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Question by Aria-Lliane · Feb 26, 2013 at 06:43 PM · rotationanglejoint

How to get a Joint's current Rotation/angle?

Hello, i know so far how to make a ConfigurableJoint move to target Rotation:

 public void moveConfJoint (ConfigurableJoint joint, Quaternion rotation)
 {
         joint.targetRotation=rotation;
     
     JointDrive drive= new JointDrive();
     drive.positionSpring = 150;
     
     drive.mode = JointDriveMode.Position;
     drive.maximumForce=4;
     
     joint.angularXDrive = drive;
     joint.angularYZDrive = drive;
     
 }

but with time it will also move with physics, so at a certain point id like to get its current Rotation, something like " Quaternion q = joint.getCurrentRotation; " or something like that, so i can get it's current state/Rotation, how can i do this? i know that HingeJoints have the "joint.angle" attribute, so what is the equivalent for Configurable Joints?

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avatar image Aria-Lliane · Feb 27, 2013 at 04:41 PM 0
Share

I've been thinking and I'd like to know what you guys think about this:

 public Quaternion getJointRotation(ConfigurableJoint joint)
 {
     Quaternion q1=joint.connectedBody.rotation;
     Quaternion q2=joint.gameObject.transform.rotation;
     
     return(Quaternion.FromToRotation(q2.eulerAngles, q1.eulerAngles));
 }

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Answer by Aria-Lliane · Apr 13, 2013 at 05:12 PM

 public Quaternion getJointRotation(ConfigurableJoint joint)
 {
     return(Quaternion.FromToRotation(joint.axis, joint.connectedBody.transform.rotation.eulerAngles));
 }
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