public override unsafe void Create(EntityManager entityManager)
{
if (AutoSetConnected)
{
PositionLocal = math.transform(math.inverse(worldFromA), math.transform(worldFromB, PositionInConnectedEntity));
}
CreateJointEntity(JointData.CreateBallAndSocket(PositionLocal, PositionInConnectedEntity), entityManager);
}
public override unsafe void Create(EntityManager entityManager)
{
if (autoSetConnected)
{
RigidTransform bFromA = math.mul(math.inverse(WorldFromB), WorldFromA);
positionInConnectedEntity = math.transform(bFromA, positionLocal);
}
CreateJointEntity(JointData.CreateBallAndSocket(positionLocal, positionInConnectedEntity), entityManager);
}
public override void Create(EntityManager entityManager, GameObjectConversionSystem conversionSystem)
{
if (AutoSetConnected)
{
RigidTransform bFromA = math.mul(math.inverse(worldFromB), worldFromA);
PositionInConnectedEntity = math.transform(bFromA, PositionLocal);
}
CreateJointEntity(JointData.CreateBallAndSocket(PositionLocal, PositionInConnectedEntity), entityManager, conversionSystem);
}
public void JointDataCreateBallAndSocketTest()
{
var positionAinA = float3.zero;
var positionBinB = float3.zero;
var jointDataRef = JointData.CreateBallAndSocket(positionAinA, positionBinB);
var jointData = jointDataRef.Value;
Assert.AreEqual(MTransform.Identity, jointData.AFromJoint);
Assert.AreEqual(MTransform.Identity, jointData.BFromJoint);
Assert.AreEqual(1, jointData.Version);
Assert.AreEqual(1, jointData.NumConstraints);
var constraint = jointDataRef.Value.Constraints[0];
Assert.AreEqual(new bool3(true), constraint.ConstrainedAxes);
Assert.AreEqual(ConstraintType.Linear, constraint.Type);
Assert.AreEqual(0.0f, constraint.Min);
Assert.AreEqual(0.0f, constraint.Max);
Assert.AreEqual(Constraint.DefaultSpringFrequency, constraint.SpringFrequency);
Assert.AreEqual(Constraint.DefaultSpringDamping, constraint.SpringDamping);
}
protected override void Start()
{
float3 gravity = float3.zero;
base.init(gravity);
// Enable the joint viewer
SetDebugDisplay(new Unity.Physics.Authoring.PhysicsDebugDisplayData
{
DrawJoints = 1
});
// Make soft ball and sockets
{
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.2f, 0.2f, 0.2f),
BevelRadius = 0.0f
});
// Make joints with different spring frequency. The leftmost joint should oscillate at 0.5hz, the next at 1hz, the next at 1.5hz, etc.
for (int i = 0; i < 10; i++)
{
// Create a body
float3 position = new float3((i - 4.5f) * 1.0f, 0, 0);
float3 velocity = new float3(0, -10.0f, 0);
Entity body = CreateDynamicBody(
position, quaternion.identity, collider, velocity, float3.zero, 1.0f);
// Create the ball and socket joint
float3 pivotLocal = float3.zero;
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
BlobAssetReference <JointData> jointData;
jointData = JointData.CreateBallAndSocket(pivotLocal, pivotInWorld);
jointData.Value.Constraints[0].SpringDamping = 0.0f;
jointData.Value.Constraints[0].SpringFrequency = 0.5f * (float)(i + 1);
CreateJoint(jointData, body, Entity.Null);
}
}
// Make soft limited hinges
{
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.4f, 0.1f, 0.6f),
BevelRadius = 0.0f
});
// First row has soft limit with hard hinge + pivot, second row has everything soft
for (int j = 0; j < 2; j++)
{
for (int i = 0; i < 10; i++)
{
// Create a body
float3 position = new float3((i - 4.5f) * 1.0f, 0, (j + 1) * 3.0f);
float3 velocity = new float3(0, -10.0f, 0);
float3 angularVelocity = new float3(0, 0, -10.0f);
