// Update this body, apply the offset to the effector
public void Update(IKSolverFullBodyBiped solver, float weight, float deltaTime)
{
if (transform == null) return;
// If first update, set this body to Transform
if (firstUpdate) {
Reset();
firstUpdate = false;
}
// Acceleration
direction = Vector3.Lerp(direction, ((transform.position - lazyPoint) / deltaTime) * 0.01f, deltaTime * acceleration);
// Lazy follow
lazyPoint += direction * deltaTime * speed;
// Match velocity
delta = transform.position - lastPosition;
lazyPoint += delta * matchVelocity;
// Gravity
lazyPoint.y += gravity * deltaTime;
// Apply position offset to the effector
foreach (EffectorLink effectorLink in effectorLinks) {
solver.GetEffector(effectorLink.effector).positionOffset += (lazyPoint - transform.position) * effectorLink.weight * weight;
}
lastPosition = transform.position;
}
// Apply the curve to the specified solver, effector, with the value and weight.
private void Apply(IKSolverFullBodyBiped solver, FullBodyBipedEffector effector, WeightCurve.Type type, float value, float weight)
{
switch (type)
{
case WeightCurve.Type.PositionWeight:
solver.GetEffector(effector).positionWeight = Mathf.Lerp(solver.GetEffector(effector).positionWeight, value, weight);
return;
case WeightCurve.Type.RotationWeight:
solver.GetEffector(effector).rotationWeight = Mathf.Lerp(solver.GetEffector(effector).rotationWeight, value, weight);
return;
case WeightCurve.Type.PositionOffsetX:
solver.GetEffector(effector).position += solver.GetRoot().rotation *Vector3.right *value *weight;
return;
case WeightCurve.Type.PositionOffsetY:
solver.GetEffector(effector).position += solver.GetRoot().rotation *Vector3.up *value *weight;
return;
case WeightCurve.Type.PositionOffsetZ:
solver.GetEffector(effector).position += solver.GetRoot().rotation *Vector3.forward *value *weight;
return;
case WeightCurve.Type.Pull:
solver.GetChain(effector).pull = Mathf.Lerp(solver.GetChain(effector).pull, value, weight);
return;
case WeightCurve.Type.Reach:
solver.GetChain(effector).reach = Mathf.Lerp(solver.GetChain(effector).reach, value, weight);
return;
}
}
public void Apply(IKSolverFullBodyBiped solver, float weight, Quaternion rotation)
{
for (int i = 0; i < this.effectorLinks.Length; i++)
{
this.effectorLinks[i].Apply(solver, weight, rotation);
}
}
protected virtual void Start()
{
if (this.fullBody == null)
{
this.fullBody = base.GetComponent <FullBodyBipedIK>();
}
if (this.fullBody == null)
{
Warning.Log("InteractionSystem can not find a FullBodyBipedIK component", base.transform, false);
return;
}
IKSolverFullBodyBiped solver = this.fullBody.solver;
solver.OnPreUpdate = (IKSolver.UpdateDelegate)Delegate.Combine(solver.OnPreUpdate, new IKSolver.UpdateDelegate(this.OnPreFBBIK));
IKSolverFullBodyBiped solver2 = this.fullBody.solver;
solver2.OnPostUpdate = (IKSolver.UpdateDelegate)Delegate.Combine(solver2.OnPostUpdate, new IKSolver.UpdateDelegate(this.OnPostFBBIK));
this.OnInteractionStart = (InteractionSystem.InteractionDelegate)Delegate.Combine(this.OnInteractionStart, new InteractionSystem.InteractionDelegate(this.LookAtInteraction));
this.OnInteractionPause = (InteractionSystem.InteractionDelegate)Delegate.Combine(this.OnInteractionPause, new InteractionSystem.InteractionDelegate(this.InteractionPause));
this.OnInteractionResume = (InteractionSystem.InteractionDelegate)Delegate.Combine(this.OnInteractionResume, new InteractionSystem.InteractionDelegate(this.InteractionResume));
this.OnInteractionStop = (InteractionSystem.InteractionDelegate)Delegate.Combine(this.OnInteractionStop, new InteractionSystem.InteractionDelegate(this.InteractionStop));
foreach (InteractionEffector interactionEffector in this.interactionEffectors)
{
interactionEffector.Initiate(this);
}
this.triggersInRange = new List <InteractionTrigger>();
this.c = base.GetComponent <Collider>();
this.UpdateTriggerEventBroadcasting();
this.initiated = true;
}
// Check for possible warnings with the biped references setup
private void CheckWarning(BipedReferences references, IKSolverFullBodyBiped solver, Transform context, bool log)
{
// Check for all the warnings common to all bipeds
BipedReferences.CheckSetupWarning(script.references, log);
// Check for warnings specific to FBBIK
Vector3 toRightShoulder = references.rightUpperArm.position - references.leftUpperArm.position;
Vector3 shoulderToRootNode = solver.rootNode.position - references.leftUpperArm.position;
float dot = Vector3.Dot(toRightShoulder.normalized, shoulderToRootNode.normalized);
if (dot > 0.95f)
{
if (log)
{
Warning.Log("The root node, the left upper arm and the right upper arm bones should ideally form a triangle that is as close to equilateral as possible. " +
"Currently the root node bone seems to be very close to the line between the left upper arm and the right upper arm bones. This might cause unwanted behaviour like the spine turning upside down when pulled by a hand effector." +
"Please set the root node bone to be one of the lower bones in the spine.", context, true);
}
}
Vector3 toRightThigh = references.rightThigh.position - references.leftThigh.position;
Vector3 thighToRootNode = solver.rootNode.position - references.leftThigh.position;
dot = Vector3.Dot(toRightThigh.normalized, thighToRootNode.normalized);
if (dot > 0.95f && log)
{
Warning.Log("The root node, the left thigh and the right thigh bones should ideally form a triangle that is as close to equilateral as possible. " +
"Currently the root node bone seems to be very close to the line between the left thigh and the right thigh bones. This might cause unwanted behaviour like the hip turning upside down when pulled by an effector." +
"Please set the root node bone to be one of the higher bones in the spine.", context, true);
}
}
public bool ResetToDefaults(IKSolverFullBodyBiped solver, float speed)
{
if (this.inInteraction)
{
return(false);
}
if (this.isPaused)
{
return(false);
}
if (this.defaults)
{
return(false);
}
this.resetTimer = Mathf.Clamp(this.resetTimer -= Time.deltaTime * speed, 0f, 1f);
if (this.effector.isEndEffector)
{
solver.GetChain(this.effectorType).pull = Mathf.Lerp(this.defaultPull, solver.GetChain(this.effectorType).pull, this.resetTimer);
solver.GetChain(this.effectorType).reach = Mathf.Lerp(this.defaultReach, solver.GetChain(this.effectorType).reach, this.resetTimer);
solver.GetChain(this.effectorType).push = Mathf.Lerp(this.defaultPush, solver.GetChain(this.effectorType).push, this.resetTimer);
solver.GetChain(this.effectorType).pushParent = Mathf.Lerp(this.defaultPushParent, solver.GetChain(this.effectorType).pushParent, this.resetTimer);
