public override void PostSceneInsertionSetup()
{
if (wheels.Count > 0)
{
IntPtr wheelSimData = PhysXLib.CreateWheelSimData(wheels.Count);
IntPtr[] suspensions = new IntPtr[wheels.Count];
IntPtr wheelPositions = PhysXLib.CreateVectorArray();
for (int i = 0; i < wheels.Count; i++)
{
suspensions[i] = wheels[i].SetupInitialProperties();
PhysXLib.AddVectorToArray(wheelPositions, new PhysXVec3(transform.InverseTransformPoint(wheels[i].worldWheelCentre)));
}
PhysXLib.SetSuspensionSprungMasses(suspensions, wheels.Count, wheelPositions, new PhysXVec3(Vector3.zero), mass);
for (int i = 0; i < wheels.Count; i++)
{
//Debug.Log(vehicleId);
wheels[i].SetupSimData(this, wheelSimData, i, vehicleId);
}
vehicle = PhysXLib.CreateVehicleFromRigidBody(physXBody, wheelSimData);
for (int i = 0; i < wheels.Count; i++)
{
wheels[i].SetVehicle(vehicle);
}
}
physXCOMPosition.FromVector(centreOfMass);
// PhysXVec3 position = new PhysXVec3(centreOfMass);
// PhysXQuat rotation = new PhysXQuat(Quaternion.identity);
IntPtr oldCentre = PhysXLib.GetCentreOfMass(physXBody);
IntPtr newCentre = PhysXLib.CreateTransform(physXCOMPosition, physXCOMRotation);
PhysXLib.SetRigidBodyMassPose(physXBody, newCentre);
if (vehicle != IntPtr.Zero)
{
PhysXLib.UpdateVehicleCentreOfMass(oldCentre, newCentre, vehicle);
}
if (GetComponentInChildren <CollisionSoftener>() != null)
{
Debug.Log("made ghost body");
ghostBody = PhysXLib.CreateGhostRigidBody(physXBody, ghostBlend);
_ghostEnabled = true;
}
}
public virtual void Setup()
{
physXPosition.FromVector(transform.position);
physXRotation.FromQuaternion(transform.rotation);
IntPtr physXTransform = PhysXLib.CreateTransform(physXPosition, physXRotation);
_position = transform.position;
_rotation = transform.rotation;
physXBody = PhysXLib.CreateStaticRigidBody(physXTransform);
PhysXCollider[] colliders = GetComponentsInChildren <PhysXCollider>(true);
foreach (PhysXCollider collider in colliders)
{
collider.Setup(this, 0);
}
}
public override void Setup()
{
physXPosition.FromVector(transform.position);
physXRotation.FromQuaternion(transform.rotation);
IntPtr physXTransform = PhysXLib.CreateTransform(physXPosition, physXRotation);
_position = transform.position;
_rotation = transform.rotation;
physXBody = PhysXLib.CreateDynamicRigidBody(physXTransform);
// PhysXLib.RegisterCollisionEnterCallback(ProcessCollisionEnterEvents, physXDynamicRigidBody);
// PhysXLib.RegisterCollisionStayCallback(ProcessCollisionStayEvents, physXDynamicRigidBody);
// PhysXLib.RegisterCollisionExitCallback(ProcessCollisionExitEvents, physXDynamicRigidBody);
PhysXLib.SetRigidBodyFlag(physXBody, PhysXLib.PhysXRigidBodyFlag.eKINEMATIC, kinematic);
if (kinematic)
{
PhysXLib.SetRigidBodyDominanceGroup(physXBody, 1);
}
PhysXLib.SetRigidBodyMaxDepenetrationVelocity(physXBody, Physics.defaultMaxDepenetrationVelocity);
PhysXLib.SetRigidBodyMaxLinearVelocity(physXBody, maxVelocity);
wheels = new List <PhysXWheelCollider>(GetComponentsInChildren <PhysXWheelCollider>(true));
PhysXCollider[] colliders = GetComponentsInChildren <PhysXCollider>(true);
if (wheels.Count > 0)
{
vehicleId = currentVehicleId;
currentVehicleId++;
}
foreach (PhysXCollider collider in colliders)
{
collider.Setup(this, vehicleId);
}
//Debug.Log(vehicleId);
PhysXLib.SetRigidBodyMassAndInertia(physXBody, mass, new PhysXVec3(Vector3.zero));
PhysXLib.SetRigidBodyDamping(physXBody, linearDamping, angularDamping);
}
// Start is called before the first frame update
public virtual void Setup(PhysXBody attachedRigidBody, uint vehicleId)
{
this.attachedRigidBody = attachedRigidBody as PhysXRigidBody;
Transform bodyParent = attachedRigidBody.transform;
PhysXVec3 position = new PhysXVec3(bodyParent.InverseTransformPoint(transform.TransformPoint(offset)));
PhysXQuat rotation = new PhysXQuat(transform.rotation * Quaternion.Inverse(bodyParent.rotation));
IntPtr localTransform = PhysXLib.CreateTransform(position, rotation);
PhysXLib.SetShapeLocalTransform(shape, localTransform);
PhysXLib.SetShapeSimulationFlag(shape, !trigger);
PhysXLib.SetShapeSceneQueryFlag(shape, !trigger);
PhysXLib.SetShapeTriggerFlag(shape, trigger);
PhysXLib.CollisionEvent collisionEventFlags = attachedRigidBody.collisionEventFlags;
PhysXLib.SetCollisionFilterData(shape, (UInt32)ownLayers, (UInt32)collisionLayers, (UInt32)collisionEventFlags, vehicleId);
PhysXLib.SetQueryFilterData(shape, (UInt32)ownLayers, 0, 0, vehicleId);
shapeNum = attachedRigidBody.AddCollider(this);
}