private void Start()
{
menuAudio = GetComponent <AudioSource>();
LeftHand = new HandContact();
RightHand = new HandContact();
PlayerHead = Camera.main.gameObject.transform;
PlayerPositionTracker = new GameObject().transform;
//gameMgr = FindTaggedObject("GameController").GetComponent<GameManager>();
//transform.right = GameManager.Instance.BoardForward; // remove this and it works fine
transform.eulerAngles = new Vector3(0, GameManager.Instance.calibratedObject.eulerAngles.y - 90, 0);
RightHand.handTransform = FindTaggedObject("HandR").transform;
LeftHand.handTransform = FindTaggedObject("HandL").transform;
//AlbumTiles = new Album[SongLibrary.Length];
AlbumTiles = new Album[GameManager.Instance.songLoader.songLibrary.songs.Count];
for (int i = 0; i < AlbumTiles.Length; i++)
{
AlbumTiles[i] = new Album();
AlbumTiles[i].AlbumObject = GameObject.Instantiate(AlbumPrefab, transform);
Material NewAlbumCover = new Material(AlbumCoverMat);
NewAlbumCover.SetTexture("_MainTex", GameManager.Instance.songLoader.songLibrary.songs[i].albumArt);
AlbumTiles[i].AlbumMat = AlbumTiles[i].AlbumObject.GetComponentInChildren <Renderer>();
AlbumTiles[i].AlbumMat.material = NewAlbumCover;
//NewAlbumCover.SetTexture("_MainTex", SongLibrary[i].AlbumCover);
}
}
//public HighscoreManager highscoreMgr;
private void Start()
{
MenuRatchetAudio = GetComponent <AudioSource>();
LeftHand = new HandContact();
RightHand = new HandContact();
PlayerHead = Camera.main.gameObject.transform;
PlayerPositionTracker = new GameObject().transform;
//transform.right = GameManager.Instance.BoardForward; // remove this and it works fine
transform.eulerAngles = new Vector3(0, GameManager.Instance.calibratedObject.eulerAngles.y - 90, 0);
RightHand.handTransform = ArmPositioning.RightHandInstance.transform;
LeftHand.handTransform = ArmPositioning.LeftHandInstance.transform;
GenerateTiles();
}
void CheckHandSlider(HandContact handContact)
{
if (WithinDonut(handContact.handTransform.position, transform.position, MenuRadius, MenuRadius + 5, MenuHeight))
{
handContact.currentContactVector = handContact.handTransform.position - transform.position;
handContact.currentContactVector.Normalize();
if (!handContact.inContact)
{
handContact.inContact = true;
handContact.startingContactVector = handContact.currentContactVector;
handContact.menuSliderValueOnContact = MenuSlider;
}
else
{
handContact.contactAngle = Vector3.SignedAngle(handContact.startingContactVector, handContact.currentContactVector, Vector3.up);
}
}
else
{
handContact.inContact = false;
}
}
public bool IsConnected(HandContact other)
{
return(Vector3.Distance(targetWorldPos, other.targetWorldPos) <= Vector3.Distance(objectUnscaledLocalPos, other.objectUnscaledLocalPos));
}
public void ProposeContacts(HandState state)
{
lastPos = thisPos;
thisPos = state.GetBonePosition(b);
deltaPos = thisPos - lastPos;
lastRot = thisRot;
thisRot = state.GetBoneAngle(b);
deltaRot = Quaternion.Inverse(lastRot) * thisRot;
contactsAccepted = new Dictionary <GameObject, List <HandContact> >();
for (int c = 0; c < HandState.BONE_CAPSULEPART_COUNT[b]; c++)
