public override void OnSelection(RUISWandSelector selector)
{
this.selector = selector;
// Transform information
positionAtSelection = selector.selectionRayEnd;
rotationAtSelection = transform.rotation;
// Selector information
selectorPositionAtSelection = selector.transform.position;
selectorRotationAtSelection = selector.transform.rotation;
distanceFromSelectionRayOrigin = (selector.selectionRayEnd - selector.selectionRay.origin).magnitude; // Dont remove this, needed in the inherited class
this.originalJointDriveX = this.configurableJoint.angularXDrive;
this.originalJointDriveYZ = this.configurableJoint.angularYZDrive;
JointDrive jd = new JointDrive();
jd.mode = JointDriveMode.Position;
jd.positionSpring = springForce;
jd.maximumForce = 999;
this.configurableJoint.angularXDrive = jd;
this.configurableJoint.angularYZDrive = jd;
if (selectionMaterial != null)
AddMaterialToEverything(selectionMaterial);
}
public static void attachChainHook(this ConfigurableJoint cj, GameObject attachedGo)
{
JointDrive jd = new JointDrive();
jd.mode = JointDriveMode.Position;
jd.positionDamper = 0.4f;
cj.slerpDrive = jd;
cj.xMotion = ConfigurableJointMotion.Locked;
cj.yMotion = ConfigurableJointMotion.Locked;
cj.zMotion = ConfigurableJointMotion.Locked;
cj.angularXMotion = ConfigurableJointMotion.Limited;
cj.angularYMotion = ConfigurableJointMotion.Limited;
cj.angularZMotion = ConfigurableJointMotion.Limited; //set limits again since this object rotation has been altered
SoftJointLimit limit = new SoftJointLimit();
limit.limit = -80f;
cj.lowAngularXLimit = limit;
limit.limit = 80f;
cj.highAngularXLimit = limit;
limit.limit = 3f;
cj.angularYLimit = limit;
limit.limit = 80f;
cj.angularZLimit = limit;
if (attachedGo.rigidbody != null)
cj.connectedBody = attachedGo.rigidbody;
}
public void In(
#if (UNITY_3_5 || UNITY_4_6 || UNITY_4_7 || UNITY_5_0 || UNITY_5_1 || UNITY_5_2)
[FriendlyName("Mode", "The JointDriveMode.")]
JointDriveMode mode,
#endif
[FriendlyName("Position Spring", "The JointDrive PositionSpring.")]
float positionSpring,
[FriendlyName("Position Damper", "The PositionDamper of the JointDrive.")]
float positionDamper,
[FriendlyName("Maximum Force", "The MaximumForce of the JointDrive.")]
float maximumForce,
[FriendlyName("Joint Drive", "The newly created JointDrive.")]
out JointDrive jointDrive
)
{
JointDrive j = new JointDrive();
#if (UNITY_3_5 || UNITY_4_6 || UNITY_4_7 || UNITY_5_0 || UNITY_5_1 || UNITY_5_2)
j.mode = mode;
#endif
j.positionSpring = positionSpring;
j.positionDamper = positionDamper;
j.maximumForce = maximumForce;
jointDrive = j;
}
static public int constructor(IntPtr l)
{
try {
#if DEBUG
var method = System.Reflection.MethodBase.GetCurrentMethod();
string methodName = GetMethodName(method);
#if UNITY_5_5_OR_NEWER
UnityEngine.Profiling.Profiler.BeginSample(methodName);
#else
Profiler.BeginSample(methodName);
#endif
#endif
UnityEngine.JointDrive o;
o = new UnityEngine.JointDrive();
pushValue(l, true);
pushValue(l, o);
return(2);
}
catch (Exception e) {
return(error(l, e));
}
#if DEBUG
finally {
#if UNITY_5_5_OR_NEWER
UnityEngine.Profiling.Profiler.EndSample();
#else
Profiler.EndSample();
#endif
}
#endif
}
public void In(
[FriendlyName("Mode", "The JointDriveMode.")]
JointDriveMode mode,
[FriendlyName("Position Spring", "The JointDrive PositionSpring.")]
float positionSpring,
[FriendlyName("Position Damper", "The PositionDamper of the JointDrive.")]
float positionDamper,
[FriendlyName("Maximum Force", "The MaximumForce of the JointDrive.")]
float maximumForce,
[FriendlyName("Joint Drive", "The newly created JointDrive.")]
out JointDrive jointDrive
)
{
JointDrive j = new JointDrive( );
j.mode = mode;
j.positionSpring = positionSpring;
j.positionDamper = positionDamper;
j.maximumForce = maximumForce;
jointDrive = j;
}
protected void holdObject(GameObject obj, Vector3 holdPoint) {
grabbed = obj;
Physics.IgnoreCollision(GetComponent<Collider>(), grabbed.GetComponent<Collider>(), true);
// create and configure the joint
driver = new JointDrive();
driver.mode = JointDriveMode.Position;
driver.positionDamper = strength /5;
driver.positionSpring = strength *3f;
driver.maximumForce = strength *3;
holdJoint = grabbed.AddComponent<ConfigurableJoint>();
holdJoint.autoConfigureConnectedAnchor = false;
holdJoint.rotationDriveMode = RotationDriveMode.Slerp;
//holdJoint.breakForce = 15f;
holdJoint.connectedBody = this.gameObject.transform.GetChild(0).GetComponent<Rigidbody>();
holdJoint.connectedAnchor = normalHoldPosition;
if ((grabbed.GetComponent<Rigidbody>().worldCenterOfMass -holdPoint).sqrMagnitude > holdDistance)
holdJoint.anchor = grabbed.transform.InverseTransformPoint(holdPoint);
else
holdJoint.anchor = grabbed.GetComponent<Rigidbody>().centerOfMass;
holdJoint.projectionDistance = 0;
holdJoint.projectionAngle = 0;
holdJoint.xDrive = holdJoint.yDrive = holdJoint.zDrive = holdJoint.slerpDrive = driver;
holdJoint.targetPosition = Vector3.zero;
}
static public int set_positionDamper(IntPtr l)
{
UnityEngine.JointDrive o = (UnityEngine.JointDrive)checkSelf(l);
float v;
checkType(l, 2, out v);
o.positionDamper = v;
setBack(l, o);
return(0);
}
static public int set_maximumForce(IntPtr l)
{
UnityEngine.JointDrive o = (UnityEngine.JointDrive)checkSelf(l);
float v;
checkType(l, 2, out v);
o.maximumForce = v;
setBack(l, o);
return(0);
}
static public int constructor(IntPtr l) {
try {
UnityEngine.JointDrive o;
o=new UnityEngine.JointDrive();
pushValue(l,true);
pushValue(l,o);
return 2;
}
catch(Exception e) {
return error(l,e);
}
}
static public int constructor(IntPtr l)
{
try {
UnityEngine.JointDrive o;
o = new UnityEngine.JointDrive();
pushValue(l, o);
return(1);
}
catch (Exception e) {
return(error(l, e));
}
}
static public int constructor(IntPtr l)
{
try {
UnityEngine.JointDrive o;
o = new UnityEngine.JointDrive();
pushValue(l, o);
return(1);
}
catch (Exception e) {
LuaDLL.luaL_error(l, e.ToString());
return(0);
}
}
public static int constructor(IntPtr l)
{
try {
UnityEngine.JointDrive o;
o=new UnityEngine.JointDrive();
pushValue(l,o);
return 1;
}
catch(Exception e) {
LuaDLL.luaL_error(l, e.ToString());
return 0;
}
}
static void CharacterJoint_rotationDrive(JSVCall vc)
{
if (vc.bGet)
{
UnityEngine.CharacterJoint _this = (UnityEngine.CharacterJoint)vc.csObj;
var result = _this.rotationDrive;
JSMgr.datax.setObject((int)JSApi.SetType.Rval, result);
}
else
{
UnityEngine.JointDrive arg0 = (UnityEngine.JointDrive)JSMgr.datax.getObject((int)JSApi.GetType.Arg);
