private void Init()
{
Mecha mecha = GetComponentInParent <Mecha>();
if (mecha == null)
{
Debug.LogError("Mecha script was not found in chain. Please add!");
return;
}
mecha.ikSolver.Init(this);
mecha.ik_Legs.Add(this);
switch (type)
{
case LimbType.None:
break;
case LimbType.Leg:
var legData = new LegData(endEffector, root, target);
legData.bezierStartPosition = endEffector.position;
legData.bezierHandle1 = endEffector.position + mecha.legRaiseFromGround * mecha.scaleFactor;
legData.bezierEndPosition = endEffector.position;
legData.bezierHandle2 = endEffector.position + mecha.legRaiseFromGround * mecha.scaleFactor;
mecha.legsData.Add(legData);
break;
}
}
void OnSceneGUI()
{
Mecha m = (Mecha)target;
//Handles.color = Handles.zAxisColor;
//Handles.ArrowHandleCap(0, m.transform.position, Quaternion.LookRotation(m.transform.forward, m.arrowAngle), arrowSize, EventType.Repaint);
WhileRunning(m);
}
private void WhileRunning(Mecha m)
{
if (Application.isPlaying)
{
for (int i = 0; i < m.legsData.Count; i++)
{
var leg = m.legsData[i];
DrawCurve(leg.bezierStartPosition,
leg.bezierEndPosition,
leg.bezierHandle1,
leg.bezierHandle2);
}
}
}
static void DrawForces(Mecha mecha, GizmoType gizmoType)
{
Debug.DrawRay(mecha.transform.position, mecha.velocity);
Debug.DrawRay(mecha.transform.position, mecha.legForce, Color.magenta);
Debug.DrawRay(mecha.transform.position, mecha.gravityForce, Color.yellow);
if (Application.isPlaying)
{
var p0 = mecha.legsData[0].bezierStartPosition;
var p1 = mecha.legsData[0].bezierHandle1;
var p2 = mecha.legsData[0].bezierHandle2;
var p3 = mecha.legsData[0].bezierEndPosition;
Gizmos.color = Color.red;
Gizmos.DrawWireSphere(p1, 0.1f);
Gizmos.color = Color.yellow;
Gizmos.DrawWireSphere(p2, 0.1f);
Gizmos.color = Color.blue;
Gizmos.DrawWireSphere(mecha.legsData[0].target.position, 0.1f);
}
}
public IMechLegs(Mecha parent)
{
this.mech = parent;
}
void Start()
{
mecha = GetComponentInParent <Mecha>();
}
void Start()
{
hips = GetComponentInChildren <Hips>();
mech = GetComponent <Mecha>();
}
