void Start()
{
HumanoidSetUp setUp = this.GetComponentInParent <HumanoidSetUp>();
slaveController = setUp.slaveController;
layerMask = setUp.dontLooseStrengthLayerMask;
}
// Start is called before the first frame update
void Start()
{
HumanoidSetUp setUp = this.GetComponentInParent <HumanoidSetUp>();
characterCamera = setUp.characterCamera;
masterRoot = setUp.masterRoot;
slaveRoot = setUp.slaveRoot;
anim = setUp.anim;
}
// Start is called before the first frame update.
void Start()
{
HumanoidSetUp setUp = this.GetComponentInParent <HumanoidSetUp>();
animFollow = setUp.animFollow;
maxForceCoefficient = animFollow.forceCoefficient;
maxTorqueCoefficient = animFollow.torqueCoefficient;
currentNumberOfCollisions = 0;
currentDeadStep = deadTime;
currentStrength = 1.0f;
}
private bool[] limbProfile = { true, true, true, true, true, true, true, true, true, true, true }; // False means no force and torque will be applied to specified limb.
// Start is called before the first frame update
void Start()
{
HumanoidSetUp setUp = this.GetComponentInParent <HumanoidSetUp>();
master = setUp.masterRoot;
slave = setUp.slaveRoot;
slaveTransforms = slave.GetComponentsInChildren <Transform>(); // Get all transforms in ragdoll.
masterTransforms = master.GetComponentsInChildren <Transform>(); // Get all transforms in master.
if (masterTransforms.Length != slaveTransforms.Length)
{
Debug.LogWarning("Master transform count does not equal slave transform count." + "\n");
return;
}
numOfRigids = slave.GetComponentsInChildren <Rigidbody>().Length;
slaveRigidTransforms = new Transform[numOfRigids];
masterRigidTransforms = new Transform[numOfRigids];
rigidbodiesPosToCOM = new Vector3[numOfRigids];
slaveConfigurableJoints = new ConfigurableJoint[numOfRigids];
startLocalRotation = new Quaternion[numOfRigids];
localToJointSpace = new Quaternion[numOfRigids];
forceLastError = new Vector3[numOfRigids];
int i = 0, j = 0;
foreach (Transform t in slaveTransforms)
{
if (t.GetComponent <Rigidbody>() != null)
{
slaveRigidTransforms[i] = t;
masterRigidTransforms[i] = masterTransforms[j];
rigidbodiesPosToCOM[i] = Quaternion.Inverse(t.rotation) * (t.GetComponent <Rigidbody>().worldCenterOfMass - t.position);
ConfigurableJoint cj = t.GetComponent <ConfigurableJoint>();
if (cj != null) // ragdoll root (hips) doesn't have configurable joint
{
slaveConfigurableJoints[i] = cj;
Vector3 forward = Vector3.Cross(cj.axis, cj.secondaryAxis);
Vector3 up = cj.secondaryAxis;
localToJointSpace[i] = Quaternion.LookRotation(forward, up);
startLocalRotation[i] = t.localRotation * localToJointSpace[i];
jointDrive = cj.slerpDrive;
cj.slerpDrive = jointDrive;
}
else if (i != 0) // if it's not root (hips)
{
Debug.LogWarning("Rigidbody " + t + " doesn't have configurable joint" + "\n");
return;
}
i++;
t.gameObject.AddComponent <CollisionDetector>();
}
j++;
}
foreach (Transform t in slaveRigidTransforms)
{
t.GetComponent <Rigidbody>().useGravity = useGravity;
t.GetComponent <Rigidbody>().angularDrag = angularDrag;
t.GetComponent <Rigidbody>().drag = drag;
t.GetComponent <Rigidbody>().maxAngularVelocity = maxAngularVelocity;
}
EnableJointLimits(true);
}
