HumanoidControl/HumanoidControl_Free
HumanoidControl/HumanoidControl_Free
2
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Updated accessibility

Browse Source
This commit is contained in:
Pascal Serrarens 2023-02-24 16:08:19 +01:00
parent 5e4d59d30a
commit 2ab022b22b
1 changed files with 9 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
Runtime/HumanoidControl/Scripts/Movements/LegMovements.cs
View File

@ -82,7 +82,7 @@ namespace Passer.Humanoid {
#region Upper Leg #region Upper Leg
private Quaternion NaturalUpperLegOrientation(FootTarget footTarget, Vector3 footPosition) { protected Quaternion NaturalUpperLegOrientation(FootTarget footTarget, Vector3 footPosition) {
Quaternion oldUpperLegRotation = footTarget.upperLeg.bone.transform.rotation * footTarget.upperLeg.bone.toTargetRotation; Quaternion oldUpperLegRotation = footTarget.upperLeg.bone.transform.rotation * footTarget.upperLeg.bone.toTargetRotation;
Quaternion upperLegRotation = CalculateUpperLegRotation(footTarget, footTarget.upperLeg.bone.transform.position, footPosition, footTarget.foot.target.transform.rotation, footTarget.upperLeg.bone.length, footTarget.lowerLeg.bone.length); Quaternion upperLegRotation = CalculateUpperLegRotation(footTarget, footTarget.upperLeg.bone.transform.position, footPosition, footTarget.foot.target.transform.rotation, footTarget.upperLeg.bone.length, footTarget.lowerLeg.bone.length);
//upperLegRotation = LimitRotationSpeed(oldUpperLegRotation, upperLegRotation); //upperLegRotation = LimitRotationSpeed(oldUpperLegRotation, upperLegRotation);
@ -130,7 +130,8 @@ namespace Passer.Humanoid {
#endregion #endregion
#region Lower Leg #region Lower Leg
private Quaternion NaturalLowerLegOrientation(FootTarget footTarget, Quaternion upperLegRotation, Vector3 footPosition) {
protected Quaternion NaturalLowerLegOrientation(FootTarget footTarget, Quaternion upperLegRotation, Vector3 footPosition) {
float lowerLegAngle = CalculateKneeAngle(footTarget.upperLeg.bone.transform.position, footPosition, footTarget.upperLeg.bone.length, footTarget.lowerLeg.bone.length); float lowerLegAngle = CalculateKneeAngle(footTarget.upperLeg.bone.transform.position, footPosition, footTarget.upperLeg.bone.length, footTarget.lowerLeg.bone.length);
if (footTarget.lowerLeg.bone.jointLimitations) if (footTarget.lowerLeg.bone.jointLimitations)
@ -163,12 +164,13 @@ namespace Passer.Humanoid {
kneeAngle = 180; kneeAngle = 180;
return 180 - kneeAngle; return 180 - kneeAngle;
} }
#endregion #endregion
#region Foot #region Foot
// Calculate the foot position taking body limitations into account // Calculate the foot position taking body limitations into account
private Vector3 NaturalFootPosition(FootTarget footTarget) { protected Vector3 NaturalFootPosition(FootTarget footTarget) {
if (footTarget.ground == null || !footTarget.physics) if (footTarget.ground == null || !footTarget.physics)
return footTarget.foot.target.transform.position; return footTarget.foot.target.transform.position;
else { else {
@ -177,7 +179,7 @@ namespace Passer.Humanoid {
} }
// Calculate the foot orientation taking body limitation into account // Calculate the foot orientation taking body limitation into account
private Quaternion NaturalFootOrientation(FootTarget footTarget) { protected Quaternion NaturalFootOrientation(FootTarget footTarget) {
Quaternion footOrientation = DetermineFootOrientation(footTarget); Quaternion footOrientation = DetermineFootOrientation(footTarget);
if (footTarget.foot.bone.jointLimitations) if (footTarget.foot.bone.jointLimitations)
footOrientation = LimitAngle(footTarget.foot, ref lastLocalFootRotation, footOrientation); footOrientation = LimitAngle(footTarget.foot, ref lastLocalFootRotation, footOrientation);
@ -232,7 +234,8 @@ namespace Passer.Humanoid {
#endregion #endregion
#region Toes #region Toes
private Quaternion NaturalToesOrientation(FootTarget footTarget) {
protected Quaternion NaturalToesOrientation(FootTarget footTarget) {
Quaternion footRotation = footTarget.foot.bone.transform.rotation * footTarget.foot.bone.toTargetRotation; Quaternion footRotation = footTarget.foot.bone.transform.rotation * footTarget.foot.bone.toTargetRotation;
if (footTarget.ground != null) { if (footTarget.ground != null) {
return Quaternion.LookRotation(footTarget.groundNormal, footRotation * Vector3.back) * Quaternion.Euler(90, 0, 0); return Quaternion.LookRotation(footTarget.groundNormal, footRotation * Vector3.back) * Quaternion.Euler(90, 0, 0);
@ -241,6 +244,7 @@ namespace Passer.Humanoid {
return footRotation; return footRotation;
} }
} }
#endregion #endregion
private static float Square(float x) { private static float Square(float x) {