/// <summary>
/// Apply friction torque.
/// </summary>
private void FixedUpdate()
{
if (!servo || !rigidbody || !frictionProfile)
{
return;
}
//Vector 3 used to pass 3D positions and directions (x, y, z)
//servo.axis is the local coordinates of the object, which is converted to global coordinates
//multiplying direction of joint action by servo velocity and friction coefficients
Vector3 frictionTorque = -(transform.TransformDirection(servo.axis)).normalized * (servo.GetServoVelocity() * frictionProfile.viscousK + frictionProfile.staticK);
rigidbody.AddTorque(frictionTorque);
if (servo.servoBase)
{
servo.servoBase.AddTorque(-frictionTorque);
}
if (isDebugging)
{
Debug.DrawRay(transform.position, frictionTorque);
}
}
