90 lines
3.2 KiB
C#
90 lines
3.2 KiB
C#
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using UnityEngine;
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using System.Collections;
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using UnityEngine.Events;
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namespace RootMotion.FinalIK {
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public partial class IKSolverVR: IKSolver {
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[System.Serializable]
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public class Footstep {
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public float stepSpeed = 3f;
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public Vector3 characterSpaceOffset;
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public Vector3 position;
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public Quaternion rotation = Quaternion.identity;
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public Quaternion stepToRootRot = Quaternion.identity;
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public bool isStepping { get { return stepProgress < 1f; }}
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public bool isSupportLeg;
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public float stepProgress { get; private set; }
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public Vector3 stepFrom;
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public Vector3 stepTo;
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public Quaternion stepFromRot = Quaternion.identity;
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public Quaternion stepToRot = Quaternion.identity;
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private Quaternion footRelativeToRoot = Quaternion.identity;
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private float supportLegW;
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private float supportLegWV;
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public Footstep (Quaternion rootRotation, Vector3 footPosition, Quaternion footRotation, Vector3 characterSpaceOffset) {
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this.characterSpaceOffset = characterSpaceOffset;
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Reset(rootRotation, footPosition, footRotation);
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footRelativeToRoot = Quaternion.Inverse(rootRotation) * rotation;
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}
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public void Reset(Quaternion rootRotation, Vector3 footPosition, Quaternion footRotation) {
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position = footPosition;
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rotation = footRotation;
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stepFrom = position;
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stepTo = position;
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stepFromRot = rotation;
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stepToRot = rotation;
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stepToRootRot = rootRotation;
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stepProgress = 1f;
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}
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public void StepTo(Vector3 p, Quaternion rootRotation, float stepThreshold) {
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if (Vector3.Magnitude(p - stepTo) < stepThreshold && Quaternion.Angle(rootRotation, stepToRootRot) < 25f) return;
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stepFrom = position;
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stepTo = p;
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stepFromRot = rotation;
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stepToRootRot = rootRotation;
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stepToRot = rootRotation * footRelativeToRoot;
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stepProgress = 0f;
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}
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public void UpdateStepping(Vector3 p, Quaternion rootRotation, float speed) {
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stepTo = Vector3.Lerp (stepTo, p, Time.deltaTime * speed);
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stepToRot = Quaternion.Lerp (stepToRot, rootRotation * footRelativeToRoot, Time.deltaTime * speed);
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stepToRootRot = stepToRot * Quaternion.Inverse(footRelativeToRoot);
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}
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public void UpdateStanding(Quaternion rootRotation, float minAngle, float speed) {
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if (speed <= 0f || minAngle >= 180f) return;
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Quaternion r = rootRotation * footRelativeToRoot;
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float angle = Quaternion.Angle (rotation, r);
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if (angle > minAngle) rotation = Quaternion.RotateTowards (rotation, r, Mathf.Min (Time.deltaTime * speed * (1f - supportLegW), angle -minAngle));
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}
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public void Update(InterpolationMode interpolation, UnityEvent onStep) {
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float supportLegWTarget = isSupportLeg ? 1f : 0f;
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supportLegW = Mathf.SmoothDamp (supportLegW, supportLegWTarget, ref supportLegWV, 0.2f);
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if (!isStepping) return;
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stepProgress = Mathf.MoveTowards(stepProgress, 1f, Time.deltaTime * stepSpeed);
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if (stepProgress >= 1f) onStep.Invoke ();
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float stepProgressSmooth = RootMotion.Interp.Float(stepProgress, interpolation);
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position = Vector3.Lerp(stepFrom, stepTo, stepProgressSmooth);
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rotation = Quaternion.Lerp(stepFromRot, stepToRot, stepProgressSmooth);
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}
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}
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}
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}
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