53 lines
2 KiB
C#
53 lines
2 KiB
C#
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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/// Definition of FBBIK Offset pose.
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/// </summary>
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public class OffsetPose: MonoBehaviour {
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/// <summary>
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/// State of an effector in this pose
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/// </summary>
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[System.Serializable]
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public class EffectorLink {
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public FullBodyBipedEffector effector; // The effector type (this is just an enum)
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public Vector3 offset; // Offset of the effector in this pose
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public Vector3 pin; // Pin position relative to the solver root Transform
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public Vector3 pinWeight; // Pin weight vector
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// Apply positionOffset to the effector
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public void Apply(IKSolverFullBodyBiped solver, float weight, Quaternion rotation) {
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// Offset
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solver.GetEffector(effector).positionOffset += rotation * offset * weight;
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// Calculating pinned position
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Vector3 pinPosition = solver.GetRoot().position + rotation * pin;
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Vector3 pinPositionOffset = pinPosition - solver.GetEffector(effector).bone.position;
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Vector3 pinWeightVector = pinWeight * Mathf.Abs(weight);
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// Lerping to pinned position
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solver.GetEffector(effector).positionOffset = new Vector3(
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Mathf.Lerp(solver.GetEffector(effector).positionOffset.x, pinPositionOffset.x, pinWeightVector.x),
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Mathf.Lerp(solver.GetEffector(effector).positionOffset.y, pinPositionOffset.y, pinWeightVector.y),
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Mathf.Lerp(solver.GetEffector(effector).positionOffset.z, pinPositionOffset.z, pinWeightVector.z)
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);
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}
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}
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public EffectorLink[] effectorLinks = new EffectorLink[0];
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// Apply positionOffsets of all the EffectorLinks
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public void Apply(IKSolverFullBodyBiped solver, float weight) {
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for (int i = 0; i < effectorLinks.Length; i++) effectorLinks[i].Apply(solver, weight, solver.GetRoot().rotation);
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}
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public void Apply(IKSolverFullBodyBiped solver, float weight, Quaternion rotation) {
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for (int i = 0; i < effectorLinks.Length; i++) effectorLinks[i].Apply(solver, weight, rotation);
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}
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}
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}
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