protected override void OnUpdate()
{
var output = World.GetOrCreateSystem <ConstraintGatherSystem>().GetOneWayOneDOFConstraintsInput();
var masses = GetComponentDataFromEntity <Mass>();
var positions = GetComponentDataFromEntity <Position>();
float dt = Time.DeltaTime;
Entities
.WithReadOnly(masses)
.WithReadOnly(positions)
.ForEach((Entity e, in LightTrackingJoint joint, in Position lightPos) => {
float targetAngle = Ang.SignedAngleOf(positions[joint.toTrack].pos - lightPos.pos);
float targetOffset = Ang.SignedDistance(angleFrom: lightPos.rot, angleTo: targetAngle);
var manifold = new TargetAngularVelocityManifold {
e = e,
id = e.GetHashCode() ^ 291019149,
softness = joint.trackSoftness,
targetAngVel = TargetAngularVelocityManifold.AngVelForTargetOffset(
offset: targetOffset,
maxSpeed: joint.trackSpeed,
dt: dt
)
};
output.Add(new OneWayOneDOFConstraint(manifold, masses, dt));
}).Schedule();
public OneWayOneDOFConstraint(TargetAngularVelocityManifold m, Float3 M_inv, float dt)
{
e = m.e;
id = m.id;
this.M_inv = M_inv;
constraint = new OneDOFConstraint <Float3>(
J: new float3(0, 0, math.sign(m.targetAngVel)),
M_inv: M_inv,
bias: -math.abs(m.targetAngVel),
softness: m.softness
);
lambdaAccum = 0;
}
public OneWayOneDOFConstraint(TargetAngularVelocityManifold m, ComponentDataFromEntity <Mass> masses, float dt) :
this(m, masses[m.e].M_inv, dt)
{
}
