/// <summary>
///
/// </summary>
public void BalanceLegMovement(LeaningDirection leaningDir)
{
switch (leaningDir)
{
case LeaningDirection.Forward:
if (!_lastActiveLeg.Equals(ActiveLeg))
{
_lastActiveLeg = ActiveLeg;
_activeLegCoroutine = StartCoroutine(
RotateLegJoints(_swing, _stance, _balanceForwardRots));
}
break;
case LeaningDirection.Backward:
break;
case LeaningDirection.Left:
break;
case LeaningDirection.Right:
break;
}
}
/// <summary>
///
/// </summary>
public void WalkLegMovement()
{
if (!_lastActiveLeg.Equals(ActiveLeg))
{
_lastActiveLeg = ActiveLeg;
_activeLegCoroutine = StartCoroutine(
RotateLegJoints(_swing, _stance, _WalkingForwardRots));
}
}
private IEnumerator RotateLegJoints(Swing swing, Stance stance, LegTargetRotations tr)
{
float startElapsedTime = 0f;
swing.Foot.GetComponent<Collider>().material = _slide;
stance.Foot.GetComponent<Collider>().material = _rough;
while (startElapsedTime < tr.StartPhaseDuration)
{
startElapsedTime += Time.fixedDeltaTime;
float startPhasePerc = startElapsedTime / tr.StartPhaseDuration;
swing.Upper.targetRotation = Quaternion.Lerp(swing.Upper.targetRotation,
tr.SwingUpStart, _startPhaseAC.Evaluate(startPhasePerc));
swing.Lower.targetRotation = Quaternion.Lerp(swing.Lower.targetRotation,
tr.SwingLowStart, _startPhaseAC.Evaluate(startPhasePerc));
swing.Foot.targetRotation = Quaternion.Lerp(swing.Foot.targetRotation,
tr.SwingFootStart, _startPhaseAC.Evaluate(startPhasePerc));
stance.Upper.targetRotation = Quaternion.Lerp(stance.Upper.targetRotation,
tr.StanceUpStart, _startPhaseAC.Evaluate(startPhasePerc));
stance.Lower.targetRotation = Quaternion.Lerp(stance.Lower.targetRotation,
tr.StanceLowStart, _startPhaseAC.Evaluate(startPhasePerc));
stance.Foot.targetRotation = Quaternion.Lerp(stance.Foot.targetRotation,
tr.StanceFootStart, _startPhaseAC.Evaluate(startPhasePerc));
yield return null;
}
float endElapsedTime = 0f;
swing.Foot.GetComponent<Collider>().material = _rough;
stance.Foot.GetComponent<Collider>().material = _slide;
while (endElapsedTime < tr.EndPhaseDuration)
{
endElapsedTime += Time.fixedDeltaTime;
float endPhasePerc = endElapsedTime / tr.EndPhaseDuration;
swing.Upper.targetRotation = Quaternion.Lerp(swing.Upper.targetRotation,
tr.SwingUpEnd, _endPhaseAC.Evaluate(endPhasePerc));
swing.Lower.targetRotation = Quaternion.Lerp(swing.Lower.targetRotation,
tr.SwingLowEnd, _endPhaseAC.Evaluate(endPhasePerc));
swing.Foot.targetRotation = Quaternion.Lerp(swing.Foot.targetRotation,
tr.SwingFootEnd, _endPhaseAC.Evaluate(endPhasePerc));
stance.Upper.targetRotation = Quaternion.Lerp(stance.Upper.targetRotation,
tr.StanceUpEnd, _endPhaseAC.Evaluate(endPhasePerc));
stance.Lower.targetRotation = Quaternion.Lerp(stance.Lower.targetRotation,
tr.StanceLowEnd, _endPhaseAC.Evaluate(endPhasePerc));
stance.Foot.targetRotation = Quaternion.Lerp(stance.Foot.targetRotation,
tr.StanceFootEnd, _endPhaseAC.Evaluate(endPhasePerc));
yield return null;
}
ActiveLeg = ActiveLeg.Equals(ActiveLeg.Left) ?
ActiveLeg.Right : ActiveLeg.Left;
SetSwingStance();
}
