// Use this for initialization
void Start()
{
if (this.data == null)
{
this.data = new IceDrillData()
{
PowerableInstanceID = Guid.NewGuid().ToString()
}
}
;
Drill.localPosition = Vector3.zero;
foreach (Animator LegController in LegControllers)
{
LegController.SetBool("LegDown", LegsDown);
}
this.InitializePowerVisualization();
CrateAnchor.gameObject.SetActive(false);
}
// Update is called once per frame
void Update()
{
if (IsOn)
{
Drill.Rotate(Vector3.forward, 2f, Space.Self);
if (HasAttachedWaterContainer && capturedResource.Data.Container.CurrentAmount < 1f)
{
capturedResource.Data.Container.Push(this.HostDeposit.Data.Extractable.Pull(Time.deltaTime * WaterPerSecond));
}
}
}
public override void Analyze(GameObject o)
{
GameObject gameObject = o;
animation = orig.animation;
name = animation.name + "_bk";
motionType = orig.motionType;
motionGroup = orig.motionGroup;
// Initialize legs and cycle data
LegController legC = gameObject.GetComponent(typeof(LegController)) as LegController;
int legs = legC.legs.Length;
m_cycles = new LegCycleData[legs];
for (int leg = 0; leg < legs; leg++)
{
cycles[leg] = new LegCycleData();
cycles[leg].cycleCenter = orig.cycles[leg].cycleCenter;
cycles[leg].cycleScaling = orig.cycles[leg].cycleScaling;
cycles[leg].cycleDirection = -orig.cycles[leg].cycleDirection;
cycles[leg].stanceTime = 1 - orig.cycles[leg].stanceTime;
cycles[leg].liftTime = 1 - orig.cycles[leg].landTime;
cycles[leg].liftoffTime = 1 - orig.cycles[leg].strikeTime;
cycles[leg].postliftTime = 1 - orig.cycles[leg].prelandTime;
cycles[leg].prelandTime = 1 - orig.cycles[leg].postliftTime;
cycles[leg].strikeTime = 1 - orig.cycles[leg].liftoffTime;
cycles[leg].landTime = 1 - orig.cycles[leg].liftTime;
cycles[leg].cycleDistance = orig.cycles[leg].cycleDistance;
cycles[leg].stancePosition = orig.cycles[leg].stancePosition;
cycles[leg].heelToetipVector = orig.cycles[leg].heelToetipVector;
}
}
static void RenderGizmo (LegController legC, GizmoType gizmoType) {
if (Application.isPlaying || AnimationUtility.InAnimationMode())
return;
Vector3 up = legC.transform.up;
Vector3 forward = legC.transform.forward;
Vector3 right = legC.transform.right;
// Draw cross signifying the Ground Plane Height
Vector3 groundCenter = (
legC.transform.position
+ legC.groundPlaneHeight * up * legC.transform.lossyScale.y
);
Gizmos.color = (Color.green+Color.white)/2;
Gizmos.DrawLine(groundCenter-forward, groundCenter+forward);
Gizmos.DrawLine(groundCenter-right, groundCenter+right);
// Draw rect showing foot boundaries
if (legC.groundedPose==null) return;
float scale = legC.transform.lossyScale.z;
for (int leg=0; leg<legC.legs.Length; leg++) {
if (legC.legs[leg].ankle==null) continue;
if (legC.legs[leg].toe==null) continue;
if (legC.legs[leg].footLength+legC.legs[leg].footWidth==0) continue;
legC.InitFootData(leg);
Vector3 heel = legC.legs[leg].ankle.TransformPoint(legC.legs[leg].ankleHeelVector);
Vector3 toetip = legC.legs[leg].toe.TransformPoint(legC.legs[leg].toeToetipVector);
Vector3 side = (Quaternion.AngleAxis(90,up) * (toetip-heel)).normalized * legC.legs[leg].footWidth * scale;
Gizmos.DrawLine(heel+side/2, toetip+side/2);
Gizmos.DrawLine(heel-side/2, toetip-side/2);
Gizmos.DrawLine(heel-side/2, heel+side/2);
Gizmos.DrawLine(toetip-side/2, toetip+side/2);
}
}
private void Awake()
{
legController = GetComponentInParent <LegController>();
transform.parent = bodyTransform;
rayOrigin.parent = bodyTransform;
TipPos = ikTarget.transform.position;
}
public LegInfo(ChassisController chassis, LegController leg)
{
this.chassis = chassis;
this.leg = leg;
foot = leg.getDefaultPos();
setLastDefault();
setLastPlanted();
}
public bool OnLoadIKAnimData()
{
//设置默认动画为idle
GetComponent <Animation>().clip = GetComponent <Animation>().GetClip("idle");
//设置spider的ik信息
//ground info and root bone
LegController legController = GetComponent <LegController>();
legController.groundPlaneHeight = 0.0f;
legController.groundedPose = GetComponent <Animation>().GetClip("idle");
legController.rootBone = transform.Find("Bone02");
//legs info
legController.legs = new LegInfo[4];
LegInfo _legInfo = new LegInfo();
_legInfo.hip = RecursionFindTransform(transform, "Bone83");
_legInfo.ankle = RecursionFindTransform(transform, "Bone90");
_legInfo.toe = RecursionFindTransform(transform, "Bone90");
_legInfo.footLength = 0.5f;
_legInfo.footWidth = 0.5f;
_legInfo.footOffset = new Vector2(0.0f, 0.0f);
legController.legs[0] = _legInfo;
_legInfo = new LegInfo();
_legInfo.hip = RecursionFindTransform(transform, "Bone43");
_legInfo.ankle = RecursionFindTransform(transform, "Bone50");
_legInfo.toe = RecursionFindTransform(transform, "Bone50");
_legInfo.footLength = 0.5f;
_legInfo.footWidth = 0.5f;
_legInfo.footOffset = new Vector2(0.0f, 0.0f);
legController.legs[1] = _legInfo;
_legInfo = new LegInfo();
_legInfo.hip = RecursionFindTransform(transform, "Bone26");
_legInfo.ankle = RecursionFindTransform(transform, "Bone33");
_legInfo.toe = RecursionFindTransform(transform, "Bone33");
_legInfo.footLength = 0.5f;
_legInfo.footWidth = 0.5f;
_legInfo.footOffset = new Vector2(0.0f, 0.0f);
legController.legs[2] = _legInfo;
_legInfo = new LegInfo();
_legInfo.hip = RecursionFindTransform(transform, "Bone34");
_legInfo.ankle = RecursionFindTransform(transform, "Bone41");
_legInfo.toe = RecursionFindTransform(transform, "Bone41");
_legInfo.footLength = 0.5f;
_legInfo.footWidth = 0.5f;
_legInfo.footOffset = new Vector2(0.0f, 0.0f);
legController.legs[3] = _legInfo;
return(true);
}
public void ToggleLegs()
{
LegsDown = !LegsDown;
foreach(Animator LegController in LegControllers)
{
LegController.SetBool("LegDown", LegsDown);
}
Socket.tag = LegsDown ? "powerplug" : "Untagged";
