protected virtual void UpdateUpperLeg(LegSensor legSensor)
{
if (footTarget.upperLeg.target.transform != null)
{
if (legSensor.upperLeg.confidence.position > 0)
{
footTarget.upperLeg.target.transform.position = HumanoidTarget.ToVector3(legSensor.upperLeg.position);
}
//else
// footTarget.upperLeg.target.transform.position = footTarget.shoulder.target.transform.position + footTarget.shoulder.target.transform.rotation * footTarget.outward * footTarget.shoulder.bone.length;
if (legSensor.upperLeg.confidence.rotation > 0)
{
footTarget.upperLeg.target.transform.rotation = HumanoidTarget.ToQuaternion(legSensor.upperLeg.rotation);
}
footTarget.upperLeg.target.confidence = legSensor.upperLeg.confidence;
}
}
protected virtual void UpdateFoot(LegSensor legSensor)
{
if (footTarget.foot.target.transform != null)
{
if (legSensor.foot.confidence.position > 0)
{
footTarget.foot.target.transform.position = HumanoidTarget.ToVector3(legSensor.foot.position);
}
else
{
footTarget.foot.target.transform.position = footTarget.lowerLeg.target.transform.position + footTarget.lowerLeg.target.transform.rotation * Vector3.down * footTarget.lowerLeg.bone.length;
}
if (legSensor.foot.confidence.rotation > 0)
{
footTarget.foot.target.transform.rotation = HumanoidTarget.ToQuaternion(legSensor.foot.rotation);
}
footTarget.foot.target.confidence = legSensor.foot.confidence;
}
}
private void UpdateArmIK(ArmSensor armSensor)
{
Vector3 handTargetPosition = handTarget.hand.target.transform.position;
Quaternion handTargetRotation = handTarget.hand.target.transform.rotation;
Vector3 forearmUpAxis = HumanoidTarget.ToQuaternion(armSensor.upperArm.rotation) * Vector3.up;
if (handTarget.upperArm.target.confidence.rotation < 0.9F)
{
handTarget.upperArm.target.transform.rotation = ArmMovements.UpperArmRotationIK(handTarget.upperArm.target.transform.position, handTargetPosition, forearmUpAxis, handTarget.upperArm.target.length, handTarget.forearm.target.length, handTarget.isLeft);
handTarget.upperArm.target.confidence = armSensor.upperArm.confidence;
}
if (handTarget.forearm.target.confidence.rotation < 0.9F)
{
handTarget.forearm.target.transform.rotation = ArmMovements.ForearmRotationIK(handTarget.forearm.target.transform.position, handTargetPosition, forearmUpAxis, handTarget.isLeft);
handTarget.forearm.target.confidence = armSensor.forearm.confidence;
}
handTarget.hand.target.transform.rotation = handTargetRotation;
handTarget.hand.target.confidence.rotation = armSensor.hand.confidence.rotation;
}
protected virtual void UpdateJaw(FaceTarget.TargetedJawBone jaw)
{
jaw.target.transform.localRotation = HumanoidTarget.ToQuaternion(jaw.target.rotation);
}
