// close muscle wherever it is
// if amount is negative, use extend.
void ContractMuscle(DogLeg leg, Muscles muscle, float amount = 1f)
{
float tempBonus = 0;
if (leg.name.Contains("bl") || leg.name.Contains("br"))
tempBonus += backLegBonus;
else
tempBonus += frontLegBonus;
if (amount < 0) {
ExtendMuscle(leg, muscle, -amount);
} else {
switch (muscle) {
case Muscles.Biceps:
DogLeg.Contract(leg.biceps, leg.GetMuscleLength(leg.biceps) * (bicepsFullContractForce + tempBonus) * amount);
break;
case Muscles.Triceps:
DogLeg.Contract(leg.triceps, leg.GetMuscleLength(leg.triceps) * (tricepsFullContractForce + tempBonus) * amount);
break;
case Muscles.Chest:
DogLeg.Contract(leg.chest, leg.GetMuscleLength(leg.chest) * (chestFullContractForce + tempBonus) * amount);
break;
}
}
}
// open muscle fully
void ExtendMuscle(DogLeg leg, Muscles muscle, float amount = 1f)
{
float tempBonus = 0;
if (leg.name.Contains("bl") || leg.name.Contains("br"))
{
tempBonus += backLegBonus;
}
else
{
tempBonus += frontLegBonus;
}
switch (muscle)
{
case Muscles.Biceps:
DogLeg.Contract(leg.biceps, -(1 - leg.GetMuscleLength(leg.biceps)) * (bicepsFullContractForce + tempBonus) * amount);
break;
case Muscles.Triceps:
DogLeg.Contract(leg.triceps, -(1 - leg.GetMuscleLength(leg.triceps)) * (tricepsFullContractForce + tempBonus) * amount);
break;
case Muscles.Chest:
DogLeg.Contract(leg.chest, -(1 - leg.GetMuscleLength(leg.chest)) * (chestFullContractForce + tempBonus) * amount);
break;
}
}
void IdleLeg(int i, float idleForce = -100)
{
if (idleForce == -100)
{
idleForce = _idleForce;
}
// calculate the difference of balance from initial rotation
float currentL = legs[i].lowerLeg.rotation.eulerAngles.x;
if (currentL > 180)
{
currentL = currentL - 360;
}
float targetL = legs[i].lowerLegTargetRotation.eulerAngles.x;
if (targetL > 180)
{
targetL = targetL - 360;
}
// the difference of balance
float deltaL = currentL - targetL;
// reposition the legs according to their muscles
if (i <= 1)
{
DogLeg.Contract(legs[i].biceps, -deltaL * idleForce);
}
else
{
DogLeg.Contract(legs[i].biceps, deltaL * idleForce);
}
// same but with triceps
float currentU = legs[i].transform.rotation.eulerAngles.x;
if (currentU > 180)
{
currentU = currentU - 360;
}
float targetU = legs[i].targetRotation.eulerAngles.x;
if (targetU > 180)
{
targetU = targetU - 360;
}
// the difference of balance
float deltaU = currentU - targetU;
if (i <= 1)
{
DogLeg.Contract(legs[i].triceps, deltaU * idleForce);
}
else
{
DogLeg.Contract(legs[i].triceps, -deltaU * idleForce);
}
}
public void doStuff()
{
Animal a = getAnimal();
if (a is Dog)
{
DogLeg dl = (DogLeg)a.GetLeg();
}
}
IEnumerator Step(DogLeg leg, float phase)
{
while (true)
{
DogLeg.Contract(leg.biceps, Mathf.Sin(phase) * amountEachLeg);
DogLeg.Contract(leg.triceps, Mathf.Sin(phase + phaseShift * Mathf.Deg2Rad) * amountEachLeg);
phase += speed * Mathf.Deg2Rad;
yield return(new WaitForFixedUpdate());
}
}
// get leg close to body slowly like a nannypussy
void ContractLeg(DogLeg leg, float amount)
{
float tempBonus = 0;
if (leg.name.Contains("bl") || leg.name.Contains("br"))
tempBonus += backLegBonus;
else
tempBonus += frontLegBonus;
// previously I tested here if the triceps was longer or shorter than the biceps, to have a async kind of contraction
DogLeg.Contract(leg.biceps, leg.GetMuscleLength(leg.biceps) * amount * (bicepsFullContractForce + tempBonus));
DogLeg.Contract(leg.triceps, leg.GetMuscleLength(leg.triceps) * amount * (tricepsFullContractForce + tempBonus));
}
void ExtendLeg(DogLeg leg, float amount)
{
float tempBonus = 0;
if (leg.name.Contains("bl") || leg.name.Contains("br"))
{
tempBonus += backLegBonus;
}
else
{
tempBonus += frontLegBonus;
}
DogLeg.Contract(leg.biceps, (1 - leg.GetMuscleLength(leg.biceps)) * amount * (bicepsFullContractForce + tempBonus));
DogLeg.Contract(leg.triceps, leg.GetMuscleLength(leg.triceps) * amount * (tricepsFullContractForce + tempBonus));
}
// get leg close to body slowly like a nannypussy
void ContractLeg(DogLeg leg, float amount)
{
float tempBonus = 0;
if (leg.name.Contains("bl") || leg.name.Contains("br"))
{
tempBonus += backLegBonus;
}
else
{
tempBonus += frontLegBonus;
}
// previously I tested here if the triceps was longer or shorter than the biceps, to have a async kind of contraction
DogLeg.Contract(leg.biceps, leg.GetMuscleLength(leg.biceps) * amount * (bicepsFullContractForce + tempBonus));
DogLeg.Contract(leg.triceps, leg.GetMuscleLength(leg.triceps) * amount * (tricepsFullContractForce + tempBonus));
}
void Update2()
{
// biceps-triceps, front-back, left-right.
