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