protected override unsafe void Start()
{
init(); // no gravity
Entity *entities = stackalloc Entity[2];
entities[1] = Entity.Null;
for (int i = 0; i < 1; i++)
{
CollisionFilter filter = new CollisionFilter
{
CollidesWith = (uint)(1 << i),
BelongsTo = (uint)~(1 << (1 - i))
};
BlobAssetReference <Collider> collider = BoxCollider.Create(
new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(1.0f, 0.2f, 0.2f),
BevelRadius = 0.0f
},
filter, Material.Default);
entities[i] = CreateDynamicBody(float3.zero, quaternion.identity, collider, float3.zero, new float3(0, 1 - i, 0), 1.0f);
}
var jointFrame = new BodyFrame {
Axis = new float3(0, 1, 0), PerpendicularAxis = new float3(0, 0, 1)
};
PhysicsJoint hingeData =
PhysicsJoint.CreateLimitedHinge(jointFrame, jointFrame, new FloatRange(-math.PI, -0.2f));
CreateJoint(hingeData, entities[0], entities[1]);
}
public static PhysicsJoint CreateKnee(GameObject upperLeg, GameObject lowerLeg)
{
float upperLegHeight = 2.0f * upperLeg.transform.localScale.y;
float3 pivotUpperLeg = new float3(0, -upperLegHeight / 2.0f, 0);
var lowerLegTransform = new RigidTransform(lowerLeg.transform.rotation, lowerLeg.transform.position);
var upperLegTransform = new RigidTransform(upperLeg.transform.rotation, upperLeg.transform.position);
float3 pivotLowerLeg = math.transform(math.inverse(lowerLegTransform), math.transform(upperLegTransform, pivotUpperLeg));
float3 axis = new float3(1, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
var jointFrameUpperLeg = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotUpperLeg
};
var jointFrameLowerLeg = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotLowerLeg
};
return(PhysicsJoint.CreateLimitedHinge(jointFrameUpperLeg, jointFrameLowerLeg, new FloatRange {
Min = -1.2f
}));
}
public static PhysicsJoint CreateElbow(GameObject upperArm, GameObject lowerArm)
{
float upperArmLength = 2 * upperArm.transform.localScale.y;
float lowerArmLength = 2 * lowerArm.transform.localScale.y;
float sign = math.sign(-1.0f * upperArm.transform.position.x);
float3 pivotUpper = new float3(-1.0f * sign * upperArmLength / 2.0f, 0, 0);
float3 pivotLower = new float3(sign * lowerArmLength / 2.0f, 0, 0);
pivotUpper = math.rotate(math.inverse(upperArm.transform.rotation), pivotUpper);
pivotLower = math.rotate(math.inverse(lowerArm.transform.rotation), pivotLower);
float3 axis = new float3(0, 0, 1);
float3 perpendicular = new float3(0, 1, 0);
var jointFrameUpperArm = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotUpper
};
var jointFrameLowerArm = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotLower
};
return(PhysicsJoint.CreateLimitedHinge(jointFrameUpperArm, jointFrameLowerArm, new FloatRange {
Max = 3f
}));
}
public static PhysicsJoint CreateWrist(GameObject lowerArm, GameObject hand)
{
float armLength = 2.0f * lowerArm.transform.localScale.y;
float handLength = 2.0f * hand.transform.localScale.y;
float sign = math.sign(-1.0f * lowerArm.transform.position.x);
float3 pivotFore = new float3(0, -1.0f * sign * armLength / 2.0f, 0);
float3 pivotHand = new float3(0, sign * handLength / 2.0f, 0);
float3 axis = new float3(0, 0, 1);
float3 perpendicular = new float3(0, 1, 0);
var jointFrameForearm = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFore
};
var jointFrameHand = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotHand
};
return(PhysicsJoint.CreateLimitedHinge(jointFrameForearm, jointFrameHand, new FloatRange(-0.3f, 0.6f)));
}
public static PhysicsJoint CreateAnkle(GameObject lowerLeg, GameObject foot)
{
float lowerLegLength = 2.0f * lowerLeg.transform.localScale.y;
var lowerLegTransform = new RigidTransform(lowerLeg.transform.rotation, lowerLeg.transform.position);
var footTransform = new RigidTransform(foot.transform.rotation, foot.transform.position);
float3 pivotLowerLeg = new float3(0, -lowerLegLength / 2.0f, 0);
float3 pivotFoot = math.transform(math.inverse(footTransform), math.transform(lowerLegTransform, pivotLowerLeg));
float3 axis = new float3(1, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
