/// <summary>
/// Sets up the solver to BipedReferences and reinitiates (if in runtime).
/// </summary>
/// <param name="references">Biped references.</param>
/// <param name="rootNode">Root node (optional). if null, will try to detect the root node bone automatically. </param>
public void SetToReferences(BipedReferences references, Transform rootNode = null)
{
if (rootNode == null)
{
rootNode = DetectRootNodeBone(references);
}
this.rootNode = rootNode;
// Root Node
if (chain == null)
{
chain = new FBIKChain();
}
chain.pin = 0f;
chain.SetNodes(rootNode);
if (chain.children.Length != 4)
{
chain.children = new FBIKChain[4];
}
// Left Arm
if (chain.children[0] == null)
{
chain.children[0] = new FBIKChain();
chain.children[0].reach = 0.05f;
}
chain.children[0].SetNodes(references.leftUpperArm, references.leftForearm, references.leftHand);
// Right Arm
if (chain.children[1] == null)
{
chain.children[1] = new FBIKChain();
chain.children[1].reach = 0.05f;
}
chain.children[1].SetNodes(references.rightUpperArm, references.rightForearm, references.rightHand);
// Left Leg
if (chain.children[2] == null)
{
chain.children[2] = new FBIKChain();
chain.children[2].reach = 0.05f;
}
chain.children[2].SetNodes(references.leftThigh, references.leftCalf, references.leftFoot);
// Right Leg
if (chain.children[3] == null)
{
chain.children[3] = new FBIKChain();
chain.children[3].reach = 0.05f;
}
chain.children[3].SetNodes(references.rightThigh, references.rightCalf, references.rightFoot);
// Effectors
if (effectors.Length != 9)
{
effectors = new IKEffector[9] {
new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector()
}
}
;
effectors[0].bone = rootNode;
effectors[0].childBones = new Transform[2] {
references.leftThigh, references.rightThigh
};
effectors[1].bone = references.leftUpperArm;
effectors[2].bone = references.rightUpperArm;
effectors[3].bone = references.leftThigh;
effectors[4].bone = references.rightThigh;
effectors[5].bone = references.leftHand;
effectors[6].bone = references.rightHand;
effectors[7].bone = references.leftFoot;
effectors[8].bone = references.rightFoot;
effectors[5].planeBone1 = references.leftUpperArm;
effectors[5].planeBone2 = references.rightUpperArm;
effectors[5].planeBone3 = rootNode;
effectors[6].planeBone1 = references.rightUpperArm;
effectors[6].planeBone2 = references.leftUpperArm;
effectors[6].planeBone3 = rootNode;
effectors[7].planeBone1 = references.leftThigh;
effectors[7].planeBone2 = references.rightThigh;
effectors[7].planeBone3 = rootNode;
effectors[7].mode = IKEffector.Mode.MaintainAnimatedPosition;
effectors[8].planeBone1 = references.rightThigh;
effectors[8].planeBone2 = references.leftThigh;
effectors[8].planeBone3 = rootNode;
effectors[8].mode = IKEffector.Mode.MaintainAnimatedPosition;
effectors[5].isEndEffector = true;
effectors[6].isEndEffector = true;
effectors[7].isEndEffector = true;
effectors[8].isEndEffector = true;
// Child Constraints
chain.childConstraints = new FBIKChain.ChildConstraint[4] {
new FBIKChain.ChildConstraint(references.leftUpperArm, references.rightThigh, 0f, 1f),
new FBIKChain.ChildConstraint(references.rightUpperArm, references.leftThigh, 0f, 1f),
new FBIKChain.ChildConstraint(references.leftUpperArm, references.rightUpperArm),
new FBIKChain.ChildConstraint(references.leftThigh, references.rightThigh)
};
// Bend Constraints
if (bendConstraints.Length != 4)
{
bendConstraints = new IKConstraintBend[4] {
new IKConstraintBend(), new IKConstraintBend(), new IKConstraintBend(), new IKConstraintBend()
