public CharaController(CharaConfiguration chara, Configuration config, GameObject[] objs, bool debug = false)
{
_chara = chara;
_config = config;
_objs = objs;
_joints = new ConfigurableJoint[_objs.Length];
_rigs = new Rigidbody[_objs.Length];
_init_rot = new Quaternion[_objs.Length];
_target_rot = new Quaternion[_objs.Length];
_target_pos = new Vector3[_objs.Length];
_debug = debug;
for (int i = 0; i < _objs.Length; ++i) {
_rigs[i] = _objs[i].GetComponent<Rigidbody>();
/*
if (_debug)
_rigs[i].isKinematic = true;
*/
_init_rot[i] = _objs[i].transform.localRotation;
_target_rot[i] = _init_rot[i];
_joints[i] = _objs[i].GetComponent<ConfigurableJoint>();
}
InitializeJoints();
}
/* constructor */
public MotionGenerator(CharaConfiguration chara, Configuration config, bool debug = false)
{
_chara = chara;
_config = config;
_debug = debug;
_root_joint = _chara.root.GetComponent<ConfigurableJoint>();
}
// Constructor
public LimbsController(CharaConfiguration chara, Configuration config, GameObject[] objs, bool debug = false)
: base(chara, config, objs, debug)
{
ctrl_count = ctrl_count % 2;
ctrl_id = ctrl_count++;
velocity_filter = new Vector3[filter_size];
for (int i = 0; i < filter_size; ++i)
velocity_filter[i] = Vector3.zero;
}
public ArmsController(CharaConfiguration chara, Configuration config, GameObject[] objs, bool debug = false)
: base(chara, config, objs, debug)
{
ctrl_id = ctrl_count++;
}
void Start()
{
// Configuration
_config = new Configuration(gameObject.transform.localScale.x);
// Character setup
List<GameObject[]> body_list = new List<GameObject[]>();
body_list.Add(arm_l);
body_list.Add(arm_r);
body_list.Add(body);
List<GameObject[]> limbs_list = new List<GameObject[]>();
limbs_list.Add(leg_l);
limbs_list.Add(leg_r);
_chara = new CharaConfiguration(_config, root.GetComponent<Rigidbody>(), body_list, limbs_list, debug);
_motion_generator = new MotionGenerator(_chara, _config, debug);
_desired_direction = Vector3.zero;
/*
if (debug)
root.GetComponent<Rigidbody>().isKinematic = true;
*/
}
