53 lines
2.3 KiB
C#
53 lines
2.3 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.Demos {
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// Targeting hands to 2-handed props with the FullBodyBipedIK component. It is not good to parent IK targets directly to the bones that use IK (circular dependency).
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// The bones are moved in the solving process, but it will not update the IK targets parented to the bones. All IK target positions/rotations need to be set before the solver updates.
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public class TwoHandedProp : MonoBehaviour {
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[Tooltip("The left hand target parented to the right hand.")] public Transform leftHandTarget;
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private FullBodyBipedIK ik;
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private Vector3 targetPosRelativeToRight;
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private Quaternion targetRotRelativeToRight;
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void Start() {
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ik = GetComponent<FullBodyBipedIK>();
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// Get a call from FBBIK each time it has finished updating
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ik.solver.OnPostUpdate += AfterFBBIK;
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// Weight in the effectors
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ik.solver.leftHandEffector.positionWeight = 1f;
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ik.solver.rightHandEffector.positionWeight = 1f;
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if (ik.solver.rightHandEffector.target == null) Debug.LogError("Right Hand Effector needs a Target in this demo.");
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}
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void LateUpdate() {
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// Get the position/rotation of the left hand target relative to the right hand.
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targetPosRelativeToRight = ik.references.rightHand.InverseTransformPoint(leftHandTarget.position);
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targetRotRelativeToRight = Quaternion.Inverse(ik.references.rightHand.rotation) * leftHandTarget.rotation;
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// Set the position/rotation of the left hand target relative to the right hand effector target.
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ik.solver.leftHandEffector.position = ik.solver.rightHandEffector.target.position + ik.solver.rightHandEffector.target.rotation * targetPosRelativeToRight;
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ik.solver.leftHandEffector.rotation = ik.solver.rightHandEffector.target.rotation * targetRotRelativeToRight;
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}
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// Called by FBBIK after it updates
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void AfterFBBIK() {
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// Rotate the hand bones to effector.rotation directly instead of using effector.rotationWeight that might fail to get the limb bending right under some circumstances
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ik.solver.leftHandEffector.bone.rotation = ik.solver.leftHandEffector.rotation;
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ik.solver.rightHandEffector.bone.rotation = ik.solver.rightHandEffector.rotation;
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}
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// Clean up the delegate
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void OnDestroy() {
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if (ik != null) ik.solver.OnPostUpdate -= AfterFBBIK;
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}
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}
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}
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