锁链、碰到怪物挂上锁链功能

ActionTowerDefense/Assets/Animations/Player/PlayerCollider.controller

@@ -1,5 +1,31 @@
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ActionTowerDefense/Assets/Animations/Player/PlayerCollider_Die.anim

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ActionTowerDefense/Assets/Animations/Player/PlayerCollider_Fall.anim

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ActionTowerDefense/Assets/Animations/Player/PlayerCollider_Hurt.anim

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ActionTowerDefense/Assets/Animations/Player/PlayerCollider_Idle.anim

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ActionTowerDefense/Assets/Animations/Player/PlayerCollider_Rise.anim

@@ -131,6 +131,25 @@ AnimationClip:
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ActionTowerDefense/Assets/Animations/Player/PlayerCollider_Run.anim

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ActionTowerDefense/Assets/Animations/Player/PlayerCollider_Rush.anim

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ActionTowerDefense/Assets/Animations/Player/PlayerCollider_Sprint.anim

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+    - target: {fileID: 1724988006856220259, guid: 956ff4379e83d3c49a9c10310dbf7cc7, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: -51.2
+      objectReference: {fileID: 0}
     - target: {fileID: 1724988006904151745, guid: 956ff4379e83d3c49a9c10310dbf7cc7, type: 3}
       propertyPath: m_LocalPosition.x
       value: 57.480003
@@ -1278,6 +1414,10 @@ PrefabInstance:
       propertyPath: m_LocalPosition.y
       value: -27.63
       objectReference: {fileID: 0}
+    - target: {fileID: 1724988006904151745, guid: 956ff4379e83d3c49a9c10310dbf7cc7, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: -51.2
+      objectReference: {fileID: 0}
     - target: {fileID: 1724988006904151746, guid: 956ff4379e83d3c49a9c10310dbf7cc7, type: 3}
       propertyPath: upSpeed
       value: 0.5
@@ -1290,6 +1430,10 @@ PrefabInstance:
       propertyPath: m_LocalPosition.y
       value: -25.359999
       objectReference: {fileID: 0}
+    - target: {fileID: 1724988006941164869, guid: 956ff4379e83d3c49a9c10310dbf7cc7, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: -51.2
+      objectReference: {fileID: 0}
     - target: {fileID: 1724988006941164870, guid: 956ff4379e83d3c49a9c10310dbf7cc7, type: 3}
       propertyPath: upSpeed
       value: 0.5
@@ -1303,6 +1447,10 @@ PrefabInstance:
   m_Modification:
     m_TransformParent: {fileID: 0}
     m_Modifications:
+    - target: {fileID: 3571941038519084336, guid: 5b538f610930dd743a096c582e2810f4, type: 3}
+      propertyPath: playerRope
+      value: 
+      objectReference: {fileID: 1366036431}
     - target: {fileID: 3571941038519084344, guid: 5b538f610930dd743a096c582e2810f4, type: 3}
       propertyPath: m_Name
       value: Player

ActionTowerDefense/Assets/Scripts/Character.cs

@@ -67,6 +67,8 @@ public class Character : MonoBehaviour
     public SearchTrigger searchTrigger;
     public List<TargetType> targetTypes;
     public bool canHitFly;
+    public bool linked;
+    public SpringJoint joint;
 
     public virtual void Init()
     {
@@ -90,6 +92,13 @@ public class Character : MonoBehaviour
         hp = totalHp;
         uiHp.Show(hp, totalHp);
         ChangeState(CharacterState.Idle);
+
+        linked = false;
+        if (joint)
+        {
+            Destroy(joint);
+            joint = null;
+        }
     }
 
     public virtual void FixedUpdate()

ActionTowerDefense/Assets/Scripts/CharacterRope.cs

@@ -0,0 +1,44 @@
+using RopeToolkit;
+using System.Collections;
+using System.Collections.Generic;
+using Unity.VisualScripting;
+using UnityEngine;
+
+public class CharacterRope : MonoBehaviour
+{
+    public Rope rope;
+    public RopeConnection conn1, conn2;
+
+    public Character target1;
+    public Character target2;
+
+    private void Awake()
+    {
+        RopeConnection[] conns = rope.GetComponents<RopeConnection>();
+        conn1 = conns[0];
+        conn2 = conns[1];
+    }
+
+    public void BeLink(Character character1, Character character2, bool addJoint = true)
+    {
+        transform.position = Vector3.zero;
+        target1 = character1;
+        target2 = character2;
+        conn1.transformSettings.transform = character1.transform;
+        conn2.transformSettings.transform = character2.transform;
+        conn1.rigidbodySettings.body = character1.GetComponent<Rigidbody>();
+        conn2.rigidbodySettings.body = character2.GetComponent<Rigidbody>();
+        rope.spawnPoints.Clear();
+        rope.spawnPoints.Add(character1.transform.position);
+        rope.spawnPoints.Add(character2.transform.position);
+        rope.gameObject.SetActive(true);
+        character1.linked = true;
+        if (addJoint)
+        {
+            character1.joint = character1.AddComponent<SpringJoint>();
+            character1.joint.spring = 1000;
+            character1.joint.connectedBody = character2.rb;
+            character1.joint.maxDistance = (character1.transform.position - character2.transform.position).magnitude;
+        }
+    }
+}

ActionTowerDefense/Assets/Scripts/CharacterRope.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0140a0e2a0df33b469c9fb6a8b3c9b36
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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ActionTowerDefense/Assets/Scripts/Enemy.cs