{
CapsulePart part = state.boneCapsules[b][c];
capsules[c].transform.localPosition = part.boneOffsetPos;
capsules[c].transform.localRotation = part.boneOffsetAng;
CapsuleCollider capc = capsules[c].GetComponent <CapsuleCollider>();
capc.height = part.length + (part.radius - TrueHandlingPhysics.kinematicBoneRetraction) * 2.0f;
capc.radius = part.radius - TrueHandlingPhysics.kinematicBoneRetraction;
}
kinematicRoot.GetComponent <Rigidbody>().MovePosition(lastPos);
kinematicRoot.GetComponent <Rigidbody>().MoveRotation(lastRot);
main.boneMaterialOverride[h, b] = null;
contactProposals = new Dictionary <GameObject, HandContact[]>();
for (int p = 0; p < HandState.BONE_CAPSULEPART_COUNT[b]; p++)
{
Dictionary <Collider, HandContact> lastPersistence = contactPersistence[p];
Dictionary <Collider, HandContact> nextPersistence = new Dictionary <Collider, HandContact>();
// USING CURRENT RADIUS/LENGTH/OFFSETPOS/OFFSETANG INSTEAD OF LAST, MIGHT BE WRONG BY A TINY BIT
CapsulePart part = state.boneCapsules[b][p];
Vector3 lastCapsulePos = lastPos + (lastRot * part.boneOffsetPos);
Quaternion lastCapsuleRot = lastRot * part.boneOffsetAng;
Vector3 thisCapsulePos = thisPos + (thisRot * part.boneOffsetPos);
Quaternion thisCapsuleRot = thisRot * part.boneOffsetAng;
Vector3 lastOffset = lastCapsuleRot * (Vector3.forward * part.length * 0.5f);
int hits = Physics.OverlapCapsuleNonAlloc(lastCapsulePos + lastOffset, lastCapsulePos - lastOffset, part.radius, main.triggerBuffer, main.handCollisionLayerCollideMask);
for (int i = 0; i < hits; i++)
{
Collider other = main.triggerBuffer[i];
if (other.attachedRigidbody == null)
{
continue;
}
GameObject obj = other.attachedRigidbody == null ? other.gameObject : other.attachedRigidbody.gameObject;
HandContact contact;
if (lastPersistence.ContainsKey(other))
{
//pen = CapsulePenetration.TestFixedNormal(lastCapsulePos, lastCapsuleRot, part.length, part.radius, other, other.transform.position, other.transform.rotation, other.transform.rotation * lastPersistence[other].objectLocalNormal);
contact = lastPersistence[other];
}
else
{
CapsulePenetrationData pen = CapsulePenetration.Test(lastCapsulePos, lastCapsuleRot, part.length, part.radius, other, other.transform.position, other.transform.rotation);
if (pen == null)
{
continue;
}
// If the contact point is inside another capsule, skip it
// This is only running to prevent the contact from being created, but the finger can bend/object can move such that
// an existing contact violates this. To fix that is hard though, because the target point on the capsule surface
// can move when fingers rotate
bool pinched = false;
for (int b2 = 0; b2 < HandState.NUM_BONES; b2++)
{
Vector3 bp = state.GetBonePosition(b2);
Quaternion ba = state.GetBoneAngle(b2);
for (int p2 = 0; p2 < HandState.BONE_CAPSULEPART_COUNT[b2]; p2++)
{
if (b2 == b && p2 == p)
{
continue;
}
CapsulePart otherPart = state.boneCapsules[b2][p2];
Vector3 cp = bp + (ba * otherPart.boneOffsetPos);
Quaternion ca = ba * otherPart.boneOffsetAng;
Vector3 localHit = Quaternion.Inverse(ca) * (pen.hitPos - cp);
