initial upload

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

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+using UnityEngine;
+using System.Collections;
+using RootMotion.FinalIK;
+
+namespace RootMotion.FinalIK {
+
+	/// <summary>
+	/// Shoulder rotator is a workaround for FBBIK not rotating the shoulder bones when pulled by hands.
+	/// It get's the job done if you need it, but will take 2 solving iterations.
+	/// </summary>
+	public class ShoulderRotator : MonoBehaviour {
+
+		[Tooltip("Weight of shoulder rotation")]
+		public float weight = 1.5f;
+		[Tooltip("The greater the offset, the sooner the shoulder will start rotating")]
+		public float offset = 0.2f;
+
+		private FullBodyBipedIK ik;
+		private bool skip;
+
+		void Start() {
+			ik = GetComponent<FullBodyBipedIK>();
+
+			// You can use just LateUpdate, but note that it doesn't work when you have animatePhysics turned on for the character.
+			ik.solver.OnPostUpdate += RotateShoulders;
+		}
+
+		private void RotateShoulders () {
+			if (ik == null) return;
+			if (ik.solver.IKPositionWeight <= 0f) return;
+
+			// Skipping the second update cycle
+			if (skip) {
+				skip = false;
+				return;
+			}
+
+			RotateShoulder(FullBodyBipedChain.LeftArm, weight, offset); // Rotate the left shoulder
+			RotateShoulder(FullBodyBipedChain.RightArm, weight, offset); // Rotate the right shoulder
+
+			skip = true;
+			ik.solver.Update(); // Update FBBIK again with the rotated shoulders
+		}
+
+		// Rotates a shoulder of a FBBIK character
+		private void RotateShoulder(FullBodyBipedChain chain, float weight, float offset) {
+			// Get FromToRotation from the current swing direction of the shoulder to the IK target direction
+			Quaternion fromTo = Quaternion.FromToRotation(GetParentBoneMap(chain).swingDirection, ik.solver.GetEndEffector(chain).position - GetParentBoneMap(chain).transform.position);
+
+			// Direction to the IK target
+			Vector3 toTarget = ik.solver.GetEndEffector(chain).position - ik.solver.GetLimbMapping(chain).bone1.position;
+
+			// Length of the limb
+			float limbLength = ik.solver.GetChain(chain).nodes[0].length + ik.solver.GetChain(chain).nodes[1].length;
+
+			// Divide IK Target direction magnitude by limb length to know how much the limb is being pulled
+			float delta = (toTarget.magnitude / limbLength) - 1f + offset;
+			delta = Mathf.Clamp(delta * weight, 0f, 1f);
+
+			// Calculate the rotation offset for the shoulder
+			Quaternion rotationOffset = Quaternion.Lerp(Quaternion.identity, fromTo, delta * ik.solver.GetEndEffector(chain).positionWeight * ik.solver.IKPositionWeight);
+
+			// Rotate the shoulder
+			ik.solver.GetLimbMapping(chain).parentBone.rotation = rotationOffset * ik.solver.GetLimbMapping(chain).parentBone.rotation;
+		}
+
+		// Get the shoulder BoneMap
+		private IKMapping.BoneMap GetParentBoneMap(FullBodyBipedChain chain) {
+			return ik.solver.GetLimbMapping(chain).GetBoneMap(IKMappingLimb.BoneMapType.Parent);
+		}
+
+		// Remove the delegate when destroyed
+		void OnDestroy() {
+			if (ik != null) ik.solver.OnPostUpdate -= RotateShoulders;
+		}
+	}
+}