public override void Create(EntityManager entityManager, GameObjectConversionSystem conversionSystem) { if (AutoSetConnected) { RigidTransform bFromA = math.mul(math.inverse(worldFromB), worldFromA); PositionInConnectedEntity = math.transform(bFromA, PositionLocal); HingeAxisInConnectedEntity = math.mul(bFromA.rot, HingeAxisLocal); PerpendicularAxisInConnectedEntity = math.mul(bFromA.rot, PerpendicularAxisLocal); } CreateJointEntity(JointData.CreateLimitedHinge( new JointFrame { Axis = math.normalize(HingeAxisLocal), PerpendicularAxis = math.normalize(PerpendicularAxisLocal), Position = PositionLocal }, new JointFrame { Axis = math.normalize(HingeAxisInConnectedEntity), PerpendicularAxis = math.normalize(PerpendicularAxisInConnectedEntity), Position = PositionInConnectedEntity }, math.radians(new FloatRange(MinAngle, MaxAngle)) ), entityManager, conversionSystem ); }
protected override unsafe void Start() { init(float3.zero); // no gravity // Enable the joint viewer SetDebugDisplay(new Unity.Physics.Authoring.PhysicsDebugDisplayData { DrawJoints = 1 }); Entity *entities = stackalloc Entity[2]; entities[1] = Entity.Null; for (int i = 0; i < 1; i++) { CollisionFilter filter = new CollisionFilter { MaskBits = (uint)(1 << i), CategoryBits = (uint)~(1 << (1 - i)) }; BlobAssetReference <Collider> collider = BoxCollider.Create( float3.zero, Quaternion.identity, new float3(1.0f, 0.2f, 0.2f), 0.0f, filter); entities[i] = CreateDynamicBody(float3.zero, quaternion.identity, collider, float3.zero, new float3(0, 1 - i, 0), 1.0f); } float3 pivot = float3.zero; float3 axis = new float3(0, 1, 0); float3 perpendicular = new float3(0, 0, 1); //BlobAssetReference<JointData> hingeData = JointData.CreateLimitedHinge(pivot, pivot, axis, axis, perpendicular, perpendicular, 0.2f, (float)math.PI); BlobAssetReference <JointData> hingeData = JointData.CreateLimitedHinge(pivot, pivot, axis, axis, perpendicular, perpendicular, -(float)math.PI, -0.2f); CreateJoint(hingeData, entities[0], entities[1]); }
public static BlobAssetReference <JointData> CreateKnee(GameObject upperLeg, GameObject lowerLeg) { float upperLegHeight = 2.0f * upperLeg.transform.localScale.y; float3 pivotUpperLeg = new float3(0, -upperLegHeight / 2.0f, 0); var lowerLegTransform = new RigidTransform(lowerLeg.transform.rotation, lowerLeg.transform.position); var upperLegTransform = new RigidTransform(upperLeg.transform.rotation, upperLeg.transform.position); float3 pivotLowerLeg = math.transform(math.inverse(lowerLegTransform), math.transform(upperLegTransform, pivotUpperLeg)); float3 axis = new float3(1, 0, 0); float3 perpendicular = new float3(0, 0, 1); var jointFrameUpperLeg = new JointFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotUpperLeg }; var jointFrameLowerLeg = new JointFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotLowerLeg }; return(JointData.CreateLimitedHinge(jointFrameUpperLeg, jointFrameLowerLeg, new FloatRange { Min = -1.2f })); }
public static BlobAssetReference <JointData> CreateElbow(GameObject upperArm, GameObject lowerArm) { float upperArmLength = 2 * upperArm.transform.localScale.y; float lowerArmLength = 2 * lowerArm.transform.localScale.y; float sign = math.sign(-1.0f * upperArm.transform.position.x); float3 pivotUpper = new float3(-1.0f * sign * upperArmLength / 2.0f, 0, 0); float3 pivotLower = new float3(sign * lowerArmLength / 2.0f, 0, 0); pivotUpper = math.rotate(math.inverse(upperArm.transform.rotation), pivotUpper); pivotLower = math.rotate(math.inverse(lowerArm.transform.rotation), pivotLower); float3 axis = new float3(0, 0, 1); float3 perpendicular = new float3(0, 1, 0); var jointFrameUpperArm = new JointFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotUpper }; var jointFrameLowerArm = new JointFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotLower }; return(JointData.CreateLimitedHinge(jointFrameUpperArm, jointFrameLowerArm, new FloatRange { Max = 3f })); }
