void LateUpdate()
{
RightHandMatrix = ChangeCoordinateSystems(HandR, Gun);
LeftHandMatrix = ChangeCoordinateSystems(HandL, Gun);
Gun.LookAt(AimPoint.transform.position);
Gun.transform.Rotate(Vector3.up, 90);
//Right arm
Vector3 desiredRightWristPosition = (Gun.localToWorldMatrix * RightHandMatrix).MultiplyPoint3x4(Vector3.zero);
Transform[] bonesR = new Transform[3];
bonesR[0] = ArmR;
bonesR[1] = ForearmR;
bonesR[2] = HandR;
IKSolver.Solve(bonesR, desiredRightWristPosition);
HandR.rotation = QuatFromMatrix(Gun.localToWorldMatrix * RightHandMatrix);
//Left arm
Vector3 desiredLeftWristPosition = (Gun.localToWorldMatrix * LeftHandMatrix).MultiplyPoint3x4(Vector3.zero);
Transform[] bonesL = new Transform[3];
bonesL[0] = ArmL;
bonesL[1] = ForearmL;
bonesL[2] = HandL;
IKSolver.Solve(bonesL, desiredLeftWristPosition);
HandL.rotation = QuatFromMatrix(Gun.localToWorldMatrix * RightHandMatrix);
}
// LateUpdate is called once per frame, after animation sampling
public override void LateUpdateCustom()
{
// it's important to do weapon snapping first, because we do hand snapping to weapon after that
if (weaponAdjustment > 0)
{
Matrix4x4 weaponMatrix = legSnap.localToWorldMatrix * weaponRelativeToLeg;
aimWeapon.rotation = Quaternion.Lerp(aimWeapon.rotation, Util.QuaternionFromMatrix(weaponMatrix), weaponAdjustment);
aimWeapon.position = Vector3.Lerp(aimWeapon.position, weaponMatrix.GetColumn(3), weaponAdjustment);
}
for (int arm = 0; arm < arms.Length; arm++)
{
// Find out how much IK adjustment to use
float adjustment = 1;
if (arm == 0)
{
adjustment = arm0adjustment;
}
if (arm == 1)
{
adjustment = arm1adjustment;
}
// Don't adjust if no adjustment
if (adjustment <= 0)
{
continue;
}
// Remember original arm bone rotations
Quaternion origShoulder = arms[arm].shoulder.rotation;
Quaternion origElbow = arms[arm].elbow.rotation;
Quaternion origWrist = arms[arm].wrist.rotation;
// IK to make wrist go into desired position
Vector3 desiredWristPosition = (aimWeapon.localToWorldMatrix * arms[arm].handRelativeToGun).MultiplyPoint3x4(Vector3.zero);
ikSolver.Solve(new Transform[] { arms[arm].shoulder, arms[arm].elbow, arms[arm].wrist }, desiredWristPosition);
// Get adjusted wrist rotation
arms[arm].wrist.rotation = Util.QuaternionFromMatrix(aimWeapon.localToWorldMatrix * arms[arm].handRelativeToGun);
// Lerp between orig and adjusted rotations iff less than full adjustment
if (adjustment < 1)
{
arms[arm].shoulder.rotation = Quaternion.Lerp(origShoulder, arms[arm].shoulder.rotation, adjustment);
arms[arm].elbow.rotation = Quaternion.Lerp(origElbow, arms[arm].elbow.rotation, adjustment);
arms[arm].wrist.rotation = Quaternion.Lerp(origWrist, arms[arm].wrist.rotation, adjustment);
}
}
}