protected override void InitializeSpace()
{
solver = new IKSolver();
bones = new List <BoneRelationship>();
controls = new List <Control>();
joints = new List <IKJoint>();
dragControl = new DragControl();
Box ground = new Box(new Vector3(0, 0, 0), 30, 1, 30);
Space.Add(ground);
solver.ActiveSet.UseAutomass = true;
solver.AutoscaleControlImpulses = true;
solver.AutoscaleControlMaximumForce = Fix64.MaxValue;
solver.TimeStepDuration = .1m;
solver.ControlIterationCount = 100;
solver.FixerIterationCount = 10;
solver.VelocitySubiterationCount = 3;
BuildActionFigure(new Vector3(5, 6, -8));
BuildActionFigure(new Vector3(5, 6, -3));
BuildActionFigure(new Vector3(5, 6, 3));
BuildActionFigure(new Vector3(5, 6, 8));
dragControl.TargetBone = bones[0].Bone;
controls.Add(dragControl);
dragControl.LinearMotor.Offset = new Vector3(0, 0, 0.2m);
}
private void OnDrawGizmos()
{
if (_ikHierarchy != null)
{
IKSolver.DrawGizmos(_ikHierarchy, _ikTarget);
}
}
/// <summary>
/// This method can be called when the flex move didn't reach the target yet, to continue to converge
/// <returns>true if the flex move still need to be updated</returns>
/// </summary>
public bool update()
{
if (mCurrentUpdateStatus == IKSolver.CCDResult.Processing)
{
// a threshold tuning variable for reaching target
const double REACH_TARGET_PRECISION_IN_STUD = 0.1;
int lastBone = mBoneList.Count;
if (mUseTwoTargets)
{
// if we use two targets, do the first pass on the second target
// reverse the Y because BlueBrick use an indirect coord sys, and the IKSolver a direct one
IKSolver.CalcIK_2D_CCD(ref mBoneList, mSecondaryTarget.X, -mSecondaryTarget.Y,
REACH_TARGET_PRECISION_IN_STUD, lastBone - 1);
computeBrickPositionAndOrientation();
}
// do the normal pass on the final target
// reverse the Y because BlueBrick use an indirect coord sys, and the IKSolver a direct one
mCurrentUpdateStatus = IKSolver.CalcIK_2D_CCD(ref mBoneList, mPrimaryTarget.X, -mPrimaryTarget.Y,
REACH_TARGET_PRECISION_IN_STUD, lastBone);
computeBrickPositionAndOrientation();
}
// return true if we still need to update
return(mCurrentUpdateStatus == IKSolver.CCDResult.Processing);
}
protected PathPlanner(Obstacle[] obstacles, IKSolver solver, int maxTime, bool collisionCheck)
{
Obstacles = obstacles;
Solver = solver;
MaxTime = maxTime;
CollisionCheck = collisionCheck;
}
public static void Postfix(IKSolver __instance)
{
if (onPostUpdate != null)
{
onPostUpdate(__instance);
}
}
public IKSolver GetIKArm()
{
ShaderInfo.Material characterMaterial;
characterMaterial.Emissive = new Color(0, 0, 0, 255);
characterMaterial.Diffuse = new Color(100, 150, 100, 255);
characterMaterial.Specular = new Color(255, 255, 255, 255);
characterMaterial.Shininess = 0.8f;
LightingInfo characterLighting = new LightingInfo("PlayerNormal", characterMaterial);
Bone shoulder = new Bone("Shoulder", new Vector2(0), 0, new Vector2(0), new Vector2(-0.5f / 32f, 10.5f / 32f)); //Child connector is placed at location of shoulder
Bone UpperArmFront = new Bone("UpperArm", new Vector2(0), 0, new Vector2(-0f / 32f, 5.5f / 32f), new Vector2(1.5f / 32f, -7.5f / 32f));
UpperArmFront.Drawable = new Drawable("Player", new Vector2(16), 32, 32, 64, 0, 0.11f);
UpperArmFront.Drawable.ShaderInfo = characterLighting;
shoulder.AddChild(UpperArmFront);
Bone LowerArm = new Bone("LowerArm", new Vector2(0), 0, new Vector2(-0.5f / 32f, 7.5f / 32f), new Vector2(2.5f / 32f, -9.5f / 32f));
LowerArm.Drawable = new Drawable("Player", new Vector2(16), 32, 32, 0, 32, 0.12f);
