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);
PerpendicularAxisInConnectedEntity = math.mul(bFromA.rot, PerpendicularAxisLocal);
}
CreateJointEntity(JointData.CreateLimitedHinge(
new JointFrame
{
Axis = math.normalize(HingeAxisLocal),
PerpendicularAxis = math.normalize(PerpendicularAxisLocal),
Position = PositionLocal
},
new JointFrame
{
Axis = math.normalize(HingeAxisInConnectedEntity),
PerpendicularAxis = math.normalize(PerpendicularAxisInConnectedEntity),
Position = PositionInConnectedEntity
},
math.radians(new FloatRange(MinAngle, MaxAngle))
),
entityManager, conversionSystem
);
}
protected override unsafe void Start()
{
init(float3.zero); // no gravity
// Enable the joint viewer
SetDebugDisplay(new Unity.Physics.Authoring.PhysicsDebugDisplayData
{
DrawJoints = 1
});
Entity *entities = stackalloc Entity[2];
entities[1] = Entity.Null;
for (int i = 0; i < 1; i++)
{
CollisionFilter filter = new CollisionFilter
{
MaskBits = (uint)(1 << i),
CategoryBits = (uint)~(1 << (1 - i))
};
BlobAssetReference <Collider> collider = BoxCollider.Create(
float3.zero, Quaternion.identity, new float3(1.0f, 0.2f, 0.2f), 0.0f, filter);
entities[i] = CreateDynamicBody(float3.zero, quaternion.identity, collider, float3.zero, new float3(0, 1 - i, 0), 1.0f);
}
float3 pivot = float3.zero;
float3 axis = new float3(0, 1, 0);
float3 perpendicular = new float3(0, 0, 1);
//BlobAssetReference<JointData> hingeData = JointData.CreateLimitedHinge(pivot, pivot, axis, axis, perpendicular, perpendicular, 0.2f, (float)math.PI);
BlobAssetReference <JointData> hingeData = JointData.CreateLimitedHinge(pivot, pivot, axis, axis, perpendicular, perpendicular, -(float)math.PI, -0.2f);
CreateJoint(hingeData, entities[0], entities[1]);
}
public static BlobAssetReference <JointData> CreateKnee(GameObject upperLeg, GameObject lowerLeg)
{
float upperLegHeight = 2.0f * upperLeg.transform.localScale.y;
float3 pivotUpperLeg = new float3(0, -upperLegHeight / 2.0f, 0);
var lowerLegTransform = new RigidTransform(lowerLeg.transform.rotation, lowerLeg.transform.position);
var upperLegTransform = new RigidTransform(upperLeg.transform.rotation, upperLeg.transform.position);
float3 pivotLowerLeg = math.transform(math.inverse(lowerLegTransform), math.transform(upperLegTransform, pivotUpperLeg));
float3 axis = new float3(1, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
var jointFrameUpperLeg = new JointFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotUpperLeg
};
var jointFrameLowerLeg = new JointFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotLowerLeg
};
return(JointData.CreateLimitedHinge(jointFrameUpperLeg, jointFrameLowerLeg, new FloatRange {
Min = -1.2f
}));
}
public static BlobAssetReference <JointData> CreateElbow(GameObject upperArm, GameObject lowerArm)
{
float upperArmLength = 2 * upperArm.transform.localScale.y;
float lowerArmLength = 2 * lowerArm.transform.localScale.y;
float sign = math.sign(-1.0f * upperArm.transform.position.x);
float3 pivotUpper = new float3(-1.0f * sign * upperArmLength / 2.0f, 0, 0);
float3 pivotLower = new float3(sign * lowerArmLength / 2.0f, 0, 0);
pivotUpper = math.rotate(math.inverse(upperArm.transform.rotation), pivotUpper);
