protected override JobHandle OnUpdate(JobHandle inputDeps)
{
if (m_MouseGroup.CalculateEntityCount() == 0)
{
return(inputDeps);
}
ComponentDataFromEntity <Translation> Positions = GetComponentDataFromEntity <Translation>(true);
ComponentDataFromEntity <Rotation> Rotations = GetComponentDataFromEntity <Rotation>(true);
ComponentDataFromEntity <PhysicsVelocity> Velocities = GetComponentDataFromEntity <PhysicsVelocity>();
ComponentDataFromEntity <PhysicsMass> Masses = GetComponentDataFromEntity <PhysicsMass>(true);
// If there's a pick job, wait for it to finish
if (m_PickSystem.PickJobHandle != null)
{
JobHandle.CombineDependencies(inputDeps, m_PickSystem.PickJobHandle.Value).Complete();
}
// If there's a picked entity, drag it
MousePickSystem.SpringData springData = m_PickSystem.SpringDatas[0];
if (springData.Dragging != 0)
{
Entity entity = m_PickSystem.SpringDatas[0].Entity;
if (!EntityManager.HasComponent <PhysicsMass>(entity))
{
return(inputDeps);
}
PhysicsMass massComponent = Masses[entity];
PhysicsVelocity velocityComponent = Velocities[entity];
if (massComponent.InverseMass == 0)
{
return(inputDeps);
}
var worldFromBody = new MTransform(Rotations[entity].Value, Positions[entity].Value);
// Body to motion transform
var bodyFromMotion = new MTransform(Masses[entity].InertiaOrientation, Masses[entity].CenterOfMass);
MTransform worldFromMotion = Mul(worldFromBody, bodyFromMotion);
// Damp the current velocity
const float gain = 0.95f;
velocityComponent.Linear *= gain;
velocityComponent.Angular *= gain;
// Get the body and mouse points in world space
float3 pointBodyWs = Mul(worldFromBody, springData.PointOnBody);
float3 pointSpringWs = Camera.main.ScreenToWorldPoint(new Vector3(Input.mousePosition.x, Input.mousePosition.y, springData.MouseDepth));
// Calculate the required change in velocity
float3 pointBodyLs = Mul(Inverse(bodyFromMotion), springData.PointOnBody);
float3 deltaVelocity;
{
float3 pointDiff = pointBodyWs - pointSpringWs;
float3 relativeVelocityInWorld = velocityComponent.Linear + math.mul(worldFromMotion.Rotation, math.cross(velocityComponent.Angular, pointBodyLs));
const float elasticity = 0.1f;
const float damping = 0.5f;
deltaVelocity = -pointDiff * (elasticity / Time.fixedDeltaTime) - damping * relativeVelocityInWorld;
}
// Build effective mass matrix in world space
// TODO how are bodies with inf inertia and finite mass represented
// TODO the aggressive damping is hiding something wrong in this code if dragging non-uniform shapes
float3x3 effectiveMassMatrix;
{
float3 arm = pointBodyWs - worldFromMotion.Translation;
var skew = new float3x3(
new float3(0.0f, arm.z, -arm.y),
new float3(-arm.z, 0.0f, arm.x),
new float3(arm.y, -arm.x, 0.0f)
);
// world space inertia = worldFromMotion * inertiaInMotionSpace * motionFromWorld
var invInertiaWs = new float3x3(
massComponent.InverseInertia.x * worldFromMotion.Rotation.c0,
massComponent.InverseInertia.y * worldFromMotion.Rotation.c1,
massComponent.InverseInertia.z * worldFromMotion.Rotation.c2
);
invInertiaWs = math.mul(invInertiaWs, math.transpose(worldFromMotion.Rotation));
float3x3 invEffMassMatrix = math.mul(math.mul(skew, invInertiaWs), skew);
invEffMassMatrix.c0 = new float3(massComponent.InverseMass, 0.0f, 0.0f) - invEffMassMatrix.c0;
invEffMassMatrix.c1 = new float3(0.0f, massComponent.InverseMass, 0.0f) - invEffMassMatrix.c1;
invEffMassMatrix.c2 = new float3(0.0f, 0.0f, massComponent.InverseMass) - invEffMassMatrix.c2;
effectiveMassMatrix = math.inverse(invEffMassMatrix);
}
// Calculate impulse to cause the desired change in velocity
float3 impulse = math.mul(effectiveMassMatrix, deltaVelocity);
// Clip the impulse
const float maxAcceleration = 250.0f;
float maxImpulse = math.rcp(massComponent.InverseMass) * Time.fixedDeltaTime * maxAcceleration;
impulse *= math.min(1.0f, math.sqrt((maxImpulse * maxImpulse) / math.lengthsq(impulse)));
// Apply the impulse
{
velocityComponent.Linear += impulse * massComponent.InverseMass;
float3 impulseLs = math.mul(math.transpose(worldFromMotion.Rotation), impulse);
float3 angularImpulseLs = math.cross(pointBodyLs, impulseLs);
velocityComponent.Angular += angularImpulseLs * massComponent.InverseInertia;
}
// Write back velocity
Velocities[entity] = velocityComponent;
}
return(inputDeps);
}
protected override JobHandle OnUpdate(JobHandle inputDeps)
{
if (m_MouseGroup.CalculateLength() == 0)
{
return(inputDeps);
}
var Positions = GetComponentDataFromEntity <Translation>();
// If there's a pick job, wait for it to finish
if (m_PickSystem.PickJobHandle != null)
{
JobHandle.CombineDependencies(inputDeps, m_PickSystem.PickJobHandle.Value).Complete();
}
// If there's a picked entity, drag it
MousePickSystem.SpringData springData = m_PickSystem.SpringDatas[0];
var physicsWorld = m_PickSystem.m_BuildPhysicsWorldSystem.PhysicsWorld;
if (springData.Dragging != 0)
{
Entity entity = m_PickSystem.SpringDatas[0].Entity;
if (!m_WasDragging)
{
GameMgr.g.PlayPickMonsterSoundEffect(entity);
}
m_WasDragging = true;
Translation posComponent = Positions[entity];
m_SelectedEntity = entity;
var hits = new NativeList <RaycastHit>(Allocator.TempJob);
physicsWorld.CollisionWorld.CastRay(MousePickBehaviour.CreateRayCastFromMouse(), ref hits);
var terrainEntities = m_TerrainEntityQuery.ToEntityArray(Allocator.TempJob);
foreach (var terrainEntity in terrainEntities)
{
var index = physicsWorld.GetRigidBodyIndex(terrainEntity);
foreach (var hit in hits.ToArray())
{
if (hit.RigidBodyIndex == index)
{
posComponent.Value.x = hit.Position.x;
posComponent.Value.z = hit.Position.z;
Positions[entity] = posComponent;
break;
}
}
}
hits.Dispose();
terrainEntities.Dispose();
}
else if (m_WasDragging)
{
m_WasDragging = false;
var hits = new NativeList <RaycastHit>(Allocator.TempJob);
physicsWorld.CollisionWorld.CastRay(MousePickBehaviour.CreateRayCastFromMouse(), ref hits);
var roomEntities = m_RoomEntityQuery.ToEntityArray(Allocator.TempJob);
foreach (var room in roomEntities)
{
var index = physicsWorld.GetRigidBodyIndex(room);
foreach (var hit in hits.ToArray())
{
if (hit.RigidBodyIndex == index)
{
GameMgr.MoveMonsterToRoom(m_SelectedEntity, room, 0);
}
}
}
hits.Dispose();
roomEntities.Dispose();
}
return(inputDeps);
}
