//anchor is local //vertices are local //have vector2 return?
/// <summary>
/// Rebuilds the anchor.
/// </summary>
/// <param name="anchor">The anchor (In local space).</param>
/// <param name="isAnchorA">Whether to rebuild the first anchor as opposed to rebuilding the second anchor.</param>
/// <param name="useBaseShape">Whether use JelloBody.Shape instead of JelloPointMass.Position. Has no effect if Transform has no JelloBody attached.</param>
/// <param name="affectedIndices">The indices of the affected / affecting JelloPointMass objects. Has no effect if Transform has no JelloBody attached.</param>
/// <param name="affectedVertices">The positions (in local space) of the affected / affecting JelloPointMass objects. Has no effect if Transform has no JelloBody attached.</param>
public void RebuildAnchor(Vector2 anchor, bool isAnchorA, bool useBaseShape, int[] affectedIndices = null, Vector2[] affectedVertices = null)
{
//Vector2 point;
if(isAnchorA)
{
localAnchorA = anchor;
if(mTransformA == null)
return;
if(bodyA != null)
{
if(affectedIndices == null)
affectedIndices = affectedIndicesA;
else
affectedIndicesA = affectedIndices;
if(affectedVertices == null)//grab from point mass positions?
{
if(useBaseShape)
{
affectedVertices = new Vector2[affectedIndicesA.Length];
for(int i = 0; i < affectedIndicesA.Length; i++)
affectedVertices[i] = bodyA.Shape.getVertex(affectedIndicesA[i]);
}
else
{
affectedVertices = new Vector2[affectedIndicesA.Length];
for(int i = 0; i < affectedIndicesA.Length; i++)
affectedVertices[i] = bodyA.getPointMass(affectedIndicesA[i]).LocalPosition;
}
}
if(affectedIndices != null)
{
if(affectedIndices.Length == 1)
{
scalarsA = new float[1];
scalarsA[0] = 1f;
}
else if(affectedIndices.Length == 2)
{
Vector2 hit;
scalarsA = new float[2];
JelloVectorTools.getClosestPointOnSegmentSquared (localAnchorA, affectedVertices[0], affectedVertices[1], out hit, out scalarsA[1]);
scalarsA[0] = 1 - scalarsA[1];
}
else if(affectedIndices.Length == 3)
{
scalarsA = JelloShapeTools.GetBarycentricCoords(localAnchorA, affectedVertices);
}
}
}
}
else
{
localAnchorB = anchor;
if(mTransformB == null)
return;
if(bodyB != null)
{
if(affectedIndices == null)
affectedIndices = affectedIndicesB;
else
affectedIndicesB = affectedIndices;
if(affectedVertices == null)//grab from point mass positions?
{
if(useBaseShape)
{
affectedVertices = new Vector2[affectedIndicesB.Length];
for(int i = 0; i < affectedIndicesB.Length; i++)
affectedVertices[i] = bodyB.Shape.getVertex(affectedIndicesB[i]);
}
else
{
affectedVertices = new Vector2[affectedIndicesB.Length];
for(int i = 0; i < affectedIndicesB.Length; i++)
affectedVertices[i] = bodyB.getPointMass(affectedIndicesB[i]).LocalPosition;
}
}
if(affectedIndices != null)
{
if(affectedIndices.Length == 1)
{
scalarsB = new float[1];
scalarsB[0] = 1f;
}
else if(affectedIndices.Length == 2)
{
Vector2 hit;
scalarsB = new float[2];
JelloVectorTools.getClosestPointOnSegmentSquared (localAnchorB, affectedVertices[0], affectedVertices[1], out hit, out scalarsB[1]);
scalarsB[0] = 1 - scalarsB[1];
}
else if(affectedIndices.Length == 3)
{
scalarsB = JelloShapeTools.GetBarycentricCoords(localAnchorB, affectedVertices);
}
}
}
}
}
/// <summary>
/// Update this JelloAttachPoint .
/// Will derive the new position for the JelloAttachPoint.point, AttachTransform.Position and AttachedTrasnform.Angle.
/// This will be called by the simulation and should not need to be called manualy.
