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@@ -1,1404 +1,1398 @@
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-//********************************** Banshee Engine (www.banshee3d.com) **************************************************//
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-//**************** Copyright (c) 2016 Marko Pintera ([email protected]). All rights reserved. **********************//
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-
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-using System;
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-using System.Runtime.InteropServices;
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-
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-namespace BansheeEngine
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-{
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- /// <summary>
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- /// Base class for all Joint types. Joints constrain how two rigidbodies move relative to one another (e.g. a door
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- /// hinge). One of the bodies in the joint must always be movable (i.e. non-kinematic).
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- /// </summary>
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- public abstract class Joint : Component
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- {
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- internal NativeJoint native;
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-
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- [SerializeField]
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- internal SerializableData serializableData = new SerializableData();
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-
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- /// <summary>
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- /// Triggered when the joint's break force or torque is exceeded.
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- /// </summary>
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- public event Action OnJointBreak;
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-
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- /// <summary>
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- /// Maximum force the joint can apply before breaking. Broken joints no longer participate in physics simulation.
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- /// </summary>
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- public float BreakForce
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- {
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- get { return serializableData.breakForce; }
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- set
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- {
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- if (serializableData.breakForce == value)
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- return;
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-
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- serializableData.breakForce = value;
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-
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- if (native != null)
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- native.BreakForce = value;
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- }
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- }
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-
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- /// <summary>
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- /// Sets the maximum force the joint can apply before breaking. Broken joints no longer participate in physics
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- /// simulation.
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- /// </summary>
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- public float BreakTorque
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- {
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- get { return serializableData.breakTorque; }
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- set
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- {
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- if (serializableData.breakTorque == value)
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- return;
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-
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- serializableData.breakTorque = value;
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-
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- if (native != null)
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- native.BreakTorque = value;
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- }
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- }
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-
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- /// <summary>
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- /// Determines whether collisions between the two bodies managed by the joint are enabled.
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- /// </summary>
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- public bool EnableCollision
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- {
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- get { return serializableData.enableCollision; }
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- set
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- {
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- if (serializableData.enableCollision == value)
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- return;
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-
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- serializableData.enableCollision = value;
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-
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- if (native != null)
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- native.EnableCollision = value;
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- }
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- }
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-
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- /// <summary>
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- /// Returns one of the bodies managed by the joint.
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- /// </summary>
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- /// <param name="body">Which of the rigidbodies to return.</param>
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- /// <returns>Rigidbody managed by the joint, or null if none.</returns>
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- public Rigidbody GetRigidbody(JointBody body)
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- {
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- return serializableData.bodies[(int) body];
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- }
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-
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- /// <summary>
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- /// Sets a body managed by the joint. One of the bodies must be movable (i.e. non-kinematic).
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- /// </summary>
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- /// <param name="body">Which of the rigidbodies to set.</param>
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- /// <param name="rigidbody">Rigidbody to managed by the joint, or null. If one of the bodies is null the other
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- /// one will be anchored globally to the position/rotation set by <see cref="SetPosition"/>
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- /// and <see cref="SetRotation"/>.</param>
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- public void SetRigidbody(JointBody body, Rigidbody rigidbody)
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- {
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- if (serializableData.bodies[(int)body] == rigidbody)
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- return;
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-
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- if (serializableData.bodies[(int)body] != null)
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- serializableData.bodies[(int)body].SetJoint(null);
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-
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- serializableData.bodies[(int)body] = rigidbody;
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-
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- if (rigidbody != null)
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- serializableData.bodies[(int)body].SetJoint(this);
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-
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- if (native != null)
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- {
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- native.SetRigidbody(body, rigidbody);
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- UpdateTransform(body);
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- }
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- }
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-
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- /// <summary>
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- /// Returns the position at which the body is anchored to the joint.
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- /// </summary>
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- /// <param name="body">Which body to retrieve position for.</param>
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- /// <returns>Position relative to the body.</returns>
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- public Vector3 GetPosition(JointBody body)
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- {
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- return serializableData.positions[(int)body];
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- }
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-
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- /// <summary>
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- /// Sets the position at which the body is anchored to the joint.
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- /// </summary>
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- /// <param name="body">Which body set the position for.</param>
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- /// <param name="position">Position relative to the body.</param>
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- public void SetPosition(JointBody body, Vector3 position)
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- {
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- if (serializableData.positions[(int)body] == position)
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- return;
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-
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- serializableData.positions[(int) body] = position;
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-
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- if (native != null)
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- UpdateTransform(body);
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- }
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-
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- /// <summary>
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- /// Returns the rotation at which the body is anchored to the joint.
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- /// </summary>
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- /// <param name="body">Which body to retrieve rotation for.</param>
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- /// <returns>Rotation relative to the body.</returns>
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- public Quaternion GetRotation(JointBody body)
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- {
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- return serializableData.rotations[(int)body];
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- }
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-
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- /// <summary>
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- /// Sets the rotation at which the body is anchored to the joint.
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- /// </summary>
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- /// <param name="body">Which body set the rotation for.</param>
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- /// <param name="rotation">Rotation relative to the body.</param>
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- public void SetRotation(JointBody body, Quaternion rotation)
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- {
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- if (serializableData.rotations[(int)body] == rotation)
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- return;
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-
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- serializableData.rotations[(int)body] = rotation;
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-
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- if (native != null)
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- UpdateTransform(body);
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- }
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-
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- /// <summary>
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- /// Triggered when the joint breaks.
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- /// </summary>
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- internal void DoOnJointBreak()
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- {
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- if (OnJointBreak != null)
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- OnJointBreak();
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- }
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-
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- /// <summary>
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- /// Notifies the joint that one of the attached rigidbodies moved and that its transform needs updating.
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- /// </summary>
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- /// <param name="body">Rigidbody that moved.</param>
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- internal void NotifyRigidbodyMoved(Rigidbody body)
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- {
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- // If physics update is in progress do nothing, as its the joint itself that's probably moving the body
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- if (Physics.IsUpdateInProgress)
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- return;
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-
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- if (serializableData.bodies[0] == body)
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- UpdateTransform(JointBody.A);
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- else if (serializableData.bodies[1] == body)
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- UpdateTransform(JointBody.B);
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- }
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-
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- /// <summary>
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- /// Creates the internal representation of the Joint for use by the component.
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- /// </summary>
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- /// <returns>New native joint object.</returns>
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- internal abstract NativeJoint CreateNative();
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-
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- private void OnInitialize()
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- {
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- NotifyFlags = TransformChangedFlags.Transform | TransformChangedFlags.Parent;
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- }
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-
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- private void OnReset()
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- {
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- RestoreNative();
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- }
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-
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- private void OnEnable()
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- {
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- if (native == null)
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- RestoreNative();
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- }
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-
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- private void OnDisable()
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- {
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- DestroyNative();
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- }
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-
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- private void OnDestroy()
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- {
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- if (serializableData.bodies[0] != null)
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- serializableData.bodies[0].SetJoint(null);
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-
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- if (serializableData.bodies[1] != null)
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- serializableData.bodies[1].SetJoint(null);
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-
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- DestroyNative();
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- }
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-
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- private void OnTransformChanged(TransformChangedFlags flags)
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- {
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- if (!SceneObject.Active)
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- return;
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-
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- // We're ignoring this during physics update because it would cause problems if the joint itself was moved by physics
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- // Note: This isn't particularily correct because if the joint is being moved by physics but the rigidbodies
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- // themselves are not parented to the joint, the transform will need updating. However I'm leaving it up to the
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- // user to ensure rigidbodies are always parented to the joint in such a case (It's an unlikely situation that
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- // I can't think of an use for - joint transform will almost always be set as an initialization step and not a
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- // physics response).
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- if (Physics.IsUpdateInProgress)
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- return;
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-
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- UpdateTransform(JointBody.A);
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- UpdateTransform(JointBody.B);
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- }
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-
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- /// <summary>
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- /// Creates the internal representation of the Joint and restores the values saved by the Component.
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- /// </summary>
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- private void RestoreNative()
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- {
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- native = CreateNative();
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-
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- // Note: Merge into one call to avoid many virtual function calls
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- Rigidbody[] bodies = new Rigidbody[2];
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-
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- if (serializableData.bodies[0] != null)
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- bodies[0] = serializableData.bodies[0];
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- else
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- bodies[0] = null;
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-
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- if (serializableData.bodies[1] != null)
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- bodies[1] = serializableData.bodies[1];
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- else
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- bodies[1] = null;
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-
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- native.SetRigidbody(JointBody.A, bodies[0]);
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- native.SetRigidbody(JointBody.B, bodies[1]);
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- native.BreakForce = serializableData.breakForce;
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- native.BreakTorque = serializableData.breakTorque;
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- native.EnableCollision = serializableData.enableCollision;
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- native.BreakTorque = serializableData.breakTorque;
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- native.EnableCollision = serializableData.enableCollision;
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-
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- UpdateTransform(JointBody.A);
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- UpdateTransform(JointBody.B);
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- }
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-
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- /// <summary>
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- /// Destroys the internal joint representation.
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- /// </summary>
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- private void DestroyNative()
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- {
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- if (native != null)
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- {
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- native.Destroy();
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- native = null;
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- }
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- }
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-
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- /// <summary>
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- /// Updates the local transform for the specified body attached to the joint.
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- /// </summary>
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- /// <param name="body">Body to update.</param>
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- private void UpdateTransform(JointBody body)
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- {
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- Vector3 localPos;
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- Quaternion localRot;
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-
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- localPos = serializableData.positions[(int)body];
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- localRot = serializableData.rotations[(int)body];
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-
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- // Transform to world space of the related body
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- Rigidbody rigidbody = serializableData.bodies[(int)body];
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- if (rigidbody != null)
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- {
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- localRot = rigidbody.SceneObject.Rotation * localRot;
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- localPos = localRot.Rotate(localPos) + rigidbody.SceneObject.Position;
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- }
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-
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- // Transform to space local to the joint
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- Quaternion invRotation = SceneObject.Rotation.Inverse;
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-
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- localPos = invRotation.Rotate(localPos - SceneObject.Position);
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- localRot = invRotation * localRot;
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-
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- native.SetPosition(body, localPos);
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- native.SetRotation(body, localRot);
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- }
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-
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- /// <summary>
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- /// Holds all data the joint component needs to persist through serialization.
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- /// </summary>
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- [SerializeObject]
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- internal class SerializableData
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- {
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- public Rigidbody[] bodies = new Rigidbody[2];
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- public Vector3[] positions = new Vector3[2];
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- public Quaternion[] rotations = new Quaternion[2];
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- public float breakForce = float.MaxValue;
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- public float breakTorque = float.MaxValue;
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- public bool enableCollision = false;
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- }
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- }
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-
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- /// <summary>
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- /// Controls spring parameters for a physics joint limits. If a limit is soft (body bounces back due to restitution when
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- /// the limit is reached) the spring will pull the body back towards the limit using the specified parameters.
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- /// </summary>
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- [StructLayout(LayoutKind.Sequential), SerializeObject]
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- public struct Spring // Note: Must match C++ struct Spring
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- {
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- /// <summary>
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- /// Constructs a spring.
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- /// </summary>
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- /// <param name="stiffness">Spring strength.Force proportional to the position error.</param>
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- /// <param name="damping">Damping strength. Force propertional to the velocity error.</param>
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- public Spring(float stiffness, float damping)
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- {
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- this.stiffness = stiffness;
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- this.damping = damping;
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- }
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-
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- /// <inheritdoc/>
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- public override bool Equals(object rhs)
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- {
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- if (rhs is Spring)
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- {
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- Spring other = (Spring)rhs;
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- return stiffness == other.stiffness && damping == other.damping;
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- }
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-
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- return false;
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- }
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-
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- /// <inheritdoc/>
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- public override int GetHashCode()
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- {
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- return base.GetHashCode();
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- }
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-
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- public static bool operator ==(Spring a, Spring b)
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- {
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- return a.Equals(b);
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- }
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-
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- public static bool operator !=(Spring a, Spring b)
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- {
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- return !(a == b);
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- }
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-
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- /// <summary>
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- /// Spring strength. Force proportional to the position error.
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- /// </summary>
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- public float stiffness;
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-
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- /// <summary>
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- /// Damping strength. Force propertional to the velocity error.
