/// <summary>
/// NB! Make sure to call this from FixedUpdate!
/// Creates a new muscle for the specified "joint" and targets it to the "target". The joint will be connected to the specified "connectTo" Muscle.
/// Note that the joint will be binded to it's current position and rotation relative to the "connectTo", so make sure the added object is positioned correctly when calling this.
/// This method allocates memory, avoid using it each frame.
/// </summary>
public void AddMuscle(ConfigurableJoint joint, Transform target, Rigidbody connectTo, Transform targetParent, Muscle.Props muscleProps = null)
{
if (!CheckIfInitiated()) return;
if (!initiated) {
Debug.LogWarning("PuppetMaster has not been initiated.", transform);
return;
}
if (ContainsJoint(joint)) {
Debug.LogWarning("Joint " + joint.name + " is already used by a Muscle", transform);
return;
}
if (target == null) {
Debug.LogWarning("AddMuscle was called with a null 'target' reference.", transform);
return;
}
if (connectTo == joint.GetComponent<Rigidbody>()) {
Debug.LogWarning("ConnectTo is the joint's own Rigidbody, can not add muscle.", transform);
return;
}
if (!isActive) {
Debug.LogWarning("Adding muscles to inactive PuppetMasters is not currently supported.", transform);
return;
}
if (muscleProps == null) muscleProps = new Muscle.Props();
Muscle muscle = new Muscle();
muscle.props = muscleProps;
muscle.joint = joint;
muscle.target = target;
muscle.joint.transform.parent = HierarchyIsFlat() || connectTo == null? transform: connectTo.transform;
joint.gameObject.layer = gameObject.layer; //@todo what if collider is on a child gameobject?
target.gameObject.layer = targetRoot.gameObject.layer;
if (connectTo != null) {
muscle.target.parent = targetParent;
Vector3 relativePosition = GetMuscle(connectTo).transform.InverseTransformPoint(muscle.target.position);
Quaternion relativeRotation = Quaternion.Inverse(GetMuscle(connectTo).transform.rotation) * muscle.target.rotation;
joint.transform.position = connectTo.transform.TransformPoint(relativePosition);
joint.transform.rotation = connectTo.transform.rotation * relativeRotation;
joint.connectedBody = connectTo;
}
muscle.Initiate(muscles);
if (connectTo != null) {
muscle.rigidbody.velocity = connectTo.velocity;
muscle.rigidbody.angularVelocity = connectTo.angularVelocity;
}
// Ignore internal collisions
if (!internalCollisions) {
for (int i = 0; i < muscles.Length; i++) {
muscle.IgnoreCollisions(muscles[i], true);
}
}
Array.Resize(ref muscles, muscles.Length + 1);
muscles[muscles.Length - 1] = muscle;
// Update angular limit ignoring
muscle.IgnoreAngularLimits(!angularLimits);
if (behaviours.Length > 0) {
muscle.broadcaster = muscle.joint.gameObject.AddComponent<MuscleCollisionBroadcaster>();
muscle.broadcaster.puppetMaster = this;
muscle.broadcaster.muscleIndex = muscles.Length - 1;
}
UpdateHierarchies();
CheckMassVariation(100f, true);
}
// Add all child indexes to the indexes array recursively
private void AddToChildrenRecursive(ConfigurableJoint joint, ref int[] indexes, ref bool[] childFlags)
{
if (joint == null) return;
int muscleIndex = GetMuscleIndexLowLevel(joint);
if (muscleIndex == -1) return;
Array.Resize(ref indexes, indexes.Length + 1);
indexes[indexes.Length - 1] = muscleIndex;
childFlags[muscleIndex] = true;
for (int i = 0; i < muscles.Length; i++) {
if (i != muscleIndex && muscles[i].joint.connectedBody == joint.GetComponent<Rigidbody>()) {
AddToChildrenRecursive(muscles[i].joint, ref indexes, ref childFlags);
}
}
}
