override public void OnStateUpdate(Animator animator, AnimatorStateInfo stateInfo, int layerIndex)
{
FootPlacementData lF1 = animator.GetComponents <FootPlacementData>()[0];
FootPlacementData lF2 = animator.GetComponents <FootPlacementData>()[1];
//setting up first foot transition time and extra ray dist check
if (lF1 != null)
{
if (stateInfo.normalizedTime > 0.25f)
{
lF1.mExtraRayDistanceCheck = mIdleRayCast;
}
else
{
lF1.mExtraRayDistanceCheck = 0;
}
}
//setting up second foot transition time and extra ray dist check
if (lF2 != null)
{
if (stateInfo.normalizedTime > 0.25f)
{
lF2.mExtraRayDistanceCheck = mIdleRayCast;
}
else
{
lF2.mExtraRayDistanceCheck = 0;
}
}
}
/***********/
void Start()
{
mAnim = GetComponent <Animator>();
bool lLeftFootSet = false;
bool lRightFootSet = false;
FootPlacementData[] lFeet = GetComponents <FootPlacementData>();
for (byte i = 0; i < lFeet.Length; i++)
{
if (lFeet[i].IsLeftFoot)
{
if (!lLeftFootSet)
{
mLeftFoot = lFeet[i];
lLeftFootSet = true;
}
}
else
{
if (!lRightFootSet)
{
mRightFoot = lFeet[i];
lRightFootSet = true;
}
}
if (lLeftFootSet && lRightFootSet)
{
break;
}
}
}
/***********/
void Start()
{
mAnim = GetComponent <Animator>();
if (mAnim == null)
{
Debug.LogWarning("Mec Foot Placer will not work without Animator component. Please add one");
}
else if (!mAnim.isHuman)
{
Debug.LogWarning("Mec Foot Placer only works with Mecanim humanoid rigs.");
}
bool lLeftFootSet = false;
bool lRightFootSet = false;
bool lLeftHandSet = false;
bool lRightHandSet = false;
FootPlacementData[] lFeet = GetComponents <FootPlacementData>();
for (byte i = 0; i < lFeet.Length; i++)
{
switch (lFeet[i].mFootID)
{
case FootPlacementData.LimbID.LEFT_FOOT:
lLeftFootSet = true;
mLeftFoot = lFeet[i];
break;
case FootPlacementData.LimbID.RIGHT_FOOT:
lRightFootSet = true;
mRightFoot = lFeet[i];
break;
case FootPlacementData.LimbID.RIGHT_HAND:
lRightHandSet = true;
mLeftHand = lFeet[i];
break;
case FootPlacementData.LimbID.LEFT_HAND:
lLeftHandSet = true;
mRightHand = lFeet[i];
break;
}
if (lLeftFootSet && lRightFootSet && lLeftHandSet && lRightHandSet)
{
break;
}
}
}
void SetupFootIK()
{
FootPlacementData leftFootData = _anim.gameObject.AddComponent <FootPlacementData>();
FootPlacementData rightFootData = _anim.gameObject.AddComponent <FootPlacementData>();
MecFootPlacer footIKController = _anim.gameObject.AddComponent <MecFootPlacer>();
//set values
Vector3 leftForward = _leftFoot.forward;
Vector3 rightForward = _rightFoot.forward;
float footOffsetDist = _leftCalf.position.y;
float footLength = (_leftFoot.position - _leftToe.position).magnitude;
float footHalfWidth = (Vector3.Dot(_anim.transform.right, _leftFoot.lossyScale)) / 2f;
//assign values
leftFootData.mFootID = FootPlacementData.LimbID.LEFT_FOOT;
rightFootData.mFootID = FootPlacementData.LimbID.RIGHT_FOOT;
leftFootData.mForwardVector = Vector3.forward; //leftForward;
rightFootData.mForwardVector = Vector3.forward; //rightForward;
leftFootData.mFootOffsetDist = footOffsetDist;
rightFootData.mFootOffsetDist = footOffsetDist;
leftFootData.mFootLength = footLength;
rightFootData.mFootLength = footLength;
leftFootData.mFootHalfWidth = footHalfWidth;
rightFootData.mFootHalfWidth = footHalfWidth;
leftFootData.mFootHeight = 0.05f;
rightFootData.mFootHeight = 0.05f;
leftFootData.mExtraRayDistanceCheck = 0.0f;
rightFootData.mExtraRayDistanceCheck = 0.0f;
//only for right foot
//rightFootData.mIKHintOffset = new Vector3(0f,-0.25f,0f);
footIKController.mAdjustPelvisVertically = true;
footIKController.mDampPelvis = true;
footIKController.mLayersToIgnore = new[] { "Member" };
}
/***********/
