static public int constructor(IntPtr l)
{
try {
#if DEBUG
var method = System.Reflection.MethodBase.GetCurrentMethod();
string methodName = GetMethodName(method);
#if UNITY_5_5_OR_NEWER
UnityEngine.Profiling.Profiler.BeginSample(methodName);
#else
Profiler.BeginSample(methodName);
#endif
#endif
UnityEngine.JointMotor o;
o = new UnityEngine.JointMotor();
pushValue(l, true);
pushValue(l, o);
return(2);
}
catch (Exception e) {
return(error(l, e));
}
#if DEBUG
finally {
#if UNITY_5_5_OR_NEWER
UnityEngine.Profiling.Profiler.EndSample();
#else
Profiler.EndSample();
#endif
}
#endif
}
// Use this for initialization
void Start()
{
//moter = joint.motor;
joint = GetComponent<HingeJoint>();
moter = new JointMotor();
moter.force = 3000;
}
/// <summary>
/// Write the specified value using the writer.
/// </summary>
/// <param name="value">Value.</param>
/// <param name="writer">Writer.</param>
public override void Write(object value, ISaveGameWriter writer)
{
UnityEngine.JointMotor jointMotor = (UnityEngine.JointMotor)value;
writer.WriteProperty("targetVelocity", jointMotor.targetVelocity);
writer.WriteProperty("force", jointMotor.force);
writer.WriteProperty("freeSpin", jointMotor.freeSpin);
}
// Use this for initialization
void Start()
{
hinge = GetComponent<HingeJoint> ();
moter = new JointMotor ();
hinge.useMotor = true;
moter.force = 100000.0f;
}
// Use this for initialization
void Start()
{
// speed = 10.0f;
// rotVec = Vector3.zero;
hingeJoint = GetComponent<HingeJoint> ();
moter = new JointMotor ();
moter.force = 100;
}
static public int set_force(IntPtr l)
{
UnityEngine.JointMotor o = (UnityEngine.JointMotor)checkSelf(l);
float v;
checkType(l, 2, out v);
o.force = v;
setBack(l, o);
return(0);
}
static public int set_targetVelocity(IntPtr l)
{
UnityEngine.JointMotor o = (UnityEngine.JointMotor)checkSelf(l);
float v;
checkType(l, 2, out v);
o.targetVelocity = v;
setBack(l, o);
return(0);
}
static public int set_freeSpin(IntPtr l)
{
UnityEngine.JointMotor o = (UnityEngine.JointMotor)checkSelf(l);
bool v;
checkType(l, 2, out v);
o.freeSpin = v;
setBack(l, o);
return(0);
}
void SetMotorParameters()
{
oldVelocity = WheelParameters.Velocity;
oldMotorForce = WheelParameters.MotorForce;
WheelRigidbody.hingeJoint.useMotor = true;
JointMotor wheelMotor = new JointMotor();
wheelMotor.targetVelocity = WheelParameters.Velocity/Radius;
wheelMotor.force = WheelParameters.MotorForce;
WheelRigidbody.hingeJoint.motor = wheelMotor;
}
static public int constructor(IntPtr l)
{
try {
UnityEngine.JointMotor o;
o = new UnityEngine.JointMotor();
pushValue(l, o);
return(1);
}
catch (Exception e) {
return(error(l, e));
}
}