LowerArm.Drawable.ShaderInfo = characterLighting;
UpperArmFront.AddChild(LowerArm);
Bone Hand = new Bone("Hand", new Vector2(0), 0, new Vector2(0.5f / 32f, 2.5f / 32f), new Vector2(0.5f / 32f, -2.5f / 32f));
Hand.Drawable = new Drawable("Player", new Vector2(16), 32, 32, 32, 32, 0.12f);
Hand.Drawable.ShaderInfo = characterLighting;
LowerArm.AddChild(Hand);
IKSolver armSolver = new IKSolver();
armSolver.MountId = "PlayerLegs";
armSolver.Root = shoulder.Copy();
return(armSolver);
}
// Drag the selected object in screenspace
private void Drag(Vector3 cursorPosition)
{
Vector3 projectedCursorPosition = new Vector3(cursorPosition.x, cursorPosition.y, _dragDepth);
Vector3 cursorWorldPosition = _camera.GetComponent <Camera>().ScreenToWorldPoint(projectedCursorPosition);
cursorWorldPosition += _dragOffset;
_ikTarget.position = cursorWorldPosition;
IKSolver.Evaluate(_ikHierarchy, _ikTarget);
}
// Start is called before the first frame update
void Start()
{
animator = this.GetComponent <Animator>();
camera_transform = Camera.main.transform;
controller = this.GetComponent <CharacterController>();
hunter = this.GetComponent <Hunter>();
ik_solver = this.GetComponent <IKSolver>();
skin.material = body_mat;
//conjure_transition = 1f;
disappear_transition = 0f;
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public InverseKinematicsTestDemo2(DemosGame game)
: base(game)
{
game.Camera.Position = new Vector3(0, 3, 5);
Box ground = new Box(new Vector3(0, -3, 0), 30, 1, 30);
Space.Add(ground);
Space.ForceUpdater.Gravity = new Vector3(0, -9.81m, 0);
var solver = new IKSolver();
solver.ActiveSet.UseAutomass = true;
//solver.AutoscaleControlImpulses = true;
//solver.AutoscaleControlMaximumForce = Fix64.MaxValue;
solver.ControlIterationCount = 20;
solver.FixerIterationCount = 0;
solver.VelocitySubiterationCount = 3;
List <Bone> bones;
List <Entity> boneEntities;
int boneCount = 10;
BuildStick(new Vector3(0, 0.5m, 0), boneCount, out bones, out boneEntities);
DragControl dragger = new DragControl {
TargetBone = bones[boneCount - 1], MaximumForce = Fix64.MaxValue
};
dragger.LinearMotor.Rigidity = 16;
dragger.LinearMotor.LocalOffset = new Vector3(0, 0.5m, 0);
dragger.LinearMotor.TargetPosition = new Vector3(10, 0, 0);
bones[0].Pinned = true;
var controls = new List <Control>();
controls.Add(dragger);
solver.Solve(controls);
var tipLocation = bones[boneCount - 1].Position + Matrix3x3.CreateFromQuaternion(bones[boneCount - 1].Orientation).Up * 0.5m;
for (int i = 0; i < bones.Count; ++i)
{
boneEntities[i].Position = bones[i].Position;
boneEntities[i].Orientation = bones[i].Orientation;
Space.Add(boneEntities[i]);
}
}
/* This function performs a call to the IKSolvers CCD algorithm, which then solves this chain to the current target. */
private void solve()
{
if (ikSolveMethod == IKSolveMethod.CCD)
{
IKSolver.solveChainCCD(ref joints, endEffector, currentTarget, getTolerance(), getMinimumChangePerIterationOfSolving(), getSingularityRadius(), adjustLastJointToNormal, printDebugLogs);
}
else if (ikSolveMethod == IKSolveMethod.CCDFrameByFrame)
{
StartCoroutine(IKSolver.solveChainCCDFrameByFrame(joints, endEffector, currentTarget, getTolerance(), getMinimumChangePerIterationOfSolving(), getSingularityRadius(), adjustLastJointToNormal, printDebugLogs));
deactivateSolving = true;
//Important here is that the coroutine has to update the error after it is done. Not implemented here yet!
