public static void ScaleToLimits(ref CharacterMuscleOutput o, CharacterMuscleLimits l)
{
// linear motion, meters
o.ShoulderLPitch *= l.ShoulderPitch;
o.ShoulderRPitch *= l.ShoulderPitch;
// angular motion, degrees
o.ArmLUpperPitch *= l.ArmUpperPitch;
o.ArmRUpperPitch *= l.ArmUpperPitch;
o.ArmLUpperRoll *= l.ArmUpperRoll;
o.ArmRUpperRoll *= l.ArmUpperRoll;
o.ArmLLowerPitch *= l.ArmLowerPitch;
o.ArmRLowerPitch *= l.ArmLowerPitch;
o.ArmLClose *= l.ArmClose;
o.ArmRClose *= l.ArmClose;
o.LegLUpperPitch *= l.LegUpperPitch;
o.LegRUpperPitch *= l.LegUpperPitch;
o.LegLUpperRoll *= l.LegUpperRoll;
o.LegRUpperRoll *= l.LegUpperRoll;
o.LegLUpperClose *= l.LegUpperClose;
o.LegRUpperClose *= l.LegUpperClose;
o.LegLLowerPitch *= l.LegLowerPitch;
o.LegRLowerPitch *= l.LegLowerPitch;
o.TorsoPitch *= l.TorsoPitch;
o.TorsoRoll *= l.TorsoRoll;
o.TorsoYaw *= l.TorsoYaw;
}
private void AnimateParachute(ParachuteInput input, CharacterMuscleLimits limits, CharacterParts parts)
{
CharacterMuscleOutput o = new CharacterMuscleOutput();
Vector2 lineInput = Max(input.Brakes, input.FrontRisers, input.RearRisers);
/* Todo: Lower body has to try and cancel out oscillations about harness pivot
* I suspect that if we can get a rough version of this going it'll be enough
*/
o.ArmLClose = -lineInput.x * 0.6f;
o.ArmRClose = lineInput.y * 0.6f;
o.LegLUpperPitch = Mathf.Abs(input.WeightShift.y) * 0.66f;
o.LegRUpperPitch = Mathf.Abs(input.WeightShift.y) * 0.66f;
o.LegLLowerPitch = input.WeightShift.y;
o.LegRLowerPitch = input.WeightShift.y;
o.LegLUpperClose -= input.WeightShift.x;
o.LegRUpperClose -= input.WeightShift.x;
o.TorsoPitch = -input.WeightShift.y;
o.TorsoRoll = input.WeightShift.x * 0.66f;
CharacterMuscleOutput.Clamp(ref o);
CharacterMuscleOutput.ScaleToLimits(ref o, limits);
CharacterMuscleOutput.ApplyPose(ref o, _parachutePose);
CharacterMuscleOutput.Output(ref o, parts);
}
public static void Output(ref CharacterMuscleOutput o, CharacterParts p)
{
p.LegLUpper.TargetRotation = Quaternion.Euler(o.LegLUpperPitch, o.LegLUpperRoll, o.LegLUpperClose);
p.LegRUpper.TargetRotation = Quaternion.Euler(o.LegRUpperPitch, o.LegRUpperRoll, o.LegRUpperClose);
p.LegLLower.TargetRotation = Quaternion.Euler(o.LegLLowerPitch, 0f, 0f);
p.LegRLower.TargetRotation = Quaternion.Euler(o.LegRLowerPitch, 0f, 0f);
p.ArmLUpper.TargetRotation = Quaternion.Euler(o.ArmLUpperPitch, o.ArmLUpperRoll, o.ArmLClose);
p.ArmRUpper.TargetRotation = Quaternion.Euler(o.ArmRUpperPitch, o.ArmRUpperRoll, o.ArmRClose);