}
this.effector.positionWeight = Mathf.Lerp(0f, this.effector.positionWeight, this.resetTimer);
this.effector.rotationWeight = Mathf.Lerp(0f, this.effector.rotationWeight, this.resetTimer);
if (this.resetTimer <= 0f)
{
this.defaults = true;
}
return(true);
}
private void LateUpdate()
{
if (this.ik == null)
{
return;
}
if (!this.initiated)
{
IKSolverFullBodyBiped solver = this.ik.solver;
solver.OnPostUpdate = (IKSolver.UpdateDelegate)Delegate.Combine(solver.OnPostUpdate, new IKSolver.UpdateDelegate(this.OnPostFBBIK));
this.initiated = true;
}
if (this.ik.solver.leftHandEffector.target != null)
{
Vector3 left = Vector3.left;
this.ik.solver.leftArmChain.bendConstraint.direction = this.ik.solver.leftHandEffector.target.rotation * left + this.ik.solver.leftHandEffector.target.rotation * this.bendDirectionOffsetLeft + this.ik.transform.rotation * this.characterSpaceBendOffsetLeft;
this.ik.solver.leftArmChain.bendConstraint.weight = 1f;
}
if (this.ik.solver.rightHandEffector.target != null)
{
Vector3 right = Vector3.right;
this.ik.solver.rightArmChain.bendConstraint.direction = this.ik.solver.rightHandEffector.target.rotation * right + this.ik.solver.rightHandEffector.target.rotation * this.bendDirectionOffsetRight + this.ik.transform.rotation * this.characterSpaceBendOffsetRight;
this.ik.solver.rightArmChain.bendConstraint.weight = 1f;
}
}
// Called after FBBIK update
public void OnPostFBBIK(IKSolverFullBodyBiped fullBody)
{
if (!inInteraction)
{
return;
}
// Rotate the hands/feet to the RotateBoneWeight curve
float rotateBoneWeight = interactionObject.GetValue(InteractionObject.WeightCurve.Type.RotateBoneWeight, interactionTarget, timer) * weight;
if (rotateBoneWeight > 0f)
{
Quaternion r = pickedUp? pickUpRotation: effector.rotation;
Quaternion targetRotation = Quaternion.Slerp(effector.bone.rotation, r, rotateBoneWeight * rotateBoneWeight);
effector.bone.localRotation = Quaternion.Inverse(effector.bone.parent.rotation) * targetRotation;
}
// Positioning the interaction object to the effector (not the bone, because it is still at it's animated translation)
if (pickUpOnPostFBBIK)
{
Vector3 bonePosition = effector.bone.position;
effector.bone.SetPosition(pickUpPosition);
interactionObject.targetsRoot.parent = effector.bone;
effector.bone.SetPosition(bonePosition);
pickUpOnPostFBBIK = false;
}
}
// Apply to IKSolverFullBodyBiped
public void Apply(IKSolverFullBodyBiped solver, float weight)
{
float deltaTime = Time.time - lastTime;
lastTime = Time.time;
if (timer >= length)
{
return;
}
// Advance the timer
timer = Mathf.Clamp(timer + deltaTime, 0f, length);
// Advance the crossFader
if (crossFadeSpeed > 0f)
{
crossFader = Mathf.Clamp(crossFader + (deltaTime * crossFadeSpeed), 0f, 1f);
}
else
{
crossFader = 1f;
}
// Pass this on to the hit points
OnApply(solver, weight);
}
public void Apply(IKSolverFullBodyBiped solver, FullBodyBipedEffector effector, InteractionTarget target, float timer, float weight)
{
for (int i = 0; i < this.weightCurves.Length; i++)
{
float num = (!(target == null)) ? target.GetValue(this.weightCurves[i].type) : 1f;
this.Apply(solver, effector, this.weightCurves[i].type, this.weightCurves[i].GetValue(timer), weight * num);
}
for (int j = 0; j < this.multipliers.Length; j++)
{
if (this.multipliers[j].curve == this.multipliers[j].result && !Warning.logged)
{
Warning.Log("InteractionObject Multiplier 'Curve' " + this.multipliers[j].curve.ToString() + "and 'Result' are the same.", base.transform, false);
}
int weightCurveIndex = this.GetWeightCurveIndex(this.multipliers[j].curve);
if (weightCurveIndex != -1)
{
float num2 = (!(target == null)) ? target.GetValue(this.multipliers[j].result) : 1f;
this.Apply(solver, effector, this.multipliers[j].result, this.multipliers[j].GetValue(this.weightCurves[weightCurveIndex], timer), weight * num2);
}
else if (!Warning.logged)
{
Warning.Log("InteractionObject Multiplier curve " + this.multipliers[j].curve.ToString() + "does not exist.", base.transform, false);
}
}
}
// Interpolate to default values when currently not in interaction
public void ResetToDefaults(IKSolverFullBodyBiped solver, float speed)
{
if (inInteraction)
{
return;
}
if (isPaused)
{
return;
}
if (defaults)
{
return;
}
resetTimer = Mathf.Clamp(resetTimer -= Time.deltaTime * speed, 0f, 1f);
// Pull and Reach
if (effector.isEndEffector)
{
solver.GetChain(effectorType).pull = Mathf.Lerp(defaultPull, solver.GetChain(effectorType).pull, resetTimer);
solver.GetChain(effectorType).reach = Mathf.Lerp(defaultReach, solver.GetChain(effectorType).reach, resetTimer);
}
// Effector weights
effector.positionWeight = Mathf.Lerp(0f, effector.positionWeight, resetTimer);
effector.rotationWeight = Mathf.Lerp(0f, effector.rotationWeight, resetTimer);
if (resetTimer <= 0f)
{
defaults = true;
}
}
// Update this body, apply the offset to the effector
public void Update(IKSolverFullBodyBiped solver, float weight, float deltaTime)
{
if (transform == null)
{
return;
}
// If first update, set this body to Transform
if (firstUpdate)
{
Reset();
firstUpdate = false;
}
// Acceleration
direction = Vector3.Lerp(direction, ((transform.position - lazyPoint) / deltaTime) * 0.01f, deltaTime * acceleration);
// Lazy follow
lazyPoint += direction * deltaTime * speed;
// Match velocity
delta = transform.position - lastPosition;
lazyPoint += delta * matchVelocity;
// Gravity
lazyPoint.y += gravity * deltaTime;
// Apply position offset to the effector
foreach (EffectorLink effectorLink in effectorLinks)
{
solver.GetEffector(effectorLink.effector).positionOffset += (lazyPoint - transform.position) * effectorLink.weight * weight;
}
lastPosition = transform.position;
}
protected virtual void Start()
{
if (this.fullBody == null)
{
this.fullBody = base.GetComponent <FullBodyBipedIK>();
}
if (this.fullBody == null)
{
Warning.Log("InteractionSystem can not find a FullBodyBipedIK component", base.transform, false);
return;
}
IKSolverFullBodyBiped expr_4B = this.fullBody.solver;
expr_4B.OnPreUpdate = (IKSolver.UpdateDelegate)Delegate.Combine(expr_4B.OnPreUpdate, new IKSolver.UpdateDelegate(this.OnPreFBBIK));
IKSolverFullBodyBiped expr_77 = this.fullBody.solver;
expr_77.OnPostUpdate = (IKSolver.UpdateDelegate)Delegate.Combine(expr_77.OnPostUpdate, new IKSolver.UpdateDelegate(this.OnPostFBBIK));
this.OnInteractionStart = (InteractionSystem.InteractionDelegate)Delegate.Combine(this.OnInteractionStart, new InteractionSystem.InteractionDelegate(this.LookAtInteraction));
