HumanoidControl/HumanoidControl_Free
HumanoidControl/HumanoidControl_Free
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Updated accessibility

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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
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14
Runtime/HumanoidControl/Scripts/Movements/LegMovements.cs
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@ -82,7 +82,7 @@ namespace Passer.Humanoid {
#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 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);
@ -130,7 +130,8 @@ namespace Passer.Humanoid {
#endregion
#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);
if (footTarget.lowerLeg.bone.jointLimitations)
@ -163,12 +164,13 @@ namespace Passer.Humanoid {
kneeAngle = 180;
return 180 - kneeAngle;
}
#endregion
#region Foot
// 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)
return footTarget.foot.target.transform.position;
else {
@ -177,7 +179,7 @@ namespace Passer.Humanoid {
}
// Calculate the foot orientation taking body limitation into account
private Quaternion NaturalFootOrientation(FootTarget footTarget) {
protected Quaternion NaturalFootOrientation(FootTarget footTarget) {
Quaternion footOrientation = DetermineFootOrientation(footTarget);
if (footTarget.foot.bone.jointLimitations)
footOrientation = LimitAngle(footTarget.foot, ref lastLocalFootRotation, footOrientation);
@ -232,7 +234,8 @@ namespace Passer.Humanoid {
#endregion
#region Toes
private Quaternion NaturalToesOrientation(FootTarget footTarget) {
protected Quaternion NaturalToesOrientation(FootTarget footTarget) {
Quaternion footRotation = footTarget.foot.bone.transform.rotation * footTarget.foot.bone.toTargetRotation;
if (footTarget.ground != null) {
return Quaternion.LookRotation(footTarget.groundNormal, footRotation * Vector3.back) * Quaternion.Euler(90, 0, 0);
@ -241,6 +244,7 @@ namespace Passer.Humanoid {
return footRotation;
}
}
#endregion
private static float Square(float x) {