public static void Instantiate(RigidTransform transform,
Entity prefabEntityBody,
Entity prefabEntityGroin,
Entity prefabEntityThigh,
Entity prefabEntityShin)
{
var em = World.Active.EntityManager;
var hexped = new Hexped();
_data = HexpedData.Create();
hexped.Initialize(in _data,
em,
transform,
prefabEntityBody,
prefabEntityGroin,
prefabEntityThigh,
prefabEntityShin);
hexped.ApplyTransform(em);
// hexped.createJoints(em);
}
public static HexpedData Create()
{
var result = new HexpedData
{
FromBodyToGroin = new float3(0, 0, LengthBase),
FromGroinToThigh = new float3(0, 0, LengthGroin),
FromThighToShin = new float3(0, 0, LengthThigh),
GroinYaws = new NativeArray <float>(6, Allocator.Persistent)
{
[0] = math.radians(30),
[1] = math.radians(90),
[2] = math.radians(150),
[3] = math.radians(210),
[4] = math.radians(270),
[5] = math.radians(330)
}
};
result.GroinRotations = new NativeArray <quaternion>(6, Allocator.Persistent);
for (var i = 0; i < 6; ++i)
{
result.GroinRotations[i] = quaternion.Euler(0f, result.GroinYaws[i], 0f);
}
result.GroinPositions = new NativeArray <float3>(6, Allocator.Persistent);
for (var i = 0; i < 6; ++i)
{
result.GroinPositions[i] = math.mul(result.GroinRotations[i], result.FromBodyToGroin);
}
result.ThighRotation = quaternion.identity;
result.ShinRotation = quaternion.identity;
result.RegularPoint = new NativeArray <float3>(6, Allocator.Persistent);
for (var i = 0; i < 6; ++i)
{
result.RegularPoint[i] = math.mul(result.GroinRotations[i], new float3(0, -HeightRegular, LENGTH_REGULAR));
}
{
int idx = 0;
result.WayPointList = new NativeArray <float3>(16, Allocator.Persistent)
{
[idx++] = new float3(0, 0, 8),
[idx++] = new float3(0, 0, 8),
[idx++] = new float3(0, 0, 8),
[idx++] = new float3(0, 0, 8),
[idx++] = new float3(8, 0, 0),
[idx++] = new float3(8, 0, 0),
[idx++] = new float3(8, 0, 0),
[idx++] = new float3(8, 0, 0),
[idx++] = new float3(0, 0, -8),
[idx++] = new float3(0, 0, -8),
[idx++] = new float3(0, 0, -8),
[idx++] = new float3(0, 0, -8),
[idx++] = new float3(-8, 0, 0),
[idx++] = new float3(-8, 0, 0),
[idx++] = new float3(-8, 0, 0),
[idx++] = new float3(-8, 0, 0)
};
}
return(result);
}
public static void Initialize()
{
_data = HexpedData.Create();
}