// Intersection with the endcap doesn't count, so you can grab with outside of bent fingers
if (localHit.z < -otherPart.length * 0.5f || localHit.z > otherPart.length * 0.5f)
{
continue;
}
Vector3 axPos = new Vector3(0, 0, localHit.z);
if (Vector3.Distance(localHit, axPos) < otherPart.radius)
{
pinched = true;
break;
}
}
if (pinched)
{
break;
}
}
if (pinched)
{
continue;
}
contact = new HandContact();
contact.capsuleAxisFraction = pen.capsuleHitFraction;
contact.objectLocalNormal = Quaternion.Inverse(other.transform.rotation) * pen.hitNorm;
contact.objectSurfaceUnscaledLocalPos = Quaternion.Inverse(other.transform.rotation) * (pen.hitPos - other.transform.position);
contact.objectUnscaledLocalPos = contact.objectSurfaceUnscaledLocalPos + contact.objectLocalNormal * part.radius;
contact.h = h;
contact.b = b;
contact.p = p;
contact.otherCollider = other;
}
//project the capsule pos onto the capsule axis
Vector3 capsuleLocalHitPos = new Vector3(0f, 0f, (contact.capsuleAxisFraction - 0.5f) * part.length);
contact.targetWorldPos = thisCapsulePos + (thisCapsuleRot * capsuleLocalHitPos);
contact.boneRotationDelta = deltaRot;
nextPersistence[other] = contact;
//Gizmoz.DrawLine(pen.hitPos, pen.hitPos - pen.capsuleDepenetrationTranslation, Color.red);
//main.boneMaterialOverride[h, b] = main.touchingMaterial;
HandContact[] contacts;
if (contactProposals.ContainsKey(obj))
{
HandContact[] oldContacts = contactProposals[obj];
contacts = new HandContact[oldContacts.Length + 1];
for (int i2 = 0; i2 < oldContacts.Length; i2++)
{
contacts[i2] = oldContacts[i2];
}
}
else
{
contacts = new HandContact[1];
}
contacts[contacts.Length - 1] = contact;
contactProposals[obj] = contacts;
}
contactPersistence[p] = nextPersistence;
}
}
private void Update()
{
CheckHandSlider(LeftHand);
CheckHandSlider(RightHand);
if (LeftHand.inContact && MenuSliderHand != UsingHand.rightHand)
{
MenuSliderHand = UsingHand.leftHand;
}
else if (RightHand.inContact && MenuSliderHand != UsingHand.leftHand)
{
MenuSliderHand = UsingHand.rightHand;
}
else
{
MenuSliderHand = UsingHand.noHand;
}
if (MenuSliderHand != UsingHand.noHand)
{
HandContact HandTouch = new HandContact();
if (MenuSliderHand == UsingHand.leftHand)
{
HandTouch = LeftHand;
}
else if (MenuSliderHand == UsingHand.rightHand)
{
HandTouch = RightHand;
}
float ContactAngle = HandTouch.contactAngle;
if (!MovingMenuSlider)
{
MovingMenuSlider = true;
PreContactMenuSlider = MenuSlider;
}
else
{
MenuSlider = PreContactMenuSlider + ContactAngle / 18;
}
}
else
{
MovingMenuSlider = false;
}
/*
* SliderVelocity = Input.GetAxis("Horizontal")/5;
*
* SliderVelocity = Mathf.Lerp(SliderVelocity, 0, Time.deltaTime*(10/SliderVelocity));
*
* MenuSlider += SliderVelocity;*/
if (MenuSlider < 0)
{
MenuSlider = 0;
}
else if (MenuSlider > AlbumTiles.Length - 1)
{
MenuSlider = AlbumTiles.Length - 1;
}
currentlySelected = (int)(MenuSlider + 0.5f);
if (!LeftHand.inContact && !RightHand.inContact)
{
MenuSlider = Mathf.Lerp(MenuSlider, currentlySelected, Time.deltaTime * 5);
}
float ConvertToRadians = (Mathf.PI / 180f);
