private void WriteTransforms()
{
for (int i = 0; i < solverTransforms.Length; i++)
{
if (solverTransforms[i] != null)
{
bool isRootOrPelvis = i < 2;
bool isArm = i > 5 && i < 14;
bool isLeg = i >= 14;
if (isRootOrPelvis)
{
solverTransforms[i].position = V3Tools.Lerp(solverTransforms[i].position, GetPosition(i), IKPositionWeight);
}
if (isArm || isLeg)
{
solverTransforms[i].position = V3Tools.Lerp(solverTransforms[i].position, GetPosition(i), IKPositionWeight);
}
solverTransforms[i].rotation = QuaTools.Lerp(solverTransforms[i].rotation, GetRotation(i), IKPositionWeight);
}
}
}
public override void PreSolve()
{
if (target != null)
{
IKPosition = target.position;
IKRotation = target.rotation;
}
position = V3Tools.Lerp(hand.solverPosition, IKPosition, positionWeight);
rotation = QuaTools.Lerp(hand.solverRotation, IKRotation, rotationWeight);
shoulder.axis = shoulder.axis.normalized;
forearmRelToUpperArm = Quaternion.Inverse(upperArm.solverRotation) * forearm.solverRotation;
}
private void WriteTransforms()
{
for (int i = 0; i < solverTransforms.Length; i++)
{
if (solverTransforms[i] != null)
{
if (i < 2)
{
solverTransforms[i].position = V3Tools.Lerp(solverTransforms[i].position, GetPosition(i), IKPositionWeight);
}
solverTransforms[i].rotation = QuaTools.Lerp(solverTransforms[i].rotation, GetRotation(i), IKPositionWeight);
}
}
}
public override void PreSolve()
{
if (headTarget != null)
{
IKPositionHead = headTarget.position;
IKRotationHead = headTarget.rotation;
}
if (pelvisTarget != null)
{
IKPositionPelvis = pelvisTarget.position;
}
headPosition = V3Tools.Lerp(head.solverPosition, IKPositionHead, positionWeight);
headRotation = QuaTools.Lerp(head.solverRotation, IKRotationHead, rotationWeight);
}
public override void PreSolve(float scale)
{
if (headTarget != null)
{
IKPositionHead = headTarget.position;
IKRotationHead = headTarget.rotation;
}
if (chestGoal != null)
{
goalPositionChest = chestGoal.position;
}
if (pelvisTarget != null)
{
IKPositionPelvis = pelvisTarget.position;
IKRotationPelvis = pelvisTarget.rotation;
}
// Use animated head height range
if (useAnimatedHeadHeightWeight > 0f && useAnimatedHeadHeightRange > 0f)
{
Vector3 rootUp = rootRotation * Vector3.up;
if (animatedHeadHeightBlend > 0f)
{
float headTargetVOffset = V3Tools.ExtractVertical(IKPositionHead - head.solverPosition, rootUp, 1f).magnitude;
float abs = Mathf.Abs(headTargetVOffset);
abs = Mathf.Max(abs - useAnimatedHeadHeightRange * scale, 0f);
float f = Mathf.Lerp(0f, 1f, abs / (animatedHeadHeightBlend * scale));
f = Interp.Float(1f - f, InterpolationMode.InOutSine);
Vector3 toHeadPos = head.solverPosition - IKPositionHead;
IKPositionHead += V3Tools.ExtractVertical(toHeadPos, rootUp, f * useAnimatedHeadHeightWeight);
}
else
{
IKPositionHead += V3Tools.ExtractVertical(head.solverPosition - IKPositionHead, rootUp, useAnimatedHeadHeightWeight);
}
}
headPosition = V3Tools.Lerp(head.solverPosition, IKPositionHead, positionWeight);
headRotation = QuaTools.Lerp(head.solverRotation, IKRotationHead, rotationWeight);
pelvisRotation = QuaTools.Lerp(pelvis.solverRotation, IKRotationPelvis, rotationWeight);
}
private void WriteTransforms()
{
for (int i = 0; i < solverTransforms.Length; i++)
{
if (solverTransforms[i] != null)
{
bool isRootOrPelvis = i < 2;
bool isArmStretchable = i == 8 || i == 9 || i == 12 || i == 13;
bool isLegStretchable = (i >= 15 && i <= 17) || (i >= 19 && i <= 21);
if (LOD > 0)
{
isArmStretchable = false;
isLegStretchable = false;
}
if (isRootOrPelvis)
{
solverTransforms[i].position = V3Tools.Lerp(solverTransforms[i].position, GetPosition(i), IKPositionWeight);
}
if (isArmStretchable || isLegStretchable)
{
if (IKPositionWeight < 1f)
{
Vector3 localPosition = solverTransforms[i].localPosition;
solverTransforms[i].position = V3Tools.Lerp(solverTransforms[i].position, GetPosition(i), IKPositionWeight);
solverTransforms[i].localPosition = Vector3.Project(solverTransforms[i].localPosition, localPosition);
}
else
{
solverTransforms[i].position = V3Tools.Lerp(solverTransforms[i].position, GetPosition(i), IKPositionWeight);
}
}
solverTransforms[i].rotation = QuaTools.Lerp(solverTransforms[i].rotation, GetRotation(i), IKPositionWeight);
}
}
}