@@ -4,6 +4,7 @@ using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
 using Base.Common;
+using UnityEditor.SceneManagement;
 
 public enum TargetType
 {

ActionTowerDefense/Assets/Scripts/PlayerController.cs

@@ -38,6 +38,7 @@ public class PlayerController : MoveCharacter
     public Dictionary<int, List<Demonic>> demonicDic;
     public List<int> demonicId;
     public UIHP uiMp;
+    public PlayerRope playerRope;
 
     public float jumpSpeed = 10;
     public float airJumpSpeed = 10;
@@ -78,6 +79,7 @@ public class PlayerController : MoveCharacter
     public bool airJumped;
     public PlayerAttackState attackState;
     public float attackMoveSpeed = 5f;
+    public Enemy lastLinkedEnemy;
 
     public bool btnJumpPress
     {
@@ -1098,5 +1100,4 @@ public class PlayerController : MoveCharacter
     {
         targetCharacter = searchTrigger.GetMinDisTarget(targetTypes, canHitFly);
     }
-
 }

ActionTowerDefense/Assets/Scripts/PlayerRope.cs

@@ -0,0 +1,27 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class PlayerRope : MonoBehaviour
+{
+    public LineRenderer line;
+    public Enemy targetEnemy;
+
+    public void BeLink(Enemy enemy)
+    {
+        targetEnemy = enemy;
+        gameObject.SetActive(true);
+    }
+
+    private void Update()
+    {
+        if (!targetEnemy)
+        {
+            Debug.LogError("NoTargetEnemy");
+            gameObject.SetActive(false);
+            return;
+        }
+        line.SetPosition(0, PlayerController.instance.transform.position + Vector3.up);
+        line.SetPosition(1, targetEnemy.transform.position + Vector3.up);
+    }
+}

ActionTowerDefense/Assets/Scripts/PlayerRope.cs.meta

@@ -0,0 +1,11 @@
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+guid: 105a87ba6cf66a240911fe4f462ca6c8
+MonoImporter:
+  externalObjects: {}
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+  executionOrder: 0
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ActionTowerDefense/Assets/Scripts/SprintLinkTrigger.cs

@@ -0,0 +1,48 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class SprintLinkTrigger : MonoBehaviour
+{
+    public GameObject enemyRopePrefab;
+    public GameObject playerRopePrefab;
+    public Dictionary<Enemy, bool> linkedEnemy;
+
+    private void Awake()
+    {
+        linkedEnemy = new Dictionary<Enemy, bool>();
+    }
+
+    private void OnTriggerEnter(Collider other)
+    {
+        BeSearchTrigger beSearchTrigger = other.GetComponent<BeSearchTrigger>();
+        if (!beSearchTrigger)
+        {
+            return;
+        }
+        Enemy enemy = other.GetComponentInParent<Enemy>();
+        if (!enemy || linkedEnemy.ContainsKey(enemy))
+        {
+            return;
+        }
+        if (PlayerController.instance.lastLinkedEnemy)
+        {
+            LinkEnemy(enemy, PlayerController.instance.lastLinkedEnemy);
+        }
+        LinkPlayer(enemy);
+    }
+
+    public void LinkEnemy(Enemy enemy1, Enemy enemy2)
+    {
+        GameObject ropeObj = PoolManager.Instantiate(enemyRopePrefab);
+        CharacterRope rope = ropeObj.GetComponent<CharacterRope>();
+        rope.BeLink(enemy1, enemy2);
+    }
+
+    public void LinkPlayer(Enemy enemy)
+    {
+        PlayerController.instance.lastLinkedEnemy = enemy;
+        linkedEnemy.Add(enemy, true);
+        PlayerController.instance.playerRope.BeLink(enemy);
+    }
+}

ActionTowerDefense/Assets/Scripts/SprintLinkTrigger.cs.meta

@@ -0,0 +1,11 @@
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ActionTowerDefense/Assets/Toolkits.meta

@@ -0,0 +1,8 @@
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+folderAsset: yes
+DefaultImporter:
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ActionTowerDefense/Assets/Toolkits/Rope.meta

@@ -0,0 +1,8 @@
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+folderAsset: yes
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ActionTowerDefense/Assets/Toolkits/Rope/Core.meta

@@ -0,0 +1,8 @@
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ActionTowerDefense/Assets/Toolkits/Rope/Core/DisableInPlayModeAttribute.cs

@@ -0,0 +1,10 @@
+using UnityEngine;
+
+namespace RopeToolkit
+{
+    public class DisableInPlayModeAttribute : PropertyAttribute
+    {
+        public DisableInPlayModeAttribute()
+        { }
+    }
+}

ActionTowerDefense/Assets/Toolkits/Rope/Core/DisableInPlayModeAttribute.cs.meta

@@ -0,0 +1,11 @@
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+guid: 41aa8ad4cfb989c4bba7e1e5615356cd
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ActionTowerDefense/Assets/Toolkits/Rope/Core/Editor.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 2f8ad20496e568346942cb85d75a2bde
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
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ActionTowerDefense/Assets/Toolkits/Rope/Core/Editor/DisableInPlayModePropertyDrawer.cs

