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);
}
}
public override void Collide(ref Vector3 position, float spacing)
{
if (insideMode)
{
EZPhysicsBoneUtility.PointInsideCylinder(ref position, transform, spacing + margin);
}
else
{
EZPhysicsBoneUtility.PointOutsideCylinder(ref position, transform, spacing + margin);
}
}
private void OnDrawGizmosSelected()
{
Vector3 center, direction;
float radius, height;
EZPhysicsBoneUtility.GetCylinderParams(transform, out center, out direction, out radius, out height);
UnityEditor.Handles.color = Color.red;
UnityEditor.Handles.matrix = Matrix4x4.identity;
Vector3 p0 = center + direction * height;
Vector3 p1 = center - direction * height;
UnityEditor.Handles.DrawWireDisc(p0, transform.up, radius);
UnityEditor.Handles.DrawWireDisc(p1, transform.up, radius);
UnityEditor.Handles.matrix *= Matrix4x4.Translate(transform.forward * radius);
UnityEditor.Handles.DrawLine(p0, p1);
UnityEditor.Handles.matrix *= Matrix4x4.Translate(-transform.forward * 2 * radius);
UnityEditor.Handles.DrawLine(p0, p1);
UnityEditor.Handles.matrix *= Matrix4x4.Translate((transform.right + transform.forward) * radius);
UnityEditor.Handles.DrawLine(p0, p1);
UnityEditor.Handles.matrix *= Matrix4x4.Translate(-transform.right * 2 * radius);
UnityEditor.Handles.DrawLine(p0, p1);
}
private void UpdateNode(TreeNode node, float deltaTime)
{
if (node.depth > startDepth)
{
Vector3 position = node.position;
// Damping (inertia attenuation)
if (node.speed.sqrMagnitude < sleepThreshold)
{
node.speed = Vector3.zero;
}
else
{
position += node.speed * deltaTime * (1 - node.damping);
}
// Resistance (force resistance)
Vector3 force = gravity;
if (gravityAligner != null)
{
Vector3 alignedDir = gravityAligner.TransformDirection(gravity).normalized;
Vector3 globalDir = gravity.normalized;
float attenuation = Mathf.Acos(Vector3.Dot(alignedDir, globalDir)) / Mathf.PI;
force *= attenuation;
}
if (forceModule != null)
{
force += forceModule.GetForce(node.normalizedLength);
}
force.x *= transform.localScale.x;
force.y *= transform.localScale.y;
force.z *= transform.localScale.z;
position += force * (1 - node.resistance) / iterations;
// Stiffness (shape keeper)
Vector3 parentOffset = node.parent.position - node.parent.transform.position;
Vector3 expectedPos = node.parent.transform.TransformPoint(node.originalLocalPosition) + parentOffset;
position = Vector3.Lerp(position, expectedPos, node.stiffness / iterations);
// Slackness (length keeper)
Vector3 nodeDir = (position - node.parent.position).normalized;
float nodeLength = node.parent.transform.TransformVector(node.originalLocalPosition).magnitude;
nodeDir = node.parent.position + nodeDir * nodeLength;
// Siblings
if (siblingConstraints != SiblingConstraints.None)
{
int constraints = 1;
if (node.leftSibling != null)
{
Vector3 leftDir = (position - node.leftSibling.position).normalized;
float leftLength = node.transform.TransformVector(node.positionToLeft).magnitude;
leftDir = node.leftSibling.position + leftDir * leftLength;
nodeDir += leftDir;
constraints++;
}
if (node.rightSibling != null)
{
Vector3 rightDir = (position - node.rightSibling.position).normalized;
float rightLength = node.transform.TransformVector(node.positionToRight).magnitude;
rightDir = node.rightSibling.position + rightDir * rightLength;
nodeDir += rightDir;
constraints++;
}
nodeDir /= constraints;
}
position = Vector3.Lerp(nodeDir, position, node.slackness / iterations);
// Collision
if (node.radius > 0)
{
foreach (EZPBColliderBase collider in EZPBColliderBase.EnabledColliders)
{
if (node.transform != collider.transform && collisionLayers.Contains(collider.gameObject.layer))
{
collider.Collide(ref position, node.radius);
}
}
foreach (Collider collider in extraColliders)
{
if (node.transform != collider.transform && collider.enabled)
{
EZPhysicsBoneUtility.PointOutsideCollider(ref position, collider, node.radius);
}
}
}
node.speed = (position - node.position) / deltaTime;
node.position = position;
}
else
{
node.transform.localPosition = node.originalLocalPosition;
node.position = node.transform.position;
}
for (int i = 0; i < node.children.Count; i++)
{
UpdateNode(node.children[i], deltaTime);
}
}