pivotLower = math.rotate(math.inverse(lowerArm.transform.rotation), pivotLower);
float3 axis = new float3(0, 0, 1);
float3 perpendicular = new float3(0, 1, 0);
var jointFrameUpperArm = new JointFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotUpper
};
var jointFrameLowerArm = new JointFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotLower
};
return(JointData.CreateLimitedHinge(jointFrameUpperArm, jointFrameLowerArm, new FloatRange {
Max = 3f
}));
}
public void JointDataCreateLimitedHingeTest()
{
var positionAinA = new float3(0.0f, 1.0f, 2.0f);
var positionBinB = new float3(1.0f, 0.0f, 3.0f);
var axisInA = new float3(1.0f, 0.0f, 0.0f);
var axisInB = new float3(1.0f, 0.0f, 0.0f);
var perpendicularInA = new float3(0.0f, 1.0f, 0.0f);
var perpendicularInB = new float3(0.0f, 1.0f, 0.0f);
var minAngle = -0.5f;
var maxAngle = 0.5f;
var jointDataRef = JointData.CreateLimitedHinge(positionAinA, positionBinB, axisInA, axisInB, perpendicularInA, perpendicularInB, minAngle, maxAngle);
var jointData = jointDataRef.Value;
Assert.AreEqual(positionAinA, jointData.AFromJoint.Translation);
Assert.AreEqual(positionBinB, jointData.BFromJoint.Translation);
Assert.AreEqual(1, jointData.Version);
Assert.AreEqual(3, jointData.NumConstraints);
var twistConstraint = jointDataRef.Value.Constraints[0];
Assert.AreEqual(new bool3(true, false, false), twistConstraint.ConstrainedAxes);
Assert.AreEqual(ConstraintType.Angular, twistConstraint.Type);
Assert.AreEqual(-0.5f, twistConstraint.Min);
Assert.AreEqual(0.5f, twistConstraint.Max);
Assert.AreEqual(Constraint.DefaultSpringFrequency, twistConstraint.SpringFrequency);
Assert.AreEqual(Constraint.DefaultSpringDamping, twistConstraint.SpringDamping);
var hingeConstraint = jointDataRef.Value.Constraints[1];
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[2];
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);
PerpendicularAxisInConnectedEntity = math.mul(bFromA.rot, PerpendicularAxisLocal);
}
CreateJointEntity(JointData.CreateLimitedHinge(
PositionLocal, PositionInConnectedEntity,
math.normalize(HingeAxisLocal), math.normalize(HingeAxisInConnectedEntity),
math.normalize(PerpendicularAxisLocal), math.normalize(PerpendicularAxisInConnectedEntity),
math.radians(MinAngle), math.radians(MaxAngle)),
entityManager);
}
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);
perpendicularAxisInConnectedEntity = math.mul(bFromA.rot, perpendicularAxisLocal);
}
CreateJointEntity(JointData.CreateLimitedHinge(
positionLocal, positionInConnectedEntity,
math.normalize(hingeAxisLocal), math.normalize(hingeAxisInConnectedEntity),
math.normalize(perpendicularAxisLocal), math.normalize(perpendicularAxisInConnectedEntity),
math.radians(minAngle), math.radians(maxAngle)),
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));
PerpendicularAxisLocal = math.rotate(math.inverse(worldFromA), math.rotate(worldFromB, PerpendicularAxisInConnectedEntity));
}
CreateJointEntity(JointData.CreateLimitedHinge(
PositionLocal, PositionInConnectedEntity,
math.normalize(HingeAxisLocal), math.normalize(HingeAxisInConnectedEntity),
math.normalize(PerpendicularAxisLocal), math.normalize(PerpendicularAxisInConnectedEntity),
math.radians(MinAngle), math.radians(MaxAngle)),
entityManager);
