private void GrabInit(PhysicsBody body, Vector3 startPos, Vector3 grabPos, Rotation rot)
{
if (!body.IsValid())
{
return;
}
GrabEnd();
grabbing = true;
heldBody = body;
holdDistance = Vector3.DistanceBetween(startPos, grabPos);
holdDistance = holdDistance.Clamp(MinTargetDistance, MaxTargetDistance);
heldRot = rot.Inverse * heldBody.Rotation;
holdBody.Position = grabPos;
holdBody.Rotation = heldBody.Rotation;
velBody.Position = grabPos;
velBody.Rotation = heldBody.Rotation;
heldBody.Sleeping = false;
heldBody.AutoSleep = false;
holdJoint = PhysicsJoint.CreateFixed(holdBody, heldBody.WorldPoint(grabPos));
holdJoint.SpringLinear = new PhysicsSpring(LinearFrequency, LinearDampingRatio);
holdJoint.SpringAngular = new PhysicsSpring(AngularFrequency, AngularDampingRatio);
velJoint = PhysicsJoint.CreateFixed(holdBody, velBody);
velJoint.SpringLinear = new PhysicsSpring(LinearFrequency, LinearDampingRatio);
velJoint.SpringAngular = new PhysicsSpring(AngularFrequency, AngularDampingRatio);
}
public override void Create(EntityManager entityManager, GameObjectConversionSystem conversionSystem)
{
UpdateAuto();
conversionSystem.World.GetOrCreateSystem <EndJointConversionSystem>().CreateJointEntity(
this,
GetConstrainedBodyPair(conversionSystem),
PhysicsJoint.CreateFixed(
new RigidTransform(OrientationLocal, PositionLocal),
new RigidTransform(OrientationInConnectedEntity, PositionInConnectedEntity)
)
);
}
void ConvertFixedJoint(LegacyFixed joint)
{
var legacyWorldFromJointA = math.mul(
new RigidTransform(joint.transform.rotation, joint.transform.position),
new RigidTransform(quaternion.identity, joint.anchor)
);
RigidTransform worldFromBodyA = Math.DecomposeRigidBodyTransform(joint.transform.localToWorldMatrix);
var connectedEntity = GetPrimaryEntity(joint.connectedBody);
RigidTransform worldFromBodyB = connectedEntity == Entity.Null
? RigidTransform.identity
: Math.DecomposeRigidBodyTransform(joint.connectedBody.transform.localToWorldMatrix);
var bodyAFromJoint = new BodyFrame(math.mul(math.inverse(worldFromBodyA), legacyWorldFromJointA));
var bodyBFromJoint = new BodyFrame(math.mul(math.inverse(worldFromBodyB), legacyWorldFromJointA));
var jointData = PhysicsJoint.CreateFixed(bodyAFromJoint, bodyBFromJoint);
m_EndJointConversionSystem.CreateJointEntity(joint, GetConstrainedBodyPair(joint), jointData);
}
private void GrabStart(ModelEntity entity, PhysicsBody body, Vector3 grabPos, Rotation grabRot)
{
if (!body.IsValid())
{
return;
}
if (body.PhysicsGroup == null)
{
return;
}
if (IsBodyGrabbed(body))
{
return;
}
GrabEnd();
HeldBody = body;
HeldRot = grabRot.Inverse * HeldBody.Rotation;
holdBody.Position = grabPos;
holdBody.Rotation = HeldBody.Rotation;
HeldBody.Sleeping = false;
HeldBody.AutoSleep = false;
holdJoint = PhysicsJoint.CreateFixed(holdBody, HeldBody.MassCenterPoint());
holdJoint.SpringLinear = new(LinearFrequency, LinearDampingRatio);
holdJoint.SpringAngular = new(AngularFrequency, AngularDampingRatio);
holdJoint.Strength = HeldBody.Mass * BreakLinearForce;
HeldEntity = entity;
Client?.Pvs.Add(HeldEntity);
}