//Loops over the gaits and selects the current one
private void SelectGait()
{
//Gets the max distance
//Debug.Log("Current player velocity : " + controller.localVelocityPlane);
for (int i = 0; i < Gaits.Count; i++)//Loop
{
//Condition to select the gait
ProceduralAnimationGaitStruct gait = Gaits[i];
Vector2 input = controller.localVelocityPlane / controller.speed;
input.x = Mathf.Clamp(input.x * 1, -DistanceBetweenGaitPoints, DistanceBetweenGaitPoints); //Clamp and multiply (Multiplication is for responsivness)
input.y = Mathf.Clamp(input.y * 1, -DistanceBetweenGaitPoints, DistanceBetweenGaitPoints); //Clamp and multiply (Multiplication is for responsivness)
input = Vector2.ClampMagnitude(input, 1);
float dist = 1 - (Vector2.Distance(input, gait.PlayerVelocity)); //Inverted and normalized distance
CurrentGait = LerpGaits(CurrentGait, gait, dist); //Lineraly interpolates using the distance to 2D gait points
}
}
//Interpolates between two gaits
private ProceduralAnimationGaitStruct LerpGaits(ProceduralAnimationGaitStruct a, ProceduralAnimationGaitStruct b, float t)
{
ProceduralAnimationGaitStruct outputGait = new ProceduralAnimationGaitStruct();
//Debug.Log("Interpolant is : " + t);
//Interpolation
outputGait.Name = a.Name;
outputGait.FeetSpeed = Mathf.Lerp(a.FeetSpeed, b.FeetSpeed, t);
outputGait.FeetHeightFactor = Mathf.Lerp(a.FeetHeightFactor, b.FeetHeightFactor, t);
outputGait.FeetPosSmoothing = Mathf.Lerp(a.FeetPosSmoothing, b.FeetPosSmoothing, t);
outputGait.RootBoneRotation = Vector3.Lerp(a.RootBoneRotation, b.RootBoneRotation, t);
outputGait.LeftFootOriginOffset = Vector3.Lerp(a.LeftFootOriginOffset, b.LeftFootOriginOffset, t);
outputGait.RightFootOriginOffset = Vector3.Lerp(a.RightFootOriginOffset, b.RightFootOriginOffset, t);
outputGait.LeftFootPoleOffset = Vector3.Lerp(a.LeftFootPoleOffset, b.LeftFootPoleOffset, t);
outputGait.RightFootPoleOffset = Vector3.Lerp(a.RightFootPoleOffset, b.RightFootPoleOffset, t);
outputGait.LeftFootRotationOffset = Vector3.Lerp(a.LeftFootRotationOffset, b.LeftFootRotationOffset, t);
outputGait.RightFootRotationOffset = Vector3.Lerp(a.RightFootRotationOffset, b.RightFootRotationOffset, t);
if (t > 0.5f)
{
outputGait.Name = b.Name;//No interpolation with names
}
return(outputGait);
}
// Start is called before the first frame update
void Start()
{
CurrentGait = Gaits[0];//Set first gait to be the idle gait
}
//All the logic for a single foot
private void FootLogic(Transform RayOrigin, Transform FootPole, Transform FootTarget, ref Vector3 FootTargetPos, float HeightOffset, Vector3 FeetOriginOffset, Vector3 FeetPoleOffset, Vector3 FeetTargetRotationOffset, ProceduralAnimationGaitStruct Gait)
{
RayOrigin.localPosition = FeetOriginOffset; //Set new and updated local position for the current ray origin object
FootPole.localPosition = FeetPoleOffset; //Pole offset in local
Vector3 newFootTargetPos = FootTargetPos; //The new and updated foot target position
if (Physics.Raycast(RayOrigin.position, Vector3.down * 10, out hit))
{
Debug.DrawLine(RayOrigin.position, hit.point);
newFootTargetPos.y = hit.point.y; //Reset Y axis pos
if (HeightOffset > 0) //Move the feet target potition only when it is in air
{
newFootTargetPos = hit.point; //Set new foot target pos
Vector3 distanceVector = FootTargetPos - newFootTargetPos; distanceVector.y = 0;
if (distanceVector.sqrMagnitude > 0.01f) //Can we offset the feet in the Y axis or not ?
{
newFootTargetPos.y += HeightOffset; //Offset Y axis by the height value
}
}
FootTargetPos = Vector3.Lerp(FootTargetPos, newFootTargetPos, Time.deltaTime * Gait.FeetPosSmoothing);//Set new left foot target pos with smoothing
FootTarget.localRotation = Quaternion.Slerp(FootTarget.localRotation, Quaternion.Euler(FeetTargetRotationOffset), FeetRotationSmoothing * Time.deltaTime);
}
}