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- /// </summary>
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- public float damping;
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- }
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-
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- /// <summary>
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- /// Specifies first or second body referenced by a Joint.
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- /// </summary>
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- public enum JointBody
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- {
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- A, B
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- };
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-
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- /// <summary>
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- /// Specifies axes that the D6 joint can constrain motion on.
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- /// </summary>
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- public enum D6JointAxis
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- {
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- /// <summary>
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- /// Movement on the X axis.
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- /// </summary>
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- X,
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- /// <summary>
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- /// Movement on the Y axis.
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- /// </summary>
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- Y,
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- /// <summary>
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- /// Movement on the Z axis.
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- /// </summary>
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- Z,
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- /// <summary>
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- /// Rotation around the X axis.
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- /// </summary>
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- Twist,
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- /// <summary>
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- /// Rotation around the Y axis.
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- /// </summary>
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- SwingY,
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- /// <summary>
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- /// Rotation around the Z axis.
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- /// </summary>
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- SwingZ,
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- Count
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- }
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-
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- /// <summary>
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- /// Specifies type of constraint placed on a specific axis of a D6 joint.
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- /// </summary>
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- public enum D6JointMotion
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- {
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- /// <summary>
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- /// Axis is immovable.
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- /// </summary>
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- Locked,
|
|
|
- /// <summary>
|
|
|
- /// Axis will be constrained by the specified limits.
|
|
|
- /// </summary>
|
|
|
- Limited,
|
|
|
- /// <summary>
|
|
|
- /// Axis will not be constrained.
|
|
|
- /// </summary>
|
|
|
- Free,
|
|
|
- Count
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Type of drives that can be used for moving or rotating bodies attached to the D6 joint.
|
|
|
- /// </summary>
|
|
|
- public enum D6JointDriveType
|
|
|
- {
|
|
|
- /// <summary>
|
|
|
- /// Linear movement on the X axis using the linear drive model.
|
|
|
- /// </summary>
|
|
|
- X,
|
|
|
- /// <summary>
|
|
|
- /// Linear movement on the Y axis using the linear drive model.
|
|
|
- /// </summary>
|
|
|
- Y,
|
|
|
- /// <summary>
|
|
|
- /// Linear movement on the Z axis using the linear drive model.
|
|
|
- /// </summary>
|
|
|
- Z,
|
|
|
- /// <summary>
|
|
|
- /// Rotation around the Y axis using the twist/swing angular drive model. Should not be used together with
|
|
|
- /// SLERP mode.
|
|
|
- /// </summary>
|
|
|
- Swing,
|
|
|
- /// <summary>
|
|
|
- /// Rotation around the Z axis using the twist/swing angular drive model. Should not be used together with
|
|
|
- /// SLERP mode.
|
|
|
- /// </summary>
|
|
|
- Twist,
|
|
|
- /// <summary>
|
|
|
- /// Rotation using spherical linear interpolation. Uses the SLERP angular drive mode which performs rotation
|
|
|
- /// by interpolating the quaternion values directly over the shortest path (applies to all three axes, which
|
|
|
- /// they all must be unlocked).
|
|
|
- /// </summary>
|
|
|
- SLERP,
|
|
|
- Count
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Specifies parameters for a drive that will attempt to move the D6 joint bodies to the specified drive position and
|
|
|
- /// velocity.
|
|
|
- /// </summary>
|
|
|
- [SerializeObject]
|
|
|
- public class D6JointDrive
|
|
|
- {
|
|
|
- [SerializeField]
|
|
|
- private D6JointDriveData data;
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Spring strength. Force proportional to the position error.
|
|
|
- /// </summary>
|
|
|
- public float Stiffness { get { return data.stiffness; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Damping strength. Force propertional to the velocity error.
|
|
|
- /// </summary>
|
|
|
- public float Damping { get { return data.damping; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Maximum force the drive can apply.
|
|
|
- /// </summary>
|
|
|
- public float ForceLimit { get { return data.forceLimit; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// If true the drive will generate acceleration instead of forces. Acceleration drives are easier to tune as
|
|
|
- /// they account for the masses of the actors to which the joint is attached.
|
|
|
- /// </summary>
|
|
|
- public bool Acceleration { get { return data.acceleration; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Gets drive properties.
|
|
|
- /// </summary>
|
|
|
- public D6JointDriveData Data
|
|
|
- {
|
|
|
- get { return data; }
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs a new D6 joint drive.
|
|
|
- /// </summary>
|
|
|
- /// <param name="stiffness"><see cref="Stiffness"/></param>
|
|
|
- /// <param name="damping"><see cref="Damping"/></param>
|
|
|
- /// <param name="forceLimit"><see cref="ForceLimit"/></param>
|
|
|
- /// <param name="acceleration"><see cref="Acceleration"/></param>
|
|
|
- public D6JointDrive(float stiffness = 0.0f, float damping = 0.0f, float forceLimit = float.MaxValue,
|
|
|
- bool acceleration = false)
|
|
|
- {
|
|
|
- data.stiffness = stiffness;
|
|
|
- data.damping = damping;
|
|
|
- data.forceLimit = forceLimit;
|
|
|
- data.acceleration = acceleration;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs a new D6 joint drive.
|
|
|
- /// </summary>
|
|
|
- /// <param name="data">Properties to initialize the drive with.</param>
|
|
|
- public D6JointDrive(D6JointDriveData data)
|
|
|
- {
|
|
|
- this.data = data;
|
|
|
- }
|
|
|
-
|
|
|
- /// <inheritdoc/>
|
|
|
- public override bool Equals(object rhs)
|
|
|
- {
|
|
|
- if (rhs is D6JointDrive)
|
|
|
- {
|
|
|
- D6JointDrive other = (D6JointDrive)rhs;
|
|
|
- return Stiffness == other.Stiffness && Damping == other.Damping && ForceLimit == other.ForceLimit
|
|
|
- && Acceleration == other.Acceleration;
|
|
|
- }
|
|
|
-
|
|
|
- return false;
|
|
|
- }
|
|
|
-
|
|
|
- /// <inheritdoc/>
|
|
|
- public override int GetHashCode()
|
|
|
- {
|
|
|
- return base.GetHashCode();
|
|
|
- }
|
|
|
-
|
|
|
- public static bool operator ==(D6JointDrive a, D6JointDrive b)
|
|
|
- {
|
|
|
- return a.Equals(b);
|
|
|
- }
|
|
|
-
|
|
|
- public static bool operator !=(D6JointDrive a, D6JointDrive b)
|
|
|
- {
|
|
|
- return !(a == b);
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Used for accessing drive data from native code.
|
|
|
- /// </summary>
|
|
|
- /// <param name="output">Native readable drive structure.</param>
|
|
|
- private void Internal_GetNative(out D6JointDriveData output)
|
|
|
- {
|
|
|
- output = data;
|
|
|
- }
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Properties of a drive that drives the hinge joint's angular velocity towards a paricular value.
|
|
|
- /// </summary>
|
|
|
- [SerializeObject]
|
|
|
- public class HingeJointDrive
|
|
|
- {
|
|
|
- [SerializeField]
|
|
|
- private HingeJointDriveData data;
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Target speed of the joint.
|
|
|
- /// </summary>
|
|
|
- public float Speed { get { return data.speed; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Maximum torque the drive is allowed to apply.
|
|
|
- /// </summary>
|
|
|
- public float ForceLimit { get { return data.forceLimit; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Scales the velocity of the first body, and its response to drive torque is scaled down.
|
|
|
- /// </summary>
|
|
|
- public float GearRatio { get { return data.gearRatio; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// If the joint is moving faster than the drive's target speed, the drive will try to break. If you don't want
|
|
|
- /// the breaking to happen set this to true.
|
|
|
- /// </summary>
|
|
|
- public bool FreeSpin { get { return data.freeSpin; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Gets drive properties.
|
|
|
- /// </summary>
|
|
|
- public HingeJointDriveData Data
|
|
|
- {
|
|
|
- get { return data; }
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs a new hinge joint drive.
|
|
|
- /// </summary>
|
|
|
- /// <param name="speed"><see cref="Speed"/></param>
|
|
|
- /// <param name="forceLimit"><see cref="ForceLimit"/></param>
|
|
|
- /// <param name="gearRatio"><see cref="GearRatio"/></param>
|
|
|
- /// <param name="freeSpin"><see cref="FreeSpin"/></param>
|
|
|
- public HingeJointDrive(float speed = 0.0f, float forceLimit = float.MaxValue,
|
|
|
- float gearRatio = 1.0f, bool freeSpin = false)
|
|
|
- {
|
|
|
- data.speed = speed;
|
|
|
- data.forceLimit = forceLimit;
|
|
|
- data.gearRatio = gearRatio;
|
|
|
- data.freeSpin = freeSpin;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs a new hinge joint drive.
|
|
|
- /// </summary>
|
|
|
- /// <param name="data">Properties to initialize the drive with.</param>
|
|
|
- public HingeJointDrive(HingeJointDriveData data)
|
|
|
- {
|
|
|
- this.data = data;
|
|
|
- }
|
|
|
-
|
|
|
- /// <inheritdoc/>
|
|
|
- public override bool Equals(object rhs)
|
|
|
- {
|
|
|
- if (rhs is HingeJointDrive)
|
|
|
- {
|
|
|
- HingeJointDrive other = (HingeJointDrive)rhs;
|
|
|
- return data.speed == other.data.speed && data.gearRatio == other.data.gearRatio &&
|
|
|
- data.forceLimit == other.data.forceLimit && data.freeSpin == other.data.freeSpin;
|
|
|
- }
|
|
|
-
|
|
|
- return false;
|
|
|
- }
|
|
|
-
|
|
|
- /// <inheritdoc/>
|
|
|
- public override int GetHashCode()
|
|
|
- {
|
|
|
- return base.GetHashCode();
|
|
|
- }
|
|
|
-
|
|
|
- public static bool operator ==(HingeJointDrive a, HingeJointDrive b)
|
|
|
- {
|
|
|
- return a.Equals(b);
|
|
|
- }
|
|
|
-
|
|
|
- public static bool operator !=(HingeJointDrive a, HingeJointDrive b)
|
|
|
- {
|
|
|
- return !(a == b);
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Used for accessing drive data from native code.
|
|
|
- /// </summary>
|
|
|
- /// <param name="output">Native readable drive structure.</param>
|
|
|
- private void Internal_GetNative(out HingeJointDriveData output)
|
|
|
- {
|
|
|
- output = data;
|
|
|
- }
|
|
|
- };
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Contains common values used by all Joint limit types.
|
|
|
- /// </summary>
|
|
|
- [SerializeObject]
|
|
|
- public class LimitCommon
|
|
|
- {
|
|
|
- private LimitCommonData data;
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Distance from the limit at which it becomes active. Allows the solver to activate earlier than the limit is
|
|
|
- /// reached to avoid breaking the limit.
|
|
|
- /// </summary>
|
|
|
- public float ContactDist { get { return data.contactDist; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Controls how do objects react when the limit is reached, values closer to zero specify non-ellastic collision,
|
|
|
- /// while those closer to one specify more ellastic(i.e bouncy) collision.Must be in [0, 1] range.
|
|
|
- /// </summary>
|
|
|
- public float Restitution { get { return data.restitution; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Spring that controls how are the bodies pulled back towards the limit when they breach it.
|
|
|
- /// </summary>
|
|
|
- public Spring Spring { get { return data.spring; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Gets properties common to all limit types.
