protected override void OnUpdate()
{
_createPhysicsWorldSystem.GetOutputDependency().Complete();
PhysicsWorld world = _createPhysicsWorldSystem.PhysicsWorld;
var entitys = this.carEntityQuery.ToEntityArrayAsync(Allocator.TempJob, out var jobhandle);
var wheelInfos = new NativeArray <tmpData>(entitys.Length, Allocator.TempJob);
var wheelJob = new WheelJob()
{
physicsWorld = world,
Entitys = entitys,
wbcs = GetComponentDataFromEntity <WheelBaseConfig>(),
pps = GetComponentDataFromEntity <PreviousParent>(),
localToWorlds = GetComponentDataFromEntity <LocalToWorld>(),
wbis = GetComponentDataFromEntity <WheelBaseInfo>(),
time = Time.fixedDeltaTime,
TmpDatas = wheelInfos
};
wheelJob.Schedule(entitys.Length, 80, jobhandle).Complete();
var drift = 0f;
for (int i = 0; i < wheelInfos.Length; i++)
{
var data = wheelInfos[i];
if (data.entity != Entity.Null)
{
EntityManager.SetComponentData(data.entity, data.wbi);
world.ApplyImpulse(data.parentID, data.wbi.SuspensionForce, data.LocalToWorld.Position);
var v = Input.GetAxis("Vertical");
world.ApplyImpulse(data.parentID, data.LocalToWorld.Forward * (30) * v, data.hit.Position + (data.LocalToWorld.Position - data.hit.Position) / 10F);
var physicsVelocity = EntityManager.GetComponentData <PhysicsVelocity>(data.parentEntity);
var position = EntityManager.GetComponentData <Translation>(data.parentEntity);
var rotation = EntityManager.GetComponentData <Rotation>(data.parentEntity);
var h = Input.GetAxis("Horizontal");
world.ApplyAngularForce(data.parentID, h * data.LocalToWorld.Up * 7000);
var tmp = Matrix4x4.identity;
tmp.SetTRS(position.Value, rotation.Value, Vector3.one);
var linearVelocity = world.GetLinearVelocity(data.parentID);
var angularVelocity = world.GetAngularVelocity(data.parentID);
float3 localAngleVelocity = tmp.inverse.MultiplyVector(angularVelocity);
localAngleVelocity.y *= 0.9f + (drift / 10);
physicsVelocity.Angular = tmp.MultiplyVector(localAngleVelocity);
Vector3 localVelocity = tmp.inverse.MultiplyVector(linearVelocity);
localVelocity.x *= 0.9f + (drift / 10);
physicsVelocity.Linear = tmp.MultiplyVector(localVelocity);
world.SetAngularVelocity(data.parentID, physicsVelocity.Angular);
world.SetLinearVelocity(data.parentID, physicsVelocity.Linear);
}
}
entitys.Dispose();
wheelInfos.Dispose();
}