109 lines
4.1 KiB
C#
109 lines
4.1 KiB
C#
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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/// <summary>
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/// Making a character hold on to a target and swing about it while maintaining his animation.
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/// </summary>
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[RequireComponent(typeof(FullBodyBipedIK))]
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public class PendulumExample : MonoBehaviour {
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[Tooltip("The master weight of this script.")]
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[Range(0f, 1f)] public float weight = 1f;
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[Tooltip("Multiplier for the distance of the root to the target.")]
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public float hangingDistanceMlp = 1.3f;
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[Tooltip("Where does the root of the character land when weight is blended out?")]
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[HideInInspector] public Vector3 rootTargetPosition;
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[Tooltip("How is the root of the character rotated when weight is blended out?")]
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[HideInInspector] public Quaternion rootTargetRotation;
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public Transform target;
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public Transform leftHandTarget;
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public Transform rightHandTarget;
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public Transform leftFootTarget;
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public Transform rightFootTarget;
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public Transform pelvisTarget;
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public Transform bodyTarget;
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public Transform headTarget;
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public Vector3 pelvisDownAxis = Vector3.right;
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private FullBodyBipedIK ik;
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private Quaternion rootRelativeToPelvis;
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private Vector3 pelvisToRoot;
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private float lastWeight;
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void Start() {
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ik = GetComponent<FullBodyBipedIK>();
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// Connect the left hand to the target
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Quaternion targetRotation = target.rotation;
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target.rotation = leftHandTarget.rotation;
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FixedJoint j = target.gameObject.AddComponent<FixedJoint>();
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j.connectedBody = leftHandTarget.GetComponent<Rigidbody>();
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target.GetComponent<Rigidbody>().MoveRotation(targetRotation);
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//target.rotation = targetRotation;
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// Remember the rotation of the root relative to the pelvis
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rootRelativeToPelvis = Quaternion.Inverse(pelvisTarget.rotation) * transform.rotation;
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// Remember the position of the root relative to the pelvis
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pelvisToRoot = Quaternion.Inverse(ik.references.pelvis.rotation) * (transform.position - ik.references.pelvis.position);
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rootTargetPosition = transform.position;
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rootTargetRotation = transform.rotation;
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lastWeight = weight;
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}
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void LateUpdate() {
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// Set effector weights
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if (weight > 0f) {
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ik.solver.leftHandEffector.positionWeight = weight;
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ik.solver.leftHandEffector.rotationWeight = weight;
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} else {
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rootTargetPosition = transform.position;
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rootTargetRotation = transform.rotation;
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if (lastWeight > 0f) {
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ik.solver.leftHandEffector.positionWeight = 0f;
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ik.solver.leftHandEffector.rotationWeight = 0f;
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}
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}
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lastWeight = weight;
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if (weight <= 0f) return;
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// Position the character relative to the ragdoll pelvis
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transform.position = Vector3.Lerp(rootTargetPosition, pelvisTarget.position + pelvisTarget.rotation * pelvisToRoot * hangingDistanceMlp, weight);
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// Rotate the character to the ragdoll pelvis
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transform.rotation = Quaternion.Lerp(rootTargetRotation, pelvisTarget.rotation * rootRelativeToPelvis, weight);
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// Set ik effector positions
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ik.solver.leftHandEffector.position = leftHandTarget.position;
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ik.solver.leftHandEffector.rotation = leftHandTarget.rotation;
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// Get the normal hanging direction
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Vector3 dir = ik.references.pelvis.rotation * pelvisDownAxis;
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// Rotating the limbs
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// Get the rotation from normal hangind direction to the right arm ragdoll direction
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Quaternion rightArmRot = Quaternion.FromToRotation(dir, rightHandTarget.position - headTarget.position);
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// Rotate the right arm by that offset
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ik.references.rightUpperArm.rotation = Quaternion.Lerp(Quaternion.identity, rightArmRot, weight) * ik.references.rightUpperArm.rotation;
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Quaternion leftLegRot = Quaternion.FromToRotation(dir, leftFootTarget.position - bodyTarget.position);
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ik.references.leftThigh.rotation = Quaternion.Lerp(Quaternion.identity, leftLegRot, weight) * ik.references.leftThigh.rotation;
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Quaternion rightLegRot = Quaternion.FromToRotation(dir, rightFootTarget.position - bodyTarget.position);
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ik.references.rightThigh.rotation = Quaternion.Lerp(Quaternion.identity, rightLegRot, weight) * ik.references.rightThigh.rotation;
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}
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}
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}
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