438 lines
15 KiB
C#
438 lines
15 KiB
C#
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using UnityEngine;
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using System.Collections;
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namespace RootMotion.FinalIK {
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/// <summary>
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/// Grounding for LimbIK, CCD and/or FABRIK solvers.
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/// </summary>
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[HelpURL("http://www.root-motion.com/finalikdox/html/page9.html")]
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[AddComponentMenu("Scripts/RootMotion.FinalIK/Grounder/Grounder Quadruped")]
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public class GrounderQuadruped: Grounder {
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// Open the User Manual URL
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[ContextMenu("User Manual")]
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protected override void OpenUserManual() {
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Application.OpenURL("http://www.root-motion.com/finalikdox/html/page9.html");
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}
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// Open the Script Reference URL
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[ContextMenu("Scrpt Reference")]
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protected override void OpenScriptReference() {
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Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_grounder_quadruped.html");
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}
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#region Main Interface
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/// <summary>
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/// The %Grounding solver for the forelegs.
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/// </summary>
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[Tooltip("The Grounding solver for the forelegs.")]
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public Grounding forelegSolver = new Grounding();
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/// <summary>
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/// The weight of rotating the character root to the ground angle (range: 0 - 1).
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/// </summary>
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[Tooltip("The weight of rotating the character root to the ground angle (range: 0 - 1).")]
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[Range(0f, 1f)]
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public float rootRotationWeight = 0.5f;
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/// <summary>
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/// The maximum angle of rotating the quadruped downwards (going downhill, range: -90 - 0).
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/// </summary>
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[Tooltip("The maximum angle of rotating the quadruped downwards (going downhill, range: -90 - 0).")]
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[Range(-90f, 0f)]
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public float minRootRotation = -25f;
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/// <summary>
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/// The maximum angle of rotating the quadruped upwards (going uphill, range: 0 - 90).
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/// </summary>
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[Tooltip("The maximum angle of rotating the quadruped upwards (going uphill, range: 0 - 90).")]
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[Range(0f, 90f)]
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public float maxRootRotation = 45f;
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/// <summary>
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/// The speed of interpolating the character root rotation (range: 0 - inf).
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/// </summary>
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[Tooltip("The speed of interpolating the character root rotation (range: 0 - inf).")]
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public float rootRotationSpeed = 5f;
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/// <summary>
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/// The maximum IK offset for the legs (range: 0 - inf).
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/// </summary>
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[Tooltip("The maximum IK offset for the legs (range: 0 - inf).")]
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public float maxLegOffset = 0.5f;
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/// <summary>
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/// The maximum IK offset for the forelegs (range: 0 - inf).
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/// </summary>
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[Tooltip("The maximum IK offset for the forelegs (range: 0 - inf).")]
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public float maxForeLegOffset = 0.5f;
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/// <summary>
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/// The weight of maintaining the head's rotation as it was before solving the Grounding (range: 0 - 1).
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/// </summary>
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[Tooltip("The weight of maintaining the head's rotation as it was before solving the Grounding (range: 0 - 1).")]
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[Range(0f, 1f)]
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public float maintainHeadRotationWeight = 0.5f;
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/// <summary>
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/// The root Transform of the character, with the rigidbody and the collider.
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/// </summary>
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[Tooltip("The root Transform of the character, with the rigidbody and the collider.")]
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public Transform characterRoot;
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/// <summary>
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/// The pelvis transform. Common ancestor of both legs and the spine.
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/// </summary>
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[Tooltip("The pelvis transform. Common ancestor of both legs and the spine.")]
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public Transform pelvis;
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/// <summary>
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/// The last bone in the spine that is the common parent for both forelegs.
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/// </summary>
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[Tooltip("The last bone in the spine that is the common parent for both forelegs.")]
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public Transform lastSpineBone;
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/// <summary>
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/// The head (optional, if you intend to maintain it's rotation).
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/// </summary>
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[Tooltip("The head (optional, if you intend to maintain it's rotation).")]
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public Transform head;
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/// <summary>
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/// %IK componets of the hindlegs. Can be any type of IK components.
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/// </summary>
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public IK[] legs;
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/// <summary>
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/// %IK components for the forelegs. Can be any type of IK components.
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/// </summary>
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public IK[] forelegs;
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/// <summary>
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/// When using GrounderQuadruped on a spherical object, update this vector to always point towards the center of that object.
