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313 lines
12 KiB
C#
313 lines
12 KiB
C#
using UnityEngine;
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using System.Collections;
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using System.Collections.Generic;
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namespace RootMotion.FinalIK {
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/// <summary>
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/// A full-body IK solver designed specifically for a VR HMD and hand controllers.
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/// </summary>
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//[HelpURL("http://www.root-motion.com/finalikdox/html/page16.html")]
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[AddComponentMenu("Scripts/RootMotion.FinalIK/IK/VR IK")]
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public class VRIK : IK {
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/// <summary>
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/// VRIK-specific definition of a humanoid biped.
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/// </summary>
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[System.Serializable]
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public class References {
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public Transform root; // 0
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[LargeHeader("Spine")]
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public Transform pelvis; // 1
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public Transform spine; // 2
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[Tooltip("Optional")]
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public Transform chest; // 3 Optional
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[Tooltip("Optional")]
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public Transform neck; // 4 Optional
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public Transform head; // 5
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[LargeHeader("Left Arm")]
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[Tooltip("Optional")]
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public Transform leftShoulder; // 6 Optional
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[Tooltip("VRIK also supports armless characters.If you do not wish to use arms, leave all arm references empty.")]
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public Transform leftUpperArm; // 7
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[Tooltip("VRIK also supports armless characters.If you do not wish to use arms, leave all arm references empty.")]
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public Transform leftForearm; // 8
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[Tooltip("VRIK also supports armless characters.If you do not wish to use arms, leave all arm references empty.")]
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public Transform leftHand; // 9
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[LargeHeader("Right Arm")]
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[Tooltip("Optional")]
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public Transform rightShoulder; // 10 Optional
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[Tooltip("VRIK also supports armless characters.If you do not wish to use arms, leave all arm references empty.")]
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public Transform rightUpperArm; // 11
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[Tooltip("VRIK also supports armless characters.If you do not wish to use arms, leave all arm references empty.")]
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public Transform rightForearm; // 12
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[Tooltip("VRIK also supports armless characters.If you do not wish to use arms, leave all arm references empty.")]
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public Transform rightHand; // 13
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[LargeHeader("Left Leg")]
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[Tooltip("VRIK also supports legless characters.If you do not wish to use legs, leave all leg references empty.")]
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public Transform leftThigh; // 14 Optional
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[Tooltip("VRIK also supports legless characters.If you do not wish to use legs, leave all leg references empty.")]
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public Transform leftCalf; // 15 Optional
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[Tooltip("VRIK also supports legless characters.If you do not wish to use legs, leave all leg references empty.")]
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public Transform leftFoot; // 16 Optional
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[Tooltip("Optional")]
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public Transform leftToes; // 17 Optional
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[LargeHeader("Right Leg")]
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[Tooltip("VRIK also supports legless characters.If you do not wish to use legs, leave all leg references empty.")]
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public Transform rightThigh; // 18 Optional
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[Tooltip("VRIK also supports legless characters.If you do not wish to use legs, leave all leg references empty.")]
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public Transform rightCalf; // 19 Optional
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[Tooltip("VRIK also supports legless characters.If you do not wish to use legs, leave all leg references empty.")]
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public Transform rightFoot; // 20 Optional
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[Tooltip("Optional")]
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public Transform rightToes; // 21 Optional
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public References() { }
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public References(BipedReferences b)
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{
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root = b.root;
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pelvis = b.pelvis;
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spine = b.spine[0];
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chest = b.spine.Length > 1? b.spine[1]: null;
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head = b.head;
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leftShoulder = b.leftUpperArm.parent;
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leftUpperArm = b.leftUpperArm;
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leftForearm = b.leftForearm;
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leftHand = b.leftHand;
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rightShoulder = b.rightUpperArm.parent;
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rightUpperArm = b.rightUpperArm;
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rightForearm = b.rightForearm;
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rightHand = b.rightHand;
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leftThigh = b.leftThigh;
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leftCalf = b.leftCalf;
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leftFoot = b.leftFoot;
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leftToes = b.leftFoot.GetChild(0);
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rightThigh = b.rightThigh;
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rightCalf = b.rightCalf;
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rightFoot = b.rightFoot;
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rightToes = b.rightFoot.GetChild(0);
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}
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/// <summary>
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/// Returns an array of all the Transforms in the definition.
