public TSRaycastHit Raycast(TSRay ray, FP maxDistance, RaycastCallback callback = null)
{
IBody hitBody;
TSVector hitNormal;
FP hitFraction;
TSVector origin = ray.origin;
TSVector direction = ray.direction;
if (Raycast(origin, direction, callback, out hitBody, out hitNormal, out hitFraction))
{
if (hitFraction <= maxDistance)
{
GameObject other = PhysicsManager.instance.GetGameObject(hitBody);
TSRigidBody bodyComponent = other.GetComponent <TSRigidBody>();
TSCollider colliderComponent = other.GetComponent <TSCollider>();
TSTransform transformComponent = other.GetComponent <TSTransform>();
return(new TSRaycastHit(bodyComponent, colliderComponent, transformComponent, hitNormal, ray.origin, ray.direction, hitFraction));
}
}
else
{
direction *= maxDistance;
if (Raycast(origin, direction, callback, out hitBody, out hitNormal, out hitFraction))
{
GameObject other = PhysicsManager.instance.GetGameObject(hitBody);
TSRigidBody bodyComponent = other.GetComponent <TSRigidBody>();
TSCollider colliderComponent = other.GetComponent <TSCollider>();
TSTransform transformComponent = other.GetComponent <TSTransform>();
return(new TSRaycastHit(bodyComponent, colliderComponent, transformComponent, hitNormal, ray.origin, direction, hitFraction));
}
}
return(null);
}
public override void OnInspectorGUI()
{
TSRigidBody tsRB = (target as TSRigidBody);
DrawDefaultInspector();
serializedObject.Update();
constraintsFoldout = EditorGUILayout.Foldout(constraintsFoldout, "Constraints");
if (constraintsFoldout)
{
EditorGUI.indentLevel++;
TSRigidBodyConstraints freezeConstraintPos = tsRB.constraints, freezeConstraintRot = tsRB.constraints;
DrawFreezePanel(ref freezeConstraintPos, true);
DrawFreezePanel(ref freezeConstraintRot, false);
tsRB.constraints = (freezeConstraintPos | freezeConstraintRot);
EditorGUI.indentLevel--;
}
serializedObject.ApplyModifiedProperties();
if (GUI.changed)
{
EditorUtility.SetDirty(target);
}
}
/**
* @brief Add a new RigidBody to the world.
*
* @param jRigidBody Instance of a {@link TSRigidBody}.
**/
public void AddBody(ICollider iCollider)
{
if (!(iCollider is TSCollider))
{
Debug.LogError("You have a 2D object but your Physics 2D is disabled.");
return;
}
TSCollider tsCollider = (TSCollider)iCollider;
if (tsCollider._body != null)
{
//already added
return;
}
TSRigidBody tsRB = tsCollider.GetComponent <TSRigidBody>();
TSRigidBodyConstraints constraints = tsRB != null ? tsRB.constraints : TSRigidBodyConstraints.None;
tsCollider.Initialize();
world.AddBody(tsCollider._body);
gameObjectMap[tsCollider._body] = tsCollider.gameObject;
if (tsCollider.gameObject.transform.parent != null && tsCollider.gameObject.transform.parent.GetComponentInParent <TSCollider>() != null)
{
TSCollider parentCollider = tsCollider.gameObject.transform.parent.GetComponentInParent <TSCollider>();
world.AddConstraint(new ConstraintHierarchy(parentCollider.Body, tsCollider._body, (tsCollider.GetComponent <TSTransform>().position + tsCollider.ScaledCenter) - (parentCollider.GetComponent <TSTransform>().position + parentCollider.ScaledCenter)));
}
tsCollider._body.FreezeConstraints = constraints;
}
public int RaycastAll(TSVector rayOrigin, TSVector rayDirection, FP maxDistance, out TSRaycastHit[] hits, int layerMask)
{
List <TSRaycastHit> raycastHits = new List <TSRaycastHit>();
var direction = rayDirection;
direction *= maxDistance;
var d = TSVector.Distance(rayOrigin, rayOrigin + direction);
world.CollisionSystem.RaycastAll(rayOrigin, direction, (b, n, f) =>
{
//UnityEngine.Debug.LogWarning($"{maxDistance} , {f}");