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/// </summary>
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[HideInInspector] public Vector3 gravity = Vector3.down;
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#endregion Main Interface
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public override void ResetPosition() {
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solver.Reset();
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forelegSolver.Reset();
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}
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// Contains all the required information about a foot
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public struct Foot {
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public IKSolver solver;
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public Transform transform;
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public Quaternion rotation;
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public Grounding.Leg leg;
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// The custom constructor
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public Foot (IKSolver solver, Transform transform) {
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this.solver = solver;
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this.transform = transform;
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this.leg = null;
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rotation = transform.rotation;
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}
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}
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private Foot[] feet = new Foot[0];
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private Vector3 animatedPelvisLocalPosition;
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private Quaternion animatedPelvisLocalRotation;
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private Quaternion animatedHeadLocalRotation;
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private Vector3 solvedPelvisLocalPosition;
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private Quaternion solvedPelvisLocalRotation;
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private Quaternion solvedHeadLocalRotation;
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private int solvedFeet;
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private bool solved;
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private float angle;
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private Transform forefeetRoot;
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private Quaternion headRotation;
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private float lastWeight;
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private Rigidbody characterRootRigidbody;
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// Can we initiate the Grounding?
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private bool IsReadyToInitiate() {
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if (pelvis == null) return false;
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if (lastSpineBone == null) return false;
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if (legs.Length == 0) return false;
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if (forelegs.Length == 0) return false;
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if (characterRoot == null) return false;
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if (!IsReadyToInitiateLegs(legs)) return false;
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if (!IsReadyToInitiateLegs(forelegs)) return false;
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return true;
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}
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// Are the leg IK components valid for initiation?
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private bool IsReadyToInitiateLegs(IK[] ikComponents) {
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foreach (IK leg in ikComponents) {
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if (leg == null) return false;
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if (leg is FullBodyBipedIK) {
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LogWarning("GrounderIK does not support FullBodyBipedIK, use CCDIK, FABRIK, LimbIK or TrigonometricIK instead. If you want to use FullBodyBipedIK, use the GrounderFBBIK component.");
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return false;
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}
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if (leg is FABRIKRoot) {
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LogWarning("GrounderIK does not support FABRIKRoot, use CCDIK, FABRIK, LimbIK or TrigonometricIK instead.");
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return false;
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}
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if (leg is AimIK) {
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LogWarning("GrounderIK does not support AimIK, use CCDIK, FABRIK, LimbIK or TrigonometricIK instead.");
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return false;
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}
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}
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return true;
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}
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// Weigh out the IK solvers properly when the component is disabled
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void OnDisable() {
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if (!initiated) return;
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for (int i = 0; i < feet.Length; i++) {
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if (feet[i].solver != null) feet[i].solver.IKPositionWeight = 0f;
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}
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}
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// Initiate once we have all the required components
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void Update() {
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weight = Mathf.Clamp(weight, 0f, 1f);
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if (weight <= 0f) return;
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solved = false;
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if (initiated) return;
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if (!IsReadyToInitiate()) return;
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Initiate();
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}
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// Initiate this Grounder
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private void Initiate() {
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// Building the feet
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feet = new Foot[legs.Length + forelegs.Length];
