// Add a WheelJoint2D to the wheel contained in the array in a specific position
public void addWheelJoint2D(int wheelPosition)
{
// Add the WheelJoint2D component to the wheel
WheelJoint2D wheelJoint = gameObject.AddComponent<WheelJoint2D>() as WheelJoint2D;
// Verify if the wheel has a rigidbody2D.
if(!wheels[wheelPosition].GetComponent<Rigidbody2D>())
// Add a rigidbody2D to the wheel.
wheels[wheelPosition].AddComponent<Rigidbody2D>();
// Set the rigidbody2D of the car to the wheelJoint2D
wheelJoint.connectedBody = wheels[wheelPosition].GetComponent<Rigidbody2D>();
// Create a new JointSuspension2D and set the variables to get a cool and real suspension
JointSuspension2D suspension = new JointSuspension2D();
// Set the angle of the suspension to 90 degrees.
suspension.angle = 90.0f;
// Set the damping ratio to the configurated option.
suspension.dampingRatio = wheelOptions.dampingRatio;
// Set the frequency to the configurated option.
suspension.frequency = wheelOptions.frequency;
// Set the JointSuspension created to the WheelJoint2D
wheelJoint.suspension = suspension;
// Adjust the anchor to the position of the wheel.
wheelJoint.anchor = wheels[wheelPosition].transform.localPosition;
// Set the mass of the rigidbody2D of the wheel
wheels[wheelPosition].GetComponent<Rigidbody2D>().mass = wheelOptions.mass;
// Set the gravity scale of the rigidbody2D to the wheel.
wheels [wheelPosition].GetComponent<Rigidbody2D> ().gravityScale = wheelOptions.gravityScale;
}
/// <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.JointSuspension2D jointSuspension2D = (UnityEngine.JointSuspension2D)value;
writer.WriteProperty("dampingRatio", jointSuspension2D.dampingRatio);
writer.WriteProperty("frequency", jointSuspension2D.frequency);
writer.WriteProperty("angle", jointSuspension2D.angle);
}
LocomotionComponent AttachLeg(GameObject socket)
{
// make WheelJoint2D on Vehicle body
WheelJoint2D legJoint = gameObject.AddComponent<WheelJoint2D>();
GameObject l = Instantiate(leg) as GameObject;
l.transform.parent = transform;
l.transform.localPosition = socket.transform.localPosition;
legJoint.connectedBody = l.GetComponent<Rigidbody2D>();
legJoint.connectedAnchor = l.transform.localPosition;
legJoint.anchor = socket.transform.localPosition;
legJoint.useMotor = true;
JointSuspension2D sus = new JointSuspension2D();
sus.frequency = 5;
sus.dampingRatio = 1;
legJoint.suspension = sus;
JointMotor2D newMotor = new JointMotor2D();
newMotor.motorSpeed = -300;
newMotor.maxMotorTorque = 100;
legJoint.motor = newMotor;
SpinningLeg spinleg = l.GetComponent<SpinningLeg>();
spinleg.SetRefToJoint(legJoint);
return spinleg;
}
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.JointSuspension2D o;
o = new UnityEngine.JointSuspension2D();
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
}
static public int set_angle(IntPtr l)
{
UnityEngine.JointSuspension2D o = (UnityEngine.JointSuspension2D)checkSelf(l);
float v;
checkType(l, 2, out v);
o.angle = v;
setBack(l, o);
return(0);
}
static public int constructor(IntPtr l) {
try {
UnityEngine.JointSuspension2D o;
o=new UnityEngine.JointSuspension2D();
pushValue(l,true);
pushValue(l,o);
return 2;
}
catch(Exception e) {
return error(l,e);
}
}
static public int constructor(IntPtr l)
{
try {
UnityEngine.JointSuspension2D o;
o = new UnityEngine.JointSuspension2D();
pushValue(l, true);
pushValue(l, o);
return(2);
}
catch (Exception e) {
return(error(l, e));
}
}
public static int constructor(IntPtr l)
{
try {
UnityEngine.JointSuspension2D o;
o=new UnityEngine.JointSuspension2D();
pushValue(l,o);
return 1;
}
catch(Exception e) {
LuaDLL.luaL_error(l, e.ToString());
return 0;
}
}
static public int constructor(IntPtr l)
{
try {
UnityEngine.JointSuspension2D o;
o = new UnityEngine.JointSuspension2D();
pushValue(l, o);
return(1);
}
catch (Exception e) {
LuaDLL.luaL_error(l, e.ToString());
return(0);
}
}
// fields
// properties
static void WheelJoint2D_suspension(JSVCall vc)
{
if (vc.bGet)
{
UnityEngine.WheelJoint2D _this = (UnityEngine.WheelJoint2D)vc.csObj;
var result = _this.suspension;
JSMgr.datax.setObject((int)JSApi.SetType.Rval, result);
}
else
{
UnityEngine.JointSuspension2D arg0 = (UnityEngine.JointSuspension2D)JSMgr.datax.getObject((int)JSApi.GetType.Arg);
UnityEngine.WheelJoint2D _this = (UnityEngine.WheelJoint2D)vc.csObj;
_this.suspension = arg0;
}
}
static void JointSuspension2D_angle(JSVCall vc)
{
if (vc.bGet)
{
UnityEngine.JointSuspension2D _this = (UnityEngine.JointSuspension2D)vc.csObj;
var result = _this.angle;
JSApi.setSingle((int)JSApi.SetType.Rval, (System.Single)(result));
}
else
{
System.Single arg0 = (System.Single)JSApi.getSingle((int)JSApi.GetType.Arg);
UnityEngine.JointSuspension2D _this = (UnityEngine.JointSuspension2D)vc.csObj;
_this.angle = arg0;
JSMgr.changeJSObj(vc.jsObjID, _this);
}
}
/// <summary>
/// Read the data using the reader.