@@ -0,0 +1,44 @@
+using UnityEngine;
+using UnityEditor;
+using UnityEngine.UIElements;
+
+namespace RopeToolkit
+{
+    [CustomPropertyDrawer(typeof(DisableInPlayModeAttribute))]
+    public class BeginLockInPlayModeDecoratorDrawer : PropertyDrawer
+    {
+        public override float GetPropertyHeight(SerializedProperty property, GUIContent label)
+        {
+            return EditorGUI.GetPropertyHeight(property, label, true);
+        }
+
+        public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+        {
+            var playing = Application.isPlaying;
+            if (playing)
+            {
+                GUI.enabled = false;
+            }
+
+            var ranges = fieldInfo.GetCustomAttributes(typeof(RangeAttribute), true);
+            var range = ranges != null && ranges.Length > 0 ? ranges[0] as RangeAttribute : null;
+            if (range != null && property.propertyType == SerializedPropertyType.Float)
+            {
+                EditorGUI.Slider(position, property, range.min, range.max);
+            }
+            else if (range != null && property.propertyType == SerializedPropertyType.Integer)
+            {
+                EditorGUI.IntSlider(position, property, (int)range.min, (int)range.max);
+            }
+            else
+            {
+                EditorGUI.PropertyField(position, property, label, true);
+            }
+
+            if (playing)
+            {
+                GUI.enabled = true;
+            }
+        }
+    }
+}

ActionTowerDefense/Assets/Toolkits/Rope/Core/Editor/DisableInPlayModePropertyDrawer.cs.meta

@@ -0,0 +1,11 @@
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ActionTowerDefense/Assets/Toolkits/Rope/Core/Editor/RopeEditor.cs

@@ -0,0 +1,80 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections.Generic;
+using Unity.Collections;
+using Unity.Mathematics;
+
+namespace RopeToolkit
+{
+    [CustomEditor(typeof(Rope)), CanEditMultipleObjects]
+    public class RopeEditor : Editor
+    {
+        public override void OnInspectorGUI()
+        {
+            base.OnInspectorGUI();
+        }
+
+        public void OnSceneGUI()
+        {
+            if (Application.isPlaying)
+            {
+                return;
+            }
+
+            var rope = target as Rope;
+            if (rope == null)
+            {
+                return;
+            }
+
+            // Draw floating window with buttons
+            if (Selection.objects.Length == 1)
+            {
+                Handles.BeginGUI();
+                GUI.skin = EditorGUIUtility.GetBuiltinSkin(EditorSkin.Scene);
+
+                var lastSpawn = rope.spawnPoints.Count > 0 ? rope.spawnPoints[rope.spawnPoints.Count - 1] : float3.zero;
+                var location = HandleUtility.WorldToGUIPoint(rope.transform.TransformPoint(lastSpawn)) + Vector2.right * 64.0f;
+                GUILayout.Window(0, new Rect(location, Vector2.one), (id) =>
+                {
+                    if (GUILayout.Button("Push spawn point"))
+                    {
+                        Undo.RecordObject(rope, "Push Rope Spawn Point");
+                        rope.PushSpawnPoint();
+                    }
+                    if (rope.spawnPoints.Count > 2 && GUILayout.Button("Pop spawn point"))
+                    {
+                        Undo.RecordObject(rope, "Pop Rope Spawn Point");
+                        rope.PopSpawnPoint();
+                    }
+                }, rope.gameObject.name);
+
+                Handles.EndGUI();
+            }
+
+            // Draw position handles
+            Handles.color = Rope.Colors.spawnPointHandle;
+            for (int i = 0; i < rope.spawnPoints.Count; i++)
+            {
+                var spawnPoint = rope.spawnPoints[i];
+                var position = rope.transform.TransformPoint(spawnPoint);
+
+                EditorGUI.BeginChangeCheck();
+                if (Event.current.modifiers.HasFlag(EventModifiers.Shift))
+                {
+                    position = Handles.PositionHandle(position, Quaternion.identity);
+                }
+                else
+                {
+                    position = Handles.FreeMoveHandle(position, Quaternion.identity, rope.radius * 4.0f, Vector3.one * 0.5f, Handles.SphereHandleCap);
+                }
+                if (EditorGUI.EndChangeCheck())
+                {
+                    Undo.RecordObject(rope, "Move Rope Spawn Point");
+                    spawnPoint = rope.transform.InverseTransformPoint(position);
+                    rope.spawnPoints[i] = spawnPoint;
+                }
+            }
+        }
+    }
+}

ActionTowerDefense/Assets/Toolkits/Rope/Core/Editor/RopeEditor.cs.meta

@@ -0,0 +1,11 @@
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ActionTowerDefense/Assets/Toolkits/Rope/Core/PointsExtensions.cs

