StringBuilder DumpBaseJoint(Joint joint)
{
var msg = new StringBuilder();
msg.Append("name: ").Append(joint.name).AppendLine();
msg.Append("ownerBody: ")
.Append(DebugEx.ObjectToString(joint.gameObject.GetComponent <Rigidbody>()))
.AppendLine();
msg.Append("connectedBody: ")
.Append(DebugEx.ObjectToString(joint.connectedBody))
.AppendLine();
// Collider setup.
msg.Append("enableCollision: ").Append(joint.enableCollision).AppendLine();
// Optimization.
msg.Append("enablePreprocessing: ").Append(joint.enablePreprocessing).AppendLine();
// Break forces.
msg.Append("breakForce: ").Append(joint.breakForce).AppendLine();
msg.Append("breakTorque: ").Append(joint.breakTorque).AppendLine();
// Geometry.
msg.Append("anchor: ").Append(DbgFormatter.Vector(joint.anchor)).AppendLine();
msg.Append("connectedAnchor: ")
.Append(DbgFormatter.Vector(joint.connectedAnchor))
.AppendLine();
msg.Append("axis: ").Append(DbgFormatter.Vector(joint.axis)).AppendLine();
return(msg);
}
/// <summary>Returns an anchor for the physical joint at the target part.</summary>
/// <remarks>
/// The anchor will be calculated in the source's part scale, and the target's model scale will
/// be ignored.
/// </remarks>
/// <param name="source">The source of the link.</param>
/// <param name="target">The target of the link.</param>
/// <returns>The position in the world coordinates.</returns>
protected Vector3 GetTargetPhysicalAnchor(ILinkSource source, ILinkTarget target)
{
var scale = source.nodeTransform.lossyScale;
if (Mathf.Abs(scale.x - scale.y) > 1e-05 || Mathf.Abs(scale.x - scale.z) > 1e-05)
{
HostedDebugLog.Error(this, "Uneven scale on the source part is not supported: {0}",
DbgFormatter.Vector(scale));
}
return(target.nodeTransform.position
+ target.nodeTransform.rotation * (anchorAtTarget * scale.x));
}
/// <inheritdoc/>
public string DumpJoint(ConfigurableJoint joint)
{
if (joint == null)
{
return("<NULL JOINT>");
}
var msg = DumpBaseJoint(joint);
// Geometry.
msg.Append("secondaryAxis: ").Append(DbgFormatter.Vector(joint.secondaryAxis)).AppendLine();
// X axis settings.
msg.Append("xDrive: ").Append(Dump(joint.xDrive)).AppendLine();
msg.Append("xMotion: ").Append(joint.xMotion).AppendLine();
msg.Append("angularXMotion: ").Append(joint.angularXMotion).AppendLine();
msg.Append("angularXLimitSpring: ").Append(Dump(joint.angularXLimitSpring)).AppendLine();
msg.Append("angularXDrive: ").Append(Dump(joint.angularXDrive)).AppendLine();
msg.Append("lowAngularXLimit: ").Append(Dump(joint.lowAngularXLimit)).AppendLine();
msg.Append("highAngularXLimit: ").Append(Dump(joint.highAngularXLimit)).AppendLine();
// Y axis settings.
msg.Append("yDrive: ").Append(Dump(joint.yDrive)).AppendLine();
msg.Append("yMotion: ").Append(joint.yMotion).AppendLine();
msg.Append("angularYMotion: ").Append(joint.angularYMotion).AppendLine();
msg.Append("angularYLimit: ").Append(Dump(joint.angularYLimit)).AppendLine();
// Z axis settings.
msg.Append("zDrive: ").Append(Dump(joint.zDrive)).AppendLine();
msg.Append("zMotion: ").Append(joint.zMotion).AppendLine();
msg.Append("angularZMotion: ").Append(joint.angularZMotion).AppendLine();
msg.Append("angularZLimit: ").Append(Dump(joint.angularZLimit)).AppendLine();
// Multiple axis settings.
msg.Append("linearLimit: ").Append(Dump(joint.linearLimit)).AppendLine();
msg.Append("linearLimitSpring: ").Append(Dump(joint.linearLimitSpring)).AppendLine();
msg.Append("angularYZDrive: ").Append(Dump(joint.angularYZDrive)).AppendLine();
msg.Append("angularYZLimitSpring: ").Append(Dump(joint.angularYZLimitSpring)).AppendLine();
return(msg.ToString());
}
/// <summary>Shows a human readable representation.</summary>
/// <returns>String value.</returns>
public override string ToString()
{
return(string.Format(
"[PosAndRot Pos={0}, Euler={1}]", DbgFormatter.Vector(pos), DbgFormatter.Vector(euler)));
}
