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Added option to keep IK target vertically fixed.

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This commit is contained in:
Emiliana 2021-02-27 14:57:29 +01:00
parent 7d923f8176
commit 940ad56811
1 changed files with 15 additions and 1 deletions
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16
Unity/OpenSeeIKTarget.cs
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@ -18,6 +18,8 @@ public class OpenSeeIKTarget : MonoBehaviour
public bool calibrate = true;
[Tooltip("This sets which face id to look for in the OpenSee data.")]
public int faceId = 0;
[Tooltip("When enabled, the IK target will not move up and down.")]
public bool preventVerticalMotion = false;
[Tooltip("When this is enabled, rotations and movement are mirrored.")]
public bool mirrorMotion = false;
[Tooltip("Often, the translation vector's scale is too high. Setting this somewhere between 0.05 to 0.3 seems stabilize things, but it also reduces the range of motion.")]
@ -274,13 +276,21 @@ public class OpenSeeIKTarget : MonoBehaviour
}
if (interpolateState < 2)
interpolateState++;
if (interpolate) {
Interpolate();
} else {
transform.localPosition = FilterPos(transform.localPosition, (t - dT) * translationScale);
transform.localRotation = FilterRot(transform.localRotation, convertedQuaternion * dR);
}
if (preventVerticalMotion) {
currentT.y = 0f;
Vector3 pos = transform.localPosition;
pos.y = 0f;
transform.localPosition = pos;
}
if (kinematicInterpolation != null && kinematicInterpolation.gameObject != gameObject) {
if (interpolate)
kinematicInterpolation.UpdateKI(updated, currentT, currentR);
@ -300,6 +310,10 @@ public class OpenSeeIKTarget : MonoBehaviour
translationOffset = new Vector3(dT.x, dT.y, dT.z);
}
}
public void SetPreventVerticalMotion(bool v) {
preventVerticalMotion = v;
}
void FixedUpdate()
{