public void AddForce(Vector3 force, ForceMode forceMode = ForceMode.Force)
{
int forceModeInt = (int)forceMode;
if (forceMode == ForceMode.Acceleration)
{
forceModeInt = 3;
}
physXForce.FromVector(force);
PhysXLib.AddForce(physXBody, physXForce, forceModeInt);
}
public void AddForceAtPosition(Vector3 force, Vector3 position, ForceMode forceMode)
{
int forceModeInt = (int)forceMode;
if (forceMode == ForceMode.Acceleration)
{
forceModeInt = 3;
}
physXForce.FromVector(force);
physXForcePos.FromVector(position);
PhysXLib.AddForceAtPosition(physXBody, physXForce, physXForcePos, forceModeInt);
}
public Vector3 ClosestPoint(Vector3 position)
{
physXPoint.FromVector(position);
if (PhysXLib.GetClosestPointOnShape(shape, physXPoint, physXClosestPoint) == 0)
{
return(position);
}
return(physXClosestPoint.ToVector());
}
public override void PostSceneInsertionSetup()
{
if (wheels.Count > 0)
{
IntPtr wheelSimData = PhysXLib.CreateWheelSimData(wheels.Count);
IntPtr[] suspensions = new IntPtr[wheels.Count];
IntPtr wheelPositions = PhysXLib.CreateVectorArray();
for (int i = 0; i < wheels.Count; i++)
{
suspensions[i] = wheels[i].SetupInitialProperties();
PhysXLib.AddVectorToArray(wheelPositions, new PhysXVec3(transform.InverseTransformPoint(wheels[i].worldWheelCentre)));
}
PhysXLib.SetSuspensionSprungMasses(suspensions, wheels.Count, wheelPositions, new PhysXVec3(Vector3.zero), mass);
for (int i = 0; i < wheels.Count; i++)
{
//Debug.Log(vehicleId);
wheels[i].SetupSimData(this, wheelSimData, i, vehicleId);
}
vehicle = PhysXLib.CreateVehicleFromRigidBody(physXBody, wheelSimData);
for (int i = 0; i < wheels.Count; i++)
{
wheels[i].SetVehicle(vehicle);
}
}
physXCOMPosition.FromVector(centreOfMass);
// PhysXVec3 position = new PhysXVec3(centreOfMass);
// PhysXQuat rotation = new PhysXQuat(Quaternion.identity);
IntPtr oldCentre = PhysXLib.GetCentreOfMass(physXBody);
IntPtr newCentre = PhysXLib.CreateTransform(physXCOMPosition, physXCOMRotation);
PhysXLib.SetRigidBodyMassPose(physXBody, newCentre);
if (vehicle != IntPtr.Zero)
{
PhysXLib.UpdateVehicleCentreOfMass(oldCentre, newCentre, vehicle);
}
if (GetComponentInChildren <CollisionSoftener>() != null)
{
Debug.Log("made ghost body");
ghostBody = PhysXLib.CreateGhostRigidBody(physXBody, ghostBlend);
_ghostEnabled = true;
}
}
public virtual void Setup()
{
physXPosition.FromVector(transform.position);
physXRotation.FromQuaternion(transform.rotation);
IntPtr physXTransform = PhysXLib.CreateTransform(physXPosition, physXRotation);
_position = transform.position;
_rotation = transform.rotation;
physXBody = PhysXLib.CreateStaticRigidBody(physXTransform);
PhysXCollider[] colliders = GetComponentsInChildren <PhysXCollider>(true);
foreach (PhysXCollider collider in colliders)
{
collider.Setup(this, 0);
}
}
// private Mesh meshMesh = null;
// Start is called before the first frame update
public override void Setup(PhysXBody attachedRigidBody, uint vehicleId)
{
if (mesh == null)
{
Debug.LogError("Collider mesh is null on " + gameObject.name);
}
else if (!mesh.isReadable)
{
Debug.LogError("Collider mesh: " + mesh.name + " is not readable");
}
else
{
// meshMesh = Instantiate(mesh);
// meshMesh.Clear();
// List<Vector3> meshMeshVertices = new List<Vector3>();
IntPtr vertexArray = PhysXLib.CreateVectorArray();
Vector3[] unscaledVertices = mesh.vertices;
Vector3[] vertices = new Vector3[unscaledVertices.Length];
for (int i = 0; i < unscaledVertices.Length; i++)
{
vertices[i] = new Vector3(unscaledVertices[i].x * scale.x, unscaledVertices[i].y * scale.y, unscaledVertices[i].z * scale.z);
// vertices[i] = unscaledVertices[i];//new Vector3(unscaledVertices[i].x * scale.x, unscaledVertices[i].y * scale.y, unscaledVertices[i].z * scale.z);
}
Vector3 centre = Vector3.zero;
foreach (Vector3 vertex in vertices)
{
centre += vertex;
}
centre /= vertices.Length;
// offset += new Vector3(centre.x * scale.x, centre.y * scale.y, centre.z * scale.z);
offset += centre;
PhysXVec3 physXVertex = new PhysXVec3(Vector3.zero);
foreach (Vector3 vertex in vertices)
{
physXVertex.FromVector(vertex - centre);
PhysXLib.AddVectorToArray(vertexArray, physXVertex);
}
IntPtr geom = IntPtr.Zero;
if (convex)
{
geom = PhysXLib.CreateConvexMeshGeometry(vertexArray, new PhysXVec3(Vector3.one));
}
else
{
geom = PhysXLib.CreateMeshGeometry(vertexArray, mesh.triangles, mesh.triangles.Length / 3, new PhysXVec3(Vector3.one));
}
shape = PhysXLib.CreateShape(geom, physXMaterial, 0.02f);
// if (!convex) {
// int vertexCount = PhysXLib.GetMeshVertexCount(geom);
// int triCount = PhysXLib.GetMeshTriangleCount(geom);
// IntPtr usedVertices = PhysXLib.CreateVectorArray();
// int[] usedTris = new int[triCount * 3];
// PhysXLib.GetMeshGeometry(geom, usedVertices, usedTris);
// for (int i = 0; i < vertexCount; i++) {
// PhysXLib.GetVectorFromArray(usedVertices, physXVertex, i);
// meshMeshVertices.Add(physXVertex.ToVector());
// }
// meshMesh.SetVertices(meshMeshVertices);
// meshMesh.triangles = usedTris;
// meshMesh.RecalculateNormals();
// }
base.Setup(attachedRigidBody, vehicleId);
}
}