336 lines
11 KiB
C#
336 lines
11 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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/// Effector for manipulating node based %IK solvers.
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/// </summary>
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[System.Serializable]
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public class IKEffector {
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#region Main Interface
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/// <summary>
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/// Gets the main node.
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/// </summary>
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public IKSolver.Node GetNode(IKSolverFullBody solver) {
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return solver.chain[chainIndex].nodes[nodeIndex];
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}
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/// <summary>
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/// The node transform used by this effector.
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/// </summary>
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public Transform bone;
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/// <summary>
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/// The target Transform (optional, you can use just the position and rotation instead).
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/// </summary>
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public Transform target;
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/// <summary>
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/// The position weight.
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/// </summary>
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[Range(0f, 1f)]
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public float positionWeight;
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/// <summary>
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/// The rotation weight.
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/// </summary>
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[Range(0f, 1f)]
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public float rotationWeight;
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/// <summary>
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/// The effector position in world space.
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/// </summary>
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public Vector3 position = Vector3.zero;
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/// <summary>
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/// The effector rotation relative to default rotation in world space.
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/// </summary>
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public Quaternion rotation = Quaternion.identity;
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/// <summary>
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/// The position offset in world space. positionOffset will be reset to Vector3.zero each frame after the solver is complete.
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/// </summary>
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public Vector3 positionOffset;
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/// <summary>
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/// Is this the last effector of a node chain?
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/// </summary>
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public bool isEndEffector { get; private set; }
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/// <summary>
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/// If false, child nodes will be ignored by this effector (if it has any).
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/// </summary>
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public bool effectChildNodes = true;
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/// <summary>
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/// Keeps the node position relative to the triangle defined by the plane bones (applies only to end-effectors).
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/// </summary>
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[Range(0f, 1f)]
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public float maintainRelativePositionWeight;
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/// <summary>
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/// Pins the effector to the animated position of it's bone.
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/// </summary>
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public void PinToBone(float positionWeight, float rotationWeight) {
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position = bone.position;
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this.positionWeight = Mathf.Clamp(positionWeight, 0f, 1f);
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rotation = bone.rotation;
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this.rotationWeight = Mathf.Clamp(rotationWeight, 0f, 1f);
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}
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#endregion Main Interface
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public Transform[] childBones = new Transform[0]; // The optional list of other bones that positionOffset and position of this effector will be applied to.
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public Transform planeBone1; // The first bone defining the parent plane.
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public Transform planeBone2; // The second bone defining the parent plane.
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public Transform planeBone3; // The third bone defining the parent plane.
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public Quaternion planeRotationOffset = Quaternion.identity; // Used by Bend Constraints
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private float posW, rotW;
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private Vector3[] localPositions = new Vector3[0];
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private bool usePlaneNodes;
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private Quaternion animatedPlaneRotation = Quaternion.identity;
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private Vector3 animatedPosition;
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private bool firstUpdate;
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private int chainIndex = -1;
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private int nodeIndex = -1;
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private int plane1ChainIndex;
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private int plane1NodeIndex = -1;
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private int plane2ChainIndex = -1;
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private int plane2NodeIndex = -1;
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private int plane3ChainIndex = -1;
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private int plane3NodeIndex = -1;
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private int[] childChainIndexes = new int[0];
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private int[] childNodeIndexes = new int[0];
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public IKEffector() {}
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public IKEffector (Transform bone, Transform[] childBones) {
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this.bone = bone;
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this.childBones = childBones;
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}
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/*
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* Determines whether this IKEffector is valid or not.