static public int constructor(IntPtr l) {
try {
UnityEngine.JointMotor o;
o=new UnityEngine.JointMotor();
pushValue(l,true);
pushValue(l,o);
return 2;
}
catch(Exception e) {
return error(l,e);
}
}
static public int constructor(IntPtr l)
{
try {
UnityEngine.JointMotor o;
o = new UnityEngine.JointMotor();
pushValue(l, o);
return(1);
}
catch (Exception e) {
LuaDLL.luaL_error(l, e.ToString());
return(0);
}
}
public static int constructor(IntPtr l)
{
try {
UnityEngine.JointMotor o;
o=new UnityEngine.JointMotor();
pushValue(l,o);
return 1;
}
catch(Exception e) {
LuaDLL.luaL_error(l, e.ToString());
return 0;
}
}
void OnEnable()
{
door_motor = new JointMotor();
door_motor.force = 10;
if(!is_open)
{
door_motor.targetVelocity = open_velocity;
is_open = true;
}
else if(is_open)
{
door_motor.targetVelocity = close_velocity;
is_open = false;
}
}
// fields
// properties
static void HingeJoint_motor(JSVCall vc)
{
if (vc.bGet)
{
UnityEngine.HingeJoint _this = (UnityEngine.HingeJoint)vc.csObj;
var result = _this.motor;
JSMgr.datax.setObject((int)JSApi.SetType.Rval, result);
}
else
{
UnityEngine.JointMotor arg0 = (UnityEngine.JointMotor)JSMgr.datax.getObject((int)JSApi.GetType.Arg);
UnityEngine.HingeJoint _this = (UnityEngine.HingeJoint)vc.csObj;
_this.motor = arg0;
}
}
static void JointMotor_force(JSVCall vc)
{
if (vc.bGet)
{
UnityEngine.JointMotor _this = (UnityEngine.JointMotor)vc.csObj;
var result = _this.force;
JSApi.setSingle((int)JSApi.SetType.Rval, (System.Single)(result));
}
else
{
System.Single arg0 = (System.Single)JSApi.getSingle((int)JSApi.GetType.Arg);
UnityEngine.JointMotor _this = (UnityEngine.JointMotor)vc.csObj;
_this.force = arg0;
JSMgr.changeJSObj(vc.jsObjID, _this);
}
}
static void JointMotor_freeSpin(JSVCall vc)
{
if (vc.bGet)
{
UnityEngine.JointMotor _this = (UnityEngine.JointMotor)vc.csObj;
var result = _this.freeSpin;
JSApi.setBooleanS((int)JSApi.SetType.Rval, (System.Boolean)(result));
}
else
{
System.Boolean arg0 = (System.Boolean)JSApi.getBooleanS((int)JSApi.GetType.Arg);
UnityEngine.JointMotor _this = (UnityEngine.JointMotor)vc.csObj;
_this.freeSpin = arg0;
JSMgr.changeJSObj(vc.jsObjID, _this);
}
}
void Start()
{
m_hingeJoint = gameObject.GetComponent<HingeJoint>();
m_hingeJoint.useMotor = true;
m_hingeJoint.useLimits = true;
m_hingeJoint.connectedAnchor = Vector3.zero;
motor = m_hingeJoint.motor;
limits = m_hingeJoint.limits;
motor.force = 75;
motor.targetVelocity = m_inactiveRotationSpeed;
limits.min = 0;
limits.max = Mathf.Max(m_minAngle, m_maxAngle);
limits.min = Mathf.Min(m_minAngle, m_maxAngle);
m_hingeJoint.motor = motor;
m_hingeJoint.limits = limits;
}
/// <summary>
/// Read the data using the reader.