CrateAnchor.gameObject.SetActive(LegsDown);
}
protected LegInfo getLegInfo(LegController leg)
{
LegInfo info;
if (!legInfo.TryGetValue(leg, out info))
{
info = new LegInfo(this, leg);
legInfo.Add(leg, info);
}
return(info);
}
static void RenderGizmo(LegController legC, GizmoType gizmoType)
{
if (Application.isPlaying || AnimationUtility.InAnimationMode())
{
return;
}
Vector3 up = legC.transform.up;
Vector3 forward = legC.transform.forward;
Vector3 right = legC.transform.right;
// Draw cross signifying the Ground Plane Height
Vector3 groundCenter = (
legC.transform.position
+ legC.groundPlaneHeight * up * legC.transform.lossyScale.y
);
Gizmos.color = (Color.green + Color.white) / 2;
Gizmos.DrawLine(groundCenter - forward, groundCenter + forward);
Gizmos.DrawLine(groundCenter - right, groundCenter + right);
// Draw rect showing foot boundaries
if (legC.groundedPose == null)
{
return;
}
float scale = legC.transform.lossyScale.z;
for (int leg = 0; leg < legC.legs.Length; leg++)
{
if (legC.legs[leg].ankle == null)
{
continue;
}
if (legC.legs[leg].toe == null)
{
continue;
}
if (legC.legs[leg].footLength + legC.legs[leg].footWidth == 0)
{
continue;
}
legC.InitFootData(leg);
Vector3 heel = legC.legs[leg].ankle.TransformPoint(legC.legs[leg].ankleHeelVector);
Vector3 toetip = legC.legs[leg].toe.TransformPoint(legC.legs[leg].toeToetipVector);
Vector3 side = (Quaternion.AngleAxis(90, up) * (toetip - heel)).normalized * legC.legs[leg].footWidth * scale;
Gizmos.DrawLine(heel + side / 2, toetip + side / 2);
Gizmos.DrawLine(heel - side / 2, toetip - side / 2);
Gizmos.DrawLine(heel - side / 2, heel + side / 2);
Gizmos.DrawLine(toetip - side / 2, toetip + side / 2);
}
}
protected float calculateStepPercent(LegController[] plantedGroup) {
float offsetMagnitude = 0;
foreach (LegController leg in plantedGroup) {
LegInfo info = getLegInfo(leg);
// maybe the following should be added back in?
//if (info.planted)
// continue;
Vector3 normalizedVelocity = info.getVelocity().normalized;
Vector3 offset = info.foot - leg.getDefaultPos();
offsetMagnitude = Mathf.Max(offsetMagnitude, Vector3.Dot(offset /strideLength, -normalizedVelocity) +1);
}
return offsetMagnitude / 2;
}
private void Awake()
{
maw = GetComponent <Maw>();
rb = GetComponent <Rigidbody>();
rb.position = new Vector3(rb.position.x, optimumHeightFromGround, rb.position.z);
moveTarget = rb.position;
breathingCurveOffset = UnityEngine.Random.value;
arms = new List <ArmController>(armCount);
if (armCount > 0)
{
var rotationAnglePer = 360 / armCount;
for (int i = 0; i < armCount; i++)
{
var elevationAngle = UnityEngine.Random.Range(-40, -10);
var rotation = Quaternion.Euler(elevationAngle, rotationAnglePer * i, 0);
var vector = rotation * Vector3.forward;
var armController = Instantiate(armPrefab, transform);
armController.maw = maw.gameObject;
armController.transform.name = $"Arm {i}";
armController.transform.Translate(vector * limbOffsetRadius);
armController.transform.rotation = rotation;
arms.Add(armController);
}
}
legs = new List <LegController>(legCount);
stepPeriod = stepCyclePeriod / (float)legCount;
if (legCount > 0)
{
var rotationAnglePer = 360 / legCount;
for (int i = 0; i < legCount; i++)
{
var elevationAngle = UnityEngine.Random.Range(30, 30);
var rotation = Quaternion.Euler(elevationAngle, rotationAnglePer * i, 0);
var vector = rotation * Vector3.forward;
LegController legController = Instantiate(legPrefab, transform);
legController.transform.name = $"Leg {i}";
legController.transform.Translate(vector * limbOffsetRadius);
legController.transform.rotation = Quaternion.RotateTowards(rotation, Quaternion.Euler(-elevationAngle, rotationAnglePer * i, 0), 20);
legController.movementDurationSeconds = stepPeriod;
legController.baseRotation = rotation;
legs.Add(legController);
}
}
}
private static bool SanityCheckAnimationCurves(LegController legC, AnimationClip animation) {
AnimationClipCurveData[] curveData = AnimationUtility.GetAllCurves(animation,false);
bool hasRootPosition = false;
bool hasRootRotation = false;
// Check each joint from hip to ankle in each leg
bool[][] hasJointRotation = new bool[legC.legs.Length][];
for (int i=0; i<legC.legs.Length; i++) {
hasJointRotation[i] = new bool[legC.legs[i].legChain.Length];
}
foreach (AnimationClipCurveData data in curveData) {
Transform bone = legC.transform.Find(data.path);
if (bone==legC.root && data.propertyName=="m_LocalPosition.x") hasRootPosition = true;
if (bone==legC.root && data.propertyName=="m_LocalRotation.x") hasRootRotation = true;
for (int i=0; i<legC.legs.Length; i++) {
for (int j=0; j<legC.legs[i].legChain.Length; j++) {
if (bone==legC.legs[i].legChain[j] && data.propertyName=="m_LocalRotation.x") {
hasJointRotation[i][j] = true;
}
}
}
}
bool success = true;
if (!hasRootPosition) {
Debug.LogError("AnimationClip \""+animation.name+"\" is missing animation curve for the position of the root bone \""+legC.root.name+"\".");
success = false;
}
if (!hasRootRotation) {
Debug.LogError("AnimationClip \""+animation.name+"\" is missing animation curve for the rotation of the root bone \""+legC.root.name+"\".");
success = false;
}
for (int i=0; i<legC.legs.Length; i++) {
for (int j=0; j<legC.legs[i].legChain.Length; j++) {
if (!hasJointRotation[i][j]) {
Debug.LogError("AnimationClip \""+animation.name+"\" is missing animation curve for the rotation of the joint \""+legC.legs[i].legChain[j].name+"\" in leg "+i+".");
success = false;
}
}
}
return success;
}
private void UpdateOptions()
{
// Activate character
currentCharacter = characters[selectedCharacter];
legC = currentCharacter.GetComponent(typeof(LegController)) as LegController;
currentCharacter.SetActive(true);
