private void FABRIKPass(Vector3 animatedPelvisPos, Vector3 rootUp)
{
Vector3 startPos = Vector3.Lerp(pelvis.solverPosition, animatedPelvisPos, maintainPelvisPosition) + pelvisPositionOffset - chestPositionOffset;
Vector3 endPos = headPosition - chestPositionOffset;
Vector3 startOffset = rootUp * (bones[bones.Length - 1].solverPosition - bones[0].solverPosition).magnitude;
VirtualBone.SolveFABRIK(bones, startPos, endPos, 1f, 1f, 1, mag, startOffset);
}
private void FABRIKPass(Vector3 animatedPelvisPos, Vector3 rootUp, float weight)
{
Vector3 startPos = Vector3.Lerp(pelvis.solverPosition, animatedPelvisPos, maintainPelvisPosition) + pelvisPositionOffset;// - chestPositionOffset;
Vector3 endPos = headPosition - chestPositionOffset;
//Vector3 startOffset = rootUp * (bones[bones.Length - 1].solverPosition - bones[0].solverPosition).magnitude;
Vector3 startOffset = Vector3.zero;// (bones[bones.Length - 1].solverPosition - bones[0].solverPosition) * weight;
float dist = Vector3.Distance(bones[0].solverPosition, bones[bones.Length - 1].solverPosition);
VirtualBone.SolveFABRIK(bones, startPos, endPos, weight, 1f, 1, dist, startOffset);
}
public void Solve(VirtualBone rootBone, Leg[] legs, Arm[] arms)
{
CalculateChestTargetRotation(rootBone, arms);
// Root rotation
if (maxRootAngle < 180f)
{
Vector3 faceDirLocal = Quaternion.Inverse(rootBone.solverRotation) * faceDirection;
float angle = Mathf.Atan2(faceDirLocal.x, faceDirLocal.z) * Mathf.Rad2Deg;
float rotation = 0f;
float maxAngle = 25f;
if (angle > maxAngle)
{
rotation = angle - maxAngle;
}
if (angle < -maxAngle)
{
rotation = angle + maxAngle;
}
rootBone.solverRotation = Quaternion.AngleAxis(rotation, rootBone.readRotation * Vector3.up) * rootBone.solverRotation;
}
Vector3 animatedPelvisPos = pelvis.solverPosition;
// Translate pelvis to make the head's position & rotation match with the head target
TranslatePelvis(legs, headDeltaPosition, pelvisDeltaRotation);
// Solve a FABRIK pass to squash/stretch the spine
VirtualBone.SolveFABRIK(bones, Vector3.Lerp(pelvis.solverPosition, animatedPelvisPos, maintainPelvisPosition) + pelvisPositionOffset - chestPositionOffset, headPosition - chestPositionOffset, 1f, 1f, 1, mag);
// Bend the spine to look towards chest target rotation
Bend(bones, pelvisIndex, chestIndex, chestTargetRotation, chestRotationOffset, chestClampWeight, false, neckStiffness);
if (chestGoalWeight > 0f)
{
Quaternion c = Quaternion.FromToRotation(bones[chestIndex].solverRotation * chestForward, goalPositionChest - bones[chestIndex].solverPosition) * bones[chestIndex].solverRotation;
Bend(bones, pelvisIndex, chestIndex, c, chestRotationOffset, chestClampWeight, false, chestGoalWeight);
}
InverseTranslateToHead(legs, false, false, Vector3.zero, 1f);
VirtualBone.SolveFABRIK(bones, Vector3.Lerp(pelvis.solverPosition, animatedPelvisPos, maintainPelvisPosition) + pelvisPositionOffset - chestPositionOffset, headPosition - chestPositionOffset, 1f, 1f, 1, mag);
Bend(bones, neckIndex, headIndex, headRotation, headClampWeight, true, 1f);
SolvePelvis();
}