PhysicsJoint CreateRigidbodyConstraints(RigidTransform offset)
{
var joint = new PhysicsJoint {
BodyAFromJoint = BodyFrame.Identity,
BodyBFromJoint = offset
};
var constraints = new FixedList128 <Constraint>();
constraints.Add(new Constraint {
ConstrainedAxes = new bool3(false, false, true),
Type = ConstraintType.Linear,
Min = 0,
Max = 0,
SpringFrequency = Constraint.DefaultSpringFrequency,
SpringDamping = Constraint.DefaultSpringDamping
});
constraints.Add(new Constraint {
ConstrainedAxes = new bool3(true, true, true),
Type = ConstraintType.Angular,
Min = 0,
Max = 0,
SpringFrequency = Constraint.DefaultSpringFrequency,
SpringDamping = Constraint.DefaultSpringDamping
});
joint.SetConstraints(constraints);
return(joint);
}
private void GrabInit(PhysicsBody body, Vector3 startPos, Vector3 grabPos, Rotation rot)
{
if (!body.IsValid())
{
return;
}
GrabEnd();
grabbing = true;
heldBody = body;
holdDistance = Vector3.DistanceBetween(startPos, grabPos);
holdDistance = holdDistance.Clamp(MinTargetDistance, MaxTargetDistance);
heldRot = rot.Inverse * heldBody.Rotation;
holdBody.Position = grabPos;
holdBody.Rotation = heldBody.Rotation;
velBody.Position = grabPos;
velBody.Rotation = heldBody.Rotation;
heldBody.Sleeping = false;
heldBody.AutoSleep = false;
holdJoint = PhysicsJoint.CreateFixed(holdBody, heldBody.WorldPoint(grabPos));
holdJoint.SpringLinear = new PhysicsSpring(LinearFrequency, LinearDampingRatio);
holdJoint.SpringAngular = new PhysicsSpring(AngularFrequency, AngularDampingRatio);
velJoint = PhysicsJoint.CreateFixed(holdBody, velBody);
velJoint.SpringLinear = new PhysicsSpring(LinearFrequency, LinearDampingRatio);
velJoint.SpringAngular = new PhysicsSpring(AngularFrequency, AngularDampingRatio);
}
public float Speed; // Rate of moving toward the target position
public JointDesc(string name, float min, float max)
{
Name = name; Min = min; Max = max;
Joint = null;
Current = Target = 0;
Speed = 30;
}
protected override unsafe void Start()
{
init(); // no gravity
Entity *entities = stackalloc Entity[2];
entities[1] = Entity.Null;
for (int i = 0; i < 1; i++)
{
CollisionFilter filter = new CollisionFilter
{
CollidesWith = (uint)(1 << i),
BelongsTo = (uint)~(1 << (1 - i))
};
BlobAssetReference <Collider> collider = BoxCollider.Create(
new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(1.0f, 0.2f, 0.2f),
BevelRadius = 0.0f
},
filter, Material.Default);
entities[i] = CreateDynamicBody(float3.zero, quaternion.identity, collider, float3.zero, new float3(0, 1 - i, 0), 1.0f);
}
var jointFrame = new BodyFrame {
Axis = new float3(0, 1, 0), PerpendicularAxis = new float3(0, 0, 1)
};
PhysicsJoint hingeData =
PhysicsJoint.CreateLimitedHinge(jointFrame, jointFrame, new FloatRange(-math.PI, -0.2f));
CreateJoint(hingeData, entities[0], entities[1]);
}
public static void CreateNeck(GameObject torso, GameObject head, out PhysicsJoint jointData0, out PhysicsJoint jointData1)
{
var headTransform = head.GetComponent <Transform>();
float headRadius = 0.5f * headTransform.localScale.x;
float3 pivotHead = new float3(0, -headRadius, 0);
var torsoTransform = torso.GetComponent <Transform>();
var torsoRigidTransform = new RigidTransform(torsoTransform.rotation, torsoTransform.position);
var headRigidTransform = new RigidTransform(headTransform.rotation, headTransform.position);
float3 pivotTorso = math.transform(math.inverse(torsoRigidTransform), math.transform(headRigidTransform, pivotHead));
float3 axis = new float3(0, 1, 0);
float3 perpendicular = new float3(0, 0, 1);
float coneAngle = math.PI / 5.0f;
var perpendicularAngle = new FloatRange {