|
|
|
- /// </summary>
|
|
|
- public LimitCommonData CommonData
|
|
|
- {
|
|
|
- get { return data; }
|
|
|
- }
|
|
|
-
|
|
|
- protected LimitCommon(float contactDist = -1.0f)
|
|
|
- {
|
|
|
- data.contactDist = contactDist;
|
|
|
- data.restitution = 0.0f;
|
|
|
- data.spring = new Spring();
|
|
|
- }
|
|
|
-
|
|
|
- protected LimitCommon(Spring spring, float restitution = 0.0f)
|
|
|
- {
|
|
|
- data.contactDist = -1.0f;
|
|
|
- data.restitution = restitution;
|
|
|
- data.spring = spring;
|
|
|
- }
|
|
|
-
|
|
|
- protected LimitCommon(LimitCommonData data)
|
|
|
- {
|
|
|
- this.data = data;
|
|
|
- }
|
|
|
-
|
|
|
- /// <inheritdoc/>
|
|
|
- public override bool Equals(object rhs)
|
|
|
- {
|
|
|
- if (rhs is LimitCommon)
|
|
|
- {
|
|
|
- LimitCommon other = (LimitCommon)rhs;
|
|
|
- return ContactDist == other.ContactDist && Restitution == other.Restitution && Spring == other.Spring;
|
|
|
- }
|
|
|
-
|
|
|
- return false;
|
|
|
- }
|
|
|
-
|
|
|
- /// <inheritdoc/>
|
|
|
- public override int GetHashCode()
|
|
|
- {
|
|
|
- return base.GetHashCode();
|
|
|
- }
|
|
|
-
|
|
|
- public static bool operator ==(LimitCommon a, LimitCommon b)
|
|
|
- {
|
|
|
- return a.Equals(b);
|
|
|
- }
|
|
|
-
|
|
|
- public static bool operator !=(LimitCommon a, LimitCommon b)
|
|
|
- {
|
|
|
- return !(a == b);
|
|
|
- }
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Represents a joint limit between two distance values. Lower value must be less than the upper value.
|
|
|
- /// </summary>
|
|
|
- [SerializeObject]
|
|
|
- public class LimitLinearRange : LimitCommon
|
|
|
- {
|
|
|
- private LimitLinearRangeData data;
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Lower distance of the limit. Must be less than <see cref="Upper"/>.
|
|
|
- /// </summary>
|
|
|
- public float Lower { get { return data.lower; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Upper distance of the limit. Must be greater than <see cref="Lower"/>.
|
|
|
- /// </summary>
|
|
|
- public float Upper { get { return data.upper; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Gets properties of the linear limit range.
|
|
|
- /// </summary>
|
|
|
- public LimitLinearRangeData Data
|
|
|
- {
|
|
|
- get { return data; }
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs an empty limit.
|
|
|
- /// </summary>
|
|
|
- public LimitLinearRange()
|
|
|
- { }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs a hard limit. Once the limit is reached the movement of the attached bodies will come to a stop.
|
|
|
- /// </summary>
|
|
|
- /// <param name="lower"><see cref="Lower"/></param>
|
|
|
- /// <param name="upper"><see cref="Upper"/></param>
|
|
|
- /// <param name="contactDist"><see cref="LimitCommon.ContactDist"/></param>
|
|
|
- public LimitLinearRange(float lower, float upper, float contactDist = -1.0f)
|
|
|
- :base(contactDist)
|
|
|
- {
|
|
|
- data.lower = lower;
|
|
|
- data.upper = upper;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs a soft limit. Once the limit is reached the bodies will bounce back according to the resitution
|
|
|
- /// parameter and will be pulled back towards the limit by the provided spring.
|
|
|
- /// </summary>
|
|
|
- /// <param name="lower"><see cref="Lower"/></param>
|
|
|
- /// <param name="upper"><see cref="Upper"/></param>
|
|
|
- /// <param name="spring"><see cref="LimitCommon.Spring"/></param>
|
|
|
- /// <param name="restitution"><see cref="LimitCommon.Restitution"/></param>
|
|
|
- public LimitLinearRange(float lower, float upper, Spring spring, float restitution = 0.0f)
|
|
|
- :base(spring, restitution)
|
|
|
- {
|
|
|
- data.lower = lower;
|
|
|
- data.upper = upper;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs a new limit from the provided properties.
|
|
|
- /// </summary>
|
|
|
- /// <param name="limitData">Linear range specific properties.</param>
|
|
|
- /// <param name="commonData">Properties common to all limit types.</param>
|
|
|
- public LimitLinearRange(LimitLinearRangeData limitData, LimitCommonData commonData)
|
|
|
- :base(commonData)
|
|
|
- {
|
|
|
- this.data = limitData;
|
|
|
- }
|
|
|
-
|
|
|
- /// <inheritdoc/>
|
|
|
- public override bool Equals(object rhs)
|
|
|
- {
|
|
|
- if (rhs is LimitLinearRange)
|
|
|
- {
|
|
|
- LimitLinearRange other = (LimitLinearRange)rhs;
|
|
|
- return base.Equals(rhs) && Lower == other.Lower && Upper == other.Upper;
|
|
|
- }
|
|
|
-
|
|
|
- return false;
|
|
|
- }
|
|
|
-
|
|
|
- /// <inheritdoc/>
|
|
|
- public override int GetHashCode()
|
|
|
- {
|
|
|
- return base.GetHashCode();
|
|
|
- }
|
|
|
-
|
|
|
- public static bool operator ==(LimitLinearRange a, LimitLinearRange b)
|
|
|
- {
|
|
|
- return a.Equals(b);
|
|
|
- }
|
|
|
-
|
|
|
- public static bool operator !=(LimitLinearRange a, LimitLinearRange b)
|
|
|
- {
|
|
|
- return !(a == b);
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Used for accessing limit data from native code.
|
|
|
- /// </summary>
|
|
|
- /// <param name="output">Native readable limit structure.</param>
|
|
|
- private void Internal_GetNative(ref ScriptLimitLinearRange output)
|
|
|
- {
|
|
|
- output.contactDist = ContactDist;
|
|
|
- output.restitution = Restitution;
|
|
|
- output.spring = Spring;
|
|
|
- output.lower = Lower;
|
|
|
- output.upper = Upper;
|
|
|
- }
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Represents a joint limit between zero a single distance value.
|
|
|
- /// </summary>
|
|
|
- [SerializeObject]
|
|
|
- public class LimitLinear : LimitCommon
|
|
|
- {
|
|
|
- private LimitLinearData data;
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Distance at which the limit becomes active.
|
|
|
- /// </summary>
|
|
|
- public float Extent { get { return data.extent; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Gets properties of the linear limit.
|
|
|
- /// </summary>
|
|
|
- public LimitLinearData Data
|
|
|
- {
|
|
|
- get { return data; }
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs an empty limit.
|
|
|
- /// </summary>
|
|
|
- public LimitLinear()
|
|
|
- { }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs a hard limit.Once the limit is reached the movement of the attached bodies will come to a stop.
|
|
|
- /// </summary>
|
|
|
- /// <param name="extent"><see cref="Extent"/></param>
|
|
|
- /// <param name="contactDist"><see cref="LimitCommon.ContactDist"/></param>
|
|
|
- public LimitLinear(float extent, float contactDist = -1.0f)
|
|
|
- :base(contactDist)
|
|
|
- {
|
|
|
- data.extent = extent;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs a soft limit.Once the limit is reached the bodies will bounce back according to the resitution
|
|
|
- /// parameter and will be pulled back towards the limit by the provided spring.
|
|
|
- /// </summary>
|
|
|
- /// <param name="extent"><see cref="Extent"/></param>
|
|
|
- /// <param name="spring"><see cref="LimitCommon.Spring"/></param>
|
|
|
- /// <param name="restitution"><see cref="LimitCommon.Restitution"/></param>
|
|
|
- public LimitLinear(float extent, Spring spring, float restitution = 0.0f)
|
|
|
- :base(spring, restitution)
|
|
|
- {
|
|
|
- data.extent = extent;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs a new limit from the provided properties.
|
|
|
- /// </summary>
|
|
|
- /// <param name="limitData">Linear limit specific properties.</param>
|
|
|
- /// <param name="commonData">Properties common to all limit types.</param>
|
|
|
- public LimitLinear(LimitLinearData limitData, LimitCommonData commonData)
|
|
|
- :base(commonData)
|
|
|
- {
|
|
|
- this.data = limitData;
|
|
|
- }
|
|
|
-
|
|
|
- /// <inheritdoc/>
|
|
|
- public override bool Equals(object rhs)
|
|
|
- {
|
|
|
- if (rhs is LimitLinear)
|
|
|
- {
|
|
|
- LimitLinear other = (LimitLinear)rhs;
|
|
|
- return base.Equals(rhs) && Extent == other.Extent;
|
|
|
- }
|
|
|
-
|
|
|
- return false;
|
|
|
- }
|
|
|
-
|
|
|
- /// <inheritdoc/>
|
|
|
- public override int GetHashCode()
|
|
|
- {
|
|
|
- return base.GetHashCode();
|
|
|
- }
|
|
|
-
|
|
|
- public static bool operator ==(LimitLinear a, LimitLinear b)
|
|
|
- {
|
|
|
- return a.Equals(b);
|
|
|
- }
|
|
|
-
|
|
|
- public static bool operator !=(LimitLinear a, LimitLinear b)
|
|
|
- {
|
|
|
- return !(a == b);
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Used for accessing limit data from native code.
|
|
|
- /// </summary>
|
|
|
- /// <param name="output">Native readable limit structure.</param>
|
|
|
- private void Internal_GetNative(ref ScriptLimitLinear output)
|
|
|
- {
|
|
|
- output.contactDist = ContactDist;
|
|
|
- output.restitution = Restitution;
|
|
|
- output.spring = Spring;
|
|
|
- output.extent = Extent;
|
|
|
- }
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Represents a joint limit between two angles.
|
|
|
- /// </summary>
|
|
|
- [SerializeObject]
|
|
|
- public class LimitAngularRange : LimitCommon
|
|
|
- {
|
|
|
- private LimitAngularRangeData data;
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Lower angle of the limit. Must be less than <see cref="Upper"/>.
|
|
|
- /// </summary>
|
|
|
- public Radian Lower { get { return data.lower; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Upper angle of the limit. Must be greater than <see cref="Lower"/>.
|
|
|
- /// </summary>
|
|
|
- public Radian Upper { get { return data.upper; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Gets properties of the angular limit range.
|
|
|
- /// </summary>
|
|
|
- public LimitAngularRangeData Data
|
|
|
- {
|
|
|
- get { return data; }
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs an empty limit.
|
|
|
- /// </summary>
|
|
|
- public LimitAngularRange()
|
|
|
- { }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs a hard limit. Once the limit is reached the movement of the attached bodies will come to a stop.
|
|
|
- /// </summary>
|
|
|
- /// <param name="lower"><see cref="Lower"/></param>
|
|
|
- /// <param name="upper"><see cref="Upper"/></param>
|
|
|
- /// <param name="contactDist"><see cref="LimitCommon.ContactDist"/></param>
|
|
|
- public LimitAngularRange(Radian lower, Radian upper, float contactDist = -1.0f)
|
|
|
- : base(contactDist)
|
|
|
- {
|
|
|
- data.lower = lower;
|
|
|
- data.upper = upper;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs a soft limit. Once the limit is reached the bodies will bounce back according to the resitution
|
|
|
- /// parameter and will be pulled back towards the limit by the provided spring.
|
|
|
- /// </summary>
|
|
|
- /// <param name="lower"><see cref="Lower"/></param>
|
|
|
- /// <param name="upper"><see cref="Upper"/></param>
|
|
|
- /// <param name="spring"><see cref="LimitCommon.Spring"/></param>
|
|
|
- /// <param name="restitution"><see cref="LimitCommon.Restitution"/></param>
|
|
|
- public LimitAngularRange(Radian lower, Radian upper, Spring spring, float restitution = 0.0f)
|
|
|
- : base(spring, restitution)
|
|
|
- {
|
|
|
- data.lower = lower;
|
|
|
- data.upper = upper;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs a new limit from the provided properties.
|
|
|
- /// </summary>
|
|
|
- /// <param name="limitData">Angular limit range specific properties.</param>
|
|
|
- /// <param name="commonData">Properties common to all limit types.</param>
|
|
|
- public LimitAngularRange(LimitAngularRangeData limitData, LimitCommonData commonData)
|
|
|
- :base(commonData)
|
|
|
- {
|
|
|
- this.data = limitData;
|
|
|
- }
|
|
|
-
|
|
|
- /// <inheritdoc/>
|
|
|
- public override bool Equals(object rhs)
|
|
|
- {
|
|
|
- if (rhs is LimitAngularRange)
|
|
|
- {
|
|
|
- LimitAngularRange other = (LimitAngularRange)rhs;
|
|
|
- return base.Equals(rhs) && Lower == other.Lower && Upper == other.Upper;
|
|
|
- }
|
|
|
-
|
|
|
- return false;
|
|
|
- }
|
|
|
-
|
|
|
- /// <inheritdoc/>
|
|
|
- public override int GetHashCode()
|
|
|
- {
|
|
|
- return base.GetHashCode();
|
|
|
- }
|
|
|
-
|
|
|
- public static bool operator ==(LimitAngularRange a, LimitAngularRange b)
|
|
|
- {
|
|
|
- return a.Equals(b);
|
|
|
- }
|
|
|
-
|
|
|
- public static bool operator !=(LimitAngularRange a, LimitAngularRange b)
|
|
|
- {
|
|
|
- return !(a == b);
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Used for accessing limit data from native code.