InteractionEffector[] array = this.interactionEffectors;
for (int i = 0; i < array.Length; i++)
{
InteractionEffector interactionEffector = array[i];
interactionEffector.Initiate(this, this.fullBody.solver);
}
this.triggersInRange = new List <InteractionTrigger>();
this.c = base.GetComponent <Collider>();
this.UpdateTriggerEventBroadcasting();
this.initiated = true;
}
public void Update(IKSolverFullBodyBiped solver, float w, float deltaTime)
{
if (this.transform == null || this.relativeTo == null)
{
return;
}
Vector3 a = this.relativeTo.InverseTransformDirection(this.transform.position - this.relativeTo.position);
if (this.firstUpdate)
{
this.lastRelativePos = a;
this.firstUpdate = false;
}
Vector3 vector = (a - this.lastRelativePos) / deltaTime;
this.smoothDelta = ((this.speed > 0f) ? Vector3.Lerp(this.smoothDelta, vector, deltaTime * this.speed) : vector);
Vector3 v = this.relativeTo.TransformDirection(this.smoothDelta);
Vector3 a2 = V3Tools.ExtractVertical(v, solver.GetRoot().up, this.verticalWeight) + V3Tools.ExtractHorizontal(v, solver.GetRoot().up, this.horizontalWeight);
for (int i = 0; i < this.effectorLinks.Length; i++)
{
solver.GetEffector(this.effectorLinks[i].effector).positionOffset += a2 * w * this.effectorLinks[i].weight;
}
this.lastRelativePos = a;
}
private void Start()
{
this.ik = base.GetComponent <FullBodyBipedIK>();
IKSolverFullBodyBiped solver = this.ik.solver;
solver.OnPostUpdate = (IKSolver.UpdateDelegate)Delegate.Combine(solver.OnPostUpdate, new IKSolver.UpdateDelegate(this.RotateShoulders));
}
/*
* Draws the scene view helpers for IKSolverFullBodyBiped
* */
public static void AddScene(IKSolverFullBodyBiped solver, Color color, bool modifiable, ref int selectedEffector, Transform root)
{
if (!solver.IsValid(false))
{
return;
}
float heightF = Vector3.Distance(solver.chain.children[0].nodes[0].transform.position, solver.chain.children[0].nodes[1].transform.position) +
Vector3.Distance(solver.chain.children[2].nodes[0].transform.position, solver.chain.children[2].nodes[1].transform.position);
float size = Mathf.Clamp(heightF * 0.1f, 0.005f, 0.05f);
// Chain
if (!Application.isPlaying)
{
IKSolverFullBodyInspector.AddChain(solver.chain, color, size);
Handles.DrawLine(solver.chain.children[0].nodes[0].transform.position, solver.chain.children[1].nodes[0].transform.position);
Handles.DrawLine(solver.chain.children[2].nodes[0].transform.position, solver.chain.children[3].nodes[0].transform.position);
AddLimbHelper(solver.chain.children[0], size);
AddLimbHelper(solver.chain.children[1], size);
AddLimbHelper(solver.chain.children[2], size, root);
AddLimbHelper(solver.chain.children[3], size, root);
}
// Effectors
IKSolverFullBodyInspector.AddScene(solver, color, modifiable, ref selectedEffector, size);
}
private void AutoDetectReferences()
{
this.references = new BipedReferences();
BipedReferences.AutoDetectReferences(ref this.references, base.transform, new BipedReferences.AutoDetectParams(true, false));
this.solver.rootNode = IKSolverFullBodyBiped.DetectRootNodeBone(this.references);
this.solver.SetToReferences(this.references, this.solver.rootNode);
}
// Apply offset to FBBIK effectors
public void Apply(IKSolverFullBodyBiped solver, Quaternion rotation, float masterWeight)
{
foreach (EffectorLink e in effectorLinks)
{
solver.GetEffector(e.effector).positionOffset += rotation * (offset * masterWeight * e.weight);
}
}
// Update the Body
public void Update(IKSolverFullBodyBiped solver, float w, float deltaTime)
{
if (transform == null || relativeTo == null) return;
// Find the relative position of the transform
Vector3 relativePos = relativeTo.InverseTransformDirection(transform.position - relativeTo.position);
// Initiating
if (firstUpdate) {
lastRelativePos = relativePos;
firstUpdate = false;
}
// Find how much the relative position has changed
Vector3 delta = (relativePos - lastRelativePos) / deltaTime;
// Smooth the change
smoothDelta = speed <= 0f? delta: Vector3.Lerp(smoothDelta, delta, deltaTime * speed);
// Convert to world space
Vector3 worldDelta = relativeTo.TransformDirection(smoothDelta);
// Extract horizontal and vertical offset
Vector3 offset = V3Tools.ExtractVertical(worldDelta, solver.GetRoot().up, verticalWeight) + V3Tools.ExtractHorizontal(worldDelta, solver.GetRoot().up, horizontalWeight);
// Apply the amplitude to the effector links
for (int i = 0; i < effectorLinks.Length; i++) {
solver.GetEffector(effectorLinks[i].effector).positionOffset += offset * w * effectorLinks[i].weight;
}
lastRelativePos = relativePos;
}
public void Apply(IKSolverFullBodyBiped solver, float weight)
{
for (int i = 0; i < this.effectorLinks.Length; i++)
{
this.effectorLinks[i].Apply(solver, weight, solver.GetRoot().rotation);
}
}
public void Update(Transform root, IKSolverFullBodyBiped solver, float speed)
{
if (!this.inInteraction)
{
return;
}
if (this.interactionTarget != null && !this.interactionTarget.rotateOnce)
{
this.interactionTarget.RotateTo(this.effector.bone.position);
}
if (this.isPaused)
{
this.effector.position = this.target.TransformPoint(this.pausePositionRelative);
this.effector.rotation = this.target.rotation * this.pauseRotationRelative;
this.interactionObject.Apply(solver, this.effectorType, this.interactionTarget, this.timer, this.weight);
return;
}
this.timer += Time.deltaTime * speed * ((!(this.interactionTarget != null)) ? 1f : this.interactionTarget.interactionSpeedMlp);
this.weight = Mathf.Clamp(this.weight + Time.deltaTime * this.fadeInSpeed, 0f, 1f);
bool flag = false;
bool flag2 = false;
this.TriggerUntriggeredEvents(true, out flag, out flag2);
Vector3 b = (!this.pickedUp) ? this.target.position : this.pickUpPosition;
Quaternion b2 = (!this.pickedUp) ? this.target.rotation : this.pickUpRotation;
this.effector.position = Vector3.Lerp(this.effector.bone.position, b, this.weight);
this.effector.rotation = Quaternion.Lerp(this.effector.bone.rotation, b2, this.weight);
this.interactionObject.Apply(solver, this.effectorType, this.interactionTarget, this.timer, this.weight);
if (flag)
{
this.PickUp(root);
}
if (flag2)
{
this.Pause();
}
float value = this.interactionObject.GetValue(InteractionObject.WeightCurve.Type.PoserWeight, this.interactionTarget, this.timer);
if (this.poser != null)
{
this.poser.weight = Mathf.Lerp(this.poser.weight, value, this.weight);
}
else if (value > 0f)
{
Warning.Log(string.Concat(new string[]
{
"InteractionObject ",
this.interactionObject.name,
" has a curve/multipler for Poser Weight, but the bone of effector ",
this.effectorType.ToString(),
" has no HandPoser/GenericPoser attached."
