protected override void Start()
{
base.Start();
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
});
var manager = DefaultWorld.EntityManager;
// 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.
manager.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.
manager.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.
manager.AddComponentData(jointEntity, new LifeTime {
Value = 15
});
}
}
public override void Create(EntityManager entityManager, GameObjectConversionSystem conversionSystem)
{
UpdateAuto();
conversionSystem.World.GetOrCreateSystem <EndJointConversionSystem>().CreateJointEntity(
this,
GetConstrainedBodyPair(conversionSystem),
PhysicsJoint.CreateBallAndSocket(PositionLocal, PositionInConnectedEntity)
);
}
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 static PhysicsJoint CreateJoint(GameObject parentBody, GameObject childBody, BasicJointInfo.BasicJointType jointType)
{
var bodyPBounds = parentBody.GetComponent <MeshRenderer>().bounds;
var bodyCBounds = childBody.GetComponent <MeshRenderer>().bounds;
var pointConPWorld = bodyPBounds.ClosestPoint(bodyCBounds.center);
var pointPonCWorld = bodyCBounds.ClosestPoint(bodyPBounds.center);
var bodyPTransform = new RigidTransform(parentBody.transform.rotation, parentBody.transform.position); // was torso
var bodyCTransform = new RigidTransform(childBody.transform.rotation, childBody.transform.position); // was head
PhysicsJoint jointData = default;
switch (jointType)
{
case BasicJointInfo.BasicJointType.BallAndSocket:
{
var pivotP = math.transform(math.inverse(bodyPTransform), pointConPWorld);
var pivotC = math.transform(math.inverse(bodyCTransform), pointConPWorld);
jointData = PhysicsJoint.CreateBallAndSocket(pivotP, pivotC);
}
break;
case BasicJointInfo.BasicJointType.Distance:
{
var pivotP = math.transform(math.inverse(bodyPTransform), pointConPWorld);
var pivotC = math.transform(math.inverse(bodyCTransform), pointPonCWorld);
var range = new FloatRange(0, math.distance(pointConPWorld, pointPonCWorld));
jointData = PhysicsJoint.CreateLimitedDistance(pivotP, pivotC, range);
}
break;
case BasicJointInfo.BasicJointType.Hinge:
{
var commonPivotPointWorld = math.lerp(pointConPWorld, pointPonCWorld, 0.5f);
// assume a vertical hinge joint
var axisP = math.rotate(math.inverse(bodyPTransform.rot), math.up());
var axisC = math.rotate(math.inverse(bodyCTransform.rot), math.up());
float3 perpendicularAxisA, perpendicularAxisB;
Math.CalculatePerpendicularNormalized(axisP, out perpendicularAxisA, out _);
Math.CalculatePerpendicularNormalized(axisC, out perpendicularAxisB, out _);
var pivotP = math.transform(math.inverse(bodyPTransform), commonPivotPointWorld);
var pivotC = math.transform(math.inverse(bodyCTransform), commonPivotPointWorld);
var jointFrameP = new BodyFrame {
Axis = axisP, PerpendicularAxis = perpendicularAxisA, Position = pivotP
};
var jointFrameC = new BodyFrame {
Axis = axisC, PerpendicularAxis = perpendicularAxisB, Position = pivotC
};
var range = new FloatRange(math.radians(-90), math.radians(90.0f));
jointData = PhysicsJoint.CreateLimitedHinge(jointFrameP, jointFrameC, range);
}
break;
default:
break;
}
return(jointData);
}
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);
}
}
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(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);
}
}