Max = math.PI
};
var twistAngle = new FloatRange(-math.PI / 3f, math.PI / 3f);
var jointFrameTorso = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotTorso
};
var jointFrameHead = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotHead
};
PhysicsJoint.CreateRagdoll(jointFrameTorso, jointFrameHead, coneAngle, perpendicularAngle, twistAngle, out jointData0, out jointData1);
}
public static void CreateWaist(GameObject torso, GameObject pelvis, out PhysicsJoint jointData0, out PhysicsJoint jointData1)
{
float3 pivotTorso = float3.zero;
RigidTransform pelvisTransform = new RigidTransform(pelvis.transform.rotation, pelvis.transform.position);
RigidTransform torsoTransform = new RigidTransform(torso.transform.rotation, torso.transform.position);
float3 pivotPelvis = math.transform(math.inverse(pelvisTransform), math.transform(torsoTransform, pivotTorso));
float3 axisPelvis = new float3(0, 0, -1);
float3 axisTorso = axisPelvis;
float3 axisPerpendicular = new float3(1, 0, 0);
float3 perpendicularPelvis = math.rotate(math.inverse(pelvisTransform), axisPerpendicular);
float3 perpendicularTorso = math.rotate(math.inverse(torsoTransform), axisPerpendicular);
float coneAngle = 0.0872665f;
var perpendicularAngle = new FloatRange {
Max = math.PI
};
var twistAngle = new FloatRange(-0.01f, 0.1f);
var jointFrameTorso = new BodyFrame {
Axis = axisTorso, PerpendicularAxis = perpendicularTorso, Position = pivotTorso
};
var jointFramePelvis = new BodyFrame {
Axis = axisPelvis, PerpendicularAxis = perpendicularPelvis, Position = pivotPelvis
};
PhysicsJoint.CreateRagdoll(jointFrameTorso, jointFramePelvis, coneAngle, perpendicularAngle, twistAngle, out jointData0, out jointData1);
}
public static void CreateHip(GameObject pelvis, GameObject upperLeg, out PhysicsJoint jointData0, out PhysicsJoint jointData1)
{
float upperLegHeight = 2.0f * upperLeg.transform.localScale.y;
var pelvisTransform = new RigidTransform(pelvis.transform.rotation, pelvis.transform.position);
var upperLegTransform = new RigidTransform(upperLeg.transform.rotation, upperLeg.transform.position);
float3 pivotLeg = new float3(0, upperLegHeight / 2.0f, 0);
float3 pivotPelvis = math.transform(math.inverse(pelvisTransform), math.transform(upperLegTransform, pivotLeg));
float3 twistAxis = new float3(0, -1, 0);
float3 perpendicularAxis = new float3(1, 0, 0);
float3 twistAxisLeg = math.rotate(math.inverse(upperLegTransform), twistAxis);
float3 twistAxisPelvis = math.rotate(math.inverse(pelvisTransform), twistAxis);
float3 perpendicularAxisLeg = math.rotate(math.inverse(upperLegTransform), perpendicularAxis);
float3 perpendicularAxisPelvis = math.rotate(math.inverse(pelvisTransform), perpendicularAxis);
float coneAngle = math.PI / 4.0f;
var perpendicularAngle = new FloatRange(math.PI / 3f, math.PI * 2f / 3f);
var twistAngle = new FloatRange(-0.2f, 0.2f);
var jointFramePelvis = new BodyFrame {
Axis = twistAxisPelvis, PerpendicularAxis = perpendicularAxisPelvis, Position = pivotPelvis
};
var jointFrameLeg = new BodyFrame {
Axis = twistAxisLeg, PerpendicularAxis = perpendicularAxisLeg, Position = pivotLeg
};
PhysicsJoint.CreateRagdoll(jointFramePelvis, jointFrameLeg, coneAngle, perpendicularAngle, twistAngle, out jointData0, out jointData1);
}
public static PhysicsJoint CreateElbow(GameObject upperArm, GameObject lowerArm)
{
float upperArmLength = 2 * upperArm.transform.localScale.y;
float lowerArmLength = 2 * lowerArm.transform.localScale.y;
float sign = math.sign(-1.0f * upperArm.transform.position.x);
float3 pivotUpper = new float3(-1.0f * sign * upperArmLength / 2.0f, 0, 0);
