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using Rigging.Data;
using Rigging.Debugging;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
namespace Rigging.Action
{
//动作-控制双脚的位置，让双脚和双脚的中点尽可能和重心在水平的投影重合
public class Balance : RiggingActionBase
{
public Rigidbody handLeft;
public Rigidbody handRight;
public Rigidbody footLeft; // kneeLeft
public Rigidbody footRight; // kneeRight
public Rigidbody hip;
private Vector3 centerOfMass; // 5.0759, 0, -7.2038
private Rigidbody[] allRigs//所有14个parts
{
get
{
return player.status.body.allRigs;
}
}
public AnimationParam<float> balanceForces;
public AnimationParam<float> footCenterForces;
private float muscleMultiplier; //1
private float crouchMultiplier = 1f; //1
protected override void OnStart()
{
handLeft = player.body.handLeft.GetComponent<Rigidbody>();
handRight = player.body.handRight.GetComponent<Rigidbody>();
footLeft = player.body.kneeLeft.GetComponent<Rigidbody>();
footRight = player.body.kneeRight.GetComponent<Rigidbody>();
hip = player.body.hip.GetComponent<Rigidbody>();
footCenterForces.SetPlayer(player);
balanceForces.SetPlayer(player);
}
private void BalanceLegs()
{
using GLScope s = new GLScope(false);
// 计算双脚的中心位置
Vector3 vector = footLeft.transform.position + footLeft.transform.forward * 0.5f;
Vector3 vector2 = footRight.transform.position + footRight.transform.forward * 0.5f;
GLHandle.DrawSphere(vector, 0.1f);
GLHandle.DrawSphere(vector2, 0.1f);
Vector3 vector3 = (vector + vector2) / 2f;
GLHandle.DrawSphere(vector3, 0.1f);
GLHandle.DrawSphere(vector3 + new Vector3(0, 0.3f, 0), 0.1f);
// 迫使双脚向质心移动
if (!(vector3.y + 0.3f > hip.worldCenterOfMass.y))
{
vector3.y = 0f;//同样只考虑XOZ平面，忽略高度
Vector3 vector4 = centerOfMass - vector3; // 质心和双脚中心的偏移
GLHandle.DrawSphere(vector3, 0.1f);
GLHandle.DrawSphere(centerOfMass, 0.1f);
GLHandle.DrawSphere(hip.worldCenterOfMass, 0.1f);
GLHandle.DrawLine(vector, vector + vector4);
GLHandle.DrawLine(vector2, vector2 + vector4);
footLeft.AddForceAtPosition(vector4 * muscleMultiplier * crouchMultiplier * balanceForces.current, vector, ForceMode.Acceleration);
footRight.AddForceAtPosition(vector4 * muscleMultiplier * crouchMultiplier * balanceForces.current, vector2, ForceMode.Acceleration);
}
}
private void CenterLegs()
{
using GLScope s = new GLScope(false);
Vector3 vector = footLeft.transform.position + footLeft.transform.forward * 0.5f;
Vector3 vector2 = footRight.transform.position + footRight.transform.forward * 0.5f;
GLHandle.DrawSphere(vector, 0.1f);
GLHandle.DrawSphere(vector2, 0.1f);
// 迫使双脚往质心移动
// 左脚
Vector3 vector3 = vector;
if (vector.y + 0.3f < hip.worldCenterOfMass.y)
{
vector3.y = 0f;
footLeft.AddForceAtPosition((centerOfMass - vector3) * muscleMultiplier * footCenterForces.current, vector, ForceMode.Acceleration);
GLHandle.DrawLine(vector, vector + (centerOfMass - vector3));
}
// 右脚
Vector3 vector4 = vector2;
if (vector4.y + 0.3f < hip.worldCenterOfMass.y)
{
vector4.y = 0f;
footRight.AddForceAtPosition((centerOfMass - vector4) * muscleMultiplier * footCenterForces.current, vector2, ForceMode.Acceleration);
GLHandle.DrawLine(vector2, vector2 + (centerOfMass - vector4));
}
}
protected override void OnFixedUpdate()
{
//muscleMultiplier = str.strength;
// 计算角色所有rigidbody合起来的质心在XOZ平面的投影位置（即忽略高度）
centerOfMass = Vector3.zero;
int num = 0;
Rigidbody[] array = allRigs;
foreach (Rigidbody rigidbody in array)
{
if ((bool)rigidbody)
{
centerOfMass += rigidbody.worldCenterOfMass;
num++;
}
}
centerOfMass /= (float)Mathf.Max(num, 1);
centerOfMass.y = 0f;
BalanceLegs();
CenterLegs();
}
protected override void OnUpdate()
{
}
}
}
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