// Update is called once per frame
void Update()
{
// This code just adjusts the primitives and has no effect on the joint solver
thighPrimitive.transform.localPosition = new Vector3(0.0f, thighLength / 2, 0.0f);
calfPrimitive.transform.localPosition = new Vector3(0.0f, calfLength / 2, 0.0f);
footPrimitive.transform.localPosition = new Vector3(0.0f, footLength / 2, 0.0f);
Vector3 thighScale = new Vector3(0.5f, thighLength / 2, 0.5f);
Vector3 calfScale = new Vector3(0.5f, calfLength / 2, 0.5f);
Vector3 footScale = new Vector3(0.5f, footLength / 2, 0.5f);
thighPrimitive.transform.localScale = thighScale;
calfPrimitive.transform.localScale = calfScale;
footPrimitive.transform.localScale = footScale;
// This code demonstrates how to set up joint positions and rotations based only on the 2 control transforms
// All positions and rotations are local to properly work when parented under a single GameObject
// During implementation, these would be set to animation clips and not updated in real time as below
root.transform.localPosition = hipPoint.localPosition;
root.transform.localRotation = hipPoint.localRotation;
hipPivot.transform.localPosition = new Vector3(0.0f, 0.0f, hipWidth);
hipPivot.transform.localRotation = Quaternion.identity; // Not necessary as rotation of hipPivot is not used
hip.transform.localPosition = hipPoint.localPosition + hipPoint.localRotation * new Vector3(0.0f, 0.0f, hipWidth);
calf.transform.localPosition = new Vector3(0.0f, thighLength, 0.0f);
foot.transform.localPosition = new Vector3(0.0f, calfLength, 0.0f);
Vector3 sideHipPoint = hipPoint.localPosition + hipPoint.localRotation * (new Vector3(0.0f, 0.0f, hipWidth));
JointSolver.LegSolverOutput output = solver.LegRotationSolver(sideHipPoint, targetPoint.localPosition, thighLength, calfLength, footLength, targetPoint.eulerAngles.z, targetPoint.eulerAngles.y, reverseKnee);
hip.transform.localRotation = output.legPivotRotation;
thigh.transform.localRotation = output.thighRotation;
calf.transform.localRotation = output.calfRotation;
foot.transform.localRotation = output.footRotation;
}
// Below is an abstract list for all animation functions to override
protected ClipContainer.AnimationGroup CreateClips(float animTime, string animName)
{
int i = 0;
int arrayLength = (int)(animTime / Time.deltaTime) + 1;
float[] times = new float[arrayLength];
Vector3[] rootPos = new Vector3[arrayLength];
Quaternion[] rootPivotRot = new Quaternion[arrayLength];
Quaternion[] pelvisRot = new Quaternion[arrayLength];
Quaternion[] waistRot = new Quaternion[arrayLength];
Quaternion[] torsoRot = new Quaternion[arrayLength];
Vector3[] FL_hipPos = new Vector3[arrayLength];
Quaternion[] FL_hipRot = new Quaternion[arrayLength];
Quaternion[] FL_thighRot = new Quaternion[arrayLength];
Quaternion[] FL_calfRot = new Quaternion[arrayLength];
Quaternion[] FL_footRot = new Quaternion[arrayLength];
Quaternion[] FL_toeRot = new Quaternion[arrayLength];
Vector3[] FR_hipPos = new Vector3[arrayLength];
Quaternion[] FR_hipRot = new Quaternion[arrayLength];
Quaternion[] FR_thighRot = new Quaternion[arrayLength];
Quaternion[] FR_calfRot = new Quaternion[arrayLength];
Quaternion[] FR_footRot = new Quaternion[arrayLength];
Quaternion[] FR_toeRot = new Quaternion[arrayLength];
Vector3[] BL_hipPos = new Vector3[arrayLength];
Quaternion[] BL_hipRot = new Quaternion[arrayLength];