}), this.effector.bone, false);
}
if (this.timer >= this.length)
{
this.Stop();
}
}
// Draws the scene view helpers for IKSolverFullBodyBiped
public static void AddScene(UnityEngine.Object target, IKSolverFullBodyBiped solver, Color color, ref int selectedEffector, Transform root)
{
if (Application.isPlaying && !solver.initiated) return;
if (!Application.isPlaying && !solver.IsValid()) return;
bool modifiable = solver.initiated;
//@todo TEMP
/*
for (int i = 0; i < solver.chain.Length; i++) {
for (int n = 0; n < solver.chain[i].nodes.Length; n++) {
Handles.DotCap(0, solver.chain[i].nodes[n].solverPosition, Quaternion.identity, 0.02f);
}
}
*/
/*
foreach (IKMappingLimb limb in solver.limbMappings) {
Handles.DotCap(0, limb.GetBoneMap(IKMappingLimb.BoneMapType.Bone3).node.solverPosition, Quaternion.identity, 0.02f);
}
*/
float heightF = Vector3.Distance(solver.chain[1].nodes[0].transform.position, solver.chain[1].nodes[1].transform.position) +
Vector3.Distance(solver.chain[3].nodes[0].transform.position, solver.chain[3].nodes[1].transform.position);
float size = Mathf.Clamp(heightF * 0.075f, 0.001f, Mathf.Infinity);
// Bend goals
for (int i = 0; i < solver.chain.Length; i++) {
if (solver.chain[i].nodes.Length == 3 && solver.chain[i].bendConstraint.bendGoal != null && solver.chain[i].bendConstraint.weight > 0f) {
Color c = color;
c.a = solver.chain[i].bendConstraint.weight;
Handles.color = c;
Handles.DrawLine(solver.chain[i].nodes[1].transform.position, solver.chain[i].bendConstraint.bendGoal.position);
Handles.SphereCap(0, solver.chain[i].nodes[1].transform.position, Quaternion.identity, size * 0.5f);
Handles.SphereCap(0, solver.chain[i].bendConstraint.bendGoal.position, Quaternion.identity, size * 0.5f);
Handles.color = Color.white;
}
}
// Chain
if (!modifiable) {
for (int i = 0; i < solver.chain.Length; i++) {
IKSolverFullBodyInspector.AddChain(solver.chain, i, color, size);
}
Handles.DrawLine(solver.chain[1].nodes[0].transform.position, solver.chain[2].nodes[0].transform.position);
Handles.DrawLine(solver.chain[3].nodes[0].transform.position, solver.chain[4].nodes[0].transform.position);
AddLimbHelper(solver.chain[1], size);
AddLimbHelper(solver.chain[2], size);
AddLimbHelper(solver.chain[3], size, root);
AddLimbHelper(solver.chain[4], size, root);
}
// Effectors
IKSolverFullBodyInspector.AddScene(target, solver, color, modifiable, ref selectedEffector, size);
}
private void OnDestroy()
{
if (this.initiated && this.ik != null)
{
IKSolverFullBodyBiped expr_27 = this.ik.solver;
expr_27.OnPreUpdate = (IKSolver.UpdateDelegate)Delegate.Remove(expr_27.OnPreUpdate, new IKSolver.UpdateDelegate(this.OnSolverUpdate));
}
}
// Apply offset to FBBIK effectors
public void Apply(IKSolverFullBodyBiped solver, Quaternion rotation, float masterWeight, float length, float timeLeft) {
additiveOffset = Vector3.Lerp(Vector3.zero, additiveOffset, timeLeft / length);
lastOffset = (rotation * (offset * masterWeight)) + (rotation * additiveOffset);
foreach (EffectorLink e in effectorLinks) {
solver.GetEffector(e.effector).positionOffset += lastOffset * e.weight;
}
}
protected virtual void OnDestroy()
{
if (this.ik != null)
{
IKSolverFullBodyBiped solver = this.ik.solver;
solver.OnPreUpdate = (IKSolver.UpdateDelegate)Delegate.Remove(solver.OnPreUpdate, new IKSolver.UpdateDelegate(this.ModifyOffset));
}
}
private void OnDestroy()
{
if (this.ik != null)
{
IKSolverFullBodyBiped solver = this.ik.solver;
solver.OnPostUpdate = (IKSolver.UpdateDelegate)Delegate.Remove(solver.OnPostUpdate, new IKSolver.UpdateDelegate(this.RotateShoulders));
}
}
public void Apply(IKSolverFullBodyBiped solver, float weight, Quaternion rotation)
{
solver.GetEffector(this.effector).positionOffset += rotation * this.offset * weight;
Vector3 vector = solver.GetRoot().position + rotation * this.pin - solver.GetEffector(this.effector).bone.position;
Vector3 vector2 = this.pinWeight * Mathf.Abs(weight);
solver.GetEffector(this.effector).positionOffset = new Vector3(Mathf.Lerp(solver.GetEffector(this.effector).positionOffset.x, vector.x, vector2.x), Mathf.Lerp(solver.GetEffector(this.effector).positionOffset.y, vector.y, vector2.y), Mathf.Lerp(solver.GetEffector(this.effector).positionOffset.z, vector.z, vector2.z));
}
public Transform target; // The target
#endregion Fields
#region Methods
// Update IK position, rotation and weight
public void Update(IKSolverFullBodyBiped solver, float weight)
{
solver.GetEffector(effector).position = target.position;
solver.GetEffector(effector).rotation = target.rotation;
solver.GetEffector(effector).positionWeight = positionWeight * weight;
solver.GetEffector(effector).rotationWeight = rotationWeight * weight;
}
void AutoDetectReferences()
{
references = new BipedReferences();
BipedReferences.AutoDetectReferences(ref references, transform, new BipedReferences.AutoDetectParams(true, false));
solver.rootNode = IKSolverFullBodyBiped.DetectRootNodeBone(references);
solver.SetToReferences(references, solver.rootNode);
}
public void Apply(IKSolverFullBodyBiped solver, Quaternion rotation, float masterWeight, float length, float timeLeft)
{
this.additiveOffset = Vector3.Lerp(Vector3.zero, this.additiveOffset, timeLeft / length);
this.lastOffset = rotation * (this.offset * masterWeight) + rotation * this.additiveOffset;
foreach (Recoil.RecoilOffset.EffectorLink effectorLink in this.effectorLinks)
{
solver.GetEffector(effectorLink.effector).positionOffset += this.lastOffset * effectorLink.weight;
}
}
// Calculate offset, apply to the bones
protected override void OnApply(IKSolverFullBodyBiped solver, float weight)
{
float comValue = aroundCenterOfMass.Evaluate(timer) * weight;
Quaternion offset = Quaternion.AngleAxis(comValue, comAxis);
foreach (BoneLink b in boneLinks)
{
b.Apply(solver, offset, crossFader);
