public void ClearVelocities()
{
rigidbody.velocity = Vector3.zero;
rigidbody.angularVelocity = Vector3.zero;
targetVelocity = Vector3.zero;
targetAnimatedCenterOfMass = V3Tools.TransformPointUnscaled(target, rigidbody.centerOfMass);
}
public void Read()
{
Vector3 tAM = V3Tools.TransformPointUnscaled(target, rigidbody.centerOfMass);
targetVelocity = (tAM - targetAnimatedCenterOfMass) / Time.deltaTime;
targetAnimatedCenterOfMass = tAM;
if (joint.connectedBody != null)
{
targetAnimatedRotation = targetLocalRotation * localRotationConvert;
}
targetAnimatedWorldRotation = target.rotation;
}
public void Initiate(MuscleLite[] colleagues)
{
name = joint.name;
transform = joint.transform;
rigidbody = joint.GetComponent <Rigidbody>();
if (joint.connectedBody != null)
{
for (int i = 0; i < colleagues.Length; i++)
{
if (colleagues[i].joint.GetComponent <Rigidbody>() == joint.connectedBody)
{
connectedBodyTarget = colleagues[i].target;
}
if (colleagues[i] == this)
{
index = i;
}
}
joint.autoConfigureConnectedAnchor = false;
connectedBodyTransform = joint.connectedBody.transform;
directTargetParent = target.parent == connectedBodyTarget;
}
targetParent = connectedBodyTarget != null ? connectedBodyTarget : target.parent;
toParentSpace = Quaternion.Inverse(targetParentRotation) * parentRotation;
localRotationConvert = Quaternion.Inverse(targetLocalRotation) * localRotation;
// Joint space
Vector3 forward = Vector3.Cross(joint.axis, joint.secondaryAxis).normalized;
Vector3 up = Vector3.Cross(forward, joint.axis).normalized;
defaultLocalRotation = localRotation;
Quaternion toJointSpace = Quaternion.LookRotation(forward, up);
toJointSpaceInverse = Quaternion.Inverse(toJointSpace);
toJointSpaceDefault = defaultLocalRotation * toJointSpace;
// Set joint params
joint.rotationDriveMode = RotationDriveMode.Slerp;
joint.configuredInWorldSpace = false;
// Fix target Transforms
defaultTargetLocalPosition = target.localPosition;
defaultTargetLocalRotation = target.localRotation;
targetAnimatedCenterOfMass = V3Tools.TransformPointUnscaled(target, rigidbody.centerOfMass);
// Resetting
if (joint.connectedBody == null)
{
defaultPosition = transform.localPosition;
defaultRotation = transform.localRotation;
}
else
{
defaultPosition = joint.connectedBody.transform.InverseTransformPoint(transform.position);
defaultRotation = Quaternion.Inverse(joint.connectedBody.transform.rotation) * transform.rotation;
}
rigidbody.isKinematic = false;
Read();
initiated = true;
}