/// </summary>
/// <param name="reader">Reader.</param>
public override object Read(ISaveGameReader reader)
{
UnityEngine.JointMotor jointMotor = new UnityEngine.JointMotor();
foreach (string property in reader.Properties)
{
switch (property)
{
case "targetVelocity":
jointMotor.targetVelocity = reader.ReadProperty <System.Single> ();
break;
case "force":
jointMotor.force = reader.ReadProperty <System.Single> ();
break;
case "freeSpin":
jointMotor.freeSpin = reader.ReadProperty <System.Boolean> ();
break;
}
}
return(jointMotor);
}
// Use this for initialization
void Start()
{
//
baseJoint.useMotor = true;
armJoint.useMotor = true;
bucketJoint.useMotor = true;
unionJoint.useMotor = true;
baseMotor = baseJoint.motor;
baseMotor.force = 100;
armMotor = armJoint.motor;
armMotor.force = 100;
bucketMotor = bucketJoint.motor;
bucketMotor.force = 100;
unionMotor = unionJoint.motor;
unionMotor.force = 200;
if(useLimits) {
setLimits(baseJoint, baseLimits);
setLimits(armJoint, armLimits);
setLimits(bucketJoint, bucketLimits);
}
//
VRPNEventManager.StartListeningTracker(VRPNManager.Tracker_Types.vrpn_Tracker_RazerHydra, VRPNDeviceConfig.Device_Names.Tracker0, trackerUpdate);
}
static public int get_targetVelocity(IntPtr l)
{
UnityEngine.JointMotor o = (UnityEngine.JointMotor)checkSelf(l);
pushValue(l, o.targetVelocity);
return(1);
}
private static void lukeUseTheForce(int index)
{
//use angle of the joints and hook, or angle of the motors
List<double> inputs = new List<double> ();
inputs.Add ((double)(joints[index].transform.eulerAngles.z * piOver180));
inputs.Add ((double)(hooks[index].transform.eulerAngles.z * piOver180));
inputs.Add ((double)(joints2[index].transform.eulerAngles.z * piOver180));
inputs.Add ((double)(hooks2[index].transform.eulerAngles.z * piOver180));
//inputs.Add ((double)(topCyl [index].transform.position.y - botCyl [index].transform.position.y));
List<double> outputs = networks [index].calculateOutput (inputs);
//botCyl [index].GetComponent<Rigidbody> ().velocity = new Vector3 ((float)outputs [0], 0.0f, 0.0f);
JointMotor jm = new JointMotor();
jm.force = 3000.0f;
jm.targetVelocity = 60.0f * ((float)outputs[0]);
JointMotor hm = new JointMotor();
hm.force = 3000.0f;
hm.targetVelocity = 60.0f * ((float)outputs[1]);
joints[index].GetComponent<HingeJoint>().motor = jm;
hooks[index].GetComponent<HingeJoint>().motor = hm;
JointMotor jm2 = new JointMotor();
jm2.force = 3000.0f;
jm2.targetVelocity = 60.0f * ((float)outputs[2]);
JointMotor hm2 = new JointMotor();
hm2.force = 3000.0f;
hm2.targetVelocity = 60.0f * ((float)outputs[3]);
joints2[index].GetComponent<HingeJoint>().motor = jm2;
hooks2[index].GetComponent<HingeJoint>().motor = hm2;
}
public void initEverything(int index)
{
int x = index / 13;
int z = index % 13;
float sx = ((float)x) * 9.0f;
float sz = 0.0f;
if (x % 2 == 0) {
sz = ((float)z) * 4.5f;
}
else if (x % 2 == 1) {
sz = ((float)z) * 4.5f + 2.25f;
}
cubes[index] = Instantiate (cubePreFab) as GameObject;
joints[index] = Instantiate (jointPreFab) as GameObject;
hooks [index] = Instantiate (hookPreFab) as GameObject;
joints2[index] = Instantiate (jointPreFab2) as GameObject;
hooks2 [index] = Instantiate (hookPreFab2) as GameObject;
wheel1s [index] = Instantiate (wheel1PreFab) as GameObject;
wheel2s [index] = Instantiate (wheel2PreFab) as GameObject;
/*int posneg = rand.Next (0, 2);