/// </summary>
/// <param name="useBaseShape">Whether to use the JelloBody.Shape positions to determine the new position.</param>
public Vector2 Update(bool useBaseShape)
{
point = Vector2.zero;
if (useBaseShape)
{
for (int i = 0; i < affectedIndices.Length; i++)
{
point += body.Shape.getVertex(affectedIndices[i]) * scalars[i];
}
if (point.x == float.NaN)
{
for (int i = 0; i < affectedIndices.Length; i++)
{
Debug.Log(body.Shape.getVertex(affectedIndices[i]) + " " + scalars[i]);
}
}
}
else
{
for (int i = 0; i < affectedIndices.Length; i++)
{
point += body.getPointMass(affectedIndices[i]).Position *scalars[i];
}
point = transform.InverseTransformPoint(point);
if (point.x == float.NaN)
{
for (int i = 0; i < affectedIndices.Length; i++)
{
Debug.Log(body.getPointMass(affectedIndices[i]).Position + " " + scalars[i]);
}
}
}
if (mAttachedTransform != null)
{
Vector3 newPos = transform.TransformPoint(point);
newPos.z = mAttachedTransform.position.z;
mAttachedTransform.position = newPos;
if (rotate)
{
float angle = 0;
int originalSign = 1;
float originalAngle = 0;
float thisAngle;
Vector2 center = Vector2.zero;
Vector2 centerGlobal = Vector2.zero;
if (affectedIndices.Length == 1)
{
centerGlobal = body.Position;
}
else
{
for (int i = 0; i < affectedIndices.Length; i++)
{
center += body.Shape.getVertex(affectedIndices[i]);
}
center /= affectedIndices.Length;
centerGlobal = Vector2.zero;
for (int i = 0; i < affectedIndices.Length; i++)
{
centerGlobal += body.getPointMass(affectedIndices[i]).Position;
}
centerGlobal /= affectedIndices.Length;
}
for (int i = 0; i < affectedIndices.Length; i++)
{
thisAngle = Vector2.Angle(body.Shape.getVertex(affectedIndices[i]) - center, body.getPointMass(affectedIndices[i]).Position - centerGlobal); //(Vector2)body.transform.TransformPoint(center));
if (Vector3.Cross(body.Shape.getVertex(affectedIndices[i]) - center, body.getPointMass(affectedIndices[i]).Position - centerGlobal).z < 0f) //(Vector2)body.transform.TransformPoint(center)).z < 0f)
{
thisAngle *= -1f;
}
if (i == 0)
{
originalSign = (thisAngle >= 0f) ? 1 : -1;
originalAngle = thisAngle;
}
else
{
if ((Mathf.Abs(thisAngle - originalAngle) > 180f) && ((thisAngle >= 0f ? 1 : -1) != originalSign))
{
thisAngle = ((thisAngle >= 0f ? 1 : -1) == -1) ? 360f + thisAngle : -thisAngle;
}
}
angle += thisAngle;
}
angle /= affectedIndices.Length;
mAttachedTransform.eulerAngles = new Vector3(mAttachedTransform.eulerAngles.x, mAttachedTransform.eulerAngles.y, angle + transformAngle);
}
}
return(point);
}
/// <summary>
/// Rebuild this JelloAttachPoint.
/// </summary>
/// <param name="attachPoint">The point (local to the JelloAttachPoint.body) at which to attach the JelloAttachPoint.AttachedTransform.</param>
/// <param name="jelloBody">The JelloBody to to be attached to.</param>
/// <param name="indices">The JelloPointMass Indices. Should have a length of 1, 2, or 3.</param>
/// <param name="useBaseShape">Whether to use the JelloBody.Shape positions (instead of JelloPointMass.Position) when building the JelloAttachPoint.</param>
public void Rebuild(Vector2 attachPoint, JelloBody jelloBody, int[] indices, bool useBaseShape = true)
{
body = jelloBody;
transform = body.transform;
if (indices == null)
{
if (affectedIndices == null)
{
Rebuild(attachPoint, jelloBody, useBaseShape);
return;
}
else
{
indices = affectedIndices;
}
}
else if (indices.Length > 4)
{
affectedIndices = new int[3];
for (int i = 0; i < 3; i++)
{
affectedIndices[i] = indices[i];
}
}
else
{
affectedIndices = indices;
}
Vector2[] verts = new Vector2[3];
if (useBaseShape)
{
for (int i = 0; i < affectedIndices.Length; i++)
{
verts[i] = body.Shape.getVertex(affectedIndices[i]);
}
}
else
{
attachPoint = transform.TransformPoint(attachPoint);
for (int i = 0; i < affectedIndices.Length; i++)
{
verts[i] = body.getPointMass(affectedIndices[i]).Position;
}
}
if (affectedIndices.Length == 1)
{
scalars = new float[1];
scalars[0] = 1f;
}
else if (affectedIndices.Length == 2)
{
Vector2 hit;
scalars = new float[2];
JelloVectorTools.getClosestPointOnSegmentSquared(attachPoint, verts[0], verts[1], out hit, out scalars[1]);
scalars[0] = 1 - scalars[1];
}
else if (affectedIndices.Length == 3)
{
scalars = JelloShapeTools.GetBarycentricCoords(attachPoint, verts);
}
//throw into for loop...
point = Vector2.zero;
for (int i = 0; i < affectedIndices.Length; i++)
{
point += scalars[i] * verts[i];
}
if (!useBaseShape)
{
point = transform.InverseTransformPoint(point);
}
if (mAttachedTransform != null)
{
Vector3 newPos = transform.TransformPoint(point);
newPos.z = mAttachedTransform.position.z;
mAttachedTransform.position = newPos;
}
}
/// <summary>
/// Rebuild this JelloAttachPoint.
