void ReadAnimatedPose()
{
foreach (AnimatedPair pair in animatedPairs)
{
pair.currentPose = AnimatedPose.Read(pair.TargetBone);
}
}
static Vector3 CalculateAngularVelocity(AnimatedPose previousPose, AnimatedPose newPose, float dt)
{
Quaternion deltaRotation = newPose.localRotation * Quaternion.Inverse(previousPose.localRotation);
deltaRotation.ToAngleAxis(out float deltaAngle, out Vector3 axis);
if (deltaAngle > 180)
{
deltaAngle -= 360f;
}
return(Mathf.Deg2Rad * deltaAngle / dt * axis.normalized);
}
void DoPoweredPositionMatching(AnimatedPair pair, BoneProfile boneProfile, float dt)
{
float alpha = boneProfile.positionAlpha;
float dampingRatio = boneProfile.positionDampingRatio;
Rigidbody rigidbody = pair.RagdollBone.Rigidbody;
AnimatedPose targetPose = pair.currentPose;
Vector3 acceleration = AnimationMatching.GetAccelerationFromPositionSpring(rigidbody.position, targetPose.worldPosition,
rigidbody.velocity, pair.poseLinearVelocity, alpha, dampingRatio, rigidbody.mass, dt);
LimitAcceleration(ref acceleration, boneProfile.maxLinearAcceleration);
rigidbody.AddForce(acceleration, ForceMode.Acceleration);
}
static Vector3 CalculateLinearVelocity(AnimatedPose previousPose, AnimatedPose newPose, float dt)
{
return((newPose.worldPosition - previousPose.worldPosition) / dt);
}