float tchange = 0.0f;
if (posneg == 0) {
tchange = 0.02f;
} else {
tchange = -0.02f;
}*/
cubesStartX [index] = cubes [index].transform.position.x + sx;
cubes[index].transform.position = new Vector3 (cubes[index].transform.position.x + sx, cubes[index].transform.position.y, cubes[index].transform.position.z + sz);
joints [index].transform.position = new Vector3 (joints[index].transform.position.x + sx, joints[index].transform.position.y, joints[index].transform.position.z + sz);
hooks [index].transform.position = new Vector3 (hooks[index].transform.position.x + sx, hooks[index].transform.position.y, hooks[index].transform.position.z + sz);
joints2 [index].transform.position = new Vector3 (joints2[index].transform.position.x + sx, joints2[index].transform.position.y, joints2[index].transform.position.z + sz);
hooks2 [index].transform.position = new Vector3 (hooks2[index].transform.position.x + sx, hooks2[index].transform.position.y, hooks2[index].transform.position.z + sz);
wheel1s [index].transform.position = new Vector3 (wheel1s[index].transform.position.x + sx, wheel1s[index].transform.position.y, wheel1s[index].transform.position.z + sz);
wheel2s [index].transform.position = new Vector3 (wheel2s[index].transform.position.x + sx, wheel2s[index].transform.position.y, wheel2s[index].transform.position.z + sz);
joints [index].AddComponent <HingeJoint>();
joints[index].GetComponent<HingeJoint>().connectedBody = cubes [index].GetComponent<Rigidbody> ();
joints[index].GetComponent<HingeJoint>().anchor = new Vector3 (0.0f, -1.0f, 0.0f);
joints[index].GetComponent<HingeJoint>().axis = new Vector3 (0.0f, 0.0f, 1.0f);
joints[index].GetComponent<HingeJoint>().autoConfigureConnectedAnchor = true;
joints[index].GetComponent<HingeJoint>().useMotor = true;
JointMotor jm = new JointMotor();
jm.force = 2000.0f;
jm.targetVelocity = 0.0f;
joints[index].GetComponent<HingeJoint>().motor = jm;
joints2 [index].AddComponent <HingeJoint>();
joints2[index].GetComponent<HingeJoint>().connectedBody = cubes [index].GetComponent<Rigidbody> ();
joints2[index].GetComponent<HingeJoint>().anchor = new Vector3 (0.0f, -1.0f, 0.0f);
joints2[index].GetComponent<HingeJoint>().axis = new Vector3 (0.0f, 0.0f, 1.0f);
joints2[index].GetComponent<HingeJoint>().autoConfigureConnectedAnchor = true;
joints2[index].GetComponent<HingeJoint>().useMotor = true;
JointMotor jm2 = new JointMotor();
jm2.force = 2000.0f;
jm2.targetVelocity = 0.0f;
joints2[index].GetComponent<HingeJoint>().motor = jm2;
hooks [index].AddComponent<HingeJoint> ();
hooks[index].GetComponent<HingeJoint>().connectedBody = joints [index].GetComponent<Rigidbody> ();
hooks[index].GetComponent<HingeJoint>().anchor = new Vector3 (0.0f, 1.0f, 0.0f);
hooks[index].GetComponent<HingeJoint>().axis = new Vector3 (0.0f, 0.0f, 1.0f);
hooks[index].GetComponent<HingeJoint>().autoConfigureConnectedAnchor = true;
hooks[index].GetComponent<HingeJoint>().useMotor = true;
JointMotor hm = new JointMotor();
hm.force = 2000.0f;
hm.targetVelocity = 0.0f;
hooks[index].GetComponent<HingeJoint>().motor = hm;
hooks2 [index].AddComponent<HingeJoint> ();
hooks2[index].GetComponent<HingeJoint>().connectedBody = joints2 [index].GetComponent<Rigidbody> ();
hooks2[index].GetComponent<HingeJoint>().anchor = new Vector3 (0.0f, 1.0f, 0.0f);