UnityEngine.CharacterJoint _this = (UnityEngine.CharacterJoint)vc.csObj;
_this.rotationDrive = arg0;
}
}
static void ConfigurableJoint_slerpDrive(JSVCall vc)
{
if (vc.bGet)
{
UnityEngine.ConfigurableJoint _this = (UnityEngine.ConfigurableJoint)vc.csObj;
var result = _this.slerpDrive;
JSMgr.datax.setObject((int)JSApi.SetType.Rval, result);
}
else
{
UnityEngine.JointDrive arg0 = (UnityEngine.JointDrive)JSMgr.datax.getObject((int)JSApi.GetType.Arg);
UnityEngine.ConfigurableJoint _this = (UnityEngine.ConfigurableJoint)vc.csObj;
_this.slerpDrive = arg0;
}
}
public static void DisableConfigurableJoint(this ConfigurableJoint cj)
{
cj.connectedBody = null;
cj.xMotion = ConfigurableJointMotion.Free;
cj.yMotion = ConfigurableJointMotion.Free;
cj.zMotion = ConfigurableJointMotion.Free;
cj.angularXMotion = ConfigurableJointMotion.Free;
cj.angularYMotion = ConfigurableJointMotion.Free;
cj.angularZMotion = ConfigurableJointMotion.Free;
JointDrive jd = new JointDrive();
jd.mode = JointDriveMode.None;
cj.slerpDrive = jd;
}
// fields
// properties
static void JointDrive_mode(JSVCall vc)
{
if (vc.bGet)
{
UnityEngine.JointDrive _this = (UnityEngine.JointDrive)vc.csObj;
var result = _this.mode;
JSApi.setEnum((int)JSApi.SetType.Rval, (int)result);
}
else
{
UnityEngine.JointDriveMode arg0 = (UnityEngine.JointDriveMode)JSApi.getEnum((int)JSApi.GetType.Arg);
UnityEngine.JointDrive _this = (UnityEngine.JointDrive)vc.csObj;
_this.mode = arg0;
JSMgr.changeJSObj(vc.jsObjID, _this);
}
}
static void JointDrive_maximumForce(JSVCall vc)
{
if (vc.bGet)
{
UnityEngine.JointDrive _this = (UnityEngine.JointDrive)vc.csObj;
var result = _this.maximumForce;
JSApi.setSingle((int)JSApi.SetType.Rval, (System.Single)(result));
}
else
{
System.Single arg0 = (System.Single)JSApi.getSingle((int)JSApi.GetType.Arg);
UnityEngine.JointDrive _this = (UnityEngine.JointDrive)vc.csObj;
_this.maximumForce = arg0;
JSMgr.changeJSObj(vc.jsObjID, _this);
}
}
/// <summary>
/// Read the data using the reader.
/// </summary>
/// <param name="reader">Reader.</param>
public override object Read(ISaveGameReader reader)
{
UnityEngine.JointDrive jointDrive = new UnityEngine.JointDrive();
foreach (string property in reader.Properties)
{
switch (property)
{
case "positionSpring":
jointDrive.positionSpring = reader.ReadProperty <System.Single> ();
break;
case "positionDamper":
jointDrive.positionDamper = reader.ReadProperty <System.Single> ();
break;
case "maximumForce":
jointDrive.maximumForce = reader.ReadProperty <System.Single> ();
break;
}
}
return(jointDrive);
}
private extern void INTERNAL_get_slerpDrive(out JointDrive value);
void NewJoint( int i )
{
GameObject tJC;
ConfigurableJoint tCJ;
SoftJointLimit sjl;
JointDrive jd;
//CapsuleCollider cc;
tJC = new GameObject("Connection_"+i.ToString());
tJC.transform.position = ropeEnd.transform.position + (jointHeading * linkLength * i);
tJC.transform.LookAt(transform.position);
Debug.Log( i );
if( jointParent == null ) {
tJC.transform.parent = GameObject.Find( "Rope" ).transform;
}
else {
tJC.transform.parent = jointParent.transform;
}
tJC.AddComponent<Rigidbody>();
//tJC.rigidbody.constraints = RigidbodyConstraints.FreezeRotationX | RigidbodyConstraints.FreezeRotationY | RigidbodyConstraints.FreezeRotationZ;
tJC.rigidbody.angularDrag = 0;
switch(constraintPlane)
{
case ConstraintPlane.X_Y:
tJC.rigidbody.constraints = RigidbodyConstraints.FreezePositionZ;
break;
case ConstraintPlane.Y_Z:
tJC.rigidbody.constraints = RigidbodyConstraints.FreezePositionX;
break;
case ConstraintPlane.Z_X:
tJC.rigidbody.constraints = RigidbodyConstraints.FreezePositionY;
break;
default:
break;
}
/* Uncomment this to add capsule colliders to the links.
if(i<linkCount)
{
cc = tJC.AddComponent<CapsuleCollider>();
cc.center = new Vector3(0,0,jointGap/2);
cc.height = jointGap * 1.33f;
cc.direction = 2;
cc.radius = ropeRadius;
}*/
tCJ = tJC.AddComponent<ConfigurableJoint>();
tCJ.configuredInWorldSpace = true;
try{tCJ.connectedBody = jointConnections[i-1].rigidbody; }catch{ tCJ.connectedBody = ropeEnd.rigidbody; }
//tCJ.swingAxis = new Vector3(1,1,1);
tCJ.xMotion = ConfigurableJointMotion.Locked;
tCJ.yMotion = ConfigurableJointMotion.Locked;
tCJ.zMotion = ConfigurableJointMotion.Locked;
tCJ.angularXMotion = ConfigurableJointMotion.Locked;
tCJ.angularYMotion = ConfigurableJointMotion.Locked;
tCJ.angularZMotion = ConfigurableJointMotion.Locked;
/*
tCJ.angularXMotion = ConfigurableJointMotion.Limited;
tCJ.highAngularXLimit = new SoftJointLimit(){ limit = 360.0f };
tCJ.lowAngularXLimit = new SoftJointLimit(){ limit = 0.0f };
tCJ.angularYMotion = ConfigurableJointMotion.Limited;
tCJ.angularYLimit = new SoftJointLimit(){ limit = 360.0f };
tCJ.angularZMotion = ConfigurableJointMotion.Limited;
tCJ.angularZLimit = new SoftJointLimit(){ limit = 360 }; //MinMaxTwist };
*/
jd = new JointDrive() { mode = JointDriveMode.Position };
tCJ.xDrive = jd;
tCJ.yDrive = jd;
tCJ.zDrive = jd;
if(i == linkCount)
{
// first, update the old end
/*
if( i > 1 ) {
ConfigurableJoint oldcj = (ConfigurableJoint) jointConnections[i-1].GetComponent( "ConfigurableJoint" );
oldcj.angularXMotion = ConfigurableJointMotion.Locked;
oldcj.angularYMotion = ConfigurableJointMotion.Locked;
oldcj.angularZMotion = ConfigurableJointMotion.Locked;
oldcj.connectedBody = jointConnections[i-2].rigidbody;
}
*/
tCJ = tJC.AddComponent<ConfigurableJoint>();
tCJ.connectedBody = rigidbody;
tCJ.xMotion = ConfigurableJointMotion.Locked;
tCJ.yMotion = ConfigurableJointMotion.Locked;
tCJ.zMotion = ConfigurableJointMotion.Locked;
tCJ.angularZMotion = ConfigurableJointMotion.Limited;
sjl = new SoftJointLimit(){ limit = MinMaxTwist };
tCJ.angularZLimit = sjl;
jd = new JointDrive() { mode = JointDriveMode.Position };
tCJ.xDrive = jd;
tCJ.yDrive = jd;
tCJ.zDrive = jd;
tCJ.projectionMode = JointProjectionMode.PositionOnly;
tCJ.projectionDistance = 0.1f;
}
/*
tCJ.projectionMode = JointProjectionMode.PositionAndRotation;
tCJ.projectionDistance = 0.1f;
tCJ.projectionAngle = .1f;
tCJ.targetRotation = Quaternion.LookRotation( Vector3.up);
tCJ.angularXDrive = new JointDrive() { mode = JointDriveMode.Position };
tCJ.angularYZDrive = new JointDrive() { mode = JointDriveMode.Position };
*/
jointConnections.Add( tJC );
}
/*
* Create a configurable joint on this BodyPart connected to target applying resistance back to the previous pose
* NOTE: If maxforce is 0, the ragdoll will crumple like a chump
* */
