private void Start()
{
_limb = gameObject.AddComponent <LimbIK>();
_limb.solver = solver;
solver.bone1.transform = CreateTransform();
solver.bone2.transform = CreateTransform();
solver.bone3.transform = CreateTransform();
}
private void CheckArm()
{
if (arm != null)
{
return;
}
arm = GetComponentInParent <LimbIK>();
isArm = arm != null;
}
void Start()
{
ikPos = new GameObject().transform;
ikPos.position = target.position;
ik = GetComponent <LimbIK>();
ik.solver.target = ikPos.transform;
targetPos = ikPos.position;
targetRot = ikPos.rotation;
}
private LimbIK CreateIKChain(Transform bone1, Transform bone2, Transform bone3, Transform root, GameObject container, Transform target, Transform bendTarget)
{
LimbIK ik = container.AddComponent <LimbIK>();
ik.solver.SetChain(bone1, bone2, bone3, root);
ik.solver.bendModifier = IKSolverLimb.BendModifier.Goal;
ik.solver.target = target;
ik.solver.bendGoal = bendTarget;
return(ik);
}
public void CreateCharacterIK()
{
if (ikGenerated)
{
return;
}
ikGenerated = true;
IKExecutionOrder order = ikContainer.AddComponent <IKExecutionOrder>();
order.animator = animator;
List <IK> ikComponents = new List <IK>();
ikComponents.Add(hipIK = ikContainer.AddComponent <SingleBoneIK>());
hipIK.solver.SetChain(bones.main.bone, bones.main.bone);
hipIK.solver.target = targets.hip;
spineIK = new LimbIK[bones.body.spine.Length];
spineIKWeight = new float[bones.body.spine.Length];
for (int i = 0; i < bones.body.spine.Length; i++)
{
ikComponents.Add(spineIK[i] = CreateIKChain(bones.main.bone, bones.body.spine[i].bone, bones.head.head.bone, bones.main.bone, ikContainer, targets.head.GetChild(0), targets.spine));
spineIK[i].solver.IKPositionWeight = (1 - 0.2f) / bones.body.spine.Length * (i + 1);
spineIKWeight[i] = (1 - 0.2f) / bones.body.spine.Length * (i + 1);
}
ikComponents.Add(neckIK = CreateIKChain(bones.main.bone, bones.head.neck.bone, bones.head.head.bone, bones.main.bone, ikContainer, targets.head, targets.spine));
ikComponents.Add(leftArmIK = CreateIKChain(bones.armLeft.upperArm.bone, bones.armLeft.lowerArm.bone, bones.armLeft.hand.wrist.bone, bones.main.bone, ikContainer, targets.leftHand, targets.leftElbow));
ikComponents.Add(rightArmIK = CreateIKChain(bones.armRight.upperArm.bone, bones.armRight.lowerArm.bone, bones.armRight.hand.wrist.bone, bones.main.bone, ikContainer, targets.rightHand, targets.rightElbow));
ikComponents.Add(leftLegIK = CreateIKChain(bones.legLeft.upperLeg.bone, bones.legLeft.lowerLeg.bone, bones.legLeft.foot.bone, bones.main.bone, ikContainer, targets.leftFoot, targets.leftKnee));
ikComponents.Add(rightLegIK = CreateIKChain(bones.legRight.upperLeg.bone, bones.legRight.lowerLeg.bone, bones.legRight.foot.bone, bones.main.bone, ikContainer, targets.rightFoot, targets.rightKnee));
order.IKComponents = ikComponents.ToArray();
// Body functions
hipIK.solver.OnPreUpdate += OnHipPreIK;
hipIK.solver.OnPostUpdate += OnHipPostIK;
// Leg functions
leftLegIK.solver.OnPostUpdate += OnLeftLegPostIK;
rightLegIK.solver.OnPostUpdate += OnRightLegPostIK;
// Arm functions
leftArmIK.solver.OnPostUpdate += OnLeftArmPostIK;
rightArmIK.solver.OnPostUpdate += OnRightArmPostIK;
}
void Awake()
{
_timeToActivateInput = Time.time + 0.5f;
_owner = GetComponent <FirstPersonMover>();
if (_owner == null)
