public static void CreateHip(GameObject pelvis, GameObject upperLeg, out PhysicsJoint jointData0, out PhysicsJoint jointData1)
{
float upperLegHeight = 2.0f * upperLeg.transform.localScale.y;
var pelvisTransform = new RigidTransform(pelvis.transform.rotation, pelvis.transform.position);
var upperLegTransform = new RigidTransform(upperLeg.transform.rotation, upperLeg.transform.position);
float3 pivotLeg = new float3(0, upperLegHeight / 2.0f, 0);
float3 pivotPelvis = math.transform(math.inverse(pelvisTransform), math.transform(upperLegTransform, pivotLeg));
float3 twistAxis = new float3(0, -1, 0);
float3 perpendicularAxis = new float3(1, 0, 0);
float3 twistAxisLeg = math.rotate(math.inverse(upperLegTransform), twistAxis);
float3 twistAxisPelvis = math.rotate(math.inverse(pelvisTransform), twistAxis);
float3 perpendicularAxisLeg = math.rotate(math.inverse(upperLegTransform), perpendicularAxis);
float3 perpendicularAxisPelvis = math.rotate(math.inverse(pelvisTransform), perpendicularAxis);
float coneAngle = math.PI / 4.0f;
var perpendicularAngle = new FloatRange(math.PI / 3f, math.PI * 2f / 3f);
var twistAngle = new FloatRange(-0.2f, 0.2f);
var jointFramePelvis = new BodyFrame {
Axis = twistAxisPelvis, PerpendicularAxis = perpendicularAxisPelvis, Position = pivotPelvis
};
var jointFrameLeg = new BodyFrame {
Axis = twistAxisLeg, PerpendicularAxis = perpendicularAxisLeg, Position = pivotLeg
};
PhysicsJoint.CreateRagdoll(jointFramePelvis, jointFrameLeg, coneAngle, perpendicularAngle, twistAngle, out jointData0, out jointData1);
}
public static void CreateNeck(GameObject torso, GameObject head, out PhysicsJoint jointData0, out PhysicsJoint jointData1)
{
var headTransform = head.GetComponent <Transform>();
float headRadius = 0.5f * headTransform.localScale.x;
float3 pivotHead = new float3(0, -headRadius, 0);
var torsoTransform = torso.GetComponent <Transform>();
var torsoRigidTransform = new RigidTransform(torsoTransform.rotation, torsoTransform.position);
var headRigidTransform = new RigidTransform(headTransform.rotation, headTransform.position);
float3 pivotTorso = math.transform(math.inverse(torsoRigidTransform), math.transform(headRigidTransform, pivotHead));
float3 axis = new float3(0, 1, 0);
float3 perpendicular = new float3(0, 0, 1);
float coneAngle = math.PI / 5.0f;
var perpendicularAngle = new FloatRange {
Max = math.PI
};
var twistAngle = new FloatRange(-math.PI / 3f, math.PI / 3f);
var jointFrameTorso = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotTorso
};
var jointFrameHead = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotHead
};
PhysicsJoint.CreateRagdoll(jointFrameTorso, jointFrameHead, coneAngle, perpendicularAngle, twistAngle, out jointData0, out jointData1);
}
public static void CreateWaist(GameObject torso, GameObject pelvis, out PhysicsJoint jointData0, out PhysicsJoint jointData1)
{
float3 pivotTorso = float3.zero;
RigidTransform pelvisTransform = new RigidTransform(pelvis.transform.rotation, pelvis.transform.position);
RigidTransform torsoTransform = new RigidTransform(torso.transform.rotation, torso.transform.position);
float3 pivotPelvis = math.transform(math.inverse(pelvisTransform), math.transform(torsoTransform, pivotTorso));
float3 axisPelvis = new float3(0, 0, -1);
float3 axisTorso = axisPelvis;
float3 axisPerpendicular = new float3(1, 0, 0);
float3 perpendicularPelvis = math.rotate(math.inverse(pelvisTransform), axisPerpendicular);
float3 perpendicularTorso = math.rotate(math.inverse(torsoTransform), axisPerpendicular);
float coneAngle = 0.0872665f;
var perpendicularAngle = new FloatRange {
Max = math.PI
};
var twistAngle = new FloatRange(-0.01f, 0.1f);
var jointFrameTorso = new BodyFrame {
Axis = axisTorso, PerpendicularAxis = perpendicularTorso, Position = pivotTorso
};
var jointFramePelvis = new BodyFrame {
Axis = axisPelvis, PerpendicularAxis = perpendicularPelvis, Position = pivotPelvis
};
PhysicsJoint.CreateRagdoll(jointFrameTorso, jointFramePelvis, coneAngle, perpendicularAngle, twistAngle, out jointData0, out jointData1);
}
public override void Create(EntityManager entityManager, GameObjectConversionSystem conversionSystem)
