private void button1_Click(object sender, EventArgs e)
{
Head head = new Head();
Chest chest = new Chest();
Pelvis pelvis = new Pelvis();
LeftUpperArm leftupperarm = new LeftUpperArm();
Console.WriteLine($"Head: {head.GetTotalSurfaceOfArteries()}");
Console.WriteLine($"Chest: {chest.GetTotalSurfaceOfArteries()}");
Console.WriteLine($"Pelvis: {pelvis.GetTotalSurfaceOfArteries()}");
Console.WriteLine($"LefUpperArm: {leftupperarm.GetTotalSurfaceOfArteries()}");
}
// Start is called before the first frame update
void Start()
{
rBody = Pelvis.GetComponent <Rigidbody>();
fltJoint = FLThigh.GetComponent <HingeJoint>();
frtJoint = FRThigh.GetComponent <HingeJoint>();
rrtJoint = RRThigh.GetComponent <HingeJoint>();
rltJoint = RLThigh.GetComponent <HingeJoint>();
frsJoint = FRShin.GetComponent <HingeJoint>();
flsJoint = FLShin.GetComponent <HingeJoint>();
rrsJoint = RRShin.GetComponent <HingeJoint>();
rlsJoint = RLShin.GetComponent <HingeJoint>();
}
/// <summary>
/// Initiate the %Grounding as an integrated solver by providing the root Transform, leg solvers, pelvis Transform and spine solver.
/// </summary>
public void Initiate(Transform root, Transform[] feet)
{
this.root = root;
initiated = false;
rootHit = new RaycastHit();
// Constructing Legs
if (legs == null)
{
legs = new Leg[feet.Length];
}
if (legs.Length != feet.Length)
{
legs = new Leg[feet.Length];
}
for (int i = 0; i < feet.Length; i++)
{
if (legs[i] == null)
{
legs[i] = new Leg();
}
}
// Constructing pelvis
if (pelvis == null)
{
pelvis = new Pelvis();
}
string errorMessage = string.Empty;
if (!IsValid(ref errorMessage))
{
Warning.Log(errorMessage, root, false);
return;
}
// Initiate solvers only if application is playing
if (Application.isPlaying)
{
for (int i = 0; i < feet.Length; i++)
{
legs[i].Initiate(this, feet[i]);
}
pelvis.Initiate(this);
initiated = true;
}
}
protected void BuildCharacter() // NOTE: In indra, this is virtual
{
//-------------------------------------------------------------------------
// remove all references to our existing skeleton
// so we can rebuild it
//-------------------------------------------------------------------------
// FlushAllMotions(); // TODO: Should this be in the Character that this AvatarAppearance is connected to? Or will be...
//-------------------------------------------------------------------------
// remove all of mRoot's children
//-------------------------------------------------------------------------
Root.RemoveAllChildren();
JointMap.Clear();
IsBuilt = false;
//-------------------------------------------------------------------------
// clear mesh data
//-------------------------------------------------------------------------
foreach (AvatarJoint avatarJoint in MeshLod)
{
foreach (AvatarJointMesh avatarJointMesh in avatarJoint.MeshParts)
{
avatarJointMesh.SetMesh(null);
}
}
//-------------------------------------------------------------------------
// (re)load our skeleton and meshes
//-------------------------------------------------------------------------
bool status = LoadAvatar(); // TODO: Indra times this and logs the time it took to load the avatar
Logger.LogDebug("AvatarAppearance.BuildCharacter", "Avatar loaded.");
if (status == false)
{
if (IsSelf)
{
Logger.LogError("AvatarAppearance.BuildCharacter", "Unable to load user's avatar");
}
else
{
Logger.LogWarning("AvatarAppearance.BuildCharacter", "Unable to load other's avatar");
}
return;
}