}
public static BlobAssetReference <JointData> CreateWrist(GameObject lowerArm, GameObject hand)
{
float armLength = 2.0f * lowerArm.transform.localScale.y;
float handLength = 2.0f * hand.transform.localScale.y;
float sign = math.sign(-1.0f * lowerArm.transform.position.x);
float3 pivotFore = new float3(0, -1.0f * sign * armLength / 2.0f, 0);
float3 pivotHand = new float3(0, sign * handLength / 2.0f, 0);
float3 axis = new float3(0, 0, 1);
float3 perpendicular = new float3(0, 1, 0);
var jointFrameForearm = new JointFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFore
};
var jointFrameHand = new JointFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotHand
};
return(JointData.CreateLimitedHinge(jointFrameForearm, jointFrameHand, new FloatRange(-0.3f, 0.6f)));
}
protected override unsafe void Start()
{
init(float3.zero); // no gravity
// Enable the joint viewer
SetDebugDisplay(new Unity.Physics.Authoring.PhysicsDebugDisplayData
{
DrawJoints = 1
});
Entity *entities = stackalloc Entity[2];
entities[1] = Entity.Null;
for (int i = 0; i < 1; i++)
{
CollisionFilter filter = new CollisionFilter
{
CollidesWith = (uint)(1 << i),
BelongsTo = (uint)~(1 << (1 - i))
};
BlobAssetReference <Collider> collider = BoxCollider.Create(
new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(1.0f, 0.2f, 0.2f),
BevelRadius = 0.0f
},
filter, Material.Default);
entities[i] = CreateDynamicBody(float3.zero, quaternion.identity, collider, float3.zero, new float3(0, 1 - i, 0), 1.0f);
}
var jointFrame = new JointFrame {
Axis = new float3(0, 1, 0), PerpendicularAxis = new float3(0, 0, 1)
};
BlobAssetReference <JointData> hingeData =
JointData.CreateLimitedHinge(jointFrame, jointFrame, new FloatRange(-math.PI, -0.2f));
CreateJoint(hingeData, entities[0], entities[1]);
}
public static BlobAssetReference <JointData> CreateAnkle(GameObject lowerLeg, GameObject foot)
{
float lowerLegLength = 2.0f * lowerLeg.transform.localScale.y;
var lowerLegTransform = new RigidTransform(lowerLeg.transform.rotation, lowerLeg.transform.position);
var footTransform = new RigidTransform(foot.transform.rotation, foot.transform.position);
float3 pivotLowerLeg = new float3(0, -lowerLegLength / 2.0f, 0);
float3 pivotFoot = math.transform(math.inverse(footTransform), math.transform(lowerLegTransform, pivotLowerLeg));
float3 axis = new float3(1, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
var jointFrameLowerLeg = new JointFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotLowerLeg
};
var jointFrameFoot = new JointFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFoot
};
return(JointData.CreateLimitedHinge(jointFrameLowerLeg, jointFrameFoot, new FloatRange(-0.4f, 0.1f)));
}
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);
}
protected override void Start()
{
float3 gravity = float3.zero;
base.init(gravity);
// Enable the joint viewer
SetDebugDisplay(new Unity.Physics.Authoring.PhysicsDebugDisplayData
{
DrawJoints = 1
});
// Make soft ball and sockets
{
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.2f, 0.2f, 0.2f),
BevelRadius = 0.0f
});
// Make joints with different spring frequency. The leftmost joint should oscillate at 0.5hz, the next at 1hz, the next at 1.5hz, etc.
