public void Initiate(BehaviourBase behaviour, SubBehaviourCOM centerOfMass)
{
this.behaviour = behaviour;
this.centerOfMass = centerOfMass;
behaviour.OnPostRead += OnPostRead;
}
public void Initiate(BehaviourBase behaviour, SubBehaviourCOM centerOfMass, IKSolverFullBodyBiped solver)
{
this.behaviour = behaviour;
this.centerOfMass = centerOfMass;
this.solver = solver;
behaviour.OnPostRead += OnPostRead;
}
private void ActivateBehaviour(BehaviourBase behaviour)
{
foreach (BehaviourBase b in behaviours)
{
b.enabled = b == behaviour;
// Call activate manually (also called in behaviour.OnEnable) because behaviour.OnEnable has been called already by Unity with the beahviour uninitiated.
if (b.enabled)
{
b.Activate();
}
}
}
public void Initiate(BehaviourBase behaviour, Settings settings, Rigidbody Ibody, Rigidbody[] rigidbodies, ConfigurableJoint joint, Transform[] copPoints, PressureSensor pressureSensor)
{
this.behaviour = behaviour;
this.settings = settings;
this.Ibody = Ibody;
this.rigidbodies = rigidbodies;
this.joint = joint;
this.copPoints = copPoints;
this.pressureSensor = pressureSensor;
toJointSpace = PhysXTools.ToJointSpace(joint);
behaviour.OnPreFixedUpdate += Solve;
}
public void Initiate(BehaviourBase behaviour, LayerMask groundLayers)
{
this.behaviour = behaviour;
this.groundLayers = groundLayers;
rotation = Quaternion.identity;
groundContacts = new bool[behaviour.puppetMaster.muscles.Length];
groundContactPoints = new Vector3[groundContacts.Length];
behaviour.OnPreActivate += OnPreActivate;
behaviour.OnPreLateUpdate += OnPreLateUpdate;
behaviour.OnPreDisable += OnPreDisable;
behaviour.OnPreMuscleCollision += OnPreMuscleCollision;
behaviour.OnPreMuscleCollisionExit += OnPreMuscleCollisionExit;
}
public void Initiate(BehaviourBase behaviour, SubBehaviourCOM centerOfMass, LayerMask groundLayers, IKSolverFullBodyBiped solver)
{
this.behaviour = behaviour;
this.centerOfMass = centerOfMass;
this.groundLayers = groundLayers;
this.solver = solver;
behaviour.OnPreActivate += OnPreActivate;
behaviour.OnPostRead += OnPostRead;
behaviour.OnPreDisable += OnPreDisable;
behaviour.OnPostDrawGizmos += OnPostDrawGizmos;
legs = new Leg[2] {
new Leg(solver, behaviour.puppetMaster, FullBodyBipedEffector.LeftFoot),
new Leg(solver, behaviour.puppetMaster, FullBodyBipedEffector.RightFoot)
};
}
public void Initiate(BehaviourBase behaviour, SubBehaviourCOM centerOfMass, IKSolverFullBodyBiped solver)
{
this.behaviour = behaviour;
this.centerOfMass = centerOfMass;
this.solver = solver;
behaviour.OnPreActivate += OnPreActivate;
behaviour.OnPostRead += OnPostRead;
behaviour.OnPreDisable += OnPreDisable;
leftFootRigidbody = behaviour.puppetMaster.GetMuscle(solver.leftFootEffector.bone).rigidbody;
rightFootRigidbody = behaviour.puppetMaster.GetMuscle(solver.rightFootEffector.bone).rigidbody;
leftFootMass = leftFootRigidbody.mass;
rightFootMass = rightFootRigidbody.mass;
leftFootInertiaTensor = leftFootRigidbody.inertiaTensor;
rightFootInertiaTensor = rightFootRigidbody.inertiaTensor;
}
public void Initiate(BehaviourBase behaviour, LayerMask groundLayers)
{
this.behaviour = behaviour;
this.groundLayers = groundLayers;
rotation = Quaternion.identity;
groundContacts = new bool[behaviour.puppetMaster.muscles.Length];
groundContactPoints = new Vector3[groundContacts.Length];
behaviour.OnPreActivate += OnPreActivate;
behaviour.OnPreLateUpdate += OnPreLateUpdate;
behaviour.OnPreDisable += OnPreDisable;
behaviour.OnPreMuscleCollision += OnPreMuscleCollision;
behaviour.OnPreMuscleCollisionExit += OnPreMuscleCollisionExit;
}