{
throw new MissingComponentException("VR player must be on the same GameObject as a FirstPersonMover");
}
_head = _owner.GetBodyPart(MechBodyPartType.Head).transform.parent.gameObject;
_head.SetActive(false);
_rightHand = _owner.GetBodyPart(MechBodyPartType.RightArm).transform.parent.gameObject;
_leftHand = _owner.GetBodyPart(MechBodyPartType.LeftArm).transform.parent.gameObject;
_owner.AddDeathListener(OnPlayerDeath);
if (_rightHand == null)
{
throw new Exception("Right hand is null");
}
if (_leftHand == null)
{
throw new Exception("Left hand is null");
}
Transform armLowerL = _leftHand.transform.parent;
Transform armUpperL = armLowerL.parent;
Transform armLowerR = _rightHand.transform.parent;
Transform armUpperR = armLowerR.parent;
Transform ArmsRoot = armUpperL.parent;
_leftArmIK = armUpperL.gameObject.AddComponent <LimbIK>();
_leftArmIK.solver.SetChain(armUpperL, armLowerL, _leftHand.transform, ArmsRoot);
_rightArmIK = armUpperR.gameObject.AddComponent <LimbIK>();
_rightArmIK.solver.SetChain(armUpperR, armLowerR, _rightHand.transform, ArmsRoot);
VRManager.Instance.Player.Scale = transform.localScale.y * 1.4f;
}
private void SetWeightOfAllIK(float value)
{
hipIK.solver.IKPositionWeight = value;
hipIK.solver.IKRotationWeight = value;
neckIK.solver.IKPositionWeight = value;
neckIK.solver.IKRotationWeight = value;
leftArmIK.solver.IKPositionWeight = value;
leftArmIK.solver.IKRotationWeight = value;
rightArmIK.solver.IKPositionWeight = value;
rightArmIK.solver.IKRotationWeight = value;
leftLegIK.solver.IKPositionWeight = value;
leftLegIK.solver.IKRotationWeight = value;
rightLegIK.solver.IKPositionWeight = value;
rightLegIK.solver.IKRotationWeight = value;
for (var i = 0; i < spineIK.Length; i++)
{
LimbIK ik = spineIK[i];
ik.solver.IKPositionWeight = value * spineIKWeight[i];
ik.solver.IKRotationWeight = value * spineIKWeight[i];
}
}
public BodyIK( FullBodyIK fullBodyIK, LimbIK[] limbIK )
{
Assert( fullBodyIK != null );
_limbIK = limbIK;
_settings = fullBodyIK.settings;
_internalValues = fullBodyIK.internalValues;
_hipsBone = _PrepareBone( fullBodyIK.bodyBones.hips );
_neckBone = _PrepareBone( fullBodyIK.headBones.neck );
_headBone = _PrepareBone( fullBodyIK.headBones.head );
_hipsEffector = fullBodyIK.bodyEffectors.hips;
_neckEffector = fullBodyIK.headEffectors.neck;
_headEffector = fullBodyIK.headEffectors.head;
_eyesEffector = fullBodyIK.headEffectors.eyes;
_armEffectors[0] = fullBodyIK.leftArmEffectors.arm;
_armEffectors[1] = fullBodyIK.rightArmEffectors.arm;
_elbowEffectors[0] = fullBodyIK.leftArmEffectors.elbow;
_elbowEffectors[1] = fullBodyIK.rightArmEffectors.elbow;
_wristEffectors[0] = fullBodyIK.leftArmEffectors.wrist;
_wristEffectors[1] = fullBodyIK.rightArmEffectors.wrist;
_kneeEffectors[0] = fullBodyIK.leftLegEffectors.knee;
_kneeEffectors[1] = fullBodyIK.rightLegEffectors.knee;
_footEffectors[0] = fullBodyIK.leftLegEffectors.foot;
_footEffectors[1] = fullBodyIK.rightLegEffectors.foot;
_spineBones = _PrepareSpineBones( fullBodyIK.bones );
if( _spineBones != null && _spineBones.Length > 0 ) {
int spineLength = _spineBones.Length;
_spineBone = _spineBones[0];
_spineUBone = _spineBones[spineLength - 1];
_spineEnabled = new bool[spineLength];
}
// Memo: These should be pair bones.(Necessary each side bones.)
