public override sealed void UpdateExtension(TargetConstraint t)
{
// Linear limit
t.joint.xMotion = ConfigurableJointMotion.Locked;
t.joint.yMotion = ConfigurableJointMotion.Locked;
t.joint.zMotion = ConfigurableJointMotion.Limited;
limitSpring.spring = spring;
limitSpring.damper = damper;
t.joint.linearLimitSpring = limitSpring;
worldLimitStart = t.connectedAnchor.position - t.GetJointAxisWorldRotation() * Vector3.forward * limit.limit;
worldLimitEnd = t.connectedAnchor.position + t.GetJointAxisWorldRotation() * Vector3.forward * limit.limit;
if (showLimitedAxis)
{
Debug.DrawLine(worldLimitStart, worldLimitEnd, Color.black);
}
// Threshold detection
if (detectThreshold)
{
if (togglingThresholdDetectionIn <= 0.0f)
{
closestToLine = BasicHelpers.NearestPointOnFiniteLine(worldLimitStart, worldLimitEnd, t.anchor.position);
if (inverted)
{
positionLerp = Vector3.Distance(worldLimitStart, closestToLine) / (limit.limit * 2.0f);
}
else
{
positionLerp = Vector3.Distance(worldLimitEnd, closestToLine) / (limit.limit * 2.0f);
}
if (positionLerp > threshold && thresholdState != ThresholdState.Over)
{
togglingThresholdDetectionIn = minTimeBetweenDetections;
thresholdState = ThresholdState.Over;
onOverThreshold.Invoke();
}
else if (positionLerp < threshold && thresholdState != ThresholdState.Under)
{
togglingThresholdDetectionIn = minTimeBetweenDetections;
thresholdState = ThresholdState.Under;
onUnderThreshold.Invoke();
}
}
else
{
togglingThresholdDetectionIn -= Time.deltaTime;
}
}
}
void FixedUpdateJoint(TargetConstraint t)
{
if (editMode && t.joint)
{
// Anchor
t.joint.anchor = t.joint.transform.InverseTransformPoint(t.anchor.position);
// Axis
t.axis.position = t.connectedAnchor.position;
t.axis.rotation = t.GetJointAxisWorldRotation();
}
}
void InstantiateAxis(TargetConstraint t)
{
if (t.axis)
{
return;
}
Transform axis = new GameObject(t.name + ".Axis").transform;
axis.position = t.connectedAnchor.position;
axis.rotation = t.GetJointAxisWorldRotation();
axis.parent = t.connectedAnchor.parent;
t.axis = axis;
}
void EnableTarget(TargetConstraint t)
{
if (!t.pheasy)
{
t.pheasy = this;
}
if (!t.joint)
{
InstantiateJoint(t);
}
if (!t.anchor)
{
InstantiateAnchor(t);
}
if (!t.connectedAnchor)
{
InstantiateConnectedAnchor(t);
}
if (t.name == null || t.name == "")
{
t.name = t.anchor.name + "->" + t.connectedAnchor.name;
}
if (t.keepAxisRelativeToObject)
{
t.joint.configuredInWorldSpace = false;
}
else
{
t.joint.configuredInWorldSpace = true;
}
if (!t.axis)
{
t.setAxisWhenEnabled = false;
InstantiateAxis(t);
}
else
{
t.setAxisWhenEnabled = true;
t.SetAxis(t.axis.rotation);
}
if (t.connectedBody)
{
t.joint.connectedBody = t.connectedBody;
t.initialLocalRotation = t.joint.connectedBody.transform.localRotation;
}
t.initialWorldRotation = t.joint.transform.rotation;
t.jointFrameRotation = t.GetJointAxisWorldRotation();
if (axis != null)
{
if (!t.anchorAxis)
{
t.anchorAxis = Instantiate(axis, rb.transform);
UpdateAxis(t.anchorAxis.transform, t.anchor, axisScale);
}
if (!t.connAnchorAxis)
{
t.connAnchorAxis = Instantiate(axis, rb.transform);
UpdateAxis(t.connAnchorAxis.transform, t.connectedAnchor, axisScale);
}
}
t.gradualLerp = 0.0f;
t.extensions.ForEach(e => e.InitExtension(t));
t.enabled = true;
}
void UpdateJoint(TargetConstraint t, bool editMode)
{
if (editMode)
{
// Connected body/anchor
if (t.connectedBody)
{
t.joint.connectedBody = t.connectedBody;
}
else
{
t.joint.connectedBody = null;
}
// Freedom
SetPositionLock(t.joint, t.settings.linearMotion);
SetRotationLock(t.joint, t.settings.angularMotion);
// Drives
if (gradualMode)
{
PhysHelpers.UpdateJointMotionDrive(t.joint, PhysHelpers.JointDriveLerp(new JointDrive(), t.settings.motionDrive.toJointDrive(), t.gradualLerp));
PhysHelpers.UpdateJointAngularDrive(t.joint, PhysHelpers.JointDriveLerp(new JointDrive(), t.settings.angularDrive.toJointDrive(), t.gradualLerp));
}
else
{
PhysHelpers.UpdateJointMotionDrive(t.joint, t.settings.motionDrive.toJointDrive());
PhysHelpers.UpdateJointAngularDrive(t.joint, t.settings.angularDrive.toJointDrive());
}
// Control
t.joint.enableCollision = t.settings.collideWithConnectedRb;
// Prevent modification
t.joint.configuredInWorldSpace = !t.keepAxisRelativeToObject;
}
if (!t.setAxisWhenEnabled)
{
t.joint.autoConfigureConnectedAnchor = false; // Called every frame
}
// Connected body/anchor
if (t.connectedBody)
{
t.tmpConnAnchor = t.joint.connectedBody.transform.InverseTransformPoint(t.connectedAnchor.position);
}
else
{
t.tmpConnAnchor = t.connectedAnchor.position;
}
if (t.joint.connectedAnchor != t.tmpConnAnchor)
{
t.joint.connectedAnchor = t.tmpConnAnchor;
}
// Target rotation
t.jointFrameRotation = t.GetJointAxisWorldRotation();
Quaternion resultRotation = Quaternion.Inverse(t.jointFrameRotation);
resultRotation *= t.anchor.rotation;
resultRotation *= Quaternion.Inverse(t.connectedAnchor.rotation);
resultRotation *= t.jointFrameRotation;
t.joint.targetRotation = resultRotation;
// Target position
if (t.targetPosition)
{
t.tmpTargetPos = -1.0f * t.axis.InverseTransformPoint(t.targetPosition.position);
if (t.connectedBody)
{
t.joint.targetPosition = Vector3.Scale(t.tmpTargetPos, t.connectedBody.transform.localScale);
}
else
{
t.joint.targetPosition = t.tmpTargetPos;
}
}
else if (t.joint.targetPosition != Vector3.zero)
{
t.joint.targetPosition = Vector3.zero;
}
// Update flag
if (!t.updated)
{
t.updated = true;
}
// Debug
if (t.showAxis)
{
Debug.DrawLine(t.axis.position, t.axis.position + t.GetJointAxisWorldRotation() * Vector3.forward * 0.5f, Color.blue);
}
}