public void SetDecoupledMode(bool newDecoupled)
{
if (decoupled == newDecoupled)
{
return;
}
SlaveBoneConfiguration newConf;
if (decoupled)
{
newConf = new SlaveBoneConfiguration(model.configuration.wrist);
newConf.followsPosition = false;
newConf.followsRotation = false;
newConf.useGravity = true;
}
else
{
newConf = model.configuration.wrist;
}
for (int i = 0; i < slaveBones.Length; i++)
{
if (!slaveBones[i].jointRef)
{
continue;
}
if (slaveBones[i] == model.proxyHand.slave.wrist)
{
PhysHelpers.SetSlaveBoneConfiguration(slaveBones[i].jointRef, newConf);
}
}
}
public static void SetSlaveBoneConfiguration(ConfigurableJoint joint, SlaveBoneConfiguration conf)
{
Rigidbody rb = joint.GetComponent <Rigidbody>();
rb.mass = conf.rigidbodyMass;
rb.drag = conf.rigidbodyDrag;
rb.angularDrag = conf.rigidbodyAngularDrag;
rb.useGravity = conf.useGravity;
if (conf.followsRotation)
{
joint.angularXDrive = conf.rotationDrive.toJointDrive();
joint.angularYZDrive = conf.rotationDrive.toJointDrive();
joint.slerpDrive = conf.rotationDrive.toJointDrive();
}
else
{
joint.angularXDrive = CustomJointDrive.zero.toJointDrive();
joint.angularYZDrive = CustomJointDrive.zero.toJointDrive();
joint.slerpDrive = CustomJointDrive.zero.toJointDrive();
}
if (conf.useTargetPos)
{
joint.xDrive = conf.positionDrive.toJointDrive();
joint.yDrive = conf.positionDrive.toJointDrive();
joint.zDrive = conf.positionDrive.toJointDrive();
}
else
{
joint.xDrive = CustomJointDrive.zero.toJointDrive();
joint.yDrive = CustomJointDrive.zero.toJointDrive();
joint.zDrive = CustomJointDrive.zero.toJointDrive();
}
joint.massScale = conf.jointMassScale;
joint.connectedMassScale = conf.jointConnectedMassScale;
}
private void UpdateSlaveBone(SlaveBoneModel slaveBone, Transform master, Space space, SlaveBoneConfiguration boneConf)
{
if (!slaveBone.jointRef)
{
return;
}
if (boneConf.followsPosition)
{
if (boneConf.useTargetPos)
{
if (space == Space.Self && slaveBone.jointRef.configuredInWorldSpace)
{
Debug.LogError(slaveBone.name + " is configured in world space. You can't use local position as target position here");
}
if (space == Space.World && !slaveBone.jointRef.configuredInWorldSpace)
{
Debug.LogError(slaveBone.name + " is configured in local space. You can't use world position as target position here");
}
Vector3 desiredWorldPosition = PhysHelpers.GetDesiredWorldPos(slaveBone.transformRef, master, space);
if (slaveBone.jointRef.configuredInWorldSpace)
{
slaveBone.jointRef.connectedAnchor = desiredWorldPosition;
}
else
{
slaveBone.jointRef.connectedAnchor = slaveBone.jointRef.connectedBody.transform.InverseTransformPoint(desiredWorldPosition);
}
}
else
{
// Position
Vector3 desiredPosition = PhysHelpers.GetDesiredWorldPos(slaveBone.transformRef, master, space);
// Velocity
Vector3 newVelocity = (desiredPosition - slaveBone.transformRef.position) / Time.fixedDeltaTime;
slaveBone.rigidbodyRef.velocity = newVelocity;
}
}
if (boneConf.followsRotation)
{
// Error logs
if (space == Space.Self && slaveBone.jointRef.configuredInWorldSpace)
{
Debug.LogError(slaveBone.name + " is configured in world space. You can't use local rotation as target rotation here");
}
if (space == Space.World && !slaveBone.jointRef.configuredInWorldSpace)
{
Debug.LogError(slaveBone.name + " is configured in local space. You can't use world rotation as target rotation here");
}
if (space == Space.Self)
{
Quaternion clampedLocalRot = master.localRotation;
if (slaveBone.minLocalRot.eulerAngles.z > 180.0f /* &&
* master.localRotation.eulerAngles.z < slaveBone.minLocalRot.eulerAngles.z*/)
{
clampedLocalRot = slaveBone.minLocalRot;
}
ConfigurableJointExtensions.SetTargetRotationLocal(slaveBone.jointRef, clampedLocalRot, slaveBone.initialConnectedBodyLocalRotation);
}
else
{
Quaternion worldToJointSpace = ConfigurableJointExtensions.GetWorldToJointSpace(slaveBone.jointRef);
Quaternion jointSpaceToWorld = Quaternion.Inverse(worldToJointSpace);
Quaternion resultRotation = ConfigurableJointExtensions.GetWorldResultRotation(slaveBone.jointRef, master.rotation, slaveBone.initialConnectedBodyLocalRotation, space, jointSpaceToWorld);
// Transform back into joint space
resultRotation *= worldToJointSpace;
// Set target rotation to our newly calculated rotation
slaveBone.jointRef.targetRotation = resultRotation;
}
// Local rotation offset
slaveBone.jointRef.targetRotation *= Quaternion.Euler(slaveBone.targetEulerOffsetRot);
if (boneConf.useDynamicStrength)
{
PhysHelpers.UpdateBoneStrength(slaveBone, boneConf.minDynamicRotDrive.toJointDrive(), boneConf.maxDynamicRotDrive.toJointDrive(), slaveBone.finger.strengthLerp);
}
}
if (boneConf.clampLinearVelocity)
{
slaveBone.rigidbodyRef.velocity = Vector3.ClampMagnitude(slaveBone.rigidbodyRef.velocity, boneConf.maxLinearVelocity);
}
if (boneConf.clampAngularVelocity)
{
slaveBone.rigidbodyRef.angularVelocity = Vector3.ClampMagnitude(slaveBone.rigidbodyRef.angularVelocity, boneConf.maxAngularVelocity);
}
}
