/// <summary>
/// Connects the gameobject to the starting end endingJoint
/// </summary>
public void ConnectToJoints()
{
if (startingJoint == null || endingJoint == null)
{
return;
}
startingJoint.Connect(this);
endingJoint.Connect(this);
// connect the musclejoints with a spring joint
spring = startingJoint.gameObject.AddComponent <SpringJoint>();
spring.spring = SPRING_STRENGTH;
spring.damper = 50;
spring.minDistance = 0;
spring.maxDistance = 0;
//spring.autoConfigureConnectedAnchor = true;
spring.anchor = startingJoint.position;
spring.connectedAnchor = endingJoint.position;
spring.connectedBody = endingJoint.GetComponent <Rigidbody>();
spring.enablePreprocessing = true;
spring.enableCollision = false;
// break forces
//spring.breakForce = 5000;
//spring.breakTorque = 5000;
}
public static IList <MuscleJoint> CopyHierarchy(IList <MuscleJoint> joints)
{
IList <MuscleJoint> mirrorJoints = new MuscleJoint[joints.Count];
for (int i = 0; i < joints.Count; i++)
{
MuscleJoint originalJoint = joints[i];
Transform mirrorTransform = new GameObject(joints[i].name + "_IK").transform;
mirrorTransform.position = originalJoint.transform.position;
mirrorTransform.rotation = originalJoint.transform.rotation;
MuscleJoint mirrorJoint = mirrorTransform.gameObject.AddComponent <MuscleJoint>();
mirrorJoint.Initialize(originalJoint);
GameObject.Destroy(mirrorJoint.GetComponent <SphereCollider>()); // Todo: superhacky
if (i > 0)
{
mirrorTransform.parent = mirrorJoints[i - 1].transform;
}
mirrorJoints[i] = mirrorJoint;
}
return(mirrorJoints);
}
/** Applies the starting Force to the startingJoint and endingForce to the endingJoint. force specifies the magnitude of the force. */
private void ApplyForces(float force, Vector3 startingForce, Vector3 endingForce)
{
Vector3 scaleVector = new Vector3(force, force, force);
endingForce.Scale(scaleVector);
startingForce.Scale(scaleVector);
Assert.IsFalse(float.IsNaN(endingForce.x), "force: " + force);
Assert.IsFalse(float.IsNaN(startingForce.x), "force: " + force);
startingJoint.GetComponent <FixedJoint>().connectedBody.AddForceAtPosition(startingForce, startingJoint.position);
endingJoint.GetComponent <FixedJoint>().connectedBody.AddForceAtPosition(endingForce, endingJoint.position);
}