public ConfigurableJoint ConnectTo(BodyPart target, float resistance, float maxForce)
{
// store the current rotation and enter initialRotation to create the joint
Quaternion q = bone.localRotation;
bone.localRotation = _initialRotation;
// ensure there is a rigidbody
AddRigidbody();
rigidbody.isKinematic = true;
// create the new joint and configure it
joint = gameObject.AddComponent<ConfigurableJoint>();
joint.connectedBody = target.AddRigidbody(); // NOTE: this function takes care of validation internally
joint.axis = jointAxis;
joint.secondaryAxis = jointSecondaryAxis;
joint.xMotion =
joint.yMotion =
joint.zMotion = ConfigurableJointMotion.Locked;
joint.angularXMotion =
joint.angularYMotion =
joint.angularZMotion = ConfigurableJointMotion.Limited;
SoftJointLimit limit = new SoftJointLimit();
limit.limit = xMin;
joint.lowAngularXLimit = limit;
limit.limit = xMax;
joint.highAngularXLimit = limit;
limit.limit = yMax;
joint.angularYLimit = limit;
limit.limit = zMax;
joint.angularZLimit = limit;
joint.rotationDriveMode = RotationDriveMode.Slerp;
JointDrive drive = new JointDrive();
drive.mode = JointDriveMode.Position;
drive.positionSpring = resistance;
drive.maximumForce = maxForce;
joint.slerpDrive = drive;
joint.targetRotation = q*Quaternion.Inverse(initialRotation);
// disable world-space configuration to ensure settings are applied
joint.configuredInWorldSpace = false;
// return to the current orientation
bone.localRotation = q;
rigidbody.isKinematic = false;
return joint;
}
private extern void INTERNAL_get_angularYZDrive(out JointDrive value);
private extern void INTERNAL_set_slerpDrive(ref JointDrive value);
void SetupJoint(ConfigurableJoint joint)
{
SoftJointLimit jointLimit = new SoftJointLimit();
jointLimit.spring = 0.0f;
jointLimit.damper = 0.0f;
jointLimit.bounciness = 0.0f;
JointDrive jointDrive = new JointDrive();
jointDrive.mode = JointDriveMode.Position;
jointDrive.positionSpring = LinkJointSpringValue;
jointDrive.positionDamper = LinkJointDamperValue;
jointDrive.maximumForce = LinkJointMaxForceValue;
joint.axis = Vector3.right;
joint.secondaryAxis = Vector3.up;
joint.breakForce = LinkJointBreakForce;
joint.breakTorque = LinkJointBreakTorque;
joint.xMotion = ConfigurableJointMotion.Locked;
joint.yMotion = ConfigurableJointMotion.Locked;
joint.zMotion = ConfigurableJointMotion.Locked;
joint.angularXMotion = Mathf.Approximately(LinkJointAngularXLimit, 0.0f) == false ? ConfigurableJointMotion.Limited : ConfigurableJointMotion.Locked;
joint.angularYMotion = Mathf.Approximately(LinkJointAngularYLimit, 0.0f) == false ? ConfigurableJointMotion.Limited : ConfigurableJointMotion.Locked;
joint.angularZMotion = Mathf.Approximately(LinkJointAngularZLimit, 0.0f) == false ? ConfigurableJointMotion.Limited : ConfigurableJointMotion.Locked;
jointLimit.limit = -LinkJointAngularXLimit;
joint.lowAngularXLimit = jointLimit;
jointLimit.limit = LinkJointAngularXLimit;
joint.highAngularXLimit = jointLimit;
jointLimit.limit = LinkJointAngularYLimit;
joint.angularYLimit = jointLimit;
jointLimit.limit = LinkJointAngularZLimit;
joint.angularZLimit = jointLimit;
joint.angularXDrive = jointDrive;
joint.angularYZDrive = jointDrive;
/*
joint.projectionMode = JointProjectionMode.PositionAndRotation;
joint.projectionDistance = 0.1f;
joint.projectionAngle = 0.1f;*/
}
private extern void get_slerpDrive_Injected(out JointDrive ret);
private extern void INTERNAL_set_angularYZDrive(ref JointDrive value);
private extern void get_angularYZDrive_Injected(out JointDrive ret);
private extern void set_angularYZDrive_Injected(ref JointDrive value);
private void INTERNAL_set_angularXDrive(ref JointDrive value);
private void INTERNAL_get_angularXDrive(out JointDrive value);
private void INTERNAL_set_zDrive(ref JointDrive value);
protected bool setupJoints()
{
if (!gotOrig)
{
if ((rotate_model != "") && (transform.FindChild("model").FindChild(rotate_model) != null))
{
origRotation = transform.FindChild("model").FindChild(rotate_model).localRotation;
}
if (translateJoint)
{
origTranslation = transform.localPosition;
}
else if ((translate_model != "") && (transform.FindChild("model").FindChild(translate_model) != null))
{
origTranslation = transform.FindChild("model").FindChild(translate_model).localPosition;
}
if (rotateJoint || translateJoint)
{
if (attachJoint != null)
{
GameObject.Destroy(attachJoint);
ConfigurableJoint newJoint = gameObject.AddComponent<ConfigurableJoint>();
newJoint.breakForce = breakingForce;
newJoint.breakTorque = breakingTorque;
newJoint.axis = rotateJoint ? rotateAxis : translateAxis;
newJoint.secondaryAxis = (newJoint.axis == Vector3.up) ? Vector3.forward : Vector3.up;
SoftJointLimit spring = new SoftJointLimit();
spring.limit = 0;
spring.damper = jointDamping;
spring.spring = jointSpring;
if (translateJoint)
{
newJoint.xMotion = ConfigurableJointMotion.Free;
newJoint.yMotion = ConfigurableJointMotion.Free;
newJoint.zMotion = ConfigurableJointMotion.Free;
//newJoint.linearLimit = spring;
JointDrive drv = new JointDrive();
drv.mode = JointDriveMode.PositionAndVelocity;
drv.positionSpring = 1e20F;
drv.positionDamper = 0;
drv.maximumForce = 1e20F;
newJoint.xDrive = newJoint.yDrive = newJoint.zDrive = drv;
}
else
{
newJoint.xMotion = ConfigurableJointMotion.Locked;
newJoint.yMotion = ConfigurableJointMotion.Locked;
newJoint.zMotion = ConfigurableJointMotion.Locked;
}
if (rotateJoint)
{
newJoint.angularXMotion = ConfigurableJointMotion.Limited;
newJoint.lowAngularXLimit = newJoint.highAngularXLimit = spring;
}
else
{
newJoint.angularXMotion = ConfigurableJointMotion.Locked;
}
newJoint.angularYMotion = ConfigurableJointMotion.Locked;
newJoint.angularZMotion = ConfigurableJointMotion.Locked;
//newJoint.anchor = rotateJoint ? rotatePivot : origTranslation;
newJoint.anchor = rotateJoint ? rotatePivot : Vector3.zero;
newJoint.projectionMode = JointProjectionMode.PositionAndRotation;
newJoint.projectionDistance = 0;
newJoint.projectionAngle = 0;
newJoint.connectedBody = parent.Rigidbody;
attachJoint = newJoint;
gotOrig = true;
return true;
}
}
else
{
gotOrig = true;
return true;
}
}
return false;
}
private extern void set_slerpDrive_Injected(ref JointDrive value);
private void INTERNAL_get_zDrive(out JointDrive value);
public bool SetupJoints()
{
if (!GotOrig)
{
// remove for less spam in editor
//print("setupJoints - !gotOrig");
if (rotateJoint || translateJoint)
{
if (part.attachJoint != null)
{
// Catch reversed joint
// Maybe there is a best way to do it?
