private void PerformSimpleControlScheme(ContactPointInfo info, float horizontal, float vertical)
{
float timeAllowed = 1.2f;
float timePassed = info.hitTime - Time.timeSinceLevelLoad;
float x = 1.0f - Mathf.Sqrt(Mathf.Clamp01(timePassed / timeAllowed));
float forceAmount = 800f;
forceAmount += x * forceAmount;
Vector3 direction = GetSimpleDirection(info.surfaceNormal, horizontal, vertical);
if (timePassed < recalculateHitTime)
{
rb.AddForce(direction * forceAmount);
}
}
private void FireEvent(ContactPointInfo info, float horizontal, float vertical)
{
if (airing)
{
return;
}
switch (controlScheme)
{
case ControlScheme.Original:
PerformOriginalControlScheme(info, horizontal, vertical);
break;
case ControlScheme.Simple:
//print("performing jump, surface is: " + collidingWith[0].ToString());
PerformSimpleControlScheme(info, horizontal, vertical);
break;
}
float timePassed = info.hitTime - Time.timeSinceLevelLoad;
if (timePassed >= recalculateHitTime)
{
RaycastHit hitinfo;
Physics.Raycast(this.gameObject.transform.position, hit.surfaceNormal * -10f, out hitinfo);
if (hitinfo.collider != null)
{
hit.hitPoint = hitinfo.point;
hit.hitTime = Time.timeSinceLevelLoad;
hit.surfaceNormal = hitinfo.normal;
}
}
/*
* if (runInEditMode)
* {
* Vector3 direction = OriginalDirection(hit.surfaceNormal, horizontal, vertical);
* Debug.DrawRay(hit.hitPoint, direction * 10f);
* }*/
}
private void FireEvent(ContactPointInfo info, float horizontal, float vertical)
{
if (airing)
{
return;
}
float timeAllowed = 1.2f;
float timePassed = info.hitTime - Time.timeSinceLevelLoad;
float x = 1.0f - Mathf.Sqrt(Mathf.Clamp01(timePassed / timeAllowed));
float forceAmount = 800f;
forceAmount += x * forceAmount;
Vector3 direction = Direction(hit.surfaceNormal, horizontal, vertical);
if (timePassed < 3f)
{
rb.AddForce(direction * forceAmount);
}
else
{
RaycastHit hitinfo;
Physics.Raycast(this.gameObject.transform.position, hit.surfaceNormal * -10f, out hitinfo);
if (hitinfo.collider != null)
{
hit.hitPoint = hitinfo.point;
hit.hitTime = Time.timeSinceLevelLoad;
hit.surfaceNormal = hitinfo.normal;
}
}
bool debug = true;
if (debug)
{
Debug.DrawRay(hit.hitPoint, direction * 10f);
}
}
public void evaluateJointTargets()
{
ReducedCharacterState poseRS = new ReducedCharacterState(desiredPose);
//d and v are specified in the rotation (heading) invariant coordinate frame
updateDAndV();
//there are two stages here. First we will compute the pose (i.e. relative orientations), using the joint trajectories for the current state
//and then we will compute the PD torques that are needed to drive the links towards their orientations - here the special case of the
//swing and stance hips will need to be considered
//always start from a neutral desired pose, and build from there...
