317 lines
8.3 KiB
C#
317 lines
8.3 KiB
C#
|
using UnityEngine;
|
||
|
|
using System.Collections;
|
||
|
|
|
||
|
|
namespace RootMotion.FinalIK {
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// %IK system for standard biped characters that is designed to replicate and enhance the behaviour of the Unity's built-in character %IK setup.
|
||
|
|
/// </summary>
|
||
|
|
[HelpURL("http://www.root-motion.com/finalikdox/html/page4.html")]
|
||
|
|
[AddComponentMenu("Scripts/RootMotion.FinalIK/IK/Biped IK")]
|
||
|
|
public class BipedIK : SolverManager {
|
||
|
|
|
||
|
|
// Open the User Manual URL
|
||
|
|
[ContextMenu("User Manual")]
|
||
|
|
private void OpenUserManual() {
|
||
|
|
Application.OpenURL("http://www.root-motion.com/finalikdox/html/page4.html");
|
||
|
|
}
|
||
|
|
|
||
|
|
// Open the Script Reference URL
|
||
|
|
[ContextMenu("Scrpt Reference")]
|
||
|
|
private void OpenScriptReference() {
|
||
|
|
Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_biped_i_k.html");
|
||
|
|
}
|
||
|
|
|
||
|
|
// Link to the Final IK Google Group
|
||
|
|
[ContextMenu("Support Group")]
|
||
|
|
void SupportGroup() {
|
||
|
|
Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik");
|
||
|
|
}
|
||
|
|
|
||
|
|
// Link to the Final IK Asset Store thread in the Unity Community
|
||
|
|
[ContextMenu("Asset Store Thread")]
|
||
|
|
void ASThread() {
|
||
|
|
Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/");
|
||
|
|
}
|
||
|
|
|
||
|
|
#region Main Interface
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// References to character bones.
|
||
|
|
/// </summary>
|
||
|
|
public BipedReferences references = new BipedReferences();
|
||
|
|
/// <summary>
|
||
|
|
/// The %IK solvers.
|
||
|
|
/// </summary>
|
||
|
|
public BipedIKSolvers solvers = new BipedIKSolvers();
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Gets the %IK position weight.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name='goal'>
|
||
|
|
/// %IK Goal.
|
||
|
|
/// </param>
|
||
|
|
public float GetIKPositionWeight(AvatarIKGoal goal) {
|
||
|
|
return GetGoalIK(goal).GetIKPositionWeight();
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Gets the %IK rotation weight.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name='goal'>
|
||
|
|
/// IK Goal.
|
||
|
|
/// </param>
|
||
|
|
public float GetIKRotationWeight(AvatarIKGoal goal) {
|
||
|
|
return GetGoalIK(goal).GetIKRotationWeight();
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Sets the %IK position weight.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name='goal'>
|
||
|
|
/// %IK Goal.
|
||
|
|
/// </param>
|
||
|
|
/// <param name='weight'>
|
||
|
|
/// Weight.
|
||
|
|
/// </param>
|
||
|
|
public void SetIKPositionWeight(AvatarIKGoal goal, float weight) {
|
||
|
|
GetGoalIK(goal).SetIKPositionWeight(weight);
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Sets the %IK rotation weight.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name='goal'>
|
||
|
|
/// %IK Goal.
|
||
|
|
/// </param>
|
||
|
|
/// <param name='weight'>
|
||
|
|
/// Weight.
|
||
|
|
/// </param>
|
||
|
|
public void SetIKRotationWeight(AvatarIKGoal goal, float weight) {
|
||
|
|
GetGoalIK(goal).SetIKRotationWeight(weight);
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Sets the %IK position.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name='goal'>
|
||
|
|
/// %IK Goal.
|
||
|
|
/// </param>
|
||
|
|
/// <param name='IKPosition'>
|
||
|
|
/// Position.
|
||
|
|
/// </param>
|
||
|
|
public void SetIKPosition(AvatarIKGoal goal, Vector3 IKPosition) {
|
||
|
|
GetGoalIK(goal).SetIKPosition(IKPosition);
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Sets the %IK rotation.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name='goal'>
|
||
|
|
/// %IK Goal.
