private void IKInit4OldPoint(Maid slave)
{
var fik = slave.body0.IKCtrl.GetNonPublicField <RootMotion.FinalIK.FullBodyBipedIK>("m_FullbodyIK");
RootMotion.FinalIK.FullBodyBipedIK FullbodyIK = fik;
var solver = FullbodyIK.solver;
string[] tgtlist = new string[] { "IKTarget", "BendBone", "ChainRootBone" };
solver.spineStiffness = 1f; //背骨の硬さ
solver.pullBodyVertical = 0f; //ボディエフェクター位置補正
solver.pullBodyHorizontal = 0f;
solver.spineMapping.twistWeight = 0f;
foreach (var e in solver.effectors)
{
e.PinToBone(1f, 1f);
var tgtname = e.target.gameObject.name;
if (tgtlist.Contains(tgtname))
{
// COM3D2標準ターゲット
e.target.transform.position = e.bone.position;
e.target.transform.rotation = e.bone.rotation;
}
}
foreach (var m in solver.limbMappings)
{
m.weight = 0f;
m.maintainRotationWeight = 1f;
}
}
private void IKInitTest(Maid slave, string handName)
{
var fik = slave.body0.IKCtrl.GetNonPublicField <RootMotion.FinalIK.FullBodyBipedIK>("m_FullbodyIK");
RootMotion.FinalIK.FullBodyBipedIK FullbodyIK = fik;
var solver = FullbodyIK.solver;
if (handName.Contains("右"))
{
//solver.rightLegMapping.weight = 0f;
//solver.spineMapping.twistWeight = 0f;
//m_FullbodyIK.references.root = slave.gameObject.transform;
//solver.SetToReferences(FullbodyIK.references, null);
solver.spineStiffness = 1f;
solver.pullBodyVertical = 0f;
solver.pullBodyHorizontal = 0f;
if (Input.GetKey(KeyCode.LeftAlt))
{
solver.spineStiffness = 0f;
solver.pullBodyVertical = 1f;
}
foreach (var e in solver.effectors)
{
if (Input.GetKey(KeyCode.RightAlt))
{
e.PinToBone(0.25f, 1f);
}
else if (Input.GetKey(KeyCode.RightShift))
{
e.PinToBone(0.5f, 0f);
}
else if (Input.GetKey(KeyCode.RightControl))
{
e.PinToBone(0f, 1f);
}
else
{
e.PinToBone(1f, 1f);
}
}
solver.rightLegMapping.maintainRotationWeight = 1f;
solver.leftLegMapping.maintainRotationWeight = 1f;
if (Input.GetKey(KeyCode.Space))
{
solver.rightLegMapping.weight = 1f;
}
else if (Input.GetKey(KeyCode.Keypad0))
{
solver.rightLegMapping.weight = 0f;
}
else
{
solver.rightLegMapping.weight = 0.5f;
}
/*Sync(solver.bodyEffector);
* Sync(solver.rightFootEffector);
* Sync(solver.rightThighEffector);
* Sync(solver.rightShoulderEffector);
* WeightZero(solver.rightFootEffector);
* WeightZero(solver.rightThighEffector);
* WeightZero(solver.rightShoulderEffector);*/
}
else
{
solver.leftLegMapping.maintainRotationWeight = 1f;
if (Input.GetKey(KeyCode.Space))
{
solver.leftLegMapping.weight = 1f;
}
else if (Input.GetKey(KeyCode.Keypad0))
{
solver.leftLegMapping.weight = 0f;
}
else
{
solver.leftLegMapping.weight = 0.5f;
}
/*Sync(solver.leftFootEffector);
* Sync(solver.leftThighEffector);
* Sync(solver.leftShoulderEffector);
* WeightZero(solver.leftFootEffector);
* WeightZero(solver.leftThighEffector);
* WeightZero(solver.leftShoulderEffector);*/
}
}
private void IKInit2(Maid slave)
{
var fik = slave.body0.IKCtrl.GetNonPublicField <RootMotion.FinalIK.FullBodyBipedIK>("m_FullbodyIK");
RootMotion.FinalIK.FullBodyBipedIK FullbodyIK = fik;
var solver = FullbodyIK.solver;
string[] tgtlist = new string[] { "IKTarget", "BendBone", "ChainRootBone" };
string[] bendlist = new string[] { "BendBone", };
/*
#if DEBUG
* solver.spineStiffness = 1f; //背骨の硬さ
* //solver.rightLegMapping.weight = 0f;
* //solver.leftLegMapping.weight = 0f;
* if (!solver.bodyEffector.target || solver.bodyEffector.target.gameObject.name != bodytgt)
* solver.bodyEffector.target = new GameObject(bodytgt).transform;
* solver.bodyEffector.positionWeight = 1f;
* solver.bodyEffector.rotationWeight = 1f;
* solver.rightShoulderEffector.positionWeight = 0.95f;
* solver.leftShoulderEffector.positionWeight = 0.95f;
* solver.rightShoulderEffector.rotationWeight = 0.5f;
* solver.leftShoulderEffector.rotationWeight = 0.5f;
*
* solver.leftThighEffector.positionWeight = 1f;
* solver.leftThighEffector.rotationWeight = 0.5f;
* solver.rightThighEffector.positionWeight = 1f;
* solver.rightThighEffector.rotationWeight = 0.5f;
* solver.leftFootEffector.positionWeight = 1.0f;
* solver.rightFootEffector.positionWeight = 1.0f;
*
* if (!solver.rightThighEffector.target || solver.rightThighEffector.target.gameObject.name != bodytgt)
* solver.rightThighEffector.target = new GameObject(bodytgt).transform;
* if (!solver.leftThighEffector.target || solver.leftThighEffector.target.gameObject.name != bodytgt)
