Question Unity DOTS Physics constraint linear and angular x,y,z

Hi,

I am trying to constraint my entity physic as per MonoBehaviour Rigidbody.


I have found some posts that helped me, but I cant make this work. Here is what I have done so far...

This is a component that contains bool3 for the constraint:

Code (CSharp):

1.  
2. [GenerateAuthoringComponent]
3. public struct PhysicsConstraintComponent : IComponentData
4. {
5.      public bool3 linearConstrains;
6.      public bool3 angularConstrains;
7. }

This is the system that creates the PhysicJoint:

Code (CSharp):

1.          
2. Entities
3.          .ForEach((Entity entity, in PhysicsConstraintComponent constraint, in Translation translation, in Rotation rotation) => {
4.              var rigidTransform = new RigidTransform( rotation.Value, translation.Value);
5.              var body = new BodyFrame(rigidTransform);
6.              PhysicsJoint joint = new PhysicsJoint
7.              {
8.                  BodyAFromJoint = body,
9.              };
10.              FixedList128<Constraint> constraints = new FixedList128<Constraint> {
11.                  new Constraint
12.                  {
13.                      ConstrainedAxes = constraint.linearConstrains,
14.                      Type = ConstraintType.Linear,
15.                      Min = 0,
16.                      Max = 0,
17.                      SpringFrequency = Constraint.DefaultSpringFrequency,
18.                      SpringDamping = Constraint.DefaultSpringDamping
19.                  },
20.                  new Constraint
21.                  {
22.                      ConstrainedAxes = constraint.angularConstrains,
23.                      Type = ConstraintType.Angular,
24.                      Min = 0,
25.                      Max = 0,
26.                      SpringFrequency = Constraint.DefaultSpringFrequency,
27.                      SpringDamping = Constraint.DefaultSpringDamping
28.                  }
29.              };
30.              joint.SetConstraints(constraints);
31.              ecb.AddComponent(entity, joint);
32.              ecb.RemoveComponent<PhysicsConstraintComponent>(entity);
33.          }).WithoutBurst().Run();

My entity is receiving the PhysicJoint but it ignores its constraints, the entity falls on the ground and rotates x,y,z. What am I doing wrong?

 

Your entity also needs a "PhysicsConstrainedBodyPair" component. BodyA should be set to the entity itself, and Body B should be set to Entity.Null to constrain the entity to world space.

 

Thanks!