// Activate animation
MotionAnalyzer newAnalyzer = legC.motions[selectedAnimation] as MotionAnalyzer;
if (newAnalyzer != null)
{
analyzer = newAnalyzer; //(MotionAnalyzer)legC.motions[selectedAnimation];
}
else
{
return;
}
currentAnimation = analyzer.animation;
StartAnimation();
optionsCharacter = new string[characters.Length];
for (int i = 0; i < characters.Length; i++)
{
optionsCharacter[i] = characters[i].name;
}
optionsAnimation = new string[legC.motions.Length];
for (int i = 0; i < legC.motions.Length; i++)
{
MotionAnalyzer newMotion = legC.motions[i] as MotionAnalyzer;
if (newMotion != null)
{
optionsAnimation[i] = legC.motions[i].animation.name;
}
else
{
optionsAnimation[i] = "N/A";
}
}
optionsLeg = new string[legC.legs.Length];
for (int i = 0; i < legC.legs.Length; i++)
{
optionsLeg[i] = "Leg " + (i + 1);
}
}
// Use this for initialization
void Start ()
{
if (this.data == null)
this.data = new IceDrillData()
{
PowerableInstanceID = Guid.NewGuid().ToString()
};
Drill.localPosition = Vector3.zero;
foreach (Animator LegController in LegControllers)
{
LegController.SetBool("LegDown", LegsDown);
}
this.InitializePowerVisualization();
CrateAnchor.gameObject.SetActive(false);
}
protected float calculateAltitudeAdjustment(Vector3 stepOffset, LegController leg)
{
Vector3 maxStepPos = stepOffset + new Vector3(0, maxStepHeight, 0);
RaycastHit hitInfo = new RaycastHit();
float yOffset = 0f;
if (Physics.Raycast(new Ray(maxStepPos, new Vector3(0, -1, 0)), out hitInfo, maxStepHeight * 10))
{
#if UNITY_EDITOR
if (debug)
{
drawPoint(hitInfo.point, Color.green, leg + "one");
drawPoint(stepOffset, Color.red, leg + "two");
}
#endif
yOffset = hitInfo.point.y - stepOffset.y;
}
return(yOffset);
}
protected void updateSteppingGroup(LegController[] steppingGroup, float stepPercent) {
foreach (LegController leg in steppingGroup) {
LegInfo info = getLegInfo(leg);
Vector3 stepOffset = leg.getDefaultPos() +info.getVelocity().normalized * strideLength;
stepOffset.y += calculateAltitudeAdjustment(stepOffset, leg);
Vector3 target = Vector3.Lerp(info.getLastPlanted(), stepOffset, stepPercent);
target.y += Mathf.Min((1 - Mathf.Abs(stepPercent - 0.5f) * 2) * stepHeight, maxStepHeight);
Vector3 diff = (target - info.foot);
info.foot += diff.normalized * Mathf.Min(Mathf.Max(0.5f, diff.magnitude /8), diff.magnitude);
#if UNITY_EDITOR
if(debug) {
drawPoint(info.foot, Color.blue, leg + "three");
}
#endif
}
}
// Use this for initialization
void Start()
{
if (gunOnAnimation == null || gunOffAnimation == null || reloadAnimation == null || fireAnimation == null || muzzleFlash == null)
{
enabled = false;
}
SetupGunAnimation(gunOnAnimation);
SetupGunAnimation(gunOffAnimation);
SetupGunAnimation(reloadAnimation);
// setup additive fire animation
AnimationState fireAS = animation[fireAnimation.name];
fireAS.wrapMode = WrapMode.Once;
fireAS.layer = 101; // we put it in a separate layer than impact animations
fireAS.blendMode = AnimationBlendMode.Additive;
motor = GetComponent(typeof(CharacterMotor)) as CharacterMotor;
LegController legC = GetComponent(typeof(LegController)) as LegController;
IMotionAnalyzer[] motions = legC.motions;
foreach (IMotionAnalyzer motion in motions)
{
if (motion.name == "RunForward")
{
maxSpeedWithGun = motion.cycleSpeed;
}
if (motion.name == "RunForwardNoGun")
{
maxSpeedWithoutGun = motion.cycleSpeed;
}
//if (motion.name == "RunForwardFastNoGun")
// maxSpeedWithoutGun = motion.cycleSpeed;
}
muzzleFlash.enabled = false;
}
static void DoToggle()
{
Debug.Log("Menu item selected");
GameObject activeGO = Selection.activeGameObject;
LegController legC = activeGO.GetComponent(typeof(LegController)) as LegController;
legC.Init();
bool success = true;
foreach (MotionAnalyzer analyzer in legC.sourceAnimations)
{
if (!SanityCheckAnimationCurves(legC, analyzer.animation))
{
success = false;
}
}
if (!success)
{
return;
}
legC.Init2();
}
public void OnEnable()
{
lc = target as LegController;
}
private void UpdateOptions()
{
// Activate character
currentCharacter = characters[selectedCharacter];
legC = currentCharacter.GetComponent(typeof(LegController)) as LegController;
currentCharacter.SetActive(true);
// Activate animation
MotionAnalyzer newAnalyzer = legC.motions[selectedAnimation] as MotionAnalyzer;
if (newAnalyzer!=null) analyzer = newAnalyzer;//(MotionAnalyzer)legC.motions[selectedAnimation];
else return;
currentAnimation = analyzer.animation;
StartAnimation();
optionsCharacter = new string[characters.Length];
for (int i=0; i<characters.Length; i++) {
optionsCharacter[i] = characters[i].name;
}
optionsAnimation = new string[legC.motions.Length];
for (int i=0; i<legC.motions.Length; i++) {
MotionAnalyzer newMotion = legC.motions[i] as MotionAnalyzer;
if (newMotion!=null) optionsAnimation[i] = legC.motions[i].animation.name;
else optionsAnimation[i] = "N/A";
}
optionsLeg = new string[legC.legs.Length];
for (int i=0; i<legC.legs.Length; i++) {
optionsLeg[i] = "Leg "+(i+1);
}
}
void Start () {
tr = GetComponent(typeof(AlignmentTracker)) as AlignmentTracker;
legC = GetComponent(typeof(LegController)) as LegController;
legs = legC.legs;
if (!legC.initialized) {
UnityEngine.Debug.LogError(name+": Locomotion System has not been initialized.",this);
enabled = false;
}
legStates = new LegState[legs.Length];
updateStates = true;
ResetMotionStates();
isActive = false;
for (int leg=0; leg<legs.Length; leg++) {
trajectories.Add(
"leg"+leg+"heel",
new TrajectoryVisualizer(legs[leg].debugColor, 3)
);
trajectories.Add(
"leg"+leg+"toetip",
new TrajectoryVisualizer(legs[leg].debugColor, 3)
);
trajectories.Add(
"leg"+leg+"footbase",
new TrajectoryVisualizer(legs[leg].debugColor, 3)
);
}
}
public void OnEnable()
