public void FixedUpdateSkin(Transform bone, Rigidbody boneBody, BoxCollider targetCol)
{
boxCol.size = targetCol.size;
float tPos = Mathf.Clamp01(Vector3.Distance(bone.position, transform.position) / (boxCol.size * 0.5f).magnitude);
posSD.k = kPosMin + tPos * tPos * (kPosMax - kPosMin);
float tRot = Mathf.Clamp01(Quaternion.Angle(bone.rotation, transform.rotation) / angleMax);
rotSD.k = kRotMin + tRot * tRot * (kRotMax - kRotMin);
FixedUpdateSkin(bone, boneBody, VCHand.BoxI(targetCol.size * 0.5f, posSD.m));
}
public virtual void FixedUpdateBones(RealHand targetHand, VCHand vcHand, int f)
{
RealFinger finger = targetHand.fingers[f];
Vector3 displacement = bones [bones.Length - 1].position - finger.bones [bones.Length - 1].position;
Vector3 force = posSD.GetForce(displacement, boneBodys [bones.Length - 1].velocity);
CapsuleCollider boneCol = boneCols [bones.Length - 1];
Vector3 I = CapsuleI(boneCol.radius, boneCol.height, posSD.m);
Quaternion targetRot = finger.bones[bones.Length - 1].rotation;
Quaternion boneRot = bones[bones.Length - 1].rotation;
Vector3 torque = rotSD.GetTorque(boneRot, targetRot, boneBodys[bones.Length - 1].angularVelocity, I);
MoveBones(vcHand, finger, force, torque);
}
//位置がずれる、なぜ....
public override void FixedUpdateBones(RealHand targetHand, VCHand vcHand, int f)
{
RealFinger finger = targetHand.fingers[f];
Vector3 targetLocalPos = finger.bones [bones.Length - 1].position - targetHand.palm.position;
Vector3 localPos = bones [bones.Length - 1].position - targetHand.palm.position;
Vector3 localVelocity = boneBodys [bones.Length - 1].velocity - vcHand.palmBody.velocity;
Vector3 force = posSD.GetForce(localPos - targetLocalPos, localVelocity);
CapsuleCollider boneCol = boneCols [bones.Length - 1];
Vector3 I = CapsuleI(boneCol.radius, boneCol.height, posSD.m);
Quaternion targetLocalRot = finger.bones [bones.Length - 1].rotation * Quaternion.Inverse(targetHand.palm.rotation);
Quaternion boneLocalRot = bones[bones.Length - 1].rotation * Quaternion.Inverse(targetHand.palm.rotation);
Vector3 localAngularVelocity = boneBodys [bones.Length - 1].angularVelocity - vcHand.palmBody.angularVelocity;
Vector3 torque = rotSD.GetTorque(boneLocalRot, targetLocalRot, localAngularVelocity, I);
MoveBones(vcHand, finger, force, torque);
}
protected void MoveBones(VCHand vcHand, RealFinger finger, Vector3 force, Vector3 torque)
{
boneBodys [bones.Length - 1].AddForce(force);
boneBodys[bones.Length - 1].AddTorque(torque);
for (int b = 0; b < bones.Length; ++b)
{
if (bones [b] != null && boneBodys [b])
{
boneCols [b].radius = finger.boneWidths[b] / 2f;
boneCols [b].height = finger.boneLengths[b] + finger.boneWidths [b];
if (vcHand.useSkin && fingerSkins[b])
{
fingerSkins[b].FixedUpdateSkin(bones[b], boneBodys[b], boneCols[b]);
}
/*
* Vector3 displacement = bones [b].position - finger.bones [b].Center.ToVector3 ();
* //Debug.DrawRay (finger.bones [b].Center.ToVector3 (), finger.bones[b].Direction.ToVector3(), Color.green, Time.fixedDeltaTime);
* Vector3 force = posSD.GetForce (displacement, boneBodys [b].velocity);
* boneBodys [b].AddForce (force);
*
* Quaternion targetRot = finger.bones[b].Rotation.ToQuaternion();
* Quaternion boneRot = bones[b].rotation;
* Vector3 torque = rotSD.GetTorque (boneRot, targetRot, boneBodys[b].angularVelocity);
* boneBodys[b].AddTorque (torque);
*/
//回転軸の描画
/*
* if (b >= 2) {//Element0は空なので
* float axisStartZ = -boneCols [b].height / 2f + boneCols [b].radius;
* Vector3 start = bones [b].position + bones [b].forward * axisStartZ;
* Vector3 rotAxis = Vector3.Cross (bones [b].forward, bones [b - 1].forward);
* Debug.DrawRay (start, rotAxis, Color.red);
* }
*/
}
}
}
