void DoPoweredRotationMatching(AnimatedPair pair, BoneProfile boneProfile, float dt)
{
RagdollBone bone = pair.RagdollBone;
Rigidbody rigidbody = bone.Rigidbody;
float alpha = boneProfile.rotationAlpha;
float dampingRatio = boneProfile.rotationDampingRatio;
SetTargetRotation(pair);
SetTargetAngularVelocityLocal(bone.Joint, pair.poseAngularVelocity, pair.RagdollBone.StartingJointRotation);
bone.Joint.slerpDrive = AnimationMatching.GetRotationMatchingJointDrive(alpha, dampingRatio, rigidbody.mass, dt, boneProfile.maxAngularAcceleration);
}
void DoPoweredPositionMatching(AnimatedPair pair, BoneProfile boneProfile, float dt)
{
float alpha = boneProfile.positionAlpha;
float dampingRatio = boneProfile.positionDampingRatio;
Rigidbody rigidbody = pair.RagdollBone.Rigidbody;
AnimatedPose targetPose = pair.currentPose;
Vector3 acceleration = AnimationMatching.GetAccelerationFromPositionSpring(rigidbody.position, targetPose.worldPosition,
rigidbody.velocity, pair.poseLinearVelocity, alpha, dampingRatio, rigidbody.mass, dt);
LimitAcceleration(ref acceleration, boneProfile.maxLinearAcceleration);
rigidbody.AddForce(acceleration, ForceMode.Acceleration);
}