90 lines
3.2 KiB
C#
90 lines
3.2 KiB
C#
using UnityEngine;
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using System;
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using System.Collections;
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namespace Obi
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{
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/**
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* Small helper class that lets you specify Obi-only properties for rigidbodies.
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*/
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[ExecuteInEditMode]
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[RequireComponent(typeof(Rigidbody))]
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public class ObiRigidbody : ObiRigidbodyBase
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{
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public Rigidbody unityRigidbody { get; private set; }
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public Vector3 position => unityRigidbody.position;
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public Quaternion rotation => unityRigidbody.rotation;
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public Vector3 linearVelocity { get; protected set; }
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public Vector3 angularVelocity { get; protected set; }
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private Quaternion prevRotation;
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private Vector3 prevPosition;
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public override void OnEnable()
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{
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unityRigidbody = GetComponent<Rigidbody>();
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prevPosition = unityRigidbody.position;
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prevRotation = unityRigidbody.rotation;
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linearVelocity = unityRigidbody.linearVelocity;
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angularVelocity = unityRigidbody.angularVelocity;
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base.OnEnable();
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}
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private void UpdateVelocities(float stepTime)
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{
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// differentiate positions/orientations to get our own velocites for kinematic objects.
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// when calling Physics.Simulate, MovePosition/Rotation do not work correctly. Also useful for animations.
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if (unityRigidbody.isKinematic)
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{
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// differentiate positions to obtain linear velocity:
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linearVelocity = (unityRigidbody.position - prevPosition) / stepTime;
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// differentiate rotations to obtain angular velocity:
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Quaternion delta = unityRigidbody.rotation * Quaternion.Inverse(prevRotation);
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angularVelocity = new Vector3(delta.x, delta.y, delta.z) * 2.0f / stepTime;
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}
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else
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{
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// if the object is non-kinematic, just copy velocities.
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linearVelocity = unityRigidbody.linearVelocity;
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angularVelocity = unityRigidbody.angularVelocity;
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}
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prevPosition = unityRigidbody.position;
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prevRotation = unityRigidbody.rotation;
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}
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public override void UpdateIfNeeded(float stepTime)
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{
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UpdateVelocities(stepTime);
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var world = ObiColliderWorld.GetInstance();
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var rb = world.rigidbodies[handle.index];
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rb.FromRigidbody(this);
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world.rigidbodies[handle.index] = rb;
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}
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/**
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* Reads velocities back from the solver.
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*/
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public override void UpdateVelocities(Vector3 linearDelta, Vector3 angularDelta)
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{
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// kinematic rigidbodies are passed to Obi with zero velocity, so we must ignore the new velocities calculated by the solver:
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if (Application.isPlaying && !(unityRigidbody.isKinematic || kinematicForParticles))
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{
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if (Vector3.SqrMagnitude(linearDelta) > 0.00001f || Vector3.SqrMagnitude(angularDelta) > 0.00001f)
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{
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unityRigidbody.linearVelocity += linearDelta;
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unityRigidbody.angularVelocity += angularDelta;
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}
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}
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}
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}
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}
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