var jointFrameLowerLeg = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotLowerLeg
};
var jointFrameFoot = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFoot
};
return(PhysicsJoint.CreateLimitedHinge(jointFrameLowerLeg, jointFrameFoot, new FloatRange(-0.4f, 0.1f)));
}
public override void Create(EntityManager entityManager, GameObjectConversionSystem conversionSystem)
{
UpdateAuto();
conversionSystem.World.GetOrCreateSystem <EndJointConversionSystem>().CreateJointEntity(
this,
GetConstrainedBodyPair(conversionSystem),
PhysicsJoint.CreateLimitedHinge(
new BodyFrame
{
Axis = math.normalize(HingeAxisLocal),
PerpendicularAxis = math.normalize(PerpendicularAxisLocal),
Position = PositionLocal
},
new BodyFrame
{
Axis = math.normalize(HingeAxisInConnectedEntity),
PerpendicularAxis = math.normalize(PerpendicularAxisInConnectedEntity),
Position = PositionInConnectedEntity
},
math.radians(new FloatRange(MinAngle, MaxAngle))
)
);
}
void ConvertHingeJoint(LegacyHinge joint)
{
RigidTransform worldFromBodyA = Math.DecomposeRigidBodyTransform(joint.transform.localToWorldMatrix);
RigidTransform worldFromBodyB = joint.connectedBody == null
? RigidTransform.identity
: Math.DecomposeRigidBodyTransform(joint.connectedBody.transform.localToWorldMatrix);
Math.CalculatePerpendicularNormalized(joint.axis, out float3 perpendicularA, out _);
var bodyAFromJoint = new BodyFrame
{
Axis = joint.axis,
PerpendicularAxis = perpendicularA,
Position = joint.anchor
};
var connectedEntity = GetPrimaryEntity(joint.connectedBody);
var isConnectedBodyConverted =
joint.connectedBody == null || connectedEntity != Entity.Null;
RigidTransform bFromA = isConnectedBodyConverted ? math.mul(math.inverse(worldFromBodyB), worldFromBodyA) : worldFromBodyA;
RigidTransform bFromBSource =
isConnectedBodyConverted ? RigidTransform.identity : worldFromBodyB;
var bodyBFromJoint = new BodyFrame
{
Axis = math.mul(bFromA.rot, joint.axis),
PerpendicularAxis = math.mul(bFromA.rot, perpendicularA),
Position = math.mul(bFromBSource, new float4(joint.connectedAnchor, 1f)).xyz
};
var limits = math.radians(new FloatRange(joint.limits.min, joint.limits.max).Sorted());
var jointData = joint.useLimits
? PhysicsJoint.CreateLimitedHinge(bodyAFromJoint, bodyBFromJoint, limits)
: PhysicsJoint.CreateHinge(bodyAFromJoint, bodyBFromJoint);
m_EndJointConversionSystem.CreateJointEntity(joint, GetConstrainedBodyPair(joint), jointData);
}
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);
}
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);
}
}
}
private void CreateRagdoll(float3 positionOffset, quaternion rotationOffset, int ragdollIndex = 1, bool internalCollisions = false)
{
var entities = new NativeList <Entity>(Allocator.Temp);
// Head
float headRadius = 0.1f;
float3 headPosition = new float3(0, 1.8f, 0);
Entity head;
{
CollisionFilter filter = internalCollisions ? layerFilter(layer.Head, layer.Torso) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.SphereCollider.Create(new SphereGeometry
{
Center = float3.zero,
Radius = headRadius
}, filter);
head = CreateDynamicBody(headPosition, quaternion.identity, collider, 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 <Unity.Physics.Collider> collider = ConvexCollider.Create(
points, ConvexHullGenerationParameters.Default, CollisionFilter.Default
);
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 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(head), pivotHead));
float3 axis = new float3(0, 1, 0);
float3 perpendicular = new float3(0, 0, 1);
float coneAngle = (float)math.PI / 5.0f;
var perpendicularAngle = new FloatRange {
Max = math.PI
}; // unlimited
var twistAngle = new FloatRange(-math.PI / 3f, math.PI / 3f);
var headFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotHead
};
var bodyFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotBody
};
PhysicsJoint.CreateRagdoll(headFrame, bodyFrame, coneAngle, 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 <Unity.Physics.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 <Unity.Physics.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 <Unity.Physics.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);
