/// <summary>
/// SetLeg sets the leg to match segment with the foot upwards direction facing upwards.
/// The leg mesh is generated using LinearPath with Width determining its thickness.
/// Inverse kinematics are used for determining the knee position.
/// </summary>
public void SetLeg(Segment segment, Vector3 upwards)
{
segment.Target += Width * upwards.normalized;
var(a, b, c) = LimbKinematics.Calculate(segment, (FemurLength, TibiaLength));
Vector3 d = c - (0.5f * Width * upwards.normalized);
Vector3 e = d + (FootLength * segment.Upwards.normalized);
Femur = new Segment(a, b, segment.Upwards);
Tibia = new Segment(b, c, segment.Upwards);
Foot = new Segment(d, e, upwards);
(Vector3, Vector3)basis = (segment.Target - segment.Anchor, segment.Upwards);
Vector3.OrthoNormalize(ref basis.Item1, ref basis.Item2);
Plane plane = new Plane(basis, segment.Anchor);
Func <Vector3, Vector2> projection = plane.Projection();
Vector2[] path = new Vector2[]
{
projection(a),
projection(b),
projection(c),
projection(d),
projection(e)
};
var(vertices, triangles) = LinearPath.Mesh(path, Width, plane, -0.5f * Width, 0.5f * Width);
meshFilter.mesh = new Mesh {
vertices = vertices, triangles = triangles
};
}