float[,,] joy = new float[2, 2, 2];
for (int i = 0; i < 2; i++)
{
for (int j = 0; j < 2; j++)
{
for (int k = 0; k < 2; k++)
{
// biceps contractions
// are done on both x axes
// if left controller, invert x axis, so biceps are closed toward inside of controller and open towards outside
joy[0, j, k] = (k == 0 ? -1 : 1) * Input.GetAxis("Player 1 " + (k == 0? "left" : "right") + " X") * 3;
// triceps
// if left controller, control front legs, if right controller, control back legs
joy[1, j, k] = Input.GetAxis("Player 1 " + (j == 0 ? "left" : "right") + " Y");
joy[i, j, k] *= moveSpeed;
// axis: Player 1 left X
// Player 2 right Y
}
}
}
DogLeg.Contract(legs[0].biceps, joy[0, 0, 0]);
DogLeg.Contract(legs[1].biceps, joy[0, 0, 1]);
DogLeg.Contract(legs[2].biceps, joy[0, 1, 0]);
DogLeg.Contract(legs[3].biceps, joy[0, 1, 1]);
DogLeg.Contract(legs[0].triceps, joy[1, 0, 0]);
DogLeg.Contract(legs[1].triceps, joy[1, 0, 1]);
DogLeg.Contract(legs[2].triceps, joy[1, 1, 0]);
DogLeg.Contract(legs[3].triceps, joy[1, 1, 1]);
}
IEnumerator Step(DogLeg leg, float phase)
{
while (true) {
DogLeg.Contract(leg.biceps, Mathf.Sin (phase) * amountEachLeg);
DogLeg.Contract(leg.triceps, Mathf.Sin (phase + phaseShift*Mathf.Deg2Rad) * amountEachLeg);
phase += speed * Mathf.Deg2Rad;
yield return new WaitForFixedUpdate();
}
}
public Leg GetLeg()
{
DogLeg dl = super.GetLeg();
//set dogleg specific properties
}
// put leg forward in pointing position
void ExtendFullLeg(DogLeg leg)
{
ExtendLeg(leg, 1);
}
// put leg close to body
void ContractFullLeg(DogLeg leg)
{
ContractLeg(leg, 1);
}
// put leg forward in pointing position
void ExtendFullLeg(DogLeg leg)
{
ExtendLeg(leg, 1);
}
IEnumerator Idle()
{
while (true)
{
//Vector3 delta = transform.FindChild("Body").rigidbody.centerOfMass - transform.FindChild("Body").position;
// code to keep legs straight, close to their initial rotation
// only works if the body is upright and not tilted in any way.
float rotZDelta = transform.FindChild("Body").GetComponent <RotationInfo>().rotationZDelta;
if (Mathf.Abs(rotZDelta) < 30)
{
for (int i = 0; i < 2; i++)
{
float currentL = legs[i].lowerLeg.rotation.eulerAngles.x;
if (currentL > 180)
{
currentL = currentL - 360;
}
float targetL = legs[i].lowerLegTargetRotation.eulerAngles.x;
if (targetL > 180)
{
targetL = targetL - 360;
}
// the difference of balance
float deltaL = currentL - targetL;
if (i <= 1)
{
DogLeg.Contract(legs[i].biceps, -deltaL * idleForce);
}
else
{
DogLeg.Contract(legs[i].biceps, deltaL * idleForce);
}
float currentU = legs[i].transform.rotation.eulerAngles.x;
if (currentU > 180)
{
currentU = currentU - 360;
}
float targetU = legs[i].targetRotation.eulerAngles.x;
if (targetU > 180)
{
targetU = targetU - 360;
}
// the difference of balance
float deltaU = currentU - targetU;
if (i <= 1)
{
DogLeg.Contract(legs[i].triceps, deltaU * idleForce);
}
else
{
DogLeg.Contract(legs[i].triceps, -deltaU * idleForce);
}
}
} // end if body not tilted
else if (Mathf.Abs(rotZDelta) < 150)
{
// barrel roll around doggy
// instead of this how about using chest muscles?
transform.FindChild("Body").rigidbody.AddTorque(new Vector3(0, 0, -rotZDelta * barrelRollForce));
}
else
{
// don't do anything
}
yield return(0);
// contract muscles, extend, etc so that everything looks dandy and nice
}
}
void ExtendLeg(DogLeg leg, float amount)
{
float tempBonus = 0;
if (leg.name.Contains("bl") || leg.name.Contains("br"))
tempBonus += backLegBonus;
else
tempBonus += frontLegBonus;
DogLeg.Contract(leg.biceps, (1 - leg.GetMuscleLength(leg.biceps)) * amount * (bicepsFullContractForce + tempBonus));
DogLeg.Contract(leg.triceps, leg.GetMuscleLength(leg.triceps) * amount * (tricepsFullContractForce + tempBonus));
}
// put leg close to body
void ContractFullLeg(DogLeg leg)
{
ContractLeg(leg, 1);
}