p.ArmLLower.TargetRotation = Quaternion.Euler(o.ArmLLowerPitch, 0f, 0f);
p.ArmRLower.TargetRotation = Quaternion.Euler(o.ArmRLowerPitch, 0f, 0f);
p.Torso.TargetRotation = Quaternion.Euler(o.TorsoPitch, o.TorsoRoll, o.TorsoYaw);
p.ArmLUpper.TargetPosition = new Vector3(0f, 0f, o.ShoulderLPitch);
p.ArmRUpper.TargetPosition = new Vector3(0f, 0f, o.ShoulderRPitch);
}
public static void Clamp(ref CharacterMuscleOutput o)
{
o.ShoulderLPitch = Mathf.Clamp(o.ShoulderLPitch, -1f, 1f);
o.ShoulderRPitch = Mathf.Clamp(o.ShoulderRPitch, -1f, 1f);
o.ArmLUpperPitch = Mathf.Clamp(o.ArmLUpperPitch, -1f, 1f);
o.ArmRUpperPitch = Mathf.Clamp(o.ArmRUpperPitch, -1f, 1f);
o.ArmLUpperRoll = Mathf.Clamp(o.ArmLUpperRoll, -1f, 1f);
o.ArmRUpperRoll = Mathf.Clamp(o.ArmRUpperRoll, -1f, 1f);
o.ArmLClose = Mathf.Clamp(o.ArmLClose, -1f, 1f);
o.ArmRClose = Mathf.Clamp(o.ArmRClose, -1f, 1f);
o.LegLUpperPitch = Mathf.Clamp(o.LegLUpperPitch, -1f, 1f);
o.LegRUpperPitch = Mathf.Clamp(o.LegRUpperPitch, -1f, 1f);
o.LegLUpperRoll = Mathf.Clamp(o.LegLUpperRoll, -1f, 1f);
o.LegRUpperRoll = Mathf.Clamp(o.LegRUpperRoll, -1f, 1f);
o.LegLUpperClose = Mathf.Clamp(o.LegLUpperClose, -1f, 1f);
o.LegRUpperClose = Mathf.Clamp(o.LegRUpperClose, -1f, 1f);
o.TorsoPitch = Mathf.Clamp(o.TorsoPitch, -1f, 1f);
o.TorsoRoll = Mathf.Clamp(o.TorsoRoll, -1f, 1f);
o.TorsoYaw = Mathf.Clamp(o.TorsoYaw, -1f, 1f);
}
public static void ApplyPose(ref CharacterMuscleOutput o, PlayerPose p)
{
o.ShoulderLPitch += p.ShoulderPitch;
o.ShoulderRPitch += p.ShoulderPitch;
o.ArmLUpperPitch += p.ArmUpperPitch;
o.ArmRUpperPitch += p.ArmUpperPitch;
o.ArmLUpperRoll -= p.ArmUpperRoll;
o.ArmRUpperRoll += p.ArmUpperRoll;
o.ArmLLowerPitch += p.ArmLowerPitch;
o.ArmRLowerPitch += p.ArmLowerPitch;
o.ArmLClose -= p.ArmClose;
o.ArmRClose += p.ArmClose;
o.LegLLowerPitch += p.LegLowerPitch;
o.LegRLowerPitch += p.LegLowerPitch;
o.LegLUpperPitch += p.LegUpperPitch;
o.LegRUpperPitch += p.LegUpperPitch;
o.LegLUpperRoll -= p.LegUpperRoll;
o.LegRUpperRoll += p.LegUpperRoll;
o.LegLUpperClose += p.LegUpperSpread;
o.LegRUpperClose -= p.LegUpperSpread;
o.TorsoPitch += p.TorsoPitch;
}
private void AnimateWingsuit(CharacterInput input, CharacterMuscleLimits limits, CharacterParts parts)
{
PlayerPose.Lerp(ref _currentPose, _defaultPose, _curledPose, input.Cannonball);
float normalizedSpeed = Mathf.Clamp01(_target.RelativeVelocity.magnitude / _wingsuitStabilizerConfig.MaxSpeed);
input.CloseLeftArm += Mathf.Pow(normalizedSpeed, 1.5f) * 0.25f;
input.CloseRightArm += Mathf.Pow(normalizedSpeed, 1.5f) * 0.25f;