root.setExternalForce(Vector3.zero);
root.setExternalTorque(Vector3.zero);
CWJoint j;
for (int i = 0; i < jointCount; i++)
{
j = character.getJoint(i);
j.getChild().setExternalForce(Vector3.zero);
j.getChild().setExternalTorque(Vector3.zero);
poseRS.setJointRelativeOrientation(Quaternion.identity, i);
poseRS.setJointRelativeAngVelocity(Vector3.zero, i);
}
float phiToUse = phi;
//make sure that we only evaluate trajectories for phi values between 0 and 1
if (phiToUse > 1)
{
phiToUse = 1;
}
Vector3 force = Vector3.zero;
Vector3 torque = Vector3.zero;
// First compute external forces
for (int i = 0; i < currentState.getExternalForceCount(); i++)
{
ExternalForce ef = currentState.getExternalForce(i);
CWRigidBody arb = character.getArticulatedRigidBody(ef.getARBIndex(stance));
force = Vector3.zero;
force += character.getLocalFrontAxis() * ef.forceX.evaluate_catmull_rom(phiToUse);
force += character.getLocalUpAxis() * ef.forceY.evaluate_catmull_rom(phiToUse);
force += character.getLocalLeftAxis() * ef.forceZ.evaluate_catmull_rom(phiToUse);
force = characterFrame * force;
arb.addExternalForce(force);
torque = Vector3.zero;
torque += character.getLocalFrontAxis() * ef.torqueX.evaluate_catmull_rom(phiToUse);
torque += character.getLocalUpAxis() * ef.torqueY.evaluate_catmull_rom(phiToUse);
torque += character.getLocalLeftAxis() * ef.torqueZ.evaluate_catmull_rom(phiToUse);
torque = characterFrame * torque;
arb.addExternalTorque(torque);
}
//Debug.Log(Random.value + "ffffffffffff "+curState.getTrajectoryCount());
for (int i = 0; i < currentState.getTrajectoryCount(); i++)
{
Trajectory tra = currentState.getTrajectory(i);
//now we have the desired rotation angle and axis, so we need to see which joint this is intended for
int jIndex = tra.getJointIndex(stance, isLeftReverseStance);
//Debug.Log(Random.value + "00000000000 "+(curState.sTraj[i] as Trajectory).getJointName());
j = character.getJoint(jIndex);
//get the desired joint orientation to track - include the feedback if necessary/applicable
Vector3 d0 = new Vector3();
Vector3 v0 = new Vector3();
computeD0(phiToUse, ref d0);
computeV0(phiToUse, ref v0);
//if the index is -1, it must mean it's the root's trajectory. Otherwise we should give an error
if (jIndex == -1)
{
qRootD = tra.evaluateTrajectory(this, j, stance, phiToUse, d - d0, v - v0);
}
else
{
Quaternion newOrientation = tra.evaluateTrajectory(this, j, stance, phiToUse, d - d0, v - v0);
j.setRelToRootFrame(tra.relToCharFrame);
poseRS.setJointRelativeOrientation(newOrientation, jIndex);
}
if (tra.hitFeedback != null)
{
CWRigidBody arb = character.getArticulatedRigidBody(tra.hitFeedback.hitARBIndex);
if (phiToUse > tra.hitFeedback.minTime && arb.contactPoints.Count > 0)
{
ContactPointInfo cp = (ContactPointInfo)arb.contactPoints[0];
onHitOtherSBCharacter(tra.hitFeedback, cp);
}
}
}
}
override protected void ResponseHitOthersFeedback(HitFeedback feedback, ContactPointInfo cp)
{
base.ResponseHitOthersFeedback(feedback, cp);
if (!feedback.isHit)
{
/*
* if (cp.collider2.tag.Contains ("enemyTrunk")) {
* //if(cp.collider2.tag == "enemyTrunk"){
* EnemyBip enemy = ((cp.collider2.GetComponent ("CWRigidBody") as CWRigidBody).getAFParent () as Character).ownerObject.GetComponent ("EnemyBip") as EnemyBip;
*
* HitFeedback hit = feedback.copy ();
* hit.feedbackARB = cp.collider2.GetComponent ("CWRigidBody") as CWRigidBody;
* if (hit.feedbackARB.name == "head") {
* hit.bodySpringKp = 30;
* hit.bodySpringKd = 5;
* hit.force /= 1.5f;
* }
* Vector3 f = Vector3.zero;