float selectedAngle = (startangle - transform.eulerAngles.y) * ConvertToRadians;
for (int i = 0; i < AlbumTiles.Length; i++)
{
float TileOffsetRad = TileOffsetDegrees * ConvertToRadians;
float radRotationY = transform.eulerAngles.y * ConvertToRadians;
//Debug.Log("rad" + TileOffsetRad);
float angleRad = TileOffsetRad * i - MenuSlider * TileOffsetRad;
angleRad -= radRotationY;
/*
* angleRad *= 180f / Mathf.PI;
*
* angleRad -= transform.eulerAngles.y;
*
* angleRad *= (Mathf.PI / 180f);*/
float transparency = 1 - Mathf.Abs(MenuSlider - i) / 4f;
float ScaleValue = MenuRadius;
if (transparency < 0)
{
transparency = 0;
}
if (i == currentlySelected)
{
ScaleValue = 1.5f * MenuRadius;
transparency = 1;
angleRad = selectedAngle;
}
AlbumTiles[i].AlbumObject.transform.position = new Vector3(transform.position.x + MenuRadius * Mathf.Cos(angleRad), transform.position.y, transform.position.z + MenuRadius * Mathf.Sin(angleRad));
AlbumTiles[i].AlbumMat.material.color = new Color(1, 1, 1, transparency);
AlbumTiles[i].AlbumObject.transform.LookAt(transform);
AlbumTiles[i].AlbumObject.transform.localScale = Vector3.Lerp(AlbumTiles[i].AlbumObject.transform.localScale, Vector3.one * ScaleValue, Time.deltaTime * 5);
if (transparency == 0)
{
AlbumTiles[i].AlbumMat.enabled = false;
}
else if (!AlbumTiles[i].AlbumMat.enabled)
{
AlbumTiles[i].AlbumMat.enabled = true;
}
}
//AlbumTiles[currentlySelected].AlbumObject.transform.localPosition += AlbumTiles[currentlySelected].AlbumObject.transform.forward * 0.08f * MenuRadius;
AlbumTiles[currentlySelected].AlbumObject.transform.position += AlbumTiles[currentlySelected].AlbumObject.transform.forward * 0.08f * MenuRadius;
//AlbumTiles[currentlySelected].AlbumObject.transform.localPosition += -transform.right * 0.08f * MenuRadius;
}
void FixedUpdatePropagation(object sender, object noArgs)
{
HandState[] states = { source.GetHandState(false), source.GetHandState(true) };
Dictionary <GameObject, List <HandContact> > objContacts = new Dictionary <GameObject, List <HandContact> >();
for (int h = 0; h < 2; h++)
{
HandState state = states[h];
if (state.active)
{
if (boneManager[h, 0] == null)
{
for (int b = 0; b < HandState.NUM_BONES; b++)
{
boneManager[h, b] = new PhysicsBoneManager(this, state, b);
}
}
for (int b = 0; b < HandState.NUM_BONES; b++)
{
boneManager[h, b].ProposeContacts(state);
//add contacts to dataset to prune stretched ones
foreach (var kv in boneManager[h, b].contactProposals)
{
GameObject obj = kv.Key;
if (!objContacts.ContainsKey(obj))
{
objContacts[obj] = new List <HandContact>();
}
foreach (HandContact contact in kv.Value)
{
objContacts[obj].Add(contact);
}
}
}
}
else
{
if (boneManager[h, 0] != null)
{
for (int b = 0; b < HandState.NUM_BONES; b++)
{
boneManager[h, b].Cleanup();
boneManager[h, b] = null;
}
}
}
}
Dictionary <GameObject, HashSet <HandContact> > filteredHandContacts = new Dictionary <GameObject, HashSet <HandContact> >();
// Find contact pairs that have "stretched" meaning the bones are farther apart than when they touched the object, and cluster them.
