// Start is called before the first frame update
void Awake()
{
// 床にこのスクリプトをアタッチしているものとする
floorTransform = transform;
if (robotRoot)
{
PreMaidIKController ikController = robotRoot.GetComponent <PreMaidIKController>();
if (ikController)
{
ModelJoint[] joints = robotRoot.GetComponentsInChildren <ModelJoint>();
Transform leftFoot = null;
Transform rightFoot = null;
foreach (var joint in joints)
{
if (joint.ServoID.Equals("1C"))
{
// 左足関節が見つかった
leftFoot = joint.transform;
}
else if (joint.ServoID.Equals("1A"))
{
rightFoot = joint.transform;
}
}
if (leftFoot)
{
var pos = leftFoot.position;
pos.y = floorTransform.position.y;
var obj = new GameObject("LeftFootTarget");
obj.transform.position = pos;
//obj.transform.rotation = leftFootEnd.rotation;
obj.transform.rotation = robotRoot.rotation;
obj.transform.parent = floorTransform;
ikController.leftFootTarget = obj.transform;
}
if (rightFoot)
{
var pos = rightFoot.position;
pos.y = floorTransform.position.y;
var obj = new GameObject("RightFootTarget");
obj.transform.position = pos;
//obj.transform.rotation = rightFootEnd.rotation;
obj.transform.rotation = robotRoot.rotation;
obj.transform.parent = floorTransform;
ikController.rightFootTarget = obj.transform;
}
}
}
}
// Start is called before the first frame update
void Start()
{
if (!ikController)
{
ikController = GetComponent <PreMaidIKController>();
}
if (!previewModel)
{
previewModel = ikController.transform;
}
if (calibrationText)
{
calibrationText.gameObject.SetActive(false);
}
originalHeadPosition = ikController.headTransform.position;
originalRightHandPosition = ikController.rightHandTransform.position;
originalLeftHandPosition = ikController.leftHandTransform.position;
if (previewModel)
{
originalModelPosition = previewModel.position;
originalModelRotation = previewModel.rotation;
}
//Debug.Log(originalHeadPosition + " / " + originalRightHandPosition + " / " + originalLeftHandPosition);
Vector3 lossyScale = ikController.transform.lossyScale;
Vector3 vec = ikController.transform.position - ikController.headTransform.position;
headToRoot = new Vector3(vec.x / lossyScale.x, vec.y / lossyScale.y, vec.z / lossyScale.z);
}