if (transform.position != part.attachJoint.Joint.connectedBody.transform.position)
{
joint = part.attachJoint.Joint.connectedBody.gameObject.AddComponent<ConfigurableJoint>();
joint.connectedBody = part.attachJoint.Joint.rigidbody;
}
else
{
joint = part.attachJoint.Joint.rigidbody.gameObject.AddComponent<ConfigurableJoint>();
joint.connectedBody = part.attachJoint.Joint.connectedBody;
}
joint.breakForce = 1e15f;
joint.breakTorque = 1e15f;
// And to default joint
part.attachJoint.Joint.breakForce = 1e15f;
part.attachJoint.Joint.breakTorque = 1e15f;
part.attachJoint.SetBreakingForces(1e15f, 1e15f);
// lock all movement by default
joint.xMotion = ConfigurableJointMotion.Locked;
joint.yMotion = ConfigurableJointMotion.Locked;
joint.zMotion = ConfigurableJointMotion.Locked;
joint.angularXMotion = ConfigurableJointMotion.Locked;
joint.angularYMotion = ConfigurableJointMotion.Locked;
joint.angularZMotion = ConfigurableJointMotion.Locked;
joint.projectionDistance = 0f;
joint.projectionAngle = 0f;
joint.projectionMode = JointProjectionMode.PositionAndRotation;
// Copy drives
joint.linearLimit = part.attachJoint.Joint.linearLimit;
joint.lowAngularXLimit = part.attachJoint.Joint.lowAngularXLimit;
joint.highAngularXLimit = part.attachJoint.Joint.highAngularXLimit;
joint.angularXDrive = part.attachJoint.Joint.angularXDrive;
joint.angularYZDrive = part.attachJoint.Joint.angularYZDrive;
joint.xDrive = part.attachJoint.Joint.xDrive;
joint.yDrive = part.attachJoint.Joint.yDrive;
joint.zDrive = part.attachJoint.Joint.zDrive;
// Set anchor position
joint.anchor =
joint.rigidbody.transform.InverseTransformPoint(joint.connectedBody.transform.position);
joint.connectedAnchor = Vector3.zero;
// Set correct axis
joint.axis =
joint.rigidbody.transform.InverseTransformDirection(joint.connectedBody.transform.right);
joint.secondaryAxis =
joint.rigidbody.transform.InverseTransformDirection(joint.connectedBody.transform.up);
if (translateJoint)
{
joint.xMotion = ConfigurableJointMotion.Free;
joint.yMotion = ConfigurableJointMotion.Free;
joint.zMotion = ConfigurableJointMotion.Free;
}
if (rotateJoint)
{
//Docking washer is broken currently?
joint.rotationDriveMode = RotationDriveMode.XYAndZ;
joint.angularXMotion = ConfigurableJointMotion.Free;
joint.angularYMotion = ConfigurableJointMotion.Free;
joint.angularZMotion = ConfigurableJointMotion.Free;
// Docking washer test
if (jointSpring > 0)
{
if (rotateAxis == Vector3.right || rotateAxis == Vector3.left)
{
JointDrive drv = joint.angularXDrive;
drv.positionSpring = jointSpring;
joint.angularXDrive = drv;
joint.angularYMotion = ConfigurableJointMotion.Locked;
joint.angularZMotion = ConfigurableJointMotion.Locked;
}
else
{
JointDrive drv = joint.angularYZDrive;
drv.positionSpring = jointSpring;
joint.angularYZDrive = drv;
joint.angularXMotion = ConfigurableJointMotion.Locked;
joint.angularZMotion = ConfigurableJointMotion.Locked;
}
}
}
// Reset default joint drives
var resetDrv = new JointDrive
{
mode = JointDriveMode.PositionAndVelocity,
positionSpring = 0,
positionDamper = 0,
maximumForce = 0
};
part.attachJoint.Joint.angularXDrive = resetDrv;
part.attachJoint.Joint.angularYZDrive = resetDrv;
part.attachJoint.Joint.xDrive = resetDrv;
part.attachJoint.Joint.yDrive = resetDrv;
part.attachJoint.Joint.zDrive = resetDrv;
GotOrig = true;
return true;
}
return false;
}
GotOrig = true;
return true;
}
return false;
}
private extern void INTERNAL_get_slerpDrive(out JointDrive value);
/// <summary>
/// Removes the muscle with the specified joint and all muscles connected to it from PuppetMaster management. This will not destroy the body part/prop, but just release it from following the target.
/// If you call RemoveMuscleRecursive on an upper arm muscle, the entire arm will be disconnected from the rest of the body.
/// If attachTarget is true, the target Transform of the first muscle will be parented to the disconnected limb.
/// This method allocates some memory, avoid using it each frame.