for (int i = 0; i < 10; i++)
{
// Create a body
float3 position = new float3((i - 4.5f) * 1.0f, 0, 0);
float3 velocity = new float3(0, -10.0f, 0);
Entity body = CreateDynamicBody(
position, quaternion.identity, collider, velocity, float3.zero, 1.0f);
// Create the ball and socket joint
float3 pivotLocal = float3.zero;
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
BlobAssetReference <JointData> jointData;
jointData = JointData.CreateBallAndSocket(pivotLocal, pivotInWorld);
jointData.Value.Constraints[0].SpringDamping = 0.0f;
jointData.Value.Constraints[0].SpringFrequency = 0.5f * (float)(i + 1);
CreateJoint(jointData, body, Entity.Null);
}
}
// Make soft limited hinges
{
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.4f, 0.1f, 0.6f),
BevelRadius = 0.0f
});
// First row has soft limit with hard hinge + pivot, second row has everything soft
for (int j = 0; j < 2; j++)
{
for (int i = 0; i < 10; i++)
{
// Create a body
float3 position = new float3((i - 4.5f) * 1.0f, 0, (j + 1) * 3.0f);
float3 velocity = new float3(0, -10.0f, 0);
float3 angularVelocity = new float3(0, 0, -10.0f);
Entity body = CreateDynamicBody(
position, quaternion.identity, collider, velocity, angularVelocity, 1.0f);
// Create the limited hinge joint
float3 pivotLocal = new float3(0, 0, 0);
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
float3 axisLocal = new float3(0, 0, 1);
float3 axisInWorld = axisLocal;
float3 perpendicularLocal = new float3(0, 1, 0);
float3 perpendicularInWorld = perpendicularLocal;
BlobAssetReference <JointData> jointData;
jointData = JointData.CreateLimitedHinge(pivotLocal, pivotInWorld, axisLocal, axisInWorld, perpendicularLocal, perpendicularInWorld, 0.0f, 0.0f);
// First constraint is the limit, next two are the hinge and pivot
for (int k = 0; k < 1 + 2 * j; k++)
{
jointData.Value.Constraints[k].SpringDamping = 0.0f;
jointData.Value.Constraints[k].SpringFrequency = 0.5f * (float)(i + 1);
}
CreateJoint(jointData, body, Entity.Null);
}
}
}
// Make a soft prismatic
{
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.2f, 0.2f, 0.2f),
BevelRadius = 0.0f
});
// Create a body
float3 position = new float3(0, 0, 9.0f);
float3 velocity = new float3(50.0f, 0, 0);
Entity body = CreateDynamicBody(
position, quaternion.identity, collider, velocity, float3.zero, 1.0f);
// Create the prismatic joint
float3 pivotLocal = float3.zero;
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
float3 axisLocal = new float3(1, 0, 0);
float3 axisInWorld = axisLocal;
float3 perpendicularLocal = new float3(0, 1, 0);
float3 perpendicularInWorld = perpendicularLocal;
BlobAssetReference <JointData> jointData;
jointData = JointData.CreatePrismatic(pivotLocal, pivotInWorld, axisLocal, axisInWorld, perpendicularLocal, perpendicularInWorld, -2.0f, 2.0f, 0.0f, 0.0f);
jointData.Value.Constraints[0].SpringDamping = 0.0f;
jointData.Value.Constraints[0].SpringFrequency = 5.0f;
CreateJoint(jointData, body, Entity.Null);
}
}
private void CreateRagdoll(float3 positionOffset, quaternion rotationOffset, int ragdollIndex = 1, bool internalCollisions = false)
{
NativeList <Entity> entities = new NativeList <Entity>(Allocator.Temp);
// Head
float headRadius = 0.1f;
float3 headPosition = new float3(0, 1.8f, 0);
Entity head;
{
CollisionFilter filter = internalCollisions ? layerFilter(layer.Head, layer.Torso) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.SphereCollider.Create(float3.zero, headRadius, filter);
head = CreateDynamicBody(headPosition, quaternion.identity, collider, float3.zero, float3.zero, 5.0f);
}
entities.Add(head);
// Torso
float3 torsoSize;