}
error = Vector3.Distance(endEffector.position, currentTarget.position);
}
// Todo: Locking joints by clicking on them
private void Update()
{
// TODO Buttons don't work anymore
bool mouseLeftDown = Input.GetButtonDown("unity_mouse_0");
bool mouseLeftUp = Input.GetButtonUp("unity_mouse_0");
bool mouseLeft = Input.GetButton("unity_mouse_0");
Vector3 cursorPosition = Input.mousePosition;
if (mouseLeftDown)
{
GameObject selectedObject = QueryCursor(cursorPosition);
if (selectedObject)
{
MuscleJoint joint = selectedObject.GetComponent <MuscleJoint>();
if (joint)
{
StartDragging(joint);
}
else
{
_camera.Center = selectedObject.transform.position;
}
}
}
if (mouseLeftUp)
{
StopDragging();
}
if (mouseLeft)
{
if (_isDragging)
{
Drag(cursorPosition);
}
else
{
Look();
}
}
if (_jointHierarchy != null && _ikHierarchy != null)
{
IKSolver.Slerp(_ikHierarchy, _jointHierarchy, 10f * _clock.DeltaTime);
}
}
private void IKSolverOnPostUpdate(IKSolver solver)
{
if (this.enabled == false || this._body.solver != solver)
{
return;
}
if (this._scheduleNextIKPostUpdate != null)
{
Action tempAction = this._scheduleNextIKPostUpdate;
this._scheduleNextIKPostUpdate = null;
tempAction();
}
this.InitJointCorrection();
foreach (AdvancedModeModule module in this._modules)
{
module.IKSolverOnPostUpdate();
}
}
public override void OnInspectorGUI()
{
IKSolver solver = (IKSolver)target;
if (solver.needResetOption)
{
GUI.enabled = false;
}
DrawDefaultInspector();
if (solver.needResetOption)
{
GUI.enabled = true;
if (GUILayout.Button("Reset Scene Hierarchy"))
{
solver.ResetHierarchy();
}
}
}
private void StartDragging(MuscleJoint joint)
{
_isDragging = true;
if (_ikHierarchy != null)
{
DestroyHierarchy(_ikHierarchy);
}
_jointHierarchy = IKSolver.GetHierarchy(joint);
_ikHierarchy = IKSolver.CopyHierarchy(_jointHierarchy);
_ikTarget.position = joint.transform.position;
_ikTarget.rotation = joint.transform.rotation;
Vector3 screenSpacePosition = _camera.GetComponent <Camera>().WorldToScreenPoint(joint.transform.position);
_dragDepth = screenSpacePosition.z;
Vector3 cursorPosition = new Vector3(Input.mousePosition.x, Input.mousePosition.y, screenSpacePosition.z);
_dragOffset = joint.transform.position - _camera.GetComponent <Camera>().ScreenToWorldPoint(cursorPosition);
}
void LateUpdate()
{
IKSolver.Solve(false, 1f, 1f, 0f, -1, -1, upperLimb, lowerLimb, endLimb, elbowForward, target.position, Vector3.zero, target.rotation);
}
public DynamicRRT(Obstacle[] obstacles, IKSolver solver, int maxTime, bool collisionCheck, float d, int period) : base(obstacles, solver, maxTime, collisionCheck)
{
this.d = d;
this.period = period;
}
//Has to be lateupdate because we overwrite the transforms
void LateUpdate() {
if (!animation.isPlaying)
return;
_ikSolver = new IKArm();
int arm ; //arm index
int keyInd;
float s = TimingControl(Tp);
//map s into the whole spline
float t = (s * (_animInfo.NextGoal - _animInfo.PrevGoal) + _animInfo.PrevGoal) / _animInfo.AnimLength;
// Debug.Log(s + " " + Tp + " " + t + " " + Time.deltaTime);
if (_animInfo.NextGoal == _animInfo.PrevGoal)
t = 1f;
if(t < 0)
keyInd = _animInfo.FindKeyNumberAtNormalizedTime(-t); //find an imaginary key before the start of keyframes
else if (t > 1)