float3 pivotLower = new float3(sign * lowerArmLength / 2.0f, 0, 0);
pivotUpper = math.rotate(math.inverse(upperArm.transform.rotation), pivotUpper);
pivotLower = math.rotate(math.inverse(lowerArm.transform.rotation), pivotLower);
float3 axis = new float3(0, 0, 1);
float3 perpendicular = new float3(0, 1, 0);
var jointFrameUpperArm = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotUpper
};
var jointFrameLowerArm = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotLower
};
return(PhysicsJoint.CreateLimitedHinge(jointFrameUpperArm, jointFrameLowerArm, new FloatRange {
Max = 3f
}));
}
public override void Create(EntityManager entityManager, GameObjectConversionSystem conversionSystem)
{
UpdateAuto();
UpgradeVersionIfNecessary();
PhysicsJoint.CreateRagdoll(
new BodyFrame {
Axis = TwistAxisLocal, PerpendicularAxis = PerpendicularAxisLocal, Position = PositionLocal
},
new BodyFrame {
Axis = TwistAxisInConnectedEntity, PerpendicularAxis = PerpendicularAxisInConnectedEntity, Position = PositionInConnectedEntity
},
math.radians(MaxConeAngle),
math.radians(new FloatRange(MinPerpendicularAngle, MaxPerpendicularAngle)),
math.radians(new FloatRange(MinTwistAngle, MaxTwistAngle)),
out var primaryCone,
out var perpendicularCone
);
conversionSystem.World.GetOrCreateSystem <EndJointConversionSystem>().CreateJointEntities(
this,
GetConstrainedBodyPair(conversionSystem),
new NativeArray <PhysicsJoint>(2, Allocator.Temp)
{
[0] = primaryCone, [1] = perpendicularCone
}
);
}
public static PhysicsJoint CreateKnee(GameObject upperLeg, GameObject lowerLeg)
{
float upperLegHeight = 2.0f * upperLeg.transform.localScale.y;
float3 pivotUpperLeg = new float3(0, -upperLegHeight / 2.0f, 0);
var lowerLegTransform = new RigidTransform(lowerLeg.transform.rotation, lowerLeg.transform.position);
var upperLegTransform = new RigidTransform(upperLeg.transform.rotation, upperLeg.transform.position);
float3 pivotLowerLeg = math.transform(math.inverse(lowerLegTransform), math.transform(upperLegTransform, pivotUpperLeg));
float3 axis = new float3(1, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
var jointFrameUpperLeg = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotUpperLeg
};
var jointFrameLowerLeg = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotLowerLeg
};
return(PhysicsJoint.CreateLimitedHinge(jointFrameUpperLeg, jointFrameLowerLeg, new FloatRange {
Min = -1.2f
}));
}
public override void Simulate()
{
if (!Host.IsServer)
{
return;
}
using (Prediction.Off())
{
if (!Input.Pressed(InputButton.Attack1))
{
return;
}
var startPos = Owner.EyePosition;
var dir = Owner.EyeRotation.Forward;
var tr = Trace.Ray(startPos, startPos + dir * MaxTraceDistance)
.Ignore(Owner)
.Run();
if (!tr.Hit)
{
return;
}
if (!tr.Entity.IsValid())
{
return;
}
var attached = !tr.Entity.IsWorld && tr.Body.IsValid() && tr.Body.PhysicsGroup != null && tr.Body.GetEntity().IsValid();
if (attached && tr.Entity is not Prop)
{
return;
}
CreateHitEffects(tr.EndPosition);
if (tr.Entity is WheelEntity)
{
// TODO: Set properties
return;
}
var ent = new WheelEntity
{
Position = tr.EndPosition,
Rotation = Rotation.LookAt(tr.Normal) * Rotation.From(new Angles(0, 90, 0)),
};
ent.SetModel("models/citizen_props/wheel01.vmdl");
ent.PhysicsBody.Mass = tr.Body.Mass;
ent.Joint = PhysicsJoint.CreateHinge(ent.PhysicsBody, tr.Body, tr.EndPosition, tr.Normal);
}
}
// This callback allows the PhysicsScene to call back to its caller (the SceneGraph) and
// update non-physical objects like the joint proxy objects that represent the position
// of the joints in the scene.
