private void SetFootIK(GrounderQuadruped.Foot foot, float maxOffset)
{
Vector3 vector = foot.leg.IKPosition - foot.transform.position;
foot.solver.IKPosition = foot.transform.position + Vector3.ClampMagnitude(vector, maxOffset);
foot.solver.IKPositionWeight = this.weight;
}
private Transform[] InitiateFeet(IK[] ikComponents, ref GrounderQuadruped.Foot[] f, int indexOffset)
{
Transform[] array = new Transform[ikComponents.Length];
for (int i = 0; i < ikComponents.Length; i++)
{
IKSolver.Point[] points = ikComponents[i].GetIKSolver().GetPoints();
f[i + indexOffset] = new GrounderQuadruped.Foot(ikComponents[i].GetIKSolver(), points[points.Length - 1].transform);
array[i] = f[i + indexOffset].transform;
IKSolver solver = f[i + indexOffset].solver;
solver.OnPreUpdate = (IKSolver.UpdateDelegate)Delegate.Combine(solver.OnPreUpdate, new IKSolver.UpdateDelegate(this.OnSolverUpdate));
IKSolver solver2 = f[i + indexOffset].solver;
solver2.OnPostUpdate = (IKSolver.UpdateDelegate)Delegate.Combine(solver2.OnPostUpdate, new IKSolver.UpdateDelegate(this.OnPostSolverUpdate));
}
return(array);
}