|
|
|
- /// </summary>
|
|
|
- /// <param name="output">Native readable limit structure.</param>
|
|
|
- private void Internal_GetNative(ref ScriptLimitAngularRange output)
|
|
|
- {
|
|
|
- output.contactDist = ContactDist;
|
|
|
- output.restitution = Restitution;
|
|
|
- output.spring = Spring;
|
|
|
- output.lower = Lower;
|
|
|
- output.upper = Upper;
|
|
|
- }
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Represents a joint limit that contraints movement to within an elliptical cone.
|
|
|
- /// </summary>
|
|
|
- [SerializeObject]
|
|
|
- public class LimitConeRange : LimitCommon
|
|
|
- {
|
|
|
- private LimitConeRangeData data;
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Y angle of the cone. Movement is constrainted between 0 and this angle on the Y axis.
|
|
|
- /// </summary>
|
|
|
- public Radian YLimitAngle { get { return data.yLimitAngle; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Z angle of the cone. Movement is constrainted between 0 and this angle on the Z axis.
|
|
|
- /// </summary>
|
|
|
- public Radian ZLimitAngle { get { return data.zLimitAngle; } }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Gets properties of the cone limit range.
|
|
|
- /// </summary>
|
|
|
- public LimitConeRangeData Data
|
|
|
- {
|
|
|
- get { return data; }
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs a limit with a 45 degree cone.
|
|
|
- /// </summary>
|
|
|
- public LimitConeRange()
|
|
|
- {
|
|
|
- data.yLimitAngle = new Radian(MathEx.Pi * 0.5f);
|
|
|
- data.zLimitAngle = new Radian(MathEx.Pi * 0.5f);
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs a hard limit. Once the limit is reached the movement of the attached bodies will come to a stop.
|
|
|
- /// </summary>
|
|
|
- /// <param name="yLimitAngle"><see cref="YLimitAngle"/></param>
|
|
|
- /// <param name="zLimitAngle"><see cref="ZLimitAngle"/></param>
|
|
|
- /// <param name="contactDist"><see cref="LimitCommon.ContactDist"/></param>
|
|
|
- public LimitConeRange(Radian yLimitAngle, Radian zLimitAngle, float contactDist = -1.0f)
|
|
|
- : base(contactDist)
|
|
|
- {
|
|
|
- data.yLimitAngle = yLimitAngle;
|
|
|
- data.zLimitAngle = zLimitAngle;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs a soft limit. Once the limit is reached the bodies will bounce back according to the resitution
|
|
|
- /// parameter and will be pulled back towards the limit by the provided spring.
|
|
|
- /// </summary>
|
|
|
- /// <param name="yLimitAngle"><see cref="YLimitAngle"/></param>
|
|
|
- /// <param name="zLimitAngle"><see cref="ZLimitAngle"/></param>
|
|
|
- /// <param name="spring"><see cref="LimitCommon.Spring"/></param>
|
|
|
- /// <param name="restitution"><see cref="LimitCommon.Restitution"/></param>
|
|
|
- public LimitConeRange(Radian yLimitAngle, Radian zLimitAngle, Spring spring, float restitution = 0.0f)
|
|
|
- : base(spring, restitution)
|
|
|
- {
|
|
|
- data.yLimitAngle = yLimitAngle;
|
|
|
- data.zLimitAngle = zLimitAngle;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Constructs a new limit from the provided properties.
|
|
|
- /// </summary>
|
|
|
- /// <param name="limitData">Cone limit range specific properties.</param>
|
|
|
- /// <param name="commonData">Properties common to all limit types.</param>
|
|
|
- public LimitConeRange(LimitConeRangeData limitData, LimitCommonData commonData)
|
|
|
- :base(commonData)
|
|
|
- {
|
|
|
- this.data = limitData;
|
|
|
- }
|
|
|
-
|
|
|
- /// <inheritdoc/>
|
|
|
- public override bool Equals(object rhs)
|
|
|
- {
|
|
|
- if (rhs is LimitConeRange)
|
|
|
- {
|
|
|
- LimitConeRange other = (LimitConeRange)rhs;
|
|
|
- return base.Equals(rhs) && YLimitAngle == other.YLimitAngle && ZLimitAngle == other.ZLimitAngle;
|
|
|
- }
|
|
|
-
|
|
|
- return false;
|
|
|
- }
|
|
|
-
|
|
|
- /// <inheritdoc/>
|
|
|
- public override int GetHashCode()
|
|
|
- {
|
|
|
- return base.GetHashCode();
|
|
|
- }
|
|
|
-
|
|
|
- public static bool operator ==(LimitConeRange a, LimitConeRange b)
|
|
|
- {
|
|
|
- return a.Equals(b);
|
|
|
- }
|
|
|
-
|
|
|
- public static bool operator !=(LimitConeRange a, LimitConeRange b)
|
|
|
- {
|
|
|
- return !(a == b);
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Used for accessing limit data from native code.
|
|
|
- /// </summary>
|
|
|
- /// <param name="output">Native readable limit structure.</param>
|
|
|
- private void Internal_GetNative(ref ScriptLimitConeRange output)
|
|
|
- {
|
|
|
- output.contactDist = ContactDist;
|
|
|
- output.restitution = Restitution;
|
|
|
- output.spring = Spring;
|
|
|
- output.yLimitAngle = YLimitAngle;
|
|
|
- output.zLimitAngle = ZLimitAngle;
|
|
|
- }
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Contains data used by HingeJointDrive.
|
|
|
- /// </summary>
|
|
|
- [StructLayout(LayoutKind.Sequential)]
|
|
|
- public struct HingeJointDriveData // Note: Must match C++ struct HingeJoint::Drive
|
|
|
- {
|
|
|
- /// <summary>
|
|
|
- /// <see cref="HingeJointDrive.Speed"/>
|
|
|
- /// </summary>
|
|
|
- public float speed;
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// <see cref="HingeJointDrive.ForceLimit"/>
|
|
|
- /// </summary>
|
|
|
- public float forceLimit;
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// <see cref="HingeJointDrive.GearRatio"/>
|
|
|
- /// </summary>
|
|
|
- public float gearRatio;
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// <see cref="HingeJointDrive.FreeSpin"/>
|
|
|
- /// </summary>
|
|
|
- public bool freeSpin;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Contains data used by D6JointDrive.
|
|
|
- /// </summary>
|
|
|
- [StructLayout(LayoutKind.Sequential)]
|
|
|
- public struct D6JointDriveData // Note: Must match C++ struct D6Joint::Drive
|
|
|
- {
|
|
|
- /// <summary>
|
|
|
- /// <see cref="D6JointDrive.Stiffness"/>
|
|
|
- /// </summary>
|
|
|
- public float stiffness;
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// <see cref="D6JointDrive.Damping"/>
|
|
|
- /// </summary>
|
|
|
- public float damping;
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// <see cref="D6JointDrive.ForceLimit"/>
|
|
|
- /// </summary>
|
|
|
- public float forceLimit;
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// <see cref="D6JointDrive.Acceleration"/>
|
|
|
- /// </summary>
|
|
|
- public bool acceleration;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Contains data used by LimitCommon.
|
|
|
- /// </summary>
|
|
|
- public struct LimitCommonData
|
|
|
- {
|
|
|
- /// <summary>
|
|
|
- /// <see cref="LimitCommon.ContactDist"/>
|
|
|
- /// </summary>
|
|
|
- public float contactDist;
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// <see cref="LimitCommon.Restitution"/>
|
|
|
- /// </summary>
|
|
|
- public float restitution;
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// <see cref="LimitCommon.Spring"/>
|
|
|
- /// </summary>
|
|
|
- public Spring spring;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Contains data used by LimitLinearRange.
|
|
|
- /// </summary>
|
|
|
- public struct LimitLinearRangeData
|
|
|
- {
|
|
|
- /// <summary>
|
|
|
- /// <see cref="LimitLinearRange.Lower"/>
|
|
|
- /// </summary>
|
|
|
- public float lower;
|
|
|
- /// <summary>
|
|
|
- /// <see cref="LimitLinearRange.Upper"/>
|
|
|
- /// </summary>
|
|
|
- public float upper;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Contains data used by LimitLinear.
|
|
|
- /// </summary>
|
|
|
- public struct LimitLinearData
|
|
|
- {
|
|
|
- /// <summary>
|
|
|
- /// <see cref="LimitLinearRange.Extent"/>
|
|
|
- /// </summary>
|
|
|
- public float extent;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Contains data used by LimitAngularRange.
|
|
|
- /// </summary>
|
|
|
- public struct LimitAngularRangeData
|
|
|
- {
|
|
|
- /// <summary>
|
|
|
- /// <see cref="LimitAngularRange.Lower"/>
|
|
|
- /// </summary>
|
|
|
- public Radian lower;
|
|
|
- /// <summary>
|
|
|
- /// <see cref="LimitAngularRange.Upper"/>
|
|
|
- /// </summary>
|
|
|
- public Radian upper;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Contains data used by LimitConeRange.
|
|
|
- /// </summary>
|
|
|
- public struct LimitConeRangeData
|
|
|
- {
|
|
|
- /// <summary>
|
|
|
- /// <see cref="LimitConeRange.YLimitAngle"/>
|
|
|
- /// </summary>
|
|
|
- public Radian yLimitAngle;
|
|
|
- /// <summary>
|
|
|
- /// <see cref="LimitConeRange.ZLimitAngle"/>
|
|
|
- /// </summary>
|
|
|
- public Radian zLimitAngle;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Used for passing LimitLinearRange data between native and managed code.
|
|
|
- /// </summary>
|
|
|
- [StructLayout(LayoutKind.Sequential)]
|
|
|
- internal struct ScriptLimitLinearRange // Note: Must match C++ struct LimitLinearRange
|
|
|
- {
|
|
|
- public float contactDist;
|
|
|
- public float restitution;
|
|
|
- public Spring spring;
|
|
|
- public float lower;
|
|
|
- public float upper;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Used for passing LimitLinear data between native and managed code.
|
|
|
- /// </summary>
|
|
|
- [StructLayout(LayoutKind.Sequential)]
|
|
|
- internal struct ScriptLimitLinear // Note: Must match C++ struct LimitLinear
|
|
|
- {
|
|
|
- public float contactDist;
|
|
|
- public float restitution;
|
|
|
- public Spring spring;
|
|
|
- public float extent;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Used for passing LimitAngularRange data between native and managed code.
|
|
|
- /// </summary>
|
|
|
- [StructLayout(LayoutKind.Sequential)]
|
|
|
- internal struct ScriptLimitAngularRange // Note: Must match C++ struct LimitAngularRange
|
|
|
- {
|
|
|
- public float contactDist;
|
|
|
- public float restitution;
|
|
|
- public Spring spring;
|
|
|
- public Radian lower;
|
|
|
- public Radian upper;
|
|
|
- }
|
|
|
-
|
|
|
- /// <summary>
|
|
|
- /// Used for passing LimitConeRange data between native and managed code.
|
|
|
- /// </summary>
|
|
|
- [StructLayout(LayoutKind.Sequential)]
|
|
|
- internal struct ScriptLimitConeRange // Note: Must match C++ struct LimitConeRange
|
|
|
- {
|
|
|
- public float contactDist;
|
|
|
- public float restitution;
|
|
|
- public Spring spring;
|
|
|
- public Radian yLimitAngle;
|
|
|
- public Radian zLimitAngle;
|
|
|
- }
|
|
|
+//********************************** Banshee Engine (www.banshee3d.com) **************************************************//
|
|
|
+//**************** Copyright (c) 2016 Marko Pintera ([email protected]). All rights reserved. **********************//
|
|
|
+
|
|
|
+using System;
|
|
|
+using System.Runtime.InteropServices;
|
|
|
+
|
|
|
+namespace BansheeEngine
|
|
|
+{
|
|
|
+ /// <summary>
|
|
|
+ /// Base class for all Joint types. Joints constrain how two rigidbodies move relative to one another (e.g. a door
|
|
|
+ /// hinge). One of the bodies in the joint must always be movable (i.e. non-kinematic).
