public override void Create(EntityManager entityManager, GameObjectConversionSystem conversionSystem)
{
if (AutoSetConnected)
{
RigidTransform bFromA = math.mul(math.inverse(worldFromB), worldFromA);
PositionInConnectedEntity = math.transform(bFromA, PositionLocal);
AxisInConnectedEntity = math.mul(bFromA.rot, AxisLocal);
PerpendicularAxisInConnectedEntity = math.mul(bFromA.rot, PerpendicularAxisLocal);
}
CreateJointEntity(JointData.CreatePrismatic(
new JointFrame
{
Axis = AxisLocal,
PerpendicularAxis = PerpendicularAxisLocal,
Position = PositionLocal
},
new JointFrame
{
Axis = AxisInConnectedEntity,
PerpendicularAxis = PerpendicularAxisInConnectedEntity,
Position = PositionInConnectedEntity
},
new FloatRange(MinDistanceOnAxis, MaxDistanceOnAxis),
new FloatRange(MinDistanceFromAxis, MaxDistanceFromAxis)
),
entityManager, conversionSystem
);
}
public override unsafe void Create(EntityManager entityManager)
{
if (AutoSetConnected)
{
PositionLocal = math.transform(math.inverse(worldFromA), math.transform(worldFromB, PositionInConnectedEntity));
}
CreateJointEntity(JointData.CreatePrismatic(PositionLocal, PositionInConnectedEntity, AxisInConnectedEntity,
MinDistanceOnAxis, MaxDistanceOnAxis, MinDistanceFromAxis, MaxDistanceFromAxis), entityManager);
}
public override unsafe void Create(EntityManager entityManager)
{
if (AutoSetConnected)
{
RigidTransform bFromA = math.mul(math.inverse(worldFromB), worldFromA);
PositionInConnectedEntity = math.transform(bFromA, PositionLocal);
AxisInConnectedEntity = math.mul(bFromA.rot, AxisLocal);
PerpendicularAxisInConnectedEntity = math.mul(bFromA.rot, PerpendicularAxisLocal);
}
CreateJointEntity(JointData.CreatePrismatic(PositionLocal, PositionInConnectedEntity, AxisLocal, AxisInConnectedEntity,
PerpendicularAxisLocal, PerpendicularAxisInConnectedEntity, MinDistanceOnAxis, MaxDistanceOnAxis, MinDistanceFromAxis, MaxDistanceFromAxis), entityManager);
}
public void JointDataCreatePrismaticTest()
{
var positionAinA = new float3(0.0f, 1.0f, 2.0f);
var positionBinB = new float3(1.0f, 0.0f, 3.0f);
var axisInB = float3.zero;
var minDistanceOnAxis = 1.0f;
var maxDistanceOnAxis = 10.0f;
var minDistanceFromAxis = 2.0f;
var maxDistanceFromAxis = 20.0f;
var jointDataRef = JointData.CreatePrismatic(positionAinA, positionBinB, axisInB, minDistanceOnAxis, maxDistanceOnAxis, minDistanceFromAxis, maxDistanceFromAxis);
var jointData = jointDataRef.Value;
Assert.AreEqual(positionAinA, jointData.AFromJoint.Translation);
Assert.AreEqual(positionBinB, jointData.BFromJoint.Translation);
Assert.AreEqual(1, jointData.Version);
Assert.AreEqual(2, jointData.NumConstraints);
var planarConstraint = jointDataRef.Value.Constraints[0];
Assert.AreEqual(new bool3(true, false, false), planarConstraint.ConstrainedAxes);
Assert.AreEqual(ConstraintType.Linear, planarConstraint.Type);
Assert.AreEqual(1.0f, planarConstraint.Min);
Assert.AreEqual(10.0f, planarConstraint.Max);
Assert.AreEqual(Constraint.DefaultSpringFrequency, planarConstraint.SpringFrequency);
Assert.AreEqual(Constraint.DefaultSpringDamping, planarConstraint.SpringDamping);
var cylindricalConstraint = jointDataRef.Value.Constraints[1];
Assert.AreEqual(new bool3(false, true, true), cylindricalConstraint.ConstrainedAxes);
Assert.AreEqual(ConstraintType.Linear, cylindricalConstraint.Type);
Assert.AreEqual(2.0f, cylindricalConstraint.Min);
Assert.AreEqual(20.0f, cylindricalConstraint.Max);
Assert.AreEqual(Constraint.DefaultSpringFrequency, cylindricalConstraint.SpringFrequency);
Assert.AreEqual(Constraint.DefaultSpringDamping, cylindricalConstraint.SpringDamping);
}
protected override void Start()
{
float3 gravity = float3.zero;
base.init(gravity);
// Enable the joint viewer
SetDebugDisplay(new Unity.Physics.Authoring.PhysicsDebugDisplayData
{
DrawJoints = 1
});
// Make soft ball and sockets
{
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.2f, 0.2f, 0.2f),
BevelRadius = 0.0f
});
// Make joints with different spring frequency. The leftmost joint should oscillate at 0.5hz, the next at 1hz, the next at 1.5hz, etc.