/// </summary>
/// <param name="reader">Reader.</param>
public override object Read(ISaveGameReader reader)
{
UnityEngine.JointSuspension2D jointSuspension2D = new UnityEngine.JointSuspension2D();
foreach (string property in reader.Properties)
{
switch (property)
{
case "dampingRatio":
jointSuspension2D.dampingRatio = reader.ReadProperty <System.Single> ();
break;
case "frequency":
jointSuspension2D.frequency = reader.ReadProperty <System.Single> ();
break;
case "angle":
jointSuspension2D.angle = reader.ReadProperty <System.Single> ();
break;
}
}
return(jointSuspension2D);
}
public override void OnEnter()
{
var go = Fsm.GetOwnerDefaultTarget(gameObject);
if (go != null)
{
_wj2d = go.GetComponent<WheelJoint2D>();
if(_wj2d!=null)
{
_motor = _wj2d.motor;
_suspension = _wj2d.suspension;
}
}
SetProperties();
if(!everyFrame)
{
Finish();
}
}
static public int get_angle(IntPtr l)
{
UnityEngine.JointSuspension2D o = (UnityEngine.JointSuspension2D)checkSelf(l);
pushValue(l, o.angle);
return(1);
}
private extern void INTERNAL_set_suspension(ref JointSuspension2D value);
private extern void INTERNAL_get_suspension(out JointSuspension2D value);
private extern void INTERNAL_set_suspension(ref JointSuspension2D value);
private extern void INTERNAL_get_suspension(out JointSuspension2D value);
private extern void set_suspension_Injected(ref JointSuspension2D value);
private extern void get_suspension_Injected(out JointSuspension2D ret);
void loadJsonJoints(JSONNode jsonJoints)
{
int JointCount = 0;
for (int i = 0, numberOfJoints = jsonJoints.Count; i < numberOfJoints; i++){
JSONNode jsonJoint = jsonJoints[i];
int jointType = jsonJoint["jointType"].AsInt;
GameObject bodyA = loadedObjects[jsonJoint["bodyA"].AsInt];
GameObject bodyB = loadedObjects[jsonJoint["bodyB"].AsInt];
JSONNode localAnchorA = jsonJoint["localAnchorA"];
Vector2 anchorA = new Vector2(localAnchorA[0].AsFloat / RATIO, -localAnchorA[1].AsFloat / RATIO);
JSONNode localAnchorB = jsonJoint["localAnchorB"];
Vector2 anchorB = new Vector2(localAnchorB[0].AsFloat / RATIO, -localAnchorB[1].AsFloat / RATIO);
bool collideConnected = jsonJoint["collideConnected"].AsBool;
string userData = jsonJoint["userData"].Value;
if (jointType == (int) JointTypes.JOINT_DISTANCE || jointType == (int) JointTypes.JOINT_ROPE){
DistanceJoint2D joint = bodyA.AddComponent<DistanceJoint2D>();
joint.connectedBody = bodyB.GetComponent<Rigidbody2D>();
joint.anchor = anchorA;
joint.connectedAnchor = anchorB;
// distance joint
if (jsonJoint["length"] != null){
joint.distance = jsonJoint["length"].AsFloat / RATIO;
joint.maxDistanceOnly = true;
}
// rope joint
else if (jsonJoint["maxLength"] != null){
joint.distance = jsonJoint["maxLength"].AsFloat / RATIO;
}
joint.enableCollision = collideConnected;
joint.name += '_';
joint.name += userData.Length > 0 ? userData : "joint" + JointCount++;
}
else if (jointType == (int) JointTypes.JOINT_REVOLUTE){
HingeJoint2D joint = bodyA.AddComponent<HingeJoint2D>();
joint.connectedBody = bodyB.GetComponent<Rigidbody2D>();
joint.anchor = anchorA;
joint.connectedAnchor = anchorB;
joint.enableCollision = collideConnected;
joint.name += '_';
joint.name += userData.Length > 0 ? userData : "joint" + JointCount++;
// limits are not working properly
bool enableLimits = jsonJoint["enableLimit"].AsBool;
float referenceAngle = -jsonJoint["referenceAngle"].AsFloat;
float angleBetweenBodies = Mathf.Atan2(bodyB.transform.position.y - bodyA.transform.position.y,
bodyB.transform.position.x - bodyA.transform.position.x) * 180 / Mathf.PI;