* solver.leftThighEffector.target = new GameObject(bodytgt).transform;
*
* if (!solver.rightFootEffector.target || solver.rightFootEffector.target.gameObject.name != bodytgt)
* solver.rightFootEffector.target = new GameObject(bodytgt).transform;
* if (!solver.leftFootEffector.target || solver.leftFootEffector.target.gameObject.name != bodytgt)
* solver.leftFootEffector.target = new GameObject(bodytgt).transform;
*
* solver.rightLegMapping.weight = 0.2f;
* solver.leftLegMapping.weight = 0.2f;
* //Sync(solver.leftArmChain.bendConstraint.bendGoal.transform, solver.leftArmMapping.bone2);
* //Sync(solver.rightArmChain.bendConstraint.bendGoal.transform, solver.rightArmMapping.bone2);
* foreach (var e in solver.effectors)
* {
* Sync(e);
* var tgtname = e.target.gameObject.name;
*
* if (tgtlist.Contains(tgtname) || tgtname == bodytgt)
* {
* // COM3D2標準ターゲット
* e.target.transform.position = e.bone.position;
* e.target.transform.rotation = e.bone.rotation;
* }
* else if (bendlist.Contains(tgtname))
* {
* // COM3D2標準ターゲット
* e.target.transform.position = e.bone.position;
* e.target.transform.rotation = e.bone.rotation;
* }
* }
* return;
#endif
*
*/
solver.spineStiffness = 1f; //背骨の硬さ
solver.pullBodyVertical = 0.5f; //ボディエフェクター位置補正
solver.pullBodyHorizontal = 0f;
foreach (var e in solver.effectors)
{
e.PinToBone(1f, 0f);
#if DEBUG
e.PinToBone(1f, 1f);
#endif
var tgtname = e.target.gameObject.name;
if (tgtlist.Contains(tgtname))
{
// COM3D2標準ターゲット
e.target.transform.position = e.bone.position;
e.target.transform.rotation = e.bone.rotation;
}
}
solver.rightShoulderEffector.positionWeight = 0.95f;
solver.leftShoulderEffector.positionWeight = 0.95f;
solver.bodyEffector.rotationWeight = 1f;
solver.rightLegMapping.maintainRotationWeight = 0f;
solver.leftLegMapping.maintainRotationWeight = 0f;
solver.rightLegMapping.weight = 0f;
solver.leftLegMapping.weight = 0f;
solver.rightArmMapping.maintainRotationWeight = 0f;
solver.leftArmMapping.maintainRotationWeight = 0f;
solver.rightArmMapping.weight = 1f;
solver.leftArmMapping.weight = 1f;
}
private void IKInit(Maid slave, XtMasterSlave.MsLinks ms, XtMasterSlave.MsLinkConfig mscfg)
{
var fik = slave.body0.IKCtrl.GetNonPublicField <RootMotion.FinalIK.FullBodyBipedIK>("m_FullbodyIK");
RootMotion.FinalIK.FullBodyBipedIK FullbodyIK = fik;
var solver = FullbodyIK.solver;
string[] tgtlist = new string[] { "IKTarget", "BendBone", "ChainRootBone" };
bool animStop = true; //モーション停止中
if (ms.doMasterSlave && !mscfg.doStackSlave_PosSyncMode)
{
animStop = false;
}
else
{
Animation anim = slave.body0.m_Bones.GetComponent <Animation>();
animStop = !anim.isPlaying;
}
if (!lastAnimeFNs.ContainsKey(slave) || slave.body0.LastAnimeFN != lastAnimeFNs[slave])
{
lastAnimeFNs[slave] = slave.body0.LastAnimeFN;
animStop = false;
}
solver.spineStiffness = 1f; //背骨の硬さ
solver.pullBodyVertical = 0.5f; //ボディエフェクター位置補正
solver.pullBodyHorizontal = 0f;
solver.spineMapping.twistWeight = 0f;
foreach (var e in solver.effectors)
{
if (solver.leftHandEffector == e || solver.rightHandEffector == e)
{
// 手のIKは本体側に任せる
continue;
}
bool donotPin = false;
if (animStop || donotPin)
{
e.positionWeight = 1f;
e.rotationWeight = 0f;
}
else
{
e.PinToBone(1f, 0f);
}
var tgtname = e.target.gameObject.name;
if (donotPin)
{
continue;
}
else
{
if (tgtlist.Contains(tgtname))
{
// COM3D2標準ターゲット
e.target.transform.position = e.bone.position;
e.target.transform.rotation = e.bone.rotation;
}
}
}
solver.rightShoulderEffector.positionWeight = 0.95f;
solver.leftShoulderEffector.positionWeight = 0.95f;
solver.bodyEffector.rotationWeight = 1f;
solver.rightThighEffector.positionWeight = 0.95f;
solver.leftThighEffector.positionWeight = 0.95f;
if (mscfg != null && mscfg.doFinalIKShoulderMove)
{
solver.rightShoulderEffector.positionWeight = 0f;
solver.leftShoulderEffector.positionWeight = 0f;
}
if (mscfg != null && mscfg.doFinalIKThighMove)
{
solver.bodyEffector.rotationWeight = 0f;
solver.rightThighEffector.positionWeight = 0f;
solver.leftThighEffector.positionWeight = 0f;
}
foreach (var m in solver.limbMappings)
{
m.weight = 1f;
m.maintainRotationWeight = 0f;
}
if (mscfg != null)
{
solver.rightLegMapping.weight = mscfg.fFinalIKLegWeight; //0.5f;
solver.leftLegMapping.weight = mscfg.fFinalIKLegWeight; //0.5f;
}
solver.rightLegMapping.maintainRotationWeight = 1f;
solver.leftLegMapping.maintainRotationWeight = 1f;
}