// TODO: Instead of this, break connections when the contact point on the finger is "above" the contact point on the object
// based on the normal. that way you can pick up concave objects from the inside
foreach (var kv in objContacts)
{
GameObject obj = kv.Key;
HandContact[] contacts = kv.Value.ToArray();
List <HashSet <HandContact> > connectedComponents = new List <HashSet <HandContact> >();
for (int a = 0; a < contacts.Length; a++)
{
HashSet <HandContact> ourSet = new HashSet <HandContact>();
ourSet.Add(contacts[a]);
connectedComponents.Add(ourSet);
}
for (int a = 0; a < contacts.Length - 1; a++)
{
HandContact first = contacts[a];
HashSet <HandContact> ourSet = null;
foreach (HashSet <HandContact> comp in connectedComponents)
{
if (comp.Contains(first))
{
ourSet = comp;
}
}
Debug.Assert(ourSet != null);
for (int b = a + 1; b < contacts.Length; b++)
{
HandContact second = contacts[b];
HashSet <HandContact> theirSet = null;
foreach (HashSet <HandContact> comp in connectedComponents)
{
if (comp.Contains(second))
{
theirSet = comp;
}
}
if (ourSet == theirSet)
{
continue;
}
Debug.Assert(theirSet != null);
if (first.IsConnected(second))
{
ourSet.UnionWith(theirSet);
connectedComponents.Remove(theirSet);
}
}
}
List <HashSet <HandContact> > fullyConstrainedConnectedComponents = new List <HashSet <HandContact> >();
foreach (HashSet <HandContact> component in connectedComponents)
{
HandContact[] componentArray = new HandContact[component.Count];
component.CopyTo(componentArray);
bool fullyConstrained = false;
// Decides if object is fully constrained ("held"), TODO try globally reasoning about all contacts
for (int a = 0; a < componentArray.Length - 1; a++)
{
for (int b = a + 1; b < componentArray.Length; b++)
{
HandContact ca = componentArray[a];
HandContact cb = componentArray[b];
if (ca.h == cb.h)
{
if (ca.b == cb.b || HandState.POINT_PARENT[ca.b] == cb.b || HandState.POINT_PARENT[cb.b] == ca.b)
{
continue;
}
}
if (Vector3.Dot(ca.objectLocalNormal, cb.objectLocalNormal) < 0.01)
{
// Skip points where the object could easily rotate out of grip
Vector3 offset = Vector3.Normalize(ca.objectSurfaceUnscaledLocalPos - cb.objectSurfaceUnscaledLocalPos);
float thresh = 0.5f;
if (Mathf.Abs(Vector3.Dot(ca.objectLocalNormal, offset)) < thresh || Mathf.Abs(Vector3.Dot(cb.objectLocalNormal, offset)) < thresh)
{
continue;
}
fullyConstrained = true;
}
}
}
// Don't hold objects unless one of the bones is a fingertip, TODO make the system better so this isn't necessary
bool hasFingertip = false;
for (int a = 0; a < componentArray.Length; a++)
{
//hasFingertip |= componentArray[a].b == 2; //second from thumbtip
hasFingertip |= componentArray[a].b == 3;
hasFingertip |= componentArray[a].b == 7;
hasFingertip |= componentArray[a].b == 11;
//hasFingertip |= componentArray[a].b == 15;
//hasFingertip |= componentArray[a].b == 19;
}
if (fullyConstrained && hasFingertip)
{
fullyConstrainedConnectedComponents.Add(component);
}
}
if (fullyConstrainedConnectedComponents.Count > 0)
{
//TODO: prioritize better
fullyConstrainedConnectedComponents.Sort((x, y) => y.Count.CompareTo(x.Count));
filteredHandContacts[obj] = fullyConstrainedConnectedComponents[0];