Quaternion[] BL_thighRot = new Quaternion[arrayLength];
Quaternion[] BL_calfRot = new Quaternion[arrayLength];
Quaternion[] BL_footRot = new Quaternion[arrayLength];
Quaternion[] BL_toeRot = new Quaternion[arrayLength];
Vector3[] BR_hipPos = new Vector3[arrayLength];
Quaternion[] BR_hipRot = new Quaternion[arrayLength];
Quaternion[] BR_thighRot = new Quaternion[arrayLength];
Quaternion[] BR_calfRot = new Quaternion[arrayLength];
Quaternion[] BR_footRot = new Quaternion[arrayLength];
Quaternion[] BR_toeRot = new Quaternion[arrayLength];
JointSolver.SpineSolverOutput spine_out = new JointSolver.SpineSolverOutput();
JointSolver.LegSolverOutput FL_out = new JointSolver.LegSolverOutput();
JointSolver.LegSolverOutput FR_out = new JointSolver.LegSolverOutput();
JointSolver.LegSolverOutput BL_out = new JointSolver.LegSolverOutput();
JointSolver.LegSolverOutput BR_out = new JointSolver.LegSolverOutput();
GameObject solverObject = new GameObject("solverObject");
JointSolver solver = solverObject.AddComponent <JointSolver>();
for (float t = 0.0f; t < animTime; t += Time.deltaTime)
{
// Call all animation functions and store values in appropriate variables
rootPos[i] = AF_rootPosition(t);
rootPivotRot[i] = AF_rootPivotRotation(t);
Vector3 FL_target = AF_FL_LegTarget(t);
Vector3 FR_target = AF_FR_LegTarget(t);
Vector3 BL_target = AF_BL_LegTarget(t);
Vector3 BR_target = AF_BR_LegTarget(t);
float hipWidth = species.spineData.pelvisData.radiusA;
float shoulderWidth = species.spineData.torsoData.radiusB;
float spine_CX = AF_spine_CX(t);
float spine_CY = AF_spine_CY(t);
float spine_SX = AF_spine_SX(t);
float spine_SY = AF_spine_SY(t);
// Convert all function values to raw rotations and positions for each joint
spine_out = solver.SpineRotationSolver(spine_CX, spine_CY, spine_SX, spine_SY, 90.0f, 90.0f,
species.spineData.pelvisData.length,
species.spineData.waistData.length,
species.spineData.torsoData.length);
pelvisRot[i] = spine_out.pelvisRotation;
waistRot[i] = spine_out.waistRotation;
torsoRot[i] = spine_out.torsoRotation;
//Vector3 sideHipPoint = rootPos[i] + rootPivotRot[i]*(new Vector3(0.0f,0.0f,hipWidth));
BL_hipPos[i] = rootPos[i] + rootPivotRot[i] * (new Vector3(0.0f, 0.0f, hipWidth));
BL_out = solver.LegRotationSolver(BL_hipPos[i], BL_target,
species.backLegData.thighData.length,
species.backLegData.calfData.length,
species.backLegData.footData.length,
30.0f, 0.0f, false);
BL_hipRot[i] = BL_out.legPivotRotation;
BL_thighRot[i] = BL_out.thighRotation;
BL_calfRot[i] = BL_out.calfRotation;
BL_footRot[i] = BL_out.footRotation;
BL_toeRot[i] = Quaternion.identity;
BR_hipPos[i] = rootPos[i] + rootPivotRot[i] * (new Vector3(0.0f, 0.0f, -hipWidth));
BR_out = solver.LegRotationSolver(BR_hipPos[i], BR_target,
species.backLegData.thighData.length,
species.backLegData.calfData.length,
species.backLegData.footData.length,
30.0f, 0.0f, false);
BR_hipRot[i] = BR_out.legPivotRotation;
BR_thighRot[i] = BR_out.thighRotation;
BR_calfRot[i] = BR_out.calfRotation;
BR_footRot[i] = BR_out.footRotation;
BR_toeRot[i] = Quaternion.identity;
Vector3 neckPivot = rootPos[i] + rootPivotRot[i] * (new Vector3(0.0f, spine_out.neckDistance, 0.0f));
FL_hipPos[i] = neckPivot + rootPivotRot[i] * pelvisRot[i] * waistRot[i] * torsoRot[i] * (new Vector3(0.0f, 0.0f, shoulderWidth));
Debug.Log("FL_hipPos = " + FL_hipPos[i] + ", FL_target = " + FL_target);
