// ------------------------------------------------------------------------------------
/// <summary>
/// Solve feet positions.
/// </summary>
/// <param name="enabled">Feet resolving is enabled - this is a parameter because of blending over time.</param>
/// <param name="characterBones">Character bones storage.</param>
/// <param name="allowMovingWithBody">If feet cannot reach, move the body</param>
public void SolveFeet(bool enabled, MyCharacterBone[] characterBones, bool allowMovingWithBody)
{
m_currentFeetIkInfluence = MathHelper.Clamp(m_currentFeetIkInfluence + (enabled ? 0.1f : -0.1f), 0.0f, 1.0f);
if (m_currentFeetIkInfluence <= 0 || TerrainHeightProvider == null || characterBones == null || characterBones.Length == 0 || m_feet.Count == 0)
{
return;
}
RecreateIgnoredBonesTableIfNeeded(characterBones);
BackupIgnoredBones(characterBones);
if (allowMovingWithBody)
{
MoveTheBodyDown(characterBones); // move the body down!
}
RestoreIgnoredBones(characterBones);
float refTerrainHeight = TerrainHeightProvider.GetReferenceTerrainHeight();
float maximumNegativeOffsetValue = m_characterDirDownOffsetMax;
bool foundAnyOffset = false;
foreach (var foot in m_feet)
{
if (foot.BoneIndex == -1)
{
foreach (var bone in characterBones)
{
if (bone.Name == foot.BoneName)
{
foot.BoneIndex = bone.Index;
break;
}
}
if (foot.BoneIndex == -1) // alright alright, skip this bone
{
continue;
}
}
var footBone = characterBones[foot.BoneIndex];
var firstBone = footBone;
var secondBone = footBone;
for (int i = 0; i < foot.ChainLength; i++)
{
secondBone = firstBone;
firstBone = firstBone.Parent;
}
firstBone.ComputeAbsoluteTransform(); // will propagate the transform to children
// obtain terrain height
Vector3 bonePos = footBone.AbsoluteTransform.Translation;
float terrainHeight;
Vector3 terrainNormal;
if (TerrainHeightProvider.GetTerrainHeight(bonePos, out terrainHeight, out terrainNormal))
{
terrainNormal = Vector3.Lerp(foot.LastTerrainNormal, terrainNormal, 0.2f);
}
else
{
terrainHeight = foot.LastTerrainHeight;
terrainNormal = Vector3.Lerp(foot.LastTerrainNormal, Vector3.Up, 0.1f);
foot.LastTerrainHeight *= 0.9f;
}
foot.LastTerrainHeight = terrainHeight;
foot.LastTerrainNormal = terrainNormal;
float terrainHeightDelta = terrainHeight - refTerrainHeight;
// compute IK!
{
float originalBoneY = bonePos.Y;
float unclampedNewBoneY = terrainHeightDelta + (bonePos.Y - m_filteredOffsetValue) / terrainNormal.Y; // we expect the normal to be normalized
bonePos.Y = Math.Min(secondBone.AbsoluteTransform.Translation.Y, unclampedNewBoneY); // do not allow the feet to be above ankle
bonePos.Y = MathHelper.Lerp(originalBoneY, bonePos.Y, m_currentFeetIkInfluence);
maximumNegativeOffsetValue = MathHelper.Clamp(terrainHeightDelta, m_characterDirDownOffsetMin, maximumNegativeOffsetValue); // store worst negative offset
foundAnyOffset = true;
if (originalBoneY > bonePos.Y)
{
bonePos.Y = originalBoneY;
}
SolveIkTwoBones(characterBones, foot, ref bonePos, ref terrainNormal, fromBindPose: false);
}
}
if (!foundAnyOffset)
{
maximumNegativeOffsetValue = 0;
}
m_characterDirDownOffset = MathHelper.Lerp(maximumNegativeOffsetValue, m_characterDirDownOffset, m_characterDirDownOffsetSmoothness * m_offsetFiltering.Count / m_offsetFilteringSampleCount);
}
public ResourceCeilingProvider(TerrainHeightProvider terrainHeightProvider)
{
m_terrainHeightProvider = terrainHeightProvider;
}
