//TODO: make generating the timings somewhat automated
public void ScheduleContact(bool rightHand, IKTiming[] timings, float duration)
{
IKSegment[] chain = (rightHand ? right : left);
IKEndEffector eff = (rightHand ? RightEffector : LeftEffector);
//just to be sure things are in the right order
timings = timings.OrderBy(x => x.Timing).ToArray();
List<Quaternion[]> goals = new List<Quaternion[]>();
//calculate orientations
for(int i = 0; i < timings.Length; i++) {
Quaternion[] result;
if (IKResolve.CCD(chain, eff, timings[i].Target, out result)) {
goals.Add(result);
} else {
Debug.LogWarning("Unreachable goal");
return;
}
}
UnityEngine.Assertions.Assert.IsTrue(goals.Count == timings.Length);
//schedule
StartCoroutine(ScheduleIK(chain, timings, goals, duration));
}
IEnumerator ScheduleIK(IKSegment[] chain, IKTiming[] timings, List<Quaternion[]> rotations, float duration)
{
float lastTiming = 0;
for(int i = 0; i < timings.Length; i++) {
float revert = 0f;
float reach = (timings[i].Timing - lastTiming) * duration;
if (i == timings.Length - 1) {
revert = (1 - timings[i].Timing) * duration;
}
for (int seg = 0; seg < chain.Length; seg++) {
chain[seg].SetTargetRotation(rotations[i][seg]);
StartCoroutine(ScheduleIK(chain[seg], reach, 0, revert, 0));
}
lastTiming = timings[i].Timing;
yield return new WaitForSeconds(reach);
if(timings[i].GrabTarget) {
chain[chain.Length - 1].Grab(timings[i].Target);
}
}
}