public void AddKinematicsSphere(GPBody body, float radius, int groupId)
{
var bodyId = kinematicsBodies.Length;
var collider = new GPSphereCollider(bodyId, radius);
ArrayUtils.Add(ref kinematicsBodies, body);
ArrayUtils.Add(ref kinematicsSphereColliders, collider);
}
public void AddPointJoint(GPBody body, Vector3 point, Matrix4x4 matrix, float elasticity)
{
var bodyId = Array.IndexOf(bodies, body);
Assert.IsTrue(bodyId >= 0, "Add body to world first");
var joint = new GPPointJoint(bodyId, matrices.Length, point, elasticity);
ArrayUtils.Add(ref pointJoints, joint);
ArrayUtils.Add(ref matrices, matrix);
}
public void AddDitanceJoint(GPBody body1, GPBody body2, float distance)
{
var body1Id = Array.IndexOf(bodies, body1);
var body2Id = Array.IndexOf(bodies, body2);
Assert.IsTrue(body1Id >= 0 && body2Id >= 0, "Add body to world first");
var joint = new GPDistanceJoint(body1Id, body2Id, distance);
Data.DistanceJoints.Add(joint);
}
private void UpdateBodies(List <SphereCollider> colliders)
{
if (bodies == null)
{
bodies = new GPBody[colliders.Count];
}
for (var i = 0; i < colliders.Count; i++)
{
var sphereCollider = colliders[i];
var transformedPoint = sphereCollider.transform.TransformPoint(sphereCollider.center);
bodies[i] = new GPBody(transformedPoint);
}
}
private void InitBuffers()
{
TryAddBufferOrArray("matrices", data.MatricesBuffer, data.Matrices, sizeof(float) * 16);
TryCreateBuffer("bodies", data.Bodies, GPBody.Size());
TryCreateBuffer("sphereColliders", data.SphereColliders, GPSphereCollider.Size());
TryCreateBuffer("kinematicBodies", data.KinematicsBodies, GPBody.Size());
TryCreateBuffer("kinematicSphereColliders", data.KinematicsSphereColliders, GPSphereCollider.Size());
TryCreateBuffer("kinematicsLineSphereColliders", data.KinematicsLineSphereColliders, GPLineSphereCollider.Size());
TryCreateBuffer("distanceJoints", data.DistanceJoints.Data, GPDistanceJoint.Size());
TryCreateBuffer("pointJoints", data.PointJoints, GPPointJoint.Size());
bodiesThreadGroupsNum = Mathf.CeilToInt(wraper.GetBuffer("bodies").count / 1024f);
}
private void UpdateBodies()
{
var vertices = provider.GetVertices();
var matrices = provider.GetTransforms();
if (bodies == null)
{
bodies = new GPBody[vertices.Count];
}
for (int i = 0; i < vertices.Count; i++)
{
var matrix = matrices[0];
var vertex = matrix.MultiplyPoint3x4(vertices[i]);
bodies[i] = new GPBody(vertex);//todo maybe should be global transform
}
}
