Discussion: Any way to extend this to non-kinematic physics?

[TheXRMonk]

As in the hand won't go through static objects, and heavy objects will pull on the hand thats grabbing.
I've been googeling this without finding any sufficient resources, so asking here. :)

[oxters168]

The hand currently is moved with the AddForce function, AddTorque function, and ConfigurableJoints. Going through walls shouldn't happen except for a few exceptions. One is if a large amount of force is being applied to the hand it can cause parts of it to phase through an object. Another is the 'feature' I added recently that helps the hands get back into place faster (I'm not too happy with the solution, I'll probably figure something better later). The last exception I can think of is when setting the hands inactive then active again, that can cause them to be phased through an object.

Now for the second point you make, I'm assuming you're talking about the grabbing system I'm currently working on implementing. The one with the lines and stuff. You make a good point, as the hands aren't affected by what they're grabbing in this system. I could try adding a different Grabbable type that uses ConfigurableJoint rather than my PhysicsTransform. I believe that should allow for grabbed objects to affect the hand in the way you want. I don't know if I'll have a chance to add it soon though. If you want to try adding it yourself, you can have a look at how GrabbablePhysicsTransform works and try making your own GrabbableConfigurableJoint or something like that, then do a pull request.