initial upload

Unity-Master/Assets/Plugins/RootMotion/FinalIK/Tools/CCDBendGoal.cs

@@ -0,0 +1,44 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace RootMotion.FinalIK
+{
+
+    /// <summary>
+    /// Bend goal object for CCDIK. Add this to a GameObject you wish CCD to bend towards.
+    /// </summary>
+    public class CCDBendGoal : MonoBehaviour
+    {
+
+        public CCDIK ik;
+        [Range(0f, 1f)] public float weight = 1f;
+
+        private void Start()
+        {
+            ik.solver.OnPreUpdate += BeforeIK;
+        }
+
+        private void BeforeIK()
+        {
+            if (!enabled) return;
+            float w = ik.solver.IKPositionWeight * weight;
+            if (w <= 0f) return;
+
+            Vector3 firstBonePos = ik.solver.bones[0].transform.position;
+            Vector3 lastBonePos = ik.solver.bones[ik.solver.bones.Length - 1].transform.position;
+
+            // Rotating the CCD chain towards this gameobject before it solves so it rolls in from that direction
+            Quaternion f = Quaternion.FromToRotation(lastBonePos - firstBonePos, transform.position - firstBonePos);
+            
+            if (w < 1f) f = Quaternion.Slerp(Quaternion.identity, f, w);
+
+            ik.solver.bones[0].transform.rotation = f * ik.solver.bones[0].transform.rotation;
+        }
+
+        private void OnDestroy()
+        {
+            if (ik != null) ik.solver.OnPreUpdate -= BeforeIK;
+        }
+    }
+}