}
}
Dictionary <GameObject, Vector3> movedObjectPos = new Dictionary <GameObject, Vector3>();
Dictionary <GameObject, Quaternion> movedObjectAng = new Dictionary <GameObject, Quaternion>();
foreach (var kv in filteredHandContacts)
{
GameObject obj = kv.Key;
Rigidbody rigid = obj.GetComponent <Rigidbody>();
if (rigid == null)
{
continue;
}
HashSet <HandContact> contacts = kv.Value;
List <ObjectMotionSolutionUnit> solveUnits = new List <ObjectMotionSolutionUnit>();
Vector3 objectLocalAxisPositionCentroid = Vector3.zero;
Vector3 targetWorldAxisPositionCentroid = Vector3.zero;
foreach (HandContact contact in contacts)
{
ObjectMotionSolutionUnit piece = new ObjectMotionSolutionUnit(contact, obj.transform.rotation); // states[h].boneCapsules[b][contact.capsuleIndex], bonePos, boneAng, oldBoneAng, obj.transform);
solveUnits.Add(piece);
objectLocalAxisPositionCentroid += piece.objectLocalAxisPosition;
targetWorldAxisPositionCentroid += piece.targetWorldAxisPosition;
//Vector3 p1 = obj.transform.position + obj.transform.rotation * contact.objectUnscaledLocalPos;
//Gizmoz.DrawLine(p1, p1 + obj.transform.TransformDirection(contact.objectLocalNormal)*0.01f, Color.green);
//Gizmoz.DrawLine(p1, piece.targetWorldAxisPosition, Color.white);
//Vector3 p2 = obj.transform.position + obj.transform.rotation * contact.objectSurfaceUnscaledLocalPos;
//Gizmoz.DrawLine(p2, piece.targetWorldAxisPosition, Color.cyan);
}
objectLocalAxisPositionCentroid /= solveUnits.Count;
targetWorldAxisPositionCentroid /= solveUnits.Count;
//world axis position + 4 for tetrahetron for rotation alignment
int l = solveUnits.Count * 5;
double[,] A = new double[3, l];
double[,] B = new double[3, l];
int cur = 0;
float mainScale = 20f;
foreach (ObjectMotionSolutionUnit unit in solveUnits)
{
FillMatrixColumn(A, cur, mainScale * (unit.objectLocalAxisPosition - objectLocalAxisPositionCentroid));
FillMatrixColumn(B, cur, mainScale * (unit.targetWorldAxisPosition - targetWorldAxisPositionCentroid));
cur++;
for (int t = 0; t < 4; t++)
{
FillMatrixColumn(A, cur, unit.GetFromTetrahedron(t));
FillMatrixColumn(B, cur, unit.GetToTetrahedron(t));
cur++;
}
}
Debug.Assert(cur == l);
double[,] BAT = new double[3, 3];
alglib.rmatrixgemm(3, 3, l, 1, B, 0, 0, 0, A, 0, 0, 1, 0, ref BAT, 0, 0);
double[] W = new double[3];
double[,] U = new double[3, 3];
double[,] VT = new double[3, 3];
alglib.rmatrixsvd(BAT, 3, 3, 2, 2, 2, out W, out U, out VT);
double[,] UVT = new double[3, 3];
alglib.rmatrixgemm(3, 3, 3, 1, U, 0, 0, 0, VT, 0, 0, 0, 0, ref UVT, 0, 0);
double sqrtThing = 1 + UVT[0, 0] + UVT[1, 1] + UVT[2, 2];
if (sqrtThing <= 0)
{
Debug.Log("matrix solution error");
sqrtThing = 0.0001;
}
double w = System.Math.Sqrt(sqrtThing) / 2.0;
double iw4 = 1.0 / (w * 4);
Quaternion rotation = new Quaternion((float)((UVT[2, 1] - UVT[1, 2]) * iw4),
(float)((UVT[0, 2] - UVT[2, 0]) * iw4),
(float)((UVT[1, 0] - UVT[0, 1]) * iw4), (float)w);
rotation.Normalize();
Vector3 pos = targetWorldAxisPositionCentroid - rotation * objectLocalAxisPositionCentroid;
movedObjectPos[obj] = pos;
movedObjectAng[obj] = rotation;
}
//setup kinematic carriers