@@ -0,0 +1,206 @@
+using UnityEngine;
+using Unity.Mathematics;
+using Unity.Collections;
+using System.Collections.Generic;
+using System.Linq;
+
+namespace RopeToolkit
+{
+    public static class PointsExtensions
+    {
+        // Curve length
+        public static float GetLengthOfCurve(this NativeArray<float3> curve, ref float4x4 transform, bool isLoop = false)
+        {
+            if (curve == null || curve.Length == 0)
+            {
+                return 0.0f;
+            }
+            var sum = 0.0f;
+            var firstPoint = math.mul(transform, new float4(curve[0], 1.0f)).xyz;
+            var lastPoint = firstPoint;
+            for (int i = 1; i < curve.Length; i++)
+            {
+                var point = math.mul(transform, new float4(curve[i], 1.0f)).xyz;
+                sum += math.distance(lastPoint, point);
+                lastPoint = point;
+            }
+            if (isLoop)
+            {
+                sum += math.distance(lastPoint, firstPoint);
+            }
+            return sum;
+        }
+
+        public static float GetLengthOfCurve(this NativeArray<float3> curve, bool isLoop = false)
+        {
+            var transform = float4x4.identity;
+            return curve.GetLengthOfCurve(ref transform, isLoop);
+        }
+
+        public static float GetLengthOfCurve(this IEnumerable<float3> curve, ref float4x4 transform, bool isLoop = false)
+        {
+            var array = new NativeArray<float3>(curve.ToArray(), Allocator.Temp);
+            var sum = array.GetLengthOfCurve(ref transform, isLoop);
+            array.Dispose();
+            return sum;
+        }
+
+        public static float GetLengthOfCurve(this IEnumerable<float3> curve, bool isLoop = false)
+        {
+            var transform = float4x4.identity;
+            return curve.GetLengthOfCurve(ref transform, isLoop);
+        }
+
+        // Curve points
+        private static void GetPointAlongCurve(this NativeArray<float3> curve, ref float4x4 transform, float distance, out float3 point, ref int currentTargetIndex, ref float accumulatedLength)
+        {
+            if (curve.Length < 2)
+            {
+                throw new System.ArgumentException(nameof(curve));
+            }
+            if (currentTargetIndex < 1 || currentTargetIndex >= curve.Length)
+            {
+                throw new System.ArgumentOutOfRangeException(nameof(currentTargetIndex));
+            }
+
+            var previousTarget = curve[currentTargetIndex - 1];
+            while (currentTargetIndex < curve.Length)
+            {
+                var target = curve[currentTargetIndex];
+                var segmentLength = math.distance(previousTarget, target);
+
+                if (distance <= accumulatedLength + segmentLength)
+                {
+                    var interpolated = math.lerp(previousTarget, target, (distance - accumulatedLength) / segmentLength);
+                    point = math.mul(transform, new float4(interpolated, 1.0f)).xyz;
+                    return;
+                }
+
+                currentTargetIndex++;
+                accumulatedLength += segmentLength;
+                previousTarget = target;
+            }
+
+            // numerical precision made this happen, just return last point
+            currentTargetIndex = curve.Length - 1;
+            point = math.mul(transform, new float4(previousTarget, 1.0f)).xyz;
+        }
+
+        public static void GetPointAlongCurve(this NativeArray<float3> curve, ref float4x4 transform, float distance, out float3 point)
+        {
+            var currentTargetIndex = 1;
+            var accumulatedLength = 0.0f;
+            curve.GetPointAlongCurve(ref transform, distance, out point, ref currentTargetIndex, ref accumulatedLength);
+        }
+
+        public static void GetPointAlongCurve(this NativeArray<float3> curve, float distance, out float3 point)
+        {
+            var transform = float4x4.identity;
+            curve.GetPointAlongCurve(ref transform, distance, out point);
+        }
+
+        public static void GetPointAlongCurve(this IEnumerable<float3> curve, ref float4x4 transform, float distance, out float3 point)
+        {
+            var array = new NativeArray<float3>(curve.ToArray(), Allocator.Temp);
+            array.GetPointAlongCurve(ref transform, distance, out point);
+            array.Dispose();
+        }
+
+        public static void GetPointAlongCurve(this IEnumerable<float3> curve, float distance, out float3 point)
+        {
+            var transform = float4x4.identity;
+            curve.GetPointAlongCurve(ref transform, distance, out point);
+        }
+
+        public static void GetPointsAlongCurve(this NativeArray<float3> curve, ref float4x4 transform, float desiredPointDistance, NativeArray<float3> result)
+        {
+            var currentTargetIndex = 1;
+            var accumulatedLength = 0.0f;
+            for (int i = 0; i < result.Length; i++)
+            {
+                curve.GetPointAlongCurve(ref transform, desiredPointDistance * i, out float3 point, ref currentTargetIndex, ref accumulatedLength);
+
+                result[i] = point;
+            }
+        }
+
+        public static void GetPointsAlongCurve(this NativeArray<float3> curve, float desiredPointDistance, NativeArray<float3> result)
+        {
+            var transform = float4x4.identity;
+            curve.GetPointsAlongCurve(ref transform, desiredPointDistance, result);
+        }
+
+        public static void GetPointsAlongCurve(this IEnumerable<float3> curve, ref float4x4 transform, float desiredPointDistance, NativeArray<float3> result)
+        {
+            var array = new NativeArray<float3>(curve.ToArray(), Allocator.Temp);
+            array.GetPointsAlongCurve(ref transform, desiredPointDistance, result);
+            array.Dispose();
+        }
+
+        public static void GetPointsAlongCurve(this IEnumerable<float3> curve, float desiredPointDistance, NativeArray<float3> result)
+        {
+            var transform = float4x4.identity;
+            curve.GetPointsAlongCurve(ref transform, desiredPointDistance, result);
+        }
+
+        // Closest point
+        public static void GetClosestPoint(this NativeArray<float3> curve, float3 point, out int index, out float distance)
+        {
+            index = 0;
+            var closestDistanceSq = math.distancesq(curve[0], point);
+            for (int i = 1; i < curve.Length; i++)
+            {
+                var distSq = math.distancesq(curve[i], point);
+                if (distSq < closestDistanceSq)
+                {
+                    index = i;
+                    closestDistanceSq = distSq;
+                }
+            }
+            distance = math.sqrt(closestDistanceSq);
+        }
+
+        public static void GetClosestPoint(this NativeArray<float3> curve, Ray ray, out int index, out float distance, out float distanceAlongRay)
+        {
+            index = 0;
+            var origin = (float3)ray.origin;
+            var dir = math.normalizesafe(ray.direction);
+            var closestDistanceAlongRay = math.dot(curve[0] - origin, dir);
+            var closestDistanceSq = math.distancesq(origin + closestDistanceAlongRay * dir, curve[0]);
+            for (int i = 1; i < curve.Length; i++)
+            {
+                var position = curve[i];
+                var rayDist = math.dot(position - origin, dir);
+                var distSq = math.distancesq(origin + rayDist * dir, position);
+                if (distSq < closestDistanceSq)
+                {
+                    index = i;
+                    closestDistanceAlongRay = rayDist;
+                    closestDistanceSq = distSq;
+                }
+            }
+            distance = math.sqrt(closestDistanceSq);
+            distanceAlongRay = closestDistanceAlongRay;
+        }
+
+        // Distance
+        public static void KeepAtDistance(this ref float3 point, ref float3 otherPoint, float distance, float stiffness = 1.0f)
+        {
+            var delta = otherPoint - point;
+
+            var currentDistance = math.length(delta);
+            if (currentDistance > 0.0f)
+            {
+                delta /= currentDistance;
+            }
+            else
+            {
+                delta = float3.zero;
+            }
+            delta *= (currentDistance - distance) * stiffness;
+
+            point += delta;
+            otherPoint -= delta;
+        }
+    }
+}

