public static ConfigurableJoint GrabRigidbody(Rigidbody rb, Rigidbody grabPoint, Vector3 anchorOffset, bool freeRotation)
{
int id = rb.GetInstanceID();
if (RigidbodyGrabbed(rb))
{
DetachRigidbody(rb, grabbedRBs[id], false);
}
// if we grabbed a ragdoll, make sure the controller (if any), goes ragdoll
// with a full decay over all the bones
RagdollBone grabbedBone = rb.GetComponent <RagdollBone>();
if (grabbedBone)
{
if (grabbedBone.ragdoll.hasController)
{
grabbedBone.ragdoll.controller.AddBoneDecay(1);
grabbedBone.ragdoll.controller.GoRagdoll("From grab");
}
}
ConfigurableJoint j = MakeJointDefault(rb.gameObject.AddComponent <ConfigurableJoint>(), freeRotation, Vector3.zero, anchorOffset, grabPoint);
grabbedRBs.Add(id, j);
return(j);
}
public RagdollTransform(Transform transform, bool isBoneParent, bool isBone, bool isRoot)
{
this.transform = transform;
originalRotation = transform.localRotation;
originalPosition = transform.localPosition;
this.isBoneParent = isBoneParent;
this.isRoot = isRoot;
this.isBone = isBone;
bone = transform.GetComponent <RagdollBone>();
rigidbody = transform.GetComponent <Rigidbody>();
if (rigidbody != null)
{
collisionDetectionModeBeforeKinematic = rigidbody.collisionDetectionMode;
}
collider = transform.GetComponent <Collider>();
if (!isRoot)
{
joint = transform.GetComponent <ConfigurableJoint>();
if (joint != null)
{
connectedBody = joint.connectedBody;
}
}
}
void BroadcastCollisionStay(RagdollBone bone, Collision collision)
{
if (onCollisionStay != null)
{
onCollisionStay(bone, collision);
}
}
void BroadcastCollisionExit(RagdollBone bone, Collision collision)
{
if (onCollisionExit != null)
{
onCollisionExit(bone, collision);
}
}
/*
* send the message out that bone was collided
* (given to ragdollbone component)
*/
void BroadcastCollisionEnter(RagdollBone bone, Collision collision)
{
if (onCollisionEnter != null)
{
onCollisionEnter(bone, collision);
}
}
public PhysicsHitElement(RaycastHit hit)
{
this.hitPoint = hit.point;
this.collider = hit.collider;
this.hitDistance = hit.distance;
this.rigidbody = collider.attachedRigidbody;
ragdollBone = collider.GetComponent <RagdollBone>();
}
void BroadcastCollisionExit(RagdollBone bone, Collision collision)
{
if (onCollisionExit != null)
{
onCollisionExit(bone, collision);
}
//logicaPer.ragdollSuelo = false;
}
/*
* send the message out that bone was collided
* (given to ragdollbone component)
*/
void BroadcastCollisionEnter(RagdollBone bone, Collision collision)
{
if (onCollisionEnter != null)
{
onCollisionEnter(bone, collision);
}
//logicaPer.ragdollSuelo = true;
}
/*
* when blending to animation, ignore collisons wiht static colliders that bones
* come in contact with (this eliminates jitters from bone teleport trying to go through
* the static collider).
