90 lines
No EOL
3.8 KiB
C#
90 lines
No EOL
3.8 KiB
C#
using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using System;
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using System.Reflection;
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namespace RootMotion
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{
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public class TQ
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{
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public TQ(Vector3 translation, Quaternion rotation)
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{
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t = translation;
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q = rotation;
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}
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public Vector3 t;
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public Quaternion q;
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}
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/*
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Written with the kind help of the one commonly known as Mecanim-Dev.
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*/
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public class AvatarUtility
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{
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public static Quaternion GetPostRotation(Avatar avatar, AvatarIKGoal avatarIKGoal)
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{
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int humanId = (int)HumanIDFromAvatarIKGoal(avatarIKGoal);
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if (humanId == (int)HumanBodyBones.LastBone) throw new InvalidOperationException("Invalid human id.");
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MethodInfo methodGetPostRotation = typeof(Avatar).GetMethod("GetPostRotation", BindingFlags.Instance | BindingFlags.NonPublic);
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if (methodGetPostRotation == null) throw new InvalidOperationException("Cannot find GetPostRotation method.");
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return (Quaternion)methodGetPostRotation.Invoke(avatar, new object[] { humanId });
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}
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/// <summary>
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/// Get IK position and rotation for foot/hand bone position/rotation.
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/// </summary>
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public static TQ GetIKGoalTQ(Avatar avatar, float humanScale, AvatarIKGoal avatarIKGoal, TQ bodyPositionRotation, TQ boneTQ)
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{
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int humanId = (int)HumanIDFromAvatarIKGoal(avatarIKGoal);
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if (humanId == (int)HumanBodyBones.LastBone) throw new InvalidOperationException("Invalid human id.");
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MethodInfo methodGetAxisLength = typeof(Avatar).GetMethod("GetAxisLength", BindingFlags.Instance | BindingFlags.NonPublic);
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if (methodGetAxisLength == null) throw new InvalidOperationException("Cannot find GetAxisLength method.");
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MethodInfo methodGetPostRotation = typeof(Avatar).GetMethod("GetPostRotation", BindingFlags.Instance | BindingFlags.NonPublic);
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if (methodGetPostRotation == null) throw new InvalidOperationException("Cannot find GetPostRotation method.");
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Quaternion postRotation = (Quaternion)methodGetPostRotation.Invoke(avatar, new object[] { humanId });
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var goalTQ = new TQ(boneTQ.t, boneTQ.q * postRotation);
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if (avatarIKGoal == AvatarIKGoal.LeftFoot || avatarIKGoal == AvatarIKGoal.RightFoot)
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{
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// Here you could use animator.leftFeetBottomHeight or animator.rightFeetBottomHeight rather than GetAxisLenght
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// Both are equivalent but GetAxisLength is the generic way and work for all human bone
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float axislength = (float)methodGetAxisLength.Invoke(avatar, new object[] { humanId });
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Vector3 footBottom = new Vector3(axislength, 0, 0);
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goalTQ.t += (goalTQ.q * footBottom);
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}
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// IK goal are in avatar body local space
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Quaternion invRootQ = Quaternion.Inverse(bodyPositionRotation.q);
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goalTQ.t = invRootQ * (goalTQ.t - bodyPositionRotation.t);
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goalTQ.q = invRootQ * goalTQ.q;
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goalTQ.t /= humanScale;
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goalTQ.q = Quaternion.LookRotation(goalTQ.q * Vector3.forward, goalTQ.q * Vector3.up);
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return goalTQ;
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}
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public static HumanBodyBones HumanIDFromAvatarIKGoal(AvatarIKGoal avatarIKGoal)
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{
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HumanBodyBones humanId = HumanBodyBones.LastBone;
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switch (avatarIKGoal)
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{
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case AvatarIKGoal.LeftFoot: humanId = HumanBodyBones.LeftFoot; break;
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case AvatarIKGoal.RightFoot: humanId = HumanBodyBones.RightFoot; break;
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case AvatarIKGoal.LeftHand: humanId = HumanBodyBones.LeftHand; break;
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case AvatarIKGoal.RightHand: humanId = HumanBodyBones.RightHand; break;
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}
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return humanId;
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}
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}
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} |