public void OnDrawGizmosSelected()
{
Gizmos.color = GizmoColor;
if(_handle == IntPtr.Zero){
Vector2 p1 = transform.TransformPoint(anchr1);
Vector2 p2 = transform.TransformPoint(anchr2);
Gizmos.DrawLine(p1, p2);
} else {
Vector2 p1 = CP._cpBodyLocal2World(handleA, CP._cpPinJointGetAnchr1(_handle));
Vector2 p2 = CP._cpBodyLocal2World(handleB, CP._cpPinJointGetAnchr2(_handle));
Gizmos.DrawLine(p1, p2);
}
}
public void OnDrawGizmosSelected()
{
Gizmos.color = GizmoColor;
if (_handle == IntPtr.Zero)
{
Vector2 p1 = transform.TransformPoint(grooveA);
Vector2 p2 = transform.TransformPoint(grooveB);
Vector2 p3 = transform.TransformPoint(anchr2);
Gizmos.DrawLine(p1, p2);
Gizmos.DrawIcon(p3, "ChipmunkJointIcon.psd", true);
}
else
{
Vector2 p1 = CP._cpBodyLocal2World(handleA, CP._cpGrooveJointGetGrooveA(_handle));
Vector2 p2 = CP._cpBodyLocal2World(handleA, CP._cpGrooveJointGetGrooveB(_handle));
Vector2 p3 = CP._cpBodyLocal2World(handleB, CP._cpGrooveJointGetAnchr2(_handle));
Gizmos.DrawLine(p1, p2);
Gizmos.DrawIcon(p3, "ChipmunkJointIcon.psd", true);
}
}
protected bool ChipmunkPreSolve_water_crate(ChipmunkArbiter arbiter)
{
ChipmunkShape water, poly;
arbiter.GetShapes(out water, out poly);
ChipmunkBody body = poly.body;
// Sanity check
if (water._handle == IntPtr.Zero || poly._handle == IntPtr.Zero)
{
Debug.LogError("Invalid shape references. This is likely be a Chipmunk2D bug.");
return(false);
}
// Get the top of the water sensor bounding box to use as the water level.
// Chipmunk bounding boxes aren't exposed by ChipmunkShape yet.
// They are rarely useful, though this makes a pretty good case for it.
float level = ChipmunkBinding._cpShapeGetBB(water._handle).t;
// Clip the polygon against the water level
int count = ChipmunkBinding.cpPolyShapeGetNumVerts(poly._handle);
int clippedCount = 0;
Vector2[] clipped = new Vector2[count + 1];
for (int i = 0, j = count - 1; i < count; j = i, i++)
{
Vector2 a = ChipmunkBinding._cpBodyLocal2World(body._handle, ChipmunkBinding.cpPolyShapeGetVert(poly._handle, j));
Vector2 b = ChipmunkBinding._cpBodyLocal2World(body._handle, ChipmunkBinding.cpPolyShapeGetVert(poly._handle, i));
if (a.y < level)
{
clipped[clippedCount] = a;
clippedCount++;
}
float a_level = a.y - level;
float b_level = b.y - level;
if (a_level * b_level < 0.0f)
{
float t = Mathf.Abs(a_level) / (Mathf.Abs(a_level) + Mathf.Abs(b_level));
clipped[clippedCount] = Vector2.Lerp(a, b, t);
clippedCount++;
}
}
// Calculate buoyancy from the clipped polygon area
float clippedArea = AreaForPoly(clippedCount, clipped);
float displacedMass = clippedArea * FLUID_DENSITY;
Vector2 centroid = CentroidForPoly(clippedCount, clipped);
Vector2 r = centroid - body.position;
for (int i = 0, j = clippedCount - 1; i < clippedCount; j = i, i++)
{
Vector2 a = clipped[i];
Vector2 b = clipped[j];
Debug.DrawLine(a, b, Color.green);
}
// ChipmunkDebugDrawPolygon(clippedCount, clipped, RGBAColor(0, 0, 1, 1), RGBAColor(0, 0, 1, 0.1f));
// ChipmunkDebugDrawPoints(5, 1, ¢roid, RGBAColor(0, 0, 1, 1));
float dt = Time.fixedDeltaTime;
Vector2 g = Chipmunk.gravity;
// Apply the buoyancy force as an impulse.
ApplyImpulse(body, g * (-displacedMass * dt), r);
// Apply linear damping for the fluid drag.
Vector2 v_centroid = body.velocity + (new Vector2(-r.y, r.x)) * body.angularVelocity;
float k = KScalarBody(body, r, NormalizeSafe(v_centroid));
float damping = clippedArea * FLUID_DRAG * FLUID_DENSITY;
float v_coef = Mathf.Exp(-damping * dt * k); // linear drag
// float v_coef = 1.0/(1.0 + damping*dt*cpvlength(v_centroid)*k); // quadratic drag
ApplyImpulse(body, (v_centroid * v_coef - v_centroid) / k, r);
// Apply angular damping for the fluid drag.
float w_damping = MomentForPoly(FLUID_DRAG * FLUID_DENSITY * clippedArea, clippedCount, clipped, -body.position);
body.angularVelocity *= Mathf.Exp(-w_damping * dt / body.moment);
return(false);
}
