public override void Create(EntityManager entityManager, GameObjectConversionSystem conversionSystem)
{
UpdateAuto();
conversionSystem.World.GetOrCreateSystem <EndJointConversionSystem>().CreateJointEntity(
this,
GetConstrainedBodyPair(conversionSystem),
PhysicsJoint.CreateLimitedDistance(
PositionLocal,
PositionInConnectedEntity,
new FloatRange(MinDistance, MaxDistance)
)
);
}
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);
}