// This routine is normally called from within a lock (OdeLock) from within the OdePhysicsScene
// WARNING: be careful of deadlocks here if you manipulate the scene. Remember you are being called
// from within the OdePhysicsScene.
protected internal void jointMoved(PhysicsJoint joint)
{
// m_parentScene.PhysicsScene.DumpJointInfo(); // non-thread-locked version; we should already be in a lock (OdeLock) when this callback is invoked
SceneObjectPart jointProxyObject = GetSceneObjectPart(joint.ObjectNameInScene);
if (jointProxyObject == null)
{
jointErrorMessage(joint, "WARNING, joint proxy not found, name " + joint.ObjectNameInScene);
return;
}
// now update the joint proxy object in the scene to have the position of the joint as returned by the physics engine
SceneObjectPart trackedBody = GetSceneObjectPart(joint.TrackedBodyName); // FIXME: causes a sequential lookup
if (trackedBody == null)
{
return; // the actor may have been deleted but the joint still lingers around a few frames waiting for deletion. during this time, trackedBody is NULL to prevent further motion of the joint proxy.
}
jointProxyObject.Velocity = trackedBody.Velocity;
jointProxyObject.AngularVelocity = trackedBody.AngularVelocity;
switch (joint.Type)
{
case PhysicsJointType.Ball:
{
Vector3 jointAnchor = m_scene.PhysicsScene.GetJointAnchor(joint);
Vector3 proxyPos = new Vector3(jointAnchor.X, jointAnchor.Y, jointAnchor.Z);
jointProxyObject.ParentGroup.UpdateGroupPosition(proxyPos, true); // schedules the entire group for a terse update
}
break;
case PhysicsJointType.Hinge:
{
Vector3 jointAnchor = m_scene.PhysicsScene.GetJointAnchor(joint);
// Normally, we would just ask the physics scene to return the axis for the joint.
// Unfortunately, ODE sometimes returns <0,0,0> for the joint axis, which should
// never occur. Therefore we cannot rely on ODE to always return a correct joint axis.
// Therefore the following call does not always work:
//PhysicsVector phyJointAxis = _PhyScene.GetJointAxis(joint);
// instead we compute the joint orientation by saving the original joint orientation
// relative to one of the jointed bodies, and applying this transformation
// to the current position of the jointed bodies (the tracked body) to compute the
// current joint orientation.
if (joint.TrackedBodyName == null)
{
jointErrorMessage(joint, "joint.TrackedBodyName is null, joint " + joint.ObjectNameInScene);
}
Vector3 proxyPos = new Vector3(jointAnchor.X, jointAnchor.Y, jointAnchor.Z);
Quaternion q = trackedBody.RotationOffset * joint.LocalRotation;
jointProxyObject.ParentGroup.UpdateGroupPosition(proxyPos, true); // schedules the entire group for a terse update
jointProxyObject.ParentGroup.UpdateGroupRotationR(q); // schedules the entire group for a terse update
}
break;
}
}
protected override void Start()
{
base.Start();
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
});
var manager = DefaultWorld.EntityManager;
// Add a dynamic body constrained to the world that will die
// Once the dynamic body is destroyed the joint will be invalid
{
// Create a dynamic body
float3 pivotWorld = new float3(-2f, 0, 0);
Entity body = CreateDynamicBody(pivotWorld, quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
// create extra dynamic body to trigger havok sync after the first one is destroyed
CreateDynamicBody(pivotWorld * 2.0f, quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
// add timeout on dynamic body after 15 frames.
