private void UpdateIKGoal(IKGoal goal)
{
IKTarget bestIKTarget = goal.GetBestIKTarget();
Transform targetTransform = bestIKTarget != null ? bestIKTarget.ikTargetTransform : null;
float positionWeight = bestIKTarget != null ? bestIKTarget.positionWeight : 0f;
float rotationWeight = bestIKTarget != null ? bestIKTarget.rotationWeight : 0f;
switch (goal.VRIKGoal)
{
case VRIKGoal.LEFT_ARM:
{
_vrik.solver.leftArm.target = targetTransform;
_vrik.solver.leftArm.positionWeight = positionWeight;
_vrik.solver.leftArm.rotationWeight = rotationWeight;
break;
}
case VRIKGoal.RIGHT_ARM:
{
_vrik.solver.rightArm.target = targetTransform;
_vrik.solver.rightArm.positionWeight = positionWeight;
_vrik.solver.rightArm.rotationWeight = rotationWeight;
break;
}
case VRIKGoal.LEFT_LEG:
{
_vrik.solver.leftLeg.target = targetTransform;
_vrik.solver.leftLeg.positionWeight = positionWeight;
_vrik.solver.leftLeg.rotationWeight = rotationWeight;
break;
}
case VRIKGoal.RIGHT_LEG:
{
_vrik.solver.rightLeg.target = targetTransform;
_vrik.solver.rightLeg.positionWeight = positionWeight;
_vrik.solver.rightLeg.rotationWeight = rotationWeight;
break;
}
}
}
private void ResetIKGoal(IKGoal goal)
{
switch (goal.VRIKGoal)
{
case VRIKGoal.LEFT_ARM:
{
_vrik.solver.leftArm.target = null;
_vrik.solver.leftArm.positionWeight = 0f;
_vrik.solver.leftArm.rotationWeight = 0f;
break;
}
case VRIKGoal.RIGHT_ARM:
{
_vrik.solver.rightArm.target = null;
_vrik.solver.rightArm.positionWeight = 0f;
_vrik.solver.rightArm.rotationWeight = 0f;
break;
}
case VRIKGoal.LEFT_LEG:
{
_vrik.solver.leftLeg.target = null;
_vrik.solver.leftLeg.positionWeight = 0f;
_vrik.solver.leftLeg.rotationWeight = 0f;
break;
}
case VRIKGoal.RIGHT_LEG:
{
_vrik.solver.rightLeg.target = null;
_vrik.solver.rightLeg.positionWeight = 0f;
_vrik.solver.rightLeg.rotationWeight = 0f;
break;
}
}
}
