#region Variable

public List<IikBase> iIkBases = new List<IikBase>();

public IhandIkSolver iHandIkSolver;

public IlookIkSolver iLookIkSolver;

public IfootIkSolver iFootIkSolver;

public Animator anim; //Animator

public bool enableIk = true;

[Header("Ik Weight Options")]

[Range(0, 1)] [SerializeField] private float targetHeadIkWeight = 1f;

[Range(0, 1)] [SerializeField] private float targetBodyIkWeight = 0.2f;

[Range(0, 1)] [SerializeField] private float targetPelvisIkWeight = 1f;

[Range(0, 1)] [SerializeField] private float targetLeftHandIkWeight = 1f;

[Range(0, 1)] [SerializeField] private float targetRightHandIkWeight = 1f;

[Range(0, 1)] [SerializeField] private float targetLeftFootIkWeight = 1f;

[Range(0, 1)] [SerializeField] private float targetRightFootIkWeight = 1f;

private float headIkWeight = 1f;

private float bodyIkWeight = 1f;

private float pelvisIkWeight = 1f;

private float leftHandIkWeight = 1f;

private float rightHandIkWeight = 1f;

private float leftFootIkWeight = 1f;

private float rightFootIkWeight = 1f;

[Header("Ik Weight Curve Options")]

public string leftFootAnimVariableName = "LeftFootCurve";

public string rightFootAnimVariableName = "RightFootCurve";

public bool useProIkFeature = false;

[Header("Ik Speed Options")]

[Range(0, 1)] [SerializeField] private float handToIkPositionSpeed = 0.5f;

[Range(0, 1)] [SerializeField] private float handToIkRotationSpeed = 0.5f;

[Range(0, 1)] [SerializeField] private float feetToIkPositionSpeed = 0.5f;

[Header("Debug")]

public bool showSolverDebug = true;

private float bodyIkPosY, lastBodyPosOffsetY;

private Vector3 SpinePositon, leftHandPos, rightHandPos, rightHandIkPos, leftHandIkPos, lastRightHandPos, lastLeftHandPos, LookAtPos;

private Quaternion leftHandRot, rightHandRot, rightHandIkRot, leftHandIkRot, lastRightHandRot, lastLeftHandRot;

private Vector3 rightFootPos, leftFootPos, leftFootIkPos, rightFootIkPos;

private Quaternion leftFootIkRot, rightFootIkRot;

private float lastPelvisPositionY, lastRightFootPositionY, lastLeftFootPositionY;

#endregion

#region Initialization

// Use this for initialization

void Start () {

anim = GetComponent<Animator>();

iHandIkSolver = GetComponent<IhandIkSolver>();

iLookIkSolver = GetComponent<IlookIkSolver>();

iFootIkSolver = GetComponent<IfootIkSolver>();

foreach (IikBase ib in GetComponents<IikBase>())

{

iIkBases.Add(ib);

}

}

#endregion

#region Update

private void FixedUpdate()

{

if (GetComponent<CharacterController>().isGrounded)

{

setTargetPelvisWeight(1);

}

else

{

setTargetPelvisWeight(0);

}

if (isLeftFootGrounded())

setTargetFeetWeight(1, -1);

else

setTargetFeetWeight(0, -1);

if (isRightFootGrounded())

setTargetFeetWeight(-1, 1);

else

setTargetFeetWeight(-1,0);

headIkWeight = Mathf.Lerp(targetHeadIkWeight, 1, 0.3f);

bodyIkWeight = Mathf.Lerp(targetBodyIkWeight, 1, 0.3f);

pelvisIkWeight = Mathf.Lerp(targetPelvisIkWeight, 1, 0.3f);

leftFootIkWeight = Mathf.Lerp(targetLeftFootIkWeight, 1, 0.3f);

rightFootIkWeight = Mathf.Lerp(targetRightFootIkWeight, 1, 0.3f);

PosSolverByWeight();

foreach (IikBase iis in iIkBases)

{

if (iis.isEnabled() == false)

continue;

iis.inFixedUpdate();

