// Stickman rigidbody configuration
//
// 0 : pelvis
// 1 : spine 2
// 2 : spine 3
// 3 : UpperArm Left
// 4 : LowerArm Left
// 5 : UpperArm Right
// 6 : LowerArm Right
// 7 : Head
// 8 : Thigh Left
// 9 : Calf Left
// 10 : Thigh Right
// 11 : Calf Right
RagdollProfile SetRagdollProfile(Profile prof)
{
RagdollProfile thisProf = new RagdollProfile();
if (slaveRigidbodies.Length != 12)
{
Debug.LogError("There are not 12 rigidboides in ragdoll. You must assign Profiles manually..");
return(thisProf);
}
switch (prof)
{
case Profile.Default:
case Profile.Dundee:
// The ranges are not set in stone. Feel free to extend the ranges
thisProf.maxTorque = 100f; // Limits the world space torque
thisProf.maxForce = 10f; // Limits the force
thisProf.maxJointTorque = 700f; // Limits the force
//thisProf.maxTorqueProfile = new List<float> { 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f }; // Individual limits per limb
//thisProf.maxForceProfile = new List<float> { 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f };
thisProf.maxJointTorqueProfile = new List <float> {
1f, 1f, 1f, .3f, .3f, .3f, .3f, 1f, 1f, 1f, 1f, 1f
};
thisProf.PTorque = 0.3f; // For all limbs Torque strength
thisProf.PForce = 20f;
thisProf.DTorque = 0.002f; // Derivative multiplier to PD controller
thisProf.DForce = 0.02f;
// public float[] PTorqueProfile = {20f, 30f, 10f, 30f, 10f, 30f, 30f, 30f, 10f, 30f, 10f}; // Per limb world space torque strength
thisProf.PTorqueProfile = new List <float> {
20f, 30f, 10f, 30f, 10f, 30f, 30f, 30f, 30f, 10f, 30f, 10f
}; // Per limb world space torque strength
//thisProf.PForceProfile = new List<float> { 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f, 0.5f, 0.3f, 0.5f, 0.3f };
thisProf.PForceProfile = new List <float> {
1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f
};
thisProf.followRateProfile = new List <float> {
1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f, 1f
};
// The ranges are not set in stone. Feel free to extend the ranges
thisProf.angularDrag = 50f; // Rigidbodies angular drag. Unitys parameter
thisProf.drag = 0.2f; // Rigidbodies drag. Unitys parameter
break;
case Profile.Manual:
break;
}
return(thisProf);
}
[Range(0f, 1f)] public float ragdollToFollower = 1f; //RagdollMovement script will change this value when player is airborne or falls collide etc. in order to go full ragdoll or animation follower
#endregion
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// <summary>
/// AWAKE
/// Assign profiles
/// rigidbodies
/// local and world transforms
/// if something is not right set needToAssignStuff to false and return
///
/// </summary>
private void Awake()
{
reciprocalFixedDeltaTime = 1f / Time.fixedDeltaTime; // Cache the reciprocal
if (!master)
{
UnityEngine.Debug.LogWarning("master not assigned in AnimFollow script on " + this.name + "\n");
//Try to assign manually
bool found = false;
foreach (Transform tmpMaster in this.transform.parent.GetComponentInChildren <Transform>())
{
if (tmpMaster.name.ToLower().Contains("master"))
{
master = tmpMaster.gameObject;
found = true;
break;
}
}
if (!found)
{
UnityEngine.Debug.LogError("Could not found master in " + this.name + "\n");
}
else
{
UnityEngine.Debug.LogWarning("master " + master.name + "assigned manually in " + this.name + " could be wrong\n");
}
}
else if (hideMaster) //master needed some time for debugging
{
SkinnedMeshRenderer visible;
MeshRenderer visible2;
if (visible = master.GetComponentInChildren <SkinnedMeshRenderer>())
{
visible.enabled = false;
SkinnedMeshRenderer[] visibles;
visibles = master.GetComponentsInChildren <SkinnedMeshRenderer>();
foreach (SkinnedMeshRenderer visiblen in visibles)
{
visiblen.enabled = false;
}
}
if (visible2 = master.GetComponentInChildren <MeshRenderer>())
{
visible2.enabled = false;
MeshRenderer[] visibles2;
visibles2 = master.GetComponentsInChildren <MeshRenderer>();
foreach (MeshRenderer visiblen2 in visibles2)
{
visiblen2.enabled = false;
}
}
}
slaveTransforms = GetComponentsInChildren <Transform>(); // Get all transforms in ragdoll. THE NUMBER OF TRANSFORMS MUST BE EQUAL IN RAGDOLL AS IN MASTER!