manager.AddComponentData(body, new LifeTime {
Value = 15
});
// Create the joint
float3 pivotLocal = float3.zero;
var joint = PhysicsJoint.CreateBallAndSocket(pivotLocal, pivotWorld);
var jointEntity = CreateJoint(joint, body, Entity.Null);
// add timeout on joint entity after 30 frames.
manager.AddComponentData(jointEntity, new LifeTime {
Value = 30
});
}
// Add two static bodies constrained together
// The joint is invalid immediately
{
// Create a body
Entity bodyA = CreateStaticBody(new float3(0, 0.0f, 0), quaternion.identity, collider);
Entity bodyB = CreateStaticBody(new float3(0, 1.0f, 0), quaternion.identity, collider);
// Create the joint
float3 pivotLocal = float3.zero;
var joint = PhysicsJoint.CreateBallAndSocket(pivotLocal, pivotLocal);
var jointEntity = CreateJoint(joint, bodyA, bodyB);
// add timeout on joint entity after 15 frames.
manager.AddComponentData(jointEntity, new LifeTime {
Value = 15
});
}
}
public static void Create2D(EntityManager entityManager, Entity entity, RigidTransform xform)
{
entityManager.AddComponent <PhysicsJointEntityTag>(entity);
PhysicsJoint componentData = CreatePhysicsJoint2D(entity, xform);
Entity jointEntity = entityManager.CreateEntity();
entityManager.AddComponentData(jointEntity, componentData);
}
public static void Create2D(EntityCommandBuffer.Concurrent ecb, int jobIndex, Entity entity, RigidTransform xform)
{
ecb.AddComponent <PhysicsJointEntityTag>(jobIndex, entity);
PhysicsJoint componentData = CreatePhysicsJoint2D(entity, xform);
Entity jointEntity = ecb.CreateEntity(jobIndex);
ecb.AddComponent(jobIndex, jointEntity, componentData);
}
public override void Create(EntityManager entityManager, GameObjectConversionSystem conversionSystem)
{
UpdateAuto();
conversionSystem.World.GetOrCreateSystem <EndJointConversionSystem>().CreateJointEntity(
this,
GetConstrainedBodyPair(conversionSystem),
PhysicsJoint.CreateBallAndSocket(PositionLocal, PositionInConnectedEntity)
);
}
public static void Create2D(EntityCommandBuffer ecb, Entity entity, RigidTransform xform)
{
ecb.AddComponent <PhysicsJointEntityTag>(entity);
PhysicsJoint componentData = CreatePhysicsJoint2D(entity, xform);
Entity jointEntity = ecb.CreateEntity();
ecb.AddComponent(jointEntity, componentData);
}
public JointDesc(string name, simengine.VisualEntity jointEntity, PhysicsJoint joint)
{
Name = name;
JointEntity = jointEntity;
Swing1Angle = 0;
Swing2Angle = 0;
TwistAngle = 0;
X = Y = Z = 0;
Joint = joint;
}
protected override unsafe void Start()
{
init();
BlobAssetReference <Collider> collider = BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.2f, 0.2f, 0.2f),
BevelRadius = 0.0f
});
// Make some 1d angular limit joints
const int size = 6;
const float speed = 1.0f;
int iDbg = 0;
int jDbg = 3;
for (int i = 0; i < size; i++)
{
quaternion q1 = quaternion.AxisAngle(new float3(1, 0, 0), (float)math.PI * 2.0f * i / size);
for (int j = 0; j < size; j++)
{
if (iDbg >= 0 && jDbg >= 0 && (i != iDbg || j != jDbg))
{
continue;
}
// Choose the limited axis
quaternion q2 = quaternion.AxisAngle(math.mul(q1, new float3(0, 1, 0)),
(float)math.PI * ((float)j / size));
// Create a body with some angular velocity about the axis