public void JointDataCreateLimitedHingeTest() { var positionAinA = new float3(0.0f, 1.0f, 2.0f); var positionBinB = new float3(1.0f, 0.0f, 3.0f); var axisInA = new float3(1.0f, 0.0f, 0.0f); var axisInB = new float3(1.0f, 0.0f, 0.0f); var perpendicularInA = new float3(0.0f, 1.0f, 0.0f); var perpendicularInB = new float3(0.0f, 1.0f, 0.0f); var minAngle = -0.5f; var maxAngle = 0.5f; var jointDataRef = JointData.CreateLimitedHinge(positionAinA, positionBinB, axisInA, axisInB, perpendicularInA, perpendicularInB, minAngle, maxAngle); var jointData = jointDataRef.Value; Assert.AreEqual(positionAinA, jointData.AFromJoint.Translation); Assert.AreEqual(positionBinB, jointData.BFromJoint.Translation); Assert.AreEqual(1, jointData.Version); Assert.AreEqual(3, jointData.NumConstraints); var twistConstraint = jointDataRef.Value.Constraints[0]; Assert.AreEqual(new bool3(true, false, false), twistConstraint.ConstrainedAxes); Assert.AreEqual(ConstraintType.Angular, twistConstraint.Type); Assert.AreEqual(-0.5f, twistConstraint.Min); Assert.AreEqual(0.5f, twistConstraint.Max); Assert.AreEqual(Constraint.DefaultSpringFrequency, twistConstraint.SpringFrequency); Assert.AreEqual(Constraint.DefaultSpringDamping, twistConstraint.SpringDamping); var hingeConstraint = jointDataRef.Value.Constraints[1]; Assert.AreEqual(new bool3(false, true, true), hingeConstraint.ConstrainedAxes); Assert.AreEqual(ConstraintType.Angular, hingeConstraint.Type); Assert.AreEqual(0.0f, hingeConstraint.Min); Assert.AreEqual(0.0f, hingeConstraint.Max); Assert.AreEqual(Constraint.DefaultSpringFrequency, hingeConstraint.SpringFrequency); Assert.AreEqual(Constraint.DefaultSpringDamping, hingeConstraint.SpringDamping); var ballAndSocketConstraint = jointDataRef.Value.Constraints[2]; Assert.AreEqual(new bool3(true, true, true), ballAndSocketConstraint.ConstrainedAxes); Assert.AreEqual(ConstraintType.Linear, ballAndSocketConstraint.Type); Assert.AreEqual(0.0f, ballAndSocketConstraint.Min); Assert.AreEqual(0.0f, ballAndSocketConstraint.Max); Assert.AreEqual(Constraint.DefaultSpringFrequency, ballAndSocketConstraint.SpringFrequency); Assert.AreEqual(Constraint.DefaultSpringDamping, ballAndSocketConstraint.SpringDamping); }
public override unsafe void Create(EntityManager entityManager) { if (AutoSetConnected) { RigidTransform bFromA = math.mul(math.inverse(worldFromB), worldFromA); PositionInConnectedEntity = math.transform(bFromA, PositionLocal); HingeAxisInConnectedEntity = math.mul(bFromA.rot, HingeAxisLocal); PerpendicularAxisInConnectedEntity = math.mul(bFromA.rot, PerpendicularAxisLocal); } CreateJointEntity(JointData.CreateLimitedHinge( PositionLocal, PositionInConnectedEntity, math.normalize(HingeAxisLocal), math.normalize(HingeAxisInConnectedEntity), math.normalize(PerpendicularAxisLocal), math.normalize(PerpendicularAxisInConnectedEntity), math.radians(MinAngle), math.radians(MaxAngle)), entityManager); }