//-------------------------------------------------------------------------
// initialize "well known" joint pointers
//-------------------------------------------------------------------------
Pelvis = Root.FindJoint("mPelvis");
Torso = Root.FindJoint("mTorso");
Chest = Root.FindJoint("mChest");
Neck = Root.FindJoint("mNeck");
Head = Root.FindJoint("mHead");
Skull = Root.FindJoint("mSkull");
HipLeft = Root.FindJoint("mHipLeft");
HipRight = Root.FindJoint("mHipRight");
KneeLeft = Root.FindJoint("mKneeLeft");
KneeRight = Root.FindJoint("mKneeRight");
AnkleLeft = Root.FindJoint("mAnkleLeft");
AnkleRight = Root.FindJoint("mAnkleRight");
FootLeft = Root.FindJoint("mFootLeft");
FootRight = Root.FindJoint("mFootRight");
WristLeft = Root.FindJoint("mWristLeft");
WristRight = Root.FindJoint("mWristRight");
EyeLeft = Root.FindJoint("mEyeLeft");
EyeRight = Root.FindJoint("mEyeRight");
//-------------------------------------------------------------------------
// Make sure "well known" pointers exist
//-------------------------------------------------------------------------
if (!(Pelvis != null &&
Torso != null &&
Chest != null &&
Neck != null &&
Head != null &&
Skull != null &&
HipLeft != null &&
HipRight != null &&
KneeLeft != null &&
KneeRight != null &&
AnkleLeft != null &&
AnkleRight != null &&
FootLeft != null &&
FootRight != null &&
WristLeft != null &&
WristRight != null &&
EyeLeft != null &&
EyeRight != null))
{
Logger.LogError("AvatarAppearance.BuildCharacter", "Failed to create avatar.");
return;
}
//-------------------------------------------------------------------------
// Initialise the pelvis
//-------------------------------------------------------------------------
// SL-315
Pelvis.SetPosition(new Vector3(0.0f, 0.0f, 0.0f));
IsBuilt = true;
}
public Biped(World w, Vec2 position)
{
_world = w;
BipedDef def = new BipedDef();
BodyDef bd = new BodyDef();
// create body parts
bd = def.LFootDef;
bd.Position += position;
LFoot = w.CreateBody(bd);
LFoot.CreateShape(def.LFootPoly);
LFoot.SetMassFromShapes();
bd = def.RFootDef;
bd.Position += position;
RFoot = w.CreateBody(bd);
RFoot.CreateShape(def.RFootPoly);
RFoot.SetMassFromShapes();
bd = def.LCalfDef;
bd.Position += position;
LCalf = w.CreateBody(bd);
LCalf.CreateShape(def.LCalfPoly);
LCalf.SetMassFromShapes();
bd = def.RCalfDef;
bd.Position += position;
RCalf = w.CreateBody(bd);
RCalf.CreateShape(def.RCalfPoly);
RCalf.SetMassFromShapes();
bd = def.LThighDef;
bd.Position += position;
LThigh = w.CreateBody(bd);
LThigh.CreateShape(def.LThighPoly);
LThigh.SetMassFromShapes();
bd = def.RThighDef;
bd.Position += position;
RThigh = w.CreateBody(bd);
RThigh.CreateShape(def.RThighPoly);
RThigh.SetMassFromShapes();
bd = def.PelvisDef0;
bd.Position += position;
Pelvis = w.CreateBody(bd);
Pelvis.CreateShape(def.PelvisPoly);
Pelvis.SetMassFromShapes();
bd = def.PelvisDef;
bd.Position += position;
Stomach = w.CreateBody(bd);
Stomach.CreateShape(def.StomachPoly);
Stomach.SetMassFromShapes();
bd = def.ChestDef;
bd.Position += position;
Chest = w.CreateBody(bd);
Chest.CreateShape(def.ChestPoly);
Chest.SetMassFromShapes();
bd = def.NeckDef;
bd.Position += position;
Neck = w.CreateBody(bd);
Neck.CreateShape(def.NeckPoly);
Neck.SetMassFromShapes();
bd = def.HeadDef;
bd.Position += position;
Head = w.CreateBody(bd);
Head.CreateShape(def.HeadCirc);
Head.SetMassFromShapes();
bd = def.LUpperArmDef;
bd.Position += position;
LUpperArm = w.CreateBody(bd);
LUpperArm.CreateShape(def.LUpperArmPoly);
