Stop chaotic movement

Unity Engine
, ,
1

Hello! I’m trying to create a wire, but when I add the sphere collider and run the game, the components of the cable I generate start to move chaotically. After I deactivate the collider, things return to normal. I have attached the code below.

using System.Collections;
using System.Collections.Generic;
using System.Runtime.CompilerServices;
using Unity.VisualScripting;
using UnityEngine;
using UnityEngine.XR.Interaction.Toolkit.Transformers;
using UnityEngine.XR.Interaction.Toolkit;

public class Wire : MonoBehaviour
{
    [SerializeField] Transform startTransform, endTransform;
    [SerializeField] Transform segmentsParent;

    [SerializeField] int totalCount = 10;
    [SerializeField] int totalLength = 10;
    [SerializeField] int totalWeight = 5;
    [SerializeField] int drag = 1;
    [SerializeField] int angularDrag = 1;

    [SerializeField] bool usePhysics;
    [SerializeField] float radius;

    Transform[] segments = new Transform[0];



    // Start is called before the first frame update
    void Start()
    {
        segments = new Transform[totalCount];
        GenerateSegments();
    }

    private void OnDrawGizmos()
    {
        for (int i = 0; i < segments.Length; i++)
        {
            Gizmos.DrawWireSphere(segments[i].position, 0.1f);
        }
    }

    private void GenerateSegments()
    {
        JoinSegment(startTransform, null, true, false);
        AddGrab(startTransform);
        Transform prevSegment = startTransform;

        Vector3 direction = new Vector3(Mathf.Abs(endTransform.position.x - startTransform.position.x), Mathf.Abs(endTransform.position.y - startTransform.position.y), Mathf.Abs(endTransform.position.z - startTransform.position.z));

        for(int i = 0; i < totalCount; i++)
        {
            GameObject segment = new($"segment_{i}");
            segment.transform.SetParent(segmentsParent);

            Vector3 pos = prevSegment.position + direction/totalLength;
            segment.transform.position = pos;

            segments[i] = segment.transform;
            //Mesh mesh = new Mesh();

            int layerName = LayerMask.NameToLayer("Wire");

            segments[i].gameObject.layer = layerName;

            JoinSegment(segment.transform,prevSegment, false, false);

            //AddGrab(segment.transform);

            prevSegment = segment.transform;
        }

        JoinSegment(endTransform,prevSegment,true,true);
        AddGrab(endTransform);
    }

    private void JoinSegment(Transform current, Transform connectedTransform, bool isKinematic = false, bool isCloseConnected = false)
    {
        if (usePhysics)
        {
            SphereCollider sphereCollider = current.AddComponent<SphereCollider>();
            sphereCollider.radius = radius;
        }

        Rigidbody rb = current.AddComponent<Rigidbody>();
        rb.isKinematic = isKinematic;
        rb.mass = 1;
        rb.drag = drag;
        rb.angularDrag = angularDrag;

        if (connectedTransform != null)
        {
            ConfigurableJoint joint = current.AddComponent<ConfigurableJoint>();
            joint.connectedBody = connectedTransform.GetComponent<Rigidbody>();

            joint.autoConfigureConnectedAnchor = false;

            if (isCloseConnected)
            {
                joint.connectedAnchor = Vector3.forward * 0.1f;
            }
            else
            {
                joint.connectedAnchor = Vector3.forward * (totalLength / totalCount);
            }

            joint.xMotion = ConfigurableJointMotion.Locked;
            joint.yMotion = ConfigurableJointMotion.Locked;
            joint.zMotion = ConfigurableJointMotion.Locked;

            joint.angularXMotion = ConfigurableJointMotion.Free;
            joint.angularYMotion = ConfigurableJointMotion.Free;
            joint.angularZMotion = ConfigurableJointMotion.Limited;

            SoftJointLimit softJointLimit = new()
            {
                limit = 0
            };
            joint.angularZLimit = softJointLimit;

            JointDrive jointDrive = new()
            {
                positionDamper = 0,
                positionSpring = 0
            };
            joint.angularXDrive = jointDrive;
            joint.angularYZDrive = jointDrive;
        }
    }

    private void AddGrab(Transform current)
    {
        XRGrabInteractable xRGrabInteractable = current.AddComponent<XRGrabInteractable>();
    }
}
2

Maybe put the segments on an own layer and disable collision between this layer and itself in physics settings, or size the collider in a way that they only touch on extreme movements.