public override unsafe void Create(EntityManager entityManager) { if (autoSetConnected) { RigidTransform bFromA = math.mul(math.inverse(WorldFromB), WorldFromA); positionInConnectedEntity = math.transform(bFromA, positionLocal); hingeAxisInConnectedEntity = math.mul(bFromA.rot, hingeAxisLocal); perpendicularAxisInConnectedEntity = math.mul(bFromA.rot, perpendicularAxisLocal); } CreateJointEntity(JointData.CreateLimitedHinge( positionLocal, positionInConnectedEntity, math.normalize(hingeAxisLocal), math.normalize(hingeAxisInConnectedEntity), math.normalize(perpendicularAxisLocal), math.normalize(perpendicularAxisInConnectedEntity), math.radians(minAngle), math.radians(maxAngle)), entityManager); }
public override unsafe void Create(EntityManager entityManager) { if (AutoSetConnected) { var pb = math.transform(worldFromB, PositionInConnectedEntity); PositionLocal = math.transform(math.inverse(worldFromA), pb); HingeAxisLocal = math.rotate(math.inverse(worldFromA), math.rotate(worldFromB, HingeAxisInConnectedEntity)); PerpendicularAxisLocal = math.rotate(math.inverse(worldFromA), math.rotate(worldFromB, PerpendicularAxisInConnectedEntity)); } CreateJointEntity(JointData.CreateLimitedHinge( PositionLocal, PositionInConnectedEntity, math.normalize(HingeAxisLocal), math.normalize(HingeAxisInConnectedEntity), math.normalize(PerpendicularAxisLocal), math.normalize(PerpendicularAxisInConnectedEntity), math.radians(MinAngle), math.radians(MaxAngle)), entityManager); }
public static BlobAssetReference <JointData> CreateWrist(GameObject lowerArm, GameObject hand) { float armLength = 2.0f * lowerArm.transform.localScale.y; float handLength = 2.0f * hand.transform.localScale.y; float sign = math.sign(-1.0f * lowerArm.transform.position.x); float3 pivotFore = new float3(0, -1.0f * sign * armLength / 2.0f, 0); float3 pivotHand = new float3(0, sign * handLength / 2.0f, 0); float3 axis = new float3(0, 0, 1); float3 perpendicular = new float3(0, 1, 0); var jointFrameForearm = new JointFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFore }; var jointFrameHand = new JointFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotHand }; return(JointData.CreateLimitedHinge(jointFrameForearm, jointFrameHand, new FloatRange(-0.3f, 0.6f))); }
protected override unsafe void Start() { init(float3.zero); // no gravity // Enable the joint viewer SetDebugDisplay(new Unity.Physics.Authoring.PhysicsDebugDisplayData { DrawJoints = 1 }); Entity *entities = stackalloc Entity[2]; entities[1] = Entity.Null; for (int i = 0; i < 1; i++) { CollisionFilter filter = new CollisionFilter { CollidesWith = (uint)(1 << i), BelongsTo = (uint)~(1 << (1 - i)) }; BlobAssetReference <Collider> collider = BoxCollider.Create( new BoxGeometry { Center = float3.zero, Orientation = quaternion.identity, Size = new float3(1.0f, 0.2f, 0.2f), BevelRadius = 0.0f }, filter, Material.Default); entities[i] = CreateDynamicBody(float3.zero, quaternion.identity, collider, float3.zero, new float3(0, 1 - i, 0), 1.0f); } var jointFrame = new JointFrame { Axis = new float3(0, 1, 0), PerpendicularAxis = new float3(0, 0, 1) }; BlobAssetReference <JointData> hingeData = JointData.CreateLimitedHinge(jointFrame, jointFrame, new FloatRange(-math.PI, -0.2f)); CreateJoint(hingeData, entities[0], entities[1]); }