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/// </summary>
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public Transform[] GetTransforms() {
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return new Transform[22] {
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root, pelvis, spine, chest, neck, head, leftShoulder, leftUpperArm, leftForearm, leftHand, rightShoulder, rightUpperArm, rightForearm, rightHand, leftThigh, leftCalf, leftFoot, leftToes, rightThigh, rightCalf, rightFoot, rightToes
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};
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}
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/// <summary>
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/// Returns true if all required Transforms have been assigned (shoulder, toe and neck bones are optional).
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/// </summary>
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public bool isFilled {
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get {
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if (
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root == null ||
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pelvis == null ||
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spine == null ||
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head == null
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) return false;
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bool noArmBones =
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leftUpperArm == null &&
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leftForearm == null &&
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leftHand == null &&
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rightUpperArm == null &&
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rightForearm == null &&
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rightHand == null;
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bool atLeastOneArmBoneMissing =
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leftUpperArm == null ||
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leftForearm == null ||
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leftHand == null ||
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rightUpperArm == null ||
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rightForearm == null ||
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rightHand == null;
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// If all leg bones are null, it is valid
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bool noLegBones =
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leftThigh == null &&
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leftCalf == null &&
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leftFoot == null &&
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rightThigh == null &&
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rightCalf == null &&
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rightFoot == null;
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bool atLeastOneLegBoneMissing =
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leftThigh == null ||
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leftCalf == null ||
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leftFoot == null ||
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rightThigh == null ||
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rightCalf == null ||
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rightFoot == null;
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if (atLeastOneLegBoneMissing && !noLegBones) return false;
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if (atLeastOneArmBoneMissing && !noArmBones) return false;
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// Shoulder, toe and neck bones are optional
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return true;
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}
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}
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/// <summary>
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/// Returns true if none of the Transforms have been assigned.
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/// </summary>
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public bool isEmpty {
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get {
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if (
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root != null ||
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pelvis != null ||
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spine != null ||
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chest != null ||
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neck != null ||
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head != null ||
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leftShoulder != null ||
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leftUpperArm != null ||
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leftForearm != null ||
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leftHand != null ||
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rightShoulder != null ||
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rightUpperArm != null ||
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rightForearm != null ||
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rightHand != null ||
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leftThigh != null ||
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leftCalf != null ||
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leftFoot != null ||
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leftToes != null ||
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rightThigh != null ||
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rightCalf != null ||
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rightFoot != null ||
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rightToes != null
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) return false;
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return true;
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}
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}
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/// <summary>
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/// Auto-detects VRIK references. Works with a Humanoid Animator on the root gameobject only.