keyInd = _animInfo.FindKeyNumberAtNormalizedTime(2 - t); //find an imaginary key beyond the keyframes 1 - ( t - 1)
else
keyInd = _animInfo.FindKeyNumberAtNormalizedTime(t); //including via keys
// if (this.gameObject == GameObject.Find("AgentPrefab"))
// Debug.Log(s + " " + t);
//if (this.gameObject == GameObject.Find("AgentPrefab"))
// Debug.Log(keyInd);
float lt; //local time between keyframes including via keys
if (keyInd + 1 < _animInfo.Keys.Length) {
if(t < 0 )
lt = (float)(-t *_animInfo.AnimLength - _animInfo.Keys[keyInd].Time) / (_animInfo.Keys[keyInd + 1].Time - _animInfo.Keys[keyInd].Time);
else if (t > 1)
lt = (float)((2 - t) * _animInfo.AnimLength - _animInfo.Keys[keyInd].Time) / (_animInfo.Keys[keyInd + 1].Time - _animInfo.Keys[keyInd].Time);
else
lt = (float)(t * _animInfo.AnimLength - _animInfo.Keys[keyInd].Time) / (_animInfo.Keys[keyInd + 1].Time - _animInfo.Keys[keyInd].Time);
}
else
lt = 0f;
// if (this.gameObject == GameObject.Find("AgentPrefab"))
// Debug.Log("t: " + t + " lt: " + lt + " keyInd: " + keyInd + " frameInd: " + frameInd + " Curr: " + _animInfo.Curr + " PrevGoal: " + _animInfo.PrevGoal + " NextGoal: " + _animInfo.NextGoal + " prevGoalInd " + _animInfo.PrevGoalKeyInd + " Tp: " + Tp);
_animInfo.InterpolateWholeBody(keyInd, lt); //linear interpolation
_animInfo.ProjectWholeBodyBeyondKeyInd(keyInd, lt, t); //linear interpolation
//update both arms
for (arm = 0; arm < 2; arm++) {
if (_interpolatorType == InterpolatorType.EndEffector) {//position
Vector3 target = _animInfo.ComputeInterpolatedTarget(lt, keyInd, arm);
if (t < 0) { // project target to a position before position at keyInd
Vector3 pivot = _animInfo.ComputeInterpolatedTarget(0f, 0,arm); //TCB interpolation for position
target = 2 * pivot - target;
}
else if (t > 1) { // project target to a position beyond keyInd
Vector3 pivot = _animInfo.ComputeInterpolatedTarget(0, _animInfo.Keys.Length - 1,arm); //TCB interpolation for position
target = 2 * pivot - target;
// Debug.Log(Time.time + " "+ t);
}
if (arm == 0)
_targetL = target;
else
_targetR = target;
#if DEBUGMODE
//To see tension
if(arm == 0)
_targetLPrev.Add(_targetL);
else
_targetRPrev.Add(_targetR);
#endif
if(arm == 0)
((IKArm)_ikSolver).Solve(_arms[arm].Bones, -SwivelAngle, target);
else
((IKArm)_ikSolver).Solve(_arms[arm].Bones, SwivelAngle, target);
}
else if (_interpolatorType == InterpolatorType.ElbowAngle)
{
// _arms[arm].Elbow.transform.localRotation = Quaternion.Slerp(Keys[keyInd].BodyRot[i], Keys[keyInd + 1].BodyRot[i], lt);
_arms[arm].Elbow.transform.localRotation = _animInfo.ComputeInterpolatedElbowAngle(lt, keyInd, arm);
//Vector3 targetElbowAngle = _animInfo.ComputeInterpolatedElbowAngle(lt, keyInd, arm);
//_arms[arm].Elbow.transform.localEulerAngles = targetElbowAngle;
}
/*
else if (_interpolatorType == InterpolatorType.ElbowPos) {
_arms[arm].Elbow.position = _animInfo.ComputeInterpolatedElbowPos(lt, keyInd,arm); //TCB interpolation for position
}
*/
Flourish(arm, Tp, t);
//Flourish(arm, Mathf.Pow(tp, texp)); //Funda
/*
if (this.gameObject == GameObject.Find("AgentPrefab")) {
if (Math.Abs(lt - 0) < 0.001) { //at keyframes
_animInfo.Keys[keyInd].EePosUpdated[arm] = target;
_animInfo.Keys[keyInd].TimeUpdated[arm] = Time.time;
}
if (t > 1f) {
_animInfo.ComputeEeVelUpdated(arm);
}
}
*/
}
