public void OnWorldObjectInitialized(VJoint worldObject)
{
if (worldObjects.ContainsKey(worldObject.id))
{
Debug.LogWarning("WorldObject with id " + worldObject.id + " already known. Ignored.");
}
else
{
worldObjects.Add(worldObject.id, worldObject);
}
}
public VJoint(string name, string hAnimName, VJoint parent, Vector3 position, Quaternion rotation)
{
this.parent = parent;
this.id = name;
if (hAnimName == "")
{
this.hAnimName = "_no_HAnim_" + name;
}
else
{
this.hAnimName = hAnimName;
}
this.position = position;
this.rotation = rotation;
}
protected VJoint[] GenerateVJoints()
{
VJoint[] res = new VJoint[bones.Length];
Dictionary <string, VJoint> lut = new Dictionary <string, VJoint>();
for (int b = 0; b < bones.Length; b++)
{
VJoint parent = null;
if (b > 0)
{
parent = lut[bones[b].parent.name];
if (GetHAnimName(parent.id) == "")
{
Debug.Log(bones[b].name + " is not child of HAnim bone (" + parent.id + ").");
}
}
// Default HAnim skeleton has rotation that aligns with global Zero COS
Quaternion rot = Quaternion.identity;
Vector3 position = bones[b].position;
if (b > 0)
{
// For ASAP IK to work, we need to make sure that the local Position we pass is
// relative to a parent bone with a COS that is also aligned with global Zero COS
// ...so ".localPosition" is not enough.
position = Quaternion.Inverse(Quaternion.identity) * (bones[b].position - bones[b].parent.position);
// Note: Of course the inverse of the identity is the identity, however, just in case
// we ever use a different global Zero COS, we might have a non-identity rotation to
// throw in here
}
res[b] = new VJoint(bones[b].name, GetHAnimName(bones[b].name), position, rot, parent);
lut.Add(bones[b].name, res[b]);
}
return(res);
}
public VJoint(string name, string hAnimName, Vector3 position, Quaternion rotation, VJoint parent) : this(name, hAnimName, parent, position, rotation)
{
}
// Use this for initialization
void Start()
{
vjoint = new VJoint(transform.name, transform.position, transform.rotation);
FindObjectOfType <ASAPManager>().OnWorldObjectInitialized(vjoint);
}