/// </summary>
public void RemoveMuscleRecursive(ConfigurableJoint joint, bool attachTarget)
{
if (!CheckIfInitiated()) return;
if (joint == null) {
Debug.LogWarning("RemoveMuscleRecursive was called with a null 'joint' reference.", transform);
return;
}
if (!ContainsJoint(joint)) {
Debug.LogWarning("No Muscle with the specified joint was found, can not remove muscle.", transform);
return;
}
int index = GetMuscleIndex(joint);
Muscle[] newMuscles = new Muscle[muscles.Length - (muscles[index].childIndexes.Length + 1)];
int added = 0;
for (int i = 0; i < muscles.Length; i++) {
if (i != index && !muscles[index].childFlags[i]) {
newMuscles[added] = muscles[i];
added ++;
} else {
if (muscles[i].broadcaster != null) Destroy(muscles[i].broadcaster);
}
}
muscles[index].joint.connectedBody = null;
muscles[index].joint.targetRotation = Quaternion.identity;
JointDrive j = new JointDrive();
j.positionSpring = 0f;
#if UNITY_5_2
j.mode = JointDriveMode.None;
#endif
muscles[index].joint.slerpDrive = j;
muscles[index].joint.xMotion = ConfigurableJointMotion.Free;
muscles[index].joint.yMotion = ConfigurableJointMotion.Free;
muscles[index].joint.zMotion = ConfigurableJointMotion.Free;
muscles[index].joint.angularXMotion = ConfigurableJointMotion.Free;
muscles[index].joint.angularYMotion = ConfigurableJointMotion.Free;
muscles[index].joint.angularZMotion = ConfigurableJointMotion.Free;
muscles[index].transform.parent = null;
if (attachTarget) {
muscles[index].target.parent = muscles[index].transform;
muscles[index].target.position = muscles[index].transform.position;
muscles[index].target.rotation = muscles[index].transform.rotation * muscles[index].targetRotationRelative;
}
muscles = newMuscles;
UpdateHierarchies();
}
/// <summary>
/// ăžă§ă€ăłăă«ă°ăăȘă©ăźăă©ăĄăŒăżăèšćźăă
/// </summary>
/// <param name='joint'>PMXçšăžă§ă€ăłăăăŒăż</param>
/// <param name='conf'>Unityçšăžă§ă€ăłă</param>
void SetDrive(PMXFormat.Joint joint, ConfigurableJoint conf)
{
JointDrive drive;
// Position
if (joint.spring_position.x != 0.0f) {
drive = new JointDrive();
drive.positionSpring = joint.spring_position.x * scale_;
conf.xDrive = drive;
}
if (joint.spring_position.y != 0.0f) {
drive = new JointDrive();
drive.positionSpring = joint.spring_position.y * scale_;
conf.yDrive = drive;
}
if (joint.spring_position.z != 0.0f) {
drive = new JointDrive();
drive.positionSpring = joint.spring_position.z * scale_;
conf.zDrive = drive;
}
// Angular
if (joint.spring_rotation.x != 0.0f) {
drive = new JointDrive();
drive.mode = JointDriveMode.PositionAndVelocity;
drive.positionSpring = joint.spring_rotation.x;
conf.angularXDrive = drive;
}
if (joint.spring_rotation.y != 0.0f || joint.spring_rotation.z != 0.0f) {
drive = new JointDrive();
drive.mode = JointDriveMode.PositionAndVelocity;
drive.positionSpring = (joint.spring_rotation.y + joint.spring_rotation.z) * 0.5f;
conf.angularYZDrive = drive;
}
}
public void LoadBoomHead()
{
if (savedSectionsLocalPos.Count > 0) {
//Reset section(s) to org pos
foreach (KeyValuePair<int, SectionInfo> section in sections) {
section.Value.transform.position = part.transform.TransformPoint(section.Value.orgLocalPos);
}
}
KAS_Shared.DebugLog("LoadBoomHead(TelescopicArm) Create physical object...");
boomHeadPhysicModule = this.part.gameObject.GetComponent<KASModulePhysicChild>();
if (!boomHeadPhysicModule) {
KAS_Shared.DebugLog(
"LoadBoomHead(TelescopicArm) - KASModulePhysicChild do not exist, adding it...");
boomHeadPhysicModule = this.part.gameObject.AddComponent<KASModulePhysicChild>();
}
boomHeadPhysicModule.StartPhysics(sections[0].transform.gameObject, boomHeadMass);
orgBoomHeadMass = this.part.mass;
float newMass = this.part.mass - boomHeadMass;
if (newMass > 0) {
this.part.mass = newMass;
} else {
KAS_Shared.DebugWarning(
"LoadBoomHead(TelescopicArm) - Mass of the boom head is greater than the part !");
}
KAS_Shared.DebugLog("LoadRotor - Disable collision...");
disableSectionCollision();
KAS_Shared.DebugLog("LoadBoomHead(TelescopicArm) - Create configurable joint...");
slideJoint = this.part.gameObject.AddComponent<ConfigurableJoint>();
slideJoint.connectedBody = sections[0].transform.GetComponent<Rigidbody>();
slideJoint.axis = Vector3.zero;
slideJoint.secondaryAxis = Vector3.zero;
slideJoint.breakForce = breakForce;
slideJoint.breakTorque = breakForce;
slideJoint.angularXMotion = ConfigurableJointMotion.Locked;
slideJoint.angularYMotion = ConfigurableJointMotion.Locked;
slideJoint.angularZMotion = ConfigurableJointMotion.Locked;
slideJoint.xMotion = ConfigurableJointMotion.Locked;
slideJoint.yMotion = ConfigurableJointMotion.Locked;
slideJoint.zMotion = ConfigurableJointMotion.Locked;
if (direction.x != 0) {
slideJoint.xMotion = ConfigurableJointMotion.Limited;
driveWay = direction.x;
KAS_Shared.DebugLog(
"LoadBoomHead(TelescopicArm) - Direction set to x axis with driveWay set to : "
+ driveWay);
} else if (direction.y != 0) {
slideJoint.yMotion = ConfigurableJointMotion.Limited;
driveWay = direction.y;
KAS_Shared.DebugLog(
"LoadBoomHead(TelescopicArm) - Direction set to y axis with driveWay set to : "
+ driveWay);
} else if (direction.z != 0) {
slideJoint.zMotion = ConfigurableJointMotion.Limited;
driveWay = direction.z;
KAS_Shared.DebugLog(
"LoadBoomHead(TelescopicArm) - Direction set to z axis with driveWay set to : "
+ driveWay);
}
JointDrive drv = new JointDrive();
drv.mode = JointDriveMode.PositionAndVelocity;
drv.positionSpring = driveSpring;
drv.positionDamper = driveDamper;
drv.maximumForce = driveForce;
slideJoint.xDrive = slideJoint.yDrive = slideJoint.zDrive = drv;
var jointLimit = new SoftJointLimit();
jointLimit.limit = sectionTotalLenght;
jointLimit.bounciness = 1;
slideJoint.linearLimit = jointLimit;
slideJoint.linearLimitSpring = new SoftJointLimitSpring() {
damper = 200,
spring = 1000
};
if (savedSectionsLocalPos.Count > 0) {
KAS_Shared.DebugLog("LoadBoomHead(TelescopicArm) - Re-set section position from save");
float sumLenght = 0;
foreach (KeyValuePair<int, SectionInfo> section in sections) {
KAS_Shared.DebugLog("LoadBoomHead(TelescopicArm) - Move section " + section.Key
+ " to local position : " + section.Value.savedLocalPos);
section.Value.transform.position =
part.transform.TransformPoint(section.Value.savedLocalPos);
sumLenght += section.Value.lenght;
if (headPos > sumLenght) {
KAS_Shared.DebugLog("LoadBoomHead(TelescopicArm) - Parent section "
+ sections[section.Key + 1].transform.name + " to : "
+ section.Value.transform.name);
