// Move and rotate the pelvis
private void TranslatePelvis(Leg[] legs, Vector3 deltaPosition, Quaternion deltaRotation, float w)
{
// Rotation
Vector3 p = head.solverPosition;
deltaRotation = QuaTools.ClampRotation(deltaRotation, chestClampWeight, 2);
Quaternion f = w >= 1f? pelvisRotationOffset: Quaternion.Slerp(Quaternion.identity, pelvisRotationOffset, w);
VirtualBone.RotateAroundPoint(bones, 0, pelvis.solverPosition, f * Quaternion.Slerp(Quaternion.identity, deltaRotation, w * bodyRotStiffness));
deltaPosition -= head.solverPosition - p;
// Position
// Move the body back when head is moving down
Vector3 m = anchorRotation * Vector3.forward;
m.y = 0f;
float backOffset = deltaPosition.y * 0.35f * headHeight;
deltaPosition += m * backOffset;
/*
* if (backOffset < 0f) {
* foreach (Leg leg in legs) leg.heelPositionOffset += Vector3.up * backOffset * backOffset; // TODO Ignoring root rotation
* }
*/
MovePosition(LimitPelvisPosition(legs, pelvis.solverPosition + deltaPosition * w * bodyPosStiffness, false));
}
// Bending the spine to the head effector
private void Bend(VirtualBone[] bones, int firstIndex, int lastIndex, Quaternion targetRotation, float clampWeight, bool uniformWeight, float w)
{
if (w <= 0f)
{
return;
}
if (bones.Length == 0)
{
return;
}
int bonesCount = (lastIndex + 1) - firstIndex;
if (bonesCount < 1)
{
return;
}
Quaternion r = QuaTools.FromToRotation(bones[lastIndex].solverRotation, targetRotation);
r = QuaTools.ClampRotation(r, clampWeight, 2);
float step = uniformWeight? 1f / bonesCount: 0f;
for (int i = firstIndex; i < lastIndex + 1; i++)
{
if (!uniformWeight)
{
step = Mathf.Clamp(((i - firstIndex) + 1) / bonesCount, 0, 1f);
}
VirtualBone.RotateAroundPoint(bones, i, bones[i].solverPosition, Quaternion.Slerp(Quaternion.identity, r, step * w));
}
}
// Called by the FBBIK each time it is finished updating
private void OnPostUpdate()
{
if (!enabled)
{
return;
}
if (!ik.enabled)
{
return;
}
if (!gameObject.activeInHierarchy)
{
return;
}
// Stretching the spine and neck
PostStretching();
// Rotate the head bone
Quaternion headRotation = QuaTools.FromToRotation(ik.references.head.rotation, transform.rotation);
headRotation = QuaTools.ClampRotation(headRotation, headClampWeight, 2);
ik.references.head.rotation = Quaternion.Lerp(Quaternion.identity, headRotation, rotationWeight * ik.solver.IKPositionWeight) * ik.references.head.rotation;
}
// Bending the spine to the head effector
private void SpineBend()
{
float w = bendWeight * ik.solver.IKPositionWeight;
if (w <= 0f)
{
return;
}
if (bendBones.Length == 0)
{
return;
}
Quaternion rotation = transform.rotation * Quaternion.Inverse(ik.references.root.rotation * headRotationRelativeToRoot);
rotation = QuaTools.ClampRotation(rotation, bodyClampWeight, 2);
float step = 1f / bendBones.Length;
for (int i = 0; i < bendBones.Length; i++)
{
if (bendBones[i].transform != null)
{
bendBones[i].transform.rotation = Quaternion.Lerp(Quaternion.identity, rotation, step * bendBones[i].weight * w) * bendBones[i].transform.rotation;
}
}
}
// Move and rotate the pelvis
private void TranslatePelvis(Leg[] legs, Vector3 deltaPosition, Quaternion deltaRotation, float scale)
{
// Rotation
Vector3 p = head.solverPosition;
deltaRotation = QuaTools.ClampRotation(deltaRotation, chestClampWeight, 2);
Quaternion r = Quaternion.Slerp(Quaternion.identity, deltaRotation, bodyRotStiffness * rotationWeight);
r = Quaternion.Slerp(r, QuaTools.FromToRotation(pelvis.solverRotation, IKRotationPelvis), pelvisRotationWeight);
VirtualBone.RotateAroundPoint(bones, 0, pelvis.solverPosition, pelvisRotationOffset * r);
deltaPosition -= head.solverPosition - p;
// Position
// Move the body back when head is moving down
Vector3 m = rootRotation * Vector3.forward;
float deltaY = V3Tools.ExtractVertical(deltaPosition, rootRotation * Vector3.up, 1f).magnitude;
if (scale > 0f)
{
deltaY /= scale;
}
float backOffset = deltaY * -moveBodyBackWhenCrouching * headHeight;
deltaPosition += m * backOffset;
MovePosition(LimitPelvisPosition(legs, pelvis.solverPosition + deltaPosition * bodyPosStiffness * positionWeight, false));
}
private void SpineBend()
{
float num = this.bendWeight * this.ik.solver.IKPositionWeight;
if (num <= 0f)
{
return;
}
if (this.bendBones.Length == 0)
{
return;
}
Quaternion quaternion = base.transform.rotation * Quaternion.Inverse(this.ik.references.root.rotation * this.headRotationRelativeToRoot);
quaternion = QuaTools.ClampRotation(quaternion, this.bodyClampWeight, 2);
float num2 = 1f / (float)this.bendBones.Length;
for (int i = 0; i < this.bendBones.Length; i++)
{
if (this.bendBones[i].transform != null)
{
this.bendBones[i].transform.rotation = Quaternion.Lerp(Quaternion.identity, quaternion, num2 * this.bendBones[i].weight * num) * this.bendBones[i].transform.rotation;
}
}
}
private void OnPostUpdate()
{
if (!base.enabled)
{
return;
}
if (!this.ik.enabled)
{
return;
}
if (!base.gameObject.activeInHierarchy)
{
return;
}
this.PostStretching();
Quaternion quaternion = QuaTools.FromToRotation(this.ik.references.head.rotation, base.transform.rotation);
quaternion = QuaTools.ClampRotation(quaternion, this.headClampWeight, 2);
this.ik.references.head.rotation = Quaternion.Lerp(Quaternion.identity, quaternion, this.rotationWeight * this.ik.solver.IKPositionWeight) * this.ik.references.head.rotation;
}