public void SetupSimData(PhysXRigidBody attachedRigidBody, IntPtr wheelSimData, int wheelNum, uint vehicleId)
{
if (autoCalculateSpringStrength)
{
float sprungMass = PhysXLib.GetSuspensionSprungMass(suspension);
suspensionSpringStrength = (Physics.gravity.magnitude * sprungMass) / (suspensionDistance * (1 - suspensionSpringTargetPosition));
}
this.wheelNum = wheelNum;
this.attachedRigidBody = attachedRigidBody;
Transform bodyParent = attachedRigidBody.transform;
PhysXVec3 wheelCentrePos = new PhysXVec3(bodyParent.InverseTransformPoint(transform.TransformPoint(wheelCentre)));
PhysXVec3 forceAppPos = new PhysXVec3(bodyParent.InverseTransformPoint(transform.TransformPoint(wheelCentre + forceAppPoint)));
PhysXLib.SetWheelSimForceAppPoint(wheelSimData, wheelNum, forceAppPos);
PhysXLib.SetWheelSimWheelCentre(wheelSimData, wheelNum, wheelCentrePos);
PhysXLib.SetWheelSimWheelData(wheelSimData, wheelNum, wheel);
PhysXLib.SetWheelSimTireData(wheelSimData, wheelNum, tire);
PhysXLib.SetWheelSimSuspensionData(wheelSimData, wheelNum, suspension, new PhysXVec3(-transform.up));
PhysXLib.SetWheelSimWheelShape(wheelSimData, wheelNum, -1);
PhysXLib.SetWheelSimQueryFilterData(wheelSimData, wheelNum, 0, 0, 0, vehicleId);
}
// Start is called before the first frame update
public virtual void Setup(PhysXBody attachedRigidBody, uint vehicleId)
{
this.attachedRigidBody = attachedRigidBody as PhysXRigidBody;
Transform bodyParent = attachedRigidBody.transform;
PhysXVec3 position = new PhysXVec3(bodyParent.InverseTransformPoint(transform.TransformPoint(offset)));
PhysXQuat rotation = new PhysXQuat(transform.rotation * Quaternion.Inverse(bodyParent.rotation));
IntPtr localTransform = PhysXLib.CreateTransform(position, rotation);
PhysXLib.SetShapeLocalTransform(shape, localTransform);
PhysXLib.SetShapeSimulationFlag(shape, !trigger);
PhysXLib.SetShapeSceneQueryFlag(shape, !trigger);
PhysXLib.SetShapeTriggerFlag(shape, trigger);
PhysXLib.CollisionEvent collisionEventFlags = attachedRigidBody.collisionEventFlags;
PhysXLib.SetCollisionFilterData(shape, (UInt32)ownLayers, (UInt32)collisionLayers, (UInt32)collisionEventFlags, vehicleId);
PhysXLib.SetQueryFilterData(shape, (UInt32)ownLayers, 0, 0, vehicleId);
shapeNum = attachedRigidBody.AddCollider(this);
}
// 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);
}
}
public static bool FireRaycastFiltered(PhysXVec3 origin, PhysXVec3 direction, float distance, IntPtr raycastHit, uint w0, uint w1, uint w2, uint w3)
{
return(PhysXLib.FireRaycastFiltered(scene, origin, direction, distance, raycastHit, w0, w1, w2, w3));
}
public static bool FireRaycast(PhysXVec3 origin, PhysXVec3 direction, float distance, IntPtr raycastHit)
{
return(PhysXLib.FireRaycast(scene, origin, direction, distance, raycastHit));
}
