protected override void OnActivate()
{
// When this becomes the active behaviour. There can only be one active behaviour.
// Switching behaviours is done by the behaviours themselves, using PuppetEvents.
// Each behaviour should know when it is no longer required and which behaviours to switch to in each case.
isFinished = false;
balanceLost = false;
finishTimer = 0f;
weight = 0f;
timer = 0f;
forceFinish = false;
foreach (Muscle m in puppetMaster.muscles)
{
m.state.pinWeightMlp = 0f;
m.state.muscleWeightMlp = 1f;
if (m.props.group == Muscle.Group.Foot)
{
PressureSensor pressureSensor = m.transform.GetComponent <PressureSensor>();
if (pressureSensor == null)
{
pressureSensor = m.transform.gameObject.AddComponent <PressureSensor>();
}
pressureSensor.layers = groundLayers;
}
else if (m.props.group == Muscle.Group.Spine || m.props.group == Muscle.Group.Head)
{
m.state.muscleWeightMlp = spineMuscleWeightMlp;
}
}
onActivate.Trigger(puppetMaster);
}
protected override void OnDeactivate()
{
// Called when this behaviour is exited. OnActivate is the place for resetting variables to defaults though.
isFinished = false;
balanceLost = false;
finishTimer = 0f;
timer = 0f;
forceFinish = false;
foreach (Muscle m in puppetMaster.muscles)
{
m.state.muscleWeightMlp = 1f;
m.state.mappingWeightMlp = 1f;
if (m.props.group == Muscle.Group.Foot)
{
m.state.muscleDamperMlp = 1f;
m.state.muscleDamperAdd = 0f;
m.state.maxForceMlp = 1f;
PressureSensor pressureSensor = m.transform.GetComponent <PressureSensor>();
if (pressureSensor != null)
{
Destroy(pressureSensor);
}
}
}
foreach (SubBehaviourBalancer balancer in balancers)
{
balancer.joint.targetAngularVelocity = Vector3.zero;
}
}
public void Initiate(BehaviourBase behaviour, Settings settings, Rigidbody Ibody, Rigidbody[] rigidbodies, ConfigurableJoint joint, Transform[] copPoints, PressureSensor pressureSensor)
{
this.behaviour = behaviour;
this.settings = settings;
this.Ibody = Ibody;
this.rigidbodies = rigidbodies;
this.joint = joint;
this.copPoints = copPoints;
this.pressureSensor = pressureSensor;
toJointSpace = PhysXTools.ToJointSpace(joint);
behaviour.OnPreFixedUpdate += Solve;
}
// Initiate something. This is called only once by the PuppetMaster in Start().
protected override void OnInitiate()
{
ik = puppetMaster.targetRoot.GetComponentInChildren <FullBodyBipedIK>();
if (ik == null)
{
Debug.LogError("No FullBodyBipedIK component found on the target hierarchy, can not initiate BehaviourBipedStagger.", transform);
enabled = false;
return;
}
if (ik.solver.iterations > 0)
{
Debug.LogWarning("BehaviourBipedStagger works best and fastest with FullBodyBipedIK solver iterations set to 0.", transform);
}
ik.solver.OnPreUpdate += Solve;
// Balancers
Transform[] copPoints = new Transform[0];
foreach (Muscle m in puppetMaster.muscles)
{
if (m.props.group == Muscle.Group.Foot)
{
System.Array.Resize(ref copPoints, copPoints.Length + 1);
copPoints[copPoints.Length - 1] = m.transform;
}
}
if (copPoints.Length == 0)
{
Debug.LogError("No 'Foot' muscles found, please assign a Group for each muscle in PuppetMaster.", transform);
enabled = false;
return;
}
rigidbodies = new Rigidbody[puppetMaster.muscles.Length];
for (int i = 0; i < rigidbodies.Length; i++)
{
rigidbodies[i] = puppetMaster.muscles[i].rigidbody;
}
// TODO Check for rigidbody mass
// TODO Make sure Angular Limits is enabled
foreach (Muscle m in puppetMaster.muscles)
{
if (m.props.group == Muscle.Group.Foot)
{
System.Array.Resize(ref balancers, balancers.Length + 1);
balancers[balancers.Length - 1] = new SubBehaviourBalancer();
balancers[balancers.Length - 1].Initiate(this as BehaviourBase, balancerSettings, m.joint.connectedBody, rigidbodies, m.joint, copPoints, m.joint.GetComponent <PressureSensor>());
PressureSensor pressureSensor = m.transform.gameObject.AddComponent <PressureSensor>();
pressureSensor.layers = groundLayers;
}
}
// Muscle axes
pelvisMuscle = puppetMaster.muscles[0];
pelvisForward = Quaternion.Inverse(pelvisMuscle.target.rotation) * transform.forward;
// Footsteps
footsteps = new Footstep[2] {
new Footstep(ik.solver.leftFootEffector, ik.references.leftThigh, pelvisMuscle, true),
new Footstep(ik.solver.rightFootEffector, ik.references.rightThigh, pelvisMuscle, false)
};
// IK settings
ik.solver.leftLegMapping.maintainRotationWeight = 0f;
ik.solver.rightLegMapping.maintainRotationWeight = 0f;
}
