public void setBodySpringStuff(CWRigidBody body, float spring, float damper, bool isFirst = true)
{
if (isFirst && body.getParentJoint() != null)
{
//Debug.Log(" ===== body === "+body.getParentJoint().jName);
body.getParentJoint().setSpring(spring);
body.getParentJoint().setDamper(damper);
if (body.name.Contains("LowerArm") || body.name.Contains("LowerLeg"))
{
body.getParentJoint().getParent().getParentJoint().setSpring(spring);
body.getParentJoint().getParent().getParentJoint().setDamper(damper);
}
}
int count = body.getChildJointCount();
for (int i = 0; i < count; i++)
{
CWJoint joint = body.getChildJoint(i);
joint.setSpring(spring);
joint.setDamper(damper);
//Debug.Log(" ===== child body === "+joint.jName);
if (joint.getChild().getChildJointCount() > 0)
{
setBodySpringStuff(joint.getChild(), spring, damper, false);
}
}
}
/**
* This method is used to get the relative angular velocities of the parent and child bodies of joint i,
* expressed in parent's local coordinates.
* We'll assume that i is in the range 0 - joints.size()-1!!!
*/
public Vector3 getRelativeAngularVelocity(int i)
{
CWJoint joint = this.joints[i] as CWJoint;
Quaternion parentOri = joint.getParent().getOrientation();
return(Quaternion.Inverse(parentOri) * (joint.getChild().getAngularVelocity() - joint.getParent().getAngularVelocity()));
}
/**
* This method is used to populate the relative orientation of the parent and child bodies of joint i.
*/
public Quaternion getRelativeOrientation(int i)
{
CWJoint joint = this.joints[i] as CWJoint;
Quaternion parentOri = joint.getParent().getOrientation();
Quaternion childOri = joint.getChild().getOrientation();
return(Quaternion.Inverse(parentOri) * childOri);
}