void AVR.Phys.AVR_Grabbable.UpdateRBVelocity ( )
inlineprivate
Definition at line 167 of file AVR_Grabbable.cs.
         {
             #if AVR_NET
             if(IsOnline && !IsOwner) return;
             #endif
 
             // Get pos-rot of hand and item
             Vector3 targetItemPosition = transform.position;
             Quaternion targetItemRotation = transform.rotation;
             Vector3 targetHandPosition = this.getTargetPosition();
             Quaternion targetHandRotation = this.getTargetRotation();
 
             // Set the current objecttype to the regular object type or the nested one
             _objType = (isGrabbedByMultipleHands && objectType.changeObjectTypeOnTwoHanded) ? objectType.typeOnTwoHanded : objectType;
 
             // Break joint if the distance is too far & it is growing.
             if (Vector3.Distance(targetItemPosition, targetHandPosition) > last_dist && last_dist > _objType.Break_grab_distance)
             {
                 while (AttachedHands.Count > 0) AttachedHands[0].makeRelease();
                 return;
             }
             last_dist = Vector3.Distance(targetItemPosition, targetHandPosition);
 
             // Follow aglorithms
             switch(_objType.followType) {
                 case GrabbableObjectType.FollowType.FREE : {
                     //pos
                     Vector3 pDelta = (targetHandPosition - targetItemPosition);
                     Vector3 vel = pDelta / Time.fixedDeltaTime;
 
                     rb.velocity = vel * _objType.Lightness;
                     lastVel = rb.velocity;
 
                     //ang
                     Quaternion rotationDelta = targetHandRotation * Quaternion.Inverse(targetItemRotation);
 
                     rotationDelta.ToAngleAxis(out float angle, out Vector3 axis);
                     while (angle > 180) angle -= 360; // Prevent object from doing sudden >180° turns instead of negative <180° ones
 
                     rb.maxAngularVelocity = 99999.0f;
 
                     Vector3 angvel = (angle * axis * Mathf.Deg2Rad) / Time.fixedDeltaTime;
                     if (!float.IsNaN(angvel.z)) rb.angularVelocity = angvel * _objType.Angular_Lightness;
                     break;
                 }
                 case GrabbableObjectType.FollowType.STATIC : {
                     break;
                 }
                 case GrabbableObjectType.FollowType.CONSTRAINED : {
                     Vector3 pDelta = (targetHandPosition - targetItemPosition);
                     Vector3 vel = pDelta / Time.fixedDeltaTime;
 
                     // The current world acceleration is rb.velocity - lastVel. However, due to sudden changes in the objects position, we prevent the acceleration from jumping to
                     // dramatically by smoothing out the world acceleration throuhg a simple linear interpolation
                     // Lower the value of 0.5 to make the world acceleration more delayed/elastic, but also lower the jitter an object may experience
                     wacc = Vector3.Lerp(wacc, rb.velocity - lastVel, 0.5f);
 
                     worldvel = wacc / Time.fixedDeltaTime; //We scale wacc similarly to pDelta, to compare with vel
 
                     worldvel -= worldvel.normalized * Mathf.Min(worldvel.magnitude, 10);      //10 == minimum force applied by hand
                     vel = Vector3.ClampMagnitude(vel, 30);                                  //30 == maximum force applied by hand
 
                     if (!float.IsNaN(worldvel.x) && !float.IsNaN(worldvel.y) && !float.IsNaN(worldvel.z))
                     {
                         rb.velocity = vel + worldvel;
                     }
                     else
                     {
                         rb.velocity = Vector3.zero;
                     }
 
                     lastVel = rb.velocity;
 
 
                     //ang
                     Quaternion rotationDelta = targetHandRotation * Quaternion.Inverse(targetItemRotation);
 
                     rotationDelta.ToAngleAxis(out float angle, out Vector3 axis);
                     while (angle > 180) angle -= 360; // Prevent object from doing sudden >180° turns instead of negative <180° ones
 
                     rb.maxAngularVelocity = 99999.0f;
 
                     Vector3 angvel = (angle * axis * Mathf.Deg2Rad) / Time.fixedDeltaTime;
                     if (!float.IsNaN(angvel.z)) rb.angularVelocity = (angvel * objectType.Angular_Lightness);
                     break;
                 }
                 case GrabbableObjectType.FollowType.HEAVY : {
                     // Point where object was grabbed
                     Vector3 closestp = AttachedHands[0].getWorldGrabLocation();
 
                     // Difference between point where object was grabbed at and current hand/palm position (normalized over a few frames)
                     force = Vector3.Lerp(force, AttachedHands[0].grabPoint.position - closestp, 0.25f);
 
                     // Velocity of rigidbody at grabbed position (normalized)
                     cvel = Vector3.Lerp(cvel, rb.GetPointVelocity(closestp), 0.25f);
 
                     float k = 0.3f;
                     // delta = the force we want to apply minus the objects current velocity
                     Vector3 delta = force - Vector3.Lerp(Vector3.zero, cvel, k * Vector3.Distance(AttachedHands[0].grabPoint.position, closestp));
                     Vector3 f = delta * Time.fixedDeltaTime * 100.0f * _objType.Heavy_force_multiplier;
 
                     rb.velocity *= 0.8f;
                     rb.AddForceAtPosition(f, closestp, ForceMode.Impulse);
                     break;
                 }
             }
             velocities.Add(rb.velocity);
             while (velocities.Count > velocity_count) velocities.RemoveAt(0);
         }