public Leg(IKSolverFullBodyBiped solver, PuppetMaster puppetMaster, FullBodyBipedEffector effectorType)
{
this.solver = solver;
effector = solver.GetEffector(effectorType);
chain = solver.GetChain(effectorType);
stepFrom = effector.bone.position;
stepTo = effector.bone.position;
position = effector.bone.position;
offset = effectorType == FullBodyBipedEffector.LeftFoot? Vector3.left: Vector3.right;
stepTimer = 0f;
stepLength = 0f;
muscle = puppetMaster.GetMuscle(effector.bone);
thighMuscle = puppetMaster.GetMuscle(chain.nodes[0].transform);
mass = muscle.rigidbody.mass;
inertiaTensor = muscle.rigidbody.inertiaTensor;
}
public static bool AddPropMuscle(PuppetMaster script, ConfigurableJoint addPropMuscleTo, Vector3 position, Quaternion rotation, Vector3 additionalPinOffset, Transform targetParent = null)
{
var serializedObject = new SerializedObject(script);
if (addPropMuscleTo != null)
{
bool isFlat = script.HierarchyIsFlat();
var addToMuscle = script.GetMuscle(addPropMuscleTo);
if (addToMuscle != null)
{
GameObject go = new GameObject("Prop Muscle " + addPropMuscleTo.name);
go.layer = addPropMuscleTo.gameObject.layer;
go.transform.parent = isFlat ? script.transform : addPropMuscleTo.transform;
go.transform.position = position;
go.transform.rotation = rotation;
var r = go.AddComponent <Rigidbody>();
GameObject target = new GameObject("Prop Muscle Target " + addPropMuscleTo.name);
target.gameObject.layer = addToMuscle.target.gameObject.layer;
target.transform.parent = targetParent == null ? addToMuscle.target : targetParent;
target.transform.position = go.transform.position;
target.transform.rotation = go.transform.rotation;
var joint = go.AddComponent <ConfigurableJoint>();
joint.connectedBody = addToMuscle.joint.gameObject.GetComponent <Rigidbody>();
joint.xMotion = ConfigurableJointMotion.Locked;
joint.yMotion = ConfigurableJointMotion.Locked;
joint.zMotion = ConfigurableJointMotion.Locked;
joint.angularXMotion = ConfigurableJointMotion.Locked;
joint.angularYMotion = ConfigurableJointMotion.Locked;
joint.angularZMotion = ConfigurableJointMotion.Locked;
r.interpolation = joint.connectedBody.interpolation;
int newLength = script.muscles.Length + 1;
int newMuscleIndex = newLength - 1;
SerializedProperty muscles = serializedObject.FindProperty("muscles");
muscles.InsertArrayElementAtIndex(newMuscleIndex);
muscles.GetArrayElementAtIndex(newMuscleIndex).FindPropertyRelative("index").intValue = newMuscleIndex;
muscles.GetArrayElementAtIndex(newMuscleIndex).FindPropertyRelative("joint").objectReferenceValue = joint;
muscles.GetArrayElementAtIndex(newMuscleIndex).FindPropertyRelative("target").objectReferenceValue = target.transform;
muscles.GetArrayElementAtIndex(newMuscleIndex).FindPropertyRelative("props").FindPropertyRelative("group").intValue = 8;
muscles.GetArrayElementAtIndex(newMuscleIndex).FindPropertyRelative("isPropMuscle").boolValue = true;
serializedObject.ApplyModifiedProperties();
var propMuscle = joint.gameObject.AddComponent <PropMuscle>();
var propMuscleS = new SerializedObject(propMuscle);
propMuscleS.FindProperty("puppetMaster").objectReferenceValue = script;
propMuscleS.FindProperty("additionalPinOffset").vector3Value = additionalPinOffset;
propMuscleS.ApplyModifiedProperties();
if (additionalPinOffset != Vector3.zero)
{
propMuscleS.Update();
ConfigurableJoint additionalJoint = null;
Transform additionalTarget = null;
PropMuscleInspector.AddAdditionalPinUnserialized(propMuscle, out additionalJoint, out additionalTarget);
muscles.GetArrayElementAtIndex(newMuscleIndex).FindPropertyRelative("additionalPin").objectReferenceValue = additionalJoint;
muscles.GetArrayElementAtIndex(newMuscleIndex).FindPropertyRelative("additionalPinTarget").objectReferenceValue = additionalTarget;
propMuscleS.ApplyModifiedProperties();
}
serializedObject.ApplyModifiedProperties();
// TODO Do not add if addPropMuscleTo already has a PropMuscle
return(true);
}
else
{
Debug.LogError("Can't add Prop Muscle to a ConfigurableJoint that is not in the list of PuppetMaster.muscles.", script.transform);
return(false);
}
}
else
{
Debug.LogError("Please assign the ConfigurableJoint of the muscle you wish to add the Prop Muscle to.", script.transform);
return(false);
}
}