|
|
|
+ /// </summary>
|
|
|
+ public abstract class Joint : Component
|
|
|
+ {
|
|
|
+ internal NativeJoint native;
|
|
|
+
|
|
|
+ [SerializeField]
|
|
|
+ internal SerializableData serializableData = new SerializableData();
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Triggered when the joint's break force or torque is exceeded.
|
|
|
+ /// </summary>
|
|
|
+ public event Action OnJointBreak;
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Maximum force the joint can apply before breaking. Broken joints no longer participate in physics simulation.
|
|
|
+ /// </summary>
|
|
|
+ public float BreakForce
|
|
|
+ {
|
|
|
+ get { return serializableData.breakForce; }
|
|
|
+ set
|
|
|
+ {
|
|
|
+ if (serializableData.breakForce == value)
|
|
|
+ return;
|
|
|
+
|
|
|
+ serializableData.breakForce = value;
|
|
|
+
|
|
|
+ if (native != null)
|
|
|
+ native.BreakForce = value;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Sets the maximum force the joint can apply before breaking. Broken joints no longer participate in physics
|
|
|
+ /// simulation.
|
|
|
+ /// </summary>
|
|
|
+ public float BreakTorque
|
|
|
+ {
|
|
|
+ get { return serializableData.breakTorque; }
|
|
|
+ set
|
|
|
+ {
|
|
|
+ if (serializableData.breakTorque == value)
|
|
|
+ return;
|
|
|
+
|
|
|
+ serializableData.breakTorque = value;
|
|
|
+
|
|
|
+ if (native != null)
|
|
|
+ native.BreakTorque = value;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Determines whether collisions between the two bodies managed by the joint are enabled.
|
|
|
+ /// </summary>
|
|
|
+ public bool EnableCollision
|
|
|
+ {
|
|
|
+ get { return serializableData.enableCollision; }
|
|
|
+ set
|
|
|
+ {
|
|
|
+ if (serializableData.enableCollision == value)
|
|
|
+ return;
|
|
|
+
|
|
|
+ serializableData.enableCollision = value;
|
|
|
+
|
|
|
+ if (native != null)
|
|
|
+ native.EnableCollision = value;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Returns one of the bodies managed by the joint.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="body">Which of the rigidbodies to return.</param>
|
|
|
+ /// <returns>Rigidbody managed by the joint, or null if none.</returns>
|
|
|
+ public Rigidbody GetRigidbody(JointBody body)
|
|
|
+ {
|
|
|
+ return serializableData.bodies[(int) body];
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Sets a body managed by the joint. One of the bodies must be movable (i.e. non-kinematic).
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="body">Which of the rigidbodies to set.</param>
|
|
|
+ /// <param name="rigidbody">Rigidbody to managed by the joint, or null. If one of the bodies is null the other
|
|
|
+ /// one will be anchored globally to the position/rotation set by <see cref="SetPosition"/>
|
|
|
+ /// and <see cref="SetRotation"/>.</param>
|
|
|
+ public void SetRigidbody(JointBody body, Rigidbody rigidbody)
|
|
|
+ {
|
|
|
+ if (serializableData.bodies[(int)body] == rigidbody)
|
|
|
+ return;
|
|
|
+
|
|
|
+ if (serializableData.bodies[(int)body] != null)
|
|
|
+ serializableData.bodies[(int)body].SetJoint(null);
|
|
|
+
|
|
|
+ serializableData.bodies[(int)body] = rigidbody;
|
|
|
+
|
|
|
+ if (rigidbody != null)
|
|
|
+ serializableData.bodies[(int)body].SetJoint(this);
|
|
|
+
|
|
|
+ if (native != null)
|
|
|
+ {
|
|
|
+ native.SetRigidbody(body, rigidbody);
|
|
|
+ UpdateTransform(body);
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Returns the position at which the body is anchored to the joint.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="body">Which body to retrieve position for.</param>
|
|
|
+ /// <returns>Position relative to the body.</returns>
|
|
|
+ public Vector3 GetPosition(JointBody body)
|
|
|
+ {
|
|
|
+ return serializableData.positions[(int)body];
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Sets the position at which the body is anchored to the joint.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="body">Which body set the position for.</param>
|
|
|
+ /// <param name="position">Position relative to the body.</param>
|
|
|
+ public void SetPosition(JointBody body, Vector3 position)
|
|
|
+ {
|
|
|
+ if (serializableData.positions[(int)body] == position)
|
|
|
+ return;
|
|
|
+
|
|
|
+ serializableData.positions[(int) body] = position;
|
|
|
+
|
|
|
+ if (native != null)
|
|
|
+ UpdateTransform(body);
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Returns the rotation at which the body is anchored to the joint.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="body">Which body to retrieve rotation for.</param>
|
|
|
+ /// <returns>Rotation relative to the body.</returns>
|
|
|
+ public Quaternion GetRotation(JointBody body)
|
|
|
+ {
|
|
|
+ return serializableData.rotations[(int)body];
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Sets the rotation at which the body is anchored to the joint.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="body">Which body set the rotation for.</param>
|
|
|
+ /// <param name="rotation">Rotation relative to the body.</param>
|
|
|
+ public void SetRotation(JointBody body, Quaternion rotation)
|
|
|
+ {
|
|
|
+ if (serializableData.rotations[(int)body] == rotation)
|
|
|
+ return;
|
|
|
+
|
|
|
+ serializableData.rotations[(int)body] = rotation;
|
|
|
+
|
|
|
+ if (native != null)
|
|
|
+ UpdateTransform(body);
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Triggered when the joint breaks.
|
|
|
+ /// </summary>
|
|
|
+ internal void DoOnJointBreak()
|
|
|
+ {
|
|
|
+ if (OnJointBreak != null)
|
|
|
+ OnJointBreak();
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Notifies the joint that one of the attached rigidbodies moved and that its transform needs updating.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="body">Rigidbody that moved.</param>
|
|
|
+ internal void NotifyRigidbodyMoved(Rigidbody body)
|
|
|
+ {
|
|
|
+ // If physics update is in progress do nothing, as its the joint itself that's probably moving the body
|
|
|
+ if (Physics.IsUpdateInProgress)
|
|
|
+ return;
|
|
|
+
|
|
|
+ if (serializableData.bodies[0] == body)
|
|
|
+ UpdateTransform(JointBody.A);
|
|
|
+ else if (serializableData.bodies[1] == body)
|
|
|
+ UpdateTransform(JointBody.B);
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Creates the internal representation of the Joint for use by the component.
|
|
|
+ /// </summary>
|
|
|
+ /// <returns>New native joint object.</returns>
|
|
|
+ internal abstract NativeJoint CreateNative();
|
|
|
+
|
|
|
+ private void OnInitialize()
|
|
|
+ {
|
|
|
+ NotifyFlags = TransformChangedFlags.Transform | TransformChangedFlags.Parent;
|
|
|
+ }
|
|
|
+
|
|
|
+ private void OnEnable()
|
|
|
+ {
|
|
|
+ RestoreNative();
|
|
|
+ }
|
|
|
+
|
|
|
+ private void OnDisable()
|
|
|
+ {
|
|
|
+ DestroyNative();
|
|
|
+ }
|
|
|
+
|
|
|
+ private void OnDestroy()
|
|
|
+ {
|
|
|
+ if (serializableData.bodies[0] != null)
|
|
|
+ serializableData.bodies[0].SetJoint(null);
|
|
|
+
|
|
|
+ if (serializableData.bodies[1] != null)
|
|
|
+ serializableData.bodies[1].SetJoint(null);
|
|
|
+
|
|
|
+ DestroyNative();
|
|
|
+ }
|
|
|
+
|
|
|
+ private void OnTransformChanged(TransformChangedFlags flags)
|
|
|
+ {
|
|
|
+ if (!SceneObject.Active)
|
|
|
+ return;
|
|
|
+
|
|
|
+ // We're ignoring this during physics update because it would cause problems if the joint itself was moved by physics
|
|
|
+ // Note: This isn't particularily correct because if the joint is being moved by physics but the rigidbodies
|
|
|
+ // themselves are not parented to the joint, the transform will need updating. However I'm leaving it up to the
|
|
|
+ // user to ensure rigidbodies are always parented to the joint in such a case (It's an unlikely situation that
|
|
|
+ // I can't think of an use for - joint transform will almost always be set as an initialization step and not a
|
|
|
+ // physics response).
|
|
|
+ if (Physics.IsUpdateInProgress)
|
|
|
+ return;
|
|
|
+
|
|
|
+ UpdateTransform(JointBody.A);
|
|
|
+ UpdateTransform(JointBody.B);
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Creates the internal representation of the Joint and restores the values saved by the Component.
|
|
|
+ /// </summary>
|
|
|
+ private void RestoreNative()
|
|
|
+ {
|
|
|
+ native = CreateNative();
|
|
|
+
|
|
|
+ // Note: Merge into one call to avoid many virtual function calls
|
|
|
+ Rigidbody[] bodies = new Rigidbody[2];
|
|
|
+
|
|
|
+ if (serializableData.bodies[0] != null)
|
|
|
+ bodies[0] = serializableData.bodies[0];
|
|
|
+ else
|
|
|
+ bodies[0] = null;
|
|
|
+
|
|
|
+ if (serializableData.bodies[1] != null)
|
|
|
+ bodies[1] = serializableData.bodies[1];
|
|
|
+ else
|
|
|
+ bodies[1] = null;
|
|
|
+
|
|
|
+ native.SetRigidbody(JointBody.A, bodies[0]);
|
|
|
+ native.SetRigidbody(JointBody.B, bodies[1]);
|
|
|
+ native.BreakForce = serializableData.breakForce;
|
|
|
+ native.BreakTorque = serializableData.breakTorque;
|
|
|
+ native.EnableCollision = serializableData.enableCollision;
|
|
|
+ native.BreakTorque = serializableData.breakTorque;
|
|
|
+ native.EnableCollision = serializableData.enableCollision;
|
|
|
+
|
|
|
+ UpdateTransform(JointBody.A);
|
|
|
+ UpdateTransform(JointBody.B);
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Destroys the internal joint representation.
|
|
|
+ /// </summary>
|
|
|
+ private void DestroyNative()
|
|
|
+ {
|
|
|
+ if (native != null)
|
|
|
+ {
|
|
|
+ native.Destroy();
|
|
|
+ native = null;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Updates the local transform for the specified body attached to the joint.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="body">Body to update.</param>
|
|
|
+ private void UpdateTransform(JointBody body)
|
|
|
+ {
|
|
|
+ Vector3 localPos;
|
|
|
+ Quaternion localRot;
|
|
|
+
|
|
|
+ localPos = serializableData.positions[(int)body];
|
|
|
+ localRot = serializableData.rotations[(int)body];
|
|
|
+
|
|
|
+ // Transform to world space of the related body
|
|
|
+ Rigidbody rigidbody = serializableData.bodies[(int)body];
|
|
|
+ if (rigidbody != null)
|
|
|
+ {
|
|
|
+ localRot = rigidbody.SceneObject.Rotation * localRot;
|
|
|
+ localPos = localRot.Rotate(localPos) + rigidbody.SceneObject.Position;
|
|
|
+ }
|
|
|
+
|
|
|
+ // Transform to space local to the joint
|
|
|
+ Quaternion invRotation = SceneObject.Rotation.Inverse;
|
|
|
+
|
|
|
+ localPos = invRotation.Rotate(localPos - SceneObject.Position);
|
|
|
+ localRot = invRotation * localRot;
|
|
|
+
|
|
|
+ native.SetPosition(body, localPos);
|
|
|
+ native.SetRotation(body, localRot);
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Holds all data the joint component needs to persist through serialization.
|
|
|
+ /// </summary>
|
|
|
+ [SerializeObject]
|
|
|
+ internal class SerializableData
|
|
|
+ {
|
|
|
+ public Rigidbody[] bodies = new Rigidbody[2];
|
|
|
+ public Vector3[] positions = new Vector3[2];
|
|
|
+ public Quaternion[] rotations = new Quaternion[2];
|
|
|
+ public float breakForce = float.MaxValue;
|
|
|
+ public float breakTorque = float.MaxValue;
|
|
|
+ public bool enableCollision = false;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Controls spring parameters for a physics joint limits. If a limit is soft (body bounces back due to restitution when
|
|
|
+ /// the limit is reached) the spring will pull the body back towards the limit using the specified parameters.