|
||
|
|
/// </param>
|
||
|
|
/// <param name='IKRotation'>
|
||
|
|
/// Rotation.
|
||
|
|
/// </param>
|
||
|
|
public void SetIKRotation(AvatarIKGoal goal, Quaternion IKRotation) {
|
||
|
|
GetGoalIK(goal).SetIKRotation(IKRotation);
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Gets the %IK position.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name='goal'>
|
||
|
|
/// %IK Goal.
|
||
|
|
/// </param>
|
||
|
|
public Vector3 GetIKPosition(AvatarIKGoal goal) {
|
||
|
|
return GetGoalIK(goal).GetIKPosition();
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Gets the %IK rotation.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name='goal'>
|
||
|
|
/// %IK Goal.
|
||
|
|
/// </param>
|
||
|
|
public Quaternion GetIKRotation(AvatarIKGoal goal) {
|
||
|
|
return GetGoalIK(goal).GetIKRotation();
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Sets the look at weight.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name='weight'>
|
||
|
|
/// Master Weight.
|
||
|
|
/// </param>
|
||
|
|
/// <param name='bodyWeight'>
|
||
|
|
/// Body weight.
|
||
|
|
/// </param>
|
||
|
|
/// <param name='headWeight'>
|
||
|
|
/// Head weight.
|
||
|
|
/// </param>
|
||
|
|
/// <param name='eyesWeight'>
|
||
|
|
/// Eyes weight.
|
||
|
|
/// </param>
|
||
|
|
/// <param name='clampWeight'>
|
||
|
|
/// Clamp weight for body and head.
|
||
|
|
/// </param>
|
||
|
|
/// <param name='clampWeightEyes'>
|
||
|
|
/// Clamp weight for eyes.
|
||
|
|
/// </param>
|
||
|
|
public void SetLookAtWeight(float weight, float bodyWeight , float headWeight, float eyesWeight, float clampWeight, float clampWeightHead, float clampWeightEyes) {
|
||
|
|
solvers.lookAt.SetLookAtWeight(weight, bodyWeight, headWeight, eyesWeight, clampWeight, clampWeightHead, clampWeightEyes);
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Sets the look at target.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name='lookAtPosition'>
|
||
|
|
/// Look at position.
|
||
|
|
/// </param>
|
||
|
|
public void SetLookAtPosition(Vector3 lookAtPosition) {
|
||
|
|
solvers.lookAt.SetIKPosition(lookAtPosition);
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Sets the spine %IK position.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name='spinePosition'>
|
||
|
|
/// Spine %IK position.
|
||
|
|
/// </param>
|
||
|
|
public void SetSpinePosition(Vector3 spinePosition) {
|
||
|
|
solvers.spine.SetIKPosition(spinePosition);
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Sets the spine weight.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name='weight'>
|
||
|
|
/// Weight.
|
||
|
|
/// </param>
|
||
|
|
public void SetSpineWeight(float weight) {
|
||
|
|
solvers.spine.SetIKPositionWeight(weight);
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Gets the limb solver for the %IK Goal.
|
||
|
|
/// </summary>
|
||
|
|
/// <returns>
|
||
|
|
/// The solver.
|
||
|
|
/// </returns>
|
||
|
|
/// <param name='goal'>
|
||
|
|
/// %IK Goal.
|
||
|
|
/// </param>
|
||
|
|
public IKSolverLimb GetGoalIK(AvatarIKGoal goal) {
|
||
|
|
switch(goal) {
|
||
|
|
case AvatarIKGoal.LeftFoot: return solvers.leftFoot;
|
||
|
|
case AvatarIKGoal.RightFoot: return solvers.rightFoot;
|
||
|
|
case AvatarIKGoal.LeftHand: return solvers.leftHand;
|
||
|
|
case AvatarIKGoal.RightHand: return solvers.rightHand;
|
||
|
|
}
|
||
|
|
return null;
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// (Re)Initiates the biped IK solvers.
