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Unity Engine

SetJointForces(List<float>)

Assigns articulation body joint forces for the entire hierarchy of bodies.
Read time 1 minuteLast updated 4 days ago

Definition

  • Type: Method
  • Namespace: UnityEngine
  • Assembly: UnityEngine.PhysicsModule
public void SetJointForces(List<float> forces)

Parameters

forces

List<float>
Supplied list of floats used to set the joint forces.

Remarks

This sets joint forces in the reduced coordinate space for the entire articulation hierarchy starting from root using the supplied list of floats. Every joint force DOF is represented by one float value, however depending on the type of the articulation joint there might be zero, one or 3 DOFs per joint. The exact location of the data to be set in the supplied list for the specific articulation body can be found by calling ArticulationBody.GetDofStartIndices and indexing returned dofStartIndices list by the particular body index via ArticulationBody.index. Number of degrees of freedom(DOF) for the articulation body can be found using ArticulationBody.dofCount.
Units of measurement - N (newtons) for linear and Nm (newton-meters) for angular motion.
Additional Resources: ArticulationBody.index, ArticulationBody.GetDofStartIndices, ArticulationBody.dofCount, ArticulationBody.GetJointForces.