*
* bone rigidbodies cannot be kinematic though, or else collisions wont exert forces in time
* (when ragdollign on collision)
*/
void CheckForBlendIgnoreStaticCollision(RagdollBone bone, Collision collision)
{
// if wee're blending or animated (teleporting bones)
if (teleportingBones)
{
//if it's static
if (collision.collider.attachedRigidbody == null)
{
blendBonesIgnoreStaticColliders.Add(new ColliderIgnorePair(bone.boneCollider, collision.collider));
}
}
}
public Element(Transform transform, bool isPhysicsParent, bool isPhysicsBone, bool isRoot)
{
this.transform = transform;
this.isPhysicsParent = isPhysicsParent;
this.isRoot = isRoot;
this.isPhysicsBone = isPhysicsBone;
bone = transform.GetComponent <RagdollBone>();
rigidbody = transform.GetComponent <Rigidbody>();
collider = transform.GetComponent <Collider>();
if (!isRoot)
{
joint = transform.GetComponent <ConfigurableJoint>();
}
}
void HandleBoneDecayOnCollision(float collisionMagnitude2, RagdollBone bone, bool isCrushed, Collision collision)
{
if (isCrushed)
{
//Debug.LogWarning(bone + " / " + collision.transform.name + " CrUSHED");
ragdollController.AddBoneDecay(bone.bone, 1, ragdollController.profile.neighborDecayMultiplier);
}
// if the magnitude is above the minimum threshold for adding decay
else if (collisionMagnitude2 >= ragdollController.profile.decayMagnitudeRange.x * ragdollController.profile.decayMagnitudeRange.x)
{
float magnitude = Mathf.Sqrt(collisionMagnitude2);
//linearly interpolate decay between 0 and 1 base on collision magnitude
float linearDecay = (magnitude - ragdollController.profile.decayMagnitudeRange.x) / (ragdollController.profile.decayMagnitudeRange.y - ragdollController.profile.decayMagnitudeRange.x);
//Debug.Log(bone + " / " + collision.transform.name + " mag: " + magnitude + " decay " + linearDecay);
ragdollController.AddBoneDecay(bone.bone, linearDecay, ragdollController.profile.neighborDecayMultiplier);
}
}
/*
* callback called when ragdoll bone gets a collision
*/
void OnRagdollCollisionEnter(RagdollBone bone, Collision collision)
{
CheckForBlendIgnoreStaticCollision(bone, collision);
}
/*
* callback called when ragdoll bone gets a collision
* then apply bone decay to those bones
*/
void OnRagdollCollisionEnter(RagdollBone bone, Collision collision)
{
if (!enabled)
{
return;
}
//maybe add warp to master state for ragdoll check
bool checkForRagdoll = ragdollController.state == RagdollControllerState.Animated || ragdollController.state == RagdollControllerState.BlendToAnimated;
bool isFalling = ragdollController.state == RagdollControllerState.Falling;
if (!isFalling && !checkForRagdoll)
{
return;
}
//check for and ignore self ragdoll collsion (only happens when falling)
if (ragdollController.ragdoll.ColliderIsPartOfRagdoll(collision.collider))
{
return;
}
if (checkForRagdoll)
{
//if we're getting up, knock us out regardless of where the collision takes place
if (!ragdollController.isGettingUp)
{
// if it's below our step offset (plus a buffer)
// ignore it... we can just step on top of it
if (!CollisionIsAboveStepOffset(collision, ragdollController.charStepOffset, .1f))
{
return;
}
}
}
bool isCrushed = CollisionHasCrushMass(collision) && CollisionIsAboveCrushOffset(collision, ragdollController.charHeight);
float collisionMagnitude2 = collision.relativeVelocity.sqrMagnitude;
if (checkForRagdoll)
{
// string message = "crush";
// check if we're being crushed
bool goRagdoll = isCrushed;
// else check if the collision is above our incoming threhsold, (something being thrown at us)
if (!goRagdoll)
{
// message = "incoming";
goRagdoll = collisionMagnitude2 >= ragdollController.profile.incomingMagnitudeThreshold * ragdollController.profile.incomingMagnitudeThreshold;
}
// else check if we're travelling fast enough to go ragdoll (we ran into a wall or something...)
if (!goRagdoll)
{
// message = "outgoing";
collisionMagnitude2 = controllerVelocity.sqrMagnitude;
goRagdoll = collisionMagnitude2 >= ragdollController.profile.outgoingMagnitudeThreshold * ragdollController.profile.outgoingMagnitudeThreshold;
}
if (!goRagdoll)
{
return;
}
// Debug.Log( message + "/" + bone.name + " went ragdoll cuae of " + collision.collider.name + "/" + Mathf.Sqrt(collisionMagnitude2));
ragdollController.GoRagdoll("from collision");
}
HandleBoneDecayOnCollision(collisionMagnitude2, bone, isCrushed, collision);
}
