123 lines
3 KiB
C#
123 lines
3 KiB
C#
|
using UnityEngine;
|
|||
|
|
using System.Collections;
|
|||
|
|
|
|||
|
|
namespace RootMotion.FinalIK {
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// Branch of FABRIK components in the FABRIKRoot hierarchy.
|
|||
|
|
/// </summary>
|
|||
|
|
[System.Serializable]
|
|||
|
|
public class FABRIKChain {
|
|||
|
|
|
|||
|
|
#region Main Interface
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// The FABRIK component.
|
|||
|
|
/// </summary>
|
|||
|
|
public FABRIK ik;
|
|||
|
|
/// <summary>
|
|||
|
|
/// Parent pull weight.
|
|||
|
|
/// </summary>
|
|||
|
|
[Range(0f, 1f)]
|
|||
|
|
public float pull = 1f;
|
|||
|
|
/// <summary>
|
|||
|
|
/// Resistance to being pulled by child chains.
|
|||
|
|
/// </summary>
|
|||
|
|
[Range(0f, 1f)]
|
|||
|
|
public float pin = 1f;
|
|||
|
|
/// <summary>
|
|||
|
|
/// The child chain indexes.
|
|||
|
|
/// </summary>
|
|||
|
|
public int[] children = new int[0];
|
|||
|
|
|
|||
|
|
/// <summary>
|
|||
|
|
/// Checks whether this FABRIKChain is valid.
|
|||
|
|
/// </summary>
|
|||
|
|
public bool IsValid(ref string message) {
|
|||
|
|
if (ik == null) {
|
|||
|
|
message = "IK unassigned in FABRIKChain.";
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (!ik.solver.IsValid(ref message)) return false;
|
|||
|
|
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
#endregion Main Interface
|
|||
|
|
|
|||
|
|
/*
|
|||
|
|
* Initiate the chain
|
|||
|
|
* */
|
|||
|
|
public void Initiate() {
|
|||
|
|
ik.enabled = false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/*
|
|||
|
|
* Solving stage 1 of the FABRIK algorithm from end effectors towards the root.
|
|||
|
|
* */
|
|||
|
|
public void Stage1(FABRIKChain[] chain) {
|
|||
|
|
// Solving children first
|
|||
|
|
for (int i = 0; i < children.Length; i++) chain[children[i]].Stage1(chain);
|
|||
|
|
|
|||
|
|
// The last chains
|
|||
|
|
if (children.Length == 0) {
|
|||
|
|
ik.solver.SolveForward(ik.solver.GetIKPosition());
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
ik.solver.SolveForward(GetCentroid(chain));
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/*
|
|||
|
|
* Solving stage 2 of the FABRIK algoright from the root to the end effectors.
|
|||
|
|
* */
|
|||
|
|
public void Stage2(Vector3 rootPosition, FABRIKChain[] chain) {
|
|||
|
|
// Solve this chain backwards
|
|||
|
|
ik.solver.SolveBackward(rootPosition);
|
|||
|
|
|
|||
|
|
// Solve child chains
|
|||
|
|
for (int i = 0; i < children.Length; i++) {
|
|||
|
|
chain[children[i]].Stage2(ik.solver.bones[ik.solver.bones.Length - 1].transform.position, chain);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// Calculate the centroid of child positions
|
|||
|
|
private Vector3 GetCentroid(FABRIKChain[] chain) {
|
|||
|
|
Vector3 position = ik.solver.GetIKPosition();
|
|||
|
|
|
|||
|
|
// The chain is pinned, ignore the children
|
|||
|
|
if (pin >= 1f) return position;
|
|||
|
|
|
|||
|
|
// Get the sum of the pull values of all the children
|
|||
|
|
float pullSum = 0f;
|
|||
|
|
for (int i = 0; i < children.Length; i++) pullSum += chain[children[i]].pull;
|
|||
|
|
|
|||
|
|
// All pull values are zero
|
|||
|
|
if (pullSum <= 0f) return position;
|
|||
|
|
|
|||
|
|
if (pullSum < 1f) pullSum = 1f;
|
|||
|
|
|
|||
|
|
// Calculating the centroid
|
|||
|
|
Vector3 centroid = position;
|
|||
|
|
|
|||
|
|
for (int i = 0; i < children.Length; i++) {
|
|||
|
|
// Vector from IKPosition to the first bone of the child
|
|||
|
|
Vector3 toChild = chain[children[i]].ik.solver.bones[0].solverPosition - position;
|
|||
|
|
|
|||
|
|
// Weight of the child
|
|||
|
|
float childWeight = chain[children[i]].pull / pullSum;
|
|||
|
|
|
|||
|
|
// Adding to the centroid
|
|||
|
|
centroid += toChild * childWeight;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// No pinning
|
|||
|
|
if (pin <= 0f) return centroid;
|
|||
|
|
|
|||
|
|
// Pinning
|
|||
|
|
return centroid + (position - centroid) * pin;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|