float3 torsoPosition;
Entity torso;
{
//UnityEngine.Mesh torsoMesh = (UnityEngine.Mesh)Resources.Load("torso", typeof(UnityEngine.Mesh));
torsoSize = torsoMesh.bounds.size;
torsoPosition = headPosition - new float3(0, headRadius * 3.0f / 4.0f + torsoSize.y, 0);
CollisionFilter filter = internalCollisions ? layerFilter(layer.Torso, layer.Thigh | layer.Head | layer.UpperArm | layer.Pelvis) : groupFilter(-ragdollIndex);
NativeArray <float3> points = new NativeArray <float3>(torsoMesh.vertices.Length, Allocator.Temp);
for (int i = 0; i < torsoMesh.vertices.Length; i++)
{
points[i] = torsoMesh.vertices[i];
}
BlobAssetReference <Unity.Physics.Collider> collider = ConvexCollider.Create(points, 0.01f);
collider.Value.Filter = filter;
torso = CreateDynamicBody(torsoPosition, quaternion.identity, collider, float3.zero, float3.zero, 20.0f);
}
entities.Add(torso);
// Neck
{
float3 pivotHead = new float3(0, -headRadius, 0);
float3 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(head), pivotHead));
float3 axis = new float3(0, 1, 0);
float3 perpendicular = new float3(0, 0, 1);
float coneAngle = (float)math.PI / 5.0f;
float minPerpendicularAngle = 0.0f; // unlimited
float maxPerpendicularAngle = (float)math.PI; // unlimited
float twistAngle = (float)math.PI / 3.0f;
BlobAssetReference <JointData> ragdoll0, ragdoll1;
JointData.CreateRagdoll(pivotHead, pivotBody, axis, axis, perpendicular, perpendicular,
coneAngle, minPerpendicularAngle, maxPerpendicularAngle, -twistAngle, twistAngle,
out ragdoll0, out ragdoll1);
CreateJoint(ragdoll0, head, torso);
CreateJoint(ragdoll1, head, torso);
}
// Arms
{
float armLength = 0.25f;
float armRadius = 0.05f;
CollisionFilter armUpperFilter = internalCollisions ? layerFilter(layer.UpperArm, layer.Torso | layer.Forearm) : groupFilter(-ragdollIndex);
CollisionFilter armLowerFilter = internalCollisions ? layerFilter(layer.Forearm, layer.UpperArm | layer.Hand) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> upperArmCollider = Unity.Physics.CapsuleCollider.Create(new float3(-armLength / 2, 0, 0), new float3(armLength / 2, 0, 0), armRadius,
armUpperFilter);
BlobAssetReference <Unity.Physics.Collider> foreArmCollider = Unity.Physics.CapsuleCollider.Create(new float3(-armLength / 2, 0, 0), new float3(armLength / 2, 0, 0), armRadius,
armLowerFilter);
float handLength = 0.025f;
float handRadius = 0.055f;
CollisionFilter handFilter = internalCollisions ? layerFilter(layer.Hand, layer.Forearm) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> handCollider = Unity.Physics.CapsuleCollider.Create(new float3(-handLength / 2, 0, 0), new float3(handLength / 2, 0, 0), handRadius,
handFilter);
for (int i = 0; i < 2; i++)
{
float s = i * 2 - 1.0f;
float3 upperArmPosition = torsoPosition + new float3(s * (torsoSize.x + armLength) / 2.0f, 0.9f * torsoSize.y - armRadius, 0.0f);
Entity upperArm = CreateDynamicBody(upperArmPosition, quaternion.identity, upperArmCollider, float3.zero, float3.zero, 10.0f);
float3 foreArmPosition = upperArmPosition + new float3(armLength * s, 0, 0);
Entity foreArm = CreateDynamicBody(foreArmPosition, quaternion.identity, foreArmCollider, float3.zero, float3.zero, 5.0f);
float3 handPosition = foreArmPosition + new float3((armLength + handLength) / 2.0f * s, 0, 0);
Entity hand = CreateDynamicBody(handPosition, quaternion.identity, handCollider, float3.zero, float3.zero, 2.0f);
entities.Add(upperArm);
entities.Add(foreArm);
entities.Add(hand);
// shoulder
{
float3 pivotArm = new float3(-s * armLength / 2.0f, 0, 0);
float3 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(upperArm), pivotArm));
