public static Quaternion CalculateNeckRotation(Quaternion hipRotation, Quaternion headRotation)
{
Vector3 headAnglesCharacterSpace = (Quaternion.Inverse(hipRotation) * headRotation).eulerAngles;
float neckYRotation = UnityAngles.Normalize(headAnglesCharacterSpace.y) * 0.6F;
Quaternion neckRotation = hipRotation * Quaternion.Euler(headAnglesCharacterSpace.x, neckYRotation, headAnglesCharacterSpace.z);
return(neckRotation);
}
public static Quaternion CalculateChestRotation(Quaternion chestRotation, Quaternion hipRotation, Quaternion headRotation)
{
Vector3 chestAngles = chestRotation.eulerAngles;
Vector3 headAnglesCharacterSpace = (Quaternion.Inverse(hipRotation) * headRotation).eulerAngles;
float chestYRotation = UnityAngles.Normalize(headAnglesCharacterSpace.y) * 0.3F;
Quaternion newChestRotation = hipRotation * Quaternion.Euler(chestAngles.x, chestYRotation, chestAngles.z);
return(newChestRotation);
}
protected float CalculateFingerCurl()
{
Quaternion rotation = proximal.target.transform.localRotation * Quaternion.Inverse(proximal.target.baseRotation);
float angle = fingers.handTarget.isLeft ? rotation.eulerAngles.z : -rotation.eulerAngles.z;
angle = UnityAngles.Normalize(angle);
_curl = angle / 70;
_curl = Mathf.Clamp(_curl, -0.1F, 1);
return(_curl);
}
private void LookAtTarget(Vector3 targetPosition)
{
Vector3 targetDirection = targetPosition - eyeTarget.bone.transform.position;
Quaternion headRotation = eyeTarget.headTarget.head.bone.transform.rotation * eyeTarget.headTarget.head.bone.toTargetRotation;
Vector3 headForward = headRotation * Vector3.forward;
Vector3 headUp = headRotation * Vector3.up;
Vector3 targetEyeAngles = Quaternion.FromToRotation(headForward, targetDirection).eulerAngles;
Vector3 eyeAngles = UnityAngles.Clamp(targetEyeAngles, eyeTarget.bone.minAngles, eyeTarget.bone.maxAngles);
targetDirection = Quaternion.Euler(eyeAngles) * headForward;
eyeTarget.target.transform.rotation = Quaternion.LookRotation(targetDirection, headUp);
}
protected Vector3 CalculateTorque()
{
Quaternion sollRotation = handTarget.hand.target.transform.rotation * handTarget.hand.target.toBoneRotation;
Quaternion istRotation = handTarget.hand.bone.transform.rotation;
Quaternion dRot = sollRotation * Quaternion.Inverse(istRotation);
float angle;
Vector3 axis;
dRot.ToAngleAxis(out angle, out axis);
angle = UnityAngles.Normalize(angle);
Vector3 angleDifference = axis.normalized * (angle * Mathf.Deg2Rad);
Vector3 torque = angleDifference * handTarget.strength * 0.1F;
return(torque);
}
public float GetSwing()
{
if (fingers == null || proximal.target.transform == null)
{
_swing = 0;
}
else if (this == fingers.thumb)
{
float angle = proximal.target.transform.localEulerAngles.z;
_swing = UnityAngles.Normalize(angle) / 90;
}
else
{
float angle = proximal.target.transform.localEulerAngles.y;
_swing = UnityAngles.Normalize(angle) / 90;
}
return(_swing);
}
public static Quaternion CalculateHipsRotation(Vector3 hipsPosition, Quaternion hipsRotation, Quaternion leftHandRotation, Quaternion rightHandRotation, Transform leftFoot, Transform rightFoot, Quaternion neckRotation, Vector3 neckPosition)
{
float angleX = hipsRotation.eulerAngles.x;
float angleY = hipsRotation.eulerAngles.y;
float angleZ = hipsRotation.eulerAngles.z;
float dOrientation = 0;
Vector3 leftHandForward = leftHandRotation * Vector3.left;
Vector3 rightHandForward = rightHandRotation * Vector3.right;
Vector3 hipsForward = hipsRotation * Vector3.forward;
Vector2 leftHandForward2 = new Vector2(leftHandForward.x, leftHandForward.z);
Vector2 rightHandForward2 = new Vector2(rightHandForward.x, rightHandForward.z);
Vector2 hipsRotation2 = new Vector2(hipsForward.x, hipsForward.z);
// Check for hands not pointing up/down too much
float dOrientationL = leftHandForward2.sqrMagnitude > 0.1F ? UnityAngles.SignedAngle(hipsRotation2, leftHandForward2) : 0;
float dOrientationR = rightHandForward2.sqrMagnitude > 0.1F ? UnityAngles.SignedAngle(hipsRotation2, rightHandForward2) : 0;
if (Mathf.Sign(dOrientationL) == Mathf.Sign(dOrientationR))
{
if (Mathf.Abs(dOrientationL) < Mathf.Abs(dOrientationR))
{
dOrientation = dOrientationL;
}
else
{
dOrientation = dOrientationR;
}
}
float neckOrientation = UnityAngles.Difference(neckRotation.eulerAngles.y, angleY + dOrientation);
if (neckOrientation < 90 && neckOrientation > -90) // head cannot turn more than 90 degrees
{
angleY += dOrientation;
}
Quaternion newHipsRotation = Quaternion.Euler(angleX, angleY, angleZ);
return(newHipsRotation);
}
protected float CalculateThumbCurl()
{
Quaternion rotation = Quaternion.Inverse(proximal.target.transform.rotation) * distal.target.transform.rotation;
float angle = fingers.handTarget.isLeft ? rotation.eulerAngles.z : -rotation.eulerAngles.z;
angle = UnityAngles.Normalize(angle);
angle = angle - 15;
if (angle < 0)
{
_curl = angle / 80;
}
else
{
_curl = angle / 80;
}
_curl = Mathf.Clamp(_curl, -0.5F, 1);
return(_curl);
}
public static float LimitKneeAngle(FootTarget.TargetedLowerLegBone lowerLeg, float angle)
{
return(UnityAngles.Clamp(angle, 0, lowerLeg.bone.maxAngle));
}
protected Vector3 LimitAngles(HumanoidTarget.TargetedBone bone, Vector3 angles)
{
angles = UnityAngles.Clamp(angles, bone.bone.minAngles, bone.bone.maxAngles);
return(angles);
}
