public IEnumerator ForceGrab(HVRGrabbable grabbable)
{
var needsCollisionEnabled = true;
var grabPoint = grabbable.GetForceGrabPoint(HandGrabber.HandSide) ?? grabbable.transform;
try
{
HandGrabber.DisableHandCollision(grabbable);
_grabbableCollided = false;
IsHoldActive = true;
grabbable.IsBeingForcedGrabbed = true;
grabbable.Rigidbody.useGravity = false;
grabbable.Rigidbody.drag = 0f;
fts.solve_ballistic_arc_lateral(false,
grabPoint.position,
ForceTime,
JointAnchorWorldPosition,
JointAnchorWorldPosition.y + YOffset,
out var velocity,
out var gravity);
grabbable.Rigidbody.velocity = velocity;
var elapsed = 0f;
var targetRotation = grabbable.GetForceGrabPointRotation(HandGrabber.HandSide);
var startHandRotation = HandGrabber.HandWorldRotation;
while (GrabbedTarget)
{
if (elapsed > ForceTime)
{
break;
}
var currentVector = JointAnchorWorldPosition - grabPoint.position;
currentVector.y = 0;
var percentTime = elapsed / ForceTime;
var yExtra = YOffset * (1 - percentTime);
if (percentTime < .3)
{
_grabbableCollided = false;
}
else if (_grabbableCollided)
{
if (grabbable.Rigidbody.velocity.magnitude > MaximumVelocityPostCollision)
{
grabbable.Rigidbody.velocity = grabbable.Rigidbody.velocity.normalized * MaximumVelocityPostCollision;
}
ForceRelease();
//Debug.Log($"Collided while force grabbing.");
break;
}
fts.solve_ballistic_arc_lateral(
false,
grabPoint.position,
ForceTime - elapsed,
JointAnchorWorldPosition,
JointAnchorWorldPosition.y + yExtra,
out velocity, out gravity);
grabbable.Rigidbody.velocity = velocity;
grabbable.Rigidbody.AddForce(-Vector3.up * gravity, ForceMode.Acceleration);
if (AutoGrab && (JointAnchorWorldPosition - grabPoint.position).magnitude < AutoGrabDistance)
{
if (HandGrabber.TryAutoGrab(GrabbedTarget))
{
needsCollisionEnabled = false;
IsForceGrabbing = false;
break;
}
}
if (currentVector.magnitude < .1f)
{
//Debug.Log($"<.1f");
break;
}
var handDelta = Quaternion.Angle(HandGrabber.HandWorldRotation, startHandRotation);
if (Mathf.Abs(handDelta) > 20)
{
startHandRotation = HandGrabber.HandWorldRotation;
}
//todo
var delta = startHandRotation * Quaternion.Inverse(targetRotation);
delta.ToAngleAxis(out var angle, out var axis);
if (angle > 180.0f)
{
angle -= 360.0f;
}
var remaining = ForceTime - elapsed;
if (percentTime > .3f && Mathf.Abs(angle) > 1 && remaining > .01)
{
grabbable.Rigidbody.angularVelocity = axis * (angle * Mathf.Deg2Rad) / ForceTime;
}
else
{
grabbable.Rigidbody.angularVelocity = Vector3.zero;
}
elapsed += Time.fixedDeltaTime;
yield return(new WaitForFixedUpdate());
}
}
finally
{
if (needsCollisionEnabled)
{
HandGrabber.EnableHandCollision(grabbable);
}
IsHoldActive = false;
grabbable.IsBeingForcedGrabbed = false;
grabbable.Collided.RemoveListener(OnGrabbableCollided);
grabbable.Grabbed.RemoveListener(OnGrabbableGrabbed);
if (IsGrabbing)
{
ForceRelease();
}
IsForceGrabbing = false;
}
if (AutoGrab && AdditionalAutoGrabTime > 0 && !grabbable.IsBeingHeld)
{
_additionalGrabRoutine = StartCoroutine(ContinueAutoGrab(grabbable, grabPoint));
}
}
public IEnumerator ForcePull(HVRGrabbable grabbable)
{
var rb = grabbable.Rigidbody;
var drag = rb.drag;
var angularDrag = rb.angularDrag;
HandGrabber.DisableHandCollision(grabbable);
rb.useGravity = false;
rb.drag = 0f;
rb.angularDrag = 0f;
grabbable.IsBeingForcedGrabbed = true;
IsHoldActive = true;
var grabPoint = grabbable.GetForceGrabPoint(HandGrabber.HandSide) ?? grabbable.transform;
var posableGrabPoint = grabPoint.GetComponent <HVRPosableGrabPoint>();
var isPhysicsGrab = grabbable.GrabType == HVRGrabType.PhysicPoser;
if (!isPhysicsGrab && grabbable.GrabType != HVRGrabType.Offset)
{
var actualGrabPoint = HandGrabber.GetGrabPoint(grabbable);
isPhysicsGrab = actualGrabPoint == null && grabbable.PhysicsPoserFallback;
}
var direction = HandGrabber.JointAnchorWorldPosition - grabPoint.position;
var startDistance = direction.magnitude;
var distance = startDistance;
var settings = grabbable.ForcePullOverride ?? ForcePullSettings;
