initial upload

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

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+using UnityEngine;
+using System.Collections;
+
+namespace RootMotion.FinalIK {
+
+	/// <summary>
+	/// Definition of FBBIK Offset pose.
+	/// </summary>
+	public class OffsetPose: MonoBehaviour {
+
+		/// <summary>
+		/// State of an effector in this pose
+		/// </summary>
+		[System.Serializable]
+		public class EffectorLink {
+
+			[Tooltip("The effector type (this is just an enum)")] public FullBodyBipedEffector effector;
+			[Tooltip("Offset of the effector in this pose")] public Vector3 offset;
+			[Tooltip("Pin position relative to the solver root Transform")] public Vector3 pin;
+			[Tooltip("Pin weight vector")] public Vector3 pinWeight;
+			[Tooltip("Only applies for end effectors (hands, feet)")] public Vector3 rotationOffset;
+
+			// Apply positionOffset to the effector
+			public void Apply(IKSolverFullBodyBiped solver, float weight, Quaternion rotation) {
+				var e = solver.GetEffector(effector);
+
+				// Offset
+				e.positionOffset += rotation * offset * weight;
+				
+				// Calculating pinned position
+				Vector3 pinPosition = solver.GetRoot().position + rotation * pin;
+				Vector3 pinPositionOffset = pinPosition - e.bone.position;
+				
+				Vector3 pinWeightVector = pinWeight * Mathf.Abs(weight);
+				
+				// Lerping to pinned position
+				e.positionOffset = new Vector3(
+					Mathf.Lerp(e.positionOffset.x, pinPositionOffset.x, pinWeightVector.x),
+					Mathf.Lerp(e.positionOffset.y, pinPositionOffset.y, pinWeightVector.y),
+					Mathf.Lerp(e.positionOffset.z, pinPositionOffset.z, pinWeightVector.z)
+					);
+
+				if (e.isEndEffector) e.bone.localRotation *= Quaternion.Euler(rotationOffset * weight);
+			}
+		}
+
+		public EffectorLink[] effectorLinks = new EffectorLink[0];
+
+		// Apply positionOffsets of all the EffectorLinks
+		public void Apply(IKSolverFullBodyBiped solver, float weight) {
+			for (int i = 0; i < effectorLinks.Length; i++) effectorLinks[i].Apply(solver, weight, solver.GetRoot().rotation);
+		}
+
+		public void Apply(IKSolverFullBodyBiped solver, float weight, Quaternion rotation) {
+			for (int i = 0; i < effectorLinks.Length; i++) effectorLinks[i].Apply(solver, weight, rotation);
+		}
+	}
+}