public void JointDataCreateHingeTest()
{
var positionAinA = new float3(0.0f, 1.0f, 2.0f);
var positionBinB = new float3(1.0f, 0.0f, 3.0f);
var axisInA = float3.zero;
var axisInB = float3.zero;
var jointDataRef = JointData.CreateHinge(positionAinA, positionBinB, axisInA, axisInB);
var jointData = jointDataRef.Value;
Assert.AreEqual(positionAinA, jointData.AFromJoint.Translation);
Assert.AreEqual(positionBinB, jointData.BFromJoint.Translation);
Assert.AreEqual(1, jointData.Version);
Assert.AreEqual(2, jointData.NumConstraints);
var hingeConstraint = jointDataRef.Value.Constraints[0];
Assert.AreEqual(new bool3(false, true, true), hingeConstraint.ConstrainedAxes);
Assert.AreEqual(ConstraintType.Angular, hingeConstraint.Type);
Assert.AreEqual(0.0f, hingeConstraint.Min);
Assert.AreEqual(0.0f, hingeConstraint.Max);
Assert.AreEqual(Constraint.DefaultSpringFrequency, hingeConstraint.SpringFrequency);
Assert.AreEqual(Constraint.DefaultSpringDamping, hingeConstraint.SpringDamping);
var ballAndSocketConstraint = jointDataRef.Value.Constraints[1];
Assert.AreEqual(new bool3(true, true, true), ballAndSocketConstraint.ConstrainedAxes);
Assert.AreEqual(ConstraintType.Linear, ballAndSocketConstraint.Type);
Assert.AreEqual(0.0f, ballAndSocketConstraint.Min);
Assert.AreEqual(0.0f, ballAndSocketConstraint.Max);
Assert.AreEqual(Constraint.DefaultSpringFrequency, ballAndSocketConstraint.SpringFrequency);
Assert.AreEqual(Constraint.DefaultSpringDamping, ballAndSocketConstraint.SpringDamping);
}
public override unsafe void Create(EntityManager entityManager)
{
if (autoSetConnected)
{
RigidTransform bFromA = math.mul(math.inverse(WorldFromB), WorldFromA);
positionInConnectedEntity = math.transform(bFromA, positionLocal);
hingeAxisInConnectedEntity = math.mul(bFromA.rot, hingeAxisLocal);
}
CreateJointEntity(JointData.CreateHinge(
positionLocal, positionInConnectedEntity,
hingeAxisLocal, hingeAxisInConnectedEntity),
entityManager);
}
public override unsafe void Create(EntityManager entityManager)
{
if (AutoSetConnected)
{
var pb = math.transform(worldFromB, PositionInConnectedEntity);
PositionLocal = math.transform(math.inverse(worldFromA), pb);
HingeAxisLocal = math.rotate(math.inverse(worldFromA), math.rotate(worldFromB, HingeAxisInConnectedEntity));
}
CreateJointEntity(JointData.CreateHinge(
PositionLocal, PositionInConnectedEntity,
HingeAxisLocal, HingeAxisInConnectedEntity),
entityManager);
}
public override void Create(EntityManager entityManager, GameObjectConversionSystem conversionSystem)
{
if (AutoSetConnected)
{
RigidTransform bFromA = math.mul(math.inverse(worldFromB), worldFromA);
PositionInConnectedEntity = math.transform(bFromA, PositionLocal);
HingeAxisInConnectedEntity = math.mul(bFromA.rot, HingeAxisLocal);
}
CreateJointEntity(
JointData.CreateHinge(
new JointFrame {
Axis = HingeAxisLocal, Position = PositionLocal
},
new JointFrame {
Axis = HingeAxisInConnectedEntity, Position = PositionInConnectedEntity
}
),
entityManager, conversionSystem
);
}
void ConvertHingeJoint(LegacyHinge joint)
{
RigidTransform worldFromBodyA = Math.DecomposeRigidBodyTransform(joint.transform.localToWorldMatrix);
RigidTransform worldFromBodyB = joint.connectedBody == null
? RigidTransform.identity
: Math.DecomposeRigidBodyTransform(joint.connectedBody.transform.localToWorldMatrix);
Math.CalculatePerpendicularNormalized(joint.axis, out float3 perpendicularA, out _);
var bodyAFromJoint = new JointFrame
{
Axis = joint.axis,
PerpendicularAxis = perpendicularA,
Position = joint.anchor
};
var connectedEntity = GetPrimaryEntity(joint.connectedBody);
var isConnectedBodyConverted =
joint.connectedBody == null || connectedEntity != Entity.Null;
RigidTransform bFromA = isConnectedBodyConverted ? math.mul(math.inverse(worldFromBodyB), worldFromBodyA) : worldFromBodyA;
RigidTransform bFromBSource =
isConnectedBodyConverted ? RigidTransform.identity : worldFromBodyB;
var bodyBFromJoint = new JointFrame
{
Axis = math.mul(bFromA.rot, joint.axis),
PerpendicularAxis = math.mul(bFromA.rot, perpendicularA),
Position = math.mul(bFromBSource, new float4(joint.connectedAnchor, 1f)).xyz
};
var limits = math.radians(new FloatRange(joint.limits.min, joint.limits.max));
var jointData = joint.useLimits
? JointData.CreateLimitedHinge(bodyAFromJoint, bodyBFromJoint, limits)
: JointData.CreateHinge(bodyAFromJoint, bodyBFromJoint);
CreateJointEntity(joint.gameObject, jointData, GetPrimaryEntity(joint.gameObject), joint.connectedBody == null ? Entity.Null : connectedEntity, joint.enableCollision);
}