public static void JointLookAt(ConfigurableJoint joint, Transform pivot, Vector3 destinationWorldPos, Quaternion initialConnectedBodyLocalRotation)
{
Rigidbody rb = joint.GetComponent <Rigidbody>();
Quaternion desiredWorldRot = Quaternion.LookRotation(destinationWorldPos - pivot.position);
Quaternion deltaPivotRot = Quaternion.Inverse(pivot.rotation) * desiredWorldRot;
Quaternion rbWorldRot = rb.rotation * deltaPivotRot;
if (joint.configuredInWorldSpace)
{
Quaternion worldToJointSpace = ConfigurableJointExtensions.GetWorldToJointSpace(joint);
Quaternion jointSpaceToWorld = Quaternion.Inverse(worldToJointSpace);
Quaternion resultRotation = ConfigurableJointExtensions.GetWorldResultRotation(joint, rbWorldRot, initialConnectedBodyLocalRotation, Space.World, jointSpaceToWorld);
// Transform back into joint space
resultRotation *= worldToJointSpace;
// Set target rotation to our newly calculated rotation
joint.targetRotation = resultRotation;
}
else
{
Quaternion connectedBodyDesiredLocalRot = Quaternion.Inverse(joint.connectedBody.rotation) * rbWorldRot;
ConfigurableJointExtensions.SetTargetRotationLocal(joint, connectedBodyDesiredLocalRot, initialConnectedBodyLocalRotation);
}
}
// Does what the name says
private void UpdateJointTargetRotation()
{
for (int i = 0; i < RagdollJoints.Count; i++)
{
ConfigurableJointExtensions.SetTargetRotationLocal(RagdollJoints[i], AnimationObjects[i].transform.rotation, JointInitialRotation[i]);
}
}
public static ConfigurableJoint CreateSnapJoint(Rigidbody body, Rigidbody connectedBody, Vector3 pointPosition, Quaternion pointRotation, Vector3 destinationPosition, Quaternion destinationRotation, bool matchRotation, bool enableCollisions, float massScale)
{
// Initial configuration
ConfigurableJoint joint = body.gameObject.AddComponent <ConfigurableJoint>();
joint.connectedBody = connectedBody;
joint.autoConfigureConnectedAnchor = false;
joint.configuredInWorldSpace = false;
joint.anchor = joint.transform.InverseTransformPoint(pointPosition);
joint.connectedAnchor = joint.connectedBody.transform.InverseTransformPoint(destinationPosition);
joint.massScale = massScale;
joint.enableCollision = enableCollisions;
// Linear limits
joint.xMotion = ConfigurableJointMotion.Free;
joint.yMotion = ConfigurableJointMotion.Free;
joint.zMotion = ConfigurableJointMotion.Free;
joint.targetPosition = Vector3.zero;
// Target rotation
if (matchRotation)
{
Quaternion initialRotation = joint.transform.rotation;
Quaternion worldToJointSpace = ConfigurableJointExtensions.GetWorldToJointSpace(joint);
Quaternion jointSpaceToWorld = Quaternion.Inverse(worldToJointSpace);
Quaternion desiredWorldRot = (destinationRotation * Quaternion.Inverse(pointRotation)) * joint.transform.rotation;
Quaternion resultRotation = jointSpaceToWorld * Quaternion.Inverse(desiredWorldRot) * initialRotation;
// Transform back into joint space
resultRotation *= worldToJointSpace;
// Set target rotation to our newly calculated rotation
joint.targetRotation = resultRotation;
JointDrive rotDrive = new JointDrive();
rotDrive.positionDamper = 0.0f;
rotDrive.maximumForce = 0.0f;
rotDrive.positionSpring = 0.0f;
joint.rotationDriveMode = RotationDriveMode.Slerp;
joint.slerpDrive = rotDrive;
}
return(joint);
}
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);
}
}
