void DoKinematicAnimationMatching(AnimatedPair pair)
{
Rigidbody rigidbody = pair.RagdollBone.Rigidbody;
rigidbody.MovePosition(pair.currentPose.worldPosition);
rigidbody.MoveRotation(pair.currentPose.worldRotation);
}
void ModifyBoneProfile(ref BoneProfile boneProfile, AnimatedPair pair, float dt)
{
foreach (IBoneProfileModifier modifier in boneProfileModifiers)
{
modifier.Modify(ref boneProfile, pair, dt);
}
}
void SetUnpoweredJointDrive(AnimatedPair pair)
{
pair.RagdollBone.Joint.slerpDrive = new JointDrive()
{
maximumForce = 0,
positionDamper = 0,
positionSpring = 0
};
}
void DoPoweredAnimationMatching(AnimatedPair pair, float dt)
{
BoneProfile boneProfile = GetBoneProfile(pair.Name);
ModifyBoneProfile(ref boneProfile, pair, dt);
ApplyMasterParameters(ref boneProfile);
DoPoweredPositionMatching(pair, boneProfile, dt);
DoPoweredRotationMatching(pair, boneProfile, dt);
}
void DoPoweredRotationMatching(AnimatedPair pair, BoneProfile boneProfile, float dt)
{
RagdollBone bone = pair.RagdollBone;
Rigidbody rigidbody = bone.Rigidbody;
float alpha = boneProfile.rotationAlpha;
float dampingRatio = boneProfile.rotationDampingRatio;
SetTargetRotation(pair);
SetTargetAngularVelocityLocal(bone.Joint, pair.poseAngularVelocity, pair.RagdollBone.StartingJointRotation);
bone.Joint.slerpDrive = AnimationMatching.GetRotationMatchingJointDrive(alpha, dampingRatio, rigidbody.mass, dt, boneProfile.maxAngularAcceleration);
}
void CreateAnimatedPairs(IReadOnlyCollection <RagdollBoneTargetBonePair> bonePairs)
{
animatedPairs = new AnimatedPair[bonePairs.Count];
int i = 0;
foreach (RagdollBoneTargetBonePair bonePair in bonePairs)
{
animatedPairs[i] = new AnimatedPair(bonePair);
i++;
}
}
void SetTargetRotation(AnimatedPair pair)
{
ConfigurableJoint joint = pair.RagdollBone.Joint;
if (joint.configuredInWorldSpace)
{
joint.SetTargetRotation(pair.currentPose.worldRotation, pair.RagdollBone.StartingJointRotation);
}
else
{
joint.SetTargetRotationLocal(pair.currentPose.localRotation, pair.RagdollBone.StartingJointRotation);
}
}
void DoPoweredPositionMatching(AnimatedPair pair, BoneProfile boneProfile, float dt)
{
float alpha = boneProfile.positionAlpha;
float dampingRatio = boneProfile.positionDampingRatio;
Rigidbody rigidbody = pair.RagdollBone.Rigidbody;
AnimatedPose targetPose = pair.currentPose;
Vector3 acceleration = AnimationMatching.GetAccelerationFromPositionSpring(rigidbody.position, targetPose.worldPosition,
rigidbody.velocity, pair.poseLinearVelocity, alpha, dampingRatio, rigidbody.mass, dt);
LimitAcceleration(ref acceleration, boneProfile.maxLinearAcceleration);
rigidbody.AddForce(acceleration, ForceMode.Acceleration);
}
