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

[QuebecDev]

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:

[GenerateAuthoringComponent]
public struct PhysicsConstraintComponent : IComponentData
{
    public bool3 linearConstrains;
    public bool3 angularConstrains;
}

This is the system that creates the PhysicJoint:

        Entities
        .ForEach((Entity entity, in PhysicsConstraintComponent constraint, in Translation translation, in Rotation rotation) => {

            var rigidTransform = new RigidTransform( rotation.Value, translation.Value);

            var body = new BodyFrame(rigidTransform);

            PhysicsJoint joint = new PhysicsJoint
            {
                BodyAFromJoint = body,
            };

            FixedList128<Constraint> constraints = new FixedList128<Constraint> {
                new Constraint
                {
                    ConstrainedAxes = constraint.linearConstrains,
                    Type = ConstraintType.Linear,
                    Min = 0,
                    Max = 0,
                    SpringFrequency = Constraint.DefaultSpringFrequency,
                    SpringDamping = Constraint.DefaultSpringDamping
                },
                new Constraint
                {
                    ConstrainedAxes = constraint.angularConstrains,
                    Type = ConstraintType.Angular,
                    Min = 0,
                    Max = 0,
                    SpringFrequency = Constraint.DefaultSpringFrequency,
                    SpringDamping = Constraint.DefaultSpringDamping
                }
            };

            joint.SetConstraints(constraints);

            ecb.AddComponent(entity, joint);

            ecb.RemoveComponent<PhysicsConstraintComponent>(entity);

        }).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?

[ceesam]

You’ll need to add PhysicsConstrainedBodyPair component.

        PhysicsConstrainedBodyPair pcbp = new PhysicsConstrainedBodyPair(entity, default, false);
        entityManager.AddComponentData(entity, pcbp);