{
lc = target as LegController;
}
private static bool SanityCheckAnimationCurves(LegController legC, AnimationClip animation)
{
AnimationClipCurveData[] curveData = AnimationUtility.GetAllCurves(animation, false);
bool hasRootPosition = false;
bool hasRootRotation = false;
// Check each joint from hip to ankle in each leg
bool[][] hasJointRotation = new bool[legC.legs.Length][];
for (int i = 0; i < legC.legs.Length; i++)
{
hasJointRotation[i] = new bool[legC.legs[i].legChain.Length];
}
foreach (AnimationClipCurveData data in curveData)
{
Transform bone = legC.transform.Find(data.path);
if (bone == legC.root && data.propertyName == "m_LocalPosition.x")
{
hasRootPosition = true;
}
if (bone == legC.root && data.propertyName == "m_LocalRotation.x")
{
hasRootRotation = true;
}
for (int i = 0; i < legC.legs.Length; i++)
{
for (int j = 0; j < legC.legs[i].legChain.Length; j++)
{
if (bone == legC.legs[i].legChain[j] && data.propertyName == "m_LocalRotation.x")
{
hasJointRotation[i][j] = true;
}
}
}
}
bool success = true;
if (!hasRootPosition)
{
Debug.LogError("AnimationClip \"" + animation.name + "\" is missing animation curve for the position of the root bone \"" + legC.root.name + "\".");
success = false;
}
if (!hasRootRotation)
{
Debug.LogError("AnimationClip \"" + animation.name + "\" is missing animation curve for the rotation of the root bone \"" + legC.root.name + "\".");
success = false;
}
for (int i = 0; i < legC.legs.Length; i++)
{
for (int j = 0; j < legC.legs[i].legChain.Length; j++)
{
if (!hasJointRotation[i][j])
{
Debug.LogError("AnimationClip \"" + animation.name + "\" is missing animation curve for the rotation of the joint \"" + legC.legs[i].legChain[j].name + "\" in leg " + i + ".");
success = false;
}
}
}
return(success);
}
public override void Analyze(GameObject o) {
Debug.Log("Starting analysis");
gameObject = o;
name = animation.name;
m_samples = 50;
// Initialize legs and cycle data
legC = gameObject.GetComponent(typeof(LegController)) as LegController;
legs = legC.legs.Length;
m_cycles = new LegCycleData[legs];
for (int leg=0; leg<legs; leg++) {
cycles[leg] = new LegCycleData();
cycles[leg].samples = new LegCycleSample[samples+1];
for (int i=0; i<samples+1; i++) {
cycles[leg].samples[i] = new LegCycleSample();
}
cycles[leg].debugInfo = new CycleDebugInfo();
}
graphMin = new Vector3(0, 1000, 1000);
graphMax = new Vector3(0,-1000,-1000);
for (int leg=0; leg<legs; leg++) {
// Sample ankle, heel, toe, and toetip positions over the length of the animation.
Transform ankleT = legC.legs[leg].ankle;
Transform toeT = legC.legs[leg].toe;
float rangeMax = 0;
float ankleMin; float ankleMax; float toeMin; float toeMax;
ankleMin = 1000;
ankleMax = -1000;
toeMin = 1000;
toeMax = -1000;
for (int i=0; i<samples+1; i++) {
LegCycleSample s = cycles[leg].samples[i];
gameObject.SampleAnimation(animation,i*1.0f/samples*animation.length);
s.ankleMatrix = Util.RelativeMatrix(ankleT,gameObject.transform);
s.toeMatrix = Util.RelativeMatrix(toeT,gameObject.transform);
s.heel = s.ankleMatrix.MultiplyPoint(legC.legs[leg].ankleHeelVector);
s.toetip = s.toeMatrix.MultiplyPoint(legC.legs[leg].toeToetipVector);
s.middle = (s.heel+s.toetip)/2;
// For each sample in time we want to know if the heel or toetip is closer to the ground.
// We need a smooth curve with 0 = ankle is closer and 1 = toe is closer.
s.balance = MotionAnalyzer.GetFootBalance(s.heel.y, s.toetip.y, legC.legs[leg].footLength);
// Find the minimum and maximum extends on all axes of the ankle and toe positions.
ankleMin = Mathf.Min(ankleMin,s.heel.y);
toeMin = Mathf.Min(toeMin,s.toetip.y);
ankleMax = Mathf.Max(ankleMax,s.heel.y);
toeMax = Mathf.Max(toeMax,s.toetip.y);
}
rangeMax = Mathf.Max(ankleMax-ankleMin,toeMax-toeMin);
// Determine motion type
/*if (motionType==MotionType.AutoDetect) {
motionType = MotionType.WalkCycle;
}*/
if (motionType==MotionType.WalkCycle) {
FindCycleAxis(leg);
// Foot stance time
// Find the time when the foot stands most firmly on the ground.
float stanceValue = Mathf.Infinity;
for (int i=0; i<samples+1; i++) {
LegCycleSample s = cycles[leg].samples[i];
float sampleValue =
// We want the point in time when the max of the heel height and the toe height is lowest
Mathf.Max(s.heel.y, s.toetip.y)/rangeMax
// Add some bias to poses where the leg is in the middle of the swing
// i.e. the foot position is close to the middle of the foot curve
+Mathf.Abs(
Util.ProjectOntoPlane(s.middle-cycles[leg].cycleCenter, Vector3.up).magnitude
)/cycles[leg].cycleScaling;
// Use the new value if it is lower (better).
if (sampleValue<stanceValue) {
cycles[leg].stanceIndex = i;
stanceValue = sampleValue;
}
}
}
else {
cycles[leg].cycleDirection = Vector3.forward;
cycles[leg].cycleScaling = 0;
cycles[leg].stanceIndex = 0;
}
// The stance time
cycles[leg].stanceTime = GetTimeFromIndex(cycles[leg].stanceIndex);
// The stance index sample
LegCycleSample ss = cycles[leg].samples[cycles[leg].stanceIndex];
// Sample the animation at stance time
gameObject.SampleAnimation(animation,cycles[leg].stanceTime*animation.length);
// Using the stance sample as reference we can now determine:
// The vector from heel to toetip at the stance pose
cycles[leg].heelToetipVector = (
ss.toeMatrix.MultiplyPoint(legC.legs[leg].toeToetipVector)
- ss.ankleMatrix.MultiplyPoint(legC.legs[leg].ankleHeelVector)
);
cycles[leg].heelToetipVector = Util.ProjectOntoPlane(cycles[leg].heelToetipVector, Vector3.up);
cycles[leg].heelToetipVector = cycles[leg].heelToetipVector.normalized * legC.legs[leg].footLength;
// Calculate foot flight path based on weighted average between ankle flight path and toe flight path,
// using foot balance as weight.