float3 pos = new float3(i - (size - 1) / 2.0f, 0, j - (size - 1) / 2.0f);
Entity body = CreateDynamicBody(pos, quaternion.identity, collider, float3.zero,
math.mul(q2, new float3(speed, 0, 0)), 1.0f);
// Create a 1D angular limit about the axis
float3x3 rotationB = float3x3.identity;
float3x3 rotationA = math.mul(new float3x3(q2), rotationB);
var jointData = new PhysicsJoint
{
BodyAFromJoint = new RigidTransform(rotationA, new float3(0, 0, 0)),
BodyBFromJoint = new RigidTransform(rotationB, pos)
};
jointData.SetConstraints(new FixedList128 <Constraint>
{
Length = 1,
[0] = Constraint.Twist(0, new FloatRange(-math.PI / 4f, math.PI / 4f))
});
CreateJoint(jointData, body, Entity.Null);
}
}
}
public override void CreateScene(InvalidPhysicsJointExcludeDemoScene sceneSettings)
{
float colliderSize = 0.25f;
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(colliderSize),
BevelRadius = 0.0f
});
CreatedColliders.Add(collider);
float timeToSwap = sceneSettings.TimeToSwap;
var bodyAPos = new float3(2f, 5.0f, 2);
var bodyBPos = new float3(2f, 6.0f, 2);
// Add constrained dynamic/dynamic body pair that will have their bodies excluded
bool buildThisSection = true;
if (buildThisSection)
{
bodyAPos += new float3(1, 0, 0);
bodyBPos += new float3(1, 0, 0);
// Create a body
Entity bodyA = CreateDynamicBody(bodyAPos, quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
Entity bodyB = CreateDynamicBody(bodyBPos, quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
for (int i = 0; i < 2; i++)
{
// Create the joint
var joint = PhysicsJoint.CreateBallAndSocket(new float3(0, colliderSize, 0), new float3(0, -colliderSize, 0));
var jointEntity = CreateJoint(joint, bodyA, bodyB);
var pair = EntityManager.GetComponentData <PhysicsConstrainedBodyPair>(jointEntity);
pair.EnableCollision = 1;
EntityManager.SetComponentData(jointEntity, pair);
}
// add exclude components.
EntityManager.AddComponentData(bodyA, new InvalidPhysicsJointExcludeBodies {
});
EntityManager.AddComponentData(bodyA, new InvalidPhysicsJointExcludeTimerEvent {
TimeLimit = timeToSwap, Timer = timeToSwap
});
EntityManager.AddComponentData(bodyB, new InvalidPhysicsJointExcludeBodies {
});
EntityManager.AddComponentData(bodyB, new InvalidPhysicsJointExcludeTimerEvent {
TimeLimit = timeToSwap, Timer = timeToSwap
});
}
}
public float Speed; // Rate of moving toward the target position
public JointDesc(string name, float min, float max, VisualEntity parentEntity, bool useNormal)
{
Name = name; Min = min; Max = max;
_parentEntity = parentEntity;
_useNormal = useNormal;
Joint = null;
Joint2 = null;
Current = Target = 0;
Speed = 30;
}
public override void Create(EntityManager entityManager, GameObjectConversionSystem conversionSystem)
{
UpdateAuto();
conversionSystem.World.GetOrCreateSystem <EndJointConversionSystem>().CreateJointEntity(
this,
GetConstrainedBodyPair(conversionSystem),
PhysicsJoint.CreateFixed(
new RigidTransform(OrientationLocal, PositionLocal),
new RigidTransform(OrientationInConnectedEntity, PositionInConnectedEntity)
)
);
}
public override void Create(EntityManager entityManager, GameObjectConversionSystem conversionSystem)
{
UpdateAuto();
conversionSystem.World.GetOrCreateSystem <EndJointConversionSystem>().CreateJointEntity(
