private void Awake()
{
locomotionState = LocomotionState.StandingStill;
leftLegFootStates = leftLegEndEffector.GetComponent <FootStates>();
rightLegFootStates = rightLegEndEffector.GetComponent <FootStates>();
}
public void update(FootTransitionEvents transitionEvent)
{
string debug = " " + this.type.ToString() + ": " + state.ToString() + " --> ";
if (state == FootStates.ON_THE_FLOOR)
{
if (transitionEvent == FootTransitionEvents.ELEVATING)
{
state = FootStates.RAISED_UP;
}
}
else if (state == FootStates.RAISED_UP)
{
if (transitionEvent == FootTransitionEvents.MAX_REACHED)
{
state = FootStates.RAISED_DOWN;
}
}
else if (state == FootStates.RAISED_DOWN)
{
if (transitionEvent == FootTransitionEvents.RESTING_DOWN)
{
state = FootStates.ON_THE_FLOOR;
}
}
printDebug(debug + state.ToString());
}
public WipFoot(Type type)
{
this.type = type;
Y = 0.0f;
dY = 0.0f;
dv = 0.0f;
lastStepTime = 0;
_lastVelocity = 0.0f;
numSteps = 0;
velocity = 0.0f;
supportedBetweenSteps = false;
state = FootStates.ON_THE_FLOOR;
OutputEnabled = false;
}
private void Start()
{
bCurveFootTrajectory = curveTrajectory.GetComponent <BezierCurveFootTrajectory>();
controlPoints[0] = curveTrajectory.transform.GetChild(0).gameObject;
controlPoints[1] = curveTrajectory.transform.GetChild(1).gameObject;
controlPoints[2] = curveTrajectory.transform.GetChild(2).gameObject;
controlPoints[3] = curveTrajectory.transform.GetChild(3).gameObject;
isGroundedRayLength = GetComponent <SphereCollider>().radius;
footStates = GetComponent <FootStates>();
footPlacement = spine.GetComponent <Placement>();
bCurveFollower = target.GetComponent <BezierCurveFollower>();
footStates.footState = FootStates.FootState.onStart;
}
private void Start()
{
legLocomotionScript = spine.GetComponent <LegLocomotionPlacement3D>();
bCurveFootTrajectory = curveTrajectory.GetComponent <BezierTrajectoryBubble3D>();
controlPoints[0] = curveTrajectory.transform.GetChild(0).gameObject;
controlPoints[1] = curveTrajectory.transform.GetChild(1).gameObject;
controlPoints[2] = curveTrajectory.transform.GetChild(2).gameObject;
controlPoints[3] = curveTrajectory.transform.GetChild(3).gameObject;
isGroundedRayLength = 0.4f;
footStates = GetComponent <FootStates>();
footPlacement = spine.GetComponent <Placement>();
bCurveFollower = target.GetComponent <BezierCurveFollower>();
footStates.footState = FootStates.FootState.onStart;
}
//gait locomotion phases - used as the logic cycle for driving the biped walk
void Step()
{
switch (footStates.footState)
{
case FootStates.FootState.onStart:
break;
case FootStates.FootState.Attach:
footStates.footState = FootStates.FootState.Support;
break;
case FootStates.FootState.Support:
PivotHipsAround();
break;
case FootStates.FootState.PreExit:
break;
case FootStates.FootState.Exit:
isGrounded = false;
PositionBezierPoints();
footStates.footState = FootStates.FootState.Swing;
break;
case FootStates.FootState.Swing:
if (Vector3.Distance(transform.position, controlPoints[3].transform.position) < 1f)
{
if (this.gameObject == leftFoot)
{
FootStates otherFootScript = rightFoot.GetComponent <FootStates>();
otherFootScript.footState = FootStates.FootState.Exit;
}
else if (this.gameObject == rightFoot)
{
FootStates otherFootScript = leftFoot.GetComponent <FootStates>();
otherFootScript.footState = FootStates.FootState.Exit;
}
CheckGrounded();
}
break;
}
}