}
}
// Apply offset to FBBIK effectors
public void Apply(IKSolverFullBodyBiped solver, Quaternion rotation, float masterWeight, float length, float timeLeft)
{
additiveOffset = Vector3.Lerp(Vector3.zero, additiveOffset, timeLeft / length);
lastOffset = (rotation * (offset * masterWeight)) + (rotation * additiveOffset);
foreach (EffectorLink e in effectorLinks)
{
solver.GetEffector(e.effector).positionOffset += lastOffset * e.weight;
}
}
// Draws the scene view helpers for IKSolverFullBodyBiped
public static void AddScene(UnityEngine.Object target, IKSolverFullBodyBiped solver, Color color, ref int selectedEffector, Transform root)
{
if (Application.isPlaying && !solver.initiated)
{
return;
}
if (!Application.isPlaying && !solver.IsValid())
{
return;
}
bool modifiable = solver.initiated;
float heightF = Vector3.Distance(solver.chain[1].nodes[0].transform.position, solver.chain[1].nodes[1].transform.position) +
Vector3.Distance(solver.chain[3].nodes[0].transform.position, solver.chain[3].nodes[1].transform.position);
float size = Mathf.Clamp(heightF * 0.075f, 0.001f, Mathf.Infinity);
// Bend goals
for (int i = 0; i < solver.chain.Length; i++)
{
if (solver.chain[i].nodes.Length == 3 && solver.chain[i].bendConstraint.bendGoal != null && solver.chain[i].bendConstraint.weight > 0f)
{
Color c = color;
c.a = solver.chain[i].bendConstraint.weight;
Handles.color = c;
Handles.DrawLine(solver.chain[i].nodes[1].transform.position, solver.chain[i].bendConstraint.bendGoal.position);
Handles.SphereHandleCap(0, solver.chain[i].nodes[1].transform.position, Quaternion.identity, size * 0.5f, EventType.Repaint);
Handles.SphereHandleCap(0, solver.chain[i].bendConstraint.bendGoal.position, Quaternion.identity, size * 0.5f, EventType.Repaint);
Handles.color = Color.white;
}
}
// Chain
if (!modifiable)
{
for (int i = 0; i < solver.chain.Length; i++)
{
IKSolverFullBodyInspector.AddChain(solver.chain, i, color, size);
}
Handles.DrawLine(solver.chain[1].nodes[0].transform.position, solver.chain[2].nodes[0].transform.position);
Handles.DrawLine(solver.chain[3].nodes[0].transform.position, solver.chain[4].nodes[0].transform.position);
AddLimbHelper(solver.chain[1], size);
AddLimbHelper(solver.chain[2], size);
AddLimbHelper(solver.chain[3], size, root);
AddLimbHelper(solver.chain[4], size, root);
}
// Effectors
IKSolverFullBodyInspector.AddScene(target, solver, color, modifiable, ref selectedEffector, size);
}
// Checks the biped references for errors
private bool CheckError(BipedReferences references, IKSolverFullBodyBiped solver, Transform context, bool log)
{
// All the errors common to all bipeds
if (!BipedReferences.CheckSetupError(script.references, log))
{
if (log)
{
Warning.Log("Invalid references, can't initiate the solver.", context, true);
}
return(false);
}
// All the errors specific to FBBIK
if (references.spine.Length == 0)
{
if (log)
{
Warning.Log("Biped has no spine bones, can't initiate the solver.", context, true);
}
return(false);
}
if (solver.rootNode == null)
{
if (log)
{
Warning.Log("Root Node bone is null, can't initiate the solver.", context, true);
}
return(false);
}
if (solver.rootNode != references.pelvis)
{
bool inSpine = false;
for (int i = 0; i < references.spine.Length; i++)
{
if (solver.rootNode == references.spine[i])
{
inSpine = true;
break;
}
}
if (!inSpine)
{
if (log)
{
Warning.Log("The Root Node has to be one of the bones in the Spine or the Pelvis, can't initiate the solver.", context, true);
}
}
}
return(true);
}
// Multiple raycasting to accumulate the offset
private Vector3 GetOffsetTarget(IKSolverFullBodyBiped solver)
{
Vector3 t = Vector3.zero;
foreach (Transform from in raycastFrom)
{
t += Raycast(from.position, raycastTo.position + t);
}
return(t);
}
// Initiate this, get the default values
public void Initiate(InteractionSystem interactionSystem, IKSolverFullBodyBiped solver) {
this.interactionSystem = interactionSystem;
// Find the effector if we haven't already
if (effector == null) {
effector = solver.GetEffector(effectorType);
poser = effector.bone.GetComponent<Poser>();
}
defaultPull = solver.GetChain(effectorType).pull;
defaultReach = solver.GetChain(effectorType).reach;
defaultPush = solver.GetChain(effectorType).push;
defaultPushParent = solver.GetChain(effectorType).pushParent;
}
public Vector3 pinWeight; // Pin weight vector
// Apply positionOffset to the effector
public void Apply(IKSolverFullBodyBiped solver, float weight, Quaternion rotation) {
// Offset
solver.GetEffector(effector).positionOffset += rotation * offset * weight;
// Calculating pinned position
Vector3 pinPosition = solver.GetRoot().position + rotation * pin;
Vector3 pinPositionOffset = pinPosition - solver.GetEffector(effector).bone.position;
Vector3 pinWeightVector = pinWeight * Mathf.Abs(weight);
// Lerping to pinned position
solver.GetEffector(effector).positionOffset = new Vector3(
Mathf.Lerp(solver.GetEffector(effector).positionOffset.x, pinPositionOffset.x, pinWeightVector.x),
Mathf.Lerp(solver.GetEffector(effector).positionOffset.y, pinPositionOffset.y, pinWeightVector.y),
Mathf.Lerp(solver.GetEffector(effector).positionOffset.z, pinPositionOffset.z, pinWeightVector.z)
);
}
// Apply to IKSolverFullBodyBiped
public void Apply(IKSolverFullBodyBiped solver, float weight) {
float deltaTime = Time.time - lastTime;
lastTime = Time.time;
if (timer >= length) {
return;
}
// Advance the timer
timer = Mathf.Clamp(timer + deltaTime, 0f, length);
// Advance the crossFader
if (crossFadeSpeed > 0f) crossFader = Mathf.Clamp(crossFader + (deltaTime * crossFadeSpeed), 0f, 1f);
else crossFader = 1f;
// Pass this on to the hit points
OnApply(solver, weight);
}
// Draws the scene view helpers for IKSolverFullBodyBiped