// The distance between ankle and toe is accounted for, using the stance pose for reference.
for (int i=0; i<samples+1; i++) {
LegCycleSample s = cycles[leg].samples[i];
s.footBase = (
(s.heel)*(1-s.balance)
+(s.toetip-cycles[leg].heelToetipVector)*(s.balance)
);
}
// The position of the footbase in the stance pose
cycles[leg].stancePosition = ss.footBase;
cycles[leg].stancePosition.y = legC.groundPlaneHeight;
if (motionType==MotionType.WalkCycle) {
// Find contact times:
// Strike time: foot first touches the ground (0% grounding)
// Down time: all of the foot touches the ground (100% grounding)
// Lift time: all of the foot still touches the ground but begins to lift (100% grounding)
// Liftoff time: last part of the foot leaves the ground (0% grounding)
float timeA;
float timeB;
// Find upwards contact times for projected ankle and toe
// Use the first occurance as lift time and the second as liftoff time
timeA = FindContactTime(cycles[leg], false, +1, rangeMax, 0.1f);
cycles[leg].debugInfo.ankleLiftTime = timeA;
timeB = FindContactTime(cycles[leg], true, +1, rangeMax, 0.1f);
cycles[leg].debugInfo.toeLiftTime = timeB;
if (timeA<timeB) {
cycles[leg].liftTime = timeA;
cycles[leg].liftoffTime = timeB;
}
else {
cycles[leg].liftTime = timeB;
cycles[leg].liftoffTime = timeA;
}
// Find time where swing direction and speed changes significantly.
// If this happens sooner than the found liftoff time,
// then the liftoff time must be overwritten with this value.
timeA = FindSwingChangeTime(cycles[leg], +1, 0.5f);
cycles[leg].debugInfo.footLiftTime = timeA;
if (cycles[leg].liftoffTime > timeA) {
cycles[leg].liftoffTime = timeA;
if (cycles[leg].liftTime > cycles[leg].liftoffTime) {
cycles[leg].liftTime = cycles[leg].liftoffTime;
}
}
// Find downwards contact times for projected ankle and toe
// Use the first occurance as strike time and the second as down time
timeA = FindContactTime(cycles[leg], false, -1, rangeMax, 0.1f);
timeB = FindContactTime(cycles[leg], true, -1, rangeMax, 0.1f);
if (timeA<timeB) {
cycles[leg].strikeTime = timeA;
cycles[leg].landTime = timeB;
}
else {
cycles[leg].strikeTime = timeB;
cycles[leg].landTime = timeA;
}
// Find time where swing direction and speed changes significantly.
// If this happens later than the found strike time,
// then the strike time must be overwritten with this value.
timeA = FindSwingChangeTime(cycles[leg], -1, 0.5f);
cycles[leg].debugInfo.footLandTime = timeA;
if (cycles[leg].strikeTime < timeA) {
cycles[leg].strikeTime = timeA;
if (cycles[leg].landTime < cycles[leg].strikeTime) {
cycles[leg].landTime = cycles[leg].strikeTime;
}
}
// Set postliftTime and prelandTime
float softening = 0.2f;
cycles[leg].postliftTime = cycles[leg].liftoffTime;
if (cycles[leg].postliftTime < cycles[leg].liftTime+softening) {
cycles[leg].postliftTime = cycles[leg].liftTime+softening;
}
cycles[leg].prelandTime = cycles[leg].strikeTime;
if (cycles[leg].prelandTime > cycles[leg].landTime-softening) {
cycles[leg].prelandTime = cycles[leg].landTime-softening;
}
// Calculate the distance traveled during one cycle (for this foot).
Vector3 stanceSlideVector = (
cycles[leg].samples[GetIndexFromTime(Util.Mod(cycles[leg].liftoffTime+cycles[leg].stanceTime))].footBase
-cycles[leg].samples[GetIndexFromTime(Util.Mod(cycles[leg].strikeTime+cycles[leg].stanceTime))].footBase
);
// FIXME: Assumes horizontal ground plane
stanceSlideVector.y = 0;
cycles[leg].cycleDistance = stanceSlideVector.magnitude/(cycles[leg].liftoffTime-cycles[leg].strikeTime+1);
cycles[leg].cycleDirection = -(stanceSlideVector.normalized);
}
else {
cycles[leg].cycleDirection = Vector3.zero;
cycles[leg].cycleDistance = 0;
}
graphMax.y = Mathf.Max(graphMax.y,Mathf.Max(ankleMax,toeMax));
}
// Find the overall speed and direction traveled during one cycle,
// based on average of speed values for each individual foot.
// (They should be very close, but animations are often imperfect,
// leading to different speeds for different legs.)
m_cycleDistance = 0;
m_cycleDirection = Vector3.zero;
for (int leg=0; leg<legs; leg++) {
m_cycleDistance += cycles[leg].cycleDistance;
m_cycleDirection += cycles[leg].cycleDirection;
Debug.Log("Cycle direction of leg "+leg+" is "+cycles[leg].cycleDirection+" with step distance "+cycles[leg].cycleDistance);
}
m_cycleDistance /= legs;
m_cycleDirection /= legs;
m_cycleDuration = animation.length;
m_cycleSpeed = cycleDistance/cycleDuration;
Debug.Log("Overall cycle direction is "+m_cycleDirection+" with step distance "+m_cycleDistance+" and speed "+m_cycleSpeed);
nativeSpeed = m_cycleSpeed * gameObject.transform.localScale.x;
// Calculate normalized foot flight path
for (int leg=0; leg<legs; leg++) {
if (motionType==MotionType.WalkCycle) {
for (int j=0; j<samples; j++) {
int i = Util.Mod(j+cycles[leg].stanceIndex,samples);
LegCycleSample s = cycles[leg].samples[i];
