initial upload

Unity-Master/Assets/Plugins/RootMotion/FinalIK/Grounder/GroundingPelvis.cs

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+using UnityEngine;
+using System.Collections;
+using RootMotion;
+
+namespace RootMotion.FinalIK {
+
+	public partial class Grounding {
+
+		/// <summary>
+		/// The %Grounding %Pelvis.
+		/// </summary>
+		public class Pelvis {
+		
+			/// <summary>
+			/// Offset of the pelvis as a Vector3.
+			/// </summary>
+			public Vector3 IKOffset { get; private set; }
+			/// <summary>
+			/// Scalar vertical offset of the pelvis.
+			/// </summary>
+			public float heightOffset { get; private set; }
+
+			private Grounding grounding;
+			private Vector3 lastRootPosition;
+			private float damperF;
+			private bool initiated;
+			private float lastTime;
+
+			// Initiating the pelvis
+			public void Initiate(Grounding grounding) {
+				this.grounding = grounding;
+				
+				initiated = true;
+				OnEnable();
+			}
+
+			// Set everything to 0
+			public void Reset() {
+				this.lastRootPosition = grounding.root.transform.position;
+				lastTime = Time.deltaTime;
+				IKOffset = Vector3.zero;
+				heightOffset = 0f;
+			}
+			
+			// Should be called each time the pelvis is (re)activated
+			public void OnEnable() {
+				if (!initiated) return;
+				this.lastRootPosition = grounding.root.transform.position;
+				lastTime = Time.time;
+			}
+			
+			// Updates the pelvis position offset
+			public void Process(float lowestOffset, float highestOffset, bool isGrounded) {
+				if (!initiated) return;
+
+				float deltaTime = Time.time - lastTime;
+				lastTime = Time.time;
+				if (deltaTime <= 0f) return;
+				
+				float offsetTarget = lowestOffset + highestOffset;
+				if (!grounding.rootGrounded) offsetTarget = 0f;
+				
+				// Interpolating the offset
+				heightOffset = Mathf.Lerp(heightOffset, offsetTarget, deltaTime * grounding.pelvisSpeed);
+
+				// Damper
+				Vector3 rootDelta = (grounding.root.position - lastRootPosition);
+				lastRootPosition = grounding.root.position;
+				
+				// Fading out damper when ungrounded
+				damperF = Interp.LerpValue(damperF, isGrounded? 1f: 0f, 1f, 10f);
+				
+				// Calculating the final damper
+				heightOffset -= grounding.GetVerticalOffset(rootDelta, Vector3.zero) * grounding.pelvisDamper * damperF;
+
+				// Update IK value
+				IKOffset = grounding.up * heightOffset;
+			}
+		}
+	}
+}
+