|
|
|
+ /// </summary>
|
|
|
+ [StructLayout(LayoutKind.Sequential), SerializeObject]
|
|
|
+ public struct Spring // Note: Must match C++ struct Spring
|
|
|
+ {
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a spring.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="stiffness">Spring strength.Force proportional to the position error.</param>
|
|
|
+ /// <param name="damping">Damping strength. Force propertional to the velocity error.</param>
|
|
|
+ public Spring(float stiffness, float damping)
|
|
|
+ {
|
|
|
+ this.stiffness = stiffness;
|
|
|
+ this.damping = damping;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <inheritdoc/>
|
|
|
+ public override bool Equals(object rhs)
|
|
|
+ {
|
|
|
+ if (rhs is Spring)
|
|
|
+ {
|
|
|
+ Spring other = (Spring)rhs;
|
|
|
+ return stiffness == other.stiffness && damping == other.damping;
|
|
|
+ }
|
|
|
+
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <inheritdoc/>
|
|
|
+ public override int GetHashCode()
|
|
|
+ {
|
|
|
+ return base.GetHashCode();
|
|
|
+ }
|
|
|
+
|
|
|
+ public static bool operator ==(Spring a, Spring b)
|
|
|
+ {
|
|
|
+ return a.Equals(b);
|
|
|
+ }
|
|
|
+
|
|
|
+ public static bool operator !=(Spring a, Spring b)
|
|
|
+ {
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|
|
+ return !(a == b);
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Spring strength. Force proportional to the position error.
|
|
|
+ /// </summary>
|
|
|
+ public float stiffness;
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Damping strength. Force propertional to the velocity error.
|
|
|
+ /// </summary>
|
|
|
+ public float damping;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Specifies first or second body referenced by a Joint.
|
|
|
+ /// </summary>
|
|
|
+ public enum JointBody
|
|
|
+ {
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|
|
+ A, B
|
|
|
+ };
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Specifies axes that the D6 joint can constrain motion on.
|
|
|
+ /// </summary>
|
|
|
+ public enum D6JointAxis
|
|
|
+ {
|
|
|
+ /// <summary>
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|
|
+ /// Movement on the X axis.
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|
|
+ /// </summary>
|
|
|
+ X,
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|
|
+ /// <summary>
|
|
|
+ /// Movement on the Y axis.
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|
|
+ /// </summary>
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|
|
+ Y,
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|
|
+ /// <summary>
|
|
|
+ /// Movement on the Z axis.
|
|
|
+ /// </summary>
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|
|
+ Z,
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|
|
+ /// <summary>
|
|
|
+ /// Rotation around the X axis.
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|
|
+ /// </summary>
|
|
|
+ Twist,
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|
|
+ /// <summary>
|
|
|
+ /// Rotation around the Y axis.
|
|
|
+ /// </summary>
|
|
|
+ SwingY,
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|
|
+ /// <summary>
|
|
|
+ /// Rotation around the Z axis.
|
|
|
+ /// </summary>
|
|
|
+ SwingZ,
|
|
|
+ Count
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Specifies type of constraint placed on a specific axis of a D6 joint.
|
|
|
+ /// </summary>
|
|
|
+ public enum D6JointMotion
|
|
|
+ {
|
|
|
+ /// <summary>
|
|
|
+ /// Axis is immovable.
|
|
|
+ /// </summary>
|
|
|
+ Locked,
|
|
|
+ /// <summary>
|
|
|
+ /// Axis will be constrained by the specified limits.
|
|
|
+ /// </summary>
|
|
|
+ Limited,
|
|
|
+ /// <summary>
|
|
|
+ /// Axis will not be constrained.
|
|
|
+ /// </summary>
|
|
|
+ Free,
|
|
|
+ Count
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Type of drives that can be used for moving or rotating bodies attached to the D6 joint.
|
|
|
+ /// </summary>
|
|
|
+ public enum D6JointDriveType
|
|
|
+ {
|
|
|
+ /// <summary>
|
|
|
+ /// Linear movement on the X axis using the linear drive model.
|
|
|
+ /// </summary>
|
|
|
+ X,
|
|
|
+ /// <summary>
|
|
|
+ /// Linear movement on the Y axis using the linear drive model.
|
|
|
+ /// </summary>
|
|
|
+ Y,
|
|
|
+ /// <summary>
|
|
|
+ /// Linear movement on the Z axis using the linear drive model.
|
|
|
+ /// </summary>
|
|
|
+ Z,
|
|
|
+ /// <summary>
|
|
|
+ /// Rotation around the Y axis using the twist/swing angular drive model. Should not be used together with
|
|
|
+ /// SLERP mode.
|
|
|
+ /// </summary>
|
|
|
+ Swing,
|
|
|
+ /// <summary>
|
|
|
+ /// Rotation around the Z axis using the twist/swing angular drive model. Should not be used together with
|
|
|
+ /// SLERP mode.
|
|
|
+ /// </summary>
|
|
|
+ Twist,
|
|
|
+ /// <summary>
|
|
|
+ /// Rotation using spherical linear interpolation. Uses the SLERP angular drive mode which performs rotation
|
|
|
+ /// by interpolating the quaternion values directly over the shortest path (applies to all three axes, which
|
|
|
+ /// they all must be unlocked).
|
|
|
+ /// </summary>
|
|
|
+ SLERP,
|
|
|
+ Count
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Specifies parameters for a drive that will attempt to move the D6 joint bodies to the specified drive position and
|
|
|
+ /// velocity.
|
|
|
+ /// </summary>
|
|
|
+ [SerializeObject]
|
|
|
+ public class D6JointDrive
|
|
|
+ {
|
|
|
+ [SerializeField]
|
|
|
+ private D6JointDriveData data;
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Spring strength. Force proportional to the position error.
|
|
|
+ /// </summary>
|
|
|
+ public float Stiffness { get { return data.stiffness; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Damping strength. Force propertional to the velocity error.
|
|
|
+ /// </summary>
|
|
|
+ public float Damping { get { return data.damping; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Maximum force the drive can apply.
|
|
|
+ /// </summary>
|
|
|
+ public float ForceLimit { get { return data.forceLimit; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// If true the drive will generate acceleration instead of forces. Acceleration drives are easier to tune as
|
|
|
+ /// they account for the masses of the actors to which the joint is attached.
|
|
|
+ /// </summary>
|
|
|
+ public bool Acceleration { get { return data.acceleration; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Gets drive properties.
|
|
|
+ /// </summary>
|
|
|
+ public D6JointDriveData Data
|
|
|
+ {
|
|
|
+ get { return data; }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a new D6 joint drive.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="stiffness"><see cref="Stiffness"/></param>
|
|
|
+ /// <param name="damping"><see cref="Damping"/></param>
|
|
|
+ /// <param name="forceLimit"><see cref="ForceLimit"/></param>
|
|
|
+ /// <param name="acceleration"><see cref="Acceleration"/></param>
|
|
|
+ public D6JointDrive(float stiffness = 0.0f, float damping = 0.0f, float forceLimit = float.MaxValue,
|
|
|
+ bool acceleration = false)
|
|
|
+ {
|
|
|
+ data.stiffness = stiffness;
|
|
|
+ data.damping = damping;
|
|
|
+ data.forceLimit = forceLimit;
|
|
|
+ data.acceleration = acceleration;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a new D6 joint drive.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="data">Properties to initialize the drive with.</param>
|
|
|
+ public D6JointDrive(D6JointDriveData data)
|
|
|
+ {
|
|
|
+ this.data = data;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <inheritdoc/>
|
|
|
+ public override bool Equals(object rhs)
|
|
|
+ {
|
|
|
+ if (rhs is D6JointDrive)
|
|
|
+ {
|
|
|
+ D6JointDrive other = (D6JointDrive)rhs;
|
|
|
+ return Stiffness == other.Stiffness && Damping == other.Damping && ForceLimit == other.ForceLimit
|
|
|
+ && Acceleration == other.Acceleration;
|
|
|
+ }
|
|
|
+
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <inheritdoc/>
|
|
|
+ public override int GetHashCode()
|
|
|
+ {
|
|
|
+ return base.GetHashCode();
|
|
|
+ }
|
|
|
+
|
|
|
+ public static bool operator ==(D6JointDrive a, D6JointDrive b)
|
|
|
+ {
|
|
|
+ return a.Equals(b);
|
|
|
+ }
|
|
|
+
|
|
|
+ public static bool operator !=(D6JointDrive a, D6JointDrive b)
|
|
|
+ {
|
|
|
+ return !(a == b);
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Used for accessing drive data from native code.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="output">Native readable drive structure.</param>
|
|
|
+ private void Internal_GetNative(out D6JointDriveData output)
|
|
|
+ {
|
|
|
+ output = data;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Properties of a drive that drives the hinge joint's angular velocity towards a paricular value.
|
|
|
+ /// </summary>
|
|
|
+ [SerializeObject]
|
|
|
+ public class HingeJointDrive
|
|
|
+ {
|
|
|
+ [SerializeField]
|
|
|
+ private HingeJointDriveData data;
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Target speed of the joint.
|
|
|
+ /// </summary>
|
|
|
+ public float Speed { get { return data.speed; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Maximum torque the drive is allowed to apply.
|
|
|
+ /// </summary>
|
|
|
+ public float ForceLimit { get { return data.forceLimit; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Scales the velocity of the first body, and its response to drive torque is scaled down.
|
|
|
+ /// </summary>
|
|
|
+ public float GearRatio { get { return data.gearRatio; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// If the joint is moving faster than the drive's target speed, the drive will try to break. If you don't want
|
|
|
+ /// the breaking to happen set this to true.
|
|
|
+ /// </summary>
|
|
|
+ public bool FreeSpin { get { return data.freeSpin; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Gets drive properties.
|
|
|
+ /// </summary>
|
|
|
+ public HingeJointDriveData Data
|
|
|
+ {
|
|
|
+ get { return data; }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a new hinge joint drive.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="speed"><see cref="Speed"/></param>
|
|
|
+ /// <param name="forceLimit"><see cref="ForceLimit"/></param>
|
|
|
+ /// <param name="gearRatio"><see cref="GearRatio"/></param>
|
|
|
+ /// <param name="freeSpin"><see cref="FreeSpin"/></param>
|
|
|
+ public HingeJointDrive(float speed = 0.0f, float forceLimit = float.MaxValue,
|
|
|
+ float gearRatio = 1.0f, bool freeSpin = false)
|
|
|
+ {
|
|
|
+ data.speed = speed;
|
|
|
+ data.forceLimit = forceLimit;
|
|
|
+ data.gearRatio = gearRatio;
|
|
|
+ data.freeSpin = freeSpin;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a new hinge joint drive.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="data">Properties to initialize the drive with.</param>
|
|
|
+ public HingeJointDrive(HingeJointDriveData data)
|
|
|
+ {
|
|
|
+ this.data = data;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <inheritdoc/>
|
|
|
+ public override bool Equals(object rhs)
|
|
|
+ {
|
|
|
+ if (rhs is HingeJointDrive)
|
|
|
+ {
|
|
|
+ HingeJointDrive other = (HingeJointDrive)rhs;
|
|
|
+ return data.speed == other.data.speed && data.gearRatio == other.data.gearRatio &&
|
|
|
+ data.forceLimit == other.data.forceLimit && data.freeSpin == other.data.freeSpin;
|
|
|
+ }
|
|
|
+
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <inheritdoc/>
|
|
|
+ public override int GetHashCode()
|
|
|
+ {
|
|
|
+ return base.GetHashCode();
|
|
|
+ }
|
|
|
+
|
|
|
+ public static bool operator ==(HingeJointDrive a, HingeJointDrive b)
|
|
|
+ {
|
|
|
+ return a.Equals(b);
|
|
|
+ }
|
|
|
+
|
|
|
+ public static bool operator !=(HingeJointDrive a, HingeJointDrive b)
|
|
|
+ {
|
|
|
+ return !(a == b);
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Used for accessing drive data from native code.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="output">Native readable drive structure.</param>
|
|
|
+ private void Internal_GetNative(out HingeJointDriveData output)
|
|
|
+ {
|
|
|
+ output = data;
|
|
|
+ }
|
|
|
+ };
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Contains common values used by all Joint limit types.