ActionTowerDefense/Assets/Toolkits/Rope/Core/PointsExtensions.cs.meta

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ActionTowerDefense/Assets/Toolkits/Rope/Core/RigidbodyExtensions.cs

@@ -0,0 +1,92 @@
+using UnityEngine;
+using Unity.Mathematics;
+using Unity.Collections;
+using System.Collections.Generic;
+using System.Linq;
+
+namespace RopeToolkit
+{
+    public static class RigidbodyExtensions
+    {
+        public static void GetLocalInertiaTensor(this Rigidbody rb, out float3x3 localInertiaTensor)
+        {
+            var rot = new float3x3(rb.inertiaTensorRotation);
+            var invRot = math.transpose(rot);
+
+            localInertiaTensor = math.mul(math.mul(rot, float3x3.Scale(rb.inertiaTensor)), invRot);
+        }
+
+        public static void GetInertiaTensor(this Rigidbody rb, out float3x3 inertiaTensor)
+        {
+            rb.GetLocalInertiaTensor(out float3x3 localInertiaTensor);
+
+            var rot = new float3x3(rb.rotation);
+            var invRot = math.transpose(rot);
+
+            inertiaTensor = math.mul(math.mul(rot, localInertiaTensor), invRot);
+        }
+
+        public static void GetInvInertiaTensor(this Rigidbody rb, out float3x3 invInertiaTensor)
+        {
+            rb.GetLocalInertiaTensor(out float3x3 localTensor);
+
+            float3x3 invLocalTensor = float3x3.zero;
+            if (math.determinant(localTensor) != 0.0f)
+            {
+                invLocalTensor = math.inverse(localTensor);
+            }
+
+            var rot = new float3x3(rb.rotation);
+            var invRot = math.transpose(rot);
+
+            invInertiaTensor = math.mul(math.mul(rot, invLocalTensor), invRot);
+        }
+
+        public static void ApplyImpulseNow(this Rigidbody rb, ref float3x3 invInertiaTensor, float3 point, float3 impulse)
+        {
+            if (rb.mass == 0.0f)
+            {
+                return;
+            }
+
+            var relativePoint = point - (float3)rb.worldCenterOfMass;
+            var angularMomentumChange = math.cross(relativePoint, impulse);
+            var angularVelocityChange = math.mul(invInertiaTensor, angularMomentumChange);
+
+            rb.velocity += (Vector3)impulse / rb.mass;
+            rb.angularVelocity += (Vector3)angularVelocityChange;
+        }
+
+        public static void ApplyImpulseNow(this Rigidbody rb, float3 point, float3 impulse)
+        {
+            rb.GetInvInertiaTensor(out float3x3 invInertiaTensor);
+            rb.ApplyImpulseNow(ref invInertiaTensor, point, impulse);
+        }
+
+        public static void SetPointVelocityNow(this Rigidbody rb, ref float3x3 invInertiaTensor, float3 point, float3 normal, float desiredSpeed, float damping = 1.0f)
+        {
+            if (rb.mass == 0.0f)
+            {
+                return;
+            }
+
+            var velocityChange = desiredSpeed - math.dot(rb.GetPointVelocity(point), normal) * damping;
+            var relativePoint = point - (float3)rb.worldCenterOfMass;
+
+            var denominator = (1.0f / rb.mass) + math.dot(math.cross(math.mul(invInertiaTensor, math.cross(relativePoint, normal)), relativePoint), normal);
+            if (denominator == 0.0f)
+            {
+                return;
+            }
+
+            var j = velocityChange / denominator;
+            rb.ApplyImpulseNow(ref invInertiaTensor, point, j * normal);
+        }
+
+        public static void SetPointVelocityNow(this Rigidbody rb, float3 point, float3 normal, float desiredSpeed, float damping = 1.0f)
+        {
+            rb.GetInvInertiaTensor(out float3x3 invInertiaTensor);
+            rb.SetPointVelocityNow(ref invInertiaTensor, point, normal, desiredSpeed, damping);
+        }
+    }
+}

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ActionTowerDefense/Assets/Toolkits/Rope/Examples/00_Main/ApplyTorqueOnKey.cs

@@ -0,0 +1,34 @@
+using UnityEngine;
+
+namespace RopeToolkit.Example
+{
+    public class ApplyTorqueOnKey : MonoBehaviour
+    {
+        public Vector3 relativeTorque;
+        public float maxAngularSpeed;
+
+        public KeyCode key;
+
+        protected Rigidbody rb;
+
+        public void Start()
+        {
+            rb = GetComponent<Rigidbody>();
+        }
+
+        public void FixedUpdate()
+        {
+            if (rb == null)
+            {
+                return;
+            }
+
+            if (Input.GetKey(key))
+            {
+                var torqueAxis = relativeTorque.normalized;
+                var strength = Mathf.SmoothStep(relativeTorque.magnitude, 0.0f, Vector3.Dot(torqueAxis, rb.angularVelocity) / maxAngularSpeed);
+                rb.AddRelativeTorque(torqueAxis * strength, ForceMode.Force);
+            }
+        }
+    }
+}

