// Initiating the pelvis
public void Initiate(Grounding grounding)
{
this.grounding = grounding;
initiated = true;
OnEnable();
}
// Gets the direction from the root to the foot (ortho-normalized to root.up)
private Vector3 GetLegSpineTangent(Grounding.Leg leg) {
Vector3 tangent = leg.transform.position - solver.root.position;
if (!solver.rotateSolver || solver.root.up == Vector3.up) return new Vector3(tangent.x, 0f, tangent.z);
Vector3 normal = solver.root.up;
Vector3.OrthoNormalize(ref normal, ref tangent);
return tangent;
}
// Initiates the Leg
public void Initiate(Grounding grounding, Transform transform) {
initiated = false;
this.grounding = grounding;
this.transform = transform;
up = Vector3.up;
initiated = true;
OnEnable();
}
// Initiates the Leg
public void Initiate(Grounding grounding, Transform transform)
{
initiated = false;
this.grounding = grounding;
this.transform = transform;
initiated = true;
OnEnable();
}
public void Initiate(Grounding grounding, Transform transform)
{
this.initiated = false;
this.grounding = grounding;
this.transform = transform;
this.up = Vector3.up;
this.initiated = true;
this.OnEnable();
}
public void Initiate(Grounding grounding, Transform transform)
{
this.initiated = false;
this.grounding = grounding;
this.transform = transform;
this.up = Vector3.up;
this.IKPosition = transform.position;
this.rotationOffset = Quaternion.identity;
this.initiated = true;
this.OnEnable();
}
// Initiates the Leg
public void Initiate(Grounding grounding, Transform transform)
{
initiated = false;
this.grounding = grounding;
this.transform = transform;
up = Vector3.up;
IKPosition = transform.position;
initiated = true;
OnEnable();
}
// Gets the bend direction for a foot
private Vector3 GetLegSpineBendVector(Grounding.Leg leg) {
Vector3 spineTangent = GetLegSpineTangent(leg);
float dotF = (Vector3.Dot(solver.root.forward, spineTangent.normalized) + 1) * 0.5f;
float w = (leg.IKPosition - leg.transform.position).magnitude;
return spineTangent * w * dotF;
}
// Set the effector positionOffset for the foot
private void SetLegIK(IKEffector effector, Grounding.Leg leg) {
effector.positionOffset += (leg.IKPosition - effector.bone.position) * weight;
effector.bone.rotation = Quaternion.Slerp(Quaternion.identity, leg.rotationOffset, weight) * effector.bone.rotation;
}
// Initiating the pelvis
public void Initiate(Grounding grounding) {
this.grounding = grounding;
initiated = true;
OnEnable();
}
public static void Visualize(Grounding grounding, Transform root, Transform foot)
{
Handles.SphereCap(0, foot.position + root.forward * grounding.footCenterOffset, root.rotation, grounding.footRadius * 2f);
}
} // 0x00000001802466A0-0x00000001802466B0
// Methods
public void Initiate(Grounding grounding)
{
} // 0x00000001809C3120-0x00000001809C31A0
} // 0x00000001809C2990-0x00000001809C2A40
// Methods
public void Initiate(Grounding grounding, Transform transform)
{
} // 0x00000001809C1010-0x00000001809C1150
