private FootTarget GetFootTarget(HandInput settings)
{
if (settings == null)
{
return(null);
}
FootTarget handTarget = settings.GetComponent <FootTarget>();
if (handTarget == null)
{
handTarget = settings.transform.parent.GetComponent <FootTarget>();
}
return(handTarget);
}
private Quaternion NaturalLowerLegOrientation(FootTarget footTarget, Quaternion upperLegRotation, Vector3 footPosition)
{
float lowerLegAngle = CalculateKneeAngle(footTarget.upperLeg.bone.transform.position, footPosition, footTarget.upperLeg.bone.length, footTarget.lowerLeg.bone.length);
if (footTarget.lowerLeg.bone.jointLimitations)
{
lowerLegAngle = LimitKneeAngle(footTarget.lowerLeg, lowerLegAngle);
}
Quaternion localLowerLegRotation = Quaternion.AngleAxis(lowerLegAngle, Vector3.right);
Quaternion lowerLegRotation = upperLegRotation * localLowerLegRotation;
//lowerLegRotation = LimitRotationSpeed(oldLowerLegRotation, lowerLegRotation);
return(lowerLegRotation);
}
private void ControllerInspectors(FootTarget footTarget)
{
showControllers = EditorGUILayout.Foldout(showControllers, "Controllers");
if (showControllers)
{
EditorGUI.indentLevel++;
foreach (TargetProps props in allProps)
{
props.Inspector();
}
if (humanoid.animatorEnabled)
{
footTarget.animator.enabled = EditorGUILayout.ToggleLeft("Procedural Animation", footTarget.animator.enabled, GUILayout.MinWidth(80));
}
EditorGUI.indentLevel--;
}
}
private void SettingsInspector(FootTarget footTarget)
{
showSettings = EditorGUILayout.Foldout(showSettings, "Settings", true);
if (showSettings)
{
EditorGUI.indentLevel++;
//footTarget.jointLimitations = EditorGUILayout.Toggle("Joint Limitations", footTarget.jointLimitations);
bool showRealObjects = EditorGUILayout.Toggle("Show Real Objects", footTarget.showRealObjects);
if (showRealObjects != footTarget.showRealObjects)
{
footTarget.ShowControllers(showRealObjects);
footTarget.showRealObjects = showRealObjects;
}
rotationSpeedLimitationProp.boolValue = EditorGUILayout.Toggle("Rotation Speed Limitation", rotationSpeedLimitationProp.boolValue);
slidePreventionProp.boolValue = EditorGUILayout.Toggle("Slide Prevention", slidePreventionProp.boolValue);
EditorGUI.indentLevel--;
}
}
private void ConfigurationInspector(FootTarget footTarget)
{
//if (!target.jointLimitations)
// return;
footTarget.RetrieveBones();
showConfiguration = EditorGUILayout.Foldout(showConfiguration, "Configuration", true);
if (showConfiguration)
{
EditorGUI.indentLevel++;
UpperLegConfigurationInspector(ref footTarget.upperLeg, footTarget.isLeft);
LowerLegConfigurationInspector(ref footTarget.lowerLeg, footTarget.isLeft);
FootConfigurationInspector(ref footTarget.foot, footTarget.isLeft);
ToesConfigurationInspector(ref footTarget.toes, footTarget.isLeft);
EditorGUI.indentLevel--;
}
}
public void OnEnable()
{
footTarget = (FootTarget)target;
if (footTarget.humanoid == null)
{
footTarget.humanoid = GetHumanoid(footTarget);
}
humanoid = footTarget.humanoid;
if (humanoid == null)
{
return;
}
InitEditors();
footTarget.InitSensors();
InitConfiguration(footTarget);
InitSettings();
}
// Do not remove this, this is dynamically called from Target_Editor!
