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using UnityEngine;
public static class ConfigurableJointExtensions
{
public static void SetTargetRotationLocal(this ConfigurableJoint joint, Quaternion targetLocalRotation, Quaternion startLocalRotation)
{
if (joint.configuredInWorldSpace)
{
Debug.LogError("SetTargetRotationLocal should not be used with joints that are configured in world space. For world space joints, use SetTargetRotation.", joint);
}
joint.SetTargetRotationInternal(targetLocalRotation, startLocalRotation, Space.Self);
}
public static void SetTargetRotation(this ConfigurableJoint joint, Quaternion targetWorldRotation, Quaternion startWorldRotation)
{
if (!joint.configuredInWorldSpace)
{
Debug.LogError("SetTargetRotation must be used with joints that are configured in world space. For local space joints, use SetTargetRotationLocal.", joint);
}
joint.SetTargetRotationInternal(targetWorldRotation, startWorldRotation, Space.World);
}
private static void SetTargetRotationInternal(this ConfigurableJoint joint, Quaternion targetRotation, Quaternion startRotation, Space space)
{
Vector3 axis = joint.axis;
Vector3 normalized = Vector3.Cross(joint.axis, joint.secondaryAxis).normalized;
Vector3 normalized2 = Vector3.Cross(normalized, axis).normalized;
Quaternion quaternion = Quaternion.LookRotation(normalized, normalized2);
Quaternion targetRotation2 = Quaternion.Inverse(quaternion);
if (space == Space.World)
{
targetRotation2 *= startRotation * Quaternion.Inverse(targetRotation);
}
else
{
targetRotation2 *= Quaternion.Inverse(targetRotation) * startRotation;
}
targetRotation2 *= quaternion;
joint.targetRotation = targetRotation2;
}
}
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