initial upload

Unity-Master/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverArm.cs

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+using UnityEngine;
+using System.Collections;
+
+namespace RootMotion.FinalIK {
+
+	/// <summary>
+	/// A wrapper for making IKSolverVRArm work with other IK components.
+	/// </summary>
+	[System.Serializable]
+	public class IKSolverArm : IKSolver {
+
+		[Range(0f, 1f)]
+		public float IKRotationWeight = 1f;
+		/// <summary>
+		/// The %IK rotation target.
+		/// </summary>
+		public Quaternion IKRotation = Quaternion.identity;
+
+		public IKSolver.Point chest = new IKSolver.Point();
+		public IKSolver.Point shoulder = new IKSolver.Point();
+		public IKSolver.Point upperArm = new IKSolver.Point();
+		public IKSolver.Point forearm = new IKSolver.Point();
+		public IKSolver.Point hand = new IKSolver.Point();
+
+		public bool isLeft;
+		
+		public IKSolverVR.Arm arm = new IKSolverVR.Arm();
+
+		private Vector3[] positions = new Vector3[6];
+		private Quaternion[] rotations = new Quaternion[6];
+
+		public override bool IsValid(ref string message) {
+			if (chest.transform == null || shoulder.transform == null || upperArm.transform == null || forearm.transform == null || hand.transform == null) {
+				message = "Please assign all bone slots of the Arm IK solver.";
+				return false;
+			}
+			
+			Transform duplicate = (Transform)Hierarchy.ContainsDuplicate(new Transform[5] { chest.transform, shoulder.transform, upperArm.transform, forearm.transform, hand.transform });
+			if (duplicate != null) {
+				message = duplicate.name + " is represented multiple times in the ArmIK.";
+				return false;
+			}
+
+			return true;
+		}
+
+        /// <summary>
+        /// Set IK rotation weight for the arm.
+        /// </summary>
+        public void SetRotationWeight(float weight)
+        {
+            IKRotationWeight = weight;
+        }
+
+		/// <summary>
+		/// Reinitiate the solver with new bone Transforms.
+		/// </summary>
+		/// <returns>
+		/// Returns true if the new chain is valid.
+		/// </returns>
+		public bool SetChain(Transform chest, Transform shoulder, Transform upperArm, Transform forearm, Transform hand, Transform root) {
+			this.chest.transform = chest;
+			this.shoulder.transform = shoulder;
+			this.upperArm.transform = upperArm;
+			this.forearm.transform = forearm;
+			this.hand.transform = hand;
+			
+			Initiate(root);
+			return initiated;
+		}
+
+		public override IKSolver.Point[] GetPoints() {
+			return new IKSolver.Point[5] { (IKSolver.Point)chest, (IKSolver.Point)shoulder, (IKSolver.Point)upperArm, (IKSolver.Point)forearm, (IKSolver.Point)hand };
+		}
+		
+		public override IKSolver.Point GetPoint(Transform transform) {
+			if (chest.transform == transform) return (IKSolver.Point)chest;
+			if (shoulder.transform == transform) return (IKSolver.Point)shoulder;
+			if (upperArm.transform == transform) return (IKSolver.Point)upperArm;
+			if (forearm.transform == transform) return (IKSolver.Point)forearm;
+			if (hand.transform == transform) return (IKSolver.Point)hand;
+			return null;
+		}
+		
+		public override void StoreDefaultLocalState() {
+			shoulder.StoreDefaultLocalState();
+			upperArm.StoreDefaultLocalState();
+			forearm.StoreDefaultLocalState();
+			hand.StoreDefaultLocalState();
+		}
+		
+		public override void FixTransforms() {
+			if (!initiated) return;
+
+			shoulder.FixTransform();
+			upperArm.FixTransform();
+			forearm.FixTransform();
+			hand.FixTransform();
+		}
+
+		protected override void OnInitiate() {
+			IKPosition = hand.transform.position;
+			IKRotation = hand.transform.rotation;
+
+			Read ();
+		}
+
+		protected override void OnUpdate() {
+			Read ();
+			Solve ();
+			Write ();
+		}
+		
+		private void Solve() {
+			arm.PreSolve (1f);
+			arm.ApplyOffsets(1f);
+			arm.Solve (isLeft);
+			arm.ResetOffsets ();
+		}
+		
+		private void Read() {
+			arm.IKPosition = IKPosition;
+			arm.positionWeight = IKPositionWeight;
+			arm.IKRotation = IKRotation;
+			arm.rotationWeight = IKRotationWeight;
+
+			positions [0] = root.position;
+			positions [1] = chest.transform.position;
+			positions [2] = shoulder.transform.position;
+			positions [3] = upperArm.transform.position;
+			positions [4] = forearm.transform.position;
+			positions [5] = hand.transform.position;
+			
+			rotations [0] = root.rotation;
+			rotations [1] = chest.transform.rotation;
+			rotations [2] = shoulder.transform.rotation;
+			rotations [3] = upperArm.transform.rotation;
+			rotations [4] = forearm.transform.rotation;
+			rotations [5] = hand.transform.rotation;
+			
+			arm.Read(positions, rotations, false, false, true, false, false, 1, 2);
+		}
+		
+		private void Write() {
+			arm.Write (ref positions, ref rotations);
+			
+			shoulder.transform.rotation = rotations [2];
+			upperArm.transform.rotation = rotations [3];
+			forearm.transform.rotation = rotations [4];
+			hand.transform.rotation = rotations [5];
+
+			forearm.transform.position = positions[4];
+			hand.transform.position = positions[5];
+		}
+	}
+}