public static void AddScene(IKSolverFullBodyBiped solver, Color color, bool modifiable, ref int selectedEffector, Transform root) {
if (!solver.IsValid(false)) return;
if (Application.isPlaying && !solver.initiated) return;
float heightF = Vector3.Distance(solver.chain[1].nodes[0].transform.position, solver.chain[1].nodes[1].transform.position) +
Vector3.Distance(solver.chain[3].nodes[0].transform.position, solver.chain[3].nodes[1].transform.position);
float size = Mathf.Clamp(heightF * 0.075f, 0.001f, Mathf.Infinity);
// Bend goals
for (int i = 0; i < solver.chain.Length; i++) {
if (solver.chain[i].nodes.Length == 3 && solver.chain[i].bendConstraint.bendGoal != null && solver.chain[i].bendConstraint.weight > 0f) {
Color c = color;
c.a = solver.chain[i].bendConstraint.weight;
Handles.color = c;
Handles.DrawLine(solver.chain[i].nodes[1].transform.position, solver.chain[i].bendConstraint.bendGoal.position);
Handles.SphereCap(0, solver.chain[i].nodes[1].transform.position, Quaternion.identity, size * 0.5f);
Handles.SphereCap(0, solver.chain[i].bendConstraint.bendGoal.position, Quaternion.identity, size * 0.5f);
Handles.color = Color.white;
}
}
// Chain
if (!Application.isPlaying) {
for (int i = 0; i < solver.chain.Length; i++) {
IKSolverFullBodyInspector.AddChain(solver.chain, i, color, size);
}
Handles.DrawLine(solver.chain[1].nodes[0].transform.position, solver.chain[2].nodes[0].transform.position);
Handles.DrawLine(solver.chain[3].nodes[0].transform.position, solver.chain[4].nodes[0].transform.position);
AddLimbHelper(solver.chain[1], size);
AddLimbHelper(solver.chain[2], size);
AddLimbHelper(solver.chain[3], size, root);
AddLimbHelper(solver.chain[4], size, root);
}
// Effectors
IKSolverFullBodyInspector.AddScene(solver, color, modifiable, ref selectedEffector, size);
}
// Interpolate to default values when currently not in interaction
public bool ResetToDefaults(IKSolverFullBodyBiped solver, float speed) {
if (inInteraction) return false;
if (isPaused) return false;
if (defaults) return false;
resetTimer = Mathf.Clamp(resetTimer -= Time.deltaTime * speed, 0f, 1f);
// Pull and Reach
if (effector.isEndEffector) {
solver.GetChain(effectorType).pull = Mathf.Lerp(defaultPull, solver.GetChain(effectorType).pull, resetTimer);
solver.GetChain(effectorType).reach = Mathf.Lerp(defaultReach, solver.GetChain(effectorType).reach, resetTimer);
solver.GetChain(effectorType).push = Mathf.Lerp(defaultPush, solver.GetChain(effectorType).push, resetTimer);
solver.GetChain(effectorType).pushParent = Mathf.Lerp(defaultPushParent, solver.GetChain(effectorType).pushParent, resetTimer);
}
// Effector weights
effector.positionWeight = Mathf.Lerp(0f, effector.positionWeight, resetTimer);
effector.rotationWeight = Mathf.Lerp(0f, effector.rotationWeight, resetTimer);
if (resetTimer <= 0f) defaults = true;
return true;
}
// Applies the weight curves and multipliers to the FBBIK solver
public void Apply(IKSolverFullBodyBiped solver, FullBodyBipedEffector effector, InteractionTarget target, float timer, float weight)
{
for (int i = 0; i < weightCurves.Length; i++) {
float mlp = target == null? 1f: target.GetValue(weightCurves[i].type);
Apply(solver, effector, weightCurves[i].type, weightCurves[i].GetValue(timer), weight * mlp);
}
for (int i = 0; i < multipliers.Length; i++) {
if (multipliers[i].curve == multipliers[i].result) {
if (!Warning.logged) Warning.Log("InteractionObject Multiplier 'Curve' " + multipliers[i].curve.ToString() + "and 'Result' are the same.", transform);
}
int curveIndex = GetWeightCurveIndex(multipliers[i].curve);
if (curveIndex != -1) {
float mlp = target == null? 1f: target.GetValue(multipliers[i].result);
Apply(solver, effector, multipliers[i].result, multipliers[i].GetValue(weightCurves[curveIndex], timer), weight * mlp);
} else {
if (!Warning.logged) Warning.Log("InteractionObject Multiplier curve " + multipliers[i].curve.ToString() + "does not exist.", transform);
}
}
}
// Apply a rotational offset to this effector
public void Apply(IKSolverFullBodyBiped solver, Quaternion offset, float crossFader)
{
current = Quaternion.Lerp(lastValue, Quaternion.Lerp(Quaternion.identity, offset, weight), crossFader);
bone.rotation = current * bone.rotation;
}
// Calculate offset, apply to the bones
protected override void OnApply(IKSolverFullBodyBiped solver, float weight)
{
if (rigidbody == null) rigidbody = collider.GetComponent<Rigidbody>();
if (rigidbody != null) {
Vector3 comAxis = Vector3.Cross(force, point - rigidbody.worldCenterOfMass);
float comValue = aroundCenterOfMass.Evaluate(timer) * weight;
Quaternion offset = Quaternion.AngleAxis(comValue, comAxis);
foreach (BoneLink b in boneLinks) b.Apply(solver, offset, crossFader);
}
}
public void Apply(IKSolverFullBodyBiped solver, float weight, Quaternion rotation)
{
for (int i = 0; i < effectorLinks.Length; i++) effectorLinks[i].Apply(solver, weight, rotation);
}
// Apply positionOffsets of all the EffectorLinks
public void Apply(IKSolverFullBodyBiped solver, float weight)
{
for (int i = 0; i < effectorLinks.Length; i++) effectorLinks[i].Apply(solver, weight, solver.GetRoot().rotation);
}
// Calculate offset, apply to FBBIK effectors
protected override void OnApply(IKSolverFullBodyBiped solver, float weight)
{
Vector3 up = solver.GetRoot().up * force.magnitude;
Vector3 offset = (offsetInForceDirection.Evaluate(timer) * force) + (offsetInUpDirection.Evaluate(timer) * up);
offset *= weight;
foreach (EffectorLink e in effectorLinks) e.Apply(solver, offset, crossFader);
}
public override void Execute()
{
var ik = EntityView.GetComponent<FullBodyBipedIK>();
Solver = ik.solver;
}
/*
* Draws the scene view helpers for IKSolverFullBodyBiped
* */
public static void AddScene(IKSolverFullBodyBiped solver, Color color, bool modifiable, ref int selectedEffector, Transform root)
