public void Initiate(BehaviourBase behaviour, SubBehaviourCOM centerOfMass)
{
this.behaviour = behaviour;
this.centerOfMass = centerOfMass;
behaviour.OnPostRead += OnPostRead;
}
public void Initiate(BehaviourBase behaviour, SubBehaviourCOM centerOfMass, IKSolverFullBodyBiped solver)
{
this.behaviour = behaviour;
this.centerOfMass = centerOfMass;
this.solver = solver;
behaviour.OnPostRead += OnPostRead;
}
public void Initiate(BehaviourBase behaviour, SubBehaviourCOM centerOfMass, LayerMask groundLayers, IKSolverFullBodyBiped solver)
{
this.behaviour = behaviour;
this.centerOfMass = centerOfMass;
this.groundLayers = groundLayers;
this.solver = solver;
behaviour.OnPreActivate += OnPreActivate;
behaviour.OnPostRead += OnPostRead;
behaviour.OnPreDisable += OnPreDisable;
behaviour.OnPostDrawGizmos += OnPostDrawGizmos;
legs = new Leg[2] {
new Leg(solver, behaviour.puppetMaster, FullBodyBipedEffector.LeftFoot),
new Leg(solver, behaviour.puppetMaster, FullBodyBipedEffector.RightFoot)
};
}
public void Initiate(BehaviourBase behaviour, SubBehaviourCOM centerOfMass, IKSolverFullBodyBiped solver)
{
this.behaviour = behaviour;
this.centerOfMass = centerOfMass;
this.solver = solver;
behaviour.OnPreActivate += OnPreActivate;
behaviour.OnPostRead += OnPostRead;
behaviour.OnPreDisable += OnPreDisable;
leftFootRigidbody = behaviour.puppetMaster.GetMuscle(solver.leftFootEffector.bone).rigidbody;
rightFootRigidbody = behaviour.puppetMaster.GetMuscle(solver.rightFootEffector.bone).rigidbody;
leftFootMass = leftFootRigidbody.mass;
rightFootMass = rightFootRigidbody.mass;
leftFootInertiaTensor = leftFootRigidbody.inertiaTensor;
rightFootInertiaTensor = rightFootRigidbody.inertiaTensor;
}
