public Partial(Entity e1, Entity e2, Position pos1, Position pos2, Geometry.Manifold m, bool useContact1)
{
this.e1 = e1;
this.e2 = e2;
var contactWithId = useContact1 ? m.contact1 : (Geometry.Contact)m.contact2;
float2 contact = contactWithId.point;
id = contactWithId.id.GetHashCode();
{ // Normal precomputation
J_n = new Float6(
new float3(-m.normal, -Lin.Cross(contact - pos1.pos, m.normal)),
new float3(m.normal, Lin.Cross(contact - pos2.pos, m.normal))
);
delta = -m.overlap;
}
{ // Tangent precomputation (friction)
float2 tangent = Lin.Cross(m.normal, -1);
J_t = new Float6(
new float3(tangent, Lin.Cross(contact - pos1.pos, tangent)),
new float3(-tangent, -Lin.Cross(contact - pos2.pos, tangent)));
}
}
public OneWayOneDOFConstraint(TargetVelocityManifold m, Float3 M_inv, float dt)
{
e = m.e;
id = m.id;
this.M_inv = M_inv;
constraint = new OneDOFConstraint <Float3>(
J: new float3(m.normal, Lin.Cross(m.r, m.normal)),
M_inv: M_inv,
bias: -m.targetSpeed,
softness: m.softness
);
lambdaAccum = 0;
}
public TwoWayTwoDOFConstraint(RevoluteJointManifold m, Float6 M_inv, float dt)
{
e1 = m.e1;
e2 = m.e2;
id = m.id;
float2 oneCrossR1 = Lin.Cross(1, m.r1);
float2 oneCrossR2 = Lin.Cross(1, m.r2);
this.M_inv = M_inv;
constraint = new TwoDOFConstraint <Float6>(
J1: new Float6(-1, 0, -oneCrossR1.x, 1, 0, oneCrossR2.x),
J2: new Float6(0, -1, -oneCrossR1.y, 0, 1, oneCrossR2.y),
M_inv: M_inv,
bias: m.delta * m.beta / dt,
softness: m.softness
);
lambdaAccum = float2.zero;
}
static SnapInfo[] GetSnapInfo(Transform transform, float snapRadius)
{
var snapInfos = new List <SnapInfo>();
void Search(Transform t)
{
foreach (var child in t.GetComponentsInChildren <BoxAuthoring>())
{
var closestPoint = child.GetRect().ClosestPoint((Vector2)transform.position, ccwVec: out var ccwVec, cwVec: out var cwVec);
if (math.distance(closestPoint, (Vector2)transform.position) < snapRadius)
{
Vector2 WorldToLocalVec(float2 vec)
{
return(child.transform.InverseTransformDirection((Vector2)math.normalize(vec)));
}
ccwVec = WorldToLocalVec(ccwVec);
cwVec = WorldToLocalVec(cwVec);
snapInfos.Add(new SnapInfo {
pos = (Vector2)child.transform.InverseTransformPoint((Vector2)closestPoint) + (Vector2)math.normalize(Lin.Cross(ccwVec, 1)) * .1f,
ccw = ccwVec,
cw = cwVec,
mount = child.gameObject
});
}
}
}
if (transform.parent == null)
{
foreach (var root in SceneManager.GetActiveScene().GetRootGameObjects())
{
Search(root.transform);
}
}
else
{
Search(transform.parent);
}
return(snapInfos.ToArray());
}