private void SetFootToPlane(Vector3 planeNormal, Vector3 planePoint, Vector3 heelHitPoint)
{
planeNormal = this.RotateNormal(planeNormal);
this.toHitNormal = Quaternion.FromToRotation(this.up, planeNormal);
Vector3 hitPoint = V3Tools.LineToPlane(this.transform.position + this.up * this.grounding.maxStep, -this.up, planeNormal, planePoint);
this.heightFromGround = this.GetHeightFromGround(hitPoint);
float heightFromGround = this.GetHeightFromGround(heelHitPoint);
this.heightFromGround = Mathf.Clamp(this.heightFromGround, float.NegativeInfinity, heightFromGround);
}
// Set foot height from ground relative to a plane
private void SetFootToPlane(Vector3 planeNormal, Vector3 planePoint, Vector3 heelHitPoint)
{
planeNormal = RotateNormal(planeNormal);
toHitNormal = Quaternion.FromToRotation(up, planeNormal);
Vector3 pointOnPlane = V3Tools.LineToPlane(transform.position + up * grounding.maxStep, -up, planeNormal, planePoint);
// Get the height offset of the point on the plane
heightFromGround = GetHeightFromGround(pointOnPlane);
// Making sure the heel doesn't penetrate the ground
float heelHeight = GetHeightFromGround(heelHitPoint);
heightFromGround = Mathf.Clamp(heightFromGround, -Mathf.Infinity, heelHeight);
}