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ActionTowerDefense/Assets/Toolkits/Rope/Examples/00_Main/RopeBridgePlank.cs

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+using UnityEngine;
+using Unity.Mathematics;
+
+namespace RopeToolkit.Example
+{
+    [RequireComponent(typeof(Rigidbody))]
+    public class RopeBridgePlank : MonoBehaviour
+    {
+        public Rope ropeLeft;
+        public Rope ropeRight;
+        public float extentLeft = -0.5f;
+        public float extentRight = 0.5f;
+        public float extentPivot = 0.5f;
+
+        [Tooltip("A measure of the longitudal stiffness of the plank. That is, how quickly should the particles on the opposite ropes move to the correct distance between them.")]
+        [Range(0.0f, 1.0f)] public float longitudalStiffness = 0.25f;
+
+        public float restingRigidbodyMassMultiplier = 5.0f;
+
+        protected Rigidbody rb;
+        protected int particleLeft;
+        protected int particleRight;
+        protected int particlePivotLeft;
+        protected int particlePivotRight;
+        protected float distance;
+        protected float frameTotalMass;
+
+        public void Start()
+        {
+            rb = GetComponent<Rigidbody>();
+            if (rb != null)
+            {
+                rb.isKinematic = true;
+            }
+
+            var pointOnBodyLeft = transform.TransformPoint(Vector3.right * extentLeft);
+            var pointOnBodyRight = transform.TransformPoint(Vector3.right * extentRight);
+            var pointOnBodyPivot = transform.TransformPoint(Vector3.forward * extentPivot);
+
+            if (ropeLeft != null)
+            {
+                ropeLeft.GetClosestParticle(pointOnBodyLeft, out particleLeft, out float distance);
+                ropeLeft.GetClosestParticle(pointOnBodyPivot, out particlePivotLeft, out distance);
+            }
+            if (ropeRight != null)
+            {
+                ropeRight.GetClosestParticle(pointOnBodyRight, out particleRight, out float distance);
+                ropeRight.GetClosestParticle(pointOnBodyPivot, out particlePivotRight, out distance);
+            }
+
+            if (ropeLeft != null && ropeRight != null)
+            {
+                distance = math.distance(ropeLeft.GetPositionAt(particleLeft), ropeRight.GetPositionAt(particleRight));
+            }
+        }
+
+        public void FixedUpdate()
+        {
+            if (rb == null)
+            {
+                return;
+            }
+            if (ropeLeft == null || ropeRight == null)
+            {
+                rb.isKinematic = false;
+                return;
+            }
+
+            var left = ropeLeft.GetPositionAt(particleLeft);
+            var right = ropeRight.GetPositionAt(particleRight);
+            var pivot = (ropeLeft.GetPositionAt(particlePivotLeft) + ropeRight.GetPositionAt(particlePivotRight)) * 0.5f;
+
+            left.KeepAtDistance(ref right, distance, longitudalStiffness);
+
+            var middle = (left + right) * 0.5f;
+
+            rb.MoveRotation(Quaternion.LookRotation(pivot - middle, Vector3.Cross(pivot - middle, right - left)));
+            rb.MovePosition((Vector3)middle - transform.TransformVector(Vector3.right * (extentLeft + extentRight) * 0.5f));
+
+            ropeLeft.SetPositionAt(particleLeft, left);
+            ropeRight.SetPositionAt(particleRight, right);
+
+            var massMultiplier = 1.0f + frameTotalMass * restingRigidbodyMassMultiplier;
+            frameTotalMass = 0.0f;
+
+            if (ropeLeft.GetMassMultiplierAt(particleLeft) > 0.0f)
+            {
+                ropeLeft.SetMassMultiplierAt(particleLeft, massMultiplier);
+            }
+            if (ropeRight.GetMassMultiplierAt(particleRight) > 0.0f)
+            {
+                ropeRight.SetMassMultiplierAt(particleRight, massMultiplier);
+            }
+        }
+
+        public void OnCollisionStay(Collision collision)
+        {
+            if (collision.rigidbody != null)
+            {
+                frameTotalMass += collision.rigidbody.mass;
+            }
+        }
+
+#if UNITY_EDITOR
+        public void OnDrawGizmosSelected()
+        {
+            var pointOnBodyLeft = transform.TransformPoint(Vector3.right * extentLeft);
+            var pointOnBodyRight = transform.TransformPoint(Vector3.right * extentRight);
+            var pointOnBodyPivot = transform.TransformPoint(Vector3.forward * extentPivot);
+
+            Gizmos.color = Color.red;
+            Gizmos.DrawWireSphere(pointOnBodyLeft, 0.05f);
+            Gizmos.DrawWireSphere(pointOnBodyRight, 0.05f);
+            Gizmos.DrawLine(pointOnBodyLeft, pointOnBodyRight);
+
+            Gizmos.color = Color.blue;
+            Gizmos.DrawWireSphere(pointOnBodyPivot, 0.05f);
+            Gizmos.DrawLine(pointOnBodyLeft, pointOnBodyPivot);
+            Gizmos.DrawLine(pointOnBodyRight, pointOnBodyPivot);
+        }
+#endif
+    }
+}

ActionTowerDefense/Assets/Toolkits/Rope/Examples/00_Main/RopeBridgePlank.cs.meta

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ActionTowerDefense/Assets/Toolkits/Rope/Examples/00_Main/RopeMouseInteraction.cs

