// 可視化 public void OnDrawGizmos() { //可動範囲(SwingDirとTwistは無視)の表示 if (sprObject != null) { float length = 0.1f; int n = 30; Vector3 top; Posed socketPose = new Posed(); Posed plugPose = new Posed(); //各種Ifの取得 PHBallJointIf ball = (jointObject ? jointObject : gameObject).GetComponent <PHBallJointBehaviour>().sprObject as PHBallJointIf; PHBallJointConeLimitIf limit = sprObject as PHBallJointConeLimitIf; //Limit情報の取得 Vec2d swing = new Vec2d(); limit.GetSwingRange(swing); Vec3d limitDir = limit.GetLimitDir(); //可動範囲円の計算表示 Transform jointtrans = (jointObject ? jointObject : gameObject).transform; ball.GetSocketPose(socketPose); socketPose = ball.GetSocketSolid().GetPose() * socketPose; top = socketPose.Pos().ToVector3(); Vec3d bottom = socketPose * (length * limit.GetLimitDir()); Quaterniond Jztol = Quaternion.FromToRotation(new Vector3(0, 0, 1), limit.GetLimitDir().ToVector3()).ToQuaterniond(); Vec3d swingDirBase1 = (length * (limitDir * Mathf.Cos((float)swing[1]) + Jztol * new Vec3d(1, 0, 0) * Mathf.Sin((float)swing[1]))); Vec3d swingDirBase2 = (length * (limitDir * Mathf.Cos((float)swing[0]) + Jztol * new Vec3d(1, 0, 0) * Mathf.Sin((float)swing[0]))); if (limit.IsOnLimit()) { Gizmos.color = Color.red; } else { Gizmos.color = Color.white; } Quaterniond rot = Quaterniond.Rot(2 * Mathf.PI / n, limitDir); for (int i = 0; i < n; i++) { Gizmos.DrawLine((socketPose * swingDirBase1).ToVector3(), (socketPose * (rot * swingDirBase1)).ToVector3()); Gizmos.DrawLine((socketPose * swingDirBase2).ToVector3(), (socketPose * (rot * swingDirBase2)).ToVector3()); Gizmos.DrawLine((socketPose * swingDirBase1).ToVector3(), (socketPose * swingDirBase2).ToVector3()); swingDirBase1 = rot * swingDirBase1; swingDirBase2 = rot * swingDirBase2; } //Swing軸の表示 ball.GetPlugPose(plugPose); plugPose = ball.GetPlugSolid().GetPose() * plugPose; Vec3d axis = plugPose * (length * new Vec3d(0, 0, 1)); Gizmos.DrawLine(top, axis.ToVector3()); //Gizmos.DrawLine(top, bottom); } }
// -- Sprオブジェクトの構築を行う public override ObjectIf Build() { PHBallJointIf jo = null; var b = (jointObject ? jointObject : gameObject).GetComponent <PHBallJointBehaviour>(); if (!b) { return(null); } jo = b.sprObject as PHBallJointIf; if (jo == null) { return(null); } PHBallJointLimitIf lim = jo.CreateLimit(PHBallJointConeLimitIf.GetIfInfoStatic(), (PHBallJointConeLimitDesc)desc); return(lim); }