public override void InitJoint()
{
NewtonBody child = GetComponent <NewtonBody>();
dMatrix matrix = Utils.ToMatrix(m_Pivot, m_Pin);
IntPtr otherBody = (m_OtherBody != null) ? m_OtherBody.GetBody().GetBody() : IntPtr.Zero;
m_Joint = new dNewtonJointBallAndSocket(matrix, child.GetBody().GetBody(), otherBody);
Stiffness = m_Stiffness;
}
public override void InitJoint()
{
NewtonBody child = GetComponent <NewtonBody>();
dMatrix matrix = Utils.ToMatrix(m_Pivot, m_Pin);
IntPtr otherBody = (m_OtherBody != null) ? m_OtherBody.GetBody().GetBody() : IntPtr.Zero;
m_Joint = new dNewtonJointSlider(matrix, child.GetBody().GetBody(), otherBody);
Stiffness = m_Stiffness;
EnableCollision = m_EnableCollision;
EnableLimits = m_EnableLimits;
SetSpringDamper = m_SetSpringDamper;
}
public override void InitJoint()
{
NewtonBody child = GetComponent <NewtonBody>();
dMatrix matrix = Utils.ToMatrix(m_Pivot, m_Pin);
IntPtr otherBody = (m_OtherBody != null) ? m_OtherBody.GetBody().GetBody() : IntPtr.Zero;
m_Joint = new dNewtonJointSliderActuator(matrix, child.GetBody().GetBody(), otherBody);
EnableCollision = m_EnableCollision;
Speed = m_Speed;
MaxForce = m_MaxForce;
TargetPosition = m_TargetPosition;
}
public override void InitJoint()
{
NewtonBody child = GetComponent <NewtonBody>();
dMatrix matrix = Utils.ToMatrix(m_Pivot, m_Pin0, m_Pin1);
IntPtr otherBody = (m_OtherBody != null) ? m_OtherBody.GetBody().GetBody() : IntPtr.Zero;
m_Joint = new dNewtonJointDoubleHinge(matrix, child.GetBody().GetBody(), otherBody);
Stiffness = m_Stiffness;
EnableCollision = m_EnableCollision;
EnableLimits_0 = m_EnableLimits_0;
EnableLimits_1 = m_EnableLimits_1;
}
public override void InitJoint()
{
NewtonBody child = GetComponent <NewtonBody>();
dMatrix matrix = Utils.ToMatrix(m_Pivot, m_Pin);
IntPtr otherBody = (m_OtherBody != null) ? m_OtherBody.GetBody().GetBody() : IntPtr.Zero;
m_Joint = new dNewtonJointHingeActuator(matrix, child.GetBody().GetBody(), otherBody);
TargetAngle = m_TargetAngle;
AngularRate = m_AngularRate;
MaxTorque = m_MaxTorque;
EnableCollision = m_EnableCollision;
}
private void ValidateEditorShape()
{
if (m_EditorShape == null)
{
NewtonBody body = GetBodyInParent();
if (body != null)
{
if (body.World != null)
{
m_EditorShape = Create(body.World);
}
}
}
}
public override void InitJoint()
{
Vector3 childPin = m_Pin.normalized;
Vector3 parentPin = m_ParentPin.normalized;
NewtonBody child = GetComponent <NewtonBody>();
IntPtr otherBody = (m_OtherBody != null) ? m_OtherBody.GetBody().GetBody() : IntPtr.Zero;
dVector childPin_ = new dVector(childPin.x, childPin.y, childPin.z, 0.0f);
dVector parentPin_ = new dVector(parentPin.x, parentPin.y, parentPin.z, 0.0f);
m_Joint = new dNewtonJointGear(m_GearRatio, childPin_, parentPin_, child.GetBody().GetBody(), otherBody);
EnableCollision = m_EnableCollision;
}
public override void InitJoint()
{
NewtonBody child = GetComponent <NewtonBody>();
IntPtr otherBody = (m_OtherBody != null) ? m_OtherBody.GetBody().GetBody() : IntPtr.Zero;
var gearPinNorm = m_GearPin.normalized;
var slidePinNorm = m_SlidePin.normalized;
dVector childPin = new dVector(gearPinNorm.x, gearPinNorm.y, gearPinNorm.z, 0.0f);
dVector parentPin = new dVector(slidePinNorm.x, slidePinNorm.y, slidePinNorm.z, 0.0f);
m_Joint = new dNewtonJointRackAndPinion(m_GearRatio, childPin, parentPin, child.GetBody().GetBody(), otherBody);
EnableCollision = m_EnableCollision;
}
private NewtonBody GetBodyInParent()
{
NewtonBody body = null;
Transform gameTransform = transform;
while (gameTransform != null)
{
// this is a child body we need to find the root rigid body owning the shape
if (body == null)
{
body = gameTransform.gameObject.GetComponent <NewtonBody>();
}
gameTransform = gameTransform.parent;
}
return(body);
}
public override void InitJoint()
{
var childPinNorm = m_Pin.normalized;
var parentPinNorm = m_ParentPin.normalized;
var refPinNorm = m_ReferencePin.normalized;
NewtonBody child = GetComponent <NewtonBody>();
IntPtr otherBody = (m_OtherBody != null) ? m_OtherBody.GetBody().GetBody() : IntPtr.Zero;
IntPtr referenceBody = (m_ReferenceBody != null) ? m_ReferenceBody.GetBody().GetBody() : IntPtr.Zero;
dVector dChildPin = new dVector(childPinNorm.x, childPinNorm.y, childPinNorm.z, 0.0f);
dVector dParentPin = new dVector(parentPinNorm.x, parentPinNorm.y, parentPinNorm.z, 0.0f);