if (this.gameObject != GameObject.Find("AgentControlPrefab")) {
if (Tp == 0) {
_velArr.Clear();
_tppArr.Clear();
}
//Current velocity curve
GameObject velCurveCurr = GameObject.Find("VelCurveCurr");
if (velCurveCurr == null) {
return;
}
velCurveCurr.GetComponent<LineRenderer>().SetVertexCount(_velArr.Count);
for(int i = 0; i < _velArr.Count; i++) {
velCurveCurr.GetComponent<LineRenderer>().SetPosition(i, new Vector3(_tppArr[i], _velArr[i], 0));
}
//General velocity curve as in EMOTE
GameObject velCurveGen = GameObject.Find("VelCurveGeneral");
velCurveGen.GetComponent<LineRenderer>().SetVertexCount(5);
velCurveGen.GetComponent<LineRenderer>().SetPosition(0, new Vector3(0, 0, 0));
velCurveGen.GetComponent<LineRenderer>().SetPosition(1, new Vector3(T0 , -V0, 0));
velCurveGen.GetComponent<LineRenderer>().SetPosition(2, new Vector3(Ti , _vi, 0));
velCurveGen.GetComponent<LineRenderer>().SetPosition(3, new Vector3(T1 , -V1, 0));
velCurveGen.GetComponent<LineRenderer>().SetPosition(4, new Vector3(1 , 0, 0));
/*velCurveGen.GetComponent<LineRenderer>().SetPosition(1, new Vector3( T0 / _animInfo.AnimSpeed, -V0, 0));
velCurveGen.GetComponent<LineRenderer>().SetPosition(2, new Vector3( Ti / _animInfo.AnimSpeed, _vi, 0));
velCurveGen.GetComponent<LineRenderer>().SetPosition(3, new Vector3( T1 / _animInfo.AnimSpeed, -V1, 0));
velCurveGen.GetComponent<LineRenderer>().SetPosition(4, new Vector3( 1 / _animInfo.AnimSpeed, 0, 0));
*/
}
}
//Has to be lateupdate because we overwrite the transforms
void LateUpdate()
{
if (!animation.isPlaying)
{
return;
}
_ikSolver = new IKArm();
int arm; //arm index
int keyInd;
float s = TimingControl(Tp);
//map s into the whole spline
float t = (s * (_animInfo.NextGoal - _animInfo.PrevGoal) + _animInfo.PrevGoal) / _animInfo.AnimLength;
// Debug.Log(s + " " + Tp + " " + t + " " + Time.deltaTime);
if (_animInfo.NextGoal == _animInfo.PrevGoal)
{
t = 1f;
}
if (t < 0)
{
keyInd = _animInfo.FindKeyNumberAtNormalizedTime(-t); //find an imaginary key before the start of keyframes
}
else if (t > 1)
{
keyInd = _animInfo.FindKeyNumberAtNormalizedTime(2 - t); //find an imaginary key beyond the keyframes 1 - ( t - 1)
}
else
{
keyInd = _animInfo.FindKeyNumberAtNormalizedTime(t); //including via keys
}
// if (this.gameObject == GameObject.Find("AgentPrefab"))
// Debug.Log(s + " " + t);
//if (this.gameObject == GameObject.Find("AgentPrefab"))
// Debug.Log(keyInd);
float lt; //local time between keyframes including via keys
if (keyInd + 1 < _animInfo.Keys.Length)
{
if (t < 0)
{
lt = (float)(-t * _animInfo.AnimLength - _animInfo.Keys[keyInd].Time) / (_animInfo.Keys[keyInd + 1].Time - _animInfo.Keys[keyInd].Time);
}
else if (t > 1)
{
lt = (float)((2 - t) * _animInfo.AnimLength - _animInfo.Keys[keyInd].Time) / (_animInfo.Keys[keyInd + 1].Time - _animInfo.Keys[keyInd].Time);
}
else
{
lt = (float)(t * _animInfo.AnimLength - _animInfo.Keys[keyInd].Time) / (_animInfo.Keys[keyInd + 1].Time - _animInfo.Keys[keyInd].Time);
}
}
else
{
lt = 0f;
}
// if (this.gameObject == GameObject.Find("AgentPrefab"))
// Debug.Log("t: " + t + " lt: " + lt + " keyInd: " + keyInd + " frameInd: " + frameInd + " Curr: " + _animInfo.Curr + " PrevGoal: " + _animInfo.PrevGoal + " NextGoal: " + _animInfo.NextGoal + " prevGoalInd " + _animInfo.PrevGoalKeyInd + " Tp: " + Tp);
