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78 lines
2.9 KiB
C#
78 lines
2.9 KiB
C#
using UnityEngine;
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using System.Collections;
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using RootMotion.FinalIK;
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namespace RootMotion.FinalIK {
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/// <summary>
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/// Shoulder rotator is a workaround for FBBIK not rotating the shoulder bones when pulled by hands.
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/// It get's the job done if you need it, but will take 2 solving iterations.
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/// </summary>
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public class ShoulderRotator : MonoBehaviour {
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[Tooltip("Weight of shoulder rotation")]
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public float weight = 1.5f;
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[Tooltip("The greater the offset, the sooner the shoulder will start rotating")]
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public float offset = 0.2f;
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private FullBodyBipedIK ik;
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private bool skip;
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void Start() {
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ik = GetComponent<FullBodyBipedIK>();
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// You can use just LateUpdate, but note that it doesn't work when you have animatePhysics turned on for the character.
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ik.solver.OnPostUpdate += RotateShoulders;
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}
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private void RotateShoulders () {
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if (ik == null) return;
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if (ik.solver.IKPositionWeight <= 0f) return;
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// Skipping the second update cycle
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if (skip) {
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skip = false;
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return;
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}
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RotateShoulder(FullBodyBipedChain.LeftArm, weight, offset); // Rotate the left shoulder
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RotateShoulder(FullBodyBipedChain.RightArm, weight, offset); // Rotate the right shoulder
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skip = true;
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ik.solver.Update(); // Update FBBIK again with the rotated shoulders
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}
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// Rotates a shoulder of a FBBIK character
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private void RotateShoulder(FullBodyBipedChain chain, float weight, float offset) {
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// Get FromToRotation from the current swing direction of the shoulder to the IK target direction
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Quaternion fromTo = Quaternion.FromToRotation(GetParentBoneMap(chain).swingDirection, ik.solver.GetEndEffector(chain).position - GetParentBoneMap(chain).transform.position);
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// Direction to the IK target
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Vector3 toTarget = ik.solver.GetEndEffector(chain).position - ik.solver.GetLimbMapping(chain).bone1.position;
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// Length of the limb
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float limbLength = ik.solver.GetChain(chain).nodes[0].length + ik.solver.GetChain(chain).nodes[1].length;
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// Divide IK Target direction magnitude by limb length to know how much the limb is being pulled
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float delta = (toTarget.magnitude / limbLength) - 1f + offset;
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delta = Mathf.Clamp(delta * weight, 0f, 1f);
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// Calculate the rotation offset for the shoulder
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Quaternion rotationOffset = Quaternion.Lerp(Quaternion.identity, fromTo, delta * ik.solver.GetEndEffector(chain).positionWeight * ik.solver.IKPositionWeight);
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// Rotate the shoulder
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ik.solver.GetLimbMapping(chain).parentBone.rotation = rotationOffset * ik.solver.GetLimbMapping(chain).parentBone.rotation;
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}
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// Get the shoulder BoneMap
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private IKMapping.BoneMap GetParentBoneMap(FullBodyBipedChain chain) {
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return ik.solver.GetLimbMapping(chain).GetBoneMap(IKMappingLimb.BoneMapType.Parent);
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}
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// Remove the delegate when destroyed
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void OnDestroy() {
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if (ik != null) ik.solver.OnPostUpdate -= RotateShoulders;
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}
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}
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}
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