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// Gathering the last bones of the IK solvers as feet
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Transform[] footBones = InitiateFeet(legs, ref feet, 0);
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Transform[] forefootBones = InitiateFeet(forelegs, ref feet, legs.Length);
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// Store the default localPosition and localRotation of the pelvis
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animatedPelvisLocalPosition = pelvis.localPosition;
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animatedPelvisLocalRotation = pelvis.localRotation;
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if (head != null) animatedHeadLocalRotation = head.localRotation;
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forefeetRoot = new GameObject().transform;
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forefeetRoot.parent = transform;
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forefeetRoot.name = "Forefeet Root";
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// Initiate the Grounding
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solver.Initiate(transform, footBones);
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forelegSolver.Initiate(forefeetRoot, forefootBones);
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for (int i = 0; i < footBones.Length; i++) feet[i].leg = solver.legs[i];
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for (int i = 0; i < forefootBones.Length; i++) feet[i + legs.Length].leg = forelegSolver.legs[i];
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characterRootRigidbody = characterRoot.GetComponent<Rigidbody>();
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initiated = true;
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}
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// Initiate the feet
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private Transform[] InitiateFeet(IK[] ikComponents, ref Foot[] f, int indexOffset) {
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Transform[] bones = new Transform[ikComponents.Length];
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for (int i = 0; i < ikComponents.Length; i++) {
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IKSolver.Point[] points = ikComponents[i].GetIKSolver().GetPoints();
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f[i + indexOffset] = new Foot(ikComponents[i].GetIKSolver(), points[points.Length - 1].transform);
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bones[i] = f[i + indexOffset].transform;
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// Add to the update delegates of each ik solver
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f[i + indexOffset].solver.OnPreUpdate += OnSolverUpdate;
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f[i + indexOffset].solver.OnPostUpdate += OnPostSolverUpdate;
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}
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return bones;
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}
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void LateUpdate () {
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if (weight <= 0f) return;
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// Clamping values
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rootRotationWeight = Mathf.Clamp(rootRotationWeight, 0f, 1f);
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minRootRotation = Mathf.Clamp(minRootRotation, -90f, maxRootRotation);
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maxRootRotation = Mathf.Clamp(maxRootRotation, minRootRotation, 90f);
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rootRotationSpeed = Mathf.Clamp(rootRotationSpeed, 0f, rootRotationSpeed);
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maxLegOffset = Mathf.Clamp(maxLegOffset, 0f, maxLegOffset);
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maxForeLegOffset = Mathf.Clamp(maxForeLegOffset, 0f, maxForeLegOffset);
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maintainHeadRotationWeight = Mathf.Clamp(maintainHeadRotationWeight, 0f, 1f);
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// Rotate the character root
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RootRotation();
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}
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// Rotate the character along with the terrain
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private void RootRotation() {
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if (rootRotationWeight <= 0f) return;
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if (rootRotationSpeed <= 0f) return;
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solver.rotateSolver = true;
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forelegSolver.rotateSolver = true;
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// Get the horizontal rotation of the character
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Vector3 tangent = characterRoot.forward;
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Vector3 normal = -gravity;
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Vector3.OrthoNormalize(ref normal, ref tangent);
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Quaternion horizontalRotation = Quaternion.LookRotation(tangent, -gravity);
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// Get the direction from root hit to forelegs root hit in the space of the horizontal character rotation
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Vector3 hitDirection = forelegSolver.rootHit.point - solver.rootHit.point;
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Vector3 hitDirectionLocal = Quaternion.Inverse(horizontalRotation) * hitDirection;
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// Get the angle between the horizontal and hit directions
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float angleTarget = Mathf.Atan2(hitDirectionLocal.y, hitDirectionLocal.z) * Mathf.Rad2Deg;
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angleTarget = Mathf.Clamp(angleTarget * rootRotationWeight, minRootRotation, maxRootRotation);
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// Interpolate the angle
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angle = Mathf.Lerp(angle, angleTarget, Time.deltaTime * rootRotationSpeed);
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if (characterRootRigidbody == null) {
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characterRoot.rotation = Quaternion.Slerp(characterRoot.rotation, Quaternion.AngleAxis(-angle, characterRoot.right) * horizontalRotation, weight);
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} else {
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characterRootRigidbody.MoveRotation(Quaternion.Slerp(characterRoot.rotation, Quaternion.AngleAxis(-angle, characterRoot.right) * horizontalRotation, weight));
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}
