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 difference of ground's height between the simulation's ground and cache's ground will be added on the entity's transform (the pelvis to ground distance will be preserved, but feet might not be on the ground)
  • Snap Height And Ori: the difference of ground's height and normal between the simulation's ground and cache's ground will be added on the entity's transform
  • 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)
  • Offset on Ground: the entity will be snapped at it's pelvis's height above the ground
  • Offset and Ori on Ground: the entity will be snapped at it's pelvis's height above the ground, and its orientation will follow the ground's normal

Performance might be affected depending on this value. Check the Layout Editor Performances page for more information.
Raycast Start Offset The height's offset at which the ray cast on ground start (relative to the root bone of the skeleton)
Raycast Up Side Length The length of the ray cast on ground on the up side
Raycast Down Side Length The length of the ray cast on ground on the down side
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