basic overview of a vr climbing mechanic

VRClimbOverview

public Transform climbingAnchor;
public float climbRadius = 0.1f;
private ConfigurableJoint Joint;
    
void OnGrab () 
{
	if (ClimbGrab) 
	{
		// Player is now attached to climbable object
	}
}

void OnRelease () 
{
	if (Joint != null)
	{
		Destroy(Joint);
	}
}



public bool ClimbGrab ()
{
    // I use a singleton map to check all the different climbing colliders in the scene
// and see where the closest point to grab is.
// Easiest implementation is to find the collider of the object at your hand and get Collider.ClosestPoint(hand.position); 
    var closestPoint = ClimbPoint.Closest(climbingAnchor.position, climbRadius);
    if (closestPoint != null)
    {
    	// create and intialize a configurable joint at the closest point
        Joint = gameObject.AddComponent<ConfigurableJoint>();
        Joint.xMotion = Joint.yMotion = Joint.zMotion = ConfigurableJointMotion.Locked;
        Joint.angularXMotion = Joint.angularYMotion = Joint.angularZMotion = ConfigurableJointMotion.Locked;
        Joint.anchor = transform.InverseTransformPoint(climbingAnchor.position);
        Joint.autoConfigureConnectedAnchor = false;
	
	//retrieving the collider of the closest object
	var hit = closestPoint.col;

	// if possible, connect our joint to the object, so that as the object moves, so do we.
	// otherwise, just attach to the air. 
        if (hit.attachedRigidbody)
        {
            Joint.connectedBody = hit.attachedRigidbody;
            Joint.connectedAnchor = hit.attachedRigidbody.transform.InverseTransformPoint(climbingAnchor.position);
        }
        else
        {
            Joint.connectedAnchor = climbingAnchor.position;
        }
        return true;
    }
    return false;
}