protected override void Start()
{
base.Start();
// Enable the joint viewer
SetDebugDisplay(new Unity.Physics.Authoring.PhysicsDebugDisplayData
{
DrawJoints = 1
});
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(float3.zero, Quaternion.identity, new float3(0.25f), 0.0f);
quaternion orientationA = quaternion.identity;
bool identityA = true;
if (!identityA)
{
orientationA = quaternion.AxisAngle(new float3(0, 1, 0), (float)math.PI * 3.0f / 2.0f);
}
quaternion orientationB = quaternion.identity;
bool identityB = true;
if (!identityB)
{
orientationB = quaternion.AxisAngle(math.normalize(new float3(1)), (float)math.PI / 4.0f);
}
// Make some joints with fixed position, limited 3D angle
for (int i = 0; i < 10; i++)
{
// Create a body
Entity body = CreateDynamicBody(
new float3((i - 4.5f) * 1.0f, 0, 0), quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
// Create the ragdoll joint
float3 pivotLocal = float3.zero;
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
quaternion worldFromLocal = Quaternion.AngleAxis((i - 4.5f) * 20.0f, new float3(0, 0, 1));
BlobAssetReference <JointData> jointData = JointData.Create(
new MTransform(orientationA, pivotLocal),
new MTransform(orientationB, pivotInWorld),
new Constraint[]
{
Constraint.BallAndSocket(),
new Constraint
{
ConstrainedAxes = new bool3(true, true, true),
Type = ConstraintType.Angular,
Min = math.max(i - 5, 0) * 0.1f,
Max = i * 0.1f,
SpringDamping = Constraint.DefaultSpringDamping,
SpringFrequency = Constraint.DefaultSpringFrequency
}
});
CreateJoint(jointData, body, Entity.Null);
}
}
protected unsafe override void Start()
{
base.init();
// static body
Entity staticEntity;
{
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(1.0f),
BevelRadius = 0.01f
});
staticEntity = CreateStaticBody(float3.zero, quaternion.identity, collider);
}
// dynamic body
Entity dynamicEntity;
{
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(-0.5f, 0, 0),
Vertex1 = new float3(0.5f, 0, 0),
Radius = 0.05f
});
float3 angularVelocity = new float3(0, 1.0f, 0);
dynamicEntity = CreateDynamicBody(new float3(2, 0, 0), quaternion.identity, collider, float3.zero, angularVelocity, 1.0f);
}
// 1D angular limit
{
var limit = math.radians(45.0f);
var worldFromStatic = GetBodyTransform(staticEntity);
var worldFromDynamic = GetBodyTransform(dynamicEntity);
var StaticFromDynamic = math.mul(math.inverse(worldFromStatic), worldFromDynamic);
float3 pivotFromDynamic = new float3(0, 0, 0);
float3 pivotFromStatic = math.transform(StaticFromDynamic, pivotFromDynamic);
var jointData = new PhysicsJoint
{
BodyAFromJoint = new RigidTransform(quaternion.identity, pivotFromDynamic),
BodyBFromJoint = new RigidTransform(quaternion.identity, pivotFromStatic)
};
jointData.SetConstraints(new FixedList128 <Constraint>
{
new Constraint
{
ConstrainedAxes = new bool3(true, false, false),
Type = ConstraintType.Angular,
Min = -limit,
Max = limit,
SpringFrequency = Constraint.DefaultSpringFrequency,
SpringDamping = Constraint.DefaultSpringDamping,
},
Constraint.BallAndSocket(),
});
CreateJoint(jointData, dynamicEntity, staticEntity);
}
}
public override void CreateScene(FixedAngleGridScene sceneSettings)
{
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.25f),
BevelRadius = 0.0f
});
CreatedColliders.Add(collider);
quaternion orientationA = quaternion.identity;
bool identityA = true;
if (!identityA)
{
orientationA = quaternion.AxisAngle(new float3(0, 1, 0), (float)math.PI * 3.0f / 2.0f);
}
quaternion orientationB = quaternion.identity;
bool identityB = true;
if (!identityB)
{
orientationB = quaternion.AxisAngle(math.normalize(new float3(1)), (float)math.PI / 4.0f);
}
// Make some joints with fixed position, limited 3D angle
for (int i = 0; i < 10; i++)
{
// Create a body
Entity body = CreateDynamicBody(
new float3((i - 4.5f) * 1.0f, 0, 0), quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
// Create the ragdoll joint
float3 pivotLocal = float3.zero;
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
var jointData = new PhysicsJoint
{
BodyAFromJoint = new RigidTransform(orientationA, pivotLocal),
BodyBFromJoint = new RigidTransform(orientationB, pivotInWorld)
};
jointData.SetConstraints(new FixedList128Bytes <Constraint>
{
Length = 2,
[0] = Constraint.BallAndSocket(),
[1] = new Constraint
{
ConstrainedAxes = new bool3(true, true, true),
Type = ConstraintType.Angular,
Min = math.max(i - 5, 0) * 0.1f,
Max = i * 0.1f,
SpringDamping = Constraint.DefaultSpringDamping,
SpringFrequency = Constraint.DefaultSpringFrequency
}
});
CreateJoint(jointData, body, Entity.Null);
}
}
