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 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 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 } ); }
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); } }
public static void CreateShoulder(GameObject torso, GameObject upperArm, out PhysicsJoint jointData0, out PhysicsJoint jointData1) { float armLength = 2 * upperArm.transform.localScale.y; float sign = math.sign(-upperArm.transform.position.x); var torsoRigidTransform = new RigidTransform(torso.transform.rotation, torso.transform.position); var upperArmRigidTransform = new RigidTransform(upperArm.transform.rotation, upperArm.transform.position); float3 pivotArm = new float3(sign * armLength / 2.0f, 0, 0); pivotArm = math.rotate(math.inverse(upperArmRigidTransform.rot), pivotArm); float3 pivotBody = math.transform(math.inverse(torsoRigidTransform), math.transform(upperArmRigidTransform, pivotArm)); float3 twistAxis = new float3(-1.0f * sign, 0, 0); float3 perpendicularAxis = new float3(0, 0, 1); float3 twistAxisArm = math.rotate(math.inverse(upperArmRigidTransform), twistAxis); float3 twistAxisTorso = math.rotate(math.inverse(torsoRigidTransform), twistAxis); float3 perpendicularAxisArm = math.rotate(math.inverse(upperArmRigidTransform), perpendicularAxis); float3 perpendicularAxisTorso = math.rotate(math.inverse(torsoRigidTransform), perpendicularAxis); float coneAngle = math.PI / 4.0f; var perpendicularAngle = new FloatRange(math.PI / 6f, math.PI * 5f / 6f); var twistAngle = new FloatRange(-0.0872665f, 0.0872665f); var jointFrameBody = new BodyFrame { Axis = twistAxisTorso, PerpendicularAxis = perpendicularAxisTorso, Position = pivotBody }; var jointFrameArm = new BodyFrame { Axis = twistAxisArm, PerpendicularAxis = perpendicularAxisArm, Position = pivotArm }; PhysicsJoint.CreateRagdoll(jointFrameBody, jointFrameArm, coneAngle, perpendicularAngle, twistAngle, out jointData0, out jointData1); }
private void CreateRagdoll(Mesh torsoMesh, Mesh renderMesh, float3 positionOffset, quaternion rotationOffset, float3 initialVelocity, int ragdollIndex = 1, bool internalCollisions = false, float rangeGain = 1.0f) { var entities = new NativeList <Entity>(Allocator.Temp); var rangeModifier = new float2(math.max(0, math.min(rangeGain, 1))); // Head float headRadius = 0.1f; float3 headPosition = new float3(0, 1.8f, headRadius); Entity head; { CollisionFilter filter = internalCollisions ? layerFilter(layer.Head, layer.Torso) : groupFilter(-ragdollIndex); BlobAssetReference <Collider> headCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry { Vertex0 = new float3(0, 0, 0), Vertex1 = new float3(0, 0, headRadius / 4), Radius = headRadius }, filter); CreatedColliders.Add(headCollider); head = CreateDynamicBody(headPosition, quaternion.identity, headCollider, float3.zero, float3.zero, 5.0f); } entities.Add(head); // Torso float3 torsoSize; float3 torsoPosition; Entity torso; { //UnityEngine.Mesh torsoMesh = (UnityEngine.Mesh)Resources.Load("torso", typeof(UnityEngine.Mesh)); torsoSize = torsoMesh.bounds.size; torsoPosition = headPosition - new float3(0, headRadius * 3.0f / 4.0f + torsoSize.y, 0); CollisionFilter filter = internalCollisions ? layerFilter(layer.Torso, layer.Thigh | layer.Head | layer.UpperArm | layer.Pelvis) : groupFilter(-ragdollIndex); NativeArray <float3> points = new NativeArray <float3>(torsoMesh.vertices.Length, Allocator.TempJob); for (int i = 0; i < torsoMesh.vertices.Length; i++) { points[i] = torsoMesh.vertices[i]; } BlobAssetReference <Collider> collider = ConvexCollider.Create( points, ConvexHullGenerationParameters.Default, CollisionFilter.Default ); CreatedColliders.Add(collider); points.Dispose(); collider.Value.Filter = filter; torso = CreateDynamicBody(torsoPosition, quaternion.identity, collider, float3.zero, float3.zero, 20.0f); } entities.Add(torso); // Neck { float3 pivotHead = new float3(0, -headRadius, 0); float3 pivotTorso = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(head), pivotHead)); float3 axisHead = new float3(0, 0, 1); float3 perpendicular = new float3(1, 0, 0); FloatRange coneAngle = new FloatRange(math.radians(0), math.radians(45)) * rangeModifier; FloatRange perpendicularAngle = new FloatRange(math.radians(-30), math.radians(+30)) * rangeModifier; FloatRange twistAngle = new FloatRange(math.radians(-5), math.radians(5)) * rangeModifier; var axisTorso = math.rotate(math.inverse(GetBodyTransform(torso).rot), math.rotate(GetBodyTransform(head).rot, axisHead)); axisTorso = math.rotate(quaternion.AxisAngle(perpendicular, math.radians(10)), axisTorso); var headFrame = new BodyFrame { Axis = axisHead, PerpendicularAxis = perpendicular, Position = pivotHead }; var torsoFrame = new BodyFrame { Axis = axisTorso, PerpendicularAxis = perpendicular, Position = pivotTorso }; PhysicsJoint.CreateRagdoll(headFrame, torsoFrame, coneAngle.Max, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1); CreateJoint(ragdoll0, head, torso); CreateJoint(ragdoll1, head, torso); } // Arms { float armLength = 0.25f; float armRadius = 0.05f; CollisionFilter armUpperFilter = internalCollisions ? layerFilter(layer.UpperArm, layer.Torso | layer.Forearm) : groupFilter(-ragdollIndex); CollisionFilter armLowerFilter = internalCollisions ? layerFilter(layer.Forearm, layer.UpperArm | layer.Hand) : groupFilter(-ragdollIndex); BlobAssetReference <Collider> upperArmCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry { Vertex0 = new float3(-armLength / 2, 0, 0), Vertex1 = new float3(armLength / 2, 0, 0), Radius = armRadius }, armUpperFilter); BlobAssetReference <Collider> foreArmCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry { Vertex0 = new float3(-armLength / 2, 0, 0), Vertex1 = new float3(armLength / 2, 0, 0), Radius = armRadius }, armLowerFilter); float handLength = 0.025f; float handRadius = 0.055f; CollisionFilter handFilter = internalCollisions ? layerFilter(layer.Hand, layer.Forearm) : groupFilter(-ragdollIndex); BlobAssetReference <Collider> handCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry { Vertex0 = new float3(-handLength / 2, 0, 0), Vertex1 = new float3(handLength / 2, 0, 0), Radius = handRadius }, handFilter); CreatedColliders.Add(upperArmCollider); CreatedColliders.Add(foreArmCollider); CreatedColliders.Add(handCollider); for (int i = 0; i < 2; i++) { float s = i * 2 - 1.0f; float3 upperArmPosition = torsoPosition + new float3(s * (torsoSize.x + armLength) / 2.0f, 0.9f * torsoSize.y - armRadius, 0.0f); Entity upperArm = CreateDynamicBody(upperArmPosition, quaternion.identity, upperArmCollider, float3.zero, float3.zero, 10.0f); float3 foreArmPosition = upperArmPosition + new float3(armLength * s, 0, 0); Entity foreArm = CreateDynamicBody(foreArmPosition, quaternion.identity, foreArmCollider, float3.zero, float3.zero, 5.0f); float3 handPosition = foreArmPosition + new float3((armLength + handLength) / 2.0f * s, 0, 0); Entity hand = CreateDynamicBody(handPosition, quaternion.identity, handCollider, float3.zero, float3.zero, 2.0f); entities.Add(upperArm); entities.Add(foreArm); entities.Add(hand); // shoulder { float3 pivotArm = new float3(-s * armLength / 2.0f, 0, 0); float3 pivotTorso = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(upperArm), pivotArm)); float3 