}

}

private void applyInAnimatorIk(IikBase iis)

{

if (iis.isEnabled() == false)

return;

iis.inAnimatorIK();

}

private void OnAnimatorIK()

{

applyInAnimatorIk(iFootIkSolver);

AnimBodyPosIkUpdate();

applyInAnimatorIk(iHandIkSolver);

AnimIkUpdate();

}

// Update is called once per frame

private void LateUpdate () {

SetHandRotation();

}

#endregion

#region UpdateMethods

void AnimBodyPosIkUpdate()

{

Vector3 lastBodyPos = anim.bodyPosition;

Vector3 bodyIkPos = anim.bodyPosition;

bodyIkPos.y += bodyIkPosY;

Vector3 newVector3;

newVector3 = Vector3.Lerp(lastBodyPos, bodyIkPos, pelvisIkWeight);

anim.bodyPosition = newVector3;

lastBodyPosOffsetY = newVector3.y - lastBodyPos.y;

}

/// <summary>

///

/// </summary>

void AnimIkUpdate()

{

if (enableIk == false) { return; }

if (anim == null) { return; }

anim.SetLookAtPosition(LookAtPos);

anim.SetLookAtWeight(headIkWeight, bodyIkWeight);

anim.SetIKPositionWeight(AvatarIKGoal.LeftHand, leftHandIkWeight);

anim.SetIKRotationWeight(AvatarIKGoal.LeftHand, leftHandIkWeight);

MoveHandToIkPoint(AvatarIKGoal.LeftHand, leftHandIkPos, leftHandIkRot, ref lastLeftHandPos);

anim.SetIKPositionWeight(AvatarIKGoal.RightHand, rightHandIkWeight);

anim.SetIKRotationWeight(AvatarIKGoal.RightHand, rightHandIkWeight);

MoveHandToIkPoint(AvatarIKGoal.RightHand, rightHandIkPos, rightHandIkRot, ref lastRightHandPos);

//right foot ik position and rotation -- utilise the pro features in here

anim.SetIKPositionWeight(AvatarIKGoal.RightFoot, rightFootIkWeight);

if (useProIkFeature)

{

anim.SetIKRotationWeight(AvatarIKGoal.RightFoot, anim.GetFloat(rightFootAnimVariableName));

}

MoveFeetToIkPoint(AvatarIKGoal.RightFoot, rightFootIkPos, rightFootIkRot, ref lastRightFootPositionY);

//left foot ik position and rotation -- utilise the pro features in here

anim.SetIKPositionWeight(AvatarIKGoal.LeftFoot, leftFootIkWeight);

if (useProIkFeature)

{

anim.SetIKRotationWeight(AvatarIKGoal.LeftFoot, anim.GetFloat(leftFootAnimVariableName));

}

MoveFeetToIkPoint(AvatarIKGoal.LeftFoot, leftFootIkPos, leftFootIkRot, ref lastLeftFootPositionY);

}

#endregion

#region IkMethods

private void applyIkResult(IhandIkSolver iis)

{

if (iis.isEnabled() == false)

return;

leftHandIkPos = iis.getLeftHandIkPos();

leftHandIkRot = iis.getLeftHandIkRot();

rightHandIkPos = iis.getRightHandIkPos();

rightHandIkRot = iis.getRightHandIkRot();

}

private void applyIkResult(IlookIkSolver iis)

{

if (iis.isEnabled() == false)

return;

LookAtPos = iis.getLookAtPos();

}

private void applyIkResult(IfootIkSolver iis)

{

if (iis.isEnabled() == false)

return;

leftFootIkPos = iis.getLeftFootIkPos();

leftFootIkRot = iis.getLeftFootIkRot();

rightFootIkPos = iis.getRightFootIkPos();

rightFootIkRot = iis.getRightFootIkRot();

bodyIkPosY = iis.getPelvisOffsetPosY();

//bodyIkPosY = iis.getPelvisIkPosY();

}

/// <summary>

///

/// </summary>

private void PosSolverByWeight()

{

applyIkResult(iHandIkSolver);

applyIkResult(iLookIkSolver);

applyIkResult(iFootIkSolver);