|
||
|
|
/// </summary>
|
||
|
|
public void InitiateBipedIK() {
|
||
|
|
InitiateSolver();
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Updating BipedIK
|
||
|
|
/// </summary>
|
||
|
|
public void UpdateBipedIK() {
|
||
|
|
UpdateSolver();
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Set default solver values.
|
||
|
|
* */
|
||
|
|
public void SetToDefaults() {
|
||
|
|
// Limbs
|
||
|
|
foreach (IKSolverLimb limb in solvers.limbs) {
|
||
|
|
limb.SetIKPositionWeight(0f);
|
||
|
|
limb.SetIKRotationWeight(0f);
|
||
|
|
limb.bendModifier = IKSolverLimb.BendModifier.Animation;
|
||
|
|
limb.bendModifierWeight = 1f;
|
||
|
|
}
|
||
|
|
|
||
|
|
solvers.leftHand.maintainRotationWeight = 0f;
|
||
|
|
solvers.rightHand.maintainRotationWeight = 0f;
|
||
|
|
|
||
|
|
// Spine
|
||
|
|
solvers.spine.SetIKPositionWeight(0f);
|
||
|
|
solvers.spine.tolerance = 0f;
|
||
|
|
solvers.spine.maxIterations = 2;
|
||
|
|
solvers.spine.useRotationLimits = false;
|
||
|
|
|
||
|
|
// Aim
|
||
|
|
solvers.aim.SetIKPositionWeight(0f);
|
||
|
|
solvers.aim.tolerance = 0f;
|
||
|
|
solvers.aim.maxIterations = 2;
|
||
|
|
|
||
|
|
// LookAt
|
||
|
|
SetLookAtWeight(0f, 0.5f, 1f, 1f, 0.5f, 0.7f, 0.5f);
|
||
|
|
}
|
||
|
|
|
||
|
|
#endregion Main Interface
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Fixes all the Transforms used by the solver to their default local states.
|
||
|
|
* */
|
||
|
|
protected override void FixTransforms() {
|
||
|
|
solvers.lookAt.FixTransforms();
|
||
|
|
for (int i = 0; i < solvers.limbs.Length; i++) solvers.limbs[i].FixTransforms();
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Initiates the %IK solver
|
||
|
|
* */
|
||
|
|
protected override void InitiateSolver() {
|
||
|
|
string message = "";
|
||
|
|
if (BipedReferences.SetupError(references, ref message)) {
|
||
|
|
Warning.Log(message, references.root, false);
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
solvers.AssignReferences(references);
|
||
|
|
|
||
|
|
// Initiating solvers
|
||
|
|
if (solvers.spine.bones.Length > 1) solvers.spine.Initiate(transform);
|
||
|
|
solvers.lookAt.Initiate(transform);
|
||
|
|
solvers.aim.Initiate(transform);
|
||
|
|
foreach (IKSolverLimb limb in solvers.limbs) limb.Initiate(transform);
|
||
|
|
|
||
|
|
// Initiating constraints
|
||
|
|
solvers.pelvis.Initiate(references.pelvis);
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Updates the solvers. If you need full control of the execution order of your IK solvers, disable this script and call UpdateSolver() instead.
|
||
|
|
* */
|
||
|
|
protected override void UpdateSolver() {
|
||
|
|
// Storing Limb bend and rotation before %IK
|
||
|
|
for (int i = 0; i < solvers.limbs.Length; i++) {
|
||
|
|
solvers.limbs[i].MaintainBend();
|
||
|
|
solvers.limbs[i].MaintainRotation();
|
||
|
|
}
|
||
|
|
|
||
|
|
// Updating constraints
|
||
|
|
solvers.pelvis.Update();
|
||
|
|
|
||
|
|
// Updating %IK solvers
|
||
|
|
if (solvers.spine.bones.Length > 1) solvers.spine.Update();
|
||
|
|
solvers.aim.Update();
|
||
|
|
solvers.lookAt.Update();
|
||
|
|
for (int i = 0; i < solvers.limbs.Length; i++) solvers.limbs[i].Update();
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Logs the warning if no other warning has beed logged in this session.
|
||
|
|
/// </summary>
|
||
|
|
public void LogWarning(string message) {
|
||
|
|
Warning.Log(message, transform);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|