|
|
|
+ /// </summary>
|
|
|
+ [SerializeObject]
|
|
|
+ public class LimitCommon
|
|
|
+ {
|
|
|
+ private LimitCommonData data;
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Distance from the limit at which it becomes active. Allows the solver to activate earlier than the limit is
|
|
|
+ /// reached to avoid breaking the limit.
|
|
|
+ /// </summary>
|
|
|
+ public float ContactDist { get { return data.contactDist; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Controls how do objects react when the limit is reached, values closer to zero specify non-ellastic collision,
|
|
|
+ /// while those closer to one specify more ellastic(i.e bouncy) collision.Must be in [0, 1] range.
|
|
|
+ /// </summary>
|
|
|
+ public float Restitution { get { return data.restitution; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Spring that controls how are the bodies pulled back towards the limit when they breach it.
|
|
|
+ /// </summary>
|
|
|
+ public Spring Spring { get { return data.spring; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Gets properties common to all limit types.
|
|
|
+ /// </summary>
|
|
|
+ public LimitCommonData CommonData
|
|
|
+ {
|
|
|
+ get { return data; }
|
|
|
+ }
|
|
|
+
|
|
|
+ protected LimitCommon(float contactDist = -1.0f)
|
|
|
+ {
|
|
|
+ data.contactDist = contactDist;
|
|
|
+ data.restitution = 0.0f;
|
|
|
+ data.spring = new Spring();
|
|
|
+ }
|
|
|
+
|
|
|
+ protected LimitCommon(Spring spring, float restitution = 0.0f)
|
|
|
+ {
|
|
|
+ data.contactDist = -1.0f;
|
|
|
+ data.restitution = restitution;
|
|
|
+ data.spring = spring;
|
|
|
+ }
|
|
|
+
|
|
|
+ protected LimitCommon(LimitCommonData data)
|
|
|
+ {
|
|
|
+ this.data = data;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <inheritdoc/>
|
|
|
+ public override bool Equals(object rhs)
|
|
|
+ {
|
|
|
+ if (rhs is LimitCommon)
|
|
|
+ {
|
|
|
+ LimitCommon other = (LimitCommon)rhs;
|
|
|
+ return ContactDist == other.ContactDist && Restitution == other.Restitution && Spring == other.Spring;
|
|
|
+ }
|
|
|
+
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <inheritdoc/>
|
|
|
+ public override int GetHashCode()
|
|
|
+ {
|
|
|
+ return base.GetHashCode();
|
|
|
+ }
|
|
|
+
|
|
|
+ public static bool operator ==(LimitCommon a, LimitCommon b)
|
|
|
+ {
|
|
|
+ return a.Equals(b);
|
|
|
+ }
|
|
|
+
|
|
|
+ public static bool operator !=(LimitCommon a, LimitCommon b)
|
|
|
+ {
|
|
|
+ return !(a == b);
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Represents a joint limit between two distance values. Lower value must be less than the upper value.
|
|
|
+ /// </summary>
|
|
|
+ [SerializeObject]
|
|
|
+ public class LimitLinearRange : LimitCommon
|
|
|
+ {
|
|
|
+ private LimitLinearRangeData data;
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Lower distance of the limit. Must be less than <see cref="Upper"/>.
|
|
|
+ /// </summary>
|
|
|
+ public float Lower { get { return data.lower; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Upper distance of the limit. Must be greater than <see cref="Lower"/>.
|
|
|
+ /// </summary>
|
|
|
+ public float Upper { get { return data.upper; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Gets properties of the linear limit range.
|
|
|
+ /// </summary>
|
|
|
+ public LimitLinearRangeData Data
|
|
|
+ {
|
|
|
+ get { return data; }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs an empty limit.
|
|
|
+ /// </summary>
|
|
|
+ public LimitLinearRange()
|
|
|
+ { }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a hard limit. Once the limit is reached the movement of the attached bodies will come to a stop.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="lower"><see cref="Lower"/></param>
|
|
|
+ /// <param name="upper"><see cref="Upper"/></param>
|
|
|
+ /// <param name="contactDist"><see cref="LimitCommon.ContactDist"/></param>
|
|
|
+ public LimitLinearRange(float lower, float upper, float contactDist = -1.0f)
|
|
|
+ :base(contactDist)
|
|
|
+ {
|
|
|
+ data.lower = lower;
|
|
|
+ data.upper = upper;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a soft limit. Once the limit is reached the bodies will bounce back according to the resitution
|
|
|
+ /// parameter and will be pulled back towards the limit by the provided spring.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="lower"><see cref="Lower"/></param>
|
|
|
+ /// <param name="upper"><see cref="Upper"/></param>
|
|
|
+ /// <param name="spring"><see cref="LimitCommon.Spring"/></param>
|
|
|
+ /// <param name="restitution"><see cref="LimitCommon.Restitution"/></param>
|
|
|
+ public LimitLinearRange(float lower, float upper, Spring spring, float restitution = 0.0f)
|
|
|
+ :base(spring, restitution)
|
|
|
+ {
|
|
|
+ data.lower = lower;
|
|
|
+ data.upper = upper;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a new limit from the provided properties.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="limitData">Linear range specific properties.</param>
|
|
|
+ /// <param name="commonData">Properties common to all limit types.</param>
|
|
|
+ public LimitLinearRange(LimitLinearRangeData limitData, LimitCommonData commonData)
|
|
|
+ :base(commonData)
|
|
|
+ {
|
|
|
+ this.data = limitData;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <inheritdoc/>
|
|
|
+ public override bool Equals(object rhs)
|
|
|
+ {
|
|
|
+ if (rhs is LimitLinearRange)
|
|
|
+ {
|
|
|
+ LimitLinearRange other = (LimitLinearRange)rhs;
|
|
|
+ return base.Equals(rhs) && Lower == other.Lower && Upper == other.Upper;
|
|
|
+ }
|
|
|
+
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <inheritdoc/>
|
|
|
+ public override int GetHashCode()
|
|
|
+ {
|
|
|
+ return base.GetHashCode();
|
|
|
+ }
|
|
|
+
|
|
|
+ public static bool operator ==(LimitLinearRange a, LimitLinearRange b)
|
|
|
+ {
|
|
|
+ return a.Equals(b);
|
|
|
+ }
|
|
|
+
|
|
|
+ public static bool operator !=(LimitLinearRange a, LimitLinearRange b)
|
|
|
+ {
|
|
|
+ return !(a == b);
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Used for accessing limit data from native code.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="output">Native readable limit structure.</param>
|
|
|
+ private void Internal_GetNative(ref ScriptLimitLinearRange output)
|
|
|
+ {
|
|
|
+ output.contactDist = ContactDist;
|
|
|
+ output.restitution = Restitution;
|
|
|
+ output.spring = Spring;
|
|
|
+ output.lower = Lower;
|
|
|
+ output.upper = Upper;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Represents a joint limit between zero a single distance value.
|
|
|
+ /// </summary>
|
|
|
+ [SerializeObject]
|
|
|
+ public class LimitLinear : LimitCommon
|
|
|
+ {
|
|
|
+ private LimitLinearData data;
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Distance at which the limit becomes active.
|
|
|
+ /// </summary>
|
|
|
+ public float Extent { get { return data.extent; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Gets properties of the linear limit.
|
|
|
+ /// </summary>
|
|
|
+ public LimitLinearData Data
|
|
|
+ {
|
|
|
+ get { return data; }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs an empty limit.
|
|
|
+ /// </summary>
|
|
|
+ public LimitLinear()
|
|
|
+ { }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a hard limit.Once the limit is reached the movement of the attached bodies will come to a stop.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="extent"><see cref="Extent"/></param>
|
|
|
+ /// <param name="contactDist"><see cref="LimitCommon.ContactDist"/></param>
|
|
|
+ public LimitLinear(float extent, float contactDist = -1.0f)
|
|
|
+ :base(contactDist)
|
|
|
+ {
|
|
|
+ data.extent = extent;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a soft limit.Once the limit is reached the bodies will bounce back according to the resitution
|
|
|
+ /// parameter and will be pulled back towards the limit by the provided spring.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="extent"><see cref="Extent"/></param>
|
|
|
+ /// <param name="spring"><see cref="LimitCommon.Spring"/></param>
|
|
|
+ /// <param name="restitution"><see cref="LimitCommon.Restitution"/></param>
|
|
|
+ public LimitLinear(float extent, Spring spring, float restitution = 0.0f)
|
|
|
+ :base(spring, restitution)
|
|
|
+ {
|
|
|
+ data.extent = extent;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a new limit from the provided properties.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="limitData">Linear limit specific properties.</param>
|
|
|
+ /// <param name="commonData">Properties common to all limit types.</param>
|
|
|
+ public LimitLinear(LimitLinearData limitData, LimitCommonData commonData)
|
|
|
+ :base(commonData)
|
|
|
+ {
|
|
|
+ this.data = limitData;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <inheritdoc/>
|
|
|
+ public override bool Equals(object rhs)
|
|
|
+ {
|
|
|
+ if (rhs is LimitLinear)
|
|
|
+ {
|
|
|
+ LimitLinear other = (LimitLinear)rhs;
|
|
|
+ return base.Equals(rhs) && Extent == other.Extent;
|
|
|
+ }
|
|
|
+
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <inheritdoc/>
|
|
|
+ public override int GetHashCode()
|
|
|
+ {
|
|
|
+ return base.GetHashCode();
|
|
|
+ }
|
|
|
+
|
|
|
+ public static bool operator ==(LimitLinear a, LimitLinear b)
|
|
|
+ {
|
|
|
+ return a.Equals(b);
|
|
|
+ }
|
|
|
+
|
|
|
+ public static bool operator !=(LimitLinear a, LimitLinear b)
|
|
|
+ {
|
|
|
+ return !(a == b);
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Used for accessing limit data from native code.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="output">Native readable limit structure.</param>
|
|
|
+ private void Internal_GetNative(ref ScriptLimitLinear output)
|
|
|
+ {
|
|
|
+ output.contactDist = ContactDist;
|
|
|
+ output.restitution = Restitution;
|
|
|
+ output.spring = Spring;
|
|
|
+ output.extent = Extent;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Represents a joint limit between two angles.
|
|
|
+ /// </summary>
|
|
|
+ [SerializeObject]
|
|
|
+ public class LimitAngularRange : LimitCommon
|
|
|
+ {
|
|
|
+ private LimitAngularRangeData data;
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Lower angle of the limit. Must be less than <see cref="Upper"/>.
|
|
|
+ /// </summary>
|
|
|
+ public Radian Lower { get { return data.lower; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Upper angle of the limit. Must be greater than <see cref="Lower"/>.
|
|
|
+ /// </summary>
|
|
|
+ public Radian Upper { get { return data.upper; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Gets properties of the angular limit range.
|
|
|
+ /// </summary>
|
|
|
+ public LimitAngularRangeData Data
|
|
|
+ {
|
|
|
+ get { return data; }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs an empty limit.