{
if (!solver.IsValid(false)) return;
float heightF = Vector3.Distance(solver.chain[1].nodes[0].transform.position, solver.chain[1].nodes[1].transform.position) +
Vector3.Distance(solver.chain[3].nodes[0].transform.position, solver.chain[3].nodes[1].transform.position);
float size = Mathf.Clamp(heightF * 0.075f, 0.001f, Mathf.Infinity);
// Chain
if (!Application.isPlaying) {
for (int i = 0; i < solver.chain.Length; i++) {
IKSolverFullBodyInspector.AddChain(solver.chain, i, color, size);
}
Handles.DrawLine(solver.chain[1].nodes[0].transform.position, solver.chain[2].nodes[0].transform.position);
Handles.DrawLine(solver.chain[3].nodes[0].transform.position, solver.chain[4].nodes[0].transform.position);
AddLimbHelper(solver.chain[1], size);
AddLimbHelper(solver.chain[2], size);
AddLimbHelper(solver.chain[3], size, root);
AddLimbHelper(solver.chain[4], size, root);
}
// Effectors
IKSolverFullBodyInspector.AddScene(solver, color, modifiable, ref selectedEffector, size);
}
protected abstract void OnApply(IKSolverFullBodyBiped solver, float weight);
private bool BipedIsValid(BipedReferences references, IKSolverFullBodyBiped solver, Transform context, bool log)
{
BipedReferences.CheckSetup(script.references);
if (!references.isValid)
{
//if (log) Warning.Log("BipedReferences contains one or more missing Transforms.", context, true);
return false;
}
if (references.spine.Length == 0)
{
//if (log) Warning.Log("Biped has no spine bones.", context, true);
return false;
}
if (solver.rootNode == null)
{
//if (log) Warning.Log("Root Node bone is null.", context, true);
return false;
}
Vector3 toRightShoulder = references.rightUpperArm.position - references.leftUpperArm.position;
Vector3 shoulderToRootNode = solver.rootNode.position - references.leftUpperArm.position;
float dot = Vector3.Dot(toRightShoulder.normalized, shoulderToRootNode.normalized);
if (dot > 0.95f)
{
if (log) Warning.Log("The root node, the left upper arm and the right upper arm bones should ideally form a triangle that is as close to equilateral as possible. " +
"Currently the root node bone seems to be very close to the line between the left upper arm and the right upper arm bones. This might cause unwanted behaviour like the spine turning upside down when pulled by a hand effector." +
"Please set the root node bone to be one of the lower bones in the spine.", context, true);
}
Vector3 toRightThigh = references.rightThigh.position - references.leftThigh.position;
Vector3 thighToRootNode = solver.rootNode.position - references.leftThigh.position;
dot = Vector3.Dot(toRightThigh.normalized, thighToRootNode.normalized);
if (dot > 0.95f && log)
{
Warning.Log("The root node, the left thigh and the right thigh bones should ideally form a triangle that is as close to equilateral as possible. " +
"Currently the root node bone seems to be very close to the line between the left thigh and the right thigh bones. This might cause unwanted behaviour like the hip turning upside down when pulled by an effector." +
"Please set the root node bone to be one of the higher bones in the spine.", context, true);
}
/*
Vector3 shoulderCross = Vector3.Cross(toRightShoulder, shoulderToRootNode);
Vector3 charCross = Vector3.Cross(references.rightHand.position - references.leftHand.position, references.rightFoot.position - references.leftHand.position);
float shoulderInvertDot = Vector3.Dot(shoulderCross.normalized, charCross.normalized);
if (shoulderInvertDot < 0 && log) {
Warning.Log("The triangle formed by the root node, left upper arm and right upper arm bones seems to be flipped. The root node bone should be below the upper arm bones.", context, true);
}
Vector3 thighCross = Vector3.Cross(toRightThigh, thighToRootNode);
float thighInvertDot = Vector3.Dot(thighCross.normalized, charCross.normalized);
if (thighInvertDot > 0 && log) {
Warning.Log("The triangle formed by the root node, left thigh and right thigh bones seems to be flipped. The root node bone should be above the thigh bones.", context, true);
}
*/
return true;
}
public FBIKChain.ReachSmoothing reachSmoothing; // Smoothing of the Reach effect (since 0.2)
#endregion Fields
#region Methods
// Apply the settings
public void Apply(FullBodyBipedChain chain, IKSolverFullBodyBiped solver)
{
solver.GetChain(chain).reachSmoothing = reachSmoothing;
solver.GetEndEffector(chain).maintainRelativePositionWeight = maintainRelativePositionWeight;
solver.GetLimbMapping(chain).weight = mappingWeight;
}
// Apply offset to FBBIK effectors
public void Apply(IKSolverFullBodyBiped solver, Quaternion rotation, float masterWeight)
{
foreach (EffectorLink e in effectorLinks) {
solver.GetEffector(e.effector).positionOffset += rotation * (offset * masterWeight * e.weight);
}
}
// Called after FBBIK update
public void OnPostFBBIK(IKSolverFullBodyBiped fullBody) {
if (!inInteraction) return;
// Rotate the hands/feet to the RotateBoneWeight curve
float rotateBoneWeight = interactionObject.GetValue(InteractionObject.WeightCurve.Type.RotateBoneWeight, interactionTarget, timer) * weight;
if (rotateBoneWeight > 0f) {
Quaternion r = pickedUp? pickUpRotation: effector.rotation;
Quaternion targetRotation = Quaternion.Slerp(effector.bone.rotation, r, rotateBoneWeight * rotateBoneWeight);
effector.bone.localRotation = Quaternion.Inverse(effector.bone.parent.rotation) * targetRotation;
}
// Positioning the interaction object to the effector (not the bone, because it is still at it's animated translation)
if (pickUpOnPostFBBIK) {
Vector3 bonePosition = effector.bone.position;
effector.bone.position = pickUpPosition;
interactionObject.targetsRoot.parent = effector.bone;
effector.bone.position = bonePosition;
pickUpOnPostFBBIK = false;
}
}
// Update and Apply the position offset to the effector
