public void SetLimitCone()
{
using (var core = CreatePhysicsAndScene())
{
var box1 = CreateBoxActor(core.Scene, new Vector3(5, 5, 5), new Vector3(0, 10, 0));
var box2 = CreateBoxActor(core.Scene, new Vector3(5, 5, 5), new Vector3(0, 20, 0));
SphericalJoint joint = core.Scene.CreateJoint <SphericalJoint>(box1, Matrix4x4.Identity, box2, Matrix4x4.Identity);
// Set the limit cone
var limit = new JointLimitCone()
{
YLimitAngle = 0.5f, // [0 - PI/2]
ZLimitAngle = 0.6f, // [0 - PI/2]
Stiffness = 3,
Damping = 4,
Restitution = 0.7f // [0 - 1]
};
joint.SetLimitCone(limit);
// Get the limit cone back and compare the values to make sure they've been stored
var retrievedLimitCone = joint.GetLimitCone();
Assert.AreEqual(0.5f, retrievedLimitCone.YLimitAngle);
Assert.AreEqual(0.6f, retrievedLimitCone.ZLimitAngle);
Assert.AreEqual(3, retrievedLimitCone.Stiffness);
Assert.AreEqual(4, retrievedLimitCone.Damping);
Assert.AreEqual(0.7f, retrievedLimitCone.Restitution);
}
}
/// <summary>
/// Creates GUI elements for fields specific to the spherical joint.
/// </summary>
protected void BuildGUI(SphericalJoint joint)
{
enableLimitField.OnChanged += x =>
{
joint.SetFlag(SphericalJointFlag.Limit, x);
MarkAsModified();
ConfirmModify();
ToggleLimitFields(x);
};
Layout.AddElement(enableLimitField);
limitLayout = Layout.AddLayoutX();
{
limitLayout.AddSpace(10);
GUILayoutY limitContentsLayout = limitLayout.AddLayoutY();
limitGUI = new LimitConeRangeGUI(joint.Limit, limitContentsLayout, Persistent);
limitGUI.OnChanged += (x, y) =>
{
joint.Limit = x;
joint.Limit.SetBase(y);
MarkAsModified();
};
limitGUI.OnConfirmed += ConfirmModify;
}
ToggleLimitFields(joint.HasFlag(SphericalJointFlag.Limit));
base.BuildGUI(joint, true);
}
/// <inheritdoc/>
protected internal override void Initialize()
{
SphericalJoint joint = InspectedObject as SphericalJoint;
if (joint != null)
{
BuildGUI(joint);
}
}
/// <summary>
/// Updates all GUI elements from current values in the joint.
/// </summary>
/// <param name="joint">Joint to update the GUI from.</param>
protected void Refresh(SphericalJoint joint)
{
if (enableLimitField.Value != joint.EnableLimit)
{
enableLimitField.Value = joint.EnableLimit;
ToggleLimitFields(joint.EnableLimit);
}
limitGUI.Limit = joint.Limit;
base.Refresh(joint);
}
/// <inheritdoc/>
protected internal override void Initialize()
{
SphericalJoint joint = (SphericalJoint)InspectedObject;
BuildGUI(joint, true);
drawer.AddDefault(joint, typeof(SphericalJoint));
drawer.AddField("Enable limit",
() => joint.HasFlag(SphericalJointFlag.Limit),
x => joint.SetFlag(SphericalJointFlag.Limit, x));
drawer.AddConditional("Limit", () => joint.HasFlag(SphericalJointFlag.Limit));
}
private static void DrawSphericalJoint(SphericalJoint joint)
{
Vector3 target = GetAnchor(joint, JointBody.Target);
Vector3 anchor = GetAnchor(joint, JointBody.Anchor);
Vector3 center = target;
Rigidbody rigidbody = joint.GetBody(JointBody.Target);
if (rigidbody != null)
{
center = rigidbody.SceneObject.Position;
}
Gizmos.Color = Color.White;
Gizmos.DrawSphere(center, 0.05f);
Gizmos.Color = Color.Yellow;
Gizmos.DrawSphere(target, 0.05f);
Gizmos.DrawSphere(anchor, 0.05f);
Gizmos.Color = Color.Green;
Gizmos.DrawLine(target, center);
Gizmos.Color = Color.Green;
if (joint.HasFlag(SphericalJointFlag.Limit))
{
LimitConeRange limit = joint.Limit;
Radian zAngle = MathEx.Min(new Degree(360), limit.zLimitAngle * 2.0f);
Radian yAngle = MathEx.Min(new Degree(360), limit.yLimitAngle * 2.0f);
Gizmos.Transform = joint.SceneObject.WorldTransform;
Gizmos.DrawWireArc(Vector3.Zero, Vector3.ZAxis, 0.25f, zAngle * -0.5f + new Degree(90), zAngle);
Gizmos.DrawWireArc(Vector3.Zero, Vector3.YAxis, 0.25f, yAngle * -0.5f + new Degree(90), yAngle);
Gizmos.Color = Color.Red;
Radian remainingZAngle = new Degree(360) - zAngle;
Radian remainingYAngle = new Degree(360) - yAngle;
Gizmos.DrawWireArc(Vector3.Zero, Vector3.ZAxis, 0.25f, zAngle * 0.5f + new Degree(90), remainingZAngle);
Gizmos.DrawWireArc(Vector3.Zero, Vector3.YAxis, 0.25f, yAngle * 0.5f + new Degree(90), remainingYAngle);
}
else
{
Gizmos.Color = Color.Green;
Gizmos.Transform = joint.SceneObject.WorldTransform;
Gizmos.DrawWireDisc(Vector3.Zero, Vector3.ZAxis, 0.25f);
Gizmos.DrawWireDisc(Vector3.Zero, Vector3.YAxis, 0.25f);
}
}
/// <summary>
/// Updates all GUI elements from current values in the joint.
/// </summary>
/// <param name="joint">Joint to update the GUI from.</param>
protected void Refresh(SphericalJoint joint)
{
bool enableLimit = joint.HasFlag(SphericalJointFlag.Limit);
if (enableLimitField.Value != enableLimit)
{
enableLimitField.Value = enableLimit;
ToggleLimitFields(enableLimit);
}
limitGUI.Limit = joint.Limit;
base.Refresh(joint);
}
/// <inheritdoc/>
protected internal override InspectableState Refresh()
{
SphericalJoint joint = InspectedObject as SphericalJoint;
if (joint == null)
{
return(InspectableState.NotModified);
}
Refresh(joint);
InspectableState oldState = modifyState;
if (modifyState.HasFlag(InspectableState.Modified))
{
modifyState = InspectableState.NotModified;
}
return(oldState);
}
