public PlayerIK()
{
for (var i = 0; i <= (int)AvatarIKGoal.RightHand; ++i)
{
_params[i] = new IKParam();
}
}
private void DisableIK(IKParam param)
{
if (param.Animator != null && param.Layer >= 0 && param.Source != null)
{
param.Weight = 0;
}
}
/// <summary>
/// Set IK Rotation
/// </summary>
/// <param name="rotation"></param>
private void SetIKRotation(IKParam param)
{
if (!(param.RootBone && param.MiddleBone && param.EndBone) || param.Weight <= 0.0f)
{
return;
}
param.EndBone.rotation = Quaternion.Slerp(param.EndBone.rotation, param.Source.rotation, param.Weight);
}
private void EnableIKLayerWeight(IKParam param)
{
if (param.Animator != null && param.Layer >= 0 && param.Source != null)
{
param.Animator.SetLayerWeight(param.Layer, 1);
param.Weight = 1;
}
}
private void EnableIK(IKParam param)
{
// 对于第三人称的手，相应的参数均为初始值
if (param.Animator != null && param.Layer >= 0 && param.Source != null)
{
SetIKPosition(param);
SetIKRotation(param);
}
}
/// <summary>
/// Set IK Position
/// </summary>
/// <param name="ikPosition"></param>
private void SetIKPosition(IKParam param)
{
if (!(param.RootBone && param.MiddleBone && param.EndBone) || param.Weight <= 0.0f)
{
return;
}
// Calculate middleBone Direction
Vector3 middleBoneDirection = Vector3.zero;
var rootBonePosition = param.RootBone.position;
var endBonePosition = param.EndBone.position;
var middleBonePosition = param.MiddleBone.position;
var sourcePosition = param.Source.position;
var rootBoneRotation = param.RootBone.rotation;
var middleBoneRotation = param.MiddleBone.rotation;
if (param.HintPosition != Vector3.zero) // if middleBoneGoal is null, the direction will be calculated with forearm's point
{
middleBoneDirection = param.HintPosition - rootBonePosition;
}
else
{
middleBoneDirection = Vector3.Cross(endBonePosition - rootBonePosition,
Vector3.Cross(endBonePosition - rootBonePosition,
endBonePosition - middleBonePosition));
}
// Get lengths of Arm
float rootBoneLength = (middleBonePosition - rootBonePosition).magnitude;
float middleBoneLength = (endBonePosition - middleBonePosition).magnitude;
// Calculate the desired middleBone position
Vector3 middleBonePos = GetHintPosition(rootBonePosition, sourcePosition, rootBoneLength, middleBoneLength, middleBoneDirection);
// Rotate the bone transformations to align correctly
Quaternion upperarmRotation = Quaternion.FromToRotation(middleBonePosition - rootBonePosition,
middleBonePos - rootBonePosition) * rootBoneRotation;
if (!(System.Single.IsNaN(upperarmRotation.x) || System.Single.IsNaN(upperarmRotation.y) || System.Single.IsNaN(upperarmRotation.z)))
{
//Rotate with transition
param.RootBone.rotation = Quaternion.Slerp(rootBoneRotation, upperarmRotation, param.Weight);
Quaternion r = Quaternion.FromToRotation(endBonePosition - middleBonePosition,
sourcePosition - middleBonePos) * middleBoneRotation;
param.MiddleBone.rotation = Quaternion.Slerp(middleBoneRotation, r, param.Weight);
}
param.HintPosition = Vector3.zero;
}
private void FindIkBones(AvatarIKGoal goal, IKParam param)
{
var animator = param.Animator;
if (null == animator)
{
_logger.ErrorFormat("IkAnimatorIsNull");
return;
}
switch (goal)
{
case AvatarIKGoal.LeftHand:
param.RootBone = GetBoneTransform(animator, HumanBodyBones.LeftUpperArm);
param.MiddleBone = GetBoneTransform(animator, HumanBodyBones.LeftLowerArm);
param.EndBone = GetBoneTransform(animator, HumanBodyBones.LeftHand);
break;
case AvatarIKGoal.RightHand:
param.RootBone = GetBoneTransform(animator, HumanBodyBones.RightUpperArm);
param.MiddleBone = GetBoneTransform(animator, HumanBodyBones.RightLowerArm);
param.EndBone = GetBoneTransform(animator, HumanBodyBones.RightHand);
break;
case AvatarIKGoal.LeftFoot:
param.RootBone = GetBoneTransform(animator, HumanBodyBones.LeftUpperLeg);
param.MiddleBone = GetBoneTransform(animator, HumanBodyBones.LeftLowerLeg);
param.EndBone = GetBoneTransform(animator, HumanBodyBones.LeftFoot);
break;
case AvatarIKGoal.RightFoot:
param.RootBone = GetBoneTransform(animator, HumanBodyBones.RightUpperLeg);
param.MiddleBone = GetBoneTransform(animator, HumanBodyBones.RightLowerLeg);
param.EndBone = GetBoneTransform(animator, HumanBodyBones.RightFoot);
break;
}
}
/// <summary>
/// Set IK Hint Position
/// ps: Call before SetIKPosition
/// </summary>
/// <param name="hintPosition"></param>
private void SetIKHintPosition(IKParam param, Vector3 hintPosition)
{
param.HintPosition = hintPosition;
}