Entity body = CreateDynamicBody(
position, quaternion.identity, collider, velocity, angularVelocity, 1.0f);
// Create the limited hinge joint
float3 pivotLocal = new float3(0, 0, 0);
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
float3 axisLocal = new float3(0, 0, 1);
float3 axisInWorld = axisLocal;
float3 perpendicularLocal = new float3(0, 1, 0);
float3 perpendicularInWorld = perpendicularLocal;
BlobAssetReference <JointData> jointData;
jointData = JointData.CreateLimitedHinge(pivotLocal, pivotInWorld, axisLocal, axisInWorld, perpendicularLocal, perpendicularInWorld, 0.0f, 0.0f);
// First constraint is the limit, next two are the hinge and pivot
for (int k = 0; k < 1 + 2 * j; k++)
{
jointData.Value.Constraints[k].SpringDamping = 0.0f;
jointData.Value.Constraints[k].SpringFrequency = 0.5f * (float)(i + 1);
}
CreateJoint(jointData, body, Entity.Null);
}
}
}
// Make a soft prismatic
{
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.2f, 0.2f, 0.2f),
BevelRadius = 0.0f
});
// Create a body
float3 position = new float3(0, 0, 9.0f);
float3 velocity = new float3(50.0f, 0, 0);
Entity body = CreateDynamicBody(
position, quaternion.identity, collider, velocity, float3.zero, 1.0f);
// Create the prismatic joint
float3 pivotLocal = float3.zero;
float3 pivotInWorld = math.transform(GetBodyTransform(body), pivotLocal);
float3 axisLocal = new float3(1, 0, 0);
float3 axisInWorld = axisLocal;
float3 perpendicularLocal = new float3(0, 1, 0);
float3 perpendicularInWorld = perpendicularLocal;
BlobAssetReference <JointData> jointData;
jointData = JointData.CreatePrismatic(pivotLocal, pivotInWorld, axisLocal, axisInWorld, perpendicularLocal, perpendicularInWorld, -2.0f, 2.0f, 0.0f, 0.0f);
jointData.Value.Constraints[0].SpringDamping = 0.0f;
jointData.Value.Constraints[0].SpringFrequency = 5.0f;
CreateJoint(jointData, body, Entity.Null);
}
}
protected override void Start()
{
base.Start();
// Enable the joint viewer
SetDebugDisplay(new Unity.Physics.Authoring.PhysicsDebugDisplayData
{
DrawJoints = 1
});
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.25f),
BevelRadius = 0.0f
});
var manager = DefaultWorld.EntityManager;
// Add a dynamic body constrained to the world that will die
// Once the dynamic body is destroyed the joint will be invalid
{
// Create a dynamic body
float3 pivotWorld = new float3(-2f, 0, 0);
Entity body = CreateDynamicBody(pivotWorld, quaternion.identity, collider, float3.zero, float3.zero, 1.0f);
// add timeout on dynamic body after 15 frames.
manager.AddComponentData <EntityKiller>(body, new EntityKiller()
{
TimeToDie = 15
});
// Create the joint
float3 pivotLocal = float3.zero;
BlobAssetReference <JointData> jointData = JointData.CreateBallAndSocket(pivotLocal, pivotWorld);
var jointEntity = CreateJoint(jointData, body, Entity.Null);
// add timeout on joint entity after 30 frames.
manager.AddComponentData <EntityKiller>(jointEntity, new EntityKiller()
{
TimeToDie = 30
});
}
// Add two static bodies constrained together
// The joint is invalid immediately
{
// Create a body
Entity bodyA = CreateStaticBody(new float3(0, 0.0f, 0), quaternion.identity, collider);
Entity bodyB = CreateStaticBody(new float3(0, 1.0f, 0), quaternion.identity, collider);
// Create the joint
float3 pivotLocal = float3.zero;
BlobAssetReference <JointData> jointData = JointData.CreateBallAndSocket(pivotLocal, pivotLocal);
var jointEntity = CreateJoint(jointData, bodyA, bodyB);
// add timeout on joint entity after 15 frames.
