Ground Adaptation

   
Result of a Ground Adaptation layout node (respectively in 'Snap Height', 'Snap Height And Ori', and 'IK' modes)

The Ground Adaptation node allows to change the ground adaptation mode of the affected Entities.

Note that this node changes the mode of ground adaptation, but ground adaptation itself will always be performed at the end of the layout graph evaluation anyway

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Ground Adaptation node in the Layout Graph Edition panel

Node parameters

Parameters are accessible by double-clicking on the node in the Layout Graph Edition panel:


Ground Adaptation node parameters

Name Name of the node
Active Whether the node is active or not
Mode
  • None: the entity will not be adapted on the new ground, it will keep its original height
  • Snap Height: the entity will be snapped on the new ground's height (the pelvis to ground distance will be preserved, but feet might not be on the ground)
  • Snap Height And Ori: the entity will be snapped on the new ground's height, and its orientation will change to match the ground's normal
  • With IK: the entity will be ground adapted by using IKs on each of its legs (the original foot-to-ground distance will be kept for each foot)
Attitude Correction ratio When in IK mode, this tells how much of the posture's attitude is affected by the ground's slope (0 will force the posture to stay in the same orientation than the original one, 1 will fully adapt the attitude on the ground)
Bank Correction ratio When in IK mode, this tells how much of the posture's bank is affected by the ground's slope (0 will force the posture to stay in the same orientation than the original one, 1 will fully adapt the bank on the ground)
Adapt End of Limb ratio When in IK mode, this tells how much of the ground's slope affects the orientation of each foot (0 to keep the feet on their original orientation, 1 to full adapt the feet's orientation on the ground)
Normal From Limbs ratio

When in IK mode, this tells how the ground's slope is computed to perform the Attitude and Bank corrections:

  • near to 0: the slope is estimated from the difference of height it produces on each foot
  • near to 1: the slope is estimated from the difference of ground normal on each foot
  • in between: an interpolation between both computations methods