sections[section.Key + 1].transform.parent = section.Value.transform;
}
}
}
// Get boom head attach nodes
attachNodes.Clear();
ConfigNode node = KAS_Shared.GetBaseConfigNode(this);
List<string> attachNodesSt = new List<string>(node.GetValues("attachNode"));
foreach (String anString in attachNodesSt) {
AttachNode an = this.part.findAttachNode(anString);
if (an != null) {
KAS_Shared.DebugLog("LoadBoomHead(TelescopicArm) - Boom head attach node added : " + an.id);
attachNodes.Add(an);
if (an.attachedPart) {
KAS_Shared.DebugLog("LoadBoomHead(TelescopicArm) - Setting boom head joint on : "
+ an.attachedPart.partInfo.title);
KAS_Shared.RemoveFixedJointBetween(this.part, an.attachedPart);
KAS_Shared.RemoveHingeJointBetween(this.part, an.attachedPart);
FixedJoint fjnt = an.attachedPart.gameObject.AddComponent<FixedJoint>();
fjnt.connectedBody = sections[0].transform.GetComponent<Rigidbody>();
fixedJnts.Add(fjnt);
}
}
}
SetTargetPos(targetPos);
boomHeadLoaded = true;
}
// TODO: Limbs should be made into a better tree structure, not this
// list of lists rubbish
private void setupLimbs()
{
int num_branches = chromosome.getBranchCount();
chromosome.setNumBranches(num_branches);
for (int i=0; i<num_branches; i++)
{
limbs = chromosome.getLimbs(i);
List<GameObject> actual_limbs = new List<GameObject>();
int recurrences = chromosome.num_recurrences[i];
for (int j=0; j<recurrences; ++j) {
GameObject limb = GameObject.CreatePrimitive(PrimitiveType.Cube);
limb.layer = LayerMask.NameToLayer("Creature");
limb.name = "limb_"+i+"_"+j;
limb.transform.parent = _t;
actual_limbs.Add(limb);
Limb limb_script = limb.AddComponent<Limb>();
ArrayList attributes = (ArrayList) limbs[j];
limb_script.setScale( (Vector3) attributes[1] );
limb_script.setColour( (Color) chromosome.getLimbColour());
if(j == 0) {
limb_script.setPosition( (Vector3) attributes[0] );
limb.transform.LookAt(root.transform);
} else {
limb_script.setPosition( actual_limbs[j-1].transform.localPosition );
limb.transform.LookAt(root.transform);
limb.transform.Translate(0,0,-actual_limbs[j-1].transform.localScale.z);
}
limb.AddComponent<Rigidbody>();
limb.AddComponent<BoxCollider>();
limb.GetComponent<Collider>().material = (PhysicMaterial)Resources.Load("Physics Materials/Creature");
ConfigurableJoint joint = limb.AddComponent<ConfigurableJoint>();
//joint.configuredInWorldSpace = true;
joint.axis = new Vector3(0.5F, 0F, 0F);
joint.anchor = new Vector3(0F, 0F, 0.5F);
if(j == 0) {
joint.connectedBody = root.GetComponent<Rigidbody>();
} else {
joint.connectedBody = actual_limbs[j-1].GetComponent<Rigidbody>();
}
limb.GetComponent<Rigidbody>().drag = 1F;
joints.Add(joint);
joint.xMotion = ConfigurableJointMotion.Locked;
joint.yMotion = ConfigurableJointMotion.Locked;
joint.zMotion = ConfigurableJointMotion.Locked;
joint.angularXMotion = ConfigurableJointMotion.Free;
joint.angularYMotion = ConfigurableJointMotion.Free;
joint.angularZMotion = ConfigurableJointMotion.Free;
JointDrive angXDrive = new JointDrive();
angXDrive.mode = JointDriveMode.Position;
angXDrive.positionSpring = 7F;
angXDrive.maximumForce = 100000000F;
joint.angularXDrive = angXDrive;
joint.angularYZDrive = angXDrive;
limb.GetComponent<Rigidbody>().SetDensity(1F);
}
}
}
private void INTERNAL_set_angularXDrive(ref JointDrive value);
void PlaceJointConnections()
{
if(Application.isPlaying)
jointParent = new GameObject("Rope");
else
jointParent = new GameObject("TempRope");
jointParent.transform.position = ropeEnd.transform.position;
jointParent.transform.LookAt(transform.position);
GameObject tJC;
ConfigurableJoint tCJ;
SoftJointLimit sjl;
JointDrive jd;
CapsuleCollider cc;
SphereCollider sc;
for(int i = 0; i <= linkCount; i++)
{
tJC = new GameObject("Connection_"+i.ToString());
tJC.transform.position = ropeEnd.transform.position + (jointHeading * jointGap * i);
tJC.transform.LookAt(transform.position + jointHeading);
tJC.transform.parent = jointParent.transform;
tJC.AddComponent<Rigidbody>();
tJC.rigidbody.drag = jointDrag;
tJC.rigidbody.useGravity = jointsHaveGravity;
switch(constraintPlane)
{
case ConstraintPlane.X_Y:
tJC.rigidbody.constraints = RigidbodyConstraints.FreezePositionZ;
break;
case ConstraintPlane.Y_Z:
tJC.rigidbody.constraints = RigidbodyConstraints.FreezePositionX;
break;
case ConstraintPlane.Z_X:
tJC.rigidbody.constraints = RigidbodyConstraints.FreezePositionY;
break;
default:
break;
}
if(includeSphereColliders)
{
sc = tJC.AddComponent<SphereCollider>();
sc.radius = ropeRadius;
sc.material = ropePhysicMaterial;
}
if(includeCapsuleColliders && i<linkCount)
{
cc = tJC.AddComponent<CapsuleCollider>();
cc.center = new Vector3(0,0,jointGap/2);
cc.height = jointGap * 1.33f;
cc.direction = 2;
cc.radius = ropeRadius;
cc.material = ropePhysicMaterial;
}
tCJ = tJC.AddComponent<ConfigurableJoint>();
try{tCJ.connectedBody = jointConnections[i-1].rigidbody; }catch{ tCJ.connectedBody = ropeEnd.rigidbody; }
//tCJ.swingAxis = new Vector3(1,1,1);
tCJ.xMotion = ConfigurableJointMotion.Locked;
tCJ.yMotion = ConfigurableJointMotion.Locked;
tCJ.zMotion = ConfigurableJointMotion.Locked;
tCJ.angularZMotion = ConfigurableJointMotion.Limited;
sjl = new SoftJointLimit(){ limit = MinMaxTwist };
tCJ.angularZLimit = sjl;
jd = new JointDrive() { mode = JointDriveMode.Position };
tCJ.xDrive = jd;
tCJ.yDrive = jd;
tCJ.zDrive = jd;
tCJ.projectionMode = JointProjectionMode.PositionOnly;
tCJ.projectionDistance = 0.1f;
if(i == linkCount)
{
tCJ = tJC.AddComponent<ConfigurableJoint>();
tCJ.connectedBody = rigidbody;
tCJ.xMotion = ConfigurableJointMotion.Locked;
tCJ.yMotion = ConfigurableJointMotion.Locked;
tCJ.zMotion = ConfigurableJointMotion.Locked;
tCJ.angularZMotion = ConfigurableJointMotion.Limited;
sjl = new SoftJointLimit(){ limit = MinMaxTwist };
tCJ.angularZLimit = sjl;
jd = new JointDrive() { mode = JointDriveMode.Position };
tCJ.xDrive = jd;
tCJ.yDrive = jd;
tCJ.zDrive = jd;
tCJ.projectionMode = JointProjectionMode.PositionOnly;
tCJ.projectionDistance = 0.1f;
}
jointConnections.Add(tJC);
}
}
static public int get_maximumForce(IntPtr l)
{
UnityEngine.JointDrive o = (UnityEngine.JointDrive)checkSelf(l);
pushValue(l, o.maximumForce);
return(1);
}
private extern void INTERNAL_set_angularYZDrive(ref JointDrive value);
private void INTERNAL_get_angularYZDrive(out JointDrive value)
{
throw new NotImplementedException("ăȘă«ăă");
}
private extern void INTERNAL_set_slerpDrive(ref JointDrive value);
private void INTERNAL_get_angularXDrive(out JointDrive value);
void RedrawRope()