void Start ()
{
mAnim = GetComponent<Animator>();
bool lLeftFootSet = false;
bool lRightFootSet = false;
FootPlacementData[] lFeet = GetComponents<FootPlacementData>();
for(byte i = 0; i < lFeet.Length; i++)
{
if(lFeet[i].IsLeftFoot)
{
if(!lLeftFootSet)
{
mLeftFoot = lFeet[i];
lLeftFootSet = true;
}
}
else
{
if(!lRightFootSet)
{
mRightFoot = lFeet[i];
lRightFootSet = true;
}
}
if(lLeftFootSet && lRightFootSet)
{
break;
}
}
}
/*********************************************/
public void FootPlacement(AvatarIKGoal foot_id)
{
FootPlacementData lFoot = null;
switch (foot_id)
{
case AvatarIKGoal.LeftFoot:
if (!mLeftFootActive)
{
return;
}
lFoot = mLeftFoot;
break;
case AvatarIKGoal.RightFoot:
if (!mRightFootActive)
{
return;
}
lFoot = mRightFoot;
break;
default:
return;
}
lFoot.mUpVector.Normalize();
lFoot.mForwardVector.Normalize();
//Update forward vec and IKHintoffset based on cahracter foot and body rotation
lFoot.CalculateRotatedIKHint();
lFoot.CalculateRotatedFwdVec();
//Updating Plant Foot Blend Transitions
UpdateFootPlantBlendWeights(foot_id);
//Find exact contact points
FindContactPoints(foot_id);
//Check for feet limits
CheckForLimits(foot_id);
//Update IK goal weights
CalculateIKGoalWeights(foot_id);
/*Setup Final IK Rotaiton*/
mAnim.SetIKRotationWeight(foot_id, lFoot.GetCurrentFootWeight());
//converting the foot yaw rotation to degree
float lAngle = Vector3.Angle(lFoot.GetRotatedFwdVec(), lFoot.mForwardVector);
Quaternion lQuat90 = new Quaternion(0, 0.7071f, 0, 0.7071f);
Vector3 lEulerRot = Quaternion.FromToRotation(lFoot.mForwardVector, lFoot.GetTargetPos(FootPlacementData.Target.TOE)).eulerAngles;
lEulerRot.z = 0;
Quaternion lRot = Quaternion.Euler(lEulerRot);
if ((lAngle > 90 && lAngle < 180) || (lAngle > 270 && lAngle < 90))
{
lEulerRot = Quaternion.FromToRotation(lFoot.GetTargetPos(FootPlacementData.Target.HEEL), lQuat90 * lFoot.GetRotatedFwdVec()).eulerAngles;
}
else
{
lEulerRot = Quaternion.FromToRotation(lQuat90 * lFoot.GetRotatedFwdVec(), lFoot.GetTargetPos(FootPlacementData.Target.HEEL)).eulerAngles;
}
lEulerRot.x = 0;
lEulerRot.y = 0;
lRot = lRot * Quaternion.Euler(lEulerRot);
mAnim.SetIKRotation(foot_id, lRot);
/*Setup Final IK Swivel Angle*/
Vector3 lIKHintDir = Vector3.zero;
if (foot_id == AvatarIKGoal.LeftFoot)
{
lIKHintDir = mAnim.GetBoneTransform(HumanBodyBones.LeftLowerLeg).position - mAnim.GetIKPosition(AvatarIKGoal.LeftFoot); //mAnim.GetBoneTransform(HumanBodyBones.LeftFoot).position;
mAnim.SetIKHintPositionWeight(AvatarIKHint.LeftKnee, lFoot.GetCurrentFootWeight());
mAnim.SetIKHintPosition(AvatarIKHint.LeftKnee, lFoot.GetTargetPos(FootPlacementData.Target.TOE) + lFoot.GetTargetPos(FootPlacementData.Target.FOOT)
+ lFoot.GetRotatedIKHint() + lIKHintDir);
}
if (foot_id == AvatarIKGoal.RightFoot)
{
lIKHintDir = mAnim.GetBoneTransform(HumanBodyBones.RightLowerLeg).position - mAnim.GetBoneTransform(HumanBodyBones.RightFoot).position;
mAnim.SetIKHintPositionWeight(AvatarIKHint.RightKnee, lFoot.GetCurrentFootWeight());
mAnim.SetIKHintPosition(AvatarIKHint.RightKnee, lFoot.GetTargetPos(FootPlacementData.Target.TOE) + lFoot.GetTargetPos(FootPlacementData.Target.FOOT)
+ lFoot.GetRotatedIKHint() + lIKHintDir);
}
/*Setup Final IK Position*/
mAnim.SetIKPositionWeight(foot_id, lFoot.GetCurrentFootWeight());
mAnim.SetIKPosition(foot_id, lFoot.GetTargetPos(FootPlacementData.Target.FOOT) + (lFoot.mUpVector * lFoot.mFootHeight));
/*Update planted foot position and rotation*/
if (lFoot.GetCurrentFootWeight() <= 0)
{
lFoot.SetFootPlanted(false);
}
else
{
if (lFoot.mPlantFoot && !lFoot.GetFootPlanted())
{