var Spring = settings.Spring;
var Damper = settings.Damper;
var MaxForce = settings.MaxForce;
var SlerpDamper = settings.SlerpDamper;
var SlerpMaxForce = settings.SlerpMaxForce;
var SlerpSpring = settings.SlerpSpring;
var DynamicGrabThreshold = settings.DynamicGrabThreshold;
var DistanceThreshold = settings.DistanceThreshold;
var Speed = settings.Speed;
var DistanceToRotate = settings.RotateTriggerDistance;
var RotateOverDistance = settings.RotateOverDistance;
var MaxMissSpeed = settings.MaxMissSpeed;
var MaxMissAngularSpeed = settings.MaxMissAngularSpeed;
_forceAnchor.transform.position = grabPoint.transform.position;
_forceAnchor.transform.rotation = grabbable.transform.rotation;
if (posableGrabPoint)
{
_forceAnchor.transform.rotation = posableGrabPoint.GetPoseWithJointRotation(HandSide);
}
var joint = _forceAnchor.AddComponent <ConfigurableJoint>();
joint.autoConfigureConnectedAnchor = false;
joint.rotationDriveMode = RotationDriveMode.Slerp;
joint.SetLinearDrive(Spring, Damper, MaxForce);
joint.SetSlerpDrive(SlerpSpring, SlerpDamper, SlerpMaxForce);
joint.connectedBody = rb;
joint.connectedAnchor = rb.transform.InverseTransformPoint(grabPoint.position);
var limit = isPhysicsGrab ? DynamicGrabThreshold : DistanceThreshold;
var rotating = false;
var rotateSpeed = 0f;
var elapsed = 0f;
var needsRotating = posableGrabPoint;
while (GrabbedTarget && Inputs.GetForceGrabActive(HandSide) && distance > limit)
{
direction = HandGrabber.JointAnchorWorldPosition - grabPoint.position;
distance = direction.magnitude;
if ((isPhysicsGrab || grabbable.GrabType == HVRGrabType.Offset) && distance < DynamicGrabThreshold && HandGrabber.TryAutoGrab(grabbable))
{
rb.angularVelocity = Vector3.zero;
rb.velocity = Vector3.zero;
break;
}
_forceAnchor.transform.position = Vector3.MoveTowards(_forceAnchor.transform.position, JointAnchorWorldPosition, Speed * Time.fixedDeltaTime);
var dir = _forceAnchor.transform.position - grabPoint.position;
if (dir.magnitude > .3f)
{
_forceAnchor.transform.position = grabPoint.position + dir.normalized * .3f;
}
if (needsRotating && !rotating)
{
if (settings.RotationTrigger == ForcePullRotationTrigger.DistanceToHand)
{
rotating = distance < DistanceToRotate && posableGrabPoint;
}
else if (settings.RotationTrigger == ForcePullRotationTrigger.PercentTraveled)
{
rotating = (startDistance - distance) / startDistance > settings.RotateTriggerPercent / 100f;
}
else if (settings.RotationTrigger == ForcePullRotationTrigger.TimeSinceStart)
{
rotating = elapsed > settings.RotateTriggerTime;
}
if (rotating)
{
if (settings.RotationStyle == ForceRotationStyle.RotateOverDistance)
{
var rotatateDistance = Mathf.Min(RotateOverDistance, distance);
var time = rotatateDistance / Speed;
rotateSpeed = Quaternion.Angle(joint.transform.rotation, HandGrabber.HandWorldRotation) / time;
}
else if (settings.RotationStyle == ForceRotationStyle.RotateOverRemaining)
{
var time = distance / Speed;
rotateSpeed = Quaternion.Angle(joint.transform.rotation, HandGrabber.HandWorldRotation) / time;
}
}
}
if (rotating)
{
joint.transform.rotation = Quaternion.RotateTowards(joint.transform.rotation, HandGrabber.HandWorldRotation, rotateSpeed * Time.fixedDeltaTime);
}
yield return(new WaitForFixedUpdate());
elapsed += Time.fixedDeltaTime;
}
joint.connectedBody = null;
Destroy(joint);
IsForceGrabbing = false;
IsHoldActive = false;
if (grabbable)
{
rb.useGravity = true;
rb.drag = drag;
rb.angularDrag = angularDrag;
rb.velocity = Vector3.ClampMagnitude(rb.velocity, MaxMissSpeed);
rb.angularVelocity = Vector3.ClampMagnitude(rb.angularVelocity, MaxMissAngularSpeed);
if (IsGrabbing)
{
direction = HandGrabber.JointAnchorWorldPosition - grabPoint.position;
if (direction.magnitude < limit)
{
if (HandGrabber.TryAutoGrab(grabbable))
{
rb.angularVelocity = Vector3.zero;
rb.velocity = Vector3.zero;
}
else
{
HandGrabber.EnableHandCollision(grabbable);
ForceRelease();
}
}
grabbable.IsBeingForcedGrabbed = false;
}
}
}