dVector dReferencePin = new dVector(refPinNorm.x, refPinNorm.y, refPinNorm.z, 0.0f);
m_Joint = new dNewtonJointDifferentialGear(m_GearRatio, dChildPin, dParentPin, dReferencePin, child.GetBody().GetBody(), otherBody, referenceBody);
EnableCollision = m_EnableCollision;
}
public virtual void OnPostCollision(NewtonBody otherBody)
{
// do nothing
//Debug.Log("do nothing");
}
public virtual void OnContact(NewtonBody otherBody, float normalImpact)
{
// do nothing
//Debug.Log("do nothing");
}
public NewtonBodyCollision(NewtonBody body)
{
if (body.World.GetWorld() == null)
{
throw new NullReferenceException("Native world instance is null. The World component was probably destroyed");
}
m_Body = body;
List <NewtonCollider> colliderList = new List <NewtonCollider>();
TraverseColliders(body.gameObject, colliderList, body.gameObject, body);
if (body.IsScene)
{
NewtonSceneCollider sceneCollider = body.gameObject.AddComponent <NewtonSceneCollider>();
dNewtonCollisionScene sceneShape = (dNewtonCollisionScene)sceneCollider.Create(body.World);
sceneCollider.SetShape(sceneShape);
m_RootCollider = sceneCollider;
m_Colliders.Add(sceneCollider);
sceneShape.BeginAddRemoveCollision();
foreach (NewtonCollider collider in colliderList)
{
m_Colliders.Add(collider);
collider.m_ParentHandle = sceneShape.AddCollision(collider.GetShape());
}
sceneShape.EndAddRemoveCollision();
}
else if (colliderList.Count == 0)
{
NewtonCollider collider = body.gameObject.AddComponent <NewtonNullCollider>();
collider.SetShape(collider.Create(body.World));
m_RootCollider = collider;
m_Colliders.Add(collider);
}
else if (colliderList.Count == 1)
{
m_RootCollider = colliderList[0];
m_Colliders.Add(colliderList[0]);
}
else
{
NewtonCompoundCollider compoundCollider = body.gameObject.AddComponent <NewtonCompoundCollider>();
dNewtonCollisionCompound compoundShape = (dNewtonCollisionCompound)compoundCollider.Create(body.World);
compoundCollider.SetShape(compoundShape);
m_RootCollider = compoundCollider;
m_Colliders.Add(compoundCollider);
compoundShape.BeginAddRemoveCollision();
foreach (NewtonCollider collider in colliderList)
{
m_Colliders.Add(collider);
collider.m_ParentHandle = compoundShape.AddCollision(collider.GetShape());
}
compoundShape.EndAddRemoveCollision();
}
}
private void TraverseColliders(GameObject gameObject, List <NewtonCollider> colliderList, GameObject rootObject, NewtonBody body)
{
// Don't fetch colliders from children with NewtonBodies
if ((gameObject == rootObject) || (gameObject.GetComponent <NewtonBody>() == null))
{
//Fetch all colliders
foreach (NewtonCollider collider in gameObject.GetComponents <NewtonCollider>())
{
dNewtonCollision shape = collider.CreateBodyShape(body.World);
if (shape != null)
{
collider.Body = body;
collider.SetShape(shape);
colliderList.Add(collider);
}
}
Terrain terrain = gameObject.GetComponent <Terrain>();
if (terrain)
{
NewtonHeighfieldCollider heighfield = gameObject.GetComponent <NewtonHeighfieldCollider>();
if (heighfield)
{
TerrainData data = terrain.terrainData;
int treesCount = data.treeInstanceCount;
TreeInstance[] treeInstanceArray = data.treeInstances;
TreePrototype[] treeProtoArray = data.treePrototypes;
Vector3 posit = Vector3.zero;
for (int i = 0; i < treesCount; i++)
{
TreeInstance tree = treeInstanceArray[i];
posit.x = tree.position.x * data.size.x;
posit.y = tree.position.y * data.size.y;
posit.z = tree.position.z * data.size.z;
//Debug.Log("xxx0 " + posit);
TreePrototype treeProto = treeProtoArray[tree.prototypeIndex];
GameObject treeGameObject = treeProto.prefab;
foreach (NewtonCollider treeCollider in treeGameObject.GetComponents <NewtonCollider>())
{
dNewtonCollision treeShape = treeCollider.CreateBodyShape(body.World);
if (treeShape != null)
{
Vector3 treePosit = terrain.transform.position + treeCollider.m_Position + posit;
//Debug.Log("xxx1 " + treePosit);
dMatrix matrix = Utils.ToMatrix(treePosit, Quaternion.identity);
treeShape.SetMatrix(matrix);
treeCollider.Body = body;
treeCollider.SetShape(treeShape);
colliderList.Add(treeCollider);
}
}
}
}
}
foreach (Transform child in gameObject.transform)
{
TraverseColliders(child.gameObject, colliderList, rootObject, body);
}
}
}
internal void DeregisterBody(NewtonBody nb)
{
m_bodies.Remove(nb);
}
internal void RegisterBody(NewtonBody nb)
{
m_bodies.Add(nb);
}