float pitchUp = Mathf.Min(0f, input.Pitch);
float pitchDown = Mathf.Min(0f, -input.Pitch);
CharacterMuscleOutput o = new CharacterMuscleOutput();
/* Transform user input into joint angle modifications. (still in unit values) */
o.ShoulderLPitch = input.Pitch + input.Roll - input.CloseLeftArm;
o.ShoulderRPitch = input.Pitch - input.Roll - input.CloseRightArm;
o.ArmLUpperPitch = input.Roll * 0.3f + pitchDown * 0f - input.CloseLeftArm * 0.5f;
o.ArmRUpperPitch = -input.Roll * 0.3f + pitchDown * 0f - input.CloseRightArm * 0.5f;
o.ArmLUpperRoll = -input.Pitch;
o.ArmRUpperRoll = input.Pitch;
o.ArmLLowerPitch = -input.Pitch * 1f + -input.Roll * 0.5f + input.CloseLeftArm * 0.0f;
o.ArmRLowerPitch = -input.Pitch * 1f + input.Roll * 0.5f + input.CloseRightArm * 0.0f;
o.ArmLClose = -input.CloseLeftArm * 1f + pitchDown * 1f + input.Roll * (input.Roll < 0f ? 1f : 0f);
o.ArmRClose = input.CloseRightArm * 1f - pitchDown * 1f + input.Roll * (input.Roll > 0f ? 1f : 0f);
o.LegLUpperPitch = pitchUp * 1.0f + Mathf.Pow(pitchDown, 2f) * 0.5f + input.Yaw * 0.25f;
o.LegRUpperPitch = pitchUp * 1.0f + Mathf.Pow(pitchDown, 2f) * 0.5f - input.Yaw * 0.25f;
o.LegLUpperRoll = input.Roll;
o.LegRUpperRoll = input.Roll;
o.LegLLowerPitch = pitchUp * 1f + Mathf.Pow(pitchDown, 2f) + input.Yaw * 1f;
o.LegRLowerPitch = pitchUp * 1f + Mathf.Pow(pitchDown, 2f) - input.Yaw * 1f;
o.TorsoPitch = pitchUp * 0.5f;
o.TorsoRoll = input.Roll * 1f + input.Yaw * 1f;
o.TorsoYaw = input.Yaw * 0.5f;
CharacterMuscleOutput.Clamp(ref o);
CharacterMuscleOutput.ScaleToLimits(ref o, limits);
CharacterMuscleOutput.ApplyPose(ref o, _currentPose);
/* Apply a specific stability effect to just the arms (Todo: move this elsewhere, make configurable) */
float armUpperPitchHeadingStability = 10f * Mathf.InverseLerp(15f, -5f, _target.AngleOfAttack);
o.ArmLUpperPitch += armUpperPitchHeadingStability;
o.ArmRUpperPitch += armUpperPitchHeadingStability;
float armLowerPitchHeadingStability = 15f * Mathf.InverseLerp(20f, -5f, _target.AngleOfAttack);
o.ArmLLowerPitch += armLowerPitchHeadingStability;
o.ArmRLowerPitch += armLowerPitchHeadingStability;
/* Apply user-configured pitch attitude offset */
o.TorsoPitch += limits.PitchAttitudeTorsoMax * _userConfig.PitchAttitude;
o.LegLUpperPitch += limits.PitchAttitudeLegsMax * _userConfig.PitchAttitude;
o.LegRUpperPitch += limits.PitchAttitudeLegsMax * _userConfig.PitchAttitude;
/* Send new targets to all the joints */
CharacterMuscleOutput.Output(ref o, parts);
}