/// <summary>
/// Updates the transform of the internal Collider representation from the transform of the component's scene object.
/// </summary>
protected void UpdateTransform()
{
Vector3 myScale = SceneObject.Scale;
if (parent != null)
{
Vector3 parentPos = parent.SceneObject.Position;
Quaternion parentRot = parent.SceneObject.Rotation;
Vector3 myPos = SceneObject.Position;
Quaternion myRot = SceneObject.Rotation;
Vector3 scale = parent.SceneObject.Scale;
Vector3 invScale = scale;
if (invScale.x != 0)
{
invScale.x = 1.0f / invScale.x;
}
if (invScale.y != 0)
{
invScale.y = 1.0f / invScale.y;
}
if (invScale.z != 0)
{
invScale.z = 1.0f / invScale.z;
}
Quaternion invRotation = parentRot.Inverse;
Vector3 relativePos = invRotation.Rotate(myPos - parentPos) * invScale;
Quaternion relativeRot = invRotation * myRot;
relativePos = relativePos + myRot.Rotate(serializableData.localPosition * scale);
relativeRot = relativeRot * serializableData.localRotation;
native.Position = relativePos;
native.Rotation = relativeRot;
parent.UpdateMassDistribution();
}
else
{
Quaternion myRot = SceneObject.Rotation;
Vector3 myPos = SceneObject.Position + myRot.Rotate(serializableData.localPosition * myScale);
myRot = myRot * serializableData.localRotation;
native.Position = myPos;
native.Rotation = myRot;
}
native.Scale = myScale;
}
/// <summary>
/// Calculates the local position/rotation that needs to be applied to the particular joint body.
/// </summary>
/// <param name="body">Body to calculate the transform for.</param>
/// <param name="position">Output position for the body.</param>
/// <param name="rotation">Output rotation for the body.</param>
protected virtual void GetLocalTransform(JointBody body, out Vector3 position, out Quaternion rotation)
{
position = commonData.positions[(int)body];
rotation = commonData.rotations[(int)body];
Rigidbody rigidbody = commonData.bodies[(int)body];
if (rigidbody == null) // Get world space transform if not relative to any body
{
Quaternion worldRot = SceneObject.Rotation;
rotation = worldRot * rotation;
position = worldRot.Rotate(position) + SceneObject.Position;
}
else
{
position = rotation.Rotate(position);
}
}
/// <inheritdoc/>
protected internal override void PreInput()
{
Camera cam = EditorApplication.SceneViewCamera;
if (cam == null)
return;
position = new Vector3(0, 0, -5.0f);
rotation = cam.SceneObject.Rotation.Inverse;
Vector3 xOffset = rotation.Rotate(new Vector3(BOX_EXTENT, 0.0f, 0.0f));
Vector3 yOffset = rotation.Rotate(new Vector3(0.0f, BOX_EXTENT, 0.0f));
Vector3 zOffset = rotation.Rotate(new Vector3(0.0f, 0.0f, BOX_EXTENT));
xAxis.Position = position + xOffset;
yAxis.Position = position + yOffset;
zAxis.Position = position + zOffset;
xAxis.Rotation = rotation;
yAxis.Rotation = rotation;
zAxis.Rotation = rotation;
xNegAxis.Position = position - xOffset;
yNegAxis.Position = position - yOffset;
zNegAxis.Position = position - zOffset;
xNegAxis.Rotation = rotation;
yNegAxis.Rotation = rotation;
zNegAxis.Rotation = rotation;
Vector3 cameraForward = cam.SceneObject.Forward;
xAxis.Enabled = MathEx.Abs(Vector3.Dot(cameraForward, Vector3.XAxis)) < DISABLE_THRESHOLD;
yAxis.Enabled = MathEx.Abs(Vector3.Dot(cameraForward, Vector3.YAxis)) < DISABLE_THRESHOLD;
zAxis.Enabled = MathEx.Abs(Vector3.Dot(cameraForward, Vector3.ZAxis)) < DISABLE_THRESHOLD;
xNegAxis.Enabled = MathEx.Abs(Vector3.Dot(cameraForward, Vector3.XAxis)) < DISABLE_THRESHOLD;
yNegAxis.Enabled = MathEx.Abs(Vector3.Dot(cameraForward, Vector3.YAxis)) < DISABLE_THRESHOLD;
zNegAxis.Enabled = MathEx.Abs(Vector3.Dot(cameraForward, Vector3.ZAxis)) < DISABLE_THRESHOLD;
Vector3 freeAxisOffset = new Vector3(-BOX_EXTENT, -BOX_EXTENT, 0.2f);
projTypePlane.Rotation = Quaternion.Identity;
projTypePlane.Position = position + freeAxisOffset;
}
/// <summary>
/// Calculates the local position/rotation that needs to be applied to the particular joint body.
/// </summary>
/// <param name="body">Body to calculate the transform for.</param>
/// <param name="position">Output position for the body.</param>
/// <param name="rotation">Output rotation for the body.</param>
protected virtual void GetLocalTransform(JointBody body, out Vector3 position, out Quaternion rotation)
{
position = commonData.positions[(int)body];
rotation = commonData.rotations[(int)body];
Rigidbody rigidbody = commonData.bodies[(int)body];
if (rigidbody == null) // Get world space transform if not relative to any body
{
Quaternion worldRot = SceneObject.Rotation;
rotation = worldRot * rotation;
position = worldRot.Rotate(position) + SceneObject.Position;
}
else
{
position = rotation.Rotate(position);
}
}
