Version: Unity 6 Preview (6000.0)
LanguageEnglish
  • C#

ArticulationBody.PublishTransform

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Declaration

public void PublishTransform();

Description

Reads the position and rotation of the Articulation Body from the physics system and applies it to the corresponding Transform component.

Note: This method doesn't update the child Transforms. It should be called from the topmost Transform, down the hierarchy.

using System.Linq;
using UnityEngine;

public class ExampleScript : MonoBehaviour { private PhysicsScene m_SomeScene; private ArticulationBody m_RootArticulation;

public void SimulateTrajectory(float totalTime) { m_SomeScene.RunSimulationStages(0f, SimulationStage.PrepareSimulation);

for (int i = 0; i < totalTime / Time.fixedDeltaTime; i++) m_SomeScene.RunSimulationStages(Time.fixedDeltaTime, SimulationStage.RunSimulation);

// Transforms of the ArticulationBody tree are still like they were at the start of the method

var links = m_RootArticulation.gameObject.GetComponentsInChildren<ArticulationBody>().ToList(); links.Sort((a0, a1) => a0.index.CompareTo(a1.index)); foreach (var ab in links) ab.PublishTransform();

// Transforms of the ArticulationBody tree are now up to date and can be accessed to see where the bodies ended up after simulating for "totalTime" seconds }

// Teleports the root body of the Articulation and applies the resulting position and rotation to the Transform component public void TeleportAndUpdate(Vector3 position, Quaternion rotation) { m_RootArticulation.TeleportRoot(position, rotation); m_RootArticulation.PublishTransform(); } }

Simulate a PhysicsScene with an ArticulationBody and use PublishTransform to read the information from the physics system to the Transform component.