};
}
bendConstraints[0].SetBones(references.leftUpperArm, references.leftForearm, references.leftHand);
bendConstraints[1].SetBones(references.rightUpperArm, references.rightForearm, references.rightHand);
bendConstraints[2].SetBones(references.leftThigh, references.leftCalf, references.leftFoot);
bendConstraints[3].SetBones(references.rightThigh, references.rightCalf, references.rightFoot);
// IKMappingSpine
Transform[] spineBones = new Transform[references.spine.Length + 1];
spineBones[0] = references.pelvis;
for (int i = 0; i < references.spine.Length; i++)
{
spineBones[i + 1] = references.spine[i];
}
if (spineMapping == null)
{
spineMapping = new IKMappingSpine();
spineMapping.iterations = 3;
}
spineMapping.SetBones(spineBones, references.leftUpperArm, references.rightUpperArm, references.leftThigh, references.rightThigh);
// IKMappingBone
int boneMappingsCount = references.head != null? 1: 0;
if (boneMappings.Length != boneMappingsCount)
{
boneMappings = new IKMappingBone[boneMappingsCount];
for (int i = 0; i < boneMappings.Length; i++)
{
boneMappings[i] = new IKMappingBone();
}
if (boneMappingsCount == 1)
{
boneMappings[0].maintainRotationWeight = 0f;
}
}
if (boneMappings.Length > 0)
{
boneMappings[0].bone = references.head;
}
// IKMappingLimb
if (limbMappings.Length != 4)
{
limbMappings = new IKMappingLimb[4] {
new IKMappingLimb(), new IKMappingLimb(), new IKMappingLimb(), new IKMappingLimb()
};
limbMappings[2].maintainRotationWeight = 1f;
limbMappings[3].maintainRotationWeight = 1f;
}
limbMappings[0].SetBones(references.leftUpperArm, references.leftForearm, references.leftHand, GetLeftClavicle(references));
limbMappings[1].SetBones(references.rightUpperArm, references.rightForearm, references.rightHand, GetRightClavicle(references));
limbMappings[2].SetBones(references.leftThigh, references.leftCalf, references.leftFoot);
limbMappings[3].SetBones(references.rightThigh, references.rightCalf, references.rightFoot);
if (Application.isPlaying)
{
Initiate(references.root);
}
}
public override void Execute()
{
Constraint = Chain.bendConstraint;
}
/// <summary>
/// Sets up the solver to BipedReferences and reinitiates (if in runtime).
/// </summary>
/// <param name="references">Biped references.</param>
/// <param name="rootNode">Root node (optional). if null, will try to detect the root node bone automatically. </param>
public void SetToReferences(BipedReferences references, Transform rootNode = null)
{
if (rootNode == null) rootNode = DetectRootNodeBone(references);
this.rootNode = rootNode;
// Root Node
if (chain == null || chain.Length != 5) chain = new FBIKChain[5];
for (int i = 0; i < chain.Length; i++) {
if (chain[i] == null) {
chain[i] = new FBIKChain();
chain[i].reach = 0.05f;
}
}
chain[0].pin = 0f;
chain[0].SetNodes(rootNode);
chain[0].children = new int[4] { 1, 2, 3, 4 };
// Left Arm
chain[1].SetNodes(references.leftUpperArm, references.leftForearm, references.leftHand);
// Right Arm
chain[2].SetNodes(references.rightUpperArm, references.rightForearm, references.rightHand);
// Left Leg
chain[3].SetNodes(references.leftThigh, references.leftCalf, references.leftFoot);
// Right Leg
chain[4].SetNodes(references.rightThigh, references.rightCalf, references.rightFoot);
// Effectors
if (effectors.Length != 9) effectors = new IKEffector[9] {
new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector()
};
effectors[0].bone = rootNode;
effectors[0].childBones = new Transform[2] { references.leftThigh, references.rightThigh };