* f += character.getLocalFrontAxis () * hit.force.x;
* f += character.getLocalUpAxis () * hit.force.y;
* f += character.getLocalLeftAxis () * hit.force.z;
* f = controller.getCharacterFrame () * f;
*
* float levelDiff = GameAttribute.gameAttribute.loadPlayerLevel () - enemy.level;
* enemy.addLife (-1 * Mathf.Clamp (hit.power + levelDiff, 1, 100));
* hit.localPos = hit.feedbackARB.getLocalCoordinatesPoint (cp.cp);
* enemy.startHurt (hit);
* cp.collider2.attachedRigidbody.AddForceAtPosition (f, cp.cp, ForceMode.Impulse);
* //enemy.pelvis.GetComponent<Rigidbody> ().AddForce (0.5f*f, ForceMode.Impulse);
* RFGameManager.instance.addPunch (hit.feedbackARB, cp.cp);
*
* if (weapon == null) {
* if (cp.collider1.gameObject == lLowerArm || cp.collider1.gameObject == lLowerLeg) {
* lHandSoundSource.clip = bipedalSounds [Random.Range (2, 10)];
* lHandSoundSource.Play ();
* } else if (cp.collider1.gameObject == rLowerArm || cp.collider1.gameObject == rLowerLeg) {
* rHandSoundSource.clip = bipedalSounds [Random.Range (2, 10)];
* rHandSoundSource.Play ();
* }
* } else {
* weapon.playAttackSounds ();
* weapon.reduceWeaponWastageRate (2);
* }
*
* RFGameManager.instance.addExperience (2 * enemy.level + GameAttribute.gameAttribute.loadPlayerLevel () + 5);
*
* if (enemy.getIsStanding() && RFGameManager.instance.getGameState () == RFGameState.idle) {
* RFGameManager.instance.gameStartFighting ();
* enemy.resetResist ();
* enemy.setLookState (HeadLookState.none, null, Vector3.zero);
* enemy.setHandTouchState (HandTouchState.none, null, Vector3.zero, HandTouchMode.doubleHand);
* }
*
* //gameManager.createBloodSplash(cp.collider2.gameObject, cp.cp);
* } else {
* if (weapon == null) {
* } else {
* weapon.playAttackSounds (false);
* weapon.reduceWeaponWastageRate (1);
* }
* }*/
feedback.isHit = true;
}
}
override protected void ResponseHitLimbsFeedback(HitFeedback feedback, ContactPointInfo cp)
{
base.ResponseHitLimbsFeedback(feedback, cp);
float volume = 0.03f * feedback.force.magnitude;
if (feedback.feedbackARB == controller.getLFoot())
{
if (cp.collider2.tag.Contains("carpet"))
{
lFootSoundSource.clip = bipedalSounds[0];
lFootSoundSource.pitch = 1;
lFootSoundSource.volume = volume;
lFootSoundSource.Play();
}
else if (cp.collider2.tag.Contains("wood"))
{
lFootSoundSource.clip = bipedalSounds[1];
lFootSoundSource.pitch = 1;
lFootSoundSource.volume = volume;
lFootSoundSource.Play();
}
else if (cp.collider2.tag.Contains("terrain"))
{
lFootSoundSource.clip = bipedalSounds[20];
lFootSoundSource.pitch = 0.6f;
lFootSoundSource.volume = volume;
lFootSoundSource.Play();
}
/*if (lShoes != null && rShoes != null) {
* lShoes.reduceShoesWastageRate (0.0025f * feedback.force.magnitude);
* rShoes.reduceShoesWastageRate (0.0025f * feedback.force.magnitude);
* }*/
}
else if (feedback.feedbackARB == controller.getRFoot())
{
if (cp.collider2.tag.Contains("carpet"))
{
rFootSoundSource.clip = bipedalSounds[0];
lFootSoundSource.pitch = 1;
rFootSoundSource.volume = volume;
rFootSoundSource.Play();
}
else if (cp.collider2.tag.Contains("wood"))
{
rFootSoundSource.clip = bipedalSounds[1];
lFootSoundSource.pitch = 1;
rFootSoundSource.volume = volume;
rFootSoundSource.Play();
}
else if (cp.collider2.tag.Contains("terrain"))
{
lFootSoundSource.clip = bipedalSounds[20];
lFootSoundSource.pitch = 0.6f;
lFootSoundSource.volume = volume;
lFootSoundSource.Play();
}
/*if (lShoes != null && rShoes != null) {
* lShoes.reduceShoesWastageRate (0.0025f * feedback.force.magnitude);
* rShoes.reduceShoesWastageRate (0.0025f * feedback.force.magnitude);
* }*/
}
}