this,
GetConstrainedBodyPair(conversionSystem),
PhysicsJoint.CreateLimitedDistance(
PositionLocal,
PositionInConnectedEntity,
new FloatRange(MinDistance, MaxDistance)
)
);
}
protected override void RemoveJoint(PhysicsJoint joint)
{
var jitterJoint = joint as JitterJoint;
if (jitterJoint.Constraint != null)
{
jitterWorld.RemoveConstraint(jitterJoint.Constraint);
}
else
{
jitterJoint.Joint.Deactivate();
}
}
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(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.2f, 1.0f, 0.2f),
BevelRadius = 0.0f
});
// Make some ragdoll joints
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 = new float3(0, 0.5f, 0);
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
float3 axisLocal = new float3(0, 1, 0);
float3 perpendicularLocal = new float3(0, 0, 1);
quaternion worldFromLocal = Quaternion.AngleAxis((i - 4.5f) * 20.0f, new float3(0, 0, 1));
float3 axisWorld = math.mul(worldFromLocal, axisLocal);
float3 perpendicularWorld = math.mul(worldFromLocal, perpendicularLocal);
float maxConeAngle = (float)math.PI / 4.0f;
var perpendicularAngle = new FloatRange(-math.PI / 2f, math.PI / 2f);
var twistAngle = new FloatRange(-math.PI / 8f, math.PI / 8f);
var localFrame = new BodyFrame {
Axis = axisLocal, PerpendicularAxis = perpendicularLocal, Position = pivotLocal
};
var worldFrame = new BodyFrame {
Axis = axisWorld, PerpendicularAxis = perpendicularWorld, Position = pivotInWorld
};
PhysicsJoint.CreateRagdoll(localFrame, worldFrame, maxConeAngle, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1);
CreateJoint(ragdoll0, body, Entity.Null);
CreateJoint(ragdoll1, body, Entity.Null);
}
}
private static PhysicsJoint CreatePhysicsJoint2D(Entity entity, RigidTransform xform)
{
BlobAssetReference <JointData> joint = CreateLimitDOFJoint(xform, new bool3(false, false, true), new bool3(true, true, false));
var componentData = new PhysicsJoint
{
JointData = joint,
EntityA = entity,
EntityB = Entity.Null,
EnableCollision = 0,
};
return(componentData);
}
protected Entity CreateJoint(PhysicsJoint joint, Entity entityA, Entity entityB, bool enableCollision = false)
{
var entityManager = DefaultWorld.EntityManager;
ComponentType[] componentTypes =
{
typeof(PhysicsConstrainedBodyPair),
typeof(PhysicsJoint)
};
Entity jointEntity = entityManager.CreateEntity(componentTypes);
entityManager.SetComponentData(jointEntity, new PhysicsConstrainedBodyPair(entityA, entityB, enableCollision));
entityManager.SetComponentData(jointEntity, joint);
return(jointEntity);
}
public override void Create(EntityManager entityManager, GameObjectConversionSystem conversionSystem)
{
UpdateAuto();
conversionSystem.World.GetOrCreateSystem <EndJointConversionSystem>().CreateJointEntity(
this,
GetConstrainedBodyPair(conversionSystem),
PhysicsJoint.CreateHinge(
new BodyFrame {
Axis = HingeAxisLocal, Position = PositionLocal
},
new BodyFrame {
Axis = HingeAxisInConnectedEntity, Position = PositionInConnectedEntity
}
)
);
}
// This callback allows the PhysicsScene to call back to its caller (the SceneGraph) and
// alert the user of errors by using the debug channel in the same way that scripts alert
// the user of compile errors.
