initial upload
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tom.hempel
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using UnityEngine;
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using System.Collections;
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namespace RootMotion.FinalIK {
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/// <summary>
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/// Grounding for FBBIK characters.
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/// </summary>
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[HelpURL("https://www.youtube.com/watch?v=9MiZiaJorws&index=6&list=PLVxSIA1OaTOu8Nos3CalXbJ2DrKnntMv6")]
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[AddComponentMenu("Scripts/RootMotion.FinalIK/Grounder/Grounder Full Body Biped")]
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public class GrounderFBBIK: Grounder {
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// Open a video tutorial video
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[ContextMenu("TUTORIAL VIDEO")]
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void OpenTutorial() {
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Application.OpenURL("https://www.youtube.com/watch?v=9MiZiaJorws&index=6&list=PLVxSIA1OaTOu8Nos3CalXbJ2DrKnntMv6");
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}
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// Open the User Manual URL
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[ContextMenu("User Manual")]
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protected override void OpenUserManual() {
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Application.OpenURL("http://www.root-motion.com/finalikdox/html/page9.html");
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}
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// Open the Script Reference URL
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[ContextMenu("Scrpt Reference")]
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protected override void OpenScriptReference() {
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Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_grounder_f_b_b_i_k.html");
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}
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#region Main Interface
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/// <summary>
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/// Contains the bending weights for an effector.
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/// </summary>
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[System.Serializable]
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public class SpineEffector {
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/// <summary>
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/// The type of the effector.
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/// </summary>
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[Tooltip("The type of the effector.")]
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public FullBodyBipedEffector effectorType;
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/// <summary>
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/// The weight of horizontal bend offset towards the slope..
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/// </summary>
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[Tooltip("The weight of horizontal bend offset towards the slope.")]
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public float horizontalWeight = 1f;
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/// <summary>
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/// The vertical bend offset weight.
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/// </summary>
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[Tooltip("The vertical bend offset weight.")]
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public float verticalWeight;
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public SpineEffector() {}
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/// <summary>
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/// Initializes a new instance of the <see cref="RootMotion.FinalIK.GrounderFBBIK+SpineEffector"/> class.
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/// </summary>
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/// <param name="effectorType">Effector type.</param>
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/// <param name="horizontalWeight">Horizontal weight.</param>
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/// <param name="verticalWeight">Vertical weight.</param>
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public SpineEffector(FullBodyBipedEffector effectorType, float horizontalWeight, float verticalWeight) {
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this.effectorType = effectorType;
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this.horizontalWeight = horizontalWeight;
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this.verticalWeight = verticalWeight;
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}
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}
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/// <summary>
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/// Reference to the FBBIK componet.
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/// </summary>
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[Tooltip("Reference to the FBBIK componet.")]
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public FullBodyBipedIK ik;
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/// <summary>
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/// The amount of spine bending towards upward slopes.
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/// </summary>
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[Tooltip("The amount of spine bending towards upward slopes.")]
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public float spineBend = 2f;
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/// <summary>
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/// The interpolation speed of spine bending.
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/// </summary>
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[Tooltip("The interpolation speed of spine bending.")]
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public float spineSpeed = 3f;
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/// <summary>
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/// The spine bending effectors.
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/// </summary>
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public SpineEffector[] spine = new SpineEffector[0];
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#endregion Main Interface
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public override void ResetPosition() {
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solver.Reset();
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spineOffset = Vector3.zero;
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}
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public void Reinitiate()
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{
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initiated = false;
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firstSolve = false;
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}
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private Transform[] feet = new Transform[2];
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private Vector3 spineOffset;
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private bool firstSolve;
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// Can we initiate the Grounding?
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private bool IsReadyToInitiate() {
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if (ik == null) return false;
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if (!ik.solver.initiated) return false;
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return true;
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}
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// Initiate once we have a FBBIK component
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void Update() {
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firstSolve = true;
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weight = Mathf.Clamp(weight, 0f, 1f);
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if (weight <= 0f) return;
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if (initiated) return;
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if (!IsReadyToInitiate()) return;
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Initiate();
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}
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void FixedUpdate() {
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firstSolve = true;
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}
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void LateUpdate() {
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firstSolve = true;
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}
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private void Initiate () {
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// Set maintainRotationWeight to 1 for both limbs so their rotation will be maintained as animated
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ik.solver.leftLegMapping.maintainRotationWeight = 1f;
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ik.solver.rightLegMapping.maintainRotationWeight = 1f;
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// Gathering both foot bones from the FBBIK
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feet = new Transform[2];
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feet[0] = ik.solver.leftFootEffector.bone;
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feet[1] = ik.solver.rightFootEffector.bone;
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// Add to the FBBIK OnPreUpdate delegate to know when it solves
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ik.solver.OnPreUpdate += OnSolverUpdate;
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ik.solver.OnPostUpdate += OnPostSolverUpdate;
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// Initiate Grounding
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solver.Initiate(ik.references.root, feet);
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initiated = true;
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}
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// Called before updating the main IK solver
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private void OnSolverUpdate() {
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if (!firstSolve) return;
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firstSolve = false;
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if (!enabled) return;
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if (weight <= 0f) return;
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if (OnPreGrounder != null) OnPreGrounder();
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solver.Update();
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// Move the pelvis
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ik.references.pelvis.position += solver.pelvis.IKOffset * weight;
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// Set effector positionOffsets for the feet
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SetLegIK(ik.solver.leftFootEffector, solver.legs[0]);
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SetLegIK(ik.solver.rightFootEffector, solver.legs[1]);
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// Bending the spine
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if (spineBend != 0f) {
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spineSpeed = Mathf.Clamp(spineSpeed, 0f, spineSpeed);
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Vector3 spineOffseTarget = GetSpineOffsetTarget() * weight;
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spineOffset = Vector3.Lerp(spineOffset, spineOffseTarget * spineBend, Time.deltaTime * spineSpeed);
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Vector3 verticalOffset = ik.references.root.up * spineOffset.magnitude;
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for (int i = 0; i < spine.Length; i++) {
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ik.solver.GetEffector(spine[i].effectorType).positionOffset += (spineOffset * spine[i].horizontalWeight) + (verticalOffset * spine[i].verticalWeight);
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}
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}
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if (OnPostGrounder != null) OnPostGrounder();
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}
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// Set the effector positionOffset for the foot
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private void SetLegIK(IKEffector effector, Grounding.Leg leg) {
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effector.positionOffset += (leg.IKPosition - effector.bone.position) * weight;
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effector.bone.rotation = Quaternion.Slerp(Quaternion.identity, leg.rotationOffset, weight) * effector.bone.rotation;
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}
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// Auto-assign ik
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void OnDrawGizmosSelected() {
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if (ik == null) ik = GetComponent<FullBodyBipedIK>();
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if (ik == null) ik = GetComponentInParent<FullBodyBipedIK>();
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if (ik == null) ik = GetComponentInChildren<FullBodyBipedIK>();
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}
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private void OnPostSolverUpdate()
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{
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if (OnPostIK != null) OnPostIK();
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}
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// Cleaning up the delegate
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void OnDestroy() {
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if (initiated && ik != null)
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{
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ik.solver.OnPreUpdate -= OnSolverUpdate;
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ik.solver.OnPostUpdate -= OnPostSolverUpdate;
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}
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}
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}
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}
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