GameObject other = PhysicsManager.instance.GetGameObject(b);
TSRigidBody bodyComponent = other.GetComponent <TSRigidBody>();
TSCollider colliderComponent = other.GetComponent <TSCollider>();
TSTransform transformComponent = other.GetComponent <TSTransform>();
var hit = new TSRaycastHit(bodyComponent, colliderComponent, transformComponent, n, rayOrigin, direction, f);
var tmp = TSVector.Distance(hit.point, rayOrigin);
Debug.LogWarning($"碰撞的距离{tmp},最大距离{d}");
if (tmp <= d)
{
raycastHits.Add(hit);
}
return(true);
}, layerMask);
hits = raycastHits.ToArray();
return(hits.Length);
}
internal void Update(GameObject otherGO, Contact c)
{
if (this.gameObject == null)
{
this.gameObject = otherGO;
this.collider = this.gameObject.GetComponent <TSCollider>();
this.rigidbody = this.gameObject.GetComponent <TSRigidBody>();
this.transform = this.collider.tsTransform;
}
if (c != null)
{
if (contacts[0] == null)
{
contacts[0] = new TSContactPoint();
}
this.relativeVelocity = c.CalculateRelativeVelocity();
contacts[0].normal = c.Normal;
contacts[0].point = c.p1;
contacts[0].point2 = c.p2;
contacts[0].Penetration = c.Penetration;
}
}
public void Init(TSRigidBody rigidbody, TSCollider collider, TSTransform transform, TSVector normal, TSVector origin, TSVector direction, FP fraction)
{
this.rigidbody = rigidbody;
this.collider = collider;
this.transform = transform;
this.normal = normal;
this.point = origin + direction * fraction;
this.distance = fraction * direction.magnitude;
}
public override void OnSyncedStart()
{
thisBody = GetComponent <TSRigidBody> ();
IBody3D body1 = GetComponent <TSCollider> ().Body;
IBody3D body2 = connectedBody.Body;
thisJoint = new BasicJoint3D(PhysicsWorldManager.instance.GetWorld(), body1, body2, transform.TransformPoint(anchor).ToTSVector(),
transform.TransformPoint(connectedAnchor).ToTSVector());
}
/**
* @brief Creates a new {@link TSRigidBody} when there is no one attached to this GameObject.
**/
public void Awake()
{
tsTransform = this.GetComponent <TSTransform>();
tsRigidBody = this.GetComponent <TSRigidBody>();
if (lossyScale == TSVector.one)
{
lossyScale = TSVector.Abs(transform.localScale.ToTSVector());
}
}
public void Start()
{
if (!Application.isPlaying)
{
return;
}
Initialize();
rb = GetComponent <TSRigidBody> ();
}
public override void OnSyncedStart()
{
thisBody = GetComponent <TSRigidBody> ();
Vector3 worldPos = transform.TransformPoint(anchor);
TSVector TSworldPos = worldPos.ToTSVector();
Vector3 worldAxis = transform.TransformDirection(Axis);
TSWorldAxis = worldAxis.ToTSVector();
thisJoint = new CharacterJoint3D(PhysicsWorldManager.instance.GetWorld(), GetComponent <TSCollider> ().Body, connectedBody.Body, TSworldPos, TSWorldAxis);
}
/**
* @brief Initializes internal properties based on whether there is a {@link TSCollider} attached.
**/
public void Initialize()
{
if (initialized)
{
return;
}
rb = GetComponent <TSRigidBody>();
transformCache = transform;
tsCollider = GetComponent <TSCollider>();
if (transformCache.parent != null)
{
tsParent = transformCache.parent.GetComponent <TSTransform>();
}
foreach (Transform child in transformCache)
{
TSTransform tsChild = child.GetComponent <TSTransform>();
if (tsChild != null)
{
tsChildren.Add(tsChild);
}
}
if (!_serialized)
{
UpdateEditMode();
}
if (tsCollider != null)
{
if (tsCollider.IsBodyInitialized)
{
tsCollider.Body.TSPosition = _position + scaledCenter;
tsCollider.Body.TSOrientation = TSMatrix.CreateFromQuaternion(_rotation);
}
}
else
{
StateTracker.AddTracking(this);
}
initialized = true;
}
/**
* @brief Add a new RigidBody to the world.