float3 axis = new float3(s, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
float coneAngle = (float)math.PI / 2.0f;
float minPerpendicularAngle = 0.0f;
float maxPerpendicularAngle = (float)math.PI / 2.0f;
float twistAngle = (float)math.PI / 4.0f;
BlobAssetReference <JointData> ragdoll0, ragdoll1;
JointData.CreateRagdoll(pivotArm, pivotBody, axis, axis, perpendicular, perpendicular,
coneAngle, minPerpendicularAngle, maxPerpendicularAngle, -twistAngle, twistAngle,
out ragdoll0, out ragdoll1);
CreateJoint(ragdoll0, upperArm, torso);
CreateJoint(ragdoll1, upperArm, torso);
}
// elbow
{
float3 pivotUpper = new float3(s * armLength / 2.0f, 0, 0);
float3 pivotFore = -pivotUpper;
float3 axis = new float3(0, -s, 0);
float3 perpendicular = new float3(s, 0, 0);
float minAngle = 0.0f;
float maxAngle = 3.0f;
BlobAssetReference <JointData> hinge = JointData.CreateLimitedHinge(pivotFore, pivotUpper, axis, axis, perpendicular, perpendicular, minAngle, maxAngle);
CreateJoint(hinge, foreArm, upperArm);
}
// wrist
{
float3 pivotFore = new float3(s * armLength / 2.0f, 0, 0);
float3 pivotHand = new float3(-s * handLength / 2.0f, 0, 0);
float3 axis = new float3(0, -s, 0);
float3 perpendicular = new float3(s, 0, 0);
float minAngle = -0.3f;
float maxAngle = 0.6f;
BlobAssetReference <JointData> hinge = JointData.CreateLimitedHinge(pivotHand, pivotFore, axis, axis, perpendicular, perpendicular, minAngle, maxAngle);
CreateJoint(hinge, hand, foreArm);
}
}
}
// Pelvis
float pelvisRadius = 0.08f;
float pelvisLength = 0.22f;
float3 pelvisPosition = torsoPosition - new float3(0, pelvisRadius * 0.75f, 0.0f);
Entity pelvis;
{
CollisionFilter filter = internalCollisions ? layerFilter(layer.Pelvis, layer.Torso | layer.Thigh) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.CapsuleCollider.Create(new float3(-pelvisLength / 2.0f, 0, 0), new float3(pelvisLength / 2.0f, 0, 0), pelvisRadius,
filter);
pelvis = CreateDynamicBody(pelvisPosition, quaternion.identity, collider, float3.zero, float3.zero, 15.0f);
}
entities.Add(pelvis);
// Waist
{
float3 pivotTorso = float3.zero;
float3 pivotPelvis = math.transform(math.inverse(GetBodyTransform(pelvis)), math.transform(GetBodyTransform(torso), pivotTorso));
float3 axis = new float3(0, -1, 0);
float3 perpendicular = new float3(0, 0, 1);
float coneAngle = 0.1f;
float minPerpendicularAngle = -0.1f;
float maxPerpendicularAngle = (float)math.PI;
float twistAngle = 0.1f;
BlobAssetReference <JointData> ragdoll0, ragdoll1;
JointData.CreateRagdoll(pivotPelvis, pivotTorso, axis, axis, perpendicular, perpendicular,
coneAngle, minPerpendicularAngle, maxPerpendicularAngle, -twistAngle, twistAngle,
out ragdoll0, out ragdoll1);
CreateJoint(ragdoll0, pelvis, torso);
CreateJoint(ragdoll1, pelvis, torso);
}
// Legs
{
float thighLength = 0.32f;
float thighRadius = 0.08f;
CollisionFilter thighFilter = internalCollisions ? layerFilter(layer.Thigh, layer.Pelvis | layer.Calf) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> thighCollider = Unity.Physics.CapsuleCollider.Create(new float3(0, -thighLength / 2, 0), new float3(0, thighLength / 2, 0), thighRadius,
thighFilter);
float calfLength = 0.32f;
float calfRadius = 0.06f;
CollisionFilter calfFilter = internalCollisions ? layerFilter(layer.Calf, layer.Thigh | layer.Foot) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> calfCollider = Unity.Physics.CapsuleCollider.Create(new float3(0, -calfLength / 2, 0), new float3(0, calfLength / 2, 0), calfRadius,
calfFilter);
float footLength = 0.08f;
float footRadius = 0.06f;
