// Update is called once per frame
void Update()
{
Debug.DrawLine(trans.transform.position, trans2.transform.position, Color.cyan);
DrawPoint(Vector3.zero, 10f);
DrawPoint(trans.transform.position, 0.2f);
DrawPoint(trans2.transform.position, 0.2f);
projectTZ(trans, trans2);
projectTX(trans, trans2);
projectTY(trans, trans2);
FangleZ(trans, trans2);
FangleX(trans, trans2);
FangleY(trans, trans2);
Vector3 tdir = (trans2.transform.position - trans.transform.position).normalized;
Debug.DrawLine(trans.transform.position, trans.transform.position + tdir, Color.black);
Vector3 kk = new Vector3(Mathf.Sin(XX * Mathf.Deg2Rad), Mathf.Sin(YY * Mathf.Deg2Rad), Mathf.Sin(ZZ * Mathf.Deg2Rad));
/////Main Torque force aplied here///////////////
mart.AddTorque(kk * WWtorque);
//mart.AddForceAtPosition(tdir * WWtorque, trans.transform.position);
}
// Update is called once per frame
void Update()
{
if (Input.GetKeyDown(KeyCode.Space))
{
artbb.AddRelativeTorque(Tvec);
}
if (Input.GetKeyDown(KeyCode.Return))
{
artbb.AddTorque(Tvec);
}
}
// Update is called once per frame
void FixedUpdate()
{
if (targetBody == null)
{
return;
}
if (positionToForce.Equals(Vector3.zero))
{
targetBody.AddForce(force);
}
else
{
targetBody.AddForceAtPosition(force, positionToForce);
}
targetBody.AddRelativeForce(relativeForce);
targetBody.AddTorque(torque);
targetBody.AddRelativeTorque(relativeTorque);
for (var index = 0; index < targetBody.jointForce.dofCount; index++)
{
jointForce[index] = targetBody.jointForce[index];
}
for (var index = 0; index < targetBody.jointAcceleration.dofCount; index++)
{
jointAcceleration[index] = targetBody.jointAcceleration[index];
}
for (var index = 0; index < targetBody.jointVelocity.dofCount; index++)
{
jointVelocity[index] = targetBody.jointVelocity[index];
}
for (var index = 0; index < targetBody.jointPosition.dofCount; index++)
{
jointPosition[index] = targetBody.jointPosition[index];
}
}