float upperAngle = -jsonJoint["lowerAngle"].AsFloat;
float lowerAngle = -jsonJoint["upperAngle"].AsFloat;
bool enableMotor = jsonJoint["enableMotor"].AsBool;
float motorSpeed = -jsonJoint["motorSpeed"].AsFloat;
float maxMotorTorque = jsonJoint["maxMotorTorque"].AsFloat;
joint.useLimits = enableLimits;
JointAngleLimits2D limits = new JointAngleLimits2D();
limits.max = angleBetweenBodies + upperAngle;
limits.min = angleBetweenBodies + lowerAngle;
joint.limits = limits;
joint.useMotor = enableMotor;
JointMotor2D motor = new JointMotor2D();
motor.maxMotorTorque = maxMotorTorque;
motor.motorSpeed = motorSpeed;
joint.motor = motor;
}
else if (jointType == (int) JointTypes.JOINT_WHEEL){
WheelJoint2D joint = bodyA.AddComponent<WheelJoint2D>();
joint.connectedBody = bodyB.GetComponent<Rigidbody2D>();
joint.anchor = anchorA;
joint.connectedAnchor = anchorB;
joint.enableCollision = collideConnected;
joint.name += '_';
joint.name += userData.Length > 0 ? userData : "joint" + JointCount++;
bool enableMotor = jsonJoint["enableMotor"].AsBool;
float motorSpeed = -jsonJoint["motorSpeed"].AsFloat;
float maxMotorTorque = jsonJoint["maxMotorTorque"].AsFloat;
float dampingRatio = jsonJoint["dampingRatio"].AsFloat;
float frequency = jsonJoint["frequencyHZ"].AsFloat;
JSONNode localAxisA = jsonJoint["localAxisA"];
float angle = Mathf.Atan2(-localAxisA[1].AsFloat, localAxisA[0].AsFloat) * 180 / Mathf.PI;
joint.useMotor = enableMotor;
JointMotor2D motor = new JointMotor2D();
motor.maxMotorTorque = maxMotorTorque;
motor.motorSpeed = motorSpeed;
joint.motor = motor;
JointSuspension2D suspension = new JointSuspension2D();
suspension.dampingRatio = dampingRatio;
suspension.frequency = frequency;
suspension.angle = angle;
joint.suspension = suspension;
}
else if (jointType == (int) JointTypes.JOINT_PRISMATIC){
SliderJoint2D joint = bodyA.AddComponent<SliderJoint2D>();
joint.connectedBody = bodyB.GetComponent<Rigidbody2D>();
joint.anchor = anchorA;
joint.connectedAnchor = anchorB;
joint.enableCollision = collideConnected;
joint.name += '_';
joint.name += userData.Length > 0 ? userData : "joint" + JointCount++;
bool enableLimits = jsonJoint["enableLimit"].AsBool;
float referenceAngle = -jsonJoint["referenceAngle"].AsFloat;
float upperTranslation = jsonJoint["upperTranslation"].AsFloat / RATIO;
float lowerTranslation = jsonJoint["lowerTranslation"].AsFloat / RATIO;
bool enableMotor = jsonJoint["enableMotor"].AsBool;
float motorSpeed = -jsonJoint["motorSpeed"].AsFloat;
float maxMotorTorque = jsonJoint["maxMotorTorque"].AsFloat;
JSONNode localAxisA = jsonJoint["localAxisA"];
float angle = Mathf.Atan2(-localAxisA[1].AsFloat, localAxisA[0].AsFloat) * 180 / Mathf.PI;
joint.useLimits = enableLimits;
JointTranslationLimits2D limits = new JointTranslationLimits2D();
limits.max = upperTranslation;
limits.min = lowerTranslation;
joint.limits = limits;
joint.useMotor = enableMotor;
JointMotor2D motor = new JointMotor2D();
motor.maxMotorTorque = maxMotorTorque;
motor.motorSpeed = motorSpeed;
joint.motor = motor;
joint.angle = angle;
}
}
}
static public int get_dampingRatio(IntPtr l)
{
UnityEngine.JointSuspension2D o = (UnityEngine.JointSuspension2D)checkSelf(l);
pushValue(l, o.dampingRatio);
return(1);
}
static public int get_frequency(IntPtr l)
{
UnityEngine.JointSuspension2D o = (UnityEngine.JointSuspension2D)checkSelf(l);
pushValue(l, o.frequency);
return(1);
}
private void INTERNAL_set_suspension(ref JointSuspension2D value)
{
throw new NotImplementedException("なにこれ");
}
