initial upload

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

@@ -0,0 +1,89 @@
+using UnityEngine;
+using System.Collections;
+using RootMotion.FinalIK;
+
+namespace RootMotion.FinalIK {
+	
+	/// <summary>
+	/// Prevents body parts from penetrating scene geometry by offsetting effectors away from the colliders.
+	/// </summary>
+	public class PenetrationAvoidance : OffsetModifier {
+		
+		/// <summary>
+		/// Definition of avoidance and raycasting info.
+		/// </summary>
+		[System.Serializable]
+		public class Avoider {
+			
+			/// <summary>
+			/// Linking this to an effector
+			/// </summary>
+			[System.Serializable]
+			public class EffectorLink {
+				[Tooltip("Effector to apply the offset to.")] public FullBodyBipedEffector effector;
+				[Tooltip("Multiplier of the offset value, can be negative.")] public float weight;
+			}
+			
+			[Tooltip("Bones to start the raycast from. Multiple raycasts can be used by assigning more than 1 bone.")] public Transform[] raycastFrom;
+			[Tooltip("The Transform to raycast towards. Usually the body part that you want to keep from penetrating.")] public Transform raycastTo;
+			[Tooltip("If 0, will use simple raycasting, if > 0, will use sphere casting (better, but slower).")] [Range(0f, 1f)] public float raycastRadius;
+			[Tooltip("Linking this to FBBIK effectors.")] public EffectorLink[] effectors;
+			[Tooltip("The time of smooth interpolation of the offset value to avoid penetration.")] public float smoothTimeIn = 0.1f;
+			[Tooltip("The time of smooth interpolation of the offset value blending out of penetration avoidance.")] public float smoothTimeOut = 0.3f;
+			[Tooltip("Layers to keep penetrating from.")] public LayerMask layers;
+			
+			private Vector3 offset;
+			private Vector3 offsetTarget;
+			private Vector3 offsetV;
+			
+			public void Solve(IKSolverFullBodyBiped solver, float weight) {
+				// Get the offset to interpolate to
+				offsetTarget = GetOffsetTarget(solver);
+				
+				// Interpolating the offset value
+				float smoothDampTime = offsetTarget.sqrMagnitude > offset.sqrMagnitude? smoothTimeIn: smoothTimeOut;
+				offset = Vector3.SmoothDamp(offset, offsetTarget, ref offsetV, smoothDampTime);
+				
+				// Apply offset to the FBBIK effectors
+				foreach (EffectorLink link in effectors) {
+					solver.GetEffector(link.effector).positionOffset += offset * weight * link.weight;
+				}
+			}
+			
+			// Multiple raycasting to accumulate the offset
+			private Vector3 GetOffsetTarget(IKSolverFullBodyBiped solver) {
+				Vector3 t = Vector3.zero;
+				
+				foreach (Transform from in raycastFrom) {
+					t += Raycast(from.position, raycastTo.position + t);
+				}
+				
+				return t;
+			}
+			
+			// Raycast, return the offset that would not penetrate any colliders
+			private Vector3 Raycast(Vector3 from, Vector3 to) {
+				Vector3 direction = to - from;
+				float distance = direction.magnitude;
+				RaycastHit hit;
+				
+				if (raycastRadius <= 0f) {
+					Physics.Raycast(from, direction, out hit, distance, layers);
+				} else {
+					Physics.SphereCast(from, raycastRadius, direction, out hit, distance, layers);
+				}
+				
+				if (hit.collider == null) return Vector3.zero;
+				
+				return Vector3.Project(-direction.normalized * (distance - hit.distance), hit.normal);
+			}
+		}
+		
+		[Tooltip("Definitions of penetration avoidances.")] public Avoider[] avoiders;
+		
+		// Called by IKSolverFullBody before updating
+		protected override void OnModifyOffset() {
+			foreach (Avoider avoider in avoiders) avoider.Solve(ik.solver, weight);
+		}
+	}
+}