_animInfo.InterpolateWholeBody(keyInd, lt); //linear interpolation
_animInfo.ProjectWholeBodyBeyondKeyInd(keyInd, lt, t); //linear interpolation
//update both arms
for (arm = 0; arm < 2; arm++)
{
if (_interpolatorType == InterpolatorType.EndEffector) //position
{
Vector3 target = _animInfo.ComputeInterpolatedTarget(lt, keyInd, arm);
if (t < 0) // project target to a position before position at keyInd
{
Vector3 pivot = _animInfo.ComputeInterpolatedTarget(0f, 0, arm); //TCB interpolation for position
target = 2 * pivot - target;
}
else if (t > 1) // project target to a position beyond keyInd
{
Vector3 pivot = _animInfo.ComputeInterpolatedTarget(0, _animInfo.Keys.Length - 1, arm); //TCB interpolation for position
target = 2 * pivot - target;
// Debug.Log(Time.time + " "+ t);
}
if (arm == 0)
{
_targetL = target;
}
else
{
_targetR = target;
}
#if DEBUGMODE
//To see tension
if (arm == 0)
{
_targetLPrev.Add(_targetL);
}
else
{
_targetRPrev.Add(_targetR);
}
#endif
if (arm == 0)
{
((IKArm)_ikSolver).Solve(_arms[arm].Bones, -SwivelAngle, target);
}
else
{
((IKArm)_ikSolver).Solve(_arms[arm].Bones, SwivelAngle, target);
}
}
else if (_interpolatorType == InterpolatorType.ElbowAngle)
{
// _arms[arm].Elbow.transform.localRotation = Quaternion.Slerp(Keys[keyInd].BodyRot[i], Keys[keyInd + 1].BodyRot[i], lt);
_arms[arm].Elbow.transform.localRotation = _animInfo.ComputeInterpolatedElbowAngle(lt, keyInd, arm);
//Vector3 targetElbowAngle = _animInfo.ComputeInterpolatedElbowAngle(lt, keyInd, arm);
//_arms[arm].Elbow.transform.localEulerAngles = targetElbowAngle;
}
/*
* else if (_interpolatorType == InterpolatorType.ElbowPos) {
* _arms[arm].Elbow.position = _animInfo.ComputeInterpolatedElbowPos(lt, keyInd,arm); //TCB interpolation for position
*
* }
*/
Flourish(arm, Tp, t);
//Flourish(arm, Mathf.Pow(tp, texp)); //Funda
/*
*
* if (this.gameObject == GameObject.Find("AgentPrefab")) {
*
* if (Math.Abs(lt - 0) < 0.001) { //at keyframes
* _animInfo.Keys[keyInd].EePosUpdated[arm] = target;
* _animInfo.Keys[keyInd].TimeUpdated[arm] = Time.time;
*
* }
* if (t > 1f) {
* _animInfo.ComputeEeVelUpdated(arm);
* }
*
*
*
* }
*/
}
if (this.gameObject != GameObject.Find("AgentControlPrefab"))
{
if (Tp == 0)
{
_velArr.Clear();
_tppArr.Clear();
}
//Current velocity curve
GameObject velCurveCurr = GameObject.Find("VelCurveCurr");
if (velCurveCurr == null)
{
return;
}
velCurveCurr.GetComponent <LineRenderer>().SetVertexCount(_velArr.Count);
for (int i = 0; i < _velArr.Count; i++)
{
velCurveCurr.GetComponent <LineRenderer>().SetPosition(i, new Vector3(_tppArr[i], _velArr[i], 0));
}
//General velocity curve as in EMOTE
GameObject velCurveGen = GameObject.Find("VelCurveGeneral");
velCurveGen.GetComponent <LineRenderer>().SetVertexCount(5);
velCurveGen.GetComponent <LineRenderer>().SetPosition(0, new Vector3(0, 0, 0));
velCurveGen.GetComponent <LineRenderer>().SetPosition(1, new Vector3(T0, -V0, 0));
velCurveGen.GetComponent <LineRenderer>().SetPosition(2, new Vector3(Ti, _vi, 0));
velCurveGen.GetComponent <LineRenderer>().SetPosition(3, new Vector3(T1, -V1, 0));
velCurveGen.GetComponent <LineRenderer>().SetPosition(4, new Vector3(1, 0, 0));
/*velCurveGen.GetComponent<LineRenderer>().SetPosition(1, new Vector3( T0 / _animInfo.AnimSpeed, -V0, 0));