if (Mathf.Abs(lFoot.GetTargetFootWeight() - lFoot.GetCurrentFootWeight()) < mEpsilon)
{
lFoot.SetPlantedPos(mAnim.GetIKPosition(foot_id)); //
lFoot.SetPlantedRot(mAnim.GetIKRotation(foot_id));
lFoot.SetFootPlanted(true);
}
}
}
}
/************************************/
protected void RootPositioningCheck()
{
AnimateRootVertError();
if (mAdjustPelvisVertically)
{
float lLegLength = (mAnim.GetBoneTransform(HumanBodyBones.RightUpperLeg).position - mAnim.GetIKPosition(AvatarIKGoal.RightFoot)).magnitude;
FootPlacementData lFoot = mRightFoot;
mRootPosLeftRightFoot = true;
if ((mAnim.GetBoneTransform(HumanBodyBones.LeftUpperLeg).position - mAnim.GetIKPosition(AvatarIKGoal.LeftFoot)).sqrMagnitude >
(mAnim.GetBoneTransform(HumanBodyBones.RightUpperLeg).position - mAnim.GetIKPosition(AvatarIKGoal.RightFoot)).sqrMagnitude)
{
lLegLength = (mAnim.GetBoneTransform(HumanBodyBones.LeftUpperLeg).position - mAnim.GetIKPosition(AvatarIKGoal.LeftFoot)).magnitude;
lFoot = mLeftFoot;
mRootPosLeftRightFoot = false;
}
if (lLegLength > mMaxLegLength)
{
mTargetRootVertError = lLegLength - mMaxLegLength;
float lLeftLegError = 0;
float lRightLegError = 0;
float lBuff = (mAnim.GetBoneTransform(HumanBodyBones.LeftUpperLeg).position - (mAnim.GetIKPosition(AvatarIKGoal.LeftFoot) + mLeftFoot.mUpVector * mTargetRootVertError)).magnitude;
if (lBuff < mMinLegLength)
{
lLeftLegError = mMinLegLength - lBuff;
}
lBuff = (mAnim.GetBoneTransform(HumanBodyBones.RightUpperLeg).position - (mAnim.GetIKPosition(AvatarIKGoal.RightFoot) + mLeftFoot.mUpVector * mTargetRootVertError)).magnitude;
if (lBuff < mMinLegLength)
{
lRightLegError = mMinLegLength - lBuff;
}
if (lRightLegError != 0 || lLeftLegError != 0)
{
if (lRightLegError > lLeftLegError)
{
mTargetRootVertError -= lRightLegError;
}
else
{
mTargetRootVertError -= lLeftLegError;
}
}
}
else
{
mTargetRootVertError = 0;
mCurrentPelvisSpeed = 0;
}
mAnim.SetIKPosition(AvatarIKGoal.LeftFoot, mAnim.GetIKPosition(AvatarIKGoal.LeftFoot) + lFoot.mUpVector * mCurrentRootVertError);
mAnim.SetIKPosition(AvatarIKGoal.RightFoot, mAnim.GetIKPosition(AvatarIKGoal.RightFoot) + lFoot.mUpVector * mCurrentRootVertError);
mAnim.SetIKPosition(AvatarIKGoal.LeftHand, mAnim.GetIKPosition(AvatarIKGoal.LeftHand) + lFoot.mUpVector * mCurrentRootVertError);
mAnim.SetIKPosition(AvatarIKGoal.RightHand, mAnim.GetIKPosition(AvatarIKGoal.RightHand) + lFoot.mUpVector * mCurrentRootVertError);
}
else
{
mTargetRootVertError = 0;
mCurrentPelvisSpeed = 0;
if (Mathf.Abs(mCurrentRootVertError) >= mEpsilon)
{
if (mRootPosLeftRightFoot)
{
mAnim.SetIKPosition(AvatarIKGoal.LeftFoot, mAnim.GetIKPosition(AvatarIKGoal.LeftFoot) + mRightFoot.mUpVector * mCurrentRootVertError);
mAnim.SetIKPosition(AvatarIKGoal.RightFoot, mAnim.GetIKPosition(AvatarIKGoal.RightFoot) + mRightFoot.mUpVector * mCurrentRootVertError);
mAnim.SetIKPosition(AvatarIKGoal.LeftHand, mAnim.GetIKPosition(AvatarIKGoal.LeftHand) + mRightFoot.mUpVector * mCurrentRootVertError);
mAnim.SetIKPosition(AvatarIKGoal.RightHand, mAnim.GetIKPosition(AvatarIKGoal.RightHand) + mRightFoot.mUpVector * mCurrentRootVertError);
}
else
{
mAnim.SetIKPosition(AvatarIKGoal.LeftFoot, mAnim.GetIKPosition(AvatarIKGoal.LeftFoot) + mRightFoot.mUpVector * mCurrentRootVertError);
mAnim.SetIKPosition(AvatarIKGoal.RightFoot, mAnim.GetIKPosition(AvatarIKGoal.RightFoot) + mRightFoot.mUpVector * mCurrentRootVertError);
mAnim.SetIKPosition(AvatarIKGoal.LeftHand, mAnim.GetIKPosition(AvatarIKGoal.LeftHand) + mRightFoot.mUpVector * mCurrentRootVertError);
mAnim.SetIKPosition(AvatarIKGoal.RightHand, mAnim.GetIKPosition(AvatarIKGoal.RightHand) + mRightFoot.mUpVector * mCurrentRootVertError);
}
}
}
}