float time = GetTimeFromIndex(j);
s.footBaseNormalized = s.footBase;
if (fixFootSkating) {
// Calculate normalized foot flight path
// based on the calculated cycle distance of each individual foot
Vector3 reference = (
-cycles[leg].cycleDistance * cycles[leg].cycleDirection * (time-cycles[leg].liftoffTime)
+cycles[leg].samples[
GetIndexFromTime(cycles[leg].liftoffTime+cycles[leg].stanceTime)
].footBase
);
s.footBaseNormalized = (s.footBaseNormalized-reference);
if (cycles[leg].cycleDirection!=Vector3.zero) {
s.footBaseNormalized = Quaternion.Inverse(
Quaternion.LookRotation(cycles[leg].cycleDirection)
) * s.footBaseNormalized;
}
s.footBaseNormalized.z /= cycles[leg].cycleDistance;
if (time<=cycles[leg].liftoffTime) { s.footBaseNormalized.z = 0; }
if (time>=cycles[leg].strikeTime) { s.footBaseNormalized.z = 1; }
s.footBaseNormalized.y = s.footBase.y - legC.groundPlaneHeight;
}
else {
// Calculate normalized foot flight path
// based on the cycle distance of the whole motion
// (the calculated average cycle distance)
Vector3 reference = (
-m_cycleDistance * m_cycleDirection * (time-cycles[leg].liftoffTime*0)
// FIXME: Is same as stance position:
+cycles[leg].samples[
GetIndexFromTime(cycles[leg].liftoffTime*0+cycles[leg].stanceTime)
].footBase
);
s.footBaseNormalized = (s.footBaseNormalized-reference);
if (cycles[leg].cycleDirection!=Vector3.zero) {
s.footBaseNormalized = Quaternion.Inverse(
Quaternion.LookRotation(m_cycleDirection)
) * s.footBaseNormalized;
}
s.footBaseNormalized.z /= m_cycleDistance;
s.footBaseNormalized.y = s.footBase.y - legC.groundPlaneHeight;
}
}
//cycles[leg].samples[cycles[leg].stanceIndex].footBaseNormalized.z = 0;
cycles[leg].samples[samples] = cycles[leg].samples[0];
}
else {
for (int j=0; j<samples; j++) {
int i = Util.Mod(j+cycles[leg].stanceIndex,samples);
LegCycleSample s = cycles[leg].samples[i];
s.footBaseNormalized = s.footBase - cycles[leg].stancePosition;
}
}
}
for (int leg=0; leg<legs; leg++) {
float heelToeZDist = Vector3.Dot(cycles[leg].heelToetipVector,cycleDirection);
for (int i=0; i<samples; i++) {
LegCycleSample s = cycles[leg].samples[i];
float zVal = Vector3.Dot(s.footBase, cycleDirection);
if (zVal < graphMin.z) graphMin.z = zVal;
if (zVal > graphMax.z) graphMax.z = zVal;
if (zVal+heelToeZDist < graphMin.z) graphMin.z = zVal+heelToeZDist;
if (zVal+heelToeZDist > graphMax.z) graphMax.z = zVal+heelToeZDist;
}
}
graphMin.y = legC.groundPlaneHeight;
}
public override void OnInspectorGUI()
{
LegController lc = target as LegController;
if (!lc)
{
return;
}
EditorGUIUtility.LookLikeControls();
lc.groundPlaneHeight = EditorGUILayout.FloatField("Ground Height", lc.groundPlaneHeight);
lc.groundedPose = EditorGUILayout.ObjectField("Grounded Pose", lc.groundedPose, typeof(AnimationClip)) as AnimationClip;
lc.rootBone = EditorGUILayout.ObjectField("Root Bone", lc.rootBone, typeof(Transform)) as Transform;
EditorGUILayout.Space();
// Handle legs array
List <LegInfo> legs = new List <LegInfo>(lc.legs);
if (legs.Count != legFoldouts.Count)
{
legFoldouts = new List <bool>(new bool[legs.Count]);
}
legsFoldout = EditorGUILayout.Foldout(legsFoldout, "Legs");
if (legsFoldout)
{
GUI.changed = false;
int removeIndex = -1;
for (int l = 0; l < legs.Count; l++)
{
GUILayout.BeginHorizontal();
string str = "Leg " + (l + 1) + (legs[l].hip != null ? " (" + legs[l].hip.name + ")" : "");
legFoldouts[l] = EditorGUILayout.Foldout(legFoldouts[l], str);
if (GUILayout.Button("Remove", GUILayout.Width(80)))
{
removeIndex = l;
}
GUILayout.EndHorizontal();
if (legFoldouts[l])
{
EditorGUI.indentLevel++;
LegInfo li = legs[l];
li.hip = EditorGUILayout.ObjectField("Hip", li.hip, typeof(Transform)) as Transform;
li.ankle = EditorGUILayout.ObjectField("Ankle", li.ankle, typeof(Transform)) as Transform;
li.toe = EditorGUILayout.ObjectField("Toe", li.toe, typeof(Transform)) as Transform;
GUILayout.BeginHorizontal();
EditorGUILayout.PrefixLabel("Foot");
GUILayout.BeginVertical();
GUILayout.Label("Width", GUILayout.Width(40));
GUILayout.Label("Length", GUILayout.Width(40));
GUILayout.EndVertical();
GUILayout.BeginVertical();
li.footWidth = EditorGUILayout.FloatField(li.footWidth, GUILayout.Width(50));
li.footLength = EditorGUILayout.FloatField(li.footLength, GUILayout.Width(50));
GUILayout.EndVertical();
GUILayout.BeginVertical();
GUILayout.Label("Offset", GUILayout.Width(40));
GUILayout.Label("Offset", GUILayout.Width(40));
GUILayout.EndVertical();
GUILayout.BeginVertical();
li.footOffset.x = EditorGUILayout.FloatField(li.footOffset.x, GUILayout.Width(50));
li.footOffset.y = EditorGUILayout.FloatField(li.footOffset.y, GUILayout.Width(50));
GUILayout.EndVertical();
GUILayout.EndHorizontal();
EditorGUI.indentLevel--;
EditorGUILayout.Space();
}
}
// Remove a leg?
if (removeIndex >= 0)
{
legs.RemoveAt(removeIndex);
legFoldouts.RemoveAt(removeIndex);
}
// Add a leg?
