public void ToPhysics(TensegrityParameters param)
{
if (m_ConfigurableJoint != null)
{
return;
}
var fromBar = startPoint.AttatchedBar;
var toBar = endPoint.AttatchedBar;
m_ConfigurableJoint = fromBar.gameObject.AddComponent <ConfigurableJoint>();
m_ConfigurableJoint.connectedBody = toBar.body;
m_ConfigurableJoint.autoConfigureConnectedAnchor = false;
m_ConfigurableJoint.enableCollision = true;
m_ConfigurableJoint.anchor = startPoint.transform.localPosition;
m_ConfigurableJoint.connectedAnchor = endPoint.transform.localPosition;
m_ConfigurableJoint.xMotion = ConfigurableJointMotion.Limited;
m_ConfigurableJoint.yMotion = ConfigurableJointMotion.Limited;
m_ConfigurableJoint.zMotion = ConfigurableJointMotion.Limited;
m_ConfigurableJoint.angularXMotion = ConfigurableJointMotion.Free;
m_ConfigurableJoint.angularYMotion = ConfigurableJointMotion.Free;
m_ConfigurableJoint.angularZMotion = ConfigurableJointMotion.Free;
limit = m_ConfigurableJoint.linearLimit;
spring = m_ConfigurableJoint.linearLimitSpring;
defualtLimitLength = defaultGeometryLength * param.PreTenseParameter;
limit.limit = defualtLimitLength;
spring.spring = param.spring;
spring.damper = param.damper;
m_ConfigurableJoint.linearLimit = limit;
m_ConfigurableJoint.linearLimitSpring = spring;
}
public void ToPhysics(TensegrityParameters param)
{
if (!GetComponent <Rigidbody>())
{
body = gameObject.AddComponent <Rigidbody>();
body.isKinematic = true;
}
}