hooks2[index].GetComponent<HingeJoint>().axis = new Vector3 (0.0f, 0.0f, 1.0f);
hooks2[index].GetComponent<HingeJoint>().autoConfigureConnectedAnchor = true;
hooks2[index].GetComponent<HingeJoint>().useMotor = true;
JointMotor hm2 = new JointMotor();
hm2.force = 2000.0f;
hm2.targetVelocity = 0.0f;
hooks2[index].GetComponent<HingeJoint>().motor = hm2;
wheel1s [index].AddComponent <HingeJoint>();
wheel1s[index].GetComponent<HingeJoint>().connectedBody = cubes [index].GetComponent<Rigidbody> ();
wheel1s[index].GetComponent<HingeJoint>().anchor = new Vector3 (0.0f, 0.0f, 0.0f);
wheel1s[index].GetComponent<HingeJoint>().axis = new Vector3 (0.0f, 1.0f, 0.0f);
wheel1s[index].GetComponent<HingeJoint>().autoConfigureConnectedAnchor = true;
wheel2s [index].AddComponent <HingeJoint>();
wheel2s[index].GetComponent<HingeJoint>().connectedBody = cubes [index].GetComponent<Rigidbody> ();
wheel2s[index].GetComponent<HingeJoint>().anchor = new Vector3 (0.0f, 0.0f, 0.0f);
wheel2s[index].GetComponent<HingeJoint>().axis = new Vector3 (0.0f, 1.0f, 0.0f);
wheel2s[index].GetComponent<HingeJoint>().autoConfigureConnectedAnchor = true;
}
private extern void INTERNAL_set_motor(ref JointMotor value);
void driveKart()
{
//Accelerate the motor
JointMotor motor = new JointMotor ();
motor.force = maxTorque;
motor.targetVelocity = -maxSpeed*accelerate;
//Free spin on the motor
if (accelerate == 0) {
motor.freeSpin = true;
motor.force = 0;
} else {
motor.freeSpin = false;
}
rlDrive.motor = motor;
rrDrive.motor = motor;
accelerate = 0;
//Reverse
if (reverse != 0) {
motor = new JointMotor ();
motor.force = maxTorqueReverse;
motor.targetVelocity = maxSpeedReverse * reverse;
motor.freeSpin = false;
rlDrive.motor = motor;
rrDrive.motor = motor;
reverse = 0;
}
//Mario kart style spinnout
if (spinnout > 0) {
chassisRigidBody.angularVelocity = new Vector3(0, 1000, 0);
spinnout -= Time.deltaTime*10;
}
//Turn the wheels
motor = new JointMotor ();
motor.force = 1000;
if (leftSteer.angle > turning) {
motor.targetVelocity = -10*(leftSteer.angle-turning);
}
else if (leftSteer.angle < turning) {
motor.targetVelocity = 10*(turning-leftSteer.angle);
}
leftSteer.motor = motor;
if (rightSteer.angle > turning) {
motor.targetVelocity = -10*(rightSteer.angle-turning);
}
else if (rightSteer.angle < turning) {
motor.targetVelocity = 10*(turning-rightSteer.angle);
}
rightSteer.motor = motor;
//Default the shift position
GameObject gearShift = drivingPartsRender.transform.FindChild ("shiftRigged").FindChild ("Armature").FindChild ("Armature").FindChild ("Shift").gameObject;//.Rotate (new Vector3 (0, 0, 1), 1);
if (gearShift.transform.rotation.eulerAngles.z < 30 && accelerate == 0 && reverse == 0) {
gearShift.transform.Rotate ( new Vector3 (0, 0, 1), 2);
}
if (gearShift.transform.rotation.eulerAngles.z > 30 && accelerate == 0 && reverse == 0) {
gearShift.transform.Rotate ( new Vector3 (0, 0, 1), -2);
}
}
void Start()
{
var components = GetComponentsInChildren<HingeJoint>();
foreach (var component in components)
{
var hinge = component;
var motor = new JointMotor();
motor.targetVelocity = Velocity;
motor.force = 0f;
hinge.motor = motor;
if (component.transform.name.Contains("right"))
{
rightWheels.Add(hinge);
}
else
{
leftWheels.Add(hinge);
}
}
}
private extern void INTERNAL_get_motor(out JointMotor value);
public override void BuildGamePieces()
{
// COMPONENTS ONLY RIGHT NOW!