axisArm = new float3(-s, 0, 0); float3 perpendicularArm = new float3(0, 1, 0); FloatRange coneAngle = new FloatRange(math.radians(0), math.radians(80)) * rangeModifier; FloatRange perpendicularAngle = new FloatRange(math.radians(-70), math.radians(20)) * rangeModifier; FloatRange twistAngle = new FloatRange(math.radians(-5), math.radians(5)) * rangeModifier; var axisTorso = math.rotate(math.inverse(GetBodyTransform(torso).rot), math.rotate(GetBodyTransform(upperArm).rot, axisArm)); axisTorso = math.rotate(quaternion.AxisAngle(perpendicularArm, math.radians(-s * 45.0f)), axisTorso); var armFrame = new BodyFrame { Axis = axisArm, PerpendicularAxis = perpendicularArm, Position = pivotArm }; var bodyFrame = new BodyFrame { Axis = axisTorso, PerpendicularAxis = perpendicularArm, Position = pivotTorso }; PhysicsJoint.CreateRagdoll(armFrame, bodyFrame, coneAngle.Max, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1); CreateJoint(ragdoll0, upperArm, torso); CreateJoint(ragdoll1, upperArm, torso); } // elbow { float3 pivotUpper = new float3(s * armLength / 2.0f, 0, 0); float3 pivotFore = -pivotUpper; float3 axis = new float3(0, -s, 0); float3 perpendicular = new float3(-s, 0, 0); var lowerArmFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFore }; var upperArmFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotUpper }; var hingeRange = new FloatRange(math.radians(0), math.radians(100)); hingeRange = (hingeRange - new float2(hingeRange.Mid)) * rangeModifier + hingeRange.Mid; PhysicsJoint hinge = PhysicsJoint.CreateLimitedHinge(lowerArmFrame, upperArmFrame, hingeRange); CreateJoint(hinge, foreArm, upperArm); } // wrist { float3 pivotFore = new float3(s * armLength / 2.0f, 0, 0); float3 pivotHand = new float3(-s * handLength / 2.0f, 0, 0); float3 axis = new float3(0, 0, -s); float3 perpendicular = new float3(0, 0, 1); var handFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotHand }; var forearmFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFore }; var hingeRange = new FloatRange(math.radians(0), math.radians(135)) * rangeModifier; PhysicsJoint hinge = PhysicsJoint.CreateLimitedHinge(handFrame, forearmFrame, hingeRange); CreateJoint(hinge, hand, foreArm); } } } // Pelvis float pelvisRadius = 0.08f; float pelvisLength = 0.22f; float3 pelvisPosition = torsoPosition - new float3(0, pelvisRadius * 0.75f, 0.0f); Entity pelvis; { CollisionFilter filter = internalCollisions ? layerFilter(layer.Pelvis, layer.Torso | layer.Thigh) : groupFilter(-ragdollIndex); BlobAssetReference <Collider> collider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry { Vertex0 = new float3(-pelvisLength / 2, 0, 0), Vertex1 = new float3(pelvisLength / 2, 0, 0), Radius = pelvisRadius }, filter); pelvis = CreateDynamicBody(pelvisPosition, quaternion.identity, collider, float3.zero, float3.zero, 15.0f); CreatedColliders.Add(collider); } entities.Add(pelvis); // Waist { float3 pivotTorso = float3.zero; float3 pivotPelvis = math.transform(math.inverse(GetBodyTransform(pelvis)), math.transform(GetBodyTransform(torso), pivotTorso)); float3 axis = new float3(0, 1, 0); float3 perpendicular = new float3(0, 0, 1); FloatRange coneAngle = new FloatRange(math.radians(0), math.radians(5)) * rangeModifier; FloatRange perpendicularAngle = new FloatRange(math.radians(-5), math.radians(90)) * rangeModifier; FloatRange twistAngle = new FloatRange(-math.radians(-5), math.radians(5)) * rangeModifier; var pelvisFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotPelvis }; var torsoFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotTorso }; PhysicsJoint.CreateRagdoll(pelvisFrame, torsoFrame, coneAngle.Max, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1); CreateJoint(ragdoll0, pelvis, torso); CreateJoint(ragdoll1, pelvis, torso); } // Legs { float thighLength = 0.32f; float thighRadius = 0.08f; CollisionFilter thighFilter = internalCollisions ? layerFilter(layer.Thigh, layer.Pelvis | layer.Calf) : groupFilter(-ragdollIndex); BlobAssetReference <Collider> thighCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry { Vertex0 = new float3(0, -thighLength / 2, 0), Vertex1 = new float3(0, thighLength / 2, 0), Radius = thighRadius }, thighFilter); float calfLength = 0.32f; float calfRadius = 0.06f; CollisionFilter calfFilter = internalCollisions ? layerFilter(layer.Calf, layer.Thigh | layer.Foot) : groupFilter(-ragdollIndex); BlobAssetReference <Collider> calfCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry { Vertex0 = new float3(0, -calfLength / 2, 0), Vertex1 = new float3(0, calfLength / 2, 0), Radius = calfRadius }, calfFilter); float footLength = 0.08f; float footRadius = 0.06f; CollisionFilter footFilter = internalCollisions ? layerFilter(layer.Foot, layer.Calf) : groupFilter(-ragdollIndex); BlobAssetReference <Collider> footCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry { Vertex0 = new float3(0), Vertex1 = new float3(0, 0, footLength), Radius = footRadius }, footFilter); CreatedColliders.Add(thighCollider); CreatedColliders.Add(calfCollider); CreatedColliders.Add(footCollider); for (int i = 0; i < 2; i++) { float s = i * 2 - 1.0f; float3 thighPosition = pelvisPosition + new float3(s * pelvisLength / 2.0f, -thighLength / 2.0f, 0.0f); Entity thigh = CreateDynamicBody(thighPosition, quaternion.identity, thighCollider, float3.zero, float3.zero, 10.0f); float3 calfPosition = thighPosition + new float3(0, -(thighLength + calfLength) / 2.0f, 0); Entity calf = CreateDynamicBody(calfPosition, quaternion.identity, calfCollider, float3.zero, float3.zero, 5.0f); float3 footPosition = calfPosition + new float3(0, -calfLength / 2.0f, 0); Entity foot = CreateDynamicBody(footPosition, quaternion.identity, footCollider, float3.zero, float3.zero, 2.0f); entities.Add(thigh); entities.Add(calf); entities.Add(foot); // hip { float3 pivotThigh = new float3(0, thighLength / 2.0f, 0); float3 pivotPelvis = math.transform(math.inverse(GetBodyTransform(pelvis)), math.transform(GetBodyTransform(thigh), pivotThigh)); float3 axisLeg = new float3(0, -1, 0); float3 perpendicularLeg = new float3(-s, 0, 0); FloatRange coneAngle = new FloatRange(math.radians(0), math.radians(60)) * rangeModifier; FloatRange perpendicularAngle = new FloatRange(math.radians(-10), math.radians(40)) * rangeModifier; FloatRange twistAngle = new FloatRange(-math.radians(5), math.radians(5)) * rangeModifier; var axisPelvis = math.rotate(math.inverse(GetBodyTransform(pelvis).rot), math.rotate(GetBodyTransform(thigh).rot, axisLeg)); axisPelvis = math.rotate(quaternion.AxisAngle(perpendicularLeg, math.radians(s * 45.0f)), axisPelvis); var upperLegFrame = new BodyFrame { Axis = axisLeg, PerpendicularAxis = perpendicularLeg, Position = pivotThigh }; var pelvisFrame = new BodyFrame { Axis = axisPelvis, PerpendicularAxis = perpendicularLeg, Position = pivotPelvis }; PhysicsJoint.CreateRagdoll(upperLegFrame, pelvisFrame, coneAngle.Max, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1); CreateJoint(ragdoll0, thigh, pelvis); CreateJoint(ragdoll1, thigh, pelvis); } // knee { float3 pivotThigh = new float3(0, -thighLength / 2.0f, 0); float3 pivotCalf = math.transform(math.inverse(GetBodyTransform(calf)), math.transform(GetBodyTransform(thigh), pivotThigh)); float3 