{
if(prefab != null)
{
if( linkCount >= jointConnections.Count ) {
int i = linkCount;
GameObject tJC = new GameObject("Connection_"+i.ToString());
//tJC.transform.position = ropeEnd.transform.position + (jointHeading * linkLength * i);
//tJC.transform.LookAt(transform.position);
if( jointParent == null ) {
tJC.transform.parent = GameObject.Find( "Rope" ).transform;
}
else {
tJC.transform.parent = jointParent.transform;
}
tJC.AddComponent<Rigidbody>();
//tJC.rigidbody.constraints = RigidbodyConstraints.FreezeRotationX | RigidbodyConstraints.FreezeRotationY | RigidbodyConstraints.FreezeRotationZ;
tJC.rigidbody.angularDrag = 0;
ConfigurableJoint tCJ = tJC.AddComponent<ConfigurableJoint>();
tCJ.configuredInWorldSpace = true;
try{
tCJ.connectedBody = jointConnections[i-2].rigidbody;
jointConnections[i-1].GetComponent<ConfigurableJoint>().connectedBody = rigidbody;
jointConnections.Insert( i-1, tJC );
}
catch{
tCJ.connectedBody = ropeEnd.rigidbody;
}
//tCJ.swingAxis = new Vector3(1,1,1);
tCJ.xMotion = ConfigurableJointMotion.Locked;
tCJ.yMotion = ConfigurableJointMotion.Locked;
tCJ.zMotion = ConfigurableJointMotion.Locked;
tCJ.angularXMotion = ConfigurableJointMotion.Locked;
tCJ.angularYMotion = ConfigurableJointMotion.Locked;
tCJ.angularZMotion = ConfigurableJointMotion.Locked;
JointDrive jd = new JointDrive() { mode = JointDriveMode.Position };
tCJ.xDrive = jd;
tCJ.yDrive = jd;
tCJ.zDrive = jd;
Debug.Log( "insertion" );
//NewJoint( i );
//AddPrefab( i );
}
//Debug.Log( "jointConnections: " + jointConnections.Count );
for(int i = 0; i < linkCount; i++)
{
//jointConnections[i].transform.LookAt( ropeEnd.transform.position );
try{
jointConnections[i].transform.position = Vector3.Lerp( ropeEnd.transform.position, transform.position, (float)i/(float)50.0f );
jointConnections[i].transform.LookAt( jointConnections[i-1].transform.position );
}
catch {
}
//tPrefab.transform.position = jointConnections[i].transform.position + (jointHeading/2 * jointGap);
//tPrefab.transform.parent = jointConnections[i].transform;
//tPrefab.transform.parent.LookAt(transform.position);
//tPrefab.transform.Rotate(0,0, altRotation * i);
//tPrefab.transform.Rotate (new Vector3(0, 1, 0), 90.0f);
//tPrefab.transform.localScale *= scale;
//var renderer = (Renderer) tPrefab.GetComponentInChildren (typeof(Renderer));
//linkLength = renderer.bounds.size.z;
//var mesh = (Mesh) tPrefab.GetComponentInChildren (typeof(Mesh));
}
if( jointConnections.Count > 0 )
jointConnections[0].transform.LookAt( transform.position );
}
}
static public int get_positionDamper(IntPtr l)
{
UnityEngine.JointDrive o = (UnityEngine.JointDrive)checkSelf(l);
pushValue(l, o.positionDamper);
return(1);
}
protected bool setupJoints()
{
if (!gotOrig)
{
print("setupJoints - !gotOrig");
if ((rotate_model != "") && (transform.FindChild("model").FindChild(rotate_model) != null))
{
//origRotation = transform.FindChild("model").FindChild(rotate_model).localRotation;
}
else if ((translate_model != "") && (transform.FindChild("model").FindChild(translate_model) != null))
{
//origTranslation = transform.FindChild("model").FindChild(translate_model).localPosition;
}
if (translateJoint)
{
//origTranslation = transform.localPosition;
}
if (rotateJoint || translateJoint)
{
if (attachJoint != null)
{
// Catch reversed joint
// Maybe there is a best way to do it?
if (transform.position != attachJoint.Joint.connectedBody.transform.position)
{
joint = attachJoint.Joint.connectedBody.gameObject.AddComponent<ConfigurableJoint>();
joint.connectedBody = attachJoint.Joint.rigidbody;
}
else
{
joint = attachJoint.Joint.rigidbody.gameObject.AddComponent<ConfigurableJoint>();
joint.connectedBody = attachJoint.Joint.connectedBody;
}
// Assign break forces
joint.breakForce = breakingForce;
joint.breakTorque = breakingTorque;
// And to default joint
attachJoint.Joint.breakForce = breakingForce;
attachJoint.Joint.breakTorque = breakingTorque;
// lock all movement by default
joint.xMotion = ConfigurableJointMotion.Locked;
joint.yMotion = ConfigurableJointMotion.Locked;
joint.zMotion = ConfigurableJointMotion.Locked;
joint.angularXMotion = ConfigurableJointMotion.Locked;
joint.angularYMotion = ConfigurableJointMotion.Locked;
joint.angularZMotion = ConfigurableJointMotion.Locked;
joint.projectionDistance = 0f;
joint.projectionAngle = 0f;
joint.projectionMode = JointProjectionMode.PositionAndRotation;
// Copy drives
joint.linearLimit = attachJoint.Joint.linearLimit;
joint.lowAngularXLimit = attachJoint.Joint.lowAngularXLimit;
joint.highAngularXLimit = attachJoint.Joint.highAngularXLimit;
joint.angularXDrive = attachJoint.Joint.angularXDrive;
joint.angularYZDrive = attachJoint.Joint.angularYZDrive;
joint.xDrive = attachJoint.Joint.xDrive;
joint.yDrive = attachJoint.Joint.yDrive;
joint.zDrive = attachJoint.Joint.zDrive;
// Set anchor position
joint.anchor = joint.rigidbody.transform.InverseTransformPoint(joint.connectedBody.transform.position);
joint.connectedAnchor = Vector3.zero;
// Set correct axis
joint.axis = joint.rigidbody.transform.InverseTransformDirection(joint.connectedBody.transform.right);
joint.secondaryAxis = joint.rigidbody.transform.InverseTransformDirection(joint.connectedBody.transform.up);
if (translateJoint)
{
joint.xMotion = ConfigurableJointMotion.Free;
joint.yMotion = ConfigurableJointMotion.Free;
joint.zMotion = ConfigurableJointMotion.Free;
}
if (rotateJoint)
{
//Docking washer is broken currently?
joint.rotationDriveMode = RotationDriveMode.XYAndZ;
joint.angularXMotion = ConfigurableJointMotion.Free;
joint.angularYMotion = ConfigurableJointMotion.Free;
joint.angularZMotion = ConfigurableJointMotion.Free;
// Docking washer test
if (jointSpring > 0)
{
if (rotateAxis == Vector3.right || rotateAxis == Vector3.left)
{
JointDrive drv = joint.angularXDrive;
drv.positionSpring = jointSpring;
joint.angularXDrive = drv;
joint.angularYMotion = ConfigurableJointMotion.Locked;
joint.angularZMotion = ConfigurableJointMotion.Locked;
}
else
{
JointDrive drv = joint.angularYZDrive;
drv.positionSpring = jointSpring;
joint.angularYZDrive = drv;
joint.angularXMotion = ConfigurableJointMotion.Locked;
joint.angularZMotion = ConfigurableJointMotion.Locked;
}
}
}
/*
if (translateJoint)
{
if (this.attachMode == AttachModes.STACK)
{
attachJoint.Joint.anchor -= this.attachJoint.TgtAnchor;
attachJoint.Joint.connectedAnchor -= joint.connectedAnchor;
}
else
{
//SURFACE ATTACHMENTS WORK WITHOUT ANY CHANGES (most of the time)!!!!
//Don't do a damn thing here!