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* */
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public bool IsValid(IKSolver solver, ref string message) {
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if (bone == null) {
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message = "IK Effector bone is null.";
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return false;
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}
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if (solver.GetPoint(bone) == null) {
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message = "IK Effector is referencing to a bone '" + bone.name + "' that does not excist in the Node Chain.";
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return false;
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}
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foreach (Transform b in childBones) {
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if (b == null) {
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message = "IK Effector contains a null reference.";
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return false;
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}
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}
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foreach (Transform b in childBones) {
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if (solver.GetPoint(b) == null) {
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message = "IK Effector is referencing to a bone '" + b.name + "' that does not excist in the Node Chain.";
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return false;
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}
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}
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if (planeBone1 != null && solver.GetPoint(planeBone1) == null) {
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message = "IK Effector is referencing to a bone '" + planeBone1.name + "' that does not excist in the Node Chain.";
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return false;
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}
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if (planeBone2 != null && solver.GetPoint(planeBone2) == null) {
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message = "IK Effector is referencing to a bone '" + planeBone2.name + "' that does not excist in the Node Chain.";
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return false;
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}
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if (planeBone3 != null && solver.GetPoint(planeBone3) == null) {
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message = "IK Effector is referencing to a bone '" + planeBone3.name + "' that does not excist in the Node Chain.";
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return false;
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}
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return true;
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}
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/*
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* Initiate the effector, set default values
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* */
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public void Initiate(IKSolverFullBody solver) {
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position = bone.position;
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rotation = bone.rotation;
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animatedPlaneRotation = Quaternion.identity;
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// Getting the node
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solver.GetChainAndNodeIndexes(bone, out chainIndex, out nodeIndex);
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// Child nodes
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childChainIndexes = new int[childBones.Length];
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childNodeIndexes = new int[childBones.Length];
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for (int i = 0; i < childBones.Length; i++) {
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solver.GetChainAndNodeIndexes(childBones[i], out childChainIndexes[i], out childNodeIndexes[i]);
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}
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localPositions = new Vector3[childBones.Length];
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// Plane nodes
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usePlaneNodes = false;
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if (planeBone1 != null) {
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solver.GetChainAndNodeIndexes(planeBone1, out plane1ChainIndex, out plane1NodeIndex);
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if (planeBone2 != null) {
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solver.GetChainAndNodeIndexes(planeBone2, out plane2ChainIndex, out plane2NodeIndex);
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if (planeBone3 != null) {
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solver.GetChainAndNodeIndexes(planeBone3, out plane3ChainIndex, out plane3NodeIndex);
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usePlaneNodes = true;
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}
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}
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isEndEffector = true;
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} else isEndEffector = false;
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}
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/*
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* Clear node offset
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* */
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public void ResetOffset(IKSolverFullBody solver) {
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solver.GetNode(chainIndex, nodeIndex).offset = Vector3.zero;
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for (int i = 0; i < childChainIndexes.Length; i++) {
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solver.GetNode(childChainIndexes[i], childNodeIndexes[i]).offset = Vector3.zero;
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}
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}
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/*
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* Set the position and rotation to match the target
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* */
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public void SetToTarget() {
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if (target == null) return;
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position = target.position;
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rotation = target.rotation;
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}
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/*
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* Presolving, applying offset
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* */
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public void OnPreSolve(IKSolverFullBody solver) {
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positionWeight = Mathf.Clamp(positionWeight, 0f, 1f);
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rotationWeight = Mathf.Clamp(rotationWeight, 0f, 1f);
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maintainRelativePositionWeight = Mathf.Clamp(maintainRelativePositionWeight, 0f, 1f);
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// Calculating weights
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posW = positionWeight * solver.IKPositionWeight;
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rotW = rotationWeight * solver.IKPositionWeight;
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solver.GetNode(chainIndex, nodeIndex).effectorPositionWeight = posW;
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solver.GetNode(chainIndex, nodeIndex).effectorRotationWeight = rotW;