{
UpdateAuto();
UpgradeVersionIfNecessary();
PhysicsJoint.CreateRagdoll(
new BodyFrame {
Axis = TwistAxisLocal, PerpendicularAxis = PerpendicularAxisLocal, Position = PositionLocal
},
new BodyFrame {
Axis = TwistAxisInConnectedEntity, PerpendicularAxis = PerpendicularAxisInConnectedEntity, Position = PositionInConnectedEntity
},
math.radians(MaxConeAngle),
math.radians(new FloatRange(MinPerpendicularAngle, MaxPerpendicularAngle)),
math.radians(new FloatRange(MinTwistAngle, MaxTwistAngle)),
out var primaryCone,
out var perpendicularCone
);
conversionSystem.World.GetOrCreateSystem <EndJointConversionSystem>().CreateJointEntities(
this,
GetConstrainedBodyPair(conversionSystem),
new NativeArray <PhysicsJoint>(2, Allocator.Temp)
{
[0] = primaryCone, [1] = perpendicularCone
}
);
}
protected override void Start()
{
base.Start();
// Enable the joint viewer
SetDebugDisplay(new Unity.Physics.Authoring.PhysicsDebugDisplayData
{
DrawJoints = 1
});
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.2f, 1.0f, 0.2f),
BevelRadius = 0.0f
});
// Make some ragdoll joints
for (int i = 0; i < 10; i++)
{
// Create a body
Entity body = CreateDynamicBody(
new float3((i - 4.5f) * 1.0f, 0, 0), quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
// Create the ragdoll joint
float3 pivotLocal = new float3(0, 0.5f, 0);
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
float3 axisLocal = new float3(0, 1, 0);
float3 perpendicularLocal = new float3(0, 0, 1);
quaternion worldFromLocal = Quaternion.AngleAxis((i - 4.5f) * 20.0f, new float3(0, 0, 1));
float3 axisWorld = math.mul(worldFromLocal, axisLocal);
float3 perpendicularWorld = math.mul(worldFromLocal, perpendicularLocal);
float maxConeAngle = (float)math.PI / 4.0f;
var perpendicularAngle = new FloatRange(-math.PI / 2f, math.PI / 2f);
var twistAngle = new FloatRange(-math.PI / 8f, math.PI / 8f);
var localFrame = new BodyFrame {
Axis = axisLocal, PerpendicularAxis = perpendicularLocal, Position = pivotLocal
};
var worldFrame = new BodyFrame {
Axis = axisWorld, PerpendicularAxis = perpendicularWorld, Position = pivotInWorld
};
PhysicsJoint.CreateRagdoll(localFrame, worldFrame, maxConeAngle, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1);
CreateJoint(ragdoll0, body, Entity.Null);
CreateJoint(ragdoll1, body, Entity.Null);
}
}
public static void CreateShoulder(GameObject torso, GameObject upperArm, out PhysicsJoint jointData0, out PhysicsJoint jointData1)
{
float armLength = 2 * upperArm.transform.localScale.y;
float sign = math.sign(-upperArm.transform.position.x);
var torsoRigidTransform = new RigidTransform(torso.transform.rotation, torso.transform.position);
var upperArmRigidTransform = new RigidTransform(upperArm.transform.rotation, upperArm.transform.position);
float3 pivotArm = new float3(sign * armLength / 2.0f, 0, 0);
pivotArm = math.rotate(math.inverse(upperArmRigidTransform.rot), pivotArm);
float3 pivotBody = math.transform(math.inverse(torsoRigidTransform), math.transform(upperArmRigidTransform, pivotArm));
float3 twistAxis = new float3(-1.0f * sign, 0, 0);
float3 perpendicularAxis = new float3(0, 0, 1);
float3 twistAxisArm = math.rotate(math.inverse(upperArmRigidTransform), twistAxis);
float3 twistAxisTorso = math.rotate(math.inverse(torsoRigidTransform), twistAxis);
float3 perpendicularAxisArm = math.rotate(math.inverse(upperArmRigidTransform), perpendicularAxis);
float3 perpendicularAxisTorso = math.rotate(math.inverse(torsoRigidTransform), perpendicularAxis);
float coneAngle = math.PI / 4.0f;
var perpendicularAngle = new FloatRange(math.PI / 6f, math.PI * 5f / 6f);
var twistAngle = new FloatRange(-0.0872665f, 0.0872665f);
var jointFrameBody = new BodyFrame {
Axis = twistAxisTorso, PerpendicularAxis = perpendicularAxisTorso, Position = pivotBody
};
var jointFrameArm = new BodyFrame {
Axis = twistAxisArm, PerpendicularAxis = perpendicularAxisArm, Position = pivotArm
};
PhysicsJoint.CreateRagdoll(jointFrameBody, jointFrameArm, coneAngle, perpendicularAngle, twistAngle, out jointData0, out jointData1);
}
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);
}
}
}