public override void InitJoint()
{
Vector3 childPin = m_Pin.normalized;
Vector3 parentPin = m_ParentPin.normalized;
NewtonBody child = GetComponent <NewtonBody>();
IntPtr otherBody = (m_OtherBody != null) ? m_OtherBody.GetBody().GetBody() : IntPtr.Zero;
dVector childPin_ = new dVector(childPin.x, childPin.y, childPin.z, 0.0f);
dVector parentPin_ = new dVector(parentPin.x, parentPin.y, parentPin.z, 0.0f);
m_Joint = new dNewtonJointGear(m_GearRatio, childPin_, parentPin_, child.GetBody().GetBody(), otherBody);
EnableCollision = m_EnableCollision;
}
public override void InitJoint()
{
NewtonBody child = GetComponent <NewtonBody>();
IntPtr otherBody = (m_OtherBody != null) ? m_OtherBody.GetBody().GetBody() : IntPtr.Zero;
var gearPinNorm = m_GearPin.normalized;
var slidePinNorm = m_SlidePin.normalized;
dVector childPin = new dVector(gearPinNorm.x, gearPinNorm.y, gearPinNorm.z, 0.0f);
dVector parentPin = new dVector(slidePinNorm.x, slidePinNorm.y, slidePinNorm.z, 0.0f);
m_Joint = new dNewtonJointRackAndPinion(m_GearRatio, childPin, parentPin, child.GetBody().GetBody(), otherBody);
EnableCollision = m_EnableCollision;
}
public override void Create()
{
NewtonBody child = GetComponent <NewtonBody>();
Matrix4x4 localMatrix = Matrix4x4.identity;
localMatrix.SetTRS(m_posit, Quaternion.Euler(m_rotation), Vector3.one);
IntPtr otherBody = (m_otherBody != null) ? m_otherBody.GetBody().GetBody() : new IntPtr(0);
Vector3 pin = localMatrix.GetColumn(0);
dVector normal = new dVector(pin.x, pin.y, pin.z, 0.0f);
dVector posit = new dVector(m_posit.x, m_posit.y, m_posit.z, 1.0f);
m_joint = new dNewtonJointPlane3DOF(posit, normal, child.GetBody().GetBody(), otherBody);
Stiffness = m_stiffness;
}
public override void InitJoint()
{
var childPinNorm = m_Pin.normalized;
var parentPinNorm = m_ParentPin.normalized;
var refPinNorm = m_ReferencePin.normalized;
NewtonBody child = GetComponent <NewtonBody>();
IntPtr otherBody = (m_OtherBody != null) ? m_OtherBody.GetBody().GetBody() : IntPtr.Zero;
IntPtr referenceBody = (m_ReferenceBody != null) ? m_ReferenceBody.GetBody().GetBody() : IntPtr.Zero;
dVector dChildPin = new dVector(childPinNorm.x, childPinNorm.y, childPinNorm.z, 0.0f);
dVector dParentPin = new dVector(parentPinNorm.x, parentPinNorm.y, parentPinNorm.z, 0.0f);
dVector dReferencePin = new dVector(refPinNorm.x, refPinNorm.y, refPinNorm.z, 0.0f);
m_Joint = new dNewtonJointDifferentialGear(m_GearRatio, dChildPin, dParentPin, dReferencePin, child.GetBody().GetBody(), otherBody, referenceBody);
EnableCollision = m_EnableCollision;
}
public override void Create()
{
Matrix4x4 localMatrix0 = Matrix4x4.identity;
Matrix4x4 localMatrix1 = Matrix4x4.identity;
localMatrix0.SetTRS(Vector3.zero, Quaternion.Euler(m_rotation), Vector3.one);
localMatrix1.SetTRS(Vector3.zero, Quaternion.Euler(m_parentRotation), Vector3.one);
Vector4 childPin = localMatrix0.GetColumn(0);
Vector4 parentPin = localMatrix1.GetColumn(0);
NewtonBody child = GetComponent <NewtonBody>();
IntPtr otherBody = (m_otherBody != null) ? m_otherBody.GetBody().GetBody() : new IntPtr(0);
dVector childPin_ = new dVector(childPin.x, childPin.y, childPin.z, 0.0f);
dVector parentPin_ = new dVector(parentPin.x, parentPin.y, parentPin.z, 0.0f);
m_joint = new dNewtonJointGear(m_gearRatio, childPin_, parentPin_, child.GetBody().GetBody(), otherBody);
}
public override dNewtonCollision Create(NewtonWorld world)
{
TerrainData data = m_terrain.terrainData;
//Debug.Log("xxxx " + data.alphamapWidth + " xxx " + data.detailHeight);
//Debug.Log("xxxx " + data.heightmapScale);
//Debug.Log("xxxx " + data.size);