manager.AddComponentData <EntityKiller>(jointEntity, new EntityKiller()
{
TimeToDie = 15
});
}
}
// 生成されたジョイントエンティティを返す。
public NativeArray <Entity> Convert
(EntityManager em, Entity posturePrefab, NameAndEntity[] bonePrefabs)
{
//var motionClip = this.GetComponent<MotionAuthoring>().MotionClip;//
var rbTop = this.GetComponentInChildren <Rigidbody>();//
if (rbTop == null)
{
return(new NativeArray <Entity>()); //
}
var srcColliders = this.GetComponentsInChildren <UnityEngine.Collider>();
// 名前とボーンエンティティの組を配列化
//var qNameAndBone = motionClip.StreamPaths
// .Select( x => System.IO.Path.GetFileName( x ) )
// .Select( ( name, i ) => (name, i: motionClip.IndexMapFbxToMotion[ i ]) )
// .Where( x => x.i != -1 )
// .Select( x => (Name:x.name, Entity:bonePrefabs[ x.i ].Entity) )
// .Append( (Name:rbTop.name, Entity:posturePrefab) );
//var namesAndBones = qNameAndBone.ToArray();
var namesAndBones = bonePrefabs
.Append(new NameAndEntity(rbTop.name, posturePrefab));
// クエリ用コライダの生成
// ・マテリアルが "xxx overlap collider" という名前になっているものを抽出
// ・対応するボーンエンティティに専用のコンポーネントデータを付加
var qQueryableCollider =
from x in srcColliders
where x.sharedMaterial != null
where x.sharedMaterial.name.StartsWith("overlap ")
join bone in namesAndBones
on x.name equals bone.Name
select(bone.Entity, c : x)
;
foreach (var(ent, c) in qQueryableCollider)
{
addQuearyableColliderBlobs_(ent, c, 0);
}
// コライダとそれが付くべき剛体の組を配列化（同じ剛体に複数のコライダもあり）
// ・有効でないコライダは除外する
var qColliderWithParent =
from collider in srcColliders
where collider.enabled
let parent = collider.gameObject
.AncestorsAndSelf()
.Where(anc => anc.GetComponent <Rigidbody>() != null)
.First()
select(collider, parent)
;
var collidersWithParent = qColliderWithParent.ToArray();
// 同じ剛体を親とするコライダをグループ化するクエリ
var qColliderGroup =
from x in collidersWithParent
group x.collider by x.parent
;
// 剛体を持たない子コライダを合成して、コライダコンポーネントデータを生成するクエリ
var qCompounds =
from g in qColliderGroup
select new PhysicsCollider
{
Value = createBlobCollider_(srcColliders_: g, parent: g.Key, groupIndex: 0),
};
// コライダがついているオブジェクトに相当するボーンのエンティティに、コライダコンポーネントデータを付加
// ・コライダ不要なら、質量プロパティだけ生成してコライダはつけないようにしたい（未実装）
var qEntAndComponent =
from c in (qColliderGroup, qCompounds).Zip()
join b in namesAndBones
on c.x.Key.name equals b.Name
select(b.Entity, c : c.y)
;
foreach (var(ent, c) in qEntAndComponent)
{
em.AddComponentData(ent, c);
}
// 剛体がついているオブジェクトに相当するボーンのエンティティに、各種コンポーネントデータを付加
// ・キネマティックは質量ゼロにするが、速度や質量プロパティは付加する。
// ・コライダがない場合は、球の質量プロパティになる。
var qRbAndBone =
from x in this.GetComponentsInChildren <Rigidbody>()
join b in namesAndBones
on x.name equals b.Name
select(rb : x, b.Entity)
;
foreach (var(rb, ent) in qRbAndBone)
{
addDynamicComponentData_ByRigidbody_(ent, rb, posturePrefab);
}
//return new NativeArray<Entity>(0,Allocator.Temp);
// ジョイントの生成。両端のオブジェクトに相当するエンティティを特定する。
// ・ジョイントはエンティティとして生成する。
// （コライダと同じエンティティに着けても動作したが、サンプルではこうしている）
// （また、ラグドールジョイントはなぜか２つジョイントを返してくるので、同じエンティティには付けられない）
var qJoint =