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}
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// Called before updating the first IK solver
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private void OnSolverUpdate() {
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if (!enabled) return;
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if (weight <= 0f) {
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if (lastWeight <= 0f) return;
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// Weigh out the limb solvers properly
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OnDisable();
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}
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lastWeight = weight;
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// If another IK has already solved in this frame, do nothing
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if (solved) return;
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if (OnPreGrounder != null) OnPreGrounder();
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// If the bone transforms have not changed since last solved state, consider them unanimated
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if (pelvis.localPosition != solvedPelvisLocalPosition) animatedPelvisLocalPosition = pelvis.localPosition;
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else pelvis.localPosition = animatedPelvisLocalPosition;
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if (pelvis.localRotation != solvedPelvisLocalRotation) animatedPelvisLocalRotation = pelvis.localRotation;
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else pelvis.localRotation = animatedPelvisLocalRotation;
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if (head != null) {
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if (head.localRotation != solvedHeadLocalRotation) animatedHeadLocalRotation = head.localRotation;
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else head.localRotation = animatedHeadLocalRotation;
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}
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for (int i = 0; i < feet.Length; i++) feet[i].rotation = feet[i].transform.rotation;
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// Store the head rotation so it could be maintained later
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if (head != null) headRotation = head.rotation;
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// Position the forefeet root to the center of forefeet
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UpdateForefeetRoot();
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// Update the Grounding
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solver.Update();
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forelegSolver.Update();
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// Move the pelvis
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pelvis.position += solver.pelvis.IKOffset * weight;
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// Rotate the pelvis
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Vector3 spineDirection = lastSpineBone.position - pelvis.position;
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Vector3 newSpinePosition =
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lastSpineBone.position +
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forelegSolver.root.up * Mathf.Clamp(forelegSolver.pelvis.heightOffset, Mathf.NegativeInfinity, 0f) -
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solver.root.up * solver.pelvis.heightOffset;
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Vector3 newDirection = newSpinePosition - pelvis.position;
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Quaternion f = Quaternion.FromToRotation(spineDirection, newDirection);
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pelvis.rotation = Quaternion.Slerp(Quaternion.identity, f, weight) * pelvis.rotation;
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// Update the IKPositions and IKPositonWeights of the legs
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|
for (int i = 0; i < feet.Length; i++) SetFootIK(feet[i], (i < 2? maxLegOffset: maxForeLegOffset));
|
||
|
|
|
||
|
|
solved = true;
|
||
|
|
solvedFeet = 0;
|
||
|
|
|
||
|
|
if (OnPostGrounder != null) OnPostGrounder();
|
||
|
|
}
|
||
|
|
|
||
|
|
// Position the forefeet root to the center of forefeet
|
||
|
|
private void UpdateForefeetRoot() {
|
||
|
|
// Get the centroid
|
||
|
|
Vector3 foreFeetCenter = Vector3.zero;
|
||
|
|
|
||
|
|
for (int i = 0; i < forelegSolver.legs.Length; i++) {
|
||
|
|
foreFeetCenter += forelegSolver.legs[i].transform.position;
|
||
|
|
}
|
||
|
|
|
||
|
|
foreFeetCenter /= (float)forelegs.Length;
|
||
|
|
Vector3 dir = foreFeetCenter - transform.position;
|
||
|
|
|
||
|
|
// Ortho-normalize to this Transform's rotation
|
||
|
|
Vector3 normal = transform.up;
|
||
|
|
Vector3 tangent = dir;
|
||
|
|
Vector3.OrthoNormalize(ref normal, ref tangent);
|
||
|
|
|
||
|
|
// Positioning the forefeet root
|
||
|
|
forefeetRoot.position = transform.position + tangent.normalized * dir.magnitude;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Set the IK position and weight for a limb
|
||
|
|
private void SetFootIK(Foot foot, float maxOffset) {
|
||
|
|
Vector3 direction = foot.leg.IKPosition - foot.transform.position;
|
||
|
|
|
||
|
|
foot.solver.IKPosition = foot.transform.position + Vector3.ClampMagnitude(direction, maxOffset);
|
||
|
|
foot.solver.IKPositionWeight = weight;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Rotating the feet after IK has finished
|
||
|
|
private void OnPostSolverUpdate() {
|
||
|
|
if (weight <= 0f) return;
|
||
|
|
if (!enabled) return;
|
||
|
|
|
||
|
|
// Only do this after the last IK solver has finished
|
||
|
|
solvedFeet ++;
|
||
|
|
if (solvedFeet < feet.Length) return;
|
||
|
|
|
||
|
|
for (int i = 0; i < feet.Length; i++) {
|
||
|
|
feet[i].transform.rotation = Quaternion.Slerp(Quaternion.identity, feet[i].leg.rotationOffset, weight) * feet[i].rotation;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (head != null) head.rotation = Quaternion.Lerp(head.rotation, headRotation, maintainHeadRotationWeight * weight);
|
||
|
|
|
||
|
|
// Store the solved transform's of the bones so we know if they are not animated
|
||
|
|
solvedPelvisLocalPosition = pelvis.localPosition;
|
||
|
|
solvedPelvisLocalRotation = pelvis.localRotation;
|
||
|
|
if (head != null) solvedHeadLocalRotation = head.localRotation;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Cleaning up the delegates
|
||
|
|
void OnDestroy() {
|
||
|
|
if (initiated) {
|
||
|
|
DestroyLegs(legs);
|
||
|
|
DestroyLegs(forelegs);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Cleaning up the delegates
|
||
|
|
private void DestroyLegs(IK[] ikComponents) {
|
||
|
|
foreach (IK leg in ikComponents) {
|
||
|
|
if (leg != null) {
|
||
|
|
leg.GetIKSolver().OnPreUpdate -= OnSolverUpdate;
|
||
|
|
leg.GetIKSolver().OnPostUpdate -= OnPostSolverUpdate;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|