// Initiates the LimbIK solver
public void Initiate(Transform hand, int index)
{
initiated = false;
if (!IsValid(true, hand))
{
return;
}
solver = new IKSolverLimb();
solver.IKPositionWeight = weight;
solver.bendModifier = IKSolverLimb.BendModifier.Target;
solver.bendModifierWeight = 1f;
IKPosition = tip.position;
IKRotation = tip.rotation;
if (bone3 != null)
{
bone3RelativeToTarget = Quaternion.Inverse(IKRotation) * bone3.rotation;
bone3DefaultLocalPosition = bone3.localPosition;
bone3DefaultLocalRotation = bone3.localRotation;
}
solver.SetChain(bone1, bone2, tip, hand);
solver.Initiate(hand);
initiated = true;
}
// Initiates the LimbIK solver
public void Initiate(Transform hand, int index)
{
initiated = false;
string errorMessage = string.Empty;
if (!IsValid(ref errorMessage))
{
Warning.Log(errorMessage, hand, false);
return;
}
solver = new IKSolverLimb();
solver.IKPositionWeight = weight;
solver.bendModifier = IKSolverLimb.BendModifier.Target;
solver.bendModifierWeight = 1f;
defaultBendNormal = -Vector3.Cross(tip.position - bone1.position, bone2.position - bone1.position).normalized;
solver.bendNormal = defaultBendNormal;
Vector3 axisWorld = Vector3.Cross(bone2.position - bone1.position, tip.position - bone1.position);
bone1Axis = Quaternion.Inverse(bone1.rotation) * axisWorld;
tipAxis = Quaternion.Inverse(tip.rotation) * axisWorld;
Vector3 normal = bone2.position - bone1.position;
Vector3 tangent = -Vector3.Cross(tip.position - bone1.position, bone2.position - bone1.position);
Vector3.OrthoNormalize(ref normal, ref tangent);
bone1TwistAxis = Quaternion.Inverse(bone1.rotation) * tangent;
IKPosition = tip.position;
IKRotation = tip.rotation;
if (bone3 != null)
{
bone3RelativeToTarget = Quaternion.Inverse(IKRotation) * bone3.rotation;
bone3DefaultLocalPosition = bone3.localPosition;
bone3DefaultLocalRotation = bone3.localRotation;
}
solver.SetChain(bone1, bone2, tip, hand);
solver.Initiate(hand);
initiated = true;
}
public void AssignReferences(BipedReferences references)
{
// Assigning limbs from references
leftHand.SetChain(references.leftUpperArm, references.leftForearm, references.leftHand, references.root);
rightHand.SetChain(references.rightUpperArm, references.rightForearm, references.rightHand, references.root);
leftFoot.SetChain(references.leftThigh, references.leftCalf, references.leftFoot, references.root);
rightFoot.SetChain(references.rightThigh, references.rightCalf, references.rightFoot, references.root);
// Assigning spine bones from references
spine.SetChain(references.spine, references.root);
// Assigning lookAt bones from references
lookAt.SetChain(references.spine, references.head, references.eyes, references.root);
// Assigning Aim bones from references
aim.SetChain(references.spine, references.root);
leftFoot.goal = AvatarIKGoal.LeftFoot;
rightFoot.goal = AvatarIKGoal.RightFoot;
leftHand.goal = AvatarIKGoal.LeftHand;
rightHand.goal = AvatarIKGoal.RightHand;
}
// Initiates the LimbIK solver
public void Initiate(Transform hand, int index) {
initiated = false;
string errorMessage = string.Empty;
if (!IsValid(ref errorMessage)) {
Warning.Log(errorMessage, hand, false);
return;
}
solver = new IKSolverLimb();
solver.IKPositionWeight = weight;
solver.bendModifier = IKSolverLimb.BendModifier.Target;
solver.bendModifierWeight = 1f;
IKPosition = tip.position;
IKRotation = tip.rotation;
if (bone3 != null) {
bone3RelativeToTarget = Quaternion.Inverse(IKRotation) * bone3.rotation;
bone3DefaultLocalPosition = bone3.localPosition;
bone3DefaultLocalRotation = bone3.localRotation;
}
solver.SetChain(bone1, bone2, tip, hand);
solver.Initiate(hand);
initiated = true;
}
