private void SetFoot(Foot foot)
{
float weight = foot.GetWeight(this.animator);
if (foot.hit)
{
Vector3 rotationAxis = Vector3.Cross(Vector3.up, foot.normal);
float angle = Vector3.Angle(transform.up, foot.normal);
Quaternion rotation = Quaternion.AngleAxis(angle * weight, rotationAxis);
this.animator.SetIKRotationWeight(foot.footIK, weight);
this.animator.SetIKRotation(foot.footIK, rotation * this.animator.GetIKRotation(foot.footIK));
float baseHeight = this.transform.position.y - FOOT_OFFSET_Y;
float animHeight = (foot.foot.position.y - baseHeight) / (rotation * Vector3.up).y;
Vector3 position = new Vector3(
foot.foot.position.x,
Mathf.Max(foot.height, baseHeight) + animHeight,
foot.foot.position.z
);
this.animator.SetIKPositionWeight(foot.footIK, weight);
this.animator.SetIKPosition(foot.footIK, position);
}
else
{
this.animator.SetIKPositionWeight(foot.footIK, weight);
this.animator.SetIKRotationWeight(foot.footIK, weight);
}
}