CreatedColliders.Add(boxCollider);
}
// Compound ground which will have both children change filter
{
var compoundCollider = CreateGroundCompoundWith2Children(groundSize);
CreateStaticBody(new float3(0.0f, 0.0f, 0.0f), quaternion.identity, compoundCollider);
var boxCollider = BoxCollider.Create(new BoxGeometry {
Orientation = quaternion.identity, Size = boxSize
});
CreateDynamicBody(new float3(0.0f, 1.0f, 0.0f), quaternion.identity, boxCollider, float3.zero, float3.zero, mass);
CreatedColliders.Add(compoundCollider);
CreatedColliders.Add(boxCollider);
}
// Compound ground which will have its filter changed through root collider
{
var compoundCollider = CreateGroundCompoundWith2Children(groundSize);
CreateStaticBody(new float3(10.0f, 0.0f, 0.0f), quaternion.identity, compoundCollider);
var boxCollider = BoxCollider.Create(new BoxGeometry {
Orientation = quaternion.identity, Size = boxSize
});
CreateDynamicBody(new float3(10.0f, 1.0f, 0.0f), quaternion.identity, boxCollider, float3.zero, float3.zero, mass);
CreatedColliders.Add(compoundCollider);
CreatedColliders.Add(boxCollider);
}
}
public override void CreateScene(VerifyActivationScene sceneSettings)
{
// Common params
float3 groundSize = new float3(5.0f, 1.0f, 5.0f);
float3 boxSize = new float3(1.0f, 1.0f, 1.0f);
float mass = 1.0f;
Entity e = GetSingletonEntity <VerifyActivationScene>();
VerifyActivationData data = GetComponent <VerifyActivationData>(e);
// Ground to do nothing on (other than filter change) and dynamic box over it
if (data.PureFilter == 1)
{
var groundCollider = BoxCollider.Create(new BoxGeometry {
Orientation = quaternion.identity, Size = groundSize
});
CreateStaticBody(new float3(-30.0f, 0.0f, 0.0f), quaternion.identity, groundCollider);
var boxCollider = BoxCollider.Create(new BoxGeometry {
Orientation = quaternion.identity, Size = boxSize
});
CreateDynamicBody(new float3(-30.0f, 1.0f, 0.0f), quaternion.identity, boxCollider, float3.zero, float3.zero, mass);
CreatedColliders.Add(groundCollider);
CreatedColliders.Add(boxCollider);
}
// Ground to remove and dynamic box over it
if (data.Remove == 1)
{
var groundCollider = BoxCollider.Create(new BoxGeometry {
Orientation = quaternion.identity, Size = groundSize
});
CreateStaticBody(new float3(-20.0f, 0.0f, 0.0f), quaternion.identity, groundCollider);
var boxCollider = BoxCollider.Create(new BoxGeometry {
Orientation = quaternion.identity, Size = boxSize
});
CreateDynamicBody(new float3(-20.0f, 1.0f, 0.0f), quaternion.identity, boxCollider, float3.zero, float3.zero, mass);
CreatedColliders.Add(groundCollider);
CreatedColliders.Add(boxCollider);
}
// Ground to convert to dynamic and dynamic box over it
if (data.MotionChange == 1)
{
var groundCollider = BoxCollider.Create(new BoxGeometry {
Orientation = quaternion.identity, Size = groundSize
});
CreateStaticBody(new float3(-10.0f, 0.0f, 0.0f), quaternion.identity, groundCollider);
var boxCollider = BoxCollider.Create(new BoxGeometry {
Orientation = quaternion.identity, Size = boxSize
});
CreateDynamicBody(new float3(-10.0f, 1.0f, 0.0f), quaternion.identity, boxCollider, float3.zero, float3.zero, mass);
CreatedColliders.Add(groundCollider);
CreatedColliders.Add(boxCollider);
}
// Ground to teleport and dynamic box over it
if (data.Teleport == 1)
{
var groundCollider = BoxCollider.Create(new BoxGeometry {
Orientation = quaternion.identity, Size = groundSize
});
CreateStaticBody(new float3(0.0f, 0.0f, 0.0f), quaternion.identity, groundCollider);
var boxCollider = BoxCollider.Create(new BoxGeometry {
Orientation = quaternion.identity, Size = boxSize
});
CreateDynamicBody(new float3(0.0f, 1.0f, 0.0f), quaternion.identity, boxCollider, float3.zero, float3.zero, mass);
CreatedColliders.Add(groundCollider);
CreatedColliders.Add(boxCollider);
}
// Ground to change collider of and dynamic box over it
if (data.ColliderChange == 1)
{
var groundCollider = BoxCollider.Create(new BoxGeometry {
Orientation = quaternion.identity, Size = groundSize
});
CreateStaticBody(new float3(10.0f, 0.0f, 0.0f), quaternion.identity, groundCollider);
var boxCollider = BoxCollider.Create(new BoxGeometry {
Orientation = quaternion.identity, Size = boxSize
});
CreateDynamicBody(new float3(10.0f, 1.0f, 0.0f), quaternion.identity, boxCollider, float3.zero, float3.zero, mass);
CreatedColliders.Add(groundCollider);
CreatedColliders.Add(boxCollider);
}
// Ground to set new collider on and dynamic box over it
if (data.NewCollider == 1)
{
var groundCollider = BoxCollider.Create(new BoxGeometry {
Orientation = quaternion.identity, Size = groundSize
});
CreateStaticBody(new float3(20.0f, 0.0f, 0.0f), quaternion.identity, groundCollider);
var boxCollider = BoxCollider.Create(new BoxGeometry {
Orientation = quaternion.identity, Size = boxSize
});
CreateDynamicBody(new float3(20.0f, 1.0f, 0.0f), quaternion.identity, boxCollider, float3.zero, float3.zero, mass);
CreatedColliders.Add(groundCollider);
CreatedColliders.Add(boxCollider);
}
}