private void ApplyLimbData(AnimationHumanStream stream, IKLimbData.JobData data, AvatarIKGoal goal, AvatarIKHint hint)
{
if (data.positionWeight > 0)
{
if (data.positionWeight >= 1)
{
stream.SetGoalPosition(goal, data.position);
stream.SetGoalWeightPosition(goal, 1f);
}
else
{
var position = Vector3.Lerp(stream.GetGoalPosition(goal), data.position, data.positionWeight);
var positionWeight = Mathf.Lerp(stream.GetGoalWeightPosition(goal), 1f, data.positionWeight);
stream.SetGoalPosition(goal, position);
stream.SetGoalWeightPosition(goal, positionWeight);
}
}
else
{
// For some reason, IK will be broken if same values are not reapplied before SolveIK is called
stream.SetGoalPosition(goal, stream.GetGoalPosition(goal));
stream.SetGoalWeightPosition(goal, stream.GetGoalWeightPosition(goal));
}
if (data.rotationWeight > 0)
{
if (data.rotationWeight >= 1)
{
stream.SetGoalRotation(goal, data.rotation);
stream.SetGoalWeightRotation(goal, 1f);
}
else
{
var rotation = Quaternion.Slerp(stream.GetGoalRotation(goal), data.rotation, data.rotationWeight);
var rotationWeight = Mathf.Lerp(stream.GetGoalWeightRotation(goal), 1f, data.rotationWeight);
stream.SetGoalRotation(goal, rotation);
stream.SetGoalWeightRotation(goal, rotationWeight);
}
}
else
{
// Same as above
stream.SetGoalRotation(goal, stream.GetGoalRotation(goal));
stream.SetGoalWeightRotation(goal, stream.GetGoalWeightRotation(goal));
}
if (data.hintWeight > 0)
{
if (data.hintWeight >= 1)
{
stream.SetHintPosition(hint, data.hintPosition);
stream.SetHintWeightPosition(hint, 1f);
}
else
{
var hintPosition = Vector3.Lerp(stream.GetHintPosition(hint), data.hintPosition, data.hintWeight);
var hintWeight = Mathf.Lerp(stream.GetHintWeightPosition(hint), 1f, data.hintWeight);
stream.SetHintPosition(hint, hintPosition);
stream.SetHintWeightPosition(hint, hintWeight);
}
}
else
{
// Same as above
stream.SetHintPosition(hint, stream.GetHintPosition(hint));
stream.SetHintWeightPosition(hint, stream.GetHintWeightPosition(hint));
}
}
private void SyncIKFromPose()
{
var selectedTransform = Selection.transforms;
var stream = new AnimationStream();
if (m_Animator.OpenAnimationStream(ref stream))
{
AnimationHumanStream humanStream = stream.AsHuman();
// don't sync if transform is currently selected
if (!Array.Exists(selectedTransform, tr => tr == m_LeftFootEffector.transform))
{
m_LeftFootEffector.transform.position = humanStream.GetGoalPositionFromPose(AvatarIKGoal.LeftFoot);
m_LeftFootEffector.transform.rotation = humanStream.GetGoalRotationFromPose(AvatarIKGoal.LeftFoot);
}
if (!Array.Exists(selectedTransform, tr => tr == m_RightFootEffector.transform))
{
m_RightFootEffector.transform.position = humanStream.GetGoalPositionFromPose(AvatarIKGoal.RightFoot);
m_RightFootEffector.transform.rotation = humanStream.GetGoalRotationFromPose(AvatarIKGoal.RightFoot);
}
if (!Array.Exists(selectedTransform, tr => tr == m_LeftHandEffector.transform))
{
m_LeftHandEffector.transform.position = humanStream.GetGoalPositionFromPose(AvatarIKGoal.LeftHand);
m_LeftHandEffector.transform.rotation = humanStream.GetGoalRotationFromPose(AvatarIKGoal.LeftHand);
}
if (!Array.Exists(selectedTransform, tr => tr == m_RightHandEffector.transform))
{
m_RightHandEffector.transform.position = humanStream.GetGoalPositionFromPose(AvatarIKGoal.RightHand);
m_RightHandEffector.transform.rotation = humanStream.GetGoalRotationFromPose(AvatarIKGoal.RightHand);
}
if (!Array.Exists(selectedTransform, tr => tr == m_LeftKneeHintEffector.transform))
{
m_LeftKneeHintEffector.transform.position = humanStream.GetHintPosition(AvatarIKHint.LeftKnee);
}
if (!Array.Exists(selectedTransform, tr => tr == m_RightKneeHintEffector.transform))
{
m_RightKneeHintEffector.transform.position = humanStream.GetHintPosition(AvatarIKHint.RightKnee);
