private void ComputeTargets(int keyInd, float lt, float t) {
//update both arms
for (int arm = 0; arm < 2; arm++) {
//Actual target
Vector3 target = _animInfo.ComputeInterpolatedTarget(lt, keyInd, arm);
if (t < 0) {
//globalTf
// project target to a position before position at keyInd
Vector3 pivot = _animInfo.ComputeInterpolatedTarget(0, 0, arm); //TCB interpolation for position
target = 2*pivot - target;
}
else if (t > 1) {
//globalT
// project target to a position beyond keyInd
Vector3 pivot = _animInfo.ComputeInterpolatedTarget(0, _animInfo.Keys.Length - 1, arm);
//TCB interpolation for position
target = 2*pivot - target;
}
if (arm == 0)
_targetL = target;
else
_targetR = target;
}
//update other body parts
_bodyTargetPos = _animInfo.ComputeInterpolatedBodyPos(_fbIk.solver.bodyEffector.bone.transform, keyInd, lt);
_footLTargetPos = _animInfo.ComputeInterpolatedBodyPos(_fbIk.solver.leftFootEffector.bone.transform, keyInd, lt);
_footRTargetPos = _animInfo.ComputeInterpolatedBodyPos(_fbIk.solver.rightFootEffector.bone.transform, keyInd, lt);
_shoulderLTargetPos = _animInfo.ComputeInterpolatedBodyPos(_fbIk.solver.leftShoulderEffector.bone.transform,
keyInd, lt);
_shoulderRTargetPos = _animInfo.ComputeInterpolatedBodyPos(_fbIk.solver.rightShoulderEffector.bone.transform,
keyInd, lt);
_elbowLTargetPos = _animInfo.ComputeInterpolatedBodyPos(_torso.Elbow[0], keyInd, lt);
_elbowRTargetPos = _animInfo.ComputeInterpolatedBodyPos(_torso.Elbow[1], keyInd, lt);
_kneeLTargetPos = _animInfo.ComputeInterpolatedBodyPos(_torso.Knee[0], keyInd, lt);
_kneeRTargetPos = _animInfo.ComputeInterpolatedBodyPos(_torso.Knee[1], keyInd, lt);
_thighLTargetPos = _animInfo.ComputeInterpolatedBodyPos(_torso.Pelvis[0], keyInd, lt);
_thighRTargetPos = _animInfo.ComputeInterpolatedBodyPos(_torso.Pelvis[1], keyInd, lt);
//Update positions considering anticipation
if (t < 0) {
Vector3 pivot = _animInfo.ComputeInterpolatedBodyPos(_fbIk.solver.bodyEffector.bone.transform, 0, 0);
//if(_animInfo.CharacterName.Contains("CUSTOMER"))
// _bodyTargetPos = 2*pivot - _bodyTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_fbIk.solver.leftFootEffector.bone.transform, 0, 0);
_footLTargetPos = 2*pivot - _footLTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_fbIk.solver.rightFootEffector.bone.transform, 0, 0);
_footRTargetPos = 2*pivot - _footRTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_fbIk.solver.leftShoulderEffector.bone.transform, 0, 0);
_shoulderLTargetPos = 2*pivot - _shoulderLTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_fbIk.solver.rightShoulderEffector.bone.transform, 0, 0);
_shoulderRTargetPos = 2*pivot - _shoulderRTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_torso.Elbow[0], 0, 0);
_elbowLTargetPos = 2*pivot - _elbowLTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_torso.Elbow[1], 0, 0);
_elbowRTargetPos = 2*pivot - _elbowRTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_torso.Knee[0], 0, 0);
_kneeLTargetPos = 2*pivot - _kneeLTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_torso.Knee[1], 0, 0);
_kneeRTargetPos = 2*pivot - _kneeRTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_torso.Pelvis[0], 0, 0);
_thighLTargetPos = 2*pivot - _thighLTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_torso.Pelvis[1], 0, 0);
_thighRTargetPos = 2*pivot - _thighRTargetPos;
}
//Update positions considering overshoot
else if (t > 1) {
Vector3 pivot = _animInfo.ComputeInterpolatedBodyPos(_fbIk.solver.bodyEffector.bone.transform,
_animInfo.Keys.Length - 1, 0);
pivot = _animInfo.ComputeInterpolatedBodyPos(_fbIk.solver.leftFootEffector.bone.transform,
_animInfo.Keys.Length - 1, 0);
_footLTargetPos = 2*pivot - _footLTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_fbIk.solver.rightFootEffector.bone.transform,
_animInfo.Keys.Length - 1, 0);
_footRTargetPos = 2*pivot - _footRTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_fbIk.solver.leftShoulderEffector.bone.transform,
_animInfo.Keys.Length - 1, 0);
_shoulderLTargetPos = 2*pivot - _shoulderLTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_fbIk.solver.rightShoulderEffector.bone.transform,
_animInfo.Keys.Length - 1, 0);
_shoulderRTargetPos = 2*pivot - _shoulderRTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_torso.Elbow[0], _animInfo.Keys.Length - 1, 0);
_elbowLTargetPos = 2*pivot - _elbowLTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_torso.Elbow[1], _animInfo.Keys.Length - 1, 0);
_elbowRTargetPos = 2*pivot - _elbowRTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_torso.Knee[0], _animInfo.Keys.Length - 1, 0);
_kneeLTargetPos = 2*pivot - _kneeLTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_torso.Knee[1], _animInfo.Keys.Length - 1, 0);
_kneeRTargetPos = 2*pivot - _kneeRTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_torso.Pelvis[0], _animInfo.Keys.Length - 1, 0);
_thighLTargetPos = 2*pivot - _thighLTargetPos;
pivot = _animInfo.ComputeInterpolatedBodyPos(_torso.Pelvis[1], _animInfo.Keys.Length - 1, 0);
_thighRTargetPos = 2*pivot - _thighRTargetPos;
}
}
