public static bool AutoDetectReferences(ref BipedReferences references, Transform root, BipedReferences.AutoDetectParams autoDetectParams)
{
if (references == null)
{
references = new BipedReferences();
}
references.root = root;
Animator component = root.GetComponent <Animator>();
if (component != null && component.isHuman)
{
BipedReferences.AssignHumanoidReferences(ref references, component, autoDetectParams);
return(true);
}
BipedReferences.DetectReferencesByNaming(ref references, root, autoDetectParams);
Warning.logged = false;
if (!references.isFilled)
{
Warning.Log("BipedReferences contains one or more missing Transforms.", root, true);
return(false);
}
string message = "";
if (BipedReferences.SetupError(references, ref message))
{
Warning.Log(message, references.root, true);
return(false);
}
if (BipedReferences.SetupWarning(references, ref message))
{
Warning.Log(message, references.root, true);
}
return(true);
}
// Check if eyes are properly set up
private static bool CheckEyesError(BipedReferences references, bool log)
{
if (references.eyes.Length == 0)
{
return(true);
}
for (int i = 0; i < references.eyes.Length; i++)
{
if (references.eyes[i] == null)
{
if (log)
{
Warning.Log("BipedReferences eye bone at index " + i + " is null.", references.root, true);
}
return(false);
}
}
Transform duplicate = (Transform)Hierarchy.ContainsDuplicate(references.eyes);
if (duplicate != null)
{
if (log)
{
Warning.Log(duplicate.name + " is represented multiple times in BipedReferences eyes.", references.eyes[0], true);
}
return(false);
}
return(true);
}
/// <summary>
/// Automatically detects biped bones. Returns true if a valid biped has been referenced.
/// </summary>
public static bool AutoDetectReferences(ref BipedReferences references, Transform root, AutoDetectParams autoDetectParams)
{
if (references == null)
{
references = new BipedReferences();
}
references.root = root;
// Try with naming and hierarchy first
DetectReferencesByNaming(ref references, root, autoDetectParams);
if (references.isValid && CheckSetupError(references, false) && CheckSetupWarning(references, false))
{
return(true);
}
// If that failed try the Animator
AssignHumanoidReferences(ref references, root.GetComponent <Animator>(), autoDetectParams);
bool isValid = references.isValid;
if (!isValid)
{
Warning.Log("BipedReferences contains one or more missing Transforms.", root, true);
}
return(isValid);
}
private static bool CheckSpineError(BipedReferences references, bool log)
{
if (references.spine.Length == 0)
{
return(true);
}
for (int i = 0; i < references.spine.Length; i++)
{
if (references.spine[i] == null)
{
if (log)
{
Warning.Log("BipedReferences spine bone at index " + i + " is null.", references.root, true);
}
return(false);
}
}
Transform transform = (Transform)Hierarchy.ContainsDuplicate(references.spine);
if (transform != null)
{
if (log)
{
Warning.Log(transform.name + " is represented multiple times in BipedReferences spine.", references.spine[0], true);
}
return(false);
}
if (!Hierarchy.HierarchyIsValid(references.spine))
{
if (log)
{
Warning.Log("BipedReferences spine hierarchy is invalid. Bone transforms in the spine do not belong to the same ancestry. Please make sure the bones are parented to each other.", references.spine[0], true);
}
return(false);
}
for (int j = 0; j < references.spine.Length; j++)
{
bool flag = false;
if (j == 0 && references.spine[j].position == references.pelvis.position)
{
flag = true;
}
if (j != 0 && references.spine.Length > 1 && references.spine[j].position == references.spine[j - 1].position)
{
flag = true;
}
if (flag)
{
if (log)
{
Warning.Log("Biped's spine bone nr " + j + " position is the same as it's parent spine/pelvis bone's position. Please remove this bone from the spine.", references.spine[j], true);
}
return(false);
}
}
return(true);
}
public static bool CheckSetupError(BipedReferences references, bool log)
{
if (!references.isValid)
{
if (log)
{
Warning.Log("BipedReferences contains one or more missing Transforms.", references.root, true);
}
return(false);
}
return(BipedReferences.CheckLimbError(references.leftThigh, references.leftCalf, references.leftFoot, log) && BipedReferences.CheckLimbError(references.rightThigh, references.rightCalf, references.rightFoot, log) && BipedReferences.CheckLimbError(references.leftUpperArm, references.leftForearm, references.leftHand, log) && BipedReferences.CheckLimbError(references.rightUpperArm, references.rightForearm, references.rightHand, log) && BipedReferences.CheckSpineError(references, log) && BipedReferences.CheckEyesError(references, log));
