// Updates the pelvis position offset
public void Process(float lowestOffset, float highestOffset, bool isGrounded)
{
if (!initiated)
{
return;
}
float deltaTime = Time.time - lastTime;
lastTime = Time.time;
if (deltaTime <= 0f)
{
return;
}
float offsetTarget = lowestOffset + highestOffset;
if (!grounding.rootGrounded)
{
offsetTarget = 0f;
}
// Interpolating the offset
heightOffset = Mathf.Lerp(heightOffset, offsetTarget, deltaTime * grounding.pelvisSpeed);
// Damper
Vector3 rootDelta = (grounding.root.position - lastRootPosition);
lastRootPosition = grounding.root.position;
// Fading out damper when ungrounded
damperF = Interp.LerpValue(damperF, isGrounded? 1f: 0f, 1f, 10f);
// Calculating the final damper
heightOffset -= grounding.GetVerticalOffset(rootDelta, Vector3.zero) * grounding.pelvisDamper * damperF;
// Update IK value
IKOffset = grounding.up * heightOffset;
}
// Raycasting, processing the leg's position
// 脚位置的计算器. 主要是看 IKPosition 和 IKRotation怎么计算的
public void Process()
{
if (!initiated)
{
return;
}
if (grounding.maxStep <= 0)
{
return;
}
deltaTime = Time.time - lastTime;
lastTime = Time.time;
if (deltaTime == 0f)
{
return;
}
up = grounding.up;
heightFromGround = Mathf.Infinity;
// Calculating velocity
velocity = (transform.position - lastPosition) / deltaTime;
//速度投影到适合地面的方向(平行？)
velocity = grounding.Flatten(velocity);
lastPosition = transform.position;
Vector3 prediction = velocity * grounding.prediction;
if (grounding.footRadius <= 0)
{
grounding.quality = Grounding.Quality.Fastest;
}
// Raycasting
switch (grounding.quality)
{
// The fastest, single raycast
case Grounding.Quality.Fastest:
RaycastHit predictedHit = GetRaycastHit(prediction);
SetFootToPoint(predictedHit.normal, predictedHit.point);
break;
// Medium, 3 raycasts
case Grounding.Quality.Simple:
heelHit = GetRaycastHit(Vector3.zero);
Vector3 f = grounding.GetFootCenterOffset();
if (invertFootCenter)
{
f = -f;
}
RaycastHit toeHit = GetRaycastHit(f + prediction);
RaycastHit sideHit = GetRaycastHit(grounding.root.right * grounding.footRadius * 0.5f);
Vector3 planeNormal = Vector3.Cross(toeHit.point - heelHit.point, sideHit.point - heelHit.point).normalized;
if (Vector3.Dot(planeNormal, up) < 0)
{
planeNormal = -planeNormal;
}
SetFootToPlane(planeNormal, heelHit.point, heelHit.point);
break;
// The slowest, raycast and a capsule cast
case Grounding.Quality.Best:
heelHit = GetRaycastHit(invertFootCenter? -grounding.GetFootCenterOffset(): Vector3.zero);
RaycastHit capsuleHit = GetCapsuleHit(prediction);
SetFootToPlane(capsuleHit.normal, capsuleHit.point, heelHit.point);
break;
}
// Is the foot grounded?