* velCurveGen.GetComponent<LineRenderer>().SetPosition(2, new Vector3( Ti / _animInfo.AnimSpeed, _vi, 0));
* velCurveGen.GetComponent<LineRenderer>().SetPosition(3, new Vector3( T1 / _animInfo.AnimSpeed, -V1, 0));
* velCurveGen.GetComponent<LineRenderer>().SetPosition(4, new Vector3( 1 / _animInfo.AnimSpeed, 0, 0));
*/
}
}
private void Awake()
{
Target = target as IKSolver;
}
private static OCICharFemale Add(
ChaControl _female,
OICharInfo _info,
ObjectCtrlInfo _parent,
TreeNodeObject _parentNode,
bool _addInfo,
int _initialPosition)
{
OCICharFemale ociCharFemale = new OCICharFemale();
ChaFileStatus _status = new ChaFileStatus();
_status.Copy(_female.fileStatus);
_female.ChangeNowCoordinate(false, true);
_female.Load(true);
_female.InitializeExpression(1, true);
ociCharFemale.charInfo = _female;
ociCharFemale.charReference = (ChaReference)_female;
ociCharFemale.preparation = (Preparation)_female.objAnim.GetComponent <Preparation>();
ociCharFemale.finalIK = _female.fullBodyIK;
ociCharFemale.charInfo.hideMoz = false;
for (int index = 0; index < 2; ++index)
{
GameObject gameObject = _female.objHair.SafeGet <GameObject>(index);
if (Object.op_Inequality((Object)gameObject, (Object)null))
{
AddObjectAssist.ArrangeNames(gameObject.get_transform());
}
}
AddObjectAssist.SetupAccessoryDynamicBones((OCIChar)ociCharFemale);
AddObjectAssist.DisableComponent((OCIChar)ociCharFemale);
ociCharFemale.objectInfo = (ObjectInfo)_info;
GuideObject guideObject = Singleton <GuideObjectManager> .Instance.Add(((Component)_female).get_transform(), _info.dicKey);
guideObject.scaleSelect = 0.1f;
guideObject.scaleRot = 0.05f;
guideObject.isActiveFunc += new GuideObject.IsActiveFunc(((ObjectCtrlInfo)ociCharFemale).OnSelect);
guideObject.SetVisibleCenter(true);
ociCharFemale.guideObject = guideObject;
ociCharFemale.optionItemCtrl = (OptionItemCtrl)((Component)_female).get_gameObject().AddComponent <OptionItemCtrl>();
ociCharFemale.optionItemCtrl.animator = _female.animBody;
ociCharFemale.optionItemCtrl.oiCharInfo = _info;
_info.changeAmount.onChangeScale += new Action <Vector3>(ociCharFemale.optionItemCtrl.ChangeScale);
ociCharFemale.charAnimeCtrl = ociCharFemale.preparation?.CharAnimeCtrl;
if (Object.op_Implicit((Object)ociCharFemale.charAnimeCtrl))
{
ociCharFemale.charAnimeCtrl.oiCharInfo = _info;
}
ociCharFemale.yureCtrl = ociCharFemale.preparation.YureCtrl;
ociCharFemale.yureCtrl.Init((OCIChar)ociCharFemale);
if (_info.animeInfo.group == 0 && _info.animeInfo.category == 2 && _info.animeInfo.no == 11)
{
int group = _info.animeInfo.group;
int category = _info.animeInfo.category;
int no = _info.animeInfo.no;
float animeNormalizedTime = _info.animeNormalizedTime;
ociCharFemale.LoadAnime(0, 1, 0, 0.0f);
_female.animBody.Update(0.0f);
_info.animeInfo.group = group;
_info.animeInfo.category = category;
_info.animeInfo.no = no;
_info.animeNormalizedTime = animeNormalizedTime;
}
IKSolver ikSolver = ((IK)ociCharFemale.finalIK).GetIKSolver();
if (!ikSolver.get_initiated())
{
ikSolver.Initiate(((Component)ociCharFemale.finalIK).get_transform());
}
if (_addInfo)
{
Studio.Studio.AddInfo((ObjectInfo)_info, (ObjectCtrlInfo)ociCharFemale);
}
else
{
Studio.Studio.AddObjectCtrlInfo((ObjectCtrlInfo)ociCharFemale);