masterTransforms = master.GetComponentsInChildren <Transform>(); // Get all transforms in master.
if (!(masterTransforms.Length == slaveTransforms.Length))
{
UnityEngine.Debug.LogError(this.name + " does not have a valid master.\nMaster transform count does not equal slave transform count." + "\n");
}
slaveRigidbodies = GetComponentsInChildren <Rigidbody>();
int rigidCount = slaveRigidbodies.Length;
myProfile = SetRagdollProfile(ragdollProfile);
System.Array.Resize(ref masterRigidbodies, rigidCount);
System.Array.Resize(ref forceErrorWeightProfile, rigidCount);
System.Array.Resize(ref torqueLastError, rigidCount);
System.Array.Resize(ref forceLastError, rigidCount);
System.Array.Resize(ref startLocalRotation, rigidCount);
System.Array.Resize(ref configurableJoints, rigidCount);
System.Array.Resize(ref localToJointSpace, rigidCount);
System.Array.Resize(ref rigidbodiesPosToCOM, rigidCount);
System.Array.Resize(ref lastRigibbodyPositions, rigidCount);
int currentJoint = 0;
int configurableCount = 0;
int currentTransform = 0;
foreach (Transform slaveTransform in slaveTransforms) // Sort the transform arrays
{
if (slaveTransform.GetComponent <Rigidbody>())
{
masterRigidbodies[currentJoint] = masterTransforms[currentTransform];
lastRigibbodyPositions[currentJoint] = slaveTransform.GetComponent <Rigidbody>().worldCenterOfMass;
if (slaveTransform.GetComponent <ConfigurableJoint>())
{
configurableJoints[currentJoint] = slaveTransform.GetComponent <ConfigurableJoint>();
Vector3 forward = Vector3.Cross(configurableJoints[currentJoint].axis, configurableJoints[currentJoint].secondaryAxis);
Vector3 up = configurableJoints[currentJoint].secondaryAxis;
localToJointSpace[currentJoint] = Quaternion.LookRotation(forward, up);
startLocalRotation[currentJoint] = slaveTransform.localRotation * localToJointSpace[currentJoint];
jointDrive = configurableJoints[currentJoint].slerpDrive;
//jointDrive.mode = JointDriveMode.Position;
configurableJoints[currentJoint].slerpDrive = jointDrive;
configurableCount++;
}
else if (currentJoint > 0)
{
UnityEngine.Debug.LogWarning("Rigidbody " + slaveTransform.name + " on " + this.name + " is not connected to a configurable joint" + "\n");
}
Quaternion rot = slaveTransform.rotation;
rot.eulerAngles = new Vector3(rot.eulerAngles.x * 1, rot.eulerAngles.y * -1, rot.eulerAngles.z * -1);
if (slaveTransform.name.ToLower().Contains("thigh") || slaveTransform.name.ToLower().Contains("calf"))
{
rigidbodiesPosToCOM[currentJoint] = Quaternion.Inverse(rot) * (slaveRigidbodies[currentJoint].worldCenterOfMass - slaveTransform.position); //* (slaveTransform.position - slaveRigidbodies[currentJoint].worldCenterOfMass);
}
else
{
rigidbodiesPosToCOM[currentJoint] = Quaternion.Inverse(slaveTransform.rotation) * (slaveRigidbodies[currentJoint].worldCenterOfMass - slaveTransform.position);
}
currentJoint++;
}
currentTransform++;
}
if (slaveRigidbodies.Length == 0)
{
UnityEngine.Debug.LogError("There are no rigid body components on the ragdoll " + this.name + "\n");
}
else if (configurableCount == 0)
{
UnityEngine.Debug.LogError("There are no configurable joints on the ragdoll " + this.name + "\nDrag and drop the ReplaceJoints script on the ragdoll." + "\n");
}
else
{
SetJointTorque(myProfile.maxJointTorque);
JointsLimited(false);
}
}
