Conveyor_Code

    void FixedUpdate()
    {
        percent = ((percent + 1) + percentSpeed) % 1;
        bool reloaded = ReloadPanels();
        PlacePanels(!reloaded);
    }

    private void PlacePanels(bool useForce = true)
    {
        Vector3[] positions = Loop(percent, conveyorHeight, panelCount, conveyorLength);
        for (int i = 0; i < panelCount; i++)
        {
            Rigidbody currentPanel = beltPanels[i];
            // Vector3 panelPos = transform.position + ((Vector3)((Vector2)positions[i]));
            Vector3 panelPos = transform.position + new Vector3(0, positions[i].y, positions[i].x) - Vector3.up * conveyorHeight / 2;
            Quaternion panelRot = Quaternion.Euler(new Vector3(positions[i].z, 0, 0));
            if (useForce)
            {
                currentPanel.AddForce(currentPanel.CalculateRequiredForceForPosition(panelPos));
                currentPanel.AddTorque(currentPanel.CalculateRequiredTorqueForRotation(panelRot));
            }
            else
            {
                currentPanel.MovePosition(panelPos);
                currentPanel.MoveRotation(panelRot);
            }
        }
    }

    private bool ReloadPanels()
    {
        bool needsRefresh = panelCount != beltPanels.Length || !Mathf.Approximately(conveyorLength, prevConveyorLength) || !Mathf.Approximately(conveyorHeight, prevBeltGap) || !Mathf.Approximately(panelGap, prevPanelGap) || !Mathf.Approximately(panelWidth, prevPanelWidth) || !Mathf.Approximately(panelDepth, prevPanelDepth);
        prevConveyorLength = conveyorLength;
        prevBeltGap = conveyorHeight;
        prevPanelGap = panelGap;
        prevPanelWidth = panelWidth;
        prevPanelDepth = panelDepth;
        if (needsRefresh)
        {
            DestroyObjs();
            InitObjs();
        }
        return needsRefresh;
    }
    private void InitObjs()
    {
        if (panelsParent == null)
            panelsParent = new GameObject("Panels");

        float beltLength = GetTotalBeltLength(conveyorHeight, conveyorLength);
        float panelLength = (beltLength - (panelGap * (panelCount - 1))) / panelCount;

        beltPanels = new Rigidbody[panelCount];
        for (int i = 0; i < panelCount; i++)
        {
            GameObject panel = GameObject.CreatePrimitive(PrimitiveType.Cube);
            panel.name = "Panel " + i;
            panel.layer = LayerMask.NameToLayer("Panel");
            panel.transform.localScale = new Vector3(panelWidth, panelDepth, panelLength);
            panel.GetComponent<BoxCollider>().size = new Vector3(1, 1.1f, 1); //Set the y to 1.1 so that thin items don't z-fight
            // Destroy(panel.GetComponent<BoxCollider>());
            var obiCollider = panel.AddComponent<Obi.ObiCollider>();
            obiCollider.CollisionMaterial = friction;
            panel.transform.SetParent(panelsParent.transform);

            if (beltMaterial != null)
            {
                Renderer panelRender = panel.GetComponent<Renderer>();
                float ratio = Mathf.Max(panelLength, panelWidth) / Mathf.Min(panelLength, panelWidth);
                beltMaterial.SetTextureScale("_MainTex", new Vector2(2 * ratio, 2));
                panelRender.sharedMaterial = beltMaterial;
            }

            Rigidbody panelBody = panel.AddComponent<Rigidbody>();
            panelBody.useGravity = false;
            panelBody.collisionDetectionMode = CollisionDetectionMode.ContinuousDynamic;
            beltPanels[i] = panelBody;
            panel.AddComponent<Obi.ObiRigidbody>();
        }
    }
    private void DestroyObjs()
    {
        if (beltPanels != null)
            for (int i = 0; i < beltPanels.Length; i++)
                GameObject.Destroy(beltPanels[i].gameObject);
    }