@@ -0,0 +1,126 @@
+using UnityEngine;
+using Unity.Mathematics;
+using System.Collections.Generic;
+
+namespace RopeToolkit
+{
+    public class RopeMouseInteraction : MonoBehaviour
+    {
+        public Mesh indicatorMesh;
+        public Material indicatorMaterial;
+
+        public List<Rope> ropes;
+
+        protected bool ready;
+        protected Rope pulledRope;
+        protected int pulledParticle;
+        protected float pulledDistance;
+        protected float3 currentPosition;
+        protected float3 targetPosition;
+
+        protected Rope GetClosestRope(Ray ray, out int closestParticleIndex, out float closestDistanceAlongRay)
+        {
+            closestParticleIndex = -1;
+            closestDistanceAlongRay = 0.0f;
+
+            var closestRopeIndex = -1;
+            var closestDistance = 0.0f;
+            for (int i = 0; i < ropes.Count; i++)
+            {
+                ropes[i].GetClosestParticle(ray, out int particleIndex, out float distance, out float distanceAlongRay);
+
+                if (distance < closestDistance || closestRopeIndex == -1)
+                {
+                    closestRopeIndex = i;
+                    closestParticleIndex = particleIndex;
+                    closestDistance = distance;
+                    closestDistanceAlongRay = distanceAlongRay;
+                }
+            }
+
+            return closestRopeIndex != -1 ? ropes[closestRopeIndex] : null;
+        }
+        
+        public void FixedUpdate()
+        {
+            var ray = Camera.main.ScreenPointToRay(Input.mousePosition);
+            
+            if (Input.GetMouseButton(0))
+            {
+                // Mouse down
+                if (ready && pulledRope == null)
+                {
+                    // Not pulling a rope, find the closest one to the mouse
+                    var closestRope = GetClosestRope(ray, out int closestParticleIndex, out float closestDistanceAlongRay);
+
+                    if (closestRope != null && closestParticleIndex != -1 && closestRope.GetMassMultiplierAt(closestParticleIndex) > 0.0f)
+                    {
+                        // Found a rope and particle on the rope, start pulling that particle!
+                        pulledRope = closestRope;
+                        pulledParticle = closestParticleIndex;
+                        pulledDistance = closestDistanceAlongRay;
+
+                        ready = false;
+                    }
+                }
+            }
+            else
+            {
+                // Mouse up
+                if (pulledRope != null)
+                {
+                    // Stop pulling the rope
+                    pulledRope.SetMassMultiplierAt(pulledParticle, 1.0f);
+                    pulledRope = null;
+                }
+            }
+
+            if (pulledRope != null)
+            {
+                // We are pulling the rope
+
+                // Adjust the grab plane
+                pulledDistance += Input.mouseScrollDelta.y * 2.0f;
+
+                // Move the rope particle to the mouse position on the grab-plane
+                currentPosition = pulledRope.GetPositionAt(pulledParticle);
+                targetPosition = ray.GetPoint(pulledDistance);
+
+                pulledRope.SetPositionAt(pulledParticle, targetPosition);
+                pulledRope.SetVelocityAt(pulledParticle, float3.zero);
+                pulledRope.SetMassMultiplierAt(pulledParticle, 0.0f);
+
+                // Split the rope if spacebar is pressed!
+                if (Input.GetKey(KeyCode.Space))
+                {
+                    ropes.Remove(pulledRope);
+
+                    var newRopes = new Rope[2];
+                    pulledRope.SplitAt(pulledParticle, newRopes);
+                    if (newRopes[0] != null) ropes.Add(newRopes[0]);
+                    if (newRopes[1] != null) ropes.Add(newRopes[1]);
+
+                    pulledRope = null;
+                }
+            }
+        }
+
+        public void Update()
+        {
+            if (!Input.GetMouseButton(0))
+            {
+                ready = true;
+            }
+
+            if (indicatorMesh == null || indicatorMaterial == null)
+            {
+                return;
+            }
+
+            if (pulledRope != null)
+            {
+                Graphics.DrawMesh(indicatorMesh, Matrix4x4.TRS(currentPosition, Quaternion.identity, Vector3.one * 0.25f), indicatorMaterial, 0);
+            }
+        }
+    }
+}

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ActionTowerDefense/Assets/Toolkits/Rope/Examples/00_Main/SoftBackdrop/SoftBackdrop.cs