LUpperArm.SetMassFromShapes();
bd = def.RUpperArmDef;
bd.Position += position;
RUpperArm = w.CreateBody(bd);
RUpperArm.CreateShape(def.RUpperArmPoly);
RUpperArm.SetMassFromShapes();
bd = def.LForearmDef;
bd.Position += position;
LForearm = w.CreateBody(bd);
LForearm.CreateShape(def.LForearmPoly);
LForearm.SetMassFromShapes();
bd = def.RForearmDef;
bd.Position += position;
RForearm = w.CreateBody(bd);
RForearm.CreateShape(def.RForearmPoly);
RForearm.SetMassFromShapes();
bd = def.LHandDef;
bd.Position += position;
LHand = w.CreateBody(bd);
LHand.CreateShape(def.LHandPoly);
LHand.SetMassFromShapes();
bd = def.RHandDef;
bd.Position += position;
RHand = w.CreateBody(bd);
RHand.CreateShape(def.RHandPoly);
RHand.SetMassFromShapes();
// link body parts
def.LAnkleDef.Body1 = LFoot;
def.LAnkleDef.Body2 = LCalf;
def.RAnkleDef.Body1 = RFoot;
def.RAnkleDef.Body2 = RCalf;
def.LKneeDef.Body1 = LCalf;
def.LKneeDef.Body2 = LThigh;
def.RKneeDef.Body1 = RCalf;
def.RKneeDef.Body2 = RThigh;
def.LHipDef.Body1 = LThigh;
def.LHipDef.Body2 = Pelvis;
def.RHipDef.Body1 = RThigh;
def.RHipDef.Body2 = Pelvis;
def.LowerAbsDef.Body1 = Pelvis;
def.LowerAbsDef.Body2 = Stomach;
def.UpperAbsDef.Body1 = Stomach;
def.UpperAbsDef.Body2 = Chest;
def.LowerNeckDef.Body1 = Chest;
def.LowerNeckDef.Body2 = Neck;
def.UpperNeckDef.Body1 = Chest;
def.UpperNeckDef.Body2 = Head;
def.LShoulderDef.Body1 = Chest;
def.LShoulderDef.Body2 = LUpperArm;
def.RShoulderDef.Body1 = Chest;
def.RShoulderDef.Body2 = RUpperArm;
def.LElbowDef.Body1 = LForearm;
def.LElbowDef.Body2 = LUpperArm;
def.RElbowDef.Body1 = RForearm;
def.RElbowDef.Body2 = RUpperArm;
def.LWristDef.Body1 = LHand;
def.LWristDef.Body2 = LForearm;
def.RWristDef.Body1 = RHand;
def.RWristDef.Body2 = RForearm;
// create joints
LAnkle = (RevoluteJoint)w.CreateJoint(def.LAnkleDef);
RAnkle = (RevoluteJoint)w.CreateJoint(def.RAnkleDef);
LKnee = (RevoluteJoint)w.CreateJoint(def.LKneeDef);
RKnee = (RevoluteJoint)w.CreateJoint(def.RKneeDef);
LHip = (RevoluteJoint)w.CreateJoint(def.LHipDef);
RHip = (RevoluteJoint)w.CreateJoint(def.RHipDef);
LowerAbs = (RevoluteJoint)w.CreateJoint(def.LowerAbsDef);
UpperAbs = (RevoluteJoint)w.CreateJoint(def.UpperAbsDef);
LowerNeck = (RevoluteJoint)w.CreateJoint(def.LowerNeckDef);
UpperNeck = (RevoluteJoint)w.CreateJoint(def.UpperNeckDef);
LShoulder = (RevoluteJoint)w.CreateJoint(def.LShoulderDef);
RShoulder = (RevoluteJoint)w.CreateJoint(def.RShoulderDef);
LElbow = (RevoluteJoint)w.CreateJoint(def.LElbowDef);
RElbow = (RevoluteJoint)w.CreateJoint(def.RElbowDef);
LWrist = (RevoluteJoint)w.CreateJoint(def.LWristDef);
RWrist = (RevoluteJoint)w.CreateJoint(def.RWristDef);
}
/// <summary>
/// Initiate the %Grounding as an integrated solver by providing the root Transform, leg solvers, pelvis Transform and spine solver.
/// </summary>
public void Initiate(Transform root, Transform[] feet) {
this.root = root;
initiated = false;
rootHit = new RaycastHit();
// Constructing Legs
if (legs == null) legs = new Leg[feet.Length];
if (legs.Length != feet.Length) legs = new Leg[feet.Length];
for (int i = 0; i < feet.Length; i++) if (legs[i] == null) legs[i] = new Leg();
// Constructing pelvis
if (pelvis == null) pelvis = new Pelvis();
if (!IsValid(true)) return;
// Initiate solvers only if application is playing
if (Application.isPlaying) {
for (int i = 0; i < feet.Length; i++) legs[i].Initiate(this, feet[i]);
pelvis.Initiate(this);
initiated = true;
}
}
