correct bugs with default damping and Inertia settings

based on ee38fae * added missing damping stuffs to make the damping value changes effective (copycat Newtonbody.cs of version f182340) * added 1 option toggle to set the inertia and CoM from the editor OR to calculate them from the collider (see dNewtonBody::SetCenterOfMass in dNewtonBody.cpp) Works with Newton Dynamics from Jan 2, 2018(7e379d7)
ple666 · Apr 5, 2018 · 155d56b · 155d56b
1 parent f182340
commit 155d56b
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Showing 17 changed files with 1,006 additions and 982 deletions.
diff --git a/Demos/Assets/Scripts/PlayerDriver.cs b/Demos/Assets/Scripts/PlayerDriver.cs
@@ -1,56 +1,56 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class PlayerDriver : MonoBehaviour
-{
-
-	// Use this for initialization
-	void Start ()
-    {
-        motor = transform.Find("motor").GetComponent<NewtonBody>();
-        motorJoint = transform.Find("motor").GetComponent<NewtonDoubleHingeActuator>();
-    }
-
-    // Update is called once per frame
-    void Update ()
-    {
-        if (motorJoint != null)
-        {
-            // control forward and backwoar movement
-            if (Input.GetKey(KeyCode.W))
-            {
-                motor.SleepState = false;
-                motorJoint.TargetAngle1 = 1e10f;
-            }
-            else if (Input.GetKey(KeyCode.S))
-            {
-                motor.SleepState = false;
-                motorJoint.TargetAngle1 = -1e10f;
-            }
-            else
-            {
-                motorJoint.TargetAngle1 = motorJoint.GetJointAngle1();
-            }
-
-            // control steering movement
-            if (Input.GetKey(KeyCode.A))
-            {
-                motor.SleepState = false;
-                motorJoint.TargetAngle0 = 1e10f;
-            }
-            else if (Input.GetKey(KeyCode.D))
-            {
-                motor.SleepState = false;
-                motorJoint.TargetAngle0 = -1e10f;
-            }
-            else
-            {
-                motorJoint.TargetAngle0 = motorJoint.GetJointAngle0();
-            }
-        }
-    }
-
-    NewtonBody motor = null;
-    NewtonDoubleHingeActuator motorJoint = null;
-}
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class PlayerDriver : MonoBehaviour
+{
+
+	// Use this for initialization
+	void Start ()
+    {
+        motor = transform.Find("motor").GetComponent<NewtonBody>();
+        motorJoint = transform.Find("motor").GetComponent<NewtonUniversalActuator>();
+    }
+
+    // Update is called once per frame
+    void Update ()
+    {
+        if (motorJoint != null)
+        {
+            // control forward and backwoar movement
+            if (Input.GetKey(KeyCode.W))
+            {
+                motor.SleepState = false;
+                motorJoint.TargetAngle1 = 1e10f;
+            }
+            else if (Input.GetKey(KeyCode.S))
+            {
+                motor.SleepState = false;
+                motorJoint.TargetAngle1 = -1e10f;
+            }
+            else
+            {
+                motorJoint.TargetAngle1 = motorJoint.GetJointAngle1();
+            }
+
+            // control steering movement
+            if (Input.GetKey(KeyCode.A))
+            {
+                motor.SleepState = false;
+                motorJoint.TargetAngle0 = 1e10f;
+            }
+            else if (Input.GetKey(KeyCode.D))
+            {
+                motor.SleepState = false;
+                motorJoint.TargetAngle0 = -1e10f;
+            }
+            else
+            {
+                motorJoint.TargetAngle0 = motorJoint.GetJointAngle0();
+            }
+        }
+    }
+
+    NewtonBody motor = null;
+    NewtonUniversalActuator motorJoint = null;
+}
diff --git a/Demos/Assets/demo_01_BasicCollisionPrimives.unity b/Demos/Assets/demo_01_BasicCollisionPrimives.unity
diff --git a/NewtonPlugin/NewtonBody.cs b/NewtonPlugin/NewtonBody.cs
@@ -94,7 +94,7 @@ public virtual void InitRigidBody()
 
     void SetCenterOfMass ()
     {
-        m_body.SetCenterOfMass(m_centerOfMass.x, m_centerOfMass.y, m_centerOfMass.z);
+        m_body.SetCenterOfMass(m_centerOfMass.x, m_centerOfMass.y, m_centerOfMass.z, m_Ixx, m_Iyy, m_Izz, m_CalculateInertia);
     }
 
     public virtual void DestroyRigidBody()
@@ -258,7 +258,7 @@ public Vector3 CenterOfMass
         {
             if (m_body != null)
             {
-                m_body.SetCenterOfMass(value.x, value.y, value.z);
+                m_body.SetCenterOfMass(value.x, value.y, value.z, m_Ixx, m_Iyy, m_Izz, m_CalculateInertia);
             }
         }
 
@@ -337,6 +337,10 @@ protected virtual void CreateBodyAndCollision()
     [Header("rigid body data")]
     public float m_mass = 0.0f;
     public Vector3 m_centerOfMass = new Vector3 (0.0f, 0.0f, 0.0f);
+    public float m_Ixx = 0.0f;
+    public float m_Iyy = 0.0f;
+    public float m_Izz = 0.0f;
+    public bool m_CalculateInertia=false;
     public bool m_isScene = false;
     public bool m_showGizmo = false;
     public float m_gizmoScale = 1.0f;

diff --git a/NewtonPlugin/NewtonPlugin.csproj b/NewtonPlugin/NewtonPlugin.csproj
@@ -61,12 +61,13 @@
     <Compile Include="NewtonJoint.cs" />
     <Compile Include="NewtonMaterial.cs" />
     <Compile Include="NewtonNullCollider.cs" />
+    <Compile Include="NewtonPlane.cs" />
     <Compile Include="NewtonSceneCollider.cs" />
     <Compile Include="NewtonSlider.cs" />
     <Compile Include="NewtonSlidingHinge.cs" />
     <Compile Include="NewtonSphereCollider.cs" />
     <Compile Include="NewtonTreeCollider.cs" />
-    <Compile Include="NewtonDoubleHinge.cs" />
+    <Compile Include="NewtonUniversal.cs" />
     <Compile Include="NewtonUtils.cs" />
     <Compile Include="NewtonWorld.cs" />
     <Compile Include="newton_wrap.cs" />