CollisionFilter footFilter = internalCollisions ? layerFilter(layer.Foot, layer.Calf) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> footCollider = Unity.Physics.CapsuleCollider.Create(new float3(0, 0, 0), new float3(0, 0, footLength), footRadius,
footFilter);
for (int i = 0; i < 2; i++)
{
float s = i * 2 - 1.0f;
float3 thighPosition = pelvisPosition + new float3(s * pelvisLength / 2.0f, -thighLength / 2.0f, 0.0f);
Entity thigh = CreateDynamicBody(thighPosition, quaternion.identity, thighCollider, float3.zero, float3.zero, 10.0f);
float3 calfPosition = thighPosition + new float3(0, -(thighLength + calfLength) / 2.0f, 0);
Entity calf = CreateDynamicBody(calfPosition, quaternion.identity, calfCollider, float3.zero, float3.zero, 5.0f);
float3 footPosition = calfPosition + new float3(0, -calfLength / 2.0f, 0);
Entity foot = CreateDynamicBody(footPosition, quaternion.identity, footCollider, float3.zero, float3.zero, 2.0f);
entities.Add(thigh);
entities.Add(calf);
entities.Add(foot);
// hip
{
float3 pivotThigh = new float3(0, thighLength / 2.0f, 0);
float3 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(thigh), pivotThigh));
float3 axis = new float3(0, -1, 0);
float3 perpendicular = new float3(s, 0, 0);
float coneAngle = (float)math.PI / 4.0f;
float minPerpendicularAngle = 0.0f;
float maxPerpendicularAngle = 0.2f + (float)math.PI / 2.0f;
float twistAngle = 0.2f;
BlobAssetReference <JointData> ragdoll0, ragdoll1;
JointData.CreateRagdoll(pivotThigh, pivotBody, axis, axis, perpendicular, perpendicular,
coneAngle, minPerpendicularAngle, maxPerpendicularAngle, -twistAngle, twistAngle,
out ragdoll0, out ragdoll1);
CreateJoint(ragdoll0, thigh, torso);
CreateJoint(ragdoll1, thigh, torso);
}
// knee
{
float3 pivotThigh = new float3(0, -thighLength / 2.0f, 0);
float3 pivotCalf = math.transform(math.inverse(GetBodyTransform(calf)), math.transform(GetBodyTransform(thigh), pivotThigh));
float3 axis = new float3(-1, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
float minAngle = -1.2f;
float maxAngle = 0.0f;
BlobAssetReference <JointData> hinge = JointData.CreateLimitedHinge(pivotCalf, pivotThigh, axis, axis, perpendicular, perpendicular, minAngle, maxAngle);
CreateJoint(hinge, calf, thigh);
}
// ankle
{
float3 pivotCalf = new float3(0, -calfLength / 2.0f, 0);
float3 pivotFoot = float3.zero;
float3 axis = new float3(-1, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
float minAngle = -0.4f;
float maxAngle = 0.1f;
BlobAssetReference <JointData> hinge = JointData.CreateLimitedHinge(pivotFoot, pivotCalf, axis, axis, perpendicular, perpendicular, minAngle, maxAngle);
CreateJoint(hinge, foot, calf);
}
}
}
// reposition with offset information
if (entities.Length > 0)
{
float3 center = float3.zero;
for (int i = 0; i < entities.Length; i++)
{
var e = entities[i];
center += EntityManager.GetComponentData <Translation>(e).Value;
}
center /= entities.Length;
for (int i = 0; i < entities.Length; i++)
{
var e = entities[i];
Translation positionComponent = EntityManager.GetComponentData <Translation>(e);
Rotation rotationComponent = EntityManager.GetComponentData <Rotation>(e);
float3 position = positionComponent.Value;
quaternion rotation = rotationComponent.Value;
float3 localPosition = position - center;
localPosition = math.rotate(rotationOffset, localPosition);
position = localPosition + center + positionOffset;
rotation = math.mul(rotation, rotationOffset);
positionComponent.Value = position;
rotationComponent.Value = rotation;
EntityManager.SetComponentData <Translation>(e, positionComponent);
EntityManager.SetComponentData <Rotation>(e, rotationComponent);
}
}
}