// Update is called once per frame
void Update()
{
if (penguin.trackingId != null && moveGoal != null)
{
//Resetting rotation
this.transform.rotation = Quaternion.Euler(-8f, 0, 0);
//Getting average x of feet and moving penguin to that
float averageX = (bodyPartManager.GetPart("footLeft", (ulong)penguin.trackingId).position.x + bodyPartManager.GetPart("footRight", (ulong)penguin.trackingId).position.x) / 2;
Vector3 newMoveGoalPos = new Vector3(averageX, bodyPartManager.GetPart("spineBase", (ulong)penguin.trackingId).position.y, bodyPartManager.GetPart("spineBase", (ulong)penguin.trackingId).position.z);
if (Vector3.Distance(moveGoal.transform.position, newMoveGoalPos) > 0.5f)
{
moveGoal.transform.position = Vector3.Lerp(moveGoal.transform.position, newMoveGoalPos, Time.deltaTime * 2);
}
agent.destination = moveGoal.transform.position;
timeEngaged += Time.deltaTime;
}
else if (penguin.trackingId != null && moveGoal == null)
{
moveGoal = new GameObject("Move Goal : " + penguin.trackingId);
this.transform.position = new Vector3(bodyPartManager.GetPart("spineBase", (ulong)penguin.trackingId).position.x, -5, -45.6f);
moveGoal.transform.position = this.transform.position;
return;
}
else if (penguin.trackingId == null && moveGoal != null)
{
if (agent.transform.position.x >= 0)
{
moveGoal.transform.position = new Vector3(50f, 0f, -70f);
}
else
{
moveGoal.transform.position = new Vector3(-50f, 0f, -70f);
}
heightManager.child.transform.localPosition = new Vector3(heightManager.child.transform.localPosition.x, 2.76f, heightManager.child.transform.localPosition.z);
heightManager.parent.transform.localPosition = new Vector3(heightManager.parent.transform.localPosition.x, 2f, heightManager.parent.transform.localPosition.z);
agent.destination = moveGoal.transform.position;
this.transform.LookAt(new Vector3(agent.destination.x, agent.destination.y, agent.destination.z), Vector3.up);
Destroy(moveGoal);
moveGoal = null;
if (timeEngaged > 10)
{
WriteToFile(timeEngaged);
}
}
}
private void OnAnimatorIK()
{
if (penguin.trackingId != null)
{
// Arm weights
anim.SetIKPositionWeight(AvatarIKGoal.LeftHand, ikWeight);
anim.SetIKPositionWeight(AvatarIKGoal.RightHand, ikWeight);
// Rotate body based on shoulder location
// Mutliplier to scale rotation based on distance from center on x axis
float rotationDistanceMultiplier = (Mathf.Abs(bodyPartManager.GetPart("spineBase", (ulong)penguin.trackingId).position.x * 1f) + 1);
float absShoulderX = -Mathf.Abs(bodyPartManager.GetPart("shoulderLeft", (ulong)penguin.trackingId).position.x) - Mathf.Abs(bodyPartManager.GetPart("shoulderRight", (ulong)penguin.trackingId).position.x);
float absShoulderZ = Mathf.Abs(bodyPartManager.GetPart("shoulderLeft", (ulong)penguin.trackingId).position.z - bodyPartManager.GetPart("shoulderRight", (ulong)penguin.trackingId).position.z) * rotationDistanceMultiplier;
float spineAngleRadians = Mathf.Atan(absShoulderX / absShoulderZ);
float spineAngle;
if (bodyPartManager.GetPart("shoulderLeft", (ulong)penguin.trackingId).position.z > bodyPartManager.GetPart("shoulderRight", (ulong)penguin.trackingId).position.z)
{
spineAngle = (90 + ((spineAngleRadians) * (180.0f / Mathf.PI)));
}
else
{
spineAngle = (270 - ((spineAngleRadians) * (180.0f / Mathf.PI)));
}
Quaternion hipsRot = anim.GetBoneTransform(HumanBodyBones.Hips).localRotation;
newSpineAngle = Mathf.Lerp(newSpineAngle, spineAngle, Time.deltaTime * 10);
//anim.SetBoneLocalRotation(HumanBodyBones.Hips, Quaternion.AngleAxis(newSpineAngle, Vector3.up));
anim.SetBoneLocalRotation(HumanBodyBones.Hips, Quaternion.AngleAxis(spineAngle, Vector3.up));
Vector3 spineRotationDir = bodyPartManager.GetPart("head", (ulong)penguin.trackingId).position - bodyPartManager.GetPart("spineBase", (ulong)penguin.trackingId).position;
Quaternion spineRot = anim.GetBoneTransform(HumanBodyBones.Spine).localRotation;
anim.SetBoneLocalRotation(HumanBodyBones.Spine, Quaternion.FromToRotation(new Vector3(0, 1, 0), (spineRotationDir)));
// Leg weights
anim.SetIKPositionWeight(AvatarIKGoal.LeftFoot, ikWeight / 8);
anim.SetIKPositionWeight(AvatarIKGoal.RightFoot, ikWeight / 8);
// TODO scale arm joints relative to average of feet.
// Arm goals
leftArmPos = Vector3.Lerp(leftArmPos, bodyPartManager.GetPart("handRight", (ulong)penguin.trackingId).position, Time.deltaTime * 10);
rightArmPos = Vector3.Lerp(rightArmPos, bodyPartManager.GetPart("handLeft", (ulong)penguin.trackingId).position, Time.deltaTime * 10);
anim.SetIKPosition(AvatarIKGoal.LeftHand, leftArmPos);
anim.SetIKPosition(AvatarIKGoal.RightHand, rightArmPos);
leftLegPos = Vector3.Lerp(leftLegPos, bodyPartManager.GetPart("footRight", (ulong)penguin.trackingId).position, Time.deltaTime * 10);
rightLegPos = Vector3.Lerp(rightLegPos, bodyPartManager.GetPart("footLeft", (ulong)penguin.trackingId).position, Time.deltaTime * 10);
// Leg goals
anim.SetIKPosition(AvatarIKGoal.LeftFoot, leftLegPos);
anim.SetIKPosition(AvatarIKGoal.RightFoot, rightLegPos);
}
}