isGrounded = heightFromGround < grounding.maxStep;
//获取脚离地的高度. stepHeightFromGround 值是通过:脚上的射线获得 脚transform.position,再 脚transform.position - root.tranform.position
float offsetTarget = stepHeightFromGround;
//若不在地面上,这个高度置0
if (!grounding.rootGrounded)
{
offsetTarget = 0f;
}
//脚步IK偏移计算： 线性插值的方式. 将偏移值逐渐修改至离地的高度
IKOffset = Interp.LerpValue(IKOffset, offsetTarget, grounding.footSpeed, grounding.footSpeed);
//脚步IK偏移计算： 跟上面的差不多.不知道为啥要用两个
IKOffset = Mathf.Lerp(IKOffset, offsetTarget, deltaTime * grounding.footSpeed);
//获取脚离地的实际高度
float legHeight = grounding.GetVerticalOffset(transform.position, grounding.root.position);
// 当前脚的高度距离最大离地距离还差多少高度
float currentMaxOffset = Mathf.Clamp(grounding.maxStep - legHeight, 0f, grounding.maxStep);
// 限制(在阶梯处会一直脚高一直脚低)
IKOffset = Mathf.Clamp(IKOffset, -currentMaxOffset, IKOffset);
RotateFoot();
// Update IK values
IKPosition = transform.position - up * IKOffset;
float rW = grounding.footRotationWeight;
rotationOffset = rW >= 1? r: Quaternion.Slerp(Quaternion.identity, r, rW);
}
// Raycasting, processing the leg's position
public void Process()
{
if (!initiated)
{
return;
}
if (grounding.maxStep <= 0)
{
return;
}
transformPosition = doOverrideFootPosition ? overrideFootPosition : transform.position;
doOverrideFootPosition = false;
deltaTime = Time.time - lastTime;
lastTime = Time.time;
if (deltaTime == 0f)
{
return;
}
up = grounding.up;
heightFromGround = Mathf.Infinity;
// Calculating velocity
velocity = (transformPosition - lastPosition) / deltaTime;
velocity = grounding.Flatten(velocity);
lastPosition = transformPosition;
Vector3 prediction = velocity * grounding.prediction;
if (grounding.footRadius <= 0)
{
grounding.quality = Grounding.Quality.Fastest;
}
// Raycasting
switch (grounding.quality)
{
// The fastest, single raycast
case Grounding.Quality.Fastest:
RaycastHit predictedHit = GetRaycastHit(prediction);
SetFootToPoint(predictedHit.normal, predictedHit.point);
break;
// Medium, 3 raycasts
case Grounding.Quality.Simple:
heelHit = GetRaycastHit(Vector3.zero);
Vector3 f = grounding.GetFootCenterOffset();
if (invertFootCenter)
{
f = -f;
}
RaycastHit toeHit = GetRaycastHit(f + prediction);
RaycastHit sideHit = GetRaycastHit(grounding.root.right * grounding.footRadius * 0.5f);
Vector3 planeNormal = Vector3.Cross(toeHit.point - heelHit.point, sideHit.point - heelHit.point).normalized;
if (Vector3.Dot(planeNormal, up) < 0)
{
planeNormal = -planeNormal;
}
SetFootToPlane(planeNormal, heelHit.point, heelHit.point);
break;
// The slowest, raycast and a capsule cast
case Grounding.Quality.Best:
heelHit = GetRaycastHit(invertFootCenter? -grounding.GetFootCenterOffset(): Vector3.zero);
capsuleHit = GetCapsuleHit(prediction);
SetFootToPlane(capsuleHit.normal, capsuleHit.point, heelHit.point);
break;
}
// Is the foot grounded?
isGrounded = heightFromGround < grounding.maxStep;
float offsetTarget = stepHeightFromGround;
if (!grounding.rootGrounded)
{
offsetTarget = 0f;
}
IKOffset = Interp.LerpValue(IKOffset, offsetTarget, grounding.footSpeed, grounding.footSpeed);
IKOffset = Mathf.Lerp(IKOffset, offsetTarget, deltaTime * grounding.footSpeed);
float legHeight = grounding.GetVerticalOffset(transformPosition, grounding.root.position);
float currentMaxOffset = Mathf.Clamp(grounding.maxStep - legHeight, 0f, grounding.maxStep);
IKOffset = Mathf.Clamp(IKOffset, -currentMaxOffset, IKOffset);
RotateFoot();
// Update IK values
IKPosition = transformPosition - up * IKOffset;
float rW = grounding.footRotationWeight;
rotationOffset = rW >= 1? r: Quaternion.Slerp(Quaternion.identity, r, rW);
}