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 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(upperArm), pivotArm));
float3 axis = new float3(s, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
float coneAngle = (float)math.PI / 2.0f;
var perpendicularAngle = new FloatRange {
Max = math.PI / 2f
};
var twistAngle = new FloatRange(-math.PI / 4f, math.PI / 4f);
var armFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotArm
};
var bodyFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotBody
};
PhysicsJoint.CreateRagdoll(armFrame, bodyFrame, coneAngle, 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
};
PhysicsJoint hinge =
PhysicsJoint.CreateLimitedHinge(lowerArmFrame, upperArmFrame, new FloatRange {
Max = 3f
});
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, -s, 0);
float3 perpendicular = new float3(s, 0, 0);
var handFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotHand
};
var forearmFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFore
};
PhysicsJoint hinge =
PhysicsJoint.CreateLimitedHinge(handFrame, forearmFrame, new FloatRange(-0.3f, 0.6f));
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 <Unity.Physics.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);
}
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);
float coneAngle = 0.1f;
var perpendicularAngle = new FloatRange(-0.1f, math.PI);
var twistAngle = new FloatRange(-0.1f, 0.1f);
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, 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 <Unity.Physics.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 <Unity.Physics.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 <Unity.Physics.Collider> footCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(0),
Vertex1 = new float3(0, 0, footLength),
Radius = footRadius
}, footFilter);
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 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(thigh), pivotThigh));
float3 axis = new float3(0, -1, 0);
float3 perpendicular = new float3(s, 0, 0);
float coneAngle = (float)math.PI / 4.0f;
var perpendicularAngle = new FloatRange {
Max = 0.2f + math.PI / 2.0f
};
var twistAngle = new FloatRange(-0.2f, 0.2f);
var upperLegFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotThigh
};
var bodyFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotBody
};
PhysicsJoint.CreateRagdoll(upperLegFrame, bodyFrame, coneAngle, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1);
CreateJoint(ragdoll0, thigh, torso);
CreateJoint(ragdoll1, thigh, torso);
}
// 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
};
PhysicsJoint hinge =
PhysicsJoint.CreateLimitedHinge(lowerLegFrame, upperLegFrame, new FloatRange {
Min = -1.2f
});
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
};
PhysicsJoint hinge =
PhysicsJoint.CreateLimitedHinge(footFrame, lowerLegFrame, new FloatRange(-0.4f, 0.1f));
CreateJoint(hinge, foot, calf);
}
}
}
var entityManager = BasePhysicsDemo.DefaultWorld.EntityManager;
// reposition with offset information
if (entities.Length > 0)
{
float3 center = float3.zero;
for (int i = 0; i < entities.Length; i++)
{
var e = entities[i];
center += entityManager.GetComponentData <Translation>(e).Value;
}
center /= entities.Length;
for (int i = 0; i < entities.Length; i++)
{
var e = entities[i];
Translation positionComponent = entityManager.GetComponentData <Translation>(e);
Rotation rotationComponent = entityManager.GetComponentData <Rotation>(e);
float3 position = positionComponent.Value;
quaternion rotation = rotationComponent.Value;
float3 localPosition = position - center;
localPosition = math.rotate(rotationOffset, localPosition);
position = localPosition + center + positionOffset;
rotation = math.mul(rotation, rotationOffset);
positionComponent.Value = position;
rotationComponent.Value = rotation;
entityManager.SetComponentData <Translation>(e, positionComponent);
entityManager.SetComponentData <Rotation>(e, rotationComponent);
}
}
}
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);
}
}