public virtual void Detach()
{
m_attached = false;
m_device = null;
m_handObject = null;
m_transform.SetParent(null, true);
if (m_rigidbody != null)
{
m_rigidbody.isKinematic = !m_dynamic;
Vector3 deltaPos = m_transform.position - m_previousPosition;
Vector3 newVel = deltaPos / Time.deltaTime;
m_rigidbody.AddForce(newVel, ForceMode.VelocityChange);
/*
* Quaternion deltaRot = Quaternion.Inverse(m_transform.rotation) * m_previousRotation;
* Vector3 newTorque = deltaRot.eulerAngles / Time.deltaTime;
*
* m_rigidbody.AddTorque(newTorque, ForceMode.VelocityChange);
*/
Vector3 x = Vector3.Cross(m_previousForward, m_transform.forward);
float theta = Mathf.Asin(x.magnitude);
Vector3 w = x.normalized * theta / Time.fixedDeltaTime;
Quaternion q = transform.rotation * m_rigidbody.inertiaTensorRotation;
Vector3 newTorque = q * Vector3.Scale(m_rigidbody.inertiaTensor, (Quaternion.Inverse(q) * w));
m_rigidbody.AddTorque(newTorque, ForceMode.Impulse);
}
}
public virtual bool Attach(Transform parent, InteractableHand hand, int deviceIndex, bool worldPositionStays)
{
if (m_attached)
{
return(false);
}
m_attached = true;
#if !UNITY_EDITOR_OSX
m_device = SteamVR_Controller.Input(deviceIndex);
m_transform.SetParent(parent, worldPositionStays);
m_handObject = hand;
if (!worldPositionStays)
{
m_transform.localPosition = Vector3.zero;
m_transform.localRotation = Quaternion.identity;
}
if (m_rigidbody != null)
{
m_rigidbody.isKinematic = true;
}
#endif
return(true);
}
public override bool Attach(Transform parent, InteractableHand hand, int deviceIndex, bool worldPositionStays)
{
bool attach = base.Attach(parent, hand, deviceIndex, worldPositionStays);
m_collider.isTrigger = true;
return(attach);
}
