public void ShootSphere()
{
var sphere = GameObject.Instantiate(m_prefab, m_camera.transform.position, m_camera.transform.rotation)
as GameObject;
var rigidbody = sphere.GetComponent <PSI.Rigidbody>();
var collider = sphere.GetComponent <PSI.Collider>();
rigidbody.mass = m_mass;
rigidbody.drag = m_drag;
rigidbody.angularDrag = m_angularDrag;
var material = new PSI.PhysicsMaterial();
material.kineticFriction = m_kineticFriction;
material.staticFriction = m_staticFriction;
material.restitution = m_restitution;
material.frictionCalculation = m_frictionCombine;
material.restituionCalculation = m_restitutionCombine;
collider.material = material;
var forcePoint = rigidbody.position - sphere.transform.forward + sphere.transform.up;
rigidbody.AddForceAtPoint(new Vector3(m_x, m_y, m_z), forcePoint, m_forceMode);
}
private void ImpulseResponse(Collider a, Collider b,
Vector3 direction, float intersection, Vector3 contactPoint, bool initialResponse)
{
// Cache the rigidbodies since we'll use them a lot.
var rigidbodyA = a.attachedRigidbody;
var rigidbodyB = b.attachedRigidbody;
// Determine the surface properties that should be applied to both objects.
var surfaceA = new PhysicsMaterial.Result();
var surfaceB = new PhysicsMaterial.Result();
PhysicsMaterial.Combine(a.material, b.material, out surfaceA, out surfaceB);
// Correct the linear and rotational motion of the object.
if (initialResponse)
{
// Adjust the position.
//DynamicPositionCorrection (a.attachedRigidbody, b.attachedRigidbody, direction, intersection);
CorrectLinearMotion(a.attachedRigidbody, b.attachedRigidbody, surfaceA, surfaceB, direction);
CorrectAngularMotion(a.attachedRigidbody, b.attachedRigidbody, surfaceA, surfaceB, direction);
}
// Apply friction.
ApplyFriction(rigidbodyA, surfaceA.staticFriction, surfaceA.kineticFriction, contactPoint);
ApplyFriction(rigidbodyB, surfaceB.staticFriction, surfaceB.kineticFriction, contactPoint);
}
private void StaticResponse(Collider dynamic, Collider stationary,
Vector3 direction, float intersection, Vector3 contactPoint, bool initialResponse)
{
// Cache the rigidbody as we'll be using it a lot.
var rigidbody = dynamic.attachedRigidbody;
// Get the surface properties.
var staticFriction = PhysicsMaterial.CalculateStaticFriction(dynamic.material, stationary.material);
var kineticFriction = PhysicsMaterial.CalculateKineticFriction(dynamic.material, stationary.material);
var restitution = PhysicsMaterial.CalculateRestitution(dynamic.material, stationary.material);
if (initialResponse)
{
// Ensure the object is moved away.
//StaticPositionCorrection (rigidbody, direction, intersection);
// We assume the static object has a mass so great it can't be moved and just scale by restitution.
var momentumDirection = Vector3.Reflect(rigidbody.momentum, direction);
rigidbody.momentum = momentumDirection * restitution;
// Now do the same for angular momentum.
var angularDirection = Vector3.Reflect(rigidbody.angularMomentum, direction).normalized;
rigidbody.angularMomentum = -angularDirection * restitution;
}
// Apply friction.
ApplyFriction(rigidbody, staticFriction, kineticFriction, contactPoint);
}
public static float CalculateRestitution(PhysicsMaterial lhs, PhysicsMaterial rhs)
{
if (lhs)
{
return(lhs.CalculateRestitution(rhs));
}
if (rhs)
{
return(rhs.restitution);
}
return(1f);
}
public static float CalculateStaticFriction(PhysicsMaterial lhs, PhysicsMaterial rhs)
{
if (lhs)
{
return(lhs.CalculateStaticFriction(rhs));
}
if (rhs)
{
return(rhs.staticFriction);
}
return(0f);
}
/// <summary>
/// Attempts to obtain the PhysicsMaterial for the Collider, attach itself to a Rigidbody and find a Physics
/// system that can be registered with.
/// </summary>
virtual protected void OnEnable()
{
m_attachedRigidbody = FindAttachableRigidbody();
material = material ?? ObtainMaterial();
UpdateRigidbodyInertiaTensor();
// For some reason Unity is changing the object without destroying it so we have to handle that situation.
if (!m_physics)
{
m_physics = Physics.FindSystem();
}
m_physics.Register(this);
Assert.IsNotNull(m_physics, "Collider couldn't find a Physics system to register with.");
}
/// <summary>
/// Combines the values of two surfaces together, outputting the results to Result a and b.
/// </summary>
/// <param name="lhs">A material to be combined.</param>
/// <param name="rhs">A material to be combined./</param>
/// <param name="a">The resulting surface properties for "lhs".</param>
/// <param name="b">The resulting surface properties for "rhs".</param>
public static void Combine(PhysicsMaterial lhs, PhysicsMaterial rhs, out Result a, out Result b)
{
if (lhs)
{
a.kineticFriction = lhs.CalculateKineticFriction(rhs);
a.staticFriction = lhs.CalculateStaticFriction(rhs);
a.restitution = lhs.CalculateRestitution(rhs);
if (rhs)
{
b.kineticFriction = rhs.CalculateKineticFriction(lhs);
b.staticFriction = rhs.CalculateStaticFriction(lhs);
b.restitution = rhs.CalculateRestitution(lhs);
}
// Use the surface properties of "a" if "rhs" is null.
else
{
b = a;
}
}
// Swap the parameters if "lhs" is null and "rhs" isn't.
else if (rhs)
{
Combine(rhs, lhs, out b, out a);
}
else
{
// Set restitution to 1.0 by default.
a = new Result();
a.restitution = 1f;
// Have "b" copy "a".
b = a;
}
}
/// <summary>
/// Calculates the resitution for the current object based on the other material given.
/// </summary>
/// <returns>A calculated restitution value.</returns>
/// <param name="other">The other surface, if null then no calculation will be performed.</param>
public float CalculateRestitution(PhysicsMaterial other)
{
return(other ? Calculate(restitution, other.restitution, restituionCalculation) : restitution);
}
/// <summary>
/// Calculates the static friction co-efficient for the current surface based on the other material given.
/// </summary>
/// <returns>A calculated static friction co-efficient.</returns>
/// <param name="other">The other surface, if null then no calculation will be performed.</param>
public float CalculateStaticFriction(PhysicsMaterial other)
{
return(other ? Calculate(staticFriction, other.staticFriction, frictionCalculation) : staticFriction);
}
/// <summary>
/// Calculates the kinetic friction co-efficient for the current surface based on the other material given.
/// </summary>
/// <returns>A calculated kinectic friction co-efficient.</returns>
/// <param name="other">The other surface, if null then no calculation will be performed.</param>
public float CalculateKineticFriction(PhysicsMaterial other)
{
return(other ? Calculate(kineticFriction, other.kineticFriction, frictionCalculation) : kineticFriction);
}