GUILayout.BeginHorizontal();
GUILayout.Label("");
if (GUILayout.Button("Add Leg", GUILayout.Width(80)))
{
LegInfo li = new LegInfo();
if (legs.Count > 0)
{
li.footWidth = legs[legs.Count - 1].footWidth;
li.footLength = legs[legs.Count - 1].footLength;
li.footOffset = legs[legs.Count - 1].footOffset;
}
legs.Add(li);
legFoldouts.Add(true);
}
GUILayout.EndHorizontal();
lc.legs = legs.ToArray();
}
EditorGUILayout.Space();
// Handle animations array
animsFoldout = EditorGUILayout.Foldout(animsFoldout, "Source Animations");
if (animsFoldout)
{
GUI.changed = false;
List <InspectorAnimationGroup> groups = new List <InspectorAnimationGroup>();
groups.Add(new InspectorAnimationGroup(""));
if (GUILayout.Button("Reset") || lc.sourceAnimations.Length == 0)
{
AnimationClip[] clips = AnimationUtility.GetAnimationClips(lc.animation);
for (int c = 0; c < clips.Length; c++)
{
MotionAnalyzer motion = new MotionAnalyzer();
motion.animation = clips[c];
//motion.motionGroup = "";
groups[0].motions.Add(motion);
}
GUI.changed = true;
}
else
{
for (int m = 0; m < lc.sourceAnimations.Length; m++)
{
MotionAnalyzer ma = lc.sourceAnimations[m];
if (ma.motionGroup == null)
{
ma.motionGroup = "";
}
bool found = false;
for (int g = 0; g < groups.Count; g++)
{
if (ma.motionGroup == groups[g].name)
{
groups[g].motions.Add(ma);
found = true;
}
}
if (!found)
{
InspectorAnimationGroup group = new InspectorAnimationGroup(ma.motionGroup);
group.motions.Add(ma);
groups.Add(group);
}
}
}
groups.Add(new InspectorAnimationGroup("NewGroup"));
groups.Add(new InspectorAnimationGroup("Remove"));
string[] groupNames = new string[groups.Count];
for (int g = 0; g < groups.Count; g++)
{
groupNames[g] = groups[g].name;
}
groupNames[0] = "Ungrouped";
for (int g = 0; g < groups.Count - 1; g++)
{
InspectorAnimationGroup group = groups[g];
if (group.motions.Count == 0)
{
continue;
}
if (group.name == "")
{
GUILayout.Label("Ungrouped Animations");
}
else
{
GUILayout.BeginHorizontal();
GUILayout.Label("Animation Group:", GUILayout.ExpandWidth(false));
group.name = GUILayout.TextField(group.name, GUILayout.ExpandWidth(true));
GUILayout.EndHorizontal();
}
for (int m = 0; m < group.motions.Count; m++)
{
MotionAnalyzer ma = group.motions[m];
GUILayout.BeginHorizontal();
ma.animation = EditorGUILayout.ObjectField(ma.animation, typeof(AnimationClip)) as AnimationClip;
ma.motionType = (MotionType)EditorGUILayout.EnumPopup(ma.motionType, GUILayout.Width(70));
//ma.alsoUseBackwards = GUILayout.Toggle(ma.alsoUseBackwards, "", GUILayout.Width(15));
//ma.fixFootSkating = GUILayout.Toggle(ma.fixFootSkating, "", GUILayout.Width(15));
int selectedGroup = EditorGUILayout.Popup(g, groupNames, GUILayout.Width(70));
if (selectedGroup != g)
{
group.motions.Remove(ma);
groups[selectedGroup].motions.Add(ma);
GUI.changed = true;
}
GUILayout.Label("" + ma.nativeSpeed, GUILayout.Width(40));
GUILayout.EndHorizontal();
}
if (GUILayout.Button("Add Animation to " + groupNames[g]))
{
MotionAnalyzer motion = new MotionAnalyzer();
group.motions.Add(motion);
GUI.changed = true;
}
EditorGUILayout.Space();
}
if (GUI.changed)
{
List <MotionAnalyzer> motions = new List <MotionAnalyzer>();
for (int g = 0; g < groups.Count - 1; g++)
{
for (int m = 0; m < groups[g].motions.Count; m++)
{
groups[g].motions[m].motionGroup = groups[g].name;
motions.Add(groups[g].motions[m]);
}
}
lc.sourceAnimations = motions.ToArray();
}
}
}
protected LegInfo getLegInfo(LegController leg) {
LegInfo info;
if (!legInfo.TryGetValue(leg, out info)) {
info = new LegInfo(this, leg);
legInfo.Add(leg, info);
}
return info;
}
public LegInfo(ChassisController chassis, LegController leg) {
this.chassis = chassis;
this.leg = leg;
foot = leg.getDefaultPos();
setLastDefault();
setLastPlanted();
}
void CopySerialized(Transform src, Transform tar)
{
if (src == null || tar == null)
{
return;
}
Rigidbody rigid = src.GetComponent <Rigidbody>();
if (rigid != null)
{
Rigidbody rigid1 = tar.GetComponent <Rigidbody>();
if (rigid1 == null)
{
rigid1 = tar.gameObject.AddComponent <Rigidbody>();
}
EditorUtility.CopySerialized(rigid, rigid1);
}
CapsuleCollider cap1 = src.GetComponent <CapsuleCollider>();
if (cap1 != null)
{
CapsuleCollider cap2 = tar.GetComponent <CapsuleCollider>();
if (cap2 == null)
{
cap2 = tar.gameObject.AddComponent <CapsuleCollider>();
}
EditorUtility.CopySerialized(cap1, cap2);
cap2.center *= scale;
cap2.radius *= scale;
cap2.height *= scale;
}
SphereCollider s1 = src.GetComponent <SphereCollider>();
if (s1 != null)
{
SphereCollider s2 = tar.GetComponent <SphereCollider>();
if (s2 == null)
{
s2 = tar.gameObject.AddComponent <SphereCollider>();
}
EditorUtility.CopySerialized(s1, s2);
s2.center *= scale;
s2.radius *= scale;
}
BoxCollider box1 = src.GetComponent <BoxCollider>();
if (box1 != null)
{
BoxCollider box2 = tar.GetComponent <BoxCollider>();
if (box2 == null)
{
box2 = tar.gameObject.AddComponent <BoxCollider>();
}
EditorUtility.CopySerialized(box1, box2);
box2.center *= scale;
box2.size *= scale;
}
CharacterJoint joint1 = src.GetComponent <CharacterJoint>();
if (joint1 != null)
{
CharacterJoint joint2 = tar.GetComponent <CharacterJoint>();
if (joint2 == null)
{
joint2 = tar.gameObject.AddComponent <CharacterJoint>();
}
EditorUtility.CopySerialized(joint1, joint2);
joint2.connectedBody = AiUtil.GetChild(target.transform, joint2.connectedBody.name).GetComponent <Rigidbody>();
}
LegController leg1 = src.GetComponent <LegController>();
if (leg1 != null)
{
LegController leg2 = tar.GetComponent <LegController>();
if (leg2 == null)
{
leg2 = tar.gameObject.AddComponent <LegController>();
}
EditorUtility.CopySerialized(leg1, leg2);
leg2.groundedPose = target.GetComponent <Animation>()[leg2.groundedPose.name].clip;
leg2.rootBone = AiUtil.GetChild(target.transform, leg2.rootBone.name);
foreach (LegInfo leg in leg2.legs)
{
leg.ankle = AiUtil.GetChild(target.transform, leg.ankle.name);
leg.hip = AiUtil.GetChild(target.transform, leg.hip.name);
leg.toe = AiUtil.GetChild(target.transform, leg.toe.name);
leg.footLength *= scale;
leg.footWidth *= scale;
leg.footOffset.x *= scale;
