Help Rope connected 3d object and its weight

Code:

private IEnumerator CreateRope(ObiSolver solver, ObiRope rope)

{

    // Create a rope

    

    // Setup a blueprint for the rope:

    var blueprint = ScriptableObject.CreateInstance<ObiRopeBlueprint>();

    blueprint.resolution = 0.65f;

    blueprint.thickness = 0.45f;

    blueprint.pooledParticles = 100;





    Vector3 point = Vector3.zero;

    blueprint.path.Clear();

    int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 0);

    float mass = 1;

    for (int i = 0; i < points.Length; i++)

    {

        if (i == 0 || i == points.Length - 1)

            mass = .1f;

        else

            mass = .2f;

          

        if( i == 0 )

        {

            point = rope.transform.InverseTransformPoint(points[i].position);

            blueprint.path.AddControlPoint(point, -Vector3.zero, Vector3.zero, Vector3.up, mass, 0.5f, 1, filter, Color.white, "A");

        }



        Vector3 point2 = rope.transform.InverseTransformPoint(points[i].position);

        Vector3 direction = (point2 - point) * 0.25f;

        

        blueprint.path.AddControlPoint(point2, -direction, direction, Vector3.up, mass, 0.5f, 1, filter, Color.white, points[i].name);

        

        

    }



    blueprint.path.FlushEvents();

    yield return StartCoroutine(blueprint.Generate());



    rope.collisionMaterial = collisionMaterial;

    rope.ropeBlueprint = blueprint;



    // access the distance constraints currently simulated by the solver:

    var solverConstraints = rope.GetConstraintsByType(Oni.ConstraintType.Distance)

                as ObiConstraints<ObiDistanceConstraintsBatch>;

    int batches = solverConstraints.batches.Count;

    for (int k = 0; k < batches; k++)

    {

        int cnt = solverConstraints.batches[k].constraintCount;

        for (int i = 0; i < cnt; i++)

        {

            //solverConstraints.batches[k].restLengths[i] = length;

        }

    }

    

    



    var obiRopeExtrudeRenderer = rope.GetComponent<ObiRopeExtrudedRenderer>();

    // load the default rope section:

    obiRopeExtrudeRenderer.section = Resources.Load<ObiRopeSection>("DefaultRopeSection");

    obiRopeExtrudeRenderer.GetComponent<MeshRenderer>().material = material;

    obiRopeExtrudeRenderer.GetComponent<ObiPathSmoother>().decimation = 0.1f;

    obiRopeExtrudeRenderer.GetComponent<ObiPathSmoother>().smoothing = 3;



    cursor = rope.AddComponent<ObiRopeCursor>();

    cursor.cursorMu = 1;

    cursor.sourceMu = 1;



    obiRopeExtrudeRenderer.uvScale = new Vector2(2, 15);

    obiRopeExtrudeRenderer.thicknessScale = 1.1f;



    rope.distanceConstraintsEnabled = true;

    rope.stretchingScale = 1f;

    rope.stretchCompliance = 0f;

    rope.bendCompliance = .1f;

    



    PinRope(rope, points[0].GetComponent<ObiCollider>(), points[points.Length - 1].GetComponent<ObiCollider>(), new Vector3(0f, 0, 0), new Vector3(0f, 0, 0));



    //RopeAttachment(rope, points[0].GetComponent<ObiCollider>(), points[points.Length - 1].GetComponent<ObiCollider>());



    //AddDistanceConstrants(rope);



}

Code:

private void PinRope(ObiRope rope, ObiCollider bodyA, ObiCollider bodyB, Vector3 offsetA, Vector3 offsetB)

{

    

    // Pin both ends of the rope (this enables two-way interaction between character and rope):

    var pinConstraints = rope.GetConstraintsByType(Oni.ConstraintType.Pin) as ObiConstraints<ObiPinConstraintsBatch>;

    pinConstraints.Clear();

    var batch = new ObiPinConstraintsBatch();

    batch.AddConstraint(rope.solverIndices[0], bodyA, offsetA, Quaternion.identity, 0, 0, float.PositiveInfinity);

    batch.AddConstraint(rope.solverIndices[rope.activeParticleCount - 1], bodyB, offsetB, Quaternion.identity, 0, 0, float.PositiveInfinity);

    batch.activeConstraintCount = 2;

    pinConstraints.AddBatch(batch);

    rope.SetConstraintsDirty(Oni.ConstraintType.Pin);

}