public void SnapAnchorToClosestContact()
{
if (!transform.parent)
{
return;
}
// GetComponentInParent returns enabled/disabled components, need to find enabled one.
ArticulationBody parentBody = transform.parent.GetComponentInParent <ArticulationBody>();
while (parentBody && !parentBody.enabled)
{
parentBody = parentBody.transform.parent.GetComponentInParent <ArticulationBody>();
}
if (!parentBody)
{
return;
}
Vector3 com = parentBody.worldCenterOfMass;
Vector3 closestOnSurface = GetClosestPoint(com);
anchorPosition = transform.InverseTransformPoint(closestOnSurface);
anchorRotation = Quaternion.FromToRotation(Vector3.right, transform.InverseTransformDirection(com - closestOnSurface).normalized);
}
public void Start()
{
#if UNITY_2020_1_OR_NEWER
unityJoint = GetComponent <UnityEngine.ArticulationBody>();
#else
unityJoint = GetComponent <UnityEngine.Joint>();
#endif
}
// Start is called before the first frame update
void Start()
{
var modelHelpers = GetComponentsInParent(typeof(Model));
_topModel = (Model)modelHelpers[modelHelpers.Length - 1];
_artBody = GetComponent <UE.ArticulationBody>();
// Handle self collision
if (!isSelfCollide)
{
IgnoreSelfCollision();
}
}
static int get_attachedArticulationBody(IntPtr L)
{
object o = null;
try
{
o = ToLua.ToObject(L, 1);
UnityEngine.Collider obj = (UnityEngine.Collider)o;
UnityEngine.ArticulationBody ret = obj.attachedArticulationBody;
ToLua.Push(L, ret);
return(1);
}
catch (Exception e)
{
return(LuaDLL.toluaL_exception(L, e, o, "attempt to index attachedArticulationBody on a nil value"));
}
}
// Start is called before the first frame update
void Start()
{
if (_modelHelper != null)
{
_modelHelper.SetArticulationBody();
}
artBody = this.GetComponent <UE.ArticulationBody>();
// Handle self collision
if (!isSelfCollide)
{
IgnoreSelfCollision(_modelHelper);
}
else
{
EnableSelfCollision();
}
}
public Joint ExportJointData()
{
#if UNITY_2020_1_OR_NEWER
unityJoint = GetComponent <UnityEngine.ArticulationBody>();
#else
unityJoint = GetComponent <UnityEngine.Joint>();
#endif
CheckForUrdfCompatibility();
//Data common to all joints
Joint joint = new Joint(
jointName,
JointType.ToString().ToLower(),
gameObject.transform.parent.name,
gameObject.name,
UrdfOrigin.ExportOriginData(transform));
joint.limit = ExportLimitData();
return(ExportSpecificJointData(joint));
}