// ============================================= //
#endregion
// Start is called before the first frame update
void Start()
{
// Extract terrain information
if (!terrain)
{
//terrain = Terrain.activeTerrain;
terrain = myBipedalCharacter.GetComponent <RigidBodyControllerSimpleAnimator>().currentTerrain;
Debug.Log("[INFO] Main terrain: " + terrain.name);
}
terrain_collider = terrain.GetComponent <Collider>();
terrain_data = terrain.terrainData;
terrain_size = terrain_data.size;
heightmap_width = terrain_data.heightmapResolution;
heightmap_height = terrain_data.heightmapResolution;
heightmap_data = terrain_data.GetHeights(0, 0, heightmap_width, heightmap_height);
heightmap_data_constant = terrain_data.GetHeights(0, 0, heightmap_width, heightmap_height);
heightmap_data_filtered = terrain_data.GetHeights(0, 0, heightmap_width, heightmap_height);
brushPhysicalFootprint = null;
// Get classes
_feetPlacement = FindObjectOfType <IKFeetPlacement>();
// Retrieve components and attributes from character
mass = myBipedalCharacter.GetComponent <Rigidbody>().mass;
_anim = myBipedalCharacter.GetComponent <Animator>();
// Time elapsed -> TODO: Smoothing
//elapsed = 0f;
// Old Feet Y-component position
oldIKLeftPosition = _anim.GetBoneTransform(HumanBodyBones.LeftFoot).position;
oldIKRightPosition = _anim.GetBoneTransform(HumanBodyBones.RightFoot).position;
oldIsMoving = _anim.GetBool("isWalking");
}
// Start is called before the first frame update
void Start()
{
// Extract terrain information
if (!terrain)
{
terrain = Terrain.activeTerrain;
}
terrain_collider = terrain.GetComponent <Collider>();
terrain_data = terrain.terrainData;
terrain_size = terrain_data.size;
heightmap_width = terrain_data.heightmapResolution;
heightmap_height = terrain_data.heightmapResolution;
heightmap_data = terrain_data.GetHeights(0, 0, heightmap_width, heightmap_height);
heightmap_data_constant = terrain_data.GetHeights(0, 0, heightmap_width, heightmap_height);
heightmap_data_filtered = terrain_data.GetHeights(0, 0, heightmap_width, heightmap_height);
brushPhysicalFootprint = null;
// Get classes
_feetPlacement = FindObjectOfType <IKFeetPlacement>();
_ragdoll = FindObjectOfType <Ragdoll>();
// Retrieve mass from Ragdoll
mass = _ragdoll.CalculateMass();
// Time elapsed
elapsed = 0f;
// Old Feet Y Position
oldIKLeftPosition = _anim.GetBoneTransform(HumanBodyBones.LeftFoot).position;
oldIKRightPosition = _anim.GetBoneTransform(HumanBodyBones.RightFoot).position;
oldIsMoving = _anim.GetBool("isWalking");
}
// Initialization
void Start()
{
// Extract terrain information
if (!terrain)
{
terrain = Terrain.activeTerrain;
}
terrain_collider = terrain.GetComponent <Collider>();
terrain_data = terrain.terrainData;
terrain_size = terrain_data.size;
heightmap_width = terrain_data.heightmapResolution;
heightmap_height = terrain_data.heightmapResolution;
heightmap_data = terrain_data.GetHeights(0, 0, heightmap_width, heightmap_height);
heightmap_data_constant = terrain_data.GetHeights(0, 0, heightmap_width, heightmap_height);
heightmap_data_filtered = terrain_data.GetHeights(0, 0, heightmap_width, heightmap_height);
current_brush = null;
// Get classes
_feetPlacement = FindObjectOfType <IKFeetPlacement>();
_ragdoll = FindObjectOfType <Ragdoll>();
// Retrieve mass from Ragdoll
mass = _ragdoll.CalculateMass();
// Time elapsed
elapsed = 0f;
}
// Start is called before the first frame update
void Start()
{
// From same GameObject
_rb = GetComponent <Rigidbody>();
// From other GameObject
_feetPlacement = FindObjectOfType <IKFeetPlacement>();
}
// Start is called before the first frame update
void Start()
{
// Create instance for the PID (not attached to GameObject)
_pidController = new PIDController();
// From same GameObject
_anim = GetComponent <Animator>();
_rb = GetComponent <Rigidbody>();
_feetIK = GetComponent <IKFeetPlacement>();
_projectedCOMs = GetComponent <ProjectCOM>();
_terrain = GetComponent <TerrainMaster>();
// Get object to be balance (connected to joint) and change CoM if necessary
_rbObjectConnected = hipsConnector.GetComponent <Rigidbody>();
_rbObjectConnected.centerOfMass = _rbObjectConnected.centerOfMass + centerOfMassChangeUp * transform.up;
}