public static FootTarget CreateTarget(FootTarget oldTarget)
{
HumanoidControl humanoid = oldTarget.humanoid;
GameObject targetObject = new GameObject();
if (oldTarget.isLeft)
{
targetObject.name = "Left Foot Target";
}
else
{
targetObject.name = "Right Foot Target";
}
Transform targetTransform = targetObject.transform;
targetTransform.parent = humanoid.transform;
targetTransform.position = oldTarget.transform.position;
targetTransform.rotation = oldTarget.transform.rotation;
FootTarget footTarget = Constructor(humanoid, oldTarget.isLeft, targetTransform);
if (footTarget.isLeft)
{
humanoid.leftFootTarget = footTarget;
}
else
{
humanoid.rightFootTarget = footTarget;
}
footTarget.RetrieveBones();
footTarget.InitAvatar();
footTarget.MatchTargetsToAvatar();
return(footTarget);
}
private void StartFootStep(FootTarget footTarget)
{
if (footTarget.animator.isMoving)
{
return;
}
basePointStart = footTarget.humanoid.transform.position;
if (footTarget.humanoid.ground != null)
{
basePointStart -= footTarget.humanoid.ground.position;
}
footTarget.foot.target.transform.position = lastPosition;
footTarget.foot.target.transform.rotation = lastOrientation;
prevPrintPosition = footTarget.foot.target.transform.position;
prevPrintOrientation = footTarget.foot.target.transform.rotation;
footTarget.animator.isMoving = true;
footTarget.animator.movedLast = true;
footTarget.animator.follow = false;
footTarget.otherFoot.animator.movedLast = false;
}
public FootTargetProps(SerializedObject serializedObject, FootTarget footTarget)
: base(serializedObject, footTarget.optitrack, footTarget, "optitrack")
{
//trackerIdProp = serializedObject.FindProperty("optitrack.trackerId");
}
public TargetedToesBone(FootTarget footTarget)
{
this.footTarget = footTarget;
}
public TargetedFootBone(FootTarget footTarget) : base(footTarget.toes)
{
this.footTarget = footTarget;
}
public TargetedLowerLegBone(FootTarget footTarget) : base(footTarget.foot)
{
this.footTarget = footTarget;
}
public TargetedUpperLegBone(FootTarget footTarget) : base(footTarget.lowerLeg)
{
this.footTarget = footTarget;
}
public override void Init(FootTarget _footTarget)
{
base.Init(_footTarget);
optitrackTracker = footTarget.humanoid.optitrack;
tracker = optitrackTracker;
}
public FootTargetProps(SerializedObject serializedObject, FootTarget footTarget)
: base(serializedObject, footTarget.kinect, footTarget, "kinect")
{
}
public FootTargetProps(SerializedObject serializedObject, FootTarget footTarget)
: base(serializedObject, footTarget.viveTracker, footTarget, "viveTracker")
{
}
public TargetProps(SerializedObject serializedObject, UnityLegSensor _sensor, FootTarget _footTarget, string unitySensorName)
{
enabledProp = serializedObject.FindProperty(unitySensorName + ".enabled");
sensorTransformProp = serializedObject.FindProperty(unitySensorName + ".sensorTransform");
sensor2TargetPositionProp = serializedObject.FindProperty(unitySensorName + ".sensor2TargetPosition");
sensor2TargetRotationProp = serializedObject.FindProperty(unitySensorName + ".sensor2TargetRotation");
footTarget = _footTarget;
sensor = _sensor;
sensor.Init(footTarget);
}
private void SetEventInput(SerializedProperty inputProp, InputEvent input, string label, FootTarget footTarget)
{
EditorGUILayout.BeginHorizontal();
EditorGUI.indentLevel--;
EditorGUILayout.LabelField(label, GUILayout.Width(100));
SetInput(inputProp, GetTargetGameObject, InputTypePopup, ref input, footTarget.gameObject);
EditorGUI.indentLevel++;
EditorGUILayout.EndHorizontal();
}
public virtual void Init(FootTarget footTarget)
{
target = footTarget;
}
private void Awake()
{
footTarget = GetComponent <FootTarget>();
}