}
// Check if the limb is properly set up
private static bool CheckLimbError(Transform bone1, Transform bone2, Transform bone3, bool log)
{
if (bone2.position == bone1.position)
{
if (log)
{
Warning.Log("Second bone's position equals first bone's position in the biped's limb.", bone2, true);
}
return(false);
}
if (bone3.position == bone2.position)
{
if (log)
{
Warning.Log("Third bone's position equals second bone's position in the biped's limb.", bone3, true);
}
return(false);
}
Transform duplicate = (Transform)Hierarchy.ContainsDuplicate(new Transform[3] {
bone1, bone2, bone3
});
if (duplicate != null)
{
if (log)
{
Warning.Log(duplicate.name + " is represented multiple times in the same BipedReferences limb.", bone1, true);
}
return(false);
}
if (!Hierarchy.HierarchyIsValid(new Transform[3] {
bone1, bone2, bone3
}))
{
if (log)
{
Warning.Log(
"BipedReferences limb hierarchy is invalid. Bone transforms in a limb do not belong to the same ancestry. Please make sure the bones are parented to each other. " +
"Bones: " + bone1.name + ", " + bone2.name + ", " + bone3.name,
bone1,
true);
}
return(false);
}
return(true);
}
private static bool CheckFacingAxisWarning(BipedReferences references, bool log)
{
Vector3 vector = references.rightHand.position - references.leftHand.position;
Vector3 vector2 = references.rightFoot.position - references.leftFoot.position;
float num = Vector3.Dot(vector.normalized, references.root.right);
float num2 = Vector3.Dot(vector2.normalized, references.root.right);
if (num < 0f || num2 < 0f)
{
if (log)
{
Warning.Log("Biped does not seem to be facing it's forward axis. Please make sure that in the initial pose the character is facing towards the positive Z axis of the Biped root gameobject.", references.root, true);
}
return(false);
}
return(true);
}
/// <summary>
/// Automatically detects biped bones. Returns true if a valid biped has been referenced.
/// </summary>
public static bool AutoDetectReferences(ref BipedReferences references, Transform root, AutoDetectParams autoDetectParams)
{
if (references == null)
{
references = new BipedReferences();
}
references.root = root;
// If that failed try the Animator
var animator = root.GetComponent <Animator>();
if (animator != null && animator.isHuman)
{
AssignHumanoidReferences(ref references, animator, autoDetectParams);
return(true); // Assume humanoids are always valid
}
// Try with naming and hierarchy first
DetectReferencesByNaming(ref references, root, autoDetectParams);
Warning.logged = false;
if (!references.isFilled)
{
Warning.Log("BipedReferences contains one or more missing Transforms.", root, true);
return(false);
}
string message = "";
if (SetupError(references, ref message))
{
Warning.Log(message, references.root, true);
return(false);
}
if (SetupWarning(references, ref message))
{
Warning.Log(message, references.root, true);
}
return(true);
}
// Check if spine is properly set up
private static bool CheckSpineError(BipedReferences references, bool log)
{
if (references.spine.Length == 0)
{
return(true);
}
Transform duplicate = (Transform)Hierarchy.ContainsDuplicate(references.spine);
if (duplicate != null)
{
if (log)
{
Warning.Log(duplicate.name + " is represented multiple times in BipedReferences spine.", references.spine[0], true);
}
return(false);
}
if (!Hierarchy.HierarchyIsValid(references.spine))
{
if (log)
{
Warning.Log("BipedReferences spine hierarchy is invalid. Bone transforms in the spine do not belong to the same ancestry. Please make sure the bones are parented to each other.", references.spine[0], true);
}
return(false);
}
for (int i = 0; i < references.spine.Length; i++)
{
bool matchesParentPositon = i == 0? references.spine[i].position == references.pelvis.position: references.spine[i].position == references.spine[i - 1].position;
if (matchesParentPositon)
{
if (log)
{
Warning.Log("Biped's spine bone nr " + i + " position is the same as it's parent spine/pelvis bone's position. Please remove this bone from the spine.", references.spine[i], true);
}
return(false);
}
}
return(true);
}
private static bool CheckRootHeightWarning(BipedReferences references, bool log)
{
if (references.head == null)
{
return(true);
}
float verticalOffset = BipedReferences.GetVerticalOffset(references.head.position, references.leftFoot.position, references.root.rotation);
float verticalOffset2 = BipedReferences.GetVerticalOffset(references.root.position, references.leftFoot.position, references.root.rotation);
