initial upload

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

@@ -0,0 +1,80 @@
+using UnityEngine;
+using System.Collections;
+
+namespace RootMotion.FinalIK
+{
+
+    public class VRIKRootController : MonoBehaviour
+    {
+
+        public Vector3 pelvisTargetRight { get; private set; }
+
+        private Transform pelvisTarget;
+        private Transform leftFootTarget;
+        private Transform rightFootTarget;
+        private VRIK ik;
+
+        void Awake()
+        {
+            ik = GetComponent<VRIK>();
+            ik.solver.OnPreUpdate += OnPreUpdate;
+            Calibrate();
+        }
+
+        public void Calibrate()
+        {
+            if (ik == null)
+            {
+                Debug.LogError("No VRIK found on VRIKRootController's GameObject.", transform);
+                return;
+            }
+            pelvisTarget = ik.solver.spine.pelvisTarget;
+            leftFootTarget = ik.solver.leftLeg.target;
+            rightFootTarget = ik.solver.rightLeg.target;
+            if (pelvisTarget != null) pelvisTargetRight = Quaternion.Inverse(pelvisTarget.rotation) * ik.references.root.right;
+        }
+
+        public void Calibrate(VRIKCalibrator.CalibrationData data)
+        {
+            if (ik == null)
+            {
+                Debug.LogError("No VRIK found on VRIKRootController's GameObject.", transform);
+                return;
+            }
+            pelvisTarget = ik.solver.spine.pelvisTarget;
+            leftFootTarget = ik.solver.leftLeg.target;
+            rightFootTarget = ik.solver.rightLeg.target;
+            if (pelvisTarget != null)
+            {
+                pelvisTargetRight = data.pelvisTargetRight;
+            }
+        }
+
+        void OnPreUpdate()
+        {
+            if (!enabled) return;
+
+            if (pelvisTarget != null)
+            {
+                ik.references.root.position = new Vector3(pelvisTarget.position.x, ik.references.root.position.y, pelvisTarget.position.z);
+
+                Vector3 f = Vector3.Cross(pelvisTarget.rotation * pelvisTargetRight, ik.references.root.up);
+                f.y = 0f;
+                ik.references.root.rotation = Quaternion.LookRotation(f);
+
+                ik.references.pelvis.position = Vector3.Lerp(ik.references.pelvis.position, pelvisTarget.position, ik.solver.spine.pelvisPositionWeight);
+                ik.references.pelvis.rotation = Quaternion.Slerp(ik.references.pelvis.rotation, pelvisTarget.rotation, ik.solver.spine.pelvisRotationWeight);
+            }
+            else if (leftFootTarget != null && rightFootTarget != null)
+            {
+                ik.references.root.position = Vector3.Lerp(leftFootTarget.position, rightFootTarget.position, 0.5f);
+            }
+        }
+
+        void OnDestroy()
+        {
+            if (ik != null) ik.solver.OnPreUpdate -= OnPreUpdate;
+        }
+
+    }
+}