}
if (!Array.Exists(selectedTransform, tr => tr == m_LeftElbowHintEffector.transform))
{
m_LeftElbowHintEffector.transform.position = humanStream.GetHintPosition(AvatarIKHint.LeftElbow);
}
if (!Array.Exists(selectedTransform, tr => tr == m_RightElbowHintEffector.transform))
{
m_RightElbowHintEffector.transform.position = humanStream.GetHintPosition(AvatarIKHint.RightElbow);
}
if (!Array.Exists(selectedTransform, tr => tr == m_BodyRotationEffector.transform))
{
m_BodyRotationEffector.transform.position = humanStream.bodyPosition;
m_BodyRotationEffector.transform.rotation = humanStream.bodyRotation;
}
m_Animator.CloseAnimationStream(ref stream);
}
}
public static void MirrorPose(this AnimationHumanStream humanStream)
{
// mirror body
for (int i = 0; i < (int)BodyDof.LastBodyDof; i++)
{
humanStream.MultMuscle(new MuscleHandle((BodyDof)i), BodyDoFMirror[i]);
}
// mirror head
for (int i = 0; i < (int)HeadDof.LastHeadDof; i++)
{
humanStream.MultMuscle(new MuscleHandle((HeadDof)i), HeadDoFMirror[i]);
}
// swap arms
for (int i = 0; i < (int)ArmDof.LastArmDof; i++)
{
humanStream.SwapMuscles(
new MuscleHandle(HumanPartDof.LeftArm, (ArmDof)i),
new MuscleHandle(HumanPartDof.RightArm, (ArmDof)i));
}
// swap legs
for (int i = 0; i < (int)LegDof.LastLegDof; i++)
{
humanStream.SwapMuscles(
new MuscleHandle(HumanPartDof.LeftLeg, (LegDof)i),
new MuscleHandle(HumanPartDof.RightLeg, (LegDof)i));
}
// swap fingers
for (int i = 0; i < (int)FingerDof.LastFingerDof; i++)
{
humanStream.SwapMuscles(
new MuscleHandle(HumanPartDof.LeftThumb, (FingerDof)i),
new MuscleHandle(HumanPartDof.RightThumb, (FingerDof)i));
humanStream.SwapMuscles(
new MuscleHandle(HumanPartDof.LeftIndex, (FingerDof)i),
new MuscleHandle(HumanPartDof.RightIndex, (FingerDof)i));
humanStream.SwapMuscles(
new MuscleHandle(HumanPartDof.LeftMiddle, (FingerDof)i),
new MuscleHandle(HumanPartDof.RightMiddle, (FingerDof)i));
humanStream.SwapMuscles(
new MuscleHandle(HumanPartDof.LeftRing, (FingerDof)i),
new MuscleHandle(HumanPartDof.RightRing, (FingerDof)i));
humanStream.SwapMuscles(
new MuscleHandle(HumanPartDof.LeftLittle, (FingerDof)i),
new MuscleHandle(HumanPartDof.RightLittle, (FingerDof)i));
}
humanStream.bodyLocalPosition = Mirrored(humanStream.bodyLocalPosition);
// mirror rotation (invert Y axis angle)
humanStream.bodyLocalRotation = Mirrored(humanStream.bodyLocalRotation);
// swap ik
Vector3[] goalPositions = new Vector3[4];
Quaternion[] goalRotations = new Quaternion[4];
float[] goalWeightPositons = new float[4];
float[] goalWeightRotations = new float[4];
Vector3[] hintPositions = new Vector3[4];
float[] hintWeightPositions = new float[4];
for (int i = 0; i < 4; i++)
{
goalPositions[i] = humanStream.GetGoalLocalPosition(AvatarIKGoal.LeftFoot + i);
goalRotations[i] = humanStream.GetGoalLocalRotation(AvatarIKGoal.LeftFoot + i);
goalWeightPositons[i] = humanStream.GetGoalWeightPosition(AvatarIKGoal.LeftFoot + i);
goalWeightRotations[i] = humanStream.GetGoalWeightRotation(AvatarIKGoal.LeftFoot + i);
hintPositions[i] = humanStream.GetHintPosition(AvatarIKHint.LeftKnee + i);
hintWeightPositions[i] = humanStream.GetHintWeightPosition(AvatarIKHint.LeftKnee + i);
}
for (int i = 0; i < 4; i++)
{
int j = (i + 1) % 2 + (i / 2) * 2; // make [1, 0, 3, 2]
humanStream.SetGoalLocalPosition(AvatarIKGoal.LeftFoot + i, Mirrored(goalPositions[j]));
humanStream.SetGoalLocalRotation(AvatarIKGoal.LeftFoot + i, Mirrored(goalRotations[j]));
humanStream.SetGoalWeightPosition(AvatarIKGoal.LeftFoot + i, goalWeightPositons[j]);
humanStream.SetGoalWeightRotation(AvatarIKGoal.LeftFoot + i, goalWeightRotations[j]);
humanStream.SetHintPosition(AvatarIKHint.LeftKnee + i, hintPositions[j]);
humanStream.SetHintWeightPosition(AvatarIKHint.LeftKnee + i, hintWeightPositions[j]);
}
}