//Debug.Log ("Build GamePieces()");
GOtargetSphere.AddComponent<GamePiecePhysXTestsBall>().InitGamePiece();
GOtargetSphere.GetComponent<Rigidbody>().useGravity = false;
GOtargetSphere.transform.SetParent(ArenaGroup.arenaGroupStatic.gameObject.transform);
for(int w = 0; w < numberOfSegments; w++) {
GOwormSegments[w].transform.localScale = new Vector3(wormSegmentArray_Length[w][0], wormSegmentThickness, wormSegmentThickness*2f);
//GOwormSegments[w].transform.localPosition = new Vector3(wormSegmentArray_PosX[w][0], wormSegmentArray_PosY[w][0], wormSegmentArray_PosZ[w][0]); // RE-EVALUATE!!!
GOwormSegments[w].transform.position = new Vector3(wormSegmentArray_PosX[w][0], wormSegmentArray_PosY[w][0], wormSegmentArray_PosZ[w][0]); // RE-EVALUATE!!!
GOwormSegments[w].transform.localRotation = Quaternion.identity;
Debug.Log ("BuildGamePieces() position: " + GOwormSegments[w].transform.position.ToString());
GOwormSegments[w].AddComponent<GamePiecePhysXWormSegment>().InitGamePiece();
GOwormSegments[w].GetComponent<Rigidbody>().useGravity = false;
// Set starting position:
//Vector3 newPos = new Vector3(wormSegmentArray_PosX[w][0], wormSegmentArray_PosY[w][0], wormSegmentArray_PosZ[w][0]);
//GOwormSegments[w].GetComponent<Rigidbody>().position = newPos;
//Debug.Log ("Build GamePieces() newPos: " + newPos.ToString());
//GOwormSegments[w].GetComponent<Rigidbody>().velocity = new Vector3(0f, 0f, 0f);
//GOwormSegments[w].GetComponent<Rigidbody>().angularVelocity = new Vector3(0f, 0f, 0f);
if(w < (numberOfSegments - 1)) { // if not the final 'Tail' segment:
}
if(w > 0) { // if not the first root segment:
HingeJoint hingeJoint = GOwormSegments[w-1].AddComponent<HingeJoint>();
hingeJoint.autoConfigureConnectedAnchor = false;
hingeJoint.connectedBody = GOwormSegments[w].GetComponent<Rigidbody>(); // connected bod of previous segment is THIS segment
hingeJoint.anchor = new Vector3(0.5f, 0f, 0f);
if(w % 2 == 0) {
hingeJoint.axis = new Vector3(0f, 0f, 1f);
}
else {
hingeJoint.axis = new Vector3(0f, 1f, 0f);
}
hingeJoint.connectedAnchor = new Vector3(-0.5f, 0f, 0f);
JointLimits jointLimits = new JointLimits();
jointLimits.max = armSegmentMaxBend;
jointLimits.min = -armSegmentMaxBend;
hingeJoint.limits = jointLimits;
hingeJoint.useLimits = true;
hingeJoint.useMotor = true;
JointMotor motor = new JointMotor();
motor.force = jointMotorForce;
hingeJoint.motor = motor;
}
GOwormSegments[w].transform.SetParent(ArenaGroup.arenaGroupStatic.gameObject.transform);
Material segmentMaterial = new Material (Shader.Find("Diffuse"));
GOwormSegments[w].GetComponent<Renderer>().material = segmentMaterial;
}
piecesBuilt = true;
}
private void MotorStart(motorWay way)
{
KAS_Shared.DebugLog("MotorStart(Rotor) - Start motor...");
if (!hingeJnt) return;
if (KAS_Shared.RequestPower(this.part, powerDrain))
{
//Sound
if (hingeJnt.motor.targetVelocity == 0)
{
fxSndMotorStart.audio.Play();
}
if (!fxSndMotor.audio.isPlaying) fxSndMotor.audio.Play();
//Limit config
ResetLimitsConfig();
