public void solveRotationVerlet(ref RigidbodyTransform parent, ref RigidbodyTransform child)
{
var diff = transform_.position_ - child.transform_.position_;
if (diff.sqrMagnitude > 0f)
{
var up = parent.transform_.rotation_ * CV.Vector3Up;
transform_.rotation_ = Quaternion.LookRotation(diff, up);
}
}
public void update(float dt, double update_time, ref RigidbodyTransform head_rigidbody)
{
for (var i = 0; i < nodes_.Length; ++i)
{
if (i == 0)
{
nodes_[i].update(dt, update_time,
ref head_rigidbody /* dummy */,
ref head_rigidbody,
ref nodes_[i + 1].rigidbody_,
true /* head */,
false /* tail */);
}
else if (i == 1)
{
nodes_[i].update(dt, update_time,
ref head_rigidbody,
ref nodes_[i - 1].rigidbody_,
ref nodes_[i + 1].rigidbody_,
false /* head */,
false /* tail */);
}
else if (i <= nodes_.Length - 2)
{
nodes_[i].update(dt, update_time,
ref nodes_[i - 2].rigidbody_,
ref nodes_[i - 1].rigidbody_,
ref nodes_[i + 1].rigidbody_,
false /* head */,
false /* tail */);
}
else
{
nodes_[i].update(dt, update_time,
ref nodes_[i - 2].rigidbody_,
ref nodes_[i - 1].rigidbody_,
ref nodes_[i - 1].rigidbody_ /* dummy */,
false /* head */,
true /* tail */);
}
}
// lightball_.update(dt);
}
public void restrictPositionVerlet(ref RigidbodyTransform grand_parent,
ref RigidbodyTransform parent,
float length,
float max_degree)
{
var diff = parent.transform_.position_ - transform_.position_;
// restriction for angle
var rot_i = Utility.Inverse(ref grand_parent.transform_.rotation_);
var local_diff = rot_i * diff;
if (local_diff.z <= 0f)
{
return;
}
// var rad2 = local_diff.x*local_diff.x + local_diff.y*local_diff.y;
// if (rad2 <= 0f) {
// return;
// }
// var rad = Mathf.Sqrt(rad2);
// var restrict = local_diff.z * Mathf.Tan(max_degree * Mathf.Deg2Rad);
// if (rad > restrict) {
var restrict = Mathf.Cos(max_degree * Mathf.Deg2Rad) * length;
if (local_diff.z < restrict)
{
// local_diff.z = Mathf.Cos(max_degree * Mathf.Deg2Rad) * length;
local_diff.z = restrict;
var diff0 = grand_parent.transform_.rotation_ * local_diff;
var new_pos = parent.transform_.position_ - diff0;
transform_.position_ = new_pos;
}
// restriction for strech
var len = diff.magnitude;
if (len > 0f)
{
diff *= (1f - length / len);
transform_.position_ += diff * 0.5f;
parent.transform_.position_ -= diff * 0.5f;
}
}
public void update(float dt,
double update_time,
ref RigidbodyTransform grand_parent_rigidbody,
ref RigidbodyTransform parent_rigidbody,
ref RigidbodyTransform child_rigidbody,
bool head,
bool tail)
{
#if false
if (MyCollider.getHitOpponentForEnemy(collider_) != MyCollider.Type.None)
{
rigidbody_.addTorque(MyRandom.Range(-20f, 20f),
MyRandom.Range(-20f, 20f),
MyRandom.Range(-20f, 20f));
}
rigidbody_.addSpringTorque(ref parent_transform.rotation_, 10f /* torque_level */);
rigidbody_.transform_.position_ = parent_transform.transformPosition(ref locator_);
rigidbody_.update(dt);
#else
if (head)
{
rigidbody_.updateVerlet(dt, 0.8f /* damper */);
}
else
{
rigidbody_.updateVerlet(dt, 0.8f /* damper */);
}
if (head)
{
var head_offset = new Vector3(0f, 0f, -3f);
var pos = parent_rigidbody.transform_.transformPosition(ref head_offset);
rigidbody_.restrictPositionVerletFixed(ref pos, 0f /* length */);
}
else
{
rigidbody_.restrictPositionVerlet(ref grand_parent_rigidbody,
ref parent_rigidbody,
3f /* length */, 60f /* max_degree */);
}
if (!tail)
{
rigidbody_.solveRotationVerlet(ref parent_rigidbody, ref child_rigidbody);
}
#endif
MyCollider.updateEnemy(collider_, ref rigidbody_.transform_.position_);
MyCollider.updateEnemyHoming(collider_homing_, ref rigidbody_.transform_.position_);
if (-2f < rigidbody_.transform_.position_.y && rigidbody_.transform_.position_.y < 2f)
{
WaterSurface.Instance.makeBump(ref rigidbody_.transform_.position_, -0.025f /* value */, 1f /* size */);
var wpos = rigidbody_.transform_.position_;
wpos.y = -1.5f;
var th = MyRandom.Range(0f, Mathf.PI * 2f);
var cos = Mathf.Cos(th);
var sin = Mathf.Sin(th);
wpos.x += cos * 1.25f;
wpos.z += sin * 1.25f;
var vel = new Vector3(cos * 0.8f,
MyRandom.Range(5f, 8f),
sin * 0.8f);
WaterSplash.Instance.spawn(ref wpos, ref vel, update_time);
}
if (MyRandom.Probability(0.1f))
{
var pos = rigidbody_.transform_.position_;
pos.x += MyRandom.Range(-1f, 1f);
pos.z += MyRandom.Range(-1f, 1f);
WaterSplash.Instance.spawn(ref pos,
ref CV.Vector3Zero, update_time - 0.2f);
}
}