}
}
if (rotateJoint)
{
//Stack attach mode works
if (this.attachMode == AttachModes.STACK)
{
attachJoint.Joint.anchor -= joint.connectedAnchor;
attachJoint.Joint.connectedAnchor -= joint.connectedAnchor;
}
else
{
//this corrects the orientation for surface attachments, sometimes it works, sometimes it doesn't
attachJoint.Joint.anchor -= joint.axis * attachJoint.TgtAnchor.magnitude;
attachJoint.Joint.connectedAnchor -= joint.connectedAnchor;
}
}
//*/
// Reset default joint drives
JointDrive resetDrv = new JointDrive();
resetDrv.mode = JointDriveMode.PositionAndVelocity;
resetDrv.positionSpring = 0;
resetDrv.positionDamper = 0;
resetDrv.maximumForce = 0;
attachJoint.Joint.angularXDrive = resetDrv;
attachJoint.Joint.angularYZDrive = resetDrv;
attachJoint.Joint.xDrive = resetDrv;
attachJoint.Joint.yDrive = resetDrv;
attachJoint.Joint.zDrive = resetDrv;
gotOrig = true;
return true;
}
}
else
{
gotOrig = true;
return true;
}
}
return false;
}
/// <summary>
/// Technical recursive function that scans the whole armature and sets the joints mode, damper and spring based on the mass of the joint's limb
/// </summary>
/// <param name="varpparent">
/// The target of the tweak
/// </param>
/// <param name="varpfrequency">
/// Sampling frequency for the spring and damping
/// </param>
/// <param name="varpdamping">
/// The damping value in hertz
/// </param>
/// <param name="varpdampfactor">
/// The damping strength in kg/s
/// </param>
/// <param name="varpelasticityfactor">
/// The elasticity in m/s
/// </param>
//http://developer.anscamobile.com/content/game-edition-physics-joints
private void metnormalizerigidity(Transform varpparent, float varpfrequency, float varpdamping, float varpdampfactor, float varpelasticityfactor)
{
CharacterJoint varcurrentjoint = varpparent.GetComponent<CharacterJoint>();
if (varcurrentjoint != null) {
metprint("Normalizing joint " + varpparent + " rigidity",0);
JointDrive varcurrentjointdrive = new JointDrive();
varcurrentjointdrive.mode = JointDriveMode.Position;
varcurrentjointdrive.positionDamper = varpdampfactor * (varrigidity/varpfrequency) * varpdamping * metlimbmass(varpparent);
varcurrentjointdrive.positionSpring = varpelasticityfactor * (varrigidity/varpfrequency) * varpfrequency * metlimbmass(varpparent);
varcurrentjoint.rotationDrive = varcurrentjointdrive;
foreach (Transform varchild in varpparent) {
metnormalizerigidity(varchild, varpfrequency, varpdamping, varpdampfactor,varpelasticityfactor);
}
}
}
private void INTERNAL_set_slerpDrive(ref JointDrive value)
{
throw new NotImplementedException("ăȘă«ăă");
}
private extern void INTERNAL_get_angularYZDrive(out JointDrive value);
protected bool setupJoints()
{
if (!gotOrig)
{
print("setupJoints - !gotOrig");
if ((rotate_model != "") && (transform.FindChild("model").FindChild(rotate_model) != null))
{
origRotation = transform.FindChild("model").FindChild(rotate_model).localRotation;
}
else if ((translate_model != "") && (transform.FindChild("model").FindChild(translate_model) != null))
{
origTranslation = transform.FindChild("model").FindChild(translate_model).localPosition;
}
if (translateJoint)
{
origTranslation = transform.localPosition;
}
if (rotateJoint || translateJoint)
{
if (attachJoint != null)
{
attachJoint.Joint.xMotion = ConfigurableJointMotion.Locked;
attachJoint.Joint.yMotion = ConfigurableJointMotion.Locked;
attachJoint.Joint.zMotion = ConfigurableJointMotion.Locked;
attachJoint.Joint.angularXMotion = ConfigurableJointMotion.Locked;
attachJoint.Joint.angularYMotion = ConfigurableJointMotion.Locked;
attachJoint.Joint.angularZMotion = ConfigurableJointMotion.Locked;
attachJoint.Joint.projectionMode = JointProjectionMode.PositionAndRotation;
attachJoint.Joint.projectionDistance = 0;
attachJoint.Joint.projectionAngle = 0;
if (translateJoint)
{
attachJoint.Joint.xMotion = ConfigurableJointMotion.Free;
attachJoint.Joint.yMotion = ConfigurableJointMotion.Free;
attachJoint.Joint.zMotion = ConfigurableJointMotion.Free;
JointDrive drv = new JointDrive();
drv.mode = JointDriveMode.PositionAndVelocity;
drv.positionSpring = 1e20F;
drv.positionDamper = 0;
drv.maximumForce = 1e20F;
attachJoint.Joint.xDrive = attachJoint.Joint.yDrive = attachJoint.Joint.zDrive = drv;
}
if (rotateJoint)
{
//SoftJointLimit linLimit = new SoftJointLimit();
//linLimit.limit = rotateMin;
//linLimit.damper = jointDamping;
//linLimit.spring = jointSpring;
attachJoint.Joint.angularXMotion = ConfigurableJointMotion.Free;
attachJoint.Joint.angularYMotion = ConfigurableJointMotion.Free;
attachJoint.Joint.angularZMotion = ConfigurableJointMotion.Free;
//attachJoint.Joint.lowAngularXLimit = attachJoint.Joint.highAngularXLimit = linLimit;
}
attachJoint.Joint.anchor -= attachJoint.Joint.connectedAnchor;
attachJoint.Joint.connectedAnchor = Vector3.zero;
gotOrig = true;
return true;
}
}
else
{
gotOrig = true;
return true;
}
}
return false;
}
static public int get_mode(IntPtr l)
{
UnityEngine.JointDrive o = (UnityEngine.JointDrive)checkSelf(l);
pushEnum(l, (int)o.mode);
return(1);
}
protected virtual void InitializeJoints()
{
for (int i = 0; i < _objs.Length; ++i) {
JointDrive drive = new JointDrive();
drive.positionSpring = _config.kP * _rigs[i].mass * _objs[i].GetComponentsInChildren<Rigidbody>().Length;
drive.positionDamper = 2 * Mathf.Sqrt(drive.positionSpring);
drive.maximumForce = Mathf.Infinity;
_joints[i].angularXDrive = drive;
_joints[i].angularYZDrive = drive;
}
}
void BeginPhysicalDrag()
{
foreach (GameObject focusObject in m_focusObjects)
{
// Replace any nested Rigidbodies with a master one that has pre-determined properties.
Vector3 velocity = (focusObject.rigidbody != null) ? focusObject.rigidbody.velocity : Vector3.zero;
Vector3 angularVelocity = (focusObject.rigidbody != null) ? focusObject.rigidbody.angularVelocity : Vector3.zero;
foreach (Rigidbody childRb in focusObject.transform.GetComponentsInChildren<Rigidbody>())
{
m_rigidbodyProperties[childRb.gameObject] = new RigidbodyProperties(childRb);
DestroyImmediate(childRb);
}
if (focusObject.rigidbody == null)
{
Rigidbody rb = focusObject.AddComponent<Rigidbody>();
RigidbodyProperties.GetDraggingProperties().ApplyTo(rb);
rb.velocity = velocity;
rb.angularVelocity = angularVelocity;
}
// Constrain the dragged object to the stylus.
ConfigurableJoint joint = focusObject.AddComponent<ConfigurableJoint>();
joint.connectedBody = rigidbody;
joint.anchor = m_contactPoint;
joint.xMotion = ConfigurableJointMotion.Limited;
joint.yMotion = ConfigurableJointMotion.Limited;
joint.zMotion = ConfigurableJointMotion.Limited;
joint.angularXMotion = ConfigurableJointMotion.Limited;
joint.angularYMotion = ConfigurableJointMotion.Limited;
joint.angularZMotion = ConfigurableJointMotion.Limited;
JointDrive jointDrive = new JointDrive();
jointDrive.mode = JointDriveMode.Position;
jointDrive.positionSpring = 0.1f;
jointDrive.positionDamper = 500000;
joint.xDrive = jointDrive;
joint.yDrive = jointDrive;
joint.zDrive = jointDrive;
// joint.angularXDrive = jointDrive;
// joint.angularYZDrive = jointDrive;
m_joints[focusObject] = joint;
}
// Clear the hover now now because Unity never gives us OnTrigger events during physical sub-assembly drag.
if (m_focusObjects.Count > 0)
m_stylusSelector.hoveredObject = null;
}