@@ -0,0 +1,151 @@
+using UnityEngine;
+using System.Collections.Generic;
+using UnityEngine.Rendering;
+
+[ExecuteAlways]
+public class SoftBackdrop : MonoBehaviour
+{
+    protected const int ParticleCount = 32;
+    protected const float Size = 10.0f;
+
+    public Material speckMaterial;
+    public Mesh speckMesh;
+    public float speckScale = 0.5f;
+    public float speckMaxSpeed = 1.0f;
+
+    public Material sphereMaterial;
+    public Mesh sphereMesh;
+
+    protected Mesh invertedSphereMesh;
+
+    protected Vector3[] positions;
+    protected Vector3[] velocities;
+    protected Matrix4x4[] transforms;
+
+    public void Start()
+    {
+        Init();
+    }
+
+    public void OnValidate()
+    {
+        Init();
+    }
+
+    public void Init()
+    {
+        positions = new Vector3[ParticleCount];
+        velocities = new Vector3[ParticleCount];
+        transforms = new Matrix4x4[ParticleCount];
+
+        for (int i = 0; i < positions.Length; i++)
+        {
+            positions[i] = (new Vector3(Random.value, Random.value, Random.value) * 2.0f - new Vector3(1.0f, 1.0f, 1.0f)) * Size;
+            velocities[i] = Random.insideUnitSphere * Random.value * speckMaxSpeed;
+        }
+
+        if (sphereMesh != null)
+        {
+            var n = sphereMesh.normals;
+            for (int i = 0; i < n.Length; i++)
+            {
+                n[i] = -n[i];
+            }
+            var t = sphereMesh.triangles;
+            for (int i = 0; i < t.Length / 3; i++)
+            {
+                var i1 = t[i * 3 + 1];
+                t[i * 3 + 1] = t[i * 3 + 2];
+                t[i * 3 + 2] = i1;
+            }
+            if (invertedSphereMesh != null)
+            {
+                if (Application.isPlaying)
+                {
+                    Destroy(invertedSphereMesh);
+                }
+                else
+                {
+                    DestroyImmediate(invertedSphereMesh);
+                }
+            }
+            invertedSphereMesh = new Mesh
+            {
+                vertices = sphereMesh.vertices,
+                normals = n,
+                triangles = t,
+            };
+        }
+    }
+
+    public void OnDestroy()
+    {
+        if (invertedSphereMesh != null)
+        {
+            if (Application.isPlaying)
+            {
+                Destroy(invertedSphereMesh);
+            }
+            else
+            {
+                DestroyImmediate(invertedSphereMesh);
+            }
+        }
+    }
+
+    public void Update()
+    {
+        if (positions == null)
+        {
+            return;
+        }
+
+        for (int i = 0; i < positions.Length; i++)
+        {
+            var p = positions[i];
+            var v = velocities[i];
+
+            p += v * Time.deltaTime;
+
+            if (p.magnitude > Size)
+            {
+                p = -p.normalized * Size;
+            }
+
+            positions[i] = p;
+        }
+
+        for (int i = 0; i < positions.Length; i++)
+        {
+            var dir = positions[i].normalized;
+            var size = 1.0f - Mathf.Pow(Mathf.Clamp01(positions[i].magnitude / Size), 4.0f);
+            size *= speckScale;
+            transforms[i] = Matrix4x4.TRS(transform.TransformPoint(dir * 0.3f), Quaternion.LookRotation(dir), transform.lossyScale * size);
+        }
+
+        if (invertedSphereMesh != null && sphereMaterial != null)
+        {
+            Graphics.DrawMesh(invertedSphereMesh, transform.localToWorldMatrix, sphereMaterial, 0, null, 0, null, false, false);
+        }
+
+        if (speckMesh != null && speckMaterial != null)
+        {
+            speckMaterial.enableInstancing = true;
+            Graphics.DrawMeshInstanced(speckMesh, 0, speckMaterial, transforms, transforms.Length, null, ShadowCastingMode.Off, false);
+        }
+    }
+
+    public void OnDrawGizmos()
+    {
+        if (positions == null)
+        {
+            return;
+        }
+
+        Gizmos.color = Color.red;
+        for (int i = 0; i < positions.Length; i++)
+        {
+            Gizmos.DrawWireSphere(transform.TransformPoint(positions[i]), 0.5f);
+        }
+    }
+}

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ActionTowerDefense/Assets/Toolkits/Rope/Examples/01_DynamicAttach/BackAndForthMovement.cs

@@ -0,0 +1,23 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace RopeToolkit.Example
+{
+    public class BackAndForthMovement : MonoBehaviour
+    {
+        public Vector3 amount = new Vector3(2.0f, 0.0f, 0.0f);
+
+        protected Vector3 startPos;
+
+        public void Start()
+        {
+            startPos = transform.position;
+        }
+
+        public void Update()
+        {
+            transform.position = startPos + amount * Mathf.Sin(Time.time);
+        }
+    }
+}

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ActionTowerDefense/Assets/Toolkits/Rope/Examples/01_DynamicAttach/DynamicAttach.cs

@@ -0,0 +1,66 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace RopeToolkit.Example
+{
+    public class DynamicAttach : MonoBehaviour
+    {
+        public Material ropeMaterial;
+
+        public Vector3 attachPoint;
+        public Transform target;
+        public Vector3 targetAttachPoint;
+
+        protected GameObject ropeObject;
+
+        public void Detach()
+        {
+            if (ropeObject)
+            {
+                Destroy(ropeObject);
+            }
+            ropeObject = null;
+        }
+
+        public void Attach()
+        {
+            Detach();
+
+            ropeObject = new GameObject();
+            ropeObject.name = "Rope";
+
+            var start = transform.TransformPoint(attachPoint);
+            var end = target.TransformPoint(targetAttachPoint);
+
+            var rope = ropeObject.AddComponent<Rope>();
+            rope.material = ropeMaterial;
+            rope.spawnPoints.Add(ropeObject.transform.InverseTransformPoint(start));
+            rope.spawnPoints.Add(ropeObject.transform.InverseTransformPoint(end));
+
+            var conn0 = ropeObject.AddComponent<RopeConnection>();
+            conn0.type = RopeConnectionType.PinRopeToTransform;
+            conn0.ropeLocation = 0.0f;
+            conn0.transformSettings.transform = transform;
+            conn0.localConnectionPoint = attachPoint;
+
+            var conn1 = ropeObject.AddComponent<RopeConnection>();
+            conn1.type = RopeConnectionType.PinRopeToTransform;
+            conn1.ropeLocation = 1.0f;
+            conn1.transformSettings.transform = target;
+            conn1.localConnectionPoint = targetAttachPoint;
+        }
+
+        public void OnGUI()
+        {
+            if (GUI.Button(new Rect(16, 16, 100, 32), "Attach"))
+            {
+                Attach();
+            }
+            if (GUI.Button(new Rect(16, 64, 100, 32), "Detach"))
+            {
+                Detach();
+            }
+        }
+    }
+}

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