public void Update(IKSolverFullBodyBiped solver, Vector3 offsetTarget, float weight)
{
// Lerping offset to the offset target
offset = Vector3.Lerp(offset, offsetTarget * multiplier, Time.deltaTime * speed);
// Apply gravity
Vector3 g = (solver.GetRoot().up * gravity) * offset.magnitude;
// Apply the offset to the effector
solver.GetEffector(effector).positionOffset += (offset * weight * this.weight) + (g * weight);
}
// Update the (possibly) ongoing interaction
public void Update(Transform root, IKSolverFullBodyBiped solver, float speed) {
if (!inInteraction) {
// If the InteractionObject has been destroyed, reset to defaults
if (started) {
isPaused = false;
pickedUp = false;
defaults = false;
resetTimer = 1f;
started = false;
}
return;
}
// Rotate target
if (interactionTarget != null && !interactionTarget.rotateOnce) interactionTarget.RotateTo(effector.bone.position);
if (isPaused) {
effector.position = target.TransformPoint(pausePositionRelative);
effector.rotation = target.rotation * pauseRotationRelative;
// Apply the current interaction state to the solver
interactionObject.Apply(solver, effectorType, interactionTarget, timer, weight);
return;
}
// Advance the interaction timer and weight
timer += Time.deltaTime * speed * (interactionTarget != null? interactionTarget.interactionSpeedMlp: 1f);
weight = Mathf.Clamp(weight + Time.deltaTime * fadeInSpeed * speed, 0f, 1f);
// Interaction events
bool pickUp = false;
bool pause = false;
TriggerUntriggeredEvents(true, out pickUp, out pause);
// Effector target positions and rotations
Vector3 targetPosition = pickedUp? pickUpPosition: target.position;
Quaternion targetRotation = pickedUp? pickUpRotation: target.rotation;
// Interpolate effector position and rotation
effector.position = Vector3.Lerp(effector.bone.position, targetPosition, weight);
effector.rotation = Quaternion.Lerp(effector.bone.rotation, targetRotation, weight);
// Apply the current interaction state to the solver
interactionObject.Apply(solver, effectorType, interactionTarget, timer, weight);
if (pickUp) PickUp(root);
if (pause) Pause();
// Hand poser weight
float poserWeight = interactionObject.GetValue (InteractionObject.WeightCurve.Type.PoserWeight, interactionTarget, timer);
if (poser != null) {
poser.weight = Mathf.Lerp (poser.weight, poserWeight, weight);
} else {
if (poserWeight > 0f) {
Warning.Log("InteractionObject " + interactionObject.name + " has a curve/multipler for Poser Weight, but the bone of effector " + effectorType.ToString() + " has no HandPoser/GenericPoser attached.", effector.bone);
}
}
if (timer >= length) Stop();
}
// Update and apply this hit point
public void Update(IKSolverFullBodyBiped solver, float weight)
{
// Update velocity
velocity = Vector3.Lerp(velocity, -offset, Time.deltaTime * spring);
// Update offset
offset += velocity * Time.deltaTime * speed;
// Update Effector Links
foreach (EffectorLink e in effectorLinks) e.Update(solver, offset, weight);
// Update Bone Links
foreach (BoneLink b in boneLinks) b.Update(offset, weight);
}
// Set effector position and rotation to match it's bone
public void SetToBone(IKSolverFullBodyBiped solver) {
// Using world space position and rotation here for the sake of simplicity of the demo
// Ideally we should use position and rotation relative to character's root, so we could move around while doing this.
solver.GetEffector(effector).position = solver.GetEffector(effector).bone.position;
solver.GetEffector(effector).rotation = solver.GetEffector(effector).bone.rotation;
}
// Apply the curve to the specified solver, effector, with the value and weight.
private void Apply(IKSolverFullBodyBiped solver, FullBodyBipedEffector effector, WeightCurve.Type type, float value, float weight) {
switch(type) {
case WeightCurve.Type.PositionWeight:
solver.GetEffector(effector).positionWeight = Mathf.Lerp(solver.GetEffector(effector).positionWeight, value, weight);
return;
case WeightCurve.Type.RotationWeight:
solver.GetEffector(effector).rotationWeight = Mathf.Lerp(solver.GetEffector(effector).rotationWeight, value, weight);
return;
case WeightCurve.Type.PositionOffsetX:
solver.GetEffector(effector).position += (positionOffsetSpace != null? positionOffsetSpace.rotation: solver.GetRoot().rotation) * Vector3.right * value * weight;
return;
case WeightCurve.Type.PositionOffsetY:
solver.GetEffector(effector).position += (positionOffsetSpace != null? positionOffsetSpace.rotation: solver.GetRoot().rotation) * Vector3.up * value * weight;
return;
case WeightCurve.Type.PositionOffsetZ:
solver.GetEffector(effector).position += (positionOffsetSpace != null? positionOffsetSpace.rotation: solver.GetRoot().rotation) * Vector3.forward * value * weight;
return;
case WeightCurve.Type.Pull:
solver.GetChain(effector).pull = Mathf.Lerp(solver.GetChain(effector).pull, value, weight);
return;
case WeightCurve.Type.Reach:
solver.GetChain(effector).reach = Mathf.Lerp(solver.GetChain(effector).reach, value, weight);
return;
case WeightCurve.Type.Push:
solver.GetChain(effector).push = Mathf.Lerp(solver.GetChain(effector).push, value, weight);
return;
case WeightCurve.Type.PushParent:
solver.GetChain(effector).pushParent = Mathf.Lerp(solver.GetChain(effector).pushParent, value, weight);
return;
}
}
// Set effector position and rotation weight to match the value, multiply with the weight of this Absorber
public void SetEffectorWeights(IKSolverFullBodyBiped solver, float w) {
solver.GetEffector(effector).positionWeight = w * weight;
solver.GetEffector(effector).rotationWeight = w * weight;
}
// Apply an offset to this effector
public void Apply(IKSolverFullBodyBiped solver, Vector3 offset, float crossFader)
{
current = Vector3.Lerp(lastValue, offset * weight, crossFader);
solver.GetEffector(effector).positionOffset += current;
}