// This routine is normally called from within a lock (OdeLock) from within the OdePhysicsScene
// WARNING: be careful of deadlocks here if you manipulate the scene. Remember you are being called
// from within the OdePhysicsScene.
public void jointErrorMessage(PhysicsJoint joint, string message)
{
if (joint != null)
{
if (joint.ErrorMessageCount > PhysicsJoint.maxErrorMessages)
{
return;
}
SceneObjectPart jointProxyObject = GetSceneObjectPart(joint.ObjectNameInScene);
if (jointProxyObject != null)
{
IChatModule chatModule = m_scene.RequestModuleInterface <IChatModule>();
if (chatModule != null)
{
chatModule.SimChat("[NINJA]: " + message,
ChatTypeEnum.DebugChannel,
2147483647,
jointProxyObject.AbsolutePosition,
jointProxyObject.Name,
jointProxyObject.UUID,
false, m_scene);
}
joint.ErrorMessageCount++;
if (joint.ErrorMessageCount > PhysicsJoint.maxErrorMessages)
{
if (chatModule != null)
{
chatModule.SimChat("[NINJA]: Too many messages for this joint, suppressing further messages.",
ChatTypeEnum.DebugChannel,
2147483647,
jointProxyObject.AbsolutePosition,
jointProxyObject.Name,
jointProxyObject.UUID,
false, m_scene);
}
}
}
else
{
// couldn't find the joint proxy object; the error message is silently suppressed
}
}
}
public override void Create(EntityManager entityManager, GameObjectConversionSystem conversionSystem)
{
UpdateAuto();
Math.CalculatePerpendicularNormalized(HingeAxisLocal, out var perpendicularLocal, out _);
Math.CalculatePerpendicularNormalized(HingeAxisInConnectedEntity, out var perpendicularConnected, out _);
conversionSystem.World.GetOrCreateSystem <EndJointConversionSystem>().CreateJointEntity(
this,
GetConstrainedBodyPair(conversionSystem),
PhysicsJoint.CreateHinge(
new BodyFrame {
Axis = HingeAxisLocal, Position = PositionLocal, PerpendicularAxis = perpendicularLocal
},
new BodyFrame {
Axis = HingeAxisInConnectedEntity, Position = PositionInConnectedEntity, PerpendicularAxis = perpendicularConnected
}
)
);
}
public Entity CreateJoint(PhysicsJoint joint, Entity entityA, Entity entityB, bool enableCollision = false)
{
var entityManager = World.DefaultGameObjectInjectionWorld.EntityManager;
ComponentType[] componentTypes =
{
typeof(PhysicsConstrainedBodyPair),
typeof(PhysicsJoint)
};
Entity jointEntity = entityManager.CreateEntity(componentTypes);
entityManager.SetComponentData(jointEntity, new PhysicsConstrainedBodyPair(entityA, entityB, enableCollision));
entityManager.SetComponentData(jointEntity, joint);
EntityManager.AddSharedComponentData(jointEntity, new PhysicsWorldIndex());
return(jointEntity);
}
public bool Update(double prevTime, float epsilon)
{
if (Joint == null)
Joint = (PhysicsJoint)_parentEntity.ParentJoint;
if (!NeedToMove(epsilon))
return false;
UpdateCurrent(prevTime);
Vector3 axis = _useNormal ? Joint.State.Connectors[0].JointNormal : Joint.State.Connectors[0].JointAxis;
Joint.SetAngularDriveOrientation(
Quaternion.FromAxisAngle(axis.X, axis.Y, axis.Z, Conversions.DegreesToRadians(Current)));
return true;
}
protected virtual void DoJointErrorMessage(PhysicsJoint joint, string message)
{
// We need this to allow subclasses (but not other classes) to invoke the event; C# does
// not allow subclasses to invoke the parent class event.
if (OnJointErrorMessage != null)
{
OnJointErrorMessage(joint, message);
}
}
public virtual Vector3 GetJointAxis(PhysicsJoint joint)
{ return Vector3.Zero; }
protected virtual void DoJointDeactivated(PhysicsJoint joint)
{
// We need this to allow subclasses (but not other classes) to invoke the event; C# does
// not allow subclasses to invoke the parent class event.
if (OnJointDeactivated != null)
{
OnJointDeactivated(joint);
}
}
protected override void RemoveJoint(PhysicsJoint joint)
{
var jitterJoint = joint as JitterJoint;
if (jitterJoint.Constraint != null)
jitterWorld.RemoveConstraint(jitterJoint.Constraint);
else
jitterJoint.Joint.Deactivate();
}