*
* @param jRigidBody Instance of a {@link TSRigidBody}.
**/
public void AddBody(ICollider iCollider)
{
if (!(iCollider is TSCollider))
{
Debug.LogError("You have a 2D object but your Physics 2D is disabled.");
return;
}
TSCollider tsCollider = (TSCollider)iCollider;
if (tsCollider._body != null)
{
//already added
return;
}
TSRigidBody tsRB = tsCollider.tsTransform.rb; // tsCollider.GetComponent<TSRigidBody>();
TSRigidBodyConstraints constraints = tsRB != null ? tsRB.constraints : TSRigidBodyConstraints.None;
tsCollider.Initialize();
world.AddBody(tsCollider._body);
GameObject gameObject = tsCollider.gameObject;
gameObjectMap[tsCollider._body] = gameObject;
HashList <TrueSyncBehaviour> behaviours = new HashList <TrueSyncBehaviour>();
TrueSyncBehaviour[] behavioursArray = gameObject.GetComponents <TrueSyncBehaviour>();
for (int i = 0, count = behavioursArray.Length; i < count; i++)
{
behaviours.Add(behavioursArray[i]);
}
behavioursMap[tsCollider._body] = behaviours;
transformMap[tsCollider._body] = tsCollider.tsTransform;
if (tsCollider.gameObject.transform.parent != null && tsCollider.gameObject.transform.parent.GetComponentInParent <TSCollider>() != null)
{
TSCollider parentCollider = tsCollider.gameObject.transform.parent.GetComponentInParent <TSCollider>();
world.AddConstraint(new ConstraintHierarchy(parentCollider.Body, tsCollider._body, (tsCollider.tsTransform.position + tsCollider.ScaledCenter) - (parentCollider.tsTransform.position + parentCollider.ScaledCenter)));
}
tsCollider._body.FreezeConstraints = constraints;
}
public override void OnSyncedStart()
{
base.OnSyncedStart();
thisBody = GetComponent <TSRigidBody>();
IBody3D body1 = GetComponent <TSCollider>().Body;
IBody3D body2 = connectedBody.Body;
Vector3 worldPos = transform.TransformPoint(anchor);
TSVector TSworldPos = worldPos.ToTSVector();
Vector3 worldAxis = transform.TransformDirection(Axis);
TSWorldAxis = worldAxis.ToTSVector();
thisJoint = new PrismaticJoint3D(PhysicsWorldManager.instance.GetWorld(), body1, body2, minimumDistance, maximumDistance);
}
public TSRaycastHit Raycast(TSRay ray, FP maxDistance, int layerMask, RaycastCallback callback = null)
{
IBody hitBody;
TSVector hitNormal;
FP hitFraction;
TSVector origin = ray.origin;
TSVector direction = ray.direction;
direction *= maxDistance;
if (Raycast(origin, direction, callback, layerMask, out hitBody, out hitNormal, out hitFraction))
{
GameObject other = PhysicsManager.instance.GetGameObject(hitBody);
TSTransform transformComponent = transformMap[hitBody];
TSRigidBody bodyComponent = transformComponent.rb;
TSCollider colliderComponent = transformComponent.tsCollider;
hit.Init(bodyComponent, colliderComponent, transformComponent, hitNormal, ray.origin, ray.direction, hitFraction);
return(hit);
}
return(null);
}
public override void OnSyncedStart()
{
thisBody = GetComponent <TSRigidBody> ();
IBody3D body1 = GetComponent <TSCollider> ().Body;
IBody3D body2 = connectedBody.Body;
Vector3 worldPos = transform.TransformPoint(anchor);
TSVector TSworldPos = worldPos.ToTSVector();
Vector3 worldAxis = transform.TransformDirection(Axis);
TSWorldAxis = worldAxis.ToTSVector();
Debug.Log("Hinge joint");
//if (useLimits)
// thisJoint = new LimitedHingeJoint(PhysicsWorldManager.instance.GetWorld(), body1, body2, TSworldPos, TSWorldAxis, -Limits.Min, Limits.Max);
//else
thisJoint = new HingeJoint3D(PhysicsWorldManager.instance.GetWorld(), body1, body2, TSworldPos, TSWorldAxis);
//charac joint = new CharacterJoint ();
}