}

/// <summary>

///

/// </summary>

/// <param name="hand"></param>

/// <param name="positionIkHolder"></param>

/// <param name="rotationIkHolder"></param>

/// <param name="lastHandPosition"></param>

private void MoveHandToIkPoint(AvatarIKGoal hand, Vector3 localPosIkHolder, Quaternion rotationIkHolder, ref Vector3 lastHandPosition)

{

Vector3 targetIkPosition = anim.GetIKPosition(hand);

if (localPosIkHolder != Vector3.zero)

{

targetIkPosition = transform.InverseTransformPoint(targetIkPosition);

Vector3 Variable = Vector3.Lerp(lastHandPosition, localPosIkHolder, handToIkPositionSpeed);

targetIkPosition = Variable;

lastHandPosition = Variable;

targetIkPosition = transform.TransformPoint(targetIkPosition);

anim.SetIKRotation(hand, rotationIkHolder);

}

Vector3 newPelvisVectorOffset = Vector3.zero;

newPelvisVectorOffset.y=getBodyIkPosOffsetY();

anim.SetIKPosition(hand, targetIkPosition+ newPelvisVectorOffset);

}

/// <summary>

/// Moves the feet to ik point.

/// </summary>

/// <param name="foot"></param>

/// <param name="positionIkHolder"></param>

/// <param name="rotationIkHolder"></param>

/// <param name="lastFootPositionY"></param>

void MoveFeetToIkPoint(AvatarIKGoal foot, Vector3 positionIkHolder, Quaternion rotationIkHolder, ref float lastFootPositionY)

{

Vector3 targetIkPosition = anim.GetIKPosition(foot);

if (positionIkHolder != Vector3.zero)

{

targetIkPosition = transform.InverseTransformPoint(targetIkPosition);

positionIkHolder = transform.InverseTransformPoint(positionIkHolder);

float yVariable = Mathf.Lerp(lastFootPositionY, positionIkHolder.y, feetToIkPositionSpeed);

targetIkPosition.y += yVariable;

lastFootPositionY = yVariable;

targetIkPosition = transform.TransformPoint(targetIkPosition);

anim.SetIKRotation(foot, rotationIkHolder);

}

anim.SetIKPosition(foot, targetIkPosition);

}

/// <summary>

///

/// </summary>

private void SetHandRotation()

{

if (enableIk == false) { return; }

if (anim == null) { return; }

lastLeftHandRot = anim.GetBoneTransform(HumanBodyBones.LeftHand).rotation;

lastRightHandRot = anim.GetBoneTransform(HumanBodyBones.RightHand).rotation;

if (leftHandIkWeight >0)

anim.GetBoneTransform(HumanBodyBones.LeftHand).rotation = Quaternion.Slerp(lastLeftHandRot, leftHandIkRot, leftHandIkWeight);

if (rightHandIkWeight > 0f)

anim.GetBoneTransform(HumanBodyBones.RightHand).rotation = Quaternion.Slerp(lastRightHandRot, rightHandIkRot, rightHandIkWeight);

}

#endregion

#region publicFun

public void setTargetLookWeight(float head, float body)

{

if(head >= 0)

targetHeadIkWeight = head;

if(body >= 0)

targetBodyIkWeight = body;

}

public void setTargetPelvisWeight(float pelvis)

{

if(pelvis>=0)

targetPelvisIkWeight = pelvis;

}

public void setTargetHandWeight(float left, float right)

{

if (left >= 0)

targetLeftHandIkWeight = left;

if (right >=0)

targetRightHandIkWeight = right;

}

public void setTargetFeetWeight(float left, float right)

{

if (left >= 0)

targetLeftFootIkWeight = left;

if (right >= 0)

targetRightFootIkWeight = right;

}

public float getBodyIkPosOffsetY()

{

return lastBodyPosOffsetY;

}

public bool isLeftFootGrounded()

{

return leftFootIkPos != Vector3.zero;

}

public bool isRightFootGrounded()

{

return rightFootIkPos != Vector3.zero;

}

#endregion