if (verticalOffset2 / verticalOffset > 0.2f)
{
if (log)
{
Warning.Log("Biped's root Transform's position should be at ground level relative to the character (at the character's feet not at it's pelvis).", references.root, true);
}
return(false);
}
return(true);
}
// Check if the limb is properly set up
private static bool CheckLimbWarning(Transform bone1, Transform bone2, Transform bone3, bool log)
{
Vector3 cross = Vector3.Cross(bone2.position - bone1.position, bone3.position - bone1.position);
if (cross == Vector3.zero)
{
if (log)
{
Warning.Log(
"BipedReferences limb is completely stretched out in the initial pose. IK solver can not calculate the default bend plane for the limb. " +
"Please make sure you character's limbs are at least slightly bent in the initial pose. " +
"First bone: " + bone1.name + ", second bone: " + bone2.name + ".",
bone1,
true);
}
return(false);
}
return(true);
}
// Check if eyes are properly set up
private static bool CheckEyesError(BipedReferences references, bool log)
{
if (references.eyes.Length == 0)
{
return(true);
}
Transform duplicate = (Transform)Hierarchy.ContainsDuplicate(references.eyes);
if (duplicate != null)
{
if (log)
{
Warning.Log(duplicate.name + " is represented multiple times in BipedReferences eyes.", references.eyes[0], true);
}
return(false);
}
return(true);
}
// Check if the character is facing the correct axis
private static bool CheckFacingAxisWarning(BipedReferences references, bool log)
{
Vector3 handsLeftToRight = references.rightHand.position - references.leftHand.position;
Vector3 feetLeftToRight = references.rightFoot.position - references.leftFoot.position;
float dotHands = Vector3.Dot(handsLeftToRight.normalized, references.root.right);
float dotFeet = Vector3.Dot(feetLeftToRight.normalized, references.root.right);
if (dotHands < 0 || dotFeet < 0)
{
if (log)
{
Warning.Log(
"Biped does not seem to be facing it's forward axis. " +
"Please make sure that in the initial pose the character is facing towards the positive Z axis of the Biped root gameobject.", references.root, true);
}
return(false);
}
return(true);
}
public static bool AutoDetectReferences(ref BipedReferences references, Transform root, BipedReferences.AutoDetectParams autoDetectParams)
{
if (references == null)
{
references = new BipedReferences();
}
references.root = root;
BipedReferences.DetectReferencesByNaming(ref references, root, autoDetectParams);
if (references.isValid && BipedReferences.CheckSetupError(references, false) && BipedReferences.CheckSetupWarning(references, false))
{
return(true);
}
BipedReferences.AssignHumanoidReferences(ref references, root.GetComponent <Animator>(), autoDetectParams);
bool isValid = references.isValid;
if (!isValid)
{
Warning.Log("BipedReferences contains one or more missing Transforms.", root, true);
}
return(isValid);
}
/*
* Check if the limb is properly set up
* */
private static bool CheckLimb(Transform bone1, Transform bone2, Transform bone3, bool log)
{
if (bone2.position == bone1.position)
{
if (log)
{
Warning.Log("Second bone's position equals first bone's position in the biped's limb.", bone2, true);
}
return(false);
}
if (bone3.position == bone2.position)
{
if (log)
{
Warning.Log("Third bone's position equals second bone's position in the biped's limb.", bone3, true);
}
return(false);
}
Transform duplicate = (Transform)Hierarchy.ContainsDuplicate(new Transform[3] {
bone1, bone2, bone3
});
if (duplicate != null)
{
if (log)
{
Warning.Log(duplicate.name + " is represented multiple times in the same BipedReferences limb.", bone1, true);
}
return(false);
}
if (!Hierarchy.HierarchyIsValid(new Transform[3] {
bone1, bone2, bone3
}))
{
if (log)
{
Warning.Log(
"BipedReferences limb hierarchy is invalid. Bone transforms in a limb do not belong to the same ancestry. Please make sure the bones are parented to each other. " +
"Bones: " + bone1.name + ", " + bone2.name + ", " + bone3.name,
bone1,
true);
}
return(false);
}
Vector3 cross = Vector3.Cross(bone2.position - bone1.position, bone3.position - bone1.position);
if (cross == Vector3.zero)
{
if (log)
{
Warning.Log(
"BipedReferences limb is completely stretched out in the initial pose. IK solver can not calculate the default bend plane for the limb. " +
"Please make sure you character's limbs are at least slightly bent in the initial pose. " +
"First bone: " + bone1.name + ", second bone: " + bone2.name + ".",
bone1,
true);
}
return(false);
}
return(true);
}