/// </summary>
/// <param name="attachPoint">The point (local to the JelloAttachPoint.body) at which to attach the JelloAttachPoint.AttachedTransform.</param>
/// <param name="jelloBody">The JelloBody to to be attached to.</param>
/// <param name="useBaseShape">Whether to use the JelloBody.Shape positions (instead of JelloPointMass.Position) when building the JelloAttachPoint.</param>
/// <param name="numLegs">Number of JelloPointMass objects to use as "legs" (use 1, 2, or 3).</param>
public void Rebuild(Vector2 attachPoint, JelloBody jelloBody, bool useBaseShape = true, int numLegs = 0)
{
body = jelloBody;
transform = body.transform;
if (numLegs != 0)
{
if (numLegs < 0)
{
numLegs = 1;
}
if (numLegs > 3)
{
numLegs = 3;
}
affectedIndices = new int[numLegs];
}
else if (affectedIndices == null || affectedIndices.Length == 0 || affectedIndices.Length > 3)
{
affectedIndices = new int[2]; //default to 3?
}
Vector2[] shape = new Vector2[body.Shape.VertexCount];
if (useBaseShape)
{
for (int i = 0; i < shape.Length; i++)
{
shape[i] = body.Shape.getVertex(i);
}
}
else
{
attachPoint = transform.TransformPoint(attachPoint);
for (int i = 0; i < shape.Length; i++)
{
shape[i] = body.getPointMass(i).Position;
}
}
if (affectedIndices.Length == 1)
{
affectedIndices = JelloShapeTools.GetClosestIndices(attachPoint, shape, 1);
scalars = new float[1];
scalars[0] = 1f;
}
else if (affectedIndices.Length == 2)
{
Vector2 hit;
affectedIndices = JelloShapeTools.FindClosestEdgeOnShape(attachPoint, shape);
scalars = new float[2];
JelloVectorTools.getClosestPointOnSegmentSquared(attachPoint, shape[affectedIndices[0]], shape[affectedIndices[1]], out hit, out scalars[1]);
scalars[0] = 1 - scalars[1];
}
else if (affectedIndices.Length == 3)
{
Vector2[] shapePerimeter = new Vector2[body.EdgePointMassCount];
if (useBaseShape)
{
shapePerimeter = body.Shape.EdgeVertices;
}
else
{
for (int i = 0; i < shapePerimeter.Length; i++)
{
shapePerimeter[i] = body.getEdgePointMass(i).Position;
}
}
affectedIndices = JelloShapeTools.FindContainingTriangle(attachPoint, shape, shapePerimeter, body.Shape.Triangles, out scalars);
}
point = Vector2.zero;
for (int i = 0; i < affectedIndices.Length; i++)
{
point += shape[affectedIndices[i]] * scalars[i];
}
if (!useBaseShape)
{
point = transform.InverseTransformPoint(point);
}
if (mAttachedTransform != null)
{
Vector3 newPos = transform.TransformPoint(point);
newPos.z = mAttachedTransform.position.z;
mAttachedTransform.position = newPos;
}
}
/// <summary>
/// Rebuild this JelloAttachPoint.
