public override bool AreLimitsCorrect()
{
#if UNITY_2020_1_OR_NEWER
ArticulationBody drive = GetComponent <ArticulationBody>();
return(drive.linearLockX == ArticulationDofLock.LimitedMotion && drive.xDrive.lowerLimit < drive.xDrive.upperLimit);
#else
HingeJointLimitsManager limits = GetComponent <HingeJointLimitsManager>();
return(limits != null && limits.LargeAngleLimitMin < limits.LargeAngleLimitMax);
#endif
}
protected override Joint.Limit ExportLimitData()
{
#if UNITY_2020_1_OR_NEWER
ArticulationDrive drive = unityJoint.xDrive;
return(new Joint.Limit(drive.lowerLimit * Mathf.Deg2Rad, drive.upperLimit * Mathf.Deg2Rad, drive.forceLimit, unityJoint.maxAngularVelocity));
#else
HingeJointLimitsManager hingeJointLimits = GetComponent <HingeJointLimitsManager>();
return(new Joint.Limit(
Math.Round(hingeJointLimits.LargeAngleLimitMin * Mathf.Deg2Rad, RoundDigits),
Math.Round(hingeJointLimits.LargeAngleLimitMax * Mathf.Deg2Rad, RoundDigits),
EffortLimit,
VelocityLimit));
#endif
}
