90 lines
3.3 KiB
C#
90 lines
3.3 KiB
C#
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using UnityEngine;
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using System.Collections;
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using RootMotion.FinalIK;
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namespace RootMotion.FinalIK {
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/// <summary>
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/// Prevents body parts from penetrating scene geometry by offsetting effectors away from the colliders.
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/// </summary>
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public class PenetrationAvoidance : OffsetModifier {
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/// <summary>
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/// Definition of avoidance and raycasting info.
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/// </summary>
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[System.Serializable]
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public class Avoider {
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/// <summary>
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/// Linking this to an effector
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/// </summary>
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[System.Serializable]
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public class EffectorLink {
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[Tooltip("Effector to apply the offset to.")] public FullBodyBipedEffector effector;
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[Tooltip("Multiplier of the offset value, can be negative.")] public float weight;
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}
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[Tooltip("Bones to start the raycast from. Multiple raycasts can be used by assigning more than 1 bone.")] public Transform[] raycastFrom;
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[Tooltip("The Transform to raycast towards. Usually the body part that you want to keep from penetrating.")] public Transform raycastTo;
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[Tooltip("If 0, will use simple raycasting, if > 0, will use sphere casting (better, but slower).")] [Range(0f, 1f)] public float raycastRadius;
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[Tooltip("Linking this to FBBIK effectors.")] public EffectorLink[] effectors;
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[Tooltip("The time of smooth interpolation of the offset value to avoid penetration.")] public float smoothTimeIn = 0.1f;
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[Tooltip("The time of smooth interpolation of the offset value blending out of penetration avoidance.")] public float smoothTimeOut = 0.3f;
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[Tooltip("Layers to keep penetrating from.")] public LayerMask layers;
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private Vector3 offset;
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private Vector3 offsetTarget;
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private Vector3 offsetV;
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public void Solve(IKSolverFullBodyBiped solver, float weight) {
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// Get the offset to interpolate to
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offsetTarget = GetOffsetTarget(solver);
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// Interpolating the offset value
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float smoothDampTime = offsetTarget.sqrMagnitude > offset.sqrMagnitude? smoothTimeIn: smoothTimeOut;
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offset = Vector3.SmoothDamp(offset, offsetTarget, ref offsetV, smoothDampTime);
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// Apply offset to the FBBIK effectors
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foreach (EffectorLink link in effectors) {
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solver.GetEffector(link.effector).positionOffset += offset * weight * link.weight;
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}
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}
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// Multiple raycasting to accumulate the offset
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private Vector3 GetOffsetTarget(IKSolverFullBodyBiped solver) {
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Vector3 t = Vector3.zero;
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foreach (Transform from in raycastFrom) {
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t += Raycast(from.position, raycastTo.position + t);
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}
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return t;
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}
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// Raycast, return the offset that would not penetrate any colliders
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private Vector3 Raycast(Vector3 from, Vector3 to) {
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Vector3 direction = to - from;
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float distance = direction.magnitude;
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RaycastHit hit;
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if (raycastRadius <= 0f) {
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Physics.Raycast(from, direction, out hit, distance, layers);
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} else {
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Physics.SphereCast(from, raycastRadius, direction, out hit, distance, layers);
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}
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if (hit.collider == null) return Vector3.zero;
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return Vector3.Project(-direction.normalized * (distance - hit.distance), hit.normal);
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}
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}
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[Tooltip("Definitions of penetration avoidances.")] public Avoider[] avoiders;
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// Called by IKSolverFullBody before updating
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protected override void OnModifyOffset() {
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foreach (Avoider avoider in avoiders) avoider.Solve(ik.solver, weight);
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}
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}
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}
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