}
TreeNodeObject _parent1 = !Object.op_Inequality((Object)_parentNode, (Object)null) ? (_parent == null ? (TreeNodeObject)null : _parent.treeNodeObject) : _parentNode;
TreeNodeObject treeNodeObject = Studio.Studio.AddNode(_info.charFile.parameter.fullname, _parent1);
treeNodeObject.enableChangeParent = true;
treeNodeObject.treeState = _info.treeState;
treeNodeObject.onVisible += new TreeNodeObject.OnVisibleFunc(((ObjectCtrlInfo)ociCharFemale).OnVisible);
treeNodeObject.enableVisible = true;
treeNodeObject.visible = _info.visible;
guideObject.guideSelect.treeNodeObject = treeNodeObject;
ociCharFemale.treeNodeObject = treeNodeObject;
_info.changeAmount.OnChange();
AddObjectAssist.InitBone((OCIChar)ociCharFemale, _female.objBodyBone.get_transform(), Singleton <Info> .Instance.dicBoneInfo);
AddObjectAssist.InitIKTarget((OCIChar)ociCharFemale, _addInfo);
AddObjectAssist.InitLookAt((OCIChar)ociCharFemale);
AddObjectAssist.InitAccessoryPoint((OCIChar)ociCharFemale);
ociCharFemale.voiceCtrl.ociChar = (OCIChar)ociCharFemale;
ociCharFemale.InitKinematic(((Component)_female).get_gameObject(), ociCharFemale.finalIK, _female.neckLookCtrl, (DynamicBone[])null, AddObjectFemale.GetSkirtDynamic(_female.objClothes));
treeNodeObject.enableAddChild = false;
Studio.Studio.AddCtrlInfo((ObjectCtrlInfo)ociCharFemale);
_parent?.OnLoadAttach(!Object.op_Inequality((Object)_parentNode, (Object)null) ? _parent.treeNodeObject : _parentNode, (ObjectCtrlInfo)ociCharFemale);
if (_initialPosition == 1)
{
_info.changeAmount.pos = Singleton <Studio.Studio> .Instance.cameraCtrl.targetPos;
}
ociCharFemale.LoadAnime(_info.animeInfo.group, _info.animeInfo.category, _info.animeInfo.no, _info.animeNormalizedTime);
for (int index = 0; index < 5; ++index)
{
ociCharFemale.ActiveIK((OIBoneInfo.BoneGroup)(1 << index), _info.activeIK[index], false);
}
ociCharFemale.ActiveKinematicMode(OICharInfo.KinematicMode.IK, _info.enableIK, true);
// ISSUE: object of a compiler-generated type is created
foreach (\u003C\u003E__AnonType18 <OIBoneInfo.BoneGroup, int> anonType18 in ((IEnumerable <OIBoneInfo.BoneGroup>)FKCtrl.parts).Select <OIBoneInfo.BoneGroup, \u003C\u003E__AnonType18 <OIBoneInfo.BoneGroup, int> >((Func <OIBoneInfo.BoneGroup, int, \u003C\u003E__AnonType18 <OIBoneInfo.BoneGroup, int> >)((p, i) => new \u003C\u003E__AnonType18 <OIBoneInfo.BoneGroup, int>(p, i))))
{
ociCharFemale.ActiveFK(anonType18.p, ociCharFemale.oiCharInfo.activeFK[anonType18.i], false);
}
ociCharFemale.ActiveKinematicMode(OICharInfo.KinematicMode.FK, _info.enableFK, true);
for (int categoryNo = 0; categoryNo < _info.expression.Length; ++categoryNo)
{
ociCharFemale.charInfo.EnableExpressionCategory(categoryNo, _info.expression[categoryNo]);
}
ociCharFemale.animeSpeed = ociCharFemale.animeSpeed;
ociCharFemale.animeOptionParam1 = ociCharFemale.animeOptionParam1;
ociCharFemale.animeOptionParam2 = ociCharFemale.animeOptionParam2;
foreach (byte num in _female.fileStatus.siruLv)
{
num = (byte)0;
}
_status.visibleSonAlways = _info.visibleSon;
ociCharFemale.SetSonLength(_info.sonLength);
ociCharFemale.SetVisibleSimple(_info.visibleSimple);
ociCharFemale.SetSimpleColor(_info.simpleColor);
AddObjectAssist.UpdateState((OCIChar)ociCharFemale, _status);
return(ociCharFemale);
}
