/// <summary>
///
/// </summary>
/// <param name="legs"></param>
/// <param name="motions"></param>
/// <param name="minPathTime"></param>
/// <param name="pointSpeeds"></param>
/// <param name="transform"></param>
/// <param name="cycleTimestep"></param>
/// <param name="gaitPointsIn"></param>
public void ComputePositions(List <WalkController.LegData> legs, Motion[] motions, float minPathTime, float[] pointSpeeds, Transform transform, float cycleTimestep, WalkController.Point[] gaitPointsIn)
{
for (int i = 0; i < legs.Count; i++)
{
WalkController.LegData leg = legs[i];
//Difference between the previous gait position and where it would be on the new motion but at the current timestep
leg.gaitError.position += Util.FlattenY(leg.gaitPoint.position - gaitPointsIn[i].position);
leg.gaitError.angle += leg.gaitPoint.angle - gaitPointsIn[i].angle;
//The gait position on the new motion path updated by the current timestep
leg.gaitPoint = ComputePointPosition(_channels[i], leg.point, motions[i], minPathTime, pointSpeeds[i], transform);
if (_channels[i].IsStriding)
{
leg.finalPoint.position = leg.gaitPoint.position + leg.gaitError.position;
leg.finalPoint.angle = leg.gaitPoint.angle + leg.gaitError.angle;
Debug.DrawRay(transform.TransformPoint(leg.gaitPoint.position), transform.TransformDirection(leg.gaitError.position), new Color(0.75f, 0.75f, 0.75f));
float timeRemaining = _channels[i].StrideDurationRemaining();
if (timeRemaining > 0.0f)
{
float spd = Mathf.Min(leg.gaitError.position.magnitude * (cycleTimestep / timeRemaining), 0.005f);
float spdA = Mathf.Min(Mathf.Abs(leg.gaitError.angle) * (cycleTimestep / timeRemaining), 0.5f);
leg.gaitError.position = Vector3.MoveTowards(leg.gaitError.position, Vector3.zero, spd);
leg.gaitError.angle = Mathf.MoveTowards(leg.gaitError.angle, 0.0f, spdA);
}
}
}
}
/// <summary>
/// Checks all of the legs to see which have completed their strides. Uses raycasts against collision objects to perform these checks
/// </summary>
/// <param name="legs">The final positions of all legs</param>
/// <param name="transform">The transform to use to convert the local leg positions in to world positions</param>
public void CheckForStridesComplete(List <WalkController.LegData> legs, Transform transform)
{
_anyChannelsStriding = false;
_fOverrun = 0.0f;
for (int i = 0; i < legs.Count; i++)
{
WalkController.LegData leg = legs[i];
bool bEnded = false;
_fOverrun = Mathf.Max(_channels[i].CheckForStrideComplete(transform.TransformPoint(leg.finalPoint.position), out bEnded), _fOverrun);
if (bEnded)
{
leg.gaitError = new WalkController.Point(Vector3.zero, 0.0f);
}
else if (_channels[i].IsStriding)
{
_anyChannelsStriding = true;
}
}
if (!_anyChannelsStriding)
{
ApplyQueuedGait();
}
}
/// <summary>
/// Checks all of the legs to see which should start their next strides
/// </summary>
/// <param name="legs">The final points and gait points of all legs (sets gaitError)</param>
public void CheckForNewStrides(List <WalkController.LegData> legs)
{
//If there is a queued gait then we want the current gait to end completely first,
//And we don't want new strides to start if any are overrunning
if ((_queuedGait == null) && (_fOverrun == 0.0f))
{
for (int i = 0; i < _channels.Length; i++)
{
WalkController.LegData leg = legs[i];
//Attempt to start the next stride
if (_channels[i].AttemptNextStride(_cycleTime))
{
leg.gaitError.position = Util.FlattenY(leg.finalPoint.position - leg.gaitPoint.position);
leg.gaitError.angle = leg.finalPoint.angle - leg.gaitPoint.angle;
}
}
}
}