hingeJnt.useLimits = hasLimit;
JointMotor mtr = new JointMotor();
//Motor config
mtr.force = force;
mtr.freeSpin = freeSpin;
if (way == motorWay.Negative)
{
if (controlInverted) mtr.targetVelocity = speed;
else mtr.targetVelocity = -speed;
stateField = "Going " + negativeWayText;
}
if (way == motorWay.Positive)
{
if (controlInverted) mtr.targetVelocity = -speed;
else mtr.targetVelocity = speed;
stateField = "Going " + positiveWayText;
}
hingeJnt.motor = mtr;
//misc
hingeJnt.useSpring = false;
hingeJnt.useMotor = true;
rotorActivated = true;
}
else
{
if (this.part.vessel == FlightGlobals.ActiveVessel)
{
ScreenMessages.PostScreenMessage(this.part.partInfo.title + " stopped ! Insufficient Power", 5, ScreenMessageStyle.UPPER_CENTER);
}
stateField = "Insufficient Power";
}
}
void Awake()
{
hinge = GetComponent<HingeJoint>();
rigidbody = GetComponent<Rigidbody>();
motor = hinge.motor;
}
private extern void INTERNAL_get_motor(out JointMotor value);
// Use this for initialization
void Start()
{
baseJoint.useMotor = true;
armJoint.useMotor = true;
bucketJoint.useMotor = true;
unionJoint.useMotor = true;
baseMotor = baseJoint.motor;
baseMotor.force = 400;
armMotor = armJoint.motor;
armMotor.force = 100;
bucketMotor = bucketJoint.motor;
bucketMotor.force = 100;
unionMotor = unionJoint.motor;
unionMotor.force = 200;
excavatorRotationAxisName = "Rotate Excavator";
baseRotationAxisName = "Rotate Base";
armRotationAxisName = "Rotate Arm";
bucketRotationAxisName = "Rotate Bucket";
/*if(enableLimits) {
setLimits(baseJoint, baseLimits);
setLimits(armJoint, armLimits);
setLimits(bucketJoint, bucketLimits);
}*/
}
public override void Tick()
{
// Runs the mini-game for a single evaluation step.
//Debug.Log ("Tick()");
// THIS IS ALL PRE- PHYS-X!!! ::
for(int w = 0; w < numberOfSegments; w++) {
if(GOwormSegments[w].GetComponent<HingeJoint>() != null) {
JointMotor motor = new JointMotor();
motor.force = jointMotorForce;
motor.targetVelocity = wormSegmentArray_MotorTarget[w][0] * jointMotorSpeed;
GOwormSegments[w].GetComponent<HingeJoint>().motor = motor;
}
ApplyViscosityForces(GOwormSegments[w], w, viscosityDrag);
}
// FITNESS COMPONENTS!
Vector3 avgPos = new Vector3(0f, 0f, 0f);
for(int e = 0; e < numberOfSegments; e++) {
avgPos += new Vector3(wormSegmentArray_PosX[e][0], wormSegmentArray_PosY[e][0], wormSegmentArray_PosZ[e][0]);
fitEnergySpent[0] += Mathf.Abs (wormSegmentArray_MotorTarget[e][0])/(float)numberOfSegments;
}
avgPos /= (float)numberOfSegments;
ArenaCameraController.arenaCameraControllerStatic.focusPosition = avgPos;
Vector3 targetDirection = new Vector3(targetPosX[0] - avgPos.x, targetPosY[0] - avgPos.y, targetPosZ[0] - avgPos.z);
float distToTarget = targetDirection.magnitude;
fitDistToTarget[0] = distToTarget / maxScoreDistance;
fitDistFromOrigin[0] += avgPos.magnitude / maxScoreDistance;
targetDirX[0] = targetDirection.x;
targetDirY[0] = targetDirection.y;
targetDirZ[0] = targetDirection.z;
if(distToTarget < targetRadius) {