leg.footOffset.y *= scale;
}
foreach (MotionAnalyzer motion in leg2.sourceAnimations)
{
motion.animation = target.GetComponent <Animation>()[motion.animation.name].clip;
}
}
AlignmentTracker al1 = src.GetComponent <AlignmentTracker>();
if (leg1 != null)
{
AlignmentTracker al2 = tar.GetComponent <AlignmentTracker>();
if (al2 == null)
{
al2 = tar.gameObject.AddComponent <AlignmentTracker>();
}
EditorUtility.CopySerialized(al1, al2);
}
LegAnimator legA1 = src.GetComponent <LegAnimator>();
if (legA1 != null)
{
LegAnimator legA2 = tar.GetComponent <LegAnimator>();
if (legA2 == null)
{
legA2 = tar.gameObject.AddComponent <LegAnimator>();
}
EditorUtility.CopySerialized(legA1, legA2);
}
}
protected override void initialize()
{
this.m_PlayerMotor = (base.GetComponent(typeof(M_PlayerMotor)) as M_PlayerMotor);
if (this.m_PlayerMotor == null)
{
Debug.Log("Motor is null!!");
}
this.m_JumpMotor = (base.GetComponent(typeof(JumpAndIdle)) as JumpAndIdle);
Vector3 position = base.transform.position;
if (!base.GetComponent <NavMeshAgent>())
{
this.m_NavMeshAgent = base.gameObject.AddComponent <NavMeshAgent>();
this.m_NavMeshAgent.acceleration = 200f;
this.m_NavMeshAgent.angularSpeed = 500f;
this.m_NavMeshAgent.baseOffset = -0.01f;
this.m_NavMeshAgent.walkableMask = 1;
this.m_NavMeshAgent.enabled = false;
}
base.transform.position = position;
this.m_RoleMotion = base.GetComponent <M_GameRoleMotion>();
if (this.m_RoleMotion != null)
{
this.m_RoleMotion.Init(base.RoleID, 601);
}
LegAnimator component = base.gameObject.GetComponent <LegAnimator>();
if (component)
{
int num = 1024;
num |= 4;
num |= 16;
num = ~num;
component.groundLayers = num;
}
LegController component2 = base.gameObject.GetComponent <LegController>();
if (component2)
{
for (int i = 0; i < component2.sourceAnimations.Length; i++)
{
if (component2.sourceAnimations[i].name == "walk")
{
this.m_WalkSpeed = component2.sourceAnimations[i].nativeSpeed;
}
if (component2.sourceAnimations[i].name == "run")
{
this.m_RunSpeed = component2.sourceAnimations[i].nativeSpeed;
}
if (component2.sourceAnimations[i].name == "sprint")
{
this.m_DashSpeed = component2.sourceAnimations[i].nativeSpeed;
}
}
}
base.gameObject.AddComponent <M_FootStep>();
if (Swd6Application.instance.m_ExploreSystem.m_MapData.emType == ENUM_MapType.World)
{
this.m_RunSpeed = 3.6f;
}
this.targetPointObj = Swd6Application.instance.m_ExploreSystem.m_MoveTargetPoint;
this.m_GuiManager = Swd6Application.instance.guiManager;
this.m_MoveTarget = null;
this.m_IsRun = Swd6Application.instance.m_ExploreSystem.Run;
this.m_PlayerMotor.maxForwardSpeed = this.m_RunSpeed;
this.m_JumpHeight = this.m_PlayerMotor.jumpHeight;
this.m_JumpGravity = this.m_PlayerMotor.gravity;
if (Swd6Application.instance.m_ExploreSystem.m_MapData.emType == ENUM_MapType.Town)
{
this.m_JumpHeight = 1.1f;
}
this.PlayFaceMotion(2);
UI_Explore.Instance.SetDashState(false, this.m_IsRun);
if (Swd6Application.instance.m_ResourceType == ENUM_ResourceType.Develop)
{
Debug.Log("Player Init OK!!");
}
}
/// <summary>
/// Same as the original Start() function, but remaps transforms to
/// shadow transforms. The original LegAnimator got references to
/// Transform objects that corresponded to the root, feet, ankle, hip,
/// etc. from Transforms that were input by the user as fields of the
/// LegController class. These must be remapped to the corresponding
/// transforms in the shadow, and that is what the Start() function does.
/// </summary>
public override void ControlledStart()
{
legC = GetComponent(typeof(LegController)) as LegController;
legs = legC.legs;
// NB: We need to change the root bone of LegController to equivalent
// bone of the shadow's skeleton. This is because the LegController's
// root bone is set by the user in the inspector, and this is a
// reference to the original bone, not the shadow's bone. - NM
LegController leg_ctrl = GetComponent<LegController>();
legC.rootBone = this.shadow.FindInShadow(leg_ctrl.rootBone);
// NB: Similar to when we set the rootBone of the LegController, we
// need to change all the references for hip/angle/toe to references
// to the SHADOW's hip, ankle, and toe. These references originally
// refer to the original skeleton's transforms, since they are input
// by the user. - NM
for (int i = 0; i < legs.Length; i++)
{
legs[i].hip = this.shadow.FindInShadow(legs[i].hip);
legs[i].ankle = this.shadow.FindInShadow(legs[i].ankle);
legs[i].toe = this.shadow.FindInShadow(legs[i].toe);
for (int j = 0; j < legs[i].legChain.Length; j++)
legs[i].legChain[j] =
this.shadow.FindInShadow(legs[i].legChain[j]);
for (int j = 0; j < legs[i].footChain.Length; j++)
legs[i].footChain[j] =
this.shadow.FindInShadow(legs[i].footChain[j]);
}
if (legC.initialized == false)
{
UnityEngine.Debug.LogError(
name + ": Locomotion System has not been initialized.", this);
this.enabled = false;
}
legStates = new LegState[legs.Length];
updateStates = true;
stupidRaycasts = true;
ResetMotionStates();
ResetSteps();
stupidRaycasts = false;
isActive = false;
for (int leg = 0; leg < legs.Length; leg++)
{
trajectories.Add(
"leg" + leg + "heel",
new TrajectoryVisualizer(legs[leg].debugColor, 3));
trajectories.Add(
"leg" + leg + "toetip",
new TrajectoryVisualizer(legs[leg].debugColor, 3));
trajectories.Add(
"leg" + leg + "footbase",
new TrajectoryVisualizer(legs[leg].debugColor, 3));
}
}
protected float calculateAltitudeAdjustment(Vector3 stepOffset, LegController leg) {
Vector3 maxStepPos = stepOffset + new Vector3(0, maxStepHeight, 0);
RaycastHit hitInfo = new RaycastHit();
float yOffset = 0f;
if(Physics.Raycast(new Ray(maxStepPos, new Vector3(0, -1, 0)), out hitInfo, maxStepHeight * 10)) {
#if UNITY_EDITOR
if(debug) {
drawPoint(hitInfo.point, Color.green, leg + "one");
drawPoint(stepOffset, Color.red, leg + "two");
}
#endif
yOffset = hitInfo.point.y - stepOffset.y;
}
return yOffset;
}
protected void updateLegs(LegController[] group, bool planted) {
foreach(LegController leg in group) {
LegInfo info = getLegInfo(leg);
leg.setPosition(getLegInfo(leg).foot);
info.setPlanted(planted);
info.setLastDefault();
}
}
