Example #1
0
        void SmoothIn(TentacleEndeffector target)
        {
            // position
            Vector3 src   = Tentacle.Endeffector.transform.position;
            Vector3 dst   = target.position;
            Vector3 root  = Tentacle.Base.transform.position;
            Vector3 dsrc  = (src - root);
            Vector3 ddst  = (dst - root);
            Vector3 dsrc0 = dsrc.ZeroNormalize();
            Vector3 ddst0 = ddst.ZeroNormalize();
            Vector3 axis  = (src.x < dst.x ? 1.0f : -1.0f) * new Vector3(0, 0, -1);

            Dbg3 = axis;
            float      radprocent = Mathf.Max(0.0f, Vector3.Dot(dsrc0, ddst0));
            Quaternion q          = Quaternion.AngleAxis(Time.deltaTime * 10.0f * (1.0f - radprocent), axis);
            float      rdst       = Mathf.Max(0.6f * Tentacle.LengthMax, ddst.magnitude);
            float      rtarget    = (1.0f - radprocent) * 0.8f * Tentacle.LengthMax + radprocent * rdst;
            float      rnow       = dsrc.magnitude;
            float      r          = 0.8f * rnow + 0.2f * rtarget;

            Dbg1 = root + r * dsrc0;
            Dbg2 = root + q * (r * dsrc0);
            this.endeffector.position = root + r * (q * dsrc0);

            // normal
            float   theta = (1.0f - Mathf.Min(Mathf.Max(0.0f, src.y / Tentacle.LengthMax), 1.0f));
            Vector3 n0    = root - src;

            if (n0.x < 0)
            {
                theta *= -1.0f;
            }
            Vector3 n = Quaternion.AngleAxis(theta * 90.0f, new Vector3(0, 0, 1)) * n0;

            this.endeffector.normal = n.ZeroNormalize();

//			float lerpfact = Time.deltaTime * LERP_RATE;
//			this.endeffector.position = Vector3.Lerp(this.endeffector.position, target.position, lerpfact);
//			Vector3 delta = this.endeffector.position - Tentacle.Base.transform.position;
//			float m = delta.magnitude;
//			if(m >= RANGE_MULT*Tentacle.LengthMax) {
//				this.endeffector.position = Tentacle.Base.transform.position + RANGE_MULT*Tentacle.LengthMax/m*delta;
//			}
//			// normal
//			this.endeffector.normal = Vector3.Lerp(Tentacle.EndeffectorNormal, target.normal, lerpfact).ZeroNormalize(); // FIXME
        }
Example #2
0
 void ApplyPose(AI.TentacleEndeffector pose)
 {
     Endeffector.rigidbody.AddForce(CurrentForce * (pose.position - Endeffector.transform.position).ZeroNormalize());
     Endeffector.transform.rotation = Quaternion.FromToRotation(new Vector3(0, 1, 0), -pose.normal);
 }
Example #3
0
 void FixedUpdate()
 {
     lastPose = ai.Pose();
     ApplyPose(lastPose);
 }