effectors[1].bone = references.leftUpperArm;
effectors[2].bone = references.rightUpperArm;
effectors[3].bone = references.leftThigh;
effectors[4].bone = references.rightThigh;
effectors[5].bone = references.leftHand;
effectors[6].bone = references.rightHand;
effectors[7].bone = references.leftFoot;
effectors[8].bone = references.rightFoot;
effectors[5].planeBone1 = references.leftUpperArm;
effectors[5].planeBone2 = references.rightUpperArm;
effectors[5].planeBone3 = rootNode;
effectors[6].planeBone1 = references.rightUpperArm;
effectors[6].planeBone2 = references.leftUpperArm;
effectors[6].planeBone3 = rootNode;
effectors[7].planeBone1 = references.leftThigh;
effectors[7].planeBone2 = references.rightThigh;
effectors[7].planeBone3 = rootNode;
effectors[8].planeBone1 = references.rightThigh;
effectors[8].planeBone2 = references.leftThigh;
effectors[8].planeBone3 = rootNode;
// Child Constraints
chain[0].childConstraints = new FBIKChain.ChildConstraint[4] {
new FBIKChain.ChildConstraint(references.leftUpperArm, references.rightThigh, 0f, 1f),
new FBIKChain.ChildConstraint(references.rightUpperArm, references.leftThigh, 0f, 1f),
new FBIKChain.ChildConstraint(references.leftUpperArm, references.rightUpperArm),
new FBIKChain.ChildConstraint(references.leftThigh, references.rightThigh)
};
// Bend Constraints
if (bendConstraints.Length != 4) {
bendConstraints = new IKConstraintBend[4] {
new IKConstraintBend(), new IKConstraintBend(), new IKConstraintBend(), new IKConstraintBend()
};
}
bendConstraints[0].SetBones(references.leftUpperArm, references.leftForearm, references.leftHand);
bendConstraints[1].SetBones(references.rightUpperArm, references.rightForearm, references.rightHand);
bendConstraints[2].SetBones(references.leftThigh, references.leftCalf, references.leftFoot);
bendConstraints[3].SetBones(references.rightThigh, references.rightCalf, references.rightFoot);
// IKMappingSpine
Transform[] spineBones = new Transform[references.spine.Length + 1];
spineBones[0] = references.pelvis;
for (int i = 0; i < references.spine.Length; i++) {
spineBones[i + 1] = references.spine[i];
}
if (spineMapping == null) {
spineMapping = new IKMappingSpine();
spineMapping.iterations = 3;
}
spineMapping.SetBones(spineBones, references.leftUpperArm, references.rightUpperArm, references.leftThigh, references.rightThigh);
// IKMappingBone
int boneMappingsCount = references.head != null? 1: 0;
if (boneMappings.Length != boneMappingsCount) {
boneMappings = new IKMappingBone[boneMappingsCount];
for (int i = 0; i < boneMappings.Length; i++) {
boneMappings[i] = new IKMappingBone();
}
if (boneMappingsCount == 1) boneMappings[0].maintainRotationWeight = 0f;
}
if (boneMappings.Length > 0) boneMappings[0].bone = references.head;
// IKMappingLimb
if (limbMappings.Length != 4) {
limbMappings = new IKMappingLimb[4] {
new IKMappingLimb(), new IKMappingLimb(), new IKMappingLimb(), new IKMappingLimb()
};
limbMappings[2].maintainRotationWeight = 1f;
limbMappings[3].maintainRotationWeight = 1f;
}
limbMappings[0].SetBones(references.leftUpperArm, references.leftForearm, references.leftHand, GetLeftClavicle(references));
limbMappings[1].SetBones(references.rightUpperArm, references.rightForearm, references.rightHand, GetRightClavicle(references));
limbMappings[2].SetBones(references.leftThigh, references.leftCalf, references.leftFoot);
limbMappings[3].SetBones(references.rightThigh, references.rightCalf, references.rightFoot);
if (Application.isPlaying) Initiate(references.root);
}