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/// </summary>
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public static bool AutoDetectReferences(Transform root, out References references) {
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references = new References();
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var animator = root.GetComponentInChildren<Animator>();
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if (animator == null || !animator.isHuman) {
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Debug.LogWarning("VRIK needs a Humanoid Animator to auto-detect biped references. Please assign references manually.");
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return false;
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}
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references.root = root;
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references.pelvis = animator.GetBoneTransform(HumanBodyBones.Hips);
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references.spine = animator.GetBoneTransform(HumanBodyBones.Spine);
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references.chest = animator.GetBoneTransform(HumanBodyBones.Chest);
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references.neck = animator.GetBoneTransform(HumanBodyBones.Neck);
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references.head = animator.GetBoneTransform(HumanBodyBones.Head);
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references.leftShoulder = animator.GetBoneTransform(HumanBodyBones.LeftShoulder);
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references.leftUpperArm = animator.GetBoneTransform(HumanBodyBones.LeftUpperArm);
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references.leftForearm = animator.GetBoneTransform(HumanBodyBones.LeftLowerArm);
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references.leftHand = animator.GetBoneTransform(HumanBodyBones.LeftHand);
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references.rightShoulder = animator.GetBoneTransform(HumanBodyBones.RightShoulder);
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references.rightUpperArm = animator.GetBoneTransform(HumanBodyBones.RightUpperArm);
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references.rightForearm = animator.GetBoneTransform(HumanBodyBones.RightLowerArm);
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references.rightHand = animator.GetBoneTransform(HumanBodyBones.RightHand);
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references.leftThigh = animator.GetBoneTransform(HumanBodyBones.LeftUpperLeg);
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references.leftCalf = animator.GetBoneTransform(HumanBodyBones.LeftLowerLeg);
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references.leftFoot = animator.GetBoneTransform(HumanBodyBones.LeftFoot);
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references.leftToes = animator.GetBoneTransform(HumanBodyBones.LeftToes);
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references.rightThigh = animator.GetBoneTransform(HumanBodyBones.RightUpperLeg);
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references.rightCalf = animator.GetBoneTransform(HumanBodyBones.RightLowerLeg);
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references.rightFoot = animator.GetBoneTransform(HumanBodyBones.RightFoot);
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references.rightToes = animator.GetBoneTransform(HumanBodyBones.RightToes);
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return true;
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}
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}
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// Open the User Manual URL
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[ContextMenu("User Manual")]
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protected override void OpenUserManual() {
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Application.OpenURL("http://www.root-motion.com/finalikdox/html/page16.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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protected override 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_v_r_i_k.html");
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}
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// Open a video tutorial about setting up the component
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[ContextMenu("TUTORIAL VIDEO (STEAMVR SETUP)")]
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void OpenSetupTutorial() {
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Application.OpenURL("https://www.youtube.com/watch?v=6Pfx7lYQiIA&feature=youtu.be");
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}
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/// <summary>
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/// Bone mapping. Right-click on the component header and select 'Auto-detect References' of fill in manually if not a Humanoid character. Chest, neck, shoulder and toe bones are optional. VRIK also supports legless characters. If you do not wish to use legs, leave all leg references empty.
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/// </summary>
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[ContextMenuItem("Auto-detect References", "AutoDetectReferences")]
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[Tooltip("Bone mapping. Right-click on the component header and select 'Auto-detect References' of fill in manually if not a Humanoid character. Chest, neck, shoulder and toe bones are optional. VRIK also supports legless characters. If you do not wish to use legs, leave all leg references empty.")]
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public References references = new References();
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/// <summary>
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/// The solver.
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/// </summary>
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[Tooltip("The VRIK solver.")]
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public IKSolverVR solver = new IKSolverVR();
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/// <summary>
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/// Auto-detects bone references for this VRIK. Works with a Humanoid Animator on the gameobject only.
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/// </summary>
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[ContextMenu("Auto-detect References")]
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public void AutoDetectReferences() {
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References.AutoDetectReferences(transform, out references);
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}
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/// <summary>
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/// Fills in arm wristToPalmAxis and palmToThumbAxis.
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/// </summary>
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[ContextMenu("Guess Hand Orientations")]
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public void GuessHandOrientations() {
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solver.GuessHandOrientations(references, false);
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}
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public override IKSolver GetIKSolver() {
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return solver as IKSolver;
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}
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protected override void InitiateSolver() {
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if (references.isEmpty) AutoDetectReferences();
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if (references.isFilled) solver.SetToReferences(references);
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base.InitiateSolver();
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}
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protected override void UpdateSolver() {
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if (references.root != null && references.root.localScale == Vector3.zero) {
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Debug.LogError("VRIK Root Transform's scale is zero, can not update VRIK. Make sure you have not calibrated the character to a zero scale.", transform);
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enabled = false;
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return;
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}
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base.UpdateSolver();
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}
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}
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}
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