Add support for connected bodies

Added center of mass
Removed delta velocities

GamecraftModdingAPI/Blocks/BlockEngine.cs

@@ -4,6 +4,8 @@ using Gamecraft.Wires;
 using RobocraftX.Blocks;
 using RobocraftX.Common;
 using RobocraftX.GUI.Hotbar.Colours;
+using RobocraftX.Physics;
+using RobocraftX.Scene.Simulation;
 using Svelto.DataStructures;
 using Svelto.ECS;
 
@@ -126,6 +128,20 @@ namespace GamecraftModdingAPI.Blocks
 			return ret.ToArray();
 		}
 
+		public SimBody[] GetConnectedSimBodies(uint id)
+		{
+			var joints = entitiesDB.QueryEntities<JointEntityStruct>(MachineSimulationGroups.JOINTS_GROUP);
+			var list = new FasterList<SimBody>(4);
+			foreach (var joint in joints)
+			{
+				if (joint.jointState == JointState.Broken) continue;
+				if (joint.connectedEntityA == id) list.Add(new SimBody(joint.connectedEntityB));
+				else if (joint.connectedEntityB == id) list.Add(new SimBody(joint.connectedEntityA));
+			}
+
+			return list.ToArray();
+		}
+
 #if DEBUG
 		public EntitiesDB GetEntitiesDB()
 		{

GamecraftModdingAPI/Blocks/RemovalEngine.cs

@@ -28,17 +28,6 @@ namespace GamecraftModdingAPI.Blocks
 
         public void Ready()
         {
-            /*CommandManager.AddCommand(new SimpleCustomCommandEngine(() =>
-            {
-                var block = BlockUtility.GetBlockLookedAt(LocalPlayerIDUtility.GetLocalPlayerID(entitiesDB), entitiesDB);
-                if (block.HasValue)
-                {
-                    RemoveBlock(block.Value);
-                    Log.Output("Removed block.");
-                }
-                else
-                    Log.Output("No block found where you're looking at.");
-            }, "removeCube", "Removes the cube you're looking at."));*/
         }
 
         public EntitiesDB entitiesDB { get; set; }

GamecraftModdingAPI/Players/PlayerEngine.cs

@@ -249,21 +249,6 @@ namespace GamecraftModdingAPI.Players
 		        : maxDistance;
 	        if (rayCast.hit && rayCast.distance <= distance)
 		        return rayCast.hitEgid;
-	        /*if (rayCast.hit)
-	        {
-		        *Logging.MetaDebugLog("RayCast EGID: " + rayCast.hitEgid);
-		        var d = AccessTools.Field(typeof(ExclusiveGroup), "_knownGroups").GetValue(null) as
-			        Dictionary<string, ExclusiveGroupStruct>;
-		        foreach (var groupStruct in d)
-		        {
-			        if (groupStruct.Value == rayCast.hitEgid.groupID)
-			        {
-				        Logging.MetaDebugLog("Group name: " + groupStruct.Key);
-				        break; //SIMULATION_BODIES_GROUP
-			        }
-		        }*
-		        //Logging.MetaDebugLog("Position: " + Block.GetBlockPositionTest(rayCast.hitEgid));
-	        }*/
 
 	        return null;
         }

GamecraftModdingAPI/SimBody.cs

@@ -1,5 +1,4 @@
-using Gamecraft.Wires;
+using RobocraftX.Common;
-using RobocraftX.Common;
 using RobocraftX.Physics;
 using Svelto.ECS;
 using Unity.Mathematics;
@@ -23,6 +22,10 @@ namespace GamecraftModdingAPI
         {
         }
 
+        /// <summary>
+        /// The position of this body. When setting the position, update the position of the connected bodies as well,
+        /// otherwise unexpected forces may arise.
+        /// </summary>
         public float3 Position
         {
             get => GetStruct().position;
@@ -39,19 +42,7 @@ namespace GamecraftModdingAPI
         {
             get => GetStruct().angularVelocity;
             set => GetStruct().angularVelocity = value;
-        }
+        } //Delta versions are used internally, can't be set or get
-
-        public float3 DeltaVelocity
-        {
-            get => GetStruct().deltaVelocity;
-            set => GetStruct().deltaVelocity = value;
-        }
-
-        public float3 DeltaAngularVelocity
-        {
-            get => GetStruct().deltaAngularVelocity;
-            set => GetStruct().deltaAngularVelocity = value;
-        }
 
         public float3 Rotation
         {
@@ -68,14 +59,27 @@ namespace GamecraftModdingAPI
         public float Mass
         {
             get => math.rcp(GetStruct().physicsMass.InverseMass);
-            set => GetStruct().physicsMass.InverseMass = math.rcp(value);
+            //set => GetStruct().physicsMass.InverseMass = math.rcp(value);
+        }
+
+        public float3 CenterOfMass
+        {
+            get => GetStruct().physicsMass.CenterOfMass;
+            //set => GetStruct().physicsMass.CenterOfMass = value;
         }
 
         /// <summary>
-        /// Whether the body can be moved or static
+        /// Whether the body can be moved or static.
         /// </summary>
-        public bool Static => Block.BlockEngine.GetBlockInfo<MassEntityStruct>(Id).isStatic;
+        public bool Static => Block.BlockEngine.GetBlockInfo<MassEntityStruct>(Id).isStatic; //Setting it doesn't have any effect
-        //Setting it doesn't have any effect
+
+        /// <summary>
+        /// The rigid bodies connected to this one via functional joints (broken ones don't count).
+        /// </summary>
+        public SimBody[] GetConnectedBodies()
+        {
+            return Block.BlockEngine.GetConnectedSimBodies(Id.entityID);
+        }
 
         private ref RigidBodyEntityStruct GetStruct()
         {

GamecraftModdingAPI/Tests/GamecraftModdingAPIPluginTest.cs

@@ -216,6 +216,11 @@ namespace GamecraftModdingAPI.Tests
 						{
 							Logging.CommandLog("SimBody: " + body);
 							body.Position += new float3(0, 10, 0);
+							foreach (var bodyConnectedBody in body.GetConnectedBodies())
+							{
+								Logging.CommandLog("Moving " + bodyConnectedBody);
+								bodyConnectedBody.Position += new float3(0, 10, 0);
+							}
 						}
 					}).Build();
 
@@ -296,9 +301,8 @@ namespace GamecraftModdingAPI.Tests
 		        if (body == null) return "Body: none";
 		        return "Body: " + (body.Static ? "static" : "non-static")
 		                        + "\nAt: " + body.Position + " - rotated: " + body.Rotation
-		                        + "\nWith mass: " + body.Mass
+		                        + "\nWith mass: " + body.Mass + " - center: " + body.CenterOfMass
-		                        + "\nVelocity: " + body.Velocity + " - angular: " + body.AngularVelocity
+		                        + "\nVelocity: " + body.Velocity + " - angular: " + body.AngularVelocity;
-		                        + "\nDelta velocity: " + body.DeltaVelocity + " - angular: " + body.DeltaAngularVelocity;
 	        }
 
 	        return "Switching modes...";
@@ -310,7 +314,7 @@ namespace GamecraftModdingAPI.Tests
 	        if (modsString != null) return modsString;
 	        StringBuilder sb = new StringBuilder("Installed mods:");
 	        foreach (var plugin in PluginManager.Plugins)
-		        sb.Append("\n" + plugin);
+		        sb.Append("\n" + plugin.Name + " - " + plugin.Version);
 	        return modsString = sb.ToString();
         }