1

Src/Unity/Scripts/Physics/IClosePoint.cs

@@ -27,7 +27,10 @@ namespace BITKit
                         break;
                 }
                 vector3 = collider.ClosestPoint(root.position + Vector3.up);
-                return vector3.y == collider.bounds.center.y + collider.bounds.extents.y;
+                var top = collider.bounds.center + collider.bounds.extents;
+                return Mathf.Abs(vector3.y - top.y)  <0.16f;
+                //return vector3.y >= collider.bounds.center.y + collider.bounds.extents.y;
+                //return true;
             }
             return false;
         }

Src/Unity/Scripts/Physics/JointBasedSync.cs

@@ -0,0 +1,26 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace MyNamespace
+{
+	public class JointBasedSync : MonoBehaviour
+	{
+		[SerializeField] private ConfigurableJoint joint;
+		[SerializeField] private Transform animate;
+		private Quaternion _initialRotation;
+
+		private void Start()
+		{
+			_initialRotation = joint.transform.localRotation;
+		}
+
+		private void FixedUpdate()
+		{
+			//joint.targetPosition = animate.localPosition;
+			joint.targetRotation = Quaternion.Inverse(animate.localRotation) * _initialRotation;
+		}
+	}
+
+}

Src/Unity/Scripts/Physics/JointBasedSync.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f6fe23fca67cb7346a3c423d97c9e101
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Src/Unity/Scripts/Physics/PhysicsBasedAnimation.cs

@@ -1,6 +1,7 @@
 using System;
 using System.Collections;
 using System.Collections.Generic;
+using BITKit.Core.Tuple;
 using UnityEngine;
 
 namespace BITKit.Physics
@@ -19,6 +20,10 @@ namespace BITKit.Physics
 		[SerializeField] private float positionSpring;
 		[SerializeField] private float positionDamper;
 		[SerializeField] private float maximumForce;
+		[SerializeField] private Optional<UnityTuple<Rigidbody, Transform>>  rootSync;
+		[SerializeField] private Optional<ConfigurableJointMotion> overrideMotion;
+		[SerializeField] private Optional<ConfigurableJointMotion> overrideAngularMotion;
+		
 
 		private void Start()
 		{
@@ -33,16 +38,46 @@ namespace BITKit.Physics
 			var drive = new JointDrive
 			{
 				positionDamper = positionDamper,
-				positionSpring = positionSpring,
+				positionSpring =Mathf.Lerp(0,positionSpring,Blend),
 				maximumForce = maximumForce,
 			};
 			foreach (var jointConfigure in jointConfigures)
 			{
 				jointConfigure.joint.angularXDrive = drive;
 				jointConfigure.joint.angularYZDrive = drive;
-				 jointConfigure.joint.targetRotation = Quaternion.Inverse(jointConfigure.animate.localRotation) *
-				                                       jointConfigure.InitialRotation;
+				// jointConfigure.joint.targetRotation =
+				// 	Quaternion.Lerp(
+				// 		Quaternion.identity, 
+				// 		Quaternion.Inverse(jointConfigure.animate.localRotation) * jointConfigure.InitialRotation,
+				// 		Blend
+				// 	);
+				jointConfigure.joint.targetRotation = Quaternion.Inverse(jointConfigure.animate.localRotation) *
+				                                      jointConfigure.InitialRotation;
+				jointConfigure.joint.targetPosition = jointConfigure.animate.localPosition;
+					
+				 if (overrideAngularMotion.Allow)
+				 {
+					 jointConfigure.joint.angularXMotion = overrideAngularMotion.Value;
+					 jointConfigure.joint.angularYMotion = overrideAngularMotion.Value;
+					 jointConfigure.joint.angularZMotion = overrideAngularMotion.Value;
+				 }
+
+				 if (overrideMotion.Allow)
+				 {
+					 jointConfigure.joint.xMotion = overrideMotion.Value;
+					 jointConfigure.joint.yMotion = overrideMotion.Value;
+					 jointConfigure.joint.zMotion = overrideMotion.Value;
+				 }
 			}
+
+			if (rootSync.Allow)
+			{
+				var root = rootSync.Value;
+				root.Item1.transform.localPosition = root.Item2.localPosition;
+				root.Item1.MoveRotation(root.Item2.rotation);
+			}
+
+			
 		}
 	}
 

Src/Unity/Scripts/Physics/PhysicsHelper.cs

@@ -1,3 +1,4 @@
+using System;
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
@@ -9,8 +10,22 @@ namespace BITKit
         public static async UniTask AddForceAtPositionAsync(this Rigidbody rigidbody, Vector3 force, Vector3 position,ForceMode forceMode=ForceMode.Force)
         {
             await UniTask.DelayFrame(8);
-                 if (rigidbody is not null)
-                            rigidbody.AddForceAtPosition(force, position,forceMode);
+            try
+            {
+                rigidbody.AddForceAtPosition(force, position,forceMode);
+            }
+            catch(MissingReferenceException){}
+                
+        }
+        public static async void Explosion(Vector3 position,float radius,LayerMask layerMask,float force)
+        {
+            await UniTask.DelayFrame(8);
+            foreach (var x in UnityEngine.Physics.OverlapSphere(position,radius,layerMask))
+            {
+                if(x.attachedRigidbody is null)continue;
+                x.attachedRigidbody.AddExplosionForce(force,position,radius);
+                //Debug.Log(x);
+            }
         }
     }
 }