_kneeBones = _PrepareBones( fullBodyIK.leftLegBones.knee, fullBodyIK.rightLegBones.knee );
_elbowBones = _PrepareBones( fullBodyIK.leftArmBones.elbow, fullBodyIK.rightArmBones.elbow );
_legBones = _PrepareBones( fullBodyIK.leftLegBones.leg, fullBodyIK.rightLegBones.leg );
_armBones = _PrepareBones( fullBodyIK.leftArmBones.arm, fullBodyIK.rightArmBones.arm );
_shoulderBones = _PrepareBones( fullBodyIK.leftArmBones.shoulder, fullBodyIK.rightArmBones.shoulder );
_nearArmBones = (_shoulderBones != null) ? _shoulderBones : _nearArmBones;
_Prepare( fullBodyIK );
}
// - Wakeup for solvers.
// - Require to setup each transforms.
public bool Prepare()
{
_Prefix();
if( _isPrepared ) {
return false;
}
_isPrepared = true;
Assert( rootTransform != null );
if( rootTransform != null ) { // Failsafe.
internalValues.defaultRootPosition = rootTransform.position;
internalValues.defaultRootBasis = Matrix3x3.FromColumn( rootTransform.right, rootTransform.up, rootTransform.forward );
internalValues.defaultRootBasisInv = internalValues.defaultRootBasis.transpose;
internalValues.defaultRootRotation = rootTransform.rotation;
}
if( _bones != null ) {
int boneLength = _bones.Length;
for( int i = 0; i != boneLength; ++i ) {
Assert( _bones[i] != null );
if( _bones[i] != null ) {
_bones[i].Prepare( this );
}
}
for( int i = 0; i != boneLength; ++i ) {
if( _bones[i] != null ) {
_bones[i].PostPrepare();
}
}
}
boneCaches.Prepare( this );
if( _effectors != null ) {
int effectorLength = _effectors.Length;
for( int i = 0; i != effectorLength; ++i ) {
Assert( _effectors[i] != null );
if( _effectors[i] != null ) {
_effectors[i].Prepare( this );
}
}
}
if( _limbIK == null || _limbIK.Length != (int)LimbIKLocation.Max ) {
_limbIK = new LimbIK[(int)LimbIKLocation.Max];
}
for( int i = 0; i != (int)LimbIKLocation.Max; ++i ) {
_limbIK[i] = new LimbIK( this, (LimbIKLocation)i );
}
_bodyIK = new BodyIK( this, _limbIK );
_headIK = new HeadIK( this );
if( _fingerIK == null || _fingerIK.Length != (int)FingerIKType.Max ) {
_fingerIK = new FingerIK[(int)FingerIKType.Max];
}
for( int i = 0; i != (int)FingerIKType.Max; ++i ) {
_fingerIK[i] = new FingerIK( this, (FingerIKType)i );
}
{
Bone neckBone = headBones.neck;
Bone leftShoulder = leftArmBones.shoulder;
Bone rightShoulder = rightArmBones.shoulder;
if( leftShoulder != null && leftShoulder.transformIsAlive &&
rightShoulder != null && rightShoulder.transformIsAlive &&
neckBone != null && neckBone.transformIsAlive ) {
if( leftShoulder.transform.parent == neckBone.transform &&
rightShoulder.transform.parent == neckBone.transform ) {
_isNeedFixShoulderWorldTransform = true;
}
}
}
return true;
}