public static BlobAssetReference <JointData> CreateAnkle(GameObject lowerLeg, GameObject foot) { float lowerLegLength = 2.0f * lowerLeg.transform.localScale.y; var lowerLegTransform = new RigidTransform(lowerLeg.transform.rotation, lowerLeg.transform.position); var footTransform = new RigidTransform(foot.transform.rotation, foot.transform.position); float3 pivotLowerLeg = new float3(0, -lowerLegLength / 2.0f, 0); float3 pivotFoot = math.transform(math.inverse(footTransform), math.transform(lowerLegTransform, pivotLowerLeg)); float3 axis = new float3(1, 0, 0); float3 perpendicular = new float3(0, 0, 1); var jointFrameLowerLeg = new JointFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotLowerLeg }; var jointFrameFoot = new JointFrame { Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFoot }; return(JointData.CreateLimitedHinge(jointFrameLowerLeg, jointFrameFoot, new FloatRange(-0.4f, 0.1f))); }
void ConvertHingeJoint(LegacyHinge joint) { RigidTransform worldFromBodyA = Math.DecomposeRigidBodyTransform(joint.transform.localToWorldMatrix); RigidTransform worldFromBodyB = joint.connectedBody == null ? RigidTransform.identity : Math.DecomposeRigidBodyTransform(joint.connectedBody.transform.localToWorldMatrix); Math.CalculatePerpendicularNormalized(joint.axis, out float3 perpendicularA, out _); var bodyAFromJoint = new JointFrame { Axis = joint.axis, PerpendicularAxis = perpendicularA, Position = joint.anchor }; var connectedEntity = GetPrimaryEntity(joint.connectedBody); var isConnectedBodyConverted = joint.connectedBody == null || connectedEntity != Entity.Null; RigidTransform bFromA = isConnectedBodyConverted ? math.mul(math.inverse(worldFromBodyB), worldFromBodyA) : worldFromBodyA; RigidTransform bFromBSource = isConnectedBodyConverted ? RigidTransform.identity : worldFromBodyB; var bodyBFromJoint = new JointFrame { Axis = math.mul(bFromA.rot, joint.axis), PerpendicularAxis = math.mul(bFromA.rot, perpendicularA), Position = math.mul(bFromBSource, new float4(joint.connectedAnchor, 1f)).xyz }; var limits = math.radians(new FloatRange(joint.limits.min, joint.limits.max)); var jointData = joint.useLimits ? JointData.CreateLimitedHinge(bodyAFromJoint, bodyBFromJoint, limits) : JointData.CreateHinge(bodyAFromJoint, bodyBFromJoint); CreateJointEntity(joint.gameObject, jointData, GetPrimaryEntity(joint.gameObject), joint.connectedBody == null ? Entity.Null : connectedEntity, joint.enableCollision); }
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); } }
private void CreateRagdoll(float3 positionOffset, quaternion rotationOffset, int ragdollIndex = 1, bool internalCollisions = false) { NativeList <Entity> entities = new NativeList <Entity>(Allocator.Temp); // Head float headRadius = 0.1f; float3 headPosition = new float3(0, 1.8f, 0); Entity head; { CollisionFilter filter = internalCollisions ? layerFilter(layer.Head, layer.Torso) : groupFilter(-ragdollIndex); BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.SphereCollider.Create(float3.zero, headRadius, filter); head = CreateDynamicBody(headPosition, quaternion.identity, collider, float3.zero, float3.zero, 5.0f); } entities.Add(head); // Torso float3 torsoSize; float3 torsoPosition; Entity torso; { //UnityEngine.Mesh torsoMesh = (UnityEngine.Mesh)Resources.Load("torso", typeof(UnityEngine.Mesh)); torsoSize = torsoMesh.bounds.size; torsoPosition = headPosition - new float3(0, headRadius * 3.0f / 4.0f + torsoSize.y, 0); CollisionFilter filter = internalCollisions ? layerFilter(layer.Torso, layer.Thigh | layer.Head | layer.UpperArm | layer.Pelvis) : groupFilter(-ragdollIndex); NativeArray <float3> points = new NativeArray <float3>(torsoMesh.vertices.Length, Allocator.Temp); for (int i = 0; i < torsoMesh.vertices.Length; i++) { points[i] = torsoMesh.vertices[i]; } BlobAssetReference <Unity.Physics.Collider> collider = ConvexCollider.Create(points, 0.01f); collider.Value.Filter = filter; torso = CreateDynamicBody(torsoPosition, quaternion.identity, collider, float3.zero, float3.zero, 20.0f); } entities.Add(torso); // Neck { float3 pivotHead = new float3(0, -headRadius, 0); float3 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(head), pivotHead)); float3 axis = new float3(0, 1, 0); float3 perpendicular = new float3(0, 0, 1); float coneAngle = (float)math.PI / 5.0f; float minPerpendicularAngle = 0.0f; // unlimited float maxPerpendicularAngle = (float)math.PI; // unlimited float twistAngle = (float)math.PI / 3.0f; BlobAssetReference <JointData> ragdoll0, ragdoll1; JointData.CreateRagdoll(pivotHead, pivotBody, axis, axis, perpendicular, perpendicular, coneAngle, minPerpendicularAngle, maxPerpendicularAngle, -twistAngle, twistAngle, out ragdoll0, out ragdoll1); CreateJoint(ragdoll0, head, torso); CreateJoint(ragdoll1, head, torso); } // Arms { float armLength = 0.25f; float armRadius = 0.05f; CollisionFilter armUpperFilter = internalCollisions ? layerFilter(layer.UpperArm, layer.Torso | layer.Forearm) : groupFilter(-ragdollIndex); CollisionFilter armLowerFilter = internalCollisions ? layerFilter(layer.Forearm, layer.UpperArm | layer.Hand) : groupFilter(-ragdollIndex); BlobAssetReference <Unity.Physics.Collider> upperArmCollider = Unity.Physics.CapsuleCollider.Create(new float3(-armLength / 2, 0, 0), new float3(armLength / 2, 0, 0), armRadius, armUpperFilter); BlobAssetReference <Unity.Physics.Collider> foreArmCollider = Unity.Physics.CapsuleCollider.Create(new float3(-armLength / 2, 0, 0), new float3(armLength / 2, 0, 0), armRadius, armLowerFilter); float handLength = 0.025f; float handRadius = 0.055f; CollisionFilter handFilter = internalCollisions ? layerFilter(layer.Hand, layer.Forearm) : groupFilter(-ragdollIndex); BlobAssetReference <Unity.Physics.Collider> handCollider = Unity.Physics.CapsuleCollider.Create(new float3(-handLength / 2, 0, 0), new float3(handLength / 2, 0, 0), handRadius, handFilter); for (int i = 0; i < 2; i++) { float s = i * 2 - 1.0f; float3 upperArmPosition = torsoPosition + new float3(s * (torsoSize.x + armLength) / 2.0f, 0.9f * torsoSize.y - armRadius, 0.0f); Entity upperArm = CreateDynamicBody(upperArmPosition, quaternion.identity, upperArmCollider, float3.zero, float3.zero, 10.0f); float3 foreArmPosition = upperArmPosition + new float3(armLength * s, 0, 0); Entity foreArm = CreateDynamicBody(foreArmPosition, quaternion.identity, foreArmCollider, float3.zero, float3.zero, 5.0f); float3 handPosition = foreArmPosition + new float3((armLength + handLength) / 2.0f * s, 0, 0); Entity hand = CreateDynamicBody(handPosition, quaternion.identity, handCollider, float3.zero, float3.zero, 2.0f); entities.Add(upperArm); entities.Add(foreArm); entities.Add(hand); // shoulder { float3 pivotArm = new float3(-s * armLength / 2.0f, 0, 0); float3 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(upperArm), pivotArm)); float3 axis = new float3(s, 0, 0); float3 perpendicular = new float3(0, 0, 1); float coneAngle = (float)math.PI / 2.0f; float minPerpendicularAngle = 0.0f; float maxPerpendicularAngle = (float)math.PI / 2.0f; float twistAngle = (float)math.PI / 4.0f; BlobAssetReference <JointData> ragdoll0, ragdoll1; JointData.CreateRagdoll(pivotArm, pivotBody, axis, axis, perpendicular, perpendicular, coneAngle, minPerpendicularAngle, maxPerpendicularAngle, -twistAngle, twistAngle, out ragdoll0, out ragdoll1); CreateJoint(ragdoll0, upperArm, torso); CreateJoint(ragdoll1, upperArm, torso); } // elbow { float3 pivotUpper = new float3(s * armLength / 2.0f, 0, 0); float3 pivotFore = -pivotUpper; float3 axis = new float3(0, -s, 0); float3 perpendicular = new float3(s, 0, 0); float minAngle = 0.0f; float maxAngle = 3.0f; BlobAssetReference <JointData> hinge = JointData.CreateLimitedHinge(pivotFore, pivotUpper, axis, axis, perpendicular, perpendicular, minAngle, maxAngle); CreateJoint(hinge, foreArm, upperArm); } // wrist { float3 pivotFore = new float3(s * armLength / 2.0f, 0, 0); float3 pivotHand = new float3(-s * handLength / 2.0f, 0, 0); float3 axis = new float3(0, -s, 0); float3 perpendicular = new float3(s, 0, 0); float minAngle = -0.3f; float maxAngle = 0.6f; BlobAssetReference <JointData> hinge = JointData.CreateLimitedHinge(pivotHand, pivotFore, axis, axis, perpendicular, perpendicular, minAngle, maxAngle); CreateJoint(hinge, hand, foreArm); } } } // Pelvis float pelvisRadius = 0.08f; float pelvisLength = 0.22f; float3 pelvisPosition = torsoPosition - new float3(0, pelvisRadius * 0.75f, 0.0f); Entity pelvis; { CollisionFilter filter = internalCollisions ? layerFilter(layer.Pelvis, layer.Torso | layer.Thigh) : groupFilter(-ragdollIndex); BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.CapsuleCollider.Create(new float3(-pelvisLength / 2.0f, 0, 0), new float3(pelvisLength / 2.0f, 0, 0), pelvisRadius, filter); pelvis = CreateDynamicBody(pelvisPosition, quaternion.identity, collider, float3.zero, float3.zero, 15.0f); } entities.Add(pelvis); // Waist { float3 pivotTorso = float3.zero; float3 pivotPelvis = math.transform(math.inverse(GetBodyTransform(pelvis)), math.transform(GetBodyTransform(torso), pivotTorso)); float3 axis = new float3(0, -1, 0); float3 perpendicular = new float3(0, 0, 1); float coneAngle = 0.1f; float minPerpendicularAngle = -0.1f; float maxPerpendicularAngle = (float)math.PI; float twistAngle = 0.1f; BlobAssetReference <JointData> ragdoll0, ragdoll1; JointData.CreateRagdoll(pivotPelvis, pivotTorso, axis, axis, perpendicular, perpendicular, coneAngle, minPerpendicularAngle, maxPerpendicularAngle, -twistAngle, twistAngle, out ragdoll0, out ragdoll1); CreateJoint(ragdoll0, pelvis, torso); CreateJoint(ragdoll1, pelvis, torso); } // Legs { float thighLength = 0.32f; float thighRadius = 0.08f; CollisionFilter thighFilter = internalCollisions ? layerFilter(layer.Thigh, layer.Pelvis | layer.Calf) : groupFilter(-ragdollIndex); BlobAssetReference <Unity.Physics.Collider> thighCollider = Unity.Physics.CapsuleCollider.Create(new float3(0, -thighLength / 2, 0), new float3(0, thighLength / 2, 0), thighRadius, thighFilter); float calfLength = 0.32f; float calfRadius = 0.06f; CollisionFilter calfFilter = internalCollisions ? layerFilter(layer.Calf, layer.Thigh | layer.Foot) : groupFilter(-ragdollIndex); BlobAssetReference <Unity.Physics.Collider> calfCollider = Unity.Physics.CapsuleCollider.Create(new float3(0, -calfLength / 2, 0), new float3(0, calfLength / 2, 0), calfRadius, calfFilter); float footLength = 0.08f; float footRadius = 0.06f; CollisionFilter footFilter = internalCollisions ? layerFilter(layer.Foot, layer.Calf) : groupFilter(-ragdollIndex); BlobAssetReference <Unity.Physics.Collider> footCollider = Unity.Physics.CapsuleCollider.Create(new float3(0, 0, 0), new float3(0, 0, footLength), footRadius, footFilter); for (int i = 0; i < 2; i++) { float s = i * 2 - 1.0f; float3 thighPosition = pelvisPosition + new float3(s * pelvisLength / 2.0f, -thighLength / 2.0f, 0.0f); Entity thigh = CreateDynamicBody(thighPosition, quaternion.identity, thighCollider, float3.zero, float3.zero, 10.0f); float3 calfPosition = thighPosition + new float3(0, -(thighLength + calfLength) / 2.0f, 0); Entity calf = CreateDynamicBody(calfPosition, quaternion.identity, calfCollider, float3.zero, float3.zero, 5.0f); float3 footPosition = calfPosition + new float3(0, -calfLength / 2.0f, 0); Entity foot = CreateDynamicBody(footPosition, quaternion.identity, footCollider, float3.zero, float3.zero, 2.0f); entities.Add(thigh); entities.Add(calf); entities.Add(foot); // hip { float3 pivotThigh = new float3(0, thighLength / 2.0f, 0); float3 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(thigh), pivotThigh)); float3 axis = new float3(0, -1, 0); float3 perpendicular = new float3(s, 0, 0); float coneAngle = (float)math.PI / 4.0f; float minPerpendicularAngle = 0.0f; float maxPerpendicularAngle = 0.2f + (float)math.PI / 2.0f; float twistAngle = 0.2f; BlobAssetReference <JointData> ragdoll0, ragdoll1; JointData.CreateRagdoll(pivotThigh, pivotBody, axis, axis, perpendicular, perpendicular, coneAngle, minPerpendicularAngle, maxPerpendicularAngle, -twistAngle, twistAngle, out ragdoll0, out ragdoll1); CreateJoint(ragdoll0, thigh, torso); CreateJoint(ragdoll1, thigh, torso); } // knee { float3 pivotThigh = new float3(0, -thighLength / 2.0f, 0); float3 pivotCalf = math.transform(math.inverse(GetBodyTransform(calf)), math.transform(GetBodyTransform(thigh), pivotThigh)); float3 axis = new float3(-1, 0, 0); float3 perpendicular = new float3(0, 0, 1); float minAngle = -1.2f; float maxAngle = 0.0f; BlobAssetReference <JointData> hinge = JointData.CreateLimitedHinge(pivotCalf, pivotThigh, axis, axis, perpendicular, perpendicular, minAngle, maxAngle); CreateJoint(hinge, calf, thigh); } // ankle { float3 pivotCalf = new float3(0, -calfLength / 2.0f, 0); float3 pivotFoot = float3.zero; float3 axis = new float3(-1, 0, 0); float3 perpendicular = new float3(0, 0, 1); float minAngle = -0.4f; float maxAngle = 0.1f; BlobAssetReference <JointData> hinge = JointData.CreateLimitedHinge(pivotFoot, pivotCalf, axis, axis, perpendicular, perpendicular, minAngle, maxAngle); CreateJoint(hinge, foot, calf); } } } // reposition with offset information if (entities.Length > 0) { float3 center = float3.zero; for (int i = 0; i < entities.Length; i++) { var e = entities[i]; center += EntityManager.GetComponentData <Translation>(e).Value; } center /= entities.Length; for (int i = 0; i < entities.Length; i++) { var e = entities[i]; Translation positionComponent = EntityManager.GetComponentData <Translation>(e); Rotation rotationComponent = EntityManager.GetComponentData <Rotation>(e); float3 position = positionComponent.Value; quaternion rotation = rotationComponent.Value; float3 localPosition = position - center; localPosition = math.rotate(rotationOffset, localPosition); position = localPosition + center + positionOffset; rotation = math.mul(rotation, rotationOffset); positionComponent.Value = position; rotationComponent.Value = rotation; EntityManager.SetComponentData <Translation>(e, positionComponent); EntityManager.SetComponentData <Rotation>(e, rotationComponent); } } }