FL_out = solver.LegRotationSolver(FL_hipPos[i], FL_target,
species.frontLegData.thighData.length,
species.frontLegData.calfData.length,
species.frontLegData.footData.length,
30.0f, 0.0f, true);
FL_hipRot[i] = FL_out.legPivotRotation;
FL_thighRot[i] = FL_out.thighRotation;
FL_calfRot[i] = FL_out.calfRotation;
FL_footRot[i] = FL_out.footRotation;
FL_toeRot[i] = Quaternion.identity;
FR_hipPos[i] = neckPivot + rootPivotRot[i] * pelvisRot[i] * waistRot[i] * torsoRot[i] * (new Vector3(0.0f, 0.0f, -shoulderWidth));
FR_out = solver.LegRotationSolver(FR_hipPos[i], FR_target,
species.frontLegData.thighData.length,
species.frontLegData.calfData.length,
species.frontLegData.footData.length,
30.0f, 0.0f, true);
FR_hipRot[i] = FR_out.legPivotRotation;
FR_thighRot[i] = FR_out.thighRotation;
FR_calfRot[i] = FR_out.calfRotation;
FR_footRot[i] = FR_out.footRotation;
FR_toeRot[i] = Quaternion.identity;
times[i] = t;
i++;
}
// Assign values to animation clips in new AnimationGroup and store in ClipContainer
ClipContainer.AnimationGroup animGroup = new ClipContainer.AnimationGroup();
animGroup.rootClip = CreatePositionClip(rootPos, times, animName);
animGroup.rootPivotClip = CreateRotationClip(rootPivotRot, times, animName);
animGroup.pelvisClip = CreateRotationClip(pelvisRot, times, animName);
animGroup.waistClip = CreateRotationClip(waistRot, times, animName);
animGroup.torsoClip = CreateRotationClip(torsoRot, times, animName);
animGroup.FL_HipClip = CreatePositionClip(FL_hipPos, times, animName);
animGroup.FL_HipClip = CreateRotationClip(animGroup.FL_HipClip, FL_hipRot, times);
animGroup.FL_ThighClip = CreateRotationClip(FL_thighRot, times, animName);
animGroup.FL_KneeClip = CreateRotationClip(FL_calfRot, times, animName);
animGroup.FL_AnkleClip = CreateRotationClip(FL_footRot, times, animName);
animGroup.FL_ToeClip = CreateRotationClip(FL_toeRot, times, animName);
animGroup.FR_HipClip = CreatePositionClip(FR_hipPos, times, animName);
animGroup.FR_HipClip = CreateRotationClip(animGroup.FR_HipClip, FR_hipRot, times);
animGroup.FR_ThighClip = CreateRotationClip(FR_thighRot, times, animName);
animGroup.FR_KneeClip = CreateRotationClip(FR_calfRot, times, animName);
animGroup.FR_AnkleClip = CreateRotationClip(FR_footRot, times, animName);
animGroup.FR_ToeClip = CreateRotationClip(FR_toeRot, times, animName);
animGroup.BL_HipClip = CreatePositionClip(BL_hipPos, times, animName);
animGroup.BL_HipClip = CreateRotationClip(animGroup.BL_HipClip, BL_hipRot, times);
animGroup.BL_ThighClip = CreateRotationClip(BL_thighRot, times, animName);
animGroup.BL_KneeClip = CreateRotationClip(BL_calfRot, times, animName);
animGroup.BL_AnkleClip = CreateRotationClip(BL_footRot, times, animName);
animGroup.BL_ToeClip = CreateRotationClip(BL_toeRot, times, animName);
animGroup.BR_HipClip = CreatePositionClip(BR_hipPos, times, animName);
animGroup.BR_HipClip = CreateRotationClip(animGroup.BR_HipClip, BR_hipRot, times);
animGroup.BR_ThighClip = CreateRotationClip(BR_thighRot, times, animName);
animGroup.BR_KneeClip = CreateRotationClip(BR_calfRot, times, animName);
animGroup.BR_AnkleClip = CreateRotationClip(BR_footRot, times, animName);
animGroup.BR_ToeClip = CreateRotationClip(BR_toeRot, times, animName);
// etc...
//SetAnimGroupName(ref animGroup, animName);
GameObject.Destroy(solverObject);
return(animGroup);
}
