private void OnDrawGizmosSelected()
{
Vector3 force0 = GetForce(0) * 50;
float width = force0.magnitude * 0.2f;
Gizmos.DrawRay(transform.position, force0);
EZPhysicsBoneUtility.DrawGizmosArrow(transform.position, force0, width, transform.up);
EZPhysicsBoneUtility.DrawGizmosArrow(transform.position, force0, width, transform.right);
}
public override void Collide(ref Vector3 position, float spacing)
{
if (referenceCollider is SphereCollider)
{
SphereCollider collider = referenceCollider as SphereCollider;
if (insideMode)
{
EZPhysicsBoneUtility.PointInsideSphere(ref position, collider, spacing + margin);
}
else
{
EZPhysicsBoneUtility.PointOutsideSphere(ref position, collider, spacing + margin);
}
}
else if (referenceCollider is CapsuleCollider)
{
CapsuleCollider collider = referenceCollider as CapsuleCollider;
if (insideMode)
{
EZPhysicsBoneUtility.PointInsideCapsule(ref position, collider, spacing + margin);
}
else
{
EZPhysicsBoneUtility.PointOutsideCapsule(ref position, collider, spacing + margin);
}
}
else if (referenceCollider is BoxCollider)
{
BoxCollider collider = referenceCollider as BoxCollider;
if (insideMode)
{
EZPhysicsBoneUtility.PointInsideBox(ref position, collider, spacing + margin);
}
else
{
EZPhysicsBoneUtility.PointOutsideBox(ref position, collider, spacing + margin);
}
}
else if (referenceCollider is MeshCollider)
{
if (!CheckConvex(referenceCollider as MeshCollider))
{
Debug.LogError("Non-Convex Mesh Collider is not supported", this);
enabled = false;
return;
}
if (insideMode)
{
Debug.LogError("Inside Mode On Mesh Collider is not supported", this);
insideMode = false;
return;
}
EZPhysicsBoneUtility.PointOutsideCollider(ref position, referenceCollider, spacing + margin);
}
}
private void UpdateNode(TreeNode node, float deltaTime)
{
if (node.depth > startDepth)
{
Vector3 lastPosition = node.position;
// Damping (inertia attenuation)
if (node.speed.sqrMagnitude < sleepThreshold)
{
node.speed = Vector3.zero;
}
else
{
node.position += node.speed * deltaTime * (1 - sharedMaterial.GetDamping(node.normalizedLength));
}
// Resistance (outside force resistance)
Vector3 force = gravity;
if (forceModule != null)
{
force += forceModule.GetForce(node.normalizedLength);
}
node.position += force * (1 - sharedMaterial.GetResistance(node.normalizedLength));
// Stiffness (shape keeper)
Vector3 parentOffset = node.parent.position - node.parent.transform.position;
Vector3 expectedPos = node.parent.transform.TransformPoint(node.originalLocalPosition) + parentOffset;
node.position = Vector3.Lerp(node.position, expectedPos, sharedMaterial.GetStiffness(node.normalizedLength));
// Collision
if (node.radius > 0)
{
foreach (EZPhysicsBoneColliderBase collider in EZPhysicsBoneColliderBase.EnabledColliders)
{
if (node.transform != collider.transform && collisionLayers.Contains(collider.gameObject.layer))
{
collider.Collide(ref node.position, node.radius);
}
}
foreach (Collider collider in extraColliders)
{
if (node.transform != collider.transform && collider.enabled)
{
EZPhysicsBoneUtility.PointOutsideCollider(ref node.position, collider, node.radius);
}
}
}
// Slackness (length keeper)
float slackness = sharedMaterial.GetSlackness(node.normalizedLength);
Vector3 nodeDir = (node.position - node.parent.position).normalized;
Vector3 lengthKeeper = node.parent.position + nodeDir * node.nodeLength;
node.position = Vector3.Lerp(lengthKeeper, node.position, slackness);
node.speed = (node.position - lastPosition) / deltaTime;
}
else
{
node.position = node.transform.position;
}
for (int i = 0; i < node.children.Count; i++)
{
UpdateNode(node.children[i], deltaTime);
}
}