/// </summary>
/// <param name="attachPoint">The point (local to the JelloAttachPoint.body) at which to attach the JelloAttachPoint.AttachedTransform.</param>
/// <param name="jelloBody">The JelloBody to to be attached to.</param>
/// <param name="indices">The JelloPointMass Indices. Should have a length of 1, 2, or 3.</param>
/// <param name="useBaseShape">Whether to use the JelloBody.Shape positions (instead of JelloPointMass.Position) when building the JelloAttachPoint.</param>
public void Rebuild(Vector2 attachPoint, JelloBody jelloBody, int[] indices, bool useBaseShape = true)
{
body = jelloBody;
transform = body.transform;
if(indices == null)
{
if(affectedIndices == null)
{
Rebuild(attachPoint, jelloBody, useBaseShape);
return;
}
else
{
indices = affectedIndices;
}
}
else if(indices.Length > 4)
{
affectedIndices = new int[3];
for(int i = 0; i < 3; i++)
affectedIndices[i] = indices[i];
}
else
{
affectedIndices = indices;
}
Vector2[] verts = new Vector2[3];
if(useBaseShape)
{
for(int i = 0; i < affectedIndices.Length; i++)
verts[i] = body.Shape.getVertex(affectedIndices[i]);
}
else
{
attachPoint = transform.TransformPoint(attachPoint);
for(int i = 0; i < affectedIndices.Length; i++)
verts[i] = body.getPointMass(affectedIndices[i]).Position;
}
if(affectedIndices.Length == 1)
{
scalars = new float[1];
scalars[0] = 1f;
}
else if(affectedIndices.Length == 2)
{
Vector2 hit;
scalars = new float[2];
JelloVectorTools.getClosestPointOnSegmentSquared (attachPoint, verts[0], verts[1], out hit, out scalars[1]);
scalars[0] = 1 - scalars[1];
}
else if (affectedIndices.Length == 3)
{
scalars = JelloShapeTools.GetBarycentricCoords(attachPoint, verts);
}
//throw into for loop...
point = Vector2.zero;
for(int i = 0; i < affectedIndices.Length; i++)
point += scalars[i] * verts[i];
if(!useBaseShape)
point = transform.InverseTransformPoint(point);
if(mAttachedTransform != null)
{
Vector3 newPos = transform.TransformPoint(point);
newPos.z = mAttachedTransform.position.z;
mAttachedTransform.position = newPos;
}
}
/// <summary>
/// Rebuild this JelloAttachPoint.
/// </summary>
/// <param name="attachPoint">The point (local to the JelloAttachPoint.body) at which to attach the JelloAttachPoint.AttachedTransform.</param>
/// <param name="jelloBody">The JelloBody to to be attached to.</param>
/// <param name="useBaseShape">Whether to use the JelloBody.Shape positions (instead of JelloPointMass.Position) when building the JelloAttachPoint.</param>
/// <param name="numLegs">Number of JelloPointMass objects to use as "legs" (use 1, 2, or 3).</param>
public void Rebuild(Vector2 attachPoint, JelloBody jelloBody, bool useBaseShape = true, int numLegs = 0)
{
body = jelloBody;
transform = body.transform;
if(numLegs != 0)
{
if(numLegs < 0)
numLegs = 1;
if(numLegs > 3)
numLegs = 3;
affectedIndices = new int[numLegs];
}
else if(affectedIndices == null || affectedIndices.Length == 0 || affectedIndices.Length > 3)
affectedIndices = new int[2];//default to 3?
Vector2[] shape = new Vector2[body.Shape.VertexCount];
if(useBaseShape)
{
for(int i = 0; i < shape.Length; i++)
shape[i] = body.Shape.getVertex(i);
}
else
{
attachPoint = transform.TransformPoint(attachPoint);
for(int i = 0; i < shape.Length; i++)
shape[i] = body.getPointMass(i).Position;
}
if(affectedIndices.Length == 1)
{
affectedIndices = JelloShapeTools.GetClosestIndices(attachPoint, shape, 1);
scalars = new float[1];
scalars[0] = 1f;
}
else if(affectedIndices.Length == 2)
{
Vector2 hit;
affectedIndices = JelloShapeTools.FindClosestEdgeOnShape(attachPoint, shape);
scalars = new float[2];
JelloVectorTools.getClosestPointOnSegmentSquared (attachPoint, shape[affectedIndices[0]], shape[affectedIndices[1]], out hit, out scalars[1]);
scalars[0] = 1 - scalars[1];
}
else if(affectedIndices.Length == 3)
{
Vector2[] shapePerimeter = new Vector2[body.EdgePointMassCount];
if(useBaseShape)
{
shapePerimeter = body.Shape.EdgeVertices;
}
else
{
for(int i = 0; i < shapePerimeter.Length; i++)
shapePerimeter[i] = body.getEdgePointMass(i).Position;
}
affectedIndices = JelloShapeTools.FindContainingTriangle(attachPoint, shape, shapePerimeter, body.Shape.Triangles, out scalars);
}
point = Vector2.zero;
for(int i = 0; i < affectedIndices.Length; i++)
point += shape[affectedIndices[i]] * scalars[i];
if(!useBaseShape)
point = transform.InverseTransformPoint(point);
if(mAttachedTransform != null)
{
Vector3 newPos = transform.TransformPoint(point);
newPos.z = mAttachedTransform.position.z;
mAttachedTransform.position = newPos;
}
}
