public Leg(IKSolverFullBodyBiped solver, PuppetMaster puppetMaster, FullBodyBipedEffector effectorType)
{
this.solver = solver;
effector = solver.GetEffector(effectorType);
chain = solver.GetChain(effectorType);
stepFrom = effector.bone.position;
stepTo = effector.bone.position;
position = effector.bone.position;
offset = effectorType == FullBodyBipedEffector.LeftFoot? Vector3.left: Vector3.right;
stepTimer = 0f;
stepLength = 0f;
muscle = puppetMaster.GetMuscle(effector.bone);
thighMuscle = puppetMaster.GetMuscle(chain.nodes[0].transform);
mass = muscle.rigidbody.mass;
inertiaTensor = muscle.rigidbody.inertiaTensor;
}
public void Apply(FullBodyBipedChain chain, IKSolverFullBodyBiped solver)
{
solver.GetChain(chain).reachSmoothing = this.reachSmoothing;
solver.GetEndEffector(chain).maintainRelativePositionWeight = this.maintainRelativePositionWeight;
solver.GetLimbMapping(chain).weight = this.mappingWeight;
}