// Springhead剛体とGameObjectの間での位置姿勢の同期： 更新順を制御するためPHSceneからまとめて呼び出す
public void UpdatePose()
{
if (sprObject != null)
{
PHSolidIf so = sprObject as PHSolidIf;
if (fixedSolid)
{
// Fixedな剛体はHandleの位置をSpringheadに反映
so.SetPose(new Posed(fixedSolidPosition.ToVec3d(), fixedSolidRotation.ToQuaterniond()));
gameObject.transform.position = fixedSolidPosition;
gameObject.transform.rotation = fixedSolidRotation;
}
else
{
// Fixedでない剛体の場合
if (!so.IsDynamical())
{
// Dynamicalでない剛体はUnityの位置をSpringheadに反映（操作可能）
so.SetPose(gameObject.transform.ToPosed());
}
else
{
// Dynamicalな剛体はSpringheadのシミュレーション結果をUnityに反映
gameObject.transform.FromPosed(so.GetPose());
}
fixedSolidPosition = gameObject.transform.position;
fixedSolidRotation = gameObject.transform.rotation;
}
}
}
// ----- ----- ----- ----- ----- ----- ----- ----- ----- -----
// SprBehaviourの派生クラスで実装するメソッド
// -- Sprオブジェクトの構築を行う
public override ObjectIf Build()
{
if (!socket)
{
socket = gameObject.transform.parent.GetComponentInParent <PHSolidBehaviour>().gameObject;
}
if (!plug)
{
plug = gameObject.GetComponentInParent <PHSolidBehaviour>().gameObject;
}
if (socket == null)
{
throw new ObjectNotFoundException("Socket object did not found for Joint", gameObject);
}
if (plug == null)
{
throw new ObjectNotFoundException("Plug object did not found for Joint", gameObject);
}
PHSolidIf soSock = socket.GetComponent <PHSolidBehaviour>().sprObject as PHSolidIf;
PHSolidIf soPlug = plug.GetComponent <PHSolidBehaviour>().sprObject as PHSolidIf;
PHJointIf jo = CreateJoint(soSock, soPlug);
jo.SetName("jo:" + gameObject.name);
if (autoSetSockPlugPose)
{
// priority jointObject > jointPosition/Orientation > gameObject
Posed jointPose = new Posed();
if (jointObject == null)
{
jointObject = gameObject;
jointPose = jointObject.transform.ToPosed() * new Posed(jointPosition.ToVec3d(), jointOrientation.ToQuaterniond());
}
else
{
jointPose = jointObject.transform.ToPosed();
}
jo.SetSocketPose(soSock.GetPose().Inv() * jointPose);
jo.SetPlugPose(soPlug.GetPose().Inv() * jointPose);
}
return(jo);
}
// Springhead剛体とGameObjectの間での位置姿勢の同期： 更新順を制御するためPHSceneからまとめて呼び出す
public void UpdatePose()
{
if (sprObject != null)
{
PHSolidIf so = sprObject as PHSolidIf;
if (!so.IsDynamical() && !fixedSolid)
{
// Dynamicalでない（かつ、fixedでもない）剛体はUnityの位置をSpringheadに反映（操作可能）
so.SetPose(gameObject.transform.ToPosed());
}
else
{
// Dynamicalな（もしくはfixedな）剛体はSpringheadのシミュレーション結果をUnityに反映
gameObject.transform.FromPosed(so.GetPose());
}
}
}