|
|
|
+ /// </summary>
|
|
|
+ public LimitAngularRange()
|
|
|
+ { }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a hard limit. Once the limit is reached the movement of the attached bodies will come to a stop.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="lower"><see cref="Lower"/></param>
|
|
|
+ /// <param name="upper"><see cref="Upper"/></param>
|
|
|
+ /// <param name="contactDist"><see cref="LimitCommon.ContactDist"/></param>
|
|
|
+ public LimitAngularRange(Radian lower, Radian upper, float contactDist = -1.0f)
|
|
|
+ : base(contactDist)
|
|
|
+ {
|
|
|
+ data.lower = lower;
|
|
|
+ data.upper = upper;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a soft limit. Once the limit is reached the bodies will bounce back according to the resitution
|
|
|
+ /// parameter and will be pulled back towards the limit by the provided spring.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="lower"><see cref="Lower"/></param>
|
|
|
+ /// <param name="upper"><see cref="Upper"/></param>
|
|
|
+ /// <param name="spring"><see cref="LimitCommon.Spring"/></param>
|
|
|
+ /// <param name="restitution"><see cref="LimitCommon.Restitution"/></param>
|
|
|
+ public LimitAngularRange(Radian lower, Radian upper, Spring spring, float restitution = 0.0f)
|
|
|
+ : base(spring, restitution)
|
|
|
+ {
|
|
|
+ data.lower = lower;
|
|
|
+ data.upper = upper;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a new limit from the provided properties.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="limitData">Angular limit range specific properties.</param>
|
|
|
+ /// <param name="commonData">Properties common to all limit types.</param>
|
|
|
+ public LimitAngularRange(LimitAngularRangeData limitData, LimitCommonData commonData)
|
|
|
+ :base(commonData)
|
|
|
+ {
|
|
|
+ this.data = limitData;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <inheritdoc/>
|
|
|
+ public override bool Equals(object rhs)
|
|
|
+ {
|
|
|
+ if (rhs is LimitAngularRange)
|
|
|
+ {
|
|
|
+ LimitAngularRange other = (LimitAngularRange)rhs;
|
|
|
+ return base.Equals(rhs) && Lower == other.Lower && Upper == other.Upper;
|
|
|
+ }
|
|
|
+
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <inheritdoc/>
|
|
|
+ public override int GetHashCode()
|
|
|
+ {
|
|
|
+ return base.GetHashCode();
|
|
|
+ }
|
|
|
+
|
|
|
+ public static bool operator ==(LimitAngularRange a, LimitAngularRange b)
|
|
|
+ {
|
|
|
+ return a.Equals(b);
|
|
|
+ }
|
|
|
+
|
|
|
+ public static bool operator !=(LimitAngularRange a, LimitAngularRange b)
|
|
|
+ {
|
|
|
+ return !(a == b);
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Used for accessing limit data from native code.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="output">Native readable limit structure.</param>
|
|
|
+ private void Internal_GetNative(ref ScriptLimitAngularRange output)
|
|
|
+ {
|
|
|
+ output.contactDist = ContactDist;
|
|
|
+ output.restitution = Restitution;
|
|
|
+ output.spring = Spring;
|
|
|
+ output.lower = Lower;
|
|
|
+ output.upper = Upper;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Represents a joint limit that contraints movement to within an elliptical cone.
|
|
|
+ /// </summary>
|
|
|
+ [SerializeObject]
|
|
|
+ public class LimitConeRange : LimitCommon
|
|
|
+ {
|
|
|
+ private LimitConeRangeData data;
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Y angle of the cone. Movement is constrainted between 0 and this angle on the Y axis.
|
|
|
+ /// </summary>
|
|
|
+ public Radian YLimitAngle { get { return data.yLimitAngle; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Z angle of the cone. Movement is constrainted between 0 and this angle on the Z axis.
|
|
|
+ /// </summary>
|
|
|
+ public Radian ZLimitAngle { get { return data.zLimitAngle; } }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Gets properties of the cone limit range.
|
|
|
+ /// </summary>
|
|
|
+ public LimitConeRangeData Data
|
|
|
+ {
|
|
|
+ get { return data; }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a limit with a 45 degree cone.
|
|
|
+ /// </summary>
|
|
|
+ public LimitConeRange()
|
|
|
+ {
|
|
|
+ data.yLimitAngle = new Radian(MathEx.Pi * 0.5f);
|
|
|
+ data.zLimitAngle = new Radian(MathEx.Pi * 0.5f);
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a hard limit. Once the limit is reached the movement of the attached bodies will come to a stop.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="yLimitAngle"><see cref="YLimitAngle"/></param>
|
|
|
+ /// <param name="zLimitAngle"><see cref="ZLimitAngle"/></param>
|
|
|
+ /// <param name="contactDist"><see cref="LimitCommon.ContactDist"/></param>
|
|
|
+ public LimitConeRange(Radian yLimitAngle, Radian zLimitAngle, float contactDist = -1.0f)
|
|
|
+ : base(contactDist)
|
|
|
+ {
|
|
|
+ data.yLimitAngle = yLimitAngle;
|
|
|
+ data.zLimitAngle = zLimitAngle;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a soft limit. Once the limit is reached the bodies will bounce back according to the resitution
|
|
|
+ /// parameter and will be pulled back towards the limit by the provided spring.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="yLimitAngle"><see cref="YLimitAngle"/></param>
|
|
|
+ /// <param name="zLimitAngle"><see cref="ZLimitAngle"/></param>
|
|
|
+ /// <param name="spring"><see cref="LimitCommon.Spring"/></param>
|
|
|
+ /// <param name="restitution"><see cref="LimitCommon.Restitution"/></param>
|
|
|
+ public LimitConeRange(Radian yLimitAngle, Radian zLimitAngle, Spring spring, float restitution = 0.0f)
|
|
|
+ : base(spring, restitution)
|
|
|
+ {
|
|
|
+ data.yLimitAngle = yLimitAngle;
|
|
|
+ data.zLimitAngle = zLimitAngle;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Constructs a new limit from the provided properties.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="limitData">Cone limit range specific properties.</param>
|
|
|
+ /// <param name="commonData">Properties common to all limit types.</param>
|
|
|
+ public LimitConeRange(LimitConeRangeData limitData, LimitCommonData commonData)
|
|
|
+ :base(commonData)
|
|
|
+ {
|
|
|
+ this.data = limitData;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <inheritdoc/>
|
|
|
+ public override bool Equals(object rhs)
|
|
|
+ {
|
|
|
+ if (rhs is LimitConeRange)
|
|
|
+ {
|
|
|
+ LimitConeRange other = (LimitConeRange)rhs;
|
|
|
+ return base.Equals(rhs) && YLimitAngle == other.YLimitAngle && ZLimitAngle == other.ZLimitAngle;
|
|
|
+ }
|
|
|
+
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <inheritdoc/>
|
|
|
+ public override int GetHashCode()
|
|
|
+ {
|
|
|
+ return base.GetHashCode();
|
|
|
+ }
|
|
|
+
|
|
|
+ public static bool operator ==(LimitConeRange a, LimitConeRange b)
|
|
|
+ {
|
|
|
+ return a.Equals(b);
|
|
|
+ }
|
|
|
+
|
|
|
+ public static bool operator !=(LimitConeRange a, LimitConeRange b)
|
|
|
+ {
|
|
|
+ return !(a == b);
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Used for accessing limit data from native code.
|
|
|
+ /// </summary>
|
|
|
+ /// <param name="output">Native readable limit structure.</param>
|
|
|
+ private void Internal_GetNative(ref ScriptLimitConeRange output)
|
|
|
+ {
|
|
|
+ output.contactDist = ContactDist;
|
|
|
+ output.restitution = Restitution;
|
|
|
+ output.spring = Spring;
|
|
|
+ output.yLimitAngle = YLimitAngle;
|
|
|
+ output.zLimitAngle = ZLimitAngle;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Contains data used by HingeJointDrive.
|
|
|
+ /// </summary>
|
|
|
+ [StructLayout(LayoutKind.Sequential)]
|
|
|
+ public struct HingeJointDriveData // Note: Must match C++ struct HingeJoint::Drive
|
|
|
+ {
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="HingeJointDrive.Speed"/>
|
|
|
+ /// </summary>
|
|
|
+ public float speed;
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="HingeJointDrive.ForceLimit"/>
|
|
|
+ /// </summary>
|
|
|
+ public float forceLimit;
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="HingeJointDrive.GearRatio"/>
|
|
|
+ /// </summary>
|
|
|
+ public float gearRatio;
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="HingeJointDrive.FreeSpin"/>
|
|
|
+ /// </summary>
|
|
|
+ public bool freeSpin;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Contains data used by D6JointDrive.
|
|
|
+ /// </summary>
|
|
|
+ [StructLayout(LayoutKind.Sequential)]
|
|
|
+ public struct D6JointDriveData // Note: Must match C++ struct D6Joint::Drive
|
|
|
+ {
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="D6JointDrive.Stiffness"/>
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|
|
+ /// </summary>
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|
|
+ public float stiffness;
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|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="D6JointDrive.Damping"/>
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|
|
+ /// </summary>
|
|
|
+ public float damping;
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="D6JointDrive.ForceLimit"/>
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|
|
+ /// </summary>
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|
|
+ public float forceLimit;
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|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="D6JointDrive.Acceleration"/>
|
|
|
+ /// </summary>
|
|
|
+ public bool acceleration;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Contains data used by LimitCommon.
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|
|
+ /// </summary>
|
|
|
+ public struct LimitCommonData
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|
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+ {
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="LimitCommon.ContactDist"/>
|
|
|
+ /// </summary>
|
|
|
+ public float contactDist;
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="LimitCommon.Restitution"/>
|
|
|
+ /// </summary>
|
|
|
+ public float restitution;
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="LimitCommon.Spring"/>
|
|
|
+ /// </summary>
|
|
|
+ public Spring spring;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Contains data used by LimitLinearRange.
|
|
|
+ /// </summary>
|
|
|
+ public struct LimitLinearRangeData
|
|
|
+ {
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="LimitLinearRange.Lower"/>
|
|
|
+ /// </summary>
|
|
|
+ public float lower;
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="LimitLinearRange.Upper"/>
|
|
|
+ /// </summary>
|
|
|
+ public float upper;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Contains data used by LimitLinear.
|
|
|
+ /// </summary>
|
|
|
+ public struct LimitLinearData
|
|
|
+ {
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="LimitLinearRange.Extent"/>
|
|
|
+ /// </summary>
|
|
|
+ public float extent;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Contains data used by LimitAngularRange.
|
|
|
+ /// </summary>
|
|
|
+ public struct LimitAngularRangeData
|
|
|
+ {
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="LimitAngularRange.Lower"/>
|
|
|
+ /// </summary>
|
|
|
+ public Radian lower;
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="LimitAngularRange.Upper"/>
|
|
|
+ /// </summary>
|
|
|
+ public Radian upper;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Contains data used by LimitConeRange.
|
|
|
+ /// </summary>
|
|
|
+ public struct LimitConeRangeData
|
|
|
+ {
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="LimitConeRange.YLimitAngle"/>
|
|
|
+ /// </summary>
|
|
|
+ public Radian yLimitAngle;
|
|
|
+ /// <summary>
|
|
|
+ /// <see cref="LimitConeRange.ZLimitAngle"/>
|
|
|
+ /// </summary>
|
|
|
+ public Radian zLimitAngle;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Used for passing LimitLinearRange data between native and managed code.
|
|
|
+ /// </summary>
|
|
|
+ [StructLayout(LayoutKind.Sequential)]
|
|
|
+ internal struct ScriptLimitLinearRange // Note: Must match C++ struct LimitLinearRange
|
|
|
+ {
|
|
|
+ public float contactDist;
|
|
|
+ public float restitution;
|
|
|
+ public Spring spring;
|
|
|
+ public float lower;
|
|
|
+ public float upper;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Used for passing LimitLinear data between native and managed code.
|
|
|
+ /// </summary>
|
|
|
+ [StructLayout(LayoutKind.Sequential)]
|
|
|
+ internal struct ScriptLimitLinear // Note: Must match C++ struct LimitLinear
|
|
|
+ {
|
|
|
+ public float contactDist;
|
|
|
+ public float restitution;
|
|
|
+ public Spring spring;
|
|
|
+ public float extent;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Used for passing LimitAngularRange data between native and managed code.
|
|
|
+ /// </summary>
|
|
|
+ [StructLayout(LayoutKind.Sequential)]
|
|
|
+ internal struct ScriptLimitAngularRange // Note: Must match C++ struct LimitAngularRange
|
|
|
+ {
|
|
|
+ public float contactDist;
|
|
|
+ public float restitution;
|
|
|
+ public Spring spring;
|
|
|
+ public Radian lower;
|
|
|
+ public Radian upper;
|
|
|
+ }
|
|
|
+
|
|
|
+ /// <summary>
|
|
|
+ /// Used for passing LimitConeRange data between native and managed code.
|
|
|
+ /// </summary>
|
|
|
+ [StructLayout(LayoutKind.Sequential)]
|
|
|
+ internal struct ScriptLimitConeRange // Note: Must match C++ struct LimitConeRange
|
|
|
+ {
|
|
|
+ public float contactDist;
|
|
|
+ public float restitution;
|
|
|
+ public Spring spring;
|
|
|
+ public Radian yLimitAngle;
|
|
|
+ public Radian zLimitAngle;
|
|
|
+ }
|
|
|
}
|
BearishSun