private void Solve(AnimationStream stream)
{
AnimationHumanStream humanStream = stream.AsHuman();
Vector3 bodyPosition = humanStream.bodyPosition;
Vector3 bodyPositionDelta = Vector3.zero;
float sumWeight = 0;
for (int goalIter = 0; goalIter < 4; goalIter++)
{
float weight = humanStream.GetGoalWeightPosition((AvatarIKGoal)goalIter);
weight = Mathf.Clamp01(weight);
bodyPositionDelta += (humanStream.GetGoalPosition((AvatarIKGoal)goalIter) - humanStream.GetGoalPositionFromPose((AvatarIKGoal)goalIter)) * weight;
sumWeight += weight;
}
if (sumWeight > 1)
{
bodyPositionDelta /= sumWeight;
}
bodyPosition += bodyPositionDelta;
humanStream.bodyPosition = bodyPosition;
if (bodyEffector.body.IsValid(stream))
{
bodyEffector.body.SetPosition(stream, bodyPosition);
}
humanStream.SolveIK();
}
private void PrepareSolvePull(AnimationStream stream, NativeArray <LimbPart> limbParts)
{
AnimationHumanStream humanStream = stream.AsHuman();
Vector3 bodyPosition = humanStream.bodyPosition;
for (int goalIter = 0; goalIter < 4; goalIter++)
{
var effector = GetEffectorHandle((AvatarIKGoal)goalIter);
var limbHandle = GetIKLimbHandle((AvatarIKGoal)goalIter);
Vector3 top = limbHandle.top.GetPosition(stream);
limbParts[goalIter] = new LimbPart {
localPosition = top - bodyPosition,
goalPosition = humanStream.GetGoalPosition((AvatarIKGoal)goalIter),
goalWeight = humanStream.GetGoalWeightPosition((AvatarIKGoal)goalIter),
goalPullWeight = effector.pullWeight.GetFloat(stream),
maximumExtension = limbHandle.maximumExtension,
stiffness = stiffness
};
}
}
private void ApplyLimbData(AnimationHumanStream stream, IKLimbData.JobData data, AvatarIKGoal goal, AvatarIKHint hint)
{
if (data.positionWeight > 0)
{
if (data.positionWeight >= 1)
{
stream.SetGoalPosition(goal, data.position);
stream.SetGoalWeightPosition(goal, 1f);
}
else
{
var position = Vector3.Lerp(stream.GetGoalPosition(goal), data.position, data.positionWeight);
var positionWeight = Mathf.Lerp(stream.GetGoalWeightPosition(goal), 1f, data.positionWeight);
stream.SetGoalPosition(goal, position);
stream.SetGoalWeightPosition(goal, positionWeight);
}
}
else
{
// For some reason, IK will be broken if same values are not reapplied before SolveIK is called
stream.SetGoalPosition(goal, stream.GetGoalPosition(goal));
stream.SetGoalWeightPosition(goal, stream.GetGoalWeightPosition(goal));
}
if (data.rotationWeight > 0)
{
if (data.rotationWeight >= 1)
{
stream.SetGoalRotation(goal, data.rotation);
stream.SetGoalWeightRotation(goal, 1f);
}
else
{
var rotation = Quaternion.Slerp(stream.GetGoalRotation(goal), data.rotation, data.rotationWeight);
var rotationWeight = Mathf.Lerp(stream.GetGoalWeightRotation(goal), 1f, data.rotationWeight);
stream.SetGoalRotation(goal, rotation);
stream.SetGoalWeightRotation(goal, rotationWeight);
}
}
else
{
// Same as above
stream.SetGoalRotation(goal, stream.GetGoalRotation(goal));
stream.SetGoalWeightRotation(goal, stream.GetGoalWeightRotation(goal));
}
if (data.hintWeight > 0)
{
if (data.hintWeight >= 1)
{
stream.SetHintPosition(hint, data.hintPosition);
stream.SetHintWeightPosition(hint, 1f);
}
else
{
var hintPosition = Vector3.Lerp(stream.GetHintPosition(hint), data.hintPosition, data.hintWeight);
var hintWeight = Mathf.Lerp(stream.GetHintWeightPosition(hint), 1f, data.hintWeight);
stream.SetHintPosition(hint, hintPosition);
stream.SetHintWeightPosition(hint, hintWeight);
}
}
else
{
// Same as above
stream.SetHintPosition(hint, stream.GetHintPosition(hint));
stream.SetHintWeightPosition(hint, stream.GetHintWeightPosition(hint));
}
}