How to set a configurable joints initial rotation

Question

Hi all, I am currently working on a system where an object that has a velocity, can hook onto another (static) object and thus swing around it. Since I want to use Physics, I came down to a configurable joint, but I am running into a small problem.

The initial rotation of when I add the joint, makes the object that hooks onto the other, teleport before working as expected (see GIF for visuals). Am I missing something that can fix this?

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I have tried to use a connected anchor and setting the (connected) anchor myself, yet it doesn't solve my problem. Below is the code used to instantiate and configure the joint

         grappleJoint = movementObject.gameObject.AddComponent<ConfigurableJoint>();
         grappleJoint.autoConfigureConnectedAnchor = false;
 
         Vector3 grappleJointAnchorPosition = grappleJoint.transform.position - grappleAnchorTransform.position;
 
         grappleJoint.anchor = grappleJointAnchorPosition;
         grappleJoint.connectedAnchor = grappleAnchorTransform.position;
 
         grappleJoint.xMotion = ConfigurableJointMotion.Locked;
         grappleJoint.yMotion = ConfigurableJointMotion.Locked;
         grappleJoint.zMotion = ConfigurableJointMotion.Locked;

Thanks in advance for any help :)

Answer 1

Best Answer

Answer by JenoahKers · Oct 08, 2022 at 05:45 PM

For anyone that finds this topic in the future, I managed to fix it by having the configurable joint being a component on the object all the time, but instead of destroying it when not using, just set the x, y and zMotion to free. Next make sure that you calculate the anchor point correctly. I ended up with the following in order to fix it:

 Vector3 grappleJointAnchorPosition = grappleJoint.transform.InverseTransformPoint(grappleAnchorTransform.position);
 
 grappleJoint.anchor = grappleJointAnchorPosition;
 grappleJoint.connectedAnchor = grappleAnchorTransform.position;
 
 grappleJoint.xMotion = ConfigurableJointMotion.Locked;
 grappleJoint.yMotion = ConfigurableJointMotion.Locked;
 grappleJoint.zMotion = ConfigurableJointMotion.Locked;
 
 grappleJoint.connectedBody = grappleAnchorRigidbody;

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How to set a configurable joints initial rotation

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