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105 lines
3.3 KiB
C#
105 lines
3.3 KiB
C#
using UnityEngine;
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using System.Collections;
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using System;
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using RootMotion;
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namespace RootMotion.FinalIK {
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/// <summary>
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/// Hybrid %IK solver designed for mapping a character to a VR headset and 2 hand controllers.
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/// </summary>
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public partial class IKSolverVR: IKSolver {
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/// <summary>
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/// A base class for all IKSolverVR body parts.
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/// </summary>
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[System.Serializable]
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public abstract class BodyPart {
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protected abstract void OnRead(Vector3[] positions, Quaternion[] rotations, bool hasChest, bool hasNeck, bool hasShoulders, bool hasToes, bool hasLegs, int rootIndex, int index);
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public abstract void PreSolve(float scale);
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public abstract void Write(ref Vector3[] solvedPositions, ref Quaternion[] solvedRotations);
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public abstract void ApplyOffsets(float scale);
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public abstract void ResetOffsets();
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public float sqrMag { get; private set; }
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public float mag { get; private set; }
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[HideInInspector] public VirtualBone[] bones = new VirtualBone[0];
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protected bool initiated;
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protected Vector3 rootPosition;
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protected Quaternion rootRotation = Quaternion.identity;
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protected int index = -1;
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protected int LOD;
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public void SetLOD(int LOD)
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{
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this.LOD = LOD;
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}
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public void Read(Vector3[] positions, Quaternion[] rotations, bool hasChest, bool hasNeck, bool hasShoulders, bool hasToes, bool hasLegs, int rootIndex, int index) {
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this.index = index;
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rootPosition = positions[rootIndex];
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rootRotation = rotations[rootIndex];
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OnRead(positions, rotations, hasChest, hasNeck, hasShoulders, hasToes, hasLegs, rootIndex, index);
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mag = VirtualBone.PreSolve(ref bones);
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sqrMag = mag * mag;
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initiated = true;
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}
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public void MovePosition(Vector3 position) {
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Vector3 delta = position - bones[0].solverPosition;
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foreach (VirtualBone bone in bones) bone.solverPosition += delta;
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}
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public void MoveRotation(Quaternion rotation) {
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Quaternion delta = QuaTools.FromToRotation(bones[0].solverRotation, rotation);
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VirtualBone.RotateAroundPoint(bones, 0, bones[0].solverPosition, delta);
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}
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public void Translate(Vector3 position, Quaternion rotation) {
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MovePosition(position);
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MoveRotation(rotation);
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}
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public void TranslateRoot(Vector3 newRootPos, Quaternion newRootRot) {
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Vector3 deltaPosition = newRootPos - rootPosition;
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rootPosition = newRootPos;
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foreach (VirtualBone bone in bones) bone.solverPosition += deltaPosition;
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Quaternion deltaRotation = QuaTools.FromToRotation(rootRotation, newRootRot);
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rootRotation = newRootRot;
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VirtualBone.RotateAroundPoint(bones, 0, newRootPos, deltaRotation);
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}
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public void RotateTo(VirtualBone bone, Quaternion rotation, float weight = 1f) {
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if (weight <= 0f) return;
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Quaternion q = QuaTools.FromToRotation(bone.solverRotation, rotation);
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if (weight < 1f) q = Quaternion.Slerp(Quaternion.identity, q, weight);
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for (int i = 0; i < bones.Length; i++) {
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if (bones[i] == bone) {
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VirtualBone.RotateAroundPoint(bones, i, bones[i].solverPosition, q);
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return;
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}
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}
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}
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public void Visualize(Color color) {
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for (int i = 0; i < bones.Length - 1; i++) {
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Debug.DrawLine(bones[i].solverPosition, bones[i + 1].solverPosition, color);
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}
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}
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public void Visualize() {
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Visualize(Color.white);
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}
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}
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}
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} |