from j in this.GetComponentsInChildren <UnityEngine.Joint>()
//.Do( x=>Debug.Log(x.name))
join a in namesAndBones
on j.name equals a.Name
join b in namesAndBones
on j.connectedBody.name equals b.Name
let jointData = createJointBlob_(j)
//select (a, b, j, jointData)
select addJointComponentData_(a.Entity, jointData, a.Entity, b.Entity, j.enableCollision)
;
return(qJoint.SelectMany().ToNativeArray(Allocator.Temp));
// 物理材質に着けられた名前から、特定のコライダを持つコンポーネントデータを生成する。
void addQuearyableColliderBlobs_
(Entity ent, UnityEngine.Collider srcCollider, int groupIndex)
{
switch (srcCollider.sharedMaterial.name)
{
//case "overlap cast":汎用だと１つしかもてない、用途ごとにコンポーネントデータを定義しないといけない
//{
// var blob = createBlobCollider_( new[] { srcCollider }, srcCollider.gameObject, groupIndex );
// em.AddComponentData( ent, new GroundHitColliderData { Collider = blob } );
// break;
//}
case "overlap ground ray":
{
if (srcCollider is UnityEngine.SphereCollider srcSphere)
{
em.AddComponentData(ent, new GroundHitRayData
{
Start = srcSphere.center,
Ray = new DirectionAndLength {
value = new float4(math.up() * -1, srcSphere.radius)
}, // 向きは暫定
Filter = LegacyColliderProducer.GetFilter(srcSphere, groupIndex),
});
}
break;
}
case "overlap ground sphere":
{
if (srcCollider is UnityEngine.SphereCollider srcSphere)
{
em.AddComponentData(ent, new GroundHitSphereData
{
Center = srcSphere.center,
Distance = srcSphere.radius,
Filter = LegacyColliderProducer.GetFilter(srcSphere, groupIndex),
});
}
break;
}
}
}
BlobAssetReference <Collider> compoundColliderBlobsFromEnumerable_
(IEnumerable <CompoundCollider.ColliderBlobInstance> src)
{
using (var arr = src.ToNativeArray(Allocator.Temp))
return(CompoundCollider.Create(arr));
}
BlobAssetReference <Collider> createBlobCollider_
(IEnumerable <UnityEngine.Collider> srcColliders_, GameObject parent, int groupIndex)
{
return((srcColliders_.Count() > 1 || srcColliders_.First().gameObject != parent)
? queryBlobInstances_(srcColliders_, parent.transform, groupIndex)
.To(compoundColliderBlobsFromEnumerable_)
: createColliderBlob_(srcColliders_.First(), groupIndex)
);
IEnumerable <CompoundCollider.ColliderBlobInstance> queryBlobInstances_
(IEnumerable <UnityEngine.Collider> srcColliders__, Transform tfParent, int groupIndex_)
{
return
(from x in srcColliders__
let tfCollider = x.transform
let rtf = new RigidTransform
{
pos = tfCollider.position - tfParent.position,
rot = tfCollider.rotation * Quaternion.Inverse(tfParent.rotation),
}
select new CompoundCollider.ColliderBlobInstance
{
Collider = createColliderBlob_(x, groupIndex_),
CompoundFromChild = rtf,
});
}
}
BlobAssetReference <Collider> createColliderBlob_(UnityEngine.Collider srcCollider, int groupIndex)
{
switch (srcCollider)
{
case UnityEngine.SphereCollider srcSphere:
return(srcSphere.ProduceColliderBlob(groupIndex));
case UnityEngine.CapsuleCollider srcCapsule:
return(srcCapsule.ProduceColliderBlob(groupIndex));
case UnityEngine.BoxCollider srcBox:
return(srcBox.ProduceColliderBlob(groupIndex));
