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Question Configurable Joints - Setting targetrotation from current rotation

Discussion in 'Physics' started by Wagybwoi, May 5, 2021.

  1. Wagybwoi

    Wagybwoi

    Joined:
    Sep 13, 2017
    Posts:
    1
    I'm trying to figure out how to properly set target rotations for configurable joints.

    So far I've been having luck with using Quaternion.RotateTowards and plugging in the joint's current targetrotation and the end rotation to increment towards:

    joint.targetRotation = Quaternion.RotateTowards(joint.targetRotation, Quaternion.Euler(90f, 0f, 0f), 100f*Time.deltaTime);

    My issue is I'm getting weird results when trying to move the targetrotation from the current rotation of the joint to the end rotation. This is how I'm trying to execute it:

    Quaternion localRotation = Quaternion.Inverse(joint.connectedBody.transform.rotation) * joint.transform.rotation;
    joint.targetRotation = Quaternion.RotateTowards(localRotation, Quaternion.Euler(90f, 0f, 0f), 100f*Time.deltaTime);


    Any ideas what I'm doing wrong?
     
    Last edited: May 5, 2021