public void SetDecoupledMode(bool newDecoupled)
{
if (decoupled == newDecoupled)
{
return;
}
SlaveBoneConfiguration newConf;
if (decoupled)
{
newConf = new SlaveBoneConfiguration(model.configuration.wrist);
newConf.followsPosition = false;
newConf.followsRotation = false;
newConf.useGravity = true;
}
else
{
newConf = model.configuration.wrist;
}
for (int i = 0; i < slaveBones.Length; i++)
{
if (!slaveBones[i].jointRef)
{
continue;
}
if (slaveBones[i] == model.proxyHand.slave.wrist)
{
PhysHelpers.SetSlaveBoneConfiguration(slaveBones[i].jointRef, newConf);
}
}
}
private void Start()
{
model.proxyHand.relatedHandlers.Add(this);
slaveBones = AvatarHelpers.GetSlaveHandBones(model.proxyHand.slave);
// Ignore palm-finger collisions
for (int i = 0; i < slaveBones.Length; i++)
{
if (!slaveBones[i].colliderRef)
{
continue;
}
Physics.IgnoreCollision((model.proxyHand.slave.wrist as SlaveBoneModel).colliderRef, slaveBones[i].colliderRef, true);
}
// Set default configuration if needed
if (model.configuration == null)
{
model.configuration = core.model.defaultHandPhysicsConfiguration;
}
for (int i = 0; i < slaveBones.Length; i++)
{
if (!slaveBones[i].jointRef)
{
continue;
}
// Get initial connected body local rotations
if (slaveBones[i].jointRef.connectedBody != null)
{
slaveBones[i].initialConnectedBodyLocalRotation = slaveBones[i].jointRef.connectedBody.transform.localRotation;
}
else
{
slaveBones[i].initialConnectedBodyLocalRotation = slaveBones[i].jointRef.transform.rotation;
}
// Set initial joint configurations
if (slaveBones[i] == model.proxyHand.slave.wrist)
{
PhysHelpers.SetSlaveBoneConfiguration(slaveBones[i].jointRef, model.configuration.wrist);
}
else if (slaveBones[i].isSpecial)
{
PhysHelpers.SetSlaveBoneConfiguration(slaveBones[i].jointRef, model.configuration.specials);
}
else
{
PhysHelpers.SetSlaveBoneConfiguration(slaveBones[i].jointRef, model.configuration.fingers);
}
slaveBones[i].rigidbodyRef.maxDepenetrationVelocity = model.configuration.fingers.maxLinearVelocity;
slaveBones[i].rigidbodyRef.maxAngularVelocity = model.configuration.fingers.maxAngularVelocity;
}
}
private void Update()
{
if (!model.isActive)
{
return;
}
if (model.proxyHand.error > core.model.configuration.maxErrorAllowed && !decoupled)
{
StartCoroutine(RecoverFromError());
}
for (int i = 0; i < slaveBones.Length; i++)
{
if (model.updateConfFromScale)
{
model.configuration.fingers.positionDrive = CustomJointDrive.ScaledCopy(model.asset.configuration.fingers.positionDrive, model.proxyHand.slave.extraScale);
model.configuration.fingers.rotationDrive = CustomJointDrive.ScaledCopy(model.asset.configuration.fingers.rotationDrive, model.proxyHand.slave.extraScale);
model.configuration.fingers.rigidbodyMass = model.asset.configuration.fingers.rigidbodyMass * model.proxyHand.slave.extraScale;
model.configuration.wrist.positionDrive = CustomJointDrive.ScaledCopy(model.asset.configuration.wrist.positionDrive, model.proxyHand.slave.extraScale);
model.configuration.wrist.rotationDrive = CustomJointDrive.ScaledCopy(model.asset.configuration.wrist.rotationDrive, model.proxyHand.slave.extraScale);
model.configuration.wrist.rigidbodyMass = model.asset.configuration.wrist.rigidbodyMass * model.proxyHand.slave.extraScale;
model.configuration.specials.positionDrive = CustomJointDrive.ScaledCopy(model.asset.configuration.specials.positionDrive, model.proxyHand.slave.extraScale);
model.configuration.specials.rotationDrive = CustomJointDrive.ScaledCopy(model.asset.configuration.specials.rotationDrive, model.proxyHand.slave.extraScale);
model.configuration.specials.rigidbodyMass = model.asset.configuration.specials.rigidbodyMass * model.proxyHand.slave.extraScale;
}
if (model.applyConfOnUpdate && slaveBones[i].jointRef)
{
// Update joint configurations
if (slaveBones[i] == model.proxyHand.slave.wrist)
{
PhysHelpers.SetSlaveBoneConfiguration(slaveBones[i].jointRef, model.configuration.wrist);
}
else if (slaveBones[i].isSpecial)
{
PhysHelpers.SetSlaveBoneConfiguration(slaveBones[i].jointRef, model.configuration.specials);
}
else
{
PhysHelpers.SetSlaveBoneConfiguration(slaveBones[i].jointRef, model.configuration.fingers);
}
// Update built-in velocity clamps
slaveBones[i].rigidbodyRef.maxDepenetrationVelocity = model.configuration.fingers.maxLinearVelocity;
slaveBones[i].rigidbodyRef.maxAngularVelocity = model.configuration.fingers.maxAngularVelocity;
// NO-PROD
if (slaveBones[i].jointRef.connectedBody)
{
slaveBones[i].jointRef.connectedAnchor = slaveBones[i].initialConnectedAnchor;
}
}
}
}
private void Start()
{
model.proxyHand.relatedHandlers.Add(this);
slaveBones = AvatarHelpers.GetSlaveHandBones(model.proxyHand.slave);
// Set default configuration if needed
if (model.asset == null)
{
model.asset = BasicHelpers.FindScriptableObject <HandPhysicsConfigurationAsset>(core.model.defaultConfAssets);
}
// Make configuration editable
model.configuration = new HandPhysicsConfiguration(model.asset.configuration);
for (int i = 0; i < slaveBones.Length; i++)
{
if (slaveBones[i].colliderRef)
{
// Ignore palm-finger collisions
Physics.IgnoreCollision((model.proxyHand.slave.wrist as SlaveBoneModel).colliderRef, slaveBones[i].colliderRef, true);
}
if (slaveBones[i].jointRef)
{
// Get initial connected body local rotations and conn anchors
if (slaveBones[i].jointRef.connectedBody != null)
{
slaveBones[i].initialConnectedBodyLocalRotation = slaveBones[i].jointRef.connectedBody.transform.localRotation;
slaveBones[i].initialConnectedAnchor = slaveBones[i].jointRef.connectedAnchor;
slaveBones[i].jointRef.autoConfigureConnectedAnchor = false;
}
else
{
slaveBones[i].initialConnectedBodyLocalRotation = slaveBones[i].jointRef.transform.rotation;
}
// Set initial joint configurations
if (slaveBones[i] == model.proxyHand.slave.wrist)
{
PhysHelpers.SetSlaveBoneConfiguration(slaveBones[i].jointRef, model.configuration.wrist);
}
else if (slaveBones[i].isSpecial)
{
PhysHelpers.SetSlaveBoneConfiguration(slaveBones[i].jointRef, model.configuration.specials);
}
else
{
PhysHelpers.SetSlaveBoneConfiguration(slaveBones[i].jointRef, model.configuration.fingers);
}
// Initial built-in velocity clamps
slaveBones[i].rigidbodyRef.maxDepenetrationVelocity = model.configuration.fingers.maxLinearVelocity;
slaveBones[i].rigidbodyRef.maxAngularVelocity = model.configuration.fingers.maxAngularVelocity;
}
}
}
