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using UnityEngine;
//Player Balance 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 : MonoBehaviour
{
#region rigs
private Rigidbody handLeft;
private Rigidbody handRight;
private Rigidbody footLeft; // kneeLeft
private Rigidbody footRight; // kneeRight
private Rigidbody hip;
#endregion
private Vector3 centerOfMass; // 5.0759, 0, -7.2038
private Rigidbody[] allRigs;//所有14个parts
public float[] balanceForce; // 50 30 30 30
public float[] footCenterForces; // 50 20 20 20
private AnimationHandler animationHandler; // 当前动作编号
private PlayerDeath death;
private Strength str;
private float muscleMultiplier; // 1
private void Start()
{
death = GetComponent<PlayerDeath>();
str = GetComponent<Strength>();
allRigs = GetComponentsInChildren<Rigidbody>();
HandLeft componentInChildren = GetComponentInChildren<HandLeft>();
if ((bool)componentInChildren)
{
handLeft = componentInChildren.GetComponent<Rigidbody>();
}
HandRight componentInChildren2 = GetComponentInChildren<HandRight>();
if ((bool)componentInChildren2)
{
handRight = componentInChildren2.GetComponent<Rigidbody>();
}
footLeft = GetComponentInChildren<KneeLeft>().GetComponent<Rigidbody>();
footRight = GetComponentInChildren<KneeRight>().GetComponent<Rigidbody>();
hip = GetComponentInChildren<Hip>().GetComponent<Rigidbody>();
animationHandler = GetComponent<AnimationHandler>();
}
private void FixedUpdate()
{
if (!death.dead)
{
muscleMultiplier = str.strength;
centerOfMass = Vector3.zero;
Rigidbody[] array = allRigs;
foreach (Rigidbody rigidbody in array)
{
centerOfMass += rigidbody.worldCenterOfMass;
}
centerOfMass /= (float)allRigs.Length;
centerOfMass.y = 0f;
BalanceLegs();
CenterLegs();
}
}
// 让双脚尽量靠近重心的水平投影
private void CenterLegs()
{
Vector3 vector = footLeft.transform.position + footLeft.transform.forward * 0.5f;
Vector3 vector2 = footRight.transform.position + footRight.transform.forward * 0.5f;
Vector3 vector3 = vector;
if (vector.y + 0.3f < hip.worldCenterOfMass.y)
{
vector3.y = 0f;
footLeft.AddForceAtPosition((centerOfMass - vector3) * muscleMultiplier * footCenterForces[animationHandler.animationState], vector, ForceMode.Acceleration);
}
Vector3 vector4 = vector2;
if (vector4.y + 0.3f < hip.worldCenterOfMass.y)
{
vector4.y = 0f;
footRight.AddForceAtPosition((centerOfMass - vector4) * muscleMultiplier * footCenterForces[animationHandler.animationState], vector2, ForceMode.Acceleration);
}
}
// 让双脚的中点尽量和重心的水平投影重合
private void BalanceLegs()
{
Vector3 vector = footLeft.transform.position + footLeft.transform.forward * 0.5f;
Vector3 vector2 = footRight.transform.position + footRight.transform.forward * 0.5f;
Vector3 vector3 = (vector + vector2) / 2f;
Vector3 pos = vector3;
pos.y += 0.3f;
Vector3 vector03 = vector3;
if (!(vector3.y + 0.3f > hip.worldCenterOfMass.y))
{
vector3.y = 0f;
Vector3 vector4 = centerOfMass - vector3; // centerOfMass是xoz平面，不含y
REPL.footCenter.GetComponent<DebugRigidBody>().customDraw = () =>
{
return;
Draw.Sphere(vector, 0.05f);
Draw.Sphere(vector2, 0.05f);
Draw.color = Color.red;
Draw.Sphere(pos, 0.05f);
Draw.Sphere(vector03, 0.05f);
Draw.color = Color.white;
Draw.Sphere(hip.worldCenterOfMass, 0.2f);
Draw.Sphere(centerOfMass, 0.05f);
Draw.color = Color.green;
Draw.Line3D(vector, vector + vector4);
Draw.Line3D(vector2, vector2 + vector4);
Draw.color = Color.white;
};
footLeft.AddForceAtPosition(vector4 * muscleMultiplier * balanceForce[animationHandler.animationState], vector, ForceMode.Acceleration);
footRight.AddForceAtPosition(vector4 * muscleMultiplier * balanceForce[animationHandler.animationState], vector2, ForceMode.Acceleration);
};
}
}
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