int resolution = data.heightmapResolution;
dVector scale = new dVector(data.size.x, data.size.y, data.size.z, 0.0f);
m_oldSize = data.size;
m_oldResolution = resolution;
data.GetHeights(0, 0, resolution, resolution);
int hash = 0;
float elevationScale = data.size.y;
float[] elevation = new float[resolution * resolution];
for (int z = 0; z < resolution; z++)
{
for (int x = 0; x < resolution; x++)
{
float value = data.GetHeight(x, z);
elevation[z * resolution + x] = value;
hash = Utils.dRand((int)(elevationScale * value), hash);
}
}
m_elevationHash = hash;
IntPtr elevationPtr = Marshal.AllocHGlobal(resolution * resolution * Marshal.SizeOf(typeof(float)));
Marshal.Copy(elevation, 0, elevationPtr, elevation.Length);
dNewtonCollision collider = new dNewtonCollisionHeightField(world.GetWorld(), elevationPtr, resolution, scale);
Marshal.FreeHGlobal(elevationPtr);
SetDefualtParams();
SetMaterial(collider);
SetLayer(collider);
return(collider);
}
public override void InitJoint()
{
Matrix4x4 localMatrix0 = Matrix4x4.identity;
Matrix4x4 localMatrix1 = Matrix4x4.identity;
Matrix4x4 localMatrix2 = Matrix4x4.identity;
localMatrix0.SetTRS(Vector3.zero, Quaternion.Euler(m_rotation), Vector3.one);
localMatrix1.SetTRS(Vector3.zero, Quaternion.Euler(m_parentRotation), Vector3.one);
localMatrix2.SetTRS(Vector3.zero, Quaternion.Euler(m_referenceRotation), Vector3.one);
Vector4 childPin = localMatrix0.GetColumn(0);
Vector4 parentPin = localMatrix1.GetColumn(0);
Vector4 referencePin = localMatrix2.GetColumn(0);
NewtonBody child = GetComponent <NewtonBody>();
IntPtr otherBody = (m_otherBody != null) ? m_otherBody.GetBody().GetBody() : new IntPtr(0);
IntPtr referenceBody = (m_referenceBody != null) ? m_referenceBody.GetBody().GetBody() : new IntPtr(0);
dVector dChildPin = new dVector(childPin.x, childPin.y, childPin.z, 0.0f);
dVector dParentPin = new dVector(parentPin.x, parentPin.y, parentPin.z, 0.0f);
dVector dReferencePin = new dVector(referencePin.x, referencePin.y, referencePin.z, 0.0f);
m_joint = new dNewtonJointDifferentialGear(m_gearRatio, dChildPin, dParentPin, dReferencePin, child.GetBody().GetBody(), otherBody, referenceBody);
}
public bool ContinuousCollide(NewtonBody body1, NewtonBody body2, out NewtonCollideInfo hitInfo)
{
dMatrix matrix1 = Utils.ToMatrix(body1.Position, body1.Rotation);
dMatrix matrix2 = Utils.ToMatrix(body2.Position, body2.Rotation);
dVector velocity1 = new dVector(body1.Velocity.x, body1.Velocity.y, body1.Velocity.z);
dVector velocity2 = new dVector(body2.Velocity.x, body2.Velocity.y, body2.Velocity.z);
dVector omega1 = new dVector(body1.Omega.x, body1.Omega.y, body1.Omega.z);
dVector omega2 = new dVector(body2.Omega.x, body2.Omega.y, body2.Omega.z);
var hitInfoPtr = m_world.ContinuousCollide(matrix1, matrix2, velocity1, velocity2, omega1, omega2, body1.m_collision.GetShape(), body2.m_collision.GetShape(), 1);// m_world.Raycast(startPos.x, startPos.y, startPos.z, endPos.x, endPos.y, endPos.z, layerMask);
//mat_handle.Free();
if (hitInfoPtr != IntPtr.Zero)
{
_InternalConvexCastInfo info = (_InternalConvexCastInfo)Marshal.PtrToStructure(hitInfoPtr, typeof(_InternalConvexCastInfo));
hitInfo.body = body2;
hitInfo.position = info.point;
hitInfo.normal = info.normal;
hitInfo.collisionID1 = (uint)info.contactID1;
hitInfo.collisionID2 = (uint)info.contactID2;
hitInfo.penetration = info.penetration;
hitInfo.timeOfImpact = info.timeOfImpact;
return(true);
}
hitInfo.body = null;
hitInfo.position = Vector3.zero;
hitInfo.normal = Vector3.zero;
hitInfo.collisionID1 = 0;
hitInfo.collisionID2 = 0;
hitInfo.penetration = 0;
hitInfo.timeOfImpact = 0;
return(false);
}
