private void OffsetFoot(int limbIndex)
{
//Offsets foot by basically taking half a step
FootIKTarget footIKTarget = footIKTargets[limbIndex];
Vector3 referencePosition = stableFeetPositions[limbIndex];
//Decide where to step
RaycastHit nextStep;
Vector3 raycastOrigin = referencePosition + transform.forward * stepStride / 2 + transform.up * 100;
bool foundStep = Physics.Raycast(raycastOrigin, Vector3.down, out nextStep);
if (!foundStep)
{
return;
}
footIKTarget.position = nextStep.point;
BodyControl();
}
private void MoveFoot(int limbIndex, float time)
{
FootIKTarget footIKTarget = footIKTargets[limbIndex]; // select the foot we are trying to control
Vector3 referencePosition = stableFeetPositions[limbIndex]; // get the grounded position of that foot
//Decide where to step using raycast
RaycastHit nextStep;
Vector3 raycastOrigin = referencePosition + transform.forward * stepStride + transform.up * 100;
bool foundStep = Physics.Raycast(raycastOrigin, Vector3.down, out nextStep);
if (nextStep.point.y - referencePosition.y > maxStepHeight)
{
raycastOrigin = referencePosition + transform.up * stepStride - transform.forward * 100;
foundStep = Physics.Raycast(raycastOrigin, transform.forward, out nextStep);
}
if (!foundStep)
{
return;
}
/****NOTE!!! The rest of this function is just to control the animation. I did a lot of work to get a nice animation which you can AVOID!****/
/***You could just use Vector3.MoveTowards() to move the feet like in the simpler alternative I worte below to save you from a lot of trouble****/
//*** The simpler alternative code *** P.S. I didn't design the system for this, so the animation looks a bit weird, but technically, it works!
//if (time > 0)
//{
// if (time < 0.1f)
// {
// footIKTarget.position = referencePosition + Vector3.up * 0.2f;
// }
// else
// {
// footIKTarget.position = Vector3.MoveTowards(footIKTarget.position, nextStep.point, Time.deltaTime * 5);
// if (time == 1) footIKTarget.position = nextStep.point;
// }
//}
//*** The more complex but better looking animation code ***///
//Obtain the non-animated world step
Vector3 worldStepVector = nextStep.point - referencePosition;
float horizontalStepMagnitude = new Vector2(worldStepVector.x, worldStepVector.z).magnitude;
//Convert world step vector to a local step vector with local forward direction as reference forward direction
float stepAngleOffset = Vector2.SignedAngle(new Vector2(worldStepVector.x, worldStepVector.z),
new Vector2(transform.forward.x, transform.forward.z));
Vector3 localStepVector = new Vector3(Mathf.Sin(stepAngleOffset * Mathf.Deg2Rad) * horizontalStepMagnitude,
worldStepVector.y, Mathf.Cos(stepAngleOffset * Mathf.Deg2Rad) * horizontalStepMagnitude);
//Sample animation curves taking note of the limb side. *The animation curves are designed with the world forward direction as reference forward direction
int sideSign = footIKTarget.limbSide == LimbSide.Left ? 1 : -1;
Vector3 stepProgress = new Vector3(stepCurveX.Evaluate(time) * sideSign, stepCurveY.Evaluate(time), stepCurveZ.Evaluate(time));
Vector3 stepOffset = new Vector3(stepOffsetCurveX.Evaluate(time) * sideSign, stepOffsetCurveY.Evaluate(time), stepOffsetCurveZ.Evaluate(time));
// The commented out code below simply enables the step spheres and lines you see in the video
//if (stepProgress.magnitude > 1.5f)
//{
//debugLine.SetPosition(0, raycastOrigin);
//debugLine.SetPosition(1, nextStep.point);
//debugSphere[0].gameObject.SetActive(true);
//debugSphere[0].position = nextStep.point;
//}
//if (t == 0 || t == 1)
//{
// debugSphere[limbIndex].gameObject.SetActive(true);
// debugSphere[limbIndex].position = footIKTargets[limbIndex].position;
//}
//compute the animated step vector from the local step vector
Vector3 animatedLocalStepVector = Vector3.Scale(localStepVector, stepProgress) + stepOffset;
float animatedHorizontalStepMagnitude = new Vector2(animatedLocalStepVector.x, animatedLocalStepVector.z).magnitude;
float animationAngleOffset = Vector2.SignedAngle(new Vector2(animatedLocalStepVector.x, animatedLocalStepVector.z),
new Vector2(localStepVector.x, localStepVector.z));
//Obtain the angle between the world forward direction and the local forward direction
float forwardAngleOffset = Vector2.SignedAngle(new Vector2(transform.forward.x, transform.forward.z), Vector2.up);
float totalAngleOffset = stepAngleOffset + animationAngleOffset + forwardAngleOffset;
Vector3 animatedWorldStepVector = new Vector3(Mathf.Sin(totalAngleOffset * Mathf.Deg2Rad) * animatedHorizontalStepMagnitude,
animatedLocalStepVector.y, Mathf.Cos(totalAngleOffset * Mathf.Deg2Rad) * animatedHorizontalStepMagnitude);
footIKTarget.position = referencePosition + animatedWorldStepVector;
BodyControl();
}
