void OnCollisionStay(Collision collision)
{
contactPoints.Clear();
if (collision.contacts.Length > 0)
{
//Debug.Log(this.name + " ================================= "+collision.contacts.Length);
ContactPointInfo cp = new ContactPointInfo();
cp.collider1 = collision.contacts[0].thisCollider;
cp.collider2 = collision.contacts[0].otherCollider;
cp.cp = collision.contacts[0].point;
cp.n = collision.contacts[0].normal;
cp.v = collision.relativeVelocity;
//Debug.Log(collision.contacts[0].thisCollider.name+"<->"+collision.contacts[0].otherCollider.name+" === "+cp.cp+" "+cp.n+" "+cp.v);
//Debug.DrawLine(cp.cp, cp.cp+cp.v, Color.red);
contactPoints.Add(cp);
}
}
void OnCollisionEnter(Collision collision)
{
// Debug.Log(this.name + " vvvvvvvv "+this.rigidbody.velocity);
ContactPointInfo cp = new ContactPointInfo();
cp.collider1 = collision.contacts[0].thisCollider;
cp.collider2 = collision.contacts[0].otherCollider;
cp.cp = collision.contacts[0].point;
cp.n = collision.contacts[0].normal;
cp.v = collision.relativeVelocity;
HitFeedback fb = new HitFeedback();
fb.feedbackARB = this;
fb.localPos = this.getLocalCoordinatesPoint(cp.cp);
//if(cp.collider2.rigidbody != null && cp.collider2.rigidbody.velocity.magnitude > 0.01f){
fb.force = collision.relativeVelocity;
//}else{
//fb.force = cp.collider2.rigidbody.mass * collision.relativeVelocity;
//}
fb.bodySpringKp = -19 * fb.force.magnitude + 580;
fb.bodySpringKp = Mathf.Clamp(fb.bodySpringKp, 10, 200);
fb.bodySpringKd = -0.5f * fb.force.magnitude + 20;
fb.bodySpringKd = Mathf.Clamp(fb.bodySpringKd, 5, 10);
fb.rootExternalTorqueKp = -2 * fb.force.magnitude + 60;
fb.rootExternalTorqueKp = Mathf.Clamp(fb.rootExternalTorqueKp, 0.0001f, 10);
fb.rootExternalTorqueKd = -10 * fb.force.magnitude + 300;
fb.rootExternalTorqueKd = Mathf.Clamp(fb.rootExternalTorqueKd, 0.0001f, 100);
fb.power = 6.7f * fb.force.magnitude - 100;
fb.power = Mathf.Clamp(fb.power, 0, 100);
fb.isTouchDown = true;
if (onCollisionEnterHandler != null)
{
onCollisionEnterHandler(fb, cp);
}
}