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solver.GetNode(chainIndex, nodeIndex).solverRotation = rotation;
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if (float.IsInfinity(positionOffset.x) ||
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float.IsInfinity(positionOffset.y) ||
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float.IsInfinity(positionOffset.z)
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) Debug.LogError("Invalid IKEffector.positionOffset (contains Infinity)! Please make sure not to set IKEffector.positionOffset to infinite values.", bone);
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if (float.IsNaN(positionOffset.x) ||
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float.IsNaN(positionOffset.y) ||
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float.IsNaN(positionOffset.z)
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) Debug.LogError("Invalid IKEffector.positionOffset (contains NaN)! Please make sure not to set IKEffector.positionOffset to NaN values.", bone);
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if (positionOffset.sqrMagnitude > 10000000000f) Debug.LogError("Additive effector positionOffset detected in Full Body IK (extremely large value). Make sure you are not circularily adding to effector positionOffset each frame.", bone);
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if (float.IsInfinity(position.x) ||
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float.IsInfinity(position.y) ||
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float.IsInfinity(position.z)
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) Debug.LogError("Invalid IKEffector.position (contains Infinity)!");
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solver.GetNode(chainIndex, nodeIndex).offset += positionOffset * solver.IKPositionWeight;
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if (effectChildNodes && solver.iterations > 0) {
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for (int i = 0; i < childBones.Length; i++) {
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localPositions[i] = childBones[i].transform.position - bone.transform.position;
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solver.GetNode(childChainIndexes[i], childNodeIndexes[i]).offset += positionOffset * solver.IKPositionWeight;
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}
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}
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// Relative to Plane
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if (usePlaneNodes && maintainRelativePositionWeight > 0f) {
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animatedPlaneRotation = Quaternion.LookRotation(planeBone2.position - planeBone1.position, planeBone3.position - planeBone1.position);;
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}
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firstUpdate = true;
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}
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/*
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* Called after writing the pose
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* */
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public void OnPostWrite() {
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positionOffset = Vector3.zero;
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}
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/*
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* Rotation of plane nodes in the solver
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* */
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private Quaternion GetPlaneRotation(IKSolverFullBody solver) {
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Vector3 p1 = solver.GetNode(plane1ChainIndex, plane1NodeIndex).solverPosition;
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Vector3 p2 = solver.GetNode(plane2ChainIndex, plane2NodeIndex).solverPosition;
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Vector3 p3 = solver.GetNode(plane3ChainIndex, plane3NodeIndex).solverPosition;
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Vector3 viewingVector = p2 - p1;
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Vector3 upVector = p3 - p1;
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if (viewingVector == Vector3.zero) {
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Warning.Log("Make sure you are not placing 2 or more FBBIK effectors of the same chain to exactly the same position.", bone);
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return Quaternion.identity;
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}
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return Quaternion.LookRotation(viewingVector, upVector);
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}
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/*
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* Manipulating node solverPosition
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* */
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public void Update(IKSolverFullBody solver) {
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if (firstUpdate) {
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animatedPosition = bone.position + solver.GetNode(chainIndex, nodeIndex).offset;
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firstUpdate = false;
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}
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solver.GetNode(chainIndex, nodeIndex).solverPosition = Vector3.Lerp(GetPosition(solver, out planeRotationOffset), position, posW);
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// Child nodes
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if (!effectChildNodes) return;
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for (int i = 0; i < childBones.Length; i++) {
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solver.GetNode(childChainIndexes[i], childNodeIndexes[i]).solverPosition = Vector3.Lerp(solver.GetNode(childChainIndexes[i], childNodeIndexes[i]).solverPosition, solver.GetNode(chainIndex, nodeIndex).solverPosition + localPositions[i], posW);
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}
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}
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/*
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* Gets the starting position of the iteration
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* */
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private Vector3 GetPosition(IKSolverFullBody solver, out Quaternion planeRotationOffset) {
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planeRotationOffset = Quaternion.identity;
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if (!isEndEffector) return solver.GetNode(chainIndex, nodeIndex).solverPosition; // non end-effectors are always free
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if (maintainRelativePositionWeight <= 0f) return animatedPosition;
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// Maintain relative position
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Vector3 p = bone.position;
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Vector3 dir = p - planeBone1.position;
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planeRotationOffset = GetPlaneRotation(solver) * Quaternion.Inverse(animatedPlaneRotation);
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p = solver.GetNode(plane1ChainIndex, plane1NodeIndex).solverPosition + planeRotationOffset * dir;
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// Interpolate the rotation offset
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planeRotationOffset = Quaternion.Lerp(Quaternion.identity, planeRotationOffset, maintainRelativePositionWeight);
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return Vector3.Lerp(animatedPosition, p + solver.GetNode(chainIndex, nodeIndex).offset, maintainRelativePositionWeight);
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}
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}
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}
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