LinkedList <GameObject> carriersToRemove = new LinkedList <GameObject>();
foreach (var kv in objectCarriers)
{
if (!movedObjectPos.ContainsKey(kv.Key))
{
carriersToRemove.AddLast(kv.Key);
}
}
foreach (GameObject obj in carriersToRemove)
{
objectCarriers[obj].GetComponent <FixedJoint>().connectedBody = null; //NECESSARY BECAUSE IT WONT DESTROY TIL AFTER THE PHYSICS UPDATE
Destroy(objectCarriers[obj]);
objectCarriers.Remove(obj);
//if (objectCarrierProxies.ContainsKey(obj))
//{
// Destroy(objectCarrierProxies[obj]);
// objectCarrierProxies.Remove(obj);
// }
}
foreach (var kv in movedObjectPos)
{
GameObject obj = kv.Key;
Vector3 pos = kv.Value;
Quaternion ang = movedObjectAng[obj];
if (!objectCarriers.ContainsKey(obj))
{
GameObject car = objectCarriers[obj] = new GameObject("car");
car.transform.parent = transform;
car.transform.position = obj.transform.position;
car.transform.rotation = obj.transform.rotation;
Rigidbody r = car.AddComponent <Rigidbody>();
r.isKinematic = true;
FixedJoint f = car.AddComponent <FixedJoint>();
f.enablePreprocessing = false;
f.autoConfigureConnectedAnchor = false;
f.connectedBody = obj.GetComponent <Rigidbody>();
f.anchor = Vector3.zero;
f.connectedAnchor = Vector3.zero;
}
Rigidbody rig = objectCarriers[obj].GetComponent <Rigidbody>();
rig.MovePosition(pos);
rig.MoveRotation(ang);
}
// Was used for IK
/*
* List<IKPointTarget> pointTargetsList = new List<IKPointTarget>();
* foreach (var objList in stretching)
* {
* GameObject obj = objList.Key;
*
* for (int h = 0; h < 2; h++)
* {
* if (!states[h].active)
* {
* continue;
* }
*
* for (int b = 0; b < HandState.NUM_BONES; b++)
* {
* Dictionary<GameObject, CapsuleContactPoint[]> proposal = boneManager[h, b].contactJointProposals;
*
* //only ik constrain fingertips FINGERFILTER
* if (b % 4 != 3 || b>7)
* {
* continue;
* }
*
* if (proposal.ContainsKey(objList.Key))
* {
* CapsuleContactPoint[] contacts = proposal[objList.Key];
* Debug.Assert(contacts.Length > 0);
*
* foreach (CapsuleContactPoint contact in contacts)
* {
* IKPointTarget next = new IKPointTarget();
* next.h = h;
* next.b = b;
* next.localPos = states[h].boneCapsules[b][contact.capsuleIndex].AxisFractionToBonePosition(contact.axisFraction);
* Vector3 unscaledLocal = obj.transform.InverseTransformDirection(obj.transform.TransformVector(contact.otherPos)) + contact.otherNormal* states[h].boneCapsules[b][contact.capsuleIndex].radius;
* next.worldTargetPos = estimatedObjectPos[obj] + estimatedObjectAng[obj] * unscaledLocal;
* pointTargetsList.Add(next);
* }
* }
* }
* }
* }
* IKGapTarget[] gapTargets = new IKGapTarget[0];
* IKPointTarget[] pointTargets = pointTargetsList.ToArray();
* FABRIK.Solve(states, pointTargets, gapTargets);
*/
for (int h = 0; h < 2; h++)
{
HandState state = states[h];
if (state.active)
{
for (int b = 0; b < HandState.NUM_BONES; b++)
{
boneManager[h, b].UpdateNoCollides(state, movedObjectPos, movedObjectAng);
}
}
}
}
public ObjectMotionSolutionUnit(HandContact ccp_, Quaternion currentAngle)
{
objectLocalAxisPosition = ccp_.objectUnscaledLocalPos;
targetWorldAxisPosition = ccp_.targetWorldPos;
objectRotation = ccp_.boneRotationDelta * currentAngle;
}