public override bool AreLimitsCorrect()
{
#if UNITY_2020_1_OR_NEWER
ArticulationBody joint = GetComponent <ArticulationBody>();
return(joint.linearLockX == ArticulationDofLock.LimitedMotion && joint.xDrive.lowerLimit < joint.xDrive.upperLimit);
#else
PrismaticJointLimitsManager limits = GetComponent <PrismaticJointLimitsManager>();
return(limits != null && limits.PositionLimitMin < limits.PositionLimitMax);
#endif
}
protected override Joint.Limit ExportLimitData()
{
#if UNITY_2020_1_OR_NEWER
ArticulationDrive drive = GetComponent <ArticulationBody>().xDrive;
#if UNITY_2020_2_OR_NEWER
return(new Joint.Limit(drive.lowerLimit, drive.upperLimit, drive.forceLimit, unityJoint.maxLinearVelocity));
#elif UNITY_2020_1
return(new Joint.Limit(drive.lowerLimit, drive.upperLimit, drive.forceLimit, maxLinearVelocity));
#endif
#else
PrismaticJointLimitsManager prismaticLimits = GetComponent <PrismaticJointLimitsManager>();
return(new Joint.Limit(
Math.Round(prismaticLimits.PositionLimitMin, RoundDigits),
Math.Round(prismaticLimits.PositionLimitMax, RoundDigits),
EffortLimit,
VelocityLimit));
#endif
}