public override void InitJoint()
{
var childPinNorm = m_Pin.normalized;
var parentPinNorm = m_ParentPin.normalized;
var refPinNorm = m_ReferencePin.normalized;
NewtonBody child = GetComponent <NewtonBody>();
IntPtr otherBody = (m_OtherBody != null) ? m_OtherBody.GetBody().GetBody() : IntPtr.Zero;
IntPtr referenceBody = (m_ReferenceBody != null) ? m_ReferenceBody.GetBody().GetBody() : IntPtr.Zero;
dVector dChildPin = new dVector(childPinNorm.x, childPinNorm.y, childPinNorm.z, 0.0f);
dVector dParentPin = new dVector(parentPinNorm.x, parentPinNorm.y, parentPinNorm.z, 0.0f);
dVector dReferencePin = new dVector(refPinNorm.x, refPinNorm.y, refPinNorm.z, 0.0f);
m_Joint = new dNewtonJointDifferentialGear(m_GearRatio, dChildPin, dParentPin, dReferencePin, child.GetBody().GetBody(), otherBody, referenceBody);
EnableCollision = m_EnableCollision;
}
public override void Create()
{
Matrix4x4 localMatrix0 = Matrix4x4.identity;
Matrix4x4 localMatrix1 = Matrix4x4.identity;
Matrix4x4 localMatrix2 = Matrix4x4.identity;
localMatrix0.SetTRS(Vector3.zero, Quaternion.Euler(m_rotation), Vector3.one);
localMatrix1.SetTRS(Vector3.zero, Quaternion.Euler(m_parentRotation), Vector3.one);
localMatrix2.SetTRS(Vector3.zero, Quaternion.Euler(m_referenceRotation), Vector3.one);
Vector4 childPin = localMatrix0.GetColumn(0);
Vector4 parentPin = localMatrix1.GetColumn(0);
Vector4 referencePin = localMatrix2.GetColumn(0);
NewtonBody child = GetComponent <NewtonBody>();
IntPtr otherBody = (m_otherBody != null) ? m_otherBody.GetBody().GetBody() : new IntPtr(0);
IntPtr referenceBody = (m_referenceBody != null) ? m_referenceBody.GetBody().GetBody() : new IntPtr(0);
dVector dChildPin = new dVector(childPin.x, childPin.y, childPin.z, 0.0f);
dVector dParentPin = new dVector(parentPin.x, parentPin.y, parentPin.z, 0.0f);
dVector dReferencePin = new dVector(referencePin.x, referencePin.y, referencePin.z, 0.0f);
m_joint = new dNewtonJointDifferentialGear(m_gearRatio, dChildPin, dParentPin, dReferencePin, child.GetBody().GetBody(), otherBody, referenceBody);
}
