1

Src/Unity/Scripts/Physics/PhysicsBasedAnimation.cs

@@ -24,12 +24,15 @@ namespace BITKit.Physics
 		[SerializeField] private Optional<ConfigurableJointMotion> overrideMotion;
 		[SerializeField] private Optional<ConfigurableJointMotion> overrideAngularMotion;
 		
-
 		private void Start()
 		{
 			foreach (var x in jointConfigures)
 			{
-				x.InitialRotation=x.animate.localRotation;
+				x.InitialRotation= x.animate.localRotation;
+				if (x.animate.localRotation != x.joint.transform.localRotation)
+				{
+					BIT4Log.Log<PhysicsBasedAnimation>($"{x.animate.name}初始旋转与关节旋转不一致，将会导致动画不正确");
+				}
 			}
 		}
 		private void FixedUpdate()
@@ -45,12 +48,10 @@ namespace BITKit.Physics
 			{
 				jointConfigure.joint.angularXDrive = drive;
 				jointConfigure.joint.angularYZDrive = drive;
-				// jointConfigure.joint.targetRotation =
-				// 	Quaternion.Lerp(
-				// 		Quaternion.identity, 
-				// 		Quaternion.Inverse(jointConfigure.animate.localRotation) * jointConfigure.InitialRotation,
-				// 		Blend
-				// 	);
+				jointConfigure.joint.xDrive = drive;
+				jointConfigure.joint.yDrive = drive;
+				jointConfigure.joint.zDrive = drive;
+			
 				jointConfigure.joint.targetRotation = Quaternion.Inverse(jointConfigure.animate.localRotation) *
 				                                      jointConfigure.InitialRotation;
 				jointConfigure.joint.targetPosition = jointConfigure.animate.localPosition;

Src/Unity/Scripts/Physics/PhysicsHelper.cs

@@ -9,6 +9,7 @@ namespace BITKit
     {
         public static async UniTask AddForceAtPositionAsync(this Rigidbody rigidbody, Vector3 force, Vector3 position,ForceMode forceMode=ForceMode.Force)
         {
+            if (rigidbody is null) return;
             await UniTask.DelayFrame(8);
             try
             {