}
return(BlobAssetReference <Collider> .Null);
}
void addDynamicComponentData_ByRigidbody_(Entity ent, Rigidbody rb, Entity postureEnt)
{
var massProp = em.HasComponent <PhysicsCollider>(ent)
? em.GetComponentData <PhysicsCollider>(ent).MassProperties
: MassProperties.UnitSphere;
var physicsMass = rb.isKinematic
? PhysicsMass.CreateKinematic(massProp)
: PhysicsMass.CreateDynamic(massProp, rb.mass);
// ＸＹ回転拘束だけ特例で設定する
var freez_xy = RigidbodyConstraints.FreezeRotationX | RigidbodyConstraints.FreezeRotationZ;
if (rb.constraints == freez_xy)
{
physicsMass.InverseInertia = new float3(0, 1, 0);
}
//if( !rb.isKinematic )
em.AddComponentData(ent, physicsMass);
// キネマティックの場合は、つけなくても大丈夫みたい（主にジョイントにとって）
// が、いちおうつけておく
//if( !rb.isKinematic )
em.AddComponentData(ent, new PhysicsVelocity());
// ジョイント付けると、質量ゼロにしても速度が必要みたい（ないと荒ぶる）
// もしくは、コライダがあると安定したように見えた
if (rb.isKinematic || !rb.useGravity)
{
em.AddComponentData(ent, new PhysicsGravityFactor {
Value = 0.0f
});
}
// 質量ゼロにしても、なぜか重力の影響を受け続けるのでオフる
//if( !rb.isKinematic )
{
em.AddComponentData(ent, new Bone.InitializeData {
PostureEntity = postureEnt
});
em.SetComponentData(ent, new Translation {
Value = rb.position
});
em.SetComponentData(ent, new Rotation {
Value = rb.rotation
});
}
}
BlobAssetReference <JointData>[] createJointBlob_(UnityEngine.Joint srcJoint)
{
switch (srcJoint)
{
//case UnityEngine.CharacterJoint srcChJoint when srcChJoint.GetComponent<RagdollJointAuthoring>() != null:
//{
// var srcRagdollJoint = srcChJoint.GetComponent<RagdollJointAuthoring>();
// JointData.CreateRagdoll
// (
// srcRagdollJoint.positionAinA,
// srcRagdollJoint.positionBinB,
// srcRagdollJoint.twistAxisInA,
// srcRagdollJoint.twistAxisInB,
// srcRagdollJoint.perpendicularAxisInA,
// srcRagdollJoint.perpendicularAxisInB,
// math.radians( srcRagdollJoint.maxConeAngle ),
// math.radians( srcRagdollJoint.minPerpendicularAngle ),
// math.radians( srcRagdollJoint.maxPerpendicularAngle ),
// math.radians( srcRagdollJoint.minTwistAngle ),
// math.radians( srcRagdollJoint.maxTwistAngle ),
// out var jointData0,
// out var jointData1
// );
// return new[] { jointData0, jointData1 };
//}
case UnityEngine.CharacterJoint srcChJoint2:
{
var blob = JointData.CreateBallAndSocket(srcChJoint2.anchor, srcChJoint2.connectedAnchor);
return(new[] { blob });
}
}
return(new BlobAssetReference <JointData>[] {});
}
//unsafe Entity createJoint_
unsafe Entity[] addJointComponentData_(
Entity jointEntity,
BlobAssetReference <JointData>[] jointDataArray,
Entity entityA, Entity entityB,
bool isEnableCollision = false
)
{
return((from x in jointDataArray select createJointEntity_(x)).ToArray());
Entity createJointEntity_(BlobAssetReference <JointData> jd)
{
var ent = em.CreateEntity(typeof(Prefab), typeof(PhysicsJoint));
em.SetComponentData(ent,
new PhysicsJoint
{
//JointData = jd,
//EntityA = entityA,
//EntityB = entityB,
//EnableCollision = ( isEnableCollision ? 1 : 0 )
}
);
return(ent);
}
}
}
}