fitTimeToTarget[0] += 0f;
}
else {
fitTimeToTarget[0] += 1f;
}
gameTicked = true;
}
public void ResetMotorConfig()
{
JointMotor mtr = new JointMotor();
mtr.force = force;
mtr.targetVelocity = 0;
mtr.freeSpin = freeSpin;
hingeJnt.motor = mtr;
}
static public int get_freeSpin(IntPtr l)
{
UnityEngine.JointMotor o = (UnityEngine.JointMotor)checkSelf(l);
pushValue(l, o.freeSpin);
return(1);
}
private void MotorStop()
{
KAS_Shared.DebugLog("MotorStart(Rotor) - Stop motor...");
if (!hingeJnt) return;
//Sound
if (hingeJnt.motor.targetVelocity != 0)
{
fxSndMotorStop.audio.Play();
}
if (fxSndMotor.audio.isPlaying) fxSndMotor.audio.Stop();
//Motor config
JointMotor mtr = new JointMotor();
mtr.force = force;
mtr.freeSpin = freeSpin;
mtr.targetVelocity = 0;
hingeJnt.motor = mtr;
//Limit config (workaround, motor don't seem to keep position correctly with mass attached)
JointLimits lmt = new JointLimits();
lmt.min = hingeJnt.angle - stopOffset;
lmt.minBounce = 0;
lmt.max = hingeJnt.angle + stopOffset;
lmt.maxBounce = 0;
hingeJnt.limits = lmt;
//Misc
hingeJnt.useLimits = true;
hingeJnt.useSpring = false;
hingeJnt.useMotor = false;//true
rotorActivated = false;
rotorGoingTo = false;
stateField = "Idle";
}
public override void BuildGamePieceComponents()
{
//Debug.Log ("BuildGamePieceComponents()");
GOtargetSphere.AddComponent<GamePiecePhysXTestsBall>().InitGamePiece();
GOtargetSphere.AddComponent<Rigidbody>().useGravity = false;
//GOtargetSphere.GetComponent<Rigidbody>()
Material segmentMaterial = new Material (Shader.Find("Diffuse"));
for(int w = 0; w < numberOfSegments; w++) {
GOwormSegments[w].AddComponent<GamePiecePhysXWormSegment>().InitGamePiece();
GOwormSegments[w].GetComponent<Renderer>().material = segmentMaterial;
GOwormSegments[w].AddComponent<Rigidbody>().useGravity = false;
if(w < (numberOfSegments - 1)) { // if not the final 'Tail' segment:
}
if(w > 0) { // if not the first root segment:
HingeJoint hingeJoint = GOwormSegments[w-1].AddComponent<HingeJoint>();
hingeJoint.autoConfigureConnectedAnchor = false;
hingeJoint.connectedBody = GOwormSegments[w].GetComponent<Rigidbody>(); // connected bod of previous segment is THIS segment
hingeJoint.anchor = new Vector3(0.5f, 0f, 0f);
if(w % 2 == 0) {
hingeJoint.axis = new Vector3(0f, 0f, 1f);
}
else {
hingeJoint.axis = new Vector3(0f, 1f, 0f);
}
hingeJoint.connectedAnchor = new Vector3(-0.5f, 0f, 0f);
JointLimits jointLimits = new JointLimits();
jointLimits.max = armSegmentMaxBend;
jointLimits.min = -armSegmentMaxBend;
hingeJoint.limits = jointLimits;
hingeJoint.useLimits = true;
hingeJoint.useMotor = true;
JointMotor motor = new JointMotor();
motor.force = jointMotorForce;
hingeJoint.motor = motor;
}
}
piecesBuilt = true;
}
private extern void INTERNAL_set_motor(ref JointMotor value);
// Use this for initialization
void Start()
{
rgb=GetComponent <Rigidbody> ();
acc = new Vector3 (0, 0, 0);
mdl = 70;
x = 0; y= 0;
cuchillas = false;
cuem=cue.motor;
cued = cud.motor;
chek = false;
}