for (int i = 0; i < 10; i++)
{
// Create a body
float3 position = new float3((i - 4.5f) * 1.0f, 0, 0);
float3 velocity = new float3(0, -10.0f, 0);
Entity body = CreateDynamicBody(
position, quaternion.identity, collider, velocity, float3.zero, 1.0f);
// Create the ball and socket joint
float3 pivotLocal = float3.zero;
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
BlobAssetReference <JointData> jointData;
jointData = JointData.CreateBallAndSocket(pivotLocal, pivotInWorld);
jointData.Value.Constraints[0].SpringDamping = 0.0f;
jointData.Value.Constraints[0].SpringFrequency = 0.5f * (float)(i + 1);
CreateJoint(jointData, body, Entity.Null);
}
}
// Make soft limited hinges
{
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.4f, 0.1f, 0.6f),
BevelRadius = 0.0f
});
// First row has soft limit with hard hinge + pivot, second row has everything soft
for (int j = 0; j < 2; j++)
{
for (int i = 0; i < 10; i++)
{
// Create a body
float3 position = new float3((i - 4.5f) * 1.0f, 0, (j + 1) * 3.0f);
float3 velocity = new float3(0, -10.0f, 0);
float3 angularVelocity = new float3(0, 0, -10.0f);
Entity body = CreateDynamicBody(
position, quaternion.identity, collider, velocity, angularVelocity, 1.0f);
// Create the limited hinge joint
float3 pivotLocal = new float3(0, 0, 0);
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
float3 axisLocal = new float3(0, 0, 1);
float3 axisInWorld = axisLocal;
float3 perpendicularLocal = new float3(0, 1, 0);
float3 perpendicularInWorld = perpendicularLocal;
BlobAssetReference <JointData> jointData;
jointData = JointData.CreateLimitedHinge(pivotLocal, pivotInWorld, axisLocal, axisInWorld, perpendicularLocal, perpendicularInWorld, 0.0f, 0.0f);
// First constraint is the limit, next two are the hinge and pivot
for (int k = 0; k < 1 + 2 * j; k++)
{
jointData.Value.Constraints[k].SpringDamping = 0.0f;
jointData.Value.Constraints[k].SpringFrequency = 0.5f * (float)(i + 1);
}
CreateJoint(jointData, body, Entity.Null);
}
}
}
// Make a soft prismatic
{
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.2f, 0.2f, 0.2f),
BevelRadius = 0.0f
});
// Create a body
float3 position = new float3(0, 0, 9.0f);
float3 velocity = new float3(50.0f, 0, 0);
Entity body = CreateDynamicBody(
position, quaternion.identity, collider, velocity, float3.zero, 1.0f);
// Create the prismatic joint
float3 pivotLocal = float3.zero;
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
float3 axisLocal = new float3(1, 0, 0);
float3 axisInWorld = axisLocal;
float3 perpendicularLocal = new float3(0, 1, 0);
float3 perpendicularInWorld = perpendicularLocal;
BlobAssetReference <JointData> jointData;
jointData = JointData.CreatePrismatic(pivotLocal, pivotInWorld, axisLocal, axisInWorld, perpendicularLocal, perpendicularInWorld, -2.0f, 2.0f, 0.0f, 0.0f);
jointData.Value.Constraints[0].SpringDamping = 0.0f;
jointData.Value.Constraints[0].SpringFrequency = 5.0f;
CreateJoint(jointData, body, Entity.Null);
}
}