private void InitCachedVars()
{
_transform = GetComponent <Transform>();
_poiTransform = string.IsNullOrEmpty(POIRootName) ? _transform.FindChild(POIRootName) : _transform;
_modelTransform = string.IsNullOrEmpty(ModelRootName) ? _transform.FindChild(ModelRootName) : _transform;
_rigidbody = GetComponent <Rigidbody>();
_centerOfMassTransform = POI.GetPoiByName(_poiTransform, "com");
_rigidbody.centerOfMass = _transform.TransformPoint(_centerOfMassTransform.position);
_rigidbody.useGravity = false;
}
private void InitHeightPID()
{
_heightPIDTransform = POI.GetPoiByName(_poiTransform, "height_anchor");
_pidController = new PID(Height_P, Height_I, Height_D, HeightForceLimit);
}