void Awake()
{
rb1 = Body1.GetComponent <Rigidbody>();
rb2 = Body2.GetComponent <Rigidbody>();
rb3 = Body3.GetComponent <Rigidbody>();
rb5 = Body5.GetComponent <Rigidbody>();
rb6 = Body6.GetComponent <Rigidbody>();
}
void setRigibody()
{
this.rb1 = Body1.GetComponent <Rigidbody>();
this.rb2 = Body2.GetComponent <Rigidbody>();
this.rb3 = Body3.GetComponent <Rigidbody>();
this.rb4 = Body4.GetComponent <Rigidbody>();
this.rb5 = Body5.GetComponent <Rigidbody>();
this.rb6 = Body6.GetComponent <Rigidbody>();
}
void Awake()
{
rb1 = Body1.GetComponent <Rigidbody>();
rb2 = Body2.GetComponent <Rigidbody>();
rb3 = Body3.GetComponent <Rigidbody>();
rb4 = Body4.GetComponent <Rigidbody>();
rb5 = Body5.GetComponent <Rigidbody>();
rb6 = Body6.GetComponent <Rigidbody>();
GameObject tor = this.chita.transform.GetChild(0).gameObject;
torax = tor.GetComponent <Rigidbody>();
testeColisao = this.chita.transform.GetChild(13).gameObject;
//chita = GameObject.Find("Chita");
//z = new Animalx ();
//a = GameObject.Instantiate (chita);
//a.transform.position = new Vector3 (-2.16f,0.16f,-5f);
}
// Update is called once per frame
void Update()
{
//Vector3 force1 = 30*ks*(desiredPos - rb1.position) - 30*kd*(rb1.velocity);
//rb1.AddForce(force1);
//float torque1 = 30*ks*(angle1 - Body1.GetComponent<HingeJoint>().angle) - kd*(Body1.GetComponent<HingeJoint>().velocity);
//rb1.AddTorque(Vector3.forward * torque1);
float torque2 = 30 * ks * (angle2 - Body2.GetComponent <HingeJoint>().angle) - kd * (Body2.GetComponent <HingeJoint>().velocity);
rb1.AddTorque(Vector3.forward * torque2);
rb2.AddTorque(Vector3.forward * torque2);
float torque3 = 30 * ks * (angle3 - Body3.GetComponent <HingeJoint>().angle) - kd * (Body3.GetComponent <HingeJoint>().velocity);
rb3.AddTorque(Vector3.forward * torque3);
float torque5 = 30 * ks * (angle5 - Body5.GetComponent <HingeJoint>().angle) - kd * (Body5.GetComponent <HingeJoint>().velocity);
rb5.AddTorque(Vector3.forward * torque5);
float torque6 = 30 * ks * (angle6 - Body6.GetComponent <HingeJoint>().angle) - kd * (Body6.GetComponent <HingeJoint>().velocity);
rb6.AddTorque(Vector3.forward * torque6);
}