axis = new float3(-1, 0, 0); float3 perpendicular = new float3(0, 0, 1); var lowerLegFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotCalf }; var upperLegFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotThigh }; var hingeRange = new FloatRange(math.radians(-90), math.radians(0)); hingeRange = (hingeRange - new float2(hingeRange.Mid)) * rangeModifier + hingeRange.Mid; PhysicsJoint hinge = PhysicsJoint.CreateLimitedHinge(lowerLegFrame, upperLegFrame, hingeRange); CreateJoint(hinge, calf, thigh); } // ankle { float3 pivotCalf = new float3(0, -calfLength / 2.0f, 0); float3 pivotFoot = float3.zero; float3 axis = new float3(-1, 0, 0); float3 perpendicular = new float3(0, 0, 1); var footFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFoot }; var lowerLegFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotCalf }; var hingeRange = new FloatRange(math.radians(-5), math.radians(5)) * rangeModifier; PhysicsJoint hinge = PhysicsJoint.CreateLimitedHinge(footFrame, lowerLegFrame, hingeRange); CreateJoint(hinge, foot, calf); } } } // reposition with offset information if (entities.Length > 0) { for (int i = 0; i < entities.Length; i++) { var e = entities[i]; bool isTorso = (i == 1); SwapRenderMesh(e, isTorso, torsoMesh, renderMesh); Translation positionComponent = EntityManager.GetComponentData <Translation>(e); Rotation rotationComponent = EntityManager.GetComponentData <Rotation>(e); PhysicsVelocity velocityComponent = EntityManager.GetComponentData <PhysicsVelocity>(e); float3 position = positionComponent.Value; quaternion rotation = rotationComponent.Value; float3 localPosition = position - pelvisPosition; localPosition = math.rotate(rotationOffset, localPosition); position = localPosition + pelvisPosition + positionOffset; rotation = math.mul(rotation, rotationOffset); positionComponent.Value = position; rotationComponent.Value = rotation; velocityComponent.Linear = initialVelocity; EntityManager.SetComponentData <PhysicsVelocity>(e, velocityComponent); EntityManager.SetComponentData <Translation>(e, positionComponent); EntityManager.SetComponentData <Rotation>(e, rotationComponent); } } }
private void CreateRagdoll(float3 positionOffset, quaternion rotationOffset, int ragdollIndex = 1, bool internalCollisions = false) { var entities = new NativeList <Entity>(Allocator.Temp); // Head float headRadius = 0.1f; float3 headPosition = new float3(0, 1.8f, 0); Entity head; { CollisionFilter filter = internalCollisions ? layerFilter(layer.Head, layer.Torso) : groupFilter(-ragdollIndex); BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.SphereCollider.Create(new SphereGeometry { Center = float3.zero, Radius = headRadius }, filter); head = CreateDynamicBody(headPosition, quaternion.identity, collider, float3.zero, float3.zero, 5.0f); } entities.Add(head); // Torso float3 torsoSize; float3 torsoPosition; Entity torso; { //UnityEngine.Mesh torsoMesh = (UnityEngine.Mesh)Resources.Load("torso", typeof(UnityEngine.Mesh)); torsoSize = torsoMesh.bounds.size; torsoPosition = headPosition - new float3(0, headRadius * 3.0f / 4.0f + torsoSize.y, 0); CollisionFilter filter = internalCollisions ? layerFilter(layer.Torso, layer.Thigh | layer.Head | layer.UpperArm | layer.Pelvis) : groupFilter(-ragdollIndex); NativeArray <float3> points = new NativeArray <float3>(torsoMesh.vertices.Length, Allocator.TempJob); for (int i = 0; i < torsoMesh.vertices.Length; i++) { points[i] = torsoMesh.vertices[i]; } BlobAssetReference <Unity.Physics.Collider> collider = ConvexCollider.Create( points, ConvexHullGenerationParameters.Default, CollisionFilter.Default ); points.Dispose(); collider.Value.Filter = filter; torso = CreateDynamicBody(torsoPosition, quaternion.identity, collider, float3.zero, float3.zero, 20.0f); } entities.Add(torso); // Neck { float3 pivotHead = new float3(0, -headRadius, 0); float3 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(head), pivotHead)); float3 axis = new float3(0, 1, 0); float3 perpendicular = new float3(0, 0, 1); float coneAngle = (float)math.PI / 5.0f; var perpendicularAngle = new FloatRange { Max = math.PI }; // unlimited var twistAngle = new FloatRange(-math.PI / 3f, math.PI / 3f); var headFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotHead }; var bodyFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotBody }; PhysicsJoint.CreateRagdoll(headFrame, bodyFrame, coneAngle, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1); CreateJoint(ragdoll0, head, torso); CreateJoint(ragdoll1, head, torso); } // Arms { float armLength = 0.25f; float armRadius = 0.05f; CollisionFilter armUpperFilter = internalCollisions ? layerFilter(layer.UpperArm, layer.Torso | layer.Forearm) : groupFilter(-ragdollIndex); CollisionFilter armLowerFilter = internalCollisions ? layerFilter(layer.Forearm, layer.UpperArm | layer.Hand) : groupFilter(-ragdollIndex); BlobAssetReference <Unity.Physics.Collider> upperArmCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry { Vertex0 = new float3(-armLength / 2, 0, 0), Vertex1 = new float3(armLength / 2, 0, 0), Radius = armRadius }, armUpperFilter); BlobAssetReference <Unity.Physics.Collider> foreArmCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry { Vertex0 = new float3(-armLength / 2, 0, 0), Vertex1 = new float3(armLength / 2, 0, 0), Radius = armRadius }, armLowerFilter); float handLength = 0.025f; float handRadius = 0.055f; CollisionFilter handFilter = internalCollisions ? layerFilter(layer.Hand, layer.Forearm) : groupFilter(-ragdollIndex); BlobAssetReference <Unity.Physics.Collider> handCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry { Vertex0 = new float3(-handLength / 2, 0, 0), Vertex1 = new float3(handLength / 2, 0, 0), Radius = handRadius }, handFilter); for (int i = 0; i < 2; i++) { float s = i * 2 - 1.0f; float3 upperArmPosition = torsoPosition + new float3(s * (torsoSize.x + armLength) / 2.0f, 0.9f * torsoSize.y - armRadius, 0.0f); Entity upperArm = CreateDynamicBody(upperArmPosition, quaternion.identity, upperArmCollider, float3.zero, float3.zero, 10.0f); float3 foreArmPosition = upperArmPosition + new float3(armLength * s, 0, 0); Entity foreArm = CreateDynamicBody(foreArmPosition, quaternion.identity, foreArmCollider, float3.zero, float3.zero, 5.0f); float3 handPosition = foreArmPosition + new float3((armLength + handLength) / 2.0f * s, 0, 0); Entity hand = CreateDynamicBody(handPosition, quaternion.identity, handCollider, float3.zero, float3.zero, 2.0f); entities.Add(upperArm); entities.Add(foreArm); entities.Add(hand); // shoulder { float3 pivotArm = new float3(-s * armLength / 2.0f, 0, 0); float3 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(upperArm), pivotArm)); float3 axis = new float3(s, 0, 0); float3 perpendicular = new float3(0, 0, 1); float coneAngle = (float)math.PI / 2.0f; var perpendicularAngle = new FloatRange { Max = math.PI / 2f }; var twistAngle = new FloatRange(-math.PI / 4f, math.PI / 4f); var armFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotArm }; var bodyFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotBody }; PhysicsJoint.CreateRagdoll(armFrame, bodyFrame, coneAngle, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1); CreateJoint(ragdoll0, upperArm, torso); CreateJoint(ragdoll1, upperArm, torso); } // elbow { float3 pivotUpper = new float3(s * armLength / 2.0f, 0, 0); float3 pivotFore = -pivotUpper; float3 axis = new float3(0, -s, 0); float3 perpendicular = new float3(s, 0, 0); var lowerArmFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFore }; var upperArmFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotUpper }; PhysicsJoint hinge = PhysicsJoint.CreateLimitedHinge(lowerArmFrame, upperArmFrame, new FloatRange { Max = 3f }); CreateJoint(hinge, foreArm, upperArm); } // wrist { float3 pivotFore = new float3(s * armLength / 2.0f, 0, 0); float3 pivotHand = new float3(-s * handLength / 2.0f, 0, 0); float3 axis = new float3(0, -s, 0); float3 perpendicular = new float3(s, 0, 0); var handFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotHand }; var forearmFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFore }; PhysicsJoint hinge = PhysicsJoint.CreateLimitedHinge(handFrame, forearmFrame, new FloatRange(-0.3f, 0.6f)); CreateJoint(hinge, hand, foreArm); } } } // Pelvis float pelvisRadius = 0.08f; float pelvisLength = 0.22f; float3 pelvisPosition = torsoPosition - new float3(0, pelvisRadius * 0.75f, 0.0f); Entity pelvis; { CollisionFilter filter = internalCollisions ? layerFilter(layer.Pelvis, layer.Torso | layer.Thigh) : groupFilter(-ragdollIndex); BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry { Vertex0 = new float3(-pelvisLength / 2, 0, 0), Vertex1 = new float3(pelvisLength / 2, 0, 0), Radius = pelvisRadius }, filter); pelvis = CreateDynamicBody(pelvisPosition, quaternion.identity, collider, float3.zero, float3.zero, 15.0f); } entities.Add(pelvis); // Waist { float3 pivotTorso = float3.zero; float3 pivotPelvis = math.transform(math.inverse(GetBodyTransform(pelvis)), math.transform(GetBodyTransform(torso), pivotTorso)); float3 axis = new float3(0, -1, 0); float3 perpendicular = new float3(0, 0, 1); float coneAngle = 0.1f; var perpendicularAngle = new FloatRange(-0.1f, math.PI); var twistAngle = new FloatRange(-0.1f, 0.1f); var pelvisFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotPelvis }; var torsoFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotTorso }; PhysicsJoint.CreateRagdoll(pelvisFrame, torsoFrame, coneAngle, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1); CreateJoint(ragdoll0, pelvis, torso); CreateJoint(ragdoll1, pelvis, torso); } // Legs { float thighLength = 0.32f; float thighRadius = 0.08f; CollisionFilter thighFilter = internalCollisions ? layerFilter(layer.Thigh, layer.Pelvis | layer.Calf) : groupFilter(-ragdollIndex); BlobAssetReference <Unity.Physics.Collider> thighCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry { Vertex0 = new float3(0, -thighLength / 2, 0), Vertex1 = new float3(0, thighLength / 2, 0), Radius = thighRadius }, thighFilter); float calfLength = 0.32f; float calfRadius = 0.06f; CollisionFilter calfFilter = internalCollisions ? layerFilter(layer.Calf, layer.Thigh | layer.Foot) : groupFilter(-ragdollIndex); BlobAssetReference <Unity.Physics.Collider> calfCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry { Vertex0 = new float3(0, -calfLength / 2, 0), Vertex1 = new float3(0, calfLength / 2, 0), Radius = calfRadius }, calfFilter); float footLength = 0.08f; float footRadius = 0.06f; CollisionFilter footFilter = internalCollisions ? layerFilter(layer.Foot, layer.Calf) : groupFilter(-ragdollIndex); BlobAssetReference <Unity.Physics.Collider> footCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry { Vertex0 = new float3(0), Vertex1 = new float3(0, 0, footLength), Radius = footRadius }, footFilter); for (int i = 0; i < 2; i++) { float s = i * 2 - 1.0f; float3 thighPosition = pelvisPosition + new float3(s * pelvisLength / 2.0f, -thighLength / 2.0f, 0.0f); Entity thigh = CreateDynamicBody(thighPosition, quaternion.identity, thighCollider, float3.zero, float3.zero, 10.0f); float3 calfPosition = thighPosition + new float3(0, -(thighLength + calfLength) / 2.0f, 0); Entity calf = CreateDynamicBody(calfPosition, quaternion.identity, calfCollider, float3.zero, float3.zero, 5.0f); float3 footPosition = calfPosition + new float3(0, -calfLength / 2.0f, 0); Entity foot = CreateDynamicBody(footPosition, quaternion.identity, footCollider, float3.zero, float3.zero, 2.0f); entities.Add(thigh); entities.Add(calf); entities.Add(foot); // hip { float3 pivotThigh = new float3(0, thighLength / 2.0f, 0); float3 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(thigh), pivotThigh)); float3 axis = new float3(0, -1, 0); float3 perpendicular = new float3(s, 0, 0); float coneAngle = (float)math.PI / 4.0f; var perpendicularAngle = new FloatRange { Max = 0.2f + math.PI / 2.0f }; var twistAngle = new FloatRange(-0.2f, 0.2f); var upperLegFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotThigh }; var bodyFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotBody }; PhysicsJoint.CreateRagdoll(upperLegFrame, bodyFrame, coneAngle, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1); CreateJoint(ragdoll0, thigh, torso); CreateJoint(ragdoll1, thigh, torso); } // knee { float3 pivotThigh = new float3(0, -thighLength / 2.0f, 0); float3 pivotCalf = math.transform(math.inverse(GetBodyTransform(calf)), math.transform(GetBodyTransform(thigh), pivotThigh)); float3 axis = new float3(-1, 0, 0); float3 perpendicular = new float3(0, 0, 1); var lowerLegFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotCalf }; var upperLegFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotThigh }; PhysicsJoint hinge = PhysicsJoint.CreateLimitedHinge(lowerLegFrame, upperLegFrame, new FloatRange { Min = -1.2f }); CreateJoint(hinge, calf, thigh); } // ankle { float3 pivotCalf = new float3(0, -calfLength / 2.0f, 0); float3 pivotFoot = float3.zero; float3 axis = new float3(-1, 0, 0); float3 perpendicular = new float3(0, 0, 1); var footFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFoot }; var lowerLegFrame = new BodyFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotCalf }; PhysicsJoint hinge = PhysicsJoint.CreateLimitedHinge(footFrame, lowerLegFrame, new FloatRange(-0.4f, 0.1f)); CreateJoint(hinge, foot, calf); } } } var entityManager = BasePhysicsDemo.DefaultWorld.EntityManager; // reposition with offset information if (entities.Length > 0) { float3 center = float3.zero; for (int i = 0; i < entities.Length; i++) { var e = entities[i]; center += entityManager.GetComponentData <Translation>(e).Value; } center /= entities.Length; for (int i = 0; i < entities.Length; i++) { var e = entities[i]; Translation positionComponent = entityManager.GetComponentData <Translation>(e); Rotation rotationComponent = entityManager.GetComponentData <Rotation>(e); float3 position = positionComponent.Value; quaternion rotation = rotationComponent.Value; float3 localPosition = position - center; localPosition = math.rotate(rotationOffset, localPosition); position = localPosition + center + positionOffset; rotation = math.mul(rotation, rotationOffset); positionComponent.Value = position; rotationComponent.Value = rotation; entityManager.SetComponentData <Translation>(e, positionComponent); entityManager.SetComponentData <Rotation>(e, rotationComponent); } } }